import numpy as np
import os
import sys
import cv2 as cv
from matplotlib import pyplot as plt
import math
import pandas as pd
import seaborn as sns
#relative pose estimation
def estimate_relative_pose_from_correspondence(pts1, pts2, K1, K2):
f_avg = (K1[0, 0] + K2[0, 0]) / 2
#Normalization of points
#pts1, pts2 = np.ascontiguousarray(pts1, np.float32), np.ascontiguousarray(pts2, np.float32)
#pts_l_norm = cv.undistortPoints(np.expand_dims(pts1, axis=1), cameraMatrix=K1, distCoeffs=None)
#pts_r_norm = cv.undistortPoints(np.expand_dims(pts2, axis=1), cameraMatrix=K2, distCoeffs=None)
pts_l_norm = pts1
pts_r_norm = pts2
#Get essential Matrix
#check trheshold and focal value
E, mask = cv.findEssentialMat(pts_l_norm, pts_r_norm, focal=1.0,
method=cv.RANSAC, prob=0.999, threshold=3.0 / f_avg)
points, R_est, t_est, mask_pose = cv.recoverPose(E, pts_l_norm, pts_r_norm)
return mask[:,0].astype(np.bool), R_est, t_est
def pose_error(R1, R2, t1, t2):
t = t1.flatten()
t_gt = t2.flatten()
eps = 1e-15
R2R1 = np.dot(R1, np.transpose(R2))
cos_angle = max(min(1.0, 0.5 * (np.trace(R2R1) - 1.0)), -1.0)
err_r = math.acos(cos_angle)
t = t / (np.linalg.norm(t) + eps)
t_gt = t_gt / (np.linalg.norm(t_gt) + eps)
loss_t = np.maximum(eps, (1.0 - np.sum(t * t_gt)**2))
err_t = np.arccos(np.sqrt(1 - loss_t))
if np.sum(np.isnan(err_r)) or np.sum(np.isnan(err_t)):
print(R1, t_gt, R2, t)
import IPython
IPython.embed()
return err_r * 180.0 / math.pi, err_t * 180.0 / math.pi
def get_relative_pose(path_img1, path_img2, path_pose1, path_pose2, path_K):
img1 = cv.imread(path_img1,0) #queryimage # left image
img2 = cv.imread(path_img2,0) #trainimage # right
# find the keypoints and descriptors with SIFT
sift = cv.SIFT_create()
kp1, des1 = sift.detectAndCompute(img1,None)
kp2, des2 = sift.detectAndCompute(img2,None)
#FLANN parameters
#FLANN_INDEX_KDTREE = 1
#index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
#search_params = dict(checks=50)
#flann = cv.FlannBasedMatcher(index_params,search_params)
#matches = flann.knnMatch(des1,des2,k=2)
#Brute force matching with Knn (k=2)
bf = cv.BFMatcher()
matches = bf.knnMatch(des1,des2,k=2)
pts1 = []
pts2 = []
# ratio test as per Lowe's paper$
ratio = 0.8
for i,(m,n) in enumerate(matches):
if m.distance < ratio*n.distance:
pts2.append(kp2[m.trainIdx].pt)
pts1.append(kp1[m.queryIdx].pt)
print('\nNumber of keypoints:')
print("Image1: " + str(len(pts1)))
print("Image2: " + str(len(pts2)))
nbr_keypoints1 = len(pts1)
nbr_keypoints2 = len(pts2)
# transform points to np format
pts1 = np.int32(pts1)
pts2 = np.int32(pts2)
#Get intrisinc matrix
#preparing everything for poselib.estimate_relative_pose
K = np.loadtxt(intrinsic_path, dtype=float)
K = np.delete(K,3,0)
K = np.delete(K,3,1)
#intrinsics
Camera_intrinsics = np.loadtxt(intrinsic_path, dtype=float)
f_x = Camera_intrinsics[0, 0]
f_y = Camera_intrinsics[1, 1]
c_x = Camera_intrinsics[0, 2]
c_y = Camera_intrinsics[1, 2]
# get estimated relative pose
mask, R, t = estimate_relative_pose_from_correspondence(pts1,pts2,K,K)
print('\n R_estimated:')
print(R)
print('\n t_estimated:')
print(t)
#relative pose GT from absolute pose GT
R1 = np.loadtxt(path_pose1, usecols=range(3), max_rows=3)
R2 = np.loadtxt(path_pose2, usecols=range(3), max_rows=3)
t1 = np.loadtxt(path_pose1, usecols=3, max_rows=3)
t2 = np.loadtxt(path_pose2, usecols=3, max_rows=3)
R_gt = R2 @ R1.transpose()
t_gt = t2 - R2 @ R1.transpose() @ t1
t_gt = t_gt / np.linalg.norm(t_gt)
print('\n R_gt:')
print(R_gt)
print('\n t_gt:')
print(t_gt)
R_err, t_err = pose_error(R, R_gt, t, t_gt)
print('\nPose Error in degrees for R and t:')
print(R_err, t_err)
return R_err, t_err, nbr_keypoints1, nbr_keypoints2
# add try/catch to avoid error
# modfiy directory path, everything else should be done automatically
directory = r'/Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/'
actual_folder_directory = ""
results = []
for scan in os.listdir(directory):
if scan.startswith("scene"):
actual_folder_directory = os.path.join(directory, scan)
print("We are working in: " + actual_folder_directory)
intrinsic_path = actual_folder_directory + '/intrinsic/intrinsic_color.txt'
color_folder = actual_folder_directory + '/color'
pose_folder = actual_folder_directory + '/pose'
estimated_pose_path = pose_folder + '/estimated_pose'
if not os.path.isdir(estimated_pose_path):
os.mkdir(estimated_pose_path)
for img in os.listdir(color_folder):
if img.endswith(".jpg"):
base_number = int(img[0:-4])
base_img_path = os.path.join(color_folder, img)
base_pose_path = os.path.join(pose_folder, img[0:-4]+'.txt')
for i in [10,20,30]:
if i == 10 or i == 20 or i == 30:
number = base_number + (i+1)
str_number = str(number)
img_path = os.path.join(color_folder,str_number+'.jpg')
pose_path = os.path.join(pose_folder, str_number+'.txt')
if os.path.isfile(img_path):
R,t, k1, k2 = get_relative_pose(base_img_path, img_path, base_pose_path, pose_path, intrinsic_path)
result = [base_number, number, R, t, k1, k2]
results.append(result)
####### WAARNING #######
output_path = estimated_pose_path + '/' + "results10_20_30.txt"
np.savetxt(output_path, results, delimiter=' ')
We are working in: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_00 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.90644697e-01 1.36466136e-01 2.77745098e-04] [-1.36466110e-01 9.90644734e-01 -1.09772921e-04] [-2.90127005e-04 7.08431691e-05 9.99999955e-01]] t_estimated: [[0.36609253] [0.93057789] [0.00102467]] R_gt: [[ 0.99795423 -0.0570822 0.02882997] [ 0.05581421 0.99751295 0.04303387] [-0.03121501 -0.04133736 0.99865762]] t_gt: [ 0.55738888 -0.49882088 0.66369825] Pose Error in degrees for R and t: 11.469776195380476 74.96223213339763
/var/folders/d0/6s5qwykd3r35_tc97lhkwtk00000gn/T/ipykernel_49708/682484241.py:17: DeprecationWarning: `np.bool` is a deprecated alias for the builtin `bool`. To silence this warning, use `bool` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.bool_` here. Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations return mask[:,0].astype(np.bool), R_est, t_est
Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.95109135e-01 9.87809287e-02 3.71092851e-04] [-9.87809165e-02 9.95109204e-01 -5.12105164e-05] [-3.74336534e-04 1.43031607e-05 9.99999930e-01]] t_estimated: [[0.54861292] [0.83607591] [0.00096643]] R_gt: [[ 0.99645111 -0.05859424 0.06043929] [ 0.05201455 0.99308647 0.10522789] [-0.06618677 -0.10171073 0.99260974]] t_gt: [ 0.4328939 -0.388577 0.81339461] Pose Error in degrees for R and t: 11.255794885039109 85.03181319787579 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.07700963 -0.99702908 -0.00158902] [ 0.99702805 -0.07700594 -0.0022678 ] [ 0.0021387 -0.00175894 0.99999617]] t_estimated: [[9.08026803e-01] [4.18911973e-01] [2.91114768e-04]] R_gt: [[ 0.9938781 -0.09030827 0.06365317] [ 0.07943215 0.9844816 0.15648143] [-0.07679621 -0.15046743 0.98562821]] t_gt: [ 0.49319695 -0.38173491 0.78168742] Pose Error in degrees for R and t: 89.93824167569154 73.25275143398703 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.88048138e-01 -1.54145531e-01 -1.81247875e-04] [ 1.54145564e-01 9.88048132e-01 1.85276454e-04] [ 1.50522087e-04 -2.11000611e-04 9.99999966e-01]] t_estimated: [[8.46434663e-01] [5.32492117e-01] [7.11887858e-04]] R_gt: [[ 0.99923781 0.0257804 -0.0293215 ] [-0.02468842 0.99900995 0.03702166] [ 0.03024734 -0.0362701 0.99888491]] t_gt: [ 0.80575908 -0.18947961 0.56111477] Pose Error in degrees for R and t: 10.65840155188794 54.442092871973905 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.23971950e-01 -3.82459836e-01 -5.56925082e-04] [ 3.82459259e-01 9.23971897e-01 -9.21523036e-04] [ 8.67028674e-04 6.38460282e-04 9.99999420e-01]] t_estimated: [[-0.13298503] [-0.99111487] [-0.00250915]] R_gt: [[ 0.99206059 0.11213949 -0.05694085] [-0.10600352 0.98919688 0.10126332] [ 0.06768195 -0.09442331 0.99322928]] t_gt: [0.1542869 0.17507433 0.97239114] Pose Error in degrees for R and t: 29.520384717106438 78.66901078758163 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.98725724 0.15910847 -0.00276344] [ 0.15909223 0.98724926 0.00534402] [ 0.00357848 0.00483628 -0.9999819 ]] t_estimated: [[0.90473435] [0.42597523] [0.00092603]] R_gt: [[ 0.98039362 0.16030347 -0.11459535] [-0.14874015 0.98347314 0.10323678] [ 0.12925053 -0.08416779 0.98803373]] t_gt: [0.7059825 0.52761464 0.47245265] Pose Error in degrees for R and t: 172.35384257395773 30.240969825999596 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999961e-01 -1.66842780e-04 2.22452065e-04] [ 1.66855038e-04 9.99999985e-01 -5.50874272e-05] [-2.22442871e-04 5.51245424e-05 9.99999974e-01]] t_estimated: [[0.67900581] [0.73413246] [0.00079463]] R_gt: [[ 0.97949523 -0.19571962 -0.04777286] [ 0.195854 0.98063169 -0.00192199] [ 0.04722372 -0.00747374 0.99885673]] t_gt: [ 0.74831811 -0.64685581 -0.14696113] Pose Error in degrees for R and t: 11.617515786760436 88.1021474235793 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99999755e-01 -4.76672530e-04 5.13127425e-04] [ 4.76898983e-04 9.99999789e-01 -4.41288297e-04] [-5.12916967e-04 4.41532899e-04 9.99999771e-01]] t_estimated: [[0.45384775] [0.89107864] [0.00103855]] R_gt: [[ 0.96505915 -0.25313381 -0.06770735] [ 0.25380559 0.96725424 0.00135271] [ 0.06514783 -0.01848956 0.99770432]] t_gt: [ 0.77977498 -0.61412524 -0.12166007] Pose Error in degrees for R and t: 15.183728234883091 78.84515945216755 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.02393459 0.99971248 0.00144594] [-0.99971268 -0.02393642 0.00126606] [ 0.00130031 -0.00141522 0.99999815]] t_estimated: [[ 1.24424530e-02] [ 9.99922550e-01] [-2.82881422e-04]] R_gt: [[ 0.94769242 -0.28876922 -0.13598438] [ 0.2890519 0.95714321 -0.01810471] [ 0.13538394 -0.02214889 0.99054553]] t_gt: [ 0.82687207 -0.52246549 -0.2081163 ] Pose Error in degrees for R and t: 108.4428360584233 59.1976670949532 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-9.44438187e-01 -3.28405204e-01 -1.36576863e-02] [-3.28430783e-01 9.44527961e-01 -3.89815226e-04] [ 1.30280839e-02 4.11744822e-03 -9.99906653e-01]] t_estimated: [[ 0.97722324] [ 0.21212814] [-0.00603211]] R_gt: [[ 0.99760761 -0.01422146 -0.06766927] [ 0.01599438 0.99954087 0.02573074] [ 0.06727252 -0.02675136 0.997376 ]] t_gt: [ 0.9679103 -0.16272366 -0.19149584] Pose Error in degrees for R and t: 175.66167319001696 24.14666588285273 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99912723e-01 -1.32106274e-02 -1.59283748e-04] [ 1.32106343e-02 9.99912735e-01 4.24194864e-05] [ 1.58709460e-04 -4.45200235e-05 9.99999986e-01]] t_estimated: [[-0.65002069] [ 0.75991528] [-0.0013672 ]] R_gt: [[ 0.98991313 0.08200547 -0.11553272] [-0.07312525 0.99417887 0.07912116] [ 0.12134867 -0.06987424 0.99014682]] t_gt: [ 0.7279349 0.66856688 -0.15208257] Pose Error in degrees for R and t: 9.588255232387674 87.98911483635487 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99998880e-01 -1.49155046e-03 1.20154292e-04] [ 1.49154587e-03 9.99998887e-01 3.82762904e-05] [-1.20211250e-04 -3.80970319e-05 9.99999992e-01]] t_estimated: [[-1.94190714e-01] [ 9.80963792e-01] [ 7.65833469e-05]] R_gt: [[ 0.97666335 0.14559693 -0.1578958 ] [-0.12686817 0.9842792 0.12287405] [ 0.17330372 -0.09997426 0.97978009]] t_gt: [ 0.42673912 0.8969077 -0.11597544] Pose Error in degrees for R and t: 14.036508786906877 37.15957220254782 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.80400419e-01 1.97015244e-01 1.11030682e-04] [-1.97015239e-01 9.80400425e-01 -4.96919187e-05] [-1.18644593e-04 2.68432416e-05 9.99999993e-01]] t_estimated: [[-9.98381904e-01] [ 5.68634552e-02] [ 3.48701957e-04]] R_gt: [[ 0.98329944 0.18043872 0.02375896] [-0.18192301 0.97818422 0.10029691] [-0.00514323 -0.10294482 0.99467357]] t_gt: [-0.87483227 0.27394456 0.39952832] Pose Error in degrees for R and t: 5.984779527786299 27.235441330917553 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.91985789e-01 1.26349208e-01 -2.68933626e-04] [-1.26349246e-01 9.91985812e-01 -1.31803951e-04] [ 2.50125016e-04 1.64727208e-04 9.99999955e-01]] t_estimated: [[-0.8710219 ] [-0.49123984] [-0.00206403]] R_gt: [[ 0.98250677 0.18599152 0.00930147] [-0.18604063 0.97809831 0.09333061] [ 0.00826149 -0.09342875 0.9955916 ]] t_gt: [-0.93424379 0.15892127 0.31926881] Pose Error in degrees for R and t: 6.418997913324065 42.691147474109336 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-8.85548467e-01 -4.64546914e-01 -2.78485869e-04] [-4.64546622e-01 8.85546829e-01 1.80249491e-03] [-5.90731172e-04 1.72556628e-03 -9.99998337e-01]] t_estimated: [[ 9.85544930e-01] [-1.69413974e-01] [ 3.11690306e-04]] R_gt: [[ 0.98121229 0.19288345 -0.00431143] [-0.19173284 0.97735672 0.08949979] [ 0.02147724 -0.08699209 0.99597717]] t_gt: [-0.95605479 0.07884576 0.28238729] Pose Error in degrees for R and t: 179.50794050764748 17.156128346663483 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99957964e-01 9.16896287e-03 1.41090680e-05] [-9.16896237e-03 9.99957964e-01 -3.56861956e-05] [-1.44356803e-05 3.55553299e-05 9.99999999e-01]] t_estimated: [[ 0.95750032] [-0.28842518] [ 0.00201232]] R_gt: [[ 0.99952192 -0.02879815 -0.01126595] [ 0.02884928 0.99957306 0.00433202] [ 0.0111368 -0.00465594 0.9999265 ]] t_gt: [ 0.82577215 -0.54788122 -0.13388998] Pose Error in degrees for R and t: 2.286076302313093 18.480713820511458 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.38207064 0.92383145 0.02361086] [ 0.92385345 0.38245885 -0.01483336] [-0.02273371 0.01614559 -0.99961117]] t_estimated: [[ 0.83097833] [-0.55613314] [ 0.01381854]] R_gt: [[ 0.9974518 -0.05273884 -0.04806471] [ 0.05386911 0.99829305 0.02252812] [ 0.04679382 -0.02506011 0.99858939]] t_gt: [ 0.75239459 -0.60215194 -0.26704948] Pose Error in degrees for R and t: 178.5781620755569 16.979361541671953 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-7.55465676e-01 -6.55185867e-01 1.75809359e-03] [-6.55183633e-01 7.55467708e-01 1.71741512e-03] [-2.45340905e-03 1.45574025e-04 -9.99996980e-01]] t_estimated: [[0.95955148] [0.2815269 ] [0.001887 ]] R_gt: [[ 0.99722261 -0.03790379 -0.06411841] [ 0.04110535 0.99793353 0.0493745 ] [ 0.06211368 -0.05187363 0.99672007]] t_gt: [ 0.66433834 -0.71550487 -0.21611883] Pose Error in degrees for R and t: 177.75385576842982 64.17491969699337 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99999941e-01 2.98780018e-04 1.71573993e-04] [-2.98773856e-04 9.99999955e-01 -3.59443254e-05] [-1.71584725e-04 3.58930615e-05 9.99999985e-01]] t_estimated: [[9.18734937e-01] [3.94874018e-01] [7.91330694e-04]] R_gt: [[ 0.99396597 -0.10925969 -0.00972952] [ 0.10934961 0.99395943 0.00929875] [ 0.00865586 -0.01030544 0.99990935]] t_gt: [ 0.58195853 -0.81321762 0.00117655] Pose Error in degrees for R and t: 6.340714334307072 77.66964135324574 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.16323307e-01 4.00439166e-01 2.67772643e-04] [-4.00439160e-01 9.16323345e-01 -7.81429657e-05] [-2.76657828e-04 -3.56224315e-05 9.99999961e-01]] t_estimated: [[8.61738554e-01] [5.07352064e-01] [7.40853549e-04]] R_gt: [[ 0.9655795 -0.26000888 -0.0071548 ] [ 0.25992101 0.96556415 -0.01123798] [ 0.00983084 0.00899207 0.99991129]] t_gt: [ 0.71159166 -0.69880833 -0.07283015] Pose Error in degrees for R and t: 38.68175858675597 75.01238969937151 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-8.58950432e-01 5.12054528e-01 2.07720255e-03] [ 5.12058548e-01 8.58946568e-01 2.61465359e-03] [-4.45360793e-04 3.30950715e-03 -9.99994424e-01]] t_estimated: [[9.66372146e-01] [2.57146236e-01] [8.29503988e-04]] R_gt: [[ 0.92610883 -0.37363408 -0.05214974] [ 0.37409142 0.92739101 -0.00106265] [ 0.04876061 -0.0185231 0.99863876]] t_gt: [ 0.76895167 -0.63465274 -0.07700147] Pose Error in degrees for R and t: 177.13140496879657 54.56134042250164 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-8.57138290e-02 9.96319765e-01 -2.55385530e-04] [-9.96319389e-01 -8.57135589e-02 9.27606413e-04] [ 9.02302600e-04 3.33954253e-04 9.99999537e-01]] t_estimated: [[7.65278364e-01] [6.43699052e-01] [7.45885345e-04]] R_gt: [[ 0.99664198 -0.03885325 0.07208767] [ 0.02968056 0.99181291 0.12420655] [-0.07632338 -0.12164982 0.98963426]] t_gt: [ 0.13376516 -0.23870387 0.9618354 ] Pose Error in degrees for R and t: 97.1547200079095 87.10140506395038 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-8.83447073e-01 -4.68527433e-01 -1.82016964e-03] [ 4.68528262e-01 -8.83448508e-01 -3.29063365e-05] [-1.59260863e-03 -8.81871925e-04 9.99998343e-01]] t_estimated: [[8.93963058e-01] [4.48139909e-01] [8.20712498e-04]] R_gt: [[ 0.97722452 -0.11891405 0.17576015] [ 0.05957007 0.94866296 0.31063054] [-0.20367446 -0.29308629 0.93413999]] t_gt: [ 0.20393314 -0.13129134 0.97014115] Pose Error in degrees for R and t: 147.32034443728085 82.8615136460948 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 9.99986632e-01 -5.12388914e-03 -6.93666126e-04] [ 5.12348602e-03 9.99986706e-01 -5.81688794e-04] [ 6.96637413e-04 5.78127030e-04 9.99999590e-01]] t_estimated: [[0.9856934 ] [0.16854427] [0.00116237]] R_gt: [[ 0.97019267 -0.15241399 0.18840652] [ 0.07336417 0.92570151 0.3710734 ] [-0.23096445 -0.34619067 0.90928986]] t_gt: [ 0.23612822 -0.11117369 0.96534132] Pose Error in degrees for R and t: 25.4709004504838 77.57658579294007 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999807e-01 -6.21730907e-04 -5.65727810e-06] [ 6.21731647e-04 9.99999798e-01 1.31748558e-04] [ 5.57536481e-06 -1.31752049e-04 9.99999991e-01]] t_estimated: [[-5.35637614e-03] [-9.99985165e-01] [-9.89366710e-04]] R_gt: [[ 0.9986124 -0.04849978 0.02053168] [ 0.04882473 0.99868591 -0.01561842] [-0.01974715 0.01659894 0.99966752]] t_gt: [ 0.73441231 -0.67459196 0.07459385] Pose Error in degrees for R and t: 3.1273610977697626 47.88859008910244 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999995e-01 -1.62739620e-05 -1.02546821e-04] [ 1.62740290e-05 1.00000000e+00 6.52130346e-07] [ 1.02546810e-04 -6.53799191e-07 9.99999995e-01]] t_estimated: [[0.90861813] [0.41762613] [0.00122645]] R_gt: [[ 9.88182390e-01 -1.53282141e-01 8.72052587e-04] [ 1.53249370e-01 9.87820775e-01 -2.69173084e-02] [ 3.26492558e-03 2.67324687e-02 9.99637501e-01]] t_gt: [ 0.75179611 -0.65307746 -0.09106283] Pose Error in degrees for R and t: 8.950571636749121 65.77998246158971 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999237e-01 1.23310693e-03 -7.84227760e-05] [-1.23307717e-03 9.99999168e-01 3.78411091e-04] [ 7.88893321e-05 -3.78314101e-04 9.99999925e-01]] t_estimated: [[9.99994892e-01] [3.10075946e-03] [7.75189839e-04]] R_gt: [[ 0.96895137 -0.24698269 -0.01151847] [ 0.2465582 0.96867248 -0.02973047] [ 0.01850067 0.02596682 0.999492 ]] t_gt: [ 0.76952775 -0.63193496 -0.09211539] Pose Error in degrees for R and t: 14.478053929061094 39.87071274272988 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.99999485e-01 -1.01435391e-03 4.03855816e-05] [ 1.01435790e-03 9.99999481e-01 -9.89128459e-05] [-4.02852280e-05 9.89537603e-05 9.99999994e-01]] t_estimated: [[-5.04387997e-02] [-9.98727125e-01] [ 2.37729638e-04]] R_gt: [[ 0.99735289 -0.0713539 0.01394568] [ 0.07185244 0.99664338 -0.03923823] [-0.01109834 0.04013717 0.99913216]] t_gt: [ 0.2489439 -0.85632828 -0.45246968] Pose Error in degrees for R and t: 4.697642425248886 32.58703559756143 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99999820e-01 -5.99836567e-04 2.09513796e-06] [ 5.99837419e-04 9.99999726e-01 -4.33386668e-04] [-1.83517622e-06 4.33387846e-04 9.99999906e-01]] t_estimated: [[8.80725646e-01] [4.73626696e-01] [2.97984867e-04]] R_gt: [[ 0.99762425 -0.06860658 -0.00616177] [ 0.06837241 0.99713199 -0.03245973] [ 0.00837215 0.03196152 0.9994538 ]] t_gt: [ 0.42723396 -0.71021818 -0.5595188 ] Pose Error in degrees for R and t: 4.319334338013171 87.72298817285034 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99999920e-01 -3.98111568e-04 -2.25851084e-05] [ 3.98111250e-04 9.99999921e-01 -1.40886250e-05] [ 2.25907155e-05 1.40796325e-05 1.00000000e+00]] t_estimated: [[ 5.16395280e-01] [-8.56350138e-01] [-5.96590934e-04]] R_gt: [[ 9.99949644e-01 -7.53867612e-04 -9.99956988e-03] [ 3.61128425e-04 9.99230677e-01 -3.92172166e-02] [ 1.00212604e-02 3.92122037e-02 9.99180833e-01]] t_gt: [ 0.50993171 0.23438342 -0.82766784] Pose Error in degrees for R and t: 2.318340448876798 86.38189793819436 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.69392583e-01 2.45514997e-01 6.37151103e-04] [-2.45514896e-01 9.69392790e-01 -2.33276529e-04] [-6.74922572e-04 6.97064507e-05 9.99999770e-01]] t_estimated: [[0.29750244] [0.95471809] [0.00238201]] R_gt: [[ 0.98731852 -0.15859649 -0.00705196] [ 0.1585532 0.9873305 -0.00624073] [ 0.00795154 0.00504402 0.99995566]] t_gt: [ 0.722677 -0.68471924 -0.09432667] Pose Error in degrees for R and t: 23.34342187364614 63.96370852363494 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.99988762 -0.01303273 0.00740924] [-0.01301733 0.99991302 0.00212293] [-0.00743626 0.00202624 -0.9999703 ]] t_estimated: [[ 0.99980003] [-0.0196217 ] [ 0.00385951]] R_gt: [[ 0.95983847 -0.27766594 -0.04015709] [ 0.27782889 0.96062884 -0.00155728] [ 0.03900773 -0.00966247 0.99919268]] t_gt: [ 0.75849931 -0.64358501 -0.10235786] Pose Error in degrees for R and t: 178.14921985948942 39.59392605198812 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.19051579e-01 3.94137039e-01 4.34213725e-04] [-3.94134401e-01 -9.19040101e-01 -4.83396175e-03] [-1.50618355e-03 -4.61379875e-03 9.99988222e-01]] t_estimated: [[0.33976998] [0.94050517] [0.00252705]] R_gt: [[ 0.93405864 -0.35631809 -0.02390746] [ 0.35562434 0.93418156 -0.02889702] [ 0.0326308 0.01848882 0.99929635]] t_gt: [ 0.75115402 -0.64445582 -0.1429837 ] Pose Error in degrees for R and t: 177.65203187448418 69.43585734157391 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999858e-01 -5.01494937e-04 -1.78900631e-04] [ 5.01499065e-04 9.99999874e-01 2.30323464e-05] [ 1.78889057e-04 -2.31220616e-05 9.99999984e-01]] t_estimated: [[-0.95790962] [-0.28706586] [-0.00153511]] R_gt: [[ 0.99704928 0.06520533 0.04051204] [-0.06546016 0.99784273 0.00499878] [-0.04009763 -0.00763512 0.99916581]] t_gt: [-0.72964468 0.54182733 0.41718315] Pose Error in degrees for R and t: 4.447400846029782 57.12874791390352 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.14890028 0.78581661 0.6002674 ] [ 0.54943242 0.57045377 -0.61049694] [-0.82216344 0.2389032 -0.51669385]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.98955434 -0.0142646 0.14345359] [-0.01328062 0.98184061 0.18924279] [-0.14354692 -0.18916991 0.97139456]] t_gt: [-0.03872191 -0.0407595 0.99841839] Pose Error in degrees for R and t: 122.14968305847182 87.01568765526629 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-8.84052286e-01 -4.67388011e-01 -4.94589392e-05] [-4.67387047e-01 8.84050239e-01 2.12665506e-03] [-9.50248892e-04 1.90319074e-03 -9.99997737e-01]] t_estimated: [[0.98112372] [0.19337747] [0.00118636]] R_gt: [[ 9.68243589e-01 -8.62771836e-02 2.34649440e-01] [-9.65003317e-04 9.37270120e-01 3.48603285e-01] [-2.50006077e-01 -3.37758651e-01 9.07422263e-01]] t_gt: [ 0.1053896 -0.01625382 0.99429817] Pose Error in degrees for R and t: 161.23606445900344 84.17809110901095 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999828e-01 5.29114293e-04 2.51166481e-04] [-5.29047521e-04 9.99999825e-01 -2.65839762e-04] [-2.51307097e-04 2.65706837e-04 9.99999933e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99409186 -0.09577236 -0.05108772] [ 0.09581731 0.99539797 -0.0015573 ] [ 0.05100177 -0.00334585 0.99869296]] t_gt: [ 0.74961804 -0.60723652 -0.26331846] Pose Error in degrees for R and t: 6.265186847224922 52.92766444406464 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99994285e-01 -3.36520747e-03 3.25306634e-04] [ 3.36517560e-03 9.99994333e-01 9.84817249e-05] [-3.25636201e-04 -9.73864481e-05 9.99999942e-01]] t_estimated: [[0.01142782] [0.99993405] [0.00114278]] R_gt: [[ 0.96088518 -0.24726787 -0.12473769] [ 0.24368799 0.9688816 -0.04342229] [ 0.13159298 0.01132702 0.99123918]] t_gt: [ 0.77793249 -0.53903244 -0.32290102] Pose Error in degrees for R and t: 15.99637490446811 57.96238971293743 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.33731889 -0.70964449 0.61856339] [ 0.70902616 -0.24072554 -0.66282208] [ 0.61927204 0.66216004 0.42195524]] t_estimated: [[ 0.68805086] [ 0.24301841] [-0.68376024]] R_gt: [[ 9.19350607e-01 -3.72914453e-01 -1.25420565e-01] [ 3.69381616e-01 9.27865985e-01 -5.12141884e-02] [ 1.35471977e-01 7.55300721e-04 9.90780441e-01]] t_gt: [ 0.82225513 -0.52932663 -0.20906894] Pose Error in degrees for R and t: 87.93359035416775 54.544515497601054 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.88207844e-02 -9.95104055e-01 -1.54026501e-03] [-9.95105242e-01 -9.88208201e-02 -5.30811983e-05] [-9.93889357e-05 1.53797131e-03 -9.99998812e-01]] t_estimated: [[0.72802796] [0.68554692] [0.00084506]] R_gt: [[ 0.99759927 0.06633687 0.01991941] [-0.0672492 0.99651721 0.04929896] [-0.0165802 -0.05051938 0.9985853 ]] t_gt: [-0.86009659 -0.04367007 0.50825857] Pose Error in degrees for R and t: 177.23918335014835 49.02856075977955 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 1.00000000e+00 8.03156153e-13 1.62713403e-14] [-8.03166561e-13 1.00000000e+00 -2.22144623e-14] [-1.68996685e-14 2.21676247e-14 1.00000000e+00]] t_estimated: [[ 2.75977838e-02] [-9.99619101e-01] [-1.20372647e-04]] R_gt: [[ 9.98896311e-01 4.69849713e-02 -5.38586861e-04] [-4.68939768e-02 9.97554704e-01 5.18192411e-02] [ 2.97153079e-03 -5.17372010e-02 9.98656302e-01]] t_gt: [-0.75059918 -0.49576015 0.43683263] Pose Error in degrees for R and t: 4.00852633963836 61.65342007365902 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.99472691 0.10000195 0.02275926] [ 0.09949519 0.99478571 -0.02240738] [-0.02488136 -0.02002479 -0.99948983]] t_estimated: [[ 0.70082414] [-0.71258008] [ 0.03278953]] R_gt: [[ 0.99842926 0.05596422 -0.00283857] [-0.0559225 0.99834991 0.01302542] [ 0.00356252 -0.01284691 0.99991088]] t_gt: [-0.88083764 -0.43416382 0.18875071] Pose Error in degrees for R and t: 178.82063865792057 72.43745322789152 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 5.47496129e-01 -8.36806597e-01 -1.64573056e-03] [ 8.36805276e-01 5.47498360e-01 -1.57374519e-03] [ 2.21795514e-03 -5.15536614e-04 9.99997407e-01]] t_estimated: [[ 9.97589193e-01] [ 6.93934381e-02] [-5.93414544e-04]] R_gt: [[ 0.99996622 0.00811588 -0.00123532] [-0.00805006 0.99888708 0.04647752] [ 0.00161146 -0.04646489 0.99891912]] t_gt: [ 0.48981574 -0.2895869 0.82232595] Pose Error in degrees for R and t: 57.326168178794035 62.092111811769215 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99441753e-01 3.34073062e-02 3.67195859e-04] [-3.34073923e-02 9.99441791e-01 2.30968463e-04] [-3.59274853e-04 -2.43106581e-04 9.99999906e-01]] t_estimated: [[0.54885814] [0.83591392] [0.00162978]] R_gt: [[ 0.99807389 -0.05045617 0.03609852] [ 0.04470755 0.98836314 0.14539066] [-0.0430148 -0.14349556 0.98871585]] t_gt: [ 0.4044381 -0.37590855 0.83374012] Pose Error in degrees for R and t: 9.775376329714694 84.78523423315922 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99303526 -0.11780688 -0.00158292] [ 0.11781025 0.9930336 0.00223918] [ 0.0013081 -0.00241007 0.99999624]] t_estimated: [[-5.77653897e-01] [-8.16281580e-01] [ 5.97559984e-04]] R_gt: [[ 0.99299812 -0.09308689 0.07273497] [ 0.07498428 0.9724276 0.22081962] [-0.09128497 -0.21381857 0.97259928]] t_gt: [ 0.3386182 -0.36568847 0.86695424] Pose Error in degrees for R and t: 13.479535668318471 84.06393159924286 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 3.98588268e-01 -9.17129929e-01 2.92483512e-04] [-9.17129525e-01 -3.98587736e-01 1.11890389e-03] [-9.09599904e-04 -7.14227228e-04 -9.99999331e-01]] t_estimated: [[0.45351132] [0.89124833] [0.00197179]] R_gt: [[ 0.995125 0.06467674 -0.07444533] [-0.0612787 0.99701108 0.04706065] [ 0.07726638 -0.04226764 0.99611426]] t_gt: [0.85426266 0.50966697 0.10234685] Pose Error in degrees for R and t: 179.82349066492702 32.66300459737003 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99997480e-01 9.23748730e-04 2.04603695e-03] [-9.19374668e-04 9.99997292e-01 -2.13773157e-03] [-2.04800614e-03 2.13584511e-03 9.99995622e-01]] t_estimated: [[0.99993613] [0.01116265] [0.00176922]] R_gt: [[ 0.98225135 0.12764078 -0.13744053] [-0.11876894 0.99038385 0.07095806] [ 0.14517544 -0.05337451 0.98796528]] t_gt: [ 0.75531191 0.45110488 -0.47540331] Pose Error in degrees for R and t: 11.482099172940027 40.58355153687953 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.6649093 -0.74688717 -0.0074278 ] [ 0.74691922 -0.66490805 -0.00299395] [-0.00270266 -0.00753867 0.99996793]] t_estimated: [[0.9693515 ] [0.24567061] [0.00190442]] R_gt: [[ 0.96118543 0.22645259 -0.15761134] [-0.21088397 0.97135312 0.1095542 ] [ 0.17790406 -0.07206436 0.98140582]] t_gt: [ 0.42737498 0.86771712 -0.25380629] Pose Error in degrees for R and t: 144.5542495256522 51.17338068270291 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 0.72877201 -0.67950364 0.08465319] [-0.68031505 -0.73254846 -0.02332794] [ 0.07786398 -0.04059009 -0.99613736]] t_estimated: [[0.68393952] [0.72953548] [0.00217124]] R_gt: [[ 0.99857088 0.03978006 -0.0356872 ] [-0.03941444 0.99916332 0.01089888] [ 0.03609049 -0.00947772 0.99930398]] t_gt: [-0.58757723 0.80492955 -0.08271293] Pose Error in degrees for R and t: 179.57881836541966 79.32850184150871 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.93593576e-01 -1.13012362e-01 -1.08923464e-04] [ 1.13012309e-01 9.93593504e-01 -4.09282448e-04] [ 1.54479622e-04 3.94350719e-04 9.99999910e-01]] t_estimated: [[-0.84342559] [-0.5372386 ] [-0.00282207]] R_gt: [[ 0.99707961 0.07035494 -0.02971022] [-0.07126452 0.9969827 -0.03076398] [ 0.02745678 0.0327905 0.9990843 ]] t_gt: [-0.37951695 0.83591454 -0.39650192] Pose Error in degrees for R and t: 10.82666272378816 82.65334243086082 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-0.87977804 0.47526944 -0.01046718] [ 0.47526619 0.8798371 0.00295496] [ 0.01061381 -0.00237499 -0.99994085]] t_estimated: [[ 0.97165123] [-0.2363654 ] [-0.005028 ]] R_gt: [[ 0.98833409 0.14938932 -0.02964451] [-0.15043623 0.98792928 -0.03692604] [ 0.02377013 0.04095429 0.99887845]] t_gt: [-0.52566818 0.81617357 -0.23986177] Pose Error in degrees for R and t: 178.43927164481937 45.37406333648634 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.96462519e-01 8.40379920e-02 2.52501998e-04] [-8.40380039e-02 9.96462549e-01 3.67181271e-05] [-2.48523067e-04 -5.78080013e-05 9.99999967e-01]] t_estimated: [[0.32352524] [0.94621874] [0.00123073]] R_gt: [[ 0.99875157 -0.04701119 -0.01689963] [ 0.04738119 0.99863106 0.02216092] [ 0.01583419 -0.02293327 0.99961164]] t_gt: [ 0.98573524 -0.10699593 0.12991503] Pose Error in degrees for R and t: 7.694963407930013 77.41847385793734 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.63904531e-01 2.66246272e-01 9.88950876e-04] [-2.66247492e-01 9.63903644e-01 1.42777061e-03] [-5.73114750e-04 -1.63954025e-03 9.99998492e-01]] t_estimated: [[0.73715717] [0.67572049] [0.001061 ]] R_gt: [[ 0.99924126 -0.02477484 -0.03007624] [ 0.025077 0.9996388 0.0096704 ] [ 0.02982457 -0.01041661 0.99950058]] t_gt: [ 0.97814393 0.20519638 -0.03359909] Pose Error in degrees for R and t: 16.967697193078777 30.720947037913625 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.98760647e-01 4.97556122e-02 1.24463728e-03] [-4.97551173e-02 9.98761356e-01 -4.25545739e-04] [-1.26426890e-03 3.63091264e-04 9.99999135e-01]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 9.99267027e-01 -3.43206000e-06 -3.82749464e-02] [ 9.05412730e-05 9.99997170e-01 2.26256509e-03] [ 3.82745250e-02 -2.26327618e-03 9.99264366e-01]] t_gt: [ 0.94869028 0.29300515 -0.11888957] Pose Error in degrees for R and t: 3.6477404198608547 70.17256090009246 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 5.37793705e-01 8.43074878e-01 1.63752596e-03] [-8.43072526e-01 5.37796116e-01 -2.01341161e-03] [-2.57811185e-03 -2.97753059e-04 9.99996632e-01]] t_estimated: [[0.08560098] [0.99632563] [0.00277656]] R_gt: [[ 0.99790939 0.06454305 -0.00316773] [-0.06448536 0.99779342 0.01584937] [ 0.00418435 -0.01561292 0.99986933]] t_gt: [-0.84230888 0.52994773 0.09834204] Pose Error in degrees for R and t: 53.776187035249684 62.859690055667144 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.99999133 0.00401174 -0.00111796] [-0.00400935 0.99998967 0.00213943] [ 0.00112653 -0.00213493 0.99999709]] t_estimated: [[0.97835676] [0.20691488] [0.00206763]] R_gt: [[ 0.99966448 -0.01574305 -0.02055807] [ 0.01550627 0.99981255 -0.01162647] [ 0.02073766 0.0113033 0.99972105]] t_gt: [ 0.11679224 -0.86948652 -0.47995079] Pose Error in degrees for R and t: 1.7677247581773132 86.17911626063186 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-7.44399653e-01 6.67732039e-01 -1.75516035e-03] [-6.67732624e-01 -7.44401131e-01 -3.13768656e-04] [-1.51605674e-03 9.38408550e-04 9.99998410e-01]] t_estimated: [[8.20761580e-01] [5.71270531e-01] [6.39720639e-04]] R_gt: [[ 0.99612166 -0.08476174 -0.02357982] [ 0.08422162 0.99618153 -0.02301895] [ 0.02544117 0.0209434 0.99945711]] t_gt: [ 0.49492866 -0.82049538 -0.28606458] Pose Error in degrees for R and t: 142.95959024782454 86.40580493184079 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99876823e-01 -1.56951223e-02 -4.31051743e-05] [ 1.56951221e-02 9.99876824e-01 -6.29674040e-06] [ 4.31986929e-05 5.61942382e-06 9.99999999e-01]] t_estimated: [[ 0.65130385] [-0.75881331] [-0.00237692]] R_gt: [[ 0.99969838 -0.02234652 0.01020505] [ 0.02241214 0.99972832 -0.006395 ] [-0.01005929 0.00662225 0.99992705]] t_gt: [ 0.84023562 -0.51972452 0.15456561] Pose Error in degrees for R and t: 0.7915261614058727 19.73657103687186 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999718e-01 6.88488672e-04 3.01180006e-04] [-6.88237054e-04 9.99999415e-01 -8.34747483e-04] [-3.01754544e-04 8.34539964e-04 9.99999606e-01]] t_estimated: [[0.56843162] [0.82272998] [0.00093492]] R_gt: [[ 0.98482094 -0.17238636 -0.02027501] [ 0.17229798 0.98502676 -0.00603457] [ 0.02101072 0.00244944 0.99977615]] t_gt: [ 0.75886652 -0.64853379 -0.05937615] Pose Error in degrees for R and t: 10.038784546967756 84.13067501804946 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999203e-01 1.21953714e-03 3.25969351e-04] [-1.21953651e-03 9.99999256e-01 -2.13911275e-06] [-3.25971717e-04 1.74157952e-06 9.99999947e-01]] t_estimated: [[9.76967475e-01] [2.13387641e-01] [5.17343189e-04]] R_gt: [[ 0.96434123 -0.26274055 -0.03181957] [ 0.26319342 0.96468119 0.01092956] [ 0.02782372 -0.01891391 0.99943347]] t_gt: [ 0.75680513 -0.65355846 -0.01036034] Pose Error in degrees for R and t: 15.442807944440117 53.13673883924196 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99854922 -0.05383177 -0.00126019] [ 0.05383313 0.99854937 0.00107243] [ 0.00120063 -0.00113871 0.99999863]] t_estimated: [[-0.58123797] [-0.81373316] [-0.00088066]] R_gt: [[ 0.99895797 -0.04044609 -0.02112753] [ 0.03957264 0.99840682 -0.04021566] [ 0.02272216 0.03933796 0.998967 ]] t_gt: [ 0.72009425 -0.44640262 -0.53121462] Pose Error in degrees for R and t: 2.7442361920027976 86.85714356862098 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.87969918e-01 -1.54646086e-01 -1.70206849e-04] [ 1.54646143e-01 9.87969843e-01 4.00229730e-04] [ 1.06265273e-04 -4.21736767e-04 9.99999905e-01]] t_estimated: [[0.36049635] [0.93276012] [0.00097017]] R_gt: [[ 0.99635369 -0.03196125 -0.07911087] [ 0.02343889 0.99404828 -0.10639028] [ 0.08204111 0.10414847 0.99117139]] t_gt: [ 0.47073875 0.00799644 -0.88223641] Pose Error in degrees for R and t: 10.55929350603873 79.84553890999902 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-4.01717479e-03 9.99991902e-01 -2.39698247e-04] [ 9.79458840e-01 3.98301394e-03 2.01604852e-01] [ 2.01604174e-01 5.75107362e-04 -9.79466909e-01]] t_estimated: [[0.55810806] [0.82975358] [0.00493901]] R_gt: [[ 0.98865751 -0.0623359 -0.13663865] [ 0.03766268 0.98362927 -0.17622713] [ 0.14538796 0.16908226 0.9748197 ]] t_gt: [ 0.44421967 0.06917025 -0.89324373] Pose Error in degrees for R and t: 173.3122703413391 72.4880264035221 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.75742857e-01 -2.18919181e-01 -5.18685204e-04] [ 2.18919624e-01 9.75742319e-01 1.06028775e-03] [ 2.73985779e-04 -1.14811857e-03 9.99999303e-01]] t_estimated: [[-8.86554535e-01] [-4.62623334e-01] [-8.41133335e-04]] R_gt: [[ 0.95303799 0.30245922 -0.01540097] [-0.30280659 0.95253809 -0.03128745] [ 0.00520645 0.03448184 0.99939178]] t_gt: [-0.89398383 0.43394405 -0.11173845] Pose Error in degrees for R and t: 30.334962858658482 53.707565192623804 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-9.91300085e-01 -1.31618659e-01 -8.18650584e-04] [-1.31617018e-01 9.91298986e-01 -1.81129081e-03] [ 1.04992716e-03 -1.68778439e-03 -9.99998025e-01]] t_estimated: [[9.94608321e-01] [1.03698964e-01] [9.01730124e-04]] R_gt: [[ 0.82923984 0.55887494 -0.0044382 ] [-0.55836444 0.82808368 -0.05007237] [-0.02430988 0.04400084 0.99873591]] t_gt: [-0.83835464 0.54130896 -0.0643902 ] Pose Error in degrees for R and t: 179.61358425086974 38.94411762763222 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-5.49883507e-01 8.35241344e-01 -1.60538298e-04] [-8.35240820e-01 -5.49883360e-01 -1.03098498e-03] [-9.49398617e-04 -4.32833496e-04 9.99999456e-01]] t_estimated: [[7.79912638e-01] [6.25888050e-01] [6.52646559e-04]] R_gt: [[ 0.7488596 0.6624518 -0.01915173] [-0.66270273 0.74826619 -0.03035826] [-0.00578075 0.03542696 0.99935533]] t_gt: [-0.80500113 0.5910371 -0.05146184] Pose Error in degrees for R and t: 81.86655701509532 75.05207146711629 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99555827e-01 -2.98015941e-02 1.19853213e-04] [ 2.98015722e-02 9.99555818e-01 1.81063609e-04] [-1.25195961e-04 -1.77411371e-04 9.99999976e-01]] t_estimated: [[0.99936975] [0.0354733 ] [0.00131863]] R_gt: [[ 0.99138593 -0.12893429 -0.02301443] [ 0.12872212 0.99162502 -0.01047677] [ 0.02417249 0.00742354 0.99968063]] t_gt: [ 0.67888439 -0.70248144 -0.2136254 ] Pose Error in degrees for R and t: 5.879151146134258 49.21249510451531 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999655e-01 8.02959460e-04 2.12990567e-04] [-8.02940662e-04 9.99999674e-01 -8.83256169e-05] [-2.13061420e-04 8.81545676e-05 9.99999973e-01]] t_estimated: [[9.99997650e-01] [2.10588430e-03] [5.14432868e-04]] R_gt: [[ 0.98134969 -0.19197293 -0.00996137] [ 0.19141221 0.98063226 -0.04150274] [ 0.01773703 0.03882255 0.99908873]] t_gt: [ 0.60425767 -0.74760292 -0.27561304] Pose Error in degrees for R and t: 11.36792596940471 52.947963964654235 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.85232431e-01 1.71221557e-01 4.84309765e-04] [-1.71221531e-01 9.85232550e-01 -9.31194268e-05] [-4.93101798e-04 8.82001957e-06 9.99999878e-01]] t_estimated: [[-0.42471988] [-0.90532396] [-0.00124187]] R_gt: [[ 0.96127168 -0.2723681 -0.04209839] [ 0.27036075 0.96157282 -0.04778122] [ 0.05349529 0.03454847 0.99797057]] t_gt: [ 0.62320367 -0.73219023 -0.27479929] Pose Error in degrees for R and t: 25.878028444903876 66.51408396677681 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 7.82581952e-01 -6.22536760e-01 3.67024813e-03] [-6.22547364e-01 -7.82563182e-01 5.44475892e-03] [-5.17361520e-04 -6.54587337e-03 -9.99978442e-01]] t_estimated: [[0.0475647 ] [0.9988588 ] [0.00432406]] R_gt: [[ 9.58390958e-01 2.85040272e-01 1.55076998e-02] [-2.84993931e-01 9.58514746e-01 -5.16689803e-03] [-1.63371530e-02 5.32857452e-04 9.99866550e-01]] t_gt: [-0.92850989 0.37124989 0.0065504 ] Pose Error in degrees for R and t: 179.47473455935423 70.93199023800226 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 8.89682740e-01 -4.56579221e-01 1.91087613e-04] [ 4.56578922e-01 8.89681491e-01 -1.59143341e-03] [ 5.56608315e-04 1.50311742e-03 9.99998715e-01]] t_estimated: [[-0.80684436] [-0.59076074] [-0.00198242]] R_gt: [[ 0.9403026 0.33953268 0.02342127] [-0.33903711 0.94049779 -0.02273803] [-0.02974868 0.01343957 0.99946669]] t_gt: [-0.91207535 0.40945162 -0.02163169] Pose Error in degrees for R and t: 47.03889626742234 60.392360634829636 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.87567590e-01 -1.57194944e-01 7.40983952e-05] [ 1.57194872e-01 9.87567419e-01 6.04436510e-04] [-1.68191524e-04 -5.85274019e-04 9.99999815e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.88308745 0.46875179 0.02072934] [-0.46881034 0.88329558 -0.00220239] [-0.01934327 -0.00777382 0.99978296]] t_gt: [-0.87397738 0.48527912 0.02583993] Pose Error in degrees for R and t: 37.0208328087755 65.77103429922293 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 2.65431569e-01 9.64127046e-01 2.26314321e-03] [-9.64129431e-01 2.65432524e-01 -1.27426153e-04] [-7.23566815e-04 -2.14814005e-03 9.99997431e-01]] t_estimated: [[0.00867646] [0.99996177] [0.00108456]] R_gt: [[ 0.99621714 0.08562223 -0.01485705] [-0.08630972 0.99478929 -0.05427006] [ 0.01013336 0.05534794 0.99841539]] t_gt: [-0.59789983 0.64970829 -0.46946239] Pose Error in degrees for R and t: 69.74184255638814 49.91026048883747 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.37058677e-01 -3.49171682e-01 -4.15866625e-04] [ 3.49171724e-01 9.37058753e-01 3.09176213e-05] [ 3.78895903e-04 -1.74180492e-04 9.99999913e-01]] t_estimated: [[ 4.46619275e-01] [-8.94723868e-01] [-6.49833857e-04]] R_gt: [[ 0.99597176 0.08093183 0.03862683] [-0.08134555 0.99664393 0.00926444] [-0.03774739 -0.01236852 0.99921042]] t_gt: [-0.74261288 0.56455723 0.36027939] Pose Error in degrees for R and t: 25.195725286167303 33.17300758626184 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.94156289e-01 1.07950234e-01 1.41486574e-04] [-1.07950209e-01 9.94156286e-01 -1.76643005e-04] [-1.59728420e-04 1.60337249e-04 9.99999974e-01]] t_estimated: [[-7.00056162e-02] [-9.97546583e-01] [ 1.66404451e-04]] R_gt: [[ 0.98745125 -0.00488819 0.15785292] [-0.02982469 0.97576423 0.21678399] [-0.15508552 -0.21877061 0.96337329]] t_gt: [-0.0666352 0.00800029 0.99774533] Pose Error in degrees for R and t: 16.485626290689865 89.81952956109377 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999008e-01 1.16330528e-03 7.94012203e-04] [-1.16308182e-03 9.99999284e-01 -2.81832885e-04] [-7.94339492e-04 2.80909104e-04 9.99999645e-01]] t_estimated: [[9.19419337e-01] [3.93277635e-01] [8.85760440e-04]] R_gt: [[ 0.9915215 -0.12747016 -0.02519294] [ 0.12719292 0.99180112 -0.01230272] [ 0.02655511 0.00899498 0.99960748]] t_gt: [ 0.71779881 -0.67610515 -0.16627293] Pose Error in degrees for R and t: 7.564035991626911 66.80175260287035 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99997863e-01 1.71754349e-03 -1.15074631e-03] [-1.71741069e-03 9.99998518e-01 1.16384523e-04] [ 1.15094450e-03 -1.14407970e-04 9.99999331e-01]] t_estimated: [[0.57496147] [0.81818 ] [0.00089419]] R_gt: [[ 0.97788586 -0.20625017 -0.03464705] [ 0.20550254 0.97836338 -0.02392718] [ 0.03883255 0.01627851 0.99911366]] t_gt: [ 0.74602542 -0.65077646 -0.14119516] Pose Error in degrees for R and t: 12.213596263419392 84.05102907585204 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.01353915e-01 4.33080995e-01 1.40449759e-03] [-4.33080859e-01 9.01354978e-01 -4.14973618e-04] [-1.44566808e-03 -2.34222926e-04 9.99998928e-01]] t_estimated: [[-8.26213437e-01] [-5.63356845e-01] [-6.49028623e-04]] R_gt: [[ 0.97657675 -0.20049393 -0.07810542] [ 0.19358422 0.97714344 -0.08784945] [ 0.09393306 0.07067211 0.99306718]] t_gt: [ 0.75110611 -0.52618732 -0.39870604] Pose Error in degrees for R and t: 37.66625256241436 71.10202612332826 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99994255e-01 3.38800638e-03 1.10060800e-04] [-3.38799465e-03 9.99994255e-01 -1.06583073e-04] [-1.10421272e-04 1.06209575e-04 9.99999988e-01]] t_estimated: [[ 0.99975927] [-0.02189784] [-0.00137069]] R_gt: [[ 0.99795385 -0.06215572 -0.01500533] [ 0.06220605 0.99805902 0.00293539] [ 0.01479343 -0.00386198 0.99988368]] t_gt: [ 0.81739013 -0.56257013 -0.12404925] Pose Error in degrees for R and t: 3.8614127290535474 33.933866170224995 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999844e-01 3.87225559e-04 4.01625538e-04] [-3.86782044e-04 9.99999316e-01 -1.10379215e-03] [-4.02052679e-04 1.10363664e-03 9.99999310e-01]] t_estimated: [[0.6913599 ] [0.72251003] [0.00086528]] R_gt: [[ 0.99327982 -0.11440571 -0.01751414] [ 0.11424618 0.99340423 -0.00978391] [ 0.01851784 0.00771656 0.99979927]] t_gt: [ 0.79566728 -0.59097594 -0.13289479] Pose Error in degrees for R and t: 6.686028032716742 82.93522278482854 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 6.70144126e-01 7.42229542e-01 1.46856019e-03] [-7.42229515e-01 6.70145430e-01 -6.71003547e-04] [-1.48218756e-03 -6.40339635e-04 9.99998697e-01]] t_estimated: [[0.44363142] [0.89620836] [0.00131895]] R_gt: [[ 0.96107896 -0.27247429 -0.04566901] [ 0.27285477 0.96205267 0.00217963] [ 0.04334163 -0.01455555 0.99895485]] t_gt: [ 0.78685776 -0.61384369 -0.06364586] Pose Error in degrees for R and t: 63.8052462765405 78.39631219918911 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99899340e-01 1.41883234e-02 -4.68745205e-05] [-1.41883216e-02 9.99899340e-01 3.85477143e-05] [ 4.74167296e-05 -3.78787633e-05 9.99999998e-01]] t_estimated: [[-9.02099642e-01] [ 4.31527322e-01] [-6.37162441e-04]] R_gt: [[ 0.9981713 0.05905533 0.01294567] [-0.05853162 0.99757672 -0.0376202 ] [-0.01513531 0.03679449 0.9992082 ]] t_gt: [-0.50264631 0.80397714 -0.31775375] Pose Error in degrees for R and t: 3.428922361273868 36.814703822149426 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 0.99465653 -0.10322766 -0.00155955] [ 0.10323241 0.99465159 0.00335829] [ 0.00120454 -0.00350134 0.99999314]] t_estimated: [[-0.97854684] [-0.20600986] [-0.0024525 ]] R_gt: [[ 0.98892103 0.14823994 0.00787113] [-0.14792009 0.98848591 -0.03189143] [-0.0125082 0.0303738 0.99946038]] t_gt: [-0.65389196 0.74811757 -0.11289555] Pose Error in degrees for R and t: 14.593447703522653 60.9206002518227 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-9.25357723e-01 3.79028958e-01 -7.08046917e-03] [ 3.79024074e-01 9.25384494e-01 2.07136410e-03] [ 7.33726335e-03 -7.66915499e-04 -9.99972788e-01]] t_estimated: [[ 0.97558847] [-0.21957786] [-0.00356386]] R_gt: [[ 0.94636177 0.32303866 -0.0068828 ] [-0.32265973 0.94369694 -0.07299321] [-0.017084 0.07129895 0.99730885]] t_gt: [-0.68468941 0.7139813 -0.1463937 ] Pose Error in degrees for R and t: 179.32124297552238 34.4897148300863 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99998831e-01 -1.33960880e-03 7.37131725e-04] [ 1.33958927e-03 9.99999102e-01 2.69764602e-05] [-7.37167201e-04 -2.59889749e-05 9.99999728e-01]] t_estimated: [[0.62774135] [0.77829731] [0.01393162]] R_gt: [[ 0.99963314 -0.01395969 -0.02323395] [ 0.0143496 0.99975716 0.01671167] [ 0.02299483 -0.01703923 0.99958982]] t_gt: [ 0.99076878 0.12793555 -0.04482981] Pose Error in degrees for R and t: 1.8276999366655697 43.87166984737955 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999764e-01 -6.87244692e-04 1.33465816e-05] [ 6.87240919e-04 9.99999724e-01 2.80640481e-04] [-1.35394466e-05 -2.80631242e-04 9.99999961e-01]] t_estimated: [[0.47090681] [0.88218228] [0.00109572]] R_gt: [[ 0.99924359 0.00507379 -0.03856706] [-0.00464778 0.99992615 0.01113793] [ 0.03862076 -0.01095011 0.99919339]] t_gt: [ 0.92816269 0.3229368 -0.1850023 ] Pose Error in degrees for R and t: 2.319710164624022 43.799642764502345 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999359e-01 -1.12481306e-03 1.29923594e-04] [ 1.12481308e-03 9.99999367e-01 -1.07749552e-07] [-1.29923390e-04 2.53889240e-07 9.99999992e-01]] t_estimated: [[3.49402846e-02] [9.99389305e-01] [4.38955381e-04]] R_gt: [[ 0.99681416 0.04845054 -0.06337009] [-0.04713331 0.99864382 0.02212169] [ 0.06435542 -0.01906402 0.99774491]] t_gt: [ 0.89997068 0.39460796 -0.18530337] Pose Error in degrees for R and t: 4.768475325140285 64.80306610396381 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 0.89576227 0.43841303 0.07351173] [ 0.43543793 -0.8320728 -0.34358211] [-0.08946377 0.33977768 -0.93624108]] t_estimated: [[-9.97725512e-01] [-6.74019013e-02] [-8.86867122e-04]] R_gt: [[ 0.99919343 -0.02046586 -0.03453925] [ 0.02104201 0.99964425 0.01639649] [ 0.0341905 -0.0171112 0.9992692 ]] t_gt: [ 0.59083496 -0.6718699 -0.4466597 ] Pose Error in degrees for R and t: 160.83457393303092 57.0566416377757 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.27795209 0.89318991 0.35348893] [-0.8559299 0.06324949 0.51320902] [ 0.43603513 -0.44520927 0.78208828]] t_estimated: [[0.56005222] [0.82845461] [0.0021134 ]] R_gt: [[ 0.9985403 0.0153002 -0.05178923] [-0.01264364 0.99860611 0.05124264] [ 0.05250055 -0.05051354 0.99734255]] t_gt: [-0.16653027 -0.88455148 -0.43570213] Pose Error in degrees for R and t: 84.30176724623442 34.20849614493934 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 6.26074814e-01 7.79762737e-01 6.33490922e-04] [ 7.79732519e-01 -6.26057321e-01 8.33245523e-03] [ 6.89393972e-03 -4.72278688e-03 -9.99965084e-01]] t_estimated: [[8.25464599e-01] [5.64453345e-01] [7.85752227e-04]] R_gt: [[ 0.99869138 0.01412735 -0.04914989] [-0.01306355 0.99967495 0.02190045] [ 0.04944345 -0.02122918 0.99855181]] t_gt: [-0.17793147 -0.75813361 -0.62735462] Pose Error in degrees for R and t: 177.24766787831942 54.879347066099754 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.98622032e-01 -5.24787405e-02 1.34716869e-04] [ 5.24787241e-02 9.98622035e-01 1.22652203e-04] [-1.40967867e-04 -1.15413423e-04 9.99999983e-01]] t_estimated: [[0.88179546] [0.47163055] [0.00118203]] R_gt: [[ 0.99196261 -0.12386159 -0.02582977] [ 0.12437171 0.99205021 0.01915437] [ 0.02325175 -0.02221283 0.99948291]] t_gt: [ 0.64218323 -0.76566481 0.03685231] Pose Error in degrees for R and t: 4.517394145216834 78.15838850279383 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.16440663 0.98636801 0.00697185] [ 0.98637964 -0.16436404 -0.00629884] [-0.00506705 0.00791246 -0.99995586]] t_estimated: [[0.93295867] [0.3599772 ] [0.00213004]] R_gt: [[ 0.97737897 -0.21142219 0.00555987] [ 0.2114414 0.97738605 -0.00296001] [-0.00480788 0.0040688 0.99997985]] t_gt: [ 0.63620913 -0.76964775 -0.05366825] Pose Error in degrees for R and t: 179.1121426840567 71.55544215555314 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.99441574 0.10552619 0.00124855] [-0.10552382 0.99441508 -0.00183725] [-0.00143546 0.00169524 0.99999753]] t_estimated: [[0.97856199] [0.20594891] [0.00121863]] R_gt: [[ 0.97322445 -0.21681977 0.07631007] [ 0.22338788 0.97039894 -0.09178056] [-0.05415122 0.10637038 0.99285117]] t_gt: [ 0.53200127 -0.77288671 -0.34586238] Pose Error in degrees for R and t: 19.974724919662798 68.8384044403202 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.98012067e-01 -6.29160939e-02 -3.67147407e-03] [ 6.29167540e-02 9.98018776e-01 6.44642031e-05] [ 3.66014422e-03 -2.95333283e-04 9.99993258e-01]] t_estimated: [[-0.8687598 ] [-0.49521496] [-0.00430596]] R_gt: [[ 0.98886804 0.14872106 -0.0046203 ] [-0.14878422 0.98800547 -0.04132417] [-0.00158102 0.04155218 0.99913552]] t_gt: [-0.81868817 0.54183428 -0.19017173] Pose Error in degrees for R and t: 12.398299136980466 63.657387837337936 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 4.20734401e-01 9.07183754e-01 -4.47063930e-04] [-9.07182443e-01 4.20732819e-01 -1.97742548e-03] [-1.60579381e-03 1.23753947e-03 9.99997945e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98195108 0.18622452 -0.03304722] [-0.18713844 0.9819595 -0.02709954] [ 0.02740423 0.03279484 0.99908643]] t_gt: [-0.78185808 0.6001142 -0.16899968] Pose Error in degrees for R and t: 54.40369448639155 53.48379115490687 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 2.06270874e-01 9.78494644e-01 7.47194425e-04] [-9.78493846e-01 2.06271722e-01 -1.33028708e-03] [-1.45580386e-03 -4.56725668e-04 9.99998836e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97871636 0.20140538 -0.03937709] [-0.20366069 0.97683706 -0.06566302] [ 0.02524016 0.07228511 0.99706443]] t_gt: [-0.66951514 0.68853087 -0.27870184] Pose Error in degrees for R and t: 66.52240708076553 46.8389243984248 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999999e-01 -4.26010419e-05 1.06602677e-07] [ 4.26010436e-05 9.99999999e-01 -1.56875826e-05] [-1.05934369e-07 1.56875871e-05 1.00000000e+00]] t_estimated: [[ 9.36963883e-01] [-3.49426111e-01] [ 2.73961805e-04]] R_gt: [[ 0.99723509 -0.0643638 0.03712225] [ 0.0640748 0.99790483 0.0089539 ] [-0.03762037 -0.00655005 0.99926999]] t_gt: [ 0.6246984 -0.67552743 0.39168176] Pose Error in degrees for R and t: 4.2828182784647275 34.76737339685224 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 1.00000000e+00 -5.21804822e-15 7.40510084e-17] [ 5.21804822e-15 1.00000000e+00 1.90152798e-15] [-7.28583860e-17 -1.90564795e-15 1.00000000e+00]] t_estimated: [[0.92373693] [0.38302614] [0.00103099]] R_gt: [[ 0.99313484 -0.10995428 0.03992278] [ 0.10970935 0.99392822 0.00831925] [-0.04059426 -0.00388236 0.99916752]] t_gt: [ 0.72363948 -0.65576811 0.2152071 ] Pose Error in degrees for R and t: 6.727134148324104 65.32326975027206 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 1.00000000e+00 8.66207717e-06 1.81660258e-05] [-8.66185898e-06 1.00000000e+00 -1.20106268e-05] [-1.81661299e-05 1.20104695e-05 1.00000000e+00]] t_estimated: [[-0.05193635] [-0.99864962] [-0.00124427]] R_gt: [[ 0.98875338 -0.13913778 0.05483269] [ 0.13948527 0.99022078 -0.00252429] [-0.0539443 0.01014495 0.99849253]] t_gt: [ 0.75488011 -0.62272146 0.20584946] Pose Error in degrees for R and t: 8.608877410180234 54.37915840135652 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.99028521e-01 4.40682493e-02 6.50582235e-05] [-4.40682528e-02 9.99028521e-01 5.32811540e-05] [-6.26470137e-05 -5.60963947e-05 9.99999996e-01]] t_estimated: [[8.06878138e-01] [5.90717468e-01] [7.37228415e-04]] R_gt: [[ 0.98815968 -0.15123303 -0.02586302] [ 0.15140817 0.98845883 0.00495339] [ 0.02481505 -0.00881137 0.99965249]] t_gt: [ 0.69135736 -0.72249332 0.00532851] Pose Error in degrees for R and t: 11.331815308511374 82.46940177948184 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.67548397e-01 -2.52685654e-01 -2.45939469e-04] [ 2.52664211e-01 9.67478090e-01 -1.21219745e-02] [ 3.30099010e-03 1.16664569e-02 9.99926496e-01]] t_estimated: [[ 0.64038844] [-0.76596345] [-0.05659182]] R_gt: [[ 0.97513168 -0.2199816 -0.02696016] [ 0.22161002 0.96929884 0.10652307] [ 0.00269915 -0.10984898 0.99394429]] t_gt: [ 0.5280765 -0.75439783 0.38989629] Pose Error in degrees for R and t: 7.216861739669624 26.626081942765104 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999994e-01 4.73901873e-05 -9.36525930e-05] [-4.73559899e-05 9.99999932e-01 3.65120189e-04] [ 9.36698898e-05 -3.65115752e-04 9.99999929e-01]] t_estimated: [[0.76369709] [0.64557423] [0.0008203 ]] R_gt: [[ 0.9553718 -0.27935932 -0.09603594] [ 0.29180393 0.94306752 0.15960035] [ 0.0459823 -0.18050165 0.98249938]] t_gt: [ 0.55776657 -0.73195039 0.39133755] Pose Error in degrees for R and t: 19.86017443379083 87.34954928924017 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.97459271e-01 -7.12390479e-02 -1.94285269e-05] [ 7.12390499e-02 9.97459261e-01 1.41534473e-04] [ 9.29638302e-06 -1.42558942e-04 9.99999990e-01]] t_estimated: [[ 2.16497314e-01] [ 9.76283203e-01] [-1.46261407e-04]] R_gt: [[ 0.99989059 -0.00415424 -0.01419681] [ 0.00321906 0.99786441 -0.06523312] [ 0.01443772 0.06518011 0.99776878]] t_gt: [-0.00932046 0.5564588 -0.83082292] Pose Error in degrees for R and t: 5.451135008490361 57.223388223745985 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99139543e-01 4.14631255e-02 -9.91055432e-04] [-4.14636559e-02 9.99139877e-01 -5.20796308e-04] [ 9.68609160e-04 5.61440966e-04 9.99999373e-01]] t_estimated: [[ 0.22929691] [ 0.97334487] [-0.00476451]] R_gt: [[ 9.98534937e-01 -5.41023789e-02 -6.12034495e-04] [ 5.35981414e-02 9.90645909e-01 -1.25491170e-01] [ 7.39683805e-03 1.25274083e-01 9.92094514e-01]] t_gt: [ 0.13321151 0.56340362 -0.81537173] Pose Error in degrees for R and t: 9.024759141417475 54.35115999090635 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.90629093e-01 -1.36578621e-01 5.30237742e-04] [ 1.36579271e-01 9.90628027e-01 -1.48807855e-03] [-3.22028652e-04 1.54655339e-03 9.99998752e-01]] t_estimated: [[-0.73600328] [-0.67697545] [-0.00184462]] R_gt: [[ 0.99944892 -0.03018001 -0.01383909] [ 0.02749119 0.98594866 -0.16477237] [ 0.01861783 0.16430062 0.98623415]] t_gt: [-0.02502666 0.74437116 -0.66729696] Pose Error in degrees for R and t: 11.276908733137944 61.03531839446209 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 0.23802801 0.97125676 0.00172242] [-0.97125684 0.23803035 -0.00130618] [-0.00167862 -0.001362 0.99999766]] t_estimated: [[0.01851532] [0.99982716] [0.00168321]] R_gt: [[ 0.98998618 0.13951846 0.02152991] [-0.13856711 0.98951692 -0.04070389] [-0.02698327 0.03731249 0.99893931]] t_gt: [-0.82714215 0.54405004 -0.14087377] Pose Error in degrees for R and t: 68.2753256381078 58.1023111368707 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[-9.77545379e-01 -2.10514655e-01 -9.41342598e-03] [-2.10528231e-01 9.77587668e-01 4.64124296e-04] [ 9.10474419e-03 2.43549448e-03 -9.99955585e-01]] t_estimated: [[ 0.99666427] [ 0.08149423] [-0.0043611 ]] R_gt: [[ 0.96728163 0.25099742 0.03695085] [-0.2515839 0.96775946 0.0120955 ] [-0.0327241 -0.02099711 0.99924336]] t_gt: [-0.8298605 0.55083516 0.08895044] Pose Error in degrees for R and t: 178.43647756052576 38.5016397381742 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.75897755 0.64529597 -0.0868688 ] [ 0.65008715 0.75850301 -0.04538584] [ 0.03660295 -0.09091913 -0.99518538]] t_estimated: [[0.96523394] [0.26138194] [0.00170838]] R_gt: [[ 0.9227653 0.38297788 0.04279493] [-0.38318944 0.92366407 -0.00349144] [-0.04086528 -0.0131767 0.99907701]] t_gt: [-0.79046697 0.60981903 0.05729507] Pose Error in degrees for R and t: 179.3036867603056 52.879595369375444 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999044e-01 -1.37906454e-03 -9.76578087e-05] [ 1.37904984e-03 9.99999038e-01 -1.50414568e-04] [ 9.78651462e-05 1.50279749e-04 9.99999984e-01]] t_estimated: [[-0.99991626] [-0.01279512] [-0.00193722]] R_gt: [[ 0.9930619 0.09433218 -0.07021821] [-0.08987232 0.99388394 0.06416375] [ 0.07584175 -0.05740716 0.99546571]] t_gt: [-0.23097276 0.96689942 -0.10843016] Pose Error in degrees for R and t: 7.660299426918569 77.36191574091683 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99999944e-01 -2.06689558e-04 -2.61564490e-04] [ 2.06789292e-04 9.99999906e-01 3.81325692e-04] [ 2.61485649e-04 -3.81379760e-04 9.99999893e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9814522 0.15316002 -0.11529718] [-0.1425267 0.98517651 0.09546568] [ 0.12821043 -0.07726173 0.98873278]] t_gt: [-0.09998642 0.9846322 -0.14318574] Pose Error in degrees for R and t: 12.118682345502872 10.31439945267441 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.99993685e-01 -3.55338449e-03 5.17211372e-05] [ 3.55341720e-03 9.99993478e-01 -6.46603277e-04] [-4.94231698e-05 6.46782981e-04 9.99999790e-01]] t_estimated: [[-0.99981664] [-0.01894617] [-0.00277848]] R_gt: [[ 0.97864664 0.16795718 -0.11849821] [-0.15193451 0.97935673 0.13332519] [ 0.13844516 -0.11247424 0.98396289]] t_gt: [0.03700471 0.99927856 0.00854437] Pose Error in degrees for R and t: 13.9936751415406 86.79238714751695 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-3.13914439e-01 -9.49450114e-01 -1.48500238e-03] [ 9.49451024e-01 -3.13915110e-01 2.36651375e-04] [-6.90853361e-04 -1.33564875e-03 9.99998869e-01]] t_estimated: [[9.97958767e-01] [6.38566221e-02] [7.94463160e-04]] R_gt: [[ 0.99915062 -0.03854948 -0.01458188] [ 0.03744365 0.99685962 -0.06978717] [ 0.01722721 0.06918222 0.99745541]] t_gt: [ 0.47735255 -0.02336419 -0.87840119] Pose Error in degrees for R and t: 106.17279626980415 61.69348353042378 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.9925607 0.12173628 0.00187927] [-0.12173083 0.99255924 -0.00278631] [-0.00220448 0.00253682 0.99999435]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99586832 -0.08590395 -0.02945193] [ 0.08248197 0.99131344 -0.10244281] [ 0.03799668 0.09959041 0.99430207]] t_gt: [ 0.56723308 -0.11768282 -0.81510575] Pose Error in degrees for R and t: 13.270513698167717 55.512014424144795 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.46738280e-01 3.22003903e-01 3.39609337e-04] [-3.22003544e-01 9.46738099e-01 -8.30288048e-04] [-5.88877091e-04 6.76710068e-04 9.99999598e-01]] t_estimated: [[-0.43383839] [-0.90098878] [-0.0018625 ]] R_gt: [[ 0.98056963 -0.1898625 -0.04936035] [ 0.18020116 0.97119878 -0.15588623] [ 0.07753695 0.14396245 0.98654076]] t_gt: [ 0.62414887 -0.22740021 -0.74748065] Pose Error in degrees for R and t: 30.94310624982141 86.30170998462368 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.99625924 0.08632189 -0.00400676] [-0.08629647 0.99625062 0.00613423] [ 0.00452125 -0.00576551 0.99997316]] t_estimated: [[0.92563342] [0.37836111] [0.00675645]] R_gt: [[ 0.99656789 -0.07473843 -0.0355879 ] [ 0.07313642 0.99633495 -0.0443543 ] [ 0.03877262 0.04159892 0.99838229]] t_gt: [ 0.65580858 -0.35106359 -0.66833334] Pose Error in degrees for R and t: 9.796300524126949 61.98556672069078 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.9230507 0.38456335 -0.00940365] [-0.38442768 0.92305594 0.01353131] [ 0.01388374 -0.00887506 0.99986423]] t_estimated: [[-0.99689076] [-0.07818751] [-0.00977344]] R_gt: [[ 0.98673614 -0.16040216 -0.0249445 ] [ 0.1572936 0.98274671 -0.09729822] [ 0.04012085 0.09208477 0.99494248]] t_gt: [ 0.606455 -0.4351781 -0.66545651] Pose Error in degrees for R and t: 32.36821841972501 55.66433984368474 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-9.09022389e-02 -9.95859418e-01 8.95379090e-04] [-9.95859713e-01 9.09026106e-02 3.83555917e-04] [-4.63360070e-04 -8.56805872e-04 -9.99999526e-01]] t_estimated: [[0.77213079] [0.63546208] [0.00141046]] R_gt: [[ 0.98343227 -0.17617529 -0.04270685] [ 0.17232989 0.98167673 -0.08132263] [ 0.05625127 0.07261599 0.99577286]] t_gt: [ 0.63596095 -0.49559196 -0.5915592 ] Pose Error in degrees for R and t: 174.95761202110432 79.9050033124374 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 7.38455624e-01 -6.74289381e-01 -4.13771782e-03] [ 6.74301934e-01 7.38445553e-01 3.88152185e-03] [ 4.38210355e-04 -5.65640277e-03 9.99983906e-01]] t_estimated: [[0.56154104] [0.82744724] [0.00165159]] R_gt: [[ 0.9926169 0.12091835 -0.00943683] [-0.12052902 0.99211178 0.03446878] [ 0.0135301 -0.03307655 0.99936145]] t_gt: [-0.86903466 0.4660907 0.16594645] Pose Error in degrees for R and t: 49.363015609522726 84.14224554832059 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.48488405 -0.87453041 -0.00916629] [ 0.87455987 -0.48477882 -0.01159836] [ 0.0056995 -0.01364033 0.99989072]] t_estimated: [[0.9900975 ] [0.1403756 ] [0.00127638]] R_gt: [[ 0.96385477 0.26641963 0.0021388 ] [-0.26636438 0.96377014 -0.01408615] [-0.00581422 0.013007 0.99989877]] t_gt: [-0.82287229 0.56814529 -0.009598 ] Pose Error in degrees for R and t: 134.45886832431603 42.69427836578292 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-9.82674278e-01 -1.85249466e-01 -5.82222236e-03] [-1.85254061e-01 9.82690627e-01 2.55331105e-04] [ 5.67414339e-03 1.32949764e-03 -9.99983018e-01]] t_estimated: [[ 0.99061592] [ 0.13665892] [-0.0021046 ]] R_gt: [[ 0.93870257 0.34404836 -0.02163533] [-0.34416141 0.93890914 -0.00162001] [ 0.01975643 0.00896577 0.99976478]] t_gt: [-0.78770625 0.61563471 -0.02264424] Pose Error in degrees for R and t: 178.43856502487913 45.882290489397725 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99997590e-01 -2.19464492e-03 -6.15759306e-05] [ 2.19465594e-03 9.99997576e-01 1.79483126e-04] [ 6.11818796e-05 -1.79617832e-04 9.99999982e-01]] t_estimated: [[-4.09110215e-01] [ 9.12484975e-01] [-4.19588312e-05]] R_gt: [[ 0.9944666 0.07409934 -0.07448157] [-0.07159723 0.99679412 0.0357297 ] [ 0.07689021 -0.03019874 0.99658174]] t_gt: [-0.05967855 0.94691159 -0.3159065 ] Pose Error in degrees for R and t: 6.399186521473649 27.318267640600546 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999991e-01 -1.81751753e-05 -1.30590795e-04] [ 1.81919903e-05 9.99999992e-01 1.28761106e-04] [ 1.30588453e-04 -1.28763480e-04 9.99999983e-01]] t_estimated: [[-0.8069161 ] [ 0.59066505] [-0.00109757]] R_gt: [[ 0.98680836 0.13878449 -0.08336336] [-0.12933698 0.98551657 0.10968159] [ 0.09737774 -0.09745182 0.99046466]] t_gt: [-0.16753222 0.97656543 0.13510337] Pose Error in degrees for R and t: 11.062794862119551 44.61361080060194 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.12103274 0.99264712 0.00166281] [-0.99264301 0.12103748 -0.00312793] [-0.00330619 -0.001272 0.99999373]] t_estimated: [[-0.07334961] [ 0.99730417] [ 0.00205858]] R_gt: [[ 0.98771429 0.10861373 -0.11235813] [-0.09954193 0.99152961 0.08343741] [ 0.12046828 -0.07122794 0.99015891]] t_gt: [ 0.34096169 0.91630479 -0.21007298] Pose Error in degrees for R and t: 77.4207407407308 27.328032816125226 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999888e-01 -2.77285451e-04 3.82268305e-04] [ 2.77345884e-04 9.99999949e-01 -1.58047026e-04] [-3.82224462e-04 1.58153029e-04 9.99999914e-01]] t_estimated: [[5.79128336e-01] [8.15236045e-01] [7.49133727e-04]] R_gt: [[ 0.99705181 -0.06043 0.04727245] [ 0.05483355 0.99221245 0.11184241] [-0.05366248 -0.10891983 0.99260105]] t_gt: [ 0.33230597 -0.42738238 0.84078359] Pose Error in degrees for R and t: 7.714034387095387 81.06349247857345 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.00366372 -0.99999105 -0.00211356] [-0.99998182 -0.00367379 0.00478051] [-0.00478823 0.00209601 -0.99998634]] t_estimated: [[0.8242651 ] [0.56620079] [0.00192585]] R_gt: [[ 0.99156225 -0.10066196 0.08167711] [ 0.08441605 0.9795824 0.18246256] [-0.09837607 -0.17402766 0.9798141 ]] t_gt: [ 0.28467741 -0.4102753 0.86639076] Pose Error in degrees for R and t: 168.91919664698463 89.76967058207272 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.03095941e-01 6.71584011e-01 4.30407019e-01] [ 7.97668532e-01 -5.07464858e-01 -3.25890058e-01] [-4.46115642e-04 5.39865107e-01 -8.41751429e-01]] t_estimated: [[0.60655486] [0.79504037] [0.00141718]] R_gt: [[ 0.98511162 -0.12887213 0.11378271] [ 0.09481625 0.959383 0.26569846] [-0.14340271 -0.25095302 0.95731835]] t_gt: [ 0.20577227 -0.38077456 0.90148128] Pose Error in degrees for R and t: 160.2633427055824 79.82580769022238 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.98298018e-01 -5.83186481e-02 -5.06027988e-05] [ 5.83186525e-02 9.98298015e-01 9.06670738e-05] [ 4.52290924e-05 -9.34638471e-05 9.99999995e-01]] t_estimated: [[ 8.39618846e-01] [ 5.43175703e-01] [-5.90877518e-04]] R_gt: [[ 0.99210005 -0.12347943 -0.02215426] [ 0.12462112 0.9903245 0.06105199] [ 0.01440209 -0.06333103 0.99788847]] t_gt: [ 0.54013115 -0.77652891 0.32443981] Pose Error in degrees for R and t: 5.30877799550201 88.19368355924206 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99420840e-01 -3.40228417e-02 6.55846162e-04] [ 3.40229069e-02 9.99421049e-01 -8.84476992e-05] [-6.52457217e-04 1.10710267e-04 9.99999781e-01]] t_estimated: [[-9.21818908e-01] [-3.87619965e-01] [-8.14327657e-04]] R_gt: [[ 0.98110352 -0.18275013 -0.06356279] [ 0.19031044 0.97072391 0.14655494] [ 0.03491944 -0.15588275 0.98715808]] t_gt: [ 0.4827427 -0.74705835 0.45701566] Pose Error in degrees for R and t: 12.780037083076637 81.03687447305155 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-7.55381282e-01 -6.55284597e-01 -1.10316815e-03] [-6.55284977e-01 7.55381757e-01 -2.15464160e-05] [ 8.47432129e-04 7.06613757e-04 -9.99999391e-01]] t_estimated: [[0.76165365] [0.64798388] [0.00077957]] R_gt: [[ 0.95755769 -0.25781216 -0.12890358] [ 0.27711197 0.94646893 0.16555109] [ 0.07932299 -0.19424557 0.97774048]] t_gt: [ 0.57269032 -0.73825143 0.3563855 ] Pose Error in degrees for R and t: 177.92933981762351 87.59828684788745 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.91305545e-01 1.31580053e-01 8.09209649e-05] [-1.31580046e-01 9.91305545e-01 -9.50017433e-05] [-9.27177356e-05 8.35281707e-05 9.99999992e-01]] t_estimated: [[-0.90233077] [-0.43104299] [-0.00105907]] R_gt: [[ 9.97729515e-01 -6.67336102e-02 9.05265877e-03] [ 6.67302639e-02 9.97770307e-01 6.20733265e-04] [-9.07400621e-03 -1.52028550e-05 9.99958061e-01]] t_gt: [ 0.67194262 -0.74059977 -0.00225855] Pose Error in degrees for R and t: 11.399119831861436 73.3166736112214 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99998691e-01 -1.61780538e-03 9.04387342e-06] [ 1.61780597e-03 9.99998689e-01 -6.57698475e-05] [-8.93745875e-06 6.57843927e-05 9.99999998e-01]] t_estimated: [[ 6.50183915e-01] [-7.59776523e-01] [-7.14877284e-04]] R_gt: [[ 0.9927014 -0.11375503 0.04003497] [ 0.11339813 0.99348751 0.0110838 ] [-0.04103606 -0.00646278 0.99913574]] t_gt: [ 0.69258036 -0.68915947 0.21305321] Pose Error in degrees for R and t: 6.858281878438767 13.154612129423086 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999275e-01 1.20290098e-03 4.68584937e-05] [-1.20290094e-03 9.99999277e-01 -1.05617743e-06] [-4.68597303e-05 9.99810543e-07 9.99999999e-01]] t_estimated: [[ 8.25467163e-01] [-5.64450135e-01] [-9.32823906e-05]] R_gt: [[ 0.98625739 -0.15589171 0.05469861] [ 0.15605526 0.98774701 0.00129536] [-0.05423083 0.00725852 0.99850192]] t_gt: [ 0.73911007 -0.6536368 0.16271214] Pose Error in degrees for R and t: 9.575459079433182 11.751175980263026 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.70827992e-01 2.39776399e-01 5.36853047e-04] [-2.39776738e-01 9.70827808e-01 6.95157345e-04] [-3.54509542e-04 -8.03603082e-04 9.99999614e-01]] t_estimated: [[0.52709422] [0.84980496] [0.00179284]] R_gt: [[ 0.99339884 -0.11238119 -0.02295509] [ 0.11191106 0.99349941 -0.02085354] [ 0.02514951 0.01814703 0.99951881]] t_gt: [ 0.74799446 -0.62262606 -0.22987189] Pose Error in degrees for R and t: 20.39503830966895 82.22638664951121 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-8.22186979e-01 -5.69208372e-01 -3.22502464e-03] [ 5.69211977e-01 -8.22190771e-01 -2.49765307e-04] [-2.50941699e-03 -2.04107643e-03 9.99994768e-01]] t_estimated: [[0.89672369] [0.44258895] [0.00128287]] R_gt: [[ 0.96689139 -0.25387984 -0.02579261] [ 0.25356608 0.96720496 -0.01483465] [ 0.02871237 0.00780317 0.99955704]] t_gt: [ 0.84856479 -0.52055462 -0.0946609 ] Pose Error in degrees for R and t: 130.6094320355381 57.96650167953385 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99998636e-01 1.56617339e-03 5.24961501e-04] [-1.56583610e-03 9.99998568e-01 -6.42299168e-04] [-5.25966701e-04 6.41476288e-04 9.99999656e-01]] t_estimated: [[9.99997052e-01] [2.36953372e-03] [5.30577179e-04]] R_gt: [[ 8.81551471e-01 -4.71638893e-01 -2.05744959e-02] [ 4.71739363e-01 8.81738228e-01 4.85687670e-05] [ 1.81177167e-02 -9.74907080e-03 9.99788589e-01]] t_gt: [ 0.91685637 -0.39900499 -0.01301607] Pose Error in degrees for R and t: 28.262704541936802 23.665949717743214 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999866e-01 -4.81599688e-04 -1.88529156e-04] [ 4.81600732e-04 9.99999884e-01 5.49440890e-06] [ 1.88526488e-04 -5.58520394e-06 9.99999982e-01]] t_estimated: [[-9.40165308e-01] [-3.40717606e-01] [-8.40911046e-04]] R_gt: [[ 0.96619327 0.25691802 -0.02153424] [-0.25711659 0.96635516 -0.00701633] [ 0.01900673 0.01231558 0.99974314]] t_gt: [-0.56716631 0.81871243 -0.08962328] Pose Error in degrees for R and t: 14.977887226948082 75.26458844031686 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.17498850e-01 -3.97735103e-01 -1.62734007e-03] [ 3.97736077e-01 9.17499818e-01 3.12600579e-04] [ 1.36875199e-03 -9.34062527e-04 9.99998627e-01]] t_estimated: [[-0.23912391] [-0.97098798] [-0.00144924]] R_gt: [[ 0.87430288 0.47854067 -0.08121035] [-0.47872814 0.87776948 0.01840783] [ 0.08009265 0.0227838 0.99652675]] t_gt: [-0.42118951 0.8950103 -0.14681944] Pose Error in degrees for R and t: 52.282513467981964 39.81508293803207 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.99549274 -0.09481315 -0.00216226] [ 0.09481844 0.99549147 0.00249068] [ 0.00191636 -0.00268447 0.99999456]] t_estimated: [[0.53610235] [0.84415163] [0.00151726]] R_gt: [[ 0.79696627 0.60057399 -0.06446832] [-0.59679712 0.79939421 0.06930175] [ 0.09315567 -0.01675695 0.99551081]] t_gt: [-0.37899197 0.92241147 -0.07431126] Pose Error in degrees for R and t: 42.62194886691448 54.87487885005123 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 9.99999480e-01 -1.01943809e-03 -1.20679924e-05] [ 1.01943801e-03 9.99999480e-01 -6.45664509e-06] [ 1.20745683e-05 6.44433917e-06 1.00000000e+00]] t_estimated: [[-9.99982769e-01] [-5.81346610e-03] [-8.15571122e-04]] R_gt: [[ 0.99991615 0.01176655 0.00549219] [-0.01171964 0.99989539 -0.00855695] [-0.00559245 0.00849161 0.99994807]] t_gt: [-0.5273751 0.82837397 -0.18887053] Pose Error in degrees for R and t: 0.9334095567883356 58.486172514426535 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 8.67333758e-01 -4.97724058e-01 -1.70706264e-03] [ 4.97725199e-01 8.67334733e-01 2.95274148e-04] [ 1.33362967e-03 -1.10574933e-03 9.99998499e-01]] t_estimated: [[8.95283587e-01] [4.45495860e-01] [8.58373526e-04]] R_gt: [[ 0.9997038 -0.02384269 0.00508435] [ 0.02403159 0.99885565 -0.04136231] [-0.00409144 0.04147179 0.99913109]] t_gt: [-0.24174635 0.84096991 -0.48407469] Pose Error in degrees for R and t: 28.57972421530212 80.92068626083504 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.89170588e-01 -1.46770313e-01 1.50442790e-04] [ 1.46770307e-01 9.89170599e-01 5.18203224e-05] [-1.56419270e-04 -2.91786042e-05 9.99999987e-01]] t_estimated: [[-7.75065062e-01] [-6.31880978e-01] [-7.61120845e-04]] R_gt: [[ 0.99703933 -0.05793727 0.05056788] [ 0.06092042 0.99636189 -0.05959637] [-0.04693038 0.06250011 0.99694021]] t_gt: [-0.06669342 0.9793194 -0.1910118 ] Pose Error in degrees for R and t: 6.732436757767207 55.46036702876346 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.01483405 0.99986577 -0.00695598] [-0.99988396 -0.01485773 -0.003364 ] [-0.00346689 0.00690528 0.99997015]] t_estimated: [[0.47323811] [0.88093385] [0.00111089]] R_gt: [[ 0.99844415 0.0156893 -0.053523 ] [-0.02149412 0.99373601 -0.10966715] [ 0.05146681 0.11064707 0.9925258 ]] t_gt: [-8.48033694e-04 3.66255854e-01 -9.30513799e-01] Pose Error in degrees for R and t: 89.95914202974544 71.26375276449853 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-8.86848145e-01 -4.62059790e-01 -1.05745094e-03] [-4.62061000e-01 8.86845728e-01 2.07076473e-03] [-1.90212731e-05 2.32506070e-03 -9.99997297e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.98939458 -0.138337 -0.04428554] [ 0.12671975 0.97108238 -0.20234028] [ 0.07099578 0.19458357 0.97831321]] t_gt: [ 0.38925378 -0.24289699 -0.8885283 ] Pose Error in degrees for R and t: 174.0171976568411 75.51297156585504 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 7.46817301e-01 6.65029156e-01 3.74944508e-04] [-6.65028786e-01 7.46817323e-01 -7.74018697e-04] [-7.94760054e-04 3.28701664e-04 9.99999630e-01]] t_estimated: [[0.61601366] [0.78773429] [0.00136286]] R_gt: [[ 0.98197308 -0.18129446 -0.05348627] [ 0.16242382 0.9540511 -0.25180407] [ 0.09667866 0.23857677 0.96629897]] t_gt: [ 0.40136588 -0.20298346 -0.89314229] Pose Error in degrees for R and t: 53.70986562811279 85.05884297266375 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.52700477e-01 -3.03886608e-01 -3.83807836e-03] [ 3.03910101e-01 9.52650108e-01 9.81951457e-03] [ 6.72326793e-04 -1.05214870e-02 9.99944422e-01]] t_estimated: [[0.98187116] [0.18954587] [0.0011773 ]] R_gt: [[ 0.99689691 -0.03238567 -0.07174258] [ 0.0349641 0.9987763 0.03498787] [ 0.07052041 -0.03738689 0.99680915]] t_gt: [ 0.89096436 -0.14527798 -0.43020556] Pose Error in degrees for R and t: 16.310318234064916 32.138044650833464 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-7.63075625e-01 -6.46293533e-01 4.50110825e-03] [-6.46308977e-01 7.63050986e-01 -6.15620580e-03] [ 5.44140903e-04 -7.60675726e-03 -9.99970920e-01]] t_estimated: [[0.90103377] [0.43374232] [0.00239637]] R_gt: [[ 0.99209272 -0.00451913 -0.12542033] [ 0.00959607 0.99915751 0.03990763] [ 0.12513396 -0.04079423 0.99130045]] t_gt: [ 0.7568107 0.18738247 -0.62619915] Pose Error in degrees for R and t: 174.15960221221235 40.3868443935402 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 5.39394370e-01 8.42053272e-01 -2.42378960e-05] [ 8.42043713e-01 -5.39388110e-01 4.78033268e-03] [ 4.01222114e-03 -2.59889390e-03 -9.99988574e-01]] t_estimated: [[0.53927081] [0.84213144] [0.00127789]] R_gt: [[ 0.98172289 -0.00289315 -0.19029303] [ 0.00842181 0.99956569 0.02825221] [ 0.19012789 -0.02933706 0.98132089]] t_gt: [ 0.70612324 0.16933547 -0.68754307] Pose Error in degrees for R and t: 173.0474875326481 58.49884370488881 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[-0.3303485 -0.91966816 -0.21232133] [-0.91807381 0.36530948 -0.15391384] [ 0.21911265 0.14408144 -0.96500269]] t_estimated: [[ 0.80579425] [ 0.57695286] [-0.13349542]] R_gt: [[ 9.99912126e-01 -1.32941894e-02 -1.74097176e-04] [ 1.32905556e-02 9.99793090e-01 -1.53831272e-02] [ 3.78947089e-04 1.53793061e-02 9.99881478e-01]] t_gt: [-0.31564138 0.80937594 -0.49525863] Pose Error in degrees for R and t: 164.28543079609517 73.81471262320117 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.91148642e-01 1.32756684e-01 1.80152000e-04] [-1.32756665e-01 9.91148654e-01 -1.13091398e-04] [-1.93571051e-04 8.81740070e-05 9.99999977e-01]] t_estimated: [[-4.76961394e-01] [ 8.78924213e-01] [ 2.36516673e-04]] R_gt: [[ 0.99816923 -0.055238 0.02465783] [ 0.05645138 0.99707332 -0.05154812] [-0.02173749 0.05284576 0.99836526]] t_gt: [ 0.1971909 0.79499054 -0.57367742] Pose Error in degrees for R and t: 11.313223602556427 52.803654908940345 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.98174066e-01 -6.04030696e-02 -5.07216815e-05] [ 6.04030784e-02 9.98174048e-01 1.94392118e-04] [ 3.88871855e-05 -1.97100917e-04 9.99999980e-01]] t_estimated: [[-0.98401107] [-0.1780982 ] [-0.00180333]] R_gt: [[ 0.98966535 -0.12304662 0.07365141] [ 0.12618992 0.99121414 -0.0396406 ] [-0.06812627 0.04852488 0.99649549]] t_gt: [0.94057639 0.25301715 0.22649144] Pose Error in degrees for R and t: 6.069433418793945 13.830319747904408 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 0.99958952 0.00393483 0.02837787] [-0.00282003 0.99922671 -0.03921767] [-0.02851024 0.03912155 0.99882765]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99986337 -0.00440192 0.01597126] [ 0.0044282 0.99998884 -0.00162488] [-0.01596386 0.0016949 0.99987123]] t_gt: [-0.02929012 -0.25515026 0.96645767] Pose Error in degrees for R and t: 2.3090229582907487 88.22627960083352 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.99012453 0.14018693 -0.00102236] [-0.14018408 0.99012239 0.00246331] [ 0.00135759 -0.00229566 0.99999644]] t_estimated: [[-0.8551609 ] [-0.51836186] [-0.00090781]] R_gt: [[ 0.99954498 0.025976 -0.01539088] [-0.02760305 0.99272408 -0.11720001] [ 0.01223463 0.11757159 0.99298866]] t_gt: [-0.11826586 0.51694594 -0.84780899] Pose Error in degrees for R and t: 9.501561476094084 80.44123652747709 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.78808399e-01 2.04778208e-01 -5.79982267e-05] [-2.04778132e-01 9.78808211e-01 6.34128970e-04] [ 1.86624935e-04 -6.08813993e-04 9.99999797e-01]] t_estimated: [[0.71870244] [0.69531733] [0.0007795 ]] R_gt: [[ 0.99715075 -0.05071985 -0.05584494] [ 0.03892437 0.98002124 -0.19504582] [ 0.06462195 0.19231715 0.9792027 ]] t_gt: [ 0.1849592 0.1042364 -0.97720257] Pose Error in degrees for R and t: 18.568051918795447 78.19120725003026 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.86055624e-01 -1.66416019e-01 1.23718910e-04] [ 1.66416041e-01 9.86055608e-01 -1.98238266e-04] [-8.90037022e-05 2.16062768e-04 9.99999973e-01]] t_estimated: [[-0.157709 ] [-0.98748509] [-0.00103078]] R_gt: [[ 0.98954338 -0.14419547 0.00344764] [ 0.14422015 0.98950909 -0.0084769 ] [-0.00218956 0.00888583 0.99995872]] t_gt: [ 0.7771764 -0.62793215 -0.0412075 ] Pose Error in degrees for R and t: 1.3850034174045487 60.162064290475584 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.74841044e-01 -2.22901149e-01 -1.27973366e-04] [ 2.22901129e-01 9.74841045e-01 -1.54371949e-04] [ 1.59163375e-04 1.21962705e-04 9.99999980e-01]] t_estimated: [[-0.21693014] [-0.97618561] [-0.00172167]] R_gt: [[ 0.97271336 -0.22647568 -0.05036278] [ 0.22603741 0.97401315 -0.01431946] [ 0.05229613 0.00254552 0.9986288 ]] t_gt: [ 0.81801847 -0.56105403 -0.12674445] Pose Error in degrees for R and t: 2.999128757539734 68.25612006635522 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.94572439e-01 1.04046265e-01 1.97649600e-04] [-1.04046275e-01 9.94572456e-01 4.43718938e-05] [-1.91960118e-04 -6.46957673e-05 9.99999979e-01]] t_estimated: [[0.1842882 ] [0.98287038] [0.00191967]] R_gt: [[ 0.91261107 -0.40811345 -0.02415955] [ 0.40818331 0.91289744 -0.00223716] [ 0.02296769 -0.00782013 0.99970564]] t_gt: [ 0.89406676 -0.44712238 -0.02694816] Pose Error in degrees for R and t: 30.096467483842623 74.05293601697403 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.95193077e-01 -9.79320628e-02 -2.24482461e-04] [ 9.79320683e-02 9.95193102e-01 1.33652503e-05] [ 2.22094510e-04 -3.52850363e-05 9.99999975e-01]] t_estimated: [[-0.95887261] [-0.2838348 ] [-0.00106305]] R_gt: [[ 0.97058415 0.24058015 0.00932615] [-0.24067571 0.9705439 0.01100387] [-0.00640314 -0.01292479 0.99989557]] t_gt: [-0.88981404 0.4529074 0.05573031] Pose Error in degrees for R and t: 19.561998259519328 43.563737201232016 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.94791966e-01 -1.01923238e-01 -7.72834459e-04] [ 1.01923200e-01 9.94792267e-01 -8.75412384e-05] [ 7.77732230e-04 8.31555915e-06 9.99999698e-01]] t_estimated: [[-0.96763523] [-0.25234998] [-0.00124269]] R_gt: [[ 0.90664836 0.41976362 0.04226546] [-0.41995116 0.90753451 -0.00476553] [-0.04035744 -0.01342798 0.99909459]] t_gt: [-0.8449565 0.53229262 0.05208717] Pose Error in degrees for R and t: 30.78549887640472 46.90414723717571 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.99976609 -0.02158833 -0.00130964] [ 0.02159116 0.99976449 0.00218981] [ 0.00126205 -0.00221757 0.99999674]] t_estimated: [[0.88907815] [0.45774539] [0.00303415]] R_gt: [[ 0.88397572 0.4654001 0.04460425] [-0.46541879 0.88502739 -0.01060437] [-0.04441054 -0.01138461 0.99894804]] t_gt: [-0.84066242 0.53990797 0.04226194] Pose Error in degrees for R and t: 29.112976432067494 59.99034177901563 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.93345712 0.3584309 -0.01360493] [ 0.35841923 0.93355466 0.00336994] [ 0.01390884 -0.00173057 -0.99990177]] t_estimated: [[ 0.97738478] [-0.21136144] [-0.00673241]] R_gt: [[ 0.97386597 0.22492537 -0.03150049] [-0.22425165 0.97424646 0.02354558] [ 0.0359847 -0.01586683 0.99922614]] t_gt: [-0.53167415 0.84550492 -0.04943717] Pose Error in degrees for R and t: 177.0769367887746 45.731274465091644 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999603e-01 -8.38319380e-04 -3.00850597e-04] [ 8.38351245e-04 9.99999643e-01 1.05805322e-04] [ 3.00761791e-04 -1.06057498e-04 9.99999949e-01]] t_estimated: [[-9.99986183e-01] [-5.21029392e-03] [-6.97797826e-04]] R_gt: [[ 0.9542248 0.29657443 -0.03869367] [-0.29327611 0.95320047 0.0734774 ] [ 0.05867409 -0.05876576 0.99654541]] t_gt: [-0.49645849 0.86776323 0.02271435] Pose Error in degrees for R and t: 17.8692252642856 60.533507237795824 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.161052 0.98694431 0.00178546] [ 0.98694451 0.16104845 0.00198123] [ 0.00166782 0.00208123 -0.99999644]] t_estimated: [[-0.64814859] [-0.76151168] [-0.00183426]] R_gt: [[ 0.90419008 0.4262857 -0.02685123] [-0.42394541 0.90333553 0.06522932] [ 0.05206219 -0.04759601 0.9975082 ]] t_gt: [-0.44362586 0.89620938 -0.00219956] Pose Error in degrees for R and t: 176.05736428687624 66.7381172127952 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99998194e-01 -1.88831300e-03 2.16450668e-04] [ 1.88836678e-03 9.99998186e-01 -2.48510254e-04] [-2.15981010e-04 2.48918543e-04 9.99999946e-01]] t_estimated: [[ 6.79237252e-01] [-7.33918647e-01] [-4.19056157e-04]] R_gt: [[ 0.99606424 -0.08708244 0.01650659] [ 0.08807467 0.99334444 -0.07422001] [-0.00993335 0.07538175 0.99710474]] t_gt: [ 0.44183082 -0.67063171 -0.59585118] Pose Error in degrees for R and t: 6.565536196090106 37.57584826204172 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.35313955e-01 3.53816563e-01 1.28285998e-03] [-3.53816889e-01 9.35314711e-01 2.95519370e-05] [-1.18942184e-03 -4.81537864e-04 9.99999177e-01]] t_estimated: [[-0.75870341] [-0.65143574] [-0.00078298]] R_gt: [[ 0.98597017 -0.16658247 0.01063026] [ 0.16684791 0.98164514 -0.09238218] [ 0.00495477 0.0928592 0.99566664]] t_gt: [ 0.52427856 -0.72980247 -0.4387714 ] Pose Error in degrees for R and t: 30.795978375778553 85.5269003569342 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.23827494 -0.95733121 0.16352985] [-0.89857737 -0.15342452 0.41111996] [-0.36848848 -0.24490381 -0.89679338]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.9549896 -0.29632529 0.01362057] [ 0.29647337 0.95191888 -0.0771595 ] [ 0.0098989 0.07772464 0.99692512]] t_gt: [ 0.64633147 -0.72918527 -0.22482098] Pose Error in degrees for R and t: 157.47563299702526 89.20344801579883 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.39794182 -0.91695308 -0.02897179] [ 0.91718327 -0.39694168 -0.03481596] [ 0.02042449 -0.04042716 0.99897372]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.82649886e-01 1.82644144e-01 3.22517920e-02] [-1.82535495e-01 9.83178969e-01 -6.30566689e-03] [-3.28607025e-02 3.09408186e-04 9.99459487e-01]] t_gt: [-0.90774524 0.41704612 0.04550951] Pose Error in degrees for R and t: 124.02681127852743 24.985845660494473 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99997969e-01 -2.00686608e-03 -1.84214029e-04] [ 2.00675278e-03 9.99997798e-01 -6.13199696e-04] [ 1.85444233e-04 6.12828779e-04 9.99999795e-01]] t_estimated: [[-0.9606589] [-0.2777277] [-0.0013432]] R_gt: [[ 0.97171759 0.23389976 0.0324856 ] [-0.23336767 0.97219511 -0.01938222] [-0.03611541 0.01125299 0.99928447]] t_gt: [-0.91004848 0.41445274 -0.00637902] Pose Error in degrees for R and t: 13.800879243747607 40.61070279151614 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.11205586 0.99367604 -0.0071707 ] [-0.99361473 -0.1121387 -0.01243736] [-0.01316282 0.00573124 0.99989694]] t_estimated: [[0.08662454] [0.99618218] [0.01082807]] R_gt: [[ 0.96301576 0.26805059 0.02735416] [-0.26803101 0.96339975 -0.00444099] [-0.02754278 -0.00305478 0.99961606]] t_gt: [-0.92048382 0.3898736 0.02661051] Pose Error in degrees for R and t: 80.89622620400797 72.00483190043734 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.16495130e-01 4.00045842e-01 -2.27631223e-05] [-4.00045833e-01 9.16495096e-01 -2.65597856e-04] [-8.53890277e-05 2.52525433e-04 9.99999964e-01]] t_estimated: [[-0.99173906] [-0.12826492] [-0.00132232]] R_gt: [[ 0.99154447 -0.1248507 -0.03538103] [ 0.12619949 0.9912434 0.03884562] [ 0.03022124 -0.04298238 0.99861916]] t_gt: [ 0.78311163 -0.61830306 0.06661462] Pose Error in degrees for R and t: 30.941803344477865 45.77931438367751 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.98327848e-01 5.78053423e-02 2.23171893e-04] [-5.78053296e-02 9.98327872e-01 -6.29662517e-05] [-2.26438507e-04 4.99604377e-05 9.99999973e-01]] t_estimated: [[9.99037625e-01] [4.38514947e-02] [9.33163943e-04]] R_gt: [[ 0.98499405 -0.16754818 -0.04139367] [ 0.16906018 0.98494114 0.03617614] [ 0.03470884 -0.0426315 0.99848837]] t_gt: [ 0.78557491 -0.61794618 0.03185258] Pose Error in degrees for R and t: 13.387817529105682 40.733691754728405 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.74482424 0.6672563 -0.0024265 ] [ 0.66720552 -0.74471093 0.01557025] [ 0.00858231 -0.01321608 -0.99987583]] t_estimated: [[-0.99835455] [-0.05731295] [-0.0018488 ]] R_gt: [[ 0.99259909 -0.12120587 -0.00744972] [ 0.12139109 0.99201298 0.03424895] [ 0.00323909 -0.03490028 0.99938564]] t_gt: [ 0.70134144 -0.69930957 0.13815323] Pose Error in degrees for R and t: 177.1664846907238 48.672410656504255 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999368e-01 1.12076909e-03 8.48512666e-05] [-1.12078126e-03 9.99999362e-01 1.43558092e-04] [-8.46903170e-05 -1.43653101e-04 9.99999986e-01]] t_estimated: [[9.99996740e-01] [2.54451154e-03] [2.14319019e-04]] R_gt: [[ 0.98903703 -0.14748329 -0.00734064] [ 0.14762299 0.98872391 0.0251551 ] [ 0.00354718 -0.02596397 0.99965634]] t_gt: [ 0.67913129 -0.7206187 0.13960438] Pose Error in degrees for R and t: 8.680297287254337 47.365009686764324 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.91992827 0.39204783 0.0055205 ] [ 0.39206179 0.91993735 0.00168183] [-0.00441915 0.00371154 -0.99998335]] t_estimated: [[ 0.97661833] [-0.21494129] [ 0.00410837]] R_gt: [[ 0.9751637 -0.22052114 -0.02067587] [ 0.22118688 0.97445131 0.03900581] [ 0.0115453 -0.04261105 0.99902536]] t_gt: [ 0.67966924 -0.72057224 0.13720556] Pose Error in degrees for R and t: 178.92630498525835 34.99302538951641 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99984279e-01 5.60677687e-03 7.15407292e-05] [-5.60676720e-03 9.99984273e-01 -1.34714063e-04] [-7.22949158e-05 1.34310833e-04 9.99999988e-01]] t_estimated: [[ 9.94258453e-01] [-1.07005037e-01] [-2.24272307e-04]] R_gt: [[ 0.95534111 -0.29231753 -0.04328561] [ 0.29231987 0.95629893 -0.00640226] [ 0.04326472 -0.00653763 0.99904271]] t_gt: [ 0.71566153 -0.69082684 -0.10289245] Pose Error in degrees for R and t: 17.506228786917333 38.233280817198576 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.88293322e-01 -1.52563963e-01 -7.39223928e-04] [ 1.52564192e-01 9.88293528e-01 2.63309214e-04] [ 6.90398727e-04 -3.73005839e-04 9.99999692e-01]] t_estimated: [[0.75783713] [0.65244257] [0.0012547 ]] R_gt: [[ 0.97604573 -0.14610053 0.16121457] [ 0.14432515 0.98926913 0.02273224] [-0.16280542 0.00108069 0.9866577 ]] t_gt: [ 0.51121626 -0.62747791 0.58730691] Pose Error in degrees for R and t: 9.416935735735226 88.78307544978188 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.93096869 -0.36483656 0.01384128] [ 0.36490566 0.93104042 -0.00275671] [-0.01188104 0.00761717 0.9999004 ]] t_estimated: [[-0.12201976] [-0.99252656] [-0.00148805]] R_gt: [[ 0.9182162 -0.29027069 0.26948558] [ 0.27721662 0.95693465 0.08618264] [-0.28289593 -0.00442742 0.95914032]] t_gt: [ 0.60202082 -0.59484592 0.53266242] Pose Error in degrees for R and t: 16.39276358615311 58.92569221811705 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[-5.77560248e-01 8.16347881e-01 -5.44857708e-04] [-8.16345025e-01 -5.77559791e-01 -2.34266939e-03] [-2.22712110e-03 -9.08240837e-04 9.99997108e-01]] t_estimated: [[0.34200217] [0.93969808] [0.00142524]] R_gt: [[ 0.86282824 -0.40636537 0.30065689] [ 0.3860998 0.91368694 0.12689729] [-0.32627346 0.00659372 0.94525226]] t_gt: [ 0.69194519 -0.57818735 0.43233232] Pose Error in degrees for R and t: 149.7380711861537 72.17813604441638 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-3.39530707e-01 9.40585846e-01 4.14305789e-03] [-9.40593580e-01 -3.39534487e-01 2.24479455e-04] [ 1.61785323e-03 -3.82071599e-03 9.99991392e-01]] t_estimated: [[8.65364511e-01] [5.01142503e-01] [6.74485199e-04]] R_gt: [[ 0.99824144 -0.0305917 -0.05077872] [ 0.03085063 0.99951546 0.00432192] [ 0.05062222 -0.00588046 0.99870039]] t_gt: [ 0.83833365 -0.30008888 -0.45513004] Pose Error in degrees for R and t: 111.63882033117326 54.91647875731348 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.53439169e-01 -3.01580395e-01 1.73675730e-03] [ 3.01584483e-01 9.53434639e-01 -3.03117447e-03] [-7.41741778e-04 3.41381952e-03 9.99993898e-01]] t_estimated: [[0.17272939] [0.98496878] [0.00102815]] R_gt: [[ 0.99188488 0.07362228 -0.10365366] [-0.07195568 0.99721335 0.01973185] [ 0.10481763 -0.0121132 0.99441828]] t_gt: [ 0.11773917 0.77550107 -0.62027057] Pose Error in degrees for R and t: 22.58443327249768 38.413818509463354 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99997849e-01 -1.99368490e-03 5.72577397e-04] [ 1.99351330e-03 9.99997968e-01 3.00117321e-04] [-5.73174573e-04 -2.98975235e-04 9.99999791e-01]] t_estimated: [[0.03407103] [0.99941683] [0.0022714 ]] R_gt: [[ 0.97958969 0.14383013 -0.14041816] [-0.14284538 0.98959685 0.01711975] [ 0.14141983 0.00328885 0.98994509]] t_gt: [-0.02683247 0.86587985 -0.49953188] Pose Error in degrees for R and t: 11.70665581869819 30.307891824537723 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.96918921e-01 -7.84378886e-02 -4.02284630e-04] [ 7.84379945e-02 9.96918962e-01 2.54439247e-04] [ 3.81087498e-04 -2.85209700e-04 9.99999887e-01]] t_estimated: [[ 0.96879103] [-0.24786923] [-0.00218695]] R_gt: [[ 0.99954196 0.02660575 0.01443396] [-0.02625289 0.99936414 -0.02411793] [-0.01506711 0.02372731 0.99960558]] t_gt: [-0.86843626 0.48008998 -0.12382276] Pose Error in degrees for R and t: 6.231666974426385 16.24751352936307 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.96108946e-01 8.81303034e-02 1.33223290e-04] [-8.81302760e-02 9.96108937e-01 -1.99358136e-04] [-1.50274402e-04 1.86841417e-04 9.99999971e-01]] t_estimated: [[0.90427774] [0.4269437 ] [0.00091619]] R_gt: [[ 0.99942024 0.01193773 -0.03188943] [-0.01163108 0.99988476 0.0098006 ] [ 0.03200194 -0.00942429 0.99944333]] t_gt: [-0.82217219 -0.35004 -0.44889296] Pose Error in degrees for R and t: 4.783698857732259 26.705193984129185 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.42834536e-01 3.33261107e-01 2.67985614e-04] [-3.33260469e-01 9.42833823e-01 -1.35709724e-03] [-7.04933628e-04 1.19020913e-03 9.99999043e-01]] t_estimated: [[0.83238931] [0.55419023] [0.00110396]] R_gt: [[ 0.99863692 -0.00319189 -0.05211042] [ 0.00295394 0.99998487 -0.00464428] [ 0.05212376 0.00448409 0.99863064]] t_gt: [-0.6328573 -0.50278259 -0.58881348] Pose Error in degrees for R and t: 19.87177430984559 36.28619711682206 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 9.95699614e-01 -9.26405321e-02 -1.06558566e-04] [ 9.26405519e-02 9.95699598e-01 1.99171506e-04] [ 8.76489666e-05 -2.08186636e-04 9.99999974e-01]] t_estimated: [[-0.77747535] [-0.62891257] [-0.0010281 ]] R_gt: [[ 0.99979452 -0.00316084 0.0200499 ] [ 0.00400265 0.99910598 -0.042098 ] [-0.01989955 0.04217067 0.99891184]] t_gt: [-0.46771814 0.87036981 -0.15393553] Pose Error in degrees for R and t: 5.7723153918144074 79.42112507020126 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[-5.67853292e-01 -8.23128114e-01 -1.65737236e-03] [ 8.23129779e-01 -5.67852340e-01 -1.04304056e-03] [-8.25867634e-05 -1.95652656e-03 9.99998083e-01]] t_estimated: [[9.39166247e-01] [3.43461980e-01] [7.93214735e-04]] R_gt: [[ 0.99971402 -0.00521286 0.02336879] [ 0.00638565 0.99870884 -0.05040611] [-0.02307555 0.05054212 0.9984555 ]] t_gt: [-0.4731911 0.85595727 -0.20839225] Pose Error in degrees for R and t: 124.29446661019658 81.33936538311404 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.81406277e-01 1.91941897e-01 1.66786168e-04] [-1.91941876e-01 9.81406286e-01 -1.30835135e-04] [-1.88797738e-04 9.63891725e-05 9.99999978e-01]] t_estimated: [[-5.71535384e-01] [ 8.20577421e-01] [-1.27237226e-05]] R_gt: [[ 0.99823526 -0.04691975 0.03640738] [ 0.05015081 0.99434478 -0.09361159] [-0.03180931 0.09527322 0.99494312]] t_gt: [-0.26496545 0.87971383 -0.3948378 ] Pose Error in degrees for R and t: 14.997385860049441 29.153766503163126 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-8.17106582e-01 5.76474491e-01 -3.74097261e-03] [-5.76479130e-01 -8.17111848e-01 2.01778842e-04] [-2.94047268e-03 2.32146745e-03 9.99992982e-01]] t_estimated: [[0.71228953] [0.7018853 ] [0.00080033]] R_gt: [[ 0.99963769 0.01715241 0.02070846] [-0.01695138 0.99980834 -0.00976165] [-0.02087247 0.00940717 0.99973829]] t_gt: [0.57033791 0.654883 0.49582549] Pose Error in degrees for R and t: 143.82183622654046 29.969057261157438 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.97218344e-01 7.45357233e-02 -2.94150062e-05] [-7.45356870e-02 9.97218122e-01 6.69137120e-04] [ 7.92077966e-05 -6.65083343e-04 9.99999776e-01]] t_estimated: [[0.53190253] [0.84680498] [0.0010093 ]] R_gt: [[ 0.99972837 -0.00434832 0.02285723] [ 0.00505482 0.99950958 -0.0309175 ] [-0.02271179 0.03102446 0.99926019]] t_gt: [ 0.98312358 -0.18205607 -0.0179892 ] Pose Error in degrees for R and t: 5.064521932897531 68.36195965318562 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.18338110e-01 -3.95796576e-01 -4.30768214e-04] [ 3.95796733e-01 9.18338068e-01 3.72031694e-04] [ 2.48341979e-04 -5.12147535e-04 9.99999838e-01]] t_estimated: [[0.89147081] [0.45307693] [0.00104879]] R_gt: [[ 0.99204539 -0.12452131 0.01843674] [ 0.1250465 0.99167575 -0.03069985] [-0.01446066 0.03276101 0.99935888]] t_gt: [ 0.77773347 -0.62843751 -0.01403348] Pose Error in degrees for R and t: 16.27822544088187 65.88424631224433 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-6.75116371e-01 -7.37704437e-01 -3.16995596e-03] [ 7.37707048e-01 -6.75120794e-01 4.73172972e-04] [-2.48916499e-03 -2.01905204e-03 9.99994864e-01]] t_estimated: [[0.99928538] [0.03774637] [0.00198665]] R_gt: [[ 0.9895956 -0.14382523 0.00384128] [ 0.14349531 0.98467886 -0.09907956] [ 0.01046756 0.09859927 0.99507256]] t_gt: [ 0.54347629 -0.66372999 -0.51390273] Pose Error in degrees for R and t: 124.26796288193856 58.86786008991114 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 7.81346659e-01 6.24097074e-01 4.89837708e-04] [-6.24096722e-01 7.81346773e-01 -7.08111475e-04] [-8.24663413e-04 2.47574428e-04 9.99999629e-01]] t_estimated: [[0.66910527] [0.74316654] [0.00127692]] R_gt: [[ 0.99000997 -0.13878842 -0.02485845] [ 0.13513055 0.98428095 -0.11371332] [ 0.04024865 0.10921774 0.99320277]] t_gt: [ 0.49750665 -0.48029019 -0.72236311] Pose Error in degrees for R and t: 46.963888575447776 88.56896502818081 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 4.25521618e-01 9.04947115e-01 1.43940700e-03] [ 9.04946498e-01 -4.25523390e-01 1.29650355e-03] [ 1.78576849e-03 7.50896038e-04 -9.99998124e-01]] t_estimated: [[-8.45505368e-01] [-5.33966460e-01] [-7.01664206e-04]] R_gt: [[ 0.99581058 -0.08173099 -0.04102144] [ 0.07615478 0.98950545 -0.1227967 ] [ 0.05062574 0.11915783 0.99158357]] t_gt: [ 0.30622971 -0.02733754 -0.95156504] Pose Error in degrees for R and t: 175.55526123402822 75.8977054266519 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.99834585e-01 -1.81879357e-02 4.58355151e-05] [ 1.81879332e-02 9.99834584e-01 5.41701753e-05] [-4.68131768e-05 -5.33275615e-05 9.99999997e-01]] t_estimated: [[8.88787108e-01] [4.58319760e-01] [6.88278815e-04]] R_gt: [[ 0.99903843 -0.02902799 0.03286654] [ 0.0286377 0.99951451 0.01228648] [-0.03320704 -0.01133324 0.99938446]] t_gt: [-0.07950685 -0.49989961 0.86242625] Pose Error in degrees for R and t: 2.097526979752884 72.5913442799288 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.88742594e-01 1.49626406e-01 -1.44437700e-04] [-1.49626428e-01 9.88742589e-01 -1.56853289e-04] [ 1.19342311e-04 1.76699225e-04 9.99999977e-01]] t_estimated: [[-0.35298219] [ 0.93562946] [-0.00104197]] R_gt: [[ 0.99668 0.0066519 0.08114252] [-0.00544287 0.99987098 -0.0151032 ] [-0.08123221 0.01461215 0.99658846]] t_gt: [-0.6429361 0.15321907 0.75043794] Pose Error in degrees for R and t: 9.519860540449816 68.3140237621148 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[-0.51142829 -0.85862458 -0.03471205] [-0.83767249 0.4891234 0.24302901] [-0.19169221 0.15336924 -0.96939774]] t_estimated: [[0.76200076] [0.63500064] [0.12700013]] R_gt: [[ 0.99883538 -0.00795124 0.04758793] [ 0.00854533 0.99988825 -0.01227207] [-0.0474853 0.01266481 0.99879158]] t_gt: [-0.8720342 -0.24184282 0.42552133] Pose Error in degrees for R and t: 172.72751128779151 40.18013156849613 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999954e-01 2.99162408e-04 3.90735022e-05] [-2.99162389e-04 9.99999955e-01 -4.83972477e-07] [-3.90736452e-05 4.72283132e-07 9.99999999e-01]] t_estimated: [[-0.91040633] [-0.41371373] [-0.0011296 ]] R_gt: [[ 0.99972 0.01815444 0.01519611] [-0.0180663 0.99981888 -0.00593325] [-0.01530123 0.00565649 0.99986666]] t_gt: [0.45974567 0.64689699 0.60840628] Pose Error in degrees for R and t: 1.3828830053185919 46.6169298988108 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.91612053e-01 1.29249088e-01 4.57950930e-04] [-1.29248777e-01 9.91611984e-01 -6.53984745e-04] [-5.38636562e-04 5.89309559e-04 9.99999681e-01]] t_estimated: [[0.54559832] [0.83804632] [0.0009139 ]] R_gt: [[ 9.96767036e-01 -8.02940147e-02 2.90397494e-03] [ 8.03408670e-02 9.96487611e-01 -2.36266164e-02] [-9.97418666e-04 2.37844079e-02 9.99716176e-01]] t_gt: [ 0.7481375 -0.65858173 -0.08099617] Pose Error in degrees for R and t: 12.106272083198174 81.73142444896153 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99374326e-01 -3.53686445e-02 1.25085995e-04] [ 3.53686081e-02 9.99374295e-01 2.82076808e-04] [-1.34984402e-04 -2.77476202e-04 9.99999952e-01]] t_estimated: [[-0.60832169] [-0.7936901 ] [-0.00087027]] R_gt: [[ 9.88706738e-01 -1.48574476e-01 1.95882828e-02] [ 1.48545618e-01 9.88901448e-01 2.91959830e-03] [-1.98050584e-02 2.21937830e-05 9.99803221e-01]] t_gt: [ 0.70904802 -0.69796716 0.10046269] Pose Error in degrees for R and t: 6.614159389087825 82.96053895547792 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999536e-01 9.54369613e-04 1.33611118e-04] [-9.54377155e-04 9.99999543e-01 5.63971906e-05] [-1.33557233e-04 -5.65246798e-05 9.99999989e-01]] t_estimated: [[-9.97334801e-01] [-7.29567870e-02] [-7.76136032e-04]] R_gt: [[ 0.99765094 -0.04252474 -0.05370232] [ 0.04185208 0.99903135 -0.01359372] [ 0.05422855 0.01131394 0.99846545]] t_gt: [ 0.78199284 -0.34248984 -0.52075705] Pose Error in degrees for R and t: 4.03176138645966 41.01676903344048 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999959e-01 2.72283798e-04 8.65355238e-05] [-2.72283004e-04 9.99999963e-01 -9.18552539e-06] [-8.65380217e-05 9.16196286e-06 9.99999996e-01]] t_estimated: [[-3.22762296e-02] [ 9.99478971e-01] [-1.80315524e-04]] R_gt: [[ 9.93777357e-01 -1.68982921e-02 -1.10091799e-01] [ 1.66958333e-02 9.99856902e-01 -2.75733687e-03] [ 1.10123296e-01 9.02274285e-04 9.93918312e-01]] t_gt: [ 0.7220158 -0.04103101 -0.69065885] Pose Error in degrees for R and t: 6.402959689596945 86.31970879746171 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-8.38435631e-01 -5.44972220e-01 5.56514629e-03] [-5.44978571e-01 8.38449860e-01 4.36596123e-04] [-4.90402889e-03 -2.66682773e-03 -9.99984419e-01]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.9820361 0.0976589 -0.16145793] [-0.10006733 0.99495714 -0.00683582] [ 0.15997603 0.02286907 0.98685617]] t_gt: [ 0.19844888 0.68370637 -0.70225611] Pose Error in degrees for R and t: 171.19443805457828 76.84444627812714 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.92816118e-01 -1.19650105e-01 -8.83512384e-05] [ 1.19650121e-01 9.92816099e-01 2.04314030e-04] [ 6.32703368e-05 -2.13417499e-04 9.99999975e-01]] t_estimated: [[9.91856744e-01] [1.27355755e-01] [8.43415598e-04]] R_gt: [[ 0.99854908 -0.01874651 -0.05047527] [ 0.0179733 0.99971525 -0.01569927] [ 0.05075477 0.0147686 0.99860223]] t_gt: [ 0.44974264 -0.1940548 -0.8718224 ] Pose Error in degrees for R and t: 6.559867373070846 65.12557059693331 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.62514958 -0.78050113 -0.00244738] [ 0.78049045 -0.62511575 -0.00805891] [ 0.0047601 -0.00694818 0.99996453]] t_estimated: [[0.97329882] [0.22953482] [0.00177934]] R_gt: [[ 0.99474223 -0.0917056 0.04557446] [ 0.09283996 0.99540526 -0.02343285] [-0.04321608 0.02754042 0.99868623]] t_gt: [ 0.6854224 -0.72813518 -0.00390957] Pose Error in degrees for R and t: 123.42665466261961 60.001225145293034 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.28329502 0.95758073 -0.05275495] [ 0.62740486 -0.14344881 0.7653663 ] [ 0.72533239 -0.24992317 -0.64142914]] t_estimated: [[-9.97497681e-01] [-7.06949291e-02] [-7.76867353e-04]] R_gt: [[ 0.94457735 -0.24309862 0.22062703] [ 0.24067755 0.96985243 0.03821136] [-0.22326409 0.01700662 0.9746095 ]] t_gt: [ 0.60644261 -0.63995459 0.47189563] Pose Error in degrees for R and t: 149.71424009909742 55.940734008222826 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.97670901 -0.21302342 -0.02570095] [-0.21304696 0.97704021 -0.00185044] [ 0.02550505 0.00366816 -0.99966796]] t_estimated: [[ 0.99482656] [ 0.10077549] [-0.01282258]] R_gt: [[ 9.97403024e-01 7.19959841e-02 -1.99415859e-03] [-7.20197709e-02 9.97242220e-01 -1.79183628e-02] [ 6.98590756e-04 1.80160440e-02 9.99837912e-01]] t_gt: [-0.94792579 0.24431014 -0.20432633] Pose Error in degrees for R and t: 178.33700746555655 23.683074666221582 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.82444518e-01 -1.86554916e-01 1.80730282e-04] [ 1.86554970e-01 9.82444464e-01 -3.45201150e-04] [-1.13158493e-04 3.72857110e-04 9.99999924e-01]] t_estimated: [[-8.03579607e-01] [-5.95196949e-01] [-6.37255835e-04]] R_gt: [[ 0.99734223 0.07157596 0.01358868] [-0.07151981 0.99742913 -0.00450236] [-0.01387583 0.00351828 0.99989767]] t_gt: [-0.98934589 0.14388261 -0.02219247] Pose Error in degrees for R and t: 14.876670134199415 44.814382465977594 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.99552652 -0.09445409 0.002319 ] [ 0.0944704 0.99549224 -0.00839855] [-0.00151527 0.00858005 0.99996204]] t_estimated: [[-0.47381664] [-0.88059398] [-0.00721264]] R_gt: [[ 0.99604218 0.06523946 0.06036889] [-0.06449593 0.99781724 -0.01417613] [-0.06116181 0.01022588 0.9980757 ]] t_gt: [-0.99040192 0.1328159 0.03826199] Pose Error in degrees for R and t: 9.747326561322673 69.3880996343605 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.99753042 -0.02119115 0.06696264] [-0.02596268 -0.99712343 0.07120952] [ 0.06526101 -0.0727722 -0.99521114]] t_estimated: [[0.09735563] [0.99519087] [0.01081729]] R_gt: [[ 0.99109866 -0.10475513 -0.08215403] [ 0.11410768 0.98632724 0.11890714] [ 0.06857483 -0.12722264 0.98950014]] t_gt: [ 0.72453698 -0.61672369 0.3077305 ] Pose Error in degrees for R and t: 169.0585868797939 57.32376609952781 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-8.88956194e-01 4.57818730e-01 1.26053649e-02] [ 4.57852466e-01 8.89028157e-01 -2.34574793e-04] [-1.13139171e-02 5.56287069e-03 -9.99920522e-01]] t_estimated: [[0.93887472] [0.34425407] [0.00184093]] R_gt: [[ 0.96935329 -0.21947314 -0.11038832] [ 0.23480185 0.95984553 0.15350571] [ 0.07226627 -0.17472031 0.98196255]] t_gt: [ 0.77973346 -0.56367287 0.27255939] Pose Error in degrees for R and t: 173.32890717170915 57.41656984244365 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-8.43277363e-01 -5.37472606e-01 2.54690499e-03] [-5.37474569e-01 8.43279952e-01 -1.03567673e-04] [-2.09208913e-03 -1.45623294e-03 -9.99996751e-01]] t_estimated: [[0.99947704] [0.03224119] [0.00248009]] R_gt: [[ 0.94628938 -0.28662943 -0.14959559] [ 0.30868009 0.93857188 0.15427211] [ 0.09618716 -0.19216321 0.97663767]] t_gt: [ 0.81452801 -0.54302228 0.20413455] Pose Error in degrees for R and t: 176.07569478608184 37.145881501261044 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.95072574e-01 -9.91492306e-02 5.78516199e-05] [ 9.91491173e-02 9.95072044e-01 1.03951817e-03] [-1.60633957e-04 -1.02866009e-03 9.99999458e-01]] t_estimated: [[0.95534179] [0.29549335] [0.00239575]] R_gt: [[ 0.99300266 -0.11767632 -0.00988054] [ 0.11797384 0.99226124 0.03873401] [ 0.00524627 -0.03962862 0.99920095]] t_gt: [ 0.61511336 -0.75323315 0.23297077] Pose Error in degrees for R and t: 2.4807272028137497 68.55387179377294 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999972e-01 2.32490714e-04 4.68770112e-05] [-2.32497462e-04 9.99999963e-01 1.43989618e-04] [-4.68435332e-05 -1.44000513e-04 9.99999989e-01]] t_estimated: [[9.99997413e-01] [2.27410910e-03] [4.78557713e-05]] R_gt: [[ 0.9755193 -0.21945332 -0.01423076] [ 0.21977963 0.97513965 0.02827522] [ 0.00767194 -0.03071042 0.9994993 ]] t_gt: [ 0.67729852 -0.72705732 0.11249162] Pose Error in degrees for R and t: 12.830375540358817 47.495450594482776 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 2.83709418e-01 -9.58904119e-01 -3.44351822e-03] [ 9.58909988e-01 2.83710399e-01 2.10354643e-04] [ 7.75251994e-04 -3.36170361e-03 9.99994049e-01]] t_estimated: [[0.99790858] [0.0646236 ] [0.00150287]] R_gt: [[ 0.95381366 -0.29719235 -0.04377267] [ 0.2992897 0.95265786 0.05356749] [ 0.02577997 -0.0641932 0.99760493]] t_gt: [ 0.70298517 -0.70130963 0.11822289] Pose Error in degrees for R and t: 56.25992152258962 48.976277044285816 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-9.93232148e-01 -1.16143473e-01 7.70184255e-04] [-1.16093681e-01 9.92961744e-01 2.34357101e-02] [-3.48666827e-03 2.31876872e-02 -9.99725049e-01]] t_estimated: [[0.99473215] [0.10250167] [0.00116479]] R_gt: [[ 0.99739342 0.05337387 -0.04854551] [-0.0489786 0.99494815 0.087622 ] [ 0.05297752 -0.08501612 0.99496954]] t_gt: [-0.7236294 0.36210904 0.58756918] Pose Error in degrees for R and t: 177.46747431512276 46.998598556321205 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99630565e-01 2.71782265e-02 -2.77581569e-04] [-2.71781790e-02 9.99630590e-01 1.73227114e-04] [ 2.82187033e-04 -1.65618956e-04 9.99999946e-01]] t_estimated: [[0.43262344] [0.90157404] [0.00110082]] R_gt: [[ 9.83455344e-01 -5.32276608e-04 -1.81144761e-01] [ 4.17051343e-02 9.73797572e-01 2.23558062e-01] [ 1.76279931e-01 -2.27414478e-01 9.57709845e-01]] t_gt: [ 0.48387061 -0.67820473 0.55308913] Pose Error in degrees for R and t: 16.935345562622576 66.32744305818986 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.80891476e-01 -1.94516128e-01 3.92286850e-03] [ 1.94554316e-01 9.80760691e-01 -1.60338811e-02] [-7.28546762e-04 1.64907083e-02 9.99863754e-01]] t_estimated: [[0.99829713] [0.05830716] [0.00176689]] R_gt: [[ 0.97029109 -0.0980544 -0.22117965] [ 0.15849206 0.94832778 0.27487057] [ 0.18279937 -0.30176 0.93569535]] t_gt: [ 0.65375565 -0.59707332 0.46487309] Pose Error in degrees for R and t: 21.803606399287702 51.782374349012095 Number of keypoints: Image1: 341 Image2: 341 R_estimated: [[-0.58240177 0.80959387 0.07325265] [ 0.80886016 0.58612289 -0.04695951] [-0.08095319 0.03190185 -0.99620723]] t_estimated: [[ 0.83567755] [-0.54668275] [ 0.05273521]] R_gt: [[ 0.99899349 -0.03881429 -0.0225076 ] [ 0.03911083 0.99915226 0.01288915] [ 0.02198786 -0.01375659 0.9996632 ]] t_gt: [ 0.47619205 -0.84969571 -0.22640303] Pose Error in degrees for R and t: 176.52502995635808 31.731990598206508 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.95515760e-01 -9.45958159e-02 -5.34699198e-05] [ 9.45958147e-02 9.95515761e-01 -2.49647200e-05] [ 5.55917060e-05 1.97947415e-05 9.99999998e-01]] t_estimated: [[ 5.87615890e-01] [-8.09139886e-01] [-4.59593794e-04]] R_gt: [[ 0.99813441 -0.03683085 -0.0486998 ] [ 0.03851675 0.99867416 0.0341503 ] [ 0.04737765 -0.03596318 0.99822922]] t_gt: [ 0.40930537 -0.85142251 -0.32794637] Pose Error in degrees for R and t: 4.720901815742854 21.629788004392903 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-4.18528015e-01 -9.08203701e-01 -5.80861791e-04] [-9.08203752e-01 4.18528216e-01 -2.78178507e-04] [ 4.95749799e-04 4.11115359e-04 -9.99999793e-01]] t_estimated: [[0.85981407] [0.51060631] [0.00097817]] R_gt: [[ 0.99508067 -0.09402547 -0.03121422] [ 0.09455076 0.99539565 0.01578499] [ 0.02958612 -0.01865956 0.99938753]] t_gt: [ 0.56419047 -0.81684069 -0.12025143] Pose Error in degrees for R and t: 179.02704286550062 86.10677767929153 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-4.77638235e-01 -8.78555236e-01 -1.55374566e-03] [ 8.78556373e-01 -4.77638658e-01 -1.09729723e-04] [-6.45725371e-04 -1.41746426e-03 9.99998787e-01]] t_estimated: [[9.99994892e-01] [3.10075938e-03] [7.75189839e-04]] R_gt: [[ 0.99765842 0.05748034 0.03706716] [-0.05899936 0.99740432 0.04128036] [-0.03459879 -0.04337056 0.99846009]] t_gt: [-0.40124592 0.56704496 0.71934813] Pose Error in degrees for R and t: 121.8964684389238 66.48882216313972 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-9.95835808e-01 9.11483130e-02 -1.74001532e-03] [ 9.11466067e-02 9.95836946e-01 1.03608436e-03] [ 1.82720888e-03 8.73173413e-04 -9.99997949e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99438727 0.05307691 0.09152383] [-0.06814152 0.98304188 0.17025249] [-0.08093575 -0.1755342 0.98114108]] t_gt: [-0.21059207 0.2401073 0.94762834] Pose Error in degrees for R and t: 175.59537594578796 77.92968833864123 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-7.64889848e-01 -6.44159460e-01 -1.45305913e-03] [ 6.44161049e-01 -7.64888728e-01 -1.33303387e-03] [-2.52742175e-04 -1.95562816e-03 9.99998056e-01]] t_estimated: [[0.65398212] [0.75650945] [0.00091336]] R_gt: [[ 0.99214304 0.01699753 0.12394646] [-0.05087201 0.95993328 0.27557463] [-0.11429665 -0.27971523 0.95325475]] t_gt: [-0.09299677 0.1113324 0.98942241] Pose Error in degrees for R and t: 142.35215930207625 88.60703192174567 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.13381636 -0.99100481 -0.00162609] [-0.99100008 -0.1338211 0.0032789 ] [-0.00346701 0.00117269 -0.9999933 ]] t_estimated: [[0.5885925 ] [0.80842698] [0.00216559]] R_gt: [[ 0.99738294 -0.01153737 0.07136783] [ 0.0025798 0.99223533 0.12434836] [-0.07224861 -0.12383795 0.98966831]] t_gt: [-0.05034368 -0.09921544 0.99379163] Pose Error in degrees for R and t: 171.83041410310648 83.81793206647528 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 1.87434955e-01 -9.82276959e-01 3.35856765e-04] [-9.82277014e-01 -1.87434916e-01 1.43645769e-04] [-7.81486448e-05 -3.56828618e-04 -9.99999933e-01]] t_estimated: [[0.14987155] [0.98870484] [0.00111844]] R_gt: [[ 0.99532045 -0.05268647 0.08100407] [ 0.03348103 0.97438895 0.2223651 ] [-0.09064487 -0.21861173 0.97159219]] t_gt: [ 0.06326314 -0.19888156 0.9779795 ] Pose Error in degrees for R and t: 166.98973465651807 79.27706104941363 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.54341179e-01 2.98680093e-01 -4.80787599e-03] [-2.98718759e-01 9.54210530e-01 -1.57913457e-02] [-1.28834718e-04 1.65065343e-02 9.99863750e-01]] t_estimated: [[7.92441109e-01] [6.09948028e-01] [7.01896465e-04]] R_gt: [[ 0.99138976 -0.08692287 0.09792831] [ 0.05556947 0.95648929 0.2864264 ] [-0.11856442 -0.27851841 0.95308396]] t_gt: [ 0.11161254 -0.21734187 0.96969333] Pose Error in degrees for R and t: 28.379790231362406 87.51027326481052 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[ 9.99986666e-01 5.16380375e-03 4.82863041e-05] [-5.16380106e-03 9.99986666e-01 -5.56051189e-05] [-4.85727941e-05 5.53550366e-05 9.99999997e-01]] t_estimated: [[ 9.36825536e-01] [-3.49796956e-01] [ 6.59495238e-05]] R_gt: [[ 0.99874227 -0.045557 -0.02097391] [ 0.04593857 0.99878124 0.01810071] [ 0.02012416 -0.0190407 0.99961604]] t_gt: [ 0.53626824 -0.84068638 -0.07525148] Pose Error in degrees for R and t: 3.3234260634687747 37.207160264275636 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.87445498e-01 1.57959985e-01 1.76837981e-04] [-1.57959911e-01 9.87445455e-01 -3.73763553e-04] [-2.33657546e-04 3.41137826e-04 9.99999915e-01]] t_estimated: [[0.70748766] [0.70672528] [0.00076238]] R_gt: [[ 0.99675665 -0.07228997 -0.03538173] [ 0.07343864 0.99677571 0.03232719] [ 0.0329308 -0.03482065 0.99885115]] t_gt: [ 0.51381297 -0.85498853 -0.07064586] Pose Error in degrees for R and t: 13.554068218452935 76.06744649725671 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-0.40847164 0.91199251 0.03769064] [ 0.91183437 0.40957463 -0.02840264] [-0.04134013 0.02276595 -0.99888573]] t_estimated: [[ 0.80687401] [-0.59013559] [ 0.02634978]] R_gt: [[ 0.99627122 -0.06955887 -0.05105239] [ 0.0716829 0.99658306 0.04102938] [ 0.04802362 -0.0445361 0.99785247]] t_gt: [ 0.49712172 -0.85823481 -0.12768323] Pose Error in degrees for R and t: 178.97022675256446 25.28088416694718 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.87944673e-01 1.54807251e-01 1.93112894e-04] [-1.54807210e-01 9.87944676e-01 -2.12670016e-04] [-2.23707716e-04 1.80210941e-04 9.99999959e-01]] t_estimated: [[-5.43539740e-01] [ 8.39383306e-01] [ 4.64973187e-04]] R_gt: [[ 0.99105041 -0.13256469 -0.01564203] [ 0.13234692 0.99110087 -0.01422374] [ 0.01738761 0.01202731 0.99977669]] t_gt: [ 0.38352645 -0.89821035 -0.21476879] Pose Error in degrees for R and t: 16.56231908465113 15.739597757222267 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999685e-01 6.51586060e-04 4.53094356e-04] [-6.50531582e-04 9.99997089e-01 -2.32354620e-03] [-4.54607027e-04 2.32325072e-03 9.99997198e-01]] t_estimated: [[6.89777290e-01] [7.24021307e-01] [6.61384478e-04]] R_gt: [[ 9.80170176e-01 -1.92215904e-01 4.81558973e-02] [ 1.92413399e-01 9.81313786e-01 5.41011159e-04] [-4.73608607e-02 8.73575453e-03 9.98839774e-01]] t_gt: [ 0.17224609 -0.97073896 0.1673235 ] Pose Error in degrees for R and t: 11.4596478605262 54.273723127576766 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 1.00000000e+00 4.05231404e-15 -1.19211281e-14] [-4.16333634e-15 1.00000000e+00 4.15520483e-14] [ 1.18996609e-14 -4.15684739e-14 1.00000000e+00]] t_estimated: [[-0.85572394] [-0.51743183] [-0.00091044]] R_gt: [[ 0.94666501 -0.32154543 0.02081948] [ 0.32113449 0.94680404 0.02082413] [-0.02640799 -0.01302694 0.99956624]] t_gt: [ 0.39915966 -0.90806772 0.12682501] Pose Error in degrees for R and t: 18.823385688718584 82.63572741132488 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.44320390e-01 3.29023620e-01 1.56804630e-03] [-3.29023683e-01 9.44321643e-01 -2.25397225e-04] [-1.55490107e-03 -3.03077172e-04 9.99998745e-01]] t_estimated: [[-0.73781652] [ 0.67499393] [ 0.00315885]] R_gt: [[ 0.99541134 -0.08332473 0.04704896] [ 0.08279815 0.99648045 0.01304715] [-0.04797084 -0.00909163 0.99880707]] t_gt: [ 0.03457353 -0.90667259 0.42041585] Pose Error in degrees for R and t: 24.12716752061349 50.49248761063538 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999986e-01 -1.36388477e-04 1.00090936e-04] [ 1.36390217e-04 9.99999991e-01 -1.73742304e-05] [-1.00088566e-04 1.73878816e-05 9.99999995e-01]] t_estimated: [[0.68240719] [0.73097174] [0.00086138]] R_gt: [[ 0.97443991 -0.22408593 0.01586838] [ 0.22303159 0.97347217 0.05105922] [-0.02688905 -0.04621552 0.99856892]] t_gt: [ 0.38692429 -0.88697543 0.25211938] Pose Error in degrees for R and t: 13.276718019085871 67.41231444381182 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.578235 -0.81586925 0.0012835 ] [ 0.81586327 -0.57822281 0.00505033] [-0.00337826 0.00396744 0.99998642]] t_estimated: [[9.80224790e-01] [1.97885756e-01] [7.66999053e-04]] R_gt: [[ 0.93146384 -0.36364362 -0.01179261] [ 0.36366454 0.92955137 0.06066348] [-0.01109854 -0.06079475 0.99808841]] t_gt: [ 0.53142612 -0.82763289 0.1805826 ] Pose Error in degrees for R and t: 104.02068096914864 69.0668284344153 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 3.99452918e-01 9.16753630e-01 3.83951666e-04] [-9.16749819e-01 3.99452408e-01 -2.74642259e-03] [-2.67116330e-03 7.45078900e-04 9.99996155e-01]] t_estimated: [[0.19179178] [0.9814345 ] [0.00149837]] R_gt: [[ 0.99678559 0.04667123 0.06512866] [-0.0427229 0.99723754 -0.06075179] [-0.06778365 0.0577744 0.99602563]] t_gt: [-0.7850731 0.61096688 0.10188081] Pose Error in degrees for R and t: 64.05845617728 63.3072428124359 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-9.99983557e-01 -7.82200800e-05 -5.73409848e-03] [ 6.26743739e-05 -9.99996323e-01 2.71122812e-03] [-5.73428947e-03 2.71082416e-03 9.99979884e-01]] t_estimated: [[0.92605737] [0.37737459] [0.00248273]] R_gt: [[ 0.99053263 0.11543176 0.07431029] [-0.1141052 0.99322763 -0.02187971] [-0.07633272 0.01319367 0.99699506]] t_gt: [-0.73880942 0.58675573 0.33147904] Pose Error in degrees for R and t: 173.41195058719407 62.48826733407022 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.75027441 -0.66110771 -0.00499044] [ 0.66110629 0.75028914 -0.00216425] [ 0.00517508 -0.00167543 0.99998521]] t_estimated: [[-0.03412605] [-0.99940565] [-0.00487515]] R_gt: [[ 0.99470871 0.07766176 -0.06726527] [-0.06910812 0.99020845 0.12129116] [ 0.07602669 -0.11600022 0.99033472]] t_gt: [-0.78695504 0.22368206 0.57503748] Pose Error in degrees for R and t: 46.243199157872795 78.4924627503509 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[-4.37841457e-01 -8.99050327e-01 -1.83512078e-03] [ 8.99051888e-01 -4.37842094e-01 -6.03014389e-05] [-7.49279096e-04 -1.67627127e-03 9.99998314e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99595882 -0.08511295 -0.02867446] [ 0.08495651 0.99636271 -0.0065963 ] [ 0.02913158 0.0041329 0.99956685]] t_gt: [ 0.53448053 -0.81211443 -0.23409551] Pose Error in degrees for R and t: 111.09500763538688 57.8316456948656 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.12560509e-01 4.08940692e-01 9.09360026e-04] [-4.08940695e-01 9.12560941e-01 -1.92111164e-04] [-9.08408513e-04 -1.96561259e-04 9.99999568e-01]] t_estimated: [[0.4321757 ] [0.90178826] [0.00144774]] R_gt: [[ 0.97009447 -0.24183194 -0.02083922] [ 0.24223397 0.97002083 0.01956753] [ 0.01548212 -0.02403051 0.99959117]] t_gt: [ 0.6549944 -0.75464489 0.03864485] Pose Error in degrees for R and t: 38.18314927373688 66.58417902941802 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-8.48794589e-01 -5.28704735e-01 -4.36446958e-03] [-5.28722747e-01 8.48764965e-01 7.09166678e-03] [-4.49889380e-05 8.32696273e-03 -9.99965329e-01]] t_estimated: [[ 0.99998594] [ 0.00465195] [-0.00254386]] R_gt: [[ 0.91742551 -0.39619536 -0.03687201] [ 0.39654338 0.91801311 0.00236761] [ 0.03291079 -0.01679429 0.99931732]] t_gt: [ 0.75164211 -0.65956584 -0.00265318] Pose Error in degrees for R and t: 178.15740180728747 41.533338946079716 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.75803116e-01 -2.18651016e-01 1.10676842e-04] [ 2.18651002e-01 9.75803117e-01 1.24735516e-04] [-1.35272354e-04 -9.75177025e-05 9.99999986e-01]] t_estimated: [[-8.05379398e-01] [-5.92759237e-01] [-7.15892798e-04]] R_gt: [[ 0.99803642 0.05119054 -0.03610769] [-0.04959034 0.9978043 0.04389956] [ 0.03827563 -0.04202172 0.99838353]] t_gt: [-0.14730283 0.95349325 -0.26296863] Pose Error in degrees for R and t: 15.856748839399241 63.48903920918252 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.89577046e-01 -6.13627969e-01 5.36688855e-03] [ 6.13651434e-01 7.89547930e-01 -6.78109979e-03] [-7.63432537e-05 8.64759960e-03 9.99962606e-01]] t_estimated: [[0.7508691 ] [0.66045032] [0.00098281]] R_gt: [[ 0.98667865 0.10977958 -0.12005677] [-0.10793079 0.99391941 0.02181647] [ 0.12172176 -0.00856782 0.99252732]] t_gt: [ 0.02224357 0.63147308 -0.77507869] Pose Error in degrees for R and t: 44.69080578064615 64.34210171060543 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 0.98724561 -0.15918226 0.00266574] [-0.15913949 -0.9871824 -0.01206397] [ 0.00455195 0.01148588 -0.99992367]] t_estimated: [[0.75062404] [0.66072895] [0.00089895]] R_gt: [[ 0.98668986 0.06731779 -0.14803094] [-0.06352466 0.99752318 0.0302093 ] [ 0.1496975 -0.02040325 0.98852083]] t_gt: [ 0.35116275 0.19221964 -0.91637129] Pose Error in degrees for R and t: 179.88496792229762 67.0596552051362 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 6.63320196e-01 -7.48332843e-01 -2.06745158e-03] [ 7.48333791e-01 6.63322212e-01 -4.25354873e-04] [ 1.68969358e-03 -1.26499740e-03 9.99997772e-01]] t_estimated: [[8.85586633e-01] [4.64473653e-01] [7.34926667e-04]] R_gt: [[ 0.99657866 -0.02138462 -0.07983802] [ 0.02391203 0.99923928 0.03083636] [ 0.07911776 -0.03264017 0.99633067]] t_gt: [ 0.68884471 -0.71841467 -0.09681592] Pose Error in degrees for R and t: 47.37396646976252 73.9619403180267 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99970054e-01 7.73800578e-03 -1.15720994e-04] [-7.73801198e-03 9.99970060e-01 -5.31768891e-05] [ 1.15306046e-04 5.40707472e-05 9.99999992e-01]] t_estimated: [[-5.43010866e-01] [ 8.39725477e-01] [-5.68845957e-04]] R_gt: [[ 0.98780035 0.08325657 -0.13159805] [-0.06536164 0.98870322 0.13488835] [ 0.14134165 -0.1246407 0.98208275]] t_gt: [-0.1329419 -0.38403772 0.9136966 ] Pose Error in degrees for R and t: 11.522201802341865 75.4741299317106 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.88153080e-01 -1.53471457e-01 4.49348241e-05] [ 1.53471455e-01 9.88153081e-01 2.65222961e-05] [-4.84729003e-05 -1.93118758e-05 9.99999999e-01]] t_estimated: [[6.92998166e-02] [9.97595816e-01] [3.51451535e-04]] R_gt: [[ 0.98013493 0.10868379 -0.16590434] [-0.07524749 0.97772181 0.19595714] [ 0.18350558 -0.17958007 0.96647647]] t_gt: [0.16056359 0.01878378 0.98684675] Pose Error in degrees for R and t: 20.536095342591956 88.26868926748752 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999982e-01 -1.70832019e-04 -8.70508723e-05] [ 1.70864075e-04 9.99999918e-01 3.68374996e-04] [ 8.69879349e-05 -3.68389863e-04 9.99999928e-01]] t_estimated: [[0.63644049] [0.77132494] [0.00115997]] R_gt: [[ 0.99745328 0.02651246 -0.0662027 ] [-0.02785275 0.99942364 -0.01940004] [ 0.06565044 0.0211946 0.99761803]] t_gt: [ 0.29616912 0.46354058 -0.83511316] Pose Error in degrees for R and t: 4.257089795044658 56.97084516837625 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-7.20644850e-02 9.97399957e-01 -1.91426976e-04] [ 9.97396338e-01 7.20647392e-02 2.68676122e-03] [ 2.69357066e-03 2.69149887e-06 -9.99996372e-01]] t_estimated: [[-0.36817411] [-0.92975613] [-0.00116511]] R_gt: [[ 0.99196569 0.01277318 -0.12585968] [-0.01583551 0.99960231 -0.02336202] [ 0.12551185 0.02516763 0.99177342]] t_gt: [ 0.53808762 0.25837386 -0.80231207] Pose Error in degrees for R and t: 175.5511964790571 64.06190278199406 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999783e-01 -4.30794647e-04 -4.99319386e-04] [ 4.30796261e-04 9.99999907e-01 3.12573980e-06] [ 4.99317993e-04 -3.34084405e-06 9.99999875e-01]] t_estimated: [[-0.83748326] [-0.54646039] [-0.00168411]] R_gt: [[ 0.98328599 0.01731646 -0.18123753] [-0.01859607 0.99981342 -0.00536042] [ 0.18111125 0.00864043 0.98342498]] t_gt: [ 0.59542357 0.21723665 -0.77348498] Pose Error in degrees for R and t: 10.471736480852979 51.97059119838907 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.16187644 0.98679646 -0.00536309] [-0.98680102 0.16184791 -0.00538577] [-0.00444665 0.00616413 0.99997111]] t_estimated: [[0.57593054] [0.81749731] [0.00147297]] R_gt: [[ 0.99752537 0.00394628 -0.07021095] [-0.00217775 0.99967924 0.02523729] [ 0.07028793 -0.02502053 0.99721228]] t_gt: [ 0.7167641 0.19207485 -0.67034057] Pose Error in degrees for R and t: 80.61102178118769 55.330651713053726 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999985e-01 -1.66146733e-04 5.05790020e-05] [ 1.66142853e-04 9.99999983e-01 7.67155074e-05] [-5.05917472e-05 -7.67071029e-05 9.99999996e-01]] t_estimated: [[6.14168964e-01] [7.89174227e-01] [7.23330556e-04]] R_gt: [[ 0.99161265 0.00931817 -0.12891419] [-0.00834608 0.99993293 0.00807564] [ 0.1289809 -0.00693165 0.99162251]] t_gt: [ 0.62340931 0.22438233 -0.74900828] Pose Error in degrees for R and t: 7.4419416665660485 55.98474467760005 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99217722 -0.12479888 -0.00309966] [ 0.12481341 0.9921674 0.00504652] [ 0.00244558 -0.00539392 0.99998246]] t_estimated: [[0.71908574] [0.69491479] [0.00302137]] R_gt: [[ 0.98267183 -0.00705268 -0.18522328] [ 0.00788104 0.99996185 0.00374009] [ 0.18518909 -0.00513474 0.98268859]] t_gt: [ 0.69970403 0.12324705 -0.70372184] Pose Error in degrees for R and t: 12.48266062164257 54.07914334889656 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-8.65752602e-01 -5.00469726e-01 -1.57668857e-03] [-5.00471797e-01 8.65751638e-01 1.44286858e-03] [ 6.42908667e-04 2.03825539e-03 -9.99997716e-01]] t_estimated: [[9.07152915e-01] [4.20800537e-01] [7.04858520e-04]] R_gt: [[ 0.9949681 0.07058402 -0.07111441] [-0.06541321 0.99521414 0.07259846] [ 0.07589867 -0.06758174 0.99482295]] t_gt: [-0.58207479 0.20672537 0.78641818] Pose Error in degrees for R and t: 176.89738895095363 63.865081758759636 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.61381860e-01 -2.75217859e-01 -2.21954394e-04] [ 2.75217919e-01 9.61381819e-01 3.10179955e-04] [ 1.28015856e-04 -3.59287208e-04 9.99999927e-01]] t_estimated: [[-5.39229440e-01] [ 8.42158753e-01] [-4.95284679e-04]] R_gt: [[ 0.98401813 0.13322445 -0.11814963] [-0.11003315 0.97660009 0.18478246] [ 0.14000229 -0.16882859 0.97565203]] t_gt: [-0.23433399 0.22001479 0.94693245] Pose Error in degrees for R and t: 26.248542301279375 71.86975326238229 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-9.63711898e-01 2.66940348e-01 -1.49257437e-03] [-2.66939412e-01 -9.63712983e-01 -7.98127956e-04] [-1.65146585e-03 -3.70738482e-04 9.99998568e-01]] t_estimated: [[0.65244448] [0.75783602] [0.00087668]] R_gt: [[ 0.96948834 0.20292869 -0.1375226 ] [-0.17270954 0.96355701 0.2042777 ] [ 0.17396493 -0.17429353 0.96920526]] t_gt: [-0.3846694 0.73636896 0.556588 ] Pose Error in degrees for R and t: 153.74081084359096 72.0877877162237 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 3.09711173e-01 9.50829726e-01 1.34940711e-03] [-9.50830238e-01 3.09712090e-01 -5.28850300e-04] [-9.20774283e-04 -1.11926624e-03 9.99998950e-01]] t_estimated: [[0.22246208] [0.97494072] [0.00110424]] R_gt: [[ 9.92699054e-01 9.44031151e-02 -7.50756191e-02] [-9.42006257e-02 9.95533143e-01 6.23729026e-03] [ 7.53292094e-02 8.81243577e-04 9.97158252e-01]] t_gt: [-0.16322804 0.76753402 -0.61987752] Pose Error in degrees for R and t: 66.66880540385505 44.6589191220656 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-5.78384180e-01 -8.15762416e-01 -1.84944004e-03] [ 8.15764473e-01 -5.78381953e-01 -1.62535189e-03] [ 2.56218242e-04 -2.44878530e-03 9.99996969e-01]] t_estimated: [[9.43329199e-01] [3.31857620e-01] [7.35826209e-04]] R_gt: [[ 0.98779405 0.0804799 -0.13336507] [-0.0804687 0.99674195 0.00548411] [ 0.13337177 0.00531549 0.99105198]] t_gt: [ 0.15757218 0.43098946 -0.8884926 ] Pose Error in degrees for R and t: 130.08363058413866 73.08121966812682 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.24384845 0.96981182 0.00172304] [ 0.96981222 -0.24385049 0.00108957] [ 0.00147685 0.00140534 -0.99999792]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99021076 0.02839408 -0.13666713] [-0.0238475 0.99910915 0.03479532] [ 0.13753364 -0.03119564 0.99000582]] t_gt: [ 0.4818204 -0.13268294 -0.86616646] Pose Error in degrees for R and t: 173.66945956765883 86.53138420500791 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.71945184e-01 8.81627714e-01 5.63526684e-04] [-8.81627297e-01 4.71945512e-01 -8.61714712e-04] [-1.02566546e-03 -9.01383988e-05 9.99999470e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.98939757 0.14448069 -0.01475814] [-0.14513766 0.98731437 -0.06438141] [ 0.00526893 0.06583978 0.99781603]] t_gt: [-0.33842904 0.90808777 -0.24666251] Pose Error in degrees for R and t: 53.62672302384816 25.033620264086885 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.79152188e-01 2.03128017e-01 -2.73325038e-05] [-2.03128018e-01 9.79152159e-01 -2.42272163e-04] [-2.24495841e-05 2.42773316e-04 9.99999970e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9785782 0.20574053 0.00737536] [-0.20526296 0.97780757 -0.04193774] [-0.01583978 0.0395246 0.99909258]] t_gt: [-0.3694296 0.92901466 -0.02129647] Pose Error in degrees for R and t: 2.432277066239911 68.49616077508922 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-3.97702035e-01 -9.17513559e-01 -1.39987121e-03] [ 9.17514420e-01 -3.97702509e-01 6.62245961e-05] [-6.17494255e-04 -1.25806436e-03 9.99999018e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9758384 0.21075746 0.05762281] [-0.2153478 0.97232656 0.09058696] [-0.03693612 -0.10080791 0.99422001]] t_gt: [-0.38873467 0.8288674 0.4023235 ] Pose Error in degrees for R and t: 125.85433648939882 67.30343791406604 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-3.35100003e-02 9.99438357e-01 -2.24562258e-04] [-9.99435084e-01 -3.35104661e-02 -2.56154576e-03] [-2.56763228e-03 1.38598000e-04 9.99996694e-01]] t_estimated: [[0.42999751] [0.90282891] [0.00144928]] R_gt: [[ 9.98101954e-01 4.48143231e-03 6.14213810e-02] [ 8.47845491e-04 9.96254266e-01 -8.64730044e-02] [-6.15792950e-02 8.63612658e-02 9.94359375e-01]] t_gt: [-0.42775918 0.58206572 -0.69153567] Pose Error in degrees for R and t: 91.96178715390037 70.08850739622768 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.2533039 -0.96738476 0.00196594] [-0.96737854 -0.25329285 0.00463655] [-0.00398737 -0.00307626 -0.99998732]] t_estimated: [[0.45767751] [0.88910915] [0.00402739]] R_gt: [[ 0.99283123 0.05417639 0.10654987] [-0.03701355 0.9869177 -0.15691886] [-0.11365785 0.15184968 0.98184751]] t_gt: [-0.66107905 0.66989639 -0.3379546 ] Pose Error in degrees for R and t: 177.1129618879981 73.04090387464049 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.15795879 -0.9874439 0.00188673] [-0.98744434 -0.1579551 0.00196732] [-0.0016446 -0.0021738 -0.99999628]] t_estimated: [[0.46889997] [0.88324735] [0.00263539]] R_gt: [[ 0.98406031 0.11098456 0.13895778] [-0.08685363 0.98177105 -0.16906218] [-0.15518815 0.1542978 0.97576046]] t_gt: [-0.7334404 0.67966488 -0.01099228] Pose Error in degrees for R and t: 178.56198401829897 75.14504003576285 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-0.89985987 0.43521104 0.02904405] [ 0.4352636 0.90029016 -0.00481934] [-0.02824551 0.00830509 -0.99956651]] t_estimated: [[ 0.97693888] [-0.21301763] [ 0.01462574]] R_gt: [[ 0.99653473 -0.08298034 0.00591718] [ 0.08315522 0.9956658 -0.04165089] [-0.00243511 0.04199884 0.99911442]] t_gt: [ 0.48254315 -0.81611279 -0.31798116] Pose Error in degrees for R and t: 177.54487026719505 50.16261423482176 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.74364321e-01 2.24975594e-01 3.91104575e-04] [-2.24975544e-01 9.74364396e-01 -1.68049659e-04] [-4.18885445e-04 7.57526276e-05 9.99999909e-01]] t_estimated: [[0.77704977] [0.62943836] [0.00099988]] R_gt: [[ 0.97856677 -0.20455292 -0.02379285] [ 0.20376998 0.97850675 -0.0316718 ] [ 0.02976015 0.02614466 0.9992144 ]] t_gt: [ 0.62278798 -0.76158093 -0.17924736] Pose Error in degrees for R and t: 24.889668151545887 89.74848358056524 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.29298302 -0.89444266 0.33783617] [-0.88571112 -0.38698153 -0.2564393 ] [ 0.36010661 -0.22409289 -0.90559682]] t_estimated: [[8.12786849e-01] [5.82560840e-01] [6.35983450e-04]] R_gt: [[ 0.9250929 -0.37956859 -0.01153474] [ 0.3794846 0.92515552 -0.00879778] [ 0.01401165 0.00376132 0.99989447]] t_gt: [ 0.72729068 -0.68606861 -0.01892419] Pose Error in degrees for R and t: 173.34703652884923 78.96295941904218 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.72353946e-01 2.33510818e-01 -7.07995235e-04] [-2.33510847e-01 9.72354196e-01 4.24661064e-05] [ 6.98338432e-04 1.24032481e-04 9.99999748e-01]] t_estimated: [[-0.82345088] [-0.56738596] [-0.00134771]] R_gt: [[ 0.97565273 -0.21864054 0.01726023] [ 0.21852188 0.97579537 0.00854576] [-0.01871071 -0.00456614 0.99981365]] t_gt: [ 0.85623635 -0.51212676 0.06771625] Pose Error in degrees for R and t: 26.15535417845412 65.50673278399557 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.97838884e-01 -6.57081018e-02 -8.73517936e-05] [ 6.57080295e-02 9.97838670e-01 -6.65347973e-04] [ 1.30881750e-04 6.58170365e-04 9.99999775e-01]] t_estimated: [[-0.3129425 ] [-0.94976955] [-0.00218841]] R_gt: [[ 0.92283994 -0.38479977 0.01716349] [ 0.38477831 0.92299737 0.00471927] [-0.01765691 0.00224847 0.99984079]] t_gt: [ 0.89604509 -0.44364014 0.01693011] Pose Error in degrees for R and t: 18.892931953641295 81.89959342057386 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.32373071e-01 -3.61496938e-01 6.48133553e-04] [ 3.61496917e-01 9.32373292e-01 1.53530469e-04] [-6.59803209e-04 9.11506065e-05 9.99999778e-01]] t_estimated: [[0.94234055] [0.33465414] [0.00094803]] R_gt: [[ 0.69010657 -0.72324989 0.02570614] [ 0.72281071 0.69058464 0.02525235] [-0.03601594 0.00115385 0.99935042]] t_gt: [ 0.96603305 -0.25752558 0.02146464] Pose Error in degrees for R and t: 25.213021479199167 34.49552147225012 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-9.19970669e-01 3.91977908e-01 -2.69977286e-03] [-3.91978644e-01 -9.19974276e-01 -2.72655641e-04] [-2.59059657e-03 8.07418112e-04 9.99996318e-01]] t_estimated: [[0.63138109] [0.77547221] [0.00087328]] R_gt: [[ 0.99100249 -0.13154278 0.02468937] [ 0.13224296 0.99078624 -0.0292462 ] [-0.02061518 0.03224816 0.99926691]] t_gt: [ 0.70484802 -0.70934767 -0.00389185] Pose Error in degrees for R and t: 164.50476693504106 83.96965929821484 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.63821822e-01 2.66547275e-01 2.13704241e-04] [-2.66547192e-01 9.63821805e-01 -3.50537670e-04] [-2.99407668e-04 2.80893590e-04 9.99999916e-01]] t_estimated: [[6.69612106e-01] [7.42710717e-01] [6.47083890e-04]] R_gt: [[ 0.9647087 -0.26261745 0.01922341] [ 0.2632058 0.9638682 -0.04099428] [-0.00776326 0.04460798 0.99897359]] t_gt: [ 0.76682021 -0.63953815 -0.05456857] Pose Error in degrees for R and t: 30.814834501922345 87.79672385114581 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.78208897e-01 -2.07622686e-01 4.18179907e-04] [ 2.07622733e-01 9.78208973e-01 -7.23643650e-05] [-3.94042854e-04 1.57611121e-04 9.99999910e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.92501705 -0.37554629 0.05751272] [ 0.37787966 0.92512145 -0.0368457 ] [-0.03936889 0.05581635 0.99766383]] t_gt: [ 7.97089107e-01 -6.03861670e-01 1.97392691e-04] Pose Error in degrees for R and t: 10.892773333585449 37.32464414835663 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 0.99998311 -0.00543473 -0.00206133] [ 0.00544312 0.99997684 0.00408573] [ 0.00203908 -0.00409688 0.99998953]] t_estimated: [[0.72649241] [0.68717194] [0.0018724 ]] R_gt: [[ 0.98563348 -0.16771444 -0.01998208] [ 0.16842525 0.98482349 0.04188475] [ 0.01265453 -0.04464732 0.99892199]] t_gt: [ 0.52912034 -0.83337111 0.15976311] Pose Error in degrees for R and t: 9.670815823856111 79.16576589564015 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99836245e-01 -1.80963568e-02 6.95936872e-05] [ 1.80963503e-02 9.99836243e-01 9.33867300e-05] [-7.12722504e-05 -9.21120458e-05 9.99999993e-01]] t_estimated: [[8.04631637e-01] [5.93773850e-01] [7.37255623e-04]] R_gt: [[ 0.96435384 -0.25961642 -0.05119706] [ 0.26179968 0.96421381 0.04184669] [ 0.03850117 -0.05375791 0.99781121]] t_gt: [ 0.57354167 -0.81425923 0.08962061] Pose Error in degrees for R and t: 14.590565298308658 88.74340312853312 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 7.64306536e-01 6.44853097e-01 5.43311503e-05] [-6.44853048e-01 7.64306439e-01 4.61289637e-04] [ 2.55938403e-04 -3.87602292e-04 9.99999892e-01]] t_estimated: [[0.53528532] [0.84467042] [0.00122772]] R_gt: [[ 0.9354891 -0.34845799 -0.05862167] [ 0.35203771 0.9333953 0.06958812] [ 0.0304687 -0.08573438 0.99585184]] t_gt: [ 0.62761993 -0.76261025 0.15658493] Pose Error in degrees for R and t: 60.90214466953748 72.0608757707778 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99459172e-01 3.28838820e-02 1.14290621e-04] [-3.28838813e-02 9.99459179e-01 -8.22383824e-06] [-1.14499242e-04 4.46107134e-06 9.99999993e-01]] t_estimated: [[0.59617906] [0.80285103] [0.00086902]] R_gt: [[ 0.99686656 -0.07909621 -0.00147648] [ 0.07909359 0.9968637 -0.00250433] [ 0.00166923 0.00238005 0.9999963 ]] t_gt: [ 0.52879467 -0.84840886 -0.02405425] Pose Error in degrees for R and t: 6.4230287009932905 68.53637122165705 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999206e-01 1.18951221e-03 -4.15381890e-04] [-1.18914995e-03 9.99998913e-01 8.71278269e-04] [ 4.16417834e-04 -8.70783626e-04 9.99999534e-01]] t_estimated: [[-0.99991913] [-0.01236763] [-0.00296296]] R_gt: [[ 0.98212963 -0.18269652 0.04521404] [ 0.18116559 0.9827947 0.03596966] [-0.05100821 -0.02713557 0.99832953]] t_gt: [ 0.5302747 -0.8014798 0.27647581] Pose Error in degrees for R and t: 11.062975269432455 58.59134252694167 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.2791152 0.9602222 0.0082478 ] [ 0.96022861 -0.27902971 -0.01017012] [-0.00746419 0.01075841 -0.99991427]] t_estimated: [[7.69611230e-01] [6.38512406e-01] [6.79268517e-04]] R_gt: [[ 0.95363559 -0.30041549 0.01817573] [ 0.29859764 0.95196568 0.06782495] [-0.03767884 -0.05925358 0.9975316 ]] t_gt: [ 0.65291549 -0.7224628 0.22748377] Pose Error in degrees for R and t: 178.7688903851401 87.63047877949137 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.98877230e-01 4.73737899e-02 6.39031145e-05] [-4.73737857e-02 9.98877230e-01 -6.43256685e-05] [-6.68787167e-05 6.12261131e-05 9.99999996e-01]] t_estimated: [[ 1.14540474e-01] [-9.93418538e-01] [ 2.97788865e-04]] R_gt: [[ 0.99972189 -0.01185521 0.0204053 ] [ 0.01379197 0.99513447 -0.09755803] [-0.01914846 0.09781258 0.99502065]] t_gt: [ 0.19287084 0.23115529 -0.95360792] Pose Error in degrees for R and t: 6.676437658307103 78.00499559168743 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.33914211 -0.94073435 -0.00122858] [ 0.94073427 -0.3391397 -0.00181842] [ 0.00129399 -0.00177247 0.99999759]] t_estimated: [[ 9.96461372e-01] [-8.40519649e-02] [-2.30114233e-05]] R_gt: [[ 0.9983617 0.05605568 0.01152047] [-0.05373547 0.98749638 -0.14820109] [-0.01968374 0.14733947 0.98888948]] t_gt: [-0.14674418 0.48195579 -0.86381986] Pose Error in degrees for R and t: 113.20094675113778 79.23890033768232 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.39354391 -0.91891592 -0.02677163] [-0.91904634 0.39395782 -0.01229016] [ 0.02184052 0.01976765 -0.99956602]] t_estimated: [[ 0.87245021] [ 0.48845015] [-0.01571898]] R_gt: [[ 0.99015737 0.13857373 -0.01966732] [-0.13985109 0.97395057 -0.17850044] [-0.00557967 0.17949413 0.98374347]] t_gt: [-0.28171074 0.64550148 -0.70990626] Pose Error in degrees for R and t: 172.29709989381053 85.37259404182933 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.91731432e-01 1.28330606e-01 -1.51891886e-04] [-1.28330478e-01 9.91731234e-01 6.69358325e-04] [ 2.36535087e-04 -6.44331332e-04 9.99999764e-01]] t_estimated: [[-0.65178804] [-0.75840021] [-0.0012115 ]] R_gt: [[ 0.99737243 -0.06625162 0.02932355] [ 0.06545688 0.99748276 0.02727043] [-0.03105653 -0.02528081 0.99919778]] t_gt: [ 0.85127683 -0.22307998 0.47493482] Pose Error in degrees for R and t: 11.38025542160202 67.2790377000965 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99567361e-01 -2.94122602e-02 9.78142167e-05] [ 2.94122605e-02 9.99567366e-01 -9.14018783e-07] [-9.77450155e-05 3.79056056e-06 9.99999995e-01]] t_estimated: [[9.25510029e-01] [3.78722992e-01] [2.85718675e-04]] R_gt: [[ 0.99143941 -0.12565353 -0.03548757] [ 0.1241264 0.99136125 -0.04237931] [ 0.04050687 0.03761141 0.99847077]] t_gt: [ 0.96219049 -0.07886073 -0.26071143] Pose Error in degrees for R and t: 6.343959305374168 30.61867255231773 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.93432830e-01 1.14416741e-01 -1.44472877e-04] [-1.14416756e-01 9.93432835e-01 -9.35149593e-05] [ 1.32824422e-04 1.09430948e-04 9.99999985e-01]] t_estimated: [[-0.99959066] [-0.02858999] [-0.00105889]] R_gt: [[ 0.99347554 -0.08004112 -0.08123718] [ 0.07175684 0.99237341 -0.10022291] [ 0.08864036 0.0937393 0.99164255]] t_gt: [ 0.72522651 -0.01295052 -0.68838855] Pose Error in degrees for R and t: 13.204116222349079 43.628356882736625 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.05176824e-01 4.25035188e-01 8.02019885e-05] [-4.25035087e-01 9.05176711e-01 -5.44290654e-04] [-3.03939652e-04 4.58590626e-04 9.99999849e-01]] t_estimated: [[-4.86428311e-01] [ 8.73720492e-01] [-8.66372255e-06]] R_gt: [[ 0.99919356 0.00552017 0.03977894] [-0.00751243 0.99871635 0.05010397] [-0.03945065 -0.05036216 0.99795077]] t_gt: [-0.15293692 0.00963597 0.98818897] Pose Error in degrees for R and t: 25.047354516446983 85.25027461970748 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 7.82837239e-01 6.22226532e-01 -1.58159125e-05] [-6.22226244e-01 7.82836852e-01 -9.81813741e-04] [-5.98529280e-04 7.78441434e-04 9.99999518e-01]] t_estimated: [[-2.71361497e-01] [ 9.62477500e-01] [ 1.67724589e-05]] R_gt: [[ 0.99890024 -0.02219627 0.04130799] [ 0.01989379 0.99827024 0.05534035] [-0.0424646 -0.05445727 0.99761281]] t_gt: [ 0.17724946 -0.07686736 0.98115954] Pose Error in degrees for R and t: 39.87857783909361 82.9886863633082 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.49969561 0.86613274 0.01088016] [ 0.86616492 -0.49952056 -0.01541248] [-0.00791439 0.01712556 -0.99982202]] t_estimated: [[ 0.44337542] [-0.8963039 ] [ 0.0075863 ]] R_gt: [[ 0.99878476 0.04273117 0.02456935] [-0.0442686 0.99684681 0.06586428] [-0.02167814 -0.06687227 0.99752547]] t_gt: [-0.40771388 0.61820092 0.67200968] Pose Error in degrees for R and t: 178.44088677892864 43.13303965371654 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-9.99849626e-01 9.73740974e-03 1.43495153e-02] [ 9.74974769e-03 9.99952158e-01 7.90110273e-04] [-1.43411352e-02 9.29895615e-04 -9.99896728e-01]] t_estimated: [[0.99989187] [0.01247593] [0.0077852 ]] R_gt: [[ 9.76488658e-01 -2.15473624e-01 -6.30971610e-03] [ 2.15565232e-01 9.75932981e-01 3.29665148e-02] [-9.44609904e-04 -3.35512678e-02 9.99437146e-01]] t_gt: [ 0.60208911 -0.79068658 0.11092086] Pose Error in degrees for R and t: 179.34185842361092 53.62817628852651 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.84702797e-01 1.74242367e-01 8.88829930e-06] [-1.74242360e-01 9.84702770e-01 -2.34616241e-04] [-4.96324220e-05 2.29478550e-04 9.99999972e-01]] t_estimated: [[0.84836556] [0.52941004] [0.00093535]] R_gt: [[ 0.92404455 -0.37891637 -0.05061584] [ 0.37792565 0.92540361 -0.02827825] [ 0.05755554 0.00700182 0.99831766]] t_gt: [ 0.70867395 -0.69491448 -0.12196354] Pose Error in degrees for R and t: 32.45612026713323 76.51411606528853 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.22613387e-01 -9.06308307e-01 -1.78277696e-03] [ 9.06310003e-01 -4.22613243e-01 -4.74859888e-04] [-3.23055692e-04 -1.81643074e-03 9.99998298e-01]] t_estimated: [[9.13014550e-01] [4.07926264e-01] [7.71127154e-04]] R_gt: [[ 0.88980452 -0.45148507 -0.06639101] [ 0.44911942 0.89218632 -0.04790683] [ 0.08086299 0.01281083 0.99664336]] t_gt: [ 0.72791246 -0.669304 -0.14891476] Pose Error in degrees for R and t: 88.28469703569642 66.95505078620911 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[-0.42762348 -0.90393657 -0.00606914] [-0.90394498 0.42764273 -0.0022733 ] [ 0.00465034 0.00451405 -0.999979 ]] t_estimated: [[ 0.82025199] [ 0.5719968 ] [-0.00251576]] R_gt: [[ 0.99800391 0.02024207 0.05981928] [-0.01806506 0.99916343 -0.03670988] [-0.06051259 0.0355558 0.99753419]] t_gt: [-0.47390451 0.81229866 0.33997853] Pose Error in degrees for R and t: 178.55774771855357 85.6955708874272 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 1.84408006e-01 -9.82845204e-01 -2.99881222e-03] [ 9.82848879e-01 1.84411108e-01 -7.90572682e-04] [ 1.33002485e-03 -2.80159129e-03 9.99995191e-01]] t_estimated: [[0.62247862] [0.78263607] [0.00106772]] R_gt: [[ 0.99303385 0.05449974 0.10446591] [-0.04690175 0.99616565 -0.07385435] [-0.10809157 0.06844144 0.99178238]] t_gt: [-0.58759298 0.77300905 0.23914744] Pose Error in degrees for R and t: 82.5780071620418 76.14438212933686 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.20862397e-01 -3.89885791e-01 -1.23132381e-03] [ 3.89886932e-01 9.20862318e-01 8.78168187e-04] [ 7.91494399e-04 -1.28874912e-03 9.99998856e-01]] t_estimated: [[-0.43111777] [-0.90229516] [-0.0009538 ]] R_gt: [[ 0.9832449 0.10639856 0.14801534] [-0.08935749 0.98905993 -0.11737795] [-0.15888534 0.10218571 0.9819955 ]] t_gt: [-0.65532425 0.72220082 0.22130546] Pose Error in degrees for R and t: 30.607528193717606 68.32585411807631 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-6.97098812e-01 7.16974976e-01 3.60991799e-04] [ 7.16972930e-01 6.97095416e-01 2.79264960e-03] [ 1.75061415e-03 2.20557407e-03 -9.99996035e-01]] t_estimated: [[0.38953177] [0.92101155] [0.00165056]] R_gt: [[ 0.9914788 -0.12611398 -0.03263607] [ 0.12717149 0.99134222 0.03265464] [ 0.02823559 -0.03652659 0.99893362]] t_gt: [ 0.51031623 -0.85724735 0.06858815] Pose Error in degrees for R and t: 177.5838708775244 53.79776678038033 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.93193508 0.36258725 -0.00524413] [-0.36259708 -0.93194543 0.00103112] [-0.00451337 0.00286244 0.99998572]] t_estimated: [[ 3.51250893e-01] [ 9.36281372e-01] [-4.32915924e-05]] R_gt: [[ 0.95532263 -0.26562904 -0.12961805] [ 0.28330854 0.94793594 0.14543755] [ 0.08423725 -0.17566125 0.98084023]] t_gt: [ 0.5875324 -0.77325919 0.23848668] Pose Error in degrees for R and t: 174.87067668647043 58.826775464500635 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.74197145e-01 6.32925576e-01 4.89856896e-03] [-6.32944517e-01 7.74172240e-01 6.21138508e-03] [ 1.39008372e-04 -7.90935896e-03 9.99968711e-01]] t_estimated: [[0.65762769] [0.75334264] [0.00082513]] R_gt: [[ 0.89530322 -0.38894269 -0.21715375] [ 0.42212246 0.89647672 0.13469159] [ 0.14228605 -0.21225485 0.96680088]] t_gt: [ 0.67683823 -0.72170084 0.14504448] Pose Error in degrees for R and t: 65.10040511918574 84.34945808447907 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 7.29613582e-01 6.83858716e-01 1.13023210e-03] [-6.83858431e-01 7.29614406e-01 -6.82391109e-04] [-1.29129273e-03 -2.75036930e-04 9.99999128e-01]] t_estimated: [[-0.41318967] [ 0.91064374] [ 0.001506 ]] R_gt: [[ 0.98594921 -0.16631552 0.01561332] [ 0.16607134 0.98598818 0.01579183] [-0.01801989 -0.0129771 0.9997534 ]] t_gt: [ 0.60362403 -0.77567373 0.18430492] Pose Error in degrees for R and t: 52.72675534995684 17.15776581258471 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.45544648e-01 5.33904158e-01 7.73760822e-04] [-5.33904571e-01 8.45544605e-01 4.80264290e-04] [-3.97834187e-04 -8.19199339e-04 9.99999585e-01]] t_estimated: [[0.6335311 ] [0.7737167 ] [0.00089863]] R_gt: [[ 0.95821387 -0.28586857 -0.01029901] [ 0.28589692 0.95587606 0.06755731] [-0.00946689 -0.06767872 0.99766262]] t_gt: [ 0.63847243 -0.72788782 0.25006453] Pose Error in degrees for R and t: 49.045223718906946 80.88235710308409 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-4.78888461e-01 8.77859594e-01 5.32679005e-03] [ 8.77873961e-01 4.78890934e-01 8.84065050e-04] [-1.77486648e-03 5.09961883e-03 -9.99985422e-01]] t_estimated: [[9.36765986e-01] [3.49955447e-01] [8.19567792e-04]] R_gt: [[ 0.94013341 -0.33795068 -0.04403946] [ 0.34049948 0.92591897 0.1635069 ] [-0.01447933 -0.16871277 0.98555889]] t_gt: [ 0.57152494 -0.70790778 0.41500098] Pose Error in degrees for R and t: 174.5719940409755 73.26239785572993 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.37818069e-01 -3.47127120e-01 -1.80925211e-04] [ 3.47127153e-01 9.37818052e-01 2.02227066e-04] [ 9.94764298e-05 -2.52456250e-04 9.99999963e-01]] t_estimated: [[0.87956305] [0.47578134] [0.00097297]] R_gt: [[ 0.99138244 -0.12897966 -0.02294233] [ 0.12724096 0.98969731 -0.06564088] [ 0.03117224 0.06215603 0.99758057]] t_gt: [ 0.55358266 -0.65190511 -0.51823351] Pose Error in degrees for R and t: 13.542581944006734 79.8490371922235 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99161763 -0.12765025 -0.01999737] [ 0.12795635 0.99166857 0.01485327] [ 0.01793474 -0.01728755 0.99968969]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.96698806 -0.24793834 -0.0588331 ] [ 0.24334142 0.96699207 -0.0755722 ] [ 0.07562849 0.05876137 0.99540366]] t_gt: [ 0.63423985 -0.66457532 -0.39506893] Pose Error in degrees for R and t: 8.86769912208085 56.587044575907186 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.99970494 -0.02420917 0.00198899] [ 0.02421282 0.99970514 -0.0018358 ] [-0.00194396 0.00188341 0.99999634]] t_estimated: [[9.78420267e-01] [2.06622913e-01] [8.68163502e-04]] R_gt: [[ 0.93449972 -0.3429665 -0.09531963] [ 0.34015243 0.93929972 -0.04485694] [ 0.10491848 0.00949486 0.99443611]] t_gt: [ 0.71147244 -0.65975018 -0.24194351] Pose Error in degrees for R and t: 19.616222474663413 55.97258568846437 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.31324028e-01 -3.64191401e-01 -4.21504321e-04] [ 3.64191531e-01 9.31324029e-01 2.87391212e-04] [ 2.87891694e-04 -4.21162645e-04 9.99999870e-01]] t_estimated: [[ 9.38630149e-01] [-3.44925113e-01] [ 3.31967408e-04]] R_gt: [[ 0.99825697 -0.03073015 0.05040005] [ 0.03156746 0.99937554 -0.01589068] [-0.04988077 0.01745408 0.99860225]] t_gt: [0.57705178 0.41997067 0.70045405] Pose Error in degrees for R and t: 19.806387133942653 66.60846506068728 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.90834195 0.41816843 0.00707601] [ 0.41820608 0.90833807 0.0050619 ] [-0.00431068 0.00755717 -0.99996215]] t_estimated: [[7.81199887e-01] [6.24280606e-01] [6.79304250e-04]] R_gt: [[ 0.99306966 0.00504988 0.11742021] [ 0.00123556 0.9985735 -0.05339124] [-0.11752199 0.053167 0.99164583]] t_gt: [-0.17784397 0.76803936 0.61521302] Pose Error in degrees for R and t: 172.41828226902 70.06472990610338 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.41288907e-01 -3.37598743e-01 -1.51064076e-03] [ 3.37600333e-01 9.41289065e-01 9.54919965e-04] [ 1.09956984e-03 -1.40884839e-03 9.99998403e-01]] t_estimated: [[8.99959076e-01] [4.35973790e-01] [7.18243476e-04]] R_gt: [[ 0.98964203 0.04645522 0.13583644] [-0.03310695 0.99454427 -0.09892692] [-0.13969142 0.09340473 0.98577952]] t_gt: [-0.42465989 0.85636061 0.29378646] Pose Error in degrees for R and t: 24.074919915505426 89.50640584301739 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-9.25898214e-01 3.77773026e-01 1.96897957e-04] [-3.77772566e-01 -9.25895978e-01 -2.12764407e-03] [-6.21459509e-04 -2.04436449e-03 9.99997717e-01]] t_estimated: [[0.09984065] [0.99500279] [0.00113455]] R_gt: [[ 0.9899421 0.14119931 -0.008756 ] [-0.14127655 0.98992934 -0.00896266] [ 0.00740231 0.01010927 0.99992115]] t_gt: [-0.68720235 0.71845137 -0.10761301] Pose Error in degrees for R and t: 149.68543665371416 49.74967542671111 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 3.71740706e-01 -9.28336289e-01 7.63237331e-04] [ 9.28333780e-01 3.71741478e-01 2.16024125e-03] [-2.28915731e-03 -9.45106095e-05 9.99997375e-01]] t_estimated: [[0.99936257] [0.03566729] [0.00151648]] R_gt: [[ 0.98993889 0.14143401 -0.00418004] [-0.14116577 0.98518854 -0.09733835] [-0.00964966 0.09694917 0.99524204]] t_gt: [-0.50901321 0.72802955 -0.45921512] Pose Error in degrees for R and t: 76.49891235987836 61.09110418270419 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.98946509e-01 4.58887450e-02 3.07671730e-04] [-4.58886484e-02 9.98946512e-01 -3.14071932e-04] [-3.21759968e-04 2.99622420e-04 9.99999903e-01]] t_estimated: [[-7.26129513e-01] [-6.87557690e-01] [ 5.94520803e-04]] R_gt: [[ 0.98343382 0.18120928 0.00467054] [-0.1783874 0.97205203 -0.15262055] [-0.0321967 0.14925919 0.98827392]] t_gt: [-0.47682843 0.72996114 -0.48968498] Pose Error in degrees for R and t: 11.719784069782966 81.0285475729296 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999974e-01 -1.44621206e-04 -1.78799026e-04] [ 1.44639862e-04 9.99999984e-01 1.04330400e-04] [ 1.78783935e-04 -1.04356259e-04 9.99999979e-01]] t_estimated: [[0.94503914] [0.32695558] [0.00103444]] R_gt: [[ 0.99958807 -0.02188846 0.01861042] [ 0.02138606 0.9994141 0.02676485] [-0.01918426 -0.02635572 0.99946824]] t_gt: [ 0.408919 -0.24992404 0.87768059] Pose Error in degrees for R and t: 2.237333530299575 72.2034298582565 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999288e-01 -3.20883096e-04 1.14923101e-03] [ 3.22250905e-04 9.99999240e-01 -1.19020763e-03] [-1.14884821e-03 1.19057712e-03 9.99998631e-01]] t_estimated: [[0.65128639] [0.75883018] [0.00166987]] R_gt: [[ 0.99994516 -0.00913826 0.00526937] [ 0.00911668 0.99995144 0.00388913] [-0.00530391 -0.0038404 0.99997787]] t_gt: [0.29385459 0.94514315 0.14266712] Pose Error in degrees for R and t: 0.6264555932891314 24.656539522155644 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 1.00000000e+00 9.58300106e-12 2.22432207e-15] [-9.58311208e-12 1.00000000e+00 -1.94170309e-14] [-2.22377997e-15 1.94170851e-14 1.00000000e+00]] t_estimated: [[ 4.99934286e-01] [-8.66063327e-01] [ 1.51169843e-04]] R_gt: [[ 0.99734804 0.07129151 0.01475644] [-0.0717873 0.99675905 0.03632597] [-0.01211818 -0.03728832 0.99923038]] t_gt: [-0.5242885 0.78789643 0.32301825] Pose Error in degrees for R and t: 4.6780285525050465 19.190799287787186 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.00657322 -0.99997625 -0.00207235] [ 0.99989768 -0.00659901 0.01269189] [-0.01270527 -0.00198872 0.99991731]] t_estimated: [[0.99917067] [0.04069021] [0.00150704]] R_gt: [[ 0.99728872 -0.0682435 0.02751743] [ 0.06745181 0.99730904 0.02873626] [-0.02940537 -0.02680193 0.99920805]] t_gt: [ 0.34782449 -0.83759301 0.42125537] Pose Error in degrees for R and t: 86.49101437099145 71.6941710778914 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 0.53741197 0.84330846 -0.00438344] [ 0.84326905 -0.53731528 0.01376913] [ 0.00925633 -0.01109612 -0.99989559]] t_estimated: [[-9.48764391e-01] [-3.15983334e-01] [-8.14390035e-04]] R_gt: [[ 0.98345117 -0.17821528 0.0325941 ] [ 0.1763101 0.98284285 0.05417125] [-0.04168974 -0.04752863 0.9979996 ]] t_gt: [ 0.54336246 -0.7808272 0.30832794] Pose Error in degrees for R and t: 177.6672270450086 74.39251358602834 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.39688417 -0.91786521 -0.00253188] [ 0.91786561 -0.39687417 -0.00368905] [ 0.00238121 -0.00378805 0.99998999]] t_estimated: [[0.98401082] [0.17810596] [0.00098401]] R_gt: [[ 0.94819504 -0.31698485 0.02111985] [ 0.31214337 0.94195143 0.12366839] [-0.05909573 -0.11066948 0.99209949]] t_gt: [ 0.64358779 -0.67712682 0.35678287] Pose Error in degrees for R and t: 95.18795362350882 59.13292307387897 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-2.67245063e-02 9.99632249e-01 4.60072696e-03] [ 9.99642705e-01 2.67218561e-02 6.36574251e-04] [ 5.13400187e-04 4.61609527e-03 -9.99989214e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99774939 -0.06176754 0.0261314 ] [ 0.06093599 0.99764442 0.03151488] [-0.02801552 -0.02985205 0.99916155]] t_gt: [ 0.81434271 -0.23561848 0.53040539] Pose Error in degrees for R and t: 179.9354263957011 76.70390169170773 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99972186e-01 7.45834920e-03 3.53564478e-05] [-7.45834468e-03 9.99972178e-01 -1.26104044e-04] [-3.62959921e-05 1.25836836e-04 9.99999991e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99288724 -0.09894286 0.06623885] [ 0.09463052 0.99336505 0.065356 ] [-0.07226583 -0.05862346 0.99566076]] t_gt: [ 0.72267581 -0.21210162 0.65783932] Pose Error in degrees for R and t: 8.02727702816498 78.05888359781703 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.54741190e-01 5.19054297e-01 3.67233344e-04] [-5.19054418e-01 8.54740837e-01 7.82725539e-04] [ 9.23877184e-05 -8.59641848e-04 9.99999626e-01]] t_estimated: [[7.71050216e-01] [6.36773967e-01] [6.92145616e-04]] R_gt: [[ 0.97978501 -0.19858405 0.02424183] [ 0.19789925 0.9798231 0.02798344] [-0.02930971 -0.02262063 0.99931393]] t_gt: [ 0.97736146 -0.13662762 0.1615471 ] Pose Error in degrees for R and t: 42.7551858470775 48.18668705611402 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.9976144 0.0675116 -0.01441124] [-0.06722135 0.99754249 0.01975507] [ 0.01570952 -0.0187392 0.99970098]] t_estimated: [[-0.99582944] [-0.09052995] [-0.01131624]] R_gt: [[ 9.99667225e-01 3.49466976e-04 -2.58030264e-02] [-1.38431866e-03 9.99193989e-01 -4.01281310e-02] [ 2.57682280e-02 4.01498602e-02 9.98861672e-01]] t_gt: [ 0.10508421 0.20715492 -0.97264801] Pose Error in degrees for R and t: 5.148129941984682 83.54672255142644 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.31615029 -0.94838913 -0.02463842] [-0.94841381 0.31529734 0.03314874] [-0.02366948 0.0338474 -0.99914669]] t_estimated: [[8.98940242e-01] [4.38070517e-01] [8.14257466e-04]] R_gt: [[ 0.99558094 -0.02650714 0.09008767] [ 0.01847297 0.99587175 0.08887329] [-0.09207148 -0.08681678 0.99196089]] t_gt: [ 0.0166694 -0.28258078 0.95909866] Pose Error in degrees for R and t: 172.81287697243698 83.79854728345767 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 8.04834651e-01 5.93499089e-01 1.26469007e-04] [-5.93497012e-01 8.04832364e-01 -2.48235871e-03] [-1.57506398e-03 1.92282933e-03 9.99996911e-01]] t_estimated: [[0.65571955] [0.75500102] [0.00230887]] R_gt: [[ 0.98284807 -0.12922732 0.13156777] [ 0.09348491 0.96408785 0.24858688] [-0.15896797 -0.23202336 0.95963283]] t_gt: [ 0.27034927 -0.40127683 0.87515038] Pose Error in degrees for R and t: 45.82862700355015 82.89601449621475 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999261e-01 1.13413102e-03 -4.38671292e-04] [-1.13374847e-03 9.99998978e-01 8.71344445e-04] [ 4.39659063e-04 -8.70846458e-04 9.99999524e-01]] t_estimated: [[-9.99998309e-01] [-6.38403203e-04] [-1.72476676e-03]] R_gt: [[ 0.9807831 -0.14021115 -0.13566091] [ 0.15364819 0.98362407 0.09420911] [ 0.12023052 -0.11324249 0.98626519]] t_gt: [ 0.59802516 -0.80136483 0.01342822] Pose Error in degrees for R and t: 12.757088578249004 53.30639045290722 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.99612389 0.08785295 0.0043647 ] [-0.08783964 0.99612964 -0.00315299] [-0.0046248 0.00275737 0.9999855 ]] t_estimated: [[-0.64963288] [-0.76024604] [-0.00175576]] R_gt: [[ 0.93747353 -0.29182928 -0.18967994] [ 0.31662117 0.941364 0.11655006] [ 0.14454567 -0.16931853 0.97490394]] t_gt: [ 0.65736046 -0.74764926 0.09432816] Pose Error in degrees for R and t: 26.448541965943466 81.883356869007 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.93768592 0.34719355 -0.01420383] [-0.34540071 0.93575453 0.07114636] [ 0.03799286 -0.06180693 0.99736475]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.87951499 -0.38182808 -0.28400478] [ 0.42433505 0.89940883 0.10489398] [ 0.21538552 -0.21276797 0.95306824]] t_gt: [ 0.71591343 -0.69711053 0.03879255] Pose Error in degrees for R and t: 46.74126923700808 46.16442327687119 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99099362e-01 4.24318870e-02 -3.59215153e-06] [-4.24318864e-02 9.99099325e-01 -2.71649807e-04] [-7.93769775e-06 2.71557571e-04 9.99999963e-01]] t_estimated: [[-0.66706703] [-0.74499591] [-0.00163525]] R_gt: [[ 0.9959101 0.06222762 0.06550802] [-0.0606752 0.9978332 -0.02542004] [-0.06694745 0.02134211 0.99752822]] t_gt: [-0.39627164 0.83551542 0.3806347 ] Pose Error in degrees for R and t: 4.170619688776379 68.97727219962321 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.01109023e-01 4.33590035e-01 1.48651297e-03] [-4.33590425e-01 9.01110059e-01 -6.56139293e-05] [-1.36796133e-03 -5.85412486e-04 9.99998893e-01]] t_estimated: [[0.05491632] [0.99847848] [0.00499239]] R_gt: [[ 0.98542622 0.11602918 0.12439213] [-0.10219443 0.9883974 -0.11236952] [-0.13598585 0.0980193 0.98584953]] t_gt: [-0.40915599 0.89916832 0.15520214] Pose Error in degrees for R and t: 21.610323829330884 28.823892368672215 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.70763859e-01 -2.40035828e-01 5.74953221e-04] [ 2.40036453e-01 9.70762558e-01 -1.59924105e-03] [-1.74267909e-04 1.69049515e-03 9.99998556e-01]] t_estimated: [[ 0.10924303] [-0.99401133] [-0.00272532]] R_gt: [[ 0.97655927 0.11411422 0.18250779] [-0.09826342 0.99074072 -0.09368317] [-0.19150874 0.07355362 0.97873136]] t_gt: [-0.34684125 0.79821742 0.49249375] Pose Error in degrees for R and t: 23.223558956615832 33.62607020077384 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 5.90524819e-01 -8.06986585e-01 -7.28627169e-03] [ 8.07010047e-01 5.90537499e-01 4.97163572e-04] [ 3.90161232e-03 -6.17368188e-03 9.99973331e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99772694 -0.06726957 -0.00421342] [ 0.06732811 0.99760276 0.01597602] [ 0.00312768 -0.016223 0.99986318]] t_gt: [ 0.50051822 -0.86143919 0.08604673] Pose Error in degrees for R and t: 49.94999104319245 30.88371326684937 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 5.77581747e-01 8.16331795e-01 -1.31382250e-03] [-8.16332401e-01 5.77578988e-01 -1.98105951e-03] [-8.58365595e-04 2.21673969e-03 9.99997175e-01]] t_estimated: [[0.72159716] [0.69231278] [0.00075088]] R_gt: [[ 0.99466813 -0.10226833 0.01329929] [ 0.1021614 0.99473204 0.008427 ] [-0.01409174 -0.00702265 0.99987532]] t_gt: [ 0.44816212 -0.88935615 0.09053367] Pose Error in degrees for R and t: 60.59397296754664 73.00716376754289 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99893609e-01 1.45831497e-02 3.19362259e-04] [-1.45830769e-02 9.99893635e-01 -2.29116917e-04] [-3.22669537e-04 2.24435257e-04 9.99999923e-01]] t_estimated: [[ 0.99759403] [-0.06930812] [-0.00159422]] R_gt: [[ 0.99491398 -0.09918636 0.01757091] [ 0.09894772 0.99499526 0.01394949] [-0.01886722 -0.01214041 0.99974732]] t_gt: [ 0.32596923 -0.93531914 0.13755785] Pose Error in degrees for R and t: 6.645794983027617 67.05851226689195 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999992e-01 1.21129920e-04 4.17265313e-05] [-1.21125101e-04 9.99999986e-01 -1.15476730e-04] [-4.17405184e-05 1.15471675e-04 9.99999992e-01]] t_estimated: [[-0.5202774 ] [-0.85399654] [-0.00115875]] R_gt: [[ 0.98573906 -0.16714657 0.0195385 ] [ 0.16767024 0.98541133 -0.02919641] [-0.01437391 0.03205644 0.99938242]] t_gt: [ 0.57465163 -0.81692714 -0.04904641] Pose Error in degrees for R and t: 9.852890852466038 66.50109628207443 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.99869041 0.05108503 -0.00279076] [-0.05107646 0.99869005 0.0030617 ] [ 0.00294351 -0.00291515 0.99999142]] t_estimated: [[-0.56656994] [-0.82401308] [-0.00097516]] R_gt: [[ 9.34806521e-01 -3.55143965e-01 3.18976368e-03] [ 3.55144579e-01 9.34811964e-01 2.24478897e-04] [-3.06136030e-03 9.23508123e-04 9.99994179e-01]] t_gt: [ 0.66111875 -0.75015286 0.01388094] Pose Error in degrees for R and t: 23.733608153064203 75.9037091841256 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.60463577e-01 -2.78405404e-01 3.86065870e-04] [ 2.78405483e-01 9.60463617e-01 -1.66501700e-04] [-3.24447249e-04 2.67401673e-04 9.99999912e-01]] t_estimated: [[8.11421558e-01] [5.84460866e-01] [7.41701607e-04]] R_gt: [[ 0.84809859 -0.52909735 -0.02801124] [ 0.52806813 0.84840202 -0.03686901] [ 0.04327168 0.016477 0.99892705]] t_gt: [ 0.75415415 -0.65260352 -0.07321312] Pose Error in degrees for R and t: 15.98575824364534 76.67576151775089 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99285803e-01 3.77872937e-02 6.15850040e-05] [-3.77872921e-02 9.99285805e-01 -2.74181594e-05] [-6.25770784e-05 2.50714469e-05 9.99999998e-01]] t_estimated: [[-9.44899586e-01] [-3.27359391e-01] [-7.75977353e-04]] R_gt: [[ 0.99909606 0.04047499 0.01296217] [-0.04040882 0.99917006 -0.00528302] [-0.01316603 0.00475473 0.99990259]] t_gt: [0.02739031 0.99053533 0.13449735] Pose Error in degrees for R and t: 0.8106349307287943 69.49760676477604 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-8.90707306e-01 -4.54572913e-01 -1.99060498e-03] [ 4.54576298e-01 -8.90705922e-01 -1.83031414e-03] [-9.41032418e-04 -2.53515602e-03 9.99996344e-01]] t_estimated: [[0.89040237] [0.45517275] [0.00117313]] R_gt: [[ 0.99086321 0.11841865 0.06455603] [-0.11245255 0.98963488 -0.08932101] [-0.07446537 0.08124568 0.99390858]] t_gt: [-0.30105091 0.95061061 -0.07555012] Pose Error in degrees for R and t: 159.65125627666959 80.52908152503434 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-5.04462118e-01 8.63432575e-01 -1.46956194e-03] [-8.63429154e-01 -5.04464257e-01 -2.43113633e-03] [-2.84046377e-03 4.24464401e-05 9.99995965e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97913434 0.14763406 0.13964378] [-0.13302664 0.9851274 -0.10875563] [-0.15362307 0.08791135 0.98421108]] t_gt: [-0.3405685 0.91155737 0.23038286] Pose Error in degrees for R and t: 112.45328936249774 24.542345106615375 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99891880e-01 -1.47046937e-02 -2.63613016e-05] [ 1.47046954e-02 9.99891878e-01 6.44284435e-05] [ 2.54110509e-05 -6.48091124e-05 9.99999998e-01]] t_estimated: [[-2.04425452e-01] [ 9.78882132e-01] [ 7.61412772e-05]] R_gt: [[ 0.99499178 0.03413521 0.0939522 ] [-0.03270224 0.99932425 -0.01674733] [-0.09446104 0.01359216 0.99543606]] t_gt: [-0.66459511 0.31833945 0.67599803] Pose Error in degrees for R and t: 6.134702618755311 63.41477965726085 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99992722e-01 -3.81360930e-03 -1.09979815e-04] [ 3.81360537e-03 9.99992728e-01 -3.59394731e-05] [ 1.10116074e-04 3.55197920e-05 9.99999993e-01]] t_estimated: [[-8.00095257e-01] [ 5.99872505e-01] [-7.46615929e-04]] R_gt: [[ 0.98755142 0.11904874 0.10281123] [-0.1154213 0.99248768 -0.04055061] [-0.1068667 0.02817898 0.99387447]] t_gt: [-0.74125318 0.56381697 0.36421717] Pose Error in degrees for R and t: 9.42801463922687 21.40569859082725 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.93802889 -0.22087722 0.26704879] [ 0.2571765 0.96017641 -0.10918562] [-0.23229734 0.17109794 0.95747765]] t_estimated: [[0.48755937] [0.87307143] [0.00566929]] R_gt: [[ 0.95854599 0.2753787 0.07318913] [-0.27633325 0.96105606 0.00305489] [-0.06949847 -0.0231519 0.99731381]] t_gt: [-0.70275346 0.68250074 0.20082409] Pose Error in degrees for R and t: 33.052824247273946 75.26336337968279 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99908288e-01 -1.35431048e-02 -1.63241047e-06] [ 1.35431049e-02 9.99908286e-01 5.83300994e-05] [ 8.42290110e-07 -5.83468577e-05 9.99999998e-01]] t_estimated: [[ 9.63494688e-01] [-2.67727418e-01] [ 1.30070898e-04]] R_gt: [[ 9.99873321e-01 -1.59063358e-02 -4.31140340e-04] [ 1.59001878e-02 9.99816155e-01 -1.06932738e-02] [ 6.01535568e-04 1.06858021e-02 9.99942642e-01]] t_gt: [ 0.05816422 -0.93955649 -0.33741744] Pose Error in degrees for R and t: 0.632251335586076 72.08883395795586 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.02331869e-01 4.31039675e-01 1.41279327e-03] [-4.31039446e-01 9.02332958e-01 -4.78274851e-04] [-1.48096536e-03 -1.77406987e-04 9.99998888e-01]] t_estimated: [[0.65521996] [0.75543332] [0.00270445]] R_gt: [[ 0.99911065 -0.03320454 0.0260019 ] [ 0.03272888 0.99929273 0.01850528] [-0.02659745 -0.0176368 0.99949022]] t_gt: [-0.12135186 -0.87887825 0.46135317] Pose Error in degrees for R and t: 27.478769290433245 42.08097954684628 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-3.03689598e-01 -9.52761569e-01 -4.24508592e-03] [-9.52770968e-01 3.03685016e-01 1.70085995e-03] [-3.31345007e-04 4.56112810e-03 -9.99989543e-01]] t_estimated: [[7.10922143e-01] [7.03270710e-01] [1.21964304e-04]] R_gt: [[ 0.99941846 -0.01588506 0.03019 ] [ 0.0149889 0.99944661 0.02969805] [-0.03064576 -0.02922663 0.99910177]] t_gt: [-0.49782441 -0.68334914 0.53404569] Pose Error in degrees for R and t: 177.73284293773133 33.44360243325542 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99631035 -0.07115805 -0.04798142] [ 0.07284197 0.9967532 0.03430904] [ 0.04538427 -0.03767751 0.99825882]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.98374573 -0.16365027 -0.07391836] [ 0.17107887 0.97922056 0.10889596] [ 0.05456203 -0.11977185 0.99130084]] t_gt: [ 0.55979883 -0.78403211 0.26817703] Pose Error in degrees for R and t: 7.227098391247181 58.52741970419172 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.16916483 0.98551689 0.01181997] [ 0.98557162 0.16921855 -0.00369584] [-0.00564247 0.01102422 -0.99992331]] t_estimated: [[-0.9976057 ] [-0.06846314] [-0.00978045]] R_gt: [[ 0.94455842 -0.28139992 -0.16918632] [ 0.29991764 0.9491482 0.09574888] [ 0.13363868 -0.14118349 0.98092215]] t_gt: [ 0.66224755 -0.74746591 0.05218137] Pose Error in degrees for R and t: 169.48553138581863 52.410610178109216 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.22133618 -0.97519292 -0.00301088] [ 0.97519217 -0.22132363 -0.00401092] [ 0.00324505 -0.00382395 0.99998742]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.91659585 -0.33423751 -0.21940188] [ 0.37598341 0.90720899 0.18869898] [ 0.13597313 -0.25545347 0.95721228]] t_gt: [ 0.62949228 -0.73836045 0.24199859] Pose Error in degrees for R and t: 82.8925336978614 51.23852805843921 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 3.12704797e-02 9.99510929e-01 2.44598044e-04] [-9.99509370e-01 3.12708654e-02 -1.77535850e-03] [-1.78213902e-03 -1.88961724e-04 9.99998394e-01]] t_estimated: [[0.01449122] [0.99989413] [0.00131738]] R_gt: [[ 0.99014477 -0.05764697 0.12763627] [ 0.0323586 0.98086605 0.19197843] [-0.13626162 -0.18595555 0.97306377]] t_gt: [ 0.09223773 -0.26492901 0.95984625] Pose Error in degrees for R and t: 91.58431840064388 74.7934298019377 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-3.93051169e-01 9.19516533e-01 3.51850595e-04] [ 9.19469857e-01 3.93027302e-01 1.02333484e-02] [ 9.27144620e-03 4.34574559e-03 -9.99947576e-01]] t_estimated: [[-0.49296515] [-0.87001176] [-0.00805582]] R_gt: [[ 0.97474023 -0.18297753 0.12806879] [ 0.1323151 0.93505372 0.32889196] [-0.17993017 -0.30363851 0.93564389]] t_gt: [ 0.33275656 -0.3973763 0.8551989 ] Pose Error in degrees for R and t: 177.0692544334276 79.93325198489008 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-8.91647251e-01 4.52729721e-01 -9.89153919e-04] [-4.52726708e-01 -8.91646352e-01 -2.30443797e-03] [-1.92526305e-03 -1.60692939e-03 9.99996856e-01]] t_estimated: [[0.01768707] [0.99984303] [0.00104042]] R_gt: [[ 0.94885879 -0.30395668 0.08531433] [ 0.25017816 0.88877364 0.38404977] [-0.19255872 -0.34306491 0.91936221]] t_gt: [ 0.48317148 -0.4764855 0.73451133] Pose Error in degrees for R and t: 170.0768817366548 62.15374465925007 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 0.99815396 -0.05981722 0.01051499] [ 0.05995226 0.99811614 -0.01303416] [-0.00971552 0.0136405 0.99985976]] t_estimated: [[-0.90637274] [-0.42238729] [-0.00879974]] R_gt: [[ 0.99271731 -0.11181395 0.04485381] [ 0.10966617 0.99281838 0.04780191] [-0.04987619 -0.04253394 0.99784985]] t_gt: [ 0.45905898 -0.75939767 0.46106402] Pose Error in degrees for R and t: 4.944009417618125 84.29676897416945 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.622344 -0.78273811 -0.00299813] [ 0.78273829 0.62234945 -0.00138532] [ 0.00295023 -0.00148461 0.99999455]] t_estimated: [[0.70276012] [0.71142645] [0.00078785]] R_gt: [[ 0.97015314 -0.24199661 0.01555003] [ 0.24000184 0.96737106 0.08119396] [-0.03469216 -0.07503724 0.99657769]] t_gt: [ 0.64263705 -0.70105921 0.30908513] Pose Error in degrees for R and t: 37.83725449396662 87.31248084741935 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.07591257 -0.99710891 -0.00333359] [-0.99691286 0.07582956 0.02036217] [-0.02005052 0.00486904 -0.99978711]] t_estimated: [[0.86621985] [0.4996583 ] [0.00218191]] R_gt: [[ 0.93461574 -0.35542719 0.01290991] [ 0.34661041 0.91836841 0.19095088] [-0.07972544 -0.17398991 0.98151492]] t_gt: [ 0.62706274 -0.61995189 0.47164814] Pose Error in degrees for R and t: 169.92510134529692 76.44143322767735 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.96394182e-01 -8.48447042e-02 1.02550636e-04] [ 8.48447153e-02 9.96394180e-01 -1.09097654e-04] [-9.29244987e-05 1.17405147e-04 9.99999989e-01]] t_estimated: [[ 9.99995736e-01] [-2.90909304e-03] [ 2.54633968e-04]] R_gt: [[ 0.97546085 -0.2157792 -0.04377493] [ 0.21691403 0.97591808 0.02305353] [ 0.03774547 -0.03198165 0.99877556]] t_gt: [ 0.98144343 -0.1617536 0.10297847] Pose Error in degrees for R and t: 8.146973429089805 10.906872145985872 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.30646766 -0.95187957 0.00169219] [-0.95187667 0.30646035 -0.00358576] [ 0.00289462 -0.00270968 -0.99999214]] t_estimated: [[0.83631392] [0.54825023] [0.00084476]] R_gt: [[ 0.94248826 -0.33152975 -0.04248538] [ 0.33347873 0.94128926 0.05260059] [ 0.02255178 -0.06374134 0.99771162]] t_gt: [ 0.98156489 -0.09587754 0.16534168] Pose Error in degrees for R and t: 179.6149901541308 39.78320141002817 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.45535235e-01 3.25519130e-01 6.44361641e-04] [-3.25519519e-01 9.45535108e-01 6.34340619e-04] [-4.02776547e-04 -8.09543698e-04 9.99999591e-01]] t_estimated: [[0.274196 ] [0.96167292] [0.00132462]] R_gt: [[ 0.93589428 -0.35223999 0.0054647 ] [ 0.35077634 0.93321541 0.07787802] [-0.03253151 -0.07096752 0.99694806]] t_gt: [ 0.97324585 -0.08632125 0.21293464] Pose Error in degrees for R and t: 39.846180866420944 79.38962304045735 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999908e-01 -3.81799780e-05 -4.26193696e-04] [ 3.83410926e-05 9.99999928e-01 3.78029455e-04] [ 4.26179233e-04 -3.78045761e-04 9.99999838e-01]] t_estimated: [[-0.73194827] [-0.68135668] [-0.00219214]] R_gt: [[ 0.99847889 0.05222056 0.01768928] [-0.0529849 0.99754252 0.04585018] [-0.01525046 -0.04671777 0.99879059]] t_gt: [0.06684089 0.02107848 0.99754097] Pose Error in degrees for R and t: 4.1211646979235494 86.24600042907097 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99949550e-01 -1.00371154e-02 -3.93094723e-04] [ 1.00374502e-02 9.99949254e-01 8.59354249e-04] [ 3.84449338e-04 -8.63256563e-04 9.99999553e-01]] t_estimated: [[3.42512763e-01] [9.39512858e-01] [7.72286045e-04]] R_gt: [[ 0.9936937 0.10455962 0.04048906] [-0.10660462 0.99293263 0.05215929] [-0.03474945 -0.05614663 0.99781728]] t_gt: [-0.01971887 0.22334568 0.97453983] Pose Error in degrees for R and t: 7.631116280140497 78.23870225758778 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.21256716e-01 5.70558846e-01 1.01897161e-04] [-5.70558850e-01 8.21256719e-01 1.98438950e-05] [-7.23616180e-05 -7.44352589e-05 9.99999995e-01]] t_estimated: [[-3.83492069e-01] [ 9.23544082e-01] [-4.01974833e-04]] R_gt: [[ 0.97490141 0.21383832 0.0619691 ] [-0.21869175 0.97194708 0.08655763] [-0.04172052 -0.09793763 0.99431652]] t_gt: [-0.21893433 0.63447981 0.74128478] Pose Error in degrees for R and t: 23.075298973363516 47.96135612954033 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[-9.93647402e-01 1.10174399e-01 2.29443267e-02] [ 1.10210256e-01 9.93908250e-01 3.00305745e-04] [-2.27714696e-02 2.82709814e-03 -9.99736699e-01]] t_estimated: [[ 0.99827947] [-0.05743386] [ 0.01180884]] R_gt: [[ 9.99303761e-01 -3.55975364e-02 -1.12200989e-02] [ 3.56037764e-02 9.99365696e-01 3.87198728e-04] [ 1.11999162e-02 -7.86650205e-04 9.99937016e-01]] t_gt: [ 0.58910091 -0.77909787 -0.21439829] Pose Error in degrees for R and t: 179.33213062501807 50.92758241844319 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[-0.92012463 0.39050448 0.02961286] [ 0.39052594 0.9205767 -0.00529449] [-0.02932843 0.006693 -0.99954742]] t_estimated: [[ 0.98033363] [-0.19675627] [ 0.01526237]] R_gt: [[ 0.99699438 -0.07485972 -0.01997908] [ 0.07459316 0.99711846 -0.01373598] [ 0.02095028 0.01220385 0.99970611]] t_gt: [ 0.5769381 -0.75640999 -0.30819856] Pose Error in degrees for R and t: 179.28182121528022 44.78815556673638 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 0.96418818 -0.26521138 0.00201901] [ 0.26521592 0.96418587 -0.00247357] [-0.00129068 0.00292046 0.9999949 ]] t_estimated: [[0.97111827] [0.23859651] [0.00100414]] R_gt: [[ 0.99539218 -0.09374965 -0.02014714] [ 0.09391475 0.99555211 0.00740961] [ 0.01936364 -0.009268 0.9997694 ]] t_gt: [ 0.5318511 -0.83908589 -0.11432092] Pose Error in degrees for R and t: 10.090080270967583 71.5683850714818 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.81120717e-01 -1.93382094e-01 2.34610240e-03] [ 1.93380025e-01 9.81123334e-01 1.08105001e-03] [-2.51087153e-03 -6.06951225e-04 9.99996664e-01]] t_estimated: [[0.99826075] [0.05815111] [0.00969185]] R_gt: [[ 0.99776393 -0.06125151 -0.02675063] [ 0.06254554 0.99676047 0.05057898] [ 0.02356641 -0.05213829 0.99836167]] t_gt: [ 0.48340232 -0.86508293 0.1339915 ] Pose Error in degrees for R and t: 8.28351593017722 64.30664021544432 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.08625386e-01 4.17611556e-01 7.04069445e-04] [-4.17611603e-01 9.08625633e-01 -8.52843562e-05] [-6.75351278e-04 -2.16536039e-04 9.99999749e-01]] t_estimated: [[-0.0713545 ] [ 0.99745027] [ 0.0012217 ]] R_gt: [[ 0.99186792 -0.10235644 -0.07564617] [ 0.10617184 0.99317586 0.04825917] [ 0.0701909 -0.05589791 0.99596597]] t_gt: [ 0.55836356 -0.81012504 -0.17868283] Pose Error in degrees for R and t: 31.10463253107391 31.99227968889614 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.96840223e-01 7.94327828e-02 5.15565088e-05] [-7.94327766e-02 9.96840218e-01 -1.13657614e-04] [-6.04217420e-05 1.09203204e-04 9.99999992e-01]] t_estimated: [[-9.78737047e-01] [-2.05117190e-01] [-8.55501029e-04]] R_gt: [[ 9.98102317e-01 -4.69341074e-02 3.98837998e-02] [ 4.68984809e-02 9.98898581e-01 1.81746800e-03] [-3.99258334e-02 5.78803000e-05 9.99202800e-01]] t_gt: [ 0.27982396 -0.80128837 0.52880572] Pose Error in degrees for R and t: 7.597094173182959 83.68650305310913 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99931259e-01 1.17154889e-02 -4.74170852e-04] [-1.17153130e-02 9.99931304e-01 3.71958221e-04] [ 4.78495951e-04 -3.66377592e-04 9.99999818e-01]] t_estimated: [[-0.99916597] [ 0.04072599] [-0.00295849]] R_gt: [[ 0.9978354 -0.00678847 -0.0654043 ] [ 0.00666423 0.99997593 -0.00210719] [ 0.06541769 0.00166808 0.9978569 ]] t_gt: [ 0.48635184 -0.22011569 -0.84558321] Pose Error in degrees for R and t: 3.8723056989937152 60.50095914191939 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99963075e-01 8.57553387e-03 5.55582670e-04] [-8.57515337e-03 9.99962999e-01 -6.83661145e-04] [-5.61424872e-04 6.78871695e-04 9.99999612e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.99591557 -0.05891205 -0.06842531] [ 0.06114428 0.99764659 0.03101697] [ 0.06643801 -0.03507389 0.99717417]] t_gt: [ 0.6094642 -0.73372316 -0.30033933] Pose Error in degrees for R and t: 5.870169357549831 53.386343189355614 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99997279 0.00377792 -0.00633621] [-0.00371696 0.99994696 0.00960558] [ 0.00637216 -0.00958177 0.99993379]] t_estimated: [[-0.85233013] [-0.52300232] [-0.00138857]] R_gt: [[ 0.9842917 -0.11908505 -0.13033856] [ 0.12595948 0.99097769 0.04580594] [ 0.12370823 -0.06150313 0.99041026]] t_gt: [ 0.6191637 -0.7158356 -0.32282456] Pose Error in degrees for R and t: 10.38139203262768 81.20498017962157 Number of keypoints: Image1: 690 Image2: 690 R_estimated: [[ 9.99888475e-01 -1.49343911e-02 2.55827148e-05] [ 1.49343914e-02 9.99888476e-01 -1.25851756e-05] [-2.53919098e-05 1.29658343e-05 1.00000000e+00]] t_estimated: [[ 9.88505086e-01] [-1.51187599e-01] [ 7.18075070e-05]] R_gt: [[ 0.99914851 -0.04088238 -0.00559636] [ 0.04077892 0.9990148 -0.01748074] [ 0.00630544 0.01723844 0.99983091]] t_gt: [ 0.56463252 -0.74586456 -0.35337823] Pose Error in degrees for R and t: 1.8199954184209874 47.8648087595671 Number of keypoints: Image1: 580 Image2: 580 R_estimated: [[-0.39860915 -0.91708933 0.00760919] [-0.91708303 0.39865437 0.00578029] [-0.00833448 -0.00467419 -0.99995434]] t_estimated: [[0.85387254] [0.52045129] [0.00566959]] R_gt: [[ 0.99666733 -0.08104253 -0.00936353] [ 0.08090636 0.99662276 -0.01407407] [ 0.01047253 0.01326949 0.99985676]] t_gt: [ 0.5542909 -0.8049314 -0.2117712] Pose Error in degrees for R and t: 179.63911199373234 86.95240186732583 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-7.70706256e-01 6.37190532e-01 -3.04521862e-04] [-6.37185589e-01 -7.70701998e-01 -3.59925747e-03] [-2.52810839e-03 -2.57993331e-03 9.99993476e-01]] t_estimated: [[0.47646217] [0.87919412] [0.00122789]] R_gt: [[ 0.99374401 -0.11162084 -0.00381831] [ 0.11166854 0.99360884 0.01647177] [ 0.00195459 -0.01679412 0.99985691]] t_gt: [ 0.46080205 -0.88339287 0.0853142 ] Pose Error in degrees for R and t: 146.83030964245364 56.15043187396806 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.19709506 0.98014787 0.02153363] [ 0.98018663 -0.19656662 -0.02440757] [-0.01969024 0.02591759 -0.99947015]] t_estimated: [[ 0.97515059] [-0.22141117] [ 0.00764268]] R_gt: [[ 0.98343292 -0.18038063 0.01793502] [ 0.18054723 0.98353315 -0.008094 ] [-0.01617867 0.01119859 0.99980578]] t_gt: [ 0.83385409 -0.55188354 -0.010579 ] Pose Error in degrees for R and t: 177.08558851860838 20.73213332110449 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-2.57930913e-01 -9.66159528e-01 -2.72210852e-03] [ 9.66163363e-01 -2.57929934e-01 -7.10657880e-04] [-1.55043902e-05 -2.81330216e-03 9.99996043e-01]] t_estimated: [[0.9926984 ] [0.12061819] [0.00106742]] R_gt: [[ 0.82768368 -0.56030521 0.03156177] [ 0.56017002 0.82826208 0.01382937] [-0.03389 0.00623455 0.99940615]] t_gt: [ 0.92845846 -0.37095516 0.01889881] Pose Error in degrees for R and t: 70.89106196307179 28.72274520086297 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-3.31926708e-01 -9.43295329e-01 -4.31076046e-03] [ 9.43305175e-01 -3.31923648e-01 -1.42770530e-03] [-8.40955935e-05 -4.54025617e-03 9.99989689e-01]] t_estimated: [[9.99695725e-01] [2.46500316e-02] [9.12964132e-04]] R_gt: [[ 0.69831277 -0.71490719 0.03560544] [ 0.7143176 0.69920253 0.02943093] [-0.04593604 0.00488201 0.99893211]] t_gt: [ 0.95954949 -0.28029413 0.02645721] Pose Error in degrees for R and t: 63.79955643666013 17.75439456912971 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.97060283e-01 7.66207457e-02 -2.32154132e-04] [-7.66206081e-02 9.97060167e-01 5.52848093e-04] [ 2.73831271e-04 -5.33435085e-04 9.99999820e-01]] t_estimated: [[0.39256092] [0.91972535] [0.00109893]] R_gt: [[ 0.9961881 0.08608016 -0.01413858] [-0.08623658 0.99621587 -0.01084831] [ 0.01315157 0.0120255 0.99984097]] t_gt: [ 0.136902 0.96110735 -0.23985517] Pose Error in degrees for R and t: 1.1671784924343915 20.375067135854565 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.11808588e-01 4.10615345e-01 -3.70572040e-04] [-4.10614756e-01 9.11808269e-01 1.09641522e-03] [ 7.88095562e-04 -8.47558462e-04 9.99999330e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99419474 0.10317941 0.03051566] [-0.10347862 0.99459588 0.00839225] [-0.02948467 -0.01150098 0.99949881]] t_gt: [0.39027942 0.81045184 0.43686358] Pose Error in degrees for R and t: 18.40150045344936 66.85065881427937 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.13063922 -0.99140197 0.00745159] [-0.99137915 0.13055273 -0.01110744] [ 0.01003911 -0.00883842 -0.99991055]] t_estimated: [[7.84353014e-01] [6.20314335e-01] [6.89238150e-04]] R_gt: [[ 0.98281308 0.18256647 0.02734875] [-0.18388448 0.98124401 0.05784475] [-0.01627407 -0.06187986 0.99795069]] t_gt: [0.17774383 0.75370714 0.63271848] Pose Error in degrees for R and t: 176.81153533638204 52.59931434992556 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-8.63717320e-01 -5.03974722e-01 -1.36752596e-03] [ 5.03976289e-01 -8.63716551e-01 -1.27290575e-03] [-5.39642485e-04 -1.78863140e-03 9.99998255e-01]] t_estimated: [[9.02356575e-01] [4.30989376e-01] [8.77778769e-04]] R_gt: [[ 0.98968419 -0.1403215 0.02892338] [ 0.13964597 0.98990539 0.02421023] [-0.03202819 -0.01992137 0.99928765]] t_gt: [ 0.59976791 -0.76610494 0.23100143] Pose Error in degrees for R and t: 141.69478260470635 77.80589703739086 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.32109587 -0.60773186 0.72633286] [-0.92990603 0.05706619 -0.36334312] [ 0.17936614 -0.79208928 -0.58345724]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.9848974 -0.16953574 0.03516812] [ 0.16889631 0.98542203 0.02043887] [-0.0381211 -0.01419012 0.99917141]] t_gt: [ 0.6016834 -0.77382522 0.1979182 ] Pose Error in degrees for R and t: 159.5940679600198 89.01830515000424 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.98960526e-01 4.55826493e-02 -2.99413742e-04] [-4.55824069e-02 9.98960284e-01 7.71776409e-04] [ 3.34282050e-04 -7.57326169e-04 9.99999657e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.9771151 -0.21116056 0.02570802] [ 0.20994953 0.97676137 0.04312522] [-0.03421637 -0.03674039 0.99873788]] t_gt: [ 0.61081337 -0.763836 0.20847444] Pose Error in degrees for R and t: 15.046659212558561 52.511412842392275 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 0.53976899 0.84143291 0.02530011] [ 0.84143085 -0.53837441 -0.04633694] [-0.0253685 0.04629954 -0.99860542]] t_estimated: [[ 0.46366427] [-0.88561351] [ 0.02653582]] R_gt: [[ 0.99901167 -0.02380929 -0.03752937] [ 0.02492856 0.99924857 0.0296595 ] [ 0.03679594 -0.0305659 0.99885538]] t_gt: [ 0.4936158 -0.79010177 -0.36343175] Pose Error in degrees for R and t: 179.51209745384574 23.22652631041837 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.41552176 0.90916087 0.0277161 ] [ 0.90917123 0.41605772 -0.01742552] [-0.02737409 0.017958 -0.99946394]] t_estimated: [[ 0.84679449] [-0.53167364] [ 0.01619356]] R_gt: [[ 0.99737237 -0.0582098 -0.04312907] [ 0.05884932 0.99817224 0.01371886] [ 0.04225233 -0.01622163 0.99897495]] t_gt: [ 0.5470989 -0.75630885 -0.35871955] Pose Error in degrees for R and t: 179.35282214378225 30.730444750491205 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-0.78788808 0.61558444 -0.01697569] [-0.6158165 -0.78751648 0.02424525] [ 0.00155636 0.02955645 0.9995619 ]] t_estimated: [[ 0.76230623] [ 0.64717691] [-0.00716007]] R_gt: [[ 0.99326311 -0.10509553 -0.04881108] [ 0.10564217 0.9943652 0.0087528 ] [ 0.04761666 -0.01385131 0.99876982]] t_gt: [ 0.56713089 -0.77516933 -0.27834342] Pose Error in degrees for R and t: 148.01495239788179 86.1381299575225 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.84676055 0.52779051 0.06658644] [ 0.53177473 -0.83635854 -0.13311662] [-0.01456755 0.14812689 -0.98886107]] t_estimated: [[ 0.89285364] [ 0.45034577] [-0.00103759]] R_gt: [[ 0.97266849 0.22784287 -0.04474691] [-0.22683637 0.97357322 0.02649044] [ 0.0496006 -0.01561652 0.99864694]] t_gt: [-0.97530446 0.21896753 0.02888661] Pose Error in degrees for R and t: 173.7404192822149 39.44606557500353 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-0.11022065 -0.99390402 -0.00249256] [ 0.99383483 -0.11018204 -0.01233858] [ 0.01198873 -0.00383716 0.99992077]] t_estimated: [[0.99476542] [0.10216558] [0.00198739]] R_gt: [[ 0.86300776 0.50452147 -0.02599072] [-0.50384807 0.86332253 0.02848521] [ 0.03681001 -0.01148766 0.99925583]] t_gt: [-0.9198285 0.39230061 0.0039707 ] Pose Error in degrees for R and t: 126.62164515378296 28.963772411935953 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 0.16898009 0.98560902 -0.00453637] [-0.98561717 0.16896798 -0.00293606] [-0.00212731 0.00496726 0.9999854 ]] t_estimated: [[0.24646515] [0.96915109] [0.00104434]] R_gt: [[ 0.71322864 0.7008459 -0.01087504] [-0.70083401 0.71330326 0.005467 ] [ 0.01158941 0.00372285 0.99992589]] t_gt: [-0.84173236 0.53975045 -0.01249349] Pose Error in degrees for R and t: 35.78179222848131 71.60120980103034 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.50469721e-01 3.10816683e-01 -5.46398053e-04] [-3.10815297e-01 9.50468637e-01 1.79473019e-03] [ 1.07716630e-03 -1.53600783e-03 9.99998240e-01]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 0.91377529 -0.40604309 0.01203971] [ 0.40584056 0.91380093 0.01618826] [-0.01757455 -0.00990501 0.99979669]] t_gt: [ 0.88782586 -0.45815336 0.04313627] Pose Error in degrees for R and t: 42.07561798930523 64.032566757806 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.06713606 0.99770335 0.00898732] [-0.99772014 -0.06706967 -0.00749492] [-0.00687493 -0.00947001 0.99993152]] t_estimated: [[0.09523659] [0.99541509] [0.008876 ]] R_gt: [[ 0.81515269 -0.57886388 0.02107356] [ 0.57841403 0.81539173 0.02395559] [-0.03104999 -0.00733735 0.99949098]] t_gt: [ 0.92849957 -0.3690579 0.04104646] Pose Error in degrees for R and t: 129.2099822369685 73.82486454511482 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.97244901 0.20378288 -0.11320537] [-0.18199924 0.96713467 0.17755787] [ 0.14566809 -0.15206269 0.97757749]] t_estimated: [[-0.32806052] [-0.94465619] [-0.00098813]] R_gt: [[ 0.67207348 -0.73740761 -0.06744249] [ 0.73933496 0.6733144 0.00563093] [ 0.04125847 -0.05364623 0.99770778]] t_gt: [ 0.96787108 -0.25024477 0.02455876] Pose Error in degrees for R and t: 59.401012628637915 85.34537064733269 Number of keypoints: Image1: 390 Image2: 390 R_estimated: [[ 9.99687458e-01 -2.49995825e-02 -9.04072306e-05] [ 2.49995794e-02 9.99687461e-01 -3.46786099e-05] [ 9.12459256e-05 3.24076286e-05 9.99999995e-01]] t_estimated: [[-0.21381024] [-0.97687431] [-0.00132806]] R_gt: [[ 0.99802661 0.06113375 -0.01431096] [-0.06189678 0.99621745 -0.06098855] [ 0.01052772 0.06175414 0.99803514]] t_gt: [-0.35902963 0.5792725 -0.73180673] Pose Error in degrees for R and t: 6.124032952843637 60.78157608846039 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99919589 0.03884661 -0.00992541] [-0.03876205 0.99921167 0.00857519] [ 0.01025071 -0.00818357 0.99991397]] t_estimated: [[-0.49087306] [-0.87123062] [-0.00092096]] R_gt: [[ 0.97278309 0.22854039 -0.03823567] [-0.23081497 0.97025544 -0.07299112] [ 0.02041774 0.07983003 0.99659908]] t_gt: [-0.52023507 0.78912557 -0.32655213] Pose Error in degrees for R and t: 12.158248913731889 64.41559724133614 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.72427911e-01 -2.33201974e-01 -8.93022876e-04] [ 2.33202142e-01 9.72428277e-01 8.78506085e-05] [ 8.47913761e-04 -2.93683231e-04 9.99999597e-01]] t_estimated: [[-0.60157614] [-0.79881422] [-0.00140884]] R_gt: [[ 0.87318786 0.47589584 -0.10519661] [-0.48113614 0.87612498 -0.03020479] [ 0.07779072 0.0769891 0.99399198]] t_gt: [-0.41075043 0.88096017 -0.23493245] Pose Error in degrees for R and t: 42.60714521882592 62.851720108544036 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99726513e-01 -2.33535751e-02 1.22911211e-03] [ 2.33535944e-02 9.99727268e-01 -1.35314691e-06] [-1.22874529e-03 3.00569625e-05 9.99999245e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99910946 0.04196418 0.00433164] [-0.04192179 0.99907647 -0.00938277] [-0.00472061 0.00919382 0.99994658]] t_gt: [-0.88425922 0.46693125 -0.00779939] Pose Error in degrees for R and t: 3.7846340622642494 84.61047204366092 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.98386899 0.17888371 0.00156144] [-0.17887068 0.98385237 -0.00630819] [-0.00266466 0.00592714 0.99997888]] t_estimated: [[0.14337856] [0.98966174] [0.00349704]] R_gt: [[ 0.98542695 0.1686667 0.02201255] [-0.16668258 0.98332644 -0.07270652] [-0.03390818 0.06797811 0.99711031]] t_gt: [-0.71178895 0.69878946 -0.07106174] Pose Error in degrees for R and t: 4.035631961231525 53.89538617707392 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 4.01464086e-01 9.15874766e-01 -2.15335885e-06] [ 9.15846223e-01 -4.01451556e-01 7.89579185e-03] [ 7.23069204e-03 -3.17184900e-03 -9.99968828e-01]] t_estimated: [[-0.81645241] [-0.57740103] [-0.00367771]] R_gt: [[ 0.95631328 0.29202245 0.01369523] [-0.28988293 0.95328778 -0.08491491] [-0.03785226 0.07723644 0.99629354]] t_gt: [-0.64414961 0.76347342 -0.0466864 ] Pose Error in degrees for R and t: 175.6570462442057 85.10908952012188 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-6.95782151e-01 -7.18250592e-01 1.81275337e-03] [-7.18251685e-01 6.95783380e-01 6.73884934e-05] [-1.30968549e-03 -1.25512545e-03 -9.99998355e-01]] t_estimated: [[0.91396914] [0.40577911] [0.00193228]] R_gt: [[ 0.99982447 -0.01849085 0.00289152] [ 0.01856896 0.99938808 -0.02964912] [-0.00234103 0.02969769 0.99955672]] t_gt: [ 0.44812037 -0.62003981 -0.64400215] Pose Error in degrees for R and t: 179.5734383261511 80.98316923339873 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999998e-01 -3.82058728e-05 4.98439773e-05] [ 3.82088661e-05 9.99999997e-01 -6.00530214e-05] [-4.98416828e-05 6.00549257e-05 9.99999997e-01]] t_estimated: [[0.93793273] [0.34681301] [0.00170844]] R_gt: [[ 0.99074401 0.04713454 0.12729354] [-0.03985057 0.99745213 -0.05917699] [-0.12975912 0.05355614 0.99009804]] t_gt: [-0.40823557 0.45971271 0.7886748 ] Pose Error in degrees for R and t: 8.445808565380304 77.16666859117154 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.9376397 0.26538227 -0.22450847] [-0.05057833 0.74314969 0.66721089] [ 0.34390934 -0.61424815 0.71022924]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96352274 0.16947325 0.20713151] [-0.14985573 0.98289057 -0.10709693] [-0.22173764 0.07215094 0.97243331]] t_gt: [-0.39518511 0.67861225 0.61912368] Pose Error in degrees for R and t: 55.30059531687671 77.90756268770998 Number of keypoints: Image1: 435 Image2: 435 R_estimated: [[ 9.97879221e-01 -6.50927113e-02 1.08341500e-06] [ 6.50927112e-02 9.97879220e-01 3.39154387e-05] [-3.28876518e-06 -3.37729891e-05 9.99999999e-01]] t_estimated: [[0.82202692] [0.56944767] [0.00104181]] R_gt: [[ 0.99913783 0.00165081 0.0415033 ] [-0.00399948 0.9983892 0.05659454] [-0.04134339 -0.05671103 0.99753372]] t_gt: [-0.09617811 0.03748946 0.99465789] Pose Error in degrees for R and t: 5.5982812354377245 86.75093667200261 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[-9.31739211e-01 -3.63128094e-01 -1.73480359e-04] [-3.63127971e-01 9.31739138e-01 -5.05840205e-04] [ 3.45323229e-04 -4.08315582e-04 -9.99999857e-01]] t_estimated: [[9.49140865e-01] [3.14850403e-01] [9.17931204e-04]] R_gt: [[ 0.99630092 -0.08479349 0.01397369] [ 0.08254309 0.98945972 0.1189783 ] [-0.02391459 -0.11738444 0.99279809]] t_gt: [ 0.38558789 -0.45389779 0.80330491] Pose Error in degrees for R and t: 177.69229005705296 77.06739979141105 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-0.21955888 -0.97559676 -0.00220256] [-0.97559663 0.21956297 -0.00182317] [ 0.00226228 0.00174851 -0.99999591]] t_estimated: [[7.82293131e-01] [6.22910044e-01] [7.31115075e-04]] R_gt: [[ 0.97306777 -0.2304006 -0.00738988] [ 0.22895024 0.96220803 0.14743335] [-0.02685799 -0.14515396 0.9890443 ]] t_gt: [ 0.57522 -0.61422898 0.54022654] Pose Error in degrees for R and t: 174.43473556199322 86.11372958670482 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999996e-01 -8.51510252e-05 3.98579004e-05] [ 8.51481506e-05 9.99999994e-01 7.21170655e-05] [-3.98640410e-05 -7.21136714e-05 9.99999997e-01]] t_estimated: [[0.80210294] [0.59718411] [0.00141491]] R_gt: [[ 0.99689507 -0.00291689 0.07868214] [ 0.00232849 0.99996964 0.00757223] [-0.07870315 -0.00736533 0.99687129]] t_gt: [0.15070754 0.26118457 0.95345155] Pose Error in degrees for R and t: 4.5330613333466445 73.8467608387181 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99996229e-01 -6.34821388e-04 2.67188780e-03] [ 6.44395655e-04 9.99993370e-01 -3.58400016e-03] [-2.66959489e-03 3.58570839e-03 9.99990008e-01]] t_estimated: [[-7.43545486e-01] [-6.68685139e-01] [-5.43927183e-04]] R_gt: [[ 0.99505021 -0.02430509 0.09635114] [ 0.0202045 0.99885781 0.04330467] [-0.09729425 -0.04114343 0.9944046 ]] t_gt: [0.17799804 0.06172446 0.98209307] Pose Error in degrees for R and t: 6.137812792738186 79.97033410202015 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.81264933e-01 1.92659187e-01 1.25296176e-03] [-1.92659344e-01 9.81265702e-01 4.70070810e-06] [-1.22858277e-03 -2.46007431e-04 9.99999215e-01]] t_estimated: [[-0.13834768] [ 0.99037466] [ 0.00423629]] R_gt: [[ 0.99050214 -0.12955434 0.0460528 ] [ 0.12420401 0.9867399 0.10448763] [-0.05897919 -0.09777507 0.99345929]] t_gt: [ 0.53259705 -0.39743119 0.74725419] Pose Error in degrees for R and t: 19.530839435561 62.34647146413353 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99994223e-01 -3.39354650e-03 1.93482233e-04] [ 3.39353560e-03 9.99994240e-01 5.66692225e-05] [-1.93673428e-04 -5.60123062e-05 9.99999980e-01]] t_estimated: [[-9.99835647e-01] [ 1.81287645e-02] [ 1.65296343e-04]] R_gt: [[ 9.89974269e-01 1.41249512e-01 1.61059831e-04] [-1.41092854e-01 9.88926671e-01 -4.60159015e-02] [-6.65858504e-03 4.55324711e-02 9.98940968e-01]] t_gt: [-0.65185563 0.7441174 -0.14619692] Pose Error in degrees for R and t: 8.722561709767463 48.30123546591327 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 8.02224220e-01 -5.97022860e-01 -7.07107386e-05] [ 5.97021519e-01 8.02222155e-01 2.21806345e-03] [-1.26750886e-03 -1.82160005e-03 9.99997538e-01]] t_estimated: [[ 0.08303594] [-0.99654198] [ 0.00301778]] R_gt: [[ 9.71649646e-01 2.36425252e-01 4.88363040e-04] [-2.35933500e-01 9.69755386e-01 -6.25396041e-02] [-1.52591908e-02 6.06511960e-02 9.98042151e-01]] t_gt: [-0.62721397 0.77218296 -0.1016667 ] Pose Error in degrees for R and t: 50.45971184291209 34.72446919384801 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.98512172e-01 5.45285949e-02 -2.74393589e-04] [-5.45292823e-02 9.98501127e-01 -4.69655996e-03] [ 1.78854929e-05 4.70453477e-03 9.99988933e-01]] t_estimated: [[-0.23433438] [ 0.97214866] [-0.0037926 ]] R_gt: [[ 0.96886916 0.24293341 -0.04771433] [-0.24543963 0.96776322 -0.05651431] [ 0.03244738 0.06646523 0.99726107]] t_gt: [-0.60897842 0.74708035 -0.26648872] Pose Error in degrees for R and t: 11.732873480592106 29.542705621842018 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.40762319 -0.91060192 0.06817239] [-0.91275413 -0.408508 0.00104993] [ 0.0268929 -0.06265261 -0.997673 ]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.99767713 -0.00656417 -0.0678063 ] [ 0.0011813 0.99686445 -0.07912657] [ 0.06811274 0.07886281 0.99455571]] t_gt: [ 0.2728593 0.12731216 -0.9535929 ] Pose Error in degrees for R and t: 176.24562130679504 82.38226280542054 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.71179645 -0.702357 -0.0063611 ] [-0.70238396 0.71178616 0.0041522 ] [ 0.00161142 0.00742346 -0.99997115]] t_estimated: [[0.55014211] [0.83506913] [0.00179199]] R_gt: [[ 0.98180457 0.1406441 -0.12758716] [-0.14893194 0.98715225 -0.05788188] [ 0.11780689 0.07583086 0.99013732]] t_gt: [-0.7451732 0.22313987 -0.62843098] Pose Error in degrees for R and t: 171.72221778531159 77.01240516129401 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-1.12780708e-01 -9.93619706e-01 6.26234829e-04] [-9.93584765e-01 1.12781998e-01 8.33876330e-03] [-8.35618755e-03 3.18234244e-04 -9.99965036e-01]] t_estimated: [[0.99372388] [0.11185636] [0.00099872]] R_gt: [[ 0.90385472 0.40053806 -0.15038376] [-0.40907208 0.91202455 -0.02953138] [ 0.12532534 0.0882104 0.98818635]] t_gt: [-0.90051765 0.34079045 -0.27005523] Pose Error in degrees for R and t: 171.91551439464678 31.016824196953184 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999924e-01 1.22585282e-04 3.69644615e-04] [-1.22426247e-04 9.99999900e-01 -4.30230854e-04] [-3.69697318e-04 4.30185568e-04 9.99999839e-01]] t_estimated: [[-9.99870238e-01] [ 1.61091875e-02] [ 2.82141330e-05]] R_gt: [[ 0.9761911 -0.2162979 -0.01632785] [ 0.21600504 0.97622759 -0.01794855] [ 0.01982182 0.01399443 0.99970469]] t_gt: [ 0.85048716 -0.51592537 -0.1024334 ] Pose Error in degrees for R and t: 12.568844774251856 30.830094813444283 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-9.57263442e-01 2.64434528e-01 1.17137024e-01] [-2.66185828e-01 -9.63921464e-01 7.18434106e-04] [ 1.13100870e-01 -3.04924850e-02 9.93115503e-01]] t_estimated: [[0.70300319] [0.7111863 ] [0.00074392]] R_gt: [[ 0.89127652 -0.44587712 -0.08259053] [ 0.44298442 0.89504564 -0.05156447] [ 0.09691381 0.00937186 0.99524815]] t_gt: [ 0.91401321 -0.38380615 -0.13142565] Pose Error in degrees for R and t: 168.8726691278347 68.31529223059243 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999923e-01 8.17765110e-05 -3.84603961e-04] [-8.15958266e-05 9.99999886e-01 4.69785393e-04] [ 3.84642335e-04 -4.69753974e-04 9.99999816e-01]] t_estimated: [[9.23826665e-01] [3.82810162e-01] [8.19721975e-04]] R_gt: [[ 0.76649673 -0.64082388 -0.04276871] [ 0.63495057 0.76611475 -0.09953734] [ 0.09655192 0.0491384 0.99411396]] t_gt: [ 0.95050651 -0.28169367 -0.13109558] Pose Error in degrees for R and t: 40.24380537545478 39.6316876753355 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.93027830e-01 1.17879883e-01 2.48648394e-04] [-1.17879866e-01 9.93027860e-01 -8.20758499e-05] [-2.56589874e-04 5.21929637e-05 9.99999966e-01]] t_estimated: [[0.15613725] [0.98773383] [0.00174279]] R_gt: [[ 0.99923263 -0.03911117 0.00240293] [ 0.0391158 0.99923257 -0.00200152] [-0.00232173 0.00209401 0.99999478]] t_gt: [ 0.49227844 -0.8703549 -0.01201166] Pose Error in degrees for R and t: 9.012859844508888 38.47894064998382 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 6.70959205e-01 7.41492954e-01 1.39458715e-03] [-7.41492052e-01 6.70960611e-01 -1.18127506e-03] [-1.81162017e-03 -2.41487913e-04 9.99998330e-01]] t_estimated: [[-0.10686731] [ 0.99427094] [ 0.00216227]] R_gt: [[ 0.99660874 -0.08031616 -0.01792953] [ 0.08058343 0.99664017 0.01470761] [ 0.01668916 -0.01610201 0.99973083]] t_gt: [ 0.5307983 -0.84633751 -0.04433948] Pose Error in degrees for R and t: 52.49198880157794 26.063239610128946 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 5.88564758e-01 8.08443863e-01 3.16948341e-03] [ 8.08446069e-01 -5.88569661e-01 8.40956182e-04] [ 2.54532764e-03 2.06739923e-03 -9.99994624e-01]] t_estimated: [[7.61069715e-01] [6.48669739e-01] [6.77108287e-04]] R_gt: [[ 0.99373475 -0.10701606 -0.03224856] [ 0.10795775 0.99373173 0.0290204 ] [ 0.02894153 -0.03232019 0.99905862]] t_gt: [ 0.52296062 -0.85122156 -0.04397785] Pose Error in degrees for R and t: 177.68361445139567 81.13064472838222 Number of keypoints: Image1: 502 Image2: 502 R_estimated: [[ 9.95383900e-01 9.59733471e-02 -9.48911056e-05] [-9.59733364e-02 9.95383899e-01 1.11186401e-04] [ 1.05124010e-04 -1.01566137e-04 9.99999989e-01]] t_estimated: [[8.02298825e-01] [5.96922146e-01] [7.38765033e-04]] R_gt: [[ 0.99977294 0.00706658 -0.02006962] [-0.00703012 0.99997386 0.00189156] [ 0.02008286 -0.00174906 0.99979662]] t_gt: [ 0.61994254 0.24782311 -0.74448301] Pose Error in degrees for R and t: 5.231233849146407 49.85229603824553 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 0.93029937 0.36679974 0.00101199] [-0.36677829 0.93026867 -0.00859619] [-0.0040945 0.00762586 0.99996254]] t_estimated: [[0.86009709] [0.51012655] [0.00197723]] R_gt: [[ 0.99663145 0.07636756 -0.02987398] [-0.0765147 0.99706134 -0.0038385 ] [ 0.0294929 0.00611222 0.99954606]] t_gt: [ 0.31068755 0.8466114 -0.43211386] Pose Error in degrees for R and t: 17.23323952649106 45.71354959722209 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.99999940e-01 -1.03304308e-04 -3.30185438e-04] [ 1.03389991e-04 9.99999961e-01 2.59493243e-04] [ 3.30158619e-04 -2.59527366e-04 9.99999912e-01]] t_estimated: [[-0.79296361] [-0.60926792] [-0.00114575]] R_gt: [[ 0.99403722 0.10900899 -0.00268603] [-0.10895309 0.99391964 0.01590482] [ 0.00440402 -0.01551637 0.99987007]] t_gt: [0.53370134 0.84244289 0.07384345] Pose Error in degrees for R and t: 6.327922933535553 20.51773009633857 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99515449 0.08065502 0.05623447] [-0.07959463 0.9966092 -0.02085158] [-0.05772557 0.01627458 0.99819983]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99210001 0.12500576 0.01053909] [-0.12300278 0.98582669 -0.11408509] [-0.02465093 0.11188813 0.99341548]] t_gt: [-0.27370713 0.89258038 -0.35830808] Pose Error in degrees for R and t: 6.411248902967018 73.47373798854335 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.34595025 0.60571508 0.71653867] [ 0.40548127 0.59217613 -0.6963565 ] [-0.84611073 0.53144771 -0.04074263]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99048017 0.13765057 0.00115332] [-0.13502396 0.9731394 -0.18646049] [-0.02678781 0.18453007 0.98246174]] t_gt: [-0.19119491 0.84104345 -0.50605377] Pose Error in degrees for R and t: 85.44221524031872 72.93194267174619 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999615e-01 7.50449646e-04 -4.55311941e-04] [-7.50251649e-04 9.99999624e-01 4.34874659e-04] [ 4.55638121e-04 -4.34532893e-04 9.99999802e-01]] t_estimated: [[-1.24690439e-01] [-9.92195691e-01] [-6.93077348e-05]] R_gt: [[ 0.99191357 0.12177678 -0.03575178] [-0.12690819 0.95494523 -0.26828064] [ 0.00147072 0.27064855 0.96267734]] t_gt: [-0.10851958 0.73721578 -0.6668856 ] Pose Error in degrees for R and t: 17.301648228812 44.119884079532376 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99323999e-01 -3.67633502e-02 4.53469606e-05] [ 3.67633400e-02 9.99323978e-01 2.06995890e-04] [-5.29261675e-05 -2.05188855e-04 9.99999978e-01]] t_estimated: [[0.74176693] [0.67065677] [0.00114843]] R_gt: [[ 0.99946118 -0.03250868 -0.00470526] [ 0.03223111 0.99820642 -0.05043317] [ 0.00633583 0.05025416 0.99871637]] t_gt: [ 0.16230095 0.66909341 -0.72523955] Pose Error in degrees for R and t: 2.9261947380458895 55.36902810682893 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.57684300e-01 2.87820678e-01 1.96648480e-04] [-2.87820300e-01 9.57683797e-01 -1.10453894e-03] [-5.06236209e-04 1.00120018e-03 9.99999371e-01]] t_estimated: [[0.38263465] [0.92389924] [0.00096139]] R_gt: [[ 0.99983758 -0.01310339 -0.01241215] [ 0.01178954 0.99485244 -0.10064085] [ 0.01366742 0.10047895 0.99484587]] t_gt: [-0.014456 0.8104499 -0.58562956] Pose Error in degrees for R and t: 18.362412594908697 42.03981528410598 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-7.91878526e-01 -6.10676701e-01 -1.53834100e-03] [ 6.10678499e-01 -7.91877536e-01 -1.31867367e-03] [-4.12894391e-04 -1.98366114e-03 9.99997947e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99366517 -0.11233757 -0.00335662] [ 0.11049728 0.98196584 -0.15340201] [ 0.02052868 0.15205894 0.98815819]] t_gt: [ 0.56811592 0.60939887 -0.55306177] Pose Error in degrees for R and t: 136.06790008173294 55.279483092473434 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.75172886e-01 -2.21444757e-01 -2.49451929e-04] [ 2.21444860e-01 9.75172756e-01 5.19262781e-04] [ 1.28270704e-04 -5.61610832e-04 9.99999834e-01]] t_estimated: [[-0.90418599] [-0.42713784] [-0.00098127]] R_gt: [[ 0.99343741 0.07332508 -0.08777957] [-0.08184648 0.99183643 -0.0977797 ] [ 0.07989387 0.10432197 0.99132975]] t_gt: [-0.20709668 0.63393847 -0.74513957] Pose Error in degrees for R and t: 18.83756641170843 85.25081658456114 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.32300517e-01 -3.61684345e-01 4.25398541e-04] [ 3.61684271e-01 9.32300611e-01 2.41775472e-04] [-4.84045723e-04 -7.15474364e-05 9.99999880e-01]] t_estimated: [[-0.34465838] [-0.93872767] [-0.00098193]] R_gt: [[ 0.98684085 0.1099712 -0.1185413 ] [-0.12551637 0.9831585 -0.13283517] [ 0.10193704 0.14596534 0.98402379]] t_gt: [-0.21261845 0.68917234 -0.69270115] Pose Error in degrees for R and t: 29.810962720946915 55.04141175479126 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.90044380e-01 -1.40755396e-01 2.08428915e-04] [ 1.40755093e-01 9.90043852e-01 1.08352847e-03] [-3.58866245e-04 -1.04340384e-03 9.99999391e-01]] t_estimated: [[0.03240183] [0.99947182] [0.00249245]] R_gt: [[ 0.99022585 0.07941328 -0.1146629 ] [-0.09851378 0.98017425 -0.17190721] [ 0.09873808 0.18152276 0.9784175 ]] t_gt: [-0.12406728 0.65993583 -0.74100743] Pose Error in degrees for R and t: 17.85035053408358 49.17731014415246 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.93054841 -0.36615975 0.00258941] [-0.36615188 0.93055007 0.00306057] [-0.00353023 0.0018999 -0.99999196]] t_estimated: [[0.99987749] [0.01553208] [0.00194151]] R_gt: [[ 0.99116834 -0.09597885 0.09150078] [ 0.07774596 0.97959082 0.18535344] [-0.10742327 -0.17660215 0.97840216]] t_gt: [ 0.30715387 -0.31250059 0.89888813] Pose Error in degrees for R and t: 172.23082498017877 72.30152768668536 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.33742857 0.94134803 0.0024168 ] [-0.94134943 0.33743173 -0.00103578] [-0.00179053 -0.00192556 0.99999654]] t_estimated: [[0.30892569] [0.95108439] [0.00184237]] R_gt: [[ 0.98799719 -0.09402477 0.12255502] [ 0.06924697 0.97881085 0.19269583] [-0.1380761 -0.18189716 0.97357466]] t_gt: [ 0.29110866 -0.21872549 0.93135112] Pose Error in degrees for R and t: 75.9885952390702 83.31679747431296 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.34450528 0.93878277 0.00173999] [ 0.93878324 0.34450138 0.00219483] [ 0.00146104 0.00238961 -0.99999608]] t_estimated: [[-0.01490516] [-0.99988814] [-0.0012421 ]] R_gt: [[ 0.99174448 -0.06330008 0.11151748] [ 0.04103761 0.9806029 0.19165458] [-0.12148601 -0.18549655 0.97510602]] t_gt: [ 0.22460815 -0.07026303 0.97191269] Pose Error in degrees for R and t: 179.29830694352373 86.23294601553117 Number of keypoints: Image1: 410 Image2: 410 R_estimated: [[ 9.98843038e-01 -4.80893231e-02 4.87391478e-05] [ 4.80893249e-02 9.98843038e-01 -3.64498911e-05] [-4.69299079e-05 3.87515527e-05 9.99999998e-01]] t_estimated: [[-0.08893182] [-0.9960364 ] [-0.00161694]] R_gt: [[ 0.99929415 -0.03449168 0.01488346] [ 0.0348512 0.99908973 -0.02462023] [-0.01402032 0.02512143 0.99958673]] t_gt: [-0.31246758 -0.94928012 -0.0350894 ] Pose Error in degrees for R and t: 1.815127189520569 13.254162538526392 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 9.69404240e-01 -2.45469764e-01 -1.22706633e-04] [ 2.45469792e-01 9.69404176e-01 3.52336833e-04] [ 3.24642829e-05 -3.71677592e-04 9.99999930e-01]] t_estimated: [[9.97833181e-01] [6.57885595e-02] [8.99518645e-04]] R_gt: [[ 0.99613079 -0.0215374 0.08520046] [ 0.02532609 0.99872664 -0.04363436] [-0.08415274 0.04562282 0.99540848]] t_gt: [-0.76904194 -0.14263188 0.62308157] Pose Error in degrees for R and t: 13.988366542622083 39.08616850517747 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[-0.23975235 -0.9708325 0.00174918] [-0.97083222 0.23974798 -0.00238746] [ 0.00189846 -0.00227055 -0.99999562]] t_estimated: [[0.68544762] [0.7281214 ] [0.00088904]] R_gt: [[ 0.99301157 -0.06620975 0.09769197] [ 0.06934321 0.99717074 -0.02902745] [-0.09549391 0.0355988 0.99479315]] t_gt: [-0.49724725 -0.56967867 0.65437863] Pose Error in degrees for R and t: 176.78895436389746 40.970226141955735 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99900432e-01 -1.41111567e-02 -2.52882939e-05] [ 1.41111535e-02 9.99900425e-01 -1.20967424e-04] [ 2.69927661e-05 1.20598532e-04 9.99999992e-01]] t_estimated: [[ 0.66242998] [-0.74911996] [-0.00241078]] R_gt: [[ 0.99671921 0.07916793 0.01686415] [-0.0791981 0.99685845 0.00112112] [-0.01672188 -0.0024533 0.99985778]] t_gt: [-0.60384238 0.78335166 0.14742648] Pose Error in degrees for R and t: 5.437327351551549 9.18321329339752 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 1.00000000e+00 -3.24956195e-13 2.47102107e-16] [ 3.24837544e-13 1.00000000e+00 -8.82540568e-16] [-2.47582610e-16 8.82106888e-16 1.00000000e+00]] t_estimated: [[-1.00000000e+00] [-2.93975037e-13] [ 5.85557883e-16]] R_gt: [[ 0.98948341 0.14380347 -0.01562076] [-0.14367261 0.98958226 0.0092515 ] [ 0.01678845 -0.00691083 0.99983584]] t_gt: [-5.82912865e-01 8.12534600e-01 -3.41176625e-04] Pose Error in degrees for R and t: 8.32972748833265 54.344320081687556 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.64039458e-01 5.03423583e-01 7.15089507e-04] [-5.03423007e-01 8.64039674e-01 -8.47785081e-04] [-1.04466071e-03 3.72527252e-04 9.99999385e-01]] t_estimated: [[0.01066289] [0.99994245] [0.00118477]] R_gt: [[ 0.98354478 0.14385474 -0.10930224] [-0.14630288 0.98913115 -0.01468269] [ 0.10600239 0.0304323 0.99390025]] t_gt: [-0.4277164 0.79248582 -0.43476995] Pose Error in degrees for R and t: 22.759277309340195 38.06011047052258 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 1.00000000e+00 -1.13874014e-12 5.56412555e-16] [ 1.13874708e-12 1.00000000e+00 4.72380110e-16] [-5.33644309e-16 -2.24891483e-15 1.00000000e+00]] t_estimated: [[0.99996661] [0.00809239] [0.00113617]] R_gt: [[ 0.99703694 -0.03255686 0.06970975] [ 0.02676617 0.99623563 0.08244876] [-0.07213181 -0.08033934 0.99415373]] t_gt: [ 0.18091664 -0.19633664 0.96370177] Pose Error in degrees for R and t: 6.428091644660521 79.60596776650367 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.99597079 0.08616735 -0.02484711] [-0.08534565 0.9958236 0.03242646] [ 0.02753744 -0.03017521 0.99916522]] t_estimated: [[-0.71652858] [-0.69755735] [-0.00072966]] R_gt: [[ 0.99740892 0.01462461 0.07043919] [-0.02124276 0.995332 0.09413392] [-0.06873445 -0.09538737 0.99306418]] t_gt: [-0.09302745 0.24260474 0.96565462] Pose Error in degrees for R and t: 7.658202774353352 84.07200776235807 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-7.92071356e-02 -9.96858117e-01 -3.53494568e-04] [-9.96857863e-01 7.92073882e-02 -7.69120852e-04] [ 7.94703745e-04 2.91463980e-04 -9.99999642e-01]] t_estimated: [[0.73874903] [0.6739801 ] [0.00083807]] R_gt: [[ 0.99841811 0.00270698 0.0561677 ] [-0.00809961 0.99534715 0.09600774] [-0.05564551 -0.0963112 0.99379447]] t_gt: [0.01010712 0.31273905 0.94978531] Pose Error in degrees for R and t: 173.9409832117772 77.34719902749086 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 9.99890951e-01 1.47668938e-02 1.55786945e-04] [-1.47669132e-02 9.99890955e-01 1.24487380e-04] [-1.53931665e-04 -1.26774297e-04 9.99999980e-01]] t_estimated: [[0.71595156] [0.69814952] [0.000774 ]] R_gt: [[ 0.99422395 -0.10101169 0.03628694] [ 0.10017287 0.99467465 0.0242276 ] [-0.03854063 -0.020452 0.99904808]] t_gt: [ 0.34430658 -0.78706448 0.51184225] Pose Error in degrees for R and t: 7.073944081080762 72.38702798765759 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-0.85999518 -0.51012454 0.01346271] [-0.51009924 0.86009791 0.005509 ] [-0.01438952 -0.0021296 -0.9998942 ]] t_estimated: [[0.95779019] [0.28735647] [0.00801265]] R_gt: [[ 0.98742325 -0.15156624 0.044995 ] [ 0.15146071 0.98844632 0.00575958] [-0.0453477 0.00112815 0.99897059]] t_gt: [ 0.4053335 -0.84518966 0.34836645] Pose Error in degrees for R and t: 176.6284154666905 81.48055399580065 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.99369238 0.04976098 -0.10049522] [-0.03648963 0.99086506 0.1298266 ] [ 0.10603751 -0.12534067 0.98643082]] t_estimated: [[-0.06901734] [-0.99761423] [-0.00156858]] R_gt: [[ 0.982172 -0.15540907 0.10576671] [ 0.15786396 0.98734351 -0.01519844] [-0.10206594 0.03162525 0.99427552]] t_gt: [ 0.12606194 -0.80703435 0.57689162] Pose Error in degrees for R and t: 18.71948653780141 37.29715276543072 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999963e-01 -2.60043820e-04 8.28670938e-05] [ 2.60041438e-04 9.99999966e-01 2.87566594e-05] [-8.28745689e-05 -2.87351095e-05 9.99999996e-01]] t_estimated: [[9.35402688e-01] [3.53583036e-01] [9.21014434e-04]] R_gt: [[ 0.99815809 -0.05066855 0.03336667] [ 0.05111209 0.99861499 -0.01254558] [-0.03268408 0.01422781 0.99936443]] t_gt: [ 0.60029149 -0.7561225 0.26063173] Pose Error in degrees for R and t: 3.5470742653743907 72.87830422444134 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.79967821e-01 1.99155844e-01 1.43366861e-04] [-1.99155866e-01 9.79967814e-01 1.59213267e-04] [-1.08786656e-04 -1.84576230e-04 9.99999977e-01]] t_estimated: [[0.90116097] [0.43348368] [0.00090252]] R_gt: [[ 0.99874905 -0.02538463 0.04308473] [ 0.02721391 0.9987316 -0.04238347] [-0.04195313 0.04350223 0.99817211]] t_gt: [ 0.43958129 -0.89686153 0.04906808] Pose Error in degrees for R and t: 13.448403632554076 89.57583833295763 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.32567592e-01 -5.53923393e-01 -2.81482223e-04] [ 5.53923464e-01 8.32567465e-01 4.60395992e-04] [-2.06711694e-05 -5.39230391e-04 9.99999854e-01]] t_estimated: [[ 9.63538855e-01] [-2.67567549e-01] [ 6.93797565e-04]] R_gt: [[ 0.99575064 0.0212873 0.08959732] [-0.01345839 0.99611055 -0.0870799 ] [-0.09110269 0.08550315 0.99216444]] t_gt: [-0.69987075 -0.47229001 0.53583867] Pose Error in degrees for R and t: 35.354889618195784 56.796699782036285 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.89627260e-01 -1.43657327e-01 6.76983609e-04] [ 1.43657269e-01 9.89627491e-01 1.33290591e-04] [-6.89109760e-04 -3.46543864e-05 9.99999762e-01]] t_estimated: [[0.94477944] [0.32770093] [0.001978 ]] R_gt: [[ 0.9975202 -0.06954001 0.01090241] [ 0.07017874 0.99450926 -0.07763049] [-0.00544303 0.07820355 0.99692186]] t_gt: [ 0.52021981 0.28352999 -0.80559425] Pose Error in degrees for R and t: 6.185054790373682 54.35139303776507 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 3.24270452e-01 9.45964413e-01 -5.70353403e-05] [-9.45961744e-01 3.24269393e-01 -2.39556738e-03] [-2.24762667e-03 8.30764967e-04 9.99997129e-01]] t_estimated: [[0.38213088] [0.92410737] [0.00124879]] R_gt: [[ 0.99854479 -0.05345341 -0.00713518] [ 0.0522308 0.99154809 -0.11876253] [ 0.01342407 0.11821638 0.99289671]] t_gt: [ 0.12541076 0.66083706 -0.73997738] Pose Error in degrees for R and t: 74.37736190895026 48.87654755345375 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.38049534 0.92478087 0.0019099 ] [ 0.92477972 -0.38049861 0.00181164] [ 0.00240208 0.00107691 -0.99999654]] t_estimated: [[0.6171615 ] [0.7868343 ] [0.00186454]] R_gt: [[ 0.99515331 -0.09828224 -0.0032176 ] [ 0.09637725 0.98131264 -0.1665408 ] [ 0.01952577 0.16542363 0.98602914]] t_gt: [ 0.35910089 0.66664821 -0.65316669] Pose Error in degrees for R and t: 172.43825214473992 41.84544811749233 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99037551e-01 4.38629861e-02 1.00047884e-04] [-4.38630046e-02 9.99037537e-01 1.90746299e-04] [-9.15848893e-05 -1.94951116e-04 9.99999977e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99034177 -0.13566634 -0.02863103] [ 0.13442733 0.99005471 -0.0414789 ] [ 0.03397421 0.03722891 0.99872958]] t_gt: [ 0.84678492 -0.44311509 -0.29428611] Pose Error in degrees for R and t: 10.680520195775076 32.27190463943517 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-3.95415880e-01 9.18473594e-01 7.24834316e-03] [ 9.18501822e-01 3.95410516e-01 2.21958681e-03] [-8.27439238e-04 7.53527627e-03 -9.99971267e-01]] t_estimated: [[9.99994892e-01] [3.10075929e-03] [7.75189839e-04]] R_gt: [[ 0.96111396 -0.27430283 -0.03192414] [ 0.27403797 0.96163715 -0.01246376] [ 0.03411922 0.00323017 0.99941255]] t_gt: [ 0.86113628 -0.50741631 -0.0311929 ] Pose Error in degrees for R and t: 178.97600588802723 30.735662744503692 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.63340214e-01 2.68282006e-01 6.29533678e-04] [-2.68282326e-01 9.63340205e-01 4.93081405e-04] [-4.74170234e-04 -6.43897906e-04 9.99999680e-01]] t_estimated: [[0.67940766] [0.73376027] [0.00104524]] R_gt: [[ 0.94739603 -0.31607026 -0.05040848] [ 0.31829348 0.94693996 0.04464977] [ 0.03362134 -0.05834638 0.99772987]] t_gt: [ 0.81583427 -0.56129887 0.13913309] Pose Error in degrees for R and t: 34.287470641614064 81.80337290626828 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999978e-01 1.91351383e-04 -8.95208149e-05] [-1.91340712e-04 9.99999975e-01 1.19202455e-04] [ 8.95436221e-05 -1.19185323e-04 9.99999989e-01]] t_estimated: [[-0.9079168 ] [-0.41914882] [-0.00116496]] R_gt: [[ 0.99965062 0.02459565 -0.00970639] [-0.02478355 0.99949902 -0.01970443] [ 0.00921597 0.01993757 0.99975856]] t_gt: [-0.39768104 0.83582178 -0.37848612] Pose Error in degrees for R and t: 1.8877611880596967 89.36007843359673 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.73184312 0.6799838 -0.04502971] [ 0.67985098 0.73306193 0.02056362] [ 0.0469925 -0.01556415 -0.99877398]] t_estimated: [[ 0.94505918] [-0.32594329] [-0.02498232]] R_gt: [[ 0.99965879 -0.02053766 -0.01615172] [ 0.01984575 0.99892709 -0.0418535 ] [ 0.01699366 0.04151823 0.99899362]] t_gt: [ 0.49118569 0.3297788 -0.80621496] Pose Error in degrees for R and t: 177.1584689368511 67.86120838550927 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-6.57645160e-01 -7.53326082e-01 -1.63023216e-03] [ 7.53327692e-01 -6.57642099e-01 -2.06383480e-03] [ 4.82631283e-04 -2.58537000e-03 9.99996541e-01]] t_estimated: [[9.43336837e-01] [3.31835623e-01] [8.55246452e-04]] R_gt: [[ 0.98778677 -0.14817695 0.04817772] [ 0.1403541 0.98045913 0.13783902] [-0.06766137 -0.12939454 0.98928252]] t_gt: [ 0.59021548 -0.43311444 0.68121771] Pose Error in degrees for R and t: 122.95048968111323 65.56681534491618 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999209e-01 1.14404364e-03 -5.21865059e-04] [-1.14378273e-03 9.99999221e-01 4.99972704e-04] [ 5.22436643e-04 -4.99375409e-04 9.99999739e-01]] t_estimated: [[-8.50423739e-01] [-5.26098112e-01] [ 4.89634993e-04]] R_gt: [[ 0.97629285 0.2161815 0.01085761] [-0.21558452 0.97564013 -0.04060239] [-0.01937153 0.03729892 0.9991159 ]] t_gt: [-0.39936509 0.9146126 -0.06317681] Pose Error in degrees for R and t: 12.64552125637731 81.8608694237335 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 4.28169261e-02 -9.99082760e-01 5.91102623e-04] [-9.99082616e-01 -4.28164322e-02 8.24287697e-04] [-7.98222722e-04 -6.25853820e-04 -9.99999486e-01]] t_estimated: [[0.64254624] [0.76624498] [0.00171804]] R_gt: [[ 0.93951165 0.34242381 0.00807417] [-0.33844263 0.93169833 -0.13188696] [-0.05268463 0.12117624 0.99123117]] t_gt: [-0.28147735 0.95041553 -0.13221507] Pose Error in degrees for R and t: 175.9521737803867 56.82748471800961 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.89749724e-01 -1.42812346e-01 -3.44103613e-04] [ 1.42812302e-01 9.89749779e-01 -1.47834812e-04] [ 3.61689111e-04 9.71772354e-05 9.99999930e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.92570975 0.37821094 0.0042277 ] [-0.36934011 0.90629623 -0.20546433] [-0.08154124 0.18863829 0.97865466]] t_gt: [-0.22998682 0.95772891 -0.17280453] Pose Error in degrees for R and t: 32.58747450016653 37.13721142528949 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96105156e-01 8.81732222e-02 4.24735510e-05] [-8.81732194e-02 9.96105155e-01 -6.39605417e-05] [-4.79477302e-05 5.99663956e-05 9.99999997e-01]] t_estimated: [[0.74887989] [0.66270532] [0.00076261]] R_gt: [[ 0.99922976 -0.03812418 0.00939508] [ 0.03774657 0.99858087 0.0375701 ] [-0.01081317 -0.03718547 0.99924965]] t_gt: [ 0.57153127 -0.6149181 0.54334863] Pose Error in degrees for R and t: 7.566450608895627 88.80167780380515 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-9.29361627e-01 -3.69169814e-01 -7.83730769e-04] [-3.69170245e-01 9.29361653e-01 4.99246262e-04] [ 5.44062673e-04 7.53310398e-04 -9.99999568e-01]] t_estimated: [[9.59549492e-01] [2.81539012e-01] [7.46200220e-04]] R_gt: [[ 0.98680641 -0.16153668 -0.01092359] [ 0.16185977 0.98589411 0.04258485] [ 0.00389081 -0.04379051 0.99903366]] t_gt: [ 0.75748689 -0.63723498 0.14193376] Pose Error in degrees for R and t: 180.0 56.801209510183135 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.94611139 -0.32310343 0.02184989] [-0.32327397 0.94629381 -0.00468694] [-0.01916205 -0.01149787 -0.99975028]] t_estimated: [[0.99676576] [0.07974126] [0.00996766]] R_gt: [[ 0.97182334 -0.23404144 -0.02802356] [ 0.23552075 0.96895231 0.07525275] [ 0.00954154 -0.07973174 0.99677068]] t_gt: [ 0.76423291 -0.62028057 0.17663542] Pose Error in degrees for R and t: 179.21138052843634 44.43379382040659 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.49258731e-01 3.14495819e-01 4.91387243e-04] [-3.14495559e-01 9.49258791e-01 -5.39436286e-04] [-6.36104117e-04 3.57525499e-04 9.99999734e-01]] t_estimated: [[-5.52256041e-02] [ 9.98473641e-01] [ 7.22302675e-04]] R_gt: [[ 0.98927914 -0.14579369 -0.00841317] [ 0.14602612 0.98825609 0.04502661] [ 0.00175023 -0.04577215 0.9989503 ]] t_gt: [ 0.72206227 -0.63309468 0.27895736] Pose Error in degrees for R and t: 26.854016043402634 47.793611835412534 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-9.80086669e-01 -1.98569025e-01 6.81086403e-04] [-1.98565164e-01 9.80080493e-01 3.75530385e-03] [-1.41320652e-03 3.54528321e-03 -9.99992717e-01]] t_estimated: [[9.99892672e-01] [1.46183139e-02] [9.74554261e-04]] R_gt: [[ 0.98501176 -0.16909071 -0.0340633 ] [ 0.17178574 0.97948314 0.10536906] [ 0.01554664 -0.10964117 0.99384951]] t_gt: [ 0.61212302 -0.66854541 0.42231794] Pose Error in degrees for R and t: 179.27416118867177 52.93677834981739 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.67281749e-01 -9.85909112e-01 -1.99216940e-04] [-9.85906849e-01 1.67280923e-01 2.18605407e-03] [-2.12192543e-03 5.62096293e-04 -9.99997591e-01]] t_estimated: [[0.66153309] [0.74991272] [0.00220961]] R_gt: [[ 0.97985817 -0.1961162 -0.0376498 ] [ 0.199642 0.95758654 0.20777998] [-0.00469755 -0.21111107 0.97745052]] t_gt: [ 0.51429271 -0.62863101 0.58337473] Pose Error in degrees for R and t: 172.81552128298893 82.53574030649656 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 1.00000000e+00 2.12595827e-05 -5.24530335e-06] [-2.12595304e-05 1.00000000e+00 9.97617994e-06] [ 5.24551544e-06 -9.97606842e-06 1.00000000e+00]] t_estimated: [[-9.99988700e-01] [ 4.69061150e-03] [ 7.72932036e-04]] R_gt: [[ 0.99882287 0.04824215 0.00504534] [-0.0482125 0.99882145 -0.00563999] [-0.00531018 0.00539075 0.99997146]] t_gt: [-0.56829209 0.82032558 -0.06410968] Pose Error in degrees for R and t: 2.796839237593878 55.10432631957007 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.91488492e-01 1.30194353e-01 3.03292337e-05] [-1.30194334e-01 9.91488431e-01 -3.56804132e-04] [-7.65249676e-05 3.49818496e-04 9.99999936e-01]] t_estimated: [[-3.85483379e-01] [-9.22714779e-01] [-4.40345518e-05]] R_gt: [[ 0.98417033 0.04728309 0.17080199] [-0.04734236 0.99887229 -0.00372471] [-0.17078539 -0.00442008 0.98529838]] t_gt: [-0.39441307 0.26493292 0.87991413] Pose Error in degrees for R and t: 10.917787664956364 84.69505145793124 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 8.79948865e-01 4.75068382e-01 1.65764138e-04] [-4.75067265e-01 8.79947454e-01 -1.88990615e-03] [-1.04369839e-03 1.58427165e-03 9.99998200e-01]] t_estimated: [[-9.99974549e-01] [-7.07946583e-03] [-8.84933229e-04]] R_gt: [[ 0.97151805 0.07522339 0.22471137] [-0.07584077 0.99710278 -0.00589421] [-0.22450361 -0.01131601 0.97440778]] t_gt: [-0.447784 0.28461526 0.84763415] Pose Error in degrees for R and t: 27.20701650108083 63.576176504308144 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.97697148 -0.21336062 -0.00199466] [ 0.21336385 0.97697154 0.00157547] [ 0.00161258 -0.00196477 0.99999677]] t_estimated: [[0.86719226] [0.49796755] [0.00242911]] R_gt: [[ 0.99744915 0.0660016 -0.02719113] [-0.06775815 0.99525805 -0.0697804 ] [ 0.02245704 0.07144408 0.99719187]] t_gt: [-0.36799328 0.75700467 -0.53993044] Pose Error in degrees for R and t: 16.733596648850845 86.75926861921269 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99875511e-01 1.57751530e-02 -3.27775298e-04] [-1.57750516e-02 9.99875518e-01 3.09694277e-04] [ 3.32619970e-04 -3.04485051e-04 9.99999898e-01]] t_estimated: [[-0.64628147] [-0.76309761] [-0.00151709]] R_gt: [[ 0.9856394 0.16875904 0.00602694] [-0.16818467 0.98424142 -0.05462375] [-0.01514997 0.05282604 0.99848919]] t_gt: [-0.48860691 0.86574315 -0.10840701] Pose Error in degrees for R and t: 9.3550485510849 69.83624339635801 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-9.44179773e-01 -3.29427682e-01 -1.39946607e-03] [ 3.29429343e-01 -9.44179482e-01 -1.18892217e-03] [-9.29683274e-04 -1.58358145e-03 9.99998314e-01]] t_estimated: [[0.85318354] [0.52160989] [0.00098977]] R_gt: [[ 9.54323514e-01 2.98775030e-01 4.25485519e-04] [-2.98569337e-01 9.53718414e-01 -3.57466390e-02] [-1.10859167e-02 3.39868668e-02 9.99361071e-01]] t_gt: [-0.46804948 0.88221206 -0.05129876] Pose Error in degrees for R and t: 178.15112731706256 86.51497547598144 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-9.97204349e-01 6.65402715e-02 3.39982265e-02] [ 6.65592889e-02 9.97782307e-01 -5.73362326e-04] [-3.39609805e-02 1.69113837e-03 -9.99421729e-01]] t_estimated: [[ 0.99844596] [-0.05286264] [ 0.01764093]] R_gt: [[ 0.99734412 -0.06811514 0.02583029] [ 0.0679541 0.99766396 0.00704628] [-0.02624948 -0.00527296 0.99964213]] t_gt: [ 0.77173204 -0.53301249 0.34688231] Pose Error in degrees for R and t: 176.57190106866898 36.40630242158693 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.99681715 0.07945752 0.0064862 ] [-0.07938245 0.99678231 -0.01111052] [-0.00734814 0.01056027 0.99991724]] t_estimated: [[-0.64456038] [-0.76455267] [-0.00106188]] R_gt: [[ 0.98676113 -0.16097988 0.01976348] [ 0.16112608 0.98691593 -0.0060446 ] [-0.01853069 0.00914845 0.9997864 ]] t_gt: [ 0.86432861 -0.4995409 0.05826625] Pose Error in degrees for R and t: 13.84289034925243 79.90687937583064 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.89404792e-01 1.45180282e-01 9.18382749e-04] [-1.45179210e-01 9.89404715e-01 -1.14347999e-03] [-1.07466297e-03 9.98034503e-04 9.99998925e-01]] t_estimated: [[-9.72575790e-01] [-2.32585222e-01] [-6.69053117e-04]] R_gt: [[ 0.97323624 -0.22756823 0.0320157 ] [ 0.22723249 0.97374248 0.01380958] [-0.03431725 -0.00616637 0.99939246]] t_gt: [ 0.87073799 -0.4723692 0.13668466] Pose Error in degrees for R and t: 21.584048290049733 42.51639044254046 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.89631026e-01 1.43632192e-01 4.75000879e-04] [-1.43632138e-01 9.89631137e-01 -1.46706442e-04] [-4.91147428e-04 7.69598555e-05 9.99999876e-01]] t_estimated: [[0.35569724] [0.93460047] [0.00119361]] R_gt: [[ 0.9994257 -0.03058973 0.01457795] [ 0.0301475 0.99910471 0.02966059] [-0.01547194 -0.02920398 0.99945448]] t_gt: [ 0.39917114 -0.83904549 0.36968239] Pose Error in degrees for R and t: 10.174884226377875 50.077788873260666 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.10126119e-01 4.14331005e-01 -5.15316364e-04] [-4.14330618e-01 9.10126160e-01 7.15152881e-04] [ 7.65312915e-04 -4.37367969e-04 9.99999612e-01]] t_estimated: [[0.14920592] [0.98880534] [0.00126446]] R_gt: [[ 0.99833621 -0.04920997 -0.03004867] [ 0.04931391 0.9987795 0.00275563] [ 0.02987624 -0.00423352 0.99954457]] t_gt: [ 0.48885599 -0.8694379 -0.07139725] Pose Error in degrees for R and t: 27.352569743552625 38.107439038358294 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 0.99896557 -0.04422255 0.01059007] [ 0.04435344 0.99893819 -0.0124609 ] [-0.01002777 0.01291771 0.99986628]] t_estimated: [[0.76555863] [0.64336547] [0.00092571]] R_gt: [[ 0.98286814 -0.17702095 -0.05131847] [ 0.17613004 0.98413364 -0.02142387] [ 0.0542972 0.01201761 0.99845246]] t_gt: [ 0.72827601 -0.67218819 -0.13333075] Pose Error in degrees for R and t: 8.460784191987083 82.82202266631818 Number of keypoints: Image1: 469 Image2: 469 R_estimated: [[-0.96225421 -0.26976037 0.03600255] [-0.26969554 0.96292208 0.00673693] [-0.03648501 -0.00322708 -0.99932899]] t_estimated: [[0.99053332] [0.13600112] [0.01863987]] R_gt: [[ 0.99896627 -0.0454329 -0.00144572] [ 0.04542725 0.99896067 -0.00382951] [ 0.00161862 0.00375916 0.99999235]] t_gt: [ 0.39263011 -0.91211715 -0.11782997] Pose Error in degrees for R and t: 178.0185292419174 74.77157431659897 Number of keypoints: Image1: 325 Image2: 325 R_estimated: [[-9.62768536e-04 -9.99998006e-01 1.74946435e-03] [-9.99996177e-01 9.58228736e-04 -2.59395395e-03] [ 2.59227239e-03 -1.75195504e-03 -9.99995105e-01]] t_estimated: [[0.78388237] [0.62090829] [0.0011477 ]] R_gt: [[ 0.988829 -0.14521437 0.03360888] [ 0.14459518 0.98928517 0.02018246] [-0.03617978 -0.01509801 0.99923125]] t_gt: [ 0.41518473 -0.85202332 0.31886973] Pose Error in degrees for R and t: 177.91180987585528 78.27547719381938 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[-6.77338735e-01 -7.35667885e-01 -2.23611355e-03] [ 7.35670597e-01 -6.77339128e-01 -6.92078948e-04] [-1.00546695e-03 -2.11381487e-03 9.99997260e-01]] t_estimated: [[ 9.81800182e-01] [-1.89915908e-01] [ 5.92633297e-04]] R_gt: [[ 0.97880739 -0.20101003 0.03910694] [ 0.2006948 0.97958217 0.01186643] [-0.04069346 -0.00376657 0.9991654 ]] t_gt: [ 0.45481676 -0.85538025 0.24792407] Pose Error in degrees for R and t: 121.05949483784595 52.47291342709201 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.99995997 -0.00828796 0.00337281] [ 0.0084791 0.99808494 -0.06127444] [-0.00285851 0.06130059 0.99811526]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 9.96699649e-01 -8.08245081e-02 -7.66305943e-03] [ 8.08132452e-02 9.96728231e-01 -1.59317738e-03] [ 7.76729742e-03 9.69555530e-04 9.99969360e-01]] t_gt: [ 0.8148657 -0.57775824 -0.0467901 ] Pose Error in degrees for R and t: 5.429136079236662 74.64121480809615 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.37489494 0.92706252 0.00297736] [-0.92706158 -0.37487941 -0.00471706] [-0.00325686 -0.0045286 0.99998444]] t_estimated: [[0.44201754] [0.8970022 ] [0.00274838]] R_gt: [[ 0.99245837 -0.1186302 0.03089015] [ 0.11773685 0.99261342 0.02927947] [-0.03413473 -0.02542122 0.99909385]] t_gt: [ 0.69446052 -0.69303094 0.19347533] Pose Error in degrees for R and t: 118.81762463423607 71.69020233051343 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.55104989 -0.8343953 0.01133611] [ 0.83444899 0.55088213 -0.01495853] [ 0.00623647 0.01770231 0.99982385]] t_estimated: [[ 0.92227979] [-0.38595458] [-0.02095356]] R_gt: [[ 0.99241584 -0.12287752 0.00364489] [ 0.1226863 0.99187706 0.03358697] [-0.00774259 -0.03288493 0.99942877]] t_gt: [ 0.61006044 -0.77873461 0.14628281] Pose Error in degrees for R and t: 49.59611486157334 30.667979741780705 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999965e-01 2.62649692e-04 1.92245590e-05] [-2.62649737e-04 9.99999966e-01 2.31273829e-06] [-1.92239509e-05 -2.31778754e-06 1.00000000e+00]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99331939 0.11528265 0.00509238] [-0.11536236 0.99313024 0.01961618] [-0.0027953 -0.02007153 0.99979494]] t_gt: [-0.57452209 0.81063514 0.11311516] Pose Error in degrees for R and t: 6.708828427171215 36.181274835958156 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99999205 -0.00275447 0.00288417] [ 0.00276319 0.99999161 -0.00302318] [-0.00287582 0.00303112 0.99999127]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97484979 0.21992173 0.03605861] [-0.22073743 0.97511962 0.02040816] [-0.0306735 -0.02785316 0.99914138]] t_gt: [-0.54522511 0.82466647 0.15051509] Pose Error in degrees for R and t: 13.104475485755026 34.774217438275365 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999570e-01 -7.86175492e-04 -4.92577697e-04] [ 7.86346798e-04 9.99999630e-01 3.47678195e-04] [ 4.92304179e-04 -3.48065382e-04 9.99999818e-01]] t_estimated: [[-9.99994853e-01] [-3.10181143e-03] [-8.20435394e-04]] R_gt: [[ 0.963474 0.26734472 0.01563196] [-0.26779632 0.96217436 0.05006438] [-0.00165601 -0.05242069 0.99862428]] t_gt: [-0.52806669 0.83944153 0.12838808] Pose Error in degrees for R and t: 15.858594951836508 58.30786564659487 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.94562858e-01 -1.04137930e-01 -1.09700531e-04] [ 1.04137838e-01 9.94562662e-01 -6.49618128e-04] [ 1.76753939e-04 6.34662086e-04 9.99999783e-01]] t_estimated: [[-0.49398437] [-0.86946868] [-0.0019097 ]] R_gt: [[ 0.99109416 -0.00194388 0.13314808] [ 0.00307683 0.99996054 -0.00830418] [-0.1331275 0.00863963 0.9910608 ]] t_gt: [-0.23258756 -0.00826388 0.97254035] Pose Error in degrees for R and t: 9.635500722672065 83.09505346672762 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.98900167 0.14720841 0.01433123] [-0.14126357 0.96885977 -0.20336016] [-0.04382127 0.19909906 0.97899911]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97295419 0.04737648 0.22609125] [-0.0477572 0.99885209 -0.00378556] [-0.22601133 -0.00711398 0.97409811]] t_gt: [-0.38180712 0.1871076 0.90510445] Pose Error in degrees for R and t: 17.26733336898001 87.74055022954974 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-7.44598165e-01 -6.67511715e-01 -1.29709827e-03] [ 6.67512940e-01 -7.44597358e-01 -1.11813679e-03] [-2.19446540e-04 -1.69839248e-03 9.99998534e-01]] t_estimated: [[9.61493577e-01] [2.74826250e-01] [7.96597826e-04]] R_gt: [[ 0.96708639 0.09461433 0.23620719] [-0.09531853 0.99541073 -0.0084613 ] [-0.23592296 -0.01433241 0.97166522]] t_gt: [-0.51682658 0.29428481 0.80391961] Pose Error in degrees for R and t: 143.93067810645604 65.45499686431651 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99924618e-01 1.22776973e-02 1.31458158e-04] [-1.22776930e-02 9.99924626e-01 -3.32661256e-05] [-1.31856681e-04 3.16496150e-05 9.99999991e-01]] t_estimated: [[9.99762641e-01] [2.17648891e-02] [9.75266174e-04]] R_gt: [[ 0.99401996 -0.10605862 -0.02600537] [ 0.1062818 0.99430934 0.00734033] [ 0.02507811 -0.01005985 0.99963542]] t_gt: [ 0.75546473 -0.64926782 -0.08788821] Pose Error in degrees for R and t: 6.9745208388267095 42.17748814875293 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.96066140e-01 8.86124240e-02 2.89114555e-04] [-8.86123317e-02 9.96066139e-01 -3.17779703e-04] [-3.16136448e-04 2.90910487e-04 9.99999908e-01]] t_estimated: [[9.98878348e-01] [4.73438844e-02] [7.76129253e-04]] R_gt: [[ 0.9845619 -0.17413257 -0.01778723] [ 0.1744776 0.98445658 0.02011644] [ 0.01400779 -0.02290986 0.99963948]] t_gt: [ 0.75126167 -0.6588157 0.03959501] Pose Error in degrees for R and t: 15.203798505052182 44.006675870547774 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.89494639 -0.4461718 0.00129817] [ 0.44617083 0.89492646 -0.00618182] [ 0.00159639 0.0061116 0.99998005]] t_estimated: [[-0.07386967] [-0.99724054] [-0.00738697]] R_gt: [[ 0.98608439 -0.16612915 0.00619174] [ 0.16620484 0.98598169 -0.01472156] [-0.0036595 0.01554624 0.99987249]] t_gt: [ 0.72468376 -0.68810778 -0.03662161] Pose Error in degrees for R and t: 16.94279009959159 50.73209125806978 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.8167289 0.57701866 -0.00183221] [-0.57701996 0.81671499 -0.00496006] [-0.00136565 0.00510824 0.99998602]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98987212 -0.14065413 -0.01926296] [ 0.14093069 0.98992212 0.013835 ] [ 0.01712281 -0.01641002 0.99971863]] t_gt: [ 0.78303843 -0.6175003 0.07445934] Pose Error in degrees for R and t: 43.36345071373216 78.96866793350033 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-4.83869383e-01 -8.75135076e-01 -3.00306298e-03] [ 8.75140059e-01 -4.83864305e-01 -2.28269739e-03] [ 5.44593574e-04 -3.73262809e-03 9.99992885e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.97414266 -0.2241117 -0.02865024] [ 0.22533953 0.97293519 0.05116913] [ 0.01640699 -0.0563018 0.99827853]] t_gt: [ 0.75753978 -0.61849071 0.20881266] Pose Error in degrees for R and t: 105.97199645521209 46.77807339519385 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.73701792 -0.67586658 0.00299226] [-0.67585445 0.73702323 0.00418495] [-0.00503383 0.00106205 -0.99998677]] t_estimated: [[0.90567664] [0.42395038] [0.00398766]] R_gt: [[ 0.97011574 -0.23860615 -0.04409326] [ 0.24249839 0.95971429 0.14191728] [ 0.00845479 -0.14836851 0.98889579]] t_gt: [ 0.63375803 -0.64374157 0.42889107] Pose Error in degrees for R and t: 178.10786244277557 72.37560994267 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99999972e-01 -2.29267130e-04 -6.46210579e-05] [ 2.29267166e-04 9.99999974e-01 5.49950058e-07] [ 6.46209301e-05 -5.64765529e-07 9.99999998e-01]] t_estimated: [[-9.99928933e-01] [-1.18998113e-02] [-7.23803723e-04]] R_gt: [[ 0.99210173 0.12526232 -0.00670726] [-0.12527311 0.99212148 -0.00123332] [ 0.00649941 0.00206425 0.99997676]] t_gt: [-0.80488747 0.5930947 -0.01987052] Pose Error in degrees for R and t: 7.219645939065792 37.08071315946524 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.97766108e-01 -6.68022283e-02 -5.05396148e-04] [ 6.68024041e-02 9.97766167e-01 3.39382911e-04] [ 4.81595643e-04 -3.72386444e-04 9.99999815e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9588461 0.2838908 0.00462272] [-0.28365249 0.95850267 -0.02851866] [-0.01252785 0.02603367 0.99958162]] t_gt: [-0.77924913 0.62406154 -0.05760192] Pose Error in degrees for R and t: 20.388311247780955 38.98098795791413 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-8.02444847e-01 -5.96722511e-01 -2.12423773e-03] [ 5.96726220e-01 -8.02441417e-01 -2.36454078e-03] [-2.93601626e-04 -3.16500192e-03 9.99994948e-01]] t_estimated: [[0.96801892] [0.25087401] [0.00126704]] R_gt: [[ 9.35963563e-01 3.51897092e-01 -1.18547498e-02] [-3.51921083e-01 9.36029292e-01 8.48535530e-05] [ 1.11261068e-02 4.09182392e-03 9.99929111e-01]] t_gt: [-0.75560961 0.6547798 -0.01781932] Pose Error in degrees for R and t: 163.96854317148436 55.44481524791627 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 0.98749573 -0.15764056 0.00127737] [ 0.15764253 0.98749491 -0.00162385] [-0.00100542 0.00180491 0.99999787]] t_estimated: [[-0.41332775] [-0.91057991] [-0.00209811]] R_gt: [[ 0.97482002 -0.21405586 0.0625024 ] [ 0.21225577 0.97661444 0.03421126] [-0.06836441 -0.02008391 0.99745795]] t_gt: [ 0.59898872 -0.72883407 0.3316827 ] Pose Error in degrees for R and t: 5.206121291347726 65.4563042164066 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-9.68422028e-01 -2.49316529e-01 -2.09326505e-04] [ 2.49316290e-01 -9.68419057e-01 -2.43251328e-03] [ 4.03749991e-04 -2.40788796e-03 9.99997020e-01]] t_estimated: [[8.11102361e-01] [5.84903848e-01] [6.69226371e-04]] R_gt: [[ 0.93622442 -0.35107863 -0.01510986] [ 0.35131367 0.93609054 0.01764764] [ 0.00794739 -0.02183055 0.99973074]] t_gt: [ 0.71444206 -0.69857058 0.03964449] Pose Error in degrees for R and t: 145.00112281378392 80.1589443688245 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99998606e-01 -3.49917533e-04 1.63261803e-03] [ 3.52346627e-04 9.99998831e-01 -1.48780179e-03] [-1.63209552e-03 1.48837496e-03 9.99997560e-01]] t_estimated: [[0.63079037] [0.77595271] [0.000946 ]] R_gt: [[ 0.8752672 -0.48330243 0.01805312] [ 0.48181273 0.87459383 0.05422382] [-0.0419953 -0.03876161 0.9983657 ]] t_gt: [ 0.72865411 -0.67131092 0.13566444] Pose Error in degrees for R and t: 29.04244809261827 86.49422199233908 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[-9.81977056e-01 -1.88999149e-01 -6.18852431e-04] [-1.88998477e-01 9.81976863e-01 -1.00786970e-03] [ 7.98185286e-04 -8.72742758e-04 -9.99999301e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99751467 -0.06991162 0.00884381] [ 0.0701316 0.99715592 -0.02758678] [-0.00688943 0.0281389 0.99957986]] t_gt: [ 0.22293874 -0.73381662 -0.6417254 ] Pose Error in degrees for R and t: 179.74953080125496 77.28129034190579 Number of keypoints: Image1: 568 Image2: 568 R_estimated: [[ 9.99999795e-01 -6.35214401e-04 8.06206415e-05] [ 6.35226065e-04 9.99999788e-01 -1.44738278e-04] [-8.05286845e-05 1.44789460e-04 9.99999986e-01]] t_estimated: [[ 9.80081352e-01] [-1.98595241e-01] [ 6.88173437e-04]] R_gt: [[ 0.99070773 -0.13509804 0.01572181] [ 0.13588704 0.98809262 -0.07215111] [-0.00578675 0.07361689 0.99726945]] t_gt: [ 0.53118548 -0.47669784 -0.70042926] Pose Error in degrees for R and t: 8.83595869362444 52.063127116538695 Number of keypoints: Image1: 459 Image2: 459 R_estimated: [[ 9.96624297e-01 8.20974583e-02 1.33396523e-04] [-8.20974188e-02 9.96624270e-01 -2.79098968e-04] [-1.55859528e-04 2.67205302e-04 9.99999952e-01]] t_estimated: [[ 9.84173820e-01] [-1.77205611e-01] [ 2.49834342e-04]] R_gt: [[ 0.98866708 -0.15009143 0.0030118 ] [ 0.15007164 0.98762015 -0.04564171] [ 0.0038762 0.04557616 0.99895333]] t_gt: [ 0.67177902 -0.55507227 -0.4905178 ] Pose Error in degrees for R and t: 13.596438993803384 40.58983950969902 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99998560e-01 1.69729098e-03 3.08096203e-06] [-1.69729095e-03 9.99998560e-01 -9.17447544e-06] [-3.09652935e-06 9.16923294e-06 1.00000000e+00]] t_estimated: [[ 5.02339709e-01] [-8.64670332e-01] [ 1.86187710e-04]] R_gt: [[ 0.99841853 -0.0300702 -0.04750702] [ 0.02650559 0.99690948 -0.07395619] [ 0.04958496 0.07257974 0.99612932]] t_gt: [ 0.24231888 -0.0446788 -0.96916736] Pose Error in degrees for R and t: 5.3278148998294705 80.78274964817736 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999998e-01 6.20389214e-05 5.06491473e-06] [-6.20389870e-05 9.99999998e-01 1.29591733e-05] [-5.06411075e-06 -1.29594875e-05 1.00000000e+00]] t_estimated: [[9.99783333e-01] [2.08015995e-02] [7.61951605e-04]] R_gt: [[ 0.97403409 -0.2262798 -0.00745367] [ 0.22589031 0.97351662 -0.03518767] [ 0.0152185 0.03259074 0.99935284]] t_gt: [ 0.6800093 -0.71859796 -0.14561702] Pose Error in degrees for R and t: 13.235494888092301 48.332784057152715 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.74196625e-01 2.25700961e-01 1.10595247e-04] [-2.25700979e-01 9.74196607e-01 1.98405770e-04] [-6.29611414e-05 -2.18247687e-04 9.99999974e-01]] t_estimated: [[0.72177341] [0.69212773] [0.00153573]] R_gt: [[ 0.94080293 -0.33894389 -0.00269155] [ 0.33712866 0.93652968 -0.09620644] [ 0.03512981 0.08960382 0.99535777]] t_gt: [ 0.70989887 -0.65468798 -0.25966757] Pose Error in degrees for R and t: 33.29985856480218 86.62564041041816 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.99948882e-01 1.01110411e-02 2.41906564e-05] [-1.01110406e-02 9.99948882e-01 -2.25660471e-05] [-2.44175861e-05 2.23203008e-05 9.99999999e-01]] t_estimated: [[9.99051315e-01] [4.35439141e-02] [6.29806570e-04]] R_gt: [[ 0.99828465 -0.0583491 -0.00499875] [ 0.05810955 0.99754603 -0.03906231] [ 0.00726578 0.03870535 0.99922404]] t_gt: [ 0.68338096 -0.2207806 -0.69587814] Pose Error in degrees for R and t: 4.521142283520873 47.72569651374004 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[-9.95890023e-01 -8.62637318e-02 2.75976412e-02] [-8.62798837e-02 9.96270753e-01 6.07213572e-04] [-2.75471033e-02 -1.77640334e-03 -9.99618928e-01]] t_estimated: [[0.99881219] [0.04663492] [0.01412099]] R_gt: [[ 0.99615191 -0.08534689 -0.01995796] [ 0.08517987 0.99632427 -0.00905437] [ 0.0206574 0.00731945 0.99975933]] t_gt: [ 0.93422665 -0.3140896 -0.16902154] Pose Error in degrees for R and t: 179.605897218212 23.640048492107944 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-0.94915114 -0.31458674 0.01213664] [-0.31459307 0.94922555 0.00143354] [-0.01197138 -0.00245746 -0.99992532]] t_estimated: [[0.98593478] [0.16701319] [0.00626141]] R_gt: [[ 0.98365854 -0.17270823 -0.05088487] [ 0.17273001 0.98496115 -0.00400137] [ 0.05081146 -0.00485391 0.99869673]] t_gt: [ 0.98071118 -0.17912457 -0.07823018] Pose Error in degrees for R and t: 177.81066796412748 20.526311279739872 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[-0.06893579 0.99762022 -0.00132193] [-0.99761879 -0.06893842 -0.0020615 ] [-0.00214772 0.00117667 0.999997 ]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.99394038 0.10976686 -0.00561178] [-0.10947844 0.99326741 0.03787964] [ 0.00973271 -0.03703618 0.99926631]] t_gt: [-0.84200689 0.47790385 0.25026447] Pose Error in degrees for R and t: 87.68292304857341 61.83461492306592 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.99841708e-01 1.77917801e-02 -1.03882135e-04] [-1.77917688e-02 9.99841708e-01 1.09211089e-04] [ 1.05808751e-04 -1.07345555e-04 9.99999989e-01]] t_estimated: [[-9.94539091e-01] [-1.04364294e-01] [-3.00490438e-04]] R_gt: [[ 0.97337863 0.22785656 0.02478305] [-0.22819831 0.97354134 0.01196025] [-0.02140148 -0.01729697 0.99962079]] t_gt: [-0.81044741 0.58118791 0.0734548 ] Pose Error in degrees for R and t: 12.2658272028576 41.81132005386954 Number of keypoints: Image1: 348 Image2: 348 R_estimated: [[ 9.72247147e-01 -2.33955819e-01 -3.99614857e-04] [ 2.33955866e-01 9.72247215e-01 7.49615245e-05] [ 3.70986747e-04 -1.66373368e-04 9.99999917e-01]] t_estimated: [[-0.36840742] [-0.92966349] [-0.00132999]] R_gt: [[ 0.96085 0.27655857 0.01678805] [-0.27682756 0.96077532 0.01664979] [-0.01152413 -0.02064624 0.99972058]] t_gt: [-0.77312108 0.63084823 0.06568343] Pose Error in degrees for R and t: 29.62601805010499 72.43783556822852 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.92822570e-01 -1.19596591e-01 -2.22748040e-05] [ 1.19596591e-01 9.92822570e-01 1.02351715e-05] [ 2.08908366e-05 -1.28256999e-05 1.00000000e+00]] t_estimated: [[9.99690734e-01] [2.48562644e-02] [7.76760467e-04]] R_gt: [[ 0.9989795 0.04449877 0.00775147] [-0.04406125 0.99780089 -0.04951647] [-0.00993778 0.04912459 0.99874278]] t_gt: [-0.63010943 0.53620113 -0.56164976] Pose Error in degrees for R and t: 9.836517683268362 51.90094671460301 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-1.33741171e-01 -9.91015467e-01 -1.28192785e-03] [ 9.91016175e-01 -1.33741683e-01 3.22286970e-04] [-4.90838560e-04 -1.22730820e-03 9.99999126e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99552781 0.06981164 0.06365371] [-0.06514796 0.99523016 -0.07261176] [-0.06841914 0.06813975 0.99532747]] t_gt: [-0.77969561 0.61431067 0.12123179] Pose Error in degrees for R and t: 101.67799378147889 38.95018493504981 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.88697275e-01 -1.49925621e-01 -7.97125676e-05] [ 1.49925637e-01 9.88697242e-01 2.57670805e-04] [ 4.01801403e-05 -2.66709380e-04 9.99999964e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99281592 0.04708541 0.11000141] [-0.04038154 0.99723371 -0.06239954] [-0.11263492 0.05750894 0.99197064]] t_gt: [-0.5157002 0.30362037 0.80116663] Pose Error in degrees for R and t: 13.298602634480185 59.24699623544456 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-2.01338082e-01 9.79520754e-01 -1.43838544e-03] [-9.79517774e-01 -2.01341251e-01 -2.57505843e-03] [-2.81192950e-03 8.90466777e-04 9.99995650e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99498305 -0.0939058 0.03451888] [ 0.09460982 0.99532626 -0.01936379] [-0.03253945 0.02253228 0.99921618]] t_gt: [ 0.77828805 -0.62118487 -0.09163551] Pose Error in degrees for R and t: 107.03942398781206 51.94529205314775 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.99913312 0.04068937 0.00879655] [ 0.0407076 0.99916929 0.00190391] [-0.00871177 0.00226034 -0.9999595 ]] t_estimated: [[ 0.99992425] [-0.01151445] [ 0.0043485 ]] R_gt: [[ 0.97860922 -0.19913012 0.05168409] [ 0.20172857 0.9781055 -0.05113622] [-0.04036968 0.06046829 0.99735323]] t_gt: [ 0.83339521 -0.52251311 -0.18009017] Pose Error in degrees for R and t: 176.77147263533544 33.01106066257798 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.75105824e-01 6.31831193e-01 5.52432745e-04] [-6.31831063e-01 7.75106020e-01 -4.07248176e-04] [-6.85506048e-04 -3.33837357e-05 9.99999764e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.94620919 -0.3208681 0.04162313] [ 0.32349931 0.940604 -0.10301009] [-0.00609745 0.11093319 0.99380897]] t_gt: [ 0.87779958 -0.39627465 -0.26913621] Pose Error in degrees for R and t: 58.35791221376689 62.191844468505145 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 1.00000000e+00 3.64083763e-13 -2.46571426e-13] [-3.65027453e-13 1.00000000e+00 2.70394330e-13] [ 2.46512012e-13 -2.70394357e-13 1.00000000e+00]] t_estimated: [[-0.99825412] [-0.0590269 ] [-0.00212806]] R_gt: [[ 0.99642933 0.06782238 -0.05030749] [-0.0683222 0.99762865 -0.00829412] [ 0.0496268 0.01170243 0.99869996]] t_gt: [-0.48798984 0.73667116 -0.46816826] Pose Error in degrees for R and t: 4.877361641373626 63.59900405760286 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999822e-01 5.96921744e-04 2.33355074e-05] [-5.96919507e-04 9.99999817e-01 -9.57548068e-05] [-2.33926613e-05 9.57408603e-05 9.99999995e-01]] t_estimated: [[-1.90282889e-01] [ 9.81729299e-01] [ 7.48047360e-05]] R_gt: [[ 0.98865115 0.06100935 -0.13728781] [-0.06344549 0.9978951 -0.01343857] [ 0.1361795 0.02199645 0.99043996]] t_gt: [-0.10067806 0.49131728 -0.86514233] Pose Error in degrees for R and t: 8.686852100024005 59.90513704789576 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.82785246 -0.55946015 -0.04080002] [ 0.53709655 -0.76957284 -0.34537652] [ 0.16182581 -0.30783436 0.93757688]] t_estimated: [[9.72421491e-01] [2.33229217e-01] [7.59704289e-04]] R_gt: [[ 0.97088946 0.07816422 -0.2264201 ] [-0.08127344 0.99668285 -0.00442611] [ 0.22532293 0.02270045 0.97401979]] t_gt: [ 0.03608426 0.40327443 -0.91436736] Pose Error in degrees for R and t: 148.4678988470633 82.61997627836807 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-3.74840976e-01 -9.27088956e-01 -5.57644629e-04] [ 9.27088605e-01 -3.74841335e-01 8.31760812e-04] [-9.80144519e-04 -2.05207947e-04 9.99999499e-01]] t_estimated: [[0.86280232] [0.50554046] [0.00099516]] R_gt: [[ 0.99617215 0.00187259 -0.0873954 ] [-0.00146847 0.99998834 0.00470469] [ 0.08740418 -0.00455861 0.99616248]] t_gt: [ 0.37312402 -0.02550016 -0.92743097] Pose Error in degrees for R and t: 112.1854302559185 72.05415292310433 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.97850475 0.20621468 0.00198929] [-0.20621139 0.97850592 -0.00174082] [-0.00230552 0.00129318 0.99999651]] t_estimated: [[0.99111456] [0.13300672] [0.00107263]] R_gt: [[ 0.98432473 0.0164148 -0.17560108] [-0.01540152 0.99985682 0.00713181] [ 0.17569288 -0.00431532 0.98443547]] t_gt: [ 0.30786572 0.07912587 -0.94813385] Pose Error in degrees for R and t: 15.010933863324635 71.66107073630644 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.88690912e-01 -1.49966969e-01 4.34997595e-04] [ 1.49966930e-01 9.88691006e-01 1.20073992e-04] [-4.48085343e-04 -5.34808103e-05 9.99999898e-01]] t_estimated: [[0.77403645] [0.63314041] [0.00089175]] R_gt: [[ 9.71805823e-01 2.76328689e-02 -2.34156357e-01] [-2.81964658e-02 9.99601878e-01 9.41819850e-04] [ 2.34088897e-01 5.68754459e-03 9.72198593e-01]] t_gt: [ 0.29715151 0.1088211 -0.94860895] Pose Error in degrees for R and t: 16.987996763719465 72.65892758369984 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 1.22782548e-01 9.92433334e-01 7.22976450e-04] [ 9.92412624e-01 -1.22784657e-01 6.41192529e-03] [ 6.45217881e-03 -6.97815690e-05 -9.99979182e-01]] t_estimated: [[2.48830346e-01] [9.68546778e-01] [7.73872542e-04]] R_gt: [[ 0.9882391 -0.15273083 -0.00748157] [ 0.1525214 0.98802674 -0.02324248] [ 0.01094237 0.02182796 0.99970239]] t_gt: [ 0.84437904 -0.51753865 -0.13848385] Pose Error in degrees for R and t: 179.61119417351568 73.0665688658856 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.99977292 -0.01960426 0.00835332] [-0.01959146 0.99980677 0.0016116 ] [-0.0083833 0.00144758 -0.99996381]] t_estimated: [[0.999834 ] [0.01772201] [0.00423138]] R_gt: [[ 0.9656354 -0.25955905 0.01330456] [ 0.25988284 0.96488598 -0.03816448] [-0.00293117 0.04031013 0.99918262]] t_gt: [ 0.86865594 -0.47968558 -0.12384913] Pose Error in degrees for R and t: 179.06467000563364 30.741002802226802 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.72503727 0.68869109 -0.00505406] [-0.68869215 -0.72505163 -0.00180565] [-0.00490799 0.00217152 0.9999856 ]] t_estimated: [[0.739257 ] [0.67342287] [0.00085966]] R_gt: [[ 0.93020461 -0.36511822 0.03752955] [ 0.36692869 0.927577 -0.07046007] [-0.00908534 0.07931299 0.99680815]] t_gt: [ 0.89050645 -0.42358779 -0.16604712] Pose Error in degrees for R and t: 157.98569735203333 68.10439107287601 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-4.03672863e-01 9.14903323e-01 -3.58481124e-04] [-9.14901444e-01 -4.03672781e-01 -1.90642512e-03] [-1.88890375e-03 -4.41597191e-04 9.99998119e-01]] t_estimated: [[0.01465898] [0.999892 ] [0.00104855]] R_gt: [[ 0.986719 0.16167341 0.01571427] [-0.16130259 0.98664769 -0.02252645] [-0.01914654 0.01969223 0.99962322]] t_gt: [-0.82664148 0.5592363 -0.06259896] Pose Error in degrees for R and t: 104.51943789389196 56.839067383674355 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-9.97060182e-01 -7.66188349e-02 -7.40522564e-04] [-7.66178828e-02 9.97059761e-01 -1.23835283e-03] [ 8.33226402e-04 -1.17797503e-03 -9.99998959e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97233559 0.2335777 -0.00198417] [-0.2335331 0.97226352 0.01286443] [ 0.00493377 -0.01204558 0.99991577]] t_gt: [-0.80526514 0.59227647 0.0275072 ] Pose Error in degrees for R and t: 179.7917558420559 36.54367649542403 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99992795e-01 3.79184277e-03 -1.76343715e-04] [-3.79178504e-03 9.99992758e-01 3.26518614e-04] [ 1.77580545e-04 -3.25847604e-04 9.99999931e-01]] t_estimated: [[-9.99886366e-01] [-1.50748047e-02] [-7.42071062e-05]] R_gt: [[ 9.31760458e-01 3.62999849e-01 7.33965923e-03] [-3.62995376e-01 9.31788322e-01 -1.91329990e-03] [-7.53351255e-03 -8.81477068e-04 9.99971216e-01]] t_gt: [-0.76561848 0.64328055 -0.00429889] Pose Error in degrees for R and t: 21.07218858068457 40.901662756415675 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99995858e-01 -2.83739819e-03 -4.82519338e-04] [ 2.84003620e-03 9.99980525e-01 5.55731517e-03] [ 4.66741625e-04 -5.55866253e-03 9.99984442e-01]] t_estimated: [[0.68531423] [0.72824575] [0.00159006]] R_gt: [[ 0.99880381 -0.04875705 -0.0038034 ] [ 0.04874627 0.99880707 -0.00300339] [ 0.00394537 0.00281431 0.99998788]] t_gt: [ 0.85571131 -0.50996228 -0.08773038] Pose Error in degrees for R and t: 2.682925406979678 77.58953073579619 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-8.48125819e-01 -5.29794398e-01 -7.00873749e-04] [-5.29794496e-01 8.48126045e-01 -5.31622524e-05] [ 6.22594344e-04 3.26230776e-04 -9.99999753e-01]] t_estimated: [[0.85660423] [0.51597282] [0.00111682]] R_gt: [[ 0.98180138 -0.18106854 0.05727741] [ 0.16848823 0.96964381 0.17720809] [-0.08762652 -0.16433207 0.98250437]] t_gt: [ 0.57612535 -0.46250237 0.6739222 ] Pose Error in degrees for R and t: 173.2917856246416 75.1893531681046 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.83545296 -0.54955726 -0.00227217] [ 0.54956075 -0.83545265 -0.00135803] [-0.00115197 -0.00238326 0.9999965 ]] t_estimated: [[0.90136167] [0.43306465] [0.00146802]] R_gt: [[ 0.96558517 -0.2270259 0.12690578] [ 0.18163031 0.93783575 0.29576194] [-0.18616316 -0.26253281 0.94679377]] t_gt: [ 0.47858951 -0.31341225 0.82019805] Pose Error in degrees for R and t: 135.18193772622263 72.73098277705782 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99998794e-01 1.55327912e-03 -1.29846225e-05] [-1.55327865e-03 9.99998793e-01 3.58776888e-05] [ 1.30403349e-05 -3.58574768e-05 9.99999999e-01]] t_estimated: [[4.07323427e-01] [9.13283871e-01] [4.43963843e-04]] R_gt: [[ 9.98763962e-01 3.42447404e-03 4.96077429e-02] [-3.45506633e-03 9.99994884e-01 5.39817943e-04] [-4.96043690e-02 -7.10657751e-04 9.98768403e-01]] t_gt: [-0.13029425 -0.03369663 0.99090259] Pose Error in degrees for R and t: 2.8453748245289794 85.2155975150512 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.69698232 0.71704589 0.00780003] [ 0.71708708 -0.69696005 -0.00572724] [ 0.00132961 0.00958509 -0.99995318]] t_estimated: [[8.54051186e-01] [5.20188516e-01] [6.92661140e-04]] R_gt: [[ 0.99761654 -0.02673476 0.06362534] [ 0.02689349 0.9996373 -0.00164223] [-0.06355752 0.00334889 0.99797193]] t_gt: [ 0.38481771 -0.37162406 0.8448733 ] Pose Error in degrees for R and t: 177.96866046187822 82.18790801616194 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99537159e-01 3.04214884e-02 2.90009863e-05] [-3.04214876e-02 9.99537159e-01 -2.74798682e-05] [-2.98235419e-05 2.65848962e-05 9.99999999e-01]] t_estimated: [[9.77475956e-01] [2.11045150e-01] [8.36258310e-04]] R_gt: [[ 0.99826243 -0.05289873 0.02597841] [ 0.05220571 0.99827933 0.02671695] [-0.02734573 -0.02531529 0.99930459]] t_gt: [ 0.63679408 -0.5908981 0.49531075] Pose Error in degrees for R and t: 5.213824945606078 60.121729725525036 Number of keypoints: Image1: 363 Image2: 363 R_estimated: [[ 8.95046307e-01 4.45973158e-01 2.25237928e-04] [-4.45973021e-01 8.95046275e-01 -4.79431493e-04] [-4.15411946e-04 3.28663348e-04 9.99999860e-01]] t_estimated: [[-4.28536415e-01] [ 9.03524447e-01] [ 3.38610628e-04]] R_gt: [[ 0.99428862 -0.09877297 0.04041994] [ 0.10111275 0.99302516 -0.06064289] [-0.03414741 0.06438318 0.99734108]] t_gt: [ 0.66912659 -0.45501232 -0.58756565] Pose Error in degrees for R and t: 32.48796146170473 45.72853003223429 Number of keypoints: Image1: 421 Image2: 421 R_estimated: [[-0.92675287 0.37522238 0.01836542] [ 0.37522435 0.92692753 -0.0034693 ] [-0.01832517 0.00367597 -0.99982532]] t_estimated: [[ 0.97550052] [-0.21978435] [ 0.00967355]] R_gt: [[ 0.99251144 -0.11851266 0.02960227] [ 0.12003441 0.99116737 -0.05638193] [-0.02265848 0.05951335 0.99797074]] t_gt: [ 0.70877841 -0.45397631 -0.53994321] Pose Error in degrees for R and t: 176.82209058681593 38.18975728943788 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99147665e-01 4.12785148e-02 1.68256004e-04] [-4.12784499e-02 9.99147612e-01 -3.72589832e-04] [-1.83492540e-04 3.65326913e-04 9.99999916e-01]] t_estimated: [[ 9.36472125e-01] [-3.50741494e-01] [-6.03304504e-04]] R_gt: [[ 0.98151719 -0.19112172 0.0098048 ] [ 0.19132474 0.98113257 -0.02783322] [-0.00429992 0.02919508 0.99956406]] t_gt: [ 0.92716557 -0.35210185 -0.12801674] Pose Error in degrees for R and t: 13.495375592498489 7.3251029187160235 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 5.91374365e-01 -8.06395760e-01 1.49612018e-03] [ 8.06389529e-01 5.91375825e-01 3.24996027e-03] [-3.50552349e-03 -7.15487544e-04 9.99993600e-01]] t_estimated: [[0.97900471] [0.20382654] [0.00212571]] R_gt: [[ 0.98888239 -0.14847957 -0.00815583] [ 0.14840296 0.98888278 -0.00940308] [ 0.00946105 0.00808911 0.9999225 ]] t_gt: [ 0.83638311 -0.5422988 -0.0798455 ] Pose Error in degrees for R and t: 45.21732081901047 44.91797263050357 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.89417228 0.44761218 0.00996313] [ 0.44762079 0.89422226 -0.00147215] [-0.0095682 0.00314335 -0.99994928]] t_estimated: [[ 0.97490982] [-0.22253521] [ 0.00537723]] R_gt: [[ 0.96295826 -0.26961977 0.004095 ] [ 0.26957166 0.96219458 -0.03889237] [ 0.00654628 0.03855665 0.99923489]] t_gt: [ 0.87319502 -0.46962948 -0.13030198] Pose Error in degrees for R and t: 178.97757602790358 17.235523685255828 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 4.00890643e-01 9.16125897e-01 1.81574522e-04] [-9.16125627e-01 4.00890351e-01 8.73268926e-04] [ 7.27232805e-04 -5.16430414e-04 9.99999602e-01]] t_estimated: [[7.29335707e-01] [6.84155619e-01] [7.17144255e-04]] R_gt: [[ 0.93037413 -0.36532365 0.03069799] [ 0.36658815 0.92797875 -0.06684269] [-0.00406808 0.07344333 0.99729072]] t_gt: [ 0.88986928 -0.42616477 -0.16283814] Pose Error in degrees for R and t: 87.94638337234213 69.06346412805726 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-1.31491860e-01 -9.91315620e-01 -1.79789286e-03] [ 9.91316845e-01 -1.31489948e-01 -1.14328507e-03] [ 8.96951513e-04 -1.93261416e-03 9.99997730e-01]] t_estimated: [[9.21941123e-01] [3.87329192e-01] [8.13716790e-04]] R_gt: [[ 0.99562262 0.00560276 -0.09329784] [-0.00483437 0.99995283 0.00846652] [ 0.09333984 -0.00797762 0.99560182]] t_gt: [ 0.33044875 0.00600566 -0.94380483] Pose Error in degrees for R and t: 97.95786778264747 72.16887622950544 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.98583211 -0.16772175 -0.00211095] [ 0.16772632 0.98583112 0.00221184] [ 0.00171006 -0.00253456 0.99999533]] t_estimated: [[-0.99950939] [-0.03130213] [-0.00107938]] R_gt: [[ 0.98330551 0.01858571 -0.18101251] [-0.016979 0.99980215 0.01042571] [ 0.18117041 -0.00717805 0.98342485]] t_gt: [ 0.29759138 0.07426705 -0.95180028] Pose Error in degrees for R and t: 14.850180376736223 72.61789539874576 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.17003423 0.98543557 0.00225813] [ 0.98543666 -0.17003752 0.00135126] [ 0.00171555 0.00199548 -0.99999654]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97256942 0.02897001 -0.23080266] [-0.0291576 0.99957152 0.00259977] [ 0.23077829 0.00420158 0.97299664]] t_gt: [ 0.28666613 0.11562983 -0.95102696] Pose Error in degrees for R and t: 171.47182151863512 83.31406966832277 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[-0.90341439 0.42822872 0.02150829] [ 0.42823772 0.90365532 -0.00441888] [-0.02132837 0.00521858 -0.9997589 ]] t_estimated: [[ 0.97226245] [-0.23363549] [ 0.01096262]] R_gt: [[ 0.99475578 -0.0951363 0.03757046] [ 0.09730804 0.99338596 -0.06095427] [-0.03152238 0.06429115 0.99743273]] t_gt: [ 0.68165183 -0.41647148 -0.60158316] Pose Error in degrees for R and t: 176.01902114393928 41.109701658540985 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 9.96725715e-01 8.08569296e-02 8.19626902e-05] [-8.08569164e-02 9.96725707e-01 -1.53090381e-04] [-9.40727386e-05 1.45961869e-04 9.99999985e-01]] t_estimated: [[ 9.41406290e-01] [-3.37274450e-01] [ 3.77920862e-04]] R_gt: [[ 0.99363879 -0.10883043 0.02897809] [ 0.1102166 0.99257292 -0.05150769] [-0.02315774 0.05437495 0.99825124]] t_gt: [ 0.72997739 -0.45254189 -0.51219024] Pose Error in degrees for R and t: 11.439636631106247 32.897606085633605 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[-9.90836216e-01 1.34532324e-01 1.20269255e-02] [ 1.34529695e-01 9.90909026e-01 -1.03108556e-03] [-1.20563034e-02 5.96341705e-04 -9.99927142e-01]] t_estimated: [[ 0.9972079 ] [-0.07440391] [ 0.00636056]] R_gt: [[ 0.98189674 -0.18923298 0.00836948] [ 0.18938597 0.98158632 -0.02493519] [-0.00349693 0.02607044 0.99965364]] t_gt: [ 0.94241463 -0.32026095 -0.09637214] Pose Error in degrees for R and t: 178.87247979976345 15.634810874231881 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[-6.99475895e-01 -7.14653377e-01 -2.00572170e-03] [ 7.14655463e-01 -6.99476435e-01 -5.35307546e-04] [-1.02039572e-03 -1.80783469e-03 9.99997845e-01]] t_estimated: [[0.98110239] [0.19348643] [0.00105156]] R_gt: [[ 0.9990257 -0.00307071 0.04401481] [ 0.00299225 0.99999345 0.00184239] [-0.04402065 -0.00170815 0.99902897]] t_gt: [ 0.00610257 -0.15184023 0.98838621] Pose Error in degrees for R and t: 134.2246833520164 88.719193345652 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99995139e-01 3.11780424e-03 3.39184753e-05] [-3.11780431e-03 9.99995140e-01 1.89936912e-06] [-3.39123886e-05 -2.00511106e-06 9.99999999e-01]] t_estimated: [[0.62347333] [0.78184402] [0.00096926]] R_gt: [[ 9.98247192e-01 -3.15419742e-02 5.00829585e-02] [ 3.16048512e-02 9.99500701e-01 -4.61526066e-04] [-5.00440542e-02 2.04386454e-03 9.98744320e-01]] t_gt: [ 0.51991698 -0.45387099 0.72366253] Pose Error in degrees for R and t: 3.4908765576798144 88.28083802771964 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 3.89986215e-01 9.20820599e-01 4.19297948e-04] [-9.20819983e-01 3.89986439e-01 -1.06625010e-03] [-1.14534557e-03 2.97249101e-05 9.99999344e-01]] t_estimated: [[-1.01586470e-01] [ 9.94826388e-01] [ 8.04704471e-04]] R_gt: [[ 0.99818533 -0.05826007 0.01520453] [ 0.05782112 0.99793852 0.02783526] [-0.01679543 -0.02690492 0.99949672]] t_gt: [ 0.68748651 -0.61733396 0.38244095] Pose Error in degrees for R and t: 70.3951602806423 46.86876750538966 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999841e-01 -8.78967425e-05 5.56176885e-04] [ 8.81226002e-05 9.99999914e-01 -4.06078136e-04] [-5.56141145e-04 4.06127083e-04 9.99999763e-01]] t_estimated: [[-0.66345365] [-0.74821665] [-0.00104646]] R_gt: [[ 9.98685283e-01 -5.12589042e-02 -8.19233600e-05] [ 5.12516357e-02 9.98524043e-01 1.79707559e-02] [-8.38766522e-04 -1.79514644e-02 9.99838344e-01]] t_gt: [ 0.79749612 -0.56120851 0.22146095] Pose Error in degrees for R and t: 3.116535437005143 83.71766231372779 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.16164122e-01 4.00803321e-01 -1.42615184e-05] [-4.00803318e-01 9.16164119e-01 8.49390276e-05] [ 4.71097358e-05 -7.21020258e-05 9.99999996e-01]] t_estimated: [[-0.63545085] [-0.77214061] [-0.00104343]] R_gt: [[ 0.98195709 -0.17861367 0.06211153] [ 0.16370168 0.96731592 0.19365346] [-0.09467013 -0.17999099 0.97910197]] t_gt: [ 0.54853159 -0.44468306 0.7080749 ] Pose Error in degrees for R and t: 35.522298667808094 89.65932603904622 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.02709206e-01 5.96370632e-01 -1.01251955e-05] [-5.96370495e-01 8.02709010e-01 -6.91690737e-04] [-4.04376456e-04 5.61264891e-04 9.99999761e-01]] t_estimated: [[-0.99934297] [-0.03621989] [-0.00132374]] R_gt: [[ 0.96628154 -0.22426886 0.12650761] [ 0.17919219 0.93851731 0.29508714] [-0.18490748 -0.26246747 0.94705858]] t_gt: [ 0.47756615 -0.3126575 0.82108213] Pose Error in degrees for R and t: 51.86009853764988 62.15930188322148 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 8.64273361e-01 5.03022037e-01 6.23390136e-04] [-5.03021946e-01 8.64270171e-01 2.44830583e-03] [ 6.92774285e-04 -2.42958442e-03 9.99996809e-01]] t_estimated: [[5.65874060e-01] [8.24491486e-01] [5.81091780e-04]] R_gt: [[ 0.98471805 0.17369478 0.01269144] [-0.17328498 0.98446396 -0.02831248] [-0.01741262 0.02568102 0.99951854]] t_gt: [-0.8202492 0.56514604 -0.0883244 ] Pose Error in degrees for R and t: 20.29599652623087 89.89978831874323 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-9.19824892e-01 -3.92326113e-01 -1.54585373e-03] [ 3.92329006e-01 -9.19820873e-01 -2.74079514e-03] [-3.46623025e-04 -3.12753485e-03 9.99995049e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97023776 0.24208937 -0.00572581] [-0.24206732 0.9702499 0.00421632] [ 0.0065761 -0.00270373 0.99997522]] t_gt: [-0.79947685 0.60067326 -0.00532958] Pose Error in degrees for R and t: 170.90935238725532 37.09710992763633 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 6.39695909e-01 -7.68624771e-01 2.25940492e-03] [ 7.68627812e-01 6.39690401e-01 -2.73463731e-03] [ 6.56590337e-04 3.48597775e-03 9.99993708e-01]] t_estimated: [[-0.1053877 ] [-0.99442754] [-0.00270225]] R_gt: [[ 9.28867111e-01 3.70413704e-01 5.12483660e-04] [-3.70412759e-01 9.28866565e-01 -1.18880501e-03] [-9.16243641e-04 9.14760623e-04 9.99999164e-01]] t_gt: [-0.7641878 0.64485589 -0.0133375 ] Pose Error in degrees for R and t: 71.97208361022979 55.89644143419913 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.32135029e-01 -9.01808907e-01 -1.06509484e-04] [-9.01807953e-01 4.32134393e-01 1.51041128e-03] [-1.31607594e-03 7.48752722e-04 -9.99998854e-01]] t_estimated: [[0.86884727] [0.49507901] [0.00109289]] R_gt: [[ 0.99877756 0.04747183 0.0138021 ] [-0.04668365 0.997517 -0.05274265] [-0.0162714 0.05203336 0.99851218]] t_gt: [-0.65701563 0.58883921 -0.47074287] Pose Error in degrees for R and t: 179.16573899072353 73.74941786602645 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.97438506e-01 -7.15292022e-02 -3.02751429e-05] [ 7.15292034e-02 9.97438505e-01 3.89472243e-05] [ 2.74117294e-05 -4.10130180e-05 9.99999999e-01]] t_estimated: [[0.79999969] [0.59999977] [0.00087336]] R_gt: [[ 0.99529683 0.06742956 0.069545 ] [-0.06255745 0.9955821 -0.07001558] [-0.07395822 0.06533592 0.99511874]] t_gt: [-0.76569639 0.60394708 0.22126222] Pose Error in degrees for R and t: 9.668715042375192 75.52275265853469 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.98806053 0.15405724 -0.00166224] [ 0.15405379 -0.98778644 0.02335318] [ 0.00195578 -0.02333043 -0.9997259 ]] t_estimated: [[3.99580998e-04] [9.99932454e-01] [1.16158451e-02]] R_gt: [[ 0.992911 0.04126034 0.11147059] [-0.03450349 0.99748653 -0.06189141] [-0.11374272 0.05760621 0.99183882]] t_gt: [-0.4584677 0.27008255 0.8466775 ] Pose Error in degrees for R and t: 177.41860006279086 73.75674564786995 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[-6.68683226e-01 -7.43546668e-01 -1.04673176e-03] [-7.43547327e-01 6.68681849e-01 1.39895463e-03] [-3.40257520e-04 1.71375210e-03 -9.99998474e-01]] t_estimated: [[0.9086576 ] [0.41754104] [0.00091969]] R_gt: [[ 0.99490285 0.10053666 -0.00763122] [-0.10015565 0.99416785 0.03998177] [ 0.01160747 -0.03901382 0.99917042]] t_gt: [-0.83131952 0.48050206 0.27933065] Pose Error in degrees for R and t: 179.6025149810971 56.32381539867506 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99941375e-01 1.08279480e-02 5.41440826e-05] [-1.08279396e-02 9.99941364e-01 -1.54131508e-04] [-5.58098357e-05 1.53536203e-04 9.99999987e-01]] t_estimated: [[-0.99659364] [-0.08246047] [-0.00117801]] R_gt: [[ 0.97563065 0.21900426 0.01343536] [-0.21916968 0.97560664 0.01241763] [-0.01038746 -0.01505937 0.99983246]] t_gt: [-0.81154787 0.58237473 0.04722 ] Pose Error in degrees for R and t: 12.082156499402231 40.47361771409436 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 4.13346814e-01 9.10570717e-01 2.31938484e-03] [-9.10573651e-01 4.13345999e-01 8.42931506e-04] [-1.91159697e-04 -2.46039377e-03 9.99996955e-01]] t_estimated: [[0.61752251] [0.7865524 ] [0.00112687]] R_gt: [[ 0.96280531 0.26955032 0.0186276 ] [-0.26984753 0.9627719 0.01587188] [-0.01365558 -0.02030715 0.99970031]] t_gt: [-0.77187291 0.63227961 0.06659351] Pose Error in degrees for R and t: 49.95053148036572 88.81118846012389 Number of keypoints: Image1: 451 Image2: 451 R_estimated: [[ 9.99790064e-01 2.04896802e-02 2.94667382e-05] [-2.04896788e-02 9.99790063e-01 -4.51949158e-05] [-3.03865814e-05 4.45816637e-05 9.99999999e-01]] t_estimated: [[9.94184115e-01] [1.07692813e-01] [4.50628326e-04]] R_gt: [[ 0.99868946 -0.04976804 -0.01201502] [ 0.04939218 0.99833576 -0.02974885] [ 0.0134755 0.02911743 0.99948497]] t_gt: [ 0.67821092 -0.1919262 -0.70936188] Pose Error in degrees for R and t: 4.416564250967921 49.21080817268414 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.99999882e-01 -4.71705213e-04 1.12871077e-04] [ 4.71732063e-04 9.99999860e-01 -2.37980878e-04] [-1.12758805e-04 2.38034095e-04 9.99999965e-01]] t_estimated: [[ 9.88050847e-01] [-1.54126619e-01] [-7.13566509e-04]] R_gt: [[ 0.99540181 -0.09158258 -0.02807922] [ 0.09166273 0.99578846 0.00159733] [ 0.02781469 -0.00416334 0.99960391]] t_gt: [ 0.96267938 -0.26585124 -0.05071022] Pose Error in degrees for R and t: 5.47596035501297 7.166819388758061 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[-0.89096217 -0.45393477 0.01138577] [-0.45393932 0.89102955 0.00233009] [-0.01120277 -0.00309243 -0.99993247]] t_estimated: [[0.97076791] [0.23994807] [0.0058816 ]] R_gt: [[ 0.98333072 -0.16971466 -0.06526328] [ 0.17021195 0.98540445 0.00210625] [ 0.06395278 -0.01317987 0.99786631]] t_gt: [ 0.98269159 -0.16730317 -0.07954174] Pose Error in degrees for R and t: 177.1494331319323 24.02701855075504 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999854e-01 -5.39568697e-04 -1.62404297e-05] [ 5.39569467e-04 9.99999853e-01 4.74270404e-05] [ 1.62148372e-05 -4.74357964e-05 9.99999999e-01]] t_estimated: [[-4.14791714e-01] [ 9.09916347e-01] [ 2.75000487e-04]] R_gt: [[ 0.99635759 0.06425832 -0.05606588] [-0.0651705 0.99776732 -0.01460333] [ 0.05500129 0.01820379 0.99832017]] t_gt: [-0.43212437 0.70311546 -0.56470982] Pose Error in degrees for R and t: 5.004662212024227 35.02890627263273 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.77274234e-01 -2.11978670e-01 -3.37982229e-04] [ 2.11978839e-01 9.77274081e-01 5.85916881e-04] [ 2.06099391e-04 -6.44246552e-04 9.99999771e-01]] t_estimated: [[-1.31646425e-01] [-9.91296457e-01] [-7.43602979e-04]] R_gt: [[ 0.98862374 0.05789909 -0.13882271] [-0.06096787 0.99797865 -0.01795057] [ 0.13750303 0.02620955 0.99015458]] t_gt: [-0.06978703 0.46575019 -0.88216015] Pose Error in degrees for R and t: 17.59253506837417 63.13734653556564 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.50290058e-01 3.11365428e-01 6.12940418e-04] [-3.11365615e-01 9.50290166e-01 2.34145096e-04] [-5.09566564e-04 -4.13354327e-04 9.99999785e-01]] t_estimated: [[0.03695364] [0.99931642] [0.00105764]] R_gt: [[ 0.97125914 0.07425086 -0.22615069] [-0.07822301 0.9968988 -0.00864037] [ 0.22480746 0.02608171 0.97405372]] t_gt: [ 0.0537467 0.39150761 -0.91860388] Pose Error in degrees for R and t: 18.951851458829537 66.90514201340264 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.94616845 -0.32342295 0.0127619 ] [-0.32341456 0.94625331 0.00277223] [-0.01297259 -0.00150439 -0.99991472]] t_estimated: [[0.99710863] [0.07553003] [0.00834205]] R_gt: [[ 0.99453946 -0.09850679 0.03447049] [ 0.0992034 0.99488364 -0.01909929] [-0.0324119 0.02241514 0.99922343]] t_gt: [ 0.7891583 -0.6081408 -0.08598807] Pose Error in degrees for R and t: 177.55475256405347 42.24930016091863 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.97129748e-01 7.57063764e-02 8.99808401e-04] [-7.57056831e-02 9.97129901e-01 -7.81139072e-04] [-9.56363070e-04 7.10776396e-04 9.99999290e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.97637903 -0.21008632 0.05047275] [ 0.21230972 0.97622808 -0.04362076] [-0.04010964 0.05330558 0.99777253]] t_gt: [ 0.84145505 -0.52131911 -0.14205559] Pose Error in degrees for R and t: 16.966367860156915 58.86300877802635 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-7.88282564e-01 -6.15313234e-01 -4.72988898e-04] [-6.15313267e-01 7.88281603e-01 1.30294432e-03] [-4.28870435e-04 1.31812463e-03 -9.99999039e-01]] t_estimated: [[9.91960367e-01] [1.26545809e-01] [8.87780755e-04]] R_gt: [[ 0.94439074 -0.32589196 0.04382004] [ 0.32873728 0.93880036 -0.10288537] [-0.00760879 0.11156976 0.99372766]] t_gt: [ 0.88089721 -0.39204934 -0.26517432] Pose Error in degrees for R and t: 179.39809105498122 34.51604914817659 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99997972e-01 2.01393485e-03 1.18726010e-05] [-2.01393432e-03 9.99997971e-01 -4.47819875e-05] [-1.19627649e-05 4.47579860e-05 9.99999999e-01]] t_estimated: [[ 5.17886101e-01] [-8.55449562e-01] [-1.80495253e-04]] R_gt: [[ 0.99799544 -0.04084653 -0.0483285 ] [ 0.03738213 0.99680814 -0.07054408] [ 0.05105542 0.0685962 0.99633704]] t_gt: [ 0.31266077 -0.15383683 -0.93732464] Pose Error in degrees for R and t: 5.442409981872279 72.92090956195136 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999955e-01 -2.50109386e-04 1.63912855e-04] [ 2.50139065e-04 9.99999952e-01 -1.81069506e-04] [-1.63867560e-04 1.81110499e-04 9.99999970e-01]] t_estimated: [[9.99998336e-01] [1.77707973e-03] [4.12090184e-04]] R_gt: [[ 9.69307953e-01 -2.45765283e-01 6.35504507e-03] [ 2.45847393e-01 9.69037776e-01 -2.29096334e-02] [-5.28250326e-04 2.37689075e-02 9.99716476e-01]] t_gt: [ 0.68116863 -0.73030421 -0.05162426] Pose Error in degrees for R and t: 14.281062787535708 47.168201294647005 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999603e-01 2.51586880e-04 8.54309601e-04] [-2.50960798e-04 9.99999700e-01 -7.32878785e-04] [-8.54493727e-04 7.32664096e-04 9.99999367e-01]] t_estimated: [[9.99984180e-01] [5.56800389e-03] [7.98511656e-04]] R_gt: [[ 0.93468136 -0.35519383 -0.01442437] [ 0.35283078 0.93188534 -0.08426905] [ 0.0433731 0.07367611 0.9963382 ]] t_gt: [ 0.71890274 -0.65635039 -0.22887338] Pose Error in degrees for R and t: 21.346513495679392 44.35237146085965 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 0.3657639 0.93053699 0.01782347] [ 0.93055761 -0.36529398 -0.02495681] [-0.01671243 0.02571406 -0.99952963]] t_estimated: [[-0.54875676] [ 0.83584083] [-0.01536634]] R_gt: [[ 0.99677423 -0.07792269 0.01921986] [ 0.07845778 0.9964987 -0.02890495] [-0.01689976 0.03031946 0.99939736]] t_gt: [ 0.33521253 -0.7887658 -0.51524855] Pose Error in degrees for R and t: 176.25650213892118 33.35131418482579 Number of keypoints: Image1: 634 Image2: 634 R_estimated: [[ 9.89674808e-01 1.43330886e-01 1.75473228e-04] [-1.43330820e-01 9.89674774e-01 -3.41724169e-04] [-2.22641055e-04 3.13045080e-04 9.99999926e-01]] t_estimated: [[ 0.56128286] [-0.82762353] [-0.00092003]] R_gt: [[ 0.99065824 -0.13494292 0.01963266] [ 0.13598793 0.98831586 -0.06884558] [-0.01011283 0.07087265 0.99743353]] t_gt: [ 0.57446799 -0.4805899 -0.66258575] Pose Error in degrees for R and t: 16.54498565540026 43.879749730581906 Number of keypoints: Image1: 450 Image2: 450 R_estimated: [[ 9.04540548e-01 4.26387363e-01 4.61805541e-04] [-4.26387147e-01 9.04540630e-01 -4.99133489e-04] [-6.30546087e-04 2.54578533e-04 9.99999769e-01]] t_estimated: [[-0.36644455] [ 0.93043924] [ 0.0011016 ]] R_gt: [[ 0.98804114 -0.15414326 0.00379062] [ 0.15417562 0.98731809 -0.03785558] [ 0.00209306 0.03798754 0.9992763 ]] t_gt: [ 0.7450354 -0.54701131 -0.38170783] Pose Error in degrees for R and t: 34.175870809869245 38.51957372579393 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.91563937e-01 -1.29617078e-01 6.09066265e-04] [ 1.29617719e-01 9.91563353e-01 -1.16791888e-03] [-4.52545554e-04 1.23701203e-03 9.99999133e-01]] t_estimated: [[-0.34980924] [-0.93681789] [-0.00239595]] R_gt: [[ 0.97609735 -0.2094936 0.05786389] [ 0.20827825 0.97771519 0.02634644] [-0.06209296 -0.01366564 0.99797635]] t_gt: [ 0.60767712 -0.73814687 0.29303194] Pose Error in degrees for R and t: 5.881718319134238 61.42974248845013 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999262e-01 -3.60484288e-04 1.16020952e-03] [ 3.61648910e-04 9.99999431e-01 -1.00375054e-03] [-1.15984702e-03 1.00416939e-03 9.99998823e-01]] t_estimated: [[-0.69636675] [-0.71768567] [-0.00079242]] R_gt: [[ 0.93466846 -0.35501965 -0.01890547] [ 0.35536789 0.93450725 0.02027198] [ 0.01047102 -0.02566576 0.99961552]] t_gt: [ 0.71595858 -0.69702497 0.03949039] Pose Error in degrees for R and t: 20.85529008388525 89.90581740753237 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99999910e-01 -3.39683075e-05 4.23724324e-04] [ 3.41214675e-05 9.99999934e-01 -3.61459493e-04] [-4.23712018e-04 3.61473918e-04 9.99999845e-01]] t_estimated: [[8.24941826e-01] [5.65217252e-01] [6.65327751e-04]] R_gt: [[ 0.87852955 -0.4772412 0.02069926] [ 0.47585408 0.87812632 0.04956359] [-0.04182871 -0.03369383 0.99855626]] t_gt: [ 0.72385297 -0.67743859 0.13081987] Pose Error in degrees for R and t: 28.643373814485475 77.62414985799684 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99999875e-01 -4.95379911e-04 -6.96889504e-05] [ 4.95378604e-04 9.99999877e-01 -1.87648034e-05] [ 6.96982376e-05 1.87302787e-05 9.99999997e-01]] t_estimated: [[-9.99675874e-01] [-2.54482621e-02] [-7.30357188e-04]] R_gt: [[ 0.99388921 0.11013663 -0.00747119] [-0.11010164 0.99390836 0.005067 ] [ 0.00798458 -0.00421272 0.99995943]] t_gt: [-0.79841775 0.60170558 0.02189722] Pose Error in degrees for R and t: 6.370965941010395 38.47952105244175 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99485654e-01 -3.20677255e-02 -2.98676967e-04] [ 3.20676616e-02 9.99485677e-01 -2.16445463e-04] [ 3.05464264e-04 2.06756264e-04 9.99999932e-01]] t_estimated: [[-0.9623965 ] [-0.27164417] [-0.00155225]] R_gt: [[ 9.60643866e-01 2.77782524e-01 -7.20147786e-04] [-2.77653710e-01 9.60112127e-01 -3.30875087e-02] [-8.49840234e-03 3.19857568e-02 9.99452057e-01]] t_gt: [-0.77191636 0.6298229 -0.08641903] Pose Error in degrees for R and t: 18.064146942433144 55.11465877666803 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[-9.47222446e-01 -3.20540280e-01 -4.85462317e-03] [-3.20544895e-01 9.47233306e-01 1.83267250e-04] [ 4.53971622e-03 1.72971952e-03 -9.99988199e-01]] t_estimated: [[ 0.98102268] [ 0.1938847 ] [-0.001797 ]] R_gt: [[ 0.93796607 0.34666001 -0.00679191] [-0.34670882 0.93793568 -0.00836631] [ 0.00347104 0.0102027 0.99994253]] t_gt: [-0.75412617 0.65618516 -0.02673486] Pose Error in degrees for R and t: 179.33980429993616 52.226424940228526 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99212239e-01 -3.96848428e-02 -1.17948558e-04] [ 3.96848359e-02 9.99212245e-01 -5.97511332e-05] [ 1.20226858e-04 5.50232944e-05 9.99999991e-01]] t_estimated: [[-0.6739105 ] [-0.73881087] [-0.00177257]] R_gt: [[ 0.99374984 0.11059295 0.01518294] [-0.11081809 0.9937291 0.01491703] [-0.01343845 -0.01650571 0.99977342]] t_gt: [-0.57138047 0.80389694 0.16514863] Pose Error in degrees for R and t: 8.7175861108685 77.926796684788 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.97333183e-01 7.29830306e-02 8.85159053e-06] [-7.29830292e-02 9.97333177e-01 -1.05379121e-04] [-1.65188725e-05 1.04452078e-04 9.99999994e-01]] t_estimated: [[-9.74382314e-01] [-2.24896571e-01] [-7.99432764e-04]] R_gt: [[ 0.97239195 0.2287578 0.04609518] [-0.22994109 0.97295106 0.02219377] [-0.03977095 -0.03217954 0.99869022]] t_gt: [-0.54093628 0.82231242 0.17660752] Pose Error in degrees for R and t: 9.54385894927325 70.00108696128956 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 6.24591238e-01 -7.80930972e-01 5.70982014e-03] [-7.80944138e-01 -6.24600862e-01 1.23859110e-04] [ 3.46963317e-03 -4.53641188e-03 -9.99983691e-01]] t_estimated: [[0.39830755] [0.91725134] [0.00103997]] R_gt: [[ 0.96301097 0.26735746 0.03360689] [-0.26867833 0.96221896 0.04413222] [-0.02053815 -0.0515292 0.99846009]] t_gt: [-0.52436029 0.8343948 0.16979873] Pose Error in degrees for R and t: 176.6407361259393 56.174205901652314 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.99999317e-01 1.16078708e-03 1.39781242e-04] [-1.16077938e-03 9.99999325e-01 -5.51410344e-05] [-1.39845155e-04 5.49787416e-05 9.99999989e-01]] t_estimated: [[ 9.96106044e-01] [-8.81624536e-02] [-3.62019149e-04]] R_gt: [[ 9.97014467e-01 -7.67922283e-02 -8.15435359e-03] [ 7.67932655e-02 9.97047319e-01 -1.10167540e-04] [ 8.13734670e-03 -5.16317789e-04 9.99967220e-01]] t_gt: [ 0.804344 -0.59290727 -0.03862251] Pose Error in degrees for R and t: 4.4954726529282 31.405798582706176 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 6.48029680e-01 -7.61614890e-01 -5.41427426e-04] [ 7.61615082e-01 6.48029487e-01 5.01399067e-04] [-3.10120584e-05 -7.37280770e-04 9.99999728e-01]] t_estimated: [[9.78569329e-01] [2.05916450e-01] [6.95676310e-04]] R_gt: [[ 0.99347019 -0.11010148 0.02991857] [ 0.10925494 0.99360248 0.02858513] [-0.03287446 -0.02512878 0.99914419]] t_gt: [ 0.67086986 -0.71624142 0.19217666] Pose Error in degrees for R and t: 43.36833315588856 59.39340627033237 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99679886e-01 2.52742114e-02 1.15750799e-03] [-2.52738536e-02 9.99680513e-01 -3.22692073e-04] [-1.16529397e-03 2.93334088e-04 9.99999278e-01]] t_estimated: [[0.15175837] [0.9884143 ] [0.00256215]] R_gt: [[ 0.99331892 -0.11503583 -0.00919593] [ 0.11523831 0.99300165 0.02581946] [ 0.00616108 -0.02670614 0.99962449]] t_gt: [ 0.60390511 -0.7912253 0.09623485] Pose Error in degrees for R and t: 8.219518639459238 46.35689348442392 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99993118e-01 -3.70721042e-03 1.45589586e-04] [ 3.70719042e-03 9.99993119e-01 1.37452110e-04] [-1.46098148e-04 -1.36911436e-04 9.99999980e-01]] t_estimated: [[0.91425899] [0.40512918] [0.00091666]] R_gt: [[ 0.98981231 -0.14145756 -0.01612378] [ 0.14179904 0.98964132 0.02242823] [ 0.01278364 -0.02448518 0.99961846]] t_gt: [ 0.7606329 -0.63561628 0.13202097] Pose Error in degrees for R and t: 8.087091086709215 64.02175880313065 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 4.74761052e-01 8.80114226e-01 9.45199891e-04] [-8.80113714e-01 4.74761862e-01 -1.01223945e-03] [-1.33963120e-03 -3.51311523e-04 9.99999041e-01]] t_estimated: [[-3.15264739e-01] [ 9.49003388e-01] [ 8.44390897e-04]] R_gt: [[ 0.9766424 -0.21304243 -0.02796331] [ 0.21436065 0.97499226 0.0586394 ] [ 0.01477089 -0.06326316 0.9978877 ]] t_gt: [ 0.73240437 -0.63556926 0.24420392] Pose Error in degrees for R and t: 74.09158655120274 33.50346414107252 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.58510960e-01 -2.85055643e-01 1.43721907e-04] [ 2.85055548e-01 9.58510882e-01 4.72821665e-04] [-2.72539495e-04 -4.12236021e-04 9.99999878e-01]] t_estimated: [[8.85059993e-01] [4.65476875e-01] [2.94928009e-04]] R_gt: [[ 9.72924115e-01 -2.28002475e-01 -3.78623358e-02] [ 2.31124365e-01 9.59354408e-01 1.61926409e-01] [-5.96485625e-04 -1.66292123e-01 9.86076023e-01]] t_gt: [ 0.59279468 -0.64219018 0.48598996] Pose Error in degrees for R and t: 10.06791164456095 76.94551576356665 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99987919e-01 4.91519961e-03 6.04896401e-05] [-4.91519936e-03 9.99987920e-01 -4.26621439e-06] [-6.05098787e-05 3.96884420e-06 9.99999998e-01]] t_estimated: [[9.99994892e-01] [3.10075933e-03] [7.75189839e-04]] R_gt: [[ 0.99318736 -0.11346651 -0.02656127] [ 0.11370767 0.99348411 0.00776511] [ 0.02550704 -0.0107326 0.99961721]] t_gt: [ 0.76109506 -0.64350869 -0.08143017] Pose Error in degrees for R and t: 6.9876380142900985 40.62100421629014 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99987680e-01 -4.96294737e-03 9.94178566e-05] [ 4.96294082e-03 9.99987682e-01 6.60111429e-05] [-9.97442418e-05 -6.55169246e-05 9.99999993e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9821354 -0.18639781 -0.02584501] [ 0.18709585 0.98194567 0.02789699] [ 0.020178 -0.03223482 0.99927607]] t_gt: [ 0.75861289 -0.64981362 0.04742089] Pose Error in degrees for R and t: 10.706116174202876 40.83192427097695 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.60559327 -0.79577216 0.00186229] [-0.79577313 -0.60558662 0.00315699] [-0.00138446 -0.00339381 -0.99999328]] t_estimated: [[0.05278922] [0.99859599] [0.0043991 ]] R_gt: [[ 0.98268082 -0.18529819 -0.00203899] [ 0.18527993 0.98266137 -0.0068601 ] [ 0.00327481 0.00636313 0.99997408]] t_gt: [ 0.73855093 -0.67376898 -0.02403942] Pose Error in degrees for R and t: 179.78780371004348 50.65849863564293 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-9.18623806e-01 -3.95132660e-01 6.95542652e-04] [-3.95131545e-01 9.18623572e-01 1.33995871e-03] [-1.16840333e-03 9.56087132e-04 -9.99998860e-01]] t_estimated: [[9.21878018e-01] [3.87479377e-01] [8.07248703e-04]] R_gt: [[ 0.99323062 0.0090595 0.1158002 ] [-0.00809922 0.99992831 -0.00875341] [-0.1158716 0.00775665 0.99323413]] t_gt: [-0.30237935 0.0956566 0.94837574] Pose Error in degrees for R and t: 173.52654984452536 76.05878016511497 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.64119706e-01 -2.65467636e-01 3.56421886e-04] [ 2.65467855e-01 9.64119282e-01 -9.10356906e-04] [-1.01962917e-04 9.72311586e-04 9.99999522e-01]] t_estimated: [[-0.38771931] [-0.92177625] [-0.00150864]] R_gt: [[ 0.97260265 0.05347617 0.22623975] [-0.05459575 0.99850781 -0.00131121] [-0.22597173 -0.01107716 0.97407088]] t_gt: [-0.38088243 0.21119979 0.90017955] Pose Error in degrees for R and t: 22.641673211112487 87.2280076588055 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.96403040e-01 8.47382381e-02 -6.42483014e-04] [-8.47378985e-02 9.96403130e-01 5.38675208e-04] [ 6.85818474e-04 -4.82294954e-04 9.99999649e-01]] t_estimated: [[-0.69663135] [-0.71742891] [-0.00072373]] R_gt: [[ 0.96334333 0.1031228 0.24765959] [-0.1032926 0.99457441 -0.01234357] [-0.24758843 -0.01369096 0.96876851]] t_gt: [-0.49966253 0.3190657 0.80531636] Pose Error in degrees for R and t: 14.441479099594856 83.18921965308537 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99976826e-01 -6.80791122e-03 -1.66016621e-05] [ 6.80790993e-03 9.99976823e-01 -7.66246669e-05] [ 1.71229313e-05 7.65098686e-05 9.99999997e-01]] t_estimated: [[-0.94340346] [-0.33164463] [-0.00132129]] R_gt: [[ 0.99866622 0.05154895 -0.00272208] [-0.05155643 0.99866651 -0.00275429] [ 0.00257654 0.00289161 0.99999222]] t_gt: [-0.53446714 0.83935428 -0.09914262] Pose Error in degrees for R and t: 3.3525298718061958 76.93938135686724 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99594517e-01 2.84693691e-02 -5.44545797e-04] [-2.84688104e-02 9.99594173e-01 1.00763902e-03] [ 5.73011654e-04 -9.91727870e-04 9.99999344e-01]] t_estimated: [[-8.24247560e-01] [-5.66229057e-01] [-7.84250771e-04]] R_gt: [[ 9.85604443e-01 4.29033457e-02 1.63532405e-01] [-4.33871438e-02 9.99057690e-01 -6.15706308e-04] [-1.63404010e-01 -6.48794695e-03 9.86537232e-01]] t_gt: [-0.37082106 0.24956086 0.8945452 ] Pose Error in degrees for R and t: 9.482249918993803 80.58186599157347 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.98076612 0.19518397 -0.00102084] [-0.19518197 0.98076541 0.00179287] [ 0.00135115 -0.00155913 0.99999787]] t_estimated: [[0.64580401] [0.76349726] [0.00301778]] R_gt: [[ 0.97321233 0.07149133 0.2185098 ] [-0.07291748 0.99733687 -0.00153758] [-0.21803763 -0.01443612 0.97583297]] t_gt: [-0.43410965 0.27725428 0.85713411] Pose Error in degrees for R and t: 14.514750201713763 86.21112072773492 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.65898766e-01 -2.58918438e-01 9.03668280e-04] [ 2.58919806e-01 9.65887669e-01 -4.64171535e-03] [ 3.28983637e-04 4.71740474e-03 9.99988819e-01]] t_estimated: [[ 0.64762457] [-0.76185128] [-0.01284698]] R_gt: [[ 9.90578601e-01 -1.36782911e-01 -6.57362887e-03] [ 1.36940346e-01 9.89499984e-01 4.62300641e-02] [ 1.81379071e-04 -4.66946019e-02 9.98908897e-01]] t_gt: [ 0.70450575 -0.64253751 0.30135892] Pose Error in degrees for R and t: 7.719805950478014 19.62658446125296 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.08612028 -0.99627537 -0.0043224 ] [-0.99628379 -0.08612539 0.00100949] [-0.001378 0.0042194 -0.99999015]] t_estimated: [[0.64857304] [0.76115177] [0.00099627]] R_gt: [[ 0.98780249 -0.15234161 -0.03220754] [ 0.1550037 0.98172682 0.11039485] [ 0.01480177 -0.11404094 0.99336588]] t_gt: [ 0.57713361 -0.67664288 0.45724305] Pose Error in degrees for R and t: 176.26071542774082 81.93716113645627 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 8.57765396e-01 -5.14041073e-01 -5.48397031e-04] [ 5.14041363e-01 8.57765023e-01 8.01395303e-04] [ 5.84456898e-05 -9.69307917e-04 9.99999529e-01]] t_estimated: [[7.50480191e-01] [6.60892536e-01] [7.34325040e-04]] R_gt: [[ 0.98063942 -0.1917143 -0.03987853] [ 0.19579596 0.95693329 0.21434245] [-0.00293111 -0.21799993 0.97594427]] t_gt: [ 0.50795215 -0.62310392 0.59474878] Pose Error in degrees for R and t: 23.25399989698208 88.27169942605327 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.67632683e-01 -2.52361519e-01 8.09384546e-04] [-2.52360703e-01 9.67632728e-01 9.89421924e-04] [-1.03287900e-03 7.53140137e-04 -9.99999183e-01]] t_estimated: [[0.99015431] [0.13996946] [0.00172802]] R_gt: [[ 0.999612 -0.02661753 0.00822046] [ 0.0263335 0.99911234 0.03286765] [-0.00908741 -0.03263907 0.99942623]] t_gt: [ 0.53606174 -0.60446757 0.58928496] Pose Error in degrees for R and t: 179.21687104315987 63.436130656898364 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99834265e-01 -1.82045429e-02 1.90664968e-04] [ 1.82045642e-02 9.99834277e-01 -1.10340202e-04] [-1.88624677e-04 1.13792887e-04 9.99999976e-01]] t_estimated: [[9.90195443e-01] [1.39686867e-01] [7.51142235e-04]] R_gt: [[ 0.98832964 -0.15224677 -0.00501466] [ 0.15232016 0.98738473 0.04325005] [-0.00163361 -0.04350933 0.99905175]] t_gt: [ 0.74879857 -0.64143134 0.16693273] Pose Error in degrees for R and t: 8.115135852593657 49.3087369044691 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.35117214e-01 3.54338515e-01 -1.13038932e-04] [-3.54338413e-01 9.35117112e-01 5.24172809e-04] [ 2.91439255e-04 -4.50108981e-04 9.99999856e-01]] t_estimated: [[-9.99994892e-01] [-3.10076090e-03] [-7.75189839e-04]] R_gt: [[ 0.97478356 -0.22058149 -0.03378141] [ 0.22252683 0.97217957 0.07313709] [ 0.01670865 -0.07881063 0.99674959]] t_gt: [ 0.76545371 -0.62241889 0.16332588] Pose Error in degrees for R and t: 33.87761484867997 40.21327692488623 Number of keypoints: Image1: 463 Image2: 463 R_estimated: [[-0.94966208 0.30836272 0.0552663 ] [ 0.30845283 0.9512131 -0.00710563] [-0.05476114 0.0102991 -0.99844637]] t_estimated: [[ 0.9880014 ] [-0.15188726] [ 0.02799097]] R_gt: [[ 0.99883678 -0.04818307 -0.00200457] [ 0.04817713 0.99883489 -0.00263409] [ 0.00212917 0.00253471 0.99999422]] t_gt: [ 0.39081636 -0.91345324 -0.11342726] Pose Error in degrees for R and t: 176.89993883989536 58.55404373226621 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[-0.84298792 -0.53779956 0.01195866] [-0.53778464 0.84306913 0.00470399] [-0.01261178 -0.00246578 -0.99991743]] t_estimated: [[0.95951375] [0.28156943] [0.0072123 ]] R_gt: [[ 0.98877649 -0.14574878 0.0328521 ] [ 0.14503352 0.98915475 0.02318311] [-0.03587561 -0.01815879 0.9991905 ]] t_gt: [ 0.41400287 -0.84485038 0.33886496] Pose Error in degrees for R and t: 177.0350954661266 80.68852817798481 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.98541991e-01 5.39784745e-02 4.65315605e-04] [-5.39784760e-02 9.98542099e-01 -9.31771560e-06] [-4.65140177e-04 -1.58128969e-05 9.99999892e-01]] t_estimated: [[0.44211933] [0.89695548] [0.00116986]] R_gt: [[ 0.97943441 -0.19740538 0.04170647] [ 0.19727448 0.98032084 0.0072701 ] [-0.04232199 0.00110675 0.99910295]] t_gt: [ 0.44863508 -0.85978413 0.24392175] Pose Error in degrees for R and t: 14.677387767901683 55.07158924231467 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.89622425e-01 1.43690417e-01 7.21136529e-04] [-1.43690372e-01 9.89622688e-01 -1.13581197e-04] [-7.29973600e-04 8.78212326e-06 9.99999734e-01]] t_estimated: [[0.37978003] [0.92507613] [0.00113367]] R_gt: [[ 0.99940788 -0.03424071 0.0034618 ] [ 0.0341155 0.99892428 0.03143199] [-0.00453455 -0.03129465 0.99949928]] t_gt: [ 0.44037312 -0.83262469 0.33586849] Pose Error in degrees for R and t: 10.379271746225738 52.94254704351211 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.99975005 -0.02232054 0.00127605] [ 0.02232264 0.99974945 -0.00165643] [-0.00123875 0.0016845 0.99999781]] t_estimated: [[ 0.64113424] [-0.76738575] [-0.00812392]] R_gt: [[ 0.99785984 -0.05378223 -0.03718561] [ 0.0536568 0.99854994 -0.00435991] [ 0.03736638 0.00235584 0.99929832]] t_gt: [ 0.51356224 -0.84688215 -0.13800158] Pose Error in degrees for R and t: 2.8524645952760053 11.400702775131295 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.25692473 0.96622887 0.01978517] [-0.96612129 -0.25730705 0.02006803] [ 0.02448117 -0.01395891 0.99960283]] t_estimated: [[0.17173165] [0.98514323] [0.00102833]] R_gt: [[ 0.98117462 -0.18555751 -0.05352672] [ 0.18434945 0.98249764 -0.02672745] [ 0.05754998 0.01635711 0.99820818]] t_gt: [ 0.73865521 -0.6583816 -0.14464491] Pose Error in degrees for R and t: 115.62281536162001 58.540318330882826 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-9.97021491e-01 -7.20200342e-02 2.75909472e-02] [-7.20028734e-02 9.97403115e-01 1.61626058e-03] [-2.76356999e-02 -3.75180948e-04 -9.99617991e-01]] t_estimated: [[0.99980339] [0.01360176] [0.01442791]] R_gt: [[ 0.99752479 -0.0674319 0.0199238 ] [ 0.06708957 0.99759485 0.01738203] [-0.02104831 -0.0160032 0.99964988]] t_gt: [ 0.74569122 -0.52429596 0.41116706] Pose Error in degrees for R and t: 177.2081417603144 41.89708282588193 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99958022e-01 9.15222661e-03 4.35995816e-04] [-9.15223885e-03 9.99958117e-01 2.60885943e-05] [-4.35738787e-04 -3.00778370e-05 9.99999905e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98730065 -0.15817999 0.01468426] [ 0.15840922 0.98724387 -0.01601471] [-0.01196439 0.0181377 0.99976325]] t_gt: [ 0.87162681 -0.48977132 -0.01976743] Pose Error in degrees for R and t: 9.711707302556773 29.531089032342468 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-9.20824387e-01 -3.89977453e-01 -1.83939354e-04] [-3.89977282e-01 9.20823284e-01 1.48320493e-03] [-4.09040841e-04 1.43750344e-03 -9.99998883e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.973089 -0.22891379 0.0263899 ] [ 0.22846335 0.97336589 0.01906043] [-0.03005029 -0.01251908 0.99947003]] t_gt: [ 0.86946714 -0.47280794 0.14310675] Pose Error in degrees for R and t: 178.20775684888116 29.760533410244452 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.81404804 -0.58079442 -0.00190228] [ 0.58078632 -0.81400759 -0.00888212] [ 0.00361021 -0.00833529 0.99995874]] t_estimated: [[9.34233379e-01] [3.56661299e-01] [8.43170920e-04]] R_gt: [[ 0.99686962 0.07181505 -0.03307597] [-0.07358101 0.99573436 -0.05567507] [ 0.02893659 0.05793459 0.99790059]] t_gt: [-0.39428863 0.77683407 -0.49098401] Pose Error in degrees for R and t: 148.67374151256465 84.73830156195895 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99998709e-01 -4.62145233e-04 1.53875357e-03] [ 4.64996342e-04 9.99998175e-01 -1.85302686e-03] [-1.53789439e-03 1.85373999e-03 9.99997099e-01]] t_estimated: [[0.56498008] [0.82510288] [0.00165683]] R_gt: [[ 0.98659218 0.16311738 0.00546568] [-0.16257826 0.98516779 -0.05489146] [-0.01433822 0.05326727 0.99847763]] t_gt: [-0.49010905 0.86429846 -0.11305439] Pose Error in degrees for R and t: 9.88450628920453 64.14812970467176 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.46746114 0.88390782 -0.01367645] [ 0.88388105 0.46760302 0.01008501] [ 0.01530937 -0.007374 -0.99985561]] t_estimated: [[-0.51037643] [-0.85994933] [-0.00174786]] R_gt: [[ 0.95444165 0.29833057 -0.00635123] [-0.29837666 0.95390387 -0.03223327] [-0.00355709 0.03266082 0.99945995]] t_gt: [-0.46466631 0.88340031 -0.0607381 ] Pose Error in degrees for R and t: 179.91774383576345 58.505372629818766 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[ 9.98827711e-01 -4.84047639e-02 4.26738114e-04] [ 4.84047733e-02 9.98827802e-01 -1.17429090e-05] [-4.25669480e-04 3.23853046e-05 9.99999909e-01]] t_estimated: [[0.97980521] [0.19993991] [0.00240707]] R_gt: [[ 0.99447027 -0.09878441 0.03563096] [ 0.09797579 0.99490354 0.02380002] [-0.03779998 -0.02017737 0.9990818 ]] t_gt: [ 0.33112225 -0.7785049 0.53318681] Pose Error in degrees for R and t: 3.7674190452166068 80.20842924482194 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.98248527e-01 -5.91596822e-02 9.91240220e-05] [ 5.91596651e-02 9.98248519e-01 1.67790013e-04] [-1.08876812e-04 -1.61631989e-04 9.99999981e-01]] t_estimated: [[ 9.03557818e-01] [ 4.28466182e-01] [-3.37249912e-05]] R_gt: [[ 0.98851235 -0.14497517 0.04272487] [ 0.14495687 0.98943169 0.00355517] [-0.04278838 0.00267986 0.99908112]] t_gt: [ 0.38988551 -0.84901663 0.35659509] Pose Error in degrees for R and t: 5.520953953478889 89.34092137583299 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 0.00222828 -0.99999364 0.00278374] [-0.99999555 -0.00223379 -0.00197538] [ 0.00198158 -0.00277933 -0.99999417]] t_estimated: [[0.64857441] [0.76115079] [0.00084012]] R_gt: [[ 0.98338664 -0.14248585 0.11246852] [ 0.14530111 0.98923735 -0.01719523] [-0.10880724 0.03325101 0.99350675]] t_gt: [ 0.03479281 -0.76441465 0.64378545] Pose Error in degrees for R and t: 176.51238451708443 56.03210813979511 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 1.00000000e+00 -1.24084076e-12 -7.62682018e-16] [ 1.24089627e-12 1.00000000e+00 9.38485401e-16] [-2.05510522e-16 -2.21551293e-15 1.00000000e+00]] t_estimated: [[ 7.90109915e-01] [-6.12965029e-01] [ 4.41788141e-04]] R_gt: [[ 0.99627715 -0.03676028 0.07797642] [ 0.02868408 0.99434284 0.10226969] [-0.08129503 -0.09965166 0.9916958 ]] t_gt: [ 0.16926356 -0.19561883 0.96596228] Pose Error in degrees for R and t: 7.624932040404516 75.28145153829304 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.98864643 -0.07457219 0.13045006] [ 0.09178149 0.98708233 -0.13131883] [-0.11897222 0.14180079 0.98271977]] t_estimated: [[-0.70262664] [-0.71155833] [-0.00074431]] R_gt: [[ 0.99699446 0.00858767 0.07698938] [-0.01657274 0.99447185 0.10368326] [-0.07567376 -0.1046476 0.99162617]] t_gt: [-0.05191027 0.17935937 0.98241312] Pose Error in degrees for R and t: 15.1793952157028 84.72809466452637 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.98857160e-01 -4.76787740e-02 3.33286203e-03] [-4.76788114e-02 9.98862716e-01 6.82605606e-05] [-3.33232620e-03 -9.07243504e-05 -9.99994444e-01]] t_estimated: [[0.99971487] [0.02375404] [0.00243461]] R_gt: [[ 0.9980409 0.00611581 0.06226153] [-0.01301094 0.99374082 0.11094454] [-0.06119274 -0.11153731 0.99187404]] t_gt: [-0.00947365 0.28361794 0.95889056] Pose Error in degrees for R and t: 176.11339571419714 89.97711889707554 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.00000000e+00 7.87703236e-14 4.87457297e-16] [-7.87703236e-14 1.00000000e+00 -4.84313110e-16] [-6.36209835e-16 1.40566812e-16 1.00000000e+00]] t_estimated: [[ 8.36371518e-01] [-5.48162414e-01] [-8.07308415e-04]] R_gt: [[ 0.99618466 0.08612824 0.01408479] [-0.08616401 0.99627895 0.00191175] [-0.01386758 -0.00311775 0.99989859]] t_gt: [-0.60188174 0.79043772 0.11378299] Pose Error in degrees for R and t: 5.008930164017193 20.482868853050025 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 1.00000000e+00 -9.21485110e-15 -1.30104261e-16] [ 9.15933995e-15 1.00000000e+00 3.76218154e-16] [ 5.21718085e-16 -6.78927400e-16 1.00000000e+00]] t_estimated: [[0.61148647] [0.79125231] [0.00202085]] R_gt: [[ 0.98816761 0.15337177 -0.00164162] [-0.15330967 0.98798098 0.0197662 ] [ 0.0046539 -0.01928069 0.99980269]] t_gt: [-0.58699271 0.80418864 0.09338191] Pose Error in degrees for R and t: 8.89415560699019 73.88496671672202 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 1.00000000e+00 4.01174927e-12 1.20018470e-15] [-4.01177702e-12 1.00000000e+00 2.70595178e-15] [-2.34941190e-15 -2.61661352e-15 1.00000000e+00]] t_estimated: [[7.72525427e-02] [9.97011203e-01] [8.39745436e-04]] R_gt: [[ 0.98253195 0.1627688 -0.09021692] [-0.16373413 0.98649946 -0.00335315] [ 0.08845328 0.01806505 0.99591632]] t_gt: [-0.47843525 0.8273881 -0.29415752] Pose Error in degrees for R and t: 10.742788671763819 38.02818072905358 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.98153499 -0.19127256 -0.00196671] [ 0.191275 0.98153583 0.0011363 ] [ 0.00171305 -0.0014915 0.99999742]] t_estimated: [[-0.7352197 ] [-0.67782337] [-0.00273316]] R_gt: [[ 9.76530108e-01 2.15381332e-01 2.34489480e-04] [-2.15148251e-01 9.75521453e-01 -4.54870388e-02] [-1.00255290e-02 4.43698916e-02 9.98964755e-01]] t_gt: [-0.39018717 0.9132735 -0.11698495] Pose Error in degrees for R and t: 23.61717286897123 70.61919667350519 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.04241187 0.99909603 -0.00289087] [ 0.99906063 -0.04238425 0.00902452] [ 0.00889384 -0.0032709 -0.9999551 ]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.94203794 0.33549211 -0.00319854] [-0.33337736 0.93494157 -0.12142538] [-0.0377471 0.11545427 0.99259497]] t_gt: [-0.27502093 0.94838154 -0.15791118] Pose Error in degrees for R and t: 174.84128210667316 19.21635721116332 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.36346138 0.93157442 0.00805691] [-0.93159221 -0.36349347 0.00290707] [ 0.00563679 -0.00644915 0.99996332]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.92320348 0.38426068 -0.00631046] [-0.37791177 0.90471897 -0.19663527] [-0.06985086 0.1839201 0.98045637]] t_gt: [-0.22167726 0.95758753 -0.18407966] Pose Error in degrees for R and t: 89.31710699731492 36.84857933936358 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.98865992e-01 -4.76101896e-02 1.62809707e-05] [ 4.76101881e-02 9.98865989e-01 8.19887312e-05] [-2.01660070e-05 -8.11206152e-05 9.99999997e-01]] t_estimated: [[-0.19194871] [ 0.98140397] [ 0.0013911 ]] R_gt: [[ 0.99917771 0.03722995 -0.01606914] [-0.0376902 0.99885813 -0.02936875] [ 0.01495725 0.02995012 0.99943945]] t_gt: [-0.4063961 0.79183179 -0.4558998 ] Pose Error in degrees for R and t: 5.241453949801059 31.297679331070796 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99983055e-01 5.81987445e-03 1.39015932e-04] [-5.81988911e-03 9.99983059e-01 1.05291870e-04] [-1.38400792e-04 -1.06099143e-04 9.99999985e-01]] t_estimated: [[0.00750246] [0.99997128] [0.00107178]] R_gt: [[ 0.99972898 -0.00955683 -0.02125419] [ 0.00823208 0.99807293 -0.06151203] [ 0.02180141 0.06132057 0.99787983]] t_gt: [ 0.22820051 0.46600258 -0.8548486 ] Pose Error in degrees for R and t: 3.8333701097309243 62.174191216353776 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.73704832e-01 2.27813190e-01 2.25356618e-04] [-2.27813123e-01 9.73704831e-01 -2.87854577e-04] [-2.85007898e-04 2.28946197e-04 9.99999933e-01]] t_estimated: [[-0.78732574] [-0.61653575] [-0.00135687]] R_gt: [[ 0.99140946 -0.1238306 0.04212073] [ 0.1185894 0.98684117 0.10991345] [-0.05517708 -0.10397414 0.99304767]] t_gt: [ 0.6017329 -0.42318236 0.67737301] Pose Error in degrees for R and t: 21.249417123681763 77.65651520840068 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.86069184e-01 1.66335268e-01 3.76931385e-04] [-1.66335302e-01 9.86069249e-01 5.88563095e-05] [-3.61890568e-04 -1.20733389e-04 9.99999927e-01]] t_estimated: [[9.91146520e-01] [1.32770406e-01] [7.71920965e-04]] R_gt: [[ 0.98982317 -0.13781397 -0.03546976] [ 0.13674875 0.99012365 -0.03090706] [ 0.03937888 0.02574213 0.99889299]] t_gt: [ 0.85222155 -0.46396061 -0.24178293] Pose Error in degrees for R and t: 17.678075084689034 38.474093857190255 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.99990856 -0.01329383 0.00247712] [ 0.01329823 0.99991001 -0.00176695] [-0.00245341 0.00179973 0.99999537]] t_estimated: [[-0.02987905] [ 0.99954959] [ 0.00280518]] R_gt: [[ 0.9619214 -0.27054119 -0.03891182] [ 0.27082082 0.96262761 0.00199949] [ 0.0369172 -0.01246159 0.9992412 ]] t_gt: [ 0.85696506 -0.51520546 0.01319907] Pose Error in degrees for R and t: 15.138356068674184 57.27947925187433 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.92212096e-01 1.24559502e-01 2.95694839e-04] [-1.24559490e-01 9.92212140e-01 -5.82732558e-05] [-3.00650497e-04 2.09878310e-05 9.99999955e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.95194905 -0.3001142 -0.06102914] [ 0.30369025 0.95078374 0.06150572] [ 0.0395673 -0.07708447 0.99623934]] t_gt: [ 0.8000067 -0.57220776 0.18046487] Pose Error in degrees for R and t: 25.25007980542585 76.47854156460063 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-0.20671008 -0.97827249 0.01593339] [-0.97827145 0.20692131 0.01298219] [-0.01599708 -0.01290363 -0.99978877]] t_estimated: [[0.76637851] [0.64230102] [0.01064791]] R_gt: [[ 0.99772653 -0.06645507 0.01115396] [ 0.06712505 0.99470628 -0.07780183] [-0.00592417 0.07837465 0.99690574]] t_gt: [ 0.45441376 0.32117087 -0.83087749] Pose Error in degrees for R and t: 178.73634332782214 56.927883381725934 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 6.95864745e-01 -7.18167571e-01 -2.75622031e-03] [ 7.18170500e-01 6.95867172e-01 1.07522689e-04] [ 1.84074392e-03 -2.05425737e-03 9.99996196e-01]] t_estimated: [[0.9603633 ] [0.27874952] [0.00101733]] R_gt: [[ 0.99901781 -0.04389371 -0.00592511] [ 0.04296827 0.99290697 -0.11085299] [ 0.01074887 0.11049018 0.99381907]] t_gt: [ 0.05949107 0.71572509 -0.69584367] Pose Error in degrees for R and t: 43.85848291734531 75.17111412471677 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.16328946e-01 -4.00425819e-01 6.52216392e-04] [ 4.00424597e-01 9.16328539e-01 1.46655736e-03] [-1.18489192e-03 -1.08268547e-03 9.99998712e-01]] t_estimated: [[0.88271535] [0.46990653] [0.0012117 ]] R_gt: [[ 0.994391 -0.10575123 -0.00110434] [ 0.10405865 0.98022465 -0.16831413] [ 0.01888268 0.16725651 0.98573249]] t_gt: [ 0.3973303 0.64851917 -0.64926999] Pose Error in degrees for R and t: 20.058115450431597 49.104137927259934 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.96210508e-01 8.45926389e-02 2.02165560e-02] [ 8.45966000e-02 9.96415063e-01 -6.60733726e-04] [-2.01999742e-02 1.05202202e-03 -9.99795406e-01]] t_estimated: [[ 0.99956733] [-0.02743572] [ 0.01060327]] R_gt: [[ 0.99793275 -0.05895925 0.02558214] [ 0.05911686 0.99823641 -0.00547041] [-0.02521353 0.00697268 0.99965856]] t_gt: [ 0.62466841 -0.74878056 0.22162367] Pose Error in degrees for R and t: 177.37185167040371 49.66230459678578 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99504900e-01 -3.14624753e-02 2.58045453e-04] [ 3.14626721e-02 9.99504609e-01 -7.98051498e-04] [-2.32808944e-04 8.05775182e-04 9.99999648e-01]] t_estimated: [[-0.24426246] [-0.969703 ] [-0.00345656]] R_gt: [[ 0.99863981 -0.03490811 0.03871846] [ 0.03631131 0.99868582 -0.03617133] [-0.03740484 0.03752817 0.99859583]] t_gt: [ 0.50039156 -0.86433245 0.05037559] Pose Error in degrees for R and t: 3.004689327223472 44.29573093649935 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.79759391e-01 2.00178742e-01 7.89372221e-05] [-2.00178695e-01 9.79759320e-01 -4.05921107e-04] [-1.58596256e-04 3.81903466e-04 9.99999914e-01]] t_estimated: [[-9.99987752e-01] [-4.88195810e-03] [-8.13659684e-04]] R_gt: [[ 0.99667728 0.00901034 0.08095403] [-0.00245981 0.99673849 -0.08066008] [-0.08141629 0.08019356 0.99344973]] t_gt: [-0.28454795 -0.87404762 0.39379338] Pose Error in degrees for R and t: 12.980115965538563 73.2323574413467 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99959433e-01 -8.99084467e-03 -5.44355623e-04] [ 8.99085340e-03 9.99959581e-01 1.35803476e-05] [ 5.44211523e-04 -1.84740183e-05 9.99999852e-01]] t_estimated: [[-0.99924219] [-0.03881273] [-0.00293633]] R_gt: [[ 0.99292838 0.07387061 -0.0929294 ] [-0.08348291 0.99104632 -0.10420253] [ 0.08439952 0.11122409 0.99020482]] t_gt: [-0.19219623 0.62598675 -0.75577854] Pose Error in degrees for R and t: 9.464151836451544 80.2137193078317 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 8.70201095e-01 -4.92696540e-01 -4.17638274e-04] [ 4.92696712e-01 8.70200889e-01 6.02496549e-04] [ 6.65812330e-05 -7.30062161e-04 9.99999731e-01]] t_estimated: [[0.86713159] [0.49807666] [0.00156625]] R_gt: [[ 0.98648658 0.11073219 -0.12076102] [-0.1275493 0.98164077 -0.14182003] [ 0.10283958 0.15530725 0.98249868]] t_gt: [-0.20650691 0.68944501 -0.69427694] Pose Error in degrees for R and t: 37.92542908280613 80.60497001094677 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.68962524 0.71103775 0.13726743] [-0.72254627 -0.68828034 -0.06478477] [ 0.04841405 -0.14385928 0.98841317]] t_estimated: [[0.53152869] [0.84703982] [0.00089634]] R_gt: [[ 0.98839355 0.09135932 -0.12137058] [-0.11198915 0.97803696 -0.17579152] [ 0.10264523 0.18734466 0.97691653]] t_gt: [-0.14333355 0.67827861 -0.72068968] Pose Error in degrees for R and t: 129.44089335807712 60.15224107900475 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.97715507e-01 -6.75555361e-02 1.28543416e-04] [ 6.75555360e-02 9.97715515e-01 4.77090605e-06] [-1.28572061e-04 3.92381238e-06 9.99999992e-01]] t_estimated: [[0.7804974 ] [0.62515846] [0.00084223]] R_gt: [[ 0.99980111 -0.01767696 -0.00922911] [ 0.01723849 0.99880806 -0.04564373] [ 0.0100251 0.04547524 0.9989146 ]] t_gt: [-0.01025346 0.76792894 -0.64045297] Pose Error in degrees for R and t: 3.9228413210864264 61.86601286779413 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.01083578e-01 -4.33643427e-01 -1.32844082e-03] [ 4.33644939e-01 9.01083020e-01 1.20789371e-03] [ 6.73240302e-04 -1.66448482e-03 9.99998388e-01]] t_estimated: [[9.77477636e-01] [2.11037650e-01] [7.61868774e-04]] R_gt: [[ 0.99984229 -0.00914723 -0.01525808] [ 0.00768396 0.99560772 -0.09329838] [ 0.01604409 0.09316559 0.99552119]] t_gt: [-6.89670626e-04 8.38598069e-01 -5.44750221e-01] Pose Error in degrees for R and t: 25.79929131953303 79.86974312214149 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.95886944e-01 9.05894432e-02 1.65777568e-03] [-9.06043830e-02 9.95758738e-01 1.59806888e-02] [-2.03062922e-04 -1.60651610e-02 9.99870926e-01]] t_estimated: [[0.76382377] [0.64542051] [0.00236672]] R_gt: [[ 0.99405364 -0.10888797 -0.0015393 ] [ 0.10737884 0.98242731 -0.15266339] [ 0.01813607 0.15158994 0.98827679]] t_gt: [ 0.57137717 0.6222854 -0.53505981] Pose Error in degrees for R and t: 14.994588186928942 33.196172161803084 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999829e-01 5.73088253e-04 -1.17374954e-04] [-5.73097791e-04 9.99999832e-01 -8.12515683e-05] [ 1.17328370e-04 8.13188217e-05 9.99999990e-01]] t_estimated: [[-0.44300365] [-0.89651912] [-0.00110861]] R_gt: [[ 0.99098184 0.13373444 0.00842352] [-0.13210065 0.98554935 -0.10602866] [-0.02248241 0.10395923 0.99432734]] t_gt: [-0.27882513 0.90105927 -0.33218781] Pose Error in degrees for R and t: 9.764900082857045 46.84863736992763 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99996695 0.00799431 0.00148171] [-0.00799237 0.9999672 -0.00130885] [-0.00149212 0.00129697 0.99999805]] t_estimated: [[ 0.82817425] [-0.56046045] [ 0.00339088]] R_gt: [[ 9.88762435e-01 1.49493460e-01 3.66436389e-04] [-1.47006047e-01 9.72749335e-01 -1.79296813e-01] [-2.71601389e-02 1.77227939e-01 9.83794367e-01]] t_gt: [-0.1965884 0.85990678 -0.47107678] Pose Error in degrees for R and t: 13.079341038612863 49.73298914026276 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999812e-01 -5.14413106e-04 -3.34611917e-04] [ 5.14591059e-04 9.99999726e-01 5.31950720e-04] [ 3.34338183e-04 -5.32122808e-04 9.99999803e-01]] t_estimated: [[-2.65819415e-01] [-9.64022838e-01] [-8.65049732e-05]] R_gt: [[ 0.98934973 0.14228612 -0.0307021 ] [-0.14524678 0.9511627 -0.27238403] [-0.00955343 0.27394147 0.96169818]] t_gt: [-0.13000464 0.77397163 -0.61973116] Pose Error in degrees for R and t: 18.03099210857486 44.64168950830675 Number of keypoints: Image1: 421 Image2: 421 R_estimated: [[ 0.99796464 -0.06151316 -0.01681413] [ 0.0622854 0.99680044 0.05009403] [ 0.01367889 -0.05103935 0.99860296]] t_estimated: [[0.95233146] [0.30505895] [0.00195551]] R_gt: [[ 0.999002 -0.03236002 0.03079075] [ 0.03315586 0.99911958 -0.02570965] [-0.02993131 0.02670476 0.99919481]] t_gt: [-0.43675652 -0.76437848 0.47430926] Pose Error in degrees for R and t: 5.38655021880242 49.594728955397755 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[-8.83827018e-01 4.67812824e-01 -9.82087057e-04] [-4.67808378e-01 -8.83824882e-01 -2.98326447e-03] [-2.26360235e-03 -2.17726119e-03 9.99995068e-01]] t_estimated: [[0.81655478] [0.57726637] [0.00135191]] R_gt: [[ 0.99560739 -0.02042172 0.09137555] [ 0.02424151 0.99886969 -0.04089532] [-0.09043639 0.04293128 0.9949765 ]] t_gt: [-0.73408398 -0.13571115 0.66535945] Pose Error in degrees for R and t: 153.41542040962628 47.40110613944123 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[-0.33848884 0.9409693 0.0014396 ] [-0.94096822 -0.33848436 -0.00267211] [-0.00202709 -0.0022591 0.99999539]] t_estimated: [[0.09152092] [0.99580222] [0.00136598]] R_gt: [[ 0.99194388 -0.07348878 0.10318676] [ 0.07640277 0.99677382 -0.02457969] [-0.10104709 0.03226482 0.99435809]] t_gt: [-0.42035498 -0.61227169 0.66964547] Pose Error in degrees for R and t: 114.18906445196752 49.66481121130899 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 8.49957902e-01 -5.26846024e-01 -2.19810387e-03] [-5.26850565e-01 -8.49948709e-01 -3.95905029e-03] [ 2.17534356e-04 4.52309834e-03 -9.99989747e-01]] t_estimated: [[0.56714938] [0.8236145 ] [0.00086062]] R_gt: [[ 0.99029499 -0.10033314 0.09616987] [ 0.08056268 0.97827253 0.19102975] [-0.11324819 -0.1814277 0.976862 ]] t_gt: [ 0.30867493 -0.3113833 0.89875482] Pose Error in degrees for R and t: 168.24026537431118 85.37570874482387 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.00997623e-01 4.33823781e-01 -4.58357638e-04] [-4.33824022e-01 9.00997190e-01 -8.84405955e-04] [ 2.93026082e-05 9.95694218e-04 9.99999504e-01]] t_estimated: [[8.69502326e-01] [4.93928538e-01] [5.51636931e-04]] R_gt: [[ 0.98438627 -0.11346081 0.13457399] [ 0.08304053 0.97345128 0.21329667] [-0.15520227 -0.19879079 0.96767514]] t_gt: [ 0.31239925 -0.2345968 0.92052759] Pose Error in degrees for R and t: 34.6146935117497 81.0097949352521 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 1.00000000e+00 -5.08482145e-14 -3.81639165e-17] [ 5.07927034e-14 1.00000000e+00 6.73289549e-17] [-4.13297868e-16 1.62630326e-18 1.00000000e+00]] t_estimated: [[-0.62896116] [-0.77743578] [-0.00121242]] R_gt: [[ 0.98890042 -0.07632141 0.12747952] [ 0.04800202 0.97608902 0.21200317] [-0.14061257 -0.20353008 0.96891933]] t_gt: [ 0.23473123 -0.08879891 0.96799587] Pose Error in degrees for R and t: 14.77058882729146 85.42436711080451 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.79029456e-01 -2.03717699e-01 -6.51361116e-04] [ 2.03717749e-01 9.79029662e-01 1.06207861e-05] [ 6.35538211e-04 -1.43091883e-04 9.99999788e-01]] t_estimated: [[-0.63732786] [-0.77058732] [-0.00289694]] R_gt: [[ 0.98963161 0.14361735 0.00215057] [-0.14341565 0.98883977 -0.04035885] [-0.00792161 0.0396331 0.99918229]] t_gt: [-0.65907056 0.74314487 -0.11559281] Pose Error in degrees for R and t: 20.142530256245514 81.24097223896977 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 8.77384125e-01 4.79786897e-01 1.27705388e-03] [-4.79786356e-01 8.77385054e-01 -7.20729045e-04] [-1.46626434e-03 1.96431959e-05 9.99998925e-01]] t_estimated: [[-0.13856125] [ 0.99034959] [ 0.00291138]] R_gt: [[ 0.97330173 0.2295162 -0.00261006] [-0.22928337 0.97166434 -0.05742512] [-0.010644 0.05649052 0.99834623]] t_gt: [-0.63000847 0.76855434 -0.11141617] Pose Error in degrees for R and t: 15.739589197092005 31.99353787600222 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.35564047 0.93462098 0.00186261] [-0.93462111 0.35564295 -0.00121749] [-0.00180031 -0.00130785 0.99999752]] t_estimated: [[-0.08336733] [ 0.99651768] [ 0.00154779]] R_gt: [[ 0.97219407 0.22956137 -0.04627566] [-0.23171321 0.97158922 -0.0482072 ] [ 0.03389416 0.05758968 0.99776436]] t_gt: [-0.62305426 0.73620998 -0.26419359] Pose Error in degrees for R and t: 55.94401571159635 38.262696996640514 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999671e-01 -6.25542002e-04 5.16069710e-04] [ 6.25919930e-04 9.99999536e-01 -7.32483055e-04] [-5.15611271e-04 7.32805832e-04 9.99999599e-01]] t_estimated: [[ 0.9999984 ] [-0.001456 ] [-0.00103803]] R_gt: [[ 0.99693991 -0.0062866 0.07792977] [ 0.0044759 0.99971615 0.02339303] [-0.07805444 -0.02297279 0.99668386]] t_gt: [0.10768621 0.14389082 0.98371699] Pose Error in degrees for R and t: 4.658851224918783 83.88897511711689 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99999979e-01 1.62857874e-04 1.23412039e-04] [-1.62863612e-04 9.99999986e-01 4.64888861e-05] [-1.23404467e-04 -4.65089845e-05 9.99999991e-01]] t_estimated: [[0.811184 ] [0.58478992] [0.00112556]] R_gt: [[ 0.99536876 -0.03775209 0.08841027] [ 0.0321697 0.99744799 0.06373713] [-0.09059127 -0.06059811 0.99404349]] t_gt: [ 0.20490581 -0.07012033 0.97626674] Pose Error in degrees for R and t: 6.567229146206656 82.74361616267602 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.70854752 -0.7056292 0.00691725] [-0.70562741 0.70857623 0.0031123 ] [-0.00709753 -0.00267579 -0.99997123]] t_estimated: [[0.90652701] [0.42212547] [0.00434246]] R_gt: [[ 0.98823386 -0.14858787 0.03629607] [ 0.14342904 0.98264907 0.11759723] [-0.05313988 -0.11100737 0.99239776]] t_gt: [ 0.53508632 -0.45752654 0.71017751] Pose Error in degrees for R and t: 174.6743057467916 72.84123281460818 Number of keypoints: Image1: 403 Image2: 403 R_estimated: [[ 9.44515558e-01 -3.28466384e-01 -4.41916502e-04] [ 3.28466415e-01 9.44515651e-01 -3.06791168e-06] [ 4.18404758e-04 -1.42257039e-04 9.99999902e-01]] t_estimated: [[ 7.25424526e-01] [-6.88301343e-01] [-7.19518760e-04]] R_gt: [[ 9.99809089e-01 1.52570879e-02 -1.22758623e-02] [-1.52497496e-02 9.99883416e-01 7.66555787e-04] [ 1.22858305e-02 -5.78171866e-04 9.99923964e-01]] t_gt: [ 0.45358191 0.60775685 -0.65183975] Pose Error in degrees for R and t: 20.061091656141937 84.90476858528145 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99999911e-01 4.14362141e-04 -7.98166473e-05] [-4.14347856e-04 9.99999898e-01 1.78900979e-04] [ 7.98907690e-05 -1.78867891e-04 9.99999981e-01]] t_estimated: [[9.99373881e-01] [3.53766935e-02] [5.78991448e-04]] R_gt: [[ 0.99602871 0.08415781 -0.02906306] [-0.08438979 0.99640971 -0.0068222 ] [ 0.0283843 0.00924763 0.99955451]] t_gt: [ 0.29213851 0.86542548 -0.40705508] Pose Error in degrees for R and t: 5.1057531612220695 71.19575639847797 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99999994e-01 2.44325483e-05 -1.05630140e-04] [-2.44215748e-05 9.99999994e-01 1.03886765e-04] [ 1.05632678e-04 -1.03884185e-04 9.99999989e-01]] t_estimated: [[ 9.99999982e-01] [-1.82061011e-04] [-5.09549792e-05]] R_gt: [[ 0.99339651 0.11439881 0.00873439] [-0.11449102 0.99336507 0.01081717] [-0.00743862 -0.01174586 0.99990338]] t_gt: [0.4914976 0.86182953 0.1252197 ] Pose Error in degrees for R and t: 6.61850960840407 60.57168062237186 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.99999891e-01 4.65578399e-04 2.82034748e-05] [-4.65578396e-04 9.99999892e-01 -1.04014479e-07] [-2.82035201e-05 9.08835388e-08 1.00000000e+00]] t_estimated: [[ 9.99905173e-01] [-1.37645213e-02] [ 4.28004138e-04]] R_gt: [[ 9.99019342e-01 -4.42760917e-02 -9.18862639e-04] [ 4.42748838e-02 9.99019282e-01 -8.17396672e-04] [ 9.54018412e-04 7.77139013e-04 9.99998616e-01]] t_gt: [ 0.51654457 -0.85495532 -0.04725571] Pose Error in degrees for R and t: 2.5652846563994642 58.113153798355896 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.98659523e-01 -5.17605044e-02 8.73995286e-05] [ 5.17605021e-02 9.98659526e-01 2.83545138e-05] [-8.87500157e-05 -2.37926618e-05 9.99999996e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99612686 -0.08519716 -0.0217659 ] [ 0.08548767 0.99625686 0.01281623] [ 0.02059338 -0.01462649 0.99968112]] t_gt: [ 0.54662095 -0.83284922 -0.08699261] Pose Error in degrees for R and t: 2.4135412699433676 57.04581400284872 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99999816e-01 5.87921470e-04 1.47146492e-04] [-5.87917559e-04 9.99999827e-01 -2.66186206e-05] [-1.47162116e-04 2.65321057e-05 9.99999989e-01]] t_estimated: [[9.99983476e-01] [5.69096287e-03] [8.12994696e-04]] R_gt: [[ 0.99299219 -0.11253375 -0.03609682] [ 0.11363116 0.99307152 0.0299503 ] [ 0.03247637 -0.03384096 0.99889898]] t_gt: [ 0.53324067 -0.84415649 -0.05526498] Pose Error in degrees for R and t: 7.064288114312446 58.103743781007736 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.26055232 -0.96540187 -0.01056975] [-0.96543049 0.26044361 0.01063436] [-0.00751361 0.01297517 -0.99988759]] t_estimated: [[0.74785975] [0.66385359] [0.00204893]] R_gt: [[ 0.9750968 -0.22040917 -0.02461003] [ 0.21989355 0.97527625 -0.02199127] [ 0.02884903 0.01603156 0.9994541 ]] t_gt: [ 0.85373166 -0.50411285 -0.13043193] Pose Error in degrees for R and t: 178.09273934874327 72.32922012741672 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.79392297 -0.60784174 -0.01465417] [ 0.6008674 -0.78804322 0.13396361] [-0.09297679 0.09755157 0.9908779 ]] t_estimated: [[0.93269032] [0.36067089] [0.00229727]] R_gt: [[ 0.88972778 -0.44953739 -0.07937728] [ 0.44589438 0.89308401 -0.05983723] [ 0.09778961 0.01784429 0.99504668]] t_gt: [ 0.9144858 -0.37787349 -0.1446629 ] Pose Error in degrees for R and t: 116.65478141291841 44.24919425474919 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-1.54193533e-01 -9.88034944e-01 -3.36214669e-03] [-9.88040369e-01 1.54189963e-01 1.29795069e-03] [-7.64011363e-04 3.52207226e-03 -9.99993506e-01]] t_estimated: [[8.20240241e-01] [5.72018765e-01] [6.93356078e-04]] R_gt: [[ 0.73838777 -0.67324119 -0.03911988] [ 0.66640672 0.73732483 -0.11069568] [ 0.10336901 0.05566616 0.99308391]] t_gt: [ 0.955552 -0.26141455 -0.13631874] Pose Error in degrees for R and t: 173.3119651258742 50.64275860398618 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.95399490e-01 -9.58114807e-02 1.26807768e-04] [ 9.58114786e-02 9.95399498e-01 2.31873598e-05] [-1.28446004e-04 -1.09310464e-05 9.99999992e-01]] t_estimated: [[-8.57922757e-01] [-5.13778339e-01] [-6.01611586e-04]] R_gt: [[ 0.99702468 -0.02492059 -0.07294108] [ 0.01882986 0.99636964 -0.08302431] [ 0.0747461 0.08140352 0.99387396]] t_gt: [ 0.44693848 0.09119078 -0.88990462] Pose Error in degrees for R and t: 7.635292474345399 64.54797673314248 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.99495705 -0.10029201 -0.00140468] [ 0.10029411 -0.99495668 -0.00151447] [-0.00124571 -0.00164772 0.99999787]] t_estimated: [[9.40666477e-01] [3.39331331e-01] [9.09735471e-04]] R_gt: [[ 0.98554943 0.10273596 -0.13467736] [-0.113343 0.99082712 -0.07359484] [ 0.12588128 0.08779566 0.98815255]] t_gt: [-0.5382552 0.20088148 -0.81849128] Pose Error in degrees for R and t: 179.5242270448995 63.966419189198085 Number of keypoints: Image1: 14 Image2: 14 R_estimated: [[-7.14602247e-01 6.99354822e-01 1.56990912e-02] [-6.99530605e-01 -7.14397821e-01 -1.71080730e-02] [-7.49216823e-04 -2.32074622e-02 9.99730390e-01]] t_estimated: [[0.76644587] [0.64230323] [0.00269875]] R_gt: [[ 0.91962939 0.35847648 -0.16054689] [-0.36895788 0.92858322 -0.04004409] [ 0.13472664 0.09606097 0.98621514]] t_gt: [-0.89066962 0.31653151 -0.32636702] Pose Error in degrees for R and t: 114.5181787167411 61.300122247575906 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 9.99999996e-01 8.04685564e-05 -2.36325608e-05] [-8.04712745e-05 9.99999990e-01 -1.15035978e-04] [ 2.36233037e-05 1.15037880e-04 9.99999993e-01]] t_estimated: [[-0.69009461] [-0.72371824] [-0.00115223]] R_gt: [[ 0.99803726 0.06131027 -0.0128084 ] [-0.06196307 0.99633029 -0.05904377] [ 0.00914196 0.0597229 0.99817253]] t_gt: [-0.38023347 0.57095386 -0.72762229] Pose Error in degrees for R and t: 4.9422236308883605 81.37456470787203 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.99621995 -0.0866924 0.00549977] [ 0.08663293 -0.99618746 -0.01026021] [ 0.00636829 -0.00974496 0.99993224]] t_estimated: [[7.86394135e-01] [6.17724641e-01] [7.30170970e-04]] R_gt: [[ 0.98014282 0.19521273 -0.03482891] [-0.19736313 0.97738105 -0.07598316] [ 0.01920845 0.08134893 0.99650009]] t_gt: [-0.52908748 0.7611626 -0.37509724] Pose Error in degrees for R and t: 173.6589033004641 86.91348972637763 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 7.20362763e-01 -6.93593592e-01 2.32764233e-03] [-6.93595784e-01 -7.20364388e-01 1.94159660e-04] [ 1.54208275e-03 -1.75430830e-03 -9.99997272e-01]] t_estimated: [[0.42157845] [0.90679139] [0.00099429]] R_gt: [[ 0.88312197 0.45771322 -0.1029312 ] [-0.46314628 0.88556012 -0.03576237] [ 0.07478315 0.07925584 0.9940455 ]] t_gt: [-0.42369546 0.87292327 -0.2418411 ] Pose Error in degrees for R and t: 174.97118435468485 52.21515984901334 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-2.17208167e-01 -9.76121426e-01 -2.75190312e-03] [ 9.76125299e-01 -2.17207617e-01 -5.00985122e-04] [-1.08712005e-04 -2.79502031e-03 9.99996088e-01]] t_estimated: [[0.99857445] [0.05336677] [0.00102628]] R_gt: [[ 0.92200252 -0.38649414 0.02314567] [ 0.38593066 0.92217878 0.02536295] [-0.03114668 -0.01445279 0.99940979]] t_gt: [ 0.87783934 -0.47269455 0.07718774] Pose Error in degrees for R and t: 79.8403136262317 31.631254932816216 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.64237661e-01 2.61290332e-01 4.44195431e-02] [ 2.65037911e-01 -9.51100351e-01 -1.58628582e-01] [ 7.99328208e-04 1.64728516e-01 -9.86338622e-01]] t_estimated: [[9.99385154e-01] [3.50511474e-02] [8.54906034e-04]] R_gt: [[ 0.82821942 -0.55996213 0.0222562 ] [ 0.55932376 0.82843496 0.02917343] [-0.03477352 -0.0117147 0.99932648]] t_gt: [ 0.923049 -0.38109937 0.0523814 ] Pose Error in degrees for R and t: 171.62384472473917 24.609334216540553 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 9.99890960e-01 1.46061759e-02 2.17432665e-03] [-1.46065441e-02 9.99893307e-01 1.53560225e-04] [-2.17185173e-03 -1.85302879e-04 9.99997624e-01]] t_estimated: [[9.99994892e-01] [3.10075911e-03] [7.75189839e-04]] R_gt: [[ 0.67071291 -0.73925144 -0.0604414 ] [ 0.74105026 0.67133467 0.01234812] [ 0.03144822 -0.05307212 0.99809528]] t_gt: [ 0.96786938 -0.24945712 0.03162303] Pose Error in degrees for R and t: 48.76926676245714 14.734351126516346 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-1.55341495e-01 -9.87860642e-01 6.10406609e-04] [-9.87860756e-01 1.55341692e-01 2.90626844e-04] [-3.81920417e-04 -5.57850326e-04 -9.99999771e-01]] t_estimated: [[0.44929988] [0.89337962] [0.00157459]] R_gt: [[ 0.97607003 0.21228973 -0.04711201] [-0.21124687 0.97708221 0.02615198] [ 0.0515845 -0.01557302 0.99854639]] t_gt: [-0.97734438 0.20928455 0.03159022] Pose Error in degrees for R and t: 178.65757330628531 75.39816106394187 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-9.11373300e-01 -4.11578579e-01 -1.33430227e-03] [ 4.11580228e-01 -9.11362252e-01 -4.53450586e-03] [ 6.50272755e-04 -4.68180001e-03 9.99988829e-01]] t_estimated: [[ 9.85149695e-01] [-1.71697049e-01] [-4.49115152e-04]] R_gt: [[ 0.87392014 0.48481421 -0.03491496] [-0.48408087 0.8745864 0.02760726] [ 0.04392041 -0.00722498 0.99900881]] t_gt: [-0.92661408 0.37597647 -0.00529556] Pose Error in degrees for R and t: 175.31876231201187 12.20288591484582 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.99975974e-01 6.88452373e-03 -8.08669835e-04] [-6.88247833e-03 9.99973177e-01 2.50546802e-03] [ 8.25897098e-04 -2.49984217e-03 9.99996534e-01]] t_estimated: [[0.99523804] [0.09746469] [0.00137274]] R_gt: [[ 7.26328520e-01 6.87337994e-01 -3.59124732e-03] [-6.87342424e-01 7.26333220e-01 7.80181250e-05] [ 2.66232153e-03 2.41250249e-03 9.99992592e-01]] t_gt: [-0.84934755 0.5277944 -0.00646583] Pose Error in degrees for R and t: 43.026523751494935 37.451294238266435 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.99995181e-01 3.10431458e-03 -2.89807265e-05] [-3.10431615e-03 9.99995180e-01 -5.42247970e-05] [ 2.88122560e-05 5.43145011e-05 9.99999998e-01]] t_estimated: [[ 0.53405216] [-0.84545108] [-0.00087711]] R_gt: [[ 0.99921971 -0.02449682 -0.03098747] [ 0.02531604 0.99933213 0.02632343] [ 0.03032144 -0.02708732 0.99917298]] t_gt: [ 0.50754588 -0.81583136 -0.27715767] Pose Error in degrees for R and t: 2.8308215029003807 16.045071002242903 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 8.73319620e-01 4.87147542e-01 -3.37413490e-04] [-4.87147658e-01 8.73319465e-01 -5.21015112e-04] [ 4.08585374e-05 6.19382911e-04 9.99999807e-01]] t_estimated: [[ 2.58126956e-01] [ 9.66110941e-01] [-3.52752344e-04]] R_gt: [[ 0.9974705 -0.06035171 -0.03755912] [ 0.06082162 0.99808198 0.01149289] [ 0.0367939 -0.01374918 0.99922864]] t_gt: [ 0.55209456 -0.77469036 -0.30829603] Pose Error in degrees for R and t: 32.70359263913555 52.71230153760554 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.99524392 -0.09739904 -0.00172524] [ 0.09740485 0.99523802 0.00368513] [ 0.0013581 -0.00383565 0.99999172]] t_estimated: [[0.77149469] [0.63622375] [0.0039089 ]] R_gt: [[ 0.99349483 -0.10488858 -0.04434835] [ 0.10541837 0.99437958 0.00976597] [ 0.04307509 -0.01437719 0.99896864]] t_gt: [ 0.56482555 -0.78926827 -0.24088938] Pose Error in degrees for R and t: 2.5075890026473404 86.13918645650891 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.78745683e-01 2.05077710e-01 -1.46495534e-04] [-2.05077603e-01 9.78745563e-01 5.48282525e-04] [ 2.55822378e-04 -5.06586201e-04 9.99999839e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99027067 -0.13447541 0.03578273] [ 0.13372683 0.99076186 0.0225688 ] [-0.03848806 -0.017564 0.99910474]] t_gt: [ 0.58534938 -0.76086794 0.28008228] Pose Error in degrees for R and t: 19.691984024308233 89.17238583797149 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999928e-01 -2.33045871e-04 -2.97970749e-04] [ 2.33120699e-04 9.99999941e-01 2.51116287e-04] [ 2.97912210e-04 -2.51185732e-04 9.99999924e-01]] t_estimated: [[9.99994892e-01] [3.10075688e-03] [7.75189837e-04]] R_gt: [[ 0.98556432 -0.16401034 0.04200969] [ 0.16316894 0.98633646 0.02273062] [-0.04516457 -0.01554715 0.99885803]] t_gt: [ 0.58890986 -0.76767621 0.25270223] Pose Error in degrees for R and t: 9.799544640791806 54.075239324558275 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.79242271 0.60986233 0.0115841 ] [ 0.60995833 -0.79213295 -0.02182239] [-0.0041325 0.02435837 -0.99969475]] t_estimated: [[-0.99682918] [-0.07895677] [-0.0098696 ]] R_gt: [[ 0.97831342 -0.20507718 0.02913285] [ 0.20378328 0.97811355 0.04203712] [-0.03711718 -0.0351889 0.9986903 ]] t_gt: [ 0.60220727 -0.76391171 0.23191659] Pose Error in degrees for R and t: 179.8978787969428 57.16165045281534 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 7.29217155e-01 -6.84281780e-01 8.86359097e-04] [ 6.84281995e-01 7.29214833e-01 -1.96949841e-03] [ 7.01345677e-04 2.04271160e-03 9.99997668e-01]] t_estimated: [[-0.2693639 ] [-0.96303552] [-0.00238375]] R_gt: [[ 0.99645874 0.08375167 -0.00746978] [-0.08379566 0.9964665 -0.00568942] [ 0.00696659 0.00629476 0.99995694]] t_gt: [ 0.12088008 0.98581103 -0.11646727] Pose Error in degrees for R and t: 47.98692742341219 10.99190441338209 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 4.42779234e-01 -8.96629769e-01 -1.26759740e-03] [-8.96628258e-01 -4.42780878e-01 1.69111235e-03] [-2.07756957e-03 3.87774221e-04 -9.99997767e-01]] t_estimated: [[0.32937136] [0.94419791] [0.00219581]] R_gt: [[ 0.99395957 0.10439972 0.03384019] [-0.10483912 0.9944226 0.01147714] [-0.0324532 -0.01495538 0.99936234]] t_gt: [0.32520906 0.78735588 0.52374592] Pose Error in degrees for R and t: 178.31463099514224 31.604654037489368 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999961e-01 2.77938667e-04 -3.96513751e-05] [-2.77930011e-04 9.99999938e-01 2.18150143e-04] [ 3.97120050e-05 -2.18139114e-04 9.99999975e-01]] t_estimated: [[9.99979871e-01] [6.33678576e-03] [3.20402836e-04]] R_gt: [[ 0.9837628 0.1773292 0.02767129] [-0.17853433 0.98266967 0.04986132] [-0.01834932 -0.05399151 0.9983736 ]] t_gt: [0.19650775 0.75010484 0.63144868] Pose Error in degrees for R and t: 10.746176513755046 78.37768833036779 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[ 9.99999722e-01 -7.19937157e-04 1.92158013e-04] [ 7.19918522e-04 9.99999736e-01 9.70298964e-05] [-1.92227818e-04 -9.68915313e-05 9.99999977e-01]] t_estimated: [[0.57945459] [0.81500119] [0.00233365]] R_gt: [[ 9.99287523e-01 -4.28787750e-05 3.77702899e-02] [-1.99244183e-03 9.98546744e-01 5.38528976e-02] [-3.77176652e-02 -5.38901835e-02 9.97833489e-01]] t_gt: [-0.10815872 0.01939177 0.99394449] Pose Error in degrees for R and t: 3.7618531225584686 87.44667213764313 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 7.98011465e-01 6.02641169e-01 1.15055178e-03] [-6.02641104e-01 7.98012221e-01 -4.41412988e-04] [-1.18416802e-03 -3.41117168e-04 9.99999241e-01]] t_estimated: [[0.16954373] [0.98552149] [0.00152217]] R_gt: [[ 0.99544599 -0.09531875 0.00180879] [ 0.09447743 0.98883938 0.11519527] [-0.0127684 -0.1145004 0.99334069]] t_gt: [ 0.43896212 -0.51957631 0.73304346] Pose Error in degrees for R and t: 43.0108287758603 64.11829497360836 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999828e-01 -2.69962468e-04 5.21328582e-04] [ 2.69508286e-04 9.99999584e-01 8.71074032e-04] [-5.21563522e-04 -8.70933380e-04 9.99999485e-01]] t_estimated: [[0.80019948] [0.59973141] [0.00173853]] R_gt: [[ 0.96956017 -0.24444386 -0.01418995] [ 0.24389537 0.95901187 0.14425956] [-0.02165558 -0.14333007 0.98943725]] t_gt: [ 0.59341053 -0.63005206 0.50089754] Pose Error in degrees for R and t: 16.42368888469828 84.38429993264396 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99880919e-01 1.54319437e-02 5.73821088e-05] [-1.54319433e-02 9.99880920e-01 -6.49211965e-06] [-5.74754618e-05 5.60582911e-06 9.99999998e-01]] t_estimated: [[0.83572221] [0.5491508 ] [0.00133289]] R_gt: [[ 0.99952169 -0.02620198 -0.01641932] [ 0.02584123 0.99942958 -0.02178099] [ 0.01698048 0.02134617 0.99962765]] t_gt: [ 0.45973973 -0.55905488 -0.68999784] Pose Error in degrees for R and t: 2.844322260276236 85.6246781203686 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.96248354 -0.27133138 0.0021722 ] [ 0.27131329 -0.96247018 -0.00634464] [ 0.00381218 -0.00551727 0.99997751]] t_estimated: [[0.79142615] [0.6112641 ] [0.00091919]] R_gt: [[ 0.99375038 0.03656746 0.10547428] [-0.03043541 0.9977844 -0.05917579] [-0.10740423 0.05559585 0.99265974]] t_gt: [-0.44954503 0.48850859 0.74784264] Pose Error in degrees for R and t: 166.222979685225 86.76183753815873 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.17553019 0.93458628 0.309415 ] [ 0.97196027 -0.11456438 -0.20534905] [-0.15646847 0.33678405 -0.92849024]] t_estimated: [[-0.84515425] [-0.50709255] [-0.16903085]] R_gt: [[ 0.96831548 0.15185065 0.1982583 ] [-0.13346205 0.98567613 -0.10310696] [-0.21107517 0.07338116 0.97471122]] t_gt: [-0.4075987 0.66364543 0.6272464 ] Pose Error in degrees for R and t: 147.9683070927272 84.3719643713865 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.93817360e-01 -1.11027065e-01 2.13022701e-04] [ 1.11027175e-01 9.93817186e-01 -6.06179033e-04] [-1.44403342e-04 6.26082555e-04 9.99999794e-01]] t_estimated: [[-0.27632274] [-0.96106396] [-0.00134792]] R_gt: [[ 0.99882497 0.04756793 0.00921954] [-0.04739198 0.99870557 -0.01850995] [-0.0100881 0.01805043 0.99978583]] t_gt: [-0.85870538 0.51100261 -0.03874805] Pose Error in degrees for R and t: 9.168363537414397 75.29904069914474 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.00084539e-01 -4.35715092e-01 4.26161330e-04] [ 4.35714229e-01 9.00079724e-01 -3.09872969e-03] [ 9.66584120e-04 2.97480324e-03 9.99995108e-01]] t_estimated: [[-0.09116748] [-0.9958294 ] [-0.00350644]] R_gt: [[ 0.98389734 0.17734541 0.02222905] [-0.17506614 0.98129171 -0.08012204] [-0.03602144 0.07493963 0.99653684]] t_gt: [-0.6997505 0.70937036 -0.08451581] Pose Error in degrees for R and t: 36.28054562551405 50.03488925185673 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.44401826e-01 -3.28793116e-01 -5.26891943e-04] [ 3.28793228e-01 9.44401924e-01 1.40164547e-04] [ 4.51512627e-04 -3.05610157e-04 9.99999851e-01]] t_estimated: [[-0.82238287] [-0.5689326 ] [-0.00145378]] R_gt: [[ 0.95598506 0.29303728 0.01486567] [-0.29060379 0.9526082 -0.08993193] [-0.0405144 0.08165364 0.99583663]] t_gt: [-0.64121937 0.76566277 -0.05097305] Pose Error in degrees for R and t: 36.56540492643045 84.73332547495639 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.86226364e-01 -1.65401050e-01 -2.25206509e-04] [ 1.65401103e-01 9.86226352e-01 2.41147127e-04] [ 1.82218606e-04 -2.75075059e-04 9.99999946e-01]] t_estimated: [[9.34579843e-01] [3.55752702e-01] [7.29001438e-04]] R_gt: [[ 0.99802956 0.001454 -0.06273649] [-0.00202205 0.99995817 -0.00898382] [ 0.06272172 0.00909297 0.99798926]] t_gt: [ 0.44368647 -0.09116516 -0.89153308] Pose Error in degrees for R and t: 10.278629115745552 67.56852266013843 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-8.38306568e-01 -5.45196670e-01 -1.64007805e-03] [ 5.45198586e-01 -8.38297650e-01 -3.94368442e-03] [ 7.75210039e-04 -4.20018478e-03 9.99990879e-01]] t_estimated: [[9.53120600e-01] [3.02589769e-01] [7.43463807e-04]] R_gt: [[ 0.9965601 -0.05025388 -0.06590359] [ 0.051924 0.99836604 0.02388527] [ 0.06459698 -0.0272259 0.99754027]] t_gt: [ 0.62171051 -0.70928013 -0.33226156] Pose Error in degrees for R and t: 144.0438962012028 67.80888766893897 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.18271733e-01 -6.95756851e-01 -2.84992636e-03] [ 6.95760834e-01 7.18273249e-01 6.33550508e-04] [ 1.60622876e-03 -2.43792856e-03 9.99995738e-01]] t_estimated: [[9.26670990e-01] [3.75872789e-01] [7.22832286e-04]] R_gt: [[ 0.98777955 -0.10194908 -0.11789535] [ 0.1076068 0.99327847 0.04265349] [ 0.11275513 -0.05481911 0.99210969]] t_gt: [ 0.61870056 -0.71836689 -0.31805443] Pose Error in degrees for R and t: 38.669645559137855 72.3568658807266 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-6.34571010e-01 -7.72862778e-01 -1.66139098e-03] [ 7.72864321e-01 -6.34571047e-01 -5.72016775e-04] [-6.12180138e-04 -1.64701507e-03 9.99998456e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.97743068 -0.21120569 -0.00464239] [ 0.21119356 0.97744109 -0.00284498] [ 0.005139 0.00180148 0.99998495]] t_gt: [ 0.84596667 -0.53212831 -0.034349 ] Pose Error in degrees for R and t: 117.19566832009583 41.435199409970714 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-4.37058795e-01 -8.99431361e-01 -1.68406509e-03] [ 8.99432903e-01 -4.37058534e-01 -5.39706163e-04] [-2.50606373e-04 -1.75058688e-03 9.99998436e-01]] t_estimated: [[9.94266496e-01] [1.06927536e-01] [7.97966690e-04]] R_gt: [[ 0.8196884 -0.57265753 0.01318824] [ 0.57252761 0.81979047 0.01247727] [-0.01795686 -0.00267611 0.99983524]] t_gt: [ 0.93149705 -0.3634615 0.01445625] Pose Error in degrees for R and t: 80.98802504603876 27.463624955378215 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.56489921 -0.82512817 -0.00723708] [-0.8251178 -0.56493726 0.00514808] [-0.00833632 0.00306329 -0.99996056]] t_estimated: [[0.58758988] [0.80915398] [0.00282359]] R_gt: [[ 6.90167057e-01 -7.23287306e-01 2.29339933e-02] [ 7.22921220e-01 6.90548351e-01 2.30022608e-02] [-3.24742125e-02 7.04875674e-04 9.99471980e-01]] t_gt: [ 0.96182024 -0.27289357 0.02075894] Pose Error in degrees for R and t: 178.3190585494322 69.85473264547996 Number of keypoints: Image1: 746 Image2: 746 R_estimated: [[-0.98630351 0.15469922 0.05721476] [ 0.15475183 0.98794704 -0.00353703] [-0.05707233 0.0053655 -0.99835563]] t_estimated: [[ 0.99722277] [-0.06872318] [ 0.0287031 ]] R_gt: [[ 0.99912906 -0.04128161 -0.00613486] [ 0.04115919 0.99897533 -0.01886219] [ 0.00690809 0.01859359 0.99980343]] t_gt: [ 0.55741474 -0.73818169 -0.3799692 ] Pose Error in degrees for R and t: 177.0030963852111 53.43812310173769 Number of keypoints: Image1: 630 Image2: 630 R_estimated: [[-0.96138909 0.27336074 0.03170042] [ 0.27338276 0.96189813 -0.00372181] [-0.03150997 0.00508824 -0.99949049]] t_estimated: [[ 0.99160143] [-0.12833433] [ 0.016028 ]] R_gt: [[ 0.99700929 -0.07685616 -0.00813669] [ 0.07675035 0.99697238 -0.01256753] [ 0.00907883 0.01190553 0.99988868]] t_gt: [ 0.54056866 -0.81587023 -0.20528346] Pose Error in degrees for R and t: 178.56311851476516 50.398621190122356 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.99999684e-01 7.92039053e-04 7.39098619e-05] [-7.92042124e-04 9.99999685e-01 4.15282169e-05] [-7.38769467e-05 -4.15867435e-05 9.99999996e-01]] t_estimated: [[ 9.99979217e-01] [-6.44659131e-03] [ 8.00890672e-05]] R_gt: [[ 0.99347515 -0.11403315 0.00198686] [ 0.11399164 0.99336917 0.01497335] [-0.00368056 -0.01464927 0.99988648]] t_gt: [ 0.44240641 -0.89009305 0.10959438] Pose Error in degrees for R and t: 6.648258428805245 63.375328908674675 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.99995131e-01 -3.12054183e-03 2.42720138e-05] [ 3.12054224e-03 9.99995131e-01 -1.70548517e-05] [-2.42186753e-05 1.71305105e-05 1.00000000e+00]] t_estimated: [[ 9.60237659e-01] [-2.79183875e-01] [-4.93982815e-05]] R_gt: [[ 0.99934779 -0.03497376 -0.00903967] [ 0.03493311 0.99937835 -0.00465737] [ 0.00919695 0.00433803 0.99994734]] t_gt: [ 0.60100077 -0.76017824 -0.24683417] Pose Error in degrees for R and t: 1.9161950456993173 37.87563139967911 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.99999655e-01 -8.29865210e-04 -1.81214527e-05] [ 8.29863769e-04 9.99999653e-01 -7.94230354e-05] [ 1.81873568e-05 7.94079697e-05 9.99999997e-01]] t_estimated: [[ 9.99609374e-01] [-2.79469368e-02] [-2.59754262e-04]] R_gt: [[ 0.99703133 -0.07512795 -0.01689511] [ 0.07485208 0.99705887 -0.01643008] [ 0.01808004 0.01511592 0.99972178]] t_gt: [ 0.57212491 -0.76275518 -0.30145916] Pose Error in degrees for R and t: 4.461780695068499 53.60871901699535 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 8.46488924e-01 5.32389590e-01 4.22217439e-03] [-5.32378476e-01 8.46499140e-01 -3.51635533e-03] [-5.44613796e-03 7.28761076e-04 9.99984904e-01]] t_estimated: [[-0.8795871 ] [ 0.47569654] [ 0.00627162]] R_gt: [[ 0.99568229 -0.09181074 -0.01370843] [ 0.09192968 0.9957308 0.00827011] [ 0.01289039 -0.0094944 0.99987119]] t_gt: [ 0.51398125 -0.85594577 -0.05639247] Pose Error in degrees for R and t: 37.45837185470618 30.726573692766078 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.97846589 -0.20618732 -0.0095541 ] [ 0.20631674 0.97836284 0.01547795] [ 0.00615602 -0.01711582 0.99983456]] t_estimated: [[0.97805103] [0.20827093] [0.00627723]] R_gt: [[ 0.99802441 0.06170379 0.01186289] [-0.06223394 0.99674465 0.05125402] [-0.00866261 -0.05189233 0.99861535]] t_gt: [-0.04229938 0.16491845 0.98539975] Pose Error in degrees for R and t: 15.622552043419239 89.9520057240239 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.85918839 0.43265854 0.27313347] [-0.5049187 0.8033217 0.31580271] [-0.0827793 -0.40924422 0.90866207]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.99237417 0.11630022 0.04083389] [-0.11851892 0.99131919 0.05691793] [-0.03386089 -0.06132359 0.9975433 ]] t_gt: [-0.11556841 0.34452464 0.93163658] Pose Error in degrees for R and t: 30.53700948655306 74.34622877739858 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.35783293 0.93370984 -0.01189645] [ 0.93371131 -0.35761468 0.01717378] [ 0.01178098 -0.0172532 -0.99978174]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97261338 0.225467 0.05645678] [-0.22965505 0.96963648 0.08404559] [-0.03579412 -0.09470961 0.99486127]] t_gt: [-0.25098362 0.6982038 0.67046154] Pose Error in degrees for R and t: 176.0686952171107 75.62320189675636 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-5.25792248e-01 -8.50609950e-01 -2.28569621e-03] [ 8.50612873e-01 -5.25791844e-01 -8.22787134e-04] [-5.01929501e-04 -2.37685772e-03 9.99997049e-01]] t_estimated: [[0.96873615] [0.24809096] [0.00107399]] R_gt: [[ 0.99796838 -0.0615773 -0.01638642] [ 0.06230067 0.99689766 0.0480938 ] [ 0.01337414 -0.049017 0.99870829]] t_gt: [ 0.45943732 -0.85717677 0.23273447] Pose Error in degrees for R and t: 118.18693745480209 76.54593729716039 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.12026891 0.99273947 -0.00193486] [ 0.99270584 -0.12024789 0.00869279] [ 0.00839702 -0.00296622 -0.99996035]] t_estimated: [[-9.31649389e-01] [-3.63357796e-01] [-7.26715592e-04]] R_gt: [[ 0.99114295 -0.11104368 -0.07284048] [ 0.1151018 0.99188079 0.05408824] [ 0.06624273 -0.06199274 0.9958757 ]] t_gt: [ 0.55778683 -0.82159406 -0.11771599] Pose Error in degrees for R and t: 174.4215553943895 77.22966381687827 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 8.98302603e-01 4.39376896e-01 6.13715284e-04] [-4.39370785e-01 8.98295978e-01 -4.20113481e-03] [-2.39717954e-03 3.50424177e-03 9.99990987e-01]] t_estimated: [[0.58204147] [0.81315866] [0.0008497 ]] R_gt: [[ 0.99804656 -0.0552469 0.02918012] [ 0.05506397 0.99845803 0.0070508 ] [-0.02952481 -0.00543 0.99954937]] t_gt: [ 0.3451359 -0.8445003 0.40951246] Pose Error in degrees for R and t: 29.2746539984272 60.95598510468152 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 4.30578534e-01 -9.02552042e-01 -1.39191775e-03] [ 9.02553114e-01 4.30578087e-01 6.21912243e-04] [ 3.80211176e-05 -1.52406176e-03 9.99998838e-01]] t_estimated: [[9.99977089e-01] [6.71689059e-03] [8.39611326e-04]] R_gt: [[ 0.98225467 -0.16223491 -0.09410286] [ 0.17300952 0.97750043 0.12066687] [ 0.0724098 -0.13480586 0.98822245]] t_gt: [ 0.56715224 -0.78360446 0.25357915] Pose Error in degrees for R and t: 55.42255601873609 55.79962629014416 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-0.99671734 -0.08006388 0.01201309] [-0.08013411 0.99676901 -0.00548286] [-0.0115353 -0.00642752 -0.99991281]] t_estimated: [[0.9976057 ] [0.06846313] [0.00978045]] R_gt: [[ 0.94067936 -0.28576995 -0.18291198] [ 0.30787555 0.94548274 0.1061811 ] [ 0.14259623 -0.15619565 0.97737815]] t_gt: [ 0.66509059 -0.74364777 0.06813585] Pose Error in degrees for R and t: 171.4298674774462 52.174974755612304 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.03716662 0.99930815 0.00136417] [ 0.99930479 -0.03717042 0.00287867] [ 0.00292739 0.00125623 -0.99999493]] t_estimated: [[0.01066289] [0.99994245] [0.00118477]] R_gt: [[ 0.90807013 -0.34320094 -0.24004245] [ 0.38901731 0.90350381 0.17984927] [ 0.15515547 -0.25669565 0.95395694]] t_gt: [ 0.64988714 -0.73081824 0.20868976] Pose Error in degrees for R and t: 162.5235037383912 43.647553553152264 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999099e-01 1.33785666e-03 1.11152150e-04] [-1.33785877e-03 9.99999105e-01 1.88503234e-05] [-1.11126831e-04 -1.89990123e-05 9.99999994e-01]] t_estimated: [[9.99977145e-01] [6.73747527e-03] [5.62641066e-04]] R_gt: [[ 0.99971355 -0.0235682 0.00410711] [ 0.02361477 0.9996547 -0.0115183 ] [-0.00383349 0.01161252 0.99992526]] t_gt: [ 0.19037057 -0.95855279 -0.21198019] Pose Error in degrees for R and t: 1.590936142563945 79.40947933760812 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.74664227 -0.66415307 0.03776265] [-0.66419181 0.74744344 0.01332459] [-0.03707501 -0.01513294 -0.9991979 ]] t_estimated: [[0.94044551] [0.33937647] [0.01964343]] R_gt: [[ 0.99917843 -0.03463635 0.02104299] [ 0.03436281 0.99932249 0.01322404] [-0.02148707 -0.01248967 0.99969133]] t_gt: [-0.06733164 -0.93320376 0.35298328] Pose Error in degrees for R and t: 176.30587872907918 68.09335883859279 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.98726136e-01 5.04588877e-02 7.10428127e-05] [-5.04589119e-02 9.98726060e-01 3.95049302e-04] [-5.10185600e-05 -3.98130806e-04 9.99999919e-01]] t_estimated: [[8.65425999e-01] [5.01036105e-01] [8.13370300e-04]] R_gt: [[ 0.99918707 -0.02012931 0.03492808] [ 0.01906382 0.9993515 0.0305621 ] [-0.0355203 -0.0298717 0.99892222]] t_gt: [-0.43055127 -0.71187102 0.55485607] Pose Error in degrees for R and t: 4.806955392897475 43.21143086296271 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.93914481e-01 -1.10154411e-01 1.05392756e-04] [ 1.10154421e-01 9.93914480e-01 -9.97901140e-05] [-9.37590655e-05 1.10792317e-04 9.99999989e-01]] t_estimated: [[-0.97663648] [-0.2148921 ] [-0.00160367]] R_gt: [[ 0.99507509 0.03665001 0.09210088] [-0.03549294 0.99926901 -0.01417311] [-0.09255288 0.01083509 0.99564862]] t_gt: [-0.66948683 0.31513487 0.6726644 ] Pose Error in degrees for R and t: 9.947946173228933 54.19372250365689 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 4.16527208e-01 -9.09121598e-01 1.73372970e-03] [-9.09123069e-01 -4.16527573e-01 1.62067368e-04] [ 5.74807278e-04 -1.64367913e-03 -9.99998484e-01]] t_estimated: [[0.87229207] [0.48898083] [0.00207195]] R_gt: [[ 0.98534385 0.14282864 0.09326255] [-0.13991664 0.98946822 -0.03708063] [-0.09757553 0.02348877 0.99495129]] t_gt: [-0.75678114 0.57206196 0.31627112] Pose Error in degrees for R and t: 178.43525647810924 67.68170530741217 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 8.78020590e-01 -4.78622519e-01 -5.71890116e-04] [ 4.78622617e-01 8.78020723e-01 3.90922318e-05] [ 4.83420950e-04 -3.08043328e-04 9.99999836e-01]] t_estimated: [[-0.53092595] [-0.84741744] [-0.00114671]] R_gt: [[ 0.95892776 0.27939814 0.04894106] [-0.28068217 0.95955841 0.0215513 ] [-0.04093995 -0.03440213 0.99856926]] t_gt: [-0.70013856 0.68634689 0.19680942] Pose Error in degrees for R and t: 44.970716730789945 77.87024741553228 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99201633e-01 3.99511484e-02 -4.23252393e-05] [-3.99511446e-02 9.99201630e-01 8.84227849e-05] [ 4.58240400e-05 -8.66612493e-05 9.99999995e-01]] t_estimated: [[-0.6813332 ] [-0.73197283] [-0.00092072]] R_gt: [[ 0.99921958 0.03588282 0.01658147] [-0.03593709 0.99935004 0.00300107] [-0.01646293 -0.00359511 0.99985887]] t_gt: [0.07837136 0.93663589 0.34142516] Pose Error in degrees for R and t: 0.9902554071542449 42.32789111057935 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999677e-01 2.88480459e-04 -7.49883726e-04] [-2.87814006e-04 9.99999564e-01 8.88697866e-04] [ 7.50139771e-04 -8.88481752e-04 9.99999324e-01]] t_estimated: [[0.69633336] [0.71771201] [0.00305409]] R_gt: [[ 0.99128275 0.11038281 0.0719427 ] [-0.10340213 0.99014642 -0.09443696] [-0.08165776 0.08617424 0.99292813]] t_gt: [-0.3058324 0.94945677 -0.07069925] Pose Error in degrees for R and t: 9.223397364868635 62.078636293857 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.80870281e-01 1.94659295e-01 -1.11797502e-03] [-1.94659678e-01 9.80870813e-01 -2.42971602e-04] [ 1.04929239e-03 4.55948281e-04 9.99999346e-01]] t_estimated: [[-0.86075434] [-0.50900377] [-0.00413824]] R_gt: [[ 0.97985396 0.13655157 0.1457414 ] [-0.12271769 0.98738426 -0.100065 ] [-0.15756624 0.08016433 0.98424931]] t_gt: [-0.33267335 0.89666129 0.29210782] Pose Error in degrees for R and t: 10.87890796906145 80.13875335037704 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.85743182e-01 1.68256883e-01 -1.02022146e-05] [-1.68256883e-01 9.85743182e-01 -1.50326507e-05] [ 7.52741652e-06 1.65349258e-05 1.00000000e+00]] t_estimated: [[-8.28960076e-01] [-5.59307290e-01] [-7.40804357e-04]] R_gt: [[ 0.98564158 -0.16727109 0.02305169] [ 0.16769792 0.9856734 -0.01802575] [-0.01970618 0.02163278 0.99957159]] t_gt: [ 0.57277097 -0.81960135 0.01367631] Pose Error in degrees for R and t: 19.40207139074966 89.05999824353256 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99461260e-01 -3.28201568e-02 1.64693912e-04] [ 3.28202277e-02 9.99461171e-01 -4.47536546e-04] [-1.49916950e-04 4.52700731e-04 9.99999886e-01]] t_estimated: [[8.86220402e-01] [4.63263838e-01] [1.26110590e-04]] R_gt: [[ 0.93587789 -0.35226893 -0.00628453] [ 0.35222628 0.93588872 -0.00698583] [ 0.00834213 0.00432419 0.9999561 ]] t_gt: [ 0.66382208 -0.74763556 -0.01952717] Pose Error in degrees for R and t: 18.751931709981736 75.9990673073999 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.70600007e-01 2.40696678e-01 8.57511939e-04] [-2.40696328e-01 9.70600348e-01 -4.91751526e-04] [-9.50664345e-04 2.70894059e-04 9.99999511e-01]] t_estimated: [[0.55878349] [0.82931306] [0.00093286]] R_gt: [[ 0.84641389 -0.53185095 -0.02677878] [ 0.53138488 0.84682302 -0.02282969] [ 0.03481834 0.00509294 0.99938046]] t_gt: [ 0.75471233 -0.65438383 -0.04680931] Pose Error in degrees for R and t: 46.0971470349134 83.04949240489248 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.56408989e-01 2.92030537e-01 1.08746897e-04] [-2.92030546e-01 9.56408988e-01 8.55041942e-05] [-7.90366743e-05 -1.13534396e-04 9.99999990e-01]] t_estimated: [[9.45791027e-01] [3.24774736e-01] [8.39211204e-04]] R_gt: [[ 0.97264071 -0.22848501 -0.04201569] [ 0.22990187 0.97266545 0.0326618 ] [ 0.03340435 -0.0414275 0.99858283]] t_gt: [ 0.97753129 -0.15793671 0.1396015 ] Pose Error in degrees for R and t: 30.388613000830627 29.14810161860703 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 5.33601505e-01 8.45734614e-01 1.54789272e-03] [-8.45730875e-01 5.33603749e-01 -2.51525450e-03] [-2.95319915e-03 3.30429258e-05 9.99995639e-01]] t_estimated: [[0.86361064] [0.5041565 ] [0.00169558]] R_gt: [[ 0.95048059 -0.30930841 -0.03028287] [ 0.31055839 0.94900117 0.05431525] [ 0.01193882 -0.06103076 0.99806402]] t_gt: [ 0.97818754 -0.10803852 0.17741707] Pose Error in degrees for R and t: 75.90189994205993 37.757851461166766 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[ 0.33727623 0.9414012 0.00291816] [ 0.94140041 -0.33728312 0.00231379] [ 0.00316245 0.00196677 -0.99999307]] t_estimated: [[9.99821745e-01] [1.88585902e-02] [9.12053363e-04]] R_gt: [[ 0.9424268 -0.33387808 0.01892459] [ 0.33132231 0.93989364 0.08261405] [-0.04536984 -0.07158721 0.9964009 ]] t_gt: [ 0.96633236 -0.09921375 0.23739926] Pose Error in degrees for R and t: 177.43120849764352 15.311248906458289 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.98326698e-01 5.78246473e-02 3.39029893e-04] [-5.78247014e-02 9.98326741e-01 1.51819914e-04] [-3.29683675e-04 -1.71170175e-04 9.99999931e-01]] t_estimated: [[0.29802874] [0.95455581] [0.00143975]] R_gt: [[ 0.99267551 -0.11009998 0.04974142] [ 0.10812686 0.99330018 0.04077576] [-0.05389734 -0.03509772 0.99792952]] t_gt: [ 0.44984735 -0.76411633 0.46234575] Pose Error in degrees for R and t: 10.261491246168813 53.51170290351309 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.36593866e-01 -3.50416790e-01 6.52749147e-05] [ 3.50416656e-01 9.36593641e-01 7.20458547e-04] [-3.13596841e-04 -6.51903638e-04 9.99999738e-01]] t_estimated: [[0.99460324] [0.10374546] [0.00112767]] R_gt: [[ 0.97221683 -0.23317848 0.02055301] [ 0.2313023 0.97045091 0.06873382] [-0.03597263 -0.06206966 0.99742355]] t_gt: [ 0.63763934 -0.7112796 0.2957996 ] Pose Error in degrees for R and t: 8.15453568410217 55.89303230719871 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 0.9987395 -0.05012444 0.00263506] [ 0.05012743 0.99874224 -0.00108195] [-0.00257752 0.00121267 0.99999594]] t_estimated: [[0.75108649] [0.66020159] [0.00171481]] R_gt: [[ 0.934108 -0.35671279 0.01407751] [ 0.34886527 0.92050114 0.17598509] [-0.07573486 -0.15947755 0.98429222]] t_gt: [ 0.63764164 -0.62701926 0.44750417] Pose Error in degrees for R and t: 20.627719718747628 86.23109984842701 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 5.51278044e-01 8.34321533e-01 -3.14197704e-04] [-8.34321443e-01 5.51277681e-01 -8.05246777e-04] [-4.98624544e-04 7.06056749e-04 9.99999626e-01]] t_estimated: [[7.98426373e-01] [6.02092019e-01] [7.27164274e-04]] R_gt: [[ 0.98972439 -0.04854281 0.13449934] [ 0.02396779 0.98362326 0.17863648] [-0.14096793 -0.17357692 0.97467947]] t_gt: [ 0.05795587 -0.23429912 0.97043549] Pose Error in degrees for R and t: 59.940224478382966 84.60102716483529 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99999446e-01 1.06182210e-05 1.05235603e-03] [-9.80652378e-06 9.99999702e-01 -7.71316383e-04] [-1.05236391e-03 7.71305636e-04 9.99999149e-01]] t_estimated: [[0.76940763] [0.63875351] [0.00241952]] R_gt: [[ 0.97503776 -0.17096466 0.14168136] [ 0.11784817 0.93925254 0.3223628 ] [-0.18818669 -0.29761803 0.93595387]] t_gt: [ 0.30552836 -0.37584003 0.87486953] Pose Error in degrees for R and t: 22.323460483420735 89.83518729353678 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99986088 0.01425088 0.00866783] [-0.01419725 0.99987988 -0.00621842] [-0.0087554 0.00609449 0.9999431 ]] t_estimated: [[9.99991971e-01] [3.93249684e-03] [7.70374299e-04]] R_gt: [[ 0.95107166 -0.29502364 0.09178815] [ 0.23746801 0.88802667 0.39372283] [-0.19766858 -0.35266076 0.91463512]] t_gt: [ 0.46492682 -0.45844516 0.75741078] Pose Error in degrees for R and t: 29.320084812461907 62.373637530798355 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 1.00000000e+00 -3.59351437e-13 -3.58571069e-16] [ 3.59323682e-13 1.00000000e+00 2.74913013e-16] [-6.86930168e-16 -1.88786703e-16 1.00000000e+00]] t_estimated: [[8.62092463e-02] [9.96277046e-01] [1.11838167e-04]] R_gt: [[ 9.99521711e-01 -1.09085825e-03 -3.09018381e-02] [-4.61372308e-04 9.98739976e-01 -5.01789398e-02] [ 3.09183015e-02 5.01701788e-02 9.98262037e-01]] t_gt: [ 0.12738987 0.19731838 -0.97202741] Pose Error in degrees for R and t: 3.378646291995989 78.02661834054045 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 2.44647367e-01 -9.69577515e-01 -8.19191773e-03] [-9.69612120e-01 -2.44638220e-01 -2.11610176e-03] [ 4.76685161e-05 8.46068145e-03 -9.99964207e-01]] t_estimated: [[ 0.68512203] [ 0.72842749] [-0.00109535]] R_gt: [[ 0.99695159 -0.02223662 0.07477918] [ 0.01781596 0.99808312 0.05926521] [-0.07595328 -0.05775169 0.99543779]] t_gt: [ 0.01650342 -0.31147803 0.95011003] Pose Error in degrees for R and t: 175.07455864541492 77.48923677502856 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.57851065 0.81567376 0.00132078] [ 0.8156742 0.57850743 0.00218214] [ 0.00101583 0.00233971 -0.99999675]] t_estimated: [[-0.50986364] [-0.8602545 ] [-0.00112305]] R_gt: [[ 0.98522216 -0.11562413 0.12636487] [ 0.08458658 0.96997091 0.22803956] [-0.14893588 -0.21398034 0.96541687]] t_gt: [ 0.25165869 -0.40210277 0.8803302 ] Pose Error in degrees for R and t: 178.77617697609423 77.48997376859471 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.71673969e-01 -2.36324674e-01 5.87940810e-04] [ 2.36324098e-01 9.71673862e-01 9.09460459e-04] [-7.86214664e-04 -7.44754473e-04 9.99999414e-01]] t_estimated: [[ 0.8497793 ] [-0.52713117] [ 0.00280502]] R_gt: [[ 0.99843335 -0.04777384 0.0291363 ] [ 0.04673622 0.99828343 0.03529096] [-0.03077264 -0.03387365 0.99895258]] t_gt: [ 0.67878318 -0.23461996 0.69584975] Pose Error in degrees for R and t: 11.254004747866226 45.376642697755415 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.73605123e-01 2.28238478e-01 5.10643896e-04] [-2.28238225e-01 9.73605183e-01 -5.09519776e-04] [-6.13457563e-04 3.79522608e-04 9.99999740e-01]] t_estimated: [[-0.56567623] [-0.82462631] [-0.00136398]] R_gt: [[ 0.99373888 -0.09297254 0.06196387] [ 0.08861917 0.99362693 0.0696542 ] [-0.06804564 -0.06372605 0.99564546]] t_gt: [ 0.68230812 -0.21310716 0.69931464] Pose Error in degrees for R and t: 19.167780122577145 77.80816187492076 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 8.63528259e-01 5.04300008e-01 6.69408828e-04] [-5.04299649e-01 8.63528492e-01 -6.38483223e-04] [-9.00040690e-04 2.13765669e-04 9.99999572e-01]] t_estimated: [[0.41152415] [0.91139811] [0.0011625 ]] R_gt: [[ 0.98288045 -0.18365428 0.01477056] [ 0.18330288 0.98280054 0.02240116] [-0.01863102 -0.01930954 0.99964047]] t_gt: [ 0.9793446 -0.13997428 0.14591557] Pose Error in degrees for R and t: 40.88659988798232 74.00095776984593 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.93444112e-01 -1.14318829e-01 -3.61923708e-05] [ 1.14318834e-01 9.93444094e-01 1.90761233e-04] [ 1.41474963e-05 -1.93648093e-04 9.99999981e-01]] t_estimated: [[9.99556890e-01] [2.97539676e-02] [8.50931021e-04]] R_gt: [[ 0.99788687 -0.06123319 0.02174771] [ 0.06083739 0.99797739 0.01842943] [-0.02283253 -0.01706825 0.99959381]] t_gt: [ 0.34611788 -0.87069243 0.34942396] Pose Error in degrees for R and t: 3.4696254920199445 71.31558727978258 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 0.00417023 0.99998976 0.00175684] [ 0.99999077 -0.00417203 0.00102326] [ 0.00103058 0.00175255 -0.99999793]] t_estimated: [[7.62988778e-01] [6.46411353e-01] [6.98068416e-04]] R_gt: [[ 0.98477965 -0.16908289 0.04026164] [ 0.16693132 0.9846026 0.05187014] [-0.04841228 -0.04435939 0.99784185]] t_gt: [ 0.51821085 -0.79032737 0.32686413] Pose Error in degrees for R and t: 179.8859080669634 83.38141580140753 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-5.55109308e-01 -8.31777217e-01 -5.63464298e-04] [-8.31777027e-01 5.55108278e-01 1.33272147e-03] [-7.95743657e-04 1.20848275e-03 -9.99998953e-01]] t_estimated: [[0.85693844] [0.51541799] [0.00089638]] R_gt: [[ 0.951169 -0.30790218 0.02176789] [ 0.30367825 0.94608775 0.11267636] [-0.05528798 -0.10056347 0.99339334]] t_gt: [ 0.64171307 -0.68921757 0.33642752] Pose Error in degrees for R and t: 175.0831035084721 78.75673518712598 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.94130128 -0.33756116 -0.00208963] [ 0.3375643 0.94130145 0.00138488] [ 0.00149949 -0.00200898 0.99999686]] t_estimated: [[-0.50763023] [-0.86157425] [-0.00116429]] R_gt: [[ 0.99707116 -0.0744821 -0.01738527] [ 0.07484159 0.99697226 0.02106479] [ 0.01576262 -0.02230386 0.99962705]] t_gt: [ 0.5347061 -0.84492788 0.01364774] Pose Error in degrees for R and t: 15.510839348850716 62.83727290783457 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.74007695e-01 -2.26513797e-01 7.14239841e-04] [ 2.26514380e-01 9.74007423e-01 -8.81067678e-04] [-4.96100921e-04 1.01995229e-03 9.99999357e-01]] t_estimated: [[-0.72234775] [-0.69152958] [-0.00075166]] R_gt: [[ 0.99409853 -0.10818621 0.00796289] [ 0.10806002 0.99403379 0.01483619] [-0.009521 -0.01388836 0.9998584 ]] t_gt: [ 0.46413893 -0.88053962 0.096047 ] Pose Error in degrees for R and t: 6.955818891294703 74.12275188467252 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 6.24632885e-01 7.80918196e-01 7.28076451e-04] [-7.80918535e-01 6.24632614e-01 5.81834500e-04] [-4.15148956e-07 -9.32001358e-04 9.99999566e-01]] t_estimated: [[7.79912638e-01] [6.25888050e-01] [6.52646559e-04]] R_gt: [[ 0.99479 -0.101836 0.00477731] [ 0.10175895 0.99470743 0.014225 ] [-0.00620062 -0.01366466 0.9998879 ]] t_gt: [ 0.35295363 -0.93273736 0.07365299] Pose Error in degrees for R and t: 57.1928508897422 72.0330645178751 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96009474e-01 8.92473582e-02 -1.92174867e-04] [-8.92473886e-02 9.96009478e-01 -1.55957147e-04] [ 1.77489226e-04 1.72485901e-04 9.99999969e-01]] t_estimated: [[-0.78052784] [-0.62511859] [-0.00174088]] R_gt: [[ 0.9958491 0.0676266 0.06093245] [-0.0651737 0.99701537 -0.04137653] [-0.06354913 0.03723432 0.99728396]] t_gt: [-0.42475502 0.88594476 0.18623923] Pose Error in degrees for R and t: 4.425214090019897 77.13752611430047 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-6.86460070e-01 7.27125298e-01 7.83411256e-03] [-7.27145611e-01 -6.86483160e-01 3.63134258e-04] [ 5.64203045e-03 -5.44726339e-03 9.99969247e-01]] t_estimated: [[0.40750657] [0.91320148] [0.00120934]] R_gt: [[ 0.9842943 0.11965093 0.12980799] [-0.10533897 0.98810523 -0.11203836] [-0.14166903 0.09660596 0.98518872]] t_gt: [-0.42751713 0.88495881 0.1845996 ] Pose Error in degrees for R and t: 127.07030990489143 50.64281530221195 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.62657029e-01 -2.70721289e-01 -1.19500049e-03] [ 2.70721329e-01 9.62657751e-01 -1.31179510e-04] [ 1.18588957e-03 -1.97231243e-04 9.99999277e-01]] t_estimated: [[0.85838751] [0.51300082] [0.00101584]] R_gt: [[ 0.97704728 0.10730923 0.18402229] [-0.09050322 0.99111834 -0.09743344] [-0.19284331 0.07854355 0.97808095]] t_gt: [-0.35328624 0.79150067 0.49871386] Pose Error in degrees for R and t: 24.581146812906663 84.07130944806457 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999789e-01 2.77281656e-04 -5.87153814e-04] [-2.76811649e-04 9.99999641e-01 8.00413250e-04] [ 5.87375543e-04 -8.00250550e-04 9.99999507e-01]] t_estimated: [[-0.99999505] [-0.00271801] [-0.00158573]] R_gt: [[ 0.98252491 -0.13720222 -0.12578036] [ 0.14839009 0.98532554 0.08434774] [ 0.11236155 -0.10153832 0.98846521]] t_gt: [ 0.58945609 -0.80779629 -0.00258326] Pose Error in degrees for R and t: 11.968417685569271 54.03765255043538 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.83740263e-01 -1.79587103e-01 -1.88867865e-03] [ 1.79587677e-01 9.83741962e-01 1.37065972e-04] [ 1.83335715e-03 -4.74020726e-04 9.99998207e-01]] t_estimated: [[0.65884582] [0.75227628] [0.00161087]] R_gt: [[ 0.94031571 -0.28971386 -0.17852652] [ 0.31304093 0.94214064 0.11990504] [ 0.13345825 -0.16863423 0.976602 ]] t_gt: [ 0.64848346 -0.75253242 0.11473516] Pose Error in degrees for R and t: 14.375901896460176 82.02871164826472 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.54090814 0.8409479 0.01500004] [-0.84107098 0.54090517 0.00460491] [-0.00424111 -0.01510694 0.99987689]] t_estimated: [[-0.20306264] [ 0.97911309] [ 0.01015481]] R_gt: [[ 0.88016898 -0.38472796 -0.27800441] [ 0.42443975 0.90012479 0.09811422] [ 0.21249093 -0.20435328 0.95555561]] t_gt: [ 0.71638218 -0.69706063 0.03005084] Pose Error in degrees for R and t: 83.21297382083499 34.14023015080079 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99917496e-01 -1.28450842e-02 -7.55438643e-05] [ 1.28450860e-02 9.99917498e-01 2.39165091e-05] [ 7.52304222e-05 -2.48849033e-05 9.99999997e-01]] t_estimated: [[-0.89792606] [ 0.44014474] [-0.00117915]] R_gt: [[ 0.99825354 -0.0208584 0.0552752 ] [ 0.02198437 0.99956089 -0.01986701] [-0.05483657 0.02104851 0.99827351]] t_gt: [0.37183076 0.56534356 0.73629379] Pose Error in degrees for R and t: 3.4074936352980956 85.07154429854229 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 7.93096784e-01 -6.09093562e-01 -1.58871523e-03] [ 6.09094320e-01 7.93097793e-01 -8.20370887e-06] [ 1.26500337e-03 -9.61171090e-04 9.99998738e-01]] t_estimated: [[8.58618603e-01] [5.12614730e-01] [4.83111715e-04]] R_gt: [[ 0.99255071 0.01643371 0.12072414] [-0.01001786 0.99851373 -0.05356784] [-0.12142431 0.05196032 0.99123911]] t_gt: [-0.30358721 0.75293719 0.58388388] Pose Error in degrees for R and t: 39.02060039852009 82.78556654797316 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.49134906 0.87093816 0.00654455] [ 0.87094157 -0.49127084 -0.01066559] [-0.00607392 0.01094045 -0.9999217 ]] t_estimated: [[-0.96108557] [-0.27624786] [-0.00128487]] R_gt: [[ 0.98889046 0.05254837 0.1390534 ] [-0.03847593 0.99403774 -0.10202494] [-0.14358512 0.09554109 0.98501567]] t_gt: [-0.46523917 0.83757337 0.28639721] Pose Error in degrees for R and t: 170.26796720989998 77.56166037600198 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-6.14399834e-01 -7.88994006e-01 -1.14111606e-03] [-7.88994799e-01 6.14399583e-01 5.99975633e-04] [ 2.27724056e-04 1.26895957e-03 -9.99999169e-01]] t_estimated: [[9.37294388e-01] [3.48537929e-01] [7.36866657e-04]] R_gt: [[ 0.98915311 -0.14528948 -0.02161582] [ 0.14330837 0.98682993 -0.07503552] [ 0.03223366 0.07112326 0.99694691]] t_gt: [ 0.58151808 -0.64333329 -0.49795483] Pose Error in degrees for R and t: 176.72490111165524 71.30921448274162 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.97345718e-01 7.28089809e-02 6.09122295e-04] [-7.28086117e-02 9.97345746e-01 -6.07735279e-04] [-6.51754116e-04 5.61772829e-04 9.99999630e-01]] t_estimated: [[9.20509367e-01] [3.90719803e-01] [7.35818838e-04]] R_gt: [[ 0.96549585 -0.25421375 -0.05651733] [ 0.24898679 0.96470492 -0.08573882] [ 0.07631927 0.06870886 0.99471318]] t_gt: [ 0.63702585 -0.65150703 -0.41199108] Pose Error in degrees for R and t: 19.681435727742837 70.63842966685797 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.95589952e-01 9.37955152e-02 1.74588444e-03] [ 9.37955252e-02 -9.95591479e-01 7.62948508e-05] [ 1.74534379e-03 8.77977612e-05 -9.99998473e-01]] t_estimated: [[9.99097083e-01] [4.24754767e-02] [9.23379929e-04]] R_gt: [[ 0.93215396 -0.3515229 -0.08672402] [ 0.34809606 0.93599428 -0.05239174] [ 0.09959095 0.01864924 0.99485408]] t_gt: [ 0.71163065 -0.65942248 -0.24237124] Pose Error in degrees for R and t: 178.16890523850597 46.94069290187432 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.98098806e-01 -6.16341816e-02 4.09861197e-05] [ 6.16341788e-02 9.98098805e-01 6.57779042e-05] [-4.49623643e-05 -6.31267018e-05 9.99999997e-01]] t_estimated: [[9.98126661e-01] [6.11770583e-02] [7.32714905e-04]] R_gt: [[ 0.98568638 -0.16777558 0.01655243] [ 0.16748279 0.98571517 0.01771993] [-0.01928858 -0.01469334 0.99970597]] t_gt: [ 0.61114878 -0.76786484 0.19204363] Pose Error in degrees for R and t: 6.27263438069793 55.724767748974585 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 7.15604770e-01 -6.98501609e-01 -2.30567406e-03] [-6.98502616e-01 -7.15607347e-01 4.68285175e-04] [-1.97705524e-03 1.27541226e-03 -9.99997232e-01]] t_estimated: [[0.3990271 ] [0.91693838] [0.00117707]] R_gt: [[ 0.95425787 -0.29891356 -0.0066359 ] [ 0.2988218 0.95275387 0.05445526] [-0.00995512 -0.05394716 0.99849346]] t_gt: [ 0.66848111 -0.71187893 0.21531696] Pose Error in degrees for R and t: 177.05655971757076 67.30946800854643 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.60933649e-01 -2.76778676e-01 -2.93219863e-04] [ 2.76778828e-01 9.60933270e-01 8.54865568e-04] [ 4.51561617e-05 -9.02626140e-04 9.99999592e-01]] t_estimated: [[9.33955201e-01] [3.57389162e-01] [8.17824169e-04]] R_gt: [[ 0.93562166 -0.35149407 -0.03262598] [ 0.3520941 0.92257403 0.15775923] [-0.02535124 -0.1590899 0.98693832]] t_gt: [ 0.58113189 -0.70464997 0.40712915] Pose Error in degrees for R and t: 10.332730286025614 73.06720272516026 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999918e-01 3.81308919e-04 1.38181997e-04] [-3.81309024e-04 9.99999927e-01 7.28505566e-07] [-1.38181709e-04 -7.81195548e-07 9.99999990e-01]] t_estimated: [[ 0.90726563] [-0.42055489] [ 0.00163316]] R_gt: [[ 0.99952159 -0.0152166 0.02696571] [ 0.01430025 0.99932554 0.03386686] [-0.02746305 -0.03346426 0.99906271]] t_gt: [ 0.1838492 -0.14064868 0.97283987] Pose Error in degrees for R and t: 2.622101151937488 76.84775354401727 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.85546924e-01 1.69402512e-01 2.21779090e-04] [-1.69402530e-01 9.85546944e-01 6.19161549e-05] [-2.08084952e-04 -9.85912149e-05 9.99999973e-01]] t_estimated: [[-0.08084349] [ 0.9967259 ] [ 0.00134258]] R_gt: [[ 0.99979473 -0.00927045 0.01805966] [ 0.00902865 0.99987021 0.01343816] [-0.01818171 -0.01327232 0.99974695]] t_gt: [0.17876938 0.67633804 0.71456866] Pose Error in degrees for R and t: 10.355845329222468 48.65201121817953 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999977e-01 1.80188043e-04 1.14488847e-04] [-1.80125055e-04 9.99999833e-01 -5.49946604e-04] [-1.14587922e-04 5.49925969e-04 9.99999842e-01]] t_estimated: [[-0.67749853] [-0.73552077] [-0.00222212]] R_gt: [[ 0.99762562 0.06454359 0.02405629] [-0.06558769 0.99681063 0.04548191] [-0.02104492 -0.04695067 0.99867522]] t_gt: [-0.49802984 0.74466245 0.44434684] Pose Error in degrees for R and t: 4.764545293685836 77.80218034602862 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-4.02487527e-01 -9.15422952e-01 -2.14693169e-03] [ 9.15425469e-01 -4.02486337e-01 -9.79074210e-04] [ 3.21563322e-05 -2.35942111e-03 9.99997216e-01]] t_estimated: [[0.94566202] [0.32514888] [0.00124103]] R_gt: [[ 0.98987036 0.14134174 -0.01346347] [-0.14158983 0.98972869 -0.0197214 ] [ 0.0105379 0.0214275 0.99971469]] t_gt: [-0.65784087 0.7257914 -0.2011771 ] Pose Error in degrees for R and t: 121.87228596313567 67.2721431816621 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.51480919e-02 9.95460358e-01 -2.34846568e-03] [-9.95462900e-01 9.51494053e-02 4.53755904e-04] [ 6.75151128e-04 2.29463645e-03 9.99997139e-01]] t_estimated: [[-0.55631034] [ 0.83097085] [-0.00250145]] R_gt: [[ 0.99127577 0.13174042 -0.00433174] [-0.13138973 0.98494252 -0.11235475] [-0.01053504 0.11194418 0.99365849]] t_gt: [-0.46652964 0.71383394 -0.52229416] Pose Error in degrees for R and t: 77.17831056099912 31.348698635025894 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.2420361 0.97007345 0.01939126] [-0.9701877 0.24171203 0.01763851] [ 0.01242355 -0.02308231 0.99965637]] t_estimated: [[0.5534823 ] [0.83285908] [0.00175709]] R_gt: [[ 9.83001919e-01 1.83594440e-01 -6.77194602e-04] [-1.81256389e-01 9.69882462e-01 -1.62706386e-01] [-2.92148553e-02 1.60063555e-01 9.86674067e-01]] t_gt: [-0.45790723 0.72515935 -0.51426149] Pose Error in degrees for R and t: 66.24348838659573 69.53663482979015 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99458537e-01 3.29032145e-02 -1.04554825e-04] [-3.29032178e-02 9.99458542e-01 -2.98442324e-05] [ 1.03516242e-04 3.32682630e-05 9.99999994e-01]] t_estimated: [[-0.74557037] [-0.66642523] [-0.00149656]] R_gt: [[ 0.99922865 0.00457943 0.03901369] [-0.00659651 0.9986392 0.05174592] [-0.03872415 -0.0519618 0.99789794]] t_gt: [-0.14659801 -0.00848045 0.9891598 ] Pose Error in degrees for R and t: 4.035867385752865 83.48459305643256 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.96840622e-01 -7.94270648e-02 -3.41083162e-04] [ 7.94268552e-02 9.96840523e-01 -5.89355272e-04] [ 3.86816276e-04 5.60402113e-04 9.99999768e-01]] t_estimated: [[-0.52181009] [-0.85305733] [-0.00272417]] R_gt: [[ 0.99864345 -0.02881746 0.04338362] [ 0.02614152 0.99779377 0.06103825] [-0.04504724 -0.05981967 0.99719255]] t_gt: [ 0.22499443 -0.15423203 0.96207587] Pose Error in degrees for R and t: 5.257635312709689 89.33858892216303 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.89286448e-01 1.45987089e-01 3.07307335e-04] [-1.45986830e-01 9.89286256e-01 -7.41110346e-04] [-4.12207465e-04 6.88307598e-04 9.99999678e-01]] t_estimated: [[0.75918542] [0.65087363] [0.00100289]] R_gt: [[ 0.99947471 0.02143586 0.02431191] [-0.02310373 0.99723914 0.07058174] [-0.02273168 -0.07110539 0.99721002]] t_gt: [-0.26617411 0.50490846 0.82110827] Pose Error in degrees for R and t: 8.320283736205893 82.68180557715462 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 6.34178628e-01 -7.73185659e-01 -1.18526378e-03] [ 7.73186539e-01 6.34178272e-01 7.03776945e-04] [ 2.07518297e-04 -1.36275030e-03 9.99999050e-01]] t_estimated: [[ 8.98912767e-01] [-4.38127103e-01] [ 6.92874515e-04]] R_gt: [[ 0.99682081 -0.07603001 0.02384056] [ 0.07555065 0.996934 0.02034071] [-0.0253142 -0.01847375 0.99950876]] t_gt: [ 0.91942939 -0.20676572 0.3345109 ] Pose Error in degrees for R and t: 46.3259345562318 23.464313761669356 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-1.22604125e-01 -9.92455357e-01 7.69962759e-04] [-9.92455540e-01 1.22604449e-01 3.88494018e-04] [-4.79963829e-04 -7.16522837e-04 -9.99999628e-01]] t_estimated: [[0.70393955] [0.7102569 ] [0.00206199]] R_gt: [[ 0.99026266 -0.13174051 -0.04499794] [ 0.12913893 0.9900144 -0.05651466] [ 0.05199312 0.05015446 0.99738715]] t_gt: [ 0.94136288 -0.07204537 -0.32961401] Pose Error in degrees for R and t: 175.9285054191687 52.35174821632071 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.31676472 0.94848098 -0.00662843] [ 0.94849179 0.31678853 0.00289091] [ 0.00484178 -0.00537128 -0.99997385]] t_estimated: [[0.99631578] [0.08575311] [0.00112833]] R_gt: [[ 0.99412926 -0.0647458 -0.08668728] [ 0.0559469 0.99337946 -0.10033341] [ 0.09260904 0.09489475 0.99117065]] t_gt: [ 0.67908695 -0.01293451 -0.73394387] Pose Error in degrees for R and t: 178.69386871615524 47.573198835476845 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99999161e-01 -1.21124675e-03 4.59574536e-04] [ 1.21147404e-03 9.99999144e-01 -4.94607448e-04] [-4.58975051e-04 4.95163796e-04 9.99999772e-01]] t_estimated: [[0.9999958 ] [0.00257735] [0.00132492]] R_gt: [[ 0.99971842 -0.01665949 0.01692438] [ 0.01818022 0.99539508 -0.09411593] [-0.01527861 0.0943978 0.9954167 ]] t_gt: [ 0.24437807 0.16989459 -0.95468067] Pose Error in degrees for R and t: 5.533920873649314 75.9038377759435 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.85248097 -0.52274618 -0.00355345] [-0.5227475 -0.85240012 -0.01221043] [ 0.00335399 0.01226672 -0.99991914]] t_estimated: [[ 0.29128935] [ 0.95661665] [-0.00592514]] R_gt: [[ 0.99892794 0.04622368 0.00243059] [-0.04536151 0.98802219 -0.14749323] [-0.00921968 0.14722475 0.98905966]] t_gt: [-0.07830944 0.43267806 -0.89814104] Pose Error in degrees for R and t: 171.20550115753005 66.64556332845727 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.94933355 0.31426722 0.00138715] [-0.31426459 0.94933368 -0.0018262 ] [-0.00189079 0.00129774 0.99999737]] t_estimated: [[-9.86351300e-01] [-1.64653288e-01] [ 6.39122120e-04]] R_gt: [[ 0.98864372 0.1475096 -0.02872222] [-0.15025776 0.97354129 -0.17216359] [ 0.00256628 0.17452444 0.9846493 ]] t_gt: [-0.30173829 0.6619697 -0.68611233] Pose Error in degrees for R and t: 13.89329025586143 79.15306260042979 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99608136e-01 2.79921271e-02 1.23929167e-04] [-2.79921332e-02 9.99608142e-01 4.73195475e-05] [-1.22556029e-04 -5.07700464e-05 9.99999991e-01]] t_estimated: [[0.80971777] [0.58681831] [0.00118984]] R_gt: [[ 0.99678679 -0.08008487 -0.00182674] [ 0.08007 0.996763 -0.00725698] [ 0.00240189 0.00708838 0.99997152]] t_gt: [ 0.57166019 -0.81908297 -0.04803876] Pose Error in degrees for R and t: 6.212220661543554 88.9785552796963 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-7.62645710e-02 9.97087555e-01 3.49539300e-04] [-9.97086114e-01 -7.62638428e-02 -1.76293592e-03] [-1.73114425e-03 -4.82970334e-04 9.99998385e-01]] t_estimated: [[0.39555596] [0.91844128] [0.00104368]] R_gt: [[ 0.98278365 -0.18008701 0.04130613] [ 0.17921065 0.98351733 0.02404668] [-0.0449562 -0.01622973 0.998857 ]] t_gt: [ 0.55580153 -0.8001027 0.22565532] Pose Error in degrees for R and t: 104.75273609899217 59.01850356220881 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-1.20463905e-01 -9.92715935e-01 -1.87617387e-03] [-9.92717528e-01 1.20462529e-01 8.30337840e-04] [-5.98280955e-04 1.96253642e-03 -9.99997895e-01]] t_estimated: [[7.69271908e-01] [6.38921181e-01] [6.75392369e-04]] R_gt: [[ 0.9563871 -0.29147374 0.0191576 ] [ 0.29013719 0.95550173 0.05325789] [-0.03382935 -0.04537654 0.99839683]] t_gt: [ 0.65816869 -0.72576486 0.20019826] Pose Error in degrees for R and t: 176.98787955694996 87.55046893307893 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999816e-01 -5.78102089e-04 1.84660717e-04] [ 5.78108679e-04 9.99999832e-01 -3.56351610e-05] [-1.84640085e-04 3.57419084e-05 9.99999982e-01]] t_estimated: [[0.38329559] [0.92362419] [0.00168853]] R_gt: [[ 9.91921956e-01 -1.26772026e-01 -4.50674434e-03] [ 1.26849056e-01 9.91511714e-01 2.85333690e-02] [ 8.51577150e-04 -2.88743158e-02 9.99582552e-01]] t_gt: [ 0.48004241 -0.85827396 0.18145273] Pose Error in degrees for R and t: 7.440568958319975 52.52479396338322 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.99999768 -0.00130566 0.00171195] [ 0.00130854 0.99999773 -0.00168263] [-0.00170974 0.00168487 0.99999712]] t_estimated: [[0.41880622] [0.90807509] [0.00099243]] R_gt: [[ 0.95594752 -0.26632584 -0.12343308] [ 0.28266496 0.94858763 0.14241677] [ 0.07915806 -0.1710332 0.98207975]] t_gt: [ 0.58302572 -0.77596326 0.24075305] Pose Error in degrees for R and t: 19.399523034936227 62.598748458198585 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99954752 0.02993036 0.00298905] [-0.02990472 0.99951842 -0.00828489] [-0.00323558 0.00819176 0.99996121]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.89657919 -0.39391132 -0.20243354] [ 0.42501866 0.89378406 0.14321056] [ 0.12451919 -0.21443693 0.9687679 ]] t_gt: [ 0.67092268 -0.72006129 0.17712847] Pose Error in degrees for R and t: 30.128345719569204 46.76870332362038 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.31589658e-01 3.63511611e-01 1.29867512e-04] [-3.63511523e-01 9.31589593e-01 -4.50548100e-04] [-2.84762689e-04 3.72517614e-04 9.99999890e-01]] t_estimated: [[-5.71667111e-01] [ 8.20485645e-01] [-1.39295207e-04]] R_gt: [[ 0.99699383 0.01923799 0.07506551] [-0.01618535 0.99902573 -0.04106208] [-0.07578288 0.03972317 0.99633317]] t_gt: [-0.48640804 0.81811304 0.30675441] Pose Error in degrees for R and t: 20.872948663464683 18.328211293487747 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.73015275e-01 -2.30740657e-01 -1.52689658e-04] [ 2.30740680e-01 9.73015269e-01 1.58757187e-04] [ 1.11937631e-04 -1.89704884e-04 9.99999976e-01]] t_estimated: [[ 2.09839001e-01] [-9.77735804e-01] [-5.38964812e-04]] R_gt: [[ 0.9924881 0.05572336 0.10891982] [-0.04695256 0.99556727 -0.08149747] [-0.11297879 0.07577108 0.99070436]] t_gt: [-0.58994225 0.79213177 0.15651004] Pose Error in degrees for R and t: 18.069267053029943 26.054997966381688 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.93044594e-01 1.17736886e-01 -6.78395084e-04] [-1.17736538e-01 9.93044724e-01 5.31895943e-04] [ 7.36300431e-04 -4.48324503e-04 9.99999628e-01]] t_estimated: [[-0.99334955] [-0.11512818] [-0.001476 ]] R_gt: [[ 0.98129734 0.10380377 0.16211621] [-0.08498465 0.9892506 -0.11900737] [-0.17272684 0.103004 0.97956872]] t_gt: [-0.65934664 0.71256497 0.23981905] Pose Error in degrees for R and t: 11.721801093580714 55.07026684527395 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-4.52881663e-01 8.91567787e-01 2.25382838e-03] [ 8.91570557e-01 4.52881240e-01 7.23692587e-04] [-3.75495594e-04 2.33719413e-03 -9.99997198e-01]] t_estimated: [[0.63796007] [0.77006862] [0.00112913]] R_gt: [[ 0.97652834 -0.21477891 -0.01622963] [ 0.21520987 0.97602318 0.03262238] [ 0.00883392 -0.03534922 0.99933578]] t_gt: [ 0.60675597 -0.79087382 0.07978585] Pose Error in degrees for R and t: 178.45854732674968 77.18222916919065 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.22791131e-01 3.85300553e-01 -1.11813591e-04] [-3.85300252e-01 9.22790703e-01 1.01682304e-03] [ 4.94963021e-04 -8.95233474e-04 9.99999477e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 9.19973155e-01 -3.87697096e-01 -5.78048982e-02] [ 3.86985032e-01 9.21786788e-01 -2.35116669e-02] [ 6.23983060e-02 -7.39311978e-04 9.98051548e-01]] t_gt: [ 0.71333939 -0.69147442 -0.11406156] Pose Error in degrees for R and t: 45.60751929401392 68.47947040973328 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 8.46516188e-01 -5.32361246e-01 1.35897669e-03] [-5.32362100e-01 -8.46516673e-01 3.41623678e-04] [ 9.68529220e-04 -1.01265766e-03 -9.99999018e-01]] t_estimated: [[0.5449537 ] [0.83846557] [0.00097837]] R_gt: [[ 0.88706097 -0.45600409 -0.07199146] [ 0.4537938 0.88994385 -0.0455117 ] [ 0.08482162 0.00770248 0.9963663 ]] t_gt: [ 0.72856452 -0.66867194 -0.14856504] Pose Error in degrees for R and t: 177.23340821080296 80.57422191210024 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 2.73981646e-01 -9.61734881e-01 2.78256491e-04] [-9.61734887e-01 -2.73981548e-01 3.43586283e-04] [-2.54201769e-04 -3.61745310e-04 -9.99999902e-01]] t_estimated: [[0.62469432] [0.78086789] [0.00153111]] R_gt: [[ 0.98948349 0.14350172 -0.0181412 ] [-0.14434697 0.98768975 -0.06027061] [ 0.00926845 0.06225548 0.99801762]] t_gt: [-0.33232629 0.9063608 -0.26090101] Pose Error in degrees for R and t: 176.74008841475785 60.016787626095926 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-6.76088562e-01 7.36819740e-01 9.62390150e-04] [-7.36820054e-01 -6.76088905e-01 4.19783393e-05] [ 6.81591771e-04 -6.80727287e-04 9.99999536e-01]] t_estimated: [[0.75020202] [0.66120823] [0.00078065]] R_gt: [[ 0.97663199 0.21487595 -0.00424941] [-0.21478927 0.97516843 -0.0539567 ] [-0.00745091 0.05360858 0.99853478]] t_gt: [-0.35368532 0.9313586 -0.08647458] Pose Error in degrees for R and t: 120.14956702162175 69.48705354893191 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.53501958e-01 -3.01386820e-01 -1.22282584e-05] [ 3.01386794e-01 9.53501892e-01 -3.76566122e-04] [ 1.25151733e-04 3.55371099e-04 9.99999929e-01]] t_estimated: [[-0.57691821] [-0.81680104] [-0.00119941]] R_gt: [[ 0.97296544 0.22662922 0.04445997] [-0.22947654 0.97038362 0.07546443] [-0.02604077 -0.08362697 0.99615717]] t_gt: [-0.386347 0.86696085 0.31482515] Pose Error in degrees for R and t: 31.15077617839629 60.946799840388515 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 7.86469399e-01 -6.17629010e-01 -5.38582380e-04] [ 6.17629018e-01 7.86469559e-01 -1.71279941e-04] [ 5.29366107e-04 -1.97937675e-04 9.99999840e-01]] t_estimated: [[-0.00906696] [-0.99995806] [-0.00129528]] R_gt: [[ 0.9936371 0.09030931 -0.06730317] [-0.08955733 0.99588177 0.01411809] [ 0.06830135 -0.00800019 0.99763255]] t_gt: [-0.18448024 0.79611063 -0.57634617] Pose Error in degrees for R and t: 43.47667939951846 37.471313765697445 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 5.21908021e-02 9.98636780e-01 8.37743946e-04] [-9.98636084e-01 5.21919441e-02 -1.40465580e-03] [-1.44646443e-03 -7.63291221e-04 9.99998663e-01]] t_estimated: [[0.31206786] [0.95005921] [0.00107461]] R_gt: [[ 0.98810024 0.08631351 -0.12731442] [-0.08577433 0.99626773 0.00972148] [ 0.12767804 0.00131472 0.99181449]] t_gt: [ 0.13160355 0.48354469 -0.86536988] Pose Error in degrees for R and t: 82.33021199387838 60.03073369597921 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-9.07070300e-01 -4.20978185e-01 -9.16190403e-04] [-4.20976499e-01 9.07054599e-01 5.54447472e-03] [-1.50306819e-03 5.41492298e-03 -9.99984210e-01]] t_estimated: [[9.87088819e-01] [1.60172021e-01] [7.66373307e-04]] R_gt: [[ 0.99073011 0.03471132 -0.13133838] [-0.02982557 0.99879524 0.03898634] [ 0.13253368 -0.03470826 0.99057098]] t_gt: [ 0.48713497 -0.0970423 -0.86791838] Pose Error in degrees for R and t: 173.0638965307994 62.31327657994082 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.87869195e-01 -1.55287693e-01 4.31799257e-04] [ 1.55287919e-01 9.87869100e-01 -5.50971536e-04] [-3.41002044e-04 6.11341016e-04 9.99999755e-01]] t_estimated: [[-0.79680655] [-0.60423165] [-0.00185166]] R_gt: [[ 0.99451744 0.07685933 -0.07091319] [-0.07144593 0.99454752 0.07596565] [ 0.07636503 -0.07048297 0.99458514]] t_gt: [-0.62831998 0.22676351 0.74417223] Pose Error in degrees for R and t: 14.493829814387405 68.76132378223696 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.36836239 0.92968092 0.00159058] [-0.92968085 0.36836429 -0.0011243 ] [-0.00163115 -0.00106458 0.9999981 ]] t_estimated: [[0.02530832] [0.9996787 ] [0.00140602]] R_gt: [[ 0.98440406 0.13170113 -0.11663502] [-0.10924191 0.97729611 0.18154076] [ 0.1378961 -0.16596883 0.97644191]] t_gt: [-0.21908908 0.27292081 0.93675728] Pose Error in degrees for R and t: 62.528303707721015 74.41870062959214 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 3.74382665e-01 9.27268249e-01 3.34872602e-03] [-9.27274217e-01 3.74381682e-01 9.39432540e-04] [-3.82595714e-04 -3.45689456e-03 9.99993952e-01]] t_estimated: [[0.2254383 ] [0.97425651] [0.00135146]] R_gt: [[ 0.9684091 0.2144735 -0.127222 ] [-0.18642665 0.96150704 0.20186128] [ 0.1656187 -0.17176666 0.97111565]] t_gt: [-0.41371343 0.75761413 0.50483861] Pose Error in degrees for R and t: 57.802690386924084 49.79488157204017 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-2.70501391e-01 -9.62719140e-01 9.24960827e-04] [ 9.62705928e-01 -2.70502546e-01 -5.06648122e-03] [ 5.12780270e-03 -4.80024944e-04 9.99986738e-01]] t_estimated: [[ 0.84591111] [-0.53330271] [-0.00475538]] R_gt: [[ 0.99705231 0.00865395 -0.07623944] [-0.00737907 0.99982795 0.0169935 ] [ 0.07637364 -0.01638049 0.99694463]] t_gt: [ 0.57941134 0.25236641 -0.7749798 ] Pose Error in degrees for R and t: 106.21308895006254 68.94719965253145 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.77157867e-01 2.12514674e-01 1.31709301e-04] [-2.12514683e-01 9.77157871e-01 6.43476201e-05] [-1.15025967e-04 -9.08679436e-05 9.99999989e-01]] t_estimated: [[4.63780802e-01] [8.85949637e-01] [7.79971656e-04]] R_gt: [[ 0.99109008 0.01448657 -0.13240702] [-0.01420821 0.99989355 0.00304266] [ 0.1324376 -0.00113408 0.99118964]] t_gt: [ 0.57407292 0.25695721 -0.77744021] Pose Error in degrees for R and t: 13.740777510721882 60.44302767004838 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.98096778 -0.19407379 -0.00612947] [ 0.19403257 -0.980972 0.0067295 ] [-0.00731885 0.00541211 0.99995857]] t_estimated: [[0.81984225] [0.57258824] [0.00118303]] R_gt: [[ 0.98258877 0.00302459 -0.18576994] [-0.00202791 0.99998185 0.00555513] [ 0.18578392 -0.0050809 0.98257657]] t_gt: [ 0.66980649 0.1636391 -0.72427999] Pose Error in degrees for R and t: 169.03662604389123 50.06062948712569 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[-0.41617127 -0.9092549 0.00755002] [-0.9092462 0.41621652 0.00592983] [-0.00853417 -0.004397 -0.99995392]] t_estimated: [[0.82773723] [0.56108699] [0.00569874]] R_gt: [[ 0.98521552 -0.17031447 -0.01853249] [ 0.17097758 0.98431355 0.04350445] [ 0.01083289 -0.04602945 0.99888188]] t_gt: [ 0.53024837 -0.83114317 0.1674446 ] Pose Error in degrees for R and t: 178.7712866159068 88.48245391301312 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.93705581e-01 1.12022648e-01 -3.81498410e-04] [-1.12022543e-01 9.93705624e-01 2.86163952e-04] [ 4.11153959e-04 -2.41626294e-04 9.99999886e-01]] t_estimated: [[-0.83567217] [-0.54922716] [-0.00124541]] R_gt: [[ 0.96793473 -0.24594014 -0.05114296] [ 0.24838508 0.96743907 0.04864394] [ 0.0375154 -0.05978725 0.99750581]] t_gt: [ 0.55639072 -0.82418383 0.10559534] Pose Error in degrees for R and t: 21.14149088701739 89.28793261575944 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.33326289e-01 3.59028747e-01 -6.29656287e-04] [-3.59028523e-01 9.33326483e-01 4.42519213e-04] [ 7.46552007e-04 -1.86950248e-04 9.99999704e-01]] t_estimated: [[-0.98704322] [-0.16044824] [-0.00143257]] R_gt: [[ 0.93472521 -0.34981284 -0.06261002] [ 0.35376538 0.93267975 0.07042568] [ 0.03375962 -0.08797793 0.99554998]] t_gt: [ 0.63639901 -0.75510668 0.15751253] Pose Error in degrees for R and t: 42.01430340787205 59.52093982892186 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.91078726e-01 1.33277267e-01 3.58705463e-04] [-1.33277308e-01 9.91078781e-01 9.29483234e-05] [-3.43117475e-04 -1.39926404e-04 9.99999931e-01]] t_estimated: [[0.70146965] [0.71269806] [0.00134666]] R_gt: [[ 0.9887988 -0.14780167 0.02076886] [ 0.1484952 0.98821529 -0.0371455 ] [-0.01503401 0.03981312 0.99909337]] t_gt: [ 0.72363378 -0.6871397 -0.06475488] Pose Error in degrees for R and t: 16.36384347399413 88.98026447031692 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.98935407e-01 -4.61306867e-02 1.11264501e-04] [ 4.61306871e-02 9.98935413e-01 -1.52731010e-06] [-1.11075595e-04 6.65839203e-06 9.99999994e-01]] t_estimated: [[9.79624608e-01] [2.00837110e-01] [2.87234912e-04]] R_gt: [[ 0.96170504 -0.27293194 0.02511553] [ 0.27380255 0.96083274 -0.04280255] [-0.01244938 0.04803954 0.99876788]] t_gt: [ 0.7721546 -0.63341253 -0.05065413] Pose Error in degrees for R and t: 13.531270531870403 51.00929109010877 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-9.10732063e-01 -4.12997103e-01 7.09025732e-04] [-4.12991366e-01 9.10726244e-01 3.97989030e-03] [-2.28941151e-03 3.33179220e-03 -9.99991829e-01]] t_estimated: [[ 9.99970996e-01] [-7.58276674e-03] [ 7.13607770e-04]] R_gt: [[ 0.9174129 -0.39457694 0.05159606] [ 0.39639547 0.91754612 -0.03130617] [-0.03498912 0.04917328 0.99817703]] t_gt: [ 0.80929757 -0.58739645 0.00168665] Pose Error in degrees for R and t: 177.8913753848648 35.53807960239028 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-9.23356720e-01 -3.83942482e-01 7.33256970e-04] [-3.83935611e-01 9.23348823e-01 4.51641420e-03] [-2.41109524e-03 3.88873794e-03 -9.99989532e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 9.80381381e-01 -1.95007629e-01 2.87407010e-02] [ 1.95060890e-01 9.80789838e-01 9.69029307e-04] [-2.83772232e-02 4.65643251e-03 9.99586759e-01]] t_gt: [ 0.84755269 -0.52676434 0.06460472] Pose Error in degrees for R and t: 178.2945040920218 41.21818039448633 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.86542645e-01 -1.63502677e-01 -6.95906326e-04] [ 1.63503209e-01 9.86542485e-01 7.91181686e-04] [ 5.57180833e-04 -8.94317390e-04 9.99999445e-01]] t_estimated: [[9.99994892e-01] [3.10075942e-03] [7.75189839e-04]] R_gt: [[ 0.917935 -0.39644625 0.01506169] [ 0.39636701 0.91805702 0.00804843] [-0.01701748 -0.00141685 0.99985479]] t_gt: [ 0.89736486 -0.44075773 0.02165478] Pose Error in degrees for R and t: 13.980799423386111 26.361493634575396 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-7.07797433e-01 -7.06414262e-01 -1.29760371e-03] [ 7.06415452e-01 -7.07796111e-01 -1.36917553e-03] [ 4.87662616e-05 -1.88574624e-03 9.99998221e-01]] t_estimated: [[7.87468788e-01] [6.16354196e-01] [6.43359350e-04]] R_gt: [[ 0.69286667 -0.72055441 0.02714268] [ 0.71992603 0.69339587 0.03013444] [-0.04053399 -0.00133759 0.99917814]] t_gt: [ 0.96454313 -0.26249 0.02748728] Pose Error in degrees for R and t: 88.98337422226619 53.28904197330915 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.86847457e-01 -1.61654107e-01 -2.13531143e-04] [ 1.61654099e-01 9.86847480e-01 -5.48018482e-05] [ 2.19581614e-04 1.95628801e-05 9.99999976e-01]] t_estimated: [[ 0.79314279] [-0.6090346 ] [-0.00116993]] R_gt: [[ 9.95977265e-01 -8.96068300e-02 7.48673130e-04] [ 8.95885870e-02 9.95518134e-01 -3.02663578e-02] [ 1.96641395e-03 3.02125103e-02 9.99540970e-01]] t_gt: [ 0.52136348 -0.81887407 -0.24005287] Pose Error in degrees for R and t: 4.507782017569865 24.14416250650107 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.97321526 -0.22986233 0.00392067] [-0.22983945 0.97321281 0.00553648] [-0.00508827 0.00448706 -0.99997699]] t_estimated: [[0.97821756] [0.20757453] [0.00179218]] R_gt: [[ 0.97630426 -0.21498448 -0.02471603] [ 0.21439953 0.97644268 -0.02432969] [ 0.02936457 0.01845477 0.99939769]] t_gt: [ 0.63843854 -0.75642433 -0.1421916 ] Pose Error in degrees for R and t: 178.59793558925148 62.14325174952973 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-8.67770301e-01 4.96866775e-01 -9.90521505e-03] [-4.96899406e-01 -8.67807584e-01 9.88560542e-04] [-8.10463786e-03 5.77973896e-03 9.99950454e-01]] t_estimated: [[0.72226602] [0.69161491] [0.00078593]] R_gt: [[ 0.91772526 -0.39679707 -0.01824754] [ 0.39682947 0.91789026 -0.00199653] [ 0.01754145 -0.00540853 0.99983082]] t_gt: [ 0.74293094 -0.66932251 -0.00780969] Pose Error in degrees for R and t: 173.5856218134574 85.7749507399405 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99993124e-01 3.70828974e-03 -2.07357396e-05] [-3.70828942e-03 9.99993124e-01 1.58317740e-05] [ 2.07943058e-05 -1.57547710e-05 1.00000000e+00]] t_estimated: [[5.33548746e-03] [9.99985758e-01] [1.30796469e-04]] R_gt: [[ 0.99833361 0.0097354 0.05687862] [-0.00471615 0.99613413 -0.08772037] [-0.05751251 0.08730608 0.99452079]] t_gt: [-0.47352487 0.58720347 -0.65648022] Pose Error in degrees for R and t: 6.005620726677159 54.226480982448486 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 8.88103108e-01 -4.59630049e-01 3.61773375e-03] [-4.59643855e-01 -8.88063988e-01 8.35936145e-03] [-6.29434649e-04 -9.08684398e-03 -9.99958516e-01]] t_estimated: [[0.27350247] [0.96186335] [0.00391168]] R_gt: [[ 0.99290108 0.05604744 0.10491237] [-0.03964738 0.98753268 -0.15234105] [-0.11214174 0.14709949 0.98274452]] t_gt: [-0.68103807 0.66750025 -0.3010491 ] Pose Error in degrees for R and t: 173.6151856974967 62.96074648856092 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.72506095e-01 2.32875792e-01 8.72299508e-04] [-2.32876976e-01 9.72504758e-01 1.67601745e-03] [-4.58011530e-04 -1.83307566e-03 9.99998215e-01]] t_estimated: [[0.41341014] [0.91054344] [0.00164366]] R_gt: [[ 0.98354737 0.12715007 0.12832206] [-0.10730173 0.98265553 -0.15124377] [-0.14532727 0.13498573 0.98013205]] t_gt: [-0.73359683 0.67826403 0.04235084] Pose Error in degrees for R and t: 13.27614608611917 71.67648419611469 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.96284613 0.26805833 0.03274231] [ 0.2680909 0.96338736 -0.00347318] [-0.03247454 0.00543378 -0.99945779]] t_estimated: [[ 0.99028634] [-0.13804464] [ 0.01663243]] R_gt: [[ 0.99542329 -0.08823758 -0.03669824] [ 0.08824768 0.99609669 -0.00135829] [ 0.03667486 -0.00188665 0.99932579]] t_gt: [ 0.56190944 -0.79492167 -0.22881721] Pose Error in degrees for R and t: 179.80986604078302 48.51835059873207 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-3.49801551e-01 -9.36820833e-01 -2.36669420e-03] [ 9.36823683e-01 -3.49801764e-01 -3.36819284e-04] [-5.12334484e-04 -2.33499508e-03 9.99997143e-01]] t_estimated: [[9.94990273e-01] [9.99683676e-02] [8.26253414e-04]] R_gt: [[ 0.96547233 -0.25909606 -0.02705289] [ 0.25973297 0.96539541 0.02343606] [ 0.02004521 -0.0296544 0.99935951]] t_gt: [ 0.67281087 -0.73858514 0.04263249] Pose Error in degrees for R and t: 95.44839598508779 53.44170584649566 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 8.30777336e-01 -5.56603911e-01 -1.05046079e-03] [ 5.56604367e-01 8.30777676e-01 1.80446736e-04] [ 7.72262018e-04 -7.34602124e-04 9.99999432e-01]] t_estimated: [[ 9.89113782e-01] [-1.47152607e-01] [-1.92506280e-04]] R_gt: [[ 0.91569277 -0.39962252 -0.04252937] [ 0.40027501 0.91636153 0.0077578 ] [ 0.03587138 -0.02412766 0.99906511]] t_gt: [ 0.75579968 -0.65479833 0.00244941] Pose Error in degrees for R and t: 10.5153938869473 32.44287905169938 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.91896992 0.39426313 -0.00713218] [ 0.39427844 -0.91841928 0.03241218] [ 0.0062286 -0.03259789 -0.99944914]] t_estimated: [[-0.61660429] [ 0.78710272] [ 0.01638455]] R_gt: [[ 0.99675332 0.04496182 0.06678818] [-0.04129773 0.99761683 -0.05526424] [-0.0691135 0.0523275 0.9962349 ]] t_gt: [-0.7846051 0.59197456 0.18428499] Pose Error in degrees for R and t: 178.09115363102347 17.682351670569684 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999951e-01 3.12485065e-04 3.63774439e-05] [-3.12483324e-04 9.99999950e-01 -4.78327161e-05] [-3.63923891e-05 4.78213464e-05 9.99999998e-01]] t_estimated: [[-9.99980803e-01] [-6.15845233e-03] [-6.82913803e-04]] R_gt: [[ 0.99174298 0.10970145 0.06641037] [-0.10968844 0.99395812 -0.00385591] [-0.06643208 -0.0034601 0.99778466]] t_gt: [-0.73359651 0.5585407 0.38712846] Pose Error in degrees for R and t: 7.351631900391707 43.12380672090186 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.97756828 -0.21040634 -0.0094571 ] [ 0.21047992 0.97756866 0.00759737] [ 0.00764643 -0.00941748 0.99992642]] t_estimated: [[-0.37121018] [-0.92854828] [-0.00104566]] R_gt: [[ 0.99410674 0.06780118 -0.08458378] [-0.05545845 0.98851441 0.14058305] [ 0.09314471 -0.13506312 0.98644881]] t_gt: [-0.6839645 0.03619885 0.72861663] Pose Error in degrees for R and t: 17.969884562541836 77.31913910841928 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999822e-01 5.96679341e-04 6.17003755e-07] [-5.96679206e-04 9.99999802e-01 -1.99017721e-04] [-7.35753395e-07 1.99017317e-04 9.99999980e-01]] t_estimated: [[2.06474806e-01] [9.78451852e-01] [3.56586175e-04]] R_gt: [[ 9.94730714e-01 -9.76907583e-02 3.10984485e-02] [ 9.76237832e-02 9.95216154e-01 3.65556958e-03] [-3.13074156e-02 -5.98958791e-04 9.99509752e-01]] t_gt: [ 0.17911786 -0.94629156 0.26916365] Pose Error in degrees for R and t: 5.918574464909962 27.274480391348966 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999090e-01 -1.32991398e-03 -2.25294088e-04] [ 1.32988113e-03 9.99999105e-01 -1.45893706e-04] [ 2.25487912e-04 1.45593958e-04 9.99999964e-01]] t_estimated: [[-0.99935464] [-0.03579302] [-0.00302861]] R_gt: [[ 0.97100768 -0.23896312 0.00646046] [ 0.2384642 0.9701642 0.04377195] [-0.01672743 -0.04096227 0.99902114]] t_gt: [ 0.43716377 -0.87517504 0.20725948] Pose Error in degrees for R and t: 13.974264275670782 66.03464404625316 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 1.00000000e+00 1.52655666e-16 1.35525272e-19] [-1.66533454e-16 1.00000000e+00 0.00000000e+00] [ 1.09016528e-16 1.46779290e-15 1.00000000e+00]] t_estimated: [[-0.0740672 ] [-0.99725274] [-0.00100806]] R_gt: [[ 0.92760214 -0.37283276 -0.02348631] [ 0.37354793 0.92640298 0.04730828] [ 0.00411984 -0.05265667 0.9986047 ]] t_gt: [ 0.56237607 -0.81472996 0.14123826] Pose Error in degrees for R and t: 22.134045834660693 39.58359772362931 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999814e-01 -5.99024032e-04 -1.16155815e-04] [ 5.99097445e-04 9.99999620e-01 6.33020755e-04] [ 1.15776576e-04 -6.33090225e-04 9.99999793e-01]] t_estimated: [[0.60550052] [0.7958435 ] [0.00149876]] R_gt: [[ 0.99669891 0.02433788 -0.07745698] [-0.02596248 0.99946174 -0.02004368] [ 0.07692728 0.02198855 0.99679409]] t_gt: [ 0.31769262 0.39212813 -0.86331161] Pose Error in degrees for R and t: 4.824105676130793 59.79192389451433 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99998850e-01 -1.51515685e-03 5.98579517e-05] [ 1.51507936e-03 9.99998041e-01 1.27395902e-03] [-6.17880821e-05 -1.27386687e-03 9.99999187e-01]] t_estimated: [[0.63705523] [0.77081646] [0.00161836]] R_gt: [[ 0.99144185 0.00681368 -0.13037391] [-0.01037976 0.99958982 -0.02669257] [ 0.13013803 0.02781783 0.9911056 ]] t_gt: [ 0.54627685 0.21741214 -0.80889651] Pose Error in degrees for R and t: 7.688095787671845 59.05037169043664 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 7.35936212e-01 -6.77050568e-01 -6.49198065e-04] [ 6.77050879e-01 7.35935856e-01 7.23185227e-04] [-1.18648347e-05 -9.71758316e-04 9.99999528e-01]] t_estimated: [[9.99993909e-01] [3.39228094e-03] [8.21050924e-04]] R_gt: [[ 0.98169468 0.01562098 -0.18982135] [-0.0173246 0.99982269 -0.00732016] [ 0.18967309 0.01047527 0.98179132]] t_gt: [ 0.58650895 0.20309522 -0.78406605] Pose Error in degrees for R and t: 44.85205306707824 54.087392915723555 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 0.94877761 -0.31591719 0.00416911] [-0.31591968 -0.94845381 0.02510228] [-0.00397604 -0.02513358 -0.99967619]] t_estimated: [[0.13587005] [0.99064173] [0.01297247]] R_gt: [[ 0.99672135 -0.00335815 -0.0808407 ] [ 0.00632918 0.99931259 0.0365126 ] [ 0.08066338 -0.03690461 0.9960584 ]] t_gt: [ 0.62889438 -0.77131322 -0.09781502] Pose Error in degrees for R and t: 177.20634954945828 47.16291629185151 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.63818313e-01 -2.66559685e-01 4.41303480e-04] [ 2.66559862e-01 9.63818279e-01 -4.06806668e-04] [-3.16898103e-04 5.09721511e-04 9.99999820e-01]] t_estimated: [[0.2508152 ] [0.96803396] [0.00140907]] R_gt: [[ 0.98627273 0.10097389 -0.13065654] [-0.08166214 0.98597554 0.14554537] [ 0.14352029 -0.13287818 0.98068614]] t_gt: [-0.27913842 -0.17244525 0.94463982] Pose Error in degrees for R and t: 23.604580532158366 76.3721844762678 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.07817800e-01 -4.19361965e-01 1.54404934e-03] [ 4.19363063e-01 9.07818490e-01 -4.58634002e-04] [-1.20938288e-03 1.06387337e-03 9.99998703e-01]] t_estimated: [[0.7254925 ] [0.68822957] [0.00082804]] R_gt: [[ 0.97886926 0.11897313 -0.16631589] [-0.08602914 0.977444 0.19287591] [ 0.18551128 -0.17449227 0.96702498]] t_gt: [0.10863397 0.17183926 0.97911691] Pose Error in degrees for R and t: 34.09211874051073 78.5864748651621 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-6.53143485e-01 7.57233929e-01 -6.03673879e-04] [-7.57232020e-01 -6.53143323e-01 -1.86227856e-03] [-1.80446607e-03 -7.59213916e-04 9.99998084e-01]] t_estimated: [[0.48459627] [0.87473733] [0.00102669]] R_gt: [[ 0.99900158 0.03757684 -0.02413374] [-0.03668471 0.99866268 0.03640494] [ 0.02546925 -0.0354837 0.99904578]] t_gt: [0.0322745 0.99936554 0.01506256] Pose Error in degrees for R and t: 128.66590663017394 27.1471139601525 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.04039173e-01 -4.27449521e-01 -2.84100809e-04] [ 4.27449568e-01 9.04039186e-01 1.29750760e-04] [ 2.01376365e-04 -2.38738538e-04 9.99999951e-01]] t_estimated: [[-0.65106677] [-0.75902 ] [-0.00083685]] R_gt: [[ 0.98696793 0.11249184 -0.11506473] [-0.11092153 0.99362829 0.01998162] [ 0.11657874 -0.00695882 0.99315709]] t_gt: [ 4.24710995e-04 6.61554021e-01 -7.49897391e-01] Pose Error in degrees for R and t: 32.42136654667447 59.88205357115976 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-0.98439867 -0.17575552 -0.00832234] [ 0.175723 -0.98442939 0.00449468] [-0.00898272 0.00296213 0.99995527]] t_estimated: [[0.8689992 ] [0.49480382] [0.00309252]] R_gt: [[ 0.98671102 0.07441781 -0.14443921] [-0.07192198 0.99715775 0.02243839] [ 0.14569864 -0.01175111 0.98925943]] t_gt: [ 0.31480844 0.26699065 -0.91083019] Pose Error in degrees for R and t: 174.12400214716706 66.24293769306087 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.00094928e-01 -4.35693320e-01 -6.71349851e-04] [ 4.35693718e-01 9.00094754e-01 6.46523596e-04] [ 3.22592467e-04 -8.74435523e-04 9.99999566e-01]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.99747988 -0.01123962 0.07005429] [ 0.00169925 0.99087299 0.13479023] [-0.07092969 -0.13433104 0.98839411]] t_gt: [-0.04947422 -0.09847808 0.99390863] Pose Error in degrees for R and t: 26.88246467932813 87.19087390415359 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.73071306e-01 -2.30503669e-01 -5.41161359e-04] [ 2.30504056e-01 9.73071022e-01 8.16069360e-04] [ 3.38481455e-04 -9.18833566e-04 9.99999521e-01]] t_estimated: [[0.79778481] [0.6029384 ] [0.00216495]] R_gt: [[ 0.99536569 -0.04930845 0.08255969] [ 0.02880858 0.97200363 0.23319432] [-0.09174616 -0.22973434 0.96891904]] t_gt: [ 0.05148918 -0.17740567 0.98278995] Pose Error in degrees for R and t: 18.04372181082184 86.34435801298235 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.340183 0.94031943 0.00865431] [ 0.94034915 -0.34012227 -0.00776675] [-0.0043597 0.01078019 -0.99993239]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99118882 -0.08880826 0.09827623] [ 0.05513022 0.95121937 0.30355136] [-0.12043968 -0.29545788 0.94773298]] t_gt: [ 0.11029622 -0.20681367 0.97214343] Pose Error in degrees for R and t: 170.03839441230656 88.0148929955301 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999491e-01 -1.00763039e-03 5.23102355e-05] [ 1.00763355e-03 9.99999491e-01 -6.05308226e-05] [-5.22492162e-05 6.05835014e-05 9.99999997e-01]] t_estimated: [[-8.64092073e-01] [ 5.03333667e-01] [ 3.30619144e-04]] R_gt: [[ 0.99215755 -0.12445452 -0.01159615] [ 0.1244004 0.99221719 -0.00526608] [ 0.01216079 0.00378242 0.99991869]] t_gt: [ 0.31503908 -0.94245563 -0.11192749] Pose Error in degrees for R and t: 7.128080999547506 41.70075433164817 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999884e-01 -4.80862627e-04 2.01005855e-05] [ 4.80865918e-04 9.99999871e-01 -1.64057976e-04] [-2.00216935e-05 1.64067623e-04 9.99999986e-01]] t_estimated: [[-9.99999552e-01] [-3.28693898e-04] [-8.87702742e-04]] R_gt: [[ 0.97976094 -0.19650191 0.03816063] [ 0.19623835 0.98049866 0.01057538] [-0.03949494 -0.00287287 0.99921593]] t_gt: [ 0.19111833 -0.96671958 0.17007951] Pose Error in degrees for R and t: 11.526686907599002 78.99168372375394 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 1.00000000e+00 2.19417092e-06 -2.84872558e-05] [-2.19422146e-06 1.00000000e+00 -1.77417498e-06] [ 2.84872519e-05 1.77423749e-06 1.00000000e+00]] t_estimated: [[-7.82364299e-01] [-6.22820726e-01] [-6.67546331e-04]] R_gt: [[ 0.94500896 -0.32693397 0.00845085] [ 0.3263875 0.94443463 0.03891381] [-0.02070335 -0.03401565 0.99920699]] t_gt: [ 0.41189253 -0.89925934 0.14723175] Pose Error in degrees for R and t: 19.209106003007626 76.24745350742937 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99528532e-01 3.07036119e-02 3.70213972e-05] [-3.07036112e-02 9.99528533e-01 -1.80795496e-05] [-3.75590503e-05 1.69343351e-05 9.99999999e-01]] t_estimated: [[9.99994892e-01] [3.10075943e-03] [7.75189859e-04]] R_gt: [[ 0.99877505 -0.04436381 -0.02195697] [ 0.04473337 0.99885993 0.01667171] [ 0.02119307 -0.01763324 0.9996198 ]] t_gt: [ 0.53346202 -0.83811064 -0.11396858] Pose Error in degrees for R and t: 4.593783389683054 57.94235830188277 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99966465e-01 -8.18941083e-03 5.72692912e-05] [ 8.18941823e-03 9.99966458e-01 -1.30187623e-04] [-5.62012103e-05 1.30652259e-04 9.99999990e-01]] t_estimated: [[ 0.67082464] [-0.74161559] [-0.00078609]] R_gt: [[ 0.99675903 -0.07175007 -0.03639369] [ 0.0729838 0.99676037 0.03379724] [ 0.03385077 -0.03634326 0.99876518]] t_gt: [ 0.50715618 -0.85924311 -0.06703642] Pose Error in degrees for R and t: 4.659590260682262 12.178900640616954 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-8.52149592e-01 -5.23292904e-01 2.36852086e-03] [-5.23289064e-01 8.52152720e-01 2.07273719e-03] [-3.10299016e-03 5.26861084e-04 -9.99995047e-01]] t_estimated: [[0.97482823] [0.22294103] [0.00268618]] R_gt: [[ 0.996242 -0.07042179 -0.05044112] [ 0.07219683 0.99680132 0.03428128] [ 0.0478659 -0.03779436 0.99813796]] t_gt: [ 0.50495719 -0.8444658 -0.1785938 ] Pose Error in degrees for R and t: 178.0140572483502 72.33201410007557 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 9.97364424e-01 7.25547479e-02 1.22580442e-04] [-7.25547289e-02 9.97364421e-01 -1.53107300e-04] [-1.33366033e-04 1.43809983e-04 9.99999981e-01]] t_estimated: [[0.58994612] [0.80744208] [0.00093346]] R_gt: [[ 0.99910994 -0.03579596 -0.02235989] [ 0.03606937 0.99927858 0.01194953] [ 0.02191649 -0.01274484 0.99967789]] t_gt: [ 0.45976928 -0.84694405 -0.26701685] Pose Error in degrees for R and t: 6.38967435285991 65.61484841286524 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[-0.82694735 0.56227798 -0.00124356] [ 0.56227185 0.82694572 0.00333786] [ 0.00290516 0.00206101 -0.99999366]] t_estimated: [[ 0.43485646] [-0.90049622] [-0.00253246]] R_gt: [[ 0.99848617 -0.02981946 -0.04623934] [ 0.03135054 0.99897182 0.03275046] [ 0.0452161 -0.03415031 0.99839324]] t_gt: [ 0.35996199 -0.8558704 -0.37136669] Pose Error in degrees for R and t: 176.8086921899778 21.847084644397878 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-8.47821687e-01 -5.30281372e-01 -2.31468825e-04] [ 5.30278258e-01 -8.47815040e-01 -3.82443099e-03] [ 1.83178176e-03 -3.36517842e-03 9.99992660e-01]] t_estimated: [[8.54472311e-01] [5.19496455e-01] [7.09694610e-04]] R_gt: [[ 0.99444324 -0.10248666 -0.02411584] [ 0.10280661 0.99462468 0.01240462] [ 0.02271464 -0.01481473 0.999632 ]] t_gt: [ 0.57395234 -0.81433802 -0.08621083] Pose Error in degrees for R and t: 142.08428616105115 86.13995837506648 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.01417911 0.99989792 0.00176266] [ 0.99976252 0.01414797 0.01657502] [ 0.01654839 0.00199726 -0.99986107]] t_estimated: [[-0.06335652] [-0.99786526] [-0.01583913]] R_gt: [[ 0.9974547 0.04822374 -0.05253644] [-0.04183215 0.9922956 0.11662192] [ 0.05775691 -0.11412708 0.99178589]] t_gt: [-0.50188629 0.11641385 0.85706358] Pose Error in degrees for R and t: 172.4775547014558 84.37928549952791 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-5.36446400e-01 8.43933309e-01 1.35238152e-03] [ 8.43933957e-01 5.36443806e-01 1.87591897e-03] [ 8.57673817e-04 2.14765066e-03 -9.99997326e-01]] t_estimated: [[0.45077142] [0.89263872] [0.00111302]] R_gt: [[ 0.98389485 -0.02887494 -0.1764021 ] [ 0.06887519 0.97190666 0.22506679] [ 0.1649476 -0.23359108 0.95824161]] t_gt: [ 0.56656087 -0.64813665 0.50884935] Pose Error in degrees for R and t: 164.91609718703972 71.1800036394167 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 4.51796979e-01 8.92120352e-01 -8.76092185e-04] [ 8.92110377e-01 -4.51786749e-01 5.27335185e-03] [ 4.30865767e-03 -3.16405537e-03 -9.99985712e-01]] t_estimated: [[-0.99748049] [-0.07092524] [-0.00150905]] R_gt: [[ 0.9660816 -0.1211147 -0.22807392] [ 0.18197294 0.94594053 0.26848209] [ 0.18322756 -0.300879 0.93589477]] t_gt: [ 0.68940259 -0.59124138 0.41851847] Pose Error in degrees for R and t: 159.15749085006146 49.73203488549667 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.07356956 0.9972645 0.00714426] [ 0.99728097 0.07359764 -0.0037501 ] [-0.00426565 0.00684894 -0.99996745]] t_estimated: [[0.99973088] [0.02310302] [0.00210027]] R_gt: [[ 0.99759557 0.06264703 0.0296433 ] [-0.06352033 0.99754502 0.0294668 ] [-0.02772474 -0.03127924 0.99912605]] t_gt: [-0.44605638 0.68424734 0.57692224] Pose Error in degrees for R and t: 179.54122453385637 64.60118409888786 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.75463787e-01 -2.20156931e-01 1.15154666e-03] [ 2.20156527e-01 9.75464445e-01 4.68410028e-04] [-1.22641654e-03 -2.03396506e-04 9.99999227e-01]] t_estimated: [[0.79970402] [0.60039317] [0.00123031]] R_gt: [[ 0.9946716 0.06132891 0.08287876] [-0.07410778 0.98414434 0.16114438] [-0.07168189 -0.16642724 0.98344513]] t_gt: [-0.24430266 0.29411962 0.92401832] Pose Error in degrees for R and t: 19.594124308590505 88.98893071601208 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.44205113e-01 -3.29357958e-01 2.00342096e-04] [ 3.29357941e-01 9.44205133e-01 1.12286198e-04] [-2.26146389e-04 -4.00369419e-05 9.99999974e-01]] t_estimated: [[0.624589 ] [0.78095217] [0.00151236]] R_gt: [[ 0.99167572 0.03390861 0.12422085] [-0.06535842 0.96374756 0.25868491] [-0.11094612 -0.26465093 0.95794122]] t_gt: [-0.12979558 0.16591146 0.9775615 ] Pose Error in degrees for R and t: 27.64634313420877 87.1352521729026 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99855113e-01 1.70214437e-02 1.52065142e-04] [-1.70214465e-02 9.99855125e-01 1.69754438e-05] [-1.51754165e-04 -1.95613530e-05 9.99999988e-01]] t_estimated: [[3.72880885e-01] [9.27878783e-01] [8.99613235e-04]] R_gt: [[ 0.99767365 -0.0465282 -0.04983193] [ 0.04603898 0.99887989 -0.0109363 ] [ 0.05028412 0.0086168 0.99869729]] t_gt: [ 0.8035093 -0.3811856 -0.45724211] Pose Error in degrees for R and t: 4.666458730168517 86.87628473141227 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.72334832 0.69047863 0.00254492] [ 0.69048258 0.72334802 0.00120452] [-0.00100916 0.00262851 -0.99999604]] t_estimated: [[0.99993858] [0.01101523] [0.00122392]] R_gt: [[ 0.99343684 -0.03820856 -0.10781148] [ 0.03816361 0.9992684 -0.00248265] [ 0.10782711 -0.00164887 0.99416786]] t_gt: [ 0.78025956 -0.17633129 -0.60008524] Pose Error in degrees for R and t: 174.37438760327836 38.964580506532684 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99427506e-01 -3.38327752e-02 -6.26107109e-05] [ 3.38328075e-02 9.99427317e-01 6.16478833e-04] [ 4.17176650e-05 -6.18244199e-04 9.99999808e-01]] t_estimated: [[0.00759197] [0.99997059] [0.00108457]] R_gt: [[ 0.98476457 0.07726241 -0.15578625] [-0.07890957 0.99687212 -0.00440822] [ 0.15495741 0.01663362 0.9877809 ]] t_gt: [ 0.28963721 0.62204406 -0.72744174] Pose Error in degrees for R and t: 11.037792391165299 51.43253455587681 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.78527720e-01 2.06114715e-01 -4.75479588e-04] [-2.06114934e-01 9.78527676e-01 -4.70086734e-04] [ 3.68378143e-04 5.57996344e-04 9.99999776e-01]] t_estimated: [[-0.59542472] [ 0.80340468] [-0.00321248]] R_gt: [[ 0.99977206 0.01538712 0.01483159] [-0.01520998 0.99981111 -0.01207848] [-0.01501391 0.01185042 0.99981732]] t_gt: [0.65792781 0.62654769 0.41781453] Pose Error in degrees for R and t: 11.07236162792451 83.66839054978125 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-0.69672492 -0.71733687 -0.0014837 ] [-0.71732824 0.69672457 -0.00388286] [ 0.00381905 -0.00164098 -0.99999136]] t_estimated: [[8.30930239e-01] [5.56376030e-01] [8.07512380e-04]] R_gt: [[ 0.99552307 -0.09436413 0.00557045] [ 0.09447792 0.99518228 -0.02616131] [-0.0030734 0.02657082 0.99964224]] t_gt: [ 0.73151874 -0.67827659 -0.06943491] Pose Error in degrees for R and t: 179.46933387805 76.67889835306984 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 0.97910039 -0.20112581 -0.03017996] [ 0.20240925 0.97811341 0.04821472] [ 0.01982219 -0.05331575 0.99838094]] t_estimated: [[0.95787754] [0.28717053] [0.00192732]] R_gt: [[ 9.88639674e-01 -1.49337870e-01 1.70237635e-02] [ 1.49366006e-01 9.88781151e-01 -4.21745381e-04] [-1.67689432e-02 2.96005819e-03 9.99854939e-01]] t_gt: [ 0.70742469 -0.70199799 0.0821531 ] Pose Error in degrees for R and t: 4.930907869000768 61.56304866390282 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[-0.67813713 -0.73234332 0.06167088] [-0.73240545 0.68037588 0.02590205] [-0.06092857 -0.02760294 -0.99776039]] t_estimated: [[0.91624664] [0.39915208] [0.03420104]] R_gt: [[ 0.99915369 -0.03679045 0.01839532] [ 0.03654102 0.99923702 0.01378716] [-0.01888808 -0.01310283 0.99973565]] t_gt: [ 0.13681935 -0.75576508 0.6403902 ] Pose Error in degrees for R and t: 174.87956756771425 81.1178307184108 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.98895420e-01 4.69872181e-02 -3.75604759e-04] [ 4.69677677e-02 -9.98179448e-01 3.78393815e-02] [ 1.40304632e-03 -3.78152262e-02 -9.99283764e-01]] t_estimated: [[-0.03051892] [ 0.99935584] [ 0.01888136]] R_gt: [[ 9.97282264e-01 2.92751411e-04 7.36803628e-02] [ 3.84123857e-04 9.99957223e-01 -9.17540593e-03] [-7.36795171e-02 9.17851654e-03 9.97239593e-01]] t_gt: [-0.62044793 0.09225145 0.77880295] Pose Error in degrees for R and t: 178.45714210374211 82.77117826997365 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 0.70381009 -0.71006196 0.02152623] [-0.71008783 -0.70230839 0.05038053] [-0.02065525 -0.05074384 -0.99849808]] t_estimated: [[0.40801206] [0.91257432] [0.02709726]] R_gt: [[ 0.99896101 -0.01066342 0.04431835] [ 0.0112131 0.99986243 -0.01216639] [-0.0441828 0.01265094 0.99894292]] t_gt: [-0.87072324 -0.25742518 0.4190147 ] Pose Error in degrees for R and t: 176.54003371239847 54.63163387349244 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999758e-01 4.99203359e-04 4.83818711e-04] [-4.98704548e-04 9.99999345e-01 -1.03055892e-03] [-4.84332853e-04 1.03031739e-03 9.99999352e-01]] t_estimated: [[0.50654649] [0.86221128] [0.00153639]] R_gt: [[ 9.93152149e-01 -1.16817567e-01 -8.56221988e-04] [ 1.16783470e-01 9.92634801e-01 3.22083002e-02] [-2.91252424e-03 -3.20883871e-02 9.99480801e-01]] t_gt: [ 0.6147746 -0.74883115 0.24759665] Pose Error in degrees for R and t: 7.00185768233778 70.49687064215102 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99998995e-01 -4.10223515e-04 1.35696807e-03] [ 4.12682121e-04 9.99998273e-01 -1.81205476e-03] [-1.35622237e-03 1.81261293e-03 9.99997438e-01]] t_estimated: [[8.17727557e-01] [5.75604957e-01] [7.58393572e-04]] R_gt: [[ 9.73636249e-01 -2.28030640e-01 -5.81826001e-03] [ 2.28104760e-01 9.73315983e-01 2.49739772e-02] [-3.27176200e-05 -2.56433666e-02 9.99671378e-01]] t_gt: [ 0.68432372 -0.72007379 0.11486854] Pose Error in degrees for R and t: 13.256502370085771 81.6511714598198 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.99191498 0.12687222 -0.00284853] [-0.12686326 0.99191527 0.00313248] [ 0.00322292 -0.00274578 0.99999104]] t_estimated: [[-0.47449345] [-0.88025804] [-0.00132171]] R_gt: [[ 0.95380665 -0.29854147 -0.03355067] [ 0.29996455 0.95255233 0.05163716] [ 0.01654323 -0.05931546 0.99810202]] t_gt: [ 0.69661203 -0.70470478 0.13462117] Pose Error in degrees for R and t: 24.934422714548276 73.16561421141671 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 6.76565104e-01 7.36381235e-01 1.52859235e-03] [-7.36375483e-01 6.76566171e-01 -3.06008124e-03] [-3.28758028e-03 9.44726249e-04 9.99994150e-01]] t_estimated: [[-9.91492428e-01] [-1.30164176e-01] [-2.30167985e-04]] R_gt: [[ 0.99023166 -0.10446177 -0.09235734] [ 0.11523228 0.98603747 0.12021748] [ 0.07850991 -0.12968549 0.98844227]] t_gt: [ 0.73081878 -0.62521349 0.2738832 ] Pose Error in degrees for R and t: 54.44935542018267 49.9628683396941 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[ 9.32412673e-01 3.61395101e-01 4.34110283e-04] [-3.61394440e-01 9.32412335e-01 -1.13831360e-03] [-8.16150742e-04 9.04492986e-04 9.99999258e-01]] t_estimated: [[-0.88106958] [-0.47298469] [-0.00136837]] R_gt: [[ 0.96878308 -0.21712648 -0.11964864] [ 0.23462365 0.9588917 0.15962161] [ 0.08007139 -0.18271112 0.97990055]] t_gt: [ 0.77689659 -0.56612591 0.27555968] Pose Error in degrees for R and t: 36.21731818527651 65.34785387256562 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 9.99949166e-01 1.00339444e-02 9.92210325e-04] [-1.00335464e-02 9.99949581e-01 -4.05245282e-04] [-9.96226507e-04 3.95269294e-04 9.99999426e-01]] t_estimated: [[0.99889718] [0.04694048] [0.00100398]] R_gt: [[ 0.94214941 -0.29023328 -0.16768937] [ 0.31649891 0.93501735 0.15991337] [ 0.11038087 -0.2037357 0.97278392]] t_gt: [ 0.81690605 -0.54153041 0.19851782] Pose Error in degrees for R and t: 22.82812681683307 37.74109071150132 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-7.37848319e-01 -6.74900601e-01 9.43595280e-03] [-6.74930823e-01 7.37881009e-01 -2.51456557e-05] [-6.94563955e-03 -6.38716907e-03 -9.99955480e-01]] t_estimated: [[0.92803484] [0.37244583] [0.00595241]] R_gt: [[ 9.97235249e-01 7.42821803e-02 -2.11661482e-03] [-7.43069731e-02 9.97113175e-01 -1.56714136e-02] [ 9.45920851e-04 1.57858107e-02 9.99875322e-01]] t_gt: [-0.95714897 0.23623476 -0.16750819] Pose Error in degrees for R and t: 179.88950004592994 36.74749051629828 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.96662727 -0.25617928 -0.00197173] [ 0.25618489 0.96662142 0.0035107 ] [ 0.00100655 -0.00389867 0.99999189]] t_estimated: [[-7.51634280e-01] [-6.59580082e-01] [-1.55526579e-04]] R_gt: [[ 0.99775785 0.0642478 0.01874216] [-0.06413554 0.99791987 -0.00656048] [-0.01912589 0.00534411 0.9998024 ]] t_gt: [-0.99171311 0.12694068 -0.01977811] Pose Error in degrees for R and t: 18.56956736250437 48.57179075249114 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.55861967 -0.82928309 -0.01528462] [-0.82931833 0.55874776 -0.0056615 ] [ 0.01323524 0.00951319 -0.99986716]] t_estimated: [[ 0.8828112 ] [ 0.46966034] [-0.00797142]] R_gt: [[ 0.99584179 0.06820157 0.06039529] [-0.06735124 0.99760103 -0.01601438] [-0.06134303 0.01188038 0.99804566]] t_gt: [-0.98926835 0.14283073 0.0307818 ] Pose Error in degrees for R and t: 178.2216000407294 36.244571241710894 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99805802e-01 1.97067894e-02 2.93581628e-05] [-1.97067898e-02 9.99805802e-01 1.26491071e-05] [-2.91031882e-05 -1.32252058e-05 9.99999999e-01]] t_estimated: [[2.35554857e-01] [9.71860894e-01] [5.59041979e-04]] R_gt: [[ 0.99836695 -0.01713394 -0.05449923] [ 0.01640101 0.99976983 -0.01384727] [ 0.05472418 0.01293156 0.99841759]] t_gt: [ 0.44367857 -0.19559532 -0.87458092] Pose Error in degrees for R and t: 3.843413847938325 85.06245886823602 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.86411657 0.50328562 -0.00247738] [-0.50327339 0.86411665 0.00427939] [ 0.0042945 -0.00245109 0.99998777]] t_estimated: [[-0.96090538] [-0.27687104] [-0.00180961]] R_gt: [[ 0.99716174 -0.07288904 0.01882654] [ 0.07332746 0.99702494 -0.02377652] [-0.01703725 0.02508949 0.99954026]] t_gt: [ 0.68833863 -0.69093086 -0.22091733] Pose Error in degrees for R and t: 34.468898386482294 61.983242913208336 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.98436665 -0.17612441 -0.00157623] [ 0.17612654 -0.98436663 -0.00133112] [-0.00131715 -0.00158792 0.99999787]] t_estimated: [[0.74056003] [0.67198966] [0.00085713]] R_gt: [[ 0.95139291 -0.23041315 0.20435493] [ 0.22880422 0.97295239 0.03179441] [-0.20615366 0.01650883 0.97838006]] t_gt: [ 0.60479957 -0.64903333 0.46149021] Pose Error in degrees for R and t: 156.5721238621265 89.30428259774041 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-9.99972529e-01 -7.41212642e-03 4.52829813e-05] [-7.41205610e-03 9.99971559e-01 1.39401522e-03] [-5.56143104e-05 1.39364128e-03 -9.99999027e-01]] t_estimated: [[9.99953043e-01] [9.64274872e-03] [9.64274872e-04]] R_gt: [[ 0.98120192 -0.12935408 0.14321115] [ 0.12895992 0.9915768 0.012076 ] [-0.14356704 0.0066198 0.98961856]] t_gt: [ 0.51667387 -0.64198118 0.56648767] Pose Error in degrees for R and t: 171.7296062515027 59.26917821146232 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.07247589 0.99734687 0.0068161 ] [ 0.99736642 -0.07245519 -0.00323644] [-0.00273399 0.00703271 -0.99997153]] t_estimated: [[9.40755815e-01] [3.39083996e-01] [7.35540121e-04]] R_gt: [[ 9.20934624e-01 -2.79538757e-01 2.71545184e-01] [ 2.67976356e-01 9.60134054e-01 7.95677984e-02] [-2.82962847e-01 -5.09103508e-04 9.59130937e-01]] t_gt: [ 0.59320577 -0.59415075 0.54322353] Pose Error in degrees for R and t: 170.24589746974627 69.08427850222785 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 7.56325159e-01 6.54195698e-01 4.93166747e-04] [-6.54193422e-01 7.56324166e-01 -2.17326555e-03] [-1.79473490e-03 1.32106897e-03 9.99997517e-01]] t_estimated: [[-0.9470536 ] [-0.32107192] [-0.00151384]] R_gt: [[ 0.86540878 -0.39655712 0.30628563] [ 0.37661776 0.91797849 0.12440128] [-0.33049582 0.00769437 0.9437759 ]] t_gt: [ 0.68244197 -0.57984841 0.44502671] Pose Error in degrees for R and t: 66.8191150804806 62.56062665891501 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-2.52710844e-01 -9.67539246e-01 2.24447346e-03] [-9.67502659e-01 2.52720807e-01 8.41418341e-03] [-8.70827782e-03 -4.51786577e-05 -9.99962081e-01]] t_estimated: [[0.81198667] [0.58366465] [0.00363686]] R_gt: [[ 0.98861684 -0.14984855 -0.01350309] [ 0.15022928 0.98806643 0.03400306] [ 0.00824654 -0.03564377 0.99933036]] t_gt: [ 0.67746334 -0.71661363 0.16585634] Pose Error in degrees for R and t: 178.85262185561447 82.38982907605653 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.97863014 -0.20533635 0.01095575] [ 0.20556056 0.9782863 -0.02647216] [-0.00528217 0.02815852 0.99958951]] t_estimated: [[-0.98587456] [-0.16746362] [-0.00270103]] R_gt: [[ 0.97320377 -0.22914704 -0.0191197 ] [ 0.22979638 0.97218185 0.0453506 ] [ 0.00819556 -0.04852804 0.99878855]] t_gt: [ 0.679949 -0.71388914 0.16742655] Pose Error in degrees for R and t: 4.681770694208059 56.54745149222857 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999860e-01 5.29329768e-04 -7.71020609e-06] [-5.29326834e-04 9.99999789e-01 3.75735125e-04] [ 7.90909226e-06 -3.75730992e-04 9.99999929e-01]] t_estimated: [[9.99987765e-01] [4.91838109e-03] [5.27894464e-04]] R_gt: [[ 0.95265541 -0.29990193 -0.05006017] [ 0.30069247 0.95367935 0.00892844] [ 0.04506344 -0.023558 0.99870639]] t_gt: [ 0.72563643 -0.68587899 -0.05497071] Pose Error in degrees for R and t: 17.755244292868984 43.7615025330861 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.84632988e-01 -1.74636298e-01 2.06623103e-04] [ 1.74636238e-01 9.84632981e-01 2.78000923e-04] [-2.51996973e-04 -2.37644998e-04 9.99999940e-01]] t_estimated: [[ 0.9841189 ] [-0.17750617] [ 0.00124759]] R_gt: [[ 0.99135418 -0.12577563 -0.03738519] [ 0.12740135 0.9908364 0.04486347] [ 0.03139888 -0.04923847 0.99829362]] t_gt: [ 0.7817427 -0.61635171 0.09480989] Pose Error in degrees for R and t: 4.347144188157903 28.495776796572095 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.97957960e-01 -6.38733621e-02 3.22401392e-04] [ 6.38733220e-02 9.97958006e-01 1.33069191e-04] [-3.30242627e-04 -1.12204610e-04 9.99999939e-01]] t_estimated: [[0.99614721] [0.08768902] [0.00116919]] R_gt: [[ 0.9834564 -0.17574946 -0.04389262] [ 0.1776181 0.9831569 0.04305785] [ 0.03558556 -0.05014109 0.99810754]] t_gt: [ 0.78885443 -0.61213937 0.05471819] Pose Error in degrees for R and t: 7.418036079861925 42.92875137664655 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.85972982e-01 1.66903989e-01 5.81221272e-04] [-1.66902515e-01 9.85971326e-01 -2.02370677e-03] [-9.10832241e-04 1.89831291e-03 9.99997783e-01]] t_estimated: [[-0.95718018] [-0.28948864] [-0.00155639]] R_gt: [[ 0.9906274 -0.13588389 -0.01390993] [ 0.13632559 0.98991855 0.03841307] [ 0.00854979 -0.03994863 0.99916524]] t_gt: [ 0.72061456 -0.68167943 0.12660098] Pose Error in degrees for R and t: 17.60542275120279 60.487293494624375 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999950e-01 2.88451029e-04 -1.26450732e-04] [-2.88419477e-04 9.99999927e-01 2.49467575e-04] [ 1.26522682e-04 -2.49431092e-04 9.99999961e-01]] t_estimated: [[-9.81409342e-01] [-1.91924095e-01] [ 9.19360996e-04]] R_gt: [[ 0.98610654 0.16314672 0.03125132] [-0.1631695 0.98659662 -0.0018493 ] [-0.03113344 -0.0032744 0.99951033]] t_gt: [-0.91489368 0.3970652 0.07286139] Pose Error in degrees for R and t: 9.546973256598186 34.74005997263538 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99877089 -0.04952901 -0.00189443] [ 0.04954054 0.99875018 0.00661909] [ 0.00156422 -0.00670481 0.9999763 ]] t_estimated: [[-9.36676473e-01] [-3.50195437e-01] [-5.83695859e-04]] R_gt: [[ 0.97518265 0.21920759 0.03109528] [-0.21864314 0.97558848 -0.0205601 ] [-0.03484228 0.0132516 0.99930555]] t_gt: [-0.91742384 0.39779145 -0.00977017] Pose Error in degrees for R and t: 15.676226127906437 43.94301960223791 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.68097039 -0.7323074 -0.00227834] [ 0.73230079 -0.68094127 -0.0073856 ] [ 0.00385711 -0.0066978 0.99997013]] t_estimated: [[0.96476294] [0.26311717] [0.00134932]] R_gt: [[ 0.9693075 0.2440195 0.02993184] [-0.24406389 0.96975656 -0.00223411] [-0.02957132 -0.00513866 0.9995501 ]] t_gt: [-0.93040643 0.36425924 0.04073182] Pose Error in degrees for R and t: 147.0585572708545 36.70496772318488 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99998920e-01 1.46774128e-03 -7.00705754e-05] [-1.46774022e-03 9.99998923e-01 1.51423253e-05] [ 7.00927250e-05 -1.50394636e-05 9.99999997e-01]] t_estimated: [[9.99914043e-01] [1.30837458e-02] [8.50014486e-04]] R_gt: [[ 0.98854128 -0.15088287 0.00451553] [ 0.15061421 0.98389297 -0.09627581] [ 0.01008455 0.09585204 0.99534425]] t_gt: [ 0.5526945 -0.68255879 -0.47816555] Pose Error in degrees for R and t: 10.370058534463153 57.09074159718608 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-9.02810755e-02 -9.95915238e-01 -1.47177912e-03] [-9.95916093e-01 9.02799454e-02 8.17111610e-04] [-6.80901765e-04 1.53953823e-03 -9.99998583e-01]] t_estimated: [[0.81203619] [0.58360642] [0.00088048]] R_gt: [[ 0.98741455 -0.15624904 -0.02444406] [ 0.15238887 0.98134954 -0.11717506] [ 0.04229772 0.1119755 0.99280983]] t_gt: [ 0.51909119 -0.51822439 -0.67969686] Pose Error in degrees for R and t: 174.10651477105267 83.19542266244237 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-8.92498744e-01 -4.51048033e-01 -1.29003474e-03] [ 4.51049346e-01 -8.92498433e-01 -1.01683976e-03] [-6.92710411e-04 -1.48939754e-03 9.99998651e-01]] t_estimated: [[9.18894173e-01] [3.94503293e-01] [8.06755200e-04]] R_gt: [[ 0.99427058 -0.09807658 -0.04249721] [ 0.09179718 0.98718002 -0.13056515] [ 0.05475868 0.12591623 0.99052782]] t_gt: [ 0.34825713 -0.10980196 -0.93094603] Pose Error in degrees for R and t: 147.79594772420467 73.98177152404452 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 0.99999819 -0.00120307 0.0014731 ] [ 0.00120499 0.99999843 -0.00130081] [-0.00147153 0.00130258 0.99999807]] t_estimated: [[0.9523385 ] [0.3049911 ] [0.00564049]] R_gt: [[ 0.99979251 0.01160486 0.01673099] [-0.0115216 0.99992048 -0.00509917] [-0.01678809 0.00490616 0.99984716]] t_gt: [0.75083992 0.43998485 0.49259796] Pose Error in degrees for R and t: 1.1610746049681444 31.567533329473097 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.93565384 0.35290545 -0.00310394] [-0.35287312 0.93563773 0.00791138] [ 0.00569613 -0.00630701 0.99996389]] t_estimated: [[0.52085023] [0.85364731] [0.00113972]] R_gt: [[ 0.99958656 -0.01750694 0.02281153] [ 0.01815704 0.99942508 -0.02863059] [-0.02229694 0.02903401 0.99932924]] t_gt: [ 0.92281013 -0.38525362 0.00105356] Pose Error in degrees for R and t: 21.838888579486888 81.27011736221785 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.99989211 0.01456977 -0.00187079] [-0.01456561 -0.99989145 -0.00222078] [-0.00190295 -0.00219329 0.99999578]] t_estimated: [[0.88036952] [0.47428727] [0.00104931]] R_gt: [[ 0.98976412 -0.14176074 0.01647362] [ 0.14206573 0.98967271 -0.01910468] [-0.01359512 0.02125027 0.99968142]] t_gt: [ 0.75918462 -0.65065035 0.01711255] Pose Error in degrees for R and t: 172.67756428849106 68.91295969284683 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.91549701e-01 -1.29727354e-01 -5.94344851e-05] [ 1.29727361e-01 9.91549694e-01 1.29182030e-04] [ 4.21738025e-05 -1.35800682e-04 9.99999990e-01]] t_estimated: [[ 7.32786124e-01] [-6.80458914e-01] [ 4.03635541e-04]] R_gt: [[ 9.99751959e-01 1.09098727e-03 2.22678069e-02] [-1.81505888e-04 9.99166705e-01 -4.08033077e-02] [-2.22933029e-02 4.07889976e-02 9.98918867e-01]] t_gt: [-0.4767887 0.86350574 -0.16440915] Pose Error in degrees for R and t: 7.952150550754991 20.44126757276121 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.57717271e-01 -2.87710536e-01 -5.25982201e-04] [ 2.87710648e-01 9.57717370e-01 1.50187977e-04] [ 4.60531627e-04 -2.95168299e-04 9.99999850e-01]] t_estimated: [[ 0.87443231] [-0.48514608] [-0.00119052]] R_gt: [[ 0.99965196 -0.00913734 0.02475528] [ 0.01044538 0.99852717 -0.05324889] [-0.02423256 0.0534882 0.99827407]] t_gt: [-0.45013417 0.85918637 -0.24326531] Pose Error in degrees for R and t: 16.508933420158627 35.889102643902056 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99770992e-01 -2.13999400e-02 -8.03358379e-05] [ 2.13999778e-02 9.99770867e-01 5.03466099e-04] [ 6.95432861e-05 -5.05069986e-04 9.99999870e-01]] t_estimated: [[0.27699289] [0.9608713 ] [0.00113727]] R_gt: [[ 0.99768443 -0.05264291 0.04306005] [ 0.05636855 0.99430264 -0.09046801] [-0.0380525 0.09268551 0.99496794]] t_gt: [-0.20518419 0.89951853 -0.38570179] Pose Error in degrees for R and t: 6.084597354930265 36.19146102264367 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99920158e-01 1.26363278e-02 -3.40336651e-05] [-1.26363266e-02 9.99920158e-01 3.53398544e-05] [ 3.44775137e-05 -3.49069723e-05 9.99999999e-01]] t_estimated: [[-0.74574787] [ 0.66622753] [-0.00100004]] R_gt: [[ 0.99916609 0.0288059 0.02890595] [-0.02802569 0.99924124 -0.02704888] [-0.02966358 0.02621548 0.99921578]] t_gt: [-0.85883532 0.50114627 0.10608636] Pose Error in degrees for R and t: 2.445977291683011 13.031573420470837 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-9.60644578e-01 -2.77774940e-01 -1.75424255e-03] [ 2.77780177e-01 -9.60633698e-01 -4.59045375e-03] [-4.10071490e-04 -4.89708831e-03 9.99987925e-01]] t_estimated: [[9.99832009e-01] [1.83152422e-02] [7.11341678e-04]] R_gt: [[ 0.99981586 0.0123751 -0.01462745] [-0.01239417 0.99992303 -0.00120173] [ 0.01461219 0.00138169 0.99989256]] t_gt: [-0.90498492 -0.2599771 -0.33677024] Pose Error in degrees for R and t: 164.58038660837187 24.517578955731654 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.824497 -0.56585926 -0.00282599] [ 0.56584213 0.82449765 -0.00512836] [ 0.00523195 0.00262925 0.99998286]] t_estimated: [[ 0.71569054] [-0.69837288] [-0.00789708]] R_gt: [[ 0.99922616 0.00235851 -0.03924886] [-0.00258261 0.99998038 -0.00566816] [ 0.03923472 0.00576495 0.99921339]] t_gt: [-0.74325683 -0.45354426 -0.49179964] Pose Error in degrees for R and t: 34.659060693646396 77.80056902391041 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999933e-01 -3.42501898e-04 1.26382633e-04] [ 3.42497952e-04 9.99999941e-01 3.12477175e-05] [-1.26393328e-04 -3.12044296e-05 9.99999992e-01]] t_estimated: [[2.91149076e-01] [9.56677234e-01] [9.40620356e-04]] R_gt: [[ 9.98370010e-01 -3.07112640e-02 -4.81014585e-02] [ 3.07211008e-02 9.99527445e-01 -5.14594184e-04] [ 4.80937833e-02 -9.64701683e-04 9.98842985e-01]] t_gt: [ 0.83165636 -0.30681591 -0.4628301 ] Pose Error in degrees for R and t: 3.267205823391614 87.02942073836077 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 7.40768793e-01 -6.71759641e-01 -7.62096430e-04] [ 6.71760047e-01 7.40768604e-01 5.61407491e-04] [ 1.87406213e-04 -9.27819083e-04 9.99999552e-01]] t_estimated: [[ 8.36455326e-01] [-5.48035056e-01] [ 2.57374150e-04]] R_gt: [[ 0.99291228 0.0618188 -0.10150926] [-0.0599398 0.99797077 0.02146874] [ 0.10263017 -0.01523255 0.99460312]] t_gt: [ 0.22367821 0.72222234 -0.65449442] Pose Error in degrees for R and t: 46.063685369254735 77.94358035240336 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.59082940e-01 -2.83122072e-01 1.34423861e-03] [ 2.83121719e-01 9.59083880e-01 4.49799186e-04] [-1.41658566e-03 -5.08115785e-05 9.99998995e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.97941649 0.1507371 -0.13424883] [-0.15035734 0.98854595 0.01302713] [ 0.13467477 0.0074267 0.99086241]] t_gt: [-0.0457489 0.88083781 -0.47120249] Pose Error in degrees for R and t: 26.31832446056934 62.73145207314012 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.98768951e-01 4.96038761e-02 1.93180402e-04] [-4.96039637e-02 9.98768851e-01 4.78505115e-04] [-1.69206859e-04 -4.87498566e-04 9.99999867e-01]] t_estimated: [[0.16601312] [0.98611795] [0.00332026]] R_gt: [[ 0.99967528 -0.01212227 0.02239872] [ 0.01155184 0.99961109 0.02541093] [-0.02269684 -0.02514344 0.9994261 ]] t_gt: [ 0.06920722 -0.37523044 0.92434435] Pose Error in degrees for R and t: 4.0077257261886245 69.17817038626988 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.31255385e-01 3.64367131e-01 3.30332917e-05] [-3.64366909e-01 9.31254710e-01 1.19162471e-03] [ 4.03426469e-04 -1.12174317e-03 9.99999289e-01]] t_estimated: [[0.10658456] [0.99430257] [0.00146006]] R_gt: [[ 0.99982623 0.01752019 -0.0063278 ] [-0.0180872 0.99432346 -0.10485514] [ 0.00445623 0.10495186 0.99446701]] t_gt: [-0.11234096 0.49202919 -0.86329994] Pose Error in degrees for R and t: 21.230578717937256 61.576066939899924 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 7.63583659e-01 6.45708484e-01 7.40671390e-04] [ 6.45706896e-01 -7.63583641e-01 1.62143518e-03] [ 1.61253901e-03 -7.59844782e-04 -9.99998411e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99783609 -0.03954238 -0.05254002] [ 0.02945943 0.98314569 -0.18043556] [ 0.05878993 0.17849825 0.98218282]] t_gt: [ 0.16310844 0.12953331 -0.97806787] Pose Error in degrees for R and t: 171.46424948699917 82.52596608615335 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 9.87097527e-01 -1.60120137e-01 -1.21424521e-04] [ 1.60120150e-01 9.87097527e-01 9.92787268e-05] [ 1.03961321e-04 -1.17440298e-04 9.99999988e-01]] t_estimated: [[ 6.91264464e-01] [-7.22601793e-01] [-2.98368657e-04]] R_gt: [[ 0.99982312 -0.01865244 -0.00256795] [ 0.01860841 0.99969133 -0.01643255] [ 0.00287407 0.01638256 0.99986164]] t_gt: [-0.16048733 0.82140163 -0.54730538] Pose Error in degrees for R and t: 8.202368697615602 45.22519002713135 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 7.54741006e-01 -6.56022279e-01 -8.85745725e-04] [ 6.56022682e-01 7.54741134e-01 2.48925420e-04] [ 5.05208111e-04 -7.68943508e-04 9.99999577e-01]] t_estimated: [[ 9.23985508e-01] [-3.82427471e-01] [ 1.04371525e-04]] R_gt: [[ 0.99767992 -0.06319737 0.02532617] [ 0.06436814 0.99674973 -0.0484397 ] [-0.02218096 0.04995778 0.99850504]] t_gt: [ 0.41673169 0.76745731 -0.48717961] Pose Error in degrees for R and t: 37.46809932178958 84.74972277958261 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.49313556e-01 -3.14330655e-01 -1.07843988e-04] [ 3.14330672e-01 9.49313471e-01 4.02951555e-04] [-2.42822753e-05 -4.16426047e-04 9.99999913e-01]] t_estimated: [[ 9.64712401e-01] [-2.63304512e-01] [ 8.46598394e-04]] R_gt: [[ 0.98782317 -0.13989125 0.06809321] [ 0.14251885 0.98916037 -0.03536033] [-0.06240725 0.04463518 0.99705242]] t_gt: [0.97208292 0.10780676 0.20840467] Pose Error in degrees for R and t: 11.10361820713297 24.553883550525857 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.95156586e-01 -9.82887693e-02 1.63955957e-03] [ 9.82891103e-02 9.95157894e-01 -1.28546592e-04] [-1.61898596e-03 2.89074839e-04 9.99998648e-01]] t_estimated: [[0.39679773] [0.91790553] [0.00099448]] R_gt: [[ 0.99839509 -0.02355228 -0.05151165] [ 0.02529534 0.99912013 0.03345518] [ 0.05067932 -0.03470483 0.99811195]] t_gt: [ 0.97522465 -0.00985924 -0.22099702] Pose Error in degrees for R and t: 5.565287473247246 67.80887910298217 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 0.99722408 -0.07440579 0.00281199] [ 0.07441315 0.99722409 -0.00260798] [-0.00261013 0.00280999 0.99999265]] t_estimated: [[0.82397689] [0.56661928] [0.00216267]] R_gt: [[ 0.99270968 -0.00341928 -0.12048114] [ 0.00895388 0.99892735 0.04542392] [ 0.12019762 -0.04617251 0.99167597]] t_gt: [ 0.76779528 0.20149423 -0.60818622] Pose Error in degrees for R and t: 8.545360019134991 41.79786999629712 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 6.33736303e-01 7.73546594e-01 1.99132283e-03] [ 7.73546232e-01 -6.33738886e-01 1.11878564e-03] [ 2.12741153e-03 8.31365200e-04 -9.99997391e-01]] t_estimated: [[-0.99404803] [-0.10893677] [-0.00113476]] R_gt: [[ 0.98457426 0.00312298 -0.17493993] [ 0.00274285 0.99944171 0.03328057] [ 0.17494679 -0.03324743 0.98401605]] t_gt: [ 0.71625038 0.22063898 -0.6620452 ] Pose Error in degrees for R and t: 173.95179544045067 42.66981946269024 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.91081974e-01 1.33252166e-01 6.16699059e-04] [-1.33251767e-01 9.91082008e-01 -6.47333983e-04] [-6.97457997e-04 5.59384802e-04 9.99999600e-01]] t_estimated: [[0.44252156] [0.89675692] [0.00130153]] R_gt: [[ 0.99703276 -0.07551607 0.01496667] [ 0.07650018 0.99362661 -0.08279046] [-0.00861994 0.08369025 0.99645497]] t_gt: [ 0.37864441 -0.61013978 -0.69595823] Pose Error in degrees for R and t: 12.938692222424725 67.63567893835375 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 0.99363336 -0.11263557 0.00244549] [ 0.11263885 0.99363521 -0.00124675] [-0.0022895 0.00151427 0.99999623]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98732071 -0.1577158 0.01799012] [ 0.15873064 0.98201541 -0.10222463] [-0.00154456 0.10378427 0.99459877]] t_gt: [ 0.50333839 -0.71841869 -0.48013024] Pose Error in degrees for R and t: 6.442303983166124 61.81819826564374 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.70925906 0.63311212 -0.31003328] [-0.41065186 0.72853181 0.54827589] [ 0.57298922 -0.2615539 0.77670645]] t_estimated: [[0.50670488] [0.86211874] [0.00120072]] R_gt: [[ 0.95757086 -0.28799127 0.01098121] [ 0.28775478 0.95328323 -0.09191348] [ 0.0160015 0.09117367 0.99570648]] t_gt: [ 0.6355414 -0.7188851 -0.28158718] Pose Error in degrees for R and t: 67.10583762539667 72.65825086390866 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.96106902e-01 8.81532711e-02 -2.01489542e-04] [-8.81532856e-02 9.96106919e-01 -6.41552572e-05] [ 1.95049631e-04 8.16674596e-05 9.99999978e-01]] t_estimated: [[-9.99998048e-01] [-1.70730430e-03] [-9.94342848e-04]] R_gt: [[ 0.97577016 0.21819743 -0.01621058] [-0.21774838 0.97566898 0.02562058] [ 0.02140591 -0.02147076 0.99954052]] t_gt: [-0.54891905 0.83574139 0.01497341] Pose Error in degrees for R and t: 7.731961180241852 56.8059569310616 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.87590591e-01 1.57050357e-01 -9.94293129e-05] [-1.57050366e-01 9.87590591e-01 -8.74870308e-05] [ 8.44555844e-05 1.02016778e-04 9.99999991e-01]] t_estimated: [[-9.41819138e-01] [ 3.36119885e-01] [-3.66732356e-04]] R_gt: [[ 0.95832042 0.2837683 -0.03313296] [-0.28109158 0.95725054 0.06825744] [ 0.05108593 -0.05609883 0.99711785]] t_gt: [-0.4990961 0.86589276 0.03365725] Pose Error in degrees for R and t: 8.578458211239832 40.43964318231107 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.83100849e-01 1.82973299e-01 -5.78729989e-03] [ 1.82966406e-01 9.83117690e-01 1.70334479e-03] [ 6.00126352e-03 6.15678250e-04 -9.99981803e-01]] t_estimated: [[ 0.98490771] [-0.17305222] [-0.00312085]] R_gt: [[ 0.90289066 0.42963522 -0.01425303] [-0.42832476 0.90195809 0.05486369] [ 0.03642734 -0.04343151 0.99839235]] t_gt: [-0.4488262 0.89352273 0.01312152] Pose Error in degrees for R and t: 177.9066371075863 53.36469690257734 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.62176981e-01 -2.72424403e-01 -6.33289690e-04] [ 2.72424326e-01 9.62177189e-01 -2.06501720e-04] [ 6.65593002e-04 2.61676843e-05 9.99999778e-01]] t_estimated: [[-0.6592484 ] [-0.75192228] [-0.00210622]] R_gt: [[ 0.96766367 0.25220617 0.0044029 ] [-0.252216 0.96766861 0.0019538 ] [-0.00376727 -0.00300058 0.99998897]] t_gt: [-0.88606186 0.4634559 0.01014953] Pose Error in degrees for R and t: 30.418613686717542 76.37119817011714 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-5.67323470e-01 -8.23493011e-01 -1.82790002e-03] [ 8.23494905e-01 -5.67320708e-01 -1.83185370e-03] [ 4.71513188e-04 -2.54451995e-03 9.99996652e-01]] t_estimated: [[0.96446645] [0.26420224] [0.00128254]] R_gt: [[ 0.90827399 0.41667414 0.03770343] [-0.41669051 0.90901476 -0.00775637] [-0.03750518 -0.00866525 0.99925885]] t_gt: [-0.84732682 0.52953593 0.04036031] Pose Error in degrees for R and t: 149.20748931268201 47.36994947162453 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.60226006 -0.79718508 0.04217542] [ 0.7981031 0.60244387 -0.00963479] [-0.01772762 0.03946298 0.99906376]] t_estimated: [[-0.0823613 ] [-0.99637875] [-0.02111899]] R_gt: [[ 0.88553756 0.46286805 0.03971776] [-0.46257432 0.88642029 -0.01683499] [-0.04299931 -0.00346433 0.99906976]] t_gt: [-0.84325312 0.53684832 0.02679653] Pose Error in degrees for R and t: 80.50955817039974 62.223826363376475 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-8.26870027e-01 5.62390897e-01 1.56104678e-03] [-5.62393061e-01 -8.26866593e-01 -2.38372421e-03] [-4.98073668e-05 -2.84895198e-03 9.99995940e-01]] t_estimated: [[8.13164991e-01] [5.82032823e-01] [7.00400509e-04]] R_gt: [[ 0.98958237 -0.14354011 -0.01103088] [ 0.14361578 0.98961334 0.0063233 ] [ 0.01000959 -0.00784155 0.99991954]] t_gt: [ 0.79389753 -0.60804608 0.00258399] Pose Error in degrees for R and t: 154.0350009594646 73.04211400660681 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-9.51362018e-01 -3.08071373e-01 -1.52943380e-03] [ 3.08074380e-01 -9.51359095e-01 -2.45936287e-03] [-6.97381460e-04 -2.81092380e-03 9.99995806e-01]] t_estimated: [[0.77517873] [0.63174014] [0.00152594]] R_gt: [[ 0.97194835 -0.22911034 -0.05314094] [ 0.2290238 0.97338895 -0.00779391] [ 0.05351229 -0.00459534 0.99855688]] t_gt: [ 0.81812702 -0.5655472 -0.10404104] Pose Error in degrees for R and t: 148.81223581072297 73.93325075768803 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.60620903e-01 -2.77862058e-01 -3.97014481e-04] [ 2.77862171e-01 9.60620916e-01 2.64745252e-04] [ 3.07817754e-04 -3.64635129e-04 9.99999886e-01]] t_estimated: [[-0.3158082 ] [-0.94882202] [-0.00139738]] R_gt: [[ 9.12343023e-01 -4.08517036e-01 -2.72541225e-02] [ 4.08650791e-01 9.12690581e-01 -7.22718281e-04] [ 2.51700286e-02 -1.04782409e-02 9.99628038e-01]] t_gt: [ 0.89306037 -0.44929117 -0.02409606] Pose Error in degrees for R and t: 8.134850235009779 81.70353023637475 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.51428458e-01 -9.88466926e-01 1.59959043e-03] [-9.88468089e-01 1.51429074e-01 2.70535231e-04] [-5.09639625e-04 -1.54017736e-03 -9.99998684e-01]] t_estimated: [[0.67939125] [0.7337736 ] [0.00195736]] R_gt: [[ 0.96141372 0.27355183 -0.02922007] [-0.27377501 0.96178686 -0.00383055] [ 0.02705613 0.01168256 0.9995661 ]] t_gt: [-0.55921374 0.82298469 -0.09988088] Pose Error in degrees for R and t: 178.5576544341857 77.06979131880799 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 8.96136200e-01 -4.43778084e-01 -9.60693365e-04] [ 4.43778205e-01 8.96136650e-01 -9.48733554e-05] [ 9.03015250e-04 -3.41315329e-04 9.99999534e-01]] t_estimated: [[-0.24662948] [-0.96910876] [-0.00145076]] R_gt: [[ 0.87250938 0.48193661 -0.08040147] [-0.48120291 0.87611067 0.02955851] [ 0.0846851 0.01289966 0.99632469]] t_gt: [-0.42282976 0.89591717 -0.13618894] Pose Error in degrees for R and t: 55.387292301468996 40.20308100399642 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-5.85501427e-01 -8.10644434e-01 -6.60914292e-03] [-8.10670945e-01 5.85473259e-01 5.80364290e-03] [-8.35214364e-04 8.75588134e-03 -9.99961318e-01]] t_estimated: [[ 0.88947912] [ 0.45696986] [-0.00233398]] R_gt: [[ 0.80325108 0.59210717 -0.06478112] [-0.58728309 0.80543813 0.07980918] [ 0.09943339 -0.02606151 0.99470265]] t_gt: [-0.3828381 0.92103139 -0.07166711] Pose Error in degrees for R and t: 176.71879934562907 85.38129356209531 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.93271733e-01 -1.15806985e-01 -7.50729202e-05] [ 1.15806647e-01 9.93270040e-01 -1.85699443e-03] [ 2.89620609e-04 1.83580613e-03 9.99998273e-01]] t_estimated: [[-0.93606403] [-0.35182412] [-0.00198007]] R_gt: [[ 0.99349941 -0.11265865 -0.01635317] [ 0.11232966 0.9934738 -0.01978806] [ 0.01847612 0.01782294 0.999671 ]] t_gt: [ 0.74291647 -0.6383095 -0.20158396] Pose Error in degrees for R and t: 1.3998075103419698 61.93677710735276 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.90728899 0.42049291 0.00352222] [-0.42044666 0.90726822 -0.00943282] [-0.00716203 0.00707739 0.99994931]] t_estimated: [[0.63152688] [0.77535288] [0.00130751]] R_gt: [[ 0.96979778 -0.24212789 -0.02944199] [ 0.24191281 0.97023905 -0.01068619] [ 0.03115296 0.00324083 0.9995097 ]] t_gt: [ 0.83923568 -0.53657232 -0.08816817] Pose Error in degrees for R and t: 38.92740678620058 83.46260156757666 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.81801163e-01 1.89910531e-01 6.83574067e-04] [-1.89910304e-01 9.81801370e-01 -3.83245642e-04] [-7.43916338e-04 2.46453258e-04 9.99999693e-01]] t_estimated: [[-9.96577883e-01] [ 8.26589990e-02] [ 1.11107785e-04]] R_gt: [[ 0.88660292 -0.46195472 -0.02309293] [ 0.4621362 0.88680397 0.00296537] [ 0.01910854 -0.01330226 0.99972883]] t_gt: [ 0.91310664 -0.40761262 -0.00939278] Pose Error in degrees for R and t: 38.494641048202546 19.32168826891277 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 5.07899049e-01 8.61416591e-01 -1.15980928e-04] [ 8.61406769e-01 -5.07892605e-01 4.84561761e-03] [ 4.11518954e-03 -2.56099133e-03 -9.99988253e-01]] t_estimated: [[0.07297537] [0.99733008] [0.00270279]] R_gt: [[ 0.99837307 0.02485361 -0.05132488] [-0.03075394 0.99258794 -0.11757099] [ 0.04802257 0.11895767 0.99173725]] t_gt: [-0.03868777 0.42941993 -0.90227589] Pose Error in degrees for R and t: 175.76304586965813 64.97513741147229 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999218e-01 1.25030258e-03 1.48276538e-06] [-1.25029318e-03 9.99995105e-01 -2.86835149e-03] [-5.06906538e-06 2.86834739e-03 9.99995886e-01]] t_estimated: [[0.70142019] [0.71274747] [0.00087133]] R_gt: [[ 0.99100403 -0.12296112 -0.05284627] [ 0.10957841 0.97215934 -0.20711857] [ 0.07684274 0.19946438 0.97688751]] t_gt: [ 0.3521907 -0.16963123 -0.92042759] Pose Error in degrees for R and t: 13.961475690138531 82.80033419746925 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99999543 -0.00101886 -0.00284543] [ 0.00102968 0.99999224 0.00380371] [ 0.00284154 -0.00380662 0.99998872]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98194141 -0.18152252 -0.05331205] [ 0.16134584 0.9506375 -0.26505743] [ 0.09879521 0.25166813 0.96275719]] t_gt: [ 0.391923 -0.1813301 -0.90195108] Pose Error in degrees for R and t: 18.72588477604331 88.92172973285027 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[ 9.99999715e-01 -7.55253019e-04 -5.38703452e-06] [ 7.55252975e-04 9.99999715e-01 -8.33373211e-06] [ 5.39332706e-06 8.32966116e-06 1.00000000e+00]] t_estimated: [[-9.94364158e-01] [-1.06015322e-01] [-8.20662797e-04]] R_gt: [[ 0.99994842 0.00995139 0.0021838 ] [-0.00993708 0.99993037 -0.00649191] [-0.0022481 0.0064695 0.99997666]] t_gt: [-0.50608405 0.82876376 -0.23880863] Pose Error in degrees for R and t: 0.7248532298775776 65.44502422225212 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.72126912e-01 -2.34455149e-01 -2.23997879e-04] [ 2.34455194e-01 9.72126906e-01 2.00291616e-04] [ 1.70794964e-04 -2.47226336e-04 9.99999955e-01]] t_estimated: [[ 3.18217646e-01] [-9.48017438e-01] [-6.83117883e-04]] R_gt: [[ 0.99947988 -0.03080655 0.00956944] [ 0.03123113 0.99835941 -0.04800192] [-0.00807547 0.04827651 0.99880185]] t_gt: [-0.16663098 0.82112248 -0.54588643] Pose Error in degrees for R and t: 12.112478092709203 33.789083947547134 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.03932603 0.99922295 0.00263869] [ 0.99922541 -0.03932963 0.0013278 ] [ 0.00143054 0.00258443 -0.99999564]] t_estimated: [[0.84848904] [0.52921223] [0.00087473]] R_gt: [[ 0.99626828 -0.06648133 0.05504003] [ 0.06939106 0.99619512 -0.05273673] [-0.05132391 0.05635945 0.99709104]] t_gt: [ 0.07368243 0.99297785 -0.09255209] Pose Error in degrees for R and t: 175.57275688237675 53.98947877887979 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 0.98278625 0.1846931 0.00443296] [ 0.18473398 -0.98216079 -0.03512167] [-0.00213285 0.03533601 -0.99937321]] t_estimated: [[-0.1894385 ] [ 0.98169441] [-0.01972673]] R_gt: [[ 0.99615466 -0.08031624 -0.03498778] [ 0.07877631 0.99594824 -0.04338016] [ 0.03833089 0.04045705 0.99844581]] t_gt: [ 0.65897466 -0.38441158 -0.64651383] Pose Error in degrees for R and t: 175.77275809620662 60.69515030565792 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.86947631e-01 1.61041453e-01 1.54075581e-04] [-1.61041430e-01 9.86947635e-01 -1.52274498e-04] [-1.76587037e-04 1.25474403e-04 9.99999977e-01]] t_estimated: [[0.50737037] [0.86172714] [0.00128243]] R_gt: [[ 0.98746422 -0.15670699 -0.01892046] [ 0.15437135 0.98378022 -0.09136303] [ 0.03293094 0.08729611 0.9956381 ]] t_gt: [ 0.59215118 -0.47517648 -0.65081817] Pose Error in degrees for R and t: 18.996867699216157 83.69234344534992 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-9.03595279e-03 9.99958961e-01 6.53451829e-04] [-9.99956911e-01 -9.03453995e-03 -2.13367458e-03] [-2.12768338e-03 -6.72703455e-04 9.99997510e-01]] t_estimated: [[0.25841036] [0.96603407] [0.00150239]] R_gt: [[ 0.98496173 -0.16796013 -0.04048583] [ 0.1646041 0.98346883 -0.07545729] [ 0.05249105 0.06765778 0.99632677]] t_gt: [ 0.63167384 -0.50718351 -0.58630456] Pose Error in degrees for R and t: 100.19605235066543 70.87644518214272 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99999816e-01 -5.26811815e-04 -3.01235447e-04] [ 5.26796119e-04 9.99999860e-01 -5.21836250e-05] [ 3.01262896e-04 5.20249257e-05 9.99999953e-01]] t_estimated: [[9.31289216e-01] [3.64279795e-01] [7.91912599e-04]] R_gt: [[ 9.97274065e-01 -6.99474441e-02 2.35023559e-02] [ 6.99381921e-02 9.97550026e-01 1.21275465e-03] [-2.35295480e-02 4.35112010e-04 9.99722630e-01]] t_gt: [ 0.65635138 -0.7362845 0.16458431] Pose Error in degrees for R and t: 4.209034341006521 69.92989076702668 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99998697e-01 1.45159758e-03 -7.06399543e-04] [-1.45144361e-03 9.99998923e-01 2.18428531e-04] [ 7.06715852e-04 -2.17402948e-04 9.99999727e-01]] t_estimated: [[-0.48640699] [-0.87373107] [-0.00150126]] R_gt: [[ 0.99261145 -0.11170539 0.04737943] [ 0.11126466 0.99371938 0.01186101] [-0.0484067 -0.00650172 0.99880692]] t_gt: [ 0.68652869 -0.67249403 0.27646003] Pose Error in degrees for R and t: 7.080524223888067 75.3311792354605 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999950e-01 1.20209547e-05 3.15041492e-04] [-1.19168532e-05 9.99999945e-01 -3.30437245e-04] [-3.15045447e-04 3.30433474e-04 9.99999896e-01]] t_estimated: [[9.02794115e-01] [4.30072278e-01] [7.88516647e-04]] R_gt: [[ 9.86273043e-01 -1.53046622e-01 6.19842804e-02] [ 1.53361094e-01 9.88169628e-01 -3.19974878e-04] [-6.12013880e-02 9.82229990e-03 9.98076855e-01]] t_gt: [ 0.7346306 -0.64926712 0.19690122] Pose Error in degrees for R and t: 9.502324096430867 67.40941226066157 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99472731e-01 -3.24655272e-02 -4.98849221e-04] [ 3.24657222e-02 9.99472774e-01 3.87952933e-04] [ 4.85991118e-04 -4.03943878e-04 9.99999800e-01]] t_estimated: [[ 0.05007844] [ 0.9987232 ] [-0.0066424 ]] R_gt: [[ 0.99371546 -0.10992869 -0.02110183] [ 0.11120205 0.99104834 0.07387249] [ 0.01279233 -0.07575438 0.99704416]] t_gt: [ 0.47256273 -0.78833909 0.39396187] Pose Error in degrees for R and t: 6.275270862529014 39.97862596121887 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.97970809 -0.19950605 0.0192196 ] [-0.19971071 0.97981006 -0.00937383] [-0.01696142 -0.01302197 -0.99977134]] t_estimated: [[0.98522949] [0.17073874] [0.0130819 ]] R_gt: [[ 0.98148953 -0.17663403 -0.07402408] [ 0.18630807 0.97012825 0.15537289] [ 0.04436919 -0.16628747 0.98507809]] t_gt: [ 0.47193478 -0.75506778 0.45513758] Pose Error in degrees for R and t: 178.5049262612626 70.0013009633397 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 4.90842476e-01 -8.71241824e-01 3.36873650e-03] [ 8.71246062e-01 4.90846360e-01 3.86933782e-04] [-1.99064494e-03 2.74507487e-03 9.99994251e-01]] t_estimated: [[8.86128548e-01] [4.63439014e-01] [6.90669172e-04]] R_gt: [[ 0.95666558 -0.2573936 -0.13615915] [ 0.27838421 0.94558848 0.16842252] [ 0.0854001 -0.19902833 0.97626479]] t_gt: [ 0.57682829 -0.74108381 0.34360429] Pose Error in degrees for R and t: 46.54168548222733 80.33227046034078 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-2.10839023e-01 -9.77519368e-01 1.67091454e-03] [-9.77520519e-01 2.10839941e-01 3.91872309e-04] [-7.35358295e-04 -1.55073127e-03 -9.99998527e-01]] t_estimated: [[0.75843304] [0.65174808] [0.00193973]] R_gt: [[ 0.99606025 -0.06836849 0.05648244] [ 0.0610396 0.99057623 0.12261375] [-0.06433244 -0.11868281 0.99084543]] t_gt: [ 0.30843363 -0.42618346 0.85043304] Pose Error in degrees for R and t: 172.85324054405567 87.58206556083508 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.97079241e-01 -7.63739813e-02 5.44854146e-05] [ 7.63739734e-02 9.97079234e-01 1.34854247e-04] [-6.46256312e-05 -1.30299102e-04 9.99999989e-01]] t_estimated: [[5.79862368e-01] [8.14714410e-01] [2.54145712e-04]] R_gt: [[ 0.9900868 -0.1086049 0.08906975] [ 0.09028005 0.97785877 0.1887902 ] [-0.10760088 -0.17887703 0.97796934]] t_gt: [ 0.27576154 -0.41809506 0.86553572] Pose Error in degrees for R and t: 12.120382140178211 79.60086113251799 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-1.20953978e-03 -9.99999212e-01 -3.35569709e-04] [ 9.99999220e-01 -1.20964426e-03 3.11313882e-04] [-3.11719557e-04 -3.35192901e-04 9.99999895e-01]] t_estimated: [[9.99999672e-01] [7.32908986e-04] [3.44772210e-04]] R_gt: [[ 0.98399114 -0.12682834 0.12520308] [ 0.09031616 0.96051094 0.26317843] [-0.15363739 -0.24765669 0.9565886 ]] t_gt: [ 0.18663757 -0.37838918 0.90663556] Pose Error in degrees for R and t: 85.07936210213325 79.241325961585 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 6.16750420e-01 7.87158490e-01 6.56121882e-04] [-7.87157989e-01 6.16750768e-01 -8.88659391e-04] [-1.10417946e-03 3.16094719e-05 9.99999390e-01]] t_estimated: [[-1.99149951e-01] [ 9.79968690e-01] [ 8.14818955e-04]] R_gt: [[ 0.99420407 0.07692713 -0.07509791] [-0.07393203 0.99638425 0.04188041] [ 0.07804795 -0.03608572 0.99629579]] t_gt: [-0.06840981 0.95536987 -0.28738216] Pose Error in degrees for R and t: 47.833760542237336 18.264067635372562 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.26653338 -0.96377181 -0.0101913 ] [ 0.96377947 0.26660925 -0.00697487] [ 0.00943928 -0.00796313 0.99992374]] t_estimated: [[ 0.99031992] [-0.13876491] [-0.00328094]] R_gt: [[ 0.98505406 0.14668565 -0.09028779] [-0.13611732 0.98413481 0.11380899] [ 0.10555009 -0.09981846 0.98939158]] t_gt: [-0.17409685 0.98014364 0.09491437] Pose Error in degrees for R and t: 83.00387837000997 72.01713689678184 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99693343 -0.07821337 0.00252952] [ 0.07821877 0.99693398 -0.00211337] [-0.00235647 0.00230475 0.99999457]] t_estimated: [[-0.03652687] [ 0.99933004] [ 0.00229225]] R_gt: [[ 0.9868748 0.11448108 -0.11389805] [-0.10388118 0.99004081 0.09501953] [ 0.12364223 -0.08194044 0.98893818]] t_gt: [ 0.31333617 0.93672628 -0.15609073] Pose Error in degrees for R and t: 13.863567794318302 22.4376047294072 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 8.58943854e-01 5.12069726e-01 2.25008412e-04] [-5.12069679e-01 8.58943880e-01 -2.35314973e-04] [-3.13767272e-04 8.69023646e-05 9.99999947e-01]] t_estimated: [[-9.93797694e-01] [ 1.11201950e-01] [-5.18735284e-04]] R_gt: [[ 9.93110899e-01 1.17184161e-01 -2.87217157e-04] [-1.17082858e-01 9.92342121e-01 3.93585791e-02] [ 4.89697969e-03 -3.90536044e-02 9.99225131e-01]] t_gt: [-0.85835948 0.45848887 0.23023241] Pose Error in degrees for R and t: 24.17732412632288 25.324316662603163 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.73614424 0.67419226 -0.05963599] [ 0.67660718 -0.73081179 0.09009361] [ 0.01715773 -0.10667203 -0.99414621]] t_estimated: [[-0.81266998] [-0.58271835] [-0.00261309]] R_gt: [[ 9.64690689e-01 2.63125740e-01 1.17464061e-02] [-2.63135749e-01 9.64758924e-01 -8.71923850e-04] [-1.15619136e-02 -2.24938641e-03 9.99930404e-01]] t_gt: [-0.82752616 0.55991388 0.04119357] Pose Error in degrees for R and t: 174.37294357108055 69.74945797520007 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 4.96289032e-01 -8.68153751e-01 -2.50236682e-03] [ 8.68157051e-01 4.96289215e-01 5.90986399e-04] [ 7.28830608e-04 -2.46574747e-03 9.99996694e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.93686887 0.34953924 -0.009948 ] [-0.34954099 0.93691999 0.00176772] [ 0.00993844 0.00182272 0.99994832]] t_gt: [-0.78973193 0.61344476 0.00300046] Pose Error in degrees for R and t: 80.70589818179428 52.458588012190624 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999122e-01 1.32502943e-03 -4.34847458e-06] [-1.32502945e-03 9.99999122e-01 -2.75836170e-06] [ 4.34481585e-06 2.76412113e-06 1.00000000e+00]] t_estimated: [[-5.43473999e-01] [ 8.39425952e-01] [-2.87159664e-04]] R_gt: [[ 0.99333199 0.07784576 -0.08503972] [-0.07222808 0.99511801 0.06726089] [ 0.08986074 -0.06067025 0.99410515]] t_gt: [ 0.04177229 0.95310092 -0.2997561 ] Pose Error in degrees for R and t: 7.530022560756948 38.97307862112189 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99999293e-01 -1.17882483e-03 1.56662449e-04] [ 1.17878380e-03 9.99999271e-01 2.61722771e-04] [-1.56970860e-04 -2.61537915e-04 9.99999953e-01]] t_estimated: [[0.43595551] [0.89996757] [0.0010791 ]] R_gt: [[ 0.9820643 0.13459186 -0.13204609] [-0.122777 0.98798253 0.09390635] [ 0.14309798 -0.07600977 0.98678526]] t_gt: [ 0.05083544 0.9637415 -0.26195052] Pose Error in degrees for R and t: 11.9678041622301 27.225178216836458 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.99682647 0.07959267 -0.00140974] [-0.07958955 -0.99682542 -0.00214157] [-0.00157572 -0.00202258 0.99999671]] t_estimated: [[0.73267459] [0.68057822] [0.00110843]] R_gt: [[ 0.97704119 0.16433681 -0.13559231] [-0.14445072 0.97877243 0.14539233] [ 0.15660711 -0.12246795 0.98003827]] t_gt: [ 0.1017478 0.9946293 -0.01897235] Pose Error in degrees for R and t: 166.54589682695737 41.2838596168661 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[-0.85780777 0.51356255 -0.02047782] [ 0.51353874 0.85803941 0.00680685] [ 0.02106652 -0.00467718 -0.99976714]] t_estimated: [[ 0.96596625] [-0.25845621] [-0.01046883]] R_gt: [[ 0.99159482 0.12851912 0.01495942] [-0.12772379 0.99076342 -0.04553464] [-0.02067319 0.04324203 0.998851 ]] t_gt: [-0.81539797 0.54727989 -0.18870845] Pose Error in degrees for R and t: 179.57366600341453 22.009880434452757 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-3.43580280e-01 9.39114027e-01 4.17554005e-03] [ 9.39121948e-01 3.43583958e-01 -1.75426567e-04] [-1.59939413e-03 3.86106820e-03 -9.99991267e-01]] t_estimated: [[-0.31820194] [-0.94802232] [-0.00109725]] R_gt: [[ 0.96929968 0.24316096 0.036476 ] [-0.24360809 0.96983766 0.00829228] [-0.03336005 -0.016923 0.9993006 ]] t_gt: [-0.83167532 0.54922705 0.08164439] Pose Error in degrees for R and t: 178.58073242244456 75.1595421933855 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 6.53104136e-01 7.57268065e-01 2.55584051e-04] [-7.57268083e-01 6.53104164e-01 -3.98821846e-05] [-1.97124513e-04 -1.67498425e-04 9.99999967e-01]] t_estimated: [[-9.99414892e-01] [-3.41945997e-02] [-7.77149993e-04]] R_gt: [[ 0.92833481 0.36940963 0.04162378] [-0.36965375 0.92916727 -0.00193942] [-0.03939269 -0.01358456 0.99913125]] t_gt: [-0.79471991 0.60435161 0.05638614] Pose Error in degrees for R and t: 27.627428450892413 39.32664937316887 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99937655e-01 1.11652826e-02 1.51017951e-04] [-1.11652810e-02 9.99937666e-01 -1.11278525e-05] [-1.51132783e-04 9.44100091e-06 9.99999989e-01]] t_estimated: [[0.68636831] [0.72725306] [0.00123893]] R_gt: [[ 0.99992332 -0.00396058 -0.01167639] [ 0.00313464 0.99754873 -0.06989725] [ 0.01192433 0.06985636 0.9974854 ]] t_gt: [ 0.03364222 0.49855105 -0.86620728] Pose Error in degrees for R and t: 4.151759722645113 67.3816759438055 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.09645081 -0.99533368 -0.00284682] [-0.99533505 -0.09644349 -0.00260775] [ 0.00232102 0.00308506 -0.99999255]] t_estimated: [[ 6.71957604e-01] [ 7.40589562e-01] [-2.82170763e-04]] R_gt: [[ 0.99834789 -0.05723341 0.00511349] [ 0.05740952 0.98969715 -0.13115971] [ 0.00244507 0.13123672 0.99134757]] t_gt: [ 0.1697826 0.52141465 -0.83624197] Pose Error in degrees for R and t: 174.24967819572808 59.9684423307957 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-2.70058001e-01 9.62843912e-01 -5.26159101e-04] [-9.62840931e-01 -2.70058476e-01 -2.40027331e-03] [-2.45318227e-03 -1.41605494e-04 9.99996981e-01]] t_estimated: [[0.44901425] [0.89352334] [0.00150172]] R_gt: [[ 0.99933212 -0.03426948 -0.0126216 ] [ 0.03172085 0.98578044 -0.165013 ] [ 0.01809682 0.1645032 0.98621048]] t_gt: [-0.00816493 0.72093194 -0.69295777] Pose Error in degrees for R and t: 107.85119204000463 50.24823290255493 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 0.76847877 0.63983492 0.00718769] [ 0.63987418 -0.76844987 -0.00677039] [ 0.00119145 0.00980212 -0.99995125]] t_estimated: [[-0.99844139] [-0.05546897] [-0.00616322]] R_gt: [[ 0.98826368 -0.15095227 -0.02342313] [ 0.15105034 0.98852185 0.002489 ] [ 0.02277858 -0.00599743 0.99972269]] t_gt: [ 0.69196178 -0.72191891 0.00468833] Pose Error in degrees for R and t: 179.83748456934023 49.39291660229632 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 1.93067164e-01 9.81185288e-01 7.08031311e-04] [-9.81184048e-01 1.93068080e-01 -1.60668796e-03] [-1.71315683e-03 -3.84510339e-04 9.99998459e-01]] t_estimated: [[0.24856291] [0.96861511] [0.00111463]] R_gt: [[ 0.97668538 -0.21271817 -0.02892822] [ 0.21464658 0.96986659 0.11525194] [ 0.00354095 -0.11877451 0.99291538]] t_gt: [ 0.5086444 -0.75645831 0.41115898] Pose Error in degrees for R and t: 91.45431698783413 52.71151443429753 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-9.08595923e-01 -4.17675941e-01 5.07078430e-04] [-4.17674181e-01 9.08594576e-01 2.04329959e-03] [-1.31416579e-03 1.64474011e-03 -9.99997784e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.95746214 -0.27117821 -0.09863192] [ 0.2839108 0.94640278 0.15399704] [ 0.05158515 -0.17544935 0.98313642]] t_gt: [ 0.56019821 -0.73765355 0.37688884] Pose Error in degrees for R and t: 177.85094834720562 56.06857767566834 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.98579781e-01 5.32767263e-02 1.09743444e-04] [-5.32765906e-02 9.98579294e-01 -9.99233794e-04] [-1.62823436e-04 9.91967906e-04 9.99999495e-01]] t_estimated: [[-0.07386967] [-0.99724054] [-0.00738697]] R_gt: [[ 0.99745347 -0.05949802 0.03932673] [ 0.05908133 0.99818446 0.01169749] [-0.03995123 -0.00934456 0.99915796]] t_gt: [ 0.60809238 -0.640877 0.46850861] Pose Error in degrees for R and t: 6.87172672067137 53.79130729581119 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.95140875 -0.30781479 -0.00845246] [ 0.30770034 -0.95140025 0.01257265] [-0.01191172 0.00936091 0.99988524]] t_estimated: [[8.69774142e-01] [4.93449553e-01] [6.93047125e-04]] R_gt: [[ 0.99277101 -0.107427 0.05352004] [ 0.10690432 0.99418898 0.01254625] [-0.05455682 -0.00673343 0.99848807]] t_gt: [ 0.69231811 -0.63896332 0.33529318] Pose Error in degrees for R and t: 155.90747467061564 73.31578692065007 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999366e-01 -2.49299705e-04 1.09826237e-03] [ 2.49952787e-04 9.99999792e-01 -5.94552551e-04] [-1.09811392e-03 5.94826688e-04 9.99999220e-01]] t_estimated: [[0.76700438] [0.64164111] [0.00098208]] R_gt: [[ 0.98937816 -0.13449432 0.05515457] [ 0.13481423 0.99086833 -0.00210872] [-0.05436694 0.00952232 0.9984761 ]] t_gt: [ 0.75355575 -0.61626153 0.22885686] Pose Error in degrees for R and t: 8.326981426801677 79.46788710051766 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.96081649e-01 8.84364552e-02 5.85202796e-04] [-8.84358618e-02 9.96081399e-01 -9.72382480e-04] [-6.68903679e-04 9.16819431e-04 9.99999356e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99917683 -0.0384329 -0.01307393] [ 0.0375508 0.99735895 -0.0621721 ] [ 0.01542928 0.06163012 0.9979799 ]] t_gt: [ 0.49615238 -0.06639717 -0.86569292] Pose Error in degrees for R and t: 8.09519576770224 60.312253264942704 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.04402690e-01 4.26679703e-01 4.54374748e-04] [-4.26679375e-01 9.04402710e-01 -6.70094451e-04] [-6.96853455e-04 4.12162890e-04 9.99999672e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.99492783 -0.09473998 -0.0338156 ] [ 0.09108433 0.99111805 -0.09689544] [ 0.04269576 0.09332444 0.99472016]] t_gt: [ 0.60137014 -0.17592908 -0.77936058] Pose Error in degrees for R and t: 31.147566333315627 53.11453052120665 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99999257 0.00189875 0.00335475] [-0.00189277 0.99999661 -0.00178581] [-0.00335813 0.00177944 0.99999278]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.97952827 -0.19656482 -0.04343592] [ 0.18830723 0.97097086 -0.14750219] [ 0.07116943 0.13630367 0.98810687]] t_gt: [ 0.63644389 -0.27218354 -0.72170306] Pose Error in degrees for R and t: 14.305981156741487 62.47373787873539 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.98468183e-01 5.53281553e-02 2.89135098e-04] [-5.53277057e-02 9.98467293e-01 -1.38222463e-03] [-3.65167878e-04 1.36411013e-03 9.99999003e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.98804341 0.15404024 -0.00647756] [-0.15416309 0.98651643 -0.05494621] [-0.00207344 0.05528856 0.99846866]] t_gt: [-0.80165338 0.54632075 -0.24266336] Pose Error in degrees for R and t: 6.484606367441173 57.65941669190214 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.97376631e-01 -7.23616777e-02 1.90881081e-03] [ 7.23618928e-02 9.97378441e-01 -4.37868429e-05] [-1.90063826e-03 1.81797137e-04 9.99998177e-01]] t_estimated: [[-0.99127826] [-0.13176677] [ 0.00221996]] R_gt: [[ 0.97911415 0.20060744 -0.03304796] [-0.20183364 0.97863386 -0.0392359 ] [ 0.02447093 0.04508707 0.99868338]] t_gt: [-0.77726115 0.59752528 -0.19704984] Pose Error in degrees for R and t: 16.04659820071707 46.2660511873191 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.05936254e-01 4.23413595e-01 6.56678973e-04] [-4.23413740e-01 9.05936420e-01 9.30487806e-05] [-5.55511278e-04 -3.62343163e-04 9.99999780e-01]] t_estimated: [[-0.2507282 ] [ 0.96805682] [ 0.00116716]] R_gt: [[ 0.97604332 0.21224085 -0.04787871] [-0.21537661 0.97370024 -0.07430138] [ 0.03084893 0.08283341 0.99608578]] t_gt: [-0.66960448 0.67760458 -0.30410833] Pose Error in degrees for R and t: 13.663126833115253 34.56394752394387 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.63852568 -0.76944063 0.01568653] [-0.7694409 0.63867573 0.00734926] [-0.01567342 -0.00737716 -0.99984995]] t_estimated: [[0.90422173] [0.42696131] [0.0093326 ]] R_gt: [[ 0.9912444 -0.12944019 -0.02606182] [ 0.13008959 0.9911869 0.0249949 ] [ 0.02259545 -0.02816695 0.99934753]] t_gt: [ 0.63646197 -0.76916594 0.05744498] Pose Error in degrees for R and t: 179.62321301269031 75.66240630515291 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.99435649 0.10606915 -0.00212193] [-0.10606553 -0.99435759 -0.00175544] [-0.00229616 -0.00152047 0.99999621]] t_estimated: [[0.72361269] [0.69020458] [0.00152326]] R_gt: [[ 0.97840076 -0.20475678 0.02838369] [ 0.20535773 0.97848049 -0.02012677] [-0.02365285 0.02552113 0.99939384]] t_gt: [ 0.60245922 -0.79558253 -0.06396348] Pose Error in degrees for R and t: 174.2559237015567 83.49643721996614 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.91504810e-01 -1.30070028e-01 1.67923680e-05] [ 1.30070029e-01 9.91504805e-01 -9.21586138e-05] [-4.66264007e-06 9.35598926e-05 9.99999996e-01]] t_estimated: [[ 6.16801528e-01] [-7.87118705e-01] [-1.37821894e-04]] R_gt: [[ 0.97609123 -0.19923466 0.08689994] [ 0.20750191 0.97315187 -0.09959179] [-0.06472484 0.11524224 0.99122623]] t_gt: [ 0.47934354 -0.7805549 -0.40120297] Pose Error in degrees for R and t: 8.728681223563296 24.480205597294695 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999999e-01 -1.22114733e-06 4.71800368e-05] [ 1.22115636e-06 1.00000000e+00 -1.91489470e-07] [-4.71800366e-05 1.91547084e-07 9.99999999e-01]] t_estimated: [[7.63365900e-01] [6.45965941e-01] [7.10649619e-04]] R_gt: [[ 0.99273693 -0.11780955 -0.02438253] [ 0.11756064 0.99299969 -0.01144714] [ 0.02556045 0.00849812 0.9996372 ]] t_gt: [ 0.72040628 -0.67460655 -0.16099936] Pose Error in degrees for R and t: 6.934000383521777 83.45137874847937 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.98627402e-01 5.23762563e-02 1.98121118e-04] [-5.23762553e-02 9.98627422e-01 -1.01991888e-05] [-1.98383376e-04 -1.91652840e-07 9.99999980e-01]] t_estimated: [[0.58532566] [0.81079779] [0.00090189]] R_gt: [[ 0.97813722 -0.20527105 -0.03333497] [ 0.2046204 0.97859633 -0.02191843] [ 0.0371202 0.01461919 0.99920424]] t_gt: [ 0.74743694 -0.65082065 -0.13330602] Pose Error in degrees for R and t: 15.009073408232847 84.81854977836988 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999997e-01 2.22147866e-05 7.03855818e-05] [-2.22147607e-05 1.00000000e+00 -3.69097115e-07] [-7.03855900e-05 3.67533514e-07 9.99999998e-01]] t_estimated: [[8.28637643e-01] [5.59784991e-01] [6.49402541e-04]] R_gt: [[ 0.97571487 -0.20596909 -0.07455831] [ 0.19965153 0.97624775 -0.08415051] [ 0.09012041 0.06722121 0.9936602 ]] t_gt: [ 0.75533839 -0.53630906 -0.37661189] Pose Error in degrees for R and t: 13.39375420039974 71.00779660212997 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 2.12175955e-01 9.77230824e-01 1.13128910e-03] [ 9.77230252e-01 -2.12177381e-01 1.33911309e-03] [ 1.54865655e-03 8.21402339e-04 -9.99998463e-01]] t_estimated: [[9.36428869e-01] [3.50857287e-01] [3.70230659e-04]] R_gt: [[ 0.99629528 0.08058678 -0.03004491] [-0.08230721 0.99472121 -0.06128134] [ 0.02494797 0.06352777 0.99766796]] t_gt: [-0.51578316 0.61791253 -0.59342383] Pose Error in degrees for R and t: 178.22496560650745 74.54896086557007 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999943e-01 -3.35382913e-04 -3.67196152e-05] [ 3.35382007e-04 9.99999943e-01 -2.46725247e-05] [ 3.67278878e-05 2.46602082e-05 9.99999999e-01]] t_estimated: [[-9.99997538e-01] [-2.19736946e-03] [-3.07765965e-04]] R_gt: [[ 0.99478306 0.09923242 0.0236834 ] [-0.09882433 0.99494557 -0.01780943] [-0.02533129 0.01537657 0.99956101]] t_gt: [-0.75249033 0.65726168 0.04201664] Pose Error in degrees for R and t: 5.950924190392249 41.320209009250355 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-5.86564963e-01 8.09897199e-01 2.84096036e-03] [ 8.09902128e-01 5.86562598e-01 1.69179417e-03] [-2.96221725e-04 3.29324702e-03 -9.99994533e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99114654 0.01404845 0.13203449] [-0.03977183 0.9801425 0.19426604] [-0.12668387 -0.19779579 0.97202278]] t_gt: [-0.13253585 0.03704715 0.99048562] Pose Error in degrees for R and t: 178.39767262836799 87.8652736187027 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99907909e-01 -1.35710056e-02 -3.92686912e-05] [ 1.35709805e-02 9.99907740e-01 -5.82287620e-04] [ 4.71672968e-05 5.81701082e-04 9.99999830e-01]] t_estimated: [[-9.99963649e-01] [-8.47426822e-03] [-9.41585357e-04]] R_gt: [[ 0.96089455 0.27661672 0.01281613] [-0.27666196 0.96096514 0.00183556] [-0.01180841 -0.00530868 0.99991589]] t_gt: [-0.93152771 0.36300518 0.02198578] Pose Error in degrees for R and t: 16.854872842888174 21.81370967861185 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.99868171 0.05130695 -0.00156076] [-0.05130412 -0.99868145 -0.0018006 ] [-0.00165109 -0.00171816 0.99999716]] t_estimated: [[9.66209642e-01] [2.57756394e-01] [7.53673668e-04]] R_gt: [[ 0.94833315 0.31622761 0.02576181] [-0.31575996 0.94861392 -0.02068795] [-0.03098112 0.01148549 0.99945378]] t_gt: [-0.91799902 0.39623453 -0.01661328] Pose Error in degrees for R and t: 158.6338342346038 38.29226456427111 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.88902791 0.45785135 -0.00122919] [-0.45783215 -0.88900984 -0.00715769] [-0.00436993 -0.00580062 0.99997363]] t_estimated: [[0.63575588] [0.77188081] [0.00380594]] R_gt: [[ 0.88819556 0.45892974 0.02218367] [-0.45909763 0.8883814 0.00289478] [-0.01837944 -0.01275446 0.99974977]] t_gt: [-0.87541459 0.48190258 0.03767225] Pose Error in degrees for R and t: 125.42485624227616 79.37179234643968 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99998938e-01 1.44681484e-03 1.73023520e-04] [-1.44683307e-03 9.99998948e-01 1.05256911e-04] [-1.72871051e-04 -1.05507136e-04 9.99999979e-01]] t_estimated: [[0.99847853] [0.05512451] [0.00138198]] R_gt: [[ 0.99210283 -0.12391412 -0.019391 ] [ 0.12356813 0.99217014 -0.01812652] [ 0.02148579 0.01558728 0.99964709]] t_gt: [ 0.6671727 -0.6994829 -0.25613329] Pose Error in degrees for R and t: 7.353828305062038 51.15284541435263 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999631e-01 8.13257514e-04 2.75938574e-04] [-8.13244341e-04 9.99999668e-01 -4.78504353e-05] [-2.75977397e-04 4.76260122e-05 9.99999961e-01]] t_estimated: [[9.86834914e-01] [1.61727914e-01] [9.66796536e-04]] R_gt: [[ 0.98050821 -0.19587302 -0.01537302] [ 0.1949285 0.97960456 -0.04874485] [ 0.0246082 0.04479889 0.99869233]] t_gt: [ 0.60463731 -0.72946678 -0.31983111] Pose Error in degrees for R and t: 11.69514358753196 61.41951076478307 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.94799197e-01 1.01855027e-01 3.33869243e-04] [-1.01854986e-01 9.94799247e-01 -1.38746383e-04] [-3.46264888e-04 1.04018544e-04 9.99999935e-01]] t_estimated: [[ 9.35092035e-01] [-3.54404867e-01] [-2.76548767e-04]] R_gt: [[ 0.95984742 -0.27785973 -0.03854664] [ 0.27608716 0.96005024 -0.04558743] [ 0.04967524 0.03311537 0.99821568]] t_gt: [ 0.62477626 -0.73618439 -0.26016756] Pose Error in degrees for R and t: 22.204200670079125 32.306351883280826 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.99527600e-01 3.07339615e-02 1.65524948e-05] [-3.07339609e-02 9.99527600e-01 -3.62289060e-05] [-1.76581332e-05 3.57030677e-05 9.99999999e-01]] t_estimated: [[ 4.34129336e-01] [-9.00850531e-01] [-2.02582916e-04]] R_gt: [[ 0.99911792 -0.02401999 -0.03443975] [ 0.02466707 0.99952386 0.0184853 ] [ 0.03397979 -0.01931899 0.99923596]] t_gt: [ 0.63635606 -0.66068529 -0.39817825] Pose Error in degrees for R and t: 3.872038673293717 29.36422105622742 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.84062118e-01 1.77825043e-01 4.64845205e-05] [-1.77825036e-01 9.84062113e-01 -1.19183364e-04] [-6.69374422e-05 1.09017722e-04 9.99999992e-01]] t_estimated: [[8.47929833e-01] [5.30107814e-01] [8.38885437e-04]] R_gt: [[ 0.99861177 0.00753615 -0.05213355] [-0.00475424 0.9985683 0.05326527] [ 0.05246074 -0.05294325 0.99721842]] t_gt: [ 0.14072996 -0.92809122 -0.34473435] Pose Error in degrees for R and t: 10.775411558819561 68.10242765986717 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.96892681e-01 7.87717129e-02 -2.15878381e-05] [-7.87717151e-02 9.96892672e-01 -1.30552737e-04] [ 1.12368949e-05 1.31847579e-04 9.99999991e-01]] t_estimated: [[9.97913400e-01] [6.45600166e-02] [9.22285952e-04]] R_gt: [[ 0.99854339 0.02616479 -0.0471764 ] [-0.02484184 0.99928782 0.02839419] [ 0.04788642 -0.02718126 0.99848288]] t_gt: [-0.41561296 -0.64358082 -0.64270491] Pose Error in degrees for R and t: 4.395213700222201 62.81351668662847 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99999834e-01 -5.70660692e-04 8.11347147e-05] [ 5.70650971e-04 9.99999830e-01 1.19778224e-04] [-8.12030536e-05 -1.19731905e-04 9.99999990e-01]] t_estimated: [[0.28206192] [0.95939428] [0.00191879]] R_gt: [[ 0.99960576 -0.00511641 -0.0276451 ] [ 0.00548656 0.99989666 0.01330578] [ 0.02757503 -0.01345249 0.99952873]] t_gt: [ 0.96134338 0.23951937 -0.13582848] Pose Error in degrees for R and t: 1.7794049186248604 59.95425714213094 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999996e-01 9.46023069e-05 -6.43660335e-06] [-9.46006724e-05 9.99999963e-01 2.53474502e-04] [ 6.46058239e-06 -2.53473892e-04 9.99999968e-01]] t_estimated: [[-0.78993387] [-0.61319097] [-0.00114351]] R_gt: [[ 0.99939884 0.01445093 -0.03150672] [-0.0143221 0.99988823 0.00431782] [ 0.03156576 -0.0038631 0.99949382]] t_gt: [ 0.89227787 0.3994481 -0.21043152] Pose Error in degrees for R and t: 1.996417503601318 18.27948393238357 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-5.91853467e-01 8.06044909e-01 1.03844707e-03] [-8.06045132e-01 -5.91851293e-01 -1.81446207e-03] [-8.47931672e-04 -1.91093087e-03 9.99997815e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99582283 0.05144018 -0.07544554] [-0.04958525 0.99842546 0.02625743] [ 0.07667696 -0.02240616 0.99680364]] t_gt: [ 0.89477743 0.3827697 -0.22991456] Pose Error in degrees for R and t: 123.443069442378 67.16344377034027 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.89851993e-01 -1.42101678e-01 -3.80227969e-04] [ 1.42101821e-01 9.89851972e-01 3.80981128e-04] [ 3.22231348e-04 -4.31146016e-04 9.99999855e-01]] t_estimated: [[9.99912399e-01] [1.32119613e-02] [7.98619189e-04]] R_gt: [[ 0.99733655 0.07216719 0.01058565] [-0.07171432 0.99669227 -0.03825515] [-0.01331035 0.03739386 0.99921207]] t_gt: [-0.5623458 0.77292877 -0.29385086] Pose Error in degrees for R and t: 12.509463679026766 56.47372695336769 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-9.89737105e-01 -1.42900050e-01 -1.97607511e-04] [-1.42900170e-01 9.89735380e-01 1.84925772e-03] [-6.86798755e-05 1.85851713e-03 -9.99998271e-01]] t_estimated: [[9.97063280e-01] [7.65781730e-02] [7.73516897e-04]] R_gt: [[ 0.98648246 0.16386352 0.00107219] [-0.16375995 0.98605829 -0.02953865] [-0.00589681 0.02896249 0.99956289]] t_gt: [-0.67351392 0.73100404 -0.10959969] Pose Error in degrees for R and t: 179.92022948374085 52.00142905837187 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 0.82758451 -0.56133427 -0.00277807] [ 0.56133979 0.82758324 0.00190161] [ 0.00123164 -0.00313318 0.99999433]] t_estimated: [[-0.67095958] [-0.74149172] [-0.00180852]] R_gt: [[ 0.94226941 0.33479382 -0.00641529] [-0.33435706 0.93965379 -0.07250526] [-0.01824568 0.07046331 0.99734753]] t_gt: [-0.69207941 0.70792976 -0.14093097] Pose Error in degrees for R and t: 53.885248956915206 86.54228597029994 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99881559e-01 1.53888851e-02 2.25262675e-04] [-1.53888374e-02 9.99881562e-01 -2.12026762e-04] [-2.28498851e-04 2.08535118e-04 9.99999952e-01]] t_estimated: [[ 0.98271138] [-0.1851326 ] [-0.00206365]] R_gt: [[ 0.99749931 -0.06732269 -0.02149335] [ 0.06739588 0.99772269 0.00271246] [ 0.02126292 -0.00415402 0.99976494]] t_gt: [ 0.81855974 -0.542534 -0.18872417] Pose Error in degrees for R and t: 4.908150633612378 25.14462067604896 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 7.14651574e-01 6.99478390e-01 1.76345507e-03] [-6.99477241e-01 7.14653685e-01 -1.30335617e-03] [-2.17192915e-03 -3.02051149e-04 9.99997596e-01]] t_estimated: [[0.11491805] [0.99337235] [0.00228358]] R_gt: [[ 0.9941516 -0.10617406 -0.01974735] [ 0.10607474 0.99434009 -0.00598091] [ 0.02027184 0.00385165 0.99978705]] t_gt: [ 0.80576373 -0.57509118 -0.14147419] Pose Error in degrees for R and t: 50.49355930789182 61.37950070735756 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-4.15217092e-01 9.09722345e-01 1.48581442e-04] [ 9.09717925e-01 4.15214555e-01 3.18902199e-03] [ 2.83943138e-03 1.45930364e-03 -9.99994904e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 9.61483341e-01 -2.70699830e-01 -4.76630012e-02] [ 2.71010733e-01 9.62576553e-01 6.24356510e-05] [ 4.58628899e-02 -1.29779390e-02 9.98863942e-01]] t_gt: [ 0.79305729 -0.60468711 -0.07357739] Pose Error in degrees for R and t: 177.45114737380294 78.07132727695117 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.92970007e-01 1.18361614e-01 -1.04531664e-03] [-1.18361156e-01 9.92970491e-01 4.90424982e-04] [ 1.09601607e-03 -3.63252412e-04 9.99999333e-01]] t_estimated: [[-0.59485529] [-0.80383222] [-0.00097199]] R_gt: [[ 0.99975966 -0.02052178 0.00780444] [ 0.02057077 0.99976932 -0.00620045] [-0.00767548 0.00635943 0.99995007]] t_gt: [ 0.8836054 -0.44984334 0.12993255] Pose Error in degrees for R and t: 7.999924764784059 80.55242678315138 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 1.00000000e+00 -4.02455846e-16 2.27682456e-16] [ 3.88578059e-16 1.00000000e+00 5.69206141e-19] [-3.00757683e-16 5.10794749e-16 1.00000000e+00]] t_estimated: [[-0.99603734] [-0.08892202] [-0.00157645]] R_gt: [[ 0.98724697 -0.15795594 -0.01984983] [ 0.15779354 0.98742724 -0.00947778] [ 0.02109647 0.00622493 0.99975808]] t_gt: [ 0.76754646 -0.63641445 -0.07647927] Pose Error in degrees for R and t: 9.171330405856072 44.94436090095957 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99998024e-01 -1.88985542e-03 6.16752372e-04] [ 1.89041925e-03 9.99997795e-01 -9.14888686e-04] [-6.15022005e-04 9.16052799e-04 9.99999391e-01]] t_estimated: [[ 0.83713111] [-0.54699135] [-0.00345894]] R_gt: [[ 0.96403052 -0.26402779 -0.03058983] [ 0.26437891 0.964386 0.00796879] [ 0.02739657 -0.01576932 0.99949993]] t_gt: [ 0.76039484 -0.64926154 -0.0160979 ] Pose Error in degrees for R and t: 15.328388133643148 7.36649687506642 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.95266117e-01 -9.71869161e-02 -2.45105949e-04] [ 9.71868880e-02 9.95266142e-01 -1.24320526e-04] [ 2.56027980e-04 9.99109229e-05 9.99999962e-01]] t_estimated: [[-0.37902455] [-0.92538442] [-0.00201609]] R_gt: [[ 0.99818635 0.05993902 -0.00565624] [-0.05979152 0.99793963 0.02326546] [ 0.00703931 -0.02288495 0.99971382]] t_gt: [-0.85086135 0.49962769 0.16250268] Pose Error in degrees for R and t: 9.11366356916436 81.94185601659952 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.68628457e-01 -2.48512856e-01 -5.22201550e-04] [ 2.48513213e-01 9.68628183e-01 7.91607987e-04] [ 3.09094376e-04 -8.96548008e-04 9.99999550e-01]] t_estimated: [[9.99648032e-01] [2.65149894e-02] [8.75788171e-04]] R_gt: [[ 0.99977083 -0.00446471 -0.02095594] [ 0.00433878 0.99997176 -0.00609681] [ 0.02098204 0.00600434 0.99976188]] t_gt: [-0.0321334 -0.86545566 -0.49995394] Pose Error in degrees for R and t: 14.191468206654534 86.81801961128792 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.9932891 -0.11562077 0.00293223] [-0.11563727 -0.99327168 0.00627573] [ 0.0021869 -0.00657269 -0.99997601]] t_estimated: [[0.62555086] [0.78018141] [0.00175717]] R_gt: [[ 0.99659166 -0.07813882 -0.02644891] [ 0.07761 0.99677265 -0.02051284] [ 0.02796646 0.01839033 0.99943976]] t_gt: [ 0.4725508 -0.82698178 -0.30462578] Pose Error in degrees for R and t: 179.15857521429936 69.50494540787489 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.99687863e-01 -2.49834776e-02 4.59028887e-05] [ 2.49834711e-02 9.99687855e-01 1.38318185e-04] [-4.93442297e-05 -1.37128198e-04 9.99999989e-01]] t_estimated: [[9.73080153e-01] [2.30465246e-01] [8.86185072e-04]] R_gt: [[ 0.99884345 -0.04738559 -0.00819599] [ 0.04756721 0.99858742 0.02370222] [ 0.00706177 -0.02406475 0.99968479]] t_gt: [ 0.97698291 -0.11263101 0.18115917] Pose Error in degrees for R and t: 1.9258806996258147 22.348875829850087 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99824467e-01 -1.87359179e-02 1.04972925e-06] [ 1.87359172e-02 9.99824443e-01 2.21802146e-04] [-5.20521176e-06 -2.21743545e-04 9.99999975e-01]] t_estimated: [[ 8.59136827e-01] [ 5.11745922e-01] [-1.51788158e-04]] R_gt: [[ 0.99921716 -0.02364333 -0.03174563] [ 0.02390721 0.99968327 0.00795547] [ 0.03154782 -0.00870811 0.99946392]] t_gt: [ 0.97657882 0.20943603 -0.04929872] Pose Error in degrees for R and t: 1.893598198363326 18.879650606914296 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.79100427e-01 -2.03377352e-01 8.55330444e-05] [ 2.03377276e-01 9.79100291e-01 5.51488099e-04] [-1.95905618e-04 -5.22566755e-04 9.99999844e-01]] t_estimated: [[0.92925762] [0.36942964] [0.00142088]] R_gt: [[ 0.99924942 0.00351092 -0.03857669] [-0.00344151 0.99999244 0.00186997] [ 0.03858289 -0.00173573 0.9992528 ]] t_gt: [ 0.94554583 0.29708792 -0.1329731 ] Pose Error in degrees for R and t: 12.137975066239829 8.803207971013263 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.34603487e-01 -3.55689812e-01 -1.03884806e-03] [ 3.55688213e-01 9.34603539e-01 -1.45628282e-03] [ 1.48889604e-03 9.91540991e-04 9.99998400e-01]] t_estimated: [[-0.06454097] [-0.99790271] [-0.00496469]] R_gt: [[ 0.9987117 0.0359687 -0.03580382] [-0.03580398 0.99934575 0.00519063] [ 0.03596683 -0.00390252 0.99934563]] t_gt: [-0.49007571 0.83799191 -0.23999034] Pose Error in degrees for R and t: 22.979726434722547 36.542737351873804 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-9.35309073e-01 -3.53802643e-01 -4.54180097e-03] [-3.53802041e-01 9.35319833e-01 -9.62158231e-04] [ 4.58845065e-03 7.06983132e-04 -9.99989223e-01]] t_estimated: [[ 0.97523374] [ 0.2211729 ] [-0.0013048 ]] R_gt: [[ 0.99681919 0.07619456 -0.02336245] [-0.07687067 0.9966018 -0.0295968 ] [ 0.02102737 0.0312974 0.99928863]] t_gt: [-0.42272845 0.836876 -0.34776316] Pose Error in degrees for R and t: 178.16834532084965 76.89648830587208 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.98089849e-01 -6.17788319e-02 -1.71858706e-04] [ 6.17788898e-02 9.98089797e-01 3.54995460e-04] [ 1.49599216e-04 -3.64934605e-04 9.99999922e-01]] t_estimated: [[-9.49915161e-01] [ 3.12507891e-01] [-7.61901575e-05]] R_gt: [[ 0.9879395 0.15280731 -0.02504887] [-0.15363112 0.98750089 -0.03521098] [ 0.01935496 0.03863404 0.99906528]] t_gt: [-0.5395655 0.8136962 -0.21625809] Pose Error in degrees for R and t: 12.606852131362157 39.92864054908427 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999987e-01 1.33393343e-04 -8.75224699e-05] [-1.33383066e-04 9.99999984e-01 1.17409367e-04] [ 8.75381301e-05 -1.17397692e-04 9.99999989e-01]] t_estimated: [[-9.74038451e-01] [ 2.26382324e-01] [ 3.73734871e-04]] R_gt: [[ 0.95363747 0.30014012 -0.0221455 ] [-0.30066271 0.95337425 -0.02607468] [ 0.01328692 0.0315248 0.99941415]] t_gt: [-0.8951288 0.43167296 -0.11136822] Pose Error in degrees for R and t: 17.588534515523342 14.170533658681132 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.90014268e-01 -1.40967052e-01 -2.00632393e-04] [ 1.40967025e-01 9.90014282e-01 -1.40470375e-04] [ 2.18430629e-04 1.10785124e-04 9.99999970e-01]] t_estimated: [[-0.92030407] [-0.39120258] [-0.00097801]] R_gt: [[ 0.83180021 0.5549788 -0.0103714 ] [-0.55494295 0.83104537 -0.03743351] [-0.01215641 0.03689446 0.99924485]] t_gt: [-0.84244028 0.53550167 -0.05943344] Pose Error in degrees for R and t: 41.88245305424328 55.53729244161801 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-4.53001264e-01 -8.91509622e-01 -6.69612461e-04] [ 8.91508169e-01 -4.53001739e-01 1.61549907e-03] [-1.74356857e-03 1.34858141e-04 9.99998471e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.76653567 0.6419795 -0.0169026 ] [-0.64217486 0.76599848 -0.02928211] [-0.00585081 0.03330097 0.99942761]] t_gt: [-0.8137694 0.57900639 -0.05030873] Pose Error in degrees for R and t: 156.90201025743212 35.707328347711154 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999998e-01 5.44342586e-05 2.62456459e-05] [-5.44362957e-05 9.99999996e-01 7.76254856e-05] [-2.62414203e-05 -7.76269142e-05 9.99999997e-01]] t_estimated: [[0.84141677] [0.54038537] [0.0012169 ]] R_gt: [[ 0.99859534 -0.05176569 -0.0112664 ] [ 0.05143855 0.99829403 -0.02763146] [ 0.01267852 0.02701318 0.99955399]] t_gt: [ 0.74247305 -0.60407868 -0.28952153] Pose Error in degrees for R and t: 3.422527061783369 72.66598297494464 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-1.82602221e-02 -9.99831413e-01 -1.92594636e-03] [ 9.99833268e-01 -1.82601661e-02 -4.66425229e-05] [ 1.14665593e-05 -1.92647694e-03 9.99998144e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99709087 -0.04053855 -0.06455591] [ 0.03439441 0.99501723 -0.09358502] [ 0.06802905 0.09109238 0.99351625]] t_gt: [ 0.54051936 -0.09882797 -0.83550694] Pose Error in degrees for R and t: 89.08287016299607 57.3461397258808 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.27165727 0.9623929 -0.00149167] [ 0.96237509 -0.27164186 0.00669916] [ 0.00604203 -0.00325542 -0.99997645]] t_estimated: [[-0.521641 ] [-0.85315116] [-0.00487515]] R_gt: [[ 0.99011367 -0.0677999 -0.12278539] [ 0.04728684 0.98551235 -0.16287794] [ 0.13204972 0.15546152 0.97897617]] t_gt: [ 0.47983555 0.01080407 -0.87729192] Pose Error in degrees for R and t: 177.46750577236222 75.21204696912305 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 3.30334684e-01 9.43863488e-01 8.43834406e-04] [-9.43863227e-01 3.30335368e-01 -8.67729387e-04] [-1.09776643e-03 -5.09823152e-04 9.99999267e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.96970227e-01 7.11596426e-02 3.14243042e-02] [-7.11129227e-02 9.97466001e-01 -2.58881820e-03] [-3.15294896e-02 3.46770952e-04 9.99502721e-01]] t_gt: [-0.75753805 0.59669368 0.26475039] Pose Error in degrees for R and t: 66.65032772670406 53.68442221673448 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-8.71617979e-01 4.90182479e-01 1.79876736e-03] [ 4.90185111e-01 8.71616981e-01 1.54767762e-03] [-8.09191725e-04 2.23071261e-03 -9.99997185e-01]] t_estimated: [[9.26355213e-01] [3.76649922e-01] [9.25429783e-04]] R_gt: [[ 0.99138871 -0.00141958 0.13094461] [-0.0209919 0.98528936 0.16960734] [-0.12925979 -0.17089564 0.97677363]] t_gt: [-0.08308897 -0.02245711 0.99628906] Pose Error in degrees for R and t: 175.15461312534202 85.15235984667908 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99999991e-01 1.30714451e-04 1.65585352e-06] [-1.30714430e-04 9.99999991e-01 -1.24044501e-05] [-1.65747495e-06 1.24042336e-05 1.00000000e+00]] t_estimated: [[ 2.74359857e-03] [-9.99996219e-01] [-1.87974305e-04]] R_gt: [[ 0.97040301 -0.07292433 0.23021853] [-0.01035649 0.93987177 0.34137175] [-0.24127095 -0.33365197 0.91129772]] t_gt: [ 0.08197918 -0.00466104 0.99662314] Pose Error in degrees for R and t: 24.386862793428364 89.73078920920459 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999953e-01 2.97136777e-04 8.04067199e-05] [-2.97136279e-04 9.99999956e-01 -6.20941097e-06] [-8.04085614e-05 6.18551892e-06 9.99999997e-01]] t_estimated: [[ 9.81311365e-01] [-1.92426408e-01] [ 2.86046634e-04]] R_gt: [[ 0.98813554 -0.15281491 -0.01531012] [ 0.15275217 0.98825107 -0.00521986] [ 0.01592844 0.00282007 0.99986878]] t_gt: [ 0.72742836 -0.67361843 -0.13071419] Pose Error in degrees for R and t: 8.855017722913807 32.497136531452846 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999997e-01 -8.21431355e-05 -1.38313412e-05] [ 8.21431374e-05 9.99999997e-01 1.33896752e-07] [ 1.38313302e-05 -1.35032904e-07 1.00000000e+00]] t_estimated: [[9.99990048e-01] [4.42018888e-03] [6.04568451e-04]] R_gt: [[ 0.96161244 -0.27138521 -0.04063409] [ 0.27142194 0.96244892 -0.00471121] [ 0.04038628 -0.00649769 0.99916314]] t_gt: [ 0.75732547 -0.64112935 -0.12414222] Pose Error in degrees for R and t: 15.922197190423622 41.026246741200225 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99998970e-01 -1.03060547e-03 -9.99156347e-04] [ 1.03147715e-03 9.99999088e-01 8.72290507e-04] [ 9.98256448e-04 -8.73320215e-04 9.99999120e-01]] t_estimated: [[0.99999329] [0.00331167] [0.00156619]] R_gt: [[ 0.93719364 -0.34802164 -0.02342385] [ 0.34728415 0.93726285 -0.03053709] [ 0.03258184 0.02048502 0.99925858]] t_gt: [ 0.7447788 -0.64908743 -0.1548872 ] Pose Error in degrees for R and t: 20.410131810134434 42.06530636654961 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.98352342e-01 -5.73811947e-02 -2.18565867e-05] [ 5.73811950e-02 9.98352342e-01 1.29393393e-05] [ 2.10780998e-05 -1.41721767e-05 1.00000000e+00]] t_estimated: [[ 2.80158850e-01] [-9.59953641e-01] [-1.58723200e-04]] R_gt: [[ 0.99681483 -0.07843018 0.0144607 ] [ 0.07898207 0.99596411 -0.04264134] [-0.01105743 0.04364744 0.99898586]] t_gt: [ 0.32246322 -0.81249966 -0.48565603] Pose Error in degrees for R and t: 2.8581036464590652 29.497170101633188 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99999942e-01 3.29016245e-04 9.29045654e-05] [-3.29004437e-04 9.99999938e-01 -1.27078153e-04] [-9.29463704e-05 1.27047580e-04 9.99999988e-01]] t_estimated: [[0.99998492] [0.00531165] [0.00139695]] R_gt: [[ 0.9965513 -0.08244144 -0.00939647] [ 0.08212511 0.99616552 -0.03017366] [ 0.01184878 0.02929846 0.99950024]] t_gt: [ 0.47217358 -0.73738929 -0.48302085] Pose Error in degrees for R and t: 5.072135502424232 62.12300361391671 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999527e-01 9.39241872e-04 2.53190322e-04] [-9.39231578e-04 9.99999558e-01 -4.07740122e-05] [-2.53228507e-04 4.05361886e-05 9.99999967e-01]] t_estimated: [[0.99997249] [0.00717738] [0.00187371]] R_gt: [[ 0.99972386 -0.02160896 -0.00917237] [ 0.02123461 0.99900877 -0.03912477] [ 0.01000872 0.03891876 0.99919176]] t_gt: [ 0.58940321 -0.06119056 -0.8055182 ] Pose Error in degrees for R and t: 2.637383227652596 54.024553883096935 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.15837984 -0.98737393 0.00292414] [-0.98734984 -0.15835212 0.00805538] [-0.00749063 -0.00416295 -0.99996328]] t_estimated: [[0.55754548] [0.83012328] [0.00619495]] R_gt: [[ 0.99545368 0.0752956 -0.05832697] [-0.07226264 0.99600488 0.05246538] [ 0.06204477 -0.04801194 0.99691823]] t_gt: [0.18068678 0.6233008 0.76082087] Pose Error in degrees for R and t: 179.59699772400924 51.47391643218193 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 8.69096481e-01 -4.94642198e-01 -6.34328909e-04] [ 4.94642525e-01 8.69096353e-01 5.48333509e-04] [ 2.80064049e-04 -7.90320776e-04 9.99999648e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98288634 0.13997545 -0.11975602] [-0.13255392 0.98884832 0.06788034] [ 0.12792269 -0.05084475 0.99047949]] t_gt: [ 0.48249476 0.81011011 -0.33304717] Pose Error in degrees for R and t: 38.302840602098186 21.150164967218522 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999999e-01 -3.30381162e-05 -4.81158631e-08] [ 3.30381165e-05 9.99999999e-01 4.58574937e-06] [ 4.79643590e-08 -4.58575096e-06 1.00000000e+00]] t_estimated: [[-1.64756358e-01] [ 9.86333901e-01] [ 8.82507397e-04]] R_gt: [[ 0.96045477 0.23309517 -0.15229423] [-0.21685692 0.96929401 0.11593477] [ 0.17464198 -0.07832362 0.98151187]] t_gt: [ 0.28487515 0.94341356 -0.16975574] Pose Error in degrees for R and t: 17.133030476391372 27.940338627303273 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.96757071e-01 -8.04694381e-02 -1.07354990e-04] [ 8.04694482e-02 9.96757071e-01 9.29837706e-05] [ 9.95244936e-05 -1.01321028e-04 9.99999990e-01]] t_estimated: [[9.36282189e-01] [3.51248361e-01] [5.00351016e-04]] R_gt: [[ 0.99988652 0.01297559 0.00764669] [-0.01331397 0.99885779 0.04588423] [-0.00704247 -0.04598165 0.99891705]] t_gt: [ 0.38652025 -0.24001552 0.89050247] Pose Error in degrees for R and t: 5.992411217545252 73.85718472145882 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.10248278 0.99380388 0.04302464] [ 0.99407483 -0.10074368 -0.04081584] [-0.03622848 0.04695264 -0.99823992]] t_estimated: [[0.79028214] [0.6127393 ] [0.00216516]] R_gt: [[ 0.99838327 -0.04484957 0.03491402] [ 0.03955905 0.98939693 0.13974273] [-0.04081158 -0.1381365 0.9895717 ]] t_gt: [ 0.40697687 -0.37412814 0.83330544] Pose Error in degrees for R and t: 178.91937134886513 84.59542686302622 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.90477985e-01 9.81686488e-01 3.12676126e-03] [ 9.81691446e-01 1.90477683e-01 3.96976439e-04] [-2.05871832e-04 3.14513005e-03 -9.99995033e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99293886 -0.08978385 0.07753535] [ 0.0701417 0.97144638 0.22665187] [-0.09567194 -0.21961327 0.9708845 ]] t_gt: [ 0.33532136 -0.35275007 0.87357139] Pose Error in degrees for R and t: 175.78654658740592 70.41668675311671 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 7.81750888e-01 6.23590255e-01 8.62179460e-04] [-6.23589654e-01 7.81751349e-01 -8.78486395e-04] [-1.22182551e-03 1.49111328e-04 9.99999242e-01]] t_estimated: [[-0.52508064] [ 0.85105155] [ 0.00125969]] R_gt: [[ 0.99888882 0.04384926 0.01728732] [-0.04444262 0.99837964 0.03554279] [-0.0157016 -0.03627023 0.99921839]] t_gt: [-0.83839557 -0.18452841 0.51287633] Pose Error in degrees for R and t: 36.116522847564205 73.51118533330293 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.93452432e-01 1.14246509e-01 -3.04802814e-05] [-1.14246511e-01 9.93452430e-01 -6.16007413e-05] [ 2.32430400e-05 6.46796720e-05 9.99999998e-01]] t_estimated: [[-8.54966698e-01] [-5.18682460e-01] [-6.71247227e-04]] R_gt: [[ 0.99960706 0.02796302 -0.00196398] [-0.02786381 0.99883537 0.03937543] [ 0.00306268 -0.0393044 0.99922277]] t_gt: [-0.62369057 -0.6756373 0.39309581] Pose Error in degrees for R and t: 5.45165117276405 27.943267254959895 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.78098970e-01 -2.08139763e-01 4.94930304e-04] [ 2.08140066e-01 9.78098800e-01 -6.70761870e-04] [-3.44478520e-04 7.59086320e-04 9.99999653e-01]] t_estimated: [[-0.31061235] [-0.95053611] [-0.00103884]] R_gt: [[ 0.99906901 0.0427627 -0.0057426 ] [-0.04278825 0.9990747 -0.00437456] [ 0.0055496 0.00461702 0.99997419]] t_gt: [-0.85904438 -0.50961445 0.04833076] Pose Error in degrees for R and t: 14.470701399522092 41.30673759132854 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.86267097e-01 -4.63174455e-01 -2.37360275e-04] [ 4.63174515e-01 8.86267006e-01 4.02350935e-04] [ 2.40059051e-05 -4.66529626e-04 9.99999891e-01]] t_estimated: [[ 8.54161421e-01] [-5.20007802e-01] [ 3.90126946e-04]] R_gt: [[ 0.99372023 -0.10228162 -0.04537248] [ 0.10260752 0.99471048 0.00490938] [ 0.04463088 -0.00953451 0.99895795]] t_gt: [ 0.74384068 -0.64331233 -0.18124645] Pose Error in degrees for R and t: 21.8628232739284 14.112994326239294 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.99705428 -0.00741834 -0.07633957] [ 0.01280318 0.99744426 0.07029239] [ 0.07562301 -0.07106272 0.99460105]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.96202585 -0.24122554 -0.12774267] [ 0.23783092 0.97042326 -0.04142373] [ 0.13395706 0.00946866 0.99094202]] t_gt: [ 0.77334396 -0.53878271 -0.33414415] Pose Error in degrees for R and t: 14.77618209330393 44.486966882797056 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.06720883 -0.99724608 -0.03135647] [-0.99610192 0.06526586 0.05934076] [-0.05713084 0.03522246 -0.99774518]] t_estimated: [[0.76539299] [0.64356251] [0.00093 ]] R_gt: [[ 0.91584914 -0.38092268 -0.12695753] [ 0.37766342 0.92460458 -0.04978183] [ 0.13634875 -0.00235481 0.99065879]] t_gt: [ 0.8230274 -0.53032089 -0.20343466] Pose Error in degrees for R and t: 175.13564608815588 73.2344846470186 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 0.72449316 -0.62693701 -0.28646056] [-0.62183598 -0.41518826 -0.66403217] [ 0.29737128 0.65921824 -0.69065305]] t_estimated: [[ 0.37556719] [ 0.83909601] [-0.39353166]] R_gt: [[ 0.9995583 -0.02967036 0.00141859] [ 0.02967433 0.99955538 -0.0029007 ] [-0.00133207 0.0029412 0.99999459]] t_gt: [ 0.83021882 -0.55698025 -0.02257699] Pose Error in degrees for R and t: 133.56161160259984 81.5658754342893 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.91073701e-01 1.33315027e-01 1.48871989e-04] [-1.33314971e-01 9.91073663e-01 -3.36865940e-04] [-1.92452400e-04 3.14012109e-04 9.99999932e-01]] t_estimated: [[0.91845039] [0.39553491] [0.00100539]] R_gt: [[ 0.9979561 -0.05586681 -0.03100207] [ 0.05659713 0.99812741 0.02319971] [ 0.02964777 -0.02490534 0.99924995]] t_gt: [ 0.77120732 -0.62758032 -0.10668747] Pose Error in degrees for R and t: 11.113189947535659 62.61428190223104 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.89990375e-01 1.41134743e-01 2.06492930e-04] [-1.41134682e-01 9.89990364e-01 -2.83320494e-04] [-2.44412376e-04 2.51341248e-04 9.99999939e-01]] t_estimated: [[0.94806291] [0.3180801 ] [0.00132651]] R_gt: [[ 0.99752853 -0.04650724 -0.0526586 ] [ 0.04885494 0.99782599 0.04421357] [ 0.05048762 -0.04667638 0.99763316]] t_gt: [ 0.68873117 -0.71238886 -0.13472745] Pose Error in degrees for R and t: 11.548888908739144 64.77430455045237 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.99943572 -0.03354304 0.00176293] [-0.03353879 0.99943456 0.00238793] [-0.00184203 0.00232746 -0.99999559]] t_estimated: [[0.99995119] [0.00980344] [0.00122543]] R_gt: [[ 0.98650989 0.1615612 0.02639737] [-0.16334889 0.98210116 0.09378459] [-0.01077338 -0.09683122 0.99524254]] t_gt: [-0.8751176 0.23406967 0.42353345] Pose Error in degrees for R and t: 178.74638205032844 29.277523231278526 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.35717355 0.93347032 -0.0325609 ] [-0.93394144 -0.35742088 -0.00192263] [-0.01343266 0.02972327 0.9994679 ]] t_estimated: [[-2.26967429e-02] [ 9.99742393e-01] [ 7.66564984e-05]] R_gt: [[ 0.98719115 0.15907366 0.01215485] [-0.15952579 0.98331997 0.08737078] [ 0.00194605 -0.08819081 0.99610201]] t_gt: [-0.93218337 0.08253145 0.35245245] Pose Error in degrees for R and t: 101.95300291210312 84.04803034256769 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.74374340e-01 2.24932525e-01 -7.19974256e-05] [-2.24932525e-01 9.74374342e-01 7.81326287e-06] [ 7.19099012e-05 8.58151990e-06 9.99999997e-01]] t_estimated: [[0.52642112] [0.85022342] [0.00096947]] R_gt: [[ 9.85898249e-01 1.67342653e-01 5.36193076e-04] [-1.66869283e-01 9.82860686e-01 7.83573365e-02] [ 1.25847420e-02 -7.73419535e-02 9.96925374e-01]] t_gt: [-0.95292615 0.01499699 0.30283139] Pose Error in degrees for R and t: 5.6132799727854055 60.751653033654385 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99911669e-01 1.32907981e-02 -8.99179076e-05] [-1.32908180e-02 9.99911648e-01 -2.24476658e-04] [ 8.69264893e-05 2.25651912e-04 9.99999971e-01]] t_estimated: [[-0.00490961] [ 0.99998647] [-0.00171981]] R_gt: [[ 0.99717765 -0.01237867 -0.07404189] [ 0.0146786 0.99942449 0.03059936] [ 0.07362156 -0.031599 0.99678516]] t_gt: [ 0.95647044 -0.13230627 -0.26011413] Pose Error in degrees for R and t: 4.846129384852829 82.1515664074432 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99988469e-01 4.79744508e-03 2.16756848e-04] [-4.79744294e-03 9.99988492e-01 -1.03877367e-05] [-2.16804188e-04 9.34773827e-06 9.99999976e-01]] t_estimated: [[-3.42214646e-01] [ 9.39621781e-01] [ 2.11848070e-04]] R_gt: [[ 0.98953742 0.07351349 -0.12413899] [-0.0644208 0.99504433 0.07573864] [ 0.12909197 -0.06694847 0.98936898]] t_gt: [ 0.75177906 0.60592454 -0.2601609 ] Pose Error in degrees for R and t: 9.153161553219519 71.81929537522858 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99955334e-01 -4.37640610e-04 9.44132904e-03] [ 4.42597267e-04 9.99999765e-01 -5.22912674e-04] [-9.44109798e-03 5.27068024e-04 9.99955293e-01]] t_estimated: [[0.72185943] [0.69203786] [0.00160463]] R_gt: [[ 0.97675477 0.14291065 -0.15977 ] [-0.1237834 0.98454408 0.12389743] [ 0.17500633 -0.10124044 0.9793482 ]] t_gt: [ 0.414957 0.89643944 -0.15558605] Pose Error in degrees for R and t: 14.400354391731597 23.123428383176748 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.01650563 0.99985764 0.00350164] [ 0.99986316 0.01650163 0.00116871] [ 0.00111076 0.00352045 -0.99999319]] t_estimated: [[-0.70186112] [-0.71230956] [-0.00245972]] R_gt: [[ 0.97981799 -0.19094307 -0.05915186] [ 0.19048258 0.98159922 -0.01337895] [ 0.06061719 0.00184142 0.99815927]] t_gt: [ 0.75000768 -0.62489396 -0.21678563] Pose Error in degrees for R and t: 177.96232368381985 85.36831962432699 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999892e-01 4.64813050e-04 6.53199619e-07] [-4.64812791e-04 9.99999830e-01 -3.52751180e-04] [-8.17162860e-07 3.52750839e-04 9.99999938e-01]] t_estimated: [[-0.59504981] [-0.80368797] [-0.0011742 ]] R_gt: [[ 0.96124061 -0.26693663 -0.06900864] [ 0.26674135 0.96369075 -0.01220722] [ 0.06976057 -0.0066743 0.9975413 ]] t_gt: [ 0.78417696 -0.60278797 -0.14735387] Pose Error in degrees for R and t: 16.030867638345452 88.96849917412449 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.38548316e-01 3.45147521e-01 4.97227345e-04] [-3.45147713e-01 9.38548304e-01 3.70818020e-04] [-3.38684961e-04 -5.19647509e-04 9.99999808e-01]] t_estimated: [[0.70671601] [0.70749691] [0.0007809 ]] R_gt: [[ 0.94578862 -0.29716257 -0.131065 ] [ 0.29673924 0.9546764 -0.0232062 ] [ 0.13202056 -0.01694422 0.99110242]] t_gt: [ 0.82404734 -0.52671334 -0.20861218] Pose Error in degrees for R and t: 38.293794536276216 77.90363816722558 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 0.34722606 -0.93774522 0.00824465] [-0.93773523 -0.34710822 0.0129816 ] [-0.00931165 -0.01223885 -0.99988174]] t_estimated: [[0.52622495] [0.85029713] [0.00906049]] R_gt: [[ 0.99920677 0.01969316 -0.03461455] [-0.01860497 0.9993307 0.03148574] [ 0.03521117 -0.03081712 0.99890466]] t_gt: [ 0.91189892 -0.20587343 0.35504435] Pose Error in degrees for R and t: 178.79787152292005 72.05961619098707 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-9.47855713e-01 -3.18699697e-01 -2.23906295e-04] [-3.18699545e-01 9.47853946e-01 1.86988613e-03] [-3.83701679e-04 1.84374109e-03 -9.99998227e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99295018 0.10537455 -0.05428408] [-0.10010236 0.990706 0.09208926] [ 0.06348307 -0.08600548 0.99427016]] t_gt: [0.23243647 0.14008203 0.96247094] Pose Error in degrees for R and t: 177.48671074564695 76.48996067911666 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-7.50657466e-01 -6.60687713e-01 -2.26162882e-03] [ 6.60691537e-01 -7.50654302e-01 -2.19330187e-03] [-2.48613811e-04 -3.14065745e-03 9.99995037e-01]] t_estimated: [[0.98211256] [0.18829173] [0.00106984]] R_gt: [[ 0.98177854 0.15099694 -0.1153811 ] [-0.13969792 0.98508346 0.10046649] [ 0.12882924 -0.08251733 0.98822727]] t_gt: [0.79375444 0.40887942 0.45030159] Pose Error in degrees for R and t: 147.14040962184185 31.015652854025927 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 7.84533759e-01 6.20086084e-01 1.71142808e-04] [-6.20086083e-01 7.84533776e-01 -6.27438188e-05] [-1.73173882e-04 -5.68986293e-05 9.99999983e-01]] t_estimated: [[-0.99992902] [-0.01184126] [-0.0013157 ]] R_gt: [[ 0.99821076 -0.05363823 0.02645281] [ 0.0522744 0.99739159 0.0497726 ] [-0.0290536 -0.04830034 0.99841086]] t_gt: [ 0.49610184 -0.48402214 0.72083669] Pose Error in degrees for R and t: 41.48049479139635 60.57501619949977 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.32523401e-01 -7.74539573e-01 -1.61157677e-03] [ 7.74539799e-01 6.32524874e-01 -6.19447955e-04] [ 1.49914935e-03 -8.56415017e-04 9.99998510e-01]] t_estimated: [[ 9.93236257e-01] [ 1.16110849e-01] [-9.04048141e-05]] R_gt: [[ 0.99608236 -0.06368852 0.06135408] [ 0.05634277 0.99178849 0.114807 ] [-0.06816198 -0.11090046 0.99149174]] t_gt: [ 0.40544146 -0.38685911 0.82822537] Pose Error in degrees for R and t: 47.868906647470816 69.04063558484326 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99807833 -0.06168665 0.00586503] [ 0.06170298 0.99809105 -0.00264507] [-0.00569067 0.00300187 0.9999793 ]] t_estimated: [[0.82209349] [0.5693463 ] [0.0026605 ]] R_gt: [[ 0.99426998 -0.08992627 0.05780598] [ 0.07979994 0.98414293 0.15841216] [-0.07113534 -0.15289102 0.98568014]] t_gt: [ 0.49004876 -0.38296431 0.78306485] Pose Error in degrees for R and t: 9.832843768866487 79.22749449809328 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 1.00000000e+00 -1.22827013e-05 1.61913807e-05] [ 1.22821259e-05 9.99999999e-01 3.55325816e-05] [-1.61918171e-05 -3.55323828e-05 9.99999999e-01]] t_estimated: [[9.99972362e-01] [7.39532986e-03] [7.64816063e-04]] R_gt: [[ 0.99865612 -0.04821932 0.01897354] [ 0.04851923 0.99869908 -0.01568003] [-0.01819466 0.01657938 0.9996974 ]] t_gt: [ 0.74217174 -0.66695782 0.06594226] Pose Error in degrees for R and t: 3.110634855351075 42.5006828906013 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999928e-01 3.69715521e-04 8.80855755e-05] [-3.69713916e-04 9.99999931e-01 -1.82451189e-05] [-8.80923150e-05 1.82125511e-05 9.99999996e-01]] t_estimated: [[ 9.61088922e-01] [ 2.76239071e-01] [-2.43461036e-04]] R_gt: [[ 0.98971979 -0.14300056 0.00240059] [ 0.14301345 0.98936621 -0.02648188] [ 0.00141101 0.02655359 0.99964691]] t_gt: [ 0.75800959 -0.64759695 -0.07771526] Pose Error in degrees for R and t: 8.38362656753034 56.65754664605518 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-1.05157898e-01 -9.94453534e-01 -1.99635440e-03] [ 9.94455537e-01 -1.05157616e-01 -2.45827708e-04] [ 3.45323635e-05 -2.01113641e-03 9.99997977e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9688398 -0.24737463 -0.01246555] [ 0.24702844 0.96870585 -0.02419501] [ 0.01806071 0.02036195 0.99963007]] t_gt: [ 0.77133543 -0.63202132 -0.07477103] Pose Error in degrees for R and t: 81.73417296343094 39.707693256476915 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.39312181 0.85755458 -0.33174597] [ 0.80634174 -0.14813427 0.57259868] [ 0.44189167 -0.49260164 -0.74971686]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99805036 -0.01430445 0.06077522] [ 0.0097282 0.99714221 0.07491751] [-0.06167239 -0.07417957 0.99533562]] t_gt: [ 0.01862485 -0.18383588 0.98278049] Pose Error in degrees for R and t: 137.47537652127423 86.98773406746612 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-9.75507391e-01 -2.19966654e-01 -3.61148393e-05] [ 2.19966527e-01 -9.75506627e-01 -1.24409318e-03] [ 2.38428749e-04 -1.22156615e-03 9.99999225e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.98026573 -0.10272109 0.16890687] [ 0.05281847 0.95943392 0.27694218] [-0.19050236 -0.26255408 0.9459245 ]] t_gt: [ 0.18383755 -0.14096544 0.97279623] Pose Error in degrees for R and t: 162.9529484336182 85.8040743738401 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[ 9.99990322e-01 4.38329754e-03 -3.77100015e-04] [-4.38338623e-03 9.99990365e-01 -2.34690224e-04] [ 3.76067664e-04 2.36340927e-04 9.99999901e-01]] t_estimated: [[-1.10778723e-02] [-9.99938186e-01] [-9.51174677e-04]] R_gt: [[ 0.96855624 -0.14681055 0.20086589] [ 0.06380352 0.92691207 0.36981385] [-0.24047726 -0.34536896 0.90713312]] t_gt: [ 0.22203687 -0.09805619 0.97009516] Pose Error in degrees for R and t: 25.754696756311596 84.56780533423901 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.99800075e-01 1.99950291e-02 9.70992471e-05] [-1.99950284e-02 9.99800079e-01 -8.35936998e-06] [-9.72469808e-05 6.41619653e-06 9.99999995e-01]] t_estimated: [[ 9.99094058e-01] [-4.25557798e-02] [ 2.62985406e-04]] R_gt: [[ 0.9929592 -0.11785094 -0.01202979] [ 0.11788433 0.99302511 0.00213704] [ 0.01169485 -0.00353998 0.99992472]] t_gt: [ 0.6176809 -0.78410032 -0.06047313] Pose Error in degrees for R and t: 7.946309179957013 49.422695367615965 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.91715832e-01 1.28450674e-01 3.63894462e-04] [-1.28450614e-01 9.91715890e-01 -1.84470256e-04] [-3.84575248e-04 1.36199607e-04 9.99999917e-01]] t_estimated: [[0.87741771] [0.47972635] [0.00089168]] R_gt: [[ 0.96351265 -0.26730848 -0.01382797] [ 0.26709202 0.96354432 -0.01566405] [ 0.01751093 0.01139883 0.99978178]] t_gt: [ 0.72253844 -0.684592 -0.09629123] Pose Error in degrees for R and t: 22.91086120717843 72.21383810916525 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.40157720e-01 3.40739212e-01 5.00734362e-04] [-3.40738957e-01 9.40157796e-01 -5.30092181e-04] [-6.51392507e-04 3.27750552e-04 9.99999734e-01]] t_estimated: [[9.66193586e-01] [2.57816362e-01] [8.23694447e-04]] R_gt: [[ 0.92390391 -0.37881676 -0.05384551] [ 0.37913319 0.92533074 -0.00460573] [ 0.0515697 -0.01616012 0.9985379 ]] t_gt: [ 0.77293511 -0.62912894 -0.08226843] Pose Error in degrees for R and t: 42.32037835987506 54.22968051153622 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.93932205 -0.34302489 -0.0028316 ] [ 0.34303103 -0.93932179 -0.00207101] [-0.00194938 -0.00291667 0.99999385]] t_estimated: [[0.9999501 ] [0.00991276] [0.0012391 ]] R_gt: [[ 0.99308214 -0.11189829 -0.03558924] [ 0.11251654 0.993523 0.01586642] [ 0.03358297 -0.01976068 0.99924036]] t_gt: [ 0.72781981 -0.68485032 -0.03547359] Pose Error in degrees for R and t: 153.4947465278392 43.86696611101569 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99999960e-01 -1.16955311e-04 2.57086201e-04] [ 1.17078300e-04 9.99999879e-01 -4.78436226e-04] [-2.57030214e-04 4.78466306e-04 9.99999853e-01]] t_estimated: [[7.93541674e-01] [6.08515543e-01] [6.67964372e-04]] R_gt: [[ 0.965723 -0.228769 -0.1226539 ] [ 0.22577937 0.9734399 -0.03793316] [ 0.12807429 0.00894126 0.99172505]] t_gt: [ 0.77220055 -0.54427671 -0.3278249 ] Pose Error in degrees for R and t: 15.105106308296367 73.65899744759551 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99999931e-01 -2.68437052e-04 2.55886144e-04] [ 2.68491679e-04 9.99999941e-01 -2.13470766e-04] [-2.55828826e-04 2.13539455e-04 9.99999944e-01]] t_estimated: [[-0.42780954] [-0.90386827] [-0.0010722 ]] R_gt: [[ 0.91209012 -0.38834925 -0.13144107] [ 0.38606534 0.92144576 -0.04348239] [ 0.1380028 -0.01108409 0.99037038]] t_gt: [ 0.82342076 -0.53474736 -0.18979859] Pose Error in degrees for R and t: 24.213152945881234 82.45658407542929 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.95477593e-01 9.49966415e-02 3.18978830e-06] [-9.49966404e-02 9.95477585e-01 -1.24480392e-04] [-1.50005819e-05 1.23614422e-04 9.99999992e-01]] t_estimated: [[-0.67293581] [-0.73970014] [-0.00104684]] R_gt: [[ 0.99592457 0.08666669 0.02494778] [-0.08805843 0.99421555 0.06148584] [-0.01947351 -0.06343277 0.99779585]] t_gt: [-0.8571424 0.04393581 0.51320225] Pose Error in degrees for R and t: 3.8361488260843783 57.059674560551734 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.97132305e-01 7.56780150e-02 -6.33177134e-05] [-7.56780216e-02 9.97132301e-01 -1.07771168e-04] [ 5.49802292e-05 1.12253873e-04 9.99999992e-01]] t_estimated: [[-0.00729147] [-0.99997287] [-0.00104164]] R_gt: [[ 0.99777654 0.06656445 0.00325518] [-0.06663203 0.99546613 0.06787069] [ 0.0012778 -0.06793648 0.99768818]] t_gt: [-0.80363113 -0.34295751 0.48637141] Pose Error in degrees for R and t: 3.937211030277118 69.61655377373613 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99385429e-01 -3.50536685e-02 -6.55811467e-05] [ 3.50536533e-02 9.99385408e-01 -2.20062445e-04] [ 7.32548370e-05 2.17628342e-04 9.99999974e-01]] t_estimated: [[-0.59386243] [-0.80456553] [-0.00131345]] R_gt: [[ 0.99754293 0.06997142 0.00349098] [-0.07004984 0.99699072 0.03320454] [-0.00115689 -0.03336793 0.99944273]] t_gt: [-0.87435277 -0.35715508 0.32855362] Pose Error in degrees for R and t: 6.324624725294488 36.27675586762254 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.73840212e-01 -2.27233453e-01 -4.47192102e-04] [ 2.27233524e-01 9.73840291e-01 1.14806939e-04] [ 4.09405709e-04 -2.13420651e-04 9.99999893e-01]] t_estimated: [[9.93420960e-01] [1.14519851e-01] [1.22154387e-05]] R_gt: [[ 9.99535938e-01 3.95880408e-04 3.04932504e-02] [-2.23192651e-03 9.98182982e-01 6.02128327e-02] [-3.04148114e-02 -6.02534624e-02 9.97719442e-01]] t_gt: [ 0.285696 -0.28696844 0.91434507] Pose Error in degrees for R and t: 13.763149534829605 75.46543736489505 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999935e-01 -3.02457721e-04 1.93854388e-04] [ 3.02403604e-04 9.99999915e-01 2.79128808e-04] [-1.93938796e-04 -2.79070167e-04 9.99999942e-01]] t_estimated: [[0.67251476] [0.74008296] [0.00105575]] R_gt: [[ 0.99850519 -0.03824779 0.03905769] [ 0.03320729 0.99192371 0.12240599] [-0.04342537 -0.12092652 0.9917112 ]] t_gt: [ 0.42753345 -0.37031204 0.82467214] Pose Error in degrees for R and t: 7.640112023284528 89.17883338154311 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.9982805 -0.05859644 -0.00158317] [ 0.05859979 0.99827921 0.00216399] [ 0.00145365 -0.00225304 0.99999641]] t_estimated: [[0.71745192] [0.69660586] [0.00173717]] R_gt: [[ 0.99242077 -0.09199426 0.08148178] [ 0.0718419 0.97224149 0.22267475] [-0.09970521 -0.21513329 0.97148207]] t_gt: [ 0.35864861 -0.34764748 0.86632119] Pose Error in degrees for R and t: 13.705297933050472 89.04627870282198 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.99897623 -0.04514789 -0.00285768] [ 0.04515613 -0.99897577 -0.00288783] [-0.00272437 -0.00301392 0.99999175]] t_estimated: [[0.80754356] [0.58980375] [0.00222364]] R_gt: [[ 0.99827068 -0.05854932 -0.00526038] [ 0.05857912 0.99826793 0.00551947] [ 0.00492817 -0.00581658 0.99997125]] t_gt: [ 0.64565764 -0.76361097 -0.00495062] Pose Error in degrees for R and t: 174.05384212376214 85.92828421206656 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.72612451e-01 2.32432550e-01 3.61498270e-04] [-2.32432459e-01 9.72612500e-01 -2.75291115e-04] [-4.15584352e-04 1.83727634e-04 9.99999897e-01]] t_estimated: [[0.5329694 ] [0.84613252] [0.00183695]] R_gt: [[ 0.99139443 -0.12736314 0.03025493] [ 0.12719134 0.99184895 0.00758525] [-0.03097435 -0.00367091 0.99951356]] t_gt: [ 0.67437502 -0.72652461 0.13183445] Pose Error in degrees for R and t: 20.828728214420856 75.22210804820847 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-3.19998396e-01 -9.47415361e-01 -2.27169048e-03] [ 9.47417955e-01 -3.19998688e-01 -2.43818550e-04] [-4.95940533e-04 -2.23026189e-03 9.99997390e-01]] t_estimated: [[0.92131014] [0.38882736] [0.0009577 ]] R_gt: [[ 0.98590695 -0.16446119 0.03065196] [ 0.1641293 0.98635285 0.01309619] [-0.03238783 -0.00788086 0.9994449 ]] t_gt: [ 0.72910899 -0.67121031 0.13370418] Pose Error in degrees for R and t: 99.21865162614479 65.73995959874011 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.94802277e-01 1.01825359e-01 1.62499992e-04] [-1.01825291e-01 9.94802222e-01 -3.85624535e-04] [-2.00921711e-04 3.67073556e-04 9.99999912e-01]] t_estimated: [[-0.99267317] [-0.12081819] [-0.00171596]] R_gt: [[ 0.99529676 0.08995126 -0.03595073] [-0.08748963 0.99404217 0.06499978] [ 0.04158354 -0.06154945 0.99723834]] t_gt: [-0.34522304 0.42526035 0.8366449 ] Pose Error in degrees for R and t: 4.348274047487291 73.14929897508026 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.73969031e-01 -2.26680901e-01 -3.08468516e-04] [ 2.26681026e-01 9.73968942e-01 4.60181970e-04] [ 1.96124291e-04 -5.18126947e-04 9.99999847e-01]] t_estimated: [[-7.46249819e-01] [ 6.65665800e-01] [ 4.99229524e-04]] R_gt: [[ 0.98521256 0.14235333 -0.09534703] [-0.13622036 0.98834004 0.06803492] [ 0.10392059 -0.05404129 0.99311673]] t_gt: [ 0.15885054 0.98712827 -0.0185548 ] Pose Error in degrees for R and t: 22.160829998515066 57.415280807211246 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 8.52550730e-01 -5.22644070e-01 -6.54946062e-04] [ 5.22644350e-01 8.52550733e-01 3.62075140e-04] [ 3.69138321e-04 -6.50991284e-04 9.99999720e-01]] t_estimated: [[ 5.07386754e-01] [-8.61718352e-01] [-4.03944940e-04]] R_gt: [[ 0.95858512 0.23450026 -0.16162842] [-0.21263812 0.9668165 0.14159844] [ 0.18946955 -0.10136653 0.9766405 ]] t_gt: [ 0.28396832 0.95880871 -0.00691787] Pose Error in degrees for R and t: 46.18192901532645 46.989020060543616 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99466139e-01 -3.26701681e-02 3.10913604e-04] [ 3.26701664e-02 9.99466188e-01 1.06826514e-05] [-3.11096638e-04 -5.19349173e-07 9.99999952e-01]] t_estimated: [[0.99918075] [0.04045746] [0.00100998]] R_gt: [[ 9.90245545e-01 -1.36772233e-01 -2.66104626e-02] [ 1.36824063e-01 9.90595277e-01 1.56324391e-04] [ 2.63386300e-02 -3.79589139e-03 9.99646659e-01]] t_gt: [ 0.72153004 -0.67369347 -0.15978582] Pose Error in degrees for R and t: 6.186714036585641 46.090473721540164 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99998132e-01 1.92627241e-03 1.59997188e-04] [-1.92628706e-03 9.99998141e-01 9.15008738e-05] [-1.59820635e-04 -9.18089034e-05 9.99999983e-01]] t_estimated: [[ 9.93785989e-01] [-1.11305740e-01] [ 6.63531671e-04]] R_gt: [[ 0.96573271 -0.2547386 -0.04968939] [ 0.25448047 0.96700814 -0.01154269] [ 0.05098985 -0.00149758 0.99869902]] t_gt: [ 0.74852004 -0.63880307 -0.17789992] Pose Error in degrees for R and t: 15.155646149322436 35.42715683547239 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99978383e-01 6.56880197e-03 2.90504386e-04] [-6.56883355e-03 9.99978419e-01 1.07898899e-04] [-2.89789350e-04 -1.09804841e-04 9.99999952e-01]] t_estimated: [[9.99422901e-01] [3.39590907e-02] [8.03788692e-04]] R_gt: [[ 0.94670229 -0.32059849 -0.03117986] [ 0.31920355 0.94672674 -0.04261749] [ 0.04318149 0.03039333 0.99860528]] t_gt: [ 0.71650221 -0.66270183 -0.2178322 ] Pose Error in degrees for R and t: 19.286195297440027 46.09943995349881 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.99961782 -0.02445128 0.01289746] [ 0.02641338 0.98245771 -0.18460548] [-0.00815737 0.18487559 0.98272808]] t_estimated: [[0.63774246] [0.77024679] [0.00210433]] R_gt: [[ 0.9481794 0.31675768 0.02487893] [-0.31652768 0.94849594 -0.0127905 ] [-0.02764924 0.00425314 0.99960934]] t_gt: [-0.94205288 0.33545563 -0.00242867] Pose Error in degrees for R and t: 22.361289998178993 69.97631211214596 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.99998398 -0.00488147 -0.00286664] [-0.00555404 0.94395504 0.33002732] [ 0.00109496 0.33003796 -0.94396703]] t_estimated: [[ 0.99993967] [-0.00960853] [-0.00532255]] R_gt: [[ 0.82410514 0.56594838 0.02351671] [-0.56366595 0.82346705 -0.06466285] [-0.05596078 0.04003362 0.99763047]] t_gt: [-0.85737336 0.51221732 -0.05044152] Pose Error in degrees for R and t: 176.5593233444728 30.460957198338843 Number of keypoints: Image1: 26 Image2: 26 R_estimated: [[-0.97738295 -0.21147173 0.00150838] [ 0.20169167 -0.9342785 -0.29401386] [ 0.06358486 -0.2870599 0.95579997]] t_estimated: [[9.15536873e-01] [4.02233271e-01] [7.93359509e-04]] R_gt: [[ 0.63617303 0.77147066 0.01081446] [-0.76870728 0.63497077 -0.07680981] [-0.06612408 0.04055155 0.99698701]] t_gt: [-0.77259833 0.63406232 -0.03250828] Pose Error in degrees for R and t: 141.88448951422995 63.106913833193346 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.93359828e-01 -1.15048868e-01 -9.58259637e-05] [ 1.15048844e-01 9.93359809e-01 -2.31510068e-04] [ 1.21824632e-04 2.18948135e-04 9.99999969e-01]] t_estimated: [[-0.65471394] [-0.75587591] [-0.001128 ]] R_gt: [[ 0.99744387 0.05478506 0.04587935] [-0.05529171 0.9984223 0.0098334 ] [-0.04526899 -0.01234395 0.99889887]] t_gt: [-0.69042315 0.47879869 0.54228009] Pose Error in degrees for R and t: 10.128280673396176 84.86483670527083 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-9.88154592e-01 1.53459521e-01 8.23503838e-04] [ 1.53460929e-01 9.88152547e-01 2.07031128e-03] [-4.96038438e-04 2.17216326e-03 -9.99997518e-01]] t_estimated: [[ 9.86605644e-01] [-1.63122687e-01] [ 5.39954476e-04]] R_gt: [[ 9.87982356e-01 -3.11182790e-02 1.51404109e-01] [-5.11835923e-04 9.78861385e-01 2.04526034e-01] [-1.54567687e-01 -2.02145059e-01 9.67081559e-01]] t_gt: [ 0.01498113 -0.07072189 0.99738357] Pose Error in degrees for R and t: 172.04669761162506 88.46111683203506 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.62539626 0.78030426 0.00218392] [ 0.78025802 -0.62538576 0.00949099] [ 0.00877165 -0.00423161 -0.99995257]] t_estimated: [[-0.83981984] [-0.54280672] [-0.00796877]] R_gt: [[ 0.96703936 -0.09945464 0.23440447] [ 0.01129521 0.93641656 0.35070983] [-0.25437923 -0.33650165 0.90667351]] t_gt: [ 0.13008709 -0.03332844 0.99094226] Pose Error in degrees for R and t: 167.58444346364848 84.31522120632849 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.98063297e-01 -6.22064254e-02 1.24281462e-04] [ 6.22064171e-02 9.98063303e-01 7.00332750e-05] [-1.28397286e-04 -6.21665369e-05 9.99999990e-01]] t_estimated: [[ 9.85042624e-01] [-1.72309345e-01] [ 7.20317268e-04]] R_gt: [[ 9.91477399e-01 -1.29712637e-01 -1.21163638e-02] [ 1.29718644e-01 9.91550300e-01 -2.70295339e-04] [ 1.20493398e-02 -1.30353225e-03 9.99926929e-01]] t_gt: [ 0.63853436 -0.76710731 -0.06180807] Pose Error in degrees for R and t: 3.9498750805000467 40.43707155876195 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.98104273e-01 -6.15454995e-02 1.09012500e-04] [ 6.15455302e-02 9.98104230e-01 -3.04846081e-04] [-9.00439329e-05 3.10977409e-04 9.99999948e-01]] t_estimated: [[ 0.66997341] [-0.74238323] [-0.00166559]] R_gt: [[ 0.96173589 -0.27362254 -0.01396165] [ 0.27349016 0.96181582 -0.0106641 ] [ 0.01634681 0.00643774 0.99984543]] t_gt: [ 0.72991312 -0.67895028 -0.07907818] Pose Error in degrees for R and t: 12.389249352849712 6.687838234377331 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-7.47553673e-01 -6.64201366e-01 -2.29206871e-04] [ 6.64152731e-01 -7.47494668e-01 -1.23640869e-02] [ 8.04091252e-03 -9.39504697e-03 9.99923535e-01]] t_estimated: [[9.69384743e-01] [2.45545475e-01] [7.99822395e-04]] R_gt: [[ 0.91951092 -0.38981591 -0.0504261 ] [ 0.39017989 0.92073409 -0.00281589] [ 0.04752797 -0.0170853 0.99872415]] t_gt: [ 0.77934263 -0.62224178 -0.07375793] Pose Error in degrees for R and t: 115.41475359884576 52.94113538487745 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.09388521e-02 9.95856477e-01 -5.37286633e-05] [-9.95856375e-01 9.09388671e-02 4.49299908e-04] [ 4.52324248e-04 1.26472139e-05 9.99999898e-01]] t_estimated: [[0.64037017] [0.76806585] [0.00094589]] R_gt: [[ 0.99509669 -0.05281682 0.08362538] [ 0.04025809 0.98856659 0.14531894] [-0.09034568 -0.14123934 0.98584398]] t_gt: [ 0.16648113 -0.24509718 0.95509759] Pose Error in degrees for R and t: 87.89204686256537 85.36902411820064 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-5.73786969e-01 -8.19002106e-01 -2.01605430e-03] [ 8.19004543e-01 -5.73786010e-01 -1.08347164e-03] [-2.69418198e-04 -2.27283954e-03 9.99997381e-01]] t_estimated: [[9.92730099e-01] [1.20358344e-01] [9.04949954e-04]] R_gt: [[ 0.97629317 -0.12423323 0.17724996] [ 0.06174136 0.94470212 0.32206512] [-0.2074596 -0.30348596 0.92997676]] t_gt: [ 0.20828571 -0.12624714 0.96988593] Pose Error in degrees for R and t: 120.66095643114956 78.90395089922245 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.99734705 0.05711697 0.04512763] [-0.05528163 0.99763184 -0.04092252] [-0.04735814 0.03831922 0.9981427 ]] t_estimated: [[9.99698452e-01] [2.45425152e-02] [8.18083840e-04]] R_gt: [[ 0.96999645 -0.1593604 0.18360404] [ 0.08043086 0.92303021 0.37622814] [-0.22942809 -0.35017233 0.90815307]] t_gt: [ 0.24798369 -0.11870144 0.96146454] Pose Error in degrees for R and t: 27.654706937698975 75.7719340173655 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99839581e-01 -1.79110865e-02 6.74492678e-05] [ 1.79110870e-02 9.99839584e-01 -7.24312567e-06] [-6.73087155e-05 8.45005344e-06 9.99999998e-01]] t_estimated: [[6.33980340e-01] [7.73349084e-01] [3.49566697e-04]] R_gt: [[ 0.99833976 -0.05108689 0.0265967 ] [ 0.04924045 0.99660454 0.06598709] [-0.02987703 -0.06456795 0.99746556]] t_gt: [ 0.37246747 -0.44586365 0.81392481] Pose Error in degrees for R and t: 4.479901396325718 83.77767751982032 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.33393715 0.94256742 -0.00725485] [ 0.94255815 0.33398246 0.00631286] [ 0.00837329 -0.00473002 -0.99995376]] t_estimated: [[-0.28945443] [-0.95719057] [-0.0015315 ]] R_gt: [[ 0.99538814 -0.06804979 0.06761506] [ 0.06018467 0.99185794 0.1122323 ] [-0.0747018 -0.10764449 0.99137874]] t_gt: [ 0.37277238 -0.38612677 0.84376944] Pose Error in degrees for R and t: 179.14851981921416 74.90596160464287 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.9980028 -0.0631548 -0.00137189] [ 0.06315775 0.99800109 0.00222066] [ 0.0012289 -0.00230287 0.99999659]] t_estimated: [[0.83608636] [0.54859 ] [0.00293364]] R_gt: [[ 0.9954431 -0.08201405 0.04863531] [ 0.07380051 0.98567559 0.1516464 ] [-0.0603765 -0.14736582 0.9872372 ]] t_gt: [ 0.47547785 -0.38122212 0.792837 ] Pose Error in degrees for R and t: 9.110429880355156 79.00450563635816 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99559907e-01 2.96634264e-02 -2.70817370e-04] [-2.96634570e-02 9.99559937e-01 -1.09779033e-04] [ 2.67441771e-04 1.17764100e-04 9.99999957e-01]] t_estimated: [[-0.98880107] [ 0.14919553] [-0.00362542]] R_gt: [[ 0.99917605 0.00748039 -0.03988211] [-0.0065819 0.99972182 0.02262641] [ 0.04004003 -0.02234574 0.99894886]] t_gt: [ 0.96390135 -0.25293413 0.08317762] Pose Error in degrees for R and t: 2.921534948576398 7.630551476162275 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.09897178e-01 -4.14832812e-01 9.29640881e-04] [ 4.14832722e-01 9.09887179e-01 -4.37420104e-03] [ 9.68693798e-04 4.36571864e-03 9.99990001e-01]] t_estimated: [[-0.39134556] [-0.9202238 ] [-0.00606727]] R_gt: [[ 0.99519701 0.09064878 -0.03695317] [-0.08764286 0.99323662 0.0761528 ] [ 0.04360619 -0.07254827 0.99641131]] t_gt: [0.38315659 0.10350378 0.917866 ] Pose Error in degrees for R and t: 30.056811431790532 75.47737959838736 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-8.09596688e-01 -5.86986362e-01 -4.60769138e-04] [-5.86986371e-01 8.09595601e-01 1.40117731e-03] [-4.49435305e-04 1.40485371e-03 -9.99998912e-01]] t_estimated: [[0.89528541] [0.44549155] [0.00114382]] R_gt: [[ 0.98398666 0.14012445 -0.1101597 ] [-0.12909803 0.9864148 0.10158442] [ 0.12289702 -0.085737 0.98870906]] t_gt: [0.82273167 0.27866734 0.49543629] Pose Error in degrees for R and t: 175.27329887637663 30.538233049923683 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999496e-01 -6.62804619e-04 7.54345231e-04] [ 6.63384284e-04 9.99999485e-01 -7.68443003e-04] [-7.53835515e-04 7.68943036e-04 9.99999420e-01]] t_estimated: [[0.28984487] [0.95707166] [0.00194527]] R_gt: [[ 0.98149555 -0.17584773 -0.07579664] [ 0.17362699 0.98418907 -0.03500619] [ 0.08075382 0.02119857 0.99650841]] t_gt: [ 0.74451762 -0.57739227 -0.33512935] Pose Error in degrees for R and t: 11.135210770496606 70.27761374216881 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.99996877 -0.00311478 -0.00726394] [ 0.00316561 0.99997052 0.00699559] [ 0.00724194 -0.00701836 0.99994915]] t_estimated: [[9.87088819e-01] [1.60172021e-01] [7.66373307e-04]] R_gt: [[ 0.9548893 -0.28551871 -0.08165026] [ 0.28343657 0.95830476 -0.03628637] [ 0.08860619 0.01150745 0.99600035]] t_gt: [ 0.79049817 -0.57393295 -0.21380743] Pose Error in degrees for R and t: 17.081828583748493 46.51220492698416 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.02896407e-01 -4.29858193e-01 -1.12843333e-04] [ 4.29858155e-01 9.02896133e-01 7.35183679e-04] [-2.14138919e-04 -7.12301329e-04 9.99999723e-01]] t_estimated: [[9.90039710e-01] [1.40785463e-01] [9.08293312e-04]] R_gt: [[ 0.94404347 -0.30173876 -0.13317588] [ 0.29982262 0.95336331 -0.03469691] [ 0.13743366 -0.00717392 0.99048484]] t_gt: [ 0.82103468 -0.52277967 -0.22935449] Pose Error in degrees for R and t: 11.157585677542649 42.34954631518307 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.92039692e-01 -1.25920307e-01 -1.15152056e-03] [ 1.25921051e-01 9.92040085e-01 5.98477848e-04] [ 1.06699404e-03 -7.38714459e-04 9.99999158e-01]] t_estimated: [[-0.51591613] [-0.85663825] [-0.00120823]] R_gt: [[ 0.9805805 0.19526081 0.01834547] [-0.19611854 0.97573979 0.09731089] [ 0.00110125 -0.09901954 0.9950839 ]] t_gt: [-0.88514421 0.31285993 0.34443924] Pose Error in degrees for R and t: 19.38151845924607 79.15012964824767 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.89457451 0.44690696 -0.00325637] [ 0.44689448 -0.89457809 -0.00392008] [-0.00466499 0.00205155 -0.99998701]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97765939 0.21000928 0.00884447] [-0.20990011 0.97319101 0.09402265] [ 0.01113876 -0.09377812 0.99553081]] t_gt: [-0.93403823 0.22131505 0.28034306] Pose Error in degrees for R and t: 174.9104027039226 77.53891041925196 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.71149597 0.70255791 -0.0136332 ] [ 0.70250221 0.71162048 0.00932376] [ 0.01625215 -0.00294353 -0.99986359]] t_estimated: [[ 0.90033487] [-0.43513229] [-0.00755051]] R_gt: [[ 0.9774829 0.21091575 -0.00647575] [-0.20930979 0.97301856 0.09707965] [ 0.02677679 -0.09353816 0.99525465]] t_gt: [-0.95608346 0.12017799 0.26732316] Pose Error in degrees for R and t: 176.08388098061516 23.77906890943241 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.98945982e-01 -4.58948354e-02 -7.67086239e-04] [ 4.58948991e-02 9.98946272e-01 6.56600663e-05] [ 7.63264481e-04 -1.00796205e-04 9.99999704e-01]] t_estimated: [[0.30447696] [0.95251914] [0.00102864]] R_gt: [[ 0.99765802 -0.0277062 0.06253688] [ 0.0246459 0.99848446 0.04919825] [-0.06380551 -0.04754124 0.99682877]] t_gt: [-0.13748441 -0.17473719 0.9749692 ] Pose Error in degrees for R and t: 4.732562507978501 78.03591772557999 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999049e-01 -1.37070592e-03 1.51852132e-04] [ 1.37065108e-03 9.99998996e-01 3.60650061e-04] [-1.52346325e-04 -3.60441582e-04 9.99999923e-01]] t_estimated: [[0.3392991 ] [0.94067768] [0.0012734 ]] R_gt: [[ 0.9929377 -0.07909112 0.08842211] [ 0.06739842 0.98945642 0.12819242] [-0.0976283 -0.12132792 0.98779926]] t_gt: [ 0.13487663 -0.28609743 0.9486604 ] Pose Error in degrees for R and t: 9.851265302929093 77.1644253741318 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.18907603 -0.98195026 0.00489411] [-0.98193945 -0.18903514 0.00778686] [-0.00672115 -0.00627803 -0.99995771]] t_estimated: [[0.58982865] [0.80751224] [0.00511259]] R_gt: [[ 0.98536237 -0.11163984 0.12883055] [ 0.09034751 0.98286008 0.1606943 ] [-0.1445627 -0.14670235 0.97856003]] t_gt: [ 0.25522721 -0.29839519 0.91968439] Pose Error in degrees for R and t: 167.5969770739706 85.08283100468537 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.28956098 -0.95714223 -0.00576124] [-0.95715865 0.28954714 0.00312588] [-0.00132376 0.00641956 -0.99997852]] t_estimated: [[8.01537609e-01] [5.97944007e-01] [6.52027340e-04]] R_gt: [[ 0.99686681 -0.07620422 -0.02121716] [ 0.07633937 0.99706587 0.00563967] [ 0.02072444 -0.00724046 0.99975914]] t_gt: [ 0.83247598 -0.53935194 -0.12681965] Pose Error in degrees for R and t: 179.10957576042344 69.83798961965714 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.9991876 -0.04012197 0.00379048] [ 0.0401302 0.99919221 -0.00212089] [-0.00370232 0.00227128 0.99999057]] t_estimated: [[7.99180766e-01] [6.01090583e-01] [4.63258712e-04]] R_gt: [[ 0.99459909 -0.10304211 -0.01246343] [ 0.10300906 0.99467509 -0.00323946] [ 0.01273145 0.00193825 0.99991741]] t_gt: [ 0.82632691 -0.55702941 -0.08307873] Pose Error in degrees for R and t: 3.733436556132479 71.00286054097816 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99956211e-01 -9.35711631e-03 -1.40099380e-04] [ 9.35714301e-03 9.99956203e-01 1.91184126e-04] [ 1.38304312e-04 -1.92486685e-04 9.99999972e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.96523072 -0.25742336 -0.04543616] [ 0.25752323 0.96626446 -0.00374595] [ 0.04486782 -0.00808418 0.99896097]] t_gt: [ 0.80661149 -0.58554294 -0.08073025] Pose Error in degrees for R and t: 14.62441140874601 69.04939163310817 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.97580292e-01 -6.95238089e-02 -3.09753879e-05] [ 6.95238130e-02 9.97580279e-01 1.61046444e-04] [ 1.97038739e-05 -1.62810286e-04 9.99999987e-01]] t_estimated: [[1.42652154e-01] [9.89772873e-01] [1.47871037e-04]] R_gt: [[ 0.99742486 0.0147737 -0.07018522] [-0.01236721 0.99932501 0.03459762] [ 0.070649 -0.03364036 0.9969342 ]] t_gt: [ 0.99603512 -0.08530383 0.02524466] Pose Error in degrees for R and t: 6.541256742144456 86.69455698819758 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.93901951e-01 -1.10267444e-01 -4.62012021e-05] [ 1.10267452e-01 9.93901916e-01 2.65396410e-04] [ 1.66548795e-05 -2.68872499e-04 9.99999964e-01]] t_estimated: [[ 7.34597725e-03] [ 9.99973011e-01] [-1.13980469e-04]] R_gt: [[ 0.99334302 0.01778233 -0.11381929] [-0.01210546 0.99865651 0.05037575] [ 0.11456123 -0.04866237 0.99222326]] t_gt: [ 0.98599607 -0.1663348 0.01201978] Pose Error in degrees for R and t: 10.131476646391857 80.84600189487455 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.62183771e-01 -2.72401151e-01 -7.00009653e-05] [ 2.72401155e-01 9.62183676e-01 4.29721954e-04] [-4.97029685e-05 -4.32539834e-04 9.99999905e-01]] t_estimated: [[-8.43952931e-01] [-5.36416767e-01] [-7.08608675e-04]] R_gt: [[ 0.991223 0.08286229 -0.10301158] [-0.07176828 0.99165372 0.10710308] [ 0.11102615 -0.09876954 0.98889743]] t_gt: [ 0.83226549 -0.12167448 0.54085994] Pose Error in degrees for R and t: 21.970138437481406 50.393758158823964 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.88927306e-01 -1.48395660e-01 1.22985419e-03] [ 1.48398366e-01 9.88924452e-01 -2.52058908e-03] [-8.42188405e-04 2.67518772e-03 9.99996067e-01]] t_estimated: [[-9.78379124e-01] [-2.06818052e-01] [-7.63166244e-04]] R_gt: [[ 0.99837343 0.0548022 0.01567742] [-0.05421193 0.99788408 -0.03588801] [-0.01761157 0.03498084 0.99923268]] t_gt: [-0.49649087 0.81545474 -0.29754054] Pose Error in degrees for R and t: 11.843981353616078 71.49831056779048 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.73686557 -0.67602956 -0.00362893] [ 0.67603699 -0.73683842 -0.0065667 ] [ 0.00176535 -0.00729207 0.99997185]] t_estimated: [[9.88228047e-01] [1.52986046e-01] [7.72656800e-04]] R_gt: [[ 0.99077934 0.13500343 0.01138387] [-0.1345051 0.9902296 -0.0367889 ] [-0.01623991 0.0349187 0.99925812]] t_gt: [-0.6235351 0.76841781 -0.14400713] Pose Error in degrees for R and t: 145.22318509045843 60.08273537180725 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-0.25752835 0.96625949 -0.00466343] [-0.96626348 -0.25754213 -0.00263447] [-0.00374661 0.00382765 0.99998566]] t_estimated: [[0.09089495] [0.99585964] [0.00129843]] R_gt: [[ 0.95069974 0.30998676 -0.00881462] [-0.30977356 0.94795394 -0.07364433] [-0.01447265 0.07274421 0.99724516]] t_gt: [-0.67755414 0.71794475 -0.15961116] Pose Error in degrees for R and t: 86.91373307963234 49.21830677244617 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[-0.98571227 -0.14095077 -0.09221827] [-0.14115642 0.98997787 -0.00432158] [ 0.09190317 0.00875736 -0.99572944]] t_estimated: [[ 0.99636414] [ 0.07148422] [-0.04635209]] R_gt: [[ 0.99964855 0.01037837 -0.02440941] [-0.01030328 0.99994198 0.00318026] [ 0.02444132 -0.00292821 0.99969669]] t_gt: [ 0.83598587 0.47250893 -0.2790393 ] Pose Error in degrees for R and t: 173.3202007942467 28.398945682424575 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 1.27406459e-01 9.91850389e-01 6.32983473e-04] [-9.91844328e-01 1.27407896e-01 -3.47235627e-03] [-3.52470501e-03 -1.85420451e-04 9.99993771e-01]] t_estimated: [[0.09839634] [0.99514479] [0.00223628]] R_gt: [[ 0.99914542 0.03350082 -0.0242102 ] [-0.03370661 0.99939904 -0.00810254] [ 0.02392416 0.00891066 0.99967433]] t_gt: [ 0.79186644 0.54513217 -0.27527888] Pose Error in degrees for R and t: 80.76746614917246 51.69944760332803 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.95512662e-01 9.46274245e-02 4.37023193e-04] [-9.46274315e-02 9.95512757e-01 -4.55950908e-06] [-4.35493619e-04 -3.68153333e-05 9.99999904e-01]] t_estimated: [[-6.03811813e-01] [ 7.97126632e-01] [ 6.53925089e-04]] R_gt: [[ 0.99615739 0.0630001 -0.06083657] [-0.06162602 0.99780596 0.02420079] [ 0.0622282 -0.02035902 0.99785424]] t_gt: [ 0.87061969 0.45625331 -0.18399529] Pose Error in degrees for R and t: 4.20740516435198 80.67008144083394 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-9.92033203e-01 -1.24972059e-01 1.58779224e-02] [-1.24990717e-01 9.92157894e-01 -1.84336283e-04] [-1.57303691e-02 -2.16746062e-03 -9.99873921e-01]] t_estimated: [[0.99989276] [0.01108903] [0.00956529]] R_gt: [[ 0.99936471 -0.01873413 -0.03032389] [ 0.01907812 0.999756 0.0111226 ] [ 0.03010925 -0.01169379 0.99947776]] t_gt: [ 0.55282217 -0.67243423 -0.49215836] Pose Error in degrees for R and t: 179.2187376844621 57.27560239752086 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.97885901 0.20370583 0.01841138] [-0.20361317 0.97902784 -0.00679459] [-0.01940935 0.00290215 0.99980741]] t_estimated: [[0.99498793] [0.09949879] [0.00994988]] R_gt: [[ 0.99865263 0.0240133 -0.04600286] [-0.02197394 0.99877411 0.04435244] [ 0.04701233 -0.04328233 0.99795585]] t_gt: [-0.6088845 -0.59430653 -0.52541357] Pose Error in degrees for R and t: 11.433505669843527 47.918013136951664 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.19932243 0.97993077 0.00250033] [-0.97992488 0.19933092 -0.00379601] [-0.00421822 -0.00169351 0.99998967]] t_estimated: [[-0.24264691] [ 0.9701068 ] [ 0.00390767]] R_gt: [[ 9.98864766e-01 1.60393788e-03 -4.75940950e-02] [-9.73563195e-04 9.99910661e-01 1.32747586e-02] [ 4.76122117e-02 -1.32133333e-02 9.98777971e-01]] t_gt: [-0.00259607 -0.80225401 -0.59697719] Pose Error in degrees for R and t: 78.48190435004459 38.74171957565293 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.29581209 -0.95423038 0.0440408 ] [-0.95524452 0.29558224 -0.01179175] [-0.00176564 -0.04555788 -0.99896014]] t_estimated: [[0.80542731] [0.59267292] [0.00506558]] R_gt: [[ 0.95526536 0.29533589 0.01564001] [-0.2952 0.95537803 -0.01044029] [-0.01802551 0.00535649 0.99982312]] t_gt: [-0.92427772 0.38161751 -0.00887491] Pose Error in degrees for R and t: 177.5691612491479 58.78110196746313 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.95451203e-01 -9.52683417e-02 -9.19010572e-04] [ 9.52691430e-02 9.95451170e-01 8.71500159e-04] [ 8.31803774e-04 -9.55089231e-04 9.99999198e-01]] t_estimated: [[-9.99975848e-01] [-6.89638516e-03] [-8.62048145e-04]] R_gt: [[ 0.93096195 0.36457628 0.01982427] [-0.36412659 0.9310653 -0.02302298] [-0.02685139 0.01421526 0.99953826]] t_gt: [-0.90583867 0.42283955 -0.02574923] Pose Error in degrees for R and t: 26.89982070324888 25.455027268069596 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-9.26094251e-01 -3.77291657e-01 -6.66152429e-04] [-3.77291928e-01 9.26094318e-01 3.38638669e-04] [ 4.89154435e-04 5.64945259e-04 -9.99999721e-01]] t_estimated: [[9.78686978e-01] [2.05356316e-01] [7.63406379e-04]] R_gt: [[ 0.87772158 0.4786621 0.02209527] [-0.4785571 0.87799835 -0.01014556] [-0.02425558 -0.00166837 0.99970362]] t_gt: [-0.87242727 0.48850115 0.01540396] Pose Error in degrees for R and t: 178.7413064689056 41.1051195499195 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.95742563 -0.09766933 0.27165578] [ 0.13191277 0.98505457 -0.11075434] [-0.25677847 0.14187391 0.95600032]] t_estimated: [[0.70151691] [0.71265209] [0.00101229]] R_gt: [[ 0.99003516 -0.13735675 -0.0310415 ] [ 0.13705912 0.99049619 -0.01151717] [ 0.03232915 0.00714865 0.99945171]] t_gt: [ 0.7178043 -0.67280026 -0.17915578] Pose Error in degrees for R and t: 18.54888790976627 88.63061610556639 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.93549483e-01 1.13398797e-01 3.70692025e-04] [-1.13398727e-01 9.93549539e-01 -2.04499937e-04] [-3.91490938e-04 1.61144804e-04 9.99999910e-01]] t_estimated: [[0.58014156] [0.81451518] [0.00089115]] R_gt: [[ 0.97782263 -0.20625212 -0.0363889 ] [ 0.20536088 0.97832048 -0.02675348] [ 0.04111764 0.01868785 0.99897936]] t_gt: [ 0.74627367 -0.64775006 -0.15328231] Pose Error in degrees for R and t: 18.57573734723367 84.56050878338105 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 3.54830883e-01 9.34929648e-01 1.26403932e-03] [ 9.34923538e-01 -3.54833134e-01 3.38022573e-03] [ 3.60879628e-03 -1.76283658e-05 -9.99993488e-01]] t_estimated: [[8.35060605e-01] [5.50157575e-01] [6.54949494e-04]] R_gt: [[ 0.9779259 -0.19172819 -0.08308234] [ 0.18410906 0.97865155 -0.09135043] [ 0.09882281 0.07403787 0.9923476 ]] t_gt: [ 0.74687215 -0.50865471 -0.42831342] Pose Error in degrees for R and t: 179.1574832634779 69.90591521384258 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.98449231e-01 -5.56656464e-02 6.85024662e-04] [ 5.56655764e-02 9.98449462e-01 1.20866861e-04] [-6.90690638e-04 -8.25471315e-05 9.99999758e-01]] t_estimated: [[0.30584259] [0.95207323] [0.00410749]] R_gt: [[ 0.99911308 -0.02948508 -0.03007417] [ 0.02781413 0.99812659 -0.0545111 ] [ 0.03162529 0.05362536 0.99805985]] t_gt: [ 0.59139879 -0.24572719 -0.76802709] Pose Error in degrees for R and t: 3.912684781773722 86.77655737809357 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.27544946 0.96131489 0.00113089] [ 0.96131328 0.27544606 0.00250005] [ 0.00209183 0.00177577 -0.99999624]] t_estimated: [[9.14281247e-01] [4.05079367e-01] [7.13167899e-04]] R_gt: [[ 0.9954893 -0.0183648 -0.09309273] [ 0.00753451 0.99329455 -0.11537456] [ 0.09458712 0.11415291 0.98894978]] t_gt: [ 0.37123812 0.12445974 -0.9201587 ] Pose Error in degrees for R and t: 179.63075665003527 67.09676878522433 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.84985678e-01 1.72634638e-01 7.03758787e-04] [-1.72634511e-01 9.84985923e-01 -2.37491412e-04] [-7.34191743e-04 1.12432586e-04 9.99999724e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9876217 -0.0481497 -0.14928269] [ 0.02031907 0.98297506 -0.18261443] [ 0.15553406 0.17732085 0.97178423]] t_gt: [ 0.38390731 0.14338263 -0.91217137] Pose Error in degrees for R and t: 18.119694590647278 81.67279881058982 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.96894430e-01 -7.87458069e-02 -7.70345268e-04] [ 7.87465604e-02 9.96894164e-01 1.00231706e-03] [ 6.89024436e-04 -1.05986634e-03 9.99999201e-01]] t_estimated: [[0.18193371] [0.98330841] [0.00216588]] R_gt: [[ 0.95304645 0.30279235 -0.00429153] [-0.30273189 0.95231875 -0.03799084] [-0.00741619 0.03750629 0.99926823]] t_gt: [-0.89378106 0.43446202 -0.11134704] Pose Error in degrees for R and t: 22.25969986191215 74.67106758848341 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99737067e-01 2.29233274e-02 -5.64438673e-04] [-2.29231679e-02 9.99737188e-01 2.87502415e-04] [ 5.70880844e-04 -2.74488098e-04 9.99999799e-01]] t_estimated: [[-9.96998561e-01] [ 7.74171249e-02] [-6.76163157e-04]] R_gt: [[ 0.82829458 0.56028741 -0.00257821] [-0.55962397 0.82707316 -0.05263679] [-0.02735873 0.04504161 0.99860999]] t_gt: [-0.83681644 0.54345667 -0.06628045] Pose Error in degrees for R and t: 32.90353415854921 28.786227577521743 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-6.79759322e-01 -7.33387151e-01 -8.39949374e-03] [-7.33435210e-01 6.79710987e-01 8.10967971e-03] [-2.38306719e-04 1.16731148e-02 -9.99931838e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.72993727 0.68325704 -0.01871954] [-0.68351035 0.72957539 -0.02312817] [-0.00214485 0.02967647 0.99955646]] t_gt: [-0.7983447 0.60054169 -0.04467004] Pose Error in degrees for R and t: 178.4145641054336 73.68683123507874 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999910e-01 -3.52340375e-04 2.34710525e-04] [ 3.52295016e-04 9.99999919e-01 1.93269610e-04] [-2.34778603e-04 -1.93186905e-04 9.99999954e-01]] t_estimated: [[0.6624578 ] [0.74909358] [0.0029103 ]] R_gt: [[ 0.99790028 -0.0592588 -0.0261508 ] [ 0.05946094 0.99820638 0.00701174] [ 0.02568881 -0.00855248 0.99963369]] t_gt: [ 0.75783084 -0.63694319 -0.14140647] Pose Error in degrees for R and t: 3.725849991051132 88.5967228442611 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.99995312 -0.00665824 0.0070297 ] [ 0.00668718 0.99996923 -0.00410071] [-0.00700218 0.00414753 0.99996688]] t_estimated: [[0.58150675] [0.81353654] [0.00286457]] R_gt: [[ 0.98893101 -0.10597332 -0.10384603] [ 0.10423838 0.99430919 -0.02201209] [ 0.10558753 0.01094448 0.99434969]] t_gt: [ 0.80044481 -0.40843307 -0.43871463] Pose Error in degrees for R and t: 8.593060136101036 82.41874436671064 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.9327142 -0.36061073 0.00202932] [ 0.36061344 0.93271462 -0.00117231] [-0.00147003 0.00182523 0.99999725]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.97301383 -0.20098073 -0.1133628 ] [ 0.19413889 0.97857364 -0.06858378] [ 0.12471798 0.04472495 0.99118386]] t_gt: [ 0.81833658 -0.41126967 -0.4014754 ] Pose Error in degrees for R and t: 12.354037576083048 67.11827372831388 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.98275628e-01 -5.87003492e-02 -1.99525418e-04] [ 5.87003350e-02 9.98275646e-01 -7.66405601e-05] [ 2.03680193e-04 6.47961943e-05 9.99999977e-01]] t_estimated: [[-0.92526507] [-0.37931483] [-0.00219257]] R_gt: [[ 0.99850448 0.04136923 -0.03572865] [-0.04089705 0.99906705 0.01386825] [ 0.03626918 -0.012387 0.99926526]] t_gt: [-0.63918437 0.76881033 -0.01933941] Pose Error in degrees for R and t: 6.126917012907613 72.55223384014008 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[-0.33763568 0.94127161 -0.00314796] [-0.94127109 -0.33764343 -0.00237505] [-0.00329845 0.00216118 0.99999222]] t_estimated: [[0.29036437] [0.95691509] [0.00143037]] R_gt: [[ 0.99747063 0.0641702 -0.03054814] [-0.0650648 0.99745146 -0.02925941] [ 0.02859301 0.03117181 0.99910483]] t_gt: [-0.35970851 0.84118764 -0.40374886] Pose Error in degrees for R and t: 106.04199349683248 45.579325359121185 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-0.5975352 0.80171878 -0.01409567] [ 0.80170913 0.59766419 0.00774542] [ 0.01463412 -0.00667247 -0.99987065]] t_estimated: [[ 0.87949596] [-0.47583552] [-0.00821066]] R_gt: [[ 0.98884695 0.14582797 -0.03026804] [-0.14693159 0.98841011 -0.03816631] [ 0.0243519 0.04218689 0.99881346]] t_gt: [-0.51763732 0.81859084 -0.24891895] Pose Error in degrees for R and t: 178.71273235827036 32.570387507 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.99993417e-01 3.62818112e-03 5.63906467e-05] [-3.62818435e-03 9.99993416e-01 5.73870836e-05] [-5.61820647e-05 -5.75913014e-05 9.99999997e-01]] t_estimated: [[ 9.99927308e-01] [ 1.20555260e-02] [-2.08714524e-04]] R_gt: [[ 0.99918693 -0.03925369 0.00925991] [ 0.03908328 0.99907673 0.01787583] [-0.00995279 -0.01749965 0.99979794]] t_gt: [ 0.95905963 -0.07299748 0.27363479] Pose Error in degrees for R and t: 2.707538693972566 16.654023706612723 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99748145e-01 -2.24420737e-02 -1.93119864e-05] [ 2.24420785e-02 9.99748100e-01 2.99342715e-04] [ 1.25892505e-05 -2.99700725e-04 9.99999955e-01]] t_estimated: [[0.74215325] [0.67022974] [0.00081188]] R_gt: [[ 0.99908054 -0.0157636 -0.0398723 ] [ 0.01619942 0.99981288 0.01061641] [ 0.03969814 -0.01125304 0.9991487 ]] t_gt: [ 0.97002576 0.22024417 -0.10267687] Pose Error in degrees for R and t: 2.387604690498395 29.83766215595045 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.95221511e-01 -9.76429036e-02 -9.05172030e-05] [ 9.76429336e-02 9.95221420e-01 4.27237557e-04] [ 4.83679437e-05 -4.34034372e-04 9.99999905e-01]] t_estimated: [[0.89456285] [0.44694127] [0.00090149]] R_gt: [[ 0.99905891 0.02350741 -0.03647049] [-0.02317879 0.99968698 0.00940715] [ 0.0366801 -0.00855312 0.99929043]] t_gt: [ 0.93190525 0.34745916 -0.10404196] Pose Error in degrees for R and t: 7.265992168380042 8.564876295332597 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 1.24658021e-01 9.92199666e-01 4.48554109e-04] [-9.92198369e-01 1.24658591e-01 -1.62214645e-03] [-1.66540929e-03 -2.42841089e-04 9.99998584e-01]] t_estimated: [[0.22612956] [0.97409655] [0.00115964]] R_gt: [[ 0.98108197 0.19187829 -0.02571674] [-0.19158907 0.98138529 0.01330358] [ 0.02779182 -0.00812483 0.99958064]] t_gt: [-0.87722476 0.47377738 -0.07753518] Pose Error in degrees for R and t: 71.80163614009413 74.74897018378994 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.74391932e-01 -2.24854345e-01 -9.41617074e-04] [ 2.24854866e-01 9.74392144e-01 4.88537384e-04] [ 8.07654526e-04 -6.87754067e-04 9.99999437e-01]] t_estimated: [[-3.49724571e-01] [-9.36852269e-01] [-7.42594603e-04]] R_gt: [[ 0.95566937 0.29440838 0.00445233] [-0.29323663 0.95028322 0.10475895] [ 0.02661058 -0.10141959 0.99448791]] t_gt: [-0.89488374 0.40011995 0.19770463] Pose Error in degrees for R and t: 30.703850427191178 86.44324259180294 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.21508933e-01 -3.88356535e-01 -6.99108405e-04] [ 3.88356602e-01 9.21509169e-01 -4.22679490e-05] [ 6.60649839e-04 -2.32553072e-04 9.99999755e-01]] t_estimated: [[-0.37804145] [-0.92578764] [-0.00137971]] R_gt: [[ 0.96159055 0.27399968 -0.01636593] [-0.27126403 0.95771885 0.0958736 ] [ 0.04194401 -0.08775133 0.99525954]] t_gt: [-0.94939424 0.28249904 0.13727662] Pose Error in degrees for R and t: 39.09426569537279 84.4228003711818 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99180583e-01 4.04742081e-02 7.54655436e-06] [-4.04742079e-02 9.99180583e-01 -2.80096551e-05] [-8.67403920e-06 2.76812628e-05 1.00000000e+00]] t_estimated: [[-9.95398053e-01] [ 9.58263770e-02] [-1.44419016e-04]] R_gt: [[ 9.97665234e-01 6.82871985e-02 1.09033833e-03] [-6.82938740e-02 9.97629622e-01 8.33919559e-03] [-5.17831008e-04 -8.39425201e-03 9.99964619e-01]] t_gt: [-0.83388944 0.54855974 0.06091478] Pose Error in degrees for R and t: 1.6684841663167664 28.04121915348023 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.93346719e-01 -1.15153766e-01 1.38084151e-03] [ 1.15160392e-01 9.93325290e-01 -6.55372417e-03] [-6.16938770e-04 6.66913865e-03 9.99977571e-01]] t_estimated: [[8.19471549e-01] [5.73119510e-01] [6.38217717e-04]] R_gt: [[ 0.99947794 -0.0255134 -0.01985541] [ 0.02518338 0.9995428 -0.01671077] [ 0.02027323 0.01620209 0.99966387]] t_gt: [ 0.21300565 -0.86094096 -0.46196241] Pose Error in degrees for R and t: 5.3287440445991825 71.38757543268888 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.78855225e-01 2.04553101e-01 6.91240651e-04] [-2.04552267e-01 9.78855006e-01 -1.11686444e-03] [-9.05082456e-04 9.51853746e-04 9.99999137e-01]] t_estimated: [[0.86234817] [0.50631319] [0.00160987]] R_gt: [[ 0.99539922 -0.0935019 -0.02093553] [ 0.09297408 0.99535661 -0.0249057 ] [ 0.02316698 0.02284497 0.9994705 ]] t_gt: [ 0.52127923 -0.81078013 -0.26627718] Pose Error in degrees for R and t: 17.253745293767324 87.7885878489146 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999998e-01 6.95756661e-05 1.13195217e-05] [-6.95757466e-05 9.99999998e-01 7.11014345e-06] [-1.13190270e-05 -7.11093100e-06 1.00000000e+00]] t_estimated: [[ 9.99992583e-01] [-3.78216974e-03] [-7.27007703e-04]] R_gt: [[ 9.99696604e-01 -2.46076995e-02 -1.43275045e-03] [ 2.46069962e-02 9.99697360e-01 -4.50541917e-04] [ 1.44330130e-03 4.15734321e-04 9.99998307e-01]] t_gt: [ 0.92013077 -0.38892942 -0.04575225] Pose Error in degrees for R and t: 1.4165247357327322 22.834712270989527 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999164e-01 -1.14320097e-03 6.03779871e-04] [ 1.14345813e-03 9.99999256e-01 -4.25749222e-04] [-6.03292704e-04 4.26439263e-04 9.99999727e-01]] t_estimated: [[0.2985185 ] [0.95440325] [0.00106996]] R_gt: [[ 0.99085838 -0.13286031 -0.02339339] [ 0.13263324 0.99110417 -0.01100587] [ 0.02464761 0.00780285 0.99966507]] t_gt: [ 0.78729206 -0.60405425 -0.12365139] Pose Error in degrees for R and t: 7.712401966153116 70.0242501271986 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999900e-01 3.65376697e-04 2.57684240e-04] [-3.65331712e-04 9.99999918e-01 -1.74598618e-04] [-2.57748013e-04 1.74504460e-04 9.99999952e-01]] t_estimated: [[ 9.99999865e-01] [ 3.26684814e-04] [-4.03306540e-04]] R_gt: [[ 0.96512568 -0.25978242 -0.03233907] [ 0.2602017 0.96550831 0.00945023] [ 0.02876772 -0.01753501 0.9994315 ]] t_gt: [ 0.76834559 -0.63968763 -0.02109013] Pose Error in degrees for R and t: 15.219455013466204 39.81239621493614 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.99996528e-01 2.63501942e-03 9.58404102e-06] [-2.63501550e-03 9.99996453e-01 -3.88266357e-04] [-1.06070964e-05 3.88239755e-04 9.99999925e-01]] t_estimated: [[-0.00699123] [-0.99997502] [-0.00104085]] R_gt: [[ 0.99961119 -0.01185378 -0.02523822] [ 0.0067471 0.9810668 -0.19354977] [ 0.02705444 0.19330454 0.98076599]] t_gt: [ 0.17891472 0.37265129 -0.91056057] Pose Error in degrees for R and t: 11.254837640448383 68.10263854882552 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-7.73168145e-01 -6.34200979e-01 -3.70820385e-04] [-6.34199696e-01 7.73165093e-01 2.54639205e-03] [-1.32821896e-03 2.20396340e-03 -9.99996689e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9986153 -0.03722687 -0.03715797] [ 0.02490919 0.9569247 -0.28926507] [ 0.04632549 0.28793887 0.95652746]] t_gt: [ 0.23070907 0.37481843 -0.89793344] Pose Error in degrees for R and t: 172.11667939842832 76.6337975786142 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.14516673 -0.98940531 -0.00193662] [ 0.98940342 -0.14516048 -0.00305069] [ 0.00273725 -0.00235896 0.99999347]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99589857 -0.08309545 -0.03578676] [ 0.06691431 0.94271684 -0.32681439] [ 0.06089334 0.32307949 0.94441064]] t_gt: [ 0.30261383 0.32020774 -0.8977148 ] Pose Error in degrees for R and t: 95.39724538533419 72.36757493906529 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.91489710e-01 -1.30175084e-01 1.61349246e-03] [ 1.30176771e-01 9.91490308e-01 -9.88301764e-04] [-1.47110987e-03 1.18993027e-03 9.99998210e-01]] t_estimated: [[-8.38474791e-01] [-5.44940370e-01] [ 1.34092426e-04]] R_gt: [[ 0.99172009 0.12799208 -0.01047013] [-0.12748396 0.99103901 0.03985868] [ 0.01547769 -0.03819462 0.99915101]] t_gt: [-0.86865805 0.45841512 0.18785305] Pose Error in degrees for R and t: 15.021892107229307 61.40833280515381 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.86227442e-01 -1.65392248e-01 -9.14959465e-04] [ 1.65393280e-01 9.86226965e-01 1.19835609e-03] [ 7.04158888e-04 -1.33317981e-03 9.99998863e-01]] t_estimated: [[-9.99789796e-01] [-2.04893414e-02] [-7.42125811e-04]] R_gt: [[ 0.96038887 0.27865641 -0.002435 ] [-0.27865842 0.96025094 -0.01634305] [-0.00221621 0.01637357 0.99986338]] t_gt: [-0.82019951 0.57154622 -0.02465132] Pose Error in degrees for R and t: 25.72120758113427 36.066446619451334 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 4.39148612e-01 -8.98414074e-01 -8.05007782e-04] [ 8.98410099e-01 4.39143533e-01 3.50026820e-03] [-2.79117626e-03 -2.26036504e-03 9.99993550e-01]] t_estimated: [[ 0.09984839] [-0.99499783] [ 0.00310111]] R_gt: [[ 0.94086188 0.33759499 -0.02845176] [-0.33782863 0.9412007 -0.00366438] [ 0.02554136 0.01305898 0.9995885 ]] t_gt: [-0.78692746 0.61574037 -0.04011193] Pose Error in degrees for R and t: 83.70823298790972 46.26228431416485 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.03212608 0.99908481 -0.02823934] [ 0.99910088 0.03288299 0.02676076] [ 0.02766486 -0.02735423 -0.99924291]] t_estimated: [[ 0.74752491] [-0.66395073] [-0.01938889]] R_gt: [[ 0.99463023 0.08476925 -0.05937038] [-0.08251817 0.99581058 0.03940428] [ 0.06246301 -0.03429359 0.99745817]] t_gt: [-0.18773023 0.97765619 -0.09458191] Pose Error in degrees for R and t: 173.79060330587728 38.03684045667946 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99976069e-01 -6.91715229e-03 1.21285718e-04] [ 6.91712407e-03 9.99976050e-01 2.31578316e-04] [-1.22884676e-04 -2.30733826e-04 9.99999966e-01]] t_estimated: [[0.00782093] [0.99996882] [0.00109249]] R_gt: [[ 0.98392394 0.15505838 -0.08860243] [-0.14689394 0.98483983 0.09227247] [ 0.10156796 -0.07777395 0.99178368]] t_gt: [-0.19504389 0.98070258 0.0134289 ] Pose Error in degrees for R and t: 11.702527434956881 11.717382428484013 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.9591257 -0.28294114 0.00471295] [-0.28293165 0.95913659 0.00258474] [-0.00525169 0.00114565 -0.99998555]] t_estimated: [[0.96364279] [0.2671737 ] [0.00328474]] R_gt: [[ 0.98486227 0.13575457 -0.1077833 ] [-0.12563585 0.98744776 0.09572162] [ 0.11942599 -0.0807312 0.98955573]] t_gt: [ 0.16707058 0.98297301 -0.07649501] Pose Error in degrees for R and t: 174.5308444282695 64.95249068234878 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 1.28881270e-01 9.91659541e-01 9.86829751e-04] [-9.91658504e-01 1.28882754e-01 -1.62673980e-03] [-1.74035738e-03 -7.68941825e-04 9.99998190e-01]] t_estimated: [[0.3870578 ] [0.92205455] [0.00129228]] R_gt: [[ 9.95802724e-01 -9.10457938e-02 -9.27350043e-03] [ 9.15143408e-02 9.91311042e-01 9.44786694e-02] [ 5.90487170e-04 -9.49309633e-02 9.95483827e-01]] t_gt: [ 0.34471542 -0.76259067 0.54738172] Pose Error in degrees for R and t: 87.98113897957921 55.31822139550747 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99952813 -0.02690595 -0.01481853] [ 0.02765436 0.99821905 0.052858 ] [ 0.01336995 -0.05324285 0.99849208]] t_estimated: [[0.8053014 ] [0.59286252] [0.00192051]] R_gt: [[ 0.9848119 -0.15687191 -0.07440412] [ 0.16707091 0.97283034 0.16027151] [ 0.04724098 -0.17026876 0.98426452]] t_gt: [ 0.43402294 -0.75999472 0.48376865] Pose Error in degrees for R and t: 10.527018364330166 84.25368822823864 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 7.69735286e-01 6.38356042e-01 -3.02535464e-03] [-6.38359667e-01 7.69738161e-01 -3.15746637e-04] [ 2.12717215e-03 2.17430571e-03 9.99995374e-01]] t_estimated: [[-0.22851921] [ 0.97353238] [-0.00369862]] R_gt: [[ 0.95825232 -0.25710125 -0.12510383] [ 0.27521029 0.94802001 0.15973746] [ 0.07753195 -0.18749936 0.97919989]] t_gt: [ 0.57309016 -0.74680602 0.33741433] Pose Error in degrees for R and t: 56.399309516962965 30.767531784056697 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999654e-01 8.31280522e-04 8.79714303e-06] [-8.31280770e-04 9.99999654e-01 2.82399058e-05] [-8.77366470e-06 -2.82472089e-05 1.00000000e+00]] t_estimated: [[ 8.33347615e-01] [-5.52749202e-01] [ 2.69888318e-04]] R_gt: [[ 9.97098358e-01 -6.89689339e-02 3.22233397e-02] [ 6.89175844e-02 9.97618398e-01 2.71735936e-03] [-3.23339814e-02 -4.87817453e-04 9.99477106e-01]] t_gt: [ 0.64555711 -0.72092119 0.2520489 ] Pose Error in degrees for R and t: 4.409808969738448 20.523230904840254 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.27684606e-01 -3.73360247e-01 1.84331418e-03] [ 3.73361811e-01 9.27685626e-01 -5.80949387e-04] [-1.49311266e-03 1.22716092e-03 9.99998132e-01]] t_estimated: [[9.82712514e-01] [1.85136018e-01] [8.77421887e-04]] R_gt: [[ 0.99338095 -0.1081252 0.03878186] [ 0.1078573 0.99412604 0.00894005] [-0.03952201 -0.00469764 0.99920763]] t_gt: [ 0.71973812 -0.65483067 0.23059455] Pose Error in degrees for R and t: 15.872498308729499 54.107576280523226 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999875e-01 5.00584009e-04 1.08919634e-05] [-5.00584190e-04 9.99999875e-01 1.65659584e-05] [-1.08836694e-05 -1.65714087e-05 1.00000000e+00]] t_estimated: [[ 7.92421151e-01] [-6.09974243e-01] [-3.77034717e-04]] R_gt: [[ 0.98687633 -0.15113056 0.05686763] [ 0.15157413 0.98843915 -0.00353942] [-0.05567503 0.01211267 0.99837514]] t_gt: [ 0.74946509 -0.63985969 0.16994606] Pose Error in degrees for R and t: 9.330375282008161 10.222548729805645 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.46886133 -0.86475665 -0.1799027 ] [ 0.54012018 -0.11953956 -0.83305491] [ 0.69888429 -0.48775631 0.52312 ]] t_estimated: [[0.8377179 ] [0.54606796] [0.00620532]] R_gt: [[ 0.99708874 -0.06905166 -0.03233494] [ 0.06776728 0.99692933 -0.03924238] [ 0.03494495 0.03693828 0.99870677]] t_gt: [ 0.65983469 -0.35006021 -0.66488798] Pose Error in degrees for R and t: 117.48381987434736 69.05492576659724 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.9041427 0.4271869 -0.00610962] [-0.42715025 0.90415756 0.00646321] [ 0.00828506 -0.00323394 0.99996045]] t_estimated: [[-0.98142323] [-0.19177235] [-0.00564036]] R_gt: [[ 0.98593674 -0.16422698 -0.03095924] [ 0.160543 0.98220007 -0.09751425] [ 0.04642206 0.09117349 0.99475268]] t_gt: [ 0.62219982 -0.41631115 -0.66298749] Pose Error in degrees for R and t: 35.15864374183356 58.19264498188593 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96756244e-01 8.04781214e-02 5.11368833e-04] [-8.04779635e-02 9.96756336e-01 -3.22157758e-04] [-5.35636776e-04 2.79958835e-04 9.99999817e-01]] t_estimated: [[0.89940907] [0.43710478] [0.00165532]] R_gt: [[ 0.98237147 -0.18188738 -0.04316663] [ 0.1776082 0.98015433 -0.08804877] [ 0.05832479 0.0788305 0.99518059]] t_gt: [ 0.63499249 -0.47816764 -0.60674562] Pose Error in degrees for R and t: 16.012200362352615 68.83197017084838 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.96454056e-01 8.41386193e-02 8.16137540e-05] [-8.41386062e-02 9.96454049e-01 -1.52224543e-04] [-9.41323185e-05 1.44817896e-04 9.99999985e-01]] t_estimated: [[ 2.84787143e-01] [-9.58590678e-01] [-4.41631772e-04]] R_gt: [[ 9.99633844e-01 -2.71059586e-02 -1.96161043e-04] [ 2.70953654e-02 9.98989888e-01 3.58665949e-02] [-7.76461526e-04 -3.58588216e-02 9.99356760e-01]] t_gt: [ 0.52188606 -0.56286104 0.64095428] Pose Error in degrees for R and t: 6.704628526359191 46.53615444556959 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.3979597 0.90893843 -0.12433424] [ 0.86496413 -0.32658609 0.38102307] [ 0.30572068 -0.25917648 -0.91616724]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99897341 -0.02734962 0.03614297] [ 0.02428271 0.99627665 0.08272344] [-0.03827042 -0.08176006 0.99591702]] t_gt: [ 0.17565333 -0.24108966 0.95447456] Pose Error in degrees for R and t: 154.66113948869113 82.29952855441415 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-7.43353440e-02 9.97229347e-01 2.80822281e-03] [-9.97233264e-01 -7.43358174e-02 6.44344428e-05] [ 2.73007456e-04 -2.79566345e-03 9.99996055e-01]] t_estimated: [[0.87687259] [0.48072203] [0.00089023]] R_gt: [[ 0.99878568 -0.03915467 0.02991861] [ 0.03683949 0.99655144 0.07435525] [-0.03272595 -0.07316266 0.99678308]] t_gt: [ 0.3352627 -0.17606079 0.9255277 ] Pose Error in degrees for R and t: 96.51840465035639 77.86766743618172 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 6.18978897e-01 7.85407613e-01 8.53537785e-05] [-7.85407581e-01 6.18978898e-01 -2.34860599e-04] [-2.37293490e-04 7.83362496e-05 9.99999969e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99914835 -0.03694849 -0.01838357] [ 0.03525291 0.99573234 -0.08529213] [ 0.02145724 0.08457271 0.9961863 ]] t_gt: [ 0.42340655 0.05134835 -0.90448341] Pose Error in degrees for R and t: 54.045409059479354 64.98456102495152 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 2.01172604e-01 -9.79555420e-01 -8.73224415e-04] [-9.79553824e-01 -2.01173911e-01 1.83378475e-03] [-1.97196376e-03 4.86463060e-04 -9.99997937e-01]] t_estimated: [[0.69516621] [0.71884747] [0.00150538]] R_gt: [[ 0.99654513 -0.07834214 -0.02758793] [ 0.07459126 0.99025089 -0.11763726] [ 0.03653468 0.11517414 0.99267251]] t_gt: [ 0.51597744 -0.04078112 -0.85563087] Pose Error in degrees for R and t: 173.70442914548113 70.84731781857846 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.22430649e-01 -3.86162737e-01 1.95174591e-04] [ 3.86162750e-01 9.22430664e-01 -3.20491055e-05] [-1.67658857e-04 1.04932234e-04 9.99999980e-01]] t_estimated: [[9.14290467e-01] [4.05058427e-01] [7.82216519e-04]] R_gt: [[ 0.98201326 -0.18152771 -0.05193337] [ 0.17031397 0.97037468 -0.17136645] [ 0.08150273 0.15944105 0.98383727]] t_gt: [ 0.59793902 -0.17000627 -0.78330505] Pose Error in degrees for R and t: 16.193946893095053 61.496348969081126 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99972160e-01 7.46182930e-03 2.88666992e-05] [-7.46182961e-03 9.99972160e-01 1.07225179e-05] [-2.87858859e-05 -1.09376178e-05 1.00000000e+00]] t_estimated: [[ 6.86169538e-01] [-7.27441535e-01] [ 4.22884543e-04]] R_gt: [[ 0.99797979 -0.04821415 0.04137363] [ 0.04769104 0.99877093 0.01349598] [-0.04197389 -0.01149527 0.99905198]] t_gt: [ 0.56563049 -0.58324227 0.58300138] Pose Error in degrees for R and t: 4.0384005484194825 35.64536453114235 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.99500632 0.07470577 -0.06619268] [-0.07356843 0.9971003 0.01945974] [ 0.06745449 -0.01449288 0.99761708]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.9940131 -0.0950421 0.05389908] [ 0.09482158 0.99547174 0.00662559] [-0.05428518 -0.00147564 0.99852424]] t_gt: [ 0.69853799 -0.62126809 0.35506428] Pose Error in degrees for R and t: 11.95459910485429 77.86203681393124 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99751252e-01 2.23031240e-02 6.87726869e-05] [-2.23031226e-02 9.99751254e-01 -2.02112839e-05] [-6.92063547e-05 1.86724107e-05 9.99999997e-01]] t_estimated: [[ 0.6213947 ] [-0.78349714] [-0.00092583]] R_gt: [[ 0.9894162 -0.13298949 0.05804356] [ 0.13340524 0.99105591 -0.00333221] [-0.05708106 0.01104009 0.99830852]] t_gt: [ 0.75056078 -0.61384803 0.24464079] Pose Error in degrees for R and t: 9.537493333315588 18.71681032722672 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.92199437e-01 -1.24660620e-01 8.00356462e-05] [ 1.24660608e-01 9.92199432e-01 1.39349795e-04] [-9.67827546e-05 -1.28285496e-04 9.99999987e-01]] t_estimated: [[9.86782627e-01] [1.62047277e-01] [8.52880404e-04]] R_gt: [[ 0.98817671 -0.15183862 -0.02127018] [ 0.15220508 0.98820505 0.0168618 ] [ 0.01845904 -0.01989991 0.99963143]] t_gt: [ 0.6713711 -0.73402883 0.1022865 ] Pose Error in degrees for R and t: 2.219219894929625 57.06841632572463 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.9160703 -0.40052738 0.01982497] [-0.4009761 0.91556744 -0.03089399] [-0.00577721 -0.0362504 -0.99932604]] t_estimated: [[ 0.99931463] [-0.0287135 ] [ 0.0233624 ]] R_gt: [[ 0.97794873 -0.20591688 -0.03484895] [ 0.20869616 0.96982756 0.12601766] [ 0.00784819 -0.13051187 0.99141497]] t_gt: [ 0.50037252 -0.74849638 0.43517872] Pose Error in degrees for R and t: 179.14856676316015 57.88039915310672 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.92125371e-01 1.25248741e-01 -2.06754055e-05] [-1.25248574e-01 9.92123750e-01 -1.80529028e-03] [-2.05597775e-04 1.79366386e-03 9.99998370e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.95815545 -0.26777952 -0.10115734] [ 0.28044043 0.94897405 0.14422751] [ 0.05737446 -0.16656058 0.98436055]] t_gt: [ 0.56808375 -0.74288456 0.3541234 ] Pose Error in degrees for R and t: 25.36218889609388 56.20228564901838 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 8.93976562e-01 -4.48113557e-01 -3.82808645e-04] [ 4.48113547e-01 8.93976642e-01 -1.16101588e-04] [ 3.94248682e-04 -6.77496415e-05 9.99999920e-01]] t_estimated: [[-0.34319273] [-0.93926433] [-0.00112892]] R_gt: [[ 0.98877349 0.14602968 0.03169721] [-0.14522925 0.9890501 -0.02625301] [-0.0351831 0.02135625 0.9991524 ]] t_gt: [-0.84699276 0.52962537 -0.04582831] Pose Error in degrees for R and t: 35.07810114795704 78.06951911739277 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.98366389e-01 5.71361893e-02 -9.46917843e-05] [-5.71362031e-02 9.98366381e-01 -1.51102683e-04] [ 8.59036625e-05 1.56266169e-04 9.99999984e-01]] t_estimated: [[-9.99245889e-01] [-3.88207416e-02] [-7.76414828e-04]] R_gt: [[ 0.9668711 0.25194675 0.04102848] [-0.25286004 0.96732088 0.01876545] [-0.03496038 -0.02851681 0.99898173]] t_gt: [-0.83048699 0.54551014 0.11273883] Pose Error in degrees for R and t: 11.643794823106377 36.04101007550921 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-6.21556514e-01 -7.83366806e-01 -1.98674066e-03] [ 7.83365551e-01 -6.21559393e-01 1.52755967e-03] [-2.43151686e-03 -6.06879529e-04 9.99996860e-01]] t_estimated: [[0.88615694] [0.46338406] [0.00104131]] R_gt: [[ 0.92021499 0.38853376 0.04740373] [-0.38865741 0.92135656 -0.00694881] [-0.04637629 -0.01202916 0.99885199]] t_gt: [-0.78863467 0.61167543 0.06251814] Pose Error in degrees for R and t: 151.3186339180383 65.45874496654564 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999983e-01 1.28275993e-04 -1.35290137e-04] [-1.28231735e-04 9.99999938e-01 3.27089709e-04] [ 1.35332087e-04 -3.27072355e-04 9.99999937e-01]] t_estimated: [[-0.81356045] [-0.58147894] [-0.00127517]] R_gt: [[ 0.99690468 0.03375363 -0.07100131] [-0.03097293 0.99872284 0.03990307] [ 0.07225765 -0.03758015 0.99667795]] t_gt: [ 0.84797609 0.45698648 -0.26851428] Pose Error in degrees for R and t: 5.01019018640997 17.202507268371853 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.12284971e-01 -4.09554423e-01 -1.14338546e-03] [ 4.09555610e-01 9.12284450e-01 1.13356568e-03] [ 5.78835943e-04 -1.50241486e-03 9.99998704e-01]] t_estimated: [[0.75264824] [0.6584218 ] [0.00116329]] R_gt: [[ 0.9854037 0.09963929 -0.13802532] [-0.0902704 0.99326958 0.07256779] [ 0.14432722 -0.05904895 0.98776647]] t_gt: [ 0.37333025 0.84925051 -0.37336054] Pose Error in degrees for R and t: 30.934422914735396 32.88974381374446 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 6.35653410e-01 7.71974528e-01 2.68014565e-04] [ 7.71963860e-01 -6.35646378e-01 5.04778887e-03] [ 4.06712692e-03 -3.00174665e-03 -9.99987224e-01]] t_estimated: [[0.44059737] [0.89770424] [0.00103184]] R_gt: [[ 0.97782916 0.15663211 -0.13898652] [-0.13650891 0.98009756 0.14413197] [ 0.15879601 -0.12196386 0.97974925]] t_gt: [0.18655803 0.98164359 0.03964796] Pose Error in degrees for R and t: 169.10242868210278 15.535755125112788 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[-2.53750920e-01 -9.67269574e-01 -2.03130247e-04] [-9.67268681e-01 2.53750386e-01 1.42817022e-03] [-1.32988122e-03 5.58881032e-04 -9.99998960e-01]] t_estimated: [[0.90248019] [0.43072918] [0.00136739]] R_gt: [[ 0.99013489 -0.13932153 -0.01493181] [ 0.13958558 0.99003808 0.0184207 ] [ 0.01221644 -0.02032261 0.99971934]] t_gt: [ 0.80004962 -0.59710082 0.05823424] Pose Error in degrees for R and t: 179.89978727913063 62.29496726750848 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.98980995e-01 4.51327580e-02 7.10036764e-05] [-4.51327533e-02 9.98980996e-01 -6.69000233e-05] [-7.39507059e-05 6.36272605e-05 9.99999995e-01]] t_estimated: [[0.39413487] [0.91905086] [0.00179152]] R_gt: [[ 0.97161884 -0.23320913 -0.03962506] [ 0.23321538 0.97241455 -0.00454179] [ 0.03959175 -0.00482776 0.99920445]] t_gt: [ 0.81943713 -0.56849396 -0.07305751] Pose Error in degrees for R and t: 16.239720446922497 78.484267458093 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-6.25417485e-01 7.80289995e-01 7.02597220e-04] [-7.80289238e-01 -6.25414878e-01 -2.22145158e-03] [-1.29396168e-03 -1.93756371e-03 9.99997286e-01]] t_estimated: [[0.66683187] [0.74520709] [0.00128484]] R_gt: [[ 9.22060873e-01 -3.85576345e-01 -3.36843418e-02] [ 3.85796786e-01 9.22583347e-01 4.19255870e-05] [ 3.10605042e-02 -1.30337688e-02 9.99433287e-01]] t_gt: [ 0.88503116 -0.46480658 -0.02597464] Pose Error in degrees for R and t: 151.41238820399212 75.89164475381763 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.87233382e-01 -1.59280124e-01 -3.04177319e-04] [ 1.59280179e-01 9.87233406e-01 1.65454486e-04] [ 2.73940399e-04 -2.11791610e-04 9.99999940e-01]] t_estimated: [[-0.67210131] [-0.74045877] [-0.0007966 ]] R_gt: [[ 0.97222836 0.23102542 -0.03739498] [-0.22992732 0.97269863 0.03145637] [ 0.04364134 -0.02198411 0.99880572]] t_gt: [-0.52278773 0.85011082 -0.06328182] Pose Error in degrees for R and t: 22.667393830508345 73.85582759603602 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.42862314e-01 -3.33181690e-01 -7.86245306e-04] [ 3.33181886e-01 9.42862564e-01 1.29417570e-04] [ 6.98201701e-04 -3.83985643e-04 9.99999683e-01]] t_estimated: [[-0.04118559] [-0.99915067] [-0.00130091]] R_gt: [[ 0.94628516 0.32102607 -0.03854836] [-0.31736858 0.94500006 0.07906806] [ 0.06181062 -0.06258675 0.99612395]] t_gt: [-0.49165686 0.87048125 0.02315026] Pose Error in degrees for R and t: 38.42928801471908 31.840189392355935 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.75053234e-01 -2.21969287e-01 -9.09283105e-04] [ 2.21969548e-01 9.75053579e-01 1.94863324e-04] [ 8.43346072e-04 -3.91835273e-04 9.99999568e-01]] t_estimated: [[0.38626404] [0.92238667] [0.00170767]] R_gt: [[ 0.90146097 0.43152388 -0.03397331] [-0.42820021 0.90049198 0.0758802 ] [ 0.06333731 -0.05385596 0.99653808]] t_gt: [-0.43765838 0.89909004 -0.00960396] Pose Error in degrees for R and t: 38.60988030391173 48.68177636123137 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.89488660e-01 -1.44610113e-01 -3.26046148e-04] [ 1.44610207e-01 9.89488659e-01 2.87012496e-04] [ 2.81114056e-04 -3.31145212e-04 9.99999906e-01]] t_estimated: [[9.95003717e-01] [9.98374880e-02] [2.82327910e-04]] R_gt: [[ 0.99704138 -0.06805189 -0.03572907] [ 0.06863699 0.99752266 0.01540163] [ 0.03459271 -0.0178089 0.99924282]] t_gt: [ 0.49427039 -0.86845329 -0.03854429] Pose Error in degrees for R and t: 4.91710061795281 66.1034962781107 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[-9.86771710e-01 1.62115943e-01 -1.14161020e-04] [-1.62114923e-01 -9.86767561e-01 -2.92115593e-03] [-5.86216340e-04 -2.86400683e-03 9.99995727e-01]] t_estimated: [[8.63244635e-01] [5.04785203e-01] [7.74210435e-04]] R_gt: [[ 0.98073414 -0.18818084 -0.05242554] [ 0.19017834 0.98108559 0.03610789] [ 0.0446393 -0.04538284 0.99797168]] t_gt: [ 0.62855419 -0.77242557 0.09098555] Pose Error in degrees for R and t: 178.41033553022075 81.21323986386778 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.25553919e-01 -3.78615084e-01 -7.48922388e-04] [ 3.78615201e-01 9.25554174e-01 1.62340708e-05] [ 6.87021779e-04 -2.98578909e-04 9.99999719e-01]] t_estimated: [[0.75815394] [0.65207479] [0.00103999]] R_gt: [[ 0.97867563 -0.16273864 -0.12533737] [ 0.17310708 0.98190671 0.07676223] [ 0.11057768 -0.09682248 0.98913998]] t_gt: [ 0.59317446 -0.78963703 0.15689939] Pose Error in degrees for R and t: 15.080673975169043 86.27190227206682 Number of keypoints: Image1: 617 Image2: 617 R_estimated: [[-0.95417789 -0.29923627 -0.0014883 ] [ 0.29923788 -0.95417802 -0.00100395] [-0.00111969 -0.0014033 0.99999839]] t_estimated: [[9.36390667e-01] [3.50958621e-01] [7.51517389e-04]] R_gt: [[ 0.9995819 -0.02867019 -0.00373964] [ 0.02856374 0.99925575 -0.02595226] [ 0.00448107 0.02583464 0.99965588]] t_gt: [ 0.15631474 0.62771525 -0.76258722] Pose Error in degrees for R and t: 160.9506560925303 68.52466631091745 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 9.96604512e-01 -8.23373719e-02 5.61319133e-05] [ 8.23373690e-02 9.96604513e-01 5.10260030e-05] [-6.01426651e-05 -4.62309907e-05 9.99999997e-01]] t_estimated: [[7.78507937e-01] [6.27634306e-01] [7.54368156e-04]] R_gt: [[ 0.99717061 -0.06646595 0.03511954] [ 0.06817909 0.99641614 -0.05006816] [-0.03166471 0.05232107 0.99812747]] t_gt: [ 0.52171538 0.77907543 -0.34764139] Pose Error in degrees for R and t: 3.6105789851913594 26.508034832456946 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.95627909e-01 -9.34080587e-02 -3.94973644e-05] [ 9.34080659e-02 9.95627875e-01 2.61798460e-04] [ 1.48705911e-05 -2.64343226e-04 9.99999965e-01]] t_estimated: [[0.67116931] [0.74130365] [0.00081552]] R_gt: [[ 0.98541431 -0.15597533 0.06805293] [ 0.15857081 0.98674455 -0.03453056] [-0.06176453 0.04481848 0.99708324]] t_gt: [0.9847814 0.02423432 0.17209964] Pose Error in degrees for R and t: 5.738782480598046 47.22973756055716 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.98941356 -0.1450857 0.00330759] [ 0.14505421 0.98938867 0.00832646] [-0.00448054 -0.00775854 0.99995986]] t_estimated: [[0.6506383 ] [0.75907802] [0.02168794]] R_gt: [[ 0.99995715 0.00224063 0.00901752] [-0.00203634 0.99974303 -0.02255604] [-0.00906601 0.022536 0.99970471]] t_gt: [-0.28743868 0.66204718 -0.69215066] Pose Error in degrees for R and t: 8.64876365392583 72.51143069180561 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.78800559 0.61563329 0.00654498] [ 0.61566648 -0.78798325 -0.0060975 ] [ 0.00140351 0.00883439 -0.99995999]] t_estimated: [[0.94868284] [0.31622761] [0.00098207]] R_gt: [[ 0.99912432 0.03070557 -0.02841228] [-0.03428715 0.99016681 -0.13562193] [ 0.02396777 0.13647616 0.99035352]] t_gt: [-0.09705982 0.50645646 -0.85678541] Pose Error in degrees for R and t: 172.6483439577044 86.1448040844636 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-7.54405923e-01 6.56405809e-01 -1.76561896e-03] [-6.56405569e-01 -7.54407781e-01 -7.93014240e-04] [-1.85253583e-03 5.60707476e-04 9.99998127e-01]] t_estimated: [[0.87159921] [0.49021834] [0.00089948]] R_gt: [[ 0.99609493 -0.06411132 -0.06071047] [ 0.04973792 0.97554194 -0.21410981] [ 0.07295234 0.2102531 0.97492162]] t_gt: [ 0.20944219 0.07801085 -0.9747042 ] Pose Error in degrees for R and t: 142.5123044488148 77.29594388707537 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.09136803e-01 4.16497434e-01 4.00739929e-04] [-4.16497320e-01 9.09136880e-01 -3.39894744e-04] [-5.05892737e-04 1.42103714e-04 9.99999862e-01]] t_estimated: [[-4.10971676e-01] [ 9.11647764e-01] [ 7.97852165e-04]] R_gt: [[ 0.99749874 0.07026634 -0.00768875] [-0.07043285 0.9972244 -0.02415435] [ 0.00596997 0.02463454 0.99967861]] t_gt: [-0.67346919 0.67598775 -0.29913176] Pose Error in degrees for R and t: 20.629117113329983 26.77266537015432 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 0.5691662 0.82221685 0.00304793] [-0.82221388 0.56917329 -0.00246813] [-0.00376414 -0.00110127 0.99999231]] t_estimated: [[0.13084598] [0.99139303] [0.00437992]] R_gt: [[ 0.99901295 0.04028451 -0.01873861] [-0.04054637 0.99908185 -0.01383053] [ 0.01816336 0.01457664 0.99972818]] t_gt: [-0.78387519 0.40941391 -0.46681896] Pose Error in degrees for R and t: 53.01081280483568 72.46558799650909 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99792672e-01 -2.03619145e-02 7.06994250e-05] [ 2.03619050e-02 9.99792666e-01 1.32404701e-04] [-7.33807798e-05 -1.30937675e-04 9.99999989e-01]] t_estimated: [[0.77141128] [0.63633415] [0.00186701]] R_gt: [[ 0.99795688 0.04519691 0.04516095] [-0.04429739 0.99880362 -0.02072503] [-0.04604456 0.01868225 0.99876374]] t_gt: [-0.87080959 0.39925589 0.28685429] Pose Error in degrees for R and t: 4.6948992489048 65.34479691848506 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.99839345e-01 -1.79243921e-02 -2.05350765e-05] [ 1.79243926e-02 9.99839345e-01 2.69957860e-05] [ 2.00478944e-05 -2.73595277e-05 9.99999999e-01]] t_estimated: [[-8.47391853e-01] [-5.30967466e-01] [-7.73587670e-04]] R_gt: [[ 0.99998635 0.00407014 -0.00351635] [-0.00407905 0.99998867 -0.00252362] [ 0.00350637 0.00253761 0.99999087]] t_gt: [-0.47815985 0.82404555 -0.30382906] Pose Error in degrees for R and t: 1.2830949496817843 88.15948188333304 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 9.96530587e-01 -8.32273335e-02 2.67479394e-05] [ 8.32273322e-02 9.96530586e-01 4.67640511e-05] [-3.05471870e-05 -4.43756476e-05 9.99999999e-01]] t_estimated: [[-0.93294056] [-0.36002833] [-0.00123121]] R_gt: [[ 0.99906298 -0.04256036 0.00794401] [ 0.04290321 0.99784363 -0.04968752] [-0.00581085 0.04998099 0.9987331 ]] t_gt: [ 0.00397322 0.78523857 -0.61918059] Pose Error in degrees for R and t: 3.704823705779526 73.40214039327769 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 2.23608104e-01 -9.74678061e-01 -1.44714335e-03] [-9.74678525e-01 -2.23609379e-01 7.86714944e-04] [-1.09038862e-03 1.23458370e-03 -9.99998643e-01]] t_estimated: [[0.62245222] [0.78265714] [0.00102041]] R_gt: [[ 0.99362373 -0.09277342 0.06407694] [ 0.09546719 0.99461569 -0.04033359] [-0.05998992 0.04619358 0.99712983]] t_gt: [0.59353239 0.77901709 0.20211799] Pose Error in degrees for R and t: 179.73856079227437 11.662569901157584 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.98399911e-01 -5.65470050e-02 2.31938470e-04] [ 5.65471058e-02 9.98399829e-01 -4.53589139e-04] [-2.05918222e-04 4.65978806e-04 9.99999870e-01]] t_estimated: [[-0.59639685] [-0.80268883] [-0.00119728]] R_gt: [[ 0.9999925 -0.00273329 -0.00307144] [ 0.00276976 0.99992624 0.01187103] [ 0.00303846 -0.01187934 0.99992534]] t_gt: [ 0.73813273 -0.65764258 0.15055333] Pose Error in degrees for R and t: 3.1684223461738092 84.98123135144439 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-9.29923971e-01 -3.67698542e-01 -6.26015563e-03] [-3.67702341e-01 9.29943363e-01 -5.74696296e-04] [ 6.03290517e-03 1.76745002e-03 -9.99980240e-01]] t_estimated: [[ 0.97613234] [ 0.21715942] [-0.00272844]] R_gt: [[ 0.99436252 0.0822579 -0.06692415] [-0.08035636 0.99629581 0.03063621] [ 0.0691971 -0.02508567 0.99728793]] t_gt: [ 0.02116134 0.73512865 -0.67759727] Pose Error in degrees for R and t: 176.10292703269405 79.50526553584761 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-8.07226522e-01 -5.90239792e-01 -1.52646407e-03] [ 5.90241246e-01 -8.07226544e-01 -7.60748068e-04] [-7.83178535e-04 -1.51507807e-03 9.99998546e-01]] t_estimated: [[9.97762569e-01] [6.68517634e-02] [8.35647042e-04]] R_gt: [[ 0.98862502 0.08569775 -0.12360223] [-0.08372065 0.99626602 0.02111012] [ 0.12495024 -0.01052222 0.99210785]] t_gt: [ 0.27566482 0.39427846 -0.87667177] Pose Error in degrees for R and t: 148.76289512201194 72.50193058034388 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.94846897e-01 1.01388616e-01 1.35874628e-05] [-1.01388612e-01 9.94846881e-01 -1.79371762e-04] [-3.17036997e-05 1.77069826e-04 9.99999984e-01]] t_estimated: [[-6.62687420e-01] [-7.48895874e-01] [-5.94822558e-04]] R_gt: [[ 0.99858808 0.00460613 -0.05291166] [-0.01023479 0.99424757 -0.10661616] [ 0.0521169 0.10700726 0.99289149]] t_gt: [ 0.04328224 0.29460163 -0.95463948] Pose Error in degrees for R and t: 8.69802169003229 75.59699423609781 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-2.25583884e-01 -9.74223737e-01 -1.44915402e-04] [-9.74219729e-01 2.25582524e-01 2.90609137e-03] [-2.79849281e-03 7.96746823e-04 -9.99995767e-01]] t_estimated: [[0.8917877 ] [0.45245111] [0.00163932]] R_gt: [[ 0.98819876 -0.14852791 -0.03745523] [ 0.13822638 0.97003943 -0.19979091] [ 0.06600751 0.19225639 0.97912266]] t_gt: [ 0.41158409 -0.2888549 -0.86438497] Pose Error in degrees for R and t: 170.7133097453133 76.41215517230353 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.93700786 -0.34909582 0.01218115] [ 0.34902684 0.93708303 0.00746087] [-0.01401931 -0.00273934 0.99989797]] t_estimated: [[0.98695033] [0.16082636] [0.00799601]] R_gt: [[ 0.98281687 -0.17634841 -0.05452084] [ 0.15876676 0.95829388 -0.23762604] [ 0.09415256 0.22488648 0.96982545]] t_gt: [ 0.4034056 -0.21338435 -0.8897927 ] Pose Error in degrees for R and t: 18.080954980669805 69.1017989264929 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99679214 0.08002586 -0.00113675] [-0.08002239 0.99678907 0.00282419] [ 0.00135911 -0.00272417 0.99999537]] t_estimated: [[-9.07297251e-01] [-4.20489239e-01] [-7.05518858e-04]] R_gt: [[ 9.95318634e-01 1.43817840e-02 -9.55757977e-02] [-1.43482152e-02 9.99897072e-01 1.04071077e-03] [ 9.55798857e-02 3.36904392e-04 9.95420749e-01]] t_gt: [ 0.1791282 0.14770364 -0.97267503] Pose Error in degrees for R and t: 6.594382865090637 77.05920636342883 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.01345848 0.99990885 0.00108086] [-0.9999086 -0.01345707 -0.00130342] [-0.00128876 -0.00109831 0.99999857]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98984018 0.01864451 -0.14095287] [-0.02026133 0.99974433 -0.01004575] [ 0.14072938 0.01280042 0.98996483]] t_gt: [ 0.21119592 0.14846829 -0.96610219] Pose Error in degrees for R and t: 89.94970448828182 81.44386706344424 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-5.00273832e-01 -8.65863917e-01 -2.40196282e-03] [ 8.65865282e-01 -5.00276684e-01 7.43418358e-04] [-1.84534513e-03 -1.70786347e-03 9.99996839e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.98987567 -0.01661691 -0.14096359] [ 0.01189562 0.99934241 -0.03426845] [ 0.14143978 0.03224557 0.98942088]] t_gt: [ 0.35530462 -0.02679931 -0.93436632] Pose Error in degrees for R and t: 119.3752200011908 69.27510136392154 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.93527759e-01 -4.49007673e-01 -5.04227497e-04] [ 4.49007739e-01 8.93527868e-01 1.96591612e-05] [ 4.41714206e-04 -2.43968055e-04 9.99999873e-01]] t_estimated: [[-0.10999506] [-0.99393125] [-0.00132524]] R_gt: [[ 9.92942567e-01 -1.18593448e-01 -7.11044688e-04] [ 1.18570039e-01 9.92834682e-01 -1.48735993e-02] [ 2.46931042e-03 1.46855150e-02 9.99888436e-01]] t_gt: [ 0.7439376 -0.65967082 -0.10672984] Pose Error in degrees for R and t: 19.887787139495828 54.97180812160316 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.89324212e-01 -4.57276470e-01 -8.21684834e-04] [ 4.57276920e-01 8.89324234e-01 4.74305475e-04] [ 5.13855502e-04 -7.97548852e-04 9.99999550e-01]] t_estimated: [[0.88547696] [0.4646815 ] [0.00129078]] R_gt: [[ 9.71583119e-01 -2.33470234e-01 -3.89801770e-02] [ 2.33250136e-01 9.72364526e-01 -1.01712620e-02] [ 4.02774327e-02 7.89942590e-04 9.99187912e-01]] t_gt: [ 0.82814774 -0.55195817 -0.09753721] Pose Error in degrees for R and t: 13.897394335940561 61.5302254069612 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99353299 -0.11352469 0.00208461] [ 0.11352882 0.99353272 -0.00198357] [-0.00184594 0.0022074 0.99999586]] t_estimated: [[-0.34664982] [-0.93799363] [-0.00135941]] R_gt: [[ 8.96963501e-01 -4.41696051e-01 -1.90029287e-02] [ 4.41767254e-01 8.97130129e-01 -5.00036040e-04] [ 1.72683389e-02 -7.94587881e-03 9.99818676e-01]] t_gt: [ 0.90578424 -0.42336445 -0.01781728] Pose Error in degrees for R and t: 19.736247714340475 85.23049609981733 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 3.81750852e-02 9.99247224e-01 6.90280338e-03] [-9.99271055e-01 3.81752012e-02 1.14997116e-04] [-1.48605359e-04 -6.90216164e-03 9.99976169e-01]] t_estimated: [[0.10395309] [0.99457823] [0.00280954]] R_gt: [[ 0.97186359 0.23479685 -0.01880492] [-0.23509415 0.97184895 -0.01552028] [ 0.01463104 0.01950446 0.99970248]] t_gt: [-0.57498406 0.81116472 -0.10679476] Pose Error in degrees for R and t: 74.2418515798312 41.69507486206306 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-7.68882334e-01 6.39296380e-01 1.09587593e-02] [ 6.39336472e-01 7.68927067e-01 2.03327373e-04] [-8.29650017e-03 7.16266932e-03 -9.99939930e-01]] t_estimated: [[0.60546501] [0.79586281] [0.00380796]] R_gt: [[ 0.88060768 0.46750166 -0.07728636] [-0.46795796 0.88365212 0.01323378] [ 0.07448066 0.02451237 0.99692093]] t_gt: [-0.42766967 0.8915971 -0.14883974] Pose Error in degrees for R and t: 176.4111228004802 63.250979591105384 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999277e-01 -1.00934128e-03 -6.53341907e-04] [ 1.00972614e-03 9.99999317e-01 5.88999716e-04] [ 6.52746959e-04 -5.89658986e-04 9.99999613e-01]] t_estimated: [[-9.76908062e-01] [ 2.13660100e-01] [-3.84388610e-08]] R_gt: [[ 0.79587596 0.60217408 -0.0629981 ] [-0.59914073 0.7982875 0.06138367] [ 0.08725411 -0.01110912 0.99612389]] t_gt: [-0.37976781 0.92191156 -0.07652113] Pose Error in degrees for R and t: 37.38185333885563 55.39093630556172 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.97641043e-01 -6.86464592e-02 -1.10607644e-04] [ 6.86464824e-02 9.97641023e-01 2.21394494e-04] [ 9.51487754e-05 -2.28465059e-04 9.99999969e-01]] t_estimated: [[0.90097206] [0.43387593] [0.00100667]] R_gt: [[ 0.99853658 -0.00492345 -0.05385649] [ 0.00428074 0.99991884 -0.01204106] [ 0.05391023 0.01179292 0.99847654]] t_gt: [ 0.33222233 -0.04434367 -0.94215814] Pose Error in degrees for R and t: 4.844478715011035 73.79141788291498 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.8982971 0.43884514 0.02184629] [-0.43860986 0.89855484 -0.01485227] [-0.02614794 0.00375976 0.99965101]] t_estimated: [[0.64774219] [0.76185221] [0.00335618]] R_gt: [[ 0.99871903 -0.04848251 -0.01452553] [ 0.04809963 0.99851335 -0.02562902] [ 0.01574693 0.0248979 0.99956564]] t_gt: [ 0.63248618 -0.53839644 -0.5568577 ] Pose Error in degrees for R and t: 28.898514222333326 89.86481357444518 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 5.39917562e-01 8.41717902e-01 -7.58471875e-06] [-8.41714423e-01 5.39915305e-01 -2.87970327e-03] [-2.41980269e-03 1.56118654e-03 9.99995854e-01]] t_estimated: [[0.67762948] [0.7354025 ] [0.0012036 ]] R_gt: [[ 0.96275112 -0.20079039 0.18109171] [ 0.202827 0.97918624 0.00740091] [-0.17880969 0.02960477 0.98343863]] t_gt: [ 0.60513473 -0.66471263 0.43814276] Pose Error in degrees for R and t: 69.73750318657682 85.51219805706424 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99821707e-01 1.88813393e-02 2.22374613e-04] [-1.88813160e-02 9.99821726e-01 -1.06144208e-04] [-2.24339115e-04 1.01926557e-04 9.99999970e-01]] t_estimated: [[0.98291609] [0.18401833] [0.00363504]] R_gt: [[ 0.99166842 -0.12835091 0.01096945] [ 0.12824566 0.99169406 0.00979734] [-0.01213558 -0.00830912 0.99989143]] t_gt: [ 0.83290267 -0.54537421 0.09402186] Pose Error in degrees for R and t: 8.494774949425283 44.056341381942204 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-1.61067209e-01 9.86940705e-01 2.32380857e-03] [ 9.86943252e-01 1.61065277e-01 9.96988863e-04] [ 6.09684021e-04 2.45404940e-03 -9.99996803e-01]] t_estimated: [[8.43306625e-01] [5.37432353e-01] [6.34555113e-04]] R_gt: [[ 0.96842718 -0.24873188 0.01681222] [ 0.24878948 0.96855718 -0.00134397] [-0.01594899 0.00548407 0.99985795]] t_gt: [ 0.83459628 -0.55073155 0.01199164] Pose Error in degrees for R and t: 179.07035649461614 65.93032718247247 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.78187400e-01 2.07724193e-01 2.64835378e-04] [-2.07724200e-01 9.78187434e-01 -3.88260510e-06] [-2.59865150e-04 -5.12148015e-05 9.99999965e-01]] t_estimated: [[0.14231063] [0.98982123] [0.00127063]] R_gt: [[ 0.9401923 -0.33876227 -0.03575161] [ 0.338841 0.94083563 -0.00402409] [ 0.03499899 -0.00833067 0.99935301]] t_gt: [ 0.86795921 -0.49513825 -0.03853459] Pose Error in degrees for R and t: 31.86557270845159 68.49222386204295 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-9.98147725e-01 5.47682463e-02 -2.64869294e-02] [ 5.47690945e-02 9.98498806e-01 6.93977672e-04] [ 2.64851754e-02 -7.57972907e-04 -9.99648919e-01]] t_estimated: [[ 0.99958522] [-0.02582514] [-0.01274584]] R_gt: [[ 0.99756052 0.06902363 -0.01043343] [-0.0690902 0.99759089 -0.00618753] [ 0.00998145 0.00689467 0.99992672]] t_gt: [-0.9701803 0.21255833 -0.11648669] Pose Error in degrees for R and t: 177.9084905499093 13.148814995541201 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99946341e-01 1.03571233e-02 -2.11828083e-04] [-1.03572559e-02 9.99946161e-01 -6.34962311e-04] [ 2.05240296e-04 6.37122197e-04 9.99999776e-01]] t_estimated: [[-0.9598503 ] [-0.2805042 ] [-0.00219144]] R_gt: [[ 0.99892102 0.04129262 0.02123166] [-0.04123487 0.99914487 -0.00309479] [-0.02134157 0.00221719 0.99976953]] t_gt: [-0.99794354 0.06381163 0.00606372] Pose Error in degrees for R and t: 2.161437569546247 19.954541293405242 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-8.04851317e-01 -5.93470707e-01 -2.62246172e-03] [ 5.93476497e-01 -8.04843963e-01 -3.44138210e-03] [-6.83130104e-05 -4.32617031e-03 9.99990640e-01]] t_estimated: [[0.93085224] [0.3653936 ] [0.00127756]] R_gt: [[ 0.99613882 0.07184124 0.05044219] [-0.07118395 0.99735508 -0.01470447] [-0.05136546 0.01105872 0.99861935]] t_gt: [-0.98514981 0.17152159 0.00775829] Pose Error in degrees for R and t: 147.71784998585952 31.312429832681577 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-9.13054170e-01 -4.07821472e-01 -3.70542039e-03] [ 4.07814538e-01 -9.13061362e-01 2.50044730e-03] [-4.40301229e-03 7.71919534e-04 9.99990009e-01]] t_estimated: [[0.95845035] [0.28525308] [0.00190169]] R_gt: [[ 0.99686061 0.07665909 -0.01983506] [-0.07570315 0.99611195 0.04505445] [ 0.02321177 -0.04341195 0.99878788]] t_gt: [-0.49002032 0.84555196 0.21194802] Pose Error in degrees for R and t: 160.30558444180997 76.81707092305328 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.76683224e-01 -2.14683569e-01 9.19550015e-04] [ 2.14684359e-01 9.76683097e-01 -8.68272444e-04] [-7.11705129e-04 1.04544014e-03 9.99999200e-01]] t_estimated: [[-0.64100141] [-0.76753915] [-0.00092363]] R_gt: [[ 0.9619411 0.27252266 -0.02003683] [-0.27218308 0.96207555 0.01806892] [ 0.02420145 -0.01192805 0.99963645]] t_gt: [-0.52832267 0.84857926 -0.02807836] Pose Error in degrees for R and t: 28.249670665025675 71.78182233704896 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.82584765e-01 1.85814858e-01 -1.36117863e-04] [-1.85814869e-01 9.82584769e-01 -7.30881608e-05] [ 1.20166473e-04 9.71080363e-05 9.99999988e-01]] t_estimated: [[-9.73519629e-01] [ 2.28603129e-01] [-3.77094578e-04]] R_gt: [[ 0.8871407 0.45975307 -0.04012112] [-0.45847751 0.8879268 0.0371987 ] [ 0.0527269 -0.01460691 0.99850227]] t_gt: [-0.46674216 0.8822541 -0.0614774 ] Pose Error in degrees for R and t: 16.933678326318724 48.99750604674365 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-9.72411874e-01 2.33270450e-01 -2.12698778e-04] [ 2.33269942e-01 9.72411023e-01 1.39141142e-03] [ 5.31405804e-04 1.30340875e-03 -9.99999009e-01]] t_estimated: [[0.95023704] [0.31152465] [0.00139975]] R_gt: [[ 0.98746681 -0.09803827 -0.12368983] [ 0.11342634 0.98575206 0.12420895] [ 0.10975133 -0.13668139 0.98451642]] t_gt: [ 0.74492981 -0.64512251 0.16998978] Pose Error in degrees for R and t: 172.41817475948756 59.52739852249522 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.99749089 -0.07078447 0.00121395] [-0.07078664 0.99748977 -0.00184494] [-0.00108031 -0.00192624 -0.99999756]] t_estimated: [[0.99879307] [0.04902052] [0.00306378]] R_gt: [[ 0.96752939 -0.19978139 -0.15484232] [ 0.2251777 0.95955312 0.16897696] [ 0.11482183 -0.19835696 0.97338124]] t_gt: [ 0.77748487 -0.57905337 0.24538638] Pose Error in degrees for R and t: 172.60750234939 41.50370989321625 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 0.22897098 0.9734091 -0.00685654] [-0.97155882 0.22896131 0.06041666] [ 0.06038001 -0.00717213 0.9981497 ]] t_estimated: [[-0.09195445] [ 0.99545745] [-0.02467471]] R_gt: [[ 0.9341992 -0.28765838 -0.21101098] [ 0.32557474 0.92925331 0.17461168] [ 0.14585567 -0.23182172 0.96176191]] t_gt: [ 0.82004601 -0.54048439 0.18815194] Pose Error in degrees for R and t: 95.37099704531647 51.82403447510626 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99996533e-01 1.76807629e-03 -1.95118050e-03] [-1.76657000e-03 9.99998141e-01 7.73440495e-04] [ 1.95254437e-03 -7.69990917e-04 9.99997797e-01]] t_estimated: [[-0.63305852] [-0.77410153] [-0.00192971]] R_gt: [[ 0.991061 -0.1320939 -0.01866636] [ 0.13281192 0.99013074 0.04472808] [ 0.01257409 -0.04680703 0.99882496]] t_gt: [ 0.65103944 -0.72883895 0.21199394] Pose Error in degrees for R and t: 8.17582213168516 81.27800990031596 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.95851423 -0.28502808 0.00307598] [ 0.2850389 0.9585077 -0.003977 ] [-0.00181479 0.00468878 0.99998736]] t_estimated: [[7.72150428e-01] [6.35439323e-01] [7.63749187e-04]] R_gt: [[ 0.97454809 -0.22316177 -0.02128274] [ 0.2237865 0.97405127 0.03379034] [ 0.01319046 -0.03769323 0.99920234]] t_gt: [ 0.68425402 -0.71889704 0.12240702] Pose Error in degrees for R and t: 4.462012489910017 85.89266860738213 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99995936e-01 2.83534636e-03 2.99137132e-04] [-2.83537919e-03 9.99995974e-01 1.09405065e-04] [-2.98825727e-04 -1.10252787e-04 9.99999949e-01]] t_estimated: [[9.99998995e-01] [1.39044344e-03] [2.75429081e-04]] R_gt: [[ 0.95271208 -0.29869875 -0.05583573] [ 0.30142895 0.95221543 0.0492455 ] [ 0.03845902 -0.06374776 0.99722451]] t_gt: [ 0.71514773 -0.69434172 0.08033237] Pose Error in degrees for R and t: 18.155663964322418 44.42202262224994 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 3.14659097e-01 -9.49164477e-01 -8.74349818e-03] [-9.49204745e-01 -3.14646482e-01 -2.81857426e-03] [-7.58203779e-05 9.18625999e-03 -9.99957803e-01]] t_estimated: [[0.59210635] [0.80585902] [0.00114306]] R_gt: [[ 0.99839546 -0.05568139 0.0103235 ] [ 0.05439384 0.99362289 0.09877147] [-0.0157563 -0.09805039 0.9950565 ]] t_gt: [ 0.29827751 -0.60106682 0.74145074] Pose Error in degrees for R and t: 175.39669954340494 72.12655247712671 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99969281e-01 7.83803224e-03 4.27671678e-05] [-7.83803664e-03 9.99969277e-01 1.03862591e-04] [-4.19517756e-05 -1.04194611e-04 9.99999994e-01]] t_estimated: [[-9.99994892e-01] [-3.10075959e-03] [-7.75189839e-04]] R_gt: [[ 0.9972138 -0.068118 0.03040365] [ 0.06380337 0.99004429 0.12546893] [-0.03864646 -0.12317855 0.99163148]] t_gt: [ 0.2488478 -0.51812391 0.81830458] Pose Error in degrees for R and t: 8.540302161639985 75.6482404427434 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.89280447e-01 1.46028003e-01 1.42041529e-04] [-1.46027922e-01 9.89280356e-01 -4.72901395e-04] [-2.09575741e-04 4.47090074e-04 9.99999878e-01]] t_estimated: [[0.59336449] [0.80493298] [0.00121591]] R_gt: [[ 0.99906125 -0.04172774 0.01169755] [ 0.04167176 0.9991186 0.00499633] [-0.01189452 -0.0045039 0.99991973]] t_gt: [ 0.50506716 -0.82310819 0.25961524] Pose Error in degrees for R and t: 10.811248501526691 68.74358766941734 Number of keypoints: Image1: 546 Image2: 546 R_estimated: [[ 9.99840876e-01 1.78386346e-02 7.55403559e-05] [-1.78386282e-02 9.99840875e-01 -8.39590210e-05] [-7.70260499e-05 8.25981247e-05 9.99999994e-01]] t_estimated: [[ 9.86513909e-01] [ 1.63677005e-01] [-3.80742906e-04]] R_gt: [[ 0.99908648 -0.04258858 0.00351024] [ 0.04254516 0.99902804 0.01155193] [-0.00399974 -0.01139174 0.99992733]] t_gt: [ 0.34356859 -0.91288264 0.22046749] Pose Error in degrees for R and t: 3.5306980846861022 79.08028276682482 Number of keypoints: Image1: 540 Image2: 540 R_estimated: [[ 9.92228264e-01 1.24430845e-01 1.92435670e-04] [-1.24430869e-01 9.92228273e-01 1.15592573e-04] [-1.76556831e-04 -1.38639155e-04 9.99999975e-01]] t_estimated: [[0.27268723] [0.96210211] [0.00109955]] R_gt: [[ 9.98062994e-01 -1.34286255e-02 6.07510213e-02] [ 1.33844411e-02 9.99910163e-01 1.11918960e-03] [-6.07616260e-02 -3.03352968e-04 9.98152280e-01]] t_gt: [-0.54345661 -0.0971541 0.83379613] Pose Error in degrees for R and t: 8.643731439270294 76.06924627717812 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.41834433e-01 -3.36075105e-01 1.19356020e-03] [ 3.36077148e-01 9.41830675e-01 -2.67038365e-03] [-2.26682142e-04 2.91618758e-03 9.99995722e-01]] t_estimated: [[-0.50843467] [-0.86109721] [-0.00240515]] R_gt: [[ 0.99865629 -0.00863568 0.05110277] [ 0.00939299 0.9998494 -0.01461444] [-0.05096973 0.01507509 0.99858658]] t_gt: [-0.85469052 -0.14502678 0.498469 ] Pose Error in degrees for R and t: 19.34738519110368 56.06599959226721 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999984e-01 -1.39073442e-04 1.10601189e-04] [ 1.39093229e-04 9.99999974e-01 -1.78916808e-04] [-1.10576303e-04 1.78932189e-04 9.99999978e-01]] t_estimated: [[-0.87183903] [-0.48979037] [-0.0014495 ]] R_gt: [[ 9.99810717e-01 1.39779605e-02 1.35473559e-02] [-1.39657519e-02 9.99901593e-01 -9.52110254e-04] [-1.35593771e-02 7.63235636e-04 9.99907413e-01]] t_gt: [0.64424441 0.38865019 0.65871099] Pose Error in degrees for R and t: 1.1182717076299342 41.15000799723499 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.67506853 -0.73775196 -0.00212774] [ 0.73774197 -0.67503663 -0.0078946 ] [ 0.00438796 -0.00689912 0.99996657]] t_estimated: [[9.03584426e-01] [4.28409252e-01] [8.35105754e-04]] R_gt: [[ 9.97356814e-01 -7.26584684e-02 3.47305332e-04] [ 7.26539437e-02 9.97231400e-01 -1.58097788e-02] [ 8.02830159e-04 1.57931007e-02 9.99875231e-01]] t_gt: [ 0.75944321 -0.64735073 -0.06467646] Pose Error in degrees for R and t: 128.29378083816547 65.86826503598182 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.99973884 -0.02277292 0.00190753] [ 0.02277685 0.99973844 -0.00206486] [-0.00186 0.00210777 0.99999605]] t_estimated: [[8.96783184e-01] [4.42469439e-01] [8.46021872e-04]] R_gt: [[ 0.9880841 -0.15228061 0.02234962] [ 0.15220839 0.98833533 0.004901 ] [-0.02283596 -0.00144066 0.99973877]] t_gt: [ 0.71210028 -0.69276199 0.11399129] Pose Error in degrees for R and t: 7.55366175645289 70.59946235785327 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999995e-01 8.68727446e-05 5.76864759e-05] [-8.68729012e-05 9.99999996e-01 2.71274528e-06] [-5.76862400e-05 -2.71775666e-06 9.99999998e-01]] t_estimated: [[3.16371571e-01] [9.48635341e-01] [1.35372452e-04]] R_gt: [[ 0.99796794 -0.03632999 -0.05235603] [ 0.03568863 0.99927622 -0.01312356] [ 0.05279476 0.01122797 0.99854161]] t_gt: [ 0.77938389 -0.30782632 -0.54571394] Pose Error in degrees for R and t: 3.725599114400684 87.3913448635972 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999999e-01 -5.33210830e-05 -9.69175225e-06] [ 5.33210917e-05 9.99999999e-01 8.97247865e-07] [ 9.69170439e-06 -8.97764639e-07 1.00000000e+00]] t_estimated: [[9.99999634e-01] [8.55681079e-04] [1.32125664e-05]] R_gt: [[ 0.99406471 0.00653482 -0.10859316] [-0.00630306 0.99997688 0.0024771 ] [ 0.10860616 -0.00177902 0.99408338]] t_gt: [ 0.63865222 0.14632092 -0.75545584] Pose Error in degrees for R and t: 6.246391660896623 50.30004546358785 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.14828666 0.98892084 -0.00682868] [ 0.98890915 -0.14821952 0.00946945] [ 0.00835239 -0.00815713 -0.99993185]] t_estimated: [[-0.59597044] [ 0.80298172] [ 0.00629222]] R_gt: [[ 9.79493487e-01 1.18045683e-01 -1.63271242e-01] [-1.19802955e-01 9.92796976e-01 -9.21533062e-04] [ 1.61986577e-01 2.04618865e-02 9.86580380e-01]] t_gt: [ 0.11791274 0.74055631 -0.66156855] Pose Error in degrees for R and t: 173.68473008707778 58.65312865884708 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.99912845 -0.04141599 -0.00520219] [ 0.03910879 -0.88525485 -0.46345911] [ 0.01458935 -0.46325863 0.88610304]] t_estimated: [[0.94608155] [0.32391267] [0.00320706]] R_gt: [[ 0.99825477 -0.02757075 -0.05223838] [ 0.02795163 0.99958693 0.00658939] [ 0.05203404 -0.00803852 0.99861273]] t_gt: [ 0.82266436 -0.28431693 -0.49232838] Pose Error in degrees for R and t: 175.3667086653926 46.7931075387586 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-3.79013297e-02 9.99280801e-01 -1.17065841e-03] [ 9.99256195e-01 3.79086792e-02 7.07022997e-03] [ 7.10952318e-03 -9.01816555e-04 -9.99974320e-01]] t_estimated: [[0.63480962] [0.77266815] [0.0008255 ]] R_gt: [[ 0.99078797 0.08706956 -0.10372559] [-0.0860823 0.99619001 0.01397057] [ 0.10454631 -0.00491241 0.99450799]] t_gt: [ 0.02250327 0.81049688 -0.58531052] Pose Error in degrees for R and t: 174.97521733592185 50.20465762290485 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.83529995e-01 -1.80744973e-01 -6.17983708e-05] [ 1.80744983e-01 9.83529964e-01 2.49037389e-04] [ 1.57682932e-05 -2.56105488e-04 9.99999967e-01]] t_estimated: [[0.69277479] [0.72115352] [0.00083467]] R_gt: [[ 9.80428400e-01 1.38375718e-01 -1.40048413e-01] [-1.37023792e-01 9.90379074e-01 1.93096977e-02] [ 1.41371955e-01 2.58969386e-04 9.89956036e-01]] t_gt: [-0.01767615 0.86516942 -0.50116806] Pose Error in degrees for R and t: 20.07044576052486 52.319619303458936 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.91058492e-01 -1.33428116e-01 -5.27269129e-05] [ 1.33428122e-01 9.91058484e-01 1.32675839e-04] [ 3.45527672e-05 -1.38524770e-04 9.99999990e-01]] t_estimated: [[ 2.38967504e-01] [-9.71027562e-01] [-7.45238843e-05]] R_gt: [[ 0.99814002 0.03851036 0.04727058] [-0.03720848 0.99891137 -0.02814407] [-0.04830269 0.02633306 0.99848546]] t_gt: [-0.77762305 0.53019088 0.33793494] Pose Error in degrees for R and t: 10.332707592645988 45.5182712175258 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.21815198e-01 3.87629633e-01 -9.50674211e-05] [-3.87629619e-01 9.21815198e-01 1.40611694e-04] [ 1.42139853e-04 -9.27670481e-05 9.99999986e-01]] t_estimated: [[-0.7913225 ] [ 0.61139796] [-0.00111517]] R_gt: [[ 0.99973636 0.02169407 0.00756813] [-0.02154902 0.99959142 -0.01880906] [-0.00797265 0.01864034 0.99979458]] t_gt: [-0.98584719 0.04434834 -0.16167416] Pose Error in degrees for R and t: 21.599346602843603 36.155590913600314 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.55642585e-01 -2.94526725e-01 -1.12135794e-03] [ 2.94527036e-01 9.55643140e-01 1.19713575e-04] [ 1.03635918e-03 -4.44673621e-04 9.99999364e-01]] t_estimated: [[9.99355039e-01] [3.58999722e-02] [8.34883074e-04]] R_gt: [[ 0.9996965 0.01642993 -0.01837046] [-0.01651765 0.99985283 -0.00460001] [ 0.01829214 0.00490166 0.99982044]] t_gt: [-0.92565923 -0.27430732 -0.26059641] Pose Error in degrees for R and t: 18.10218777892568 20.751261951798057 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.66060463 -0.7506664 -0.01007384] [-0.75066509 0.66066633 -0.00468297] [ 0.0101708 0.00446849 -0.99993829]] t_estimated: [[ 0.91629319] [ 0.40048307] [-0.00448342]] R_gt: [[ 0.99966206 0.02000983 0.01654693] [-0.01984042 0.99974971 -0.01034658] [-0.01674936 0.01001532 0.99980904]] t_gt: [0.54651308 0.77577103 0.31544059] Pose Error in degrees for R and t: 179.93723950361857 35.90063734562431 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.93335071e-01 1.15258364e-01 -9.72535044e-04] [-1.15257450e-01 9.93335200e-01 9.48610754e-04] [ 1.07538862e-03 -8.30196421e-04 9.99999077e-01]] t_estimated: [[-0.96970255] [-0.24427622] [-0.00246744]] R_gt: [[ 0.99974368 0.00883059 0.02081576] [-0.00814761 0.99943323 -0.0326726 ] [-0.02109226 0.03249405 0.99924945]] t_gt: [ 0.98700654 0.1327049 -0.09059524] Pose Error in degrees for R and t: 6.547040027168698 8.39076119657142 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.21219076e-01 3.89044158e-01 2.39784408e-04] [-3.89044219e-01 9.21219028e-01 3.11840758e-04] [-9.95741346e-05 -3.80560393e-04 9.99999923e-01]] t_estimated: [[0.39583262] [0.91832214] [0.00099271]] R_gt: [[ 0.99403818 -0.1078089 0.01628519] [ 0.10835048 0.99341844 -0.03715311] [-0.01217292 0.03869684 0.99917742]] t_gt: [ 0.79753083 -0.6009138 -0.05335901] Pose Error in degrees for R and t: 29.194165647198364 76.33782529550639 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.72474814 -0.68707808 0.05161243] [ 0.68804892 -0.71773674 0.1069703 ] [-0.03645281 0.1130384 0.9929217 ]] t_estimated: [[0.96404473] [0.26573813] [0.00099802]] R_gt: [[ 0.99224671 0.12303042 0.01758489] [-0.12317654 0.99235689 0.00744497] [-0.01653403 -0.00955314 0.99981802]] t_gt: [-0.92677768 0.36147943 0.10205756] Pose Error in degrees for R and t: 143.4509697119911 37.12749009864028 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.66224099 -0.74928475 -0.00303963] [ 0.74928403 -0.66224684 0.0016004 ] [-0.00321214 -0.00121769 0.9999941 ]] t_estimated: [[0.9958429 ] [0.09106715] [0.00192187]] R_gt: [[ 0.98200112 0.18815989 0.01639153] [-0.18794225 0.98208061 -0.01397699] [-0.01872675 0.01064504 0.99976803]] t_gt: [-0.93163705 0.36266567 -0.02293524] Pose Error in degrees for R and t: 142.31520151324187 26.51964915748762 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.75665288e-01 -2.19263354e-01 -9.09544578e-04] [ 2.19263890e-01 9.75665443e-01 5.37851602e-04] [ 7.69480067e-04 -7.24193420e-04 9.99999442e-01]] t_estimated: [[ 1.20471550e-03] [-9.99999118e-01] [-5.59780885e-04]] R_gt: [[ 0.9801104 0.19666602 0.02656328] [-0.19682466 0.9804326 0.0034395 ] [-0.02536574 -0.00859876 0.99964125]] t_gt: [-0.9477437 0.31403301 0.05625966] Pose Error in degrees for R and t: 24.065426655289937 71.62675059765553 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.00000000e+00 -2.77567969e-11 -3.97902197e-14] [ 2.77567413e-11 1.00000000e+00 -4.82383231e-14] [ 3.97898945e-14 4.82383231e-14 1.00000000e+00]] t_estimated: [[-0.45093726] [-0.8925548 ] [-0.00123136]] R_gt: [[ 0.9915806 -0.12720444 -0.02420945] [ 0.1282944 0.99044415 0.05061919] [ 0.01753874 -0.05329843 0.99842327]] t_gt: [ 0.77045738 -0.61296785 0.17511662] Pose Error in degrees for R and t: 8.018117700192235 78.4943932695015 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 1.20294699e-01 9.92735834e-01 2.17911058e-03] [ 9.92737764e-01 -1.20296472e-01 7.01025737e-04] [ 9.58072685e-04 2.07895569e-03 -9.99997380e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.98017598 -0.19288808 -0.0452678 ] [ 0.19520022 0.97928502 0.05384678] [ 0.0339436 -0.06161473 0.99752229]] t_gt: [ 0.79607521 -0.59831693 0.09100062] Pose Error in degrees for R and t: 176.06078478690443 37.41208905342351 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.92422693 0.34562888 0.16231224] [ 0.3457318 0.93789959 -0.02852866] [-0.16209291 0.02974954 -0.98632695]] t_estimated: [[-0.04968917] [-0.99875237] [-0.00496892]] R_gt: [[ 0.98557284 -0.16682189 -0.02857462] [ 0.16799656 0.98474326 0.04537588] [ 0.0205678 -0.04952101 0.99856068]] t_gt: [ 0.75543569 -0.64763781 0.09940923] Pose Error in degrees for R and t: 172.42065979789623 52.49729632204274 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999987e-01 1.34297666e-04 8.85638205e-05] [-1.34293026e-04 9.99999990e-01 -5.23997139e-05] [-8.85708567e-05 5.23878197e-05 9.99999995e-01]] t_estimated: [[ 9.99951524e-01] [-9.84324308e-03] [-2.45738101e-04]] R_gt: [[ 0.98834989 -0.15213871 -0.00439648] [ 0.15218097 0.98828429 0.01161186] [ 0.00257707 -0.01214508 0.99992372]] t_gt: [ 0.68395022 -0.72594145 0.07225721] Pose Error in degrees for R and t: 8.789061043680169 46.28711923257452 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99998738e-01 1.58857993e-03 -2.11561345e-05] [-1.58857228e-03 9.99998674e-01 3.57121423e-04] [ 2.17234224e-05 -3.57087364e-04 9.99999936e-01]] t_estimated: [[9.99914529e-01] [1.30508314e-02] [7.81858999e-04]] R_gt: [[ 0.97691394 -0.2124147 -0.02280757] [ 0.21308634 0.97648371 0.03276858] [ 0.01530988 -0.03687138 0.99920265]] t_gt: [ 0.67386624 -0.73149613 0.10400818] Pose Error in degrees for R and t: 12.585028280952674 48.368033142050635 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.98027960e-01 -6.27708387e-02 1.10965103e-04] [ 6.27708068e-02 9.98027932e-01 2.71165466e-04] [-1.27767556e-04 -2.63665348e-04 9.99999957e-01]] t_estimated: [[9.99994462e-01] [3.22921313e-03] [8.05443681e-04]] R_gt: [[ 0.95632814 -0.28998883 -0.03666629] [ 0.2894494 0.95699681 -0.01938471] [ 0.0407105 0.00792571 0.99913948]] t_gt: [ 0.70966635 -0.68917261 -0.1463379 ] Pose Error in degrees for R and t: 13.462327733883884 44.98279618751069 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.97547527 -0.22009923 0.00207777] [ 0.22010232 0.97547579 -0.00139538] [-0.0017197 0.00181848 0.99999687]] t_estimated: [[9.01623538e-01] [4.32521077e-01] [7.17282051e-04]] R_gt: [[ 0.98862118 -0.0918177 0.11915241] [ 0.09233771 0.99572751 0.00115018] [-0.11874942 0.00986524 0.99287494]] t_gt: [ 0.45821024 -0.6219767 0.63497115] Pose Error in degrees for R and t: 10.009763363301193 81.6875881795309 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.57149221e-01 6.53241606e-01 6.79174451e-04] [-6.53239254e-01 7.57148669e-01 -2.09058845e-03] [-1.87989539e-03 1.13922401e-03 9.99997584e-01]] t_estimated: [[0.63950718] [0.7687839 ] [0.00137528]] R_gt: [[ 9.30519926e-01 -2.47765769e-01 2.69712859e-01] [ 2.37995965e-01 9.68820140e-01 6.88846552e-02] [-2.78370072e-01 9.15532120e-05 9.60474283e-01]] t_gt: [ 0.55506447 -0.5866904 0.58965906] Pose Error in degrees for R and t: 57.255119302767305 84.53374579102852 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.96353248 0.26673102 0.02144099] [ 0.26708355 0.96354587 0.01567611] [-0.01647807 0.02083097 -0.99964721]] t_estimated: [[8.69439700e-01] [4.94038348e-01] [8.47407115e-04]] R_gt: [[ 0.87392768 -0.37414999 0.31026211] [ 0.35768441 0.92725924 0.11069269] [-0.32910921 0.01423875 0.9441845 ]] t_gt: [ 0.66721821 -0.58748184 0.4579137 ] Pose Error in degrees for R and t: 160.2719529768691 73.12674811383042 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 0.98664971 0.16278989 -0.00466842] [-0.16277397 0.98665677 0.00361182] [ 0.00519409 -0.00280371 0.99998258]] t_estimated: [[-0.56560187] [-0.82467789] [-0.000949 ]] R_gt: [[ 0.99895042 -0.04125986 -0.01992859] [ 0.04159844 0.99899194 0.01689879] [ 0.01921149 -0.01770928 0.99965914]] t_gt: [ 0.50128001 -0.85972694 -0.09791805] Pose Error in degrees for R and t: 11.800148295210908 64.81351727651369 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 7.13138883e-01 -7.01022615e-01 -4.75732384e-04] [ 7.01022768e-01 7.13138601e-01 6.44369260e-04] [-1.12454297e-04 -7.93024006e-04 9.99999679e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99698369 -0.06527995 -0.04197833] [ 0.06690297 0.99701712 0.03850851] [ 0.03933951 -0.04119961 0.99837607]] t_gt: [ 0.49605313 -0.8646912 -0.0789963 ] Pose Error in degrees for R and t: 40.83851754650358 60.44174955561233 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-3.73662568e-01 9.27564271e-01 -8.99597971e-04] [-9.27562501e-01 -3.73663618e-01 -1.81849730e-03] [-2.02292015e-03 1.54928975e-04 9.99997942e-01]] t_estimated: [[0.59984786] [0.80011352] [0.00094913]] R_gt: [[ 0.99600411 -0.07679634 -0.04559155] [ 0.07806431 0.99659101 0.02670903] [ 0.04338588 -0.03016013 0.99860254]] t_gt: [ 0.52906031 -0.82994244 -0.17689187] Pose Error in degrees for R and t: 116.41380077983656 69.70459891357515 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.83229764e-01 -1.82371113e-01 -8.99738920e-05] [ 1.82371128e-01 9.83229745e-01 2.00831012e-04] [ 5.18392316e-05 -2.13871669e-04 9.99999976e-01]] t_estimated: [[6.39587844e-01] [7.68717680e-01] [7.19661010e-04]] R_gt: [[ 0.99741068 -0.01132505 0.07101509] [ 0.00287116 0.99300557 0.11802935] [-0.07185532 -0.11752043 0.99046751]] t_gt: [-0.05181536 -0.09904733 0.99373276] Pose Error in degrees for R and t: 12.821580254805523 83.76741350298572 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 8.02342379e-01 -5.96864058e-01 -5.44291501e-05] [ 5.96864036e-01 8.02342318e-01 3.55408055e-04] [-1.68459484e-04 -3.17645747e-04 9.99999935e-01]] t_estimated: [[0.79843911] [0.60207502] [0.00081142]] R_gt: [[ 0.99541363 -0.05410959 0.07890253] [ 0.03627116 0.9765703 0.21212033] [-0.08853222 -0.20828538 0.97405289]] t_gt: [ 0.07168295 -0.21650393 0.97364655] Pose Error in degrees for R and t: 36.37253958862194 85.85234083969866 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-5.80740286e-01 8.14071735e-01 -5.28493295e-03] [ 8.14081854e-01 5.80750019e-01 3.87280477e-04] [ 3.38449900e-03 -4.07745864e-03 -9.99985960e-01]] t_estimated: [[8.09393610e-01] [5.87266038e-01] [7.64899094e-04]] R_gt: [[ 0.99185199 -0.08410082 0.09569682] [ 0.05536806 0.9610579 0.2707431 ] [-0.11474049 -0.26323864 0.95788289]] t_gt: [ 0.11224628 -0.22770429 0.96723913] Pose Error in degrees for R and t: 178.05634161970062 87.58531471952105 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99999982e-01 1.18645416e-04 -1.50800840e-04] [-1.18624553e-04 9.99999983e-01 1.38352008e-04] [ 1.50817252e-04 -1.38334117e-04 9.99999979e-01]] t_estimated: [[-0.55401757] [-0.83250442] [-0.00096399]] R_gt: [[ 0.9945334 0.10390568 -0.01035988] [-0.10393493 0.99458103 -0.00241671] [ 0.01005269 0.00348054 0.99994313]] t_gt: [-0.54559361 0.83535826 -0.06711328] Pose Error in degrees for R and t: 5.988851211628047 66.85207934406867 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 2.99789201e-01 9.54004937e-01 1.00717381e-03] [ 9.54003681e-01 -2.99790516e-01 1.61955546e-03] [ 1.84700506e-03 4.75322284e-04 -9.99998181e-01]] t_estimated: [[-9.95514244e-01] [-9.46079461e-02] [-8.52323839e-04]] R_gt: [[ 0.99756375 0.06415902 -0.02738718] [-0.06386585 0.99789309 0.01142392] [ 0.02806222 -0.00964697 0.99955995]] t_gt: [-0.15138389 0.98233992 -0.10995995] Pose Error in degrees for R and t: 178.52827779280872 86.68293462623467 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-9.00445234e-01 -4.34958001e-01 -3.14916459e-03] [ 4.34955538e-01 -9.00450740e-01 1.46470836e-03] [-3.47275420e-03 -5.08569183e-05 9.99993969e-01]] t_estimated: [[0.89707405] [0.44187858] [0.00121063]] R_gt: [[ 0.9980058 -0.00797965 0.06260848] [ 0.01430416 0.99476058 -0.10122912] [-0.06147289 0.10192304 0.9928911 ]] t_gt: [ 0.10160067 0.86312261 -0.49466823] Pose Error in degrees for R and t: 153.63342579830484 61.83970885095253 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-8.81721959e-01 -4.71769019e-01 -6.15723069e-04] [-4.70610341e-01 8.79463496e-01 7.12029897e-02] [-3.30498587e-02 6.30710053e-02 -9.97461656e-01]] t_estimated: [[0.99981678] [0.01904652] [0.00190458]] R_gt: [[ 0.99807339 0.04939991 0.03756393] [-0.05153884 0.99697007 0.05826358] [-0.03457202 -0.06008678 0.99759463]] t_gt: [-0.35310528 0.44855888 0.82104299] Pose Error in degrees for R and t: 176.31242898247024 69.94430877052316 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.19335617 -0.98112656 -0.00201611] [ 0.98112747 0.19335238 0.00193441] [-0.00150808 -0.00235209 0.9999961 ]] t_estimated: [[ 0.85300423] [-0.5218997 ] [ 0.00212078]] R_gt: [[ 0.99460068 0.04006785 0.09573462] [-0.05758279 0.98050734 0.18785499] [-0.08634139 -0.19235257 0.97751989]] t_gt: [-0.17174209 0.17597913 0.96929665] Pose Error in degrees for R and t: 82.40450198148609 76.33264725536712 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.68295941e-01 -2.49805784e-01 2.01125545e-04] [ 2.49805748e-01 9.68295953e-01 1.86634852e-04] [-2.41371517e-04 -1.30475453e-04 9.99999962e-01]] t_estimated: [[0.52823163] [0.84909961] [0.00109139]] R_gt: [[ 0.99267787 0.00324682 0.12075537] [-0.03838745 0.95630124 0.28985379] [-0.11453677 -0.29236623 0.94942255]] t_gt: [-0.06602341 0.06945898 0.99539759] Pose Error in degrees for R and t: 24.05179546699007 88.55666384936295 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 9.97281325e-01 -7.36882412e-02 -5.02459700e-05] [ 7.36882447e-02 9.97281323e-01 7.01966027e-05] [ 4.49367033e-05 -7.37082983e-05 9.99999996e-01]] t_estimated: [[ 8.32728976e-01] [-5.53680746e-01] [ 2.90787536e-04]] R_gt: [[ 0.99936502 -0.03004968 -0.01918971] [ 0.03034362 0.99942435 0.01518788] [ 0.01872254 -0.0157608 0.99970087]] t_gt: [ 0.43679055 -0.8795467 -0.18871042] Pose Error in degrees for R and t: 2.859069278851062 31.716325899700728 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[-7.19978450e-01 -6.93994380e-01 -1.68301901e-03] [ 6.93996308e-01 -7.19977598e-01 -1.17622606e-03] [-3.95441705e-04 -2.01486640e-03 9.99997892e-01]] t_estimated: [[9.94654125e-01] [1.03260459e-01] [6.70143252e-04]] R_gt: [[ 0.99894292 -0.02604023 -0.03789606] [ 0.02718159 0.99918299 0.02990826] [ 0.03708617 -0.03090794 0.99883436]] t_gt: [ 0.36980005 -0.88148812 -0.2936437 ] Pose Error in degrees for R and t: 134.5379306414951 73.94240544205134 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.96399729e-01 8.47792347e-02 2.47236941e-04] [-8.47791944e-02 9.96399749e-01 -1.69100764e-04] [-2.60683060e-04 1.47531407e-04 9.99999955e-01]] t_estimated: [[0.48875515] [0.87242026] [0.00113788]] R_gt: [[ 0.99275052 -0.119597 -0.01198257] [ 0.11968671 0.99278848 0.00694754] [ 0.01106529 -0.00833195 0.99990381]] t_gt: [ 0.60530075 -0.79566273 -0.02306129] Pose Error in degrees for R and t: 11.76282008006241 66.52588819007528 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.72648441e-01 -2.32281573e-01 -5.29651693e-04] [ 2.32282005e-01 9.72647968e-01 1.00041644e-03] [ 2.82786338e-04 -1.09608205e-03 9.99999359e-01]] t_estimated: [[-0.68021608] [-0.73301125] [-0.00076515]] R_gt: [[ 0.99862483 0.01656834 0.04974994] [-0.01177057 0.99538611 -0.09521673] [-0.05109841 0.09450066 0.99421246]] t_gt: [-0.43833145 0.55853124 -0.70420763] Pose Error in degrees for R and t: 15.542839515521505 83.64371044510702 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.99998101 -0.00428815 -0.00442705] [ 0.00430308 0.99998507 0.00336709] [ 0.00441254 -0.00338608 0.99998453]] t_estimated: [[-0.99887821] [-0.0468816 ] [-0.00666557]] R_gt: [[ 0.99308005 0.06019528 0.10084052] [-0.04480144 0.98789587 -0.14850217] [-0.10855946 0.14295749 0.983757 ]] t_gt: [-0.68889195 0.66309034 -0.29281238] Pose Error in degrees for R and t: 11.138871469477873 48.77755298782189 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.99928027 0.03786117 -0.00233841] [-0.03784354 0.99925793 0.00717299] [ 0.00260825 -0.00707934 0.99997154]] t_estimated: [[-9.93902231e-01] [-1.10262234e-01] [-7.71064570e-04]] R_gt: [[ 0.98384706 0.13683265 0.11541752] [-0.12194642 0.98431921 -0.12744828] [-0.13104825 0.11131525 0.98510626]] t_gt: [-0.73647098 0.67218613 0.07600201] Pose Error in degrees for R and t: 11.580456162336644 48.86733136697398 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 8.73199518e-01 -4.87362616e-01 -5.31415097e-04] [ 4.87362827e-01 8.73199479e-01 3.81542397e-04] [ 2.78081885e-04 -5.92154601e-04 9.99999786e-01]] t_estimated: [[ 9.73771713e-01] [-2.27526144e-01] [ 7.10764232e-04]] R_gt: [[ 0.99604403 -0.08818845 0.01087506] [ 0.08862003 0.99484956 -0.04919511] [-0.00648038 0.04996464 0.99872907]] t_gt: [ 0.48452943 -0.7981515 -0.35802991] Pose Error in degrees for R and t: 24.26631814299985 49.21919891477438 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99987236 0.01588026 0.00175527] [-0.0158774 0.99987262 -0.00162801] [-0.0017809 0.00159993 0.99999713]] t_estimated: [[0.8102069 ] [0.58614337] [0.00085195]] R_gt: [[ 0.98015772 -0.19683921 -0.02333011] [ 0.19580322 0.97980386 -0.04055413] [ 0.03084239 0.03518041 0.99890464]] t_gt: [ 0.60914076 -0.7608442 -0.22374905] Pose Error in degrees for R and t: 12.524707968664073 87.28455978354181 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.54322569 0.83957214 0.00494655] [-0.83958486 -0.54322743 -0.00110042] [ 0.00176322 -0.00475083 0.99998716]] t_estimated: [[0.34801553] [0.93748808] [0.0011336 ]] R_gt: [[ 0.92926949 -0.36934057 -0.00675872] [ 0.36922813 0.92923763 -0.01370434] [ 0.01134242 0.01023925 0.99988251]] t_gt: [ 0.71561626 -0.69782738 -0.030501 ] Pose Error in degrees for R and t: 144.58015204909623 66.0967242177424 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99999866e-01 -5.11298828e-04 7.96965715e-05] [ 5.11295811e-04 9.99999869e-01 3.78765418e-05] [-7.97159272e-05 -3.78357882e-05 9.99999996e-01]] t_estimated: [[8.28747404e-01] [5.59622346e-01] [7.54848620e-04]] R_gt: [[ 0.9846758 -0.17355649 -0.017038 ] [ 0.17411796 0.9838974 0.04035912] [ 0.00975915 -0.04270793 0.99903978]] t_gt: [ 0.53503666 -0.83076786 0.15349443] Pose Error in degrees for R and t: 10.296568448904363 88.77434147616088 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999987e-01 4.57881278e-05 -1.55823374e-04] [-4.57553081e-05 9.99999977e-01 2.10618204e-04] [ 1.55833014e-04 -2.10611071e-04 9.99999966e-01]] t_estimated: [[-0.82527113] [-0.56473553] [-0.00116022]] R_gt: [[ 0.97302668 -0.22471447 -0.0521772 ] [ 0.22755527 0.97209763 0.05696762] [ 0.03791982 -0.0673038 0.99701175]] t_gt: [ 0.53793231 -0.83272877 0.13111682] Pose Error in degrees for R and t: 13.81357198110839 88.49985985745093 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.24172298 0.97034472 -0.00106125] [-0.97034303 0.2417199 -0.00242707] [-0.00209857 0.00161645 0.99999649]] t_estimated: [[0.52578566] [0.8506166 ] [0.0009176 ]] R_gt: [[ 0.93527333 -0.34677162 -0.07080749] [ 0.3515205 0.93342432 0.07178339] [ 0.0412013 -0.09202689 0.99490369]] t_gt: [ 0.6490198 -0.74481903 0.15497715] Pose Error in degrees for R and t: 96.64150077316513 73.01220927069048 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.92835903e-01 -1.19485810e-01 1.00635629e-04] [ 1.19485799e-01 9.92835903e-01 1.15772076e-04] [-1.13747786e-04 -1.02918145e-04 9.99999988e-01]] t_estimated: [[0.95670018] [0.29107268] [0.00120925]] R_gt: [[ 0.99781109 -0.00330913 -0.0660473 ] [ 0.00552673 0.99942575 0.03340734] [ 0.06589901 -0.03369925 0.99725669]] t_gt: [ 0.83681419 0.07560811 -0.54224112] Pose Error in degrees for R and t: 7.855030493629038 34.72133165984257 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 4.95227830e-01 -8.68762808e-01 -7.60964293e-04] [ 8.68762959e-01 4.95228104e-01 -2.14286464e-04] [ 5.63015014e-04 -5.54976970e-04 9.99999688e-01]] t_estimated: [[ 9.19453739e-01] [-3.93198017e-01] [-3.75508160e-04]] R_gt: [[ 0.99134956 0.00473453 -0.13116749] [-0.00326025 0.9999289 0.01144626] [ 0.13121262 -0.0109194 0.99129356]] t_gt: [ 0.65074379 0.19409897 -0.73406956] Pose Error in degrees for R and t: 60.96584708695775 58.51434138339303 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.60969856e-01 -2.76653095e-01 2.68285211e-05] [ 2.76652936e-01 9.60969397e-01 9.85923567e-04] [-2.98540194e-04 -9.40020639e-04 9.99999514e-01]] t_estimated: [[0.72828676] [0.6852656 ] [0.00307294]] R_gt: [[ 0.98237429 -0.01377169 -0.18641926] [ 0.01492954 0.99987651 0.00480767] [ 0.18633072 -0.00750507 0.98245822]] t_gt: [ 0.71920812 0.09553523 -0.68819525] Pose Error in degrees for R and t: 18.627358684962125 54.04554422005359 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.99995059 0.00770704 -0.00627912] [-0.00761063 0.99985496 0.01523616] [ 0.00639564 -0.01518761 0.99986421]] t_estimated: [[0.66775386] [0.74438135] [0.00109468]] R_gt: [[ 0.99555822 0.05708896 -0.07487733] [-0.05221712 0.99648638 0.06548311] [ 0.07835247 -0.06128274 0.99504064]] t_gt: [-0.53175344 -0.11528357 0.83901608] Pose Error in degrees for R and t: 5.588623636712226 63.89759295571629 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.41084994 0.90933264 -0.06569993] [ 0.90941386 0.4138563 0.04110219] [ 0.06456589 -0.04286159 -0.99699254]] t_estimated: [[-0.18992668] [-0.98128785] [-0.03165445]] R_gt: [[ 0.98413 0.12950654 -0.12131326] [-0.1059826 0.97728522 0.18352773] [ 0.14232554 -0.16775847 0.9755005 ]] t_gt: [-0.248285 0.13637148 0.95903982] Pose Error in degrees for R and t: 163.65457205133288 83.27975790283082 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 8.90959853e-01 4.54064282e-01 -4.02095839e-03] [-4.54068816e-01 8.90966582e-01 -2.44736507e-04] [ 3.47141344e-03 2.04384222e-03 9.99991886e-01]] t_estimated: [[-0.97622348] [ 0.21668116] [-0.00608246]] R_gt: [[ 0.97036436 0.19024856 -0.14899847] [-0.15723111 0.96528975 0.20855201] [ 0.18350351 -0.17894427 0.96659476]] t_gt: [-0.33170034 0.69974029 0.63272301] Pose Error in degrees for R and t: 22.348098903254435 61.86272408660896 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99938648 -0.03492215 -0.00266769] [-0.03491713 -0.99938839 0.0019083 ] [-0.00273271 -0.00181399 -0.99999462]] t_estimated: [[-0.84412489] [ 0.5361249 ] [ 0.00482358]] R_gt: [[ 9.91814431e-01 9.39006114e-02 -8.65269290e-02] [-9.41862655e-02 9.95554018e-01 7.80330283e-04] [ 8.62150301e-02 7.37646312e-03 9.96248455e-01]] t_gt: [-0.11945091 0.71493718 -0.6889095 ] Pose Error in degrees for R and t: 179.81396411322444 61.26206755428073 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-2.59641395e-01 -9.65705100e-01 7.45466877e-05] [-9.65703275e-01 2.59641053e-01 1.92579269e-03] [-1.87910320e-03 4.28025521e-04 -9.99998143e-01]] t_estimated: [[0.73100583] [0.68236892] [0.00177195]] R_gt: [[ 9.88314175e-01 7.02927958e-02 -1.35255791e-01] [-7.10536651e-02 9.97471771e-01 -8.03232811e-04] [ 1.34856846e-01 1.04049792e-02 9.90809948e-01]] t_gt: [ 0.19343379 0.36527216 -0.91058202] Pose Error in degrees for R and t: 173.7090884374965 67.10534050123671 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.62246238e-01 -2.72180339e-01 2.00869697e-04] [ 2.72180365e-01 9.62246245e-01 -1.12202758e-04] [-1.62746727e-04 1.62639469e-04 9.99999974e-01]] t_estimated: [[0.61066984] [0.79188488] [0.00082747]] R_gt: [[ 0.99036383 0.01578695 -0.13758402] [-0.01165732 0.99945816 0.0307642 ] [ 0.13799542 -0.02886302 0.99001192]] t_gt: [ 0.51032004 -0.21740867 -0.83204983] Pose Error in degrees for R and t: 18.451610107834696 82.02240093376147 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.95958672 -0.28140694 -0.00186074] [-0.28140968 0.95958666 0.00142577] [ 0.00138432 0.00189178 -0.99999725]] t_estimated: [[9.59436649e-01] [2.81923318e-01] [7.47807209e-04]] R_gt: [[ 0.99675976 0.06587731 -0.04616396] [-0.06390859 0.99703287 0.04289669] [ 0.04885366 -0.03980768 0.99801267]] t_gt: [-0.21228253 0.89904906 -0.38294506] Pose Error in degrees for R and t: 177.54367675713289 87.16241938136935 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 2.48676919e-01 -9.68583746e-01 -2.30576008e-03] [ 9.68586137e-01 2.48678157e-01 -2.62174771e-04] [ 8.27330390e-04 -2.16813044e-03 9.99997307e-01]] t_estimated: [[9.83593495e-01] [1.80397060e-01] [8.59033620e-04]] R_gt: [[ 0.98718519 0.09968386 -0.12462021] [-0.09799331 0.99499308 0.01963596] [ 0.12595334 -0.00717281 0.99201038]] t_gt: [ 0.08488525 0.56080594 -0.82358435] Pose Error in degrees for R and t: 81.55077586814738 79.39991342761819 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-9.29764282e-01 -3.68155071e-01 -4.72321422e-04] [ 3.68155247e-01 -9.29762129e-01 -2.02414924e-03] [ 3.06054235e-04 -2.05586927e-03 9.99997840e-01]] t_estimated: [[8.12479334e-01] [5.82989557e-01] [7.12701170e-04]] R_gt: [[ 0.98717339 0.05919212 -0.14827667] [-0.05460376 0.99790027 0.03483282] [ 0.15002794 -0.02629026 0.98833228]] t_gt: [ 0.3893818 0.1177522 -0.9135186] Pose Error in degrees for R and t: 161.723953698267 67.39586772504484 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.83546618e-01 1.80654392e-01 2.03523357e-04] [-1.80654390e-01 9.83546639e-01 -2.81504685e-05] [-2.05260220e-04 -9.08008992e-06 9.99999979e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99635397 -0.08006959 0.02945734] [ 0.08014681 0.9967822 -0.0014434 ] [-0.0292469 0.00379962 0.99956562]] t_gt: [ 0.94211257 -0.15774373 0.29587299] Pose Error in degrees for R and t: 15.096600906312657 81.28282172172304 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.98243602 -0.17562803 -0.06304181] [ 0.18512014 0.95979942 0.21098722] [ 0.02345223 -0.21895175 0.9754538 ]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.9940149 -0.0738031 0.08054075] [ 0.07641599 0.99662958 -0.0298518 ] [-0.07806748 0.03582671 0.99630398]] t_gt: [0.82264827 0.27047808 0.50009142] Pose Error in degrees for R and t: 17.1544684090833 34.292114100779465 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-8.88855203e-01 -4.58188188e-01 -1.08996704e-04] [-4.58188201e-01 8.88855188e-01 1.67623703e-04] [ 2.00790851e-05 1.98934205e-04 -9.99999980e-01]] t_estimated: [[9.99977050e-01] [6.72253479e-03] [8.40316849e-04]] R_gt: [[ 0.98950524 -0.04060251 0.13867792] [ 0.05009572 0.99658402 -0.06566397] [-0.13553878 0.0719219 0.98815859]] t_gt: [0.31381562 0.7224249 0.61613474] Pose Error in degrees for R and t: 173.2729168660565 71.38649495898235 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.99391693 -0.1077432 0.02281546] [-0.10773809 0.99417824 0.00145682] [-0.02283959 -0.00101014 -0.99973863]] t_estimated: [[ 0.9989935 ] [-0.04214523] [ 0.01535475]] R_gt: [[ 0.99649646 -0.04064482 -0.07308902] [ 0.04262927 0.99875837 0.02580197] [ 0.07194892 -0.02882627 0.99699199]] t_gt: [ 0.69290459 -0.71930285 -0.04986627] Pose Error in degrees for R and t: 177.2399949562887 43.80029405553099 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999238e-01 1.20696856e-03 -2.58421972e-04] [-1.20712138e-03 9.99999096e-01 -5.92015445e-04] [ 2.57707194e-04 5.92326940e-04 9.99999791e-01]] t_estimated: [[0.59712116] [0.80215037] [0.00105685]] R_gt: [[ 0.98929549 0.06375993 -0.13125634] [-0.04654414 0.99038334 0.13028922] [ 0.13830129 -0.1227846 0.98274996]] t_gt: [ 0.06213284 -0.56409773 0.82336703] Pose Error in degrees for R and t: 11.11569471351762 65.51089599304625 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.43315665 0.90127073 -0.00929499] [ 0.90126278 0.43322159 0.00666775] [ 0.01003624 -0.00548905 -0.99993457]] t_estimated: [[ 0.84480967] [-0.53502313] [-0.00684622]] R_gt: [[ 0.98104068 0.09728152 -0.16761517] [-0.06188845 0.97686168 0.20472477] [ 0.18365284 -0.19046892 0.96436128]] t_gt: [ 0.19611487 -0.15649525 0.9680125 ] Pose Error in degrees for R and t: 164.61545079369415 75.94925926844164 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.97705252e-01 -6.77069302e-02 -4.86788676e-05] [ 6.77069370e-02 9.97705240e-01 1.55593965e-04] [ 3.80323716e-05 -1.58532813e-04 9.99999987e-01]] t_estimated: [[-0.8696688 ] [-0.49363077] [-0.00220193]] R_gt: [[ 0.99780137 0.02800087 -0.0600809 ] [-0.02871245 0.99952662 -0.01100898] [ 0.05974562 0.01270975 0.99813339]] t_gt: [ 0.29065239 0.52521672 -0.79979284] Pose Error in degrees for R and t: 6.52629973810983 59.31796016712453 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999966e-01 -2.60447685e-04 -1.49110741e-05] [ 2.60447796e-04 9.99999966e-01 7.42417092e-06] [ 1.49091400e-05 -7.42805422e-06 1.00000000e+00]] t_estimated: [[-5.02440610e-02] [ 9.98736817e-01] [-5.52486712e-04]] R_gt: [[ 0.99207814 0.01708973 -0.1244565 ] [-0.01920796 0.99969017 -0.0158413 ] [ 0.12414836 0.01810634 0.99209929]] t_gt: [ 0.53206565 0.27660672 -0.80024675] Pose Error in degrees for R and t: 7.283604346306516 75.5244818042078 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.99996292 -0.00822561 -0.0025498 ] [ 0.00823034 0.99996442 0.00184875] [ 0.0025345 -0.00186967 0.99999504]] t_estimated: [[-0.98855508] [ 0.15069303] [-0.00710354]] R_gt: [[ 0.98407265 0.02121611 -0.17649544] [-0.02174261 0.99976299 -0.00105012] [ 0.1764327 0.00487085 0.98430091]] t_gt: [ 0.59320005 0.2347171 -0.77007894] Pose Error in degrees for R and t: 10.167419134676525 56.93634806183434 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99653348e-01 -2.63283311e-02 5.68287480e-05] [ 2.63283318e-02 9.99653349e-01 -1.14743355e-05] [-5.65069481e-05 1.29665640e-05 9.99999998e-01]] t_estimated: [[9.98099583e-01] [6.16208200e-02] [3.11507799e-04]] R_gt: [[ 0.99302654 -0.11784635 0.00334397] [ 0.1178496 0.9930305 -0.00113548] [-0.00318613 0.0015228 0.99999364]] t_gt: [ 0.38237065 -0.92052262 0.08019218] Pose Error in degrees for R and t: 5.263060238670427 71.03772027028555 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99996233e-01 2.53422829e-03 1.05393597e-03] [-2.53357506e-03 9.99996598e-01 -6.20672384e-04] [-1.05550531e-03 6.17999820e-04 9.99999252e-01]] t_estimated: [[-0.9999007 ] [-0.01396366] [ 0.00189738]] R_gt: [[ 0.96396928 -0.26547501 -0.01694305] [ 0.26593391 0.96329193 0.03671207] [ 0.00657613 -0.0398944 0.99918231]] t_gt: [ 0.5209636 -0.84250054 0.13707573] Pose Error in degrees for R and t: 15.73874379195011 59.410251769415 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999993e-01 1.14024675e-04 -4.77945366e-07] [-1.14024586e-04 9.99999977e-01 1.81913035e-04] [ 4.98687928e-07 -1.81912979e-04 9.99999983e-01]] t_estimated: [[0.85119426] [0.52484989] [0.00096094]] R_gt: [[ 0.92650145 -0.37354626 -0.04539224] [ 0.37515643 0.92632592 0.03431597] [ 0.02923048 -0.04882281 0.99837943]] t_gt: [ 0.59412595 -0.79913297 0.09165616] Pose Error in degrees for R and t: 22.24579763069418 85.04462570913518 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.69782922e-01 2.43968439e-01 6.95870197e-04] [-2.43968707e-01 9.69783049e-01 3.27591408e-04] [-5.94921157e-04 -4.87463105e-04 9.99999704e-01]] t_estimated: [[0.09129605] [0.99582164] [0.00207026]] R_gt: [[ 0.99694339 0.04195068 0.06590542] [-0.03956223 0.99852687 -0.03712973] [-0.06736478 0.03440858 0.99713443]] t_gt: [-0.75973975 0.51983122 0.3906034 ] Pose Error in degrees for R and t: 12.545078199533048 63.313621800324974 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.87169249 0.49004523 0.00280762] [ 0.49003391 -0.87169467 0.00389465] [ 0.00435594 -0.00201911 -0.99998847]] t_estimated: [[9.95964380e-01] [8.97440969e-02] [9.75479314e-04]] R_gt: [[ 0.99515537 0.09172087 0.03539312] [-0.09284776 0.99517818 0.03163198] [-0.03231982 -0.03476553 0.99887231]] t_gt: [-0.7332594 0.50217973 0.45841702] Pose Error in degrees for R and t: 178.4647433214979 46.78126736396604 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-9.23391928e-01 -3.83858129e-01 -5.33055659e-04] [-3.83855306e-01 9.23389020e-01 -2.79675129e-03] [ 1.56577346e-03 -2.37788132e-03 -9.99995947e-01]] t_estimated: [[8.64048530e-01] [5.03408065e-01] [6.76623762e-04]] R_gt: [[ 0.99344467 0.04465605 -0.10523024] [-0.02536001 0.98369926 0.1780224 ] [ 0.11146579 -0.17418662 0.97838379]] t_gt: [-0.19229963 -0.36805117 0.9097028 ] Pose Error in degrees for R and t: 175.80494549560794 69.46248429371383 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.75080051e-01 -2.21852931e-01 -4.12449515e-04] [ 2.21853005e-01 9.75080111e-01 1.42758837e-04] [ 3.70499852e-04 -2.30704458e-04 9.99999905e-01]] t_estimated: [[ 8.30955639e-01] [-5.56338296e-01] [-6.53213421e-04]] R_gt: [[ 0.99605966 -0.08647577 -0.01970366] [ 0.08626039 0.99620503 -0.0115672 ] [ 0.020628 0.00982056 0.99973912]] t_gt: [ 0.53612324 -0.81311869 -0.22673746] Pose Error in degrees for R and t: 7.968157681369482 26.102054499550174 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.91412371e-01 1.30769392e-01 9.35988295e-04] [-1.30769240e-01 9.91412808e-01 -2.21158877e-04] [-9.56871596e-04 9.68611683e-05 9.99999538e-01]] t_estimated: [[7.45825848e-01] [6.66140612e-01] [6.98993297e-04]] R_gt: [[ 0.97143842 -0.23664788 -0.017499 ] [ 0.23682157 0.97151523 0.00854921] [ 0.01497647 -0.01244921 0.99981055]] t_gt: [ 0.65229338 -0.75792535 0.00790618] Pose Error in degrees for R and t: 21.240989473156862 88.94672549813308 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.9999063 -0.00944846 0.00990517] [ 0.00957672 0.99986987 -0.01298175] [-0.00978122 0.0130754 0.99986667]] t_estimated: [[9.12487330e-01] [4.09104098e-01] [8.41777980e-04]] R_gt: [[ 0.9144585 -0.40334313 -0.0328467 ] [ 0.40345282 0.91499318 -0.00353438] [ 0.03147957 -0.01002021 0.99945414]] t_gt: [ 0.75568624 -0.65482346 -0.01202289] Pose Error in degrees for R and t: 23.398925717515706 65.06100535114028 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999970e-01 6.27283042e-06 -2.46544021e-04] [-6.30622740e-06 9.99999991e-01 -1.35459986e-04] [ 2.46543169e-04 1.35461537e-04 9.99999960e-01]] t_estimated: [[-0.90006219] [-0.43575881] [-0.00151997]] R_gt: [[ 9.89751770e-01 1.42795646e-01 8.79666993e-04] [-1.42796245e-01 9.89752300e-01 -1.78578466e-04] [-8.96223956e-04 5.06552930e-05 1.00000032e+00]] t_gt: [-0.71308281 0.70106878 -0.00393455] Pose Error in degrees for R and t: 8.209386743591185 70.34668903065402 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-9.63778020e-01 2.66699471e-01 -1.82229868e-03] [-2.66697206e-01 -9.63779361e-01 -1.39421215e-03] [-2.12812950e-03 -8.57709057e-04 9.99997368e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.98760568 0.15694324 -0.00178634] [-0.15657644 0.9843768 -0.08053934] [-0.01088138 0.07982123 0.99674999]] t_gt: [-0.56417468 0.74090553 -0.3643706 ] Pose Error in degrees for R and t: 155.51377598364314 62.010543209721554 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.02885790e-01 5.96132501e-01 -6.71040830e-04] [-5.96132625e-01 8.02885978e-01 1.77313920e-05] [ 5.49339532e-04 3.85793049e-04 9.99999775e-01]] t_estimated: [[-0.99595675] [ 0.08982165] [-0.00149027]] R_gt: [[ 0.98393473 0.17816914 0.01138795] [-0.17488162 0.97468511 -0.13930984] [-0.03592036 0.13508008 0.99018413]] t_gt: [-0.50572826 0.7335919 -0.45396239] Pose Error in degrees for R and t: 27.54972972023972 55.23216927358746 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999953e-01 2.96422240e-04 -8.08200524e-05] [-2.96423166e-04 9.99999956e-01 -1.14361167e-05] [ 8.08166589e-05 1.14600731e-05 9.99999997e-01]] t_estimated: [[-0.33238107] [-0.94314436] [-0.00124473]] R_gt: [[ 0.99930917 -0.00498679 0.03686836] [ 0.00318349 0.99880393 0.04879916] [-0.0370683 -0.04864822 0.99812756]] t_gt: [-0.0196969 -0.0539348 0.99835017] Pose Error in degrees for R and t: 3.5180423711510715 86.77985787332665 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[-0.98749666 -0.15763398 -0.00136631] [ 0.15763549 -0.98749678 -0.00107808] [-0.00117928 -0.00127998 0.99999849]] t_estimated: [[0.86756185] [0.49732845] [0.00092098]] R_gt: [[ 0.99958137 -0.01053542 0.02700176] [ 0.00954726 0.99929044 0.0364546 ] [-0.02736761 -0.03618103 0.99897069]] t_gt: [0.1017833 0.23221834 0.96732353] Pose Error in degrees for R and t: 170.35714753868794 78.18905864189841 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 5.07573955e-01 8.61602754e-01 3.06168416e-03] [ 8.61607964e-01 -5.07573213e-01 -1.07256064e-03] [ 6.29907671e-04 3.18237530e-03 -9.99994738e-01]] t_estimated: [[-0.86805723] [-0.49646181] [-0.00152454]] R_gt: [[ 0.99732441 0.06256526 0.03783128] [-0.06468213 0.99624457 0.05757156] [-0.03408799 -0.0598646 0.99762472]] t_gt: [-0.4721809 0.66952168 0.57339857] Pose Error in degrees for R and t: 178.23653502002207 85.60603980507541 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-7.44558030e-01 -6.67556852e-01 -1.09076147e-03] [ 6.67557601e-01 -7.44555809e-01 -1.87001005e-03] [ 4.36205233e-04 -2.12047711e-03 9.99997657e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99025086 -0.13732433 0.02337178] [ 0.1327553 0.98117527 0.14025418] [-0.04219249 -0.1357831 0.98983873]] t_gt: [ 0.51152051 -0.65729171 0.55345676] Pose Error in degrees for R and t: 130.45597737657494 79.18793757134522 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.99901984 0.04384064 0.0061117 ] [-0.04385067 0.99903695 0.00151633] [-0.00603933 -0.00178284 0.99998017]] t_estimated: [[0.99755823] [0.0691377 ] [0.00987681]] R_gt: [[ 0.96600934 -0.25809453 0.0146216 ] [ 0.25143041 0.95120117 0.17888483] [-0.06007748 -0.1691271 0.98376059]] t_gt: [ 0.60593213 -0.66447213 0.43740489] Pose Error in degrees for R and t: 20.134588313380274 55.74807647951828 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 6.16252013e-01 -7.87548898e-01 4.35141980e-04] [-7.87548365e-01 -6.16252120e-01 -9.47661271e-04] [ 1.01448676e-03 2.41302812e-04 -9.99999456e-01]] t_estimated: [[8.76854481e-01] [4.80755180e-01] [8.22159241e-04]] R_gt: [[ 0.94914217 -0.31301743 0.03390444] [ 0.30252947 0.93653015 0.17716208] [-0.08720825 -0.15789398 0.98359723]] t_gt: [ 0.63305823 -0.6560734 0.41085882] Pose Error in degrees for R and t: 169.71191118083425 76.11186306847142 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99994781e-01 -3.21611692e-03 3.06674621e-04] [ 3.21607671e-03 9.99994820e-01 1.31497822e-04] [-3.07095945e-04 -1.30510847e-04 9.99999944e-01]] t_estimated: [[ 0.07172335] [-0.9974222 ] [ 0.00217317]] R_gt: [[ 0.99355228 -0.11217 -0.01647573] [ 0.11104066 0.99210673 -0.0582534 ] [ 0.02287879 0.05604793 0.99816538]] t_gt: [ 0.51875062 -0.68194776 -0.51560164] Pose Error in degrees for R and t: 7.136768158242584 44.25214023987009 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999943e-01 -3.34016315e-04 -5.59016963e-05] [ 3.34016329e-04 9.99999944e-01 2.54294726e-07] [ 5.59016082e-05 -2.72966791e-07 9.99999998e-01]] t_estimated: [[ 9.99999090e-01] [-1.33105668e-03] [-2.21610189e-04]] R_gt: [[ 0.96956242 -0.23720894 -0.06067647] [ 0.23365167 0.97044921 -0.06029865] [ 0.07318645 0.0442854 0.99633456]] t_gt: [ 0.62837148 -0.68851133 -0.36207931] Pose Error in degrees for R and t: 14.475318347754756 50.99651975315291 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999626e-01 -7.94199826e-04 -3.41619399e-04] [ 7.94208724e-04 9.99999684e-01 2.59108478e-05] [ 3.41598712e-04 -2.61821552e-05 9.99999941e-01]] t_estimated: [[9.78244151e-01] [2.07455225e-01] [8.43313923e-04]] R_gt: [[ 9.38087940e-01 -3.32273648e-01 -9.79054654e-02] [ 3.30484788e-01 9.43183396e-01 -3.44289414e-02] [ 1.03781243e-01 -6.02166390e-05 9.94599943e-01]] t_gt: [ 0.70827287 -0.66851581 -0.22679543] Pose Error in degrees for R and t: 20.243189189314055 56.35913776522603 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99997784e-01 -2.10336373e-03 -8.65871679e-05] [ 2.10337284e-03 9.99997782e-01 1.05168377e-04] [ 8.63657685e-05 -1.05350269e-04 9.99999991e-01]] t_estimated: [[-8.72679532e-03] [ 9.99961878e-01] [ 2.93799642e-04]] R_gt: [[ 0.99858971 0.02416986 -0.04728253] [-0.0254088 0.99934443 -0.02579965] [ 0.04662764 0.02696516 0.99854826]] t_gt: [ 0.43431581 0.40953414 -0.80227898] Pose Error in degrees for R and t: 3.449586390198754 66.07799844195647 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999943e-01 -3.33180992e-04 -4.86742323e-05] [ 3.33183871e-04 9.99999943e-01 5.91467858e-05] [ 4.86545229e-05 -5.91629999e-05 9.99999997e-01]] t_estimated: [[-9.99999898e-01] [ 3.30892448e-04] [-3.06174468e-04]] R_gt: [[ 0.99860398 0.0524835 -0.00605799] [-0.05259663 0.99840544 -0.02048065] [ 0.00497379 0.02077105 0.99977234]] t_gt: [ 0.39149649 0.84131096 -0.37272829] Pose Error in degrees for R and t: 3.2694561407472786 66.97679258684973 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.95369625e-01 -9.61205491e-02 -3.86719320e-04] [ 9.61205445e-02 9.95369700e-01 -3.04487349e-05] [ 3.87855443e-04 -6.86392580e-06 9.99999925e-01]] t_estimated: [[-0.38263465] [-0.92389924] [-0.00096139]] R_gt: [[ 0.99025149 0.12919827 0.05206652] [-0.12135133 0.98367062 -0.13291512] [-0.0683888 0.12530067 0.98975909]] t_gt: [-0.12337065 0.94067933 -0.31607289] Pose Error in degrees for R and t: 15.15822891051892 34.756409947401814 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.81552907e-01 -1.91190656e-01 -1.51435167e-04] [ 1.91190683e-01 9.81552896e-01 1.86662160e-04] [ 1.12953566e-04 -2.12171779e-04 9.99999971e-01]] t_estimated: [[ 9.84739703e-01] [-1.74032207e-01] [ 7.12721154e-04]] R_gt: [[ 0.99851398 -0.00694267 0.05405284] [ 0.00826214 0.99967205 -0.02424446] [-0.05386685 0.02465506 0.99824391]] t_gt: [0.04505767 0.74445961 0.6661454 ] Pose Error in degrees for R and t: 11.119796665230844 85.14035811345568 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.58841162e-01 2.83942948e-01 -1.69273577e-04] [-2.83942991e-01 9.58841101e-01 -3.47963673e-04] [ 6.35046314e-05 3.81705938e-04 9.99999925e-01]] t_estimated: [[-3.71399736e-01] [ 9.28472989e-01] [-3.81407666e-04]] R_gt: [[ 0.99309913 0.0280457 0.1138774 ] [-0.02147557 0.9980557 -0.05852196] [-0.11529792 0.05567203 0.99176983]] t_gt: [-0.4062129 0.76934914 0.49304461] Pose Error in degrees for R and t: 16.759499511045803 30.117385805506306 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99875284e-01 -1.57928034e-02 -6.64488237e-05] [ 1.57928024e-02 9.99875286e-01 -1.62852062e-05] [ 6.66977257e-05 1.52337620e-05 9.99999998e-01]] t_estimated: [[0.48053441] [0.8769753 ] [0.00100111]] R_gt: [[ 0.98704775 0.06829521 0.14516842] [-0.05204497 0.99223801 -0.11293806] [-0.15175567 0.10392052 0.98294007]] t_gt: [-0.5410161 0.80261568 0.25121635] Pose Error in degrees for R and t: 11.469393581997542 63.63110980851244 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 0.09085148 0.99583843 0.0071995 ] [-0.99584814 0.090889 -0.00506743] [-0.0057007 -0.00670922 0.99996124]] t_estimated: [[0.46031209] [0.88774474] [0.00469706]] R_gt: [[ 0.99914621 -0.02193929 0.03499403] [ 0.02080531 0.9992572 0.03242828] [-0.03568 -0.03167277 0.99886191]] t_gt: [-0.17096266 -0.55198756 0.81613817] Pose Error in degrees for R and t: 86.03324776940372 55.60557067131679 Number of keypoints: Image1: 449 Image2: 449 R_estimated: [[ 0.62368149 -0.78161929 0.00962686] [-0.78160308 -0.62374512 -0.00621675] [ 0.01086384 -0.00364711 -0.99993434]] t_estimated: [[0.38185266] [0.92422268] [0.00099701]] R_gt: [[ 0.99948504 0.00499159 0.03169046] [-0.00614023 0.99932348 0.03626331] [-0.03148709 -0.03643948 0.99884048]] t_gt: [-0.64648377 -0.29111887 0.70520106] Pose Error in degrees for R and t: 177.41800296029885 58.98803142201278 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 7.54931982e-01 -6.55800108e-01 -1.98011543e-03] [ 6.55800538e-01 7.54934030e-01 -5.14450203e-04] [ 1.83223302e-03 -9.10185853e-04 9.99997907e-01]] t_estimated: [[0.38791185] [0.92169584] [0.00108053]] R_gt: [[ 0.99093761 0.1171193 0.06576393] [-0.11501257 0.99274811 -0.03496823] [-0.06938251 0.02708764 0.99722286]] t_gt: [-0.84702392 0.45860358 0.26876242] Pose Error in degrees for R and t: 47.84510378466037 84.58247580282173 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99912873e-01 -1.31846750e-02 -6.40482434e-04] [ 1.31851645e-02 9.99912778e-01 7.66256876e-04] [ 6.30323722e-04 -7.74634980e-04 9.99999501e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 9.75179466e-01 -2.21238465e-01 -8.82186367e-03] [ 2.21412692e-01 9.74561117e-01 3.47417413e-02] [ 9.10747112e-04 -3.58323448e-02 9.99356626e-01]] t_gt: [ 0.60769843 -0.78601349 0.11351396] Pose Error in degrees for R and t: 12.201101118908321 52.70228577383 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-5.53533380e-01 8.32816738e-01 -4.13248042e-03] [ 8.32794452e-01 5.53548802e-01 6.09304308e-03] [ 7.36191785e-03 -6.88040332e-05 -9.99972898e-01]] t_estimated: [[8.68006644e-01] [4.96551988e-01] [7.67468297e-04]] R_gt: [[ 0.92879156 -0.36767453 -0.04648656] [ 0.36643279 0.9298523 -0.03320213] [ 0.05543264 0.01380405 0.99836673]] t_gt: [ 0.70246501 -0.69902813 -0.13380057] Pose Error in degrees for R and t: 177.69625790478761 74.7793004021061 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.94010069e-01 1.09287780e-01 -4.03848023e-04] [-1.09287506e-01 9.94009970e-01 6.47902954e-04] [ 4.72236837e-04 -5.99886517e-04 9.99999709e-01]] t_estimated: [[-0.28357639] [-0.95894913] [-0.00100204]] R_gt: [[ 0.88902274 -0.4524346 -0.07029621] [ 0.44967607 0.89167871 -0.05197696] [ 0.0861968 0.01459844 0.99617066]] t_gt: [ 0.73021845 -0.66438128 -0.15930641] Pose Error in degrees for R and t: 33.50669897751938 64.52007889782878 Number of keypoints: Image1: 360 Image2: 360 R_estimated: [[ 9.99870089e-01 1.61181856e-02 -9.70373978e-05] [-1.61181908e-02 9.99870092e-01 -5.24081364e-05] [ 9.61800678e-05 5.39653952e-05 9.99999994e-01]] t_estimated: [[-6.09783143e-01] [ 7.92567963e-01] [-7.36472763e-04]] R_gt: [[ 0.99691558 0.02910787 0.07288248] [-0.02609677 0.99878005 -0.04193596] [-0.07401408 0.03990432 0.99645889]] t_gt: [-0.59741736 0.75839014 0.26064707] Pose Error in degrees for R and t: 4.871534040871839 15.16449028832538 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 0.97702634 -0.21310125 -0.00271676] [ 0.21310523 0.97702843 0.00126838] [ 0.00238406 -0.00181819 0.99999551]] t_estimated: [[-0.41730229] [-0.90876706] [-0.0011069 ]] R_gt: [[ 0.99267369 0.07250308 0.09665704] [-0.06425912 0.99423489 -0.08584283] [-0.10232271 0.07900311 0.99160881]] t_gt: [-0.63990331 0.76619948 0.05883973] Pose Error in degrees for R and t: 17.920854489995875 64.57502472432834 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-4.36476525e-01 -8.99714252e-01 -1.58379167e-03] [ 8.99715630e-01 -4.36476175e-01 -5.78249059e-04] [-1.71028411e-04 -1.67735426e-03 9.99998579e-01]] t_estimated: [[9.52406617e-01] [3.04829596e-01] [7.43486821e-04]] R_gt: [[ 0.97933483 0.10586801 0.17232467] [-0.08621042 0.98928487 -0.11782624] [-0.18295113 0.10053535 0.97796809]] t_gt: [-0.67883571 0.67524114 0.28849867] Pose Error in degrees for R and t: 121.81805552826475 63.8655116637548 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 8.27843845e-01 5.60958315e-01 -5.81075642e-04] [-5.60957980e-01 8.27844022e-01 6.48798542e-04] [ 8.44988933e-04 -2.11144861e-04 9.99999621e-01]] t_estimated: [[-0.99164696] [-0.12897624] [-0.00119447]] R_gt: [[ 0.99972829 -0.00891344 0.02152195] [ 0.01082764 0.99583778 -0.09049691] [-0.02062591 0.09070602 0.99566401]] t_gt: [ 0.16481542 0.25529776 -0.95271136] Pose Error in degrees for R and t: 35.09004697810248 78.74195250486848 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99903960e-01 -1.38589780e-02 -8.08945849e-06] [ 1.38589737e-02 9.99903882e-01 -3.93366576e-04] [ 1.35403396e-05 3.93216685e-04 9.99999923e-01]] t_estimated: [[-0.54534904] [-0.83820797] [-0.00135285]] R_gt: [[ 0.99819011 0.05774822 0.01678419] [-0.05471235 0.98789728 -0.14513481] [-0.02496253 0.14395434 0.98926901]] t_gt: [-0.18799021 0.50451187 -0.8426906 ] Pose Error in degrees for R and t: 9.298456147023693 71.3839040169454 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.52165836 0.85314894 0.00307144] [ 0.85313773 0.52162218 0.00814376] [ 0.00534571 0.00686862 -0.99996212]] t_estimated: [[-0.06701134] [-0.99772443] [-0.0074457 ]] R_gt: [[ 0.99154322 0.12887291 -0.01532566] [-0.12947574 0.97419842 -0.18486092] [-0.00889352 0.18528184 0.98264477]] t_gt: [-0.26336842 0.62962402 -0.73089717] Pose Error in degrees for R and t: 175.04681638516436 52.76392208875571 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.96863614e-01 7.91386957e-02 -3.42423123e-05] [-7.91387005e-02 9.96863599e-01 -1.76645927e-04] [ 2.01553864e-05 1.78801789e-04 9.99999984e-01]] t_estimated: [[-0.89580091] [-0.44445329] [-0.00141651]] R_gt: [[ 0.9992487 -0.00980722 0.03749772] [ 0.00778326 0.99852628 0.05372618] [-0.03796948 -0.05339404 0.99785123]] t_gt: [ 0.0331652 -0.1764099 0.98375791] Pose Error in degrees for R and t: 6.293392740773863 87.28872353069825 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.01255189 0.99991993 -0.00160708] [-0.99992033 0.01254972 -0.00135369] [-0.00133341 0.00162395 0.99999779]] t_estimated: [[3.87665976e-01] [9.21799866e-01] [3.11792964e-04]] R_gt: [[ 0.9982906 -0.03647516 0.04566629] [ 0.03315848 0.9968985 0.0713789 ] [-0.04812812 -0.06974309 0.99640293]] t_gt: [ 0.25635541 -0.23191462 0.93834829] Pose Error in degrees for R and t: 91.38684273269577 83.4479352045779 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.99537395 0.09606365 0.00157329] [-0.09605921 0.995372 -0.00268631] [-0.00182406 0.00252275 0.99999515]] t_estimated: [[-0.79893656] [-0.6014135 ] [-0.00147405]] R_gt: [[ 0.99948751 -0.01612846 0.02765633] [ 0.01449108 0.99818943 0.05837742] [-0.02854733 -0.05794681 0.99791147]] t_gt: [0.13720115 0.20903776 0.96823502] Pose Error in degrees for R and t: 7.433475434647762 76.30458630311551 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 1.00000000e+00 7.13318293e-14 6.74373751e-17] [-7.13318293e-14 1.00000000e+00 -1.71087103e-16] [ 1.11694508e-15 -5.01335085e-16 1.00000000e+00]] t_estimated: [[-0.49557064] [-0.86856663] [-0.00131801]] R_gt: [[ 0.99129433 -0.04044465 0.12530525] [ 0.02178738 0.98892309 0.14682544] [-0.12985506 -0.14281758 0.98119338]] t_gt: [ 0.04450565 -0.24227492 0.96918631] Pose Error in degrees for R and t: 11.273436461792153 79.21647700725676 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.56488611 0.8251676 0.00145331] [ 0.82516821 0.56488253 0.0022687 ] [ 0.00105111 0.00248078 -0.99999637]] t_estimated: [[-0.33490325] [-0.94225191] [-0.00107686]] R_gt: [[ 0.97755139 -0.14619931 0.15172225] [ 0.09507593 0.94868997 0.30157837] [-0.1880277 -0.2803841 0.94129261]] t_gt: [ 0.26260129 -0.34880685 0.89965234] Pose Error in degrees for R and t: 179.1307266829472 76.12826778312065 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.02248109 0.99974086 0.00357988] [ 0.99974639 -0.02247618 -0.00140521] [-0.00132439 0.00361056 -0.9999926 ]] t_estimated: [[-9.83242116e-01] [-1.82304125e-01] [-3.84142227e-04]] R_gt: [[ 0.95462122 -0.27867403 0.1050785 ] [ 0.21602379 0.8907702 0.39983048] [-0.20502216 -0.35898719 0.91054585]] t_gt: [ 0.43927311 -0.43553749 0.78571383] Pose Error in degrees for R and t: 170.5646493473579 69.34051001528816 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.65869442e-01 2.59028922e-01 4.87526450e-04] [-2.59028967e-01 9.65869553e-01 2.95314766e-05] [-4.63237447e-04 -1.54807023e-04 9.99999881e-01]] t_estimated: [[0.51882279] [0.8548809 ] [0.00125018]] R_gt: [[ 0.99278824 -0.11235121 0.04181265] [ 0.11046193 0.99285793 0.04506214] [-0.04657719 -0.0401173 0.99810844]] t_gt: [ 0.47887597 -0.7605829 0.43839647] Pose Error in degrees for R and t: 21.695916014968557 66.34628523437918 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.99975593 0.01877028 0.01165173] [-0.01898794 -0.99964182 -0.01885975] [ 0.01129355 -0.01907639 0.99975424]] t_estimated: [[0.69896857] [0.71515197] [0.00077064]] R_gt: [[ 0.9688496 -0.24720678 0.01481307] [ 0.24508181 0.96567516 0.08605862] [-0.03557893 -0.07974624 0.99617993]] t_gt: [ 0.64774586 -0.69063183 0.32164108] Pose Error in degrees for R and t: 166.85962498970773 87.6556709796648 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.99845001 -0.05387285 0.01397452] [ 0.05419356 0.99824945 -0.02368727] [-0.01267395 0.02440788 0.99962174]] t_estimated: [[-9.99994538e-01] [-3.21241770e-03] [-7.78029919e-04]] R_gt: [[ 0.93506436 -0.354262 0.0123574 ] [ 0.34532581 0.91823918 0.1938735 ] [-0.08002852 -0.17701552 0.98094871]] t_gt: [ 0.62308831 -0.61847666 0.47879805] Pose Error in degrees for R and t: 21.49508297327383 51.57639301585502 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.00561621 0.9999808 0.00261999] [ 0.99997902 -0.00562462 0.00321242] [ 0.00322709 0.00260189 -0.99999141]] t_estimated: [[9.99588620e-01] [2.86703713e-02] [7.74874899e-04]] R_gt: [[ 0.9783816 -0.20565972 -0.02179024] [ 0.20617741 0.97819479 0.02500643] [ 0.01617329 -0.02895862 0.99944922]] t_gt: [ 0.97924676 -0.15718862 0.12793563] Pose Error in degrees for R and t: 178.12608207708692 12.983095280923935 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.39202277e-01 3.43354177e-01 -2.64410759e-03] [-3.43352567e-01 9.39205996e-01 1.05483559e-03] [ 2.84554390e-03 -8.28428607e-05 9.99995948e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.96429607 -0.26480986 -0.00299047] [ 0.2646009 0.96294461 0.05219376] [-0.01094178 -0.05112163 0.9986318 ]] t_gt: [ 0.97142422 -0.12910771 0.1991637 ] Pose Error in degrees for R and t: 35.562593875772215 49.25817818859835 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 7.51586022e-01 6.59626153e-01 3.43360392e-03] [ 6.59629712e-01 -7.51590731e-01 1.25719002e-04] [ 2.66359242e-03 2.17041852e-03 -9.99994097e-01]] t_estimated: [[-0.98621455] [ 0.16545013] [-0.00266815]] R_gt: [[ 0.95472961 -0.29448635 0.04205494] [ 0.29022675 0.95313004 0.08550793] [-0.06526327 -0.06943083 0.99544923]] t_gt: [ 0.95056052 -0.11921703 0.28674379] Pose Error in degrees for R and t: 176.98071153366476 16.675324824407983 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-8.44730320e-01 5.35192086e-01 3.44530807e-04] [-5.35189934e-01 -8.44724702e-01 -3.45128653e-03] [-1.55606755e-03 -3.09979580e-03 9.99993985e-01]] t_estimated: [[0.61785339] [0.78629195] [0.00147001]] R_gt: [[ 0.99915194 0.04096722 0.00412266] [-0.04092701 0.99911864 -0.00935815] [-0.00450161 0.00918085 0.99994836]] t_gt: [ 0.07209995 0.98783268 -0.13779768] Pose Error in degrees for R and t: 145.29609447190438 34.80800034440375 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999569e-01 3.49297772e-04 -8.60458312e-04] [-3.49293615e-04 9.99999939e-01 4.98172843e-06] [ 8.60459999e-04 -4.68117368e-06 9.99999630e-01]] t_estimated: [[-0.74428443] [-0.6678593 ] [-0.00215457]] R_gt: [[ 0.99190428 0.11469805 0.05451174] [-0.11015829 0.9906869 -0.08003706] [-0.06318287 0.07338491 0.9953003 ]] t_gt: [-0.28108226 0.95401011 -0.10419918] Pose Error in degrees for R and t: 8.531838456146758 64.67737248907274 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99642865e-01 2.67215295e-02 -3.20230962e-04] [-2.67215182e-02 9.99642916e-01 3.95933617e-05] [ 3.21174608e-04 -3.10221641e-05 9.99999948e-01]] t_estimated: [[-4.88500655e-01] [-8.72563440e-01] [-3.92293554e-04]] R_gt: [[ 0.97918547 0.15573783 0.1301607 ] [-0.14154024 0.98357067 -0.11205585] [-0.1454729 0.0913006 0.98514129]] t_gt: [-0.33581292 0.92635474 0.17057721] Pose Error in degrees for R and t: 12.17112816669229 49.88488763288485 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.90943459e-01 1.34259541e-01 2.33163589e-03] [-1.34261646e-01 9.90945618e-01 7.70335694e-04] [-2.20709945e-03 -1.07640839e-03 9.99996985e-01]] t_estimated: [[0.59040259] [0.80698988] [0.01386035]] R_gt: [[ 0.99923268 -0.03557719 0.01639826] [ 0.03572715 0.9993221 -0.00891734] [-0.01607035 0.00949655 0.99982548]] t_gt: [ 0.2866472 -0.95516375 0.07413226] Pose Error in degrees for R and t: 9.808939493706246 53.091221787190364 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.99366826 0.1122925 0.00371243] [-0.11227139 0.99366249 -0.0054756 ] [-0.00430377 0.00502413 0.99997812]] t_estimated: [[-0.06688639] [-0.997614 ] [-0.01710313]] R_gt: [[ 0.99913985 -0.03399296 0.02375623] [ 0.03391322 0.99941793 0.00374966] [-0.02387046 -0.00294083 0.99971039]] t_gt: [-0.02886026 -0.95831704 0.28424556] Pose Error in degrees for R and t: 8.483424381690785 17.61729275372345 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.99926866 -0.02651921 -0.02754763] [ 0.02765144 0.998753 0.0415673 ] [ 0.02641094 -0.04229863 0.99875587]] t_estimated: [[ 0.36577747] [ 0.93019139] [-0.03083533]] R_gt: [[ 0.99829738 -0.02265239 0.053758 ] [ 0.021163 0.99938064 0.02811119] [-0.05436215 -0.02692512 0.99815872]] t_gt: [-0.36615471 -0.67503714 0.64051197] Pose Error in degrees for R and t: 4.727729860556228 38.593129459782595 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.99972917 -0.00216286 -0.02317142] [-0.00227975 0.9999848 0.0050195 ] [ 0.02316021 0.00507097 -0.99971891]] t_estimated: [[ 0.99855892] [ 0.05237224] [-0.01171464]] R_gt: [[ 0.98336556 -0.17011099 -0.06366769] [ 0.17546809 0.98026905 0.0910227 ] [ 0.04692899 -0.10068021 0.99381046]] t_gt: [ 0.57057256 -0.78963855 0.22565 ] Pose Error in degrees for R and t: 175.52384089386723 58.2811342968633 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.12421727 0.99128367 0.04389491] [ 0.99069791 -0.12142358 -0.0614326 ] [-0.05556725 0.05111759 -0.99714556]] t_estimated: [[-0.86506428] [-0.50163491] [-0.00511872]] R_gt: [[ 0.94548915 -0.28298985 -0.16114062] [ 0.29800329 0.95139677 0.07771323] [ 0.13131775 -0.12149768 0.98386612]] t_gt: [ 0.66834058 -0.74375836 0.0120158 ] Pose Error in degrees for R and t: 174.20545552920098 78.16324704416009 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.91523101e-01 1.29927404e-01 -8.99685760e-04] [-1.29925092e-01 9.91521205e-01 2.27384507e-03] [ 1.18749230e-03 -2.13767816e-03 9.99997010e-01]] t_estimated: [[-0.99998976] [-0.00437402] [-0.00115818]] R_gt: [[ 0.92243613 -0.33022362 -0.20015814] [ 0.36674133 0.91145731 0.18640477] [ 0.12088202 -0.24535302 0.96186706]] t_gt: [ 0.61707975 -0.74508346 0.25310713] Pose Error in degrees for R and t: 32.27830856244915 52.1128971590041 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999976e-01 -2.20472559e-04 8.97918712e-07] [ 2.20472491e-04 9.99999973e-01 7.53735151e-05] [-9.14536479e-07 -7.53733153e-05 9.99999997e-01]] t_estimated: [[2.61412572e-01] [9.65227149e-01] [1.30996222e-04]] R_gt: [[ 0.97847328 -0.14509327 -0.14675947] [ 0.16119135 0.9813799 0.10445037] [ 0.12887269 -0.12585818 0.98364169]] t_gt: [ 0.6058482 -0.79512773 0.02683004] Pose Error in degrees for R and t: 13.64167080168783 52.47561483671016 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.01970289 0.00986554 -0.9997572 ] [-0.78037681 -0.62493824 -0.02154626] [-0.62499907 0.78061186 -0.00461425]] t_estimated: [[0.26204261] [0.96505561] [0.00115437]] R_gt: [[ 0.93410563 -0.29299795 -0.20396046] [ 0.3203113 0.94012929 0.11643454] [ 0.15763519 -0.17409296 0.9720304 ]] t_gt: [ 0.6675813 -0.74063547 0.07612035] Pose Error in degrees for R and t: 158.39401901492346 57.334616766378794 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.35497914 -0.67838573 0.64325937] [-0.78825177 -0.58713529 -0.1842045 ] [ 0.50264198 -0.44166158 -0.74315953]] t_estimated: [[ 0.34594318] [ 0.93817167] [-0.01253964]] R_gt: [[ 0.88107027 -0.37511743 -0.28810003] [ 0.42122313 0.89935296 0.11719578] [ 0.21514281 -0.22461125 0.95040161]] t_gt: [ 0.70981744 -0.70201304 0.0577658 ] Pose Error in degrees for R and t: 177.93799408929326 65.55770305058451 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.61260197e-01 2.75640865e-01 9.73594030e-04] [-2.75640555e-01 9.61260677e-01 -4.41793684e-04] [-1.05765405e-03 1.56316684e-04 9.99999428e-01]] t_estimated: [[0.84748541] [0.53081747] [0.00113909]] R_gt: [[ 0.99684245 0.04856404 0.06283635] [-0.04795086 0.99878699 -0.01122357] [-0.06330586 0.00817564 0.99796044]] t_gt: [-0.32378058 0.76107548 0.56207673] Pose Error in degrees for R and t: 13.709785858868246 82.51693752833182 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.43084382e-01 3.32553528e-01 1.08985167e-05] [-3.32553494e-01 9.43084299e-01 -4.22639613e-04] [-1.50828514e-04 3.94960478e-04 9.99999911e-01]] t_estimated: [[-0.99037498] [-0.13840644] [-0.00102523]] R_gt: [[ 0.98743259 0.10703744 0.1162782 ] [-0.0940486 0.98925207 -0.11196289] [-0.12701332 0.09961913 0.98688514]] t_gt: [-0.38694502 0.915717 0.10833252] Pose Error in degrees for R and t: 16.459110881050478 75.14531148482759 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 2.05595081e-01 -9.78635917e-01 -1.55048031e-03] [-9.78636827e-01 -2.05596034e-01 4.80756179e-04] [-7.89257867e-04 1.41851603e-03 -9.99998682e-01]] t_estimated: [[0.54617434] [0.83767089] [0.00103265]] R_gt: [[ 0.9772908 0.11404819 0.17859884] [-0.09842252 0.99069002 -0.09405592] [-0.18766368 0.07434182 0.97941603]] t_gt: [-0.34091384 0.81075166 0.4758776 ] Pose Error in degrees for R and t: 177.15262689590244 60.43332271936796 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99969609 -0.02432782 -0.0039857 ] [ 0.02435028 0.9996873 0.00568839] [ 0.00384606 -0.00578371 0.99997588]] t_estimated: [[-0.50394474] [-0.86373507] [-0.00119136]] R_gt: [[ 0.99364595 -0.10405524 -0.04290247] [ 0.10551688 0.99385902 0.03333556] [ 0.03916986 -0.03764961 0.99852342]] t_gt: [ 0.60091246 -0.79672693 -0.06426829] Pose Error in degrees for R and t: 5.370253606194303 67.33074882421353 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.95017701e-01 9.96982637e-02 1.77925775e-04] [-9.96982939e-02 9.95017699e-01 1.69294839e-04] [-1.60160893e-04 -1.86190258e-04 9.99999970e-01]] t_estimated: [[-0.56358435] [-0.82605744] [-0.00133235]] R_gt: [[ 0.99152168 -0.12987084 -0.00434614] [ 0.12993481 0.99128471 0.02173609] [ 0.00148516 -0.02211616 0.99975431]] t_gt: [ 0.51515514 -0.85512373 0.05812559] Pose Error in degrees for R and t: 13.246521197330669 65.41955158515253 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-7.15510805e-02 -9.97436834e-01 4.52840654e-04] [-9.97435316e-01 7.15501383e-02 -1.83528595e-03] [ 1.79818100e-03 -5.82995954e-04 -9.99998213e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99187916 -0.12642918 -0.01385713] [ 0.12661087 0.99186465 0.01321587] [ 0.01207325 -0.01486177 0.99981652]] t_gt: [ 0.44220649 -0.89633529 -0.03219412] Pose Error in degrees for R and t: 179.916898852875 79.54369644822091 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99999953e-01 -2.60078818e-04 1.60677714e-04] [ 2.60083171e-04 9.99999966e-01 -2.70713866e-05] [-1.60670668e-04 2.71131749e-05 9.99999987e-01]] t_estimated: [[0.57783561] [0.81615271] [0.00086759]] R_gt: [[ 0.99626646 -0.07969321 0.0331816 ] [ 0.0786396 0.99639182 0.03191882] [-0.0356051 -0.02919052 0.99893947]] t_gt: [ 0.38705142 -0.818654 0.42426033] Pose Error in degrees for R and t: 5.237969025349545 63.632533725425155 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.88594420e-01 1.50602242e-01 1.93292089e-04] [-1.50602322e-01 9.88594297e-01 5.06184635e-04] [-1.14854916e-04 -5.29521543e-04 9.99999853e-01]] t_estimated: [[0.63534056] [0.77223137] [0.00104497]] R_gt: [[ 0.98218755 -0.18569656 0.0286867 ] [ 0.18382568 0.98124886 0.05794778] [-0.03890909 -0.0516413 0.99790765]] t_gt: [ 0.57001207 -0.76458253 0.30083185] Pose Error in degrees for R and t: 19.663902925716926 76.82250381032192 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.9811407 0.19327221 0.00296425] [-0.19329113 0.98110228 0.00876681] [-0.00121386 -0.00917444 0.99995718]] t_estimated: [[0.94867977] [0.31622659] [0.00272609]] R_gt: [[ 0.94355154 -0.33066862 0.01920797] [ 0.3251341 0.93571173 0.13686677] [-0.06323033 -0.1228952 0.99040314]] t_gt: [ 0.64441455 -0.66728704 0.37344061] Pose Error in degrees for R and t: 31.248388448073978 66.33757591229354 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 0.95996819 0.0037813 0.28008352] [ 0.08604023 0.94758837 -0.30769037] [-0.26656736 0.31947142 0.90932935]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99921095 0.0240629 0.03161572] [-0.02663275 0.99614447 0.08358971] [-0.02948227 -0.08436591 0.9959988 ]] t_gt: [-0.19638395 -0.08957644 0.97642686] Pose Error in degrees for R and t: 27.706739035969665 86.7819898875845 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.85712108 -0.05051728 -0.51263189] [ 0.26707938 0.89454751 0.35840389] [ 0.44046799 -0.44410894 0.78022766]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.98802458 0.1454938 0.05137445] [-0.14932668 0.98546815 0.08095421] [-0.03884843 -0.08765621 0.99539319]] t_gt: [-0.67164124 0.46360656 0.57789878] Pose Error in degrees for R and t: 42.17046197046836 81.67973073479644 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.99999757 0.00143016 0.00167735] [-0.00142835 0.9999984 -0.00108027] [-0.0016789 0.00107787 0.99999801]] t_estimated: [[0.95909037] [0.28309702] [0.00132288]] R_gt: [[ 0.97839246 0.20230641 0.04267681] [-0.20295002 0.97912363 0.01129007] [-0.03950184 -0.01970754 0.99902526]] t_gt: [-0.71055414 0.68026385 0.17987192] Pose Error in degrees for R and t: 11.872024836777655 60.746994404709824 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.87597032 -0.48236177 0.00176472] [-0.48236391 -0.87597027 0.00107577] [ 0.00102693 -0.00179358 -0.99999786]] t_estimated: [[0.25644314] [0.96655867] [0.00112134]] R_gt: [[ 0.99864508 -0.03067253 0.04204116] [ 0.02918006 0.99893876 0.03564251] [-0.04308938 -0.03436754 0.99847993]] t_gt: [ 0.38414631 -0.22566635 0.89526885] Pose Error in degrees for R and t: 177.36491915946186 83.18844754786448 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 8.91970776e-01 -4.52092617e-01 6.33008706e-04] [ 4.52093041e-01 8.91970267e-01 -9.62033161e-04] [-1.29696855e-04 1.14428430e-03 9.99999337e-01]] t_estimated: [[-0.30035825] [-0.95382585] [-0.00107655]] R_gt: [[ 0.99379059 -0.08776354 0.0684066 ] [ 0.08313509 0.99422931 0.0678011 ] [-0.07396187 -0.06169293 0.99535053]] t_gt: [ 0.65420853 -0.21356769 0.72553431] Pose Error in degrees for R and t: 22.647386943753816 89.63167869298047 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-0.54433125 0.83877202 0.0128446 ] [ 0.83873727 0.54445383 -0.0094771 ] [-0.01494241 0.00561456 -0.99987259]] t_estimated: [[-0.68744909] [-0.72623217] [-0.00076045]] R_gt: [[ 0.98724837 -0.15907839 0.00600848] [ 0.15903922 0.9872514 0.00643291] [-0.00695518 -0.00539496 0.99996129]] t_gt: [ 0.98719924 -0.14179438 0.07302063] Pose Error in degrees for R and t: 178.94313009676455 54.84929155710574 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.4439326 -0.89605818 -0.00189196] [-0.89603394 -0.44393477 0.00671474] [-0.0068567 -0.00128564 -0.99997567]] t_estimated: [[0.11776303] [0.99301171] [0.00772068]] R_gt: [[ 9.95917170e-01 8.61460743e-02 2.69790431e-02] [-8.61397856e-02 9.96282737e-01 -1.42799732e-03] [-2.70015143e-02 -9.02388750e-04 9.99634165e-01]] t_gt: [-0.70241605 0.68796288 0.18253428] Pose Error in degrees for R and t: 178.9378354933669 52.99778840162701 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 3.26068227e-02 9.99468209e-01 3.06883587e-04] [ 9.99465605e-01 -3.26074419e-02 2.29329688e-03] [ 2.30208402e-03 2.31942465e-04 -9.99997323e-01]] t_estimated: [[-0.36994041] [-0.92905489] [-0.00105097]] R_gt: [[ 0.91586137 0.40082236 0.02320992] [-0.40043738 0.91611462 -0.01957407] [-0.02910873 0.00863314 0.99953826]] t_gt: [-0.63580135 0.77145149 0.02488474] Pose Error in degrees for R and t: 178.44277969670782 61.214079529186414 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.97795560e-01 -6.63619474e-02 -3.34639136e-04] [ 6.63620399e-02 9.97795573e-01 2.73410989e-04] [ 3.15757362e-04 -2.95015606e-04 9.99999907e-01]] t_estimated: [[-0.94499698] [-0.32707766] [-0.00095358]] R_gt: [[ 0.8156824 0.57136851 0.09055333] [-0.56941029 0.82060839 -0.04872676] [-0.10214932 -0.01181671 0.99469789]] t_gt: [-0.56940482 0.8142168 0.11326584] Pose Error in degrees for R and t: 39.12216446142396 74.23659011661282 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[-0.66875421 -0.74347239 -0.0040762 ] [ 0.74348231 -0.6687531 -0.00183157] [-0.00136425 -0.00425546 0.99999001]] t_estimated: [[0.97085196] [0.23967365] [0.00173677]] R_gt: [[ 0.99856794 -0.03790371 0.03777363] [ 0.03835039 0.9992023 -0.01118503] [-0.03731896 0.01261754 0.9992236 ]] t_gt: [-0.26684143 -0.68563469 0.67727448] Pose Error in degrees for R and t: 129.80097677324954 65.02543896100825 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 0.99622685 0.01748353 -0.08500823] [-0.01101599 0.99704974 0.07596357] [ 0.08608554 -0.0747405 0.99348032]] t_estimated: [[-0.4868012 ] [-0.87325241] [ 0.02132651]] R_gt: [[ 0.9948338 -0.09900399 0.02248511] [ 0.09921099 0.99503174 -0.00832319] [-0.02154957 0.01051035 0.99971271]] t_gt: [ 0.11129255 -0.98514365 0.13078977] Pose Error in degrees for R and t: 10.204563900651003 36.012279227476846 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99823838e-01 1.87544839e-02 7.50449419e-04] [-1.87547817e-02 9.99824037e-01 3.91703003e-04] [-7.42971180e-04 -4.05708515e-04 9.99999642e-01]] t_estimated: [[0.99600546] [0.08927228] [0.00189216]] R_gt: [[ 0.99515693 -0.09609634 -0.02069788] [ 0.09632401 0.99529655 0.01031745] [ 0.01960966 -0.01226166 0.99973277]] t_gt: [-0.08118926 -0.98736966 -0.13604945] Pose Error in degrees for R and t: 6.733240543291417 80.25478937440148 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 0.96900196 -0.24702482 0.00373462] [-0.24695661 -0.96809065 0.04257855] [-0.00690251 -0.04218099 -0.99908614]] t_estimated: [[0.11391129] [0.99325117] [0.02182501]] R_gt: [[ 9.99225520e-01 6.87043896e-04 -3.93523350e-02] [-3.02580217e-03 9.98227949e-01 -5.94369813e-02] [ 3.92426361e-02 5.95099468e-02 9.97455948e-01]] t_gt: [ 0.11092453 0.23239039 -0.96627659] Pose Error in degrees for R and t: 178.78362683201112 77.15180998720852 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.98609428e-01 5.27182237e-02 5.94374732e-06] [-5.27180752e-02 9.98606870e-01 -2.26339244e-03] [-1.25257496e-04 2.25993169e-03 9.99997439e-01]] t_estimated: [[0.81643613] [0.57743258] [0.00191203]] R_gt: [[ 0.99910852 -0.00720987 0.04158389] [ 0.00644741 0.99980844 0.01847283] [-0.04170861 -0.01818846 0.99896442]] t_gt: [-0.08792073 -0.25898051 0.96187267] Pose Error in degrees for R and t: 4.327071031870249 77.32113598947036 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99513714 -0.09847715 -0.00208111] [ 0.09847973 0.99513836 0.00117467] [ 0.00195532 -0.0013739 0.99999714]] t_estimated: [[-0.70537475] [-0.70883247] [-0.00172886]] R_gt: [[ 0.98946841 -0.08914728 0.1140379 ] [ 0.06583613 0.97880381 0.193931 ] [-0.12890926 -0.1843805 0.97436406]] t_gt: [ 0.21517958 -0.39235031 0.89429245] Pose Error in degrees for R and t: 13.05371557861523 82.83181652338922 Number of keypoints: Image1: 624 Image2: 624 R_estimated: [[ 9.99908039e-01 -1.35614077e-02 4.30372530e-05] [ 1.35614073e-02 9.99908040e-01 1.05907935e-05] [-4.31769214e-05 -1.00061739e-05 9.99999999e-01]] t_estimated: [[ 9.90774414e-01] [-1.35520321e-01] [ 5.50391788e-04]] R_gt: [[ 0.99902903 -0.04340496 -0.00762408] [ 0.0432663 0.9989132 -0.01737797] [ 0.00837085 0.01703073 0.99981991]] t_gt: [ 0.55071008 -0.74019035 -0.38579354] Pose Error in degrees for R and t: 2.0235939169819623 49.77972332075906 Number of keypoints: Image1: 575 Image2: 575 R_estimated: [[ 9.99977881e-01 -6.65112092e-03 2.86304018e-05] [ 6.65112017e-03 9.99977881e-01 2.63041789e-05] [-2.88047208e-05 -2.61131728e-05 9.99999999e-01]] t_estimated: [[ 9.83141727e-01] [-1.82844945e-01] [ 2.65466984e-04]] R_gt: [[ 9.97713517e-01 -6.67347108e-02 -1.07352169e-02] [ 6.67391095e-02 9.97771491e-01 1.12488126e-04] [ 1.07048591e-02 -8.28926450e-04 9.99942177e-01]] t_gt: [ 0.4989461 -0.85437575 -0.14524073] Pose Error in degrees for R and t: 3.4997143393276477 49.70565835113905 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[ 0.99943257 -0.03292573 -0.00710202] [ 0.03296513 0.99944135 0.00550384] [ 0.00691684 -0.00573484 0.99995963]] t_estimated: [[-0.40868226] [-0.91267558] [-0.00144411]] R_gt: [[ 0.9929945 -0.11766619 0.01077587] [ 0.11747276 0.99292966 0.01707272] [-0.01270884 -0.01568662 0.9997957 ]] t_gt: [ 0.40142397 -0.89796845 0.18030932] Pose Error in degrees for R and t: 5.020275289618216 49.06225265381789 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-4.43756017e-01 -8.96146582e-01 -1.37835806e-03] [-8.96135527e-01 4.43757491e-01 -4.51725271e-03] [ 4.65977729e-03 -7.69362447e-04 -9.99988847e-01]] t_estimated: [[ 8.34925577e-01] [ 5.50362643e-01] [-4.92001650e-04]] R_gt: [[ 0.99788658 -0.01668935 -0.06279461] [ 0.01680534 0.99985786 0.00131928] [ 0.06276317 -0.00237076 0.99802577]] t_gt: [ 0.52896549 -0.35541232 -0.77063454] Pose Error in degrees for R and t: 176.79269336715038 75.73421519534938 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.99968671 -0.02500489 0.00111348] [ 0.02500629 0.9996865 -0.00126002] [-0.00108162 0.00128747 0.99999859]] t_estimated: [[-0.98960841] [-0.14376878] [-0.00239615]] R_gt: [[ 0.99531988 -0.07116241 -0.0653653 ] [ 0.07369126 0.99658985 0.03711991] [ 0.06250112 -0.04176194 0.99717111]] t_gt: [ 0.60108071 -0.76911019 -0.21718999] Pose Error in degrees for R and t: 5.178586963665972 61.07004149098438 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-4.81870542e-01 -8.76239022e-01 -2.44053686e-03] [ 8.76230544e-01 -4.81876643e-01 3.86454387e-03] [-4.56230185e-03 -2.76263091e-04 9.99989554e-01]] t_estimated: [[0.98537495] [0.17038775] [0.00205286]] R_gt: [[ 0.98311822 -0.13022111 -0.12853394] [ 0.13709693 0.98948268 0.04615053] [ 0.12117207 -0.06299287 0.99063115]] t_gt: [ 0.61832194 -0.72671651 -0.2992676 ] Pose Error in degrees for R and t: 111.27635906073394 60.9979439636218 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.95398199e-01 9.58249697e-02 3.75070082e-05] [-9.58249638e-02 9.95398191e-01 -1.36510503e-04] [-5.04155229e-05 1.32288202e-04 9.99999990e-01]] t_estimated: [[-0.67162484] [-0.74089083] [-0.00092194]] R_gt: [[ 0.99412903 0.10676567 0.0175599 ] [-0.10569472 0.99295818 -0.05349145] [-0.02314772 0.05132049 0.99841349]] t_gt: [-0.13424518 0.97902998 -0.15322704] Pose Error in degrees for R and t: 3.2761283619928356 50.576257429607615 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99999975e-01 1.96312076e-04 -1.08514575e-04] [-1.96263639e-04 9.99999881e-01 4.46188803e-04] [ 1.08602154e-04 -4.46167494e-04 9.99999895e-01]] t_estimated: [[-8.40636747e-01] [-5.41598869e-01] [-7.24062659e-04]] R_gt: [[ 0.99197323 0.10606454 0.06885342] [-0.1064728 0.99431301 0.00227269] [-0.0682206 -0.00958588 0.99762392]] t_gt: [-0.1331874 0.90282296 0.4088665 ] Pose Error in degrees for R and t: 7.265386972679643 67.83335534757866 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999680e-01 7.08145087e-04 -3.71230514e-04] [-7.07935323e-04 9.99999590e-01 5.64878939e-04] [ 3.71630378e-04 -5.64615951e-04 9.99999772e-01]] t_estimated: [[-0.99994013] [-0.01047634] [-0.00316026]] R_gt: [[ 0.99587565 0.05641771 0.07106269] [-0.06022786 0.99679443 0.05266443] [-0.06786375 -0.05672785 0.99607951]] t_gt: [0.05008159 0.66996458 0.7407019 ] Pose Error in degrees for R and t: 6.055215451748592 86.59243508579837 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99344276e-01 -3.62079736e-02 3.30638327e-06] [ 3.62079729e-02 9.99344269e-01 1.25205652e-04] [-7.83765813e-06 -1.25003835e-04 9.99999992e-01]] t_estimated: [[0.7025253 ] [0.71165798] [0.00105427]] R_gt: [[ 0.9979196 -0.05862002 -0.02684357] [ 0.05987135 0.99703145 0.04841927] [ 0.02392518 -0.04992616 0.99846565]] t_gt: [ 0.48542367 -0.86418375 0.13247759] Pose Error in degrees for R and t: 3.433050077802686 74.10703205963692 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-1.92207119e-01 -9.81351876e-01 -2.21775139e-03] [ 9.81354366e-01 -1.92206212e-01 -6.16755245e-04] [ 1.78988323e-04 -2.29494475e-03 9.99997351e-01]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.99329152 -0.09290145 -0.06886366] [ 0.09587303 0.99454216 0.04116578] [ 0.06466319 -0.04749219 0.99677601]] t_gt: [ 0.55357691 -0.80864405 -0.19911656] Pose Error in degrees for R and t: 95.73338839149096 56.669771572013005 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.99979599 0.01910237 -0.00656388] [-0.01912204 -0.99981281 0.00294663] [-0.00650637 0.00307155 0.99997412]] t_estimated: [[0.76566622] [0.64323525] [0.0019099 ]] R_gt: [[ 0.99782507 -0.03634013 0.05500037] [ 0.03671793 0.99930891 -0.00586045] [-0.05474975 0.00786595 0.99846877]] t_gt: [ 0.16178922 -0.67306802 0.7216673 ] Pose Error in degrees for R and t: 178.99876834012795 72.08015318803004 Number of keypoints: Image1: 581 Image2: 581 R_estimated: [[ 9.99933781e-01 -1.15079517e-02 2.88979058e-05] [ 1.15079521e-02 9.99933781e-01 -1.29503898e-05] [-2.87469598e-05 1.32820880e-05 9.99999999e-01]] t_estimated: [[ 9.96485076e-01] [-8.37702941e-02] [ 1.78541138e-04]] R_gt: [[ 0.99942764 -0.03364834 -0.0035776 ] [ 0.03359587 0.99934614 -0.01341405] [ 0.00402654 0.01328598 0.99990377]] t_gt: [ 0.56748674 -0.76720493 -0.29892373] Pose Error in degrees for R and t: 1.4950542967630773 50.97144112594806 Number of keypoints: Image1: 404 Image2: 404 R_estimated: [[ 9.95906858e-01 -9.03854453e-02 -3.22531534e-05] [ 9.03854466e-02 9.95906858e-01 4.29253096e-05] [ 2.82413134e-05 -4.56648259e-05 9.99999999e-01]] t_estimated: [[ 9.88381602e-01] [-1.51992536e-01] [ 2.79611451e-04]] R_gt: [[ 0.99673096 -0.08034549 -0.00848571] [ 0.08017571 0.9966043 -0.01871867] [ 0.00996106 0.01797622 0.99978893]] t_gt: [ 0.56976649 -0.78786275 -0.23374868] Pose Error in degrees for R and t: 1.3154767416576674 46.93476501441279 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[-9.99425057e-01 -2.28027527e-02 2.50916350e-02] [-2.27984573e-02 9.99739977e-01 4.57282106e-04] [-2.50955379e-02 -1.15031374e-04 -9.99685051e-01]] t_estimated: [[0.99989542] [0.00670811] [0.0128119 ]] R_gt: [[ 9.95422241e-01 -9.55798357e-02 -6.70805918e-04] [ 9.55808619e-02 9.95376325e-01 9.52930349e-03] [-2.42740060e-04 -9.55063716e-03 9.99954585e-01]] t_gt: [ 0.47710524 -0.87706825 0.05587368] Pose Error in degrees for R and t: 178.5698305358093 61.8430974675277 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.82246230e-01 -1.87595792e-01 4.03234723e-04] [ 1.87595722e-01 9.82246305e-01 2.05667583e-04] [-4.34658190e-04 -1.26371099e-04 9.99999898e-01]] t_estimated: [[0.90941092] [0.41589762] [0.00097295]] R_gt: [[ 0.99593689 -0.05445566 -0.0717341 ] [ 0.04811923 0.99502129 -0.08727268] [ 0.07612885 0.08346574 0.99359781]] t_gt: [ 0.63400761 0.05665837 -0.77124846] Pose Error in degrees for R and t: 10.20487847044384 53.17398255144099 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.31424839 0.94933467 -0.00341028] [-0.94932989 -0.31425997 -0.00366378] [-0.00454987 0.00208615 0.99998747]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99183581 0.02305282 -0.12542415] [-0.03727661 0.99297865 -0.11226518] [ 0.12195542 0.1160239 0.98573028]] t_gt: [ 0.09356507 0.13101224 -0.98695561] Pose Error in degrees for R and t: 106.86452582386059 82.49605432436174 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 0.76364662 0.64357345 0.05154663] [ 0.56022634 -0.62082709 -0.54837958] [-0.32092099 0.447646 -0.83463931]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.94647253 0.27005169 -0.17681168] [-0.28449993 0.95668583 -0.06173429] [ 0.1524824 0.10873282 0.98230606]] t_gt: [-0.8339576 0.27023675 -0.48113077] Pose Error in degrees for R and t: 145.6973600135042 35.439837838463944 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-2.77969051e-01 9.60588689e-01 1.60550057e-03] [-9.60590027e-01 -2.77968522e-01 -5.48511340e-04] [-8.06151678e-05 -1.69469702e-03 9.99998561e-01]] t_estimated: [[0.6734428 ] [0.73923893] [0.00077407]] R_gt: [[ 0.97054785 -0.23509659 -0.05260822] [ 0.23362434 0.97177816 -0.03264736] [ 0.05879881 0.01939538 0.99808181]] t_gt: [ 0.85821566 -0.47126822 -0.20340143] Pose Error in degrees for R and t: 119.74159004917648 76.73696167340819 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.41657993 -0.90908708 -0.00467309] [-0.9090888 0.41654524 0.00690052] [-0.00432662 0.00712287 -0.99996527]] t_estimated: [[0.87826052] [0.47818126] [0.00106978]] R_gt: [[ 0.88672564 -0.457344 -0.06748499] [ 0.45286899 0.88866756 -0.07195876] [ 0.09288163 0.03324544 0.99512204]] t_gt: [ 0.91516826 -0.36989983 -0.16012861] Pose Error in degrees for R and t: 174.43929744662088 51.192510538957535 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.72390708 -0.68988954 -0.00331123] [ 0.68989652 -0.72388972 -0.00514459] [ 0.00115223 -0.00600861 0.99998128]] t_estimated: [[9.73908771e-01] [2.26938329e-01] [8.37410809e-04]] R_gt: [[ 0.72817886 -0.68419126 -0.04049024] [ 0.67680884 0.72712622 -0.114967 ] [ 0.10810098 0.05631263 0.99254341]] t_gt: [ 0.95682657 -0.25552129 -0.13853441] Pose Error in degrees for R and t: 93.48320783813105 29.10165128789083 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99999966e-01 -2.57166604e-04 3.56848124e-05] [ 2.57167482e-04 9.99999967e-01 -2.45956432e-05] [-3.56784860e-05 2.46048194e-05 9.99999999e-01]] t_estimated: [[ 9.86552084e-01] [-1.63446949e-01] [ 2.83205396e-04]] R_gt: [[ 0.99884597 -0.04768047 -0.00583842] [ 0.04770732 0.99885092 0.00463944] [ 0.00561055 -0.00491342 0.99997196]] t_gt: [ 0.52174723 -0.85024783 -0.06970264] Pose Error in degrees for R and t: 2.752448058300921 49.18025077755203 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99603375e-01 2.81616924e-02 1.07765295e-04] [-2.81616810e-02 9.99603376e-01 -1.06567227e-04] [-1.10723666e-04 1.03490108e-04 9.99999989e-01]] t_estimated: [[ 9.89135467e-01] [-1.47006786e-01] [ 1.79718971e-04]] R_gt: [[ 0.99607923 -0.08471215 -0.02551932] [ 0.08520661 0.9961831 0.01896774] [ 0.0238147 -0.02106829 0.99949505]] t_gt: [ 0.53038643 -0.84268286 -0.09260576] Pose Error in degrees for R and t: 6.741345141782529 49.57233808935342 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.81678930e-01 1.90542527e-01 1.51103325e-04] [-1.90542499e-01 9.81678930e-01 -1.84175200e-04] [-1.83428159e-04 1.52009309e-04 9.99999972e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99294813 -0.10856761 -0.04761311] [ 0.11051719 0.99305231 0.04043332] [ 0.04289216 -0.04541031 0.99804721]] t_gt: [ 0.527899 -0.84634545 -0.07086622] Pose Error in degrees for R and t: 17.646719648746075 58.317143557764695 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[ 9.99555847e-01 2.97978754e-02 -4.42627276e-04] [-2.97972220e-02 9.99554961e-01 1.41593899e-03] [ 4.84622263e-04 -1.40212104e-03 9.99998900e-01]] t_estimated: [[0.79559125] [0.60581659] [0.00456288]] R_gt: [[ 9.99472706e-01 3.24386733e-02 -8.46341315e-04] [-3.24425076e-02 9.99459732e-01 -5.20794508e-03] [ 6.77811188e-04 5.23154660e-03 9.99986549e-01]] t_gt: [-0.01805041 0.92663234 -0.37553521] Pose Error in degrees for R and t: 0.4113246999172825 56.95517677197797 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.92037698e-01 1.25941242e-01 9.22958248e-05] [-1.25941245e-01 9.92037702e-01 2.24201044e-05] [-8.87373222e-05 -3.38654398e-05 9.99999995e-01]] t_estimated: [[0.64378215] [0.76520774] [0.00129149]] R_gt: [[ 0.99369908 0.11074762 -0.01724338] [-0.11096293 0.99375057 -0.01211108] [ 0.01579458 0.0139471 0.99977838]] t_gt: [ 0.12955747 0.94464941 -0.30141725] Pose Error in degrees for R and t: 1.4917998988079766 36.30558772862563 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999998e-01 1.33092406e-05 -5.90641284e-05] [-1.33053179e-05 9.99999998e-01 6.64146650e-05] [ 5.90650122e-05 -6.64138790e-05 9.99999996e-01]] t_estimated: [[-0.58640048] [-0.8100207 ] [-0.00096919]] R_gt: [[ 0.99132855 0.12879716 0.02602911] [-0.12897699 0.99163313 0.00534644] [-0.02512254 -0.00865786 0.99964665]] t_gt: [0.36183939 0.9069045 0.21586218] Pose Error in degrees for R and t: 7.5612199503358415 18.73693084854436 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99999983e-01 7.46237401e-05 1.67691994e-04] [-7.46023044e-05 9.99999989e-01 -1.27830396e-04] [-1.67701532e-04 1.27817884e-04 9.99999978e-01]] t_estimated: [[0.93253369] [0.36108077] [0.00126104]] R_gt: [[ 0.99722098 0.00462335 0.07435081] [-0.00382932 0.99993395 -0.01082219] [-0.07439711 0.01050765 0.99717388]] t_gt: [0.19227218 0.48819464 0.85129161] Pose Error in degrees for R and t: 4.305044409677165 69.105305040359 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.94622277e-01 -1.03568803e-01 1.69580393e-04] [ 1.03568799e-01 9.94622291e-01 3.21495498e-05] [-1.71998129e-04 -1.44134207e-05 9.99999985e-01]] t_estimated: [[0.99454543] [0.1042969 ] [0.00124163]] R_gt: [[ 0.99506972 -0.00508113 0.09904755] [ 0.00272304 0.99971031 0.02392461] [-0.09914058 -0.02353772 0.99479534]] t_gt: [0.12415425 0.26610586 0.95591495] Pose Error in degrees for R and t: 8.17208177105134 81.2329236037712 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 3.78692130e-02 -9.99282012e-01 -1.17574674e-03] [ 9.99282588e-01 3.78686160e-02 5.25893375e-04] [-4.80991889e-04 -1.19481842e-03 9.99999171e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99258232 -0.10916831 0.05349896] [ 0.10424527 0.99069747 0.08748071] [-0.06255198 -0.0812547 0.99472929]] t_gt: [ 0.53832715 -0.32562647 0.77728456] Pose Error in degrees for R and t: 81.8594479447179 57.45803039774158 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99998875e-01 -1.42668857e-03 -4.63226451e-04] [ 1.42700337e-03 9.99998751e-01 6.79974482e-04] [ 4.62255760e-04 -6.80634743e-04 9.99999662e-01]] t_estimated: [[-0.99966017] [-0.02600719] [-0.00178189]] R_gt: [[ 9.89780640e-01 1.42597953e-01 -4.10349974e-04] [-1.42561725e-01 9.89454557e-01 -2.56470344e-02] [-3.25129290e-03 2.54435181e-02 9.99670537e-01]] t_gt: [-0.66761933 0.74000164 -0.08174351] Pose Error in degrees for R and t: 8.416568197018996 49.58699453811032 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.36780067 -0.92981127 0.01317864] [-0.92982893 0.36791464 0.0075481 ] [-0.01186692 -0.00947768 -0.99988467]] t_estimated: [[0.79400036] [0.60785003] [0.00904284]] R_gt: [[ 0.97797247 0.20863867 -0.00636436] [-0.20869933 0.97677407 -0.0485628 ] [-0.00391492 0.04882212 0.99879954]] t_gt: [-0.64234319 0.75493197 -0.1321853 ] Pose Error in degrees for R and t: 179.23214301559085 87.0003055227509 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-4.40350121e-01 -8.97824014e-01 -1.95212775e-03] [ 8.97826124e-01 -4.40349427e-01 -7.95164000e-04] [-1.45701002e-04 -2.10282186e-03 9.99997778e-01]] t_estimated: [[ 8.87574358e-01] [-4.60664380e-01] [ 2.95265281e-04]] R_gt: [[ 0.98172715 0.18827961 -0.02760773] [-0.18923625 0.98121761 -0.03746167] [ 0.0200367 0.04200225 0.99891619]] t_gt: [-0.68139544 0.6978611 -0.22065842] Pose Error in degrees for R and t: 127.0283086762568 22.12961781734634 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-1.52771534e-01 -9.88261346e-01 -6.08808771e-04] [-9.88260137e-01 1.52770253e-01 1.77494304e-03] [-1.66109973e-03 8.72822211e-04 -9.99998239e-01]] t_estimated: [[0.76553492] [0.64339333] [0.00114885]] R_gt: [[ 0.99083295 -0.12489716 -0.05148297] [ 0.12612747 0.99178304 0.02138469] [ 0.04838879 -0.02768181 0.99844501]] t_gt: [ 0.6178803 -0.77632225 -0.12469039] Pose Error in degrees for R and t: 178.78499619267888 88.47490060070524 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-6.14334206e-01 -7.89044022e-01 -1.73600372e-03] [ 7.89045387e-01 -6.14334881e-01 -1.76044368e-04] [-9.27580884e-04 -1.47793580e-03 9.99998478e-01]] t_estimated: [[9.68026164e-01] [2.50847901e-01] [8.22452136e-04]] R_gt: [[ 0.9690005 -0.22735349 -0.0966918 ] [ 0.23103153 0.97252637 0.02856771] [ 0.08754054 -0.05002131 0.99490419]] t_gt: [ 0.70736573 -0.69701372 -0.11749727] Pose Error in degrees for R and t: 114.70846275094094 59.348994030236405 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-4.39608904e-01 -8.98187018e-01 -2.02275093e-03] [ 8.98189192e-01 -4.39606657e-01 -1.47051395e-03] [ 4.31581767e-04 -2.46326405e-03 9.99996873e-01]] t_estimated: [[9.88621047e-01] [1.50425477e-01] [7.75389057e-04]] R_gt: [[ 0.92461102 -0.33600932 -0.17942341] [ 0.33602699 0.94133385 -0.03122364] [ 0.1793888 -0.03142109 0.98327594]] t_gt: [ 0.77481225 -0.57276635 -0.26759051] Pose Error in degrees for R and t: 96.68531360698405 47.18529737288138 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.83383946e-01 -1.81534255e-01 1.15305460e-03] [ 1.81533927e-01 9.83384607e-01 3.84056239e-04] [-1.20361550e-03 -1.68356211e-04 9.99999261e-01]] t_estimated: [[0.5437047 ] [0.83927571] [0.00121634]] R_gt: [[ 0.99840485 0.0538888 0.01686899] [-0.05327087 0.99796032 -0.0351776 ] [-0.01873018 0.0342226 0.99923885]] t_gt: [-0.81965265 0.56509836 -0.09398603] Pose Error in degrees for R and t: 13.711657413685897 88.36627564322688 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.80977695e-01 -1.94120417e-01 1.61691716e-04] [ 1.94120455e-01 9.80977664e-01 -2.67085842e-04] [-1.06769147e-04 2.93392923e-04 9.99999951e-01]] t_estimated: [[-9.49820189e-01] [-3.12795515e-01] [-7.58500155e-04]] R_gt: [[ 0.9830337 0.18290136 0.01384592] [-0.18114533 0.97991122 -0.08342971] [-0.02882707 0.07950646 0.99641754]] t_gt: [-0.68353795 0.71906977 -0.12535763] Pose Error in degrees for R and t: 22.22550027953097 64.88658558750338 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-9.99686771e-01 2.30271627e-02 -9.80352378e-03] [ 2.30286898e-02 9.99734804e-01 -4.28935361e-05] [ 9.79993620e-03 -2.68642408e-04 -9.99951943e-01]] t_estimated: [[ 0.99893276] [ 0.04599142] [-0.00425689]] R_gt: [[ 0.95833751 0.28540624 0.01157974] [-0.28292631 0.95402542 -0.09893614] [-0.03928429 0.09153825 0.99502607]] t_gt: [-0.63761748 0.76626416 -0.07926653] Pose Error in degrees for R and t: 179.01647798166994 53.032781528085266 Number of keypoints: Image1: 425 Image2: 425 R_estimated: [[ 9.99999756e-01 6.94371920e-04 -7.59349567e-05] [-6.94376421e-04 9.99999757e-01 -5.92677474e-05] [ 7.58937844e-05 5.93204604e-05 9.99999995e-01]] t_estimated: [[ 1.24605568e-01] [ 9.92206022e-01] [-8.13661438e-04]] R_gt: [[ 9.98933188e-01 2.46078933e-04 4.61880825e-02] [-2.94017073e-03 9.98296215e-01 5.82864973e-02] [-4.60955103e-02 -5.83605395e-02 9.97231484e-01]] t_gt: [-0.05965634 0.04004975 0.99741523] Pose Error in degrees for R and t: 4.269932515328631 88.19531219501934 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.99999853e-01 5.03045332e-04 2.03076858e-04] [-5.03036617e-04 9.99999873e-01 -4.29642596e-05] [-2.03098445e-04 4.28620982e-05 9.99999978e-01]] t_estimated: [[-0.99152846] [-0.12988443] [-0.00115968]] R_gt: [[ 0.99688381 -0.07275205 0.03050744] [ 0.0687821 0.99092444 0.11549399] [-0.03863379 -0.11303599 0.99283984]] t_gt: [ 0.32624315 -0.37814453 0.86635565] Pose Error in degrees for R and t: 7.990794229020509 74.01599563816818 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-0.92702583 0.37488817 0.00905362] [ 0.37494317 0.92703228 0.00536385] [-0.00638215 0.00836702 -0.99994463]] t_estimated: [[0.83034455] [0.55724967] [0.00085076]] R_gt: [[ 0.97601569 -0.21769274 -0.00190719] [ 0.21561747 0.96542711 0.14649121] [-0.03004917 -0.14338932 0.98921054]] t_gt: [ 0.56733697 -0.59778372 0.56637742] Pose Error in degrees for R and t: 179.69161401690837 82.04170641159959 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99949056e-01 1.00934972e-02 -8.69236178e-05] [-1.00934838e-02 9.99949048e-01 1.53231643e-04] [ 8.84658320e-05 -1.52346475e-04 9.99999984e-01]] t_estimated: [[9.71489645e-01] [2.37081555e-01] [4.53324562e-04]] R_gt: [[ 0.99712338 0.07573728 -0.00271967] [-0.07575619 0.99709731 -0.00764389] [ 0.00213309 0.00782879 0.99996656]] t_gt: [ 0.17611834 0.98275342 -0.05637411] Pose Error in degrees for R and t: 3.795736918573655 66.16749551940461 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.99213384 -0.12517066 -0.00165902] [ 0.12517255 -0.99213439 -0.00108831] [-0.00150975 -0.00128742 0.99999803]] t_estimated: [[0.77761046] [0.62874567] [0.00092463]] R_gt: [[ 0.99332283 0.11240186 0.02598836] [-0.11295833 0.99337607 0.02106133] [-0.02344814 -0.0238551 0.99944036]] t_gt: [0.21948397 0.79227285 0.56932462] Pose Error in degrees for R and t: 179.27974630071057 47.98404150365924 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.79582987e-01 8.77492623e-01 2.61814447e-03] [-8.77496483e-01 -4.79579864e-01 -1.75378558e-03] [-2.83324542e-04 -3.13849830e-03 9.99995035e-01]] t_estimated: [[0.76509222] [0.64392025] [0.00077674]] R_gt: [[ 0.98444293 0.17243618 0.0337306 ] [-0.17383278 0.98378587 0.04411746] [-0.02557707 -0.04929317 0.99845667]] t_gt: [0.16044423 0.70196302 0.69390602] Pose Error in degrees for R and t: 108.70684323066017 54.87922837167152 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99694273e-01 -2.47255649e-02 8.07891906e-05] [ 2.47255634e-02 9.99694276e-01 1.90506147e-05] [-8.12355287e-05 -1.70472322e-05 9.99999997e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99340025 -0.10887591 0.03611015] [ 0.10828122 0.99395651 0.0180421 ] [-0.03785592 -0.01401352 0.99918502]] t_gt: [ 0.55958882 -0.76520099 0.31832027] Pose Error in degrees for R and t: 5.3430260400652925 56.11967801708812 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99846930e-01 1.74960509e-02 6.93770895e-05] [-1.74960515e-02 9.99846932e-01 7.27440694e-06] [-6.92391967e-05 -8.48711858e-06 9.99999998e-01]] t_estimated: [[ 9.97008210e-01] [-7.72943835e-02] [ 4.54987812e-04]] R_gt: [[ 0.9889235 -0.14339516 0.03834508] [ 0.14288403 0.98961409 0.01575966] [-0.040207 -0.01010647 0.99914047]] t_gt: [ 0.5713446 -0.78302016 0.24585522] Pose Error in degrees for R and t: 9.53449827366722 50.929941689060534 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99188672e-01 4.02739635e-02 -7.09038343e-05] [-4.02739247e-02 9.99188559e-01 4.83551626e-04] [ 9.03208405e-05 -4.80303731e-04 9.99999881e-01]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.98247416 -0.18529378 0.02035745] [ 0.18454414 0.98223619 0.03400428] [-0.02629708 -0.02965187 0.99921397]] t_gt: [ 0.5916139 -0.78171792 0.1972564 ] Pose Error in degrees for R and t: 13.161770510252044 53.88982274818072 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99524285e-01 -3.08375042e-02 -5.01829042e-04] [ 3.08375226e-02 9.99524410e-01 2.90262188e-05] [ 5.00695281e-04 -4.44875750e-05 9.99999874e-01]] t_estimated: [[-0.98092574] [-0.19437699] [-0.0015068 ]] R_gt: [[ 0.98351504 0.17371888 -0.05020768] [-0.17329415 0.9847877 0.01272347] [ 0.05165448 -0.00381359 0.99865755]] t_gt: [-0.98126716 0.19101522 -0.02505905] Pose Error in degrees for R and t: 12.126207237037894 22.26232795334452 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.96742876e-01 -8.06411464e-02 8.03165816e-04] [ 8.06419425e-02 9.96742620e-01 -1.01365691e-03] [-7.18807145e-04 1.07512415e-03 9.99999164e-01]] t_estimated: [[-0.70562419] [-0.70858588] [-0.00074042]] R_gt: [[ 0.89707935 0.43860273 -0.05363166] [-0.43834203 0.89864411 0.01715495] [ 0.05572005 0.00811859 0.99841315]] t_gt: [-0.93768292 0.3447322 -0.04370874] Pose Error in degrees for R and t: 30.8247821453167 65.32871275804365 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 5.40019520e-01 8.41652045e-01 -8.68255410e-04] [ 8.41643797e-01 -5.40008965e-01 5.10258468e-03] [ 3.82573512e-03 -3.48625711e-03 -9.99986605e-01]] t_estimated: [[-0.63111211] [-0.7756912 ] [-0.00081224]] R_gt: [[ 0.75329807 0.6576362 -0.00757708] [-0.65767086 0.75329756 -0.00348081] [ 0.00341857 0.00760561 0.9999648 ]] t_gt: [-0.86401757 0.50328594 -0.01330087] Pose Error in degrees for R and t: 179.8334421871182 81.0885232247565 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.93494064e-01 -1.13883857e-01 -1.05071182e-04] [ 1.13883857e-01 9.93494070e-01 -1.82355345e-06] [ 1.04595270e-04 -1.01542220e-05 9.99999994e-01]] t_estimated: [[-0.15971829] [-0.9871621 ] [-0.00103044]] R_gt: [[ 0.94042661 -0.33703286 0.04480299] [ 0.3348872 0.94097435 0.04917626] [-0.05873196 -0.03124199 0.99778449]] t_gt: [ 0.8460985 -0.50351697 0.17489422] Pose Error in degrees for R and t: 13.65672996577927 68.79319840381596 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.01966754 0.99861356 -0.04882764] [-0.99979814 -0.01984453 -0.00314266] [-0.00410726 0.04875597 0.99880228]] t_estimated: [[0.02016394] [0.99979528] [0.00168033]] R_gt: [[ 0.85798153 -0.51310733 0.02424971] [ 0.51196886 0.85801894 0.04111407] [-0.04190171 -0.0228594 0.99886069]] t_gt: [ 0.90892629 -0.40852889 0.08340954] Pose Error in degrees for R and t: 122.098546624095 67.04689651503703 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-9.63396920e-01 -2.68074863e-01 -1.49757483e-03] [ 2.68075282e-01 -9.63397964e-01 -8.26549081e-05] [-1.42060283e-03 -4.81092277e-04 9.99998875e-01]] t_estimated: [[9.78749846e-01] [2.05056374e-01] [7.88678361e-04]] R_gt: [[ 0.70971807 -0.70161939 -0.06348299] [ 0.70371487 0.71027183 0.01730901] [ 0.03294633 -0.05695754 0.99783295]] t_gt: [ 0.96058409 -0.27536698 0.0380951 ] Pose Error in degrees for R and t: 119.78103791538757 27.90364977062886 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.90585229e-01 -1.36897404e-01 -6.85481492e-05] [ 1.36897420e-01 9.90585142e-01 4.14718539e-04] [ 1.11288869e-05 -4.20198124e-04 9.99999912e-01]] t_estimated: [[0.6194254 ] [0.78505437] [0.00134658]] R_gt: [[ 0.99773989 -0.06644 0.01000626] [ 0.06701435 0.99478683 -0.07686476] [-0.00484756 0.07736149 0.99699069]] t_gt: [ 0.5009691 0.28748569 -0.8163222 ] Pose Error in degrees for R and t: 6.02224225269121 57.662487479310826 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.99953848 -0.03023767 -0.00291721] [ 0.03024778 0.99953636 0.0034852 ] [ 0.00281047 -0.00357183 0.99998967]] t_estimated: [[-0.85524377] [-0.51822463] [-0.00115418]] R_gt: [[ 0.9984175 -0.05568545 -0.00786147] [ 0.05435219 0.99136436 -0.11934254] [ 0.01443838 0.11872632 0.99282179]] t_gt: [ 0.12203518 0.65340789 -0.74710478] Pose Error in degrees for R and t: 7.201163508025046 63.76080149529379 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99685595e-01 -2.50673754e-02 5.81583351e-04] [ 2.50673997e-02 9.99685763e-01 -3.46623419e-05] [-5.80531702e-04 4.92302262e-05 9.99999830e-01]] t_estimated: [[0.09505148] [0.99547153] [0.00128448]] R_gt: [[ 0.99665654 -0.08124458 -0.00858966] [ 0.07874008 0.98328932 -0.16414001] [ 0.02178177 0.16291546 0.98639924]] t_gt: [ 0.26091733 0.70532693 -0.65911765] Pose Error in degrees for R and t: 9.981248168080759 43.44066568509657 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.83177163 -0.5546763 -0.0221394 ] [-0.5546892 0.83203514 -0.00611712] [ 0.02181378 0.00719244 -0.99973618]] t_estimated: [[ 0.94197791] [ 0.33550674] [-0.01062297]] R_gt: [[ 0.99856483 0.04678684 -0.02605883] [-0.04782815 0.99801917 -0.04086997] [ 0.02409478 0.04205775 0.99882501]] t_gt: [-0.366851 0.7464385 -0.55520259] Pose Error in degrees for R and t: 176.6191316002528 84.88054565952515 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.05870646 0.99827383 0.00170746] [-0.99827277 0.05871007 -0.00214616] [-0.0022427 -0.00157851 0.99999624]] t_estimated: [[-0.09595322] [ 0.99538441] [ 0.0016912 ]] R_gt: [[ 0.99969169 0.0064545 -0.02397055] [-0.00828303 0.99699859 -0.0769796 ] [ 0.0234021 0.07715468 0.99674408]] t_gt: [ 0.01958336 0.58210713 -0.81287624] Pose Error in degrees for R and t: 86.312630797001 54.81863326509945 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.00150246 0.99996687 -0.00800069] [ 0.99993603 -0.00141263 0.01122224] [ 0.01121057 -0.00801704 -0.99990502]] t_estimated: [[0.2149749 ] [0.97660026] [0.00614214]] R_gt: [[ 0.99816077 -0.05742547 0.01939052] [ 0.05646347 0.9972997 0.04694649] [-0.02203351 -0.04576598 0.99870892]] t_gt: [ 0.68072851 -0.25679509 0.68605027] Pose Error in degrees for R and t: 178.1838020310528 84.24742417363902 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-3.57800607e-01 -9.33796291e-01 -1.79219876e-03] [ 9.33797952e-01 -3.57800610e-01 -3.29693818e-04] [-3.33382945e-04 -1.79151618e-03 9.99998340e-01]] t_estimated: [[9.71817350e-01] [2.35733259e-01] [9.31752014e-04]] R_gt: [[ 0.98120953 0.19179367 -0.02101821] [-0.19270678 0.97955641 -0.05772521] [ 0.00951775 0.06069088 0.9981119 ]] t_gt: [-0.36378939 0.89553445 -0.25627198] Pose Error in degrees for R and t: 122.09176434844355 81.79771738432147 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.67869109 -0.37932466 0.62888092] [-0.73366766 0.31133005 -0.6039912 ] [ 0.03331923 -0.87131304 -0.48959516]] t_estimated: [[0.69378166] [0.72017553] [0.00377055]] R_gt: [[ 0.94431147 0.32849806 -0.01909002] [-0.32891217 0.94063113 -0.08384376] [-0.00958548 0.08545372 0.99629647]] t_gt: [-0.27254491 0.9458438 -0.17634845] Pose Error in degrees for R and t: 151.3581953611272 60.56591355146597 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.96761604 0.25023875 0.03316269] [-0.24708681 0.96581711 -0.07839267] [-0.05164598 0.06765995 0.99637083]] t_estimated: [[-0.98827203] [-0.14973819] [-0.02994764]] R_gt: [[ 0.91432465 0.40460342 -0.01750681] [-0.40049858 0.89694391 -0.18732836] [-0.06009046 0.17829107 0.9821419 ]] t_gt: [-0.21256076 0.95948842 -0.18493214] Pose Error in degrees for R and t: 11.613871136898707 85.87491817405405 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[-4.57616205e-01 8.89149615e-01 6.09138740e-04] [-8.89148698e-01 -4.57614427e-01 -1.90499571e-03] [-1.41507553e-03 -1.41337182e-03 9.99998000e-01]] t_estimated: [[0.15520615] [0.98788145] [0.00113289]] R_gt: [[ 0.99748301 -0.02674829 -0.06565956] [ 0.02920174 0.9988996 0.03668873] [ 0.06460554 -0.03851342 0.99716622]] t_gt: [ 0.95456993 -0.2342687 0.18415872] Pose Error in degrees for R and t: 118.89152711476699 85.23518146147195 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.70769082 -0.70649242 0.00649368] [-0.70648846 -0.70753717 0.01628558] [-0.00691112 -0.01611287 -0.99984629]] t_estimated: [[0.35482213] [0.93488933] [0.0091217 ]] R_gt: [[ 0.99186246 -0.00881477 -0.12700392] [ 0.01714284 0.99776257 0.06462994] [ 0.12615037 -0.0662817 0.98979374]] t_gt: [ 0.98043889 -0.15827755 0.11699486] Pose Error in degrees for R and t: 178.30359095328848 78.40592578847745 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 0.99985637 -0.01681528 -0.00211858] [ 0.01681762 0.99985798 0.00109286] [ 0.00209991 -0.00112833 0.99999716]] t_estimated: [[-0.99241454] [-0.12280567] [-0.00566935]] R_gt: [[ 0.9853957 -0.00435318 -0.17022334] [ 0.01828094 0.99659968 0.08034034] [ 0.1692941 -0.08227933 0.98212375]] t_gt: [ 0.97872606 -0.1860917 0.08640122] Pose Error in degrees for R and t: 10.717717505417848 18.388616595001544 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 7.58500289e-01 6.51670927e-01 1.52140882e-03] [ 6.51667748e-01 -7.58501558e-01 2.12898485e-03] [ 2.54138850e-03 -6.23382563e-04 -9.99996576e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99743294 -0.02854113 0.06566696] [ 0.02453606 0.99783553 0.06100497] [-0.06726598 -0.05923696 0.99597509]] t_gt: [ 0.19707245 -0.18588271 0.96260587] Pose Error in degrees for R and t: 178.00901379657816 78.62431820037833 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999894e-01 6.59371749e-05 -4.54861472e-04] [-6.56160442e-05 9.99999749e-01 7.05975341e-04] [ 4.54907907e-04 -7.05945420e-04 9.99999647e-01]] t_estimated: [[-0.70487716] [-0.70932901] [-0.00074198]] R_gt: [[ 0.99793637 0.01726091 0.06183924] [-0.02164306 0.99724824 0.07090365] [-0.06044597 -0.07209561 0.99556436]] t_gt: [-0.12314146 0.33812174 0.93301118] Pose Error in degrees for R and t: 5.498877174419137 81.15672288676106 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 1.00000000e+00 -2.57960320e-13 -9.55832635e-16] [ 2.57682764e-13 1.00000000e+00 1.94045084e-15] [ 9.56266316e-16 -1.94142662e-15 1.00000000e+00]] t_estimated: [[-0.90253285] [-0.43061963] [-0.00108857]] R_gt: [[ 0.99857891 -0.00637267 0.05288813] [ 0.00231429 0.99706975 0.07645025] [-0.05322112 -0.07621872 0.99567008]] t_gt: [0.08777602 0.3140147 0.94535186] Pose Error in degrees for R and t: 5.340368019924542 77.55685507265572 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.79538056e-01 2.01258822e-01 2.88257030e-04] [-2.01258783e-01 9.79538094e-01 -1.59027635e-04] [-3.14364456e-04 9.77593616e-05 9.99999946e-01]] t_estimated: [[0.6123775 ] [0.79056469] [0.00112777]] R_gt: [[ 0.99467878 -0.09567393 0.03822528] [ 0.09527834 0.99537848 0.01203323] [-0.03920001 -0.00832733 0.99919732]] t_gt: [ 0.37211175 -0.7945213 0.47986327] Pose Error in degrees for R and t: 17.241880626630007 66.44017195030192 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.99207386 -0.12369294 0.02212481] [-0.12363357 0.99231973 0.00403671] [-0.0224542 0.00126935 -0.99974707]] t_estimated: [[0.99310435] [0.11666127] [0.01157143]] R_gt: [[ 0.990602 -0.12850661 0.04685873] [ 0.12912237 0.99157482 -0.01037025] [-0.04513027 0.01632347 0.99884827]] t_gt: [ 0.33322215 -0.87378271 0.3542129 ] Pose Error in degrees for R and t: 176.124383767678 76.52114346130027 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.89747163e-01 -1.42830461e-01 1.15732091e-04] [ 1.42830410e-01 9.89747108e-01 3.70019241e-04] [-1.67395521e-04 -3.49695432e-04 9.99999925e-01]] t_estimated: [[7.23900259e-01] [6.89904382e-01] [5.99533403e-04]] R_gt: [[ 0.98556029 -0.11894918 0.12051519] [ 0.12326882 0.99194895 -0.02902622] [-0.11609255 0.04346385 0.99228775]] t_gt: [-0.12988383 -0.70389209 0.69833095] Pose Error in degrees for R and t: 7.2237494781606 54.60412356512765 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 1.00000000e+00 2.22044605e-16 4.60785923e-19] [-2.22044605e-16 1.00000000e+00 -1.95156391e-18] [ 5.14996032e-19 1.51788304e-18 1.00000000e+00]] t_estimated: [[-2.95534142e-01] [-9.55331993e-01] [-5.95760072e-04]] R_gt: [[ 0.99246197 -0.08464386 0.08862866] [ 0.06812395 0.98218089 0.17515705] [-0.10187458 -0.16779874 0.98054332]] t_gt: [ 0.28488484 -0.29747332 0.91123556] Pose Error in degrees for R and t: 12.151864399129295 78.495218788944 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 2.64906973e-01 9.64273973e-01 3.04552071e-05] [-9.64272754e-01 2.64906688e-01 -1.58210878e-03] [-1.53365411e-03 3.89744522e-04 9.99998748e-01]] t_estimated: [[-2.82387649e-01] [ 9.59300093e-01] [ 7.39928581e-04]] R_gt: [[ 0.99130655 -0.07068996 0.11096879] [ 0.05058649 0.98335384 0.17451756] [-0.12145787 -0.16738697 0.97838102]] t_gt: [ 0.24787675 -0.17779088 0.95233792] Pose Error in degrees for R and t: 78.91922285925274 76.1224616376083 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.98899185 -0.14793905 0.00302558] [-0.14792254 0.98898579 0.0051014 ] [-0.00374695 0.00459769 -0.99998241]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99417041 -0.04733036 0.09687027] [ 0.03040557 0.98510034 0.16926876] [-0.10343794 -0.16533631 0.98079795]] t_gt: [ 0.20069934 -0.02864947 0.97923388] Pose Error in degrees for R and t: 173.33131700279765 78.37115921245685 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.99832907 0.05745329 -0.00617928] [-0.05742449 0.99833859 0.00474178] [ 0.00644144 -0.00437901 0.99996967]] t_estimated: [[-0.4636507 ] [-0.88601744] [-0.00105856]] R_gt: [[ 0.99858099 -0.03293289 -0.04185333] [ 0.03052975 0.99791862 -0.05681013] [ 0.04363681 0.05545265 0.9975074 ]] t_gt: [ 0.44451551 -0.45568239 -0.77120653] Pose Error in degrees for R and t: 6.528085920950604 78.55314057387288 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.94998564 -0.31208006 0.01154608] [-0.31202925 0.95005346 0.00601363] [-0.01284613 0.00211015 -0.99991526]] t_estimated: [[0.96245175] [0.27142032] [0.00420046]] R_gt: [[ 0.98484344 -0.1688419 -0.03969229] [ 0.16609343 0.98399394 -0.06456965] [ 0.04995922 0.05699796 0.99712388]] t_gt: [ 0.77010732 -0.53933237 -0.34066891] Pose Error in degrees for R and t: 177.62469168093733 53.603166148415106 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 6.35185157e-01 7.72359899e-01 4.53920908e-05] [-7.72350004e-01 6.35177315e-01 -5.02495576e-03] [-3.90990635e-03 3.15671873e-03 9.99987374e-01]] t_estimated: [[0.79989924] [0.60013329] [0.00111298]] R_gt: [[ 0.95492612 -0.29563727 -0.0267342 ] [ 0.29135232 0.95069783 -0.1062425 ] [ 0.056825 0.09366446 0.99398123]] t_gt: [ 0.84029233 -0.44450517 -0.310361 ] Pose Error in degrees for R and t: 67.92539667030546 66.10627738466277 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.97380154e-01 -7.23382339e-02 -9.48435693e-05] [ 7.23382461e-02 9.97380149e-01 1.31980022e-04] [ 8.50478916e-05 -1.38495072e-04 9.99999987e-01]] t_estimated: [[-0.96272491] [-0.27047773] [-0.00159783]] R_gt: [[ 0.99903104 -0.01882194 0.03979396] [ 0.0201017 0.99928452 -0.0320228 ] [-0.03916304 0.0327926 0.99869437]] t_gt: [-0.8362543 -0.20879531 0.50703379] Pose Error in degrees for R and t: 4.2212753291666845 30.599421071106693 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 3.98793912e-01 9.17040259e-01 -7.60708112e-04] [-9.17040132e-01 3.98792766e-01 -1.31380263e-03] [-9.01445017e-04 1.22153636e-03 9.99998848e-01]] t_estimated: [[1.51073239e-01] [9.88522535e-01] [2.73273347e-04]] R_gt: [[ 0.99507787 -0.01370027 0.09814308] [ 0.01727471 0.99921478 -0.03567003] [-0.09757738 0.037191 0.9945328 ]] t_gt: [-0.72031653 -0.10551453 0.68557332] Pose Error in degrees for R and t: 67.61853387018824 77.70549445091488 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.52313570e-01 -3.05121056e-01 -8.08720706e-05] [ 3.05121063e-01 9.52313489e-01 3.94634703e-04] [-4.33957935e-05 -4.00491755e-04 9.99999919e-01]] t_estimated: [[-0.41920723] [-0.90788981] [-0.00117755]] R_gt: [[ 0.99065616 -0.08465138 0.10693543] [ 0.08675112 0.99611449 -0.01514045] [-0.10523796 0.02427624 0.99415019]] t_gt: [-0.29922196 -0.67596677 0.67345018] Pose Error in degrees for R and t: 14.250512993694782 42.40926158513408 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.29891429 0.95358627 -0.03637951] [-0.95415431 0.29803905 -0.02760925] [-0.01548529 0.04296447 0.99895659]] t_estimated: [[0.03000955] [0.99954895] [0.00115421]] R_gt: [[ 0.98945014 0.14481837 0.00409792] [-0.14369843 0.98461495 -0.09941141] [-0.01843151 0.09777385 0.99503743]] t_gt: [-0.28219135 0.90527515 -0.31756093] Pose Error in degrees for R and t: 64.3577023274992 26.358722830600286 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.79495565 0.60477431 -0.04789103] [-0.60532596 0.78547532 -0.12887591] [-0.04032361 0.13144031 0.99050363]] t_estimated: [[0.04822705] [0.99883582] [0.00107171]] R_gt: [[ 0.98496062 0.17277716 0.00100164] [-0.16990794 0.96962562 -0.17594452] [-0.03137069 0.17312817 0.98439935]] t_gt: [-0.20591283 0.88697586 -0.41336875] Pose Error in degrees for R and t: 27.52261274426817 28.887530402845464 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99997988e-01 1.89200504e-03 -6.66210832e-04] [-1.89179749e-03 9.99998162e-01 3.12039795e-04] [ 6.66799988e-04 -3.10778832e-04 9.99999729e-01]] t_estimated: [[-2.91398429e-01] [-9.56601497e-01] [-7.28970928e-04]] R_gt: [[ 0.9846165 0.17393601 -0.01664337] [-0.17182573 0.94655169 -0.27297049] [-0.0317259 0.27163158 0.9618779 ]] t_gt: [-0.15962023 0.82747886 -0.53833087] Pose Error in degrees for R and t: 18.78060394376294 41.869924347030086 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.82731432e-01 -1.85037636e-01 -7.46560349e-05] [ 1.85037647e-01 9.82731410e-01 2.09785787e-04] [ 3.45485644e-05 -2.19977264e-04 9.99999975e-01]] t_estimated: [[ 9.79283602e-01] [-2.02491913e-01] [ 8.07156043e-04]] R_gt: [[ 0.99820861 0.01412616 -0.05814257] [-0.01306863 0.99974215 0.01853399] [ 0.05838885 -0.01774 0.99813566]] t_gt: [ 0.49164192 0.27706858 -0.82554299] Pose Error in degrees for R and t: 11.962531940757334 64.86918591074414 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 4.79508331e-01 -8.77536879e-01 -8.87296234e-04] [ 8.77537175e-01 4.79507407e-01 1.07334686e-03] [-5.16436341e-04 -1.29331419e-03 9.99999030e-01]] t_estimated: [[ 0.91930672] [-0.39353994] [ 0.00121328]] R_gt: [[ 0.99764586 0.05829232 -0.03612616] [-0.05803188 0.99828042 0.00823136] [ 0.03654419 -0.00611508 0.99931281]] t_gt: [-0.22616917 0.8578867 -0.46138695] Pose Error in degrees for R and t: 64.7123701166427 56.90072871352706 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.00042770e-01 4.35801363e-01 4.28900277e-04] [-4.35800386e-01 9.00042179e-01 -1.44906697e-03] [-1.01753370e-03 1.11730735e-03 9.99998858e-01]] t_estimated: [[-9.97334801e-01] [-7.29567870e-02] [-7.76136032e-04]] R_gt: [[ 0.99014353 0.06111656 0.12602079] [-0.063037 0.99794697 0.01130016] [-0.12507148 -0.01913235 0.9919627 ]] t_gt: [-0.4105732 0.41007914 0.81441068] Pose Error in degrees for R and t: 23.395094272085522 67.73265480272379 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 3.14145833e-01 -9.49372933e-01 -1.85181319e-03] [ 9.49374666e-01 3.14144445e-01 1.00551249e-03] [-3.72869517e-04 -2.07394209e-03 9.99997780e-01]] t_estimated: [[ 9.37231530e-01] [-3.48706483e-01] [ 9.20763772e-04]] R_gt: [[ 9.99003129e-01 -4.44939390e-02 3.54215640e-03] [ 4.46240663e-02 9.97302502e-01 -5.82809704e-02] [-9.38809659e-04 5.83802454e-02 9.98293836e-01]] t_gt: [ 0.25766397 0.58503949 -0.76898509] Pose Error in degrees for R and t: 69.21140516421357 87.8924333447374 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.61332434 0.78980133 -0.00686346] [-0.7898018 0.61335331 0.00329239] [ 0.00681006 0.00340147 0.99997103]] t_estimated: [[-0.25526489] [ 0.96683008] [-0.00891211]] R_gt: [[ 0.99973934 -0.02212296 -0.00550562] [ 0.02141699 0.99416934 -0.10568272] [ 0.00781194 0.10553634 0.99438453]] t_gt: [ 0.00168566 0.80196372 -0.59737036] Pose Error in degrees for R and t: 53.736071404349694 38.71596179414167 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.40893989 -0.91255346 0.00378777] [ 0.91256067 0.4089311 -0.0028947 ] [ 0.00109263 0.00464032 0.99998864]] t_estimated: [[-0.05016455] [-0.99873055] [-0.00456041]] R_gt: [[ 0.99272875 -0.12036559 -0.00148654] [ 0.11859033 0.98006419 -0.15940489] [ 0.02064379 0.15806854 0.9872122 ]] t_gt: [ 0.56795258 0.58790481 -0.57601892] Pose Error in degrees for R and t: 59.56175220125727 52.19161401664127 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 7.48214452e-01 -6.63456400e-01 -8.59783599e-04] [ 6.63437123e-01 7.48201476e-01 -6.76274456e-03] [ 5.13007752e-03 4.48957085e-03 9.99976763e-01]] t_estimated: [[-0.21779827] [-0.97596086] [-0.00802 ]] R_gt: [[ 0.99041569 0.08594427 -0.10812211] [-0.09850782 0.98825788 -0.11680657] [ 0.09681288 0.12633775 0.98725219]] t_gt: [-0.18762282 0.63172776 -0.75214209] Pose Error in degrees for R and t: 47.652097050011356 55.274494104178295 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.31861676e-01 -3.62813726e-01 -1.31576291e-04] [ 3.62813750e-01 9.31861609e-01 3.53715408e-04] [-5.72191108e-06 -3.77351520e-04 9.99999929e-01]] t_estimated: [[ 8.83355147e-01] [-4.68703685e-01] [ 7.34238870e-04]] R_gt: [[ 0.98225851 0.13457315 -0.13060575] [-0.15516313 0.97434899 -0.16300274] [ 0.10531951 0.18037631 0.97794328]] t_gt: [-0.22341099 0.71434834 -0.66316965] Pose Error in degrees for R and t: 32.005132456331935 57.81492216470385 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 8.91752981e-01 4.52519575e-01 1.62928185e-03] [-4.52521789e-01 8.91752204e-01 1.42752914e-03] [-8.06930802e-04 -2.01028890e-03 9.99997654e-01]] t_estimated: [[0.02019787] [0.99979459] [0.00168316]] R_gt: [[ 0.98193923 0.12980293 -0.1376458 ] [-0.15379939 0.97135099 -0.18117306] [ 0.11018538 0.19907083 0.97377168]] t_gt: [-0.19336621 0.72194225 -0.6643861 ] Pose Error in degrees for R and t: 22.854742596651317 44.21154621011304 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.77580538e-01 2.10561280e-01 -4.89085397e-04] [-2.10560879e-01 9.77580448e-01 7.63675146e-04] [ 6.38920738e-04 -6.43571709e-04 9.99999589e-01]] t_estimated: [[-9.06899166e-01] [-4.21346958e-01] [-8.02565634e-04]] R_gt: [[ 0.99633687 0.02601992 0.08146009] [-0.02563196 0.999655 -0.00580221] [-0.08158339 0.00369178 0.99666036]] t_gt: [-0.42868402 0.29013895 0.85559885] Pose Error in degrees for R and t: 11.66687686038676 74.58328615691427 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.75820846 0.57337323 -0.31042402] [ 0.29608216 0.12140199 0.94741591] [ 0.58090902 -0.81024977 -0.07771757]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.9761039 0.05222879 0.21093378] [-0.05284485 0.99859959 -0.0027182 ] [-0.21078066 -0.0084942 0.97749702]] t_gt: [-0.38006504 0.22657964 0.89677881] Pose Error in degrees for R and t: 101.06842870870179 89.14038328466789 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.21824747 0.975637 -0.0223716 ] [ 0.9754568 0.21877818 0.02490262] [ 0.02919034 -0.0163876 -0.99943953]] t_estimated: [[9.63395771e-01] [2.68082062e-01] [7.72570772e-04]] R_gt: [[ 0.96199212 0.09591843 0.25567593] [-0.09643369 0.99528403 -0.01055412] [-0.25548288 -0.0145029 0.96670477]] t_gt: [-0.45926259 0.29590395 0.83756715] Pose Error in degrees for R and t: 170.41113713310213 68.74754255050793 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99472290e-01 3.24827387e-02 1.14160458e-04] [-3.24827323e-02 9.99472295e-01 -5.73698644e-05] [-1.15963745e-04 5.36313462e-05 9.99999992e-01]] t_estimated: [[9.99994076e-01] [3.33375295e-03] [8.56494464e-04]] R_gt: [[ 0.99460167 -0.10090433 -0.02422361] [ 0.10112264 0.99484311 0.00791393] [ 0.02330099 -0.0103194 0.99967491]] t_gt: [ 0.75058944 -0.65596553 -0.07952812] Pose Error in degrees for R and t: 7.7988826090198256 41.554071972384605 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-8.98210464e-01 4.39564789e-01 8.70722670e-04] [ 4.39565522e-01 8.98206915e-01 2.54759257e-03] [ 3.37742865e-04 2.67101397e-03 -9.99996376e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98657059 -0.16313256 -0.008116 ] [ 0.16323344 0.9864923 0.0137848 ] [ 0.00575893 -0.01492385 0.9998715 ]] t_gt: [ 0.74271518 -0.66817908 0.0437135 ] Pose Error in degrees for R and t: 179.44777123071222 42.21118848150021 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.80399994 0.59389675 0.02950851] [-0.59377848 -0.79920639 -0.0932538 ] [-0.03179974 -0.09249756 0.99520499]] t_estimated: [[0.58025885] [0.81236239] [0.05802589]] R_gt: [[ 0.98863229 -0.14988963 0.01180575] [ 0.15010417 0.98846791 -0.02000494] [-0.00867058 0.02155089 0.99973028]] t_gt: [ 0.71099502 -0.70185818 -0.0433725 ] Pose Error in degrees for R and t: 152.1020637484223 80.78621043440458 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99999913e-01 -4.12662748e-04 6.44957195e-05] [ 4.12658502e-04 9.99999913e-01 6.58383076e-05] [-6.45228829e-05 -6.58116872e-05 9.99999996e-01]] t_estimated: [[4.03334026e-01] [9.15052547e-01] [7.07262444e-04]] R_gt: [[ 0.99729772 -0.06801207 0.02777544] [ 0.06980275 0.99513055 -0.06959158] [-0.0229066 0.07134304 0.99718854]] t_gt: [ 0.87512714 0.29876425 -0.38064737] Pose Error in degrees for R and t: 5.826565174658522 51.23818184464806 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 0.99642005 -0.08451701 -0.00198846] [ 0.08452279 0.99641694 0.0030288 ] [ 0.00172535 -0.00318603 0.99999344]] t_estimated: [[-0.99919298] [-0.03996772] [-0.00399677]] R_gt: [[ 0.99520644 -0.0896928 0.03899253] [ 0.09439701 0.98519991 -0.14307773] [-0.02558197 0.14607218 0.98894253]] t_gt: [ 0.69803457 0.48754503 -0.52444979] Pose Error in degrees for R and t: 8.737674709819528 44.368175369598134 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 1.94185209e-01 9.80964373e-01 1.00140917e-03] [-9.80963475e-01 1.94186560e-01 -1.49699774e-03] [-1.66296165e-03 -6.91650997e-04 9.99998378e-01]] t_estimated: [[0.48382221] [0.87516558] [0.00112779]] R_gt: [[ 0.99609129 -0.08054044 0.03628668] [ 0.08684529 0.96801041 -0.23539904] [-0.01616663 0.23763081 0.97122085]] t_gt: [ 0.47293912 0.62869483 -0.61730981] Pose Error in degrees for R and t: 84.58689678591794 38.891679470500975 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.53292975e-01 3.02047169e-01 1.09802944e-04] [-3.02046287e-01 9.53290952e-01 -2.09791149e-03] [-7.38342379e-04 1.96675871e-03 9.99997793e-01]] t_estimated: [[0.74420848] [0.66794683] [0.00087657]] R_gt: [[ 0.98905668 -0.14710225 -0.01136881] [ 0.14731875 0.98885861 0.02134574] [ 0.00810165 -0.02278768 0.99970705]] t_gt: [ 0.7578435 -0.63482764 0.15055597] Pose Error in degrees for R and t: 26.08992361520909 81.94669006551939 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.93144961e-01 -1.16889203e-01 1.28982454e-05] [ 1.16889185e-01 9.93144859e-01 4.55758696e-04] [-6.60830967e-05 -4.51126787e-04 9.99999896e-01]] t_estimated: [[8.67724548e-01] [4.97044701e-01] [8.20312101e-04]] R_gt: [[ 0.9790189 -0.20136846 -0.03119491] [ 0.20319483 0.97624473 0.07521191] [ 0.01530826 -0.07997279 0.99667964]] t_gt: [ 0.69403943 -0.65181754 0.30568474] Pose Error in degrees for R and t: 6.80806165331985 73.82909970141385 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-4.57220518e-01 8.89353164e-01 -5.89099080e-04] [-8.89351258e-01 -4.57220777e-01 -1.87093445e-03] [-1.93326981e-03 -3.31513609e-04 9.99998076e-01]] t_estimated: [[0.54562832] [0.8380268 ] [0.0009109 ]] R_gt: [[ 0.97801255 -0.20618318 -0.03132334] [ 0.2083702 0.95986056 0.18774434] [-0.00864386 -0.19014388 0.98171763]] t_gt: [ 0.53205836 -0.63903994 0.55546544] Pose Error in degrees for R and t: 129.5408673128406 75.83468230751919 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.88627333e-01 -1.50386155e-01 -2.46169349e-05] [ 1.50386157e-01 9.88627318e-01 1.70319951e-04] [-1.27678831e-06 -1.72085006e-04 9.99999985e-01]] t_estimated: [[-0.99517926] [-0.09806511] [-0.00121068]] R_gt: [[ 0.99666912 0.03224724 -0.07490969] [-0.03632642 0.99789425 -0.0537353 ] [ 0.0730189 0.05627772 0.99574162]] t_gt: [-0.05120125 0.55127662 -0.83274997] Pose Error in degrees for R and t: 11.861892482605699 89.8797711431895 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 6.01689912e-01 -7.98689873e-01 7.98346403e-03] [ 7.98729327e-01 6.01670075e-01 -4.95810940e-03] [-8.43419631e-04 9.35987126e-03 9.99955840e-01]] t_estimated: [[-0.22243677] [-0.97493563] [-0.0047327 ]] R_gt: [[ 0.978413 0.10356998 -0.17883795] [-0.1333689 0.97747548 -0.16356773] [ 0.15786801 0.18388762 0.97018619]] t_gt: [-0.0893114 0.63448209 -0.76776035] Pose Error in degrees for R and t: 61.35744575004199 53.48170187462693 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 6.85787792e-03 9.99976084e-01 8.95302755e-04] [-9.99974446e-01 6.85966915e-03 -2.01319003e-03] [-2.01928337e-03 -8.81473664e-04 9.99997573e-01]] t_estimated: [[0.15618564] [0.98772706] [0.00113975]] R_gt: [[ 0.95950469 0.17174101 -0.22328724] [-0.21859102 0.9539064 -0.20562523] [ 0.1776806 0.24610734 0.95281679]] t_gt: [-0.13309883 0.72162173 -0.67937235] Pose Error in degrees for R and t: 79.74965927599156 46.27459802023533 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.94695422e-01 -1.02863938e-01 1.68314740e-04] [ 1.02863909e-01 9.94695423e-01 1.76461094e-04] [-1.85573384e-04 -1.58211530e-04 9.99999970e-01]] t_estimated: [[0.98481745] [0.17359012] [0.00102726]] R_gt: [[ 9.96043258e-01 -8.82395046e-02 -1.06385293e-02] [ 8.82338293e-02 9.96099358e-01 -9.76140822e-04] [ 1.06836828e-02 3.41394040e-05 9.99942346e-01]] t_gt: [ 0.82685285 -0.56080554 -0.04256177] Pose Error in degrees for R and t: 1.0467475350839295 44.20045270811535 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999987e-01 1.14620838e-04 -1.12009701e-04] [-1.14596715e-04 9.99999970e-01 2.15345771e-04] [ 1.12034380e-04 -2.15332932e-04 9.99999971e-01]] t_estimated: [[9.08979100e-01] [4.16841099e-01] [7.03267178e-04]] R_gt: [[ 0.99055602 -0.1331879 0.03255346] [ 0.13217755 0.99072781 0.03143149] [-0.03643816 -0.026832 0.99897524]] t_gt: [ 0.72767086 -0.6572288 0.19632988] Pose Error in degrees for R and t: 8.062076197762945 67.19377732946083 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.42706358e-01 3.33620373e-01 1.47297505e-03] [-3.33620472e-01 9.42707455e-01 -1.85409970e-04] [-1.45044110e-03 -3.16627474e-04 9.99998898e-01]] t_estimated: [[0.73507572] [0.67798387] [0.00124865]] R_gt: [[ 0.98965818 -0.14307459 0.01031201] [ 0.14250646 0.98885029 0.04320315] [-0.01637885 -0.04128602 0.99901274]] t_gt: [ 0.64532548 -0.74163353 0.18312493] Pose Error in degrees for R and t: 27.814024702664536 88.38267950903813 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99973393e-01 -7.29222354e-03 -1.90659505e-04] [ 7.29226094e-03 9.99973392e-01 1.96217820e-04] [ 1.89223568e-04 -1.97602938e-04 9.99999963e-01]] t_estimated: [[-0.66813936] [ 0.74403385] [ 0.00185263]] R_gt: [[ 0.99254999 0.1217951 -0.00343076] [-0.12166318 0.99222364 0.02627339] [ 0.00660425 -0.02566 0.99964836]] t_gt: [-0.57454877 0.81427016 0.08281195] Pose Error in degrees for R and t: 7.562032875963202 8.159571306357892 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.99999763 -0.00153891 -0.00154266] [ 0.00154092 0.99999797 0.00130047] [ 0.00154066 -0.00130284 0.99999796]] t_estimated: [[0.98310372] [0.18304651] [0.00102835]] R_gt: [[ 0.97630037 0.21527673 0.02222378] [-0.2157544 0.9762006 0.02197035] [-0.01696384 -0.02624476 0.99951157]] t_gt: [-0.5461228 0.82983315 0.11457242] Pose Error in degrees for R and t: 12.664023045017638 67.36374202112005 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.99999796 0.00112227 -0.00168145] [-0.00112005 0.9999985 0.00132337] [ 0.00168293 -0.00132148 0.99999771]] t_estimated: [[-0.59651331] [-0.80260237] [-0.00114494]] R_gt: [[ 0.96307126 0.26920883 0.00456507] [-0.26904759 0.96156428 0.05484118] [ 0.01037466 -0.05404425 0.99848462]] t_gt: [-0.53053366 0.84099705 0.10610371] Pose Error in degrees for R and t: 15.859262732845878 68.98346782953502 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.38580704 -0.92249336 -0.01260704] [-0.9225252 0.38589656 -0.00557622] [ 0.01000904 0.00947896 -0.99990498]] t_estimated: [[ 0.83178732] [ 0.55506107] [-0.00608845]] R_gt: [[ 0.99705816 0.07496408 -0.01598107] [-0.07586463 0.99491274 -0.06627365] [ 0.01093163 0.06729031 0.99767386]] t_gt: [-0.42152277 0.79343859 -0.43906008] Pose Error in degrees for R and t: 176.45183701058352 84.69469509735971 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999995e-01 -9.89430022e-05 -1.29614685e-07] [ 9.89430022e-05 9.99999995e-01 -2.18457258e-08] [ 1.29616846e-07 2.18329016e-08 1.00000000e+00]] t_estimated: [[-9.98580616e-01] [ 5.32604585e-02] [ 2.77513800e-04]] R_gt: [[ 0.98440745 0.17586454 0.003884 ] [-0.17546257 0.9832456 -0.04940069] [-0.01250684 0.04794855 0.99877088]] t_gt: [-0.49080734 0.86515012 -0.10307003] Pose Error in degrees for R and t: 10.51895111980645 57.57735982471355 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99997979e-01 -2.93183667e-04 1.98882643e-03] [ 2.96592449e-04 9.99998487e-01 -1.71388827e-03] [-1.98832094e-03 1.71447468e-03 9.99996554e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.95240116 0.30458647 0.01262735] [-0.3040613 0.95210215 -0.03237658] [-0.02188407 0.02699663 0.99939616]] t_gt: [-0.47355579 0.88059779 -0.0171012 ] Pose Error in degrees for R and t: 17.835128895270195 81.55170720160795 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.37916316e-01 3.46860702e-01 7.98394745e-04] [-3.46860054e-01 9.37916513e-01 -8.46919070e-04] [-1.04259056e-03 5.17407969e-04 9.99999323e-01]] t_estimated: [[0.11691109] [0.99314165] [0.00120527]] R_gt: [[ 0.99912772 -0.03103128 0.02794958] [ 0.03019801 0.99910143 0.02975665] [-0.02884801 -0.02888733 0.99916665]] t_gt: [ 0.37270349 -0.82923171 0.41649356] Pose Error in degrees for R and t: 22.171857460608194 38.78798106267318 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999798e-01 -5.89239131e-05 6.32398009e-04] [ 5.89007599e-05 9.99999998e-01 3.66303224e-05] [-6.32400166e-04 -3.65930663e-05 9.99999799e-01]] t_estimated: [[0.78054324] [0.62510051] [0.00126727]] R_gt: [[ 0.9987031 -0.04644668 -0.0208636 ] [ 0.04667106 0.99885658 0.01036667] [ 0.02035842 -0.01132652 0.99972903]] t_gt: [ 0.46106417 -0.88736525 0.00165748] Pose Error in degrees for R and t: 2.9948245507087936 78.76638413469863 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-4.80604617e-01 8.76937080e-01 -7.48663815e-04] [ 8.76925119e-01 4.80602230e-01 4.88192802e-03] [ 4.64095320e-03 1.68975504e-03 -9.99987803e-01]] t_estimated: [[0.50637519] [0.8623127 ] [0.00098325]] R_gt: [[ 0.98510118 -0.1652565 -0.04761626] [ 0.16463949 0.98621389 -0.01662598] [ 0.04970712 0.00853884 0.9987269 ]] t_gt: [ 0.71109281 -0.69238775 -0.12225472] Pose Error in degrees for R and t: 177.7999338725906 76.2848398821504 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.9997398 0.02276437 0.00145534] [-0.0227618 0.99973937 -0.00176111] [-0.00149505 0.00172753 0.99999739]] t_estimated: [[8.06510756e-01] [5.91219042e-01] [6.66537815e-04]] R_gt: [[ 0.99858515 -0.05216658 0.01035314] [ 0.05171532 0.99786601 0.03986095] [-0.01240962 -0.03926982 0.99915167]] t_gt: [ 0.60973832 -0.63018494 0.48071418] Pose Error in degrees for R and t: 4.926550943934864 83.13654587161697 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.57146371e-01 2.89604520e-01 2.14751905e-04] [-2.89604448e-01 9.57146366e-01 -3.13686031e-04] [-2.96393898e-04 2.38050340e-04 9.99999928e-01]] t_estimated: [[0.79916501] [0.60111108] [0.00086866]] R_gt: [[ 0.98586328 -0.16706916 -0.01273067] [ 0.16746291 0.98497593 0.04217657] [ 0.00549422 -0.04371243 0.99902924]] t_gt: [ 0.76050533 -0.63591995 0.13129149] Pose Error in degrees for R and t: 26.587694272816407 76.96038031751475 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-1.70960135e-01 -9.85277797e-01 -5.43607942e-04] [-9.85277846e-01 1.70960341e-01 -3.57979493e-04] [ 4.45644645e-04 4.74404640e-04 -9.99999788e-01]] t_estimated: [[7.91926025e-01] [6.10616646e-01] [6.94671952e-04]] R_gt: [[ 0.9699387 -0.24216817 -0.02398441] [ 0.24329502 0.96713095 0.07392709] [ 0.00529371 -0.07754036 0.99697549]] t_gt: [ 0.76506145 -0.6189622 0.17767038] Pose Error in degrees for R and t: 177.8662158533061 76.81788966248168 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-0.9967703 0.07604336 0.02581417] [ 0.07610608 0.99709867 0.00145455] [-0.02562866 0.00341447 -0.9996657 ]] t_estimated: [[ 0.99980064] [-0.01446021] [ 0.01376902]] R_gt: [[ 0.99352406 -0.11344538 -0.00626484] [ 0.11361257 0.99247376 0.04568804] [ 0.00103414 -0.04610377 0.99893541]] t_gt: [ 0.66220105 -0.66858217 0.33836024] Pose Error in degrees for R and t: 178.828335986018 47.43736699971435 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 6.20618661e-01 -7.84107623e-01 2.77728443e-03] [-7.84100611e-01 -6.20624864e-01 -3.31818073e-03] [ 4.32546258e-03 -1.18345538e-04 -9.99990638e-01]] t_estimated: [[0.56703064] [0.8236962 ] [0.00091016]] R_gt: [[ 0.99187551 -0.12441164 -0.02654509] [ 0.12679031 0.98379015 0.12680539] [ 0.01033882 -0.12914056 0.99157153]] t_gt: [ 0.49469856 -0.67974561 0.54149722] Pose Error in degrees for R and t: 173.94689124948192 73.80532934492311 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.49392773e-01 -3.14090924e-01 -5.04617406e-04] [ 3.14091303e-01 9.49392127e-01 1.11429975e-03] [ 1.29088356e-04 -1.21640406e-03 9.99999252e-01]] t_estimated: [[0.94489959] [0.32735866] [0.00103268]] R_gt: [[ 0.98289712 -0.1774434 -0.04925797] [ 0.18405216 0.95543941 0.23078043] [ 0.00611217 -0.23590001 0.97175759]] t_gt: [ 0.49294744 -0.60955344 0.62084413] Pose Error in degrees for R and t: 15.622769546764719 74.52104721567468 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99996194e-01 -2.75588006e-03 1.28429118e-04] [ 2.75585766e-03 9.99996187e-01 1.74194775e-04] [-1.28908688e-04 -1.73840179e-04 9.99999977e-01]] t_estimated: [[ 1.38299890e-01] [-9.90389963e-01] [ 9.28770583e-04]] R_gt: [[ 0.99986348 0.01237902 -0.01098643] [-0.01324486 0.99648717 -0.08269209] [ 0.00992364 0.08282545 0.99651499]] t_gt: [ 0.02185983 0.44412111 -0.89570006] Pose Error in degrees for R and t: 4.878046106817959 64.04521191934982 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999565e-01 -9.25131599e-04 -1.22037844e-04] [ 9.25159595e-04 9.99999546e-01 2.29553130e-04] [ 1.21825422e-04 -2.29665934e-04 9.99999966e-01]] t_estimated: [[ 2.02699078e-01] [-9.79240952e-01] [ 4.92409678e-04]] R_gt: [[ 9.98576778e-01 -7.48621093e-03 -5.28167420e-02] [-9.71071766e-04 9.87386757e-01 -1.58320371e-01] [ 5.33353096e-02 1.58145569e-01 9.85974583e-01]] t_gt: [ 0.10892405 0.28865983 -0.95121557] Pose Error in degrees for R and t: 9.618631671477665 74.86720332385072 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999681e-01 -1.10449679e-04 7.90719302e-04] [ 1.11098746e-04 9.99999657e-01 -8.20858675e-04] [-7.90628367e-04 8.20946261e-04 9.99999350e-01]] t_estimated: [[0.77228109] [0.63528021] [0.00098419]] R_gt: [[ 0.98474479 -0.17177923 -0.02774721] [ 0.16610405 0.97550118 -0.14424414] [ 0.05184564 0.13743526 0.98915306]] t_gt: [ 0.59101983 -0.41042136 -0.69444213] Pose Error in degrees for R and t: 12.889592543591277 78.75425940168212 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99878806e-01 -1.55683219e-02 -1.85563076e-05] [ 1.55683219e-02 9.99878806e-01 3.90335707e-07] [ 1.85479818e-05 -6.79178969e-07 1.00000000e+00]] t_estimated: [[-9.82289390e-01] [ 1.87369025e-01] [-6.35277508e-04]] R_gt: [[ 9.98663051e-01 4.92354483e-02 -1.57656057e-02] [-4.92207485e-02 9.98786764e-01 1.33657117e-03] [ 1.58123699e-02 -5.57715749e-04 9.99874673e-01]] t_gt: [-0.44928957 0.8701758 -0.20231897] Pose Error in degrees for R and t: 3.822728778840169 52.80677730452767 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999984e-01 1.78258896e-04 3.25651828e-08] [-1.78258895e-04 9.99999984e-01 -2.50440727e-05] [-3.70295107e-08 2.50440665e-05 1.00000000e+00]] t_estimated: [[ 1.05948027e-02] [-9.99943846e-01] [ 2.33752285e-04]] R_gt: [[ 0.99055898 0.03149577 0.13342117] [-0.03151562 0.99950044 -0.00196225] [-0.13341647 -0.0022598 0.99105705]] t_gt: [-0.33144724 0.23908737 0.91267736] Pose Error in degrees for R and t: 7.877302088278647 75.97340665942593 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.74989044e-01 2.22252919e-01 6.15918805e-05] [-2.22252735e-01 9.74988528e-01 -1.04454818e-03] [-2.92205258e-04 1.00473406e-03 9.99999453e-01]] t_estimated: [[-0.97848101] [ 0.20632607] [-0.00211141]] R_gt: [[ 0.97624723 0.07749968 0.20232393] [-0.07953065 0.9968306 0.00191742] [-0.20153391 -0.01796229 0.97931631]] t_gt: [-0.44029401 0.32979581 0.83509036] Pose Error in degrees for R and t: 14.304082004546725 60.1915730107168 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 7.81258279e-01 6.24207504e-01 7.02883680e-04] [-6.24207399e-01 7.81258583e-01 -3.86749407e-04] [-7.90545790e-04 -1.36594018e-04 9.99999678e-01]] t_estimated: [[-0.40595201] [ 0.91389378] [ 0.00106173]] R_gt: [[ 0.99640113 -0.06874959 -0.04957693] [ 0.06622888 0.99650929 -0.05079999] [ 0.052896 0.04733343 0.99747755]] t_gt: [ 0.48940747 -0.43785058 -0.75416656] Pose Error in degrees for R and t: 42.68698504091165 53.15691314331946 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99999792e-01 -6.18444551e-04 1.85066402e-04] [ 6.18485220e-04 9.99999785e-01 -2.19780522e-04] [-1.84930440e-04 2.19894937e-04 9.99999959e-01]] t_estimated: [[ 9.77545529e-01] [-2.10724224e-01] [ 2.00004480e-04]] R_gt: [[ 0.96340495 -0.2667848 0.02600118] [ 0.26725105 0.9634867 -0.016399 ] [-0.02067626 0.02274791 0.99952722]] t_gt: [ 0.6791372 -0.73362989 0.02366109] Pose Error in degrees for R and t: 15.552972672231563 35.06649206038901 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.99998168 -0.00409776 0.00445531] [ 0.00411534 0.99998375 -0.00394413] [-0.00443908 0.00396239 0.9999823 ]] t_estimated: [[-0.43125368] [-0.90222841] [-0.00203666]] R_gt: [[ 0.91790299 -0.39489247 -0.03890853] [ 0.39272072 0.91810877 -0.05333499] [ 0.05678334 0.03367628 0.99781784]] t_gt: [ 0.73976039 -0.65462988 -0.15560939] Pose Error in degrees for R and t: 23.297089655041447 74.22155647652247 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[-0.98170955 0.18996913 0.01257342] [ 0.18999853 0.98178367 0.00117568] [-0.01212103 0.00354311 -0.99992026]] t_estimated: [[ 0.99979276] [-0.01957073] [ 0.00560568]] R_gt: [[ 0.98213536 -0.18199059 0.04783613] [ 0.18292016 0.98300078 -0.01578864] [-0.04415061 0.02425617 0.99872989]] t_gt: [ 0.6302429 -0.76823256 0.11230594] Pose Error in degrees for R and t: 176.53406294973487 49.776064379991944 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.99995753e-01 2.89426313e-03 3.41897266e-04] [-2.89416303e-03 9.99995769e-01 -2.92913717e-04] [-3.42743589e-04 2.91922966e-04 9.99999899e-01]] t_estimated: [[ 7.96175860e-01] [-6.05064985e-01] [-6.03523378e-04]] R_gt: [[ 0.93715439 -0.34873818 -0.01112175] [ 0.34889563 0.93696609 0.01911601] [ 0.0037539 -0.02179466 0.99975484]] t_gt: [ 0.70901598 -0.70373956 0.0452434 ] Pose Error in degrees for R and t: 20.623432584403638 7.994150643382417 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.9817759 -0.1324549 -0.13627835] [ 0.15399687 0.97468667 0.16208291] [ 0.11136001 -0.18011553 0.97732151]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.89093653 -0.45411885 0.00289886] [ 0.45371579 0.89038054 0.03691289] [-0.01934473 -0.0315722 0.99931378]] t_gt: [ 0.71232872 -0.6947965 0.09922511] Pose Error in degrees for R and t: 21.694641436316463 82.18085597891995 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99722008e-01 2.35775814e-02 -6.82867897e-05] [-2.35775815e-02 9.99722010e-01 1.17773099e-07] [ 6.82705835e-05 1.49229699e-06 9.99999998e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98857781 0.14981479 0.01643246] [-0.14954659 0.98861704 -0.01645942] [-0.01871093 0.01381403 0.99973026]] t_gt: [-0.83195464 0.55371817 -0.03532234] Pose Error in degrees for R and t: 7.380181510835179 33.87446005718226 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 7.89280332e-01 -6.14032082e-01 -1.07681441e-03] [ 6.14031405e-01 7.89281064e-01 -9.13847180e-04] [ 1.41104071e-03 6.00837386e-05 9.99999003e-01]] t_estimated: [[-0.11654686] [-0.99318196] [-0.00253363]] R_gt: [[ 9.73758319e-01 2.27586558e-01 5.92977571e-04] [-2.27554004e-01 9.73568702e-01 1.95771331e-02] [ 3.87745675e-03 -1.91983671e-02 9.99808195e-01]] t_gt: [-0.80972392 0.58427698 0.05447552] Pose Error in degrees for R and t: 51.04904458813399 60.918016638738656 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.76603873e-01 2.15046067e-01 2.52665597e-04] [-2.15045973e-01 9.76603863e-01 -3.52065391e-04] [-3.22464476e-04 2.89493705e-04 9.99999906e-01]] t_estimated: [[-9.99994884e-01] [-3.10316489e-03] [-7.75791221e-04]] R_gt: [[ 9.35913445e-01 3.52034606e-01 1.18448781e-02] [-3.52005424e-01 9.35986931e-01 -4.44606725e-03] [-1.26520310e-02 -8.45608900e-06 9.99920583e-01]] t_gt: [-0.76738063 0.64118333 -0.00330136] Pose Error in degrees for R and t: 8.223503370753953 40.05833741145199 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-9.78653014e-01 2.05516405e-01 -1.13346742e-03] [ 2.05516678e-01 9.78653605e-01 -1.28948852e-04] [ 1.08277087e-03 -3.59142642e-04 -9.99999349e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99834506 0.00829664 0.05691856] [-0.00793869 0.99994773 -0.0064932 ] [-0.05696911 0.00603019 0.99835695]] t_gt: [-0.23422927 0.05997818 0.97032946] Pose Error in degrees for R and t: 176.77937677808322 76.50916010262297 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99376380e-01 -3.53107696e-02 -1.26991399e-05] [ 3.53107705e-02 9.99376377e-01 7.96493926e-05] [ 9.87873908e-06 -8.00481381e-05 9.99999997e-01]] t_estimated: [[5.07224604e-01] [8.61813658e-01] [6.48249660e-04]] R_gt: [[ 0.99671642 -0.02297427 0.077646 ] [ 0.02348484 0.99970885 -0.00565738] [-0.07749355 0.00746204 0.99696441]] t_gt: [ 0.27648298 -0.30445879 0.91151632] Pose Error in degrees for R and t: 4.519054373027671 83.01803676043865 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99655099e-01 2.62615027e-02 1.25768481e-04] [-2.62614828e-02 9.99655095e-01 -1.58050146e-04] [-1.29875737e-04 1.54692768e-04 9.99999980e-01]] t_estimated: [[9.58721014e-01] [2.84347639e-01] [6.60805330e-04]] R_gt: [[ 0.99792828 -0.04942489 0.04119657] [ 0.04853838 0.99857395 0.02226018] [-0.04223892 -0.0202144 0.99890252]] t_gt: [ 0.58061166 -0.55102742 0.59938208] Pose Error in degrees for R and t: 5.078893393877825 66.39948113039563 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.97581433e-01 6.95074159e-02 6.17252438e-05] [-6.95074105e-02 9.97581431e-01 -8.70224033e-05] [-6.76246595e-05 8.25215720e-05 9.99999994e-01]] t_estimated: [[ 9.03865750e-01] [-4.27816132e-01] [ 2.49232306e-04]] R_gt: [[ 0.99635853 -0.08128436 0.02575373] [ 0.08266191 0.99489462 -0.05789557] [-0.02091613 0.05981382 0.99799031]] t_gt: [ 0.69670195 -0.35311404 -0.62443324] Pose Error in degrees for R and t: 9.417409494741609 38.68103823923065 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99998047e-01 1.96266939e-03 2.31044658e-04] [-1.96251941e-03 9.99997865e-01 -6.47563347e-04] [-2.32315117e-04 6.47108652e-04 9.99999764e-01]] t_estimated: [[-0.01349605] [-0.99990516] [-0.00274419]] R_gt: [[ 0.99553179 -0.09304735 0.01613449] [ 0.09358541 0.99493558 -0.03666265] [-0.01264243 0.03800874 0.99919677]] t_gt: [ 0.83570551 -0.42415099 -0.34884414] Pose Error in degrees for R and t: 5.915888851986748 65.55690137428883 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.03415004 0.99940192 0.00543889] [-0.99937633 0.03419708 -0.00880419] [-0.00898492 -0.00513483 0.99994645]] t_estimated: [[0.07541223] [0.99711724] [0.00837914]] R_gt: [[ 0.98324633 -0.18224872 -0.0034275 ] [ 0.18215429 0.98308899 -0.01885018] [ 0.00680439 0.01790985 0.99981547]] t_gt: [ 0.96444958 -0.25943143 -0.05032242] Pose Error in degrees for R and t: 98.54660235735213 79.25875464470707 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-6.99639452e-01 -7.14492882e-01 -2.13514501e-03] [ 7.14495640e-01 -6.99639194e-01 -9.89809366e-04] [-7.86619383e-04 -2.21806148e-03 9.99997231e-01]] t_estimated: [[0.89216712] [0.45170431] [0.00102196]] R_gt: [[ 0.99589804 0.00129649 -0.09048557] [-0.00105152 0.99999645 0.00275799] [ 0.09048839 -0.00265155 0.99589403]] t_gt: [ 0.36033253 -0.00782475 -0.9327911 ] Pose Error in degrees for R and t: 134.50999946271452 71.51906448048562 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999183e-01 1.27273019e-03 -1.15803673e-04] [-1.27260801e-03 9.99998640e-01 1.04907903e-03] [ 1.17138710e-04 -1.04893080e-03 9.99999443e-01]] t_estimated: [[-8.77350030e-01] [-4.79850287e-01] [-7.91832157e-04]] R_gt: [[ 0.98344932 0.01543977 -0.18053134] [-0.01470004 0.99987836 0.00543637] [ 0.18059343 -0.00269242 0.98355391]] t_gt: [ 0.3117883 0.08273705 -0.94654247] Pose Error in degrees for R and t: 10.427755533689155 71.79008134955775 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.75725091e-01 -2.18998694e-01 3.44866966e-04] [ 2.18998800e-01 9.75725080e-01 -3.05457274e-04] [-2.69600604e-04 3.73567778e-04 9.99999894e-01]] t_estimated: [[0.00715972] [0.99997366] [0.00119329]] R_gt: [[ 0.96919285 0.0296688 -0.24451166] [-0.03013783 0.99954504 0.00182327] [ 0.2444553 0.00560191 0.96964509]] t_gt: [ 0.29610828 0.11885503 -0.94773064] Pose Error in degrees for R and t: 20.17014257669405 83.11707147349851 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 7.27050320e-01 -6.86583721e-01 -7.91715403e-04] [ 6.86584128e-01 7.27050220e-01 4.60744912e-04] [ 2.59276902e-04 -8.78563965e-04 9.99999580e-01]] t_estimated: [[ 9.81098734e-01] [-1.93506976e-01] [ 5.70319329e-04]] R_gt: [[ 0.98851707 -0.150941 -0.00715568] [ 0.15066717 0.98813472 -0.02981326] [ 0.01157042 0.02839271 0.99952985]] t_gt: [ 0.84520359 -0.50823608 -0.16530871] Pose Error in degrees for R and t: 34.72938481178778 21.954488246141157 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.2807182 -0.95977815 0.00481501] [-0.95978518 0.28069691 -0.00465425] [ 0.00311549 -0.00592791 -0.99997758]] t_estimated: [[0.87407315] [0.48578716] [0.00263665]] R_gt: [[ 0.96787817 -0.25069541 0.01908102] [ 0.2512801 0.9670846 -0.04006803] [-0.00840897 0.0435757 0.99901484]] t_gt: [ 0.86286856 -0.48800976 -0.13154592] Pose Error in degrees for R and t: 179.1996690162028 58.882520958030184 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-8.39632539e-01 5.43104902e-01 7.36648185e-03] [ 5.43114936e-01 8.39658040e-01 -7.36426729e-04] [-6.58528268e-03 3.38251847e-03 -9.99972596e-01]] t_estimated: [[ 0.98913208] [-0.14699234] [ 0.00331286]] R_gt: [[ 0.93204806 -0.35973998 0.04327698] [ 0.36204579 0.92940442 -0.07162388] [-0.0144556 0.08242507 0.99649232]] t_gt: [ 0.88798108 -0.42819469 -0.16774656] Pose Error in degrees for R and t: 176.68802821543468 19.827817815298065 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.94438790e-01 -1.05316155e-01 1.48072158e-05] [ 1.05316151e-01 9.94438774e-01 1.81200788e-04] [-3.38082398e-05 -1.78633654e-04 9.99999983e-01]] t_estimated: [[ 0.5405675 ] [-0.84129946] [ 0.00141653]] R_gt: [[ 9.97965248e-01 2.84714200e-05 6.37677415e-02] [ 1.06003847e-04 9.99997410e-01 -2.10034778e-03] [-6.37681044e-02 2.10319866e-03 9.97962857e-01]] t_gt: [-0.64643642 -0.11380878 0.75443192] Pose Error in degrees for R and t: 7.062579867248871 75.36700610014353 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.98946125e-01 -4.58981348e-02 3.47186338e-05] [ 4.58981189e-02 9.98946057e-01 3.70230744e-04] [-5.16749429e-05 -3.68247047e-04 9.99999931e-01]] t_estimated: [[9.18895708e-01] [3.94499728e-01] [8.01828715e-04]] R_gt: [[ 0.99453807 -0.08295356 0.06335439] [ 0.0820234 0.99648168 0.01715876] [-0.06455556 -0.01186773 0.99784324]] t_gt: [-0.02497155 -0.79733427 0.60302113] Pose Error in degrees for R and t: 4.306609497000207 70.3051350546072 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99996851 -0.00420774 -0.00672929] [ 0.00435899 0.99973457 0.02262293] [ 0.00663232 -0.02265155 0.99972142]] t_estimated: [[0.99282463] [0.11930079] [0.00815876]] R_gt: [[ 0.9701158 -0.23530566 0.05922342] [ 0.23512908 0.97191209 0.01002675] [-0.05991976 0.00419869 0.99819449]] t_gt: [ 0.5057641 -0.83663623 0.21033897] Pose Error in degrees for R and t: 13.950754398904097 66.16902976603531 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.93749102e-01 -1.11636563e-01 -1.86970728e-05] [ 1.11636564e-01 9.93749099e-01 8.10238739e-05] [ 9.53497241e-06 -8.26046789e-05 9.99999997e-01]] t_estimated: [[ 8.14290321e-01] [-5.80457777e-01] [-2.04215475e-04]] R_gt: [[ 0.99510884 -0.09251573 0.03464131] [ 0.0932603 0.99543041 -0.02052679] [-0.03258372 0.02365667 0.99918914]] t_gt: [ 0.77430546 -0.62558516 -0.09536385] Pose Error in degrees for R and t: 2.5493528945773805 6.4579410685252165 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-4.80871470e-01 -8.76786300e-01 -2.90045619e-03] [-8.76790750e-01 4.80865704e-01 2.48097149e-03] [-7.80551905e-04 3.73612156e-03 -9.99992716e-01]] t_estimated: [[8.97512048e-01] [4.40989093e-01] [8.62992353e-04]] R_gt: [[ 0.98061829 -0.18893185 0.05189991] [ 0.19208019 0.97926381 -0.06440649] [-0.03865604 0.07312736 0.99657357]] t_gt: [ 0.82669206 -0.51139098 -0.23464759] Pose Error in degrees for R and t: 179.8330039083713 58.91924153874813 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.84908873e-01 4.65764181e-01 -1.21759038e-04] [-4.65758368e-01 8.84899077e-01 4.77141231e-03] [ 2.33009741e-03 -4.16555480e-03 9.99988609e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.94815705 -0.31545897 0.03853237] [ 0.31778477 0.94242712 -0.10412962] [-0.00346598 0.11097543 0.9938172 ]] t_gt: [ 0.87381863 -0.40137365 -0.27448168] Pose Error in degrees for R and t: 46.72981630555293 62.59550013242613 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99995516e-01 -2.99441191e-03 -4.60299500e-05] [ 2.99441237e-03 9.99995517e-01 9.88375337e-06] [ 4.60001476e-05 -1.00215417e-05 9.99999999e-01]] t_estimated: [[-6.54966628e-01] [ 7.55657706e-01] [-3.83908806e-04]] R_gt: [[ 0.99613209 0.07141777 -0.05120488] [-0.07165805 0.99742552 -0.0028517 ] [ 0.05086909 0.00650954 0.99868404]] t_gt: [-0.50594046 0.7424422 -0.43909432] Pose Error in degrees for R and t: 5.1873144046172435 26.801392265253327 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999232e-01 1.23924084e-03 1.46646795e-05] [-1.23923867e-03 9.99999221e-01 -1.47222470e-04] [-1.48471122e-05 1.47204184e-04 9.99999989e-01]] t_estimated: [[-1.45175832e-01] [ 9.89405868e-01] [ 7.94728153e-05]] R_gt: [[ 0.9888136 0.06271394 -0.13533672] [-0.06491885 0.99781998 -0.01192603] [ 0.1342937 0.02057751 0.99072766]] t_gt: [-0.12158079 0.51085604 -0.85102539] Pose Error in degrees for R and t: 8.598869288760909 58.4644887902379 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 1.59189882e-02 9.99873176e-01 4.67618987e-04] [ 9.99867171e-01 -1.59205247e-02 3.48958208e-03] [ 3.49658425e-03 4.12006258e-04 -9.99993802e-01]] t_estimated: [[9.74288183e-01] [2.25304142e-01] [7.61162643e-04]] R_gt: [[ 0.9710386 0.08095821 -0.2247923 ] [-0.08342102 0.99651397 -0.00146078] [ 0.22389013 0.02017016 0.97440535]] t_gt: [ 0.01795371 0.41736569 -0.90856125] Pose Error in degrees for R and t: 171.22450286256978 83.63656283368712 Number of keypoints: Image1: 444 Image2: 444 R_estimated: [[ 9.99999996e-01 -9.44277563e-05 3.76417024e-06] [ 9.44277906e-05 9.99999996e-01 -9.10001799e-06] [-3.76331093e-06 9.10037339e-06 1.00000000e+00]] t_estimated: [[9.75593843e-01] [2.19582041e-01] [6.17346415e-04]] R_gt: [[ 0.9992892 -0.03478601 -0.0145041 ] [ 0.03461207 0.99932829 -0.01206327] [ 0.01491337 0.01155283 0.99982212]] t_gt: [ 0.7434198 -0.27142774 -0.61127243] Pose Error in degrees for R and t: 2.258603280424966 48.29482748169249 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[-0.90780812 -0.41886565 0.02088053] [-0.41886994 0.90803568 0.00437832] [-0.0207942 -0.00477155 -0.99977239]] t_estimated: [[0.97390177] [0.22672202] [0.01060522]] R_gt: [[ 0.99472419 -0.09588464 -0.03647294] [ 0.09654629 0.99518598 0.0168358 ] [ 0.03468254 -0.02026877 0.9991928 ]] t_gt: [ 0.96195111 -0.25210422 0.10532584] Pose Error in degrees for R and t: 179.45518558764073 28.260339395320266 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 9.99999845e-01 -5.42842287e-04 1.23959242e-04] [ 5.42846025e-04 9.99999852e-01 -3.01258602e-05] [-1.23942870e-04 3.01931463e-05 9.99999992e-01]] t_estimated: [[9.52985769e-01] [3.03014636e-01] [5.03509709e-04]] R_gt: [[ 0.98480424 -0.15743178 -0.07331969] [ 0.1590719 0.98711953 0.01706429] [ 0.06968799 -0.02846839 0.9971622 ]] t_gt: [ 0.9859354 -0.16678299 0.01071557] Pose Error in degrees for R and t: 10.062026460412095 27.245873644029817 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[ 9.99204829e-01 -3.98710941e-02 8.08314853e-05] [ 3.98711008e-02 9.99204828e-01 -8.25701695e-05] [-7.74750474e-05 8.57273524e-05 9.99999993e-01]] t_estimated: [[0.96132362] [0.27541571] [0.00175424]] R_gt: [[ 0.99277704 0.11977094 -0.00687113] [-0.11947718 0.99226955 0.0335432 ] [ 0.01083532 -0.03247957 0.999414 ]] t_gt: [-0.85507631 0.48023019 0.19550826] Pose Error in degrees for R and t: 9.366304073188708 46.417435109003414 Number of keypoints: Image1: 358 Image2: 358 R_estimated: [[ 9.96534702e-01 8.31774538e-02 -3.14171601e-04] [-8.31773520e-02 9.96534707e-01 3.24257798e-04] [ 3.40053843e-04 -2.97002186e-04 9.99999898e-01]] t_estimated: [[-0.99307682] [-0.1174607 ] [-0.00118647]] R_gt: [[ 0.97317783 0.22826932 0.02857005] [-0.22853852 0.97351165 0.00649633] [-0.02633018 -0.01285112 0.99957096]] t_gt: [-0.8090202 0.58375125 0.06870799] Pose Error in degrees for R and t: 8.60271872533458 42.71222671229834 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.99999385e-01 -1.09693477e-03 -1.64823578e-04] [ 1.09697065e-03 9.99999375e-01 2.17806429e-04] [ 1.64584555e-04 -2.17987101e-04 9.99999963e-01]] t_estimated: [[-9.96157630e-01] [-8.75776332e-02] [-3.65728834e-04]] R_gt: [[ 0.9593246 0.28199447 0.01320939] [-0.28219021 0.95921586 0.01646822] [-0.00802729 -0.01952641 0.99977708]] t_gt: [-0.77512361 0.62916011 0.05780098] Pose Error in degrees for R and t: 16.493714769966644 44.190696474777894 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-7.88882233e-01 -6.14543481e-01 -1.06440284e-03] [ 6.14544400e-01 -7.88881209e-01 -1.27206217e-03] [-5.79498901e-05 -1.65763005e-03 9.99998624e-01]] t_estimated: [[8.43199190e-01] [5.37600814e-01] [7.00913707e-04]] R_gt: [[ 0.99928361 0.03743527 0.00561642] [-0.03715839 0.99837546 -0.04319828] [-0.00722515 0.04295877 0.99905034]] t_gt: [-0.62737823 0.46081993 -0.62772729] Pose Error in degrees for R and t: 144.2295431103555 73.63785218896567 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-7.66801874e-01 6.41878513e-01 -2.61930016e-03] [-6.41881591e-01 -7.66803626e-01 4.71528822e-04] [-1.70582464e-03 2.04284974e-03 9.99996458e-01]] t_estimated: [[8.24386066e-01] [5.66027501e-01] [6.94512271e-04]] R_gt: [[ 0.995375 0.07193416 0.06367578] [-0.06730558 0.99512551 -0.07207534] [-0.06855088 0.06745638 0.99536371]] t_gt: [-0.78654194 0.60554116 0.12112668] Pose Error in degrees for R and t: 136.11775569089187 72.2071104874534 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99255590e-01 -3.85731741e-02 -6.13229355e-04] [ 3.85738239e-02 9.99255163e-01 1.08584634e-03] [ 5.70888060e-04 -1.10869262e-03 9.99999222e-01]] t_estimated: [[7.89027609e-01] [6.14357375e-01] [6.69234613e-04]] R_gt: [[ 0.99290739 0.05110441 0.10734369] [-0.04464182 0.99709196 -0.0617656 ] [-0.1101884 0.05653529 0.99230149]] t_gt: [-0.55676506 0.32058231 0.76631563] Pose Error in degrees for R and t: 8.722934809630582 76.00495075198643 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.96140369e-01 -8.77621213e-02 1.47505369e-03] [ 8.77632642e-02 9.96141094e-01 -7.28701584e-04] [-1.40540920e-03 8.55344592e-04 9.99998647e-01]] t_estimated: [[0.92703262] [0.37497949] [0.00094692]] R_gt: [[ 0.99678324 0.07112637 -0.03692885] [-0.07097496 0.99746454 0.00538641] [ 0.0372184 -0.00274765 0.99930406]] t_gt: [-0.58221872 0.77789637 -0.23642883] Pose Error in degrees for R and t: 9.377948628748118 75.62516529579197 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.62230841e-01 -2.72234787e-01 -1.73080258e-04] [ 2.72234827e-01 9.62230802e-01 2.85738757e-04] [ 8.87551257e-05 -3.22065118e-04 9.99999944e-01]] t_estimated: [[ 9.96474869e-01] [-8.38888526e-02] [ 7.04666147e-04]] R_gt: [[ 0.99056844 0.06344041 -0.12144727] [-0.0653207 0.99779747 -0.01155573] [ 0.12044707 0.01938035 0.99253127]] t_gt: [-0.17704502 0.56149458 -0.80831856] Pose Error in degrees for R and t: 20.709802407598552 77.05041289605228 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.10933862e-01 -4.12552412e-01 8.49156991e-05] [ 4.12552414e-01 9.10933864e-01 -1.15406210e-05] [-7.25914749e-05 4.55449191e-05 9.99999996e-01]] t_estimated: [[7.84309148e-01] [6.20369759e-01] [7.22199953e-04]] R_gt: [[ 0.97433793 0.08391691 -0.20886446] [-0.08495459 0.99637776 0.0040126 ] [ 0.2084451 0.01383451 0.97793687]] t_gt: [-0.03086959 0.46610517 -0.88419061] Pose Error in degrees for R and t: 31.601419982428904 74.6741804397417 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.58124994e-01 2.86349779e-01 5.47039257e-04] [-2.86349338e-01 9.58124978e-01 -7.63071599e-04] [-7.42637360e-04 5.74473642e-04 9.99999559e-01]] t_estimated: [[0.46587798] [0.88484833] [0.00106608]] R_gt: [[ 0.99510275 -0.09243171 0.03503217] [ 0.09329077 0.99535643 -0.02370736] [-0.03267811 0.026859 0.99910485]] t_gt: [ 0.77748714 -0.61864296 -0.11311337] Pose Error in degrees for R and t: 22.096098624438536 79.32069745529134 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.74682931e-01 2.23591235e-01 3.77903647e-04] [-2.23591204e-01 9.74683004e-01 -1.22249501e-04] [-3.95670179e-04 3.46585702e-05 9.99999921e-01]] t_estimated: [[0.68911768] [0.72464885] [0.00093503]] R_gt: [[ 0.98063681 -0.18868081 0.05245427] [ 0.19226703 0.9784893 -0.07477606] [-0.03721668 0.0834119 0.99582043]] t_gt: [ 0.82465429 -0.49628435 -0.27138006] Pose Error in degrees for R and t: 24.479637362583947 77.97149977693726 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.96166499e-01 -8.74772124e-02 2.08911375e-04] [ 8.74771505e-02 9.96166484e-01 2.88953323e-04] [-2.33387341e-04 -2.69570648e-04 9.99999936e-01]] t_estimated: [[ 9.69952258e-01] [-2.43294784e-01] [ 5.14393803e-04]] R_gt: [[ 9.49920448e-01 -3.10500267e-01 3.52252163e-02] [ 3.12492783e-01 9.43925914e-01 -1.06544332e-01] [-1.67551110e-04 1.12215368e-01 9.93684129e-01]] t_gt: [ 0.87166096 -0.4009558 -0.28185389] Pose Error in degrees for R and t: 14.679791375374542 19.459882085398018 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.96536664e-01 8.31545212e-02 4.95712156e-05] [-8.31545188e-02 9.96536664e-01 -4.85110707e-05] [-5.34334487e-05 4.42209900e-05 9.99999998e-01]] t_estimated: [[-6.53875777e-02] [ 9.97859938e-01] [ 9.17632827e-05]] R_gt: [[ 0.9980561 -0.00645139 0.06198367] [ 0.00610449 0.99996405 0.00578085] [-0.06201849 -0.00538999 0.99806062]] t_gt: [-0.56030839 -0.19240794 0.80562628] Pose Error in degrees for R and t: 6.2473515489425235 81.0666719548358 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.44347558 0.89628433 0.00195158] [ 0.89628569 -0.44347131 -0.00227073] [-0.00116975 0.00275619 -0.99999552]] t_estimated: [[0.99985833] [0.01679493] [0.00111966]] R_gt: [[ 0.99354266 -0.10142007 0.05085259] [ 0.10043758 0.9947102 0.02152256] [-0.05276674 -0.01627529 0.99847402]] t_gt: [ 0.14300058 -0.85250978 0.50277023] Pose Error in degrees for R and t: 179.18222442125372 82.57516600673209 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.54330727e-01 2.98751556e-01 6.09070694e-04] [-2.98751620e-01 9.54330901e-01 1.57676030e-05] [-5.76544389e-04 -1.97008365e-04 9.99999814e-01]] t_estimated: [[0.66343415] [0.74823401] [0.00099765]] R_gt: [[ 0.96459424 -0.25879066 0.05084329] [ 0.25852014 0.96593161 0.01194021] [-0.05220247 0.0016275 0.99863541]] t_gt: [ 0.5680994 -0.80538331 0.16917684] Pose Error in degrees for R and t: 32.51459796264608 76.96478622052949 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.95773458e-01 9.18434499e-02 -8.79155962e-06] [-9.18434498e-02 9.95773459e-01 5.03715784e-06] [ 9.21703168e-06 -4.20842092e-06 1.00000000e+00]] t_estimated: [[0.68606091] [0.72754367] [0.00079775]] R_gt: [[ 0.99950375 0.03063538 0.00737937] [-0.03032101 0.99876083 -0.03948545] [-0.00857921 0.03924351 0.99919243]] t_gt: [-0.64116529 0.3693934 -0.67264819] Pose Error in degrees for R and t: 4.2077229576453306 80.1153475061198 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-7.06731634e-01 -7.07479080e-01 -1.93619260e-03] [ 7.07476053e-01 -7.06734280e-01 2.07171660e-03] [-2.83406984e-03 9.43377604e-05 9.99995980e-01]] t_estimated: [[0.99999253] [0.00358638] [0.00143824]] R_gt: [[ 0.99547572 0.07283812 0.06101326] [-0.06820845 0.99486361 -0.07480008] [-0.06614808 0.07030096 0.99532957]] t_gt: [-0.79541097 0.60283268 0.06256313] Pose Error in degrees for R and t: 139.07691098070097 37.51884554684551 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 7.03687304e-01 7.10508204e-01 1.50634686e-03] [ 7.10506118e-01 -7.03688902e-01 1.72801383e-03] [ 2.28776757e-03 -1.45712736e-04 -9.99997372e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99261402 0.05501629 0.10812784] [-0.04777968 0.99651278 -0.06840901] [-0.11151299 0.06273715 0.99177996]] t_gt: [-0.60799519 0.35270224 0.71129669] Pose Error in degrees for R and t: 174.1544992157492 52.674163352299956 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.65487195e-01 -2.60450362e-01 -2.93287480e-04] [ 2.60450389e-01 9.65487230e-01 5.78873019e-05] [ 2.68088547e-04 -1.32276287e-04 9.99999955e-01]] t_estimated: [[-0.61110463] [-0.79154891] [-0.00120296]] R_gt: [[ 0.99143305 0.13045594 -0.00640017] [-0.13022893 0.99108226 0.02819026] [ 0.01002021 -0.02711589 0.99958205]] t_gt: [-0.86183765 0.48785974 0.13866772] Pose Error in degrees for R and t: 22.646987341859056 81.93240267799163 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99235066e-01 -3.91053031e-02 2.40416448e-04] [ 3.91057235e-02 9.99232859e-01 -2.10638324e-03] [-1.57861259e-04 2.11417365e-03 9.99997753e-01]] t_estimated: [[9.69784870e-01] [2.43960155e-01] [8.65106932e-04]] R_gt: [[ 0.97432383 0.22338429 0.02812713] [-0.22334535 0.97472877 -0.00457854] [-0.02843831 -0.00182158 0.99959409]] t_gt: [-0.80266146 0.59550993 0.03320382] Pose Error in degrees for R and t: 15.236467281909944 50.720828149902125 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.93012215e-01 -1.18011031e-01 -3.70488371e-04] [ 1.18011129e-01 9.93012240e-01 2.53261862e-04] [ 3.38011794e-04 -2.95213873e-04 9.99999899e-01]] t_estimated: [[-0.42393976] [-0.90568948] [-0.00128467]] R_gt: [[ 0.95650975 0.29143266 0.01245808] [-0.29160322 0.95642047 0.01510418] [-0.00751317 -0.01808117 0.9998078 ]] t_gt: [-0.77594937 0.62881429 0.04995168] Pose Error in degrees for R and t: 23.753901293168663 76.07693054443914 Number of keypoints: Image1: 454 Image2: 454 R_estimated: [[ 1.00000000e+00 -2.33587199e-05 -1.04401648e-05] [ 2.33584371e-05 9.99999999e-01 -2.70890380e-05] [ 1.04407975e-05 2.70887942e-05 1.00000000e+00]] t_estimated: [[9.99998436e-01] [1.76347181e-03] [1.34291342e-04]] R_gt: [[ 0.99895414 -0.0439234 -0.01276858] [ 0.04362941 0.99879559 -0.02247814] [ 0.01374014 0.02189731 0.99966512]] t_gt: [ 0.70135989 -0.24111067 -0.67079055] Pose Error in degrees for R and t: 2.91149190337977 45.50528124512958 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.99996257e-01 2.73107324e-03 1.67428376e-04] [-2.73105617e-03 9.99996265e-01 -1.02120745e-04] [-1.67706650e-04 1.01663107e-04 9.99999981e-01]] t_estimated: [[9.06772824e-01] [4.21618784e-01] [8.04343885e-04]] R_gt: [[ 0.99496486 -0.09498405 -0.03198664] [ 0.09530356 0.9954114 0.00859815] [ 0.03102279 -0.0116031 0.99945093]] t_gt: [ 0.96271163 -0.26916916 0.02709758] Pose Error in degrees for R and t: 5.93285430512479 40.580234402238204 Number of keypoints: Image1: 333 Image2: 333 R_estimated: [[ 9.99999768e-01 6.65593273e-04 1.43923827e-04] [-6.65599754e-04 9.99999777e-01 4.49867380e-05] [-1.43893852e-04 -4.50825232e-05 9.99999989e-01]] t_estimated: [[9.54727465e-01] [2.97481066e-01] [6.94711402e-04]] R_gt: [[ 0.98350566 -0.16672104 -0.07015435] [ 0.16764434 0.98582031 0.00743113] [ 0.0679205 -0.01907042 0.99750822]] t_gt: [ 0.98403467 -0.16935805 -0.05471394] Pose Error in degrees for R and t: 10.486993639109073 27.243872567353247 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-6.34589141e-01 -7.72847015e-01 -2.02787301e-03] [ 7.72846515e-01 -6.34591866e-01 1.19516182e-03] [-2.21054896e-03 -8.08797872e-04 9.99997230e-01]] t_estimated: [[0.96784213] [0.25155563] [0.0011764 ]] R_gt: [[ 0.99549873 -0.08773108 0.03584342] [ 0.08977287 0.99415239 -0.0600092 ] [-0.03036929 0.06295707 0.99755418]] t_gt: [ 0.69655293 -0.38516838 -0.60535885] Pose Error in degrees for R and t: 124.33312549353144 54.79175865749869 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99995629e-01 2.95650018e-03 2.63935154e-05] [-2.95649699e-03 9.99995622e-01 -1.20046278e-04] [-2.67483168e-05 1.19967721e-04 9.99999992e-01]] t_estimated: [[ 5.23333430e-01] [-8.52127782e-01] [-6.03502710e-04]] R_gt: [[ 0.9947555 -0.09860081 0.02721174] [ 0.09974167 0.99402242 -0.04439981] [-0.02267113 0.04688235 0.99864384]] t_gt: [ 0.78457706 -0.44570096 -0.43103305] Pose Error in degrees for R and t: 6.5766797018835845 37.753731039108025 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99999896e-01 3.13481773e-04 3.32538403e-04] [-3.13430231e-04 9.99999939e-01 -1.55038400e-04] [-3.32586984e-04 1.54934157e-04 9.99999933e-01]] t_estimated: [[9.40181995e-01] [3.40671432e-01] [8.89481547e-04]] R_gt: [[ 0.98310493 -0.18294118 0.00618848] [ 0.18303348 0.98287038 -0.02158707] [-0.0021339 0.02235594 0.99974821]] t_gt: [ 0.95821851 -0.27947681 -0.06090975] Pose Error in degrees for R and t: 10.63925949768769 36.328292777256685 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.98055827 -0.19617749 0.00445805] [-0.19621113 -0.97992112 0.03543706] [-0.00258341 -0.03562282 -0.99936197]] t_estimated: [[0.14321357] [0.98954131] [0.01725878]] R_gt: [[ 0.99809457 0.01648465 0.05947056] [-0.01556145 0.99975249 -0.01594617] [-0.05971806 0.01499025 0.99810189]] t_gt: [-0.3994492 0.21558481 0.89104631] Pose Error in degrees for R and t: 178.4993267001885 80.12484583081316 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.98556086e-01 -5.37190617e-02 -7.82499058e-05] [ 5.37190760e-02 9.98556069e-01 1.94227447e-04] [ 6.77032021e-05 -1.98150512e-04 9.99999978e-01]] t_estimated: [[3.30685048e-01] [9.43741172e-01] [6.52590297e-06]] R_gt: [[ 0.99549854 -0.01484323 0.09361456] [ 0.01570166 0.99984215 -0.00843607] [-0.09347494 0.00986674 0.99557212]] t_gt: [ 0.13906989 -0.19954892 0.96996897] Pose Error in degrees for R and t: 5.8300149494941556 81.81742733917528 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 8.40000390e-01 5.42584619e-01 1.12969105e-03] [-5.42583153e-01 8.40000976e-01 -1.37175425e-03] [-1.69323434e-03 5.39322768e-04 9.99998421e-01]] t_estimated: [[0.12480937] [0.99217879] [0.00196969]] R_gt: [[ 0.99769972 -0.0434824 0.05201225] [ 0.04259664 0.99893037 0.01803488] [-0.05274186 -0.0157782 0.99848303]] t_gt: [ 0.52269189 -0.50567377 0.68635795] Pose Error in degrees for R and t: 35.458994675954735 64.2064320881545 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.82870244 -0.55964941 -0.00669331] [-0.55965219 0.828726 -0.00162536] [ 0.00645655 0.00239899 -0.99997628]] t_estimated: [[ 0.95405222] [ 0.29963036] [-0.0024526 ]] R_gt: [[ 0.99024137 0.13863985 0.01411538] [-0.13846315 0.9902845 -0.01280612] [-0.01575419 0.01072769 0.99981762]] t_gt: [-0.83179821 0.55415653 -0.03197297] Pose Error in degrees for R and t: 179.763604161966 51.137145003177366 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 8.67318884e-01 4.97752595e-01 5.54443233e-04] [-4.97751685e-01 8.67318688e-01 -1.24672760e-03] [-1.10144087e-03 8.05335335e-04 9.99999069e-01]] t_estimated: [[-9.99974549e-01] [-7.07946583e-03] [-8.84933229e-04]] R_gt: [[ 0.97501805 0.22211127 0.00235201] [-0.22210371 0.974735 0.02371056] [ 0.00297303 -0.02363993 0.99971514]] t_gt: [-0.81235478 0.57907747 0.06891298] Pose Error in degrees for R and t: 17.076210264591353 36.082134765274006 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-9.65345818e-01 2.60961235e-01 -2.58576676e-03] [ 2.60962137e-01 9.65349037e-01 -1.20485839e-05] [ 2.49302324e-03 -6.86418271e-04 -9.99996657e-01]] t_estimated: [[9.99974549e-01] [7.07946585e-03] [8.84933229e-04]] R_gt: [[ 0.93945798 0.3422834 0.01614542] [-0.34225975 0.93959557 -0.00425978] [-0.01662878 -0.00152349 0.99986055]] t_gt: [-0.7692007 0.63900661 0.00091129] Pose Error in degrees for R and t: 179.1848672080511 40.12355796799787 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999982e-01 1.54222100e-04 -1.07260890e-04] [-1.54260946e-04 9.99999922e-01 -3.62254911e-04] [ 1.07205013e-04 3.62271451e-04 9.99999929e-01]] t_estimated: [[-0.70817723] [-0.70603241] [-0.00180093]] R_gt: [[ 0.98847085 -0.1512826 -0.00624167] [ 0.15104999 0.98811874 -0.02837822] [ 0.01045984 0.02710926 0.99957768]] t_gt: [ 0.84634661 -0.51029171 -0.15264267] Pose Error in degrees for R and t: 8.85867894511306 76.18391929503102 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.75184121e-01 2.21388514e-01 1.74828123e-03] [-2.21387935e-01 9.75185680e-01 -5.20834355e-04] [-1.82020557e-03 1.20861021e-04 9.99998336e-01]] t_estimated: [[-9.05039903e-01] [-4.25326202e-01] [ 6.29852806e-04]] R_gt: [[ 0.96983135 -0.24233386 0.02646099] [ 0.24329982 0.96899361 -0.04308105] [-0.01520122 0.04822055 0.9987206 ]] t_gt: [ 0.85555335 -0.49799822 -0.14151411] Pose Error in degrees for R and t: 26.99953675814485 55.765079230367775 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.75146392 0.659724 0.00813736] [ 0.6597366 0.7514956 -0.0014044 ] [-0.00704171 0.00431315 -0.9999659 ]] t_estimated: [[ 0.98058712] [-0.19605293] [ 0.00348639]] R_gt: [[ 0.93480318 -0.35197472 0.04750841] [ 0.35463404 0.93233364 -0.07062849] [-0.01943418 0.08287277 0.99637049]] t_gt: [ 0.88415624 -0.43633482 -0.16697204] Pose Error in degrees for R and t: 176.12333049496144 17.83269211744627 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.99948587 -0.03203656 0.0012883 ] [ 0.03203302 -0.99948322 -0.00268065] [ 0.00137351 -0.002638 0.99999558]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.99568663 -0.00331249 -0.0927276 ] [ 0.00317898 0.99999376 -0.00159072] [ 0.09273197 0.00128922 0.99568989]] t_gt: [ 0.3931499 -0.05242903 -0.9179784 ] Pose Error in degrees for R and t: 177.97376258099143 74.73136407091175 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.55998406 0.82845237 -0.00919419] [ 0.82846347 -0.55981366 0.01602964] [ 0.00813276 -0.01659339 -0.99982924]] t_estimated: [[ 0.27947582] [-0.96010521] [-0.00955237]] R_gt: [[ 0.98340023 0.01219282 -0.18104072] [-0.01219282 0.99992508 0.00111113] [ 0.18104083 0.00111464 0.9834749 ]] t_gt: [ 0.32585739 0.06874781 -0.94291606] Pose Error in degrees for R and t: 174.05793874207365 88.04748518949586 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.92433901e-01 -1.22779454e-01 3.97620882e-04] [ 1.22779382e-01 9.92433969e-01 2.00461600e-04] [-4.19225036e-04 -1.50125242e-04 9.99999901e-01]] t_estimated: [[0.18556678] [0.98263108] [0.00106212]] R_gt: [[ 0.96774594 0.02579145 -0.25060401] [-0.02698737 0.99963482 -0.00133973] [ 0.25047827 0.0080596 0.96808859]] t_gt: [ 0.31534763 0.1007296 -0.94361508] Pose Error in degrees for R and t: 16.87332492895745 80.9964389751052 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.98197846e-01 -6.00087986e-02 6.83042845e-05] [ 6.00088171e-02 9.98197798e-01 -3.12538284e-04] [-4.94261394e-05 3.16073901e-04 9.99999949e-01]] t_estimated: [[-0.28778032] [-0.95769516] [-0.00157257]] R_gt: [[ 9.78686515e-01 -1.98446721e-01 5.28444104e-02] [ 1.98194163e-01 9.80110411e-01 1.00364468e-02] [-5.37835899e-02 6.51125743e-04 9.98552280e-01]] t_gt: [ 0.62102129 -0.75129752 0.2233486 ] Pose Error in degrees for R and t: 8.578597996010217 57.28605903375094 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99999965e-01 -1.53351479e-05 2.62245099e-04] [ 1.53937319e-05 9.99999975e-01 -2.23393344e-04] [-2.62241666e-04 2.23397374e-04 9.99999941e-01]] t_estimated: [[ 9.96805848e-01] [-7.98629809e-02] [ 6.99323688e-05]] R_gt: [[ 0.93476843 -0.35480929 -0.0178544 ] [ 0.35516231 0.934504 0.02370576] [ 0.00827599 -0.02850136 0.99955908]] t_gt: [ 0.71363877 -0.69891444 0.04731075] Pose Error in degrees for R and t: 20.866660623854948 39.89867363882812 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.99959096 -0.02857956 -0.00105444] [ 0.02858074 0.99959086 0.00112031] [ 0.00102199 -0.00114998 0.99999882]] t_estimated: [[0.30572618] [0.95211866] [0.00124786]] R_gt: [[ 0.88393422 -0.46730691 0.0168577 ] [ 0.46634241 0.88361678 0.04178741] [-0.03442204 -0.02907601 0.99898374]] t_gt: [ 0.71851764 -0.68573947 0.11616276] Pose Error in degrees for R and t: 26.329161576791137 64.33613310849135 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99998505e-01 1.72877462e-03 2.32305549e-05] [-1.72877301e-03 9.99998503e-01 -6.91948742e-05] [-2.33501425e-05 6.91546104e-05 9.99999997e-01]] t_estimated: [[ 5.92483188e-01] [-8.05582701e-01] [-4.29150040e-04]] R_gt: [[ 0.99736783 -0.05263111 -0.04986682] [ 0.04955872 0.99690768 -0.06098107] [ 0.05292151 0.05834917 0.99689215]] t_gt: [ 0.39648943 -0.28283037 -0.87338601] Pose Error in degrees for R and t: 5.439449131374524 62.4106445794452 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 1.00000000e+00 2.61281079e-05 3.45252442e-06] [-2.61281649e-05 1.00000000e+00 1.65006129e-05] [-3.45209329e-06 -1.65007031e-05 1.00000000e+00]] t_estimated: [[0.99976531] [0.02161337] [0.00147692]] R_gt: [[ 0.96643516 -0.25610277 0.02032691] [ 0.25642242 0.96644843 -0.01500081] [-0.01580355 0.01971033 0.99968097]] t_gt: [ 0.6777568 -0.73515772 0.01374233] Pose Error in degrees for R and t: 14.922425711638029 48.56814577115707 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.96574676e-01 -8.26976330e-02 1.28626596e-04] [ 8.26976507e-02 9.96574673e-01 -1.39137343e-04] [-1.16679679e-04 1.49297870e-04 9.99999982e-01]] t_estimated: [[ 6.58141195e-01] [-7.52894453e-01] [-3.31096255e-04]] R_gt: [[ 0.92691675 -0.37422302 -0.02796401] [ 0.37178098 0.92588661 -0.06716969] [ 0.05102655 0.05186418 0.99734939]] t_gt: [ 0.72972047 -0.65671768 -0.1903416 ] Pose Error in degrees for R and t: 17.682689325164443 12.899992718508889 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.95697819e-01 -9.26585822e-02 -4.90559395e-04] [ 9.26587253e-02 9.95697888e-01 2.77337870e-04] [ 4.62751220e-04 -3.21599321e-04 9.99999841e-01]] t_estimated: [[8.79479284e-01] [4.75936630e-01] [7.16772033e-04]] R_gt: [[ 0.99885784 -0.03266774 0.0348981 ] [ 0.03172992 0.99912956 0.02709314] [-0.03575271 -0.02595514 0.99902388]] t_gt: [ 0.3833284 -0.82131164 0.42250033] Pose Error in degrees for R and t: 4.302133423129771 86.93550261136185 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.08763061 -0.99601769 -0.01642052] [ 0.99580754 0.08802242 -0.02488783] [ 0.0262341 -0.01417075 0.99955538]] t_estimated: [[8.35919018e-01] [5.48852194e-01] [8.15530749e-04]] R_gt: [[ 0.99906289 -0.04192073 -0.0108691 ] [ 0.04211866 0.99893778 0.01869873] [ 0.0100728 -0.0191403 0.99976595]] t_gt: [ 0.4217062 -0.90234031 0.08913952] Pose Error in degrees for R and t: 82.56671615182205 81.79782364830099 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999657e-01 -7.78449786e-04 2.82366208e-04] [ 7.78442025e-04 9.99999697e-01 2.75945392e-05] [-2.82387603e-04 -2.73747240e-05 9.99999960e-01]] t_estimated: [[0.50341705] [0.86404293] [0.00104227]] R_gt: [[ 0.98737597 -0.15233972 -0.04339191] [ 0.15176428 0.98828297 -0.01626196] [ 0.04535947 0.00947091 0.9989262 ]] t_gt: [ 0.69066142 -0.71269305 -0.12270055] Pose Error in degrees for R and t: 9.105827898718836 74.44076110614922 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.95279812 0.30347375 -0.00891202] [-0.30360097 0.95251934 -0.02309459] [ 0.00148027 0.02471018 0.99969356]] t_estimated: [[-0.50829813] [ 0.85948887] [-0.05396185]] R_gt: [[ 0.99627738 0.08618183 -0.00210005] [-0.08614967 0.99443704 -0.0606102 ] [-0.00313594 0.06056578 0.99815907]] t_gt: [-0.46612604 0.82624548 -0.31629879] Pose Error in degrees for R and t: 12.89717314317832 15.388677841308876 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999989e-01 1.49341889e-04 1.22352089e-05] [-1.49341328e-04 9.99999988e-01 -4.58488844e-05] [-1.22420559e-05 4.58470567e-05 9.99999999e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98239216 0.18673388 0.00615227] [-0.18628335 0.98149002 -0.04445156] [-0.0143395 0.04252285 0.99899282]] t_gt: [-0.49444368 0.86507638 -0.08466584] Pose Error in degrees for R and t: 11.047858476967251 30.470847310260858 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99998728e-01 1.12101924e-04 -1.59107521e-03] [-1.10045569e-04 9.99999159e-01 1.29246014e-03] [ 1.59121876e-03 -1.29228340e-03 9.99997899e-01]] t_estimated: [[7.96956091e-01] [6.04037043e-01] [4.89540368e-04]] R_gt: [[ 0.95106188 0.30789065 0.02618797] [-0.3070364 0.95115525 -0.03212484] [-0.03480019 0.02251271 0.99914104]] t_gt: [-0.47871861 0.87786855 0.01324008] Pose Error in degrees for R and t: 18.079403291643047 81.44528046594476 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99999181e-01 1.27978258e-03 1.61957889e-06] [-1.27978258e-03 9.99999181e-01 -1.39748207e-06] [-1.62136604e-06 1.39540821e-06 1.00000000e+00]] t_estimated: [[-5.48132573e-01] [ 8.36391223e-01] [ 6.35629365e-04]] R_gt: [[ 9.98530534e-01 5.31890411e-02 -1.04288175e-02] [-5.31990000e-02 9.98583800e-01 -6.31407322e-04] [ 1.03803125e-02 1.18496687e-03 9.99946289e-01]] t_gt: [-0.4930647 0.85442896 -0.16382413] Pose Error in degrees for R and t: 3.0348083526361105 10.00335633294758 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.98126406 0.19266399 -0.00119872] [-0.19266088 0.98126266 0.00231695] [ 0.00162265 -0.00204259 0.9999966 ]] t_estimated: [[-0.95770329] [-0.2877554 ] [-0.00111102]] R_gt: [[ 9.87719197e-01 3.71459387e-02 1.51760930e-01] [-3.74453703e-02 9.99297822e-01 -8.87500146e-04] [-1.51687677e-01 -4.80643252e-03 9.88417646e-01]] t_gt: [-0.35056376 0.23685199 0.90609392] Pose Error in degrees for R and t: 12.558117478375054 74.53950276612596 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99997976e-01 -2.01204425e-03 7.71639675e-07] [ 2.01204433e-03 9.99997969e-01 -1.15036593e-04] [-5.40179393e-07 1.15037912e-04 9.99999993e-01]] t_estimated: [[-3.40246322e-01] [-9.40336327e-01] [-1.81091189e-04]] R_gt: [[ 9.75053555e-01 7.36223309e-02 2.09406978e-01] [-7.53542166e-02 9.97157155e-01 2.88386684e-04] [-2.08790242e-01 -1.60613324e-02 9.77828614e-01]] t_gt: [-0.4386225 0.30010058 0.8470832 ] Pose Error in degrees for R and t: 12.872822000538957 82.35070238601405 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999987e-01 1.50634248e-04 -6.24228189e-05] [-1.50627422e-04 9.99999983e-01 1.09333788e-04] [ 6.24392872e-05 -1.09324384e-04 9.99999992e-01]] t_estimated: [[-4.43056859e-02] [-9.99018019e-01] [-5.83228083e-05]] R_gt: [[ 0.99989475 0.00936973 -0.01106094] [-0.01032485 0.99591786 -0.08966759] [ 0.01017623 0.08977257 0.99590999]] t_gt: [ 0.01947867 0.40788123 -0.91282719] Pose Error in degrees for R and t: 5.219421917752207 65.90250952181596 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99997492e-01 2.23063046e-03 -2.01908425e-04] [-2.23067070e-03 9.99997492e-01 -1.99295502e-04] [ 2.01463364e-04 1.99745394e-04 9.99999960e-01]] t_estimated: [[-0.16812527] [-0.98576462] [-0.00141685]] R_gt: [[ 0.99843567 -0.01528351 -0.05377687] [ 0.00643305 0.98692709 -0.16103426] [ 0.05553567 0.16043698 0.98548218]] t_gt: [ 0.12737528 0.24955049 -0.95994796] Pose Error in degrees for R and t: 9.78958134936756 74.57047165611665 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99999828 -0.00121205 0.00140503] [ 0.00121395 0.99999835 -0.00135301] [-0.00140339 0.00135471 0.9999981 ]] t_estimated: [[-0.36055358] [-0.93273644] [-0.00195953]] R_gt: [[ 0.98041568 -0.19662717 -0.01104442] [ 0.19357671 0.97248837 -0.12959132] [ 0.0362219 0.1249157 0.99150532]] t_gt: [ 0.63800035 -0.51424012 -0.57316023] Pose Error in degrees for R and t: 13.448870849360512 75.47867536351639 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.97265135e-01 -7.39070355e-02 2.06620626e-06] [ 7.39070351e-02 9.97265133e-01 7.44538541e-05] [-7.56321910e-06 -7.40975257e-05 9.99999997e-01]] t_estimated: [[9.43475686e-01] [3.31441732e-01] [9.41594602e-05]] R_gt: [[ 9.91885093e-01 -1.26992096e-01 -6.17187979e-03] [ 1.27141782e-01 9.90836882e-01 4.55717436e-02] [ 3.28292891e-04 -4.59871080e-02 9.98941458e-01]] t_gt: [ 0.68516056 -0.65685489 0.31479622] Pose Error in degrees for R and t: 4.04008025684417 64.61156144618577 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99990895e-01 -4.26558431e-03 1.19289187e-04] [ 4.26553310e-03 9.99990812e-01 4.26315084e-04] [-1.21106573e-04 -4.25802370e-04 9.99999902e-01]] t_estimated: [[0.58517859] [0.81090389] [0.00094843]] R_gt: [[ 0.98983816 -0.13899765 -0.0300129 ] [ 0.14160058 0.98283811 0.11823506] [ 0.0130636 -0.12128355 0.99253123]] t_gt: [ 0.537274 -0.6814823 0.49690898] Pose Error in degrees for R and t: 10.504189543020715 76.24656543843368 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.94984228 0.31270725 0.00371669] [ 0.31271882 0.94984073 0.00308794] [-0.00256465 0.00409533 -0.99998833]] t_estimated: [[0.99770562] [0.06767383] [0.00193354]] R_gt: [[ 9.81903898e-01 -1.84308544e-01 -4.35462948e-02] [ 1.89381888e-01 9.56489140e-01 2.21951835e-01] [ 7.43646483e-04 -2.26182323e-01 9.74084037e-01]] t_gt: [ 0.4980791 -0.61728011 0.60900121] Pose Error in degrees for R and t: 176.8772184096958 62.84880552476029 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.93153528e-01 1.16816357e-01 9.32847722e-05] [-1.16816345e-01 9.93153526e-01 -1.27435059e-04] [-1.07532600e-04 1.15665392e-04 9.99999988e-01]] t_estimated: [[0.74047788] [0.67208032] [0.00074345]] R_gt: [[ 0.9977267 -0.06632252 0.01200767] [ 0.06579412 0.99702815 0.04007823] [-0.01463047 -0.03919723 0.99912411]] t_gt: [ 0.63946525 -0.6458892 0.41702678] Pose Error in degrees for R and t: 10.768294177272216 87.72301120170088 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.26874827 -0.96320875 0.00180786] [-0.96320394 0.26873908 -0.00418 ] [ 0.00354037 -0.00286471 -0.99998963]] t_estimated: [[8.55247666e-01] [5.18218943e-01] [7.45638767e-04]] R_gt: [[ 0.9850308 -0.17166092 -0.0157546 ] [ 0.17219671 0.98409651 0.04360614] [ 0.00801871 -0.04566663 0.99892514]] t_gt: [ 0.76161465 -0.6359968 0.12430285] Pose Error in degrees for R and t: 179.07915990493564 71.22356941692776 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.88989441e-01 -8.72287177e-01 2.09926059e-03] [-8.72284887e-01 4.88993322e-01 2.14611217e-03] [-2.89855054e-03 -7.81727096e-04 -9.99995494e-01]] t_estimated: [[0.92199668] [0.38719021] [0.00241994]] R_gt: [[ 0.96868229 -0.24724128 -0.02293908] [ 0.24826206 0.96606648 0.07128392] [ 0.00453642 -0.07474628 0.99719213]] t_gt: [ 0.76667031 -0.61917725 0.16981218] Pose Error in degrees for R and t: 178.38213432662852 62.12533102879816 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.35216687 -0.93590369 0.00792317] [-0.93591831 0.35209331 -0.00933924] [ 0.00595094 -0.01070441 -0.999925 ]] t_estimated: [[0.77462105] [0.63242489] [0.00099438]] R_gt: [[ 0.99565724 0.04309755 -0.08251519] [-0.04841492 0.99680293 -0.06356706] [ 0.07951101 0.06728681 0.99456081]] t_gt: [-0.10358393 0.58061673 -0.80756089] Pose Error in degrees for R and t: 174.12244819954932 73.37208985950926 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 6.47424771e-01 7.62125868e-01 -2.30815146e-03] [ 7.62115827e-01 -6.47428353e-01 -3.99920697e-03] [-4.54226178e-03 8.30106899e-04 -9.99989339e-01]] t_estimated: [[0.35072487] [0.93647156] [0.00361572]] R_gt: [[ 0.97634181 0.11023284 -0.18602623] [-0.14213598 0.97549643 -0.16793953] [ 0.16295514 0.19040797 0.96808652]] t_gt: [-0.0955173 0.63913264 -0.76314213] Pose Error in degrees for R and t: 174.66195174625716 55.787074762207794 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 7.97807788e-01 -6.02911702e-01 4.60969647e-04] [-6.02907096e-01 -7.97798181e-01 4.59307509e-03] [-2.40145798e-03 -3.94231295e-03 -9.99989346e-01]] t_estimated: [[-0.02017382] [ 0.99978862] [ 0.00396707]] R_gt: [[ 0.96093867 0.16982929 -0.21853124] [-0.21615704 0.95364223 -0.20938795] [ 0.17283975 0.24844696 0.95310088]] t_gt: [-0.13725948 0.72246255 -0.67764865] Pose Error in degrees for R and t: 163.92362700033303 43.747792131683305 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.99323618e-01 -3.67731256e-02 2.11215793e-04] [ 3.67731304e-02 9.99323640e-01 -1.84771851e-05] [-2.10393471e-04 2.62317533e-05 9.99999978e-01]] t_estimated: [[ 9.98340634e-01] [-5.75810335e-02] [-6.34700569e-04]] R_gt: [[ 0.98962116 -0.14316801 -0.0124264 ] [ 0.14342263 0.98939749 0.02282936] [ 0.00902761 -0.0243748 0.99966224]] t_gt: [ 0.75637172 -0.63767323 0.14585838] Pose Error in degrees for R and t: 6.312088603008143 37.651402897461296 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-6.24996339e-01 -7.80624365e-01 -2.27530058e-03] [ 7.80627144e-01 -6.24996672e-01 -6.49352238e-04] [-9.15155112e-04 -2.18200417e-03 9.99997201e-01]] t_estimated: [[8.09204834e-01] [5.87526115e-01] [7.75100416e-04]] R_gt: [[ 0.9778114 -0.20734691 -0.02987024] [ 0.20892868 0.97565269 0.06671463] [ 0.01531085 -0.0714756 0.99732485]] t_gt: [ 0.71460508 -0.64433116 0.27235445] Pose Error in degrees for R and t: 116.6944246730852 78.4682100104504 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.98864395 -0.15026142 -0.00215544] [ 0.15026876 0.98863793 0.00378674] [ 0.00156194 -0.00406763 0.99999051]] t_estimated: [[-9.92573935e-01] [-1.21638963e-01] [-9.73111701e-04]] R_gt: [[ 0.97575421 -0.21622471 -0.03392575] [ 0.21876979 0.95881508 0.18114165] [-0.00663815 -0.1841717 0.98287224]] t_gt: [ 0.55630677 -0.63889031 0.53135859] Pose Error in degrees for R and t: 11.139457995382276 61.6420354816212 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.82386905e-01 1.86857495e-01 4.94598809e-04] [-1.86857402e-01 9.82387021e-01 -2.26888688e-04] [-5.28283302e-04 1.30473028e-04 9.99999852e-01]] t_estimated: [[0.02578569] [0.99966683] [0.00114958]] R_gt: [[ 0.9969014 -0.07603898 0.02012809] [ 0.07725672 0.99462761 -0.0689002 ] [-0.01477991 0.07024235 0.99741986]] t_gt: [ 0.89924786 0.23374691 -0.36975081] Pose Error in degrees for R and t: 15.712013783152956 75.14156282986781 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999726e-01 -1.79735099e-04 7.17900605e-04] [ 1.80339479e-04 9.99999629e-01 -8.41896495e-04] [-7.17749020e-04 8.42025731e-04 9.99999388e-01]] t_estimated: [[0.82710747] [0.56204175] [0.00151725]] R_gt: [[ 0.99341662 -0.10528395 0.04514377] [ 0.11060897 0.98411243 -0.13887665] [-0.02980449 0.14295583 0.98928017]] t_gt: [ 0.77775048 0.42308049 -0.4648732 ] Pose Error in degrees for R and t: 10.400792573271685 28.31335811679875 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.98701543 0.16016916 -0.01209892] [ 0.16030536 0.98700308 -0.01127435] [ 0.01013586 -0.01306748 -0.99986324]] t_estimated: [[7.94594501e-01] [6.07140020e-01] [7.58925025e-04]] R_gt: [[ 0.99535652 -0.09308903 0.02446504] [ 0.09618985 0.97101314 -0.21881499] [-0.00338649 0.22015303 0.97545944]] t_gt: [ 0.55583948 0.61346963 -0.56097904] Pose Error in degrees for R and t: 178.8479843904068 35.54066017092716 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99983212e-01 5.79358149e-03 1.02641716e-04] [-5.79357296e-03 9.99983214e-01 -8.32305040e-05] [-1.03122195e-04 8.26344444e-05 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99489144 -0.09832835 -0.02286635] [ 0.09860042 0.99506559 0.0110773 ] [ 0.02166457 -0.01327496 0.99967749]] t_gt: [ 0.74748074 -0.66196671 -0.05543122] Pose Error in degrees for R and t: 6.1596416752075385 41.80813548566836 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.98175999 0.1791077 0.06377896] [-0.1683745 0.97487026 -0.14586981] [-0.08830262 0.13247039 0.98724579]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 9.88025987e-01 -1.54270301e-01 -2.42818618e-03] [ 1.54287275e-01 9.87978925e-01 9.67321465e-03] [ 9.07196425e-04 -9.93172424e-03 9.99950052e-01]] t_gt: [ 0.73565603 -0.67574401 0.04669303] Pose Error in degrees for R and t: 21.26851298660862 80.92671885970692 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 2.17402766e-04 -9.99961109e-01 8.81669079e-03] [-9.99991052e-01 -2.54640075e-04 -4.22259911e-03] [ 4.22467997e-03 -8.81569390e-03 -9.99952217e-01]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 0.99055645 -0.13621985 0.01557071] [ 0.13655331 0.99037096 -0.0227739 ] [-0.01231823 0.02468481 0.99961879]] t_gt: [ 0.69855368 -0.71418429 -0.04431208] Pose Error in degrees for R and t: 179.75423978534602 82.35580585085788 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.17694036 0.98420514 0.00568712] [ 0.98421694 -0.17691884 -0.00409127] [-0.00302049 0.00632127 -0.99997546]] t_estimated: [[0.93070002] [0.36578188] [0.00104809]] R_gt: [[ 0.99489098 0.01615839 0.0996494 ] [-0.0158668 0.99986751 -0.00371332] [-0.09969593 0.00211394 0.99501554]] t_gt: [-0.35004328 0.15421292 0.92395242] Pose Error in degrees for R and t: 175.81489313844705 74.43040812315901 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-3.58597588e-01 -9.33492237e-01 1.16112254e-04] [ 9.33489747e-01 -3.58596339e-01 2.35740755e-03] [-2.15898422e-03 9.53750260e-04 9.99997215e-01]] t_estimated: [[9.50267914e-01] [3.11432342e-01] [8.87271629e-04]] R_gt: [[ 9.73886805e-01 5.20457000e-02 2.20987589e-01] [-5.35004770e-02 9.98568195e-01 5.97768750e-04] [-2.20640371e-01 -1.24048383e-02 9.75275965e-01]] t_gt: [-0.3738709 0.20859626 0.90371907] Pose Error in degrees for R and t: 114.52176991132352 73.17125437645308 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.11260202 -0.99357485 -0.01139322] [ 0.99363882 -0.11257556 -0.00294029] [ 0.0016388 -0.01165182 0.99993077]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.96216385 0.09932177 0.25372251] [-0.09969397 0.99495341 -0.01142086] [-0.25357585 -0.01430577 0.96720937]] t_gt: [-0.47978458 0.30115464 0.82408291] Pose Error in degrees for R and t: 103.12216183520903 61.588297898157684 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999923e-01 3.92177583e-04 6.37764461e-06] [-3.92178149e-04 9.99999919e-01 8.89565057e-05] [-6.34275735e-06 -8.89590001e-05 9.99999996e-01]] t_estimated: [[-9.96131703e-01] [-8.78725591e-02] [ 2.11227578e-04]] R_gt: [[ 0.99151689 0.1299491 -0.00294197] [-0.12979257 0.99104204 0.03145504] [ 0.00700294 -0.0308066 0.99950049]] t_gt: [-0.58033525 0.80775284 0.10366458] Pose Error in degrees for R and t: 7.657074111192114 59.52695657522715 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 1.00000000e+00 6.32827124e-15 2.54375514e-15] [-6.24500451e-15 1.00000000e+00 -3.64903149e-15] [-2.25486947e-15 2.48279587e-15 1.00000000e+00]] t_estimated: [[-9.70979107e-01] [-2.39164192e-01] [-2.50184843e-04]] R_gt: [[ 0.9772731 0.21146503 0.0148145 ] [-0.21182452 0.97685406 0.02977302] [-0.00817631 -0.03223374 0.99944608]] t_gt: [-0.55017256 0.82777214 0.11001564] Pose Error in degrees for R and t: 12.369454633963338 70.35416464592478 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999989e-01 -1.46400628e-04 -1.64745544e-05] [ 1.46400960e-04 9.99999989e-01 2.01601781e-05] [ 1.64716027e-05 -2.01625897e-05 1.00000000e+00]] t_estimated: [[-0.73991193] [-0.67270234] [-0.00137886]] R_gt: [[ 0.96163156 0.27434015 0.00175659] [-0.27400557 0.9601008 0.05591371] [ 0.01365239 -0.05424959 0.9984336 ]] t_gt: [-0.53128716 0.8412553 0.1001173 ] Pose Error in degrees for R and t: 16.2511901966943 80.0408064572478 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.99999881e-01 4.65167714e-04 1.49252485e-04] [-4.65156091e-04 9.99999889e-01 -7.79042952e-05] [-1.49288707e-04 7.78348602e-05 9.99999986e-01]] t_estimated: [[ 9.99999976e-01] [-2.03755458e-04] [-8.37984729e-05]] R_gt: [[ 9.95759248e-01 -9.17488214e-02 -6.74392862e-03] [ 9.17574128e-02 9.95781649e-01 7.88817850e-04] [ 6.64377916e-03 -1.40409475e-03 9.99976956e-01]] t_gt: [ 0.83204986 -0.554391 -0.01853754] Pose Error in degrees for R and t: 5.305987613558986 33.67828407268808 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999888e-01 4.34587573e-04 1.85004585e-04] [-4.34610085e-04 9.99999898e-01 1.21660525e-04] [-1.84951695e-04 -1.21740916e-04 9.99999975e-01]] t_estimated: [[9.65385051e-01] [2.60828763e-01] [2.42803141e-04]] R_gt: [[ 0.98902529 -0.14401617 0.03297448] [ 0.14288528 0.98914017 0.03444216] [-0.03757661 -0.02935271 0.99886198]] t_gt: [ 0.75000725 -0.62937322 0.20341703] Pose Error in degrees for R and t: 8.712197125340055 55.94859103817044 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.53567083 -0.62498725 0.56784479] [-0.11827653 -0.61030059 -0.7832904 ] [ 0.83610252 -0.48674854 0.2529989 ]] t_estimated: [[0.7782349 ] [0.62747064] [0.0251204 ]] R_gt: [[ 0.98667321 -0.16227093 0.01205106] [ 0.16151045 0.98566618 0.04875608] [-0.01978956 -0.04616004 0.99873765]] t_gt: [ 0.68165893 -0.70494037 0.19595964] Pose Error in degrees for R and t: 155.54100365139087 84.6589490076533 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.97177745e-01 -7.50769186e-02 2.45733290e-05] [ 7.50769153e-02 9.97177739e-01 1.15928552e-04] [-3.32075351e-05 -1.13756482e-04 9.99999993e-01]] t_estimated: [[0.99931959] [0.03685158] [0.00151932]] R_gt: [[ 0.99885071 -0.02946379 0.03781913] [ 0.0306073 0.99908174 -0.02999825] [-0.03690083 0.03112038 0.99883427]] t_gt: [-0.60114543 -0.58452402 0.54493655] Pose Error in degrees for R and t: 3.786932896384208 51.57796665026967 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 0.74221925 0.67006445 -0.01114524] [ 0.67006941 -0.74175038 0.02851951] [ 0.01084293 -0.02863581 -0.9995311 ]] t_estimated: [[-0.4476047 ] [ 0.89409495] [ 0.0156286 ]] R_gt: [[ 0.99524085 -0.01861556 0.09564987] [ 0.02244012 0.99898508 -0.03906085] [-0.09482649 0.04102112 0.99464823]] t_gt: [-0.72288743 -0.12884749 0.67884614] Pose Error in degrees for R and t: 177.646223878626 77.35114333607524 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[-3.20970713e-01 9.47079254e-01 -4.32300426e-03] [-9.47086917e-01 -3.20976469e-01 -6.91952134e-04] [-2.04291615e-03 3.87216441e-03 9.99990416e-01]] t_estimated: [[0.62738659] [0.77870748] [0.00085012]] R_gt: [[ 0.99090923 -0.08184504 0.10677052] [ 0.08442751 0.99623179 -0.01988077] [-0.10474218 0.02871355 0.99408499]] t_gt: [-0.33954882 -0.65322371 0.67676095] Pose Error in degrees for R and t: 113.62009909965073 43.85270471869845 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.17945986 0.98241047 0.05161228] [ 0.98239261 0.1817332 -0.04333373] [-0.05195117 0.04292685 -0.9977266 ]] t_estimated: [[ 0.7950154 ] [-0.60568629] [ 0.03308528]] R_gt: [[ 0.99869576 -0.02828629 -0.04251933] [ 0.02646313 0.99873114 -0.04285663] [ 0.04367669 0.04167673 0.99817551]] t_gt: [ 0.46422881 -0.54371552 -0.69918885] Pose Error in degrees for R and t: 176.48539275616216 47.525871443861476 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.85584048 -0.51620719 0.03266817] [ 0.51723838 -0.8539783 0.05644043] [-0.00123705 0.06520124 0.99787137]] t_estimated: [[0.88013316] [0.47472572] [0.00105028]] R_gt: [[ 0.98509465 -0.16519731 -0.04794473] [ 0.16244117 0.98509148 -0.0566392 ] [ 0.05658599 0.04800695 0.99724296]] t_gt: [ 0.77039699 -0.55480642 -0.31413104] Pose Error in degrees for R and t: 139.5355024478251 65.52216813256149 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.2402915 0.97060845 0.01338741] [-0.97065571 0.2401246 0.012949 ] [ 0.00935376 -0.0161061 0.99982654]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95491941 -0.2945237 -0.03721047] [ 0.28985173 0.95209086 -0.09751806] [ 0.06414794 0.08233702 0.99453821]] t_gt: [ 0.84322376 -0.4536176 -0.28845235] Pose Error in degrees for R and t: 93.36104424787807 63.34294378048365 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.98829565 -0.1520302 0.01259035] [-0.15198841 0.98837328 0.00421796] [-0.01308523 0.002255 -0.99991184]] t_estimated: [[0.9975501 ] [0.06976239] [0.00519589]] R_gt: [[ 0.99546187 -0.05359237 0.07863874] [ 0.04119961 0.9875973 0.151502 ] [-0.08578242 -0.14757487 0.98532345]] t_gt: [ 0.20251484 -0.23966954 0.94949789] Pose Error in degrees for R and t: 173.88705897560806 79.03366046238264 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-1.29292962e-01 9.91606436e-01 7.40545468e-05] [-9.91603222e-01 -1.29292352e-01 -2.55677674e-03] [-2.52574158e-03 -4.04005964e-04 9.99996729e-01]] t_estimated: [[0.02019787] [0.99979459] [0.00168316]] R_gt: [[ 0.99498901 -0.02970215 0.09547609] [ 0.01504393 0.9884605 0.15072836] [-0.09885161 -0.14853675 0.98395387]] t_gt: [ 0.12036481 -0.05405906 0.99125674] Pose Error in degrees for R and t: 99.11792328548628 87.13697601762621 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.97078821e-01 7.63779629e-02 4.80694864e-04] [-7.63776555e-02 9.97078763e-01 -6.28451497e-04] [-5.27290485e-04 5.89901331e-04 9.99999687e-01]] t_estimated: [[-0.53656447] [-0.84385885] [-0.00089932]] R_gt: [[ 0.99693337 -0.0145636 0.07689151] [ 0.00325657 0.98940025 0.1451724 ] [-0.07819105 -0.14447706 0.98641334]] t_gt: [0.09050656 0.10741793 0.99008583] Pose Error in degrees for R and t: 10.65992732512814 81.94644900495666 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.89335614 0.44932686 -0.00449346] [ 0.4493317 -0.89318787 0.01778895] [ 0.00397955 -0.01791092 -0.99983167]] t_estimated: [[-0.32132656] [ 0.94691816] [ 0.00975904]] R_gt: [[ 0.99183051 0.07962272 -0.09966346] [-0.09052417 0.98978804 -0.11011148] [ 0.08987794 0.11823352 0.98890966]] t_gt: [-0.19135583 0.62871605 -0.75372347] Pose Error in degrees for R and t: 175.91610244133486 49.49798844060233 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.89382007e-01 -1.45338376e-01 -6.58057005e-06] [ 1.45338376e-01 9.89382001e-01 1.12355930e-04] [-9.81893089e-06 -1.12119345e-04 9.99999994e-01]] t_estimated: [[-7.06094769e-01] [ 7.08117129e-01] [-5.55155784e-04]] R_gt: [[ 0.98509181 0.120591 -0.12269353] [-0.13872412 0.97860222 -0.15196303] [ 0.10174271 0.16671737 0.98074086]] t_gt: [-0.21774638 0.70288541 -0.67715479] Pose Error in degrees for R and t: 19.450419234934174 49.31871684206788 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 7.00576160e-01 -7.13577609e-01 -1.99748638e-04] [ 7.13577636e-01 7.00576121e-01 2.37022335e-04] [-2.91947050e-05 -3.08588359e-04 9.99999952e-01]] t_estimated: [[7.79656777e-01] [6.26206742e-01] [6.52978875e-04]] R_gt: [[ 0.98590007 0.10989467 -0.12619651] [-0.13173419 0.97474452 -0.18032728] [ 0.10319228 0.19440796 0.97547689]] t_gt: [-0.17419846 0.70347663 -0.68903956] Pose Error in degrees for R and t: 53.96508892277971 72.2865390359322 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999979e-01 8.99924662e-05 1.81780878e-04] [-9.00061213e-05 9.99999993e-01 7.51117259e-05] [-1.81774117e-04 -7.51280858e-05 9.99999981e-01]] t_estimated: [[0.82761908] [0.56128894] [0.00117702]] R_gt: [[ 0.99850421 -0.05368577 0.01033125] [ 0.05424383 0.99642879 -0.06470172] [-0.00682113 0.06516526 0.99785091]] t_gt: [ 0.34324407 0.49527079 -0.7980541 ] Pose Error in degrees for R and t: 4.874133515386542 55.86629380245835 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.83020372e-01 1.83495395e-01 6.23374157e-04] [-1.83495020e-01 9.83020447e-01 -6.14630782e-04] [-7.25571461e-04 4.89808526e-04 9.99999617e-01]] t_estimated: [[-9.90421780e-01] [-1.38072818e-01] [-7.71356526e-04]] R_gt: [[ 9.99609427e-01 -2.79287551e-02 5.04636292e-04] [ 2.78227911e-02 9.93919627e-01 -1.06530763e-01] [ 2.47309613e-03 1.06503625e-01 9.94308809e-01]] t_gt: [-0.00382645 0.80229627 -0.59691378] Pose Error in degrees for R and t: 13.605822834340804 83.8849600164221 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.96371102e-01 -8.51153482e-02 7.16170209e-05] [ 8.51153516e-02 9.96371103e-01 -4.51442447e-05] [-6.75146620e-05 5.10761287e-05 9.99999996e-01]] t_estimated: [[ 4.74239808e-01] [ 8.80395696e-01] [-1.53358612e-04]] R_gt: [[ 0.99244261 -0.12270441 0.00104755] [ 0.12122167 0.979052 -0.16359009] [ 0.01904678 0.16248062 0.98652757]] t_gt: [ 0.54091358 0.593427 -0.59603431] Pose Error in degrees for R and t: 9.659583139013515 38.82497686279261 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999998e-01 -4.05125678e-05 3.98186585e-05] [ 4.05136086e-05 9.99999999e-01 -2.61390662e-05] [-3.98175995e-05 2.61406794e-05 9.99999999e-01]] t_estimated: [[1.53868803e-01] [9.88091260e-01] [2.30576080e-04]] R_gt: [[ 0.99782366 0.01024797 -0.06513102] [-0.00951588 0.99988918 0.01154355] [ 0.06524146 -0.01090018 0.99780978]] t_gt: [ 0.4504478 0.19154496 -0.87201336] Pose Error in degrees for R and t: 3.837379107541205 75.02647414686314 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999928e-01 -2.70104047e-05 3.78077521e-04] [ 2.72417479e-05 9.99999812e-01 -6.11901585e-04] [-3.78060922e-04 6.11911840e-04 9.99999741e-01]] t_estimated: [[7.27251602e-01] [6.86370595e-01] [7.17210653e-04]] R_gt: [[ 0.99921931 0.03948607 -0.00122607] [-0.03947202 0.99916713 0.01043983] [ 0.00163728 -0.01038474 0.99994391]] t_gt: [-0.33611571 0.91676422 0.21579988] Pose Error in degrees for R and t: 2.3528779855517294 67.35910975513708 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999915e-01 4.02594950e-04 -8.41571566e-05] [-4.02599896e-04 9.99999917e-01 -5.87596227e-05] [ 8.41334933e-05 5.87934994e-05 9.99999995e-01]] t_estimated: [[-4.49220567e-01] [-8.93420613e-01] [-7.00231979e-04]] R_gt: [[ 0.98852876 0.05320953 0.14134705] [-0.05548537 0.99838564 0.01220429] [-0.14047 -0.01990706 0.98988396]] t_gt: [-0.38514873 0.32540424 0.86358123] Pose Error in degrees for R and t: 8.73240800893097 83.20537401988479 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999726e-01 5.96601872e-04 -4.37426658e-04] [-5.96467787e-04 9.99999775e-01 3.06597369e-04] [ 4.37609476e-04 -3.06336375e-04 9.99999857e-01]] t_estimated: [[-0.40462553] [-0.91448194] [-0.00098155]] R_gt: [[ 0.9896623 0.14329993 0.00580017] [-0.14193467 0.98442649 -0.10372443] [-0.02057364 0.10182895 0.99458936]] t_gt: [-0.28070185 0.90492181 -0.31987964] Pose Error in degrees for R and t: 10.138029263672163 44.46802096767445 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999804e-01 4.39514830e-04 -4.46219428e-04] [-4.40544956e-04 9.99997232e-01 -2.31109604e-03] [ 4.45202432e-04 2.31129217e-03 9.99997230e-01]] t_estimated: [[-0.74434043] [-0.66779138] [-0.00346341]] R_gt: [[ 9.86722761e-01 1.62415294e-01 4.27939248e-04] [-1.59712266e-01 9.70767090e-01 -1.79175520e-01] [-2.95160791e-02 1.76728042e-01 9.83816662e-01]] t_gt: [-0.20050318 0.87488251 -0.44088442] Pose Error in degrees for R and t: 13.802002864712604 64.31206009726822 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99994491e-01 3.18065115e-03 -9.48959070e-04] [-3.18028620e-03 9.99994868e-01 3.85833065e-04] [ 9.50181401e-04 -3.82812978e-04 9.99999475e-01]] t_estimated: [[-2.53720846e-01] [-9.67277150e-01] [-8.04430555e-04]] R_gt: [[ 0.98653487 0.1618851 -0.02330706] [-0.16197126 0.9472249 -0.27664194] [-0.02270759 0.27669222 0.9606903 ]] t_gt: [-0.14825572 0.806143 -0.57284701] Pose Error in degrees for R and t: 18.625100830571213 42.124651457616 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[-1.69544169e-01 9.85514984e-01 3.87194386e-03] [-9.85522590e-01 -1.69542810e-01 -6.79037153e-04] [-1.27410488e-05 -3.93101493e-03 9.99992273e-01]] t_estimated: [[0.09271114] [0.99569224] [0.00127002]] R_gt: [[ 0.99773223 -0.01930195 -0.06447282] [ 0.0220214 0.99888664 0.04173655] [ 0.06359466 -0.04306214 0.9970457 ]] t_gt: [ 0.93239665 -0.1917701 0.30636696] Pose Error in degrees for R and t: 101.02020195121116 84.02402959107788 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 0.9487246 0.31608512 0.00343902] [-0.31609851 0.94871562 0.00451685] [-0.00183494 -0.00537231 0.99998389]] t_estimated: [[0.16577594] [0.98615428] [0.00425067]] R_gt: [[ 0.99163017 -0.00584215 -0.12897522] [ 0.01392046 0.99798992 0.06182483] [ 0.1283546 -0.06310331 0.98971886]] t_gt: [ 0.98173246 -0.17247043 0.080345 ] Pose Error in degrees for R and t: 20.691913439868205 89.5993091698201 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 0.1402804 0.98982567 0.02380228] [ 0.99008045 -0.14004405 -0.01133018] [-0.00788153 0.02515558 -0.99965248]] t_estimated: [[-0.73761526] [-0.67510549] [-0.01250195]] R_gt: [[ 0.98592247 0.00128066 -0.16719605] [ 0.01259338 0.99656132 0.08189178] [ 0.16672686 -0.082845 0.9825165 ]] t_gt: [ 0.97452273 -0.20303343 0.09530407] Pose Error in degrees for R and t: 171.49412942549344 54.34202980511316 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.77641969 -0.63020851 -0.00311295] [ 0.63021484 -0.77641882 -0.00175225] [-0.00131267 -0.00332231 0.99999362]] t_estimated: [[0.91785507] [0.3969103 ] [0.00206724]] R_gt: [[ 0.98064274 0.19540008 -0.01255884] [-0.19578682 0.97936923 -0.05003009] [ 0.0025231 0.05152122 0.9986684 ]] t_gt: [-0.38046193 0.90323782 -0.19851994] Pose Error in degrees for R and t: 152.23351573336106 89.4909148568829 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 8.88087981e-01 -4.59673347e-01 -3.90023100e-04] [ 4.59672997e-01 8.88087936e-01 -7.43625601e-04] [ 6.88199679e-04 4.81121871e-04 9.99999647e-01]] t_estimated: [[-0.0119039 ] [-0.9999277 ] [-0.00170056]] R_gt: [[ 0.94300527 0.33262344 -0.01014829] [-0.33190627 0.93789203 -0.10097834] [-0.02407074 0.09859078 0.99483702]] t_gt: [-0.27260663 0.94795367 -0.164528 ] Pose Error in degrees for R and t: 47.16095356461592 19.20280611074283 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 3.53469343e-01 9.35443838e-01 2.06135256e-03] [ 9.35446024e-01 -3.53467510e-01 -1.20663200e-03] [-4.00115309e-04 2.35479148e-03 -9.99997147e-01]] t_estimated: [[0.36356812] [0.93156681] [0.00122414]] R_gt: [[ 0.91916547 0.39359911 -0.01461924] [-0.38883097 0.90086187 -0.19302358] [-0.06280478 0.18310475 0.98108527]] t_gt: [-0.21431313 0.95809113 -0.19008227] Pose Error in degrees for R and t: 169.97972724884332 35.47431214228117 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.96965512e-01 -7.78445091e-02 -1.69171178e-05] [ 7.78445102e-02 9.96965509e-01 7.73517456e-05] [ 1.08443743e-05 -7.84339275e-05 9.99999997e-01]] t_estimated: [[-8.41591512e-01] [ 5.40114399e-01] [-4.04081958e-04]] R_gt: [[ 0.99878379 0.04328036 -0.02365132] [-0.04411926 0.99837205 -0.03613994] [ 0.02204872 0.03714059 0.99906616]] t_gt: [-0.37228635 0.75608824 -0.53826894] Pose Error in degrees for R and t: 7.397625979434163 43.78804063653998 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.99800307 0.06314628 0.00155864] [-0.06315056 0.9979999 0.00286536] [-0.00137459 -0.00295806 0.99999468]] t_estimated: [[0.09735563] [0.99519087] [0.01081729]] R_gt: [[ 9.99707813e-01 -3.97808634e-04 -2.41719940e-02] [-1.37163795e-03 9.97322918e-01 -7.30968724e-02] [ 2.41365237e-02 7.31093277e-02 9.97031450e-01]] t_gt: [ 0.09451678 0.5303369 -0.84250184] Pose Error in degrees for R and t: 5.836935068783798 58.13803848199248 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.95551575 -0.29492528 0.00295389] [ 0.29493196 0.95551583 -0.00215151] [-0.00218796 0.002927 0.99999332]] t_estimated: [[0.69618191] [0.71786499] [0.0007744 ]] R_gt: [[ 0.99630443 -0.0814157 0.02736403] [ 0.07925218 0.99421289 0.07251347] [-0.03310919 -0.07007609 0.99699202]] t_gt: [ 0.62587671 -0.36438368 0.68956717] Pose Error in degrees for R and t: 13.3278601634934 79.93997770139048 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99863124e-01 -1.65447929e-02 5.65303949e-05] [ 1.65447902e-02 9.99863124e-01 4.86538751e-05] [-5.73276255e-05 -4.77119321e-05 9.99999997e-01]] t_estimated: [[6.84755916e-01] [7.28772440e-01] [2.57144531e-04]] R_gt: [[ 0.9980773 -0.06149719 0.00767523] [ 0.06192177 0.99464666 -0.08272395] [-0.00254649 0.08304014 0.99654319]] t_gt: [ 0.44009675 0.29470044 -0.84821371] Pose Error in degrees for R and t: 5.428841213005418 58.94167998626508 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.02136524 -0.99976937 -0.00217407] [ 0.99977016 -0.02136129 -0.00182477] [ 0.00177791 -0.00221256 0.99999597]] t_estimated: [[ 9.99594731e-01] [-2.84665762e-02] [-1.64182441e-04]] R_gt: [[ 0.99818689 -0.05976424 -0.00715883] [ 0.05846604 0.99097026 -0.12066301] [ 0.01430478 0.12002659 0.99266721]] t_gt: [ 0.15335086 0.63092905 -0.76053405] Pose Error in degrees for R and t: 88.04104859340006 82.21517340963658 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.37143371e-01 3.48943355e-01 9.15328561e-04] [ 3.48942597e-01 -9.37143675e-01 8.92335898e-04] [ 1.16916905e-03 -5.16849546e-04 -9.99999183e-01]] t_estimated: [[0.01817879] [0.9998336 ] [0.0015149 ]] R_gt: [[ 0.99763175 -0.06778876 -0.01167681] [ 0.06486655 0.98360603 -0.16825945] [ 0.02289089 0.1671035 0.98567411]] t_gt: [ 0.19114764 0.71594894 -0.67147576] Pose Error in degrees for R and t: 170.71032759915673 44.08673286709415 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[-0.59645471 -0.80255875 0.01188392] [-0.80254271 0.5965504 0.00726758] [-0.01292201 -0.00520257 -0.99990297]] t_estimated: [[0.88882931] [0.45817007] [0.00791547]] R_gt: [[ 0.99407255 -0.09986629 0.04296661] [ 0.09909438 0.99488248 0.01974467] [-0.04471855 -0.01536962 0.99888088]] t_gt: [ 0.34616308 -0.7678403 0.53906622] Pose Error in degrees for R and t: 176.5014358220887 87.71589491155147 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-4.08902785e-01 -9.12577205e-01 -1.16519173e-03] [-9.12576462e-01 4.08904090e-01 -1.28283531e-03] [ 1.64713793e-03 5.38771610e-04 -9.99998498e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9895126 -0.13718038 0.04524368] [ 0.13739433 0.99051546 -0.00164497] [-0.04458932 0.007844 0.99897446]] t_gt: [ 0.36415665 -0.856311 0.36622589] Pose Error in degrees for R and t: 178.079492420659 77.29866882442467 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.94357979e-01 1.06075870e-01 3.46649334e-04] [-1.06075830e-01 9.94358034e-01 -1.33615476e-04] [-3.58866928e-04 9.60904989e-05 9.99999931e-01]] t_estimated: [[0.68882606] [0.72492601] [0.00097567]] R_gt: [[ 0.9839965 -0.13059144 0.12123148] [ 0.13428237 0.99068202 -0.02275083] [-0.11713003 0.03866563 0.99236329]] t_gt: [-0.04859666 -0.72715266 0.68475351] Pose Error in degrees for R and t: 15.43190916574923 55.948460723343416 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.25591453 0.96669269 0.00360626] [ 0.96669735 -0.2559199 0.00110907] [ 0.00199504 0.00320234 -0.99999288]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.99805846 -0.02037337 0.05886547] [ 0.01768301 0.99879112 0.0458659 ] [-0.05972924 -0.04473601 0.99721099]] t_gt: [ 0.17064807 -0.1228879 0.97763889] Pose Error in degrees for R and t: 179.89575094761295 83.07740028082635 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99441583e-01 3.34143968e-02 3.29942908e-05] [-3.34143968e-02 9.99441583e-01 -5.51345026e-07] [-3.29942891e-05 -5.51447181e-07 9.99999999e-01]] t_estimated: [[-0.71825259] [-0.69578207] [-0.00072412]] R_gt: [[ 0.99851143 0.02097408 0.05034955] [-0.02354149 0.99842274 0.05097184] [-0.04920168 -0.05208055 0.99742938]] t_gt: [-0.17300308 0.48430318 0.85762484] Pose Error in degrees for R and t: 4.1566616852086335 77.68239550041804 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.41570782e-01 -3.36813922e-01 -9.18933510e-04] [ 3.36814268e-01 9.41571074e-01 2.47597741e-04] [ 7.81846845e-04 -5.42640717e-04 9.99999547e-01]] t_estimated: [[-0.03070744] [-0.99952724] [-0.00153537]] R_gt: [[ 0.99874508 -0.01426024 0.04800679] [ 0.01133651 0.99809467 0.06064622] [-0.04878036 -0.06002533 0.99700362]] t_gt: [0.17738978 0.32097244 0.93032766] Pose Error in degrees for R and t: 19.45935551908979 70.87099113450913 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.99999998e-01 -5.02539371e-05 4.86209872e-05] [ 5.02545537e-05 9.99999999e-01 -1.26805455e-05] [-4.86203499e-05 1.26829889e-05 9.99999999e-01]] t_estimated: [[0.54192807] [0.84042435] [0.00093445]] R_gt: [[ 9.98498185e-01 -2.27013824e-03 5.47356268e-02] [-7.76094621e-04 9.98453898e-01 5.55763609e-02] [-5.47767745e-02 -5.55359595e-02 9.96953042e-01]] t_gt: [-0.01422777 0.03356312 0.99933532] Pose Error in degrees for R and t: 4.472736116894523 88.77201967954484 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.98079900e-01 -6.19395656e-02 -5.44422046e-05] [ 6.19395732e-02 9.98079890e-01 1.50797054e-04] [ 4.49973655e-05 -1.53879636e-04 9.99999987e-01]] t_estimated: [[7.42401628e-01] [6.69954706e-01] [7.17296259e-04]] R_gt: [[ 0.99689551 -0.0622566 0.04820262] [ 0.0566963 0.99240082 0.10920137] [-0.05463488 -0.10612929 0.99285025]] t_gt: [ 0.27200103 -0.29858341 0.91480237] Pose Error in degrees for R and t: 6.850260653976217 89.85373327022297 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.65120866 -0.75885538 0.00811074] [-0.75884825 0.65125142 0.00457347] [-0.00875273 -0.00317654 -0.99995665]] t_estimated: [[0.8861967 ] [0.46328214] [0.00500752]] R_gt: [[ 0.97911427 -0.20329838 -0.00198754] [ 0.20141351 0.96861089 0.14568455] [-0.0276932 -0.14304313 0.98932888]] t_gt: [ 0.56671463 -0.58036672 0.58481536] Pose Error in degrees for R and t: 175.31084158726895 76.33317480157362 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 0.55058451 -0.8347593 -0.00579763] [ 0.83476418 0.55060315 -0.00221972] [ 0.00504513 -0.00361751 0.99998073]] t_estimated: [[ 0.80996175] [-0.58647199] [-0.00354703]] R_gt: [[ 0.99863401 0.05013022 0.01471457] [-0.04971664 0.99839101 -0.02730238] [-0.01605964 0.02653387 0.99951905]] t_gt: [-0.84267123 0.53537766 -0.05723594] Pose Error in degrees for R and t: 59.48594602137336 4.921986497168413 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99563597e-01 2.95399591e-02 7.53596490e-05] [-2.95399559e-02 9.99563599e-01 -4.35696520e-05] [-7.66138078e-05 4.13245174e-05 9.99999996e-01]] t_estimated: [[-9.99780858e-01] [ 2.09177445e-02] [-8.26963911e-04]] R_gt: [[ 0.98355582 0.17961376 0.01889598] [-0.17750063 0.98065913 -0.0824762 ] [-0.03334496 0.07776557 0.99641339]] t_gt: [-0.69196223 0.71444889 -0.10368735] Pose Error in degrees for R and t: 9.881249008155294 45.021532253468486 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 8.60910959e-01 5.08755448e-01 4.63523612e-04] [-5.08755336e-01 8.60911082e-01 -3.42161819e-04] [-5.73129304e-04 5.87507482e-05 9.99999834e-01]] t_estimated: [[-3.76514990e-01] [ 9.26410181e-01] [ 7.99250403e-04]] R_gt: [[ 0.9573696 0.2884691 0.0151103 ] [-0.28579452 0.95350527 -0.09565845] [-0.04200305 0.08726291 0.99529956]] t_gt: [-0.64011163 0.76581807 -0.06147992] Pose Error in degrees for R and t: 14.914573989224042 18.11688283244668 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.69805815e-01 -2.43874179e-01 1.43712432e-03] [-2.43873048e-01 9.69806729e-01 9.18756028e-04] [-1.61779371e-03 5.40539052e-04 -9.99998545e-01]] t_estimated: [[0.9705591 ] [0.24085128] [0.00238467]] R_gt: [[ 0.93130292 -0.36243541 0.03626515] [ 0.36110419 0.9317312 0.03848307] [-0.04773804 -0.02274342 0.99860122]] t_gt: [ 0.86300101 -0.48876507 0.12782005] Pose Error in degrees for R and t: 177.25557263555623 43.930771745963966 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.9999981 0.00118464 -0.00154893] [-0.00118231 0.99999817 0.00150601] [ 0.00155071 -0.00150418 0.99999767]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.84384734 -0.53609994 0.02276756] [ 0.5352514 0.84398182 0.03464938] [-0.03779159 -0.01705202 0.99914025]] t_gt: [ 0.9160883 -0.39546934 0.0662286 ] Pose Error in degrees for R and t: 32.55875776548407 89.10216685794346 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-1.84842474e-01 9.82765766e-01 2.17004597e-03] [ 9.82767959e-01 1.84840568e-01 1.05012736e-03] [ 6.30916689e-04 2.32675979e-03 -9.99997094e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.68957365 -0.72161647 -0.06130377] [ 0.72353822 0.6901178 0.01520358] [ 0.03133531 -0.05483838 0.99800354]] t_gt: [ 0.9644718 -0.26182338 0.03525139] Pose Error in degrees for R and t: 176.48429742400432 40.07661953488096 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.27517080e-01 -3.73778673e-01 -1.25297117e-03] [ 3.73778146e-01 -9.27517918e-01 6.40671092e-04] [-1.40162240e-03 1.25900141e-04 9.99999010e-01]] t_estimated: [[0.91698718] [0.39891533] [0.00103614]] R_gt: [[ 0.98034183 0.19055656 -0.05116248] [-0.18975858 0.9816254 0.02006432] [ 0.05404547 -0.00996136 0.99848935]] t_gt: [-0.98139177 0.19198236 0.00360202] Pose Error in degrees for R and t: 169.0255301949908 34.579929397059544 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-0.65143039 0.07642815 -0.75484911] [-0.69922605 -0.44664233 0.55820567] [-0.29448494 0.8914423 0.34439694]] t_estimated: [[0.75008037] [0.66112801] [0.01700561]] R_gt: [[ 8.84465676e-01 4.64564950e-01 -4.35934330e-02] [-4.64030210e-01 8.85539136e-01 2.22831815e-02] [ 4.89551436e-02 5.19973695e-04 9.98801225e-01]] t_gt: [-0.93143143 0.36320149 -0.02280717] Pose Error in degrees for R and t: 128.1827346394917 62.682972974634836 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.99824653 -0.05900847 -0.00467558] [-0.05889961 0.99804842 -0.02074111] [ 0.00589036 -0.02042935 -0.99977395]] t_estimated: [[0.99471187] [0.102629 ] [0.00394727]] R_gt: [[ 7.39997174e-01 6.72603782e-01 -2.74350216e-03] [-6.72609381e-01 7.39991600e-01 -2.83991726e-03] [ 1.19754987e-04 3.94613283e-03 9.99992727e-01]] t_gt: [-0.8567888 0.51561206 -0.00756048] Pose Error in degrees for R and t: 179.98316327940546 36.92991315083964 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.99999881 -0.00108967 0.00109382] [ 0.00109244 0.99999618 -0.00253799] [-0.00109105 0.00253919 0.99999618]] t_estimated: [[-0.79989954] [-0.60013115] [-0.00182542]] R_gt: [[ 0.99155854 -0.12439571 0.03657841] [ 0.12376124 0.99212858 0.01913881] [-0.03867123 -0.01445068 0.99914712]] t_gt: [ 0.57848481 -0.7636412 0.28671842] Pose Error in degrees for R and t: 7.4552187962087855 89.71533909782069 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999718e-01 7.46552032e-04 7.53681133e-05] [-7.46549678e-04 9.99999721e-01 -3.12621905e-05] [-7.53914312e-05 3.12059156e-05 9.99999997e-01]] t_estimated: [[ 9.07366262e-01] [-4.20340893e-01] [ 3.51836636e-05]] R_gt: [[ 0.9871432 -0.15424736 0.04191966] [ 0.15352165 0.98794316 0.02002993] [-0.04450338 -0.01333689 0.9989204 ]] t_gt: [ 0.57735834 -0.7743303 0.25897863] Pose Error in degrees for R and t: 9.287498535769624 31.857082237833605 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.99717664 -0.07505235 -0.00242904] [-0.07504908 0.99717884 -0.00141007] [ 0.00252802 -0.00122379 -0.99999606]] t_estimated: [[9.99691212e-01] [2.48370487e-02] [7.76157773e-04]] R_gt: [[ 0.98016602 -0.19658031 0.02512845] [ 0.19559615 0.97998661 0.03702272] [-0.03190379 -0.03137428 0.99899846]] t_gt: [ 0.59838717 -0.77310534 0.21033526] Pose Error in degrees for R and t: 178.43321253289344 54.608236087941144 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 0.19274277 0.98124864 -0.00115307] [-0.98124867 0.19274116 -0.00137885] [-0.00113075 0.00139721 0.99999838]] t_estimated: [[0.605594 ] [0.7957733] [0.0008764]] R_gt: [[ 0.99677468 0.0801275 -0.00451464] [-0.08015316 0.99676347 -0.00615619] [ 0.00400709 0.00649857 0.99997116]] t_gt: [ 0.13092689 0.98788079 -0.0833648 ] Pose Error in degrees for R and t: 74.2910563547269 30.077918726731667 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.94102716e-01 1.08442179e-01 2.89474663e-04] [-1.08442263e-01 9.94102706e-01 2.92993693e-04] [-2.55994671e-04 -3.22657113e-04 9.99999915e-01]] t_estimated: [[0.5578506 ] [0.82993802] [0.00236226]] R_gt: [[ 0.99353156 0.10893149 0.03209225] [-0.10950281 0.99384717 0.01665813] [-0.03007962 -0.02006415 0.99934549]] t_gt: [0.25275292 0.7824117 0.56916421] Pose Error in degrees for R and t: 2.050118488976883 37.655701200752134 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 2.95792102e-01 9.55250260e-01 1.99333510e-03] [-9.55252192e-01 2.95790252e-01 1.17314883e-03] [ 5.31041628e-04 -2.25114588e-03 9.99997325e-01]] t_estimated: [[0.76642678] [0.6423312 ] [0.00078048]] R_gt: [[ 0.98406949 0.17504263 0.03111248] [-0.17630063 0.98336235 0.04378058] [-0.02293126 -0.04856835 0.99855672]] t_gt: [0.18736836 0.73549394 0.6511081 ] Pose Error in degrees for R and t: 62.731088559433445 51.93587590246608 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 9.99999672e-01 7.80941137e-04 2.15777215e-04] [-7.80935415e-04 9.99999695e-01 -2.66020890e-05] [-2.15797924e-04 2.64335722e-05 9.99999976e-01]] t_estimated: [[0.98133579] [0.19228089] [0.00285215]] R_gt: [[ 0.99974198 0.02213594 -0.00526184] [-0.0221521 0.99974964 -0.00312732] [ 0.00519166 0.00324355 0.99998141]] t_gt: [ 0.17595879 0.83101175 -0.52769117] Pose Error in degrees for R and t: 1.2749346745351307 70.67311120077841 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999953e-01 -2.90454904e-04 -9.64025123e-05] [ 2.90460869e-04 9.99999956e-01 6.18680647e-05] [ 9.63845381e-05 -6.18960630e-05 9.99999993e-01]] t_estimated: [[9.99999110e-01] [1.32091193e-03] [1.85851137e-04]] R_gt: [[ 0.99505648 0.09653704 -0.02332338] [-0.09674246 0.99527877 -0.00785201] [ 0.02245511 0.01006958 0.9996977 ]] t_gt: [ 0.21454438 0.91307264 -0.3467983 ] Pose Error in degrees for R and t: 5.737698568328175 77.5442338520115 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.22361995 -0.97466171 -0.00535471] [-0.97465682 0.22364692 -0.00511288] [ 0.0061809 0.00407567 -0.99997259]] t_estimated: [[ 0.83818334] [ 0.54538298] [-0.00247002]] R_gt: [[ 0.99287698 0.11783954 0.01761777] [-0.11795208 0.99300413 0.00551982] [-0.01684411 -0.00755754 0.99983023]] t_gt: [0.44790522 0.87914508 0.16274165] Pose Error in degrees for R and t: 179.4156435401966 31.295957901177758 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99999935e-01 3.57611958e-04 3.86408489e-05] [-3.57611969e-04 9.99999936e-01 2.75088828e-07] [-3.86407481e-05 -2.88907240e-07 9.99999999e-01]] t_estimated: [[9.99986292e-01] [5.20436770e-03] [5.74432711e-04]] R_gt: [[ 0.99888091 -0.04707431 -0.00467545] [ 0.04706883 0.99889118 -0.00126722] [ 0.00473007 0.00104642 0.99998821]] t_gt: [ 0.52632698 -0.83991821 -0.13235299] Pose Error in degrees for R and t: 2.7324059154818063 58.542061323365246 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-9.55119294e-01 2.96221293e-01 2.82323829e-04] [ 2.96220974e-01 9.55115730e-01 2.66036144e-03] [ 5.18403776e-04 2.62459278e-03 -9.99996421e-01]] t_estimated: [[0.98659621] [0.16317365] [0.00151087]] R_gt: [[ 0.99609055 -0.08474301 -0.0249639 ] [ 0.08509962 0.99628049 0.01356239] [ 0.02372056 -0.01563373 0.99959606]] t_gt: [ 0.5373119 -0.83474243 -0.12042005] Pose Error in degrees for R and t: 178.4935217577219 66.81383350304145 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-0.10128314 -0.99482772 -0.00771641] [ 0.9948435 -0.10123729 -0.00611762] [ 0.00530479 -0.00829623 0.99995151]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99265447 -0.11339039 -0.04218772] [ 0.11479637 0.99285571 0.03253081] [ 0.03819698 -0.03713503 0.99857955]] t_gt: [ 0.53304965 -0.84214895 -0.08150588] Pose Error in degrees for R and t: 89.28024531832267 57.969376962911724 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 4.66668294e-01 8.84431982e-01 -8.79268113e-04] [ 8.84423101e-01 -4.66658583e-01 5.05420569e-03] [ 4.05978314e-03 -3.13628258e-03 -9.99986841e-01]] t_estimated: [[0.80827673] [0.58880084] [0.00151363]] R_gt: [[ 0.97333199 -0.22642183 -0.03686134] [ 0.22547401 0.97384223 -0.02817842] [ 0.04227773 0.01911602 0.99892244]] t_gt: [ 0.85638948 -0.48739104 -0.17043192] Pose Error in degrees for R and t: 179.7225877759709 66.11103688353768 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.76995413e-01 -2.13256442e-01 1.28538965e-03] [ 2.13256100e-01 9.76996252e-01 3.99311403e-04] [-1.34097660e-03 -1.16008227e-04 9.99999094e-01]] t_estimated: [[0.88229063] [0.47070373] [0.00111541]] R_gt: [[ 0.8883292 -0.4531279 -0.07447856] [ 0.44898314 0.89108455 -0.06620168] [ 0.09636511 0.02536934 0.99502271]] t_gt: [ 0.91483509 -0.37358692 -0.1533283 ] Pose Error in degrees for R and t: 15.674079715606064 50.86641072387755 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-8.62856567e-01 -5.05444463e-01 2.10714664e-03] [-5.05445653e-01 8.62858442e-01 -3.70872304e-05] [-1.79942373e-03 -1.09704907e-03 -9.99997779e-01]] t_estimated: [[0.97167196] [0.2363243 ] [0.00210205]] R_gt: [[ 0.73231457 -0.67984884 -0.03900305] [ 0.67269383 0.73113212 -0.11371093] [ 0.10582354 0.05703509 0.99274734]] t_gt: [ 0.95636809 -0.25747508 -0.13808211] Pose Error in degrees for R and t: 174.4072123297335 29.757000058455866 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.92021218e-01 -1.26070993e-01 8.36188313e-05] [ 1.26070979e-01 9.92021212e-01 1.52194276e-04] [-1.02138938e-04 -1.40438043e-04 9.99999985e-01]] t_estimated: [[0.94781711] [0.31881177] [0.00133367]] R_gt: [[ 0.99624768 -0.04546492 -0.07365157] [ 0.03894126 0.99538458 -0.08770716] [ 0.07729897 0.08450976 0.99342002]] t_gt: [ 0.57898845 0.05722349 -0.81332518] Pose Error in degrees for R and t: 8.157529691031035 55.5328266330529 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[-7.88106073e-01 -6.15538626e-01 -1.00921169e-03] [-6.15539444e-01 7.88105280e-01 1.12283225e-03] [ 1.04218440e-04 1.50612052e-03 -9.99998860e-01]] t_estimated: [[9.34628635e-01] [3.55624135e-01] [8.88514400e-04]] R_gt: [[ 0.98907972 0.05916968 -0.13498224] [-0.07213264 0.99302655 -0.09324762] [ 0.12852462 0.10196595 0.98645057]] t_gt: [-0.19540927 0.15940624 -0.96768015] Pose Error in degrees for R and t: 170.96076343014192 82.71492672190415 Number of keypoints: Image1: 18 Image2: 18 R_estimated: [[-0.95259539 0.30422851 -0.00265467] [ 0.30422358 0.95259833 0.00210508] [ 0.00316927 0.00119768 -0.99999426]] t_estimated: [[9.94752097e-01] [1.02311272e-01] [8.18547531e-04]] R_gt: [[ 0.93464485 0.31254263 -0.16957836] [-0.32494877 0.9443863 -0.05042249] [ 0.14438858 0.10223121 0.98422562]] t_gt: [-0.87026756 0.29018185 -0.39803124] Pose Error in degrees for R and t: 171.45253586693823 33.2446431199434 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999924e-01 2.78875131e-04 2.74200008e-04] [-2.78853129e-04 9.99999958e-01 -8.02780423e-05] [-2.74222384e-04 8.02015747e-05 9.99999959e-01]] t_estimated: [[0.81348978] [0.58157833] [0.0010081 ]] R_gt: [[ 0.98991056 -0.12881657 -0.0590264 ] [ 0.12994132 0.99139812 0.01562738] [ 0.05650594 -0.02314025 0.99813339]] t_gt: [ 0.62672692 -0.75913386 -0.17586685] Pose Error in degrees for R and t: 8.243572593996706 86.09152620449696 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99998712e-01 -1.53290129e-03 4.75763199e-04] [ 1.53306595e-03 9.99998765e-01 -3.45918764e-04] [-4.75232352e-04 3.46647695e-04 9.99999827e-01]] t_estimated: [[1.59959214e-05] [9.99998248e-01] [1.87197389e-03]] R_gt: [[ 0.96924707 -0.22637309 -0.09652185] [ 0.22991742 0.97283017 0.02718821] [ 0.0877442 -0.0485438 0.99495883]] t_gt: [ 0.70834418 -0.69749678 -0.10838244] Pose Error in degrees for R and t: 14.347752467405101 45.75826545052943 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999777e-01 -6.51110175e-04 -1.48954129e-04] [ 6.51110384e-04 9.99999788e-01 1.34905252e-06] [ 1.48953219e-04 -1.44603779e-06 9.99999989e-01]] t_estimated: [[9.88976661e-01] [1.48069364e-01] [7.91814781e-04]] R_gt: [[ 0.93276406 -0.31304605 -0.17875866] [ 0.31371436 0.94918158 -0.02526237] [ 0.17758229 -0.03251573 0.98356853]] t_gt: [ 0.77237829 -0.57282696 -0.27441037] Pose Error in degrees for R and t: 21.094598705449823 47.24781896108084 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.95474859e-01 -9.50251410e-02 1.66481989e-04] [ 9.50251769e-02 9.95474845e-01 -2.22969645e-04] [-1.44540910e-04 2.37780657e-04 9.99999961e-01]] t_estimated: [[-0.929534 ] [-0.36873428] [-0.00125713]] R_gt: [[ 0.98967985 0.14327939 0.00210831] [-0.14313814 0.98918107 -0.03213615] [-0.00669028 0.03150154 0.99948176]] t_gt: [-0.66546606 0.74139016 -0.08657687] Pose Error in degrees for R and t: 13.809779052957353 69.79951183924743 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97820978e-01 -6.59794479e-02 9.39462399e-05] [ 6.59794579e-02 9.97820976e-01 -1.08054849e-04] [-8.66121295e-05 1.14017917e-04 9.99999990e-01]] t_estimated: [[-9.97659342e-01] [-6.83795086e-02] [-2.82058474e-04]] R_gt: [[ 0.9752908 0.22087109 -0.00487974] [-0.22082586 0.97395664 -0.05142984] [-0.00660767 0.05123661 0.9986652 ]] t_gt: [-0.63641688 0.76255603 -0.11611138] Pose Error in degrees for R and t: 16.810426673514236 54.35109436518369 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 1.13765619e-01 9.93507599e-01 1.83975500e-04] [-9.93506231e-01 1.13765767e-01 -1.64906514e-03] [-1.65928886e-03 4.82611004e-06 9.99998623e-01]] t_estimated: [[0.25781528] [0.96619345] [0.00122769]] R_gt: [[ 0.97668607 0.21114896 -0.03872874] [-0.21264671 0.97631807 -0.03980216] [ 0.02940721 0.04710929 0.99845667]] t_gt: [-0.65059527 0.72039488 -0.24032689] Pose Error in degrees for R and t: 71.2858431760259 58.128743922758225 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99999831e-01 -5.81555298e-04 -2.13427994e-07] [ 5.81555286e-04 9.99999830e-01 -5.00236984e-05] [ 2.42519504e-07 5.00235658e-05 9.99999999e-01]] t_estimated: [[ 6.41812616e-01] [-7.66861355e-01] [-4.76830105e-04]] R_gt: [[ 0.99780862 0.01785793 0.06370383] [-0.01637186 0.99958336 -0.02377274] [-0.06410216 0.02267779 0.99768582]] t_gt: [0.17022646 0.77988653 0.60232878] Pose Error in degrees for R and t: 4.02793074387745 60.71865021998975 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.9857315 0.16831765 -0.00160782] [-0.16831286 0.98572978 0.00275444] [ 0.00204849 -0.00244452 0.99999491]] t_estimated: [[-0.99752239] [-0.07033812] [-0.00127887]] R_gt: [[ 0.99530072 0.01754025 0.09522929] [-0.01885571 0.99973805 0.01292635] [-0.09497634 -0.01466168 0.9953711 ]] t_gt: [0.03755268 0.49023852 0.87077896] Pose Error in degrees for R and t: 10.29734637720747 85.8104840442631 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.69698466e-01 2.44304543e-01 4.19207484e-04] [-2.44304154e-01 9.69698315e-01 -8.11500885e-04] [-6.04758144e-04 6.84497033e-04 9.99999583e-01]] t_estimated: [[0.71278258] [0.70138438] [0.00097166]] R_gt: [[ 0.99477173 -0.0849664 0.05664532] [ 0.0804644 0.99373935 0.07750189] [-0.06287542 -0.07253884 0.99538132]] t_gt: [ 0.52892821 -0.21457095 0.82109333] Pose Error in degrees for R and t: 19.68048068997822 76.86113529297553 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99488163e-01 3.19907911e-02 4.79096566e-05] [-3.19907801e-02 9.99488141e-01 -2.15728853e-04] [-5.47864703e-05 2.14085767e-04 9.99999976e-01]] t_estimated: [[ 1.96441549e-01] [ 9.80515304e-01] [-6.75676787e-04]] R_gt: [[ 0.99809511 -0.05376208 -0.03027705] [ 0.05513223 0.99739986 0.04642868] [ 0.02770255 -0.0480096 0.99846285]] t_gt: [ 0.49303062 -0.86665345 0.07637148] Pose Error in degrees for R and t: 5.893334727255453 41.15196455219707 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 8.63744202e-01 -5.03930391e-01 -3.36890462e-04] [ 5.03930503e-01 8.63743959e-01 6.49717709e-04] [-3.64253980e-05 -7.30959284e-04 9.99999732e-01]] t_estimated: [[ 0.99999556] [-0.00274803] [ 0.00115117]] R_gt: [[ 0.99490669 -0.08163783 -0.05913353] [ 0.08347949 0.99607722 0.02938096] [ 0.0565033 -0.03416835 0.99781736]] t_gt: [ 0.5459481 -0.80313816 -0.23855768] Pose Error in degrees for R and t: 25.790145420793674 56.77843663054435 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.86741645e-01 1.62298867e-01 -6.35132508e-05] [-1.62298872e-01 9.86741642e-01 -8.67061034e-05] [ 4.85988670e-05 9.58646521e-05 9.99999994e-01]] t_estimated: [[-0.99708586] [-0.07627979] [-0.00108971]] R_gt: [[ 0.99751863 -0.02522321 0.06573227] [ 0.02600258 0.99960108 -0.01103969] [-0.06542698 0.01272088 0.9977763 ]] t_gt: [ 0.02750282 -0.50480235 0.86279672] Pose Error in degrees for R and t: 11.464165489364444 89.41881892604984 Number of keypoints: Image1: 413 Image2: 413 R_estimated: [[ 9.99999999e-01 5.52037692e-07 4.15046071e-05] [-5.51830308e-07 1.00000000e+00 -4.99663582e-06] [-4.15046098e-05 4.99661292e-06 9.99999999e-01]] t_estimated: [[ 9.99997884e-01] [-1.97894266e-03] [ 5.62513762e-04]] R_gt: [[ 0.99944039 -0.03292237 -0.00609886] [ 0.03286425 0.9994172 -0.00929747] [ 0.00640083 0.00909266 0.99993792]] t_gt: [ 0.57804017 -0.76804304 -0.27564371] Pose Error in degrees for R and t: 1.988977875622718 54.59137959625193 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99511392e-01 3.12565807e-02 -6.50324722e-05] [-3.12565403e-02 9.99511244e-01 5.49842777e-04] [ 8.21868923e-05 -5.47541429e-04 9.99999847e-01]] t_estimated: [[ 0.99649627] [-0.08362478] [ 0.00144009]] R_gt: [[ 0.99700013 -0.07644503 -0.01217421] [ 0.07621225 0.99691879 -0.01857228] [ 0.01355631 0.01758881 0.9997537 ]] t_gt: [ 0.56565793 -0.77750992 -0.27478978] Pose Error in degrees for R and t: 6.30347520683707 51.075233701969786 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.94989868e-01 9.99738460e-02 6.26870626e-04] [-9.99736617e-02 9.94990033e-01 -3.18867716e-04] [-6.55608457e-04 2.54599595e-04 9.99999753e-01]] t_estimated: [[ 0.90986042] [-0.41490975] [-0.00197758]] R_gt: [[ 0.99567125 -0.09270036 -0.00692556] [ 0.09275337 0.99565866 0.0077569 ] [ 0.00617635 -0.00836518 0.9999459 ]] t_gt: [ 0.49142241 -0.87091241 -0.00394818] Pose Error in degrees for R and t: 11.076156358485154 36.05195517600537 Number of keypoints: Image1: 691 Image2: 691 R_estimated: [[-0.97556765 0.21225899 0.05669115] [ 0.21230603 0.97718906 -0.00526129] [-0.05651473 0.00690313 -0.9983779 ]] t_estimated: [[ 0.99476899] [-0.09805116] [ 0.02864642]] R_gt: [[ 0.99912833 -0.04128044 -0.00624942] [ 0.04115502 0.99897411 -0.01892622] [ 0.00702361 0.01865226 0.99980148]] t_gt: [ 0.5396709 -0.74457762 -0.39288609] Pose Error in degrees for R and t: 176.9993971249406 53.23031873190345 Number of keypoints: Image1: 528 Image2: 528 R_estimated: [[-0.93816435 0.34441923 0.03497214] [ 0.34443577 0.93879233 -0.00574095] [-0.03480887 0.0066597 -0.9993718 ]] t_estimated: [[ 0.98604495] [-0.16552931] [ 0.01775966]] R_gt: [[ 0.99746565 -0.07067168 -0.00824342] [ 0.07061008 0.9974763 -0.00760879] [ 0.00876018 0.007008 0.99993741]] t_gt: [ 0.51372196 -0.83741528 -0.18661564] Pose Error in degrees for R and t: 178.37510769059324 50.06968211144746 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.98678402e-01 5.13942173e-02 2.90682313e-04] [-5.13942285e-02 9.98678443e-01 3.11146675e-05] [-2.88699045e-04 -4.60129396e-05 9.99999957e-01]] t_estimated: [[9.84000066e-01] [1.78166766e-01] [6.88694072e-04]] R_gt: [[ 0.99315012 -0.11654538 0.008321 ] [ 0.11641893 0.99309845 0.01426211] [-0.00992578 -0.01319563 0.99986399]] t_gt: [ 0.42376091 -0.89478886 0.14063991] Pose Error in degrees for R and t: 9.680612568428762 75.0689784070665 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999421e-01 5.57685478e-04 -9.20858092e-04] [-5.56390713e-04 9.99998857e-01 1.40570038e-03] [ 9.21640978e-04 -1.40518720e-03 9.99998588e-01]] t_estimated: [[0.92148865] [0.38840407] [0.00097101]] R_gt: [[ 0.9917427 0.12823 0.00184851] [-0.12802976 0.99081147 -0.04361367] [-0.00742447 0.04301738 0.99904733]] t_gt: [-0.17390413 0.96553497 -0.19364807] Pose Error in degrees for R and t: 7.775657803596074 77.60917079103503 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999359e-01 -1.11852638e-03 1.74095239e-04] [ 1.11859436e-03 9.99999298e-01 -3.90877876e-04] [-1.73657910e-04 3.91072368e-04 9.99999908e-01]] t_estimated: [[9.99991386e-01] [4.11062732e-03] [5.75579329e-04]] R_gt: [[ 0.98992331 0.12480693 0.06688485] [-0.12523998 0.9921243 0.00229257] [-0.0660719 -0.01064489 0.99775809]] t_gt: [-0.16028932 0.91905522 0.36006226] Pose Error in degrees for R and t: 8.201971310632132 81.00763767076442 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.47834014e-01 3.18763347e-01 -7.81270225e-04] [-3.18760556e-01 9.47831907e-01 2.52653615e-03] [ 1.54587997e-03 -2.14569877e-03 9.99996503e-01]] t_estimated: [[-9.24589564e-01] [-3.80964486e-01] [-4.45833847e-04]] R_gt: [[ 0.99396344 0.08361454 0.07103031] [-0.08711079 0.99505947 0.0476286 ] [-0.06669766 -0.05352765 0.99633695]] t_gt: [-0.03924554 0.76872892 0.63836951] Pose Error in degrees for R and t: 14.5232105562078 75.11635052958162 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99066746e-01 -4.31925314e-02 2.03791910e-04] [ 4.31925466e-02 9.99066764e-01 -7.08815711e-05] [-2.00540170e-04 7.96177122e-05 9.99999977e-01]] t_estimated: [[0.92324175] [0.38421577] [0.00170952]] R_gt: [[ 0.99846459 -0.02796699 -0.04782692] [ 0.02807184 0.99960486 0.00152639] [ 0.04776474 -0.00286597 0.99885377]] t_gt: [ 0.58995601 -0.54488558 -0.59586207] Pose Error in degrees for R and t: 2.8883173472971526 70.47003815482843 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.03048983 0.99950957 0.00714036] [ 0.9995309 -0.03046828 -0.0031078 ] [-0.00288872 0.00723176 -0.99996968]] t_estimated: [[ 0.99998945] [-0.00409642] [ 0.00208058]] R_gt: [[ 0.99476092 -0.08341939 -0.05910154] [ 0.08596282 0.99541703 0.04189288] [ 0.05533519 -0.04675321 0.9973726 ]] t_gt: [ 0.5900128 -0.79711439 -0.12842719] Pose Error in degrees for R and t: 176.30702744715273 53.62947917447007 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99788494 0.06270153 -0.0171513 ] [-0.06323654 0.99746378 -0.03266714] [ 0.01505952 0.03368263 0.99931911]] t_estimated: [[ 0.53218939] [ 0.84505654] [-0.05151605]] R_gt: [[ 0.98330351 -0.13883481 -0.11763895] [ 0.14528963 0.98821696 0.04815389] [ 0.10956772 -0.06444115 0.99188806]] t_gt: [ 0.61510462 -0.74994035 -0.24338403] Pose Error in degrees for R and t: 14.048827165890083 72.91130918802644 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99930249 0.03729308 -0.00193827] [-0.03728596 0.99929819 0.00359022] [ 0.0020708 -0.00351544 0.99999168]] t_estimated: [[0.99969074] [0.02474482] [0.00247448]] R_gt: [[ 0.99597918 -0.08542295 -0.02701189] [ 0.08617536 0.99588514 0.02803906] [ 0.02450484 -0.03025347 0.99924137]] t_gt: [ 0.56963579 -0.82185683 -0.00814922] Pose Error in degrees for R and t: 7.339087366141683 56.694519768012995 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.96817425 -0.24209227 -0.06348197] [-0.24769178 0.89047444 0.38171201] [-0.03588046 0.3852877 -0.92209868]] t_estimated: [[ 9.93203962e-01] [ 1.16384068e-01] [-7.99771650e-04]] R_gt: [[ 0.99331038 -0.11533555 0.00579302] [ 0.11520081 0.99314064 0.02000474] [-0.00806113 -0.01920425 0.9997825 ]] t_gt: [ 0.48295229 -0.86893909 0.10817548] Pose Error in degrees for R and t: 178.98046487298606 67.76211238829966 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99982199e-01 5.96613293e-03 -7.89907704e-05] [-5.96612029e-03 9.99982190e-01 1.59342250e-04] [ 7.99400207e-05 -1.58868146e-04 9.99999984e-01]] t_estimated: [[9.99327798e-01] [3.66584761e-02] [3.27774156e-04]] R_gt: [[ 9.93982395e-01 -1.09544771e-01 2.27813713e-04] [ 1.09530254e-01 9.93874870e-01 1.46560717e-02] [-1.83235960e-03 -1.45424120e-02 9.99892062e-01]] t_gt: [ 0.39004457 -0.91974825 0.04391334] Pose Error in degrees for R and t: 6.682772600350804 69.14033773605578 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99214286e-01 -3.96330387e-02 1.82210894e-04] [ 3.96330792e-02 9.99214276e-01 -2.24206734e-04] [-1.73181732e-04 2.31252151e-04 9.99999958e-01]] t_estimated: [[-1.43151301e-01] [-9.89700789e-01] [-2.31373027e-04]] R_gt: [[ 9.98134689e-01 3.88310036e-02 4.71110803e-02] [-3.89169655e-02 9.99242528e-01 9.11105648e-04] [-4.70404724e-02 -2.74210839e-03 9.98889071e-01]] t_gt: [-0.18834611 0.76917381 0.61065326] Pose Error in degrees for R and t: 5.243259545085661 42.74082304871865 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 2.60612114e-01 -9.65436438e-01 3.71616088e-03] [-9.65443374e-01 -2.60612703e-01 3.33501407e-04] [ 6.46504320e-04 -3.67465740e-03 -9.99993039e-01]] t_estimated: [[0.64629298] [0.76308393] [0.00288043]] R_gt: [[ 0.98919353 0.10302079 0.10432021] [-0.09120294 0.98947555 -0.11234297] [-0.11479595 0.10161487 0.98817732]] t_gt: [-0.35403724 0.93480169 0.02834487] Pose Error in degrees for R and t: 179.09530572097478 61.013599157463034 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 8.44133181e-01 5.36133430e-01 3.44150703e-04] [-5.36133472e-01 8.44133223e-01 3.60233397e-05] [-2.71195726e-04 -2.14919208e-04 9.99999940e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9785062 0.11710158 0.1697459 ] [-0.10202175 0.99023484 -0.09501593] [-0.17921484 0.07565668 0.98089624]] t_gt: [-0.33072759 0.84064049 0.42888557] Pose Error in degrees for R and t: 28.33696862908884 32.96461250302168 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999345e-01 -1.09981750e-03 3.18417060e-04] [ 1.09981427e-03 9.99999395e-01 1.03085890e-05] [-3.18428205e-04 -9.95838265e-06 9.99999949e-01]] t_estimated: [[0.43799732] [0.89897579] [0.00093956]] R_gt: [[ 0.9776317 -0.14961332 -0.14782331] [ 0.1678278 0.97854223 0.11954006] [ 0.12676743 -0.14167548 0.98176247]] t_gt: [ 0.60480339 -0.79190055 0.08429935] Pose Error in degrees for R and t: 14.28050219885587 63.4538861149709 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999829e-01 -4.30717099e-04 3.94615277e-04] [ 4.30717810e-04 9.99999907e-01 -1.71681399e-06] [-3.94614501e-04 1.88678152e-06 9.99999922e-01]] t_estimated: [[-0.64860752] [-0.76112125] [-0.00165461]] R_gt: [[ 0.93192918 -0.29245848 -0.21442037] [ 0.32231678 0.9389734 0.12017155] [ 0.16619014 -0.18110299 0.96932057]] t_gt: [ 0.67396481 -0.73557808 0.0685298 ] Pose Error in degrees for R and t: 23.04928156826523 82.95712300675162 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.55905508 -0.82910901 -0.00597234] [ 0.8291025 0.5590809 -0.00419361] [ 0.00681598 -0.00260722 0.99997337]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.88482857 -0.36576606 -0.2886049 ] [ 0.41563078 0.89958155 0.1341831 ] [ 0.21054487 -0.23868234 0.9479988 ]] t_gt: [ 0.69981937 -0.7090791 0.08636943] Pose Error in degrees for R and t: 37.02911977740563 45.85934730855774 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.89700786 -0.44194968 0.00757451] [-0.44194522 -0.89643179 0.03308276] [-0.00783088 -0.03302301 -0.99942391]] t_estimated: [[0.21326973] [0.97683882] [0.01737646]] R_gt: [[ 9.99354481e-01 -7.94076610e-04 -3.59197392e-02] [-1.30488128e-03 9.98293761e-01 -5.83874349e-02] [ 3.59052566e-02 5.83967770e-02 9.97647088e-01]] t_gt: [ 0.12194083 0.21587467 -0.96877684] Pose Error in degrees for R and t: 178.21681128291493 77.2881991462114 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.99995672 -0.00921313 0.00129245] [ 0.00921584 0.99995531 -0.00210704] [-0.00127298 0.00211886 0.99999694]] t_estimated: [[-0.31048286] [-0.95057784] [-0.00147148]] R_gt: [[ 0.99823568 -0.01820851 0.05651296] [ 0.01616782 0.9992078 0.03635461] [-0.05713035 -0.0353775 0.99773901]] t_gt: [ 0.03181724 -0.35148597 0.93565233] Pose Error in degrees for R and t: 3.8856526368058573 71.16406978072764 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.94746862 -0.31984481 0.00158636] [-0.31983151 0.9474574 0.00568239] [-0.00332049 0.00487652 -0.9999826 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98714808 -0.10455703 0.12085448] [ 0.07747831 0.97456337 0.21029516] [-0.13976807 -0.19822989 0.97013842]] t_gt: [ 0.24038385 -0.40255324 0.88327034] Pose Error in degrees for R and t: 170.48937424357555 76.12413579120887 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[-9.01630006e-01 4.32507736e-01 -6.24642042e-04] [-4.32496350e-01 -9.01615074e-01 -6.09631788e-03] [-3.19989133e-03 -5.22646773e-03 9.99981222e-01]] t_estimated: [[0.7592543 ] [0.6507894 ] [0.00246511]] R_gt: [[ 0.99845471 -0.03329353 0.04449177] [ 0.03358392 0.99942012 -0.00580262] [-0.04427216 0.00728703 0.99899279]] t_gt: [-0.34753807 -0.51019791 0.78671176] Pose Error in degrees for R and t: 156.28882788562026 53.561341635643515 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 0.99986109 0.01636817 0.00314394] [-0.01636351 0.99986498 -0.00150325] [-0.00316812 0.0014516 0.99999393]] t_estimated: [[9.52804912e-01] [3.03582303e-01] [7.64690941e-04]] R_gt: [[ 0.99508722 -0.09815694 0.01296104] [ 0.09821012 0.99515978 -0.00358471] [-0.01254633 0.00483996 0.99990978]] t_gt: [ 0.11358134 -0.98883387 0.09647207] Pose Error in degrees for R and t: 6.597063300002462 78.93643955282758 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.71918596e-01 2.35301787e-01 2.70398446e-03] [-2.35298994e-01 9.71922147e-01 -1.31295249e-03] [-2.93700245e-03 6.39838115e-04 9.99995482e-01]] t_estimated: [[-0.57120957] [-0.82080332] [-0.00124176]] R_gt: [[ 0.99539905 -0.08926512 -0.03482986] [ 0.09001875 0.99572568 0.02071768] [ 0.03283199 -0.02375806 0.99917827]] t_gt: [-0.11319668 -0.97986637 -0.16446401] Pose Error in degrees for R and t: 18.917755225655284 29.641050375226275 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.14412790e-01 4.04782806e-01 -3.59173250e-04] [-4.04782924e-01 9.14412737e-01 -3.61871632e-04] [ 1.81953180e-04 4.76287247e-04 9.99999870e-01]] t_estimated: [[-0.54938107] [ 0.835571 ] [-0.00124016]] R_gt: [[ 0.99507072 0.09713755 0.01996906] [-0.09703496 0.9952632 -0.00599026] [-0.02045667 0.00402379 0.99978203]] t_gt: [-0.7142249 0.69473152 0.08503473] Pose Error in degrees for R and t: 18.344783488498194 13.400539596834475 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99679436 -0.07995841 -0.00276521] [ 0.07996678 0.99679283 0.00305962] [ 0.0025117 -0.00327094 0.9999915 ]] t_estimated: [[-0.75316674] [-0.65782918] [-0.00079448]] R_gt: [[ 0.90851368 0.41676029 0.03021851] [-0.41563803 0.90876704 -0.03724064] [-0.04298188 0.02127387 0.99884901]] t_gt: [-0.63054074 0.77584338 0.02203235] Pose Error in degrees for R and t: 29.3456284265248 87.96628275264332 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.99260172 0.12140901 -0.00129475] [-0.12140587 0.99260035 0.00227287] [ 0.00156112 -0.00209886 0.99999658]] t_estimated: [[-8.37639504e-01] [-5.46222963e-01] [-7.32202363e-04]] R_gt: [[ 0.81160199 0.57793352 0.08542169] [-0.57643306 0.81596999 -0.04379086] [-0.09500908 -0.01369903 0.99538197]] t_gt: [-0.56835327 0.81568719 0.1078377 ] Pose Error in degrees for R and t: 28.911963970173165 88.25512400494863 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99946112e-01 -1.03812736e-02 3.58610100e-05] [ 1.03812763e-02 9.99946110e-01 -7.62333941e-05] [-3.50676777e-05 7.66015691e-05 9.99999996e-01]] t_estimated: [[ 3.66612969e-01] [-9.30373535e-01] [-1.27640471e-04]] R_gt: [[ 0.99874318 -0.03681603 0.03402076] [ 0.03557778 0.99870692 0.03631461] [-0.03531334 -0.03505779 0.99876157]] t_gt: [ 0.51633242 -0.22764008 0.82557908] Pose Error in degrees for R and t: 3.2148264465207026 66.36059963743912 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.7453219 0.66666464 0.0073161 ] [ 0.66668483 -0.7451698 -0.01591564] [-0.00515866 0.01673981 -0.99984657]] t_estimated: [[-0.39380795] [ 0.91914886] [-0.00898174]] R_gt: [[ 0.99406387 -0.08920207 0.06229153] [ 0.08473527 0.99387025 0.07100291] [-0.06824341 -0.06530218 0.99552886]] t_gt: [ 0.65548401 -0.21439656 0.7241373 ] Pose Error in degrees for R and t: 178.68368461654035 62.50306413647476 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 3.01173586e-01 9.53568364e-01 1.35902911e-03] [ 9.53565750e-01 -3.01176055e-01 2.31172531e-03] [ 2.61369515e-03 5.99693010e-04 -9.99996404e-01]] t_estimated: [[-0.28490715] [-0.95855428] [-0.00126625]] R_gt: [[ 0.98512968 -0.17170423 0.00621819] [ 0.1715845 0.98503397 0.01635232] [-0.0089325 -0.01504154 0.9998473 ]] t_gt: [ 0.98252582 -0.1432158 0.11887917] Pose Error in degrees for R and t: 179.48130847564727 81.79015234355414 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.99998525e-01 -1.71730905e-03 2.41262035e-05] [ 1.71730098e-03 9.99998471e-01 3.30778284e-04] [-2.46942151e-05 -3.30736365e-04 9.99999945e-01]] t_estimated: [[0.03382292] [0.99942651] [0.00163191]] R_gt: [[ 0.99927743 0.02263489 0.03053949] [-0.02488621 0.99683809 0.07545996] [-0.02873499 -0.07616602 0.99668094]] t_gt: [-0.16290145 -0.11173455 0.98029511] Pose Error in degrees for R and t: 4.87551897430918 83.36289022323459 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-9.61350962e-01 2.75254687e-01 -6.25977511e-03] [-2.75251019e-01 -9.61371288e-01 -1.45704673e-03] [-6.41902700e-03 3.22276204e-04 9.99979346e-01]] t_estimated: [[0.51783828] [0.85547643] [0.00189684]] R_gt: [[ 0.98994969 0.12867433 0.05867355] [-0.13392922 0.98625767 0.09674117] [-0.04541925 -0.10362672 0.99357818]] t_gt: [-0.63055432 0.3809617 0.676217 ] Pose Error in degrees for R and t: 156.5099747131913 89.96211208696238 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.13394162 0.99089493 -0.01367033] [ 0.99089229 -0.13372283 0.01583299] [ 0.01386079 -0.01566652 -0.9997812 ]] t_estimated: [[-0.78837112] [ 0.61512893] [ 0.0093478 ]] R_gt: [[ 0.97709815 0.20793502 0.04519777] [-0.20943222 0.97732265 0.03130926] [-0.03766286 -0.04005823 0.99848688]] t_gt: [-0.71275482 0.65960241 0.23854818] Pose Error in degrees for R and t: 178.83174509718972 14.096772639792665 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 0.31703091 0.94835951 0.01027813] [ 0.94839548 -0.31693582 -0.00988373] [-0.00611583 0.01288118 -0.99989833]] t_estimated: [[-0.57497673] [-0.8181693 ] [-0.00086854]] R_gt: [[ 0.99480883 -0.09524768 0.03581272] [ 0.09428988 0.99516301 0.02756069] [-0.03826452 -0.02404212 0.99897835]] t_gt: [ 0.4391911 -0.81439602 0.37930239] Pose Error in degrees for R and t: 179.14896453746493 65.57764519311351 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-1.60858228e-01 -9.86976610e-01 -1.34198037e-03] [-9.86977475e-01 1.60857648e-01 5.30024159e-04] [-3.07253642e-04 1.40976314e-03 -9.99998959e-01]] t_estimated: [[7.70406036e-01] [6.37553171e-01] [7.02925216e-04]] R_gt: [[ 0.97878829 -0.20358612 0.0229242 ] [ 0.20192976 0.97756731 0.05988674] [-0.03460187 -0.0539885 0.99794143]] t_gt: [ 0.59961099 -0.74892382 0.28209889] Pose Error in degrees for R and t: 176.64257805892504 89.12124681506029 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 7.19734748e-02 9.97402049e-01 2.99539004e-03] [ 9.97406545e-01 -7.19733174e-02 -1.60449560e-04] [ 5.55554382e-05 2.99916974e-03 -9.99995501e-01]] t_estimated: [[9.76798300e-01] [2.14159151e-01] [9.69045933e-04]] R_gt: [[ 0.9403332 -0.33980974 0.01737976] [ 0.33399601 0.93158497 0.14351216] [-0.06495738 -0.12914573 0.98949576]] t_gt: [ 0.64994419 -0.65652291 0.38281878] Pose Error in degrees for R and t: 175.95607177453957 60.354317725194775 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.99713788 -0.07541644 0.00533012] [-0.07535697 -0.99710034 -0.01059414] [ 0.00611364 0.01016215 -0.99992967]] t_estimated: [[ 0.0544089 ] [ 0.99849625] [-0.00670149]] R_gt: [[ 0.97530442 -0.21917594 -0.02727921] [ 0.21997361 0.97502038 0.03077928] [ 0.01985027 -0.03601992 0.9991536 ]] t_gt: [ 0.97671522 -0.16074882 0.14208165] Pose Error in degrees for R and t: 178.75353348322346 83.78167795229182 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 7.74948163e-01 6.32023999e-01 1.00440948e-03] [-6.32023363e-01 7.74948811e-01 -8.98732730e-04] [-1.34638659e-03 6.16610189e-05 9.99999092e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.95756497 -0.28789407 -0.0137053 ] [ 0.28820697 0.95599229 0.05491653] [-0.00270906 -0.05653589 0.99839672]] t_gt: [ 0.97434987 -0.11953598 0.19066587] Pose Error in degrees for R and t: 56.04332677299884 74.82764272587914 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.72743499e-01 2.31883770e-01 5.60843478e-05] [-2.31883007e-01 9.72740866e-01 -2.34064101e-03] [-5.97312197e-04 2.26383832e-03 9.99997259e-01]] t_estimated: [[9.73239254e-01] [2.29792602e-01] [8.44825742e-04]] R_gt: [[ 0.94868598 -0.31434851 0.0343562 ] [ 0.31050627 0.94658869 0.08692569] [-0.05984654 -0.07179776 0.99562171]] t_gt: [ 0.95699941 -0.11121206 0.26792536] Pose Error in degrees for R and t: 32.1125589843546 25.033567311551582 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.99998013 -0.00578945 0.00249321] [ 0.00577888 -0.99997438 -0.00422392] [ 0.0025176 -0.00420943 0.99998797]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99276607 -0.11439592 0.03647217] [ 0.11289593 0.9927667 0.04083667] [-0.04088017 -0.0364238 0.99849957]] t_gt: [ 0.50644487 -0.76492355 0.39800196] Pose Error in degrees for R and t: 173.1482950639615 87.06778003216193 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 7.86200108e-01 -6.17971997e-01 -3.20480505e-05] [ 6.17971749e-01 7.86199744e-01 9.38269612e-04] [-5.54628176e-04 -7.57472460e-04 9.99999559e-01]] t_estimated: [[0.98711382] [0.16001635] [0.00103907]] R_gt: [[ 0.96773706 -0.25145484 0.01599487] [ 0.24896511 0.96405696 0.09278874] [-0.03875292 -0.085813 0.99555684]] t_gt: [ 0.6493241 -0.68199788 0.33653693] Pose Error in degrees for R and t: 24.234153002999 57.847425715309505 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.84411944e-01 1.75876855e-01 6.76064404e-04] [-1.75877032e-01 9.84412121e-01 2.11140555e-04] [-6.28391258e-04 -3.26753485e-04 9.99999749e-01]] t_estimated: [[9.53057048e-01] [3.02789416e-01] [9.12016314e-04]] R_gt: [[ 0.93466444 -0.35537709 0.01052181] [ 0.34673465 0.91768004 0.19400379] [-0.07860075 -0.17767915 0.98094352]] t_gt: [ 0.62557742 -0.61645541 0.47815858] Pose Error in degrees for R and t: 32.802616398678104 65.79573808979245 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 -1.54487534e-13 1.13841228e-17] [ 1.54209978e-13 1.00000000e+00 1.05492871e-16] [-1.25062721e-16 -2.66713734e-17 1.00000000e+00]] t_estimated: [[-5.70492673e-01] [-8.21302519e-01] [-5.32074050e-04]] R_gt: [[ 0.99057813 -0.04666167 0.12875948] [ 0.02591687 0.98704923 0.15831759] [-0.13447943 -0.15348842 0.97895734]] t_gt: [ 0.06459515 -0.25708831 0.96422667] Pose Error in degrees for R and t: 11.960044970226543 79.9921457272358 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.98640098 0.16390253 0.01220913] [-0.16357486 0.98623346 -0.02422441] [-0.0160115 0.02189787 0.99963199]] t_estimated: [[9.01357814e-01] [4.33074262e-01] [8.80232240e-04]] R_gt: [[ 0.97590899 -0.15961427 0.14874877] [ 0.10712806 0.94447817 0.31062245] [-0.19006958 -0.2872039 0.93882262]] t_gt: [ 0.28717143 -0.36535468 0.88546515] Pose Error in degrees for R and t: 27.129791278479278 84.18032568162016 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 1.00000000e+00 -6.48370246e-14 -8.56519716e-17] [ 6.48370246e-14 1.00000000e+00 4.09828421e-17] [-4.92227786e-16 4.14165230e-17 1.00000000e+00]] t_estimated: [[-0.34265947] [-0.93945887] [-0.00123657]] R_gt: [[ 0.95251584 -0.28754068 0.10018359] [ 0.22648762 0.88895972 0.39806598] [-0.20351852 -0.35647295 0.91187041]] t_gt: [ 0.45151969 -0.444761 0.77350993] Pose Error in degrees for R and t: 28.756404238160606 74.80169271821696 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.28237967e-01 -3.71986924e-01 -6.37059122e-05] [ 3.71986902e-01 9.28237818e-01 5.46674062e-04] [-1.44221366e-04 -5.31141385e-04 9.99999849e-01]] t_estimated: [[ 7.80237831e-01] [-6.25482498e-01] [ 7.55644979e-04]] R_gt: [[ 0.98318186 -0.17367244 -0.05649508] [ 0.17788734 0.9807161 0.08094129] [ 0.04134775 -0.08962917 0.99511642]] t_gt: [ 0.57422145 -0.79209064 0.20703175] Pose Error in degrees for R and t: 12.973768612184566 19.330552399756662 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 1.34422569e-01 9.90923882e-01 6.57904853e-04] [-9.90921542e-01 1.34423701e-01 -2.18333897e-03] [-2.25196073e-03 -3.58442058e-04 9.99997400e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94597005 -0.28482793 -0.15496394] [ 0.29803863 0.9520187 0.0695286 ] [ 0.12772484 -0.11195628 0.98547011]] t_gt: [ 0.6712971 -0.74118482 -0.00229551] Pose Error in degrees for R and t: 99.71444614152708 42.524736719576765 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 1.38801819e-01 9.90320029e-01 5.42682971e-04] [-9.90319103e-01 1.38802454e-01 -1.39716949e-03] [-1.45897066e-03 -3.43499647e-04 9.99998877e-01]] t_estimated: [[0.00759197] [0.99997059] [0.00108457]] R_gt: [[ 0.92861515 -0.32517167 -0.1787131 ] [ 0.35651292 0.91540824 0.18688549] [ 0.1028253 -0.23725728 0.96598909]] t_gt: [ 0.60078901 -0.75043694 0.27549402] Pose Error in degrees for R and t: 103.10785909994458 41.793216194006135 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.8402979 -0.53962277 0.05202605] [-0.53966981 0.84175449 0.01434835] [-0.05153586 -0.01602 -0.99854265]] t_estimated: [[0.96259592] [0.26966866] [0.02622807]] R_gt: [[ 0.99947942 -0.03018985 0.01140784] [ 0.03030871 0.99948617 -0.01039433] [-0.01108913 0.01073539 0.99988058]] t_gt: [ 0.24796995 -0.96803593 -0.03764769] Pose Error in degrees for R and t: 176.45986162753417 88.66250820125339 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.9533147 -0.29601268 0.05972916] [-0.29617303 0.95511317 0.00635383] [-0.05892892 -0.01163297 -0.9981944 ]] t_estimated: [[0.98806936] [0.15121313] [0.02921508]] R_gt: [[ 0.99909468 -0.03658476 0.0217415 ] [ 0.03638788 0.99929342 0.0093855 ] [-0.02206987 -0.00858613 0.99971927]] t_gt: [-0.0194821 -0.95072367 0.3094268 ] Pose Error in degrees for R and t: 175.2449483903105 81.14284084551754 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.64924454e-01 2.62525661e-01 1.03688771e-03] [-2.62527598e-01 9.64920148e-01 2.89279500e-03] [-2.41080923e-04 -3.06354027e-03 9.99995278e-01]] t_estimated: [[0.92605419] [0.37738862] [0.00121094]] R_gt: [[ 0.99870945 -0.02241763 0.04557303] [ 0.02105041 0.9993195 0.03027538] [-0.04622164 -0.02927588 0.99850179]] t_gt: [-0.38670139 -0.69565479 0.60541428] Pose Error in degrees for R and t: 16.73794887923615 51.69076451863752 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99978448e-01 -6.56528652e-03 -1.67086417e-05] [ 6.56528764e-03 9.99978446e-01 6.75357104e-05] [ 1.62648903e-05 -6.76439519e-05 9.99999998e-01]] t_estimated: [[0.02840767] [0.99959484] [0.00177548]] R_gt: [[ 0.99916393 0.03993761 -0.00874595] [-0.04006061 0.99909448 -0.01434455] [ 0.00816521 0.01468246 0.99985892]] t_gt: [ 0.15512174 0.89386887 -0.42063724] Pose Error in degrees for R and t: 2.837810975182126 26.211916223768167 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999956e-01 1.27211838e-04 -2.69412169e-04] [-1.27197952e-04 9.99999991e-01 5.15567351e-05] [ 2.69418725e-04 -5.15224641e-05 9.99999962e-01]] t_estimated: [[-0.75105818] [-0.66023488] [-0.00122978]] R_gt: [[ 0.99316397 0.10880524 0.04227649] [-0.10572667 0.99198054 -0.06926826] [-0.04947517 0.06432485 0.99670251]] t_gt: [-0.24195504 0.96091274 -0.13455282] Pose Error in degrees for R and t: 7.7264206166301195 63.09321398883662 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 8.74899670e-01 -4.84303630e-01 7.48792814e-04] [ 4.84303956e-01 8.74899748e-01 -3.30531897e-04] [-4.95040847e-04 6.51825569e-04 9.99999665e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.98091161 0.15698257 0.1147529 ] [-0.14346848 0.98261297 -0.11785139] [-0.13125818 0.09913827 0.98637887]] t_gt: [-0.31922935 0.94454176 0.07702913] Pose Error in degrees for R and t: 38.78470026284152 19.447082513874175 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 9.94641838e-01 1.03380915e-01 3.37780794e-05] [-1.03380909e-01 9.94641829e-01 -1.38898834e-04] [-4.79565793e-05 1.34662583e-04 9.99999990e-01]] t_estimated: [[-8.21266309e-01] [ 5.70544708e-01] [-6.21712985e-04]] R_gt: [[ 0.99726739 0.02278017 0.07027758] [-0.01989042 0.99893886 -0.04155042] [-0.07114894 0.04003954 0.99666181]] t_gt: [-0.52442044 0.80975318 0.26321661] Pose Error in degrees for R and t: 6.636094737039995 26.807652857277827 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.46281112e-01 -3.23344949e-01 -3.17111184e-04] [ 3.23345059e-01 9.46281046e-01 3.93321080e-04] [ 1.72897918e-04 -4.74728644e-04 9.99999872e-01]] t_estimated: [[-0.5348153 ] [-0.84496841] [-0.00099408]] R_gt: [[ 0.99243164 0.06562657 0.10378525] [-0.0566405 0.9945717 -0.08728461] [-0.10895035 0.08074578 0.99076192]] t_gt: [-0.62092738 0.77997795 0.07799735] Pose Error in degrees for R and t: 23.697048204712168 70.9100105102962 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.05997721e-01 -4.23268155e-01 -3.49261830e-03] [ 4.23266870e-01 -9.06004342e-01 1.13582183e-03] [-3.64508455e-03 -4.49257625e-04 9.99993256e-01]] t_estimated: [[0.92061933] [0.39045722] [0.00179109]] R_gt: [[ 0.98049496 0.10358333 0.16703457] [-0.08430154 0.98934843 -0.1186745 ] [-0.17754811 0.10227927 0.97878268]] t_gt: [-0.66741282 0.69807218 0.25933638] Pose Error in degrees for R and t: 160.5226374075569 70.03772646815742 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 1.63559275e-02 -9.99866044e-01 -6.14212175e-04] [-9.99798859e-01 -1.63619534e-02 1.15985962e-02] [-1.16070922e-02 4.24382834e-04 -9.99932545e-01]] t_estimated: [[0.88501759] [0.46552948] [0.00511571]] R_gt: [[ 0.97456152 -0.2236328 -0.01477795] [ 0.22405629 0.97373899 0.04038028] [ 0.00536051 -0.04266465 0.99907485]] t_gt: [ 0.61294155 -0.7817948 0.11445326] Pose Error in degrees for R and t: 178.1982032274619 79.68259832591559 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 8.30272704e-01 5.57348227e-01 3.19223835e-03] [-5.57350651e-01 8.30277199e-01 -1.54377098e-04] [-2.73648452e-03 -1.65102103e-03 9.99994893e-01]] t_estimated: [[0.65183736] [0.75835712] [0.00158985]] R_gt: [[ 0.93321082 -0.35657955 -0.04437256] [ 0.35517303 0.93408304 -0.03659418] [ 0.05449641 0.0183892 0.9983442 ]] t_gt: [ 0.6972392 -0.70181617 -0.1459848 ] Pose Error in degrees for R and t: 54.840959214825325 85.52794691994974 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-1.55272133e-01 -9.87871175e-01 -1.05215920e-03] [-9.87870379e-01 1.55273597e-01 -1.49143433e-03] [ 1.63671753e-03 8.07818714e-04 -9.99998334e-01]] t_estimated: [[8.41732005e-01] [5.39895066e-01] [7.41614101e-04]] R_gt: [[ 0.89001283 -0.44950339 -0.0763132 ] [ 0.44674502 0.89320671 -0.05098608] [ 0.09108304 0.01128564 0.99577907]] t_gt: [ 0.7334801 -0.66009405 -0.1621197 ] Pose Error in degrees for R and t: 174.95126070066658 74.87700764074641 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.77606695 -0.630526 -0.01253224] [-0.63037814 -0.77499456 -0.04479775] [ 0.01853373 0.0426661 -0.99891747]] t_estimated: [[ 0.28042758] [ 0.95948995] [-0.02719201]] R_gt: [[ 9.99272255e-01 -2.30436061e-03 3.80729407e-02] [ 3.63672093e-04 9.98704280e-01 5.09100961e-02] [-3.81409945e-02 -5.08596031e-02 9.97977483e-01]] t_gt: [-0.06233359 -0.09169081 0.99383465] Pose Error in degrees for R and t: 179.182285248175 82.38702612786236 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999901e-01 4.42228870e-04 -5.32966797e-05] [-4.42229607e-04 9.99999902e-01 -1.37994906e-05] [ 5.32905719e-05 1.38230586e-05 9.99999998e-01]] t_estimated: [[-0.10760114] [-0.99419357] [-0.00107163]] R_gt: [[ 0.998393 -0.03370673 0.04555469] [ 0.03061934 0.99729236 0.06686533] [-0.04768439 -0.0653635 0.99672187]] t_gt: [ 0.24701055 -0.19967228 0.94821768] Pose Error in degrees for R and t: 5.005784538651065 80.15879371670725 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999035e-01 -2.45411565e-04 1.36765786e-03] [ 2.49034120e-04 9.99996460e-01 -2.64918841e-03] [-1.36700287e-03 2.64952645e-03 9.99995556e-01]] t_estimated: [[-0.7460311 ] [-0.66590926] [-0.00156931]] R_gt: [[ 9.99685174e-01 8.10385312e-04 2.50888326e-02] [-2.49404600e-03 9.97739336e-01 6.71711395e-02] [-2.49776351e-02 -6.72121006e-02 9.97425530e-01]] t_gt: [-0.07555221 0.36430186 0.92821119] Pose Error in degrees for R and t: 4.229715543983907 79.18232470537741 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.66655205e-01 2.56080280e-01 7.77107453e-04] [-2.56080486e-01 9.66655447e-01 1.77168325e-04] [-7.05825838e-04 -3.70262738e-04 9.99999682e-01]] t_estimated: [[-0.42661169] [ 0.90441883] [ 0.00539001]] R_gt: [[ 0.99987388 -0.00772652 0.01388444] [ 0.00901849 0.99538198 -0.09556325] [-0.01308197 0.0956762 0.99532657]] t_gt: [ 0.14183656 0.28087312 -0.94920634] Pose Error in degrees for R and t: 16.28775010936808 79.14048368539609 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 5.11266816e-01 8.59420422e-01 1.66781662e-03] [-8.59420148e-01 5.11268800e-01 -1.10642037e-03] [-1.80358286e-03 -8.67679188e-04 9.99997997e-01]] t_estimated: [[-0.28980034] [ 0.95708442] [ 0.00227416]] R_gt: [[ 0.9983764 0.05517789 0.01421576] [-0.05250438 0.98778727 -0.14669648] [-0.02213657 0.14571111 0.98907945]] t_gt: [-0.18263537 0.50411236 -0.84410606] Pose Error in degrees for R and t: 56.7295676981305 57.75868923075648 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.98647389e-01 5.19940905e-02 8.48007147e-05] [-5.19940750e-02 9.98647378e-01 -1.74721380e-04] [-9.37704906e-05 1.70075915e-04 9.99999981e-01]] t_estimated: [[-5.08553773e-01] [-8.61030163e-01] [-3.44065157e-04]] R_gt: [[ 0.9925624 0.12066625 -0.01616888] [-0.12148135 0.97288958 -0.19679499] [-0.00801615 0.19729543 0.98031168]] t_gt: [-0.24370468 0.61380398 -0.75090126] Pose Error in degrees for R and t: 12.073151944946538 66.15220154018829 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99989824e-01 4.51028667e-03 9.44521714e-05] [-4.51028568e-03 9.99989829e-01 -1.06818141e-05] [-9.44993887e-05 1.02556992e-05 9.99999995e-01]] t_estimated: [[ 0.69576975] [-0.71826449] [ 0.00076021]] R_gt: [[ 0.98937887 -0.14401312 0.01977138] [ 0.13999689 0.98061288 0.13711228] [-0.03913366 -0.13288765 0.99035705]] t_gt: [ 0.53307399 -0.66405443 0.52427458] Pose Error in degrees for R and t: 11.614234244126003 31.97686160097694 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.97376627 -0.22752267 0.00356117] [ 0.22751228 0.97377028 0.00309788] [-0.0041726 -0.0022064 0.99998886]] t_estimated: [[0.06701134] [0.99772443] [0.0074457 ]] R_gt: [[ 0.96128619 -0.27429898 0.02625212] [ 0.26634899 0.94937003 0.16659969] [-0.070621 -0.15315878 0.98567504]] t_gt: [ 0.62096797 -0.66241386 0.41905449] Pose Error in degrees for R and t: 9.86145182671147 51.96269350359773 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99999481e-01 1.00053148e-03 1.89593585e-04] [-1.00051861e-03 9.99999497e-01 -6.79728504e-05] [-1.89661499e-04 6.77831232e-05 9.99999980e-01]] t_estimated: [[9.99995498e-01] [2.90819524e-03] [7.38729212e-04]] R_gt: [[ 0.9497581 -0.31116139 0.03372323] [ 0.30218016 0.93970089 0.16015551] [-0.08152383 -0.14191894 0.98651449]] t_gt: [ 0.64189018 -0.66494377 0.38187273] Pose Error in degrees for R and t: 20.33446170627985 50.19060964707505 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.95600178 0.29328246 0.00678132] [ 0.29329003 -0.9550077 -0.04405964] [-0.00644571 0.04410998 -0.99900589]] t_estimated: [[-0.15588892] [ 0.98752176] [-0.02234757]] R_gt: [[ 0.99937372 -0.01102187 0.03364144] [ 0.00950295 0.99894264 0.044995 ] [-0.03410138 -0.04464682 0.99842104]] t_gt: [ 0.0741559 -0.10146219 0.99207174] Pose Error in degrees for R and t: 179.70035882106487 82.30344571577128 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.90364950e-01 1.38481933e-01 1.41880676e-04] [-1.38481907e-01 9.90364948e-01 -1.78122726e-04] [-1.65180428e-04 1.56758598e-04 9.99999974e-01]] t_estimated: [[-0.99999506] [ 0.00290815] [-0.00119142]] R_gt: [[ 0.99968065 -0.00991792 0.02330677] [ 0.00921327 0.99950457 0.03013938] [-0.02359311 -0.02991457 0.99927383]] t_gt: [0.11654814 0.35303558 0.92832236] Pose Error in degrees for R and t: 8.783538547862813 83.30252908240537 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.97644151e-01 6.86012627e-02 1.17784233e-04] [-6.86012463e-02 9.97644150e-01 -1.37456679e-04] [-1.26936452e-04 1.29052707e-04 9.99999984e-01]] t_estimated: [[-0.85431981] [-0.51974578] [-0.00140541]] R_gt: [[ 0.99756596 0.06109194 0.03365304] [-0.06292223 0.99642861 0.05631662] [-0.03009203 -0.05829687 0.99784601]] t_gt: [-0.46818247 0.68437231 0.55896308] Pose Error in degrees for R and t: 3.7826177986503784 87.5072845217318 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-3.75839795e-01 9.26683631e-01 -1.37687590e-03] [ 9.26672561e-01 3.75842066e-01 4.55030061e-03] [ 4.73417697e-03 4.34270931e-04 -9.99988699e-01]] t_estimated: [[-0.55856241] [-0.82945969] [-0.00215826]] R_gt: [[ 0.99103996 0.1333893 0.00684236] [-0.13341772 0.99105221 0.00394777] [-0.00625475 -0.00482495 0.99996943]] t_gt: [-0.74144344 0.66850266 0.05801559] Pose Error in degrees for R and t: 179.95191709024223 81.92444743713861 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.93460586e-01 1.14175412e-01 -1.99451205e-04] [-1.14175469e-01 9.93460554e-01 -3.01106736e-04] [ 1.63767919e-04 3.21910109e-04 9.99999935e-01]] t_estimated: [[-0.96455271] [-0.26388706] [-0.00129994]] R_gt: [[ 0.98573519 0.16830163 -0.00106505] [-0.16801668 0.98365556 -0.06475299] [-0.00985122 0.06400898 0.99790134]] t_gt: [-0.61134522 0.73803075 -0.28560048] Pose Error in degrees for R and t: 4.845793267387034 66.71598913064254 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.91608008e-01 -1.29280923e-01 -4.80518557e-05] [ 1.29280694e-01 9.91606823e-01 -1.55262529e-03] [ 2.48373379e-04 1.53338350e-03 9.99998794e-01]] t_estimated: [[-0.20496466] [-0.97876587] [-0.0026203 ]] R_gt: [[ 0.98491691 0.17251965 0.01327251] [-0.16928594 0.97663974 -0.13235199] [-0.03579667 0.12810915 0.99111431]] t_gt: [-0.52719419 0.73071551 -0.43372933] Pose Error in degrees for R and t: 18.878761024182285 52.6986803823713 Number of keypoints: Image1: 501 Image2: 501 R_estimated: [[ 9.99999154e-01 -1.29952251e-03 4.95434432e-05] [ 1.29951869e-03 9.99999153e-01 7.69693572e-05] [-4.96434247e-05 -7.69049095e-05 9.99999996e-01]] t_estimated: [[7.32804561e-01] [6.80439125e-01] [2.69831330e-04]] R_gt: [[ 0.9989314 -0.02705287 0.03746472] [ 0.0256619 0.99898059 0.03714414] [-0.0384309 -0.03614307 0.99860749]] t_gt: [-0.12190053 -0.56024616 0.81930733] Pose Error in degrees for R and t: 3.3434806479910666 61.94482617834598 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 0.80680295 -0.59072416 -0.01067543] [ 0.59079311 0.80680802 0.00493128] [ 0.0057 -0.01028554 0.99993086]] t_estimated: [[9.81615074e-01] [1.90869598e-01] [8.01973100e-04]] R_gt: [[ 0.9992632 0.00755318 0.03761864] [-0.00879077 0.99942254 0.03285122] [-0.03734962 -0.03315804 0.99875214]] t_gt: [-0.66169132 -0.24636414 0.70814498] Pose Error in degrees for R and t: 36.79980164340937 45.89450349796613 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 7.81177598e-01 -6.24305734e-01 -1.97759356e-03] [ 6.24308586e-01 7.81176328e-01 1.52753525e-03] [ 5.91200264e-04 -2.42790495e-03 9.99996878e-01]] t_estimated: [[-0.11227255] [-0.99367661] [-0.00129049]] R_gt: [[ 0.98964738 0.12785356 0.06520916] [-0.1254968 0.99132553 -0.0390445 ] [-0.06963558 0.03045676 0.99710793]] t_gt: [-0.83956121 0.48661822 0.24153611] Pose Error in degrees for R and t: 46.127053659235884 67.07081301053981 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.95538949e-01 -9.43514588e-02 -5.74402634e-05] [ 9.43514644e-02 9.95538945e-01 1.03365670e-04] [ 4.74313175e-05 -1.08324123e-04 9.99999993e-01]] t_estimated: [[-0.79549527] [-0.60595858] [-0.00121416]] R_gt: [[ 0.99835965 -0.01367976 0.05560128] [ 0.01505262 0.99959003 -0.02435606] [-0.05524533 0.0251518 0.9981563 ]] t_gt: [0.21279924 0.69053102 0.6912911 ] Pose Error in degrees for R and t: 5.76260634565482 53.9455852489017 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 8.34332569e-01 5.51261218e-01 4.83063777e-04] [-5.51260397e-01 8.34332382e-01 -1.20439998e-03] [-1.06697475e-03 7.38576201e-04 9.99999158e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99256659 0.02076083 0.11991898] [-0.01415629 0.99834899 -0.0556708 ] [-0.12087716 0.05355868 0.99122201]] t_gt: [-0.34562363 0.76326909 0.54586135] Pose Error in degrees for R and t: 33.28779131200665 69.95049066123873 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 0.98267501 0.18517699 0.00770127] [-0.1849792 0.98251147 -0.02130527] [-0.01151183 0.01951158 0.99974336]] t_estimated: [[0.45389606] [0.89105409] [0.00098459]] R_gt: [[ 0.98790599 0.06073183 0.14266641] [-0.04553918 0.9931678 -0.10744445] [-0.14821672 0.09964817 0.98392195]] t_gt: [-0.5075489 0.81645261 0.27531665] Pose Error in degrees for R and t: 11.90707579341708 60.17186173706061 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999944e-01 -2.20083328e-04 -2.53911336e-04] [ 2.20126048e-04 9.99999962e-01 1.68232519e-04] [ 2.53874301e-04 -1.68288402e-04 9.99999954e-01]] t_estimated: [[-0.99041894] [-0.13805777] [-0.00321977]] R_gt: [[ 0.99893723 0.02285777 -0.04002653] [-0.02398545 0.99932161 -0.02792646] [ 0.03936127 0.02885686 0.99880871]] t_gt: [ 0.4318934 0.45851245 -0.77668168] Pose Error in degrees for R and t: 3.102983871628739 60.75429245526835 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999409e-01 1.07847859e-03 1.34871324e-04] [-1.07847849e-03 9.99999418e-01 -8.37186004e-07] [-1.34872148e-04 6.91729688e-07 9.99999991e-01]] t_estimated: [[-9.99999429e-01] [ 1.06059993e-03] [ 1.32637315e-04]] R_gt: [[ 0.9986496 0.04944891 -0.01594637] [-0.04972565 0.99860867 -0.01752429] [ 0.01505743 0.01829317 0.99971954]] t_gt: [ 0.44426127 0.78292586 -0.43549859] Pose Error in degrees for R and t: 3.096768159487387 63.67333208629119 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999968e-01 2.41121860e-04 7.20672268e-05] [-2.41113196e-04 9.99999964e-01 -1.20210468e-04] [-7.20962096e-05 1.20193087e-04 9.99999990e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99122184 0.12578869 0.04072548] [-0.12008791 0.98539246 -0.12074723] [-0.05531907 0.11479586 0.9918477 ]] t_gt: [-0.08234243 0.93434054 -0.34673834] Pose Error in degrees for R and t: 10.173235603411598 21.02118207221198 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99979320e-01 6.39678548e-03 6.64278705e-04] [-6.39675930e-03 9.99979540e-01 -4.15265241e-05] [-6.64530750e-04 3.72764343e-05 9.99999779e-01]] t_estimated: [[0.99916912] [0.04050686] [0.00450076]] R_gt: [[ 0.99468977 -0.10177142 -0.0153675 ] [ 0.10098455 0.99385288 -0.04536806] [ 0.01989005 0.04357577 0.99885147]] t_gt: [ 0.5072956 -0.72557783 -0.46496019] Pose Error in degrees for R and t: 6.774527902607449 61.61521808497203 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.99870304 -0.02017345 -0.04674681] [ 0.02201413 0.99898881 0.03920131] [ 0.04590872 -0.04017956 0.99813726]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.97204096 -0.22553262 -0.0653641 ] [ 0.22332146 0.97394646 -0.0394478 ] [ 0.07255717 0.02374848 0.99708141]] t_gt: [ 0.62275194 -0.71618379 -0.31505682] Pose Error in degrees for R and t: 12.53622412374305 55.86669301549147 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.98830674 0.15247496 0.00108645] [-0.15247361 0.98830677 -0.00123712] [-0.00126238 0.001057 0.99999864]] t_estimated: [[0.02049348] [0.99978892] [0.00146382]] R_gt: [[ 0.94191476 -0.32104386 -0.0986308 ] [ 0.32050713 0.9469976 -0.02166562] [ 0.10035921 -0.01120352 0.99488812]] t_gt: [ 0.7060566 -0.67920003 -0.20042802] Pose Error in degrees for R and t: 28.13531969269406 48.32684153508261 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.37558589e-01 -3.47827181e-01 -3.80636990e-04] [ 3.47827324e-01 9.37558520e-01 4.16218287e-04] [ 2.12097420e-04 -5.22624975e-04 9.99999841e-01]] t_estimated: [[ 9.54748649e-01] [-2.97413307e-01] [ 5.85729619e-04]] R_gt: [[ 9.97934024e-01 2.58976413e-02 -5.87985838e-02] [-2.59893885e-02 9.99662392e-01 -7.88145771e-04] [ 5.87573111e-02 2.31512320e-03 9.98269080e-01]] t_gt: [ 0.35490709 0.54808763 -0.75739086] Pose Error in degrees for R and t: 22.095366131810344 79.89836119278489 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998952e-01 -1.28830174e-03 -6.60739877e-04] [ 1.28873712e-03 9.99998952e-01 6.58912417e-04] [ 6.59890307e-04 -6.59763247e-04 9.99999565e-01]] t_estimated: [[-0.90706707] [ 0.42097163] [-0.00349449]] R_gt: [[ 0.99271091 0.02130385 -0.11862433] [-0.02245504 0.99971233 -0.00837947] [ 0.11841035 0.0109828 0.99290364]] t_gt: [ 0.54660106 0.32339249 -0.77242772] Pose Error in degrees for R and t: 6.92450898611374 69.08604524675991 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.30776325 0.83252377 0.46063647] [ 0.94667449 -0.21942488 -0.23592399] [-0.09533722 0.50868153 -0.85565993]] t_estimated: [[-0.69631062] [-0.69631062] [-0.17407766]] R_gt: [[ 9.83794253e-01 2.49057288e-02 -1.77564279e-01] [-2.43692181e-02 9.99689401e-01 5.20164565e-03] [ 1.77637309e-01 -7.90232755e-04 9.84095101e-01]] t_gt: [ 0.59434269 0.25037688 -0.76424353] Pose Error in degrees for R and t: 158.5382496105105 62.92544679501854 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.97230372e-01 -7.43733496e-02 -4.35580593e-04] [ 7.43736737e-02 9.97230136e-01 7.82491636e-04] [ 3.76177570e-04 -8.12720154e-04 9.99999599e-01]] t_estimated: [[0.72862164] [0.6849156 ] [0.00105856]] R_gt: [[ 0.99670473 -0.05031424 -0.06363751] [ 0.05200697 0.99832758 0.02523854] [ 0.06226051 -0.02846542 0.99765341]] t_gt: [ 0.69610498 -0.71761441 0.02161978] Pose Error in degrees for R and t: 4.107193416607721 89.09957501938645 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99816253e-01 -1.91692728e-02 -1.10098728e-05] [ 1.91692692e-02 9.99816217e-01 -2.67937311e-04] [ 1.61440128e-05 2.67677027e-04 9.99999964e-01]] t_estimated: [[0.61489893] [0.78860521] [0.00106568]] R_gt: [[ 0.99116051 0.04091214 -0.12620441] [-0.02550109 0.99227626 0.12140011] [ 0.13019664 -0.11710968 0.98454793]] t_gt: [ 0.20339318 -0.67350049 0.71065343] Pose Error in degrees for R and t: 10.535016322943074 66.08992050521577 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.18435899e-01 -3.95569312e-01 -6.47498730e-04] [ 3.95569739e-01 9.18435612e-01 7.79692600e-04] [ 2.86263427e-04 -9.72228577e-04 9.99999486e-01]] t_estimated: [[4.91093083e-01] [8.71106790e-01] [7.37568146e-04]] R_gt: [[ 0.98199038 0.08561874 -0.16842052] [-0.04867644 0.9759824 0.21234241] [ 0.18255668 -0.2003201 0.96257138]] t_gt: [ 0.20927475 -0.28212536 0.93627419] Pose Error in degrees for R and t: 31.337256763677416 81.81919310687913 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.88711423e-01 1.49832302e-01 -4.99305292e-05] [-1.49832309e-01 9.88711408e-01 -1.78684528e-04] [ 2.25941697e-05 1.84148640e-04 9.99999983e-01]] t_estimated: [[-0.798049 ] [ 0.60259129] [-0.00123913]] R_gt: [[ 9.95881043e-01 -8.09969866e-02 4.07343587e-02] [ 8.10702668e-02 9.96708623e-01 -1.47631737e-04] [-4.05885992e-02 3.45000185e-03 9.99170303e-01]] t_gt: [ 0.93159144 -0.10754508 0.34723398] Pose Error in degrees for R and t: 13.470344531722294 36.0317052664159 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.93603032e-01 -1.12924133e-01 1.07484080e-03] [ 1.12924007e-01 9.93603612e-01 1.78198227e-04] [-1.08808858e-03 -5.56829699e-05 9.99999406e-01]] t_estimated: [[0.54678855] [0.83726996] [0.00113914]] R_gt: [[ 0.99270052 -0.05715994 0.10620007] [ 0.06141228 0.99741889 -0.0372021 ] [-0.1037994 0.04345303 0.9936483 ]] t_gt: [0.68816911 0.44579702 0.57244064] Pose Error in degrees for R and t: 7.104448566445512 41.39337436063677 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-9.96161720e-01 -8.75093438e-02 -1.98535715e-03] [ 8.75092356e-02 -9.96163698e-01 1.41470996e-04] [-1.99012076e-03 -3.28090964e-05 9.99998019e-01]] t_estimated: [[7.88612917e-01] [6.14889492e-01] [7.61944847e-04]] R_gt: [[ 0.98870325 -0.02091431 0.14841473] [ 0.03231916 0.9966703 -0.07485691] [-0.14635466 0.07880833 0.98608784]] t_gt: [0.08161775 0.8247688 0.5595489 ] Pose Error in degrees for R and t: 173.47062197434758 55.114882149540286 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-8.28354707e-01 5.60191590e-01 -3.72330690e-03] [-5.60197415e-01 -8.28358864e-01 6.70462965e-04] [-2.70864656e-03 2.64116805e-03 9.99992844e-01]] t_estimated: [[0.7026124 ] [0.71157239] [0.00074667]] R_gt: [[ 0.99563781 0.07599012 -0.05415555] [-0.07405271 0.9965709 0.03691286] [ 0.05677432 -0.03274174 0.99785014]] t_gt: [-0.21522267 0.85893787 -0.46465571] Pose Error in degrees for R and t: 141.64570103124592 62.63667407275603 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.96829743 -0.24977739 -0.00336793] [ 0.24978727 0.96829632 0.00292441] [ 0.0025307 -0.00367296 0.99999005]] t_estimated: [[0.77362859] [0.63363866] [0.00092099]] R_gt: [[ 0.98754859 0.09503922 -0.12536544] [-0.09366541 0.99546132 0.0168184 ] [ 0.12639472 -0.00486705 0.99196806]] t_gt: [ 0.10393316 0.53559023 -0.83805788] Pose Error in degrees for R and t: 21.110542822038187 65.22824674494534 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-9.36822302e-01 -3.49805535e-01 -2.49319452e-04] [-3.49805624e-01 9.36822094e-01 6.23800733e-04] [ 1.53590215e-05 6.71603785e-04 -9.99999774e-01]] t_estimated: [[0.96066915] [0.27769343] [0.00107218]] R_gt: [[ 0.98846126 0.0490314 -0.14332222] [-0.04419548 0.9983477 0.03673265] [ 0.14488676 -0.02997442 0.98899339]] t_gt: [ 0.43544149 0.03033948 -0.89970563] Pose Error in degrees for R and t: 172.1761287548533 64.80023134679683 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999264e-01 -1.20849896e-03 1.05807490e-04] [ 1.20851443e-03 9.99999259e-01 -1.46226104e-04] [-1.05630698e-04 1.46353867e-04 9.99999984e-01]] t_estimated: [[ 0.63730329] [-0.77060998] [-0.00218278]] R_gt: [[ 0.99604652 -0.08794015 -0.01258566] [ 0.08774459 0.99602586 -0.01529695] [ 0.01388072 0.01413291 0.99980366]] t_gt: [ 0.53959544 -0.81482862 -0.21187513] Pose Error in degrees for R and t: 5.097985478028528 13.526093766412915 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.99925204 -0.03827244 0.00552913] [ 0.03829339 0.99925956 -0.00373469] [-0.0053821 0.00394362 0.99997774]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.72865875e-01 -2.30812593e-01 -1.60834754e-02] [ 2.30855657e-01 9.72988045e-01 8.26564143e-04] [ 1.54582534e-02 -4.51668750e-03 9.99870351e-01]] t_gt: [ 0.64981137 -0.75978741 -0.02163943] Pose Error in degrees for R and t: 11.22584268687329 86.18283624686867 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 8.15761027e-01 -5.78389092e-01 -7.29404076e-05] [ 5.78388884e-01 8.15760611e-01 9.61893235e-04] [-4.96846644e-04 -8.26862934e-04 9.99999535e-01]] t_estimated: [[9.99992176e-01] [3.87894560e-03] [7.75789120e-04]] R_gt: [[ 0.91494098 -0.40259047 -0.02835149] [ 0.40255612 0.91536692 -0.00716133] [ 0.02883474 -0.00486087 0.99957242]] t_gt: [ 0.75640489 -0.65382373 -0.01913579] Pose Error in degrees for R and t: 11.715164504241693 41.07518977896995 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.39889099e-01 -3.41479785e-01 -1.93802348e-04] [ 3.41479839e-01 9.39888999e-01 4.35777686e-04] [ 3.33434236e-05 -4.75762291e-04 9.99999886e-01]] t_estimated: [[ 0.94081605] [-0.33891553] [ 0.00119574]] R_gt: [[ 0.99694103 0.04309126 0.06520685] [-0.04005282 0.99808156 -0.04722479] [-0.06711631 0.04446881 0.99675309]] t_gt: [-0.78412346 0.56038787 0.26667552] Pose Error in degrees for R and t: 22.823798170792795 21.978981693132216 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.72270659 0.6895408 0.04720873] [-0.67758172 -0.69338885 -0.24514266] [-0.13630186 -0.20915399 0.96833693]] t_estimated: [[0.70014004] [0.70014004] [0.14002801]] R_gt: [[ 0.99329744 0.10396541 0.05050557] [-0.10483962 0.9943765 0.01498756] [-0.04866316 -0.02018235 0.9986108 ]] t_gt: [-0.73627776 0.53466249 0.41476631] Pose Error in degrees for R and t: 130.09337487800707 85.2343722524594 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.80892311 -0.58782615 -0.0101893 ] [ 0.58774956 -0.80898521 0.00966353] [-0.01392347 0.00182829 0.99990139]] t_estimated: [[0.99491929] [0.100328 ] [0.00836067]] R_gt: [[ 0.99383071 0.05769931 -0.0947228 ] [-0.0421517 0.98643937 0.15862483] [ 0.10259062 -0.15365299 0.98278431]] t_gt: [-0.47141605 -0.17948479 0.8634536 ] Pose Error in degrees for R and t: 146.99064176925248 61.327057285543255 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99998843e-01 1.51910030e-03 7.58518455e-05] [-1.51909766e-03 9.99998846e-01 -3.49051402e-05] [-7.59047824e-05 3.47898735e-05 9.99999997e-01]] t_estimated: [[-9.27081690e-01] [ 3.74859361e-01] [-7.91981306e-06]] R_gt: [[ 9.93737017e-01 -1.10539983e-01 1.63495065e-02] [ 1.10563530e-01 9.93869139e-01 -5.33603816e-04] [-1.61890557e-02 2.33776286e-03 9.99866064e-01]] t_gt: [ 0.30063069 -0.94027272 0.1597135 ] Pose Error in degrees for R and t: 6.501796728472148 50.86272805374746 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-4.40728945e-01 -8.97638956e-01 -1.51738340e-03] [ 8.97640180e-01 -4.40727674e-01 -1.10686421e-03] [ 3.24811572e-04 -1.84989140e-03 9.99998236e-01]] t_estimated: [[ 9.87661417e-01] [-1.56604279e-01] [ 1.58495829e-04]] R_gt: [[ 0.96784131 -0.2515304 -0.00390662] [ 0.2514773 0.9670076 0.04068668] [-0.00645586 -0.04036035 0.99916415]] t_gt: [ 0.47987176 -0.85967122 0.17518131] Pose Error in degrees for R and t: 101.59623890313895 52.51116785536057 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.29416662 0.92551642 0.23850653] [ 0.94517894 0.31872794 -0.07105822] [-0.14178424 0.2045284 -0.96853774]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.92621685 -0.3754417 -0.03413886] [ 0.37660858 0.92555095 0.03900104] [ 0.01695493 -0.04898043 0.99865526]] t_gt: [ 0.58231175 -0.80502649 0.11333745] Pose Error in degrees for R and t: 168.45690132018171 88.27390299147486 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.55664818e-01 2.94456046e-01 6.26119427e-04] [-2.94456037e-01 9.55665020e-01 -1.09017794e-04] [-6.30461383e-04 -8.01801744e-05 9.99999798e-01]] t_estimated: [[-0.01318884] [ 0.99991181] [ 0.00155483]] R_gt: [[ 0.98460794 -0.17388896 -0.01757494] [ 0.1744938 0.9837426 0.04245614] [ 0.00990509 -0.0448686 0.99894304]] t_gt: [ 0.53176446 -0.83072035 0.16471266] Pose Error in degrees for R and t: 27.288114398771583 33.132968169812976 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.57320067e-01 -2.89029912e-01 -2.44704930e-06] [ 2.89029905e-01 9.57320041e-01 2.31119048e-04] [-6.44577088e-05 -2.21962173e-04 9.99999973e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97244122 -0.22768351 -0.05017925] [ 0.23048775 0.97123449 0.05983482] [ 0.0351124 -0.06975104 0.99694621]] t_gt: [ 0.52738659 -0.83772226 0.14172083] Pose Error in degrees for R and t: 5.697936276727769 58.33874556140519 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.1618529 0.98681219 0.00231281] [ 0.98680868 -0.16185975 0.00316986] [ 0.00350241 0.00176925 -0.9999923 ]] t_estimated: [[9.21987195e-01] [3.87219642e-01] [7.48974163e-04]] R_gt: [[ 0.93442478 -0.34997908 -0.06606451] [ 0.35427253 0.93241334 0.0713843 ] [ 0.03661579 -0.09010773 0.99525861]] t_gt: [ 0.64360795 -0.74871841 0.15871214] Pose Error in degrees for R and t: 174.45875754400586 72.32612289085931 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.82657592e-01 1.85429094e-01 3.27706559e-04] [-1.85429015e-01 9.82657628e-01 -2.57113652e-04] [-3.69699702e-04 1.91888378e-04 9.99999913e-01]] t_estimated: [[0.66507231] [0.74677834] [0.00097224]] R_gt: [[ 0.99590862 -0.0886276 0.01760827] [ 0.08945883 0.99452493 -0.05401705] [-0.0127246 0.05537182 0.99838528]] t_gt: [ 0.47962891 -0.79578087 -0.36971463] Pose Error in degrees for R and t: 16.125377943357233 73.9996359011412 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.24574615 -0.96933299 -0.00154314] [ 0.96933364 0.24574396 0.00148047] [-0.00105585 -0.00185964 0.99999771]] t_estimated: [[0.99936029] [0.03573871] [0.00132366]] R_gt: [[ 0.98240123 -0.18566207 -0.02042854] [ 0.18451089 0.98164006 -0.04836523] [ 0.02903304 0.04374556 0.99862101]] t_gt: [ 0.59317626 -0.7597148 -0.26641199] Pose Error in degrees for R and t: 65.16727314362052 55.577364466912556 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.60368426e-01 2.78733497e-01 3.52580303e-04] [-2.78733381e-01 9.60368462e-01 -3.46793984e-04] [-4.35270103e-04 2.34774092e-04 9.99999878e-01]] t_estimated: [[8.14992395e-01] [5.79471320e-01] [6.21608917e-04]] R_gt: [[ 0.93444665 -0.35610154 -0.00135967] [ 0.35597871 0.93421501 -0.02282347] [ 0.00939781 0.02084396 0.99973875]] t_gt: [ 0.70396404 -0.70832961 -0.05199803] Pose Error in degrees for R and t: 37.06664133444806 80.60520552223005 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.54665612e-01 -2.97678060e-01 -1.15856389e-03] [ 2.97679983e-01 9.54663129e-01 2.22234714e-03] [ 4.44494242e-04 -2.46647967e-03 9.99996859e-01]] t_estimated: [[-6.29950979e-01] [-7.76634897e-01] [-1.61580885e-05]] R_gt: [[ 0.99846313 0.01209028 0.05408856] [-0.00707758 0.99574132 -0.09190883] [-0.05496967 0.09138473 0.99429788]] t_gt: [-0.44204541 0.57211226 -0.69085701] Pose Error in degrees for R and t: 18.926747919227054 80.45371791544044 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 7.40023739e-01 6.72575703e-01 2.60589018e-03] [ 6.72580729e-01 -7.40017184e-01 -3.11935231e-03] [-1.69597056e-04 4.06106627e-03 -9.99991739e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.99285636 0.05703967 0.10479461] [-0.04083374 0.98772936 -0.15073907] [-0.11210705 0.14538272 0.98300424]] t_gt: [-0.68769723 0.665442 -0.29027483] Pose Error in degrees for R and t: 169.5683687610515 77.61037172701604 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 8.72288162e-01 -4.88992103e-01 -2.92166721e-04] [ 4.88992181e-01 8.72288107e-01 3.26492852e-04] [ 9.52011297e-05 -4.27663092e-04 9.99999904e-01]] t_estimated: [[9.87088819e-01] [1.60172021e-01] [7.66373307e-04]] R_gt: [[ 0.9835933 0.13155862 0.12343154] [-0.11433341 0.98387145 -0.13756009] [-0.13953809 0.12119142 0.98277301]] t_gt: [-0.73486879 0.67378469 0.07734365] Pose Error in degrees for R and t: 37.88061625010657 51.873480743319554 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.7342724 0.67833227 -0.02663414] [ 0.67840016 0.7346514 0.00778079] [ 0.02484477 -0.01235539 -0.99961497]] t_estimated: [[ 0.99530114] [ 0.09649515] [-0.00802005]] R_gt: [[ 0.99112446 0.09007241 -0.09778156] [-0.09091053 0.99585085 -0.00414415] [ 0.09700229 0.01299641 0.99519898]] t_gt: [-0.06877674 0.652236 -0.75488937] Pose Error in degrees for R and t: 173.39391209796048 89.9691580812803 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.74168610e-01 -2.25821865e-01 -6.57356045e-05] [ 2.25821874e-01 9.74168587e-01 2.12517634e-04] [ 1.60464324e-05 -2.21872546e-04 9.99999975e-01]] t_estimated: [[0.73669032] [0.67622963] [0.00093016]] R_gt: [[ 0.98934792 0.05740487 -0.13377807] [-0.05871907 0.99825786 -0.00589487] [ 0.13320664 0.0136878 0.99099356]] t_gt: [ 0.2376732 0.28395395 -0.92891421] Pose Error in degrees for R and t: 18.099212859779303 68.51574218772932 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99499765e-01 3.16213861e-02 -5.55190638e-04] [-3.16212177e-02 9.99499876e-01 3.09510309e-04] [ 5.64700120e-04 -2.91799677e-04 9.99999798e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.98951654 0.0017033 -0.14441356] [ 0.00256074 0.99956667 0.02933914] [ 0.14440084 -0.02940091 0.98908292]] t_gt: [ 0.52868836 -0.29508836 -0.79587153] Pose Error in degrees for R and t: 8.636220999292625 58.53470434176369 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.99119169 0.13155471 -0.0152446 ] [ 0.13150128 0.99130597 0.00446016] [ 0.01569882 0.00241619 -0.99987385]] t_estimated: [[ 0.99305702] [-0.11723481] [-0.00968225]] R_gt: [[ 0.99613018 0.04937604 -0.07271782] [-0.04529273 0.99735924 0.05677416] [ 0.07532869 -0.05326081 0.99573578]] t_gt: [-0.47085733 -0.20711506 0.85755275] Pose Error in degrees for R and t: 174.6608508308612 63.15296493183898 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.86622768 0.49945375 -0.01398416] [ 0.49944211 0.86633525 0.00456254] [ 0.01439375 -0.00303208 -0.99989181]] t_estimated: [[ 0.94601065] [-0.32400954] [-0.00903746]] R_gt: [[ 0.98515733 0.12822118 -0.11412565] [-0.10769976 0.9794195 0.1706992 ] [ 0.13366369 -0.15587322 0.97869137]] t_gt: [-0.30026461 0.1512699 0.94178478] Pose Error in degrees for R and t: 169.80600567156785 70.02697146426792 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.31818926e-01 -5.55043765e-01 1.92170754e-03] [-5.55047055e-01 -8.31815140e-01 2.51785816e-03] [ 2.00983950e-04 -3.16104018e-03 -9.99994984e-01]] t_estimated: [[0.23092686] [0.97296958] [0.00172843]] R_gt: [[ 0.97274014 0.17564165 -0.15141672] [-0.14314108 0.96848101 0.20385046] [ 0.1824487 -0.17661911 0.96722216]] t_gt: [-0.25477433 0.63696451 0.7275756 ] Pose Error in degrees for R and t: 172.0736556688864 55.79396977463212 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.97625388e-01 -6.88734334e-02 1.86182722e-04] [ 6.88734178e-02 9.97625403e-01 8.93586598e-05] [-1.91895051e-04 -7.63234273e-05 9.99999979e-01]] t_estimated: [[0.91464812] [0.40424831] [0.00145413]] R_gt: [[ 0.99775769 -0.01580931 -0.06505006] [ 0.01845252 0.99902012 0.04022243] [ 0.06435168 -0.04133214 0.99707087]] t_gt: [ 0.92845864 -0.12915713 -0.34825708] Pose Error in degrees for R and t: 5.300088464664595 37.203309925036955 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.93754903e-01 -1.11584910e-01 1.91611716e-05] [ 1.11584896e-01 9.93754840e-01 3.58077763e-04] [-5.89975818e-05 -3.53703435e-04 9.99999936e-01]] t_estimated: [[-5.04098267e-01] [-8.63646303e-01] [ 3.40245884e-05]] R_gt: [[ 9.90470184e-01 1.02359276e-04 -1.37729375e-01] [ 2.28525147e-03 9.99849679e-01 1.71713805e-02] [ 1.37711141e-01 -1.73215641e-02 9.90320430e-01]] t_gt: [ 0.67558285 0.15494466 -0.72081895] Pose Error in degrees for R and t: 10.189592647343474 61.67957533430958 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 2.63179945e-01 9.64745634e-01 -1.47605438e-03] [-9.64746760e-01 2.63179515e-01 -4.81989138e-04] [-7.65296420e-05 1.55086855e-03 9.99998794e-01]] t_estimated: [[ 5.67009380e-02] [ 9.98390925e-01] [-7.51102070e-04]] R_gt: [[ 0.98221389 -0.02097885 -0.18659226] [ 0.0235907 0.99965238 0.01178196] [ 0.18628117 -0.01597304 0.98236607]] t_gt: [ 0.75357636 0.0494727 -0.65549609] Pose Error in degrees for R and t: 76.66806283878057 84.68599790714129 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.73623819e-01 2.28158561e-01 -5.74580761e-04] [-2.28158703e-01 9.73623936e-01 -1.93496953e-04] [ 5.15277596e-04 3.19488844e-04 9.99999816e-01]] t_estimated: [[-0.73273896] [ 0.68050635] [-0.00217251]] R_gt: [[ 0.99850485 0.03936997 0.03791929] [-0.0421232 0.99630824 0.07479878] [-0.03483358 -0.07628263 0.99647727]] t_gt: [-0.29028261 0.31096083 0.90500794] Pose Error in degrees for R and t: 11.876141422432346 65.0172073434311 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 8.14089995e-01 5.80733320e-01 2.50831679e-03] [-5.80738270e-01 8.14087223e-01 2.24827324e-03] [-7.36341468e-04 -3.28697230e-03 9.99994327e-01]] t_estimated: [[0.02983739] [0.99955249] [0.00213124]] R_gt: [[ 0.99464046 0.02544683 0.10021525] [-0.04516689 0.97880512 0.19974813] [-0.09300786 -0.20320369 0.97470913]] t_gt: [-0.13234093 0.11178152 0.98488109] Pose Error in degrees for R and t: 35.72252908799486 83.69149733268146 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.97643667e-01 -6.86067546e-02 4.76485047e-04] [ 6.86067396e-02 9.97643781e-01 4.78993209e-05] [-4.78648561e-04 -1.50963686e-05 9.99999885e-01]] t_estimated: [[0.02445365] [0.99970042] [0.00104325]] R_gt: [[ 0.99307194 -0.01120209 0.11697255] [-0.02451481 0.953788 0.29947627] [-0.11492143 -0.30026886 0.94690632]] t_gt: [-0.03832694 0.02566561 0.99893559] Pose Error in degrees for R and t: 19.231130588220072 88.5237353675794 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.21237955e-01 3.88999238e-01 4.72884778e-04] [-3.88999311e-01 9.21238042e-01 7.17030899e-05] [-4.07746999e-04 -2.50007461e-04 9.99999886e-01]] t_estimated: [[-0.44859929] [ 0.8937321 ] [ 0.00126769]] R_gt: [[ 9.93665400e-01 1.11771726e-01 -1.16838964e-02] [-1.11777078e-01 9.93733587e-01 1.84579362e-04] [ 1.16315589e-02 1.12329415e-03 9.99931118e-01]] t_gt: [-0.54000069 0.83531286 -0.10320698] Pose Error in degrees for R and t: 16.48902342043854 8.637229040591118 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.73988629e-01 -2.26596686e-01 3.02326346e-04] [ 2.26596286e-01 9.73988250e-01 1.00607690e-03] [-5.22436001e-04 -9.11401436e-04 9.99999448e-01]] t_estimated: [[ 0.84783377] [-0.53024135] [ 0.00469026]] R_gt: [[ 0.99631644 0.07853065 -0.03444408] [-0.07798193 0.99681005 0.01700276] [ 0.03566925 -0.01425515 0.99926124]] t_gt: [-0.23688688 0.96306366 -0.12803514] Pose Error in degrees for R and t: 17.723001826419594 44.594177521156766 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.87248629e-01 1.59185806e-01 1.52097428e-04] [-1.59185761e-01 9.87248611e-01 -2.70275092e-04] [-1.93181933e-04 2.42616969e-04 9.99999952e-01]] t_estimated: [[-0.40444276] [-0.9145623 ] [-0.00135854]] R_gt: [[ 0.99878675 0.00300905 0.0491507 ] [ 0.00102442 0.99664468 -0.08183904] [-0.04923242 0.08179051 0.99543237]] t_gt: [ 0.08937371 0.87714692 -0.4718322 ] Pose Error in degrees for R and t: 10.61191918344449 33.10080441002357 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[-0.993796 -0.11116224 0.00353121] [-0.11115207 0.99379901 0.00295771] [-0.0038381 0.00254686 -0.99998939]] t_estimated: [[0.99788092] [0.06501735] [0.00253095]] R_gt: [[ 0.99923027 -0.03249912 -0.02201149] [ 0.03279782 0.9993731 0.01333508] [ 0.02156359 -0.0140467 0.99966841]] t_gt: [ 0.44508637 -0.85624894 -0.26217527] Pose Error in degrees for R and t: 179.01180860682928 67.18178702185722 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 0.58289631 -0.81242939 -0.01379799] [-0.8124304 -0.58244184 -0.02680207] [ 0.01373826 0.02683274 -0.99954553]] t_estimated: [[ 0.49023105] [ 0.87148405] [-0.01375008]] R_gt: [[ 0.99870186 -0.02718021 -0.04309662] [ 0.02859007 0.99906451 0.03244324] [ 0.04217513 -0.03363377 0.99854342]] t_gt: [ 0.3598698 -0.867428 -0.34360208] Pose Error in degrees for R and t: 178.84035187262674 54.91396927387369 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.89462838e-01 1.44786942e-01 1.81060253e-04] [-1.44786972e-01 9.89462837e-01 1.63778521e-04] [-1.55439400e-04 -1.88267926e-04 9.99999970e-01]] t_estimated: [[0.86412272] [0.50328026] [0.00094959]] R_gt: [[ 0.99378688 -0.10985786 -0.0179266 ] [ 0.11006339 0.99386451 0.01093276] [ 0.01661583 -0.01283795 0.99977915]] t_gt: [ 0.5843025 -0.81028289 -0.04508028] Pose Error in degrees for R and t: 14.687864935536464 84.42970753802616 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99999136e-01 1.29606902e-03 2.18248819e-04] [-1.29618083e-03 9.99999028e-01 5.12908253e-04] [-2.17583842e-04 -5.13190700e-04 9.99999845e-01]] t_estimated: [[0.99876392] [0.04932168] [0.00616521]] R_gt: [[ 0.99889535 -0.04207973 -0.02094652] [ 0.04243762 0.99895606 0.01693934] [ 0.0202107 -0.01780886 0.99963638]] t_gt: [ 0.51866205 -0.84899206 -0.10100573] Pose Error in degrees for R and t: 2.930194651539459 61.606493620196076 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.61333436e-01 2.75385510e-01 9.20132425e-04] [-2.75383834e-01 9.61332993e-01 -1.61879044e-03] [-1.33034509e-03 1.30280778e-03 9.99998266e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99675687 -0.07079233 -0.03827144] [ 0.0721744 0.99674089 0.03602454] [ 0.03559583 -0.03866947 0.99861698]] t_gt: [ 0.50591819 -0.86024684 -0.06342046] Pose Error in degrees for R and t: 20.32551017856077 59.788127731272944 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.73099986 0.68237662 0.00116366] [ 0.68233205 -0.73096969 0.01030903] [ 0.00788524 -0.00674189 -0.99994618]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99616452 -0.07316333 -0.04800208] [ 0.07467226 0.99674327 0.03044576] [ 0.04561697 -0.03391256 0.99838318]] t_gt: [ 0.52004841 -0.83557154 -0.17711538] Pose Error in degrees for R and t: 176.783748664749 58.847510462834336 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 7.12602359e-01 -7.01565299e-01 -2.00230928e-03] [ 7.01566679e-01 7.12603813e-01 -1.83669959e-05] [ 1.43973887e-03 -1.39166511e-03 9.99997995e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.99751605 -0.01358415 0.0691195 ] [ 0.00567307 0.99353475 0.11337987] [-0.07021275 -0.11270596 0.99114407]] t_gt: [-0.04224286 -0.11613462 0.99233477] Pose Error in degrees for R and t: 44.62674112991798 84.53787490918427 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 1.84364811e-01 9.82853605e-01 2.89971464e-03] [-9.82856855e-01 1.84368080e-01 -9.01603259e-04] [-1.42075884e-03 -2.68378050e-03 9.99995389e-01]] t_estimated: [[0.01797093] [0.99983718] [0.00163372]] R_gt: [[ 0.99551267 -0.05960419 0.07349765] [ 0.04327736 0.97748494 0.20651662] [-0.08415163 -0.20240882 0.97567904]] t_gt: [ 0.09201297 -0.25073419 0.96367317] Pose Error in degrees for R and t: 83.13672017050997 75.67241973347016 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.24292763 -0.97004278 -0.00178082] [ 0.96999864 -0.24289793 -0.01016021] [ 0.00942328 -0.00419559 0.9999468 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99233378 -0.08454091 0.0901519 ] [ 0.05881421 0.96458024 0.25715005] [-0.10869823 -0.24987622 0.96215722]] t_gt: [ 0.12140261 -0.25104561 0.96033198] Pose Error in degrees for R and t: 100.8636533599223 83.02893995486838 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.0439869 -0.99902596 -0.00350441] [ 0.99903074 0.04399238 -0.00150166] [ 0.00165437 -0.00343496 0.99999273]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99975218 0.0205829 0.00843531] [-0.02051547 0.99975709 -0.00800761] [-0.00859779 0.00783348 0.99993276]] t_gt: [0.60006528 0.79657387 0.0734284 ] Pose Error in degrees for R and t: 88.66012800341964 52.944444377576055 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-6.15331633e-01 7.88260143e-01 3.59553256e-03] [ 7.88268270e-01 6.15327147e-01 2.37432778e-03] [-3.40840833e-04 4.29524322e-03 -9.99990717e-01]] t_estimated: [[0.99985416] [0.01701879] [0.00141823]] R_gt: [[ 0.99962802 0.0213595 0.01695861] [-0.02084619 0.99933606 -0.02989049] [-0.01758606 0.029527 0.99940885]] t_gt: [ 0.86891052 0.47638113 -0.13437087] Pose Error in degrees for R and t: 178.23994466944572 28.75310785419429 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.95525162 -0.29577551 0.00334619] [ 0.29578582 0.95524902 -0.00317184] [-0.00225829 0.00401966 0.99998937]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99557477 -0.09340787 0.01023896] [ 0.09373103 0.99488365 -0.0377016 ] [-0.00666377 0.03849508 0.99923665]] t_gt: [ 0.81746848 -0.56827016 -0.09388455] Pose Error in degrees for R and t: 12.001025053085085 35.35035100420692 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.96535670e-01 -8.31660395e-02 -2.60421623e-04] [ 8.31660815e-02 9.96535689e-01 1.55030332e-04] [ 2.46626182e-04 -1.76151502e-04 9.99999954e-01]] t_estimated: [[-0.46501569] [-0.88529734] [-0.00300635]] R_gt: [[ 0.9986577 0.03331365 0.03967121] [-0.03215255 0.99904679 -0.0295369 ] [-0.04061643 0.02822268 0.99877608]] t_gt: [-0.81791007 0.52276164 0.24029852] Pose Error in degrees for R and t: 7.232847969877548 85.22857238591948 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99965299e-01 8.33007990e-03 9.91890987e-05] [-8.33008449e-03 9.99965303e-01 4.59176693e-05] [-9.88031593e-05 -4.67423295e-05 9.99999994e-01]] t_estimated: [[0.99721291] [0.07458359] [0.00192423]] R_gt: [[ 0.99986874 0.0160713 -0.00244651] [-0.01609822 0.99980535 -0.01140164] [ 0.00226297 0.01144016 0.99993131]] t_gt: [-0.9599693 -0.11576974 -0.25506139] Pose Error in degrees for R and t: 0.8052949061507616 14.890411803532185 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.96399763e-01 8.47758192e-02 7.56268657e-04] [-8.47710244e-02 9.96387949e-01 -4.99282838e-03] [-1.17680809e-03 4.91074334e-03 9.99987250e-01]] t_estimated: [[0.9740702 ] [0.22624243] [0.00126858]] R_gt: [[ 0.99957604 0.00906466 -0.0276882 ] [-0.00929991 0.99992227 -0.00834055] [ 0.02761089 0.00859506 0.99958112]] t_gt: [-0.83989058 -0.36693957 -0.39992396] Pose Error in degrees for R and t: 4.640652508596799 25.625913054696685 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97182393e-01 -7.50151153e-02 8.72717457e-05] [ 7.50151124e-02 9.97182396e-01 3.56076520e-05] [-8.96969606e-05 -2.89606238e-05 9.99999996e-01]] t_estimated: [[8.83552636e-01] [4.68331178e-01] [8.04692746e-04]] R_gt: [[ 0.99824683 -0.01148593 -0.0580622 ] [ 0.01209707 0.99987496 0.01018706] [ 0.05793752 -0.01087078 0.99826151]] t_gt: [ 0.75621895 -0.07403376 -0.65011684] Pose Error in degrees for R and t: 4.959251376602596 50.73087497912843 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.24341383 -0.96992144 0.00144821] [-0.96992121 0.24341569 0.00128121] [-0.00159519 -0.00109279 -0.99999813]] t_estimated: [[0.71249336] [0.70167451] [0.00246816]] R_gt: [[ 0.98909628 0.10428681 -0.10398089] [-0.10391272 0.99454542 0.0090301 ] [ 0.10435489 0.00187495 0.99453841]] t_gt: [-0.06021956 0.84230283 -0.53563004] Pose Error in degrees for R and t: 175.51611112612736 56.852629693878875 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 6.97702797e-03 -9.99975628e-01 -2.54413483e-04] [-9.99975437e-01 -6.97685621e-03 -6.69868238e-04] [ 6.68076905e-04 2.59080923e-04 -9.99999743e-01]] t_estimated: [[8.56665150e-01] [5.15872370e-01] [7.20492136e-04]] R_gt: [[ 0.97997835 0.13715257 -0.1443377 ] [-0.13544173 0.99054788 0.02165771] [ 0.14594415 -0.00167352 0.98929137]] t_gt: [-0.00958581 0.85934309 -0.51130966] Pose Error in degrees for R and t: 174.54918843849893 64.23181357510141 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.98539377e-01 -6.01926663e-01 -4.37680554e-03] [-6.01933390e-01 -7.98546251e-01 -2.81975806e-04] [-3.32535290e-03 2.85971418e-03 -9.99990382e-01]] t_estimated: [[0.53892903] [0.84235046] [0.00109538]] R_gt: [[ 0.98473377 -0.11038275 0.13459174] [ 0.1103513 0.99386297 0.00771665] [-0.13461705 0.00725305 0.99087134]] t_gt: [ 0.47995836 -0.62189351 0.6187798 ] Pose Error in degrees for R and t: 177.61212931190326 74.66210223803905 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.60658438e-01 2.77732300e-01 3.67957115e-04] [-2.77732045e-01 9.60658381e-01 -6.22120692e-04] [-5.26264097e-04 4.95452011e-04 9.99999739e-01]] t_estimated: [[-0.12116116] [-0.99263223] [-0.00111157]] R_gt: [[ 0.92713035 -0.26142964 0.26848629] [ 0.25067749 0.96522203 0.07421612] [-0.2785507 -0.00150502 0.96041983]] t_gt: [ 0.57318932 -0.59169331 0.56688008] Pose Error in degrees for R and t: 35.10028865862597 58.851668576335165 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 7.48885756e-01 6.62698980e-01 4.30940017e-04] [-6.62698355e-01 7.48885722e-01 -1.03224939e-03] [-1.00679544e-03 4.87453624e-04 9.99999374e-01]] t_estimated: [[-9.54369165e-01] [-2.98628049e-01] [-8.86136643e-04]] R_gt: [[ 0.86985166 -0.38408631 0.30957382] [ 0.36498636 0.92325667 0.11992709] [-0.33187819 0.00867175 0.94328252]] t_gt: [ 0.67220366 -0.5816286 0.45809432] Pose Error in degrees for R and t: 66.73235135567599 62.07951442769673 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.03604959 0.99932948 0.00640397] [ 0.99934892 0.03605825 -0.00124314] [-0.00147323 0.00635498 -0.99997872]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 9.89634862e-01 -1.43603677e-01 -4.66494304e-04] [ 1.43605307e-01 9.89624668e-01 4.45355052e-03] [-1.77646657e-04 -4.47337582e-03 9.99989448e-01]] t_gt: [ 0.68492918 -0.72748148 0.04053053] Pose Error in degrees for R and t: 179.84029995086325 43.62513576345864 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999903e-01 4.35001299e-04 6.83701503e-05] [-4.34997802e-04 9.99999904e-01 -5.11503724e-05] [-6.83923942e-05 5.11206266e-05 9.99999996e-01]] t_estimated: [[ 9.99990871e-01] [-4.25608612e-03] [-3.78708674e-04]] R_gt: [[ 0.97677834 -0.21264118 -0.0262307 ] [ 0.21340732 0.97646944 0.03103159] [ 0.01901416 -0.03590793 0.99917426]] t_gt: [ 0.68278921 -0.72594894 0.08244408] Pose Error in degrees for R and t: 12.547826290798088 46.698180956674456 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-1.29609446e-01 -9.91544014e-01 -6.46992012e-03] [-9.91565065e-01 1.29608893e-01 5.06462177e-04] [ 3.36379646e-04 6.48098905e-03 -9.99978942e-01]] t_estimated: [[0.72176082] [0.69214212] [0.00077944]] R_gt: [[ 0.95759176 -0.28642245 -0.03128999] [ 0.28536908 0.95780747 -0.03419316] [ 0.03976359 0.02381485 0.9989256 ]] t_gt: [ 0.70538397 -0.67946749 -0.20188461] Pose Error in degrees for R and t: 177.12680159967005 87.7836429901164 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.71858176e-01 2.35566655e-01 1.89122526e-04] [-2.35566607e-01 9.71858175e-01 -2.45790656e-04] [-2.41700356e-04 1.94322707e-04 9.99999952e-01]] t_estimated: [[0.69522481] [0.71879174] [0.00094669]] R_gt: [[ 0.99188213 -0.12309649 -0.03186499] [ 0.12457573 0.99096994 0.04957833] [ 0.02547471 -0.05314493 0.99826221]] t_gt: [ 0.77290418 -0.61820293 0.14298348] Pose Error in degrees for R and t: 21.01803493253476 84.65696977653135 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99952148e-01 9.78269574e-03 1.16160096e-05] [-9.78268812e-03 9.99952005e-01 -5.35230864e-04] [-1.68514528e-05 5.35091616e-04 9.99999857e-01]] t_estimated: [[-0.50557164] [-0.86278303] [-0.00166336]] R_gt: [[ 0.98220178 -0.18265628 -0.04376339] [ 0.18473969 0.98153782 0.04953963] [ 0.03390644 -0.05674325 0.99781298]] t_gt: [ 0.79077137 -0.60684154 0.08014979] Pose Error in degrees for R and t: 11.78998144816481 82.89733165158805 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-7.66089693e-01 -6.42733528e-01 4.42050710e-04] [-6.42728573e-01 7.66086166e-01 3.45927869e-03] [-2.56204333e-03 2.36599913e-03 -9.99993919e-01]] t_estimated: [[0.99633232] [0.08556074] [0.0011258 ]] R_gt: [[ 0.98861491 -0.14902549 -0.02077318] [ 0.14979329 0.98781245 0.04227649] [ 0.01422001 -0.04490727 0.99888941]] t_gt: [ 0.73625598 -0.66678068 0.11545846] Pose Error in degrees for R and t: 179.9874041586493 47.41872538419568 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999976e-01 1.81462064e-04 -1.24441735e-04] [-1.81448517e-04 9.99999978e-01 1.08864798e-04] [ 1.24461487e-04 -1.08842215e-04 9.99999986e-01]] t_estimated: [[-9.99975612e-01] [-6.96946535e-03] [ 4.49259939e-04]] R_gt: [[ 0.98930958 0.14393284 0.02345579] [-0.14407312 0.98955733 0.00435985] [-0.02258305 -0.00769216 0.99971582]] t_gt: [-0.92047287 0.38017486 0.09053601] Pose Error in degrees for R and t: 8.383148928024198 23.38746606220522 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.82593388e-01 -1.85763221e-01 1.50283146e-03] [ 1.85763250e-01 9.82594525e-01 1.21472347e-04] [-1.49923905e-03 1.59812931e-04 9.99998863e-01]] t_estimated: [[0.98894522] [0.14816724] [0.00581543]] R_gt: [[ 0.97851121 0.20502574 0.02189573] [-0.20466454 0.97867305 -0.01767661] [-0.0250531 0.01281614 0.99960387]] t_gt: [-0.92302083 0.38408967 -0.02253179] Pose Error in degrees for R and t: 22.580258818237606 31.125339573501908 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99725555e-01 2.34267810e-02 1.78879291e-05] [-2.34266223e-02 9.99715329e-01 4.52270352e-03] [ 8.80695481e-05 -4.52188134e-03 9.99989772e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97486247 0.2212049 0.02668299] [-0.22133324 0.9751966 0.00190338] [-0.02560002 -0.007761 0.99964251]] t_gt: [-0.93897852 0.34061612 0.04795825] Pose Error in degrees for R and t: 11.542180526785579 20.30141271820625 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.99999427 -0.00280912 0.00189028] [ 0.00281235 0.99999458 -0.00171051] [-0.00188546 0.00171582 0.99999675]] t_estimated: [[-0.10836222] [-0.99410479] [-0.00364628]] R_gt: [[ 0.98932116 -0.14381757 -0.02366578] [ 0.14478868 0.98837939 0.04628968] [ 0.01673311 -0.04922231 0.99864808]] t_gt: [ 0.67699134 -0.71183021 0.18703068] Pose Error in degrees for R and t: 8.715542880398514 50.6843973734093 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.99998948 -0.00294936 0.00351203] [ 0.00296811 0.99998132 -0.00534379] [-0.00349621 0.00535416 0.99997955]] t_estimated: [[-0.97420165] [-0.22566253] [-0.00275198]] R_gt: [[ 0.97367552 -0.22674749 -0.02327347] [ 0.22749876 0.97305785 0.03746453] [ 0.01415219 -0.04177404 0.99902732]] t_gt: [ 0.68502496 -0.71554498 0.13688021] Pose Error in degrees for R and t: 13.28217860057174 59.58513991725764 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.99106611 0.13328192 0.00488855] [-0.13274911 0.98931507 -0.06027734] [-0.0128702 0.05908987 0.9981697 ]] t_estimated: [[-0.7267948 ] [-0.68564348] [-0.04077176]] R_gt: [[ 0.95028421 -0.30506695 -0.06241066] [ 0.3079478 0.95042219 0.04320387] [ 0.04613678 -0.06027523 0.99711526]] t_gt: [ 0.72865331 -0.68306387 0.04988085] Pose Error in degrees for R and t: 26.571912785409484 86.37207858449077 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[-9.24084779e-01 -3.82182761e-01 -1.91262882e-03] [ 3.82184932e-01 -9.24085397e-01 -9.25338596e-04] [-1.41378390e-03 -1.58606923e-03 9.99997743e-01]] t_estimated: [[9.89556156e-01] [1.44146056e-01] [7.26956775e-04]] R_gt: [[ 0.98824844 -0.10361542 -0.11238121] [ 0.11721707 0.98557474 0.12207917] [ 0.09811017 -0.13381759 0.9861377 ]] t_gt: [ 0.74298974 -0.63664243 0.20652522] Pose Error in degrees for R and t: 151.2391285499708 49.93840902804084 Number of keypoints: Image1: 15 Image2: 15 R_estimated: [[-8.65368890e-01 5.01130303e-01 2.25921082e-03] [ 5.01134790e-01 8.65366057e-01 2.34713827e-03] [-7.78822253e-04 3.16330958e-03 -9.99994693e-01]] t_estimated: [[0.67274232] [0.73987565] [0.0013428 ]] R_gt: [[ 0.96877484 -0.20777609 -0.13529456] [ 0.22898058 0.95903402 0.16679919] [ 0.09509467 -0.19257065 0.97666451]] t_gt: [ 0.77257296 -0.57349959 0.27245045] Pose Error in degrees for R and t: 170.94248124729916 84.50320979223793 Number of keypoints: Image1: 14 Image2: 14 R_estimated: [[-6.62794861e-01 -7.48797071e-01 -2.43270961e-03] [ 7.48800978e-01 -6.62790203e-01 -2.49845991e-03] [ 2.58463368e-04 -3.47758173e-03 9.99993920e-01]] t_estimated: [[9.00826510e-01] [4.34178297e-01] [8.97484099e-04]] R_gt: [[ 0.9382898 -0.28957845 -0.18909656] [ 0.32156259 0.93172986 0.16875334] [ 0.12731951 -0.21914657 0.96734949]] t_gt: [ 0.81725246 -0.54162175 0.19683571] Pose Error in degrees for R and t: 114.00510880168703 59.919323784567304 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.90763412e-01 -1.35601625e-01 -2.44680112e-04] [ 1.35601651e-01 9.90763435e-01 9.29220542e-05] [ 2.29819726e-04 -1.25242799e-04 9.99999966e-01]] t_estimated: [[ 0.17656072] [-0.9842892 ] [-0.00103759]] R_gt: [[ 0.99705604 0.07340552 -0.02215893] [-0.07243622 0.99649744 0.04178559] [ 0.02514761 -0.0400577 0.99888087]] t_gt: [-0.50574135 0.83770251 0.20610724] Pose Error in degrees for R and t: 12.276675174233306 23.928905391798338 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.0206199 0.99978647 -0.0013511 ] [-0.99978566 -0.02062236 -0.00183323] [-0.00186071 0.00131301 0.99999741]] t_estimated: [[-1.96315797e-01] [ 9.80540678e-01] [ 2.95289767e-04]] R_gt: [[ 0.96888839 0.24749409 -0.00161276] [-0.24739913 0.96866215 0.02209576] [ 0.00703027 -0.02101045 0.99975445]] t_gt: [-0.5346525 0.84466708 0.02615786] Pose Error in degrees for R and t: 76.86460985500793 21.060916763076744 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.67128226e-01 -2.54288798e-01 -4.49937677e-04] [ 2.54288879e-01 9.67128300e-01 1.32612316e-04] [ 4.01425634e-04 -2.42667261e-04 9.99999890e-01]] t_estimated: [[0.46480878] [0.88540958] [0.00163525]] R_gt: [[ 0.89226664 0.45124487 -0.01546304] [-0.45034892 0.89190442 0.04113848] [ 0.03235474 -0.02974341 0.99903399]] t_gt: [-0.4735666 0.8805988 -0.01674581] Pose Error in degrees for R and t: 41.61176422412692 55.975640763288474 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99992166e-01 3.89593544e-03 -6.99115542e-04] [-3.89412486e-03 9.99989108e-01 2.57274527e-03] [ 7.09131177e-04 -2.57000268e-03 9.99996446e-01]] t_estimated: [[0.79271626] [0.60957588] [0.00426379]] R_gt: [[ 0.99714739 0.07506544 -0.00789383] [-0.07514647 0.9971171 -0.01050688] [ 0.00708233 0.01107043 0.99991336]] t_gt: [-0.96229715 0.23186064 -0.14221408] Pose Error in degrees for R and t: 4.173782383204946 51.53047308915874 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999182e-01 -1.27022778e-03 -1.49792353e-04] [ 1.27019880e-03 9.99999175e-01 -1.93379747e-04] [ 1.50037866e-04 1.93189322e-04 9.99999970e-01]] t_estimated: [[-0.95901816] [-0.28334294] [-0.00097662]] R_gt: [[ 0.99833679 0.05473056 0.01812295] [-0.05464727 0.99849314 -0.00508329] [-0.0183744 0.00408454 0.9998225 ]] t_gt: [-0.99409962 0.10726682 -0.01611756] Pose Error in degrees for R and t: 3.3862197658611586 22.633996647967034 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99853961e-01 1.70891280e-02 -1.32181359e-04] [-1.70890415e-02 9.99853773e-01 6.29630022e-04] [ 1.42921859e-04 -6.27279219e-04 9.99999793e-01]] t_estimated: [[-0.89599225] [-0.44406869] [ 0.00094438]] R_gt: [[ 0.99584761 0.07248268 0.0550801 ] [-0.07172912 0.99730345 -0.01554929] [-0.05605902 0.0115343 0.99836114]] t_gt: [-0.98631455 0.16381794 0.01863556] Pose Error in degrees for R and t: 4.56590409198567 35.806115994680496 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-2.07569583e-01 9.78220232e-01 -2.13151221e-04] [-9.78218536e-01 -2.07569622e-01 -1.82988731e-03] [-1.83427651e-03 -1.71320472e-04 9.99998303e-01]] t_estimated: [[1.11126831e-01] [9.93805785e-01] [9.43456780e-04]] R_gt: [[ 0.99170377 -0.12817569 0.00972429] [ 0.12808253 0.99171542 0.00975199] [-0.01089432 -0.00842523 0.99990423]] t_gt: [ 0.82637154 -0.55595072 0.08960398] Pose Error in degrees for R and t: 109.3437597171458 62.57478471494784 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.30544111 -0.9521292 0.01247842] [ 0.9521253 -0.30521162 0.01741481] [-0.01277259 0.01720022 0.99977048]] t_estimated: [[8.14934387e-01] [5.79552853e-01] [6.59332029e-04]] R_gt: [[ 9.70576480e-01 -2.40518577e-01 1.14557790e-02] [ 2.40538475e-01 9.70638665e-01 -3.10606992e-04] [-1.10451757e-02 3.05824229e-03 9.99934005e-01]] t_gt: [ 0.82664317 -0.56266403 0.0083825 ] Pose Error in degrees for R and t: 93.8600973379285 69.66112492943338 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 5.84100962e-01 8.11681006e-01 9.88023860e-05] [-8.11681010e-01 5.84100966e-01 -8.28390230e-06] [-6.44344553e-05 -7.53573852e-05 9.99999995e-01]] t_estimated: [[0.87904038] [0.47674553] [0.00130615]] R_gt: [[ 9.38856078e-01 -3.42084946e-01 -3.90744435e-02] [ 3.42369446e-01 9.39564532e-01 6.20105628e-04] [ 3.65005286e-02 -1.39596769e-02 9.99235458e-01]] t_gt: [ 0.86847058 -0.4948151 -0.03027976] Pose Error in degrees for R and t: 74.31017541925092 58.16463497166214 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.11574624 0.99280949 -0.03053069] [ 0.99279434 -0.11467522 0.03477058] [ 0.03101945 -0.03433526 -0.99892887]] t_estimated: [[ 0.58001882] [-0.81424965] [-0.02399326]] R_gt: [[ 0.99842842 -0.01322394 -0.05445201] [ 0.01248157 0.9998247 -0.01395126] [ 0.05462616 0.01325058 0.99841877]] t_gt: [ 0.41390133 -0.15918784 -0.89629511] Pose Error in degrees for R and t: 175.851755339715 66.97117105200748 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.58582274 -0.81005 -0.02511396] [-0.81037532 0.58510615 0.0307022 ] [-0.01017599 0.03833778 -0.99921302]] t_estimated: [[0.90055104] [0.43474878] [0.00115013]] R_gt: [[ 9.98294291e-01 -5.83317857e-02 2.20064490e-03] [ 5.83670878e-02 9.98007798e-01 -2.39407224e-02] [-7.99726378e-04 2.40286818e-02 9.99711273e-01]] t_gt: [ 0.68033009 -0.62936582 -0.37556575] Pose Error in degrees for R and t: 179.03452308074387 70.20693711064443 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.78048399 0.62516894 0.00292356] [-0.62515519 0.7804877 -0.00446514] [-0.00507327 0.00165729 0.99998576]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.95690666 -0.216422 0.19362293] [ 0.21684354 0.97601569 0.01927632] [-0.19315146 0.02354108 0.98088691]] t_gt: [ 0.6058443 -0.65806941 0.44709879] Pose Error in degrees for R and t: 52.405823766478626 74.17262485717345 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999845e-01 -5.48530322e-04 1.00017036e-04] [ 5.48521910e-04 9.99999846e-01 8.41123269e-05] [-1.00063159e-04 -8.40574523e-05 9.99999991e-01]] t_estimated: [[0.32368752] [0.94616352] [0.00099596]] R_gt: [[ 0.99826552 -0.0297663 -0.05081004] [ 0.02925667 0.99951411 -0.01074848] [ 0.05110599 0.00924273 0.99865078]] t_gt: [ 0.78658218 -0.25433817 -0.5626727 ] Pose Error in degrees for R and t: 3.4140138833892637 89.23215984107644 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.88004295e-01 -1.54426375e-01 8.49365610e-05] [ 1.54426371e-01 9.88004298e-01 5.76679974e-05] [-9.28231471e-05 -4.38597843e-05 9.99999995e-01]] t_estimated: [[-0.26857068] [-0.9632594 ] [-0.00105736]] R_gt: [[ 0.99395645 0.0269401 -0.10642272] [-0.02654141 0.99963428 0.0051566 ] [ 0.10652349 -0.00230147 0.99430742]] t_gt: [ 0.51587925 0.35181371 -0.78108624] Pose Error in degrees for R and t: 12.080898392039389 61.53564015297468 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 5.73886999e-01 8.18934482e-01 -1.64002421e-04] [ 8.18929601e-01 -5.73882863e-01 3.57339718e-03] [ 2.83225999e-03 -2.18503262e-03 -9.99993602e-01]] t_estimated: [[0.0119039 ] [0.9999277 ] [0.00170056]] R_gt: [[ 9.78102084e-01 1.35895621e-01 -1.57638875e-01] [-1.37462566e-01 9.90506114e-01 9.69029938e-04] [ 1.56274346e-01 2.07208496e-02 9.87496479e-01]] t_gt: [ 0.04551591 0.79578901 -0.60386103] Pose Error in degrees for R and t: 176.13891121585482 37.32146553344054 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99925321e-01 -1.22205725e-02 1.01710800e-04] [ 1.22205862e-02 9.99925317e-01 -1.35582198e-04] [-1.00046312e-04 1.36815039e-04 9.99999986e-01]] t_estimated: [[-0.71955601] [-0.69443238] [-0.00167587]] R_gt: [[ 0.99984008 0.01047874 0.01447423] [-0.01050073 0.99994324 0.00141166] [-0.0144579 -0.00156353 0.99989426]] t_gt: [0.68853941 0.20964678 0.69423462] Pose Error in degrees for R and t: 1.5434711678804978 50.04456110094592 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.97439122e-01 7.15198423e-02 3.32293345e-04] [-7.15196162e-02 9.97438982e-01 -6.48637900e-04] [-3.77832816e-04 6.23211325e-04 9.99999734e-01]] t_estimated: [[0.88408775] [0.46731957] [0.00112336]] R_gt: [[ 0.99813304 -0.06064302 0.00735016] [ 0.06074715 0.99803948 -0.01501158] [-0.00642527 0.01543038 0.99986058]] t_gt: [ 0.78179972 -0.6234953 -0.00654329] Pose Error in degrees for R and t: 7.6362828304272234 66.43428336504037 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.99996688 0.00802996 0.0013265 ] [-0.0080282 0.99996689 -0.00132564] [-0.0013371 0.00131495 0.99999824]] t_estimated: [[-9.00025718e-01] [-4.35836036e-01] [-8.10104157e-04]] R_gt: [[ 0.98753523 -0.15574701 0.02274682] [ 0.15566438 0.98779482 0.00533655] [-0.02329921 -0.00172864 0.99972716]] t_gt: [ 0.71889447 -0.6850063 0.11814019] Pose Error in degrees for R and t: 9.505124156244888 69.60019914387962 Number of keypoints: Image1: 491 Image2: 491 R_estimated: [[-1.65015227e-01 9.86267708e-01 6.78108791e-03] [-9.86290969e-01 -1.65013513e-01 -8.15267513e-04] [ 3.14899117e-04 -6.82265732e-03 9.99976676e-01]] t_estimated: [[0.91074453] [0.41296918] [0.00092181]] R_gt: [[ 0.99903045 -0.04317145 0.00871538] [ 0.04303858 0.99896265 0.01488978] [-0.00934891 -0.01449998 0.99985111]] t_gt: [ 0.30879464 -0.86029677 0.40562956] Pose Error in degrees for R and t: 101.96868206209973 85.77524335969994 Number of keypoints: Image1: 484 Image2: 484 R_estimated: [[ 0.62079436 0.78379646 -0.01665755] [ 0.78375499 -0.61997972 0.03678667] [ 0.01850592 -0.0358924 -0.9991843 ]] t_estimated: [[ 0.393263 ] [-0.91918293] [-0.02114109]] R_gt: [[ 0.99768326 -0.00694919 0.06768657] [ 0.00709335 0.99997318 -0.00189167] [-0.06767079 0.00236754 0.99770369]] t_gt: [-5.73931121e-01 5.38139131e-04 8.18903400e-01] Pose Error in degrees for R and t: 179.48270229510044 75.90602448386389 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.91294534e-01 1.31662735e-01 -2.68380928e-04] [-1.31662663e-01 9.91294543e-01 2.69208124e-04] [ 3.01489227e-04 -2.31528794e-04 9.99999928e-01]] t_estimated: [[-0.3139613 ] [ 0.94943327] [-0.00218318]] R_gt: [[ 0.99854222 -0.0116607 0.05270439] [ 0.01250534 0.99979777 -0.01572605] [-0.05251024 0.01636211 0.99848538]] t_gt: [-0.84192911 -0.20961216 0.49721034] Pose Error in degrees for R and t: 8.846262009316288 86.31707571030209 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 5.82734937e-01 -8.12662142e-01 -4.86600918e-04] [ 8.12662154e-01 5.82735080e-01 -2.23307520e-04] [ 4.65032992e-04 -2.65313057e-04 9.99999857e-01]] t_estimated: [[-0.16387091] [-0.98648119] [-0.00108524]] R_gt: [[ 0.99861069 -0.05163629 0.01055911] [ 0.05031368 0.99363401 0.10079343] [-0.0156966 -0.10012175 0.99485042]] t_gt: [ 0.27500938 -0.5736179 0.77157783] Pose Error in degrees for R and t: 51.73337773477048 58.67043938708799 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.58893300e-01 5.12154551e-01 -1.23424935e-04] [-5.12154501e-01 8.58893043e-01 -7.13045998e-04] [-2.59180935e-04 6.75643066e-04 9.99999738e-01]] t_estimated: [[0.77047541] [0.63746925] [0.00077357]] R_gt: [[ 0.99706166 -0.07021496 0.03063135] [ 0.06514526 0.98754588 0.14320963] [-0.04030463 -0.14079264 0.98921817]] t_gt: [ 0.23380885 -0.49109001 0.83914482] Pose Error in degrees for R and t: 35.69505152469692 82.39969425764528 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 7.99420474e-01 -6.00770943e-01 -1.08635965e-03] [ 6.00771147e-01 7.99421042e-01 -1.64105190e-04] [ 9.67048396e-04 -5.21464486e-04 9.99999396e-01]] t_estimated: [[-0.12322786] [-0.99237754] [-0.00131093]] R_gt: [[ 0.99873783 -0.04717735 0.017245 ] [ 0.04657654 0.99834614 0.03369589] [-0.01880611 -0.03285029 0.99928327]] t_gt: [ 0.38754936 -0.72075822 0.5747287 ] Pose Error in degrees for R and t: 34.30529890968098 48.18297434405168 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-9.46612684e-01 -3.22368578e-01 -1.71085234e-03] [ 3.22369935e-01 -9.46613590e-01 -5.80332137e-04] [-1.43243523e-03 -1.10087712e-03 9.99998368e-01]] t_estimated: [[0.83759265] [0.54629457] [0.0008854 ]] R_gt: [[ 0.99843306 -0.00354389 -0.05585582] [-0.00221843 0.99470107 -0.10277464] [ 0.055924 0.10273816 0.9931349 ]] t_gt: [ 0.08321233 0.23052719 -0.96950138] Pose Error in degrees for R and t: 161.19163417881703 78.76839703492016 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.08389375 0.99647139 -0.00256933] [-0.99640579 0.08385735 -0.01197677] [-0.01171905 0.00356487 0.99992497]] t_estimated: [[0.648646 ] [0.76107797] [0.00432431]] R_gt: [[ 0.98787961 -0.15138137 -0.03433589] [ 0.1417767 0.9699957 -0.19750025] [ 0.06320284 0.19023894 0.97970151]] t_gt: [ 0.41753307 -0.30556547 -0.85574288] Pose Error in degrees for R and t: 94.18278260465898 88.01880358731108 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 8.95368090e-01 4.45326821e-01 6.82197618e-05] [-4.45326792e-01 8.95368070e-01 -2.58756803e-04] [-1.76313141e-04 2.01302497e-04 9.99999964e-01]] t_estimated: [[0.52918959] [0.84850229] [0.00149912]] R_gt: [[ 0.98396898 -0.16836015 -0.05883725] [ 0.15115078 0.96234582 -0.22592748] [ 0.09465832 0.21341259 0.97236604]] t_gt: [ 0.39652518 -0.20487545 -0.89487085] Pose Error in degrees for R and t: 38.14835026637546 88.01383431008631 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.77821311 -0.62788577 -0.01199267] [-0.62784209 0.7783038 -0.00758272] [ 0.01409502 0.00162854 -0.99989933]] t_estimated: [[ 0.93704294] [ 0.34917273] [-0.00537855]] R_gt: [[ 0.99989199 -0.01434053 0.00313873] [ 0.0142955 0.9998002 0.01397743] [-0.00333798 -0.01393127 0.9998977 ]] t_gt: [ 0.63477328 -0.709444 0.30618965] Pose Error in degrees for R and t: 179.64802624769038 69.79107011436902 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-1.66995648e-01 -9.85954966e-01 -2.29334032e-03] [ 9.85957596e-01 -1.66994551e-01 -6.63025724e-04] [ 2.70738168e-04 -2.37185872e-03 9.99997150e-01]] t_estimated: [[9.96995053e-01] [7.74607685e-02] [8.32911490e-04]] R_gt: [[ 0.99614479 0.06833857 -0.05501488] [-0.06621627 0.99702266 0.03951572] [ 0.05755099 -0.03572025 0.99770314]] t_gt: [ 0.14833073 0.77322719 -0.61653687] Pose Error in degrees for R and t: 103.5213043455866 78.03780401403615 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.17737232 0.98411493 -0.00754075] [-0.98409567 0.17728264 -0.0112509 ] [-0.00973533 0.00941642 0.99990827]] t_estimated: [[0.01013461] [0.99994801] [0.00112607]] R_gt: [[ 0.9898737 0.07893755 -0.11798223] [-0.07675819 0.99678631 0.02290288] [ 0.11941109 -0.01361551 0.99275129]] t_gt: [ 0.32789018 0.35232905 -0.87655706] Pose Error in degrees for R and t: 75.59609967153389 69.22820659006351 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.45439067e-01 -3.25798792e-01 -3.43567647e-04] [ 3.25798870e-01 9.45439081e-01 2.00985315e-04] [ 2.59341508e-04 -3.01953320e-04 9.99999921e-01]] t_estimated: [[ 4.46549271e-01] [-8.94758945e-01] [-4.23389070e-04]] R_gt: [[ 9.99954204e-01 9.61455485e-03 4.13967155e-04] [-9.61274952e-03 9.99950411e-01 -2.81167247e-03] [-4.41046752e-04 2.80752723e-03 9.99995437e-01]] t_gt: [-0.53444954 0.81009663 -0.24105422] Pose Error in degrees for R and t: 19.565595646332234 15.549930688106874 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.15798231 0.98732847 0.01496946] [ 0.98737129 -0.1577715 -0.01435579] [-0.01181213 0.01704838 -0.99978489]] t_estimated: [[-9.05344770e-01] [-4.24676472e-01] [-8.61412721e-04]] R_gt: [[ 0.99926934 -0.0354527 0.01434318] [ 0.03614171 0.99804428 -0.05100733] [-0.01250627 0.05148865 0.99859536]] t_gt: [-0.13237598 0.79761205 -0.58846548] Pose Error in degrees for R and t: 176.08057382763667 77.38643674339626 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-1.35960393e-02 9.99907272e-01 -7.70911457e-04] [-9.99905979e-01 -1.35973889e-02 -1.77336035e-03] [-1.78367829e-03 7.46728298e-04 9.99998130e-01]] t_estimated: [[6.78945274e-02] [9.97692350e-01] [5.55275222e-04]] R_gt: [[ 0.99503743 -0.07864287 0.06097329] [ 0.0813727 0.99572722 -0.04365838] [-0.05728019 0.04840412 0.99718392]] t_gt: [0.304967 0.94678796 0.10289649] Pose Error in degrees for R and t: 95.44319568469467 15.123472134926287 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[-1.73130119e-02 -9.99849584e-01 -1.03420617e-03] [ 9.99845410e-01 -1.73160957e-02 3.05118628e-03] [-3.06863575e-03 -9.81221066e-04 9.99994810e-01]] t_estimated: [[0.9999861 ] [0.00500117] [0.00166845]] R_gt: [[ 0.99824815 0.05711472 -0.01547856] [-0.05746427 0.99807995 -0.0231376 ] [ 0.01412656 0.02398689 0.99961213]] t_gt: [-0.64942699 0.62554159 -0.43236825] Pose Error in degrees for R and t: 94.29092528532107 49.68338518743639 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99961760e-01 8.74521680e-03 2.39242362e-05] [-8.74521684e-03 9.99961760e-01 1.50040810e-06] [-2.39101999e-05 -1.70957336e-06 1.00000000e+00]] t_estimated: [[-0.56942855] [-0.82203967] [-0.00138128]] R_gt: [[ 0.99973201 0.01819618 -0.01438754] [-0.01837915 0.99975141 -0.01268689] [ 0.01415353 0.01294776 0.99981552]] t_gt: [-0.79763974 0.18870046 -0.57285511] Pose Error in degrees for R and t: 1.2267268677380794 72.55015363218716 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.89827523e-01 1.42271900e-01 -4.25934353e-04] [-1.42271645e-01 9.89827482e-01 5.78888467e-04] [ 5.03961091e-04 -5.12401356e-04 9.99999742e-01]] t_estimated: [[-0.99998889] [-0.00441593] [-0.00164698]] R_gt: [[ 0.99820936 0.03930371 0.04511064] [-0.0383039 0.99900607 -0.02281855] [-0.0459623 0.02104974 0.99872129]] t_gt: [-0.88717523 0.36853955 0.27766655] Pose Error in degrees for R and t: 6.637467786212083 27.738556204894703 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.53256295e-01 -3.02157004e-01 -1.89238619e-03] [ 3.02158111e-01 9.53257768e-01 3.22670716e-04] [ 1.70643462e-03 -8.79387729e-04 9.99998157e-01]] t_estimated: [[0.70672363] [0.70748931] [0.00076568]] R_gt: [[ 0.97947687 0.20105907 -0.01417717] [-0.20124221 0.97945589 -0.01300974] [ 0.01126954 0.01559533 0.99981495]] t_gt: [-0.58906048 0.80064554 -0.1094279 ] Pose Error in degrees for R and t: 29.211439463840982 81.36951421152044 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 5.12220920e-01 8.58851901e-01 1.77247007e-03] [ 8.58853385e-01 -5.12221472e-01 -1.61648643e-04] [ 7.69064986e-04 1.60509174e-03 -9.99998416e-01]] t_estimated: [[0.69134007] [0.72252835] [0.00129951]] R_gt: [[ 0.8928752 0.44464054 -0.07120102] [-0.444607 0.89556063 0.0171802 ] [ 0.07140312 0.01631606 0.99731379]] t_gt: [-0.44429692 0.88423206 -0.14399277] Pose Error in degrees for R and t: 177.9403993520873 70.63800872301232 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-9.25073814e-01 -3.79771813e-01 -3.43656007e-03] [-3.79771675e-01 9.25079975e-01 -7.18039121e-04] [ 3.45178392e-03 6.40868985e-04 -9.99993837e-01]] t_estimated: [[ 9.32629468e-01] [ 3.60835040e-01] [-5.90929733e-04]] R_gt: [[ 0.80232056 0.59412101 -0.05746606] [-0.59130655 0.80426051 0.05933492] [ 0.08146913 -0.01362635 0.99658242]] t_gt: [-0.38881856 0.91855649 -0.07123278] Pose Error in degrees for R and t: 176.12100920703733 88.21585404236917 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-9.99907018e-01 -1.35979297e-02 -1.02556291e-03] [ 1.36016071e-02 -9.99900765e-01 -3.66831969e-03] [-9.75579584e-04 -3.68192791e-03 9.99992746e-01]] t_estimated: [[0.88916943] [0.45757583] [0.00144346]] R_gt: [[ 0.99342518 -0.11428897 -0.00662565] [ 0.11415299 0.99329607 -0.01826491] [ 0.00866974 0.01738872 0.99981097]] t_gt: [ 0.74101235 -0.653183 -0.15573265] Pose Error in degrees for R and t: 172.66168969801203 68.91331522936557 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.95727919e-01 9.23355176e-02 2.50422845e-04] [-9.23354753e-02 9.95727939e-01 -1.75815357e-04] [-2.65587025e-04 1.51941347e-04 9.99999953e-01]] t_estimated: [[0.18869936] [0.982034 ] [0.00132887]] R_gt: [[ 9.71181185e-01 -2.36364388e-01 -3.06483746e-02] [ 2.36219107e-01 9.71664981e-01 -8.32173268e-03] [ 3.17478079e-02 8.41659706e-04 9.99494659e-01]] t_gt: [ 0.83268575 -0.5478374 -0.08067606] Pose Error in degrees for R and t: 19.056858364998295 67.60591703808173 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.97448834 -0.22443211 -0.00164247] [ 0.22443397 -0.97448873 -0.00105015] [-0.00136488 -0.00139199 0.9999981 ]] t_estimated: [[0.67201384] [0.74053761] [0.00120217]] R_gt: [[ 0.89195278 -0.45169078 -0.01989184] [ 0.45182597 0.89210316 0.00262486] [ 0.01656075 -0.01132974 0.99979814]] t_gt: [ 0.90926677 -0.41608634 -0.01029994] Pose Error in degrees for R and t: 140.17211233274642 72.36813936826842 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.94566408e-01 -1.04104023e-01 -1.12508880e-04] [ 1.04104050e-01 9.94566375e-01 2.67952009e-04] [ 8.40026666e-05 -2.78208697e-04 9.99999958e-01]] t_estimated: [[-0.95996471] [-0.28011925] [-0.00097737]] R_gt: [[ 0.99484427 0.01204623 -0.10070427] [-0.01258454 0.99991001 -0.00471543] [ 0.10063783 0.00595856 0.99490506]] t_gt: [ 0.1872819 0.12680461 -0.97408731] Pose Error in degrees for R and t: 8.834291317343258 77.62246381900025 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.26153165e-01 3.77147598e-01 -6.76777843e-05] [-3.77147601e-01 9.26153119e-01 -2.96255860e-04] [-4.90521950e-05 2.99902816e-04 9.99999954e-01]] t_estimated: [[-5.12902924e-01] [ 8.58446514e-01] [-4.16336336e-04]] R_gt: [[ 0.98882343 0.00937679 -0.14880205] [-0.01189517 0.99980083 -0.01604482] [ 0.14862192 0.01763596 0.98873669]] t_gt: [ 0.25559547 0.08631094 -0.96292335] Pose Error in degrees for R and t: 23.18020713240179 86.75524222729265 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99968132e-01 7.97077603e-03 -4.48102465e-04] [-7.97050683e-03 9.99968055e-01 5.99376987e-04] [ 4.52865650e-04 -5.95786282e-04 9.99999720e-01]] t_estimated: [[-0.9985682 ] [-0.05347146] [-0.00153648]] R_gt: [[ 0.99372854 -0.02765057 -0.10835353] [ 0.02450788 0.99924347 -0.03022747] [ 0.10910763 0.02738326 0.99365249]] t_gt: [ 0.42653858 -0.1323859 -0.89472834] Pose Error in degrees for R and t: 6.7325477694608855 65.32477028779921 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.01748411 -0.99984592 -0.00156395] [ 0.99984631 0.01748609 -0.00126299] [ 0.00129015 -0.00154162 0.99999798]] t_estimated: [[8.63014187e-01] [5.05179036e-01] [8.09581788e-04]] R_gt: [[ 0.99619957 -0.07966528 -0.03521052] [ 0.08031112 0.99661823 0.01735109] [ 0.03370961 -0.0201134 0.99922931]] t_gt: [ 0.51987184 -0.8530319 -0.04549571] Pose Error in degrees for R and t: 84.42977646043227 88.98660785485471 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99546193e-01 -3.01225218e-02 2.02277374e-04] [ 3.01224601e-02 9.99546170e-01 3.01175146e-04] [-2.11257729e-04 -2.94945379e-04 9.99999934e-01]] t_estimated: [[0.84680643] [0.53189975] [0.00123301]] R_gt: [[ 0.98074499 -0.18610797 -0.05917831] [ 0.18855183 0.98129744 0.03876953] [ 0.05085538 -0.04918159 0.99749431]] t_gt: [ 0.62465095 -0.77557695 0.09105814] Pose Error in degrees for R and t: 9.947082488877676 83.30745369029471 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.14616212 0.98925923 0.00167475] [ 0.98925866 -0.14616502 0.00176004] [ 0.00198593 0.00139951 -0.99999705]] t_estimated: [[-0.01830356] [-0.99983182] [-0.00114397]] R_gt: [[ 0.98102016 -0.14593037 -0.12767794] [ 0.15811402 0.98320793 0.09111315] [ 0.11223764 -0.10957242 0.98762204]] t_gt: [ 0.55825339 -0.8038953 0.20519622] Pose Error in degrees for R and t: 171.0913421471469 37.50432885768291 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 3.72630893e-01 9.27978155e-01 1.66144752e-03] [-9.27979269e-01 3.72631752e-01 -2.29880852e-04] [-8.32432511e-04 -1.45612815e-03 9.99998593e-01]] t_estimated: [[0.17500251] [0.98456696] [0.00142278]] R_gt: [[ 0.96801823 0.24666341 -0.04581033] [-0.24534985 0.96889117 0.03246832] [ 0.05239437 -0.02019044 0.99842281]] t_gt: [-0.51077272 0.85493453 -0.09054378] Pose Error in degrees for R and t: 53.96160331496578 41.21651995794332 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 5.26147373e-01 -8.50393356e-01 -2.87550833e-04] [ 8.50393323e-01 5.26147440e-01 -2.58662765e-04] [ 3.71259232e-04 -1.08436574e-04 9.99999925e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.93440614 0.35373685 -0.04190595] [-0.35001055 0.9336212 0.07645607] [ 0.0661702 -0.05677386 0.99619227]] t_gt: [-0.48306704 0.87557388 0.00407552] Pose Error in degrees for R and t: 79.02939139683401 29.243927940817837 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 5.12886070e-01 8.58454766e-01 1.81514468e-03] [-8.58456329e-01 5.12886634e-01 1.74880013e-04] [-7.80836866e-04 -1.64791596e-03 9.99998337e-01]] t_estimated: [[-0.20035921] [ 0.97972113] [ 0.00164442]] R_gt: [[ 0.89174258 0.45014406 -0.04653742] [-0.4458834 0.89153855 0.0796688 ] [ 0.07735242 -0.05029462 0.99573423]] t_gt: [-0.42470592 0.90480625 -0.03083072] Pose Error in degrees for R and t: 32.88601661851772 13.711675292313894 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99194888e-01 -4.01194232e-02 8.35956044e-05] [ 4.01194349e-02 9.99194881e-01 -1.43518429e-04] [-7.77704235e-05 1.46756689e-04 9.99999986e-01]] t_estimated: [[-0.95327575] [-0.30209829] [-0.00140354]] R_gt: [[ 0.98947065 -0.1438543 -0.01592061] [ 0.14410708 0.98943141 0.01607023] [ 0.01344012 -0.01819569 0.99974435]] t_gt: [ 0.79788271 -0.60129299 0.04277754] Pose Error in degrees for R and t: 6.120788602661888 54.61886920634303 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.70380226e-01 -2.41582701e-01 -1.28475820e-04] [ 2.41582709e-01 9.70380230e-01 5.85493575e-05] [ 1.10525884e-04 -8.78526754e-05 9.99999990e-01]] t_estimated: [[-0.27053363] [-0.96270975] [-0.00121862]] R_gt: [[ 0.97169692 -0.23128952 -0.04806614] [ 0.23125638 0.97287182 -0.00634298] [ 0.04822805 -0.00495134 0.99882404]] t_gt: [ 0.81877015 -0.56679074 -0.09145327] Pose Error in degrees for R and t: 2.8364369650655865 71.07915672580677 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-4.47430678e-01 -8.94316864e-01 -1.77080600e-03] [ 8.94318598e-01 -4.47429393e-01 -1.08770712e-03] [ 1.80444171e-04 -2.07033828e-03 9.99997841e-01]] t_estimated: [[0.86032597] [0.50974314] [0.00107541]] R_gt: [[ 9.17063898e-01 -3.97653204e-01 -2.94351604e-02] [ 3.97802575e-01 9.17470256e-01 -8.38211952e-04] [ 2.73382862e-02 -1.09415069e-02 9.99566526e-01]] t_gt: [ 0.88918268 -0.45683819 -0.02555449] Pose Error in degrees for R and t: 93.14684756262896 57.85326823509119 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 1.00000000e+00 -2.74752211e-05 2.44694905e-06] [ 2.74752293e-05 1.00000000e+00 -3.36372475e-06] [-2.44685663e-06 3.36379198e-06 1.00000000e+00]] t_estimated: [[-0.1655054 ] [-0.98620741] [-0.00170624]] R_gt: [[ 0.99996999 0.00697755 0.00361293] [-0.00682352 0.99913805 -0.04094361] [-0.00389505 0.04091706 0.99915426]] t_gt: [-0.15773784 0.52231612 -0.83803618] Pose Error in degrees for R and t: 2.388651440308336 60.818638319220206 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.21326108 -0.97699119 -0.00281467] [-0.9769803 0.213241 0.00614514] [-0.00540355 0.0040604 -0.99997716]] t_estimated: [[9.33820612e-01] [3.57740630e-01] [8.39766738e-04]] R_gt: [[ 0.99873969 0.03082364 -0.03961268] [-0.03644087 0.98802048 -0.14996098] [ 0.03451634 0.15121645 0.98789697]] t_gt: [-0.07049287 0.48383343 -0.87231644] Pose Error in degrees for R and t: 172.99598042384892 83.88487018307472 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.85806696e-01 1.67881499e-01 9.79826365e-04] [-1.67879524e-01 9.85805812e-01 -1.83492078e-03] [-1.27396777e-03 1.64438440e-03 9.99997837e-01]] t_estimated: [[9.65790000e-01] [2.59323672e-01] [9.53395854e-04]] R_gt: [[ 0.99347472 -0.10106718 -0.05285793] [ 0.08573699 0.96740321 -0.23828672] [ 0.07521851 0.23219981 0.96975542]] t_gt: [ 0.27872358 -0.02739836 -0.95998047] Pose Error in degrees for R and t: 20.600762172922437 74.86061210073862 Number of keypoints: Image1: 507 Image2: 507 R_estimated: [[ 9.62742837e-01 -2.70418509e-01 -2.42876308e-04] [ 2.70418574e-01 9.62742806e-01 2.91811357e-04] [ 1.54916226e-04 -3.46617559e-04 9.99999928e-01]] t_estimated: [[ 5.89554622e-01] [-8.07728511e-01] [ 7.07943267e-07]] R_gt: [[ 0.99966046 -0.02597692 -0.00219588] [ 0.02592522 0.99944764 -0.02079582] [ 0.00273548 0.02073207 0.99978141]] t_gt: [ 0.07554485 0.7532942 -0.65333057] Pose Error in degrees for R and t: 14.253550031047805 55.67268303864009 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[ 9.90746782e-01 -1.35717339e-01 1.27227700e-03] [ 1.35718292e-01 9.90747224e-01 -6.94636126e-04] [-1.16623074e-03 8.60879768e-04 9.99998949e-01]] t_estimated: [[-0.72676253] [-0.68688839] [-0.00075234]] R_gt: [[ 0.99733414 -0.06743102 0.02787992] [ 0.06872325 0.99646428 -0.04833322] [-0.02452206 0.05012032 0.99844166]] t_gt: [ 0.53523016 0.73803143 -0.41089936] Pose Error in degrees for R and t: 4.993299296390597 26.411652994284253 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[-0.99410216 -0.10810147 -0.00865831] [ 0.10802429 -0.99410809 0.00893616] [-0.00957331 0.00794815 0.99992259]] t_estimated: [[0.74405666] [0.66811603] [0.00080788]] R_gt: [[ 0.98639682 -0.14960597 0.06811041] [ 0.15220657 0.98773934 -0.03470962] [-0.06208276 0.04460444 0.9970734 ]] t_gt: [0.98313062 0.05226292 0.17527914] Pose Error in degrees for R and t: 165.10968498582181 39.953649673503065 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.38337847e-01 5.45151035e-01 5.97971135e-05] [-5.45150924e-01 8.38337737e-01 -5.56547782e-04] [-3.53532777e-04 4.33976618e-04 9.99999843e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99946633 -0.02754212 -0.01759458] [ 0.02567314 0.99477785 -0.09878019] [ 0.02022386 0.09827623 0.99495431]] t_gt: [ 0.33674096 0.16021879 -0.92786608] Pose Error in degrees for R and t: 35.0210020400358 70.3352017199631 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-9.99981181e-01 -6.13462909e-03 5.53684969e-05] [-6.13451570e-03 9.99979459e-01 1.85714965e-03] [-6.67602839e-05 1.85677504e-03 -9.99998274e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9973313 -0.06951622 -0.0223271 ] [ 0.06602297 0.9892131 -0.13076072] [ 0.03117637 0.12893776 0.99116336]] t_gt: [ 0.46436336 0.03812102 -0.88482397] Pose Error in degrees for R and t: 178.4484148871199 62.367846323094554 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-6.20722031e-01 7.84003246e-01 6.56276384e-03] [ 7.84022185e-01 6.20732576e-01 5.31526850e-04] [-3.65700253e-03 5.47528287e-03 -9.99978324e-01]] t_estimated: [[9.99461205e-01] [3.28082853e-02] [9.56717058e-04]] R_gt: [[ 0.98476876 -0.16694147 -0.04859084] [ 0.15522888 0.97005199 -0.18682549] [ 0.07832472 0.17643644 0.98119143]] t_gt: [ 0.56414507 -0.09868694 -0.81975681] Pose Error in degrees for R and t: 178.3929083487754 55.956712812352784 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.98865885 -0.15016887 -0.00173119] [ 0.15017321 -0.98865592 -0.00273367] [-0.00130104 -0.00296265 0.99999476]] t_estimated: [[0.82566453] [0.56415984] [0.00132743]] R_gt: [[ 0.99494428 0.05387375 -0.08476318] [-0.0488784 0.99700519 0.05994263] [ 0.08773963 -0.05549556 0.99459628]] t_gt: [ 0.55638656 0.7571285 -0.34233087] Pose Error in degrees for R and t: 174.3146070671427 27.615808052232648 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99996523 -0.00826965 -0.0010726 ] [ 0.00827467 0.9999544 0.00476663] [ 0.00103313 -0.00477534 0.99998806]] t_estimated: [[0.33373431] [0.94266588] [0.00156411]] R_gt: [[ 0.98321884 0.11384412 -0.14255385] [-0.10213182 0.99096207 0.08696721] [ 0.15116749 -0.07094805 0.98595822]] t_gt: [ 0.24943089 0.89974248 -0.35811689] Pose Error in degrees for R and t: 11.575275962128442 21.433856727459197 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99983813e-01 5.66921601e-03 -4.83539750e-04] [-5.66870597e-03 9.99983382e-01 1.04972081e-03] [ 4.89482809e-04 -1.04696277e-03 9.99999332e-01]] t_estimated: [[0.72536276] [0.6883659 ] [0.00112112]] R_gt: [[ 0.97690038 0.15887169 -0.1429217 ] [-0.13742591 0.97921732 0.14915905] [ 0.16364926 -0.12607141 0.978429 ]] t_gt: [ 0.16822204 0.98573896 -0.00447651] Pose Error in degrees for R and t: 14.461487103493138 36.815807606409884 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.77497917e-01 2.10944310e-01 5.65686379e-04] [-2.10944750e-01 9.77497587e-01 8.82686345e-04] [-3.66759409e-04 -9.82152636e-04 9.99999450e-01]] t_estimated: [[-9.99995772e-01] [-2.80284105e-03] [-7.75225089e-04]] R_gt: [[ 0.98835583 0.14641191 0.04143993] [-0.14604678 0.98920828 -0.0117395 ] [-0.04271207 0.0055517 0.9990715 ]] t_gt: [-0.85827819 0.51125895 0.04441672] Pose Error in degrees for R and t: 4.49393189887384 31.040042395224773 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-7.62706667e-01 -6.46736526e-01 -3.22592368e-03] [ 6.46739723e-01 -7.62710775e-01 6.77590092e-05] [-2.50426898e-03 -2.03465274e-03 9.99994794e-01]] t_estimated: [[ 0.98791106] [-0.15500825] [ 0.00204286]] R_gt: [[ 0.96720765 0.25044278 0.04226823] [-0.25150176 0.96760941 0.0218602 ] [-0.03542512 -0.03177408 0.99886653]] t_gt: [-0.83040637 0.54341815 0.12297145] Pose Error in degrees for R and t: 154.2534431999766 25.264022313981265 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.96320681 0.26874312 -0.00312865] [-0.2687514 -0.96320601 0.00261917] [-0.00230965 0.00336363 0.99999168]] t_estimated: [[0.87956444] [0.47577863] [0.00104337]] R_gt: [[ 0.91954343 0.38982529 0.04976259] [-0.38951967 0.92087723 -0.01609067] [-0.05209815 -0.0045866 0.99863127]] t_gt: [-0.78701383 0.61440919 0.05577257] Pose Error in degrees for R and t: 141.47753970056095 66.4312971032727 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[-0.62041673 0.78413458 0.0146984 ] [-0.78424208 -0.62044843 -0.00284621] [ 0.00688779 -0.01329294 0.99988792]] t_estimated: [[0.62892466] [0.77746465] [0.00158021]] R_gt: [[ 0.9880416 -0.152851 -0.0202475 ] [ 0.15297857 0.98821695 0.00493639] [ 0.01925443 -0.00797535 0.99978228]] t_gt: [ 0.68631059 -0.72620706 0.04001341] Pose Error in degrees for R and t: 137.15390298835445 82.36282821478117 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.69046401 -0.72332638 0.0076419 ] [ 0.72332721 0.6902773 -0.01774799] [ 0.00756256 0.01778194 0.99981329]] t_estimated: [[-0.09792582] [-0.99501688] [-0.01876026]] R_gt: [[ 0.97736555 -0.20952191 -0.02927447] [ 0.21153382 0.96986479 0.1208928 ] [ 0.00306342 -0.12434972 0.99223374]] t_gt: [ 0.50198763 -0.75199032 0.42722241] Pose Error in degrees for R and t: 35.09681183376109 46.2850758563272 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.00813899 -0.99990127 0.0114546 ] [-0.99978676 -0.00791958 0.0190712 ] [-0.0189786 -0.01160737 -0.99975251]] t_estimated: [[0.65019999] [0.75967686] [0.01144759]] R_gt: [[ 0.95787665 -0.26959123 -0.09896234] [ 0.28208542 0.94787903 0.14816633] [ 0.05386074 -0.16984107 0.98399754]] t_gt: [ 0.56530726 -0.74071054 0.36300909] Pose Error in degrees for R and t: 175.30322073906203 78.98988388128649 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99969440e-01 -7.81780772e-03 -5.17433023e-06] [ 7.81780775e-03 9.99969440e-01 4.55335443e-06] [ 5.13857486e-06 -4.59366720e-06 1.00000000e+00]] t_estimated: [[ 5.81912822e-01] [-8.13251146e-01] [-2.04845543e-04]] R_gt: [[ 0.99774101 -0.05414688 0.03976776] [ 0.05378934 0.9985016 0.01002438] [-0.04025077 -0.00786298 0.99915774]] t_gt: [ 0.60283841 -0.63333166 0.48525957] Pose Error in degrees for R and t: 3.5404756173023104 30.030662440901573 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.67148747 -0.740995 0.00556634] [ 0.74099219 0.67150713 0.00295661] [-0.00592867 0.00213928 0.99998014]] t_estimated: [[0.9971757 ] [0.07505624] [0.00268058]] R_gt: [[ 0.99355148 -0.09977007 0.05386507] [ 0.09932403 0.99499488 0.01090678] [-0.05468416 -0.00548569 0.99848829]] t_gt: [ 0.69090436 -0.62736063 0.35926287] Pose Error in degrees for R and t: 42.18571909224612 49.99692309059827 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999766e-01 -6.75563968e-04 -1.04248563e-04] [ 6.75597457e-04 9.99999720e-01 3.21542359e-04] [ 1.04031311e-04 -3.21612713e-04 9.99999943e-01]] t_estimated: [[0.33548318] [0.94204451] [0.001782 ]] R_gt: [[ 0.9894625 -0.13323053 0.05669334] [ 0.13362768 0.99102618 -0.00324807] [-0.05575134 0.01079035 0.9983864 ]] t_gt: [ 0.75101734 -0.61764428 0.23342773] Pose Error in degrees for R and t: 8.30258073264235 70.76285907749426 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999780e-01 6.62955613e-04 2.60628856e-05] [-6.62957034e-04 9.99999779e-01 5.45284140e-05] [-2.60267299e-05 -5.45456806e-05 9.99999998e-01]] t_estimated: [[9.99989661e-01] [4.47104003e-03] [8.29337142e-04]] R_gt: [[ 0.99700781 -0.07264497 0.0264074 ] [ 0.07270225 0.99735258 -0.00124819] [-0.02624628 0.00316462 0.99965049]] t_gt: [ 0.65495851 -0.74176283 0.14428186] Pose Error in degrees for R and t: 4.47049123923442 49.32595139778494 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999969e-01 2.49036403e-04 2.73642003e-05] [-2.49038145e-04 9.99999967e-01 6.36771258e-05] [-2.73483415e-05 -6.36839385e-05 9.99999998e-01]] t_estimated: [[0.99997134] [0.00746562] [0.00125807]] R_gt: [[ 0.99290429 -0.11097741 0.04272036] [ 0.11065861 0.99381076 0.00975181] [-0.0435376 -0.00495505 0.99904012]] t_gt: [ 0.70354233 -0.6674471 0.24401344] Pose Error in degrees for R and t: 6.854899638325066 45.66548836247833 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99999501e-01 9.95953378e-04 8.36928186e-05] [-9.95958788e-04 9.99999502e-01 6.46176202e-05] [-8.36284208e-05 -6.47009425e-05 9.99999994e-01]] t_estimated: [[ 9.97599867e-01] [-6.92365299e-02] [ 8.99015478e-04]] R_gt: [[ 0.9866396 -0.15108494 0.06094527] [ 0.15151671 0.9884515 -0.00250729] [-0.05986212 0.01170729 0.99813789]] t_gt: [ 0.74208337 -0.64339795 0.18801953] Pose Error in degrees for R and t: 9.436503388504583 38.27766165096928 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.93102513e-01 -1.17249298e-01 1.67336671e-05] [ 1.17249294e-01 9.93102501e-01 1.57053538e-04] [-3.50326638e-05 -1.54008253e-04 9.99999988e-01]] t_estimated: [[8.85807934e-01] [4.64051724e-01] [5.49369753e-04]] R_gt: [[ 0.99514712 -0.09723801 -0.01507463] [ 0.09816591 0.99163007 0.08386561] [ 0.00679255 -0.08493695 0.99636369]] t_gt: [ 0.40238152 -0.78040409 0.47860064] Pose Error in degrees for R and t: 5.005114469776707 89.68761085033634 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 5.04978018e-01 8.63130203e-01 1.85843296e-03] [ 8.63125581e-01 -5.04981407e-01 2.83003653e-03] [ 3.38116410e-03 1.74954786e-04 -9.99994269e-01]] t_estimated: [[-9.99994884e-01] [-3.10316488e-03] [-7.75791221e-04]] R_gt: [[ 0.98278625 -0.16850065 -0.07575017] [ 0.17863139 0.9713186 0.15694324] [ 0.04713247 -0.16777199 0.98469809]] t_gt: [ 0.45697827 -0.75920316 0.46344517] Pose Error in degrees for R and t: 170.01859623506004 62.93638247082659 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.99551252 -0.0945594 0.00365326] [-0.09452804 0.99549029 0.00797108] [-0.00439052 0.00758997 -0.99996156]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9574657 -0.25654218 -0.13208011] [ 0.27642581 0.9467853 0.16488126] [ 0.08275168 -0.19437801 0.97742953]] t_gt: [ 0.57678367 -0.74308102 0.33933935] Pose Error in degrees for R and t: 174.53943908235874 54.918597308389224 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.84842226e-01 -1.73452503e-01 -1.35177765e-04] [ 1.73452532e-01 9.84842201e-01 2.40434069e-04] [ 9.14248767e-05 -2.60236549e-04 9.99999962e-01]] t_estimated: [[9.95495966e-01] [9.48011425e-02] [7.24507606e-04]] R_gt: [[ 0.99427162 0.07829998 -0.07276227] [-0.07533086 0.9962438 0.04269823] [ 0.07583179 -0.03697366 0.99643512]] t_gt: [-0.09840312 0.96347533 -0.24906247] Pose Error in degrees for R and t: 15.185274999399814 89.61028307305241 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.99995668 -0.00887777 -0.00279668] [ 0.00888187 0.9999595 0.00145621] [ 0.00278364 -0.00148099 0.99999503]] t_estimated: [[-0.99927232] [-0.03769634] [-0.00581559]] R_gt: [[ 0.98434095 0.15087623 -0.0911626 ] [-0.14095443 0.98422285 0.10694441] [ 0.10585975 -0.09241975 0.99007694]] t_gt: [-0.18725809 0.98011521 0.06563972] Pose Error in degrees for R and t: 11.929668817948679 81.38504962534294 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-9.82836480e-01 -1.84477393e-01 7.38810868e-04] [-1.84471985e-01 9.82826510e-01 4.70501974e-03] [-1.59409268e-03 4.48797513e-03 -9.99988658e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.98579608 0.12149833 -0.11595382] [-0.11013813 0.98889124 0.09981924] [ 0.12679282 -0.08563058 0.98822634]] t_gt: [ 0.26545894 0.95487788 -0.1331908 ] Pose Error in degrees for R and t: 173.58609756852616 73.66892858257968 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 0.74014225 0.67243712 0.0042147 ] [ 0.67243506 -0.74015315 0.00209883] [ 0.00453085 0.00128068 -0.99998892]] t_estimated: [[0.94703933] [0.32110916] [0.00232688]] R_gt: [[ 0.99091163 0.13441501 -0.00515147] [-0.13411053 0.9901788 0.03951135] [ 0.01041124 -0.03846148 0.99920585]] t_gt: [-0.86382562 0.46029048 0.20478761] Pose Error in degrees for R and t: 177.7073103682051 47.94861384528571 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 5.05946507e-01 -8.62563190e-01 1.69547421e-03] [ 8.62564825e-01 5.05944982e-01 -1.26395378e-03] [ 2.32423341e-04 2.10194942e-03 9.99997764e-01]] t_estimated: [[-0.37383657] [-0.92749325] [-0.00157737]] R_gt: [[ 9.60703856e-01 2.77546161e-01 -4.21032441e-03] [-2.77577741e-01 9.60571229e-01 -1.59340719e-02] [-3.79435388e-04 1.64762798e-02 9.99863560e-01]] t_gt: [-0.81984982 0.57196141 -0.02657871] Pose Error in degrees for R and t: 75.72536736850802 77.05835349548315 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-5.44346821e-01 -8.38856358e-01 -2.55900012e-03] [ 8.38860204e-01 -5.44343127e-01 -2.02912065e-03] [ 3.09166634e-04 -3.25118874e-03 9.99994667e-01]] t_estimated: [[ 9.60060890e-01] [-2.79790745e-01] [ 4.75921611e-04]] R_gt: [[ 0.94329883 0.33056702 -0.03019213] [-0.33078216 0.94370396 -0.00228448] [ 0.02773716 0.01214176 0.99954169]] t_gt: [-0.78746598 0.61493017 -0.04193103] Pose Error in degrees for R and t: 142.29645388513657 21.86144697522462 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99941366e-01 1.08287821e-02 3.29212498e-05] [-1.08287810e-02 9.99941367e-01 -3.24381616e-05] [-3.32705853e-05 3.20797626e-05 9.99999999e-01]] t_estimated: [[ 6.51091005e-01] [-7.58999641e-01] [ 2.20973192e-04]] R_gt: [[ 0.99951933 -0.03048911 -0.0056653 ] [ 0.03068576 0.99877299 0.03888011] [ 0.00447454 -0.03903525 0.9992273 ]] t_gt: [ 0.56535581 -0.58936539 0.57707993] Pose Error in degrees for R and t: 3.273253928288148 35.357850648096495 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99998587e-01 -1.40358184e-03 -9.25298441e-04] [ 1.40508752e-03 9.99997687e-01 1.62860305e-03] [ 9.23010423e-04 -1.62990087e-03 9.99998246e-01]] t_estimated: [[-4.05444957e-01] [-9.14119436e-01] [ 2.08778130e-04]] R_gt: [[ 0.99921736 -0.02468085 0.03093175] [ 0.02207633 0.99639958 0.08187139] [-0.03284004 -0.08112452 0.99616216]] t_gt: [ 0.16803829 -0.24981173 0.95360224] Pose Error in degrees for R and t: 5.111650787015621 80.76834345633698 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.72497600e-01 2.32912797e-01 2.18166769e-04] [-2.32912740e-01 9.72497603e-01 -2.58329796e-04] [-2.72334975e-04 2.00411286e-04 9.99999943e-01]] t_estimated: [[-9.88834076e-01] [-1.49019126e-01] [-6.85833461e-04]] R_gt: [[ 0.99853819 -0.04461008 0.0305509 ] [ 0.04190926 0.99558761 0.08396946] [-0.034161 -0.08256612 0.99599927]] t_gt: [ 0.34534362 -0.22719905 0.91055937] Pose Error in degrees for R and t: 16.753446222749485 72.04589806198292 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.9833754 0.18057332 -0.01913351] [-0.17961965 0.98277895 0.04338564] [ 0.0266383 -0.03922762 0.99887516]] t_estimated: [[0.72645286] [0.68718514] [0.00654462]] R_gt: [[ 0.99767354 -0.06223453 -0.02785327] [ 0.06117845 0.99742902 -0.03730467] [ 0.03010357 0.03551397 0.9989158 ]] t_gt: [ 0.660469 -0.33519959 -0.6718794 ] Pose Error in degrees for R and t: 14.621556180622447 75.81472560380284 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.91860819e-01 1.27326798e-01 -3.71352285e-05] [-1.27326789e-01 9.91860802e-01 1.96912158e-04] [ 6.19051721e-05 -1.90581145e-04 9.99999980e-01]] t_estimated: [[0.69636429] [0.71768598] [0.00189751]] R_gt: [[ 0.98580287 -0.16376961 -0.03706413] [ 0.15975653 0.98274334 -0.09323984] [ 0.05169462 0.08599519 0.99495364]] t_gt: [ 0.63715155 -0.408968 -0.65328636] Pose Error in degrees for R and t: 17.612084720891534 81.43453386230713 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.49048359e-01 3.15130320e-01 3.05453568e-04] [-3.15130259e-01 9.49048400e-01 -2.32144939e-04] [-3.63046129e-04 1.24059112e-04 9.99999926e-01]] t_estimated: [[-6.53266407e-01] [ 7.57127836e-01] [ 6.63792675e-04]] R_gt: [[ 0.98186715 -0.18475943 -0.04244636] [ 0.18018784 0.97913969 -0.09389896] [ 0.05890968 0.08454775 0.99467663]] t_gt: [ 0.63198394 -0.45931719 -0.62419871] Pose Error in degrees for R and t: 29.497235372126937 40.44491145731812 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.21612491 -0.97635936 -0.00352532] [-0.97619872 0.21601976 0.01927471] [-0.0180575 0.00760716 -0.99980801]] t_estimated: [[0.78819504] [0.61542449] [0.00112922]] R_gt: [[ 9.99782764e-01 -4.06617831e-03 -2.04778105e-02] [ 2.54652721e-04 9.83148126e-01 -1.82814346e-01] [ 2.08757158e-02 1.82768557e-01 9.82934027e-01]] t_gt: [ 0.16739989 0.38757236 -0.90651252] Pose Error in degrees for R and t: 173.0160517260525 68.31881429951922 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.90512618e-01 -1.37420901e-01 -4.98791207e-04] [ 1.37420781e-01 9.90512724e-01 -2.68956922e-04] [ 5.31019339e-04 1.97860948e-04 9.99999839e-01]] t_estimated: [[-0.0128524 ] [-0.99991658] [-0.00128524]] R_gt: [[ 0.99873467 -0.03169431 -0.0390526 ] [ 0.01881416 0.9555186 -0.29433096] [ 0.04664437 0.29322229 0.95490481]] t_gt: [ 0.21878411 0.38547575 -0.89640502] Pose Error in degrees for R and t: 18.401124825626553 67.22561572085276 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-3.73441395e-01 -9.27637710e-01 5.45927489e-03] [-9.27651974e-01 3.73445797e-01 -2.27736560e-04] [-1.82748624e-03 -5.14935338e-03 -9.99985072e-01]] t_estimated: [[0.99842201] [0.05581241] [0.00620138]] R_gt: [[ 0.99673725 -0.06992945 -0.04032351] [ 0.0529667 0.94353189 -0.32702065] [ 0.06091566 0.32381777 0.94415529]] t_gt: [ 0.28519262 0.34217937 -0.89530914] Pose Error in degrees for R and t: 167.1867308239904 72.64517668791217 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.22820818 0.97360779 0.00298276] [-0.97361062 0.22821249 -0.00119157] [-0.00184083 -0.00263212 0.99999484]] t_estimated: [[0.18493726] [0.98274798] [0.00215043]] R_gt: [[ 0.95414185 0.29931647 0.00461317] [-0.29874439 0.95307347 -0.04900876] [-0.01906618 0.04538332 0.99878843]] t_gt: [-0.89248451 0.43246622 -0.12823561] Pose Error in degrees for R and t: 59.459489930565724 74.94916740067278 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.40592802 0.91390247 -0.00217299] [ 0.91389212 -0.40590849 0.00628455] [ 0.00486143 -0.00453695 -0.99997789]] t_estimated: [[-0.1874865 ] [-0.98226624] [-0.0013586 ]] R_gt: [[ 0.83156211 0.55542661 -0.0019361 ] [-0.55473166 0.83033753 -0.0530164 ] [-0.02783834 0.04516048 0.99859178]] t_gt: [-0.8387084 0.54043551 -0.06706476] Pose Error in degrees for R and t: 177.49231878696037 68.0675050515845 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-5.60077458e-01 -8.28440106e-01 -4.82752046e-04] [-8.28439956e-01 5.60077654e-01 -5.11248807e-04] [ 6.93917650e-04 1.13592152e-04 -9.99999753e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.71353058 0.70045125 -0.01552736] [-0.70059691 0.71313543 -0.02451471] [-0.00609771 0.02837097 0.99957873]] t_gt: [-0.79290851 0.60806017 -0.03948316] Pose Error in degrees for R and t: 178.94361833318746 78.17281057940917 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99892273e-01 -1.46779862e-02 -1.51527024e-06] [ 1.46779862e-02 9.99892272e-01 1.28772382e-05] [ 1.32609508e-06 -1.28980921e-05 1.00000000e+00]] t_estimated: [[-7.07259393e-02] [ 9.97495784e-01] [-5.57743194e-05]] R_gt: [[ 0.99936966 -0.024757 -0.02545336] [ 0.02330641 0.9981713 -0.05576079] [ 0.02678746 0.05513276 0.9981192 ]] t_gt: [ 0.5892884 -0.21157266 -0.77972828] Pose Error in degrees for R and t: 3.556104246900228 75.36400115779254 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99998575e-01 -1.68715789e-03 -5.87573477e-05] [ 1.68742982e-03 9.99986153e-01 4.98456318e-03] [ 5.03467890e-05 -4.98465522e-03 9.99987575e-01]] t_estimated: [[0.70895692] [0.7052486 ] [0.00212 ]] R_gt: [[ 0.99552415 -0.0145904 -0.09337784] [ 0.00373325 0.99331188 -0.1154029 ] [ 0.09443638 0.11453773 0.98891975]] t_gt: [ 0.35135443 0.14639236 -0.92472663] Pose Error in degrees for R and t: 8.768755947855455 69.48957881336126 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 0.01288541 -0.00670545 0.9998945 ] [-0.19985937 -0.97981645 -0.00399526] [ 0.97973986 -0.19978681 -0.01396548]] t_estimated: [[-0.00438696] [ 0.81818507] [-0.57493821]] R_gt: [[ 0.98850712 -0.04276275 -0.14500144] [ 0.01668166 0.98415571 -0.17651672] [ 0.1502521 0.172069 0.97355865]] t_gt: [ 0.37532361 0.15448419 -0.91392933] Pose Error in degrees for R and t: 178.925242945563 49.44308914086793 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99977134e-01 6.76242068e-03 2.90296595e-05] [-6.76242108e-03 9.99977134e-01 1.39167976e-05] [-2.89348845e-05 -1.41127902e-05 9.99999999e-01]] t_estimated: [[9.52977177e-01] [3.03041615e-01] [5.28014108e-04]] R_gt: [[ 0.99975165 -0.02189723 0.00433875] [ 0.02191107 0.99975489 -0.00311392] [-0.00426926 0.00320942 0.9999851 ]] t_gt: [ 0.89381336 -0.43904246 0.0913203 ] Pose Error in degrees for R and t: 1.670678248950487 44.045839281645485 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-2.62065222e-01 -9.65049208e-01 -1.35872910e-03] [ 9.65049843e-01 -2.62066023e-01 4.46356638e-04] [-7.86832852e-04 -1.19426675e-03 9.99998977e-01]] t_estimated: [[9.99761850e-01] [2.18068860e-02] [8.38726384e-04]] R_gt: [[ 0.98867009 -0.14841239 -0.02248293] [ 0.14818398 0.98889268 -0.01150001] [ 0.02394085 0.00803862 0.99968081]] t_gt: [ 0.77186814 -0.62748702 -0.10236999] Pose Error in degrees for R and t: 96.67123637028251 40.71927478471989 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.16236721e-01 4.00637246e-01 2.63406415e-04] [-4.00637313e-01 9.16236683e-01 2.89955020e-04] [-1.25175840e-04 -3.71197875e-04 9.99999923e-01]] t_estimated: [[0.7098865 ] [0.70431564] [0.00079584]] R_gt: [[ 0.96437492 -0.26278498 -0.0304251 ] [ 0.26316342 0.96470751 0.00912038] [ 0.02695488 -0.01680147 0.9994953 ]] t_gt: [ 0.76317901 -0.64604433 -0.01358406] Pose Error in degrees for R and t: 38.90967027119829 85.02387962356059 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.72181992e-01 2.34226757e-01 4.08193337e-05] [-2.34226742e-01 9.72181971e-01 -2.21519332e-04] [-9.15695750e-05 2.05796126e-04 9.99999975e-01]] t_estimated: [[2.07170530e-01] [9.78304741e-01] [4.52482737e-04]] R_gt: [[ 0.99781603 0.06589826 0.00455595] [-0.06590943 0.99782298 0.00237827] [-0.00439001 -0.00267303 0.99998703]] t_gt: [-0.84408543 0.53304694 0.05814422] Pose Error in degrees for R and t: 9.771701457797352 69.71811946786812 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99869679e-01 1.61429094e-02 1.77601789e-04] [-1.61428972e-02 9.99869692e-01 -7.01640516e-05] [-1.78711298e-04 6.72879004e-05 9.99999982e-01]] t_estimated: [[9.99930972e-01] [1.17329920e-02] [6.22373555e-04]] R_gt: [[ 0.99921792 -0.03628063 -0.01570745] [ 0.03591259 0.99908794 -0.02309625] [ 0.01653085 0.02251449 0.99961073]] t_gt: [ 0.29332062 -0.85725671 -0.42317131] Pose Error in degrees for R and t: 3.3958976337871616 73.5619297426858 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.90235585e-01 -1.39400087e-01 1.04985131e-03] [ 1.39402207e-01 9.90233106e-01 -2.32817871e-03] [-7.15049212e-04 2.45179700e-03 9.99996739e-01]] t_estimated: [[-0.78992027] [-0.6132077 ] [-0.00151036]] R_gt: [[ 0.99449761 -0.10314959 -0.01826915] [ 0.10266077 0.99437893 -0.0259178 ] [ 0.02083907 0.02390039 0.99949721]] t_gt: [ 0.54487722 -0.80488884 -0.23508034] Pose Error in degrees for R and t: 2.7343737340024585 86.35872125919548 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-7.15584052e-01 -6.98525914e-01 -1.00608814e-03] [ 6.98526554e-01 -7.15582513e-01 -1.52320615e-03] [ 3.44059889e-04 -1.79276131e-03 9.99998334e-01]] t_estimated: [[ 9.46591691e-01] [-3.22434652e-01] [-2.57061082e-04]] R_gt: [[ 0.98271526 0.18271093 -0.02978104] [-0.18273708 0.9831605 0.00185684] [ 0.02961898 0.00361809 0.99955452]] t_gt: [-0.85878367 0.49694838 -0.12463108] Pose Error in degrees for R and t: 146.22422278689626 13.314945689754733 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.25953979 -0.9657269 -0.003263 ] [-0.96573037 0.25953079 0.0029377 ] [-0.00199016 0.00391363 -0.99999036]] t_estimated: [[8.02086133e-01] [5.97208050e-01] [6.17451959e-04]] R_gt: [[ 0.95467317 0.29760531 -0.00551163] [-0.29568096 0.95030421 0.09744537] [ 0.03423951 -0.0913993 0.99522503]] t_gt: [-0.89579033 0.41724081 0.15319855] Pose Error in degrees for R and t: 177.66324040766102 62.01587954553417 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-9.99676598e-01 -2.54270460e-02 4.05656796e-04] [-2.54261589e-02 9.99674581e-01 2.05986949e-03] [-4.57901184e-04 2.04888903e-03 -9.99997796e-01]] t_estimated: [[ 8.23396363e-01] [-5.67466662e-01] [ 1.28475450e-04]] R_gt: [[ 0.95798921 0.28632923 -0.01647475] [-0.28366216 0.95441479 0.09289082] [ 0.04232172 -0.08431544 0.99553972]] t_gt: [-0.94040377 0.31691636 0.12330764] Pose Error in degrees for R and t: 178.36752171740335 17.417553321089795 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99667512e-01 -2.57849752e-02 3.82256264e-05] [ 2.57849699e-02 9.99667503e-01 1.33470095e-04] [-4.16544396e-05 -1.32440071e-04 9.99999990e-01]] t_estimated: [[9.99967620e-01] [8.00941109e-03] [7.79694840e-04]] R_gt: [[ 0.99895256 -0.04563431 0.00354773] [ 0.04554349 0.99871653 0.02215252] [-0.00455499 -0.02196859 0.99974799]] t_gt: [ 0.96311017 -0.1073651 0.24676211] Pose Error in degrees for R and t: 1.709289874995521 15.75923967846431 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.01577717 -0.99966356 0.02058761] [-0.99959294 -0.01527987 0.02409313] [-0.02377045 -0.02095935 -0.99949771]] t_estimated: [[0.69970444] [0.71425024] [0.01613342]] R_gt: [[ 0.9989668 -0.02202178 -0.03976456] [ 0.02241012 0.99970469 0.00936257] [ 0.03954653 -0.01024457 0.99916542]] t_gt: [ 0.97537658 0.20002691 -0.09289646] Pose Error in degrees for R and t: 179.38041425266127 34.5283465926274 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-1.57933762e-01 9.87449490e-01 -6.57367378e-04] [-9.87436369e-01 -1.57935054e-01 -5.09267304e-03] [-5.13257874e-03 -1.55196554e-04 9.99986816e-01]] t_estimated: [[0.07819106] [0.99693603] [0.00217197]] R_gt: [[ 0.99927394 0.01055408 -0.03662375] [-0.01037263 0.99993206 0.00517909] [ 0.03667561 -0.00479588 0.99931542]] t_gt: [ 0.94322807 0.30946516 -0.12063221] Pose Error in degrees for R and t: 98.51008649176703 67.54194613859514 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[-0.89802914 -0.43688041 -0.05176073] [-0.43682085 0.89945375 -0.01305765] [ 0.05226102 0.01088401 -0.99857415]] t_estimated: [[ 0.97099727] [ 0.23764152] [-0.02628334]] R_gt: [[ 0.99855424 0.04247732 -0.03296316] [-0.04206458 0.9990291 0.01310372] [ 0.03348691 -0.01169705 0.99937114]] t_gt: [-0.67564925 0.73700525 -0.01792648] Pose Error in degrees for R and t: 175.24671171205705 61.285898415627095 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99008596e-01 -4.45176632e-02 -5.56097431e-05] [ 4.45176701e-02 9.99008589e-01 1.29248620e-04] [ 4.98007645e-05 -1.31596099e-04 9.99999990e-01]] t_estimated: [[-9.09570100e-01] [ 4.15550364e-01] [-3.57683271e-04]] R_gt: [[ 0.99761812 0.06191602 -0.03041844] [-0.06271423 0.99769202 -0.02602498] [ 0.02873624 0.02787041 0.99919837]] t_gt: [-0.38235036 0.83771048 -0.38993507] Pose Error in degrees for R and t: 6.5417559534704885 45.89106151683109 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 8.69955707e-01 -4.93129230e-01 -7.94443892e-04] [ 4.93129003e-01 8.69956069e-01 -4.73199846e-04] [ 9.24479961e-04 1.98995820e-05 9.99999572e-01]] t_estimated: [[-0.56309221] [-0.82638996] [-0.00260691]] R_gt: [[ 0.98888715 0.14573041 -0.02942279] [-0.14681284 0.98840484 -0.03876624] [ 0.02343264 0.04265516 0.99881479]] t_gt: [-0.52197324 0.81690089 -0.24539126] Pose Error in degrees for R and t: 38.058020077738 67.63410906858158 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99981428e-01 -6.05306782e-03 7.09671956e-04] [ 6.05308184e-03 9.99981680e-01 -1.75969571e-05] [-7.09552439e-04 2.18923327e-05 9.99999748e-01]] t_estimated: [[0.10227328] [0.99462048] [0.01643992]] R_gt: [[ 0.99789497 -0.04902719 -0.04244677] [ 0.04919216 0.99878548 0.00283921] [ 0.04225626 -0.00492121 0.99909506]] t_gt: [ 0.73278805 -0.56214038 -0.3834317 ] Pose Error in degrees for R and t: 3.4985456826121313 60.628175028909546 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-1.58793107e-02 9.99873883e-01 2.56756952e-04] [-9.99872749e-01 -1.58788993e-02 -1.53199958e-03] [-1.52772935e-03 -2.81051377e-04 9.99998794e-01]] t_estimated: [[0.08558782] [0.99633003] [0.00109728]] R_gt: [[ 0.98662175 -0.1056892 -0.12412538] [ 0.10191392 0.99412733 -0.03639775] [ 0.1272426 0.02326091 0.99159881]] t_gt: [ 0.76110389 -0.35180413 -0.54493552] Pose Error in degrees for R and t: 97.1117156040187 73.38317662404687 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.93594880e-01 1.13000334e-01 3.72274606e-04] [-1.13000392e-01 9.93594934e-01 1.38481880e-04] [-3.54241664e-04 -1.79662063e-04 9.99999921e-01]] t_estimated: [[0.42769491] [0.90392258] [0.0010111 ]] R_gt: [[ 0.97037064 -0.212896 -0.11426602] [ 0.20490746 0.97568878 -0.07774599] [ 0.12803995 0.05202901 0.99040317]] t_gt: [ 0.81588875 -0.41173063 -0.40595988] Pose Error in degrees for R and t: 20.22555250013098 88.64588227835847 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99882024e-01 1.53602477e-02 -3.22316404e-07] [-1.53602477e-02 9.99882024e-01 -1.07635906e-05] [ 1.56946961e-07 1.07672716e-05 1.00000000e+00]] t_estimated: [[9.88599919e-01] [1.50564325e-01] [7.64005186e-04]] R_gt: [[ 0.9995057 -0.01502476 -0.02762663] [ 0.01524684 0.99985296 0.00782653] [ 0.02750498 -0.00824367 0.99958826]] t_gt: [ 0.5045293 -0.65448914 -0.56311114] Pose Error in degrees for R and t: 2.3998356992627796 66.43403074526083 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.22778933e-01 3.85329555e-01 4.18491084e-04] [-3.85329544e-01 9.22779026e-01 -1.11112895e-04] [-4.28989877e-04 -5.87243399e-05 9.99999906e-01]] t_estimated: [[0.27772474] [0.96065955] [0.00148468]] R_gt: [[ 0.99853155 0.03925259 -0.03735336] [-0.03786846 0.99859502 0.03706389] [ 0.03875529 -0.03559396 0.99861468]] t_gt: [-0.94305503 0.03441117 -0.33085206] Pose Error in degrees for R and t: 20.674400834683652 76.74157578818102 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.09237982e-01 4.16275391e-01 1.04446122e-03] [-4.16274521e-01 9.09238478e-01 -9.55508944e-04] [-1.34741919e-03 4.34002433e-04 9.99998998e-01]] t_estimated: [[-8.86577250e-01] [-4.62580438e-01] [-3.44167000e-04]] R_gt: [[ 0.99890956 -0.00742292 -0.04610181] [ 0.00762986 0.99996185 0.00433187] [ 0.04606816 -0.00467865 0.99892794]] t_gt: [ 0.08650013 -0.8012134 -0.59209358] Pose Error in degrees for R and t: 25.17707042820095 72.8940020824089 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 1.00000000e+00 -8.42079447e-06 1.28796311e-05] [ 8.41884523e-06 9.99999989e-01 1.51335476e-04] [-1.28809053e-05 -1.51335368e-04 9.99999988e-01]] t_estimated: [[0.56475847] [0.82525561] [0.00101876]] R_gt: [[ 0.9995957 0.00232248 -0.02835261] [-0.00199359 0.99993108 0.01160093] [ 0.02837785 -0.01153888 0.99953099]] t_gt: [ 0.92580431 0.33146282 -0.18171071] Pose Error in degrees for R and t: 1.7562771767033778 37.230093208018324 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99536568e-01 -3.04409244e-02 1.26816702e-05] [ 3.04409206e-02 9.99536540e-01 2.34556687e-04] [-1.98159151e-05 -2.34061944e-04 9.99999972e-01]] t_estimated: [[-0.93800356] [-0.34662273] [-0.00141479]] R_gt: [[ 0.9994128 0.02409828 -0.0243656 ] [-0.02413129 0.99970778 -0.00107565] [ 0.02433219 0.00166401 0.99970311]] t_gt: [ 0.8506637 0.48076882 -0.21267958] Pose Error in degrees for R and t: 3.4250558872955255 15.362264978752846 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999306e-01 -1.17381053e-03 1.04458204e-04] [ 1.17379566e-03 9.99999301e-01 1.42304008e-04] [-1.04625169e-04 -1.42181297e-04 9.99999984e-01]] t_estimated: [[8.54860137e-02] [9.96339307e-01] [3.57197786e-04]] R_gt: [[ 0.99585181 0.0574759 -0.07055355] [-0.05556086 0.99803964 0.02880441] [ 0.07207078 -0.02476417 0.9970923 ]] t_gt: [ 0.88753296 0.41180521 -0.20664391] Pose Error in degrees for R and t: 5.4850430383628614 60.915724239451244 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99964857e-01 -8.38363978e-03 -2.56210992e-06] [ 8.38363980e-03 9.99964857e-01 7.02019708e-06] [ 2.50316508e-06 -7.04143017e-06 1.00000000e+00]] t_estimated: [[-9.99493400e-01] [-3.18172199e-02] [-7.79327572e-04]] R_gt: [[ 0.99867007 0.04943226 0.01467167] [-0.04888676 0.99817753 -0.03538356] [-0.01639415 0.03462006 0.99926677]] t_gt: [-0.45775057 0.82693808 -0.32655447] Pose Error in degrees for R and t: 3.962345701967265 64.43960273283666 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-9.90406123e-01 -1.38187200e-01 9.75271899e-05] [-1.38186742e-01 9.90404232e-01 1.97039800e-03] [-3.68875125e-04 1.93801728e-03 -9.99998054e-01]] t_estimated: [[0.99088438] [0.13471124] [0.00101534]] R_gt: [[ 0.99216142 0.12467154 0.0086078 ] [-0.12419161 0.99132307 -0.04309286] [-0.01390562 0.04168577 0.99903488]] t_gt: [-0.58534932 0.78450506 -0.20473881] Pose Error in degrees for R and t: 179.51943340072418 61.67061401746736 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.95288715 0.30330712 0.00329748] [ 0.30331575 0.95288674 0.00253161] [-0.00237427 0.00341251 -0.99999136]] t_estimated: [[9.99997916e-01] [2.38281208e-04] [2.02745513e-03]] R_gt: [[ 0.95540277 0.29498941 -0.01368616] [-0.29517424 0.95256397 -0.07412769] [-0.00883001 0.07486244 0.99715522]] t_gt: [-0.66519875 0.72458831 -0.18022874] Pose Error in degrees for R and t: 179.33925693559226 48.28773909153515 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[ 0.91826631 -0.39591411 0.00624464] [-0.39591278 -0.91778275 0.03046149] [-0.00632892 -0.03044409 -0.99951643]] t_estimated: [[0.16982109] [0.9853435 ] [0.01609285]] R_gt: [[ 0.99764562 0.01129763 -0.06764022] [-0.00968329 0.99966091 0.02414862] [ 0.06788956 -0.02343664 0.99741749]] t_gt: [ 0.98765511 -0.1062509 -0.11510055] Pose Error in degrees for R and t: 177.66855617658842 86.49252625632373 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-2.21729092e-01 -9.75107983e-01 7.94694314e-04] [-9.75107817e-01 2.21729724e-01 8.21896228e-04] [-9.77644925e-04 -5.92674332e-04 -9.99999346e-01]] t_estimated: [[0.59752136] [0.80185098] [0.00179793]] R_gt: [[ 0.99418188 0.0168676 -0.10638452] [-0.01222503 0.99894982 0.04413657] [ 0.10701783 -0.04257899 0.99334462]] t_gt: [ 0.98269472 -0.18483771 -0.01208772] Pose Error in degrees for R and t: 176.8305716471284 63.963281997837555 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-4.92550828e-01 -8.70280633e-01 -2.30267204e-03] [ 8.70283679e-01 -4.92549100e-01 -1.30470984e-03] [ 1.28466170e-06 -2.64661381e-03 9.99996498e-01]] t_estimated: [[9.59377148e-01] [2.82125729e-01] [7.48344110e-04]] R_gt: [[ 0.99046163 0.091364 -0.10314208] [-0.08080472 0.99146763 0.10228665] [ 0.1116076 -0.09297635 0.98939288]] t_gt: [ 0.84596281 -0.08737773 0.52603427] Pose Error in degrees for R and t: 124.62114099383402 38.0624224486778 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.94353536e-01 -1.06118069e-01 -5.39614734e-06] [ 1.06118068e-01 9.94353531e-01 -1.01888230e-04] [ 1.61778603e-05 1.00740293e-04 9.99999995e-01]] t_estimated: [[-0.50089156] [-0.86550925] [-0.00117857]] R_gt: [[ 0.99718489 -0.07234838 -0.01973612] [ 0.07244446 0.99736359 0.0041856 ] [ 0.01938075 -0.00560447 0.99979714]] t_gt: [ 0.83132163 -0.54134001 -0.12591802] Pose Error in degrees for R and t: 2.257321949214321 87.00314153721942 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 5.04596035e-01 8.63355247e-01 7.48153422e-04] [-8.63354666e-01 5.04596571e-01 -1.01030516e-03] [-1.24976791e-03 -1.36125768e-04 9.99999210e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99457862 -0.10289035 -0.01509057] [ 0.10285051 0.99469094 -0.00337458] [ 0.01535721 0.00180367 0.99988106]] t_gt: [ 0.81982845 -0.56474513 -0.09457408] Pose Error in degrees for R and t: 65.60645590954063 55.963634841899356 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.83345819e-01 1.81738681e-01 1.43223478e-03] [-1.81739069e-01 9.83346780e-01 1.44861667e-04] [-1.38205649e-03 -4.02742130e-04 9.99998964e-01]] t_estimated: [[0.64327383] [0.7656357 ] [0.00087401]] R_gt: [[ 9.63004176e-01 -2.65503046e-01 -4.61619502e-02] [ 2.65768160e-01 9.64036374e-01 -4.13179528e-04] [ 4.46110841e-02 -1.18703428e-02 9.98934432e-01]] t_gt: [ 0.79966883 -0.59630602 -0.07034836] Pose Error in degrees for R and t: 26.024964641723592 86.68695233430725 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.99485696e-01 -3.20673567e-02 1.68336736e-04] [ 3.20673712e-02 9.99485706e-01 -8.43346646e-05] [-1.65545772e-04 8.96894075e-05 9.99999982e-01]] t_estimated: [[0.35360027] [0.93539606] [0.00102791]] R_gt: [[ 0.9960811 -0.04138226 0.0781697 ] [ 0.03691202 0.99764551 0.05779412] [-0.08037749 -0.05468201 0.99526328]] t_gt: [-0.03841356 -0.22122161 0.97446672] Pose Error in degrees for R and t: 5.589103516750707 77.31967428068754 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.96004975e-01 -8.92975032e-02 -2.15243910e-04] [ 8.92975950e-02 9.96004882e-01 4.63143344e-04] [ 1.73026441e-04 -4.80513838e-04 9.99999870e-01]] t_estimated: [[0.54221421] [0.84023975] [0.00096137]] R_gt: [[ 0.99076022 -0.09145523 0.1001516 ] [ 0.07808211 0.98841459 0.13015262] [-0.11089436 -0.12113007 0.98642303]] t_gt: [ 0.17974418 -0.30367993 0.93566582] Pose Error in degrees for R and t: 9.44140197259815 80.97852921974416 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.17867056 -0.98388438 0.00695446] [-0.98388168 -0.17860851 0.00870882] [-0.00732635 -0.00839838 -0.99993789]] t_estimated: [[0.59409927] [0.80437135] [0.00572573]] R_gt: [[ 0.98385407 -0.11634177 0.13599906] [ 0.09296969 0.98154651 0.16710267] [-0.15293013 -0.15176052 0.9765144 ]] t_gt: [ 0.26923211 -0.30042893 0.91501723] Pose Error in degrees for R and t: 166.9299793334761 85.61450115145007 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999869e-01 9.74986909e-05 -5.03002809e-04] [-9.71686415e-05 9.99999780e-01 6.56140972e-04] [ 5.03066671e-04 -6.56092010e-04 9.99999658e-01]] t_estimated: [[-0.58229333] [-0.81297823] [-0.00093018]] R_gt: [[ 0.98900981 -0.14413073 -0.03295252] [ 0.14398411 0.98955639 -0.00679862] [ 0.03358964 0.00197976 0.99943385]] t_gt: [ 0.71113516 -0.68283916 -0.16738419] Pose Error in degrees for R and t: 8.506333328755296 81.88272023509053 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999428e-01 -5.35309353e-04 9.25742001e-04] [ 5.36079515e-04 9.99999510e-01 -8.31892176e-04] [-9.25296228e-04 8.32387972e-04 9.99999225e-01]] t_estimated: [[0.56199654] [0.82713911] [0.00088087]] R_gt: [[ 0.97937415 -0.19797883 -0.0403842 ] [ 0.19672573 0.97990343 -0.03298501] [ 0.04610299 0.02436024 0.99863988]] t_gt: [ 0.74505619 -0.63868036 -0.19229841] Pose Error in degrees for R and t: 11.749463840310582 83.70037010089374 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.52686958 0.84994211 -0.00261859] [ 0.84992277 -0.52682973 0.00904006] [ 0.00630398 -0.00698853 -0.99995571]] t_estimated: [[0.57590011] [0.81751337] [0.00330977]] R_gt: [[ 0.9784686 -0.18557238 -0.09035609] [ 0.17668918 0.97937133 -0.09804743] [ 0.10668803 0.07997187 0.99107195]] t_gt: [ 0.73763088 -0.48483618 -0.46993037] Pose Error in degrees for R and t: 178.79045275874165 88.45934399974655 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-9.86010776e-01 -1.66680560e-01 5.83978121e-04] [-1.66678078e-01 9.85961272e-01 -9.93926136e-03] [ 1.08090184e-03 -9.89755515e-03 -9.99950434e-01]] t_estimated: [[ 0.99998727] [-0.00397227] [ 0.00311132]] R_gt: [[ 0.95406546 0.29910974 0.01703803] [-0.2988682 0.9541711 -0.01532855] [-0.02084182 0.00953261 0.99973689]] t_gt: [-0.92154952 0.38773651 -0.02017107] Pose Error in degrees for R and t: 178.89191297279237 22.610355364296527 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99936419e-01 1.12716919e-02 -3.26986162e-04] [-1.12716361e-02 9.99936458e-01 1.71980541e-04] [ 3.28903897e-04 -1.68283937e-04 9.99999932e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.92296992 0.38450049 0.01690182] [-0.38418791 0.92305903 -0.01902132] [-0.0229155 0.01106362 0.99967577]] t_gt: [-0.90157238 0.43213795 -0.02059222] Pose Error in degrees for R and t: 22.010259873193828 25.80987028376896 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.62967473 -0.77684513 -0.00462383] [ 0.77683591 0.62969073 -0.00394357] [ 0.00597513 -0.00110879 0.99998153]] t_estimated: [[-0.11375721] [-0.99347963] [-0.00758381]] R_gt: [[ 0.87343567 0.486295 0.02504636] [-0.48596427 0.87378674 -0.01829456] [-0.03078166 0.00380823 0.99951855]] t_gt: [-0.87042373 0.49225692 0.00675674] Pose Error in degrees for R and t: 80.09082586230576 67.04043019156991 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.97066300e-01 7.65419333e-02 -3.53820640e-04] [-7.65418046e-02 9.97066307e-01 3.64069946e-04] [ 3.80649256e-04 -3.35919803e-04 9.99999871e-01]] t_estimated: [[0.64514193] [0.76406211] [0.000991 ]] R_gt: [[ 0.99364113 -0.06590613 0.09129973] [ 0.05054354 0.98559774 0.16138255] [-0.10062152 -0.15574157 0.98265925]] t_gt: [ 0.19817917 -0.25285862 0.94698867] Pose Error in degrees for R and t: 13.192357871141011 86.30716431419549 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 7.96893577e-01 -6.04119547e-01 4.46754501e-04] [-6.04119569e-01 -7.96893679e-01 -9.87524232e-05] [ 4.15674107e-04 -1.91197965e-04 -9.99999895e-01]] t_estimated: [[0.60626459] [0.79526206] [0.00122726]] R_gt: [[ 0.97478977 -0.12841539 0.18246864] [ 0.06263119 0.94238203 0.32862407] [-0.21415617 -0.30891153 0.92666577]] t_gt: [ 0.21117535 -0.1212208 0.96990231] Pose Error in degrees for R and t: 158.51911852728938 88.11943541678825 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.87735657 0.47974119 -0.00968671] [ 0.47968719 0.87740803 0.00743926] [ 0.01206812 0.00188029 -0.99992541]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96978122 -0.16514341 0.17958962] [ 0.08631625 0.92072524 0.38054602] [-0.22819773 -0.35354524 0.90715511]] t_gt: [ 0.25788189 -0.1238828 0.95820143] Pose Error in degrees for R and t: 174.3338907585382 89.13405884759972 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-0.93728605 0.34789797 0.02149119] [ 0.34791565 0.93752094 -0.00303151] [-0.0212031 0.00463573 -0.99976444]] t_estimated: [[ 0.98468029] [-0.17402446] [ 0.01096417]] R_gt: [[ 9.92541848e-01 -1.21005965e-01 -1.48171732e-02] [ 1.20978593e-01 9.92651505e-01 -2.65887960e-03] [ 1.50288310e-02 8.46372312e-04 9.99887130e-01]] t_gt: [ 0.62433359 -0.77504559 -0.09752894] Pose Error in degrees for R and t: 179.58741429120255 41.53277578202871 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[-9.64642477e-01 2.63551027e-01 2.39731400e-03] [-2.63561677e-01 -9.64614261e-01 -7.38709748e-03] [ 3.65606144e-04 -7.75774811e-03 9.99969841e-01]] t_estimated: [[0.92987536] [0.36787345] [0.00097064]] R_gt: [[ 0.96211838 -0.27209141 -0.0172012 ] [ 0.27186157 0.96222649 -0.01454863] [ 0.02050928 0.00932132 0.99974584]] t_gt: [ 0.72948207 -0.67757734 -0.09351389] Pose Error in degrees for R and t: 179.4965633489486 64.59753963198663 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 0.99527172 0.09710467 -0.00221003] [-0.09710172 0.99527347 0.00140373] [ 0.00233589 -0.00118249 0.99999657]] t_estimated: [[9.65962340e-01] [2.58681440e-01] [8.18612153e-04]] R_gt: [[ 0.92036879 -0.38754718 -0.05223615] [ 0.38792174 0.92168698 -0.00316486] [ 0.04937236 -0.01735044 0.99863002]] t_gt: [ 0.77916554 -0.62221681 -0.075811 ] Pose Error in degrees for R and t: 28.542817691126736 53.7274807410489 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99698637e-01 2.45478416e-02 -1.98010912e-04] [-2.45478456e-02 9.99698656e-01 -1.74576855e-05] [ 1.97522694e-04 2.23131656e-05 9.99999980e-01]] t_estimated: [[-0.28676555] [-0.95799995] [-0.00126887]] R_gt: [[ 0.97754568 0.2103972 0.01174875] [-0.21060457 0.97356963 0.08837335] [ 0.00715575 -0.08886339 0.99601793]] t_gt: [-0.89183782 0.35933944 0.27477348] Pose Error in degrees for R and t: 11.919778139982368 84.9026945678537 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.10038390e-01 -4.14523917e-01 -2.24065528e-04] [ 4.14523935e-01 9.10038409e-01 3.71987085e-05] [ 1.88488482e-04 -1.26732777e-04 9.99999974e-01]] t_estimated: [[-0.30039007] [-0.95381588] [-0.00103227]] R_gt: [[ 0.97318063 0.22980253 0.01051371] [-0.2298118 0.96913262 0.08926499] [ 0.01032381 -0.08928644 0.99595283]] t_gt: [-0.9313182 0.27149477 0.24276944] Pose Error in degrees for R and t: 38.13919221363773 88.82236763902837 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 7.58750971e-01 -6.51380153e-01 9.27097379e-04] [ 6.51380709e-01 7.58749278e-01 -1.64450755e-03] [ 3.67765111e-04 1.85166505e-03 9.99998218e-01]] t_estimated: [[-0.0588787 ] [-0.99826156] [-0.0026763 ]] R_gt: [[ 0.97470438 0.22337131 -0.00762497] [-0.22158404 0.97023775 0.0976701 ] [ 0.02921519 -0.09350998 0.99518955]] t_gt: [-0.96008498 0.14888564 0.23679082] Pose Error in degrees for R and t: 53.81646289087815 84.6792044495145 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99998805e-01 -9.45060134e-04 -1.22382442e-03] [ 9.46422609e-04 9.99998933e-01 1.11319292e-03] [ 1.22277108e-03 -1.11434984e-03 9.99998632e-01]] t_estimated: [[-0.9646966 ] [-0.26335843] [-0.00167773]] R_gt: [[ 0.9802839 -0.18366996 -0.0728665 ] [ 0.18232985 0.98292798 -0.02468478] [ 0.0761574 0.01091249 0.99703636]] t_gt: [ 0.74534196 -0.59746192 -0.29581179] Pose Error in degrees for R and t: 11.37226874665835 55.862147385316916 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999852e-01 3.28526720e-04 -4.32822900e-04] [-3.28507999e-04 9.99999945e-01 4.33217396e-05] [ 4.32837108e-04 -4.31795474e-05 9.99999905e-01]] t_estimated: [[0.689042 ] [0.72472055] [0.00111495]] R_gt: [[ 0.95879174 -0.27332825 -0.07751965] [ 0.27229887 0.96191983 -0.02375769] [ 0.08106292 0.00167004 0.99670759]] t_gt: [ 0.78724881 -0.58697236 -0.18895176] Pose Error in degrees for R and t: 16.53348696908505 83.28989548129377 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.25159563 0.96783146 0.00137672] [ 0.9678312 0.25159277 0.00196179] [ 0.0015523 0.00182601 -0.99999713]] t_estimated: [[7.49693987e-01] [6.61784279e-01] [7.03277661e-04]] R_gt: [[ 0.94491193 -0.29975805 -0.13147835] [ 0.29902296 0.95389825 -0.02576657] [ 0.1331421 -0.01496822 0.99098459]] t_gt: [ 0.82308614 -0.52751618 -0.21037081] Pose Error in degrees for R and t: 174.12279807659502 74.46583913398337 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 9.99994749e-01 -3.24055439e-03 -3.40397564e-05] [ 3.24055326e-03 9.99994749e-01 -3.30524866e-05] [ 3.41466860e-05 3.29420054e-05 9.99999999e-01]] t_estimated: [[-0.81802886] [ 0.57517418] [-0.00185663]] R_gt: [[ 0.99931432 0.01573529 -0.03352544] [-0.01491491 0.99958764 0.02456032] [ 0.03389836 -0.0240437 0.9991366 ]] t_gt: [ 0.9544698 -0.18599717 0.23322191] Pose Error in degrees for R and t: 2.607381396249727 27.35237286039259 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.89422025 -0.44761767 -0.00292854] [ 0.4476253 0.89421651 0.00290113] [ 0.00132016 -0.00390514 0.9999915 ]] t_estimated: [[-0.12632832] [-0.99198795] [-0.00103548]] R_gt: [[ 0.99397324 0.10027925 -0.04429141] [-0.09650497 0.99207941 0.08040977] [ 0.05200504 -0.07565106 0.99577781]] t_gt: [0.28866827 0.15755348 0.94437679] Pose Error in degrees for R and t: 32.6280870167099 78.82910554031892 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 8.40301084e-01 -5.42119561e-01 -6.85674303e-04] [ 5.42119963e-01 8.40300791e-01 7.25784714e-04] [ 1.82710569e-04 -9.81595409e-04 9.99999502e-01]] t_estimated: [[-6.12802889e-02] [-9.98120412e-01] [-6.08512036e-04]] R_gt: [[ 0.98281615 0.14878981 -0.10924763] [-0.13831742 0.9855367 0.09791598] [ 0.12223633 -0.08112318 0.98918075]] t_gt: [0.7715824 0.41778591 0.47970358] Pose Error in degrees for R and t: 41.9357059345973 62.31725738234286 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.95741047e-01 -9.21941259e-02 -9.94945722e-05] [ 9.21940990e-02 9.95741024e-01 -2.48137697e-04] [ 1.21947665e-04 2.37908078e-04 9.99999964e-01]] t_estimated: [[ 0.99749898] [ 0.07063588] [-0.00251965]] R_gt: [[ 0.99841605 -0.0483876 0.02871639] [ 0.0465981 0.99711027 0.05998802] [-0.031537 -0.05855525 0.99778487]] t_gt: [ 0.40341393 -0.45349271 0.79473364] Pose Error in degrees for R and t: 4.608519162500287 68.38489359184462 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.35464928 0.93493284 0.01115676] [ 0.93496307 0.35471544 -0.00458362] [-0.00824285 0.00880558 -0.99992726]] t_estimated: [[0.97979182] [0.19995751] [0.00499894]] R_gt: [[ 0.99572033 -0.06360924 0.06704834] [ 0.05525554 0.99125595 0.11981881] [-0.07408286 -0.11560064 0.99052858]] t_gt: [ 0.36903535 -0.37712194 0.84946568] Pose Error in degrees for R and t: 179.82948235622197 73.11714421216743 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.97682234e-01 -6.80293429e-02 1.47283495e-03] [ 6.80280973e-02 9.97683018e-01 8.79988751e-04] [-1.52928748e-03 -7.77754983e-04 9.99998528e-01]] t_estimated: [[0.82645879] [0.56299039] [0.00277335]] R_gt: [[ 0.99502712 -0.08388127 0.05372631] [ 0.07446303 0.98460399 0.15814599] [-0.06616451 -0.15335792 0.9859525 ]] t_gt: [ 0.47719122 -0.37799207 0.79335398] Pose Error in degrees for R and t: 9.563297022059855 79.41038229862491 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 1.79470814e-01 -9.83763137e-01 5.62806128e-04] [-9.83763224e-01 -1.79470993e-01 -2.85146181e-04] [ 3.81523676e-04 -5.02492554e-04 -9.99999801e-01]] t_estimated: [[0.64965156] [0.76023055] [0.00153582]] R_gt: [[ 0.99538225 0.08457634 -0.0454039 ] [-0.0817093 0.99474669 0.06167527] [ 0.0503813 -0.05768047 0.99706244]] t_gt: [-0.2101702 0.49201521 0.84483698] Pose Error in degrees for R and t: 179.11936920296492 76.18397187117523 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99978553 -0.0203668 0.00375455] [ 0.02039587 0.99976099 -0.00787243] [-0.00359332 0.00794732 0.99996196]] t_estimated: [[-0.99991047] [-0.01331439] [-0.00133144]] R_gt: [[ 0.98387818 0.14529254 -0.10427689] [-0.13853413 0.98792239 0.06941236] [ 0.11310234 -0.05384701 0.99212305]] t_gt: [ 0.23756457 0.96347188 -0.12363258] Pose Error in degrees for R and t: 12.056833841645643 75.51025442487831 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999676e-01 -7.67511763e-04 2.40967796e-04] [ 7.67628219e-04 9.99999588e-01 -4.83564004e-04] [-2.40596556e-04 4.83748821e-04 9.99999854e-01]] t_estimated: [[-9.99993068e-01] [-3.67530571e-03] [-5.96145616e-04]] R_gt: [[ 0.95839162 0.23959049 -0.15517993] [-0.22008433 0.96639569 0.13282727] [ 0.18178973 -0.09314764 0.97891505]] t_gt: [ 0.21969062 0.9733328 -0.0660249 ] Pose Error in degrees for R and t: 17.902846567175644 77.10135657386802 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-5.87918511e-01 8.08912359e-01 -3.55241233e-03] [-8.08917621e-01 -5.87921999e-01 7.65747646e-05] [-2.02659908e-03 2.91862865e-03 9.99993687e-01]] t_estimated: [[0.70872507] [0.70548395] [0.00108037]] R_gt: [[ 0.99755878 -0.06960782 -0.00552924] [ 0.06959818 0.99757287 -0.00193283] [ 0.00565098 0.00154358 0.99998202]] t_gt: [ 0.65795659 -0.74757008 -0.09073087] Pose Error in degrees for R and t: 130.0007722939004 86.49208713821113 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999540e-01 9.50487083e-04 1.25403234e-04] [-9.50490878e-04 9.99999548e-01 3.02098470e-05] [-1.25374463e-04 -3.03290278e-05 9.99999992e-01]] t_estimated: [[ 0.99990214] [-0.01394657] [ 0.00110053]] R_gt: [[ 0.99091827 -0.13032434 0.03310323] [ 0.13018304 0.99146907 0.00637069] [-0.033651 -0.00200292 0.99943114]] t_gt: [ 0.6805583 -0.71886225 0.14169502] Pose Error in degrees for R and t: 7.782480566976222 46.31657027238731 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999710e-01 7.52012938e-04 1.23472260e-04] [-7.52020552e-04 9.99999715e-01 6.16293764e-05] [-1.23425879e-04 -6.17222122e-05 9.99999990e-01]] t_estimated: [[ 9.99584964e-01] [-2.87929260e-02] [ 9.31273235e-04]] R_gt: [[ 0.98479159 -0.17128379 0.02908157] [ 0.17126373 0.98521989 0.00316519] [-0.02919414 0.00186357 0.99957114]] t_gt: [ 0.74057572 -0.66802171 0.07276402] Pose Error in degrees for R and t: 10.046710583997738 40.57365845723324 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-5.48779385e-01 8.35923825e-01 8.51742643e-03] [ 8.35953747e-01 5.48799897e-01 -8.52157821e-05] [-4.74559665e-03 7.07340987e-03 -9.99963722e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99977725 0.00825974 0.01939318] [-0.00927395 0.99856227 0.05278951] [-0.01892919 -0.05295813 0.99841733]] t_gt: [ 0.30966191 -0.24558728 0.91858391] Pose Error in degrees for R and t: 179.9613289250527 75.95427298196229 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-2.80936437e-01 -9.59723614e-01 2.30281942e-03] [-9.59726359e-01 2.80935163e-01 -8.65941862e-04] [ 1.84121905e-04 -2.45335112e-03 -9.99996974e-01]] t_estimated: [[0.7983526 ] [0.60218596] [0.00228101]] R_gt: [[ 0.99840023 -0.04200816 0.03784578] [ 0.03658293 0.99029386 0.13409082] [-0.0431107 -0.13249282 0.99024633]] t_gt: [ 0.41242321 -0.36763819 0.8335162 ] Pose Error in degrees for R and t: 173.47057809409762 83.6977213980432 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-5.32340400e-01 8.46503134e-01 6.79284593e-03] [ 8.46519249e-01 5.32357422e-01 -8.58315521e-04] [-4.34278872e-03 5.29335881e-03 -9.99976560e-01]] t_estimated: [[0.81756497] [0.57583302] [0.0019653 ]] R_gt: [[ 0.99273348 -0.09279266 0.07661602] [ 0.0732337 0.97108694 0.22721452] [-0.0954843 -0.21995241 0.970826 ]] t_gt: [ 0.34763436 -0.35081382 0.86952862] Pose Error in degrees for R and t: 178.47302852256763 85.18651450525456 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.30245705e-01 -5.57396541e-01 -1.07967610e-03] [ 5.57396854e-01 8.30246197e-01 -1.28036765e-05] [ 9.03533698e-04 -5.91177862e-04 9.99999417e-01]] t_estimated: [[ 8.09573746e-01] [-5.87018107e-01] [-3.03244919e-04]] R_gt: [[ 0.99344496 0.11071042 0.02847305] [-0.11271274 0.99019922 0.08246787] [-0.01906259 -0.0851371 0.99618604]] t_gt: [-0.83808136 0.10930004 0.53448399] Pose Error in degrees for R and t: 40.59905952990537 42.0285041891078 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.98030742e-01 6.27264820e-02 -1.62621409e-04] [-6.27264907e-02 9.98030754e-01 -4.90517005e-05] [ 1.59224327e-04 5.91557753e-05 9.99999986e-01]] t_estimated: [[-0.13906173] [-0.99028303] [-0.00116202]] R_gt: [[ 0.99613391 0.08768606 0.00533884] [-0.08782373 0.99256583 0.08425486] [ 0.00208929 -0.08439865 0.99642988]] t_gt: [-0.83628411 -0.22475386 0.50011457] Pose Error in degrees for R and t: 5.057711262067905 70.22764534288092 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 6.96197536e-01 -7.17846679e-01 -2.26647173e-03] [-7.17849576e-01 -6.96189057e-01 -3.57540425e-03] [ 9.88699248e-04 4.11617339e-03 -9.99991040e-01]] t_estimated: [[8.58021296e-01] [5.13613680e-01] [6.66165603e-04]] R_gt: [[ 9.96126657e-01 8.77621818e-02 5.51213606e-03] [-8.79346264e-02 9.94498927e-01 5.69010361e-02] [-4.87753491e-04 -5.71658949e-02 9.98363768e-01]] t_gt: [-0.86667829 -0.27938111 0.41329765] Pose Error in degrees for R and t: 177.15842085549104 27.520314800674914 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999940e-01 -2.93886311e-04 1.83881570e-04] [ 2.93897718e-04 9.99999955e-01 -6.20066378e-05] [-1.83863339e-04 6.20606765e-05 9.99999981e-01]] t_estimated: [[0.54368873] [0.83928648] [0.00087976]] R_gt: [[ 0.99376785 -0.10337182 -0.04172269] [ 0.1039367 0.99451627 0.01158695] [ 0.04029643 -0.01585159 0.99906145]] t_gt: [ 0.74309855 -0.65932459 -0.11443616] Pose Error in degrees for R and t: 6.437473834723262 81.40502734873769 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999881e-01 2.77371822e-04 4.01768063e-04] [-2.77088206e-04 9.99999713e-01 -7.05802295e-04] [-4.01963717e-04 7.05690886e-04 9.99999670e-01]] t_estimated: [[0.57789782] [0.81610868] [0.00085997]] R_gt: [[ 0.96324724 -0.23601696 -0.12826018] [ 0.23258194 0.97169759 -0.04135774] [ 0.13439185 0.01000695 0.99087721]] t_gt: [ 0.7708063 -0.53847826 -0.34043915] Pose Error in degrees for R and t: 15.674717486620331 89.67354248065925 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.94629884 0.10104757 -0.3070959 ] [-0.05699194 0.98716309 0.14920105] [ 0.31823014 -0.12368679 0.93991018]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.9151608 -0.3811167 -0.13127007] [ 0.3785049 0.92449021 -0.04530456] [ 0.13862428 -0.00822516 0.99031025]] t_gt: [ 0.82415646 -0.53015678 -0.19924835] Pose Error in degrees for R and t: 30.228837620279602 73.86592757140151 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-6.34973964e-01 -7.72529444e-01 -2.51446534e-03] [ 7.72532704e-01 -6.34974695e-01 -5.98826719e-04] [-1.13401059e-03 -2.32274608e-03 9.99996659e-01]] t_estimated: [[0.96472897] [0.26324299] [0.00106558]] R_gt: [[ 0.99774062 0.04261756 0.05193271] [-0.04393243 0.9987365 0.02444259] [-0.05082467 -0.02666901 0.99835177]] t_gt: [-0.56904524 0.33251716 0.75207702] Pose Error in degrees for R and t: 131.92257290167927 62.57157226718375 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 8.73699236e-01 -4.86465402e-01 1.02870239e-03] [ 4.86466462e-01 8.73696512e-01 -2.18779749e-03] [ 1.65514094e-04 2.41190621e-03 9.99997078e-01]] t_estimated: [[0.7190754 ] [0.69493127] [0.00104975]] R_gt: [[ 0.98667077 -0.04735083 0.15569117] [ 0.01102633 0.97398612 0.22634233] [-0.1623574 -0.22160935 0.96152424]] t_gt: [ 0.05992473 -0.08997814 0.99413931] Pose Error in degrees for R and t: 31.67692776632197 88.94600583437968 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99999999e-01 4.31320106e-05 -2.41110697e-05] [-4.31320159e-05 9.99999999e-01 -2.17591091e-07] [ 2.41110603e-05 2.18631049e-07 1.00000000e+00]] t_estimated: [[ 9.48197161e-02] [-9.95494446e-01] [-1.69350237e-04]] R_gt: [[ 0.96592715 -0.11301165 0.23283777] [ 0.02305325 0.93362442 0.35751349] [-0.25778467 -0.33996386 0.90441735]] t_gt: [ 0.15380373 -0.04715873 0.98697541] Pose Error in degrees for R and t: 25.581030333492134 86.4819641470479 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999844e-01 -4.67577032e-04 -3.04810665e-04] [ 4.67646483e-04 9.99999865e-01 2.27820587e-04] [ 3.04704101e-04 -2.27963095e-04 9.99999928e-01]] t_estimated: [[-9.99775424e-01] [ 2.11885699e-02] [-3.81021714e-04]] R_gt: [[ 0.9476672 0.31891632 0.0147846 ] [-0.31870584 0.94773626 -0.01494046] [-0.01877681 0.00944586 0.99977868]] t_gt: [-0.94371279 0.32983314 -0.02482466] Pose Error in degrees for R and t: 18.659991904613907 18.103083353565488 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.99999066e-01 1.34556019e-03 -2.40746094e-04] [-1.34556163e-03 9.99999095e-01 -5.81119275e-06] [ 2.40738057e-04 6.13512603e-06 9.99999971e-01]] t_estimated: [[0.0649947 ] [0.99788227] [0.00258144]] R_gt: [[ 0.84070818 0.54144977 0.00632709] [-0.54079326 0.84016653 -0.04078538] [-0.02739841 0.03086553 0.99914742]] t_gt: [-0.87206507 0.48655706 -0.05258079] Pose Error in degrees for R and t: 32.782232768434916 64.61419487954483 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-0.96379243 -0.25939332 -0.06180012] [-0.26547668 0.91166174 0.31367979] [-0.02502564 0.3187287 -0.94751556]] t_estimated: [[0.98030907] [0.19745562] [0.00232301]] R_gt: [[ 0.6413102 0.7672768 0.00255354] [-0.76511387 0.63974673 -0.07297846] [-0.05762835 0.04484749 0.99732988]] t_gt: [-0.77683662 0.62838629 -0.04068836] Pose Error in degrees for R and t: 172.538077588444 50.390175582442694 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.91631656e-01 -1.29099384e-01 -9.10143444e-05] [ 1.29099378e-01 9.91631658e-01 -7.13199939e-05] [ 9.94600726e-05 5.89732684e-05 9.99999993e-01]] t_estimated: [[ 0.29560456] [-0.95530948] [-0.001316 ]] R_gt: [[ 9.89301731e-01 -1.44086183e-01 -2.28120140e-02] [ 1.44034926e-01 9.89565738e-01 -3.88436923e-03] [ 2.31339645e-02 5.56894613e-04 9.99732344e-01]] t_gt: [ 0.72450774 -0.67107282 -0.15732072] Pose Error in degrees for R and t: 1.5786402887864173 31.189734891018272 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.81331186 0.5818195 -0.00314566] [-0.58180863 0.81331701 0.00376221] [ 0.00474734 -0.00122968 0.99998798]] t_estimated: [[-0.99891936] [-0.04624627] [-0.00462463]] R_gt: [[ 0.96323503 -0.26428798 -0.04827582] [ 0.26413534 0.96443829 -0.00964258] [ 0.04910749 -0.00346391 0.99878712]] t_gt: [ 0.7541691 -0.63760066 -0.15714442] Pose Error in degrees for R and t: 50.96874370378987 43.68560244333423 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.36019253e-01 5.48700047e-01 2.59025587e-04] [-5.48700091e-01 8.36019252e-01 1.44178464e-04] [-1.37439648e-04 -2.62663335e-04 9.99999956e-01]] t_estimated: [[0.82628249] [0.56325525] [0.00087441]] R_gt: [[ 0.94150807 -0.33586344 -0.02753556] [ 0.33476208 0.94153613 -0.03800448] [ 0.03869036 0.02656348 0.99889793]] t_gt: [ 0.73218848 -0.65459321 -0.18816951] Pose Error in degrees for R and t: 52.945030384909956 76.3419396284834 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.13457423e-01 -4.06931023e-01 -1.63681614e-03] [ 4.06934102e-01 9.13453671e-01 2.65092136e-03] [ 4.16413569e-04 -3.08758010e-03 9.99995147e-01]] t_estimated: [[0.79476745] [0.60691332] [0.00096335]] R_gt: [[ 0.95243856 0.30459678 0.00896823] [-0.30452383 0.95246487 -0.00868775] [-0.01118716 0.00554302 0.99992176]] t_gt: [-0.91743421 0.39776953 -0.00968869] Pose Error in degrees for R and t: 41.75360226626271 60.807555243353335 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.96424326 0.26497436 -0.00485061] [-0.26499698 -0.96423715 0.00482874] [-0.00339765 0.00594147 0.99997658]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.87891335 0.47696842 0.00345282] [-0.47695472 0.87876335 0.01702303] [ 0.00508622 -0.0166085 0.99984872]] t_gt: [-0.88186857 0.47065382 0.02815673] Pose Error in degrees for R and t: 136.14834155091268 64.82069057846951 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.29975321 -0.95399623 0.00626106] [-0.95399798 0.29969965 -0.00824415] [ 0.00598845 -0.00844425 -0.99994642]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.85259134 0.52201761 0.02418012] [-0.5214626 0.85288228 -0.02587816] [-0.03413106 0.00945406 0.99937215]] t_gt: [-0.86228982 0.50641309 -0.00143319] Pose Error in degrees for R and t: 179.05005447393916 71.13604851265417 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99984495e-01 -5.56487513e-03 2.05122450e-04] [ 5.56490582e-03 9.99984505e-01 -1.49337054e-04] [-2.04288230e-04 1.50476225e-04 9.99999968e-01]] t_estimated: [[ 0.60536189] [-0.79594829] [-0.00181671]] R_gt: [[ 9.91215978e-01 -1.28690286e-01 -3.04856959e-02] [ 1.28777332e-01 9.91673103e-01 9.08828613e-04] [ 3.01147021e-02 -4.82606008e-03 9.99534976e-01]] t_gt: [ 0.70370041 -0.69775892 -0.13393361] Pose Error in degrees for R and t: 7.294605735315079 11.003131310217208 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 6.45083439e-01 -7.64110188e-01 -1.72565171e-03] [ 7.64111852e-01 6.45083503e-01 5.93726568e-04] [ 6.59516927e-04 -1.70159410e-03 9.99998335e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98757891 -0.14960569 -0.04802544] [ 0.14725823 0.98787396 -0.04917773] [ 0.05480083 0.04149497 0.9976346 ]] t_gt: [ 0.73680439 -0.60016309 -0.31132547] Pose Error in degrees for R and t: 41.460654979084524 42.71826840164112 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.42653241 -0.90327194 -0.0465822 ] [ 0.90446863 -0.42581841 -0.02480273] [ 0.00256805 -0.05271131 0.99860649]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.98359113 -0.13836792 -0.11577274] [ 0.125961 0.9860952 -0.1083991 ] [ 0.12916141 0.0920375 0.98734315]] t_gt: [ 0.68571878 -0.36892585 -0.62744201] Pose Error in degrees for R and t: 107.78795456851843 49.59226552015454 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999911e-01 -3.57588523e-04 2.22734696e-04] [ 3.57614500e-04 9.99999929e-01 -1.16600511e-04] [-2.22692986e-04 1.16680154e-04 9.99999968e-01]] t_estimated: [[0.49040507] [0.87148162] [0.00475919]] R_gt: [[ 0.99530791 -0.08973483 -0.03619337] [ 0.08991006 0.99594436 0.00325556] [ 0.0357538 -0.00649416 0.99933893]] t_gt: [ 0.81806276 -0.53245702 -0.21740019] Pose Error in degrees for R and t: 5.545933773885709 86.33750752726704 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999959e-01 -2.19112443e-04 1.82128062e-04] [ 2.19109661e-04 9.99999976e-01 1.52936311e-05] [-1.82131409e-04 -1.52537245e-05 9.99999983e-01]] t_estimated: [[9.19235760e-01] [3.93707059e-01] [6.07412276e-04]] R_gt: [[ 9.93877502e-01 -1.06394846e-01 -2.97936177e-02] [ 1.06370192e-01 9.94323131e-01 -2.40024114e-03] [ 2.98796991e-02 -7.82596122e-04 9.99552233e-01]] t_gt: [ 0.84902458 -0.5017702 -0.1654809 ] Pose Error in degrees for R and t: 6.334730871289029 54.35208319893636 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999784e-01 -5.64618593e-04 3.37341969e-04] [ 5.64665453e-04 9.99999831e-01 -1.38831775e-04] [-3.37263525e-04 1.39022230e-04 9.99999933e-01]] t_estimated: [[0.46198345] [0.88688798] [0.00100213]] R_gt: [[ 0.97122107 -0.23140174 -0.05640636] [ 0.23091308 0.97285639 -0.015104 ] [ 0.05837084 0.0016446 0.99829303]] t_gt: [ 0.82225282 -0.55035224 -0.14495763] Pose Error in degrees for R and t: 13.760775615785946 83.77812798251834 Number of keypoints: Image1: 325 Image2: 325 R_estimated: [[ 9.99891614e-01 1.47219905e-02 -1.52733737e-04] [-1.47219643e-02 9.99891611e-01 1.71064901e-04] [ 1.55235599e-04 -1.68797819e-04 9.99999974e-01]] t_estimated: [[-0.99896931] [-0.04532749] [-0.00239495]] R_gt: [[ 0.99910274 0.02186242 -0.03627919] [-0.0223229 0.99967478 -0.01233088] [ 0.03599857 0.01312978 0.99926566]] t_gt: [ 0.69034597 0.56408094 -0.45302885] Pose Error in degrees for R and t: 2.231135730409622 44.42905184841073 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.77404559e-01 -2.11361439e-01 2.58270072e-03] [ 2.11364134e-01 9.77407047e-01 -8.16364042e-04] [-2.35180201e-03 1.34380824e-03 9.99996332e-01]] t_estimated: [[0.07819106] [0.99693603] [0.00217197]] R_gt: [[ 0.99794141 0.05447965 -0.03384723] [-0.05506619 0.99834403 -0.01661664] [ 0.03288646 0.01844647 0.99928842]] t_gt: [ 0.67696503 0.63395567 -0.3739232 ] Pose Error in degrees for R and t: 15.508091357676166 46.83248368688725 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999865e-01 4.71830741e-04 -2.19231617e-04] [-4.71683176e-04 9.99999663e-01 6.72663077e-04] [ 2.19548926e-04 -6.72559578e-04 9.99999750e-01]] t_estimated: [[-0.85058001] [-0.52584307] [-0.00164841]] R_gt: [[ 9.95420364e-01 4.43047994e-02 -8.47084380e-02] [-4.42177717e-02 9.99017878e-01 2.90177341e-03] [ 8.47544163e-02 8.57875006e-04 9.96401363e-01]] t_gt: [ 0.90239703 0.33194899 -0.27475348] Pose Error in degrees for R and t: 5.461968400626532 19.667596037369705 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.99991131 -0.01124617 0.00713391] [ 0.01129233 0.99991535 -0.00646373] [-0.00706061 0.00654371 0.99995366]] t_estimated: [[0.08558782] [0.99633003] [0.00109728]] R_gt: [[ 0.99364232 -0.06022534 -0.09512472] [ 0.05673128 0.99762664 -0.03902016] [ 0.09724886 0.03337496 0.99470033]] t_gt: [ 0.68317769 -0.22348341 -0.69521465] Pose Error in degrees for R and t: 6.7409725998513865 80.50541549826653 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.99999173 -0.00335916 0.00229287] [ 0.00336233 0.9999934 -0.00137804] [-0.00228822 0.00138574 0.99999642]] t_estimated: [[0.42769491] [0.90392258] [0.0010111 ]] R_gt: [[ 0.98209967 -0.16802886 -0.0851363 ] [ 0.16162345 0.98382125 -0.07728738] [ 0.09674605 0.06214366 0.99336703]] t_gt: [ 0.79392389 -0.3954233 -0.46187149] Pose Error in degrees for R and t: 11.45619656304333 88.94903080722962 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 1.00000000e+00 -2.87547763e-14 2.16840434e-18] [ 2.88657986e-14 1.00000000e+00 -1.92987987e-17] [ 5.91974386e-17 -1.96240593e-17 1.00000000e+00]] t_estimated: [[0.53395668] [0.84551129] [0.00095863]] R_gt: [[ 0.94423665 -0.31852682 -0.08342464] [ 0.31200778 0.94649866 -0.08241723] [ 0.10521367 0.05179177 0.99310015]] t_gt: [ 0.83633438 -0.4692905 -0.28339236] Pose Error in degrees for R and t: 19.62385046861914 87.16245575493957 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99546851e-01 -3.01013666e-02 -3.23638169e-05] [ 3.01013696e-02 9.99546846e-01 9.73138020e-05] [ 2.94198727e-05 -9.82438995e-05 9.99999995e-01]] t_estimated: [[-7.06222244e-01] [ 7.07990010e-01] [-5.37034790e-04]] R_gt: [[ 0.99973663 0.02263704 -0.00391182] [-0.02277805 0.99891341 -0.04066184] [ 0.00298632 0.04073946 0.99916495]] t_gt: [-0.10755802 0.75636371 -0.64524817] Pose Error in degrees for R and t: 3.8294752363757567 52.2799167324305 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-9.39409773e-01 -3.42796239e-01 1.33948917e-04] [ 3.42788094e-01 -9.39390006e-01 -6.53753531e-03] [ 2.36687279e-03 -6.09550846e-03 9.99978621e-01]] t_estimated: [[8.64820521e-01] [5.02080565e-01] [7.57285920e-04]] R_gt: [[ 0.99427917 0.10673332 -0.00424199] [-0.10680424 0.99272628 -0.05557784] [-0.00172058 0.05571246 0.99844478]] t_gt: [-0.47974744 0.80751435 -0.3431661 ] Pose Error in degrees for R and t: 166.09001175517815 89.44318827360928 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 7.19213379e-01 6.94784884e-01 2.46591154e-03] [-6.94786238e-01 7.19216189e-01 -3.97024236e-04] [-2.04936994e-03 -1.42773626e-03 9.99996881e-01]] t_estimated: [[0.14518385] [0.98940104] [0.00268859]] R_gt: [[ 0.97198034 0.233942 -0.02292703] [-0.23495491 0.96985319 -0.06466405] [ 0.00710799 0.06823879 0.9976439 ]] t_gt: [-0.61775946 0.75388098 -0.22368888] Pose Error in degrees for R and t: 30.690371644831977 49.03479972272973 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99868748e-01 -1.62014342e-02 -7.43041816e-06] [ 1.62014341e-02 9.99868748e-01 -1.28328057e-05] [ 7.63735276e-06 1.27107379e-05 1.00000000e+00]] t_estimated: [[ 7.65595314e-01] [-6.43322482e-01] [-1.22432306e-05]] R_gt: [[ 9.99712544e-01 1.06856965e-03 -2.39425463e-02] [-6.55779168e-04 9.99851855e-01 1.71909654e-02] [ 2.39584352e-02 -1.71704869e-02 9.99565127e-01]] t_gt: [ 0.12622087 -0.80205006 -0.58376707] Pose Error in degrees for R and t: 1.952305008214188 52.22095053998652 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.99914199 0.04074411 -0.00742977] [ 0.04077108 0.99916233 -0.00351545] [ 0.00728031 -0.00381535 -0.99996622]] t_estimated: [[ 0.98690655] [-0.16127674] [-0.00229862]] R_gt: [[ 0.99787787 0.06387188 -0.01268797] [-0.06366972 0.9978487 0.01563955] [ 0.01365976 -0.01479909 0.99979655]] t_gt: [-0.92634091 0.36859152 -0.07767113] Pose Error in degrees for R and t: 178.8117386359238 13.225140544031465 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.75635888e-01 -2.19395878e-01 2.50283042e-04] [ 2.19395968e-01 9.75635809e-01 -4.20954627e-04] [-1.51829388e-04 4.65609531e-04 9.99999880e-01]] t_estimated: [[-0.45186389] [-0.8920862 ] [-0.00110825]] R_gt: [[ 0.99868984 -0.03805617 -0.03420792] [ 0.03767831 0.99922206 -0.01165451] [ 0.03462555 0.01034987 0.99934678]] t_gt: [ 0.28769336 -0.85090214 -0.43954303] Pose Error in degrees for R and t: 10.705047485829638 50.981820585587414 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-9.12090952e-02 -9.95831479e-01 -7.52606201e-04] [-9.95828766e-01 9.12106490e-02 -2.38477207e-03] [ 2.44347679e-03 5.31954001e-04 -9.99996873e-01]] t_estimated: [[8.93472691e-01] [4.49116823e-01] [7.93492621e-04]] R_gt: [[ 0.9931655 0.11599396 -0.01292716] [-0.11514704 0.99189691 0.05367443] [ 0.01904872 -0.05181918 0.99847532]] t_gt: [-0.87084657 0.45419729 0.1879656 ] Pose Error in degrees for R and t: 178.75698379525352 54.97450780808024 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 8.63805700e-01 5.03824876e-01 4.55943132e-04] [ 5.03820506e-01 -8.63801357e-01 3.48046504e-03] [ 2.14738917e-03 -2.77673204e-03 -9.99993839e-01]] t_estimated: [[0.99322167] [0.11622807] [0.00132077]] R_gt: [[ 0.95854215 0.2835037 -0.0286739 ] [-0.28143989 0.95767508 0.06040594] [ 0.0445853 -0.0498314 0.99776216]] t_gt: [-0.84420066 0.53591218 0.01110731] Pose Error in degrees for R and t: 176.168848936191 39.08825349136163 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.81541438 0.57879287 -0.00990941] [ 0.57883653 0.81544106 -0.00203455] [ 0.00690296 -0.00739493 -0.99994883]] t_estimated: [[0.95498915] [0.29663688] [0.00151345]] R_gt: [[ 0.91937343 0.39337853 0.00246104] [-0.38897494 0.90811063 0.15502422] [ 0.05874943 -0.1434831 0.98790735]] t_gt: [-0.85257669 0.4961807 0.16406615] Pose Error in degrees for R and t: 175.32913124288197 48.18191941075759 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999833e-01 -5.20038642e-04 2.50501241e-04] [ 5.20012042e-04 9.99999859e-01 1.06240177e-04] [-2.50556454e-04 -1.06109896e-04 9.99999963e-01]] t_estimated: [[0.78033999] [0.62535388] [0.00141999]] R_gt: [[ 0.9984684 -0.04832973 -0.02692819] [ 0.04862857 0.99876136 0.01055226] [ 0.02638545 -0.01184686 0.99958167]] t_gt: [ 0.99680483 -0.0797002 0.00529216] Pose Error in degrees for R and t: 3.2158706564200514 43.27989541518568 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999980e-01 -1.98570118e-04 1.86163511e-05] [ 1.98562962e-04 9.99999907e-01 3.83583438e-04] [-1.86925175e-05 -3.83579734e-04 9.99999926e-01]] t_estimated: [[0.74597986] [0.66596793] [0.00086853]] R_gt: [[ 0.99779125 -0.04195887 -0.05149838] [ 0.04292193 0.99892123 0.01774392] [ 0.05069912 -0.01991559 0.99851504]] t_gt: [ 0.99364762 0.0896179 -0.06806645] Pose Error in degrees for R and t: 3.946823321430063 36.78725058028992 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999948e-01 -1.03710861e-04 -3.06441055e-04] [ 1.03839345e-04 9.99999907e-01 4.19290273e-04] [ 3.06397541e-04 -4.19322071e-04 9.99999865e-01]] t_estimated: [[6.09742646e-03] [9.99981295e-01] [4.79928520e-04]] R_gt: [[ 0.99867212 -0.02022548 -0.04737544] [ 0.02051207 0.99977364 0.00558272] [ 0.04725201 -0.00654731 0.99886143]] t_gt: [ 0.96957462 0.2164461 -0.11435093] Pose Error in degrees for R and t: 2.952471975057584 77.15589475366787 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[-9.97136439e-01 -5.59645546e-02 -5.08614825e-02] [-5.59005237e-02 9.98432742e-01 -2.68168753e-03] [ 5.09318489e-02 1.69175150e-04 -9.98702117e-01]] t_estimated: [[ 0.99866793] [ 0.04529888] [-0.02470587]] R_gt: [[ 9.99022490e-01 2.99724627e-02 -3.24705414e-02] [-2.99563043e-02 9.99550283e-01 9.99664841e-04] [ 3.24856870e-02 -2.60118570e-05 9.99472262e-01]] t_gt: [-0.35524011 0.88325381 -0.30605091] Pose Error in degrees for R and t: 175.22292278812884 72.10971596779717 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-0.95367595 -0.30082649 -0.00236715] [ 0.30083184 -0.95367425 -0.0023718 ] [-0.00154399 -0.00297404 0.99999439]] t_estimated: [[0.93932597] [0.3430241 ] [0.00109337]] R_gt: [[ 0.99672457 0.07958823 -0.0143337 ] [-0.07996564 0.99640264 -0.02803661] [ 0.01205087 0.02909181 0.99950451]] t_gt: [-0.44868056 0.8554179 -0.25873921] Pose Error in degrees for R and t: 167.07150052406212 82.62798360370908 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 0.99715902 -0.07530292 -0.00183207] [ 0.07531408 0.99713483 0.00706611] [ 0.00129472 -0.00718401 0.99997336]] t_estimated: [[0.84947577] [0.5276247 ] [0.00175875]] R_gt: [[ 0.98777563 0.15462523 -0.01975944] [-0.15522433 0.98730888 -0.03357427] [ 0.01431743 0.03623074 0.99924148]] t_gt: [-0.54738037 0.81565117 -0.18731764] Pose Error in degrees for R and t: 13.48190401544146 87.99664049706793 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999282e-01 1.19786231e-03 -2.61222614e-05] [-1.19786276e-03 9.99999282e-01 -1.71449787e-05] [ 2.61017053e-05 1.71762573e-05 1.00000000e+00]] t_estimated: [[9.99994892e-01] [3.10075919e-03] [7.75189837e-04]] R_gt: [[ 0.99853587 0.05308509 -0.01049253] [-0.05275348 0.99816618 0.02969073] [ 0.01204924 -0.0290928 0.99950338]] t_gt: [-0.86733398 0.45668352 0.197919 ] Pose Error in degrees for R and t: 3.4713712810950335 30.030392470922333 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.63428415e-01 2.67965234e-01 -5.67125175e-04] [-2.67964963e-01 9.63428522e-01 5.10976339e-04] [ 6.83308463e-04 -3.40319449e-04 9.99999709e-01]] t_estimated: [[-0.99762419] [-0.06886585] [-0.00186124]] R_gt: [[ 0.99980126 0.00636822 -0.01893139] [-0.00640443 0.99997841 -0.00180263] [ 0.01892003 0.00192374 0.99981895]] t_gt: [-0.24244531 -0.83142831 -0.49994724] Pose Error in degrees for R and t: 15.213647137671597 72.53898246001272 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.24597931e-01 3.80944282e-01 -3.46355151e-04] [-3.80943813e-01 9.24597677e-01 9.72984115e-04] [ 6.90891904e-04 -7.67677247e-04 9.99999467e-01]] t_estimated: [[8.03984182e-01] [5.94650260e-01] [7.09606515e-04]] R_gt: [[ 0.99704747 -0.07114175 -0.02893462] [ 0.07068389 0.99736211 -0.01655873] [ 0.0300371 0.0144657 0.99944352]] t_gt: [ 0.44715525 -0.83780503 -0.31326494] Pose Error in degrees for R and t: 26.527151660303648 82.01478719013953 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 6.69244751e-01 -7.43042033e-01 2.33552499e-05] [-7.43027873e-01 -6.69232190e-01 -6.15268598e-03] [ 4.58733439e-03 4.10029919e-03 -9.99981072e-01]] t_estimated: [[ 0.31447815] [ 0.94925861] [-0.00340413]] R_gt: [[ 0.99935929 -0.0352564 0.00617012] [ 0.0353058 0.99934314 -0.0081618 ] [-0.00587861 0.00837509 0.99994754]] t_gt: [ 0.75980213 -0.65014383 0.00370489] Pose Error in degrees for R and t: 179.382147232411 67.77615551651809 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99999211 -0.00256418 0.00303471] [ 0.00256788 0.99999596 -0.00121591] [-0.00303158 0.00122369 0.99999466]] t_estimated: [[0.6475203 ] [0.7620477 ] [0.00088098]] R_gt: [[ 0.97953081 -0.1998061 -0.02441596] [ 0.19982656 0.97982948 -0.00162317] [ 0.0242475 -0.00328767 0.99970037]] t_gt: [ 0.74568713 -0.66419372 -0.05289051] Pose Error in degrees for R and t: 11.489932800544365 88.66223178014853 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999998e-01 -6.03472218e-05 -1.59114379e-05] [ 6.03482862e-05 9.99999996e-01 6.69032768e-05] [ 1.59074004e-05 -6.69042369e-05 9.99999998e-01]] t_estimated: [[ 9.99965137e-01] [-8.34715715e-03] [-2.22371155e-04]] R_gt: [[ 0.96377078 -0.26396055 -0.03834906] [ 0.26452365 0.96432385 0.01035343] [ 0.03424807 -0.02012179 0.99921092]] t_gt: [ 0.75023415 -0.66056216 -0.02839636] Pose Error in degrees for R and t: 15.491451330745246 40.91096743364632 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 3.91821701e-01 9.20040967e-01 -6.11818250e-04] [-9.20040682e-01 3.91820721e-01 -1.29105726e-03] [-9.48102501e-04 1.06876193e-03 9.99998979e-01]] t_estimated: [[5.18945492e-02] [9.98652557e-01] [1.61241144e-04]] R_gt: [[ 0.99773848 -0.05539132 0.0380689 ] [ 0.05217277 0.99535632 0.08089475] [-0.04237277 -0.07872497 0.99599539]] t_gt: [ 0.32789188 -0.4124422 0.84992844] Pose Error in degrees for R and t: 70.19024720452428 66.75063899384759 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.06026168 -0.99815142 0.0078914 ] [-0.99813211 0.06033628 0.00958237] [-0.0100408 -0.0072992 -0.99992295]] t_estimated: [[0.71255821] [0.70158266] [0.00652474]] R_gt: [[ 0.99403795 -0.07879539 0.07536003] [ 0.06965603 0.99068148 0.11704163] [-0.08387976 -0.11109351 0.99026313]] t_gt: [ 0.37959542 -0.38102198 0.84304779] Pose Error in degrees for R and t: 171.4594556260185 89.50346383454162 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.02679405 0.99956926 0.01197346] [ 0.99959661 0.02690378 -0.00909962] [-0.00941783 0.01172481 -0.99988691]] t_estimated: [[0.84659238] [0.53223271] [0.00311247]] R_gt: [[ 0.9947493 -0.08270272 0.06027824] [ 0.07241202 0.98502285 0.15648379] [-0.07231766 -0.15129628 0.98583882]] t_gt: [ 0.45547284 -0.36470721 0.81211646] Pose Error in degrees for R and t: 177.41141833090998 78.81261216673003 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.99658281e-01 2.61403981e-02 -2.56590257e-05] [-2.61403983e-02 9.99658281e-01 -7.24420730e-06] [ 2.54608911e-05 7.91246896e-06 1.00000000e+00]] t_estimated: [[-0.64154053] [ 0.76708812] [-0.00125306]] R_gt: [[ 9.99016718e-01 2.21651103e-04 -4.43288056e-02] [ 5.36527864e-04 9.99853898e-01 1.70857798e-02] [ 4.43272682e-02 -1.70933643e-02 9.98871149e-01]] t_gt: [ 0.96227756 -0.27190062 -0.00958911] Pose Error in degrees for R and t: 3.1110260317945384 34.320179181557975 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.38857294e-01 3.44306192e-01 4.77774605e-04] [-3.44306032e-01 9.38857394e-01 -3.86617310e-04] [-5.81676954e-04 1.98477803e-04 9.99999811e-01]] t_estimated: [[-6.61874986e-01] [ 7.49614190e-01] [ 2.60504108e-04]] R_gt: [[ 0.99625699 0.07482299 -0.04327942] [-0.07163633 0.99490124 0.07100365] [ 0.04837238 -0.06763809 0.99653689]] t_gt: [ 0.60976795 -0.05306313 0.79080172] Pose Error in degrees for R and t: 16.63583794986324 63.69425851105226 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.66990280e-01 2.54813261e-01 -1.92984929e-05] [ 2.54802497e-01 -9.66948727e-01 9.26537031e-03] [ 2.34227857e-03 -8.96444033e-03 -9.99957075e-01]] t_estimated: [[-0.30912051] [ 0.95101044] [ 0.00486283]] R_gt: [[ 0.98488303 0.12996783 -0.11451621] [-0.1184116 0.98765617 0.10254185] [ 0.12643002 -0.08743248 0.98811481]] t_gt: [0.87909474 0.124237 0.46017127] Pose Error in degrees for R and t: 173.15268478994344 81.29437888760907 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 1.00000000e+00 6.94558755e-07 1.47170855e-09] [-6.94558754e-07 1.00000000e+00 -3.02291381e-07] [-1.47191809e-09 3.02291380e-07 1.00000000e+00]] t_estimated: [[0.35521793] [0.93478298] [0.00099598]] R_gt: [[ 0.9975076 -0.06981667 -0.01016836] [ 0.06960703 0.99738004 -0.01969114] [ 0.01151634 0.01893411 0.99975412]] t_gt: [ 0.71686969 -0.67320489 -0.18136437] Pose Error in degrees for R and t: 4.195019389377524 67.9858143409031 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.66258490e-01 2.57573891e-01 4.70660849e-04] [-2.57574321e-01 -9.66256983e-01 -1.70661653e-03] [ 1.51994696e-05 -1.77026286e-03 9.99998433e-01]] t_estimated: [[8.23473768e-01] [5.67353974e-01] [6.48404542e-04]] R_gt: [[ 0.99656274 -0.05707251 -0.06005444] [ 0.05183836 0.99500038 -0.08536815] [ 0.06462713 0.08196194 0.99453803]] t_gt: [ 0.60611768 -0.2443863 -0.75689939] Pose Error in degrees for R and t: 168.2240254922237 68.90117361865738 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999956e-01 -2.86080939e-05 2.94266525e-04] [ 2.87245365e-05 9.99999921e-01 -3.95708028e-04] [-2.94255181e-04 3.95716463e-04 9.99999878e-01]] t_estimated: [[0.47816799] [0.87826773] [0.00108428]] R_gt: [[ 0.98942974 -0.08043476 -0.12066033] [ 0.06127112 0.98603127 -0.15488011] [ 0.13143291 0.14585112 0.9805373 ]] t_gt: [ 0.52267138 -0.06964481 -0.84968478] Pose Error in degrees for R and t: 12.034158892034661 79.17344053578317 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.84061303 0.54155013 -0.00965397] [ 0.54154392 0.84066529 0.00347221] [ 0.00999613 -0.00230926 -0.99994737]] t_estimated: [[ 0.93995445] [-0.3412626 ] [-0.00504638]] R_gt: [[ 0.95293691 0.30234817 -0.02228638] [-0.30283758 0.95275624 -0.02334573] [ 0.01417548 0.02899689 0.9994786 ]] t_gt: [-0.89693952 0.43004579 -0.10276246] Pose Error in degrees for R and t: 178.82913524479858 8.380396294142107 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.99540290e-01 -3.03082300e-02 -7.87449450e-04] [ 3.03084967e-02 9.99540538e-01 3.29038832e-04] [ 7.77115062e-04 -3.52753978e-04 9.99999636e-01]] t_estimated: [[-0.99997773] [-0.00657464] [-0.00114769]] R_gt: [[ 0.83299496 0.55319302 -0.00975932] [-0.55322076 0.83251879 -0.02931308] [-0.00809036 0.02981754 0.99952231]] t_gt: [-0.84591353 0.53104142 -0.04924741] Pose Error in degrees for R and t: 35.37713075853063 32.59921207397692 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-0.97630243 0.21639095 -0.00291871] [ 0.21639531 0.976305 -0.00126866] [ 0.00257503 -0.00187019 -0.99999494]] t_estimated: [[9.99971384e-01] [7.55861777e-03] [3.14415868e-04]] R_gt: [[ 0.77932781 0.62651896 -0.01105461] [-0.62652861 0.77880129 -0.03051523] [-0.01050932 0.03070866 0.99947286]] t_gt: [-0.82028716 0.57016687 -0.04515219] Pose Error in degrees for R and t: 179.92255837920902 35.31679139488209 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.91420453e-01 1.30710750e-01 4.31072836e-04] [-1.30710464e-01 9.91420380e-01 -6.36512072e-04] [-5.10573366e-04 5.74705356e-04 9.99999705e-01]] t_estimated: [[0.92987536] [0.36787345] [0.00097064]] R_gt: [[ 0.98665543 -0.16261404 -0.00830177] [ 0.16246494 0.98658015 -0.01624292] [ 0.01083174 0.01467824 0.99983273]] t_gt: [ 0.72263986 -0.677963 -0.13475089] Pose Error in degrees for R and t: 16.897072307168795 65.01192487404796 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99998249e-01 1.86202290e-03 1.85571775e-04] [-1.86216334e-03 9.99997978e-01 7.59528214e-04] [-1.84157141e-04 -7.59872449e-04 9.99999694e-01]] t_estimated: [[9.65962340e-01] [2.58681441e-01] [8.18612153e-04]] R_gt: [[ 0.9584028 -0.2821297 -0.04320589] [ 0.2822351 0.95933749 -0.00375491] [ 0.04250961 -0.00859444 0.99905889]] t_gt: [ 0.76236643 -0.63824064 -0.10698739] Pose Error in degrees for R and t: 16.69130492324829 55.164050557747764 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999993e-01 -2.51214685e-05 1.18098434e-04] [ 2.51385578e-05 9.99999989e-01 -1.44704571e-04] [-1.18094797e-04 1.44707539e-04 9.99999983e-01]] t_estimated: [[9.39164704e-01] [3.43465949e-01] [8.94442576e-04]] R_gt: [[ 0.93186737 -0.36104261 -0.0356656 ] [ 0.35989872 0.93234497 -0.03471215] [ 0.0457853 0.01951183 0.99876041]] t_gt: [ 0.76179907 -0.62675939 -0.16381345] Pose Error in degrees for R and t: 21.331003641824186 59.99750138113134 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 7.03634388e-01 -7.10561702e-01 -8.46382089e-04] [ 7.10562039e-01 7.03634540e-01 1.52917501e-04] [ 4.86886351e-04 -7.09004995e-04 9.99999630e-01]] t_estimated: [[ 8.10397544e-01] [-5.85880379e-01] [ 4.65312625e-05]] R_gt: [[ 0.9968243 0.07597658 0.02384615] [-0.07571992 0.99706289 -0.01149063] [-0.02464964 0.00964821 0.99964923]] t_gt: [-0.76416428 0.63437289 0.11672188] Pose Error in degrees for R and t: 49.654665144079885 7.71928295404281 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.97061732e-01 7.66022346e-02 3.40058947e-05] [-7.66022240e-02 9.97061702e-01 -2.46558481e-04] [-5.27929059e-05 2.43229099e-04 9.99999969e-01]] t_estimated: [[-0.64514193] [-0.76406211] [-0.000991 ]] R_gt: [[ 0.99316021 0.01111005 0.11623523] [-0.02815407 0.98887855 0.14603979] [-0.11332086 -0.1483135 0.98242608]] t_gt: [-1.36076792e-01 5.69066823e-04 9.90698129e-01] Pose Error in degrees for R and t: 11.247645019663482 85.04506024335056 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.78992476 -0.61320246 -0.00127234] [ 0.61318111 -0.7899117 0.00695956] [-0.00527266 0.00471736 0.99997497]] t_estimated: [[0.98288494] [0.18421665] [0.00118849]] R_gt: [[ 0.97679202 -0.05128859 0.20795788] [-0.01705809 0.94919571 0.314223 ] [-0.21350969 -0.31047852 0.9262913 ]] t_gt: [ 0.04594816 -0.0020525 0.99894172] Pose Error in degrees for R and t: 141.8378686450759 87.36513356198671 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999311e-01 1.15728026e-03 1.94697753e-04] [-1.15727986e-03 9.99999330e-01 -2.17495421e-06] [-1.94700140e-04 1.94963293e-06 9.99999981e-01]] t_estimated: [[-9.99992230e-01] [-3.88872935e-03] [-6.46312109e-04]] R_gt: [[ 0.99409299 -0.08928767 -0.06170521] [ 0.08834456 0.99593019 -0.01783876] [ 0.06304659 0.0122822 0.99793513]] t_gt: [ 0.73932252 -0.52780831 -0.41811554] Pose Error in degrees for R and t: 6.350643708151648 42.5240208556701 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 1.00000000e+00 2.85313729e-06 4.29479225e-07] [-2.85309774e-06 9.99999996e-01 -9.20650190e-05] [-4.29741897e-07 9.20650178e-05 9.99999996e-01]] t_estimated: [[0.75692848] [0.65349726] [0.00078357]] R_gt: [[ 0.95672186 -0.26460796 -0.12110947] [ 0.26113821 0.96429986 -0.04396378] [ 0.12841905 0.01043526 0.99166508]] t_gt: [ 0.78475149 -0.54245748 -0.29984161] Pose Error in degrees for R and t: 16.992093065956517 76.15646253476226 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99999809 -0.00158563 0.00114537] [ 0.00158693 0.9999981 -0.0011323 ] [-0.00114357 0.00113411 0.9999987 ]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 9.27706022e-01 -3.52205328e-01 -1.23745701e-01] [ 3.48997887e-01 9.35922444e-01 -4.74326177e-02] [ 1.32523012e-01 8.16716784e-04 9.91179302e-01]] t_gt: [ 0.81928021 -0.53134657 -0.21552438] Pose Error in degrees for R and t: 21.899686925108178 58.6330286154826 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.36388707e-01 -3.50964568e-01 -2.49349875e-04] [ 3.50964581e-01 9.36388735e-01 8.22642586e-06] [ 2.30601230e-04 -9.52161066e-05 9.99999969e-01]] t_estimated: [[ 5.12477083e-01] [-8.58700733e-01] [-5.38745792e-04]] R_gt: [[ 0.99964466 0.0258624 0.00641815] [-0.02595374 0.99955778 0.01450499] [-0.00604053 -0.01466546 0.99987456]] t_gt: [-0.87017384 -0.39348923 0.29658678] Pose Error in degrees for R and t: 22.04963015895729 83.78760389016331 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-4.34090247e-01 -9.00862075e-01 3.63022204e-03] [-9.00868831e-01 4.34090942e-01 -6.35276825e-04] [-1.00354971e-03 -3.54612136e-03 -9.99993209e-01]] t_estimated: [[0.85058108] [0.52583921] [0.00222321]] R_gt: [[ 0.99977742 0.01791548 -0.01117513] [-0.01765597 0.99958165 0.02291387] [ 0.01158121 -0.02271153 0.99967492]] t_gt: [-0.54004489 -0.81341839 0.21610653] Pose Error in degrees for R and t: 179.69843707734543 27.5510822887637 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.73251139e-01 -2.29743463e-01 -4.01540506e-04] [ 2.29743624e-01 9.73251096e-01 4.14386792e-04] [ 2.95597081e-04 -4.95553788e-04 9.99999834e-01]] t_estimated: [[ 7.93274381e-01] [-6.08864316e-01] [ 4.54262495e-05]] R_gt: [[ 0.99941784 0.03030325 -0.01566237] [-0.03076668 0.9990706 -0.03021412] [ 0.0147318 0.0306788 0.9994206 ]] t_gt: [-0.75779746 -0.54559273 -0.35787092] Pose Error in degrees for R and t: 15.159404856137401 74.39727529802647 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[-9.69495755e-01 -2.44987458e-01 7.68941394e-03] [-2.44992825e-01 9.69524859e-01 2.50704849e-04] [-7.51649752e-03 -1.64079396e-03 -9.99970405e-01]] t_estimated: [[0.97979182] [0.19995751] [0.00499894]] R_gt: [[ 0.99900976 -0.01378993 0.04229494] [ 0.01135433 0.99829131 0.05730568] [-0.04301173 -0.05676848 0.99746006]] t_gt: [ 0.30844183 -0.35070152 0.88423531] Pose Error in degrees for R and t: 176.7308630633162 76.31972798319656 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.21841288 0.97582846 0.00739162] [ 0.97584591 0.21843946 -0.00299334] [-0.0045356 0.0065593 -0.9999682 ]] t_estimated: [[0.82645879] [0.56299039] [0.00277335]] R_gt: [[ 0.99893392 -0.03486493 0.03026368] [ 0.03183512 0.99492969 0.09540274] [-0.03343604 -0.09433708 0.99497835]] t_gt: [ 0.50987349 -0.38850478 0.76752398] Pose Error in degrees for R and t: 178.4623951088438 78.18258397591461 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.10307363 -0.89438722 0.43525548] [-0.99117767 0.05569959 -0.12026794] [ 0.08332256 -0.44381196 -0.8922378 ]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99255478 -0.09456242 0.07676399] [ 0.07790744 0.97737341 0.19664936] [-0.09362224 -0.18920469 0.97746383]] t_gt: [ 0.41620054 -0.36467045 0.83294212] Pose Error in degrees for R and t: 155.9731851789035 79.57912068517659 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.89721428 0.44116443 -0.01950613] [ 0.44103187 0.89742555 0.01087525] [ 0.02230307 0.0011546 -0.99975059]] t_estimated: [[ 0.85923938] [-0.51124585] [-0.0183131 ]] R_gt: [[ 0.99569387 0.09185653 -0.01248286] [-0.09099904 0.99419572 0.0573864 ] [ 0.01768208 -0.0560037 0.99827452]] t_gt: [-0.43423655 0.41266417 0.80071649] Pose Error in degrees for R and t: 177.17649251934003 53.219603511859916 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.23854142e-01 -3.82744479e-01 -4.34290564e-04] [ 3.82744643e-01 9.23854094e-01 3.89106172e-04] [ 2.52292877e-04 -5.25699735e-04 9.99999830e-01]] t_estimated: [[-0.21935727] [-0.97564409] [-0.0010012 ]] R_gt: [[ 0.98713912 0.13913404 -0.07873026] [-0.13343191 0.9883224 0.07358856] [ 0.08804882 -0.06213776 0.9941768 ]] t_gt: [0.00347884 0.93257731 0.36095355] Pose Error in degrees for R and t: 30.962441872689478 24.3577510001101 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99998215e-01 1.88919212e-03 3.20004569e-06] [-1.88919087e-03 9.99998153e-01 -3.54491405e-04] [-3.86974215e-06 3.54484727e-04 9.99999937e-01]] t_estimated: [[0.13727063] [0.99053235] [0.00155989]] R_gt: [[ 0.96553369 0.21724302 -0.14335378] [-0.1978085 0.97043225 0.13832294] [ 0.16916483 -0.105199 0.97995744]] t_gt: [0.32106698 0.87627156 0.35925499] Pose Error in degrees for R and t: 16.602875389665453 24.131605478328012 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.99716524 -0.07419891 0.01249051] [-0.07408083 0.9972054 0.00966563] [-0.01317278 0.00871292 -0.99987527]] t_estimated: [[0.99962932] [0.02709023] [0.00270902]] R_gt: [[ 0.98632542 -0.16304495 -0.0240467 ] [ 0.16352669 0.98634314 0.01967835] [ 0.02051052 -0.02334102 0.99951674]] t_gt: [ 0.68589635 -0.7276938 -0.00281653] Pose Error in degrees for R and t: 179.53779705524374 48.24697269456918 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.63495837 0.77247616 0.01041374] [ 0.7725188 -0.63476417 -0.01700472] [-0.00652547 0.0188421 -0.99980118]] t_estimated: [[-0.56058544] [ 0.82801406] [-0.01169083]] R_gt: [[ 0.97581191 -0.21672874 -0.02862503] [ 0.21730245 0.97592582 0.01865418] [ 0.02389421 -0.02442324 0.99941537]] t_gt: [ 0.70900612 -0.70513346 -0.00985583] Pose Error in degrees for R and t: 179.3682856547421 11.126444929217149 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.99994327 0.0101571 0.00320727] [ 0.01017029 0.99993979 0.00412145] [-0.00316521 0.00415384 -0.99998636]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.96090495 -0.27673802 0.00878795] [ 0.27644338 0.96069135 0.02550933] [-0.01550123 -0.02208249 0.99963554]] t_gt: [ 0.73250903 -0.67713156 0.07016666] Pose Error in degrees for R and t: 179.08959942681156 43.17610255683834 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.98634305e-01 -5.22448572e-02 1.09565864e-05] [ 5.22448573e-02 9.98634305e-01 -7.12887056e-06] [-1.05691762e-05 7.69155999e-06 1.00000000e+00]] t_estimated: [[9.50563230e-01] [3.10531026e-01] [1.66593628e-04]] R_gt: [[ 0.99764755 -0.05674191 0.03846908] [ 0.05550487 0.99792921 0.03251157] [-0.04023472 -0.03030102 0.9987303 ]] t_gt: [ 0.59745807 -0.49606384 0.63005121] Pose Error in degrees for R and t: 2.8956354721266457 65.54468611544807 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-2.46063958e-01 9.69253576e-01 1.81897662e-04] [-9.69251002e-01 -2.46062862e-01 -2.35842675e-03] [-2.24115530e-03 -7.56628311e-04 9.99997202e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9976263 -0.04308984 0.05370659] [ 0.03881373 0.99617559 0.07827774] [-0.05687472 -0.07600836 0.99548417]] t_gt: [ 0.4901898 -0.38463297 0.78215819] Pose Error in degrees for R and t: 106.69325151679075 67.61954378455108 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.24705977 -0.96899779 -0.00217842] [-0.96890588 0.24700371 0.01451088] [-0.01352293 0.00569574 -0.99989234]] t_estimated: [[0.7983526 ] [0.60218596] [0.00228101]] R_gt: [[ 0.99308494 -0.09365329 0.07079382] [ 0.08129382 0.98362487 0.16085524] [-0.0846992 -0.15398928 0.98443628]] t_gt: [ 0.48677209 -0.37998595 0.78655172] Pose Error in degrees for R and t: 170.45142593096222 80.70093662632381 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.22756594 0.97343962 0.02508081] [ 0.97361333 0.22790663 -0.01164687] [-0.01705361 0.02176858 -0.99961758]] t_estimated: [[-0.67785681] [-0.73515321] [-0.00773944]] R_gt: [[ 0.99911103 0.03793212 -0.01837586] [-0.03696573 0.99804814 0.05032934] [ 0.02024944 -0.04960553 0.99856371]] t_gt: [ 0.37603543 -0.10755252 0.92034222] Pose Error in degrees for R and t: 178.8854506173762 79.45815786978503 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.91172169 0.41080367 -0.00197789] [ 0.4107899 -0.91162425 0.01388827] [ 0.00390226 -0.01347474 -0.9999016 ]] t_estimated: [[-0.31932578] [ 0.94762069] [ 0.00678814]] R_gt: [[ 0.99150872 0.11458604 -0.06148162] [-0.10791846 0.9888541 0.10257498] [ 0.07254981 -0.09506939 0.99282301]] t_gt: [0.15008061 0.19707414 0.96883311] Pose Error in degrees for R and t: 172.8294081271445 81.63935423206614 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.79308918 -0.60906484 -0.00704151] [ 0.60908671 0.79310256 0.00130678] [ 0.00478873 -0.00532528 0.99997435]] t_estimated: [[8.07179294e-01] [5.90306002e-01] [6.41636959e-04]] R_gt: [[ 0.97711455 0.17720023 -0.11766973] [-0.16436059 0.98011823 0.11114593] [ 0.13502523 -0.08926215 0.98681337]] t_gt: [0.51804512 0.70180371 0.48897935] Pose Error in degrees for R and t: 48.19785368480104 33.61793380680209 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.91329361e-01 1.31398108e-01 7.96399358e-04] [-1.31397422e-01 9.91329399e-01 -8.60097929e-04] [-9.02509338e-04 7.47995508e-04 9.99999313e-01]] t_estimated: [[0.67131945] [0.74116772] [0.00077609]] R_gt: [[ 0.98588223 -0.14121703 -0.08996499] [ 0.1371859 0.98930507 -0.04955589] [ 0.09600082 0.03651442 0.99471064]] t_gt: [ 0.71315733 -0.50368839 -0.48754961] Pose Error in degrees for R and t: 16.65445050982337 83.96935174080666 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.19302787 0.87273696 0.44840878] [ 0.94139775 -0.03589547 -0.33538304] [-0.27660533 0.48686929 -0.82852144]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.9524548 -0.29039079 -0.09221766] [ 0.28709222 0.9567234 -0.04751903] [ 0.10202522 0.01878479 0.99460367]] t_gt: [ 0.79394238 -0.55438377 -0.24962799] Pose Error in degrees for R and t: 148.3314102206599 76.59408561098505 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 1.13427923e-01 9.93535960e-01 4.51695821e-03] [-9.93545242e-01 1.13433042e-01 -8.92933857e-04] [-1.39953421e-03 -4.38651871e-03 9.99989400e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.46208119e-01 -2.96127933e-01 -1.30375998e-01] [ 2.93308472e-01 9.55147990e-01 -4.07682115e-02] [ 1.36600323e-01 3.35263023e-04 9.90625113e-01]] t_gt: [ 0.81059254 -0.52975698 -0.24959423] Pose Error in degrees for R and t: 100.9553449254877 58.335104286020275 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 7.02328251e-01 -7.11846377e-01 -3.12479866e-03] [-7.11849301e-01 -7.02332197e-01 2.41671120e-04] [-2.36667942e-03 2.05465328e-03 -9.99995089e-01]] t_estimated: [[0.22382135] [0.97462947] [0.00118424]] R_gt: [[ 0.97898537 0.20239796 -0.02495783] [-0.20156225 0.97893843 0.03242364] [ 0.03099567 -0.02671254 0.9991622 ]] t_gt: [-0.89090193 0.45394917 -0.01496361] Pose Error in degrees for R and t: 179.12149750160876 75.93564155694884 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 5.60690626e-02 9.98426662e-01 6.78790055e-04] [ 9.98422732e-01 -5.60707787e-02 2.84880668e-03] [ 2.88238483e-03 5.17989502e-04 -9.99995712e-01]] t_estimated: [[-0.04304386] [-0.99907062] [-0.00226547]] R_gt: [[ 0.95775299 0.28753934 0.00549273] [-0.28662423 0.95279086 0.1001776 ] [ 0.02357283 -0.09752031 0.99495367]] t_gt: [-0.90155903 0.38551616 0.19638892] Pose Error in degrees for R and t: 175.3621921897546 69.70851902921574 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.83187552e-01 1.82598479e-01 -1.83731942e-04] [-1.82598501e-01 9.83187559e-01 -1.07579697e-04] [ 1.60999070e-04 1.39320196e-04 9.99999977e-01]] t_estimated: [[-0.96645799] [-0.25682238] [-0.00110702]] R_gt: [[ 0.96390936 0.26561745 -0.01804602] [-0.26252713 0.95958314 0.10138226] [ 0.04424599 -0.09298659 0.99468394]] t_gt: [-0.95484241 0.25375938 0.15453852] Pose Error in degrees for R and t: 7.636365907559418 30.965986043771043 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-9.99188026e-01 -3.94219167e-02 8.31872025e-03] [-3.94146198e-02 9.99222401e-01 1.03936423e-03] [-8.35322535e-03 7.10641094e-04 -9.99964859e-01]] t_estimated: [[0.99970959] [0.02365614] [0.00459591]] R_gt: [[ 0.98753346 -0.15739434 -0.00225383] [ 0.15738735 0.98753313 -0.0024854 ] [ 0.00261668 0.0020992 0.99999501]] t_gt: [ 0.68300788 -0.72974446 -0.03119696] Pose Error in degrees for R and t: 179.6685175006453 48.28673362166374 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-9.63329785e-01 2.68136184e-01 9.93545725e-03] [ 2.68145203e-01 9.63378409e-01 -4.37694929e-04] [-9.68896685e-03 2.24250064e-03 -9.99950546e-01]] t_estimated: [[ 0.9901503 ] [-0.13991422] [ 0.00513845]] R_gt: [[ 9.59813052e-01 -2.79348050e-01 -2.68838500e-02] [ 2.79266071e-01 9.60189328e-01 -6.82530237e-03] [ 2.77206743e-02 -9.57477993e-04 9.99615465e-01]] t_gt: [ 0.75119169 -0.65347025 -0.09320768] Pose Error in degrees for R and t: 179.02625403813227 33.41085958089475 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 5.52652561e-01 8.33410194e-01 1.61067102e-03] [-8.33402051e-01 5.52654421e-01 -3.75662955e-03] [-4.02095782e-03 7.33774417e-04 9.99991647e-01]] t_estimated: [[0.89445818] [0.44714879] [0.00159008]] R_gt: [[ 0.91727937 -0.39484176 -0.05195192] [ 0.3947182 0.91870932 -0.01306005] [ 0.05288551 -0.00852781 0.99856389]] t_gt: [ 0.79013875 -0.60374133 -0.10572207] Pose Error in degrees for R and t: 79.77746957622698 64.11184858785954 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.2802867 0.95977122 -0.01669052] [ 0.95951678 0.2806293 0.0239737 ] [ 0.02769312 -0.00929533 -0.99957325]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98969546 -0.09029948 0.11112943] [ 0.06540069 0.97547318 0.21018083] [-0.1273827 -0.20074679 0.97132608]] t_gt: [ 0.22435456 -0.23024978 0.94691609] Pose Error in degrees for R and t: 176.83797684008434 87.54943746652259 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99998444e-01 1.75289125e-03 -1.99451265e-04] [-1.75292465e-03 9.99998450e-01 -1.67408491e-04] [ 1.99157507e-04 1.67757853e-04 9.99999966e-01]] t_estimated: [[-4.08352201e-03] [-9.99991316e-01] [-8.31842729e-04]] R_gt: [[ 0.96961638 -0.15387874 0.19017209] [ 0.08167077 0.93640568 0.34128614] [-0.23059402 -0.31538363 0.92052104]] t_gt: [ 0.25225629 -0.13684088 0.95793598] Pose Error in degrees for R and t: 24.081403608913856 82.24064314852681 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-1.58583301e-01 -9.87345070e-01 -1.02418002e-03] [ 9.87345379e-01 -1.58583876e-01 5.06626463e-04] [-6.62633578e-04 -9.30876915e-04 9.99999347e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96844197 -0.17820871 0.17424786] [ 0.10131366 0.92022331 0.37805412] [-0.22772018 -0.34846883 0.90923816]] t_gt: [ 0.28448338 -0.14279071 0.94798735] Pose Error in degrees for R and t: 93.26190087613801 73.45465778595279 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.81860860e-01 -1.89601511e-01 7.20299816e-04] [ 1.89602605e-01 9.81845884e-01 -5.43249209e-03] [ 3.22785300e-04 5.47052208e-03 9.99984984e-01]] t_estimated: [[-0.96976799] [-0.24401971] [-0.00210362]] R_gt: [[ 9.62970091e-01 2.69605286e-01 3.91392042e-04] [-2.69484219e-01 9.62576507e-01 -2.87192270e-02] [-8.11960366e-03 2.75490779e-02 9.99586634e-01]] t_gt: [-0.90945448 0.40304351 -0.10221778] Pose Error in degrees for R and t: 26.60259234137941 38.387927820087974 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.77524114 0.63166162 -0.0021841 ] [ 0.63164949 -0.77519246 0.00977644] [ 0.00448231 -0.00895869 -0.99994982]] t_estimated: [[-0.91114282] [-0.41208954] [-0.00098822]] R_gt: [[ 8.38964098e-01 5.44185223e-01 4.83374202e-04] [-5.43190946e-01 8.37483811e-01 -5.97138806e-02] [-3.29006896e-02 4.98350461e-02 9.98214724e-01]] t_gt: [-0.84125689 0.53555653 -0.07393275] Pose Error in degrees for R and t: 177.14664104783216 56.91511166479896 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.3108171 0.94849099 0.06129899] [-0.92444147 0.31666572 -0.2124401 ] [-0.22090881 0.00936268 0.97524953]] t_estimated: [[9.99965870e-01] [8.21139857e-03] [9.12377618e-04]] R_gt: [[ 0.68962322 0.7240798 -0.01127873] [-0.72363063 0.68842747 -0.04927333] [-0.02791333 0.04214188 0.9987215 ]] t_gt: [-0.78154682 0.62199117 -0.0480785 ] Pose Error in degrees for R and t: 27.225531591080212 39.06272006235484 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[-0.40624243 0.91298297 0.03780446] [ 0.91298794 0.40725551 -0.02441242] [-0.0376842 0.02459765 -0.99898692]] t_estimated: [[ 0.8264859 ] [-0.56249907] [ 0.02271248]] R_gt: [[ 0.9988801 -0.04617571 -0.01030217] [ 0.04582182 0.99842873 -0.0322637 ] [ 0.01177582 0.03175533 0.99942669]] t_gt: [ 0.65519606 -0.29936488 -0.69361286] Pose Error in degrees for R and t: 176.95348294521264 46.040550220048495 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.94376687e-01 1.05900815e-01 1.49354176e-04] [-1.05900791e-01 9.94376688e-01 -1.59983825e-04] [-1.65456729e-04 1.43267461e-04 9.99999976e-01]] t_estimated: [[9.20445661e-01] [3.90869691e-01] [8.18577034e-04]] R_gt: [[ 0.98896014 -0.14079711 -0.04618625] [ 0.13635741 0.98672182 -0.08824894] [ 0.05799825 0.08097588 0.99502731]] t_gt: [ 0.64744886 -0.33851771 -0.68279992] Pose Error in degrees for R and t: 15.175426935208952 62.41485457898009 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.7485431 0.66295409 0.01323291] [ 0.66299224 0.74862388 -0.00188873] [-0.01115862 0.00735953 -0.99991066]] t_estimated: [[ 0.97518694] [-0.22133564] [ 0.00457994]] R_gt: [[ 0.98166466 -0.18860635 -0.02761229] [ 0.18437562 0.97627342 -0.11355943] [ 0.0483751 0.10638613 0.99314724]] t_gt: [ 0.60625768 -0.41577265 -0.67792679] Pose Error in degrees for R and t: 179.04248626218677 47.14580572112878 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99998495e-01 -1.73275161e-03 9.05072346e-05] [ 1.73273897e-03 9.99998489e-01 1.39510240e-04] [-9.07488344e-05 -1.39353204e-04 9.99999986e-01]] t_estimated: [[0.00679489] [0.99997633] [0.00108454]] R_gt: [[ 0.99486742 0.07161822 -0.07148362] [-0.06927181 0.99699019 0.03479283] [ 0.07376075 -0.02966276 0.99683498]] t_gt: [-0.05071714 0.95282197 -0.29926255] Pose Error in degrees for R and t: 6.162927612737298 17.799843398206267 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.90206439e-01 -1.39610919e-01 -2.14698204e-05] [ 1.39610920e-01 9.90206407e-01 2.48578400e-04] [-1.34447051e-05 -2.49141354e-04 9.99999969e-01]] t_estimated: [[-2.32963217e-01] [-9.72485515e-01] [-2.48315966e-04]] R_gt: [[ 0.9903726 0.11677582 -0.07433407] [-0.10957324 0.98947144 0.09454824] [ 0.08459233 -0.08549271 0.99274126]] t_gt: [-0.072914 0.99000005 0.12076195] Pose Error in degrees for R and t: 16.091561046444635 18.949631162240202 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.99983765 -0.01079702 -0.01442538] [ 0.01099721 0.99984331 0.0138711 ] [ 0.01427335 -0.01402749 0.99979973]] t_estimated: [[-0.99376008] [-0.11041779] [-0.01577397]] R_gt: [[ 0.98843637 0.1015549 -0.11260566] [-0.09438092 0.99325734 0.06731953] [ 0.11868254 -0.05591261 0.99135727]] t_gt: [ 0.37697876 0.86949382 -0.3191669 ] Pose Error in degrees for R and t: 8.988687061969925 62.25097269985879 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-3.73401321e-01 9.27666964e-01 -2.33586489e-03] [-9.27658682e-01 -3.73408006e-01 -3.97872480e-03] [-4.56316220e-03 6.81224247e-04 9.99989357e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99308127 0.11693603 0.01078973] [-0.11733441 0.99181535 0.0503451 ] [-0.00481358 -0.05126285 0.99867297]] t_gt: [-0.84237315 0.43560782 0.31725906] Pose Error in degrees for R and t: 105.23097835236288 64.48958801910695 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999161e-01 5.54717125e-04 1.17061760e-03] [-5.52685244e-04 9.99998342e-01 -1.73534439e-03] [-1.17157829e-03 1.73469595e-03 9.99997809e-01]] t_estimated: [[-0.5069393 ] [-0.86197981] [-0.00183011]] R_gt: [[ 0.9650061 0.26123698 0.0228134 ] [-0.26163684 0.96502212 0.01669846] [-0.01765206 -0.02208205 0.99960007]] t_gt: [-0.831585 0.54613287 0.10102121] Pose Error in degrees for R and t: 15.215254856224897 87.16973978485841 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99998749e-01 -1.54295851e-03 -3.49534946e-04] [ 1.54296275e-03 9.99998810e-01 1.18444456e-05] [ 3.49516254e-04 -1.23837501e-05 9.99999939e-01]] t_estimated: [[-0.99925091] [-0.03868177] [-0.00115898]] R_gt: [[ 0.93481065 0.35512217 0.00423014] [-0.35514468 0.93478862 0.00654153] [-0.00163033 -0.00761701 0.99996944]] t_gt: [-0.79271801 0.60871062 0.03270378] Pose Error in degrees for R and t: 20.895210784588862 39.77701186106868 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 0.06817776 0.99583931 -0.06046373] [ 0.99615833 -0.06461063 0.05911047] [ 0.05495793 -0.06426147 -0.99641863]] t_estimated: [[ 0.69565454] [-0.71702903] [-0.04397869]] R_gt: [[ 9.97387318e-01 -7.17551333e-02 -8.33712524e-03] [ 7.22341210e-02 9.89859651e-01 1.22306835e-01] [-5.23163093e-04 -1.22588983e-01 9.92457520e-01]] t_gt: [ 0.22278735 -0.71874692 0.65861116] Pose Error in degrees for R and t: 169.86247692779511 50.10515619782936 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-0.16627434 0.98607885 0.00116215] [-0.98607763 -0.16627158 -0.00216209] [-0.00193876 -0.00150547 0.99999699]] t_estimated: [[0.42717395] [0.90416853] [0.00129491]] R_gt: [[ 0.98789464 -0.13395811 -0.07823152] [ 0.14456701 0.977889 0.15110616] [ 0.05626015 -0.16058561 0.98541629]] t_gt: [ 0.41250815 -0.78230417 0.46673034] Pose Error in degrees for R and t: 107.95006029603898 57.95955919445294 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.98256988e-01 -5.90131393e-02 6.59876506e-04] [ 5.90134094e-02 9.98257111e-01 -3.97602359e-04] [-6.35262651e-04 4.35850895e-04 9.99999703e-01]] t_estimated: [[0.3863358 ] [0.92235729] [0.00129855]] R_gt: [[ 0.96289965 -0.2417027 -0.12002039] [ 0.25855553 0.95367759 0.15377664] [ 0.07729259 -0.17910277 0.9807892 ]] t_gt: [ 0.55351177 -0.7647578 0.32980331] Pose Error in degrees for R and t: 15.921171458431791 60.58641838965288 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999964e-01 -2.64395154e-04 -4.36903537e-05] [ 2.64395170e-04 9.99999965e-01 3.71143459e-07] [ 4.36902541e-05 -3.82694965e-07 9.99999999e-01]] t_estimated: [[9.65018271e-01] [2.62181758e-01] [6.80104229e-04]] R_gt: [[ 0.99738946 -0.07187751 -0.00691506] [ 0.07186481 0.99741192 -0.00191979] [ 0.00703497 0.0014179 0.99997408]] t_gt: [ 0.67850909 -0.72267063 -0.13180509] Pose Error in degrees for R and t: 4.126985417137835 62.27599418350851 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-8.55691600e-01 5.17482180e-01 -2.01987046e-03] [-5.17481419e-01 -8.55693946e-01 -9.23105196e-04] [-2.20608141e-03 2.55352069e-04 9.99997534e-01]] t_estimated: [[0.6325749 ] [0.77449876] [0.00081099]] R_gt: [[ 0.99246011 -0.11776303 0.03398558] [ 0.11755098 0.99303246 0.00817462] [-0.03471112 -0.00411827 0.99938829]] t_gt: [ 0.69419065 -0.70034238 0.16619232] Pose Error in degrees for R and t: 155.59929835923626 84.07929752725117 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999873e-01 5.01936905e-04 5.43449247e-05] [-5.01935069e-04 9.99999873e-01 -3.38038022e-05] [-5.43618852e-05 3.37765202e-05 9.99999998e-01]] t_estimated: [[ 8.07414277e-01] [-5.89984810e-01] [-3.31938626e-04]] R_gt: [[ 9.85447593e-01 -1.63008796e-01 4.81773250e-02] [ 1.62772924e-01 9.86623477e-01 8.79473953e-03] [-4.89668190e-02 -8.24077329e-04 9.98800045e-01]] t_gt: [ 0.73211278 -0.66042902 0.16686639] Pose Error in degrees for R and t: 9.81740484928079 11.2732577561458 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 1.00000000e+00 -8.13621229e-06 -5.85686417e-07] [ 8.13622780e-06 1.00000000e+00 2.64766743e-05] [ 5.85470997e-07 -2.64766791e-05 1.00000000e+00]] t_estimated: [[0.99992912] [0.01183378] [0.00131379]] R_gt: [[ 0.99882751 -0.04382916 0.02058424] [ 0.0436653 0.99901156 0.00831002] [-0.02092818 -0.0074007 0.99975349]] t_gt: [ 0.70476431 -0.60424871 0.37174017] Pose Error in degrees for R and t: 2.81089494128352 45.729060213767966 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99996840e-01 2.51364059e-03 2.50613472e-05] [-2.51363888e-03 9.99996838e-01 -6.79652790e-05] [-2.52321083e-05 6.79020691e-05 9.99999997e-01]] t_estimated: [[ 0.57706406] [-0.81669737] [-0.00157587]] R_gt: [[ 0.99568412 -0.08425887 0.03890261] [ 0.08450951 0.99641058 -0.00485734] [-0.03835381 0.00812384 0.99923039]] t_gt: [ 0.75260193 -0.61429079 0.23714376] Pose Error in degrees for R and t: 5.468526427098501 20.672190531695176 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99998502e-01 -1.67619937e-03 4.31218611e-04] [ 1.67629369e-03 9.99998571e-01 -2.18461988e-04] [-4.30851809e-04 2.19184510e-04 9.99999883e-01]] t_estimated: [[-0.01377595] [-0.99990445] [-0.001148 ]] R_gt: [[ 0.98635926 -0.16116165 0.033516 ] [ 0.16178232 0.98668446 -0.0167076 ] [-0.03037711 0.02190323 0.99929845]] t_gt: [ 0.78040944 -0.62139402 0.06950238] Pose Error in degrees for R and t: 9.439879767056155 52.37404735689621 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-6.39726360e-01 -7.68601889e-01 -1.14924650e-03] [-7.68602175e-01 6.39723341e-01 2.17811773e-03] [-9.38905591e-04 2.27671268e-03 -9.99996968e-01]] t_estimated: [[9.46121719e-01] [3.23810344e-01] [7.44391596e-04]] R_gt: [[ 0.98872063 -0.14923631 -0.01260951] [ 0.14937462 0.98872009 0.01089118] [ 0.01084169 -0.01265248 0.99986136]] t_gt: [ 0.6616459 -0.74405317 0.0927879 ] Pose Error in degrees for R and t: 179.67983774181545 67.34790876361176 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-6.06640720e-01 7.94975885e-01 6.15891952e-04] [-7.94974205e-01 -6.06637372e-01 -2.66668377e-03] [-1.74632622e-03 -2.10733718e-03 9.99996255e-01]] t_estimated: [[0.34664966] [0.9379938 ] [0.00128677]] R_gt: [[ 9.72601552e-01 -2.31516736e-01 -2.11216231e-02] [ 2.32477748e-01 9.68321380e-01 9.11460282e-02] [-6.49668921e-04 -9.35584390e-02 9.95613845e-01]] t_gt: [ 0.56017034 -0.75120457 0.34914306] Pose Error in degrees for R and t: 140.83910429354654 59.33662943886408 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99990021 -0.01407132 -0.00125342] [ 0.01407389 0.99989882 0.00206555] [ 0.00122423 -0.00208299 0.99999708]] t_estimated: [[ 0.44553816] [-0.89526086] [ 0.00193427]] R_gt: [[ 0.95040893 -0.29991715 -0.08228972] [ 0.30973823 0.93663543 0.16363334] [ 0.02799958 -0.18100688 0.98308264]] t_gt: [ 0.56074353 -0.72082265 0.40740816] Pose Error in degrees for R and t: 20.001575990678816 26.369931568000172 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.72838061 -0.68516882 -0.00232061] [ 0.68515904 -0.72838328 0.00385941] [-0.00433464 0.00122114 0.99998986]] t_estimated: [[0.99993973] [0.01086891] [0.0015527 ]] R_gt: [[ 0.99805826 0.00900171 -0.06163159] [-0.00690379 0.99939355 0.03416386] [ 0.06190185 -0.03367192 0.99751414]] t_gt: [ 0.97900252 0.0951677 -0.18026972] Pose Error in degrees for R and t: 137.2369706106621 11.564977568096229 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99981295e-01 -6.05596635e-03 -8.57413405e-04] [ 6.05584207e-03 9.99981652e-01 -1.47474959e-04] [ 8.58290776e-04 1.42279840e-04 9.99999622e-01]] t_estimated: [[-0.99890903] [-0.04648262] [-0.00448493]] R_gt: [[ 0.98884075 0.08151224 -0.12470253] [-0.0721118 0.9943322 0.07813129] [ 0.13036438 -0.06826743 0.98911325]] t_gt: [ 0.60984793 0.75141777 -0.2519064 ] Pose Error in degrees for R and t: 9.681382103292817 49.985556966990785 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 8.03125567e-01 5.95802959e-01 2.85611750e-03] [-5.95798363e-01 8.03130624e-01 -2.34737066e-03] [-3.69240582e-03 1.83563257e-04 9.99993166e-01]] t_estimated: [[0.72433096] [0.68945146] [0.00116265]] R_gt: [[ 0.97797096 0.15462249 -0.1402347 ] [-0.13412044 0.98023031 0.14547061] [ 0.15995576 -0.12345679 0.9793735 ]] t_gt: [0.26213613 0.96366621 0.05130387] Pose Error in degrees for R and t: 30.52973677372979 31.313760360992358 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[-0.89587278 -0.4437926 -0.02144966] [-0.44382045 0.89610807 -0.0037049 ] [ 0.02086542 0.00620067 -0.99976306]] t_estimated: [[ 0.97652842] [ 0.21514713] [-0.01019624]] R_gt: [[ 0.99008817 0.13140667 0.04957604] [-0.13256378 0.99095744 0.02079364] [-0.04639571 -0.02715965 0.99855381]] t_gt: [-0.85777864 0.46384379 0.22150563] Pose Error in degrees for R and t: 178.24794189407243 42.25929171363399 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99934287e-01 -1.13847491e-02 -1.34527103e-03] [ 1.13844503e-02 9.99935169e-01 -2.29509064e-04] [ 1.34779672e-03 2.14178811e-04 9.99999069e-01]] t_estimated: [[-0.94703933] [-0.32110916] [-0.00232688]] R_gt: [[ 0.96575052 0.25484016 0.0488091 ] [-0.25725339 0.9649484 0.05192662] [-0.0338657 -0.0627044 0.99745731]] t_gt: [-0.8273522 0.52142683 0.20881188] Pose Error in degrees for R and t: 16.047817051727357 52.00343273845951 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.79160015 0.6110306 -0.00328657] [-0.60910412 0.78950928 0.07528131] [ 0.04859396 -0.05759084 0.99715692]] t_estimated: [[0.0311536 ] [0.99951124] [0.00259613]] R_gt: [[ 0.91807207 0.39312223 0.05099177] [-0.39307134 0.91943712 -0.01144416] [-0.05138378 -0.00953707 0.99863273]] t_gt: [-0.78733978 0.61301626 0.06562875] Pose Error in degrees for R and t: 15.73020360855357 53.95938719086938 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 6.02759283e-01 7.97922952e-01 4.56623652e-04] [-7.97922307e-01 6.02759397e-01 -1.04937207e-03] [-1.11255226e-03 2.68168557e-04 9.99999345e-01]] t_estimated: [[-4.38106570e-01] [ 8.98922653e-01] [ 8.34617838e-04]] R_gt: [[ 0.99476924 -0.04835722 0.08998777] [ 0.03549533 0.98960001 0.13939942] [-0.09579219 -0.13547709 0.98613881]] t_gt: [ 0.15278344 -0.19974577 0.96786303] Pose Error in degrees for R and t: 56.10682525878031 75.77776255833412 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 5.78681778e-01 8.15553425e-01 1.01195119e-04] [-8.15552890e-01 5.78681533e-01 -1.08019440e-03] [-9.39515985e-04 5.42558842e-04 9.99999411e-01]] t_estimated: [[-2.28413642e-01] [ 9.73564021e-01] [ 5.53126745e-04]] R_gt: [[ 0.99368508 -0.07616496 0.08240358] [ 0.06089092 0.98283554 0.1741449 ] [-0.09425158 -0.16802868 0.98126581]] t_gt: [ 0.24373403 -0.25381222 0.93604118] Pose Error in degrees for R and t: 59.56627525433623 72.40679356547892 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999875e-01 -5.00736909e-04 -1.50826049e-05] [ 5.00737673e-04 9.99999873e-01 5.06734612e-05] [ 1.50572289e-05 -5.06810073e-05 9.99999999e-01]] t_estimated: [[ 2.00863261e-02] [-9.99798205e-01] [-2.97134794e-04]] R_gt: [[ 0.99001726 -0.07512804 0.11926336] [ 0.04805717 0.97533006 0.21546039] [-0.13250744 -0.20757901 0.96920183]] t_gt: [ 0.17848438 -0.15964817 0.97090462] Pose Error in degrees for R and t: 14.689528249593277 80.62400797842396 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 6.22758305e-01 -7.82414271e-01 3.78667005e-05] [ 7.82414142e-01 6.22758229e-01 5.46576805e-04] [-4.51231291e-04 -3.10757803e-04 9.99999850e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99936021 -0.03463401 -0.00890967] [ 0.03412493 0.99806179 -0.05204351] [ 0.010695 0.05170789 0.99860489]] t_gt: [ 0.5132911 -0.07903823 -0.85456726] Pose Error in degrees for R and t: 49.59908594930198 59.17744592180668 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99097472e-01 4.24758469e-02 2.09448421e-04] [-4.24757915e-02 9.99097462e-01 -2.62124732e-04] [-2.20393356e-04 2.52991670e-04 9.99999944e-01]] t_estimated: [[9.99994892e-01] [3.10075586e-03] [7.75189834e-04]] R_gt: [[ 0.99474899 -0.09678506 -0.03326414] [ 0.09369976 0.99202239 -0.08432765] [ 0.04116182 0.08076923 0.99588219]] t_gt: [ 0.62997828 -0.22284423 -0.74395417] Pose Error in degrees for R and t: 9.460920920835374 51.045180753651664 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 1.00000000e+00 -4.09158818e-13 7.85301186e-17] [ 4.09172696e-13 1.00000000e+00 1.27339545e-16] [ 2.55065337e-16 -9.56266316e-17 1.00000000e+00]] t_estimated: [[ 9.44485498e-02] [-9.95529632e-01] [-4.73256871e-04]] R_gt: [[ 0.97944214 -0.19818428 -0.03762636] [ 0.19117978 0.9714707 -0.14033917] [ 0.06436725 0.13026219 0.98938773]] t_gt: [ 0.63673969 -0.30026966 -0.71021173] Pose Error in degrees for R and t: 14.034404681080824 68.93648797363815 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.21781426e-01 3.87708989e-01 -8.60970828e-04] [-3.87707317e-01 9.21781081e-01 1.63550662e-03] [ 1.42772724e-03 -1.17377494e-03 9.99998292e-01]] t_estimated: [[0.0128524 ] [0.99991658] [0.00128524]] R_gt: [[ 0.99929789 -0.0278532 -0.02507172] [ 0.0243953 0.99134395 -0.12900265] [ 0.02844708 0.12829919 0.99132658]] t_gt: [ 0.26880721 0.22545919 -0.93643518] Pose Error in degrees for R and t: 25.46443591597507 76.8387924005664 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.96411837e-01 -8.46371021e-02 -1.12443291e-04] [ 8.46368922e-02 9.96411052e-01 -1.26940356e-03] [ 2.19478376e-04 1.25533188e-03 9.99999188e-01]] t_estimated: [[-0.41306899] [-0.91069558] [-0.00275238]] R_gt: [[ 0.99732583 -0.06532341 -0.03279335] [ 0.05916436 0.98491713 -0.16259587] [ 0.04291983 0.16022115 0.98614654]] t_gt: [ 0.38054489 0.1410068 -0.91394894] Pose Error in degrees for R and t: 9.55865770937557 73.55528572438224 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99995429e-01 3.02358418e-03 3.04247349e-06] [-3.02358184e-03 9.99995254e-01 -5.92382535e-04] [-4.83357751e-06 5.92370628e-04 9.99999825e-01]] t_estimated: [[-0.71669829] [-0.69738226] [-0.00124535]] R_gt: [[ 0.98711127 -0.15041817 -0.0546407 ] [ 0.13623645 0.96896673 -0.20626015] [ 0.08397022 0.19615709 0.97696951]] t_gt: [ 0.5125076 -0.00291677 -0.85867773] Pose Error in degrees for R and t: 14.938149984789309 68.64103562567537 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 0.99695841 -0.07790196 -0.00228543] [ 0.07791252 0.99694782 0.00496843] [ 0.00189141 -0.00513138 0.99998505]] t_estimated: [[-0.93766838] [-0.34752744] [-0.00163928]] R_gt: [[ 9.97970424e-01 -1.95784772e-02 6.05937434e-02] [ 1.96203751e-02 9.99807444e-01 -1.00887481e-04] [-6.05795157e-02 1.28876745e-03 9.98162640e-01]] t_gt: [-0.27740306 -0.19331072 0.94110494] Pose Error in degrees for R and t: 4.919524251597925 70.9889731433405 Number of keypoints: Image1: 474 Image2: 474 R_estimated: [[ 9.97151573e-01 -7.54236562e-02 1.12111278e-04] [ 7.54236359e-02 9.97151566e-01 1.74801939e-04] [-1.24976137e-04 -1.65848188e-04 9.99999978e-01]] t_estimated: [[0.08770416] [0.99614598] [0.00108277]] R_gt: [[ 0.99584089 0.01098508 0.09045041] [-0.00868528 0.9996302 -0.02576792] [-0.09069976 0.02487513 0.99556776]] t_gt: [-0.66645507 0.1821984 0.72293941] Pose Error in degrees for R and t: 7.27850189146633 82.88691524634054 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 7.09425661e-01 -7.04751230e-01 -6.39809524e-03] [ 7.04762566e-01 7.09442955e-01 -6.47927584e-04] [ 4.99571135e-03 -4.04948156e-03 9.99979322e-01]] t_estimated: [[9.63172726e-01] [2.68881718e-01] [9.60291850e-04]] R_gt: [[ 0.99881253 -0.00610088 0.04835638] [ 0.00643931 0.99995546 -0.0068379 ] [-0.048313 0.00714086 0.99880626]] t_gt: [-0.85081121 -0.27839335 0.44566515] Pose Error in degrees for R and t: 44.5595663040885 26.63186659546228 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-0.72125681 -0.69225947 -0.02377911] [-0.69236471 0.72153169 -0.0048102 ] [ 0.02048728 0.01299443 -0.99970566]] t_estimated: [[ 0.9307085 ] [ 0.36558071] [-0.01150804]] R_gt: [[ 0.99991746 0.00658269 0.01112431] [-0.0063608 0.99978144 -0.01992416] [-0.01125323 0.01985215 0.99973938]] t_gt: [ 0.97061125 0.03665716 -0.23784461] Pose Error in degrees for R and t: 178.80170031087366 23.147719803497928 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 4.61728435e-01 8.87018056e-01 2.41258537e-03] [ 8.87021336e-01 -4.61726891e-01 -1.19528776e-03] [ 5.37137164e-05 2.69191304e-03 -9.99996375e-01]] t_estimated: [[0.55135816] [0.83426816] [0.00090387]] R_gt: [[ 9.94141547e-01 -1.08040791e-01 3.29975206e-03] [ 1.08090811e-01 9.93733293e-01 -2.84712860e-02] [-2.01748274e-04 2.86609548e-02 9.99589447e-01]] t_gt: [ 0.72005878 -0.68848418 -0.08663073] Pose Error in degrees for R and t: 178.41204888570323 79.77882544454667 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.86035103e-01 1.66537391e-01 2.69197496e-04] [-1.66537522e-01 9.86034952e-01 5.72557478e-04] [-1.70085911e-04 -6.09393255e-04 9.99999800e-01]] t_estimated: [[0.49484302] [0.86898123] [0.0014176 ]] R_gt: [[ 0.98800606 -0.15395128 0.01206068] [ 0.15403644 0.98804341 -0.00657295] [-0.01090402 0.00835248 0.99990586]] t_gt: [ 0.70798956 -0.70495247 0.04234151] Pose Error in degrees for R and t: 18.46230467907148 74.80014408063043 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 1.65764851e-01 -9.86150346e-01 5.43218656e-03] [-9.86165282e-01 -1.65763583e-01 6.86035484e-04] [ 2.23924577e-04 -5.47075436e-03 -9.99985010e-01]] t_estimated: [[0.62560455] [0.78013635] [0.00249245]] R_gt: [[ 0.99770736 -0.05107728 -0.04440614] [ 0.050774 0.99867866 -0.00793383] [ 0.04475164 0.00566173 0.99898218]] t_gt: [ 0.82322535 -0.42301658 -0.37862514] Pose Error in degrees for R and t: 178.27748092788696 79.3937124150536 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-5.08242640e-01 8.61213333e-01 -1.00679891e-03] [-8.61212280e-01 -5.08243606e-01 -1.35839184e-03] [-1.68156427e-03 1.76674930e-04 9.99998571e-01]] t_estimated: [[0.67946962] [0.73370323] [0.00077477]] R_gt: [[ 9.93442360e-01 -5.65038898e-02 -9.93939964e-02] [ 5.67202820e-02 9.98390597e-01 -6.50091963e-04] [ 9.92704924e-02 -4.99096567e-03 9.95048277e-01]] t_gt: [ 0.82678484 -0.26809698 -0.49452083] Pose Error in degrees for R and t: 123.87844111549268 68.61159097596848 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.75798484 0.64599452 0.0902777 ] [ 0.6429705 0.76327514 -0.06324553] [-0.10976299 0.01010674 -0.9939064 ]] t_estimated: [[0.415559 ] [0.90954752] [0.00583356]] R_gt: [[ 0.98750038 0.0591689 -0.14608556] [-0.05935783 0.99823268 0.00307233] [ 0.14600877 0.00563913 0.98926711]] t_gt: [ 0.39734903 0.56614707 -0.72221274] Pose Error in degrees for R and t: 178.29790499950707 47.48007476750281 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 3.98470463e-01 9.17179129e-01 1.93252984e-03] [-9.17180494e-01 3.98471837e-01 -3.70770071e-04] [-1.11012129e-03 -1.62473775e-03 9.99998064e-01]] t_estimated: [[0.20666522] [0.97841051] [0.00153842]] R_gt: [[ 0.9991053 -0.02454524 -0.03443102] [ 0.02383718 0.99949874 -0.0208457 ] [ 0.03492578 0.02000656 0.99918978]] t_gt: [ 0.49971136 -0.25265303 -0.8285258 ] Pose Error in degrees for R and t: 67.94266551706407 81.6511365730023 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.80876421 -0.58812288 -0.00345324] [ 0.58813004 0.80876486 0.00156598] [ 0.00187187 -0.00329746 0.99999281]] t_estimated: [[0.53892903] [0.84235046] [0.00109538]] R_gt: [[ 0.98627235 -0.13134714 0.10007193] [ 0.13357258 0.99091242 -0.01583398] [-0.09708168 0.02898251 0.99485484]] t_gt: [ 0.64241571 -0.71003305 0.2883663 ] Pose Error in degrees for R and t: 29.009225727189364 75.42989989623993 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-2.68753636e-01 9.63201585e-01 3.76701097e-03] [ 9.63208690e-01 2.68754388e-01 3.14746873e-04] [-7.09236041e-04 3.71300707e-03 -9.99992855e-01]] t_estimated: [[-0.12116116] [-0.99263223] [-0.00111157]] R_gt: [[ 0.93025529 -0.27844595 0.23894276] [ 0.27559696 0.96017422 0.04595732] [-0.2422223 0.02309874 0.96994548]] t_gt: [ 0.63515498 -0.63557718 0.43888472] Pose Error in degrees for R and t: 169.03198189358463 56.395949603464835 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.15295192 -0.98807136 0.01790794] [-0.9882001 0.1530709 0.00546518] [-0.00814117 -0.01686072 -0.9998247 ]] t_estimated: [[0.76173857] [0.64783329] [0.00814698]] R_gt: [[ 9.97909991e-01 6.46038535e-02 -1.27999481e-03] [-6.46159956e-02 9.97770378e-01 -1.67396896e-02] [ 1.95664369e-04 1.67883111e-02 9.99859230e-01]] t_gt: [-0.9426618 0.25763893 -0.21215773] Pose Error in degrees for R and t: 179.66270851565372 56.4349603910208 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-0.98196992 0.18903412 -0.00108787] [-0.18902775 -0.98196201 -0.00437297] [-0.00189488 -0.00408849 0.99998985]] t_estimated: [[0.95372186] [0.30068731] [0.00132461]] R_gt: [[ 0.99669701 0.08113907 0.00352746] [-0.0811502 0.99669696 0.00322967] [-0.00325355 -0.00350469 0.99998921]] t_gt: [-0.98648961 0.16337199 0.01215898] Pose Error in degrees for R and t: 164.44914329613047 26.91276421688112 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.99864227 0.05192867 -0.00412598] [-0.05183053 0.99843264 0.02111529] [ 0.005216 -0.02087277 0.99976853]] t_estimated: [[-0.98940584] [-0.14516923] [-0.00140941]] R_gt: [[ 0.99610073 0.06107164 0.06366553] [-0.06012807 0.99805223 -0.0166273 ] [-0.06455706 0.01273463 0.9978335 ]] t_gt: [-0.9918602 0.12506895 0.02389793] Pose Error in degrees for R and t: 4.47230694657886 15.600031349082101 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999990e-01 -9.72884167e-05 1.06870158e-04] [ 9.72944168e-05 9.99999994e-01 -5.61403705e-05] [-1.06864696e-04 5.61507677e-05 9.99999993e-01]] t_estimated: [[-0.60680113] [-0.79485132] [-0.00193866]] R_gt: [[ 9.93974205e-01 -1.09615450e-01 -5.50777740e-04] [ 1.09599757e-01 9.93727669e-01 2.21959990e-02] [-1.88584118e-03 -2.21217210e-02 9.99753234e-01]] t_gt: [ 0.6005837 -0.77158419 0.20965939] Pose Error in degrees for R and t: 6.415856041699324 75.61398932481015 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.98986567e-01 4.50091541e-02 1.21940776e-04] [-4.50091626e-02 9.98986572e-01 6.77007989e-05] [-1.18770042e-04 -7.31206409e-05 9.99999990e-01]] t_estimated: [[ 9.96299175e-01] [ 8.59531726e-02] [-8.01035884e-05]] R_gt: [[ 0.97186627 -0.23550823 -0.00351506] [ 0.23553178 0.97167299 0.01940395] [-0.00115404 -0.01968529 0.99980497]] t_gt: [ 0.6912513 -0.71598294 0.0976733 ] Pose Error in degrees for R and t: 16.24219542018267 51.16025545838436 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.95134883 -0.30810607 -0.00245849] [ 0.30811229 0.95134598 0.0027642 ] [ 0.0014872 -0.00338721 0.99999316]] t_estimated: [[0.98346187] [0.18109784] [0.00251525]] R_gt: [[ 0.9526235 -0.30263979 -0.03031679] [ 0.30378259 0.95164328 0.04571776] [ 0.01501406 -0.05276093 0.99849431]] t_gt: [ 0.70238576 -0.70070515 0.12516603] Pose Error in degrees for R and t: 2.948137188333515 55.6540593621971 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.59888176e-01 2.80383063e-01 1.66310173e-04] [-2.80382983e-01 9.59888134e-01 -3.91295355e-04] [-2.69351752e-04 3.28969242e-04 9.99999910e-01]] t_estimated: [[0.5903758 ] [0.80712806] [0.00084339]] R_gt: [[ 0.99297454 -0.10366055 -0.05707019] [ 0.10928159 0.98831483 0.10626438] [ 0.0453876 -0.11175388 0.99269845]] t_gt: [ 0.71425581 -0.60507048 0.35175041] Pose Error in degrees for R and t: 23.45764869022494 86.19314071893602 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 2.01830504e-01 9.79420437e-01 2.35260303e-04] [-9.79418893e-01 2.01830605e-01 -1.74336954e-03] [-1.75497449e-03 1.21446769e-04 9.99998453e-01]] t_estimated: [[0.0099884 ] [0.9999495 ] [0.00110982]] R_gt: [[ 0.97171705 -0.21362483 -0.10064686] [ 0.22653755 0.96361512 0.14186779] [ 0.06667865 -0.16065502 0.98475579]] t_gt: [ 0.78106217 -0.56668636 0.26231368] Pose Error in degrees for R and t: 91.60872711736805 56.043380330781844 Number of keypoints: Image1: 18 Image2: 18 R_estimated: [[-2.55538302e-01 -9.66798773e-01 5.56254272e-04] [ 9.66795931e-01 -2.55538900e-01 -2.34484362e-03] [ 2.40913654e-03 -6.14129912e-05 9.99997096e-01]] t_estimated: [[ 0.93799235] [-0.34664904] [-0.00218875]] R_gt: [[ 0.95550458 -0.27038659 -0.11790703] [ 0.2853679 0.94851164 0.1374465 ] [ 0.07467201 -0.16497787 0.98346623]] t_gt: [ 0.80626169 -0.55545798 0.20349083] Pose Error in degrees for R and t: 89.02541393597211 18.49146996853816 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999505e-01 -9.56942279e-04 -2.70734966e-04] [ 9.56935415e-04 9.99999542e-01 -2.54812464e-05] [ 2.70759226e-04 2.52221579e-05 9.99999963e-01]] t_estimated: [[-0.94359963] [-0.33108645] [-0.00122347]] R_gt: [[ 0.99691603 0.07799458 0.00864773] [-0.07803116 0.99694318 0.00398907] [-0.00831027 -0.00465025 0.99995422]] t_gt: [-0.94795736 0.31177751 0.0645881 ] Pose Error in degrees for R and t: 4.563935278042799 37.70333944642108 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99386862e-01 -3.50118509e-02 -2.63485206e-04] [ 3.50118432e-02 9.99386897e-01 -3.36585360e-05] [ 2.64502110e-04 2.44127960e-05 9.99999965e-01]] t_estimated: [[-9.88821006e-01] [-1.49105514e-01] [-7.50359153e-04]] R_gt: [[ 9.89441194e-01 1.44931520e-01 -9.00222257e-04] [-1.44934195e-01 9.89433037e-01 -3.98893499e-03] [ 3.12715627e-04 4.07788984e-03 9.99990841e-01]] t_gt: [-0.95183331 0.30510009 -0.03045137] Pose Error in degrees for R and t: 10.342612899976354 26.39848548147185 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.94829906 0.31732759 -0.00566572] [-0.31727044 0.94829121 0.00912445] [ 0.0082682 -0.00685514 0.99994232]] t_estimated: [[-0.99712166] [ 0.07542185] [-0.00774186]] R_gt: [[ 0.9919005 0.1245367 0.02498022] [-0.12461505 0.99220411 0.001577 ] [-0.02458945 -0.00467682 0.99968583]] t_gt: [-0.97087637 0.23472199 0.04800679] Pose Error in degrees for R and t: 11.492423229932745 9.798158610771758 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.97426852e-01 7.16914315e-02 1.19986930e-04] [-7.16914281e-02 9.97426859e-01 -3.20079806e-05] [-1.21972884e-04 2.33235850e-05 9.99999992e-01]] t_estimated: [[0.61063973] [0.7919069 ] [0.00161081]] R_gt: [[ 0.99972654 -0.00256776 0.02324834] [ 0.00216392 0.99984554 0.01740345] [-0.0232892 -0.01734856 0.99957848]] t_gt: [0.05471972 0.03288015 0.99796024] Pose Error in degrees for R and t: 4.559438314435929 86.49936693900601 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 9.99972144e-01 -7.46310597e-03 1.18553074e-04] [ 7.46311023e-03 9.99972150e-01 -3.55241619e-05] [-1.18284652e-04 3.64079470e-05 9.99999992e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99208514 -0.12278248 0.02628611] [ 0.12196172 0.99205545 0.03084522] [-0.02986467 -0.02739468 0.99917824]] t_gt: [ 0.7987246 -0.52868578 0.28728099] Pose Error in degrees for R and t: 6.999445344283169 37.12659166232067 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-0.96776649 -0.25181362 -0.00423366] [-0.25182099 0.96777296 0.00129788] [ 0.0037704 0.00232217 -0.9999902 ]] t_estimated: [[8.14934387e-01] [5.79552853e-01] [6.59332029e-04]] R_gt: [[ 0.97159858 -0.23525457 0.02550048] [ 0.23471231 0.9718027 0.02254169] [-0.0300845 -0.01591484 0.99942103]] t_gt: [ 0.82102367 -0.55953523 0.11331574] Pose Error in degrees for R and t: 178.48586217034244 69.8258410346014 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999955e-01 2.92426589e-04 7.30472715e-05] [-2.92427274e-04 9.99999957e-01 9.37503821e-06] [-7.30445269e-05 -9.39639880e-06 9.99999997e-01]] t_estimated: [[9.20334610e-01] [3.91131254e-01] [7.39520397e-04]] R_gt: [[ 0.9950368 -0.09945284 0.00321567] [ 0.0994657 0.99503119 -0.00439661] [-0.00276208 0.00469426 0.99998583]] t_gt: [ 0.58863693 -0.80778635 0.0314289 ] Pose Error in degrees for R and t: 5.733139019839804 76.94915163315245 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 5.94533908e-01 8.04068572e-01 1.77897200e-03] [-8.04068737e-01 5.94535805e-01 -8.02340441e-04] [-1.70279928e-03 -9.53397170e-04 9.99998096e-01]] t_estimated: [[-0.70541152] [ 0.70879581] [ 0.00175467]] R_gt: [[ 0.98279575 -0.18179891 -0.03259059] [ 0.18201177 0.98328921 0.00370444] [ 0.03137239 -0.00957205 0.99946237]] t_gt: [ 0.66551583 -0.73957531 -0.10058344] Pose Error in degrees for R and t: 64.03218151279975 6.359266394141545 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99161490e-01 4.09395522e-02 5.19398101e-04] [-4.09397271e-02 9.99161563e-01 3.30612773e-04] [-5.05427480e-04 -3.51599567e-04 9.99999810e-01]] t_estimated: [[0.99296629] [0.11837707] [0.00219468]] R_gt: [[ 0.96830591 -0.24906456 -0.01871622] [ 0.24690578 0.96583446 -0.07874931] [ 0.03769069 0.07163294 0.99671869]] t_gt: [ 0.62334189 -0.68217169 -0.38221286] Pose Error in degrees for R and t: 17.364360712798224 57.49554695796397 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.29744179e-01 -3.68200287e-01 -2.07603752e-03] [ 3.68202607e-01 9.29745179e-01 8.61735831e-04] [ 1.61289449e-03 -1.56559630e-03 9.99997474e-01]] t_estimated: [[-0.17110807] [-0.9852513 ] [-0.0013799 ]] R_gt: [[ 0.98321596 0.18221451 0.00918959] [-0.18197611 0.98305089 -0.02227975] [-0.01309314 0.02023323 0.99970966]] t_gt: [-0.58568218 0.80871725 -0.05433963] Pose Error in degrees for R and t: 32.13217855092738 45.853148291273456 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 8.22127997e-01 5.69302337e-01 6.36732779e-04] [-5.69302399e-01 8.22128195e-01 -9.72685420e-05] [-5.78851179e-04 -2.82526307e-04 9.99999793e-01]] t_estimated: [[-0.52306869] [ 0.85228986] [ 0.0010695 ]] R_gt: [[ 0.92076139 0.38985653 -0.01450263] [-0.38995463 0.9208231 -0.0045149 ] [ 0.01159478 0.00981266 0.99988505]] t_gt: [-0.52036574 0.85175307 -0.0611245 ] Pose Error in degrees for R and t: 11.786196388943429 3.5675258425310847 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 6.75043551e-01 7.37777431e-01 8.16187915e-04] [-7.37776736e-01 6.75044039e-01 -1.01643615e-03] [-1.30086644e-03 8.39742145e-05 9.99999150e-01]] t_estimated: [[-7.71185278e-01] [ 6.36610336e-01] [ 7.40089963e-04]] R_gt: [[ 0.85615966 0.51459041 -0.04676147] [-0.51637657 0.85535071 -0.0415936 ] [ 0.01859376 0.05975809 0.99803915]] t_gt: [-0.44135921 0.88925567 -0.12010997] Pose Error in degrees for R and t: 16.864057888513866 24.988826973364315 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.62692373e-01 -2.70598176e-01 -1.51370260e-04] [ 2.70598208e-01 9.62692341e-01 2.57340701e-04] [ 7.60870658e-05 -2.88700451e-04 9.99999955e-01]] t_estimated: [[ 7.60933362e-01] [-6.48829979e-01] [ 2.76622547e-04]] R_gt: [[ 0.99290441 -0.11736344 -0.01915963] [ 0.11839208 0.99072625 0.06667043] [ 0.01115679 -0.06846546 0.99759054]] t_gt: [ 0.7401908 -0.60705402 0.28914184] Pose Error in degrees for R and t: 9.760119798681462 16.825513064883726 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.96143339e-01 -8.77405569e-02 2.07703840e-04] [ 8.77406085e-02 9.96143324e-01 -2.53906309e-04] [-1.84624912e-04 2.71151140e-04 9.99999946e-01]] t_estimated: [[-0.40872539] [-0.91265673] [-0.00111427]] R_gt: [[ 0.97606444 -0.20755915 -0.06495008] [ 0.21244362 0.97385467 0.08046981] [ 0.04654982 -0.09234239 0.99463831]] t_gt: [ 0.79798729 -0.58591423 0.14114104] Pose Error in degrees for R and t: 9.280574270167461 77.97001103180648 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 6.54136609e-02 -9.97856787e-01 -1.69852665e-03] [-9.97858229e-01 -6.54134087e-02 -2.03696590e-04] [ 9.21536073e-05 1.70821333e-03 -9.99998537e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.97594859 -0.2085015 -0.06364301] [ 0.21295981 0.9742647 0.07387757] [ 0.04660139 -0.08565374 0.99523399]] t_gt: [ 0.78579835 -0.60717032 0.11775038] Pose Error in degrees for R and t: 178.8833364727278 72.0880749129281 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.91845538e-01 1.27445741e-01 1.04629029e-04] [-1.27445715e-01 9.91845520e-01 -2.32586742e-04] [-1.33418023e-04 2.17355601e-04 9.99999967e-01]] t_estimated: [[-0.90055104] [-0.43474878] [-0.00115013]] R_gt: [[ 0.99711469 -0.0526674 0.05465539] [ 0.05329972 0.99852686 -0.01020029] [-0.05403852 0.01308392 0.9984536 ]] t_gt: [ 0.54491533 -0.71842043 0.43236485] Pose Error in degrees for R and t: 10.836585773794683 79.6949496588341 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 0.99329738 0.11556272 -0.00236064] [-0.11540643 0.99268089 0.03558105] [ 0.00645521 -0.03507013 0.99936401]] t_estimated: [[0.8599672 ] [0.51034662] [0.00165697]] R_gt: [[ 0.94661172 -0.21307581 0.2419162 ] [ 0.20939224 0.97696588 0.04114549] [-0.24511232 0.01170712 0.96942472]] t_gt: [ 0.53819544 -0.60043773 0.591456 ] Pose Error in degrees for R and t: 23.865056811621454 80.94519879601023 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.99995302 0.0096074 -0.00128307] [-0.00960369 0.99994978 0.00286477] [ 0.00131053 -0.00285231 0.99999507]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.891489 -0.3486983 0.28923246] [ 0.33930256 0.93694154 0.08375573] [-0.30020039 0.02347088 0.95358829]] t_gt: [ 0.66375493 -0.60845073 0.43499093] Pose Error in degrees for R and t: 27.45633001398042 49.12970462629779 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.70354343e-01 -2.41685831e-01 -6.38744047e-04] [ 2.41686096e-01 9.70354415e-01 3.75403198e-04] [ 5.29078472e-04 -5.18649679e-04 9.99999726e-01]] t_estimated: [[-0.27052339] [-0.96271278] [-0.00109524]] R_gt: [[ 0.99680433 0.0534229 -0.0593974 ] [-0.05271464 0.99851874 0.01343809] [ 0.0600284 -0.01026372 0.99814306]] t_gt: [-0.06333405 0.80454041 -0.59051124] Pose Error in degrees for R and t: 17.37500521919659 40.82049747034726 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.99576142 -0.09191408 -0.00331544] [ 0.09193622 0.99573819 0.00729346] [ 0.00263094 -0.00756735 0.99996791]] t_estimated: [[0.05491632] [0.99847848] [0.00499239]] R_gt: [[ 0.98053212 0.16248242 -0.11025974] [-0.16304488 0.9866101 0.00396276] [ 0.10942798 0.01409178 0.9938943 ]] t_gt: [-0.20708236 0.88247006 -0.42233103] Pose Error in degrees for R and t: 15.919567944965868 29.813686117979604 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.93352798e-01 -1.15109523e-01 1.30351233e-04] [ 1.15109330e-01 9.93352295e-01 1.02950509e-03] [-2.47990536e-04 -1.00765712e-03 9.99999462e-01]] t_estimated: [[8.62456961e-01] [5.06129886e-01] [7.27198112e-04]] R_gt: [[ 0.9776701 0.14397185 -0.1530831 ] [-0.14066845 0.98953125 0.03225381] [ 0.15612481 -0.00999817 0.98768615]] t_gt: [-0.01753738 0.87195867 -0.48926529] Pose Error in degrees for R and t: 17.347304776641163 64.79594622411675 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.04052829e-01 -5.94557842e-01 -1.44648450e-04] [ 5.94557714e-01 8.04052438e-01 8.95376138e-04] [-4.16047965e-04 -8.05931568e-04 9.99999589e-01]] t_estimated: [[0.79959894] [0.60053264] [0.00144065]] R_gt: [[ 0.99946659 -0.0230129 0.02317365] [ 0.02178573 0.99841556 0.05188368] [-0.0243298 -0.05135014 0.9983848 ]] t_gt: [ 0.14081493 -0.44371038 0.885038 ] Pose Error in degrees for R and t: 35.33758104103546 81.22282922715995 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999709e-01 -7.60529596e-04 -5.15943673e-05] [ 7.60521013e-04 9.99999697e-01 -1.66168744e-04] [ 5.17207279e-05 1.66129458e-04 9.99999985e-01]] t_estimated: [[-0.99991108] [-0.01325361] [-0.00147262]] R_gt: [[ 0.9999694 -0.00124503 0.00772559] [ 0.00168967 0.99832145 -0.05789273] [-0.00764005 0.05790412 0.99829357]] t_gt: [-0.02450906 0.3241997 -0.94567112] Pose Error in degrees for R and t: 3.3391534534887577 88.76216128010309 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 5.26640984e-01 -8.50086555e-01 1.45718206e-03] [-8.50084064e-01 -5.26642978e-01 -2.06345148e-03] [ 2.52152706e-03 -1.52029130e-04 -9.99996809e-01]] t_estimated: [[9.07027983e-01] [4.21069757e-01] [7.05309474e-04]] R_gt: [[ 0.99855472 -0.02448167 -0.0478494 ] [ 0.01721659 0.98902627 -0.14672957] [ 0.05091655 0.14569356 0.98801897]] t_gt: [ 0.13669094 0.15824456 -0.97789276] Pose Error in degrees for R and t: 171.20518442937188 79.05160513151074 Number of keypoints: Image1: 505 Image2: 505 R_estimated: [[ 9.99999872e-01 -5.04980217e-04 -2.23732450e-05] [ 5.04981022e-04 9.99999872e-01 3.60041341e-05] [ 2.23550607e-05 -3.60154275e-05 9.99999999e-01]] t_estimated: [[-5.71889146e-01] [ 8.20330788e-01] [-4.50981251e-04]] R_gt: [[ 0.99762468 0.03578046 0.05886961] [-0.0351121 0.99930727 -0.01235094] [-0.05927034 0.01025454 0.99818874]] t_gt: [-0.67722723 0.45229216 0.58034048] Pose Error in degrees for R and t: 4.019225017111393 40.70597160917012 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 4.56444822e-01 -8.89751720e-01 3.87565939e-05] [ 8.89751240e-01 4.56444530e-01 -1.05923581e-03] [ 9.24766647e-04 5.17966427e-04 9.99999438e-01]] t_estimated: [[-0.04876642] [-0.99880858] [-0.00180616]] R_gt: [[ 0.9985549 0.03094832 0.04393015] [-0.02981472 0.99921093 -0.0262304 ] [-0.04470757 0.02488245 0.99868988]] t_gt: [-0.91046516 0.30613541 0.27809045] Pose Error in degrees for R and t: 64.64357748410532 74.81878229874606 Number of keypoints: Image1: 348 Image2: 348 R_estimated: [[ 9.99396403e-01 3.47392712e-02 1.09250582e-04] [-3.47392667e-02 9.99396409e-01 -4.31875648e-05] [-1.10684943e-04 3.93662118e-05 9.99999993e-01]] t_estimated: [[8.89151199e-01] [4.57613092e-01] [6.34610542e-04]] R_gt: [[ 0.99971087 0.02397355 0.00182122] [-0.02399938 0.99959154 0.01551849] [-0.00144896 -0.01555729 0.99987758]] t_gt: [-0.97893678 -0.15144564 0.13691967] Pose Error in degrees for R and t: 1.088876201125106 20.00890838138792 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99408023e-01 3.43892152e-02 -9.93146096e-04] [-3.43869726e-02 9.99406187e-01 2.19320915e-03] [ 1.06797909e-03 -2.15775954e-03 9.99997102e-01]] t_estimated: [[0.51773858] [0.85553816] [0.00110392]] R_gt: [[ 0.99917948 0.03927797 -0.00984059] [-0.03939664 0.99914957 -0.01215898] [ 0.00935483 0.01253691 0.99987741]] t_gt: [ 0.19922221 0.89448265 -0.40026404] Pose Error in degrees for R and t: 1.0083568396317626 29.776731869211876 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.99715067e-01 -2.38659198e-02 -4.49144585e-04] [ 2.38660537e-02 9.99715122e-01 2.95166599e-04] [ 4.41972211e-04 -3.05801805e-04 9.99999856e-01]] t_estimated: [[-0.89023696] [-0.45545254] [-0.00641361]] R_gt: [[ 0.99857221 0.05336202 0.00207892] [-0.05333313 0.99850462 -0.01199479] [-0.0027147 0.01186659 0.99992585]] t_gt: [ 0.37369548 0.91891933 -0.12624954] Pose Error in degrees for R and t: 4.4841977715206385 41.37565786580921 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.56418926e-01 -2.91995057e-01 -1.31354111e-03] [-2.91998005e-01 -9.56408285e-01 -4.51180908e-03] [ 6.11443543e-05 4.69873098e-03 -9.99988959e-01]] t_estimated: [[0.88408775] [0.46731957] [0.00112336]] R_gt: [[ 0.99983217 -0.01786086 -0.00406037] [ 0.01773443 0.99941417 -0.02926252] [ 0.00458122 0.02918584 0.99956373]] t_gt: [ 0.93405892 -0.26985393 -0.23390766] Pose Error in degrees for R and t: 178.04061843633775 45.619570204319096 Number of keypoints: Image1: 478 Image2: 478 R_estimated: [[ 9.98954574e-01 -4.57138563e-02 3.87440207e-05] [ 4.57138537e-02 9.98954573e-01 6.40682383e-05] [-4.16323229e-05 -6.22301213e-05 9.99999997e-01]] t_estimated: [[0.46266523] [0.88653254] [0.00096995]] R_gt: [[ 0.99896352 -0.04392863 0.01197997] [ 0.04446031 0.99783449 -0.0484799 ] [-0.00982368 0.0489616 0.99875259]] t_gt: [ 0.36171772 0.49383168 -0.79075316] Pose Error in degrees for R and t: 2.8659971134912237 52.81539449969178 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 9.96319013e-01 -8.57228887e-02 9.96098099e-05] [ 8.57228802e-02 9.96319015e-01 8.66230253e-05] [-1.06668724e-04 -7.77653273e-05 9.99999991e-01]] t_estimated: [[0.52538973] [0.85086115] [0.00096579]] R_gt: [[ 0.99447169 -0.08720421 0.0585065 ] [ 0.08968652 0.99511614 -0.04123982] [-0.05462512 0.04625906 0.99743482]] t_gt: [0.88612486 0.38381588 0.25974624] Pose Error in degrees for R and t: 4.1058073791970315 37.59097105357027 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 9.98312889e-01 -5.80626824e-02 -3.16615380e-04] [ 5.80628439e-02 9.98312791e-01 5.27000449e-04] [ 2.85482124e-04 -5.44494930e-04 9.99999811e-01]] t_estimated: [[0.65747575] [0.75347527] [0.00080672]] R_gt: [[ 0.98155307 -0.16829249 0.09073265] [ 0.17216445 0.98438688 -0.03664459] [-0.08314899 0.05158859 0.99520088]] t_gt: [0.96822427 0.00325622 0.25006232] Pose Error in degrees for R and t: 8.604015963679435 50.26488931612551 Number of keypoints: Image1: 416 Image2: 416 R_estimated: [[ 9.97325270e-01 7.30909685e-02 1.26399617e-04] [-7.30909741e-02 9.97325277e-01 3.98590936e-05] [-1.23148193e-04 -4.89911524e-05 9.99999991e-01]] t_estimated: [[0.26508849] [0.96422299] [0.00145653]] R_gt: [[ 0.99925555 -0.0378894 -0.00733685] [ 0.03797432 0.99920924 0.01184428] [ 0.00688294 -0.01211479 0.99990335]] t_gt: [ 0.34209229 -0.93871563 0.04225897] Pose Error in degrees for R and t: 6.4150717021274355 35.473411466173715 Number of keypoints: Image1: 542 Image2: 542 R_estimated: [[-0.11377205 -0.99334987 0.01766201] [-0.99331261 0.11408338 0.01774966] [-0.01964657 -0.01552448 -0.99968645]] t_estimated: [[0.71283656] [0.70118151] [0.01444024]] R_gt: [[ 9.98447737e-01 -1.81782859e-02 5.26523515e-02] [ 1.81206469e-02 9.99834999e-01 1.56604509e-03] [-5.26714420e-02 -6.10129999e-04 9.98612507e-01]] t_gt: [-0.52661171 -0.19211426 0.82811365] Pose Error in degrees for R and t: 176.27305973515038 60.123186024346616 Number of keypoints: Image1: 404 Image2: 404 R_estimated: [[ 9.99504547e-01 3.14725227e-02 3.76529218e-04] [-3.14725460e-02 9.99504615e-01 5.59956721e-05] [-3.74580366e-04 -6.78182620e-05 9.99999928e-01]] t_estimated: [[0.52427966] [0.85154207] [0.00263452]] R_gt: [[ 0.99910874 -0.00367432 0.04204946] [ 0.00435939 0.99985925 -0.01622904] [-0.04198335 0.01639661 0.99898417]] t_gt: [-0.91100609 -0.06059512 0.40791683] Pose Error in degrees for R and t: 3.272603615936343 58.119687118465805 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.24994725 -0.9682566 -0.00235223] [ 0.96825728 -0.2499511 0.00151222] [-0.00205216 -0.00189959 0.99999609]] t_estimated: [[0.99987116] [0.01595089] [0.00179942]] R_gt: [[ 0.99984587 0.01432041 -0.01021757] [-0.01522617 0.99537704 -0.09482707] [ 0.00881217 0.09496769 0.99544095]] t_gt: [-0.07147141 0.43597768 -0.89711499] Pose Error in degrees for R and t: 105.43214043382554 86.20870728850622 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.42377001 0.90575723 0.00477658] [ 0.90576884 -0.42375589 -0.00370866] [-0.00133504 0.00589809 -0.99998171]] t_estimated: [[8.78988727e-01] [4.76841953e-01] [7.54496761e-04]] R_gt: [[ 0.99783975 0.00377852 -0.0655887 ] [-0.0160822 0.98201603 -0.1881068 ] [ 0.06369859 0.18875564 0.97995514]] t_gt: [ 0.04809909 0.33764706 -0.94004305] Pose Error in degrees for R and t: 172.51312734625614 78.31250421526678 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 8.38862728e-02 9.96474943e-01 -8.84270588e-04] [-9.96426073e-01 8.38732691e-02 -1.00177497e-02] [-9.90826993e-03 1.72146196e-03 9.99949430e-01]] t_estimated: [[0.648646 ] [0.76107797] [0.00432431]] R_gt: [[ 0.98940551 -0.14176679 -0.03129813] [ 0.12734607 0.9509773 -0.28182332] [ 0.06971661 0.27485218 0.95895521]] t_gt: [ 0.32103863 -0.09118041 -0.9426666 ] Pose Error in degrees for R and t: 94.1248155983777 82.25475801089698 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.43747140e-01 -5.36740323e-01 -7.67748650e-04] [ 5.36740727e-01 8.43747100e-01 4.71554308e-04] [ 3.94683486e-04 -8.09954568e-04 9.99999594e-01]] t_estimated: [[9.94058795e-01] [1.08840948e-01] [8.71425573e-04]] R_gt: [[ 0.99115484 -0.13244973 -0.00842308] [ 0.13254182 0.99111075 0.01150276] [ 0.00682483 -0.01251699 0.99989863]] t_gt: [ 0.65379383 -0.75516233 0.04778587] Pose Error in degrees for R and t: 24.859313844511533 55.405928863589175 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 6.57056921e-01 7.53840950e-01 -1.56897998e-04] [ 7.53828480e-01 -6.57044826e-01 5.89238620e-03] [ 4.33883299e-03 -3.98990731e-03 -9.99982627e-01]] t_estimated: [[-0.74837491] [-0.66327543] [-0.00083431]] R_gt: [[ 0.99035083 -0.1384194 -0.00667525] [ 0.13852791 0.99015037 0.02031006] [ 0.00379891 -0.02103882 0.9997716 ]] t_gt: [ 0.66401539 -0.74323154 0.08179512] Pose Error in degrees for R and t: 178.49416486037526 89.76889757298065 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.41804447 -0.90668421 -0.05623677] [ 0.90744521 -0.41391521 -0.07223149] [ 0.04221389 -0.08122776 0.9958012 ]] t_estimated: [[9.96995053e-01] [7.74607685e-02] [8.32911490e-04]] R_gt: [[ 0.99639105 -0.05547357 -0.0642532 ] [ 0.0585239 0.99719745 0.04661136] [ 0.06148709 -0.05020295 0.99684417]] t_gt: [ 0.72289795 -0.68639416 -0.07925659] Pose Error in degrees for R and t: 111.29402137487594 48.12628297512722 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.99978771 -0.02056223 0.0013169 ] [-0.020397 -0.9967471 -0.07796915] [ 0.00291584 0.07792574 -0.9969549 ]] t_estimated: [[-0.02304451] [ 0.99895124] [-0.03956481]] R_gt: [[ 0.99119441 -0.13238652 0.00279453] [ 0.13234302 0.99113026 0.01208368] [-0.00436997 -0.01160799 0.99992303]] t_gt: [ 0.81517892 -0.57400977 0.07743456] Pose Error in degrees for R and t: 176.21319489115322 53.46905545570165 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.26228692 -0.9649817 -0.00398503] [ 0.96498766 -0.26227511 -0.0032521 ] [ 0.00209304 -0.00469848 0.99998677]] t_estimated: [[0.88916943] [0.45757583] [0.00144346]] R_gt: [[ 0.97197855 -0.23497619 -0.00664743] [ 0.23493219 0.97198846 -0.00678557] [ 0.00805591 0.00503385 0.99995459]] t_gt: [ 0.82111226 -0.56937076 -0.03989489] Pose Error in degrees for R and t: 91.61676127453856 61.99685445816985 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-9.80846334e-01 -1.94783101e-01 -1.10348813e-04] [-1.94782898e-01 9.80844117e-01 2.10733840e-03] [-3.02238923e-04 2.08846920e-03 -9.99997773e-01]] t_estimated: [[0.92606068] [0.37737272] [0.00119801]] R_gt: [[ 0.93502301 -0.35313393 -0.03208982] [ 0.35340543 0.93546553 0.00306766] [ 0.02893567 -0.01420967 0.99947931]] t_gt: [ 0.87196106 -0.48917921 -0.01968788] Pose Error in degrees for R and t: 178.30641281950324 51.47453687342196 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-9.97580784e-01 6.90326604e-02 -8.18970194e-03] [ 6.90296195e-02 9.97614397e-01 6.53735208e-04] [ 8.21529364e-03 8.68216726e-05 -9.99966250e-01]] t_estimated: [[ 0.99976913] [-0.02124213] [-0.00323509]] R_gt: [[ 0.95630454 0.2874195 -0.0535941 ] [-0.28628349 0.95773668 0.02794462] [ 0.05936142 -0.01138138 0.99817191]] t_gt: [-0.50374629 0.85459174 -0.12614528] Pose Error in degrees for R and t: 176.22222183258557 58.57545470634765 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99998940e-01 -1.28633625e-03 -6.81860745e-04] [ 1.28662149e-03 9.99999085e-01 4.18046595e-04] [ 6.81322372e-04 -4.18923449e-04 9.99999680e-01]] t_estimated: [[-0.99995661] [-0.00925886] [-0.00102876]] R_gt: [[ 0.89226499 0.44988952 -0.03824445] [-0.44692297 0.89206795 0.06688106] [ 0.06420631 -0.04258435 0.99702791]] t_gt: [-0.45934225 0.8879285 -0.02424195] Pose Error in degrees for R and t: 27.106599371110317 63.18404655845503 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99997916e-01 -8.65752947e-05 -2.03992484e-03] [ 9.44080523e-05 9.99992623e-01 3.83994514e-03] [ 2.03957735e-03 -3.84012972e-03 9.99990547e-01]] t_estimated: [[0.68583593] [0.72775441] [0.00161348]] R_gt: [[ 0.85983361 0.50754362 -0.05555632] [-0.5007702 0.85953618 0.10210382] [ 0.09957568 -0.05997144 0.99322147]] t_gt: [-0.40646494 0.91246826 -0.04677521] Pose Error in degrees for R and t: 31.050761992664267 67.34327976883104 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 8.80848082e-01 4.73398139e-01 9.26136183e-04] [-4.73398547e-01 8.80848308e-01 2.71863895e-04] [-6.87085628e-04 -6.77902313e-04 9.99999534e-01]] t_estimated: [[-0.22796813] [ 0.97366705] [ 0.00173587]] R_gt: [[ 9.98104869e-01 -1.73527691e-03 -6.15292875e-02] [ 8.46053615e-04 9.99895377e-01 -1.44771991e-02] [ 6.15478518e-02 1.43984931e-02 9.98000034e-01]] t_gt: [ 0.27078915 0.01051461 -0.96258126] Pose Error in degrees for R and t: 28.562060671745545 86.95246301629088 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99693438e-01 2.47594472e-02 7.02157653e-06] [-2.47594475e-02 9.99693437e-01 4.28924163e-05] [-5.95743146e-06 -4.30531174e-05 9.99999999e-01]] t_estimated: [[4.79756917e-01] [8.77401255e-01] [5.81079795e-04]] R_gt: [[ 0.99902626 -0.03887908 -0.02090101] [ 0.03834382 0.99894247 -0.0254157 ] [ 0.0218673 0.02459076 0.9994581 ]] t_gt: [ 0.62718567 -0.48714168 -0.60772618] Pose Error in degrees for R and t: 4.092646808468799 82.71094088333314 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-2.46934181e-01 -9.69028469e-01 -2.70849506e-03] [ 9.69031767e-01 -2.46930290e-01 -1.69289327e-03] [ 9.71652301e-04 -3.04265097e-03 9.99994899e-01]] t_estimated: [[0.99987968] [0.01547801] [0.00103187]] R_gt: [[ 0.96760486 -0.19636252 0.15869275] [ 0.19948732 0.97989351 -0.00384239] [-0.15474782 0.0353755 0.9873198 ]] t_gt: [ 0.63289768 -0.6846071 0.36159874] Pose Error in degrees for R and t: 93.1722608219753 51.49387525580528 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.88216534e-01 -1.53062282e-01 -1.37077234e-04] [ 1.53062316e-01 9.88216496e-01 2.89382078e-04] [ 9.11685023e-05 -3.06953513e-04 9.99999949e-01]] t_estimated: [[9.81200480e-01] [1.92989208e-01] [8.84965386e-04]] R_gt: [[ 0.99157957 -0.12750366 -0.0226577 ] [ 0.12801317 0.99151412 0.02264493] [ 0.01957768 -0.02535463 0.99948691]] t_gt: [ 0.65203607 -0.74643143 0.13300033] Pose Error in degrees for R and t: 2.3331538212786813 60.2746728876548 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 8.27112630e-01 -5.62032887e-01 -1.93143320e-03] [ 5.62034990e-01 8.27113105e-01 7.62344902e-04] [ 1.16905080e-03 -1.71607813e-03 9.99997844e-01]] t_estimated: [[-0.01056483] [-0.99994356] [-0.00112735]] R_gt: [[ 0.99178991 -0.08880949 -0.09200632] [ 0.09574388 0.99265899 0.07390259] [ 0.08476788 -0.08210516 0.99301262]] t_gt: [ 0.56386493 -0.78242555 0.26432291] Pose Error in degrees for R and t: 29.624168467714707 39.09274505667408 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.17740396 0.98411868 -0.00618574] [ 0.98412043 -0.17735958 0.00711015] [ 0.00590013 -0.00734888 -0.99995559]] t_estimated: [[7.91741062e-01] [6.10856400e-01] [7.41330582e-04]] R_gt: [[ 0.99102636 0.0063793 -0.13351717] [ 0.01972541 0.98094534 0.19327814] [ 0.13220578 -0.19417676 0.97201666]] t_gt: [ 0.27064905 -0.58541953 0.76422056] Pose Error in degrees for R and t: 165.93534568633237 81.79260052067733 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.91614552e-01 -1.29230499e-01 -2.40199727e-04] [ 1.29230502e-01 9.91614581e-01 -3.90665712e-06] [ 2.38690411e-04 -2.71672334e-05 9.99999971e-01]] t_estimated: [[-0.84585948] [-0.53339646] [-0.00315619]] R_gt: [[ 0.99397906 -0.10558566 -0.02927507] [ 0.10496974 0.99423475 -0.02185705] [ 0.03141277 0.0186531 0.99933281]] t_gt: [ 0.75268839 -0.60135745 -0.26801009] Pose Error in degrees for R and t: 2.498425138452697 71.63551677940838 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.97423675e-01 7.17351076e-02 2.95348014e-04] [-7.17350539e-02 9.97423705e-01 -1.88714200e-04] [-3.08124544e-04 1.67041205e-04 9.99999939e-01]] t_estimated: [[-0.98920548] [ 0.14653165] [ 0.00099862]] R_gt: [[ 0.96076815 -0.27723176 -0.00821808] [ 0.27711659 0.9607501 -0.01282923] [ 0.01145139 0.01004763 0.99988454]] t_gt: [ 0.86438012 -0.49897659 -0.06220425] Pose Error in degrees for R and t: 20.225025849134166 21.839815514447096 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 7.01756676e-01 7.12416213e-01 8.40759098e-04] [-7.12416707e-01 7.01756276e-01 7.51345629e-04] [-5.47371667e-05 -1.12623264e-03 9.99999364e-01]] t_estimated: [[8.96281081e-01] [4.43485634e-01] [8.46346630e-04]] R_gt: [[ 0.87641833 -0.48148544 -0.00789387] [ 0.4814845 0.87645146 -0.00212272] [ 0.00793996 -0.00194028 0.99996653]] t_gt: [ 0.9208082 -0.38980506 -0.012817 ] Pose Error in degrees for R and t: 74.21634418634709 49.27575323537874 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.70777127e-01 2.39982718e-01 2.53415054e-04] [-2.39982719e-01 9.70777160e-01 -2.58270428e-05] [-2.52207590e-04 -3.57429312e-05 9.99999968e-01]] t_estimated: [[-9.29295828e-01] [ 3.69336068e-01] [ 3.64136259e-04]] R_gt: [[ 0.9544414 0.29666128 -0.03213732] [-0.29669455 0.9549651 0.00386682] [ 0.03183785 0.00584473 0.999476 ]] t_gt: [-0.54648518 0.83264053 -0.08979811] Pose Error in degrees for R and t: 3.860096720067274 35.37921583561931 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.25470343e-01 -3.78819648e-01 5.64037120e-04] [ 3.78820067e-01 9.25469433e-01 -1.29841686e-03] [-3.01332969e-05 1.41531487e-03 9.99998998e-01]] t_estimated: [[-0.59495632] [-0.80375705] [-0.00125784]] R_gt: [[ 8.68417761e-01 4.90547377e-01 -7.22098072e-02] [-4.88878784e-01 8.71414602e-01 4.04406815e-02] [ 8.27634247e-02 1.83408774e-04 9.96569337e-01]] t_gt: [-0.42408387 0.89821289 -0.1156135 ] Pose Error in degrees for R and t: 51.84400687182737 61.998924031263 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-4.64512237e-01 -8.85564856e-01 -1.80768091e-03] [ 8.85566697e-01 -4.64511471e-01 -8.47909048e-04] [-8.88100642e-05 -1.99468614e-03 9.99998007e-01]] t_estimated: [[ 9.95044595e-01] [-9.94261351e-02] [ 8.34991105e-04]] R_gt: [[ 0.80812942 0.58515399 -0.06724512] [-0.57947176 0.81030908 0.08725703] [ 0.10554907 -0.03154761 0.9939136 ]] t_gt: [-0.38325663 0.92082462 -0.07208588] Pose Error in degrees for R and t: 153.4522138026095 61.77263296490804 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.16508889e-01 -4.00014084e-01 -4.35280640e-04] [ 4.00014204e-01 9.16508910e-01 2.32862254e-04] [ 3.05790403e-04 -3.87538764e-04 9.99999878e-01]] t_estimated: [[ 5.13845138e-01] [-8.57882835e-01] [-4.64529098e-04]] R_gt: [[ 0.99975491 0.0107263 0.0194058 ] [-0.01017713 0.99955177 -0.02818109] [-0.01969808 0.02797687 0.99941414]] t_gt: [-0.49979467 0.83728627 -0.22171376] Pose Error in degrees for R and t: 24.25845552206896 12.836611632383198 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.96069408e-01 -8.85761368e-02 3.97572593e-05] [ 8.85761368e-02 9.96069409e-01 2.74380613e-06] [-3.98440256e-05 7.88523087e-07 9.99999999e-01]] t_estimated: [[-9.87955637e-01] [-1.54735177e-01] [-8.27361459e-04]] R_gt: [[ 0.99975037 -0.0123811 0.01864507] [ 0.01328448 0.9987025 -0.04916613] [-0.01801126 0.04940175 0.99861705]] t_gt: [-0.36956018 0.8500056 -0.37538748] Pose Error in degrees for R and t: 5.287531994935455 76.4735705319266 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.88120302e-01 -1.53682310e-01 -1.25643505e-04] [ 1.53682338e-01 9.88120272e-01 2.58620430e-04] [ 8.44055094e-05 -2.74857285e-04 9.99999959e-01]] t_estimated: [[-0.70572788] [-0.70848241] [-0.0009076 ]] R_gt: [[ 0.99735045 -0.05298443 0.04985434] [ 0.05667284 0.99551593 -0.07574016] [-0.04561733 0.07836475 0.99588048]] t_gt: [-0.14311153 0.93436444 -0.32631607] Pose Error in degrees for R and t: 7.719885156025175 55.89669153431724 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.98432796 0.17634081 -0.00154725] [-0.17632867 0.98431295 0.00601761] [ 0.00258413 -0.00565048 0.9999807 ]] t_estimated: [[9.33820612e-01] [3.57740630e-01] [8.39766738e-04]] R_gt: [[ 0.99855415 0.03031252 -0.04439977] [-0.03545669 0.99212939 -0.12009182] [ 0.04041005 0.12149324 0.99176838]] t_gt: [-0.07113401 0.47304611 -0.87816134] Pose Error in degrees for R and t: 11.248446635987715 84.14196531789723 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-8.68346960e-01 -4.95952763e-01 -2.10091837e-03] [ 4.95950132e-01 -8.68349407e-01 1.66527596e-03] [-2.65022943e-03 4.04086575e-04 9.99996406e-01]] t_estimated: [[9.68128501e-01] [2.50452511e-01] [8.63629349e-04]] R_gt: [[ 0.99296897 -0.10111316 -0.06155868] [ 0.08617882 0.9739616 -0.20969475] [ 0.08115888 0.20291499 0.97582718]] t_gt: [ 0.30132421 -0.07607029 -0.95048252] Pose Error in degrees for R and t: 145.0658840716458 74.22575464371755 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999992e-01 1.23894602e-04 1.65933013e-07] [-1.23894602e-04 9.99999992e-01 7.25467053e-10] [-1.65932922e-07 -7.46025253e-10 1.00000000e+00]] t_estimated: [[-9.99561465e-01] [ 2.96117793e-02] [ 1.42621912e-04]] R_gt: [[ 0.98292106 -0.1763302 -0.05267944] [ 0.15502466 0.94760133 -0.27932104] [ 0.09917258 0.2663838 0.95875079]] t_gt: [ 0.37348504 -0.14619347 -0.91604388] Pose Error in degrees for R and t: 19.158201066968513 67.80370279243611 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.69424489e-01 2.45389689e-01 2.45163902e-04] [-2.45389674e-01 9.69424520e-01 -9.28221918e-05] [-2.60445507e-04 2.98234159e-05 9.99999966e-01]] t_estimated: [[0.70623111] [0.70797921] [0.0017481 ]] R_gt: [[ 0.99634743 -0.04044686 -0.07520596] [ 0.04353911 0.99825369 0.03993388] [ 0.07345957 -0.04306209 0.9963681 ]] t_gt: [ 0.9110211 -0.26142962 -0.31889671] Pose Error in degrees for R and t: 17.318312970258912 62.75816348596559 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.99906709 -0.04291756 -0.00479918] [ 0.04295889 0.99903748 0.00886809] [ 0.00441397 -0.00906598 0.99994916]] t_estimated: [[0.50050257] [0.86573418] [0.00122974]] R_gt: [[ 0.99152652 -0.01122145 -0.12941846] [ 0.01556259 0.99934877 0.03258461] [ 0.12896756 -0.03432151 0.99105397]] t_gt: [ 0.76664516 0.1105358 -0.63248481] Pose Error in degrees for R and t: 7.490583780993566 61.40438227293472 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.76532771 0.6436143 0.00584238] [ 0.64363795 -0.7652657 -0.00992937] [-0.00191972 0.0113596 -0.99993363]] t_estimated: [[0.27394265] [0.9617449 ] [0.00147281]] R_gt: [[ 0.9819164 -0.01354688 -0.18883008] [ 0.01855251 0.99952121 0.02476457] [ 0.18840294 -0.02781871 0.98169718]] t_gt: [ 0.75115328 0.10804573 -0.65122567] Pose Error in degrees for R and t: 175.5049361926379 72.01751694085588 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.13549392 -0.99077269 0.00329648] [-0.99077655 0.13548691 -0.00226423] [ 0.00179671 -0.00357286 -0.999992 ]] t_estimated: [[0.61489893] [0.78860521] [0.00106568]] R_gt: [[ 0.99355126 0.0885583 -0.07080232] [-0.08186505 0.99234965 0.09241817] [ 0.07844503 -0.08602694 0.99320005]] t_gt: [-0.60439824 0.20027793 0.77109761] Pose Error in degrees for R and t: 179.79651834622712 77.70870959064955 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.30909799 0.95099652 -0.00800267] [ 0.95099799 -0.30900733 0.01083007] [ 0.00782648 -0.01095808 -0.99990933]] t_estimated: [[-0.59864092] [ 0.80098591] [ 0.00711518]] R_gt: [[ 0.98463556 0.13168398 -0.11468463] [-0.10944494 0.97713097 0.18231162] [ 0.13606977 -0.16695882 0.97652884]] t_gt: [-0.22299565 0.30800507 0.92488151] Pose Error in degrees for R and t: 166.79227931245106 67.24554014300816 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-9.15560477e-02 9.95797451e-01 2.21980742e-03] [-9.95799424e-01 -9.15535381e-02 -1.20719333e-03] [-9.98888817e-04 -2.32100880e-03 9.99996808e-01]] t_estimated: [[0.28522815] [0.95845896] [0.00115477]] R_gt: [[ 0.96683392 0.22633869 -0.11833507] [-0.19946068 0.95850624 0.20366979] [ 0.15952324 -0.17331098 0.97186175]] t_gt: [-0.44589665 0.76952222 0.45717802] Pose Error in degrees for R and t: 83.70401828445847 52.34531167284744 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99775364e-01 2.11928869e-02 -2.89333494e-04] [-2.11928263e-02 9.99775385e-01 2.11147284e-04] [ 2.93743326e-04 -2.04968058e-04 9.99999936e-01]] t_estimated: [[-0.9973463 ] [ 0.0727753 ] [-0.00202701]] R_gt: [[ 0.99625701 0.02622009 -0.08237014] [-0.0284387 0.99926048 -0.0258703 ] [ 0.08163154 0.0281155 0.99626639]] t_gt: [ 0.23812276 0.24459589 -0.93993106] Pose Error in degrees for R and t: 4.953392149349812 77.42102765821879 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.97632286e-01 -6.87729639e-02 3.17562783e-04] [ 6.87730256e-02 9.97632315e-01 -1.87611544e-04] [-3.03908292e-04 2.09007087e-04 9.99999932e-01]] t_estimated: [[0.81526515] [0.57908569] [0.00158046]] R_gt: [[ 0.99492862 -0.02045555 -0.09848284] [ 0.02018081 0.99978961 -0.00377854] [ 0.09854059 0.00177199 0.99513124]] t_gt: [ 0.5453733 -0.35806448 -0.75786397] Pose Error in degrees for R and t: 6.315869146197146 76.34493907685797 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.49091579 -0.8710089 -0.01857903] [ 0.86958612 -0.48859072 -0.07140793] [ 0.0531194 -0.05121135 0.99727415]] t_estimated: [[ 0.99949844] [-0.02970529] [-0.01097583]] R_gt: [[ 0.98920773 -0.06437032 -0.13162529] [ 0.06926471 0.99705456 0.03294742] [ 0.12911698 -0.04170846 0.99075228]] t_gt: [ 0.61099883 -0.60736574 -0.50772757] Pose Error in degrees for R and t: 115.44635259995027 50.63138936073134 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.99974697e-01 -7.11350505e-03 6.46293005e-05] [ 7.11350167e-03 9.99974697e-01 5.24060111e-05] [-6.50004557e-05 -5.19449444e-05 9.99999997e-01]] t_estimated: [[2.79317062e-01] [9.60198589e-01] [8.05139688e-04]] R_gt: [[ 0.99551653 -0.07734614 0.05446326] [ 0.07668149 0.99695462 0.01420101] [-0.05539528 -0.00996063 0.99841502]] t_gt: [ 0.74503707 -0.20982168 0.63316241] Pose Error in degrees for R and t: 5.145661739880963 89.59085509035835 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[-2.81330319e-01 9.59598051e-01 4.98325711e-03] [ 9.59609146e-01 2.81336165e-01 -4.99434293e-04] [-1.88122662e-03 4.64147309e-03 -9.99987459e-01]] t_estimated: [[8.96529750e-01] [4.42982806e-01] [8.00679742e-04]] R_gt: [[ 0.985374 -0.14347536 0.09193859] [ 0.14273725 0.98965338 0.01458932] [-0.09308108 -0.00125244 0.99565836]] t_gt: [ 0.8554411 -0.12363764 0.5029257 ] Pose Error in degrees for R and t: 175.7586454546822 44.556271140043826 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 5.55989020e-01 -8.31185779e-01 -2.53192432e-03] [-8.31189152e-01 -5.55989401e-01 -6.15653635e-04] [-8.96000540e-04 2.44680469e-03 -9.99996605e-01]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.98022295 -0.11996072 0.15739553] [ 0.12514859 0.99186123 -0.02343356] [-0.15330357 0.04266821 0.98725756]] t_gt: [0.75534528 0.1623037 0.63491024] Pose Error in degrees for R and t: 177.55561041829927 80.34721700990231 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-2.45092984e-01 -9.69495780e-01 -2.71325891e-03] [ 9.69499532e-01 -2.45092861e-01 -3.82884727e-04] [-2.93795261e-04 -2.72434560e-03 9.99996246e-01]] t_estimated: [[0.99959949] [0.0282758 ] [0.00115661]] R_gt: [[ 0.99626686 -0.083969 0.02002036] [ 0.08518494 0.9938618 -0.07058485] [-0.01397105 0.07202682 0.99730499]] t_gt: [ 0.45067355 -0.70866096 -0.54285633] Pose Error in degrees for R and t: 99.40111374149213 64.54340405053931 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.71722950e-01 2.36123270e-01 5.57582395e-04] [-2.36123087e-01 9.71723082e-01 -3.73565990e-04] [-6.30023306e-04 2.31344569e-04 9.99999775e-01]] t_estimated: [[-0.5214838 ] [ 0.85326021] [ 0.00128732]] R_gt: [[ 0.98695459 -0.16064489 0.01064448] [ 0.16097991 0.98375052 -0.07951115] [ 0.00230171 0.08018874 0.99677706]] t_gt: [ 0.52326929 -0.75767738 -0.39001825] Pose Error in degrees for R and t: 23.374251687057132 23.092258720311424 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-5.08261819e-01 8.61202532e-01 3.50426392e-04] [-8.61199491e-01 -5.08258847e-01 -2.89515512e-03] [-2.31520760e-03 -1.77328384e-03 9.99995748e-01]] t_estimated: [[0.14020694] [0.99012117] [0.00144543]] R_gt: [[ 0.95337007 -0.30136981 0.01618601] [ 0.3017936 0.95152157 -0.0594048 ] [ 0.00250176 0.0615205 0.99810285]] t_gt: [ 0.65127757 -0.74033245 -0.16656949] Pose Error in degrees for R and t: 138.13610298255344 50.062921795772304 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-8.46117564e-01 -5.32996131e-01 -4.38336375e-04] [-5.32978479e-01 8.46095696e-01 -7.48426044e-03] [ 4.35995638e-03 -6.09894036e-03 -9.99971896e-01]] t_estimated: [[9.58459084e-01] [2.85229083e-01] [7.44723453e-04]] R_gt: [[ 0.9984176 0.03736904 0.04202766] [-0.03330969 0.99506685 -0.09345088] [-0.04531153 0.09190383 0.99473609]] t_gt: [-0.55866329 0.61997276 -0.55093476] Pose Error in degrees for R and t: 179.20259598358842 68.95924434121827 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.11666665 -0.99258167 -0.03421285] [ 0.99317057 -0.11663394 -0.00295712] [-0.00105519 -0.0343242 0.99941019]] t_estimated: [[0.99474726] [0.10173551] [0.01130395]] R_gt: [[ 0.99175683 0.07721748 0.10225262] [-0.06306265 0.98882496 -0.13508807] [-0.1115408 0.12752721 0.98554249]] t_gt: [-0.73092963 0.66905651 -0.1345558 ] Pose Error in degrees for R and t: 101.32387108131282 48.65859138242128 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.78588338e-01 -2.05827006e-01 3.30101692e-04] [ 2.05827160e-01 9.78588214e-01 -5.35391797e-04] [-2.12835535e-04 5.91872062e-04 9.99999802e-01]] t_estimated: [[-0.94833837] [-0.31725605] [-0.0017149 ]] R_gt: [[ 0.98722596 0.13648235 0.08219747] [-0.13038245 0.98858409 -0.07551109] [-0.09156495 0.06383001 0.99375055]] t_gt: [-0.74989404 0.65202142 0.11192409] Pose Error in degrees for R and t: 20.572897320416676 59.728134008127874 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-0.07592211 -0.99708618 0.00741473] [-0.99707742 0.07598072 0.00797135] [-0.0085115 -0.00678786 -0.99994074]] t_estimated: [[0.73998319] [0.67259362] [0.0065346 ]] R_gt: [[ 0.98670094 -0.16048722 -0.02576996] [ 0.16141758 0.98610002 0.03938023] [ 0.0190911 -0.04301522 0.99889165]] t_gt: [ 0.53363859 -0.83487688 0.13494611] Pose Error in degrees for R and t: 178.71136885740327 80.45817981382393 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99998541e-01 -9.61236808e-04 -1.41198670e-03] [ 9.63369935e-04 9.99998395e-01 1.51082462e-03] [ 1.41053217e-03 -1.51218268e-03 9.99997862e-01]] t_estimated: [[-0.99979246] [-0.01946638] [-0.00600853]] R_gt: [[ 0.9561144 -0.28766279 -0.05562679] [ 0.28979135 0.95645558 0.03483023] [ 0.04318454 -0.04942118 0.99784325]] t_gt: [ 0.60965765 -0.78996869 0.06532238] Pose Error in degrees for R and t: 17.134588376173593 53.51974140515861 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999808e-01 -3.83085901e-04 4.86270546e-04] [ 3.83322309e-04 9.99999808e-01 -4.86164391e-04] [-4.86084210e-04 4.86350696e-04 9.99999764e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.93230618 -0.35623357 -0.06246243] [ 0.35977185 0.93114458 0.05943675] [ 0.0369882 -0.0778849 0.99627531]] t_gt: [ 0.63094165 -0.76571742 0.12485781] Pose Error in degrees for R and t: 21.574168034725233 62.15994543319024 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 4.09679970e-01 -9.12229138e-01 -5.67645209e-04] [-9.12228498e-01 -4.09678692e-01 -1.59304819e-03] [ 1.22067283e-03 1.17046207e-03 -9.99998570e-01]] t_estimated: [[5.40169913e-01] [8.41555976e-01] [6.97645978e-05]] R_gt: [[ 9.90562806e-01 -1.35787595e-01 -1.86417423e-02] [ 1.35780465e-01 9.90737591e-01 -1.63041178e-03] [ 1.86904057e-02 -9.16212900e-04 9.99824866e-01]] t_gt: [ 0.51013891 -0.86009101 -0.00132243] Pose Error in degrees for R and t: 179.30358091627977 63.36833809171548 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.77329207e-01 2.11725036e-01 3.60850435e-04] [-2.11725068e-01 9.77329265e-01 5.21209174e-05] [-3.41634388e-04 -1.27340378e-04 9.99999934e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9543481 -0.29661318 -0.0352255 ] [ 0.2977948 0.95398438 0.03508687] [ 0.02319659 -0.04397455 0.9987628 ]] t_gt: [ 0.58511046 -0.80416002 0.10474925] Pose Error in degrees for R and t: 29.659236105282716 58.68571696683117 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 7.06786886e-01 -7.07426531e-01 2.88150004e-05] [ 7.07426256e-01 7.06786646e-01 8.54110826e-04] [-6.24586717e-04 -5.83289844e-04 9.99999635e-01]] t_estimated: [[ 0.97137692] [-0.23754077] [ 0.00112599]] R_gt: [[ 0.93488352 -0.34850378 -0.0673723 ] [ 0.35208798 0.93455075 0.05146934] [ 0.04502627 -0.07183875 0.99639962]] t_gt: [ 0.58698203 -0.80180707 0.11206035] Pose Error in degrees for R and t: 24.949248756666275 40.46797585915208 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.79922384e-01 1.99379025e-01 3.53425766e-04] [-1.99378901e-01 9.79922408e-01 -3.57758392e-04] [-4.17659347e-04 2.80109816e-04 9.99999874e-01]] t_estimated: [[0.55725529] [0.83034061] [0.00100769]] R_gt: [[ 0.99440877 -0.09660423 -0.0426423 ] [ 0.09674344 0.99530936 0.00122515] [ 0.04232444 -0.00534341 0.99908915]] t_gt: [ 0.59240709 -0.77700885 -0.21286401] Pose Error in degrees for R and t: 17.227346325727876 71.62261301801605 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.99496194 0.10018085 0.0038138 ] [-0.10014263 0.99493096 -0.00915651] [-0.00471178 0.00872845 0.99995081]] t_estimated: [[-0.61178399] [-0.79100626] [-0.00542584]] R_gt: [[ 0.9619412 -0.27137684 -0.03199792] [ 0.2721286 0.9620084 0.02205332] [ 0.02479814 -0.02992147 0.99924403]] t_gt: [ 0.69049478 -0.72244328 0.03595379] Pose Error in degrees for R and t: 21.69874950692815 81.44096194415476 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 7.42786334e-01 6.69528513e-01 1.80718725e-04] [-6.69525795e-01 7.42784038e-01 -2.66136665e-03] [-1.91609584e-03 1.85583093e-03 9.99996442e-01]] t_estimated: [[0.80019849] [0.59973469] [0.00082836]] R_gt: [[ 0.91707541 -0.39591108 -0.04718818] [ 0.39655311 0.91799982 0.00474199] [ 0.04144118 -0.02306148 0.99887486]] t_gt: [ 0.75740228 -0.65292595 -0.00543168] Pose Error in degrees for R and t: 65.44231473382358 77.61466607000374 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99997806e-01 2.07192445e-03 -3.10008819e-04] [-2.07181891e-03 9.99997796e-01 3.40382245e-04] [ 3.10713381e-04 -3.39739216e-04 9.99999894e-01]] t_estimated: [[-0.69898654] [ 0.71513392] [-0.001137 ]] R_gt: [[ 0.99723807 0.04475783 0.05926608] [-0.04062761 0.99677919 -0.06914188] [-0.06217005 0.06654308 0.99584564]] t_gt: [-0.76637936 0.63736668 -0.08016475] Pose Error in degrees for R and t: 5.745870197994513 7.439320982508496 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-5.33264626e-01 -8.45938397e-01 -4.13121394e-03] [-8.45948476e-01 5.33257574e-01 2.74520273e-03] [-1.19271271e-04 4.95871365e-03 -9.99987698e-01]] t_estimated: [[7.70180075e-01] [6.37826159e-01] [6.65095056e-04]] R_gt: [[ 0.98948427 0.1175773 0.08423457] [-0.11341212 0.99215121 -0.05265649] [-0.08976467 0.04255049 0.99505423]] t_gt: [-0.74504457 0.62203837 0.24078385] Pose Error in degrees for R and t: 177.08941384108837 79.81040556864407 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.72366005 0.68972324 0.02445372] [-0.68898812 0.72404215 -0.03253188] [-0.04014352 0.0066937 0.9991715 ]] t_estimated: [[0.99767343] [0.06802319] [0.00453488]] R_gt: [[ 0.99408056 0.10413474 -0.03097665] [-0.10160199 0.99203706 0.07442426] [ 0.03848056 -0.07083633 0.99674571]] t_gt: [-0.82700558 0.48682867 0.28117542] Pose Error in degrees for R and t: 38.26997479326507 37.74988848829089 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.71978741 0.69419131 0.00212495] [-0.69419317 0.71977645 0.00420777] [ 0.00139151 -0.00450383 0.99998889]] t_estimated: [[0.75360879] [0.65732276] [0.00075816]] R_gt: [[ 0.99941819 0.02908087 -0.01782367] [-0.02854924 0.99915964 0.02941038] [ 0.01866421 -0.02888541 0.99940804]] t_gt: [0.35735461 0.91496907 0.18742807] Pose Error in degrees for R and t: 42.34581266825767 29.43920866864809 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-7.81494611e-01 -6.23909272e-01 -1.84181849e-03] [ 6.23910919e-01 -7.81495336e-01 -4.52971527e-04] [-1.15675943e-03 -1.50312547e-03 9.99998201e-01]] t_estimated: [[9.89966452e-01] [1.41299940e-01] [8.66870798e-04]] R_gt: [[ 0.98759134 0.11314515 -0.10891573] [-0.11155033 0.99354428 0.02064714] [ 0.11054805 -0.00824252 0.99383577]] t_gt: [-0.01736363 0.68820841 -0.72530524] Pose Error in degrees for R and t: 147.91529871133375 85.444446976638 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.73114687 0.24827989 0.63543792] [ 0.39625299 0.60365503 -0.69179778] [-0.55534477 0.75759996 0.34297884]] t_estimated: [[0.73669032] [0.67622963] [0.00093016]] R_gt: [[ 0.98599068 0.08129815 -0.14564822] [-0.07944306 0.99666762 0.01852198] [ 0.14666832 -0.00669222 0.98916236]] t_gt: [ 0.28447283 0.31869955 -0.90416028] Pose Error in degrees for R and t: 76.7432844953763 64.89734149269684 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.83018300e-01 -1.83507506e-01 -1.27532420e-04] [ 1.83507534e-01 9.83018271e-01 2.54453701e-04] [ 7.86725351e-05 -2.73535804e-04 9.99999959e-01]] t_estimated: [[9.95595592e-01] [9.37486900e-02] [7.74782562e-04]] R_gt: [[ 0.99394853 -0.10666169 -0.02630514] [ 0.10732558 0.99390223 0.02527644] [ 0.02344945 -0.0279465 0.99933461]] t_gt: [ 0.63773472 -0.747571 0.18555869] Pose Error in degrees for R and t: 4.891550450792626 55.59869212635278 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.86324267e-01 -1.64816380e-01 -3.13084095e-05] [ 1.64816383e-01 9.86324250e-01 1.82024921e-04] [ 8.79555093e-07 -1.84695735e-04 9.99999983e-01]] t_estimated: [[5.99801560e-01] [8.00148549e-01] [6.22716930e-04]] R_gt: [[ 0.99401471 -0.05624521 -0.09366591] [ 0.06409623 0.99448205 0.08304503] [ 0.0884792 -0.08855146 0.9921347 ]] t_gt: [ 0.49386029 -0.77928113 0.38577575] Pose Error in degrees for R and t: 9.371599396383157 70.90822384247996 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 8.87752399e-01 -4.60321167e-01 3.19337761e-04] [ 4.60321243e-01 8.87752387e-01 -2.29286360e-04] [-1.77947495e-04 3.50547472e-04 9.99999923e-01]] t_estimated: [[0.43655577] [0.8996767 ] [0.00094873]] R_gt: [[ 0.99084128 0.02443671 -0.13280566] [ 0.00234213 0.98023044 0.19784351] [ 0.13501595 -0.19634137 0.97119536]] t_gt: [ 0.21338549 -0.50665979 0.83532179] Pose Error in degrees for R and t: 31.203363388576726 68.78412714374451 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999901e-01 -4.45368543e-04 -3.77452466e-06] [ 4.45369254e-04 9.99999883e-01 1.90525897e-04] [ 3.68966997e-06 -1.90527559e-04 9.99999982e-01]] t_estimated: [[0.54401346] [0.83907588] [0.00101787]] R_gt: [[ 0.99643069 0.02078807 -0.08180979] [-0.02281828 0.99945201 -0.023959 ] [ 0.08126764 0.02574039 0.99635968]] t_gt: [ 0.34220284 0.35616244 -0.86950879] Pose Error in degrees for R and t: 5.057366675430084 61.04482530763578 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-5.94261192e-01 -8.04269021e-01 -2.23091296e-03] [ 8.04271658e-01 -5.94261525e-01 -5.82648897e-04] [-8.57139278e-04 -2.14050569e-03 9.99997342e-01]] t_estimated: [[0.97865566] [0.20550442] [0.001018 ]] R_gt: [[ 0.99149129 -0.00243141 -0.13014843] [-0.00124111 0.99960334 -0.02813145] [ 0.13016616 0.02805399 0.991095 ]] t_gt: [ 0.58672411 0.15673813 -0.79447339] Pose Error in degrees for R and t: 126.54991752368916 52.72779210913379 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99377563e-01 -3.52772573e-02 -2.64543238e-05] [ 3.52772672e-02 9.99377242e-01 8.01069377e-04] [-1.82168139e-06 -8.01503999e-04 9.99999679e-01]] t_estimated: [[0.51659698] [0.85622822] [0.00089377]] R_gt: [[ 0.98205329 0.01340345 -0.18812871] [-0.01544323 0.99983605 -0.00937935] [ 0.18797292 0.01211529 0.98210023]] t_gt: [ 0.59181207 0.19949622 -0.78099919] Pose Error in degrees for R and t: 11.22728369024615 61.58564479838858 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.78305328e-01 2.07168218e-01 -1.22597340e-04] [-2.07168223e-01 9.78305334e-01 -3.43973779e-05] [ 1.12811588e-04 5.90494112e-05 9.99999992e-01]] t_estimated: [[-0.85332526] [-0.52137819] [-0.00088519]] R_gt: [[ 0.99779055 -0.01066181 0.06558317] [ 0.00140827 0.99021553 0.13954072] [-0.06642931 -0.13914 0.98804273]] t_gt: [-0.04977588 -0.10186945 0.9935517 ] Pose Error in degrees for R and t: 15.160879209427728 84.56548374228956 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.82802621e-01 1.84658699e-01 4.17060773e-04] [-1.84659047e-01 9.82802065e-01 1.06641763e-03] [-2.12964895e-04 -1.12509209e-03 9.99999344e-01]] t_estimated: [[0.34935109] [0.93699099] [0.00130255]] R_gt: [[ 0.99534385 -0.04611884 0.08464165] [ 0.02456606 0.97048604 0.23990276] [-0.09320753 -0.23670643 0.96710059]] t_gt: [ 0.04121752 -0.15983241 0.98628328] Pose Error in degrees for R and t: 19.382607359938554 82.29472280148806 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.63081707e-02 9.95347210e-01 2.94406224e-03] [ 9.95350795e-01 -9.63113515e-02 9.58085218e-04] [ 1.23717406e-03 2.83810326e-03 -9.99995207e-01]] t_estimated: [[9.99994892e-01] [3.10075760e-03] [7.75189837e-04]] R_gt: [[ 0.9910487 -0.09041385 0.09822515] [ 0.05522049 0.94748871 0.31498644] [-0.121546 -0.30674259 0.94399972]] t_gt: [ 0.11009903 -0.20084302 0.97341681] Pose Error in degrees for R and t: 170.97909829680486 83.67140932693214 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99988537e-01 -4.54159614e-03 -1.51631217e-03] [ 4.54302992e-03 9.99989235e-01 9.43468904e-04] [ 1.51201099e-03 -9.50346741e-04 9.99998405e-01]] t_estimated: [[-0.99937798] [-0.03346557] [-0.01112244]] R_gt: [[ 0.99891446 0.0212578 -0.04145881] [-0.0191934 0.99858641 0.04957643] [ 0.04245415 -0.04872718 0.99790957]] t_gt: [0.60994168 0.69540129 0.37998447] Pose Error in degrees for R and t: 3.87698123812195 50.42701418885663 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999803e-01 -3.15655033e-04 -5.42557638e-04] [ 3.15850502e-04 9.99999885e-01 3.60225009e-04] [ 5.42443869e-04 -3.60396305e-04 9.99999788e-01]] t_estimated: [[-0.96175638] [-0.27389925] [-0.00196679]] R_gt: [[ 0.99112101 0.12526234 -0.04459911] [-0.12295887 0.99109565 0.05110806] [ 0.05060419 -0.04517013 0.99769655]] t_gt: [-0.29380891 0.95521532 0.03521381] Pose Error in degrees for R and t: 8.125712141023813 88.80411693278178 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.25783745 0.96616382 0.00687869] [-0.96618248 -0.2578541 0.0016386 ] [ 0.00335686 -0.00622358 0.999975 ]] t_estimated: [[0.20879301] [0.97795857] [0.00158579]] R_gt: [[ 0.99325963 0.09315207 -0.06897904] [-0.08857066 0.99383215 0.06674107] [ 0.0747705 -0.06018316 0.99538266]] t_gt: [0.05609024 0.99721607 0.04913251] Pose Error in degrees for R and t: 99.82181808451513 9.23973077440175 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.99955341e-01 -9.45065788e-03 1.78748137e-05] [ 9.45066007e-03 9.99955333e-01 -1.26696086e-04] [-1.66766540e-05 1.26859357e-04 9.99999992e-01]] t_estimated: [[ 0.6940244 ] [-0.71995035] [-0.00127565]] R_gt: [[ 0.99887609 -0.04454695 -0.01624084] [ 0.04485535 0.99881081 0.01913264] [ 0.01536888 -0.01983956 0.99968495]] t_gt: [ 0.51829323 -0.85510587 0.01288718] Pose Error in degrees for R and t: 2.483134137382924 12.754371958786992 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999881e-01 4.76520997e-04 1.05807070e-04] [-4.76517790e-04 9.99999886e-01 -3.03300140e-05] [-1.05821511e-04 3.02795914e-05 9.99999994e-01]] t_estimated: [[9.99992643e-01] [3.72553999e-03] [9.13806383e-04]] R_gt: [[ 0.99666157 -0.07401749 -0.03446471] [ 0.07507566 0.99671077 0.03050986] [ 0.03209255 -0.03299447 0.99894006]] t_gt: [ 0.5116462 -0.85594268 -0.07470142] Pose Error in degrees for R and t: 5.051424196723653 59.44366343616005 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-0.1676019 -0.98578976 -0.01132054] [-0.98578646 0.1677144 -0.00984526] [ 0.01160397 0.00950955 -0.99988745]] t_estimated: [[ 0.82696107] [ 0.56223309] [-0.00541762]] R_gt: [[ 0.99612304 -0.06830109 -0.05544531] [ 0.07107187 0.996234 0.04965837] [ 0.05184558 -0.05340607 0.99722581]] t_gt: [ 0.47259403 -0.87490231 -0.10583397] Pose Error in degrees for R and t: 178.69538374535048 84.23152999185815 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[-0.94704296 0.31806989 0.04405875] [ 0.31804239 0.94804425 -0.00781955] [-0.04425681 0.0066071 -0.99899834]] t_estimated: [[ 0.98231673] [-0.18573025] [ 0.02362451]] R_gt: [[ 0.9994027 -0.03010032 -0.0169952 ] [ 0.03048742 0.99926981 0.02300726] [ 0.01629062 -0.02351151 0.99959081]] t_gt: [ 0.42438905 -0.90546377 0.00541336] Pose Error in degrees for R and t: 178.59367980583198 54.18398455177877 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.99877526e-01 -1.56485518e-02 2.35664661e-04] [ 1.56485942e-02 9.99877537e-01 -1.79123798e-04] [-2.32832773e-04 1.82789681e-04 9.99999956e-01]] t_estimated: [[ 0.99852271] [-0.05431167] [ 0.00162564]] R_gt: [[ 0.99911136 -0.03262655 -0.02670041] [ 0.03309903 0.99929904 0.0174809 ] [ 0.02611104 -0.01834861 0.99949147]] t_gt: [ 0.46164787 -0.85360752 -0.24132021] Pose Error in degrees for R and t: 2.092208082662767 59.540151627986575 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.71749783 0.69655724 0.00221005] [-0.69651851 0.71748566 -0.00873458] [-0.00766981 0.0047277 0.99995941]] t_estimated: [[0.57355704] [0.81916439] [0.0014197 ]] R_gt: [[ 0.98942835 -0.145005 -0.00231046] [ 0.14498245 0.9894027 -0.00785316] [ 0.00342486 0.00743616 0.999967 ]] t_gt: [ 0.65301682 -0.7564515 -0.03674458] Pose Error in degrees for R and t: 52.48975774429671 75.80824359513271 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-7.09195867e-01 -7.05011306e-01 -5.29773739e-04] [-7.04972598e-01 7.09164423e-01 -9.97283317e-03] [ 7.40665683e-03 -6.69921610e-03 -9.99950130e-01]] t_estimated: [[9.92421392e-01] [1.22878674e-01] [7.82666713e-04]] R_gt: [[ 0.99895547 0.01040093 0.04450499] [-0.01617858 0.99118329 0.13150612] [-0.04274474 -0.13208782 0.99031563]] t_gt: [-0.11182802 -0.01238991 0.99365033] Pose Error in degrees for R and t: 175.03764745805557 83.58521991534847 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99524885e-01 3.08215760e-02 1.86312304e-04] [-3.08215835e-02 9.99524901e-01 3.74422732e-05] [-1.85069757e-04 -4.31669241e-05 9.99999982e-01]] t_estimated: [[2.04847944e-01] [9.78793526e-01] [7.43929370e-04]] R_gt: [[ 0.99462411 -0.01084381 0.102986 ] [-0.01308696 0.97336794 0.22887397] [-0.10272514 -0.228991 0.96799238]] t_gt: [-0.04469022 -0.0230024 0.99873604] Pose Error in degrees for R and t: 14.627607863134147 88.22777051501643 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 6.77418053e-01 -7.35597629e-01 -9.53921911e-04] [ 7.35598113e-01 6.77418144e-01 2.73777992e-04] [ 4.44813568e-04 -8.87165312e-04 9.99999508e-01]] t_estimated: [[-0.12953512] [-0.99157417] [-0.00114633]] R_gt: [[ 0.99315819 -0.05707859 0.10187941] [ 0.02151238 0.94690565 0.32079112] [-0.11478008 -0.31640431 0.94165484]] t_gt: [ 0.0483446 -0.10755886 0.9930226 ] Pose Error in degrees for R and t: 48.93155114854331 84.30390508220867 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-9.72614576e-01 -2.32419810e-01 -1.38477118e-03] [ 2.32422254e-01 -9.72612942e-01 -1.99033975e-03] [-8.84251981e-04 -2.25768509e-03 9.99997060e-01]] t_estimated: [[0.74634674] [0.66555663] [0.00096179]] R_gt: [[ 0.99855178 0.03205515 -0.04321475] [-0.03318935 0.9991157 -0.02583135] [ 0.04234796 0.02722735 0.99873147]] t_gt: [ 0.36126039 0.54792502 -0.75449924] Pose Error in degrees for R and t: 168.43305663837566 50.685627249487254 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99996631e-01 -3.76661003e-04 2.56823895e-03] [ 3.82035256e-04 9.99997738e-01 -2.09241354e-03] [-2.56744501e-03 2.09338765e-03 9.99994513e-01]] t_estimated: [[-0.7756951 ] [-0.63110709] [-0.00097695]] R_gt: [[ 0.99729321 0.07314417 0.00750984] [-0.07296062 0.99708637 -0.02228034] [-0.00911774 0.02167157 0.99972369]] t_gt: [ 0.10396307 0.97674765 -0.18749853] Pose Error in degrees for R and t: 4.375315626691368 45.82175513030187 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.83113607e-01 4.69158934e-01 -5.01481678e-04] [-4.69159177e-01 8.83113403e-01 -6.19965193e-04] [ 1.52002981e-04 7.82774429e-04 9.99999682e-01]] t_estimated: [[-0.99995709] [ 0.00898653] [-0.00224834]] R_gt: [[ 0.98833437 0.13846768 0.06341804] [-0.12912722 0.98264825 -0.13315218] [-0.08075448 0.1234088 0.98906385]] t_gt: [-0.17549051 0.95626387 -0.23401387] Pose Error in degrees for R and t: 21.92517538150851 79.36203495816206 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-0.97394527 -0.22652269 0.01086615] [-0.22641375 0.97397571 0.01039883] [-0.01293893 0.00766764 -0.99988689]] t_estimated: [[0.99161556] [0.12914063] [0.00461217]] R_gt: [[ 0.99876212 -0.03074777 0.0390959 ] [ 0.03121749 0.99944768 -0.01141777] [-0.03872292 0.01262403 0.99917004]] t_gt: [ 0.16903676 -0.89856178 0.40498556] Pose Error in degrees for R and t: 177.168345818673 86.93628101156327 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 8.42985420e-01 -5.37936110e-01 5.68421388e-04] [-5.37935166e-01 -8.42985272e-01 -1.26044199e-03] [ 1.15720812e-03 7.56760364e-04 -9.99999044e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.999128 -0.0251045 0.03335344] [ 0.0256812 0.99952628 -0.01695365] [-0.03291171 0.01779658 0.99929969]] t_gt: [-0.10228137 -0.97171562 0.21285508] Pose Error in degrees for R and t: 179.51664475221642 20.45531369335644 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 8.35077860e-01 -5.50131560e-01 4.85434888e-04] [ 5.50131455e-01 8.35078001e-01 3.39233720e-04] [-5.91999172e-04 -1.62335677e-05 9.99999825e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99702521 -0.03459352 0.06887185] [ 0.03360152 0.99931555 0.01551434] [-0.0693616 -0.01315345 0.99750484]] t_gt: [-0.23137946 -0.74162831 0.62964354] Pose Error in degrees for R and t: 31.668432594219375 51.060657368359806 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999957e-01 -2.31533793e-04 1.77905179e-04] [ 2.31541880e-04 9.99999972e-01 -4.54379204e-05] [-1.77894654e-04 4.54791110e-05 9.99999983e-01]] t_estimated: [[0.57908001] [0.81527006] [0.00103592]] R_gt: [[ 0.98383143 -0.17039426 -0.05514964] [ 0.17260752 0.98424944 0.03820318] [ 0.04777156 -0.04710478 0.99774673]] t_gt: [ 0.61223594 -0.79006845 0.03096786] Pose Error in degrees for R and t: 10.597811670513998 73.16877445480243 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.98926109e-01 -4.63316874e-02 -5.07164783e-05] [ 4.63316992e-02 9.98926076e-01 2.62890386e-04] [ 3.84818574e-05 -2.64957852e-04 9.99999964e-01]] t_estimated: [[-0.60255574] [-0.798076 ] [-0.0011305 ]] R_gt: [[ 0.95817355 -0.2576142 -0.12464903] [ 0.26737008 0.96112927 0.06887976] [ 0.10206008 -0.09932596 0.98980698]] t_gt: [ 0.63974233 -0.76811136 0.02710538] Pose Error in degrees for R and t: 15.046965525723882 76.85005792520131 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 6.72208889e-01 7.40361493e-01 2.64064955e-04] [-7.40361191e-01 6.72208875e-01 -7.31443546e-04] [-7.19039442e-04 2.96179408e-04 9.99999698e-01]] t_estimated: [[-0.99993843] [-0.01102873] [-0.00122541]] R_gt: [[ 0.94502225 -0.29195636 -0.14728845] [ 0.3164666 0.92997083 0.18709323] [ 0.08235132 -0.22341944 0.97123731]] t_gt: [ 0.55998258 -0.76441579 0.31951213] Pose Error in degrees for R and t: 67.01842918761767 56.50191574043223 Number of keypoints: Image1: 427 Image2: 427 R_estimated: [[-4.92970022e-01 8.70046130e-01 5.37398771e-04] [-8.70042038e-01 -4.92965582e-01 -3.43308568e-03] [-2.72202382e-03 -2.15996784e-03 9.99993963e-01]] t_estimated: [[0.19510182] [0.98078211] [0.00131826]] R_gt: [[ 0.99959849 -0.02638833 0.01032872] [ 0.02605075 0.99916282 0.0315514 ] [-0.01115278 -0.03127084 0.99944875]] t_gt: [-1.54434243e-04 -6.87458198e-01 7.26223934e-01] Pose Error in degrees for R and t: 121.04798147198125 47.67621609829101 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 9.63605160e-01 -2.67329009e-01 5.45047472e-04] [ 2.67329493e-01 9.63601396e-01 -2.70046678e-03] [ 1.96704605e-04 2.74789099e-03 9.99996205e-01]] t_estimated: [[-0.7592543 ] [-0.6507894 ] [-0.00246511]] R_gt: [[ 0.99715704 -0.05210666 0.05442399] [ 0.0509498 0.99844978 0.0224343 ] [-0.0555083 -0.01959836 0.99826597]] t_gt: [-0.22693941 -0.55485293 0.80039786] Pose Error in degrees for R and t: 13.006411967184105 57.89827671669267 Number of keypoints: Image1: 405 Image2: 405 R_estimated: [[-0.85230623 -0.52303457 -0.00298822] [ 0.52302329 -0.85230976 0.00383541] [-0.00455295 0.00170604 0.99998818]] t_estimated: [[9.52804912e-01] [3.03582303e-01] [7.64690941e-04]] R_gt: [[ 0.99302595 -0.11600264 0.021062 ] [ 0.11546309 0.99299121 0.02523667] [-0.0238421 -0.02262872 0.99946004]] t_gt: [ 0.07618397 -0.94625284 0.31432718] Pose Error in degrees for R and t: 141.81710697498278 77.6175127910995 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.28554585e-01 3.71195745e-01 -3.17444148e-04] [-3.71195756e-01 9.28554635e-01 2.68575060e-05] [ 3.04733627e-04 9.28952601e-05 9.99999949e-01]] t_estimated: [[-9.94282481e-01] [-1.06778975e-01] [-7.73760686e-04]] R_gt: [[ 0.99582666 -0.01917367 0.08923734] [ 0.01094659 0.99571895 0.09178492] [-0.09061492 -0.09042549 0.99177184]] t_gt: [-0.01366154 -0.22587416 0.97406069] Pose Error in degrees for R and t: 23.809303718997032 87.88253336503989 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.27329572e-01 3.74245031e-01 7.22839875e-04] [-3.74239580e-01 9.27323678e-01 -3.94107921e-03] [-2.14523584e-03 3.38416401e-03 9.99991973e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98291931 -0.10895994 0.14831922] [ 0.0664522 0.96165729 0.26608525] [-0.17162436 -0.25168484 0.95247002]] t_gt: [ 0.2010242 -0.31622276 0.92714208] Pose Error in degrees for R and t: 32.40040258013718 78.4185155678549 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-5.40935796e-01 8.41060381e-01 -2.42901437e-03] [ 8.41055446e-01 5.40941051e-01 2.91833250e-03] [ 3.76844743e-03 -4.64305247e-04 -9.99992792e-01]] t_estimated: [[0.94559403] [0.32534052] [0.00234058]] R_gt: [[ 0.96597265 -0.2307126 0.11691767] [ 0.17055139 0.90800614 0.38267414] [-0.19444912 -0.34971232 0.91645574]] t_gt: [ 0.38449879 -0.40804376 0.82804648] Pose Error in degrees for R and t: 177.5275792539885 76.54010401597174 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.92469249e-01 -1.22493784e-01 -2.50736418e-04] [ 1.22493815e-01 9.92469271e-01 1.09643786e-04] [ 2.35417507e-04 -1.39531747e-04 9.99999963e-01]] t_estimated: [[-9.99647248e-01] [-2.65589754e-02] [ 6.17832654e-06]] R_gt: [[ 0.99365949 0.11004732 0.02302528] [-0.1107236 0.9933826 0.03048028] [-0.01951889 -0.03283617 0.99926953]] t_gt: [-0.7721463 0.56911074 0.28267129] Pose Error in degrees for R and t: 13.55360552624118 40.82054782154161 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99999983e-01 -1.14170917e-04 -1.43103976e-04] [ 1.14179490e-04 9.99999992e-01 5.99074257e-05] [ 1.43097135e-04 -5.99237642e-05 9.99999988e-01]] t_estimated: [[-9.98876549e-01] [-4.73881419e-02] [ 6.92927069e-05]] R_gt: [[ 0.98207495 0.18844173 0.00434064] [-0.18821015 0.98160302 -0.03212119] [-0.01031424 0.03072824 0.99947405]] t_gt: [-0.67006956 0.72888656 -0.14046768] Pose Error in degrees for R and t: 11.022685774972922 50.59733491616608 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-0.41449358 -0.91004273 -0.00415917] [-0.91004809 0.41450116 -0.00112503] [ 0.00274781 0.00331872 -0.99999072]] t_estimated: [[ 0.85212653] [ 0.5233338 ] [-0.00145358]] R_gt: [[ 0.98419116 0.17599934 0.01977775] [-0.17302048 0.97931672 -0.10488466] [-0.03782902 0.09980483 0.99428666]] t_gt: [-0.56766227 0.73919516 -0.36242249] Pose Error in degrees for R and t: 177.96398491794932 84.47112056104521 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99680483e-01 2.52762944e-02 2.02964256e-04] [-2.52762964e-02 9.99680503e-01 7.26504906e-06] [-2.02715776e-04 -1.23929124e-05 9.99999979e-01]] t_estimated: [[ 9.94200574e-01] [ 1.07541336e-01] [-2.83268828e-04]] R_gt: [[ 0.99217819 -0.12474125 -0.00460747] [ 0.12482073 0.9918006 0.02741718] [ 0.00114971 -0.02777921 0.99961299]] t_gt: [ 0.6582444 -0.73436707 0.16558781] Pose Error in degrees for R and t: 8.763882490192783 54.87198392942468 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.7945569 -0.60714698 -0.0072022 ] [ 0.60683103 -0.79443933 0.02494501] [-0.020867 0.01544971 0.99966288]] t_estimated: [[9.76798300e-01] [2.14159151e-01] [9.69045934e-04]] R_gt: [[ 0.96459426 -0.263684 -0.0052836 ] [ 0.2627014 0.95884299 0.10774024] [-0.02334311 -0.10531512 0.99416489]] t_gt: [ 0.66329299 -0.66280142 0.34747186] Pose Error in degrees for R and t: 127.3455752544103 59.582632410858274 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.9939791 -0.10954851 0.0021625 ] [ 0.10955121 0.99398046 -0.00116952] [-0.00202136 0.00139938 0.99999698]] t_estimated: [[0.86022667] [0.50990812] [0.00194621]] R_gt: [[ 0.93680912 -0.34981631 -0.00410096] [ 0.34521872 0.92247207 0.17282286] [-0.05667349 -0.16331898 0.9849442 ]] t_gt: [ 0.64809351 -0.62300536 0.43799444] Pose Error in degrees for R and t: 17.365049450445856 76.07307060969305 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999340e-01 -1.14838535e-03 -3.69998880e-05] [ 1.14837752e-03 9.99999318e-01 -2.11011411e-04] [ 3.72421852e-05 2.10968782e-04 9.99999977e-01]] t_estimated: [[-0.98807556] [-0.15395772] [-0.00192859]] R_gt: [[ 9.96472926e-01 8.39316149e-02 1.81514024e-04] [-8.39150864e-02 9.96232364e-01 2.19095679e-02] [ 1.65823602e-03 -2.18473221e-02 9.99759882e-01]] t_gt: [-0.6413715 0.74547007 0.18143033] Pose Error in degrees for R and t: 5.041739503287227 58.761428176986115 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99980298e-01 6.26643739e-03 -3.66730345e-04] [-6.26571342e-03 9.99978482e-01 1.94304928e-03] [ 3.78898451e-04 -1.94071317e-03 9.99998045e-01]] t_estimated: [[-9.95156674e-01] [-9.83001992e-02] [-5.15004407e-04]] R_gt: [[ 0.98503749 0.17211816 0.00882433] [-0.17221605 0.98498631 0.01200934] [-0.00662549 -0.01334949 0.9998885 ]] t_gt: [-0.65250099 0.75365379 0.0790469 ] Pose Error in degrees for R and t: 9.58645555629436 54.88526150084796 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.93698482e-01 1.12086164e-01 -1.33684073e-04] [-1.12086165e-01 9.93698491e-01 5.53379599e-07] [ 1.32903688e-04 1.44342426e-05 9.99999991e-01]] t_estimated: [[-9.99977127e-01] [-6.71125587e-03] [-8.38906986e-04]] R_gt: [[ 0.87467248 0.48404009 0.02556271] [-0.48376082 0.87504275 -0.01659954] [-0.03040349 0.00215224 0.99953524]] t_gt: [-0.57943298 0.81429417 0.03438626] Pose Error in degrees for R and t: 22.57957780795842 54.9755497583806 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 7.90934712e-01 6.11899706e-01 1.01550842e-03] [-6.11898832e-01 7.90935335e-01 -1.05611710e-03] [-1.44943923e-03 2.13931258e-04 9.99998927e-01]] t_estimated: [[0.60177742] [0.79866197] [0.00173114]] R_gt: [[ 0.98268947 -0.18469163 -0.01454441] [ 0.18487073 0.98268906 0.01211272] [ 0.01205524 -0.0145904 0.99982083]] t_gt: [ 0.98640562 -0.15003109 0.06704202] Pose Error in degrees for R and t: 48.389619226281575 61.71299092953322 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 5.75366010e-01 8.17895665e-01 7.97521620e-04] [-8.17893334e-01 5.75366337e-01 -2.01770701e-03] [-2.10914091e-03 5.08632413e-04 9.99997646e-01]] t_estimated: [[0.48535844] [0.87431354] [0.00173685]] R_gt: [[ 0.97687284 -0.21247328 0.02397516] [ 0.21131507 0.97645097 0.04347589] [-0.03264838 -0.03740313 0.99876692]] t_gt: [ 0.96573038 -0.15237033 0.21011455] Pose Error in degrees for R and t: 67.1696380058468 70.37449499044978 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.83325463 0.55283695 0.00761784] [ 0.55283703 0.83328626 -0.00228641] [-0.00761185 0.00230626 -0.99996837]] t_estimated: [[ 0.91842032] [-0.39557442] [ 0.00499869]] R_gt: [[ 0.96326999 -0.26347179 0.0518955 ] [ 0.25913711 0.96271469 0.07764447] [-0.0704185 -0.06134337 0.99562896]] t_gt: [ 0.94591507 -0.13342316 0.29570751] Pose Error in degrees for R and t: 177.32074455040694 22.63064113462481 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99365430e-01 3.55949982e-02 1.31691054e-03] [-3.55947724e-02 9.99366286e-01 -1.94550694e-04] [-1.32300103e-03 1.47552106e-04 9.99999114e-01]] t_estimated: [[0.26541942] [0.96413038] [0.00226854]] R_gt: [[ 0.99796468 -0.06213936 0.01428651] [ 0.06195211 0.99799186 0.01320028] [-0.01507801 -0.01228851 0.99981058]] t_gt: [ 0.38508463 -0.89140046 0.23898755] Pose Error in degrees for R and t: 5.6980574649370705 40.828041551118496 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.74803415e-01 2.23065430e-01 3.41065673e-04] [-2.23064927e-01 9.74802939e-01 -1.12583798e-03] [-5.83607353e-04 1.02139091e-03 9.99999308e-01]] t_estimated: [[7.60791582e-01] [6.48995872e-01] [7.25946166e-04]] R_gt: [[ 0.98493074 -0.16694819 0.0451669 ] [ 0.16460102 0.985014 0.05150525] [-0.05308841 -0.04329497 0.99765119]] t_gt: [ 0.50179199 -0.79653246 0.33725486] Pose Error in degrees for R and t: 22.783754023855806 82.24471511043109 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 8.46036614e-01 -5.33124796e-01 -3.43007290e-06] [ 5.33124556e-01 8.46036227e-01 9.54646165e-04] [-5.06043576e-04 -8.09494265e-04 9.99999544e-01]] t_estimated: [[0.98711382] [0.16001635] [0.00103907]] R_gt: [[ 0.95293088 -0.30230358 0.02312491] [ 0.2984233 0.9486931 0.10451913] [-0.05353516 -0.0926988 0.99425422]] t_gt: [ 0.64022488 -0.69782477 0.32117393] Pose Error in degrees for R and t: 15.89179477589116 58.62446135929065 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.98070941 -0.19529115 0.00839193] [-0.19527413 0.98074468 0.00280873] [-0.00877886 0.00111582 -0.99996084]] t_estimated: [[0.9967792 ] [0.08004706] [0.0048681 ]] R_gt: [[ 0.99596473 -0.08755138 0.01977142] [ 0.08701809 0.99585852 0.02632701] [-0.021995 -0.02450017 0.99945801]] t_gt: [ 0.92317003 -0.20715288 0.32379742] Pose Error in degrees for R and t: 178.16704908834691 25.150981859149624 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.99781267 0.06608732 0.00152761] [-0.06608124 0.99780726 -0.00373301] [-0.00177096 0.0036239 0.99999187]] t_estimated: [[-0.29123044] [-0.9565089 ] [-0.01659979]] R_gt: [[ 0.99114364 -0.11373443 0.06855448] [ 0.109761 0.99219413 0.05918438] [-0.07475033 -0.05113585 0.99589018]] t_gt: [ 0.80072581 -0.20082498 0.56436469] Pose Error in degrees for R and t: 11.487324139028248 87.10687012088525 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 2.37335541e-01 -9.71427627e-01 4.53935900e-04] [-9.71427098e-01 -2.37335894e-01 -1.03317748e-03] [ 1.11139243e-03 -1.95755899e-04 -9.99999363e-01]] t_estimated: [[0.72322034] [0.69061585] [0.00144192]] R_gt: [[ 0.97645092 -0.21032178 0.04805158] [ 0.20847964 0.97718279 0.04062363] [-0.05549975 -0.02964808 0.99801872]] t_gt: [ 0.96789217 -0.13237717 0.21368443] Pose Error in degrees for R and t: 176.59946644096837 52.491028277787976 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 1.00000000e+00 1.04196046e-05 5.29416764e-09] [-1.04196046e-05 1.00000000e+00 -1.84831647e-06] [-5.31342473e-09 1.84831642e-06 1.00000000e+00]] t_estimated: [[-5.84782276e-02] [ 9.98288681e-01] [-8.29649784e-05]] R_gt: [[ 0.99994415 -0.00200074 -0.01046353] [ 0.00180731 0.99982877 -0.01842141] [ 0.01049841 0.01840209 0.99977568]] t_gt: [ 0.2002318 0.05589523 -0.97815283] Pose Error in degrees for R and t: 1.2173030628603287 87.46833409219265 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-5.76219610e-01 8.17294201e-01 -1.07263836e-03] [-8.17293623e-01 -5.76220534e-01 -1.01452172e-03] [-1.44723897e-03 2.92073178e-04 9.99998910e-01]] t_estimated: [[4.06053401e-01] [9.13849174e-01] [5.67590641e-04]] R_gt: [[ 0.99250425 -0.04280897 0.1144715 ] [ 0.02688322 0.99017768 0.13721206] [-0.11922101 -0.1331058 0.98390516]] t_gt: [ 0.07003338 -0.29111802 0.95412034] Pose Error in degrees for R and t: 127.43219879284366 76.28696799368869 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-6.87054308e-01 -7.26603645e-01 -1.87638002e-03] [ 7.26605335e-01 -6.87054992e-01 -3.53935883e-04] [-1.03200516e-03 -1.60656091e-03 9.99998177e-01]] t_estimated: [[9.04133261e-01] [4.27249701e-01] [8.60089060e-04]] R_gt: [[ 0.97831041 -0.15533497 0.13704297] [ 0.11048378 0.95089994 0.28910846] [-0.1752225 -0.26769672 0.94743615]] t_gt: [ 0.30077795 -0.39905114 0.86619329] Pose Error in degrees for R and t: 126.32188747951574 84.13448264043897 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.77956367e-01 -2.08809314e-01 1.24076920e-04] [ 2.08809296e-01 9.77956367e-01 1.47136173e-04] [-1.52065217e-04 -1.17984342e-04 9.99999981e-01]] t_estimated: [[-0.32910944] [-0.94429094] [-0.00126581]] R_gt: [[ 0.98362496 -0.13902923 -0.11468207] [ 0.14700136 0.98704863 0.06423002] [ 0.10426801 -0.08003608 0.9913229 ]] t_gt: [ 0.59082984 -0.80479994 -0.05672005] Pose Error in degrees for R and t: 8.453629671365231 55.55676920913502 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99088072 -0.12281019 -0.05543507] [ 0.12456141 0.99177882 0.0293126 ] [ 0.05137945 -0.03595036 0.99803193]] t_estimated: [[-0.9824089 ] [-0.18420167] [-0.03070028]] R_gt: [[ 0.94179688 -0.29155765 -0.1673686 ] [ 0.3123263 0.94301969 0.11474224] [ 0.12437796 -0.16033734 0.97919443]] t_gt: [ 0.64624238 -0.75419905 0.11642415] Pose Error in degrees for R and t: 13.437395762486023 60.03150084499972 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.97795977 -0.20877396 0.00285106] [ 0.20877761 0.97796259 -0.00104427] [-0.00257022 0.0016165 0.99999539]] t_estimated: [[0.17411609] [0.98472323] [0.00193462]] R_gt: [[ 0.88101666 -0.39033948 -0.26729002] [ 0.4260045 0.90029283 0.08940863] [ 0.20574011 -0.19263678 0.95945886]] t_gt: [ 0.71650283 -0.6972183 0.02259075] Pose Error in degrees for R and t: 20.7521932525605 55.8217980504157 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.9996456 0.02655277 0.0019018 ] [-0.02654913 0.99964567 -0.00191582] [-0.001952 0.00186465 0.99999636]] t_estimated: [[-0.65598593] [-0.7547723 ] [-0.00110996]] R_gt: [[ 0.99567366 0.07188827 0.05888045] [-0.06864072 0.99610007 -0.05543834] [-0.06263713 0.05115632 0.99672412]] t_gt: [-0.43374449 0.89944282 0.05355673] Pose Error in degrees for R and t: 5.140667275808572 66.77121093717304 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.69834321e-01 2.43764707e-01 3.95851952e-04] [-2.43762781e-01 9.69831074e-01 -2.71923124e-03] [-1.04676213e-03 2.54070981e-03 9.99996225e-01]] t_estimated: [[-0.57251856] [ 0.8198684 ] [-0.00618891]] R_gt: [[ 0.98404627 0.11938967 0.13190379] [-0.10593545 0.98884277 -0.10472268] [-0.14293495 0.08907811 0.98571448]] t_gt: [-0.43609296 0.8722827 0.22123702] Pose Error in degrees for R and t: 12.214863293550383 15.53669121629222 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.84536105 -0.5341895 -0.00250433] [ 0.53411755 -0.84514858 -0.02103158] [ 0.00911832 -0.01911688 0.99977568]] t_estimated: [[0.86410818] [0.50330511] [0.00101065]] R_gt: [[ 0.97765904 0.09964128 0.18508155] [-0.08270419 0.99183271 -0.09710148] [-0.19324623 0.07962468 0.97791337]] t_gt: [-0.34377353 0.7834942 0.51764524] Pose Error in degrees for R and t: 153.26118096095377 84.38737019417243 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.33054177 0.94314907 0.03481347] [ 0.94379053 -0.33026742 -0.01352276] [-0.00125623 0.03732646 -0.99930234]] t_estimated: [[0.41198183] [0.91119107] [0.00134196]] R_gt: [[ 0.99844691 -0.05303721 0.01705271] [ 0.05296051 0.99858417 0.00496351] [-0.01729272 -0.00405267 0.9998424 ]] t_gt: [ 0.41159123 -0.88235624 0.22812306] Pose Error in degrees for R and t: 177.82386866682077 50.64518720413267 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.38452286 0.9231136 0.00185492] [ 0.92310176 -0.38450543 -0.00622239] [-0.00503075 0.00410493 -0.99997892]] t_estimated: [[0.99961697] [0.02761373] [0.00184092]] R_gt: [[ 0.99655408 -0.0801791 0.02124844] [ 0.08029042 0.99676131 -0.00440357] [-0.02082821 0.00609401 0.99976453]] t_gt: [ 0.38093196 -0.92083264 0.0834152 ] Pose Error in degrees for R and t: 178.72823760138985 69.17517347722327 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.32978458 -0.94388002 -0.0182386 ] [ 0.94394694 -0.3299788 0.00884095] [-0.01436315 -0.01430066 0.99979457]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.99574414 -0.08660024 0.03154118] [ 0.08614849 0.99616236 0.01543476] [-0.03275792 -0.01265329 0.9993833 ]] t_gt: [ 0.2385374 -0.93866818 0.24900193] Pose Error in degrees for R and t: 104.31906943186014 82.1065662289035 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.93005972 0.3673967 -0.0029288 ] [-0.36739051 -0.93006356 -0.00244547] [-0.00362242 -0.00119842 0.99999272]] t_estimated: [[0.65183736] [0.75835712] [0.00158985]] R_gt: [[ 0.98723702 -0.15645413 -0.02974488] [ 0.15409188 0.98559113 -0.0697505 ] [ 0.04022869 0.06427649 0.99712045]] t_gt: [ 0.60065136 -0.64555501 -0.47167433] Pose Error in degrees for R and t: 167.39511110260113 84.33084007701935 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.93791024e-01 1.11261186e-01 5.90109114e-04] [-1.11260894e-01 9.93791103e-01 -5.06883929e-04] [-6.42841694e-04 4.38080632e-04 9.99999697e-01]] t_estimated: [[8.41732005e-01] [5.39895066e-01] [7.41614101e-04]] R_gt: [[ 0.96454445 -0.25738143 -0.05837791] [ 0.25227904 0.96413236 -0.08248729] [ 0.07751528 0.06483588 0.99488037]] t_gt: [ 0.64230237 -0.65332842 -0.40076133] Pose Error in degrees for R and t: 21.962135917871844 79.18605072540083 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.97683245 -0.21396525 0.0041514 ] [-0.21394012 0.97682972 0.00577328] [-0.00529049 0.00475137 -0.99997472]] t_estimated: [[9.82547882e-01] [1.86007706e-01] [8.89989024e-04]] R_gt: [[ 0.93079154 -0.3549401 -0.0874253 ] [ 0.35207972 0.93480249 -0.0467352 ] [ 0.09831286 0.01272027 0.99507396]] t_gt: [ 0.71111322 -0.66480103 -0.22881777] Pose Error in degrees for R and t: 174.7484482033246 54.91149974896664 Number of keypoints: Image1: 324 Image2: 324 R_estimated: [[ 9.78453188e-01 2.06468572e-01 2.95698860e-04] [-2.06468604e-01 9.78453222e-01 8.45040120e-05] [-2.71880080e-04 -1.43735751e-04 9.99999953e-01]] t_estimated: [[-0.32382781] [ 0.9461153 ] [ 0.00117783]] R_gt: [[ 0.99796692 -0.04890582 0.04086453] [ 0.04926979 0.99875457 -0.00793078] [-0.04042457 0.00992839 0.99913377]] t_gt: [0.79682776 0.15791811 0.58320441] Pose Error in degrees for R and t: 14.9188269274699 83.80345917303997 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.88033116e-01 -1.54241895e-01 -1.07796278e-05] [ 1.54241896e-01 9.88033114e-01 5.48744041e-05] [ 2.18669711e-06 -5.58803987e-05 9.99999998e-01]] t_estimated: [[-0.68771441] [-0.7259801 ] [-0.00133668]] R_gt: [[ 0.99385113 -0.02471977 0.10793163] [ 0.02991994 0.99845593 -0.04682283] [-0.10660606 0.04976478 0.99305577]] t_gt: [0.22549066 0.72528713 0.65047101] Pose Error in degrees for R and t: 9.945973559680871 46.96173255047959 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[-0.97584 -0.21794927 -0.01531052] [-0.21775457 0.97591124 -0.0134238 ] [ 0.01786742 -0.00976555 -0.99979267]] t_estimated: [[0.5348153 ] [0.84496841] [0.00099408]] R_gt: [[ 0.9898307 0.01852225 0.14103644] [-0.00525017 0.99556829 -0.0938971 ] [-0.14215 0.09220203 0.98554168]] t_gt: [-0.26657011 0.89602511 0.35507658] Pose Error in degrees for R and t: 173.43867677375064 52.055337039843984 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99997683e-01 2.05008091e-03 -6.56202679e-04] [-2.04995433e-03 9.99997880e-01 1.93517048e-04] [ 6.56598013e-04 -1.92171414e-04 9.99999766e-01]] t_estimated: [[-0.93157688] [-0.3635422 ] [-0.0012623 ]] R_gt: [[ 0.98959158 0.14185361 -0.02421817] [-0.14267633 0.98909494 -0.03652289] [ 0.01877279 0.03959934 0.99903946]] t_gt: [-0.61307017 0.73294111 -0.29485979] Pose Error in degrees for R and t: 8.444297202605743 72.23947918314357 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 0.9994511 -0.03306012 0.00212672] [ 0.03307037 0.99944064 -0.00497559] [-0.00196104 0.00504319 0.99998536]] t_estimated: [[-0.52457632] [-0.85133751] [-0.00664261]] R_gt: [[ 0.99203882 0.1258241 -0.00516884] [-0.12553506 0.98483723 -0.11972873] [-0.00997414 0.11942558 0.99279344]] t_gt: [-0.4357684 0.7017027 -0.56366589] Pose Error in degrees for R and t: 11.266975620501123 68.58947321263456 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.95933838e-01 9.00875058e-02 1.77841711e-04] [-9.00875675e-02 9.95933777e-01 3.76375669e-04] [-1.43211821e-04 -3.90866591e-04 9.99999913e-01]] t_estimated: [[-7.83835813e-01] [-6.20967760e-01] [ 6.78389792e-04]] R_gt: [[ 0.98215776 0.18795572 -0.00632796] [-0.18629443 0.96776736 -0.16947076] [-0.0257288 0.16762642 0.98551518]] t_gt: [-0.43996757 0.72267618 -0.53307379] Pose Error in degrees for R and t: 11.318894348598645 84.01558721719928 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.88315239e-01 -1.52423410e-01 3.03367064e-04] [ 1.52423531e-01 9.88315174e-01 -4.28708477e-04] [-2.34477065e-04 4.69939400e-04 9.99999862e-01]] t_estimated: [[-0.84595034] [-0.53326011] [-0.00129747]] R_gt: [[ 0.99951476 -0.02951467 0.00997819] [ 0.02935572 0.99944581 0.01573852] [-0.01043689 -0.01543819 0.99982688]] t_gt: [ 0.7421035 -0.34251103 0.57616716] Pose Error in degrees for R and t: 7.162149385284556 63.52016641715622 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99902803e-01 1.39417051e-02 1.15159046e-04] [-1.39417125e-02 9.99902808e-01 6.42299692e-05] [-1.14252378e-04 -6.58292405e-05 9.99999991e-01]] t_estimated: [[ 6.66302907e-01] [-7.45681188e-01] [ 3.40622444e-05]] R_gt: [[ 0.99991807 0.0039362 -0.01222157] [-0.00372498 0.99984561 0.0172543 ] [ 0.01228708 -0.01720674 0.99977615]] t_gt: [-0.0584069 0.99460572 0.08572106] Pose Error in degrees for R and t: 1.3416688324786912 38.686973424308526 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.99969715 0.0245847 -0.00109309] [-0.02458316 0.9996968 0.00140509] [ 0.0011273 -0.00137779 0.99999842]] t_estimated: [[9.86453188e-01] [1.64040902e-01] [8.30519156e-04]] R_gt: [[ 0.99627776 0.08545068 0.01137275] [-0.08573305 0.99594818 0.02720021] [-0.00900239 -0.02807388 0.99956577]] t_gt: [-0.55332066 0.80280104 0.22214128] Pose Error in degrees for R and t: 3.865914348867452 65.54690118690736 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99997995e-01 1.99947223e-03 -1.06087575e-04] [-1.99945410e-03 9.99997987e-01 1.70716777e-04] [ 1.06428704e-04 -1.70504318e-04 9.99999980e-01]] t_estimated: [[9.99922778e-01] [1.24202126e-02] [4.18977147e-04]] R_gt: [[ 0.98893879 -0.14645326 0.02351352] [ 0.14541969 0.98852431 0.04091226] [-0.02923493 -0.03704106 0.99888588]] t_gt: [ 0.59845895 -0.75216412 0.27585507] Pose Error in degrees for R and t: 8.927849521624927 53.90071514076287 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999972e-01 2.29419334e-04 6.12122000e-05] [-2.29417480e-04 9.99999973e-01 -3.03073357e-05] [-6.12191514e-05 3.02932917e-05 9.99999998e-01]] t_estimated: [[ 9.74832017e-01] [-2.22940520e-01] [ 2.49378704e-04]] R_gt: [[ 0.98241425 -0.18325119 0.03579743] [ 0.18205148 0.98268892 0.03435836] [-0.0414735 -0.02723731 0.99876702]] t_gt: [ 0.61178664 -0.75371151 0.24007514] Pose Error in degrees for R and t: 10.919410839073878 40.13907762534816 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.87075361 -0.49158758 0.01139293] [-0.49171744 0.87058452 -0.0172207 ] [-0.00145302 -0.02059709 -0.9997868 ]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.97454208 -0.22267797 0.02615447] [ 0.22104104 0.97375345 0.05428711] [-0.03755642 -0.04712404 0.99818184]] t_gt: [ 0.61719223 -0.75149426 0.23308825] Pose Error in degrees for R and t: 177.22581289643534 56.06858245152854 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.26090239 -0.96534804 0.00575365] [ 0.96529483 0.26080678 -0.01362752] [ 0.01165471 0.00910942 0.99989059]] t_estimated: [[ 0.8187776 ] [-0.57392041] [-0.01478526]] R_gt: [[ 0.99888896 0.04583908 -0.01090533] [-0.04646354 0.99672486 -0.06618931] [ 0.00783581 0.06662348 0.99774807]] t_gt: [-0.26707819 0.58441681 -0.76624163] Pose Error in degrees for R and t: 77.565703479394 57.12846228548355 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.86277944e-01 -1.65093248e-01 1.90095344e-04] [ 1.65093171e-01 9.86277908e-01 3.64618242e-04] [-2.47682848e-04 -3.28231487e-04 9.99999915e-01]] t_estimated: [[ 0.49798216] [-0.86718587] [ 0.00156198]] R_gt: [[ 0.99873538 0.05015283 0.00342627] [-0.04924554 0.98979034 -0.13375135] [-0.01009923 0.1334141 0.99100939]] t_gt: [-0.15718972 0.51384692 -0.84335801] Pose Error in degrees for R and t: 14.562381063817849 58.31857692256561 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999896e-01 -4.55041378e-04 -2.90152613e-07] [ 4.55041416e-04 9.99999886e-01 1.45663158e-04] [ 2.23869815e-07 -1.45663275e-04 9.99999989e-01]] t_estimated: [[-2.66683050e-01] [-9.63784248e-01] [ 2.72746055e-04]] R_gt: [[ 9.94653873e-01 1.01555335e-01 -1.87196553e-02] [-1.03266366e-01 9.77578061e-01 -1.83513467e-01] [-3.36476112e-04 1.84465396e-01 9.82838817e-01]] t_gt: [-0.19911468 0.56901355 -0.79785771] Pose Error in degrees for R and t: 12.187530153045435 60.295730449066994 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.81072822e-01 1.93639140e-01 3.62226886e-05] [-1.93639098e-01 9.81072702e-01 -5.03665659e-04] [-1.33066476e-04 4.87118561e-04 9.99999873e-01]] t_estimated: [[0.81849145] [0.57451804] [0.00087446]] R_gt: [[ 0.9995554 -0.02092353 0.02127382] [ 0.01982553 0.99852339 0.05058879] [-0.02230101 -0.05014423 0.99849315]] t_gt: [ 0.22699515 -0.35969591 0.90503705] Pose Error in degrees for R and t: 12.73281811629786 88.8501808173713 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[-9.94060448e-01 -1.08793165e-01 -2.80580225e-03] [ 1.08793369e-01 -9.94064382e-01 8.01368025e-05] [-2.79786641e-03 -2.25591854e-04 9.99996061e-01]] t_estimated: [[0.92314342] [0.38445371] [0.00125324]] R_gt: [[ 0.9981623 -0.03747926 0.04762016] [ 0.03336133 0.99586316 0.08451991] [-0.05059086 -0.08277553 0.99528374]] t_gt: [ 0.22759921 -0.25793166 0.93897277] Pose Error in degrees for R and t: 171.7226542669862 83.5624215056727 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.4882597 -0.87267684 -0.00613188] [ 0.87269379 -0.48822229 -0.00667369] [ 0.00283025 -0.00860975 0.99995893]] t_estimated: [[0.98967498] [0.14332183] [0.00150865]] R_gt: [[ 0.99865571 -0.03598017 0.03734263] [ 0.03331482 0.99701258 0.06969542] [-0.03973802 -0.06835706 0.99686912]] t_gt: [ 0.29494381 -0.09278983 0.95099853] Pose Error in degrees for R and t: 117.29952142875906 73.73774078934073 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99941081e-01 1.08531729e-02 2.09358641e-04] [-1.08531784e-02 9.99941102e-01 2.52223944e-05] [-2.09072568e-04 -2.74931150e-05 9.99999978e-01]] t_estimated: [[0.72811354] [0.68545064] [0.00284419]] R_gt: [[ 0.99992365 0.01163494 -0.00429192] [-0.0114867 0.99938437 0.03315308] [ 0.00467584 -0.03310165 0.99944133]] t_gt: [0.59439464 0.57380489 0.56342077] Pose Error in degrees for R and t: 1.9155480728950782 34.136379484629295 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99869624e-01 -1.61442098e-02 -3.14963514e-04] [ 1.61445265e-02 9.99869138e-01 1.03012058e-03] [ 2.98291814e-04 -1.03507122e-03 9.99999420e-01]] t_estimated: [[-9.95314382e-01] [-9.66916759e-02] [ 5.21947931e-06]] R_gt: [[ 0.99827895 0.03896024 -0.04382309] [-0.03860924 0.99921512 0.0088563 ] [ 0.04413463 -0.00714896 0.99900014]] t_gt: [ 0.60677656 0.67019105 -0.42739462] Pose Error in degrees for R and t: 4.042566360966667 48.03029601593393 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999888e-01 4.71661817e-04 2.33559890e-05] [-4.71660959e-04 9.99999888e-01 -3.67148397e-05] [-2.33733034e-05 3.67038195e-05 9.99999999e-01]] t_estimated: [[-0.04476805] [-0.9989893 ] [-0.00402543]] R_gt: [[ 0.99773129 0.06464505 -0.01878279] [-0.06428193 0.99774435 0.01934534] [ 0.0199915 -0.01809433 0.99963633]] t_gt: [ 0.53700756 0.83597274 -0.11301527] Pose Error in degrees for R and t: 3.982639792280421 30.827541022414874 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.62979464e-01 2.69574521e-01 3.59156971e-04] [-2.69574314e-01 9.62979439e-01 -5.37477046e-04] [-4.90750896e-04 4.20759864e-04 9.99999791e-01]] t_estimated: [[0.8305489 ] [0.55694486] [0.00097368]] R_gt: [[ 0.97348202 -0.22817469 -0.01639608] [ 0.22825879 0.97359526 0.00340828] [ 0.01518436 -0.00705962 0.99985947]] t_gt: [ 0.65028002 -0.75943442 -0.01988086] Pose Error in degrees for R and t: 28.848701451034653 83.27483736571607 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.33976813 0.94049927 -0.00432868] [ 0.94048458 0.33978895 0.00567723] [ 0.00681027 -0.00214212 -0.99997452]] t_estimated: [[0.57247312] [0.8199229 ] [0.00098194]] R_gt: [[ 0.95159686 -0.30635126 -0.02477845] [ 0.30552459 0.95163778 -0.0322564 ] [ 0.03346119 0.02312528 0.9991721 ]] t_gt: [ 0.66465089 -0.7353778 -0.13213133] Pose Error in degrees for R and t: 179.1744958458131 77.1389113294691 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 8.83383213e-01 4.68651058e-01 -5.33790597e-04] [-4.68650540e-01 8.83383223e-01 8.67580256e-04] [ 8.78134063e-04 -5.16244583e-04 9.99999481e-01]] t_estimated: [[-0.85243971] [-0.52282428] [-0.00114839]] R_gt: [[ 0.90342358 -0.42190344 -0.07631967] [ 0.42106113 0.90661282 -0.02759808] [ 0.08083489 -0.00720144 0.99670169]] t_gt: [ 0.72142469 -0.68123468 -0.1243613 ] Pose Error in degrees for R and t: 53.10530266763051 75.0093027724975 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[-6.28107763e-01 -7.78123055e-01 -2.26918994e-03] [ 7.78126211e-01 -6.28103143e-01 -2.45785291e-03] [ 4.87226683e-04 -3.30951267e-03 9.99994405e-01]] t_estimated: [[9.81615074e-01] [1.90869598e-01] [8.01973100e-04]] R_gt: [[ 9.99459630e-01 3.28512605e-02 4.95194674e-04] [-3.28519290e-02 9.99460438e-01 4.93201389e-04] [-4.80531487e-04 -5.09240901e-04 9.99999963e-01]] t_gt: [-0.92930365 0.36480281 0.0575642 ] Pose Error in degrees for R and t: 130.79330847570714 32.590412318464324 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.53360370e-01 -3.01833851e-01 -5.75130952e-04] [ 3.01834065e-01 9.53360419e-01 3.29937914e-04] [ 4.48720655e-04 -4.88143845e-04 9.99999780e-01]] t_estimated: [[-0.70306606] [-0.71112235] [-0.00176523]] R_gt: [[ 0.98780771 0.15374356 0.02447753] [-0.15183138 0.98614953 -0.06674924] [-0.03440189 0.06221928 0.99747002]] t_gt: [-0.73301105 0.67807523 -0.05393308] Pose Error in degrees for R and t: 26.680555038758214 88.09422363654045 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.92259114e-01 1.24184745e-01 9.69887361e-06] [-1.24184260e-01 9.92255013e-01 2.87390849e-03] [ 3.47271839e-04 -2.85286634e-03 9.99995870e-01]] t_estimated: [[0.27541245] [0.96132559] [0.0010472 ]] R_gt: [[ 0.95956998 0.28113852 0.01362553] [-0.27923884 0.95693333 -0.07940329] [-0.03536347 0.07238827 0.9967496 ]] t_gt: [-0.65492816 0.75452968 -0.04188171] Pose Error in degrees for R and t: 10.33476014792237 56.980156849432 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.87231090e-01 -1.59294572e-01 -1.21564453e-04] [ 1.59294590e-01 9.87231080e-01 1.66486189e-04] [ 9.34918606e-05 -1.83724901e-04 9.99999979e-01]] t_estimated: [[0.99998661] [0.00503502] [0.00119665]] R_gt: [[ 0.99698026 0.03463355 0.06950544] [-0.03235135 0.99890786 -0.03371078] [-0.0705975 0.03136093 0.99701201]] t_gt: [-0.65026681 0.68201187 0.33468327] Pose Error in degrees for R and t: 11.941599085839073 49.72749977025135 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.91549452e-01 -1.29728776e-01 -3.57749846e-04] [ 1.29728907e-01 9.91549431e-01 3.70449552e-04] [ 3.06668689e-04 -4.13729547e-04 9.99999867e-01]] t_estimated: [[0.45389606] [0.89105409] [0.00098459]] R_gt: [[ 0.99288036 0.07405083 0.09330288] [-0.06626953 0.99426701 -0.08391297] [-0.09898166 0.07713373 0.99209528]] t_gt: [-0.67389665 0.73362558 0.08750329] Pose Error in degrees for R and t: 13.575894415831057 69.64063701637188 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99876482 0.0496482 0.00197195] [-0.04964082 0.99876055 -0.0036258 ] [-0.00214952 0.00352343 0.99999148]] t_estimated: [[-9.04720425e-01] [-4.26004937e-01] [-8.64107378e-04]] R_gt: [[ 0.97757659 0.10948054 0.1798853 ] [-0.09124479 0.99009393 -0.10672036] [-0.18978624 0.08791414 0.97788155]] t_gt: [-0.69301196 0.61995019 0.36796221] Pose Error in degrees for R and t: 12.240377888643083 68.74236207564635 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[-0.28617346 -0.95807566 -0.0139923 ] [-0.95809958 0.2863062 -0.00859941] [ 0.01224497 0.0109451 -0.99986512]] t_estimated: [[ 0.82861167] [ 0.55978181] [-0.00685739]] R_gt: [[ 0.99571641 0.08791445 0.02863134] [-0.08639158 0.9949734 -0.05065057] [-0.03294073 0.0479603 0.99830614]] t_gt: [-0.09753428 0.99147256 -0.08642466] Pose Error in degrees for R and t: 178.78792648659817 61.65478396436512 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999800e-01 -6.32099803e-04 2.89358978e-06] [ 6.32100086e-04 9.99999795e-01 -9.89225707e-05] [-2.83106025e-06 9.89243800e-05 9.99999995e-01]] t_estimated: [[ 9.93530511e-01] [-1.13565343e-01] [-1.90976313e-04]] R_gt: [[ 0.99341595 0.08884123 0.07232993] [-0.08954997 0.99596083 0.00662024] [-0.07144907 -0.01305335 0.99735855]] t_gt: [-0.11137572 0.86518511 0.48892758] Pose Error in degrees for R and t: 6.631057393764382 77.93603349649524 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999997e-01 7.18405914e-05 -1.34887104e-07] [-7.18405814e-05 9.99999995e-01 7.24174517e-05] [ 1.40089616e-07 -7.24174418e-05 9.99999997e-01]] t_estimated: [[8.93277063e-01] [4.49505652e-01] [8.69804666e-04]] R_gt: [[ 0.99722325 0.02870758 0.06871349] [-0.03295274 0.99756444 0.06147949] [-0.06678118 -0.063572 0.99573999]] t_gt: [0.16056237 0.52056394 0.83858983] Pose Error in degrees for R and t: 5.574597633999328 67.7807073272551 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.89064615e-01 -1.47482821e-01 -6.48506792e-05] [ 1.47482822e-01 9.89064617e-01 3.84473491e-07] [ 6.40848090e-05 -9.94463028e-06 9.99999998e-01]] t_estimated: [[-0.97654607] [-0.21530436] [-0.00134256]] R_gt: [[ 0.98998086 0.1406585 0.01238997] [-0.13966393 0.98833272 -0.06077219] [-0.02079427 0.0584319 0.99807419]] t_gt: [-0.65408145 0.74560182 -0.12749664] Pose Error in degrees for R and t: 16.92151953178754 61.42031538167267 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 8.77060511e-01 4.80379259e-01 -7.92263297e-04] [-4.80379699e-01 8.77060482e-01 -5.05058865e-04] [ 4.52243026e-04 8.23554391e-04 9.99999559e-01]] t_estimated: [[-0.8098216 ] [ 0.58667436] [-0.00147244]] R_gt: [[ 0.96805092 0.25050789 0.01107892] [-0.24906025 0.96570427 -0.07338459] [-0.02908327 0.06828091 0.99724217]] t_gt: [-0.62378921 0.7784932 -0.06953675] Pose Error in degrees for R and t: 14.8370889693195 15.84950728390418 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.94120664e-01 -1.08276914e-01 -4.63421300e-04] [ 1.08276913e-01 9.94120772e-01 -2.75354895e-05] [ 4.63678198e-04 -2.28042288e-05 9.99999892e-01]] t_estimated: [[-0.96930949] [-0.24584156] [-0.00101978]] R_gt: [[ 0.96358791 0.26551687 -0.03159923] [-0.26720886 0.9605389 -0.07723504] [ 0.00984421 0.08286662 0.99651212]] t_gt: [-0.60510813 0.7659519 -0.21716777] Pose Error in degrees for R and t: 22.20585919982158 66.51832724839703 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.98856814e-01 4.78023504e-02 2.15174079e-05] [-4.78023518e-02 9.98856812e-01 6.65585219e-05] [-1.83111557e-05 -6.75110159e-05 9.99999998e-01]] t_estimated: [[-6.53207574e-02] [ 9.97864233e-01] [ 4.13310648e-04]] R_gt: [[ 0.9981512 0.02341883 -0.05608623] [-0.02770316 0.99665595 -0.07687123] [ 0.05409799 0.07828276 0.99546159]] t_gt: [-0.08787246 0.19374716 -0.97710822] Pose Error in degrees for R and t: 5.610369827293907 78.54083942330169 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 9.93115795e-01 1.17136262e-01 -3.38107598e-04] [-1.17136520e-01 9.93115426e-01 -8.87224501e-04] [ 2.31853710e-04 9.20721413e-04 9.99999549e-01]] t_estimated: [[-0.87661183] [ 0.48119679] [-0.00116243]] R_gt: [[ 0.97235834 0.20302822 -0.11531937] [-0.20888985 0.97707493 -0.04111657] [ 0.10432736 0.06406939 0.99247718]] t_gt: [-0.88278406 0.24728362 -0.39942849] Pose Error in degrees for R and t: 8.716873756816018 26.707146334167856 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.61633571 -0.77601202 -0.13392402] [-0.41303822 -0.46335673 0.78402804] [-0.67046978 -0.42790874 -0.60610592]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.87130425 0.47517713 -0.12262148] [-0.48064568 0.87673519 -0.01781145] [ 0.0990422 0.0744569 0.99229356]] t_gt: [-0.90325018 0.38585566 -0.18776186] Pose Error in degrees for R and t: 150.2666889248344 58.77680069924837 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.7219147 0.69138463 -0.02874825] [ 0.67010174 -0.68811979 0.27830705] [ 0.17263498 -0.2201782 -0.96006183]] t_estimated: [[-0.78314726] [-0.60348412] [-0.14995759]] R_gt: [[ 0.97653528 -0.21535323 0.001712 ] [ 0.21535664 0.97653321 -0.00211432] [-0.00121615 0.00243291 0.99999559]] t_gt: [ 0.84116226 -0.54076107 -0.00485047] Pose Error in degrees for R and t: 165.1297117734163 70.62886902067068 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 6.81751485e-01 7.31578731e-01 2.73375200e-03] [-7.31568318e-01 6.81756602e-01 -3.96622077e-03] [-4.76535623e-03 7.04050541e-04 9.99988398e-01]] t_estimated: [[0.92522726] [0.37940974] [0.00166408]] R_gt: [[ 0.892621 -0.44488655 -0.07283714] [ 0.44425432 0.89553669 -0.0255597 ] [ 0.07659991 -0.00954279 0.99701563]] t_gt: [ 0.91323118 -0.40011763 -0.07690705] Pose Error in degrees for R and t: 73.58615851329293 46.13115879519054 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.97389947 -0.22697038 -0.00206388] [ 0.22697587 0.97389576 0.00299878] [ 0.00132937 -0.00338896 0.99999337]] t_estimated: [[0.94188956] [0.33591865] [0.00164666]] R_gt: [[ 0.77577898 -0.62907737 -0.04929454] [ 0.6242655 0.77653363 -0.08537536] [ 0.09198723 0.03545942 0.99512809]] t_gt: [ 0.94942646 -0.29244287 -0.11430908] Pose Error in degrees for R and t: 26.411949413978068 37.266313339794095 Number of keypoints: Image1: 324 Image2: 324 R_estimated: [[ 9.99999999e-01 3.94428832e-05 1.71766233e-05] [-3.94421514e-05 9.99999998e-01 -4.25994703e-05] [-1.71783035e-05 4.25987928e-05 9.99999999e-01]] t_estimated: [[ 9.69140195e-01] [-2.46510024e-01] [-3.01337967e-04]] R_gt: [[ 0.99949297 -0.03113065 0.00674951] [ 0.03111088 0.99951203 0.00305158] [-0.00684097 -0.0028396 0.99997323]] t_gt: [ 0.42566354 -0.87839905 0.21731466] Pose Error in degrees for R and t: 1.8337717294204738 51.02388768677395 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.04875353e-01 -4.25676354e-01 -4.87350460e-04] [ 4.25676566e-01 9.04875259e-01 4.76448516e-04] [ 2.38178507e-04 -6.38580190e-04 9.99999768e-01]] t_estimated: [[ 7.51302380e-01] [-6.59958119e-01] [ 1.27762858e-04]] R_gt: [[ 0.99719573 -0.07426131 -0.00928712] [ 0.0744249 0.99705512 0.01854943] [ 0.00788187 -0.01918907 0.99978532]] t_gt: [ 0.51543932 -0.85417822 0.06857019] Pose Error in degrees for R and t: 20.960610144627953 18.013921827155006 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99999787e-01 6.44148811e-04 1.07729935e-04] [-6.44122625e-04 9.99999763e-01 -2.42933802e-04] [-1.07886395e-04 2.42864359e-04 9.99999965e-01]] t_estimated: [[-0.11450779] [-0.99342109] [-0.00158072]] R_gt: [[ 0.99423087 -0.10367295 -0.02749953] [ 0.1044902 0.99406947 0.03013742] [ 0.0242114 -0.0328365 0.99916796]] t_gt: [ 0.51964785 -0.85434062 -0.00825918] Pose Error in degrees for R and t: 6.457052364017489 37.88645125895062 Number of keypoints: Image1: 425 Image2: 425 R_estimated: [[-9.50484505e-01 -3.10769351e-01 -1.27130115e-03] [ 3.10771258e-01 -9.50483072e-01 -1.77605324e-03] [-6.56407310e-04 -2.08319495e-03 9.99997615e-01]] t_estimated: [[8.82715524e-01] [4.69907128e-01] [7.71604479e-04]] R_gt: [[ 0.99852217 0.05415479 0.00445025] [-0.05410696 0.99848313 -0.01016402] [-0.00499355 0.00990897 0.99993852]] t_gt: [-0.00327262 0.96771884 -0.25201099] Pose Error in degrees for R and t: 164.99810522097397 63.15010026698067 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.99999808e-01 6.13817015e-04 8.34028281e-05] [-6.13793068e-04 9.99999770e-01 -2.86847860e-04] [-8.35788811e-05 2.86796613e-04 9.99999955e-01]] t_estimated: [[-0.18163339] [-0.9833646 ] [-0.00183528]] R_gt: [[ 9.91776390e-01 1.27973171e-01 -1.38919179e-03] [-1.27977400e-01 9.91633197e-01 -1.68696103e-02] [-7.80560578e-04 1.69088889e-02 9.99857131e-01]] t_gt: [ 0.09185453 0.98201735 -0.16493838] Pose Error in degrees for R and t: 7.379804410254321 10.868585657359516 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99999988e-01 -8.40843524e-05 -1.33649114e-04] [ 8.41053465e-05 9.99999984e-01 1.57085901e-04] [ 1.33635903e-04 -1.57097139e-04 9.99999979e-01]] t_estimated: [[9.85251169e-01] [1.71114243e-01] [2.23303885e-04]] R_gt: [[ 0.98698791 0.15696043 0.03490214] [-0.15725448 0.9875407 0.00585709] [-0.03354696 -0.01126911 0.99937307]] t_gt: [0.19853269 0.94065479 0.27523324] Pose Error in degrees for R and t: 9.272069540792927 69.10690213318478 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99772230e-01 2.13421104e-02 -4.64472246e-05] [-2.13421073e-02 9.99772229e-01 6.57208524e-05] [ 4.78392669e-05 -6.47146015e-05 9.99999997e-01]] t_estimated: [[9.60843366e-01] [2.77091539e-01] [5.51550674e-04]] R_gt: [[ 0.99672005 0.07934703 -0.01593736] [-0.07943821 0.99682696 -0.00514123] [ 0.01547837 0.00639061 0.99985955]] t_gt: [ 0.18634772 0.94759738 -0.25948746] Pose Error in degrees for R and t: 3.4658451238859964 63.80171070471059 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99979742e-01 6.36444104e-03 -9.92593055e-05] [-6.36442571e-03 9.99979735e-01 1.54065569e-04] [ 1.00237835e-04 -1.53430719e-04 9.99999983e-01]] t_estimated: [[9.70609038e-01] [2.40661362e-01] [4.52687922e-04]] R_gt: [[ 0.99461704 0.10054934 0.02505973] [-0.10077909 0.99487642 0.00807202] [-0.02412009 -0.01055286 0.99965326]] t_gt: [0.43977633 0.82619731 0.35212894] Pose Error in degrees for R and t: 5.6202534155725585 51.25583466648241 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.58875232 -0.80831137 -0.00185465] [ 0.80831285 -0.58874739 -0.00261798] [ 0.00102422 -0.00304049 0.99999485]] t_estimated: [[9.71492712e-01] [2.37067445e-01] [9.67622224e-04]] R_gt: [[ 0.98264512 0.18385316 0.0246444 ] [-0.18493789 0.98130981 0.05318812] [-0.01440513 -0.05682158 0.99827945]] t_gt: [0.17392145 0.81642243 0.55064122] Pose Error in degrees for R and t: 136.72438200485732 68.71277953277665 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999995e-01 7.46679994e-05 6.60501673e-05] [-7.46562724e-05 9.99999981e-01 -1.77531366e-04] [-6.60634220e-05 1.77526434e-04 9.99999982e-01]] t_estimated: [[-0.59731922] [-0.8020023 ] [-0.00143262]] R_gt: [[ 0.99670988 -0.07074429 0.03958137] [ 0.07058196 0.99749179 0.00550156] [-0.03987065 -0.00269024 0.99920131]] t_gt: [ 0.49549388 -0.76455346 0.41224244] Pose Error in degrees for R and t: 4.657360071774796 71.54166086646151 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99998455e-01 1.74325330e-03 -2.24566297e-04] [-1.74311257e-03 9.99998285e-01 6.25384044e-04] [ 2.25656115e-04 -6.24991634e-04 9.99999779e-01]] t_estimated: [[9.99712484e-01] [2.39596935e-02] [9.39333519e-04]] R_gt: [[ 0.99289046 -0.11413979 0.03380643] [ 0.11388063 0.99344988 0.00952201] [-0.03467041 -0.00560371 0.99938306]] t_gt: [ 0.54335989 -0.80487746 0.23860489] Pose Error in degrees for R and t: 6.9470974346899625 58.38941939697963 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.72413832 -0.68965381 0.00114613] [-0.68965256 0.72413081 -0.00373004] [ 0.00174249 -0.0034915 -0.99999239]] t_estimated: [[0.98659621] [0.16317365] [0.00151087]] R_gt: [[ 0.98838606 -0.15140627 0.01308781] [ 0.15103637 0.98819266 0.02579744] [-0.01683911 -0.0235209 0.99958125]] t_gt: [ 0.56255142 -0.81053897 0.16297998] Pose Error in degrees for R and t: 178.71147401722956 64.9759441980987 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.97884831e-01 -6.50050828e-02 -4.50861515e-04] [ 6.50053386e-02 9.97884749e-01 5.78170924e-04] [ 4.12323781e-04 -6.06256401e-04 9.99999731e-01]] t_estimated: [[-0.99640577] [-0.08470037] [-0.00117639]] R_gt: [[ 0.99241125 0.10799559 -0.05879548] [-0.10955678 0.99369154 -0.02398496] [ 0.05583473 0.03024383 0.99798146]] t_gt: [-0.90787704 0.19168766 -0.37284731] Pose Error in degrees for R and t: 10.617498718260745 27.275093169918172 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.90369441e-01 1.38449432e-01 3.53125878e-04] [ 1.38448977e-01 -9.90350514e-01 -6.14337708e-03] [-5.00828674e-04 6.13310284e-03 -9.99981067e-01]] t_estimated: [[9.83430997e-01] [1.81281188e-01] [7.78030852e-04]] R_gt: [[ 0.92928998 0.36096832 -0.07824951] [-0.36230857 0.93205298 -0.00317413] [ 0.07178659 0.03129943 0.99692789]] t_gt: [-0.94481099 0.30339568 -0.12362546] Pose Error in degrees for R and t: 178.95173486856623 29.043347890639428 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.98326321 -0.18218706 0.00115439] [-0.18217991 0.98325417 0.00466003] [-0.00198406 0.00437173 -0.99998848]] t_estimated: [[0.9994188 ] [0.03402277] [0.00212642]] R_gt: [[ 0.79229262 0.60874746 -0.04122371] [-0.60914805 0.79304886 0.00347472] [ 0.03480649 0.02235764 0.99914361]] t_gt: [-0.88385236 0.46543078 -0.04668196] Pose Error in degrees for R and t: 177.65824120459314 29.81876065123364 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.10262489 -0.99419617 -0.03228164] [ 0.93714327 -0.10751471 0.3319685 ] [-0.33351256 0.00381571 0.94273793]] t_estimated: [[9.93527356e-01] [1.13590442e-01] [7.78016723e-04]] R_gt: [[ 0.96707901 -0.25222739 0.03374338] [ 0.2500718 0.96651557 0.05754651] [-0.04712893 -0.04721332 0.99777209]] t_gt: [ 0.80162239 -0.54383872 0.24827603] Pose Error in degrees for R and t: 82.64176291932391 42.70528351393034 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-0.73952908 -0.67180994 -0.04204932] [ 0.67085047 -0.74072176 0.03592938] [-0.05528457 -0.00163798 0.9984693 ]] t_estimated: [[0.67465003] [0.73813699] [0.0010597 ]] R_gt: [[ 0.89498015 -0.44582295 -0.01587216] [ 0.44610102 0.89423633 0.03654556] [-0.00209959 -0.03978714 0.99920554]] t_gt: [ 0.89647955 -0.43709345 0.0726205 ] Pose Error in degrees for R and t: 111.27320713661122 73.60533868205926 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.73337483 -0.30029324 0.609906 ] [-0.67958469 0.34766104 -0.64598487] [-0.01805566 -0.88823182 -0.45904054]] t_estimated: [[0.75088282] [0.65658106] [0.07124811]] R_gt: [[ 0.76164495 -0.64424635 -0.06959367] [ 0.64589726 0.76342208 0.0016175 ] [ 0.05208713 -0.04618169 0.99757424]] t_gt: [ 0.95127129 -0.30801913 0.01439247] Pose Error in degrees for R and t: 179.71996482302106 59.130848805985046 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.82955550e-01 1.83843257e-01 -2.06827310e-04] [-1.83843163e-01 9.82955504e-01 4.09777630e-04] [ 2.78636897e-04 -3.64769409e-04 9.99999895e-01]] t_estimated: [[0.40363997] [0.91491727] [0.00107637]] R_gt: [[ 0.99543452 0.09307034 0.02116223] [-0.09167369 0.99401341 -0.05944895] [-0.02656861 0.05723841 0.99800716]] t_gt: [-0.70704009 0.69562044 -0.1273048 ] Pose Error in degrees for R and t: 6.421301854438269 69.45710760810645 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.98507081 -0.17212117 -0.00313192] [ 0.17212605 0.98507399 0.00136185] [ 0.00285077 -0.0018806 0.99999417]] t_estimated: [[-0.32721845] [-0.94494814] [-0.00104878]] R_gt: [[ 0.97564325 0.21871648 0.01682469] [-0.21644164 0.97229394 -0.08830047] [-0.03567173 0.08250802 0.99595219]] t_gt: [-0.64791764 0.7563188 -0.09046876] Pose Error in degrees for R and t: 23.112282267645515 59.8293890937833 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 7.35842145e-01 -6.77133383e-01 -5.16909245e-03] [ 6.77144431e-01 7.35849926e-01 5.53362135e-04] [ 3.42897632e-03 -3.90740935e-03 9.99986487e-01]] t_estimated: [[-0.13005468] [-0.99150599] [-0.00128767]] R_gt: [[ 0.95563339 0.29451009 0.00536712] [-0.29221791 0.95017635 -0.10850398] [-0.03705634 0.10212258 0.99408187]] t_gt: [-0.61373106 0.78228443 -0.10660798] Pose Error in degrees for R and t: 60.048260571904365 45.9182657920181 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.96999723e-01 7.74045395e-02 2.99641071e-04] [-7.74044779e-02 9.96999750e-01 -2.12002912e-04] [-3.15152060e-04 1.88173284e-04 9.99999933e-01]] t_estimated: [[0.08047625] [0.99675586] [0.00114966]] R_gt: [[ 0.99359653 -0.10553198 -0.04037183] [ 0.10661668 0.99396707 0.02574227] [ 0.03741041 -0.02988133 0.99885299]] t_gt: [ 0.70907533 -0.70446568 -0.03066385] Pose Error in degrees for R and t: 10.88792653563695 49.82294004405275 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.99999715 -0.00130005 0.00200483] [ 0.00130363 0.99999755 -0.00178694] [-0.00200251 0.00178955 0.99999639]] t_estimated: [[0.53927935] [0.84212589] [0.00132827]] R_gt: [[ 0.97269773 -0.19666287 -0.12322421] [ 0.19548068 0.98046739 -0.02172561] [ 0.12508877 -0.00295587 0.99214154]] t_gt: [ 0.76325296 -0.5476165 -0.34287183] Pose Error in degrees for R and t: 13.425607560057326 87.13339115802103 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 1.76719706e-01 9.84260914e-01 -7.73267259e-04] [-9.84260983e-01 1.76719066e-01 -8.30484136e-04] [-6.80762007e-04 9.07859704e-04 9.99999356e-01]] t_estimated: [[0.57163376] [0.82050832] [0.00097217]] R_gt: [[ 0.91883388 -0.36863817 -0.14089326] [ 0.36814582 0.929268 -0.03050914] [ 0.1421737 -0.0238363 0.98955498]] t_gt: [ 0.81710394 -0.54552773 -0.18638844] Pose Error in degrees for R and t: 101.80087739124919 88.89452637228854 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[ 9.99999962e-01 -2.50786913e-04 1.14246271e-04] [ 2.50785842e-04 9.99999969e-01 9.39195205e-06] [-1.14248623e-04 -9.36330034e-06 9.99999993e-01]] t_estimated: [[0.22924502] [0.97336699] [0.00185106]] R_gt: [[ 0.99936016 -0.00375891 0.03556195] [ 0.00202835 0.99881645 0.04858833] [-0.035702 -0.04848464 0.99818491]] t_gt: [-0.08869404 -0.02451868 0.9957571 ] Pose Error in degrees for R and t: 3.451635161310307 87.57250357177642 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[-7.68180029e-01 -6.40231111e-01 -1.88874259e-03] [ 6.40233347e-01 -7.68179893e-01 -9.55611613e-04] [-8.39081799e-04 -1.94331775e-03 9.99997760e-01]] t_estimated: [[9.46958752e-01] [3.21353873e-01] [9.00150905e-04]] R_gt: [[ 0.99447202 -0.10479644 -0.00643984] [ 0.10488339 0.98873206 0.10680859] [-0.00482635 -0.10689274 0.99425806]] t_gt: [ 0.48547778 -0.57485234 0.65867755] Pose Error in degrees for R and t: 134.22022113907812 74.00286348925083 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99998543e-01 -1.16351834e-03 1.24919828e-03] [ 1.16474545e-03 9.99998839e-01 -9.82041331e-04] [-1.24805421e-03 9.83494898e-04 9.99998738e-01]] t_estimated: [[0.50411302] [0.86363548] [0.00195393]] R_gt: [[ 0.966021 -0.25794044 -0.01642254] [ 0.25774621 0.95666778 0.13547234] [-0.01923291 -0.13510145 0.990645 ]] t_gt: [ 0.61089514 -0.64289547 0.46205254] Pose Error in degrees for R and t: 16.895984082300497 75.73752450660633 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.91143783 0.41137311 0.00729668] [-0.41142073 0.91141826 0.00705246] [-0.00374914 -0.00942989 0.99994851]] t_estimated: [[0.28992174] [0.95697776] [0.01178787]] R_gt: [[ 0.99850949 -0.05086314 -0.01982069] [ 0.05135508 0.99836357 0.02518214] [ 0.01850765 -0.02616248 0.99948592]] t_gt: [ 0.53931759 -0.84160814 0.02884907] Pose Error in degrees for R and t: 27.277247417177854 49.55631785209378 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-9.46536034e-01 -3.22573661e-01 -3.97113257e-03] [-3.22574846e-01 9.46543893e-01 -3.55912074e-04] [ 3.87365914e-03 9.44103875e-04 -9.99992052e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.99410562 -0.09372956 -0.05450113] [ 0.09723072 0.99309864 0.06559512] [ 0.04797605 -0.07050733 0.99635706]] t_gt: [ 0.54381242 -0.83860554 0.03176169] Pose Error in degrees for R and t: 177.50998377857792 89.9458896454686 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.87938838e-01 -1.54844244e-01 3.34501856e-04] [ 1.54844166e-01 9.87938876e-01 2.47964038e-04] [-3.68863192e-04 -1.93177643e-04 9.99999913e-01]] t_estimated: [[0.73498099] [0.67808672] [0.00116111]] R_gt: [[ 0.98912738 -0.12082674 -0.08384188] [ 0.12511181 0.99098792 0.04787136] [ 0.07730142 -0.0578406 0.99532831]] t_gt: [ 0.57787673 -0.80006865 -0.16108584] Pose Error in degrees for R and t: 5.842848771460051 83.22477700978207 Number of keypoints: Image1: 557 Image2: 557 R_estimated: [[ 9.98399634e-01 5.65523173e-02 8.36129830e-05] [-5.65523151e-02 9.98399637e-01 -2.86338760e-05] [-8.50984839e-05 2.38595435e-05 9.99999996e-01]] t_estimated: [[9.46166047e-01] [3.23680691e-01] [7.89050431e-04]] R_gt: [[ 0.99890341 -0.04623733 -0.00740044] [ 0.04615984 0.99887975 -0.0104366 ] [ 0.00787513 0.01008326 0.99991811]] t_gt: [ 0.52288014 -0.80374754 -0.28387717] Pose Error in degrees for R and t: 5.935446067945242 76.44669668917165 Number of keypoints: Image1: 480 Image2: 480 R_estimated: [[-0.98788879 0.150677 0.03704285] [ 0.1506888 0.98857811 -0.00248913] [-0.0369948 0.00312296 -0.99931058]] t_estimated: [[ 0.99645273] [-0.08197258] [ 0.01903839]] R_gt: [[ 0.99803915 -0.06256634 -0.00228513] [ 0.06259579 0.99791098 0.01597066] [ 0.0012816 -0.01608225 0.99986948]] t_gt: [ 0.39639443 -0.91010968 0.12071382] Pose Error in degrees for R and t: 178.04490691399522 61.842913660479226 Number of keypoints: Image1: 400 Image2: 400 R_estimated: [[ 0.99605247 0.08875652 0.00132809] [-0.08875809 0.99605252 0.00117215] [-0.00121881 -0.0012854 0.99999843]] t_estimated: [[0.31284242] [0.94980086] [0.0028184 ]] R_gt: [[ 0.99326549 -0.1116853 0.03081321] [ 0.11141984 0.99372086 0.01021533] [-0.03176028 -0.00671313 0.99947225]] t_gt: [ 0.28990454 -0.90610307 0.30811131] Pose Error in degrees for R and t: 11.634014424851152 39.73092598482199 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 1.76654409e-01 -9.84270963e-01 -1.97244560e-03] [ 9.84272939e-01 1.76653974e-01 3.93964540e-04] [-3.93275038e-05 -2.01102040e-03 9.99997977e-01]] t_estimated: [[0.99417319] [0.10778253] [0.00160869]] R_gt: [[ 0.99923296 -0.03521788 -0.01716219] [ 0.03543535 0.99929292 0.01256049] [ 0.01670754 -0.0131592 0.99977384]] t_gt: [ 0.57562413 -0.80384784 -0.14995171] Pose Error in degrees for R and t: 77.80654173477384 60.96209727118411 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[-0.99890886 -0.046619 0.00278407] [-0.04661347 0.99891096 0.00201951] [-0.00287519 0.00188753 -0.99999409]] t_estimated: [[0.9992614 ] [0.03838268] [0.00185252]] R_gt: [[ 0.99705396 -0.07280016 -0.02418123] [ 0.07271565 0.99734261 -0.00434542] [ 0.02443267 0.00257385 0.99969798]] t_gt: [ 0.57902584 -0.76743432 -0.27527013] Pose Error in degrees for R and t: 178.7695023071218 56.72678461803917 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[-0.02515428 0.99951942 0.01811608] [ 0.99954192 0.02545165 -0.01637592] [-0.01682914 0.01769586 -0.99970177]] t_estimated: [[ 0.68687924] [-0.72665167] [ 0.01320091]] R_gt: [[ 0.99442011 -0.10208866 -0.02659572] [ 0.10229406 0.99473347 0.006436 ] [ 0.02579849 -0.00912024 0.99962561]] t_gt: [ 0.5582423 -0.81300484 -0.16549523] Pose Error in degrees for R and t: 179.9414140960269 13.582767569364162 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 1.00000000e+00 2.41756089e-06 2.33512276e-08] [-2.41756074e-06 1.00000000e+00 -6.29549263e-06] [-2.33664473e-08 6.29549258e-06 1.00000000e+00]] t_estimated: [[0.69890345] [0.71521406] [0.00167543]] R_gt: [[ 0.98762713 0.15091406 -0.04264288] [-0.14965616 0.98824207 0.03130715] [ 0.0468657 -0.02453877 0.99859871]] t_gt: [-0.23854101 0.96565636 -0.10298535] Pose Error in degrees for R and t: 9.16485884510007 58.41510653093476 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999968e-01 -2.21254275e-04 1.21503341e-04] [ 2.21284545e-04 9.99999944e-01 -2.49173782e-04] [-1.21448203e-04 2.49200661e-04 9.99999962e-01]] t_estimated: [[-9.68007371e-01] [-2.50921656e-01] [-2.29449093e-04]] R_gt: [[ 0.96535937 0.25856706 -0.03500196] [-0.259107 0.96577709 -0.01178523] [ 0.0307568 0.02044591 0.9993172 ]] t_gt: [-0.14223187 0.97986143 -0.14014872] Pose Error in degrees for R and t: 15.166524182964137 83.79104141142854 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999948e-01 -7.61268790e-05 -3.11875088e-04] [ 7.62343288e-05 9.99999938e-01 3.44530972e-04] [ 3.11848841e-04 -3.44554730e-04 9.99999892e-01]] t_estimated: [[9.99999318e-01] [1.02991009e-03] [5.49918530e-04]] R_gt: [[ 0.96685753 0.25355382 0.02993931] [-0.25450569 0.96647405 0.03398841] [-0.02031748 -0.04048133 0.99897259]] t_gt: [-0.1426444 0.97359442 0.17823154] Pose Error in degrees for R and t: 14.95304385721449 81.86282396496745 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.97877127e-01 6.51191177e-02 -8.59940374e-04] [-6.51184007e-02 9.97877193e-01 8.37076307e-04] [ 9.12624558e-04 -7.79301359e-04 9.99999280e-01]] t_estimated: [[-0.99878153] [-0.04927057] [-0.0028043 ]] R_gt: [[ 0.99813013 -0.06028379 -0.01015758] [ 0.0606778 0.99716506 0.04449118] [ 0.00744571 -0.04502365 0.99895844]] t_gt: [ 0.44688452 -0.85346731 0.26811896] Pose Error in degrees for R and t: 7.643818791077344 66.10629941292329 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.97516633e-01 -7.04308171e-02 2.56868490e-04] [ 7.04307496e-02 9.97516637e-01 2.63131217e-04] [-2.74763138e-04 -2.44386325e-04 9.99999932e-01]] t_estimated: [[0.67483916] [0.73796348] [0.00141846]] R_gt: [[ 0.99084546 -0.11597593 -0.06909898] [ 0.11977748 0.9913496 0.0536629 ] [ 0.06227782 -0.0614477 0.9961656 ]] t_gt: [ 0.55689557 -0.82588078 -0.08825114] Pose Error in degrees for R and t: 5.721446256164489 76.48027545021482 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-4.19520714e-01 -9.07742649e-01 -2.37783585e-03] [ 9.07745668e-01 -4.19518031e-01 -1.55704998e-03] [ 4.15855659e-04 -2.81168491e-03 9.99995961e-01]] t_estimated: [[9.99966568e-01] [8.13642450e-03] [8.13642447e-04]] R_gt: [[ 0.99781965 -0.0642585 0.01510753] [ 0.06404982 0.99785076 0.01388466] [-0.01596789 -0.01288627 0.999789 ]] t_gt: [ 0.4055288 -0.87104965 0.27716223] Pose Error in degrees for R and t: 111.13072956403697 66.50596942062707 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.99624627e-01 -2.73963724e-02 2.10638415e-04] [ 2.73964545e-02 9.99624568e-01 -3.97247183e-04] [-1.99676203e-04 4.02868813e-04 9.99999899e-01]] t_estimated: [[ 0.63732433] [-0.77058852] [-0.00332112]] R_gt: [[ 9.97309163e-01 -7.29196986e-02 -7.59801622e-03] [ 7.29279309e-02 9.97337268e-01 8.65965605e-04] [ 7.51445627e-03 -1.41797545e-03 9.99970644e-01]] t_gt: [ 0.79528445 -0.60595449 -0.01848778] Pose Error in degrees for R and t: 2.65083104725764 13.13001397247393 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.04397387 -0.99903087 0.0019033 ] [ 0.99893444 -0.04394275 0.01410763] [-0.01401032 0.00252164 0.99989867]] t_estimated: [[8.79479284e-01] [4.75936630e-01] [7.16772033e-04]] R_gt: [[ 0.99438048 -0.10295658 0.02466407] [ 0.10228544 0.99438701 0.02707565] [-0.02731262 -0.02440077 0.99932906]] t_gt: [ 0.65360698 -0.73302528 0.18833976] Pose Error in degrees for R and t: 86.62940102787874 76.9327111454909 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-4.87620152e-01 -8.73054782e-01 -1.39121299e-03] [ 8.73055761e-01 -4.87618593e-01 -1.32143189e-03] [ 4.75301107e-04 -1.85896333e-03 9.99998159e-01]] t_estimated: [[8.35919018e-01] [5.48852194e-01] [8.15530749e-04]] R_gt: [[ 0.99346716 -0.11215397 -0.02110567] [ 0.11254882 0.99347283 0.01857531] [ 0.01888419 -0.02083038 0.99960423]] t_gt: [ 0.61085881 -0.79031832 0.04741788] Pose Error in degrees for R and t: 112.73806090733261 85.58964497248648 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.93350831e-01 -1.15126483e-01 -1.36940133e-04] [ 1.15126497e-01 9.93350834e-01 1.00990284e-04] [ 1.24402940e-04 -1.16084220e-04 9.99999986e-01]] t_estimated: [[0.65479169] [0.75580851] [0.0011524 ]] R_gt: [[ 0.99322476 0.1137485 0.02380364] [-0.11413297 0.99334408 0.01550866] [-0.02188084 -0.01812094 0.99959707]] t_gt: [-0.56419634 0.79741502 0.21403688] Pose Error in degrees for R and t: 13.254894271599223 76.4962714347696 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999758e-01 4.62889417e-05 -6.93826692e-04] [-4.57968953e-05 9.99999747e-01 7.09176810e-04] [ 6.93859344e-04 -7.09144864e-04 9.99999508e-01]] t_estimated: [[-0.80997524] [-0.5864635 ] [-0.00082716]] R_gt: [[ 0.97055083 0.23540619 0.05113972] [-0.23689249 0.97120886 0.02518121] [-0.04373914 -0.03655427 0.99837484]] t_gt: [-0.53605273 0.82239209 0.19057473] Pose Error in degrees for R and t: 14.054156411616999 87.23319242247625 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.99974878 0.00823934 0.02084422] [-0.00810149 0.99994481 -0.00668895] [-0.02089818 0.0065184 0.99976036]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.96118476 0.27327417 0.03801727] [-0.27463938 0.96083273 0.03705984] [-0.02640133 -0.04606307 0.99858979]] t_gt: [-0.51961775 0.83896038 0.16168756] Pose Error in degrees for R and t: 15.703958814325771 80.32745651731257 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999516e-01 9.10300265e-04 3.72311741e-04] [-9.10257546e-04 9.99999579e-01 -1.14892621e-04] [-3.72416171e-04 1.14553666e-04 9.99999924e-01]] t_estimated: [[0.99556375] [0.09405924] [0.00238296]] R_gt: [[ 0.99867396 -0.02247384 -0.04632423] [ 0.01852952 0.99630372 -0.08387824] [ 0.04803851 0.08290815 0.99539865]] t_gt: [ 0.18799962 0.03946475 -0.98137591] Pose Error in degrees for R and t: 5.638846000096092 79.13246283274995 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999879e-01 1.54129499e-04 4.68004138e-04] [-1.53800375e-04 9.99999741e-01 -7.03202931e-04] [-4.68112402e-04 7.03130866e-04 9.99999643e-01]] t_estimated: [[-0.36055358] [-0.93273644] [-0.00195953]] R_gt: [[ 0.97831011 -0.206367 -0.01795192] [ 0.20520543 0.97733373 -0.0520636 ] [ 0.02828917 0.04724976 0.99848214]] t_gt: [ 0.67148208 -0.69555103 -0.2555789 ] Pose Error in degrees for R and t: 12.297455150616011 65.97336104216296 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97872563e-01 -6.51942289e-02 2.46357838e-04] [ 6.51942806e-02 9.97872568e-01 -2.08043548e-04] [-2.32270490e-04 2.23662071e-04 9.99999948e-01]] t_estimated: [[ 9.98969395e-01] [-4.53829543e-02] [ 7.31489043e-04]] R_gt: [[ 0.94527741 -0.32620748 0.00623221] [ 0.32503483 0.93987717 -0.10480392] [ 0.02832965 0.1010938 0.99447321]] t_gt: [ 0.70386962 -0.65252055 -0.28068574] Pose Error in degrees for R and t: 16.452084963364175 42.899216998852815 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.73428763e-01 2.28989744e-01 -3.74533672e-04] [-2.28989626e-01 9.73428806e-01 3.32743529e-04] [ 4.40776721e-04 -2.38137796e-04 9.99999875e-01]] t_estimated: [[-0.95770329] [-0.2877554 ] [-0.00111102]] R_gt: [[ 0.98617956 -0.00895828 0.16543749] [ 0.00926362 0.99995633 -0.0010765 ] [-0.16542093 0.0025951 0.98621982]] t_gt: [-0.18089077 -0.06161541 0.98157122] Pose Error in degrees for R and t: 16.737038119610077 79.05425932113116 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99637982e-01 2.69054414e-02 5.07060401e-05] [-2.69054358e-02 9.99637977e-01 -1.09467034e-04] [-5.36329422e-05 1.08063137e-04 9.99999993e-01]] t_estimated: [[-2.17946211e-01] [-9.75960781e-01] [ 5.71573178e-05]] R_gt: [[ 9.74433498e-01 2.80880004e-02 2.22914590e-01] [-2.87164692e-02 9.99588158e-01 -4.26429752e-04] [-2.22834519e-01 -5.98505147e-03 9.74837286e-01]] t_gt: [-0.34678926 0.09940832 0.93266028] Pose Error in degrees for R and t: 12.877792618246243 88.77469896382438 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.11298136 0.99358733 0.00440865] [ 0.99359431 -0.1129694 -0.00287506] [-0.00235858 0.00470524 -0.99998615]] t_estimated: [[-9.04898444e-01] [-4.25626959e-01] [-7.05849020e-04]] R_gt: [[ 0.97194468 0.08843375 0.21795604] [-0.08999916 0.99593848 -0.00275343] [-0.21731387 -0.01693903 0.97595414]] t_gt: [-0.53753504 0.28595033 0.79327705] Pose Error in degrees for R and t: 171.6490184379538 68.64493255484041 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999999e-01 -3.48273171e-05 -6.73185308e-07] [ 3.48273977e-05 9.99999992e-01 1.19970662e-04] [ 6.69007047e-07 -1.19970686e-04 9.99999993e-01]] t_estimated: [[0.99909687] [0.04247633] [0.00110048]] R_gt: [[ 0.99245983 -0.12076701 -0.02098456] [ 0.12088902 0.99265438 0.00465264] [ 0.02026901 -0.00715562 0.99976915]] t_gt: [ 0.76253316 -0.64312263 -0.07025994] Pose Error in degrees for R and t: 7.046645763639256 42.73926480032677 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999473e-01 1.02243479e-03 8.96766563e-05] [-1.02244171e-03 9.99999474e-01 7.71404542e-05] [-8.95977381e-05 -7.72321027e-05 9.99999993e-01]] t_estimated: [[9.99996623e-01] [2.46444322e-03] [8.25404903e-04]] R_gt: [[ 0.98001837 -0.19731268 -0.02513736] [ 0.19806342 0.9796635 0.03208313] [ 0.01829618 -0.03642168 0.99916851]] t_gt: [ 0.76188218 -0.64475062 0.06190459] Pose Error in degrees for R and t: 11.6998765122335 40.505664617299416 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 8.37012537e-01 5.47183678e-01 -1.87614161e-04] [-5.47182601e-01 8.37010102e-01 -2.29987430e-03] [-1.10141873e-03 2.02768283e-03 9.99997338e-01]] t_estimated: [[7.49049235e-01] [6.62513972e-01] [6.92282103e-04]] R_gt: [[ 9.79167656e-01 -2.03054056e-01 4.26862357e-04] [ 2.03054264e-01 9.79163248e-01 -2.68380521e-03] [ 1.26357808e-04 2.71419775e-03 9.99995991e-01]] t_gt: [ 0.74679281 -0.66504792 -0.00343114] Pose Error in degrees for R and t: 44.889665311464256 83.1783787526899 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.19949913e-01 -3.92035516e-01 -5.57633113e-04] [ 3.92035803e-01 9.19949788e-01 5.61932244e-04] [ 2.92697067e-04 -7.35561665e-04 9.99999687e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.89421929e-01 -1.41831723e-01 -3.04556644e-02] [ 1.41886813e-01 9.89882735e-01 -3.49270299e-04] [ 3.01967863e-02 -3.97583256e-03 9.99535742e-01]] t_gt: [ 0.82578015 -0.56149792 -0.05298326] Pose Error in degrees for R and t: 15.02199549071347 34.513390348510484 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.17278682e-01 -9.93099017e-01 -2.29432810e-04] [-9.93098892e-01 1.17278789e-01 -5.26576861e-04] [ 5.49850566e-04 1.66093228e-04 -9.99999835e-01]] t_estimated: [[7.64541795e-01] [6.44573801e-01] [6.77785279e-04]] R_gt: [[ 0.96700157 -0.25200056 -0.03747052] [ 0.25344192 0.96650006 0.04056129] [ 0.02599369 -0.04871976 0.99847439]] t_gt: [ 0.80738055 -0.57190865 0.14511081] Pose Error in degrees for R and t: 179.69083761039263 75.59720150867513 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-9.99959634e-01 -8.98452836e-03 9.07289096e-05] [-8.98425133e-03 9.99956011e-01 2.69447510e-03] [-1.14933506e-04 2.69355120e-03 -9.99996366e-01]] t_estimated: [[0.99995884] [0.00901766] [0.00100196]] R_gt: [[ 0.96269396 -0.26357544 -0.06122311] [ 0.26905168 0.95650576 0.11273781] [ 0.02884517 -0.12500417 0.99173682]] t_gt: [ 0.7123545 -0.62069356 0.32755238] Pose Error in degrees for R and t: 177.44743865630792 45.004100790391846 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99839144e-01 1.79353916e-02 -9.14311780e-05] [-1.79353855e-02 9.99839146e-01 6.71130266e-05] [ 9.26201694e-05 -6.54623777e-05 9.99999994e-01]] t_estimated: [[ 0.01264058] [ 0.99991917] [-0.0013686 ]] R_gt: [[ 0.9972844 -0.07361254 -0.00220465] [ 0.07329212 0.99498512 -0.06806233] [ 0.00720353 0.06771583 0.99767843]] t_gt: [ 0.81782288 0.29532757 -0.49391028] Pose Error in degrees for R and t: 6.540153473943276 72.16255924514375 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99563746e-01 -2.95314192e-02 -4.62362756e-04] [ 2.95323100e-02 9.99561712e-01 2.05562042e-03] [ 4.01454720e-04 -2.06837829e-03 9.99997780e-01]] t_estimated: [[-0.99927384] [-0.03808164] [-0.00125759]] R_gt: [[ 0.99037748 -0.13656583 0.02240583] [ 0.13831029 0.98227896 -0.12648697] [-0.00473467 0.12836868 0.99171467]] t_gt: [ 0.85187239 0.3207776 -0.41402314] Pose Error in degrees for R and t: 9.754391315019564 30.3506889144133 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 8.71237416e-01 -4.90861015e-01 -9.10427564e-04] [ 4.90861770e-01 8.71236880e-01 1.01071729e-03] [ 2.97076355e-04 -1.32746881e-03 9.99999075e-01]] t_estimated: [[0.79028522] [0.61273774] [0.00131521]] R_gt: [[ 0.9852305 -0.16404789 0.04907872] [ 0.17054925 0.96569741 -0.1958076 ] [-0.01527347 0.2012855 0.97941352]] t_gt: [ 0.76982603 0.44284803 -0.45962322] Pose Error in degrees for R and t: 22.863959590336798 28.462726595229817 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99364257e-01 3.56511131e-02 2.84409929e-04] [-3.56511134e-02 9.99364297e-01 -3.89305839e-06] [-2.84367920e-04 -6.24894721e-06 9.99999960e-01]] t_estimated: [[0.99849028] [0.05490972] [0.00144499]] R_gt: [[ 9.93872372e-01 -1.10490674e-01 -3.10432328e-03] [ 1.10533441e-01 9.93309479e-01 3.34624922e-02] [-6.13005390e-04 -3.36004066e-02 9.99434887e-01]] t_gt: [ 0.72932481 -0.6602379 0.17936345] Pose Error in degrees for R and t: 8.607611322840924 46.19315230560343 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 2.16765106e-01 -9.76222738e-01 -1.43334126e-03] [ 9.76223788e-01 2.16764970e-01 2.51416532e-04] [ 6.52596392e-05 -1.45376016e-03 9.99998941e-01]] t_estimated: [[ 9.69564304e-01] [-2.44836113e-01] [ 5.81437800e-04]] R_gt: [[ 0.98074523 -0.19301152 -0.02974633] [ 0.19421699 0.97992167 0.0451058 ] [ 0.02044376 -0.05001462 0.9985394 ]] t_gt: [ 0.76988243 -0.63214256 0.08761755] Pose Error in degrees for R and t: 66.36892685936314 25.67412253830341 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999304e-01 -1.13915897e-03 3.07673031e-04] [ 1.13931928e-03 9.99999215e-01 -5.21358711e-04] [-3.07078879e-04 5.21708886e-04 9.99999817e-01]] t_estimated: [[9.99990624e-01] [4.30304917e-03] [4.85622990e-04]] R_gt: [[ 9.68513874e-01 -2.48705970e-01 -1.12292888e-02] [ 2.48959186e-01 9.67547980e-01 4.32620054e-02] [ 1.06209466e-04 -4.46956203e-02 9.99000258e-01]] t_gt: [ 0.7699119 -0.62823187 0.11207311] Pose Error in degrees for R and t: 14.581832781244323 39.891902915445314 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99895325e-01 -1.44684334e-02 5.77690839e-05] [ 1.44684427e-02 9.99895313e-01 -1.64358525e-04] [-5.53850258e-05 1.65177149e-04 9.99999985e-01]] t_estimated: [[-4.58150905e-01] [ 8.88874389e-01] [-2.63488256e-04]] R_gt: [[ 0.98992337 0.08744646 -0.11137761] [-0.10098285 0.98733818 -0.1223331 ] [ 0.0992697 0.13234782 0.98622062]] t_gt: [-0.18430233 0.63119429 -0.75340986] Pose Error in degrees for R and t: 11.394696976676476 49.782628672207366 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.69562448 0.71835434 0.00858017] [ 0.71839351 0.69563243 0.00250968] [-0.00416581 0.00790973 -0.99996004]] t_estimated: [[0.98266203] [0.18539377] [0.00211998]] R_gt: [[ 0.97863577 0.14919102 -0.14147364] [-0.17248273 0.97023614 -0.16997744] [ 0.11190338 0.19074836 0.97524041]] t_gt: [-0.22908527 0.72480232 -0.64975498] Pose Error in degrees for R and t: 177.6887745216721 84.7145901597836 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.06625158 0.99779922 -0.00272814] [ 0.99778782 -0.06623527 0.00568879] [ 0.00549557 -0.003099 -0.9999801 ]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.97740522 0.14931249 -0.14961548] [-0.17622311 0.96648272 -0.186699 ] [ 0.11672485 0.20884581 0.97095845]] t_gt: [-0.20762997 0.73581473 -0.64456689] Pose Error in degrees for R and t: 177.25717755841973 43.9393295764728 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.96205049e-01 -8.70372839e-02 -1.10244905e-04] [ 8.70373209e-02 9.96204974e-01 3.92395069e-04] [ 7.56735213e-05 -4.00501370e-04 9.99999917e-01]] t_estimated: [[0.85749418] [0.51449244] [0.00112095]] R_gt: [[ 0.99701513 -0.07582761 -0.01448004] [ 0.07639296 0.99612962 0.04349069] [ 0.01112603 -0.04446658 0.99894879]] t_gt: [ 0.58790474 -0.71927332 0.3701539 ] Pose Error in degrees for R and t: 2.678057473466754 82.27149812209552 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.77521343e-01 -2.10836474e-01 -7.20052212e-05] [ 2.10836486e-01 9.77521259e-01 4.06852183e-04] [-1.53926453e-05 -4.12888020e-04 9.99999915e-01]] t_estimated: [[3.47376372e-01] [9.37725781e-01] [1.24231066e-04]] R_gt: [[ 0.99621219 -0.0849966 -0.01832448] [ 0.08682999 0.98354811 0.15841093] [ 0.00455809 -0.15940126 0.9872037 ]] t_gt: [ 0.35951666 -0.65466747 0.66494984] Pose Error in degrees for R and t: 11.646949057885148 60.729829835964956 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.54721158e-01 -2.97501566e-01 -5.74229913e-04] [ 2.97502083e-01 9.54720227e-01 1.34158478e-03] [ 1.49105339e-04 -1.45167397e-03 9.99998935e-01]] t_estimated: [[0.59210767] [0.8058583 ] [0.00094659]] R_gt: [[ 0.98351039 -0.17052021 -0.06023621] [ 0.17977411 0.95807472 0.22310493] [ 0.01966575 -0.2302542 0.97293134]] t_gt: [ 0.5268815 -0.6087658 0.59312738] Pose Error in degrees for R and t: 15.040410679945643 79.74397947469457 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99805052e-01 -1.97448199e-02 2.29070953e-05] [ 1.97448195e-02 9.99805052e-01 1.75967680e-05] [-2.32500747e-05 -1.71410410e-05 1.00000000e+00]] t_estimated: [[3.34863533e-02] [9.99439173e-01] [6.55987669e-05]] R_gt: [[ 0.9986579 0.01660116 -0.04905558] [-0.01607425 0.99980875 0.01110848] [ 0.04923028 -0.01030551 0.99873417]] t_gt: [ 0.34186807 0.4656447 -0.81627277] Pose Error in degrees for R and t: 3.5491361665836108 61.52482642143946 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99656551e-01 2.62064783e-02 -2.39031490e-05] [-2.62064791e-02 9.99656551e-01 -3.33363767e-05] [ 2.30213104e-05 3.39513447e-05 9.99999999e-01]] t_estimated: [[-0.7781233 ] [-0.62811063] [-0.00107923]] R_gt: [[ 0.99835182 0.02768779 0.05026655] [-0.02805004 0.99958499 0.00652224] [-0.05006548 -0.0079213 0.99871422]] t_gt: [-0.31908969 0.45499533 0.83136095] Pose Error in degrees for R and t: 2.9090644994628185 87.79967350013241 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 1.38926626e-01 -9.90301921e-01 -1.22354070e-03] [ 9.90302583e-01 1.38925969e-01 6.07337604e-04] [-4.31466020e-04 -1.29605088e-03 9.99999067e-01]] t_estimated: [[ 8.41403663e-01] [-5.40406680e-01] [ 7.04903013e-04]] R_gt: [[ 0.98298318 0.0622368 0.17283162] [-0.06540416 0.99777824 0.0126845 ] [-0.17165928 -0.02377281 0.98486907]] t_gt: [-0.388888 0.31452655 0.86593255] Pose Error in degrees for R and t: 86.1713406205305 60.22642874855068 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999983e-01 -1.53896062e-04 -1.05117614e-04] [ 1.53906833e-04 9.99999983e-01 1.02466927e-04] [ 1.05101843e-04 -1.02483104e-04 9.99999989e-01]] t_estimated: [[ 4.31103252e-01] [-9.02302459e-01] [-5.08568066e-04]] R_gt: [[ 0.99407682 0.1006904 0.04091386] [-0.09820302 0.9934269 -0.05881468] [-0.04656723 0.05444878 0.99742935]] t_gt: [-0.54185957 0.84016219 -0.0227091 ] Pose Error in degrees for R and t: 7.049353843248513 7.402170814635084 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99998291e-01 1.83468784e-03 -2.26024428e-04] [-1.83464681e-03 9.99998301e-01 1.81589711e-04] [ 2.26357204e-04 -1.81174726e-04 9.99999958e-01]] t_estimated: [[-0.55650562] [ 0.83084321] [ 0.00102743]] R_gt: [[ 0.97420564 0.22380909 0.0288869 ] [-0.2229256 0.97434687 -0.03086614] [-0.03505387 0.02363033 0.99910556]] t_gt: [-0.51371861 0.85747736 0.02873619] Pose Error in degrees for R and t: 13.036901436973842 3.2957745649931334 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999257e-01 -1.17125523e-03 3.37908972e-04] [ 1.17146004e-03 9.99999130e-01 -6.06541938e-04] [-3.37198263e-04 6.06937334e-04 9.99999759e-01]] t_estimated: [[-9.81767482e-01] [ 1.90085677e-01] [-2.16726664e-04]] R_gt: [[ 0.95163925 0.30442384 0.04133869] [-0.30311836 0.95231098 -0.03497876] [-0.05001607 0.02075756 0.99853172]] t_gt: [-0.48940616 0.87015637 0.05752822] Pose Error in degrees for R and t: 18.025926564884717 49.7686997890668 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.98262580e-01 -5.89221549e-02 -1.90645338e-05] [ 5.89221569e-02 9.98262572e-01 1.27179031e-04] [ 1.15377480e-05 -1.28081391e-04 9.99999992e-01]] t_estimated: [[9.29731973e-01] [3.68236794e-01] [3.49808878e-04]] R_gt: [[ 0.99764067 -0.05706572 0.0381586 ] [ 0.05578592 0.99787058 0.03379825] [-0.04000624 -0.0315902 0.99870019]] t_gt: [ 0.55168655 -0.70695317 0.44255979] Pose Error in degrees for R and t: 2.921277354496542 75.35974067492947 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999998e-01 2.60657568e-05 5.03479395e-05] [-2.60816907e-05 9.99999950e-01 3.16501520e-04] [-5.03396872e-05 -3.16502833e-04 9.99999949e-01]] t_estimated: [[8.38690562e-01] [5.44607948e-01] [5.69221454e-04]] R_gt: [[ 0.99699927 -0.07547564 0.01724876] [ 0.07456944 0.99604971 0.04821067] [-0.02081907 -0.04678012 0.99868871]] t_gt: [ 0.51454662 -0.79829896 0.31298649] Pose Error in degrees for R and t: 5.200992011682969 89.82602642339518 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.35218595e-01 3.54061910e-01 2.51853411e-03] [-3.54060678e-01 9.35221986e-01 -9.34436314e-04] [-2.68623678e-03 -1.78116765e-05 9.99996392e-01]] t_estimated: [[0.65615746] [0.75462352] [0.00084885]] R_gt: [[ 0.9923296 -0.11964494 -0.03109871] [ 0.11949448 0.99281284 -0.00663545] [ 0.03166969 0.00286766 0.99949488]] t_gt: [ 0.63245494 -0.76882817 -0.09436094] Pose Error in degrees for R and t: 27.673966063853545 80.48731896392486 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.43172295e-01 3.32301187e-01 1.39371899e-03] [-3.32300402e-01 9.43173289e-01 -7.68150186e-04] [-1.56977574e-03 2.61364595e-04 9.99998734e-01]] t_estimated: [[0.79124834] [0.61149278] [0.00162536]] R_gt: [[ 0.98945382 -0.14421178 -0.0135474 ] [ 0.14400171 0.98945657 -0.01542726] [ 0.01562914 0.01331374 0.99978939]] t_gt: [ 0.8308924 -0.54379972 -0.11789693] Pose Error in degrees for R and t: 27.721337910123378 71.05132696214983 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.88687175e-01 1.49986756e-01 1.28186866e-03] [-1.49985288e-01 9.88687531e-01 -1.17436312e-03] [-1.44350647e-03 9.68816320e-04 9.99998489e-01]] t_estimated: [[-0.63540522] [-0.77217635] [-0.00197225]] R_gt: [[ 0.96157642 -0.27440133 -0.00858873] [ 0.27360607 0.96042309 -0.0522148 ] [ 0.02257579 0.04785905 0.99859933]] t_gt: [ 0.87558698 -0.45046161 -0.17444704] Pose Error in degrees for R and t: 24.71996206618435 77.98471141609366 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.94201478 0.33546876 0.00829847] [-0.33551172 -0.94202556 -0.00444165] [ 0.00632734 -0.00696833 0.9999557 ]] t_estimated: [[0.63215773] [0.7748391 ] [0.00099084]] R_gt: [[ 9.35158757e-01 -3.53169073e-01 2.73776217e-02] [ 3.54228015e-01 9.32281297e-01 -7.32967756e-02] [ 3.62365291e-04 7.82423487e-02 9.96934665e-01]] t_gt: [ 0.88179746 -0.4341063 -0.18435009] Pose Error in degrees for R and t: 178.84081476319264 77.23869458150217 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.51371594e-01 3.08045422e-01 3.29119159e-04] [-3.08045444e-01 9.51371643e-01 1.88152930e-05] [-3.07318670e-04 -1.19283993e-04 9.99999946e-01]] t_estimated: [[-0.46247616] [ 0.88663112] [ 0.00102617]] R_gt: [[ 0.99964445 0.02155588 0.01574042] [-0.02162087 0.99975911 0.00396074] [-0.01565098 -0.00429974 0.99986849]] t_gt: [-0.36337449 0.89262039 0.26681044] Pose Error in degrees for R and t: 16.728864724348888 16.31110948435335 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.78848019 0.55285374 -0.26953986] [ 0.55714257 0.82764557 0.06778616] [ 0.2605593 -0.09672408 -0.96060049]] t_estimated: [[ 0.94923282] [-0.28570754] [-0.13163685]] R_gt: [[ 9.99415928e-01 3.38277106e-02 -4.94032644e-03] [-3.38317889e-02 9.99427509e-01 -6.73620913e-04] [ 4.91494396e-03 8.40066724e-04 9.99987159e-01]] t_gt: [-0.25498075 0.95171123 -0.17096943] Pose Error in degrees for R and t: 163.6477701145978 60.56464217862567 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.99752828 0.07025527 -0.00123582] [-0.07022556 0.99739564 0.0164409 ] [ 0.00238766 -0.01631347 0.99986408]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99951735 -0.02747415 0.0145154 ] [ 0.0272347 0.99949466 0.01641287] [-0.01495859 -0.0160093 0.99975992]] t_gt: [0.71384772 0.53108304 0.45647808] Pose Error in degrees for R and t: 5.675165635052475 44.28753269873027 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.18345041 -0.98301694 0.00486135] [-0.98302312 -0.18343003 0.00435433] [-0.00338866 -0.00557762 -0.9999787 ]] t_estimated: [[0.62764077] [0.77849065] [0.00440288]] R_gt: [[ 0.99686361 -0.07708449 0.01794845] [ 0.0771716 0.99700925 -0.0042608 ] [-0.01756557 0.00563332 0.99982922]] t_gt: [ 0.43527704 -0.87095707 0.22796422] Pose Error in degrees for R and t: 179.19707730672465 66.18213191612818 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.99426314 0.10683214 -0.00526353] [-0.10681229 0.99427148 0.00391913] [ 0.00565206 -0.00333444 0.99997847]] t_estimated: [[-0.62174403] [-0.78321947] [-0.00127146]] R_gt: [[ 0.99388932 -0.09723986 0.05225282] [ 0.09905226 0.9945261 -0.03327917] [-0.04872998 0.03825149 0.9980791 ]] t_gt: [ 0.15264672 -0.92793367 0.34005599] Pose Error in degrees for R and t: 12.40630461216752 50.84383986520734 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.88245371e-01 1.52874776e-01 6.24086956e-04] [-1.52874945e-01 9.88245515e-01 2.32585500e-04] [-5.81194679e-04 -3.25258803e-04 9.99999778e-01]] t_estimated: [[0.54603248] [0.83776261] [0.00153048]] R_gt: [[ 0.99021476 -0.08589952 0.10998498] [ 0.09102568 0.9949433 -0.04245757] [-0.10578153 0.05205426 0.99302571]] t_gt: [-0.41394307 -0.59016811 0.69307484] Pose Error in degrees for R and t: 15.43082528531588 43.99615653208001 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.88480335 -0.46595571 -0.00288225] [ 0.46595733 -0.88473794 -0.01106988] [ 0.00260803 -0.01113767 0.99993457]] t_estimated: [[0.85783815] [0.51391828] [0.00130768]] R_gt: [[ 0.99988364 -0.00976995 -0.0116783 ] [ 0.00893332 0.99753752 -0.06956646] [ 0.01232932 0.06945367 0.99750909]] t_gt: [-0.00225603 0.5707462 -0.82112343] Pose Error in degrees for R and t: 151.70506930728573 73.12361383086588 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[-6.66025713e-01 7.45925306e-01 2.27766556e-03] [-7.45928740e-01 -6.66021527e-01 -2.37481710e-03] [-2.54461881e-04 -3.28066545e-03 9.99994586e-01]] t_estimated: [[0.37745655] [0.92602675] [0.00100655]] R_gt: [[ 0.99856543 -0.05349165 -0.00224475] [ 0.05278359 0.99063302 -0.12593542] [ 0.00895983 0.12563673 0.99203581]] t_gt: [ 0.11777362 0.58560068 -0.80199827] Pose Error in degrees for R and t: 134.9191599684568 54.131348898020384 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-9.45807755e-01 -3.24718501e-01 -2.36341902e-03] [ 3.24716129e-01 -9.45810577e-01 1.33673020e-03] [-2.66940774e-03 4.96849509e-04 9.99996314e-01]] t_estimated: [[0.93166757] [0.36331054] [0.00099537]] R_gt: [[ 0.99950376 -0.0283794 -0.01363344] [ 0.02570429 0.98560278 -0.16711119] [ 0.018179 0.1666788 0.98584345]] t_gt: [-0.02937857 0.76391875 -0.64464334] Pose Error in degrees for R and t: 159.57725517649942 75.55047496840412 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.07227176 0.99702819 -0.02667543] [ 0.99701895 -0.07149488 0.02901198] [ 0.0270186 -0.02869265 -0.99922306]] t_estimated: [[ 0.72268744] [-0.69088935] [-0.01986862]] R_gt: [[ 0.9985409 0.05047668 -0.01923801] [-0.05142747 0.99728734 -0.05266652] [ 0.01652745 0.05357832 0.99842705]] t_gt: [-0.39136274 0.76472972 -0.51188246] Pose Error in degrees for R and t: 179.27295904377468 36.77370831206672 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 1.74962351e-02 9.99846824e-01 4.59022463e-04] [-9.99845165e-01 1.74970648e-02 -1.87044325e-03] [-1.87818829e-03 -4.26225675e-04 9.99998145e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99890891 0.04017823 -0.0238361 ] [-0.0419776 0.99586695 -0.08054043] [ 0.02050164 0.08145199 0.99646625]] t_gt: [-0.24722245 0.74452697 -0.62012955] Pose Error in degrees for R and t: 86.74453723759203 42.07010255016774 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-4.13599497e-01 9.10458156e-01 -1.18409351e-03] [-9.10456455e-01 -4.13601054e-01 -1.79207069e-03] [-2.12134770e-03 3.36866040e-04 9.99997693e-01]] t_estimated: [[0.70656264] [0.70764966] [0.00108702]] R_gt: [[ 0.99993312 -0.00686075 -0.00934032] [ 0.00677511 0.99993532 -0.00913721] [ 0.00940236 0.00907346 0.99991489]] t_gt: [ 0.37017163 0.88341295 -0.28732302] Pose Error in degrees for R and t: 114.82315681168495 27.577679002157065 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-6.48888297e-01 -7.60880695e-01 -2.13197152e-03] [ 7.60882943e-01 -6.48889025e-01 -4.24245491e-04] [-1.06061272e-03 -1.89746870e-03 9.99997637e-01]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064570e-04]] R_gt: [[ 0.97611257 0.21708786 0.00875038] [-0.21645969 0.97517186 -0.04673198] [-0.01867773 0.04372118 0.99886963]] t_gt: [-0.3858764 0.919013 -0.08071255] Pose Error in degrees for R and t: 142.99849938888607 73.60526997260101 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 6.01496140e-01 -7.98875662e-01 2.63513690e-04] [-7.98875537e-01 -6.01496195e-01 -4.52121089e-04] [ 5.19691016e-04 6.14344498e-05 -9.99999863e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.93997724 0.34115688 0.00732431] [-0.33672978 0.93082792 -0.14202789] [-0.05527105 0.13103639 0.98983634]] t_gt: [-0.27794705 0.95081924 -0.13670481] Pose Error in degrees for R and t: 173.67455418158875 39.41849261594177 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-4.32042366e-01 -9.01850451e-01 -2.27106258e-03] [ 9.01853121e-01 -4.32042539e-01 -4.39420663e-04] [-5.84903919e-04 -2.23801322e-03 9.99997325e-01]] t_estimated: [[ 9.81813874e-01] [-1.89843758e-01] [ 9.29523430e-04]] R_gt: [[ 0.93330804 0.35907419 0.00120952] [-0.35027152 0.91115785 -0.21702925] [-0.07903087 0.20213102 0.97616459]] t_gt: [-0.23136364 0.95227061 -0.19912699] Pose Error in degrees for R and t: 136.91841963778123 65.91297352444859 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999643e-01 -8.43674631e-04 5.25891165e-05] [ 8.43663648e-04 9.99999622e-01 2.08517496e-04] [-5.27650176e-05 -2.08473054e-04 9.99999977e-01]] t_estimated: [[0.24266055] [0.97011063] [0.00110844]] R_gt: [[ 0.99752036 0.00237134 -0.07033944] [-0.0017769 0.99996209 0.0085068 ] [ 0.07035779 -0.00836026 0.99748681]] t_gt: [ 0.58109194 0.1103657 -0.80631977] Pose Error in degrees for R and t: 4.068002842709478 75.68922338524924 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99103624e-01 4.23313421e-02 -7.19115349e-05] [-4.23313478e-02 9.99103624e-01 -7.92785110e-05] [ 6.84911093e-05 8.22515598e-05 9.99999994e-01]] t_estimated: [[-8.56127598e-02] [ 9.96328117e-01] [-8.58988728e-04]] R_gt: [[ 0.99283395 0.00921261 -0.1191439 ] [-0.00695547 0.99978911 0.01934682] [ 0.11929702 -0.01838017 0.99268843]] t_gt: [ 0.59897182 0.13981269 -0.78847015] Pose Error in degrees for R and t: 7.201358248711027 84.91135106398842 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.15010184 -0.9884052 -0.02290426] [-0.98842948 0.14951341 0.02555214] [-0.02183137 0.02647466 -0.99941107]] t_estimated: [[0.81239799] [0.58310204] [0.00123277]] R_gt: [[ 0.99775318 0.03797501 -0.05519716] [-0.03692868 0.99912078 0.0198662 ] [ 0.05590361 -0.01778384 0.99827707]] t_gt: [ 0.39026186 0.78719739 -0.47751015] Pose Error in degrees for R and t: 178.21040163982437 39.151818946732675 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99996900e-01 8.91951288e-04 2.32489623e-03] [-8.86141302e-04 9.99996485e-01 -2.49886331e-03] [-2.32711693e-03 2.49679537e-03 9.99994175e-01]] t_estimated: [[0.99996103] [0.00546028] [0.00693766]] R_gt: [[ 0.98760054 0.15649821 0.01240527] [-0.15576821 0.98669251 -0.04662759] [-0.01953784 0.04411614 0.99883577]] t_gt: [-0.31143157 0.94037257 -0.13678382] Pose Error in degrees for R and t: 9.302902068407768 72.10740091481236 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99998863e-01 1.48070454e-03 -2.85773803e-04] [-1.48080213e-03 9.99998845e-01 -3.41584670e-04] [ 2.85267687e-04 3.42007456e-04 9.99999901e-01]] t_estimated: [[-0.49597934] [-0.8683327 ] [-0.0016763 ]] R_gt: [[ 0.9752207 0.22093577 0.01145713] [-0.21717214 0.96591488 -0.14087109] [-0.04219034 0.13489153 0.98996204]] t_gt: [-0.24084079 0.93681458 -0.25372061] Pose Error in degrees for R and t: 15.003174858319145 46.085085318400296 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.97690213 0.12112476 -0.17604269] [-0.12046298 0.99261219 0.01448152] [ 0.17649619 0.0070596 0.98427601]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97329836 0.22949413 0.00465697] [-0.22227907 0.94737628 -0.23036783] [-0.05728068 0.2231816 0.97309237]] t_gt: [-0.20508566 0.90675309 -0.36842734] Pose Error in degrees for R and t: 19.014736101262287 69.84362309539833 Number of keypoints: Image1: 471 Image2: 471 R_estimated: [[-0.89660363 0.44116723 0.03838499] [ 0.44111362 0.89739201 -0.01031316] [-0.03899621 0.00768532 -0.9992098 ]] t_estimated: [[ 0.98058618] [-0.1950493 ] [ 0.02016203]] R_gt: [[ 0.99517921 -0.09400179 -0.02797003] [ 0.0943578 0.99546992 0.01167179] [ 0.02674607 -0.0142557 0.99954098]] t_gt: [ 0.98623235 -0.15821276 0.04810892] Pose Error in degrees for R and t: 179.4277618354479 2.66916617228219 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 5.42451471e-02 9.98527483e-01 -5.74417075e-04] [-9.98516910e-01 5.42418869e-02 -4.66881607e-03] [-4.63078370e-03 8.26825778e-04 9.99988936e-01]] t_estimated: [[0.09271114] [0.99569224] [0.00127002]] R_gt: [[ 0.9902496 -0.10876969 -0.08702771] [ 0.11363317 0.9921073 0.05301638] [ 0.08057334 -0.06238935 0.99479439]] t_gt: [ 0.96240707 -0.1764852 0.20645971] Pose Error in degrees for R and t: 93.45080500497103 85.05284567163127 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 0.98651595 -0.16356596 0.00569631] [ 0.16359953 0.9865084 -0.0060309 ] [-0.00463301 0.00688149 0.99996559]] t_estimated: [[0.16577594] [0.98615428] [0.00425067]] R_gt: [[ 0.98402833 -0.09392431 -0.151214 ] [ 0.10591266 0.99167174 0.07326911] [ 0.1430726 -0.08811515 0.98578289]] t_gt: [ 0.97518642 -0.17256995 0.13867612] Pose Error in degrees for R and t: 10.747245095116835 89.54571462582412 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-8.87668178e-01 -4.60483651e-01 -1.14165096e-04] [-4.60481022e-01 8.87663896e-01 -3.16815009e-03] [ 1.56022156e-03 -2.75969516e-03 -9.99994975e-01]] t_estimated: [[0.95618806] [0.29275141] [0.00099915]] R_gt: [[ 0.99986929 -0.00299584 -0.01588587] [ 0.00232152 0.99910386 -0.04225449] [ 0.01599809 0.04221303 0.99898039]] t_gt: [-0.14704599 0.81392742 -0.56204949] Pose Error in degrees for R and t: 178.4888529126523 84.4270399798977 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.47418369e-01 -3.19995074e-01 -1.26000126e-03] [ 3.19997546e-01 9.47411909e-01 3.49925629e-03] [ 7.39954302e-05 -3.71845699e-03 9.99993084e-01]] t_estimated: [[-8.01490828e-01] [-5.98006744e-01] [-6.22275488e-04]] R_gt: [[ 0.99972252 -0.01065872 -0.02102124] [ 0.00871902 0.99587518 -0.09030933] [ 0.02189719 0.09010093 0.99569265]] t_gt: [ 0.05227865 0.83333829 -0.55028559] Pose Error in degrees for R and t: 18.921886869972543 57.32314442924566 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.02758983 -0.99961772 -0.00179165] [ 0.99959496 -0.02760163 0.00693315] [-0.00697996 -0.00159964 0.99997436]] t_estimated: [[ 0.82058212] [-0.57149691] [ 0.00602247]] R_gt: [[ 0.99409464 -0.10848466 -0.00252965] [ 0.10680587 0.98230075 -0.15387292] [ 0.01917854 0.15269422 0.98808725]] t_gt: [ 0.58683925 0.618506 -0.52256103] Pose Error in degrees for R and t: 85.7767062767031 82.82337814911844 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.15340084 -0.98768207 0.03085941] [ 0.98778603 -0.15240365 0.03243281] [-0.02733022 0.03545772 0.9989974 ]] t_estimated: [[0.99990597] [0.01366614] [0.00113885]] R_gt: [[ 0.99407917 0.07885051 -0.07475719] [-0.08536716 0.99242189 -0.08839264] [ 0.0672211 0.09425132 0.99327657]] t_gt: [-0.25972605 0.66843878 -0.69694475] Pose Error in degrees for R and t: 103.80785876620209 75.44197421648133 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.70919602e-01 -2.39405754e-01 -1.05553045e-04] [ 2.39405777e-01 9.70919525e-01 3.88216420e-04] [ 9.54226774e-06 -4.02196941e-04 9.99999919e-01]] t_estimated: [[0.43164656] [0.90204206] [0.00117143]] R_gt: [[ 0.98896929 0.11297874 -0.09579111] [-0.12350067 0.98598874 -0.11213924] [ 0.08177958 0.12273303 0.98906447]] t_gt: [-0.27201173 0.72356931 -0.63439504] Pose Error in degrees for R and t: 22.339692975663233 57.6876947802311 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.03063561 0.99952963 -0.00140929] [ 0.99952401 -0.03063025 0.00368054] [ 0.00363564 -0.00152138 -0.99999223]] t_estimated: [[0.04078213] [0.99916228] [0.00339851]] R_gt: [[ 0.99323928 0.06959264 -0.09290587] [-0.08320483 0.98491002 -0.15175433] [ 0.08094316 0.15845879 0.98404232]] t_gt: [-0.13516143 0.66689007 -0.73279535] Pose Error in degrees for R and t: 177.28435459546012 48.827456855948334 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.81640243 -0.57748113 0.00161814] [-0.57747348 0.81640162 0.00357409] [-0.00338502 0.00198346 -0.9999923 ]] t_estimated: [[0.98931361] [0.14579395] [0.00164456]] R_gt: [[ 0.99015422 -0.10593465 0.09150544] [ 0.08685462 0.97756666 0.19188578] [-0.10978011 -0.18204893 0.97714209]] t_gt: [ 0.33019785 -0.32874436 0.8848144 ] Pose Error in degrees for R and t: 171.03150866942272 73.72813149222362 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.59693996 0.79465411 0.11039712] [-0.69621791 0.58147113 -0.42091798] [-0.39867694 0.17440231 0.90035578]] t_estimated: [[-0.99802224] [-0.06237639] [-0.00779705]] R_gt: [[ 0.98200587 -0.13223938 0.13482872] [ 0.0996074 0.96922422 0.22512995] [-0.16045007 -0.20764922 0.96495432]] t_gt: [ 0.34773384 -0.26321078 0.89988958] Pose Error in degrees for R and t: 66.67100953589961 70.26657366871726 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999103e-01 -6.54104080e-05 1.33744967e-03] [ 6.74573060e-05 9.99998827e-01 -1.53046079e-03] [-1.33734799e-03 1.53054964e-03 9.99997934e-01]] t_estimated: [[0.99985774] [0.01679031] [0.001606 ]] R_gt: [[ 0.98686945 -0.09031268 0.13391411] [ 0.05820524 0.97221622 0.22673497] [-0.15067038 -0.21596279 0.96470602]] t_gt: [ 0.25872072 -0.11445912 0.95914686] Pose Error in degrees for R and t: 15.898124282619477 75.0306374618957 Number of keypoints: Image1: 519 Image2: 519 R_estimated: [[ 9.99429876e-01 -3.37627188e-02 4.31007552e-05] [ 3.37627175e-02 9.99429876e-01 3.06474967e-05] [-4.41109253e-05 -2.91748252e-05 9.99999999e-01]] t_estimated: [[ 9.99521984e-01] [-3.09018274e-02] [ 9.38724236e-04]] R_gt: [[ 0.99888118 -0.04686051 0.00633629] [ 0.04700042 0.99860386 -0.02411136] [-0.00519755 0.02438193 0.99968899]] t_gt: [ 0.26956971 -0.88783017 -0.37294739] Pose Error in degrees for R and t: 1.617309763822922 72.75091423351822 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 9.95521405e-01 -9.45363411e-02 1.09341796e-04] [ 9.45363431e-02 9.95521411e-01 -1.35221048e-05] [-1.07573769e-04 2.37983183e-05 9.99999994e-01]] t_estimated: [[0.68882606] [0.72492601] [0.00097567]] R_gt: [[ 0.9958295 -0.03922971 0.08236552] [ 0.04304603 0.99805577 -0.04506922] [-0.08043609 0.04842618 0.99558228]] t_gt: [-0.69155931 -0.32533288 0.64490638] Pose Error in degrees for R and t: 6.191166373117263 44.63662102252945 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.88192103e-01 -1.53219991e-01 -3.24927829e-05] [ 1.53219990e-01 9.88192000e-01 4.53803539e-04] [-3.74226662e-05 -4.53423618e-04 9.99999897e-01]] t_estimated: [[0.66590171] [0.74603888] [0.00095401]] R_gt: [[ 0.99264074 -0.06728641 0.10067818] [ 0.07097119 0.99691632 -0.03346898] [-0.09811484 0.040368 0.99435596]] t_gt: [-0.51531049 -0.54895108 0.65810927] Pose Error in degrees for R and t: 7.784071250465741 41.23111093148891 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999985e-01 -1.81861034e-05 1.74707493e-04] [ 1.82270264e-05 9.99999972e-01 -2.34238220e-04] [-1.74703228e-04 2.34241401e-04 9.99999957e-01]] t_estimated: [[0.47875404] [0.87794853] [0.00097921]] R_gt: [[ 9.96021432e-01 -1.90721322e-03 -8.90927362e-02] [ 5.36977220e-05 9.99783984e-01 -2.07896632e-02] [ 8.91129432e-02 2.07021042e-02 9.95807040e-01]] t_gt: [ 0.31068362 0.07002389 -0.94793056] Pose Error in degrees for R and t: 5.255902330361244 77.91924112782806 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.01621154 0.99986729 -0.00160586] [-0.99986126 -0.01621755 -0.00380154] [-0.00382708 0.001544 0.99999148]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.98400678 0.01876921 -0.17714168] [-0.02012679 0.99978128 -0.005869 ] [ 0.17699268 0.00933985 0.98416842]] t_gt: [ 0.27337343 0.1438341 -0.95109343] Pose Error in degrees for R and t: 90.2713446746409 81.65838935028877 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.21694439 0.97615205 -0.00789341] [ 0.97611593 -0.21682672 0.01355943] [ 0.01152456 -0.01064652 -0.99987691]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.96636323 0.02857659 -0.25558678] [-0.03139028 0.99948339 -0.00693358] [ 0.25525603 0.01472323 0.96676177]] t_gt: [ 0.29814345 0.1429912 -0.94374997] Pose Error in degrees for R and t: 170.35806853958303 71.42045712799624 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999950e-01 -3.13164112e-04 3.10212876e-05] [ 3.13162500e-04 9.99999950e-01 5.19590167e-05] [-3.10375578e-05 -5.19492994e-05 9.99999998e-01]] t_estimated: [[-5.72327020e-03] [-9.99983167e-01] [-9.53953510e-04]] R_gt: [[ 0.9949456 -0.10026983 -0.00534951] [ 0.10033474 0.99485915 0.01371332] [ 0.00394721 -0.01418059 0.99989156]] t_gt: [ 0.55564818 -0.82942375 0.05754417] Pose Error in degrees for R and t: 5.800346974511926 34.292223286779446 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.97470779e-01 7.10772042e-02 2.75226674e-04] [-7.10771946e-02 9.97470817e-01 -4.45037470e-05] [-2.77693777e-04 2.48288473e-05 9.99999961e-01]] t_estimated: [[9.74973611e-01] [2.22319836e-01] [5.89782380e-04]] R_gt: [[ 0.96622699 -0.25767035 -0.00338841] [ 0.25765325 0.96622556 -0.00475644] [ 0.00449883 0.00372309 0.99998327]] t_gt: [ 0.70641819 -0.70657259 -0.04157542] Pose Error in degrees for R and t: 19.010431065557828 57.88438222839128 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-0.93288628 -0.36016814 0.00144837] [ 0.36014744 -0.93286362 -0.00770001] [ 0.00412443 -0.0066616 0.99996931]] t_estimated: [[8.65285194e-01] [5.01279301e-01] [7.71198925e-04]] R_gt: [[ 0.93022963 -0.36438364 -0.04355831] [ 0.36489353 0.9310396 0.00412541] [ 0.03905123 -0.01973151 0.99904247]] t_gt: [ 0.7616836 -0.6450045 -0.06170324] Pose Error in degrees for R and t: 137.49628732326667 70.38497771279707 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.91690344e-01 1.28553678e-01 -4.92079277e-03] [-1.28552200e-01 9.91702552e-01 6.16700763e-04] [ 4.95924190e-03 2.10025447e-05 9.99987703e-01]] t_estimated: [[0.80868944] [0.58823499] [0.00099583]] R_gt: [[ 0.98946555 -0.14463872 0.00622221] [ 0.14475509 0.98909256 -0.02725532] [-0.00221175 0.02786868 0.99960903]] t_gt: [ 0.8505975 -0.50437323 -0.14863222] Pose Error in degrees for R and t: 15.796890012520226 66.98131989376857 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 6.94537921e-01 7.19455521e-01 9.10560404e-04] [-7.19455095e-01 6.94538510e-01 -7.90354165e-04] [-1.20104393e-03 -1.06176382e-04 9.99999273e-01]] t_estimated: [[0.42518353] [0.90510626] [0.001273 ]] R_gt: [[ 0.97369237 -0.2239997 0.04181034] [ 0.22589501 0.97296845 -0.04800098] [-0.02992739 0.05618333 0.99797119]] t_gt: [ 0.84574568 -0.51038249 -0.1556405 ] Pose Error in degrees for R and t: 59.12186083904789 84.11389020178048 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-4.59233124e-01 -8.88315493e-01 7.22697428e-04] [-8.88315159e-01 4.59233615e-01 8.15435697e-04] [-1.05625112e-03 -2.67507998e-04 -9.99999406e-01]] t_estimated: [[0.94379435] [0.33052576] [0.00222328]] R_gt: [[ 0.94643566 -0.3169729 0.06155217] [ 0.32177563 0.94171094 -0.09818749] [-0.02684081 0.1127335 0.99326267]] t_gt: [ 0.86734512 -0.42986145 -0.25086168] Pose Error in degrees for R and t: 179.0672547152636 47.47145791775208 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[ 9.99965753e-01 8.27595886e-03 -4.14171837e-05] [-8.27595649e-03 9.99965752e-01 5.71767600e-05] [ 4.18889578e-05 -5.68320350e-05 9.99999998e-01]] t_estimated: [[-9.71695074e-01] [-2.36238535e-01] [-1.95892880e-04]] R_gt: [[ 0.9958472 0.09049965 0.00994882] [-0.09065699 0.99574442 0.01657273] [-0.00840644 -0.01740549 0.99981384]] t_gt: [-0.83182047 0.52999509 0.16486332] Pose Error in degrees for R and t: 4.850420551437441 46.91847568489262 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.84107182e-01 -1.77575434e-01 -1.40903512e-04] [ 1.77575432e-01 9.84107192e-01 -2.91252397e-05] [ 1.43836087e-04 3.64135543e-06 9.99999990e-01]] t_estimated: [[-0.80961013] [-0.58696734] [-0.00088001]] R_gt: [[ 9.76929809e-01 2.13366712e-01 9.11550281e-03] [-2.13562043e-01 9.76070746e-01 4.09404657e-02] [-1.62616701e-04 -4.19423437e-02 9.99120518e-01]] t_gt: [-0.82132043 0.55170528 0.14510009] Pose Error in degrees for R and t: 22.68577977249186 70.06287926862584 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999888e-01 -4.43504896e-04 -1.68208472e-04] [ 4.43512586e-04 9.99999901e-01 4.56855065e-05] [ 1.68188193e-04 -4.57601040e-05 9.99999985e-01]] t_estimated: [[-9.69784870e-01] [-2.43960155e-01] [-8.65106932e-04]] R_gt: [[ 0.95162819 0.30397307 0.0447647 ] [-0.30455602 0.95247158 0.00666097] [-0.04061166 -0.01997156 0.99897613]] t_gt: [-0.77496612 0.62683713 0.0806395 ] Pose Error in degrees for R and t: 17.936887747071687 53.23335335344459 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.94147772e-01 -1.08028594e-01 1.71935577e-04] [ 1.08028635e-01 9.94147752e-01 -2.46402727e-04] [-1.44310828e-04 2.63534688e-04 9.99999955e-01]] t_estimated: [[8.05092297e-01] [5.93149138e-01] [7.02569107e-04]] R_gt: [[ 0.99755611 0.04627012 0.05235404] [-0.0439074 0.99800394 -0.04540258] [-0.05434987 0.04299321 0.99759535]] t_gt: [-0.72236484 0.62368438 0.29867513] Pose Error in degrees for R and t: 9.637307850183662 77.79426235672841 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-9.32595967e-01 -3.60916619e-01 -1.98907577e-03] [ 3.60917931e-01 -9.32597521e-01 -3.33594494e-04] [-1.73460733e-03 -1.02900199e-03 9.99997966e-01]] t_estimated: [[0.87764284] [0.47931414] [0.00099654]] R_gt: [[ 0.99472072 0.02716442 0.0989644 ] [-0.02338039 0.99895857 -0.0391872 ] [-0.0999241 0.03666556 0.99431859]] t_gt: [-0.35470288 0.23378415 0.90527943] Pose Error in degrees for R and t: 160.32822002030736 78.55984828046763 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.83401433e-01 -1.81443006e-01 -2.38332910e-04] [ 1.81443039e-01 9.83401448e-01 1.24701210e-04] [ 2.11750766e-04 -1.65875196e-04 9.99999964e-01]] t_estimated: [[ 9.99712447e-01] [-2.39789287e-02] [ 1.85015733e-04]] R_gt: [[ 9.96976991e-01 8.79453870e-04 7.76917344e-02] [ 1.70118706e-03 9.99449743e-01 -3.31317984e-02] [-7.76779266e-02 3.31633890e-02 9.96426581e-01]] t_gt: [ 0.13710681 -0.10308364 0.9851779 ] Pose Error in degrees for R and t: 11.50422912081587 81.96826960241378 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 5.42141345e-01 -8.40287300e-01 1.20916248e-04] [ 8.40286600e-01 5.42141069e-01 1.22113927e-03] [-1.09166149e-03 -5.60425785e-04 9.99999247e-01]] t_estimated: [[0.99894782] [0.04584543] [0.00120646]] R_gt: [[ 0.99472388 -0.09581608 0.03665806] [ 0.09750557 0.99410166 -0.0474857 ] [-0.03189201 0.05081029 0.9981985 ]] t_gt: [ 0.60673799 -0.58337502 -0.53994685] Pose Error in degrees for R and t: 51.726920242980725 54.64062396635266 Number of keypoints: Image1: 765 Image2: 765 R_estimated: [[ 9.99761353e-01 2.18456767e-02 6.28935850e-05] [-2.18456659e-02 9.99761341e-01 -1.67689950e-04] [-6.65418753e-05 1.66275979e-04 9.99999984e-01]] t_estimated: [[ 9.42292389e-01] [-3.34790945e-01] [ 2.78241622e-04]] R_gt: [[ 0.99103592 -0.13137491 0.02427905] [ 0.13264023 0.98927228 -0.0612201 ] [-0.01597565 0.06389179 0.99782838]] t_gt: [ 0.67243601 -0.46302516 -0.57744049] Pose Error in degrees for R and t: 9.612398659941565 37.95562903248099 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.63086508e-01 2.69192022e-01 1.82305464e-04] [-2.69192004e-01 9.63086523e-01 -1.19707567e-04] [-2.07800257e-04 6.62135701e-05 9.99999976e-01]] t_estimated: [[0.80179256] [0.5976009 ] [0.00136128]] R_gt: [[ 0.98314773 -0.18267747 0.00700879] [ 0.1828032 0.98274421 -0.02822816] [-0.00173103 0.02903425 0.99957662]] t_gt: [ 0.89222504 -0.41698899 -0.1733628 ] Pose Error in degrees for R and t: 26.199588698215823 62.228252202766654 Number of keypoints: Image1: 722 Image2: 722 R_estimated: [[ 9.99991921e-01 -4.01966354e-03 1.14801149e-05] [ 4.01966370e-03 9.99991921e-01 -1.40017685e-05] [-1.14237397e-05 1.40478016e-05 1.00000000e+00]] t_estimated: [[8.88085987e-01] [4.59676575e-01] [8.51576069e-04]] R_gt: [[ 0.99980813 -0.01616302 -0.01111556] [ 0.01630664 0.99978185 0.01303566] [ 0.01090335 -0.01321377 0.99985339]] t_gt: [ 0.20109966 -0.18294508 0.96233571] Pose Error in degrees for R and t: 1.205797980853304 84.53039286506069 Number of keypoints: Image1: 471 Image2: 471 R_estimated: [[ 9.95797559e-01 -9.15817715e-02 3.46247489e-05] [ 9.15817695e-02 9.95797558e-01 5.54235221e-05] [-3.95550247e-05 -5.20196122e-05 9.99999998e-01]] t_estimated: [[9.91527271e-01] [1.29897093e-01] [6.45687847e-04]] R_gt: [[ 0.99432332 -0.09982113 -0.03684958] [ 0.10102598 0.99435598 0.03241379] [ 0.03340627 -0.03595227 0.99879486]] t_gt: [ 0.94271701 -0.2025413 0.26506915] Pose Error in degrees for R and t: 2.8582867294132184 24.6886065471627 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 8.01334868e-01 5.98215436e-01 8.49452791e-04] [-5.98215381e-01 8.01335285e-01 -3.45739315e-04] [-8.87523089e-04 -2.31102757e-04 9.99999579e-01]] t_estimated: [[-0.03640422] [ 0.99933638] [ 0.00124195]] R_gt: [[ 0.98712853 -0.13223673 -0.08995053] [ 0.13747404 0.98899209 0.05473131] [ 0.08172322 -0.06639334 0.99444157]] t_gt: [ 0.95765503 -0.18188237 0.2231942 ] Pose Error in degrees for R and t: 44.908173630925674 77.50542628608576 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99869867e-01 -1.61321308e-02 -4.92095829e-05] [ 1.61321328e-02 9.99869868e-01 4.05580362e-05] [ 4.85488916e-05 -4.13466138e-05 9.99999998e-01]] t_estimated: [[-9.73344958e-01] [-2.29345941e-01] [-1.80249078e-04]] R_gt: [[ 0.99564731 0.09223466 -0.0133211 ] [-0.09166853 0.99505609 0.03819701] [ 0.01677872 -0.03680931 0.99918124]] t_gt: [-0.82946675 0.49160454 0.26516012] Pose Error in degrees for R and t: 6.620445693771007 46.00767727614164 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.98462547e-01 -5.54297714e-02 2.89137199e-04] [ 5.54298036e-02 9.98462581e-01 -1.04384536e-04] [-2.82906663e-04 1.20250868e-04 9.99999953e-01]] t_estimated: [[-9.00000432e-01] [-4.35888252e-01] [-8.08206803e-04]] R_gt: [[ 9.76424465e-01 2.15843698e-01 2.40712082e-03] [-2.15856420e-01 9.76349311e-01 1.20816808e-02] [ 2.58159614e-04 -1.23163257e-02 9.99924839e-01]] t_gt: [-0.8100494 0.58597482 0.02129515] Pose Error in degrees for R and t: 15.659545260268922 61.73124085540762 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-9.85071478e-01 -1.71745505e-01 -1.17330877e-02] [-1.71764354e-01 9.85137876e-01 6.10561833e-04] [ 1.14538478e-02 2.61677328e-03 -9.99930979e-01]] t_estimated: [[ 0.99734332] [ 0.07262947] [-0.00559185]] R_gt: [[ 0.96358162 0.26684381 0.01739865] [-0.26707984 0.96358601 0.01302113] [-0.01328994 -0.0171942 0.99976427]] t_gt: [-0.77080668 0.63467447 0.05518494] Pose Error in degrees for R and t: 179.71234658088423 43.69964611587647 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.96406014e-01 -8.47054955e-02 1.83294603e-04] [ 8.47055744e-02 9.96405910e-01 -4.76829812e-04] [-1.42245720e-04 4.90642168e-04 9.99999870e-01]] t_estimated: [[-0.53865311] [-0.84252557] [-0.00186822]] R_gt: [[ 0.99857533 0.04794349 0.02343036] [-0.04658419 0.99737502 -0.05543237] [-0.02602807 0.05426228 0.99818691]] t_gt: [-0.69979322 0.62295457 -0.34959556] Pose Error in degrees for R and t: 8.306731432819317 81.53204530597985 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99839490e-01 -1.79162902e-02 -1.97391999e-05] [ 1.79162945e-02 9.99839460e-01 2.46752206e-04] [ 1.53151469e-05 -2.47066253e-04 9.99999969e-01]] t_estimated: [[0.66606315] [0.74589445] [0.00116277]] R_gt: [[ 0.99528177 0.06268064 0.07406066] [-0.05773464 0.9960722 -0.06712779] [-0.07797762 0.06253566 0.99499148]] t_gt: [-0.75052168 0.58173115 0.31353799] Pose Error in degrees for R and t: 7.289890810607149 86.2375347101861 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.89338224e-01 1.45635914e-01 2.44382028e-04] [-1.45636072e-01 9.89337859e-01 8.57722033e-04] [-1.16861260e-04 -8.84168031e-04 9.99999602e-01]] t_estimated: [[0.5782844 ] [0.81583388] [0.0014965 ]] R_gt: [[ 0.99341436 0.03302549 0.10971273] [-0.02664158 0.99789364 -0.05914695] [-0.11143621 0.05583375 0.99220174]] t_gt: [-0.3791551 0.21156334 0.90082316] Pose Error in degrees for R and t: 9.784552072487301 87.40298970012732 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.26238573 -0.96496044 -0.00225303] [ 0.96495689 0.26239169 -0.00296666] [ 0.00345389 -0.00139567 0.99999306]] t_estimated: [[ 0.88224998] [-0.47077636] [-0.00214229]] R_gt: [[ 0.99359419 -0.10935363 0.02849805] [ 0.1097714 0.99386479 -0.01352062] [-0.02684472 0.01656276 0.99950209]] t_gt: [ 0.80391959 -0.59193332 -0.0576909 ] Pose Error in degrees for R and t: 68.52197748135279 8.866614860516178 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 8.46819543e-01 5.31879513e-01 9.19479525e-04] [-5.31879839e-01 8.46819827e-01 1.35379097e-04] [-7.06628124e-04 -6.03694286e-04 9.99999568e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97365926 -0.22329652 0.04612497] [ 0.22519377 0.97344812 -0.04106998] [-0.03572872 0.0503755 0.99809102]] t_gt: [ 0.85030001 -0.5107251 -0.12708174] Pose Error in degrees for R and t: 45.23391008700109 59.632544436694495 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-1.83245786e-01 9.83066797e-01 -8.08923208e-04] [ 9.83060937e-01 1.83247490e-01 3.39873430e-03] [ 3.48941600e-03 -1.72417067e-04 -9.99993897e-01]] t_estimated: [[-0.38926259] [-0.92112633] [-0.00096352]] R_gt: [[ 0.94318351 -0.32926798 0.04459588] [ 0.33214912 0.93797649 -0.0993814 ] [-0.00910673 0.10854712 0.99404932]] t_gt: [ 0.88303983 -0.3943741 -0.25438106] Pose Error in degrees for R and t: 175.06629394951798 88.86666728456699 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 -8.05813749e-14 -1.20502295e-16] [ 8.05848444e-14 1.00000000e+00 1.19396680e-14] [ 3.04637094e-16 -1.19433543e-14 1.00000000e+00]] t_estimated: [[0.01865086] [0.99982551] [0.00104584]] R_gt: [[ 0.99651686 0.05415039 -0.06343214] [-0.05561842 0.99821911 -0.02160692] [ 0.06214867 0.02505992 0.99775205]] t_gt: [-0.32782753 0.63484185 -0.69964629] Pose Error in degrees for R and t: 4.967476221337144 51.10573969552532 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.45776246e-01 -5.33537747e-01 -1.19509692e-04] [ 5.33537748e-01 8.45776154e-01 4.11515019e-04] [-1.18480349e-04 -4.11812559e-04 9.99999908e-01]] t_estimated: [[8.58021296e-01] [5.13613680e-01] [6.66165603e-04]] R_gt: [[ 0.98806613 0.05066965 -0.14546392] [-0.05415253 0.99833094 -0.02008127] [ 0.14420312 0.02771889 0.98915951]] t_gt: [-0.00481902 0.41009933 -0.91202814] Pose Error in degrees for R and t: 36.23199245251798 78.11838231867226 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.92149591 -0.38837964 -0.00255643] [ 0.38834213 -0.92146821 0.00931268] [-0.00597253 0.00758883 0.99995337]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.97033258 0.0635743 -0.23326809] [-0.0693337 0.99745615 -0.01656507] [ 0.23162157 0.03224678 0.97227139]] t_gt: [ 0.10943254 0.33908706 -0.9343685 ] Pose Error in degrees for R and t: 161.2062068183476 74.49643800236665 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99999882e-01 4.75915175e-04 1.01435245e-04] [-4.75907591e-04 9.99999884e-01 -7.47787926e-05] [-1.01470821e-04 7.47305100e-05 9.99999992e-01]] t_estimated: [[9.99135972e-01] [4.15603413e-02] [2.16503985e-04]] R_gt: [[ 0.99028618 -0.13459707 -0.03489451] [ 0.13446682 0.99089934 -0.00605213] [ 0.03539074 0.00130156 0.99937245]] t_gt: [ 0.65000742 -0.73882517 -0.17784181] Pose Error in degrees for R and t: 8.023234945891762 51.77862916250984 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.69753143e-01 -2.44087637e-01 -2.60749988e-04] [ 2.44087525e-01 9.69753124e-01 -3.99646028e-04] [ 3.50411769e-04 3.23912172e-04 9.99999886e-01]] t_estimated: [[-0.28778032] [-0.95769516] [-0.00157257]] R_gt: [[ 0.95215491 -0.30506958 0.0183111 ] [ 0.30530245 0.95218424 -0.0116124 ] [-0.01389272 0.01664758 0.99976535]] t_gt: [ 0.69964309 -0.71437366 0.01303196] Pose Error in degrees for R and t: 3.849057249656464 61.132338113517164 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99955597e-01 -9.41771849e-03 3.33523020e-04] [ 9.41781648e-03 9.99955608e-01 -2.93450992e-04] [-3.30744576e-04 2.96579020e-04 9.99999901e-01]] t_estimated: [[ 0.60257581] [-0.79806108] [-0.00095341]] R_gt: [[ 0.88850412 -0.4563099 -0.04840729] [ 0.45670116 0.88961465 -0.00328816] [ 0.04456483 -0.01918681 0.9988223 ]] t_gt: [ 0.76081624 -0.64824404 -0.03063188] Pose Error in degrees for R and t: 26.78390109749286 12.626174732848433 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.98723557 0.00814319 -0.15905851] [ 0.01204208 0.99201678 0.12552963] [ 0.15881092 -0.12584272 0.9792562 ]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97392656 -0.22087879 0.05176117] [ 0.21813029 0.97443192 0.05387011] [-0.06233617 -0.0411751 0.99720587]] t_gt: [ 0.59879965 -0.71688702 0.35708818] Pose Error in degrees for R and t: 18.2583417263038 85.72109457898475 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.03813 -0.94424103 -0.32703974] [-0.81128925 -0.16182076 0.56180406] [-0.58340026 0.28674541 -0.75988237]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.94139856 -0.33725681 -0.00519663] [ 0.33728114 0.94139009 0.00502585] [ 0.00319637 -0.00648516 0.9999738 ]] t_gt: [ 0.70763252 -0.70619827 0.02324251] Pose Error in degrees for R and t: 162.03373481383628 83.47355970946576 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99997483e-01 -1.50203643e-04 -2.23855281e-03] [ 1.55601130e-04 9.99997081e-01 2.41117097e-03] [ 2.23818411e-03 -2.41151323e-03 9.99994588e-01]] t_estimated: [[-0.94828969] [-0.31738243] [-0.00388171]] R_gt: [[ 0.87309713 -0.48747213 0.00844838] [ 0.48615391 0.87178378 0.06039205] [-0.03680381 -0.04862117 0.99813892]] t_gt: [ 0.73598017 -0.66257423 0.13902726] Pose Error in degrees for R and t: 29.34787365664632 60.77945417995446 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[-8.91462593e-01 -4.53093856e-01 -6.35429628e-04] [ 4.53094163e-01 -8.91460348e-01 -2.03157450e-03] [ 3.54033606e-04 -2.09898213e-03 9.99997734e-01]] t_estimated: [[8.01562506e-01] [5.97910549e-01] [7.24740059e-04]] R_gt: [[ 0.97377724 -0.2190489 0.06144529] [ 0.21644629 0.97519536 0.04631853] [-0.07006658 -0.03180469 0.99703499]] t_gt: [ 0.59472594 -0.71872885 0.36018037] Pose Error in degrees for R and t: 140.4965325552847 87.2925985692419 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999654e-01 -1.38220332e-04 8.19845755e-04] [ 1.39003833e-04 9.99999534e-01 -9.55688914e-04] [-8.19713277e-04 9.55802545e-04 9.99999207e-01]] t_estimated: [[-0.38963938] [-0.92096581] [-0.00177109]] R_gt: [[ 0.93829401 -0.34562639 -0.01213715] [ 0.34577478 0.93821935 0.013562 ] [ 0.00669947 -0.01692231 0.99983381]] t_gt: [ 0.71147583 -0.70189866 0.03377007] Pose Error in degrees for R and t: 20.248824617625896 68.33705048417563 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.84364936 0.53687525 0.00455276] [ 0.53689267 -0.84363852 -0.00450595] [ 0.00142175 0.00624579 -0.99997948]] t_estimated: [[-0.77055305] [ 0.63735757] [-0.00482998]] R_gt: [[ 0.87275726 -0.4879897 0.01267869] [ 0.48662727 0.8717871 0.05640985] [-0.03858073 -0.04306288 0.99832677]] t_gt: [ 0.73406985 -0.66569223 0.13414659] Pose Error in degrees for R and t: 177.9513093147501 7.874026261235389 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.99999872e-01 -2.56118570e-04 4.35924324e-04] [ 2.56123194e-04 9.99999967e-01 -1.05515542e-05] [-4.35921607e-04 1.06632032e-05 9.99999905e-01]] t_estimated: [[0.71764386] [0.69640817] [0.00171636]] R_gt: [[ 0.98757308 -0.15534951 -0.02379916] [ 0.15555934 0.98780035 0.00720704] [ 0.02238959 -0.01082003 0.99968983]] t_gt: [ 0.65265978 -0.75687494 -0.03428623] Pose Error in degrees for R and t: 9.046463787506498 86.63047252485327 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[-0.98858298 0.15048645 0.00758439] [ 0.15049979 0.98860929 0.00121712] [-0.00731484 0.00234467 -0.9999705 ]] t_estimated: [[ 0.99986351] [-0.01609784] [ 0.00371899]] R_gt: [[ 0.95078685 -0.30916068 0.02058162] [ 0.30957658 0.95063101 -0.02155124] [-0.01290281 0.02686139 0.99955506]] t_gt: [ 0.70132755 -0.71276169 -0.01050848] Pose Error in degrees for R and t: 178.48478190616774 44.54770099742533 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.99999764e-01 5.90545062e-04 3.52434751e-04] [-5.90445770e-04 9.99999786e-01 -2.81769214e-04] [-3.52601073e-04 2.81561054e-04 9.99999898e-01]] t_estimated: [[9.99595501e-01] [2.84396052e-02] [1.55402767e-04]] R_gt: [[ 0.8827387 -0.46840746 -0.03698611] [ 0.46899642 0.8831572 0.00874758] [ 0.02856784 -0.02506823 0.99927661]] t_gt: [ 0.76059167 -0.6492022 0.00606756] Pose Error in degrees for R and t: 28.079793222842902 42.11315427898368 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.97736547e-01 -6.72441836e-02 -4.89108843e-05] [ 6.72441881e-02 9.97736543e-01 9.52537650e-05] [ 4.23949149e-05 -9.83271353e-05 9.99999994e-01]] t_estimated: [[0.88897411] [0.45795636] [0.00099773]] R_gt: [[ 0.99836865 0.04602618 0.0338052 ] [-0.04398735 0.99730295 -0.05875539] [-0.0364168 0.05717182 0.99769967]] t_gt: [-0.7387876 0.63491612 -0.22599647] Pose Error in degrees for R and t: 7.522542709089503 68.51703062571337 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.97731259e-01 -6.73225871e-02 -6.36900179e-05] [ 6.73225943e-02 9.97731253e-01 1.19387906e-04] [ 5.55080187e-05 -1.23404823e-04 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189838e-04]] R_gt: [[ 0.99527748 0.05492807 0.08004274] [-0.05016881 0.99691822 -0.06030226] [-0.08310696 0.05600122 0.99496561]] t_gt: [-0.70745592 0.51541133 0.48358792] Pose Error in degrees for R and t: 8.969619160582464 45.13172364261974 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 8.79523767e-01 -4.75854957e-01 4.65084652e-05] [ 4.75854959e-01 8.79523764e-01 -7.39498038e-05] [-5.71591967e-06 8.71718939e-05 9.99999996e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99443828 0.02474865 0.10237313] [-0.0187958 0.99809803 -0.05871013] [-0.10363052 0.05645895 0.99301211]] t_gt: [-0.3114143 0.15250292 0.93795735] Pose Error in degrees for R and t: 30.41349500909999 71.92794844097718 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 9.99751716e-01 -2.22823237e-02 -6.61704403e-05] [ 2.22823273e-02 9.99751717e-01 5.38105225e-05] [ 6.49549878e-05 -5.52715936e-05 9.99999996e-01]] t_estimated: [[-9.43597253e-01] [-3.31095372e-01] [-2.79187849e-04]] R_gt: [[ 0.99599338 0.08803943 -0.01564804] [-0.08735483 0.99537013 0.04008931] [ 0.01910404 -0.03856191 0.99907332]] t_gt: [-0.81706334 0.49812147 0.29031449] Pose Error in degrees for R and t: 6.773392857127891 52.70118421356473 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.99940482e-01 -1.09093274e-02 -1.34775080e-04] [ 1.09093470e-02 9.99940481e-01 1.46072792e-04] [ 1.33173502e-04 -1.47534406e-04 9.99999980e-01]] t_estimated: [[-9.95497655e-01] [-9.47856938e-02] [-3.01954179e-04]] R_gt: [[ 0.97631628 0.216342 -0.00159773] [-0.21627864 0.97616492 0.01801164] [ 0.00545584 -0.01723979 0.99983685]] t_gt: [-0.81025146 0.58487875 0.03754217] Pose Error in degrees for R and t: 13.158469605507996 41.309563702797995 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99991926e-01 4.01563273e-03 -1.47515052e-04] [-4.01560106e-03 9.99991914e-01 2.14393256e-04] [ 1.48374783e-04 -2.13799164e-04 9.99999966e-01]] t_estimated: [[-9.96100149e-01] [-8.82292071e-02] [-3.15489150e-04]] R_gt: [[ 0.96423055 0.26443524 0.01822908] [-0.26467599 0.96425833 0.01233271] [-0.01431592 -0.01671684 0.99975813]] t_gt: [-0.76961498 0.63605172 0.05595525] Pose Error in degrees for R and t: 15.1645018929655 44.72621227517082 Number of keypoints: Image1: 905 Image2: 905 R_estimated: [[ 9.99890134e-01 -1.48229792e-02 6.86465404e-07] [ 1.48229792e-02 9.99890133e-01 -1.91888394e-05] [-4.01954217e-07 1.91969067e-05 1.00000000e+00]] t_estimated: [[9.08062461e-01] [4.18834258e-01] [6.56248421e-04]] R_gt: [[ 0.99981135 -0.01493235 -0.01241192] [ 0.01517414 0.99969023 0.01969538] [ 0.01211346 -0.01988031 0.99972807]] t_gt: [ 0.17559489 -0.10534673 0.97880974] Pose Error in degrees for R and t: 1.337035670735325 83.34038608147382 Number of keypoints: Image1: 502 Image2: 502 R_estimated: [[-0.7667697 -0.64179986 0.01253657] [-0.64179322 0.76686093 0.00507682] [-0.01287211 -0.00415314 -0.99990853]] t_estimated: [[0.93771056] [0.34735264] [0.00671211]] R_gt: [[ 0.99393664 -0.10357065 -0.03689093] [ 0.10485352 0.99388065 0.03472584] [ 0.03306855 -0.03838391 0.99871453]] t_gt: [ 0.94131495 -0.19502141 0.27548651] Pose Error in degrees for R and t: 179.5969732858504 35.23537361006453 Number of keypoints: Image1: 405 Image2: 405 R_estimated: [[ 8.01765480e-01 5.97638234e-01 8.09521001e-04] [-5.97638031e-01 8.01765885e-01 -5.00172637e-04] [-9.47968614e-04 -8.27793824e-05 9.99999547e-01]] t_estimated: [[0.16366162] [0.98651588] [0.00113654]] R_gt: [[ 0.9873487 -0.12681193 -0.09518863] [ 0.13311504 0.98909169 0.06305718] [ 0.08615365 -0.07493043 0.9934599 ]] t_gt: [ 0.94693504 -0.18340308 0.26396465] Pose Error in degrees for R and t: 44.660225202448814 88.5300230480593 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99928636e-01 1.19459745e-02 -1.26451240e-04] [-1.19459693e-02 9.99928643e-01 4.15358879e-05] [ 1.26938404e-04 -4.00223411e-05 9.99999991e-01]] t_estimated: [[-0.62973751] [ 0.77680735] [-0.00100642]] R_gt: [[ 0.99568603 0.04732892 -0.07980628] [-0.04963526 0.9983991 -0.02714791] [ 0.07839385 0.03099161 0.9964406 ]] t_gt: [-0.19844732 0.52872963 -0.8252658 ] Pose Error in degrees for R and t: 5.265763858934874 57.55285489053473 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.24272314 0.30560497 0.92070141] [ 0.56203956 0.81786802 -0.12330222] [-0.79069401 0.48754231 -0.37027758]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.98637125 0.0449663 -0.15827297] [-0.0493956 0.99848799 -0.02415531] [ 0.15694662 0.03164348 0.98709989]] t_gt: [ 0.05356239 0.34833177 -0.93583976] Pose Error in degrees for R and t: 121.7934746568102 80.05532499456287 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 7.92251804e-01 -6.10193207e-01 -1.15283457e-03] [ 6.10194081e-01 7.92251696e-01 6.58366975e-04] [ 5.11604088e-04 -1.22504526e-03 9.99999119e-01]] t_estimated: [[0.63331013] [0.77389695] [0.00133892]] R_gt: [[ 0.9672534 0.05578846 -0.24760734] [-0.06281245 0.99781501 -0.0205491 ] [ 0.24591947 0.03542851 0.96864211]] t_gt: [ 0.15672576 0.28945169 -0.94427472] Pose Error in degrees for R and t: 43.38725631172139 71.21623267910097 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99692032e-01 2.48155744e-02 -1.67028907e-04] [-2.48154926e-02 9.99691935e-01 4.75197549e-04] [ 1.78769751e-04 -4.70906299e-04 9.99999873e-01]] t_estimated: [[ 0.02790433] [-0.99960918] [-0.00168471]] R_gt: [[ 0.99304495 -0.11559947 0.02233208] [ 0.11595608 0.99313503 -0.01539138] [-0.0204 0.01787434 0.99963257]] t_gt: [ 0.81951057 -0.56867345 -0.07080203] Pose Error in degrees for R and t: 8.224287853084546 53.74085342158636 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.92788122e-01 1.19881537e-01 4.01729183e-04] [-1.19881516e-01 9.92788203e-01 -7.60478027e-05] [-4.07948722e-04 2.73394516e-05 9.99999916e-01]] t_estimated: [[ 9.78863257e-01] [-2.04515821e-01] [ 5.77625917e-05]] R_gt: [[ 0.97242541 -0.2290874 0.04366947] [ 0.23104489 0.97181806 -0.04677218] [-0.0317232 0.05557256 0.99795085]] t_gt: [ 0.85554627 -0.4979854 -0.14160198] Pose Error in degrees for R and t: 20.524323672780366 20.06558185149506 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.16634324e-01 -5.77154849e-01 8.13440450e-04] [ 5.77155352e-01 8.16634107e-01 -6.58656779e-04] [-2.84136262e-04 1.00736324e-03 9.99999452e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.94390629 -0.3265684 0.04892032] [ 0.32999567 0.93823612 -0.10399092] [-0.01193776 0.11430173 0.99337526]] t_gt: [ 0.88086481 -0.39535532 -0.26032931] Pose Error in degrees for R and t: 17.296037070938457 61.99655198133954 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-9.50243037e-01 3.11131542e-01 1.53405865e-02] [ 3.11154010e-01 9.50359016e-01 -9.60493234e-04] [-1.48779045e-02 3.86058300e-03 -9.99881865e-01]] t_estimated: [[ 0.99282013] [-0.11937994] [ 0.00752456]] R_gt: [[ 9.88675786e-01 -1.49995795e-01 4.66764696e-03] [ 1.50066894e-01 9.88333762e-01 -2.59994010e-02] [-7.13907121e-04 2.64049432e-02 9.99650815e-01]] t_gt: [ 0.85223981 -0.50529176 -0.1355269 ] Pose Error in degrees for R and t: 178.72970268223497 25.11971738508796 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.76788452 0.64047652 0.01196632] [ 0.64049329 0.76795838 -0.00287643] [-0.01103193 0.00545558 -0.99992426]] t_estimated: [[ 0.96145315] [-0.27490579] [ 0.00588544]] R_gt: [[ 0.97313084 -0.22670607 0.04027452] [ 0.22845571 0.97246624 -0.04602097] [-0.02873214 0.05398565 0.9981276 ]] t_gt: [ 0.84664757 -0.51081192 -0.14919479] Pose Error in degrees for R and t: 176.43982880379417 17.53006079180282 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.91840416e-01 1.27485559e-01 1.45210634e-04] [-1.27485642e-01 9.91839725e-01 1.17072218e-03] [ 5.22449710e-06 -1.17968185e-03 9.99999304e-01]] t_estimated: [[0.61812492] [0.78607868] [0.00137667]] R_gt: [[ 0.94560143 -0.3197531 0.05997942] [ 0.32412422 0.94180533 -0.08914414] [-0.02798553 0.10373666 0.99421062]] t_gt: [ 0.86965123 -0.43794237 -0.22784474] Pose Error in degrees for R and t: 26.879904036399015 78.87312269288053 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-9.67002908e-01 2.54765246e-01 -2.11359367e-04] [-2.54763234e-01 -9.66997974e-01 -3.25760774e-03] [-1.03430932e-03 -3.09626956e-03 9.99994672e-01]] t_estimated: [[0.78935165] [0.61394017] [0.00120145]] R_gt: [[ 0.99627305 -0.08612852 0.00468093] [ 0.08604627 0.9961679 0.01566456] [-0.00601255 -0.01520243 0.99986626]] t_gt: [ 0.473721 -0.86607157 0.15971362] Pose Error in degrees for R and t: 170.1793628513981 80.93285737971479 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.98954232e-01 -4.57211367e-02 1.40474151e-04] [ 4.57211246e-02 9.98954239e-01 8.79584513e-05] [-1.44348809e-04 -8.14438310e-05 9.99999986e-01]] t_estimated: [[ 9.97474866e-01] [-7.10193118e-02] [ 3.85076595e-04]] R_gt: [[ 9.71167869e-01 -2.38392050e-01 1.47733463e-03] [ 2.38392249e-01 9.71169323e-01 -5.10489433e-04] [-1.31322532e-03 8.48833022e-04 9.99999114e-01]] t_gt: [ 0.67182256 -0.74065267 -0.0093845 ] Pose Error in degrees for R and t: 11.171327629114234 43.72023131993433 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.14609651 -0.98406017 -0.10139718] [-0.98432822 0.13436854 0.11420616] [-0.09876114 0.11649323 -0.98826897]] t_estimated: [[8.84778204e-01] [4.66011821e-01] [7.15839971e-04]] R_gt: [[ 0.93739736 -0.34693197 -0.03037829] [ 0.34727333 0.93774087 0.00661743] [ 0.0261914 -0.016752 0.99951659]] t_gt: [ 0.74063191 -0.67057152 -0.04240532] Pose Error in degrees for R and t: 179.34674435153676 69.95425030932392 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 1.00000000e+00 -2.87312749e-09 3.04812219e-13] [ 2.87312760e-09 1.00000000e+00 1.26111318e-12] [-3.04812070e-13 -1.26111328e-12 1.00000000e+00]] t_estimated: [[-1.76703364e-01] [ 9.84264011e-01] [-5.27472740e-04]] R_gt: [[ 0.99561767 -0.00619247 -0.09331163] [ 0.00497193 0.99990026 -0.01330266] [ 0.09338483 0.01278054 0.99554827]] t_gt: [ 0.37004164 -0.01623743 -0.92887326] Pose Error in degrees for R and t: 5.417544791096233 85.36087504292655 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.53318859e-01 -3.01965087e-01 -4.89866248e-04] [ 3.01965399e-01 9.53318555e-01 7.93765286e-04] [ 2.27309180e-04 -9.04634073e-04 9.99999565e-01]] t_estimated: [[9.74288183e-01] [2.25304142e-01] [7.61162643e-04]] R_gt: [[ 0.98294867 0.01309903 -0.18341404] [-0.01400217 0.99989641 -0.00363104] [ 0.18334726 0.00613783 0.9830292 ]] t_gt: [ 0.3100866 0.08661985 -0.94675409] Pose Error in degrees for R and t: 21.152104177129544 71.28210051507625 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.9858639 -0.16665517 -0.01727503] [ 0.16694834 0.98581567 0.01719615] [ 0.01416417 -0.0198371 0.99970289]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.96657474 0.02597444 -0.2550645 ] [-0.02847144 0.99957668 -0.00610217] [ 0.25479731 0.01316086 0.96690516]] t_gt: [ 0.31059532 0.12576511 -0.94218559] Pose Error in degrees for R and t: 17.871477545000733 71.8994789297473 Number of keypoints: Image1: 431 Image2: 431 R_estimated: [[ 9.99999829e-01 5.83305367e-04 3.87922613e-05] [-5.83293747e-04 9.99999785e-01 -2.98884981e-04] [-3.89665942e-05 2.98862303e-04 9.99999955e-01]] t_estimated: [[-0.34702006] [-0.9378566 ] [-0.00143985]] R_gt: [[ 0.99423434 -0.09819651 0.04307615] [ 0.10058832 0.99327 -0.05741199] [-0.03714822 0.06141503 0.99742087]] t_gt: [ 0.64074689 -0.50409921 -0.57907461] Pose Error in degrees for R and t: 7.057318814498127 75.4482389177846 Number of keypoints: Image1: 608 Image2: 608 R_estimated: [[-0.77982565 0.62574207 0.01785545] [ 0.62574541 0.78000359 -0.00608997] [-0.01773807 0.00642386 -0.99982203]] t_estimated: [[ 0.93482053] [-0.35498802] [ 0.00969941]] R_gt: [[ 0.99148839 -0.12724906 0.02753239] [ 0.12870991 0.98985489 -0.0601776 ] [-0.01959502 0.06320997 0.99780848]] t_gt: [ 0.68734574 -0.45597379 -0.56537044] Pose Error in degrees for R and t: 176.4685876099789 36.972298473539226 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99879140e-01 -1.55423181e-02 -3.76237211e-04] [ 1.55425122e-02 9.99879073e-01 5.18664748e-04] [ 3.68130461e-04 -5.24449734e-04 9.99999795e-01]] t_estimated: [[0.99609992] [0.08822478] [0.00115198]] R_gt: [[ 0.98198927 -0.18874909 0.00845291] [ 0.18891557 0.98157549 -0.02863558] [-0.00289167 0.02971699 0.99955467]] t_gt: [ 0.91140053 -0.38048405 -0.15678315] Pose Error in degrees for R and t: 10.147163346706174 29.06168288204438 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.07686008 -0.99699772 0.00938504] [-0.99699996 0.07693976 0.00844689] [-0.00914361 -0.00870766 -0.99992028]] t_estimated: [[0.71445165] [0.69964994] [0.00698548]] R_gt: [[ 0.99748602 0.03955455 0.0588035 ] [-0.03746157 0.99863939 -0.03629305] [-0.06015901 0.03399979 0.99760902]] t_gt: [-0.66488961 0.54922283 0.50623719] Pose Error in degrees for R and t: 178.14204602220676 84.99564609296584 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.91827331e-01 -1.27586789e-01 -3.96124461e-04] [ 1.27586960e-01 9.91827291e-01 4.39709197e-04] [ 3.36785966e-04 -4.86655915e-04 9.99999825e-01]] t_estimated: [[8.99567302e-01] [4.36781701e-01] [6.43818303e-04]] R_gt: [[ 0.99466273 0.01726664 0.10172358] [-0.01468362 0.99955267 -0.02608841] [-0.10212802 0.02445599 0.99447072]] t_gt: [-0.22351269 0.11705773 0.96764641] Pose Error in degrees for R and t: 10.228735064666948 81.41288132225789 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99840155e-01 -1.78791491e-02 2.33842223e-05] [ 1.78791473e-02 9.99840152e-01 7.51432735e-05] [-2.47239821e-05 -7.47131722e-05 9.99999997e-01]] t_estimated: [[0.62997125] [0.77661735] [0.0013077 ]] R_gt: [[ 0.99693458 -0.00812684 0.07781675] [ 0.00945313 0.99981605 -0.0166997 ] [-0.0776657 0.01738502 0.99682766]] t_gt: [ 0.22843369 -0.20710014 0.95127682] Pose Error in degrees for R and t: 4.593974821904018 89.1011686149532 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.99059130e-01 -4.33687062e-02 -9.78797547e-05] [ 4.33687085e-02 9.99059135e-01 2.20719973e-05] [ 9.68304291e-05 -2.62961489e-05 9.99999995e-01]] t_estimated: [[-0.55719601] [-0.83038013] [-0.00120439]] R_gt: [[ 0.99500711 0.0984067 0.01664439] [-0.09860075 0.99506319 0.01125826] [-0.01545351 -0.01284407 0.99979771]] t_gt: [-0.83356815 0.53529559 0.13646529] Pose Error in degrees for R and t: 8.220732070935059 88.86560277731631 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 0.78020488 -0.62550616 -0.00473132] [ 0.62551781 0.78020857 0.00143478] [ 0.00279395 -0.00407895 0.99998778]] t_estimated: [[-0.26405703] [-0.96450306] [-0.00277955]] R_gt: [[ 0.97724944 0.21179121 0.01129908] [-0.21207083 0.97651284 0.03806253] [-0.00297136 -0.03959263 0.99921145]] t_gt: [-0.81888925 0.55621669 0.14157467] Pose Error in degrees for R and t: 51.0029310057072 71.29880510239173 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-8.49001214e-01 -5.28387420e-01 -1.91665466e-03] [ 5.28386199e-01 -8.49003376e-01 1.13697551e-03] [-2.22800984e-03 -4.74402834e-05 9.99997517e-01]] t_estimated: [[0.99307682] [0.1174607 ] [0.00118647]] R_gt: [[ 0.94702141 0.31769511 0.04711449] [-0.31843692 0.94790053 0.00898712] [-0.04180329 -0.02351389 0.99884897]] t_gt: [-0.77604023 0.6248833 0.08533711] Pose Error in degrees for R and t: 166.66249843107872 45.79984112470796 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.40195085 -0.91565625 -0.00302461] [-0.91565754 0.40193762 0.00417452] [-0.00260672 0.00444746 -0.99998671]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.9938646 0.07592037 -0.08043499] [-0.08316164 0.99238371 -0.09087273] [ 0.07292386 0.09700503 0.99260897]] t_gt: [-0.2371503 0.65332545 -0.71897538] Pose Error in degrees for R and t: 173.3312451172712 75.78614492682064 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.73144218e-01 -2.30196232e-01 -1.62733245e-04] [ 2.30196269e-01 9.73144187e-01 2.64032586e-04] [ 9.75836044e-05 -2.94402370e-04 9.99999952e-01]] t_estimated: [[-0.86262656] [-0.505839 ] [-0.00152405]] R_gt: [[ 0.98740351 0.11430626 -0.10940128] [-0.12733837 0.98449167 -0.12066779] [ 0.0939115 0.13307913 0.98664679]] t_gt: [-0.24484343 0.7073346 -0.66312099] Pose Error in degrees for R and t: 22.33802682173159 81.62922774306715 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.03520122 0.99937688 0.00259531] [ 0.99937439 -0.03520979 0.0033329 ] [ 0.00342221 0.00247637 -0.99999108]] t_estimated: [[-0.0347184 ] [-0.99939406] [-0.00247989]] R_gt: [[ 0.99178012 0.07450313 -0.10402689] [-0.09058451 0.98301697 -0.15960034] [ 0.09036995 0.16771212 0.98168513]] t_gt: [-0.13068257 0.6632481 -0.73690164] Pose Error in degrees for R and t: 177.1491529186382 48.967905305581965 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.74194362e-01 -2.25710485e-01 -3.48476030e-04] [ 2.25710694e-01 9.74194069e-01 7.73056455e-04] [ 1.64996334e-04 -8.31762007e-04 9.99999640e-01]] t_estimated: [[0.94441566] [0.32875229] [0.00099622]] R_gt: [[ 0.9998217 0.00912904 -0.01651292] [-0.00986689 0.9989305 -0.04516335] [ 0.01608279 0.04531764 0.99884324]] t_gt: [-0.23318893 0.81377295 -0.53234998] Pose Error in degrees for R and t: 13.8724284673392 87.31917803967245 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99409290e-01 -3.43666979e-02 1.52369124e-05] [ 3.43666966e-02 9.99409287e-01 8.04263755e-05] [-1.79919007e-05 -7.98552245e-05 9.99999997e-01]] t_estimated: [[-0.6392213 ] [ 0.76902232] [-0.00089259]] R_gt: [[ 0.99968184 -0.01636551 -0.01914128] [ 0.01456782 0.99578498 -0.09054878] [ 0.02054326 0.09024121 0.99570802]] t_gt: [ 0.11251762 0.83294642 -0.54179336] Pose Error in degrees for R and t: 5.424275252265845 55.311511770283474 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.84141496e-01 -1.77385147e-01 -1.57137705e-04] [ 1.77385206e-01 9.84141355e-01 5.30340494e-04] [ 6.05711874e-05 -5.49803991e-04 9.99999847e-01]] t_estimated: [[1.69730346e-01] [9.85490401e-01] [5.27416051e-04]] R_gt: [[ 9.94073614e-01 -1.08706405e-01 3.69034972e-04] [ 1.07380424e-01 9.81416995e-01 -1.59028275e-01] [ 1.69250360e-02 1.58125513e-01 9.87273940e-01]] t_gt: [ 0.59369611 0.61440308 -0.51964774] Pose Error in degrees for R and t: 10.003180354876227 45.091025070238814 Number of keypoints: Image1: 489 Image2: 489 R_estimated: [[ 9.99649754e-01 -2.64644241e-02 5.94401702e-05] [ 2.64644241e-02 9.99649756e-01 1.47164209e-06] [-5.94582978e-05 1.01923213e-07 9.99999998e-01]] t_estimated: [[9.85440295e-01] [1.70021087e-01] [5.05747892e-04]] R_gt: [[ 0.99502418 -0.09605126 -0.02648955] [ 0.09648641 0.9952107 0.0156861 ] [ 0.02485553 -0.01816403 0.99952531]] t_gt: [ 0.97699093 -0.19279253 0.09121271] Pose Error in degrees for R and t: 4.381296463467764 21.559951766490954 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[-0.1577078 0.98748532 0.00100001] [-0.98748454 -0.15770588 -0.00177335] [-0.00159345 -0.00126717 0.99999793]] t_estimated: [[0.15520615] [0.98788145] [0.00113289]] R_gt: [[ 0.98945919 -0.11440083 -0.08879253] [ 0.11932054 0.99148099 0.05221962] [ 0.08206143 -0.06226344 0.99467953]] t_gt: [ 0.96463196 -0.19101204 0.18165787] Pose Error in degrees for R and t: 105.92506732793383 87.77781959630794 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 0.95163673 -0.30714936 -0.00684117] [ 0.30719061 0.95162838 0.00611229] [ 0.00463287 -0.00791822 0.99995792]] t_estimated: [[0.9381724 ] [0.34615326] [0.00323508]] R_gt: [[ 0.98416573 -0.09492404 -0.14969383] [ 0.10780444 0.99091561 0.08040618] [ 0.14070147 -0.09527103 0.98545719]] t_gt: [ 0.97056309 -0.16416333 0.17623195] Pose Error in degrees for R and t: 15.185948093562093 31.317517784581558 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999843e-01 -5.49878868e-04 -1.08298413e-04] [ 5.49761703e-04 9.99999267e-01 -1.07894903e-03] [ 1.08891625e-04 1.07888932e-03 9.99999412e-01]] t_estimated: [[-0.79818553] [-0.60240417] [-0.00301202]] R_gt: [[ 0.98834614 0.15201931 0.00791518] [-0.15173509 0.98800199 -0.02881396] [-0.0122004 0.02727633 0.99955354]] t_gt: [-0.31799715 0.94230531 -0.10458736] Pose Error in degrees for R and t: 8.923710096331014 71.7289371727935 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.97949674 -0.20085961 0.01554234] [ 0.19838499 0.94824318 -0.2479481 ] [ 0.03506484 0.24594773 0.96864863]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97259764 0.23208053 0.01391015] [-0.22813743 0.96418393 -0.13529225] [-0.04481021 0.1284112 0.99070835]] t_gt: [-0.24979158 0.94264838 -0.22140055] Pose Error in degrees for R and t: 25.941421523489087 69.21060196644554 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.6904775 -0.72334462 -0.00365784] [ 0.72334199 0.69048631 -0.00223981] [ 0.00414584 -0.00109934 0.9999908 ]] t_estimated: [[ 0.87504653] [-0.484038 ] [-0.00088573]] R_gt: [[ 0.97037177 0.24155177 0.00555317] [-0.23448827 0.94704249 -0.21937942] [-0.05825085 0.21157713 0.97562356]] t_gt: [-0.21089473 0.91745159 -0.33735143] Pose Error in degrees for R and t: 61.47087330923965 51.07332343464649 Number of keypoints: Image1: 375 Image2: 375 R_estimated: [[ 9.98135319e-01 -6.10400164e-02 -3.22780581e-05] [ 6.10400177e-02 9.98135319e-01 4.05221709e-05] [ 2.97443958e-05 -4.24168632e-05 9.99999999e-01]] t_estimated: [[-0.06948049] [-0.99758073] [-0.00226726]] R_gt: [[ 0.99921948 -0.0388821 0.00699909] [ 0.03904821 0.99891418 -0.02542607] [-0.00600178 0.02568 0.99965187]] t_gt: [-0.00577803 -0.9163558 -0.40032321] Pose Error in degrees for R and t: 1.9732737465241692 23.73057305378554 Number of keypoints: Image1: 364 Image2: 364 R_estimated: [[ 9.89337483e-01 -1.45641148e-01 3.03524438e-05] [ 1.45641140e-01 9.89337464e-01 2.01037065e-04] [-5.93080788e-05 -1.94472939e-04 9.99999979e-01]] t_estimated: [[-4.66502574e-01] [-8.84519840e-01] [ 3.15415325e-05]] R_gt: [[ 0.99632146 -0.02882189 0.08070405] [ 0.03243543 0.99851274 -0.04382602] [-0.07932112 0.04628363 0.99577397]] t_gt: [-0.76098776 -0.20537625 0.61540086] Pose Error in degrees for R and t: 8.457763160725811 57.54197926278168 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[ 9.89909232e-01 -1.41702869e-01 9.62504419e-05] [ 1.41702846e-01 9.89909216e-01 2.19117417e-04] [-1.26328766e-04 -2.03267393e-04 9.99999971e-01]] t_estimated: [[7.38243089e-01] [6.74534667e-01] [3.53833511e-04]] R_gt: [[ 0.99339198 -0.06434346 0.09504216] [ 0.06759634 0.99721861 -0.03141407] [-0.09275601 0.03763165 0.99497733]] t_gt: [-0.5323053 -0.54878456 0.64458248] Pose Error in degrees for R and t: 7.205880334337391 40.27798046825383 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-4.84899950e-01 8.74555579e-01 4.95757449e-03] [ 8.74566959e-01 4.84904689e-01 2.76971251e-04] [-2.16172436e-03 4.47003419e-03 -9.99987673e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98950285 -0.11287648 0.09023981] [ 0.09421095 0.97735567 0.18947168] [-0.10958297 -0.17897974 0.97773041]] t_gt: [ 0.35471524 -0.34756395 0.86797258] Pose Error in degrees for R and t: 179.8203167707349 69.85223579345892 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.39151636 -0.92016867 -0.00213673] [ 0.92017029 -0.39151178 -0.00227142] [ 0.00125354 -0.00285546 0.99999514]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97878351 -0.15004544 0.13953382] [ 0.11433985 0.96507281 0.2357134 ] [-0.17002719 -0.21475726 0.96175327]] t_gt: [ 0.37415736 -0.28082915 0.88382196] Pose Error in degrees for R and t: 106.1543775688382 68.03934590682594 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99994119e-01 -3.32193392e-03 -8.52106810e-04] [ 3.32223030e-03 9.99994421e-01 3.46638972e-04] [ 8.50950544e-04 -3.49467828e-04 9.99999577e-01]] t_estimated: [[9.99998579e-01] [6.93672749e-04] [1.53630463e-03]] R_gt: [[ 0.98406513 -0.10458502 0.14379858] [ 0.06757127 0.96801586 0.24161927] [-0.16446896 -0.22805155 0.95965698]] t_gt: [ 0.27821527 -0.13278833 0.95129571] Pose Error in degrees for R and t: 17.04015390756419 73.76460730859068 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.92204769e-01 1.24617151e-01 5.12594061e-04] [-1.24616925e-01 9.92204827e-01 -4.52002426e-04] [-5.64925556e-04 3.84601067e-04 9.99999766e-01]] t_estimated: [[0.37586536] [0.92667267] [0.0017321 ]] R_gt: [[ 0.99769314 -0.0673275 0.00867693] [ 0.06740759 0.99768203 -0.00924705] [-0.0080345 0.00981156 0.9999196 ]] t_gt: [ 0.42162047 -0.90385951 0.07262341] Pose Error in degrees for R and t: 11.043085600761229 47.23573253242569 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.94527873e-01 -1.04471533e-01 9.64646252e-05] [ 1.04471522e-01 9.94527873e-01 1.07299348e-04] [-1.07146486e-04 -9.66343863e-05 9.99999990e-01]] t_estimated: [[-0.42919473] [-0.9032114 ] [-0.00102105]] R_gt: [[ 0.99551274 -0.08206531 0.04712349] [ 0.08389048 0.99574387 -0.03814602] [-0.04379333 0.04192846 0.99816053]] t_gt: [-0.04771469 -0.94458912 0.32476868] Pose Error in degrees for R and t: 3.687445725496138 29.154296163693115 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.86850231e-01 -1.61637311e-01 2.34383346e-05] [ 1.61637289e-01 9.86850157e-01 3.94025805e-04] [-8.68193957e-05 -3.85055948e-04 9.99999922e-01]] t_estimated: [[-7.10037507e-01] [-7.04163857e-01] [ 3.68289169e-05]] R_gt: [[ 0.99149653 -0.07631053 0.10540928] [ 0.08108967 0.99582958 -0.04181305] [-0.10177954 0.05000567 0.99354979]] t_gt: [-0.49403214 -0.53555155 0.68492101] Pose Error in degrees for R and t: 8.07701671849677 43.28747881765689 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99619758e-01 2.75740579e-02 -1.06954473e-04] [-2.75740371e-02 9.99619746e-01 1.91395051e-04] [ 1.12191341e-04 -1.88373108e-04 9.99999976e-01]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.99960934 0.01051534 0.02590347] [-0.01073739 0.99990743 0.00842852] [-0.0258126 -0.00870298 0.99962848]] t_gt: [-0.19231928 0.70379154 0.6838792 ] Pose Error in degrees for R and t: 1.840217778661154 71.71608924285992 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-4.87413151e-01 -8.73167592e-01 -2.60303713e-03] [ 8.73171085e-01 -4.87413577e-01 -5.10908702e-04] [-8.22646718e-04 -2.52192038e-03 9.99996482e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99947686 0.03132175 0.00802286] [-0.03136151 0.9994961 0.00491475] [-0.00786476 -0.0051628 0.99995546]] t_gt: [-0.27251111 0.96014623 0.06210394] Pose Error in degrees for R and t: 120.96775547445611 74.82138152613906 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99239670e-01 3.89876303e-02 2.13737711e-04] [-3.89874989e-02 9.99239526e-01 -5.87815500e-04] [-2.36492703e-04 5.79035467e-04 9.99999804e-01]] t_estimated: [[-0.88823855] [-0.45938032] [-0.00141177]] R_gt: [[ 0.99939832 -0.02877428 0.01933559] [ 0.02835921 0.99936896 0.02138165] [-0.0199385 -0.02081942 0.99958427]] t_gt: [0.68089396 0.44516899 0.58155653] Pose Error in degrees for R and t: 4.215903858214057 35.8924246855181 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99998706e-01 -1.60855018e-03 -1.42061625e-05] [ 1.60855018e-03 9.99998706e-01 2.75963203e-08] [ 1.42060998e-05 -5.04476100e-08 1.00000000e+00]] t_estimated: [[ 9.99971591e-01] [ 7.53767673e-03] [-1.02356240e-05]] R_gt: [[ 0.98911105 -0.14690667 -0.0088437 ] [ 0.14680447 0.98910067 -0.01130945] [ 0.01040896 0.00988876 0.99989666]] t_gt: [ 0.83025073 -0.55118303 -0.08295173] Pose Error in degrees for R and t: 8.393353447689748 34.30253548343913 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 8.51396873e-01 5.24520843e-01 1.11813781e-03] [-5.24520766e-01 8.51397568e-01 -3.84253904e-04] [-1.15352899e-03 -2.59333928e-04 9.99999301e-01]] t_estimated: [[0.74466333] [0.66743847] [0.00155556]] R_gt: [[ 0.96150968 -0.27475463 -0.00309261] [ 0.27427063 0.9603749 -0.04954908] [ 0.01658357 0.04679464 0.99876668]] t_gt: [ 0.87514934 -0.45628613 -0.16098635] Pose Error in degrees for R and t: 47.65981001790516 69.70228294793836 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.27447801e-01 3.73949909e-01 1.42898732e-03] [-3.73948667e-01 9.27448791e-01 -1.06555357e-03] [-1.72377622e-03 4.53877415e-04 9.99998411e-01]] t_estimated: [[0.65313357] [0.75724208] [0.00098216]] R_gt: [[ 9.31909320e-01 -3.61624793e-01 2.78203354e-02] [ 3.62693129e-01 9.29080720e-01 -7.25434684e-02] [ 3.84971561e-04 7.76952963e-02 9.96977378e-01]] t_gt: [ 0.88622454 -0.42832726 -0.17647044] Pose Error in degrees for R and t: 43.43784655893079 75.26775568634514 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.98060041 -0.19600195 -0.00246273] [ 0.19600573 -0.98060175 -0.0013984 ] [-0.00214086 -0.00185398 0.99999599]] t_estimated: [[0.81301263] [0.58224485] [0.00118342]] R_gt: [[ 0.9982829 -0.00271974 -0.05851706] [ 0.0031384 0.99997006 0.0070651 ] [ 0.05849605 -0.0072374 0.99826043]] t_gt: [ 0.7243749 0.06597003 -0.68624264] Pose Error in degrees for R and t: 168.5305807927198 51.20582802200158 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99997180e-01 2.11008358e-04 -2.36535035e-03] [-2.03357462e-04 9.99994749e-01 3.23434606e-03] [ 2.36602040e-03 -3.23385593e-03 9.99991972e-01]] t_estimated: [[0.70667389] [0.70753874] [0.00097014]] R_gt: [[ 9.93714846e-01 2.91900434e-03 -1.11908116e-01] [-3.10800862e-04 9.99727241e-01 2.33142881e-02] [ 1.11945338e-01 -2.31325276e-02 9.93444371e-01]] t_gt: [ 0.69595833 0.064509 -0.71517871] Pose Error in degrees for R and t: 6.396130397126627 57.53635369045844 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.98837409e-01 -4.82023764e-02 -6.01413793e-04] [ 4.82026865e-02 9.98837444e-01 5.12108918e-04] [ 5.76029749e-04 -5.40503306e-04 9.99999688e-01]] t_estimated: [[-0.90273464] [-0.43019206] [-0.00222897]] R_gt: [[ 0.99485938 0.04698405 -0.08971243] [-0.0457785 0.99883152 0.01544906] [ 0.090334 -0.01126282 0.99584722]] t_gt: [ 0.31437988 0.59521349 -0.73951754] Pose Error in degrees for R and t: 7.504632996421388 57.438175006723185 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99954497e-01 9.53328590e-03 -3.47114852e-04] [-9.53382060e-03 9.99953315e-01 -1.57277604e-03] [ 3.32104923e-04 1.57601381e-03 9.99998703e-01]] t_estimated: [[ 1.79798228e-01] [ 9.83703351e-01] [-5.61673203e-04]] R_gt: [[ 0.97614617 0.2166424 0.01431102] [-0.21581866 0.97539935 -0.04492209] [-0.02369091 0.04076161 0.99888809]] t_gt: [-0.39874641 0.91529488 -0.056891 ] Pose Error in degrees for R and t: 12.23309719418728 34.03286352592003 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.69733520e-01 -2.44161651e-01 1.40991040e-03] [-2.44162701e-01 -9.69734079e-01 6.25368542e-04] [ 1.21454715e-03 -9.50688371e-04 -9.99998811e-01]] t_estimated: [[0.48050307] [0.8769918 ] [0.00147394]] R_gt: [[ 0.9385143 0.34507033 0.01085742] [-0.34016655 0.9296343 -0.14165659] [-0.05897436 0.12925254 0.98985631]] t_gt: [-0.28241651 0.95075338 -0.12770642] Pose Error in degrees for R and t: 172.46047693474523 45.7402225526183 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99432793 -0.10632862 -0.00248962] [ 0.10633178 0.99433001 0.00117415] [ 0.00235066 -0.00143222 0.99999621]] t_estimated: [[-0.38263465] [-0.92389924] [-0.00096139]] R_gt: [[ 0.92846045 0.37137358 0.00655656] [-0.36113641 0.90671227 -0.21783917] [-0.08684431 0.1998862 0.97596299]] t_gt: [-0.23282391 0.95605486 -0.1781913 ] Pose Error in degrees for R and t: 30.566769959738306 37.4352734362575 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.88827108e-01 -1.49066889e-01 -1.12616533e-04] [ 1.49066907e-01 9.88827096e-01 1.78431137e-04] [ 8.47601047e-05 -1.93224943e-04 9.99999978e-01]] t_estimated: [[-0.33070202] [-0.94373471] [-0.00098717]] R_gt: [[ 0.99767304 0.06383543 -0.02395115] [-0.06513213 0.996195 -0.05791347] [ 0.02016321 0.05933849 0.99803482]] t_gt: [-0.41219337 0.76778242 -0.49051685] Pose Error in degrees for R and t: 12.789047779141079 53.999981367147974 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.73163470e-01 -2.30114842e-01 1.40154479e-04] [ 2.30114840e-01 9.73163480e-01 2.58681956e-05] [-1.42345876e-04 7.07764243e-06 9.99999990e-01]] t_estimated: [[0.86071716] [0.50908271] [0.00087471]] R_gt: [[ 0.99770494 0.05993391 -0.03151399] [-0.06218576 0.99515803 -0.0761138 ] [ 0.02679969 0.07789832 0.99660181]] t_gt: [-0.32205854 0.77393831 -0.54525022] Pose Error in degrees for R and t: 17.458208478433285 83.32021247239723 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-9.05525715e-01 4.24291300e-01 -2.68662525e-04] [ 4.24288768e-01 9.05522173e-01 2.93860288e-03] [ 1.49010351e-03 2.54698999e-03 -9.99995646e-01]] t_estimated: [[8.23480840e-01] [5.67343720e-01] [6.40342799e-04]] R_gt: [[ 0.9995725 0.0138304 -0.02576614] [-0.01469125 0.99932959 -0.03350383] [ 0.02528557 0.03386749 0.99910643]] t_gt: [-0.02088453 0.81195389 -0.58334785] Pose Error in degrees for R and t: 178.9410058086819 63.699092799962095 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 1.46724314e-01 9.89177358e-01 -3.60896600e-04] [-9.89168996e-01 1.46721548e-01 -4.18148336e-03] [-4.08327735e-03 9.70513005e-04 9.99991192e-01]] t_estimated: [[0.03293664] [0.9994568 ] [0.00113575]] R_gt: [[ 0.99971207 -0.02295359 -0.00703528] [ 0.02232283 0.99658962 -0.07942864] [ 0.00883377 0.07924936 0.99681547]] t_gt: [ 0.1044207 0.4970224 -0.86143198] Pose Error in degrees for R and t: 82.95495607657529 60.05203327428437 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.99986382 -0.01631933 -0.00245547] [ 0.01632453 0.99986451 0.00211328] [ 0.00242065 -0.00215308 0.99999475]] t_estimated: [[-0.99965835] [ 0.02471432] [-0.00850792]] R_gt: [[ 0.9984707 -0.05490387 -0.00646928] [ 0.0536408 0.9904658 -0.12688133] [ 0.0133737 0.12634039 0.99189623]] t_gt: [ 0.11398774 0.59393165 -0.79639939] Pose Error in degrees for R and t: 7.7275951341377835 84.69287127738222 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 8.39154117e-01 -5.43892938e-01 9.16448951e-04] [ 5.43893700e-01 8.39152575e-01 -1.61229385e-03] [ 1.07874743e-04 1.85141383e-03 9.99998280e-01]] t_estimated: [[-0.33987466] [-0.94046767] [-0.00240361]] R_gt: [[ 0.9993027 -0.03321134 -0.01703365] [ 0.02975389 0.98435696 -0.17365103] [ 0.02253397 0.17302302 0.98465934]] t_gt: [ 0.0026638 0.74967761 -0.66179785] Pose Error in degrees for R and t: 32.64352283754648 45.22195928417835 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.97637461e-01 -6.86985936e-02 -2.17058411e-05] [ 6.86985962e-02 9.97637447e-01 1.62770135e-04] [ 1.04724805e-05 -1.63876745e-04 9.99999987e-01]] t_estimated: [[ 0.98879387] [-0.14927143] [ 0.00217452]] R_gt: [[ 0.99868902 0.00998413 -0.05020032] [-0.0094151 0.99988952 0.0115451 ] [ 0.0503104 -0.01105642 0.99867252]] t_gt: [ 0.52158702 0.29983997 -0.79877592] Pose Error in degrees for R and t: 5.376205464327602 62.014535669395734 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.94029114 -0.26557723 0.212888 ] [ 0.13298181 -0.86238858 -0.48846881] [ 0.31331837 -0.43099267 0.84621328]] t_estimated: [[0.83031938] [0.55728643] [0.00124673]] R_gt: [[ 0.99896449 0.03160252 0.03274125] [-0.03181176 0.99947616 0.00591021] [-0.03253699 -0.00694572 0.9994471 ]] t_gt: [-0.321705 0.58535417 0.744222 ] Pose Error in degrees for R and t: 170.27331649751025 86.55904572524238 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999739e-01 -5.90493477e-04 4.15713720e-04] [ 5.90768939e-04 9.99999606e-01 -6.62813133e-04] [-4.15322169e-04 6.63058551e-04 9.99999694e-01]] t_estimated: [[9.99983476e-01] [5.69096287e-03] [8.12994696e-04]] R_gt: [[ 0.98496229 0.05636563 0.1633186 ] [-0.05883353 0.99821443 0.01031458] [-0.1624453 -0.01976771 0.98651998]] t_gt: [-0.37046622 0.30738974 0.87650803] Pose Error in degrees for R and t: 9.97892279652588 68.40778876305149 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.61008215e-01 2.76519820e-01 -3.00601149e-06] [-2.76519805e-01 9.61008158e-01 -3.43557901e-04] [-9.21117675e-05 3.30993187e-04 9.99999941e-01]] t_estimated: [[1.82208774e-01] [9.83259855e-01] [1.42908379e-04]] R_gt: [[ 0.99751953 -0.06766316 -0.0194228 ] [ 0.06860319 0.99624933 0.05272882] [ 0.01578271 -0.05393007 0.99842032]] t_gt: [ 0.54163031 -0.72668957 0.42256227] Pose Error in degrees for R and t: 20.221170920376533 51.991781649700265 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.91045746e-01 -1.33522554e-01 -2.40058600e-04] [ 1.33522693e-01 9.91045503e-01 7.07726902e-04] [ 1.43411493e-04 -7.33443006e-04 9.99999721e-01]] t_estimated: [[7.27795732e-01] [6.85793590e-01] [7.24174858e-04]] R_gt: [[ 0.99717453 -0.07257146 -0.01944045] [ 0.07479436 0.98334187 0.16566175] [ 0.00709515 -0.16664773 0.98599053]] t_gt: [ 0.32003117 -0.64667492 0.6923811 ] Pose Error in degrees for R and t: 10.150868879876288 77.87373370199145 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 5.10841779e-01 8.59673457e-01 1.49172812e-03] [ 8.59671599e-01 -5.10843835e-01 1.82141132e-03] [ 2.32785908e-03 3.51943301e-04 -9.99997229e-01]] t_estimated: [[0.02934303] [0.99956846] [0.00137136]] R_gt: [[ 0.98228205 -0.17542886 -0.06593832] [ 0.18584567 0.95718421 0.22194368] [ 0.02418065 -0.23026454 0.9728269 ]] t_gt: [ 0.5477839 -0.60461753 0.57824774] Pose Error in degrees for R and t: 167.2609936074744 54.02090878481267 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.4135644 0.91040877 -0.01097087] [ 0.91041514 -0.41336922 0.01643643] [ 0.01042885 -0.01678557 -0.99980472]] t_estimated: [[-0.64725983] [ 0.76220023] [ 0.01027243]] R_gt: [[ 0.99038269 0.08051227 -0.11252504] [-0.09475933 0.98728816 -0.12760714] [ 0.1008201 0.13704241 0.98542073]] t_gt: [-0.15850439 0.61537365 -0.77213446] Pose Error in degrees for R and t: 178.04754069841871 55.68795060873279 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-2.27420546e-01 9.73796640e-01 1.79867189e-05] [-9.73794274e-01 -2.27419952e-01 -2.20851468e-03] [-2.14655363e-03 -5.19776976e-04 9.99997561e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97629874 0.1510865 -0.15496888] [-0.17776122 0.96822226 -0.17592204] [ 0.12346508 0.1993006 0.97212955]] t_gt: [-0.20955846 0.71700075 -0.66482718] Pose Error in degrees for R and t: 94.29687741623721 44.35775568153311 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.2127736 0.97709992 0.00177451] [ 0.97709986 -0.21277624 0.00145864] [ 0.00180281 0.00142351 -0.99999736]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97450276 0.15619946 -0.16108228] [-0.18604327 0.96381677 -0.19090898] [ 0.12543463 0.21601026 0.96830082]] t_gt: [-0.19919007 0.73554013 -0.6475369 ] Pose Error in degrees for R and t: 176.03716186821785 78.61443999820942 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.95223488e-01 9.76226329e-02 1.73398943e-04] [-9.76225879e-02 9.95223476e-01 -2.51465906e-04] [-1.97119463e-04 2.33337123e-04 9.99999953e-01]] t_estimated: [[-0.99879412] [-0.0490737 ] [-0.00144334]] R_gt: [[ 9.94797106e-01 -1.01825354e-01 -3.23800020e-03] [ 1.01875053e-01 9.94044561e-01 3.86934221e-02] [-7.22231996e-04 -3.88215465e-02 9.99245990e-01]] t_gt: [ 0.71727932 -0.66007451 0.22318606] Pose Error in degrees for R and t: 11.66643197735091 46.81594553109107 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.98734752 0.1585675 0.00110314] [-0.15856385 0.98734461 -0.0028496 ] [-0.00154103 0.00263863 0.99999533]] t_estimated: [[-0.99526533] [-0.09718079] [-0.00167553]] R_gt: [[ 0.98164291 -0.18861166 -0.02834694] [ 0.1897755 0.98073279 0.04635203] [ 0.01905788 -0.05087972 0.99852325]] t_gt: [ 0.76870946 -0.63203229 0.09808644] Pose Error in degrees for R and t: 20.30343011447249 45.26628588780843 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.95592718e-01 9.37822968e-02 1.43424446e-04] [-9.37823181e-02 9.95592715e-01 1.50297471e-04] [-1.28697092e-04 -1.63085745e-04 9.99999978e-01]] t_estimated: [[9.99994892e-01] [3.10075932e-03] [7.75189839e-04]] R_gt: [[ 0.96801982 -0.2504442 -0.01465566] [ 0.25086971 0.96663009 0.05188063] [ 0.00117344 -0.05389793 0.99854588]] t_gt: [ 0.77023522 -0.62432046 0.13023698] Pose Error in degrees for R and t: 20.143247386827348 39.78989770351003 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-0.50815101 -0.86121019 0.00997775] [-0.86126684 0.50809728 -0.00752232] [ 0.00140863 -0.01241598 -0.99992193]] t_estimated: [[0.85399895] [0.52027191] [0.00171142]] R_gt: [[ 0.9961597 -0.0873795 -0.00538431] [ 0.0868166 0.99391835 -0.06774414] [ 0.01127132 0.06701689 0.99768833]] t_gt: [ 0.86862461 0.20666745 -0.45031084] Pose Error in degrees for R and t: 177.92080226313968 31.944922869506033 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-4.82242174e-01 8.76024329e-01 4.88472224e-03] [ 8.76032138e-01 4.82251786e-01 -9.52774628e-04] [-3.19031978e-03 3.81970556e-03 -9.99987616e-01]] t_estimated: [[ 0.48968693] [-0.87188853] [ 0.00413464]] R_gt: [[ 0.98950558 -0.14154775 0.02900022] [ 0.14416761 0.98058092 -0.13295081] [-0.00961722 0.13573685 0.99069824]] t_gt: [ 0.845598 0.31488464 -0.43105881] Pose Error in degrees for R and t: 174.83104355679677 82.0822317220607 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 0.10371572 0.99459176 0.00550294] [-0.99460552 0.10372346 -0.00113914] [-0.00170376 -0.00535511 0.99998421]] t_estimated: [[0.7040856 ] [0.71011394] [0.00129096]] R_gt: [[ 0.98587202 -0.1622553 0.04157977] [ 0.16736372 0.96419078 -0.20573139] [-0.00670907 0.20978292 0.97772457]] t_gt: [ 0.73855603 0.45023731 -0.50181804] Pose Error in degrees for R and t: 94.25866788447141 32.95704692720419 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999979e-01 1.98204563e-04 5.94080819e-05] [-1.98234626e-04 9.99999852e-01 5.06457352e-04] [-5.93076909e-05 -5.06469118e-04 9.99999870e-01]] t_estimated: [[0.73822348] [0.67455271] [0.002175 ]] R_gt: [[ 0.99763181 -0.05381891 0.04282217] [ 0.05241189 0.99806968 0.03334206] [-0.04453379 -0.03101885 0.99852657]] t_gt: [ 0.51698776 -0.72598999 0.45349993] Pose Error in degrees for R and t: 4.347794623876235 83.85300255250799 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.46623677 -0.88448299 0.01769486] [-0.88443297 0.46647698 0.01332469] [-0.0200397 -0.00943746 -0.99975464]] t_estimated: [[0.85103327] [0.52499422] [0.01111024]] R_gt: [[ 0.99775586 -0.06371528 0.02056724] [ 0.06273508 0.99700568 0.04521992] [-0.02338713 -0.0438273 0.99876574]] t_gt: [ 0.45847365 -0.83076056 0.31565614] Pose Error in degrees for R and t: 176.3360671257756 87.56642398864192 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-3.51336691e-01 -9.36248040e-01 -1.46176388e-03] [ 9.36249173e-01 -3.51336055e-01 -6.79763559e-04] [ 1.22856945e-04 -1.60740110e-03 9.99998701e-01]] t_estimated: [[8.55041044e-01] [5.18559816e-01] [7.28314348e-04]] R_gt: [[ 0.99099748 -0.13031223 -0.03069424] [ 0.13019882 0.99147159 -0.00569442] [ 0.03117432 0.0016469 0.99951302]] t_gt: [ 0.65006092 -0.75491251 -0.08676349] Pose Error in degrees for R and t: 103.09253265549266 80.54352733316878 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-1.49412726e-01 -9.88762872e-01 -4.88051920e-03] [-9.88774602e-01 1.49406913e-01 1.53676038e-03] [-7.90308300e-04 5.05534498e-03 -9.99986909e-01]] t_estimated: [[6.81305573e-01] [7.31999068e-01] [2.85336000e-04]] R_gt: [[ 0.99403962 0.10298741 0.03577411] [-0.10077418 0.99316208 -0.05894996] [-0.04160071 0.05499389 0.9976195 ]] t_gt: [-0.53403972 0.84382313 -0.05257471] Pose Error in degrees for R and t: 179.38505691696537 75.29641253569851 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.99810202 -0.06154254 0.00220757] [-0.0615359 0.99810049 0.00295706] [-0.00238536 0.00281561 -0.99999319]] t_estimated: [[9.33695613e-01] [3.58066669e-01] [8.73491896e-04]] R_gt: [[ 0.97604504 0.21639784 0.02256808] [-0.2156466 0.97595946 -0.03164384] [-0.02887317 0.0260195 0.99924408]] t_gt: [-0.50873578 0.8609153 0.00357204] Pose Error in degrees for R and t: 178.45559583845036 80.40189270502866 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 1.20113390e-01 -9.92760162e-01 -1.84323602e-04] [-9.92760121e-01 -1.20113317e-01 -3.65303229e-04] [ 3.40518774e-04 2.26866930e-04 -9.99999916e-01]] t_estimated: [[0.66171911] [0.74975145] [0.00076482]] R_gt: [[ 0.95008767 0.30906658 0.04256203] [-0.30757545 0.95075929 -0.03815911] [-0.05225878 0.02316358 0.99836512]] t_gt: [-0.48497687 0.87279666 0.05498565] Pose Error in degrees for R and t: 179.52901041834858 70.51839776643688 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.03760230e-01 4.28037927e-01 9.89839828e-04] [-4.28038736e-01 9.03760001e-01 8.37620023e-04] [-5.36044505e-04 -1.18069745e-03 9.99999159e-01]] t_estimated: [[-0.25646918] [ 0.966549 ] [ 0.00256818]] R_gt: [[ 0.99307647 0.11135669 0.03741931] [-0.11196846 0.99360303 0.01466631] [-0.03554649 -0.01875502 0.99919108]] t_gt: [-0.55722648 0.77861406 0.28854599] Pose Error in degrees for R and t: 19.060006072973714 26.334290466822278 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.88892656e-01 -1.48631440e-01 -1.03982905e-04] [ 1.48631439e-01 9.88892661e-01 -1.89616645e-05] [ 1.05646231e-04 3.29592204e-06 9.99999994e-01]] t_estimated: [[-4.11340380e-01] [-9.11481359e-01] [-9.07811135e-04]] R_gt: [[ 0.96900627 0.24099227 0.05431358] [-0.24267094 0.96974087 0.02670071] [-0.04623514 -0.03905305 0.9981668 ]] t_gt: [-0.53128737 0.82374945 0.19791556] Pose Error in degrees for R and t: 22.818136626914313 57.82736987608138 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.03143307 -0.99950421 -0.00181812] [ 0.99950503 -0.03143534 0.00123406] [-0.0012906 -0.00177843 0.99999759]] t_estimated: [[ 0.85987783] [-0.51049818] [ 0.0013162 ]] R_gt: [[ 0.95963424 0.27648179 0.0515878 ] [-0.27828406 0.95997497 0.03169942] [-0.04075891 -0.04477673 0.99816504]] t_gt: [-0.51402088 0.83707452 0.18731999] Pose Error in degrees for R and t: 107.95657652041892 29.64883334653253 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.99999926e-01 1.80528780e-04 -3.40345052e-04] [-1.80528213e-04 9.99999984e-01 1.69865283e-06] [ 3.40345353e-04 -1.63721082e-06 9.99999942e-01]] t_estimated: [[0.72582059] [0.68788292] [0.00124684]] R_gt: [[ 0.99719749 -0.07475735 -0.00296994] [ 0.07476762 0.99719426 0.00371567] [ 0.00268342 -0.00392764 0.99998925]] t_gt: [ 0.79198928 -0.61030351 0.01681067] Pose Error in degrees for R and t: 4.3055247740853355 81.08055170759643 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999789e-01 4.86855733e-04 -4.29130055e-04] [-4.86491247e-04 9.99999521e-01 8.49056698e-04] [ 4.29543218e-04 -8.48847751e-04 9.99999547e-01]] t_estimated: [[9.15038985e-01] [4.03364570e-01] [8.24294878e-04]] R_gt: [[ 0.99464005 -0.10134314 0.02051872] [ 0.10067867 0.99443149 0.03116632] [-0.02356375 -0.02893376 0.99930414]] t_gt: [ 0.64042866 -0.73997894 0.20562657] Pose Error in degrees for R and t: 6.1983046492438305 73.27936840190105 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.98291414 -0.18376578 0.01048453] [ 0.18329539 -0.98241935 -0.03542624] [ 0.01681034 -0.03289919 0.99931729]] t_estimated: [[8.25845269e-01] [5.63896247e-01] [7.84278507e-04]] R_gt: [[ 0.99277721 -0.11658541 -0.02831515] [ 0.11695256 0.99306941 0.01165483] [ 0.02675971 -0.0148814 0.99953179]] t_gt: [ 0.62954596 -0.77694609 0.00516385] Pose Error in degrees for R and t: 162.69647667615493 85.30827200517332 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99902663e-01 -1.39503682e-02 2.29444501e-04] [ 1.39504209e-02 9.99902662e-01 -2.29487677e-04] [-2.26220729e-04 2.32666187e-04 9.99999947e-01]] t_estimated: [[ 0.99995472] [-0.0094533 ] [-0.00109463]] R_gt: [[ 0.98941903 -0.14306996 -0.02410496] [ 0.14320466 0.98968433 0.00396872] [ 0.02328952 -0.00737837 0.99970181]] t_gt: [ 0.80555658 -0.59251332 -0.00256254] Pose Error in degrees for R and t: 7.5649150634927675 35.794093628206625 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99998170e-01 1.87571305e-03 3.77014094e-04] [-1.87562735e-03 9.99998215e-01 -2.27532207e-04] [-3.77440206e-04 2.26824653e-04 9.99999903e-01]] t_estimated: [[-0.02421922] [-0.99970587] [-0.00126826]] R_gt: [[ 0.97048502 -0.23905557 -0.03179096] [ 0.24033639 0.96961505 0.04565606] [ 0.01991146 -0.05194811 0.99845174]] t_gt: [ 0.7838491 -0.59566095 0.17540987] Pose Error in degrees for R and t: 14.34910619226532 54.8107443511974 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-2.43066709e-01 -9.70006982e-01 -2.24263385e-03] [ 9.70009446e-01 -2.43067220e-01 -4.57566439e-05] [-5.00726510e-04 -2.18649793e-03 9.99997484e-01]] t_estimated: [[9.96018994e-01] [8.91378866e-02] [7.75112058e-04]] R_gt: [[ 0.96694932 -0.24959861 -0.05205446] [ 0.25430621 0.95882905 0.12638776] [ 0.01836644 -0.13544724 0.99061456]] t_gt: [ 0.67319175 -0.63599303 0.37726083] Pose Error in degrees for R and t: 89.66456818402555 52.112493780975846 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 1.00000000e+00 -3.52440299e-13 -1.26071029e-15] [ 3.52329277e-13 1.00000000e+00 7.72277207e-16] [ 1.17332359e-15 -5.58689379e-16 1.00000000e+00]] t_estimated: [[-0.91716793] [-0.398498 ] [-0.00152621]] R_gt: [[ 0.99147074 -0.12925159 -0.01676423] [ 0.12934295 0.99158966 0.00452372] [ 0.01604049 -0.00665311 0.99984882]] t_gt: [ 0.76569165 -0.64150245 -0.04680712] Pose Error in degrees for R and t: 7.495721039229891 63.47687727042595 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-4.45821744e-01 -8.95119659e-01 -1.94141890e-03] [ 8.95121584e-01 -4.45821983e-01 -3.31913589e-04] [-5.68424845e-04 -1.88578026e-03 9.99998060e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97838393 -0.20527265 -0.02510895] [ 0.20609077 0.97786584 0.03612251] [ 0.01713937 -0.04051623 0.9990316 ]] t_gt: [ 0.76496051 -0.63969235 0.07502742] Pose Error in degrees for R and t: 104.61916156170447 40.26784171882479 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.66304992 0.73872984 0.12100833] [-0.74819528 0.65914673 0.07569283] [-0.02384569 -0.14072599 0.98976137]] t_estimated: [[0.67719918] [0.73363244] [0.05643326]] R_gt: [[ 0.97550302 -0.21996034 0.00342985] [ 0.21995214 0.97550752 0.00244433] [-0.00388196 -0.00162954 0.99999073]] t_gt: [ 0.75520947 -0.6551844 0.01980052] Pose Error in degrees for R and t: 61.52907378860309 88.17309475492674 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.90841632e-01 1.35029056e-01 -1.22185712e-04] [-1.35029047e-01 9.90841637e-01 7.66409802e-05] [ 1.31415450e-04 -5.94404536e-05 9.99999990e-01]] t_estimated: [[-0.81923139] [-0.57346197] [-0.00113782]] R_gt: [[ 0.9876018 -0.00879712 0.15673695] [ 0.00949682 0.99994738 -0.00371756] [-0.1566964 0.00516131 0.98763254]] t_gt: [-0.1753173 -0.06099685 0.98262059] Pose Error in degrees for R and t: 12.249156822891551 79.77659509264745 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.96941145e-01 -7.81558061e-02 1.51905813e-04] [ 7.81559119e-02 9.96940738e-01 -9.04217352e-04] [-8.07712575e-05 9.13323820e-04 9.99999580e-01]] t_estimated: [[-0.4636464 ] [-0.88601879] [-0.0016522 ]] R_gt: [[ 9.73567502e-01 3.78900618e-02 2.25236001e-01] [-3.86653179e-02 9.99252074e-01 -9.69808130e-04] [-2.25104408e-01 -7.76408216e-03 9.74302875e-01]] t_gt: [-0.36156306 0.14496656 0.9210086 ] Pose Error in degrees for R and t: 14.630466393289495 87.84100677704932 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 5.85731860e-01 -8.10504040e-01 -1.17882959e-03] [ 8.10504882e-01 5.85730950e-01 1.04411250e-03] [-1.55780426e-04 -1.56701709e-03 9.99998760e-01]] t_estimated: [[ 0.5347447 ] [-0.84501319] [ 0.00090148]] R_gt: [[ 0.96905802 0.08988387 0.22989004] [-0.09147385 0.99580044 -0.00375595] [-0.22926267 -0.01738799 0.97320883]] t_gt: [-0.51601737 0.27925503 0.80977942] Pose Error in degrees for R and t: 60.76177956805068 59.25742326541867 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999025e-01 1.39016152e-03 1.34662074e-04] [-1.39010132e-03 9.99998934e-01 -4.46140871e-04] [-1.35282138e-04 4.45953242e-04 9.99999891e-01]] t_estimated: [[-0.29621654] [-0.95511892] [-0.00190154]] R_gt: [[ 0.99876447 -0.01786332 -0.04638607] [ 0.01383728 0.99622462 -0.0856968 ] [ 0.04774199 0.08494803 0.99524073]] t_gt: [ 0.15529765 0.0846353 -0.98423549] Pose Error in degrees for R and t: 5.660673700317676 82.82115318758565 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999830e-01 1.17800244e-04 5.70384722e-04] [-1.17640697e-04 9.99999954e-01 -2.79744535e-04] [-5.70417650e-04 2.79677387e-04 9.99999798e-01]] t_estimated: [[0.8475719 ] [0.5306791 ] [0.00125128]] R_gt: [[ 0.98248026 -0.18333412 -0.03349285] [ 0.18061745 0.98095912 -0.07138407] [ 0.04594303 0.06408428 0.99688598]] t_gt: [ 0.64825709 -0.64014284 -0.41228618] Pose Error in degrees for R and t: 11.438728982935523 77.92346023731977 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.97403239 0.2264007 0.00190312] [-0.22639679 0.97403297 -0.00206796] [-0.00232189 0.0015834 0.99999605]] t_estimated: [[-8.30093504e-01] [-5.57623865e-01] [-6.32606728e-04]] R_gt: [[ 0.9480052 -0.31812438 0.00910442] [ 0.31711041 0.94179035 -0.11167255] [ 0.02695193 0.10875223 0.99370329]] t_gt: [ 0.69941011 -0.64591217 -0.30597872] Pose Error in degrees for R and t: 32.27641138965213 77.27885664352839 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.98272662e-01 -5.87510319e-02 -9.33933586e-05] [ 5.87510334e-02 9.98272666e-01 1.29511874e-05] [ 9.24711415e-05 -1.84157727e-05 9.99999996e-01]] t_estimated: [[ 8.49977323e-01] [-5.26819005e-01] [-5.34576614e-04]] R_gt: [[ 0.99924174 -0.03626138 -0.01415889] [ 0.03635453 0.99931819 0.00642841] [ 0.01391526 -0.00693811 0.99987917]] t_gt: [ 0.5810489 -0.79520365 -0.17330125] Pose Error in degrees for R and t: 1.5628785574976514 24.090842120639888 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99957707e-01 9.19649265e-03 9.52686358e-05] [-9.19648464e-03 9.99957708e-01 -8.42147708e-05] [-9.60390872e-05 8.33350725e-05 9.99999992e-01]] t_estimated: [[ 9.62181984e-01] [-2.72407422e-01] [ 1.60933966e-04]] R_gt: [[ 0.9969367 -0.07519386 -0.02152851] [ 0.07498713 0.99713259 -0.01021867] [ 0.02223544 0.00857208 0.99971654]] t_gt: [ 0.58256973 -0.75806807 -0.29316431] Pose Error in degrees for R and t: 5.023500345666183 39.915259485296644 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.99841403e-01 -1.78092212e-02 2.77211338e-06] [ 1.78092209e-02 9.99841400e-01 7.78829789e-05] [-4.15870892e-06 -7.78212578e-05 9.99999997e-01]] t_estimated: [[ 9.42843961e-01] [-3.33234550e-01] [ 2.75466106e-06]] R_gt: [[ 0.99483365 -0.09844351 -0.02480228] [ 0.09864236 0.99509945 0.006942 ] [ 0.02399792 -0.00935335 0.99966862]] t_gt: [ 0.54857751 -0.82249166 -0.15023378] Pose Error in degrees for R and t: 4.86412610864058 37.69234598104336 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.92383026e-01 -1.23190605e-01 6.70356469e-05] [ 1.23190596e-01 9.92383023e-01 1.15427164e-04] [-8.07445800e-05 -1.06289797e-04 9.99999991e-01]] t_estimated: [[ 0.99390095] [-0.11026984] [ 0.00120655]] R_gt: [[ 0.99832449 -0.05743652 -0.00695361] [ 0.05767078 0.99752299 0.04027938] [ 0.00462284 -0.04061168 0.99916487]] t_gt: [ 0.44306511 -0.85184762 0.27937242] Pose Error in degrees for R and t: 4.439860225971069 57.680973461266916 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.31430006 -0.94927613 0.00950265] [-0.94932251 -0.31426815 0.00472136] [-0.0014955 -0.01050501 -0.9999437 ]] t_estimated: [[0.59004297] [0.80736026] [0.0043254 ]] R_gt: [[ 0.99065339 -0.11667599 -0.07066335] [ 0.12053131 0.99129421 0.05301126] [ 0.06386256 -0.06103267 0.99609128]] t_gt: [ 0.55933505 -0.8231882 -0.09749604] Pose Error in degrees for R and t: 179.08667859457847 70.42749631866607 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.86365598e-01 1.64567564e-01 -6.51498054e-04] [-1.64566256e-01 9.86364543e-01 1.71366706e-03] [ 9.24628593e-04 -1.58308764e-03 9.99998319e-01]] t_estimated: [[-8.58021296e-01] [-5.13613680e-01] [-6.66165603e-04]] R_gt: [[ 9.97125924e-01 -7.57695229e-02 -3.01990182e-04] [ 7.57616638e-02 9.96944195e-01 1.90855094e-02] [-1.14474218e-03 -1.90529507e-02 9.99818216e-01]] t_gt: [ 0.45852265 -0.87555253 0.1521997 ] Pose Error in degrees for R and t: 13.853453916332015 86.77987717466347 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999775e-01 -5.18613586e-04 -4.25396534e-04] [ 5.18725535e-04 9.99999831e-01 2.63094627e-04] [ 4.25260017e-04 -2.63315232e-04 9.99999875e-01]] t_estimated: [[-0.98242307] [-0.18665277] [-0.00237806]] R_gt: [[ 0.98670972 0.15956416 -0.03067727] [-0.15873655 0.98693123 0.02775904] [ 0.03470567 -0.02252019 0.99914334]] t_gt: [-0.28737261 0.95668539 -0.0465838 ] Pose Error in degrees for R and t: 9.484622669033952 84.03826333651986 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999983e-01 -7.52168489e-05 -1.66614953e-04] [ 7.52343644e-05 9.99999992e-01 1.05121587e-04] [ 1.66607045e-04 -1.05134120e-04 9.99999981e-01]] t_estimated: [[-0.90694813] [-0.42124014] [-0.00135856]] R_gt: [[ 0.96921028 0.24600575 -0.01052245] [-0.24616635 0.96904904 -0.01859297] [ 0.00562289 0.02061011 0.99977159]] t_gt: [-0.1584897 0.98454885 -0.07446189] Pose Error in degrees for R and t: 14.304528266334403 74.28286174659677 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999879e-01 4.61897243e-04 1.68561919e-04] [-4.61881607e-04 9.99999889e-01 -9.27926920e-05] [-1.68604761e-04 9.27148251e-05 9.99999981e-01]] t_estimated: [[-9.99324448e-01] [-3.67510432e-02] [-9.22424506e-05]] R_gt: [[ 0.96901232 0.24362482 0.04076554] [-0.24513033 0.96877733 0.03718279] [-0.03043339 -0.04602351 0.9984766 ]] t_gt: [-0.16119911 0.96214425 0.21975736] Pose Error in degrees for R and t: 14.477010913280203 82.7782328126054 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99410390e-01 -3.43345414e-02 -1.04794455e-04] [ 3.43345682e-02 9.99410360e-01 2.65182754e-04] [ 9.56277360e-05 -2.68624472e-04 9.99999959e-01]] t_estimated: [[-0.88038697] [-0.47424995] [-0.00240366]] R_gt: [[ 0.99830007 -0.05137598 -0.02751481] [ 0.05187688 0.99849518 0.01781936] [ 0.02655827 -0.01921733 0.99946262]] t_gt: [ 0.57885864 -0.80585459 -0.12458351] Pose Error in degrees for R and t: 2.112363638467564 82.6954345591859 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.89527363 -0.44548733 -0.00511571] [ 0.44545405 -0.89528127 0.00649143] [-0.00747185 0.00353279 0.99996584]] t_estimated: [[0.72793704] [0.68564349] [0.00081334]] R_gt: [[ 0.9933771 -0.10088674 -0.05497701] [ 0.10416494 0.99272358 0.06041972] [ 0.04848123 -0.06574687 0.99665773]] t_gt: [ 0.560928 -0.82778936 0.0111603 ] Pose Error in degrees for R and t: 147.67536758523525 80.83726999589274 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.9999968 0.00124535 -0.00220342] [-0.00123751 0.99999293 0.00355184] [ 0.00220783 -0.0035491 0.99999126]] t_estimated: [[-8.38696064e-01] [-5.44599384e-01] [-6.50656372e-04]] R_gt: [[ 0.98614845 -0.13430994 -0.09732039] [ 0.13981823 0.9888033 0.05214908] [ 0.08922644 -0.06503449 0.99388604]] t_gt: [ 0.59482938 -0.78530536 -0.17167845] Pose Error in degrees for R and t: 10.050909475034711 85.92325835323416 Number of keypoints: Image1: 593 Image2: 593 R_estimated: [[ 9.99831351e-01 -1.83648783e-02 1.52042637e-05] [ 1.83648781e-02 9.99831351e-01 1.41644808e-05] [-1.54618285e-05 -1.38828675e-05 1.00000000e+00]] t_estimated: [[ 9.84327281e-01] [-1.76351140e-01] [ 2.82859886e-04]] R_gt: [[ 0.9987242 -0.05017186 -0.00577944] [ 0.05012763 0.99871358 -0.00766328] [ 0.00615616 0.0073639 0.99995361]] t_gt: [ 0.54049103 -0.81442456 -0.21114468] Pose Error in degrees for R and t: 1.903720264903405 47.500401232849136 Number of keypoints: Image1: 486 Image2: 486 R_estimated: [[ 9.99672497e-01 2.55907393e-02 1.16861603e-04] [-2.55907381e-02 9.99672503e-01 -1.17582406e-05] [-1.17124234e-04 8.76381501e-06 9.99999993e-01]] t_estimated: [[ 9.99855637e-01] [-1.69896729e-02] [ 2.36586198e-04]] R_gt: [[ 0.99785031 -0.06552306 0.00186569] [ 0.0654707 0.99764246 0.02062483] [-0.00321288 -0.02045817 0.99978529]] t_gt: [ 0.38228371 -0.90134014 0.20358073] Pose Error in degrees for R and t: 5.354589381441999 66.57238583675031 Number of keypoints: Image1: 368 Image2: 368 R_estimated: [[-0.53397425 -0.84549421 -0.00332364] [ 0.8454582 -0.53398269 0.00793222] [-0.00848141 0.00142561 0.99996302]] t_estimated: [[9.84528663e-01] [1.75220932e-01] [9.68071448e-04]] R_gt: [[ 0.99361217 -0.10721435 0.03522121] [ 0.10693883 0.99422012 0.00959583] [-0.03604638 -0.00576781 0.99933282]] t_gt: [ 0.24422054 -0.90138771 0.35757031] Pose Error in degrees for R and t: 116.1308671897703 85.24781129200635 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.13432933 -0.99092766 -0.00424357] [ 0.99083553 0.13437558 -0.01371705] [ 0.01416283 -0.00236208 0.99989691]] t_estimated: [[ 0.64140654] [-0.76711455] [-0.01152859]] R_gt: [[ 0.9724463 -0.2321772 0.02101717] [ 0.2310123 0.97181815 0.04692403] [-0.03132052 -0.04077587 0.99867722]] t_gt: [ 0.80479506 -0.55529307 0.20965335] Pose Error in degrees for R and t: 68.97112356019557 19.98917883883367 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-9.58528614e-01 2.84992283e-01 1.51490114e-03] [ 2.84994708e-01 9.58527506e-01 1.74276442e-03] [-9.55400000e-04 2.10222837e-03 -9.99997334e-01]] t_estimated: [[9.88835211e-01] [1.49010399e-01] [9.08987162e-04]] R_gt: [[ 0.89935964 -0.43522415 -0.04163182] [ 0.43631161 0.89953467 0.02164199] [ 0.02802971 -0.03762782 0.9988989 ]] t_gt: [ 0.89972597 -0.43542924 0.02990907] Pose Error in degrees for R and t: 177.81789933178095 34.429305156599575 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.63774591 -0.77024163 0.00282671] [-0.77023999 0.63772051 -0.00654974] [ 0.00324223 -0.00635432 -0.99997455]] t_estimated: [[0.87826275] [0.47817716] [0.00106975]] R_gt: [[ 0.77064848 -0.63344767 -0.06960109] [ 0.63400228 0.77315113 -0.0166537 ] [ 0.06436089 -0.03129301 0.99743585]] t_gt: [ 0.95047361 -0.31051798 -0.01336015] Pose Error in degrees for R and t: 176.34875256130707 46.66453698003887 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.35757093e-01 3.52645049e-01 -3.64293770e-04] [-3.52645143e-01 9.35757098e-01 -2.38490559e-04] [ 2.56787966e-04 3.51635661e-04 9.99999905e-01]] t_estimated: [[-0.99321455] [-0.11629035] [-0.00118664]] R_gt: [[ 0.99508092 0.0844262 -0.05183574] [-0.08657155 0.99541608 -0.04064693] [ 0.04816602 0.04493458 0.99782746]] t_gt: [-0.79527218 0.19783248 -0.57306585] Pose Error in degrees for R and t: 16.177398858225043 39.86561994839766 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.04574506 -0.98209244 0.18276169] [ 0.99546856 0.06008398 0.07370394] [-0.08336513 0.17856193 0.98039068]] t_estimated: [[9.88439785e-01] [1.51611587e-01] [8.46992104e-04]] R_gt: [[ 0.93918432 0.33198174 -0.08787422] [-0.33415197 0.94245644 -0.01082859] [ 0.07922292 0.03953374 0.99607207]] t_gt: [-0.9421981 0.29219614 -0.16396386] Pose Error in degrees for R and t: 107.42602945641525 27.4833909781095 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 1.32742525e-01 -9.91149066e-01 -1.71809765e-03] [ 9.91150503e-01 1.32742878e-01 -9.24782309e-05] [ 3.19724938e-04 -1.69061755e-03 9.99998520e-01]] t_estimated: [[9.83190771e-01] [1.82578624e-01] [9.76356277e-04]] R_gt: [[ 8.05435190e-01 5.90048643e-01 -5.58273899e-02] [-5.90964237e-01 8.06698168e-01 1.50589546e-04] [ 4.51245472e-02 3.28708059e-02 9.98439869e-01]] t_gt: [-0.88792655 0.45504241 -0.06725212] Pose Error in degrees for R and t: 118.6223487873854 37.8158121638639 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999997e-01 7.77721047e-05 2.12244319e-05] [-7.77720603e-05 9.99999997e-01 -2.09500071e-06] [-2.12245948e-05 2.09335004e-06 1.00000000e+00]] t_estimated: [[9.99996197e-01] [2.67785284e-03] [6.59813114e-04]] R_gt: [[ 0.99711485 -0.06442301 0.04014236] [ 0.06432422 0.99792198 0.00373515] [-0.04029981 -0.00114147 0.99918643]] t_gt: [ 0.47872091 -0.75463435 0.44872406] Pose Error in degrees for R and t: 4.358943915747555 61.5107175516912 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 1.00000000e+00 3.78237108e-10 -6.15566840e-11] [-3.78236942e-10 1.00000000e+00 3.80747632e-10] [ 6.15566719e-11 -3.80747624e-10 1.00000000e+00]] t_estimated: [[9.18022980e-01] [3.96526558e-01] [7.04483135e-04]] R_gt: [[ 0.9937903 -0.10629592 0.03290687] [ 0.10587367 0.99427695 0.01429228] [-0.03423842 -0.01071966 0.99935572]] t_gt: [ 0.52345313 -0.8033336 0.28399285] Pose Error in degrees for R and t: 6.42894415948292 80.66544490380168 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.98735682e-01 -5.02664507e-02 -5.66630325e-04] [ 5.02667105e-02 9.98735727e-01 4.53922057e-04] [ 5.43096899e-04 -4.81830798e-04 9.99999736e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.98964112 -0.14299233 0.01284458] [ 0.14255645 0.98933029 0.03005674] [-0.01700653 -0.02791409 0.99946605]] t_gt: [ 0.54630653 -0.8156273 0.19052895] Pose Error in degrees for R and t: 5.645457347768901 57.048947213140195 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[-0.94302887 0.33267176 -0.00510479] [-0.3326872 -0.94303385 0.0025278 ] [-0.00397306 0.00408209 0.99998378]] t_estimated: [[6.47684740e-01] [7.61908259e-01] [5.32413855e-04]] R_gt: [[ 0.99632361 0.08421811 -0.01576081] [-0.08433665 0.99641257 -0.00703531] [ 0.01511192 0.00833853 0.99985097]] t_gt: [ 0.15796732 0.95219088 -0.26149349] Pose Error in degrees for R and t: 155.73204565331164 34.141310082615334 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-0.75592367 0.65464605 0.00423679] [-0.65465704 -0.75592335 -0.00201145] [ 0.0018859 -0.00429415 0.999989 ]] t_estimated: [[0.48532391] [0.87433354] [0.00125083]] R_gt: [[ 0.99439115 0.10210011 0.02760291] [-0.10241922 0.99468726 0.01039451] [-0.02639492 -0.01316298 0.9995642 ]] t_gt: [0.42649067 0.80936555 0.40377359] Pose Error in degrees for R and t: 133.23742520799328 23.773442256898136 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 7.89909829e-01 -6.13222550e-01 -7.52675162e-04] [ 6.13222996e-01 7.89908939e-01 1.19356405e-03] [-1.37375551e-04 -1.40436569e-03 9.99999004e-01]] t_estimated: [[7.70117037e-01] [6.37902254e-01] [6.81519502e-04]] R_gt: [[ 0.9822783 0.18552777 0.02663414] [-0.18680251 0.98067312 0.05817753] [-0.01532614 -0.06212164 0.99795045]] t_gt: [0.16265204 0.77756617 0.60740033] Pose Error in degrees for R and t: 48.68790333660799 51.56062011370787 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.92556113e-01 -1.21788178e-01 -5.63716888e-05] [ 1.21788186e-01 9.92556097e-01 1.77441689e-04] [ 3.43417636e-05 -1.82986239e-04 9.99999983e-01]] t_estimated: [[0.99454543] [0.1042969 ] [0.00124163]] R_gt: [[ 0.9994875 -0.00899197 0.03073006] [ 0.00762375 0.99898652 0.04436395] [-0.03109835 -0.0441076 0.99854288]] t_gt: [-0.03055482 -0.08613778 0.99581458] Pose Error in degrees for R and t: 7.21192444656252 87.81445968211932 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.79338146e-01 -2.02229534e-01 -1.07951464e-04] [ 2.02229556e-01 9.79338109e-01 2.73810685e-04] [ 5.03483754e-05 -2.89984225e-04 9.99999957e-01]] t_estimated: [[0.91007723] [0.41443768] [0.00092011]] R_gt: [[ 0.99355663 -0.1121012 -0.01668632] [ 0.11321652 0.98846115 0.10063789] [ 0.00521121 -0.10187837 0.99478382]] t_gt: [ 0.52808724 -0.615601 0.58494382] Pose Error in degrees for R and t: 7.804486448931395 76.93771504209786 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999832e-01 3.46928502e-04 4.64345183e-04] [-3.46928568e-04 9.99999940e-01 5.97808254e-08] [-4.64345134e-04 -2.20875425e-07 9.99999892e-01]] t_estimated: [[0.83227882] [0.55435631] [0.00102026]] R_gt: [[ 0.96336395 -0.26738708 -0.02082266] [ 0.26784766 0.95524479 0.12556057] [-0.01368345 -0.12653823 0.9918671 ]] t_gt: [ 0.62833075 -0.65463102 0.42030786] Pose Error in degrees for R and t: 17.22615555481786 80.76545296233007 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99138934e-01 -4.14896118e-02 5.18422288e-05] [ 4.14896113e-02 9.99138935e-01 1.09410396e-05] [-5.22515288e-05 -8.78070477e-06 9.99999999e-01]] t_estimated: [[9.78468305e-01] [2.06396704e-01] [4.21451718e-04]] R_gt: [[ 0.99258506 -0.1110355 -0.04946274] [ 0.11195489 0.99358062 0.01621869] [ 0.04734524 -0.0216367 0.99864416]] t_gt: [ 0.70724528 -0.6858329 -0.17157317] Pose Error in degrees for R and t: 5.014005671628888 56.606149900449175 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-5.87416421e-01 -8.09282121e-01 -2.09694756e-03] [ 8.09284608e-01 -5.87416235e-01 -7.68230849e-04] [-6.10065552e-04 -2.14829880e-03 9.99997506e-01]] t_estimated: [[9.88621047e-01] [1.50425477e-01] [7.75389057e-04]] R_gt: [[ 0.96528414 -0.22567351 -0.1315226 ] [ 0.22253956 0.97417246 -0.03824569] [ 0.13675733 0.00764888 0.99057472]] t_gt: [ 0.75622892 -0.54423788 -0.363212 ] Pose Error in degrees for R and t: 113.13380608008222 48.28122712292134 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.87583494e-01 1.57092976e-01 7.99445000e-04] [-1.57092344e-01 9.87583594e-01 -8.00080689e-04] [-9.15205823e-04 6.64559793e-04 9.99999360e-01]] t_estimated: [[0.61972477] [0.78481878] [0.00082962]] R_gt: [[ 0.91300138 -0.38454132 -0.1362198 ] [ 0.38250614 0.92300343 -0.04187592] [ 0.14183478 -0.01387287 0.98979314]] t_gt: [ 0.81877141 -0.53889891 -0.19799328] Pose Error in degrees for R and t: 32.73884205427671 85.16361280395093 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 0.99657615 -0.0826272 -0.00295492] [ 0.08263345 0.99657789 0.0020572 ] [ 0.00277483 -0.00229433 0.99999352]] t_estimated: [[-0.17493627] [-0.9845772 ] [-0.00224277]] R_gt: [[ 0.99364665 0.10908956 0.02767878] [-0.10701439 0.99194287 -0.06780904] [-0.03485263 0.06441565 0.99731385]] t_gt: [-0.69088342 0.7166994 -0.09498455] Pose Error in degrees for R and t: 11.793979399602343 54.22721936862176 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.91763161 -0.39742645 -0.00210921] [ 0.39742722 -0.91758141 -0.00979547] [ 0.0019576 -0.00982689 0.9999498 ]] t_estimated: [[9.92944933e-01] [1.18573321e-01] [8.53045475e-04]] R_gt: [[ 0.97196415 0.23461005 0.01561168] [-0.23239609 0.96864122 -0.08790472] [-0.03574574 0.08181083 0.99600566]] t_gt: [-0.63503662 0.76820654 -0.08116161] Pose Error in degrees for R and t: 170.1307821319111 57.34788560019774 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 0.84071778 -0.54145811 0.00408956] [-0.54145852 -0.84072674 -0.00110299] [ 0.00403542 -0.00128703 -0.99999103]] t_estimated: [[ 0.12857942] [ 0.99169822] [-0.00140842]] R_gt: [[ 0.95429885 0.29880524 0.00545437] [-0.29636015 0.94852728 -0.11165625] [-0.03853673 0.10493646 0.99373114]] t_gt: [-0.60754806 0.78678718 -0.10886359] Pose Error in degrees for R and t: 174.3685441434074 45.388931016962076 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999964e-01 -2.42395849e-04 -1.12631410e-04] [ 2.42398230e-04 9.99999970e-01 2.11311508e-05] [ 1.12626285e-04 -2.11584517e-05 9.99999993e-01]] t_estimated: [[-0.9851149 ] [-0.17189244] [-0.00127616]] R_gt: [[ 0.99007577 0.14039716 0.00612067] [-0.13986735 0.98869366 -0.05406358] [-0.01364119 0.05267164 0.99851906]] t_gt: [-0.65065468 0.74597633 -0.14201339] Pose Error in degrees for R and t: 8.656668776436081 59.14126338498666 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999429e-01 -1.01423508e-03 -3.35924928e-04] [ 1.01423549e-03 9.99999486e-01 1.04825570e-06] [ 3.35923692e-04 -1.38896209e-06 9.99999944e-01]] t_estimated: [[-0.99715097] [-0.07541937] [-0.00136169]] R_gt: [[ 0.96977937 0.24388428 0.00699795] [-0.24284171 0.96761258 -0.06895494] [-0.02358774 0.0651723 0.99759515]] t_gt: [-0.62497978 0.77628673 -0.08233583] Pose Error in degrees for R and t: 14.706051054863623 55.61407790926418 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.29780416e-01 3.68114579e-01 1.87995639e-04] [-3.68114347e-01 9.29780217e-01 -7.58786369e-04] [-4.54114950e-04 6.36300813e-04 9.99999694e-01]] t_estimated: [[-9.20709436e-01] [ 3.90248668e-01] [-3.33639913e-04]] R_gt: [[ 0.96643314 0.25367921 -0.04065928] [-0.25595558 0.96436572 -0.06698048] [ 0.02221879 0.07513935 0.99692565]] t_gt: [-0.60510982 0.75717937 -0.24601118] Pose Error in degrees for R and t: 8.144275558506264 31.493367109520545 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99999966e-01 2.00389738e-04 -1.69524353e-04] [-2.00373988e-04 9.99999976e-01 9.29202607e-05] [ 1.69542969e-04 -9.28862893e-05 9.99999981e-01]] t_estimated: [[-0.52986457] [-0.84808158] [-0.00108169]] R_gt: [[ 0.99673079 0.0705329 0.03942843] [-0.06852462 0.99638772 -0.05014739] [-0.04282254 0.04728192 0.99796308]] t_gt: [-5.57550616e-02 9.98444178e-01 -7.71860780e-04] Pose Error in degrees for R and t: 5.411417734491673 35.19266850420136 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99999801e-01 6.30239227e-04 -3.37448577e-05] [-6.30230513e-04 9.99999768e-01 2.57628404e-04] [ 3.39072174e-05 -2.57607086e-04 9.99999966e-01]] t_estimated: [[0.89973138] [0.43643741] [0.00241451]] R_gt: [[ 0.99433361 0.07359579 0.07671536] [-0.07428123 0.99721871 0.00612561] [-0.07605084 -0.01178945 0.99703437]] t_gt: [-0.09281994 0.82581317 0.55625269] Pose Error in degrees for R and t: 6.09919487417467 73.84446207822154 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999489e-01 4.52002288e-04 -9.04565581e-04] [-4.50856685e-04 9.99999097e-01 1.26627070e-03] [ 9.05137122e-04 -1.26586222e-03 9.99998789e-01]] t_estimated: [[9.50711526e-01] [3.10075357e-01] [9.31157222e-04]] R_gt: [[ 9.97898698e-01 -5.28836880e-05 6.48003018e-02] [-4.22124312e-03 9.97823279e-01 6.58111137e-02] [-6.46627216e-02 -6.59462946e-02 9.95725519e-01]] t_gt: [0.28709464 0.34145153 0.89497906] Pose Error in degrees for R and t: 5.285393736204789 67.68779404465072 Number of keypoints: Image1: 399 Image2: 399 R_estimated: [[ 0.52791434 0.83281306 -0.16651985] [ 0.82944102 -0.46341535 0.31188749] [ 0.18257612 -0.30276828 -0.93541292]] t_estimated: [[-0.47021791] [ 0.86320211] [ 0.18378582]] R_gt: [[ 0.99819453 0.05991546 0.00436533] [-0.05986851 0.99815583 -0.01010857] [-0.00496247 0.00982911 0.99993965]] t_gt: [ 0.01804967 0.97530934 -0.22010428] Pose Error in degrees for R and t: 159.92403297137056 37.53796770556414 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.98244177e-01 5.92330700e-02 8.30093728e-05] [-5.92330747e-02 9.98244178e-01 5.59927749e-05] [-7.95469992e-05 -6.08113619e-05 9.99999995e-01]] t_estimated: [[0.96765063] [0.25229175] [0.00106452]] R_gt: [[ 9.91942394e-01 1.26689624e-01 5.38428949e-04] [-1.26657224e-01 9.91770345e-01 -1.87109299e-02] [-2.90428517e-03 1.84925097e-02 9.99824401e-01]] t_gt: [ 0.14059735 0.97948012 -0.14439902] Pose Error in degrees for R and t: 4.028399474789206 67.47973669952943 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.03962418 -0.99912198 -0.01360831] [-0.96016698 -0.04184222 0.27627629] [-0.27660312 0.00211903 -0.96098191]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.98613715 0.16341261 0.02883343] [-0.16375277 0.98645154 0.0098805 ] [-0.02682755 -0.01446414 0.99953553]] t_gt: [0.20027773 0.9441767 0.26157063] Pose Error in degrees for R and t: 168.38538094317008 32.60244755272434 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[ 9.99999996e-01 -8.50680905e-05 -5.70910855e-07] [ 8.50680862e-05 9.99999996e-01 -7.63842058e-06] [ 5.71560639e-07 7.63837198e-06 1.00000000e+00]] t_estimated: [[ 9.93910413e-01] [-1.10191157e-01] [-2.24136765e-05]] R_gt: [[ 9.99395249e-01 -3.45931645e-02 3.67142844e-03] [ 3.45928822e-02 9.99402082e-01 7.61203500e-06] [-3.66945043e-03 1.19531297e-04 9.99993036e-01]] t_gt: [ 0.46775413 -0.88182393 0.05993861] Pose Error in degrees for R and t: 1.9879889996420324 55.800680502880816 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.99995408e-01 3.02995986e-03 5.81278570e-05] [-3.02995826e-03 9.99995409e-01 -2.76711964e-05] [-5.82114328e-05 2.74949444e-05 9.99999998e-01]] t_estimated: [[ 9.78890794e-01] [-2.04383771e-01] [ 2.96407883e-04]] R_gt: [[ 0.99692371 -0.07720151 -0.01362209] [ 0.0774253 0.99685755 0.01679367] [ 0.01228262 -0.01779678 0.9997654 ]] t_gt: [ 0.52583273 -0.85054716 0.00833444] Pose Error in degrees for R and t: 4.772250392194669 46.4827187044144 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99999620e-01 -8.67668951e-04 7.87943373e-05] [ 8.67675641e-04 9.99999620e-01 -8.49049526e-05] [-7.87206380e-05 8.49732883e-05 9.99999993e-01]] t_estimated: [[ 9.42677693e-01] [-3.33704607e-01] [ 4.24839754e-05]] R_gt: [[ 0.99425643 -0.1028588 -0.02959528] [ 0.10374418 0.99414738 0.03014115] [ 0.02632232 -0.03303818 0.99910736]] t_gt: [ 0.51449954 -0.85718442 -0.02291491] Pose Error in degrees for R and t: 6.362870112590551 39.55148934787587 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.61417728 0.78886529 -0.02185922] [ 0.78827135 0.61456409 0.03064735] [ 0.03761052 0.00159191 -0.99929121]] t_estimated: [[8.01490828e-01] [5.98006744e-01] [6.22275488e-04]] R_gt: [[ 0.97639181 -0.21587102 -0.00761175] [ 0.21576641 0.9763633 -0.01261212] [ 0.01015452 0.0106717 0.9998918 ]] t_gt: [ 0.84713708 -0.52726945 -0.06592187] Pose Error in degrees for R and t: 178.06100658178826 68.67726523357906 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 0.99373503 -0.11173959 0.00222457] [ 0.11174424 0.99373481 -0.0020875 ] [-0.00197737 0.002323 0.99999535]] t_estimated: [[0.92067987] [0.3903164 ] [0.00129673]] R_gt: [[ 0.89171509 -0.44521265 -0.08142303] [ 0.44318267 0.89542369 -0.04249593] [ 0.09182734 0.0018087 0.99577319]] t_gt: [ 0.91369574 -0.3899532 -0.11444035] Pose Error in degrees for R and t: 20.71426717879838 46.459451686785876 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-9.24134511e-01 3.46007921e-02 -3.80497294e-01] [-3.19880657e-02 -9.99401213e-01 -1.31901022e-02] [-3.80725846e-01 -1.80561844e-05 9.24687964e-01]] t_estimated: [[7.96080246e-01] [6.05190666e-01] [7.06998442e-04]] R_gt: [[ 0.772423 -0.63334387 -0.04732216] [ 0.62753301 0.77256219 -0.09669548] [ 0.09780127 0.04499343 0.99418813]] t_gt: [ 0.94936787 -0.28625774 -0.12944939] Pose Error in degrees for R and t: 144.41721367174247 54.37758812580406 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.28784607e-01 -3.70619811e-01 -3.30116731e-04] [ 3.70619916e-01 9.28784558e-01 3.49057408e-04] [ 1.77239731e-04 -4.46546983e-04 9.99999885e-01]] t_estimated: [[-0.47087529] [-0.8821987 ] [-0.00138493]] R_gt: [[ 0.99821192 0.01076633 -0.0587969 ] [-0.01531686 0.9968742 -0.0775022 ] [ 0.05777878 0.07826435 0.99525655]] t_gt: [ 0.06752265 0.16912536 -0.98327885] Pose Error in degrees for R and t: 23.178779402603475 79.65149077938518 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.31305385 -0.94972583 -0.0042577 ] [ 0.94973085 -0.31303537 -0.00449112] [ 0.00293253 -0.00544963 0.99998085]] t_estimated: [[0.55346848] [0.83286822] [0.00177963]] R_gt: [[ 0.97719336 0.17567858 -0.11929213] [-0.1823799 0.98206981 -0.04770546] [ 0.10877293 0.06837462 0.99171184]] t_gt: [-0.84354896 0.24077813 -0.48005317] Pose Error in degrees for R and t: 118.71916234371857 74.50254150253463 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-4.02824826e-01 -9.15274922e-01 -1.99427286e-03] [ 9.15276749e-01 -4.02821825e-01 -1.74649925e-03] [ 7.95190326e-04 -2.52884484e-03 9.99996486e-01]] t_estimated: [[9.81110503e-01] [1.93446191e-01] [8.67471709e-04]] R_gt: [[ 0.88798933 0.43909474 -0.13663791] [-0.44584136 0.89484606 -0.0218065 ] [ 0.11269516 0.08028297 0.99038039]] t_gt: [-0.90490057 0.36231436 -0.22334564] Pose Error in degrees for R and t: 140.24420161645546 35.123594254869325 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.82517555e-01 1.86169721e-01 2.97650493e-04] [-1.86169240e-01 9.82516949e-01 -1.20834081e-03] [-5.17403126e-04 1.13180270e-03 9.99999226e-01]] t_estimated: [[0.73907247] [0.67362545] [0.00079813]] R_gt: [[ 0.9997208 -0.02295118 0.00578555] [ 0.02272468 0.99907504 0.03652522] [-0.00661833 -0.03638397 0.99931591]] t_gt: [ 0.42090958 -0.52278802 0.74130144] Pose Error in degrees for R and t: 12.233692688654322 87.67951841803809 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.49000641e-01 3.15274130e-01 8.02899848e-05] [-3.15274094e-01 9.49000610e-01 -2.96901653e-04] [-1.69800655e-04 2.56446507e-04 9.99999953e-01]] t_estimated: [[-7.13151964e-01] [ 7.01009373e-01] [-3.68954420e-04]] R_gt: [[ 0.9986846 -0.03187927 0.04018226] [ 0.02844012 0.99610863 0.08342088] [-0.04268591 -0.0821689 0.99570323]] t_gt: [ 0.19984394 -0.24908222 0.94763941] Pose Error in degrees for R and t: 20.795211711162764 71.48954467742061 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.99998822e-01 7.63008008e-04 -1.33202190e-03] [-7.58359892e-04 9.99993634e-01 3.48654336e-03] [ 1.33467368e-03 -3.48552910e-03 9.99993035e-01]] t_estimated: [[-0.79786704] [-0.60283287] [-0.0008443 ]] R_gt: [[ 0.99885858 -0.03708854 0.03013017] [ 0.03486845 0.99685842 0.07112305] [-0.03267423 -0.06999115 0.9970123 ]] t_gt: [ 0.32579816 -0.13692697 0.93547131] Pose Error in degrees for R and t: 4.77164909827357 79.73568752718627 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.99998267 0.0049469 0.00319145] [ 0.00495592 0.99998373 0.00282429] [-0.00317743 0.00284006 -0.99999092]] t_estimated: [[0.97126015] [0.23801697] [0.00127966]] R_gt: [[ 0.99970732 0.02332799 -0.00630132] [-0.02374696 0.99671432 -0.07743844] [ 0.00447465 0.07756612 0.99697739]] t_gt: [-0.10724445 0.48124858 -0.8699991 ] Pose Error in degrees for R and t: 179.87527584413056 89.46887396266737 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.80474262e-01 -1.96647374e-01 -1.80435002e-04] [ 1.96647377e-01 9.80474278e-01 -1.63337544e-06] [ 1.77233077e-04 -3.38805873e-05 9.99999984e-01]] t_estimated: [[ 1.93999297e-01] [-9.81001528e-01] [-5.23964173e-04]] R_gt: [[ 0.99897159 0.04481459 0.00694107] [-0.04345422 0.98973683 -0.13614039] [-0.01297074 0.13569893 0.99066602]] t_gt: [-0.13909971 0.48831071 -0.86151258] Pose Error in degrees for R and t: 15.931856138603077 59.630975452607906 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.50777658e-01 -5.25525734e-01 2.82033606e-04] [ 5.25525420e-01 8.50777559e-01 7.60822520e-04] [-6.39779675e-04 -4.99074972e-04 9.99999671e-01]] t_estimated: [[ 0.68546074] [-0.7281085 ] [ 0.00126001]] R_gt: [[ 0.99468979 0.10189547 -0.01447467] [-0.10279761 0.97685755 -0.18757111] [-0.00497269 0.18806318 0.98214501]] t_gt: [-0.20022541 0.57255698 -0.7950398 ] Pose Error in degrees for R and t: 39.11856160403365 56.28019148665386 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998587e-01 1.67523300e-03 1.42918932e-04] [-1.67523688e-03 9.99998596e-01 2.70285063e-05] [-1.42873452e-04 -2.72678912e-05 9.99999989e-01]] t_estimated: [[0.99996801] [0.00792878] [0.00105377]] R_gt: [[ 0.99052068 -0.13720256 0.00667824] [ 0.13671711 0.98939842 0.04900828] [-0.01333054 -0.0476303 0.99877565]] t_gt: [ 0.59886142 -0.76107105 0.24927063] Pose Error in degrees for R and t: 8.459819622997472 53.62479062227322 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99994397e-01 3.32041108e-03 4.25663189e-04] [-3.32043788e-03 9.99994485e-01 6.22631421e-05] [-4.25454102e-04 -6.36761814e-05 9.99999907e-01]] t_estimated: [[0.99993138] [0.01161303] [0.0015429 ]] R_gt: [[ 0.9810606 -0.19081678 0.03330309] [ 0.18917392 0.98081811 0.04701309] [-0.0416348 -0.03982222 0.99833907]] t_gt: [ 0.61070697 -0.74531529 0.26747358] Pose Error in degrees for R and t: 11.623923557876699 52.95641439531049 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-1.55427328e-01 -9.87847259e-01 -3.71674837e-04] [-9.87847167e-01 1.55427507e-01 -5.14081696e-04] [ 5.65602687e-04 2.87255591e-04 -9.99999799e-01]] t_estimated: [[8.65903398e-01] [5.00210773e-01] [6.99122733e-04]] R_gt: [[ 0.97311699 -0.22910933 0.02350883] [ 0.22729992 0.97182964 0.06232861] [-0.03712642 -0.05530901 0.99777934]] t_gt: [ 0.6184112 -0.74716842 0.24353015] Pose Error in degrees for R and t: 176.49985030065267 80.68205317236193 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 9.93112666e-01 -1.17163222e-01 -1.12915031e-04] [ 1.17163238e-01 9.93112660e-01 1.41505355e-04] [ 9.55581233e-05 -1.53760251e-04 9.99999984e-01]] t_estimated: [[0.61745443] [0.78660588] [0.00110204]] R_gt: [[ 0.99713647 0.03533356 0.06686309] [-0.03315819 0.99889292 -0.03337206] [-0.06796869 0.03105863 0.99720388]] t_gt: [-0.67081966 0.67050706 0.31689316] Pose Error in degrees for R and t: 9.694773352842839 83.47864913338742 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 8.61688862e-01 -5.07436519e-01 -6.96409155e-04] [ 5.07436937e-01 8.61688615e-01 6.97077576e-04] [ 2.46365222e-04 -9.54047712e-04 9.99999515e-01]] t_estimated: [[0.48053441] [0.8769753 ] [0.00100111]] R_gt: [[ 0.99223821 0.07476951 0.09936817] [-0.06625566 0.99405555 -0.08638718] [-0.10523735 0.07913315 0.99129361]] t_gt: [-0.69042832 0.71857389 0.0834284 ] Pose Error in degrees for R and t: 35.35980842296286 72.63363832871842 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.34841987 -0.93733365 -0.00303815] [-0.9373337 -0.34842668 0.00209545] [-0.00302271 0.00211766 -0.99999319]] t_estimated: [[0.39979476] [0.91660261] [0.00195022]] R_gt: [[ 0.97598028 0.11305476 0.18622831] [-0.09466235 0.98996827 -0.10488665] [-0.19621783 0.08473897 0.9768921 ]] t_gt: [-0.70428015 0.59949862 0.38025106] Pose Error in degrees for R and t: 178.20511697045737 74.4144999881297 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.97128410e-01 -7.57292402e-02 -1.26557063e-04] [ 7.57292587e-02 9.97128406e-01 1.48019581e-04] [ 1.14984232e-04 -1.57178602e-04 9.99999981e-01]] t_estimated: [[-0.57153976] [-0.82057224] [-0.00187202]] R_gt: [[ 0.99973041 0.02272779 0.00479145] [-0.02276332 0.99971152 0.00767395] [-0.00461461 -0.00778092 0.99995957]] t_gt: [-0.94603682 0.19104524 0.2617557 ] Pose Error in degrees for R and t: 5.669640111125425 67.45299626288364 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-1.31120828e-01 9.91366390e-01 9.03884074e-05] [ 9.91356924e-01 1.31119177e-01 4.38308731e-03] [ 4.33339380e-03 6.64321213e-04 -9.99990390e-01]] t_estimated: [[-0.22088537] [-0.97529386] [-0.00339824]] R_gt: [[ 0.99010923 0.13564302 0.03584412] [-0.13333526 0.98922834 -0.06040186] [-0.04365102 0.0550254 0.99753062]] t_gt: [-0.76253708 0.64678717 0.01426749] Pose Error in degrees for R and t: 176.26990933546637 62.45644567179406 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.97266327e-01 -7.38856560e-02 -8.85030642e-04] [ 7.38861145e-02 9.97266562e-01 4.97043002e-04] [ 8.45887117e-04 -5.61075724e-04 9.99999485e-01]] t_estimated: [[-0.01245232] [-0.99992169] [-0.00124523]] R_gt: [[ 0.96434632 0.26365668 0.02286798] [-0.26131483 0.96231196 -0.07530451] [-0.04185996 0.06664393 0.99689801]] t_gt: [-0.67307054 0.73943373 -0.01462204] Pose Error in degrees for R and t: 20.00121816722329 43.03169470455828 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-1.82802050e-01 -9.83149426e-01 -7.85846590e-04] [-9.83149079e-01 1.82800942e-01 1.30558308e-03] [-1.13992976e-03 1.01126761e-03 -9.99998839e-01]] t_estimated: [[0.82511197] [0.56496836] [0.00099291]] R_gt: [[ 0.97342559 -0.22861437 -0.01333069] [ 0.22881117 0.97334145 0.01583962] [ 0.00935392 -0.01846827 0.99978528]] t_gt: [ 0.64040289 -0.7673273 0.0330599 ] Pose Error in degrees for R and t: 179.83963987789517 84.5532115318003 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.41898618e-01 3.35896257e-01 8.35925776e-04] [-3.35895330e-01 9.41898702e-01 -1.07812280e-03] [-1.14949482e-03 7.34698810e-04 9.99999069e-01]] t_estimated: [[0.49917031] [0.86650331] [0.00100639]] R_gt: [[ 0.94800012 -0.3171531 -0.02662217] [ 0.31627294 0.94810641 -0.03261402] [ 0.03558376 0.02249842 0.99911274]] t_gt: [ 0.66936773 -0.73083016 -0.1335444 ] Pose Error in degrees for R and t: 38.17397535998885 72.58607796156677 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999947e-01 2.95554746e-04 1.38124941e-04] [-2.95556150e-04 9.99999956e-01 1.01416152e-05] [-1.38121938e-04 -1.01824383e-05 9.99999990e-01]] t_estimated: [[9.59174394e-01] [2.82814291e-01] [7.48185954e-04]] R_gt: [[ 8.98289633e-01 -4.33134526e-01 -7.39626231e-02] [ 4.31625764e-01 9.01329090e-01 -3.61195045e-02] [ 8.23094858e-02 5.21308724e-04 9.96606561e-01]] t_gt: [ 0.72618062 -0.67387956 -0.13619117] Pose Error in degrees for R and t: 26.1069997108374 59.612260170732156 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.69498937e-01 -2.45095503e-01 -7.59597915e-05] [ 2.45095514e-01 9.69498915e-01 2.08809566e-04] [ 2.24646496e-05 -2.21058057e-04 9.99999975e-01]] t_estimated: [[0.96573348] [0.25952981] [0.00176551]] R_gt: [[ 0.99987045 -0.00498268 -0.01530247] [ 0.00537147 0.99966233 0.02543455] [ 0.01517088 -0.0255141 0.99955863]] t_gt: [0.97853364 0.19375586 0.07021812] Pose Error in degrees for R and t: 13.992626692611744 5.49049077359985 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-4.27641983e-04 -9.99997667e-01 -2.11717824e-03] [-9.99999873e-01 4.27073774e-04 2.68824833e-04] [-2.67920015e-04 2.11729293e-03 -9.99997723e-01]] t_estimated: [[0.74493567] [0.6671356 ] [0.0009725 ]] R_gt: [[ 9.98163394e-01 2.91831874e-02 -5.30859156e-02] [-2.91587933e-02 9.99574330e-01 1.23285196e-03] [ 5.30992430e-02 3.17950098e-04 9.98588194e-01]] t_gt: [ 0.67386653 0.51579666 -0.52901579] Pose Error in degrees for R and t: 177.7889907420689 32.265969722724414 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.86985787 0.49329323 0.00301376] [-0.49329942 0.86985769 0.00181506] [-0.00172619 -0.00306553 0.99999381]] t_estimated: [[-0.403933 ] [ 0.91476386] [ 0.00672394]] R_gt: [[ 0.99834742 0.05637954 -0.01111632] [-0.05630748 0.99839069 0.00670076] [ 0.01147683 -0.00606328 0.99991526]] t_gt: [ 0.58944512 0.79617223 -0.13661708] Pose Error in degrees for R and t: 26.340065194818425 60.705768689709785 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.99088979e-01 4.26587944e-02 -1.19973082e-03] [-4.26581959e-02 9.99089589e-01 5.20133035e-04] [ 1.22082682e-03 -4.68480830e-04 9.99999145e-01]] t_estimated: [[0.72630154] [0.68737557] [0.00094941]] R_gt: [[ 0.99820642 -0.03854546 0.04580068] [ 0.03914025 0.99915961 -0.01215834] [-0.04529382 0.01392839 0.99887706]] t_gt: [0.70447375 0.29134599 0.64717405] Pose Error in degrees for R and t: 5.441779155337289 44.55813385395949 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-7.65600720e-01 -6.43311223e-01 -2.49156955e-03] [ 6.43308118e-01 -7.65604771e-01 1.99983203e-03] [-3.19407192e-03 -7.17740734e-05 9.99994896e-01]] t_estimated: [[7.84569233e-01] [6.20040850e-01] [6.79869353e-04]] R_gt: [[ 0.99357506 -0.00890342 0.11282237] [ 0.01477284 0.99857494 -0.05129685] [-0.11220606 0.0526334 0.99229011]] t_gt: [-0.00718054 0.76986452 0.63816695] Pose Error in degrees for R and t: 139.3632898059066 61.82620162731211 Number of keypoints: Image1: 378 Image2: 378 R_estimated: [[ 6.58480089e-01 7.52597316e-01 1.11910723e-03] [ 7.52594208e-01 -6.58480725e-01 2.25652538e-03] [ 2.43516548e-03 -6.43643415e-04 -9.99996828e-01]] t_estimated: [[0.41730229] [0.90876706] [0.0011069 ]] R_gt: [[ 0.99008954 0.03485755 0.13604296] [-0.02175086 0.99507965 -0.096669 ] [-0.13874356 0.0927519 0.98597474]] t_gt: [-0.36262645 0.87622224 0.31739036] Pose Error in degrees for R and t: 171.86149081838883 49.811198966395025 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.39180589e-02 9.99903089e-01 3.17081730e-04] [-9.99900686e-01 1.39187265e-02 -2.21067079e-03] [-2.21486992e-03 -2.86281993e-04 9.99997506e-01]] t_estimated: [[0.01013461] [0.99994801] [0.00112607]] R_gt: [[ 0.9836484 -0.17612147 -0.03762998] [ 0.17360816 0.98286054 -0.06201778] [ 0.04790794 0.05447146 0.99736593]] t_gt: [ 0.62684086 -0.66398585 -0.40766817] Pose Error in degrees for R and t: 99.35080914030631 48.84809779112138 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 2.20406266e-01 9.75403406e-01 3.04533421e-03] [ 9.75407625e-01 -2.20408340e-01 3.58797779e-04] [ 1.02118963e-03 2.89136093e-03 -9.99995299e-01]] t_estimated: [[8.53935882e-01] [5.20377793e-01] [6.79344377e-04]] R_gt: [[ 0.96168274 -0.26778762 -0.05878556] [ 0.26286337 0.96152508 -0.07983525] [ 0.07790252 0.06132402 0.99507349]] t_gt: [ 0.64644965 -0.66420257 -0.37541683] Pose Error in degrees for R and t: 179.16748965895687 78.1040362140178 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.92240644 -0.38621523 -0.002037 ] [ 0.38621843 0.92240611 0.00151305] [ 0.00129457 -0.00218238 0.99999678]] t_estimated: [[0.91345957] [0.40692398] [0.0021194 ]] R_gt: [[ 0.92641667 -0.36537806 -0.09083426] [ 0.36274304 0.93082215 -0.04459208] [ 0.1008444 0.00836213 0.99486742]] t_gt: [ 0.71359352 -0.66581922 -0.21787396] Pose Error in degrees for R and t: 5.891687177643613 67.63910613586654 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.94638649e-01 1.03411480e-01 1.51228000e-04] [-1.03411434e-01 9.94638624e-01 -2.87006399e-04] [-1.80096967e-04 2.69828953e-04 9.99999947e-01]] t_estimated: [[0.79272915] [0.60957329] [0.00094793]] R_gt: [[ 0.99958455 -0.02580946 0.01286178] [ 0.02557401 0.99950768 0.01822526] [-0.01332551 -0.01788851 0.99975154]] t_gt: [ 0.63386513 -0.32787899 0.70050722] Pose Error in degrees for R and t: 7.518245019901282 72.34521802494086 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.85846036e-01 1.67651838e-01 6.74564963e-04] [-1.67651745e-01 9.85846264e-01 -1.91241016e-04] [-6.97079256e-04 7.54422036e-05 9.99999754e-01]] t_estimated: [[-0.58248643] [ 0.81283426] [ 0.00316743]] R_gt: [[ 0.99996065 -0.00642414 -0.006213 ] [ 0.00646091 0.99996249 0.00582928] [ 0.00617606 -0.00586853 0.99996451]] t_gt: [ 0.240057 0.96406288 -0.11382179] Pose Error in degrees for R and t: 10.033758804754727 49.95172150442165 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999993e-01 -4.23499556e-05 1.08731666e-04] [ 4.23525351e-05 9.99999999e-01 -2.37216035e-05] [-1.08730661e-04 2.37262084e-05 9.99999994e-01]] t_estimated: [[-0.88429576] [-0.46692492] [-0.00145746]] R_gt: [[ 0.99683892 0.07867645 0.01111404] [-0.07896449 0.99647148 0.02846508] [-0.00883568 -0.02925181 0.99953353]] t_gt: [-0.5428063 0.80521611 0.2387223 ] Pose Error in degrees for R and t: 4.850292866468146 84.0489993183322 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99816785e-01 1.91408201e-02 -1.58440406e-04] [-1.91408033e-02 9.99816792e-01 1.06814258e-04] [ 1.60455891e-04 -1.03762012e-04 9.99999982e-01]] t_estimated: [[-9.99996601e-01] [ 2.58718165e-03] [ 3.22611559e-04]] R_gt: [[ 0.99005505 0.13821959 -0.02620351] [-0.13914515 0.9895569 -0.0376308 ] [ 0.02072912 0.04090259 0.99894779]] t_gt: [-0.60029034 0.7276746 -0.33187525] Pose Error in degrees for R and t: 7.363676427365962 52.982145806421606 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97471425e-01 7.10686621e-02 3.32121211e-05] [-7.10686521e-02 9.97471397e-01 -2.40900161e-04] [-5.02485929e-05 2.37930686e-04 9.99999970e-01]] t_estimated: [[-7.99742030e-01] [-6.00343521e-01] [-5.84786467e-04]] R_gt: [[ 0.99237081 0.12320925 -0.00429505] [-0.12280374 0.98484163 -0.12250314] [-0.01086332 0.12209629 0.99245867]] t_gt: [-0.41525853 0.69374303 -0.58845642] Pose Error in degrees for R and t: 7.646814099911194 85.17915867977136 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.81731069 -0.56170437 -0.12841898] [ 0.56048347 0.82671928 -0.04892347] [ 0.13364697 -0.03199104 0.99051252]] t_estimated: [[ 0.89660733] [-0.42919184] [-0.10903967]] R_gt: [[ 0.98193628 0.18888397 -0.0111174 ] [-0.18788769 0.96645068 -0.17513103] [-0.02233477 0.17405652 0.98448184]] t_gt: [-0.42029711 0.71802481 -0.55478888] Pose Error in degrees for R and t: 46.89364133036615 51.3531907670738 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 1.00000000e+00 -1.39728796e-08 3.09656999e-12] [ 1.39728790e-08 1.00000000e+00 1.65769601e-11] [-3.09657008e-12 -1.65769609e-11 1.00000000e+00]] t_estimated: [[-3.94891198e-02] [ 9.99219963e-01] [-2.72340521e-04]] R_gt: [[ 9.99815086e-01 8.93666270e-05 -1.92809675e-02] [-6.52431986e-04 9.99573672e-01 -2.92151548e-02] [ 1.92701084e-02 2.92220640e-02 9.99387099e-01]] t_gt: [ 0.11501416 0.18141219 -0.97665826] Pose Error in degrees for R and t: 2.004752613367981 79.8052323506144 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.28186556 0.4363019 0.85451299] [ 0.77178591 0.42600328 -0.47208868] [-0.56999852 0.79256663 -0.21665601]] t_estimated: [[9.99991799e-01] [3.97137331e-03] [7.94274661e-04]] R_gt: [[ 0.99393606 -0.03636164 0.10377934] [ 0.02455387 0.99330729 0.11286351] [-0.10718853 -0.10963142 0.98817525]] t_gt: [ 0.05624798 -0.29705056 0.95320362] Pose Error in degrees for R and t: 104.42111445255924 86.79980361980263 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 7.42329845e-01 6.70034597e-01 -1.98101314e-04] [-6.70034596e-01 7.42329688e-01 -5.23617044e-04] [-2.03785049e-04 5.21431293e-04 9.99999843e-01]] t_estimated: [[-8.26337782e-01] [-5.63174445e-01] [-6.43947493e-04]] R_gt: [[ 0.98086806 -0.14116312 0.13405543] [ 0.10140335 0.95830274 0.2671593 ] [-0.16617894 -0.24845534 0.95428251]] t_gt: [ 0.28552083 -0.40209239 0.86994228] Pose Error in degrees for R and t: 52.01186658983088 89.42424306094344 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.31862554e-01 -3.62810592e-01 8.08970721e-04] [ 3.62810180e-01 9.31862864e-01 6.13363930e-04] [-9.76384704e-04 -2.78068065e-04 9.99999485e-01]] t_estimated: [[0.90548199] [0.42438357] [0.00097784]] R_gt: [[ 0.99708661 -0.07297098 0.02224404] [ 0.07234471 0.99699286 0.0277844 ] [-0.02420548 -0.02609502 0.99936592]] t_gt: [ 0.88604351 -0.21763862 0.40934134] Pose Error in degrees for R and t: 17.218885584330675 44.73786592586542 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-2.02693884e-01 -9.79237713e-01 -2.94802983e-03] [ 9.79241402e-01 -2.02696532e-01 6.25925458e-04] [-1.21048524e-03 -2.75996160e-03 9.99995459e-01]] t_estimated: [[ 0.9961953 ] [-0.08713668] [ 0.00146025]] R_gt: [[ 0.99238148 -0.10274817 0.06798773] [ 0.09859768 0.9932047 0.06183253] [-0.0738785 -0.05465776 0.99576816]] t_gt: [ 0.7522207 -0.20261477 0.62698586] Pose Error in degrees for R and t: 96.0116341185273 39.83168163232205 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-8.94974644e-01 4.46108842e-01 -2.69952519e-03] [-4.46106986e-01 -8.94978714e-01 -1.28785937e-03] [-2.99054303e-03 5.16755602e-05 9.99995527e-01]] t_estimated: [[0.8376288 ] [0.54623861] [0.0011704 ]] R_gt: [[ 0.97812741 -0.20527799 0.03359669] [ 0.20420681 0.97838056 0.03272966] [-0.03958902 -0.02515297 0.99889864]] t_gt: [ 0.97512944 -0.13127473 0.17857639] Pose Error in degrees for R and t: 165.33271672959756 41.81528260423966 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 0.25343907 0.96734993 0.00165914] [-0.96734985 0.25344133 -0.00132728] [-0.00170443 -0.00126858 0.99999774]] t_estimated: [[0.24706246] [0.96899823] [0.0016043 ]] R_gt: [[ 0.99821186 -0.05868626 0.01132882] [ 0.058579 0.9982369 0.00952609] [-0.01186865 -0.00884478 0.99988958]] t_gt: [ 0.40279289 -0.89835632 0.17525354] Pose Error in degrees for R and t: 78.68315838337162 39.58235393659837 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-0.15986311 -0.98712861 -0.00457093] [-0.98713538 0.1598479 0.00352022] [-0.00274425 0.00507488 -0.99998336]] t_estimated: [[7.58943628e-01] [6.51155914e-01] [7.38272012e-04]] R_gt: [[ 0.98535958 -0.16247791 0.05163323] [ 0.15985037 0.98579558 0.05151672] [-0.05927033 -0.04250808 0.99733596]] t_gt: [ 0.48949963 -0.79675973 0.35435018] Pose Error in degrees for R and t: 175.85940474193958 81.54395799522962 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.59415070e-01 2.81997655e-01 2.16565504e-04] [-2.81997731e-01 9.59414931e-01 5.19367866e-04] [-6.13156577e-05 -5.59360339e-04 9.99999842e-01]] t_estimated: [[0.69896857] [0.71515197] [0.00077064]] R_gt: [[ 0.95494912 -0.29582337 0.02366459] [ 0.29248108 0.9516615 0.09377864] [-0.05026243 -0.08263157 0.99531159]] t_gt: [ 0.64168595 -0.7059456 0.29979986] Pose Error in degrees for R and t: 33.965672612395615 86.78349985581357 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.81521863 0.57915181 0.00133049] [-0.57915118 0.81520716 0.004604 ] [ 0.00158179 -0.00452382 0.99998852]] t_estimated: [[0.40237622] [0.91547341] [0.00135026]] R_gt: [[ 0.99814649 -0.06057945 0.00581876] [ 0.06051114 0.99810484 0.01120199] [-0.00648583 -0.01082866 0.99991971]] t_gt: [ 0.46245632 -0.87275989 0.15628288] Pose Error in degrees for R and t: 38.86531506457669 52.21530091457737 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.61757863e-01 5.07319520e-01 5.38770614e-04] [-5.07319594e-01 8.61757988e-01 2.46493931e-06] [-4.63039368e-04 -2.75453070e-04 9.99999855e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9954209 -0.09406497 0.01698111] [ 0.0940171 0.99556506 0.00359059] [-0.01724298 -0.00197787 0.99984866]] t_gt: [ 0.42558291 -0.89995276 0.09467953] Pose Error in degrees for R and t: 35.89447235241211 78.64459056198945 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.81816538e-01 1.89829503e-01 1.02239406e-03] [-1.89830005e-01 9.81816885e-01 4.17137344e-04] [-9.24618772e-04 -6.03633411e-04 9.99999390e-01]] t_estimated: [[0.97237798] [0.23340731] [0.00144421]] R_gt: [[ 0.99540779 -0.09256937 0.02435818] [ 0.09218963 0.99560959 0.01625592] [-0.0257556 -0.01393618 0.99957035]] t_gt: [ 0.28145657 -0.93872595 0.19893665] Pose Error in degrees for R and t: 16.324025445985846 86.85494640522347 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.79778381e-01 2.00085791e-01 -3.18390153e-05] [-2.00085709e-01 9.79778098e-01 7.66459221e-04] [ 1.84552770e-04 -7.44589642e-04 9.99999706e-01]] t_estimated: [[-0.77441634] [ 0.63266685] [ 0.00346282]] R_gt: [[ 0.9953429 0.07775583 0.0569885 ] [-0.07378616 0.99490254 -0.06873835] [-0.06204156 0.06421367 0.99600503]] t_gt: [-0.43163365 0.90063244 -0.05053325] Pose Error in degrees for R and t: 8.84580202036364 25.325876540530643 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.99470716 0.10273345 -0.00187204] [-0.10273058 0.99470798 0.00156797] [ 0.00202321 -0.00136735 0.99999702]] t_estimated: [[-0.81591636] [-0.57815811] [-0.00370088]] R_gt: [[ 0.9840109 0.1183617 0.13309063] [-0.10535613 0.98930541 -0.10087364] [-0.14360636 0.08523873 0.98595719]] t_gt: [-0.43906481 0.8620584 0.25313517] Pose Error in degrees for R and t: 9.769706019763477 81.88833937831711 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-9.03093173e-01 -4.29443513e-01 -9.94779783e-04] [ 4.29444606e-01 -9.03089418e-01 -2.61413481e-03] [ 2.24248142e-04 -2.78801012e-03 9.99996088e-01]] t_estimated: [[0.86928968] [0.49430198] [0.00100264]] R_gt: [[ 0.97972087 0.08780899 0.18010346] [-0.07040313 0.99240553 -0.10087184] [-0.18759209 0.08614661 0.97846184]] t_gt: [-0.33109135 0.79438476 0.50924589] Pose Error in degrees for R and t: 159.28420559542013 83.95196202161914 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999344e-01 1.14365426e-03 -7.08220399e-05] [-1.14366902e-03 9.99999324e-01 -2.08650901e-04] [ 7.05833675e-05 2.08731761e-04 9.99999976e-01]] t_estimated: [[ 2.26052761e-01] [ 9.74114597e-01] [-9.49065410e-04]] R_gt: [[ 0.9851984 -0.13824516 -0.1013572 ] [ 0.14356005 0.98851879 0.04713391] [ 0.09367735 -0.06098689 0.99373274]] t_gt: [ 0.58662295 -0.80348118 -0.10144709] Pose Error in degrees for R and t: 10.404033556541352 49.46000223894629 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.65541455 -0.7552681 0.00136588] [-0.75525225 0.65541082 0.00553926] [-0.00507884 0.00259892 -0.99998373]] t_estimated: [[0.88098916] [0.47313057] [0.00235961]] R_gt: [[ 0.94353846 -0.29184416 -0.15672317] [ 0.31025519 0.94434477 0.1093439 ] [ 0.11608995 -0.15179492 0.98157056]] t_gt: [ 0.64309991 -0.75716151 0.11458163] Pose Error in degrees for R and t: 176.16538120440754 77.9597866062675 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.9845205 0.17516087 0.00616963] [-0.17520235 -0.98450767 -0.00698425] [ 0.00485068 -0.00795707 0.99995658]] t_estimated: [[0.58371582] [0.81195745] [0.00097124]] R_gt: [[ 0.88309093 -0.39428791 -0.25433772] [ 0.42636588 0.90062441 0.08419476] [ 0.19586604 -0.18279332 0.96344322]] t_gt: [ 0.71380639 -0.7000169 0.02137218] Pose Error in degrees for R and t: 165.4900308562185 81.27436372362601 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.99942014 0.03399528 0.00192489] [-0.03344141 -0.96935693 -0.2433697 ] [-0.00640751 -0.24329295 0.96993169]] t_estimated: [[0.70534998] [0.7088401 ] [0.00520721]] R_gt: [[ 0.98335403 -0.17400329 -0.05232129] [ 0.17653199 0.98310673 0.04834663] [ 0.04302537 -0.05677902 0.99745881]] t_gt: [ 0.60046659 -0.7949163 0.08687896] Pose Error in degrees for R and t: 171.5805889419529 81.98241309068116 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.78083693e-01 2.08211916e-01 -2.95781764e-04] [-2.08212013e-01 9.78080695e-01 -2.43138763e-03] [-2.16945442e-04 2.43968591e-03 9.99997000e-01]] t_estimated: [[0.17173165] [0.98514323] [0.00102833]] R_gt: [[ 0.9535534 -0.27048 -0.13257071] [ 0.28079695 0.95748146 0.06619699] [ 0.10902959 -0.10034776 0.98895983]] t_gt: [ 0.65432142 -0.75614678 0.01027229] Pose Error in degrees for R and t: 29.370472597619344 50.76262917921998 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-7.38730323e-01 -6.73993200e-01 -3.26734285e-03] [ 6.74000893e-01 -7.38725368e-01 -2.76162612e-03] [-5.52351821e-04 -4.24228896e-03 9.99990849e-01]] t_estimated: [[0.97910355] [0.20335991] [0.000992 ]] R_gt: [[ 0.94042364 -0.30383612 -0.15259694] [ 0.3294145 0.92534851 0.18765734] [ 0.08418884 -0.22674568 0.97030804]] t_gt: [ 0.57045201 -0.76016749 0.31101429] Pose Error in degrees for R and t: 119.35023727245806 66.15570496352589 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.85133349e-01 -1.71791321e-01 -1.63122925e-04] [ 1.71791361e-01 9.85133317e-01 2.74400743e-04] [ 1.13558162e-04 -2.98344432e-04 9.99999949e-01]] t_estimated: [[9.89005102e-01] [1.47879100e-01] [8.24584093e-04]] R_gt: [[ 0.99886178 -0.0280709 0.03857022] [ 0.02848882 0.99954081 -0.01032997] [-0.03826251 0.01141659 0.99920254]] t_gt: [ 0.14188807 -0.88702966 0.43937019] Pose Error in degrees for R and t: 8.584213630492524 89.45469773597486 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.01325132e-01 -4.33141068e-01 -1.34951179e-03] [ 4.33142109e-01 9.01325446e-01 5.94555433e-04] [ 9.58822939e-04 -1.12041814e-03 9.99998913e-01]] t_estimated: [[9.89163597e-01] [1.46814634e-01] [9.17591463e-04]] R_gt: [[ 0.99927 -0.02492899 0.02895806] [ 0.02548398 0.99949476 -0.01898722] [-0.02847022 0.01971175 0.99940014]] t_gt: [-0.07963782 -0.98733116 0.13724063] Pose Error in degrees for R and t: 24.309331957693576 77.07922353250838 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.9263205 0.37673349 -0.00148303] [-0.37673014 -0.92632062 -0.00212271] [-0.00217345 -0.00140761 0.99999665]] t_estimated: [[0.87070836] [0.49179884] [0.00092628]] R_gt: [[ 0.99658349 -0.04642705 0.06830664] [ 0.04556095 0.99886124 0.0141713 ] [-0.06888671 -0.01101125 0.99756393]] t_gt: [-0.12065336 -0.8026609 0.58410465] Pose Error in degrees for R and t: 160.51707624670357 60.04890998265989 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.98532223e-01 5.41606506e-02 1.51703623e-04] [-5.41605797e-02 9.98532143e-01 -4.37885819e-04] [-1.75197124e-04 4.29026745e-04 9.99999893e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99865801 0.03274655 -0.04012868] [-0.03358348 0.99922816 -0.02035316] [ 0.0394317 0.02167333 0.99898707]] t_gt: [ 0.35611376 0.5648467 -0.74439989] Pose Error in degrees for R and t: 2.843057125413132 55.508591358378176 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.09622557 0.99535754 -0.0020037 ] [ 0.99534745 -0.09621428 0.00512423] [ 0.00490766 -0.00248746 -0.99998486]] t_estimated: [[-0.08940204] [-0.99599464] [-0.00139691]] R_gt: [[ 0.99590061 0.0879732 0.02107992] [-0.08730237 0.99570177 -0.03092002] [-0.02370981 0.02895351 0.99929947]] t_gt: [-0.06915348 0.99116974 -0.11313858] Pose Error in degrees for R and t: 178.1650538944056 11.22825671333988 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99765754e-01 2.16429661e-02 1.41332791e-04] [-2.16426343e-02 9.99763703e-01 -2.03332001e-03] [-1.85306471e-04 2.02978490e-03 9.99997923e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.98635565 0.14727192 0.07358011] [-0.13697544 0.98207741 -0.12946593] [-0.09132852 0.11761994 0.98884965]] t_gt: [-0.22069206 0.96136103 -0.16455997] Pose Error in degrees for R and t: 10.963246124500646 16.25418007434778 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.98922585e-01 -4.64075361e-02 9.44731569e-05] [ 4.64075416e-02 9.98922588e-01 -5.64518735e-05] [-9.17515780e-05 6.07753183e-05 9.99999994e-01]] t_estimated: [[ 9.98567710e-01] [-5.35014365e-02] [ 3.54263691e-04]] R_gt: [[ 0.98422434 -0.1765771 -0.01110188] [ 0.17675911 0.98408255 0.01835774] [ 0.00768213 -0.0200294 0.99977023]] t_gt: [ 0.98222361 -0.15442778 0.10671848] Pose Error in degrees for R and t: 7.617566969903067 8.460823229941603 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 7.24799218e-01 6.88959697e-01 7.92990029e-04] [-6.88957934e-01 7.24799325e-01 -1.70405401e-03] [-1.74878317e-03 6.88760245e-04 9.99998234e-01]] t_estimated: [[0.68888444] [0.72486915] [0.00171539]] R_gt: [[ 0.97907467 -0.20112139 0.03102267] [ 0.19951619 0.97870419 0.04828151] [-0.0400732 -0.04108183 0.99835229]] t_gt: [ 0.95496334 -0.16139858 0.24898899] Pose Error in degrees for R and t: 55.20413733869575 57.22825328149579 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.02304868e-01 -4.31097865e-01 7.45960483e-04] [-4.31060911e-01 -9.02247674e-01 -1.16458729e-02] [ 5.69355205e-03 1.01865734e-02 -9.99931906e-01]] t_estimated: [[ 0.31915701] [ 0.94767909] [-0.00656827]] R_gt: [[ 0.96476665 -0.25692698 0.05669566] [ 0.25213987 0.96439464 0.07980102] [-0.07518073 -0.06269403 0.99519713]] t_gt: [ 0.93993185 -0.1343046 0.31383179] Pose Error in degrees for R and t: 175.79620428156196 80.17456932521259 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-8.02835495e-01 -5.96199467e-01 -1.16781932e-03] [-5.96196848e-01 8.02835847e-01 -1.98011798e-03] [ 2.11811249e-03 -8.93458802e-04 -9.99997358e-01]] t_estimated: [[9.44988617e-01] [3.27103185e-01] [1.42536578e-04]] R_gt: [[ 0.99688679 0.07786195 -0.0124693 ] [-0.07763207 0.99682183 0.01793167] [ 0.01382698 -0.01690666 0.99976138]] t_gt: [-0.63263625 0.77181393 0.06383277] Pose Error in degrees for R and t: 179.50164650391883 69.79609484423646 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999983e-01 1.81170928e-04 1.57056225e-05] [-1.81170566e-04 9.99999983e-01 -2.29949661e-05] [-1.57097883e-05 2.29921203e-05 1.00000000e+00]] t_estimated: [[5.23890610e-03] [9.99985860e-01] [9.13379625e-04]] R_gt: [[ 0.98876501 0.14926639 0.00797111] [-0.14936494 0.98868995 0.01356722] [-0.00585455 -0.01460509 0.99987598]] t_gt: [-0.64215209 0.76049881 0.09634444] Pose Error in degrees for R and t: 8.6245238235079 40.780983546076634 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.9850161 0.1724406 0.00274407] [-0.17242823 0.98501295 -0.00424177] [-0.0034344 0.00370506 0.99998724]] t_estimated: [[0.80721752] [0.59025254] [0.00134761]] R_gt: [[ 8.88788516e-01 4.58207934e-01 1.00082458e-02] [-4.58237064e-01 8.88829405e-01 7.17853085e-04] [-8.56574610e-03 -5.22320381e-03 9.99949561e-01]] t_gt: [-0.58633277 0.80985057 0.01886601] Pose Error in degrees for R and t: 17.352348064101484 89.7282052018942 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-0.00361596 -0.99999256 0.00134531] [-0.99998725 0.00362068 0.00352072] [-0.00352557 -0.00133256 -0.9999929 ]] t_estimated: [[0.72115281] [0.69277114] [0.00260304]] R_gt: [[ 0.99276853 -0.11988012 0.00614856] [ 0.11968966 0.99249018 0.02524934] [-0.00912995 -0.02433039 0.9996621 ]] t_gt: [ 0.63775704 -0.74544952 0.19383234] Pose Error in degrees for R and t: 178.482368858229 86.78969502048932 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.97450267 -0.2242716 0.00684113] [-0.22424705 0.97452338 0.00417596] [-0.00760339 0.00253538 -0.99996788]] t_estimated: [[0.94867977] [0.31622659] [0.00272609]] R_gt: [[ 0.96361334 -0.26729379 0.00182534] [ 0.26573807 0.95869938 0.10139342] [-0.02885258 -0.09721913 0.99484421]] t_gt: [ 0.66595334 -0.66730392 0.33348406] Pose Error in degrees for R and t: 178.02909392162172 65.06016530336291 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-5.72926209e-01 8.19604673e-01 1.93352667e-03] [ 8.19606448e-01 5.72921638e-01 2.46316422e-03] [ 9.11061635e-04 2.99594226e-03 -9.99995097e-01]] t_estimated: [[0.71261597] [0.70155098] [0.00216873]] R_gt: [[ 9.33759178e-01 -3.57899965e-01 2.35827158e-04] [ 3.51904548e-01 9.18240339e-01 1.81654599e-01] [-6.52309589e-02 -1.69538243e-01 9.83362196e-01]] t_gt: [ 0.6469069 -0.61537801 0.45035693] Pose Error in degrees for R and t: 177.01446066668268 88.26631784201528 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.98738661e-01 -5.02103048e-02 -1.06779733e-04] [ 5.02103078e-02 9.98738667e-01 2.54527945e-05] [ 1.05367056e-04 -3.07821332e-05 9.99999994e-01]] t_estimated: [[-9.97679606e-01] [-6.80827399e-02] [-3.79550483e-04]] R_gt: [[ 0.99169561 0.12789206 0.01352398] [-0.12811942 0.99160285 0.0175337 ] [-0.01116727 -0.01912108 0.99975527]] t_gt: [-0.75228497 0.64398733 0.13909578] Pose Error in degrees for R and t: 10.311841850325862 45.03763525259566 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999918e-01 -3.74662835e-04 -1.55721428e-04] [ 3.74666019e-04 9.99999930e-01 2.04144117e-05] [ 1.55713768e-04 -2.04727536e-05 9.99999988e-01]] t_estimated: [[-9.63866357e-01] [-2.66386167e-01] [-2.35344433e-04]] R_gt: [[ 0.98289302 0.18417352 0.00123545] [-0.1838826 0.98167475 -0.04999928] [-0.0104218 0.04891616 0.99874887]] t_gt: [-0.63816903 0.74069943 -0.21001104] Pose Error in degrees for R and t: 11.011948575623157 65.30126567167336 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 5.59339396e-01 8.28938229e-01 9.23430938e-04] [-8.28937522e-01 5.59340137e-01 -1.09311718e-03] [-1.42263860e-03 -1.54043052e-04 9.99998976e-01]] t_estimated: [[-0.78838672] [ 0.61517925] [ 0.00092679]] R_gt: [[ 0.98431534 0.17583482 0.01432679] [-0.17282694 0.97739806 -0.12175268] [-0.03541089 0.11736634 0.9924571 ]] t_gt: [-0.53905486 0.7378802 -0.40614365] Pose Error in degrees for R and t: 46.412702411205785 28.533751349065493 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.76968349e-01 2.13383552e-01 -5.52999171e-04] [-2.13383039e-01 9.76968236e-01 8.62968843e-04] [ 7.24405982e-04 -7.25092602e-04 9.99999475e-01]] t_estimated: [[-7.65486087e-01] [-6.43452073e-01] [-6.93375079e-04]] R_gt: [[ 0.99710766 -0.00925715 0.07543161] [ 0.00378006 0.9973668 0.07243533] [-0.07590259 -0.07194009 0.99451691]] t_gt: [-0.07247794 -0.19072452 0.9789643 ] Pose Error in degrees for R and t: 14.03556420408979 79.77441818369779 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.79960761e-01 1.99190517e-01 2.09596781e-04] [-1.99190606e-01 9.79960602e-01 5.66329853e-04] [-9.25890510e-05 -5.96730744e-04 9.99999818e-01]] t_estimated: [[0.7350605 ] [0.67800101] [0.00083911]] R_gt: [[ 0.98515508 -0.09497752 0.14299944] [ 0.05715974 0.96695909 0.24844606] [-0.16187076 -0.23658297 0.95803198]] t_gt: [ 0.18023373 -0.3133676 0.93237147] Pose Error in degrees for R and t: 22.9970841775908 85.45750352658722 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.9747181 -0.22343111 -0.00178055] [ 0.22343359 -0.97471823 -0.00134245] [-0.00143559 -0.00170634 0.99999751]] t_estimated: [[0.84623252] [0.53281307] [0.00087061]] R_gt: [[ 0.96921768 -0.21678644 0.11670926] [ 0.16028323 0.91539991 0.36926226] [-0.18688665 -0.33918819 0.92196697]] t_gt: [ 0.37570363 -0.41358779 0.82933221] Pose Error in degrees for R and t: 156.24931210152724 84.35930938270397 Number of keypoints: Image1: 443 Image2: 443 R_estimated: [[-0.66555451 -0.7417759 0.0824967 ] [-0.7418791 0.66959391 0.03548794] [-0.08156339 -0.03758342 -0.99595929]] t_estimated: [[0.91649625] [0.39741817] [0.045754 ]] R_gt: [[ 0.99971616 -0.02172254 0.00977791] [ 0.02144123 0.99937577 0.02807363] [-0.01038122 -0.02785703 0.99955804]] t_gt: [-0.0487758 -0.67249327 0.73849423] Pose Error in degrees for R and t: 173.66973967452384 73.84869795915026 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 1.17848945e-01 -9.93022212e-01 -4.30253040e-03] [ 9.93031085e-01 1.17851903e-01 -4.39799066e-04] [ 9.43791639e-04 -4.22071658e-03 9.99990647e-01]] t_estimated: [[0.97085196] [0.23967365] [0.00173677]] R_gt: [[ 0.99754266 -0.05436223 0.04419733] [ 0.05363612 0.99840752 0.01745907] [-0.04507564 -0.01504579 0.99887006]] t_gt: [-0.18221528 -0.65373989 0.73445337] Pose Error in degrees for R and t: 80.17867045741588 70.59079184885371 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[-0.86706284 -0.49787751 0.01788907] [-0.49786582 0.86723715 0.00541781] [-0.01821147 -0.00420878 -0.9998253 ]] t_estimated: [[0.96737267] [0.25317156] [0.00970999]] R_gt: [[ 0.99300117 -0.11494117 0.02715368] [ 0.11440148 0.993219 0.02065939] [-0.02934453 -0.01740908 0.99941786]] t_gt: [ 0.07590289 -0.94316236 0.32354831] Pose Error in degrees for R and t: 177.08145504016827 80.66458012105329 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.98664284e-01 5.16685414e-02 9.39458020e-05] [-5.16685319e-02 9.98664284e-01 -1.01248413e-04] [-9.90516750e-05 9.62591318e-05 9.99999990e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99938437 -0.02792829 -0.02123895] [ 0.02843821 0.99930607 0.0240977 ] [ 0.02055015 -0.02468638 0.99948363]] t_gt: [ 0.44476295 -0.89418612 -0.05115766] Pose Error in degrees for R and t: 4.935901477033185 63.77173956903559 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99999982e-01 -1.86470472e-04 4.26730744e-05] [ 1.86474190e-04 9.99999979e-01 -8.71318081e-05] [-4.26568259e-05 8.71397639e-05 9.99999995e-01]] t_estimated: [[ 7.80523346e-01] [-6.25126176e-01] [-7.56045618e-04]] R_gt: [[ 0.99891373 -0.03952653 -0.02468879] [ 0.03984539 0.99912784 0.01252921] [ 0.02417164 -0.0134988 0.99961591]] t_gt: [ 0.51101858 -0.8268752 -0.23481359] Pose Error in degrees for R and t: 2.767193867802577 23.660313072516743 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.29412171 0.95576382 -0.00281763] [-0.95575917 -0.29413038 -0.00342399] [-0.00410128 0.00168591 0.99999017]] t_estimated: [[0.55971435] [0.82868463] [0.00128081]] R_gt: [[ 9.87435340e-01 -1.58024215e-01 -5.27975388e-04] [ 1.57996306e-01 9.87309163e-01 -1.61020945e-02] [ 3.06474429e-03 1.58169286e-02 9.99870125e-01]] t_gt: [ 0.67315029 -0.73676437 -0.06361573] Pose Error in degrees for R and t: 116.19748783483581 76.47586658481897 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 4.22527517e-01 9.06349965e-01 4.88772653e-04] [-9.06349378e-01 4.22527799e-01 -1.03106492e-03] [-1.14102569e-03 -7.34549032e-06 9.99999349e-01]] t_estimated: [[-4.28884961e-02] [ 9.99079591e-01] [ 7.39949078e-04]] R_gt: [[ 0.99888892 0.01912936 0.04306004] [-0.02430241 0.99210657 0.12301769] [-0.04036657 -0.12392675 0.99146989]] t_gt: [-0.14970335 0.05554068 0.98716976] Pose Error in degrees for R and t: 64.15024724898215 86.40860850944061 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.00404858e-01 7.13745120e-01 9.68317336e-04] [-7.13737515e-01 7.00402634e-01 -3.86138087e-03] [-3.43425376e-03 2.01340551e-03 9.99992076e-01]] t_estimated: [[0.72124925] [0.69266896] [0.00303827]] R_gt: [[ 9.94433462e-01 3.66673343e-04 1.05357698e-01] [-2.41928532e-02 9.74067254e-01 2.24960517e-01] [-1.02542673e-01 -2.26256623e-01 9.68655069e-01]] t_gt: [-0.06974522 0.01881369 0.99738741] Pose Error in degrees for R and t: 46.99784544755177 88.03771215552169 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99990788e-01 4.28955643e-03 -1.55731001e-04] [-4.28933474e-03 9.99989825e-01 1.39704886e-03] [ 1.61722137e-04 -1.39636800e-03 9.99999012e-01]] t_estimated: [[-9.99994892e-01] [-3.10075938e-03] [-7.75189839e-04]] R_gt: [[ 0.99316557 -0.04305367 0.10848532] [ 0.00638056 0.94811609 0.3178615 ] [-0.11654182 -0.31499545 0.94191028]] t_gt: [ 0.0215344 -0.06415411 0.99770763] Pose Error in degrees for R and t: 19.626164871470113 88.73315731402818 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.96615921 0.25794024 -0.00179384] [ 0.25792515 -0.9659665 0.0195789 ] [ 0.0033174 -0.01937901 -0.99980671]] t_estimated: [[-0.09513113] [ 0.99541217] [ 0.01023094]] R_gt: [[ 0.99851153 0.03388647 -0.04274445] [-0.0318312 0.99834522 0.0478939 ] [ 0.04429628 -0.04646188 0.997938 ]] t_gt: [0.39209811 0.9060882 0.15894416] Pose Error in degrees for R and t: 175.86732751079296 29.973492241656757 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.98528403 -0.17041274 -0.01322424] [ 0.17056058 0.98528589 0.01099081] [ 0.01115668 -0.01308461 0.99985215]] t_estimated: [[-0.54871236] [-0.83601053] [ 0.00106401]] R_gt: [[ 0.99176535 0.1200688 -0.04455151] [-0.11827267 0.99213537 0.04096989] [ 0.04912008 -0.03536321 0.99816626]] t_gt: [-0.28634245 0.95803214 0.01350667] Pose Error in degrees for R and t: 16.849141498909198 49.92491486610445 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99997643 -0.00647544 -0.00228087] [ 0.00647818 0.9999783 0.00119551] [ 0.00227308 -0.00121026 0.99999668]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99469962 0.08106986 -0.06324325] [-0.07774463 0.9955433 0.05337657] [ 0.06728814 -0.04817706 0.99656997]] t_gt: [1.16429921e-01 9.93198638e-01 7.33621735e-04] Pose Error in degrees for R and t: 6.74552966806519 83.13620095741156 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-9.80827226e-01 -1.94878935e-01 -3.92207200e-04] [-1.94879281e-01 9.80823559e-01 2.68547036e-03] [-1.38655543e-04 2.71041550e-03 -9.99996317e-01]] t_estimated: [[0.87991267] [0.47513457] [0.00091372]] R_gt: [[ 0.99817277 -0.00537836 0.06018995] [-0.00315972 0.99002523 0.14085518] [-0.06034733 -0.14078722 0.98819914]] t_gt: [-0.06661062 -0.07957004 0.99460124] Pose Error in degrees for R and t: 175.7673397283729 84.51937095482101 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.06481274e-02 9.95878170e-01 3.09625026e-03] [-9.95882687e-01 -9.06452639e-02 -1.05326096e-03] [-7.68259178e-04 -3.17897816e-03 9.99994652e-01]] t_estimated: [[0.12073187] [0.99268425] [0.00134147]] R_gt: [[ 0.99536759 -0.04081714 0.08705531] [ 0.01849589 0.96979375 0.24322647] [-0.09435324 -0.24048894 0.96605553]] t_gt: [ 0.02683809 -0.13667853 0.99025183] Pose Error in degrees for R and t: 97.76739016406127 82.46625889664986 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.97115073 -0.23823469 -0.01051124] [ 0.23812688 -0.97117675 0.01055023] [-0.0127217 0.00774286 0.9998891 ]] t_estimated: [[8.08805488e-01] [5.88075704e-01] [8.05583156e-04]] R_gt: [[ 0.99116742 -0.09016873 0.09725081] [ 0.05458387 0.94567519 0.32049893] [-0.12086647 -0.31235896 0.94224361]] t_gt: [ 0.10861152 -0.19742881 0.97428199] Pose Error in degrees for R and t: 162.07256238101928 88.42573613246738 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.99864762e-01 1.64455507e-02 3.39260084e-05] [-1.64455515e-02 9.99864762e-01 2.60653479e-05] [-3.34927613e-05 -2.66197548e-05 9.99999999e-01]] t_estimated: [[0.99998621] [0.00509191] [0.00128339]] R_gt: [[ 0.99869572 -0.04719393 -0.01956263] [ 0.04752234 0.99873097 0.01671197] [ 0.01874925 -0.01761947 0.99966875]] t_gt: [ 0.54629644 -0.83392907 -0.07824652] Pose Error in degrees for R and t: 3.9424380884006496 57.18404955344997 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[-0.89780911 -0.44038 0.0020641 ] [ 0.44034853 -0.89778541 -0.00863257] [ 0.00565473 -0.00684148 0.99996061]] t_estimated: [[0.84048438] [0.54183511] [0.00085328]] R_gt: [[ 0.99670611 -0.07291662 -0.03552945] [ 0.07398961 0.99681055 0.02990212] [ 0.03323663 -0.03243178 0.99892168]] t_gt: [ 0.51495152 -0.85198792 -0.09455962] Pose Error in degrees for R and t: 149.66196488511767 88.34340890498972 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99996265e-01 1.49243674e-04 -2.72895215e-03] [-1.38487554e-04 9.99992224e-01 3.94124771e-03] [ 2.72951913e-03 -3.94085507e-03 9.99988510e-01]] t_estimated: [[-0.70475609] [-0.70944925] [-0.00078219]] R_gt: [[ 0.99617397 -0.06859605 -0.05416359] [ 0.07104454 0.99647234 0.04466553] [ 0.05090911 -0.04834296 0.99753307]] t_gt: [ 0.48624404 -0.86364818 -0.1329607 ] Pose Error in degrees for R and t: 5.500810617068741 74.32769346272414 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.73821912e-01 2.27311851e-01 4.54628692e-04] [-2.27311835e-01 9.73822018e-01 -8.79356034e-05] [-4.62716235e-04 -1.77088647e-05 9.99999893e-01]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.99718663 0.04323705 0.0612406 ] [-0.03940241 0.99726684 -0.06248983] [-0.06377478 0.05990131 0.99616502]] t_gt: [-0.78543798 0.61859115 0.02078858] Pose Error in degrees for R and t: 11.867133268540547 52.30408818872607 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-2.91732851e-01 -9.56497010e-01 -2.32665277e-03] [ 9.56499687e-01 -2.91730565e-01 -1.27539391e-03] [ 5.41154734e-04 -2.59751694e-03 9.99996480e-01]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064570e-04]] R_gt: [[ 0.98951803 0.11843557 0.08262748] [-0.11559172 0.99255363 -0.03839869] [-0.08656075 0.02844511 0.99584009]] t_gt: [-0.74209372 0.60286749 0.29299778] Pose Error in degrees for R and t: 113.78173726617666 47.865816925394036 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-5.45904021e-01 -8.37846051e-01 -1.67200589e-03] [ 8.37845371e-01 -5.45906128e-01 1.27797075e-03] [-1.98350101e-03 -7.03233029e-04 9.99997786e-01]] t_estimated: [[0.99998991] [0.00431583] [0.00124406]] R_gt: [[ 0.99495953 0.08911586 -0.04598203] [-0.08437257 0.99175759 0.09642144] [ 0.05419511 -0.09205599 0.99427812]] t_gt: [-0.82821447 0.37810831 0.41363618] Pose Error in degrees for R and t: 128.15136581285043 34.303925842038595 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99995364e-01 3.04289506e-03 1.14309246e-04] [-3.04289601e-03 9.99995370e-01 8.09867046e-06] [-1.14284073e-04 -8.44646406e-06 9.99999993e-01]] t_estimated: [[ 9.99958628e-01] [-9.08699702e-03] [ 4.10290150e-04]] R_gt: [[ 0.99271508 -0.11243416 -0.0432853 ] [ 0.11263558 0.99363375 0.00223923] [ 0.04275855 -0.00709878 0.99906025]] t_gt: [ 0.62216954 -0.76334404 -0.17381291] Pose Error in degrees for R and t: 7.090403296531922 51.02295417468546 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999999e-01 -8.44557817e-06 -3.22328435e-05] [ 8.44710237e-06 9.99999999e-01 4.72874041e-05] [ 3.22324441e-05 -4.72876764e-05 9.99999998e-01]] t_estimated: [[-0.34801553] [-0.93748808] [-0.0011336 ]] R_gt: [[ 0.95666965 -0.28917367 -0.03407504] [ 0.29006127 0.95668677 0.02480191] [ 0.0254272 -0.03361082 0.99911109]] t_gt: [ 0.70801372 -0.70487332 0.04324555] Pose Error in degrees for R and t: 17.012971851120113 65.52088350221854 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.68065788e-01 -2.50694221e-01 1.01907322e-03] [ 2.50695416e-01 9.68065154e-01 -1.29102734e-03] [-6.62876182e-04 1.50527638e-03 9.99998647e-01]] t_estimated: [[-0.60257911] [-0.79805865] [-0.0008967 ]] R_gt: [[ 0.91671105 -0.3967355 -0.04733081] [ 0.39742325 0.91761789 0.00573087] [ 0.04115887 -0.02406327 0.99886283]] t_gt: [ 7.58049731e-01 -6.52196539e-01 -5.28249290e-04] Pose Error in degrees for R and t: 9.322503550281445 86.34740562053375 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 0.98183767 -0.18955701 0.00793272] [ 0.18961686 0.98182854 -0.00762619] [-0.00634298 0.00899186 0.99993945]] t_estimated: [[-0.88615694] [-0.46338406] [-0.00104131]] R_gt: [[ 0.98984516 -0.14015558 -0.02373381] [ 0.1403735 0.9900676 0.00780978] [ 0.02240449 -0.01106147 0.99968735]] t_gt: [ 0.51892576 -0.85435228 0.02825308] Pose Error in degrees for R and t: 3.501704594254127 86.33137473724838 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.99326667 -0.11583728 0.00174513] [ 0.11584004 0.99326664 -0.00157296] [-0.00155118 0.00176453 0.99999724]] t_estimated: [[0.80227058] [0.59695983] [0.00094206]] R_gt: [[ 0.95401395 -0.29700433 -0.04056053] [ 0.29863919 0.95339846 0.04296196] [ 0.02591098 -0.05309922 0.99825246]] t_gt: [ 0.58755722 -0.8010434 0.1144814 ] Pose Error in degrees for R and t: 11.253731538522649 89.61594307721121 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.85744623e-01 1.68248213e-01 -2.76549130e-04] [-1.68247780e-01 9.85744028e-01 1.18143136e-03] [ 4.71380370e-04 -1.11806084e-03 9.99999264e-01]] t_estimated: [[4.59241601e-01] [8.88311404e-01] [3.19297688e-05]] R_gt: [[ 0.93519554 -0.34593275 -0.07576682] [ 0.35048997 0.93475195 0.0582731 ] [ 0.05066513 -0.08105113 0.99542106]] t_gt: [ 0.59415406 -0.79548231 0.119117 ] Pose Error in degrees for R and t: 30.58542230894481 64.29282375422729 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999933e-01 -3.66450559e-04 -1.07460894e-05] [ 3.66451290e-04 9.99999931e-01 6.80734854e-05] [ 1.07211430e-05 -6.80774188e-05 9.99999998e-01]] t_estimated: [[-1.38875217e-01] [ 9.90309818e-01] [-3.71487479e-04]] R_gt: [[ 0.99717006 0.01262557 -0.07412069] [-0.01440295 0.99962032 -0.0234958 ] [ 0.0737967 0.0244968 0.99697207]] t_gt: [ 0.42690716 0.30868075 -0.84998028] Pose Error in degrees for R and t: 4.530547041531585 75.71658469689876 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998818e-01 -3.05669115e-04 -1.50683328e-03] [ 3.08159528e-04 9.99998587e-01 1.65279079e-03] [ 1.50632594e-03 -1.65325319e-03 9.99997499e-01]] t_estimated: [[-0.9998686 ] [-0.0156984 ] [-0.00404254]] R_gt: [[ 0.99159832 -0.00786279 -0.12912049] [ 0.00413973 0.99956864 -0.02907329] [ 0.12929454 0.02829524 0.99120251]] t_gt: [ 0.61308417 0.13580941 -0.77825677] Pose Error in degrees for R and t: 7.549691069312243 52.26650656763223 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.98112077 -0.06144099 -0.18337675] [ 0.07457528 0.99505512 0.06560364] [ 0.17843923 -0.07804047 0.98085123]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.98299412 0.00842741 -0.18344244] [-0.00999445 0.99992078 -0.00762203] [ 0.18336456 0.00932624 0.98300073]] t_gt: [ 0.61746202 0.17518152 -0.76684555] Pose Error in degrees for R and t: 6.420170694883495 60.21615513350956 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99466409e-01 -3.26633989e-02 1.24394649e-05] [ 3.26633951e-02 9.99466382e-01 2.30708807e-04] [-1.99685607e-05 -2.30179388e-04 9.99999973e-01]] t_estimated: [[0.7063069 ] [0.7079046 ] [0.00127977]] R_gt: [[ 0.99488098 -0.09268209 -0.04028245] [ 0.09401825 0.99503496 0.03265829] [ 0.03705591 -0.03627881 0.99865479]] t_gt: [ 0.62248603 -0.75819782 0.19402888] Pose Error in degrees for R and t: 4.577071169745734 84.44407792705296 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-7.91271439e-01 6.11460847e-01 2.26768690e-03] [-6.11464874e-01 -7.91262941e-01 -3.69671821e-03] [-4.66061843e-04 -4.31171843e-03 9.99990596e-01]] t_estimated: [[0.66775386] [0.74438135] [0.00109468]] R_gt: [[ 0.99419376 -0.03162207 -0.10286082] [ 0.04154195 0.9945354 0.09578018] [ 0.0992699 -0.09949767 0.9900737 ]] t_gt: [ 0.43053415 -0.76995433 0.4709678 ] Pose Error in degrees for R and t: 144.5129468504346 73.43318679100707 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.7908412 -0.61009444 0.04852801] [ 0.61183674 0.79006102 -0.03820194] [-0.0150333 0.05990289 0.998091 ]] t_estimated: [[-0.18992668] [-0.98128785] [-0.03165445]] R_gt: [[ 0.98822941 0.04296315 -0.14682309] [-0.01054947 0.97660809 0.21477191] [ 0.15261583 -0.21069572 0.96556521]] t_gt: [ 0.20114455 -0.46484677 0.86224031] Pose Error in degrees for R and t: 43.36773303781925 67.00492288368048 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.94192946 -0.33551193 -0.01416451] [-0.33551982 0.94203126 -0.00188662] [ 0.0139764 0.00297541 -0.9998979 ]] t_estimated: [[ 0.98358472] [ 0.18032124] [-0.00673406]] R_gt: [[ 0.99964374 0.02155162 -0.01572197] [-0.02116703 0.99948252 0.02421608] [ 0.01623576 -0.02387448 0.99958374]] t_gt: [0.88757244 0.43745944 0.14437588] Pose Error in degrees for R and t: 178.51443838503891 18.02646363117397 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.07765089 0.9969171 0.01125292] [-0.99697983 0.07763174 0.00212904] [ 0.00124889 -0.01138425 0.99993442]] t_estimated: [[0.01260621] [0.99991974] [0.00126096]] R_gt: [[ 0.9889652 0.10940267 -0.09989 ] [-0.10788363 0.99395143 0.02049864] [ 0.10152754 -0.00949559 0.99478754]] t_gt: [-0.0264999 0.70458656 -0.70912308] Pose Error in degrees for R and t: 79.5004330212514 45.307490876607375 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 5.38816407e-01 8.42423152e-01 -3.34143663e-04] [ 8.42415442e-01 -5.38809687e-01 4.51044045e-03] [ 3.61965962e-03 -2.71178710e-03 -9.99989772e-01]] t_estimated: [[8.20008874e-01] [5.72350355e-01] [7.19937554e-04]] R_gt: [[ 0.98503642 0.08663633 -0.14898526] [-0.084807 0.99622293 0.01859828] [ 0.15003285 -0.00568469 0.98866505]] t_gt: [ 0.26702452 0.34569897 -0.89954996] Pose Error in degrees for R and t: 175.01726558388106 65.40661731615099 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.96439320e-01 -8.43130029e-02 -3.61486407e-06] [ 8.43130029e-02 9.96439316e-01 8.00716527e-05] [-3.14908880e-06 -8.00913231e-05 9.99999997e-01]] t_estimated: [[9.66296422e-01] [2.57430986e-01] [7.15660126e-04]] R_gt: [[ 0.9965624 -0.06198475 0.05496317] [ 0.06149354 0.99805153 0.01058715] [-0.05551157 -0.00717101 0.9984319 ]] t_gt: [ 0.6327411 -0.16947613 0.75559019] Pose Error in degrees for R and t: 3.459278341844302 55.3662996930578 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.00412318 0.99998634 0.00321245] [-0.99999016 -0.0041179 -0.00164749] [-0.00163424 -0.00321921 0.99999348]] t_estimated: [[0.04132597] [0.99914333] [0.00218538]] R_gt: [[ 9.87701863e-01 -1.33066436e-01 8.20928080e-02] [ 1.32552530e-01 9.91107197e-01 1.16994940e-02] [-8.29183118e-02 -6.74038796e-04 9.96556203e-01]] t_gt: [ 0.84776424 -0.13427208 0.51309531] Pose Error in degrees for R and t: 97.9563641990871 84.3759257153831 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.94325686e-01 -1.06378675e-01 -8.67082997e-05] [ 1.06378692e-01 9.94325664e-01 2.20620769e-04] [ 6.27469425e-05 -2.28592813e-04 9.99999972e-01]] t_estimated: [[-0.99364229] [-0.11257432] [-0.00142415]] R_gt: [[ 0.98294245 -0.12699241 0.13303106] [ 0.13035774 0.99132415 -0.01686823] [-0.129735 0.03392061 0.99096757]] t_gt: [0.77623446 0.12425381 0.61807851] Pose Error in degrees for R and t: 7.825027098378022 38.171221269701405 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.64728111e-01 -2.63248279e-01 -1.20863523e-04] [ 2.63248285e-01 9.64728117e-01 3.53350238e-05] [ 1.07298554e-04 -6.59058058e-05 9.99999992e-01]] t_estimated: [[8.89900637e-01] [4.56153986e-01] [6.29811247e-04]] R_gt: [[ 0.99486161 0.04464643 -0.09087542] [-0.04732483 0.99849978 -0.02754064] [ 0.08950888 0.0317001 0.99548181]] t_gt: [ 0.13800018 0.38837316 -0.91111044] Pose Error in degrees for R and t: 18.70721238936188 72.57899607257578 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-5.19598958e-01 -8.54402358e-01 -3.67874337e-03] [-8.54407987e-01 5.19602720e-01 -7.87146176e-05] [ 1.97873902e-03 3.10224769e-03 -9.99993230e-01]] t_estimated: [[ 8.32255027e-01] [ 5.54392540e-01] [-6.93868767e-04]] R_gt: [[ 0.99362123 0.00317131 -0.11272691] [-0.00442038 0.99993174 -0.01083122] [ 0.11268528 0.01126042 0.99356726]] t_gt: [ 0.4475185 -0.12629651 -0.88531146] Pose Error in degrees for R and t: 173.86271216393993 72.35935645424335 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.98565927e-01 5.35340297e-02 4.44127279e-04] [-5.35340117e-02 9.98566025e-01 -5.23398579e-05] [-4.46292375e-04 2.84888838e-05 9.99999900e-01]] t_estimated: [[-0.03861882] [ 0.99925349] [ 0.00102228]] R_gt: [[ 0.98923758 -0.04731118 -0.13845677] [ 0.05155276 0.99829978 0.02720155] [ 0.13693432 -0.03404634 0.98999494]] t_gt: [ 0.59632744 -0.53027991 -0.60265812] Pose Error in degrees for R and t: 10.05775204697973 56.39050322372042 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.99546574 0.0951104 -0.00140138] [-0.09510599 0.99546283 0.00293484] [ 0.00167416 -0.00278825 0.99999471]] t_estimated: [[0.59712116] [0.80215037] [0.00105685]] R_gt: [[ 0.99215091 0.10262797 -0.07144844] [-0.09474529 0.98982839 0.10612612] [ 0.08161249 -0.09852406 0.99178255]] t_gt: [-0.61241139 0.25408841 0.74859292] Pose Error in degrees for R and t: 7.1696999367817185 80.7306704698761 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.87089482e-01 -1.60169766e-01 -2.74049551e-05] [ 1.60169750e-01 9.87089265e-01 6.58223603e-04] [-7.83763837e-05 -6.54115040e-04 9.99999783e-01]] t_estimated: [[0.23688003] [0.9715378 ] [0.00146561]] R_gt: [[ 0.98482572 0.13509029 -0.10894968] [-0.11414038 0.9770686 0.17974645] [ 0.1307328 -0.16458338 0.97766059]] t_gt: [-0.23984971 0.39781818 0.88555791] Pose Error in degrees for R and t: 20.4032109744381 70.67187283490865 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.63042284e-01 2.69349482e-01 6.45272858e-04] [-2.69349676e-01 9.63042417e-01 2.33973624e-04] [-5.58404459e-04 -3.99130529e-04 9.99999764e-01]] t_estimated: [[-0.22500673] [ 0.97435657] [ 0.00111718]] R_gt: [[ 0.96595192 0.23515108 -0.10789637] [-0.21099902 0.95733665 0.19744565] [ 0.14972265 -0.16795738 0.97435744]] t_gt: [-0.45749429 0.78483408 0.41801249] Pose Error in degrees for R and t: 13.257824969159902 29.759729907784187 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.29478232 -0.9178742 0.26572607] [-0.93644521 0.33283894 0.11085395] [-0.19019396 -0.21616012 -0.95765394]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99637328 -0.04188324 -0.07407072] [ 0.04515378 0.99805206 0.04305708] [ 0.07212395 -0.04624569 0.99632329]] t_gt: [ 0.91052615 -0.31559661 -0.26709718] Pose Error in degrees for R and t: 165.7110380918432 62.19384046136406 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.95530360e-01 -9.44420536e-02 -8.05008884e-06] [ 9.44420490e-02 9.95530277e-01 4.08712277e-04] [-3.05855196e-05 -4.07645747e-04 9.99999916e-01]] t_estimated: [[0.84095491] [0.54110425] [0.00101658]] R_gt: [[ 0.99162708 -0.01109615 -0.12866601] [ 0.01490843 0.99947618 0.02871278] [ 0.12828097 -0.03039 0.99127261]] t_gt: [ 0.76221481 0.10342245 -0.63900891] Pose Error in degrees for R and t: 8.89377410950194 45.86901842064449 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.92598139e-01 -6.09743514e-01 -1.01881005e-03] [ 6.09744360e-01 7.92597246e-01 1.19210471e-03] [ 8.06279250e-05 -1.56607366e-03 9.99998770e-01]] t_estimated: [[0.93513196] [0.35429799] [0.00107363]] R_gt: [[ 0.98104276 -0.01913269 -0.19284865] [ 0.02405859 0.99944074 0.02323675] [ 0.19229693 -0.02743529 0.98095382]] t_gt: [ 0.75751779 0.0683401 -0.64922756] Pose Error in degrees for R and t: 37.94058493227951 42.95451991272804 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.99537625e-01 3.04060621e-02 8.38234634e-05] [-3.04060648e-02 9.99537628e-01 3.12270549e-05] [-8.28352140e-05 -3.37613579e-05 9.99999996e-01]] t_estimated: [[0.82121391] [0.57061958] [0.00100809]] R_gt: [[ 0.98648196 -0.16236307 -0.02215888] [ 0.16318519 0.98568283 0.04243007] [ 0.01495355 -0.04547234 0.99885383]] t_gt: [ 0.5296419 -0.8340005 0.15466939] Pose Error in degrees for R and t: 11.448379450844413 87.66215382995638 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 6.69426997e-01 7.42877797e-01 2.72050419e-04] [-7.42877832e-01 6.69427013e-01 4.11396268e-05] [-1.51556184e-04 -2.29640202e-04 9.99999962e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.96048135 -0.27359208 -0.05122205] [ 0.27568155 0.96044145 0.03939545] [ 0.03841843 -0.05195986 0.9979098 ]] t_gt: [ 0.59224287 -0.80178943 0.079888 ] Pose Error in degrees for R and t: 64.03073270560856 53.856074833886844 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.45499673 -0.71804851 0.52667287] [-0.65126653 -0.67168415 -0.35311798] [ 0.60731366 -0.18233689 -0.77325505]] t_estimated: [[0.5307768 ] [0.84751074] [0.00123724]] R_gt: [[ 0.93464016 -0.35055329 -0.05967005] [ 0.35417576 0.93268706 0.06822442] [ 0.031738 -0.0848992 0.99588389]] t_gt: [ 0.6259097 -0.76574682 0.14788121] Pose Error in degrees for R and t: 170.23044305230002 71.54393720476394 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-9.99961330e-01 -8.77539418e-03 -5.75406536e-04] [-8.77635907e-03 9.99960048e-01 1.69637473e-03] [ 5.60497190e-04 1.70135910e-03 -9.99998396e-01]] t_estimated: [[9.99994892e-01] [3.10075770e-03] [7.75189838e-04]] R_gt: [[ 0.99801217 0.04380843 0.04531475] [-0.03963281 0.99521765 -0.08927827] [-0.0490089 0.0873047 0.99497497]] t_gt: [-0.62233542 0.64631258 -0.44156389] Pose Error in degrees for R and t: 177.35056783809202 51.634886901851615 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.60626145e-01 6.49168359e-01 5.32068999e-03] [ 6.49174433e-01 -7.60639223e-01 7.27264352e-04] [ 4.51924251e-03 2.90087963e-03 -9.99985581e-01]] t_estimated: [[-0.99856362] [-0.0534211 ] [-0.00410932]] R_gt: [[ 0.9911257 0.08576518 0.10155581] [-0.0728367 0.98950336 -0.1248073 ] [-0.11119362 0.11630254 0.98696933]] t_gt: [-0.74291758 0.66675623 -0.05924187] Pose Error in degrees for R and t: 171.31317394611344 45.05116478767762 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.99890222 0.04655943 -0.00515558] [-0.04646387 0.99876982 0.01731925] [ 0.00595561 -0.01706069 0.99983672]] t_estimated: [[0.99794443] [0.0638221 ] [0.005802 ]] R_gt: [[ 0.98890706 0.13265984 0.06681051] [-0.12887005 0.98995328 -0.05818298] [-0.07385723 0.0489271 0.99606728]] t_gt: [-0.75542483 0.64814388 0.09613969] Pose Error in degrees for R and t: 7.692987172405243 44.60634468155606 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 8.21074147e-01 5.70821366e-01 4.61286956e-04] [-5.70821529e-01 8.21073612e-01 9.51423998e-04] [ 1.64342600e-04 -1.04450217e-03 9.99999441e-01]] t_estimated: [[0.46269849] [0.88651476] [0.00129607]] R_gt: [[ 0.99528708 -0.09536992 0.017552 ] [ 0.09635495 0.99299648 -0.06837082] [-0.0109086 0.0697389 0.99750535]] t_gt: [ 0.49832769 -0.71387018 -0.49199479] Pose Error in degrees for R and t: 40.51551147318657 66.23923573432934 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99238523e-01 -3.90174498e-02 1.13028330e-04] [ 3.90174695e-02 9.99238513e-01 -1.77013864e-04] [-1.06035631e-04 1.81289151e-04 9.99999978e-01]] t_estimated: [[ 0.6380673 ] [-0.7699795 ] [-0.00130311]] R_gt: [[ 9.85604775e-01 -1.69068351e-01 -2.95237099e-04] [ 1.68623683e-01 9.83138971e-01 -7.07329576e-02] [ 1.22483992e-02 6.96640365e-02 9.97494936e-01]] t_gt: [ 0.54495723 -0.75656964 -0.36141944] Pose Error in degrees for R and t: 8.517914331904814 21.450561597673143 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-9.94947595e-01 1.00382890e-01 1.59930349e-03] [-1.00390802e-01 -9.94929726e-01 -6.04374637e-03] [ 9.84505853e-04 -6.17376627e-03 9.99980457e-01]] t_estimated: [[0.77208553] [0.63551692] [0.00147548]] R_gt: [[ 0.94860399 -0.31628791 0.01066266] [ 0.31643098 0.94744893 -0.04702312] [ 0.00477034 0.04798072 0.99883655]] t_gt: [ 0.66609187 -0.73521255 -0.12563493] Pose Error in degrees for R and t: 167.31006118543337 87.31445166531502 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999774e-01 1.24973268e-04 -6.61304262e-04] [-1.24395776e-04 9.99999611e-01 8.73231615e-04] [ 6.61413135e-04 -8.73149154e-04 9.99999400e-01]] t_estimated: [[0.6130053 ] [0.79007761] [0.00136681]] R_gt: [[ 0.95082375 0.30806088 -0.03213076] [-0.30768961 0.95135123 0.01607731] [ 0.03552063 -0.00540027 0.99935427]] t_gt: [-0.54123712 0.83778234 -0.07199396] Pose Error in degrees for R and t: 18.041180546928658 70.72919428783534 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.95044232e-01 -9.94324770e-02 3.98521858e-04] [ 9.94327428e-02 9.95044029e-01 -7.14479605e-04] [-3.25504319e-04 7.50564931e-04 9.99999665e-01]] t_estimated: [[-8.82352662e-01] [-4.70588087e-01] [-7.94912308e-04]] R_gt: [[ 0.86620564 0.49576698 -0.06247373] [-0.49382301 0.86842063 0.04454469] [ 0.07633725 -0.00773278 0.99705276]] t_gt: [-0.42729528 0.89926048 -0.0935379 ] Pose Error in degrees for R and t: 35.678876133288846 87.3587727010989 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.94281646e-01 1.06788742e-01 -4.15199052e-04] [-1.06788170e-01 9.94281052e-01 1.21493936e-03] [ 5.42566396e-04 -1.16365356e-03 9.99999176e-01]] t_estimated: [[-0.66082358] [ 0.75054019] [ 0.00127639]] R_gt: [[ 0.81592123 0.5747983 -0.06228621] [-0.56852467 0.81723895 0.0943459 ] [ 0.10513215 -0.04156698 0.99358975]] t_gt: [-0.38754315 0.91971401 -0.06274108] Pose Error in degrees for R and t: 29.555927395806712 18.86201526972298 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 8.66131551e-02 -9.96240846e-01 -1.52884104e-03] [ 9.96242008e-01 8.66128230e-02 2.82226613e-04] [-1.48748442e-04 -1.54754021e-03 9.99998791e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99347114 -0.11118257 -0.02553843] [ 0.11066189 0.99363709 -0.02097231] [ 0.02770766 0.01801005 0.99945361]] t_gt: [ 0.75315345 -0.61283203 -0.23915846] Pose Error in degrees for R and t: 78.6800964275062 41.31737350346234 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.83388449e-01 1.81513228e-01 3.25386322e-04] [-1.81513200e-01 9.83388502e-01 -1.11958661e-04] [-3.40303145e-04 5.10369412e-05 9.99999941e-01]] t_estimated: [[0.41582279] [0.90944467] [0.00134136]] R_gt: [[ 0.9631541 -0.26840096 -0.01715284] [ 0.26818392 0.96326679 -0.01392455] [ 0.02025962 0.00881178 0.99975631]] t_gt: [ 0.8580408 -0.50781513 -0.07674485] Pose Error in degrees for R and t: 26.05350019681745 83.9647794468959 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98958643e-01 4.56171940e-02 8.37965583e-04] [-4.56161967e-02 9.98958351e-01 -1.17301558e-03] [-8.90602396e-04 1.13356925e-03 9.99998961e-01]] t_estimated: [[ 9.98132741e-01] [-6.10821712e-02] [-2.64462043e-05]] R_gt: [[ 0.87749513 -0.47939514 -0.01351993] [ 0.47941391 0.87758623 -0.00199726] [ 0.01282184 -0.00472844 0.99990604]] t_gt: [ 0.91961789 -0.39255763 -0.01419285] Pose Error in degrees for R and t: 31.27366929032872 19.630393389075817 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999419e-01 1.05003468e-03 2.45159295e-04] [-1.04999238e-03 9.99999434e-01 -1.72617089e-04] [-2.45340410e-04 1.72359573e-04 9.99999955e-01]] t_estimated: [[ 0.29612135] [-0.95514347] [-0.00361956]] R_gt: [[ 0.99063181 -0.13546108 -0.01732679] [ 0.13584299 0.99046014 0.02316261] [ 0.01402372 -0.02529873 0.99958162]] t_gt: [ 0.6717036 -0.7275645 0.13951407] Pose Error in degrees for R and t: 8.033824557762545 26.705369577977354 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 7.37217900e-02 -9.97276831e-01 -2.00520699e-03] [ 9.97278791e-01 7.37223070e-02 -1.85062495e-04] [ 3.32387023e-04 -1.98610726e-03 9.99997972e-01]] t_estimated: [[9.8935862e-01] [1.4549537e-01] [7.8685886e-04]] R_gt: [[ 0.98961769 -0.11145698 -0.09074649] [ 0.11741862 0.99106777 0.06322572] [ 0.08288889 -0.0732239 0.9938651 ]] t_gt: [ 0.62554619 -0.75500722 0.19661143] Pose Error in degrees for R and t: 79.38320063982354 59.389831452986876 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.37958933 -0.92514277 -0.00477341] [ 0.92514917 0.3795634 0.00553502] [-0.00330887 -0.00651715 0.99997329]] t_estimated: [[ 0.95403713] [-0.29962306] [ 0.0062585 ]] R_gt: [[ 0.99046134 -0.01192772 -0.13727346] [ 0.03608529 0.98392964 0.17487255] [ 0.13298126 -0.17815726 0.97497499]] t_gt: [ 0.33322305 -0.64902437 0.68390772] Pose Error in degrees for R and t: 67.32072780228864 58.89218847239134 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 7.97141151e-01 -6.03790095e-01 -1.87289935e-03] [ 6.03787300e-01 7.97143269e-01 -1.87243150e-03] [ 2.62352471e-03 3.61759357e-04 9.99996493e-01]] t_estimated: [[ 0.75002007] [-0.66141251] [-0.00183972]] R_gt: [[ 0.99877163 0.0323278 -0.03755462] [-0.03673693 0.99168137 -0.12336507] [ 0.03325367 0.12459183 0.9916508 ]] t_gt: [-0.09023965 0.49819311 -0.86235748] Pose Error in degrees for R and t: 39.77817635126083 66.6962126617713 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99980774e-01 5.64030835e-03 2.57656728e-03] [ 5.64005344e-03 -9.99984089e-01 1.06188988e-04] [ 2.57712522e-03 -9.16549688e-05 -9.99996675e-01]] t_estimated: [[0.87159921] [0.49021834] [0.00089948]] R_gt: [[ 0.99554515 -0.06209784 -0.07096105] [ 0.04655273 0.97810897 -0.2028199 ] [ 0.08200254 0.19861184 0.97664195]] t_gt: [ 0.21367832 0.07266437 -0.97419786] Pose Error in degrees for R and t: 168.42203878638372 77.23299001492553 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 8.12263596e-01 5.83289248e-01 -1.22645770e-03] [-5.83288252e-01 8.12264504e-01 1.09102848e-03] [ 1.63259323e-03 -1.70824350e-04 9.99998653e-01]] t_estimated: [[-0.7084096 ] [-0.70580035] [-0.00130462]] R_gt: [[ 0.9843287 -0.1686251 -0.05160124] [ 0.14660619 0.94513528 -0.29193755] [ 0.0979981 0.27979727 0.9550446 ]] t_gt: [ 0.35125731 -0.10730749 -0.93010935] Pose Error in degrees for R and t: 47.9999073954878 80.1026845480948 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.64828323e-01 -2.62880517e-01 -3.76168871e-04] [ 2.62880599e-01 9.64828356e-01 1.84624171e-04] [ 3.14404296e-04 -2.77018128e-04 9.99999912e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99985371 0.01288302 0.01124721] [-0.01270158 0.99979069 -0.01605138] [-0.01145173 0.01590601 0.99980782]] t_gt: [-0.53053502 0.82569899 -0.19171274] Pose Error in degrees for R and t: 16.014852916621496 34.64091212530685 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99505297e-01 -3.14509239e-02 -2.16062609e-05] [ 3.14509233e-02 9.99505297e-01 -2.88011217e-05] [ 2.25013942e-05 2.81073369e-05 9.99999999e-01]] t_estimated: [[-0.99450686] [-0.10466042] [-0.00151882]] R_gt: [[ 0.99980485 -0.01684348 0.01028936] [ 0.01726237 0.99896734 -0.04203806] [-0.00957133 0.04220703 0.99906338]] t_gt: [-0.31400676 0.84792455 -0.4271109 ] Pose Error in degrees for R and t: 2.612441440038476 77.04495758670407 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.86056942e-01 -1.66408239e-01 -7.20489073e-05] [ 1.66408250e-01 9.86056923e-01 1.98103978e-04] [ 3.80781897e-05 -2.07331335e-04 9.99999978e-01]] t_estimated: [[9.62209855e-01] [2.72307778e-01] [8.18367923e-04]] R_gt: [[ 0.99730022 -0.05402561 0.04973031] [ 0.0572361 0.99620541 -0.06556443] [-0.0459991 0.06823343 0.99660835]] t_gt: [-0.12436078 0.95925232 -0.2537112 ] Pose Error in degrees for R and t: 7.94534143031659 81.87442880806614 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.92520191e-01 -1.22080199e-01 3.07833532e-04] [ 1.22080261e-01 9.92520213e-01 -1.90134928e-04] [-2.82319293e-04 2.26293153e-04 9.99999935e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.9919974 -0.12616914 -0.00476648] [ 0.12623354 0.99184469 0.01756612] [ 0.00251269 -0.01802756 0.99983454]] t_gt: [ 0.64271523 -0.7615272 0.08362694] Pose Error in degrees for R and t: 1.0847044939110773 50.17719369762034 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 8.73479285e-01 4.86860853e-01 6.70168509e-04] [-4.86860604e-01 8.73479534e-01 -5.05864680e-04] [-8.31664187e-04 1.15583674e-04 9.99999647e-01]] t_estimated: [[0.27266162] [0.96210924] [0.0012022 ]] R_gt: [[ 0.99218691 -0.12436948 -0.00989437] [ 0.12458268 0.99189261 0.02507281] [ 0.00669634 -0.0261093 0.99963698]] t_gt: [ 0.6609312 -0.7455032 0.08599377] Pose Error in degrees for R and t: 36.319363769759825 57.524320318403554 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.94010425 -0.34088302 -0.00166148] [ 0.34088541 0.94010371 0.00146574] [ 0.00106232 -0.00194432 0.99999755]] t_estimated: [[8.56885602e-01] [5.15506044e-01] [7.63712658e-04]] R_gt: [[ 0.99662188 -0.03844243 -0.07257797] [ 0.04173053 0.99814423 0.0443521 ] [ 0.07073983 -0.04723091 0.9963762 ]] t_gt: [ 0.73691296 -0.65227128 -0.17748651] Pose Error in degrees for R and t: 18.254998993719763 72.83857855377826 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.19086343 -0.98159583 -0.00638517] [-0.98160605 -0.1908875 0.00339482] [-0.00455119 0.00561977 -0.99997385]] t_estimated: [[0.79980342] [0.60026146] [0.00081779]] R_gt: [[ 0.99987532 0.01205084 -0.0102529 ] [-0.01288551 0.99624308 -0.08562855] [ 0.00918146 0.08575058 0.99627441]] t_gt: [-0.06278717 0.42030245 -0.90520916] Pose Error in degrees for R and t: 175.76719391309626 78.3850390204549 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.97910426 -0.203351 -0.00179616] [ 0.20335407 -0.97910373 -0.00173323] [-0.00140617 -0.00206227 0.99999688]] t_estimated: [[0.91388971] [0.40596144] [0.00095296]] R_gt: [[ 0.99798169 0.01306671 -0.06213572] [-0.02419138 0.98303492 -0.1818164 ] [ 0.05870604 0.18295265 0.98136694]] t_gt: [ 0.01949619 0.37836897 -0.92544952] Pose Error in degrees for R and t: 169.3994326817432 80.18086047552795 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99979905e-01 6.33869005e-03 -1.06768861e-04] [-6.33842982e-03 9.99977306e-01 2.28296178e-03] [ 1.21237425e-04 -2.28223915e-03 9.99997388e-01]] t_estimated: [[9.97458238e-01] [7.12470170e-02] [9.62797527e-04]] R_gt: [[ 0.98973562 -0.13856364 -0.03498592] [ 0.12381979 0.95366236 -0.274219 ] [ 0.07136091 0.26707291 0.96103032]] t_gt: [ 0.32394911 -0.0954164 -0.9412506 ] Pose Error in degrees for R and t: 18.056934868029263 71.61374858853515 Number of keypoints: Image1: 367 Image2: 367 R_estimated: [[ 0.99978765 0.02057767 -0.00109852] [-0.02057357 0.99978181 0.00361405] [ 0.00117265 -0.00359068 0.99999287]] t_estimated: [[0.68864912] [0.72508559] [0.00364365]] R_gt: [[ 0.99953307 -0.02658028 -0.0151223 ] [ 0.0267227 0.99959931 0.00929233] [ 0.01486922 -0.00969151 0.99984206]] t_gt: [ 0.20260152 -0.94193241 -0.26779835] Pose Error in degrees for R and t: 2.8405420371807493 57.01386869082357 Number of keypoints: Image1: 588 Image2: 588 R_estimated: [[ 9.98389619e-01 -5.67288733e-02 6.01448257e-05] [ 5.67288698e-02 9.98389619e-01 5.81931622e-05] [-6.33492022e-05 -5.46875010e-05 9.99999996e-01]] t_estimated: [[ 9.91824084e-01] [-1.27609469e-01] [ 9.00143237e-04]] R_gt: [[ 0.9985389 -0.02307998 0.04887116] [ 0.02299068 0.99973277 0.0023832 ] [-0.04891319 -0.00125543 0.99880143]] t_gt: [-0.47283052 -0.28343766 0.83432272] Pose Error in degrees for R and t: 3.402294180314195 64.4026297128153 Number of keypoints: Image1: 484 Image2: 484 R_estimated: [[ 9.96876351e-01 7.89780876e-02 -4.30657177e-05] [-7.89780916e-02 9.96876347e-01 -1.01746375e-04] [ 3.48954612e-05 1.04829803e-04 9.99999994e-01]] t_estimated: [[-0.22295499] [ 0.97482809] [-0.00112658]] R_gt: [[ 0.99900943 0.00232045 0.0444595 ] [-0.00149871 0.9998271 -0.01850095] [-0.04449435 0.01841607 0.99883967]] t_gt: [-0.92242454 0.03951359 0.38415054] Pose Error in degrees for R and t: 5.210831176476158 75.89230129847262 Number of keypoints: Image1: 466 Image2: 466 R_estimated: [[ 9.99826969e-01 -1.86017199e-02 8.71127692e-05] [ 1.86017187e-02 9.99826973e-01 1.49720830e-05] [-8.73762028e-05 -1.33490451e-05 9.99999996e-01]] t_estimated: [[0.35460704] [0.93501492] [0.0009764 ]] R_gt: [[ 0.99872609 -0.04887366 0.01257025] [ 0.04943898 0.99755413 -0.04942639] [-0.01012336 0.04998407 0.99869812]] t_gt: [ 0.5095103 0.45302974 -0.73154856] Pose Error in degrees for R and t: 3.4083856079892563 52.87533884033281 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.98414407e-01 -5.62863629e-02 -7.18692383e-04] [ 5.62871671e-02 9.98413955e-01 1.15264341e-03] [ 6.52674400e-04 -1.19126894e-03 9.99999077e-01]] t_estimated: [[-0.7323889 ] [-0.68088599] [-0.00087293]] R_gt: [[ 0.99270949 -0.09905317 0.06867425] [ 0.10193757 0.99399376 -0.03982921] [-0.06431726 0.04653918 0.9968436 ]] t_gt: [0.92555675 0.19342477 0.32547128] Pose Error in degrees for R and t: 5.279359236361729 35.91854274696562 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[-9.57587220e-01 -2.88141257e-01 -1.15422381e-03] [ 2.88143119e-01 -9.57585121e-01 -2.06834631e-03] [-5.09291640e-04 -2.31320364e-03 9.99997195e-01]] t_estimated: [[9.04477391e-01] [4.26520835e-01] [7.91318803e-04]] R_gt: [[ 0.98005043 -0.17412332 0.09582681] [ 0.1782118 0.98333995 -0.03583249] [-0.08799118 0.05219525 0.9947528 ]] t_gt: [ 0.96126178 -0.0065249 0.27555982] Pose Error in degrees for R and t: 153.12281668422466 29.90254614535911 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 1.00000000e+00 1.30343014e-10 -6.38316067e-15] [-1.30343125e-10 1.00000000e+00 -9.85930901e-14] [ 6.38298618e-15 9.85929884e-14 1.00000000e+00]] t_estimated: [[-2.01508434e-01] [ 9.79486779e-01] [-3.25908961e-05]] R_gt: [[ 0.99858918 0.00637739 -0.05270702] [-0.0069941 0.99990946 -0.01152932] [ 0.05262962 0.01188197 0.99854288]] t_gt: [ 0.16857292 0.14526642 -0.97492607] Pose Error in degrees for R and t: 3.1168085748323353 83.77982290535729 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.27311894 -0.96197894 -0.00159972] [-0.96189501 -0.2731165 0.01285976] [-0.01280773 -0.00197348 -0.99991603]] t_estimated: [[0.61591515] [0.78777995] [0.00716109]] R_gt: [[ 0.99819179 -0.02888182 -0.05272414] [ 0.02717475 0.99909302 -0.03280821] [ 0.05362453 0.03131649 0.99806929]] t_gt: [ 0.44789084 -0.20828348 -0.86948938] Pose Error in degrees for R and t: 177.23460101179498 83.94087337088212 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.01027472e-01 4.33761810e-01 -4.32478795e-04] [-4.33761700e-01 9.01027569e-01 3.26603341e-04] [ 5.31343374e-04 -1.06685845e-04 9.99999853e-01]] t_estimated: [[0.71438077] [0.6997568 ] [0.0007312 ]] R_gt: [[ 0.97770436 -0.17592332 0.11465103] [ 0.1787534 0.98378335 -0.01480518] [-0.11018633 0.03496969 0.99329465]] t_gt: [ 0.66958095 -0.70882821 0.22186463] Pose Error in degrees for R and t: 36.5494192637086 88.99673503936151 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 8.98279597e-01 -4.39423561e-01 -8.36126321e-04] [ 4.39423755e-01 8.98279890e-01 5.46939715e-05] [ 7.27041640e-04 -4.16544247e-04 9.99999649e-01]] t_estimated: [[ 3.01841992e-01] [-9.53357507e-01] [-9.35655409e-04]] R_gt: [[ 0.9587682 0.27815597 -0.05825338] [-0.27714996 0.9605055 0.02486669] [ 0.06286876 -0.00769728 0.99799249]] t_gt: [-0.49871135 0.85517965 -0.14126127] Pose Error in degrees for R and t: 42.34854401922588 15.051720433169413 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 2.70725775e-01 -9.62656402e-01 4.53593242e-04] [-9.62655577e-01 -2.70724828e-01 1.51890987e-03] [-1.33938936e-03 -8.47862117e-04 -9.99998744e-01]] t_estimated: [[0.4226893 ] [0.90627238] [0.00203069]] R_gt: [[ 0.9032173 0.42709022 -0.04234813] [-0.42374989 0.90308079 0.06987024] [ 0.0680843 -0.0451633 0.99665716]] t_gt: [-0.4652983 0.88484271 -0.02347055] Pose Error in degrees for R and t: 179.18973566870469 52.75789905476371 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.97093574 -0.2392834 -0.00521944] [-0.23929657 0.97094435 0.00205613] [ 0.00457579 0.00324537 -0.99998426]] t_estimated: [[ 0.99631925] [-0.0856377 ] [-0.0037599 ]] R_gt: [[ 0.86975423 0.48996903 -0.05881183] [-0.48351372 0.86994361 0.09702826] [ 0.09870277 -0.05595443 0.99354295]] t_gt: [-0.40927 0.91101156 -0.05055693] Pose Error in degrees for R and t: 175.59708961462457 60.948837820998676 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99710945e-01 2.40419205e-02 1.16029402e-04] [-2.40419172e-02 9.99710951e-01 -2.96667629e-05] [-1.16709110e-04 2.68686182e-05 9.99999993e-01]] t_estimated: [[8.01126594e-01] [5.98494529e-01] [6.92326043e-04]] R_gt: [[ 0.99143754 -0.13051271 0.00434113] [ 0.13045886 0.99139083 0.01118917] [-0.00576324 -0.01052785 0.99992752]] t_gt: [ 0.82126919 -0.56523925 0.07759838] Pose Error in degrees for R and t: 8.901979406959178 71.3551130586954 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-3.16077711e-01 9.48732000e-01 -1.57218758e-03] [ 9.48724703e-01 3.16081468e-01 3.73413693e-03] [ 4.03963456e-03 -3.11295744e-04 -9.99991792e-01]] t_estimated: [[-0.20667899] [-0.97840697] [-0.00189614]] R_gt: [[ 0.97149641 -0.23703239 0.00327355] [ 0.23704421 0.97149225 -0.0035407 ] [-0.00234098 0.00421633 0.99998817]] t_gt: [ 0.82281723 -0.5681315 -0.01408552] Pose Error in degrees for R and t: 179.90555397447787 67.30462967700174 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.86907428e-01 -4.29001441e-01 1.71327107e-01] [ 4.61946839e-01 8.24116014e-01 -3.27777232e-01] [-5.76507590e-04 3.69852078e-01 9.29090474e-01]] t_estimated: [[0.88547684] [0.46468172] [0.00129078]] R_gt: [[ 0.93674647 -0.34811913 -0.0363445 ] [ 0.34840257 0.93734422 0.00154848] [ 0.03352845 -0.0141138 0.9993383 ]] t_gt: [ 0.8702849 -0.49187663 -0.02572086] Pose Error in degrees for R and t: 23.788814967583633 57.17889179387646 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-1.47322862e-01 -9.89086470e-01 -1.98213395e-03] [ 9.89088435e-01 -1.47322149e-01 -5.01732461e-04] [ 2.04244555e-04 -2.03442243e-03 9.99997910e-01]] t_estimated: [[9.96320981e-01] [8.56949048e-02] [9.41702250e-04]] R_gt: [[ 0.99836107 -0.04649359 0.03339056] [ 0.0469222 0.99882395 -0.01217947] [-0.03278408 0.01372695 0.99936796]] t_gt: [ 0.63204556 -0.76178208 0.1421495 ] Pose Error in degrees for R and t: 95.81296229812132 55.62733622448555 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 7.36147477e-01 6.76820652e-01 8.34640037e-04] [-6.76819053e-01 7.36147700e-01 -1.59151520e-03] [-1.69158870e-03 6.06689619e-04 9.99998385e-01]] t_estimated: [[-9.23952398e-01] [ 3.82507021e-01] [ 5.88102802e-04]] R_gt: [[ 0.95331353 -0.20104881 0.22533032] [ 0.19991188 0.97941048 0.02809904] [-0.22634083 0.01825905 0.97387748]] t_gt: [ 0.54478249 -0.61415884 0.57098245] Pose Error in degrees for R and t: 55.743230262954356 42.44399475673637 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.11364318 0.9934948 -0.00730078] [ 0.99349746 -0.11358609 0.00780968] [ 0.00692961 -0.00814083 -0.99994285]] t_estimated: [[-0.02019787] [-0.99979459] [-0.00168316]] R_gt: [[ 0.89918227 -0.33969995 0.27581815] [ 0.33266025 0.9401823 0.07344762] [-0.28426993 0.02571068 0.95839962]] t_gt: [ 0.66605305 -0.61769033 0.41812916] Pose Error in degrees for R and t: 170.67369707501803 52.885715438171246 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.68292409e-01 2.49819539e-01 8.83490375e-05] [-2.49819554e-01 9.68292378e-01 2.47682227e-04] [-2.36718397e-05 -2.61900138e-04 9.99999965e-01]] t_estimated: [[-8.58021296e-01] [-5.13613680e-01] [-6.66165602e-04]] R_gt: [[ 0.99297996 -0.11496912 -0.02782339] [ 0.11662916 0.99084011 0.06807519] [ 0.01974158 -0.07084181 0.99729197]] t_gt: [ 0.74599182 -0.61031881 0.2664717 ] Pose Error in degrees for R and t: 21.535194621785337 70.92616791374863 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-6.24397852e-01 7.81106275e-01 5.56421461e-04] [-7.81105470e-01 -6.24395749e-01 -2.04768357e-03] [-1.25203129e-03 -1.71319307e-03 9.99997749e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.97440014 -0.21176146 -0.07551218] [ 0.2180399 0.97198128 0.08781317] [ 0.05480117 -0.10202922 0.99327081]] t_gt: [ 0.7995708 -0.58278359 0.14508556] Pose Error in degrees for R and t: 141.1637056130954 70.56813112756065 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 9.21125503e-01 3.89265720e-01 8.63513305e-05] [-3.89265725e-01 9.21125504e-01 4.82635046e-05] [-6.07530849e-05 -7.80703582e-05 9.99999995e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.97250077 -0.22014892 -0.07600942] [ 0.22614015 0.97063027 0.08207958] [ 0.05570773 -0.09701101 0.99372258]] t_gt: [ 0.79176649 -0.59870519 0.12106992] Pose Error in degrees for R and t: 36.396181857533506 68.13282265892195 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.90262200e-01 -1.39210705e-01 -1.07512283e-03] [ 1.39211614e-01 9.90262313e-01 8.23180757e-04] [ 9.50058043e-04 -9.64834371e-04 9.99999083e-01]] t_estimated: [[-0.64100141] [-0.76753915] [-0.00092363]] R_gt: [[ 9.75820809e-01 2.18571361e-01 -3.87744113e-04] [-2.18518676e-01 9.75541324e-01 -2.38466569e-02] [-4.83430724e-03 2.33547245e-02 9.99715920e-01]] t_gt: [-0.58306663 0.80889127 -0.07568492] Pose Error in degrees for R and t: 20.676235512175865 75.69761891084568 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 4.41882222e-02 9.99023204e-01 1.99248188e-04] [-9.99021835e-01 4.41884924e-02 -1.65868496e-03] [-1.66586924e-03 -1.25758951e-04 9.99998605e-01]] t_estimated: [[-2.57094613e-01] [ 9.66385819e-01] [ 8.99068433e-04]] R_gt: [[ 0.91217552 0.40875305 -0.02926569] [-0.40912477 0.91244544 -0.00779118] [ 0.02351806 0.01907956 0.9995413 ]] t_gt: [-0.51307822 0.85358963 -0.09019694] Pose Error in degrees for R and t: 63.345757618415604 16.917359358841807 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-2.74309040e-01 -9.61639744e-01 -1.88510639e-03] [ 9.61641350e-01 -2.74307055e-01 -1.24629694e-03] [ 6.81390690e-04 -2.15466678e-03 9.99997447e-01]] t_estimated: [[ 9.97618901e-01] [-6.89649608e-02] [ 6.02909145e-04]] R_gt: [[ 0.85360021 0.51865809 -0.04857237] [-0.52071488 0.8522022 -0.05106529] [ 0.01490709 0.06888282 0.99751365]] t_gt: [-0.43915512 0.8893584 -0.12721799] Pose Error in degrees for R and t: 137.30258896763746 60.03170383504943 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.54421264e-01 2.98462761e-01 1.77777691e-04] [-2.98462814e-01 9.54421071e-01 6.06247815e-04] [ 1.12676224e-05 -6.31675835e-04 9.99999800e-01]] t_estimated: [[-7.72150428e-01] [-6.35439323e-01] [-7.63749187e-04]] R_gt: [[ 9.93734388e-01 -1.11755896e-01 -9.43210283e-04] [ 1.11748961e-01 9.93718228e-01 -6.02067269e-03] [ 1.61052356e-03 5.87727262e-03 9.99981545e-01]] t_gt: [ 0.63742633 -0.7702565 -0.01981402] Pose Error in degrees for R and t: 23.784841751066455 89.84400550886652 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.95219032 0.30549478 -0.00255468] [-0.30548592 -0.95219071 -0.00334873] [-0.00345556 -0.00240821 0.99999113]] t_estimated: [[0.64907948] [0.76071861] [0.00173906]] R_gt: [[ 0.98111947 -0.19066261 -0.03242592] [ 0.19110789 0.98150533 0.01121363] [ 0.02968885 -0.01719941 0.99941108]] t_gt: [ 0.67183727 -0.73910464 -0.04856973] Pose Error in degrees for R and t: 173.22486480914154 82.74651316686467 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.66859045e-01 2.55310583e-01 3.05498050e-04] [-2.55310237e-01 9.66858786e-01 -8.77473406e-04] [-5.19401721e-04 7.70396320e-04 9.99999568e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96573232 -0.25870553 -0.02079597] [ 0.25663681 0.96380957 -0.07216921] [ 0.03871382 0.06435897 0.99717499]] t_gt: [ 0.64707367 -0.67725615 -0.35017107] Pose Error in degrees for R and t: 30.043932988770262 83.48175416319368 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 0.92766789 0.37339769 -0.00253978] [-0.37339014 0.92766955 0.0030015 ] [ 0.00347683 -0.00183607 0.99999227]] t_estimated: [[-0.23181863] [-0.97275792] [-0.00146721]] R_gt: [[ 0.99970094 0.01500644 0.01930723] [-0.01541541 0.99965449 0.02125224] [-0.01898183 -0.02154287 0.99958705]] t_gt: [-0.38786183 0.33939272 0.85695728] Pose Error in degrees for R and t: 21.119139078743707 76.02546089136668 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.99999769e-01 -6.70335644e-04 1.08570603e-04] [ 6.70339828e-04 9.99999775e-01 -3.85091200e-05] [-1.08544765e-04 3.85818904e-05 9.99999993e-01]] t_estimated: [[9.99993440e-01] [3.55338946e-03] [7.01975139e-04]] R_gt: [[ 0.99428289 -0.10300886 0.02812813] [ 0.10208867 0.99424755 0.03239307] [-0.03130246 -0.02933588 0.99907875]] t_gt: [ 0.77774738 -0.51722376 0.35719545] Pose Error in degrees for R and t: 6.344645819802049 39.09012188683142 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.82710731e-01 -1.85146731e-01 -5.54270914e-04] [ 1.85146315e-01 9.82710697e-01 -7.26120463e-04] [ 6.79126787e-04 6.10945153e-04 9.99999583e-01]] t_estimated: [[-0.15701042] [-0.98758834] [-0.00412281]] R_gt: [[ 0.97408452 -0.22404283 0.03107231] [ 0.22338899 0.97445377 0.02319023] [-0.03547343 -0.01564758 0.99924811]] t_gt: [ 0.81677778 -0.56148396 0.13270198] Pose Error in degrees for R and t: 3.2059725351819215 64.80341959214243 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.14470377 -0.98803397 -0.05338242] [-0.9881671 0.14707506 -0.04352825] [ 0.05085861 0.04645205 -0.99762498]] t_estimated: [[ 0.76576091] [ 0.64235092] [-0.03155201]] R_gt: [[ 9.97593853e-01 6.90966602e-02 5.69537351e-03] [-6.90959225e-02 9.97609593e-01 -2.84234687e-04] [-5.70102419e-03 -1.08463447e-04 9.99984411e-01]] t_gt: [-0.95266409 0.30385816 0.01006785] Pose Error in degrees for R and t: 176.2948895445721 57.68002425260653 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99986689e-01 5.09100698e-03 -8.38906155e-04] [-5.08897884e-03 9.99984166e-01 2.40224970e-03] [ 8.51122742e-04 -2.39794855e-03 9.99996763e-01]] t_estimated: [[-0.99977823] [-0.02101774] [-0.00132258]] R_gt: [[ 0.99132535 0.13141267 -0.00233803] [-0.13142072 0.99131922 -0.00350194] [ 0.00185753 0.00377971 0.99999153]] t_gt: [-0.95729281 0.28710732 -0.03405681] Pose Error in degrees for R and t: 7.268600198637259 17.993567916071136 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.61011756e-01 -2.76504331e-01 1.32666199e-03] [ 2.76506872e-01 9.61008801e-01 -2.45637564e-03] [-5.95735348e-04 2.72743703e-03 9.99996103e-01]] t_estimated: [[-0.66436296] [-0.74740833] [-0.00162834]] R_gt: [[ 9.94177994e-01 1.03703544e-01 2.92468535e-02] [-1.03742063e-01 9.94603440e-01 -1.84479631e-04] [-2.91086809e-02 -2.85001080e-03 9.99572038e-01]] t_gt: [-0.97717464 0.20717814 0.04697821] Pose Error in degrees for R and t: 22.066530439253444 60.37801457422589 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 0.97673885 -0.21189845 0.03286728] [-0.2130917 -0.94205041 0.25910028] [-0.02394031 -0.26007705 -0.96529104]] t_estimated: [[0.13657443] [0.98250802] [0.12659151]] R_gt: [[ 0.99946126 0.03051682 -0.0120198 ] [-0.03065412 0.99946381 -0.01143512] [ 0.01166457 0.0117975 0.99986204]] t_gt: [ 0.3724039 0.79817288 -0.47353498] Pose Error in degrees for R and t: 165.59584559207534 39.18348727668695 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.46962566e-01 -3.21343264e-01 -6.37257273e-04] [ 3.21343726e-01 9.46962240e-01 8.51751412e-04] [ 3.29753997e-04 -1.01135533e-03 9.99999434e-01]] t_estimated: [[0.9999161 ] [0.01287446] [0.0014305 ]] R_gt: [[ 9.98854991e-01 4.78297276e-02 4.77219316e-04] [-4.78167987e-02 9.98749200e-01 -1.45391948e-02] [-1.17131492e-03 1.45005442e-02 9.99893707e-01]] t_gt: [ 0.45826851 0.86777267 -0.19225131] Pose Error in degrees for R and t: 21.50383440190306 62.02234748821035 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 5.43337782e-01 8.39513863e-01 7.26435181e-04] [-8.39512662e-01 5.43338242e-01 -1.42972808e-03] [-1.59497656e-03 1.66973752e-04 9.99998714e-01]] t_estimated: [[0.2539821 ] [0.9672082 ] [0.00117707]] R_gt: [[ 0.99917171 -0.03901879 -0.01149603] [ 0.03865259 0.99878681 -0.03047292] [ 0.01267236 0.03000355 0.99946964]] t_gt: [ 0.88921209 -0.38350493 -0.24945105] Pose Error in degrees for R and t: 59.341198493327646 81.640785841447 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[-0.14851068 0.98862812 -0.02364373] [ 0.98859568 0.14902445 0.02168632] [ 0.0249632 -0.02015344 -0.99948521]] t_estimated: [[ 0.75777051] [-0.65231719] [-0.01631379]] R_gt: [[ 0.99783992 0.02612788 0.0602898 ] [-0.0255763 0.99962438 -0.00991218] [-0.06052602 0.00834874 0.9981315 ]] t_gt: [-0.64811743 0.38595473 0.65649276] Pose Error in degrees for R and t: 178.8721863222368 41.096890799402 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 0.48630341 0.87351986 -0.02172674] [ 0.87348582 -0.48532774 0.03846438] [ 0.02305481 -0.03768335 -0.99902374]] t_estimated: [[ 0.49595892] [-0.8680449 ] [-0.0228647 ]] R_gt: [[ 0.99824434 0.0308335 0.05058894] [-0.02956515 0.99923451 -0.02564176] [-0.05134053 0.02410077 0.99839029]] t_gt: [-0.87587803 0.32838999 0.35355012] Pose Error in degrees for R and t: 179.82390574228535 43.31939173136573 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99980744e-01 -6.20406688e-03 1.45847595e-04] [ 6.20405406e-03 9.99980751e-01 8.81896519e-05] [-1.46391922e-04 -8.72831074e-05 9.99999985e-01]] t_estimated: [[-8.44341203e-01] [-5.35805429e-01] [-6.88695924e-04]] R_gt: [[ 0.99974281 0.02157423 0.00710363] [-0.02169647 0.99961195 0.01752463] [-0.0067219 -0.01767459 0.99982076]] t_gt: [-0.96768125 -0.15732291 0.19708499] Pose Error in degrees for R and t: 1.9229951133012455 25.682174955516786 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.95986172 -0.2781895 -0.03572237] [-0.27845229 0.9604468 0.00250481] [ 0.03361262 0.01235124 -0.99935861]] t_estimated: [[ 0.98731047] [ 0.15774164] [-0.01831954]] R_gt: [[ 0.99958175 -0.01646447 0.02377192] [ 0.01565114 0.99929753 0.0340601 ] [-0.02431566 -0.03367321 0.99913616]] t_gt: [ 0.1058504 -0.40148983 0.90972612] Pose Error in degrees for R and t: 179.63054573828333 88.59555223336136 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99650653e-01 2.64305110e-02 -7.09989217e-06] [-2.64305109e-02 9.99650653e-01 1.01904544e-05] [ 7.36675076e-06 -9.99924066e-06 1.00000000e+00]] t_estimated: [[ 6.34570890e-01] [-7.72864333e-01] [ 7.13043442e-04]] R_gt: [[ 0.99996376 0.00816223 0.00272064] [-0.00789541 0.99622473 -0.08644671] [-0.00341544 0.08642217 0.99625267]] t_gt: [-0.09069264 0.44893233 -0.88895141] Pose Error in degrees for R and t: 5.072766109527463 66.09956334144056 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.89021373e-01 1.47771418e-01 5.75257790e-04] [-1.47770973e-01 9.89021321e-01 -7.52046339e-04] [-6.80073173e-04 6.58783500e-04 9.99999552e-01]] t_estimated: [[0.99527161] [0.09712362] [0.00119781]] R_gt: [[ 0.99834461 -0.03234753 -0.04757229] [ 0.02411574 0.98609432 -0.1644297 ] [ 0.05222976 0.16301139 0.98524016]] t_gt: [ 0.150349 0.14030666 -0.97862619] Pose Error in degrees for R and t: 14.103213639797865 80.6715991275269 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-9.97777688e-01 -6.32967447e-02 -2.08136120e-02] [-6.33150934e-02 9.97993562e-01 2.23113935e-04] [ 2.07577284e-02 1.54043390e-03 -9.99783348e-01]] t_estimated: [[ 0.99512779] [ 0.09818463] [-0.00896957]] R_gt: [[ 0.99773777 0.03699088 -0.05613094] [-0.03641286 0.99927354 0.01127465] [ 0.05650712 -0.00920539 0.99836045]] t_gt: [ 0.12020091 0.72198224 -0.68139077] Pose Error in degrees for R and t: 175.5988486418509 78.66094004609086 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.77783644e-01 -2.09616250e-01 -4.15314978e-04] [ 2.09616494e-01 9.77783447e-01 6.75215511e-04] [ 2.64551968e-04 -7.47271553e-04 9.99999686e-01]] t_estimated: [[-3.02964412e-01] [-9.53001849e-01] [-1.99668573e-04]] R_gt: [[ 0.98270625 0.14860211 -0.11047868] [-0.14931353 0.9887883 0.00184974] [ 0.1095156 0.0146781 0.99387692]] t_gt: [-0.17864672 0.87306929 -0.45369083] Pose Error in degrees for R and t: 21.628332107771268 38.93836771652784 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.98508244 0.17207457 0.00171342] [-0.17206466 0.98507382 -0.00483027] [-0.00251901 0.00446339 0.99998687]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.97862617 0.14096321 -0.14973499] [-0.13799077 0.98997564 0.03010609] [ 0.15247818 -0.00880023 0.98826756]] t_gt: [-0.01529986 0.86885641 -0.4948277 ] Pose Error in degrees for R and t: 9.131163012897032 29.746562162930886 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-4.33723311e-03 -9.99989366e-01 -1.56757522e-03] [ 9.99990560e-01 -4.33681683e-03 -2.68860601e-04] [ 2.62059455e-04 -1.56872654e-03 9.99998735e-01]] t_estimated: [[9.99998387e-01] [1.71920353e-03] [5.20133974e-04]] R_gt: [[ 0.99765055 -0.05586237 -0.03966452] [ 0.05557575 0.99841926 -0.0082988 ] [ 0.04006515 0.00607649 0.99917913]] t_gt: [ 0.83355441 -0.43951175 -0.33468861] Pose Error in degrees for R and t: 87.07598025422625 33.63082708542078 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-6.94055529e-01 -7.19911919e-01 -3.70820076e-03] [ 7.19918259e-01 -6.94058611e-01 -5.88337362e-04] [-2.15015759e-03 -3.07794023e-03 9.99992952e-01]] t_estimated: [[0.94608155] [0.32391267] [0.00320706]] R_gt: [[ 0.99293982 -0.07958351 -0.08796735] [ 0.07957518 0.99682192 -0.00361192] [ 0.0879745 -0.00341341 0.99611728]] t_gt: [ 0.84795129 -0.36168446 -0.38750867] Pose Error in degrees for R and t: 129.4261975652161 46.85601344247868 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999257e-01 -9.72185324e-04 7.35564452e-04] [ 9.72188415e-04 9.99999527e-01 -3.84427529e-06] [-7.35560367e-04 4.55937967e-06 9.99999729e-01]] t_estimated: [[0.63480962] [0.77266815] [0.0008255 ]] R_gt: [[ 0.98950756 0.03490979 -0.14020325] [-0.03413686 0.99938589 0.0079099 ] [ 0.14039316 -0.00303958 0.99009192]] t_gt: [ 0.54876512 0.43090238 -0.71636582] Pose Error in degrees for R and t: 8.367449918961912 47.10049362084233 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99996077e-01 2.80070926e-03 4.77417029e-05] [-2.80070980e-03 9.99996078e-01 1.12488315e-05] [-4.77100110e-05 -1.13824980e-05 9.99999999e-01]] t_estimated: [[-0.56524277] [-0.8249241 ] [-0.0009176 ]] R_gt: [[ 0.9999588 -0.00605349 0.00671871] [ 0.00620251 0.99972834 -0.02245768] [-0.00658048 0.02249751 0.99972572]] t_gt: [ 0.83487166 -0.41372558 -0.36307088] Pose Error in degrees for R and t: 1.4372163257457664 82.51423829067426 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.35455409 -0.93471229 0.02458319] [-0.93376621 0.35531984 0.04276077] [-0.04870391 -0.00779395 -0.99878285]] t_estimated: [[0.82421152] [0.56558127] [0.02816379]] R_gt: [[ 0.99246283 -0.12254375 0.00109169] [ 0.12252437 0.99205147 -0.02865098] [ 0.00242788 0.02856918 0.99958982]] t_gt: [ 0.71229735 -0.69617799 -0.08926755] Pose Error in degrees for R and t: 178.34384159798836 78.9991050705901 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.95606484e-01 -9.36337875e-02 6.65933603e-04] [ 9.36338148e-02 9.95606704e-01 -9.83209952e-06] [-6.62087342e-04 7.21428056e-05 9.99999778e-01]] t_estimated: [[0.98912487] [0.14706906] [0.0016377 ]] R_gt: [[ 0.98707762 -0.15993788 0.0099048 ] [ 0.16003983 0.98705354 -0.01050951] [-0.00809558 0.0119587 0.99989618]] t_gt: [ 0.70725229 -0.70665683 0.02074425] Pose Error in degrees for R and t: 3.917211026795831 53.43977248805272 Number of keypoints: Image1: 355 Image2: 355 R_estimated: [[ 6.24455972e-01 -7.81059961e-01 -2.75485999e-04] [ 7.81057882e-01 6.24455055e-01 -2.11415005e-03] [ 1.82330658e-03 1.10502311e-03 9.99997727e-01]] t_estimated: [[-0.30887717] [-0.95109702] [-0.00305819]] R_gt: [[ 0.99863283 -0.02266732 0.04710708] [ 0.02232834 0.99972145 0.00768588] [-0.04726772 -0.00662302 0.99885988]] t_gt: [-0.218377 -0.29677225 0.92964387] Pose Error in degrees for R and t: 50.14243689312683 69.7041423579978 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[-9.33383823e-01 -3.58878642e-01 8.71495270e-04] [-3.58870367e-01 9.33374311e-01 4.94533533e-03] [-2.58820652e-03 4.30314217e-03 -9.99987392e-01]] t_estimated: [[0.97146596] [0.23716561] [0.00252373]] R_gt: [[ 0.99623426 0.01046676 0.0860663 ] [-0.00880311 0.99976716 -0.01970461] [-0.08625282 0.01887368 0.99609444]] t_gt: [-0.65574883 0.17976504 0.7332653 ] Pose Error in degrees for R and t: 175.24237283763927 53.66161241323104 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.77647955e-01 2.10248214e-01 4.04923356e-04] [-2.10248250e-01 9.77648030e-01 4.84508746e-05] [-3.85685812e-04 -1.32502326e-04 9.99999917e-01]] t_estimated: [[0.3333705 ] [0.94279517] [0.00116972]] R_gt: [[ 0.99890943 -0.00603731 0.04629092] [ 0.00649525 0.99993161 -0.00976699] [-0.046229 0.01005703 0.99888038]] t_gt: [-0.87216761 -0.25093733 0.41994538] Pose Error in degrees for R and t: 12.78132240153598 58.207385719075624 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 8.94004176e-01 -4.48057960e-01 7.73741186e-04] [ 4.48057758e-01 8.94004510e-01 4.26859416e-04] [-8.82985869e-04 -3.49333596e-05 9.99999610e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99181985 -0.10455842 -0.0732111 ] [ 0.11245919 0.98712467 0.11374176] [ 0.06037562 -0.12104503 0.9908091 ]] t_gt: [ 0.72268975 -0.61094262 0.32321608] Pose Error in degrees for R and t: 21.784464188689213 44.24987966318152 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-8.05654000e-01 -5.92384710e-01 -1.41020594e-03] [ 5.92384741e-01 -8.05655090e-01 4.40054224e-04] [-1.39682099e-03 -4.80853036e-04 9.99998909e-01]] t_estimated: [[8.62593062e-01] [5.05897972e-01] [6.71603286e-04]] R_gt: [[ 0.97049558 -0.21540709 -0.10833903] [ 0.23013197 0.96158908 0.14961662] [ 0.07194859 -0.17013472 0.98279008]] t_gt: [ 0.77943022 -0.56489199 0.27089772] Pose Error in degrees for R and t: 130.90726550784262 67.24848613625525 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 7.90898303e-01 6.11947607e-01 -3.67230324e-05] [-6.11947587e-01 7.90898290e-01 2.16301825e-04] [ 1.61409568e-04 -1.48600175e-04 9.99999976e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95129542 -0.27685418 -0.13560545] [ 0.29564743 0.94394347 0.14684373] [ 0.0873494 -0.17978306 0.9798208 ]] t_gt: [ 0.80980801 -0.54990498 0.20448837] Pose Error in degrees for R and t: 55.64982385208917 36.07399027643178 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.92611859e-01 1.21332585e-01 3.18052024e-04] [-1.21332603e-01 9.92611907e-01 3.95844265e-05] [-3.10899346e-04 -7.78820513e-05 9.99999949e-01]] t_estimated: [[0.36454025] [0.9311857 ] [0.00189411]] R_gt: [[ 0.99451081 -0.10461563 0.00156137] [ 0.1045862 0.99442549 0.01335104] [-0.00294865 -0.01311422 0.99990895]] t_gt: [ 0.59304557 -0.79029546 0.15404559] Pose Error in degrees for R and t: 12.996110471781618 58.70590339838817 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-9.73622709e-01 2.27886004e-01 -1.12601133e-02] [-2.27866959e-01 -9.73687767e-01 -2.96345835e-03] [-1.16391652e-02 -3.19482577e-04 9.99932212e-01]] t_estimated: [[0.67720969] [0.7357887 ] [0.00142157]] R_gt: [[ 0.96976302 -0.24402122 -0.00355242] [ 0.24404451 0.96957745 0.01899314] [-0.0011905 -0.01928611 0.99981321]] t_gt: [ 0.69488742 -0.7135528 0.0892965 ] Pose Error in degrees for R and t: 179.0387378336809 86.88658236254209 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99997312 -0.00702613 -0.00209687] [ 0.00703346 0.99996912 0.00350649] [ 0.00207217 -0.00352115 0.99999165]] t_estimated: [[-0.00980801] [-0.9999505 ] [ 0.00167464]] R_gt: [[ 0.95278011 -0.30283136 -0.02241741] [ 0.30352123 0.95197649 0.04018388] [ 0.00917229 -0.04509083 0.99893985]] t_gt: [ 0.69826706 -0.70625711 0.11672193] Pose Error in degrees for R and t: 17.420999460328005 45.60756434278381 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99889181e-01 1.48868954e-02 -8.15275324e-05] [-1.48869026e-02 9.99889180e-01 -8.92436274e-05] [ 8.01899369e-05 9.04474299e-05 9.99999993e-01]] t_estimated: [[-9.98592704e-01] [-5.30323069e-02] [-4.30669264e-04]] R_gt: [[ 0.99768811 0.0679169 -0.00235196] [-0.06794869 0.99751845 -0.01843184] [ 0.00109503 0.01854938 0.99982776]] t_gt: [-0.94131955 0.25099984 -0.22564703] Pose Error in degrees for R and t: 3.221538555541543 22.06154719656015 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 7.98613036e-01 6.01841004e-01 2.15027440e-03] [-6.01837975e-01 7.98615894e-01 -1.92511142e-03] [-2.87585431e-03 2.43302285e-04 9.99995835e-01]] t_estimated: [[-0.5012439 ] [ 0.86529707] [ 0.00394196]] R_gt: [[ 9.97028029e-01 7.66474224e-02 7.78391218e-03] [-7.66433214e-02 9.97058058e-01 -8.49492396e-04] [-7.82499300e-03 2.51035854e-04 9.99969700e-01]] t_gt: [-0.98799601 0.15414782 -0.01011636] Pose Error in degrees for R and t: 32.607225662926595 51.05524631724556 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.45512428 0.89007004 0.02524294] [ 0.89040995 0.4551123 0.00655077] [-0.00565773 0.02545798 -0.99965988]] t_estimated: [[9.58331445e-01] [2.85657180e-01] [9.03906022e-04]] R_gt: [[ 0.99609354 0.06177775 0.06310898] [-0.06085663 0.99801188 -0.01642374] [-0.0639984 0.01251913 0.99787183]] t_gt: [-0.99177309 0.12492146 0.02794211] Pose Error in degrees for R and t: 175.4532137200093 23.83154207404188 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.75923785 -0.65075129 0.00897984] [-0.65076826 -0.75895087 0.02223157] [-0.00765196 -0.02272284 -0.99971252]] t_estimated: [[0.35518601] [0.93471423] [0.01233692]] R_gt: [[ 0.99877634 -0.02304341 -0.04376906] [ 0.02215134 0.99953964 -0.02074058] [ 0.04422727 0.01974599 0.99882612]] t_gt: [ 0.46701851 -0.22002627 -0.85643573] Pose Error in degrees for R and t: 179.40668263476527 87.11399297332481 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-4.07465390e-01 -9.13216975e-01 -2.59078481e-03] [ 9.13220417e-01 -4.07461616e-01 -1.87149029e-03] [ 6.53431340e-04 -3.12852511e-03 9.99994893e-01]] t_estimated: [[0.99987733] [0.01562308] [0.00111593]] R_gt: [[ 0.99120772 -0.10899821 0.07501673] [ 0.110772 0.9936467 -0.01989988] [-0.07237068 0.0280354 0.99698305]] t_gt: [ 0.66016393 -0.72577981 0.19346126] Pose Error in degrees for R and t: 107.79942834856266 49.53677020283338 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.49264335e-01 6.62271056e-01 6.53465174e-05] [-6.62270946e-01 7.49264262e-01 -5.09733443e-04] [-3.86543516e-04 3.38647989e-04 9.99999868e-01]] t_estimated: [[0.63950718] [0.7687839 ] [0.00137528]] R_gt: [[ 0.93726481 -0.2613661 0.2307027 ] [ 0.25889002 0.96501468 0.04149712] [-0.23347633 0.02083291 0.9721392 ]] t_gt: [ 0.62246803 -0.63989422 0.45063172] Pose Error in degrees for R and t: 58.231063671609945 84.6495187263858 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-2.22269212e-01 -9.74984321e-01 -1.40382163e-03] [ 9.74985164e-01 -2.22269788e-01 2.66304967e-04] [-5.71670303e-04 -1.30951387e-03 9.99998979e-01]] t_estimated: [[9.99994892e-01] [3.10075938e-03] [7.75189839e-04]] R_gt: [[ 0.99928505 -0.02639264 -0.02708187] [ 0.02306272 0.99290371 -0.11666658] [ 0.02996808 0.11595823 0.9928022 ]] t_gt: [ 0.28934255 0.2039642 -0.93524301] Pose Error in degrees for R and t: 101.59384626627367 73.18702822087808 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-9.14106597e-01 4.05472944e-01 -9.06004379e-04] [ 4.05473185e-01 9.14106935e-01 -9.19985418e-05] [ 7.90881966e-04 -4.51456955e-04 -9.99999585e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99684616 -0.0718011 -0.03381336] [ 0.06572293 0.98565638 -0.15544586] [ 0.04448891 0.15273324 0.98726597]] t_gt: [ 0.41225971 0.09186103 -0.90642345] Pose Error in degrees for R and t: 179.58379431562662 65.67953949362432 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.99997190e-01 -2.36961586e-03 7.29997323e-05] [ 2.36964985e-03 9.99997082e-01 -4.69228280e-04] [-7.18876285e-05 4.69399945e-04 9.99999887e-01]] t_estimated: [[ 9.82303165e-01] [-1.87297866e-01] [ 4.37924969e-05]] R_gt: [[ 0.98503873 -0.16267525 -0.05689491] [ 0.14782051 0.96725055 -0.20634086] [ 0.08859765 0.19484339 0.97682553]] t_gt: [ 0.52949353 -0.04108296 -0.84731859] Pose Error in degrees for R and t: 15.201132391163453 58.14436464625347 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.97826949e-01 6.58891510e-02 -1.47830569e-05] [-6.58891377e-02 9.97826849e-01 4.47981235e-04] [ 4.42680344e-05 -4.46033706e-04 9.99999900e-01]] t_estimated: [[-9.99658315e-01] [ 2.61365704e-02] [ 3.64512362e-04]] R_gt: [[ 0.98914178 0.13695737 0.05330864] [-0.13809644 0.9902502 0.01827852] [-0.05028546 -0.02544194 0.99841016]] t_gt: [-0.85410235 0.47226181 0.21789436] Pose Error in degrees for R and t: 5.240490137265611 29.9761743648744 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.97298973e-01 7.34490193e-02 9.61070270e-06] [-7.34490186e-02 9.97298971e-01 -5.90951941e-05] [-1.39252280e-05 5.82296797e-05 9.99999998e-01]] t_estimated: [[-0.82554098] [-0.56434073] [-0.00127408]] R_gt: [[ 0.96650811 0.25262591 0.04518025] [-0.25478717 0.96565021 0.05101251] [-0.03074063 -0.0608153 0.99767543]] t_gt: [-0.82974641 0.52258528 0.1960243 ] Pose Error in degrees for R and t: 11.204731576876727 67.05646646515667 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-0.77785804 0.62835743 -0.01018834] [ 0.62833933 0.7779214 0.00529 ] [ 0.01124973 -0.00228686 -0.9999341 ]] t_estimated: [[ 0.80092913] [-0.59871852] [-0.00697578]] R_gt: [[ 0.91583608 0.39786968 0.05426561] [-0.39773206 0.91739771 -0.0137848 ] [-0.05526717 -0.00895832 0.99843064]] t_gt: [-0.78570464 0.61497999 0.06684183] Pose Error in degrees for R and t: 177.5861603962442 3.6604571664164243 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99997636e-01 -2.17421891e-03 -2.73851948e-05] [ 2.17422815e-03 9.99997578e-01 3.41995970e-04] [ 2.66415543e-05 -3.42054703e-04 9.99999941e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99818014 -0.00165363 -0.06029271] [ 0.0033272 0.99961234 0.02766431] [ 0.06022349 -0.02781546 0.99779725]] t_gt: [ 0.98829961 -0.02636386 -0.15022926] Pose Error in degrees for R and t: 3.7935010621480387 88.83363018349604 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99996636e-01 2.59300868e-03 5.85473309e-05] [-2.59300831e-03 9.99996638e-01 -6.38440483e-06] [-5.85636889e-05 6.23256964e-06 9.99999998e-01]] t_estimated: [[-0.74305688] [ 0.66922752] [-0.00100088]] R_gt: [[ 0.98983569 0.07379558 -0.12157571] [-0.06521961 0.99519227 0.07307409] [ 0.12638431 -0.06440281 0.98988807]] t_gt: [ 0.72491555 0.65582509 -0.21069147] Pose Error in degrees for R and t: 9.022360071458262 84.28694826175035 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.87728603e-01 -1.56179512e-01 4.08853587e-04] [ 1.56178771e-01 9.87706569e-01 -6.62761240e-03] [ 6.31269894e-04 6.61013659e-03 9.99977954e-01]] t_estimated: [[ 0.28111586] [ 0.95961447] [-0.01067433]] R_gt: [[ 0.97828911 0.14504466 -0.14803225] [-0.1261921 0.98349297 0.12968795] [ 0.16439979 -0.10819235 0.98044147]] t_gt: [ 0.36993777 0.92802116 -0.04384944] Pose Error in degrees for R and t: 20.428785379012197 5.728541073234628 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.97274760e-01 -7.37769829e-02 -1.00484290e-04] [ 7.37769850e-02 9.97274765e-01 1.78276101e-05] [ 9.88951789e-05 -2.51924535e-05 9.99999995e-01]] t_estimated: [[ 9.96615553e-01] [ 8.22035556e-02] [-1.24625272e-04]] R_gt: [[ 0.98826951 -0.15113382 -0.02194206] [ 0.15133956 0.98844963 0.00800766] [ 0.02047872 -0.01123387 0.99972748]] t_gt: [ 0.68176551 -0.73060999 0.0374812 ] Pose Error in degrees for R and t: 4.663130185862068 51.72805438263793 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-8.85054409e-01 -4.65484723e-01 -1.63274604e-03] [ 4.65487489e-01 -8.85051051e-01 -2.45637947e-03] [-3.01656480e-04 -2.93405233e-03 9.99995650e-01]] t_estimated: [[0.90765797] [0.419709 ] [0.00116608]] R_gt: [[ 0.97389208 -0.22548675 -0.02622536] [ 0.22698435 0.96891657 0.09837834] [ 0.00322684 -0.10176186 0.99480337]] t_gt: [ 0.5486651 -0.75252386 0.36424504] Pose Error in degrees for R and t: 139.1991750727135 79.47969591083083 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-1.02785268e-01 -9.94703499e-01 3.70360422e-04] [-9.94700528e-01 1.02784026e-01 -2.51081679e-03] [ 2.45945111e-03 -6.26472683e-04 -9.99996779e-01]] t_estimated: [[0.6910681 ] [0.72278926] [0.00075527]] R_gt: [[ 0.95303218 -0.28870646 -0.0915248 ] [ 0.30034326 0.93983294 0.16281152] [ 0.0390138 -0.18265334 0.98240251]] t_gt: [ 0.56014589 -0.72549581 0.39986548] Pose Error in degrees for R and t: 176.18311282210863 82.12689279943227 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 1.00000000e+00 -5.87527589e-06 -6.02350436e-06] [ 5.87532443e-06 1.00000000e+00 8.05888016e-06] [ 6.02345701e-06 -8.05891555e-06 1.00000000e+00]] t_estimated: [[ 0.37122447] [-0.92854149] [-0.00175971]] R_gt: [[ 0.999076 -0.04020809 0.0151734 ] [ 0.04008338 0.99916085 0.00836817] [-0.01549825 -0.00775175 0.99984974]] t_gt: [ 0.74366317 -0.56417161 0.35871364] Pose Error in degrees for R and t: 2.506192594197011 36.93750277873683 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 7.16897681e-01 6.97178059e-01 6.85149297e-04] [-6.97178211e-01 7.16897860e-01 -2.30176121e-05] [-5.07229439e-04 -4.61169889e-04 9.99999765e-01]] t_estimated: [[0.01674659] [0.99985919] [0.00107619]] R_gt: [[ 0.99594434 -0.08356342 0.03332203] [ 0.083779 0.99647031 -0.00514815] [-0.03277376 0.00791927 0.99943101]] t_gt: [ 0.76515689 -0.60837074 0.21076047] Pose Error in degrees for R and t: 49.036476206388386 53.46993686067994 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-8.88806904e-01 -4.58280370e-01 -1.17886206e-03] [ 4.58281770e-01 -8.88805569e-01 -1.57440917e-03] [-3.26258348e-04 -1.93959673e-03 9.99998066e-01]] t_estimated: [[0.70095817] [0.71320198] [0.00076524]] R_gt: [[ 0.98489038 -0.17119158 0.02615346] [ 0.17162219 0.98504433 -0.01524115] [-0.02315266 0.01949977 0.9995411 ]] t_gt: [ 0.78336952 -0.61858074 0.06074585] Pose Error in degrees for R and t: 142.8580025391885 83.80095743027378 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99999241e-01 -1.23202226e-03 1.00953563e-05] [ 1.23202232e-03 9.99999241e-01 -5.94903986e-06] [-1.00880193e-05 5.96147305e-06 1.00000000e+00]] t_estimated: [[ 5.46358632e-01] [-8.37551335e-01] [ 7.94299751e-05]] R_gt: [[ 0.99932229 -0.03543785 -0.00997958] [ 0.03491239 0.99820495 -0.04866324] [ 0.01168564 0.048282 0.99876539]] t_gt: [ 0.52833413 -0.10303398 -0.84276156] Pose Error in degrees for R and t: 3.448685730135922 67.982533946591 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99977031e-01 -6.77769218e-03 -9.77445082e-06] [ 6.77769231e-03 9.99977031e-01 1.35939966e-05] [ 9.68209039e-06 -1.36599326e-05 1.00000000e+00]] t_estimated: [[ 6.66158638e-01] [-7.45810075e-01] [-2.65420957e-05]] R_gt: [[ 0.99395618 -0.10299997 -0.03797577] [ 0.09960391 0.99160235 -0.08248705] [ 0.0461527 0.07820689 0.99586824]] t_gt: [ 0.63990738 -0.24757494 -0.72747866] Pose Error in degrees for R and t: 7.5299523736738925 52.3422792254874 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99939733e-01 -1.09785891e-02 3.87842502e-05] [ 1.09785904e-02 9.99939733e-01 -3.37327020e-05] [-3.84115753e-05 3.41564654e-05 9.99999999e-01]] t_estimated: [[ 6.44153910e-01] [-7.64895901e-01] [ 1.10204782e-05]] R_gt: [[ 0.97974366 -0.19761411 -0.03242878] [ 0.19126423 0.9713764 -0.14087534] [ 0.05933905 0.13181967 0.98949586]] t_gt: [ 0.62739467 -0.31272034 -0.7131493 ] Pose Error in degrees for R and t: 13.495883828390628 49.959467026008824 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.88117784e-01 1.53697933e-01 4.35709617e-04] [-1.53697727e-01 9.88117799e-01 -4.73152493e-04] [-5.03254988e-04 4.00562815e-04 9.99999793e-01]] t_estimated: [[ 0.96949215] [-0.24511134] [ 0.00232331]] R_gt: [[ 0.99586541 -0.04675963 0.07789567] [ 0.03726112 0.99217015 0.11920843] [-0.08286017 -0.11581257 0.98980862]] t_gt: [ 0.18116369 -0.23141043 0.95583939] Pose Error in degrees for R and t: 13.918138790640418 76.43320375812328 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.1039617 -0.99457223 -0.00424838] [-0.99457489 0.10397542 -0.0031469 ] [ 0.00357155 0.00389818 -0.99998602]] t_estimated: [[ 0.84429751] [ 0.53587296] [-0.00137356]] R_gt: [[ 0.99428611 -0.07258976 0.07828899] [ 0.05975025 0.98604144 0.1554132 ] [-0.08847784 -0.14984637 0.98474251]] t_gt: [ 0.25606482 -0.27265038 0.92741176] Pose Error in degrees for R and t: 170.84525593604232 86.05406861750879 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.05839251e-01 4.23621589e-01 -1.31044278e-05] [-4.23621567e-01 9.05839193e-01 -3.51800896e-04] [-1.37159950e-04 3.24226378e-04 9.99999938e-01]] t_estimated: [[-8.60346309e-01] [-5.09709497e-01] [-6.76905042e-04]] R_gt: [[ 0.99047748 -0.07695746 0.11416997] [ 0.05280068 0.97811848 0.20123641] [-0.12715804 -0.1932901 0.97286661]] t_gt: [ 0.19748622 -0.17765804 0.96407303] Pose Error in degrees for R and t: 31.73324662311425 85.41113917690954 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.98561909e-01 -5.36107372e-02 -5.82268944e-05] [ 5.36107382e-02 9.98561910e-01 1.57952714e-05] [ 5.72963627e-05 -1.88941431e-05 9.99999998e-01]] t_estimated: [[ 6.50403429e-01] [-7.59588884e-01] [-3.26603464e-04]] R_gt: [[ 0.99889078 -0.04565103 -0.01161095] [ 0.04522578 0.99838054 -0.03450466] [ 0.01316728 0.03394207 0.99933668]] t_gt: [ 0.65137514 -0.28260277 -0.7041634 ] Pose Error in degrees for R and t: 2.1378321274738923 50.31632778917901 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.90305563e-01 1.38906058e-01 2.19560991e-06] [-1.38906057e-01 9.90305562e-01 -4.13981215e-05] [-7.92477456e-06 4.06918065e-05 9.99999999e-01]] t_estimated: [[8.26267981e-01] [5.63276850e-01] [6.43010102e-04]] R_gt: [[ 0.9881486 -0.14686836 -0.04463816] [ 0.14258016 0.98590601 -0.08752583] [ 0.05686403 0.08012548 0.99516177]] t_gt: [ 0.65138697 -0.36436945 -0.6655298 ] Pose Error in degrees for R and t: 17.265516131848525 70.57629269265281 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 1.61537020e-01 9.86866639e-01 1.66772922e-04] [ 9.86863944e-01 -1.61536970e-01 2.31594253e-03] [ 2.31246641e-03 -2.09528269e-04 -9.99997304e-01]] t_estimated: [[-0.69434988] [-0.71963688] [-0.00099862]] R_gt: [[ 0.98197301 -0.18642813 -0.0312301 ] [ 0.18207166 0.97725027 -0.10877257] [ 0.05079851 0.10112664 0.99357663]] t_gt: [ 0.61441428 -0.424978 -0.66474716] Pose Error in degrees for R and t: 177.00686137614255 83.100694043484 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999759e-01 6.92724347e-04 4.84649814e-05] [-6.92724289e-04 9.99999760e-01 -1.20047909e-06] [-4.84658014e-05 1.16690594e-06 9.99999999e-01]] t_estimated: [[ 9.99996513e-01] [-2.53282050e-03] [ 7.48027348e-04]] R_gt: [[ 0.99749707 -0.07069551 -0.00139436] [ 0.07069255 0.99749272 -0.00311906] [ 0.00161212 0.00301371 0.99999401]] t_gt: [ 0.67663381 -0.72604976 -0.1225497 ] Pose Error in degrees for R and t: 4.098525645152257 47.282918996153185 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 0.99999753 -0.00106934 0.00194765] [ 0.00107252 0.9999981 -0.00163026] [-0.0019459 0.00163234 0.99999677]] t_estimated: [[0.63804492] [0.76999872] [0.0008046 ]] R_gt: [[ 0.9928588 -0.11333907 0.03722619] [ 0.11299775 0.99353255 0.01115004] [-0.038249 -0.00686315 0.99924404]] t_gt: [ 0.69183899 -0.69175725 0.20695586] Pose Error in degrees for R and t: 6.786256235048262 84.77533248742778 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 0.72151884 -0.69228354 -0.01241244] [-0.69237886 -0.72150795 -0.00614801] [-0.00469951 0.01303001 -0.99990406]] t_estimated: [[6.95227816e-01] [7.18789219e-01] [5.84925480e-04]] R_gt: [[ 0.98589167 -0.15978366 0.04986885] [ 0.15978082 0.98714354 0.00408607] [-0.04988051 0.00393962 0.99874724]] t_gt: [ 0.73800697 -0.65689544 0.15438296] Pose Error in degrees for R and t: 179.47349608640664 87.64999008684694 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.91127677e-01 -1.32913235e-01 -9.45079417e-06] [ 1.32913236e-01 9.91127672e-01 1.01614244e-04] [-4.13893430e-06 -1.01968825e-04 9.99999995e-01]] t_estimated: [[-9.79024550e-01] [-2.03740885e-01] [-7.63074474e-04]] R_gt: [[ 0.9976515 -0.06697752 -0.0143126 ] [ 0.06821403 0.99039502 0.12026582] [ 0.00612044 -0.12096003 0.99263788]] t_gt: [ 0.22305053 -0.7269997 0.64939964] Pose Error in degrees for R and t: 7.895770610768281 85.94305333152704 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 8.34197556e-01 5.51436735e-01 5.65377728e-03] [-5.51446691e-01 8.34210098e-01 2.45569986e-04] [-4.58102179e-03 -3.32261065e-03 9.99983987e-01]] t_estimated: [[-0.78020004] [ 0.62550031] [ 0.00610474]] R_gt: [[ 0.9880558 -0.13148174 -0.08036326] [ 0.14179129 0.97994126 0.1400348 ] [ 0.06033964 -0.14975674 0.98688004]] t_gt: [ 0.42102559 -0.79599157 0.43489639] Pose Error in degrees for R and t: 42.36722567474632 34.540842966926114 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-8.88056964e-01 -4.59731393e-01 -1.36931578e-03] [ 4.59733288e-01 -8.88055109e-01 -1.85143879e-03] [-3.64863339e-04 -2.27370316e-03 9.99997349e-01]] t_estimated: [[8.91912303e-01] [4.52207873e-01] [6.94635750e-04]] R_gt: [[ 0.96433276 -0.23696441 -0.11794151] [ 0.25289932 0.95636491 0.14631376] [ 0.07812331 -0.17092216 0.98218238]] t_gt: [ 0.55651736 -0.76801223 0.31693161] Pose Error in degrees for R and t: 138.50601017044576 81.41458452641028 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-3.20140236e-01 -9.47367873e-01 -2.08382347e-03] [ 9.47359461e-01 -3.20146300e-01 4.04940155e-03] [-4.50340131e-03 -6.77753513e-04 9.99989630e-01]] t_estimated: [[ 0.92601007] [-0.37748937] [ 0.00266935]] R_gt: [[ 0.99249697 0.12029798 0.02189543] [-0.12136765 0.9909791 0.05684155] [-0.0148603 -0.05907212 0.99814316]] t_gt: [-0.83335978 0.41701986 0.36277529] Pose Error in degrees for R and t: 115.6427624898853 21.85148618187325 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 8.84040483e-01 -4.67410136e-01 4.35213518e-04] [ 4.67410220e-01 8.84039212e-01 -1.53555625e-03] [ 3.32988740e-04 1.56091713e-03 9.99998726e-01]] t_estimated: [[-0.51741849] [-0.85573058] [-0.00180916]] R_gt: [[ 0.96459616 0.26154123 0.03395142] [-0.26264276 0.96431237 0.03349378] [-0.02398039 -0.04122586 0.99886249]] t_gt: [-0.83210098 0.53229297 0.15579523] Pose Error in degrees for R and t: 43.156540543329946 88.55388472502588 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 7.32509174e-01 -6.80755607e-01 -1.45371860e-03] [ 6.80755995e-01 7.32510200e-01 -2.85378496e-04] [ 1.25913671e-03 -7.80585284e-04 9.99998903e-01]] t_estimated: [[-0.30149722] [-0.95346583] [-0.00153044]] R_gt: [[ 0.93208427 0.36157611 0.0219954 ] [-0.3619058 0.93211807 0.01345068] [-0.01563862 -0.02049816 0.99966754]] t_gt: [-0.79455848 0.60306248 0.07065737] Pose Error in degrees for R and t: 64.13008733651878 70.39398689143603 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.96810683e-01 -7.97967968e-02 9.65752218e-04] [ 7.97988345e-02 9.96808343e-01 -2.29655392e-03] [-7.79412221e-04 2.36629538e-03 9.99996897e-01]] t_estimated: [[0.67855867] [0.73454536] [0.00111973]] R_gt: [[ 0.99443395 0.07254226 -0.07641401] [-0.07006887 0.9969426 0.03457409] [ 0.07868848 -0.02902779 0.99647611]] t_gt: [-0.02834223 0.93601172 -0.35082586] Pose Error in degrees for R and t: 9.964082539255047 48.09339440088299 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99213391e-01 -3.96558771e-02 1.00793162e-04] [ 3.96558757e-02 9.99213396e-01 1.60562885e-05] [-1.01350604e-04 -1.20466174e-05 9.99999995e-01]] t_estimated: [[0.57567716] [0.81767644] [0.00102433]] R_gt: [[ 0.98835546 0.12962769 -0.07969825] [-0.12114789 0.98723995 0.10334711] [ 0.09207772 -0.09248915 0.99144685]] t_gt: [-0.12849462 0.98343898 0.12781589] Pose Error in degrees for R and t: 12.10513038952459 43.08891995591918 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 8.28304157e-01 -5.60278041e-01 8.60414366e-04] [ 5.60278031e-01 8.28304565e-01 2.75177817e-04] [-8.66861235e-04 2.54140337e-04 9.99999592e-01]] t_estimated: [[0.68209935] [0.73125887] [0.00097009]] R_gt: [[ 0.9881014 0.1034734 -0.11379527] [-0.09542011 0.99267694 0.07408285] [ 0.12062791 -0.06234319 0.99073809]] t_gt: [ 0.3759898 0.88493507 -0.27481192] Pose Error in degrees for R and t: 40.54499541197716 25.403054036287003 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.87356592e-01 1.58514779e-01 -1.59654522e-04] [-1.58514788e-01 9.87356602e-01 -4.90431080e-05] [ 1.49861889e-04 7.37306389e-05 9.99999986e-01]] t_estimated: [[-0.96674328] [-0.25574657] [-0.00106119]] R_gt: [[ 0.97749425 0.21007635 -0.0193297 ] [-0.20891656 0.97667149 0.0496625 ] [ 0.0293117 -0.04450681 0.99857916]] t_gt: [-0.89846983 0.43539669 0.05640642] Pose Error in degrees for R and t: 4.267149522895479 40.783902997062654 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 4.16283983e-01 9.09234646e-01 6.23061378e-05] [ 9.09230223e-01 -4.16282170e-01 3.09121278e-03] [ 2.83657469e-03 -1.23017174e-03 -9.99995220e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.96158338 0.27443571 0.00646633] [-0.27373559 0.95683334 0.09766636] [ 0.0206172 -0.09568483 0.99519803]] t_gt: [-0.91039242 0.3600242 0.20388286] Pose Error in degrees for R and t: 174.90507982449813 59.04579118327798 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 0.95128394 -0.30827953 -0.00475345] [ 0.30828866 0.95129196 0.00130731] [ 0.0041189 -0.00270905 0.99998785]] t_estimated: [[-0.00729147] [-0.99997287] [-0.00104164]] R_gt: [[ 0.96662122 0.25571225 -0.01594242] [-0.25276911 0.96196093 0.10362755] [ 0.04183515 -0.09613853 0.99448789]] t_gt: [-0.95753231 0.22640646 0.17852726] Pose Error in degrees for R and t: 33.227644102255525 77.31419760614374 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99592388e-01 2.85487469e-02 1.66599972e-04] [-2.85487305e-02 9.99592397e-01 -1.00101412e-04] [-1.69389835e-04 9.53043914e-05 9.99999981e-01]] t_estimated: [[0.67038611] [0.742012 ] [0.00080479]] R_gt: [[ 0.9888532 -0.12668445 -0.07823859] [ 0.12341735 0.99132092 -0.04529885] [ 0.08329893 0.03513857 0.99590555]] t_gt: [ 0.73115677 -0.50433194 -0.45941166] Pose Error in degrees for R and t: 10.244884044910762 83.36365486819683 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99985206e-01 -5.06371941e-03 1.98641476e-03] [ 5.06543375e-03 9.99986802e-01 -8.58954410e-04] [-1.98203904e-03 8.69003755e-04 9.99997658e-01]] t_estimated: [[0.35294705] [0.93564264] [0.0011099 ]] R_gt: [[ 0.95275977 -0.29114915 -0.08649706] [ 0.28837753 0.95653966 -0.04324886] [ 0.09533093 0.01626252 0.99531325]] t_gt: [ 0.79707698 -0.56240347 -0.21993322] Pose Error in degrees for R and t: 17.5213946288537 75.81067236561672 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.94737780e-01 1.02450795e-01 7.63771132e-04] [-1.02450922e-01 9.94738052e-01 1.28363904e-04] [-7.46601224e-04 -2.05937482e-04 9.99999700e-01]] t_estimated: [[-0.6435444 ] [ 0.76540593] [ 0.00208942]] R_gt: [[ 0.94589517 -0.30104596 -0.12105479] [ 0.29894348 0.95360668 -0.03560212] [ 0.12615692 -0.00251263 0.9920075 ]] t_gt: [ 0.81584954 -0.53719284 -0.21404062] Pose Error in degrees for R and t: 24.50476343721095 20.503105002292482 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-0.82110777 -0.56762482 -0.05986729] [-0.56752408 0.82310586 -0.02032638] [ 0.06081488 0.01728598 -0.99799937]] t_estimated: [[ 0.9428794 ] [ 0.33162384] [-0.03168686]] R_gt: [[ 0.99919585 0.03133507 -0.0250272 ] [-0.03028759 0.99869134 0.04122165] [ 0.02628665 -0.04042974 0.99883658]] t_gt: [ 0.6579464 -0.164865 0.73479661] Pose Error in degrees for R and t: 175.67114984023584 57.15231806102492 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.10189658 -0.99478773 -0.00380386] [-0.99478954 0.10190794 -0.00292169] [ 0.0032941 0.00348633 -0.9999885 ]] t_estimated: [[ 0.63744482] [ 0.77049491] [-0.00130253]] R_gt: [[ 0.99158381 0.11638151 -0.0567168 ] [-0.11017422 0.98861909 0.10243785] [ 0.06799372 -0.09532685 0.99312169]] t_gt: [0.11813111 0.21139782 0.97023502] Pose Error in degrees for R and t: 179.1268627391748 76.29521702618206 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.99240115e-01 -4.37447553e-01 -2.61796395e-03] [ 4.37454251e-01 8.99235316e-01 3.10253372e-03] [ 9.96969860e-04 -3.93516224e-03 9.99991760e-01]] t_estimated: [[-0.33414913] [-0.94251847] [-0.00181603]] R_gt: [[ 0.9787368 0.17055681 -0.11394942] [-0.15865948 0.98157952 0.10644233] [ 0.13000554 -0.08609965 0.98776792]] t_gt: [0.58234304 0.64467433 0.49524902] Pose Error in degrees for R and t: 36.5039740588322 36.572238974334404 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 1.00000000e+00 -7.72039099e-11 -6.58089035e-15] [ 7.72038544e-11 1.00000000e+00 -2.99131379e-15] [ 6.58197455e-15 2.98952486e-15 1.00000000e+00]] t_estimated: [[7.62922225e-01] [6.46489943e-01] [6.57525998e-04]] R_gt: [[ 0.99781957 -0.05693674 0.03336436] [ 0.05574826 0.99781328 0.03551919] [-0.03531379 -0.0335819 0.99881162]] t_gt: [ 0.59509892 -0.50160325 0.62789446] Pose Error in degrees for R and t: 4.271560191274017 82.52199423182833 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.98616469e-01 5.25827827e-02 4.45293770e-04] [-5.25827642e-02 9.98616568e-01 -5.31622411e-05] [-4.47473155e-04 2.96739122e-05 9.99999899e-01]] t_estimated: [[0.56876594] [0.8224986 ] [0.0011622 ]] R_gt: [[ 0.99694116 -0.05187841 0.05845484] [ 0.04627711 0.99455192 0.0934131 ] [-0.06298301 -0.090422 0.99390963]] t_gt: [ 0.45678139 -0.38632828 0.80131219] Pose Error in degrees for R and t: 8.596181855153663 86.73113631761068 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.98823830e-01 -4.84865632e-02 -9.53102839e-05] [ 4.84866160e-02 9.98823611e-01 6.65559372e-04] [ 6.29274754e-05 -6.69397834e-04 9.99999774e-01]] t_estimated: [[-0.548566 ] [-0.8361065 ] [-0.00112266]] R_gt: [[ 0.99371127 -0.09067187 0.06569235] [ 0.07949616 0.98450046 0.15633023] [-0.07884999 -0.15012469 0.98551762]] t_gt: [ 0.49381475 -0.38331727 0.78052217] Pose Error in degrees for R and t: 9.961839253049698 87.20699609498308 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.70185582e-01 2.42361343e-01 -9.57403743e-04] [-2.42358609e-01 9.70183903e-01 2.34492280e-03] [ 1.49717634e-03 -2.04297525e-03 9.99996792e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98569838 -0.1662774 -0.02738627] [ 0.16682538 0.98580026 0.01917286] [ 0.02380965 -0.02346753 0.99944074]] t_gt: [ 0.69662036 -0.7174377 -0.00179385] Pose Error in degrees for R and t: 23.681872945470218 86.52489400393983 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999983e-01 6.93938160e-05 1.70316341e-04] [-6.93787415e-05 9.99999994e-01 -8.85130799e-05] [-1.70322482e-04 8.85012621e-05 9.99999982e-01]] t_estimated: [[ 9.98871242e-01] [ 4.74999183e-02] [-1.04050841e-05]] R_gt: [[ 0.97532108 -0.21783245 -0.03602845] [ 0.21858307 0.97564513 0.01839122] [ 0.03114557 -0.02581202 0.99918178]] t_gt: [ 0.71466187 -0.6991286 -0.02185432] Pose Error in degrees for R and t: 12.825370038526424 47.10578785510167 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999201e-01 -1.17047968e-03 -4.78134542e-04] [ 1.17058329e-03 9.99999291e-01 2.16461327e-04] [ 4.77880839e-04 -2.17020850e-04 9.99999862e-01]] t_estimated: [[9.99996288e-01] [2.70591067e-03] [3.20966217e-04]] R_gt: [[ 0.95843039 -0.2853236 -0.00133537] [ 0.28529865 0.95826311 0.01830584] [-0.00394276 -0.01792583 0.9998316 ]] t_gt: [ 0.74012366 -0.67187593 0.02827917] Pose Error in degrees for R and t: 16.54446618324475 42.41218270505664 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.95432859e-01 9.54642144e-02 -8.54883057e-05] [-9.54642182e-02 9.95432861e-01 -4.24628392e-05] [ 8.10441872e-05 5.04299796e-05 9.99999995e-01]] t_estimated: [[-9.93953326e-01] [ 1.09802562e-01] [-4.27161603e-04]] R_gt: [[ 0.95465166 0.29757357 0.00951457] [-0.29683953 0.95378675 -0.04665343] [-0.02295783 0.0417131 0.99886567]] t_gt: [-0.89540778 0.42888423 -0.11959605] Pose Error in degrees for R and t: 12.131654614234403 20.423782899286564 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.9470786 -0.32099192 -0.00251243] [ 0.3209398 -0.94702057 0.01223483] [-0.0063066 0.01078101 0.999922 ]] t_estimated: [[9.04898444e-01] [4.25626959e-01] [7.05849020e-04]] R_gt: [[ 0.83548937 0.54950231 0.00233442] [-0.54854324 0.83426791 -0.0556466 ] [-0.03252651 0.04521171 0.99844713]] t_gt: [-0.84036891 0.53811356 -0.06491449] Pose Error in degrees for R and t: 165.39825828393026 57.89593347738205 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 7.85406640e-01 -6.18977399e-01 1.84084150e-03] [ 6.18978307e-01 7.85408076e-01 9.54978831e-05] [-1.50492281e-03 1.06443629e-03 9.99998301e-01]] t_estimated: [[9.99964655e-01] [8.35625060e-03] [9.28472289e-04]] R_gt: [[ 0.70085359 0.71326897 -0.00717256] [-0.71300944 0.70023793 -0.03582093] [-0.02052888 0.03021934 0.99933205]] t_gt: [-0.7877108 0.61504648 -0.0350647 ] Pose Error in degrees for R and t: 83.77202110961487 38.50295691271722 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 1.74002930e-01 9.84745114e-01 2.03138957e-04] [-9.84744075e-01 1.74003042e-01 -1.43103641e-03] [-1.44455291e-03 4.89646442e-05 9.99998955e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99034184 -0.08556571 0.10909471] [ 0.06285902 0.97842934 0.19678846] [-0.12357868 -0.18802943 0.97435769]] t_gt: [ 0.21953503 -0.23694246 0.94639455] Pose Error in degrees for R and t: 85.10447751514822 76.43285321670298 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99994684e-01 3.24880085e-03 -2.79067084e-04] [-3.24888656e-03 9.99994675e-01 -3.07242180e-04] [ 2.78067430e-04 3.08147204e-04 9.99999914e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96923796 -0.1521802 0.1934431 ] [ 0.07860062 0.93616833 0.34265438] [-0.23323925 -0.31690786 0.91932955]] t_gt: [ 0.24651364 -0.13134586 0.96019753] Pose Error in degrees for R and t: 24.240931157952485 82.59930347263355 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 7.18717215e-01 6.95302421e-01 -3.29789760e-04] [-6.95302444e-01 7.18717266e-01 5.49018578e-05] [ 2.75198989e-04 1.89844716e-04 9.99999944e-01]] t_estimated: [[-0.90452512] [-0.42641898] [-0.00107682]] R_gt: [[ 0.96924554 -0.17380623 0.17422541] [ 0.09776442 0.92163602 0.37554042] [-0.22584368 -0.34695722 0.91028227]] t_gt: [ 0.27760502 -0.14065156 0.95034341] Pose Error in degrees for R and t: 57.30605383123848 78.92186014213435 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-9.97862014e-01 6.30854534e-02 1.70770999e-02] [ 6.30925606e-02 9.98007672e-01 -1.22796002e-04] [-1.70508233e-02 9.54904491e-04 -9.99854168e-01]] t_estimated: [[ 0.99933083] [-0.03547566] [ 0.00890936]] R_gt: [[ 0.98658146 -0.16326759 -0.00106576] [ 0.16325169 0.98654518 -0.00879849] [ 0.00248768 0.00850654 0.99996115]] t_gt: [ 0.69511887 -0.71633903 -0.0605652 ] Pose Error in degrees for R and t: 179.11068223963318 43.98458088096248 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98570349e-01 5.34529810e-02 1.93317662e-04] [-5.34529771e-02 9.98570367e-01 -2.48591557e-05] [-1.94370085e-04 1.44902112e-05 9.99999981e-01]] t_estimated: [[ 9.99038469e-01] [-4.38414971e-02] [ 2.45256262e-04]] R_gt: [[ 0.95988926 -0.27897635 -0.02801009] [ 0.2789101 0.96029653 -0.00633647] [ 0.02866531 -0.00173029 0.999588 ]] t_gt: [ 0.7533522 -0.65068363 -0.09524325] Pose Error in degrees for R and t: 19.335061640593548 38.63571612678456 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.19141293e-01 3.93927913e-01 2.88787489e-04] [-3.93928004e-01 9.19141212e-01 4.00349723e-04] [-1.07727552e-04 -4.81739441e-04 9.99999878e-01]] t_estimated: [[9.99996995e-01] [2.32557444e-03] [7.75191469e-04]] R_gt: [[ 0.91846992 -0.39227832 -0.05029659] [ 0.39186977 0.91984103 -0.01815581] [ 0.05338628 -0.00303398 0.99856993]] t_gt: [ 0.78977284 -0.6013664 -0.12090208] Pose Error in degrees for R and t: 46.39706416466775 37.975101140254054 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.97278932e-01 -7.37140863e-02 9.82507617e-04] [ 7.37148381e-02 9.97279077e-01 -7.52266545e-04] [-9.24381648e-04 8.22644966e-04 9.99999234e-01]] t_estimated: [[0.73429435] [0.67882607] [0.00264135]] R_gt: [[ 0.99661061 0.07982863 0.01988346] [-0.07943974 0.9966468 -0.01964554] [-0.02138551 0.01799912 0.9996087 ]] t_gt: [-0.75705935 0.65305283 0.01957422] Pose Error in degrees for R and t: 8.927645635040307 83.53804710354392 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.92129985e-01 1.25212185e-01 -3.41700395e-05] [-1.25212189e-01 9.92129961e-01 -2.20362388e-04] [ 6.30906400e-06 2.22906638e-04 9.99999975e-01]] t_estimated: [[-0.64037017] [-0.76806585] [-0.00094589]] R_gt: [[ 0.99458182 0.02731874 0.10030506] [-0.03990359 0.99126745 0.12569166] [-0.09599627 -0.12901354 0.98698486]] t_gt: [-0.22084072 0.05434788 0.97379448] Pose Error in degrees for R and t: 10.647970775302538 84.33246250226388 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.94482752e-01 1.04900209e-01 -5.03833515e-05] [-1.04900207e-01 9.94482752e-01 4.46769258e-05] [ 5.47919930e-05 -3.91452081e-05 9.99999998e-01]] t_estimated: [[-6.12420059e-01] [-7.90532269e-01] [-6.34202259e-04]] R_gt: [[ 0.97982327 -0.04355087 0.1950633 ] [-0.01810096 0.95262311 0.30361325] [-0.19904427 -0.3010185 0.93261411]] t_gt: [ 0.03244078 -0.00366958 0.99946692] Pose Error in degrees for R and t: 22.200572829593 88.99152328345119 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[-0.93740537 0.34787773 0.0158825 ] [ 0.34790115 0.93753025 -0.00135276] [-0.01536092 0.00425746 -0.99987295]] t_estimated: [[ 0.98749852] [-0.15743156] [ 0.00787198]] R_gt: [[ 0.98697414 -0.16080983 -0.00480438] [ 0.16076065 0.98695083 -0.0091513 ] [ 0.00621223 0.00825931 0.99994639]] t_gt: [ 0.71993402 -0.68785891 -0.09243984] Pose Error in degrees for R and t: 179.31121032068793 35.065400204066904 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99459030e-01 3.28879688e-02 1.72463804e-04] [-3.28879660e-02 9.99459044e-01 -1.91551863e-05] [-1.73000484e-04 1.34728402e-05 9.99999985e-01]] t_estimated: [[ 9.89316291e-01] [-1.45784864e-01] [ 2.23068009e-04]] R_gt: [[ 9.58779827e-01 -2.81098856e-01 -4.15346736e-02] [ 2.81333618e-01 9.59609395e-01 -1.84159510e-04] [ 3.99086118e-02 -1.15082410e-02 9.99137417e-01]] t_gt: [ 0.75983809 -0.64319732 -0.09456897] Pose Error in degrees for R and t: 18.379537085229064 32.27793654417341 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-2.83372764e-01 -9.59009636e-01 -6.27623181e-04] [ 9.59008189e-01 -2.83373430e-01 1.67111778e-03] [-1.78046978e-03 -1.28346506e-04 9.99998407e-01]] t_estimated: [[9.04029559e-01] [4.27469282e-01] [7.55246080e-04]] R_gt: [[ 0.93237242 -0.36037374 -0.02850631] [ 0.35960499 0.93266028 -0.02877752] [ 0.03695693 0.01658046 0.99917995]] t_gt: [ 0.75793587 -0.63630026 -0.14371916] Pose Error in degrees for R and t: 85.38136708694114 65.6009662624908 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99999345e-01 -3.77753618e-04 -1.08004906e-03] [ 3.80800621e-04 9.99995945e-01 2.82235832e-03] [ 1.07897853e-03 -2.82276776e-03 9.99995434e-01]] t_estimated: [[6.61132175e-01] [7.50269234e-01] [5.68325961e-04]] R_gt: [[ 9.96293220e-01 8.60223199e-02 2.11906897e-04] [-8.59114534e-02 9.94882207e-01 5.31729999e-02] [ 4.36406964e-03 -5.29939349e-02 9.98585154e-01]] t_gt: [-0.39567191 0.37161791 0.83984753] Pose Error in degrees for R and t: 5.734759169169539 88.98584825601789 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 7.90773311e-01 6.12107649e-01 1.34015052e-03] [-6.12109034e-01 7.90772448e-01 1.21076851e-03] [-3.18633439e-04 -1.77776167e-03 9.99998369e-01]] t_estimated: [[0.78247563] [0.62268055] [0.00090268]] R_gt: [[ 0.98817816 0.13408354 -0.07433319] [-0.12835854 0.98872633 0.07709336] [ 0.08383261 -0.06664123 0.99424885]] t_gt: [0.02201812 0.85400011 0.51980671] Pose Error in degrees for R and t: 30.78106409880447 56.66953681148001 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 2.56274672e-01 9.66603856e-01 5.26441213e-04] [-9.66601304e-01 2.56275206e-01 -2.22205650e-03] [-2.28276221e-03 6.05980387e-05 9.99997393e-01]] t_estimated: [[0.04604047] [0.9989386 ] [0.00139517]] R_gt: [[ 0.96877819 0.20478985 -0.13974913] [-0.18639831 0.97328009 0.13409326] [ 0.16347662 -0.10385765 0.98106591]] t_gt: [0.43379095 0.81373463 0.38686092] Pose Error in degrees for R and t: 64.65496401673394 33.55220273272631 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.96369133e-01 -8.51383956e-02 -7.33320627e-05] [ 8.51384031e-02 9.96369129e-01 1.05348464e-04] [ 6.40966043e-05 -1.11209332e-04 9.99999992e-01]] t_estimated: [[-0.28945443] [-0.95719057] [-0.0015315 ]] R_gt: [[ 0.99890522 -0.01630135 0.04384643] [ 0.01442142 0.99897812 0.04284645] [-0.04449959 -0.04216669 0.99811925]] t_gt: [ 0.33115294 -0.36572832 0.86981637] Pose Error in degrees for R and t: 5.325387343701577 75.35165004843203 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.85391303e-01 -1.70304976e-01 4.41380663e-04] [ 1.70304150e-01 9.85390406e-01 1.49837214e-03] [-6.90112502e-04 -1.40131392e-03 9.99998780e-01]] t_estimated: [[0.83608636] [0.54859 ] [0.00293364]] R_gt: [[ 0.99916736 -0.03152766 0.02586518] [ 0.02930598 0.99618594 0.08218777] [-0.028358 -0.08136137 0.99628121]] t_gt: [ 0.53106857 -0.39275105 0.75080809] Pose Error in degrees for R and t: 9.405793399066162 76.65803317015036 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-9.95170743e-01 -9.76960198e-02 -9.52257003e-03] [ 9.77029345e-02 -9.95215589e-01 -2.62553250e-04] [-9.45135973e-03 -1.19166835e-03 9.99954625e-01]] t_estimated: [[0.79093718] [0.61189419] [0.00196751]] R_gt: [[ 0.99269059 -0.09505156 0.07436892] [ 0.07948066 0.97859409 0.18983437] [-0.09082027 -0.18253662 0.97899548]] t_gt: [ 0.42967332 -0.36783326 0.82466935] Pose Error in degrees for R and t: 169.3405859451677 83.31607349049332 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.69181719e-01 2.46346694e-01 3.20321344e-04] [-2.46346600e-01 9.69181747e-01 -3.05689889e-04] [-3.85755293e-04 2.17358978e-04 9.99999902e-01]] t_estimated: [[0.13583387] [0.99073026] [0.00164799]] R_gt: [[ 0.99987655 0.01487514 -0.00502551] [-0.01485651 0.99988331 0.00365386] [ 0.00508004 -0.00357891 0.9999809 ]] t_gt: [-0.7813968 -0.62402928 -0.00254759] Pose Error in degrees for R and t: 13.414998574748983 43.581953075913084 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99998357e-01 -1.81258323e-03 -1.74689860e-05] [ 1.81258234e-03 9.99998356e-01 -5.05087166e-05] [ 1.75605085e-05 5.04769696e-05 9.99999999e-01]] t_estimated: [[ 9.74327725e-01] [-2.25133409e-01] [ 6.58106034e-04]] R_gt: [[ 0.99968872 0.01440711 -0.02036525] [-0.01427299 0.99987647 0.00671701] [ 0.02045982 -0.00642483 0.99976935]] t_gt: [-0.46750591 -0.88301616 -0.04148124] Pose Error in degrees for R and t: 1.5381871077687006 75.12359359979831 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 4.37894306e-01 -8.99025516e-01 -1.30306674e-03] [ 8.99026274e-01 4.37894689e-01 -9.47085886e-06] [ 5.79120548e-04 -1.16734400e-03 9.99999151e-01]] t_estimated: [[ 9.06086413e-01] [-4.23092648e-01] [ 1.51085273e-04]] R_gt: [[ 0.9993026 0.02622064 -0.02659372] [-0.02748733 0.99844832 -0.04844632] [ 0.02528303 0.04914301 0.99847105]] t_gt: [-0.62085007 -0.40993169 -0.66820745] Pose Error in degrees for R and t: 65.63859203916226 67.09491599145885 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99998516e-01 1.71117628e-03 1.97174973e-04] [-1.71119656e-03 9.99998531e-01 1.02744039e-04] [-1.96998870e-04 -1.03081292e-04 9.99999975e-01]] t_estimated: [[-9.99985494e-01] [-5.38203182e-03] [-2.12039842e-04]] R_gt: [[ 0.99378485 -0.09529815 -0.05752277] [ 0.09477202 0.99542962 -0.01180379] [ 0.05838526 0.00627856 0.99827491]] t_gt: [ 0.74154936 -0.57125618 -0.3518109 ] Pose Error in degrees for R and t: 6.501832698859772 42.40559502552952 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99998429e-01 1.74963353e-03 2.84405800e-04] [-1.74963657e-03 9.99998469e-01 1.04504070e-05] [-2.84387080e-04 -1.09479974e-05 9.99999960e-01]] t_estimated: [[-9.99964951e-01] [-8.33597707e-03] [-7.80509921e-04]] R_gt: [[ 0.95812964 -0.25893935 -0.12222024] [ 0.2551003 0.96580287 -0.04635365] [ 0.13004298 0.01323401 0.99141978]] t_gt: [ 0.78359279 -0.53952168 -0.30805632] Pose Error in degrees for R and t: 16.825898012488512 38.84665795239716 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.7523107 0.65433692 -0.07662776] [-0.64914741 0.75609333 0.08324974] [ 0.11241111 -0.01288696 0.99357821]] t_estimated: [[0.27289337] [0.96204346] [0.00125757]] R_gt: [[ 0.92201092 -0.365932 -0.1264501 ] [ 0.36211156 0.9306378 -0.05281669] [ 0.13700617 0.00290828 0.99056599]] t_gt: [ 0.82121323 -0.52698252 -0.2188567 ] Pose Error in degrees for R and t: 62.366052727000486 73.55160355508383 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99947347e-01 -1.02292425e-02 -8.15465344e-04] [ 1.02297615e-02 9.99947473e-01 6.34930418e-04] [ 8.08927653e-04 -6.43239003e-04 9.99999466e-01]] t_estimated: [[-0.99895923] [-0.04542625] [-0.00411339]] R_gt: [[ 0.99868069 0.00318357 -0.05125078] [-0.00239748 0.99987886 0.01539565] [ 0.0512932 -0.01525303 0.99856631]] t_gt: [ 0.97653612 -0.19491079 -0.09158052] Pose Error in degrees for R and t: 3.103881149271515 14.919393090577941 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 5.42625684e-01 -8.39973649e-01 -1.27892843e-03] [ 8.39974497e-01 5.42625808e-01 2.78301684e-04] [ 4.60213493e-04 -1.22528091e-03 9.99999143e-01]] t_estimated: [[9.94282481e-01] [1.06778975e-01] [7.73760686e-04]] R_gt: [[ 0.99672279 0.06861983 -0.04282639] [-0.06559513 0.99549669 0.06843828] [ 0.04732977 -0.06540509 0.99673543]] t_gt: [ 0.68412083 -0.08124171 0.72482996] Pose Error in degrees for R and t: 61.14455770128953 47.77101242845926 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.78883935e-01 -2.04416816e-01 -8.30134415e-05] [ 2.04416831e-01 9.78883889e-01 3.00093137e-04] [ 1.99164370e-05 -3.10725696e-04 9.99999952e-01]] t_estimated: [[-0.89526536] [-0.44553112] [-0.00140104]] R_gt: [[ 0.98535653 0.12318278 -0.11788816] [-0.11080111 0.9881315 0.10639416] [ 0.1295944 -0.09177503 0.98731099]] t_gt: [0.87467263 0.01937752 0.48432665] Pose Error in degrees for R and t: 20.66097079114548 37.59189442777192 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99621190e-01 -2.75222841e-02 1.02931049e-05] [ 2.75222834e-02 9.99621189e-01 5.76769353e-05] [-1.18766068e-05 -5.73717970e-05 9.99999998e-01]] t_estimated: [[5.95587318e-01] [8.03290469e-01] [4.12124209e-04]] R_gt: [[ 0.99771511 -0.05578626 0.03812038] [ 0.05232291 0.99487689 0.08650052] [-0.04274988 -0.08430866 0.995522 ]] t_gt: [ 0.29951473 -0.40308718 0.86476104] Pose Error in degrees for R and t: 5.632048231184736 81.659678800507 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.98814432e-01 4.86795083e-02 1.92047124e-04] [-4.86798164e-02 9.98811931e-01 2.23628736e-03] [-8.29575892e-05 -2.24298491e-03 9.99997481e-01]] t_estimated: [[0.61674353] [0.78715951] [0.00270502]] R_gt: [[ 0.99299614 -0.08686506 0.08009045] [ 0.07709221 0.99002153 0.11795612] [-0.08953763 -0.11095536 0.98978381]] t_gt: [ 0.38129677 -0.38380548 0.84101494] Pose Error in degrees for R and t: 11.038186368326311 86.29158572014758 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 8.73306893e-01 4.87169638e-01 9.02341534e-04] [-4.87169820e-01 8.73307258e-01 -2.04724350e-05] [-7.97994959e-04 -4.21714844e-04 9.99999593e-01]] t_estimated: [[0.28691022] [0.95795673] [0.00119252]] R_gt: [[ 0.99422038 -0.08490621 0.06571636] [ 0.07385549 0.98508647 0.15540191] [-0.07793077 -0.14964956 0.98566322]] t_gt: [ 0.43887371 -0.36175576 0.82250996] Pose Error in degrees for R and t: 35.06293662203538 77.3116318167246 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999976e-01 -2.17527440e-04 8.19147303e-06] [ 2.17527332e-04 9.99999976e-01 1.32113052e-05] [-8.19434666e-06 -1.32095230e-05 1.00000000e+00]] t_estimated: [[ 9.98778263e-01] [-4.94161324e-02] [ 1.66780453e-04]] R_gt: [[ 0.99957806 -0.02654959 0.01179254] [ 0.02663776 0.99961767 -0.00746295] [-0.01158881 0.00777405 0.99990247]] t_gt: [ 0.79319545 -0.58634621 0.16443569] Pose Error in degrees for R and t: 1.7096344027727723 34.79201269766774 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99995567e-01 -2.22166415e-03 1.98247805e-03] [ 2.22168400e-03 9.99997532e-01 -7.81127367e-06] [-1.98245581e-03 1.22156788e-05 9.99998035e-01]] t_estimated: [[0.643482 ] [0.76546073] [0.0008839 ]] R_gt: [[ 9.82914111e-01 -1.82886640e-01 -2.08314866e-02] [ 1.82840036e-01 9.83134003e-01 -4.11853424e-03] [ 2.12339846e-02 2.40236063e-04 9.99774778e-01]] t_gt: [ 0.75458158 -0.65418395 -0.05147808] Pose Error in degrees for R and t: 10.494732911429123 89.1268954078465 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999929e-01 2.46310887e-04 2.86377643e-04] [-2.46327920e-04 9.99999968e-01 5.94442073e-05] [-2.86362992e-04 -5.95147459e-05 9.99999957e-01]] t_estimated: [[8.67559003e-01] [4.97333879e-01] [6.23809676e-04]] R_gt: [[ 0.96460679 -0.26107428 -0.03707217] [ 0.26164191 0.96509834 0.01131247] [ 0.0328253 -0.02061133 0.99924835]] t_gt: [ 0.75386119 -0.65666334 -0.02205841] Pose Error in degrees for R and t: 15.333444093102473 70.8874799994317 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.90906006e-01 1.34555826e-01 1.32333632e-04] [-1.34555791e-01 9.90905990e-01 -2.42806992e-04] [-1.63801284e-04 2.22792650e-04 9.99999962e-01]] t_estimated: [[-7.51806560e-01] [ 6.59383698e-01] [ 1.86258717e-04]] R_gt: [[ 0.9990167 0.04192016 -0.01444639] [-0.04143456 0.99861475 0.03244314] [ 0.01578608 -0.03181401 0.99936919]] t_gt: [-0.90434569 0.35752251 0.23310195] Pose Error in degrees for R and t: 5.72320039292231 23.69738190595882 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.89982542e-01 1.41187612e-01 7.90203439e-04] [-1.41186989e-01 9.89982627e-01 -7.95741520e-04] [-8.94636521e-04 6.76203769e-04 9.99999371e-01]] t_estimated: [[0.71464438] [0.69948755] [0.00075784]] R_gt: [[ 0.99968477 0.01950287 -0.01577902] [-0.01947314 0.99980812 0.00203913] [ 0.01581568 -0.00173201 0.99987323]] t_gt: [-0.58534771 -0.67640992 -0.44703207] Pose Error in degrees for R and t: 7.066225516236005 26.900377162126937 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.70125168e-01 2.42604789e-01 2.74742836e-04] [-2.42603688e-01 9.70123165e-01 -2.12014078e-03] [-7.80890698e-04 1.99014831e-03 9.99997715e-01]] t_estimated: [[8.92324158e-01] [4.51394629e-01] [6.97673305e-04]] R_gt: [[ 0.99736686 -0.06679017 -0.02827851] [ 0.0663858 0.99768267 -0.01498205] [ 0.02921313 0.01306438 0.99948777]] t_gt: [ 0.42710047 -0.84904995 -0.31096521] Pose Error in degrees for R and t: 17.95021169801128 89.86469747102667 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 9.99818906e-01 -1.90303541e-02 -7.81674264e-07] [ 1.90303541e-02 9.99818904e-01 7.24755856e-05] [-5.97703353e-07 -7.24773363e-05 9.99999997e-01]] t_estimated: [[-8.85469027e-01] [ 4.64698340e-01] [ 2.33163351e-04]] R_gt: [[ 0.99927278 0.02554059 -0.02831148] [-0.02576545 0.99963959 -0.00761312] [ 0.02810735 0.00833767 0.99956935]] t_gt: [-0.22326382 0.85960606 -0.45959839] Pose Error in degrees for R and t: 3.0633106409494446 53.341550438478606 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.93034660e-01 1.17822583e-01 4.60078848e-05] [-1.17822581e-01 9.93034661e-01 -2.92049689e-05] [-4.91284291e-05 2.35807786e-05 9.99999999e-01]] t_estimated: [[-7.53142868e-01] [ 6.57856960e-01] [-2.01933280e-04]] R_gt: [[ 0.9967356 0.07946738 -0.01419771] [-0.07996163 0.99605454 -0.03848342] [ 0.01108348 0.03949499 0.99915786]] t_gt: [-0.41198306 0.84822676 -0.33283828] Pose Error in degrees for R and t: 3.2147434494651 29.731245947271656 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.93414239e-01 1.14577970e-01 1.96239722e-04] [-1.14577970e-01 9.93414258e-01 -1.32540313e-05] [-1.96465958e-04 -9.31800559e-06 9.99999981e-01]] t_estimated: [[-8.48529800e-01] [ 5.29147502e-01] [ 3.14971795e-04]] R_gt: [[ 0.98703271 0.1594348 -0.01860313] [-0.16003197 0.9864192 -0.03696807] [ 0.01245642 0.0394668 0.99914283]] t_gt: [-0.55104414 0.81172609 -0.19352291] Pose Error in degrees for R and t: 3.534397479079073 26.228421654476247 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999997e-01 4.24377528e-05 6.45163918e-05] [-4.24485134e-05 9.99999985e-01 1.66795874e-04] [-6.45093124e-05 -1.66798612e-04 9.99999984e-01]] t_estimated: [[0.75423838] [0.65659967] [0.00116074]] R_gt: [[ 0.99868792 -0.04644759 -0.02159331] [ 0.04680319 0.99877104 0.01626944] [ 0.02081053 -0.01725861 0.99963459]] t_gt: [ 0.99344636 -0.0886061 0.07220307] Pose Error in degrees for R and t: 3.089876361803522 46.27479012833232 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99387399e-01 -3.49949811e-02 4.22000685e-04] [ 3.49949744e-02 9.99387488e-01 2.31951148e-05] [-4.22553917e-04 -8.41300227e-06 9.99999911e-01]] t_estimated: [[0.81932013] [0.57333568] [0.00085174]] R_gt: [[ 0.99868321 -0.03174625 -0.04031359] [ 0.03236901 0.9993646 0.01488542] [ 0.0398148 -0.01617053 0.99907588]] t_gt: [ 0.98758472 0.14766357 -0.05359009] Pose Error in degrees for R and t: 2.4910505115134365 26.649995797536267 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 1.34421342e-02 -9.99837507e-01 1.20112181e-02] [-9.99909650e-01 -1.34410344e-02 1.72288520e-04] [-1.08173294e-05 -1.20124488e-02 -9.99927848e-01]] t_estimated: [[0.09839634] [0.99514479] [0.00223628]] R_gt: [[ 0.99916906 -0.00862745 -0.03983949] [ 0.00879143 0.99995292 0.00397381] [ 0.03980234 -0.00432099 0.99919846]] t_gt: [ 0.95966787 0.25988963 -0.10721457] Pose Error in degrees for R and t: 179.05286090413387 69.34035778639984 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.14318304e-01 -4.04996301e-01 -1.90013198e-04] [ 4.04996341e-01 9.14318258e-01 2.95034222e-04] [ 5.42447678e-05 -3.46709839e-04 9.99999938e-01]] t_estimated: [[-7.58345958e-01] [-6.51851937e-01] [-6.78305866e-04]] R_gt: [[ 0.95043389 0.3100795 -0.02295396] [-0.31053235 0.95035632 -0.01981096] [ 0.01567158 0.0259574 0.99954025]] t_gt: [-0.89826679 0.4298349 -0.09142613] Pose Error in degrees for R and t: 42.00759361161445 66.35489523071591 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-9.99430597e-01 3.35693200e-02 -3.40339531e-03] [ 3.35686039e-02 9.99436380e-01 2.67349948e-04] [ 3.41045185e-03 1.52950489e-04 -9.99994173e-01]] t_estimated: [[ 9.99872408e-01] [ 1.59432957e-02] [-9.89612722e-04]] R_gt: [[ 0.83323237 0.5528233 -0.01049777] [-0.5529164 0.83297908 -0.02071999] [-0.00270983 0.02306952 0.99973016]] t_gt: [-0.84847177 0.52771188 -0.0401973 ] Pose Error in degrees for R and t: 179.59861815629975 32.86935460470658 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.10027583 0.99489829 0.01105254] [ 0.99494174 0.10033454 -0.00488988] [-0.00597388 0.0105063 -0.99992696]] t_estimated: [[9.99975848e-01] [6.89638530e-03] [8.62048145e-04]] R_gt: [[ 0.79044927 0.61248692 -0.00699668] [-0.61237477 0.78994639 -0.03135954] [-0.01368018 0.02907335 0.9994836 ]] t_gt: [-0.82582997 0.56237484 -0.04170607] Pose Error in degrees for R and t: 178.0708930871683 34.71775158109883 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999990e-01 -3.01817831e-05 1.38559985e-04] [ 3.02057222e-05 9.99999985e-01 -1.72771531e-04] [-1.38554769e-04 1.72775714e-04 9.99999975e-01]] t_estimated: [[8.15306758e-01] [5.79029202e-01] [2.71706493e-04]] R_gt: [[ 0.99638971 -0.08386223 -0.01318424] [ 0.0836809 0.99639713 -0.01371591] [ 0.01428674 0.01256333 0.9998189 ]] t_gt: [ 0.70807797 -0.69243206 -0.13843205] Pose Error in degrees for R and t: 4.926460891999898 79.84423994946287 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.29927913e-01 -3.67738285e-01 1.62196434e-03] [-3.67738785e-01 -9.29929129e-01 1.11677439e-05] [ 1.50420508e-03 -6.06844394e-04 -9.99998685e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99583139 -0.0689208 -0.05974255] [ 0.06412167 0.99482295 -0.07882716] [ 0.0648659 0.07466756 0.99509727]] t_gt: [ 0.64110435 -0.32105897 -0.69706983] Pose Error in degrees for R and t: 175.01670042879033 71.4713599920678 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-1.52606031e-01 -9.88286808e-01 -7.64959305e-04] [-9.88287097e-01 1.52605894e-01 2.35235781e-04] [-1.15743120e-04 7.91897810e-04 -9.99999680e-01]] t_estimated: [[0.71473829] [0.69939115] [0.00109622]] R_gt: [[ 0.98895755 -0.08575257 -0.12086724] [ 0.0674342 0.98664855 -0.14824332] [ 0.13196589 0.13845515 0.98153695]] t_gt: [ 0.54369071 -0.10307553 -0.83293208] Pose Error in degrees for R and t: 169.0570530827808 71.60336116719344 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99999997e-01 -7.42634485e-05 3.35114257e-05] [ 7.42618801e-05 9.99999996e-01 4.67995386e-05] [-3.35149011e-05 -4.67970499e-05 9.99999998e-01]] t_estimated: [[-0.63631306] [-0.77142992] [-0.00125329]] R_gt: [[ 0.98951155 -0.1420645 -0.02616225] [ 0.14221927 0.98982614 0.00417829] [ 0.02530225 -0.00785454 0.99964882]] t_gt: [ 0.70629033 -0.70290318 -0.08414922] Pose Error in degrees for R and t: 8.308951282349158 84.66814082746214 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.86751838e-01 1.62236403e-01 3.99250021e-04] [-1.62236396e-01 9.86751919e-01 -5.17827236e-05] [-4.02361767e-04 -1.36761866e-05 9.99999919e-01]] t_estimated: [[0.24209174] [0.97025277] [0.00107241]] R_gt: [[ 0.9849654 -0.16592259 -0.04808917] [ 0.16388246 0.98551445 -0.04364649] [ 0.05463462 0.03510873 0.99788882]] t_gt: [ 0.73938404 -0.6154572 -0.27299026] Pose Error in degrees for R and t: 19.20305656117749 65.26367095335186 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-1.63227601e-01 -9.86585451e-01 -2.42870142e-03] [ 9.86588423e-01 -1.63227559e-01 -2.16926098e-04] [-1.82414872e-04 -2.43153703e-03 9.99997027e-01]] t_estimated: [[9.99994892e-01] [3.10075938e-03] [7.75189838e-04]] R_gt: [[ 0.98189854 -0.15354851 -0.11090325] [ 0.14216156 0.98434525 -0.10419241] [ 0.12516545 0.08654075 0.98835417]] t_gt: [ 0.70746824 -0.4120791 -0.57417724] Pose Error in degrees for R and t: 91.16867460877066 45.11049808206978 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 7.07944868e-02 9.97490916e-01 1.18140347e-04] [ 9.97488366e-01 -7.07945730e-02 2.25583590e-03] [ 2.25853951e-03 -4.18571236e-05 -9.99997449e-01]] t_estimated: [[0.99988064] [0.01532462] [0.00196578]] R_gt: [[ 0.95071198 0.30992037 0.00982705] [-0.30983704 0.95074542 -0.00910016] [-0.0121631 0.00560741 0.9999107 ]] t_gt: [-0.91573409 0.40150494 -0.014995 ] Pose Error in degrees for R and t: 179.35625427156955 24.563466799290413 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.93677728e-01 -1.12264346e-01 1.13579245e-03] [-1.12269740e-01 9.93649054e-01 -7.55401167e-03] [-2.80532915e-04 -7.63376828e-03 -9.99970823e-01]] t_estimated: [[0.99930799] [0.03701141] [0.00370114]] R_gt: [[ 8.90066868e-01 4.55828410e-01 3.81307174e-04] [-4.55761762e-01 8.89921612e-01 1.79340021e-02] [ 7.83527060e-03 -1.61361607e-02 9.99839105e-01]] t_gt: [-0.88652518 0.46218992 0.02129726] Pose Error in degrees for R and t: 179.93909104706484 29.689005175975232 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 3.76126567e-01 9.26567328e-01 1.33899842e-03] [-9.26566476e-01 3.76128299e-01 -1.43802034e-03] [-1.83605787e-03 -6.99793389e-04 9.99998070e-01]] t_estimated: [[-0.17007178] [ 0.98543016] [ 0.00172753]] R_gt: [[ 0.8576097 0.513723 0.02438552] [-0.5134214 0.85795182 -0.01782585] [-0.03007924 0.0027683 0.99954455]] t_gt: [-0.86473507 0.50218287 0.00675456] Pose Error in degrees for R and t: 37.02993519097903 50.06300509589134 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 1.49034632e-02 9.99887888e-01 1.44873579e-03] [-9.99888782e-01 1.49042517e-02 -5.34957362e-04] [-5.56489709e-04 -1.44060195e-03 9.99998807e-01]] t_estimated: [[0.62955352] [0.77695654] [0.00095099]] R_gt: [[ 0.99232784 0.12195037 -0.0203447 ] [-0.12062422 0.99105627 0.05706683] [ 0.02712294 -0.05417585 0.99816251]] t_gt: [-0.86617004 0.46609738 0.18028504] Pose Error in degrees for R and t: 82.23352012967203 79.45594239921154 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.06665776e-01 -4.21849691e-01 9.48316029e-05] [ 4.21849700e-01 9.06665734e-01 -2.77324953e-04] [ 3.10088810e-05 2.91445727e-04 9.99999957e-01]] t_estimated: [[-0.4053146 ] [-0.91417673] [-0.00098617]] R_gt: [[ 0.95338779 0.29977242 -0.03448314] [-0.29664456 0.95204927 0.0748575 ] [ 0.05527085 -0.06113958 0.99659716]] t_gt: [-0.84669326 0.53163303 0.02183666] Pose Error in degrees for R and t: 42.5848028538575 81.78714838862894 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.99413746 -0.10810966 -0.00173521] [ 0.10811364 0.99413566 0.00239377] [ 0.00146624 -0.00256734 0.99999563]] t_estimated: [[-0.76726164] [-0.64133359] [-0.00089949]] R_gt: [[ 0.91780419 0.39702785 0.0021715 ] [-0.39182566 0.90486818 0.16638977] [ 0.0640959 -0.15356395 0.9860574 ]] t_gt: [-0.85099866 0.49151335 0.18497542] Pose Error in degrees for R and t: 31.03878884078211 70.27243119775372 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-6.94906306e-01 -7.19099593e-01 1.00105905e-03] [-7.19099351e-01 6.94906974e-01 6.48150065e-04] [-1.16172736e-03 -2.69457347e-04 -9.99999289e-01]] t_estimated: [[0.94453783] [0.32839891] [0.0015638 ]] R_gt: [[ 0.99973329 -0.00365336 -0.02280373] [ 0.00392548 0.99992129 0.0119256 ] [ 0.02275749 -0.01201151 0.99966922]] t_gt: [ 0.28150247 -0.75643623 -0.5903902 ] Pose Error in degrees for R and t: 179.13328820476517 89.05150280754735 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-9.98303992e-01 5.82153959e-02 -3.28179667e-04] [ 5.82156194e-02 9.98303774e-01 -7.18622410e-04] [ 2.85788112e-04 -7.36508803e-04 -9.99999688e-01]] t_estimated: [[9.99470270e-01] [3.25324862e-02] [9.03680172e-04]] R_gt: [[ 0.99783587 0.06364593 -0.01651183] [-0.06336105 0.99784137 0.01725424] [ 0.01757381 -0.01617134 0.99971433]] t_gt: [-0.91200208 0.39205399 -0.12060626] Pose Error in degrees for R and t: 178.97860081306638 25.98961799221479 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-9.99709041e-01 -2.41197892e-02 2.63585998e-04] [-2.41178532e-02 9.99692256e-01 5.80707212e-03] [-4.03570236e-04 5.79902537e-03 -9.99983104e-01]] t_estimated: [[0.99914461] [0.04133577] [0.00118102]] R_gt: [[ 0.99882 -0.02999633 -0.03820813] [ 0.02965469 0.99951555 -0.00947458] [ 0.03847336 0.00832986 0.99922512]] t_gt: [ 0.24048856 -0.83816398 -0.48953692] Pose Error in degrees for R and t: 177.8208826120793 78.1670738397503 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99812973e-01 1.93395473e-02 -4.02489534e-05] [-1.93395458e-02 9.99812973e-01 3.65732705e-05] [ 4.09487362e-05 -3.57880338e-05 9.99999999e-01]] t_estimated: [[-0.78710951] [ 0.61681265] [-0.00088323]] R_gt: [[ 0.99959033 0.02857294 0.0019255 ] [-0.02846237 0.99865786 -0.04326873] [-0.00315975 0.04319652 0.99906162]] t_gt: [-0.19377752 0.78975004 -0.58201817] Pose Error in degrees for R and t: 2.539533063977059 50.195801337866904 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.96639362e-01 -8.19141315e-02 -2.37556730e-04] [ 8.19142416e-02 9.96639257e-01 4.98652164e-04] [ 1.95911704e-04 -5.16435654e-04 9.99999847e-01]] t_estimated: [[-0.64571837] [ 0.76357484] [ 0.00111848]] R_gt: [[ 9.93879115e-01 1.10480630e-01 9.47234365e-04] [-1.10262652e-01 9.92391664e-01 -5.47888594e-02] [-6.99354584e-03 5.43494692e-02 9.98498201e-01]] t_gt: [-0.50470064 0.80546143 -0.31065922] Pose Error in degrees for R and t: 11.4848754254707 19.85130215581701 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99635343e-01 2.70033370e-02 -4.92701700e-06] [-2.70033370e-02 9.99635343e-01 -7.34361890e-06] [ 4.72691811e-06 7.47398690e-06 1.00000000e+00]] t_estimated: [[-9.65491469e-01] [-2.60433586e-01] [-7.54879960e-04]] R_gt: [[ 0.96786065 0.2507154 -0.01976785] [-0.25148543 0.96543083 -0.06854987] [ 0.00189735 0.07131876 0.99745247]] t_gt: [-0.63102777 0.74660385 -0.21068139] Pose Error in degrees for R and t: 13.639029182875861 65.4825567634182 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99999814 -0.00104654 0.00162053] [ 0.00104873 0.99999853 -0.00135285] [-0.00161911 0.00135455 0.99999777]] t_estimated: [[-0.58150675] [-0.81353654] [-0.00286457]] R_gt: [[ 0.99535807 -0.04784995 -0.08350156] [ 0.04572403 0.99858373 -0.02719491] [ 0.08468448 0.0232516 0.99613606]] t_gt: [ 0.71894492 -0.22184819 -0.65871207] Pose Error in degrees for R and t: 5.741651369670557 76.36694680601141 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.16719085e-01 -3.99531715e-01 7.26147130e-04] [ 3.99532318e-01 9.16718412e-01 -1.13104685e-03] [-2.13783357e-04 1.32697148e-03 9.99999097e-01]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.98527794 -0.14368957 -0.09263829] [ 0.13731809 0.98791604 -0.07186441] [ 0.10184532 0.0580858 0.99310285]] t_gt: [ 0.7832277 -0.35621108 -0.50957633] Pose Error in degrees for R and t: 16.83290129555017 70.42295527335956 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.94504746 0.10934518 -0.30810539] [-0.02334674 0.96257645 0.27000279] [ 0.32609849 -0.2479722 0.91223328]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.95157458 -0.29452088 -0.0881136 ] [ 0.28836056 0.9544812 -0.076246 ] [ 0.10655964 0.0471462 0.99318726]] t_gt: [ 0.83767428 -0.46184852 -0.29154371] Pose Error in degrees for R and t: 30.977128210007034 72.41930092595646 Number of keypoints: Image1: 423 Image2: 423 R_estimated: [[ 9.99980983e-01 -6.16715884e-03 -2.52095059e-05] [ 6.16716322e-03 9.99980967e-01 1.77817860e-04] [ 2.41123951e-05 -1.77969949e-04 9.99999984e-01]] t_estimated: [[-5.83293201e-01] [ 8.12261617e-01] [-3.28180522e-04]] R_gt: [[ 0.9986481 0.02339931 -0.04641859] [-0.02383947 0.99967593 -0.00894764] [ 0.04619412 0.01004143 0.99888178]] t_gt: [ 0.65936955 0.53442142 -0.52879632] Pose Error in degrees for R and t: 3.203167197316043 87.15364878698124 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-8.51550396e-01 -5.24270206e-01 -1.63517257e-03] [ 5.24272175e-01 -8.51540667e-01 -4.14480223e-03] [ 7.80580382e-04 -4.38678346e-03 9.99990073e-01]] t_estimated: [[0.92120305] [0.38907955] [0.00143044]] R_gt: [[ 0.9970725 0.06269748 -0.04378134] [-0.06318759 0.99795237 -0.00988375] [ 0.04307116 0.01262083 0.99899168]] t_gt: [ 0.64650594 0.65025914 -0.39899013] Pose Error in degrees for R and t: 151.9929629227538 32.00573584953106 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99998794e-01 6.02735865e-04 1.43143718e-03] [-6.00752597e-04 9.99998860e-01 -1.38553427e-03] [-1.43227066e-03 1.38467266e-03 9.99998016e-01]] t_estimated: [[-9.84432238e-01] [-1.75762676e-01] [-8.06250809e-04]] R_gt: [[ 0.99360293 0.04111438 -0.10518623] [-0.04068904 0.99915337 0.00619211] [ 0.10535161 -0.00187376 0.99443306]] t_gt: [ 0.89936221 0.28649961 -0.3302508 ] Pose Error in degrees for R and t: 6.555960346339195 20.698898681026883 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999942e-01 3.22914245e-04 1.05607688e-04] [-3.22890299e-04 9.99999922e-01 -2.26678727e-04] [-1.05680878e-04 2.26644614e-04 9.99999969e-01]] t_estimated: [[ 9.28051738e-01] [ 3.72451292e-01] [-8.28329881e-05]] R_gt: [[ 0.99600705 -0.0831218 -0.03257105] [ 0.0832212 0.99652928 0.00168767] [ 0.0323189 -0.00439088 0.99946818]] t_gt: [ 0.83785389 -0.50459449 -0.20829128] Pose Error in degrees for R and t: 5.144834421302365 53.86767323439929 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999588e-01 8.95310423e-04 1.48852553e-04] [-8.95315009e-04 9.99999599e-01 3.07454292e-05] [-1.48824966e-04 -3.08786865e-05 9.99999988e-01]] t_estimated: [[9.50589658e-01] [3.10449778e-01] [4.87819927e-04]] R_gt: [[ 9.94065039e-01 -1.04455947e-01 -3.03969215e-02] [ 1.04480833e-01 9.94526421e-01 -7.95852238e-04] [ 3.03146848e-02 -2.38428761e-03 9.99537632e-01]] t_gt: [ 0.86460922 -0.47798445 -0.15486046] Pose Error in degrees for R and t: 6.297307675775197 47.66820328938988 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.88551553 0.4644697 -0.01140833] [ 0.46452718 -0.88555415 0.00288885] [-0.00876092 -0.0078576 -0.99993075]] t_estimated: [[0.2985185 ] [0.95440325] [0.00106996]] R_gt: [[ 0.97596519 -0.21159595 -0.05213213] [ 0.21112382 0.97735184 -0.01447884] [ 0.05401629 0.00312474 0.99853514]] t_gt: [ 0.83257888 -0.53486621 -0.14398107] Pose Error in degrees for R and t: 179.38202458664884 74.80577594328896 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99953117e-01 -9.68299185e-03 5.18299243e-05] [ 9.68299179e-03 9.99953119e-01 1.36834564e-06] [-5.18407441e-05 -8.66412755e-07 9.99999999e-01]] t_estimated: [[9.88041946e-01] [1.54185078e-01] [2.74625704e-04]] R_gt: [[ 0.99475367 -0.10138684 -0.01363615] [ 0.10130819 0.9948346 -0.00630644] [ 0.0142049 0.0048927 0.99988741]] t_gt: [ 0.69970336 -0.70707403 -0.10228156] Pose Error in degrees for R and t: 5.332698534882453 54.3883760247342 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999176e-01 6.12741721e-05 -1.28236812e-03] [-5.99532900e-05 9.99999468e-01 1.03004658e-03] [ 1.28243055e-03 -1.02996885e-03 9.99998647e-01]] t_estimated: [[8.28637643e-01] [5.59784991e-01] [6.49402541e-04]] R_gt: [[ 0.99329178 -0.10177624 -0.05490878] [ 0.09793255 0.99282197 -0.06865699] [ 0.06150334 0.06281896 0.99612847]] t_gt: [ 0.69246418 -0.47389037 -0.54398647] Pose Error in degrees for R and t: 7.641003156883568 72.05090480267712 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.65598875e-01 -2.60035521e-01 5.82986009e-04] [ 2.60034977e-01 9.65598805e-01 8.70769550e-04] [-7.89361607e-04 -6.89217344e-04 9.99999451e-01]] t_estimated: [[0.78977456] [0.61339157] [0.00263258]] R_gt: [[ 0.98789162 -0.10067568 -0.11804965] [ 0.08512293 0.98783869 -0.13010542] [ 0.12971382 0.11848108 0.98444767]] t_gt: [ 0.60103746 -0.20865978 -0.77150183] Pose Error in degrees for R and t: 14.051231610546536 69.83878045735906 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.87020917e-01 1.60591351e-01 3.58171385e-04] [-1.60591269e-01 9.87020964e-01 -2.47474502e-04] [-3.93264930e-04 1.86743313e-04 9.99999905e-01]] t_estimated: [[-0.55177001] [ 0.83399575] [ 0.00097056]] R_gt: [[ 0.99676959 -0.08021803 0.0038694 ] [ 0.08030404 0.99617242 -0.03448993] [-0.00108747 0.03468916 0.99939744]] t_gt: [ 0.38331989 -0.83101831 -0.40308116] Pose Error in degrees for R and t: 13.985810826244645 25.18191813017169 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.31466907e-01 3.63824764e-01 9.70365826e-04] [-3.63823852e-01 9.31467234e-01 -9.98534620e-04] [-1.26715559e-03 5.77059722e-04 9.99999031e-01]] t_estimated: [[0.14108647] [0.98999656] [0.00119565]] R_gt: [[ 0.98628661 -0.16375158 -0.02058362] [ 0.16310835 0.9861579 -0.02977521] [ 0.02517557 0.02600938 0.99934449]] t_gt: [ 0.48242928 -0.83235825 -0.27284012] Pose Error in degrees for R and t: 30.813194739131955 40.86145391441331 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 7.03229065e-01 7.10962916e-01 7.83770516e-04] [-7.10960668e-01 7.03229013e-01 -1.97066815e-03] [-1.95224214e-03 8.28601112e-04 9.99997751e-01]] t_estimated: [[0.31222473] [0.95000762] [0.00111112]] R_gt: [[ 0.95105946 -0.30603419 -0.04275869] [ 0.30462113 0.95177181 -0.03652693] [ 0.05187536 0.021714 0.9984176 ]] t_gt: [ 0.63184186 -0.74530419 -0.21283218] Pose Error in degrees for R and t: 63.181092144576986 59.269238698139574 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-1.14768374e-01 9.93314204e-01 1.24544561e-02] [-9.93390364e-01 -1.14783752e-01 5.24635435e-04] [ 1.95069702e-03 -1.23119251e-02 9.99922303e-01]] t_estimated: [[0.14176911] [0.98989663] [0.00248718]] R_gt: [[ 0.99732364 0.03089024 -0.06626797] [-0.03666083 0.99547132 -0.08771363] [ 0.06325815 0.08990856 0.99393929]] t_gt: [-0.08578318 0.35485227 -0.93097858] Pose Error in degrees for R and t: 94.86497690571504 70.31856734366353 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 7.74585274e-01 6.32469430e-01 2.70529153e-04] [-6.32469455e-01 7.74585301e-01 8.59512341e-06] [-2.04111753e-04 -1.77759082e-04 9.99999963e-01]] t_estimated: [[0.68044758] [0.7327963 ] [0.0008252 ]] R_gt: [[ 0.99008138 0.10082281 -0.09785039] [-0.11364976 0.98418656 -0.135869 ] [ 0.08260451 0.14564156 0.98588271]] t_gt: [-0.27099729 0.52882855 -0.80430146] Pose Error in degrees for R and t: 34.37608233127593 78.31912413250738 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999352e-01 7.02765548e-04 8.95718996e-04] [-7.02107718e-04 9.99999484e-01 -7.34519121e-04] [-8.96234729e-04 7.33889753e-04 9.99999329e-01]] t_estimated: [[-9.55296643e-01] [-2.95647840e-01] [-8.23531589e-04]] R_gt: [[ 0.99125389 0.1237694 -0.04580467] [-0.12754507 0.98759191 -0.09161974] [ 0.03389633 0.09666012 0.99474038]] t_gt: [-0.50401712 0.6380304 -0.58213739] Pose Error in degrees for R and t: 9.279364372078456 72.94239841471409 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-1.57271462e-01 -9.87555325e-01 -4.09691493e-04] [-9.87550844e-01 1.57269459e-01 3.10606344e-03] [-3.00297753e-03 8.93086317e-04 -9.99995092e-01]] t_estimated: [[0.55221149] [0.83369644] [0.00356605]] R_gt: [[ 0.94836135 0.31696583 -0.01199969] [-0.31715094 0.94817134 -0.01966396] [ 0.00514513 0.02245472 0.99973337]] t_gt: [-0.90190021 0.42575786 -0.07284403] Pose Error in degrees for R and t: 178.89849113802853 81.75845318338216 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-9.84063952e-01 -1.77814897e-01 -3.38160133e-05] [-1.77814828e-01 9.84063361e-01 1.08991133e-03] [-1.60525372e-04 1.07855544e-03 -9.99999405e-01]] t_estimated: [[9.99963649e-01] [8.47426822e-03] [9.41585357e-04]] R_gt: [[ 0.84014199 0.54231554 -0.00743573] [-0.54236408 0.84002315 -0.01422539] [-0.00146822 0.01598471 0.99987058]] t_gt: [-0.85438603 0.51872274 -0.03084194] Pose Error in degrees for R and t: 179.72290318096475 31.7896120241148 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.80862678 -0.58692619 -0.04050168] [-0.58543217 -0.80956082 0.04336419] [-0.05824015 -0.01135446 -0.99823803]] t_estimated: [[0.23332883] [0.97220347] [0.01944407]] R_gt: [[ 0.81678461 0.57692228 0.00486099] [-0.57641499 0.81636931 -0.03589446] [-0.02467714 0.0265165 0.99934324]] t_gt: [-0.83865533 0.54345827 -0.03619867] Pose Error in degrees for R and t: 179.16053689714542 70.61187119208637 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99361026e-01 3.57426736e-02 3.83113856e-05] [-3.57426711e-02 9.99361024e-01 -6.53726679e-05] [-4.06234995e-05 6.39615452e-05 9.99999997e-01]] t_estimated: [[-2.29856531e-01] [-9.73224524e-01] [ 2.80617532e-05]] R_gt: [[ 0.99547665 0.01555901 -0.09372898] [-0.02854729 0.98989791 -0.13887438] [ 0.09062206 0.14092161 0.98586454]] t_gt: [ 0.07103726 0.41464936 -0.90720429] Pose Error in degrees for R and t: 9.674316850887905 65.17167773322512 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.99853129e-01 1.71382901e-02 -9.31006762e-06] [-1.71382869e-02 9.99853091e-01 2.73276869e-04] [ 1.39921982e-05 -2.73077174e-04 9.99999963e-01]] t_estimated: [[-4.63519831e-01] [-8.86086462e-01] [ 3.85806674e-04]] R_gt: [[ 0.99599601 0.06103864 -0.06531521] [-0.07130034 0.98311507 -0.16852276] [ 0.05392558 0.17250511 0.98353115]] t_gt: [-0.12969699 0.62074821 -0.77320783] Pose Error in degrees for R and t: 10.807145079067814 60.645104558240405 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 7.29097302e-02 -9.97333383e-01 -3.20858125e-03] [-9.97338379e-01 -7.29074901e-02 -8.09806476e-04] [ 5.73717426e-04 3.25908400e-03 -9.99994525e-01]] t_estimated: [[ 7.02089848e-01] [ 7.12088351e-01] [-1.62999552e-04]] R_gt: [[ 0.98951633 0.11681451 -0.08492857] [-0.12748666 0.98280293 -0.13358588] [ 0.06786287 0.14301269 0.98739141]] t_gt: [-0.22218787 0.75080562 -0.62203172] Pose Error in degrees for R and t: 170.99773077379925 67.74400333501909 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.98273458 0.15538414 0.10044164] [ 0.15516289 0.98783768 -0.01005929] [-0.10078309 0.0056992 -0.9948921 ]] t_estimated: [[ 0.99536955] [-0.08016095] [ 0.05304405]] R_gt: [[ 9.98047636e-01 -5.34810164e-02 -3.22851900e-02] [ 5.34664935e-02 9.98568982e-01 -1.35779356e-03] [ 3.23111768e-02 -3.70385755e-04 9.99478361e-01]] t_gt: [ 0.99141714 -0.08084457 -0.10274337] Pose Error in degrees for R and t: 176.0573351597967 8.93797997836889 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999989e-01 1.46771910e-04 3.04723658e-08] [-1.46771910e-04 9.99999989e-01 -1.72384266e-07] [-3.04976652e-08 1.72379790e-07 1.00000000e+00]] t_estimated: [[7.97776355e-01] [6.02953013e-01] [7.42758608e-04]] R_gt: [[ 0.9971597 -0.05351481 -0.0530218 ] [ 0.05407232 0.99849562 0.00912181] [ 0.05245417 -0.01196343 0.99855158]] t_gt: [ 0.99392504 0.05605823 -0.09471263] Pose Error in degrees for R and t: 4.367926948147004 34.24284449271951 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.56559727 0.77159529 0.29110211] [ 0.79376954 -0.41361435 -0.44592945] [-0.22367306 0.48328447 -0.84640799]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 9.97798599e-01 -3.39712656e-02 -5.69559458e-02] [ 3.40628941e-02 9.99419627e-01 6.40323693e-04] [ 5.69008239e-02 -2.57832756e-03 9.98376505e-01]] t_gt: [ 0.97454686 0.17179618 -0.14402948] Pose Error in degrees for R and t: 149.5457755813165 33.312256614794045 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 9.81312331e-01 -1.92416280e-01 -1.44346834e-03] [ 1.92420596e-01 9.81304469e-01 3.98159779e-03] [ 6.50357692e-04 -4.18494404e-03 9.99991032e-01]] t_estimated: [[0.86423095] [0.50309096] [0.00208751]] R_gt: [[ 0.99972504 0.01570606 -0.01745192] [-0.016127 0.99957618 -0.02423602] [ 0.01706419 0.02451039 0.99955386]] t_gt: [ 0.01270703 0.77702069 -0.62934678] Pose Error in degrees for R and t: 12.151628118898849 66.38554981127938 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99024759e-01 -4.41534185e-02 -8.09265790e-05] [ 4.41534310e-02 9.99024749e-01 1.60440597e-04] [ 7.37636544e-05 -1.63857315e-04 9.99999984e-01]] t_estimated: [[-8.81145479e-01] [ 4.72845134e-01] [-3.51123610e-04]] R_gt: [[ 0.99600814 0.08857939 -0.01102828] [-0.08906141 0.99445412 -0.05595347] [ 0.00601138 0.05671308 0.99837254]] t_gt: [-0.40338737 0.8209227 -0.40418381] Pose Error in degrees for R and t: 8.303643397326264 41.94779614264041 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.97526638e-01 -7.02892127e-02 -1.81989546e-04] [ 7.02892590e-02 9.97526617e-01 2.62029662e-04] [ 1.63121557e-04 -2.74173478e-04 9.99999949e-01]] t_estimated: [[-9.97063280e-01] [-7.65781728e-02] [-7.73516897e-04]] R_gt: [[ 0.98343993 0.17988329 -0.02208136] [-0.18072479 0.98249636 -0.04516956] [ 0.0135699 0.04841194 0.99873505]] t_gt: [-0.57138452 0.79300144 -0.21134911] Pose Error in degrees for R and t: 14.710433626746216 59.393210844061066 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 5.55129069e-01 8.31764218e-01 -5.67297434e-05] [ 8.31757861e-01 -5.55124557e-01 3.94802172e-03] [ 3.25233112e-03 -2.23884703e-03 -9.99992205e-01]] t_estimated: [[0.26697149] [0.96370198] [0.0021705 ]] R_gt: [[ 0.99937974 0.03137438 -0.01604316] [-0.03082002 0.99895637 0.03370304] [ 0.01708306 -0.03318681 0.9993028 ]] t_gt: [-0.93330806 0.19036873 0.30445985] Pose Error in degrees for R and t: 177.65865021200906 86.27044294924022 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.99972058 -0.02285986 0.00601564] [ 0.02293824 0.99964842 -0.01329924] [-0.00570951 0.01343351 0.99989347]] t_estimated: [[-9.58008584e-01] [-2.86737951e-01] [-9.49463413e-04]] R_gt: [[ 0.99867958 0.050084 -0.01145356] [-0.04999265 0.99871697 0.00811102] [ 0.0118446 -0.00752742 0.99990132]] t_gt: [-0.97864445 0.07703228 -0.19058085] Pose Error in degrees for R and t: 4.46726538428251 23.702841395899835 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.89283785 -0.45035464 -0.00461126] [-0.45026707 0.89279815 -0.01307804] [ 0.01000668 -0.00960027 -0.99990385]] t_estimated: [[0.99965046] [0.02630659] [0.00263066]] R_gt: [[ 0.99802594 -0.05734888 -0.02561701] [ 0.05705863 0.99829971 -0.01192488] [ 0.02625651 0.01044025 0.99960024]] t_gt: [ 0.38425039 -0.86986724 -0.30932609] Pose Error in degrees for R and t: 177.95564675268574 68.87406285655481 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.82020818 0.40156677 0.40743425] [ 0.39960859 0.91182852 -0.09424291] [-0.40935499 0.08551542 -0.90835874]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 9.99113639e-01 -4.21004889e-02 9.54093609e-04] [ 4.21065323e-02 9.99082408e-01 -7.79394867e-03] [-6.24403885e-04 7.82693357e-03 9.99969021e-01]] t_gt: [ 0.74103323 -0.66746035 -0.07325591] Pose Error in degrees for R and t: 155.15201884625614 81.46286172711072 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.97864065e-01 -6.53243726e-02 1.83252315e-04] [ 6.53243555e-02 9.97864078e-01 9.78002409e-05] [-1.89249641e-04 -8.56205067e-05 9.99999978e-01]] t_estimated: [[0.99987417] [0.01580829] [0.00131736]] R_gt: [[ 0.97765977 -0.20846017 -0.02696358] [ 0.20858224 0.97800338 0.00173848] [ 0.02600811 -0.0073252 0.99963528]] t_gt: [ 0.74086206 -0.67004158 -0.04655854] Pose Error in degrees for R and t: 8.437071537652036 43.10393965815748 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.96580951e-01 8.26219564e-02 -1.40790274e-04] [-8.26219114e-02 9.96580920e-01 2.99967639e-04] [ 1.65092814e-04 -2.87309674e-04 9.99999945e-01]] t_estimated: [[8.91239795e-01] [4.53532022e-01] [5.77648990e-04]] R_gt: [[ 0.96382381 -0.26391608 -0.03732363] [ 0.26444623 0.96434877 0.00995828] [ 0.03336484 -0.01946858 0.99925345]] t_gt: [ 0.74611443 -0.66513965 -0.03004165] Pose Error in degrees for R and t: 20.182368640378524 68.69777634994125 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 1.00000000e+00 -2.51503369e-05 8.37297958e-06] [ 2.51505585e-05 9.99999999e-01 -2.64693149e-05] [-8.37231386e-06 2.64695255e-05 1.00000000e+00]] t_estimated: [[ 9.35063222e-01] [ 3.54480614e-01] [-5.15875313e-04]] R_gt: [[ 0.99522711 -0.0913659 -0.03429111] [ 0.09163155 0.99577307 0.00626855] [ 0.03357343 -0.00937976 0.99939171]] t_gt: [ 0.81104781 -0.55442931 -0.18657329] Pose Error in degrees for R and t: 5.617377976957526 55.80973882246427 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999965e-01 2.28180256e-05 2.64813793e-04] [-2.27419841e-05 9.99999959e-01 -2.87150359e-04] [-2.64820334e-04 2.87144326e-04 9.99999924e-01]] t_estimated: [[9.67665465e-01] [2.52235875e-01] [7.81494642e-04]] R_gt: [[ 9.93882570e-01 -1.07622745e-01 -2.48179606e-02] [ 1.07674206e-01 9.94185414e-01 7.34021272e-04] [ 2.45948132e-02 -3.40112488e-03 9.99691088e-01]] t_gt: [ 0.83840743 -0.53100959 -0.12288934] Pose Error in degrees for R and t: 6.347380688357366 47.369928521678425 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999924e-01 -3.02240408e-04 2.45561193e-04] [ 3.02240767e-04 9.99999954e-01 -1.42338677e-06] [-2.45560752e-04 1.49760526e-06 9.99999970e-01]] t_estimated: [[0.64445726] [0.76463983] [0.00087089]] R_gt: [[ 0.96853491 -0.24314895 -0.05309515] [ 0.24311994 0.96997021 -0.0070909 ] [ 0.05322429 -0.00603972 0.99856396]] t_gt: [ 0.81680135 -0.56647807 -0.10926188] Pose Error in degrees for R and t: 14.397295868286664 84.65533889519709 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[-5.83180573e-01 -8.12339776e-01 -2.12312296e-03] [ 8.12342492e-01 -5.83179533e-01 -1.14386354e-03] [-3.08956006e-04 -2.39178199e-03 9.99997092e-01]] t_estimated: [[9.94534115e-01] [1.04408386e-01] [8.84816828e-04]] R_gt: [[ 0.99959287 0.02348826 -0.01623001] [-0.02369827 0.99963608 -0.01291064] [ 0.01592111 0.01329034 0.99978531]] t_gt: [ 0.68872265 0.6683239 -0.28107699] Pose Error in degrees for R and t: 127.02931346540383 41.019339577199815 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.99963285e-01 -8.56811031e-03 -1.24903599e-04] [ 8.56815050e-03 9.99963240e-01 3.24846785e-04] [ 1.22115685e-04 -3.25905051e-04 9.99999939e-01]] t_estimated: [[-0.88455285] [-0.4664388 ] [-0.00105054]] R_gt: [[ 0.99844562 0.05046735 -0.02363475] [-0.0509299 0.99851321 -0.01941129] [ 0.0226198 0.02058515 0.99953188]] t_gt: [ 0.6823805 0.65082931 -0.3328334 ] Pose Error in degrees for R and t: 3.8265929262470175 24.929923764844574 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-3.02771379e-01 9.53059752e-01 2.56905755e-03] [ 9.53063117e-01 3.02769022e-01 1.27087277e-03] [ 4.33386649e-04 2.83325789e-03 -9.99995892e-01]] t_estimated: [[0.88527851] [0.46505948] [0.00128116]] R_gt: [[ 9.96780748e-01 5.44140187e-02 -5.88898650e-02] [-5.43529936e-02 9.98518900e-01 2.63415302e-03] [ 5.89462234e-02 5.75241337e-04 9.98261275e-01]] t_gt: [ 0.8891199 0.41635683 -0.19003366] Pose Error in degrees for R and t: 177.30993401291744 11.331737528034065 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-9.74635184e-01 -2.23789902e-01 -2.08279247e-03] [-2.23792174e-01 9.74636446e-01 9.27524775e-04] [ 1.82239477e-03 1.37011093e-03 -9.99997401e-01]] t_estimated: [[ 9.91524248e-01] [ 1.29921720e-01] [-1.08329680e-04]] R_gt: [[ 0.99913034 0.04121729 0.00627308] [-0.04090967 0.99823332 -0.04309827] [-0.00803923 0.04280314 0.99905193]] t_gt: [-0.33398453 0.79097345 -0.51265519] Pose Error in degrees for R and t: 180.0 76.80101683530928 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.93928203e-01 -1.10030245e-01 -2.68443552e-04] [ 1.10030338e-01 9.93928163e-01 3.61474611e-04] [ 2.27040466e-04 -3.88816745e-04 9.99999899e-01]] t_estimated: [[-9.45968883e-01] [-3.24256287e-01] [-8.55706502e-04]] R_gt: [[ 0.99300053 0.1180659 0.00345762] [-0.11773799 0.9917371 -0.05095439] [-0.00944555 0.05019017 0.99869536]] t_gt: [-0.54420268 0.79254403 -0.27516796] Pose Error in degrees for R and t: 13.419320449974226 75.04579754968066 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.98298296e-01 5.83138540e-02 -7.81798342e-05] [-5.83138362e-02 9.98298277e-01 2.14338034e-04] [ 9.05456707e-05 -2.09414328e-04 9.99999974e-01]] t_estimated: [[-9.16348675e-01] [ 4.00381153e-01] [-1.94692715e-04]] R_gt: [[ 0.96018606 0.27872801 -0.01880484] [-0.2793484 0.95729998 -0.07444524] [-0.00274911 0.07673366 0.99704848]] t_gt: [-0.65066769 0.73174299 -0.20293781] Pose Error in degrees for R and t: 13.616771969769099 27.220335078271635 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.97715011e-01 6.75629871e-02 1.50696325e-05] [-6.75629866e-02 9.97715010e-01 -3.10403550e-05] [-1.71323777e-05 2.99512788e-05 9.99999999e-01]] t_estimated: [[-9.98730597e-01] [-5.03633379e-02] [-8.53615895e-04]] R_gt: [[ 0.99965255 -0.00919198 -0.02467246] [ 0.00935128 0.99993682 0.00635438] [ 0.02461289 -0.00658287 0.99967517]] t_gt: [ 0.40708994 -0.6486042 -0.64310992] Pose Error in degrees for R and t: 4.641354673114143 68.07711595263585 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.50581696 -0.86212804 0.02973961] [ 0.86214939 0.50639183 0.01630186] [-0.02911419 0.01739422 0.99942474]] t_estimated: [[ 0.95432721] [-0.29856928] [ 0.01076852]] R_gt: [[ 0.9983122 0.05070742 -0.02830562] [-0.04991607 0.99836154 0.02799717] [ 0.02967961 -0.0265365 0.9992072 ]] t_gt: [-0.9364623 0.2814901 -0.20928852] Pose Error in degrees for R and t: 62.5904574142824 11.48136965702694 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-9.98503821e-01 5.46637061e-02 1.41386911e-03] [ 5.46791202e-02 9.98382445e-01 1.55784457e-02] [-5.60006517e-04 1.56324467e-02 -9.99877649e-01]] t_estimated: [[0.99668124] [0.08139087] [0.00142791]] R_gt: [[ 0.99894458 -0.01365295 -0.04385491] [ 0.01354233 0.99990471 -0.00281861] [ 0.04388913 0.00222202 0.99903356]] t_gt: [ 0.13007163 -0.80244489 -0.58237752] Pose Error in degrees for R and t: 177.5525356584859 86.35945895830086 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-8.43221700e-01 -5.37565964e-01 -8.83475158e-06] [ 5.37546212e-01 -8.43190577e-01 -8.58606800e-03] [ 4.60812854e-03 -7.24470794e-03 9.99963139e-01]] t_estimated: [[0.92030407] [0.39120258] [0.00097801]] R_gt: [[ 0.9533623 0.30139032 0.01628325] [-0.30099829 0.9533516 -0.02280776] [-0.02239801 0.01684351 0.99960693]] t_gt: [-0.91760935 0.39538561 -0.04078355] Pose Error in degrees for R and t: 165.01975353566664 46.38226706396793 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 1.08979947e-01 9.94042128e-01 1.90256701e-03] [ 9.93984619e-01 -1.08994154e-01 1.07168639e-02] [ 1.08603829e-02 7.23199085e-04 -9.99940763e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91502213 0.40324937 0.01118369] [-0.40303085 0.91501625 -0.01763949] [-0.01734592 0.01163263 0.99978132]] t_gt: [-0.89641861 0.4425191 -0.02470889] Pose Error in degrees for R and t: 179.27932160284178 26.483729330131233 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.25562044 0.96524447 -0.05441781] [ 0.96433347 0.25856969 0.05659211] [ 0.06869602 -0.03801082 -0.99691325]] t_estimated: [[ 0.96681352] [ 0.25328049] [-0.03347537]] R_gt: [[ 0.86924176 0.49369706 0.02610145] [-0.49320209 0.86960283 -0.0233153 ] [-0.03420832 0.00739312 0.99938718]] t_gt: [-8.68455536e-01 4.95766978e-01 2.91722119e-04] Pose Error in degrees for R and t: 177.4951879543725 44.43245692057517 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999155e-01 -1.11308090e-03 6.71153643e-04] [ 1.11308146e-03 9.99999381e-01 -4.60540708e-07] [-6.71152715e-04 1.20758899e-06 9.99999775e-01]] t_estimated: [[0.56671322] [0.82391384] [0.00145311]] R_gt: [[ 0.9889854 -0.14574922 -0.02577152] [ 0.14584418 0.98930651 0.00183125] [ 0.02523017 -0.0055696 0.99966567]] t_gt: [ 0.70331214 -0.70303161 -0.10534978] Pose Error in degrees for R and t: 8.458323976204717 79.5828077186728 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.94341732 -0.33160178 -0.00200359] [-0.33160519 0.94341671 0.00170568] [ 0.00132462 0.00227357 -0.99999654]] t_estimated: [[ 9.99468016e-01] [ 3.26140060e-02] [-1.07892688e-04]] R_gt: [[ 0.98124867 -0.18757669 -0.04432977] [ 0.18611192 0.98189914 -0.03518198] [ 0.05012728 0.026272 0.998397 ]] t_gt: [ 0.74332168 -0.6330503 -0.21614856] Pose Error in degrees for R and t: 176.93575659425287 43.755029251039524 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 7.45429992e-01 6.66583862e-01 2.84968119e-04] [-6.66579950e-01 7.45426957e-01 -3.13408597e-03] [-2.30155405e-03 2.14628765e-03 9.99995048e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97948313 -0.17631549 -0.09760411] [ 0.16655381 0.98089712 -0.10050879] [ 0.1134614 0.08219029 0.99013758]] t_gt: [ 0.72980382 -0.46369428 -0.50236839] Pose Error in degrees for R and t: 52.29805140690789 43.28328022809513 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 7.52990307e-02 9.97159649e-01 1.64005659e-03] [ 9.97160756e-01 -7.53000574e-02 5.73394547e-04] [ 6.95262261e-04 1.59222401e-03 -9.99998491e-01]] t_estimated: [[9.48224373e-01] [3.17599874e-01] [9.26364923e-04]] R_gt: [[ 9.88950163e-01 -1.48214884e-01 -3.17630305e-03] [ 1.48214498e-01 9.88955411e-01 -4.98186995e-04] [ 3.21484784e-03 2.21104100e-05 9.99994607e-01]] t_gt: [ 0.66455283 -0.74668234 -0.02889685] Pose Error in degrees for R and t: 179.91804472240165 66.86043473067369 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 8.83606599e-01 4.68224819e-01 2.21294005e-03] [-4.68223856e-01 8.83609352e-01 -9.66847831e-04] [-2.40807667e-03 -1.81838196e-04 9.99997084e-01]] t_estimated: [[0.11368858] [0.99350338] [0.00509284]] R_gt: [[ 9.59553560e-01 -2.80603900e-01 -2.27466456e-02] [ 2.80514308e-01 9.59823291e-01 -7.12911001e-03] [ 2.38339640e-02 4.60484160e-04 9.99715154e-01]] t_gt: [ 0.74610663 -0.65994636 -0.0882932 ] Pose Error in degrees for R and t: 44.23953315012717 55.16013223200644 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99887443e-01 1.46480075e-02 3.24625849e-03] [-1.46477877e-02 9.99892711e-01 -9.14673563e-05] [-3.24725001e-03 4.39065557e-05 9.99994727e-01]] t_estimated: [[0.99976862] [0.02144718] [0.00164978]] R_gt: [[ 0.91757289 -0.39468601 -0.04777813] [ 0.39479622 0.91873764 -0.00750803] [ 0.04685866 -0.01197272 0.99882961]] t_gt: [ 0.7864106 -0.6112135 -0.08931079] Pose Error in degrees for R and t: 24.282234200851633 39.3784282863007 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 3.96114884e-01 9.18199750e-01 1.48921644e-03] [ 9.18199543e-01 -3.96116600e-01 1.11271901e-03] [ 1.61160167e-03 9.26633288e-04 -9.99998272e-01]] t_estimated: [[0.69532376] [0.71869599] [0.00097384]] R_gt: [[ 0.99207082 -0.07547389 0.10049184] [ 0.056864 0.98263436 0.17662668] [-0.11207784 -0.16951203 0.97913489]] t_gt: [ 0.2093459 -0.24743144 0.94601902] Pose Error in degrees for R and t: 175.02857443265378 88.20385379417695 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-6.21683977e-01 -7.83259869e-01 -3.60697312e-03] [ 7.83264161e-01 -6.21688941e-01 3.38354750e-04] [-2.50743500e-03 -2.61486305e-03 9.99993438e-01]] t_estimated: [[0.99993858] [0.01101524] [0.00122392]] R_gt: [[ 0.96886258 -0.14611211 0.19989134] [ 0.06928119 0.9350486 0.34768316] [-0.23770929 -0.32300803 0.91605649]] t_gt: [ 0.23008616 -0.11603711 0.96622758] Pose Error in degrees for R and t: 123.29976269283895 76.70431559199905 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 3.79710712e-01 9.25104377e-01 1.29113027e-03] [-9.25104401e-01 3.79711904e-01 -8.47105487e-04] [-1.27391853e-03 -8.72775268e-04 9.99998808e-01]] t_estimated: [[0.00900864] [0.99995879] [0.00112608]] R_gt: [[ 0.9691172 -0.16985998 0.17877136] [ 0.09121233 0.92043798 0.38009852] [-0.2291108 -0.3520538 0.90750557]] t_gt: [ 0.266823 -0.13006189 0.954929 ] Pose Error in degrees for R and t: 78.9310951043875 82.72813685659627 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 0.99852571 -0.05414169 0.00388335] [-0.05421752 -0.99135329 0.11949524] [-0.0026199 -0.11952962 -0.99282718]] t_estimated: [[0.04044793] [0.99735076] [0.06046008]] R_gt: [[ 0.99974576 -0.00398562 -0.02221852] [ 0.00432533 0.99987454 0.01528531] [ 0.02215508 -0.01537766 0.99963615]] t_gt: [ 0.81453546 -0.52467615 -0.24748114] Pose Error in degrees for R and t: 172.29039486677723 59.648557025335464 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.99580630e-01 2.89574522e-02 -1.71967923e-04] [-2.89573506e-02 9.99580487e-01 5.66701870e-04] [ 1.88306023e-04 -5.61484477e-04 9.99999825e-01]] t_estimated: [[0.99753278] [0.07012873] [0.00321168]] R_gt: [[ 0.99819911 0.05683567 -0.01920404] [-0.0567106 0.99836643 0.00702659] [ 0.01957159 -0.00592605 0.99979052]] t_gt: [ 0.30285629 0.90185224 -0.30812434] Pose Error in degrees for R and t: 1.967649039996493 68.63147706889305 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.99900155 -0.04454057 0.0034695 ] [ 0.04455749 0.9989945 -0.00496212] [-0.003245 0.00511176 0.99998167]] t_estimated: [[-0.55791424] [-0.82989744] [-0.00139479]] R_gt: [[ 0.99372057 0.11066024 -0.01657098] [-0.11055831 0.99384614 0.0069503 ] [ 0.01723725 -0.00507552 0.99983866]] t_gt: [ 0.39160564 0.91549482 -0.09227275] Pose Error in degrees for R and t: 9.001842365597412 12.007475695914463 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.33108467 0.9435988 -0.00206066] [-0.94359934 -0.33108743 -0.00117926] [-0.001795 0.001554 0.99999718]] t_estimated: [[1.99386594e-01] [9.79920902e-01] [1.06224025e-04]] R_gt: [[ 0.99768991 -0.05155811 0.04424146] [ 0.05000207 0.99811477 0.03557692] [-0.04599241 -0.03328159 0.99838732]] t_gt: [ 0.55015464 -0.47788686 0.68480218] Pose Error in degrees for R and t: 112.28206211706409 68.9903538715371 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.41586002 -0.90937163 0.0101829 ] [-0.9093357 0.41595152 0.00963931] [-0.01300131 -0.00525107 -0.99990169]] t_estimated: [[0.83741895] [0.54651973] [0.0067592 ]] R_gt: [[ 0.99820012 -0.03811313 0.04629951] [ 0.03466778 0.99672642 0.07303446] [-0.04893146 -0.07129772 0.99625389]] t_gt: [ 0.51733322 -0.38448766 0.76454926] Pose Error in degrees for R and t: 174.6714863698504 76.80521264294896 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.24725169 -0.96894435 0.00366772] [-0.96894866 0.24724044 -0.00326395] [ 0.00225578 -0.00436085 -0.99998795]] t_estimated: [[0.79028214] [0.6127393 ] [0.00216516]] R_gt: [[ 0.99273714 -0.09647056 0.07187449] [ 0.08324006 0.98217158 0.1685508 ] [-0.08685361 -0.16134362 0.98306878]] t_gt: [ 0.47654193 -0.37708832 0.7941739 ] Pose Error in degrees for R and t: 170.51193728032726 81.53152301151559 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99997049e-01 4.67498962e-04 2.38406568e-03] [-4.63332721e-04 9.99998365e-01 -1.74778918e-03] [-2.38487888e-03 1.74667940e-03 9.99995631e-01]] t_estimated: [[-8.32824450e-01] [-5.53536735e-01] [-7.19813699e-04]] R_gt: [[ 0.99873473 0.05012024 -0.00394379] [-0.04984746 0.99739583 0.05212696] [ 0.00654531 -0.05186421 0.99863288]] t_gt: [0.02727586 0.07258765 0.996989 ] Pose Error in degrees for R and t: 4.213528406930641 86.35274737064974 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 3.44616382e-01 -9.38741562e-01 -1.95657584e-03] [ 9.38743449e-01 3.44616767e-01 1.47652543e-04] [ 5.35661260e-04 -1.88760623e-03 9.99998075e-01]] t_estimated: [[ 8.50282914e-01] [-5.26325908e-01] [ 7.30572923e-05]] R_gt: [[ 0.99096427 0.11718066 -0.06525136] [-0.1104179 0.98893702 0.09905433] [ 0.07613633 -0.09095492 0.99294017]] t_gt: [0.17622308 0.27324917 0.94566395] Pose Error in degrees for R and t: 76.6457140559856 89.65104089276764 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.31441098e-01 -5.55612840e-01 2.67974575e-04] [-5.55612526e-01 -8.31439871e-01 1.56902999e-03] [-6.48968461e-04 -1.45344605e-03 -9.99998733e-01]] t_estimated: [[0.28315474] [0.9590725 ] [0.0018268 ]] R_gt: [[ 0.97512774 0.18404827 -0.12349977] [-0.17018974 0.97870623 0.11475579] [ 0.14199036 -0.09088392 0.98568597]] t_gt: [0.50370397 0.74511419 0.43713517] Pose Error in degrees for R and t: 176.45447271538723 30.902415912372987 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.98674205e-01 5.14764700e-02 7.45682354e-05] [-5.14764711e-02 9.98674208e-01 1.37784173e-05] [-7.37601091e-05 -1.75986595e-05 9.99999997e-01]] t_estimated: [[7.06789864e-01] [7.07423371e-01] [5.12330001e-04]] R_gt: [[ 0.9845749 -0.15137634 -0.08774239] [ 0.14789356 0.98798073 -0.04495669] [ 0.09349324 0.03128572 0.99512786]] t_gt: [ 0.72196188 -0.52832678 -0.44681299] Pose Error in degrees for R and t: 12.883831258293764 82.16644881340976 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 7.29501464e-01 6.83979230e-01 -1.64541480e-04] [-6.83978792e-01 7.29500675e-01 -1.33325121e-03] [-7.91883018e-04 1.08515159e-03 9.99999098e-01]] t_estimated: [[0.72010572] [0.69386393] [0.00077182]] R_gt: [[ 0.95160945 -0.29476649 -0.08690055] [ 0.29160425 0.95536558 -0.04736876] [ 0.09698458 0.01973565 0.99509037]] t_gt: [ 0.79258016 -0.56175779 -0.23716 ] Pose Error in degrees for R and t: 60.48882589886086 79.58509536204643 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-9.99811920e-01 -1.93736371e-02 8.87095945e-04] [-1.93733356e-02 9.99812259e-01 3.47259495e-04] [-8.93657080e-04 3.30008175e-04 -9.99999546e-01]] t_estimated: [[0.69293714] [0.72099758] [0.00077946]] R_gt: [[ 0.94454388 -0.29934464 -0.13502158] [ 0.29652256 0.95414388 -0.04102182] [ 0.14110952 -0.00128972 0.98999321]] t_gt: [ 0.81476765 -0.52281348 -0.25063868] Pose Error in degrees for R and t: 172.01316167407583 79.19656844511528 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-1.06120804e-01 9.94350467e-01 2.35025757e-03] [ 9.94352763e-01 1.06118129e-01 1.23543848e-03] [ 9.79053891e-04 2.46809083e-03 -9.99996475e-01]] t_estimated: [[-0.23308838] [-0.97245475] [-0.00125316]] R_gt: [[ 9.75672702e-01 2.19231519e-01 9.89286645e-04] [-2.18586731e-01 9.72434974e-01 8.11840557e-02] [ 1.68361834e-02 -7.94245527e-02 9.96698995e-01]] t_gt: [-0.89377796 0.39388571 0.21451109] Pose Error in degrees for R and t: 176.59917607758146 79.92276238669729 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.83574639 -0.54911143 0.00214666] [ 0.54911437 0.83574646 -0.0011287 ] [-0.00117428 0.00212207 0.99999706]] t_estimated: [[-0.08187261] [-0.99664156] [-0.00157447]] R_gt: [[ 0.96882299 0.24741875 0.01291475] [-0.24746217 0.96381925 0.09906967] [ 0.01206414 -0.09917565 0.9949966 ]] t_gt: [-0.91704159 0.30427864 0.25777747] Pose Error in degrees for R and t: 48.004738159226264 76.78639649858266 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-6.77858424e-01 7.35191894e-01 -9.14484066e-04] [-7.35188257e-01 -6.77858229e-01 -2.53915010e-03] [-2.48665312e-03 -1.04886634e-03 9.99996358e-01]] t_estimated: [[0.4129414 ] [0.91075613] [0.00163218]] R_gt: [[ 0.97239757 0.23321642 -0.00730942] [-0.23125565 0.96744527 0.10280527] [ 0.03104815 -0.09827646 0.99467496]] t_gt: [-0.95722666 0.16937146 0.23458565] Pose Error in degrees for R and t: 119.30839706447333 76.07571065286945 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 7.59871746e-01 -6.50065058e-01 3.21717481e-03] [-6.50067481e-01 -7.59876395e-01 -3.67088990e-04] [ 2.68328692e-03 -1.81244017e-03 -9.99994758e-01]] t_estimated: [[0.12599019] [0.99203084] [0.00113505]] R_gt: [[ 0.99896135 0.04401887 -0.01181242] [-0.04395789 0.99901976 0.00535699] [ 0.01203614 -0.00483227 0.99991525]] t_gt: [ 0.61252159 0.76790085 -0.18747155] Pose Error in degrees for R and t: 179.90918090260345 32.99266889455431 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[-6.71818830e-01 7.40715389e-01 4.14312810e-04] [-7.40713748e-01 -6.71815913e-01 -2.55382203e-03] [-1.61331334e-03 -2.02259292e-03 9.99996653e-01]] t_estimated: [[0.45698775] [0.88947214] [0.00122517]] R_gt: [[ 0.99653546 0.03150412 -0.07697112] [-0.02898017 0.99901238 0.03369487] [ 0.07795669 -0.03134703 0.99646383]] t_gt: [ 0.96180268 0.16671489 -0.21712151] Pose Error in degrees for R and t: 130.5250888697229 54.01635584002263 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 8.49401142e-01 -5.27747395e-01 -6.22200377e-04] [ 5.27747729e-01 8.49400912e-01 6.52405552e-04] [ 1.84192237e-04 -8.82518857e-04 9.99999594e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98499177 0.11712996 -0.12677592] [-0.10767488 0.99103825 0.07904932] [ 0.13489823 -0.06421211 0.9887759 ]] t_gt: [ 0.70840105 0.67990351 -0.18947073] Pose Error in degrees for R and t: 39.249823495414496 26.013836383319877 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999819e-01 6.01973432e-04 1.61928449e-05] [-6.01977248e-04 9.99999791e-01 2.36722384e-04] [-1.60503409e-05 -2.36732088e-04 9.99999972e-01]] t_estimated: [[-9.99953935e-01] [-9.55065839e-03] [-9.55065841e-04]] R_gt: [[ 0.99349004 -0.09096093 -0.06858727] [ 0.08919245 0.99560845 -0.02844273] [ 0.07087365 0.02213938 0.99724022]] t_gt: [ 0.72267219 -0.48838407 -0.48910726] Pose Error in degrees for R and t: 6.730789031529192 44.1509333533035 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-2.19496471e-01 -9.75612804e-01 -9.77346272e-04] [-9.75613236e-01 2.19496693e-01 -1.24211780e-04] [ 3.35706877e-04 9.26247912e-04 -9.99999515e-01]] t_estimated: [[7.88035376e-01] [6.15629514e-01] [7.39939320e-04]] R_gt: [[ 0.95651273 -0.27062695 -0.10883842] [ 0.26747278 0.96261053 -0.04288866] [ 0.11637595 0.01191175 0.99313403]] t_gt: [ 0.78896281 -0.55149175 -0.27091424] Pose Error in degrees for R and t: 173.86775125652483 73.6194643992568 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.08816868 -0.0705562 0.9936036 ] [-0.29070294 -0.95588749 -0.04208207] [ 0.9527424 -0.28513317 -0.10479023]] t_estimated: [[0.64744796] [0.76210918] [0.00086211]] R_gt: [[ 0.93138323 -0.34500344 -0.1161831 ] [ 0.34199699 0.93859742 -0.04553434] [ 0.1247586 0.00267438 0.99218374]] t_gt: [ 0.81807393 -0.5376476 -0.20418156] Pose Error in degrees for R and t: 174.13947190829316 83.12301266955777 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.98420147e-01 5.61890447e-02 3.27993846e-05] [-5.61890423e-02 9.98420145e-01 -6.96574074e-05] [-3.66615496e-05 6.77043929e-05 9.99999997e-01]] t_estimated: [[ 4.49250419e-01] [-8.93405877e-01] [-1.14554854e-05]] R_gt: [[ 0.99893331 -0.02730681 -0.0372391 ] [ 0.02830679 0.99924638 0.02658364] [ 0.03648466 -0.02760828 0.99895224]] t_gt: [ 0.68793807 -0.67168127 -0.27492813] Pose Error in degrees for R and t: 5.484573615800041 24.612727921193084 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.53666932 -0.843756 -0.00786455] [-0.84373516 0.53671825 -0.00667102] [ 0.00984976 0.00305547 -0.99994682]] t_estimated: [[7.67156147e-01] [6.41460037e-01] [6.83131030e-04]] R_gt: [[ 0.99810644 -0.01788618 -0.05885754] [ 0.02070559 0.99864973 0.0476426 ] [ 0.05792541 -0.04877099 0.9971283 ]] t_gt: [ 0.53586208 -0.77975236 -0.3237871 ] Pose Error in degrees for R and t: 177.8156384397763 84.87601338586471 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.90388005e-01 1.38316884e-01 1.97232586e-04] [-1.38316622e-01 9.90387556e-01 -1.00033571e-03] [-3.33700017e-04 9.63439947e-04 9.99999480e-01]] t_estimated: [[-0.61488498] [-0.78861439] [-0.00195202]] R_gt: [[ 0.99832722 0.03423991 -0.04658846] [-0.03224182 0.9985566 0.04296701] [ 0.04799281 -0.04139302 0.99798922]] t_gt: [-0.67202008 -0.53800193 -0.50886436] Pose Error in degrees for R and t: 7.076405110856775 33.01957673684858 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.58493964e-01 2.85112737e-01 2.20106172e-04] [-2.85112631e-01 9.58493930e-01 -4.16306516e-04] [-3.29664720e-04 3.36272232e-04 9.99999889e-01]] t_estimated: [[-3.83478018e-01] [ 9.23549941e-01] [ 3.39726324e-04]] R_gt: [[ 9.99893906e-01 2.74903075e-04 -1.45497624e-02] [-3.95634992e-04 9.99965630e-01 -8.29314060e-03] [ 1.45464088e-02 8.29817215e-03 9.99859983e-01]] t_gt: [-0.32214164 -0.83737167 -0.44162591] Pose Error in degrees for R and t: 16.57416854344721 49.46063313129572 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.91700813e-01 1.28567082e-01 4.78211539e-05] [-1.28567074e-01 9.91700806e-01 -1.38745491e-04] [-6.52623797e-05 1.31445790e-04 9.99999989e-01]] t_estimated: [[0.52642112] [0.85022342] [0.00096947]] R_gt: [[ 0.99960984 0.0074947 -0.0269124 ] [-0.0079571 0.99982164 -0.01713528] [ 0.02677807 0.01734295 0.99949103]] t_gt: [-0.28194181 -0.8416646 -0.46055349] Pose Error in degrees for R and t: 7.179936296381519 30.177807423346533 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 3.79806191e-02 9.99278256e-01 6.63066973e-04] [-9.99276908e-01 3.79817266e-02 -1.74631507e-03] [-1.77023910e-03 -5.96261388e-04 9.99998255e-01]] t_estimated: [[0.3290422 ] [0.94431442] [0.00122321]] R_gt: [[ 0.99929402 0.0103896 -0.0361132 ] [-0.01322215 0.99677915 -0.07910228] [ 0.03517539 0.07952448 0.99621229]] t_gt: [-0.24068621 -0.20123566 -0.9495127 ] Pose Error in degrees for R and t: 87.2595596767425 74.31269695933088 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.99995530e-01 2.97877896e-03 2.57264827e-04] [-2.97874802e-03 9.99995556e-01 -1.20582428e-04] [-2.57622872e-04 1.19815561e-04 9.99999960e-01]] t_estimated: [[6.28227014e-01] [7.78029768e-01] [7.06572536e-04]] R_gt: [[ 0.99930227 -0.01339301 0.03485546] [ 0.01122855 0.99803832 0.06158256] [-0.03561218 -0.06114916 0.99749301]] t_gt: [ 0.3355298 -0.35566671 0.87230783] Pose Error in degrees for R and t: 4.150520494856333 86.2551145407363 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[-9.83692966e-01 1.79827430e-01 3.20068480e-03] [ 1.79828763e-01 9.83697921e-01 1.31281124e-04] [-3.12489904e-03 7.04715506e-04 -9.99994869e-01]] t_estimated: [[0.82209349] [0.5693463 ] [0.0026605 ]] R_gt: [[ 0.99866995 -0.03983838 0.03272591] [ 0.03621058 0.99383271 0.10480652] [-0.03670052 -0.10348251 0.99395406]] t_gt: [ 0.49252845 -0.39003338 0.77800365] Pose Error in degrees for R and t: 178.37377113108136 79.34410023794456 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.78084723e-01 -2.08206791e-01 -4.53758477e-04] [ 2.08207123e-01 9.78084360e-01 8.81836680e-04] [ 2.60209685e-04 -9.56986733e-04 9.99999508e-01]] t_estimated: [[-0.39232688] [-0.91982521] [-0.00109895]] R_gt: [[ 0.99223149 -0.09716613 0.07768736] [ 0.07906962 0.97467531 0.20917716] [-0.09604607 -0.20141003 0.97478614]] t_gt: [ 0.40106158 -0.36003214 0.84233394] Pose Error in degrees for R and t: 14.579650628434976 80.04389153592813 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.70107560e-01 -2.42674575e-01 -6.09895914e-04] [ 2.42674792e-01 9.70107648e-01 3.09621341e-04] [ 5.16527464e-04 -4.48372367e-04 9.99999766e-01]] t_estimated: [[-0.48440044] [-0.8748439 ] [-0.00208793]] R_gt: [[ 0.99558403 0.09107054 -0.02279263] [-0.08948329 0.99399528 0.0629788 ] [ 0.02839092 -0.06066054 0.99775524]] t_gt: [-0.43004882 0.3601621 0.82785341] Pose Error in degrees for R and t: 19.59952685459606 83.77124464743385 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.02567424e-01 4.30548318e-01 4.37605095e-04] [-4.30547668e-01 9.02567175e-01 -1.09560598e-03] [-8.66679304e-04 8.00448410e-04 9.99999304e-01]] t_estimated: [[-0.98211256] [-0.18829173] [-0.00106984]] R_gt: [[ 0.98713099 0.13521219 -0.08539552] [-0.12941507 0.98910701 0.07013118] [ 0.09394694 -0.05817719 0.99387608]] t_gt: [0.1141508 0.96372705 0.24124627] Pose Error in degrees for R and t: 18.980757794348985 72.9126758295568 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.92347761e-01 -9.81325022e-01 1.88128559e-03] [-9.81242083e-01 1.92355991e-01 1.27729113e-02] [-1.28962541e-02 6.10844307e-04 -9.99916653e-01]] t_estimated: [[0.95925814] [0.28252888] [0.00111671]] R_gt: [[ 0.96241947 0.22486397 -0.15227081] [-0.20328074 0.96830807 0.14511001] [ 0.18007498 -0.10870281 0.97762877]] t_gt: [0.315714 0.90108989 0.29725694] Pose Error in degrees for R and t: 177.72625204338135 56.09848226810362 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.69002648e-01 2.47049591e-01 6.06123320e-04] [-2.47049552e-01 9.69002838e-01 -1.38680886e-04] [-6.21596273e-04 -1.53603486e-05 9.99999807e-01]] t_estimated: [[-8.05964021e-01] [-5.91964023e-01] [-7.69784165e-04]] R_gt: [[ 0.99485638 -0.0997739 -0.01745164] [ 0.09953167 0.9949322 -0.01423123] [ 0.01878387 0.01242159 0.99974662]] t_gt: [ 0.7337004 -0.66429966 -0.14279245] Pose Error in degrees for R and t: 20.065819729800236 78.5808648864146 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999574e-01 -1.62741399e-04 9.08671460e-04] [ 1.64514698e-04 9.99998082e-01 -1.95179547e-03] [-9.08352079e-04 1.95194413e-03 9.99997682e-01]] t_estimated: [[0.74958666] [0.66190565] [0.00085962]] R_gt: [[ 0.97824273 -0.20473723 -0.0335017 ] [ 0.204368 0.97879185 -0.01411555] [ 0.03568282 0.00696192 0.99933919]] t_gt: [ 0.74899851 -0.65353365 -0.10906422] Pose Error in degrees for R and t: 11.983567831562276 82.60159899999417 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 4.84254500e-01 8.74927030e-01 5.21072000e-04] [-8.74925206e-01 4.84254586e-01 -1.83827524e-03] [-1.86068820e-03 4.34294031e-04 9.99998175e-01]] t_estimated: [[0.27724018] [0.96079999] [0.00112243]] R_gt: [[ 0.97364247 -0.2208112 -0.05710447] [ 0.21662871 0.97364507 -0.07131871] [ 0.0713478 0.05706888 0.99581793]] t_gt: [ 0.77110387 -0.57466743 -0.27414625] Pose Error in degrees for R and t: 73.85719495273256 70.20430687752281 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99829882e-01 1.84440529e-02 1.51689289e-04] [-1.84440297e-02 9.99829883e-01 -1.52535856e-04] [-1.54476863e-04 1.49712145e-04 9.99999977e-01]] t_estimated: [[ 9.64264951e-01] [-2.64939349e-01] [-4.95455900e-04]] R_gt: [[ 0.98657181 -0.16333066 -0.00105883] [ 0.1632753 0.98637268 -0.02025754] [ 0.00435281 0.01981324 0.99979441]] t_gt: [ 0.7212356 -0.67771581 -0.14324976] Pose Error in degrees for R and t: 10.519676968947255 28.944753883244072 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999986e-01 6.96494375e-05 1.55209358e-04] [-6.96550062e-05 9.99999997e-01 3.58734725e-05] [-1.55206859e-04 -3.58842831e-05 9.99999987e-01]] t_estimated: [[ 9.98975332e-01] [-4.52551984e-02] [ 5.03907233e-04]] R_gt: [[ 0.95952303 -0.27868342 -0.04063728] [ 0.27860605 0.96037454 -0.00765965] [ 0.04116155 -0.00397198 0.99914393]] t_gt: [ 0.76046965 -0.6383017 -0.11940204] Pose Error in degrees for R and t: 16.363242246924415 37.952887533438016 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999595e-01 -7.16062916e-04 5.44991315e-04] [ 7.16237319e-04 9.99999692e-01 -3.19883914e-04] [-5.44762090e-04 3.20274127e-04 9.99999800e-01]] t_estimated: [[0.51348105] [0.8580992 ] [0.00172309]] R_gt: [[ 0.92979549 -0.36610774 -0.03804422] [ 0.36482477 0.93035182 -0.03672132] [ 0.04883846 0.02026441 0.99860044]] t_gt: [ 0.76949229 -0.61501882 -0.17214372] Pose Error in degrees for R and t: 21.62424546426446 82.36140382411601 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.69802059e-01 9.85478174e-01 1.71958042e-04] [-9.85475267e-01 1.69801978e-01 -2.40570874e-03] [-2.39997227e-03 2.39033900e-04 9.99997091e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.9965084 0.08347009 0.00197861] [-0.08332453 0.99572286 -0.03991661] [-0.00530141 0.03961246 0.99920176]] t_gt: [-0.68923196 0.67241879 -0.26983749] Pose Error in degrees for R and t: 75.46405929011654 48.045008903436184 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.26693328 -0.9637079 -0.0037019 ] [ 0.96222886 -0.26673292 0.05449003] [-0.05349989 0.01098313 0.99850745]] t_estimated: [[0.99355912] [0.11217603] [0.01602515]] R_gt: [[ 0.99662979 0.06372866 0.05166708] [-0.06565405 0.99717637 0.03645489] [-0.04919695 -0.03972392 0.99799901]] t_gt: [-0.62304021 0.39478082 0.67525477] Pose Error in degrees for R and t: 109.15055497838402 55.672583310145384 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.85952652e-01 1.64299403e-01 3.00511983e-02] [-1.64193493e-01 9.86410051e-01 -5.97555881e-03] [-3.06245848e-02 9.57406837e-04 9.99530499e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98634583 -0.02149216 0.16328215] [-0.01847085 0.97075665 0.23935499] [-0.16365088 -0.23910179 0.95710447]] t_gt: [-0.01413189 -0.0171266 0.99975345] Pose Error in degrees for R and t: 18.695534882533966 89.23164465201391 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.93724068e-01 -1.11859128e-01 -1.14457249e-04] [ 1.11859075e-01 9.93724000e-01 -3.98754729e-04] [ 1.58343272e-04 3.83449089e-04 9.99999914e-01]] t_estimated: [[-0.3231338 ] [-0.94635122] [-0.00198033]] R_gt: [[ 0.99926035 -0.03656405 -0.01190774] [ 0.03605603 0.99853349 -0.04039802] [ 0.01336717 0.03993936 0.99911194]] t_gt: [ 0.57199918 -0.16391609 -0.80370919] Pose Error in degrees for R and t: 4.954986189767118 88.38871864795803 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99441371e-01 3.34207341e-02 3.03499736e-05] [-3.34207325e-02 9.99441370e-01 -5.29371597e-05] [-3.21022180e-05 5.18932691e-05 9.99999998e-01]] t_estimated: [[ 6.21758773e-01] [-7.83208759e-01] [-2.60104092e-04]] R_gt: [[ 0.99270502 -0.11256274 -0.04318647] [ 0.10880569 0.99073789 -0.08124569] [ 0.05193197 0.07595483 0.99575742]] t_gt: [ 0.64236715 -0.27601695 -0.71496789] Pose Error in degrees for R and t: 9.819589297117773 51.992670787367956 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.98704069e-01 -5.08938410e-02 1.79755284e-05] [ 5.08938407e-02 9.98704069e-01 1.25935722e-05] [-1.85931686e-05 -1.16624081e-05 1.00000000e+00]] t_estimated: [[ 6.42841090e-01] [-7.65999554e-01] [ 1.26755146e-04]] R_gt: [[ 0.98187069 -0.18800251 -0.02419462] [ 0.18339033 0.97446192 -0.12959083] [ 0.04793977 0.12280443 0.99127195]] t_gt: [ 0.60338546 -0.35352348 -0.71480566] Pose Error in degrees for R and t: 10.892560953275412 48.80763511960301 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 3.74624865e-01 9.27175967e-01 9.68252318e-04] [-9.27173599e-01 3.74626100e-01 -2.09846273e-03] [-2.30837680e-03 -1.11601669e-04 9.99997329e-01]] t_estimated: [[-0.01058758] [ 0.99994232] [ 0.00180276]] R_gt: [[ 0.99826792 -0.04866634 0.0330802 ] [ 0.0483317 0.99877169 0.01083576] [-0.03356641 -0.0092184 0.99939398]] t_gt: [ 0.63341928 -0.59400458 0.49592195] Pose Error in degrees for R and t: 70.80140733811562 53.145665910976504 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99997444e-01 2.26114885e-03 -1.85240741e-07] [-2.26114885e-03 9.99997444e-01 1.19824546e-05] [ 2.12334380e-07 -1.19820051e-05 1.00000000e+00]] t_estimated: [[ 6.98207306e-01] [-7.15895420e-01] [-5.52257919e-04]] R_gt: [[ 0.99476786 -0.09032089 0.04775066] [ 0.09051588 0.99589231 -0.00195066] [-0.04737738 0.00626319 0.99885679]] t_gt: [ 0.72663153 -0.61915614 0.29774535] Pose Error in degrees for R and t: 5.983788994065185 18.116530929798227 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.95223101e-01 9.76264002e-02 2.53961134e-04] [-9.76264125e-02 9.95223132e-01 3.65854955e-05] [-2.49176285e-04 -6.12040447e-05 9.99999967e-01]] t_estimated: [[-0.01490659] [-0.99988823] [-0.00114666]] R_gt: [[ 0.98742735 -0.15114345 0.04629644] [ 0.15187867 0.9883158 -0.01280239] [-0.04382008 0.01967286 0.99884514]] t_gt: [ 0.77182938 -0.61945422 0.1433732 ] Pose Error in degrees for R and t: 14.580658831228376 52.57551739042901 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 8.55072129e-01 -5.18508294e-01 -8.95561987e-04] [ 5.18507992e-01 8.55072598e-01 -5.60338962e-04] [ 1.05631091e-03 1.47741824e-05 9.99999442e-01]] t_estimated: [[ 0.51078683] [-0.85970506] [-0.00200693]] R_gt: [[ 0.9886542 -0.15000873 0.00776104] [ 0.14991825 0.98863403 0.0112366 ] [-0.00935928 -0.00994535 0.99990689]] t_gt: [ 0.62438819 -0.75749513 0.19063187] Pose Error in degrees for R and t: 22.622225726109665 14.12418966490933 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 8.78797490e-01 4.77190481e-01 2.05326152e-03] [-4.77191611e-01 8.78799273e-01 6.95536869e-05] [-1.77121438e-03 -1.04092278e-03 9.99997890e-01]] t_estimated: [[-0.14366786] [ 0.98962022] [ 0.00337038]] R_gt: [[ 0.96987793 -0.24342076 -0.00908945] [ 0.24331815 0.96635678 0.08336216] [-0.01150898 -0.08306305 0.99647778]] t_gt: [ 0.57338098 -0.74372563 0.34366619] Pose Error in degrees for R and t: 42.86731787622592 35.192131666679806 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.98047903 0.04148883 0.19219666] [ 0.0483804 0.8965268 -0.44033968] [-0.19057864 0.44104238 0.87701848]] t_estimated: [[-0.78446454] [-0.58834841] [-0.19611614]] R_gt: [[ 0.94947338 -0.30751997 -0.06270637] [ 0.31375439 0.93494077 0.16565823] [ 0.00768341 -0.17696252 0.98418735]] t_gt: [ 0.55350256 -0.71293453 0.4305337 ] Pose Error in degrees for R and t: 42.684354704361624 84.30782563242953 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.92524073e-01 1.22048809e-01 2.30436784e-04] [-1.22048854e-01 9.92524076e-01 1.91545400e-04] [-2.05336168e-04 -2.18237966e-04 9.99999955e-01]] t_estimated: [[0.08109655] [0.99670548] [0.00123562]] R_gt: [[ 0.9978902 -0.04666382 0.0451367 ] [ 0.04283501 0.99568154 0.0823593 ] [-0.04878439 -0.08025214 0.99557955]] t_gt: [ 0.14785368 -0.50305535 0.85151313] Pose Error in degrees for R and t: 10.98143106220426 60.76745243956887 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.93694824e-01 -1.12118672e-01 -2.82298977e-05] [ 1.12118675e-01 9.93694808e-01 1.75975193e-04] [ 8.32179785e-06 -1.78030737e-04 9.99999984e-01]] t_estimated: [[3.33162589e-01] [9.42869390e-01] [5.34924831e-05]] R_gt: [[ 0.99464466 -0.06127367 0.08322722] [ 0.04753734 0.98629162 0.15801824] [-0.0917683 -0.15321535 0.9839226 ]] t_gt: [ 0.02966113 -0.43565569 0.89962455] Pose Error in degrees for R and t: 10.792979860643145 66.36952892445187 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.17364145 0.98480532 0.00266803] [-0.98463281 -0.17355852 -0.01938221] [-0.01862464 -0.00599259 0.99980859]] t_estimated: [[0.1967368 ] [0.98031395] [0.01670925]] R_gt: [[ 0.99261166 -0.083433 0.08809046] [ 0.06467068 0.97812735 0.19769954] [-0.10265867 -0.19054094 0.97629627]] t_gt: [ 0.06817297 -0.45667521 0.88701759] Pose Error in degrees for R and t: 104.84460235101143 65.20003380107843 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 7.05579519e-01 -7.08624183e-01 -3.05120263e-03] [ 7.08628939e-01 7.05580912e-01 7.76236548e-04] [ 1.60281034e-03 -2.70986709e-03 9.99995044e-01]] t_estimated: [[9.99472407e-01] [3.24674970e-02] [8.77499918e-04]] R_gt: [[ 0.99832502 0.01973163 -0.05440041] [-0.01797103 0.99930529 0.0326739 ] [ 0.0550064 -0.03164108 0.99798424]] t_gt: [ 0.94926417 0.29194272 -0.11690592] Pose Error in degrees for R and t: 46.325709364406954 16.63669595591307 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.75772688 0.65254692 -0.00569915] [-0.65253854 -0.75774754 -0.00348058] [-0.00658975 0.00108159 0.9999777 ]] t_estimated: [[0.33510449] [0.94217784] [0.00242829]] R_gt: [[ 0.98887412 0.08919763 -0.11904902] [-0.08115862 0.99418715 0.07075981] [ 0.12466755 -0.06031047 0.99036339]] t_gt: [ 0.47854412 0.83970364 -0.25669696] Pose Error in degrees for R and t: 134.49073620835847 18.031013967557957 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.60936751 -0.79254135 -0.02344013] [ 0.79286437 0.60931089 0.01031197] [ 0.00610967 -0.02486862 0.99967206]] t_estimated: [[0.75271397] [0.65834386] [0.00224691]] R_gt: [[ 0.97837916 0.15921646 -0.13200766] [-0.13981216 0.9794822 0.14515282] [ 0.15240961 -0.12355795 0.98056358]] t_gt: [0.19253383 0.97755682 0.08551831] Pose Error in degrees for R and t: 61.80977113511269 37.937339640933956 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.52566651e-01 -3.04329861e-01 3.33576833e-04] [ 3.04329761e-01 9.52566688e-01 3.17619531e-04] [-4.14415287e-04 -2.01036415e-04 9.99999894e-01]] t_estimated: [[0.72296877] [0.69087973] [0.00116693]] R_gt: [[ 0.98867148 0.14151384 0.05002566] [-0.14179457 0.98989386 0.00208663] [-0.04922509 -0.0091572 0.99874614]] t_gt: [-0.86009486 0.49303098 0.13098583] Pose Error in degrees for R and t: 26.02000738155322 73.67749048470607 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.38481921 0.92293234 -0.01049111] [ 0.92290862 0.38491236 0.00906455] [ 0.01240413 -0.00619412 -0.99990388]] t_estimated: [[ 0.78210955] [-0.62310703] [-0.00650333]] R_gt: [[ 0.96818526 0.24669146 0.0419637 ] [-0.24783584 0.96848824 0.02463117] [-0.03456561 -0.03424861 0.99881573]] t_gt: [-0.8329496 0.53834259 0.12799307] Pose Error in degrees for R and t: 179.8977342345868 8.982798334470225 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99696885e-01 2.46173248e-02 -3.55442100e-04] [-2.46169256e-02 9.99696367e-01 1.08695138e-03] [ 3.82092011e-04 -1.07787202e-03 9.99999346e-01]] t_estimated: [[-9.85651432e-01] [ 1.68793524e-01] [ 3.71930388e-05]] R_gt: [[ 9.20365097e-01 3.87676615e-01 5.13358628e-02] [-3.87070883e-01 9.21794727e-01 -2.16728522e-02] [-5.57234896e-02 7.55324150e-05 9.98446271e-01]] t_gt: [-0.78708143 0.61470212 0.05142106] Pose Error in degrees for R and t: 21.638684206641024 28.41216278177519 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.98431496e-01 -5.59870028e-02 -4.89844650e-05] [ 5.59870036e-02 9.98431497e-01 1.63579338e-05] [ 4.79918010e-05 -1.90747698e-05 9.99999999e-01]] t_estimated: [[9.93968167e-01] [1.09666975e-01] [6.62221485e-04]] R_gt: [[ 0.9999414 0.00350455 -0.01019168] [-0.00366582 0.99986817 -0.01579174] [ 0.01013538 0.01582852 0.99982322]] t_gt: [-0.04930171 -0.79839265 -0.60011541] Pose Error in degrees for R and t: 3.5809676923325515 82.12808275149627 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 0.51677812 -0.85611305 0.00329058] [ 0.85611368 0.51675685 -0.00563251] [ 0.00312164 0.00572787 0.99997872]] t_estimated: [[ 0.6542523 ] [-0.75623318] [-0.00808104]] R_gt: [[ 0.99970702 0.00325518 -0.02394323] [-0.00513552 0.99687207 -0.07885795] [ 0.02361185 0.07895882 0.99659795]] t_gt: [-0.01818878 0.24589374 -0.96912612] Pose Error in degrees for R and t: 59.26780850516715 79.0459605624405 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.87748289 -0.47960488 0.00171484] [-0.47960345 0.87745357 -0.0074682 ] [ 0.00207709 -0.00737566 -0.99997064]] t_estimated: [[0.86694572] [0.49840103] [0.00123673]] R_gt: [[ 0.99873318 -0.04987375 -0.006659 ] [ 0.04844236 0.98886443 -0.14071086] [ 0.01360223 0.14021012 0.99002798]] t_gt: [ 0.14294152 0.38098881 -0.91346332] Pose Error in degrees for R and t: 177.4166702952983 71.7793033189392 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999930e-01 -3.73748225e-04 2.62478517e-06] [ 3.73748153e-04 9.99999930e-01 2.71430362e-05] [-2.63492965e-06 -2.71420533e-05 1.00000000e+00]] t_estimated: [[1.61289378e-01] [9.86907128e-01] [2.39091692e-04]] R_gt: [[ 0.99591409 0.06717345 -0.06036145] [-0.06558444 0.99745659 0.02794907] [ 0.06208503 -0.02387608 0.99778545]] t_gt: [-0.05138905 0.96840135 -0.24404507] Pose Error in degrees for R and t: 5.405011435589921 18.670480415939924 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-8.51699156e-01 -5.24029080e-01 -1.43878680e-03] [ 5.24030901e-01 -8.51697803e-01 -1.57070453e-03] [-4.02316704e-04 -2.09173647e-03 9.99997731e-01]] t_estimated: [[9.07899355e-01] [4.19187574e-01] [7.34257175e-04]] R_gt: [[ 0.99310644 0.09689283 -0.06596903] [-0.09167736 0.99273171 0.07797125] [ 0.07304411 -0.07138598 0.9947706 ]] t_gt: [0.03182228 0.99414904 0.10322319] Pose Error in degrees for R and t: 153.85028609092393 63.5317292310014 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-3.28670883e-01 -9.44443643e-01 -1.28690200e-03] [ 9.44443711e-01 -3.28672080e-01 8.60392181e-04] [-1.23556068e-03 -9.32620647e-04 9.99998802e-01]] t_estimated: [[9.95977345e-01] [8.96022264e-02] [7.53840200e-04]] R_gt: [[ 0.98970457 0.09932088 -0.10306088] [-0.09441318 0.99420278 0.05146633] [ 0.10757539 -0.04120634 0.99334353]] t_gt: [ 0.36509866 0.86647684 -0.34047153] Pose Error in degrees for R and t: 114.8851026225884 63.83155779653268 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.94907532e-01 1.00791871e-01 -3.91457168e-05] [-1.00791872e-01 9.94907532e-01 -1.82834344e-05] [ 3.71035469e-05 2.21358967e-05 9.99999999e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99132624 0.12775753 0.03082424] [-0.12927071 0.9901658 0.05348961] [-0.02368783 -0.05701101 0.99809352]] t_gt: [-0.83925353 0.4255892 0.33841888] Pose Error in degrees for R and t: 3.8880428444086936 33.10539853917802 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 6.81164541e-01 -7.32128246e-01 -1.76051206e-03] [ 7.32129236e-01 6.81165742e-01 -1.16753357e-04] [ 1.28467893e-03 -1.20939410e-03 9.99998443e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.96535485 0.25754151 0.04200356] [-0.25929388 0.96481367 0.04361409] [-0.0292937 -0.05299407 0.99816538]] t_gt: [-0.83250658 0.52403211 0.1797864 ] Pose Error in degrees for R and t: 62.14455957080336 58.67547981949678 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 1.51891781e-01 -9.88383975e-01 -5.09948683e-03] [ 9.88396996e-01 1.51892430e-01 2.62002869e-04] [ 5.15614011e-04 -5.08011354e-03 9.99986963e-01]] t_estimated: [[ 0.96207152] [-0.27279381] [ 0.00138593]] R_gt: [[ 0.92484989 0.3781275 0.04090374] [-0.37896835 0.92528865 0.01497216] [-0.03218618 -0.02934885 0.99905148]] t_gt: [-0.79378809 0.60119229 0.09202338] Pose Error in degrees for R and t: 103.54207185241182 21.94317723391024 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.95312333 -0.30257731 0.00169699] [ 0.30257952 0.95312335 -0.0012347 ] [-0.00124385 0.00169029 0.9999978 ]] t_estimated: [[0.71231957] [0.7018549 ] [0.00073014]] R_gt: [[ 0.99704277 -0.07670999 -0.00451186] [ 0.07671613 0.99032534 0.11562727] [-0.0044015 -0.1156321 0.99328213]] t_gt: [ 0.23893047 -0.72538035 0.6455506 ] Pose Error in degrees for R and t: 14.808618298745774 70.2178023414444 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.99956201 0.02956009 0.00140929] [ 0.02956419 0.99955844 0.00298174] [-0.00132052 0.00302209 -0.99999456]] t_estimated: [[9.99994892e-01] [3.10075877e-03] [7.75190034e-04]] R_gt: [[ 0.98772427 -0.13736264 -0.07436982] [ 0.14757894 0.97664916 0.15613256] [ 0.05118612 -0.16519218 0.98493193]] t_gt: [ 0.40832148 -0.77048197 0.4895213 ] Pose Error in degrees for R and t: 176.33236158537494 66.02676858317537 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.82961452e-01 -1.83811807e-01 -5.89508686e-05] [ 1.83811814e-01 9.82961332e-01 4.86136507e-04] [-3.14112053e-05 -4.88689313e-04 9.99999880e-01]] t_estimated: [[7.88020607e-01] [6.15648506e-01] [6.62574041e-04]] R_gt: [[ 0.96200857 -0.24485089 -0.12077649] [ 0.26207249 0.95217208 0.15712061] [ 0.0765286 -0.18280328 0.98016574]] t_gt: [ 0.55730754 -0.75776433 0.33941349] Pose Error in degrees for R and t: 12.166273808523004 88.4458466963689 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999998e-01 -5.12940354e-05 3.68495688e-05] [ 5.12940571e-05 9.99999999e-01 -5.89222378e-07] [-3.68495385e-05 5.91112542e-07 9.99999999e-01]] t_estimated: [[-0.62628471] [-0.77959399] [-0.00081547]] R_gt: [[ 9.97503822e-01 -7.01875426e-02 -7.77154964e-03] [ 7.01795450e-02 9.97533339e-01 -1.36906946e-03] [ 7.84755242e-03 8.20397395e-04 9.99968006e-01]] t_gt: [ 0.67860458 -0.72430844 -0.12195534] Pose Error in degrees for R and t: 4.047486069274957 81.96567733516406 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.79478309e-01 2.01547218e-01 9.79865574e-04] [-2.01547804e-01 9.79478530e-01 5.39967339e-04] [-8.50928377e-04 -7.26376051e-04 9.99999374e-01]] t_estimated: [[0.07386967] [0.99724054] [0.00738697]] R_gt: [[ 0.99225853 -0.11971203 0.03305974] [ 0.11949265 0.99279872 0.00856432] [-0.03384765 -0.00454796 0.99941586]] t_gt: [ 0.69126822 -0.70264433 0.16863923] Pose Error in degrees for R and t: 18.594865289201365 49.5792294735049 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999930e-01 -2.40222446e-06 3.73908032e-04] [ 2.54777707e-06 9.99999924e-01 -3.89273824e-04] [-3.73907068e-04 3.89274749e-04 9.99999854e-01]] t_estimated: [[8.69774142e-01] [4.93449553e-01] [6.93047125e-04]] R_gt: [[ 0.98477618 -0.16723577 0.04741502] [ 0.16699052 0.98591592 0.00911579] [-0.04827243 -0.00105854 0.99883293]] t_gt: [ 0.72921293 -0.66562004 0.15874025] Pose Error in degrees for R and t: 10.009584013784753 72.18704075951325 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99119564e-01 4.19533940e-02 9.25992683e-05] [-4.19533855e-02 9.99119565e-01 -9.17100082e-05] [-9.63652867e-05 8.77444106e-05 9.99999992e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99801644 -0.05776307 -0.02503604] [ 0.05675104 0.99760982 -0.03942068] [ 0.0272534 0.03792215 0.99890972]] t_gt: [ 0.64027731 -0.31410043 -0.70098922] Pose Error in degrees for R and t: 6.285681514647013 50.30082827603416 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 0.95261484 0.30416485 -0.0029518 ] [-0.30414403 0.95260744 0.00595525] [ 0.00462328 -0.00477529 0.99997791]] t_estimated: [[-0.93541378] [-0.35355249] [-0.00130462]] R_gt: [[ 0.98638611 -0.15935084 -0.0406134 ] [ 0.15523936 0.98379607 -0.08970467] [ 0.05424999 0.08217903 0.99513986]] t_gt: [ 0.64467382 -0.40288234 -0.64967798] Pose Error in degrees for R and t: 27.395977034681376 62.629079083300105 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.11575830e-01 -4.11131616e-01 -5.47493297e-04] [ 4.11131795e-01 9.11575876e-01 2.64115636e-04] [ 3.90495393e-04 -4.65853333e-04 9.99999815e-01]] t_estimated: [[ 7.74812860e-01] [-6.32190660e-01] [ 1.94871323e-05]] R_gt: [[ 0.98178682 -0.1856662 -0.04029427] [ 0.18088253 0.97833733 -0.10069322] [ 0.05811758 0.09157145 0.99410212]] t_gt: [ 0.62168091 -0.44433918 -0.64503918] Pose Error in degrees for R and t: 15.030139035662426 40.30774677427489 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.99752732e-01 -2.22367926e-02 -2.47026414e-05] [ 2.22367928e-02 9.99752732e-01 8.13365940e-06] [ 2.45156667e-05 -8.68095572e-06 1.00000000e+00]] t_estimated: [[-9.80196471e-01] [-1.98026526e-01] [-6.10766963e-04]] R_gt: [[ 0.9980511 0.05717809 -0.0250303 ] [-0.05678458 0.99825547 0.01617153] [ 0.02591071 -0.01471827 0.99955534]] t_gt: [-0.78471385 0.61453472 0.08106326] Pose Error in degrees for R and t: 4.851112816338734 49.65188130013541 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.98682440e-01 -5.13155515e-02 -3.13509394e-04] [ 5.13158281e-02 9.98682024e-01 9.48978981e-04] [ 2.64398816e-04 -9.63816638e-04 9.99999501e-01]] t_estimated: [[0.24314993] [0.96998519] [0.00261452]] R_gt: [[ 0.9967818 0.0699436 -0.03917765] [-0.07073095 0.99731283 -0.01906976] [ 0.03773708 0.02177959 0.99904964]] t_gt: [-0.48059986 0.80357156 -0.35113605] Pose Error in degrees for R and t: 7.413767028219015 48.57213118471814 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 7.74839660e-01 -6.32157580e-01 -5.43510126e-04] [ 6.32157753e-01 7.74839676e-01 2.28858390e-04] [ 2.76458643e-04 -5.20912697e-04 9.99999826e-01]] t_estimated: [[-0.20506059] [-0.97874865] [-0.00110844]] R_gt: [[ 0.98841519 0.14823648 -0.03261061] [-0.14955518 0.98783664 -0.04257098] [ 0.02590197 0.04695472 0.99856037]] t_gt: [-0.53993977 0.79940202 -0.26347952] Pose Error in degrees for R and t: 47.87201428465206 47.82469503829092 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.98771301e-01 -4.95569210e-02 -2.49068198e-05] [ 4.95569243e-02 9.98771288e-01 1.57427327e-04] [ 1.70746029e-05 -1.58468201e-04 9.99999987e-01]] t_estimated: [[5.45274957e-01] [8.38256937e-01] [7.27046534e-04]] R_gt: [[ 0.99405374 -0.08703633 -0.06542561] [ 0.08890903 0.99569338 0.02627224] [ 0.06285699 -0.03193206 0.99751145]] t_gt: [ 0.63693329 -0.76859366 -0.05983112] Pose Error in degrees for R and t: 4.60457124315549 72.72137336252072 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.17402293 -0.98470917 0.0079919 ] [-0.98472065 0.17406644 0.00511066] [-0.00642363 -0.00698042 -0.999955 ]] t_estimated: [[0.75659121] [0.65386689] [0.00527431]] R_gt: [[ 0.97620506 -0.20107357 -0.08119435] [ 0.20427127 0.97835373 0.0331322 ] [ 0.07277426 -0.04892978 0.99614755]] t_gt: [ 0.67613018 -0.73650177 0.02032545] Pose Error in degrees for R and t: 178.64759904493843 88.2758682527865 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999822e-01 -5.95987382e-04 6.81635430e-06] [ 5.95987685e-04 9.99999821e-01 -4.45417944e-05] [-6.78980673e-06 4.45458489e-05 9.99999999e-01]] t_estimated: [[ 0.9988339 ] [-0.04826527] [-0.00114138]] R_gt: [[ 0.96068885 -0.27628062 -0.02729617] [ 0.27592395 0.9610447 -0.01615265] [ 0.03069531 0.00798653 0.99949665]] t_gt: [ 0.66584416 -0.74196454 -0.07835926] Pose Error in degrees for R and t: 16.099861485462952 45.49525949122839 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.15232606 -0.98832688 0.00259816] [-0.9883004 0.15230048 -0.00817791] [ 0.00768675 -0.00381347 -0.99996318]] t_estimated: [[8.79952316e-01] [4.75061333e-01] [8.06555744e-04]] R_gt: [[ 0.99810885 0.00244785 -0.06142838] [-0.00197597 0.99996814 0.00773448] [ 0.06144442 -0.00759911 0.99808121]] t_gt: [ 0.61682692 0.1507885 -0.77252015] Pose Error in degrees for R and t: 177.4213513771189 52.13602166958913 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.91956702 -0.3927447 0.01216946] [-0.39243578 0.91952024 0.02183319] [-0.01976494 0.01530135 -0.99968756]] t_estimated: [[0.91353129] [0.40675481] [0.00333406]] R_gt: [[ 9.87041249e-01 1.17970543e-01 -1.08781787e-01] [-1.18641742e-01 9.92937169e-01 3.01268019e-04] [ 1.08047471e-01 1.26083255e-02 9.94065616e-01]] t_gt: [-0.09779751 0.84409136 -0.5272053 ] Pose Error in degrees for R and t: 174.68862878219633 75.38993223878587 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.66038325e-01 2.58397997e-01 6.56192516e-04] [ 2.58398804e-01 9.66036248e-01 2.00616318e-03] [-1.15517211e-04 2.10758987e-03 -9.99997772e-01]] t_estimated: [[8.70332878e-01] [4.92463354e-01] [7.25277399e-04]] R_gt: [[ 0.97922597 0.13743037 -0.1490996 ] [-0.13536138 0.99050545 0.02397964] [ 0.1509786 -0.00329914 0.98853134]] t_gt: [-0.00138614 0.85740775 -0.51463581] Pose Error in degrees for R and t: 171.33541626401234 65.12359547364049 Number of keypoints: Image1: 640 Image2: 640 R_estimated: [[ 0.15733055 0.98719761 -0.0262293 ] [ 0.98719565 -0.15651184 0.03080245] [ 0.02630291 -0.03073962 -0.99918128]] t_estimated: [[ 0.65411907] [-0.75612521] [-0.02007255]] R_gt: [[ 0.99742358 0.04098984 0.05888535] [-0.03989602 0.99901053 -0.01964737] [-0.05963237 0.01724732 0.99807179]] t_gt: [-0.7072184 0.49639178 0.50342559] Pose Error in degrees for R and t: 179.3098733973846 32.00039736377346 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.53375514e-01 -3.01786258e-01 -4.28349326e-04] [ 3.01786380e-01 9.53375538e-01 2.52530647e-04] [ 3.32167490e-04 -3.70026528e-04 9.99999876e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99911821 0.02978567 0.02961797] [-0.02911612 0.99931583 -0.02279736] [-0.03027739 0.0219152 0.99930134]] t_gt: [-0.96331606 0.23440917 0.13066942] Pose Error in degrees for R and t: 19.373968329941682 15.705293763999464 Number of keypoints: Image1: 408 Image2: 408 R_estimated: [[ 8.48020797e-01 -5.29959285e-01 -1.97069849e-03] [ 5.29960130e-01 8.48022552e-01 -1.08293407e-04] [ 1.72858786e-03 -9.52556564e-04 9.99998052e-01]] t_estimated: [[ 0.6507709 ] [-0.75927053] [-0.00234318]] R_gt: [[ 9.99681216e-01 2.52492758e-02 -3.39490138e-04] [-2.52465442e-02 9.99649352e-01 7.97315958e-03] [ 5.40293248e-04 -7.96205731e-03 9.99968901e-01]] t_gt: [-0.98727673 -0.15243263 0.04526534] Pose Error in degrees for R and t: 33.45229385463154 58.20649666513536 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99990748e-01 4.29950681e-03 -1.33552179e-04] [-4.29945501e-03 9.99990683e-01 3.85726498e-04] [ 1.35209368e-04 -3.85148728e-04 9.99999917e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99977725 0.02103117 -0.00188216] [-0.02104739 0.99974017 -0.00868805] [ 0.0017 0.0087263 0.99996069]] t_gt: [ 0.61079494 0.74718179 -0.26200938] Pose Error in degrees for R and t: 1.0959114579409337 20.581434748657482 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.92073247 -0.39016247 0.00499665] [ 0.39014608 0.92074447 0.00395795] [-0.00614488 -0.00169479 0.99997968]] t_estimated: [[ 0.51009675] [-0.85997916] [ 0.0153996 ]] R_gt: [[ 0.99948462 0.03118473 0.00755269] [-0.03100513 0.99925519 -0.02295109] [-0.00826227 0.02270544 0.99970835]] t_gt: [ 0.71606523 0.66026651 -0.22649223] Pose Error in degrees for R and t: 24.790076880980706 78.10956800955363 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99774251e-01 2.12380599e-02 6.26073683e-04] [-2.12379784e-02 9.99774439e-01 -1.36679720e-04] [-6.28835278e-04 1.23352325e-04 9.99999795e-01]] t_estimated: [[0.95491212] [0.29683507] [0.00563775]] R_gt: [[ 9.96896927e-01 -7.87155190e-02 -4.71950625e-04] [ 7.86415329e-02 9.96186442e-01 -3.77617852e-02] [ 3.44390493e-03 3.76079381e-02 9.99286698e-01]] t_gt: [ 0.83638008 -0.52399391 -0.16093089] Pose Error in degrees for R and t: 6.124319801035786 50.04226024086322 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999973e-01 2.11283680e-04 -9.58979904e-05] [-2.11273635e-04 9.99999972e-01 1.04738605e-04] [ 9.59201173e-05 -1.04718341e-04 9.99999990e-01]] t_estimated: [[-9.99622007e-01] [-2.74895062e-02] [ 4.12824784e-04]] R_gt: [[ 0.99585642 0.09037344 0.01020789] [-0.09045325 0.99587116 0.00763459] [-0.00947558 -0.00852677 0.999919 ]] t_gt: [-0.94018623 0.32624849 0.09803972] Pose Error in degrees for R and t: 5.226570691768864 21.423998507720434 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.40801991 0.91264498 0.02447226] [ 0.91293478 0.40810156 0.00178677] [-0.00835648 0.02307062 -0.99969891]] t_estimated: [[9.25267911e-01] [3.79313756e-01] [6.05210338e-04]] R_gt: [[ 0.98695213 0.16099224 0.00298616] [-0.16097799 0.98694728 -0.00468702] [-0.00370141 0.00414461 0.9999853 ]] t_gt: [-0.94516847 0.32600629 -0.01940262] Pose Error in degrees for R and t: 178.6538292447016 41.3327176169236 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-4.94741872e-01 -8.69039731e-01 -6.52388890e-04] [-8.69034354e-01 4.94741232e-01 -3.22570489e-03] [ 3.12602939e-03 -1.02894292e-03 -9.99994585e-01]] t_estimated: [[8.05100162e-01] [5.93138535e-01] [6.38377136e-04]] R_gt: [[ 0.98828017 0.15079907 0.02373192] [-0.15094556 0.98853168 0.00447585] [-0.02278521 -0.0080063 0.99970828]] t_gt: [-0.96242771 0.26519922 0.05832906] Pose Error in degrees for R and t: 178.77845705324236 51.86521001722008 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999903e-01 4.32629372e-04 8.50391658e-05] [-4.32629319e-04 9.99999906e-01 -6.43728212e-07] [-8.50394364e-05 6.06937713e-07 9.99999996e-01]] t_estimated: [[9.99999604e-01] [8.70645917e-04] [1.84492987e-04]] R_gt: [[ 0.99141846 -0.13071143 -0.00212598] [ 0.1307064 0.99141757 -0.00231264] [ 0.00240905 0.00201486 0.9999953 ]] t_gt: [ 0.67778424 -0.73512267 -0.01425407] Pose Error in degrees for R and t: 7.5376705669380595 47.379342876306005 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99997764e-01 2.11290862e-03 8.75007583e-05] [-2.11291038e-03 9.99997768e-01 2.00491704e-05] [-8.74582009e-05 -2.02340068e-05 9.99999996e-01]] t_estimated: [[ 9.99932520e-01] [-1.16170025e-02] [-1.57627114e-05]] R_gt: [[ 0.97866346 -0.20357419 -0.02786313] [ 0.20426515 0.97860339 0.0247206 ] [ 0.02223461 -0.02988352 0.99930587]] t_gt: [ 0.67547576 -0.73597659 0.04550775] Pose Error in degrees for R and t: 12.081281959663409 46.844612097082184 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.91720103e-01 1.28414722e-01 -9.47003129e-04] [-1.28413718e-01 -9.91720125e-01 -1.05418865e-03] [-1.07453540e-03 -9.23851887e-04 9.99998996e-01]] t_estimated: [[8.55546490e-01] [5.17725563e-01] [6.66313466e-04]] R_gt: [[ 0.96072107 -0.2761121 -0.02788612] [ 0.27450669 0.96024904 -0.05065824] [ 0.04076484 0.04101374 0.99832636]] t_gt: [ 0.68867981 -0.67489713 -0.26501695] Pose Error in degrees for R and t: 171.3876970128941 76.13650556891712 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 0.65088779 0.75915351 0.00557098] [ 0.75916911 -0.65083992 -0.00834596] [-0.00271005 0.0096616 -0.99994965]] t_estimated: [[-0.99886265] [-0.04752903] [-0.00379572]] R_gt: [[ 0.99247249 -0.12145389 -0.01575161] [ 0.12221452 0.99048141 0.06332505] [ 0.00790928 -0.06477355 0.99786849]] t_gt: [ 0.74362912 -0.60865733 0.27668032] Pose Error in degrees for R and t: 176.9457359073636 44.36461415420213 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.69296111e-01 2.45896411e-01 6.70464769e-05] [-2.45896416e-01 9.69296001e-01 4.64706088e-04] [ 4.92816775e-05 -4.66924292e-04 9.99999890e-01]] t_estimated: [[-7.63924259e-01] [-6.45305563e-01] [-6.75763944e-04]] R_gt: [[ 0.97777128 -0.20184291 -0.05678015] [ 0.20569105 0.97589483 0.0729443 ] [ 0.04068808 -0.08300193 0.99571867]] t_gt: [ 0.79537543 -0.59138157 0.13283735] Pose Error in degrees for R and t: 26.539112275619612 76.93392742197979 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.91338152e-01 -1.31329653e-01 1.09098042e-03] [ 1.31330112e-01 9.91338627e-01 -3.59427549e-04] [-1.03432753e-03 4.99592822e-04 9.99999340e-01]] t_estimated: [[0.98973322] [0.14292286] [0.00109959]] R_gt: [[ 0.97975896 -0.19333779 -0.05190089] [ 0.1965226 0.97830592 0.06554603] [ 0.03810164 -0.0744193 0.99649894]] t_gt: [ 0.77557752 -0.62073901 0.11472836] Pose Error in degrees for R and t: 6.107860921067776 47.232641086863815 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 7.66287265e-01 -6.42498053e-01 -2.82124867e-04] [ 6.42498086e-01 7.66287026e-01 6.34876489e-04] [-1.91718283e-04 -6.67762455e-04 9.99999759e-01]] t_estimated: [[0.9999066 ] [0.01361961] [0.00113497]] R_gt: [[ 0.99594218 -0.05821754 0.06862221] [ 0.05908957 0.99819539 -0.01074631] [-0.06787281 0.01475767 0.99758485]] t_gt: [ 0.52272315 -0.70307639 0.48212456] Pose Error in degrees for R and t: 36.82149567643972 59.09301205978046 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 7.56265283e-01 6.54265094e-01 -9.58485530e-05] [-6.54264935e-01 7.56264978e-01 -8.23082814e-04] [-4.66027450e-04 6.85179304e-04 9.99999657e-01]] t_estimated: [[0.74056003] [0.67198966] [0.00085713]] R_gt: [[ 0.94329165 -0.21826764 0.25011955] [ 0.21191373 0.97588196 0.05240053] [-0.25552507 0.00357539 0.96679536]] t_gt: [ 0.53219522 -0.58941978 0.60774383] Pose Error in degrees for R and t: 55.36124032413889 89.91746134392429 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.96804248 0.25074466 -0.00456858] [ 0.25069874 -0.96802529 -0.00878496] [-0.00662528 0.00735887 -0.99995098]] t_estimated: [[0.85722254] [0.5149454 ] [0.00086602]] R_gt: [[ 0.88620816 -0.35306698 0.29996471] [ 0.34078643 0.9354104 0.09419434] [-0.31384735 0.01874826 0.94928858]] t_gt: [ 0.65880349 -0.5989121 0.45528262] Pose Error in degrees for R and t: 179.52534007173193 75.12397175503101 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.84513327e-01 -1.75309731e-01 -8.42771917e-05] [ 1.75309558e-01 9.84512845e-01 -1.00836547e-03] [ 2.59748257e-04 9.77974646e-04 9.99999488e-01]] t_estimated: [[-0.26570913] [-0.96404723] [-0.00340653]] R_gt: [[ 0.9992265 -0.02905631 -0.02650198] [ 0.02844077 0.99932433 -0.0233128 ] [ 0.02716173 0.0225417 0.99937724]] t_gt: [ 0.53528833 -0.30403191 -0.7880552 ] Pose Error in degrees for R and t: 8.676665243620565 81.16701919317826 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 8.37303004e-01 5.46739051e-01 2.99921590e-04] [-5.46737987e-01 8.37302246e-01 -1.58855332e-03] [-1.11964916e-03 1.16612194e-03 9.99998693e-01]] t_estimated: [[0.72608257] [0.6876064 ] [0.00124117]] R_gt: [[ 0.98156709 -0.15185752 0.11603779] [ 0.15430497 0.98794663 -0.01234834] [-0.11276326 0.03002543 0.99316889]] t_gt: [ 0.64908524 -0.70524324 0.28516718] Pose Error in degrees for R and t: 42.478081945185835 89.2387259687156 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.67415331e-01 2.53193733e-01 -7.14283472e-04] [-2.53193260e-01 9.67415472e-01 6.91166317e-04] [ 8.66007862e-04 -4.87793131e-04 9.99999506e-01]] t_estimated: [[-0.11452952] [-0.99341907] [-0.00124489]] R_gt: [[ 0.92150796 -0.29784723 0.24921872] [ 0.29449728 0.95426173 0.05153301] [-0.25316875 0.02590533 0.96707597]] t_gt: [ 0.64977681 -0.63012825 0.42512174] Pose Error in degrees for R and t: 35.34475465878777 56.562051173361716 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99285303e-01 3.78005551e-02 4.52617936e-05] [-3.78005620e-02 9.99285290e-01 1.62964645e-04] [-3.90692905e-05 -1.64559096e-04 9.99999986e-01]] t_estimated: [[-0.98359833] [ 0.18036486] [ 0.00168677]] R_gt: [[ 9.98190130e-01 6.01425800e-02 7.22842122e-04] [-6.01237059e-02 9.98072689e-01 -1.53722770e-02] [-1.64614832e-03 1.53008657e-02 9.99881325e-01]] t_gt: [-0.94619372 0.25657758 -0.19719378] Pose Error in degrees for R and t: 1.5601350008928152 12.41406902150468 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99997035e-01 2.43000511e-03 -1.55855125e-04] [-2.43000146e-03 9.99997047e-01 2.36265987e-05] [ 1.55912078e-04 -2.32478004e-05 9.99999988e-01]] t_estimated: [[-9.99269493e-01] [ 3.82160734e-02] [ 1.07681874e-04]] R_gt: [[ 9.96331155e-01 8.55788234e-02 -2.98674418e-04] [-8.55769117e-02 9.96324438e-01 3.73653916e-03] [ 6.16896172e-04 -3.69677810e-03 9.99992785e-01]] t_gt: [-0.98390121 0.1786181 0.00582943] Pose Error in degrees for R and t: 4.774950261170003 8.10588763776976 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.99934669 -0.03611952 0.00125581] [ 0.03607975 -0.9990689 -0.02365542] [ 0.00210906 -0.02359465 0.99971938]] t_estimated: [[0.91000825] [0.41455931] [0.0050556 ]] R_gt: [[ 0.9967181 0.05980467 0.05456556] [-0.05953983 0.99820506 -0.00645276] [-0.05485353 0.00318307 0.99848834]] t_gt: [-0.99123944 0.10858099 0.07519669] Pose Error in degrees for R and t: 178.61101483561097 31.0583168093023 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99997989e-01 1.98231077e-03 3.05473066e-04] [-1.98223311e-03 9.99998003e-01 -2.54303972e-04] [-3.05976566e-04 2.53697941e-04 9.99999921e-01]] t_estimated: [[-0.82766572] [ 0.56120886] [ 0.00375254]] R_gt: [[ 9.94090540e-01 -1.06087355e-01 2.29917821e-02] [ 1.06070033e-01 9.94356714e-01 1.93526628e-03] [-2.30676447e-02 5.14692840e-04 9.99734223e-01]] t_gt: [ 0.56630724 -0.79912071 0.20174785] Pose Error in degrees for R and t: 6.339384900777739 23.59042192088722 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.6386076 0.73407838 0.23088797] [ 0.68875629 -0.41142362 -0.59694671] [-0.34321291 0.54024025 -0.76833936]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.97057363 -0.24047069 0.01267609] [ 0.23997744 0.97025955 0.03173482] [-0.01993004 -0.02775816 0.99941579]] t_gt: [ 0.67248532 -0.71808412 0.17921686] Pose Error in degrees for R and t: 142.3106283815906 81.94031678459757 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99980800e-01 6.14940676e-03 7.63859427e-04] [-6.15066430e-03 9.99979715e-01 1.65500915e-03] [-7.53666607e-04 -1.65967562e-03 9.99998339e-01]] t_estimated: [[0.98587456] [0.16746362] [0.00270103]] R_gt: [[ 0.9480449 -0.31805516 0.00715679] [ 0.3174299 0.9472035 0.04520863] [-0.02115764 -0.04058698 0.99895233]] t_gt: [ 0.69007565 -0.70089775 0.18038276] Pose Error in degrees for R and t: 19.054494478672833 55.70594266305574 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-6.52762579e-01 -7.57554919e-01 3.40006134e-03] [-7.57562529e-01 6.52757014e-01 -2.70095877e-03] [-1.73289284e-04 -4.33884388e-03 -9.99990572e-01]] t_estimated: [[0.96664678] [0.25609347] [0.00318489]] R_gt: [[ 0.99338819 -0.10617114 -0.04367633] [ 0.11012553 0.98875039 0.10121503] [ 0.03243918 -0.10535524 0.99390566]] t_gt: [ 0.70857758 -0.59881561 0.37327962] Pose Error in degrees for R and t: 179.41586588643494 57.80649722372207 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-0.17128425 -0.98521863 -0.00244284] [-0.98521833 0.1712767 0.00302376] [-0.00256067 0.00292465 -0.99999244]] t_estimated: [[8.44451585e-01] [5.35631313e-01] [7.85975542e-04]] R_gt: [[ 0.97194556 -0.2171231 -0.09043856] [ 0.22795388 0.96430266 0.1347532 ] [ 0.05795183 -0.1515884 0.98674353]] t_gt: [ 0.78391262 -0.56550217 0.25629728] Pose Error in degrees for R and t: 177.92330137316452 68.94419732798423 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[ 9.05094746e-01 4.25209785e-01 3.74471450e-04] [-4.25209478e-01 9.05094702e-01 -6.92890771e-04] [-6.33556061e-04 4.67902987e-04 9.99999690e-01]] t_estimated: [[0.81299744] [0.58226661] [0.0008715 ]] R_gt: [[ 0.9588498 -0.26519139 -0.10139516] [ 0.27705846 0.95199994 0.13013369] [ 0.06201823 -0.15287036 0.98629778]] t_gt: [ 0.8023018 -0.56036124 0.20568692] Pose Error in degrees for R and t: 42.055669182642234 70.96359099502322 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.87154557e-01 -1.59768209e-01 4.93126999e-06] [ 1.59768204e-01 9.87154534e-01 2.15795986e-04] [-3.93452637e-05 -2.12236131e-04 9.99999977e-01]] t_estimated: [[ 0.9398932 ] [-0.34146657] [ 0.00116429]] R_gt: [[ 0.99877983 -0.02308267 0.04365992] [ 0.02459155 0.99910647 -0.03437636] [-0.04282754 0.03540874 0.99845553]] t_gt: [-0.55120104 0.75125332 0.363037 ] Pose Error in degrees for R and t: 8.451385218836124 39.26967583279814 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.59706209e-01 -2.81005259e-01 -1.93032071e-04] [ 2.81005312e-01 9.59706149e-01 3.50381126e-04] [ 8.67951262e-05 -3.90505980e-04 9.99999920e-01]] t_estimated: [[9.73416114e-01] [2.29041974e-01] [9.17826813e-04]] R_gt: [[ 0.99792083 -0.01651927 0.06230654] [ 0.02104722 0.99712888 -0.07273484] [-0.06092546 0.07389557 0.99540331]] t_gt: [-0.54088375 0.8391987 0.0564829 ] Pose Error in degrees for R and t: 16.203888734999794 70.47358604124042 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 7.65380123e-01 6.43578438e-01 2.50057227e-04] [-6.43578105e-01 7.65380034e-01 -7.91682774e-04] [-7.00898772e-04 4.45006903e-04 9.99999655e-01]] t_estimated: [[5.73080034e-02] [9.98356354e-01] [6.19397544e-04]] R_gt: [[ 0.99752186 -0.02665706 0.06511409] [ 0.03214278 0.99588713 -0.08471728] [-0.06258803 0.08660027 0.99427515]] t_gt: [-0.52055822 0.85281424 -0.04155743] Pose Error in degrees for R and t: 42.16994088402975 34.75927885588885 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 0.88734804 -0.46099059 0.01005615] [-0.46101024 -0.88653287 0.03910287] [-0.00911095 -0.03933385 -0.99918459]] t_estimated: [[0.23030233] [0.97291198] [0.02007775]] R_gt: [[ 0.9973191 -0.01644383 0.07130967] [ 0.01692724 0.99983766 -0.00618725] [-0.07119757 0.00737759 0.99743497]] t_gt: [-0.31438663 -0.11639724 0.94213201] Pose Error in degrees for R and t: 177.09562145320345 80.40211459740526 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.98954650e-01 -4.57042329e-02 8.54608353e-04] [-4.57100891e-02 -9.98552843e-01 2.83338706e-02] [-4.41606220e-04 -2.83433160e-02 -9.99598150e-01]] t_estimated: [[-0.01524693] [ 0.99977628] [ 0.01466009]] R_gt: [[ 0.99598254 0.01253961 0.08866219] [-0.0098757 0.99948853 -0.03041781] [-0.08899968 0.02941957 0.99559645]] t_gt: [-0.70366462 0.19702609 0.6826689 ] Pose Error in degrees for R and t: 179.95618507594355 77.42492205170565 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-5.07880589e-01 8.61427436e-01 -2.83581656e-04] [-8.61425011e-01 -5.07879893e-01 -2.22833824e-03] [-2.06357712e-03 -8.87445406e-04 9.99997477e-01]] t_estimated: [[0.12462456] [0.99220325] [0.00119831]] R_gt: [[ 0.99896659 -0.00401817 0.04527458] [ 0.00418936 0.99998501 -0.00368186] [-0.04525934 0.00386692 0.99896771]] t_gt: [-0.85969142 -0.28781978 0.42200763] Pose Error in degrees for R and t: 120.77205368061698 66.90799951475219 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.85005874 0.52592549 -0.02832883] [-0.5263983 0.85014492 -0.01258743] [ 0.01746356 0.0256123 0.9995194 ]] t_estimated: [[-0.32518897] [ 0.94400892] [-0.05567123]] R_gt: [[ 0.99952308 -0.00444495 -0.03054971] [ 0.00356514 0.99957928 -0.02878526] [ 0.03066515 0.02866278 0.99911855]] t_gt: [ 0.03270315 0.29937027 -0.9535764 ] Pose Error in degrees for R and t: 31.98562908570308 71.03077350177941 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.79450639e-01 -2.01682128e-01 -8.74992896e-04] [ 2.01682454e-01 9.79450916e-01 3.01631607e-04] [ 7.96178889e-04 -4.71903985e-04 9.99999572e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99751942 0.05546706 -0.04333626] [-0.05729208 0.99747009 -0.04207413] [ 0.04089304 0.0444528 0.99817397]] t_gt: [-0.25343171 0.77275963 -0.58190628] Pose Error in degrees for R and t: 15.262171027296107 39.595915374523024 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.87224537e-01 -1.59332874e-01 -8.64944220e-04] [ 1.59332583e-01 9.87224884e-01 -3.95808018e-04] [ 9.16959686e-04 2.52937590e-04 9.99999548e-01]] t_estimated: [[ 0.9324659 ] [-0.36125266] [-0.00196469]] R_gt: [[ 0.99441379 0.1023715 -0.02571584] [-0.1036554 0.99309728 -0.05490102] [ 0.01991708 0.05725928 0.9981607 ]] t_gt: [-0.34275384 0.87895701 -0.3315937 ] Pose Error in degrees for R and t: 15.471107761168842 50.47013397819792 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 0.85452942 0.51934233 -0.00793857] [ 0.51940057 -0.85437888 0.01611733] [ 0.00158787 -0.01789603 -0.99983859]] t_estimated: [[-0.9964286 ] [ 0.08367846] [ 0.01131166]] R_gt: [[ 0.99955712 -0.02961255 0.00297436] [ 0.02967517 0.99928298 -0.02349258] [-0.00227666 0.02357116 0.99971967]] t_gt: [ 0.71950881 -0.63891096 -0.27221289] Pose Error in degrees for R and t: 179.67121003571984 39.332445176167475 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.98803446 -0.09571481 0.12094042] [ 0.12745828 0.94825099 -0.29081687] [-0.08684639 0.30275195 0.94910429]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.98810996 -0.15370132 -0.0038509 ] [ 0.15362032 0.98799228 -0.01646875] [ 0.00633563 0.01568183 0.99985721]] t_gt: [ 0.69835619 -0.71398394 -0.05025497] Pose Error in degrees for R and t: 17.73671503822392 89.03415126101773 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.93439239e-01 1.14360436e-01 4.11363890e-04] [-1.14360423e-01 9.93439324e-01 -5.49720141e-05] [-4.14951688e-04 7.56760747e-06 9.99999914e-01]] t_estimated: [[0.49437347] [0.86924907] [0.00096369]] R_gt: [[ 9.85876593e-01 -1.67467826e-01 -4.51029500e-04] [ 1.67462251e-01 9.85855411e-01 -6.71799888e-03] [ 1.56969144e-03 6.54774025e-03 9.99977194e-01]] t_gt: [ 0.70312876 -0.71105741 -0.00270226] Pose Error in degrees for R and t: 16.212051064889458 74.30714528077254 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.94796212e-01 1.01884417e-01 2.48038176e-04] [-1.01884387e-01 9.94796237e-01 -1.32750254e-04] [-2.60272626e-04 1.06788232e-04 9.99999960e-01]] t_estimated: [[0.61217292] [0.79072335] [0.00094471]] R_gt: [[ 0.99603264 -0.07992974 -0.03911237] [ 0.079823 0.99680047 -0.00427607] [ 0.03932957 0.00113736 0.99922574]] t_gt: [ 0.81355224 -0.51995973 -0.26033561] Pose Error in degrees for R and t: 10.674140602392507 85.02940875476226 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999421e-01 -1.00038012e-03 3.96024938e-04] [ 1.00038067e-03 9.99999500e-01 -1.18408567e-06] [-3.96023555e-04 1.58026068e-06 9.99999922e-01]] t_estimated: [[0.58864928] [0.80838738] [0.0013631 ]] R_gt: [[ 0.98976777 -0.11454357 -0.08508069] [ 0.11460888 0.99340207 -0.00412054] [ 0.08499124 -0.0056734 0.99636579]] t_gt: [ 0.84124988 -0.44564734 -0.3060998 ] Pose Error in degrees for R and t: 8.171046378977456 82.26866068439703 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 5.55479518e-02 -9.98455627e-01 -8.86006910e-04] [-9.98455788e-01 -5.55473119e-02 -7.31197041e-04] [ 6.80852498e-04 9.25255225e-04 -9.99999340e-01]] t_estimated: [[0.64148423] [0.76713578] [0.00082665]] R_gt: [[ 0.99012467 -0.02184667 -0.13847689] [ 0.02501952 0.99946176 0.02121934] [ 0.13793915 -0.02447493 0.99013809]] t_gt: [ 0.8143355 -0.00103588 -0.5803935 ] Pose Error in degrees for R and t: 175.4312536423703 58.59333418357599 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.96597903e-01 -8.24173391e-02 -3.22657267e-05] [ 8.24173408e-02 9.96597902e-01 5.43819684e-05] [ 2.76739384e-05 -5.68562111e-05 9.99999998e-01]] t_estimated: [[-0.89856455] [-0.43883989] [-0.00114148]] R_gt: [[ 0.99959633 0.01435177 0.02450435] [-0.01343124 0.99921316 -0.03733022] [-0.02502023 0.03698639 0.99900255]] t_gt: [-0.5442402 0.81249939 -0.20891946] Pose Error in degrees for R and t: 6.089048730891468 82.3734156837996 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.92383313e-01 -1.23188307e-01 -2.57966635e-05] [ 1.23188309e-01 9.92383310e-01 8.46838463e-05] [ 1.51681186e-05 -8.72166833e-05 9.99999996e-01]] t_estimated: [[-0.98497655] [ 0.17268463] [-0.00110157]] R_gt: [[ 0.9997547 -0.0042125 0.0217279 ] [ 0.00537282 0.99854795 -0.05360535] [-0.02147078 0.05370912 0.99832601]] t_gt: [-0.45139222 0.82989912 -0.32789102] Pose Error in degrees for R and t: 7.567913410703347 53.964757021339125 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97156597e-01 7.53570431e-02 1.90735300e-04] [-7.53570268e-02 9.97156613e-01 -9.13731810e-05] [-1.97078579e-04 7.67401251e-05 9.99999978e-01]] t_estimated: [[-4.09737701e-01] [ 9.12203328e-01] [ 3.24866056e-04]] R_gt: [[ 0.99754652 -0.04771234 0.05122057] [ 0.05192718 0.99507932 -0.08439047] [-0.04694104 0.08684295 0.9951158 ]] t_gt: [-0.22720385 0.90724904 -0.35394575] Pose Error in degrees for R and t: 9.141018165793293 22.989772102973077 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.99863124 0.05228935 0.00121472] [-0.05228686 0.99863011 -0.00199443] [-0.00131735 0.00192819 0.99999727]] t_estimated: [[-0.10658456] [-0.99430257] [-0.00146006]] R_gt: [[ 0.99922913 0.02721123 -0.02827517] [-0.03068604 0.99093345 -0.13080582] [ 0.02446099 0.13157312 0.99100432]] t_gt: [-0.08097002 0.48083762 -0.87306302] Pose Error in degrees for R and t: 7.711116709056983 62.08292320211383 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-9.15783653e-01 -4.01671133e-01 -7.76115455e-04] [-4.01670950e-01 9.15783981e-01 -3.86064133e-04] [ 8.65824918e-04 -4.18081896e-05 -9.99999624e-01]] t_estimated: [[0.93101722] [0.364974 ] [0.00095293]] R_gt: [[ 0.9968546 -0.03108476 -0.07290257] [ 0.01536022 0.97820633 -0.20706711] [ 0.07775113 0.20529697 0.97560694]] t_gt: [ 0.13535482 0.20681893 -0.9689711 ] Pose Error in degrees for R and t: 173.25872287836117 78.4292485889064 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-9.77529228e-01 -2.10799175e-01 5.61669930e-04] [-2.10798683e-01 9.77529147e-01 8.25674415e-04] [-7.23100214e-04 6.88721592e-04 -9.99999501e-01]] t_estimated: [[0.99992827] [0.01190391] [0.00132266]] R_gt: [[ 0.98750369 -0.15098485 -0.04515967] [ 0.13062252 0.94448986 -0.30145952] [ 0.0881692 0.29179434 0.95240883]] t_gt: [ 0.31258155 -0.05237567 -0.94844587] Pose Error in degrees for R and t: 174.35483567235366 71.89971348411068 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 5.25762333e-01 8.50630858e-01 1.05485281e-03] [-8.50629901e-01 5.25763346e-01 -1.29406562e-03] [-1.65537509e-03 -2.16918378e-04 9.99998606e-01]] t_estimated: [[-0.11923226] [ 0.99286544] [ 0.00137658]] R_gt: [[ 0.99213959 0.11450099 -0.05047148] [-0.11535169 0.99322264 -0.01425358] [ 0.04849752 0.01996392 0.99862329]] t_gt: [-0.32614276 0.89494574 -0.30447171] Pose Error in degrees for R and t: 51.76225808961007 22.02377927517126 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-5.80023935e-01 -8.14599018e-01 -8.21368121e-04] [-8.14599302e-01 5.80024117e-01 2.02866972e-05] [ 4.59887795e-04 6.80852668e-04 -9.99999662e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99100928 0.0843755 -0.10383599] [-0.08314586 0.99640724 0.0161227 ] [ 0.10482471 -0.00734433 0.99446352]] t_gt: [-0.00152781 0.88257883 -0.47016196] Pose Error in degrees for R and t: 174.93971008404927 68.28994045913242 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 1.00000000e+00 7.99956854e-06 1.99547956e-06] [-7.99956636e-06 1.00000000e+00 -1.09699692e-06] [-1.99548833e-06 1.09698095e-06 1.00000000e+00]] t_estimated: [[-0.99996829] [-0.00772653] [-0.001927 ]] R_gt: [[ 0.97964678 0.10226974 -0.17272096] [-0.09873766 0.99469248 0.02894012] [ 0.17476555 -0.01129775 0.98454538]] t_gt: [ 0.17372865 0.76186562 -0.62400251] Pose Error in degrees for R and t: 11.63769204302993 79.72299875293895 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-2.29366065e-01 9.73340232e-01 -3.16014309e-05] [ 9.73335662e-01 2.29365088e-01 3.05699904e-03] [ 2.98274842e-03 6.70413043e-04 -9.99995327e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.97969752 0.19831508 0.02937844] [-0.19798517 0.98010887 -0.0137323 ] [-0.03151706 0.00763706 0.9994736 ]] t_gt: [-0.90157738 0.43256525 0.00674823] Pose Error in degrees for R and t: 178.36456260672776 86.81468308910738 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.06019628e-01 -4.23234634e-01 -9.37026758e-04] [ 4.23234037e-01 9.06020062e-01 -7.73044504e-04] [ 1.17614425e-03 3.03811876e-04 9.99999262e-01]] t_estimated: [[-0.62766261] [-0.77848164] [-0.00244687]] R_gt: [[ 0.96813333 0.24849675 0.0310969 ] [-0.24788028 0.96853247 -0.02237622] [-0.0356785 0.0139545 0.99926612]] t_gt: [-0.90205756 0.43132645 -0.01580013] Pose Error in degrees for R and t: 39.47565051942326 76.67662558092307 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-1.63904668e-01 -9.86475162e-01 1.41959382e-03] [-9.86469554e-01 1.63908672e-01 3.43022553e-03] [-3.61651602e-03 -8.38156106e-04 -9.99993109e-01]] t_estimated: [[0.49488109] [0.86895489] [0.00317938]] R_gt: [[ 0.9567137 0.29009543 0.02331433] [-0.28987566 0.95698453 -0.01235581] [-0.02589498 0.00506247 0.99965212]] t_gt: [-9.10942190e-01 4.12533117e-01 8.68460650e-04] Pose Error in degrees for R and t: 179.06781260787784 84.70218374480305 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.83854896 -0.54477827 -0.00722997] [ 0.54480505 0.83855956 0.00230751] [ 0.00480568 -0.00587388 0.9999712 ]] t_estimated: [[0.80887227] [0.58797542] [0.00324848]] R_gt: [[ 0.99434112 -0.10013649 -0.03547364] [ 0.09948558 0.99484431 -0.0196503 ] [ 0.03725807 0.0160092 0.99917793]] t_gt: [ 0.75349889 -0.59014417 -0.28977455] Pose Error in degrees for R and t: 27.362196181805334 74.83778269072992 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-6.26429098e-01 -7.79477728e-01 1.02830848e-03] [-7.79476863e-01 6.26429937e-01 1.16342537e-03] [-1.55102738e-03 -7.27391629e-05 -9.99998795e-01]] t_estimated: [[0.9619754 ] [0.27312872] [0.0020083 ]] R_gt: [[ 0.9583625 -0.28545131 -0.00765911] [ 0.28538114 0.9583715 -0.00903162] [ 0.00991839 0.00646895 0.9999299 ]] t_gt: [ 0.87030594 -0.48986678 -0.05097162] Pose Error in degrees for R and t: 179.43150271713316 45.30651653169919 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-9.54393004e-01 2.98553081e-01 -2.29211429e-04] [ 2.98552764e-01 9.54392693e-01 9.13727526e-04] [ 4.91553881e-04 8.03623452e-04 -9.99999556e-01]] t_estimated: [[0.9790416 ] [0.20365762] [0.00106072]] R_gt: [[ 0.86833261 -0.49585331 -0.0112934 ] [ 0.49591411 0.86836553 0.00331398] [ 0.00816292 -0.00847837 0.99993105]] t_gt: [ 0.92457268 -0.38099207 -0.00322411] Pose Error in degrees for R and t: 179.36881799872708 34.14704155048921 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.93815303e-01 1.11045685e-01 1.65328952e-05] [-1.11045686e-01 9.93815298e-01 9.96562357e-05] [-5.36424918e-06 -1.00875799e-04 9.99999995e-01]] t_estimated: [[9.04898444e-01] [4.25626959e-01] [7.05849020e-04]] R_gt: [[ 9.95251508e-01 -9.01613931e-02 -3.66696438e-02] [ 9.02557886e-02 9.95917820e-01 9.31759930e-04] [ 3.64365965e-02 -4.23764489e-03 9.99327034e-01]] t_gt: [ 0.64843373 -0.70505187 -0.28711593] Pose Error in degrees for R and t: 11.742148120691057 73.35296773588539 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96087659e-01 8.83678408e-02 7.07960907e-04] [-8.83676050e-02 9.96087867e-01 -3.57750828e-04] [-7.36804938e-04 2.93790375e-04 9.99999685e-01]] t_estimated: [[-0.69932816] [-0.71480002] [-0.00103146]] R_gt: [[ 0.9871749 -0.15816301 -0.02168443] [ 0.15605621 0.98468506 -0.07773278] [ 0.03364674 0.07335154 0.99673901]] t_gt: [ 0.55867689 -0.64250346 -0.52447063] Pose Error in degrees for R and t: 14.858219761120791 86.03747583117082 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.72848737e-01 2.31441633e-01 3.25149093e-04] [-2.31441624e-01 9.72848791e-01 -6.48651712e-05] [-3.31333404e-04 -1.21490345e-05 9.99999945e-01]] t_estimated: [[0.99985943] [0.01672405] [0.00119458]] R_gt: [[ 0.97075996 -0.23930091 -0.01895443] [ 0.23629377 0.96649962 -0.10021769] [ 0.04230184 0.09280788 0.99478532]] t_gt: [ 0.59678365 -0.67641505 -0.43163868] Pose Error in degrees for R and t: 27.78791636240068 54.20607075868733 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-5.26285866e-01 8.50307148e-01 9.70053239e-04] [-8.50306281e-01 -5.26282560e-01 -2.42822041e-03] [-1.55421107e-03 -2.10278044e-03 9.99996581e-01]] t_estimated: [[0.52874361] [0.84878038] [0.00143569]] R_gt: [[ 0.94847587 0.31346505 -0.04618444] [-0.31270378 0.94957035 0.02306313] [ 0.05108455 -0.00743241 0.99866737]] t_gt: [-0.51679986 0.85009192 -0.10129972] Pose Error in degrees for R and t: 103.53200049450521 63.37550693799729 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99934864e-01 1.09048570e-03 1.13612789e-02] [-9.60554461e-04 9.99934151e-01 -1.14355083e-02] [-1.13730010e-02 1.14238503e-02 9.99870067e-01]] t_estimated: [[0.83526185] [0.54984161] [0.00344194]] R_gt: [[ 0.86732854 0.49526153 -0.04957596] [-0.49293922 0.86849354 0.05225885] [ 0.06893812 -0.020888 0.99740267]] t_gt: [-0.4346682 0.89863712 -0.0592865 ] Pose Error in degrees for R and t: 30.01370670503413 82.48173440082067 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-1.53974708e-01 9.88074665e-01 -4.96069766e-04] [ 9.88070358e-01 1.53975502e-01 2.91775727e-03] [ 2.95934463e-03 -4.08910072e-05 -9.99995620e-01]] t_estimated: [[0.66608735] [0.74587277] [0.00120887]] R_gt: [[ 0.83072354 0.55292665 -0.06458292] [-0.54624007 0.83200015 0.09694389] [ 0.10733615 -0.04525492 0.99319294]] t_gt: [-0.39121265 0.9180576 -0.06420983] Pose Error in degrees for R and t: 173.15580900840445 64.9066229337803 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.98535197e-01 -5.41042987e-02 4.30099468e-04] [ 5.41045063e-02 9.98535160e-01 -4.86500411e-04] [-4.03147677e-04 5.09058103e-04 9.99999789e-01]] t_estimated: [[7.89996680e-01] [6.13110715e-01] [7.04724960e-04]] R_gt: [[ 9.90970675e-01 -1.34049010e-01 -2.67202562e-03] [ 1.34074959e-01 9.90847388e-01 1.56942846e-02] [ 5.43753718e-04 -1.59109021e-02 9.99873141e-01]] t_gt: [ 0.80785231 -0.58374272 0.08135776] Pose Error in degrees for R and t: 4.69902307728103 73.71836452317103 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 8.59619423e-01 -5.10934876e-01 -2.89948769e-05] [ 5.10934835e-01 8.59619373e-01 -3.58084150e-04] [ 2.07882239e-04 2.93001598e-04 9.99999935e-01]] t_estimated: [[-0.27236671] [-0.96219268] [-0.00127274]] R_gt: [[ 0.97163705 -0.23570742 -0.01909611] [ 0.23560963 0.97182084 -0.00725334] [ 0.02026866 0.00254927 0.99979127]] t_gt: [ 0.82130077 -0.56758419 -0.05756065] Pose Error in degrees for R and t: 17.133124220124454 71.18559894521704 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-1.07583479e-01 9.94195296e-01 1.22846146e-03] [-9.94196054e-01 -1.07583419e-01 -1.14820561e-04] [ 1.80080228e-05 -1.23368433e-03 9.99999239e-01]] t_estimated: [[0.3909678 ] [0.92040336] [0.00135753]] R_gt: [[ 0.9319452 -0.36102135 -0.03380525] [ 0.36127067 0.93246024 0.00138081] [ 0.03102384 -0.01349939 0.99942719]] t_gt: [ 0.87549822 -0.4825461 -0.02553692] Pose Error in degrees for R and t: 117.36377681319145 84.15255415970282 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-9.92865646e-01 1.18708814e-01 -1.12261742e-02] [ 1.18693913e-01 9.92928904e-01 1.98684178e-03] [ 1.13826484e-02 6.40188408e-04 -9.99935011e-01]] t_estimated: [[ 0.99153985] [-0.12967004] [-0.00586575]] R_gt: [[ 0.96521979 0.25489039 -0.05814204] [-0.25367737 0.96689779 0.02748956] [ 0.06322292 -0.01178419 0.99792951]] t_gt: [-0.49988428 0.8550361 -0.13794556] Pose Error in degrees for R and t: 175.77710194401598 52.71943098703647 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 8.87538121e-01 -4.60733278e-01 -9.64543509e-04] [ 4.60733593e-01 8.87538473e-01 1.21460907e-04] [ 8.00108392e-04 -5.52198781e-04 9.99999527e-01]] t_estimated: [[ 0.00778623] [-0.99996913] [-0.00105891]] R_gt: [[ 0.92457556 0.37856715 -0.04296464] [-0.37486834 0.9240465 0.0749158 ] [ 0.06806209 -0.05315954 0.99626286]] t_gt: [-0.47834348 0.87811964 -0.00966494] Pose Error in degrees for R and t: 49.834823376682415 28.138910649590837 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.23669927e-01 -3.83185461e-01 -1.66376391e-03] [ 3.83186642e-01 9.23670827e-01 4.48657159e-04] [ 1.36485129e-03 -1.05194323e-03 9.99998515e-01]] t_estimated: [[ 9.77694257e-01] [-2.10033187e-01] [-3.25920760e-05]] R_gt: [[ 0.88479017 0.46247291 -0.05714334] [-0.45726191 0.88528876 0.08470756] [ 0.08976308 -0.04881936 0.99476505]] t_gt: [-0.41600249 0.90795993 -0.05050434] Pose Error in degrees for R and t: 50.297214724167354 53.31442132010639 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.97384224e-01 -7.22821490e-02 -1.69219961e-05] [ 7.22821503e-02 9.97384220e-01 9.14786139e-05] [ 1.02654611e-05 -9.24624846e-05 9.99999996e-01]] t_estimated: [[9.06006541e-01] [4.23262808e-01] [8.62042379e-04]] R_gt: [[ 0.9991137 -0.04166663 0.00596023] [ 0.041882 0.99821801 -0.04251737] [-0.00417929 0.04272955 0.99907815]] t_gt: [ 0.36630164 0.50383306 -0.78228854] Pose Error in degrees for R and t: 3.023276565046822 57.01283786051538 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 9.95441459e-01 -9.53744791e-02 -1.01731439e-04] [ 9.53745039e-02 9.95441424e-01 2.75660180e-04] [ 7.49767422e-05 -2.84106157e-04 9.99999957e-01]] t_estimated: [[8.07212669e-01] [5.90260237e-01] [7.48111834e-04]] R_gt: [[ 0.99566939 -0.07756036 0.05124109] [ 0.08000002 0.99566791 -0.0473954 ] [-0.04734314 0.05128922 0.99756135]] t_gt: [0.78801961 0.61563825 0.00382537] Pose Error in degrees for R and t: 4.127850508707918 1.8316498036671691 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 0.9782663 -0.20734553 -0.00169818] [ 0.20734777 0.97826648 0.00126583] [ 0.00139881 -0.00159043 0.99999776]] t_estimated: [[0.66108469] [0.75031085] [0.00081115]] R_gt: [[ 0.98292344 -0.16471713 0.08203302] [ 0.16818548 0.98505047 -0.0372918 ] [-0.074665 0.05045096 0.99593208]] t_gt: [0.97613405 0.01450639 0.21668382] Pose Error in degrees for R and t: 5.7925673350360745 48.97658945412827 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-2.99882936e-01 -9.53975848e-01 -5.53906665e-04] [-9.53975699e-01 2.99883256e-01 -6.31225695e-04] [ 7.68281402e-04 3.39119683e-04 -9.99999647e-01]] t_estimated: [[0.81638644] [0.5775054 ] [0.00083818]] R_gt: [[ 0.9999382 0.01084149 -0.00237148] [-0.01096383 0.99815566 -0.05971114] [ 0.00171945 0.05973324 0.99821239]] t_gt: [-0.11365221 0.47647508 -0.87181115] Pose Error in degrees for R and t: 177.83243751134526 79.53399714721614 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.64520676 0.76395306 0.00916303] [ 0.76397234 -0.64501434 -0.01740019] [-0.00738264 0.01822702 -0.99980662]] t_estimated: [[-0.86478696] [-0.50213436] [-0.00214587]] R_gt: [[ 0.99829942 0.02925735 -0.05040955] [-0.0371203 0.98594721 -0.16288083] [ 0.04493614 0.16447537 0.98535708]] t_gt: [-0.04370929 0.45799997 -0.88787698] Pose Error in degrees for R and t: 171.48926871734255 79.03128187756005 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.64033778e-01 2.65779713e-01 1.35974942e-04] [-2.65779400e-01 9.64033216e-01 -1.12630423e-03] [-4.30433176e-04 1.04965598e-03 9.99999356e-01]] t_estimated: [[-0.943025 ] [-0.33272051] [-0.00095063]] R_gt: [[ 0.99192269 -0.11851914 -0.04518745] [ 0.10355177 0.96240081 -0.25112004] [ 0.07325141 0.24441316 0.96690058]] t_gt: [ 0.30566151 -0.07132594 -0.94946493] Pose Error in degrees for R and t: 26.336170720678112 74.71549131243027 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.90783048e-01 -1.35458159e-01 -1.96854204e-04] [ 1.35458198e-01 9.90783042e-01 2.01366398e-04] [ 1.67763085e-04 -2.26175929e-04 9.99999960e-01]] t_estimated: [[0.86407819] [0.50335655] [0.00103359]] R_gt: [[ 0.99997959 0.00432833 -0.00476855] [-0.0042632 0.999897 0.01364535] [ 0.00482761 -0.01362512 0.99989522]] t_gt: [ 0.79542808 -0.54610818 0.26279276] Pose Error in degrees for R and t: 8.072408915648117 65.62565985842203 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.45310854 0.89142809 0.00697251] [ 0.89145259 -0.45307381 -0.00603253] [-0.0022185 0.00894905 -0.9999575 ]] t_estimated: [[-0.78570525] [-0.61860017] [-0.00103792]] R_gt: [[ 0.99312243 0.09251808 -0.07174827] [-0.09115617 0.99559218 0.02204852] [ 0.07347327 -0.01535651 0.9971788 ]] t_gt: [-0.02942988 0.76371191 -0.64488603] Pose Error in degrees for R and t: 177.40104299084473 63.343553396148295 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.08999428e-01 4.16796914e-01 6.10400200e-04] [-4.16794011e-01 9.08997019e-01 -2.67821263e-03] [-1.67112272e-03 2.18008260e-03 9.99996227e-01]] t_estimated: [[9.97678292e-01] [6.80981071e-02] [8.20459122e-04]] R_gt: [[ 0.98728201 0.08896247 -0.13175844] [-0.08739661 0.99601756 0.01763547] [ 0.13280334 -0.00589627 0.99112458]] t_gt: [ 0.25524059 0.40226557 -0.87922389] Pose Error in degrees for R and t: 21.00647541752662 73.66098860514687 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-3.96778403e-01 -9.17912834e-01 -1.71119320e-03] [ 9.17914389e-01 -3.96778249e-01 -4.43118104e-04] [-2.72220447e-04 -1.74654855e-03 9.99998438e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99641177 0.08291547 0.01698384] [-0.08295311 0.9965522 0.00154115] [-0.01679819 -0.00294419 0.99985496]] t_gt: [-0.47535874 0.8528391 0.21610076] Pose Error in degrees for R and t: 118.1377045908513 61.80041738867089 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.37788171 0.92583792 -0.00543708] [ 0.9258261 0.37790935 0.00552769] [ 0.00717247 -0.00294498 -0.99996994]] t_estimated: [[ 0.47736357] [-0.87869362] [-0.0046416 ]] R_gt: [[ 0.99352784 0.09225325 0.06626543] [-0.10028179 0.98638676 0.1303232 ] [-0.0533406 -0.13612506 0.98925482]] t_gt: [-0.33477675 0.47954521 0.8111479 ] Pose Error in degrees for R and t: 178.14318921949933 54.20064374220926 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.64543703e-01 2.63920515e-01 -1.18622091e-03] [-2.63919297e-01 -9.64544150e-01 -1.08944623e-03] [-1.43168965e-03 -7.37751914e-04 9.99998703e-01]] t_estimated: [[0.6460603 ] [0.76328576] [0.0009687 ]] R_gt: [[ 0.99072041 0.06606948 0.11877751] [-0.09173882 0.96986582 0.22570906] [-0.10028533 -0.23451023 0.96692729]] t_gt: [-0.19687997 0.27616089 0.94073027] Pose Error in degrees for R and t: 160.26823047412697 85.15246057748553 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.98812648e-01 -4.87161542e-02 1.75397798e-04] [ 4.87162219e-02 9.98812578e-01 -4.04574114e-04] [-1.55480232e-04 4.12638460e-04 9.99999903e-01]] t_estimated: [[ 6.68704360e-01] [ 7.43528296e-01] [-3.88291787e-04]] R_gt: [[ 0.99629562 -0.06098002 -0.06062611] [ 0.06307889 0.99745171 0.03332095] [ 0.05844018 -0.03702175 0.99760391]] t_gt: [ 0.66149665 -0.74353942 0.09783314] Pose Error in degrees for R and t: 4.0607767811069415 83.65384942220626 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99697145e-01 2.46045264e-02 -4.84785397e-04] [-2.46035136e-02 9.99695297e-01 1.99488739e-03] [ 5.33720941e-04 -1.98235580e-03 9.99997893e-01]] t_estimated: [[0.63487673] [0.7726127 ] [0.00107606]] R_gt: [[ 0.9922968 0.01786538 -0.12258771] [-0.00365451 0.99333731 0.11518346] [ 0.12382893 -0.11384826 0.98575057]] t_gt: [ 0.30097114 -0.73862947 0.6031939 ] Pose Error in degrees for R and t: 9.61753869181087 67.7315980802137 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-5.83201640e-01 8.12303450e-01 6.24114446e-03] [-8.12327325e-01 -5.83188186e-01 -3.98201367e-03] [ 4.05158267e-04 -7.39216909e-03 9.99972595e-01]] t_estimated: [[0.35927034] [0.93323252] [0.00137202]] R_gt: [[ 0.98332174 0.07497104 -0.16570127] [-0.03687922 0.97435002 0.22199098] [ 0.17809425 -0.21217829 0.96086562]] t_gt: [ 0.20328594 -0.36253063 0.90953085] Pose Error in degrees for R and t: 123.03441144923113 74.68991209992679 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.97826421e-01 -6.58958645e-02 -4.10938851e-04] [ 6.58960443e-02 9.97826396e-01 4.40729831e-04] [ 3.81003360e-04 -4.66851114e-04 9.99999818e-01]] t_estimated: [[-0.80083739] [-0.59888085] [-0.00109618]] R_gt: [[ 0.99782349 0.00349955 -0.06586121] [-0.00479136 0.99979825 -0.01947742] [ 0.06577973 0.0197515 0.99763793]] t_gt: [ 0.51182375 0.22511313 -0.82907209] Pose Error in degrees for R and t: 5.614463100649518 57.05766181019723 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999963e-01 -1.41201486e-04 -2.31151146e-04] [ 1.41258070e-04 9.99999960e-01 2.44795782e-04] [ 2.31116571e-04 -2.44828425e-04 9.99999943e-01]] t_estimated: [[-0.49960156] [ 0.86625224] [-0.00231176]] R_gt: [[ 0.9928035 -0.0090725 -0.11941489] [ 0.00719374 0.99984327 -0.01615549] [ 0.11954264 0.01518168 0.99271236]] t_gt: [ 0.65453824 0.10636828 -0.74850884] Pose Error in degrees for R and t: 6.925189147346077 76.51821692713803 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999979e-01 -1.99458439e-04 -5.01423278e-05] [ 1.99462665e-04 9.99999977e-01 8.42905863e-05] [ 5.01255141e-05 -8.43005860e-05 9.99999995e-01]] t_estimated: [[-0.99996843] [-0.0077093 ] [-0.00192691]] R_gt: [[ 0.9855171 0.00343531 -0.16954435] [-0.00294563 0.99999026 0.00313446] [ 0.16955316 -0.00258927 0.9855176 ]] t_gt: [ 0.66213211 0.13622687 -0.73690115] Pose Error in degrees for R and t: 9.7620034956985 48.567176715644024 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 3.19086742e-01 9.47725464e-01 -3.09094889e-04] [-9.47724367e-01 3.19085831e-01 -1.65998408e-03] [-1.47458138e-03 8.22615669e-04 9.99998574e-01]] t_estimated: [[0.36985136] [0.92909041] [0.00099156]] R_gt: [[ 0.99934197 -0.0352335 0.00867025] [ 0.03534065 0.99929728 -0.01253538] [-0.00822224 0.01283452 0.99988354]] t_gt: [ 0.64523805 -0.76363855 -0.02289156] Pose Error in degrees for R and t: 73.41794509694782 61.9092292601941 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 6.42438232e-01 7.66337175e-01 6.72213752e-04] [ 7.66333122e-01 -6.42437294e-01 2.80522109e-03] [ 2.58160039e-03 -1.28704161e-03 -9.99995839e-01]] t_estimated: [[-0.63069009] [-0.77603431] [-0.00086514]] R_gt: [[ 0.9849067 -0.17098905 0.02688233] [ 0.17211222 0.98394294 -0.04726396] [-0.01836927 0.05117768 0.99852012]] t_gt: [ 0.7276739 -0.68153814 -0.07743682] Pose Error in degrees for R and t: 177.00251634137464 85.98444748627017 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.54433473e-02 -9.95434691e-01 -5.86859458e-04] [-9.95427169e-01 -9.54402748e-02 -3.98821618e-03] [ 3.91399871e-03 9.64824551e-04 -9.99991875e-01]] t_estimated: [[ 0.67782025] [ 0.73522683] [-0.001106 ]] R_gt: [[ 0.95482643 -0.29538552 0.03247253] [ 0.29675614 0.95353345 -0.05205116] [-0.01558836 0.05933635 0.99811653]] t_gt: [ 0.77681525 -0.6269506 -0.05908479] Pose Error in degrees for R and t: 178.3388130631451 86.235506116447 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99875415e-01 1.57833668e-02 2.00511240e-04] [-1.57833927e-02 9.99875426e-01 1.28302640e-04] [-1.98461214e-04 -1.31451403e-04 9.99999972e-01]] t_estimated: [[0.71885053] [0.69516184] [0.00198303]] R_gt: [[ 0.99120869 -0.13178312 -0.01177115] [ 0.13166917 0.99124447 -0.00996224] [ 0.01298005 0.00832522 0.99988106]] t_gt: [ 0.48849137 -0.87201706 -0.031023 ] Pose Error in degrees for R and t: 8.521289755920941 75.22035690117056 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99969705e-01 -7.29499380e-03 2.71519574e-03] [ 7.29615264e-03 9.99973296e-01 -4.17139043e-04] [-2.71208020e-03 4.36936888e-04 9.99996227e-01]] t_estimated: [[0.36721932] [0.93013352] [0.00126922]] R_gt: [[ 0.95645098 -0.29062862 -0.0271508 ] [ 0.29135279 0.95620021 0.02819375] [ 0.01776753 -0.03487615 0.99923445]] t_gt: [ 0.57547792 -0.81214039 0.09619333] Pose Error in degrees for R and t: 16.672128041465445 57.047040622507616 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999772e-01 -4.14526803e-04 -5.33214850e-04] [ 4.15763684e-04 9.99997219e-01 2.32165202e-03] [ 5.32250980e-04 -2.32187319e-03 9.99997163e-01]] t_estimated: [[-7.06853740e-01] [-7.07359689e-01] [-2.48092793e-04]] R_gt: [[ 0.9295819 -0.36393917 -0.0585344 ] [ 0.36615416 0.92997975 0.03270266] [ 0.04253445 -0.05183266 0.99774965]] t_gt: [ 0.60217477 -0.7946535 0.07688532] Pose Error in degrees for R and t: 21.731454318655693 82.15826030318854 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 1.76652737e-01 9.84266787e-01 3.56411457e-03] [ 9.84272532e-01 -1.76655794e-01 5.59656136e-04] [ 1.18047244e-03 3.40919528e-03 -9.99993492e-01]] t_estimated: [[-0.76711508] [-0.64150559] [-0.00224303]] R_gt: [[ 0.99024511 -0.13540905 -0.03285221] [ 0.13578009 0.99069521 0.00931749] [ 0.03128518 -0.01368626 0.99941658]] t_gt: [ 0.64436882 -0.76154131 -0.06959639] Pose Error in degrees for R and t: 178.42899339074845 89.67822978166367 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.78232146 -0.62286363 0.00374619] [-0.62287246 0.78232107 -0.00190798] [-0.00174231 -0.00382605 -0.99999116]] t_estimated: [[0.95237627] [0.30491413] [0.00261209]] R_gt: [[ 0.94637123 -0.32143114 -0.03263636] [ 0.32237448 0.94615353 0.02947816] [ 0.02140387 -0.03841769 0.9990323 ]] t_gt: [ 0.73357252 -0.67740121 0.05476264] Pose Error in degrees for R and t: 179.30620033150234 60.512681890266485 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.79189609e-01 -2.02946326e-01 -7.06683624e-04] [ 2.02947323e-01 9.79187821e-01 1.89586848e-03] [ 3.07216456e-04 -1.99983426e-03 9.99997953e-01]] t_estimated: [[0.99993858] [0.01101524] [0.00122391]] R_gt: [[ 0.9183225 -0.39411238 -0.03687113] [ 0.39501587 0.91842479 0.02139368] [ 0.02543167 -0.03421006 0.99909079]] t_gt: [ 0.74973401 -0.66077061 0.03579258] Pose Error in degrees for R and t: 11.776146791879517 42.059185774187256 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.44711629e-01 5.35220836e-01 9.58893942e-04] [-5.35220811e-01 8.44712135e-01 -3.04964513e-04] [-9.73212710e-04 -2.55612923e-04 9.99999494e-01]] t_estimated: [[-0.0656226 ] [ 0.99784351] [ 0.00141676]] R_gt: [[ 0.99728366 0.04727534 0.05648132] [-0.04316609 0.99647887 -0.07188294] [-0.05968063 0.06924974 0.99581294]] t_gt: [-0.7517957 0.64657576 -0.12939479] Pose Error in degrees for R and t: 30.20339814249564 46.02591872351454 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-8.18609149e-01 -5.74316851e-01 -6.26230815e-03] [-5.74329039e-01 8.18624530e-01 1.82689829e-04] [ 5.02155722e-03 3.74617699e-03 -9.99980375e-01]] t_estimated: [[ 0.92122706] [ 0.38901938] [-0.0021492 ]] R_gt: [[ 0.98949228 0.11631562 0.08587227] [-0.11069047 0.99155304 -0.06760597] [-0.09301161 0.05739056 0.9940096 ]] t_gt: [-0.74938017 0.63690564 0.18105403] Pose Error in degrees for R and t: 176.52341906868756 63.70648163829674 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99983282e-01 -5.72462940e-03 8.15585530e-04] [ 5.72473435e-03 9.99983606e-01 -1.26399267e-04] [-8.14848570e-04 1.31066164e-04 9.99999659e-01]] t_estimated: [[0.9976057 ] [0.06846314] [0.00978045]] R_gt: [[ 0.9929143 0.11842828 -0.00978458] [-0.1177296 0.9915556 0.0543937 ] [ 0.01614332 -0.05285592 0.9984721 ]] t_gt: [-0.8039703 0.54089693 0.24710781] Pose Error in degrees for R and t: 7.79445469526972 40.306315800409166 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.69801458 -0.71605821 -0.00602442] [ 0.7160756 -0.69794247 -0.01058558] [ 0.00337519 -0.01170282 0.99992582]] t_estimated: [[0.93568496] [0.3528312 ] [0.00194934]] R_gt: [[ 0.97358737 -0.22722701 0.0222403 ] [ 0.22675022 0.97370384 0.02203462] [-0.02666274 -0.01640932 0.99951045]] t_gt: [ 0.8679717 -0.48623342 0.10100585] Pose Error in degrees for R and t: 121.16196834566414 50.14949772803372 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99987214e-01 5.05688979e-03 1.25649787e-05] [-5.05690496e-03 9.99985080e-01 2.06597988e-03] [-2.11735861e-06 -2.06601700e-03 9.99997866e-01]] t_estimated: [[0.98697249] [0.1608858 ] [0.00103132]] R_gt: [[ 0.91988882 -0.38991142 0.04211529] [ 0.38902888 0.92080681 0.02776524] [-0.04960622 -0.00915716 0.99872724]] t_gt: [ 0.90206184 -0.42487785 0.07591604] Pose Error in degrees for R and t: 23.398277240870076 34.71130439875431 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-1.09571182e-02 9.99939655e-01 -7.92430523e-04] [-9.99939745e-01 -1.09576430e-02 -6.60916688e-04] [-6.69559975e-04 7.85141033e-04 9.99999468e-01]] t_estimated: [[ 5.64395162e-03] [ 9.99984067e-01] [-1.09785515e-04]] R_gt: [[ 0.81837856 -0.57423781 0.02252776] [ 0.57330474 0.81850454 0.0370533 ] [-0.03971606 -0.01740788 0.99906 ]] t_gt: [ 0.94022573 -0.3371778 0.04781951] Pose Error in degrees for R and t: 125.67519813947756 70.61761732110257 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 0.08743297 0.9961159 0.01042086] [ 0.99616604 -0.08739683 -0.00387504] [-0.00294924 0.01071971 -0.99993819]] t_estimated: [[-0.23010092] [-0.97316567] [-0.00146561]] R_gt: [[ 0.99527985 -0.09470373 0.02119985] [ 0.09582 0.9935939 -0.0599166 ] [-0.01538909 0.06166486 0.99797758]] t_gt: [ 0.50298221 -0.76887864 -0.39475883] Pose Error in degrees for R and t: 176.13714287782682 50.72166724070531 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.99882712 0.04840754 -0.00104876] [-0.04840564 0.9988262 0.00176621] [ 0.00113303 -0.00171337 0.99999789]] t_estimated: [[-0.2998261 ] [-0.95399214] [-0.00181713]] R_gt: [[ 0.98406462 -0.17706145 -0.01633548] [ 0.17585 0.98269553 -0.05818326] [ 0.02635535 0.05438374 0.99817221]] t_gt: [ 0.5781424 -0.75221205 -0.31611452] Pose Error in degrees for R and t: 13.419933385957147 56.9865000760483 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.10034221e-01 4.14532289e-01 -8.35040297e-04] [-4.14526937e-01 9.10029790e-01 3.63310538e-03] [ 2.26595104e-03 -2.96010353e-03 9.99993052e-01]] t_estimated: [[8.14292598e-01] [5.80454270e-01] [6.37161657e-04]] R_gt: [[ 0.93905173 -0.34376436 0.00281443] [ 0.34369847 0.93863106 -0.02903247] [ 0.00733972 0.02822967 0.99957447]] t_gt: [ 0.69340122 -0.71695522 -0.07190241] Pose Error in degrees for R and t: 44.63595758096291 81.46428111774027 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.93122362e-01 -1.17081055e-01 -1.67842289e-05] [ 1.17081056e-01 9.93122361e-01 5.88115322e-05] [ 9.78307678e-06 -6.03721630e-05 9.99999998e-01]] t_estimated: [[1.04072679e-01] [9.94569651e-01] [2.95585657e-04]] R_gt: [[ 0.99859314 0.02883141 0.04450714] [-0.0245304 0.99524022 -0.09431392] [-0.04701369 0.09308942 0.99454751]] t_gt: [-0.5120712 0.60151832 -0.61315479] Pose Error in degrees for R and t: 10.19728794509489 56.99050572684538 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 0.99974261 -0.02260372 -0.00194746] [ 0.02260638 0.99974352 0.00135533] [ 0.00191633 -0.001399 0.99999719]] t_estimated: [[-0.99872547] [-0.05032337] [-0.00387103]] R_gt: [[ 0.99198001 0.07376141 0.10263872] [-0.05877074 0.98810662 -0.14208913] [-0.11189813 0.1349181 0.98451824]] t_gt: [-0.717824 0.67122144 -0.18490669] Pose Error in degrees for R and t: 11.43480925227717 46.85502046535112 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-8.92908198e-01 -4.50237918e-01 -8.75428418e-04] [-4.50238710e-01 8.92905394e-01 2.24983594e-03] [-2.31286691e-04 2.40304871e-03 -9.99997086e-01]] t_estimated: [[9.99994884e-01] [3.10316489e-03] [7.75791221e-04]] R_gt: [[ 0.9857036 0.13810122 0.09651858] [-0.12917284 0.98721814 -0.09334233] [-0.10817533 0.07954048 0.99094515]] t_gt: [-0.74420944 0.65843508 0.112319 ] Pose Error in degrees for R and t: 175.44777983381755 42.09150257275509 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.81623096e-01 1.90829864e-01 2.44920017e-04] [-1.90829863e-01 9.81623127e-01 -2.90890153e-05] [-2.45970206e-04 -1.81836040e-05 9.99999970e-01]] t_estimated: [[0.42869683] [0.9034479 ] [0.0009555 ]] R_gt: [[ 0.98689321 -0.15839572 -0.03087175] [ 0.1594527 0.98657109 0.03540753] [ 0.02484918 -0.03986625 0.99889623]] t_gt: [ 0.54220729 -0.8338312 0.10361846] Pose Error in degrees for R and t: 20.329083739599827 58.61531305318508 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999787e-01 -3.16321396e-04 -5.70403212e-04] [ 3.16630925e-04 9.99999803e-01 5.42641523e-04] [ 5.70231450e-04 -5.42822015e-04 9.99999690e-01]] t_estimated: [[0.9999938 ] [0.00332104] [0.00117021]] R_gt: [[ 0.95352061 -0.29544745 -0.05924527] [ 0.29771112 0.95405987 0.03373985] [ 0.04655556 -0.04981001 0.99767336]] t_gt: [ 0.6184991 -0.7835011 0.05987393] Pose Error in degrees for R and t: 17.678920129593653 51.97805209462666 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 7.82355814e-01 -6.22830492e-01 1.24863715e-03] [ 6.22828131e-01 7.82356532e-01 1.83766285e-03] [-2.12143189e-03 -6.60019869e-04 9.99997532e-01]] t_estimated: [[0.50833199] [0.86116025] [0.00126921]] R_gt: [[ 0.9313231 -0.35750363 -0.06948588] [ 0.36138959 0.93080888 0.05471045] [ 0.04511911 -0.07606426 0.99608179]] t_gt: [ 0.63405217 -0.76629019 0.1038133 ] Pose Error in degrees for R and t: 18.135527728055347 70.27792977098166 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-4.88801987e-01 -8.72393651e-01 1.39087161e-03] [-8.72390112e-01 4.88803966e-01 2.48510133e-03] [-2.84785018e-03 1.33982312e-06 -9.99995945e-01]] t_estimated: [[0.83922368] [0.54378286] [0.00195209]] R_gt: [[ 0.99747036 -0.02895964 -0.06492499] [ 0.03186689 0.9985129 0.04421813] [ 0.06354838 -0.04617481 0.99690994]] t_gt: [ 0.94268295 -0.26473651 -0.20313405] Pose Error in degrees for R and t: 178.27337710009994 49.70177552231924 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.79618531e-01 -2.00866835e-01 2.18218411e-04] [ 2.00866798e-01 9.79618546e-01 1.83221525e-04] [-2.50573931e-04 -1.35654368e-04 9.99999959e-01]] t_estimated: [[0.87252289] [0.48857219] [0.00101574]] R_gt: [[ 0.99049901 -0.00557299 -0.1374113 ] [ 0.00869859 0.99971634 0.02216064] [ 0.13724886 -0.02314453 0.99026598]] t_gt: [ 0.71235618 0.11787775 -0.6918479 ] Pose Error in degrees for R and t: 13.744796899666863 47.278443893898405 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-8.58585127e-02 9.96306928e-01 9.06606099e-04] [-9.96306011e-01 -8.58568764e-02 -1.71140427e-03] [-1.62724557e-03 -1.05019573e-03 9.99998125e-01]] t_estimated: [[0.20148097] [0.97949188] [0.00103286]] R_gt: [[ 0.98145664 -0.02063817 -0.19057343] [ 0.02384953 0.99960923 0.01457889] [ 0.19019781 -0.01885246 0.98156474]] t_gt: [ 0.75127988 0.06299144 -0.65697079] Pose Error in degrees for R and t: 96.69988945165673 77.73757150318 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.56534121 0.82480216 -0.00952428] [ 0.82480876 -0.5651453 0.01735789] [ 0.00893422 -0.01766884 -0.99980398]] t_estimated: [[-0.58210627] [ 0.81304658] [ 0.01037074]] R_gt: [[ 0.99192034 0.11206122 -0.05947512] [-0.10490572 0.98813226 0.11220981] [ 0.07134366 -0.10506462 0.99190289]] t_gt: [-0.56882783 0.32040362 0.75748031] Pose Error in degrees for R and t: 171.5842286659406 53.1675539787786 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.71413963 0.69997926 -0.00579855] [ 0.69998044 -0.7140249 0.01399378] [ 0.00565505 -0.01405238 -0.99988527]] t_estimated: [[-0.41021974] [ 0.91195384] [ 0.00774356]] R_gt: [[ 0.98697966 0.12901097 -0.09606296] [-0.11269649 0.98077743 0.15929748] [ 0.1147674 -0.14639771 0.98254534]] t_gt: [-0.21238427 0.54323257 0.81227538] Pose Error in degrees for R and t: 168.66341954225877 53.92688565433983 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.31429281e-01 -5.55630576e-01 -1.16678456e-04] [-5.55630258e-01 -8.31428540e-01 -1.26465919e-03] [ 6.05673518e-04 1.11630477e-03 -9.99999194e-01]] t_estimated: [[0.26543999] [0.96412685] [0.00101701]] R_gt: [[ 0.96737215 0.23667358 -0.09042832] [-0.21859957 0.96011209 0.17435298] [ 0.12808645 -0.14889636 0.98052254]] t_gt: [-0.44729337 0.82766608 0.33896532] Pose Error in degrees for R and t: 172.9376603171428 47.188365849910014 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-4.63497559e-01 -8.86097888e-01 -7.38400622e-04] [-8.86097353e-01 4.63498107e-01 -9.92972814e-04] [ 1.22211840e-03 1.94054361e-04 -9.99999234e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99166915 0.08196695 -0.09937555] [-0.08360135 0.99642238 -0.01239282] [ 0.09800387 0.02059648 0.99497288]] t_gt: [-0.03060107 0.60771529 -0.79356519] Pose Error in degrees for R and t: 174.5960076657421 70.22465186912682 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.64439902 0.7306221 0.22570167] [-0.62129736 0.67230901 -0.40248004] [-0.44580208 0.11912989 0.88716885]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99089552 0.04302356 -0.12757786] [-0.04457066 0.9989631 -0.0092928 ] [ 0.12704622 0.0148949 0.99178516]] t_gt: [ 0.29033638 0.19442258 -0.93696566] Pose Error in degrees for R and t: 54.224094756593836 75.8825967161298 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.99991208 0.0129408 0.00289246] [ 0.01292584 -0.99990328 0.00513296] [ 0.00295861 -0.00509512 -0.99998264]] t_estimated: [[0.01232951] [0.99992323] [0.00123295]] R_gt: [[ 0.98937944 -0.01309383 -0.14476734] [ 0.01730868 0.99946044 0.02789303] [ 0.14432459 -0.0301031 0.98907264]] t_gt: [ 0.55642521 -0.37526836 -0.74132627] Pose Error in degrees for R and t: 177.98857700727245 68.32797143450155 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-9.81558935e-01 -1.91159639e-01 -2.21554586e-04] [-1.91159556e-01 9.81555463e-01 2.62632873e-03] [-2.84579939e-04 2.62024871e-03 -9.99996527e-01]] t_estimated: [[9.99994892e-01] [3.10076120e-03] [7.75189842e-04]] R_gt: [[ 0.9988102 0.0310198 0.03763661] [-0.03448211 0.99486693 0.09513905] [-0.0344916 -0.09632271 0.99475179]] t_gt: [-0.22935122 0.19233868 0.95415085] Pose Error in degrees for R and t: 177.41291334939334 76.81982396027416 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 7.28995562e-01 -6.84518107e-01 -6.57206031e-04] [ 6.84518416e-01 7.28995348e-01 5.65583095e-04] [ 9.19482702e-05 -8.62177197e-04 9.99999624e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99447048 0.0142263 0.1040558 ] [-0.03590074 0.97714537 0.20951926] [-0.09869686 -0.21209628 0.97225137]] t_gt: [-0.10351738 0.06877366 0.99224711] Pose Error in degrees for R and t: 46.54927315439188 84.11486737566753 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.96399206e-01 -8.47843272e-02 4.90805110e-04] [ 8.47843084e-02 9.96399326e-01 5.88997171e-05] [-4.94031654e-04 -1.70750595e-05 9.99999878e-01]] t_estimated: [[0.72480769] [0.68895071] [0.0008535 ]] R_gt: [[ 0.99322443 -0.02473883 0.11355614] [-0.0114093 0.95160835 0.30710187] [-0.11565787 -0.3063161 0.94487725]] t_gt: [-0.0130688 -0.01296805 0.9998305 ] Pose Error in degrees for R and t: 19.612080300372874 88.99421498388055 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.91382998e-01 1.30994611e-01 4.04032631e-04] [-1.30994370e-01 9.91382945e-01 -5.74988887e-04] [-4.75871505e-04 5.17108207e-04 9.99999753e-01]] t_estimated: [[0.55714017] [0.83041791] [0.00096225]] R_gt: [[ 0.99940485 -0.03084007 -0.01548648] [ 0.03111488 0.99935756 0.01784244] [ 0.0149262 -0.01831264 0.99972025]] t_gt: [ 0.44011897 -0.89557252 -0.06515484] Pose Error in degrees for R and t: 9.405987310352943 60.09560737384183 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.97286676e-01 -7.36157822e-02 -5.04296382e-05] [ 7.36157818e-02 9.97286677e-01 -8.69383102e-06] [ 5.09328095e-05 4.95782460e-06 9.99999999e-01]] t_estimated: [[ 5.25677977e-01] [-8.50683442e-01] [-5.88843230e-04]] R_gt: [[ 0.99912034 -0.0297679 -0.0295624 ] [ 0.03031718 0.99937379 0.01831009] [ 0.02899912 -0.01918998 0.99939475]] t_gt: [ 0.43308527 -0.84675264 -0.30894517] Pose Error in degrees for R and t: 3.1944965021367215 18.528850865501873 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.98359867 -0.17975713 0.01486685] [-0.17975196 0.98371051 0.00169424] [-0.01492923 -0.0010059 -0.99988805]] t_estimated: [[0.99631054] [0.08544899] [0.007986 ]] R_gt: [[ 0.99068481 -0.13612262 -0.00399943] [ 0.13610741 0.99068676 -0.00405436] [ 0.00451413 0.00347288 0.99998364]] t_gt: [ 0.63835592 -0.76909308 -0.03158414] Pose Error in degrees for R and t: 179.4066266308852 55.247663535772084 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.96575727e-01 -8.26850036e-02 -1.02945411e-04] [ 8.26850042e-02 9.96575732e-01 1.57729838e-06] [ 1.02462480e-04 -1.00839390e-05 9.99999995e-01]] t_estimated: [[-0.67901712] [-0.73412204] [-0.00076544]] R_gt: [[ 0.99520654 -0.08088681 0.05496298] [ 0.07994153 0.99661435 0.01918545] [-0.05632896 -0.01469965 0.99830443]] t_gt: [-0.04162009 -0.88491539 0.46388847] Pose Error in degrees for R and t: 3.345476891940451 47.34817018912015 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 8.97131590e-01 -4.41763248e-01 -3.78540492e-04] [ 4.41763325e-01 8.97131620e-01 1.47690785e-04] [ 2.74356283e-04 -2.99723375e-04 9.99999917e-01]] t_estimated: [[9.49874948e-01] [3.12628745e-01] [9.22208688e-04]] R_gt: [[ 0.97648004 -0.21426879 0.02395561] [ 0.21290174 0.97580857 0.04970047] [-0.03402501 -0.04343118 0.9984771 ]] t_gt: [ 0.34426763 -0.89943257 0.26925981] Pose Error in degrees for R and t: 14.22842705731017 87.35938933815682 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.90309960e-01 -1.38874698e-01 -3.26206053e-05] [ 1.38874701e-01 9.90309955e-01 1.01351610e-04] [ 1.82293360e-05 -1.04899685e-04 9.99999994e-01]] t_estimated: [[9.04046150e-01] [4.27434099e-01] [8.05833142e-04]] R_gt: [[ 9.34526888e-01 -3.55891432e-01 -4.35682406e-04] [ 3.54956548e-01 9.31982584e-01 7.35775163e-02] [-2.57798532e-02 -6.89137209e-02 9.97289538e-01]] t_gt: [ 0.49954483 -0.8385822 0.21733583] Pose Error in degrees for R and t: 13.536076172090587 84.64375026765447 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[ 0.33022278 0.9432076 0.03622633] [ 0.94323528 -0.32830268 -0.050245 ] [-0.03549827 0.050762 -0.9980797 ]] t_estimated: [[ 0.56434111] [-0.82493483] [ 0.03164855]] R_gt: [[ 0.99882554 -0.04713845 -0.01130625] [ 0.04735982 0.99867419 0.02018262] [ 0.01033876 -0.02069474 0.99973176]] t_gt: [ 0.53263281 -0.84133099 0.09200242] Pose Error in degrees for R and t: 177.76276546397838 4.018414276345631 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 0.96616274 -0.25790434 0.00386208] [ 0.2579141 0.96616516 -0.00227994] [-0.0031434 0.00319887 0.99998994]] t_estimated: [[ 0.99376344] [-0.11147614] [ 0.0027005 ]] R_gt: [[ 0.9964691 -0.07776061 -0.03167211] [ 0.07879535 0.99634971 0.03284722] [ 0.02900174 -0.03522664 0.9989578 ]] t_gt: [ 0.51999405 -0.85370482 -0.02818283] Pose Error in degrees for R and t: 10.839812775654194 52.27713904680575 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99999786e-01 5.62077676e-04 3.35617302e-04] [-5.61855082e-04 9.99999622e-01 -6.62965365e-04] [-3.35989813e-04 6.62776654e-04 9.99999724e-01]] t_estimated: [[-0.47433277] [-0.88034501] [-0.00104331]] R_gt: [[ 0.99591836 -0.07124927 -0.05541311] [ 0.07422705 0.99579527 0.05367661] [ 0.05135557 -0.05757087 0.99701958]] t_gt: [ 0.47428797 -0.87732807 -0.07311887] Pose Error in degrees for R and t: 6.13625714765985 56.807249534485784 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.51201138e-01 5.24839607e-01 9.33002144e-05] [-5.24839345e-01 8.51200867e-01 -8.63977148e-04] [-5.32866651e-04 6.86450709e-04 9.99999622e-01]] t_estimated: [[0.63593903] [0.77173851] [0.00110406]] R_gt: [[ 0.98869068 -0.08552957 -0.12318968] [ 0.10388934 0.98301377 0.15129606] [ 0.10815681 -0.16238237 0.98078195]] t_gt: [ 0.6925605 -0.64262708 0.32770474] Pose Error in degrees for R and t: 38.768140069515596 86.8384186560516 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 7.41914285e-01 -6.70491588e-01 2.05504315e-03] [ 6.70494712e-01 7.41911615e-01 -1.99906797e-03] [-1.84302125e-04 2.86103265e-03 9.99995890e-01]] t_estimated: [[-0.63381111] [-0.77348674] [-0.00131769]] R_gt: [[ 0.96901591 -0.18078299 -0.16830215] [ 0.21345233 0.95577226 0.2023262 ] [ 0.12428162 -0.2319818 0.96474747]] t_gt: [ 0.74525185 -0.57855996 0.33146351] Pose Error in degrees for R and t: 34.12332917101735 88.55156795133607 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[ 0.72963242 -0.68382365 -0.0046625 ] [ 0.68380638 0.72951291 0.01482385] [-0.00673554 -0.01400421 0.99987925]] t_estimated: [[ 0.65811785] [-0.75277751] [ 0.01438465]] R_gt: [[ 0.93361273 -0.27763013 -0.22647318] [ 0.3246762 0.92286938 0.20711214] [ 0.15150471 -0.26689289 0.95174226]] t_gt: [ 0.80408862 -0.53873936 0.25139888] Pose Error in degrees for R and t: 30.414249368452957 20.22334886768551 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.42600384e-01 -3.33922919e-01 -2.83328515e-05] [ 3.33922916e-01 9.42600356e-01 2.35602931e-04] [-5.19666626e-05 -2.31540402e-04 9.99999972e-01]] t_estimated: [[0.94082577] [0.33888928] [0.00096003]] R_gt: [[ 0.99838104 0.0021112 0.0568468 ] [-0.01007974 0.99006467 0.14024818] [-0.05598563 -0.14059376 0.98848326]] t_gt: [-0.09060843 -0.04325571 0.99494676] Pose Error in degrees for R and t: 21.6593785401872 84.32126317875425 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.41995448e-01 -3.35625562e-01 -2.42763428e-04] [ 3.35625640e-01 9.41995346e-01 4.45346872e-04] [ 7.92122253e-05 -5.00992357e-04 9.99999871e-01]] t_estimated: [[0.80401852] [0.59460366] [0.00084102]] R_gt: [[ 9.94806699e-01 -2.41811925e-02 9.88699978e-02] [-4.40194180e-05 9.71267857e-01 2.37986070e-01] [-1.01784040e-01 -2.36755146e-01 9.66223084e-01]] t_gt: [-0.01509735 -0.06922101 0.9974871 ] Pose Error in degrees for R and t: 24.038089226032895 86.99295751356513 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.44445751 0.89579813 0.00179995] [ 0.89579832 0.44445199 0.00279363] [ 0.00170254 0.00285404 -0.99999448]] t_estimated: [[0.77517788] [0.63174254] [0.0007838 ]] R_gt: [[ 0.99211096 -0.08265176 0.09425886] [ 0.04831378 0.94588544 0.32088149] [-0.11567937 -0.31379617 0.94241695]] t_gt: [ 0.09596481 -0.18292585 0.97843185] Pose Error in degrees for R and t: 175.46867673856963 87.68431385907905 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99997749e-01 -2.09621547e-03 3.28963505e-04] [ 2.09621518e-03 9.99997803e-01 1.23318421e-06] [-3.28965368e-04 -5.43603141e-07 9.99999946e-01]] t_estimated: [[0.14654839] [0.98920162] [0.00192827]] R_gt: [[ 0.98975314 -0.12944458 -0.06028808] [ 0.1314477 0.99085286 0.03052087] [ 0.05578497 -0.03813344 0.99771383]] t_gt: [ 0.54295499 -0.83823641 -0.0505926 ] Pose Error in degrees for R and t: 8.345016893601207 41.434460306599675 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.91995271e-01 -1.26275021e-01 2.28276064e-05] [ 1.26275002e-01 9.91995190e-01 4.07690574e-04] [-7.41260117e-05 -4.01544566e-04 9.99999917e-01]] t_estimated: [[0.66148081] [0.74995913] [0.00210663]] R_gt: [[ 0.95348576 -0.26979027 -0.13445844] [ 0.28706181 0.94878732 0.13190179] [ 0.09198677 -0.16436401 0.98210068]] t_gt: [ 0.60175943 -0.77338151 0.19941573] Pose Error in degrees for R and t: 14.12012052667438 79.54098577922828 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.97925196 0.20235101 -0.01093967] [-0.20225717 0.97929011 0.00910531] [ 0.01255558 -0.00670377 0.9998987 ]] t_estimated: [[-0.9976057 ] [-0.06846314] [-0.00978045]] R_gt: [[ 0.89500221 -0.3858151 -0.22386973] [ 0.41681584 0.90210194 0.11169769] [ 0.15885782 -0.19328119 0.96819666]] t_gt: [ 0.68694219 -0.72041661 0.09544809] Pose Error in degrees for R and t: 38.171303053820345 50.4382847939042 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.68775270e-01 -2.47940255e-01 -3.26108094e-04] [ 2.47940386e-01 9.68775185e-01 4.54224395e-04] [ 2.03304917e-04 -5.20896728e-04 9.99999844e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99482277 0.08305802 0.05855487] [-0.07741193 0.99266657 -0.09284812] [-0.06583748 0.08783419 0.99395714]] t_gt: [-0.44319035 0.87837787 -0.17898219] Pose Error in degrees for R and t: 19.992058553377532 50.02578853912511 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-4.38477957e-03 -9.99985290e-01 -3.19266933e-03] [ 9.99990355e-01 -4.38395232e-03 -2.66059606e-04] [ 2.52059182e-04 -3.19380515e-03 9.99994868e-01]] t_estimated: [[ 0.81936615] [-0.57326993] [ 0.00083875]] R_gt: [[ 0.9851156 0.10948998 0.13250615] [-0.09687037 0.99043943 -0.09821502] [-0.14199272 0.08391754 0.98630425]] t_gt: [-0.45731212 0.848368 0.26671588] Pose Error in degrees for R and t: 96.5869244595282 30.590521630042918 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-1.60757115e-02 -9.99853950e-01 -5.80081864e-03] [ 9.99870756e-01 -1.60742499e-02 -2.98499721e-04] [ 2.05212317e-04 -5.80486752e-03 9.99983131e-01]] t_estimated: [[0.93866498] [0.34481571] [0.00319274]] R_gt: [[ 0.98210259 0.06022988 0.17845671] [-0.04036407 0.99278302 -0.11292978] [-0.18397068 0.10370445 0.97744622]] t_gt: [-0.28827981 0.80553536 0.51769444] Pose Error in degrees for R and t: 94.4890652042814 89.49487689298857 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.97184684e-01 7.49846648e-02 -7.47509187e-05] [-7.49846088e-02 9.97184521e-01 5.83174408e-04] [ 1.18269597e-04 -5.75927420e-04 9.99999827e-01]] t_estimated: [[0.63535414] [0.77222001] [0.00117412]] R_gt: [[ 9.77998547e-01 -2.06376059e-01 -3.04818436e-02] [ 2.06498092e-01 9.78446641e-01 8.79209705e-04] [ 2.96429148e-02 -7.15456457e-03 9.99534817e-01]] t_gt: [ 0.62021255 -0.78056472 -0.07781459] Pose Error in degrees for R and t: 16.308951613739076 77.94770071303357 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.10686809e-01 4.13097359e-01 3.27549569e-04] [-4.13097366e-01 9.10686864e-01 -4.80257491e-05] [-3.18134400e-04 -9.15734482e-05 9.99999945e-01]] t_estimated: [[0.55878349] [0.82931306] [0.00093286]] R_gt: [[ 0.91627258 -0.39716007 -0.05204329] [ 0.39666603 0.91774678 -0.01993562] [ 0.05567964 -0.00237808 0.99844526]] t_gt: [ 0.71528494 -0.69278117 -0.09176984] Pose Error in degrees for R and t: 47.905860701935566 79.92549310773667 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.96365582e-01 -8.51752053e-02 9.00427259e-04] [ 8.51753925e-02 9.96365958e-01 -1.71578383e-04] [-8.82540845e-04 2.47649041e-04 9.99999580e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.88430024 -0.46262236 -0.06320004] [ 0.4602264 0.88643856 -0.04916982] [ 0.0787694 0.01439458 0.99678842]] t_gt: [ 0.7310601 -0.66709385 -0.1433071 ] Pose Error in degrees for R and t: 23.104524714521013 70.27151791830313 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 5.93790112e-01 -8.04619588e-01 -7.88402458e-04] [ 8.04619766e-01 5.93788968e-01 1.30142978e-03] [-5.79011213e-04 -1.40714034e-03 9.99998842e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.98677012e-01 -4.60476952e-02 2.29208928e-02] [ 4.60610747e-02 9.98938527e-01 -6.89379970e-05] [-2.28930380e-02 1.12544923e-03 9.99737238e-01]] t_gt: [ 0.36436774 -0.89170669 0.26850573] Pose Error in degrees for R and t: 50.94968076495501 27.23496746442959 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.02550026 0.9996742 0.0011114 ] [-0.99967416 0.02550149 -0.00111358] [-0.00114156 -0.00108264 0.99999876]] t_estimated: [[0.55323165] [0.83302696] [0.00090843]] R_gt: [[ 0.997519 -0.06647952 0.02317859] [ 0.06670893 0.99772928 -0.0092512 ] [-0.02250993 0.01077444 0.99968884]] t_gt: [ 0.32486232 -0.94242741 0.07934131] Pose Error in degrees for R and t: 92.3648895526653 52.751636572900885 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 2.86742938e-01 9.58007136e-01 9.02198357e-04] [-9.58005899e-01 2.86744068e-01 -1.59278025e-03] [-1.78459488e-03 -4.07592858e-04 9.99998325e-01]] t_estimated: [[0.13776739] [0.99046406] [0.00104369]] R_gt: [[ 0.99618465 -0.07753128 0.04008104] [ 0.07695627 0.99691129 0.01569149] [-0.04117386 -0.0125472 0.99907368]] t_gt: [ 0.16944372 -0.93090671 0.32357614] Pose Error in degrees for R and t: 77.79943102595902 26.058223988370703 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.93431389e-01 -1.14429312e-01 -9.13700690e-05] [ 1.14429322e-01 9.93431385e-01 1.15715456e-04] [ 7.75286542e-05 -1.25410781e-04 9.99999989e-01]] t_estimated: [[5.81445871e-02] [9.98308031e-01] [5.31688737e-04]] R_gt: [[ 0.99764191 0.05170396 0.04515366] [-0.04955283 0.99763982 -0.04753995] [-0.04750473 0.04519053 0.99784892]] t_gt: [-0.77097619 0.63518984 -0.04614729] Pose Error in degrees for R and t: 10.195555967558915 53.89530997094085 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 0.99618032 0.08730182 -0.00177707] [-0.08728965 0.9961646 0.00605114] [ 0.00229853 -0.00587291 0.99998011]] t_estimated: [[-0.99374716] [-0.11163239] [-0.00218887]] R_gt: [[ 0.98875872 0.08050282 0.12599984] [-0.07318833 0.99541082 -0.061654 ] [-0.13038512 0.05173968 0.99011235]] t_gt: [-0.7496156 0.52408624 0.40424011] Pose Error in degrees for R and t: 8.333241307562204 46.72202469659888 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.76171705 0.6478997 0.0036207 ] [ 0.64790903 -0.76171294 -0.00269937] [ 0.00100901 0.00440204 -0.9999898 ]] t_estimated: [[0.94577661] [0.32481217] [0.00191066]] R_gt: [[ 0.97493012 0.18615274 0.12189765] [-0.17622162 0.98042532 -0.08782067] [-0.13585896 0.06413843 0.98865035]] t_gt: [-0.73736889 0.63548925 0.228999 ] Pose Error in degrees for R and t: 173.11215884913105 60.624309721604575 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99231544e-01 -3.91959260e-02 -4.02582361e-06] [ 3.91959262e-02 9.99231544e-01 3.49186019e-05] [ 2.65406300e-06 -3.50495644e-05 9.99999999e-01]] t_estimated: [[ 9.18101172e-01] [-3.96345266e-01] [-8.17636660e-04]] R_gt: [[ 9.97846505e-01 -6.53817631e-02 5.39069643e-03] [ 6.53796401e-02 9.97860704e-01 7.19518222e-04] [-5.42665251e-03 -3.64448664e-04 9.99985233e-01]] t_gt: [ 0.47200832 -0.88051796 0.0435461 ] Pose Error in degrees for R and t: 1.5330216266614876 38.52790183052307 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-0.68414622 -0.72911311 0.01838532] [-0.72908276 0.68435879 0.00955926] [-0.01955194 -0.00686449 -0.99978528]] t_estimated: [[0.90238725] [0.43079857] [0.01048063]] R_gt: [[ 0.98423741 -0.16895471 0.05226395] [ 0.16677043 0.98502684 0.04369967] [-0.05886412 -0.0342941 0.99767646]] t_gt: [ 0.5003496 -0.80111315 0.32843263] Pose Error in degrees for R and t: 174.9871231519827 83.69431821666531 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 6.79161470e-01 -7.33988753e-01 -4.56667782e-04] [ 7.33988596e-01 6.79160502e-01 1.32409474e-03] [-6.61719926e-04 -1.23446307e-03 9.99999019e-01]] t_estimated: [[0.99460324] [0.10374546] [0.00112767]] R_gt: [[ 0.95659681 -0.29052949 0.02269343] [ 0.28828848 0.95483719 0.07194636] [-0.04257048 -0.06228118 0.9971502 ]] t_gt: [ 0.64609865 -0.72076222 0.25111423] Pose Error in degrees for R and t: 30.663402163178358 55.380826045526696 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.96740343e-01 -7.95551294e-02 -1.34040734e-02] [ 7.95355886e-02 9.96830050e-01 -1.98548925e-03] [ 1.35195390e-02 9.12916364e-04 9.99908190e-01]] t_estimated: [[ 0.99732383] [-0.07207215] [-0.01227913]] R_gt: [[ 0.99257477 -0.1214453 0.00695848] [ 0.12112476 0.99199785 0.03561217] [-0.01122752 -0.0345049 0.99934152]] t_gt: [ 0.93735277 -0.19665887 0.28756751] Pose Error in degrees for R and t: 3.442837723269604 19.00559038055037 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.41277884e-01 3.37632847e-01 6.77104878e-05] [-3.37632854e-01 9.41277872e-01 1.52372744e-04] [-1.22883405e-05 -1.66286379e-04 9.99999986e-01]] t_estimated: [[2.78953030e-01] [9.60304312e-01] [9.14333504e-04]] R_gt: [[ 0.98767012 -0.14596051 0.05660579] [ 0.14225358 0.98770839 0.06476835] [-0.06536378 -0.05591646 0.99629308]] t_gt: [ 0.86451584 -0.18959964 0.46547217] Pose Error in degrees for R and t: 28.454806335464216 86.58822317887235 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 7.64137841e-01 6.45052974e-01 -1.45983298e-04] [-6.45052952e-01 7.64137854e-01 1.73092635e-04] [ 2.23205283e-04 -3.80996752e-05 9.99999974e-01]] t_estimated: [[8.70295254e-01] [4.92529731e-01] [7.96973675e-04]] R_gt: [[ 0.9706268 -0.23578263 0.04785855] [ 0.23292806 0.97073724 0.05842702] [-0.0602345 -0.04556279 0.99714354]] t_gt: [ 0.95781569 -0.12988227 0.25635855] Pose Error in degrees for R and t: 53.904654145946644 39.66264240169227 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.00000000e+00 -1.09397991e-10 -2.86461393e-14] [ 1.09397991e-10 1.00000000e+00 2.40575246e-14] [ 2.86454888e-14 -2.40573078e-14 1.00000000e+00]] t_estimated: [[-7.35973281e-01] [-6.77010211e-01] [-7.10398930e-04]] R_gt: [[ 9.99999019e-01 1.43865366e-03 6.97727114e-04] [-1.43338692e-03 9.99971428e-01 -7.44299718e-03] [-7.07901195e-04 7.44253561e-03 9.99971770e-01]] t_gt: [-0.10088069 0.19210549 -0.97617548] Pose Error in degrees for R and t: 0.4355358250836543 86.8403463418112 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-4.05611629e-01 -9.14044487e-01 -1.37188965e-03] [-9.14045511e-01 4.05611006e-01 7.18048885e-04] [-9.98750849e-05 1.54521855e-03 -9.99998801e-01]] t_estimated: [[0.92982565] [0.36799915] [0.00094256]] R_gt: [[ 0.99096392 -0.04376671 0.12678724] [ 0.02251373 0.98612833 0.16444947] [-0.13222505 -0.16010883 0.978203 ]] t_gt: [ 0.05072269 -0.24980063 0.96696787] Pose Error in degrees for R and t: 168.67056488427153 87.48667470933528 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.41003188e-01 7.67538043e-01 5.14648353e-04] [-7.67538165e-01 6.41003245e-01 6.74799425e-05] [-2.78097841e-04 -4.38267111e-04 9.99999865e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.97670667 -0.16611596 0.13583007] [ 0.11773517 0.94407681 0.30799063] [-0.17939519 -0.2848238 0.94164303]] t_gt: [ 0.31080872 -0.39790696 0.86317321] Pose Error in degrees for R and t: 61.46894179813389 83.38945429800712 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.81579373e-01 1.91054760e-01 1.15962126e-04] [-1.91054694e-01 9.81579297e-01 -4.32518185e-04] [-1.96460680e-04 4.02395820e-04 9.99999900e-01]] t_estimated: [[-0.67449092] [-0.73828265] [-0.00085056]] R_gt: [[ 0.9943673 -0.02643272 0.10264408] [ 0.01490439 0.99365366 0.11149299] [-0.10493982 -0.1093351 0.98844978]] t_gt: [ 0.00995855 -0.23455796 0.97205112] Pose Error in degrees for R and t: 14.995463889850084 80.46637811598634 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99404146 0.10898165 -0.00214124] [-0.10897848 0.99404291 0.00154542] [ 0.0022969 -0.00130286 0.99999651]] t_estimated: [[-0.50986364] [-0.8602545 ] [-0.00112305]] R_gt: [[ 0.98124522 -0.1223688 0.14894721] [ 0.07674794 0.95679288 0.2804605 ] [-0.17683058 -0.26376912 0.94823802]] t_gt: [ 0.22400363 -0.32872161 0.91747724] Pose Error in degrees for R and t: 22.09838471641777 80.35503071877899 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.09524641e-01 -4.15649878e-01 3.27417820e-04] [ 4.15649893e-01 9.09524692e-01 2.35681883e-05] [-3.07590706e-04 1.14655334e-04 9.99999946e-01]] t_estimated: [[0.91462167] [0.40430968] [0.00093807]] R_gt: [[ 0.96183643 -0.24882401 0.11384171] [ 0.18666645 0.90086929 0.39190774] [-0.20007269 -0.35570062 0.91293345]] t_gt: [ 0.404011 -0.41523155 0.81508151] Pose Error in degrees for R and t: 26.60764164370396 78.32267834066772 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-6.81161360e-02 -9.97677343e-01 -3.34870202e-04] [-9.97676944e-01 6.81164217e-02 -9.32243791e-04] [ 9.52888668e-04 2.70591435e-04 -9.99999509e-01]] t_estimated: [[7.62988778e-01] [6.46411353e-01] [6.98068416e-04]] R_gt: [[ 0.99284531 -0.11625876 0.0272397 ] [ 0.11519068 0.99261819 0.0379478 ] [-0.03144988 -0.03453792 0.99890781]] t_gt: [ 0.5447618 -0.76445105 0.34474508] Pose Error in degrees for R and t: 177.3997085760567 85.51132490053287 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-8.87642483e-01 -4.60519403e-01 -3.56392889e-03] [ 4.60523475e-01 -8.87647447e-01 -3.72750097e-04] [-2.99185373e-03 -1.97214174e-03 9.99993580e-01]] t_estimated: [[0.85693844] [0.51541799] [0.00089638]] R_gt: [[ 0.96638198 -0.25687896 0.01086403] [ 0.25465973 0.96214222 0.09710941] [-0.03539776 -0.09107761 0.99521398]] t_gt: [ 0.65652026 -0.67562909 0.33541986] Pose Error in degrees for R and t: 137.76771955634138 77.60402506287035 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.31024354e-01 -3.64957032e-01 -1.29100708e-04] [ 3.64957002e-01 9.31023972e-01 8.65697487e-04] [-1.95746531e-04 -8.53101651e-04 9.99999617e-01]] t_estimated: [[9.28662918e-01] [3.70923673e-01] [9.02490688e-04]] R_gt: [[ 0.93355691 -0.35838264 0.0057531 ] [ 0.35039474 0.91589383 0.1958623 ] [-0.07546218 -0.18083376 0.98061369]] t_gt: [ 0.63140018 -0.61245832 0.47563497] Pose Error in degrees for R and t: 11.259215712281271 68.92363672808698 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99801043e-01 -1.99462246e-02 1.51661618e-04] [ 1.99462349e-02 9.99801052e-01 -6.63757548e-05] [-1.50307500e-04 6.93876271e-05 9.99999986e-01]] t_estimated: [[9.99713798e-01] [2.39169985e-02] [5.47264357e-04]] R_gt: [[ 0.98150443 -0.18988979 -0.02430971] [ 0.19022382 0.98166528 0.01220214] [ 0.02154706 -0.01659997 0.99963009]] t_gt: [ 0.98667261 -0.15052433 0.06180277] Pose Error in degrees for R and t: 9.939328874723948 10.63463967303951 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.91484094e-01 -1.30227042e-01 4.56146639e-04] [ 1.30226892e-01 9.91484159e-01 3.44991236e-04] [-4.97189355e-04 -2.82650764e-04 9.99999836e-01]] t_estimated: [[ 0.9803706 ] [-0.19716046] [ 0.00111402]] R_gt: [[ 0.97437204 -0.22482939 0.0070934 ] [ 0.22430015 0.97349174 0.04477156] [-0.01697164 -0.04203309 0.99897191]] t_gt: [ 0.96966873 -0.14472562 0.19696966] Pose Error in degrees for R and t: 6.073073619563846 11.653146122125893 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 8.22769495e-01 5.68374902e-01 5.73569752e-04] [-5.68374741e-01 8.22769694e-01 -4.29922415e-04] [-7.16272920e-04 2.77244891e-05 9.99999743e-01]] t_estimated: [[0.46048004] [0.88766939] [0.00109176]] R_gt: [[ 0.96234596 -0.26893577 0.03953741] [ 0.26534311 0.96098038 0.07817267] [-0.05901867 -0.06473763 0.99615562]] t_gt: [ 0.9487476 -0.13048386 0.28784016] Pose Error in degrees for R and t: 50.395512101321934 71.25438096482542 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999999e-01 -4.78964017e-06 3.84841597e-05] [ 4.78964933e-06 1.00000000e+00 -2.37934254e-07] [-3.84841586e-05 2.38118579e-07 9.99999999e-01]] t_estimated: [[-0.75434968] [-0.65647207] [-0.00098866]] R_gt: [[ 0.99897723 0.03946364 -0.02211105] [-0.03989278 0.99901689 -0.01931773] [ 0.02132715 0.02017965 0.99956879]] t_gt: [ 0.23497403 0.76965735 -0.59364532] Pose Error in degrees for R and t: 2.8299884391288095 47.00580772431734 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.98274497e-01 5.87199096e-02 3.79640534e-05] [-5.87199078e-02 9.98274496e-01 -4.76130513e-05] [-4.06943804e-05 4.53016491e-05 9.99999998e-01]] t_estimated: [[-0.86768714] [-0.49710948] [-0.00109158]] R_gt: [[ 0.9939902 0.10462728 0.03223512] [-0.10262856 0.9930029 -0.05840861] [-0.03812059 0.05474942 0.99777274]] t_gt: [-0.19364128 0.96887528 -0.15421983] Pose Error in degrees for R and t: 4.6151216433455255 71.73281169537329 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.77983511 -0.62525608 0.03019986] [-0.62587256 -0.7778729 0.05654464] [-0.01186323 -0.06299676 -0.99794322]] t_estimated: [[0.32929675] [0.94360546] [0.03424 ]] R_gt: [[ 0.98239281 0.15756147 0.10040663] [-0.14432066 0.9812492 -0.12775818] [-0.1186528 0.11101831 0.98671012]] t_gt: [-0.29113725 0.95652465 -0.01731187] Pose Error in degrees for R and t: 179.255839534769 36.281579430328435 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.99353982 -0.11339292 -0.00454661] [ 0.11341901 0.99352936 0.00596208] [ 0.00384113 -0.00643923 0.99997189]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99890631 -0.03286755 0.03324716] [ 0.03323548 0.9993919 -0.01059971] [-0.03287898 0.01169367 0.99939066]] t_gt: [ 0.21020928 -0.9250857 0.31627283] Pose Error in degrees for R and t: 5.183318687347659 39.246143119915736 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99789919e-01 -2.04955437e-02 2.24233729e-04] [ 2.04955914e-02 9.99789921e-01 -2.12891931e-04] [-2.19823287e-04 2.17443009e-04 9.99999952e-01]] t_estimated: [[ 9.60208159e-01] [ 2.79285055e-01] [-3.86711143e-04]] R_gt: [[ 0.9991999 -0.02656917 0.02990123] [ 0.02691853 0.99957345 -0.01137047] [-0.02958624 0.01216715 0.99948822]] t_gt: [-0.09446477 -0.96718197 0.23587168] Pose Error in degrees for R and t: 1.8512311018505672 68.84350633101342 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99974346 -0.02259754 0.0015394 ] [ 0.02259542 0.99974374 0.00138164] [-0.00157023 -0.0013465 0.99999786]] t_estimated: [[-0.99228224] [-0.12398678] [ 0.00180119]] R_gt: [[ 0.99745542 -0.02592805 0.06641566] [ 0.02464176 0.99949423 0.02010738] [-0.06690374 -0.01841892 0.99758925]] t_gt: [-0.3096565 -0.68288469 0.66165047] Pose Error in degrees for R and t: 3.8751696247411975 66.85078420556349 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.98079341e-01 -6.19485930e-02 -4.08690732e-05] [ 6.19486029e-02 9.98079290e-01 3.17201662e-04] [ 2.11403789e-05 -3.19124208e-04 9.99999949e-01]] t_estimated: [[0.56343042] [0.82616212] [0.00151868]] R_gt: [[ 0.9835519 -0.17286757 -0.0523594 ] [ 0.1763639 0.98170587 0.07176419] [ 0.03899577 -0.07981734 0.9960462 ]] t_gt: [ 0.57681389 -0.79666455 0.18058605] Pose Error in degrees for R and t: 8.26753040596381 70.55478745965377 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 8.81910940e-01 4.71414163e-01 1.33440687e-03] [-4.71413375e-01 8.81911938e-01 -8.73504608e-04] [-1.58861180e-03 1.41296022e-04 9.99998728e-01]] t_estimated: [[0.86393763] [0.50359804] [0.00088909]] R_gt: [[ 0.94777817 -0.28187568 -0.14920278] [ 0.29392396 0.95357638 0.06558169] [ 0.12379065 -0.10601087 0.98662874]] t_gt: [ 0.67038151 -0.74194149 -0.01055744] Pose Error in degrees for R and t: 45.91115538481187 78.14016739438773 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.82430597e-01 1.86628116e-01 -2.63246998e-04] [-1.86628031e-01 9.82430596e-01 3.18575585e-04] [ 3.18077066e-04 -2.63849133e-04 9.99999915e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.93493941 -0.31583147 -0.16167069] [ 0.34339379 0.92010785 0.18836727] [ 0.08926238 -0.23162894 0.9686994 ]] t_gt: [ 0.58295134 -0.75585254 0.29808502] Pose Error in degrees for R and t: 33.47170185274645 54.49065601035098 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 6.57202991e-01 -7.53710008e-01 -2.33504091e-03] [ 7.53713581e-01 6.57200858e-01 1.69406085e-03] [ 2.57760270e-04 -2.87329390e-03 9.99995839e-01]] t_estimated: [[8.88746770e-01] [4.58397793e-01] [8.01394743e-04]] R_gt: [[ 0.97433823 -0.22463442 -0.01428404] [ 0.22501594 0.97366383 0.03670752] [ 0.00566271 -0.0389792 0.99922429]] t_gt: [ 0.61866323 -0.77901625 0.10192887] Pose Error in degrees for R and t: 35.97403212715836 78.8827555727454 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.99652834 0.08323675 0.00170719] [-0.08323312 0.9965279 -0.00209531] [-0.00187567 0.00194594 0.99999635]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.93706201 -0.34672167 -0.04120864] [ 0.34549483 0.93780116 -0.03410025] [ 0.05046913 0.01771633 0.99856859]] t_gt: [ 0.69030377 -0.70932291 -0.1426244 ] Pose Error in degrees for R and t: 25.227637689211715 45.15820399217419 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.99886237 -0.0475674 0.003364 ] [ 0.04758257 0.9988568 -0.00458202] [-0.0031422 0.00473688 0.99998384]] t_estimated: [[9.20509367e-01] [3.90719803e-01] [7.35818838e-04]] R_gt: [[ 0.89108145 -0.44665137 -0.08047843] [ 0.44419735 0.89468649 -0.04717441] [ 0.0930741 0.00628867 0.99563902]] t_gt: [ 0.73216696 -0.66179059 -0.16113586] Pose Error in degrees for R and t: 24.396403152507563 65.46347196123318 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[-0.97701769 -0.21196116 0.0225588 ] [-0.21198608 0.97727181 0.00130847] [-0.02232342 -0.00350375 -0.99974466]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.99633752 0.04083502 0.07514297] [-0.03801233 0.99853049 -0.03861942] [-0.07660941 0.03562156 0.996424 ]] t_gt: [-0.68406295 0.66826878 0.29236059] Pose Error in degrees for R and t: 174.6050870120934 53.03019842224361 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-3.64824897e-01 9.31062009e-01 5.13134804e-03] [-9.31075979e-01 -3.64822616e-01 -1.40701469e-03] [ 5.62013895e-04 -5.29098888e-03 9.99985845e-01]] t_estimated: [[0.44291566] [0.89656275] [0.00097559]] R_gt: [[ 0.99260933 0.07659532 0.09414107] [-0.06856346 0.99395282 -0.08577511] [-0.10014179 0.07868531 0.99185725]] t_gt: [-0.66947167 0.74038197 0.06035085] Pose Error in degrees for R and t: 107.38608039111884 68.44844427618362 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 7.13125308e-01 7.01030428e-01 2.93844001e-03] [ 7.01035033e-01 -7.13126287e-01 -8.83867293e-04] [ 1.47586095e-03 2.69025752e-03 -9.99995292e-01]] t_estimated: [[-9.10306688e-01] [-4.13933546e-01] [-8.67785213e-04]] R_gt: [[ 0.97695531 0.11346041 0.18079432] [-0.09400718 0.98916284 -0.11278022] [-0.19163138 0.09318523 0.97703329]] t_gt: [-0.69827727 0.63016737 0.3395555 ] Pose Error in degrees for R and t: 170.31574807076422 68.00631500914973 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-8.07995918e-02 -9.96724992e-01 -3.27362700e-03] [ 9.96730163e-01 -8.07970362e-02 -9.05759932e-04] [ 6.38294202e-04 -3.33610781e-03 9.99994231e-01]] t_estimated: [[9.99965745e-01] [8.22640923e-03] [9.14045471e-04]] R_gt: [[ 0.99005441 -0.13297758 -0.04592525] [ 0.13499146 0.98987191 0.0439454 ] [ 0.039617 -0.04970774 0.99797833]] t_gt: [ 0.68701272 -0.71857938 0.1079685 ] Pose Error in degrees for R and t: 86.9793523915004 47.064349086594675 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-5.85287411e-01 -8.10818071e-01 3.56417865e-03] [-8.10803603e-01 5.85298260e-01 4.84392402e-03] [-6.01364869e-03 -5.47611465e-05 -9.99981916e-01]] t_estimated: [[0.89225503] [0.45152052] [0.00319177]] R_gt: [[ 0.9594411 -0.27976012 -0.03472716] [ 0.28132049 0.95809449 0.05396476] [ 0.01817502 -0.06154526 0.99793958]] t_gt: [ 0.69943988 -0.69661404 0.15972706] Pose Error in degrees for R and t: 179.51618747262117 71.93757356127357 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.97853906 0.20603842 0.0030773 ] [ 0.2060426 0.9785424 0.00110691] [-0.0027832 0.00171721 -0.99999465]] t_estimated: [[ 0.76526544] [-0.64370679] [ 0.00322261]] R_gt: [[ 0.91212351 -0.4051553 -0.06228986] [ 0.40927933 0.90859565 0.08332872] [ 0.02283492 -0.10150024 0.99457351]] t_gt: [ 0.73323677 -0.65025575 0.1988248 ] Pose Error in degrees for R and t: 177.13674502750916 11.381330664883874 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999703e-01 7.70000509e-04 1.67923981e-05] [-7.69999809e-04 9.99999703e-01 -4.17002172e-05] [-1.68245023e-05 4.16872747e-05 9.99999999e-01]] t_estimated: [[ 1.37032312e-02] [-9.99906086e-01] [-2.01169723e-04]] R_gt: [[ 0.99996138 -0.00224425 0.00852414] [ 0.00307401 0.99512157 -0.09860184] [-0.00826094 0.09862438 0.99508996]] t_gt: [ 0.09255976 0.32658773 -0.94062381] Pose Error in degrees for R and t: 5.681054203538872 71.02839891740746 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.95383739e-01 -9.59708098e-02 -9.02903627e-04] [ 9.59719679e-02 9.95383134e-01 1.34101644e-03] [ 7.70036607e-04 -1.42147940e-03 9.99998693e-01]] t_estimated: [[-1.39508305e-01] [-9.90220417e-01] [ 9.79341557e-04]] R_gt: [[ 0.99865561 0.05019542 0.01288621] [-0.04770659 0.98757634 -0.14972103] [-0.02024091 0.14890478 0.9886438 ]] t_gt: [-0.1603006 0.4933405 -0.85493793] Pose Error in degrees for R and t: 12.058524517326557 62.160922085398205 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-8.87158829e-02 9.96048989e-01 3.98801196e-03] [ 9.96056273e-01 8.87198550e-02 -8.30025381e-04] [-1.18056178e-03 3.89864789e-03 -9.99991703e-01]] t_estimated: [[-0.855469 ] [-0.51785328] [-0.00087921]] R_gt: [[ 0.99344913 0.11376749 -0.01076226] [-0.11363213 0.97347705 -0.19857152] [-0.01211315 0.19849381 0.98002662]] t_gt: [-0.23414047 0.60156316 -0.76374079] Pose Error in degrees for R and t: 172.04257156739774 83.65297496672461 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.99999943e-01 -3.32547633e-04 5.36517849e-05] [ 3.32549568e-04 9.99999944e-01 -3.60528221e-05] [-5.36397926e-05 3.60706619e-05 9.99999998e-01]] t_estimated: [[-5.34910048e-02] [-9.98568312e-01] [ 1.94890922e-04]] R_gt: [[ 0.99932541 -0.01904066 0.03144335] [ 0.01724766 0.99826388 0.0563284 ] [-0.03246002 -0.05574778 0.99791649]] t_gt: [ 0.15241804 -0.28781693 0.9454788 ] Pose Error in degrees for R and t: 3.836918015593289 73.7734452045108 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.96866916e-01 7.90969078e-02 1.73741628e-04] [-7.90968854e-02 9.96866925e-01 -1.32428397e-04] [-1.83671959e-04 1.18271066e-04 9.99999976e-01]] t_estimated: [[ 0.60714922] [-0.79458728] [ 0.00093568]] R_gt: [[ 0.99805654 -0.0387958 0.04878615] [ 0.03462035 0.99589045 0.08369692] [-0.05183222 -0.08184499 0.99529655]] t_gt: [ 0.23637541 -0.25157839 0.93852809] Pose Error in degrees for R and t: 8.662267901218192 69.86127728636698 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-9.64574609e-01 -2.63804191e-01 -1.78122626e-03] [ 2.63804798e-01 -9.64576081e-01 -1.10802839e-04] [-1.68889799e-03 -5.76773639e-04 9.99998407e-01]] t_estimated: [[9.46189316e-01] [3.23612648e-01] [7.95117072e-04]] R_gt: [[ 0.99866632 -0.03242722 0.04019439] [ 0.02984703 0.99755462 0.06320633] [-0.04214484 -0.06192288 0.99719111]] t_gt: [ 0.2721665 -0.02930723 0.96180377] Pose Error in degrees for R and t: 162.92665963583448 75.59339249015004 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99997869e-01 -1.78705764e-03 -1.03384902e-03] [ 1.78788380e-03 9.99998083e-01 7.98735490e-04] [ 1.03241966e-03 -8.00582190e-04 9.99999147e-01]] t_estimated: [[-9.98845058e-01] [-4.80388276e-02] [-9.06392974e-04]] R_gt: [[ 0.99247507 0.11933237 -0.02743147] [-0.1206165 0.99137652 -0.05123327] [ 0.02108153 0.05415725 0.99830928]] t_gt: [-0.53166147 0.71794447 -0.44932374] Pose Error in degrees for R and t: 7.758250200591164 60.20055967144327 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999314e-01 -1.17170957e-03 -7.92147587e-07] [ 1.17170984e-03 9.99999148e-01 5.74868894e-04] [ 1.18567525e-07 -5.74869428e-04 9.99999835e-01]] t_estimated: [[-4.99852691e-01] [-8.66110031e-01] [ 8.37446157e-04]] R_gt: [[ 0.99466692 0.10271726 -0.00932163] [-0.10304836 0.98591615 -0.1317228 ] [-0.00433966 0.13198245 0.99124192]] t_gt: [-0.32275758 0.64757111 -0.69027473] Pose Error in degrees for R and t: 9.695972552240226 66.41465376713505 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.298332 0.85260748 -0.4290204 ] [ 0.88595526 -0.08014881 0.45679257] [ 0.35507929 -0.51636872 -0.77928303]] t_estimated: [[0.74663565] [0.61811057] [0.24591569]] R_gt: [[ 0.98604246 0.16442695 -0.02613006] [-0.16642274 0.96891308 -0.18306119] [-0.00478256 0.18485556 0.98275366]] t_gt: [-0.32706804 0.67703134 -0.65928375] Pose Error in degrees for R and t: 149.6634123895819 89.30376187459483 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-9.68348696e-01 -2.49363730e-01 1.08872959e-02] [-2.49352011e-01 9.68409835e-01 2.44268318e-03] [-1.11524810e-02 -3.49400042e-04 -9.99937748e-01]] t_estimated: [[0.9912022 ] [0.13221898] [0.00602823]] R_gt: [[ 0.97924645 -0.2026649 -0.00180611] [ 0.20264902 0.97895303 0.02415915] [-0.00312829 -0.0240232 0.99970653]] t_gt: [ 0.70455424 -0.70085751 0.11136462] Pose Error in degrees for R and t: 179.14940140287362 52.67320253911171 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-3.40909678e-01 -9.40094074e-01 -1.92955999e-03] [ 9.40095675e-01 -3.40906978e-01 -1.59830877e-03] [ 8.44760142e-04 -2.35884993e-03 9.99996861e-01]] t_estimated: [[9.99997824e-01] [2.07515748e-03] [2.12403392e-04]] R_gt: [[ 0.96336429 -0.26818279 -0.00257116] [ 0.26818139 0.96317361 0.01936727] [-0.00271723 -0.01934591 0.99980865]] t_gt: [ 0.70071092 -0.70922999 0.07744046] Pose Error in degrees for R and t: 94.3792748749608 45.63281089340451 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.46804725 0.88354747 -0.01660245] [-0.88364715 -0.46814688 -0.00249215] [-0.00997432 0.01350427 0.99985906]] t_estimated: [[0.32692596] [0.94504827] [0.00178648]] R_gt: [[ 0.93032518 -0.36477525 0.03786724] [ 0.36279156 0.93050414 0.05044528] [-0.05363693 -0.0331917 0.99800855]] t_gt: [ 0.69681186 -0.69602296 0.17322031] Pose Error in degrees for R and t: 139.320029161009 64.55401830301432 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.99239092e-01 -3.90028915e-02 1.05742211e-04] [ 3.90028799e-02 9.99239092e-01 1.09266946e-04] [-1.09923478e-04 -1.05059553e-04 9.99999988e-01]] t_estimated: [[ 0.95085186] [-0.309644 ] [ 0.0011552 ]] R_gt: [[ 0.99945977 -0.03207903 0.00721718] [ 0.03199322 0.99942144 0.01162223] [-0.00758657 -0.01138474 0.9999071 ]] t_gt: [ 0.84325489 -0.35324434 0.40514149] Pose Error in degrees for R and t: 0.8681670946501577 24.264442041035526 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99274146e-01 3.80936580e-02 2.32537732e-04] [-3.80935000e-02 9.99273968e-01 -6.49726389e-04] [-2.57119357e-04 6.40396607e-04 9.99999762e-01]] t_estimated: [[7.96002161e-01] [6.05293310e-01] [7.53789925e-04]] R_gt: [[ 0.99975014 0.0171902 -0.01428353] [-0.01685834 0.99959375 0.02302289] [ 0.01467326 -0.02277673 0.99963353]] t_gt: [-0.28325673 0.94790849 0.14572275] Pose Error in degrees for R and t: 1.9962919973820914 69.61054465019342 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.98086707e-01 -6.18298040e-02 -3.16116365e-05] [ 6.18298117e-02 9.98086623e-01 4.08779368e-04] [ 6.27640338e-06 -4.09951795e-04 9.99999916e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99561542 0.09261833 0.01313446] [-0.09292365 0.99536117 0.02493813] [-0.01076434 -0.02604999 0.9996033 ]] t_gt: [-0.56406938 0.79940307 0.20683442] Pose Error in degrees for R and t: 9.010599436289175 58.42131785126253 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-3.44435189e-01 9.38810074e-01 2.14484367e-04] [-9.38808302e-01 -3.44434075e-01 -2.03458905e-03] [-1.83621697e-03 -9.02143769e-04 9.99997907e-01]] t_estimated: [[0.28327067] [0.95903925] [0.0012003 ]] R_gt: [[ 0.99542206 -0.06763487 -0.06754541] [ 0.06203727 0.99471685 -0.0817939 ] [ 0.07271979 0.07722867 0.99435742]] t_gt: [ 0.71980257 0.02583248 -0.69369802] Pose Error in degrees for R and t: 113.9822146009566 76.83002371902951 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-8.67398801e-01 -4.97610452e-01 -1.77721145e-03] [ 4.97611815e-01 -8.67399747e-01 -4.00570656e-04] [-1.34222462e-03 -1.23181592e-03 9.99998341e-01]] t_estimated: [[0.99783205] [0.06580298] [0.00107874]] R_gt: [[ 0.99384236 -0.00154426 -0.11079805] [-0.01225753 0.9922347 -0.12377735] [ 0.11012832 0.12437207 0.98610506]] t_gt: [ 0.24290921 0.13382773 -0.96077326] Pose Error in degrees for R and t: 150.5752856620338 75.51346737613004 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-0.0989535 0.99508908 0.00243396] [ 0.99508965 0.09894758 0.00244048] [ 0.00218766 0.00266351 -0.99999406]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.95663665 0.23105732 -0.17736995] [-0.24665523 0.96647638 -0.07130802] [ 0.15494797 0.11196466 0.98155719]] t_gt: [-0.78716352 0.25437137 -0.5618441 ] Pose Error in degrees for R and t: 176.40910932923015 75.95503256774344 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.99928023e-01 1.19944802e-02 2.83773639e-04] [-1.19944497e-02 9.99928058e-01 -1.08797278e-04] [-2.85058191e-04 1.05385739e-04 9.99999954e-01]] t_estimated: [[8.62231044e-01] [5.06514941e-01] [4.91873348e-04]] R_gt: [[ 0.98000898 -0.1909392 -0.05589488] [ 0.19278678 0.98078939 0.02973743] [ 0.04914283 -0.03991969 0.99799371]] t_gt: [ 0.66325777 -0.74797683 -0.02489551] Pose Error in degrees for R and t: 12.310769160238017 78.87163448463353 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 6.34375099e-01 -7.73002083e-01 -6.00117546e-03] [-7.73016484e-01 -6.34385923e-01 -1.28203781e-04] [-3.70795944e-03 4.72033684e-03 -9.99981985e-01]] t_estimated: [[0.38329559] [0.92362419] [0.00168853]] R_gt: [[ 0.95321465 -0.29447716 -0.06829536] [ 0.29790837 0.95344048 0.04693055] [ 0.05129541 -0.06508155 0.99656064]] t_gt: [ 0.65322599 -0.75554349 0.04949582] Pose Error in degrees for R and t: 178.65194996177593 63.42454328158814 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.99762047 0.06889169 0.00270634] [-0.06889901 -0.99761996 -0.00271027] [ 0.00251319 -0.00289029 0.99999267]] t_estimated: [[0.41880622] [0.90807509] [0.00099243]] R_gt: [[ 0.88709062 -0.42137325 -0.18845302] [ 0.45001917 0.88034262 0.14993287] [ 0.10272515 -0.21781281 0.97056921]] t_gt: [ 0.69262577 -0.69427126 0.19559388] Pose Error in degrees for R and t: 157.8749945759744 70.1121382293424 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.93937433e-01 -1.09947165e-01 1.42445383e-05] [ 1.09947163e-01 9.93937430e-01 8.53303275e-05] [-2.35400073e-05 -8.32468601e-05 9.99999996e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.97859842 -0.20334884 -0.03155041] [ 0.20190421 0.97842947 -0.04371227] [ 0.03975839 0.036407 0.99854597]] t_gt: [ 0.65417956 -0.70872866 -0.26410753] Pose Error in degrees for R and t: 6.211769632608221 66.07666191871786 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-9.80225328e-01 1.97882670e-01 8.69029965e-04] [ 1.97884147e-01 9.80222909e-01 2.21645441e-03] [-4.13245164e-04 2.34459201e-03 -9.99997166e-01]] t_estimated: [[9.75440715e-01] [2.20260807e-01] [7.67459256e-04]] R_gt: [[ 0.95982675 -0.27707378 -0.04430063] [ 0.27406848 0.95959851 -0.0636897 ] [ 0.06015788 0.04899008 0.99698552]] t_gt: [ 0.65057957 -0.70231446 -0.28896474] Pose Error in degrees for R and t: 177.3695811454318 61.33499363711952 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.12251209e-02 9.95830294e-01 4.55494634e-05] [ 9.95822858e-01 9.12242626e-02 3.86910944e-03] [ 3.84882118e-03 3.98319173e-04 -9.99992514e-01]] t_estimated: [[-0.89004127] [-0.4558748 ] [-0.00217083]] R_gt: [[ 0.92060354 -0.38222134 -0.07998469] [ 0.38059256 0.92406834 -0.03531016] [ 0.08740792 0.00206554 0.99616956]] t_gt: [ 0.71167042 -0.68135142 -0.17112994] Pose Error in degrees for R and t: 177.00854446039898 71.18983698216691 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 9.99999446e-01 -1.84347054e-04 -1.03608333e-03] [ 1.85598526e-04 9.99999253e-01 1.20792096e-03] [ 1.03585988e-03 -1.20811259e-03 9.99998734e-01]] t_estimated: [[-0.70357991] [-0.71061571] [-0.00078176]] R_gt: [[ 0.99760049 -0.05904568 0.03616788] [ 0.05926507 0.99823023 -0.00502381] [-0.03580785 0.00715539 0.99933266]] t_gt: [0.86221467 0.03884577 0.50505135] Pose Error in degrees for R and t: 4.014214506586314 50.60699501730288 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.35595047e-01 3.53074908e-01 1.28886147e-04] [-3.53074928e-01 9.35594917e-01 4.97173998e-04] [ 5.49544401e-05 -5.10659998e-04 9.99999868e-01]] t_estimated: [[0.52806604] [0.84920256] [0.00113076]] R_gt: [[ 0.9939185 -0.0394319 0.10282726] [ 0.04403679 0.99810916 -0.04289921] [-0.10094155 0.04716658 0.99377426]] t_gt: [0.45205759 0.62904438 0.63241371] Pose Error in degrees for R and t: 23.936115139224157 39.32014514509148 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 8.85050747e-01 -4.65493370e-01 1.04814431e-03] [ 4.65493650e-01 8.85051219e-01 -2.70628692e-05] [-9.15063810e-04 5.11856531e-04 9.99999450e-01]] t_estimated: [[7.73625589e-01] [6.33642637e-01] [6.76246144e-04]] R_gt: [[ 0.99063872 -0.00264105 0.13649145] [ 0.01425373 0.99635001 -0.08417243] [-0.13577116 0.08533043 0.98705924]] t_gt: [-0.08417649 0.89344707 0.44121044] Pose Error in degrees for R and t: 28.72800320788303 59.9137278542679 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 7.13348595e-01 -7.00809216e-01 -4.73714832e-04] [-7.00809355e-01 -7.13348246e-01 -7.26780978e-04] [ 1.71411163e-04 8.50431975e-04 -9.99999624e-01]] t_estimated: [[0.24940168] [0.96839752] [0.00224686]] R_gt: [[ 0.99700987 0.07479394 0.01940807] [-0.07369066 0.99590218 -0.0524306 ] [-0.02325075 0.05084328 0.99843649]] t_gt: [-0.73818339 0.65769268 -0.15008541] Pose Error in degrees for R and t: 177.672901145417 63.09795384716676 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 0.8832362 -0.46892012 -0.00278003] [ 0.46892558 0.88323586 0.00179235] [ 0.00161496 -0.0028867 0.99999453]] t_estimated: [[-0.63732786] [-0.77058732] [-0.00289694]] R_gt: [[ 0.97898572 0.20347805 0.01355153] [-0.20160544 0.97569215 -0.0859122 ] [-0.03070269 0.08137591 0.99621034]] t_gt: [-0.66119361 0.74185259 -0.11170383] Pose Error in degrees for R and t: 39.99425535897067 81.37646394332903 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 4.83203246e-01 -8.75507849e-01 -7.93763105e-04] [ 8.75508166e-01 4.83203305e-01 1.28122871e-04] [ 2.71376377e-04 -7.56855468e-04 9.99999677e-01]] t_estimated: [[-0.2065801 ] [-0.97842915] [-0.00102776]] R_gt: [[ 0.95763442 0.28794625 0.00476608] [-0.28592176 0.95262056 -0.10374384] [-0.0344135 0.09798605 0.99459292]] t_gt: [-0.62234952 0.77545323 -0.1065522 ] Pose Error in degrees for R and t: 78.02096730988099 50.94607755071816 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 9.97371748e-01 7.24535513e-02 2.81920948e-04] [-7.24535604e-02 9.97371787e-01 2.22627046e-05] [-2.79566987e-04 -4.26303690e-05 9.99999960e-01]] t_estimated: [[0.19633767] [0.98053431] [0.00199823]] R_gt: [[ 0.99942057 -0.03051328 0.0150744 ] [ 0.02987983 0.99872844 0.04061872] [-0.01629534 -0.04014511 0.99906173]] t_gt: [ 0.28041493 -0.42268518 0.86180317] Pose Error in degrees for R and t: 6.384822693638897 69.04226259266251 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 2.03991937e-01 -9.78971397e-01 -1.51445572e-03] [ 9.78972568e-01 2.03991657e-01 3.38969861e-04] [-2.29054668e-05 -1.55175772e-03 9.99998796e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98921468 -0.14245859 -0.03407306] [ 0.14492272 0.98566699 0.08636887] [ 0.02128017 -0.09037515 0.99568037]] t_gt: [ 0.62123255 -0.67713183 0.39441426] Pose Error in degrees for R and t: 70.12014913022196 51.725076921343 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[-9.21564198e-01 3.88223122e-01 1.49532910e-03] [-3.88225984e-01 -9.21556147e-01 -3.85400315e-03] [-1.18183409e-04 -4.13223693e-03 9.99991455e-01]] t_estimated: [[0.63620235] [0.77152158] [0.00100985]] R_gt: [[ 9.54843558e-01 -2.95581251e-01 -3.00751871e-02] [ 2.97106720e-01 9.49666717e-01 9.93077051e-02] [-7.93019983e-04 -1.03758858e-01 9.94602043e-01]] t_gt: [ 0.67380123 -0.66954401 0.31257435] Pose Error in degrees for R and t: 174.44935311463806 84.97570930617475 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-0.381502 -0.9243641 -0.00268986] [-0.92436486 0.38150669 -0.00150196] [ 0.00241456 0.00191341 -0.99999525]] t_estimated: [[ 8.54481456e-01] [ 5.19481750e-01] [-3.89969951e-04]] R_gt: [[ 0.99713187 0.07425797 -0.01459102] [-0.07437903 0.99719938 -0.00788607] [ 0.0139645 0.00894852 0.99986268]] t_gt: [ 0.19290722 0.93728478 -0.29031714] Pose Error in degrees for R and t: 178.87373357837456 49.31867998384536 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999777e-01 6.31856774e-04 2.14726166e-04] [-6.31896653e-04 9.99999783e-01 1.85703723e-04] [-2.14608781e-04 -1.85839367e-04 9.99999960e-01]] t_estimated: [[0.94657644] [0.32247685] [0.00131127]] R_gt: [[ 0.99425192 0.104523 0.02316911] [-0.10476185 0.99445367 0.00931409] [-0.02206648 -0.01168801 0.99968823]] t_gt: [0.40771041 0.85891194 0.30990724] Pose Error in degrees for R and t: 6.136737056751142 48.44683951330754 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-7.19129871e-01 -6.94875513e-01 -4.99448133e-04] [-6.94873080e-01 7.19125011e-01 3.25918546e-03] [-1.90556252e-03 2.69083068e-03 -9.99994564e-01]] t_estimated: [[0.93719611] [0.34879951] [0.00153449]] R_gt: [[ 0.98326026 0.18103997 0.02055686] [-0.18182342 0.98222943 0.04654966] [-0.01176388 -0.04950849 0.99870469]] t_gt: [0.20598208 0.85637878 0.47348366] Pose Error in degrees for R and t: 178.0745171340722 60.496504861100654 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 1.00000000e+00 8.63198402e-15 9.25366554e-17] [-8.57647287e-15 1.00000000e+00 -2.20743562e-16] [ 3.37024245e-16 1.15792792e-16 1.00000000e+00]] t_estimated: [[-0.16466688] [-0.98634854] [-0.00117362]] R_gt: [[ 0.9962139 -0.07710794 0.040169 ] [ 0.07671177 0.99698995 0.01131481] [-0.04092092 -0.00819063 0.99912821]] t_gt: [ 0.49514623 -0.75645681 0.42732108] Pose Error in degrees for R and t: 5.018811823119344 48.38711468400147 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-4.16125200e-01 9.09306754e-01 -1.02182177e-03] [-9.09304665e-01 -4.16126439e-01 -1.95273868e-03] [-2.20084552e-03 1.16563528e-04 9.99997571e-01]] t_estimated: [[0.44683707] [0.89461486] [0.00094071]] R_gt: [[ 0.99219304 -0.11956057 0.03549563] [ 0.11928357 0.99281273 0.00981839] [-0.03641466 -0.0055071 0.99932058]] t_gt: [ 0.54529128 -0.80164028 0.24501078] Pose Error in degrees for R and t: 121.46154201779724 61.75307066195676 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.30477521 -0.95241422 -0.00438364] [ 0.95241986 -0.30475648 -0.00446119] [ 0.00291296 -0.00553473 0.99998044]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98701335 -0.16001629 0.01418822] [ 0.15963272 0.98686237 0.02493595] [-0.0179913 -0.02234712 0.99958817]] t_gt: [ 0.57360351 -0.80318346 0.16085816] Pose Error in degrees for R and t: 98.55925392250258 55.163623232107554 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99743121e-01 -2.26459187e-02 9.23925735e-04] [ 2.26507583e-02 9.99727668e-01 -5.61550894e-03] [-7.96505761e-04 5.63499405e-03 9.99983806e-01]] t_estimated: [[-0.99920856] [-0.03976442] [-0.0010196 ]] R_gt: [[ 0.98913882 0.13511817 -0.05786613] [-0.13570471 0.99072968 -0.00631098] [ 0.0564767 0.01409462 0.99830477]] t_gt: [-0.96417125 0.1916703 -0.18340202] Pose Error in degrees for R and t: 9.681451509645528 17.064795403045892 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.44593136 0.89506577 -0.00157818] [ 0.895065 -0.44592571 0.00298391] [ 0.00196704 -0.00274319 -0.9999943 ]] t_estimated: [[-0.85006487] [-0.52667674] [ 0.00115019]] R_gt: [[ 0.9180082 0.39053371 -0.06887582] [-0.39116501 0.92030887 0.00463921] [ 0.06519867 0.02268301 0.99761462]] t_gt: [-0.94373954 0.31859699 -0.08860946] Pose Error in degrees for R and t: 178.1934045641362 50.62892755589712 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.9147463 -0.39387848 -0.08999419] [ 0.40361973 0.90088258 0.15969248] [ 0.01817477 -0.18240154 0.98305613]] t_estimated: [[-2.32514445e-01] [-9.72592829e-01] [ 4.70491096e-04]] R_gt: [[ 0.776402 0.62982848 -0.02272471] [-0.62995531 0.77662893 0.00197337] [ 0.01889049 0.012784 0.99973968]] t_gt: [-0.87632229 0.48108083 -0.02490925] Pose Error in degrees for R and t: 63.55439366141885 74.68355440357979 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.99617749 -0.01108138 0.08664646] [ 0.0322337 0.96854998 -0.24672238] [-0.08118741 0.24857222 0.96520488]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.95890949 -0.28055397 0.04221237] [ 0.27796293 0.95882277 0.05827822] [-0.05682468 -0.04415005 0.99740705]] t_gt: [ 0.81362388 -0.53119759 0.23631612] Pose Error in degrees for R and t: 22.95663439295128 76.93879994411886 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.99479062 -0.05836528 0.08357695] [ 0.08333056 0.93783547 -0.33692824] [-0.05871652 0.34213757 0.93781355]] t_estimated: [[0.96989926] [0.24349792] [0.0020462 ]] R_gt: [[ 0.88407654 -0.46732482 0.00383328] [ 0.46672759 0.88330941 0.04392308] [-0.02391234 -0.03704245 0.9990269 ]] t_gt: [ 0.89793302 -0.43049417 0.09160269] Pose Error in degrees for R and t: 32.58477723648832 39.98010635586451 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-4.79144349e-01 8.77736110e-01 1.21438604e-04] [ 8.77735792e-01 4.79144047e-01 9.28191115e-04] [ 7.56520274e-04 5.51328536e-04 -9.99999562e-01]] t_estimated: [[9.98413770e-01] [5.62966176e-02] [7.96077607e-04]] R_gt: [[ 0.74528212 -0.66330382 -0.0676883 ] [ 0.66534353 0.74645718 0.01094782] [ 0.04326418 -0.05319545 0.99764645]] t_gt: [ 0.95402681 -0.29837307 0.0283964 ] Pose Error in degrees for R and t: 176.06611390020356 20.652180465489334 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.86882735 -0.49504291 -0.0084591 ] [ 0.49481757 -0.86877066 0.01982702] [-0.01716425 0.01304054 0.99976764]] t_estimated: [[ 0.99995888] [-0.0041276 ] [ 0.00807472]] R_gt: [[ 0.99803802 0.03195324 -0.05384754] [-0.03590671 0.99660238 -0.07412403] [ 0.05129607 0.07591233 0.99579451]] t_gt: [-0.20101486 0.19901655 -0.95915871] Pose Error in degrees for R and t: 152.36672179882999 77.90267042365059 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 7.65001312e-01 -6.44013048e-01 -4.49302985e-03] [ 6.44020183e-01 7.65008476e-01 1.87903996e-04] [ 3.31619329e-03 -3.03734871e-03 9.99989889e-01]] t_estimated: [[9.97415461e-01] [7.18437704e-02] [9.33035979e-04]] R_gt: [[ 0.96686859 0.23072431 -0.10923389] [-0.23551195 0.97131117 -0.03299317] [ 0.0984879 0.05762673 0.99346804]] t_gt: [-0.9104705 0.25879586 -0.322596 ] Pose Error in degrees for R and t: 53.96540514780059 27.148675913430395 Number of keypoints: Image1: 19 Image2: 19 R_estimated: [[-2.95369458e-01 9.55383096e-01 1.53147245e-04] [-9.55371986e-01 -2.95365242e-01 -4.87252563e-03] [-4.60989425e-03 -1.58550784e-03 9.99988117e-01]] t_estimated: [[0.03504504] [0.99937852] [0.00379596]] R_gt: [[ 0.85824148 0.50099874 -0.11145906] [-0.50518118 0.86294187 -0.01107047] [ 0.09063606 0.06580799 0.99370786]] t_gt: [-0.90318264 0.3987157 -0.1590186 ] Pose Error in degrees for R and t: 77.11143666520148 68.51779675084983 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.92651035 0.37619714 0.00736769] [-0.37626753 -0.9263881 -0.01509431] [ 0.00114691 -0.01675726 0.99985893]] t_estimated: [[8.87270152e-01] [4.61249396e-01] [8.19270686e-04]] R_gt: [[ 0.97608083 -0.21727417 0.00762289] [ 0.21724272 0.97610616 0.00477206] [-0.00847702 -0.00300221 0.99995958]] t_gt: [ 0.83630561 -0.546948 0.03795809] Pose Error in degrees for R and t: 170.4423705613746 60.673833541605454 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.78253808 -0.62245204 -0.01369744] [ 0.62259593 0.78244295 0.01254352] [ 0.00290973 -0.01834375 0.99982751]] t_estimated: [[0.90556817] [0.42419923] [0.00114339]] R_gt: [[ 0.89365522 -0.44344685 -0.0688226 ] [ 0.44353423 0.89613448 -0.01484349] [ 0.06825656 -0.01725947 0.99751848]] t_gt: [ 0.91183316 -0.40715081 -0.0528063 ] Pose Error in degrees for R and t: 12.6726852747437 49.23533396235968 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 7.46892867e-01 6.64944029e-01 6.94819488e-04] [-6.64934281e-01 7.46886865e-01 -4.73424469e-03] [-3.66695929e-03 3.07396430e-03 9.99988552e-01]] t_estimated: [[7.51331175e-01] [6.59924986e-01] [6.92471129e-04]] R_gt: [[ 0.77770816 -0.62649308 -0.05174507] [ 0.62270386 0.77903846 -0.07307796] [ 0.08609425 0.02461155 0.99598272]] t_gt: [ 0.94972414 -0.29795401 -0.09616374] Pose Error in degrees for R and t: 80.55737989971587 58.877906897929634 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.99574028 -0.09213994 -0.00339415] [ 0.09215334 0.99573667 0.00402975] [ 0.00300838 -0.00432537 0.99998612]] t_estimated: [[-0.50358717] [-0.86394394] [-0.0009123 ]] R_gt: [[ 0.99087895 0.13334881 -0.01940675] [-0.1338107 0.99069668 -0.02478802] [ 0.01592053 0.02715854 0.99950398]] t_gt: [-0.60012769 0.77288346 -0.20615021] Pose Error in degrees for R and t: 13.106592342470666 68.57251945843089 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.76509028e-01 -2.15475225e-01 -7.38445684e-04] [ 2.15475208e-01 9.76509306e-01 -1.04140182e-04] [ 7.43538711e-04 -5.74229097e-05 9.99999722e-01]] t_estimated: [[-0.64466147] [-0.76446581] [-0.00190166]] R_gt: [[ 0.91142283 0.40477689 -0.07391404] [-0.40525258 0.91415944 0.00913436] [ 0.07126643 0.02162876 0.99722311]] t_gt: [-0.4653479 0.87132324 -0.15571495] Pose Error in degrees for R and t: 36.60721626922283 68.54263101219068 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.98116122e-01 6.13515410e-02 -4.41953890e-04] [-6.13515272e-02 9.98116220e-01 4.47016150e-05] [ 4.43863859e-04 -1.75028565e-05 9.99999901e-01]] t_estimated: [[-9.99032684e-01] [ 4.39689957e-02] [-6.51291914e-04]] R_gt: [[ 8.11955216e-01 5.80125661e-01 -6.46661947e-02] [-5.78390762e-01 8.14527081e-01 4.48393778e-02] [ 7.86849499e-02 9.94931710e-04 9.96899016e-01]] t_gt: [-0.39314819 0.91569317 -0.08330973] Pose Error in degrees for R and t: 32.24979551433253 64.33654508507567 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99998973e-01 -1.43337492e-03 3.52972906e-06] [ 1.43337468e-03 9.99998970e-01 6.77390538e-05] [-3.62682089e-06 -6.77339248e-05 9.99999998e-01]] t_estimated: [[9.99994892e-01] [3.10075945e-03] [7.75189839e-04]] R_gt: [[ 0.999371 -0.03462312 0.00769925] [ 0.03463931 0.99939764 -0.00200217] [-0.00762519 0.00226811 0.99996825]] t_gt: [ 0.48286527 -0.87047733 0.09544811] Pose Error in degrees for R and t: 1.956664085807168 61.299075324476796 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.93118354e-01 1.17114988e-01 1.21279895e-04] [-1.17114968e-01 9.93118351e-01 -1.60366456e-04] [-1.39226605e-04 1.45059180e-04 9.99999980e-01]] t_estimated: [[6.82903918e-01] [7.30507875e-01] [6.94520058e-04]] R_gt: [[ 0.99705626 -0.07657337 -0.00411982] [ 0.07663026 0.99693279 0.0159022 ] [ 0.00288939 -0.0161715 0.99986464]] t_gt: [ 0.52313051 -0.84776095 0.08738333] Pose Error in degrees for R and t: 11.159635280665261 74.81197488117417 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.70867950e-01 2.39614988e-01 2.83269408e-04] [-2.39614911e-01 9.70867970e-01 -2.80427932e-04] [-3.42211931e-04 2.04382918e-04 9.99999921e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99393772 -0.10721069 -0.02436005] [ 0.10789631 0.99374505 0.0287964 ] [ 0.02112087 -0.03125002 0.999288 ]] t_gt: [ 0.52350464 -0.85201376 0.00392957] Pose Error in degrees for R and t: 20.1578160797924 84.84806291882177 Number of keypoints: Image1: 412 Image2: 412 R_estimated: [[ 9.99748161e-01 2.24413524e-02 -2.64082753e-05] [-2.24413516e-02 9.99748161e-01 3.15635486e-05] [ 2.71099534e-05 -3.09629623e-05 9.99999999e-01]] t_estimated: [[-0.50581262] [-0.86264216] [-0.00144971]] R_gt: [[ 0.99875793 0.04968321 0.00380715] [-0.0496423 0.9987167 -0.01000005] [-0.00429864 0.00979875 0.99994257]] t_gt: [-0.05470976 0.95869473 -0.27912587] Pose Error in degrees for R and t: 1.6780348819716837 36.97167270146517 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.97601382e-01 6.92200360e-02 -2.62084041e-04] [-6.92200124e-02 9.97601414e-01 9.79936345e-05] [ 2.68238533e-04 -7.96171247e-05 9.99999961e-01]] t_estimated: [[0.86947209] [0.49398111] [0.00096713]] R_gt: [[ 0.99191266 0.12684028 -0.00442687] [-0.12689611 0.99178751 -0.01592009] [ 0.00237148 0.01635273 0.99986379]] t_gt: [ 0.06750016 0.9810772 -0.18146971] Pose Error in degrees for R and t: 3.4533347327111525 57.101831567758886 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-8.13262717e-01 -5.81896569e-01 -3.68198243e-04] [ 5.81895243e-01 -8.13259129e-01 -2.74133078e-03] [ 1.29573040e-03 -2.44367493e-03 9.99996175e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.98834232 0.1477627 0.03666575] [-0.14790504 0.98899997 0.00118395] [-0.03608692 -0.00659291 0.99932716]] t_gt: [0.22998819 0.93626764 0.26553408] Pose Error in degrees for R and t: 152.9277789504797 45.31667717776094 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99986814e-01 -5.13534978e-03 -4.65889849e-06] [ 5.13534986e-03 9.99986814e-01 1.71594088e-05] [ 4.57071750e-06 -1.71831076e-05 1.00000000e+00]] t_estimated: [[ 6.06240726e-01] [-7.95281162e-01] [-2.34782836e-04]] R_gt: [[ 0.99610769 -0.0565057 -0.06765788] [ 0.05854168 0.99787879 0.02849227] [ 0.06590488 -0.032342 0.9973018 ]] t_gt: [ 0.51672466 -0.72219605 -0.45981354] Pose Error in degrees for R and t: 5.172850872906498 27.412320702107348 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 8.72279285e-01 -4.89007731e-01 -5.36830571e-04] [ 4.89007731e-01 8.72279439e-01 -1.40176191e-04] [ 5.36813510e-04 -1.40241512e-04 9.99999846e-01]] t_estimated: [[ 0.41635164] [-0.90920316] [-0.00096087]] R_gt: [[ 0.99224346 -0.08369756 -0.09191696] [ 0.088418 0.99490055 0.04853397] [ 0.08738574 -0.056284 0.99458293]] t_gt: [ 0.55059807 -0.75235165 -0.36167493] Pose Error in degrees for R and t: 25.02878695783736 23.988027271533625 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.82745525e-01 -1.84961200e-01 -7.66317004e-04] [-1.84956221e-01 9.82737115e-01 -4.35414416e-03] [ 1.55843589e-03 -4.13728060e-03 -9.99990227e-01]] t_estimated: [[0.99428699] [0.10673221] [0.00127399]] R_gt: [[ 0.98790189 -0.11918837 -0.09922278] [ 0.12284368 0.99192457 0.03155838] [ 0.09466066 -0.04336589 0.99456477]] t_gt: [ 0.57615622 -0.73398247 -0.3596022 ] Pose Error in degrees for R and t: 174.56846341644146 60.39175797303365 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99994420e-01 3.34043662e-03 3.92769346e-05] [-3.34042944e-03 9.99994404e-01 -1.81483737e-04] [-3.98829497e-05 1.81351522e-04 9.99999983e-01]] t_estimated: [[ 0.36810812] [-0.92978181] [-0.00148223]] R_gt: [[ 0.99777231 0.03831199 0.05459974] [-0.03662697 0.99883178 -0.03151961] [-0.05574385 0.02945096 0.99801075]] t_gt: [0.05154244 0.94047984 0.33591822] Pose Error in degrees for R and t: 4.104862535292732 31.133407352769346 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99999998e-01 5.93105692e-05 2.44607396e-05] [-5.93100605e-05 9.99999998e-01 -2.07996472e-05] [-2.44619732e-05 2.07981964e-05 9.99999999e-01]] t_estimated: [[0.99750117] [0.0706426 ] [0.00102391]] R_gt: [[ 0.99514874 0.03999896 0.08988643] [-0.04107351 0.99910446 0.01013971] [-0.08940004 -0.013782 0.99590045]] t_gt: [-0.04238354 0.65183887 0.75717219] Pose Error in degrees for R and t: 5.685211776616777 89.73957672763147 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.99936229 0.03560026 0.00276308] [-0.03561217 -0.99935605 -0.00438765] [ 0.0026051 -0.00448325 0.99998656]] t_estimated: [[7.79279006e-01] [6.26676656e-01] [7.74631219e-04]] R_gt: [[ 0.99670387 -0.05676647 0.05795654] [ 0.05224258 0.99567634 0.07680232] [-0.06206508 -0.07352107 0.99536081]] t_gt: [ 0.47259116 -0.05557924 0.87952746] Pose Error in degrees for R and t: 178.92240670126392 70.4802685027275 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.08761368e-01 -4.17314910e-01 -1.02039513e-03] [ 4.17315497e-01 9.08761564e-01 4.42027710e-04] [ 7.42831121e-04 -8.27524407e-04 9.99999382e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98989135 0.1405764 0.01879647] [-0.13903637 0.98801341 -0.06707004] [-0.02799877 0.06377869 0.997571 ]] t_gt: [-0.65698942 0.74515477 -0.11449573] Pose Error in degrees for R and t: 32.954535673544335 42.18987469807404 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 3.87813380e-01 -9.21732696e-01 -3.10164773e-03] [ 9.21737839e-01 3.87812514e-01 9.00398193e-04] [ 3.72931348e-04 -3.20809254e-03 9.99994785e-01]] t_estimated: [[ 6.95520162e-02] [-9.97578103e-01] [-6.67389562e-04]] R_gt: [[ 0.9662429 0.25730349 0.01301315] [-0.25560653 0.96374346 -0.07657266] [-0.03224372 0.07066235 0.99697889]] t_gt: [-0.62158425 0.78077597 -0.06341847] Pose Error in degrees for R and t: 82.17394725014285 34.70693528503047 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-8.79403081e-01 -4.76076984e-01 -9.63102666e-04] [ 4.76077734e-01 -8.79398906e-01 -2.74883912e-03] [ 4.61707606e-04 -2.87584932e-03 9.99995758e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96020816 0.2785369 -0.02042731] [-0.27924329 0.95624106 -0.08732275] [-0.00478866 0.08955299 0.99597066]] t_gt: [-0.6055294 0.77483417 -0.18156583] Pose Error in degrees for R and t: 167.810264457042 52.895941362248884 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99957411e-01 9.22897424e-03 -5.27180553e-05] [-9.22897486e-03 9.99957412e-01 -1.15451213e-05] [ 5.26092606e-05 1.20311632e-05 9.99999999e-01]] t_estimated: [[-4.18308969e-01] [-9.08304752e-01] [-2.89465651e-04]] R_gt: [[ 0.98896622 0.06354162 0.13382832] [-0.05803356 0.99731582 -0.04466928] [-0.13630706 0.03640949 0.98999685]] t_gt: [-0.4108175 0.50801352 0.75706753] Pose Error in degrees for R and t: 8.640086237641865 73.15392165143545 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.97336605 0.22719023 -0.03071032] [-0.22918001 0.9677309 -0.10475415] [ 0.00592021 0.10900233 0.99402386]] t_estimated: [[-0.84515425] [-0.50709255] [-0.16903085]] R_gt: [[ 0.95761463 0.17652651 0.22762331] [-0.15941091 0.9829492 -0.09165096] [-0.23992077 0.05148127 0.96942575]] t_gt: [-0.37471018 0.64813364 0.66295932] Pose Error in degrees for R and t: 15.158450740858877 82.87488641568186 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.99806139 0.06169816 -0.00817331] [ 0.06209478 0.99603224 -0.06374963] [ 0.00420764 -0.06413356 -0.99793245]] t_estimated: [[8.65048340e-01] [5.01687869e-01] [8.07043956e-04]] R_gt: [[ 0.91076754 0.34585712 0.2255765 ] [-0.32361634 0.9371758 -0.13028652] [-0.25646553 0.04566064 0.96547415]] t_gt: [-0.32457237 0.82593007 0.46096887] Pose Error in degrees for R and t: 165.38930587661181 82.30149487406091 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99987945e-01 4.90966964e-03 -7.56781163e-05] [-4.90964769e-03 9.99987906e-01 2.87632175e-04] [ 7.70893800e-05 -2.87257155e-04 9.99999956e-01]] t_estimated: [[0.67452991] [0.73824662] [0.00114945]] R_gt: [[ 0.99858556 -0.05231082 -0.00950201] [ 0.052626 0.99794175 0.03665868] [ 0.00756576 -0.03710794 0.99928314]] t_gt: [ 0.463518 -0.85427689 0.23529144] Pose Error in degrees for R and t: 3.9314411809424543 71.47370680346152 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.41094338e-01 -3.38144112e-01 -8.03975111e-05] [ 3.38144121e-01 9.41094303e-01 2.58841075e-04] [-1.18639458e-05 -2.70779816e-04 9.99999963e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99267201 -0.10347359 -0.06241738] [ 0.10713721 0.99252087 0.05851827] [ 0.05589567 -0.0647774 0.99633351]] t_gt: [ 0.54771618 -0.83556305 -0.04291129] Pose Error in degrees for R and t: 14.551880228234127 66.00445014949351 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 8.80588930e-01 -4.73717788e-01 1.24335396e-02] [ 4.73685145e-01 8.80676218e-01 5.63757041e-03] [-1.36205401e-02 9.25200935e-04 9.99906808e-01]] t_estimated: [[0.983726 ] [0.17928372] [0.01185386]] R_gt: [[ 0.99437045 -0.09857157 -0.0388692 ] [ 0.09962103 0.99468523 0.0260423 ] [ 0.03609563 -0.02976856 0.9989049 ]] t_gt: [ 0.53311094 -0.8419847 -0.08279187] Pose Error in degrees for R and t: 22.819124098164757 68.13014673403923 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-7.16145257e-01 -6.97949942e-01 -1.35987075e-03] [ 6.97949863e-01 -7.16146365e-01 6.10103636e-04] [-1.39968829e-03 -5.12198778e-04 9.99998889e-01]] t_estimated: [[9.94266496e-01] [1.06927536e-01] [7.97966690e-04]] R_gt: [[ 0.90670984 -0.42166009 0.00886979] [ 0.42146597 0.90666817 0.01785315] [-0.01556929 -0.01244866 0.99980142]] t_gt: [ 0.89315483 -0.44788329 0.04092693] Pose Error in degrees for R and t: 110.80435380104558 32.84134082876314 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 5.70043809e-01 8.21568997e-01 8.62776797e-03] [-8.21475583e-01 5.70109097e-01 -1.23888944e-02] [-1.50971006e-02 -2.52881472e-05 9.99886032e-01]] t_estimated: [[-0.91934488] [ 0.39326462] [ 0.01216256]] R_gt: [[ 0.8053344 -0.5925583 0.01763871] [ 0.59203767 0.80544423 0.0274193 ] [-0.03045379 -0.01163817 0.99946813]] t_gt: [ 0.93159492 -0.36077486 0.04441179] Pose Error in degrees for R and t: 91.58380780004677 3.803993126046468 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99255073e-01 -3.85914264e-02 -1.54825074e-05] [ 3.85914293e-02 9.99255031e-01 2.91453928e-04] [ 4.22335056e-06 -2.91834309e-04 9.99999957e-01]] t_estimated: [[0.86797067] [0.49661412] [0.00115278]] R_gt: [[ 6.57080038e-01 -7.50377135e-01 -7.19668213e-02] [ 7.52336641e-01 6.58779689e-01 1.79111249e-04] [ 4.72765599e-02 -5.42606281e-02 9.97407115e-01]] t_gt: [ 0.97055568 -0.24007667 0.01961804] Pose Error in degrees for R and t: 46.7527671591404 43.67977161548981 Number of keypoints: Image1: 324 Image2: 324 R_estimated: [[ 9.99659077e-01 2.61099351e-02 3.25472687e-05] [-2.61099344e-02 9.99659077e-01 -2.26631452e-05] [-3.31279058e-05 2.18056118e-05 9.99999999e-01]] t_estimated: [[ 7.88045819e-01] [-6.15616588e-01] [ 5.98087823e-05]] R_gt: [[ 0.99923633 -0.03297459 -0.02098318] [ 0.03335743 0.99927925 0.01817802] [ 0.02036854 -0.01886506 0.99961508]] t_gt: [ 0.56657089 -0.8082114 -0.1605981 ] Pose Error in degrees for R and t: 3.751149583375292 19.261545734697968 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[-0.67971141 0.73280592 0.03143065] [ 0.7328146 0.68029571 -0.01343515] [-0.03122749 0.01390082 -0.99941563]] t_estimated: [[ 0.9201074 ] [-0.39128755] [ 0.01721683]] R_gt: [[ 9.97171126e-01 -7.03009195e-02 -2.66168857e-02] [ 7.03073274e-02 9.97525654e-01 -6.86718209e-04] [ 2.65996709e-02 -1.18706896e-03 9.99645292e-01]] t_gt: [ 0.5746753 -0.76891011 -0.28022409] Pose Error in degrees for R and t: 179.44596786636183 34.43143725272063 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.96985472e-01 7.75877308e-02 3.35074553e-04] [-7.75875021e-02 9.96985335e-01 -6.48658851e-04] [-3.84392384e-04 6.20705853e-04 9.99999733e-01]] t_estimated: [[ 0.84729373] [-0.53111986] [-0.0022433 ]] R_gt: [[ 0.99396257 -0.10575243 -0.02925205] [ 0.10593773 0.99436183 0.00486576] [ 0.02857296 -0.00793602 0.99956064]] t_gt: [ 0.56561544 -0.80282046 -0.18856957] Pose Error in degrees for R and t: 10.667272943263015 25.03366351212188 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99999770e-01 -4.12638021e-04 -5.38817616e-04] [ 4.12919681e-04 9.99999778e-01 5.22731281e-04] [ 5.38601797e-04 -5.22953649e-04 9.99999718e-01]] t_estimated: [[-9.99963460e-01] [-4.61811902e-04] [-8.53607989e-03]] R_gt: [[ 0.99772783 0.06263422 0.02482879] [-0.06311072 0.99782897 0.01883635] [-0.02359464 -0.02036024 0.99951342]] t_gt: [-0.18523697 0.45432891 0.87136244] Pose Error in degrees for R and t: 4.047406444265184 79.77102860810528 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-1.39059590e-01 -9.90281777e-01 -2.10555516e-03] [ 9.90284013e-01 -1.39059426e-01 -2.24671964e-04] [-7.03087407e-05 -2.11634040e-03 9.99997758e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98420685 0.17325489 0.03632676] [-0.17489037 0.98341389 0.04807331] [-0.02739486 -0.05366705 0.99818232]] t_gt: [-0.30818483 0.78523371 0.53705691] Pose Error in degrees for R and t: 108.06436426234727 72.22185404316369 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99993095e-01 3.68456069e-03 4.84146408e-04] [-3.68470491e-03 9.99993167e-01 2.97334349e-04] [-4.83047553e-04 -2.99116233e-04 9.99999839e-01]] t_estimated: [[-0.99976284] [ 0.02163648] [ 0.00247426]] R_gt: [[ 0.96618607 0.25618667 0.02920874] [-0.25708589 0.96583239 0.03280148] [-0.01980629 -0.03920145 0.99903483]] t_gt: [-0.15006572 0.94701653 0.28397178] Pose Error in degrees for R and t: 14.875011563955127 80.1410735130907 Number of keypoints: Image1: 580 Image2: 580 R_estimated: [[-0.82334651 0.5650288 0.05331956] [ 0.56506532 0.82489417 -0.01583677] [-0.05293123 0.01708989 -0.99845191]] t_estimated: [[ 0.95681466] [-0.28933038] [ 0.02817149]] R_gt: [[ 0.99897126 -0.04457584 -0.00840814] [ 0.04446528 0.99892832 -0.01287664] [ 0.00897429 0.01248924 0.99988195]] t_gt: [ 0.53088207 -0.77765818 -0.33676695] Pose Error in degrees for R and t: 177.07266607762017 43.65839307347844 Number of keypoints: Image1: 473 Image2: 473 R_estimated: [[-0.95076122 0.30721779 0.04086959] [ 0.30722466 0.95161637 -0.00626837] [-0.04081792 0.00659642 -0.99914483]] t_estimated: [[ 0.98730597] [-0.15744463] [ 0.02093086]] R_gt: [[ 0.99810555 -0.0613021 -0.00528188] [ 0.06136155 0.99804429 0.01196775] [ 0.00453857 -0.01226852 0.99991448]] t_gt: [ 0.43107773 -0.90124861 0.04385132] Pose Error in degrees for R and t: 178.01721270611168 55.35986338537843 Number of keypoints: Image1: 367 Image2: 367 R_estimated: [[-0.99613487 0.08760274 0.00640973] [ 0.08764602 0.99612837 0.00681458] [-0.00578794 0.00735003 -0.99995624]] t_estimated: [[0.99843261] [0.0559288 ] [0.00207144]] R_gt: [[ 0.99273769 -0.11758019 0.02543247] [ 0.11734875 0.99303735 0.01036603] [-0.02647428 -0.00730599 0.99962296]] t_gt: [ 0.34877868 -0.90303342 0.25076698] Pose Error in degrees for R and t: 178.16034991590993 72.64772290139909 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.97300263e-01 -7.34314727e-02 5.88969879e-05] [ 7.34314630e-02 9.97300254e-01 1.53123490e-04] [-6.99820644e-05 -1.48385205e-04 9.99999987e-01]] t_estimated: [[ 0.97302162] [-0.23070746] [ 0.00172941]] R_gt: [[ 0.9986798 -0.03803728 -0.03455505] [ 0.03821292 0.99925979 0.00444441] [ 0.03436012 -0.0057586 0.99939269]] t_gt: [ 0.61058819 -0.69687119 -0.37623479] Pose Error in degrees for R and t: 2.845185304855085 41.04114778827218 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-9.19198324e-01 3.93794207e-01 7.50507743e-04] [-3.93794415e-01 -9.19192411e-01 -3.35723602e-03] [-6.32199077e-04 -3.38151149e-03 9.99994083e-01]] t_estimated: [[0.63944755] [0.76883378] [0.00120259]] R_gt: [[ 0.9942038 -0.09365817 -0.05280936] [ 0.09616936 0.99424464 0.04719932] [ 0.0480845 -0.05200506 0.99748832]] t_gt: [ 0.57730174 -0.81515597 -0.04736516] Pose Error in degrees for R and t: 162.27860944308406 75.070980205036 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.17877237e-01 -3.96861949e-01 -1.40414935e-03] [ 3.96863275e-01 9.17877361e-01 8.31081321e-04] [ 9.59012344e-04 -1.32008593e-03 9.99998669e-01]] t_estimated: [[9.05170198e-01] [4.25048720e-01] [7.06060997e-04]] R_gt: [[ 0.98373653 -0.14273276 -0.1090471 ] [ 0.14896396 0.98751359 0.05125963] [ 0.10036855 -0.06667016 0.99271378]] t_gt: [ 0.60944193 -0.76679224 -0.20151972] Pose Error in degrees for R and t: 16.44116889256168 76.9628765578667 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999996e-01 -3.55890294e-05 -8.43064867e-05] [ 3.55991470e-05 9.99999992e-01 1.20010872e-04] [ 8.43022150e-05 -1.20013873e-04 9.99999989e-01]] t_estimated: [[4.72543402e-01] [8.81307010e-01] [8.29089337e-04]] R_gt: [[ 0.99517266 0.09672196 0.0165929 ] [-0.09568906 0.99391193 -0.05462578] [-0.02177529 0.05277462 0.99836898]] t_gt: [-0.51331938 0.8438116 -0.15647747] Pose Error in degrees for R and t: 6.426994114019123 59.93635689723023 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99999956e-01 2.66449440e-04 -1.28765989e-04] [-2.66436926e-04 9.99999960e-01 9.71895495e-05] [ 1.28791880e-04 -9.71552372e-05 9.99999987e-01]] t_estimated: [[-0.75590447] [-0.6546801 ] [-0.00155107]] R_gt: [[ 0.98024634 0.19703724 0.01714529] [-0.19627719 0.97980036 -0.03831775] [-0.02434944 0.03419562 0.99911835]] t_gt: [-0.50489563 0.86267633 -0.02949501] Pose Error in degrees for R and t: 11.584764655787595 79.45087965953253 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999997e-01 -4.73743230e-05 -6.36296513e-05] [ 4.73691366e-05 9.99999996e-01 -8.15082250e-05] [ 6.36335124e-05 8.15052107e-05 9.99999995e-01]] t_estimated: [[-9.99996995e-01] [-2.32557421e-03] [-7.75191469e-04]] R_gt: [[ 0.94839659 0.31434524 0.04162172] [-0.3132456 0.94916972 -0.03089301] [-0.04921675 0.01626114 0.99865535]] t_gt: [-0.48209226 0.87449405 0.05335928] Pose Error in degrees for R and t: 18.541246152487947 61.31356976282278 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999994e-01 -1.11347990e-04 -1.69557860e-05] [ 1.11345341e-04 9.99999982e-01 -1.56129011e-04] [ 1.69731703e-05 1.56127122e-04 9.99999988e-01]] t_estimated: [[ 0.81722426] [ 0.57631766] [-0.00157067]] R_gt: [[ 0.99840016 -0.03899059 0.04095805] [ 0.03771514 0.99879323 0.03145341] [-0.04213457 -0.02985674 0.99866589]] t_gt: [ 0.41282906 -0.78808936 0.45660412] Pose Error in degrees for R and t: 3.6886320047267476 83.25024944793674 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.33119442 -0.94356024 -0.0020814 ] [ 0.94351053 -0.3311522 -0.01122923] [ 0.0099062 -0.00568288 0.99993478]] t_estimated: [[8.30521221e-01] [5.56986371e-01] [8.26389275e-04]] R_gt: [[ 0.99903766 -0.04382739 0.00183629] [ 0.0437566 0.99862774 0.02875452] [-0.00309381 -0.02864533 0.99958453]] t_gt: [ 0.4026227 -0.89509391 0.19157725] Pose Error in degrees for R and t: 106.84628533964178 80.5602663680644 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.99994763 -0.00919602 -0.00449162] [ 0.00921643 0.9999472 0.004544 ] [ 0.00444959 -0.00458516 0.99997959]] t_estimated: [[ 0.86433787] [-0.50290443] [-0.00268026]] R_gt: [[ 0.98881598 -0.14448088 -0.03700462] [ 0.14415633 0.98949075 -0.01128 ] [ 0.03824575 0.00582058 0.99925144]] t_gt: [ 0.67841802 -0.7266699 -0.10816582] Pose Error in degrees for R and t: 8.038337025498882 17.802170717905668 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.93329100e-01 1.15313846e-01 1.22897798e-04] [-1.15313821e-01 9.93329091e-01 -1.99848113e-04] [-1.45123212e-04 1.84343132e-04 9.99999972e-01]] t_estimated: [[7.96323615e-01] [6.04870332e-01] [7.62762083e-04]] R_gt: [[ 0.99669858 -0.08100869 0.00546122] [ 0.0807006 0.99581066 0.04302373] [-0.00892363 -0.04244044 0.99905971]] t_gt: [ 0.67408474 -0.65297077 0.34530992] Pose Error in degrees for R and t: 11.533590690175393 81.83117688575051 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.94399758e-01 1.05684016e-01 9.62149198e-05] [-1.05684033e-01 9.94399740e-01 2.04492744e-04] [-7.40644769e-05 -2.13515916e-04 9.99999974e-01]] t_estimated: [[-0.64647151] [-0.76293766] [-0.00084396]] R_gt: [[ 0.98374746 -0.17840493 -0.02031621] [ 0.17917922 0.98271353 0.04658782] [ 0.01165421 -0.04947064 0.99870841]] t_gt: [ 0.76409501 -0.63364599 0.12104372] Pose Error in degrees for R and t: 16.626262657926834 89.39062349780693 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.60984897 0.79250549 0.00439089] [ 0.79251696 0.60984639 0.00205946] [-0.00104564 0.00473581 -0.99998824]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96787861 -0.25041283 -0.02247957] [ 0.25137167 0.96556657 0.06704463] [ 0.00491696 -0.070542 0.99749678]] t_gt: [ 0.76884341 -0.61944286 0.15865169] Pose Error in degrees for R and t: 177.73294736696445 39.9110235401774 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.95975772e-01 -8.96228197e-02 -1.07382518e-04] [ 8.96228282e-02 9.95975774e-01 7.66084263e-05] [ 1.00084523e-04 -8.59240615e-05 9.99999991e-01]] t_estimated: [[ 9.06451815e-01] [ 4.22309045e-01] [-4.21968779e-04]] R_gt: [[ 0.9962786 -0.08557095 -0.01033731] [ 0.08593299 0.99540944 0.04212906] [ 0.00668418 -0.04286023 0.99905899]] t_gt: [ 0.61184016 -0.70700928 0.35466814] Pose Error in degrees for R and t: 2.490177724752365 75.17440947759026 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.91628120e-01 -4.52767479e-01 -9.51410319e-04] [ 4.52768110e-01 8.91628108e-01 5.96926056e-04] [ 5.78035477e-04 -9.63004309e-04 9.99999369e-01]] t_estimated: [[8.83149675e-01] [4.69090776e-01] [7.04563001e-04]] R_gt: [[ 0.99467985 -0.10106162 -0.01998625] [ 0.10290217 0.98392896 0.14592703] [ 0.00491693 -0.14720679 0.98909336]] t_gt: [ 0.40999443 -0.66729389 0.62179051] Pose Error in degrees for R and t: 22.6406297733317 87.1625201766897 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-1.59173204e-01 9.87250304e-01 8.53021846e-04] [ 9.87242278e-01 1.59168228e-01 4.26130753e-03] [ 4.07120318e-03 1.52042520e-03 -9.99990557e-01]] t_estimated: [[-0.94468166] [-0.32798719] [-0.000982 ]] R_gt: [[ 0.98334538 -0.17205775 -0.05854475] [ 0.18097838 0.95656204 0.22854997] [ 0.01667768 -0.23533904 0.97176999]] t_gt: [ 0.50967091 -0.61207438 0.60464909] Pose Error in degrees for R and t: 169.51249543160483 73.66111917738286 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999976e-01 2.17544098e-04 -5.36520481e-06] [-2.17544089e-04 9.99999976e-01 1.64861218e-06] [ 5.36556333e-06 -1.64744497e-06 1.00000000e+00]] t_estimated: [[-2.17234744e-01] [ 9.76119382e-01] [-1.31856175e-04]] R_gt: [[ 0.99866607 0.02994637 -0.0420682 ] [-0.02964894 0.99953094 0.00768411] [ 0.04227924 -0.00642601 0.99908462]] t_gt: [-0.01270706 0.7376033 -0.67511474] Pose Error in degrees for R and t: 2.9802575334259895 43.71068372463504 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.95889939e-01 9.05715804e-02 -1.31267173e-04] [-9.05715787e-02 9.95889948e-01 1.88430346e-05] [ 1.32434302e-04 -6.87651344e-06 9.99999991e-01]] t_estimated: [[-0.94162232] [-0.33666943] [-0.00105209]] R_gt: [[ 9.97216710e-01 2.80951946e-02 6.90544723e-02] [-2.81387822e-02 9.99603688e-01 -3.40690077e-04] [-6.90366580e-02 -1.60237958e-03 9.97612553e-01]] t_gt: [-0.35862038 0.41648007 0.83542551] Pose Error in degrees for R and t: 5.345858181336467 78.66238373770193 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.68079189 -0.73243687 -0.00765731] [ 0.73128339 -0.67904891 -0.06416528] [ 0.04179733 -0.04928287 0.99790991]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.98095116 0.07130659 0.18069429] [-0.07419578 0.99720111 0.00926721] [-0.17952683 -0.02249746 0.98349525]] t_gt: [-0.42293151 0.33877791 0.84045135] Pose Error in degrees for R and t: 137.66294013769686 65.2559681340101 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.94363680e-01 1.06022511e-01 3.14573780e-04] [-1.06022332e-01 9.94363604e-01 -5.37302664e-04] [-3.69766895e-04 5.00922409e-04 9.99999806e-01]] t_estimated: [[0.87984274] [0.47526365] [0.00110408]] R_gt: [[ 9.85337519e-01 -7.07788418e-03 1.70470318e-01] [ 6.91676525e-03 9.99974987e-01 1.53300345e-03] [-1.70476304e-01 -3.30883401e-04 9.85361733e-01]] t_gt: [-0.19615256 -0.04932604 0.97933197] Pose Error in degrees for R and t: 11.74646885802676 78.75848855460335 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99153463e-01 4.11382443e-02 5.34248336e-05] [-4.11382348e-02 9.99153450e-01 -1.67579205e-04] [-6.02735211e-05 1.65239539e-04 9.99999985e-01]] t_estimated: [[-1.46460210e-01] [-9.89216559e-01] [ 8.02676686e-05]] R_gt: [[ 9.74011425e-01 2.19818254e-02 2.25430395e-01] [-2.26555174e-02 9.99743884e-01 4.02087475e-04] [-2.25363687e-01 -5.49800905e-03 9.74259281e-01]] t_gt: [-0.33194764 0.06672346 0.94093504] Pose Error in degrees for R and t: 13.068018253906663 89.0080860542412 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-1.12422723e-01 -9.93660300e-01 -5.83303750e-04] [-9.93660300e-01 1.12422341e-01 6.51843461e-04] [-5.82134596e-04 6.52887796e-04 -9.99999617e-01]] t_estimated: [[0.77058487] [0.63733669] [0.00095037]] R_gt: [[ 0.97315976 0.08726438 0.21294346] [-0.08851939 0.99606777 -0.00365188] [-0.21242465 -0.01529546 0.97705805]] t_gt: [-0.55008851 0.2833395 0.78557073] Pose Error in degrees for R and t: 170.61829690465837 75.96227868840921 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.93772031e-01 1.11430505e-01 6.26561393e-04] [-1.11429958e-01 9.93771927e-01 -8.49811574e-04] [-7.17354056e-04 7.74701265e-04 9.99999443e-01]] t_estimated: [[ 0.28435205] [-0.9587018 ] [-0.00589705]] R_gt: [[ 0.99132049 -0.13125465 -0.00747635] [ 0.13134667 0.9912455 0.01347136] [ 0.00564285 -0.01433697 0.99988092]] t_gt: [ 0.75995792 -0.64895432 0.03636267] Pose Error in degrees for R and t: 13.97458542355513 33.06681919764903 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99997970e-01 5.82886071e-04 -1.92870200e-03] [-5.77393512e-04 9.99995780e-01 2.84713304e-03] [ 1.93035342e-03 -2.84601364e-03 9.99994087e-01]] t_estimated: [[-0.82461303] [-0.56569585] [-0.00125193]] R_gt: [[ 0.97906309 -0.20067328 -0.03414971] [ 0.20205208 0.97841769 0.04329761] [ 0.02472421 -0.04929199 0.99847795]] t_gt: [ 0.76987988 -0.63369704 0.07558461] Pose Error in degrees for R and t: 12.028209968274595 73.9504939963087 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99996622 -0.00805469 0.00163751] [-0.00804094 -0.99993371 -0.00824069] [ 0.00170378 0.00822724 -0.9999647 ]] t_estimated: [[ 0.14422705] [ 0.98953658] [-0.00398833]] R_gt: [[ 0.97158295 -0.2366535 0.00467426] [ 0.2365405 0.97146226 0.01759087] [-0.00870375 -0.01598532 0.99983387]] t_gt: [ 0.76317064 -0.64288273 0.06536338] Pose Error in degrees for R and t: 179.5064742839187 58.24104536017622 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.80455141e-01 -1.96739749e-01 1.08960948e-03] [ 1.96741157e-01 9.80454486e-01 -1.38509077e-03] [-7.95810094e-04 1.57239039e-03 9.99998447e-01]] t_estimated: [[-0.69248405] [-0.72143278] [-0.00076181]] R_gt: [[ 0.98925457 -0.14192103 -0.03513421] [ 0.14177761 0.98987622 -0.00656522] [ 0.03571058 0.00151311 0.99936063]] t_gt: [ 0.8418093 -0.5305799 -0.09920727] Pose Error in degrees for R and t: 3.81543361609446 78.45799987204998 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.28231629e-01 -3.71995678e-01 2.29308278e-03] [ 3.71996513e-01 9.28234125e-01 6.68448045e-05] [-2.15338367e-03 7.90971337e-04 9.99997369e-01]] t_estimated: [[0.94852369] [0.31670288] [0.00144598]] R_gt: [[ 0.96446971 -0.26123112 -0.03943654] [ 0.26245962 0.96447621 0.0299944 ] [ 0.03020007 -0.03927956 0.99877126]] t_gt: [ 0.82759965 -0.55079802 0.10816816] Pose Error in degrees for R and t: 7.273540617622967 52.35878197711211 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-9.46280143e-01 3.23347703e-01 3.91595312e-04] [ 3.23345584e-01 9.46277177e-01 -2.67157819e-03] [-1.23440638e-03 -2.40144078e-03 -9.99996355e-01]] t_estimated: [[ 0.78733275] [-0.61652088] [ 0.00302496]] R_gt: [[ 0.9588297 -0.27649348 -0.06477676] [ 0.28169147 0.95493077 0.09357777] [ 0.03598378 -0.10797301 0.99350228]] t_gt: [ 0.74763418 -0.60518102 0.27349417] Pose Error in degrees for R and t: 176.18635268292022 15.725563180497103 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999892e-01 -3.00049985e-04 3.54754844e-04] [ 3.00175247e-04 9.99999893e-01 -3.53094782e-04] [-3.54648860e-04 3.53201232e-04 9.99999875e-01]] t_estimated: [[0.73501151] [0.67805387] [0.00101078]] R_gt: [[ 0.9978993 -0.06412651 0.00917774] [ 0.06409812 0.99793865 0.00341427] [-0.00937781 -0.00281908 0.99995178]] t_gt: [ 0.74308282 -0.66731637 0.05016759] Pose Error in degrees for R and t: 3.6995517243478497 84.62069661042734 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-8.08303946e-01 -5.88764860e-01 -8.18369858e-04] [ 5.88762390e-01 -8.08294528e-01 -4.33632392e-03] [ 1.89159127e-03 -3.98689313e-03 9.99990263e-01]] t_estimated: [[8.73666821e-01] [4.86524138e-01] [7.41652649e-04]] R_gt: [[ 0.99559527 -0.09346239 0.0074277 ] [ 0.09317306 0.99511246 0.03273224] [-0.01045055 -0.03189614 0.99943606]] t_gt: [ 0.62129185 -0.75945496 0.19293676] Pose Error in degrees for R and t: 138.58248159895555 80.01141337550304 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.60525015e-01 2.78193536e-01 2.27166309e-04] [-2.78193620e-01 9.60524867e-01 5.37416736e-04] [-6.86930269e-05 -5.79398437e-04 9.99999830e-01]] t_estimated: [[0.73015901] [0.68327571] [0.00145812]] R_gt: [[ 9.93056398e-01 -1.12840032e-01 -3.32483245e-02] [ 1.12803261e-01 9.93612855e-01 -2.98146445e-03] [ 3.33728832e-02 -7.90033808e-04 9.99442248e-01]] t_gt: [ 0.62930173 -0.77299168 -0.08039403] Pose Error in degrees for R and t: 22.71278281803626 86.05531702943232 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.99999986e-01 1.65459215e-04 -2.55348202e-05] [-1.65458358e-04 9.99999986e-01 3.35479210e-05] [ 2.55403706e-05 -3.35436956e-05 9.99999999e-01]] t_estimated: [[-0.98287334] [-0.18427487] [-0.0016666 ]] R_gt: [[ 9.99672778e-01 9.79444004e-03 -2.36591510e-02] [-9.77552787e-03 9.99952148e-01 9.04944257e-04] [ 2.36673902e-02 -6.74241492e-04 9.99720323e-01]] t_gt: [-0.0228575 0.82436292 -0.56559996] Pose Error in degrees for R and t: 1.461116530604298 82.61703750291188 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 8.00271011e-01 5.99638481e-01 2.96562094e-05] [-5.99638327e-01 8.00270839e-01 -6.79029114e-04] [-4.30904986e-04 5.25624316e-04 9.99999769e-01]] t_estimated: [[-7.20398650e-02] [ 9.97401753e-01] [ 4.24315838e-05]] R_gt: [[ 9.98476935e-01 -5.51707286e-02 -4.57076569e-04] [ 5.51725871e-02 9.98409803e-01 1.15572388e-02] [-1.81526566e-04 -1.15655115e-02 9.99933231e-01]] t_gt: [ 0.95381316 -0.22646083 0.19737261] Pose Error in degrees for R and t: 40.01271993174551 72.86784809893523 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99943985e-01 1.05793033e-02 3.24832358e-04] [-1.05793222e-02 9.99944036e-01 5.63784254e-05] [-3.24217734e-04 -5.98117735e-05 9.99999946e-01]] t_estimated: [[9.67287297e-01] [2.53682029e-01] [8.44489222e-04]] R_gt: [[ 0.98926241 -0.14606037 -0.00508051] [ 0.14590268 0.98901629 -0.02367885] [ 0.00848264 0.02268378 0.99970668]] t_gt: [ 0.91899485 -0.36396177 -0.15159254] Pose Error in degrees for R and t: 9.108854599048145 37.20534969579042 Number of keypoints: Image1: 412 Image2: 412 R_estimated: [[-0.58065537 -0.81397952 0.01663363] [-0.81395818 0.58084063 0.00981053] [-0.01764706 -0.00784255 -0.99981352]] t_estimated: [[0.87944896] [0.47588541] [0.01012965]] R_gt: [[ 0.99340508 -0.10913281 0.03518925] [ 0.10815471 0.99372299 0.02858468] [-0.03808767 -0.0245907 0.99897187]] t_gt: [ 0.3782267 -0.78601596 0.48900253] Pose Error in degrees for R and t: 176.32515119724403 87.91001517806534 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 5.96071014e-01 8.02931699e-01 1.82487918e-04] [-8.02930715e-01 5.96070613e-01 -1.44649879e-03] [-1.27021542e-03 7.15690849e-04 9.99998937e-01]] t_estimated: [[0.59509662] [0.80365342] [0.00109192]] R_gt: [[ 0.98596082 -0.16114507 0.04375589] [ 0.16073371 0.98691476 0.01278975] [-0.04524434 -0.00557737 0.99896078]] t_gt: [ 0.42284148 -0.83505253 0.35198345] Pose Error in degrees for R and t: 62.724801387775805 65.22367499502248 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.93189975e-01 1.16505637e-01 3.31622004e-04] [-1.16505538e-01 9.93189995e-01 -3.05209214e-04] [-3.64922251e-04 2.64494932e-04 9.99999898e-01]] t_estimated: [[0.73297471] [0.68025533] [0.00087662]] R_gt: [[ 0.9810583 -0.16868848 0.09523487] [ 0.1706611 0.98524576 -0.01290138] [-0.09165297 0.02891042 0.99537135]] t_gt: [ 0.2167306 -0.8389018 0.49927109] Pose Error in degrees for R and t: 17.36695876082912 65.70896802115986 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999998e-01 -5.78250156e-06 6.52750586e-05] [ 5.78709175e-06 9.99999998e-01 -7.03207259e-05] [-6.52746518e-05 7.03211035e-05 9.99999995e-01]] t_estimated: [[-0.83621595] [-0.54839907] [-0.00115918]] R_gt: [[ 0.99434618 0.09784241 0.04126881] [-0.09716593 0.99510375 -0.01808748] [-0.04283615 0.01397535 0.99898496]] t_gt: [-0.56320093 0.81078025 0.15949955] Pose Error in degrees for R and t: 6.162868093424463 88.5020269263692 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999907e-01 -2.47506792e-04 -3.53794372e-04] [ 2.47610461e-04 9.99999926e-01 2.93005835e-04] [ 3.53721825e-04 -2.93093410e-04 9.99999894e-01]] t_estimated: [[-9.48062619e-01] [-3.18082519e-01] [-8.83562553e-04]] R_gt: [[ 9.71335830e-01 2.35235034e-01 3.42203148e-02] [-2.35346435e-01 9.71910977e-01 -7.59433957e-04] [-3.34369370e-02 -7.31534340e-03 9.99414166e-01]] t_gt: [-0.527955 0.84483891 0.08666442] Pose Error in degrees for R and t: 13.769505219453231 76.60109331511816 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999956e-01 1.02241424e-04 2.78878370e-04] [-1.02126203e-04 9.99999909e-01 -4.13143042e-04] [-2.78920585e-04 4.13114543e-04 9.99999876e-01]] t_estimated: [[0.94866321] [0.31628103] [0.00210573]] R_gt: [[ 0.95775912 0.28166968 0.05797868] [-0.2820398 0.9594011 -0.00186271] [-0.05614911 -0.01456899 0.99831623]] t_gt: [-0.50996999 0.84752025 0.14710554] Pose Error in degrees for R and t: 16.7084332635018 77.5595123506124 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.9653228 -0.26050783 -0.01695745] [ 0.26060637 0.96543747 0.00384764] [ 0.01536901 -0.00813343 0.99984881]] t_estimated: [[0.99992265] [0.01236168] [0.00137352]] R_gt: [[ 0.98860616 -0.12962917 0.07651527] [ 0.11284038 0.97463897 0.19324653] [-0.09962493 -0.18241186 0.97816182]] t_gt: [ 0.41440977 -0.39511659 0.81984597] Pose Error in degrees for R and t: 14.549051858547545 65.75624430857464 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.87017939e-01 -6.11299039e-02 1.48521793e-01] [-6.18231890e-02 -9.98087116e-01 5.13530984e-05] [ 1.48234549e-01 -9.23277731e-03 -9.88909134e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97528549 -0.17539806 0.13436219] [ 0.13290065 0.95150961 0.27742759] [-0.17650715 -0.25271443 0.95130456]] t_gt: [ 0.39400862 -0.28741358 0.8730124 ] Pose Error in degrees for R and t: 164.7064780902858 73.49834947190658 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 2.38187269e-02 9.99716294e-01 -6.65985824e-06] [ 9.99716097e-01 -2.38187180e-02 6.28168854e-04] [ 6.27832009e-04 -2.16201499e-05 -9.99999803e-01]] t_estimated: [[0.99990407] [0.01374439] [0.00171805]] R_gt: [[ 0.98124433 -0.13098492 0.14142558] [ 0.08799869 0.95714312 0.27592046] [-0.17150614 -0.25830101 0.95071876]] t_gt: [ 0.32093439 -0.1710456 0.93152806] Pose Error in degrees for R and t: 175.22146431903917 71.32781624925234 Number of keypoints: Image1: 502 Image2: 502 R_estimated: [[ 9.99510517e-01 -3.12846129e-02 1.98054603e-05] [ 3.12846118e-02 9.99510515e-01 5.44328349e-05] [-2.14986760e-05 -5.37865847e-05 9.99999998e-01]] t_estimated: [[9.99931085e-01] [1.17287279e-02] [5.11768798e-04]] R_gt: [[ 0.99854414 -0.05303619 0.00986534] [ 0.0532459 0.99832987 -0.02243364] [-0.0086593 0.02292706 0.99969992]] t_gt: [ 0.36742232 -0.90169438 -0.22792124] Pose Error in degrees for R and t: 1.8835262192973492 69.10204692849763 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[-8.35032313e-01 5.50196271e-01 -2.25830887e-03] [-5.50196627e-01 -8.35034972e-01 -5.16544351e-04] [-2.16996766e-03 8.11182696e-04 9.99997317e-01]] t_estimated: [[0.64857441] [0.76115079] [0.00084012]] R_gt: [[ 0.99559921 -0.04933902 0.07968155] [ 0.0528967 0.99766592 -0.04317423] [-0.07736516 0.04719876 0.99588491]] t_gt: [-0.58416328 -0.46115045 0.66790233] Pose Error in degrees for R and t: 149.58500556976318 43.17081169694447 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99327240e-01 -3.66751544e-02 -2.82686623e-05] [ 3.66751646e-02 9.99327076e-01 5.72538924e-04] [ 7.25168617e-06 -5.73190501e-04 9.99999836e-01]] t_estimated: [[-0.97844359] [-0.20651148] [-0.00107137]] R_gt: [[ 0.99183503 -0.06800829 0.10788579] [ 0.07190045 0.99687897 -0.03260956] [-0.10533195 0.04010046 0.99362866]] t_gt: [-0.49838858 -0.52145186 0.69260146] Pose Error in degrees for R and t: 6.76139942216979 53.51667043996323 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999903e-01 -3.44806779e-04 -2.75855692e-04] [ 3.44929659e-04 9.99999841e-01 4.45528948e-04] [ 2.75702027e-04 -4.45624056e-04 9.99999863e-01]] t_estimated: [[-8.65603140e-01] [-5.00730068e-01] [-7.76325686e-04]] R_gt: [[ 0.99736225 0.0706525 -0.01661193] [-0.07026817 0.99727161 0.02264712] [ 0.01816689 -0.02141917 0.9996044 ]] t_gt: [-0.64675587 0.75384237 0.11588152] Pose Error in degrees for R and t: 4.357601307435654 79.49785059327652 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.90391734e-01 -1.38290139e-01 -2.23756957e-04] [ 1.38290034e-01 9.90391680e-01 -4.31498181e-04] [ 2.81278973e-04 3.96408875e-04 9.99999882e-01]] t_estimated: [[-0.51928408] [-0.85460069] [-0.00130473]] R_gt: [[ 9.91187818e-01 8.06467805e-02 -1.05085819e-01] [-8.11284869e-02 9.96704327e-01 -3.11522654e-04] [ 1.04714146e-01 8.83418941e-03 9.94462425e-01]] t_gt: [-0.34241549 0.70030795 -0.62635486] Pose Error in degrees for R and t: 13.958797666980265 65.174534077701 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-1.49085413e-01 9.88824319e-01 -7.45196574e-05] [-9.88822423e-01 -1.49085274e-01 -1.94848636e-03] [-1.93782048e-03 -2.16804185e-04 9.99998099e-01]] t_estimated: [[0.42352912] [0.90588173] [0.00117647]] R_gt: [[ 0.97847015 0.09244158 -0.18452817] [-0.09140078 0.99571407 0.01415489] [ 0.18504503 0.00301671 0.98272456]] t_gt: [-0.14050933 0.57158071 -0.80842601] Pose Error in degrees for R and t: 93.73215531314807 62.78545892007365 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.64369141 0.76511239 -0.01626044] [ 0.76498691 -0.64270217 0.04158057] [ 0.02136319 -0.03920408 -0.99900283]] t_estimated: [[0.11980261] [0.9926502 ] [0.01711466]] R_gt: [[ 0.9876926 0.15616598 0.00866867] [-0.15514003 0.98523117 -0.0724653 ] [-0.01985742 0.07022969 0.99733288]] t_gt: [-0.29479794 0.93011601 -0.2190397 ] Pose Error in degrees for R and t: 178.49112848229103 27.845112095359973 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.85547635 0.41380817 0.3113246 ] [-0.10436605 0.72663534 -0.67904993] [-0.50721587 0.54841944 0.66480687]] t_estimated: [[-0.99560595] [-0.09363437] [-0.00118525]] R_gt: [[ 0.97816708 0.20766112 0.00811418] [-0.20417194 0.96754982 -0.1488622 ] [-0.03876435 0.14395691 0.98882471]] t_gt: [-0.23015886 0.92697664 -0.29621142] Pose Error in degrees for R and t: 41.118842620006475 81.79578552361653 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99999582 0.00239463 -0.0016183 ] [-0.00239252 0.99999628 0.0013071 ] [ 0.00162142 -0.00130322 0.99999784]] t_estimated: [[-3.11317526e-01] [-9.50305943e-01] [-1.13219500e-04]] R_gt: [[ 9.76643035e-01 2.14863596e-01 -9.37060802e-04] [-2.08597984e-01 9.47101086e-01 -2.43894675e-01] [-5.15166988e-02 2.38394382e-01 9.69800901e-01]] t_gt: [-0.1919446 0.88864029 -0.41650416] Pose Error in degrees for R and t: 18.75203443211847 38.309160441842785 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 7.93673090e-01 6.08275468e-01 9.16410715e-03] [ 6.08344089e-01 -7.93599934e-01 -1.07988511e-02] [ 7.03958611e-04 1.41456879e-02 -9.99899697e-01]] t_estimated: [[0.9603633 ] [0.27874952] [0.00101733]] R_gt: [[ 0.99964645 0.02095864 -0.01635573] [-0.02161705 0.99891977 -0.04112488] [ 0.01547648 0.04146394 0.99901997]] t_gt: [-0.27872059 0.84080282 -0.46407484] Pose Error in degrees for R and t: 177.30031570422713 88.06465256073706 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-9.84616222e-01 1.73873864e-01 -1.72850966e-02] [ 1.73847794e-01 9.84767931e-01 3.01108510e-03] [ 1.75453578e-02 -4.02126764e-05 -9.99846068e-01]] t_estimated: [[ 0.99995522] [-0.00451893] [-0.00831504]] R_gt: [[ 0.99902264 -0.04125362 -0.01585941] [ 0.03947112 0.99422518 -0.0997837 ] [ 0.0198852 0.09906091 0.99488241]] t_gt: [ 0.34345634 0.74285539 -0.57463346] Pose Error in degrees for R and t: 178.47806848010256 69.82661944228607 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.63650240e-01 -2.67166991e-01 1.15094294e-04] [ 2.67166904e-01 9.63650142e-01 4.98656996e-04] [-2.44135322e-04 -4.49781547e-04 9.99999869e-01]] t_estimated: [[0.58849472] [0.80850058] [0.00088249]] R_gt: [[ 0.99346482 -0.11395405 0.00649619] [ 0.11347108 0.97990472 -0.1640421 ] [ 0.01232786 0.16370765 0.98643161]] t_gt: [ 0.63296372 0.58220337 -0.51029028] Pose Error in degrees for R and t: 13.008648076976815 32.567567310593006 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.28644558e-01 3.70970538e-01 3.80813447e-04] [-3.70970457e-01 9.28644630e-01 -2.67237321e-04] [-4.52777536e-04 1.06897945e-04 9.99999892e-01]] t_estimated: [[-2.57574519e-01] [ 9.66258009e-01] [ 9.09739493e-04]] R_gt: [[ 0.99961821 0.02119786 0.01770733] [-0.02055715 0.99915331 -0.03564396] [-0.01844763 0.03526643 0.99920768]] t_gt: [-0.75242891 0.23847197 -0.61398848] Pose Error in degrees for R and t: 20.701122993104462 64.93327740389701 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-9.69836941e-01 2.43700565e-01 5.13257755e-03] [ 2.43705011e-01 9.69849373e-01 2.49802779e-04] [-4.91695004e-03 1.49310283e-03 -9.99986797e-01]] t_estimated: [[0.97985708] [0.19968651] [0.00232194]] R_gt: [[ 0.99608269 0.06493256 0.06003109] [-0.06008472 0.99503737 -0.07931169] [-0.06488241 0.07539467 0.9950411 ]] t_gt: [-0.81295422 0.58212561 -0.01533653] Pose Error in degrees for R and t: 175.60853083422325 47.1272861048695 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.98815116e-01 -4.86233609e-02 -2.03284524e-03] [ 4.86231810e-02 9.98817184e-01 -1.37821176e-04] [ 2.03714208e-03 3.88144721e-05 9.99997924e-01]] t_estimated: [[ 0.80589718] [ 0.59202249] [-0.00625307]] R_gt: [[ 0.99263688 0.05856763 0.1060328 ] [-0.04981864 0.99527231 -0.08336586] [-0.11041365 0.07746946 0.99086144]] t_gt: [-0.7182546 0.41458635 0.5587741 ] Pose Error in degrees for R and t: 9.816259657856348 70.31255355392486 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.85371869e-01 -1.70417304e-01 -4.72264250e-04] [ 1.70417762e-01 9.85371156e-01 1.21314463e-03] [ 2.58614734e-04 -1.27588081e-03 9.99999153e-01]] t_estimated: [[-0.96953284] [-0.24495871] [-0.00114467]] R_gt: [[ 0.99389001 0.0845226 -0.07098212] [-0.09044635 0.99228072 -0.0848412 ] [ 0.06326342 0.09074185 0.99386323]] t_gt: [-0.29007734 0.68797039 -0.66524573] Pose Error in degrees for R and t: 16.158413642530032 83.484231238006 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.75049861 0.66079403 -0.01015293] [-0.66086827 -0.75045757 0.00815864] [-0.00222816 0.0128328 0.99991517]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99033329 0.11044366 -0.08392096] [-0.118822 0.98761679 -0.10243837] [ 0.07156833 0.11141923 0.99119332]] t_gt: [-0.29955904 0.73928301 -0.60309619] Pose Error in degrees for R and t: 132.08660103499972 78.37361559289519 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 1.00000000e+00 -5.32907052e-14 1.02999206e-17] [ 5.31241717e-14 1.00000000e+00 9.53013710e-17] [ 9.48676901e-17 -4.98732999e-18 1.00000000e+00]] t_estimated: [[-6.52044647e-01] [ 7.58180194e-01] [-7.56355327e-04]] R_gt: [[ 0.99430303 0.06356398 -0.08557145] [-0.07496347 0.98768114 -0.13735381] [ 0.07578717 0.14298574 0.98681891]] t_gt: [-0.13167365 0.66779166 -0.73260928] Pose Error in degrees for R and t: 10.133155837015538 53.6499033077854 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99004046e-01 -4.46196541e-02 4.41378879e-05] [ 4.46196502e-02 9.99004044e-01 8.37097943e-05] [-4.78290306e-05 -8.16570061e-05 9.99999996e-01]] t_estimated: [[ 8.64613518e-01] [-5.02437482e-01] [ 2.04923175e-04]] R_gt: [[ 0.99375138 -0.11030647 0.01706752] [ 0.11117083 0.99180698 -0.06292335] [-0.00998643 0.06442753 0.9978732 ]] t_gt: [ 0.81122759 -0.43477744 -0.39099664] Pose Error in degrees for R and t: 5.337836270586456 23.108001331676295 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.82442126 0.56597472 0.00148599] [ 0.56594729 -0.82440238 0.00802381] [ 0.00576633 -0.00577401 -0.9999667 ]] t_estimated: [[-0.99465043] [-0.10329033] [-0.00127519]] R_gt: [[ 0.97196925 -0.23491082 -0.00966839] [ 0.23331294 0.9687984 -0.08363125] [ 0.02901211 0.07903155 0.99645027]] t_gt: [ 0.86354353 -0.40836855 -0.29585082] Pose Error in degrees for R and t: 176.2290514197425 35.277331293969574 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.17153067 0.98517815 0.00111094] [-0.98517627 -0.17152758 -0.00245276] [-0.00222584 -0.00151519 0.99999637]] t_estimated: [[0.40118278] [0.91599675] [0.00152515]] R_gt: [[ 0.93126598 -0.36428662 -0.00620412] [ 0.363624 0.93036881 -0.0468021 ] [ 0.02282153 0.04132942 0.99888561]] t_gt: [ 0.89281743 -0.44038087 -0.09456073] Pose Error in degrees for R and t: 121.25075601502809 87.40082058366961 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 6.40560641e-01 7.67877865e-01 6.75649289e-03] [-7.67824184e-01 6.40595951e-01 -9.10226735e-03] [-1.13176116e-02 6.42755574e-04 9.99935747e-01]] t_estimated: [[0.44612142] [0.89497141] [0.00136429]] R_gt: [[ 0.99874502 -0.04978488 0.0054569 ] [ 0.05006534 0.99534823 -0.08230939] [-0.00133305 0.08247926 0.99659181]] t_gt: [ 0.34283523 0.37011445 -0.86341143] Pose Error in degrees for R and t: 53.19865997328518 61.117821397137426 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.46689599e-01 -3.22147163e-01 9.69635128e-05] [ 3.22147071e-01 9.46689489e-01 5.25877336e-04] [-2.61204230e-04 -4.66606092e-04 9.99999857e-01]] t_estimated: [[0.97986816] [0.19964274] [0.00107915]] R_gt: [[ 0.99813372 -0.06060692 -0.00741741] [ 0.05928424 0.99101532 -0.11988814] [ 0.01461688 0.11922435 0.99275916]] t_gt: [ 0.16436629 0.61405226 -0.77196085] Pose Error in degrees for R and t: 16.827137670482802 73.57169695731191 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 2.39433842e-01 -9.70908511e-01 -2.84564617e-03] [-9.70912595e-01 -2.39434031e-01 -2.79138223e-04] [-4.10326856e-04 2.82970884e-03 -9.99995912e-01]] t_estimated: [[0.58552346] [0.81065496] [0.00090779]] R_gt: [[ 0.99851893 -0.05255892 -0.01406481] [ 0.04947525 0.98468453 -0.16717664] [ 0.02263552 0.16623241 0.98582659]] t_gt: [ 0.1099025 0.74440636 -0.65862024] Pose Error in degrees for R and t: 171.68358337082503 48.14795854683756 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.95460532e-01 -9.51737826e-02 5.29709189e-04] [ 9.51741590e-02 9.95460363e-01 -7.37747497e-04] [-4.57090282e-04 7.84813143e-04 9.99999588e-01]] t_estimated: [[-0.98827203] [-0.14973819] [-0.02994764]] R_gt: [[ 0.9987492 0.04439753 -0.02301305] [-0.04546476 0.99780683 -0.04811495] [ 0.02082638 0.04910137 0.99857713]] t_gt: [-0.35500229 0.74666769 -0.56254843] Pose Error in degrees for R and t: 8.589208518819644 75.1741955002127 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 1.85046125e-01 -9.82729777e-01 -3.41622683e-04] [-9.82729795e-01 -1.85046006e-01 -3.53392576e-04] [ 2.84073494e-04 4.01116716e-04 -9.99999879e-01]] t_estimated: [[0.65645975] [0.75436054] [0.00087411]] R_gt: [[ 0.99935974 0.02508964 -0.02549277] [-0.02707678 0.99636206 -0.08080996] [ 0.02337333 0.08144923 0.99640385]] t_gt: [-0.14247907 0.68700719 -0.71254532] Pose Error in degrees for R and t: 175.4944667816746 64.9065124085812 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 4.13001020e-01 -9.10730530e-01 2.42971759e-04] [ 9.10729580e-01 4.13000952e-01 1.35891266e-03] [-1.33795082e-03 -3.39950747e-04 9.99999047e-01]] t_estimated: [[0.97456604] [0.22409807] [0.00104232]] R_gt: [[ 0.99972499 -0.0234086 0.00150464] [ 0.02339777 0.99970683 0.00627787] [-0.00165074 -0.00624069 0.99997943]] t_gt: [0.82718278 0.48562331 0.28273423] Pose Error in degrees for R and t: 64.26601420282881 23.75644137030122 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.84911884 -0.52815493 -0.00704008] [ 0.52818027 0.8491292 0.00228004] [ 0.00477373 -0.00565446 0.99997262]] t_estimated: [[-0.28633722] [-0.95812838] [-0.00100118]] R_gt: [[ 9.78630390e-01 2.05625604e-01 9.04052968e-04] [-2.05436080e-01 9.77901948e-01 -3.87678219e-02] [-8.85535994e-03 3.77539864e-02 9.99247703e-01]] t_gt: [-0.37189272 0.92257919 -0.1026813 ] Pose Error in degrees for R and t: 43.81744214503673 38.980529545712535 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 5.33230606e-01 -8.45969883e-01 2.79183602e-04] [-8.45969929e-01 -5.33230574e-01 1.86269625e-04] [-8.70926046e-06 -3.35505597e-04 -9.99999944e-01]] t_estimated: [[0.09672989] [0.99530985] [0.0012801 ]] R_gt: [[ 0.94635604 0.32306028 0.00661163] [-0.31909469 0.93757129 -0.13834272] [-0.05089263 0.12881072 0.99036198]] t_gt: [-0.27495026 0.94989629 -0.14865864] Pose Error in degrees for R and t: 174.01516316814354 23.269773541151277 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-0.99551651 -0.09335725 0.01520855] [-0.0935686 0.99551673 -0.01383347] [-0.01384891 -0.01519449 -0.99978865]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.94120458 0.33783171 -0.00195905] [-0.33060086 0.91983662 -0.21119407] [-0.06954586 0.19942404 0.97744127]] t_gt: [-0.2292473 0.9471714 -0.22430341] Pose Error in degrees for R and t: 177.6285107943077 81.8398322169131 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 1.00000000e+00 -7.54951657e-15 5.81457625e-16] [ 7.38298311e-15 1.00000000e+00 8.14235832e-17] [-4.58617519e-16 2.43240757e-16 1.00000000e+00]] t_estimated: [[ 9.25531621e-01] [-3.78669778e-01] [ 6.46970742e-04]] R_gt: [[ 0.99865052 -0.01177985 0.05058855] [ 0.0101091 0.99939825 0.03316528] [-0.05094923 -0.03260915 0.99816912]] t_gt: [ 0.12766261 -0.01371109 0.99172288] Pose Error in degrees for R and t: 3.5241834580276237 82.87760284991374 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.67004203e-01 -2.54759712e-01 6.00077494e-04] [ 2.54746446e-01 -9.66973152e-01 -8.19581781e-03] [ 2.66822301e-03 -7.77252267e-03 9.99966234e-01]] t_estimated: [[9.59436649e-01] [2.81923318e-01] [7.47807209e-04]] R_gt: [[ 0.99904217 0.02371017 0.03679179] [-0.02500133 0.99907326 0.03503127] [-0.03592819 -0.03591745 0.99870928]] t_gt: [-0.21551105 0.66226297 0.71760905] Pose Error in degrees for R and t: 166.651870202168 88.88121794707133 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.90084609 -0.43331416 0.02674264] [-0.43369321 -0.90100247 0.01023463] [ 0.01966037 -0.02081793 -0.99958996]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817877e-04]] R_gt: [[ 0.99889775 -0.02342507 0.04066349] [ 0.02149927 0.9986553 0.04716261] [-0.04171457 -0.0462362 0.9980588 ]] t_gt: [0.33188059 0.30615251 0.89225888] Pose Error in degrees for R and t: 175.96741484695931 63.280034468802754 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99349985e-01 -3.60500510e-02 4.63611233e-05] [ 3.60500195e-02 9.99349830e-01 5.60067034e-04] [-6.65214259e-05 -5.58031663e-04 9.99999842e-01]] t_estimated: [[-0.56378768] [-0.82591655] [ 0.00230573]] R_gt: [[ 9.96469890e-01 -8.08852016e-02 2.24766934e-02] [ 8.08727156e-02 9.96724102e-01 1.52296251e-03] [-2.25269102e-02 2.99093917e-04 9.99746011e-01]] t_gt: [ 0.39681895 -0.85241777 0.3404683 ] Pose Error in degrees for R and t: 2.8772749062287373 61.243427329137866 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.90018848 -0.43548607 -0.00354611] [-0.43541303 0.90014102 -0.01271355] [ 0.00872857 -0.00990057 -0.99991289]] t_estimated: [[ 0.96385628] [ 0.26641779] [-0.00162093]] R_gt: [[ 0.9924839 -0.10885296 0.05590735] [ 0.11032727 0.99360623 -0.02397768] [-0.05293997 0.02996511 0.99814781]] t_gt: [ 0.23487361 -0.88791704 0.39552207] Pose Error in degrees for R and t: 177.69648797877306 89.38041355411266 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-2.02837370e-01 -9.79212390e-01 -3.10962720e-04] [-9.79212279e-01 2.02837508e-01 -5.07439643e-04] [ 5.59966089e-04 2.01570791e-04 -9.99999823e-01]] t_estimated: [[0.63809258] [0.76995914] [0.00088501]] R_gt: [[ 0.98849082 -0.09662621 0.11639806] [ 0.10180515 0.99402492 -0.03938321] [-0.11189679 0.05077998 0.99242173]] t_gt: [-0.31260731 -0.62997523 0.71092044] Pose Error in degrees for R and t: 176.58032424029307 46.85096438161714 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99916316e-01 -1.29306817e-02 3.98526725e-04] [ 1.29307911e-02 9.99916357e-01 -2.73100457e-04] [-3.94962016e-04 2.78230868e-04 9.99999883e-01]] t_estimated: [[9.97282246e-01] [7.36717057e-02] [7.75491638e-04]] R_gt: [[ 0.99066043 -0.13600738 0.00966724] [ 0.13626815 0.99003508 -0.03550854] [-0.00474062 0.03649403 0.99932276]] t_gt: [ 0.84303422 -0.49779129 -0.20370846] Pose Error in degrees for R and t: 7.387439476630817 36.494692962588786 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 8.72481710e-01 4.88646346e-01 6.43305330e-04] [-4.88645517e-01 8.72481698e-01 -1.11592659e-03] [-1.10656558e-03 6.59277270e-04 9.99999170e-01]] t_estimated: [[0.65102932] [0.75905197] [0.00096449]] R_gt: [[ 0.97125314 -0.23532523 0.03589694] [ 0.23720547 0.96941984 -0.06290926] [-0.01999475 0.06961555 0.99737329]] t_gt: [ 0.8581212 -0.47132532 -0.20366749] Pose Error in degrees for R and t: 43.120512063065924 78.42179866097577 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.71652510e-01 2.36411720e-01 9.47454741e-04] [-2.36411248e-01 9.71652911e-01 -5.84269275e-04] [-1.05872526e-03 3.43717750e-04 9.99999380e-01]] t_estimated: [[-0.74386732] [-0.6683265 ] [-0.00104918]] R_gt: [[ 0.94405138 -0.32501537 0.05596059] [ 0.32948796 0.93684258 -0.11731263] [-0.01429741 0.1291873 0.99151709]] t_gt: [ 0.87186476 -0.39204136 -0.29352242] Pose Error in degrees for R and t: 33.667305575315524 67.2797467485768 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.95216326 -0.24469774 -0.1830523 ] [ 0.25988507 0.96352931 0.06380456] [ 0.16076343 -0.10832492 0.98103049]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.99601162 0.0297499 -0.08411682] [-0.0325093 0.99897089 -0.03162696] [ 0.08308988 0.03423548 0.99595401]] t_gt: [-0.04019466 0.42995749 -0.90195396] Pose Error in degrees for R and t: 18.62436839688887 80.32007515483257 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-8.52343459e-01 -5.22979485e-01 -1.75663970e-03] [ 5.22981579e-01 -8.52343334e-01 -1.05344573e-03] [-9.46329627e-04 -1.81658778e-03 9.99997902e-01]] t_estimated: [[9.07742733e-01] [4.19526558e-01] [7.72941230e-04]] R_gt: [[ 0.98586606 0.0330216 -0.16424584] [-0.03685902 0.99911301 -0.02036746] [ 0.16342711 0.02613415 0.98620883]] t_gt: [ 0.14394698 0.27931061 -0.9493497 ] Pose Error in degrees for R and t: 150.58178509706437 75.69336359579258 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99953907e-01 -9.59957708e-03 1.79156213e-04] [ 9.59936455e-03 9.99953262e-01 1.15161581e-03] [-1.90202864e-04 -1.14984294e-03 9.99999321e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96698568 0.04286267 -0.2511988 ] [-0.04882413 0.99865374 -0.01754288] [ 0.2501091 0.02922832 0.9677759 ]] t_gt: [ 0.21662499 0.2325316 -0.94815751] Pose Error in degrees for R and t: 14.95063957309639 76.53257909127606 Number of keypoints: Image1: 613 Image2: 613 R_estimated: [[ 9.99999965e-01 -2.65048554e-04 1.12832375e-05] [ 2.65048718e-04 9.99999965e-01 -1.45423343e-05] [-1.12793827e-05 1.45453244e-05 1.00000000e+00]] t_estimated: [[9.12142473e-01] [4.09872318e-01] [8.89788582e-04]] R_gt: [[ 0.99974165 -0.01938323 -0.01191506] [ 0.01946208 0.99978967 0.00651886] [ 0.01178652 -0.00674906 0.99990789]] t_gt: [ 0.78604823 -0.36956553 0.49552952] Pose Error in degrees for R and t: 1.344986527042048 55.53142048858828 Number of keypoints: Image1: 429 Image2: 429 R_estimated: [[-9.93450709e-01 -1.11392030e-01 2.54461032e-02] [-1.11420149e-01 9.93773340e-01 3.14509252e-04] [-2.53226928e-02 -2.52275919e-03 -9.99676146e-01]] t_estimated: [[0.99729807] [0.07229584] [0.01303356]] R_gt: [[ 0.9943798 -0.09916965 -0.03706516] [ 0.10028752 0.99451691 0.02962813] [ 0.03392441 -0.03317828 0.99887413]] t_gt: [ 0.9465147 -0.22454116 0.23171358] Pose Error in degrees for R and t: 179.52097962006823 21.44891867219145 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.97965559e-01 -6.37553152e-02 4.97123147e-05] [ 6.37553180e-02 9.97965559e-01 -5.70411063e-05] [-4.59745042e-05 6.00944840e-05 9.99999997e-01]] t_estimated: [[9.63439542e-01] [2.67925692e-01] [2.68221747e-04]] R_gt: [[ 0.98621021 -0.14054507 -0.08738737] [ 0.14480601 0.9884602 0.04446646] [ 0.08013039 -0.05650751 0.99518185]] t_gt: [ 0.97097335 -0.18416481 0.15262396] Pose Error in degrees for R and t: 7.249161434364896 27.60383427973057 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.99781218e-01 -2.09168417e-02 -4.74866713e-05] [ 2.09168433e-02 9.99781218e-01 3.39561308e-05] [ 4.67660271e-05 -3.49419730e-05 9.99999998e-01]] t_estimated: [[-8.95879956e-01] [-4.44295479e-01] [-7.95172762e-04]] R_gt: [[ 0.99647119 0.0826286 -0.01478839] [-0.08209884 0.99606234 0.03344267] [ 0.01749322 -0.0321099 0.99933078]] t_gt: [-0.81186551 0.52980183 0.24532513] Pose Error in degrees for R and t: 6.283094527385656 60.54430470980106 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-6.30695337e-01 -7.76027656e-01 -2.11393553e-03] [ 7.76030231e-01 -6.30690334e-01 -2.60449891e-03] [ 6.87924480e-04 -3.28312319e-03 9.99994374e-01]] t_estimated: [[ 9.22399027e-01] [-3.86238226e-01] [-2.59524071e-04]] R_gt: [[ 0.97644629 0.21571326 -0.00453883] [-0.21549681 0.97607394 0.02899437] [ 0.01068454 -0.02733343 0.9995683 ]] t_gt: [-0.81431467 0.57593352 0.07205698] Pose Error in degrees for R and t: 141.5581070746067 13.197391908803885 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-9.27344859e-01 3.74176546e-01 -4.83994604e-03] [-3.74178004e-01 -9.27356684e-01 -6.34799990e-04] [-4.72588357e-03 1.22232284e-03 9.99988086e-01]] t_estimated: [[0.90688532] [0.42136769] [0.00288055]] R_gt: [[ 0.96261634 0.26974625 0.02461698] [-0.26997479 0.96284502 0.00643948] [-0.02196504 -0.01284425 0.99967528]] t_gt: [-0.7674172 0.63922555 0.04961387] Pose Error in degrees for R and t: 142.37273858284541 64.7564139330971 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.80808617 0.58905591 0.00314333] [-0.58900493 0.80806899 -0.00988466] [-0.00836264 0.00613622 0.99994621]] t_estimated: [[0.70907673] [0.7051301 ] [0.00131554]] R_gt: [[ 0.9886624 -0.13531262 0.06509038] [ 0.12033832 0.9732926 0.19549958] [-0.08980538 -0.18545054 0.97854131]] t_gt: [ 0.44181396 -0.41843832 0.79354256] Pose Error in degrees for R and t: 45.12199116536559 88.8958144638745 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 1.00000000e+00 -9.32608490e-10 -8.40735305e-13] [ 9.32608435e-10 1.00000000e+00 1.86160348e-12] [ 8.39330612e-13 -1.86280033e-12 1.00000000e+00]] t_estimated: [[ 6.48690958e-01] [-7.61051759e-01] [ 5.11335109e-04]] R_gt: [[ 0.97480463 -0.18170998 0.12937278] [ 0.13675502 0.94505173 0.29694442] [-0.17622109 -0.27177078 0.94609039]] t_gt: [ 0.39316152 -0.2832209 0.87476279] Pose Error in degrees for R and t: 21.096841990165956 61.89860343146714 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.99901414 0.04434539 -0.00205788] [-0.04435017 -0.99901331 0.00233961] [-0.0019521 0.00242857 0.99999515]] t_estimated: [[ 7.31815841e-01] [ 6.81502149e-01] [-6.28926221e-04]] R_gt: [[ 0.97983841 -0.14339151 0.1391283 ] [ 0.09805869 0.95185765 0.29043213] [-0.17407544 -0.27093407 0.94672703]] t_gt: [ 0.33890639 -0.18551958 0.92234752] Pose Error in degrees for R and t: 175.45149168951176 83.04989349778357 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99844437e-01 -1.76380498e-02 -4.49468978e-06] [ 1.76380497e-02 9.99844437e-01 -3.67455556e-06] [ 4.55880257e-06 3.59470638e-06 1.00000000e+00]] t_estimated: [[0.64202463] [0.76668361] [0.0007925 ]] R_gt: [[ 0.99810093 0.04479866 0.04227642] [-0.04263879 0.99780346 -0.05068541] [-0.04445395 0.04878703 0.99781966]] t_gt: [-0.76649897 0.63742557 0.0785364 ] Pose Error in degrees for R and t: 5.1674966466889565 89.80833147834119 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.96703248e-01 -8.11325045e-02 -3.90921501e-04] [ 8.11327264e-02 9.96703132e-01 5.89739083e-04] [ 3.41785676e-04 -6.19511387e-04 9.99999750e-01]] t_estimated: [[8.47416539e-01] [5.30928182e-01] [6.89517119e-04]] R_gt: [[ 0.99572758 0.04140529 0.08253257] [-0.03718259 0.99795043 -0.05206215] [-0.08451922 0.048772 0.9952282 ]] t_gt: [-0.61156213 0.41500645 0.67361815] Pose Error in degrees for R and t: 8.915662030700794 72.69580494276158 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 8.64414931e-01 -5.02777661e-01 -1.20484712e-03] [ 5.02778570e-01 8.64415023e-01 6.14254814e-04] [ 7.32654354e-04 -1.13674235e-03 9.99999086e-01]] t_estimated: [[9.91585400e-01] [1.29452798e-01] [6.06472897e-04]] R_gt: [[ 0.99584506 0.01328356 0.09009531] [-0.00850322 0.99854569 -0.05323319] [-0.09067165 0.05224639 0.99450969]] t_gt: [-0.13642256 0.05571209 0.98908293] Pose Error in degrees for R and t: 31.390792252999432 82.677005224052 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99937429e-01 1.11863283e-02 -6.24285146e-05] [-1.11863254e-02 9.99937430e-01 4.56013626e-05] [ 6.29347203e-05 -4.49001636e-05 9.99999997e-01]] t_estimated: [[-9.97534116e-01] [-7.01815816e-02] [-4.83235902e-04]] R_gt: [[ 0.99234063 0.12234558 0.0170324 ] [-0.12225724 0.99247988 -0.00614111] [-0.01765615 0.0040115 0.99983569]] t_gt: [-0.83533173 0.54970113 0.00704056] Pose Error in degrees for R and t: 6.4690864663109835 37.37405247294691 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99960381e-01 -8.90022814e-03 -1.50907205e-04] [ 8.90024800e-03 9.99960383e-01 1.31486379e-04] [ 1.49730968e-04 -1.32824281e-04 9.99999980e-01]] t_estimated: [[-9.77804771e-01] [-2.09517740e-01] [-3.81591389e-04]] R_gt: [[ 0.97559117 0.21942637 0.00854234] [-0.21958665 0.97511918 0.03040952] [-0.00165681 -0.03154363 0.99950051]] t_gt: [-0.81445198 0.57090866 0.10359186] Pose Error in degrees for R and t: 13.315539736697435 47.41213801028256 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.96315608 -0.26885092 -0.0070385 ] [-0.26886675 0.96317638 0.00139034] [ 0.00640553 0.00323153 -0.99997426]] t_estimated: [[ 0.99103205] [ 0.13359071] [-0.00299916]] R_gt: [[ 9.41850107e-01 3.34836021e-01 2.83402572e-02] [-3.34996160e-01 9.42218463e-01 9.67311421e-04] [-2.63790254e-02 -1.04051544e-02 9.99598010e-01]] t_gt: [-0.77326656 0.63337404 0.02993585] Pose Error in degrees for R and t: 178.78555605783225 47.01484603568046 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99910844e-01 -1.33530532e-02 -4.89740705e-06] [ 1.33530534e-02 9.99910843e-01 3.61035667e-05] [ 4.41487756e-06 -3.61657432e-05 9.99999999e-01]] t_estimated: [[4.15119802e-01] [9.09766530e-01] [6.41329122e-04]] R_gt: [[ 0.99776972 0.02259759 0.06280384] [-0.02118298 0.99950873 -0.02309077] [-0.06329446 0.0217093 0.9977584 ]] t_gt: [-0.48650051 0.32099304 0.81257659] Pose Error in degrees for R and t: 4.337392754328263 84.80222787218875 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.91777178e-01 -1.27976660e-01 -5.42708261e-05] [ 1.27976668e-01 9.91777161e-01 1.88451579e-04] [ 2.97071622e-05 -1.93847375e-04 9.99999981e-01]] t_estimated: [[0.97683876] [0.21397421] [0.00103369]] R_gt: [[ 0.99461618 -0.00538327 0.10349046] [ 0.00698946 0.99986098 -0.01516338] [-0.10339348 0.01580493 0.99451473]] t_gt: [ 0.02397302 -0.10409246 0.99427866] Pose Error in degrees for R and t: 9.220062133475894 89.87552741717334 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99406403e-01 3.44504773e-02 7.48749552e-05] [-3.44504755e-02 9.99406406e-01 -2.55465947e-05] [-7.57106023e-05 2.29519525e-05 9.99999997e-01]] t_estimated: [[0.4564509 ] [0.88974783] [0.00117099]] R_gt: [[ 0.99729757 -0.03493773 0.0646233 ] [ 0.03432961 0.99935595 0.01050541] [-0.06494833 -0.00825789 0.99785364]] t_gt: [ 0.44737439 -0.43568713 0.78104602] Pose Error in degrees for R and t: 5.454211558805626 79.48268598088544 Number of keypoints: Image1: 412 Image2: 412 R_estimated: [[ 9.99837461e-01 1.80290593e-02 6.19667801e-05] [-1.80290504e-02 9.99837453e-01 -1.41570281e-04] [-6.45090866e-05 1.40430068e-04 9.99999988e-01]] t_estimated: [[ 8.65027918e-01] [-5.01723582e-01] [ 3.85028279e-04]] R_gt: [[ 0.99540968 -0.0904875 0.03120435] [ 0.09167365 0.99502787 -0.03893104] [-0.02752633 0.04161351 0.99875387]] t_gt: [ 0.5569248 -0.67517966 -0.48370157] Pose Error in degrees for R and t: 6.879926285317766 34.88287840903854 Number of keypoints: Image1: 677 Image2: 677 R_estimated: [[-0.8622066 0.50626279 0.01725573] [ 0.50626707 0.8623653 -0.00444195] [-0.01712954 0.00490613 -0.99984124]] t_estimated: [[ 0.95878727] [-0.28397861] [ 0.00911671]] R_gt: [[ 0.99075617 -0.13404174 0.02090872] [ 0.13509935 0.98888293 -0.06211032] [-0.01235055 0.0643619 0.99784989]] t_gt: [ 0.65176373 -0.47539561 -0.59093405] Pose Error in degrees for R and t: 177.10619654192055 41.016765298557175 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 2.82014761e-01 9.59406324e-01 2.67944558e-03] [ 9.59409973e-01 -2.82012401e-01 -1.22880065e-03] [-4.23282233e-04 2.91722673e-03 -9.99995655e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.84372974e-01 -1.75989954e-01 6.18032122e-03] [ 1.76096111e-01 9.83933848e-01 -2.93896122e-02] [-9.08378340e-04 3.00190929e-02 9.99548291e-01]] t_gt: [ 0.86432362 -0.46024648 -0.2027754 ] Pose Error in degrees for R and t: 178.35391405115314 30.374942035092275 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.84266131e-01 -1.76692266e-01 -1.59488385e-04] [ 1.76692333e-01 9.84265922e-01 6.42944033e-04] [ 4.33757438e-05 -6.61008411e-04 9.99999781e-01]] t_estimated: [[-0.38147445] [-0.92437889] [-0.00096089]] R_gt: [[ 0.99557199 -0.00407036 -0.09391602] [ 0.00368604 0.99998431 -0.00426592] [ 0.09393372 0.00390063 0.99557108]] t_gt: [ 0.3890159 -0.03925365 -0.92039436] Pose Error in degrees for R and t: 11.31694082053876 83.61377676289128 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-9.88797886e-01 -1.49257303e-01 9.99413342e-04] [-1.49246322e-01 9.88773580e-01 7.23488504e-03] [-2.06805294e-03 7.00468026e-03 -9.99973328e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.98325651 0.01454603 -0.1816477 ] [-0.01400655 0.99989307 0.00425166] [ 0.18169134 -0.00163635 0.98335423]] t_gt: [ 0.31912404 0.08503713 -0.94389011] Pose Error in degrees for R and t: 169.66013296433994 70.85836666673819 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.85718284e-01 -1.68402662e-01 -8.88719965e-05] [ 1.68402677e-01 9.85718266e-01 1.95642746e-04] [ 5.46559910e-05 -2.07814914e-04 9.99999977e-01]] t_estimated: [[-2.25232291e-02] [ 9.99746320e-01] [ 2.74650192e-05]] R_gt: [[ 0.96670913 0.02530995 -0.25462567] [-0.02654134 0.99964634 -0.00140146] [ 0.25450151 0.00811337 0.96703867]] t_gt: [ 0.31980473 0.10279452 -0.94189077] Pose Error in degrees for R and t: 18.5030204875325 84.5176255162521 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 8.93236673e-01 4.49585893e-01 -8.78139924e-04] [-4.49572505e-01 8.93222216e-01 6.21578459e-03] [ 3.57890315e-03 -5.15737918e-03 9.99980296e-01]] t_estimated: [[0.576928 ] [0.81679452] [0.0008917 ]] R_gt: [[ 0.98846597 -0.1513641 -0.00495236] [ 0.15117097 0.9881172 -0.02777559] [ 0.00909816 0.02670651 0.99960188]] t_gt: [ 0.8473524 -0.51046492 -0.14635393] Pose Error in degrees for R and t: 35.47006919324251 85.88343146835626 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.98174819 -0.19006506 0.00676416] [-0.19005085 0.98177056 0.0026909 ] [-0.0071523 0.00135625 -0.9999735 ]] t_estimated: [[0.9967743 ] [0.0801676 ] [0.00376294]] R_gt: [[ 0.97189458 -0.23325803 0.03182122] [ 0.23455336 0.97101155 -0.04605239] [-0.0201556 0.05222239 0.99843231]] t_gt: [ 0.84946857 -0.50547962 -0.15130599] Pose Error in degrees for R and t: 178.3668653252487 36.32827813917962 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 6.93717477e-01 7.20247222e-01 3.21208598e-05] [-7.20234947e-01 6.93705914e-01 -5.80742688e-03] [-4.20506551e-03 4.00557896e-03 9.99983136e-01]] t_estimated: [[0.91753357] [0.39765639] [0.00124551]] R_gt: [[ 0.93874406 -0.34083929 0.05087844] [ 0.34380952 0.93637622 -0.07066669] [-0.02355615 0.08383001 0.99620179]] t_gt: [ 0.87895144 -0.44443799 -0.1729718 ] Pose Error in degrees for R and t: 66.27443649806501 50.985399735528475 Number of keypoints: Image1: 571 Image2: 571 R_estimated: [[ 9.99935784e-01 1.13326001e-02 -3.11586702e-05] [-1.13326032e-02 9.99935779e-01 -1.01377009e-04] [ 3.00078041e-05 1.01723608e-04 9.99999994e-01]] t_estimated: [[-0.27262268] [-0.96211962] [-0.00164792]] R_gt: [[ 0.99984219 0.00113979 -0.01770606] [-0.00173445 0.99943336 -0.03362651] [ 0.01765782 0.03365227 0.99927764]] t_gt: [-0.73475743 0.23009533 -0.63811257] Pose Error in degrees for R and t: 2.244726432924766 88.85308339252975 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-0.45387954 -0.8910595 -0.00251541] [-0.89105554 0.4538623 0.00538853] [-0.00365985 0.00468712 -0.99998232]] t_estimated: [[8.68548183e-01] [4.95604228e-01] [7.09018925e-04]] R_gt: [[ 0.99724083 -0.07375582 0.0084393 ] [ 0.07413296 0.99538783 -0.06088968] [-0.00391002 0.06134661 0.99810874]] t_gt: [-0.47350448 -0.29522286 -0.82984153] Pose Error in degrees for R and t: 178.51969615274234 56.07111186584308 Number of keypoints: Image1: 348 Image2: 348 R_estimated: [[-0.10006835 0.99489498 0.01304972] [ 0.99490121 0.1002174 -0.01131622] [-0.01256626 0.01185079 -0.99985081]] t_estimated: [[-0.6903357 ] [ 0.72343505] [-0.00885169]] R_gt: [[ 0.99135619 -0.13075686 0.01070451] [ 0.1311662 0.98616978 -0.10131459] [ 0.00269024 0.1018428 0.99479615]] t_gt: [ 0.03394671 -0.30962308 -0.95025321] Pose Error in degrees for R and t: 174.92268713105733 76.17156041905923 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99999935e-01 -3.11812786e-04 1.81226526e-04] [ 3.11839053e-04 9.99999941e-01 -1.44928531e-04] [-1.81181324e-04 1.44985035e-04 9.99999973e-01]] t_estimated: [[-0.24603113] [-0.9692614 ] [-0.00100704]] R_gt: [[ 0.97511635 -0.21879461 0.0357356 ] [ 0.21687049 0.97486794 0.05098588] [-0.0459924 -0.04196759 0.99805934]] t_gt: [ 0.61347178 -0.72670872 0.30910647] Pose Error in degrees for R and t: 13.07105825339151 56.41824566421762 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.42199406 0.90659796 0.00107584] [ 0.90659798 0.4219921 0.00166358] [ 0.0010542 0.00167737 -0.99999804]] t_estimated: [[-0.30616381] [-0.95197809] [-0.00119595]] R_gt: [[ 0.94481772 -0.32753633 0.00636525] [ 0.32757892 0.94479392 -0.00757971] [-0.00353095 0.00924683 0.999951 ]] t_gt: [ 0.70288331 -0.71124313 0.00939497] Pose Error in degrees for R and t: 179.47578638116903 62.49156406876011 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.99998390e-01 -4.93328254e-04 1.72504392e-03] [ 4.96422347e-04 9.99998268e-01 -1.79366351e-03] [-1.72415607e-03 1.79451697e-03 9.99996903e-01]] t_estimated: [[-0.6402075 ] [-0.76820116] [-0.00115909]] R_gt: [[ 0.87421818 -0.48549472 0.00620673] [ 0.48425716 0.87277411 0.06133199] [-0.03519329 -0.05061233 0.99809803]] t_gt: [ 0.7370472 -0.6610547 0.14059909] Pose Error in degrees for R and t: 29.224030234890463 87.9485518838819 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-0.87983659 -0.47511391 0.01242355] [-0.4751162 0.8799181 0.00295536] [-0.01233583 -0.0033024 -0.99991846]] t_estimated: [[0.97668732] [0.21453269] [0.00759023]] R_gt: [[ 0.9929644 -0.11046614 -0.04265708] [ 0.10957589 0.99371868 -0.0226734 ] [ 0.04489491 0.01783973 0.99883184]] t_gt: [ 0.6284098 -0.68408378 -0.37031137] Pose Error in degrees for R and t: 178.00910377539918 62.3421354001963 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.91812431e-01 1.27702610e-01 3.79785695e-04] [-1.27702480e-01 9.91812459e-01 -3.49822085e-04] [-4.21349378e-04 2.98458318e-04 9.99999867e-01]] t_estimated: [[-9.33390782e-01] [-3.58861349e-01] [-4.24995970e-04]] R_gt: [[ 0.95548237 -0.29441823 0.01930827] [ 0.29460396 0.95558909 -0.00756541] [-0.01622359 0.01291651 0.99978442]] t_gt: [ 0.69173754 -0.72142521 0.03232395] Pose Error in degrees for R and t: 24.493972354890737 67.24548934691721 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999885e-01 -1.13357148e-04 4.65087097e-04] [ 1.13441139e-04 9.99999977e-01 -1.80569854e-04] [-4.65066618e-04 1.80622593e-04 9.99999876e-01]] t_estimated: [[0.73962069] [0.67302334] [0.00090837]] R_gt: [[ 0.89784303 -0.43725336 -0.05185011] [ 0.43686855 0.89932153 -0.01913817] [ 0.05499794 -0.00546801 0.99847113]] t_gt: [ 0.75696841 -0.649454 -0.07216876] Pose Error in degrees for R and t: 26.123940427652613 82.95168648248612 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 7.60461343e-01 -6.49383044e-01 -4.55335167e-04] [ 6.49383198e-01 7.60461245e-01 3.97097264e-04] [ 8.83965172e-05 -5.97664126e-04 9.99999817e-01]] t_estimated: [[-0.61680419] [-0.78711579] [-0.00115075]] R_gt: [[ 0.98221393 0.18773639 0.003316 ] [-0.18741701 0.98131428 -0.04356201] [-0.01143131 0.04216513 0.99904474]] t_gt: [-0.79884972 0.57843938 -0.16506666] Pose Error in degrees for R and t: 51.37032889484032 87.8437353023458 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.98784741 -0.1553968 -0.0030552 ] [ 0.15540378 0.98784859 0.00219857] [ 0.00267642 -0.00264664 0.99999292]] t_estimated: [[-0.02016394] [-0.99979528] [-0.00168033]] R_gt: [[ 0.96604345 0.25835479 -0.00352569] [-0.25837336 0.96585557 -0.01911275] [-0.00153204 0.01937422 0.99981137]] t_gt: [-0.78678753 0.61421432 -0.0608781 ] Pose Error in degrees for R and t: 23.947147174187528 53.264518439120735 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.99759505 0.06760068 -0.01530598] [-0.06678419 0.99657722 0.04872089] [ 0.01854715 -0.04758152 0.99869515]] t_estimated: [[-0.99682918] [-0.07895677] [-0.0098696 ]] R_gt: [[ 9.22953767e-01 3.84892982e-01 -3.62599105e-03] [-3.84890478e-01 9.22960883e-01 1.25030698e-03] [ 3.82757297e-03 2.41606544e-04 9.99992910e-01]] t_gt: [-0.76304894 0.64620188 -0.01339606] Pose Error in degrees for R and t: 18.99240026480967 44.78626359047616 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99158185e-01 4.10227849e-02 2.30417737e-04] [-4.10226076e-02 9.99157954e-01 -7.27642288e-04] [-2.60073628e-04 7.17577411e-04 9.99999709e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98296651 0.18342037 0.01162652] [-0.18291889 0.98249973 -0.03513472] [-0.01786737 0.0324098 0.9993142 ]] t_gt: [-0.81578976 0.56760146 -0.11097589] Pose Error in degrees for R and t: 8.465429389854789 35.500383729180584 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.98603699e-01 -5.28244914e-02 -4.73991756e-04] [ 5.28246429e-02 9.98603755e-01 3.13146157e-04] [ 4.56788160e-04 -3.37747356e-04 9.99999839e-01]] t_estimated: [[-0.98914795] [-0.14691717] [-0.00129607]] R_gt: [[ 0.96736296 0.25333835 -0.00534339] [-0.25337258 0.96734299 -0.00702136] [ 0.00339078 0.00814567 0.99996066]] t_gt: [-0.79299226 0.60831373 -0.03343161] Pose Error in degrees for R and t: 17.711825738803867 45.96813922826259 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99796598e-01 2.01676915e-02 -1.61689838e-04] [-2.01676932e-02 9.99796611e-01 -8.90578125e-06] [ 1.61477344e-04 1.21648808e-05 9.99999987e-01]] t_estimated: [[-9.99425619e-01] [-3.38816134e-02] [-6.84923091e-04]] R_gt: [[ 9.24241782e-01 3.81807560e-01 -4.84819402e-04] [-3.81808052e-01 9.24241090e-01 -1.33855660e-03] [-6.36225980e-05 1.42212742e-03 9.99998783e-01]] t_gt: [-0.76185361 0.64761461 -0.013206 ] Pose Error in degrees for R and t: 21.29024407307792 42.312620646533965 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99999978e-01 -3.42888669e-05 2.08420379e-04] [ 3.43395591e-05 9.99999970e-01 -2.43222052e-04] [-2.08412033e-04 2.43229203e-04 9.99999949e-01]] t_estimated: [[-0.10508232] [-0.99446252] [-0.00141347]] R_gt: [[ 0.99514559 -0.08640271 -0.04711463] [ 0.0847051 0.99572272 -0.03691132] [ 0.05010423 0.03274105 0.99820711]] t_gt: [ 0.57308915 -0.58004317 -0.57889442] Pose Error in degrees for R and t: 5.990653668794029 58.840121537705606 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.91397447e-01 -1.30885736e-01 1.60701612e-04] [ 1.30885758e-01 9.91397447e-01 -1.39645307e-04] [-1.41041590e-04 1.59477553e-04 9.99999977e-01]] t_estimated: [[ 9.92548550e-01] [-1.21848872e-01] [ 4.78656339e-04]] R_gt: [[ 0.96020329 -0.27834178 0.02313017] [ 0.27872175 0.96025187 -0.01520279] [-0.01797847 0.02104431 0.99961631]] t_gt: [ 0.68412999 -0.72902131 0.02222807] Pose Error in degrees for R and t: 8.79676541812727 39.83670571203064 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999854e-01 2.29523109e-04 4.89180773e-04] [-2.29302583e-04 9.99999872e-01 -4.50816915e-04] [-4.89284183e-04 4.50704679e-04 9.99999779e-01]] t_estimated: [[9.49450752e-01] [3.13915449e-01] [5.99953312e-04]] R_gt: [[ 0.90855542 -0.4151147 -0.0469715 ] [ 0.41370983 0.90965938 -0.03693362] [ 0.05805996 0.01412397 0.99821364]] t_gt: [ 0.74913679 -0.65240396 -0.11473071] Pose Error in degrees for R and t: 24.755261273855034 59.575670103530726 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.99999948e-01 2.74495246e-04 1.68620121e-04] [-2.74471554e-04 9.99999952e-01 -1.40516740e-04] [-1.68658684e-04 1.40470452e-04 9.99999976e-01]] t_estimated: [[0.84023834] [0.54221627] [0.00102706]] R_gt: [[ 0.97786762 -0.20812012 0.02147705] [ 0.20703172 0.97732878 0.04432568] [-0.0302152 -0.03889745 0.99878614]] t_gt: [ 0.62360195 -0.73758248 0.25902259] Pose Error in degrees for R and t: 12.33030997430921 82.85902694093 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 0.99519137 -0.09774432 -0.00633896] [-0.09777889 -0.99519354 -0.00539418] [-0.00578124 0.00598806 -0.99996536]] t_estimated: [[0.28475669] [0.95859904] [0.0012274 ]] R_gt: [[ 0.94679669 -0.32139865 0.01670766] [ 0.32163231 0.94676084 -0.01396324] [-0.01132986 0.01859429 0.99976288]] t_gt: [ 0.69953118 -0.71455845 0.00789573] Pose Error in degrees for R and t: 178.82903288989718 60.9371214381102 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99990497e-01 -4.97314001e-04 -4.33120159e-03] [ 5.16812218e-04 9.99989733e-01 4.50184800e-03] [ 4.32891829e-03 -4.50404363e-03 9.99980487e-01]] t_estimated: [[0.93344868] [0.35870956] [0.00100479]] R_gt: [[ 0.8730127 -0.48769707 -0.00139848] [ 0.48699182 0.87159021 0.05629611] [-0.0262354 -0.04982822 0.99841354]] t_gt: [ 0.74354974 -0.65695128 0.12469485] Pose Error in degrees for R and t: 29.31722006547806 62.707314250112816 Number of keypoints: Image1: 562 Image2: 562 R_estimated: [[ 9.99999831e-01 -5.80801356e-04 1.23026285e-06] [ 5.80801407e-04 9.99999830e-01 -4.15970828e-05] [-1.20610300e-06 4.15977903e-05 9.99999999e-01]] t_estimated: [[ 0.1212105 ] [-0.99262494] [ 0.00193299]] R_gt: [[ 0.99988379 0.00764495 -0.01316967] [-0.00800695 0.99958603 -0.02765083] [ 0.01295281 0.02775342 0.99953094]] t_gt: [-0.81136972 0.29169293 -0.50655148] Pose Error in degrees for R and t: 1.8177167965591865 67.11595764162975 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.274208 0.96166674 0.00265614] [-0.96166845 0.27421198 -0.00126221] [-0.00194217 -0.00220822 0.99999568]] t_estimated: [[0.68051095] [0.73273621] [0.00158258]] R_gt: [[ 0.99814733 -0.06084091 0.00153539] [ 0.06083896 0.99680101 -0.05183618] [ 0.00162289 0.05183395 0.99865461]] t_gt: [-0.62245659 -0.19708059 -0.75743451] Pose Error in degrees for R and t: 77.6249105190773 55.3058684870768 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[-0.88210243 0.47072554 0.01768528] [ 0.47072644 0.88226838 -0.00437225] [-0.01766129 0.00446816 -0.99983404]] t_estimated: [[ 0.96354999] [-0.26737076] [ 0.00918071]] R_gt: [[ 0.99199256 -0.12590317 0.01001696] [ 0.12628054 0.98726369 -0.09676224] [ 0.00229268 0.09725217 0.99525741]] t_gt: [-0.03934764 -0.31707521 -0.94758381] Pose Error in degrees for R and t: 177.39154038270271 87.81284800176637 Number of keypoints: Image1: 399 Image2: 399 R_estimated: [[ 9.99998548e-01 -1.70389975e-03 3.91174186e-05] [ 1.70390494e-03 9.99998540e-01 -1.32981978e-04] [-3.88907736e-05 1.33048437e-04 9.99999990e-01]] t_estimated: [[ 8.04037901e-01] [-5.94578008e-01] [ 2.16706380e-04]] R_gt: [[ 0.99606776 -0.08358489 0.02938247] [ 0.08456451 0.99584299 -0.03384604] [-0.02643078 0.03619876 0.99899512]] t_gt: [ 0.46078659 -0.76209421 -0.45484956] Pose Error in degrees for R and t: 5.376498723360401 34.561699054313245 Number of keypoints: Image1: 642 Image2: 642 R_estimated: [[ 9.99999615e-01 -8.76410045e-04 4.21446524e-05] [ 8.76415690e-04 9.99999607e-01 -1.34099689e-04] [-4.20271095e-05 1.34136574e-04 9.99999990e-01]] t_estimated: [[ 9.64206014e-01] [-2.65153776e-01] [ 4.88297090e-04]] R_gt: [[ 0.99079313 -0.13389421 0.02004404] [ 0.13491442 0.98881187 -0.06364408] [-0.01129729 0.06576391 0.99777127]] t_gt: [ 0.61975326 -0.48472041 -0.6172131 ] Pose Error in degrees for R and t: 8.577558420184378 43.465069846461226 Number of keypoints: Image1: 402 Image2: 402 R_estimated: [[ 9.99999891e-01 -4.59865631e-04 8.49642808e-05] [ 4.59882334e-04 9.99999875e-01 -1.96673094e-04] [-8.48738269e-05 1.96712146e-04 9.99999977e-01]] t_estimated: [[ 9.83945637e-01] [-1.78468186e-01] [ 3.01385396e-04]] R_gt: [[ 9.86928022e-01 -1.61057767e-01 5.74679762e-03] [ 1.61160677e-01 9.86377061e-01 -3.29850322e-02] [-3.55216877e-04 3.34810155e-02 9.99439004e-01]] t_gt: [ 0.80315429 -0.52311964 -0.28511231] Pose Error in degrees for R and t: 9.441780019617372 27.928294375863143 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.73709738e-01 2.27791144e-01 7.35752149e-04] [-2.27792182e-01 9.73707724e-01 1.99736880e-03] [-2.61424626e-04 -2.11245604e-03 9.99997735e-01]] t_estimated: [[0.51037967] [0.8599455 ] [0.00251634]] R_gt: [[ 0.99756841 0.03089009 0.06248083] [-0.02890439 0.99905598 -0.0324449 ] [-0.06342418 0.03055977 0.99751902]] t_gt: [-0.6006442 0.45884174 0.65474484] Pose Error in degrees for R and t: 12.149814943336928 84.85538493641776 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.96842879e-01 -7.93994246e-02 -7.40225559e-05] [ 7.93994375e-02 9.96842863e-01 1.91097874e-04] [ 5.86157953e-05 -1.96371904e-04 9.99999979e-01]] t_estimated: [[-0.9983493 ] [-0.05741718] [-0.00139676]] R_gt: [[ 0.99414209 0.00643474 0.10789164] [-0.00405614 0.99974433 -0.02225816] [-0.10800715 0.02168998 0.99391318]] t_gt: [-0.10446916 0.00968449 0.99448097] Pose Error in degrees for R and t: 7.97677030136282 84.12539731430093 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99993046e-01 -3.72920209e-03 -2.70812064e-06] [ 3.72920222e-03 9.99993045e-01 4.72382941e-05] [ 2.53194066e-06 -4.72480647e-05 9.99999999e-01]] t_estimated: [[0.62725385] [0.77881423] [0.0010056 ]] R_gt: [[ 0.99695408 -0.02073425 0.07518732] [ 0.02106158 0.99977222 -0.00357049] [-0.07509619 0.00514345 0.99716341]] t_gt: [ 0.33772265 -0.32876677 0.88196135] Pose Error in degrees for R and t: 4.427773948773741 87.51696900179711 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.99695088e-01 2.46923682e-02 -1.34904712e-04] [-2.46923304e-02 9.99695060e-01 2.74951238e-04] [ 1.41652771e-04 -2.71536291e-04 9.99999953e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99392954 0.10841732 0.01867325] [-0.10849377 0.99409167 0.00312654] [-0.01822436 -0.00513264 0.99982076]] t_gt: [-0.83754471 0.54139041 0.07358862] Pose Error in degrees for R and t: 4.933981645841267 33.30028150382508 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 3.53262064e-01 9.35524315e-01 4.11878541e-04] [-9.35523484e-01 3.53262300e-01 -1.24845376e-03] [-1.31346001e-03 5.57093030e-05 9.99999136e-01]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.9769468 0.21309777 0.01277444] [-0.21342035 0.97634421 0.03470408] [-0.00507601 -0.03662969 0.99931598]] t_gt: [-0.81741947 0.56082814 0.13151883] Pose Error in degrees for R and t: 57.032603865675675 56.28957277937691 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99996965e-01 2.30404950e-03 -8.72718150e-04] [-2.30279734e-03 9.99996322e-01 1.43307720e-03] [ 8.76016820e-04 -1.43106316e-03 9.99998592e-01]] t_estimated: [[-9.99982376e-01] [-5.87731035e-03] [-8.39615765e-04]] R_gt: [[ 0.94358745 0.32836537 0.0426467 ] [-0.32892314 0.94433386 0.00660072] [-0.03810465 -0.02025443 0.99906812]] t_gt: [-0.77580871 0.62729729 0.06796291] Pose Error in degrees for R and t: 19.225176755383707 39.46156054537176 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999812e-01 3.88858005e-04 -4.74554360e-04] [-3.88556089e-04 9.99999722e-01 6.36136852e-04] [ 4.74801595e-04 -6.35952341e-04 9.99999685e-01]] t_estimated: [[9.86086442e-01] [1.66230579e-01] [9.60633740e-04]] R_gt: [[ 0.98837281 -0.15204831 0.00111701] [ 0.15202861 0.98806249 -0.02488977] [ 0.00267976 0.0247696 0.99969018]] t_gt: [ 0.85412002 -0.50321452 -0.13135501] Pose Error in degrees for R and t: 8.88963641977039 40.67134724017038 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-2.84998206e-01 9.58507869e-01 6.22001595e-03] [ 9.58526419e-01 2.85003690e-01 4.76696721e-06] [-1.76815832e-03 5.96340819e-03 -9.99980656e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97261394 -0.22967911 0.03565568] [ 0.2311524 0.97187957 -0.0449315 ] [-0.02433427 0.05194291 0.99835377]] t_gt: [ 0.84868669 -0.5075773 -0.14864784] Pose Error in degrees for R and t: 176.63299549447953 59.839200140361505 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.62404316e-01 -2.71620908e-01 -1.19278776e-04] [ 2.71620925e-01 9.62404304e-01 1.68993433e-04] [ 6.88922581e-05 -1.95038621e-04 9.99999979e-01]] t_estimated: [[9.99997625e-01] [2.09996051e-03] [5.83373643e-04]] R_gt: [[ 0.94193856 -0.33116337 0.05552695] [ 0.33471051 0.93921946 -0.07638807] [-0.02685583 0.09053823 0.99553111]] t_gt: [ 0.87516943 -0.4432497 -0.19392825] Pose Error in degrees for R and t: 6.588430384818377 29.058598747116207 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999861e-01 -5.26353092e-04 2.22608774e-05] [ 5.26353753e-04 9.99999861e-01 -2.96966804e-05] [-2.22452434e-05 2.97083934e-05 9.99999999e-01]] t_estimated: [[1.65508593e-01] [9.86208282e-01] [3.60325053e-04]] R_gt: [[ 0.99588736 -0.00597876 -0.09040384] [ 0.00548516 0.99996905 -0.00570472] [ 0.09043563 0.00518509 0.99588838]] t_gt: [ 0.41081045 -0.05201209 -0.91023597] Pose Error in degrees for R and t: 5.206934608463452 89.06203051721084 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.91031603e-01 -1.33627682e-01 -6.64977567e-05] [ 1.33627691e-01 9.91031591e-01 1.59607316e-04] [ 4.45734219e-05 -1.67061836e-04 9.99999985e-01]] t_estimated: [[5.22494776e-02] [9.98634063e-01] [1.10992671e-05]] R_gt: [[ 9.83566639e-01 1.30213428e-02 -1.80078384e-01] [-1.27896310e-02 9.99916125e-01 2.45363483e-03] [ 1.80095125e-01 -1.09320819e-04 9.83648893e-01]] t_gt: [ 0.32608922 0.07713486 -0.94218684] Pose Error in degrees for R and t: 13.355107168108182 84.60295154842808 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999603e-01 -8.91065491e-04 2.08593781e-06] [ 8.91067730e-04 9.99998213e-01 -1.66704049e-03] [-6.00491824e-07 1.66704169e-03 9.99998610e-01]] t_estimated: [[8.05168238e-01] [5.93045994e-01] [7.46909312e-04]] R_gt: [[ 0.96706162 0.02426372 -0.25338296] [-0.02598912 0.99965622 -0.00345885] [ 0.25321231 0.00993017 0.96736003]] t_gt: [ 0.32073798 0.10859435 -0.94092211] Pose Error in degrees for R and t: 14.754575142694197 71.2193062700895 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.83524934e-01 1.80772521e-01 1.86977126e-05] [-1.80772496e-01 9.83524842e-01 -4.35847401e-04] [-9.71788985e-05 4.25286754e-04 9.99999905e-01]] t_estimated: [[-0.55081603] [ 0.83462609] [-0.00099497]] R_gt: [[ 0.99631433 0.03962398 -0.07608813] [-0.04206275 0.99864326 -0.03071529] [ 0.07476742 0.03380316 0.99662828]] t_gt: [-0.15022053 0.51379159 -0.84466088] Pose Error in degrees for R and t: 9.336625463522713 59.175630945916254 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.96266330e-01 -8.63330560e-02 -4.68067258e-05] [ 8.63330622e-02 9.96266319e-01 1.52488675e-04] [ 3.34671511e-05 -1.55960301e-04 9.99999987e-01]] t_estimated: [[-3.71117897e-02] [ 9.99311091e-01] [ 2.43621923e-04]] R_gt: [[ 0.98692299 0.03709914 -0.15686902] [-0.04147438 0.99883473 -0.0247027 ] [ 0.15577053 0.03088628 0.98731062]] t_gt: [ 0.10162388 0.30839366 -0.94581496] Pose Error in degrees for R and t: 11.639238000458434 72.29120195424333 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-1.17668016e-02 9.99930334e-01 -9.32465450e-04] [-9.99927188e-01 -1.17692500e-02 -2.66528315e-03] [-2.67607189e-03 9.01035697e-04 9.99996013e-01]] t_estimated: [[5.58918919e-03] [9.99984052e-01] [8.10634691e-04]] R_gt: [[ 0.96846484 0.04832831 -0.24442063] [-0.05519103 0.99824946 -0.02130425] [ 0.24296277 0.03412322 0.96943551]] t_gt: [ 0.18368467 0.26303678 -0.94713864] Pose Error in degrees for R and t: 88.58280301583768 74.73454511489425 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.97507335e-01 7.05622501e-02 2.90915141e-04] [-7.05622038e-02 9.97507367e-01 -1.66585373e-04] [-3.01944635e-04 1.45642518e-04 9.99999944e-01]] t_estimated: [[ 9.57012950e-01] [-2.90044974e-01] [-3.54550999e-04]] R_gt: [[ 0.99183735 -0.12647254 0.01622891] [ 0.12687129 0.99156699 -0.02645672] [-0.01274641 0.0282993 0.99951799]] t_gt: [ 0.83541649 -0.53166844 -0.13931246] Pose Error in degrees for R and t: 11.461207007869408 17.491500048936906 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.21412239e-01 3.88586366e-01 3.49223463e-04] [-3.88585156e-01 9.21411010e-01 -1.82402737e-03] [-1.03057051e-03 1.54497809e-03 9.99998275e-01]] t_estimated: [[7.89524142e-01] [6.13719171e-01] [6.39290803e-04]] R_gt: [[ 0.97093489 -0.23612446 0.03913054] [ 0.23812664 0.96947047 -0.05851573] [-0.02411968 0.066133 0.99751912]] t_gt: [ 0.85935485 -0.47851101 -0.18037862] Pose Error in degrees for R and t: 36.80349483836282 67.37521130597753 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-6.85323051e-01 7.28235086e-01 -2.44456119e-03] [ 7.28230844e-01 6.85327406e-01 2.48670046e-03] [ 3.48622730e-03 -7.60117092e-05 -9.99993920e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.94314486 -0.32805485 0.05346289] [ 0.33214888 0.93625194 -0.11450451] [-0.01249099 0.12575161 0.99198367]] t_gt: [ 0.87657085 -0.39016039 -0.28177724] Pose Error in degrees for R and t: 175.63015119068965 28.938669977336744 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.34898724 -0.93707325 -0.01008076] [-0.93710724 0.34888883 0.01032493] [-0.00615815 0.01305003 -0.99989588]] t_estimated: [[7.72872146e-01] [6.34561394e-01] [6.95028909e-04]] R_gt: [[ 0.99821676 0.04480161 0.03943703] [-0.04252362 0.99747903 -0.05680512] [-0.04188282 0.05502695 0.99760536]] t_gt: [-0.76464168 0.63946906 -0.08001521] Pose Error in degrees for R and t: 179.92656491257912 79.32467118343398 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.90578661e-01 -1.36944891e-01 -1.15588524e-04] [ 1.36944909e-01 9.90578651e-01 1.69988015e-04] [ 9.12205338e-05 -1.84215761e-04 9.99999979e-01]] t_estimated: [[9.84343310e-01] [1.76260503e-01] [6.95806044e-04]] R_gt: [[ 0.99565763 0.04704457 0.08033026] [-0.04273663 0.99759771 -0.05452079] [-0.08270177 0.05085163 0.99527592]] t_gt: [-0.66120519 0.46024732 0.59243573] Pose Error in degrees for R and t: 11.84380039678307 55.29736972746706 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.74161139e-01 -2.25851252e-01 1.13453177e-03] [ 2.25852272e-01 9.74161176e-01 -8.68688191e-04] [-9.09022492e-04 1.10247886e-03 9.99998979e-01]] t_estimated: [[0.88016602] [0.47466509] [0.00090917]] R_gt: [[ 0.9952302 0.01765937 0.09594162] [-0.01234173 0.99836864 -0.05573657] [-0.09676937 0.05428685 0.99382473]] t_gt: [-0.213792 0.09040482 0.97268697] Pose Error in degrees for R and t: 15.264706775202798 81.69884758413896 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.99374091 0.11170232 -0.00126112] [-0.1116987 -0.9937386 -0.00264644] [-0.00154884 -0.00248901 0.9999957 ]] t_estimated: [[0.59503181] [0.8037005 ] [0.00163022]] R_gt: [[ 0.98850547 -0.13809019 0.06155081] [ 0.12339343 0.97213776 0.19930495] [-0.08735825 -0.1894184 0.97800231]] t_gt: [ 0.44602834 -0.41610397 0.79241164] Pose Error in degrees for R and t: 178.82188120512686 86.11637750143889 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.99372988e-01 -3.53977409e-02 -7.94114341e-04] [ 3.54004696e-02 -9.99366226e-01 -3.73538382e-03] [-6.61386904e-04 -3.76115371e-03 9.99992708e-01]] t_estimated: [[0.77358886] [0.63368449] [0.00205742]] R_gt: [[ 0.97386213 -0.18623122 0.13004295] [ 0.1370821 0.93838033 0.31725646] [-0.18111278 -0.29113665 0.93938122]] t_gt: [ 0.38402358 -0.26807128 0.88355174] Pose Error in degrees for R and t: 168.5636795309066 82.58694286252856 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 2.86209347e-01 -9.58164592e-01 -2.19649054e-03] [-9.58166839e-01 -2.86210238e-01 9.57287073e-05] [-7.20381937e-04 2.07720594e-03 -9.99997583e-01]] t_estimated: [[8.04787645e-01] [5.93562508e-01] [6.28368592e-04]] R_gt: [[ 0.97717566 -0.15589566 0.14431149] [ 0.10491305 0.9448376 0.31028342] [-0.18472279 -0.28806027 0.93962711]] t_gt: [ 0.3452261 -0.1867288 0.91975611] Pose Error in degrees for R and t: 160.2433268677823 80.35306254147132 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 9.99711790e-01 -2.40069913e-02 -4.14150407e-05] [ 2.40069903e-02 9.99711790e-01 -2.40180936e-05] [ 4.19797067e-05 2.30169208e-05 9.99999999e-01]] t_estimated: [[-0.87830212] [-0.47810486] [-0.00106147]] R_gt: [[ 0.99656024 0.08148841 -0.01502331] [-0.08086506 0.99599049 0.03824746] [ 0.0180785 -0.03690154 0.99915517]] t_gt: [-0.80465947 0.511739 0.30107529] Pose Error in degrees for R and t: 6.477208105240367 62.49993391519766 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[ 9.99794487e-01 -2.02721498e-02 -1.52354704e-04] [ 2.02721740e-02 9.99794486e-01 1.59534344e-04] [ 1.49089289e-04 -1.62590119e-04 9.99999976e-01]] t_estimated: [[-9.92027650e-01] [-1.26020139e-01] [-2.58817850e-04]] R_gt: [[ 0.97653621 0.21534133 -0.00214716] [-0.21522245 0.97624401 0.02500908] [ 0.00748061 -0.02396021 0.99968423]] t_gt: [-0.81158466 0.58065807 0.06454879] Pose Error in degrees for R and t: 13.670244669045749 42.95214221583755 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.99935142e-01 -1.13858757e-02 -2.71571712e-04] [ 1.13859376e-02 9.99935152e-01 2.27262208e-04] [ 2.68966522e-04 -2.30339567e-04 9.99999937e-01]] t_estimated: [[-0.93677856] [-0.3499213 ] [-0.00100913]] R_gt: [[ 0.96455896 0.26286054 0.02303162] [-0.26313877 0.96470664 0.009953 ] [-0.01960333 -0.01566097 0.99968524]] t_gt: [-0.76888795 0.63662575 0.05932095] Pose Error in degrees for R and t: 15.967997092384705 60.16863153628275 Number of keypoints: Image1: 573 Image2: 573 R_estimated: [[ 9.99999871e-01 -5.07522626e-04 1.05780062e-05] [ 5.07522974e-04 9.99999871e-01 -3.28922735e-05] [-1.05613112e-05 3.28976379e-05 9.99999999e-01]] t_estimated: [[9.52454420e-01] [3.04680674e-01] [5.14538281e-04]] R_gt: [[ 9.99481621e-01 -2.76837705e-02 -1.64567604e-02] [ 2.76702781e-02 9.99616008e-01 -1.07398196e-03] [ 1.64801962e-02 6.18583921e-04 9.99864277e-01]] t_gt: [ 0.81072459 -0.39577903 -0.43137523] Pose Error in degrees for R and t: 1.821462159761015 49.3550231702734 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.99999791e-01 6.38013675e-04 1.00357616e-04] [-6.38013045e-04 9.99999796e-01 -6.31456219e-06] [-1.00361625e-04 6.25053141e-06 9.99999995e-01]] t_estimated: [[9.32369888e-01] [3.61504839e-01] [8.02044738e-04]] R_gt: [[ 0.9942006 -0.09976191 -0.04015775] [ 0.10077343 0.99461973 0.02400597] [ 0.03754681 -0.02791296 0.99890437]] t_gt: [ 0.95377897 -0.26161472 0.14786284] Pose Error in degrees for R and t: 6.3865259930763765 37.36189392256799 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.93465423e-01 -1.14133490e-01 7.24293989e-07] [ 1.14133479e-01 9.93465328e-01 -4.36740904e-04] [ 4.91272026e-05 4.33969653e-04 9.99999905e-01]] t_estimated: [[ 0.99636006] [-0.08523763] [-0.00108143]] R_gt: [[ 0.9852403 -0.14999297 -0.08248893] [ 0.15293682 0.98776309 0.03056716] [ 0.07689398 -0.04273113 0.99612225]] t_gt: [ 0.98066322 -0.18083173 0.07483006] Pose Error in degrees for R and t: 5.50401378380442 7.056071612545152 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999317e-01 1.09186354e-03 -4.16435925e-04] [-1.09173140e-03 9.99999354e-01 3.17415363e-04] [ 4.16782230e-04 -3.16960510e-04 9.99999863e-01]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.98215182 0.18807282 0.00245501] [-0.18792031 0.9817399 -0.02952188] [-0.00796338 0.02853305 0.99956093]] t_gt: [-0.35764821 0.92939555 -0.09116832] Pose Error in degrees for R and t: 10.911882523789952 23.278996729286828 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.90717776 0.35981262 -0.21809033] [-0.25981263 0.88676573 0.38228777] [ 0.33094699 -0.29014034 0.89793801]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.95446311 0.29818349 0.00929505] [-0.29400317 0.94545728 -0.14025578] [-0.05061062 0.13113506 0.99007224]] t_gt: [-0.2691865 0.94919077 -0.16301999] Pose Error in degrees for R and t: 33.56470263713333 39.254480913632484 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.99999505e-01 8.93336172e-04 -4.37218063e-04] [-8.93439021e-04 9.99999573e-01 -2.35096293e-04] [ 4.37007857e-04 2.35486804e-04 9.99999877e-01]] t_estimated: [[-0.58977919] [-0.80756307] [-0.00154994]] R_gt: [[ 9.50703474e-01 3.10100647e-01 -4.23727599e-04] [-3.03117474e-01 9.29004331e-01 -2.12296749e-01] [-6.54394004e-02 2.01958429e-01 9.77205283e-01]] t_gt: [-0.22421616 0.94123671 -0.25258776] Pose Error in degrees for R and t: 21.75696521898764 51.135666352957195 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99502658e-01 3.15345448e-02 9.92582461e-05] [-3.15345447e-02 9.99502663e-01 -2.96508306e-06] [-9.93023838e-05 -1.66455192e-07 9.99999995e-01]] t_estimated: [[-6.58908970e-01] [ 7.52222658e-01] [ 2.06162323e-04]] R_gt: [[ 0.99859593 0.04502133 -0.02791852] [-0.04623055 0.99794747 -0.04433199] [ 0.02586549 0.04556006 0.99862646]] t_gt: [-0.34264085 0.73507471 -0.58503198] Pose Error in degrees for R and t: 3.1127264250950804 38.86849090984498 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.67576502e-01 -2.52578092e-01 -1.39690034e-04] [ 2.52578080e-01 9.67576511e-01 -9.57772464e-05] [ 1.59352030e-04 5.73891725e-05 9.99999986e-01]] t_estimated: [[ 0.34666812] [-0.93798512] [-0.00226436]] R_gt: [[ 0.99954148 0.01406637 -0.02683009] [-0.01620545 0.99656395 -0.08122708] [ 0.02559544 0.08162486 0.99633453]] t_gt: [-0.04555391 0.61760697 -0.78516652] Pose Error in degrees for R and t: 16.250632536865137 53.60701428016357 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.26659892 0.95278938 0.14531832] [ 0.95207039 0.28380045 -0.11410207] [-0.14995665 0.10793378 -0.98278345]] t_estimated: [[ 0.78129566] [-0.61729515] [ 0.09232435]] R_gt: [[ 0.99919528 -0.03973655 0.00535893] [ 0.03959688 0.9989278 0.02398618] [-0.00630689 -0.02375463 0.99969814]] t_gt: [ 0.85284224 -0.03680126 0.52087022] Pose Error in degrees for R and t: 169.917408931896 42.51264796570111 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99843045e-01 -1.77152114e-02 2.39003355e-04] [ 1.77152921e-02 9.99843014e-01 -3.39767017e-04] [-2.32946790e-04 3.43947703e-04 9.99999914e-01]] t_estimated: [[0.64960771] [0.7602691 ] [0.00084474]] R_gt: [[ 0.99931552 -0.03684712 -0.00345084] [ 0.03645207 0.99611452 -0.08016686] [ 0.00639131 0.07998547 0.99677545]] t_gt: [ 0.2340888 0.42862398 -0.87263046] Pose Error in degrees for R and t: 4.711049864461468 61.49742129002422 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.84447952e-01 -1.75676432e-01 -1.44544894e-04] [ 1.75676480e-01 9.84447852e-01 4.47702074e-04] [ 6.36462079e-05 -4.66132528e-04 9.99999889e-01]] t_estimated: [[9.11738339e-01] [4.10770730e-01] [7.79916784e-04]] R_gt: [[ 0.99814692 -0.06034167 -0.00793899] [ 0.05891286 0.99067651 -0.1228364 ] [ 0.01527662 0.12214004 0.99239535]] t_gt: [ 0.16582387 0.58991034 -0.79025833] Pose Error in degrees for R and t: 9.747194919492813 66.86558464151344 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.9991035 -0.04228242 -0.00209579] [ 0.04228557 0.99910447 0.00148168] [ 0.00203127 -0.00156898 0.99999671]] t_estimated: [[-0.94299928] [-0.33276953] [-0.00409851]] R_gt: [[ 0.99899107 -0.04156221 -0.01703421] [ 0.03800736 0.98426665 -0.17255351] [ 0.02393832 0.17173197 0.9848534 ]] t_gt: [ 0.0503468 0.74011068 -0.67059778] Pose Error in degrees for R and t: 10.059373668701097 73.08127801598692 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99963352e-01 -8.56012150e-03 1.38639250e-04] [ 8.56011187e-03 9.99963359e-01 6.99103727e-05] [-1.39232611e-04 -6.87210432e-05 9.99999988e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99562835 -0.08865242 0.02941409] [ 0.08849845 0.99605605 0.00646044] [-0.02987023 -0.00382908 0.99954637]] t_gt: [ 0.39265014 -0.82338392 0.40971306] Pose Error in degrees for R and t: 4.902490971111643 79.7865907137784 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99570914e-01 2.92904767e-02 2.37181404e-04] [-2.92904717e-02 9.99570942e-01 -2.42393159e-05] [-2.37789620e-04 1.72817600e-05 9.99999972e-01]] t_estimated: [[0.63754221] [0.77041475] [0.00102199]] R_gt: [[ 0.99162041 -0.11999852 0.04784993] [ 0.1208603 0.9925481 -0.0155602 ] [-0.04562548 0.02121327 0.99873409]] t_gt: [ 0.29895377 -0.88154806 0.36537605] Pose Error in degrees for R and t: 9.065215428736359 60.7784092844283 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.86132890e-01 -1.65957475e-01 1.99417641e-04] [ 1.65957438e-01 9.86132898e-01 1.90326490e-04] [-2.28238400e-04 -1.54592371e-04 9.99999962e-01]] t_estimated: [[0.69270605] [0.72121878] [0.00134135]] R_gt: [[ 0.98719835 -0.10717398 0.11812282] [ 0.11198758 0.99309729 -0.03488298] [-0.11356923 0.0476648 0.99238673]] t_gt: [-0.21870598 -0.67362332 0.70597402] Pose Error in degrees for R and t: 7.771948608139738 50.47745546623855 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 5.53721121e-01 8.32702177e-01 -5.74637192e-05] [-8.32701950e-01 5.53720916e-01 -7.80374743e-04] [-6.18000884e-04 4.79960129e-04 9.99999694e-01]] t_estimated: [[-9.68027526e-02] [ 9.95303554e-01] [ 2.50838879e-04]] R_gt: [[ 9.99210085e-01 -5.59367985e-04 3.97351052e-02] [-2.53725047e-04 9.99790950e-01 2.04339673e-02] [-3.97388344e-02 -2.04281769e-02 9.99001371e-01]] t_gt: [0.00992239 0.24824102 0.96864748] Pose Error in degrees for R and t: 56.43958337936837 75.73792015386437 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 4.55453538e-01 -8.90257756e-01 1.78963004e-03] [-8.90259545e-01 -4.55452311e-01 1.06567495e-03] [-1.33634256e-04 -2.07860065e-03 -9.99997831e-01]] t_estimated: [[0.52840443] [0.84899126] [0.00161099]] R_gt: [[ 0.99933379 0.02798562 0.02345487] [-0.02849984 0.99935459 0.02185938] [-0.02282881 -0.02251345 0.99948614]] t_gt: [-0.2616369 0.83646852 0.48152522] Pose Error in degrees for R and t: 178.116339179314 55.06267038687344 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 1.56053488e-01 -9.87748606e-01 -1.11976984e-05] [-9.87747527e-01 -1.56053301e-01 -1.47992661e-03] [ 1.46004801e-03 2.42008209e-04 -9.99998905e-01]] t_estimated: [[7.57421432e-01] [6.52925959e-01] [6.82976945e-04]] R_gt: [[ 0.99920208 -0.0274778 0.02898788] [ 0.02647541 0.99905781 0.0343959 ] [-0.0299063 -0.03360033 0.99898791]] t_gt: [0.50565297 0.35484675 0.78638341] Pose Error in degrees for R and t: 177.48726404263004 52.03222832476855 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99952598e-01 -9.71396573e-03 6.63901009e-04] [ 9.71360058e-03 9.99952670e-01 5.51037172e-04] [-6.69222343e-04 -5.44562183e-04 9.99999628e-01]] t_estimated: [[0.58689403] [0.80966326] [0.00089466]] R_gt: [[ 0.99698667 0.07220296 -0.02834211] [-0.07184895 0.99732608 0.0133715 ] [ 0.02923157 -0.0112946 0.99950879]] t_gt: [-0.62509399 0.77541781 -0.0893573 ] Pose Error in degrees for R and t: 5.028463372980331 74.87751130885873 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.92191174e-01 -1.24725669e-01 -4.26736855e-04] [ 1.24725813e-01 9.92191193e-01 3.28965078e-04] [ 3.82374159e-04 -3.79621348e-04 9.99999855e-01]] t_estimated: [[-0.68730827] [ 0.72636234] [-0.00225503]] R_gt: [[ 0.98985092 0.072981 -0.12193673] [-0.07481553 0.99714203 -0.01052687] [ 0.12082007 0.01954388 0.99248147]] t_gt: [-0.23178381 0.59634749 -0.76853493] Pose Error in degrees for R and t: 13.392609652527977 53.5440667280913 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99221761 0.08622667 -0.08982856] [-0.06513463 0.9742735 0.21575132] [ 0.10612111 -0.20822131 0.97230767]] t_estimated: [[8.25178206e-01] [5.64871990e-01] [7.50162006e-04]] R_gt: [[ 0.97402929 0.09149104 -0.2071141 ] [-0.09211465 0.995726 0.00665477] [ 0.20683737 0.01259618 0.97829393]] t_gt: [-0.07251916 0.49734561 -0.86451623] Pose Error in degrees for R and t: 13.949454528493012 77.2647202814903 Number of keypoints: Image1: 549 Image2: 549 R_estimated: [[ 7.63358514e-01 6.45974940e-01 3.95150567e-04] [-6.45974350e-01 7.63358438e-01 -1.01705442e-03] [-9.58633190e-04 5.21120022e-04 9.99999405e-01]] t_estimated: [[0.22488259] [0.97438522] [0.00112785]] R_gt: [[ 0.99848799 -0.05369151 0.0118658 ] [ 0.05394335 0.99829975 -0.02208242] [-0.01066043 0.02268851 0.99968522]] t_gt: [ 0.32798131 -0.93309879 -0.14749548] Pose Error in degrees for R and t: 43.344937845143534 33.32093189389627 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.89571315e-01 -1.44043668e-01 1.86318939e-04] [ 1.44043678e-01 9.89571330e-01 -3.90694380e-05] [-1.78748175e-04 6.55000604e-05 9.99999982e-01]] t_estimated: [[0.97272098] [0.23197485] [0.00125357]] R_gt: [[ 0.99574386 -0.05644506 0.07286112] [ 0.05969512 0.99727977 -0.04323267] [-0.07022339 0.04739826 0.99640483]] t_gt: [-0.51614225 -0.58995823 0.62092388] Pose Error in degrees for R and t: 6.9263371709209745 50.34677386976652 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 0.87559101 0.48303255 0.00446439] [-0.48304875 0.87558516 0.0038107 ] [-0.00206826 -0.00549313 0.99998277]] t_estimated: [[0.86157763] [0.50762289] [0.00172661]] R_gt: [[ 0.99146506 -0.06475249 0.11316405] [ 0.06904576 0.99701891 -0.03443939] [-0.11059663 0.04195807 0.99297876]] t_gt: [-0.52317489 -0.47400757 0.70824068] Pose Error in degrees for R and t: 33.39474382020858 46.35801431525576 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.98782361e-01 -4.93192070e-02 1.18815198e-03] [ 4.93197742e-02 9.98782937e-01 -4.52863776e-04] [-1.16437104e-03 5.10911739e-04 9.99999192e-01]] t_estimated: [[ 0.99956617] [-0.02941255] [ 0.00154067]] R_gt: [[ 0.98873137 -0.12155614 0.08737096] [ 0.10281711 0.97562998 0.1938349 ] [-0.10880406 -0.18266777 0.97713565]] t_gt: [ 0.3775442 -0.36312448 0.85182216] Pose Error in degrees for R and t: 12.810141630341455 67.08449580681126 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.30898821e-01 5.56423530e-01 -6.99902248e-05] [-5.56423476e-01 8.30898669e-01 -5.63911385e-04] [-2.55618779e-04 5.07497509e-04 9.99999839e-01]] t_estimated: [[-8.28455963e-01] [ 5.60053872e-01] [-6.14840221e-04]] R_gt: [[ 0.97610247 -0.1647091 0.14176047] [ 0.12450432 0.95851738 0.25640219] [-0.17811206 -0.23262545 0.95611719]] t_gt: [ 0.38500756 -0.28277166 0.87852682] Pose Error in degrees for R and t: 45.47511119367993 61.453663477383465 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.17317874 0.984888 0.0021787 ] [ 0.98488824 -0.17318258 0.00171967] [ 0.002071 0.00184797 -0.99999615]] t_estimated: [[-0.76586095] [-0.64300338] [-0.00191491]] R_gt: [[ 0.98142641 -0.11868502 0.15071592] [ 0.07575452 0.96156647 0.26391045] [-0.17624676 -0.24759225 0.95269845]] t_gt: [ 0.2922086 -0.14340891 0.94554112] Pose Error in degrees for R and t: 174.7410425859251 82.33450448305123 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.36715794e-01 3.50090721e-01 9.06688979e-05] [-3.50090731e-01 9.36715784e-01 1.44406408e-04] [-3.43756441e-05 -1.67010104e-04 9.99999985e-01]] t_estimated: [[4.88152019e-01] [8.72758550e-01] [3.46526951e-04]] R_gt: [[ 0.99359767 -0.11148728 0.0183033 ] [ 0.11241068 0.99177615 -0.06118706] [-0.01133072 0.06285283 0.9979585 ]] t_gt: [ 0.81169753 -0.44755053 -0.37529408] Pose Error in degrees for R and t: 27.171477839413605 89.68497558862587 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 3.77867942e-01 9.25859500e-01 -6.77711410e-05] [-9.25858352e-01 3.77867357e-01 -1.60374782e-03] [-1.45923665e-03 6.68751364e-04 9.99998712e-01]] t_estimated: [[0.59027308] [0.80720309] [0.00093103]] R_gt: [[ 0.97245196 -0.23302864 -0.00601686] [ 0.23146474 0.9683378 -0.09352135] [ 0.0276197 0.08955276 0.99559895]] t_gt: [ 0.85961387 -0.39215881 -0.32752933] Pose Error in degrees for R and t: 81.3999047825036 79.01510620196659 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 6.42534357e-01 7.66253634e-01 2.22879467e-03] [ 7.66254931e-01 -6.42536562e-01 3.84409984e-04] [ 1.72663761e-03 1.46082828e-03 -9.99997442e-01]] t_estimated: [[8.29622515e-01] [5.58324157e-01] [7.86372052e-04]] R_gt: [[ 0.92977668 -0.36811825 -0.00216692] [ 0.36731446 0.9281029 -0.06086326] [ 0.02441644 0.05579378 0.99814309]] t_gt: [ 0.89453114 -0.42772582 -0.12986404] Pose Error in degrees for R and t: 177.1852849723107 59.78730770400112 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999935e-01 2.92644567e-04 2.10631996e-04] [-2.92592838e-04 9.99999927e-01 -2.45578267e-04] [-2.10703847e-04 2.45516622e-04 9.99999948e-01]] t_estimated: [[6.01694431e-03] [9.99981532e-01] [8.56087105e-04]] R_gt: [[ 0.99435435 0.08618999 -0.06188669] [-0.09077066 0.99300801 -0.07546819] [ 0.05494991 0.08065955 0.99522534]] t_gt: [-0.32972654 0.71258383 -0.61927756] Pose Error in degrees for R and t: 7.551772387178661 44.76048193048366 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.1343943 0.99092622 0.00184571] [ 0.99092623 -0.13439729 0.00160249] [ 0.001836 0.0016136 -0.99999701]] t_estimated: [[-0.38562361] [-0.92265536] [-0.00123421]] R_gt: [[ 0.99245825 0.10144225 -0.06882484] [-0.10747849 0.99007617 -0.09054166] [ 0.05895694 0.09725646 0.99351107]] t_gt: [-0.32335878 0.75236823 -0.57391737] Pose Error in degrees for R and t: 178.35857996993468 55.335260302144185 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.96393953e-01 8.48468988e-02 -3.06532266e-04] [-8.48468897e-02 9.96394000e-01 4.24413440e-05] [ 3.09027927e-04 -1.62799892e-05 9.99999952e-01]] t_estimated: [[-0.99997051] [-0.00741749] [-0.00198963]] R_gt: [[ 0.99582856 0.05608514 -0.07197631] [-0.06415042 0.99127858 -0.11511632] [ 0.06489274 0.11925406 0.99074096]] t_gt: [-0.13811865 0.68060519 -0.71951359] Pose Error in degrees for R and t: 7.920716701918524 82.27042132441656 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.96230362e-01 8.67471226e-02 5.92122685e-05] [-8.67471217e-02 9.96230363e-01 -1.77023609e-05] [-6.05246886e-05 1.24991355e-05 9.99999998e-01]] t_estimated: [[0.4381831 ] [0.89888525] [0.00093829]] R_gt: [[ 0.99954484 0.02568399 0.01584697] [-0.02514433 0.99912967 -0.03330448] [-0.01668724 0.03289159 0.99931963]] t_gt: [-0.79185172 0.35556623 -0.49653147] Pose Error in degrees for R and t: 4.103824460963186 88.40532728853482 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.91502972e-01 -1.30083631e-01 3.23596279e-04] [ 1.30083732e-01 9.91502962e-01 -3.13137600e-04] [-2.80112594e-04 3.52571472e-04 9.99999899e-01]] t_estimated: [[9.23027749e-01] [3.84732496e-01] [8.25606215e-04]] R_gt: [[ 0.99543914 0.07174706 0.06287913] [-0.06684162 0.99479496 -0.07690982] [-0.06806977 0.07235661 0.99505369]] t_gt: [-0.7983713 0.59971841 0.05423179] Pose Error in degrees for R and t: 12.782042684093998 59.59274782476202 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.95085547e-01 -9.90189371e-02 -7.17678354e-05] [ 9.90189452e-02 9.95085541e-01 1.20278768e-04] [ 5.95052596e-05 -1.26794039e-04 9.99999990e-01]] t_estimated: [[8.19679997e-01] [5.72821296e-01] [6.81930114e-04]] R_gt: [[ 0.99202166 0.05721921 0.11233952] [-0.04877673 0.99587554 -0.07651363] [-0.11625278 0.07042477 0.99071965]] t_gt: [-0.64173189 0.37811221 0.66724159] Pose Error in degrees for R and t: 11.717917532161842 72.00288813085274 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 8.88275215e-01 -4.59309570e-01 -1.36417581e-03] [ 4.59311540e-01 8.88272661e-01 2.14225240e-03] [ 2.27803054e-04 -2.52949140e-03 9.99996775e-01]] t_estimated: [[-0.38213088] [-0.92410737] [-0.00124879]] R_gt: [[ 0.99971428 0.01677067 -0.01700049] [-0.01755291 0.99874088 -0.04698433] [ 0.01619148 0.04726844 0.99875051]] t_gt: [-0.26478277 0.80770879 -0.52677946] Pose Error in degrees for R and t: 28.48016955867311 49.86654706689001 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.94880568e-01 -1.01057688e-01 -3.47660218e-06] [ 1.01057687e-01 9.94880561e-01 1.18725996e-04] [-8.53937069e-06 -1.18469524e-04 9.99999993e-01]] t_estimated: [[-0.19232324] [ 0.98133104] [-0.0010791 ]] R_gt: [[ 0.9994643 -0.02835075 -0.01631802] [ 0.0266645 0.99505734 -0.09564323] [ 0.0189486 0.09515665 0.99528171]] t_gt: [ 0.22123954 0.79914998 -0.55893861] Pose Error in degrees for R and t: 6.991252717287822 42.073629790295826 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.79081514e-01 -2.03468345e-01 -1.47608260e-04] [ 2.03468397e-01 9.79081331e-01 5.98850929e-04] [ 2.26732842e-05 -6.16357490e-04 9.99999810e-01]] t_estimated: [[ 0.05690772] [ 0.99837881] [-0.0011256 ]] R_gt: [[ 0.99384713 -0.11071311 0.00309562] [ 0.10971139 0.98025313 -0.16451623] [ 0.01518027 0.16384304 0.98636892]] t_gt: [ 0.60406051 0.60259439 -0.52152747] Pose Error in degrees for R and t: 10.914232450638908 50.46271578852727 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.96350251 -0.22189882 0.14974587] [ 0.24867839 0.94900065 -0.19379585] [-0.09910585 0.22396135 0.96954595]] t_estimated: [[-0.97404437] [-0.22635395] [-0.00120401]] R_gt: [[ 0.98961459 0.14362398 0.00596798] [-0.14258233 0.98601906 -0.08623141] [-0.01826925 0.08448553 0.99625686]] t_gt: [-0.28390477 0.91512055 -0.28627341] Pose Error in degrees for R and t: 24.065794143151585 86.00098244752277 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.21316415 -0.97697218 -0.00929574] [-0.97682403 0.21292374 0.02186977] [-0.01938688 0.01374215 -0.99971761]] t_estimated: [[0.82149419] [0.57021361] [0.00193293]] R_gt: [[ 0.98336327 0.18160558 0.00388807] [-0.17864643 0.97077385 -0.16026197] [-0.03287889 0.15690163 0.98706635]] t_gt: [-0.21368206 0.90408682 -0.37009053] Pose Error in degrees for R and t: 175.33324863530893 70.16767563786648 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.93489496 -0.12175473 0.33338745] [-0.12845721 -0.75956502 -0.63762036] [ 0.33086274 -0.63893408 0.69447324]] t_estimated: [[0.77533375] [0.60542207] [0.17978233]] R_gt: [[ 0.98286582 0.18409788 -0.00904501] [-0.18016874 0.94921953 -0.25791827] [-0.038895 0.25512933 0.96612439]] t_gt: [-0.16953738 0.8502071 -0.49840242] Pose Error in degrees for R and t: 172.44426067939037 72.9214705057843 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99994314e-01 3.37064277e-03 1.00377681e-04] [-3.37064560e-03 9.99994319e-01 2.80349556e-05] [-1.00282615e-04 -2.83731338e-05 9.99999995e-01]] t_estimated: [[9.95925884e-01] [9.01749751e-02] [3.27843431e-04]] R_gt: [[ 0.98926481 -0.1415513 -0.03630949] [ 0.14096331 0.98984646 -0.01827109] [ 0.03852777 0.0129569 0.99917402]] t_gt: [ 0.84703044 -0.50438978 -0.16772115] Pose Error in degrees for R and t: 8.638112305019662 37.05654263190379 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.2067266 0.97834751 0.0100131 ] [ 0.97839776 -0.20670104 -0.00353475] [-0.00138849 0.01052752 -0.99994362]] t_estimated: [[-0.03138541] [-0.99950444] [-0.00241426]] R_gt: [[ 0.96268393 -0.26778597 -0.03911795] [ 0.26858861 0.96310781 0.01685952] [ 0.03316148 -0.02673713 0.99909262]] t_gt: [ 0.842719 -0.53455415 0.06384787] Pose Error in degrees for R and t: 178.2614627132287 59.49018070325514 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.88581532 0.4640355 0.00151022] [ 0.46402605 -0.88581121 0.004282 ] [ 0.00332477 -0.00309228 -0.99998969]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95462142 -0.29085254 -0.06405428] [ 0.29528887 0.952343 0.07646619] [ 0.03876141 -0.0919108 0.99501282]] t_gt: [ 0.77522374 -0.59051586 0.22431935] Pose Error in degrees for R and t: 174.34914452464537 39.32510379643089 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.93322670e-01 1.15369054e-01 2.31942161e-04] [-1.15369010e-01 9.93322684e-01 -1.93595883e-04] [-2.52728384e-04 1.65544242e-04 9.99999954e-01]] t_estimated: [[0.75409636] [0.65676312] [0.00094498]] R_gt: [[ 0.99103346 -0.1331042 -0.01167258] [ 0.13321502 0.99104308 0.00927273] [ 0.01033493 -0.01074498 0.99988942]] t_gt: [ 0.76435224 -0.64479841 -0.0008189 ] Pose Error in degrees for R and t: 14.303989153864162 81.20412707807003 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-8.54890843e-01 5.18807420e-01 7.12301116e-04] [ 5.18807434e-01 8.54887399e-01 2.52592843e-03] [ 7.01533162e-04 2.52894020e-03 -9.99996556e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9780861 -0.20653686 -0.02629608] [ 0.20750733 0.9773307 0.04202611] [ 0.01702117 -0.0465621 0.99877046]] t_gt: [ 0.76547703 -0.63715019 0.08991419] Pose Error in degrees for R and t: 178.1266599609541 40.22031130544918 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.94113188e-01 1.08346215e-01 2.59692512e-04] [-1.08346207e-01 9.94113222e-01 -4.43858725e-05] [-2.62972801e-04 1.59878826e-05 9.99999965e-01]] t_estimated: [[9.55056811e-01] [2.96421552e-01] [8.67050942e-04]] R_gt: [[ 0.9729564 -0.23089094 0.00681626] [ 0.23081243 0.97293943 0.01066232] [-0.00909308 -0.00880139 0.99992005]] t_gt: [ 0.75971876 -0.64835067 0.04968724] Pose Error in degrees for R and t: 19.580725953128074 57.762327233841184 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.56404493 -0.82573903 -0.00289444] [-0.82573342 -0.56401635 -0.00706171] [ 0.00419862 0.00637316 -0.99997088]] t_estimated: [[ 0.5105454 ] [ 0.85984465] [-0.00325039]] R_gt: [[ 9.85246718e-01 -2.62832551e-03 1.71118521e-01] [ 2.43924979e-03 9.99997201e-01 1.31457178e-03] [-1.71121764e-01 -8.77391857e-04 9.85249063e-01]] t_gt: [-0.2233103 -0.01983525 0.97454557] Pose Error in degrees for R and t: 175.78254038598604 82.28573353094215 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.42743292 0.902433 -0.05399787] [-0.90340549 -0.42861685 -0.01208828] [-0.03405326 0.04361504 0.99846788]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.73982982e-01 2.56351997e-02 2.25167215e-01] [-2.61111824e-02 9.99659475e-01 -8.66147515e-04] [-2.25113015e-01 -5.03574265e-03 9.74319420e-01]] t_gt: [-0.34847359 0.08432451 0.93351783] Pose Error in degrees for R and t: 114.51728516035605 76.80150367531164 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999922e-01 -4.40972840e-05 3.93522208e-04] [ 4.42799060e-05 9.99999891e-01 -4.64073522e-04] [-3.93501701e-04 4.64090911e-04 9.99999815e-01]] t_estimated: [[-0.2284298 ] [-0.97355969] [ 0.00116352]] R_gt: [[ 0.9745281 0.09062813 0.20513825] [-0.09139643 0.99579851 -0.00574936] [-0.2047975 -0.01314537 0.97871636]] t_gt: [-0.57340515 0.30103908 0.76195932] Pose Error in degrees for R and t: 12.942270977938419 80.72285657428357 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99976186 0.02178577 -0.00126906] [-0.02178287 0.99976018 0.00225627] [ 0.00131791 -0.00222809 0.99999665]] t_estimated: [[0.64628147] [0.76309761] [0.00151709]] R_gt: [[ 0.99355875 0.10449831 0.04383041] [-0.10472062 0.99449837 0.00281067] [-0.0432957 -0.00738209 0.9990347 ]] t_gt: [-0.55734408 0.78283916 0.27664134] Pose Error in degrees for R and t: 5.413004479461238 76.25499437512032 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99999657e-01 7.23373757e-05 -8.25044144e-04] [-7.14246862e-05 9.99999386e-01 1.10620695e-03] [ 8.25123657e-04 -1.10614764e-03 9.99999048e-01]] t_estimated: [[-4.44220174e-01] [-8.95917547e-01] [-4.30553514e-04]] R_gt: [[ 0.97059766 0.23635436 0.04556102] [-0.23728396 0.97130685 0.01612443] [-0.04044299 -0.02646118 0.99883097]] t_gt: [-0.53213539 0.83273147 0.15293864] Pose Error in degrees for R and t: 13.981949454503996 59.353533541850474 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999917e-01 4.08638995e-04 4.13768621e-07] [-4.08638996e-04 9.99999917e-01 2.57976583e-06] [-4.12714395e-07 -2.57993470e-06 1.00000000e+00]] t_estimated: [[0.70727963] [0.70693274] [0.00127542]] R_gt: [[ 0.95925619 0.27635203 0.05880199] [-0.27776738 0.96049305 0.01728213] [-0.05170331 -0.03291092 0.99812025]] t_gt: [-0.51236585 0.83936994 0.18149201] Pose Error in degrees for R and t: 16.453894530538154 76.63087712764727 Number of keypoints: Image1: 508 Image2: 508 R_estimated: [[ 0.26397111 -0.96449338 0.00847164] [-0.96449747 -0.26387909 0.01060474] [-0.00799271 -0.01097022 -0.99990788]] t_estimated: [[0.61978816] [0.78473076] [0.00776405]] R_gt: [[ 0.99354613 -0.10797102 0.03477555] [ 0.1070743 0.99389297 0.02668281] [-0.03744376 -0.02278705 0.99903816]] t_gt: [ 0.3772369 -0.79774632 0.47041805] Pose Error in degrees for R and t: 176.8379012412821 67.1352736833788 Number of keypoints: Image1: 441 Image2: 441 R_estimated: [[ 9.99999945e-01 -1.75736455e-04 2.81332946e-04] [ 1.75692505e-04 9.99999972e-01 1.56238527e-04] [-2.81360395e-04 -1.56189090e-04 9.99999948e-01]] t_estimated: [[0.7062489] [0.7079631] [0.0008571]] R_gt: [[ 0.98562968 -0.16413912 0.03990292] [ 0.1635159 0.98636879 0.01842403] [-0.04238223 -0.011634 0.9990338 ]] t_gt: [ 0.42749847 -0.83177046 0.35412279] Pose Error in degrees for R and t: 9.749078716102881 73.3431584304239 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-8.43984429e-01 -5.36367639e-01 1.96644429e-04] [-5.36366552e-01 8.43983356e-01 1.73720688e-03] [-1.09774618e-03 1.36070207e-03 -9.99998472e-01]] t_estimated: [[0.92988668] [0.36784468] [0.0010275 ]] R_gt: [[ 0.98100728 -0.17581252 0.08194656] [ 0.17720794 0.98412217 -0.01002605] [-0.07888264 0.02435805 0.99658589]] t_gt: [ 0.2637078 -0.85793711 0.44091056] Pose Error in degrees for R and t: 175.78336105794972 85.99082655870585 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.99943184e-01 -1.06594366e-02 7.07685301e-05] [ 1.06594443e-02 9.99943181e-01 -1.09355285e-04] [-6.95988433e-05 1.10103425e-04 9.99999992e-01]] t_estimated: [[-0.94147788] [-0.33706414] [-0.00267891]] R_gt: [[ 0.99973338 0.00672218 -0.02207862] [-0.00654016 0.99994388 0.00830711] [ 0.02213273 -0.00816032 0.99972223]] t_gt: [ 0.02979988 0.91893037 -0.39329243] Pose Error in degrees for R and t: 1.6806997433957216 70.32156950720042 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.96468685e-01 8.39647794e-02 2.75584763e-04] [-8.39647636e-02 9.96468722e-01 -6.84617932e-05] [-2.80359976e-04 4.50806235e-05 9.99999960e-01]] t_estimated: [[0.74705715] [0.66475736] [0.00180556]] R_gt: [[ 0.99807861 -0.06177037 0.00502401] [ 0.0617383 0.99807269 0.00630946] [-0.0054046 -0.00598662 0.99996781]] t_gt: [ 0.94542748 -0.28618329 0.15577552] Pose Error in degrees for R and t: 8.369111585903028 58.91379400058741 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.08068401 -0.99588796 0.04119774] [-0.9966689 0.08011658 -0.01524612] [ 0.0118828 -0.04229062 -0.99903469]] t_estimated: [[0.93504938] [0.35451565] [0.0011473 ]] R_gt: [[ 9.87962595e-01 -1.54697334e-01 -8.84447104e-04] [ 1.54684110e-01 9.87925945e-01 -8.72476322e-03] [ 2.22362357e-03 8.48362226e-03 9.99961240e-01]] t_gt: [ 0.91521144 -0.40136364 -0.03598956] Pose Error in degrees for R and t: 179.435406667155 44.484756067561385 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99999899e-01 4.38264128e-04 9.77466367e-05] [-4.38262125e-04 9.99999904e-01 -2.05075810e-05] [-9.77556150e-05 2.04647403e-05 9.99999995e-01]] t_estimated: [[ 9.99134860e-01] [ 4.15875570e-02] [-7.94457965e-05]] R_gt: [[ 0.99759877 -0.06913062 0.00408497] [ 0.06911188 0.99759879 0.00463557] [-0.00439596 -0.00434207 0.99998035]] t_gt: [ 0.77216586 -0.63457478 0.03278311] Pose Error in degrees for R and t: 4.004237936652838 41.831897965785345 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.91111018 0.41212856 0.00531996] [-0.41210888 0.91112384 -0.00442853] [-0.00667227 0.00184248 0.99997604]] t_estimated: [[0.35569724] [0.93460047] [0.00119361]] R_gt: [[ 0.99524547 -0.09641588 0.01378535] [ 0.09595073 0.99489669 0.03120299] [-0.01672395 -0.02973164 0.99941835]] t_gt: [ 0.6301982 -0.75188141 0.19371263] Pose Error in degrees for R and t: 29.924854451008837 61.424411563482806 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99962624 0.02625996 -0.00760235] [-0.02622628 0.99964592 0.00449684] [ 0.00771774 -0.00429578 0.99996099]] t_estimated: [[-0.14920592] [-0.98880534] [-0.00126446]] R_gt: [[ 0.99290257 -0.11485188 -0.03086954] [ 0.11503682 0.99335234 0.00428329] [ 0.03017145 -0.00780441 0.99951377]] t_gt: [ 0.63201547 -0.77403035 -0.03786117] Pose Error in degrees for R and t: 8.211697442330635 47.84699329124349 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99022220e-01 -4.42097416e-02 3.20556706e-04] [ 4.42097477e-02 9.99022271e-01 -1.18822579e-05] [-3.19717977e-04 2.60423708e-05 9.99999949e-01]] t_estimated: [[ 9.18159716e-01] [ 3.96210452e-01] [-1.13917564e-04]] R_gt: [[ 0.99809431 -0.04487068 0.04237378] [ 0.04349173 0.99851125 0.03293402] [-0.04378766 -0.03102729 0.99855856]] t_gt: [ 0.45583951 -0.75978927 0.46360609] Pose Error in degrees for R and t: 3.061941258255686 83.25537629253108 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999937e-01 1.54281240e-04 -3.21151061e-04] [-1.54052853e-04 9.99999735e-01 7.11054569e-04] [ 3.21260679e-04 -7.11005050e-04 9.99999696e-01]] t_estimated: [[0.79825997] [0.6023122 ] [0.00101936]] R_gt: [[ 0.99868394 -0.04902364 0.01512033] [ 0.04843165 0.99813006 0.03729816] [-0.0169206 -0.03651614 0.99918909]] t_gt: [ 0.4044058 -0.87191553 0.27607835] Pose Error in degrees for R and t: 3.610858509186528 78.34237765638015 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-6.29663667e-01 7.76867828e-01 2.10492847e-04] [-7.76867135e-01 -6.29662690e-01 -1.53326552e-03] [-1.05860516e-03 -1.12896656e-03 9.99998802e-01]] t_estimated: [[0.76003302] [0.64988331] [0.00122389]] R_gt: [[ 0.99002665 -0.13714654 -0.03223028] [ 0.13699173 0.990548 -0.00698071] [ 0.03288304 0.00249724 0.9994557 ]] t_gt: [ 0.66417608 -0.74192385 -0.09175588] Pose Error in degrees for R and t: 136.9133637056175 88.70961691035163 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.27955056e-01 5.60791026e-01 1.96236076e-03] [-5.60790178e-01 8.27957339e-01 -1.01033640e-03] [-2.19133857e-03 -2.63959508e-04 9.99997564e-01]] t_estimated: [[0.77153905] [0.63618132] [0.00090238]] R_gt: [[ 0.99423386 0.10242666 0.03175498] [-0.10060841 0.99344096 -0.05434885] [-0.03711268 0.05084039 0.99801705]] t_gt: [-0.53330027 0.84435669 -0.05150351] Pose Error in degrees for R and t: 28.491991666749655 82.78138847117641 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.97033323e-01 -7.69709382e-02 1.68190314e-04] [ 7.69709314e-02 9.97033336e-01 4.67462797e-05] [-1.71289454e-04 -3.36618335e-05 9.99999985e-01]] t_estimated: [[-9.44123519e-01] [-3.29590841e-01] [-8.11800102e-04]] R_gt: [[ 0.9777003 0.20874855 0.02295208] [-0.20796581 0.97759867 -0.03244016] [-0.02920895 0.02694375 0.99921039]] t_gt: [-0.50879226 0.86086679 0.00622955] Pose Error in degrees for R and t: 16.600500569847036 78.6603989710343 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 5.63183435e-01 8.26329688e-01 1.91451917e-03] [ 8.26327880e-01 -5.63186412e-01 1.81664281e-03] [ 2.57937706e-03 5.58917431e-04 -9.99996517e-01]] t_estimated: [[8.48408008e-01] [5.29342346e-01] [7.30127373e-04]] R_gt: [[ 0.94868581 0.31251782 0.04823977] [-0.31118265 0.94976802 -0.03325793] [-0.05621046 0.01654027 0.99828197]] t_gt: [-0.48438253 0.87186812 0.07224641] Pose Error in degrees for R and t: 177.36837129078887 87.09870899577894 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.98330436e-01 -5.77610705e-02 -1.17353977e-05] [ 5.77610707e-02 9.98330435e-01 2.31128166e-05] [ 1.03807837e-05 -2.37520774e-05 1.00000000e+00]] t_estimated: [[-7.93262715e-01] [-6.08879034e-01] [-7.66843356e-04]] R_gt: [[ 0.99863596 0.04161619 -0.03153666] [-0.04154619 0.99913279 0.00287541] [ 0.0316288 -0.00156081 0.99949821]] t_gt: [-0.26770665 0.83059077 -0.48831559] Pose Error in degrees for R and t: 5.9766530762134 72.96276392485906 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.96830614e-01 -7.95532988e-02 4.37251267e-06] [ 7.95532983e-02 9.96830612e-01 6.75012154e-05] [-9.72859883e-06 -6.69394302e-05 9.99999998e-01]] t_estimated: [[ 2.98994923e-02] [-9.99552904e-01] [ 1.14756742e-04]] R_gt: [[ 9.94520048e-01 3.03788883e-02 1.00026533e-01] [-3.02500696e-02 9.99538511e-01 -2.80673920e-03] [-1.00066355e-01 -2.35124195e-04 9.94980706e-01]] t_gt: [-0.35757368 0.32486892 0.87555768] Pose Error in degrees for R and t: 8.52601028419997 70.4083385951915 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.83752271 -0.21573421 0.50201042] [-0.3632978 -0.46639277 -0.80653115] [ 0.40813039 -0.85786743 0.31223878]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.97788377 0.07865189 0.19379724] [-0.08083975 0.99672194 0.00339748] [-0.19289484 -0.0189889 0.98103551]] t_gt: [-0.4375283 0.34935726 0.82856412] Pose Error in degrees for R and t: 165.13139702735677 89.66093370504996 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 8.99085469e-02 9.95950014e-01 1.48157148e-04] [-9.95946102e-01 8.99086092e-02 -2.79367892e-03] [-2.79568516e-03 1.03619078e-04 9.99996087e-01]] t_estimated: [[-0.04745147] [ 0.99887289] [ 0.00114637]] R_gt: [[ 0.99516241 -0.09781797 -0.00914799] [ 0.09814043 0.99408303 0.04655129] [ 0.0045401 -0.0472235 0.99887357]] t_gt: [ 0.63416213 -0.68580557 0.35708417] Pose Error in degrees for R and t: 90.50402256774409 44.38013916050096 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.05491746 0.99846732 -0.0068622 ] [ 0.99845112 -0.05485263 0.00930297] [ 0.00891231 -0.00736247 -0.99993318]] t_estimated: [[-0.25007726] [-0.9682089 ] [-0.00573462]] R_gt: [[ 0.99331437 -0.11280899 -0.0245313 ] [ 0.11512475 0.98375867 0.13770712] [ 0.00859848 -0.13961027 0.99016895]] t_gt: [ 0.45371688 -0.67538494 0.58137439] Pose Error in degrees for R and t: 172.8967765670207 57.51250822435875 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-4.83171683e-01 -8.75511415e-01 -4.98859339e-03] [ 8.75525443e-01 -4.83167442e-01 -2.10302259e-03] [-5.69105628e-04 -5.38376140e-03 9.99985346e-01]] t_estimated: [[0.94338246] [0.33170545] [0.00101439]] R_gt: [[ 0.98359373 -0.1722057 -0.05374449] [ 0.18005061 0.95558192 0.2333318 ] [ 0.01117641 -0.23918051 0.97091031]] t_gt: [ 0.49544672 -0.60783886 0.62053564] Pose Error in degrees for R and t: 109.16528954050214 74.54973840319516 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.98610864e-01 5.26910100e-02 -1.42120359e-05] [-5.26910118e-02 9.98610816e-01 -3.07487999e-04] [-2.00956047e-06 3.07809702e-04 9.99999953e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 9.95644287e-01 -9.32356082e-02 9.07301619e-04] [ 9.31181970e-02 9.94785980e-01 4.16115570e-02] [-4.78184420e-03 -4.13454125e-02 9.99132953e-01]] t_gt: [ 0.70048729 -0.65712089 0.27840563] Pose Error in degrees for R and t: 8.706497985696592 74.67818311072307 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-1.84239610e-01 -9.82880683e-01 -1.15286091e-03] [-9.82881161e-01 1.84240191e-01 -4.19689046e-04] [ 6.24907572e-04 1.05580193e-03 -9.99999247e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.982669 -0.18374596 -0.02449778] [ 0.18471623 0.98171134 0.04607424] [ 0.0155833 -0.04980115 0.99863766]] t_gt: [ 0.76671454 -0.63299499 0.10708017] Pose Error in degrees for R and t: 179.19063527297456 72.6597681055063 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 1.24189464e-01 -9.92258519e-01 9.57948409e-05] [-9.92257033e-01 -1.24189444e-01 -1.72122547e-03] [ 1.71979734e-03 1.18704964e-04 -9.99998514e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96777281 -0.25111348 -0.01895026] [ 0.25180349 0.96598841 0.05884399] [ 0.00352936 -0.06172062 0.99808685]] t_gt: [ 0.77030143 -0.62174585 0.14166087] Pose Error in degrees for R and t: 177.89656895004356 75.77141122217598 Number of keypoints: Image1: 628 Image2: 628 R_estimated: [[ 9.99705124e-01 -2.42830031e-02 3.55845390e-05] [ 2.42830013e-02 9.99705123e-01 5.04522242e-05] [-3.67991774e-05 -4.95732477e-05 9.99999998e-01]] t_estimated: [[ 9.87429991e-01] [-1.58055204e-01] [ 7.52268761e-04]] R_gt: [[ 0.99905082 -0.04262212 -0.00899839] [ 0.0424816 0.99898207 -0.01514068] [ 0.0096343 0.01474435 0.99984467]] t_gt: [ 0.53554061 -0.75146244 -0.38535756] Pose Error in degrees for R and t: 1.4576621801657152 49.66229603367218 Number of keypoints: Image1: 484 Image2: 484 R_estimated: [[ 9.93204725e-01 -1.16380136e-01 -1.94594617e-04] [ 1.16380152e-01 9.93204740e-01 7.05523508e-05] [ 1.85061403e-04 -9.27198792e-05 9.99999979e-01]] t_estimated: [[ 9.39262764e-01] [-3.43198801e-01] [-2.07523556e-04]] R_gt: [[ 0.99806174 -0.06155427 -0.00914187] [ 0.0616118 0.9980808 0.00621663] [ 0.00874167 -0.00676744 0.99993844]] t_gt: [ 0.46285664 -0.88385339 -0.06757893] Pose Error in degrees for R and t: 3.2134931204135313 42.430570889222324 Number of keypoints: Image1: 397 Image2: 397 R_estimated: [[ 0.77058743 0.63733295 -0.001312 ] [-0.63732717 0.77058692 0.00314401] [ 0.00301479 -0.00158656 0.9999942 ]] t_estimated: [[-0.98386308] [-0.1788842 ] [-0.00372675]] R_gt: [[ 0.9928928 -0.11776826 0.01716798] [ 0.11751321 0.99295603 0.01514339] [-0.01883127 -0.01301832 0.99973752]] t_gt: [ 0.37243687 -0.90187417 0.21889212] Pose Error in degrees for R and t: 46.368372211501416 78.11713098414533 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99839675e-01 1.79031873e-02 -3.16155207e-04] [-1.79030922e-02 9.99839681e-01 3.01271930e-04] [ 3.21498249e-04 -2.95563473e-04 9.99999905e-01]] t_estimated: [[-0.99675809] [-0.08044697] [-0.00126315]] R_gt: [[ 0.99761302 0.06838232 0.0096254 ] [-0.06860871 0.99731331 0.02565056] [-0.00784527 -0.02624927 0.99962478]] t_gt: [-0.14006215 0.45761304 0.87805062] Pose Error in degrees for R and t: 3.294996169051516 84.16376938494606 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.98953989 0.14424971 -0.00167945] [-0.14424338 0.98953632 0.00342267] [ 0.00215559 -0.00314462 0.99999273]] t_estimated: [[-0.59149118] [-0.80629845] [ 0.0045808 ]] R_gt: [[ 0.98346636 0.17885766 0.02837194] [-0.18034513 0.98153297 0.06377051] [-0.01644088 -0.06783282 0.99756056]] t_gt: [-0.30421698 0.76618507 0.56604989] Pose Error in degrees for R and t: 4.380625676635305 64.19948372430994 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.14789244 -0.98862544 0.02734153] [-0.95346139 -0.14986781 -0.26163146] [ 0.26275314 0.01262423 -0.9647805 ]] t_estimated: [[ 0.43298396] [ 0.87593331] [-0.21275742]] R_gt: [[ 0.96326549 0.26786056 0.01925128] [-0.26852169 0.961748 0.0541795 ] [-0.00400146 -0.05735763 0.99834573]] t_gt: [-0.15215457 0.9445454 0.2910034 ] Pose Error in degrees for R and t: 174.007951749663 45.60787280175588 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 1.28711636e-01 9.91681549e-01 1.00959072e-03] [-9.91681087e-01 1.28712871e-01 -1.27230446e-03] [-1.39166818e-03 -8.37431631e-04 9.99998681e-01]] t_estimated: [[0.32719418] [0.94495634] [0.00122087]] R_gt: [[ 0.99843531 -0.04534128 -0.0327592 ] [ 0.04577273 0.99887377 0.01251895] [ 0.03215367 -0.01399948 0.99938446]] t_gt: [ 0.59580065 -0.75993639 -0.25984277] Pose Error in degrees for R and t: 85.2383059834054 58.43392948191931 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.67842836e-01 -2.51555488e-01 2.85368169e-04] [ 2.51555365e-01 9.67842825e-01 4.06774268e-04] [-3.78517834e-04 -3.21907667e-04 9.99999877e-01]] t_estimated: [[ 0.99294432] [-0.11856584] [ 0.00192881]] R_gt: [[ 0.99347952 -0.09929173 -0.05603968] [ 0.10240364 0.99318401 0.05568445] [ 0.05012831 -0.06106071 0.99687425]] t_gt: [ 0.56999503 -0.82125005 -0.02557363] Pose Error in degrees for R and t: 9.870224973280957 48.44825290144293 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.45970229e-01 -3.24253485e-01 6.64788245e-05] [ 3.24253460e-01 9.45970207e-01 2.45363903e-04] [-1.42447088e-04 -2.10550959e-04 9.99999968e-01]] t_estimated: [[9.48524530e-01] [3.16702681e-01] [7.91756703e-04]] R_gt: [[ 0.9846026 -0.13974405 -0.10502903] [ 0.14577466 0.9879461 0.05207821] [ 0.09648513 -0.06658796 0.99310416]] t_gt: [ 0.60320869 -0.77465623 -0.18986048] Pose Error in degrees for R and t: 12.622380061479335 70.93308388914296 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99597170e-01 -2.83809405e-02 1.43303667e-04] [ 2.83809471e-02 9.99597179e-01 -4.37514784e-05] [-1.42004233e-04 4.78009478e-05 9.99999989e-01]] t_estimated: [[0.75541187] [0.65524884] [0.00136477]] R_gt: [[ 0.99847489 -0.05455543 -0.00854328] [ 0.05484458 0.99775207 0.03851092] [ 0.00642352 -0.03892084 0.99922169]] t_gt: [ 0.45309728 -0.85517741 0.25174284] Pose Error in degrees for R and t: 2.721832083448326 77.42394505756717 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99998548e-01 -1.48486310e-04 -1.69752438e-03] [ 1.51233622e-04 9.99998679e-01 1.61840873e-03] [ 1.69728183e-03 -1.61866310e-03 9.99997250e-01]] t_estimated: [[-0.90690827] [-0.421318 ] [-0.00292004]] R_gt: [[ 0.99086094 -0.11451922 -0.07127705] [ 0.11867994 0.99128726 0.05715099] [ 0.06411105 -0.06508748 0.99581714]] t_gt: [ 0.55836484 -0.82533102 -0.08400838] Pose Error in degrees for R and t: 8.423931528353684 80.88517375524142 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.9968993 -0.04248941 -0.06623011] [-0.04276914 0.99908103 0.00281084] [ 0.06604981 0.00563473 -0.99780042]] t_estimated: [[ 0.99901076] [ 0.02868914] [-0.033977 ]] R_gt: [[ 0.99582103 -0.08968385 -0.0172567 ] [ 0.09005579 0.99569296 0.02206827] [ 0.01520369 -0.02352979 0.99960679]] t_gt: [ 0.50099546 -0.86467008 0.03673133] Pose Error in degrees for R and t: 175.3185946398274 61.67676693749767 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 9.99875352e-01 1.57886364e-02 1.43333208e-05] [-1.57886362e-02 9.99875352e-01 -1.42538466e-05] [-1.45565830e-05 1.40257663e-05 1.00000000e+00]] t_estimated: [[ 6.92758529e-01] [-7.21169602e-01] [-1.61465134e-04]] R_gt: [[ 0.99921727 -0.03138986 -0.02408966] [ 0.03191295 0.9992567 0.02166185] [ 0.02339282 -0.02241367 0.99947559]] t_gt: [ 0.5497982 -0.81334775 -0.19022981] Pose Error in degrees for R and t: 3.292002157643035 14.654315147191364 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.99401008e-01 3.46066138e-02 8.87204761e-05] [-3.46066056e-02 9.99401008e-01 -9.24760727e-05] [-9.18676169e-05 8.93503657e-05 9.99999992e-01]] t_estimated: [[ 8.84250681e-01] [-4.67012531e-01] [-1.72007390e-04]] R_gt: [[ 0.99718117 -0.06875642 -0.03004296] [ 0.0688947 0.99761731 0.00359813] [ 0.02972474 -0.00565738 0.99954199]] t_gt: [ 0.57307252 -0.7684587 -0.28470881] Pose Error in degrees for R and t: 6.18039531241487 30.04086363729482 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.99689038e-01 2.49362663e-02 9.85336839e-05] [-2.49362513e-02 9.99689032e-01 -1.50247377e-04] [-1.02249652e-04 1.47743595e-04 9.99999984e-01]] t_estimated: [[ 9.06597619e-01] [-4.21995969e-01] [-3.99998680e-04]] R_gt: [[ 0.99346779 -0.10873526 -0.03463533] [ 0.10900498 0.99402382 0.00600456] [ 0.03377623 -0.00974121 0.99938209]] t_gt: [ 0.57252352 -0.79311083 -0.20782692] Pose Error in degrees for R and t: 7.942016382085413 31.370254617342912 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-8.18242192e-01 -5.74873622e-01 1.82152593e-04] [-5.74871919e-01 8.18240464e-01 2.19540028e-03] [-1.41112233e-03 1.69165472e-03 -9.99997574e-01]] t_estimated: [[0.99961549] [0.02770789] [0.00106569]] R_gt: [[ 0.90414237 -0.42715358 0.00815357] [ 0.42698598 0.90410481 0.01664957] [-0.01448394 -0.01157109 0.99982869]] t_gt: [ 0.89568369 -0.44321257 0.03624 ] Pose Error in degrees for R and t: 179.04568517102584 27.98170771677999 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99986110e-01 -5.27073402e-03 1.23974532e-05] [ 5.27074600e-03 9.99985188e-01 -1.35753924e-03] [-5.24204128e-06 1.35758573e-03 9.99999078e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.80006087 -0.59979869 0.01211084] [ 0.5993485 0.80001542 0.02750705] [-0.02618816 -0.0147482 0.99954841]] t_gt: [ 0.93347803 -0.35616353 0.04202749] Pose Error in degrees for R and t: 36.58898683527325 69.49490139472032 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.20904776 0.97790335 -0.0020196 ] [-0.97790063 -0.20905276 -0.00270358] [-0.00306604 0.00140979 0.99999431]] t_estimated: [[0.03075464] [0.99952578] [0.00153773]] R_gt: [[ 0.64763799 -0.75902283 -0.06671538] [ 0.76062662 0.64918637 -0.00205408] [ 0.04486982 -0.04941385 0.99777052]] t_gt: [ 0.97200944 -0.23445746 0.01507823] Pose Error in degrees for R and t: 151.61052066746592 78.20390790729114 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.85432479e-01 1.70067043e-01 1.71875234e-04] [-1.70066961e-01 9.85432423e-01 -4.09694029e-04] [-2.39046880e-04 3.74495504e-04 9.99999901e-01]] t_estimated: [[-9.98326144e-01] [ 5.78310462e-02] [-6.92573524e-04]] R_gt: [[ 0.99575224 -0.06451616 -0.06568671] [ 0.06627141 0.9974904 0.02489847] [ 0.06391499 -0.02914685 0.99752994]] t_gt: [ 0.52908782 -0.72623752 -0.4389136 ] Pose Error in degrees for R and t: 14.135063825342046 55.25693567556812 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.6344773 -0.77293205 -0.00382236] [ 0.77294031 -0.63445988 -0.00489295] [ 0.00135679 -0.00605892 0.99998072]] t_estimated: [[ 9.54117716e-01] [-2.99431770e-01] [ 4.57119272e-06]] R_gt: [[ 0.99147072 -0.08600349 -0.09792582] [ 0.09126032 0.9945442 0.05052894] [ 0.09304579 -0.05903492 0.99391051]] t_gt: [ 0.54375309 -0.75190958 -0.37277952] Pose Error in degrees for R and t: 124.35189403946983 41.9311492459889 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.6627734 -0.74881034 0.00380703] [-0.74880883 0.66278273 0.00209602] [-0.00409276 -0.00146156 -0.99999056]] t_estimated: [[0.94870237] [0.31615552] [0.00308215]] R_gt: [[ 0.98728328 -0.12007245 -0.10418771] [ 0.12405065 0.9917416 0.03256168] [ 0.09941705 -0.04507288 0.99402439]] t_gt: [ 0.57163611 -0.73099408 -0.37266582] Pose Error in degrees for R and t: 175.82750285110112 71.93738821141066 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-0.13387884 -0.99073185 -0.0229533 ] [-0.99073188 0.13434346 -0.02005432] [ 0.02295208 0.02005571 -0.99953538]] t_estimated: [[ 0.7661908 ] [ 0.64245771] [-0.01413346]] R_gt: [[ 0.99912977 0.0417032 0.00151179] [-0.04168869 0.99909739 -0.00821112] [-0.00185269 0.00814135 0.99996642]] t_gt: [-0.06730953 0.94684777 -0.31456115] Pose Error in degrees for R and t: 178.01975126924023 55.86231255806365 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-0.32906216 -0.943059 0.04855743] [-0.94294209 0.3309164 0.03680437] [-0.05077714 -0.03367592 -0.99814208]] t_estimated: [[0.83872334] [0.54366381] [0.03119005]] R_gt: [[ 0.99265459 0.12034278 -0.0125122 ] [-0.12057758 0.99249941 -0.02017761] [ 0.00999042 0.021538 0.99971822]] t_gt: [ 0.08564588 0.96022637 -0.26576326] Pose Error in degrees for R and t: 177.74193960307 54.15571778738617 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999938e-01 -3.41070477e-04 -8.53059196e-05] [ 3.41071469e-04 9.99999942e-01 1.16107515e-05] [ 8.53019546e-05 -1.16398461e-05 9.99999996e-01]] t_estimated: [[ 9.99999212e-01] [-1.21755843e-03] [-3.04336269e-04]] R_gt: [[ 9.89949326e-01 1.37767056e-01 3.19786661e-02] [-1.37805983e-01 9.90458720e-01 -9.64846372e-04] [-3.18063799e-02 -3.45082145e-03 9.99488156e-01]] t_gt: [0.28976838 0.92985979 0.22670478] Pose Error in degrees for R and t: 8.150801303224641 73.22781617935357 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999963e-01 2.70161985e-04 2.68674894e-05] [-2.70160871e-04 9.99999963e-01 -4.14479121e-05] [-2.68786860e-05 4.14406520e-05 9.99999999e-01]] t_estimated: [[ 9.99911090e-01] [-1.33343534e-02] [-7.93785854e-05]] R_gt: [[ 0.99917779 -0.03889928 0.01147099] [ 0.03900273 0.99919951 -0.00892465] [-0.01111507 0.0093637 0.9998947 ]] t_gt: [ 0.50786912 -0.86070994 0.0353179 ] Pose Error in degrees for R and t: 2.3954933115475443 58.71481408630798 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.93421725 -0.35635408 0.01580846] [-0.3562762 0.93434985 0.00759146] [-0.01747588 0.0014599 -0.99984622]] t_estimated: [[0.98777105] [0.15568516] [0.00839584]] R_gt: [[ 0.99667457 -0.08143461 0.0032757 ] [ 0.08138661 0.99660121 0.01279858] [-0.00430619 -0.01249009 0.99991301]] t_gt: [ 0.53215078 -0.83852751 0.11699214] Pose Error in degrees for R and t: 178.67622242960078 66.66670922303923 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.72090387e-01 -2.34606537e-01 -2.30029739e-04] [ 2.34605272e-01 9.72087571e-01 -2.47386415e-03] [ 8.03993751e-04 2.35085337e-03 9.99996914e-01]] t_estimated: [[-0.23626105] [-0.9716746 ] [-0.00540322]] R_gt: [[ 0.99313753 -0.11570052 -0.01708278] [ 0.11610308 0.99292747 0.02480414] [ 0.01409219 -0.02661773 0.99954677]] t_gt: [ 0.53521626 -0.84448224 0.01983163] Pose Error in degrees for R and t: 7.149538973308119 46.052095416799325 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999906e-01 -4.03526564e-04 -1.56777337e-04] [ 4.03539508e-04 9.99999915e-01 8.25375790e-05] [ 1.56744018e-04 -8.26008371e-05 9.99999984e-01]] t_estimated: [[-9.99966473e-01] [-8.18618915e-03] [-1.98521636e-04]] R_gt: [[ 0.98470783 0.17328198 -0.01802587] [-0.173649 0.98457573 -0.02135002] [ 0.01404969 0.02415357 0.99960955]] t_gt: [-0.58886819 0.79468455 -0.14734559] Pose Error in degrees for R and t: 10.14111010171946 54.38243158119858 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.99549606 -0.09464945 -0.00539227] [-0.09465689 0.9955093 0.00114043] [ 0.00526012 0.00164571 -0.99998481]] t_estimated: [[ 0.99909982] [-0.0423316 ] [-0.00275427]] R_gt: [[ 0.90028735 0.42929116 -0.07206489] [-0.42943773 0.90298393 0.01424361] [ 0.07118846 0.01812464 0.99729793]] t_gt: [-0.45282978 0.87968758 -0.14524104] Pose Error in degrees for R and t: 175.47289100382773 60.70799868332866 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.95591624 -0.29363024 -0.00232846] [ 0.29363369 0.95591713 0.00130425] [ 0.00184284 -0.00193047 0.99999644]] t_estimated: [[-9.93892846e-01] [-1.10346799e-01] [-7.71655936e-04]] R_gt: [[ 0.80345001 0.59261614 -0.05722769] [-0.5903825 0.80544528 0.05202066] [ 0.07692219 -0.00800915 0.9970046 ]] t_gt: [-0.38943 0.91833328 -0.07076909] Pose Error in degrees for R and t: 53.55994034911731 73.39504979794422 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.95475086 0.29740107 0.00184457] [ 0.29739616 -0.95475081 0.00253455] [ 0.00251489 -0.00187129 -0.99999509]] t_estimated: [[0.52714554] [0.84977013] [0.00288058]] R_gt: [[ 0.97580198 -0.21847862 0.00879416] [ 0.21845242 0.9758396 0.00389339] [-0.00943262 -0.00187784 0.99995413]] t_gt: [ 0.83465446 -0.54937731 0.03919829] Pose Error in degrees for R and t: 179.8020963406415 88.4673188108845 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 7.51377800e-01 6.59872249e-01 1.30639489e-04] [-6.59871647e-01 7.51376815e-01 1.51362814e-03] [ 9.00641724e-04 -1.22351188e-03 9.99998846e-01]] t_estimated: [[0.67131945] [0.74116772] [0.00077609]] R_gt: [[ 0.90372607 -0.42146546 -0.07513574] [ 0.42146963 0.90669054 -0.01659188] [ 0.07511794 -0.0166725 0.99703605]] t_gt: [ 0.9059326 -0.41838747 -0.06510034] Pose Error in degrees for R and t: 66.38540901069561 72.66101929489407 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.95703837e-01 -9.25825417e-02 -1.53025167e-03] [ 9.25832557e-02 -9.95704865e-01 -4.02383613e-04] [-1.48642533e-03 -5.42330588e-04 9.99998748e-01]] t_estimated: [[8.38567407e-01] [5.44797434e-01] [6.78452595e-04]] R_gt: [[ 0.7765766 -0.62754298 -0.05584295] [ 0.62379451 0.77830536 -0.07155962] [ 0.08836996 0.02073785 0.9958724 ]] t_gt: [ 0.94998873 -0.29814205 -0.09291245] Pose Error in degrees for R and t: 135.91049343694092 50.64380596271224 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.82066824e-01 -1.88532975e-01 -2.63423268e-04] [ 1.88533064e-01 9.82066775e-01 3.64555863e-04] [ 1.89968437e-04 -4.07682215e-04 9.99999899e-01]] t_estimated: [[-0.15310558] [-0.98820894] [-0.00133426]] R_gt: [[ 0.99782749 0.04458854 -0.04851359] [-0.04803911 0.99621438 -0.07244738] [ 0.0451005 0.07462069 0.9961919 ]] t_gt: [-0.35385412 0.22036294 -0.90897054] Pose Error in degrees for R and t: 14.421993846637342 80.65523604254875 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 4.18227319e-01 9.08342355e-01 -2.74337580e-04] [ 9.08337653e-01 -4.18224139e-01 3.35820311e-03] [ 2.93566353e-03 -1.65368344e-03 -9.99994324e-01]] t_estimated: [[-9.99971146e-01] [-7.55011771e-03] [-8.38901968e-04]] R_gt: [[ 0.96138182 0.25575934 -0.10164621] [-0.26013034 0.96503942 -0.03213329] [ 0.08987481 0.05733319 0.99430137]] t_gt: [-0.92023174 0.27096163 -0.28240634] Pose Error in degrees for R and t: 179.01174126442933 23.307252252079046 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-0.7483097 -0.6624848 -0.03385971] [ 0.6633483 -0.74743083 -0.03627914] [-0.00127341 -0.04960881 0.99876791]] t_estimated: [[0.97925654] [0.2026048 ] [0.00281396]] R_gt: [[ 0.84277123 0.52933586 -0.09767772] [-0.53274036 0.84621105 -0.01072386] [ 0.0769797 0.06107442 0.99515988]] t_gt: [-0.89776146 0.4186932 -0.13682238] Pose Error in degrees for R and t: 170.52328562870065 37.373585714154956 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.35771571 -0.93382985 -0.00113179] [ 0.9338252 -0.3577093 -0.00381388] [ 0.00315667 -0.00242118 0.99999209]] t_estimated: [[ 9.98946357e-01] [ 4.58917324e-02] [-3.52571430e-04]] R_gt: [[ 0.98728804 0.06730611 0.14398323] [-0.06211386 0.99725701 -0.04026819] [-0.1462991 0.03081215 0.98875954]] t_gt: [-0.38293232 0.47990824 0.78933574] Pose Error in degrees for R and t: 114.91500182556615 68.8516894104138 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999600e-01 -2.80171249e-04 8.49054457e-04] [ 2.81096346e-04 9.99999367e-01 -1.08963859e-03] [-8.48748634e-04 1.08987682e-03 9.99999046e-01]] t_estimated: [[0.98418034] [0.17715246] [0.00246045]] R_gt: [[ 0.95599499 0.18737182 0.22575619] [-0.17099473 0.98113372 -0.09021304] [-0.23840035 0.04764024 0.9699969 ]] t_gt: [-0.36917892 0.66580385 0.64839198] Pose Error in degrees for R and t: 17.487280409133064 75.88939588188494 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-2.19722636e-01 -9.75561246e-01 -1.48927326e-03] [-9.75562158e-01 2.19723365e-01 -3.43189586e-04] [ 6.62030592e-04 1.37747211e-03 -9.99998832e-01]] t_estimated: [[7.95471415e-01] [6.05990824e-01] [5.91720378e-04]] R_gt: [[ 0.90629713 0.36676651 0.21001853] [-0.34689654 0.92939161 -0.12607359] [-0.24142848 0.04140484 0.96953486]] t_gt: [-0.31521912 0.85210741 0.41779165] Pose Error in degrees for R and t: 172.79671607661513 74.58142318697833 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 7.16765508e-01 -6.97307375e-01 3.10351989e-03] [-6.97313931e-01 -7.16753586e-01 4.19274036e-03] [-6.99169762e-04 -5.16933932e-03 -9.99986394e-01]] t_estimated: [[0.14337856] [0.98966174] [0.00349704]] R_gt: [[ 0.99064558 0.13441499 0.02351112] [-0.1324937 0.98871633 -0.0699088 ] [-0.03264345 0.06613977 0.99727622]] t_gt: [-0.66206729 0.74226044 -0.10351976] Pose Error in degrees for R and t: 177.27962117713713 50.260470219780714 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.97291158 0.23092925 -0.01071195] [ 0.23092906 0.97296976 0.00127143] [ 0.01071601 -0.00123672 -0.99994182]] t_estimated: [[ 0.99809762] [-0.06148665] [-0.00453167]] R_gt: [[ 0.96582484 0.25872824 0.01553653] [-0.2566456 0.96299346 -0.08233149] [-0.03626407 0.07553139 0.9964834 ]] t_gt: [-0.62005058 0.78212772 -0.06175357] Pose Error in degrees for R and t: 178.59208392844423 48.1885388037368 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.54688966e-01 -2.97605169e-01 -3.75605059e-04] [ 2.97605398e-01 9.54688472e-01 9.73955096e-04] [ 6.87317493e-05 -1.04160628e-03 9.99999455e-01]] t_estimated: [[-8.33272784e-01] [-5.52861817e-01] [-5.26949255e-04]] R_gt: [[ 0.95730487 0.28884088 -0.01177482] [-0.28855772 0.95233275 -0.09898336] [-0.0173774 0.09815522 0.99501883]] t_gt: [-0.60266963 0.78222721 -0.15782873] Pose Error in degrees for R and t: 34.608940674328224 85.99705111876892 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.46488100e-01 -3.22738481e-01 -3.86182350e-04] [ 3.22738570e-01 9.46488129e-01 1.94858082e-04] [ 3.02628808e-04 -3.09066795e-04 9.99999906e-01]] t_estimated: [[ 7.45631123e-01] [-6.66358934e-01] [ 2.20024257e-05]] R_gt: [[ 0.99738182 0.05330841 0.04886757] [-0.0513115 0.99783097 -0.04124413] [-0.05096015 0.03862889 0.99795259]] t_gt: [-0.01212067 0.98801682 0.15386962] Pose Error in degrees for R and t: 22.136423949718296 48.13267333037202 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99985031e-01 -5.47140141e-03 4.70827978e-05] [ 5.47140740e-03 9.99985024e-01 -1.28096229e-04] [-4.63812268e-05 1.28351920e-04 9.99999991e-01]] t_estimated: [[ 0.62475252] [-0.78082212] [-0.00105398]] R_gt: [[ 0.99489726 0.0564951 0.08359305] [-0.05737354 0.99831994 0.00814951] [-0.08299248 -0.01290284 0.99646591]] t_gt: [-0.07620855 0.75011807 0.65689812] Pose Error in degrees for R and t: 6.002322562563286 50.65320977497672 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999932e-01 -1.11997368e-05 3.69392730e-04] [ 1.13521385e-05 9.99999915e-01 -4.12574264e-04] [-3.69388077e-04 4.12578429e-04 9.99999847e-01]] t_estimated: [[9.49140865e-01] [3.14850403e-01] [9.17931204e-04]] R_gt: [[ 0.99770152 -0.0311522 0.06016999] [ 0.02663341 0.99686594 0.07449549] [-0.06230163 -0.07272103 0.99540383]] t_gt: [0.3993955 0.11717677 0.9092595 ] Pose Error in degrees for R and t: 5.744538304567959 65.36662335494078 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[-0.306725 -0.95154041 0.02214987] [-0.95152583 0.30711086 0.01677814] [-0.02276755 -0.0159299 -0.99961386]] t_estimated: [[0.79697136] [0.60384294] [0.0145036 ]] R_gt: [[ 0.99955539 -0.01920957 0.02280435] [ 0.01825015 0.99896922 0.04154633] [-0.02357961 -0.04111144 0.99887604]] t_gt: [ 0.10504578 -0.25383903 0.96152542] Pose Error in degrees for R and t: 175.9386359150898 86.81185884971077 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.24078176e-01 -3.82202691e-01 -7.92658557e-04] [ 3.82203345e-01 9.24077727e-01 9.78961096e-04] [ 3.58316553e-04 -1.20759334e-03 9.99999207e-01]] t_estimated: [[-0.50834153] [-0.86115391] [-0.0016809 ]] R_gt: [[ 0.99185137 -0.12450695 -0.02700632] [ 0.12653385 0.98741099 0.09490504] [ 0.01484979 -0.09754856 0.99511991]] t_gt: [ 0.57752887 -0.65211463 0.49112821] Pose Error in degrees for R and t: 16.229706049145953 74.50444501042963 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999881e-01 -1.37891021e-04 4.68725866e-04] [ 1.37984994e-04 9.99999970e-01 -2.00461488e-04] [-4.68698211e-04 2.00526141e-04 9.99999870e-01]] t_estimated: [[0.75355966] [0.65737845] [0.00118651]] R_gt: [[ 0.95934147 -0.28105319 -0.02594452] [ 0.28216928 0.95284497 0.11165361] [-0.00666051 -0.11443403 0.99340857]] t_gt: [ 0.65242737 -0.66591793 0.36178977] Pose Error in degrees for R and t: 17.672172773445997 86.8866132188414 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.88448923e-01 1.51553687e-01 4.54060225e-04] [-1.51553647e-01 9.88449026e-01 -1.22602904e-04] [-4.67396309e-04 5.23722255e-05 9.99999889e-01]] t_estimated: [[-8.24686105e-01] [ 5.65590303e-01] [ 6.61359457e-04]] R_gt: [[ 0.99799847 0.06070827 0.01772209] [-0.05988709 0.99724939 -0.04366377] [-0.02032427 0.04251508 0.99888888]] t_gt: [-0.78149698 0.60814139 -0.13937904] Pose Error in degrees for R and t: 5.904001286378223 8.75192639434 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.71900713 0.69497364 -0.00635537] [ 0.69494755 -0.71880483 0.01917062] [ 0.0087548 -0.01820046 -0.99979603]] t_estimated: [[-0.41123629] [ 0.91148008] [ 0.00942212]] R_gt: [[ 0.98168093 0.19016088 0.01189968] [-0.18850142 0.97841478 -0.08468151] [-0.0277461 0.08088769 0.99633721]] t_gt: [-0.67198991 0.72909027 -0.12983431] Pose Error in degrees for R and t: 176.30549065218236 20.003022335991137 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.73135318e-01 -2.30233151e-01 -5.91752803e-04] [ 2.30233556e-01 9.73135116e-01 7.45153454e-04] [ 4.04296405e-04 -8.61376495e-04 9.99999547e-01]] t_estimated: [[-0.90449568] [-0.42648098] [-0.00123731]] R_gt: [[ 0.95871038 0.28425954 0.00842073] [-0.28195938 0.95397717 -0.10210929] [-0.0370589 0.09551867 0.99473729]] t_gt: [-0.63124366 0.7695803 -0.09632034] Pose Error in degrees for R and t: 30.37325112952808 75.94430457622317 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.88256418e-01 1.52804568e-01 -1.25281459e-04] [-1.52804605e-01 9.88255635e-01 -1.24578495e-03] [-6.65515246e-05 1.25029856e-03 9.99999216e-01]] t_estimated: [[-9.98888630e-01] [-4.71253271e-02] [-8.41523698e-04]] R_gt: [[ 0.94959309 -0.30974267 0.04829625] [ 0.30700503 0.95002385 0.05660227] [-0.06341507 -0.03892207 0.99722718]] t_gt: [ 0.8281657 -0.51724821 0.21586074] Pose Error in degrees for R and t: 27.115982699109903 36.577508538935646 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 6.64642193e-01 7.47161764e-01 -2.32819540e-04] [-7.47160308e-01 6.64641456e-01 1.79139997e-03] [ 1.49320708e-03 -1.01668649e-03 9.99998368e-01]] t_estimated: [[7.52106574e-01] [6.59041141e-01] [6.89373579e-04]] R_gt: [[ 0.87107305 -0.49080216 0.01855408] [ 0.4896079 0.87070726 0.04639973] [-0.03892863 -0.03133288 0.99875001]] t_gt: [ 0.90222534 -0.42035838 0.09637565] Pose Error in degrees for R and t: 77.76227067328374 66.32159825578059 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.87174994e-01 1.59641608e-01 -2.97549935e-04] [-1.59641756e-01 9.87174853e-01 -5.65619942e-04] [ 2.03437336e-04 6.05867256e-04 9.99999796e-01]] t_estimated: [[-0.96099415] [-0.27656518] [-0.00139679]] R_gt: [[ 0.72770457 -0.6828712 -0.06428784] [ 0.68506494 0.7282275 0.01926733] [ 0.03365888 -0.05806193 0.99774513]] t_gt: [ 0.95688036 -0.28767827 0.04026407] Pose Error in degrees for R and t: 52.533142410412445 32.85450798156687 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-7.67134268e-01 6.41476169e-01 3.65240184e-03] [-6.41486549e-01 -7.67123133e-01 -4.13594602e-03] [ 1.48731135e-04 -5.51579258e-03 9.99984777e-01]] t_estimated: [[0.6257115 ] [0.78005363] [0.00120677]] R_gt: [[ 0.98637292 0.1561471 -0.05182019] [-0.15610471 0.98772813 0.00488771] [ 0.05194845 0.0032675 0.99864472]] t_gt: [-0.9786336 0.19073442 -0.07678966] Pose Error in degrees for R and t: 131.1351985924639 62.37699049292444 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 6.34536872e-01 -7.72891685e-01 1.18370893e-03] [ 7.72892512e-01 6.34536758e-01 -5.18400825e-04] [-3.50439136e-04 1.24382420e-03 9.99999165e-01]] t_estimated: [[-0.05634372] [-0.99841079] [-0.00112687]] R_gt: [[ 0.90711417 0.41649572 -0.06061263] [-0.4166658 0.9089999 0.01041553] [ 0.05943634 0.01580658 0.99810677]] t_gt: [-0.94040725 0.333856 -0.06460945] Pose Error in degrees for R and t: 75.33082905000765 73.7238845224262 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 6.90158595e-01 7.23655498e-01 1.95808495e-03] [ 7.23656980e-01 -6.90159815e-01 -7.14780105e-05] [ 1.29966609e-03 1.46631301e-03 -9.99998080e-01]] t_estimated: [[-0.99432771] [-0.10635206] [-0.00128135]] R_gt: [[ 7.64081144e-01 6.44965813e-01 -1.41131866e-02] [-6.45040864e-01 7.64147251e-01 -9.95512154e-04] [ 1.01435278e-02 9.86440183e-03 9.99899683e-01]] t_gt: [-0.86975656 0.49314229 -0.0182816 ] Pose Error in degrees for R and t: 179.9596104312375 35.668937216694594 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999885e-01 -4.79103298e-04 -2.03521354e-05] [ 4.79102297e-04 9.99999884e-01 -4.91690648e-05] [ 2.03756901e-05 4.91593084e-05 9.99999999e-01]] t_estimated: [[ 9.47503842e-01] [-3.19744262e-01] [-2.74111296e-04]] R_gt: [[ 0.99520141 -0.09051717 0.0371724 ] [ 0.09009943 0.99585133 0.01277063] [-0.03817357 -0.0093605 0.99922721]] t_gt: [ 0.5300336 -0.77308597 0.34842857] Pose Error in degrees for R and t: 5.626700568503801 41.46994784484932 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999899e-01 4.06660755e-04 1.90412627e-04] [-4.06640855e-04 9.99999912e-01 -1.04535081e-04] [-1.90455120e-04 1.04457640e-04 9.99999976e-01]] t_estimated: [[9.99994892e-01] [3.10078067e-03] [7.75189841e-04]] R_gt: [[ 0.99069161 -0.1311086 0.03663946] [ 0.13081082 0.99135307 0.01041959] [-0.03768832 -0.00553071 0.9992739 ]] t_gt: [ 0.56159896 -0.7942612 0.23185288] Pose Error in degrees for R and t: 7.857066980343218 55.991700138660455 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99897732e-01 1.42962608e-02 3.78575715e-04] [-1.42960948e-02 9.99897710e-01 -4.37677929e-04] [-3.84794148e-04 4.32221014e-04 9.99999833e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98501763 -0.1717356 0.01577326] [ 0.17124413 0.98481694 0.02852777] [-0.02043247 -0.02539971 0.9994683 ]] t_gt: [ 0.58201952 -0.79458639 0.17287495] Pose Error in degrees for R and t: 10.858885314023338 54.57148736673088 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-2.35390277e-01 -9.71900530e-01 8.81581304e-04] [-9.71899045e-01 2.35391510e-01 1.75616233e-03] [-1.91433186e-03 -4.43424488e-04 -9.99998069e-01]] t_estimated: [[0.86009709] [0.51012655] [0.00197723]] R_gt: [[ 0.99729416 0.0727616 -0.01044427] [-0.07288608 0.99726715 -0.01211042] [ 0.00953483 0.0128392 0.99987201]] t_gt: [ 0.1502065 0.93796639 -0.31250128] Pose Error in degrees for R and t: 179.2076559864584 52.62307547721762 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999935e-01 3.22054067e-04 -1.61903025e-04] [-3.22007156e-04 9.99999906e-01 2.89692610e-04] [ 1.61996306e-04 -2.89640457e-04 9.99999945e-01]] t_estimated: [[9.62981922e-01] [2.69564795e-01] [7.98954918e-04]] R_gt: [[ 0.99427294 0.10559665 0.016465 ] [-0.10572346 0.99437106 0.00700076] [-0.01563208 -0.00870097 0.99984025]] t_gt: [0.40250063 0.8886586 0.21972515] Pose Error in degrees for R and t: 6.133458740786343 51.14677907743808 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99962523e-01 -8.65743243e-03 -4.41806698e-05] [ 8.65742670e-03 9.99962516e-01 -1.28342469e-04] [ 4.52901300e-05 1.27955168e-04 9.99999991e-01]] t_estimated: [[ 0.67856469] [-0.73453294] [-0.00336561]] R_gt: [[ 0.98383283 0.17836839 0.01604059] [-0.17888988 0.9830047 0.04123097] [-0.00841245 -0.04343445 0.99902069]] t_gt: [0.24397068 0.88216059 0.40282875] Pose Error in degrees for R and t: 11.085962159800044 61.067304211641144 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.17861426e-02 -9.96648852e-01 -1.44681824e-03] [ 9.96649815e-01 8.17854437e-02 5.35905827e-04] [-4.15781255e-04 -1.48580080e-03 9.99998810e-01]] t_estimated: [[9.99969267e-01] [7.79196832e-03] [8.65774257e-04]] R_gt: [[ 0.99552252 -0.07156274 -0.06176634] [ 0.06692537 0.99499942 -0.07414651] [ 0.06676439 0.06968084 0.99533186]] t_gt: [ 0.76530539 0.02025348 -0.64334863] Pose Error in degrees for R and t: 81.48694518611835 40.10344349150321 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 6.94750874e-02 9.97583264e-01 9.18293371e-04] [-9.97582068e-01 6.94766035e-02 -1.73748904e-03] [-1.79708989e-03 -7.95360798e-04 9.99998069e-01]] t_estimated: [[0.20367555] [0.97903788] [0.00105082]] R_gt: [[ 0.99368601 -0.0272981 -0.10882939] [ 0.01295468 0.9913772 -0.13039171] [ 0.11145138 0.12815847 0.98547058]] t_gt: [ 0.38477372 0.10997733 -0.91643558] Pose Error in degrees for R and t: 87.62006441304723 79.33432212333351 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.90511734 0.42516047 0.00108315] [ 0.42514684 -0.90510386 0.00609604] [ 0.00357216 -0.00505713 -0.99998083]] t_estimated: [[-0.98192441] [-0.18925359] [-0.00274281]] R_gt: [[ 0.96537434 0.19682602 -0.17120846] [-0.21207892 0.97431269 -0.07573361] [ 0.15190459 0.10942103 0.98231973]] t_gt: [-0.74498173 0.23891164 -0.62283501] Pose Error in degrees for R and t: 177.14519608941762 46.52727588641477 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.96423492e-01 8.44997057e-02 1.57313298e-04] [-8.44996990e-02 9.96423504e-01 -4.87796319e-05] [-1.60872532e-04 3.53122448e-05 9.99999986e-01]] t_estimated: [[0.70033019] [0.71381755] [0.00146041]] R_gt: [[ 0.9994941 -0.03143424 0.0050039 ] [ 0.03139255 0.99947448 0.0081901 ] [-0.00525821 -0.00802779 0.99995411]] t_gt: [ 0.9108656 -0.30973332 0.27274371] Pose Error in degrees for R and t: 6.669442937535523 65.34131139235588 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.45262140e-01 -3.26311295e-01 -6.52443150e-04] [ 3.26311845e-01 9.45261539e-01 1.09691846e-03] [ 2.58792534e-04 -1.24977541e-03 9.99999186e-01]] t_estimated: [[-0.7599737 ] [-0.64995317] [-0.00092454]] R_gt: [[ 0.99935923 0.03265165 -0.01471275] [-0.03233706 0.99925383 0.02115476] [ 0.015392 -0.02066518 0.99966749]] t_gt: [-0.41899684 0.90470594 0.07712852] Pose Error in degrees for R and t: 20.95402446264681 74.35589100460452 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 0.99354337 -0.11344008 -0.00170633] [ 0.11344306 0.99354293 0.00176513] [ 0.00149507 -0.0019473 0.99999699]] t_estimated: [[0.9797604 ] [0.2001661 ] [0.00175584]] R_gt: [[ 0.99461948 0.10272006 0.01346859] [-0.10298681 0.99446381 0.02087707] [-0.01124983 -0.02215116 0.99969173]] t_gt: [-0.57704788 0.79857531 0.17115263] Pose Error in degrees for R and t: 12.494537923420479 66.09505853137865 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 3.08391529e-01 9.51250822e-01 -4.06673967e-03] [-9.51259507e-01 3.08389263e-01 -1.18861137e-03] [ 1.23471308e-04 4.23508245e-03 9.99991024e-01]] t_estimated: [[-0.15980699] [ 0.98714298] [-0.00323537]] R_gt: [[ 0.97826214 -0.20716427 -0.00934054] [ 0.20728603 0.97816847 0.01481115] [ 0.0060678 -0.01642515 0.99984652]] t_gt: [ 0.72049602 -0.69098732 0.05849792] Pose Error in degrees for R and t: 84.00493716454511 37.114348267984305 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.98950930e-01 4.38042059e-01 2.52602402e-03] [-4.38041597e-01 8.98954380e-01 -7.62756484e-04] [-2.60489978e-03 -4.20822944e-04 9.99996519e-01]] t_estimated: [[0.02742987] [0.99961146] [0.00495333]] R_gt: [[ 0.96424568 -0.26491026 -0.0073701 ] [ 0.26499961 0.96410092 0.01686591] [ 0.0026369 -0.01821545 0.99983079]] t_gt: [ 0.70037676 -0.71178874 0.05319004] Pose Error in degrees for R and t: 41.359085318093356 46.20839061469193 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99996179e-01 -2.74041758e-03 3.63783466e-04] [ 2.74030334e-03 9.99996196e-01 3.14163255e-04] [-3.64643020e-04 -3.13165177e-04 9.99999884e-01]] t_estimated: [[-0.01544911] [-0.99987987] [-0.00124943]] R_gt: [[ 0.93032986 -0.36482108 0.03732611] [ 0.3626309 0.93033168 0.05461044] [-0.05464926 -0.03726987 0.99780948]] t_gt: [ 0.69399638 -0.69759475 0.17813083] Pose Error in degrees for R and t: 21.524647868318645 46.641050994187495 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99998573e-01 -1.56683586e-03 6.30922209e-04] [ 1.56749764e-03 9.99998220e-01 -1.04979010e-03] [-6.29276238e-04 1.05077757e-03 9.99999250e-01]] t_estimated: [[-9.99968091e-01] [-7.92962017e-03] [-9.68078625e-04]] R_gt: [[ 0.98998417 0.13837842 -0.02797167] [-0.13951081 0.98925749 -0.04365875] [ 0.02162988 0.04712367 0.99865485]] t_gt: [-0.56506199 0.73578985 -0.3732536 ] Pose Error in degrees for R and t: 8.598386149508102 55.973881658685414 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.96465427 0.19997588 0.17161525] [-0.11559567 0.90636287 -0.40637912] [-0.23681171 0.37217738 0.89744315]] t_estimated: [[-0.78446454] [-0.58834841] [-0.19611614]] R_gt: [[ 0.99312462 0.11663267 -0.00998823] [-0.11692013 0.98415537 -0.13329901] [-0.00571637 0.1335511 0.99102589]] t_gt: [-0.3659386 0.67768355 -0.63783536] Pose Error in degrees for R and t: 19.968034751652947 89.22982862312568 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.9977216 0.06739234 0.00314242] [-0.06738242 0.9977222 -0.00316482] [-0.00334855 0.00294587 0.99999005]] t_estimated: [[0.93263172] [0.36081933] [0.00273551]] R_gt: [[ 0.98280631 0.18341318 -0.02123877] [-0.18419603 0.96598015 -0.1815341 ] [-0.01277965 0.18232558 0.98315497]] t_gt: [-0.37707325 0.70597858 -0.59950814] Pose Error in degrees for R and t: 12.39900394025264 84.3426094988438 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-1.99600589e-01 -9.79876802e-01 -1.02862905e-03] [-9.79877327e-01 1.99600291e-01 3.85928521e-04] [-1.72847747e-04 1.08496185e-03 -9.99999396e-01]] t_estimated: [[0.76376711] [0.64549144] [0.00077304]] R_gt: [[ 0.99757473 -0.06145702 0.03271172] [ 0.06162252 0.9980916 -0.00406094] [-0.03239992 0.00606631 0.99945631]] t_gt: [ 0.89537389 -0.03616691 0.44384406] Pose Error in degrees for R and t: 178.76854835220834 48.6349019035829 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-0.88199589 -0.47123105 -0.00495438] [ 0.47120094 -0.88200435 0.00616444] [-0.00727466 0.0031025 0.99996873]] t_estimated: [[0.84786933] [0.530204 ] [0.00114268]] R_gt: [[ 0.99412014 -0.04549932 0.09826989] [ 0.04968593 0.99794093 -0.04057628] [-0.09622072 0.0452201 0.99433205]] t_gt: [0.55724488 0.56061237 0.6125291 ] Pose Error in degrees for R and t: 149.19000668365877 39.60930613603893 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.97286273e-01 -7.36209713e-02 -2.03218506e-04] [ 7.36210383e-02 9.97286230e-01 3.44601960e-04] [ 1.77297087e-04 -3.58627961e-04 9.99999920e-01]] t_estimated: [[-9.98574055e-01] [-5.33777250e-02] [-8.21195769e-04]] R_gt: [[ 0.98972581 -0.01073158 0.14258132] [ 0.0221592 0.9966443 -0.07879741] [-0.1412575 0.08114846 0.98664105]] t_gt: [-0.0174147 0.85805369 0.51326463] Pose Error in degrees for R and t: 9.947692189803163 88.34778631251866 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.04235839e-01 4.27033301e-01 3.25869048e-04] [-4.27033412e-01 9.04235741e-01 4.35871164e-04] [-1.08530938e-04 -5.33287299e-04 9.99999852e-01]] t_estimated: [[8.18323625e-01] [5.74757247e-01] [7.42580422e-04]] R_gt: [[ 0.98083068 -0.19176188 -0.03461894] [ 0.18957463 0.98014244 -0.05815024] [ 0.04508302 0.05047305 0.99770707]] t_gt: [ 0.6457206 -0.68014892 -0.34704806] Pose Error in degrees for R and t: 36.48731041024667 82.11239931890638 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-1.09536907e-01 -9.93982728e-01 -4.34480942e-05] [-9.93982523e-01 1.09536912e-01 -6.40069579e-04] [ 6.40977277e-04 -2.69245956e-05 -9.99999794e-01]] t_estimated: [[9.13014550e-01] [4.07926264e-01] [7.71127154e-04]] R_gt: [[ 0.9616302 -0.27010858 -0.04805718] [ 0.26608901 0.96091566 -0.07640166] [ 0.06681639 0.06068318 0.9959185 ]] t_gt: [ 0.64954515 -0.68077111 -0.33858793] Pose Error in degrees for R and t: 174.84448484469837 71.63443735066456 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-5.71728660e-01 -8.20441549e-01 1.41547890e-03] [-8.20441851e-01 5.71729751e-01 5.10342917e-04] [-1.22797793e-03 -8.69540456e-04 -9.99998868e-01]] t_estimated: [[0.932841 ] [0.36028306] [0.00194748]] R_gt: [[ 0.92419172 -0.37249404 -0.08437687] [ 0.37006294 0.92799261 -0.04340043] [ 0.09446815 0.00888511 0.99548848]] t_gt: [ 0.71321432 -0.67167815 -0.20043401] Pose Error in degrees for R and t: 174.741947910152 64.98022971016985 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.98602134e-01 5.28561139e-02 9.18830691e-05] [-5.28561235e-02 9.98602133e-01 1.05311887e-04] [-8.61882517e-05 -1.10021258e-04 9.99999990e-01]] t_estimated: [[0.75984738] [0.65010084] [0.00092395]] R_gt: [[ 0.97983062 -0.19553122 -0.04123418] [ 0.19737987 0.97920314 0.04691268] [ 0.03120394 -0.05410553 0.99804725]] t_gt: [ 0.64779545 -0.75750752 0.0808914 ] Pose Error in degrees for R and t: 14.807578072459243 89.9910700161494 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99654787 -0.08301274 -0.00111024] [ 0.08301402 0.9965477 0.00115991] [ 0.00101012 -0.00124808 0.99999871]] t_estimated: [[0.38953177] [0.92101155] [0.00165056]] R_gt: [[ 0.94941823 -0.30248773 -0.08429466] [ 0.30786763 0.94951944 0.0602397 ] [ 0.06181846 -0.08314456 0.99461824]] t_gt: [ 0.65812985 -0.75025585 0.06309728] Pose Error in degrees for R and t: 14.304062237878753 64.2447570924169 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.83179157 0.55508566 -0.00163938] [ 0.55507521 0.83178877 0.00435331] [ 0.00378008 0.00271107 -0.99998918]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.88438536 -0.42890618 -0.18412613] [ 0.4578808 0.8737767 0.16388315] [ 0.0905953 -0.2292438 0.96914417]] t_gt: [ 0.69054229 -0.68688208 0.22659293] Pose Error in degrees for R and t: 168.68774739215488 48.214511978459164 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.66715184e-01 -2.55854815e-01 -2.59494198e-04] [ 2.55854875e-01 9.66715175e-01 2.32398309e-04] [ 1.91396753e-04 -2.91055830e-04 9.99999939e-01]] t_estimated: [[ 9.95205013e-01] [-9.78103947e-02] [ 3.29616582e-04]] R_gt: [[ 0.98821226 -0.14625125 -0.04524281] [ 0.148138 0.98809053 0.04161014] [ 0.03861794 -0.04782114 0.99810878]] t_gt: [ 0.68285594 -0.72668674 0.07506089] Pose Error in degrees for R and t: 7.253549706626785 41.350344304831346 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.72703897e-01 2.32049486e-01 4.04965105e-04] [-2.32049050e-01 9.72703659e-01 -9.10609585e-04] [-6.05217526e-04 7.91781724e-04 9.99999503e-01]] t_estimated: [[0.77363797] [0.63362733] [0.00082969]] R_gt: [[ 0.95765233 -0.2860827 -0.03254737] [ 0.28738193 0.95666954 0.04686313] [ 0.01773041 -0.05423228 0.99837094]] t_gt: [ 0.70034594 -0.69987359 0.14033007] Pose Error in degrees for R and t: 30.273535671336163 84.34883436678075 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.85906942e-01 1.67294639e-01 7.11740954e-05] [-1.67294654e-01 9.85906845e-01 4.38261807e-04] [ 3.14782287e-06 -4.43992404e-04 9.99999901e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.91437857 -0.40010639 -0.0618663 ] [ 0.4043983 0.90991227 0.09231079] [ 0.01935882 -0.10942563 0.99380686]] t_gt: [ 0.71612828 -0.66346217 0.21674461] Pose Error in degrees for R and t: 34.00984015322242 44.41942704384512 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 9.99813363e-01 1.93193743e-02 2.75151048e-05] [-1.93193741e-02 9.99813363e-01 -5.07870018e-06] [-2.76080868e-05 4.54617771e-06 1.00000000e+00]] t_estimated: [[-6.12844772e-01] [ 7.90203319e-01] [ 8.61074223e-06]] R_gt: [[ 0.99692268 0.0332267 0.07100171] [-0.03045214 0.99874294 -0.03981019] [-0.07223432 0.03752531 0.99668201]] t_gt: [-0.62414215 0.72156114 0.29965995] Pose Error in degrees for R and t: 4.722688911722622 17.695596016445148 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[-8.61254495e-01 -5.08173006e-01 -9.43891046e-04] [-5.08173859e-01 8.61252409e-01 1.90192666e-03] [-1.53579352e-04 2.11770364e-03 -9.99997746e-01]] t_estimated: [[8.99959076e-01] [4.35973790e-01] [7.18243476e-04]] R_gt: [[ 0.9931572 0.07428341 0.09011906] [-0.06676684 0.99424778 -0.08374401] [-0.0958213 0.07715265 0.99240436]] t_gt: [-0.64717264 0.76010885 0.05832758] Pose Error in degrees for R and t: 176.09253659503977 75.46333669432451 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-8.77181701e-01 -4.80156549e-01 -1.39679903e-03] [ 4.80158364e-01 -8.77180357e-01 -1.60187788e-03] [-4.56092522e-04 -2.07582270e-03 9.99997741e-01]] t_estimated: [[8.75027143e-01] [4.84073293e-01] [7.39043195e-04]] R_gt: [[ 0.97888485 0.10853752 0.17321703] [-0.0893395 0.98933485 -0.11504047] [-0.18385542 0.09713622 0.97814201]] t_gt: [-0.68604833 0.65337633 0.32005791] Pose Error in degrees for R and t: 157.1856942195123 73.51332537169627 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.84375058e-01 -1.76084063e-01 3.83441776e-04] [ 1.76084041e-01 9.84375133e-01 9.05273372e-05] [-3.93390971e-04 -2.15948753e-05 9.99999922e-01]] t_estimated: [[-0.40316161] [-0.91512828] [-0.00097147]] R_gt: [[ 0.97403048 -0.22611517 -0.0116805 ] [ 0.22635598 0.97366698 0.02712667] [ 0.00523885 -0.02906668 0.99956385]] t_gt: [ 0.62832558 -0.77410759 0.07722959] Pose Error in degrees for R and t: 3.39105568763839 62.9340381128606 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-8.33045868e-01 -5.53202138e-01 -1.40539018e-03] [ 5.53203652e-01 -8.33045290e-01 -1.12461144e-03] [-5.48616211e-04 -1.71431990e-03 9.99998380e-01]] t_estimated: [[9.40639659e-01] [3.39406063e-01] [7.45947390e-04]] R_gt: [[ 0.9437574 -0.32884777 -0.03437601] [ 0.32789918 0.94422055 -0.03048596] [ 0.04248423 0.01749912 0.99894475]] t_gt: [ 0.67847956 -0.7222237 -0.13438161] Pose Error in degrees for R and t: 127.2462922524756 66.86010864897132 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.29087813e-01 5.59117875e-01 7.74214800e-04] [-5.59118117e-01 8.29088003e-01 1.22072925e-04] [-5.73639048e-04 -5.34086695e-04 9.99999693e-01]] t_estimated: [[0.64295276] [0.76590504] [0.00110524]] R_gt: [[ 0.89547339 -0.43885282 -0.07440027] [ 0.43686663 0.89854397 -0.04202761] [ 0.08529657 0.00513172 0.99634276]] t_gt: [ 0.72854235 -0.66868501 -0.14861498] Pose Error in degrees for R and t: 60.19842452663179 87.48418421673134 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99586944e-01 2.87391965e-02 -8.88242283e-06] [-2.87391969e-02 9.99586943e-01 -3.93638554e-05] [ 7.74746831e-06 3.96028696e-05 9.99999999e-01]] t_estimated: [[-1.63822325e-01] [-9.86489652e-01] [-6.42450666e-04]] R_gt: [[ 0.99924147 -0.01487132 0.03599497] [ 0.01279031 0.9982703 0.05739415] [-0.03678594 -0.05689013 0.99770283]] t_gt: [ 0.09015586 -0.22416081 0.97037305] Pose Error in degrees for R and t: 4.588672352006829 78.12721584509497 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.08583805 0.99629574 0.00515973] [-0.99628694 0.08586953 -0.00622561] [-0.00664561 -0.00460618 0.99996731]] t_estimated: [[0.07386967] [0.99724054] [0.00738697]] R_gt: [[ 0.99810444 -0.03932684 0.04733318] [ 0.03553806 0.99629067 0.07838453] [-0.05023958 -0.07655444 0.9957989 ]] t_gt: [ 0.257798 -0.25056534 0.93314372] Pose Error in degrees for R and t: 87.3391400727921 77.05960121056324 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99999816e-01 -5.96439509e-04 1.08497425e-04] [ 5.96435521e-04 9.99999821e-01 3.67882587e-05] [-1.08519348e-04 -3.67235403e-05 9.99999993e-01]] t_estimated: [[ 3.08265147e-01] [-9.51300473e-01] [-9.86671546e-05]] R_gt: [[ 0.99906192 -0.02592581 0.03467715] [ 0.02398592 0.99818718 0.05520964] [-0.03604536 -0.05432631 0.99787203]] t_gt: [0.24652456 0.07776911 0.96601118] Pose Error in degrees for R and t: 3.9859592065291722 89.89011696269145 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999598e-01 7.28202330e-04 5.23792329e-04] [-7.28065717e-04 9.99999701e-01 -2.60957788e-04] [-5.23982202e-04 2.60576327e-04 9.99999829e-01]] t_estimated: [[0.97735711] [0.21159278] [0.00125948]] R_gt: [[ 9.99983528e-01 5.73277990e-03 2.82426415e-04] [-5.68500520e-03 9.96014948e-01 -8.89988495e-02] [-7.92241517e-04 8.89952314e-02 9.96031372e-01]] t_gt: [ 0.02695261 0.3775671 -0.92558989] Pose Error in degrees for R and t: 5.099311081829441 83.96897150475176 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-5.40877068e-01 -8.41099068e-01 -2.08686503e-03] [ 8.41100480e-01 -5.40878797e-01 3.30617755e-04] [-1.40682333e-03 -1.57643962e-03 9.99997768e-01]] t_estimated: [[0.99841597] [0.05624879] [0.00127838]] R_gt: [[ 0.9988993 0.04594716 0.00946652] [-0.044101 0.98851933 -0.14451612] [-0.0159983 0.14393904 0.98945747]] t_gt: [-0.141151 0.48455011 -0.8633004 ] Pose Error in degrees for R and t: 125.50355879754217 83.40931305085344 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-0.18654071 -0.98244502 -0.00208629] [ 0.98244599 -0.18653668 -0.00198496] [ 0.00156094 -0.00241994 0.99999585]] t_estimated: [[ 9.39040644e-01] [-3.43806133e-01] [-1.11836202e-04]] R_gt: [[ 0.99423419 0.10652182 -0.01233227] [-0.10688914 0.97523875 -0.19360834] [-0.00859696 0.19381005 0.98100182]] t_gt: [-0.21374173 0.58421372 -0.78294879] Pose Error in degrees for R and t: 107.34118623921765 66.3292123178418 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.39592580e-01 3.42294707e-01 -3.41707332e-04] [-3.42294877e-01 9.39592128e-01 -9.21489642e-04] [ 5.64449215e-06 9.82789500e-04 9.99999517e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.97990489 -0.19776324 -0.02601767] [ 0.19824856 0.97999368 0.01759659] [ 0.02201677 -0.02240049 0.99950694]] t_gt: [ 0.98396359 -0.15304607 0.09161089] Pose Error in degrees for R and t: 31.491783156568214 42.1015929684592 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-8.19662637e-01 -5.72846535e-01 -9.22443120e-05] [-5.72846007e-01 8.19661640e-01 1.49948235e-03] [-7.83364147e-04 1.28191145e-03 -9.99998872e-01]] t_estimated: [[0.94517447] [0.32656309] [0.00132749]] R_gt: [[ 0.96962696 -0.24457776 -0.00253514] [ 0.24440806 0.96844785 0.04873775] [-0.00946503 -0.04787741 0.99880842]] t_gt: [ 0.97040528 -0.13732347 0.19863498] Pose Error in degrees for R and t: 178.940456029063 29.235315151412042 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.88886620e-01 1.48671611e-01 6.94803423e-05] [-1.48671610e-01 9.88886623e-01 -1.28928141e-05] [-7.06249765e-05 2.41977699e-06 9.99999998e-01]] t_estimated: [[9.27178455e-01] [3.74619650e-01] [4.79586546e-04]] R_gt: [[ 0.95894669 -0.28116782 0.03697882] [ 0.27752604 0.95725146 0.08155077] [-0.05832835 -0.06794058 0.99598275]] t_gt: [ 0.94963317 -0.12534408 0.28720325] Pose Error in degrees for R and t: 25.32252025336438 33.52335197449202 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 6.52322945e-01 -7.57941081e-01 3.04673186e-04] [ 7.57940765e-01 6.52322969e-01 7.35562336e-04] [-7.56258229e-04 -2.48899962e-04 9.99999683e-01]] t_estimated: [[9.48764391e-01] [3.15983334e-01] [8.14390035e-04]] R_gt: [[ 0.99256166 -0.12084598 0.01472437] [ 0.12034302 0.99223746 0.03134627] [-0.01839817 -0.02934224 0.99939999]] t_gt: [ 0.59568539 -0.761209 0.25635868] Pose Error in degrees for R and t: 42.39682232870228 71.0438453966931 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.99825606 0.05703331 0.01523297] [-0.056916 0.9983467 -0.00802681] [-0.01566558 0.00714581 0.99985175]] t_estimated: [[9.84010823e-01] [1.78105959e-01] [9.84010823e-04]] R_gt: [[ 0.96514864 -0.2616145 0.00669885] [ 0.25970744 0.9606343 0.09866226] [-0.03224688 -0.09348476 0.9950989 ]] t_gt: [ 0.66521134 -0.66818441 0.33320184] Pose Error in degrees for R and t: 19.360061236397733 57.59534388076704 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.22946929 0.78925749 0.56957568] [ 0.86311641 0.10546321 -0.49387 ] [-0.44985988 0.60493812 -0.65702052]] t_estimated: [[8.07334421e-01] [5.90093670e-01] [7.70357272e-04]] R_gt: [[ 0.9334671 -0.35865184 0.00261476] [ 0.35162148 0.91655633 0.19048879] [-0.07071574 -0.1768966 0.98168596]] t_gt: [ 0.64016485 -0.61122283 0.46539834] Pose Error in degrees for R and t: 137.79482747801336 80.99579663289569 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.11997201 -0.99269996 -0.01239019] [-0.99277576 0.11994068 0.0032439 ] [-0.00173413 0.01268985 -0.99991798]] t_estimated: [[8.89135547e-01] [4.57643296e-01] [7.69148397e-04]] R_gt: [[ 0.99272665 -0.03073691 0.11640676] [ 0.0150712 0.9909838 0.13313114] [-0.11944883 -0.13040855 0.98423831]] t_gt: [ 0.00995476 -0.21962888 0.97553271] Pose Error in degrees for R and t: 170.28279859681166 84.78402633607797 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-1.52728109e-01 -9.88267884e-01 8.45644449e-04] [-9.88266939e-01 1.52729242e-01 1.49527359e-03] [-1.60688550e-03 -6.07352144e-04 -9.99998525e-01]] t_estimated: [[0.76563482] [0.64327309] [0.00174802]] R_gt: [[ 0.97894504 -0.13518114 0.15295289] [ 0.08565734 0.95217272 0.2933083 ] [-0.1852878 -0.27403058 0.94370291]] t_gt: [ 0.24300922 -0.33571817 0.91007683] Pose Error in degrees for R and t: 161.60565953259922 88.37766456528107 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 4.90339794e-01 8.71529721e-01 1.68263771e-03] [ 8.71527774e-01 -4.90342398e-01 1.91629659e-03] [ 2.49517804e-03 5.26829027e-04 -9.99996748e-01]] t_estimated: [[0.84719794] [0.53127641] [0.00101582]] R_gt: [[ 0.95797925 -0.26436999 0.11129174] [ 0.20063035 0.89485724 0.39872079] [-0.20500013 -0.35963799 0.91029379]] t_gt: [ 0.41972722 -0.42188245 0.80364436] Pose Error in degrees for R and t: 165.31213546242202 82.39908553476936 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 4.86445083e-02 9.98816142e-01 1.60497844e-04] [-9.98814466e-01 4.86447209e-02 -1.83147803e-03] [-1.83711719e-03 -7.12162201e-05 9.99998310e-01]] t_estimated: [[0.05228526] [0.99863167] [0.00101899]] R_gt: [[ 0.98344239 -0.17433303 -0.04949347] [ 0.17704337 0.98254908 0.05703029] [ 0.0386877 -0.06484866 0.9971446 ]] t_gt: [ 0.58755403 -0.79812385 0.13333639] Pose Error in degrees for R and t: 97.42224372107661 39.988319869632996 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.82593171e-01 1.85768234e-01 9.08019827e-04] [-1.85768307e-01 9.82593576e-01 -4.24961635e-06] [-8.93003893e-04 -1.64505662e-04 9.99999588e-01]] t_estimated: [[0.57160363] [0.8205294 ] [0.00089416]] R_gt: [[ 0.94994521 -0.27911568 -0.14034867] [ 0.28980838 0.9550605 0.06220968] [ 0.11667793 -0.09976986 0.98814576]] t_gt: [ 0.6665979 -0.74537141 -0.0082889 ] Pose Error in degrees for R and t: 28.7121975115175 76.66896815453646 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-9.52789921e-01 -3.03630142e-01 -3.22863867e-04] [-3.03630188e-01 9.52788018e-01 1.92409410e-03] [-2.76592141e-04 1.93128868e-03 -9.99998097e-01]] t_estimated: [[9.99983503e-01] [5.68633998e-03] [8.12334283e-04]] R_gt: [[ 0.93801601 -0.30991077 -0.15518059] [ 0.33596051 0.92305632 0.18734465] [ 0.08518032 -0.22786762 0.96995889]] t_gt: [ 0.57622135 -0.75805379 0.3054888 ] Pose Error in degrees for R and t: 174.92995664462023 55.099750215991406 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99893932e-01 1.45640236e-02 1.19139941e-04] [-1.45640387e-02 9.99893931e-01 1.27342452e-04] [-1.17272686e-04 -1.29064104e-04 9.99999985e-01]] t_estimated: [[0.94130678] [0.33755062] [0.00105752]] R_gt: [[ 0.99912939 -0.03461229 0.02329163] [ 0.0348337 0.99935045 -0.00918785] [-0.02295939 0.00999214 0.99968619]] t_gt: [ 0.25594537 -0.95012287 0.17820913] Pose Error in degrees for R and t: 3.1669301186177385 85.43425414436463 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.87409632e-01 1.58176774e-01 1.52561206e-03] [-1.58176455e-01 9.87410807e-01 -3.28050482e-04] [-1.55829580e-03 8.26042969e-05 9.99998782e-01]] t_estimated: [[0.83147407] [0.555562 ] [0.00131701]] R_gt: [[ 0.999127 -0.03144457 0.02750724] [ 0.03155795 0.99949515 -0.00369754] [-0.02737784 0.00456212 0.99961423]] t_gt: [-0.04324541 -0.96332976 0.26481238] Pose Error in degrees for R and t: 11.00911424040818 55.19410299867831 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.76228005 -0.64721638 -0.00633055] [ 0.64724563 0.76226405 0.00515789] [ 0.00148728 -0.00802918 0.99996666]] t_estimated: [[-0.45286813] [-0.89157562] [-0.00183649]] R_gt: [[ 0.99800603 -0.02226627 0.05906278] [ 0.02073667 0.9994359 0.02638325] [-0.05961814 -0.0251057 0.99790541]] t_gt: [-0.35290057 -0.66137328 0.66185087] Pose Error in degrees for R and t: 39.27766105028705 41.55958411797111 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99999424e-01 -1.07142958e-03 -6.77305978e-05] [ 1.07144422e-03 9.99999403e-01 2.16531239e-04] [ 6.74985593e-05 -2.16603684e-04 9.99999974e-01]] t_estimated: [[-0.01913948] [ 0.99981523] [ 0.00178464]] R_gt: [[ 0.99881237 0.03648799 -0.032297 ] [-0.03716621 0.99909559 -0.02067209] [ 0.0315134 0.02184898 0.99926419]] t_gt: [ 0.30598513 0.66358058 -0.68266676] Pose Error in degrees for R and t: 3.092678645424798 48.97538015530025 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.55334473 0.83291837 -0.00752339] [ 0.83289813 0.55338919 0.00641181] [ 0.00950388 -0.00271828 -0.99995114]] t_estimated: [[ 0.20387625] [-0.9789886 ] [-0.00397374]] R_gt: [[ 0.9946098 0.09996973 0.02753792] [-0.09863767 0.99405611 -0.04606875] [-0.03197984 0.04310521 0.99855849]] t_gt: [-0.15367681 0.97894263 -0.134368 ] Pose Error in degrees for R and t: 177.84388558929882 8.4397337631691 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.90984433e-01 -1.33975042e-01 7.36072986e-04] [ 1.33977046e-01 9.90972188e-01 -4.92674651e-03] [-6.93667857e-05 4.98094598e-03 9.99987593e-01]] t_estimated: [[0.85212192] [0.52334228] [0.00104044]] R_gt: [[ 0.98424343 0.15476824 0.08551657] [-0.14285981 0.98100876 -0.13119957] [-0.10419741 0.11691534 0.98766031]] t_gt: [-0.25793775 0.96069971 -0.10258749] Pose Error in degrees for R and t: 18.504789280900088 73.5682130498323 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.96341968e-01 -8.54556599e-02 -1.16681826e-04] [ 8.54556692e-02 9.96341971e-01 7.71699145e-05] [ 1.09660394e-04 -8.68587480e-05 9.99999990e-01]] t_estimated: [[-0.99994559] [ 0.01027372] [-0.00180545]] R_gt: [[ 0.998303 0.04260237 0.03970895] [-0.04053629 0.99785257 -0.05145142] [-0.04181603 0.04975444 0.99788602]] t_gt: [-0.71090773 0.68905454 -0.14076236] Pose Error in degrees for R and t: 8.186944947096292 44.093739081193775 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-5.33133514e-01 -8.46026796e-01 -2.70515415e-03] [ 8.46028745e-01 -5.33136869e-01 6.65095831e-04] [-2.00490631e-03 -1.93405329e-03 9.99996120e-01]] t_estimated: [[0.98020309] [0.19798804] [0.00162285]] R_gt: [[ 0.98905767 0.07699202 0.12584572] [-0.06875186 0.9952752 -0.06856133] [-0.13053016 0.0591591 0.98967799]] t_gt: [-0.75212833 0.54648806 0.36831206] Pose Error in degrees for R and t: 126.57630554668877 51.06467897517029 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.46216578 -0.88671369 -0.01190066] [ 0.88674338 -0.46195528 -0.01683718] [ 0.00943219 -0.0183344 0.99978742]] t_estimated: [[9.87980517e-01] [1.54575651e-01] [9.31178621e-04]] R_gt: [[ 0.97819159 0.16189064 0.1301245 ] [-0.1502573 0.98409268 -0.09478321] [-0.14339907 0.07316279 0.98695732]] t_gt: [-0.72980078 0.64116441 0.23727417] Pose Error in degrees for R and t: 126.84780365615495 51.55964536460629 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.06722801 0.99773695 0.0011749 ] [-0.99773542 0.0672303 -0.00202897] [-0.00210336 -0.00103583 0.99999725]] t_estimated: [[0.2504665 ] [0.9681244 ] [0.00129775]] R_gt: [[ 9.98859405e-01 -3.75578757e-02 2.95164776e-02] [ 3.75519968e-02 9.99294633e-01 7.14480866e-04] [-2.95214560e-02 3.95244020e-04 9.99563921e-01]] t_gt: [ 0.25339392 -0.88794458 0.38385668] Pose Error in degrees for R and t: 88.30808296887218 37.28085099853012 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99804792e-01 1.97577671e-02 9.41912963e-05] [-1.97577671e-02 9.99804796e-01 -1.51408341e-06] [-9.42028247e-05 -3.47221844e-07 9.99999996e-01]] t_estimated: [[9.85865418e-01] [1.67539119e-01] [1.47876015e-04]] R_gt: [[ 0.99820131 -0.0535607 0.02694604] [ 0.0539292 0.99845774 -0.01319227] [-0.02619721 0.01462187 0.99954988]] t_gt: [ 0.24707794 -0.96363936 0.10174322] Pose Error in degrees for R and t: 4.548753966103042 85.2876484523413 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.34593831 0.93815185 0.01406367] [-0.93825487 -0.34593239 -0.00292853] [ 0.00211767 -0.0142084 0.99989681]] t_estimated: [[0.38080354] [0.92465535] [0.00107269]] R_gt: [[ 0.99606717 -0.07071292 0.05339908] [ 0.06992561 0.9974166 0.01645678] [-0.05442395 -0.01265766 0.99843739]] t_gt: [ 0.09908975 -0.90033155 0.42377391] Pose Error in degrees for R and t: 114.28219558578574 37.4100492983519 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.99963656 -0.02675906 0.00327028] [ 0.0267463 0.9996347 0.003887 ] [-0.00337309 -0.00379812 0.9999871 ]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.97688279 -0.21224541 -0.02555153] [ 0.21268431 0.97699148 0.01589685] [ 0.02158991 -0.02096297 0.99954643]] t_gt: [ 0.61537421 -0.78822658 -0.00366575] Pose Error in degrees for R and t: 10.880062776925175 87.3707660951388 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.62183763 0.78304055 0.01286333] [ 0.78146169 -0.61933965 -0.07573657] [-0.05133804 0.05714805 -0.99704489]] t_estimated: [[0.6761729 ] [0.73672569] [0.00504607]] R_gt: [[ 0.91614688 -0.39644518 -0.05921297] [ 0.39552612 0.91805749 -0.02700801] [ 0.06506792 0.00132345 0.9978796 ]] t_gt: [ 0.71494211 -0.68939115 -0.11660884] Pose Error in degrees for R and t: 176.9412536689365 88.5642406601397 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.15683689e-01 -4.01899573e-01 -3.37964721e-04] [ 4.01898858e-01 9.15683149e-01 -1.29561523e-03] [ 8.30175808e-04 1.05054610e-03 9.99999104e-01]] t_estimated: [[-0.12873694] [-0.99167674] [-0.00201151]] R_gt: [[ 0.88471278 -0.45992791 -0.07583522] [ 0.45737705 0.88791245 -0.04916705] [ 0.08994893 0.00881387 0.99590723]] t_gt: [ 0.72937778 -0.6657714 -0.15734194] Pose Error in degrees for R and t: 6.303819585285361 55.48314523711156 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-4.79756360e-01 -8.77399832e-01 -1.83572642e-03] [ 8.77401752e-01 -4.79755232e-01 -1.04070837e-03] [ 3.24179960e-05 -2.10995603e-03 9.99997774e-01]] t_estimated: [[0.97917564] [0.20301233] [0.00102531]] R_gt: [[ 0.99488361 0.08427572 0.05571788] [-0.0796652 0.99357754 -0.08035954] [-0.06213295 0.07550878 0.99520762]] t_gt: [-0.43412897 0.89282271 -0.11999852] Pose Error in degrees for R and t: 123.46284529480211 75.8797645025689 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.2863326 0.9581248 0.00324353] [ 0.95812575 -0.28634001 0.00210641] [ 0.00294696 0.00250458 -0.99999252]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98487314 0.11325027 0.1311469 ] [-0.10056577 0.98992967 -0.09962543] [-0.14110829 0.08492974 0.98634438]] t_gt: [-0.45133248 0.85570141 0.2531286 ] Pose Error in degrees for R and t: 171.04587389816533 31.44596795883151 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.85943614 0.51103924 0.01443645] [-0.51112853 -0.85949869 -0.00310155] [ 0.0108231 -0.01004447 0.99989098]] t_estimated: [[0.03372298] [0.99942652] [0.00306573]] R_gt: [[ 0.98144955 0.07388859 0.17691003] [-0.05523741 0.99260087 -0.10812844] [-0.18359089 0.09635 0.97826932]] t_gt: [-0.317828 0.80560233 0.49999024] Pose Error in degrees for R and t: 145.71755344943543 37.254443311488934 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.58851819e-01 -9.65904413e-01 4.93972900e-03] [-9.65916997e-01 -2.58846833e-01 1.63432968e-03] [-2.99973039e-04 -5.19441742e-03 -9.99986464e-01]] t_estimated: [[0.63813366] [0.76992213] [0.00231208]] R_gt: [[ 0.98741234 -0.13447108 -0.08328118] [ 0.1379544 0.98972637 0.0375692 ] [ 0.07737493 -0.04858515 0.99581734]] t_gt: [ 0.56907526 -0.81693553 -0.09364661] Pose Error in degrees for R and t: 179.38566524562117 74.57081427257461 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 1.29873613e-02 9.99915515e-01 5.40584152e-04] [-9.99913998e-01 1.29883237e-02 -1.81657713e-03] [-1.82344494e-03 -5.16945117e-04 9.99998204e-01]] t_estimated: [[0.06880533] [0.99762959] [0.00101813]] R_gt: [[ 0.94868886 -0.28087354 -0.14526168] [ 0.29805585 0.94770012 0.11413687] [ 0.10560811 -0.15157562 0.98278799]] t_gt: [ 0.62699838 -0.76642511 0.13951912] Pose Error in degrees for R and t: 106.61456308807918 43.83597635359025 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-5.73609148e-01 8.19128071e-01 1.32195974e-03] [ 8.19128559e-01 5.73606076e-01 2.11514921e-03] [ 9.74293955e-04 2.29612392e-03 -9.99996889e-01]] t_estimated: [[-0.10176532] [-0.99480789] [-0.00103842]] R_gt: [[ 0.88891121 -0.39039282 -0.23964821] [ 0.42100003 0.90243448 0.09150111] [ 0.18054587 -0.18222837 0.96653882]] t_gt: [ 0.70274444 -0.71008971 0.04385043] Pose Error in degrees for R and t: 165.24819816774078 50.591710829183775 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99706198e-01 2.42387650e-02 -1.26836289e-06] [-2.42387651e-02 9.99706197e-01 -3.90399347e-05] [ 3.21710440e-07 3.90592083e-05 9.99999999e-01]] t_estimated: [[-6.33394970e-01] [-7.73828503e-01] [-5.09782728e-04]] R_gt: [[ 0.99983244 0.00196169 0.01819589] [-0.00209888 0.99996998 0.00750033] [-0.01817999 -0.00753663 0.99980621]] t_gt: [-0.29775312 -0.11189354 0.94806272] Pose Error in degrees for R and t: 1.7008069054384274 74.05595676720466 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.88301239e-01 1.52514377e-01 -1.60754155e-04] [-1.52514430e-01 9.88301166e-01 -3.92582522e-04] [ 9.89990401e-05 4.12507121e-04 9.99999910e-01]] t_estimated: [[-0.62528517] [-0.78039467] [-0.00161572]] R_gt: [[ 0.98998519 -0.05429467 0.13031081] [ 0.02885356 0.98141737 0.18970433] [-0.13818921 -0.18404357 0.97315538]] t_gt: [ 0.0828576 -0.26707854 0.96010607] Pose Error in degrees for R and t: 17.38583233673996 81.07938915091552 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 7.23388968e-01 6.90438618e-01 1.70762408e-03] [ 6.90438981e-01 -7.23390490e-01 4.61423755e-04] [ 1.55386380e-03 8.45221374e-04 -9.99998436e-01]] t_estimated: [[9.15675054e-01] [4.01918440e-01] [8.73735738e-04]] R_gt: [[ 0.97496448 -0.17967059 0.13100488] [ 0.12859812 0.93624072 0.32698316] [-0.18139992 -0.30194952 0.9359065 ]] t_gt: [ 0.32958271 -0.4024254 0.85406618] Pose Error in degrees for R and t: 166.32672582800146 81.90616509587673 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-8.75813755e-01 -4.82647988e-01 1.08912778e-03] [-4.82646202e-01 8.75814030e-01 1.55857509e-03] [-1.70611652e-03 8.39358118e-04 -9.99998192e-01]] t_estimated: [[0.98426807] [0.17666507] [0.00241085]] R_gt: [[ 0.99048528 -0.13741071 0.00760501] [ 0.13700619 0.98977069 0.03980478] [-0.01299714 -0.0383829 0.9991784 ]] t_gt: [ 0.93711403 -0.18889683 0.29348813] Pose Error in degrees for R and t: 178.77969896451944 27.163484879810778 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.91119785e-01 -1.32962249e-01 1.61639204e-03] [-1.32960886e-01 -9.91120855e-01 -9.24073417e-04] [ 1.72490674e-03 7.00950528e-04 -9.99998267e-01]] t_estimated: [[0.00519744] [0.99998595] [0.00103949]] R_gt: [[ 0.98584908 -0.15807655 0.05580288] [ 0.15433313 0.9858108 0.06602384] [-0.06544749 -0.0564769 0.99625634]] t_gt: [ 0.87932323 -0.17788151 0.44175653] Pose Error in degrees for R and t: 176.30526108608402 80.04645884724107 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.70823125 -0.69398839 -0.12957086] [ 0.70279958 0.71046689 0.03618753] [ 0.06694208 -0.11669149 0.99090961]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96975491 -0.23687226 0.05888589] [ 0.23246489 0.96986043 0.07301052] [-0.07440521 -0.05711323 0.99559105]] t_gt: [ 0.93846665 -0.13157475 0.31932497] Pose Error in degrees for R and t: 32.49567544992345 82.79689009543593 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.99898513e-01 1.42465629e-02 -2.64309715e-06] [-1.42465623e-02 9.99898498e-01 1.70221200e-04] [ 5.06789591e-06 -1.70166270e-04 9.99999986e-01]] t_estimated: [[-8.44096188e-01] [-5.36191318e-01] [-7.04587803e-04]] R_gt: [[ 0.99797009 -0.06297967 0.00945975] [ 0.06292861 0.99800162 0.00563968] [-0.00979647 -0.00503225 0.99993955]] t_gt: [ 0.43455268 -0.89354225 0.11289915] Pose Error in degrees for R and t: 4.469967431415742 83.55636125712566 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-0.63532458 0.77210403 0.01476614] [ 0.77215835 0.63542376 -0.00284883] [-0.01158235 0.00959187 -0.99988692]] t_estimated: [[0.90637274] [0.42238729] [0.00879974]] R_gt: [[ 0.98446338 -0.16789062 0.0514309 ] [ 0.16529895 0.9849183 0.05109896] [-0.05923378 -0.04180363 0.9973692 ]] t_gt: [ 0.4915831 -0.79912573 0.34604064] Pose Error in degrees for R and t: 177.41372450682144 83.62345912121069 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.66272379e-01 2.57515725e-01 1.82790916e-03] [-2.57516618e-01 9.66273833e-01 2.67283928e-04] [-1.69743097e-03 -7.28986061e-04 9.99998294e-01]] t_estimated: [[0.70276012] [0.71142645] [0.00078785]] R_gt: [[ 0.95478008 -0.29652455 0.02163883] [ 0.29374817 0.95206633 0.08532625] [-0.04590367 -0.07511101 0.99611891]] t_gt: [ 0.64416177 -0.71439079 0.27331558] Pose Error in degrees for R and t: 32.4968549147265 86.82820656167142 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.93809519 -0.3461808 -0.01167369] [ 0.34633846 0.93796285 0.01659396] [ 0.00520498 -0.01960976 0.99979416]] t_estimated: [[-0.99576374] [-0.09171508] [-0.00655108]] R_gt: [[ 0.98693015 -0.061505 -0.1489437 ] [ 0.08480887 0.9841807 0.15555106] [ 0.137021 -0.16615065 0.97653442]] t_gt: [ 0.67968091 -0.68359602 0.26595177] Pose Error in degrees for R and t: 19.588588206127767 51.986450173338625 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[ 1.60392678e-01 9.73430853e-01 1.63421431e-01] [ 9.87053173e-01 -1.58099915e-01 -2.70268548e-02] [-4.71860038e-04 1.65640552e-01 -9.86186080e-01]] t_estimated: [[-0.07929478] [-0.99684864] [-0.00226557]] R_gt: [[ 0.9699691 -0.1609002 -0.18240381] [ 0.19863305 0.95681272 0.21226018] [ 0.14037453 -0.2421181 0.96003884]] t_gt: [ 0.7304251 -0.59207114 0.34048632] Pose Error in degrees for R and t: 171.64097033585477 57.892124183118526 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 0.94975991 0.31297261 0.0020613 ] [-0.31296165 0.94975559 -0.00439593] [-0.00333353 0.00352997 0.99998821]] t_estimated: [[-0.99993843] [-0.01102873] [-0.00122541]] R_gt: [[ 0.93611431 -0.25763223 -0.23940423] [ 0.31033189 0.92538679 0.21761018] [ 0.16547833 -0.27800399 0.94621873]] t_gt: [ 0.79405508 -0.54983799 0.25914225] Pose Error in degrees for R and t: 39.9394850122708 37.97682278745911 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[-0.87043154 0.48269806 0.09670321] [ 0.48184384 0.87561426 -0.03355863] [-0.10087339 0.01738536 -0.99474736]] t_estimated: [[ 0.95115333] [-0.30334465] [ 0.05735303]] R_gt: [[ 0.99894665 -0.04459681 -0.01086533] [ 0.04480383 0.99880466 0.01957466] [ 0.00997982 -0.020041 0.99974851]] t_gt: [ 0.51197305 -0.85488793 0.08396557] Pose Error in degrees for R and t: 175.0184218645469 41.31370587627632 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.97805139e-01 -6.62185651e-02 7.69821372e-05] [ 6.62185627e-02 9.97805142e-01 3.32951476e-05] [-7.90179292e-05 -2.81244229e-05 9.99999996e-01]] t_estimated: [[ 9.65513410e-01] [-2.60352343e-01] [ 7.16237395e-04]] R_gt: [[ 0.99639265 -0.07881833 -0.03144431] [ 0.07979466 0.99632665 0.03107955] [ 0.0288791 -0.03347651 0.99902147]] t_gt: [ 0.51059386 -0.85845725 -0.04842578] Pose Error in degrees for R and t: 2.6461459176587714 44.2376861425253 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.87444605e-01 1.57965581e-01 1.64139884e-04] [-1.57965550e-01 9.87444606e-01 -1.84823017e-04] [-1.91274718e-04 1.56574044e-04 9.99999969e-01]] t_estimated: [[0.55062353] [0.83475312] [0.00097976]] R_gt: [[ 0.99541924 -0.07630836 -0.05758729] [ 0.0793405 0.99547233 0.05233236] [ 0.05333364 -0.05666235 0.99696731]] t_gt: [ 0.47749781 -0.87252739 -0.10340116] Pose Error in degrees for R and t: 14.276133509453597 62.25581314124554 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.00167174 0.99996217 0.00853632] [ 0.99999093 0.00170511 -0.00390301] [-0.00391742 0.00852972 -0.99995595]] t_estimated: [[0.99335967] [0.11502059] [0.0026141 ]] R_gt: [[ 9.98308373e-01 -9.43779566e-04 5.81329927e-02] [-7.18897485e-03 9.90191160e-01 1.39532393e-01] [-5.76947545e-02 -1.39714488e-01 9.88509944e-01]] t_gt: [-0.08206705 -0.05861316 0.99490175] Pose Error in degrees for R and t: 177.18909729758346 85.08584679896045 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.52726983e-01 -3.03827358e-01 -4.82589769e-04] [ 3.03827674e-01 9.52726628e-01 8.46523966e-04] [ 2.02578982e-04 -9.53130350e-04 9.99999525e-01]] t_estimated: [[0.77241584] [0.63511538] [0.00149019]] R_gt: [[ 0.9951342 -0.03579965 0.0917927 ] [ 0.01228087 0.96945448 0.24496442] [-0.09775878 -0.24264503 0.9651764 ]] t_gt: [ 0.01261518 -0.11262786 0.99355716] Pose Error in degrees for R and t: 22.189853964177594 86.54256943580319 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 2.25349196e-01 -9.74273146e-01 -3.09458239e-03] [-9.74276900e-01 -2.25352694e-01 8.28006236e-04] [-1.50407672e-03 2.82838960e-03 -9.99994869e-01]] t_estimated: [[0.73645169] [0.67648961] [0.00084455]] R_gt: [[ 0.99134674 -0.08894678 0.09653911] [ 0.05330718 0.94484983 0.32313478] [-0.11995704 -0.31519292 0.94141596]] t_gt: [ 0.1056999 -0.19294087 0.97550056] Pose Error in degrees for R and t: 161.52790308846005 87.02754989503914 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999977e-01 -1.96427947e-04 -8.19225724e-05] [ 1.96453287e-04 9.99999933e-01 3.09425312e-04] [ 8.18617871e-05 -3.09441399e-04 9.99999949e-01]] t_estimated: [[0.54991891] [0.83521742] [0.00103194]] R_gt: [[ 0.99895794 0.02354338 0.03911068] [-0.02777545 0.99338141 0.11145685] [-0.03622828 -0.11242713 0.99299942]] t_gt: [-0.17805816 0.10268935 0.97864712] Pose Error in degrees for R and t: 6.929275708511749 89.36172841948562 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.38074948e-01 3.46431920e-01 5.62259427e-04] [ 3.46432369e-01 9.38073371e-01 1.72185913e-03] [ 6.90663699e-05 1.81001778e-03 -9.99998360e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99440482 0.00685526 0.10541356] [-0.02981866 0.9755272 0.21784794] [-0.10134139 -0.21977127 0.97027331]] t_gt: [-0.08493386 0.0424653 0.99548126] Pose Error in degrees for R and t: 176.33403862925738 85.17974786950555 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.99651314 0.08342826 0.00113703] [-0.08342626 0.99651249 -0.00170496] [-0.0012753 0.00160416 0.9999979 ]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99319911 -0.03506609 0.11102664] [-0.00167588 0.94916725 0.31476955] [-0.11642104 -0.31281385 0.94265227]] t_gt: [ 0.00642651 -0.04016786 0.99917228] Pose Error in degrees for R and t: 20.389325056625058 89.59454465084036 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[-0.29731267 -0.95476859 -0.00470341] [-0.9547712 0.29732762 -0.00287097] [ 0.00413957 0.0036371 -0.99998482]] t_estimated: [[ 0.79170036] [ 0.61090772] [-0.00151499]] R_gt: [[ 0.9955689 -0.06615528 0.06682937] [ 0.0651164 0.99772255 0.01759505] [-0.06784137 -0.01316631 0.99760956]] t_gt: [-0.15628543 -0.81924413 0.55173718] Pose Error in degrees for R and t: 176.6788631717926 51.314166923951746 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99999880e-01 4.36757679e-04 2.20652051e-04] [-4.36748124e-04 9.99999904e-01 -4.33509000e-05] [-2.20670963e-04 4.32545255e-05 9.99999975e-01]] t_estimated: [[-9.75284013e-01] [-2.20954775e-01] [-2.85704585e-04]] R_gt: [[ 0.97944858 -0.19825741 0.03707778] [ 0.19677027 0.97962433 0.04020427] [-0.04429264 -0.03208257 0.99850341]] t_gt: [ 0.29129415 -0.9100532 0.29487435] Pose Error in degrees for R and t: 11.84424152243896 85.23332844631739 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999526e-01 -7.14771586e-04 6.61133978e-04] [ 7.14929216e-04 9.99999716e-01 -2.38217663e-04] [-6.60963519e-04 2.38690214e-04 9.99999753e-01]] t_estimated: [[0.60167047] [0.79874329] [0.00134339]] R_gt: [[ 0.9384352 -0.34514177 0.01468699] [ 0.34299335 0.93597479 0.07940816] [-0.04115433 -0.0694828 0.99673398]] t_gt: [ 0.47048537 -0.84541833 0.25280697] Pose Error in degrees for R and t: 20.639269062860752 66.93000007478751 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 9.99907490e-01 1.36018794e-02 2.78573014e-05] [-1.36018780e-02 9.99907489e-01 -5.26366117e-05] [-2.85706811e-05 5.22528307e-05 9.99999998e-01]] t_estimated: [[ 7.99330308e-01] [-6.00891546e-01] [-6.38806958e-04]] R_gt: [[ 0.99939672 -0.0299848 -0.0176094 ] [ 0.03027104 0.99941016 0.01623633] [ 0.01711209 -0.01675975 0.99971282]] t_gt: [ 0.44172085 -0.88705688 -0.13421173] Pose Error in degrees for R and t: 2.857918636731984 27.601484288856287 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.95892078e-01 -9.05480770e-02 -1.18185146e-04] [ 9.05480658e-02 9.95892082e-01 -9.69346464e-05] [ 1.26476897e-04 8.58350101e-05 9.99999988e-01]] t_estimated: [[ 0.150607 ] [-0.98859235] [-0.0016444 ]] R_gt: [[ 0.99906621 -0.02753803 -0.03333097] [ 0.02837492 0.999287 0.02491027] [ 0.03262073 -0.02583317 0.99913299]] t_gt: [ 0.40227286 -0.87392038 -0.27283644] Pose Error in degrees for R and t: 4.310269112665856 22.33394355462525 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99992618e-01 3.82795819e-03 3.32722438e-04] [-3.82790058e-03 9.99992658e-01 -1.73602155e-04] [-3.33384537e-04 1.72327245e-04 9.99999930e-01]] t_estimated: [[0.9999445 ] [0.01044032] [0.00141335]] R_gt: [[ 9.91731401e-01 -1.28124049e-01 -7.34830104e-03] [ 1.28132151e-01 9.91757220e-01 6.98322941e-04] [ 7.19826759e-03 -1.63322937e-03 9.99972594e-01]] t_gt: [ 0.6242403 -0.78075009 -0.0274471 ] Pose Error in degrees for R and t: 7.593654098275857 51.97424862243185 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-0.83464306 0.55078764 -0.00198424] [ 0.55077938 0.83464333 0.00354826] [ 0.00361047 0.00186866 -0.99999174]] t_estimated: [[9.47309069e-01] [3.20319685e-01] [9.09999105e-04]] R_gt: [[ 0.98783636 -0.15250484 -0.03035985] [ 0.1533316 0.98780359 0.02706576] [ 0.02586216 -0.03139245 0.99917237]] t_gt: [ 0.5486241 -0.83143738 0.08788329] Pose Error in degrees for R and t: 177.8151837102257 75.31700808082215 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-2.18635313e-01 -9.75804771e-01 -1.91023342e-03] [-9.75805900e-01 2.18637139e-01 -8.03828559e-04] [ 1.20202771e-03 1.68827174e-03 -9.99997852e-01]] t_estimated: [[7.45967595e-01] [6.65982201e-01] [2.34900209e-04]] R_gt: [[ 0.95389213 -0.29525437 -0.05399887] [ 0.29710749 0.95436755 0.03013921] [ 0.04263576 -0.04479365 0.99808635]] t_gt: [ 0.61707598 -0.78399741 0.06756703] Pose Error in degrees for R and t: 179.06303522011277 86.4572209523842 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999894e-01 -2.35313037e-04 3.95285973e-04] [ 2.35572163e-04 9.99999757e-01 -6.55623186e-04] [-3.95131600e-04 6.55716235e-04 9.99999707e-01]] t_estimated: [[7.69342819e-01] [6.38835743e-01] [7.21033570e-04]] R_gt: [[ 0.932851 -0.35284688 -0.07272674] [ 0.35687974 0.93266701 0.05262344] [ 0.04926175 -0.07504496 0.99596267]] t_gt: [ 0.63066714 -0.76922927 0.10269022] Pose Error in degrees for R and t: 21.44677673844438 89.64832346669664 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.86531310e-01 7.27100056e-01 -5.18228992e-04] [-7.27100110e-01 6.86530585e-01 -1.08883783e-03] [-4.35913995e-04 1.12432562e-03 9.99999273e-01]] t_estimated: [[-4.98337010e-02] [ 9.98757528e-01] [-5.18724995e-05]] R_gt: [[ 0.99874612 0.02234106 0.04479787] [-0.01798801 0.99528239 -0.09533516] [-0.04671633 0.09441051 0.99443645]] t_gt: [-0.46032784 0.56703432 -0.68305956] Pose Error in degrees for R and t: 45.855990454131664 53.89229111091795 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-8.70733697e-01 -4.91752505e-01 -1.51741863e-03] [-4.91754300e-01 8.70733184e-01 1.19641343e-03] [ 7.32927457e-04 1.78795463e-03 -9.99998133e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.99226793 0.06888582 0.10324538] [-0.05305602 0.987426 -0.14890902] [-0.11220499 0.14228085 0.98344619]] t_gt: [-0.70233532 0.67011318 -0.24015293] Pose Error in degrees for R and t: 176.2021088324113 69.15208292412755 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 7.75079517e-01 -6.31863579e-01 -3.99675097e-04] [ 6.31863675e-01 7.75079130e-01 7.98614051e-04] [-1.94835306e-04 -8.71529569e-04 9.99999601e-01]] t_estimated: [[0.99428319] [0.10675462] [0.00209323]] R_gt: [[ 0.98471885 0.13806688 0.10614483] [-0.12601779 0.98558123 -0.11291282] [-0.12020445 0.0978121 0.98791913]] t_gt: [-0.73860115 0.66899697 0.08313482] Pose Error in degrees for R and t: 47.62354799597968 48.48729010503933 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.98425181e-01 5.60962155e-02 6.11147681e-04] [-5.60957280e-02 9.98425084e-01 -7.87631817e-04] [-6.54368339e-04 7.52108665e-04 9.99999503e-01]] t_estimated: [[0.67321485] [0.73944645] [0.00083837]] R_gt: [[ 0.99533371 -0.09478506 0.01806722] [ 0.09578908 0.9931629 -0.06671121] [-0.01162107 0.06813035 0.99760899]] t_gt: [ 0.50351759 -0.73122205 -0.46020033] Pose Error in degrees for R and t: 9.528722318923625 78.33963557435128 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 2.25239514e-01 9.74295360e-01 3.96389062e-03] [ 9.74303421e-01 -2.25237359e-01 -9.87767981e-04] [-6.95615043e-05 4.08451658e-03 -9.99991656e-01]] t_estimated: [[-0.56626146] [-0.82422501] [-0.00104863]] R_gt: [[ 0.9843591 -0.1759547 -0.00880002] [ 0.17501924 0.98239642 -0.06529789] [ 0.02013407 0.0627366 0.9978272 ]] t_gt: [ 0.56637528 -0.74939828 -0.34295955] Pose Error in degrees for R and t: 177.437586813832 72.70353583888426 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.66031527e-01 2.58417881e-01 1.81319027e-03] [-2.58415402e-01 9.66032737e-01 -1.49340875e-03] [-2.13752469e-03 9.74123640e-04 9.99997241e-01]] t_estimated: [[0.57949449] [0.81497317] [0.00220774]] R_gt: [[ 0.94431782 -0.32893583 0.00807093] [ 0.32901091 0.94366652 -0.03527807] [ 0.00398721 0.03596984 0.99934512]] t_gt: [ 0.68052921 -0.72696121 -0.09169179] Pose Error in degrees for R and t: 34.245629703796354 78.56282159481239 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.0349058 -0.99938485 -0.00339337] [ 0.99938962 -0.03491035 0.00128844] [-0.00140611 -0.00334632 0.99999341]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.99265556 0.06931328 -0.09914423] [-0.07156125 0.99724903 -0.01930214] [ 0.09753325 0.02625472 0.99488606]] t_gt: [ 0.02109848 0.53501616 -0.84457833] Pose Error in degrees for R and t: 96.17945966673683 88.37762736201219 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.98219618 -0.18785296 -0.00138896] [ 0.18785522 0.98219521 0.00172659] [ 0.00103988 -0.00195677 0.99999754]] t_estimated: [[-0.80599993] [-0.59191343] [-0.00161162]] R_gt: [[ 0.99176464 0.02580707 -0.12544955] [-0.02726578 0.99957835 -0.00993125] [ 0.12513962 0.01326953 0.99205004]] t_gt: [ 0.35446172 0.05983807 -0.93315395] Pose Error in degrees for R and t: 14.277254620271375 71.36058694422633 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99999880e-01 4.84447776e-04 6.95627958e-05] [-4.84453260e-04 9.99999880e-01 7.88443885e-05] [-6.95245914e-05 -7.88780790e-05 9.99999994e-01]] t_estimated: [[1.25202550e-02] [9.99921569e-01] [3.15088709e-04]] R_gt: [[ 0.98868631 -0.02892365 -0.14718109] [ 0.03337003 0.9990556 0.02782742] [ 0.14623711 -0.03242441 0.98871786]] t_gt: [ 0.57102661 -0.44077191 -0.69256678] Pose Error in degrees for R and t: 8.808060912854193 64.29064757839626 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.70521928e-01 -2.41012788e-01 -1.51067783e-04] [ 2.41012816e-01 9.70521913e-01 1.99933793e-04] [ 9.84279925e-05 -2.30449402e-04 9.99999969e-01]] t_estimated: [[-7.36856602e-01] [ 6.76049064e-01] [-1.02132252e-04]] R_gt: [[ 0.99178787 0.11016122 -0.06496438] [-0.10286203 0.98896324 0.10663834] [ 0.07599426 -0.09907904 0.99217357]] t_gt: [-0.60731029 0.3105997 0.73123323] Pose Error in degrees for R and t: 21.30996892735653 48.89761989089259 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.980309 -0.19590197 0.02483325] [ 0.19705124 0.96228318 -0.18756835] [ 0.01284839 0.18876836 0.98193759]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.98581025 0.13459868 -0.10030984] [-0.11666582 0.97901009 0.16712067] [ 0.12069813 -0.15304544 0.98082103]] t_gt: [-0.23761931 0.5025138 0.83127429] Pose Error in degrees for R and t: 28.2939743737056 73.54186783766775 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 5.15388633e-01 8.56953762e-01 -2.19237213e-03] [-8.56956500e-01 5.15385897e-01 -1.71300970e-03] [-3.38052431e-04 2.76163328e-03 9.99996130e-01]] t_estimated: [[-0.52936996] [ 0.84838947] [-0.00165929]] R_gt: [[ 0.96594814 0.2386793 -0.09988078] [-0.21752392 0.95816903 0.18600027] [ 0.14009688 -0.15794012 0.97745967]] t_gt: [-0.45563978 0.81012743 0.36889827] Pose Error in degrees for R and t: 47.176519814579756 21.891206720690892 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.58128329 -0.81305437 0.03243979] [-0.81299363 0.58197834 0.01850876] [-0.03392789 -0.01561451 -0.9993023 ]] t_estimated: [[0.8777038 ] [0.47885013] [0.01840099]] R_gt: [[ 0.99720016 -0.03726054 -0.06484005] [ 0.04011612 0.9982554 0.04331237] [ 0.06311274 -0.04579151 0.99695582]] t_gt: [ 0.93882618 -0.30461939 -0.16066249] Pose Error in degrees for R and t: 180.0 47.53125517924844 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.991463 -0.13033283 -0.00380332] [ 0.13035178 0.9914539 0.0052517 ] [ 0.00308635 -0.00570264 0.99997898]] t_estimated: [[-0.98854238] [-0.15067404] [-0.00901649]] R_gt: [[ 0.99142263 -0.00961138 -0.13034092] [ 0.0127168 0.99965347 0.02301326] [ 0.13007459 -0.02447209 0.99120305]] t_gt: [ 0.74054067 0.11023207 -0.66290905] Pose Error in degrees for R and t: 10.048743820203166 42.039115907547604 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 6.37382808e-01 -7.70543392e-01 -2.45705604e-03] [ 7.70545608e-01 6.37384861e-01 -6.88079484e-05] [ 1.61910984e-03 -1.84941674e-03 9.99996979e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.98156635 -0.02053771 -0.19001764] [ 0.02445336 0.99953377 0.01828225] [ 0.18955396 -0.02259026 0.98161138]] t_gt: [ 0.76005102 0.06695183 -0.64640537] Pose Error in degrees for R and t: 50.215205585173855 44.182540540295555 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999914e-01 4.04045557e-04 -9.73260975e-05] [-4.04037089e-04 9.99999915e-01 8.70116130e-05] [ 9.73612458e-05 -8.69722821e-05 9.99999991e-01]] t_estimated: [[-0.32307794] [ 0.94637108] [-0.0015559 ]] R_gt: [[ 0.99754727 0.00661983 -0.06968378] [-0.00818202 0.99972074 -0.02216239] [ 0.06951767 0.02267769 0.99732278]] t_gt: [ 0.48659785 0.25869187 -0.83444655] Pose Error in degrees for R and t: 4.208874743746006 84.89922410958907 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99997940e-01 -5.57615838e-04 1.95192821e-03] [ 5.63438324e-04 9.99995390e-01 -2.98366258e-03] [-1.95025548e-03 2.98475623e-03 9.99993644e-01]] t_estimated: [[0.75238715] [0.65872064] [0.00082769]] R_gt: [[ 0.99197536 -0.01142681 -0.12591482] [ 0.00827509 0.99963944 -0.02552004] [ 0.12616022 0.02427276 0.99171216]] t_gt: [ 0.63826894 0.11140148 -0.76171023] Pose Error in degrees for R and t: 7.479763495000851 56.428487875996936 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.01407428 0.99989961 -0.00164104] [-0.99989531 -0.0140797 -0.00333738] [-0.00336016 0.0015939 0.99999308]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.98410455 0.00359873 -0.17755334] [-0.00440455 0.99998127 -0.00414805] [ 0.17753567 0.00486435 0.98410257]] t_gt: [ 0.64411797 0.14651153 -0.75076388] Pose Error in degrees for R and t: 91.03468486616569 81.29348962548127 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 7.01835938e-01 7.12338161e-01 8.13396354e-04] [-7.12337903e-01 7.01836394e-01 -6.22377426e-04] [-1.01421435e-03 -1.42606209e-04 9.99999476e-01]] t_estimated: [[0.0146216 ] [0.99989247] [0.00112474]] R_gt: [[ 0.99565667 -0.07574189 -0.05414225] [ 0.07793321 0.99617241 0.03957425] [ 0.05093776 -0.04362176 0.99774845]] t_gt: [ 0.62412229 -0.76142957 0.17520382] Pose Error in degrees for R and t: 49.980263935686125 41.233907684510726 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.95331099 0.30182405 -0.01002031] [-0.30188233 -0.95333265 0.00489147] [-0.00807633 0.00768805 0.99993783]] t_estimated: [[0.65195158] [0.75825982] [0.00108478]] R_gt: [[ 0.99366263 -0.00421721 -0.11232761] [ 0.01653861 0.99390567 0.10898813] [ 0.11118371 -0.11015502 0.98767609]] t_gt: [ 0.36593454 -0.74327054 0.56003645] Pose Error in degrees for R and t: 163.09035460279998 71.06998015864814 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99999549 -0.00136333 -0.0026778 ] [ 0.00136985 0.9999961 0.00243361] [ 0.00267447 -0.00243727 0.99999345]] t_estimated: [[-0.95007231] [-0.3120176 ] [-0.00275978]] R_gt: [[ 0.98577478 0.06078688 -0.15669293] [-0.02475994 0.97465656 0.22233081] [ 0.16623643 -0.21528752 0.96229759]] t_gt: [ 0.19243703 -0.41209926 0.89058531] Pose Error in degrees for R and t: 15.790362422588062 86.74931694919682 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.02555614 -0.99966789 -0.00331662] [ 0.99967274 -0.02555221 -0.0012219 ] [ 0.00113675 -0.00334676 0.99999375]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99672225 0.07638671 0.02662908] [-0.07680109 0.99693539 0.01487862] [-0.02541115 -0.01687538 0.99953448]] t_gt: [-0.46394008 0.78801998 0.40470251] Pose Error in degrees for R and t: 95.87261606280244 62.536688984322346 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-6.73293054e-01 -7.39375550e-01 -5.09605663e-04] [-7.39375683e-01 6.73293088e-01 1.27720953e-04] [ 2.48680221e-04 4.62783666e-04 -9.99999862e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.99390816 0.07878826 0.07706515] [-0.08947097 0.98511676 0.14676624] [-0.06435489 -0.15276749 0.98616478]] t_gt: [-0.28960977 0.39012361 0.87403075] Pose Error in degrees for R and t: 172.814432735329 88.29849114194187 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-6.28399227e-01 -7.77887500e-01 -2.33420407e-03] [ 7.77890925e-01 -6.28395000e-01 -2.33077566e-03] [ 3.46279086e-04 -3.28041378e-03 9.99994559e-01]] t_estimated: [[0.81022301] [0.58612105] [0.00089115]] R_gt: [[ 0.99061526 0.05292392 0.1260177 ] [-0.0826967 0.96616497 0.24430928] [-0.10882347 -0.25243734 0.96147428]] t_gt: [-0.16394812 0.2293227 0.95944365] Pose Error in degrees for R and t: 133.3827350732663 89.86069472114629 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 8.71920248e-01 -4.89647122e-01 8.82045296e-04] [ 4.89647649e-01 8.71920238e-01 -5.27234651e-04] [-5.10914215e-04 8.91597973e-04 9.99999472e-01]] t_estimated: [[-0.63746476] [-0.77047906] [-0.00083657]] R_gt: [[ 0.99980923 0.0141162 -0.01349208] [-0.01384938 0.99971015 0.01966969] [ 0.01376679 -0.01947828 0.99971542]] t_gt: [ 0.98228184 -0.18740143 0.00175854] Pose Error in degrees for R and t: 30.151740135632334 61.198105292394736 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.94543375e-01 1.04065359e-01 7.34004415e-03] [ 1.04070824e-01 9.94569822e-01 3.65493774e-04] [-7.26215116e-03 1.12738385e-03 -9.99972995e-01]] t_estimated: [[0.77719592] [0.62925783] [0.00104182]] R_gt: [[ 0.99109107 0.10297668 -0.08445788] [-0.10164952 0.99462143 0.01988381] [ 0.08605226 -0.01112049 0.99622921]] t_gt: [-0.04232824 0.74553072 -0.66512575] Pose Error in degrees for R and t: 175.47916176957247 64.18029143109814 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-4.16848712e-02 -9.99129523e-01 -1.60246444e-03] [ 9.99130397e-01 -4.16862549e-02 8.39985802e-04] [-9.06055355e-04 -1.56605624e-03 9.99998363e-01]] t_estimated: [[9.96648255e-01] [8.18019506e-02] [8.34713781e-04]] R_gt: [[ 0.98566413 0.08975269 -0.14286384] [-0.08793603 0.99594525 0.01899957] [ 0.14399052 -0.00616317 0.98956081]] t_gt: [ 0.25554255 0.38000531 -0.8889848 ] Pose Error in degrees for R and t: 97.77178574967984 73.43940791692444 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-8.40614628e-01 5.41633682e-01 3.60940617e-05] [-5.41630986e-01 -8.40610230e-01 -3.21197933e-03] [-1.70937515e-03 -2.71958647e-03 9.99994841e-01]] t_estimated: [[0.2687985 ] [0.96319462] [0.00186666]] R_gt: [[ 0.97627074 -0.21579043 0.01818911] [ 0.21531748 0.97622699 0.02485719] [-0.02312097 -0.02035026 0.99952592]] t_gt: [ 0.86483347 -0.4901487 0.10870754] Pose Error in degrees for R and t: 159.65723085285023 76.14652466155904 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.68080674e-01 2.50637938e-01 6.57855078e-04] [-2.50637736e-01 9.68080877e-01 -3.74942752e-04] [-7.30831799e-04 1.98091525e-04 9.99999713e-01]] t_estimated: [[8.63778637e-01] [5.03870871e-01] [7.82408185e-04]] R_gt: [[ 0.91537703 -0.40110959 0.0345768 ] [ 0.40002233 0.91586029 0.0343894 ] [-0.04546184 -0.01764716 0.99880977]] t_gt: [ 0.90436116 -0.41821376 0.08501845] Pose Error in degrees for R and t: 38.24042583055825 55.21429763300936 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.69013420e-01 2.47007105e-01 6.94234542e-04] [-2.47006827e-01 9.69013629e-01 -4.62656494e-04] [-7.87002174e-04 2.76839680e-04 9.99999652e-01]] t_estimated: [[0.51590327] [0.85664575] [0.00136844]] R_gt: [[ 0.83191348 -0.55410753 0.0297267 ] [ 0.55322598 0.83236984 0.03318387] [-0.04313083 -0.01116043 0.99900675]] t_gt: [ 0.9366969 -0.3472504 0.04490078] Pose Error in degrees for R and t: 48.00095263974873 79.29013109795575 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.89994081e-01 -1.41108810e-01 -1.50690661e-04] [ 1.41108756e-01 9.89994047e-01 -3.23970629e-04] [ 1.94897968e-04 2.99465233e-04 9.99999936e-01]] t_estimated: [[-0.64813926] [-0.76152013] [-0.00161022]] R_gt: [[ 0.99723603 0.04820353 0.05655197] [-0.04369224 0.9959605 -0.07844452] [-0.06010472 0.07575712 0.99531322]] t_gt: [-0.72488656 0.65870181 -0.20162192] Pose Error in degrees for R and t: 12.091798832093449 88.19702914412234 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.98070219 -0.19374572 -0.02618798] [ 0.19424341 0.98078817 0.01800161] [ 0.02219712 -0.02274106 0.99949494]] t_estimated: [[-0.97753753] [-0.20947233] [-0.0232747 ]] R_gt: [[ 0.99033227 0.10233515 0.09365285] [-0.09412532 0.99164246 -0.08823426] [-0.10189906 0.0785663 0.99168678]] t_gt: [-0.75485733 0.64542671 0.11668232] Pose Error in degrees for R and t: 19.196020258455903 53.1310624794428 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99974379e-01 7.08609892e-03 1.01430232e-03] [-7.09418185e-03 9.99941211e-01 8.20047770e-03] [-9.56133297e-04 -8.20746324e-03 9.99965861e-01]] t_estimated: [[0.9998123 ] [0.01929462] [0.00175406]] R_gt: [[ 0.99200231 0.12517004 0.01626579] [-0.12559589 0.9916698 0.02858609] [-0.01255138 -0.03039982 0.99945867]] t_gt: [-0.78087789 0.57588132 0.24205461] Pose Error in degrees for R and t: 6.950215494581716 39.718315249208324 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.91884400e-01 -1.27142757e-01 -2.37318970e-04] [ 1.27142755e-01 9.91884428e-01 -2.41391287e-05] [ 2.38462106e-04 -6.23016234e-06 9.99999972e-01]] t_estimated: [[ 0.85168759] [-0.52404812] [-0.00135089]] R_gt: [[ 0.99157275 -0.12328724 -0.03978461] [ 0.12364207 0.99230509 0.00658726] [ 0.03866603 -0.01145013 0.99918563]] t_gt: [ 0.63515363 -0.76364966 -0.11584068] Pose Error in degrees for R and t: 2.308428674156609 19.729285982049706 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-0.75886033 -0.65122441 0.00614535] [-0.6512504 0.75879436 -0.01020014] [ 0.00197953 -0.01174265 -0.99992909]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.95256072 -0.30241711 -0.03424146] [ 0.30333768 0.9525303 0.02588981] [ 0.02478694 -0.03504781 0.99907764]] t_gt: [ 0.72024556 -0.69203024 0.04837853] Pose Error in degrees for R and t: 179.0310305114407 47.07543000556107 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99676483e-01 2.54270554e-02 6.28011329e-04] [-2.54267768e-02 9.99676587e-01 -4.47607561e-04] [-6.39189564e-04 4.31494449e-04 9.99999703e-01]] t_estimated: [[ 9.99806272e-01] [ 1.96722948e-02] [-6.46797129e-04]] R_gt: [[ 0.91891781 -0.39208906 -0.04307682] [ 0.39298764 0.91942782 0.01453613] [ 0.03390624 -0.03028631 0.99896539]] t_gt: [ 0.75188983 -0.65897864 0.02021975] Pose Error in degrees for R and t: 24.722658606206043 42.373471699792596 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99748880e-01 -2.24092624e-02 -3.72204959e-05] [ 2.24092670e-02 9.99748873e-01 1.26954166e-04] [ 3.43661996e-05 -1.27756370e-04 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.99242926 -0.12272618 -0.00490537] [ 0.1226839 0.99241347 -0.00803912] [ 0.00585525 0.0073763 0.99995547]] t_gt: [ 0.43999297 -0.89799792 0.0024342 ] Pose Error in degrees for R and t: 5.78972407193594 64.07411567522765 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999611e-01 8.81692358e-04 1.65237186e-05] [-8.81694798e-04 9.99999600e-01 1.48250573e-04] [-1.63930006e-05 -1.48265084e-04 9.99999989e-01]] t_estimated: [[9.99988804e-01] [4.66785751e-03] [7.76573423e-04]] R_gt: [[ 0.96049561 -0.27725987 -0.02403293] [ 0.27791457 0.96012147 0.03049597] [ 0.01461976 -0.03597028 0.99924525]] t_gt: [ 0.55323622 -0.82619073 0.10648268] Pose Error in degrees for R and t: 16.32338827102035 56.670287227212334 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999830e-01 -4.17695317e-04 4.06047869e-04] [ 4.17834661e-04 9.99999854e-01 -3.43148527e-04] [-4.05904478e-04 3.43318129e-04 9.99999859e-01]] t_estimated: [[4.22777761e-01] [9.06233160e-01] [6.52146689e-04]] R_gt: [[ 0.92884118 -0.36650178 -0.05415028] [ 0.36839207 0.92918211 0.03012383] [ 0.03927547 -0.0479294 0.99807801]] t_gt: [ 0.59985976 -0.79654131 0.07543349] Pose Error in degrees for R and t: 21.848431368465043 62.08276840126981 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99547031e-01 -3.00953713e-02 2.80083860e-05] [ 3.00953708e-02 9.99547032e-01 1.61154340e-05] [-2.84806991e-05 -1.52652114e-05 9.99999999e-01]] t_estimated: [[-0.71649087] [-0.69759606] [-0.00075579]] R_gt: [[ 9.99780571e-01 -2.09154296e-02 3.20497861e-04] [ 2.09174923e-02 9.99721282e-01 -1.10073862e-02] [-9.05148140e-05 1.10119848e-02 9.99939036e-01]] t_gt: [ 0.64284598 -0.71350052 -0.27868629] Pose Error in degrees for R and t: 0.8227165778582313 87.85936077185971 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 5.61276099e-01 -8.27628341e-01 -6.85595100e-04] [-8.27628247e-01 -5.61274857e-01 -1.42148523e-03] [ 7.91654173e-04 1.36526356e-03 -9.99998755e-01]] t_estimated: [[0.63138109] [0.77547221] [0.00087328]] R_gt: [[ 0.98947873 -0.14282911 0.02303369] [ 0.14367939 0.9887803 -0.0408831 ] [-0.01693708 0.0437625 0.99889844]] t_gt: [ 0.71123793 -0.69941603 -0.07041186] Pose Error in degrees for R and t: 178.29929968709266 84.6420862331304 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.95170969e-01 -9.81543238e-02 -6.86202427e-04] [ 9.81551438e-02 9.95170294e-01 1.28569867e-03] [ 5.56691387e-04 -1.34684429e-03 9.99998938e-01]] t_estimated: [[9.99828148e-01] [1.85153361e-02] [9.25766804e-04]] R_gt: [[ 0.96164178 -0.27364092 0.01913578] [ 0.27428019 0.96020259 -0.05274098] [-0.00394307 0.05596718 0.99842441]] t_gt: [ 0.77020064 -0.63206538 -0.08534825] Pose Error in degrees for R and t: 10.794728862884398 40.686640376636106 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.95587018e-01 -9.38426153e-02 -2.32308677e-04] [ 9.38426191e-02 9.95587044e-01 5.45890458e-06] [ 2.30771231e-04 -2.72352692e-05 9.99999973e-01]] t_estimated: [[-0.72847971] [-0.68506682] [-0.00087971]] R_gt: [[ 0.96102117 0.27058391 -0.05678211] [-0.2695711 0.9626566 0.0249489 ] [ 0.06141212 -0.00866933 0.99807453]] t_gt: [-0.49330399 0.8586102 -0.13942631] Pose Error in degrees for R and t: 21.3615197364157 76.77823127940353 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-1.21482233e-02 9.99926166e-01 2.89043638e-04] [-9.99924528e-01 -1.21476725e-02 -1.83646848e-03] [-1.83282168e-03 -3.11331653e-04 9.99998272e-01]] t_estimated: [[0.00962577] [0.99995279] [0.00133019]] R_gt: [[ 0.91273188 0.40666131 -0.03933307] [-0.40331101 0.91220347 0.07229093] [ 0.06527677 -0.05011881 0.99660798]] t_gt: [-0.46889502 0.88317677 -0.01167305] Pose Error in degrees for R and t: 66.91786079141359 28.525331805592042 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.59943903e-01 -2.80192244e-01 -9.63319908e-05] [ 2.80192217e-01 9.59943888e-01 -2.30063984e-04] [ 1.56935450e-04 1.93857045e-04 9.99999969e-01]] t_estimated: [[-0.76466456] [-0.64442765] [-0.00105471]] R_gt: [[ 0.88067256 0.47057942 -0.05451011] [-0.46460054 0.8804466 0.09465509] [ 0.09253556 -0.05803505 0.99401667]] t_gt: [-0.41515495 0.90865911 -0.0445532 ] Pose Error in degrees for R and t: 44.66130031158493 74.45091682759333 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-8.99763465e-02 -9.95942439e-01 -1.70722125e-03] [ 9.95943328e-01 -8.99780039e-02 9.20032967e-04] [-1.06991224e-03 -1.61751441e-03 9.99998119e-01]] t_estimated: [[0.90445042] [0.42657662] [0.00134993]] R_gt: [[ 0.99080558 -0.13491203 -0.01011673] [ 0.13507252 0.99068049 0.01752667] [ 0.00765728 -0.01873097 0.99979549]] t_gt: [ 0.80286672 -0.59215463 0.06897769] Pose Error in degrees for R and t: 87.40792014578027 61.72871074653163 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.06797215e-01 -4.21565361e-01 -1.20694646e-03] [ 4.21565955e-01 9.06797700e-01 2.76825155e-04] [ 9.77756375e-04 -7.59831816e-04 9.99999233e-01]] t_estimated: [[-0.52709422] [-0.84980496] [-0.00179284]] R_gt: [[ 0.97126945 -0.23593572 -0.03113454] [ 0.2359065 0.97176403 -0.00463858] [ 0.03134952 -0.00283882 0.99950468]] t_gt: [ 0.82100528 -0.56750552 -0.06235232] Pose Error in degrees for R and t: 11.41723812114683 87.15503212923282 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.09419946 0.99555147 0.00192976] [ 0.99555197 0.09419594 0.0018435 ] [ 0.00165353 0.00209483 -0.99999644]] t_estimated: [[0.91150436] [0.41128855] [0.0012351 ]] R_gt: [[ 9.27162119e-01 -3.72907549e-01 -3.62138184e-02] [ 3.73152468e-01 9.27769885e-01 3.75510130e-05] [ 3.35830611e-02 -1.35475280e-02 9.99344279e-01]] t_gt: [ 0.8803589 -0.47342521 -0.02892699] Pose Error in degrees for R and t: 178.26716466165567 52.576553288091695 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99200451e-01 -3.99583990e-02 -1.33590942e-03] [ 3.99588595e-02 9.99201275e-01 3.19797982e-04] [ 1.32206378e-03 -3.72923705e-04 9.99999057e-01]] t_estimated: [[-0.36407682] [-0.9313593 ] [-0.00423345]] R_gt: [[ 0.99987797 0.01294346 -0.00877192] [-0.01356053 0.99713494 -0.07441353] [ 0.00778373 0.07452326 0.99718918]] t_gt: [-0.08273872 0.44413368 -0.89213204] Pose Error in degrees for R and t: 5.27911253557704 67.68192658512318 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 2.89194995e-01 9.57269767e-01 -9.20965009e-04] [-9.57269435e-01 2.89193403e-01 -1.55094204e-03] [-1.21833292e-03 1.33013633e-03 9.99998373e-01]] t_estimated: [[0.47323811] [0.88093385] [0.00111089]] R_gt: [[ 0.99804031 0.02324857 -0.05811443] [-0.03286763 0.9848108 -0.1704913 ] [ 0.05326838 0.17206724 0.98364356]] t_gt: [-0.01364381 0.42097328 -0.90697042] Pose Error in degrees for R and t: 72.20359099174252 68.69175482872738 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-1.31032264e-01 9.91377780e-01 8.02373334e-04] [-9.91376479e-01 -1.31030541e-01 -1.91706842e-03] [-1.79540362e-03 -1.04665187e-03 9.99997841e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99073069 -0.13000687 -0.03938843] [ 0.11530481 0.95811437 -0.26214866] [ 0.07182014 0.25517797 0.96422312]] t_gt: [ 0.31867696 -0.09046451 -0.94353652] Pose Error in degrees for R and t: 105.49356704241426 84.96724835635851 Number of keypoints: Image1: 388 Image2: 388 R_estimated: [[ 9.99267647e-01 -3.82644386e-02 5.08987609e-05] [ 3.82644372e-02 9.99267648e-01 2.70695680e-05] [-5.18972869e-05 -2.51021311e-05 9.99999998e-01]] t_estimated: [[-8.95283587e-01] [-4.45495860e-01] [-8.58373526e-04]] R_gt: [[ 0.99927076 -0.03798299 -0.00396322] [ 0.03783894 0.99879047 -0.03140235] [ 0.00515181 0.03122963 0.99949863]] t_gt: [ 0.35919337 0.54672001 -0.75635795] Pose Error in degrees for R and t: 1.8157653700610346 55.63296425454616 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 0.00588419 -0.99993933 0.00931244] [-0.99994733 -0.00596204 -0.00835421] [ 0.00840922 -0.00926279 -0.99992174]] t_estimated: [[0.674229 ] [0.73852186] [0.00084596]] R_gt: [[ 0.996517 -0.0725034 0.04119259] [ 0.07452933 0.99596497 -0.04998502] [-0.03740187 0.05288115 0.99789929]] t_gt: [ 0.66767682 0.71897623 -0.19308248] Pose Error in degrees for R and t: 179.5039697571255 11.191665724090738 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.82777121e-01 -1.84794531e-01 3.35208601e-04] [ 1.84794512e-01 9.82777178e-01 8.77108220e-05] [-3.45643843e-04 -2.42554793e-05 9.99999940e-01]] t_estimated: [[-0.66617698] [-0.74579325] [-0.00081241]] R_gt: [[ 0.98397136 -0.1620128 0.07451449] [ 0.16507783 0.98558701 -0.03697362] [-0.06744985 0.04868263 0.9965338 ]] t_gt: [0.98363513 0.02032398 0.17902198] Pose Error in degrees for R and t: 4.910545587847674 47.88830889576137 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.84678947 -0.53190464 0.00500552] [-0.5319057 0.84680271 0.00122699] [-0.00489133 -0.00162346 -0.99998672]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.99248494 0.11299245 -0.04698259] [-0.11367854 0.99344287 -0.01220583] [ 0.04529426 0.01745586 0.99882064]] t_gt: [-0.33180623 0.89736156 -0.29094135] Pose Error in degrees for R and t: 177.5142248993186 73.20606695082917 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.86877449e-01 -9.57960475e-01 -3.61343079e-03] [ 9.57966892e-01 2.86878728e-01 1.70358198e-04] [ 8.73420010e-04 -3.51041899e-03 9.99993457e-01]] t_estimated: [[9.99892252e-01] [1.46468592e-02] [9.76457278e-04]] R_gt: [[ 0.9903659 0.07243139 -0.11802772] [-0.07087413 0.99733444 0.01733749] [ 0.11896778 -0.008805 0.99285864]] t_gt: [ 0.08451666 0.80705097 -0.58440197] Pose Error in degrees for R and t: 77.69114979139637 84.50507005603502 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 1.54053530e-01 9.88062075e-01 9.19411924e-04] [-9.88061116e-01 1.54054806e-01 -1.53197945e-03] [-1.65533062e-03 -6.72428330e-04 9.99998404e-01]] t_estimated: [[0.18969038] [0.98184339] [0.00105834]] R_gt: [[ 0.9801854 0.09849902 -0.17185858] [-0.09588902 0.99511571 0.02343832] [ 0.17332766 -0.00649347 0.98484233]] t_gt: [ 0.19241905 0.7505607 -0.63216575] Pose Error in degrees for R and t: 76.09176746262493 39.39724812688134 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.24332728 -0.96993333 -0.00460202] [-0.9699394 0.24330833 0.00431512] [-0.00306567 0.00551367 -0.9999801 ]] t_estimated: [[0.8551609 ] [0.51836186] [0.00090781]] R_gt: [[ 0.99889149 0.03245694 -0.03410107] [-0.03678948 0.99012945 -0.13524347] [ 0.02937573 0.13634805 0.99022539]] t_gt: [-0.0883135 0.50165549 -0.86054779] Pose Error in degrees for R and t: 173.69922430011968 79.41257565661583 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.98773675 -0.15612083 -0.00154875] [-0.15612482 -0.98773301 -0.00292108] [-0.00107371 0.00312706 -0.99999453]] t_estimated: [[0.71870244] [0.69531733] [0.0007795 ]] R_gt: [[ 0.99631137 -0.04500233 -0.07306167] [ 0.02840617 0.97641283 -0.21403817] [ 0.08097119 0.21117397 0.97408927]] t_gt: [ 0.16663041 0.16009738 -0.97293532] Pose Error in degrees for R and t: 167.22904775773387 76.68421992227923 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 4.06252219e-01 9.13758049e-01 2.31574698e-03] [ 9.13760983e-01 -4.06251001e-01 -9.95078674e-04] [ 3.15133814e-05 2.52029215e-03 -9.99996824e-01]] t_estimated: [[8.24464271e-01] [5.65913496e-01] [7.62686652e-04]] R_gt: [[ 0.98620309 -0.15840147 -0.04809111] [ 0.13638449 0.94212144 -0.30627994] [ 0.09382272 0.29549491 0.95072626]] t_gt: [ 0.32359661 -0.06010525 -0.94428417] Pose Error in degrees for R and t: 167.42063354635107 76.5816593421141 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99582701e-01 -2.88864118e-02 1.86144016e-06] [ 2.88864118e-02 9.99582701e-01 -3.60420934e-06] [-1.75655071e-06 3.65647563e-06 1.00000000e+00]] t_estimated: [[-8.53752135e-01] [ 5.20679156e-01] [-7.13094652e-04]] R_gt: [[ 0.99968356 0.01162812 0.02232834] [-0.01066691 0.99902927 -0.04273676] [-0.02280288 0.04248568 0.99883716]] t_gt: [-0.53671678 0.81145882 -0.23123512] Pose Error in degrees for R and t: 3.59139656816978 28.24915953008697 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.90193474e-01 -1.39702822e-01 -7.82617236e-05] [ 1.39702832e-01 9.90193466e-01 1.39697406e-04] [ 5.79781254e-05 -1.49260844e-04 9.99999987e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99978805 -0.00739722 0.01921869] [ 0.0084126 0.99854178 -0.05332768] [-0.01879662 0.05347792 0.99839255]] t_gt: [-0.44698219 0.84051999 -0.30615857] Pose Error in degrees for R and t: 8.247292060743353 52.707595784978245 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 7.32491896e-03 -9.99972062e-01 -1.49055742e-03] [ 9.99973098e-01 7.32548452e-03 -3.74317159e-04] [ 3.85225756e-04 -1.48777548e-03 9.99998819e-01]] t_estimated: [[ 9.88627513e-01] [-1.50384700e-01] [ 2.85890627e-04]] R_gt: [[ 0.99778811 -0.04837371 0.04559813] [ 0.0522697 0.9947001 -0.08854073] [-0.04107347 0.09072837 0.99502814]] t_gt: [-0.23706539 0.89440565 -0.37926052] Pose Error in degrees for R and t: 86.8449213836588 68.34710720183101 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.55163059e-01 -2.96080049e-01 -3.67129159e-04] [ 2.96080086e-01 9.55163117e-01 4.88132883e-05] [ 3.36215591e-04 -1.55324283e-04 9.99999931e-01]] t_estimated: [[-0.50346421] [-0.86401558] [-0.00093407]] R_gt: [[ 0.9498311 0.31018179 -0.04011056] [-0.30962277 0.95065763 0.01962396] [ 0.04421851 -0.00622091 0.9990024 ]] t_gt: [-0.53351928 0.84120137 -0.08796267] Pose Error in degrees for R and t: 35.373129455122715 62.73407087044168 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-6.04237065e-01 -7.96802244e-01 -1.93739548e-03] [ 7.96804576e-01 -6.04234682e-01 -1.70775177e-03] [ 1.90098903e-04 -2.57561250e-03 9.99996665e-01]] t_estimated: [[ 9.95265368e-01] [-9.71927538e-02] [ 6.44549517e-04]] R_gt: [[ 0.8647699 0.49887781 -0.05739275] [-0.49692639 0.86660612 0.04536515] [ 0.07236826 -0.01071112 0.99732038]] t_gt: [-0.42926271 0.89971118 -0.07907795] Pose Error in degrees for R and t: 157.08945597618265 59.02081216720858 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.06491646 0.99784313 0.00974425] [ 0.99788614 -0.06488354 -0.00365814] [-0.00301801 0.00996113 -0.99994583]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.82491546 0.5617476 -0.06288109] [-0.5551426 0.82607765 0.09702579] [ 0.10644832 -0.04512979 0.99329309]] t_gt: [-0.39194148 0.91788535 -0.06219607] Pose Error in degrees for R and t: 173.84183902612608 72.44956748934798 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.98175241 0.1901252 -0.00382344] [-0.19009753 0.98174282 0.00663015] [ 0.00501419 -0.00578234 0.99997071]] t_estimated: [[-8.01117160e-01] [-5.98507234e-01] [-6.21502839e-04]] R_gt: [[ 0.99502868 -0.09285598 -0.03596698] [ 0.0924948 0.9956465 -0.01158649] [ 0.0368868 0.00820193 0.99928578]] t_gt: [ 0.63946683 -0.66203773 -0.39088133] Pose Error in degrees for R and t: 16.40709066245083 83.3496216768553 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99998270e-01 1.65546348e-03 -8.48694761e-04] [-1.65441315e-03 9.99997867e-01 1.23679065e-03] [ 8.50740412e-04 -1.23538442e-03 9.99998875e-01]] t_estimated: [[0.99999806] [0.00142518] [0.00136016]] R_gt: [[ 0.98618415 -0.164715 -0.01757662] [ 0.16281993 0.98339318 -0.08017408] [ 0.03049085 0.07620396 0.9966258 ]] t_gt: [ 0.56386369 -0.64741577 -0.51274805] Pose Error in degrees for R and t: 10.657002549821463 55.78897652388149 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.99862948 0.05230036 -0.00195726] [-0.05229384 -0.99862647 -0.00324517] [-0.0021243 -0.00313837 0.99999282]] t_estimated: [[0.81324938] [0.58191267] [0.0017572 ]] R_gt: [[ 0.96971035 -0.2431837 -0.02286439] [ 0.23976218 0.9655637 -0.10100571] [ 0.04664068 0.09246306 0.99462326]] t_gt: [ 0.59726787 -0.67484986 -0.43341521] Pose Error in degrees for R and t: 169.0032647358544 84.70622224164049 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.99920058e-01 1.25432731e-02 -1.59485790e-03] [-1.25427573e-02 -9.99921281e-01 -3.33022995e-04] [-1.59890955e-03 -3.12992457e-04 9.99998673e-01]] t_estimated: [[0.77710444] [0.62937052] [0.00120109]] R_gt: [[ 0.99296597 -0.1101628 -0.04338435] [ 0.10966187 0.99387337 -0.01377215] [ 0.04463565 0.00891807 0.99896384]] t_gt: [ 0.77819625 -0.57388625 -0.25507875] Pose Error in degrees for R and t: 174.40647968137307 75.92178050962019 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.83644212e-01 4.68158981e-01 2.74393541e-04] [-4.68158837e-01 8.83644211e-01 -4.60978246e-04] [-4.58277370e-04 2.78880998e-04 9.99999856e-01]] t_estimated: [[0.84343972] [0.53722275] [0.00107445]] R_gt: [[ 9.54526795e-01 -2.97616359e-01 -1.74081417e-02] [ 2.97656144e-01 9.54673263e-01 -3.64050970e-04] [ 1.67278480e-02 -4.83460205e-03 9.99848272e-01]] t_gt: [ 0.8775841 -0.47824985 -0.03351464] Pose Error in degrees for R and t: 45.242879403335166 61.10365234563314 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.97198747 0.2348877 0.00825415] [-0.23437891 0.97130346 -0.0404488 ] [-0.01751821 0.03738113 0.99914752]] t_estimated: [[0.89634511] [0.44324758] [0.00984995]] R_gt: [[ 0.86984392 -0.49308693 -0.01538216] [ 0.4932435 0.86984791 0.00869833] [ 0.00909197 -0.01515302 0.99984388]] t_gt: [ 0.92451564 -0.38109158 0.00632766] Pose Error in degrees for R and t: 43.25071836695875 48.71313083536423 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.88455745e-01 -1.51508639e-01 -6.11179263e-04] [ 1.51508153e-01 9.88455703e-01 -7.76048409e-04] [ 7.21701667e-04 6.74490867e-04 9.99999512e-01]] t_estimated: [[-0.59077473] [-0.80682949] [-0.00337586]] R_gt: [[ 0.97595995 0.21584019 0.0302348 ] [-0.21550014 0.9764024 -0.01410658] [-0.03256564 0.00725222 0.99944278]] t_gt: [-0.89588733 0.44421592 0.00762289] Pose Error in degrees for R and t: 21.26007846028092 80.16360763254178 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.83718888e-01 -1.79712683e-01 -7.08502442e-04] [ 1.79712322e-01 9.83719058e-01 -5.43967630e-04] [ 7.94725237e-04 4.07784613e-04 9.99999601e-01]] t_estimated: [[-0.58964822] [-0.80765758] [-0.00205357]] R_gt: [[ 0.96362977 0.26530373 0.03211445] [-0.26479235 0.96411234 -0.01932195] [-0.03608722 0.01011607 0.99929697]] t_gt: [-0.89585725 0.44432954 -0.00332289] Pose Error in degrees for R and t: 25.81883064453402 80.24814941247027 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99998686e-01 1.62116090e-03 9.90394443e-06] [-1.62115523e-03 9.99998536e-01 -5.47545255e-04] [-1.07915889e-05 5.47528479e-04 9.99999850e-01]] t_estimated: [[0.39951145] [0.91671203] [0.00544532]] R_gt: [[ 0.94778535 0.3179433 0.02481214] [-0.31754319 0.94805893 -0.01875903] [-0.02948767 0.00990036 0.99951555]] t_gt: [-0.89949764 0.43685574 -0.00781407] Pose Error in degrees for R and t: 18.521997224267498 87.64627138561175 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.57284270e-01 2.89148438e-01 8.47535806e-05] [-2.89148416e-01 9.57284259e-01 -2.03559483e-04] [-1.39992175e-04 1.70357927e-04 9.99999976e-01]] t_estimated: [[-9.99691212e-01] [-2.48370487e-02] [-7.76157773e-04]] R_gt: [[ 0.99311145 -0.11127732 -0.03670001] [ 0.11430938 0.98891484 0.09476999] [ 0.02574722 -0.09831097 0.99482205]] t_gt: [ 0.71590813 -0.59757849 0.36107547] Pose Error in degrees for R and t: 24.01247127258915 45.48264885604644 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 6.50837612e-01 7.59216931e-01 2.32923236e-04] [-7.59216958e-01 6.50837526e-01 3.54337227e-04] [ 1.17423639e-04 -4.07455265e-04 9.99999910e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.97200341 -0.21941319 -0.08407109] [ 0.22872985 0.96545773 0.12479488] [ 0.05378524 -0.14053051 0.98861403]] t_gt: [ 0.78823171 -0.56773126 0.23742787] Pose Error in degrees for R and t: 62.953180821765166 69.38692685881165 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[-0.94408072 0.32970879 0.0019239 ] [ 0.32971114 0.94408127 0.00105845] [-0.00146734 0.00163359 -0.99999759]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.96092052 -0.26047602 -0.09372252] [ 0.27062039 0.95518493 0.11994331] [ 0.05827963 -0.14061916 0.98834673]] t_gt: [ 0.80196638 -0.56574712 0.19178146] Pose Error in degrees for R and t: 174.49687806385217 37.19121822809365 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.95721381 0.28936448 0.00315002] [-0.28937673 -0.95720422 -0.00460247] [ 0.00168342 -0.00531709 0.99998445]] t_estimated: [[0.55313584] [0.83309031] [0.00112885]] R_gt: [[ 0.99449001 -0.1044836 0.00856925] [ 0.10443531 0.99451437 0.00588893] [-0.00913831 -0.0049612 0.99994584]] t_gt: [ 0.59309094 -0.79405719 0.13310266] Pose Error in degrees for R and t: 169.17438379225288 70.53012224550639 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99998858e-01 1.50523004e-03 1.38698359e-04] [-1.50527116e-03 9.99998823e-01 2.96807433e-04] [-1.38251432e-04 -2.97015873e-04 9.99999946e-01]] t_estimated: [[9.99899354e-01] [1.41725993e-02] [6.47498345e-04]] R_gt: [[ 0.97070213 -0.24024972 0.00410251] [ 0.24005202 0.97037358 0.02740453] [-0.01056533 -0.02561724 0.99961509]] t_gt: [ 0.68499291 -0.71533142 0.13815089] Pose Error in degrees for R and t: 14.07183624996423 47.55553149462433 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99999811 0.00135497 0.00139579] [-0.00135308 0.99999817 -0.00135612] [-0.00139762 0.00135423 0.99999811]] t_estimated: [[ 9.99976170e-01] [-6.83169314e-03] [-9.94011980e-04]] R_gt: [[ 0.95014814 -0.31165812 -0.00943267] [ 0.3117725 0.94922399 0.04210361] [-0.00416861 -0.04294573 0.99906837]] t_gt: [ 0.69855935 -0.70135076 0.14185183] Pose Error in degrees for R and t: 18.425728979640738 45.316246997281816 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999976e-01 -3.25635651e-06 -2.17025245e-04] [ 3.23034058e-06 9.99999993e-01 -1.19875386e-04] [ 2.17025634e-04 1.19874682e-04 9.99999969e-01]] t_estimated: [[-0.94985256] [-0.3126946 ] [-0.00148424]] R_gt: [[ 9.98139911e-01 6.09624195e-02 5.94158920e-05] [-6.09594221e-02 9.98103823e-01 -8.47580352e-03] [-5.76355887e-04 8.45672014e-03 9.99963714e-01]] t_gt: [-0.95450907 0.26950254 -0.12759627] Pose Error in degrees for R and t: 3.5283763128093253 34.65808514090308 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99958559e-01 9.10352967e-03 7.59358394e-05] [-9.10349382e-03 9.99958457e-01 -4.59843469e-04] [-8.01188834e-05 4.59133131e-04 9.99999891e-01]] t_estimated: [[-9.99986300e-01] [ 5.21712827e-03] [-4.26985159e-04]] R_gt: [[ 0.99535534 0.09615076 -0.00466912] [-0.09611219 0.99534091 0.00761133] [ 0.00537907 -0.00712675 0.99995967]] t_gt: [-0.97799053 0.20764604 0.02043615] Pose Error in degrees for R and t: 5.024091823738388 11.748240727606596 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.98691555 0.16099633 0.00882443] [-0.1608919 0.98690515 -0.0114899 ] [-0.01055871 0.00991979 0.99989505]] t_estimated: [[0.97070805] [0.24025818] [0.001372 ]] R_gt: [[ 9.96715063e-01 6.55266247e-02 4.75873640e-02] [-6.55731838e-02 9.97847513e-01 -5.44922980e-04] [-4.75210108e-02 -2.57709959e-03 9.98866425e-01]] t_gt: [-0.9867645 0.12205635 0.10676177] Pose Error in degrees for R and t: 5.952016375044949 21.814976098471945 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 5.36968906e-01 8.43601730e-01 -7.17703123e-04] [ 8.43594026e-01 -5.36959906e-01 4.81444727e-03] [ 3.67609824e-03 -3.19065855e-03 -9.99988153e-01]] t_estimated: [[-0.57449496] [-0.81850726] [-0.00118453]] R_gt: [[ 0.99936663 -0.03095683 -0.01755149] [ 0.03057766 0.99930104 -0.02148801] [ 0.01820433 0.02093858 0.99961487]] t_gt: [ 0.56505733 -0.35788008 -0.74339227] Pose Error in degrees for R and t: 179.68441087144706 88.2341751217582 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999997e-01 7.53961135e-05 2.77808188e-05] [-7.54275293e-05 9.99999356e-01 1.13258301e-03] [-2.76954085e-05 -1.13258510e-03 9.99999358e-01]] t_estimated: [[0.75783716] [0.65244254] [0.0012547 ]] R_gt: [[ 0.97556877 -0.16979626 0.13940661] [ 0.17195041 0.985099 -0.00346275] [-0.1367414 0.02734995 0.99022938]] t_gt: [ 0.6335214 -0.69388194 0.34231346] Pose Error in degrees for R and t: 12.729445343712774 88.40597091846526 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 6.66458072e-01 -7.45542296e-01 5.68709515e-04] [ 7.45542513e-01 6.66457888e-01 -4.95120612e-04] [-9.88758402e-06 7.53974250e-04 9.99999716e-01]] t_estimated: [[-0.15411918] [-0.9880517 ] [-0.00105561]] R_gt: [[ 0.91667087 -0.30987287 0.25237334] [ 0.30552579 0.95045935 0.05727681] [-0.25761909 0.02460319 0.96593335]] t_gt: [ 0.65725312 -0.62943752 0.4145199 ] Pose Error in degrees for R and t: 33.42376237768817 58.65540984830062 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.91125065 -0.41177453 0.00799938] [ 0.41179703 0.91127462 -0.00132949] [-0.00674218 0.00450562 0.99996712]] t_estimated: [[0.99314058] [0.11684007] [0.00449385]] R_gt: [[ 0.9972357 -0.06441008 -0.03705399] [ 0.06416823 0.9979094 -0.00764994] [ 0.03746899 0.00525178 0.99928314]] t_gt: [ 0.82968215 -0.4727468 -0.29688043] Pose Error in degrees for R and t: 20.789376700332518 39.87713207263074 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.99808615 -0.06114923 0.00920864] [ 0.06063227 0.99697407 0.048646 ] [-0.01215544 -0.04799456 0.99877363]] t_estimated: [[0.80084654] [0.57714719] [0.15983096]] R_gt: [[ 0.99181033 -0.09647359 -0.08370077] [ 0.09648366 0.99532735 -0.00392875] [ 0.08368937 -0.00417861 0.99648217]] t_gt: [ 0.85183104 -0.40500801 -0.33219331] Pose Error in degrees for R and t: 6.419841737326573 66.71269940119979 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-6.94978050e-01 -7.19030944e-01 -1.01991716e-04] [-7.19030836e-01 6.94978012e-01 -4.68212829e-04] [ 4.07541513e-04 -2.52062450e-04 -9.99999885e-01]] t_estimated: [[8.63568321e-01] [5.04231167e-01] [8.27965792e-04]] R_gt: [[ 0.99052945 0.00766565 -0.13708695] [-0.00567564 0.99987332 0.01490524] [ 0.1371844 -0.01398584 0.99044661]] t_gt: [ 0.70921655 0.22840008 -0.66696723] Pose Error in degrees for R and t: 173.0530665379638 43.35858225259849 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99678521e-01 2.53544063e-02 -9.08262013e-05] [-2.53543697e-02 9.99678453e-01 3.83620918e-04] [ 1.00523477e-04 -3.81194751e-04 9.99999922e-01]] t_estimated: [[-9.10116977e-01] [-4.14350514e-01] [-8.59815947e-04]] R_gt: [[ 0.99980847 -0.01922409 0.00347428] [ 0.01929639 0.99956329 -0.0223967 ] [-0.00304132 0.0224598 0.99974205]] t_gt: [ 0.75682726 -0.57410924 -0.31242772] Pose Error in degrees for R and t: 2.878544593381951 63.21458910177398 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99443668e-01 3.33411795e-02 8.49028640e-04] [-3.33386768e-02 9.99440166e-01 -2.80854032e-03] [-9.42193371e-04 2.77867234e-03 9.99995696e-01]] t_estimated: [[0.89147081] [0.45307693] [0.00104879]] R_gt: [[ 0.9902589 -0.13922726 -0.00183198] [ 0.1391406 0.98996755 -0.02456791] [ 0.00523505 0.02407411 0.99969607]] t_gt: [ 0.70534643 -0.70480602 -0.075729 ] Pose Error in degrees for R and t: 9.992372420717933 71.97782943392613 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.97479869e-01 7.09447780e-02 -8.65206145e-04] [-7.09421472e-02 9.97476600e-01 2.76493607e-03] [ 1.05918066e-03 -2.69658849e-03 9.99995803e-01]] t_estimated: [[0.60971054] [0.7926237 ] [0.00085875]] R_gt: [[ 0.98624159 -0.16521892 0.00552132] [ 0.16526625 0.98620234 -0.00959269] [-0.00385991 0.01037317 0.99993803]] t_gt: [ 0.70572043 -0.70843021 0.00923704] Pose Error in degrees for R and t: 13.603338338801649 82.459587464617 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99095616e-01 4.25199401e-02 -7.17667189e-05] [-4.25199496e-02 9.99095609e-01 -1.35450349e-04] [ 6.59424730e-05 1.38379367e-04 9.99999988e-01]] t_estimated: [[-0.88421771] [-0.46707277] [-0.00143595]] R_gt: [[ 0.99943292 0.00414586 -0.03341529] [-0.00498641 0.9996719 -0.02514272] [ 0.03329994 0.0252943 0.99912573]] t_gt: [-0.03760558 0.42638973 -0.9037575 ] Pose Error in degrees for R and t: 3.2302153308066455 80.5256671259981 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.5563454 0.83092291 0.00684918] [ 0.83094735 0.55634885 0.0015662 ] [-0.00250914 0.00656265 -0.99997532]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99704703 0.06265902 -0.04441351] [-0.06419046 0.99736043 -0.03394524] [ 0.04216879 0.03669518 0.99843652]] t_gt: [-0.26629839 0.80109556 -0.53603271] Pose Error in degrees for R and t: 179.05940293934106 36.97848110685025 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.32994267e-01 -3.59886667e-01 -1.81211443e-03] [ 3.59888286e-01 9.32995174e-01 6.53587349e-04] [ 1.45547664e-03 -1.26195201e-03 9.99998145e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99422055 0.10400723 -0.02662505] [-0.10528564 0.99306782 -0.0522656 ] [ 0.02100551 0.05476593 0.99827835]] t_gt: [-0.34154267 0.88181278 -0.32519968] Pose Error in degrees for R and t: 27.310913106062312 28.43871996843419 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.99633261e-01 -2.70803147e-02 1.74031448e-05] [ 2.70803136e-02 9.99633259e-01 5.96816137e-05] [-1.90129593e-05 -5.91884435e-05 9.99999998e-01]] t_estimated: [[2.28644842e-01] [9.73509883e-01] [2.10468629e-04]] R_gt: [[ 0.99712568 -0.01135431 0.07490546] [ 0.01208671 0.99988321 -0.00931195] [-0.07478997 0.01019106 0.99714652]] t_gt: [-0.36571302 -0.03540629 0.93005397] Pose Error in degrees for R and t: 4.417191345093348 83.22959675214611 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.96625531e-01 -8.20806878e-02 -5.58862121e-04] [ 8.20811559e-02 9.96625266e-01 8.73670846e-04] [ 4.85264606e-04 -9.16594719e-04 9.99999462e-01]] t_estimated: [[-0.9805443 ] [-0.19629018] [-0.00174258]] R_gt: [[ 0.99682864 0.01597045 0.07795573] [-0.01352736 0.99940377 -0.0317507 ] [-0.07841592 0.0305951 0.99645121]] t_gt: [-0.76541823 0.24119014 0.59662572] Pose Error in degrees for R and t: 7.389838629970618 45.40076388947821 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.92389518 0.38264412 -0.00108452] [-0.38264197 -0.923895 -0.00177407] [-0.00168082 -0.00122407 0.99999784]] t_estimated: [[0.90427774] [0.4269437 ] [0.00091619]] R_gt: [[ 9.99493147e-01 9.94056055e-04 3.18078306e-02] [-1.08992549e-03 9.99994997e-01 3.02709159e-03] [-3.18043782e-02 -3.06020635e-03 9.99488831e-01]] t_gt: [-0.89795899 -0.28032414 0.33924627] Pose Error in degrees for R and t: 157.4444278145035 21.349643848177735 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-1.78095980e-01 -9.84010416e-01 -2.30720218e-03] [ 9.84012510e-01 -1.78097993e-01 6.96819280e-04] [-1.09658551e-03 -2.14621510e-03 9.99997096e-01]] t_estimated: [[ 0.9919754 ] [-0.12642465] [ 0.00127128]] R_gt: [[ 0.99860086 -0.02343208 0.0474106 ] [ 0.02485465 0.99925187 -0.02964532] [-0.04668125 0.03078233 0.99843568]] t_gt: [-0.58396989 0.64869265 0.48803383] Pose Error in degrees for R and t: 98.91705685939537 48.64869786344624 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.92626156e-01 1.21214954e-01 4.99050781e-04] [-1.21214830e-01 9.92626260e-01 -2.70568791e-04] [-5.28167894e-04 2.08081303e-04 9.99999839e-01]] t_estimated: [[-0.0455697 ] [ 0.99896043] [ 0.00120523]] R_gt: [[ 0.99753725 -0.02419267 0.06584344] [ 0.02877099 0.99716852 -0.06949379] [-0.06397668 0.07121765 0.99540663]] t_gt: [-0.55891084 0.81585887 0.14830028] Pose Error in degrees for R and t: 10.0873118747114 32.790239925705194 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 8.91065888e-01 -4.53873834e-01 -3.55141375e-04] [ 4.53873956e-01 8.91065794e-01 4.27130657e-04] [ 1.22590902e-04 -5.41790979e-04 9.99999846e-01]] t_estimated: [[ 9.99934500e-01] [-1.14199826e-02] [ 7.61421742e-04]] R_gt: [[ 0.99726013 -0.02614646 0.06921067] [ 0.03151668 0.99648189 -0.07767002] [-0.06693636 0.07963926 0.99457408]] t_gt: [-0.54912396 0.83524148 0.02888843] Pose Error in degrees for R and t: 26.025871743382588 56.040659912507806 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.89653709 0.42998794 -0.10645007] [ 0.42922352 0.90266024 0.03117152] [ 0.10949162 -0.01774445 -0.99382932]] t_estimated: [[ 0.96612104] [-0.25123782] [-0.05907366]] R_gt: [[ 0.99960715 0.02582979 -0.01091763] [-0.02595456 0.99959705 -0.01148298] [ 0.01061735 0.01176293 0.99987405]] t_gt: [ 0.46807778 0.74171219 -0.48038133] Pose Error in degrees for R and t: 173.1848442653301 72.88733945648923 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.50785684 0.85054113 -0.13660603] [ 0.85038041 0.5203228 0.07821346] [ 0.137603 -0.07644585 -0.98753301]] t_estimated: [[ 0.85730656] [-0.50866265] [-0.07929547]] R_gt: [[ 9.99116691e-01 4.20258339e-02 6.09464232e-04] [-4.20072622e-02 9.98946124e-01 -1.84900402e-02] [-1.38584143e-03 1.84485781e-02 9.99828487e-01]] t_gt: [ 0.53756399 0.80120234 -0.26286835] Pose Error in degrees for R and t: 171.51427842982343 85.74705764415495 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.0152658 -0.9998811 -0.00217913] [ 0.99988282 0.01526327 0.00117365] [-0.00114025 -0.00219679 0.99999694]] t_estimated: [[ 0.9740093 ] [-0.22650467] [ 0.0012305 ]] R_gt: [[ 0.99834205 -0.05661819 -0.01037594] [ 0.05619315 0.997714 -0.03755007] [ 0.01247768 0.03690665 0.9992403 ]] t_gt: [ 0.86228016 -0.44326808 -0.24492106] Pose Error in degrees for R and t: 85.91744833496332 19.953511793320313 Number of keypoints: Image1: 546 Image2: 546 R_estimated: [[ 0.66039434 0.75080093 -0.01331427] [ 0.75078622 -0.6598404 0.03050745] [ 0.01411973 -0.03014311 -0.99944586]] t_estimated: [[ 0.40327425] [-0.91492872] [-0.01659248]] R_gt: [[ 0.9977214 0.04144268 0.05323783] [-0.04016758 0.9988857 -0.02478118] [-0.05420491 0.02258657 0.99827419]] t_gt: [-0.73920421 0.52707285 0.41925093] Pose Error in degrees for R and t: 179.3981579926673 38.06679103610538 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.95329432e-01 -9.65364318e-02 2.00113022e-04] [ 9.65363467e-02 9.95329380e-01 3.98304142e-04] [-2.37629231e-04 -3.77125655e-04 9.99999901e-01]] t_estimated: [[0.99986564] [0.01631102] [0.0016311 ]] R_gt: [[ 0.99945162 0.02656031 0.01978148] [-0.02611554 0.99940955 -0.02234167] [-0.02036317 0.02181273 0.99955409]] t_gt: [-0.9860763 0.16624192 -0.00414303] Pose Error in degrees for R and t: 7.25545970671453 10.505005146246633 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.99922720e-01 1.24318445e-02 6.04351529e-05] [-1.24318583e-02 9.99922694e-01 2.32381659e-04] [-5.75415482e-05 -2.33115021e-04 9.99999971e-01]] t_estimated: [[9.99678151e-01] [2.53629342e-02] [5.62813205e-04]] R_gt: [[ 9.99711636e-01 2.24334653e-02 -8.58046444e-03] [-2.24259292e-02 9.99747843e-01 9.51218783e-04] [ 8.60006642e-03 -7.58318956e-04 9.99962169e-01]] t_gt: [-0.97552794 -0.19431737 -0.1028883 ] Pose Error in degrees for R and t: 0.7598065499548361 11.420518068331049 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.00000000e+00 -1.11730070e-12 -1.34359754e-15] [ 1.11730070e-12 1.00000000e+00 1.45033725e-15] [-7.30183058e-16 -9.23414990e-16 1.00000000e+00]] t_estimated: [[2.38145343e-01] [9.71229286e-01] [6.84968408e-04]] R_gt: [[ 0.99790068 0.01901657 -0.06190946] [-0.01857258 0.99979826 0.00772883] [ 0.06204423 -0.00656173 0.99805154]] t_gt: [ 0.39343722 0.4324778 -0.81127684] Pose Error in degrees for R and t: 3.7356781038209346 59.12447625898574 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.97674294e-01 6.81611689e-02 2.39373456e-04] [-6.81611849e-02 9.97674320e-01 5.90854140e-05] [-2.34789419e-04 -7.52639771e-05 9.99999970e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98460071 0.1336715 -0.112674 ] [-0.13475754 0.99087682 -0.00205657] [ 0.11137083 0.0172089 0.99362906]] t_gt: [-0.13480885 0.85402417 -0.50246323] Pose Error in degrees for R and t: 7.5297061566919865 31.499578297203218 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 4.98024917e-01 8.67158756e-01 2.62183153e-03] [ 8.67160850e-01 -4.98027845e-01 5.70908817e-04] [ 1.80081369e-03 1.98922284e-03 -9.99996400e-01]] t_estimated: [[8.63724171e-01] [5.03964277e-01] [7.51064496e-04]] R_gt: [[ 0.97846891 0.13952555 -0.15209657] [-0.1370169 0.99020383 0.02689755] [ 0.15435901 -0.0054775 0.98799864]] t_gt: [-0.00588214 0.85821086 -0.5132636 ] Pose Error in degrees for R and t: 174.8046476101401 64.72004290807757 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-4.77161677e-01 -8.78813914e-01 -1.68505295e-03] [ 8.78815521e-01 -4.77160537e-01 -1.04958224e-03] [ 1.18346703e-04 -1.98167111e-03 9.99998029e-01]] t_estimated: [[9.34312585e-01] [3.56453572e-01] [9.18694774e-04]] R_gt: [[ 0.99284656 -0.07654315 0.09163674] [ 0.07756126 0.99695894 -0.00759744] [-0.09077592 0.01465105 0.99576337]] t_gt: [ 0.50285919 -0.68204412 0.53098818] Pose Error in degrees for R and t: 114.15626559938632 76.8678129120597 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.10376028 0.99445009 0.01740197] [ 0.99426465 0.10416506 -0.02423719] [-0.02591536 0.01478731 -0.99955477]] t_estimated: [[0.996906 ] [0.07799577] [0.00975086]] R_gt: [[ 0.93695178 -0.23083662 0.26236756] [ 0.22272069 0.97299151 0.06069054] [-0.26928987 0.00157162 0.96305735]] t_gt: [ 0.5382544 -0.5859765 0.60573405] Pose Error in degrees for R and t: 168.02972742905794 60.21202835826489 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-9.91498747e-01 -1.30108672e-01 -1.40292574e-03] [ 1.30109680e-01 -9.91499392e-01 -6.52591051e-04] [-1.30609226e-03 -8.29577428e-04 9.99998803e-01]] t_estimated: [[0.86099531] [0.50861215] [0.00086794]] R_gt: [[ 0.88012496 -0.3630931 0.30585162] [ 0.34867601 0.93160982 0.10260847] [-0.32219041 0.01633609 0.94653425]] t_gt: [ 0.66201293 -0.59381827 0.45729503] Pose Error in degrees for R and t: 151.47882186379283 74.43307640154427 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-1.75272706e-01 -9.84517658e-01 -2.11196819e-03] [ 9.84519010e-01 -1.75275061e-01 9.85712961e-04] [-1.34062717e-03 -1.90650426e-03 9.99997284e-01]] t_estimated: [[0.82901066] [0.55923141] [0.00124428]] R_gt: [[ 0.99130658 -0.12968487 -0.02222224] [ 0.13071485 0.98995969 0.0537879 ] [ 0.01502421 -0.05622421 0.99830506]] t_gt: [ 0.76751356 -0.61017433 0.19649486] Pose Error in degrees for R and t: 92.64819644290446 72.82490609869993 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.32224598e-01 3.61880096e-01 3.07763953e-04] [-3.61879998e-01 9.32224628e-01 -3.31087057e-04] [-4.06718952e-04 1.97273880e-04 9.99999898e-01]] t_estimated: [[0.57877694] [0.8154853 ] [0.0009951 ]] R_gt: [[ 0.97769757 -0.20279126 -0.05461629] [ 0.20601202 0.97660104 0.06172739] [ 0.04082014 -0.07160189 0.99659746]] t_gt: [ 0.80092011 -0.59044285 0.09951993] Pose Error in degrees for R and t: 33.361408693527636 88.97754070046537 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.28175446e-01 -3.72142676e-01 -4.12339812e-04] [ 3.72142706e-01 9.28175526e-01 -3.97144417e-06] [ 3.84201666e-04 -1.49763057e-04 9.99999915e-01]] t_estimated: [[ 5.82176214e-01] [-8.13062313e-01] [-7.28215507e-04]] R_gt: [[ 0.98219219 -0.18283078 -0.04326552] [ 0.18499707 0.98131556 0.05287547] [ 0.03279058 -0.05993798 0.99766313]] t_gt: [ 0.77031858 -0.63124763 0.09019823] Pose Error in degrees for R and t: 11.89326159537642 15.921356689359914 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.75842918e-01 -2.18473320e-01 9.15436202e-05] [ 2.18473336e-01 9.75842889e-01 -2.40621227e-04] [-3.67628724e-05 2.54808360e-04 9.99999967e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99346171 -0.11407663 -0.00447574] [ 0.11403525 0.993441 -0.00838567] [ 0.00540313 0.00781979 0.99995485]] t_gt: [ 0.6401325 -0.76567466 -0.06302938] Pose Error in degrees for R and t: 6.093634743165645 40.38283529395395 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999983e-01 -1.79054262e-04 5.31264922e-05] [ 1.79050729e-04 9.99999982e-01 6.65017044e-05] [-5.31383986e-05 -6.64921909e-05 9.99999996e-01]] t_estimated: [[9.99987666e-01] [4.96173147e-03] [2.20906985e-04]] R_gt: [[ 0.98036062 -0.19474697 -0.03108149] [ 0.1953535 0.98057039 0.01785682] [ 0.02699949 -0.02357808 0.99935747]] t_gt: [ 0.6668765 -0.74516663 0.00155916] Pose Error in degrees for R and t: 11.426694047949113 48.45781503896442 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99998749e-01 -3.37707643e-04 1.54541770e-03] [ 3.40908490e-04 9.99997797e-01 -2.07139153e-03] [-1.54471477e-03 2.07191579e-03 9.99996661e-01]] t_estimated: [[0.70751987] [0.70669142] [0.00169556]] R_gt: [[ 0.96355434 -0.26614743 -0.02700271] [ 0.26400889 0.96236074 -0.06450215] [ 0.04315393 0.05502157 0.99755185]] t_gt: [ 0.66507137 -0.67542119 -0.31856914] Pose Error in degrees for R and t: 15.868938768176122 89.58154735861993 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.88069569e-01 1.54008200e-01 3.23841912e-05] [-1.54008172e-01 9.88069478e-01 -4.35742568e-04] [-9.91057596e-05 4.25556541e-04 9.99999905e-01]] t_estimated: [[-9.54459334e-01] [ 2.98340477e-01] [-5.82919514e-04]] R_gt: [[ 0.99435413 0.10530717 0.01302277] [-0.10544436 0.99437161 0.01030035] [-0.01186559 -0.0116145 0.99986197]] t_gt: [-0.93231505 0.3419551 0.11770875] Pose Error in degrees for R and t: 2.9715448106496742 7.339217635168635 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99994976e-01 -2.95857318e-03 1.13814502e-03] [ 2.95858222e-03 9.99995623e-01 -6.26272116e-06] [-1.13812151e-03 9.62998531e-06 9.99999352e-01]] t_estimated: [[0.42736474] [0.90407876] [0.00098699]] R_gt: [[ 0.9845658 0.17472986 0.00999874] [-0.17465735 0.98459858 -0.00771763] [-0.01119352 0.00585319 0.99992054]] t_gt: [-0.93928338 0.3428767 -0.01350205] Pose Error in degrees for R and t: 10.25255051204521 84.75340798654999 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.12529481 -0.99210789 -0.00481075] [-0.99211866 0.12528673 0.00194764] [-0.00132955 0.00501687 -0.99998653]] t_estimated: [[7.87282583e-01] [6.16591899e-01] [7.51941340e-04]] R_gt: [[ 0.98439258 0.17411667 0.02557432] [-0.17431394 0.9846733 0.00570439] [-0.02418913 -0.01007311 0.99965664]] t_gt: [-0.95499412 0.28915454 0.0661505 ] Pose Error in degrees for R and t: 178.7827549694965 55.00463679354382 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99019748e-01 -4.42667105e-02 -4.80474449e-05] [ 4.42667184e-02 9.99019733e-01 1.77751342e-04] [ 4.01318783e-05 -1.79704003e-04 9.99999983e-01]] t_estimated: [[0.74506465] [0.66699174] [0.00082687]] R_gt: [[ 0.99452871 -0.08358061 -0.06265871] [ 0.08504004 0.99615576 0.02100141] [ 0.06066208 -0.02621525 0.99781317]] t_gt: [ 0.63365826 -0.77183056 -0.05248624] Pose Error in degrees for R and t: 4.430179010152943 87.55091155987891 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99997291e-01 -2.32711826e-03 4.68412109e-05] [ 2.32710412e-03 9.99997247e-01 2.99561973e-04] [-4.75381981e-05 -2.99452157e-04 9.99999954e-01]] t_estimated: [[0.73682114] [0.67608716] [0.000872 ]] R_gt: [[ 0.97709653 -0.19473792 -0.08577938] [ 0.19814401 0.97961311 0.03309464] [ 0.07758591 -0.04933406 0.99576374]] t_gt: [ 0.67355489 -0.73901311 0.01354356] Pose Error in degrees for R and t: 12.392702048574476 89.80886227542229 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99953928e-01 -9.59872164e-03 7.68850838e-05] [ 9.59871798e-03 9.99953930e-01 4.77637181e-05] [-7.73400123e-05 -4.70235193e-05 9.99999996e-01]] t_estimated: [[9.36418641e-01] [3.50884592e-01] [3.61823895e-04]] R_gt: [[ 0.95787301 -0.28178343 -0.05547453] [ 0.2825154 0.95924537 0.005675 ] [ 0.05161517 -0.02110895 0.99844293]] t_gt: [ 0.68321139 -0.72815797 -0.05484678] Pose Error in degrees for R and t: 16.169662949655418 67.4026498167154 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 9.60458094e-01 -2.78424378e-01 -3.40095798e-04] [ 2.78424447e-01 9.60458118e-01 1.74160229e-04] [ 2.78157317e-04 -2.61964586e-04 9.99999927e-01]] t_estimated: [[ 3.25611636e-01] [-9.45503328e-01] [-7.19808237e-04]] R_gt: [[ 0.99843134 0.04889297 -0.02729973] [-0.04850432 0.9987141 0.01474364] [ 0.0279855 -0.01339638 0.99951867]] t_gt: [-0.73830218 0.67199229 0.05776029] Pose Error in degrees for R and t: 19.038562020421164 28.858741935703293 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-0.67535551 0.73681465 -0.03160864] [ 0.73683838 0.67594114 0.01314453] [ 0.03105067 -0.01441323 -0.99941389]] t_estimated: [[ 0.92391734] [-0.38223923] [-0.01642919]] R_gt: [[ 0.99736519 0.06462906 -0.0329767 ] [-0.06543523 0.99756909 -0.02396553] [ 0.03134793 0.02606024 0.9991686 ]] t_gt: [-0.42084765 0.82413565 -0.37906158] Pose Error in degrees for R and t: 176.9309693271003 45.76381393024619 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.96801703e-01 -7.99123418e-02 6.19247818e-04] [ 7.99139918e-02 9.96795985e-01 -3.39371661e-03] [-3.46063897e-04 3.43234906e-03 9.99994050e-01]] t_estimated: [[-0.88150395] [-0.47216512] [-0.00329889]] R_gt: [[ 0.98901895 0.14490433 -0.02908575] [-0.14603438 0.988412 -0.04141983] [ 0.02274648 0.04521209 0.99871827]] t_gt: [-0.5251273 0.81098704 -0.25795609] Pose Error in degrees for R and t: 13.240656704322546 85.36355419649165 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.99999513 -0.00201166 0.00238707] [ 0.00201437 0.99999733 -0.00113147] [-0.00238479 0.00113628 0.99999651]] t_estimated: [[-0.63120309] [-0.77561717] [-0.00081132]] R_gt: [[ 9.97960597e-01 -6.36224635e-02 -5.13369144e-03] [ 6.36181446e-02 9.97973488e-01 -8.12284727e-04] [ 5.17515775e-03 4.84355249e-04 9.99986982e-01]] t_gt: [ 0.66674216 -0.7403307 -0.08582159] Pose Error in degrees for R and t: 3.5588837726379605 81.17406655779655 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.99618088e-01 2.76339846e-02 2.01231143e-04] [-2.76339460e-02 9.99618091e-01 -1.92209688e-04] [-2.06465810e-04 1.86575470e-04 9.99999961e-01]] t_estimated: [[ 0.60335884] [-0.79746872] [-0.00132519]] R_gt: [[ 0.99233837 -0.11889709 0.03357174] [ 0.11865644 0.99289458 0.00904917] [-0.03440922 -0.0049954 0.99939507]] t_gt: [ 0.68109198 -0.70849332 0.18479973] Pose Error in degrees for R and t: 8.637530204291762 12.657009052441152 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999952e-01 -1.80810158e-04 -2.50624100e-04] [ 1.80943027e-04 9.99999843e-01 5.30229969e-04] [ 2.50528190e-04 -5.30275293e-04 9.99999828e-01]] t_estimated: [[-0.56744436] [-0.8234111 ] [-0.00102798]] R_gt: [[ 0.98575754 -0.16419609 0.03637206] [ 0.16400224 0.98642521 0.00825172] [-0.0372329 -0.00216879 0.99930398]] t_gt: [ 0.73489569 -0.66742614 0.12029412] Pose Error in degrees for R and t: 9.678575692860923 82.3899635716873 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.84771326e-01 -1.73854611e-01 1.02417949e-04] [ 1.73854605e-01 9.84771330e-01 6.42412150e-05] [-1.12026891e-04 -4.54570745e-05 9.99999993e-01]] t_estimated: [[0.9840983 ] [0.17762095] [0.00115207]] R_gt: [[ 0.99641807 -0.08438286 -0.00558152] [ 0.08449891 0.99080765 0.10564336] [-0.00338396 -0.10573627 0.99438873]] t_gt: [ 0.28818758 -0.74360211 0.60332729] Pose Error in degrees for R and t: 7.961254788211204 81.24436008817437 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 4.55135302e-01 -8.90422178e-01 -4.48699552e-04] [ 8.90421913e-01 4.55134586e-01 1.15113216e-03] [-8.20774922e-04 -9.23452797e-04 9.99999237e-01]] t_estimated: [[ 0.95003635] [-0.31213706] [ 0.00117635]] R_gt: [[ 0.98644472 -0.14609581 -0.07471685] [ 0.1564807 0.97458517 0.16030526] [ 0.04939816 -0.1698237 0.98423634]] t_gt: [ 0.41618775 -0.7651842 0.49120352] Pose Error in degrees for R and t: 55.02199170303564 50.59383443036183 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.97828780e-01 6.58613644e-02 8.21067469e-05] [-6.58614151e-02 9.97828150e-01 1.12085704e-03] [-8.10724967e-06 -1.12383108e-03 9.99999368e-01]] t_estimated: [[5.50343117e-01] [8.34938417e-01] [5.41125910e-04]] R_gt: [[ 0.96021801 -0.2514196 -0.12153263] [ 0.26873484 0.95026905 0.15738735] [ 0.07591832 -0.18378654 0.98003029]] t_gt: [ 0.56632966 -0.75112664 0.33923368] Pose Error in degrees for R and t: 22.14373892413623 71.62196239482475 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 8.95494238e-01 -4.45072611e-01 -6.64247651e-04] [ 4.45072681e-01 8.95494448e-01 -4.69804185e-05] [ 6.15739781e-04 -2.53567789e-04 9.99999778e-01]] t_estimated: [[-0.16535816] [-0.98623258] [-0.00140588]] R_gt: [[ 0.9915404 0.12679487 0.02774988] [-0.12822873 0.99004101 0.0580881 ] [-0.02010795 -0.06115615 0.99792571]] t_gt: [-0.83240536 0.42197739 0.35921637] Pose Error in degrees for R and t: 33.957802821167746 73.79780764116832 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-5.82913857e-01 -8.12529236e-01 -2.77036777e-03] [ 8.12533561e-01 -5.82913558e-01 -9.97923383e-04] [-8.04043011e-04 -2.83272016e-03 9.99995665e-01]] t_estimated: [[0.96523394] [0.26138194] [0.00170838]] R_gt: [[ 0.96399128 0.26289753 0.04007018] [-0.26453838 0.96340081 0.04334466] [-0.02720751 -0.05238391 0.99825609]] t_gt: [-0.83034109 0.5272695 0.18033455] Pose Error in degrees for R and t: 140.97732805770744 48.44439432331533 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-7.92361461e-01 6.10049565e-01 -1.68627252e-03] [-6.10045565e-01 -7.92362804e-01 -2.36546472e-03] [-2.77919035e-03 -8.45600008e-04 9.99995781e-01]] t_estimated: [[0.46320877] [0.88624709] [0.00193225]] R_gt: [[ 0.92831162 0.37010375 0.0355069 ] [-0.37082496 0.92855951 0.01626743] [-0.02694896 -0.028269 0.99923701]] t_gt: [-0.7943039 0.60070841 0.09072331] Pose Error in degrees for R and t: 120.66647320707644 80.5246744518215 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99998997e-01 -1.41409239e-03 8.46416898e-05] [ 1.41408224e-03 9.99998993e-01 1.19850684e-04] [-8.48110845e-05 -1.19730874e-04 9.99999989e-01]] t_estimated: [[0.05170424] [0.99866168] [0.00122945]] R_gt: [[ 0.99660211 0.06375392 -0.05214087] [-0.06228137 0.99762477 0.02942735] [ 0.05389356 -0.02608046 0.99820637]] t_gt: [-0.05080283 0.98858661 -0.14182942] Pose Error in degrees for R and t: 5.045391829498599 10.113289822457826 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.94122986e-01 -1.08256537e-01 -1.07781987e-04] [ 1.08256464e-01 9.94119806e-01 2.51974259e-03] [-1.65630398e-04 -2.51660213e-03 9.99996820e-01]] t_estimated: [[0.71790614] [0.69613759] [0.00179603]] R_gt: [[ 0.99531903 0.07850537 -0.0563625 ] [-0.07469685 0.99496792 0.0667706 ] [ 0.06132053 -0.06224867 0.99617583]] t_gt: [0.14994508 0.98054283 0.12669738] Pose Error in degrees for R and t: 11.692996554380535 37.77084622599676 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99980410e-01 -6.01325759e-03 -1.73804315e-03] [ 6.01464602e-03 9.99981596e-01 7.94731497e-04] [ 1.73323224e-03 -8.05169642e-04 9.99998174e-01]] t_estimated: [[-0.999349 ] [-0.03555743] [-0.00610305]] R_gt: [[ 0.99092976 0.0968683 -0.09313744] [-0.09320424 0.99472144 0.04293055] [ 0.09680458 -0.03386076 0.99472774]] t_gt: [ 0.36485169 0.87415881 -0.3205146 ] Pose Error in degrees for R and t: 8.192986986927727 66.81253000288069 Number of keypoints: Image1: 350 Image2: 350 R_estimated: [[ 0.89219585 -0.4505433 0.03158017] [-0.45040627 -0.88238093 0.13615461] [-0.03347781 -0.13570049 -0.99018413]] t_estimated: [[0.23112342] [0.97035395] [0.0706766 ]] R_gt: [[ 0.99995377 0.00244193 -0.00924116] [-0.00264774 0.99974677 -0.02235835] [ 0.00918416 0.02238208 0.99970727]] t_gt: [ 0.00206748 -0.58951534 -0.80775454] Pose Error in degrees for R and t: 173.3355134296219 51.04940526010008 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 3.48597584e-01 9.37272431e-01 3.38712644e-04] [ 9.37268882e-01 -3.48597221e-01 2.64939626e-03] [ 2.60128036e-03 -6.06108313e-04 -9.99996433e-01]] t_estimated: [[-0.19949994] [-0.97989674] [-0.00146691]] R_gt: [[ 0.99968426 0.00155443 -0.02506249] [-0.00363024 0.9965416 -0.08301467] [ 0.02484677 0.0830793 0.99623294]] t_gt: [-0.05049974 0.33776534 -0.93987465] Pose Error in degrees for R and t: 177.01876647123552 71.36599507900881 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.97819296e-01 -6.60049222e-02 4.83544932e-05] [ 6.60049126e-02 9.97819282e-01 1.79550998e-04] [-6.01002953e-05 -1.75967816e-04 9.99999983e-01]] t_estimated: [[5.83884982e-01] [8.11836289e-01] [4.10048154e-04]] R_gt: [[ 0.99878336 -0.04815026 -0.01057683] [ 0.04613641 0.98854827 -0.14368243] [ 0.01737505 0.14301929 0.98956739]] t_gt: [ 0.10144673 0.44294571 -0.89079047] Pose Error in degrees for R and t: 8.362380764726352 65.26213705189218 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.96837670e-01 7.94647602e-02 1.04443486e-04] [-7.94647606e-02 9.96837676e-01 -6.82200497e-08] [-1.04118623e-04 -8.23157230e-06 9.99999995e-01]] t_estimated: [[0.68467379] [0.72884629] [0.00220863]] R_gt: [[ 0.99862917 -0.0493385 -0.01750796] [ 0.04875392 0.99828619 -0.03236811] [ 0.01907516 0.03147062 0.99932228]] t_gt: [ 0.64161432 -0.31281816 -0.70033982] Pose Error in degrees for R and t: 7.666279241194461 77.892100545545 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 0.96041384 0.27855014 -0.00388182] [-0.27853863 0.96041952 0.00325312] [ 0.00463433 -0.00204311 0.99998717]] t_estimated: [[-0.97227704] [-0.23377153] [-0.00531299]] R_gt: [[ 0.98734577 -0.15212602 -0.04480603] [ 0.14794006 0.98530934 -0.08531678] [ 0.05712783 0.07760879 0.99534608]] t_gt: [ 0.64755822 -0.39148407 -0.65376493] Pose Error in degrees for R and t: 25.42307142051402 57.68221432306535 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.5978385 0.80161229 0.00262048] [ 0.80161539 -0.59782881 -0.00367205] [-0.00137696 0.00429591 -0.99998982]] t_estimated: [[0.8929397 ] [0.4501691 ] [0.00254539]] R_gt: [[ 0.98182407 -0.18625884 -0.03645774] [ 0.18161397 0.97779925 -0.10452239] [ 0.05511717 0.09600079 0.99385444]] t_gt: [ 0.61488916 -0.43924263 -0.65496353] Pose Error in degrees for R and t: 175.76018556114775 69.53358044038062 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.2610908 -0.96530361 -0.00453121] [-0.96528199 -0.26104083 -0.00940059] [ 0.0078916 0.0068283 -0.99994555]] t_estimated: [[ 0.64346509] [ 0.76546374] [-0.00423533]] R_gt: [[ 0.99933541 -0.0342544 -0.01243172] [ 0.03368296 0.99848245 -0.04356661] [ 0.01390493 0.04311866 0.99897374]] t_gt: [ 0.54138956 -0.11502868 -0.83286598] Pose Error in degrees for R and t: 176.98105818170276 74.70181710670079 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99824975e-01 -1.87087913e-02 -7.94294976e-06] [ 1.87087914e-02 9.99824975e-01 1.10197279e-05] [ 7.73539376e-06 -1.11664022e-05 1.00000000e+00]] t_estimated: [[ 6.72108760e-01] [-7.40452439e-01] [-1.97792206e-05]] R_gt: [[ 0.99347366 -0.10596901 -0.04219371] [ 0.10219575 0.99127106 -0.08329081] [ 0.05065116 0.07843507 0.99563226]] t_gt: [ 0.63736139 -0.2491486 -0.72917449] Pose Error in degrees for R and t: 7.269689584826818 52.20244883673134 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.27452965 0.96155536 -0.00668972] [-0.96149438 0.27440686 -0.01514671] [-0.01272869 0.01059034 0.9998629 ]] t_estimated: [[0.50447315] [0.8634252 ] [0.00194028]] R_gt: [[ 0.98121813 -0.19083051 -0.02817416] [ 0.1853423 0.97315078 -0.1364739 ] [ 0.05346031 0.12868977 0.99024289]] t_gt: [ 0.61273944 -0.32500695 -0.72036162] Pose Error in degrees for R and t: 85.18842894335647 88.44745553112674 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.98178513 0.18583498 -0.03953884] [ 0.18582735 0.98257467 0.0039005 ] [ 0.03957471 -0.00351795 -0.99921042]] t_estimated: [[ 0.99184806] [-0.12590916] [-0.01960397]] R_gt: [[ 0.98889396 0.1389387 0.05278544] [-0.13976143 0.99010998 0.01220462] [-0.05056807 -0.0194478 0.99853119]] t_gt: [-0.85737592 0.47953332 0.18696079] Pose Error in degrees for R and t: 179.40251928847775 23.87516953206378 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99965574e-01 -8.29616980e-03 -1.56230063e-04] [ 8.29621675e-03 9.99965540e-01 3.02287554e-04] [ 1.53716850e-04 -3.03573266e-04 9.99999942e-01]] t_estimated: [[-9.54006505e-01] [-2.99784626e-01] [-8.75265868e-04]] R_gt: [[ 0.9680777 0.24716959 0.04160817] [-0.24866539 0.96793265 0.03567279] [-0.03145688 -0.04488042 0.99849674]] t_gt: [-0.83435685 0.52989468 0.1518561 ] Pose Error in degrees for R and t: 15.166431430340658 50.43191702319084 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.92671962e-01 1.20840261e-01 -9.02280204e-05] [-1.20840251e-01 9.92671961e-01 1.08265828e-04] [ 1.02649697e-04 -9.65692753e-05 9.99999990e-01]] t_estimated: [[-9.80828496e-01] [ 1.94872320e-01] [-4.89766963e-04]] R_gt: [[ 0.92030846 0.38761492 0.05279193] [-0.38708099 0.92182053 -0.02039475] [-0.05656995 -0.00166575 0.99839706]] t_gt: [-0.78772396 0.61353438 0.05537622] Pose Error in degrees for R and t: 16.195758321891986 26.854586317904545 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.36388549 0.93144237 0.00156937] [ 0.93144213 -0.36388745 0.00121839] [ 0.00170593 0.00101842 -0.99999803]] t_estimated: [[0.82571332] [0.56408854] [0.00127622]] R_gt: [[ 0.99793118 0.02695082 -0.05838391] [-0.02502149 0.99912457 0.03352857] [ 0.05923666 -0.03199846 0.99773022]] t_gt: [ 0.90006085 0.41309879 -0.13870778] Pose Error in degrees for R and t: 176.53780180496884 12.56771953920227 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-7.80110677e-01 -6.25637884e-01 -2.13740258e-03] [ 6.25641156e-01 -7.80109416e-01 -1.56314194e-03] [-6.89447062e-04 -2.55667074e-03 9.99996494e-01]] t_estimated: [[9.96223377e-01] [8.68227022e-02] [8.95079404e-04]] R_gt: [[ 0.98770668 0.09424155 -0.1247254 ] [-0.08647191 0.99404461 0.06632253] [ 0.13023339 -0.05472147 0.98997162]] t_gt: [ 0.41188248 0.85848559 -0.30554103] Pose Error in degrees for R and t: 146.55676024320599 61.014418397450754 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-8.73467673e-01 4.86863909e-01 4.21405314e-03] [-4.86881510e-01 -8.73447808e-01 -5.94322516e-03] [ 7.87213647e-04 -7.24295961e-03 9.99973460e-01]] t_estimated: [[0.7311684 ] [0.68219606] [0.00113889]] R_gt: [[ 0.97849275 0.15898466 -0.13144367] [-0.14000151 0.9797882 0.1428815 ] [ 0.15150321 -0.12140536 0.98097239]] t_gt: [0.17456663 0.98069691 0.08809122] Pose Error in degrees for R and t: 142.38997470760307 37.177668507921666 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.95860252e-01 -9.08969782e-02 -3.11532704e-04] [ 9.08970819e-02 9.95860235e-01 3.36712476e-04] [ 2.79636885e-04 -3.63635985e-04 9.99999895e-01]] t_estimated: [[8.14378520e-01] [5.80334012e-01] [2.45176588e-04]] R_gt: [[ 0.99815012 -0.03980189 0.04595842] [ 0.03591534 0.99594112 0.08252358] [-0.04905709 -0.0807198 0.99552826]] t_gt: [ 0.13436982 -0.46421519 0.87547074] Pose Error in degrees for R and t: 6.206896160591547 80.80718954424981 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-8.14335172e-01 5.80394551e-01 -6.26509493e-04] [-5.80385202e-01 -8.14327343e-01 -4.89860676e-03] [-3.35330848e-03 -3.62549094e-03 9.99987805e-01]] t_estimated: [[0.55462959] [0.83209044] [0.00339501]] R_gt: [[ 0.99460078 -0.06498152 0.08090953] [ 0.05076732 0.98468829 0.16676835] [-0.09050913 -0.16175916 0.98267083]] t_gt: [ 0.04959497 -0.43209833 0.90046175] Pose Error in degrees for R and t: 148.0107668815672 70.79306313860216 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.18870841 0.69773097 0.69105761] [ 0.94807506 0.31289321 -0.05702208] [-0.25601331 0.64441394 -0.72054691]] t_estimated: [[-0.09191423] [-0.99573747] [-0.00765952]] R_gt: [[ 0.9918368 -0.08922715 0.09109442] [ 0.06908876 0.97648253 0.20422474] [-0.10717549 -0.19626389 0.97467602]] t_gt: [ 0.08045447 -0.45120879 0.8887844 ] Pose Error in degrees for R and t: 144.50926759709608 64.20942903533175 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.98064114e-01 -6.21934288e-02 4.41991091e-05] [ 6.21934246e-02 9.98064111e-01 8.93024662e-05] [-4.96675711e-05 -8.63806928e-05 9.99999995e-01]] t_estimated: [[9.96908429e-01] [7.85678020e-02] [8.27218101e-04]] R_gt: [[ 0.98795556 -0.15348606 0.01963921] [ 0.15330568 0.98812449 0.01035308] [-0.02099528 -0.00721705 0.99975289]] t_gt: [ 0.60556532 -0.76405287 0.22251708] Pose Error in degrees for R and t: 5.409905924390397 57.054073232713826 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.99942585 -0.03386146 -0.00116804] [ 0.03386372 0.99942451 0.0019731 ] [ 0.00110056 -0.00201153 0.99999737]] t_estimated: [[-9.99486330e-01] [-3.20425842e-02] [-5.90200406e-04]] R_gt: [[ 0.96476493 -0.26305307 -0.0056122 ] [ 0.26271699 0.96192865 0.07530912] [-0.01441169 -0.07412977 0.99714387]] t_gt: [ 0.60354314 -0.73655903 0.30531373] Pose Error in degrees for R and t: 13.972949635939257 54.562675120496685 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.1860715 -0.98253137 -0.00308271] [ 0.98247882 -0.18609363 0.01022356] [-0.01061864 -0.00112638 0.99994299]] t_estimated: [[0.91325849] [0.40737186] [0.00266256]] R_gt: [[ 0.94628429 -0.31976576 -0.0479293 ] [ 0.32325981 0.9323841 0.16174806] [-0.00703323 -0.168553 0.98566693]] t_gt: [ 0.55847356 -0.7092495 0.43020046] Pose Error in degrees for R and t: 82.2452779799514 77.15890447539537 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.2219601 -0.97503337 -0.00660667] [-0.97503779 0.22199204 -0.00456485] [ 0.00591751 0.00542854 -0.99996776]] t_estimated: [[ 0.81143055] [ 0.58444325] [-0.00255872]] R_gt: [[ 0.99817622 -0.04648274 0.03851973] [ 0.04592012 0.99882608 0.01538904] [-0.03919005 -0.0135914 0.9991387 ]] t_gt: [ 0.56883288 -0.56517078 0.59750409] Pose Error in degrees for R and t: 178.19933342487445 82.54605117182199 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999584e-01 -2.63843402e-04 8.73496673e-04] [ 2.64231696e-04 9.99999866e-01 -4.44442359e-04] [-8.73379293e-04 4.44672980e-04 9.99999520e-01]] t_estimated: [[7.27675145e-01] [6.85921541e-01] [7.23400620e-04]] R_gt: [[ 9.94617803e-01 -8.90225983e-02 5.30022859e-02] [ 8.88550436e-02 9.96028579e-01 5.53181443e-03] [-5.32839661e-02 -7.91939459e-04 9.98579348e-01]] t_gt: [ 0.70080609 -0.60371168 0.380004 ] Pose Error in degrees for R and t: 5.912233508307164 84.48333788230651 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99998564e-01 -9.19015214e-04 -1.42411347e-03] [ 9.20021018e-04 9.99999328e-01 7.05773129e-04] [ 1.42346390e-03 -7.07082330e-04 9.99998737e-01]] t_estimated: [[-0.86357517] [-0.50421435] [-0.0024105 ]] R_gt: [[ 0.98911125 -0.1372558 0.05310243] [ 0.13773673 0.9904539 -0.00546468] [-0.0518454 0.01271975 0.9985737 ]] t_gt: [ 0.7610728 -0.6121824 0.21447819] Pose Error in degrees for R and t: 8.462247159960878 69.56836974364148 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.83179648e-01 -1.82641123e-01 -5.61100582e-06] [ 1.82641123e-01 9.83179643e-01 9.58720225e-05] [-1.19935472e-05 -9.52842217e-05 9.99999995e-01]] t_estimated: [[-6.31095573e-01] [-7.75704927e-01] [-4.94258641e-04]] R_gt: [[ 0.99522668 0.09285782 -0.03003133] [-0.0906539 0.99356523 0.06790297] [ 0.03614399 -0.06485654 0.99724025]] t_gt: [-0.41523948 0.39169556 0.82106684] Pose Error in degrees for R and t: 16.35451733333332 87.58196221506087 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 8.51985148e-01 -5.23555336e-01 3.33427945e-03] [ 5.23565165e-01 8.51977643e-01 -3.68977923e-03] [-9.08927944e-04 4.88934967e-03 9.99987634e-01]] t_estimated: [[-0.33549514] [-0.94204003] [-0.00189545]] R_gt: [[ 0.98618556 0.13941463 -0.08945059] [-0.1335291 0.98865787 0.06874476] [ 0.09801987 -0.05585111 0.99361621]] t_gt: [0.11153895 0.98895897 0.09756647] Pose Error in degrees for R and t: 39.989821613998856 14.246802065046504 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99996803e-01 8.69050602e-04 2.37457301e-03] [-8.57994478e-04 9.99988806e-01 -4.65310582e-03] [-2.37859022e-03 4.65105357e-03 9.99986355e-01]] t_estimated: [[0.67396152] [0.73876551] [0.00117825]] R_gt: [[ 0.95992194 0.22954741 -0.16080678] [-0.20684774 0.9673923 0.14617174] [ 0.18911747 -0.10705112 0.97610161]] t_gt: [0.34324727 0.9289573 0.13863496] Pose Error in degrees for R and t: 18.03308313494518 23.396279696431375 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.83745126e-01 1.79570030e-01 3.62643284e-04] [-1.79570218e-01 9.83744989e-01 5.76898086e-04] [-2.53154907e-04 -6.32640614e-04 9.99999768e-01]] t_estimated: [[0.2144453 ] [0.97673352] [0.00220226]] R_gt: [[ 0.99936848 -0.00860847 0.03448517] [ 0.00630725 0.9977803 0.06628735] [-0.03497862 -0.066028 0.99720478]] t_gt: [ 0.31368137 -0.33070566 0.89007739] Pose Error in degrees for R and t: 11.576860859644317 75.29847872742384 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.9606228 -0.27785391 0.0010252 ] [ 0.27784745 -0.96061599 -0.00420869] [ 0.00215423 -0.00375812 0.99999062]] t_estimated: [[7.77337939e-01] [6.29082919e-01] [6.40361162e-04]] R_gt: [[ 0.99842972 -0.04025992 0.03896104] [ 0.03545234 0.99249482 0.11703499] [-0.04337946 -0.11547001 0.99236419]] t_gt: [ 0.45318049 -0.37620419 0.8081447 ] Pose Error in degrees for R and t: 161.73564456096773 83.33129412494817 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.8261925 -0.56335138 -0.00641638] [-0.56332031 0.82621622 -0.006082 ] [ 0.00872761 -0.00141042 -0.99996092]] t_estimated: [[0.72291069] [0.69093921] [0.00177619]] R_gt: [[ 0.99212604 -0.09558624 0.08092748] [ 0.07588138 0.97282333 0.21876158] [-0.09963736 -0.21089792 0.97241722]] t_gt: [ 0.37844043 -0.35311133 0.85562564] Pose Error in degrees for R and t: 171.81411902778865 88.21667158774231 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.98113956e-01 6.13881658e-02 1.54954386e-04] [-6.13881492e-02 9.98113963e-01 -1.09713998e-04] [-1.61397277e-04 9.99947092e-05 9.99999982e-01]] t_estimated: [[0.8710219 ] [0.49123984] [0.00206403]] R_gt: [[ 0.99988663 0.00828016 -0.01259227] [-0.00832283 0.9999595 -0.00331046] [ 0.01256474 0.00341415 0.999915 ]] t_gt: [-0.60003227 -0.75031472 -0.2774691 ] Pose Error in degrees for R and t: 3.135851081693026 26.89988495395847 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.14903257 -0.98870723 0.01572605] [-0.98868674 0.14926465 0.01478484] [-0.01696522 -0.01334471 -0.99976702]] t_estimated: [[0.77408173] [0.63297086] [0.01205663]] R_gt: [[ 0.99954398 0.01394177 -0.02681599] [-0.01413583 0.99987491 -0.00702911] [ 0.02671486 0.00740409 0.99961524]] t_gt: [-0.42929587 -0.84983086 -0.30576553] Pose Error in degrees for R and t: 179.79398340357102 29.083202379636134 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99599771e-01 -2.82876657e-02 3.25099629e-04] [ 2.82878679e-02 9.99599617e-01 -6.34913006e-04] [-3.07009257e-04 6.43855271e-04 9.99999746e-01]] t_estimated: [[-0.07788662] [-0.9969487 ] [-0.00519244]] R_gt: [[ 0.99924932 0.01915008 -0.0336828 ] [-0.02124991 0.99777774 -0.06315177] [ 0.03239902 0.06382035 0.99743454]] t_gt: [-0.42647783 -0.30003618 -0.8532848 ] Pose Error in degrees for R and t: 4.937156258018734 70.31990121821778 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 0.9624102 0.27154626 0.00540616] [ 0.27158497 -0.96195611 -0.02969919] [-0.00286422 0.03005103 -0.99954426]] t_estimated: [[-0.15500004] [ 0.98778684] [-0.01587901]] R_gt: [[ 0.99881078 -0.02580202 -0.04137789] [ 0.02681731 0.99934845 0.02416607] [ 0.04072664 -0.02524755 0.99885054]] t_gt: [ 0.65932103 -0.65377252 -0.37131828] Pose Error in degrees for R and t: 179.9434108095998 42.090541049511025 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.92695571e-01 -1.20646184e-01 3.06355922e-05] [ 1.20640326e-01 9.92644801e-01 -1.01099091e-02] [ 1.18931169e-03 1.00397578e-02 9.99948893e-01]] t_estimated: [[0.99221286] [0.12453701] [0.00204159]] R_gt: [[ 0.99829035 -0.0109551 -0.05741383] [ 0.01388738 0.99860637 0.05092494] [ 0.05677514 -0.05163627 0.99705077]] t_gt: [ 0.47362188 -0.82744644 -0.30168643] Pose Error in degrees for R and t: 7.843462301232218 68.51423227650483 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.41012395e-01 3.38369977e-01 1.19609197e-03] [-3.38371968e-01 9.41003166e-01 4.17762497e-03] [ 2.88056534e-04 -4.33592087e-03 9.99990558e-01]] t_estimated: [[0.81911529] [0.57362377] [0.00243061]] R_gt: [[ 0.99836111 0.03424187 -0.04586904] [-0.03256521 0.99879216 0.03681027] [ 0.04707413 -0.0352574 0.99826908]] t_gt: [-0.62852986 -0.52972348 -0.56951141] Pose Error in degrees for R and t: 18.15194648294752 34.90673023808392 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999888e-01 1.45640184e-04 -4.49333471e-04] [-1.45310709e-04 9.99999721e-01 7.33198111e-04] [ 4.49440129e-04 -7.33132736e-04 9.99999630e-01]] t_estimated: [[7.91613183e-01] [6.11022182e-01] [6.78913536e-04]] R_gt: [[ 0.99293472 -0.0913226 -0.07577372] [ 0.08885793 0.99541888 -0.03529686] [ 0.07865009 0.02831368 0.99649977]] t_gt: [ 0.71512353 -0.4426582 -0.54097325] Pose Error in degrees for R and t: 7.056926808839189 72.82687354528451 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999866e-01 -3.14120864e-04 4.11551069e-04] [ 3.13989374e-04 9.99999900e-01 3.19524532e-04] [-4.11651397e-04 -3.19395267e-04 9.99999864e-01]] t_estimated: [[0.72099132] [0.6929436 ] [0.00082493]] R_gt: [[ 0.95574011 -0.27480408 -0.10508688] [ 0.27163155 0.96140979 -0.04368253] [ 0.11303563 0.01320348 0.99350313]] t_gt: [ 0.79003496 -0.55289633 -0.26485922] Pose Error in degrees for R and t: 17.184530668240004 79.26517152228418 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999972e-01 -1.58677089e-04 1.75241016e-04] [ 1.58703634e-04 9.99999976e-01 -1.51474865e-04] [-1.75216976e-04 1.51502672e-04 9.99999973e-01]] t_estimated: [[0.45384775] [0.89107864] [0.00103855]] R_gt: [[ 9.35545539e-01 -3.31345100e-01 -1.22333947e-01] [ 3.28443706e-01 9.43508965e-01 -4.37608573e-02] [ 1.29923129e-01 7.59871586e-04 9.91523366e-01]] t_gt: [ 0.81566023 -0.53533231 -0.2193575 ] Pose Error in degrees for R and t: 20.71968727697593 83.85382123771464 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 9.97778641e-01 -6.66166489e-02 -7.82871764e-05] [ 6.66166077e-02 9.97778547e-01 -4.45646106e-04] [ 1.07800715e-04 4.39440940e-04 9.99999898e-01]] t_estimated: [[-0.91605703] [-0.40104544] [-0.00144261]] R_gt: [[ 0.99884013 0.04810756 0.00166429] [-0.04811313 0.99883407 0.00399853] [-0.00146971 -0.00407348 0.99999012]] t_gt: [0.42700369 0.90167512 0.06818964] Pose Error in degrees for R and t: 6.58321141414247 41.16032914256409 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99328792e-01 3.66327772e-02 -7.56850112e-05] [-3.66328165e-02 9.99328608e-01 -6.08173948e-04] [ 5.33550962e-05 6.10538292e-04 9.99999812e-01]] t_estimated: [[0.62843915] [0.77785825] [0.00087894]] R_gt: [[ 0.99759802 0.02481606 -0.06467952] [-0.02337005 0.99946253 0.02300874] [ 0.06521663 -0.02144204 0.99764122]] t_gt: [ 0.97336659 0.14065086 -0.18103814] Pose Error in degrees for R and t: 4.008474887581805 43.86711339068424 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.01133872 0.99993066 0.00318022] [ 0.99992702 -0.0113253 -0.00420676] [-0.00417045 0.00322769 -0.99998609]] t_estimated: [[0.71227847] [0.70189515] [0.00160816]] R_gt: [[ 0.98627524 0.12053905 -0.11283193] [-0.11237323 0.99074387 0.07615008] [ 0.12096723 -0.06242545 0.99069145]] t_gt: [ 0.68538352 0.71670785 -0.12876057] Pose Error in degrees for R and t: 172.73291253847324 7.679695417900394 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.99970548 -0.02423628 -0.00124607] [ 0.02423817 0.99970504 0.00153059] [ 0.0012086 -0.00156034 0.99999805]] t_estimated: [[-0.59077789] [-0.8068338 ] [-0.00084397]] R_gt: [[ 0.99660701 0.08167549 0.01017068] [-0.08134277 0.9962453 -0.02966148] [-0.01255538 0.02873363 0.9995085 ]] t_gt: [-0.72823364 0.67034533 -0.14252335] Pose Error in degrees for R and t: 6.357074155828789 83.6551313152312 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-2.30793630e-01 -9.72999797e-01 -2.38632127e-03] [ 9.73002611e-01 -2.30794088e-01 -8.53152352e-05] [-4.67737136e-04 -2.34158704e-03 9.99997149e-01]] t_estimated: [[0.99989414] [0.01450739] [0.00111595]] R_gt: [[ 0.99614052 0.04036918 0.07794516] [-0.0477529 0.99430269 0.09530367] [-0.07365354 -0.09865815 0.99239161]] t_gt: [-0.32991121 0.12523816 0.93566767] Pose Error in degrees for R and t: 106.0414339747806 70.91228699987586 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 1.00000000e+00 2.34988791e-06 -5.57478878e-11] [-2.34988791e-06 1.00000000e+00 -1.53056134e-09] [ 5.57443882e-11 1.53056144e-09 1.00000000e+00]] t_estimated: [[9.98914753e-01] [4.65694489e-02] [7.76157535e-04]] R_gt: [[ 0.98222749 -0.03793644 0.18381964] [-0.0159332 0.9589735 0.28304963] [-0.18701466 -0.28094865 0.94132526]] t_gt: [ 0.02475634 -0.01463035 0.99958645] Pose Error in degrees for R and t: 19.735229006587534 88.57754472030389 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.98978210e-01 -4.51944133e-02 3.99216097e-05] [ 4.51944132e-02 9.98978210e-01 2.58642159e-06] [-3.99977100e-05 -7.79545086e-07 9.99999999e-01]] t_estimated: [[ 9.47012855e-01] [-3.21195619e-01] [-1.64666089e-04]] R_gt: [[ 0.98594483 -0.16700309 0.00466928] [ 0.16706212 0.98575809 -0.01926511] [-0.00138562 0.01977452 0.99980316]] t_gt: [ 0.72063634 -0.68428778 -0.11150558] Pose Error in degrees for R and t: 7.117225015819845 25.54319349842497 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.90688672 0.42123205 0.01095613] [ 0.42123958 0.90694776 -0.00172381] [-0.01066276 0.00305186 -0.99993849]] t_estimated: [[ 0.97391712] [-0.2268305 ] [ 0.00577623]] R_gt: [[ 0.95792014 -0.28430807 -0.03945918] [ 0.28423306 0.95872505 -0.0076124 ] [ 0.03999442 -0.00392249 0.99919185]] t_gt: [ 0.76442376 -0.63424692 -0.11570287] Pose Error in degrees for R and t: 178.40900668485867 27.416402159358416 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 5.04637800e-01 8.63330740e-01 8.51341806e-04] [-8.63329942e-01 5.04638499e-01 -1.18183813e-03] [-1.44993704e-03 -1.38588677e-04 9.99998939e-01]] t_estimated: [[0.39470836] [0.91880577] [0.0011231 ]] R_gt: [[ 0.92721247 -0.37204661 -0.04310786] [ 0.37082967 0.92808857 -0.0337324 ] [ 0.05255801 0.01529166 0.99850065]] t_gt: [ 0.77495665 -0.60969636 -0.16647085] Pose Error in degrees for R and t: 81.56622053010481 75.25618021797686 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999820e-01 -5.33859303e-04 2.75653600e-04] [ 5.33837792e-04 9.99999854e-01 7.81046849e-05] [-2.75695256e-04 -7.79575165e-05 9.99999959e-01]] t_estimated: [[0.60807616] [0.79387721] [0.00153555]] R_gt: [[ 0.99355022 -0.11157519 -0.02021416] [ 0.11127226 0.99366782 -0.01554324] [ 0.02182013 0.01319345 0.99967503]] t_gt: [ 0.72768991 -0.66764683 -0.15721039] Pose Error in degrees for R and t: 6.536810185984745 84.96408833001894 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999981e-01 -1.22658589e-05 1.93932020e-04] [ 1.23751590e-05 9.99999841e-01 -5.63608921e-04] [-1.93925076e-04 5.63611310e-04 9.99999822e-01]] t_estimated: [[7.44004570e-01] [6.68174276e-01] [5.80189100e-04]] R_gt: [[ 0.97801185 -0.20582377 -0.03358965] [ 0.20522632 0.97850182 -0.02041427] [ 0.03706874 0.01307144 0.99922759]] t_gt: [ 0.74825993 -0.65040133 -0.13071032] Pose Error in degrees for R and t: 12.074737265089716 82.98948247030815 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-4.76833809e-01 8.78989172e-01 2.74844662e-03] [ 8.78993458e-01 4.76831972e-01 1.33097941e-03] [-1.40630737e-04 3.05052258e-03 -9.99995337e-01]] t_estimated: [[-0.06365194] [-0.99797151] [-0.00113664]] R_gt: [[ 0.97466552 -0.21353868 -0.06655005] [ 0.20805144 0.97478118 -0.08073442] [ 0.08210994 0.06484322 0.99451182]] t_gt: [ 0.76241558 -0.55209986 -0.33750294] Pose Error in degrees for R and t: 178.57360746945534 59.81230518669438 Number of keypoints: Image1: 341 Image2: 341 R_estimated: [[-0.13646656 -0.98911216 0.05508195] [-0.98910203 0.13914505 0.04812301] [-0.05526343 -0.04791449 -0.99732149]] t_estimated: [[0.75771174] [0.65154418] [0.03692014]] R_gt: [[ 9.99711955e-01 -1.37054889e-04 -2.40083924e-02] [ 2.72884352e-04 9.99984291e-01 5.65524126e-03] [ 2.40079967e-02 -5.66048633e-03 9.99696013e-01]] t_gt: [ 0.72236113 -0.09024466 -0.68560215] Pose Error in degrees for R and t: 176.63067795880184 62.40423070633637 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99999911e-01 4.21189079e-04 -7.92108478e-06] [-4.21189040e-04 9.99999911e-01 4.93868450e-06] [ 7.92316420e-06 -4.93534779e-06 1.00000000e+00]] t_estimated: [[-0.07649265] [-0.99706961] [-0.00103539]] R_gt: [[ 9.97379973e-01 6.78131563e-02 -2.52157453e-02] [-6.78344950e-02 9.97696647e-01 1.95961100e-05] [ 2.51584440e-02 1.69088880e-03 9.99682723e-01]] t_gt: [ 0.30250632 0.86849171 -0.39269846] Pose Error in degrees for R and t: 4.1259128889652965 27.29220783562822 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99990735e-01 4.29671981e-03 -2.59521459e-04] [-4.29665394e-03 9.99990737e-01 2.53823470e-04] [ 2.60609664e-04 -2.52706045e-04 9.99999934e-01]] t_estimated: [[9.99861006e-01] [1.66715372e-02] [1.69086649e-04]] R_gt: [[ 0.99419878 0.10677857 -0.01296385] [-0.10654292 0.99415056 0.01772134] [ 0.0147809 -0.01623754 0.99975898]] t_gt: [0.51980302 0.85428441 0.00172318] Pose Error in degrees for R and t: 6.0059056030690225 57.72569048071475 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.11094772 0.77440611 0.62288504] [ 0.63694445 0.42570398 -0.64271136] [-0.76288425 0.46805053 -0.44602279]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99108036 -0.08026101 0.10638631] [ 0.05887229 0.9798638 0.19079433] [-0.11955698 -0.18282792 0.97584833]] t_gt: [ 0.20747905 -0.234441 0.94973147] Pose Error in degrees for R and t: 119.45700509733597 83.83794584441227 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-6.48505227e-01 7.61209670e-01 8.99271169e-04] [ 7.61206025e-01 6.48497303e-01 4.07868528e-03] [ 2.52155975e-03 3.32957935e-03 -9.99991278e-01]] t_estimated: [[ 0.67929549] [-0.73386254] [-0.00184742]] R_gt: [[ 0.96844844 -0.15104031 0.1982272 ] [ 0.07412258 0.93398957 0.34952991] [-0.23793543 -0.32380775 0.9157161 ]] t_gt: [ 0.23892866 -0.1209673 0.96347289] Pose Error in degrees for R and t: 176.70182466386214 75.56410796432915 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.99959958e-01 8.94154223e-03 -3.61464643e-04] [-8.94183615e-03 9.99959685e-01 -8.19875472e-04] [ 3.54119119e-04 8.23074801e-04 9.99999599e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.96919269 -0.17166414 0.17662759] [ 0.09429805 0.92108489 0.37777277] [-0.22753935 -0.34947774 0.90889594]] t_gt: [ 0.27164596 -0.1348519 0.95290264] Pose Error in degrees for R and t: 26.105070920764167 82.55795465222717 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.90892852e-01 1.34652609e-01 1.73843807e-04] [-1.34652606e-01 9.90892867e-01 -2.95725552e-05] [-1.76242610e-04 5.89471190e-06 9.99999984e-01]] t_estimated: [[0.71393802] [0.70020844] [0.00080762]] R_gt: [[ 9.90375615e-01 -1.38221535e-01 -7.20181284e-03] [ 1.38218662e-01 9.90402006e-01 -8.52947496e-04] [ 7.25054902e-03 -1.49818028e-04 9.99973978e-01]] t_gt: [ 0.64609116 -0.76207357 -0.04254507] Pose Error in degrees for R and t: 15.689094805960957 85.84955126196334 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-8.14400830e-01 -5.80300111e-01 1.75197888e-03] [-5.80299135e-01 8.14402702e-01 1.07348747e-03] [-2.04976123e-03 -1.42422741e-04 -9.99997889e-01]] t_estimated: [[0.96742759] [0.25314028] [0.00196233]] R_gt: [[ 0.96002422 -0.27944017 -0.01639491] [ 0.27933957 0.96015832 -0.00813495] [ 0.01801475 0.00323127 0.99983255]] t_gt: [ 0.73820684 -0.67003994 -0.07808426] Pose Error in degrees for R and t: 179.06838206081684 57.01671563721583 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.85172809 0.52396732 0.00418428] [ 0.52397741 0.85173031 0.00177645] [-0.00263307 0.00370552 -0.99998967]] t_estimated: [[9.69437585e-01] [2.45336784e-01] [7.93970176e-04]] R_gt: [[ 0.91772047 -0.39417249 -0.04919044] [ 0.39443803 0.9189113 -0.00457752] [ 0.04700579 -0.01520139 0.99877949]] t_gt: [ 0.78317926 -0.61678749 -0.07876191] Pose Error in degrees for R and t: 177.4398853037506 52.56505709967336 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.75769929e-01 2.18797911e-01 7.20879093e-04] [-2.18797708e-01 9.75770178e-01 -3.50779849e-04] [-7.80162219e-04 1.84553735e-04 9.99999679e-01]] t_estimated: [[0.66998163] [0.74237651] [0.00131627]] R_gt: [[ 0.97567231 0.21890999 -0.01193143] [-0.21767043 0.97376635 0.06633273] [ 0.02613904 -0.0621214 0.99772585]] t_gt: [-0.89869714 0.41957069 0.12768667] Pose Error in degrees for R and t: 3.8915840978216227 73.11431786948721 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-2.85868847e-01 9.58268718e-01 -2.57748615e-04] [-9.58266780e-01 -2.85868794e-01 -1.95214786e-03] [-1.94436452e-03 -3.11066324e-04 9.99998061e-01]] t_estimated: [[0.03107209] [0.99951654] [0.00109857]] R_gt: [[ 0.9644951 0.2638616 0.01126688] [-0.26360774 0.95920965 0.10212108] [ 0.01613866 -0.10146426 0.9947074 ]] t_gt: [-0.91187355 0.33450625 0.23789115] Pose Error in degrees for R and t: 91.43159697207807 72.16529004467046 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.15278119 0.98825385 0.00349821] [ 0.98825799 -0.15278712 0.00149614] [ 0.00201305 0.00322855 -0.99999276]] t_estimated: [[-0.25339458] [-0.96736169] [-0.00159368]] R_gt: [[ 0.96917 0.2461836 -0.0101887 ] [-0.24381771 0.96418117 0.10444525] [ 0.03553685 -0.09874112 0.99447769]] t_gt: [-0.95669119 0.20190116 0.20970906] Pose Error in degrees for R and t: 174.71682276600671 87.31902874166704 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.8888688 -0.45812959 -0.00543473] [ 0.4581467 0.88887331 0.00241796] [ 0.00372305 -0.00463915 0.99998231]] t_estimated: [[-0.26328315] [-0.9647166 ] [-0.0019648 ]] R_gt: [[ 0.98368874 -0.1595423 -0.08308352] [ 0.15668116 0.98684273 -0.03992446] [ 0.08836004 0.02625542 0.99574234]] t_gt: [ 0.73332535 -0.54873547 -0.40140168] Pose Error in degrees for R and t: 18.85230976353785 70.30027795007275 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.11842129e-01 4.10541023e-01 1.03742589e-07] [-4.10540897e-01 9.11841849e-01 7.83183775e-04] [ 3.21434472e-04 -7.14182552e-04 9.99999693e-01]] t_estimated: [[-9.93902231e-01] [-1.10262234e-01] [-7.71064570e-04]] R_gt: [[ 0.95375155 -0.28843779 -0.08462633] [ 0.2857844 0.95736446 -0.04221562] [ 0.09319492 0.01607742 0.99551739]] t_gt: [ 0.79203462 -0.56654324 -0.22739813] Pose Error in degrees for R and t: 41.30571563768674 43.56763325910478 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.269036 0.96307104 0.01066742] [-0.96301447 0.26915883 -0.01251647] [-0.01492548 -0.0069055 0.99986476]] t_estimated: [[0.49400744] [0.86945309] [0.0028229 ]] R_gt: [[ 0.94490543 -0.29797415 -0.13552032] [ 0.29526657 0.95457218 -0.04012792] [ 0.14132112 -0.00209735 0.98996119]] t_gt: [ 0.81783954 -0.51885404 -0.24885532] Pose Error in degrees for R and t: 92.10271226273595 87.26004958770373 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.68567777 -0.72783807 -0.00988679] [ 0.72779925 -0.68574646 0.00774897] [-0.01241982 -0.0018823 0.9999211 ]] t_estimated: [[0.98384258] [0.17888047] [0.00745335]] R_gt: [[ 0.99825707 0.05888296 0.00408786] [-0.05901493 0.99699216 0.05024414] [-0.00111773 -0.05039688 0.99872809]] t_gt: [-0.16775454 0.13067401 0.97712984] Pose Error in degrees for R and t: 136.67169991532995 82.27687514007776 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-0.99168258 -0.12863789 0.00423672] [-0.12836205 0.99089448 0.04063631] [-0.00942551 0.03975448 -0.99916502]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9907293 0.11616379 -0.07044197] [-0.10937829 0.98958871 0.09354995] [ 0.0805754 -0.08497655 0.99311886]] t_gt: [0.21059379 0.3200538 0.92369682] Pose Error in degrees for R and t: 176.2589461491311 77.74275935329385 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 3.00850694e-01 -9.53670594e-01 -1.12143582e-03] [ 9.53670823e-01 3.00849234e-01 1.30349382e-03] [-9.05720614e-04 -1.46163764e-03 9.99998522e-01]] t_estimated: [[0.40015621] [0.91644608] [0.00126232]] R_gt: [[ 0.97473886 0.18130572 -0.13043721] [-0.16644808 0.97907788 0.11705954] [ 0.1489312 -0.09239132 0.98452107]] t_gt: [0.61924083 0.64896951 0.44201739] Pose Error in degrees for R and t: 83.07956799629076 32.531428934958264 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999995e-01 -1.40951684e-05 9.63083520e-05] [ 1.40952265e-05 1.00000000e+00 -6.02365103e-07] [-9.63083435e-05 6.03722588e-07 9.99999995e-01]] t_estimated: [[8.16630243e-01] [5.77161037e-01] [4.28507663e-04]] R_gt: [[ 0.99800341 -0.04106865 0.04798185] [ 0.03939217 0.99859641 0.03538088] [-0.04936704 -0.03342023 0.99822105]] t_gt: [ 0.49567559 -0.4491281 0.74336374] Pose Error in degrees for R and t: 4.120082700537062 81.61158639163484 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 8.03769594e-01 -5.94939501e-01 -1.19570627e-03] [ 5.94938996e-01 8.03770479e-01 -7.80328747e-04] [ 1.42532180e-03 -8.41677703e-05 9.99998981e-01]] t_estimated: [[ 0.9810636 ] [-0.19368219] [-0.00119168]] R_gt: [[ 0.99852046 -0.03484405 0.04173047] [ 0.0317194 0.99680349 0.07332507] [-0.04415184 -0.07189269 0.99643438]] t_gt: [ 0.52298138 -0.38515602 0.76035868] Pose Error in degrees for R and t: 34.932610949610556 54.07188645113182 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999969e-01 -2.31931277e-04 8.98236200e-05] [ 2.31924622e-04 9.99999970e-01 7.40933350e-05] [-8.98408019e-05 -7.40725004e-05 9.99999993e-01]] t_estimated: [[7.06544639e-01] [7.07668441e-01] [2.27460679e-04]] R_gt: [[ 0.99254337 -0.09421157 0.07733742] [ 0.07960095 0.98150828 0.17407884] [-0.09230821 -0.16662445 0.98168957]] t_gt: [ 0.45847822 -0.36937008 0.80830901] Pose Error in degrees for R and t: 12.0650372791261 86.40361010237058 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99824287e-01 1.87455116e-02 2.97877357e-05] [-1.87455109e-02 9.99824287e-01 -2.34020049e-05] [-3.02211842e-05 2.28395065e-05 9.99999999e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99976757 -0.00622804 -0.02064774] [ 0.00639164 0.99994883 0.00782491] [ 0.02059776 -0.00795471 0.99975652]] t_gt: [ 0.34615975 -0.72899474 -0.59054221] Pose Error in degrees for R and t: 1.9146748997826295 69.87889459995014 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.90342418e-01 -1.38642007e-01 -5.37549307e-04] [ 1.38642411e-01 9.90342180e-01 8.05075976e-04] [ 4.20740403e-04 -8.71828021e-04 9.99999531e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99805955 0.05850616 -0.02130423] [-0.05804297 0.99807806 0.02172718] [ 0.0225342 -0.02044906 0.99953668]] t_gt: [-0.92032573 0.3622765 -0.14750013] Pose Error in degrees for R and t: 11.436032850713598 23.17428704894035 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-3.61421913e-01 9.32402206e-01 5.71643511e-04] [ 9.32400996e-01 3.61420251e-01 1.94560943e-03] [ 1.60748698e-03 1.23618686e-03 -9.99997944e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9989996 -0.02170448 -0.03910115] [ 0.02143908 0.99974436 -0.00721233] [ 0.03924722 0.00636671 0.99920904]] t_gt: [ 0.18499355 -0.82738487 -0.53029394] Pose Error in degrees for R and t: 178.33184843488286 34.23207545734573 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.85944225e-01 -1.67074628e-01 -2.31091330e-04] [ 1.67074688e-01 9.85944204e-01 2.72731546e-04] [ 1.82276636e-04 -3.07507604e-04 9.99999936e-01]] t_estimated: [[ 7.18420583e-01] [-6.95608936e-01] [-2.71976407e-04]] R_gt: [[ 0.99945924 0.03272054 0.00332911] [-0.03252897 0.99836887 -0.04692837] [-0.00485864 0.0467943 0.99889217]] t_gt: [-0.22267593 0.77768934 -0.58789005] Pose Error in degrees for R and t: 11.803640249196949 45.510162996940544 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[-0.79703948 0.60378499 -0.01310521] [ 0.60379158 0.79713271 0.00389462] [ 0.0127981 -0.00480865 -0.99990654]] t_estimated: [[ 0.95562943] [-0.29451404] [-0.0058194 ]] R_gt: [[ 0.99370436 0.11201784 0.00200618] [-0.11173455 0.99217817 -0.05566028] [-0.0082257 0.05508568 0.99844814]] t_gt: [-0.51125969 0.80062318 -0.31243569] Pose Error in degrees for R and t: 179.49294154512356 43.73446853213071 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.60441847 0.67162507 -0.42848346] [ 0.73281472 -0.25773127 0.62972786] [ 0.31250743 -0.69461814 -0.64795428]] t_estimated: [[-0.75470107] [-0.6471113 ] [-0.10804291]] R_gt: [[ 0.9645971 0.2630835 -0.0184062 ] [-0.26372299 0.96182964 -0.0730406 ] [-0.00151301 0.07530912 0.99715852]] t_gt: [-0.63945973 0.73965566 -0.20976359] Pose Error in degrees for R and t: 135.17172659766473 88.47432679772561 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.96401553e-01 -8.47554919e-02 -6.71677133e-04] [ 8.47557081e-02 9.96401716e-01 3.00186731e-04] [ 6.43817774e-04 -3.56034996e-04 9.99999729e-01]] t_estimated: [[-0.62717381] [-0.77887817] [-0.00134493]] R_gt: [[ 0.99972301 0.01838015 -0.01475122] [-0.01847368 0.99980959 -0.00628292] [ 0.01463228 0.00655352 0.99987148]] t_gt: [ 0.7389409 0.62169484 -0.25973426] Pose Error in degrees for R and t: 5.984491526070331 18.680455711643873 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.8871296 0.4615158 -0.00205794] [ 0.46151059 -0.88713101 -0.00255873] [-0.00300655 0.00132016 -0.99999461]] t_estimated: [[0.03944287] [0.99921942] [0.00219127]] R_gt: [[ 0.99880202 0.04299761 -0.02335208] [-0.0433334 0.99896131 -0.0140677 ] [ 0.02272317 0.01506308 0.99962828]] t_gt: [ 0.72881306 0.60823753 -0.31444973] Pose Error in degrees for R and t: 179.384840137336 50.51915721871918 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.99914288 -0.01786851 0.03733917] [ 0.00373547 -0.93727416 -0.34857307] [ 0.04122552 -0.34813483 0.93653756]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99677681 0.0616511 -0.05135177] [-0.06113337 0.99806254 0.01158109] [ 0.05196692 -0.00840365 0.99861295]] t_gt: [ 0.87259547 0.46249944 -0.15707139] Pose Error in degrees for R and t: 177.6784459855075 20.86113747909137 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99996899e-01 2.46940811e-03 3.21348567e-04] [-2.46921587e-03 9.99996773e-01 -5.97254596e-04] [-3.22822396e-04 5.96459265e-04 9.99999770e-01]] t_estimated: [[ 0.17541459] [-0.98447723] [-0.00585755]] R_gt: [[ 0.99581342 -0.08784074 -0.0253004 ] [ 0.08806045 0.99608546 0.00773994] [ 0.02452191 -0.00993579 0.99964994]] t_gt: [ 0.81569524 -0.56551659 -0.12178777] Pose Error in degrees for R and t: 5.412948307679093 45.529942355566845 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999957e-01 -2.28803221e-04 1.85537045e-04] [ 2.28810868e-04 9.99999973e-01 -4.11949195e-05] [-1.85527614e-04 4.12373706e-05 9.99999982e-01]] t_estimated: [[0.59735877] [0.80197354] [0.00096974]] R_gt: [[ 9.94344551e-01 -1.05108739e-01 -1.52160833e-02] [ 1.05132403e-01 9.94457960e-01 7.72667498e-04] [ 1.50506624e-02 -2.36841066e-03 9.99883731e-01]] t_gt: [ 0.83415345 -0.54683368 -0.07183977] Pose Error in degrees for R and t: 6.085795943258371 86.578952791116 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999910e-01 -1.89067888e-04 3.79946532e-04] [ 1.89216194e-04 9.99999906e-01 -3.90336855e-04] [-3.79872696e-04 3.90408712e-04 9.99999852e-01]] t_estimated: [[0.56843162] [0.82272998] [0.00093492]] R_gt: [[ 0.96632455 -0.25309652 -0.04647016] [ 0.2532449 0.96739873 -0.0027657 ] [ 0.04565416 -0.00909673 0.99891602]] t_gt: [ 0.81097331 -0.5798919 -0.07776681] Pose Error in degrees for R and t: 14.906114180204442 89.0726683697614 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.81716929e-01 1.90346206e-01 4.40557576e-04] [-1.90346091e-01 9.81717007e-01 -2.89766467e-04] [-4.87658812e-04 2.00610234e-04 9.99999861e-01]] t_estimated: [[0.67343345] [0.73924627] [0.00153053]] R_gt: [[ 0.98845597 -0.15050743 -0.01742299] [ 0.15068626 0.98853709 0.00944605] [ 0.01580129 -0.01196296 0.99980281]] t_gt: [ 0.70103535 -0.71289112 -0.01832202] Pose Error in degrees for R and t: 19.66958484211809 86.85118738270475 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99998083 0.00477961 0.0039361 ] [-0.00475729 0.99997267 -0.00566014] [-0.00396305 0.0056413 0.99997623]] t_estimated: [[-0.22848605] [-0.97341754] [-0.0158877 ]] R_gt: [[ 0.98333455 -0.1760126 -0.04552356] [ 0.17447362 0.98400849 -0.03585468] [ 0.05110723 0.02731418 0.9983192 ]] t_gt: [ 0.74289877 -0.63042403 -0.22509324] Pose Error in degrees for R and t: 10.903127342754146 63.4165993385497 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.70580012e-01 -2.40778785e-01 -1.30282041e-04] [ 2.40778813e-01 9.70579972e-01 2.84815410e-04] [ 5.78716319e-05 -3.07805299e-04 9.99999951e-01]] t_estimated: [[8.57669912e-01] [5.14200228e-01] [6.69531547e-04]] R_gt: [[ 0.98056423 -0.16675555 -0.10338094] [ 0.15636121 0.98245627 -0.1016415 ] [ 0.11851637 0.08350121 0.98943419]] t_gt: [ 0.72290202 -0.44683215 -0.52702344] Pose Error in degrees for R and t: 9.517913302866654 67.05189326415972 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.98015948e-01 6.29615943e-02 -6.90869024e-05] [-6.29615788e-02 9.98015930e-01 2.07176393e-04] [ 8.19939851e-05 -2.02415523e-04 9.99999976e-01]] t_estimated: [[-9.80271942e-01] [ 1.97653406e-01] [ 2.23572054e-04]] R_gt: [[ 0.95193579 0.30596872 0.01418666] [-0.30564578 0.95191048 -0.02115889] [-0.01997839 0.0158065 0.99967521]] t_gt: [-0.91519888 0.4010122 -0.04000279] Pose Error in degrees for R and t: 14.2755454208772 12.473431236562462 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.94617834e-01 -1.03609413e-01 -6.72996432e-04] [ 1.03609773e-01 9.94617887e-01 5.23658469e-04] [ 6.15118342e-04 -5.90569060e-04 9.99999636e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.90365664 0.42824666 0.00310225] [-0.4282328 0.90365833 -0.00412623] [-0.00456994 0.00240103 0.999986 ]] t_gt: [-0.8909601 0.45392619 -0.01187928] Pose Error in degrees for R and t: 31.305086307597357 27.182337194135606 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.02766877 0.99960568 0.00478866] [ 0.99961625 -0.02766202 -0.00146937] [-0.00133632 0.00482748 -0.99998745]] t_estimated: [[-9.80492042e-01] [-1.96557297e-01] [-7.64814385e-04]] R_gt: [[ 0.86394531 0.50299406 0.02441323] [-0.50258174 0.86426866 -0.0212474 ] [-0.0317862 0.00608738 0.99947574]] t_gt: [-0.86671219 0.49880761 0.00096841] Pose Error in degrees for R and t: 178.04804845933634 41.25698735098739 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.38178336 -0.9242164 -0.00809423] [-0.92422047 -0.38168361 -0.01158226] [ 0.00761508 0.01190277 -0.99990016]] t_estimated: [[ 0.60423819] [ 0.79677601] [-0.00664869]] R_gt: [[ 0.99569383 0.02160399 -0.09015228] [-0.03461142 0.98877972 -0.14531594] [ 0.08600209 0.14781115 0.98526896]] t_gt: [ 0.04419908 0.44411844 -0.89487723] Pose Error in degrees for R and t: 169.35534582088283 67.26189826921217 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 6.94411966e-01 7.19577651e-01 1.59511994e-04] [-7.19576852e-01 6.94411495e-01 -1.35227904e-03] [-1.08383674e-03 8.24257608e-04 9.99999073e-01]] t_estimated: [[-7.83636875e-01] [ 6.21219144e-01] [ 1.51602485e-04]] R_gt: [[ 0.99582667 0.06785017 -0.06103128] [-0.07740448 0.98222176 -0.17101972] [ 0.04834312 0.17503004 0.9833754 ]] t_gt: [-0.14411914 0.6451789 -0.75031584] Pose Error in degrees for R and t: 43.03852771591925 59.09468768254225 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.97469448e-01 -7.10963240e-02 -1.16732076e-04] [ 7.10951215e-02 9.97459810e-01 -4.40583640e-03] [ 4.29674327e-04 4.38638812e-03 9.99990287e-01]] t_estimated: [[-0.60438721] [-0.79666444] [-0.00647043]] R_gt: [[ 0.98837862 0.13030304 -0.07827914] [-0.13950739 0.98208138 -0.12670026] [ 0.06036793 0.13614942 0.98884747]] t_gt: [-0.25895001 0.77460512 -0.57700242] Pose Error in degrees for R and t: 14.498294281348912 62.81527272031335 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.76466897 -0.64441452 -0.00336077] [ 0.6444224 -0.76464888 -0.00564545] [ 0.0010682 -0.00648266 0.99997842]] t_estimated: [[9.99500647e-01] [3.15905571e-02] [7.02483661e-04]] R_gt: [[ 0.94916495 0.31405715 -0.0212814 ] [-0.31442817 0.94912681 -0.01709912] [ 0.01482837 0.0229218 0.99962733]] t_gt: [-0.90051036 0.4272753 -0.0807274 ] Pose Error in degrees for R and t: 158.19541603464225 27.548514907783687 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.90218744e-01 -1.39521911e-01 6.89432960e-04] [ 1.39522489e-01 9.90218514e-01 -8.77167151e-04] [-5.60305244e-04 9.64778757e-04 9.99999378e-01]] t_estimated: [[-8.42605021e-01] [-5.38531658e-01] [-6.56745924e-04]] R_gt: [[ 8.36401149e-01 5.48022290e-01 -1.02320561e-02] [-5.48117011e-01 8.36278281e-01 -1.43266900e-02] [ 7.05558628e-04 1.75920122e-02 9.99845258e-01]] t_gt: [-0.85198239 0.52252863 -0.03301273] Pose Error in degrees for R and t: 41.26869364013452 64.11870359211915 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 0.93947843 -0.34247405 0.00958137] [ 0.34255542 0.9394569 -0.00874771] [-0.00600542 0.01150043 0.99991583]] t_estimated: [[7.61404037e-01] [6.48277281e-01] [6.77405727e-04]] R_gt: [[ 0.80356911 0.59520352 -0.00280069] [-0.5949991 0.80315049 -0.03040882] [-0.0158504 0.0261017 0.99953337]] t_gt: [-0.83247272 0.55281248 -0.03724967] Pose Error in degrees for R and t: 56.568373428209526 74.00833307388787 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.2862713 -0.9538532 -0.09062461] [ 0.92787551 -0.2523961 -0.27448724] [ 0.23894724 -0.16266618 0.95731078]] t_estimated: [[ 0.98089703] [-0.16276207] [-0.10653419]] R_gt: [[ 0.99684323 0.04465904 -0.0656469 ] [-0.0507025 0.99432771 -0.09349183] [ 0.06109915 0.09652494 0.99345345]] t_gt: [-0.16859175 0.41756302 -0.89287062] Pose Error in degrees for R and t: 108.7967035695092 82.05552799458096 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.66750373 -0.6243301 -0.40577173] [-0.53261667 0.78115952 -0.3257442 ] [ 0.52034436 -0.00131468 -0.85395551]] t_estimated: [[0.86893412] [0.49492688] [0.00093736]] R_gt: [[ 0.98950356 0.11892501 -0.08210376] [-0.12869788 0.98360425 -0.12632582] [ 0.06573388 0.13556643 0.98858457]] t_gt: [-0.3620063 0.58250444 -0.72776371] Pose Error in degrees for R and t: 144.76390697411287 88.45599586726325 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-8.36740101e-01 -5.47596073e-01 -2.13158892e-03] [-5.47600220e-01 8.36733473e-01 3.33081720e-03] [-4.03706244e-05 3.95428689e-03 -9.99992181e-01]] t_estimated: [[9.61986331e-01] [2.73096368e-01] [8.20107405e-04]] R_gt: [[ 0.99254222 0.11853362 -0.02850154] [-0.12014007 0.990721 -0.0635498 ] [ 0.02070322 0.06649978 0.99757101]] t_gt: [-0.58774671 0.66313335 -0.4634738 ] Pose Error in degrees for R and t: 177.50383376772953 67.37580840203157 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999887e-01 -3.54826657e-04 3.16409263e-04] [ 3.54926921e-04 9.99999887e-01 -3.16878470e-04] [-3.16296790e-04 3.16990736e-04 9.99999900e-01]] t_estimated: [[ 9.99997038e-01] [-2.43151013e-03] [-1.07638951e-04]] R_gt: [[ 0.99727461 -0.07268568 0.01262888] [ 0.0730513 0.99683552 -0.03133281] [-0.01031087 0.03217096 0.99942944]] t_gt: [ 0.33942821 -0.88549153 -0.31732197] Pose Error in degrees for R and t: 4.578304145932862 70.02473469738838 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.94747733e-01 1.02356837e-01 1.57198234e-04] [-1.02356854e-01 9.94747739e-01 1.03295326e-04] [-1.45799605e-04 -1.18843108e-04 9.99999982e-01]] t_estimated: [[-0.42471988] [-0.90532396] [-0.00124187]] R_gt: [[ 0.98776014 -0.15463338 -0.02043678] [ 0.15384305 0.98744548 -0.03581268] [ 0.02571812 0.03223009 0.99915002]] t_gt: [ 0.46058913 -0.83098077 -0.31197535] Pose Error in degrees for R and t: 14.940056112726106 56.146392060346614 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.65406180e-01 2.60750331e-01 4.14733105e-04] [-2.60749724e-01 9.65405753e-01 -1.14579826e-03] [-6.99153001e-04 9.98019180e-04 9.99999258e-01]] t_estimated: [[0.81286927] [0.58244549] [0.00089602]] R_gt: [[ 0.95439632 -0.29667205 -0.03336607] [ 0.29559503 0.95471876 -0.03367113] [ 0.04184408 0.02227313 0.99887647]] t_gt: [ 0.61926566 -0.75952864 -0.19906351] Pose Error in degrees for R and t: 32.46009709030692 86.51314014086024 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999954e-01 2.88921698e-04 -9.24180581e-05] [-2.88904117e-04 9.99999940e-01 1.90191426e-04] [ 9.24730030e-05 -1.90164717e-04 9.99999978e-01]] t_estimated: [[ 9.99767574e-01] [-2.15510491e-02] [ 5.92362831e-04]] R_gt: [[ 0.99581667 -0.09072829 -0.01084613] [ 0.09062977 0.99584052 -0.00927692] [ 0.01164262 0.00825517 0.99989822]] t_gt: [ 0.70450102 -0.70354775 -0.09326773] Pose Error in degrees for R and t: 5.283776626992549 43.99138669177024 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.98653073e-01 5.18845520e-02 1.82825795e-04] [-5.18845605e-02 9.98653088e-01 4.20753447e-05] [-1.80396485e-04 -5.15045083e-05 9.99999982e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99493425 -0.08462322 -0.05426762] [ 0.08053906 0.99403847 -0.07349933] [ 0.06016335 0.06875622 0.99581743]] t_gt: [ 0.67747212 -0.41074948 -0.61017735] Pose Error in degrees for R and t: 9.334869330290461 83.01846698116037 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.94252079 -0.33328152 -0.02404143] [ 0.33363046 0.94262443 0.01224331] [ 0.01858157 -0.01956052 0.99963599]] t_estimated: [[0.71595795] [0.69814251] [0.00111346]] R_gt: [[ 0.98858146 -0.09253044 -0.11893091] [ 0.07546766 0.98716695 -0.14073159] [ 0.13042614 0.13014929 0.98287818]] t_gt: [ 0.57009933 -0.14870235 -0.80800641] Pose Error in degrees for R and t: 18.025513045571316 72.33494154407303 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.1009051 -0.99489478 -0.00159534] [-0.99489175 0.10090925 -0.00278069] [ 0.00292748 0.00130661 -0.99999486]] t_estimated: [[8.31947866e-01] [5.54853409e-01] [6.64495101e-04]] R_gt: [[ 0.99862189 -0.05246226 -0.00129169] [ 0.05244651 0.99857707 -0.00967061] [ 0.00179789 0.00958918 0.9999522 ]] t_gt: [ 0.73899102 -0.66750268 -0.09128228] Pose Error in degrees for R and t: 179.38519832953855 75.85508647692143 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-0.28846665 0.95718897 -0.02400534] [-0.95738279 -0.28871878 -0.00772406] [-0.01432418 0.02075417 0.99968199]] t_estimated: [[0.7329215 ] [0.6803108 ] [0.00181416]] R_gt: [[ 0.9767649 -0.21224734 -0.02968682] [ 0.21248182 0.97715292 0.0049042 ] [ 0.02796794 -0.01109762 0.99954708]] t_gt: [ 0.73838009 -0.67308006 -0.04192938] Pose Error in degrees for R and t: 119.0518135899551 85.22776502430109 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-2.59089003e-01 -9.65852293e-01 -1.49570705e-03] [ 9.65841257e-01 -2.59093203e-01 4.62376146e-03] [-4.85339813e-03 -2.46649828e-04 9.99988192e-01]] t_estimated: [[9.93547333e-01] [1.13414365e-01] [9.37308805e-04]] R_gt: [[ 0.96360576 -0.26477856 -0.03681307] [ 0.26529945 0.96411464 0.00997897] [ 0.03284969 -0.01938289 0.99927208]] t_gt: [ 0.74606504 -0.66525565 -0.02866834] Pose Error in degrees for R and t: 89.66408003087622 48.25822869161044 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 8.70083554e-01 -4.92900352e-01 1.96276657e-03] [ 4.92903344e-01 8.70082717e-01 -1.53596077e-03] [-9.50693667e-04 2.30386841e-03 9.99996894e-01]] t_estimated: [[0.75651406] [0.65397693] [0.00080738]] R_gt: [[ 0.9991652 0.03684844 -0.01762308] [-0.03620784 0.99871541 0.03544359] [ 0.01890643 -0.03477623 0.9992166 ]] t_gt: [-0.92310728 0.2719687 0.27185653] Pose Error in degrees for R and t: 31.715436362255584 58.65011303819394 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-7.65751793e-01 -6.43134693e-01 -1.39918432e-03] [ 6.43132915e-01 -7.65753021e-01 1.53730381e-03] [-2.06012304e-03 2.77331662e-04 9.99997839e-01]] t_estimated: [[8.51611854e-01] [5.24172486e-01] [6.73743556e-04]] R_gt: [[ 0.99925004 0.03571788 -0.01496241] [-0.03563123 0.99934653 0.00609137] [ 0.01517076 -0.00555296 0.9998703 ]] t_gt: [-0.90056182 -0.27789682 -0.3343079 ] Pose Error in degrees for R and t: 142.0200134940244 24.101957799759003 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.18914334 0.98194799 -0.0017158 ] [-0.98153721 0.18901301 -0.0293052 ] [-0.02845188 0.00722701 0.99956904]] t_estimated: [[0.65492477] [0.75568242] [0.00419824]] R_gt: [[ 0.99767968 -0.06198776 -0.0281613 ] [ 0.06162002 0.9980056 -0.01372701] [ 0.028956 0.01196018 0.99951011]] t_gt: [ 0.40438634 -0.85834867 -0.3157677 ] Pose Error in degrees for R and t: 82.68114697629106 67.34868317408454 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[-0.65349236 0.75442713 -0.06154222] [ 0.75442652 0.65578321 0.02808924] [ 0.06154964 -0.02807298 -0.99770915]] t_estimated: [[ 0.9140283 ] [-0.40425074] [-0.03366918]] R_gt: [[ 0.99951863 0.02062949 -0.0231656 ] [-0.02102536 0.99963411 -0.01700693] [ 0.02280701 0.01748431 0.99958684]] t_gt: [-0.1015688 0.80840207 -0.57980158] Pose Error in degrees for R and t: 175.33314191389613 66.41479206659676 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 8.06731104e-01 -5.90907771e-01 3.59604794e-03] [ 5.90918630e-01 8.06712830e-01 -5.43897095e-03] [ 3.12952184e-04 6.51275876e-03 9.99978743e-01]] t_estimated: [[-0.62588507] [-0.77991147] [-0.00244486]] R_gt: [[ 0.99668446 0.08000925 -0.01479557] [-0.08064906 0.99551549 -0.04942904] [ 0.01077492 0.05045879 0.99866817]] t_gt: [-0.37648768 0.83224773 -0.40696528] Pose Error in degrees for R and t: 40.91294991578967 65.64138301455846 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.99945694e-01 1.04208372e-02 -1.22334281e-04] [-1.04208275e-02 9.99945699e-01 7.94547831e-05] [ 1.23155624e-04 -7.81756438e-05 9.99999989e-01]] t_estimated: [[-9.74968810e-01] [ 2.22340360e-01] [-7.64609732e-04]] R_gt: [[ 0.98541351 0.16890194 -0.02081662] [-0.16963984 0.98464586 -0.04116802] [ 0.01354335 0.04409838 0.9989356 ]] t_gt: [-0.56199653 0.80097483 -0.20639579] Pose Error in degrees for R and t: 9.527357668590518 43.43324056581077 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.94047355e-01 1.08948721e-01 1.80106313e-04] [-1.08948779e-01 9.94047305e-01 3.45364994e-04] [-1.41407120e-04 -3.62931521e-04 9.99999924e-01]] t_estimated: [[0.27149595] [0.96243812] [0.00167732]] R_gt: [[ 0.99809939 -0.05160031 -0.03371261] [ 0.05124096 0.99862142 -0.01145746] [ 0.03425817 0.00970843 0.99936559]] t_gt: [ 0.98346348 -0.02749669 -0.17900703] Pose Error in degrees for R and t: 9.429183078105618 76.09916233631924 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99926944e-01 -1.20868488e-02 1.22541567e-04] [ 1.20868515e-02 9.99926951e-01 -2.10131590e-05] [-1.22278633e-04 2.24927656e-05 9.99999992e-01]] t_estimated: [[ 0.81149687] [ 0.58435615] [-0.00084474]] R_gt: [[ 9.96724561e-01 -6.09242185e-02 -5.31923513e-02] [ 6.10638402e-02 9.98134212e-01 9.98406152e-04] [ 5.30330674e-02 -4.24374051e-03 9.98583714e-01]] t_gt: [ 0.9901158 0.04759318 -0.13193025] Pose Error in degrees for R and t: 4.149183432039522 33.757313394717926 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.49921514 -0.86639163 0.01223868] [-0.86647537 -0.49919906 0.00455404] [ 0.00216396 -0.01287796 -0.99991473]] t_estimated: [[0.59311246] [0.80511209] [0.00348295]] R_gt: [[ 0.99674217 -0.04210754 -0.06879564] [ 0.04193157 0.99911251 -0.00400108] [ 0.06890411 0.00110331 0.99762267]] t_gt: [ 0.96960082 0.16165286 -0.18369157] Pose Error in degrees for R and t: 178.46382437483658 45.203471694936454 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-1.00718974e-02 9.99949245e-01 2.53267565e-04] [-9.99947632e-01 -1.00714211e-02 -1.81644681e-03] [-1.81380385e-03 -2.71549368e-04 9.99998318e-01]] t_estimated: [[0.1084047 ] [0.99410631] [0.00102959]] R_gt: [[ 0.98575248 -0.16505814 -0.03237299] [ 0.16459974 0.98622497 -0.01634045] [ 0.03462446 0.01077983 0.99934187]] t_gt: [ 0.69377779 -0.6909531 -0.20311621] Pose Error in degrees for R and t: 100.08465282525445 52.27435005436308 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.98488931e-01 5.49517547e-02 3.99183751e-04] [-5.49516068e-02 9.98488949e-01 -3.72616566e-04] [-4.19056499e-04 3.50117728e-04 9.99999851e-01]] t_estimated: [[-0.24863169] [-0.96859724] [-0.00129105]] R_gt: [[ 0.95707115 -0.28558525 -0.04955497] [ 0.28133236 0.95640995 -0.0783054 ] [ 0.06975799 0.06100193 0.99569651]] t_gt: [ 0.7400391 -0.56432819 -0.36589044] Pose Error in degrees for R and t: 20.353057351180716 68.71041017086829 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99990613e-01 7.28918681e-04 -4.27111211e-03] [-7.01154452e-04 9.99978640e-01 6.49836384e-03] [ 4.27575765e-03 -6.49530813e-03 9.99969764e-01]] t_estimated: [[-0.75090221] [-0.66041294] [-0.00079377]] R_gt: [[ 0.9231392 -0.38397038 0.01949903] [ 0.38433864 0.92034908 -0.07239802] [ 0.00985319 0.07432811 0.99718512]] t_gt: [ 0.75651486 -0.62373493 -0.1965706 ] Pose Error in degrees for R and t: 23.141719009230524 81.02578080140854 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.71665787e-01 -2.36359038e-01 6.51275540e-05] [ 2.36359042e-01 9.71665786e-01 -5.53831398e-05] [-5.01919103e-05 6.92073884e-05 9.99999996e-01]] t_estimated: [[-8.30736934e-01] [-5.56664749e-01] [-7.10031567e-04]] R_gt: [[ 0.99632348 0.08140912 -0.02668643] [-0.08280055 0.99499027 -0.05601785] [ 0.02199196 0.05802073 0.99807273]] t_gt: [-0.5203768 0.71448435 -0.4676752 ] Pose Error in degrees for R and t: 18.72362468353049 87.99996899373706 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.95281662 -0.30353691 -0.00241577] [ 0.3035441 0.95281065 0.00358302] [ 0.00121419 -0.00414725 0.99999066]] t_estimated: [[-0.95808178] [-0.28649177] [-0.00133252]] R_gt: [[ 0.98917496 0.12758136 -0.07250178] [-0.13656107 0.98116917 -0.13659418] [ 0.05370862 0.14501644 0.98797057]] t_gt: [-0.40130927 0.69458567 -0.59707757] Pose Error in degrees for R and t: 26.855095434908666 79.26366960840735 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.62004918e-01 -5.06892085e-01 2.81695675e-03] [ 5.06899904e-01 8.61990570e-01 -4.97440273e-03] [ 9.32952195e-05 5.71587472e-03 9.99983660e-01]] t_estimated: [[-0.304229 ] [-0.95258587] [-0.00498736]] R_gt: [[ 0.97867893 0.14466422 -0.14581055] [-0.17591986 0.95679859 -0.23149291] [ 0.10602218 0.25220708 0.96184687]] t_gt: [-0.25491306 0.64834534 -0.71740341] Pose Error in degrees for R and t: 42.69709577767635 57.556021207216816 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.39640513e-01 3.42163171e-01 2.66489354e-04] [-3.42163078e-01 9.39640523e-01 -3.39720339e-04] [-3.66643984e-04 2.28032176e-04 9.99999907e-01]] t_estimated: [[-2.17358575e-01] [ 9.76091651e-01] [ 5.82211731e-04]] R_gt: [[ 0.98737585 -0.14152323 0.07114565] [ 0.13787683 0.98898654 0.05380644] [-0.07797619 -0.04331777 0.99601329]] t_gt: [ 0.54726161 -0.67987506 0.48813383] Pose Error in degrees for R and t: 28.507915562869233 38.529441407973664 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-7.94524421e-01 6.07179576e-01 7.99415601e-03] [ 6.07197207e-01 7.94551116e-01 -2.75211416e-04] [-6.51886833e-03 4.63536701e-03 -9.99968008e-01]] t_estimated: [[0.95783725] [0.2873054 ] [0.00184505]] R_gt: [[ 0.9731898 -0.2156589 0.07996338] [ 0.20996274 0.97490779 0.07395879] [-0.09390567 -0.05518643 0.9940497 ]] t_gt: [ 0.62105049 -0.65092938 0.43656297] Pose Error in degrees for R and t: 175.99116254947026 65.87961180564632 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.68961139 0.72411567 0.00962446] [ 0.72411915 0.68966465 -0.00375885] [-0.00935949 0.00437711 -0.99994662]] t_estimated: [[ 0.90947376] [-0.41572723] [ 0.00532486]] R_gt: [[ 0.96554037 -0.25373091 0.05791275] [ 0.2496588 0.96585348 0.06926448] [-0.07350939 -0.05241857 0.99591525]] t_gt: [ 0.70808804 -0.62602298 0.32665969] Pose Error in degrees for R and t: 177.30437290901924 25.044171316475804 Number of keypoints: Image1: 709 Image2: 709 R_estimated: [[ 9.99327401e-01 3.66707624e-02 6.84197300e-06] [-3.66707619e-02 9.99327400e-01 -5.54104369e-05] [-8.86931405e-06 5.51222675e-05 9.99999998e-01]] t_estimated: [[-2.76568881e-01] [-9.60994022e-01] [-3.80160692e-04]] R_gt: [[ 9.99216683e-01 -1.89456650e-05 -3.95792593e-02] [ 1.42882674e-03 9.99364441e-01 3.56347070e-02] [ 3.95530545e-02 -3.56626816e-02 9.98581022e-01]] t_gt: [ 0.67641903 -0.73103214 -0.08971791] Pose Error in degrees for R and t: 3.7313817456049527 58.970778666657296 Number of keypoints: Image1: 633 Image2: 633 R_estimated: [[ 9.98654149e-01 5.18457575e-02 1.38168930e-03] [-5.18448819e-02 9.98654930e-01 -6.62206436e-04] [-1.41416342e-03 5.89681687e-04 9.99998826e-01]] t_estimated: [[0.21087102] [0.97751226] [0.00178704]] R_gt: [[ 0.99769221 0.06518984 -0.0189529 ] [-0.06426551 0.99687659 0.0459018 ] [ 0.02188599 -0.04457853 0.99876595]] t_gt: [-0.95351421 0.15505116 0.25839849] Pose Error in degrees for R and t: 3.0061617717885123 87.18895373667247 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 9.37649185e-01 3.47558925e-01 4.09863715e-03] [ 3.47582017e-01 -9.37551781e-01 -1.35425393e-02] [-8.64145841e-04 1.41227635e-02 -9.99899895e-01]] t_estimated: [[9.93621021e-01] [1.12768100e-01] [7.88588112e-04]] R_gt: [[ 0.98868332 0.14937137 -0.01391012] [-0.14780884 0.98577863 0.07996218] [ 0.02565557 -0.07700159 0.9967009 ]] t_gt: [-0.94658166 0.20436301 0.24943722] Pose Error in degrees for R and t: 176.15209545112472 23.465343236174476 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999998e-01 2.02004717e-05 5.90343099e-05] [-2.02063847e-05 9.99999995e-01 1.00164339e-04] [-5.90322862e-05 -1.00165531e-04 9.99999993e-01]] t_estimated: [[0.79269642] [0.60961577] [0.00099615]] R_gt: [[ 0.99944381 -0.02983604 -0.01490823] [ 0.03067563 0.99774604 0.05968511] [ 0.01309401 -0.06010984 0.99810558]] t_gt: [ 0.73181312 -0.03548349 0.68058099] Pose Error in degrees for R and t: 3.9268720666081554 56.0028059319774 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999893e-01 -3.99992946e-04 2.33796339e-04] [ 4.00072373e-04 9.99999862e-01 -3.39779077e-04] [-2.33660398e-04 3.39872576e-04 9.99999915e-01]] t_estimated: [[ 0.99984189] [-0.01770553] [-0.0016429 ]] R_gt: [[ 0.99722592 -0.0651101 -0.03608966] [ 0.06632071 0.99723908 0.03342308] [ 0.03381434 -0.03572486 0.99878971]] t_gt: [0.996731 0.03128193 0.07449001] Pose Error in degrees for R and t: 4.702673600899086 5.191923540072973 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999953e-01 1.14091457e-04 2.85945781e-04] [-1.13983043e-04 9.99999922e-01 -3.79129529e-04] [-2.85989014e-04 3.79096918e-04 9.99999887e-01]] t_estimated: [[-0.32369893] [-0.94615868] [-0.00165776]] R_gt: [[ 0.99928467 -0.03686887 -0.0084032 ] [ 0.03707517 0.99897824 0.02587031] [ 0.00744063 -0.02616337 0.99963086]] t_gt: [0.92172126 0.34170834 0.18348112] Pose Error in degrees for R and t: 2.650224982586326 51.53952113942944 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.98485019e-01 -5.50242345e-02 -2.33715964e-06] [ 5.50242342e-02 9.98485006e-01 1.64684555e-04] [-6.72802273e-06 -1.64563662e-04 9.99999986e-01]] t_estimated: [[-4.55300384e-01] [ 8.90337784e-01] [ 4.36765214e-04]] R_gt: [[ 0.99545361 0.0561535 -0.07693415] [-0.05426193 0.99817657 0.02645859] [ 0.07827981 -0.02216435 0.99668479]] t_gt: [ 0.68898902 0.39886306 -0.60514659] Pose Error in degrees for R and t: 7.8565589031978345 87.64094877587684 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 8.28632800e-01 -5.59790211e-01 -1.61297194e-03] [ 5.59792106e-01 8.28632292e-01 1.14998811e-03] [ 6.92808548e-04 -1.85584683e-03 9.99998038e-01]] t_estimated: [[9.99994892e-01] [3.10075876e-03] [7.75189839e-04]] R_gt: [[ 0.98140573 0.12469787 -0.14592197] [-0.11331225 0.99000908 0.08392634] [ 0.15492986 -0.06583119 0.98573026]] t_gt: [ 0.86770771 0.25322517 -0.42773864] Pose Error in degrees for R and t: 41.98533034145311 29.754840528927183 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 1.00000000e+00 -1.31872291e-12 5.37113756e-16] [ 1.31888944e-12 1.00000000e+00 2.29867124e-15] [-5.36680075e-16 -2.29823756e-15 1.00000000e+00]] t_estimated: [[-0.87718356] [-0.48015421] [-0.00096982]] R_gt: [[ 0.95941722 0.2245259 -0.17060439] [-0.20636467 0.97135398 0.11783763] [ 0.19217475 -0.07784873 0.978268 ]] t_gt: [ 0.53839206 0.77028847 -0.34174502] Pose Error in degrees for R and t: 17.3464117058988 32.66989918968182 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 8.89866684e-01 -4.56219665e-01 -9.49841745e-04] [ 4.56220069e-01 8.89866949e-01 2.50639918e-04] [ 7.30885915e-04 -6.56372979e-04 9.99999517e-01]] t_estimated: [[ 2.41195369e-01] [-9.70476387e-01] [-6.13637620e-04]] R_gt: [[ 0.99895986 0.03963535 -0.02252841] [-0.04185867 0.99319133 -0.10872089] [ 0.01806532 0.10955153 0.99381669]] t_gt: [-0.20436001 0.61905751 -0.7582907 ] Pose Error in degrees for R and t: 30.15599873286924 49.48809194061162 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.85203006e-01 -1.71391155e-01 -3.31366744e-04] [ 1.71391152e-01 9.85203061e-01 -3.74761980e-05] [ 3.32886619e-04 -1.98716650e-05 9.99999944e-01]] t_estimated: [[-0.27804714] [-0.9605669 ] [-0.00100411]] R_gt: [[ 0.99650446 0.08250763 -0.01302102] [-0.08337194 0.99202798 -0.09450455] [ 0.00511995 0.09526101 0.99543923]] t_gt: [-0.32573123 0.80165114 -0.50125305] Pose Error in degrees for R and t: 15.621332789016625 47.23697943960776 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.59785579e-01 2.78752814e-01 -3.32943177e-02] [ 2.78900348e-01 9.60320023e-01 2.21548608e-04] [ 3.20349572e-02 -9.07315765e-03 -9.99445566e-01]] t_estimated: [[ 0.98625946] [-0.16467403] [-0.01321892]] R_gt: [[ 0.98128263 0.18642635 -0.0482614 ] [-0.19013822 0.97768026 -0.08938247] [ 0.0305205 0.09688619 0.99482705]] t_gt: [-0.43857561 0.83112603 -0.34187857] Pose Error in degrees for R and t: 176.65251041361233 55.60500317943286 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999449e-01 -1.04871081e-03 4.80119372e-05] [ 1.04871755e-03 9.99999440e-01 -1.40621214e-04] [-4.78644394e-05 1.40671488e-04 9.99999989e-01]] t_estimated: [[ 9.27867846e-01] [-3.72908687e-01] [-6.09118797e-04]] R_gt: [[ 0.99121716 -0.1299966 0.02428485] [ 0.1299844 0.99151285 0.00205666] [-0.02434659 0.00111831 0.99970258]] t_gt: [ 0.71571261 -0.6850484 0.13588289] Pose Error in degrees for R and t: 7.540147558291791 23.15208756273723 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-7.09780276e-01 7.04420884e-01 -1.78265153e-03] [-7.04419757e-01 -7.09782438e-01 -1.30267004e-03] [-2.18292273e-03 3.31125460e-04 9.99997563e-01]] t_estimated: [[0.85824638] [0.51323704] [0.00095044]] R_gt: [[ 0.98040183 -0.19644942 0.01479033] [ 0.19644356 0.98051228 0.00185766] [-0.01486764 0.00108483 0.99988915]] t_gt: [ 0.78622891 -0.61681239 0.03723677] Pose Error in degrees for R and t: 146.54776589359503 69.00769650360057 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999224e-01 1.23059435e-03 1.91504570e-04] [-1.23059407e-03 9.99999243e-01 -1.59728491e-06] [-1.91506390e-04 1.36161928e-06 9.99999982e-01]] t_estimated: [[9.99996446e-01] [2.66220821e-03] [1.45708099e-04]] R_gt: [[ 0.96520549 -0.26128239 -0.01048667] [ 0.26131243 0.96525216 0.00157971] [ 0.00970955 -0.00426449 0.99994379]] t_gt: [ 0.84343697 -0.53697321 -0.01654817] Pose Error in degrees for R and t: 15.230567010468917 32.64786319798173 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.19097361e-01 -9.75702965e-01 2.64573039e-04] [-9.75702175e-01 2.19097521e-01 1.24188218e-03] [-1.26967543e-03 1.39486202e-05 -9.99999194e-01]] t_estimated: [[0.80870587] [0.58821124] [0.00153598]] R_gt: [[ 0.99178766 0.10091007 -0.07857767] [-0.0954083 0.99291121 0.0708789 ] [ 0.08517227 -0.06279999 0.99438486]] t_gt: [0.25695601 0.94181782 0.21668597] Pose Error in degrees for R and t: 178.78143144567528 40.34833023644435 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999932e-01 -2.91607315e-04 -2.25743688e-04] [ 2.91655202e-04 9.99999935e-01 2.12125070e-04] [ 2.25681816e-04 -2.12190895e-04 9.99999952e-01]] t_estimated: [[-0.9820998 ] [ 0.18835766] [-0.0011682 ]] R_gt: [[ 0.98030993 0.17537042 -0.09075517] [-0.16738197 0.98184368 0.0892582 ] [ 0.10476016 -0.07230998 0.99186516]] t_gt: [-0.04708753 0.94656255 0.31906442] Pose Error in degrees for R and t: 12.312648383537903 77.04626317727941 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.72986649 -0.68358513 0.00250416] [-0.68358155 0.72983495 -0.00756419] [ 0.00334315 -0.00723264 -0.99996826]] t_estimated: [[8.71575335e-01] [4.90261126e-01] [6.80918231e-04]] R_gt: [[ 0.95089103 0.26829806 -0.15434244] [-0.24951773 0.959511 0.13069055] [ 0.18315673 -0.08576079 0.97933554]] t_gt: [ 0.07447772 0.99353035 -0.08573517] Pose Error in degrees for R and t: 173.22268270835832 56.499527131312654 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999856e-01 -5.36173017e-04 -6.08313218e-06] [ 5.36172653e-04 9.99999854e-01 -5.97857038e-05] [ 6.11518678e-06 5.97824336e-05 9.99999998e-01]] t_estimated: [[ 9.95507876e-01] [-9.46780096e-02] [-3.77466155e-04]] R_gt: [[ 0.9867415 -0.1616428 -0.0146403 ] [ 0.16176895 0.98679665 0.00785078] [ 0.01317834 -0.01011363 0.9998615 ]] t_gt: [ 0.72974429 -0.68208953 -0.04719265] Pose Error in degrees for R and t: 9.324708402762509 37.71504953056091 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.09521449 -0.99545583 -0.0013789 ] [-0.9954561 0.0952127 0.00130501] [-0.00116779 0.00149689 -0.9999982 ]] t_estimated: [[8.48910396e-01] [5.28536166e-01] [8.13132563e-04]] R_gt: [[ 0.95675935 -0.28705476 0.04703657] [ 0.28317331 0.95612451 0.07509077] [-0.0665274 -0.05852328 0.99606617]] t_gt: [ 0.70993309 -0.66356059 0.23597108] Pose Error in degrees for R and t: 174.9509935703996 75.3954805050011 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.18817547 -0.98213352 -0.00193201] [ 0.98213384 -0.18817833 0.00142404] [-0.00176216 -0.00162952 0.99999712]] t_estimated: [[0.99988949] [0.01482887] [0.0010592 ]] R_gt: [[ 0.91878831 -0.38682118 0.07873548] [ 0.37844428 0.91986814 0.10306787] [-0.11229482 -0.06489983 0.99155295]] t_gt: [ 0.74027981 -0.61326524 0.27548421] Pose Error in degrees for R and t: 78.5376277389191 42.99646665861136 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[-7.69846977e-03 -9.99970207e-01 -5.64317405e-04] [ 9.99964678e-01 -7.69652134e-03 -3.37719456e-03] [ 3.37275066e-03 -5.90296702e-04 9.99994138e-01]] t_estimated: [[ 0.82354533] [-0.56724436] [-0.00263076]] R_gt: [[ 0.99874816 0.04784584 -0.01461153] [-0.04743093 0.99849584 0.02753114] [ 0.01590715 -0.02680386 0.99951422]] t_gt: [-0.90258787 0.34383847 0.25905644] Pose Error in degrees for R and t: 93.18597880223636 20.108380049444712 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 3.54492607e-01 9.35056418e-01 2.11817150e-03] [ 9.35058767e-01 -3.54492421e-01 -4.75149130e-04] [ 3.06584502e-04 2.14905169e-03 -9.99997644e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9898592 0.13989308 0.02466403] [-0.14118377 0.98802932 0.0621734 ] [-0.01567168 -0.06502549 0.9977609 ]] t_gt: [-0.89527248 0.24846717 0.36979895] Pose Error in degrees for R and t: 177.73593392415933 26.59276106478421 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.87759992e-01 -1.55980730e-01 -4.57898886e-04] [ 1.55980845e-01 9.87760055e-01 2.25451690e-04] [ 4.17128109e-04 -2.94115615e-04 9.99999870e-01]] t_estimated: [[-0.30532583] [-0.95224734] [-0.00106819]] R_gt: [[ 0.972909 0.23113236 -0.00517234] [-0.23065232 0.97193032 0.04638087] [ 0.01574723 -0.04393058 0.99891027]] t_gt: [-0.89022741 0.44873848 0.07828751] Pose Error in degrees for R and t: 22.485893348011455 81.04931896865146 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999322e-01 1.16305704e-03 4.87642710e-05] [-1.16306369e-03 9.99999314e-01 1.36593313e-04] [-4.86053717e-05 -1.36649937e-04 9.99999989e-01]] t_estimated: [[0.99991637] [0.01287831] [0.00118737]] R_gt: [[ 0.9934467 -0.11412325 -0.00625589] [ 0.11386766 0.99297887 -0.0320468 ] [ 0.00986871 0.03112408 0.99946667]] t_gt: [ 0.65671945 -0.68683552 -0.31141056] Pose Error in degrees for R and t: 6.875727734142626 49.650421173089 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.91055164 -0.41338997 0.00210959] [-0.41338471 0.91055296 0.00252648] [-0.00296531 0.00142842 -0.99999458]] t_estimated: [[0.99655869] [0.08285994] [0.00223946]] R_gt: [[ 0.96072824 -0.27215731 0.0541542 ] [ 0.27347762 0.9616996 -0.01853336] [-0.04703644 0.03261538 0.9983602 ]] t_gt: [ 0.70296939 -0.71022073 0.03769009] Pose Error in degrees for R and t: 177.2879730227005 50.07488732187458 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99749247e-01 -2.23877007e-02 4.84092611e-04] [ 2.23878103e-02 9.99749337e-01 -2.22122408e-04] [-4.78998457e-04 2.32904483e-04 9.99999858e-01]] t_estimated: [[ 9.99975547e-01] [ 6.97197639e-03] [-5.44861852e-04]] R_gt: [[ 0.91090323 -0.41012858 0.04527778] [ 0.40913404 0.91198706 0.02982269] [-0.05352435 -0.00864104 0.998529 ]] t_gt: [ 0.75477469 -0.64427017 0.12341444] Pose Error in degrees for R and t: 23.1219312693582 41.39254161775981 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99031567e-01 -4.39923745e-02 -7.73916964e-04] [ 4.39932050e-02 9.99031235e-01 1.09098783e-03] [ 7.25172075e-04 -1.12397837e-03 9.99999105e-01]] t_estimated: [[-0.99742105] [-0.07175366] [-0.00162893]] R_gt: [[ 0.9864074 0.16409695 0.00852866] [-0.16401559 0.98641277 -0.00947487] [-0.00996695 0.00794789 0.99991824]] t_gt: [-0.87204332 0.4892518 -0.0131577 ] Pose Error in degrees for R and t: 11.991211911051852 33.41432629538249 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99932695e-01 -1.16002977e-02 -1.96525989e-04] [ 1.16003136e-02 9.99932711e-01 8.00392366e-05] [ 1.95584286e-04 -8.23136127e-05 9.99999977e-01]] t_estimated: [[-9.87745857e-01] [ 1.56069546e-01] [-6.47244016e-04]] R_gt: [[ 0.95957334 0.27966745 0.03171895] [-0.28051551 0.9594861 0.02641505] [-0.02304603 -0.03424383 0.99914754]] t_gt: [-0.88023785 0.44762361 0.15752595] Pose Error in degrees for R and t: 17.10119999654046 20.080735598834693 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 6.20441014e-01 7.84252543e-01 9.46803598e-04] [-7.84252565e-01 6.20441557e-01 -4.35570391e-04] [-9.29033485e-04 -4.72287415e-04 9.99999457e-01]] t_estimated: [[-0.07854043] [ 0.99691029] [ 0.00113125]] R_gt: [[ 0.9448481 0.32447846 0.04446073] [-0.32663179 0.94352566 0.05540991] [-0.023969 -0.06687592 0.99747327]] t_gt: [-0.88621662 0.39932566 0.23485981] Pose Error in degrees for R and t: 32.87020337398927 62.09795405511734 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.17798633 -0.98357025 0.03017322] [-0.9832252 0.17899875 0.03503776] [-0.03986306 -0.02343083 -0.99893039]] t_estimated: [[0.73506262] [0.67747419] [0.02667686]] R_gt: [[ 0.99969674 0.02069433 -0.0133523 ] [-0.02105869 0.99939566 -0.02764617] [ 0.01277286 0.0279191 0.99952869]] t_gt: [-0.30941732 0.70669544 -0.63627232] Pose Error in degrees for R and t: 178.98331081210907 76.44650850591592 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 1.00000000e+00 3.23688285e-10 -1.07492195e-11] [-3.23688285e-10 1.00000000e+00 -3.34185002e-11] [ 1.07491693e-11 3.34185003e-11 1.00000000e+00]] t_estimated: [[2.89639780e-03] [9.99995737e-01] [3.70821846e-04]] R_gt: [[ 0.99142226 0.11743049 -0.05736365] [-0.1226171 0.98767372 -0.09729141] [ 0.04523171 0.10349122 0.99360217]] t_gt: [-0.43382234 0.72419449 -0.53604153] Pose Error in degrees for R and t: 9.477941290883107 43.719157367458216 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.27561539e-01 -3.73670412e-01 1.23057163e-04] [ 3.73670397e-01 9.27561544e-01 1.29727505e-04] [-1.62618422e-04 -7.43474252e-05 9.99999984e-01]] t_estimated: [[0.44384635] [0.89610242] [0.00093441]] R_gt: [[ 0.98832309 0.11311413 -0.10209227] [-0.13026648 0.97481679 -0.18100449] [ 0.07904613 0.19218973 0.97816931]] t_gt: [-0.27966359 0.6556649 -0.70135 ] Pose Error in degrees for R and t: 31.34533234993622 62.434658156849046 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.26511193 0.96411769 -0.01388336] [ 0.96408095 -0.26480443 0.02065251] [ 0.01623508 -0.01885991 -0.99969032]] t_estimated: [[-0.75463419] [-0.6561412 ] [-0.00244235]] R_gt: [[ 0.98227547 0.18734197 -0.00602651] [-0.18715015 0.98203985 0.02393052] [ 0.01040213 -0.02237909 0.99969471]] t_gt: [-0.94707973 0.30605344 0.09680535] Pose Error in degrees for R and t: 177.22814010212804 59.092869237893915 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.24755862e-01 -3.80559455e-01 -1.04733525e-03] [ 3.80559798e-01 9.24756303e-01 1.42638637e-04] [ 9.14247390e-04 -5.30479606e-04 9.99999441e-01]] t_estimated: [[9.99988849e-01] [4.65833315e-03] [7.76388858e-04]] R_gt: [[ 0.9675757 0.25191107 0.01839061] [-0.25173419 0.96772899 -0.01141872] [-0.02067267 0.00641893 0.99976577]] t_gt: [-0.93008766 0.36733364 -0.00171322] Pose Error in degrees for R and t: 36.977681680813525 21.818255038577707 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.81458868e-01 -1.91672868e-01 -4.24558854e-05] [ 1.91672873e-01 9.81458828e-01 2.81485520e-04] [-1.22844334e-05 -2.84404101e-04 9.99999959e-01]] t_estimated: [[-8.57845411e-01] [-5.13907391e-01] [-6.66546551e-04]] R_gt: [[ 0.91131662 0.41117826 0.02084976] [-0.41167171 0.91072614 0.03320463] [-0.00533443 -0.0388431 0.99923038]] t_gt: [-0.87364364 0.47595028 0.1010847 ] Pose Error in degrees for R and t: 35.42292521627628 59.68262397475242 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 6.22610438e-01 -7.82531192e-01 -1.08475922e-03] [ 7.82531776e-01 6.22610613e-01 2.08707995e-04] [ 5.12062087e-04 -9.78802336e-04 9.99999390e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99750077 -0.02293959 -0.06683069] [ 0.01816654 0.9972998 -0.07115341] [ 0.0682826 0.06976216 0.99522316]] t_gt: [ 0.31331829 0.08341564 -0.94597753] Pose Error in degrees for R and t: 50.60235348277149 85.15935208099594 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.19286199e-01 -3.93589734e-01 -7.01395781e-05] [ 3.93589739e-01 9.19286195e-01 9.50091948e-05] [ 2.70837021e-05 -1.14946860e-04 9.99999993e-01]] t_estimated: [[9.40232315e-01] [3.40532858e-01] [7.53391278e-04]] R_gt: [[ 0.99424368 0.01519163 -0.10606676] [-0.02340206 0.99678689 -0.07659927] [ 0.1045618 0.07864084 0.99140402]] t_gt: [ 0.18003857 0.36090923 -0.91505773] Pose Error in degrees for R and t: 25.409066350081083 73.05281056766312 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.83352701e-01 -4.68708870e-01 -2.75523230e-05] [ 4.68708867e-01 8.83352684e-01 1.82685939e-04] [-6.12881014e-05 -1.74290135e-04 9.99999983e-01]] t_estimated: [[-0.17173165] [-0.98514323] [-0.00102833]] R_gt: [[ 0.98999535 0.05560319 -0.12968451] [-0.07146882 0.99006636 -0.12108081] [ 0.12166418 0.12913836 0.98413414]] t_gt: [ 0.0381087 0.57780775 -0.81528273] Pose Error in degrees for R and t: 33.1952880423548 54.9053064252921 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99798964e-01 2.00503901e-02 1.18000223e-04] [-2.00503883e-02 9.99798971e-01 -1.62942273e-05] [-1.18303208e-04 1.39250013e-05 9.99999993e-01]] t_estimated: [[0.94620956] [0.32355297] [0.00097326]] R_gt: [[ 0.99793918 -0.06401745 -0.00428995] [ 0.06399653 0.99793853 -0.00460057] [ 0.00457473 0.00431724 0.99998 ]] t_gt: [ 0.85326991 -0.5151199 -0.08112926] Pose Error in degrees for R and t: 4.833060206262589 50.16158926576415 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999877e-01 4.43904818e-04 2.20110223e-04] [-4.43881423e-04 9.99999896e-01 -1.06325499e-04] [-2.20157399e-04 1.06227783e-04 9.99999970e-01]] t_estimated: [[ 9.97571124e-01] [ 6.96551501e-02] [-1.11424457e-04]] R_gt: [[ 0.98821288 -0.1483016 -0.03798823] [ 0.14827616 0.98893913 -0.00348761] [ 0.03808486 -0.00218545 0.99927219]] t_gt: [ 0.85238426 -0.49814683 -0.15903083] Pose Error in degrees for R and t: 8.833842188849944 35.349985170168836 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99999804e-01 -5.61473352e-05 6.23294015e-04] [ 5.66749156e-05 9.99999640e-01 -8.46453663e-04] [-6.23246265e-04 8.46488823e-04 9.99999448e-01]] t_estimated: [[0.67215207] [0.74041248] [0.00097824]] R_gt: [[ 9.84892035e-01 -1.69453218e-01 -3.57024316e-02] [ 1.69343507e-01 9.85537795e-01 -6.08563552e-03] [ 3.62167378e-02 -5.16424230e-05 9.99343885e-01]] t_gt: [ 0.87017771 -0.47462371 -0.1323748 ] Pose Error in degrees for R and t: 9.977455037445804 76.50591754580356 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99921384e-01 1.25193790e-02 7.00962060e-04] [-1.25190789e-02 9.99921540e-01 -4.30853678e-04] [-7.06301083e-04 4.22044406e-04 9.99999662e-01]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.99416102 -0.10466381 -0.02628394] [ 0.10332181 0.99348569 -0.04807884] [ 0.0311447 0.04508208 0.99849739]] t_gt: [ 0.75530475 -0.50309877 -0.42000757] Pose Error in degrees for R and t: 7.390912061186163 61.15347010000619 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 0.96398971 0.10853903 -0.24278205] [-0.0666282 0.98237701 0.17463131] [ 0.25745782 -0.15216665 0.95423309]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.96613002 -0.25671898 -0.02625603] [ 0.25549701 0.96587705 -0.04247575] [ 0.03626484 0.0343291 0.99875161]] t_gt: [ 0.80038953 -0.57211952 -0.17904147] Pose Error in degrees for R and t: 26.400283182362195 77.60256440556087 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.74454994e-01 2.24582854e-01 8.34565405e-05] [-2.24582869e-01 9.74454952e-01 2.86923863e-04] [-1.68864591e-05 -2.98337301e-04 9.99999955e-01]] t_estimated: [[9.99974549e-01] [7.07946583e-03] [8.84933229e-04]] R_gt: [[ 0.92233928 -0.38531934 0.02863206] [ 0.38522972 0.92277955 0.00881283] [-0.02981708 0.00290146 0.99955081]] t_gt: [ 0.80578529 -0.5917426 0.02346835] Pose Error in degrees for R and t: 35.68421957553543 36.717188286420125 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 0.45384067 -0.89086319 0.01978442] [-0.89088052 -0.45315266 0.03137781] [-0.01898798 -0.03186609 -0.99931177]] t_estimated: [[0.53103912] [0.84714356] [0.01858079]] R_gt: [[ 0.99846906 -0.01156458 -0.0540947 ] [ 0.0111587 0.99990765 -0.00780634] [ 0.05417961 0.0071899 0.99850525]] t_gt: [ 0.85501587 0.29639741 -0.42555427] Pose Error in degrees for R and t: 179.86750498700582 45.79474144918099 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 9.99875682e-01 1.57675804e-02 6.32829347e-05] [-1.57675921e-02 9.99875666e-01 1.88227298e-04] [-6.03071774e-05 -1.89201717e-04 9.99999980e-01]] t_estimated: [[6.37284111e-01] [7.70628929e-01] [1.27128557e-04]] R_gt: [[ 0.99311141 -0.05270138 -0.10465482] [ 0.04997036 0.99834305 -0.02855447] [ 0.10598579 0.02312716 0.99409858]] t_gt: [ 0.91400966 0.15571376 -0.37461923] Pose Error in degrees for R and t: 7.328150039219573 45.37740940970157 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99649575e-01 2.64692573e-02 -3.25022017e-04] [-2.64693993e-02 9.99649527e-01 -4.40517271e-04] [ 3.13247940e-04 4.48966040e-04 9.99999850e-01]] t_estimated: [[ 0.69602715] [ 0.71801375] [-0.00156812]] R_gt: [[ 0.9917416 -0.08570604 -0.09541252] [ 0.08452217 0.99628761 -0.01638499] [ 0.09646222 0.00818442 0.99530316]] t_gt: [ 0.97531906 0.11086941 -0.19094688] Pose Error in degrees for R and t: 8.46697137965911 40.645547526150054 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-0.19348195 0.98109685 -0.00370319] [-0.9810967 -0.19349356 -0.0030835 ] [-0.00374175 0.00303658 0.99998839]] t_estimated: [[0.11275328] [0.99362068] [0.00215247]] R_gt: [[ 0.99290687 0.10874242 0.04805985] [-0.10845794 0.99406468 -0.00849353] [-0.04869776 0.0032223 0.99880755]] t_gt: [-0.82494687 0.54999566 0.1302591 ] Pose Error in degrees for R and t: 94.9485969152972 63.015336656504225 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.29526163e-01 3.68755384e-01 7.60812035e-04] [-3.68755681e-01 9.29526311e-01 2.91464202e-04] [-5.99715811e-04 -5.51477361e-04 9.99999668e-01]] t_estimated: [[-0.40433122] [ 0.91460979] [ 0.00227803]] R_gt: [[ 0.97464137 0.22259502 0.0229256 ] [-0.2233402 0.97400294 0.03790724] [-0.01389057 -0.04206617 0.99901745]] t_gt: [-0.81596834 0.56644577 0.1154766 ] Pose Error in degrees for R and t: 9.098802908124952 31.97693080744968 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-4.75243019e-01 8.79854458e-01 4.54414730e-04] [-8.79852876e-01 -4.75241023e-01 -2.21027949e-03] [-1.72876774e-03 -1.45023800e-03 9.99997454e-01]] t_estimated: [[0.4053146 ] [0.91417673] [0.00098617]] R_gt: [[ 0.91851194 0.39536748 0.00459365] [-0.39511427 0.91736385 0.04824573] [ 0.0148619 -0.04612896 0.99882398]] t_gt: [-0.78974114 0.61305708 0.02167829] Pose Error in degrees for R and t: 95.11237817427363 76.09160449236202 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 5.60071992e-01 -8.28443785e-01 -5.08650129e-04] [ 8.28443913e-01 5.60071708e-01 6.04172280e-04] [-2.15642224e-04 -7.59768076e-04 9.99999688e-01]] t_estimated: [[ 8.81802137e-01] [-4.71619189e-01] [ 5.76763841e-04]] R_gt: [[ 0.99695514 -0.07788752 -0.00379769] [ 0.07785149 0.99692604 -0.00880398] [ 0.00447141 0.00848135 0.99995343]] t_gt: [ 0.69114118 -0.71723159 -0.08889715] Pose Error in degrees for R and t: 51.47617315370127 18.619700699919772 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-7.08961950e-01 -7.05244719e-01 -1.68496529e-03] [ 7.05245594e-01 -7.08963075e-01 1.02932533e-04] [-1.26717080e-03 -1.11533909e-03 9.99998575e-01]] t_estimated: [[9.84901422e-01] [1.73114073e-01] [8.40359575e-04]] R_gt: [[ 0.98463767 -0.17220752 0.02888379] [ 0.17281801 0.98474754 -0.02016397] [-0.02497082 0.02484486 0.9993796 ]] t_gt: [ 0.75432895 -0.65494659 0.0450865 ] Pose Error in degrees for R and t: 125.22442928455165 50.979598079335936 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.64593705 0.7633662 -0.00611304] [-0.76338632 -0.64593972 0.00179262] [-0.00258023 0.00582453 0.99997971]] t_estimated: [[ 4.89922120e-01] [ 8.71766099e-01] [-4.30604717e-04]] R_gt: [[ 0.98942047 -0.12267559 0.07744776] [ 0.12619328 0.99110398 -0.04228186] [-0.07157167 0.05160807 0.99609876]] t_gt: [ 0.79479185 -0.55198306 0.25223126] Pose Error in degrees for R and t: 137.4452476176749 84.72577594375262 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 0.10892393 -0.99387883 0.01845102] [-0.9938911 -0.10855579 0.01990272] [-0.01777793 -0.02050619 -0.99963165]] t_estimated: [[0.67125588] [0.74109603] [0.01386467]] R_gt: [[ 0.99706191 -0.03852045 -0.06621704] [ 0.03531819 0.9981797 -0.04888037] [ 0.06797828 0.04639909 0.99660662]] t_gt: [ 0.82779269 0.11914981 -0.54823588] Pose Error in degrees for R and t: 176.94958115724526 50.47899591020848 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999990e-01 8.16152782e-05 1.12122844e-04] [-8.16361370e-05 9.99999979e-01 1.86043336e-04] [-1.12107658e-04 -1.86052488e-04 9.99999976e-01]] t_estimated: [[7.46857006e-01] [6.64984662e-01] [1.06772565e-04]] R_gt: [[ 0.99340698 -0.08251388 -0.07959306] [ 0.07984954 0.99615251 -0.03610476] [ 0.08226542 0.02951147 0.99617303]] t_gt: [ 0.95743327 0.05016408 -0.28426238] Pose Error in degrees for R and t: 6.858342377360052 41.54857064787022 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 0.97398895 0.22640794 -0.00921774] [-0.22645546 0.97401125 -0.00447399] [ 0.00796524 0.00644503 0.99994751]] t_estimated: [[ 0.03594075] [ 0.99886221] [-0.03134558]] R_gt: [[ 0.99271329 -0.06872707 -0.09898432] [ 0.06538388 0.99718693 -0.03664146] [ 0.1012235 0.02990277 0.99441335]] t_gt: [ 0.9475708 0.15367442 -0.28016736] Pose Error in degrees for R and t: 17.802447805908514 78.67710435761317 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-7.53164815e-01 6.57831107e-01 -9.98175284e-04] [ 6.57831736e-01 7.53164750e-01 -5.16369126e-04] [ 4.12106764e-04 -1.04554244e-03 -9.99999369e-01]] t_estimated: [[0.91295923] [0.4080495 ] [0.00103043]] R_gt: [[ 0.99986971 -0.01588141 0.0026276 ] [ 0.01595569 0.99938032 -0.03136366] [-0.00212759 0.03140139 0.99950408]] t_gt: [ 0.15282407 -0.80182729 -0.57768314] Pose Error in degrees for R and t: 179.2829348071232 79.14884009519272 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.82413426e-01 1.86718598e-01 1.60265082e-04] [-1.86718494e-01 9.82413323e-01 -5.17102357e-04] [-2.53999179e-04 4.78083843e-04 9.99999853e-01]] t_estimated: [[9.58692142e-01] [2.84444703e-01] [7.67256359e-04]] R_gt: [[ 0.99471735 -0.10241335 -0.00705609] [ 0.10197574 0.99369258 -0.04666701] [ 0.01179081 0.04570063 0.99888523]] t_gt: [ 0.5619559 -0.76481085 -0.31507129] Pose Error in degrees for R and t: 16.843040200709172 71.2793368505358 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 0.89126053 -0.45348217 -0.00292918] [ 0.45348819 0.89126035 0.00185824] [ 0.00176799 -0.00298453 0.99999398]] t_estimated: [[0.9917439 ] [0.12822978] [0.00107442]] R_gt: [[ 0.97905016 -0.20240376 0.02221397] [ 0.20316825 0.978304 -0.04053842] [-0.01352717 0.04420213 0.99893079]] t_gt: [ 0.68710371 -0.72281626 -0.07365559] Pose Error in degrees for R and t: 15.52133120956987 53.937656241561484 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.98421546e-01 -5.61639442e-02 -1.67518851e-04] [ 5.61639589e-02 9.98421556e-01 8.46648145e-05] [ 1.62499322e-04 -9.39396968e-05 9.99999982e-01]] t_estimated: [[ 8.72375887e-01] [-4.88835653e-01] [-1.28013001e-04]] R_gt: [[ 0.9980469 0.06184809 -0.00887006] [-0.06154275 0.99761357 0.03130214] [ 0.01078431 -0.03069391 0.99947042]] t_gt: [-0.52606602 0.79209642 0.30957681] Pose Error in degrees for R and t: 7.007708967647984 32.20228494885297 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-6.30617394e-01 7.76093783e-01 3.77002303e-04] [-7.76090674e-01 -6.30613324e-01 -3.17824266e-03] [-2.22887169e-03 -2.29684307e-03 9.99994878e-01]] t_estimated: [[0.11041542] [0.99388394] [0.00177365]] R_gt: [[ 0.98517887 0.16936888 -0.02716417] [-0.16844545 0.98514772 0.03331288] [ 0.03240271 -0.02824281 0.99907565]] t_gt: [-0.62453239 0.77919807 0.05300627] Pose Error in degrees for R and t: 119.38647182504867 45.12451257825706 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 8.99223810e-01 4.37488426e-01 6.45440570e-04] [-4.37487487e-01 8.99223674e-01 -1.21766997e-03] [-1.11311196e-03 8.12585656e-04 9.99999050e-01]] t_estimated: [[0.30447696] [0.95251914] [0.00102864]] R_gt: [[ 0.99043394 0.1330425 0.03661646] [-0.1355764 0.98763574 0.07870473] [-0.02569285 -0.08291466 0.99622503]] t_gt: [-0.63151947 0.61208156 0.47596148] Pose Error in degrees for R and t: 18.883441872766614 66.9692020109283 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.37971736e-01 -5.45713523e-01 3.46960260e-04] [ 5.45713168e-01 8.37971683e-01 7.72758469e-04] [-7.12447619e-04 -4.58208974e-04 9.99999641e-01]] t_estimated: [[ 0.91278937] [-0.40842868] [ 0.00125849]] R_gt: [[ 9.93539250e-01 -1.13488815e-01 4.14707901e-04] [ 1.13489148e-01 9.93538956e-01 5.40072116e-04] [-4.73279748e-04 -4.88941963e-04 9.99998978e-01]] t_gt: [ 0.76654922 -0.64200995 -0.01501736] Pose Error in degrees for R and t: 26.5570052688013 15.867961304042792 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.40309740e-01 3.40315145e-01 1.78713243e-03] [ 3.40314720e-01 -9.40311434e-01 5.46462603e-04] [ 1.86643055e-03 9.43433620e-05 -9.99998254e-01]] t_estimated: [[0.71910912] [0.6948967 ] [0.00080708]] R_gt: [[ 9.86460807e-01 -1.62837001e-01 -1.94771680e-02] [ 1.62813646e-01 9.86652828e-01 -2.79980912e-03] [ 1.96721286e-02 -4.09371674e-04 9.99806693e-01]] t_gt: [ 0.83260796 -0.5466095 -0.0893423 ] Pose Error in degrees for R and t: 179.87003898408796 77.359868771484 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.99940233 -0.03305245 -0.01012523] [-0.03294704 0.99940292 -0.01040642] [ 0.01046314 -0.0100666 -0.99989459]] t_estimated: [[0.9976041 ] [0.06917298] [0.00108083]] R_gt: [[ 0.97253671 -0.22923078 -0.04031196] [ 0.22947292 0.97331408 0.00141848] [ 0.03891045 -0.01062897 0.9991857 ]] t_gt: [ 0.85756046 -0.50615183 -0.09165362] Pose Error in degrees for R and t: 177.0664852791397 34.875672198149104 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-9.50607440e-01 -3.10394233e-01 -9.56889899e-04] [ 3.10395550e-01 -9.50599329e-01 -3.93930836e-03] [ 3.13119701e-04 -4.04175020e-03 9.99991783e-01]] t_estimated: [[9.31374886e-01] [3.64060648e-01] [8.16279479e-04]] R_gt: [[ 0.99360078 0.10034909 -0.05185281] [-0.09719285 0.99344515 0.0601671 ] [ 0.05755033 -0.05474307 0.99684041]] t_gt: [-0.23944388 0.9182245 0.31548439] Pose Error in degrees for R and t: 167.59732395909532 83.59619596345338 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.18169018e-01 3.96188908e-01 -6.04841679e-05] [-3.96188910e-01 9.18168983e-01 -2.55653217e-04] [-4.57522819e-05 2.58696020e-04 9.99999965e-01]] t_estimated: [[-4.53794275e-01] [ 8.91106423e-01] [-3.15040227e-04]] R_gt: [[ 0.97749792 0.19183773 -0.08773656] [-0.18650477 0.98026962 0.0654762 ] [ 0.09856531 -0.04764028 0.99398905]] t_gt: [-0.12112109 0.98794722 -0.09638447] Pose Error in degrees for R and t: 13.901865426099645 20.713529609937382 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-8.86779932e-01 -4.62188957e-01 -1.64929839e-03] [ 4.62188126e-01 -8.86781466e-01 8.76538234e-04] [-1.86769353e-03 1.50103845e-05 9.99998256e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 9.75653872e-01 2.18154581e-01 -2.25681365e-02] [-2.18113016e-01 9.75914551e-01 4.31811464e-03] [ 2.29658666e-02 7.08942274e-04 9.99736071e-01]] t_gt: [-0.07654164 0.98832109 -0.13176799] Pose Error in degrees for R and t: 165.07400553777853 69.73527278388869 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 5.62288402e-01 -8.26900498e-01 8.20482462e-03] [-8.26932470e-01 -5.62300385e-01 9.83482448e-04] [ 3.80033392e-03 -7.33783667e-03 -9.99965856e-01]] t_estimated: [[0.45529973] [0.89033743] [0.00119188]] R_gt: [[ 0.99873024 0.01119814 -0.04913192] [-0.01459608 0.99748454 -0.06935127] [ 0.04823139 0.06997961 0.99638234]] t_gt: [ 0.15440653 0.34517709 -0.9257491 ] Pose Error in degrees for R and t: 175.43347549348712 67.8815901008779 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.60373439e-01 -2.78716445e-01 -1.50333859e-05] [ 2.78716385e-01 9.60373265e-01 -6.06810219e-04] [ 1.83565649e-04 5.78574367e-04 9.99999816e-01]] t_estimated: [[0.71473829] [0.69939115] [0.00109622]] R_gt: [[ 0.99386413 -0.00553634 -0.11047572] [-0.00991202 0.99027099 -0.13879492] [ 0.11016946 0.13903717 0.98413956]] t_gt: [ 0.24844074 0.26836268 -0.93073018] Pose Error in degrees for R and t: 19.21183385596066 68.63916295023401 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.98391721 0.17862153 0.001124 ] [-0.17861119 0.98389973 -0.00627449] [-0.00222666 0.00597282 0.99997968]] t_estimated: [[0.97815481] [0.20787384] [0.0012753 ]] R_gt: [[ 0.98676153 -0.00760744 -0.16200564] [-0.01762945 0.98794926 -0.15376718] [ 0.16122314 0.15458722 0.97473602]] t_gt: [ 0.28533489 0.27308961 -0.91869803] Pose Error in degrees for R and t: 16.179396583196027 70.44580918288206 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 0.53269981 -0.84623342 -0.01095031] [ 0.84626045 0.5327593 -0.00328251] [ 0.00861165 -0.00751823 0.99993466]] t_estimated: [[0.84804578] [0.52992229] [0.0008506 ]] R_gt: [[ 0.99159993 0.12919728 0.00625513] [-0.12924887 0.99157312 0.00886243] [-0.00505726 -0.00959516 0.99994052]] t_gt: [-0.93255196 0.34443248 0.10822706] Pose Error in degrees for R and t: 65.2414086469019 52.53820736339728 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.85209119e-01 -1.71355717e-01 -4.57897280e-04] [ 1.71355854e-01 9.85209162e-01 2.79044035e-04] [ 4.03308805e-04 -3.53380108e-04 9.99999856e-01]] t_estimated: [[-0.72522265] [-0.68851384] [-0.00089534]] R_gt: [[ 0.95720543 0.28878137 0.0190452 ] [-0.28909014 0.95716587 0.01614943] [-0.01356523 -0.02096295 0.99968831]] t_gt: [-0.87157449 0.48085794 0.09556964] Pose Error in degrees for R and t: 26.701429247112383 72.48697269321917 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.97938222e-01 -6.41770654e-02 -7.80556608e-04] [ 6.41777114e-02 9.97938138e-01 8.32806772e-04] [ 7.25500113e-04 -8.81184046e-04 9.99999349e-01]] t_estimated: [[0.12145438] [0.99259614] [0.0013216 ]] R_gt: [[ 0.9088819 0.41497771 0.04157635] [-0.41664983 0.90786894 0.04666445] [-0.01838049 -0.05973318 0.99804499]] t_gt: [-0.84318579 0.5102822 0.16926252] Pose Error in degrees for R and t: 28.49464640778311 66.15152611371762 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99530689e-01 3.06332551e-02 -7.41673186e-05] [-3.06332502e-02 9.99530690e-01 6.68006049e-05] [ 7.61788311e-05 -6.44972686e-05 9.99999995e-01]] t_estimated: [[-0.92473277] [-0.38061465] [-0.00134019]] R_gt: [[ 0.99572227 0.09182662 0.01030804] [-0.09167246 0.99568339 -0.01451426] [-0.01159595 0.01350765 0.99984129]] t_gt: [-0.22519192 0.96101974 -0.16040464] Pose Error in degrees for R and t: 3.6558729896006534 80.94857627064079 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999904e-01 4.06916271e-04 -1.63599673e-04] [-4.06959741e-04 9.99999882e-01 -2.65768007e-04] [ 1.63491509e-04 2.65834560e-04 9.99999951e-01]] t_estimated: [[-0.65551853] [-0.7551775 ] [-0.0015509 ]] R_gt: [[ 0.99071077 0.11069308 0.07898778] [-0.10232428 0.9893914 -0.103114 ] [-0.08956445 0.09407396 0.99152819]] t_gt: [-0.08946222 0.97040663 -0.22429329] Pose Error in degrees for R and t: 9.642926183365926 47.63607846879001 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.05779537e-01 4.23749201e-01 2.12603028e-04] [-4.23748683e-01 9.05779026e-01 -1.18742840e-03] [-6.95743199e-04 9.85458092e-04 9.99999272e-01]] t_estimated: [[-0.98395087] [-0.17843669] [-0.00101964]] R_gt: [[ 0.98731763 0.09402888 0.12791958] [-0.07586205 0.98721982 -0.14014601] [-0.13946346 0.1286648 0.98183222]] t_gt: [ 0.16833706 0.97229368 -0.1621963 ] Pose Error in degrees for R and t: 22.873161453973147 70.18630040718983 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999809e-01 6.15296024e-04 -5.48853132e-05] [-6.15296084e-04 9.99999811e-01 -1.08108627e-06] [ 5.48846376e-05 1.11485679e-06 9.99999998e-01]] t_estimated: [[ 1.56707828e-01] [-9.87644798e-01] [-6.39818032e-04]] R_gt: [[ 0.99870131 0.00954839 0.0500534 ] [-0.00459512 0.99515903 -0.09816648] [-0.05074896 0.09780861 0.99390989]] t_gt: [ 0.34353837 0.681209 -0.64647946] Pose Error in degrees for R and t: 6.338695511342709 51.790131185817856 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 1.42905848e-01 9.89736286e-01 5.12006457e-05] [-9.89734884e-01 1.42905733e-01 -1.67679149e-03] [-1.66689825e-03 1.88948246e-04 9.99998593e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99292475 0.04417693 0.1102193 ] [-0.03395 0.99508574 -0.09300829] [-0.113786 0.08860732 0.98954604]] t_gt: [0.20650252 0.97207722 0.11145662] Pose Error in degrees for R and t: 79.88246959986604 13.22940509745702 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.5704672 0.82102004 0.0222096 ] [-0.73837215 0.5245084 -0.42390742] [-0.35968561 0.22542633 0.90543317]] t_estimated: [[-0.99871869] [-0.04665381] [-0.01960614]] R_gt: [[ 0.97964047 0.13465146 0.1489024 ] [-0.1124071 0.98244432 -0.14888926] [-0.16633782 0.1291194 0.977579 ]] t_gt: [-0.11009745 0.9914511 0.07002337] Pose Error in degrees for R and t: 49.148789421858865 86.42652256288588 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-9.97897321e-01 -6.48092052e-02 -8.39216732e-04] [ 6.48107694e-02 -9.97895579e-01 -1.99441934e-03] [-7.08193934e-04 -2.04461600e-03 9.99997659e-01]] t_estimated: [[7.79975608e-01] [6.25809575e-01] [6.53245903e-04]] R_gt: [[ 9.98703867e-01 -5.08765008e-02 -1.86844055e-03] [ 5.09044271e-02 9.98448345e-01 2.25707669e-02] [ 7.16712925e-04 -2.26369730e-02 9.99743479e-01]] t_gt: [ 0.69799213 -0.67359346 0.24306139] Pose Error in degrees for R and t: 173.36660582419637 82.9327420139743 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.98928639e-01 -4.62767270e-02 1.95582032e-04] [ 4.62766720e-02 9.98928623e-01 2.77039604e-04] [-2.08192976e-04 -2.67691909e-04 9.99999942e-01]] t_estimated: [[ 0.98807671] [-0.15395805] [ 0.001159 ]] R_gt: [[ 0.99670024 -0.0797319 -0.01523152] [ 0.07913304 0.99619521 -0.03649573] [ 0.01808238 0.0351694 0.99921808]] t_gt: [ 0.80505028 -0.46743732 -0.36523473] Pose Error in degrees for R and t: 2.9754085992681087 29.888836687640843 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.25513873e-01 3.78713087e-01 -6.84636991e-04] [-3.78713428e-01 9.25513871e-01 -4.63387135e-04] [ 4.58150259e-04 6.88152444e-04 9.99999658e-01]] t_estimated: [[-0.99977216] [-0.02127175] [-0.00177265]] R_gt: [[ 0.99536277 -0.0907166 -0.03200894] [ 0.08210989 0.97454432 -0.20861483] [ 0.05011865 0.20501893 0.97747429]] t_gt: [ 0.55508023 0.02884094 -0.83129666] Pose Error in degrees for R and t: 29.802862697975517 56.35168891364511 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.74166567 -0.31343221 -0.59303649] [ 0.05001513 -0.90749304 0.41707896] [-0.66890247 0.27967235 0.68873279]] t_estimated: [[0.68059601] [0.73265829] [0.00094659]] R_gt: [[ 0.99268886 -0.07482633 0.0947052 ] [ 0.06552755 0.99305074 0.09776025] [-0.1013629 -0.0908399 0.99069386]] t_gt: [ 0.21286807 -0.46832969 0.85752812] Pose Error in degrees for R and t: 161.93120512599492 78.61289311796862 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.12771552 0.99180322 -0.00388773] [ 0.99176768 -0.12767242 0.00982956] [ 0.00925264 -0.00511111 -0.99994413]] t_estimated: [[0.99970424] [0.02423525] [0.0020196 ]] R_gt: [[ 0.97913608 -0.12363995 0.1612626 ] [ 0.0906126 0.97598157 0.19811217] [-0.18188444 -0.17936661 0.96682277]] t_gt: [ 0.22798027 -0.38340369 0.8950009 ] Pose Error in degrees for R and t: 177.8026572409183 77.26579769165755 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.13766267 -0.99046929 0.0044234 ] [ 0.99027801 -0.13754333 0.02076757] [-0.01996123 0.00723932 0.99977455]] t_estimated: [[0.99993187] [0.01140794] [0.00247221]] R_gt: [[ 0.97626082 -0.08679594 0.19844461] [ 0.03366419 0.96586724 0.25684162] [-0.21396465 -0.24406485 0.94586026]] t_gt: [ 0.08209512 -0.2027483 0.97578354] Pose Error in degrees for R and t: 95.55420222756597 85.28560373430898 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.89448984e-01 -1.44881703e-01 1.21954082e-05] [ 1.44881698e-01 9.89448969e-01 1.75586911e-04] [-3.75060648e-05 -1.71967400e-04 9.99999985e-01]] t_estimated: [[0.74220997] [0.67016676] [0.00093761]] R_gt: [[ 0.99819863 -0.04539913 0.03922435] [ 0.04231671 0.99619791 0.07615361] [-0.04253214 -0.07435784 0.9963242 ]] t_gt: [ 0.15166778 -0.53587242 0.83056465] Pose Error in degrees for R and t: 7.603600988265414 75.77231418096216 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 1.00000000e+00 -2.95198067e-05 -2.00323786e-07] [ 2.95198074e-05 1.00000000e+00 3.57141329e-06] [ 2.00218358e-07 -3.57141921e-06 1.00000000e+00]] t_estimated: [[-1.14305988e-01] [ 9.93445531e-01] [-3.44454301e-04]] R_gt: [[ 0.99527839 -0.05339254 0.08106462] [ 0.04117293 0.98849151 0.145562 ] [-0.08790355 -0.14153801 0.98602205]] t_gt: [-0.00749919 -0.43813711 0.89887688] Pose Error in degrees for R and t: 9.970222672283986 64.232663420171 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-4.65806344e-01 8.79818631e-01 9.45707482e-02] [ 8.83793304e-01 4.67877441e-01 3.09171350e-04] [-4.39755049e-02 8.37250080e-02 -9.95518095e-01]] t_estimated: [[ 0.44559611] [ 0.89510624] [-0.01513031]] R_gt: [[ 0.99410489 -0.06836674 0.08415546] [ 0.052014 0.98171529 0.18311204] [-0.09513526 -0.1776559 0.97948309]] t_gt: [ 0.03470696 -0.45737113 0.88859838] Pose Error in degrees for R and t: 176.23657057587138 65.95994284561128 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99829860e-01 -1.84458511e-02 -2.65692023e-05] [ 1.84458504e-02 9.99829860e-01 -2.61360241e-05] [ 2.70467831e-05 2.56414858e-05 9.99999999e-01]] t_estimated: [[-0.72527704] [-0.6884566 ] [-0.00085629]] R_gt: [[ 0.99469275 0.10146751 0.01707253] [-0.10199165 0.99422875 0.03328988] [-0.01359521 -0.03485396 0.9992998 ]] t_gt: [-0.91603191 0.17219954 0.36226077] Pose Error in degrees for R and t: 7.22329102689995 56.940150093107874 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 4.70714038e-01 8.82285451e-01 8.22472436e-04] [-8.82284968e-01 4.70714678e-01 -9.63010518e-04] [-1.23680002e-03 -2.72352497e-04 9.99999198e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99053782 0.13188854 0.03794789] [-0.13413984 0.98885292 0.06463845] [-0.02899863 -0.06911664 0.99718706]] t_gt: [-0.8634106 0.07131572 0.49943588] Pose Error in degrees for R and t: 54.42097782685092 86.18997638876813 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.51644729e-01 -3.07200638e-01 -2.79443706e-04] [ 3.07200741e-01 9.51644618e-01 4.75660291e-04] [ 1.19807954e-04 -5.38504922e-04 9.99999848e-01]] t_estimated: [[-4.34276834e-01] [-9.00779417e-01] [-2.72827209e-04]] R_gt: [[ 0.97793468 0.2037885 0.04597926] [-0.20642134 0.97646447 0.06251119] [-0.03215717 -0.07062195 0.99698488]] t_gt: [-0.91812829 0.15253277 0.36575156] Pose Error in degrees for R and t: 30.06515147693796 74.8573165133169 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.92656985 0.37563613 -0.01912611] [ 0.37558062 -0.92130815 0.10065031] [ 0.02018685 -0.10044294 -0.99473801]] t_estimated: [[-0.19810695] [ 0.9788253 ] [ 0.05152341]] R_gt: [[ 0.99969387 0.00447811 0.02429874] [-0.00461433 0.99997337 0.00554495] [-0.02427311 -0.00565579 0.99968985]] t_gt: [-0.21217094 0.09061537 0.97302227] Pose Error in degrees for R and t: 174.07239947971848 79.57999317176652 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.54964595e-01 -2.96719767e-01 5.20266663e-05] [ 2.96719021e-01 9.54961770e-01 -2.41660458e-03] [ 6.67370871e-04 2.32320912e-03 9.99997079e-01]] t_estimated: [[-0.13376189] [-0.99099898] [-0.00536405]] R_gt: [[ 0.99928267 0.00301672 0.03774486] [-0.00342323 0.99993599 0.01069021] [-0.03770962 -0.01081145 0.99923031]] t_gt: [-0.16883424 0.03320871 0.98508486] Pose Error in degrees for R and t: 17.596091208160956 89.10556212158876 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.95182032e-01 -9.80444638e-02 -7.78388924e-05] [ 9.80444709e-02 9.95182030e-01 9.28711511e-05] [ 6.83583648e-05 -1.00055374e-04 9.99999993e-01]] t_estimated: [[ 9.94679871e-01] [-1.03013351e-01] [ 4.52480204e-04]] R_gt: [[ 0.9995782 -0.02484335 0.01501949] [ 0.02456163 0.99952506 0.01861163] [-0.01547463 -0.01823487 0.99971414]] t_gt: [ 0.35773206 -0.62560794 0.69328383] Pose Error in degrees for R and t: 4.427739761218637 65.12824936710479 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.99969239e-01 -7.84218626e-03 -1.46285609e-04] [ 7.84206007e-03 9.99968894e-01 -8.44101105e-04] [ 1.52900657e-04 8.42927959e-04 9.99999633e-01]] t_estimated: [[-0.84432179] [-0.53583158] [-0.00228736]] R_gt: [[ 0.99802319 0.06149671 -0.01295067] [-0.0605705 0.99619246 0.06269862] [ 0.01675653 -0.06179062 0.99794857]] t_gt: [-0.93340016 -0.05686601 0.35430269] Pose Error in degrees for R and t: 5.4241742700981295 35.1397814197404 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.53164248e-01 -3.02452380e-01 6.87937861e-04] [ 3.02452580e-01 9.53164411e-01 -2.05034280e-04] [-5.93704780e-04 4.03499926e-04 9.99999742e-01]] t_estimated: [[ 0.86220856] [-0.50655197] [ 0.00122778]] R_gt: [[ 0.99489974 0.10027913 -0.01083523] [-0.09829875 0.98806257 0.118617 ] [ 0.02259921 -0.11694711 0.99288107]] t_gt: [-0.88975182 0.00868768 0.45636193] Pose Error in degrees for R and t: 24.29927176244042 39.55693905244839 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.96667917e-01 -8.15659862e-02 2.28763616e-04] [ 8.15661545e-02 9.96667558e-01 -8.61390100e-04] [-1.57741141e-04 8.77179245e-04 9.99999603e-01]] t_estimated: [[-0.34319273] [-0.93926433] [-0.00112892]] R_gt: [[ 0.97262648 0.2289628 0.03968041] [-0.23177103 0.96816454 0.0945545 ] [-0.01676782 -0.10116267 0.99472868]] t_gt: [-0.9091046 0.33900561 0.24208268] Pose Error in degrees for R and t: 18.975679135931106 89.61662660376052 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.97732271e-01 6.73076126e-02 -3.24006693e-05] [-6.73076202e-02 9.97732188e-01 -4.06983418e-04] [ 4.93410850e-06 4.08241301e-04 9.99999917e-01]] t_estimated: [[-0.47303215] [-0.88104379] [-0.00155469]] R_gt: [[ 0.99552606 0.03124605 0.08916774] [-0.02659455 0.99824604 -0.0528918 ] [-0.09066447 0.0502837 0.99461096]] t_gt: [-0.82238897 0.56658857 0.05151479] Pose Error in degrees for R and t: 6.333463485267479 83.6700994206966 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.06636595 0.99773842 -0.01065874] [-0.99769359 -0.06620284 0.01498964] [ 0.0142501 0.01162896 0.99983084]] t_estimated: [[ 0.14406807] [ 0.98945609] [-0.01486711]] R_gt: [[ 0.9870164 0.01184061 0.16018152] [ 0.00876101 0.99182586 -0.1272994 ] [-0.16038057 0.12704881 0.97884484]] t_gt: [-0.59925116 0.77694696 -0.19300639] Pose Error in degrees for R and t: 94.41146808190683 46.741472025753886 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.99999447 0.00297822 -0.00148021] [-0.00297488 0.99999304 0.00225298] [ 0.00148691 -0.00224856 0.99999637]] t_estimated: [[9.99995468e-01] [2.87710306e-03] [8.86519280e-04]] R_gt: [[ 0.9760159 -0.03656256 0.21460675] [ 0.06964381 0.98643061 -0.1486788 ] [-0.20625896 0.16005813 0.96531814]] t_gt: [-0.35940237 0.93151568 -0.05575368] Pose Error in degrees for R and t: 15.622521070263241 69.09803133771099 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.99980905 -0.01950508 0.00118781] [ 0.01950658 0.99980894 -0.00125857] [-0.00116303 0.0012815 0.9999985 ]] t_estimated: [[ 0.9999275 ] [-0.01192612] [ 0.0016643 ]] R_gt: [[ 0.99513635 -0.00184219 0.09849676] [ 0.00707864 0.9985773 -0.05284475] [-0.09825968 0.05328523 0.99373422]] t_gt: [-0.62809465 0.77461521 0.07394852] Pose Error in degrees for R and t: 6.382031839357956 50.419315921517644 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.99629566 -0.08597992 -0.00155162] [-0.08538424 0.99121582 -0.10099863] [ 0.01022185 -0.10049201 -0.99488535]] t_estimated: [[0.99099678] [0.13387689] [0.00153881]] R_gt: [[ 0.98421977 -0.03779768 0.17286759] [ 0.05947458 0.99074802 -0.12198911] [-0.16665798 0.1303449 0.97736197]] t_gt: [-0.28261113 0.95468973 -0.09326561] Pose Error in degrees for R and t: 171.01708589251697 81.23400231826885 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99999991e-01 -1.01179934e-04 9.26425655e-05] [ 1.01191440e-04 9.99999987e-01 -1.24197353e-04] [-9.26299981e-05 1.24206726e-04 9.99999988e-01]] t_estimated: [[9.99995266e-01] [2.93409180e-03] [9.27266546e-04]] R_gt: [[ 0.9811984 -0.07425838 0.17814545] [ 0.09011744 0.99249559 -0.08263962] [-0.17067361 0.0971402 0.98052865]] t_gt: [0.13401092 0.94346869 0.30316316] Pose Error in degrees for R and t: 12.272706815024183 82.12226539351991 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.9822171 -0.18773817 -0.00198679] [ 0.18774197 0.98221648 0.00193361] [ 0.00158844 -0.00227223 0.99999616]] t_estimated: [[0.94444909] [0.32865531] [0.00126438]] R_gt: [[ 0.99099663 0.12094026 0.05743418] [-0.1198985 0.99255918 -0.02124374] [-0.05957551 0.01416687 0.99812265]] t_gt: [-0.52968386 0.79392743 0.29852008] Pose Error in degrees for R and t: 18.11179103863435 76.17521439196622 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-4.26136297e-01 9.04658047e-01 -1.29389496e-03] [-9.04657209e-01 -4.26137854e-01 -1.36518529e-03] [-1.78640348e-03 5.88776399e-04 9.99998231e-01]] t_estimated: [[0.51869674] [0.85495783] [0.00089862]] R_gt: [[ 0.98555636 0.1508276 0.07700787] [-0.14871711 0.98834652 -0.03247463] [-0.08100792 0.02055431 0.99650063]] t_gt: [-0.51169732 0.79489579 0.32604682] Pose Error in degrees for R and t: 106.66549884739511 65.51344897237013 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999905e-01 -4.26610300e-04 -9.38367388e-05] [ 4.26612742e-04 9.99999909e-01 2.60090918e-05] [ 9.38256344e-05 -2.60491213e-05 9.99999995e-01]] t_estimated: [[-8.42572281e-01] [ 5.38583250e-01] [-1.85765652e-04]] R_gt: [[ 0.98405135 0.15182015 0.09269712] [-0.15072638 0.98839936 -0.01872615] [-0.094464 0.00445659 0.99551829]] t_gt: [-0.4967603 0.74657845 0.44254924] Pose Error in degrees for R and t: 10.291745526083261 34.85821722548243 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-9.85689069e-01 1.68525379e-01 -4.03176440e-03] [-1.68526130e-01 -9.85697174e-01 -1.55261847e-04] [-4.00026434e-03 5.26417745e-04 9.99991860e-01]] t_estimated: [[0.74999377] [0.66144353] [0.00134167]] R_gt: [[ 9.96382697e-01 8.49749672e-02 4.37114858e-04] [-8.49762451e-02 9.96360996e-01 6.69269208e-03] [ 1.33509374e-04 -6.70569755e-03 9.99977663e-01]] t_gt: [-0.90092623 0.43266666 0.03363749] Pose Error in degrees for R and t: 165.42406745414394 67.07913569383798 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.87402376 -0.48585845 0.0049028 ] [ 0.48587839 0.87401546 -0.00437741] [-0.00215832 0.00620813 0.9999784 ]] t_estimated: [[-0.41985957] [-0.90758725] [-0.00182312]] R_gt: [[ 0.97713643 0.20588968 0.05303852] [-0.20747051 0.97789079 0.0261991 ] [-0.04647145 -0.03660433 0.99824896]] t_gt: [-0.85306443 0.4923741 0.17276812] Pose Error in degrees for R and t: 41.1430169087498 84.89275925093493 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-6.21562387e-01 7.83364558e-01 4.10696731e-04] [-7.83362961e-01 -6.21559854e-01 -2.41234253e-03] [-1.63447104e-03 -1.82114599e-03 9.99997006e-01]] t_estimated: [[8.19231742e-01] [5.73462219e-01] [6.60670759e-04]] R_gt: [[ 0.94639603 0.31973538 0.04584442] [-0.32207611 0.94487965 0.05889783] [-0.02448495 -0.07050614 0.99721153]] t_gt: [-0.82097879 0.54683303 0.16421773] Pose Error in degrees for R and t: 109.74039464898915 68.96885930779906 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.99557857e-01 -2.97336420e-02 -3.24739746e-05] [ 2.97336440e-02 9.99557856e-01 6.22887002e-05] [ 3.06075465e-05 -6.32267293e-05 9.99999998e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99867643 0.0483328 0.01757243] [-0.04860357 0.99870109 0.015263 ] [-0.01681142 -0.01609628 0.99972903]] t_gt: [-0.92854606 -0.05910627 0.36648146] Pose Error in degrees for R and t: 4.676428351055849 21.806992052314687 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 4.67721817e-01 -8.83847477e-01 -7.06681390e-03] [ 8.83875224e-01 4.67715138e-01 2.67185881e-03] [ 9.43740174e-04 -7.49586837e-03 9.99971460e-01]] t_estimated: [[-0.13199246] [-0.99125 ] [-0.00119409]] R_gt: [[ 0.98723743 0.15800715 0.01990927] [-0.15824285 0.98733997 0.01083988] [-0.0179442 -0.01385295 0.9997429 ]] t_gt: [-0.97370224 0.18594336 0.13163971] Pose Error in degrees for R and t: 71.2247128463942 86.79250072337864 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.85100893 0.52506791 -0.00935356] [ 0.52505145 0.85105945 0.00433394] [ 0.01023605 -0.00122288 -0.99994686]] t_estimated: [[ 0.93824444] [-0.34592258] [-0.00591111]] R_gt: [[ 0.96740049 0.25144715 0.03016928] [-0.25257129 0.96665617 0.04221901] [-0.0185471 -0.04846224 0.9986523 ]] t_gt: [-0.94711185 0.21289417 0.240115 ] Pose Error in degrees for R and t: 179.96910508127846 15.487941494482197 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99998372e-01 1.67114564e-03 6.79917903e-04] [-1.67084600e-03 9.99998507e-01 -4.41018467e-04] [-6.80653894e-04 4.39881711e-04 9.99999672e-01]] t_estimated: [[-9.99998900e-01] [ 1.21409622e-03] [ 8.52584592e-04]] R_gt: [[ 0.98127187 -0.18479363 0.05437003] [ 0.18355609 0.9826392 0.02697918] [-0.05841166 -0.01649457 0.99815574]] t_gt: [ 0.62725961 -0.71705843 0.30392859] Pose Error in degrees for R and t: 11.259552593772337 51.10682329414382 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.37283614e-01 3.48567182e-01 5.88061966e-04] [-3.48567079e-01 9.37283797e-01 -2.73261373e-04] [-6.46430900e-04 5.11443652e-05 9.99999790e-01]] t_estimated: [[0.62022257] [0.78442538] [0.00089241]] R_gt: [[ 0.94622874 -0.32121726 0.03833708] [ 0.31836045 0.94567845 0.06587249] [-0.05741401 -0.05012636 0.99709101]] t_gt: [ 0.70568521 -0.66110604 0.25484737] Pose Error in degrees for R and t: 39.31051538646457 85.37240227884426 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.21831498 -0.97584856 -0.00762659] [-0.9758776 0.21829841 0.00295159] [-0.00121543 0.00808699 -0.99996656]] t_estimated: [[7.77575364e-01] [6.28789309e-01] [7.47668619e-04]] R_gt: [[ 0.86967354 -0.49239236 -0.03488628] [ 0.49362389 0.86772192 0.05825204] [ 0.00158791 -0.06788146 0.99769196]] t_gt: [ 0.82255238 -0.55479159 0.12495547] Pose Error in degrees for R and t: 178.62971220819563 73.09157577537555 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.89280400e-01 -1.46027890e-01 3.80388281e-04] [ 1.46028060e-01 9.89280339e-01 -4.66120370e-04] [-3.08244073e-04 5.16671109e-04 9.99999819e-01]] t_estimated: [[0.46758657] [0.8839466 ] [0.00110262]] R_gt: [[ 0.99955556 -0.00816944 0.02866974] [ 0.00644758 0.99819823 0.05966052] [-0.02910585 -0.05944979 0.99780648]] t_gt: [-0.18546687 -0.43212535 0.88253596] Pose Error in degrees for R and t: 8.8403573031382 62.113313621105405 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-3.79240648e-01 9.25297572e-01 -9.66250943e-04] [-9.25296176e-01 -3.79241779e-01 -1.63109912e-03] [-1.87569478e-03 2.75489214e-04 9.99998203e-01]] t_estimated: [[0.30127685] [0.95353617] [0.0010144 ]] R_gt: [[ 0.99914896 -0.02241878 0.03462389] [ 0.01940497 0.99618935 0.08503725] [-0.03639802 -0.08429275 0.99577546]] t_gt: [ 0.0056257 -0.51434158 0.85756696] Pose Error in degrees for R and t: 113.57090644779012 60.79876398819167 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99969393e-01 7.80731426e-03 5.08389642e-04] [-7.80728472e-03 9.99969521e-01 -6.00653883e-05] [-5.08843097e-04 5.60944072e-05 9.99999869e-01]] t_estimated: [[-0.84141614] [ 0.54038537] [ 0.00158987]] R_gt: [[ 0.99466219 -0.10016032 0.0247697 ] [ 0.09833929 0.99294733 0.06622257] [-0.03122801 -0.06343412 0.99749654]] t_gt: [ 0.5436416 -0.70985289 0.44784226] Pose Error in degrees for R and t: 7.361173453520069 32.827033210099565 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99932076e-01 -1.16546547e-02 1.10859905e-04] [ 1.16547608e-02 9.99931572e-01 -1.00925245e-03] [-9.90898307e-05 1.01047594e-03 9.99999485e-01]] t_estimated: [[0.6950216 ] [0.71898786] [0.00119831]] R_gt: [[ 0.99994139 0.00440635 -0.00988834] [-0.00481327 0.99912719 -0.04149781] [ 0.00969728 0.04154363 0.99908946]] t_gt: [ 0.04929033 0.58782958 -0.8074818 ] Pose Error in degrees for R and t: 2.5653858441391018 62.8750473839002 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.88495701e-01 1.51246220e-01 -9.11285563e-04] [-1.51245434e-01 9.88495852e-01 8.77419188e-04] [ 1.03350833e-03 -7.29497315e-04 9.99999200e-01]] t_estimated: [[7.72827449e-01] [6.34615798e-01] [7.23621206e-04]] R_gt: [[ 0.99624186 -0.05612339 0.06598408] [ 0.05393075 0.99794759 0.03454909] [-0.06778806 -0.03086147 0.99722294]] t_gt: [ 0.31683864 -0.48035965 0.81784344] Pose Error in degrees for R and t: 12.611307182108694 86.59517627435895 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.94002278 -0.34110786 -0.00161049] [ 0.34110993 -0.94002258 -0.00125286] [-0.00108653 -0.00172707 0.99999792]] t_estimated: [[0.87052033] [0.49213116] [0.00112616]] R_gt: [[ 0.98460089 -0.10578194 0.13918369] [ 0.08694696 0.9870141 0.13507121] [-0.1516642 -0.12088987 0.98101205]] t_gt: [ 0.2521574 -0.40008005 0.88110873] Pose Error in degrees for R and t: 154.5973622432596 88.6472036225972 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-0.17308194 -0.98490622 -0.0015403 ] [-0.98490483 0.17308486 -0.00202546] [ 0.00226149 0.00116648 -0.99999676]] t_estimated: [[9.80232940e-01] [1.97845181e-01] [8.17542068e-04]] R_gt: [[ 0.99550404 -0.09127331 -0.02532978] [ 0.09204325 0.99527054 0.03107244] [ 0.02237446 -0.03326476 0.9991956 ]] t_gt: [ 0.42247798 -0.90635086 0.00636138] Pose Error in degrees for R and t: 180.0 76.4192889431602 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.52725792 0.84968659 0.00563773] [-0.84969512 0.52727247 -0.00139488] [-0.00415783 -0.00405489 0.99998314]] t_estimated: [[0.04281675] [0.99905746] [0.00713612]] R_gt: [[ 0.98207551 -0.17185219 -0.07742607] [ 0.17593306 0.98316596 0.04933097] [ 0.06764545 -0.06206836 0.99577667]] t_gt: [ 0.48755176 -0.86777762 -0.0962044 ] Pose Error in degrees for R and t: 68.41018778937057 32.1378333031164 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.27011401 0.96282715 -0.00151826] [-0.96282685 0.27011048 -0.00218657] [-0.00169519 0.00205244 0.99999646]] t_estimated: [[9.11311215e-01] [4.11717388e-01] [8.13670728e-04]] R_gt: [[ 0.95766896 -0.26118482 -0.12104991] [ 0.26519549 0.96402651 0.01801268] [ 0.11199069 -0.0493513 0.99248304]] t_gt: [ 0.56871526 -0.78987423 -0.22948127] Pose Error in degrees for R and t: 89.86841765554041 78.87880722919755 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-8.37704599e-01 -5.46120826e-01 -1.74612057e-03] [ 5.46123394e-01 -8.37702864e-01 -1.77467555e-03] [-4.93542922e-04 -2.44025116e-03 9.99996901e-01]] t_estimated: [[9.99871781e-01] [1.59819665e-02] [9.98872908e-04]] R_gt: [[ 9.86123294e-01 1.65822954e-01 -7.99419184e-03] [-1.65821062e-01 9.86156010e-01 8.56932206e-04] [ 8.02627201e-03 4.80612867e-04 9.99967086e-01]] t_gt: [-0.65856272 0.75041843 -0.0562789 ] Pose Error in degrees for R and t: 156.44348107426336 49.71866178576732 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99944389e-01 1.05413497e-02 -3.14637961e-04] [-1.05413628e-02 9.99944437e-01 -4.00766530e-05] [ 3.14198017e-04 4.33911372e-05 9.99999950e-01]] t_estimated: [[-0.99817002] [-0.06045617] [-0.0012863 ]] R_gt: [[ 0.94274781 0.33342261 -0.00750934] [-0.33349258 0.94267518 -0.01209142] [ 0.003047 0.01390363 0.99989851]] t_gt: [-0.6113066 0.79032023 -0.04120887] Pose Error in degrees for R and t: 18.892876819738987 55.77382257383424 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.81434843 0.58034802 -0.00572785] [ 0.58034269 0.81436782 0.0027232 ] [ 0.00624498 -0.00110648 -0.99997989]] t_estimated: [[ 0.95027607] [-0.31139544] [-0.00287616]] R_gt: [[ 0.8983625 0.43707374 0.04372639] [-0.43546673 0.89923624 -0.04174805] [-0.05756746 0.01846331 0.99817089]] t_gt: [-0.59829198 0.79727335 0.08001197] Pose Error in degrees for R and t: 176.98466593044063 35.21042876310997 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.99916215 -0.04080119 0.00320253] [ 0.04082004 0.99914815 -0.00605822] [-0.00295262 0.00618387 0.99997652]] t_estimated: [[-9.17896190e-01] [-3.96819786e-01] [-8.01656299e-04]] R_gt: [[ 0.999786 0.00943255 -0.01838908] [-0.00973045 0.99982133 -0.01620654] [ 0.01823338 0.01638268 0.9996998 ]] t_gt: [ 0.73537809 0.06034123 -0.67496518] Pose Error in degrees for R and t: 3.1910216697929283 45.700883212903136 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.91664876e-01 1.28834490e-01 1.56465538e-03] [ 1.28834548e-01 -9.91666101e-01 6.38225657e-05] [ 1.55983825e-03 1.38291073e-04 -9.99998774e-01]] t_estimated: [[0.65476729] [0.7558292 ] [0.00142341]] R_gt: [[ 0.99986247 0.01432247 0.00827452] [-0.01428347 0.99988659 -0.00472688] [-0.00834058 0.0046082 0.99995496]] t_gt: [0.99919954 0.00664748 0.03944721] Pose Error in degrees for R and t: 179.70549826827022 48.75168626714894 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.55276469 0.83250161 0.03731306] [ 0.8331557 0.55302485 0.00388536] [-0.01740048 0.03323528 -0.99929607]] t_estimated: [[0.99822532] [0.05941817] [0.00396121]] R_gt: [[ 0.9983685 0.0569437 -0.00418837] [-0.05701261 0.99819921 -0.01861164] [ 0.00312127 0.01882034 0.99981843]] t_gt: [ 0.76197375 0.58665419 -0.2742861 ] Pose Error in degrees for R and t: 177.93452247149352 37.402048455035064 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[-4.35264538e-01 -9.00302194e-01 -8.60812058e-04] [-9.00301778e-01 4.35262642e-01 1.77220806e-03] [-1.22084348e-03 1.54636995e-03 -9.99998059e-01]] t_estimated: [[8.55032967e-01] [5.18573003e-01] [8.16650398e-04]] R_gt: [[ 0.99069222 -0.13610932 0.00180538] [ 0.13596556 0.99010748 0.03466105] [-0.00650433 -0.03409349 0.9993966 ]] t_gt: [ 0.50971102 -0.83461383 0.20884068] Pose Error in degrees for R and t: 178.72713613180878 89.81768030228929 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-9.01945745e-01 -4.31846735e-01 -1.50694050e-03] [ 4.31848224e-01 -9.01945890e-01 -8.49711573e-04] [-9.92233621e-04 -1.41716332e-03 9.99998504e-01]] t_estimated: [[9.03901810e-01] [4.27739250e-01] [8.07055188e-04]] R_gt: [[ 0.96761485 -0.25220971 0.01054626] [ 0.25176312 0.96725131 0.03224647] [-0.01833412 -0.02854713 0.99942368]] t_gt: [ 0.5874781 -0.7953179 0.14946211] Pose Error in degrees for R and t: 139.82110676111915 78.99150916741516 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-2.15248656e-01 -9.76559024e-01 -6.98671844e-04] [-9.76559274e-01 2.15248584e-01 1.77420355e-04] [-2.28733232e-05 7.20483962e-04 -9.99999740e-01]] t_estimated: [[0.745978 ] [0.66597015] [0.00076198]] R_gt: [[ 0.92809862 -0.37225265 -0.00785652] [ 0.37209103 0.92651837 0.05579263] [-0.0134894 -0.05470486 0.99841074]] t_gt: [ 0.63943342 -0.75878888 0.12395298] Pose Error in degrees for R and t: 177.8688730249276 88.38215192490424 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 3.03659567e-01 9.52780595e-01 -7.50404508e-05] [-9.52779328e-01 3.03659033e-01 -1.65632448e-03] [-1.55532711e-03 5.74455765e-04 9.99998625e-01]] t_estimated: [[0.14609473] [0.98927005] [0.00104353]] R_gt: [[ 0.99386461 0.10971061 0.01408105] [-0.10960747 0.99394354 -0.00790855] [-0.01486261 0.00631822 0.99986947]] t_gt: [-0.79703492 0.60278018 0.03730129] Pose Error in degrees for R and t: 66.03098211257279 61.32056056201038 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-9.72861290e-01 2.31111801e-01 -1.13245909e-02] [ 2.31099325e-01 9.72927163e-01 2.41613630e-03] [ 1.15763998e-02 -2.66539845e-04 -9.99932956e-01]] t_estimated: [[ 0.99296749] [-0.11826255] [-0.00543377]] R_gt: [[ 0.98008288 0.19858316 0.00154237] [-0.1985224 0.97992192 -0.01849628] [-0.00518414 0.01782224 0.99982714]] t_gt: [-0.76301553 0.64490185 -0.04369093] Pose Error in degrees for R and t: 179.6493513887611 33.52136529709624 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.41415068e-01 -3.37246842e-01 -1.49563850e-03] [ 3.37247991e-01 9.41415660e-01 5.90258046e-04] [ 1.20895484e-03 -1.06007890e-03 9.99998707e-01]] t_estimated: [[-0.28253228] [-0.9592563 ] [-0.00169181]] R_gt: [[ 9.16918514e-01 3.99074342e-01 -1.33202631e-04] [-3.99011577e-01 9.16768063e-01 -1.80146098e-02] [-7.06652878e-03 1.65714385e-02 9.99837570e-01]] t_gt: [-0.67930207 0.73361957 -0.01873551] Pose Error in degrees for R and t: 43.24305501861441 59.21801659050373 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.82221050e-01 1.87727882e-01 2.27264801e-04] [-1.87727878e-01 9.82221076e-01 -4.22264628e-05] [-2.31151362e-04 -1.18821810e-06 9.99999973e-01]] t_estimated: [[-9.97986577e-01] [ 6.34254524e-02] [ 6.33177345e-05]] R_gt: [[ 0.99308498 0.11656191 -0.01398376] [-0.11715749 0.99161423 -0.05454682] [ 0.00750833 0.05580938 0.99841301]] t_gt: [-0.53133967 0.76060127 -0.37304673] Pose Error in degrees for R and t: 5.22191345243075 54.65575325925188 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.72349172e-01 -2.33530307e-01 -8.26982428e-04] [ 2.33530358e-01 9.72349511e-01 -3.64374532e-05] [ 8.12625209e-04 -1.57695575e-04 9.99999657e-01]] t_estimated: [[ 0.53135745] [-0.84714411] [-0.00247301]] R_gt: [[ 0.98582905 0.16418445 -0.03444752] [-0.1661218 0.98402474 -0.0640321 ] [ 0.02338464 0.06884752 0.99735347]] t_gt: [-0.50221979 0.77074751 -0.39207596] Pose Error in degrees for R and t: 23.39045179129398 23.24540969628577 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-9.77528961e-01 2.10801161e-01 -3.23966678e-05] [ 2.10800344e-01 9.77525580e-01 2.63728726e-03] [ 5.87611787e-04 2.57119545e-03 -9.99996522e-01]] t_estimated: [[ 0.70635043] [-0.70786107] [-0.00133363]] R_gt: [[ 0.95821794 0.28141821 -0.05121505] [-0.2843613 0.95657033 -0.06411883] [ 0.03094603 0.0760038 0.996627 ]] t_gt: [-0.50461787 0.82088496 -0.26741109] Pose Error in degrees for R and t: 178.02453753768089 20.421204073694806 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.95996726 -0.28005546 -0.00563841] [-0.28008143 0.95996571 0.00449859] [ 0.00415282 0.00589771 -0.99997399]] t_estimated: [[ 0.99820001] [ 0.05985418] [-0.00377047]] R_gt: [[ 9.85448659e-01 -1.69968996e-01 8.16367126e-04] [ 1.69892150e-01 9.85126524e-01 2.57214263e-02] [-5.17624658e-03 -2.52086148e-02 9.99668487e-01]] t_gt: [ 0.74685904 -0.65410134 0.11980401] Pose Error in degrees for R and t: 179.8745640425247 45.096706226258746 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.90773559e-01 1.35527164e-01 3.78017198e-04] [-1.35527093e-01 9.90773619e-01 -2.06243083e-04] [-4.02481008e-04 1.53108621e-04 9.99999907e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95643857 -0.29103321 -0.02289388] [ 0.29185774 0.95501996 0.05248481] [ 0.00658912 -0.05688039 0.99835903]] t_gt: [ 0.78610294 -0.6072432 0.11531636] Pose Error in degrees for R and t: 24.963531429356117 52.97177585018191 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.40198776e-01 7.68209208e-01 3.73355735e-04] [-7.68208607e-01 6.40198777e-01 -1.03059528e-03] [-1.03073467e-03 3.72970747e-04 9.99999399e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.93371106 -0.35769147 -0.01551064] [ 0.35766007 0.9338396 -0.00484422] [ 0.01621654 -0.0010245 0.99986746]] t_gt: [ 0.81630411 -0.57760807 0.00406448] Pose Error in degrees for R and t: 71.15817879183165 35.460855696455596 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999511e-01 -9.57403782e-04 -2.49225826e-04] [ 9.57486609e-04 9.99999486e-01 3.32429102e-04] [ 2.48907429e-04 -3.32667570e-04 9.99999914e-01]] t_estimated: [[-0.62705879] [ 0.77897062] [ 0.0014307 ]] R_gt: [[ 0.97993421 0.19926615 0.00462905] [-0.1992441 0.97993721 -0.00485994] [-0.00550518 0.00383994 0.99997767]] t_gt: [-0.75506197 0.65564425 0.00346924] Pose Error in degrees for R and t: 11.555671380720701 10.198314435363942 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-3.82267710e-01 9.24051588e-01 2.44616810e-04] [-9.24049944e-01 -3.82266498e-01 -2.00656166e-03] [-1.76065768e-03 -9.93081879e-04 9.99997957e-01]] t_estimated: [[0.5947007 ] [0.80394622] [0.00124484]] R_gt: [[ 0.96114685 0.27579058 0.01170365] [-0.27563886 0.96117194 -0.01309178] [-0.01485994 0.00935695 0.99984562]] t_gt: [-0.73616307 0.67677131 0.00667296] Pose Error in degrees for R and t: 96.47100703858958 83.89796752672751 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-1.52428352e-01 -9.88314523e-01 4.06411385e-05] [-9.88314498e-01 1.52428357e-01 2.19289697e-04] [-2.22922054e-04 -6.74025934e-06 -9.99999975e-01]] t_estimated: [[0.80384966] [0.59483104] [0.0013258 ]] R_gt: [[ 0.91633022 0.39987592 0.02094538] [-0.3996967 0.91656427 -0.01235027] [-0.02413682 0.00294575 0.99970452]] t_gt: [-0.69100678 0.72211591 0.03253068] Pose Error in degrees for R and t: 179.28081014693495 82.76810605712207 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.65251282e-01 -2.61322501e-01 7.16152101e-04] [ 2.61323041e-01 9.65251064e-01 -8.07694735e-04] [-4.80197769e-04 9.66775423e-04 9.99999417e-01]] t_estimated: [[8.27839177e-01] [5.60964995e-01] [7.56017513e-04]] R_gt: [[ 0.99656871 0.08213484 -0.01023478] [-0.082083 0.99661059 0.00551654] [ 0.01065311 -0.00465634 0.99993296]] t_gt: [-0.6438514 0.7611579 -0.07806422] Pose Error in degrees for R and t: 19.871404795686853 83.91052032309796 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 7.50399893e-01 -6.60984085e-01 -2.00978446e-04] [ 6.60984040e-01 7.50399918e-01 -2.49856143e-04] [ 3.15965143e-04 5.46484777e-05 9.99999949e-01]] t_estimated: [[-0.3065859 ] [-0.95184225] [-0.00118832]] R_gt: [[ 0.97802621 0.20695708 -0.02515682] [-0.20717171 0.97828497 -0.00619544] [ 0.02332709 0.0112717 0.9996647 ]] t_gt: [-0.58853354 0.79657997 -0.13816161] Pose Error in degrees for R and t: 53.34600215689762 54.716805945417214 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-7.97636149e-01 6.03137868e-01 -1.13368885e-03] [-6.03136278e-01 -7.97636806e-01 -1.46817281e-03] [-1.78978257e-03 -4.87298833e-04 9.99998280e-01]] t_estimated: [[0.540462 ] [0.84136786] [0.00097381]] R_gt: [[ 0.95346718 0.29482083 -0.06309999] [-0.29390625 0.95554425 0.02353343] [ 0.06723211 -0.0038917 0.99772977]] t_gt: [-0.57355745 0.8014529 -0.16942579] Pose Error in degrees for R and t: 125.80183933928517 68.64375138987911 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.98674508e-01 -5.14698476e-02 -2.85377531e-04] [ 5.14698768e-02 9.98674543e-01 9.59379644e-05] [ 2.80061363e-04 -1.10499146e-04 9.99999955e-01]] t_estimated: [[-0.73138178] [-0.68196767] [-0.00088662]] R_gt: [[ 0.98268089 0.18398435 -0.0220886 ] [-0.18456609 0.98241939 -0.02805245] [ 0.01653867 0.03164369 0.99936221]] t_gt: [-0.61816497 0.76075351 -0.19780334] Pose Error in degrees for R and t: 13.724772773328574 86.18590749871149 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.96467928e-01 -8.39709556e-02 -7.38997774e-04] [ 8.39715447e-02 9.96467827e-01 8.05815176e-04] [ 6.68722435e-04 -8.65023764e-04 9.99999402e-01]] t_estimated: [[0.63949368] [0.7687957 ] [0.00100234]] R_gt: [[ 0.94255978 0.33275235 0.02927774] [-0.33128756 0.94242536 -0.04564069] [-0.042779 0.03331979 0.99852795]] t_gt: [-0.63662526 0.76993977 0.04360074] Pose Error in degrees for R and t: 24.4269576629574 79.34748149393647 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.85506227e-01 -1.69638329e-01 -5.60989317e-04] [ 1.69638647e-01 9.85506163e-01 5.76727577e-04] [ 4.55023326e-04 -6.63534087e-04 9.99999676e-01]] t_estimated: [[-9.94278008e-01] [-1.06820459e-01] [-7.94885926e-04]] R_gt: [[ 0.92233594 0.38336646 0.04821909] [-0.38044575 0.92285473 -0.05999657] [-0.06749998 0.03699205 0.99703261]] t_gt: [-0.63642101 0.76720792 0.07975149] Pose Error in degrees for R and t: 32.552886576257094 56.580659074683496 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 0.98348003 0.17780759 -0.03393354] [ 0.17368668 -0.87412155 0.45359062] [ 0.05098982 -0.45199112 -0.8905639 ]] t_estimated: [[-0.08895934] [ 0.96937686] [ 0.22889898]] R_gt: [[ 0.99950682 0.03010735 0.00894046] [-0.02981099 0.99905598 -0.03160111] [-0.00988317 0.03131837 0.99946034]] t_gt: [-0.4386422 0.86913726 -0.22845885] Pose Error in degrees for R and t: 154.7900390830864 33.978344910545076 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99052289e-01 4.35256107e-02 2.11661139e-04] [-4.35255734e-02 9.99052297e-01 -1.77625975e-04] [-2.19191826e-04 1.68244964e-04 9.99999962e-01]] t_estimated: [[-0.65850512] [-0.75257541] [-0.00112228]] R_gt: [[ 0.99865682 -0.05174201 -0.00265635] [ 0.05168479 0.99849129 -0.01855514] [ 0.00361166 0.01839216 0.99982414]] t_gt: [ 0.4261685 -0.80127462 -0.41992783] Pose Error in degrees for R and t: 5.5622918102589605 71.16422539529715 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 7.63303693e-01 6.46039785e-01 2.61870109e-04] [-6.46039792e-01 7.63303729e-01 -6.59440725e-05] [-2.42488925e-04 -1.18843157e-04 9.99999964e-01]] t_estimated: [[0.74953856] [0.6619597 ] [0.00113739]] R_gt: [[ 0.97593146 -0.21647555 0.02637215] [ 0.21646555 0.97628538 0.0032502 ] [-0.0264507 0.00253585 0.9996472 ]] t_gt: [ 0.57176435 -0.81061549 0.12644387] Pose Error in degrees for R and t: 52.76766242944673 83.8062135367287 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 0.59156839 -0.80586376 -0.02510859] [-0.80597325 -0.59025199 -0.04482987] [ 0.02130637 0.04675678 -0.99867905]] t_estimated: [[ 0.54544646] [ 0.83785859] [-0.02193499]] R_gt: [[ 0.99944876 -0.00402434 -0.0329521 ] [ 0.00465964 0.99980426 0.01921598] [ 0.0328678 -0.0193591 0.99927167]] t_gt: [-0.49817505 -0.79551271 -0.34493644] Pose Error in degrees for R and t: 177.1912100935477 21.457558204953195 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.63140908e-01 2.68995093e-01 1.10972778e-03] [-2.68995183e-01 9.63141520e-01 -7.09576854e-05] [-1.08791217e-03 -2.30169178e-04 9.99999382e-01]] t_estimated: [[0.12773278] [0.99180748] [0.00150274]] R_gt: [[ 0.99611808 -0.06853458 -0.0552411 ] [ 0.06962201 0.99741088 0.01798984] [ 0.05386546 -0.02176589 0.99831088]] t_gt: [ 0.09253539 -0.94180158 -0.3231826 ] Pose Error in degrees for R and t: 19.857513711067995 22.668263496312857 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.08405658 0.99645954 0.00169399] [-0.99646015 0.08405858 -0.00114679] [-0.00128513 -0.00159159 0.99999791]] t_estimated: [[0.14500275] [0.9894305 ] [0.00121851]] R_gt: [[ 0.98764883 -0.12506508 -0.09438782] [ 0.13006395 0.99030458 0.04878882] [ 0.08737118 -0.06046309 0.99433883]] t_gt: [ 0.20745203 -0.95182769 -0.22580459] Pose Error in degrees for R and t: 92.68984980479767 24.222177886338056 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[-0.90104582 -0.43322025 -0.02089609] [-0.43323996 0.90127056 -0.00380925] [ 0.02048328 0.00562072 -0.9997744 ]] t_estimated: [[ 0.97473057] [ 0.22319047] [-0.00929111]] R_gt: [[ 9.99999404e-01 1.12512257e-04 1.31645982e-03] [-1.11994735e-04 9.99999938e-01 2.45983100e-06] [-1.31693179e-03 -3.07437500e-06 9.99999345e-01]] t_gt: [ 0.97004559 -0.24008635 0.03701494] Pose Error in degrees for R and t: 178.85873267353102 26.924473204547542 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.92568274e-01 -1.21689028e-01 4.69384890e-05] [ 1.21689005e-01 9.92568219e-01 3.40583582e-04] [-8.80349375e-05 -3.32340560e-04 9.99999941e-01]] t_estimated: [[-5.53485636e-01] [-8.32858722e-01] [ 2.99888624e-06]] R_gt: [[ 0.99850633 0.0545212 0.00327988] [-0.05454652 0.9984752 0.00846664] [-0.00281386 -0.00863327 0.9999587 ]] t_gt: [0.55824745 0.81916335 0.13164798] Pose Error in degrees for R and t: 10.128297331070048 7.594214285427344 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-5.93955110e-01 -8.04489131e-01 -3.81639937e-03] [ 8.04492470e-01 -5.93962087e-01 9.51116562e-04] [-3.03195947e-03 -2.50534402e-03 9.99992265e-01]] t_estimated: [[0.99922504] [0.03930699] [0.00206879]] R_gt: [[ 9.97348285e-01 6.91610825e-02 2.26212494e-02] [-6.91684786e-02 9.97604707e-01 -4.82396118e-04] [-2.25998906e-02 -1.08335390e-03 9.99743225e-01]] t_gt: [0.59236016 0.76236703 0.2605877 ] Pose Error in degrees for R and t: 130.40920223523375 51.50791232125913 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99888765e-01 1.49122827e-02 2.86846854e-04] [-1.49122355e-02 9.99888793e-01 -1.65716951e-04] [-2.89286172e-04 1.61420989e-04 9.99999945e-01]] t_estimated: [[-0.3928689 ] [-0.91959255] [-0.00188904]] R_gt: [[ 0.99467376 -0.09848559 -0.03043598] [ 0.09903338 0.99493903 0.01704767] [ 0.02860332 -0.01996965 0.99939134]] t_gt: [ 0.81789334 -0.57331324 -0.04860459] Pose Error in degrees for R and t: 6.828186990417765 78.1130362442346 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.31691132 0.94838241 0.01174795] [ 0.94842882 -0.31678587 -0.01137932] [-0.00707036 0.01474833 -0.99986624]] t_estimated: [[-0.81199742] [-0.58365475] [-0.00270532]] R_gt: [[ 0.98721469 -0.14186269 -0.0726914 ] [ 0.1426235 0.98976274 0.00536421] [ 0.07118647 -0.01566178 0.99734026]] t_gt: [ 0.85132001 -0.49162584 -0.18318917] Pose Error in degrees for R and t: 178.0245286350675 66.18189993568326 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999577e-01 4.11321972e-04 8.23038394e-04] [-4.10787015e-04 9.99999704e-01 -6.50041372e-04] [-8.23305527e-04 6.49703003e-04 9.99999450e-01]] t_estimated: [[0.94608155] [0.32391267] [0.00320706]] R_gt: [[ 0.97895731 -0.16419817 -0.12117838] [ 0.16652333 0.98599471 0.00924905] [ 0.11796217 -0.02923347 0.99258779]] t_gt: [ 0.87204597 -0.43145477 -0.23104675] Pose Error in degrees for R and t: 11.877363643771572 46.80119037541559 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.97478949 0.22312118 0.00154789] [-0.22311318 0.97478356 -0.00418507] [-0.00244264 0.00373421 0.99999004]] t_estimated: [[-9.72028275e-01] [-2.34862638e-01] [-7.57621415e-04]] R_gt: [[ 0.98653522 -0.15163161 0.0612848 ] [ 0.15149514 0.98843446 0.00690949] [-0.06162332 0.00246868 0.99809589]] t_gt: [ 0.65665176 -0.72469911 0.20885321] Pose Error in degrees for R and t: 21.886157289733596 62.08004612289306 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 1.11794116e-01 -9.93729917e-01 -1.71077615e-03] [ 9.93731355e-01 1.11793491e-01 4.57106721e-04] [-2.62986985e-04 -1.75115375e-03 9.99998432e-01]] t_estimated: [[ 9.86009261e-01] [-1.66688562e-01] [ 8.12211020e-04]] R_gt: [[ 0.94873583 -0.30513804 0.08240009] [ 0.30498592 0.95224275 0.01473615] [-0.08296168 0.01114985 0.99648968]] t_gt: [ 0.75366409 -0.6422041 0.13987254] Pose Error in degrees for R and t: 65.94669797272444 31.757704315986537 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99998388e-01 1.79580264e-03 -7.93812020e-06] [-1.79579968e-03 9.99998323e-01 3.59017349e-04] [ 8.58283119e-06 -3.59002514e-04 9.99999936e-01]] t_estimated: [[9.99765678e-01] [2.16349524e-02] [7.19164264e-04]] R_gt: [[ 0.89676138 -0.44060731 0.04103765] [ 0.43549441 0.89518557 0.09480474] [-0.07850796 -0.06714471 0.99464916]] t_gt: [ 0.80074363 -0.56777619 0.19089221] Pose Error in degrees for R and t: 26.80601642901782 37.96287828481283 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99998030e-01 -1.97394889e-03 -2.09939573e-04] [ 1.97392827e-03 9.99998047e-01 -9.83847276e-05] [ 2.10133369e-04 9.79701281e-05 9.99999973e-01]] t_estimated: [[-0.99662879] [-0.08201006] [-0.00232514]] R_gt: [[ 0.9998461 0.01448064 0.00986905] [-0.0146727 0.99969865 0.01970072] [-0.00958002 -0.01984161 0.99975704]] t_gt: [-0.84629601 -0.12540009 0.51774306] Pose Error in degrees for R and t: 1.587536939328641 31.51282201613534 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.89247492 -0.45107604 -0.00434946] [-0.45106975 -0.89227352 -0.01959679] [ 0.00495873 0.01945155 -0.9997985 ]] t_estimated: [[ 0.33706151] [ 0.94144893] [-0.00796552]] R_gt: [[ 0.99789265 -0.00143777 0.06487476] [ 0.00117054 0.99999172 0.00415748] [-0.06488081 -0.00407229 0.99788454]] t_gt: [-0.84724159 -0.17747981 0.50068214] Pose Error in degrees for R and t: 179.9587055932436 62.828922437129634 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.17564234 0.9844216 -0.00799296] [ 0.98443392 0.17568487 0.00496724] [ 0.0062941 -0.00699608 -0.99995572]] t_estimated: [[9.98875956e-01] [4.73919249e-02] [9.11383171e-04]] R_gt: [[ 0.99540494 0.06884694 0.06654618] [-0.0676488 0.99750705 -0.02008767] [-0.06776269 0.01549387 0.99758136]] t_gt: [-0.96610378 0.25812886 0.00360366] Pose Error in degrees for R and t: 176.92133517882388 17.677401131063 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[-0.99617699 -0.08721371 0.00501682] [-0.08720204 0.99618751 0.00249885] [-0.00521563 0.00205182 -0.99998429]] t_estimated: [[0.96399025] [0.26592835] [0.00221607]] R_gt: [[ 0.9959098 -0.06783586 0.05968069] [ 0.06844137 0.99762174 -0.00815438] [-0.05898493 0.01220536 0.99818344]] t_gt: [ 0.13605124 -0.76199678 0.63312792] Pose Error in degrees for R and t: 176.3271482940262 85.98133615156048 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 3.74860449e-01 9.27080653e-01 1.05200877e-03] [ 9.27078380e-01 -3.74861871e-01 2.06269918e-03] [ 2.30664648e-03 2.02070244e-04 -9.99997319e-01]] t_estimated: [[-0.0938693 ] [-0.99558351] [-0.00142226]] R_gt: [[ 0.98519395 -0.16085299 0.05931336] [ 0.16038171 0.98697314 0.01267078] [-0.06057812 -0.00297039 0.9981583 ]] t_gt: [ 0.45497673 -0.80329222 0.38434071] Pose Error in degrees for R and t: 178.49824610714123 40.84430937345001 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.96564225e-01 -8.28235568e-02 6.87624255e-05] [ 8.28235303e-02 9.96564176e-01 3.25536512e-04] [-9.54882618e-05 -3.18722895e-04 9.99999945e-01]] t_estimated: [[9.06855523e-01] [4.21440827e-01] [8.30780820e-04]] R_gt: [[ 0.95284169 -0.29867387 0.05372171] [ 0.29764266 0.95430994 0.02647041] [-0.05917338 -0.00923274 0.99820491]] t_gt: [ 0.635541 -0.73904422 0.22338597] Pose Error in degrees for R and t: 13.066854699051358 74.62912294040478 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.28238139 -0.95794918 0.0509325 ] [-0.95873951 0.27999944 -0.04918201] [ 0.03285279 -0.06271909 -0.99749036]] t_estimated: [[0.80821242] [0.5888834 ] [0.00300451]] R_gt: [[ 0.98904912 0.1475537 0.00302991] [-0.14745476 0.98883066 -0.02169556] [-0.00619722 0.02101139 0.99976046]] t_gt: [-0.70273289 0.70640598 -0.0845995 ] Pose Error in degrees for R and t: 179.58189177729005 81.24434845914449 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-8.46114182e-01 5.33001455e-01 -4.89110381e-04] [-5.32998073e-01 -8.46111477e-01 -2.90224889e-03] [-1.96074479e-03 -2.19493905e-03 9.99995669e-01]] t_estimated: [[0.23181863] [0.97275792] [0.00146721]] R_gt: [[ 9.87908684e-01 1.53463214e-01 2.20367871e-02] [-1.53435814e-01 9.88153875e-01 -2.91228334e-03] [-2.22229613e-02 -5.04194241e-04 9.99752637e-01]] t_gt: [-0.70032898 0.70951469 0.07828297] Pose Error in degrees for R and t: 138.96442228508295 58.132843735712754 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.27563424 0.96126146 0.00147295] [-0.96126157 0.27563586 -0.00103729] [-0.0014031 -0.00112998 0.99999838]] t_estimated: [[0.02085982] [0.9997813 ] [0.00148999]] R_gt: [[ 0.99878175 0.03607118 0.03368469] [-0.03638443 0.99929994 0.00871971] [-0.03334601 -0.00993482 0.99939428]] t_gt: [-0.51407241 0.67994027 0.52288697] Pose Error in degrees for R and t: 71.9443436908884 47.94472663730436 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99899409e-01 1.41834680e-02 -2.51978063e-05] [-1.41834692e-02 9.99899408e-01 -4.63769833e-05] [ 2.45374852e-05 4.67297105e-05 9.99999999e-01]] t_estimated: [[-7.70417284e-01] [-6.37539638e-01] [-6.46905621e-04]] R_gt: [[ 0.99909598 0.02501134 0.03435406] [-0.02460167 0.99962182 -0.01230751] [-0.03464953 0.01145201 0.99933415]] t_gt: [-0.94978015 0.30616386 -0.06466345] Pose Error in degrees for R and t: 2.1789015757481667 57.54905844147523 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.95421456e-01 9.55813248e-02 -5.79512157e-04] [-9.55804691e-02 9.95420780e-01 1.35830736e-03] [ 7.06687260e-04 -1.29669825e-03 9.99998910e-01]] t_estimated: [[-0.97811426] [-0.20806514] [-0.00117811]] R_gt: [[ 0.99560053 0.07870835 0.05083598] [-0.0765315 0.99611934 -0.0434565 ] [-0.05405976 0.0393755 0.99776076]] t_gt: [-0.87390433 0.41609082 -0.25131583] Pose Error in degrees for R and t: 4.04418799149196 39.780585761928776 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-3.02088165e-01 9.53279965e-01 2.20662418e-04] [-9.53277016e-01 -3.02086636e-01 -2.56810003e-03] [-2.38145914e-03 -9.86145038e-04 9.99996678e-01]] t_estimated: [[0.07656022] [0.99706337] [0.00178047]] R_gt: [[ 0.98641764 0.14556144 0.07610485] [-0.13851756 0.98618286 -0.09086024] [-0.08827944 0.07908476 0.99295147]] t_gt: [-0.85737728 0.4169055 -0.30181785] Pose Error in degrees for R and t: 99.54838263321037 69.54309110741981 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99998944e-01 1.45129096e-03 -7.39206669e-05] [-1.45129974e-03 9.99998940e-01 -1.18806346e-04] [ 7.37481660e-05 1.18913501e-04 9.99999990e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96951796 0.24233805 -0.03616569] [-0.24184166 0.97015664 0.01758728] [ 0.03934797 -0.00830635 0.99919092]] t_gt: [-0.62588362 0.77385944 -0.09701163] Pose Error in degrees for R and t: 14.120609807915008 39.660515442915674 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.50114873 -0.8329519 -0.23460835] [ 0.80271349 -0.34618149 -0.48560213] [ 0.32326615 -0.43168218 0.84211014]] t_estimated: [[9.99967893e-01] [7.96434605e-03] [8.84927339e-04]] R_gt: [[ 0.93100272 0.36125264 -0.05225404] [-0.36285428 0.93150972 -0.02503466] [ 0.03963086 0.04226823 0.99832011]] t_gt: [-0.53349898 0.82757781 -0.17462475] Pose Error in degrees for R and t: 139.53212079041458 58.19396818069284 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.506531 0.86220341 0.00562434] [ 0.86222019 0.50653171 0.00140266] [-0.00163953 0.00555991 -0.9999832 ]] t_estimated: [[-0.00624358] [-0.99997997] [-0.00103951]] R_gt: [[ 0.91461236 0.39834485 -0.06932609] [-0.40150046 0.91501536 -0.03931661] [ 0.04777192 0.06379277 0.99681922]] t_gt: [-0.49968224 0.83872723 -0.21645853] Pose Error in degrees for R and t: 178.7110168864333 33.34607295081246 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99988029e-01 4.88047360e-03 3.50357435e-04] [-4.88046438e-03 9.99988090e-01 -2.71604606e-05] [-3.50485818e-04 2.54502285e-05 9.99999938e-01]] t_estimated: [[-0.99917161] [ 0.0405925 ] [ 0.00288854]] R_gt: [[ 0.99864325 -0.05147722 0.00781374] [ 0.0513565 0.99856822 0.0149614 ] [-0.00857227 -0.01454059 0.99985682]] t_gt: [ 0.36006879 -0.82546346 0.43469592] Pose Error in degrees for R and t: 3.367083052720548 66.91959619001449 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.72617365 -0.68680622 0.0311295 ] [-0.68673745 0.72676007 0.01454212] [-0.03261129 -0.01081769 -0.99940957]] t_estimated: [[0.91478194] [0.40355922] [0.01771901]] R_gt: [[ 0.98783675 -0.14067473 0.06625073] [ 0.14125841 0.9899646 -0.00418085] [-0.06499674 0.0134879 0.9977942 ]] t_gt: [ 0.42456066 -0.82348439 0.37632659] Pose Error in degrees for R and t: 174.714237189297 86.40382808791868 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.03091619e-01 4.29447889e-01 1.95381693e-04] [-4.29447908e-01 9.03091628e-01 7.05720279e-05] [-1.46140563e-04 -1.47639266e-04 9.99999978e-01]] t_estimated: [[8.78360317e-01] [4.77998509e-01] [7.61144122e-04]] R_gt: [[ 0.96263271 -0.26719751 0.04407844] [ 0.2650728 0.9630015 0.04863056] [-0.05544101 -0.03512932 0.9978439 ]] t_gt: [ 0.602599 -0.73812951 0.30337976] Pose Error in degrees for R and t: 41.048367652872436 79.82209702102728 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 8.36583899e-01 5.47838787e-01 2.05823861e-04] [-5.47838458e-01 8.36583714e-01 -8.45215331e-04] [-6.35230632e-04 5.94335311e-04 9.99999622e-01]] t_estimated: [[3.91997204e-03] [9.99992216e-01] [4.50266551e-04]] R_gt: [[ 0.96848236 -0.16651587 0.18524441] [ 0.16378424 0.98603809 0.0300642 ] [-0.18766437 0.00122403 0.98223275]] t_gt: [ 0.51498518 -0.62218315 0.58964259] Pose Error in degrees for R and t: 44.08841319829927 51.691599632675256 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-5.62954274e-01 8.26487578e-01 -8.76785869e-04] [ 8.26484650e-01 5.62954686e-01 2.26810749e-03] [ 2.36815338e-03 5.52190743e-04 -9.99997043e-01]] t_estimated: [[-5.00689571e-01] [-8.65626875e-01] [-2.57255054e-04]] R_gt: [[ 0.92168707 -0.30755906 0.23643407] [ 0.29962844 0.9515067 0.06970524] [-0.24640697 0.00659627 0.96914395]] t_gt: [ 0.65116401 -0.63453235 0.41635817] Pose Error in degrees for R and t: 168.45535652325353 77.10705336268437 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 8.36394491e-01 5.48127885e-01 2.76882751e-04] [-5.48127665e-01 8.36394461e-01 -6.06624767e-04] [-5.64091150e-04 3.55610518e-04 9.99999778e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.85665707 -0.43625779 0.27535193] [ 0.41956729 0.89973493 0.12017411] [-0.30016931 0.01258124 0.95380249]] t_gt: [ 0.7279984 -0.57904341 0.36705186] Pose Error in degrees for R and t: 61.51313745672431 54.962681838056334 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.86571676e-01 -1.63328871e-01 -8.78387669e-05] [ 1.63328892e-01 9.86571601e-01 3.85621908e-04] [ 2.36760422e-05 -3.94790261e-04 9.99999922e-01]] t_estimated: [[9.08765513e-01] [4.17306386e-01] [7.88858953e-04]] R_gt: [[ 0.98896409 -0.13933411 0.0503733 ] [ 0.13979029 0.99016442 -0.00563575] [-0.04909177 0.01261588 0.99871436]] t_gt: [ 0.63105948 -0.73006572 0.26223649] Pose Error in degrees for R and t: 3.2198773585820732 74.39339347281908 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.93414096e-01 1.14579012e-01 2.90319048e-04] [-1.14579006e-01 9.93414138e-01 -3.51780016e-05] [-2.92437708e-04 1.68185456e-06 9.99999957e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.96638415 -0.24757608 0.06933877] [ 0.25050178 0.96740425 -0.0371233 ] [-0.05788742 0.05324602 0.99690194]] t_gt: [ 0.67819919 -0.7297757 0.08644817] Pose Error in degrees for R and t: 21.493070480085983 81.3975909759591 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.99885033 -0.04770258 -0.00474142] [ 0.04778857 0.99865574 0.02007398] [ 0.00377747 -0.02027749 0.99978725]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97221533 -0.22475488 0.06544037] [ 0.22701939 0.97344611 -0.02942075] [-0.05708967 0.0434611 0.9974227 ]] t_gt: [ 0.64118901 -0.75945143 0.11004622] Pose Error in degrees for R and t: 11.475725946921854 50.28895172656927 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.98725855e-01 5.04642576e-02 1.57783399e-04] [-5.04642459e-02 9.98725865e-01 -7.74605152e-05] [-1.61491349e-04 6.93993990e-05 9.99999985e-01]] t_estimated: [[-0.45058256] [-0.89273427] [-0.00093676]] R_gt: [[ 0.99782521 -0.06220625 0.02182475] [ 0.06292174 0.99744665 -0.03376844] [-0.01966817 0.03506853 0.99919139]] t_gt: [ 0.87519571 -0.45909359 -0.1525305 ] Pose Error in degrees for R and t: 6.875279573537533 89.10365472842933 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99989874e-01 4.47954990e-03 4.30398139e-04] [-4.47920979e-03 9.99989658e-01 -7.87974047e-04] [-4.33923457e-04 7.86038224e-04 9.99999597e-01]] t_estimated: [[ 0.31236208] [-0.9499552 ] [-0.00387852]] R_gt: [[ 0.98505909 -0.17218689 -0.00340548] [ 0.17207063 0.98483129 -0.02233362] [ 0.00719915 0.0214137 0.99974475]] t_gt: [ 0.85191398 -0.51548388 -0.09229812] Pose Error in degrees for R and t: 10.246626870674318 40.87402644982964 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99998865e-01 1.32073954e-03 7.25264457e-04] [-1.32047005e-03 9.99999059e-01 -3.71934874e-04] [-7.25755004e-04 3.70976762e-04 9.99999668e-01]] t_estimated: [[9.66776875e-01] [2.55621262e-01] [4.94405259e-04]] R_gt: [[ 0.97884663 -0.19852633 -0.04947698] [ 0.19705045 0.97983224 -0.03315024] [ 0.05506051 0.02270024 0.99822417]] t_gt: [ 0.87364172 -0.44641172 -0.19356322] Pose Error in degrees for R and t: 11.99614561950235 43.07934156324474 Number of keypoints: Image1: 515 Image2: 515 R_estimated: [[ 0.98483381 0.17025538 0.03339858] [ 0.17096705 -0.91952919 -0.35388746] [-0.02954028 0.3542304 -0.9346915 ]] t_estimated: [[-0.09164353] [ 0.9787792 ] [-0.1832832 ]] R_gt: [[ 0.999904 0.01054615 -0.00905109] [-0.01067821 0.99983652 -0.0146109 ] [ 0.00889577 0.01470594 0.99985265]] t_gt: [-0.78719627 0.07309905 -0.61235492] Pose Error in degrees for R and t: 158.38876974358743 75.17167750221617 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.93047234e-01 1.17715260e-01 5.56251716e-04] [-1.17714478e-01 9.93046663e-01 -1.27545011e-03] [-7.02523852e-04 1.20110332e-03 9.99999032e-01]] t_estimated: [[-9.65869079e-01] [-2.59029572e-01] [-7.76218194e-04]] R_gt: [[ 9.98613043e-01 1.71272197e-03 -5.26315528e-02] [-2.38805207e-04 9.99608306e-01 2.80079230e-02] [ 5.26596824e-02 -2.79567442e-02 9.98221085e-01]] t_gt: [-0.61798494 -0.63448137 -0.46424994] Pose Error in degrees for R and t: 7.554201308427018 40.394338998978185 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.90912648e-01 1.34506712e-01 2.62316955e-04] [-1.34506653e-01 9.90912663e-01 -2.34049178e-04] [-2.91414378e-04 1.96638915e-04 9.99999938e-01]] t_estimated: [[0.99092485] [0.13441306] [0.00103834]] R_gt: [[ 0.99642536 -0.02344657 -0.08115883] [ 0.02324324 0.99972406 -0.00344421] [ 0.08121687 0.00154606 0.99669577]] t_gt: [-0.34223698 -0.61360375 -0.71159278] Pose Error in degrees for R and t: 10.201572888482236 65.01718768241479 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.59528419 0.80351388 0.00147385] [ 0.80350387 -0.59528452 0.00422721] [ 0.00427399 -0.00133215 -0.99998998]] t_estimated: [[-0.92304725] [-0.38468067] [-0.00213302]] R_gt: [[ 0.99914146 0.02339547 0.03419346] [-0.0237591 0.99966512 0.01028277] [-0.03394117 -0.01108525 0.99936184]] t_gt: [0.25670638 0.38635936 0.88590534] Pose Error in degrees for R and t: 179.8405960887401 67.20303534308191 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.68168089e-01 -2.50294924e-01 -1.73272123e-03] [ 2.50292642e-01 9.68169172e-01 -1.43125180e-03] [ 2.03580234e-03 9.52004947e-04 9.99997475e-01]] t_estimated: [[-0.05953383] [-0.99819275] [-0.00818228]] R_gt: [[ 0.99868268 0.04722207 0.02007772] [-0.04716396 0.99888157 -0.00334958] [-0.02021333 0.0023983 0.99979241]] t_gt: [0.53132301 0.80545318 0.26256625] Pose Error in degrees for R and t: 17.246527760758937 33.09382030951437 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99925200e-01 1.22232195e-02 -4.32360777e-04] [-1.22228075e-02 9.99924854e-01 9.43130118e-04] [ 4.43856374e-04 -9.37774909e-04 9.99999462e-01]] t_estimated: [[ 9.78134469e-01] [-2.07971411e-01] [ 9.23435078e-04]] R_gt: [[ 0.99738834 0.06440187 0.03270544] [-0.06420519 0.99791189 -0.00700475] [-0.03308763 0.00488741 0.99943996]] t_gt: [0.53112894 0.77260143 0.34783484] Pose Error in degrees for R and t: 3.5685866352070854 68.95152254308394 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.99855845e-01 1.69564127e-02 -8.77201576e-04] [-1.69552050e-02 -9.99855317e-01 -1.36629954e-03] [-9.00242199e-04 -1.35122945e-03 9.99998682e-01]] t_estimated: [[0.80651164] [0.59121761] [0.00084099]] R_gt: [[ 0.97668924 0.21463067 0.00321817] [-0.21463702 0.97669245 0.00172406] [-0.0027717 -0.00237452 0.99999314]] t_gt: [-0.34157917 0.9396561 0.01923772] Pose Error in degrees for R and t: 166.6342717385718 73.73562745243747 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.81402855 -0.58077369 -0.00770966] [ 0.5807689 0.81406267 -0.00307551] [ 0.00806233 -0.00197398 0.99996555]] t_estimated: [[0.7437091 ] [0.66850256] [0.00104454]] R_gt: [[ 0.92290306 0.38381326 -0.03059599] [-0.38319668 0.92334956 0.02419304] [ 0.03753683 -0.010604 0.99923831]] t_gt: [-0.25088918 0.96589176 -0.06409163] Pose Error in degrees for R and t: 58.090255665498425 62.67446073226473 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.18454436 -0.98282198 0.00208379] [-0.98282261 0.18453987 -0.00217873] [ 0.00175676 -0.00245007 -0.99999546]] t_estimated: [[0.69445647] [0.71953407] [0.00096452]] R_gt: [[ 0.8656996 0.49994666 -0.02481852] [-0.49764777 0.86494391 0.06495229] [ 0.05393967 -0.04387851 0.99757951]] t_gt: [-0.20773272 0.97695156 -0.04911987] Pose Error in degrees for R and t: 179.6777424902057 56.03811894166111 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.79262870e-01 2.02593709e-01 1.44433272e-04] [ 2.02593599e-01 9.79260940e-01 1.96103740e-03] [ 2.55855979e-04 1.94963237e-03 -9.99998067e-01]] t_estimated: [[0.89707405] [0.44187858] [0.00121063]] R_gt: [[ 0.99251573 -0.07703144 0.09474707] [ 0.08758765 0.98974687 -0.11283093] [-0.08508452 0.12028436 0.989086 ]] t_gt: [ 0.49876306 0.32257043 -0.8044773 ] Pose Error in degrees for R and t: 174.16953232555932 53.914600635514894 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.15220627 0.98834714 0.00178509] [ 0.98834749 -0.15220871 0.00132115] [ 0.00157746 0.0015632 -0.99999753]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953484e-04]] R_gt: [[ 0.98521221 -0.07014422 0.15632305] [ 0.10051895 0.97547869 -0.19580043] [-0.1387558 0.20861744 0.96810371]] t_gt: [ 0.1665238 0.46366051 -0.8702234 ] Pose Error in degrees for R and t: 165.52043824100645 76.23001128202777 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.99829195 -0.05807806 0.0063339 ] [-0.05806113 0.99830904 0.00282395] [-0.0064872 0.00245137 -0.99997595]] t_estimated: [[0.99991546] [0.01283973] [0.00205119]] R_gt: [[ 0.96272488 -0.12823172 0.23815212] [ 0.1848182 0.95474142 -0.23305064] [-0.19748924 0.26837758 0.94285221]] t_gt: [ 0.42946842 0.14031951 -0.89211396] Pose Error in degrees for R and t: 167.32712117375615 64.57026480419484 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.99577396 0.09155631 0.0071874 ] [-0.09162433 -0.99574557 -0.00978527] [ 0.00626092 -0.01040246 0.99992629]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.97520373 -0.21614973 -0.04751804] [ 0.21576542 0.97635693 -0.01313473] [ 0.04923352 0.00255618 0.99878386]] t_gt: [ 0.76106681 -0.6245298 -0.1753278 ] Pose Error in degrees for R and t: 172.76272453731147 72.67818444924482 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 7.70192128e-01 6.37806427e-01 2.65483578e-03] [ 6.37808198e-01 -7.70195204e-01 2.25084635e-04] [ 2.18830221e-03 1.51991761e-03 -9.99996451e-01]] t_estimated: [[-7.73246267e-01] [-6.34105421e-01] [-7.24691910e-04]] R_gt: [[ 0.92045115 -0.38967119 -0.03041728] [ 0.38976554 0.9209085 -0.00301295] [ 0.02918486 -0.00908181 0.99953236]] t_gt: [ 0.81019447 -0.58512906 -0.03476924] Pose Error in degrees for R and t: 179.3086388344464 75.20145877102581 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-9.91433237e-01 1.30606171e-01 -1.47129603e-03] [-1.30605351e-01 -9.91434230e-01 -6.40330201e-04] [-1.54232432e-03 -4.42685509e-04 9.99998713e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.84423936 -0.53593007 -0.00617719] [ 0.53595751 0.84423562 0.00403742] [ 0.00305008 -0.00671875 0.99997183]] t_gt: [ 0.84661652 -0.53192521 0.0172056 ] Pose Error in degrees for R and t: 155.09608178958624 63.01662639410761 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.92070561e-01 1.25682145e-01 2.01784244e-05] [-1.25682146e-01 9.92070550e-01 1.48658780e-04] [-1.33466634e-06 -1.50016067e-04 9.99999989e-01]] t_estimated: [[9.95833670e-01] [9.11847698e-02] [7.99866401e-04]] R_gt: [[ 0.98353488 -0.1717964 -0.05607663] [ 0.17252579 0.98496892 0.0084093 ] [ 0.05378872 -0.01794625 0.9983909 ]] t_gt: [ 0.75398327 -0.63017141 -0.18545407] Pose Error in degrees for R and t: 17.44473273022845 46.113537908402755 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99306184e-01 -3.72443400e-02 1.03669805e-04] [ 3.72443486e-02 9.99306185e-01 -8.25608602e-05] [-1.00522953e-04 8.63646925e-05 9.99999991e-01]] t_estimated: [[ 9.73632902e-01] [-2.28120509e-01] [ 7.33213050e-05]] R_gt: [[ 0.93117768 -0.35894671 -0.06376349] [ 0.35950588 0.93313832 -0.00286842] [ 0.06053029 -0.0202532 0.99796069]] t_gt: [ 0.80949671 -0.57933466 -0.09532277] Pose Error in degrees for R and t: 19.289130488656934 23.029470244383116 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.34685498 0.9379102 0.00400876] [ 0.93790543 -0.34682409 -0.00681586] [-0.00500233 0.00612395 -0.99996874]] t_estimated: [[-0.94068502] [-0.33927814] [ 0.00142859]] R_gt: [[ 8.41172916e-01 -5.38445670e-01 -5.00442672e-02] [ 5.39117237e-01 8.42230468e-01 -8.50322340e-05] [ 4.21953526e-02 -2.69084673e-02 9.98746894e-01]] t_gt: [ 0.8572969 -0.51410384 -0.02718941] Pose Error in degrees for R and t: 178.19266712535946 50.797656569659466 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999939e-01 -3.09517806e-04 -1.61603748e-04] [ 3.09565689e-04 9.99999908e-01 2.96360488e-04] [ 1.61512004e-04 -2.96410497e-04 9.99999943e-01]] t_estimated: [[0.37522726] [0.92693126] [0.00171337]] R_gt: [[ 0.98484209 0.17262895 -0.01691555] [-0.17192377 0.98442316 0.03678827] [ 0.02300317 -0.03332233 0.9991794 ]] t_gt: [-0.3885672 0.92126467 -0.01693929] Pose Error in degrees for R and t: 10.204238964676474 44.91792275857022 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99998315e-01 6.89201593e-04 -1.70148551e-03] [-6.88244542e-04 9.99999605e-01 5.63001100e-04] [ 1.70187286e-03 -5.61829113e-04 9.99998394e-01]] t_estimated: [[-0.73549122] [-0.67753131] [-0.00199862]] R_gt: [[ 0.95672755 0.29037297 -0.01885967] [-0.28912018 0.95592379 0.05117233] [ 0.03288703 -0.04350472 0.99851186]] t_gt: [-0.34478505 0.9382183 -0.02949056] Pose Error in degrees for R and t: 17.088889816778128 67.54070609742416 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.9933595 -0.11486588 0.00653696] [ 0.11490705 0.99335618 -0.0063136 ] [-0.00576831 0.00702282 0.9999587 ]] t_estimated: [[0.62386535] [0.78153066] [0.00135918]] R_gt: [[ 0.91664142 0.3996238 -0.00836494] [-0.39954751 0.91666392 0.00940428] [ 0.0114263 -0.00527754 0.9999207 ]] t_gt: [-0.27868341 0.95990922 -0.03016368] Pose Error in degrees for R and t: 30.17567013211992 54.809517609419146 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99984588e-01 5.38642580e-03 1.34537413e-03] [-5.38574201e-03 9.99985366e-01 -5.11354754e-04] [-1.34810881e-03 5.04101035e-04 9.99998964e-01]] t_estimated: [[0.99994669] [0.01001741] [0.00250435]] R_gt: [[ 0.99456121 -0.02856966 0.10015989] [ 0.04155645 0.99063311 -0.13008217] [-0.0955062 0.13353668 0.98643069]] t_gt: [-0.12167088 0.55564723 -0.82246724] Pose Error in degrees for R and t: 9.664763159035829 83.21419276991767 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.35186224 0.93604004 -0.00469158] [-0.93603002 0.35181545 -0.00858417] [-0.00638455 0.0074119 0.99995215]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.98013315 -0.08348235 0.17991481] [ 0.11682337 0.97604847 -0.18352732] [-0.16028499 0.20089982 0.9664097 ]] t_gt: [ 0.30142929 0.14880073 -0.9418061 ] Pose Error in degrees for R and t: 76.39732496454585 71.04035479607496 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.9991322 -0.0416218 -0.00157176] [ 0.04162453 -0.9991318 -0.00174342] [-0.00149783 -0.00180733 0.99999725]] t_estimated: [[0.8151402 ] [0.57926228] [0.00128747]] R_gt: [[ 0.97025833 -0.10362963 0.21876751] [ 0.14979985 0.96694595 -0.20633998] [-0.19015414 0.23297492 0.95371026]] t_gt: [ 0.49973004 -0.07934878 -0.86253908] Pose Error in degrees for R and t: 170.2965968322866 68.88286578275884 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99877545e-01 1.56487425e-02 1.11684453e-04] [-1.56487298e-02 9.99877545e-01 -1.13044896e-04] [-1.13439787e-04 1.11283333e-04 9.99999987e-01]] t_estimated: [[-9.94605633e-01] [-1.03728653e-01] [ 2.24533268e-05]] R_gt: [[ 0.99413046 -0.10771195 -0.01013526] [ 0.10775448 0.99417001 0.0036982 ] [ 0.00967842 -0.0047681 0.99994138]] t_gt: [ 0.55453581 -0.83041735 -0.05382435] Pose Error in degrees for R and t: 7.109373646962052 62.26339750722326 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 4.94958523e-04 -9.99997780e-01 -2.04828951e-03] [-9.99997868e-01 -4.99063168e-04 2.00391226e-03] [-2.00493004e-03 2.04729329e-03 -9.99995894e-01]] t_estimated: [[0.74333131] [0.66892302] [0.0007516 ]] R_gt: [[ 0.95259073 -0.3041409 0.00827755] [ 0.30400955 0.95256317 0.01418459] [-0.0121986 -0.01099529 0.99986532]] t_gt: [ 0.63291015 -0.77248887 0.05182354] Pose Error in degrees for R and t: 179.04190070831632 87.35000179476945 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 1.98979819e-01 9.80003487e-01 4.43370432e-04] [ 9.80000615e-01 -1.98980309e-01 2.37314036e-03] [ 2.41390781e-03 -3.77037423e-05 -9.99997086e-01]] t_estimated: [[-0.60829097] [-0.793713 ] [-0.00133397]] R_gt: [[ 0.90064695 -0.43360819 0.02863444] [ 0.43347125 0.90109844 0.01118415] [-0.03065116 0.00233996 0.99952748]] t_gt: [ 0.67571358 -0.73427445 0.06520882] Pose Error in degrees for R and t: 179.16013499605657 80.11415530645993 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-5.66782235e-01 -8.23867628e-01 -1.72497943e-04] [-8.23865820e-01 5.66780526e-01 2.22404732e-03] [-1.73455211e-03 1.40266567e-03 -9.99997512e-01]] t_estimated: [[9.78904402e-01] [2.04316781e-01] [9.08074584e-04]] R_gt: [[ 0.9913261 -0.13097193 -0.01095757] [ 0.13131925 0.99046495 0.04165648] [ 0.00539802 -0.04273406 0.99907271]] t_gt: [ 0.56351873 -0.79780235 0.21437828] Pose Error in degrees for R and t: 179.2327402934019 67.11882712027516 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.60348247e-01 2.78802073e-01 8.05989279e-04] [-2.78801833e-01 9.60348572e-01 -3.98276391e-04] [-8.85070937e-04 1.57772745e-04 9.99999596e-01]] t_estimated: [[0.64147974] [0.76713947] [0.00087874]] R_gt: [[ 0.93930109 -0.34307453 0.0037424 ] [ 0.34207944 0.93730504 0.06664766] [-0.02637172 -0.06132287 0.99776945]] t_gt: [ 0.71078999 -0.67662932 0.19222475] Pose Error in degrees for R and t: 36.44125399943036 86.39125995311217 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.97862785e-01 6.53371141e-02 9.61607216e-04] [-6.53372794e-02 9.97863227e-01 1.41463434e-04] [-9.50309667e-04 -2.03989895e-04 9.99999528e-01]] t_estimated: [[0.94199006] [0.33563898] [0.00110046]] R_gt: [[ 0.86357126 -0.50354066 -0.02629059] [ 0.50358847 0.8586836 0.09519355] [-0.02535754 -0.09544631 0.99511262]] t_gt: [ 0.79434342 -0.57997849 0.1806751 ] Pose Error in degrees for R and t: 34.517044523970206 56.37196492481132 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99409893e-01 -3.43491611e-02 -1.88771795e-05] [ 3.43491619e-02 9.99409893e-01 4.22632029e-05] [ 1.74143343e-05 -4.28866784e-05 9.99999999e-01]] t_estimated: [[ 6.76170488e-02] [ 9.97711347e-01] [-4.57175359e-05]] R_gt: [[ 0.99765082 -0.01335571 0.06718448] [ 0.01879413 0.99653834 -0.08097557] [-0.06587027 0.08204773 0.99444881]] t_gt: [ 0.17907723 0.26038637 -0.94875196] Pose Error in degrees for R and t: 6.1321966266661105 74.22011123393618 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.87454893 -0.47159101 -0.11298712] [ 0.47635677 0.87906721 0.01802954] [ 0.0908207 -0.0695899 0.99343286]] t_estimated: [[-0.76621604] [-0.63368262] [-0.10658013]] R_gt: [[ 0.99387191 0.03411488 0.10514087] [-0.01659872 0.98645734 -0.16317584] [-0.10928365 0.16043004 0.98097863]] t_gt: [-0.53694775 0.64515318 -0.54356644] Pose Error in degrees for R and t: 34.361693682834115 86.52982229715872 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-0.27493794 0.96145365 0.00400142] [-0.96144632 -0.27495483 0.00456165] [ 0.00548602 -0.00259298 0.99998159]] t_estimated: [[0.09079801] [0.99586812] [0.00155018]] R_gt: [[ 0.98423417 0.08015606 0.15765919] [-0.0476226 0.97859031 -0.20023108] [-0.17033338 0.18956552 0.96698025]] t_gt: [-0.70841612 0.68952708 -0.1506619 ] Pose Error in degrees for R and t: 103.04888457734525 51.52876092527738 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.96379955e-01 -8.50111856e-02 -2.89007639e-04] [ 8.50111499e-02 9.96379991e-01 -1.33514249e-04] [ 2.99311633e-04 1.08462049e-04 9.99999949e-01]] t_estimated: [[-0.05218098] [-0.99863602] [-0.00179934]] R_gt: [[ 0.99581884 0.08682731 0.02838909] [-0.08496706 0.99450227 -0.06121061] [-0.03354884 0.05854224 0.9977212 ]] t_gt: [-0.82800168 0.33183085 -0.45199723] Pose Error in degrees for R and t: 10.544041017677905 73.30009071429271 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.96090393e-01 8.83396934e-02 -1.66245825e-04] [-8.83397021e-02 9.96090405e-01 -4.57712912e-05] [ 1.61552450e-04 6.02784501e-05 9.99999985e-01]] t_estimated: [[8.36543522e-01] [5.47900090e-01] [6.53039440e-04]] R_gt: [[ 0.99748332 0.06637828 0.02490778] [-0.06382543 0.9936989 -0.09214256] [-0.03086812 0.09032133 0.99543461]] t_gt: [-0.62390644 0.33871816 -0.70428032] Pose Error in degrees for R and t: 5.635124840489712 70.3179007133081 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.04338087e-01 7.09864665e-01 1.29599277e-04] [-7.09864398e-01 7.04337638e-01 1.01430194e-03] [ 6.28735458e-04 -8.06409401e-04 9.99999477e-01]] t_estimated: [[0.71520383] [0.69891554] [0.00074038]] R_gt: [[ 0.99710772 -0.06968461 0.03033068] [ 0.07299963 0.98919197 -0.12716305] [-0.02114167 0.12901004 0.99141787]] t_gt: [ 0.44879868 0.0883197 -0.88925777] Pose Error in degrees for R and t: 49.8750029370296 67.53914393153657 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99972295e-01 7.41291308e-03 -6.76507021e-04] [-7.41210668e-03 9.99971826e-01 1.18683351e-03] [ 6.85285855e-04 -1.18178629e-03 9.99999067e-01]] t_estimated: [[0.99129211] [0.13165598] [0.00258149]] R_gt: [[ 0.98921053 -0.14590334 -0.01326957] [ 0.14524886 0.98853213 -0.04131853] [ 0.01914644 0.03894621 0.99905755]] t_gt: [ 0.51879949 -0.68411337 -0.51267533] Pose Error in degrees for R and t: 9.156829946566088 64.98277196776658 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-1.51860147e-01 -9.88400697e-01 -1.59929216e-03] [-9.88401853e-01 1.51860782e-01 -2.82361959e-04] [ 5.21956515e-04 1.53786381e-03 -9.99998681e-01]] t_estimated: [[7.08289530e-01] [7.05921760e-01] [6.40546867e-04]] R_gt: [[ 0.95019649 -0.30927858 -0.03840199] [ 0.30845554 0.9508861 -0.0259265 ] [ 0.04453431 0.01279079 0.99892607]] t_gt: [ 0.63017184 -0.74946749 -0.2029333 ] Pose Error in degrees for R and t: 177.37079694455838 85.24752347677433 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99994219e-01 -3.34057774e-03 6.35136350e-04] [ 3.34076945e-03 9.99994374e-01 -3.01018842e-04] [-6.34127200e-04 3.03138946e-04 9.99999753e-01]] t_estimated: [[ 0.06528786] [-0.99786587] [-0.00109894]] R_gt: [[ 0.90851596 -0.41762716 0.01364724] [ 0.4177855 0.90731031 -0.0473603 ] [ 0.00739661 0.04872991 0.9987841 ]] t_gt: [ 0.59868181 -0.79121269 -0.12475006] Pose Error in degrees for R and t: 24.672064745631985 34.02967078944448 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-9.99977906e-01 -6.58752927e-03 8.89701736e-04] [-6.58225524e-03 9.99961481e-01 5.80611859e-03] [-9.27915442e-04 5.80013407e-03 -9.99982749e-01]] t_estimated: [[0.75844861] [0.65173215] [0.00095282]] R_gt: [[ 0.99765748 -0.0637446 -0.02482506] [ 0.06077428 0.9924941 -0.1061279 ] [ 0.03140473 0.10437047 0.99404239]] t_gt: [ 0.57941361 -0.31291051 -0.75257351] Pose Error in degrees for R and t: 178.42767705869295 76.41989883923902 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.09738051e-01 -4.15182242e-01 -6.20076832e-04] [ 4.15182439e-01 9.09738144e-01 2.25497632e-04] [ 4.70484934e-04 -4.62588787e-04 9.99999782e-01]] t_estimated: [[0.41013304] [0.91202465] [0.00139028]] R_gt: [[ 0.99538157 -0.0757256 -0.05899834] [ 0.06273878 0.9783479 -0.19723202] [ 0.07265708 0.19261918 0.97857946]] t_gt: [ 0.4444734 -0.03943462 -0.89492363] Pose Error in degrees for R and t: 23.681739851229057 81.65787506433504 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 7.97697363e-01 -6.03057433e-01 -8.06441991e-04] [ 6.03057577e-01 7.97697657e-01 -7.70881668e-05] [ 6.89785479e-04 -4.24837926e-04 9.99999672e-01]] t_estimated: [[-0.09128382] [-0.99582353] [-0.00165971]] R_gt: [[ 0.99094352 -0.06199502 -0.11911616] [ 0.03531643 0.97614281 -0.21424133] [ 0.12955732 0.20809403 0.96949014]] t_gt: [ 0.37415765 0.09598137 -0.92238475] Pose Error in degrees for R and t: 36.992545038690544 82.63417011449073 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-2.66371502e-01 -9.63869756e-01 -1.14708468e-03] [-9.63870389e-01 2.66370917e-01 6.38072563e-04] [-3.09468849e-04 1.27560530e-03 -9.99999139e-01]] t_estimated: [[7.76782689e-01] [6.29768360e-01] [6.83787578e-04]] R_gt: [[ 9.95090881e-01 -9.89634479e-02 4.92612159e-04] [ 9.89107353e-02 9.94365222e-01 -3.81229531e-02] [ 3.28327195e-03 3.79848933e-02 9.99272820e-01]] t_gt: [ 0.75140184 -0.64037284 -0.15911602] Pose Error in degrees for R and t: 178.58781456575423 79.6138963868068 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.0980405 0.99484833 0.02578506] [ 0.99508104 -0.09762776 -0.01680933] [-0.0142054 0.02730622 -0.99952618]] t_estimated: [[0.06563294] [0.99784321] [0.00111242]] R_gt: [[ 0.98818107 -0.15328541 -0.00113734] [ 0.15229799 0.98260343 -0.10627976] [ 0.01740912 0.10485031 0.99433634]] t_gt: [ 0.75737303 -0.56518987 -0.32702675] Pose Error in degrees for R and t: 174.12265618933753 59.027536963968636 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.08277736 -0.99654478 0.00681261] [ 0.99649217 0.08285349 0.01177543] [-0.01229919 0.00581398 0.99990746]] t_estimated: [[0.9868225 ] [0.16177418] [0.00323548]] R_gt: [[ 0.98043743 -0.19351164 -0.03598053] [ 0.18128782 0.95900252 -0.21782386] [ 0.07665713 0.20703981 0.97532445]] t_gt: [ 0.69486663 -0.35747395 -0.62399739] Pose Error in degrees for R and t: 75.32136022376974 51.2545868083961 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999995e-01 1.00142445e-04 -1.90011509e-06] [-1.00140960e-04 9.99999702e-01 7.65980285e-04] [ 1.97682166e-06 -7.65980091e-04 9.99999707e-01]] t_estimated: [[0.78217208] [0.62305479] [0.00309245]] R_gt: [[ 0.98640003 -0.16313863 0.02003614] [ 0.16269936 0.98643251 0.02189915] [-0.02333687 -0.01834129 0.99955923]] t_gt: [ 0.43134835 -0.87367913 0.2249964 ] Pose Error in degrees for R and t: 9.531524649514106 78.0964074268771 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.91871842 0.37904475 -0.1108221 ] [-0.34498032 0.90689143 0.2419432 ] [ 0.19221091 -0.18404623 0.96394084]] t_estimated: [[0.18992668] [0.98128785] [0.03165445]] R_gt: [[ 0.9666992 -0.25369245 0.0336448 ] [ 0.25259653 0.96698687 0.03365334] [-0.04107201 -0.02403462 0.99886652]] t_gt: [ 0.36205099 -0.89509534 0.26023721] Pose Error in degrees for R and t: 39.39555246808906 36.74123067668474 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99999334 -0.001885 0.00312619] [ 0.00189985 0.99998691 -0.00475184] [-0.0031172 0.00475775 0.99998382]] t_estimated: [[8.65880134e-01] [5.00250896e-01] [7.96577860e-04]] R_gt: [[ 0.92565608 -0.37701364 0.03195914] [ 0.37706914 0.9261741 0.00450216] [-0.0312979 0.00788417 0.99947895]] t_gt: [ 0.48826739 -0.87131099 0.04911339] Pose Error in degrees for R and t: 22.11080714839533 89.25204249086093 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 5.07151512e-01 -8.61852650e-01 -2.71191566e-03] [ 8.61855812e-01 5.07153387e-01 -4.61547136e-06] [ 1.37933507e-03 -2.33493953e-03 9.99996323e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99565915 -0.08989653 0.02412415] [ 0.09089224 0.99488806 -0.04399649] [-0.02004609 0.04599739 0.99874022]] t_gt: [ 0.79741597 -0.5669423 -0.20664995] Pose Error in degrees for R and t: 54.41357072354599 37.29808330249533 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.98370970e-01 5.70524998e-02 6.47524007e-04] [-5.70523712e-02 9.98371164e-01 -2.15371968e-04] [-6.58756805e-04 1.78078341e-04 9.99999767e-01]] t_estimated: [[0.00834173] [0.99996466] [0.00104272]] R_gt: [[ 0.98948226 -0.10818321 0.09602623] [ 0.1179018 0.98776365 -0.1020872 ] [-0.08380746 0.11233522 0.99013024]] t_gt: [ 0.81236971 -0.53689315 -0.22759877] Pose Error in degrees for R and t: 12.654742404640364 57.97191260813745 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 8.05098423e-01 -5.93128660e-01 -3.86302264e-03] [ 5.93141238e-01 8.05081860e-01 5.16443199e-03] [ 4.68768262e-05 -6.44919407e-03 9.99979203e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98685699 -0.08665394 0.13639995] [ 0.11178198 0.97560279 -0.18895354] [-0.11669846 0.20171655 0.97246705]] t_gt: [ 0.64301679 -0.28660072 -0.7102038 ] Pose Error in degrees for R and t: 33.52477100547935 50.09068961010852 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[-0.99401339 0.10306049 0.03627547] [ 0.10278848 0.99465985 -0.00929026] [-0.03703921 -0.00550594 -0.99929864]] t_estimated: [[ 0.99830766] [-0.05460599] [ 0.01999995]] R_gt: [[ 0.99553454 -0.0939166 -0.00946908] [ 0.0937948 0.99551205 -0.01262205] [ 0.01061141 0.01167748 0.9998756 ]] t_gt: [ 0.97727028 -0.16776035 -0.12961201] Pose Error in degrees for R and t: 178.45696523922643 10.83125405625948 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.73691638e-01 2.27869657e-01 1.16975180e-04] [-2.27869665e-01 9.73691641e-01 6.14345259e-05] [-9.98986908e-05 -8.64733793e-05 9.99999991e-01]] t_estimated: [[7.14797427e-01] [6.99331230e-01] [6.84711789e-04]] R_gt: [[ 0.96884837 -0.24736241 -0.01201234] [ 0.24637644 0.96763671 -0.05457108] [ 0.0251223 0.04991105 0.99843843]] t_gt: [ 0.97382731 -0.09326972 -0.20727068] Pose Error in degrees for R and t: 27.65862975460479 50.896670640908276 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.99903713e-01 -1.38745780e-02 2.44833979e-04] [ 1.38745960e-02 9.99903741e-01 -7.21095116e-05] [-2.43809922e-04 7.54995410e-05 9.99999967e-01]] t_estimated: [[ 9.97836850e-01] [-6.57388728e-02] [ 1.45657278e-04]] R_gt: [[ 0.9366817 -0.35016858 0.0031113 ] [ 0.35003507 0.93599334 -0.03730957] [ 0.01015126 0.03603572 0.99929904]] t_gt: [ 0.99150368 -0.07963076 -0.10285622] Pose Error in degrees for R and t: 19.821051342542503 5.968749557745005 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 8.78668820e-01 -4.77430716e-01 -1.00799013e-03] [ 4.77430636e-01 8.78669378e-01 -3.34222611e-04] [ 1.04525820e-03 -1.87574381e-04 9.99999436e-01]] t_estimated: [[ 9.16924658e-01] [-3.99059716e-01] [-7.17227304e-04]] R_gt: [[ 0.98889611 -0.14195924 -0.04394462] [ 0.14245454 0.98976649 0.00833237] [ 0.04231213 -0.01450139 0.99899946]] t_gt: [ 0.58948083 -0.79057019 -0.16586479] Pose Error in degrees for R and t: 20.490138238174556 31.11706679276343 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 2.20147167e-01 9.75462527e-01 2.84323617e-03] [ 9.75465962e-01 -2.20149585e-01 5.63673480e-04] [ 1.17577962e-03 2.64938899e-03 -9.99995799e-01]] t_estimated: [[0.6143012 ] [0.78907055] [0.00130425]] R_gt: [[ 0.97194061 -0.22306608 -0.07464807] [ 0.22387039 0.97461564 0.00246221] [ 0.0722043 -0.01910507 0.99720745]] t_gt: [ 0.61323199 -0.76842012 -0.18296734] Pose Error in degrees for R and t: 176.9601337868779 76.7107481627954 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-9.78847253e-01 -2.04588508e-01 -1.26382242e-03] [-2.04590654e-01 9.78845775e-01 1.90098650e-03] [ 8.48167246e-04 2.11934167e-03 -9.99997394e-01]] t_estimated: [[9.79006298e-01] [2.03828482e-01] [7.86982554e-04]] R_gt: [[ 0.91711308 -0.39490874 -0.05432229] [ 0.39700163 0.91714703 0.03507347] [ 0.03597037 -0.05373346 0.99790737]] t_gt: [ 0.70909827 -0.70465993 0.02518 ] Pose Error in degrees for R and t: 177.6029443305472 56.59169651153539 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.232416 0.9723888 -0.02104354] [ 0.93649393 -0.21789008 0.27477815] [ 0.26260602 -0.08356998 -0.96127735]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99746808 -0.01626623 0.06923643] [ 0.02202546 0.99628494 -0.08325006] [-0.06762673 0.08456552 0.99411985]] t_gt: [-0.06147338 0.25109215 -0.96600919] Pose Error in degrees for R and t: 173.0317205394516 87.62103973630445 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.7950891 0.60647766 0.00426273] [ 0.6064766 -0.7949973 -0.01286212] [-0.00441173 0.01281177 -0.99990819]] t_estimated: [[-0.40540395] [ 0.91411448] [-0.00650867]] R_gt: [[ 0.98808426 -0.06784619 0.1381565 ] [ 0.08643696 0.98729287 -0.13334624] [-0.12735441 0.14370046 0.98139191]] t_gt: [ 0.48296829 -0.27210375 -0.83228672] Pose Error in degrees for R and t: 169.2039305849711 63.952626265997885 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.37594108e-01 3.47731554e-01 2.34550515e-04] [-3.47731140e-01 9.37593701e-01 -1.05149826e-03] [-5.85552209e-04 9.04318055e-04 9.99999420e-01]] t_estimated: [[9.12063846e-01] [4.10047452e-01] [7.92672929e-04]] R_gt: [[ 0.98277176 -0.09846446 0.15641205] [ 0.11763989 0.98596548 -0.11846393] [-0.14255299 0.13482437 0.98056132]] t_gt: [ 0.71918932 -0.52953287 -0.44984627] Pose Error in degrees for R and t: 28.856808919945504 63.99456596015129 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.51288405 0.8584527 -0.00298552] [-0.85841895 0.51282457 -0.01130785] [-0.0081762 0.00836244 0.99993161]] t_estimated: [[0.55416238] [0.83240777] [0.00116421]] R_gt: [[ 0.97104458 -0.23355282 0.0502415 ] [ 0.23407537 0.97220676 -0.00468023] [-0.0477522 0.01630567 0.99872556]] t_gt: [ 0.59413486 -0.79363259 0.13096213] Pose Error in degrees for R and t: 72.7146050604532 70.65677736801761 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 2.72508163e-01 9.62153466e-01 9.84001477e-05] [-9.62152225e-01 2.72507644e-01 1.63694559e-03] [ 1.54817808e-03 -5.40756956e-04 9.99998655e-01]] t_estimated: [[0.48840477] [0.87261653] [0.00108534]] R_gt: [[ 0.92552172 -0.37759114 0.02888972] [ 0.37708143 0.92592715 0.02164534] [-0.03492289 -0.00913937 0.9993475 ]] t_gt: [ 0.65722297 -0.74695172 0.10060364] Pose Error in degrees for R and t: 96.37990014986572 70.68858683941896 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-2.52791800e-01 9.67520322e-01 -8.55416444e-04] [-9.67518435e-01 -2.52793022e-01 -1.94073798e-03] [-2.09394675e-03 3.37028532e-04 9.99997751e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.84125321 -0.53752208 0.05798966] [ 0.53882937 0.84237042 -0.00860773] [-0.04422201 0.03848785 0.99828013]] t_gt: [ 0.72303414 -0.69001764 0.03312531] Pose Error in degrees for R and t: 137.2501091418609 46.728210844382765 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.98475853e-01 5.51902770e-02 6.90635308e-05] [-5.51902640e-02 9.98475840e-01 -1.77299710e-04] [-7.87434870e-05 1.73217844e-04 9.99999982e-01]] t_estimated: [[ 0.56259071] [-0.8267349 ] [ 0.00104885]] R_gt: [[ 0.99495043 0.05165023 -0.08604968] [-0.04587591 0.99664466 0.06778746] [ 0.08926288 -0.06349795 0.99398193]] t_gt: [-0.67928455 -0.49646237 -0.54046056] Pose Error in degrees for R and t: 6.308842549408666 88.41174501803438 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999901e-01 4.45771210e-04 -1.64903179e-05] [-4.45772019e-04 9.99999899e-01 -4.91323360e-05] [ 1.64684144e-05 4.91396820e-05 9.99999999e-01]] t_estimated: [[-3.81177681e-02] [-9.99273253e-01] [-3.72571944e-05]] R_gt: [[ 0.98380614 0.09577266 -0.1515032 ] [-0.07844728 0.9900909 0.11647376] [ 0.16115803 -0.10270238 0.98156981]] t_gt: [-0.72812925 -0.46859981 -0.50024196] Pose Error in degrees for R and t: 12.103796219349897 60.2621388057174 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-9.22111492e-01 3.86866989e-01 6.65796817e-03] [ 3.86876145e-01 9.22131682e-01 9.48544259e-05] [-6.10282734e-03 2.66327541e-03 -9.99977831e-01]] t_estimated: [[ 0.95726465] [-0.28919263] [ 0.00346594]] R_gt: [[ 0.97910796 0.0754579 -0.188823 ] [-0.05226382 0.99078797 0.12493432] [ 0.19651146 -0.11245545 0.97403114]] t_gt: [-0.18530745 -0.7424591 -0.64375123] Pose Error in degrees for R and t: 168.09623051311215 87.98883597060912 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.26605979 0.9639553 -0.00153579] [-0.96395535 0.26605664 -0.0019871 ] [-0.00150687 0.00200912 0.99999685]] t_estimated: [[4.36305112e-01] [8.99798721e-01] [3.32214466e-04]] R_gt: [[ 0.98227601 -0.17341958 -0.0711301 ] [ 0.17516662 0.98435439 0.01905539] [ 0.06671257 -0.03117622 0.99728481]] t_gt: [ 0.8086654 -0.58623138 -0.04891874] Pose Error in degrees for R and t: 84.7096283947989 79.93986723322755 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99954403e-01 9.54770699e-03 1.80912551e-04] [-9.54769474e-03 9.99954417e-01 -6.84511251e-05] [-1.81557856e-04 6.67207061e-05 9.99999981e-01]] t_estimated: [[9.63072924e-01] [2.69240672e-01] [5.14389940e-05]] R_gt: [[ 0.97602474 -0.20492277 -0.07337458] [ 0.20808976 0.97735477 0.03841435] [ 0.06384081 -0.05276165 0.9965648 ]] t_gt: [ 0.80440599 -0.59166858 0.05347232] Pose Error in degrees for R and t: 13.359251013370807 52.01878118893563 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.74979389 -0.66163494 -0.00695268] [ 0.66166315 0.74979574 0.00286645] [ 0.00331655 -0.00674958 0.99997172]] t_estimated: [[0.94416176] [0.32947311] [0.00245875]] R_gt: [[ 0.98998863 -0.14085523 -0.00906029] [ 0.14103174 0.98457143 0.10357783] [-0.00566905 -0.10381878 0.99457996]] t_gt: [ 0.61478351 -0.6283365 0.47669118] Pose Error in degrees for R and t: 33.766519317714135 67.99996507222862 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99731992e-01 -2.31500620e-02 -1.38340969e-04] [ 2.31500680e-02 9.99732000e-01 4.16044849e-05] [ 1.37340747e-04 -4.47959374e-05 9.99999990e-01]] t_estimated: [[-9.53265019e-01] [-3.02135057e-01] [-4.59376583e-04]] R_gt: [[ 0.98060439 0.19548091 0.01418928] [-0.19597867 0.97889606 0.05792087] [-0.0025678 -0.05957791 0.9982201 ]] t_gt: [-0.74050693 0.62666544 0.24277543] Pose Error in degrees for R and t: 13.076735233048149 58.90556031440901 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.97119175e-01 -7.58492841e-02 -4.87674792e-04] [ 7.58489995e-02 9.97119148e-01 -5.77885448e-04] [ 5.30102071e-04 5.39231016e-04 9.99999714e-01]] t_estimated: [[-0.88694319] [-0.46187373] [-0.00210705]] R_gt: [[ 0.96062332 0.27616854 0.03054059] [-0.27767053 0.95815447 0.06956213] [-0.01005242 -0.07530327 0.99710943]] t_gt: [-0.7079798 0.66902449 0.22620972] Pose Error in degrees for R and t: 20.9127599708517 71.43040047982136 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-9.98076386e-01 -6.19919771e-02 -7.22801952e-04] [-6.19922462e-02 9.98076568e-01 3.56067628e-04] [ 6.99338355e-04 4.00190807e-04 -9.99999675e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.89543802 0.44245506 0.04922986] [-0.4450181 0.89264372 0.0717408 ] [-0.01220291 -0.08614792 0.99620719]] t_gt: [-0.64767734 0.74470809 0.16100909] Pose Error in degrees for R and t: 178.09072779476332 49.81632342227767 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 0.10564874 -0.99438728 0.00568167] [-0.99440164 -0.10565791 -0.00133875] [ 0.00193155 -0.00550843 -0.99998296]] t_estimated: [[0.72658897] [0.68707141] [0.0011607 ]] R_gt: [[ 0.9967727 -0.03917834 -0.07006508] [ 0.04199417 0.99834838 0.0391816 ] [ 0.06841414 -0.04199687 0.99677311]] t_gt: [ 0.50615812 -0.70204893 -0.50093039] Pose Error in degrees for R and t: 179.23011507519368 83.3865539293565 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.95897136 -0.28047928 0.04129531] [ 0.28110753 0.95962241 -0.01016756] [-0.03677612 0.02135882 0.99909525]] t_estimated: [[0.93429003] [0.3565054 ] [0.00245866]] R_gt: [[ 0.98768646 -0.12642643 -0.09215375] [ 0.13187159 0.98970681 0.05559323] [ 0.08417682 -0.06706078 0.99419221]] t_gt: [ 0.45398765 -0.84577623 -0.28028161] Pose Error in degrees for R and t: 12.334818213765095 82.99573542447986 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.13449552e-01 4.06950681e-01 1.02911082e-03] [-4.06951475e-01 9.13449486e-01 7.30553971e-04] [-6.42741313e-04 -1.08612236e-03 9.99999204e-01]] t_estimated: [[0.69594513] [0.71809326] [0.0015624 ]] R_gt: [[ 0.95097913 -0.2799218 -0.13146651] [ 0.28367435 0.95886388 0.01035677] [ 0.12315995 -0.04714286 0.9912668 ]] t_gt: [ 0.62127596 -0.7180525 -0.3137145 ] Pose Error in degrees for R and t: 41.13604198933108 85.19614795010753 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99989635e-01 4.55290270e-03 3.07285744e-05] [-4.55290232e-03 9.99989635e-01 -1.22646280e-05] [-3.07840956e-05 1.21245967e-05 9.99999999e-01]] t_estimated: [[1.54938224e-01] [9.87924131e-01] [2.42542129e-04]] R_gt: [[ 0.9991604 -0.01123938 -0.03939277] [ 0.00736692 0.9952472 -0.09709854] [ 0.04029731 0.09672731 0.99449451]] t_gt: [ 0.20300056 0.19857837 -0.95883127] Pose Error in degrees for R and t: 6.067359542560331 76.85593204294885 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.96833311 0.24954647 -0.00758567] [ 0.24961381 0.96829556 -0.00983178] [ 0.00489168 -0.01141393 -0.99992289]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99520451 0.01305161 -0.09694252] [-0.02381764 0.99356379 -0.11074771] [ 0.09487283 0.11252616 0.98910939]] t_gt: [ 0.11780312 0.33974407 -0.93311113] Pose Error in degrees for R and t: 174.98492893631456 80.21085155729135 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 7.82529864e-01 6.22612474e-01 8.48140709e-04] [-6.22612565e-01 7.82530229e-01 -1.84206559e-04] [-7.78385045e-04 -3.83915929e-04 9.99999623e-01]] t_estimated: [[0.22038602] [0.9754122 ] [0.00102031]] R_gt: [[ 0.99192206 0.02042531 -0.1251962 ] [-0.03751377 0.99003987 -0.13569851] [ 0.12117837 0.13929898 0.98280799]] t_gt: [ 0.11152767 0.37925361 -0.91854683] Pose Error in degrees for R and t: 38.29795455087088 66.82314799960707 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.82093494e-01 1.88394110e-01 -1.70040936e-04] [-1.88393896e-01 9.82093164e-01 8.70345701e-04] [ 3.30964044e-04 -8.22726176e-04 9.99999607e-01]] t_estimated: [[7.45663666e-01] [6.66322113e-01] [7.34644005e-04]] R_gt: [[ 0.98502629 -0.16945831 -0.03175472] [ 0.16985262 0.98541689 0.01014269] [ 0.02957307 -0.01538412 0.99944379]] t_gt: [ 0.73160602 -0.68092941 -0.03298151] Pose Error in degrees for R and t: 20.714018404233205 84.73343745914754 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.14388680e-01 4.04837093e-01 5.19005502e-04] [-4.04837229e-01 9.14388748e-01 1.86289294e-04] [-3.99155975e-04 -3.80453571e-04 9.99999848e-01]] t_estimated: [[0.71196621] [0.70221325] [0.00081275]] R_gt: [[ 0.93095185 -0.35174172 -0.09801556] [ 0.35418405 0.93513999 0.00816195] [ 0.08878777 -0.04231282 0.99515066]] t_gt: [ 0.83040649 -0.55535855 -0.04474305] Pose Error in degrees for R and t: 44.94257908638611 78.3925749484811 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.89303444 0.4499737 -0.00362716] [-0.44993854 0.89302654 0.00767584] [ 0.00669307 -0.00522279 0.99996396]] t_estimated: [[0.66077624] [0.75058249] [0.00082391]] R_gt: [[ 0.9012322 -0.41374502 -0.12882516] [ 0.42263863 0.90489154 0.0504652 ] [ 0.09569374 -0.09992591 0.99038208]] t_gt: [ 0.84130846 -0.53684693 0.06320954] Pose Error in degrees for R and t: 52.08617458388572 81.19797194388056 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-0.2673555 -0.96358767 -0.00445431] [ 0.9635003 -0.26725973 -0.01547299] [ 0.01371913 -0.00842852 0.99987036]] t_estimated: [[ 0.99940947] [-0.03428716] [-0.00225695]] R_gt: [[ 0.99306099 0.11714799 -0.01036766] [-0.11656656 0.99214913 0.04530259] [ 0.01559331 -0.04378015 0.99891965]] t_gt: [-0.76358244 0.60692164 0.2204268 ] Pose Error in degrees for R and t: 112.2450651382343 38.33121125787234 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99992366e-01 3.90523227e-03 -1.26971116e-04] [-3.90521359e-03 9.99992364e-01 1.47030744e-04] [ 1.27544335e-04 -1.46533773e-04 9.99999981e-01]] t_estimated: [[-9.99730354e-01] [ 2.32210866e-02] [-2.29349238e-05]] R_gt: [[ 0.97030986 0.24171236 0.00869693] [-0.24184738 0.96911904 0.04814084] [ 0.00320787 -0.04881538 0.99880315]] t_gt: [-0.72463024 0.67303116 0.14812182] Pose Error in degrees for R and t: 14.055817184582851 42.263475911918256 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.95490927e-01 9.48566687e-02 -1.65730848e-04] [-9.48566828e-02 9.95490936e-01 -7.96266379e-05] [ 1.57430440e-04 9.49882741e-05 9.99999983e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.8919453 0.4503352 0.04039729] [-0.4506027 0.89271995 -0.00272173] [-0.03728934 -0.01577655 0.99918037]] t_gt: [-0.64057094 0.76498766 0.06680376] Pose Error in degrees for R and t: 21.46797503277682 50.34645074610051 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99993886e-01 -3.49684077e-03 1.83845303e-05] [ 3.49684088e-03 9.99993886e-01 -6.13712129e-06] [-1.83629574e-05 6.20137155e-06 1.00000000e+00]] t_estimated: [[-0.69173969] [-0.72214583] [-0.00126692]] R_gt: [[ 0.97783543 -0.20621885 -0.03622253] [ 0.20628197 0.97848973 -0.00202306] [ 0.03586019 -0.00549432 0.99934085]] t_gt: [ 0.6282495 -0.76686034 -0.13125469] Pose Error in degrees for R and t: 11.889272234134435 83.1444759593423 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.99951382 -0.03115105 -0.00131504] [ 0.03115263 0.99951392 0.00119823] [ 0.00127707 -0.00123862 0.99999842]] t_estimated: [[-0.55325065] [-0.83301435] [-0.00089668]] R_gt: [[ 0.93706081 -0.34681058 -0.04049877] [ 0.34546708 0.93771316 -0.03667792] [ 0.05069683 0.02037802 0.99850552]] t_gt: [ 0.65791985 -0.73701071 -0.15477945] Pose Error in degrees for R and t: 18.73923063190547 75.51747563481676 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999576e-01 9.16757199e-04 -9.21168550e-05] [-9.16754887e-04 9.99999579e-01 2.51423964e-05] [ 9.21398657e-05 -2.50579371e-05 9.99999995e-01]] t_estimated: [[-0.00626656] [-0.99997982] [-0.00104542]] R_gt: [[ 0.86815199 -0.49253228 -0.06102845] [ 0.49234506 0.87018923 -0.01912734] [ 0.06252659 -0.01344173 0.99795188]] t_gt: [ 0.71257241 -0.69598873 -0.08854515] Pose Error in degrees for R and t: 29.80750479362213 46.24295481043118 Number of keypoints: Image1: 419 Image2: 419 R_estimated: [[ 9.99998858e-01 -1.50786532e-03 1.00239797e-04] [ 1.50787043e-03 9.99998862e-01 -5.09208238e-05] [-1.00162901e-04 5.10719142e-05 9.99999994e-01]] t_estimated: [[9.99721126e-01] [2.36023275e-02] [7.75455738e-04]] R_gt: [[ 0.99982693 -0.01564555 -0.01007742] [ 0.01558564 0.99986101 -0.00602094] [ 0.01017056 0.00586383 0.99993151]] t_gt: [ 0.79368579 -0.38120098 -0.47407667] Pose Error in degrees for R and t: 1.05207719319847 38.36252205691846 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[-4.17088936e-01 9.08865662e-01 1.64400272e-04] [-9.08862872e-01 -4.17088092e-01 2.40922004e-03] [ 2.25822676e-03 8.55441720e-04 9.99997084e-01]] t_estimated: [[0.93745132] [0.34811512] [0.00094597]] R_gt: [[ 0.99869447 0.02998406 -0.04135621] [-0.02924697 0.99940523 0.01830628] [ 0.04188013 -0.01707201 0.99897722]] t_gt: [ 0.59955149 0.60490381 -0.52405095] Pose Error in degrees for R and t: 112.96880770722439 39.45438335826303 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99947056e-01 -1.02719722e-02 -6.08924275e-04] [ 1.02720371e-02 9.99947236e-01 1.03573328e-04] [ 6.07828244e-04 -1.09822737e-04 9.99999809e-01]] t_estimated: [[-0.60359052] [-0.79729365] [-0.00114892]] R_gt: [[ 0.9921379 0.12473659 -0.01013113] [-0.12444443 0.99189755 0.02556879] [ 0.0132387 -0.02410645 0.99962212]] t_gt: [-0.11680251 0.99169052 0.05391744] Pose Error in degrees for R and t: 7.901351895160473 43.92655878588899 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999987e-01 -1.45656639e-04 6.24712563e-05] [ 1.45659927e-04 9.99999988e-01 -5.26278345e-05] [-6.24635900e-05 5.26369334e-05 9.99999997e-01]] t_estimated: [[ 1.89935657e-03] [-9.99997902e-01] [ 7.67061901e-04]] R_gt: [[ 0.99412041 0.07331019 -0.07968182] [-0.06767251 0.99515663 0.07129707] [ 0.08452278 -0.06548509 0.99426662]] t_gt: [-0.93429674 0.12099982 -0.33533364] Pose Error in degrees for R and t: 7.363584393349032 82.93291723686254 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 2.22949826e-01 -9.74828510e-01 -1.65838534e-03] [ 9.74829806e-01 2.22950305e-01 -1.06963680e-04] [ 4.74008761e-04 -1.59279592e-03 9.99998619e-01]] t_estimated: [[ 7.23867772e-01] [-6.89938725e-01] [ 6.09107834e-05]] R_gt: [[ 0.98124176 0.13560186 -0.13702931] [-0.11718988 0.98395504 0.13453164] [ 0.15307346 -0.11594982 0.98138857]] t_gt: [-0.94051613 -0.05604691 -0.33509425] Pose Error in degrees for R and t: 85.02134215182376 50.046866243245695 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.1139801 0.99346287 -0.00632999] [-0.99346505 0.11393739 -0.00674299] [-0.00597768 0.00705719 0.99995723]] t_estimated: [[0.05823431] [0.9983024 ] [0.0010399 ]] R_gt: [[ 0.96652149 0.16009831 -0.20051034] [-0.12734159 0.97772557 0.16684462] [ 0.22275535 -0.13572554 0.96537921]] t_gt: [-0.83865096 -0.15203135 -0.52302107] Pose Error in degrees for R and t: 76.39901666270889 78.39546749840338 Number of keypoints: Image1: 388 Image2: 388 R_estimated: [[ 9.99999998e-01 6.97097443e-05 6.79983893e-06] [-6.97096003e-05 9.99999997e-01 -2.11819982e-05] [-6.80131551e-06 2.11815241e-05 1.00000000e+00]] t_estimated: [[-0.81693815] [-0.57671568] [-0.00333046]] R_gt: [[ 0.99988548 -0.00618183 -0.01388325] [ 0.00621491 0.99997803 0.00233247] [ 0.01386907 -0.00241902 0.99990107]] t_gt: [ 0.56900793 -0.42949986 -0.70125591] Pose Error in degrees for R and t: 0.8812829798470282 77.59565002735259 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.83632903e-01 1.80183964e-01 2.26924732e-04] [-1.80183942e-01 9.83632927e-01 -1.11092991e-04] [-2.43227813e-04 6.83865284e-05 9.99999968e-01]] t_estimated: [[0.99395481] [0.10978361] [0.00118047]] R_gt: [[ 0.99729387 -0.0570944 -0.04632362] [ 0.05822028 0.99803166 0.0233162 ] [ 0.04490147 -0.02595025 0.99865443]] t_gt: [ 0.63708077 -0.71590983 -0.28565927] Pose Error in degrees for R and t: 14.008622957056698 56.337684295686856 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.99642383 0.08431667 0.00549977] [ 0.08434234 0.99642615 0.00461494] [-0.00509099 0.0050623 -0.99997423]] t_estimated: [[0.99982845] [0.01845837] [0.0015382 ]] R_gt: [[ 0.98254246 -0.167489 -0.08098977] [ 0.16969463 0.98527103 0.02111877] [ 0.07625968 -0.03449337 0.99649111]] t_gt: [ 0.67586903 -0.70624552 -0.21075655] Pose Error in degrees for R and t: 175.73627591650856 48.517386080383524 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.93691043e-01 1.12151889e-01 -2.54741732e-04] [-1.12151417e-01 9.93690103e-01 1.42776530e-03] [ 4.13260914e-04 -1.39018795e-03 9.99998948e-01]] t_estimated: [[0.68448319] [0.72902678] [0.00164583]] R_gt: [[ 0.9974604 0.00329556 0.07115378] [-0.00461334 0.99982122 0.01834709] [-0.07108055 -0.01862864 0.99729618]] t_gt: [-0.06197934 0.1017104 0.99288144] Pose Error in degrees for R and t: 7.505063992028288 88.08826340016617 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.02195202e-01 4.31327960e-01 9.24035279e-05] [-4.31327969e-01 9.02195189e-01 1.57605918e-04] [-1.53861792e-05 -1.82047529e-04 9.99999983e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99135965 -0.07970006 0.10418247] [ 0.07905803 0.99681759 0.01027655] [-0.10466918 -0.00195132 0.99450425]] t_gt: [ 0.54444977 -0.48883786 0.68162453] Pose Error in degrees for R and t: 30.696630395427455 57.08053889989194 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 7.48669732e-01 6.62943109e-01 2.58985741e-04] [-6.62942028e-01 7.48669119e-01 -1.55489634e-03] [-1.22470244e-03 9.92411295e-04 9.99998758e-01]] t_estimated: [[0.24892296] [0.96852258] [0.00117292]] R_gt: [[ 0.98749211 -0.11137674 0.11160174] [ 0.11227726 0.99367535 -0.00181247] [-0.1106943 0.01431989 0.99375076]] t_gt: [ 0.64172513 -0.59424054 0.48483712] Pose Error in degrees for R and t: 48.359825658228516 65.46641359224294 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.98635987e-01 5.22126792e-02 -3.76869239e-05] [-5.22126784e-02 9.98635988e-01 2.17118881e-05] [ 3.87691543e-05 -1.97145375e-05 9.99999999e-01]] t_estimated: [[-9.97348661e-01] [-7.27705082e-02] [-3.18758934e-04]] R_gt: [[ 0.99325388 0.11593684 0.00239071] [-0.11568096 0.99207352 -0.04906227] [-0.00806047 0.04845471 0.99879232]] t_gt: [-0.32947744 0.93236764 -0.14877906] Pose Error in degrees for R and t: 4.619639099310452 74.88231849879631 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 2.25628491e-01 9.74212335e-01 1.45295121e-03] [ 9.74210501e-01 -2.25631214e-01 2.11076022e-03] [ 2.38415979e-03 9.39232688e-04 -9.99996717e-01]] t_estimated: [[7.82794523e-01] [6.22279805e-01] [7.60733258e-04]] R_gt: [[ 0.96055976 0.27785784 0.01097486] [-0.27728097 0.96004966 -0.0376653 ] [-0.0210027 0.03313705 0.99922975]] t_gt: [-0.2962756 0.95508922 0.00503443] Pose Error in degrees for R and t: 177.88225253296923 68.75149921369429 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 4.76197853e-01 8.79336970e-01 1.44861901e-03] [ 8.79335570e-01 -4.76199803e-01 1.64386858e-03] [ 2.13534651e-03 4.91015534e-04 -9.99997600e-01]] t_estimated: [[8.59292638e-01] [5.11483713e-01] [7.57753649e-04]] R_gt: [[ 0.88723269 0.45998489 -0.03508989] [-0.46117629 0.88629407 -0.04241284] [ 0.01159009 0.05381231 0.99848393]] t_gt: [-0.19611831 0.97781746 -0.07355699] Pose Error in degrees for R and t: 178.33212585416908 70.63657535502072 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 0.95239276 -0.30486776 0.001919 ] [ 0.30487183 0.95239036 -0.00240135] [-0.00109555 0.00287208 0.99999528]] t_estimated: [[-0.56048778] [-0.82816137] [-0.00147886]] R_gt: [[ 0.99673505 -0.06383021 -0.04945197] [ 0.06496408 0.99765226 0.02167608] [ 0.04795227 -0.0248181 0.99854183]] t_gt: [ 0.62835406 -0.71722575 -0.30126134] Pose Error in degrees for R and t: 14.422656774374364 75.98124988117424 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 4.92829479e-02 -9.98784777e-01 -4.01177764e-04] [ 9.98783459e-01 4.92822029e-02 1.69287135e-03] [-1.67104321e-03 -4.84119406e-04 9.99998487e-01]] t_estimated: [[9.63960876e-01] [2.66042560e-01] [8.86808533e-04]] R_gt: [[ 0.97608528 -0.19948998 -0.08638804] [ 0.2023144 0.97899606 0.02518793] [ 0.07954734 -0.04206378 0.99594329]] t_gt: [ 0.69057974 -0.70090438 -0.17841713] Pose Error in degrees for R and t: 75.71254186579128 61.375761589871445 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 7.32264735e-01 6.81018139e-01 1.62883639e-03] [-6.81019708e-01 7.32264755e-01 6.96884073e-04] [-7.18148787e-04 -1.61957331e-03 9.99998431e-01]] t_estimated: [[0.50394474] [0.86373507] [0.00119136]] R_gt: [[ 0.95271659 -0.27902527 -0.12031594] [ 0.28653572 0.95675899 0.05009154] [ 0.10113611 -0.08219808 0.9914716 ]] t_gt: [ 0.70546753 -0.70200331 -0.09750346] Pose Error in degrees for R and t: 59.85257364014668 75.46659646132406 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 4.94763510e-01 -8.69027251e-01 -8.40766295e-04] [ 8.69027656e-01 4.94763216e-01 5.41704090e-04] [-5.47753798e-05 -9.98664579e-04 9.99999500e-01]] t_estimated: [[9.99988849e-01] [4.65833315e-03] [7.76388858e-04]] R_gt: [[ 0.98929971 -0.11755468 -0.0864093 ] [ 0.12012314 0.9924401 0.02514586] [ 0.08280045 -0.03525575 0.99594246]] t_gt: [ 0.61369716 -0.7617399 -0.20767312] Pose Error in degrees for R and t: 53.73293211092516 52.411896987625965 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999509e-01 9.91433813e-04 7.13079426e-07] [-9.91433940e-04 9.99999487e-01 2.07599935e-04] [-5.07257465e-07 -2.07600540e-04 9.99999978e-01]] t_estimated: [[-0.97910355] [-0.20335991] [-0.000992 ]] R_gt: [[ 0.98254599 -0.1534959 -0.1050825 ] [ 0.16821679 0.97431989 0.14967495] [ 0.07941009 -0.16473884 0.9831356 ]] t_gt: [ 0.47392063 -0.81981423 0.32140919] Pose Error in degrees for R and t: 14.099689509691771 72.6853574614417 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.02320452 0.98962524 0.14178661] [ 0.9994379 -0.01953077 -0.02724751] [-0.02419562 0.14233917 -0.98952217]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.95956225 -0.19226845 -0.20560437] [ 0.22418023 0.96368828 0.14507868] [ 0.17024448 -0.18530408 0.96782218]] t_gt: [ 0.57196035 -0.81089048 0.12376585] Pose Error in degrees for R and t: 172.76060458549236 85.43644338991946 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.95135276e-01 -9.85178816e-02 -1.01215591e-04] [ 9.85178973e-02 9.95135266e-01 1.64220937e-04] [ 8.45445051e-05 -1.73393595e-04 9.99999981e-01]] t_estimated: [[-2.94903693e-01] [-9.55526703e-01] [-7.29281378e-04]] R_gt: [[ 0.99838791 0.02830534 -0.04919487] [-0.0288589 0.99952809 -0.01059266] [ 0.04887185 0.01199633 0.99873379]] t_gt: [-0.13858424 0.56847448 -0.81094462] Pose Error in degrees for R and t: 7.840348135275817 59.88533691919826 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.00865445e-01 -4.34098123e-01 -5.18571079e-04] [ 4.34098307e-01 9.00865450e-01 3.16533344e-04] [ 3.29756238e-04 -5.10264780e-04 9.99999815e-01]] t_estimated: [[ 9.84965650e-01] [-1.72750012e-01] [ 3.20375354e-04]] R_gt: [[ 0.99505008 0.04763058 -0.08721315] [-0.05146005 0.99778312 -0.04220672] [ 0.08500942 0.04648646 0.99529532]] t_gt: [-0.09822415 0.53805495 -0.83716718] Pose Error in degrees for R and t: 29.097267896191646 79.0492806138763 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.86139663 0.50730971 0.02515374] [ 0.50777376 0.86130976 0.0176437 ] [-0.01271434 0.02797063 -0.99952788]] t_estimated: [[9.74735982e-01] [2.23358383e-01] [8.93433531e-04]] R_gt: [[ 0.9918142 0.04205511 -0.12057071] [-0.05395169 0.99380497 -0.09717358] [ 0.11573737 0.10288395 0.98793772]] t_gt: [ 0.01185035 0.44392302 -0.89598656] Pose Error in degrees for R and t: 176.0479535548495 83.69019619553401 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.69723999e-01 -9.62936796e-01 -1.30063539e-03] [ 9.62937251e-01 -2.69724900e-01 5.73154954e-04] [-9.02725746e-04 -1.09783662e-03 9.99998990e-01]] t_estimated: [[9.99994892e-01] [3.10075921e-03] [7.75189839e-04]] R_gt: [[ 0.98722334 -0.1593155 -0.00289358] [ 0.15905572 0.98419753 0.07783054] [-0.00955226 -0.0772973 0.99696212]] t_gt: [ 0.62240348 -0.68269861 0.38280089] Pose Error in degrees for R and t: 96.54785306366153 51.64148705197102 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99999583 0.00239057 -0.00162216] [-0.00238683 0.9999945 0.00230195] [ 0.00162765 -0.00229807 0.99999603]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96754821 -0.25267335 -0.00220698] [ 0.2498374 0.95530947 0.15800301] [-0.03781487 -0.15342717 0.98743621]] t_gt: [ 0.58318098 -0.63542658 0.50609585] Pose Error in degrees for R and t: 17.279076750127707 54.43684218763045 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.99996689 0.00775562 -0.00246523] [-0.00774523 0.99996119 0.00419762] [ 0.00249769 -0.00417839 0.99998815]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.96389773 -0.26467577 -0.0291124 ] [ 0.26607494 0.95319493 0.14360861] [-0.01025992 -0.14617008 0.98920601]] t_gt: [ 0.61232388 -0.67056593 0.4188088 ] Pose Error in degrees for R and t: 17.883643236215274 52.36954996169206 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 1.00000000e+00 3.13138404e-13 -2.54136989e-16] [-3.13027382e-13 1.00000000e+00 -6.47160277e-15] [ 1.56786476e-15 7.15183121e-15 1.00000000e+00]] t_estimated: [[-4.59978549e-01] [ 8.87929820e-01] [-6.07832297e-04]] R_gt: [[ 0.99934088 0.00521353 0.03593329] [-0.0066473 0.99918078 0.03991997] [-0.03569529 -0.04013323 0.99855691]] t_gt: [ 0.06293565 -0.29763585 0.95260275] Pose Error in degrees for R and t: 3.0972325906665867 72.91393751175937 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.90884280e-01 -1.34715663e-01 -1.84382612e-04] [ 1.34715722e-01 9.90884227e-01 3.51557504e-04] [ 1.35341520e-04 -3.73192040e-04 9.99999921e-01]] t_estimated: [[0.60623908] [0.79528138] [0.00130374]] R_gt: [[ 0.99500646 0.06256127 0.07776422] [-0.06977883 0.99313746 0.09385744] [-0.07135776 -0.09881542 0.99254461]] t_gt: [-0.23141122 -0.00441508 0.97284601] Pose Error in degrees for R and t: 13.494748710635701 81.80552879410332 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.35758935 0.93363167 0.02148859] [-0.93387711 0.35744855 0.01020208] [ 0.00184392 -0.02371585 0.99971704]] t_estimated: [[0.22810539] [0.97362055] [0.00556355]] R_gt: [[ 0.99082866 0.079861 0.10900076] [-0.09707206 0.98183081 0.16304943] [-0.09399886 -0.17213559 0.98057866]] t_gt: [-0.20683529 0.00205289 0.97837362] Pose Error in degrees for R and t: 64.57387881895126 87.72256459101943 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 1.00000000e+00 -1.81203934e-05 -1.02186401e-05] [ 1.81202304e-05 1.00000000e+00 -1.59441416e-05] [ 1.02189291e-05 1.59439564e-05 1.00000000e+00]] t_estimated: [[0.82176575] [0.56982464] [0.00096498]] R_gt: [[ 9.99986331e-01 -5.10839960e-03 -2.23475225e-04] [ 5.10208071e-03 9.99762763e-01 -2.11435397e-02] [ 3.31162650e-04 2.11421944e-02 9.99776423e-01]] t_gt: [ 0.35784194 -0.42079046 -0.83359734] Pose Error in degrees for R and t: 1.2469402261818454 86.934297628802 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.98857703e-01 -4.77833596e-02 1.97703311e-04] [ 4.77833654e-02 9.98857722e-01 -2.49308814e-05] [-1.96286197e-04 3.43493324e-05 9.99999980e-01]] t_estimated: [[0.99771865] [0.06748781] [0.00170123]] R_gt: [[ 0.9963834 -0.08421219 -0.01129924] [ 0.08378151 0.9958937 -0.03430271] [ 0.01414165 0.03323229 0.99934743]] t_gt: [ 0.71121582 -0.62545129 -0.32090925] Pose Error in degrees for R and t: 2.936950023695609 48.176589584112676 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99999938e-01 2.32348263e-04 2.63792924e-04] [-2.32280905e-04 9.99999940e-01 -2.55344685e-04] [-2.63852237e-04 2.55283395e-04 9.99999933e-01]] t_estimated: [[ 9.99997187e-01] [ 2.37121151e-03] [-5.03259545e-05]] R_gt: [[ 9.66961148e-01 -2.54919376e-01 9.46962532e-04] [ 2.54777201e-01 9.66283547e-01 -3.72017675e-02] [ 8.56849474e-03 3.62139445e-02 9.99307150e-01]] t_gt: [ 0.81340431 -0.56936958 -0.11912896] Pose Error in degrees for R and t: 14.933629126439676 35.70251364087499 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 7.08507746e-01 -7.05701594e-01 -1.42615571e-03] [ 7.05702777e-01 7.08507768e-01 5.77327062e-04] [ 6.03021768e-04 -1.41548274e-03 9.99998816e-01]] t_estimated: [[-0.02044781] [-0.99979034] [-0.0010762 ]] R_gt: [[ 0.97722051 -0.2057142 -0.05217099] [ 0.20760025 0.97763323 0.03368549] [ 0.04407401 -0.0437485 0.99807051]] t_gt: [ 0.97315941 -0.17178423 0.15313703] Pose Error in degrees for R and t: 33.12516138952697 81.27544562555472 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-2.94851764e-01 9.55538326e-01 2.99078888e-03] [ 9.55542678e-01 2.94852812e-01 9.41483663e-05] [-7.91880137e-04 2.88558622e-03 -9.99995523e-01]] t_estimated: [[8.38800355e-01] [5.44438739e-01] [6.51242511e-04]] R_gt: [[ 0.93005293 -0.3613216 -0.0666939 ] [ 0.36459498 0.93004297 0.04570323] [ 0.04551418 -0.06682215 0.99672664]] t_gt: [ 0.98604891 -0.07461351 0.1487964 ] Pose Error in degrees for R and t: 175.5677159077705 38.13364124766755 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-6.93803860e-01 7.20147381e-01 4.89427824e-03] [ 7.20158538e-01 6.93809062e-01 8.16166224e-04] [-2.80793462e-03 4.09091553e-03 -9.99987690e-01]] t_estimated: [[ 0.99999057] [-0.00391875] [ 0.00187258]] R_gt: [[ 0.92201613 -0.38632298 -0.02529631] [ 0.38711237 0.91903845 0.07423589] [-0.00543068 -0.07824001 0.99692019]] t_gt: [ 0.97862294 -0.06727528 0.19434807] Pose Error in degrees for R and t: 177.98580686348035 11.694780357754585 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.86803202 -0.49650095 0.00268747] [ 0.49650678 0.86802983 -0.0022877 ] [-0.00119696 0.00332014 0.99999377]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96958796 0.2340521 0.07153814] [-0.23212953 0.97208176 -0.03422694] [-0.07755103 0.01658043 0.99685017]] t_gt: [-0.72458654 0.67608613 0.13372317] Pose Error in degrees for R and t: 43.47993503377938 69.6143847408912 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.76028375e-01 -2.17643008e-01 -3.62511981e-04] [ 2.17643034e-01 9.76028436e-01 3.30760842e-05] [ 3.46623223e-04 -1.11181404e-04 9.99999934e-01]] t_estimated: [[-0.38147445] [-0.92437889] [-0.00096089]] R_gt: [[ 0.93375746 0.35215484 0.0638997 ] [-0.35326542 0.93549923 0.00663167] [-0.05744339 -0.02876526 0.99793466]] t_gt: [-0.68086123 0.71602243 0.15407743] Pose Error in degrees for R and t: 33.44592260644993 66.27840233446133 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 8.27385707e-01 -5.61633883e-01 -5.22487277e-04] [ 5.61633847e-01 8.27385866e-01 -2.26731398e-04] [ 5.59638624e-04 -1.05852221e-04 9.99999838e-01]] t_estimated: [[-0.00728388] [-0.99997293] [-0.00104055]] R_gt: [[ 0.89234918 0.44604387 0.0689752 ] [-0.44702682 0.89451898 -0.00133208] [-0.06229329 -0.02964407 0.9976177 ]] t_gt: [-0.64028914 0.75753944 0.127137 ] Pose Error in degrees for R and t: 60.84326756061936 41.15017446814232 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 6.43059695e-01 7.65810860e-01 2.82043168e-03] [-7.65813703e-01 6.43062486e-01 -1.09568736e-04] [-1.89762273e-03 -2.08946599e-03 9.99996017e-01]] t_estimated: [[0.21004261] [0.97768966] [0.00224143]] R_gt: [[ 0.99230176 -0.12356365 0.0083073 ] [ 0.12177718 0.98575407 0.11601127] [-0.02252362 -0.11410528 0.99321374]] t_gt: [ 0.42618674 -0.65012046 0.62905345] Pose Error in degrees for R and t: 57.39708199126283 56.996606889052046 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99993255e-01 3.60035115e-03 7.25730871e-04] [-3.60030097e-03 9.99993516e-01 -7.04388433e-05] [-7.25979770e-04 6.78255186e-05 9.99999734e-01]] t_estimated: [[-0.99996747] [ 0.00793473] [ 0.00144937]] R_gt: [[ 0.98495121 -0.17260966 -0.00885476] [ 0.1723211 0.97677136 0.12736955] [-0.01333592 -0.12697817 0.99181672]] t_gt: [ 0.50341393 -0.69388014 0.51488326] Pose Error in degrees for R and t: 12.542568866162101 59.45885079491529 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99687619e-01 2.49931980e-02 6.33228435e-05] [-2.49932070e-02 9.99687611e-01 1.44743272e-04] [-5.96854649e-05 -1.46280698e-04 9.99999988e-01]] t_estimated: [[9.91056195e-01] [1.33442706e-01] [8.13675037e-04]] R_gt: [[ 9.91524255e-01 -1.29921698e-01 1.42372217e-03] [ 1.29928730e-01 9.91484945e-01 -8.72317656e-03] [-2.78283503e-04 8.83387655e-03 9.99960704e-01]] t_gt: [ 0.76459257 -0.64322819 -0.04069027] Pose Error in degrees for R and t: 8.91225822120139 47.78712909118667 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.90682917e-01 -1.36188184e-01 -3.68327021e-04] [ 1.36188582e-01 9.90681846e-01 1.46634567e-03] [ 1.65195940e-04 -1.50284554e-03 9.99998857e-01]] t_estimated: [[0.53847483] [0.84264034] [0.00145534]] R_gt: [[ 0.96195808 -0.27319078 -0.00187515] [ 0.27314604 0.96188752 -0.01283139] [ 0.00530875 0.01183125 0.99991529]] t_gt: [ 0.83031224 -0.55576837 -0.04126867] Pose Error in degrees for R and t: 8.06812568745187 88.78118837061082 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.86057613e-01 1.66374318e-01 -3.15751129e-03] [ 1.66372466e-01 9.86062621e-01 8.42300933e-04] [ 3.25364110e-03 3.05234309e-04 -9.99994660e-01]] t_estimated: [[0.98978927] [0.14252965] [0.00158366]] R_gt: [[ 0.92607322 -0.37715226 0.01206224] [ 0.37713409 0.92401312 -0.06301631] [ 0.01262055 0.0629063 0.9979393 ]] t_gt: [ 0.87504351 -0.46548848 -0.13273783] Pose Error in degrees for R and t: 179.87626157811408 36.91260476779515 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.65235738 0.75789684 -0.00471531] [-0.7579089 -0.65235883 0.00143625] [-0.00198755 0.00451073 0.99998785]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99982308 -0.00346936 0.01853958] [ 0.00400337 0.99957561 -0.02885016] [-0.01843059 0.02891904 0.99941188]] t_gt: [ 0.02234312 0.3898259 -0.92061748] Pose Error in degrees for R and t: 130.94048913602953 75.49792639931094 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.27488175e-01 -6.86116634e-01 2.21816030e-03] [ 6.86119204e-01 7.27488858e-01 -6.31685334e-04] [-1.18027709e-03 1.98146599e-03 9.99997340e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.79473591e-01 -2.01577804e-01 -4.09275414e-04] [ 2.01577333e-01 9.79456682e-01 5.58454182e-03] [-7.24679220e-04 -5.55243063e-03 9.99984239e-01]] t_gt: [ 0.99227582 -0.12255788 0.01919029] Pose Error in degrees for R and t: 31.696945728342094 83.3186888642873 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 5.72799425e-01 -8.19691236e-01 -2.66405358e-03] [ 8.19693772e-01 5.72801944e-01 -2.29861294e-04] [ 1.71439036e-03 -2.05204371e-03 9.99996425e-01]] t_estimated: [[-0.06192989] [-0.99807946] [-0.00144023]] R_gt: [[ 0.92542829 -0.37781735 -0.02896921] [ 0.37851781 0.92527254 0.02437564] [ 0.01759583 -0.03352365 0.99928283]] t_gt: [ 0.9963453 -0.04501201 0.07259451] Pose Error in degrees for R and t: 32.886547238219855 89.03265501684227 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.98517058e-01 -5.44397241e-02 -3.56662091e-05] [ 5.44397265e-02 9.98517056e-01 7.16965126e-05] [ 3.17101797e-05 -7.35318495e-05 9.99999997e-01]] t_estimated: [[-6.08907329e-02] [ 9.98144437e-01] [-3.30390375e-05]] R_gt: [[ 0.99843037 0.02255579 -0.05127171] [-0.02507112 0.99848676 -0.04894466] [ 0.05008984 0.05015394 0.99748506]] t_gt: [-0.04811372 0.43999191 -0.89671188] Pose Error in degrees for R and t: 6.054428724911163 63.75983174768743 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.97630295e-01 -6.88025545e-02 -5.00750323e-05] [ 6.88025593e-02 9.97630291e-01 1.01352934e-04] [ 4.29830283e-05 -1.04558048e-04 9.99999994e-01]] t_estimated: [[9.16252293e-03] [9.99958019e-01] [9.61851528e-05]] R_gt: [[ 0.99751335 0.02293728 -0.06664951] [-0.0275893 0.99718456 -0.06973036] [ 0.06486192 0.07139645 0.99533765]] t_gt: [ 0.00403568 0.38882191 -0.9213041 ] Pose Error in degrees for R and t: 7.730401548785122 67.12301148925954 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-8.99265161e-01 4.37403636e-01 4.78667517e-04] [-4.37403081e-01 -8.99260829e-01 -2.91660036e-03] [-8.45284652e-04 -2.83216774e-03 9.99995632e-01]] t_estimated: [[0.49557064] [0.86856663] [0.00131801]] R_gt: [[ 0.99828488 -0.00846957 0.05793021] [ 0.00433374 0.99745748 0.07113073] [-0.05838549 -0.07075701 0.99578351]] t_gt: [-0.0400932 -0.24514817 0.96865624] Pose Error in degrees for R and t: 154.4519785197257 76.61343255547551 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.81358157e-01 -1.92187846e-01 -5.48193915e-06] [ 1.92187844e-01 9.81358141e-01 1.80275077e-04] [-2.92669330e-05 -1.77967979e-04 9.99999984e-01]] t_estimated: [[0.95363101] [0.3009763 ] [0.00107877]] R_gt: [[ 0.99675037 -0.06675047 -0.04508095] [ 0.07173512 0.99018819 0.11992561] [ 0.03663433 -0.12277004 0.99175886]] t_gt: [ 0.33080252 -0.79963965 0.50114482] Pose Error in degrees for R and t: 10.212307484773676 85.6797262307263 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-9.99993715e-01 -3.54313613e-03 1.25908043e-04] [-3.54299859e-03 9.99993144e-01 1.07626641e-03] [-1.29720538e-04 1.07581356e-03 -9.99999413e-01]] t_estimated: [[0.99498707] [0.0999987 ] [0.00099999]] R_gt: [[ 0.98974024 -0.10366289 -0.09832519] [ 0.11962685 0.97753007 0.17356559] [ 0.07812288 -0.18354738 0.97990182]] t_gt: [ 0.36921803 -0.8076241 0.45980577] Pose Error in degrees for R and t: 174.93865592885666 73.31764050391442 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.16135825e-01 -4.00867957e-01 1.74620141e-04] [ 4.00867825e-01 9.16135751e-01 5.21367076e-04] [-3.68975108e-04 -4.07643460e-04 9.99999849e-01]] t_estimated: [[7.94635455e-01] [6.07086424e-01] [7.53208962e-04]] R_gt: [[ 0.96464092 -0.15172915 -0.21551161] [ 0.1865645 0.97066227 0.1516862 ] [ 0.18617377 -0.18653002 0.96464842]] t_gt: [ 0.54652332 -0.82943911 0.11551201] Pose Error in degrees for R and t: 20.502922569802024 86.03383257798603 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.99019082 0.13970185 -0.00235315] [-0.13968569 0.99017762 0.00601578] [ 0.00317045 -0.00562807 0.99997914]] t_estimated: [[0.67710043] [0.73588218] [0.00352573]] R_gt: [[ 0.99538259 0.046162 0.08416081] [-0.04262729 0.99815186 -0.04332925] [-0.08600584 0.03954187 0.9955104 ]] t_gt: [-0.47402735 0.75207987 0.45790168] Pose Error in degrees for R and t: 7.923631064466318 76.46186591703659 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.06826378 0.99765726 0.00447816] [ 0.99766567 0.06825484 0.00211996] [ 0.00180934 0.00461242 -0.99998773]] t_estimated: [[0.86928968] [0.49430198] [0.00100264]] R_gt: [[ 0.99146483 0.01339077 0.12968859] [-0.00759142 0.998954 -0.04510915] [-0.13015681 0.04374014 0.99052875]] t_gt: [-0.12901594 0.4407706 0.88829959] Pose Error in degrees for R and t: 172.6973665247818 83.87993955331514 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.4613311 -0.88722703 0.00134763] [-0.88721352 0.46133171 0.00502314] [-0.00507837 0.0011217 -0.99998648]] t_estimated: [[0.87566419] [0.48291716] [0.00179904]] R_gt: [[ 0.98537777 -0.05630367 0.16081667] [ 0.06338741 0.99721716 -0.03926004] [-0.15815903 0.04887966 0.98620383]] t_gt: [ 0.48559656 -0.31027093 0.81726858] Pose Error in degrees for R and t: 173.24941533633088 73.92742957451242 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99634284e-01 2.70334667e-02 7.00307001e-04] [-2.70329523e-02 9.99634274e-01 -7.33843918e-04] [-7.19889225e-04 7.14644174e-04 9.99999486e-01]] t_estimated: [[9.77966300e-01] [2.08761279e-01] [8.02927997e-04]] R_gt: [[ 0.98928706 -0.13484722 -0.05592134] [ 0.13619147 0.99046061 0.02094326] [ 0.05256273 -0.02833512 0.99821581]] t_gt: [ 0.65724505 -0.73505103 -0.16652005] Pose Error in degrees for R and t: 9.969638104794925 60.71332585555014 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 6.15344071e-01 -7.88258478e-01 -4.96869940e-04] [ 7.88258539e-01 6.15344184e-01 -1.02221238e-04] [ 3.86322785e-04 -3.28760740e-04 9.99999871e-01]] t_estimated: [[-0.00729147] [-0.99997287] [-0.00104164]] R_gt: [[ 0.98171813 -0.18447388 -0.04689452] [ 0.18572255 0.98231347 0.02380455] [ 0.04167366 -0.03207784 0.99861613]] t_gt: [ 0.63098701 -0.77259435 -0.07038014] Pose Error in degrees for R and t: 41.451646772607425 39.82126655511864 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 5.13319600e-01 8.58197058e-01 8.92693189e-04] [-8.58197293e-01 5.13319946e-01 -1.97358066e-04] [-6.27609331e-04 -6.64799115e-04 9.99999582e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97536886 -0.21759856 -0.03613587] [ 0.21822739 0.97579172 0.01442713] [ 0.03212156 -0.02195744 0.9992426 ]] t_gt: [ 0.60201828 -0.79553908 -0.068495 ] Pose Error in degrees for R and t: 71.7373721384693 89.60705296467823 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.54445068e-02 9.96342903e-01 2.35926398e-04] [-9.96342187e-01 8.54447299e-02 -1.20165637e-03] [-1.21742047e-03 -1.32388487e-04 9.99999250e-01]] t_estimated: [[-4.26240152e-02] [ 9.99090915e-01] [ 7.33395859e-04]] R_gt: [[ 0.99503263 0.09901451 0.01029108] [-0.09891245 0.99504646 -0.0099184 ] [-0.01122301 0.00885178 0.99989732]] t_gt: [-0.38073292 0.92467762 0.00370555] Pose Error in degrees for R and t: 79.42141194976301 19.937004431768116 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.48740756 0.86946762 0.08037366] [-0.87204652 -0.48938872 0.00579265] [ 0.04437049 -0.06726619 0.99674797]] t_estimated: [[0.55175424] [0.83400476] [0.00182097]] R_gt: [[ 0.98370194 0.17944474 0.01137633] [-0.1784968 0.98220699 -0.05837295] [-0.02164922 0.05539168 0.9982295 ]] t_gt: [-0.31680972 0.94460386 -0.08576218] Pose Error in degrees for R and t: 109.19574435312161 52.204366372535524 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.23921516 0.97072318 -0.02173981] [ 0.9706457 -0.23850058 0.03105483] [ 0.02496069 -0.02853044 -0.99928123]] t_estimated: [[-7.99824929e-01] [-6.00232916e-01] [-7.28438004e-04]] R_gt: [[ 0.95070197 0.30925271 0.02300334] [-0.30774741 0.95000097 -0.05280313] [-0.03818378 0.04312168 0.99833943]] t_gt: [-0.28104069 0.95944624 0.02188692] Pose Error in degrees for R and t: 178.87356291959944 69.44393213421966 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-8.73317037e-01 -4.87139998e-01 -3.46045319e-03] [ 4.87151999e-01 -8.73302226e-01 -5.11383522e-03] [-5.30867801e-04 -6.15176611e-03 9.99980937e-01]] t_estimated: [[9.99932965e-01] [1.15445191e-02] [8.88039934e-04]] R_gt: [[ 0.99141229 -0.12869028 0.02322586] [ 0.12940773 0.99105589 -0.03260895] [-0.01882252 0.03533611 0.99919878]] t_gt: [ 0.62245893 -0.78191807 -0.03389715] Pose Error in degrees for R and t: 143.44247070643848 52.16713179562846 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.97852917e-01 -6.54946817e-02 -5.83505699e-05] [ 6.54946816e-02 9.97852918e-01 -3.27524299e-06] [ 5.84397974e-05 -5.53441224e-07 9.99999998e-01]] t_estimated: [[9.98134499e-01] [6.10534162e-02] [3.88124396e-05]] R_gt: [[ 0.99266818 -0.11942788 0.0186467 ] [ 0.11999527 0.99222434 -0.03307247] [-0.01455271 0.03506826 0.99927977]] t_gt: [ 0.56907034 -0.81831065 -0.08078751] Pose Error in degrees for R and t: 3.8057388330533364 58.79879866704127 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.90345244e-01 1.38622250e-01 4.11669678e-04] [-1.38622212e-01 9.90345328e-01 -1.18723565e-04] [-4.24152870e-04 6.05107563e-05 9.99999908e-01]] t_estimated: [[0.74027593] [0.67230232] [0.00106417]] R_gt: [[ 0.99485317 -0.08634684 0.05301969] [ 0.08887949 0.99491223 -0.04743092] [-0.04865491 0.05190048 0.99746676]] t_gt: [ 0.34666968 -0.92836227 0.13402847] Pose Error in degrees for R and t: 13.616994228690203 68.44672094796587 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99658206e-01 2.61420841e-02 -2.52091102e-04] [-2.61418631e-02 9.99657887e-01 8.43568584e-04] [ 2.74057499e-04 -8.36690125e-04 9.99999612e-01]] t_estimated: [[-0.98457177] [-0.17497456] [-0.00152542]] R_gt: [[ 0.99642248 -0.08346751 0.01334916] [ 0.08383208 0.9960413 -0.02957232] [-0.01082837 0.03058506 0.99947346]] t_gt: [ 0.55615517 -0.82081296 -0.130221 ] Pose Error in degrees for R and t: 6.580134376559173 66.18688889030625 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999953e-01 -2.66984407e-04 1.52731596e-04] [ 2.66987838e-04 9.99999964e-01 -2.24396646e-05] [-1.52725600e-04 2.24804410e-05 9.99999988e-01]] t_estimated: [[9.12672207e-01] [4.08691851e-01] [6.42590687e-04]] R_gt: [[ 0.99962857 -0.0194799 0.01909128] [ 0.01983017 0.99963544 -0.01834738] [-0.0187275 0.01871949 0.99964944]] t_gt: [-0.18989602 -0.96973936 0.15344405] Pose Error in degrees for R and t: 1.8738716286660824 55.28192971204541 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-7.19297669e-01 -6.94698297e-01 -2.26698376e-03] [ 6.94701799e-01 -7.19296092e-01 -1.59447560e-03] [-5.22953071e-04 -2.72178028e-03 9.99996159e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99785902 -0.01304185 0.06411127] [ 0.01503092 0.99941801 -0.03063499] [-0.06367511 0.03153351 0.99747246]] t_gt: [-0.46208717 -0.53491804 0.70734584] Pose Error in degrees for R and t: 135.22732336790358 62.40652310749163 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.6734205 -0.73925107 -0.00356167] [-0.73923159 0.67334514 0.01195692] [-0.00644094 0.01068493 -0.99992217]] t_estimated: [[0.95525584] [0.29577876] [0.00109548]] R_gt: [[ 0.97786461 0.1870727 -0.09372287] [-0.1853029 0.98230106 0.02731632] [ 0.09717401 -0.00934444 0.99522375]] t_gt: [-0.16702625 0.94166257 -0.29218801] Pose Error in degrees for R and t: 175.41868626432876 83.18575146936882 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.89025035e-01 -1.47746978e-01 -5.58068494e-04] [ 1.47747307e-01 9.89024958e-01 6.05158719e-04] [ 4.62533297e-04 -6.80970240e-04 9.99999661e-01]] t_estimated: [[-1.31750874e-01] [-9.91282693e-01] [-5.74711953e-04]] R_gt: [[ 0.93280587 0.34216088 -0.11312712] [-0.33604287 0.93924761 0.06992579] [ 0.13017975 -0.02721124 0.99111721]] t_gt: [-0.17091788 0.96983315 -0.17381235] Pose Error in degrees for R and t: 29.389584137652697 20.15559602717974 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-6.98563734e-01 7.15546726e-01 1.26155398e-03] [-7.15547689e-01 -6.98561363e-01 -1.87815247e-03] [-4.62632986e-04 -2.21471123e-03 9.99997441e-01]] t_estimated: [[0.67539364] [0.73745684] [0.00091269]] R_gt: [[ 0.90148775 0.42354564 -0.08903799] [-0.42252161 0.90582252 0.03098419] [ 0.09377576 0.00968798 0.99554678]] t_gt: [-0.09294264 0.98623759 -0.13673724] Pose Error in degrees for R and t: 109.32369401712504 48.362922049794236 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.96476329e-01 -8.38737113e-02 -3.55040393e-04] [ 8.38737962e-02 9.96476358e-01 2.31569092e-04] [ 3.34366799e-04 -2.60531704e-04 9.99999910e-01]] t_estimated: [[-9.52925126e-01] [ 3.03205313e-01] [ 4.91410858e-04]] R_gt: [[ 9.79620243e-01 2.00519867e-01 -1.16188063e-02] [-2.00543040e-01 9.79683742e-01 -7.87596814e-04] [ 1.12246854e-02 3.10195155e-03 9.99932185e-01]] t_gt: [-0.37842799 0.92373751 -0.05917157] Pose Error in degrees for R and t: 16.39264678670708 50.15845731817297 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999847e-01 -1.50197723e-05 -5.52072849e-04] [ 1.51555550e-05 9.99999970e-01 2.45947307e-04] [ 5.52069138e-04 -2.45955637e-04 9.99999817e-01]] t_estimated: [[-0.81342877] [-0.58166345] [-0.00112507]] R_gt: [[ 0.94246755 0.33412607 0.01066352] [-0.33394244 0.94245886 -0.01593227] [-0.01537376 0.01145534 0.99981571]] t_gt: [-0.31489843 0.94909473 0.00762739] Pose Error in degrees for R and t: 19.549065359613245 72.78759575347354 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.85447678 -0.51948314 -0.0025887 ] [ 0.51947416 -0.85447919 0.00345043] [-0.00400443 0.00160355 0.9999907 ]] t_estimated: [[0.87064953] [0.49190296] [0.00093518]] R_gt: [[ 0.9251833 0.37949619 0.00409957] [-0.37927543 0.92492357 -0.02580688] [-0.01358557 0.02232117 0.99965814]] t_gt: [-0.26733661 0.96340782 -0.0194037 ] Pose Error in degrees for R and t: 171.0046132521152 76.04684381203606 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-8.55498538e-01 -5.17805173e-01 2.35233456e-04] [-5.17803586e-01 8.55496883e-01 2.12820102e-03] [-1.30323499e-03 1.69886813e-03 -9.99997708e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99661002 0.07376221 0.03644691] [-0.07205767 0.99633778 -0.04602674] [-0.03970869 0.04324356 0.99827486]] t_gt: [-0.31165167 0.94476979 -0.10140652] Pose Error in degrees for R and t: 178.54371210248897 72.01312118986036 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.87780968 0.47899862 0.0032371 ] [ 0.4790058 0.87780953 0.00196825] [-0.00189877 0.00327833 -0.99999282]] t_estimated: [[0.90003876] [0.43580824] [0.00118426]] R_gt: [[ 0.985472 0.1653335 0.03887217] [-0.16348788 0.98544132 -0.0466614 ] [-0.04602127 0.03962793 0.99815458]] t_gt: [-0.29564288 0.95485359 -0.0291533 ] Pose Error in degrees for R and t: 176.8825671376199 81.37258168000666 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999778e-01 -6.05939599e-04 -2.77092338e-04] [ 6.05978817e-04 9.99999806e-01 1.41471705e-04] [ 2.77006561e-04 -1.41639585e-04 9.99999952e-01]] t_estimated: [[9.99999995e-01] [1.65853479e-05] [1.03292189e-04]] R_gt: [[ 0.95181657 0.30585611 -0.02232081] [-0.30621888 0.95184019 -0.01519058] [ 0.0166003 0.02129284 0.99963535]] t_gt: [-0.23328528 0.96731719 -0.09937519] Pose Error in degrees for R and t: 17.92444271023482 76.50977296731578 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99992714e-01 -3.68776933e-03 -9.86211775e-04] [ 3.68783476e-03 9.99993198e-01 6.45333701e-05] [ 9.85967083e-04 -6.81698860e-05 9.99999512e-01]] t_estimated: [[ 0.99953713] [-0.02971196] [-0.0065365 ]] R_gt: [[ 0.9962554 -0.08612778 -0.00758915] [ 0.08582073 0.99571926 -0.03431515] [ 0.01051159 0.03353598 0.99938237]] t_gt: [ 0.68429397 -0.59782474 -0.41754921] Pose Error in degrees for R and t: 5.129613309105556 45.21333153849171 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-6.18884064e-01 -7.85482106e-01 -6.13530532e-04] [ 7.85462687e-01 -6.18862860e-01 -7.55832956e-03] [ 5.55724136e-03 -5.15963506e-03 9.99971247e-01]] t_estimated: [[9.61332106e-01] [2.75390392e-01] [8.44755805e-04]] R_gt: [[ 0.98149365 -0.15880996 0.10700264] [ 0.16388104 0.98565428 -0.04033872] [-0.09906158 0.05712858 0.99344055]] t_gt: [ 0.71550788 -0.68989363 0.1099784 ] Pose Error in degrees for R and t: 119.0499820090992 60.135962192165884 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99740614 0.07074674 0.01326223] [-0.07071927 0.99749305 -0.00252983] [-0.01340795 0.00158537 0.99990885]] t_estimated: [[0.97454109] [0.22419226] [0.00273778]] R_gt: [[ 0.9618115 -0.15984415 0.22218715] [ 0.17345862 0.98389974 -0.04304524] [-0.21172892 0.079942 0.97405408]] t_gt: [ 0.62165561 -0.61812076 0.48111436] Pose Error in degrees for R and t: 18.453564045745395 62.058602528696674 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.97145076e-01 -7.55095802e-02 3.73579114e-05] [ 7.55095784e-02 9.97145075e-01 4.92733336e-05] [-4.09718661e-05 -4.63117819e-05 9.99999998e-01]] t_estimated: [[-4.48910815e-01] [-8.93576222e-01] [-7.84438341e-04]] R_gt: [[ 0.99694711 0.07156073 -0.03123305] [-0.07053823 0.99697313 0.03268769] [ 0.03347812 -0.03038454 0.99897707]] t_gt: [-0.167314 0.98455803 -0.05149293] Pose Error in degrees for R and t: 8.796496824326141 36.42563753860986 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.21041822 -0.97752356 -0.01310958] [-0.97753842 0.2105475 -0.00940172] [ 0.0119506 0.01083683 -0.99986986]] t_estimated: [[ 0.72167694] [ 0.69219608] [-0.00685395]] R_gt: [[ 0.98791014 0.15472329 0.00974919] [-0.15497379 0.9872902 0.0352161 ] [-0.00417664 -0.03630084 0.99933242]] t_gt: [-0.28714353 0.9337632 0.21362322] Pose Error in degrees for R and t: 179.32255031930518 64.04543938736376 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 8.15635731e-01 -5.78565602e-01 -4.45629819e-04] [ 5.78565770e-01 8.15635569e-01 5.18906563e-04] [ 6.32500425e-05 -6.81064893e-04 9.99999766e-01]] t_estimated: [[-0.50239017] [-0.86464002] [-0.00132208]] R_gt: [[ 0.98355839 0.18028225 0.0105552 ] [-0.18054964 0.98289726 0.03626271] [-0.0038372 -0.03757135 0.99928602]] t_gt: [-0.1882605 0.96474877 0.18389618] Pose Error in degrees for R and t: 45.79434827984351 42.28363473604473 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99996168e-01 5.33555022e-04 2.71631824e-03] [-5.26474863e-04 9.99996464e-01 -2.60657577e-03] [-2.71769939e-03 2.60513571e-03 9.99992914e-01]] t_estimated: [[0.87110614] [0.4910934 ] [0.00116927]] R_gt: [[ 0.96154361 -0.26306061 -0.07894873] [ 0.26136164 0.96473304 -0.0313104 ] [ 0.08440097 0.00947193 0.9963866 ]] t_gt: [ 0.8721756 -0.44705733 -0.19861892] Pose Error in degrees for R and t: 16.050827004373637 57.317833077411755 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.6528061 0.75750851 -0.00500494] [ 0.75746909 -0.65266333 0.01646688] [ 0.00920726 -0.01454077 -0.99985189]] t_estimated: [[9.73358246e-01] [2.29287873e-01] [8.92170711e-04]] R_gt: [[ 0.88081515 -0.4710839 -0.04738865] [ 0.46632437 0.88049441 -0.08527073] [ 0.08189603 0.05300935 0.99522978]] t_gt: [ 0.91582805 -0.36315261 -0.17140349] Pose Error in degrees for R and t: 178.79101989105627 36.09810424358849 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.00000000e+00 -1.56899462e-05 1.31457315e-05] [ 1.56902759e-05 1.00000000e+00 -2.50776184e-05] [-1.31453380e-05 2.50778246e-05 1.00000000e+00]] t_estimated: [[9.33670941e-01] [3.58131191e-01] [7.90576580e-04]] R_gt: [[ 0.70872091 -0.70365889 -0.0507795 ] [ 0.69879955 0.71006832 -0.08649459] [ 0.09691927 0.02581628 0.99495681]] t_gt: [ 0.96116953 -0.25899473 -0.09526205] Pose Error in degrees for R and t: 45.01801149342754 36.4296443426618 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 0.97416491 -0.22581474 0.00322879] [ 0.22582265 0.97416563 -0.00233636] [-0.0026178 0.00300513 0.99999206]] t_estimated: [[9.34581373e-01] [3.55748659e-01] [7.41143039e-04]] R_gt: [[ 0.99875264 -0.04164596 0.02753938] [ 0.04271662 0.99830559 -0.0395163 ] [-0.02584645 0.04064435 0.99883968]] t_gt: [ 0.63624754 -0.77009047 -0.04636536] Pose Error in degrees for R and t: 10.93013900588633 71.29884527135339 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 9.67232729e-01 -2.53890246e-01 -7.68148444e-04] [ 2.53890236e-01 9.67233031e-01 -1.12160103e-04] [ 7.71454904e-04 -8.65404671e-05 9.99999699e-01]] t_estimated: [[ 0.74310142] [-0.66917587] [-0.00198368]] R_gt: [[ 0.99622373 -0.07976334 -0.03427818] [ 0.07960232 0.99680957 -0.0060441 ] [ 0.03465146 0.00329303 0.99939417]] t_gt: [ 0.60358024 -0.73676173 -0.30475079] Pose Error in degrees for R and t: 10.321452083355064 19.584351585182308 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999981e-01 -1.94221550e-04 2.39952859e-05] [ 1.94221348e-04 9.99999981e-01 8.42165372e-06] [-2.39969211e-05 -8.41699316e-06 1.00000000e+00]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98529903 -0.15859511 -0.06350919] [ 0.16046952 0.98671031 0.02556342] [ 0.05861063 -0.03537894 0.99765393]] t_gt: [ 0.54581365 -0.81696783 -0.18614786] Pose Error in degrees for R and t: 9.982287108200946 57.102805336288036 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99169898e-01 -4.07371385e-02 2.83229394e-05] [ 4.07371379e-02 9.99169898e-01 2.27046237e-05] [-2.92243499e-05 -2.15319810e-05 9.99999999e-01]] t_estimated: [[ 9.90956802e-01] [-1.34178498e-01] [ 8.64372096e-04]] R_gt: [[ 0.99926469 0.03832203 0.00137755] [-0.03825574 0.9987236 -0.03297879] [-0.00263861 0.03290272 0.99945527]] t_gt: [ 0.45414066 0.72197554 -0.52202258] Pose Error in degrees for R and t: 4.908868637700543 69.34690263884794 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99999999e-01 4.21305117e-07 4.38576126e-05] [-4.19125023e-07 9.99999999e-01 -4.97084613e-05] [-4.38576335e-05 4.97084429e-05 9.99999998e-01]] t_estimated: [[9.99994949e-01] [3.09998624e-03] [7.01363626e-04]] R_gt: [[ 0.99858472 0.02875884 0.04475025] [-0.02475311 0.99584561 -0.08762207] [-0.04708371 0.08639059 0.99514858]] t_gt: [ 0.56776209 0.69404254 -0.44266371] Pose Error in degrees for R and t: 5.847944636619258 55.277643399442134 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-0.1475178 -0.98904499 0.00533857] [-0.98905737 0.14752629 0.00123193] [-0.00200601 -0.00509842 -0.99998499]] t_estimated: [[0.83589236] [0.54887421] [0.00459041]] R_gt: [[ 0.99933012 -0.03239907 0.01704484] [ 0.03375788 0.99566488 -0.08666853] [-0.01416143 0.08718574 0.99609141]] t_gt: [ 0.80221271 -0.23285862 -0.54975597] Pose Error in degrees for R and t: 177.69723415010833 57.300717750228536 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999839e-01 5.65455764e-04 -4.42813633e-05] [-5.65441845e-04 9.99999791e-01 3.13714930e-04] [ 4.44587459e-05 -3.13689841e-04 9.99999950e-01]] t_estimated: [[9.76373318e-01] [2.16089131e-01] [7.94445336e-04]] R_gt: [[ 0.95445838 -0.29811501 0.01173337] [ 0.29833909 0.95396035 -0.03088442] [-0.00198581 0.03297924 0.99945422]] t_gt: [ 0.86578333 -0.494247 -0.0783526 ] Pose Error in degrees for R and t: 17.49230536683883 42.39925684749708 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.94838157 -0.20331403 -0.24338408] [ 0.23855248 0.96304291 0.12506423] [ 0.208962 -0.17666849 0.96183321]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.87315877 -0.4872843 -0.01210758] [ 0.48710605 0.87321236 -0.01506028] [ 0.01791183 0.00725296 0.99981318]] t_gt: [ 0.90786852 -0.41805727 -0.0316681 ] Pose Error in degrees for R and t: 22.370887114172337 25.87677673361252 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99999802e-01 5.60450074e-04 2.86811975e-04] [-5.60428722e-04 9.99999840e-01 -7.45226285e-05] [-2.86853696e-04 7.43618761e-05 9.99999956e-01]] t_estimated: [[9.37481804e-01] [3.48033456e-01] [7.61561173e-04]] R_gt: [[ 0.86479077 -0.50210609 -0.00508341] [ 0.50175103 0.86448308 -0.03022704] [ 0.01957161 0.02358996 0.99953016]] t_gt: [ 0.90820039 -0.41494158 -0.05473157] Pose Error in degrees for R and t: 30.21774205262154 45.0113976922622 Number of keypoints: Image1: 751 Image2: 751 R_estimated: [[ 9.99995243e-01 -3.08399338e-03 5.58184570e-05] [ 3.08399475e-03 9.99995244e-01 -2.44816917e-05] [-5.57426902e-05 2.46537191e-05 9.99999998e-01]] t_estimated: [[ 9.19626889e-01] [-3.92792037e-01] [ 8.95150650e-04]] R_gt: [[ 0.9989881 -0.04077736 -0.0189675 ] [ 0.04105078 0.99905556 0.01425664] [ 0.01836797 -0.0150211 0.99971769]] t_gt: [ 0.82006142 -0.56640254 -0.08177667] Pose Error in degrees for R and t: 2.5616622450908353 12.431056331762898 Number of keypoints: Image1: 567 Image2: 567 R_estimated: [[ 0.87170802 0.48995894 0.00808442] [ 0.48997138 -0.87124739 -0.02925804] [-0.00729171 0.0294656 -0.9995392 ]] t_estimated: [[-0.26465629] [ 0.9642229 ] [-0.01520661]] R_gt: [[ 0.99833686 -0.01538618 -0.05555112] [ 0.01813115 0.9986213 0.0492627 ] [ 0.05471773 -0.05018772 0.99723983]] t_gt: [ 0.71398726 -0.69972487 -0.0246435 ] Pose Error in degrees for R and t: 178.18023097898578 30.313434983648495 Number of keypoints: Image1: 505 Image2: 505 R_estimated: [[ 2.72899389e-01 9.62042579e-01 -1.44452840e-05] [-9.62041487e-01 2.72899057e-01 -1.51038564e-03] [-1.44911319e-03 4.26080282e-04 9.99998859e-01]] t_estimated: [[0.40159973] [0.91581451] [0.00119661]] R_gt: [[ 0.99812704 0.05933076 -0.01489168] [-0.0581447 0.99582758 0.07033023] [ 0.01900266 -0.06933297 0.99741191]] t_gt: [-0.84629141 -0.20816991 0.49036328] Pose Error in degrees for R and t: 70.90070081494387 57.99936563257834 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[-6.66207646e-01 7.45762490e-01 -2.38328961e-03] [-7.45762092e-01 -6.66211221e-01 -1.22981056e-03] [-2.50492086e-03 9.58057844e-04 9.99996404e-01]] t_estimated: [[0.56396141] [0.82580064] [0.00091552]] R_gt: [[ 0.99958204 0.0282193 -0.00612276] [-0.02810579 0.99944502 0.01786449] [ 0.00662238 -0.01768483 0.99982159]] t_gt: [0.22316157 0.95228162 0.20822736] Pose Error in degrees for R and t: 130.16524324093527 24.15526227317563 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[-6.89751684e-01 -7.24044560e-01 -1.44561330e-03] [ 7.24045943e-01 -6.89749439e-01 -1.78398223e-03] [ 2.94571665e-04 -2.27719519e-03 9.99997364e-01]] t_estimated: [[0.68921343] [0.72455771] [0.00098179]] R_gt: [[ 0.99307926 0.11729779 -0.0059215 ] [-0.11697304 0.99233675 0.03980768] [ 0.01054523 -0.03883925 0.99919028]] t_gt: [-0.20549687 0.96005452 0.18991142] Pose Error in degrees for R and t: 140.34705352934537 56.34642339040036 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.79246511e-01 2.02672798e-01 -8.10866937e-05] [-2.02672776e-01 9.79246493e-01 2.25605690e-04] [ 1.25127997e-04 -2.04489519e-04 9.99999971e-01]] t_estimated: [[-9.22485641e-01] [-3.86030337e-01] [-9.06174500e-04]] R_gt: [[ 0.98281591 0.1822377 0.02933805] [-0.18352046 0.98177103 0.04944733] [-0.01979243 -0.05398111 0.998346 ]] t_gt: [-0.23906766 0.92217343 0.3040441 ] Pose Error in degrees for R and t: 3.482202859759727 82.19939973797328 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999850e-01 5.38204544e-04 1.03100159e-04] [-5.38202983e-04 9.99999855e-01 -1.51738830e-05] [-1.03108310e-04 1.51183919e-05 9.99999995e-01]] t_estimated: [[9.99989253e-01] [4.58256818e-03] [7.02654126e-04]] R_gt: [[ 0.99316933 -0.10651919 0.04764255] [ 0.10823538 0.99350827 -0.03502669] [-0.04360221 0.03994374 0.99824977]] t_gt: [ 0.76967005 -0.63540654 -0.06218148] Pose Error in degrees for R and t: 7.06324874141616 39.940968703444604 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.82311229 0.56717789 0.02820273] [-0.56781888 -0.82273055 -0.02638475] [ 0.0082384 -0.03773165 0.99925395]] t_estimated: [[0.52534718] [0.85085132] [0.00789752]] R_gt: [[ 0.96885699 -0.15183998 0.1956046 ] [ 0.1623204 0.98598223 -0.03862082] [-0.18699795 0.06916923 0.97992164]] t_gt: [ 0.63976837 -0.59084804 0.49152318] Pose Error in degrees for R and t: 154.51453621155048 80.63394059869087 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.99850229 0.05414866 0.00781632] [-0.05405728 0.99847203 -0.01146371] [-0.00842512 0.01102401 0.99990374]] t_estimated: [[0.94836322] [0.31718153] [0.00175496]] R_gt: [[ 0.94328192 -0.14082324 0.30065 ] [ 0.16167522 0.98579458 -0.04551149] [-0.28996946 0.09153825 0.95264799]] t_gt: [ 0.53184995 -0.44249438 0.72203487] Pose Error in degrees for R and t: 20.878825184234536 68.57376683577819 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.87822823e-01 1.55582999e-01 8.80581841e-06] [-1.55582997e-01 9.87822819e-01 -9.64785781e-05] [-2.37090149e-05 9.39337058e-05 9.99999995e-01]] t_estimated: [[-0.79634026] [-0.60484829] [-0.00085152]] R_gt: [[ 0.99726922 0.02469178 0.06960298] [-0.02240243 0.99918833 -0.03346896] [-0.07037207 0.03181817 0.99701353]] t_gt: [-0.3988602 0.89574277 0.19635538] Pose Error in degrees for R and t: 8.792759415564788 77.03667913290322 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.50923146e-01 3.09427114e-01 1.76123185e-04] [-3.09427049e-01 9.50923130e-01 -3.20572226e-04] [-2.66673349e-04 2.50342272e-04 9.99999933e-01]] t_estimated: [[-0.85546735] [-0.51785583] [-0.00097412]] R_gt: [[ 0.98750718 0.12813461 0.09171257] [-0.12015331 0.98886305 -0.08782419] [-0.10194479 0.07570672 0.99190481]] t_gt: [-0.35009827 0.93670742 -0.00322641] Pose Error in degrees for R and t: 13.068815086019738 79.30513084917567 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.42051318e-01 3.35468755e-01 1.70278918e-04] [-3.35468761e-01 9.42051331e-01 7.02135604e-06] [-1.58056036e-04 -6.37377356e-05 9.99999985e-01]] t_estimated: [[-0.57157365] [ 0.82054933] [ 0.00153615]] R_gt: [[ 0.97333046 0.21752537 0.07286974] [-0.21402009 0.97539203 -0.05297255] [-0.0825996 0.03596422 0.99593359]] t_gt: [-0.30251563 0.95241683 0.03723548] Pose Error in degrees for R and t: 8.787587537255442 17.355528130129425 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999908e-01 4.28342688e-04 -3.25181163e-05] [-4.28341308e-04 9.99999907e-01 4.24183166e-05] [ 3.25362828e-05 -4.24043839e-05 9.99999999e-01]] t_estimated: [[-0.951708 ] [-0.30700258] [-0.00113705]] R_gt: [[ 9.98881128e-01 4.00896466e-02 2.50891156e-02] [-4.00654358e-02 9.99196621e-01 -1.40154744e-03] [-2.51249247e-02 3.94989247e-04 9.99684130e-01]] t_gt: [-0.62135533 0.73927466 0.25959688] Pose Error in degrees for R and t: 2.6911259358461317 68.64813661179444 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99999994e-01 1.08338785e-04 -8.33486413e-06] [-1.08338721e-04 9.99999994e-01 7.62571487e-06] [ 8.33569024e-06 -7.62481184e-06 1.00000000e+00]] t_estimated: [[-9.99988652e-01] [-4.71932691e-03] [-6.51000630e-04]] R_gt: [[ 0.99096772 0.13403049 0.00450098] [-0.13396034 0.9908986 -0.01324531] [-0.00623521 0.01252315 0.99990135]] t_gt: [-0.62937847 0.77640279 -0.03288545] Pose Error in degrees for R and t: 7.736262608048793 51.264312690803045 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-0.52719559 -0.84974287 0.00136425] [-0.84974149 0.52718951 -0.0032576 ] [ 0.0020489 -0.00287666 -0.99999376]] t_estimated: [[0.93349376] [0.35859235] [0.00096137]] R_gt: [[ 0.98877894 0.14818509 -0.01896517] [-0.14817821 0.98896021 0.00176331] [ 0.01901671 0.00106654 0.9998177 ]] t_gt: [-0.59922484 0.79745324 -0.07069599] Pose Error in degrees for R and t: 179.04758955518656 74.12854840848398 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[ 9.98439755e-01 -5.58392623e-02 -1.81839775e-04] [ 5.58392989e-02 9.98439749e-01 2.02768950e-04] [ 1.70233591e-04 -2.12606387e-04 9.99999963e-01]] t_estimated: [[-0.76023042] [-0.64965236] [-0.00123251]] R_gt: [[ 9.89230541e-01 1.46352372e-01 1.82155540e-03] [-1.46361332e-01 9.89209047e-01 6.56785190e-03] [-8.40291889e-04 -6.76242836e-03 9.99976937e-01]] t_gt: [-0.95985277 0.26985133 0.07656972] Pose Error in degrees for R and t: 11.623270530806963 56.33711812496727 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 0.78151977 0.62387826 0.00166674] [ 0.62387176 -0.78152018 0.0032006 ] [ 0.00329937 -0.0014615 -0.99999349]] t_estimated: [[8.53065204e-01] [5.21803894e-01] [6.73295347e-04]] R_gt: [[ 0.97769098 0.20948214 0.01538412] [-0.20986891 0.97725464 0.03047086] [-0.0086512 -0.03301914 0.99941718]] t_gt: [-0.95202194 0.21976943 0.21296859] Pose Error in degrees for R and t: 178.3464057886822 45.787870368291365 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.92884987e-01 -1.19077284e-01 4.75862523e-05] [ 1.19077282e-01 9.92884987e-01 5.26335264e-05] [-5.35151329e-05 -4.65925967e-05 9.99999997e-01]] t_estimated: [[-0.8696101 ] [-0.49373799] [-0.00103272]] R_gt: [[ 0.97670632 0.20576209 0.0608787 ] [-0.20782087 0.97771879 0.02960847] [-0.05342927 -0.04157007 0.99770537]] t_gt: [-0.94634226 0.09040424 0.31026343] Pose Error in degrees for R and t: 19.17970192298879 38.922875342175665 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-0.14705119 0.98912768 0.00154355] [-0.98912822 -0.14704911 -0.0013873 ] [-0.00114524 -0.00173077 0.99999785]] t_estimated: [[-0.03485207] [ 0.99939151] [ 0.00139324]] R_gt: [[ 0.99853392 -0.01141671 -0.05291923] [ 0.01252863 0.9997059 0.0207386 ] [ 0.05266595 -0.02137081 0.99838381]] t_gt: [-0.1792147 -0.66970156 -0.72068156] Pose Error in degrees for R and t: 99.18596037269025 48.39035159638165 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.24261642e-01 3.81759444e-01 3.78831144e-04] [-3.81759288e-01 9.24261687e-01 -4.24713377e-04] [-5.12277455e-04 2.47923976e-04 9.99999838e-01]] t_estimated: [[-0.7134049 ] [-0.70075027] [-0.00158183]] R_gt: [[ 0.99029607 -0.0403605 -0.13298891] [ 0.04932971 0.99667424 0.06485949] [ 0.12992852 -0.07079111 0.98899327]] t_gt: [ 0.08203357 -0.80112824 -0.59284403] Pose Error in degrees for R and t: 26.422672388975833 59.74791203673221 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.95796556 0.27416487 0.08447256] [-0.265037 0.95848294 -0.1051943 ] [-0.10980609 0.07838416 0.99085748]] t_estimated: [[0.93083498] [0.36417339] [0.0303971 ]] R_gt: [[ 0.98594008 -0.10341987 -0.13125033] [ 0.11019911 0.99286877 0.04546769] [ 0.12561182 -0.05929268 0.99030659]] t_gt: [ 0.25433486 -0.87645144 -0.40883573] Pose Error in degrees for R and t: 26.777499565311068 84.55651193620668 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 0.98720916 -0.15940216 -0.00300318] [ 0.15940769 0.98721138 0.00169768] [ 0.00269416 -0.0021547 0.99999405]] t_estimated: [[-0.68348448] [-0.72993488] [-0.00663577]] R_gt: [[ 0.99885611 0.04701242 0.00870274] [-0.0468779 0.99878592 -0.01512763] [-0.00940381 0.0147036 0.99984778]] t_gt: [-0.31609137 0.94772346 0.04366341] Pose Error in degrees for R and t: 11.92204532421234 61.57404756421021 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.99965817e-01 8.26826296e-03 1.09235015e-05] [-8.26826155e-03 9.99965810e-01 -1.22949033e-04] [-1.19397030e-05 1.22854511e-04 9.99999992e-01]] t_estimated: [[-9.81329214e-01] [-1.92334780e-01] [-5.53382838e-04]] R_gt: [[ 0.99544157 0.09520862 -0.00570217] [-0.09509194 0.99530182 0.01821336] [ 0.00741 -0.01758697 0.99981754]] t_gt: [-0.26904929 0.95029554 0.15668715] Pose Error in degrees for R and t: 5.106558879261978 85.34450480522702 Number of keypoints: Image1: 399 Image2: 399 R_estimated: [[-0.81961036 -0.57286384 -0.00811671] [-0.5728653 0.81964609 -0.00237521] [ 0.00801351 0.00270303 -0.99996424]] t_estimated: [[ 0.95096149] [ 0.30928522] [-0.00385994]] R_gt: [[ 9.94379917e-01 1.05862271e-01 -6.92622613e-04] [-1.05742058e-01 9.93519398e-01 4.16732310e-02] [ 5.09975106e-03 -4.13648661e-02 9.99131446e-01]] t_gt: [-0.17633884 0.95639388 0.23284191] Pose Error in degrees for R and t: 179.93031606730645 82.69169982765544 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.99938883e-01 -1.10558078e-02 8.92103862e-06] [ 1.10558075e-02 9.99938882e-01 2.86670836e-05] [-9.23743115e-06 -2.85667023e-05 1.00000000e+00]] t_estimated: [[ 9.74337154e-01] [ 2.25092988e-01] [-5.06199346e-04]] R_gt: [[ 0.9993823 -0.03037 -0.01770777] [ 0.03005398 0.99939002 -0.01783157] [ 0.01823772 0.01728776 0.99968389]] t_gt: [ 0.64160688 0.16191823 -0.74974869] Pose Error in degrees for R and t: 1.8112440500650986 48.549893484863325 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.98855438e-01 -4.78309516e-02 1.22383517e-04] [ 4.78309242e-02 9.98855423e-01 2.17868724e-04] [-1.32664308e-04 -2.11765643e-04 9.99999969e-01]] t_estimated: [[9.59080860e-01] [2.83130877e-01] [8.99959976e-04]] R_gt: [[ 0.99654865 -0.08178223 0.01421453] [ 0.08220732 0.99608437 -0.03252222] [-0.01149979 0.03357802 0.99936986]] t_gt: [ 0.96877102 -0.16649262 -0.18374686] Pose Error in degrees for R and t: 2.833398324970642 28.136676407996433 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 8.50893252e-01 5.25338216e-01 6.57463485e-04] [-5.25338157e-01 8.50893499e-01 -2.73717219e-04] [-7.03225520e-04 -1.12486520e-04 9.99999746e-01]] t_estimated: [[0.72042801] [0.69352923] [0.00082623]] R_gt: [[ 0.98484638 -0.1707477 0.03035792] [ 0.17157041 0.98480248 -0.02695081] [-0.0252952 0.03175098 0.99917559]] t_gt: [ 0.91516697 -0.40262306 0.01908109] Pose Error in degrees for R and t: 41.6108251190645 67.66031979464577 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 8.99325723e-01 4.37277016e-01 -1.43331938e-03] [-4.37276620e-01 8.99326861e-01 5.95225284e-04] [ 1.54930096e-03 9.14556462e-05 9.99998796e-01]] t_estimated: [[0.95591871] [0.29362691] [0.00163126]] R_gt: [[ 0.99237967 0.12234825 -0.01456112] [-0.12217551 0.99243337 0.01217624] [ 0.01594167 -0.0103049 0.99981995]] t_gt: [-0.33813556 0.93239271 -0.12770346] Pose Error in degrees for R and t: 18.93366546196457 87.1533577704011 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.96415984e-01 -8.45883316e-02 7.42773744e-06] [ 8.45883316e-02 9.96415984e-01 -7.35177098e-06] [-6.77924227e-06 7.95372203e-06 1.00000000e+00]] t_estimated: [[-7.74720354e-01] [-6.32303676e-01] [-6.59336471e-04]] R_gt: [[ 0.9470629 0.32101309 -0.00474747] [-0.32103448 0.9467852 -0.02310265] [-0.00292091 0.02340357 0.99972136]] t_gt: [-0.31215162 0.94674385 -0.07897756] Pose Error in degrees for R and t: 23.61809520654774 69.09942810999169 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.98552321e-01 -5.37885615e-02 2.29939193e-04] [ 5.37886610e-02 9.98552240e-01 -4.50918249e-04] [-2.05352052e-04 4.62633585e-04 9.99999872e-01]] t_estimated: [[-7.58345958e-01] [-6.51851937e-01] [-6.78305866e-04]] R_gt: [[ 0.89569614 0.44463805 -0.00511417] [-0.44209217 0.88921574 -0.11768171] [-0.04777706 0.10766735 0.9930376 ]] t_gt: [-0.22160137 0.96906824 -0.10862589] Pose Error in degrees for R and t: 30.243754969139452 62.38262078416024 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.26256553e-01 3.76893617e-01 -1.33679243e-05] [-3.76893567e-01 9.26256412e-01 -5.46883355e-04] [-1.93734720e-04 5.11592576e-04 9.99999850e-01]] t_estimated: [[-3.61393352e-01] [ 9.32413374e-01] [-3.81064013e-04]] R_gt: [[ 0.99956628 -0.010833 -0.02740647] [ 0.00968587 0.99908575 -0.04164981] [ 0.02783245 0.04136725 0.99875621]] t_gt: [-0.0644667 0.15573449 -0.98569306] Pose Error in degrees for R and t: 22.903303151733102 80.27715593041614 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999773e-01 -6.74094855e-04 1.90182608e-06] [ 6.74094648e-04 9.99999767e-01 1.06861886e-04] [-1.97386068e-06 -1.06860579e-04 9.99999994e-01]] t_estimated: [[-0.05292257] [-0.99859775] [ 0.00131992]] R_gt: [[ 0.9999181 -0.00854399 0.00962877] [ 0.00896489 0.998964 -0.04462275] [-0.00923677 0.04470673 0.9989583 ]] t_gt: [-0.60295665 0.07058716 -0.79464503] Pose Error in degrees for R and t: 2.6617328005234593 87.7289435232185 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.72211471e-01 2.34103855e-01 -4.90102241e-04] [-2.34103560e-01 9.72211486e-01 5.91090952e-04] [ 6.14859699e-04 -4.59930724e-04 9.99999705e-01]] t_estimated: [[8.57777318e-01] [5.14020838e-01] [8.06940092e-04]] R_gt: [[ 0.98916249 -0.07213128 0.12788843] [ 0.07891297 0.99568748 -0.04877622] [-0.1238177 0.0583402 0.99058917]] t_gt: [ 0.02547741 -0.78190527 0.62287643] Pose Error in degrees for R and t: 19.547546315957327 67.69362913612464 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99996026e-01 -2.81891627e-03 -2.83549264e-05] [ 2.81891648e-03 9.99996027e-01 7.58974092e-06] [ 2.83334189e-05 -7.66964094e-06 1.00000000e+00]] t_estimated: [[ 3.18482124e-01] [-9.47928861e-01] [ 1.06727213e-04]] R_gt: [[ 0.99482573 0.09219205 0.04267813] [-0.08937395 0.99395196 -0.06380006] [-0.04830096 0.059656 0.99704972]] t_gt: [-0.3023516 0.9508564 -0.06675041] Pose Error in degrees for R and t: 6.950018838789696 3.933009656093711 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.95937101e-01 9.00513974e-02 -1.91045066e-04] [-9.00513281e-02 9.95937066e-01 3.44697327e-04] [ 2.21309338e-04 -3.26092995e-04 9.99999922e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98057799 0.19388582 0.02956675] [-0.19240705 0.98020671 -0.04662123] [-0.03802071 0.0400267 0.99847475]] t_gt: [-0.27011085 0.96177593 -0.04502432] Pose Error in degrees for R and t: 6.774580583425717 74.50453320411252 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 1.00000000e+00 -3.88578059e-16 -2.77555756e-17] [ 5.55111512e-17 1.00000000e+00 2.97491524e-16] [ 1.07395646e-15 -1.45796732e-15 1.00000000e+00]] t_estimated: [[-7.43320621e-01] [-6.68935297e-01] [-1.49480606e-04]] R_gt: [[ 0.93017845 0.36704044 0.00695608] [-0.36418648 0.92499918 -0.10837076] [-0.04621017 0.0982704 0.99408638]] t_gt: [-0.22991784 0.96736082 -0.1065403 ] Pose Error in degrees for R and t: 22.387070605307013 61.56358414250701 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.98320878e-01 -5.79259741e-02 7.27058804e-05] [ 5.79259843e-02 9.98320870e-01 -1.46620814e-04] [-6.40906443e-05 1.50586180e-04 9.99999987e-01]] t_estimated: [[-0.80261554] [-0.59649483] [-0.00148492]] R_gt: [[ 0.99864184 0.01756839 0.04904243] [-0.01424072 0.99762304 -0.06742291] [-0.05011039 0.06663373 0.99651898]] t_gt: [-0.23379865 0.85644618 -0.46025876] Pose Error in degrees for R and t: 6.3793675863020365 71.18389076465917 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-0.53715399 -0.84347052 -0.00480445] [-0.84347321 0.53716735 -0.0020448 ] [ 0.00430552 0.00295406 -0.99998637]] t_estimated: [[ 0.83172567] [ 0.55518424] [-0.00169653]] R_gt: [[ 0.99704395 0.06652013 0.03845685] [-0.0639026 0.99579155 -0.0656982 ] [-0.04266488 0.0630465 0.99709877]] t_gt: [-0.17915899 0.93538091 -0.30490098] Pose Error in degrees for R and t: 180.0 68.23411801711207 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99857570e-01 1.68770995e-02 -4.75552083e-05] [-1.68771026e-02 9.99857569e-01 -6.46190603e-05] [ 4.64578526e-05 6.54124508e-05 9.99999997e-01]] t_estimated: [[-9.99657285e-01] [-2.61706857e-02] [-6.37845241e-04]] R_gt: [[ 0.99510395 0.09430296 0.02957745] [-0.09319851 0.9949689 -0.03675579] [-0.03289476 0.03381964 0.99888649]] t_gt: [-0.10442287 0.99018836 -0.09285941] Pose Error in degrees for R and t: 5.17680015020746 85.49578675770915 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.96619594e-01 8.21489462e-02 9.67108213e-04] [-8.21479908e-02 9.96619651e-01 -9.89471337e-04] [-1.04512308e-03 9.06680526e-04 9.99999043e-01]] t_estimated: [[0.99664988] [0.0817764 ] [0.00127776]] R_gt: [[ 0.99712989 -0.0726849 0.02120628] [ 0.07294931 0.99726412 -0.01201016] [-0.02027543 0.01352303 0.99970325]] t_gt: [ 0.83963373 -0.53039678 0.11702329] Pose Error in degrees for R and t: 8.985331761639069 37.47711337736447 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 8.91561655e-01 -4.52898227e-01 -1.00588852e-03] [ 4.52898767e-01 8.91561865e-01 3.83874132e-04] [ 7.22955931e-04 -7.97813127e-04 9.99999420e-01]] t_estimated: [[ 9.83983614e-01] [-1.78258855e-01] [ 1.65615122e-04]] R_gt: [[ 0.98521688 -0.16826507 0.03217508] [ 0.16880833 0.9855346 -0.01499067] [-0.02918765 0.02020045 0.99936952]] t_gt: [ 0.86241241 -0.50129235 0.07036203] Pose Error in degrees for R and t: 17.350149731905795 20.286420447416916 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.49089792 0.87096877 0.0207999 ] [ 0.87103869 0.49114064 -0.00851318] [-0.01763039 0.01393842 -0.99974741]] t_estimated: [[ 0.9991124 ] [-0.04177296] [ 0.00542543]] R_gt: [[ 0.97270417 -0.22497393 0.05687083] [ 0.2246969 0.97436348 0.01128875] [-0.05795276 0.00179821 0.9983176 ]] t_gt: [ 0.86365971 -0.45467266 0.21763428] Pose Error in degrees for R and t: 175.99108410553157 27.98543559625354 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999994e-01 1.09015644e-04 -2.17968166e-05] [-1.09011332e-04 9.99999975e-01 1.97735422e-04] [ 2.18183723e-05 -1.97733044e-04 9.99999980e-01]] t_estimated: [[-9.99992520e-01] [-3.81525297e-03] [-6.36008236e-04]] R_gt: [[ 0.99374644 0.11155572 0.00489224] [-0.11131479 0.99315196 -0.03547839] [-0.00881685 0.03471264 0.99935783]] t_gt: [-0.64189882 0.75462513 -0.13603977] Pose Error in degrees for R and t: 6.718391697011827 50.27514987828223 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 1.00000000e+00 2.35988912e-06 -5.59172454e-06] [-2.35988357e-06 1.00000000e+00 9.91713004e-07] [ 5.59172688e-06 -9.91699808e-07 1.00000000e+00]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.9859947 0.1624596 -0.03772353] [-0.16293661 0.98658668 -0.00992372] [ 0.03560504 0.0159316 0.9992387 ]] t_gt: [-0.60624893 0.77492241 -0.17876656] Pose Error in degrees for R and t: 9.629303659869807 39.977386755930915 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.76683773e-01 -2.14682877e-01 -2.64736686e-04] [ 2.14682786e-01 9.76683771e-01 -3.35330103e-04] [ 3.30553656e-04 2.70677061e-04 9.99999909e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.99004397 0.13379606 -0.04373234] [-0.13609756 0.98918374 -0.05471656] [ 0.03593834 0.06012327 0.99754337]] t_gt: [-0.51252758 0.7815749 -0.35560675] Pose Error in degrees for R and t: 20.549430298358665 39.29240037454878 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-0.10352382 -0.99459832 0.00754946] [-0.99455309 0.10360566 0.01140251] [-0.01212308 -0.00632791 -0.99990649]] t_estimated: [[0.73374278] [0.67937211] [0.0086635 ]] R_gt: [[ 0.9983206 -0.03332346 0.04737059] [ 0.03430406 0.99921064 -0.02004049] [-0.04666547 0.02163182 0.99867599]] t_gt: [-0.41605683 -0.61599006 0.66891925] Pose Error in degrees for R and t: 178.03547306781448 44.112867997340885 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99998655e-01 1.62578162e-03 2.16437205e-04] [-1.62579587e-03 9.99998676e-01 6.56666516e-05] [-2.16330159e-04 -6.60184460e-05 9.99999974e-01]] t_estimated: [[0.99992539] [0.012171 ] [0.00103705]] R_gt: [[ 0.99730057 -0.07150497 -0.01666216] [ 0.07141157 0.99742803 -0.00610343] [ 0.01705555 0.00489692 0.99984223]] t_gt: [-0.03508369 -0.95619617 -0.29061663] Pose Error in degrees for R and t: 4.316205421755247 87.30494011644909 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96264537e-01 8.63212464e-02 2.36937978e-03] [ 8.63512330e-02 -9.96070158e-01 -1.96902187e-02] [ 6.60384268e-04 1.98212655e-02 -9.99803321e-01]] t_estimated: [[ 0.02822206] [ 0.99954888] [-0.0102736 ]] R_gt: [[ 0.9947564 -0.07404194 -0.07055102] [ 0.07683774 0.99632745 0.03778417] [ 0.06749428 -0.04300622 0.99679165]] t_gt: [-0.12298981 -0.93503393 -0.33254332] Pose Error in degrees for R and t: 178.6471138069966 20.8256310824606 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99979805e-01 -6.32468365e-03 6.22120351e-04] [ 6.32505647e-03 9.99979817e-01 -5.99150918e-04] [-6.18318355e-04 6.03073765e-04 9.99999627e-01]] t_estimated: [[8.56339533e-01] [5.16412640e-01] [7.67329331e-04]] R_gt: [[ 9.97102616e-01 -7.21382278e-02 2.41463307e-02] [ 7.21484640e-02 9.97394318e-01 4.61031133e-04] [-2.41177878e-02 1.28280998e-03 9.99708186e-01]] t_gt: [ 0.75791064 -0.64913803 0.06474006] Pose Error in degrees for R and t: 4.00844831213119 71.70826853247411 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99999784e-01 4.19446511e-04 -5.05857131e-04] [-4.18942419e-04 9.99999416e-01 9.96205738e-04] [ 5.06274691e-04 -9.95993598e-04 9.99999376e-01]] t_estimated: [[8.72654644e-01] [4.88337221e-01] [7.94044262e-04]] R_gt: [[ 9.90197328e-01 -1.37718311e-01 2.33193232e-02] [ 1.37670876e-01 9.90471622e-01 3.61713824e-03] [-2.35956874e-02 -3.71203491e-04 9.99721809e-01]] t_gt: [ 0.79369965 -0.60766662 0.02796672] Pose Error in degrees for R and t: 8.057841479761285 66.67777970646647 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 4.80744338e-01 8.76851780e-01 3.97967846e-03] [ 8.76857142e-01 -4.80750504e-01 7.10746525e-04] [ 2.53645178e-03 3.14792211e-03 -9.99991828e-01]] t_estimated: [[-0.99573023] [-0.09225616] [-0.00318125]] R_gt: [[ 0.98535032 -0.16400147 0.04678767] [ 0.16263167 0.98617689 0.03174306] [-0.05134762 -0.02366873 0.99840064]] t_gt: [ 0.69919702 -0.69766421 0.15616716] Pose Error in degrees for R and t: 179.83951216496285 50.77668486859005 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-3.02482999e-01 -9.53153656e-01 -1.46401999e-03] [-9.53154722e-01 3.02483160e-01 1.15358643e-04] [ 3.32886880e-04 1.43033159e-03 -9.99998922e-01]] t_estimated: [[0.792285 ] [0.61015052] [0.00091067]] R_gt: [[ 0.99013299 0.14012734 0.00109011] [-0.14002734 0.98906562 0.04628666] [ 0.00540798 -0.04598223 0.99892695]] t_gt: [-0.62378085 0.77001709 0.13405647] Pose Error in degrees for R and t: 178.6011611802914 88.60964997514347 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99966623 0.00778011 0.02463532] [-0.00712111 0.99961743 -0.0267259 ] [-0.02483383 0.02654155 0.9993392 ]] t_estimated: [[-0.99675383] [-0.08048323] [-0.00206367]] R_gt: [[ 0.97463543 0.22367236 0.00762417] [-0.22374187 0.97302035 0.05631608] [ 0.00517772 -0.05659369 0.99838345]] t_gt: [-0.59222196 0.79844223 0.10845809] Pose Error in degrees for R and t: 13.459732734955816 58.27691015337766 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.93487571 0.35496766 0.00231741] [-0.35497272 0.93487372 0.00234401] [-0.00133444 -0.00301398 0.99999457]] t_estimated: [[-0.74822222] [ 0.66341183] [ 0.0069468 ]] R_gt: [[ 0.95573284 0.29423518 0.00103048] [-0.29422366 0.95571791 -0.00595747] [-0.00273696 0.00538991 0.99998179]] t_gt: [-0.52228968 0.85247653 -0.02229903] Pose Error in degrees for R and t: 3.7118464778421663 17.025046840525018 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99998818e-01 1.53750485e-03 -2.61518643e-05] [-1.53751120e-03 9.99998788e-01 -2.44485354e-04] [ 2.57759352e-05 2.44525274e-04 9.99999970e-01]] t_estimated: [[-0.04033306] [-0.99918139] [-0.00313013]] R_gt: [[ 0.99685674 0.04217467 0.06708077] [-0.04278519 0.99905495 0.00769523] [-0.0666937 -0.01054029 0.99771685]] t_gt: [-0.14536525 0.67570876 0.722694 ] Pose Error in degrees for R and t: 4.531242342806995 47.81282775071229 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.23668865 -0.97158266 -0.00236941] [-0.97158414 -0.23668344 -0.00228276] [ 0.00165709 0.00284238 -0.99999459]] t_estimated: [[ 6.72256932e-01] [ 7.40317742e-01] [-5.07978626e-04]] R_gt: [[ 0.98525539 0.12645261 0.11525131] [-0.12060574 0.99109722 -0.05639773] [-0.12135751 0.04166704 0.99173325]] t_gt: [-0.25693887 0.92098061 0.29287734] Pose Error in degrees for R and t: 178.19984393886682 59.40671246924264 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.26254048 0.96401235 0.04186508] [ 0.96418803 0.26378478 -0.02755035] [-0.03760225 0.03313273 -0.99874336]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.96798429 0.227274 0.10655791] [-0.22321271 0.97354967 -0.04876058] [-0.1148217 0.02341437 0.99310955]] t_gt: [-0.23534732 0.95279621 0.19180987] Pose Error in degrees for R and t: 170.82562790460756 79.22921883184338 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-4.86200318e-01 -8.73847331e-01 3.04860022e-04] [ 8.73774191e-01 -4.86155049e-01 1.31123029e-02] [-1.13099417e-02 6.64158467e-03 9.99913984e-01]] t_estimated: [[0.99962372] [0.02726247] [0.00302916]] R_gt: [[ 0.99425912 0.0478616 0.09569057] [-0.04912563 0.99873327 0.01089395] [-0.09504862 -0.01553281 0.99535086]] t_gt: [-0.59302918 0.32773932 0.7354613 ] Pose Error in degrees for R and t: 121.91386955534735 54.43379894125922 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.46056417e-01 3.24001613e-01 -4.58932197e-04] [-3.24001774e-01 9.46056415e-01 -3.32489756e-04] [ 3.26448532e-04 4.63248913e-04 9.99999839e-01]] t_estimated: [[-0.99987712] [-0.01559871] [-0.00155987]] R_gt: [[ 0.98984525 0.09977471 0.10124904] [-0.1018025 0.99469067 0.01504329] [-0.09921157 -0.02519785 0.99474709]] t_gt: [-0.70573511 0.43779076 0.55702531] Pose Error in degrees for R and t: 14.36778241766207 45.7371947765252 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99171365 0.1283909 -0.00445121] [-0.12834377 0.99168309 0.00961935] [ 0.00564923 -0.00896836 0.99994383]] t_estimated: [[0.68773068] [0.72596516] [0.00104566]] R_gt: [[ 0.98964998 0.12968705 0.06143607] [-0.13059332 0.99137558 0.01095414] [-0.05948681 -0.01886443 0.99805102]] t_gt: [-0.79242936 0.52509202 0.31037734] Pose Error in degrees for R and t: 3.7790550880162543 80.59251024130023 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999975e-01 1.04968064e-05 2.21256748e-04] [-1.03675214e-05 9.99999829e-01 -5.84314201e-04] [-2.21262844e-04 5.84311893e-04 9.99999805e-01]] t_estimated: [[-0.73489198] [-0.67818006] [-0.002363 ]] R_gt: [[ 9.96378957e-01 8.20305787e-02 2.23293514e-02] [-8.20471725e-02 9.96629444e-01 -1.95584606e-04] [-2.22709157e-02 -1.63725332e-03 9.99750706e-01]] t_gt: [-0.80647461 0.5535619 0.20776891] Pose Error in degrees for R and t: 4.873478963071814 77.4808374211289 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99935876e-01 1.13243881e-02 -3.50439898e-05] [-1.13243956e-02 9.99935853e-01 -2.21083670e-04] [ 3.25381045e-05 2.21466345e-04 9.99999975e-01]] t_estimated: [[-0.77663612] [-0.62994883] [-0.00089999]] R_gt: [[ 0.99232338 0.12312173 -0.0116049 ] [-0.12321236 0.99235212 -0.0075531 ] [ 0.01058592 0.00892527 0.99990431]] t_gt: [-0.75523331 0.63652553 -0.15639023] Pose Error in degrees for R and t: 6.473942326869896 79.29783714625518 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 2.76024062e-01 9.61149218e-01 1.70212173e-03] [ 9.61150147e-01 -2.76025406e-01 6.08157164e-04] [ 1.05435863e-03 1.46812854e-03 -9.99998366e-01]] t_estimated: [[8.06510756e-01] [5.91219042e-01] [6.66537815e-04]] R_gt: [[ 0.99746724 0.07110894 -0.00131141] [-0.0710383 0.99702587 0.02989738] [ 0.00343355 -0.02972913 0.99955186]] t_gt: [-0.85806217 0.33937752 0.38542472] Pose Error in degrees for R and t: 178.5802107305028 60.5849211015414 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 8.67821230e-01 -4.96876340e-01 -4.63801848e-04] [ 4.96876532e-01 8.67821100e-01 4.99530741e-04] [ 1.54292023e-04 -6.63955636e-04 9.99999768e-01]] t_estimated: [[0.94489959] [0.32735866] [0.00103268]] R_gt: [[ 0.9983828 -0.05560333 -0.01181265] [ 0.05660854 0.99147148 0.11739403] [ 0.00518407 -0.11787338 0.9930149 ]] t_gt: [ 0.41150196 -0.63455786 0.65421897] Pose Error in degrees for R and t: 27.392518495352608 79.52679824894311 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.88370330e-01 1.52066055e-01 7.60190786e-05] [-1.52066057e-01 9.88370332e-01 2.67604636e-05] [-7.10656439e-05 -3.80091698e-05 9.99999997e-01]] t_estimated: [[0.66227258] [0.74926254] [0.00082066]] R_gt: [[ 0.96954122 -0.23955381 -0.05102118] [ 0.24414177 0.96190452 0.12302724] [ 0.01960578 -0.13173694 0.9910908 ]] t_gt: [ 0.76435978 -0.5591739 0.32105867] Pose Error in degrees for R and t: 24.03991164426796 84.97962749173811 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.26073447 0.96540853 0.00197574] [-0.96540878 0.26073737 -0.00138568] [-0.0018529 -0.0015461 0.99999709]] t_estimated: [[0.04669352] [0.99890787] [0.00166763]] R_gt: [[ 0.87404777 -0.48359801 -0.04661713] [ 0.48574909 0.87170971 0.06457967] [ 0.00940597 -0.07908959 0.9968226 ]] t_gt: [ 0.89882312 -0.4242267 0.11022117] Pose Error in degrees for R and t: 104.0014068759281 67.56653206925128 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.98282963e-01 5.85757754e-02 6.38350932e-05] [-5.85757436e-02 9.98282879e-01 -4.19834386e-04] [-8.83176053e-05 4.15374327e-04 9.99999910e-01]] t_estimated: [[-9.92871577e-01] [-1.19185351e-01] [-9.39813186e-04]] R_gt: [[ 0.98775239 0.15179532 0.03610542] [-0.15095287 0.98822372 -0.02503021] [-0.03947847 0.01927289 0.99903412]] t_gt: [-0.85575373 0.51528334 -0.04656864] Pose Error in degrees for R and t: 5.908463257604666 37.97464795539557 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-9.89597980e-01 1.43493934e-01 -1.02629997e-02] [ 1.43487409e-01 9.89651190e-01 1.37307706e-03] [ 1.03538181e-02 -1.13816949e-04 -9.99946391e-01]] t_estimated: [[ 0.99202125] [-0.12597313] [-0.0049602 ]] R_gt: [[ 0.94383817 0.32717694 0.04608848] [-0.32696253 0.94495734 -0.01233529] [-0.04758707 -0.00342642 0.99886035]] t_gt: [-0.84271206 0.53594413 0.05099281] Pose Error in degrees for R and t: 177.85480006171346 25.3437757379414 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.94920104e-01 1.00667500e-01 2.00339843e-04] [-1.00667275e-01 9.94919719e-01 -9.23794624e-04] [-2.92318156e-04 8.98934178e-04 9.99999553e-01]] t_estimated: [[-9.86807188e-01] [-1.61898054e-01] [-7.70943115e-04]] R_gt: [[ 0.84457847 0.53095547 0.06909167] [-0.52978101 0.84737586 -0.0358594 ] [-0.07758577 -0.00631693 0.99696473]] t_gt: [-0.79154139 0.60930962 0.04694702] Pose Error in degrees for R and t: 26.672820253524247 46.967233566381644 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-2.19981519e-01 -9.75502666e-01 -1.63684907e-03] [ 9.75504036e-01 -2.19981345e-01 -2.88114287e-04] [-7.90200043e-05 -1.66013269e-03 9.99998619e-01]] t_estimated: [[9.99489093e-01] [3.19528026e-02] [7.56271206e-04]] R_gt: [[ 0.99993575 0.00936843 -0.00636023] [-0.00935014 0.99995311 0.00288995] [ 0.00638705 -0.00283083 0.99997527]] t_gt: [ 0.14787667 -0.35890416 -0.92158575] Pose Error in degrees for R and t: 103.24440818781552 82.20459249846026 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.09368305 -0.99560057 -0.00172987] [ 0.99560057 -0.09368578 0.00157293] [-0.00172807 -0.0015749 0.99999727]] t_estimated: [[0.99879412] [0.0490737 ] [0.00144334]] R_gt: [[ 0.99614418 -0.08714892 -0.0101239 ] [ 0.08746605 0.9954875 0.03681228] [ 0.00686978 -0.03755604 0.99927077]] t_gt: [ 0.71969585 -0.67296047 0.1707691 ] Pose Error in degrees for R and t: 90.38237616962262 46.681775805909396 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.93419971 -0.35644422 0.01477902] [ 0.3565187 0.93428438 -0.00266562] [-0.01285767 0.00775922 0.99988723]] t_estimated: [[0.99526533] [0.09718079] [0.00167553]] R_gt: [[ 0.9840959 -0.17415168 -0.03503805] [ 0.175605 0.98348313 0.04386729] [ 0.0268201 -0.04932213 0.99842287]] t_gt: [ 0.76781102 -0.63729017 0.06578358] Pose Error in degrees for R and t: 11.503530924749434 45.38386405093333 Number of keypoints: Image1: 397 Image2: 397 R_estimated: [[ 9.96556149e-01 -8.29206917e-02 -2.09150519e-05] [ 8.29206932e-02 9.96556145e-01 8.71031321e-05] [ 1.36203715e-05 -8.85374525e-05 9.99999996e-01]] t_estimated: [[-3.48728347e-01] [ 9.37223844e-01] [ 7.62310370e-05]] R_gt: [[ 0.99986631 0.01490289 -0.00680566] [-0.01554978 0.99405675 -0.10774046] [ 0.00515993 0.107832 0.99415574]] t_gt: [ 0.00330518 0.66617161 -0.74579117] Pose Error in degrees for R and t: 8.375750427564604 51.45402190164337 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.80644486e-01 -1.95796084e-01 -5.34707599e-04] [ 1.95796577e-01 9.80643890e-01 1.12331861e-03] [ 3.04416356e-04 -1.20627012e-03 9.99999226e-01]] t_estimated: [[-9.99994884e-01] [-3.10316489e-03] [-7.75791221e-04]] R_gt: [[ 0.99877482 0.04904517 0.00661087] [-0.04779399 0.99058274 -0.12830302] [-0.01284016 0.12782984 0.99171304]] t_gt: [-0.08944325 0.85477901 -0.51122671] Pose Error in degrees for R and t: 15.919326927320757 84.99820905233264 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.59503047 -0.80370201 -0.00134495] [-0.80369871 0.5950208 0.00431736] [-0.0026696 0.00364989 -0.99998978]] t_estimated: [[0.83248115] [0.55404981] [0.0019842 ]] R_gt: [[ 0.99535805 0.09502508 -0.0153015 ] [-0.09603664 0.99107303 -0.0924682 ] [ 0.00637846 0.09350869 0.99559814]] t_gt: [-0.0693676 0.9282805 -0.36535386] Pose Error in degrees for R and t: 177.0719634564797 62.88091038257354 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[-8.08409486e-01 -5.88618578e-01 -1.50722366e-03] [ 5.88619519e-01 -8.08410171e-01 -2.37307740e-04] [-1.07877119e-03 -1.07902309e-03 9.99998836e-01]] t_estimated: [[9.41188385e-01] [3.37881455e-01] [7.39346728e-04]] R_gt: [[ 0.99996963 -0.00714864 -0.00314435] [ 0.00747843 0.99256916 0.12145434] [ 0.00225314 -0.1214749 0.99259148]] t_gt: [ 0.10661993 -0.58789377 0.80188098] Pose Error in degrees for R and t: 143.58531133109508 84.39348343614675 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-9.70909638e-01 -2.39442122e-01 -1.39432017e-03] [ 2.39444855e-01 -9.70907182e-01 -2.32482059e-03] [-7.97095487e-04 -2.59105351e-03 9.99996326e-01]] t_estimated: [[0.827799 ] [0.56102418] [0.00083113]] R_gt: [[ 0.99260065 -0.11274623 -0.04507693] [ 0.11909263 0.97637349 0.18031198] [ 0.02368267 -0.18434579 0.9825754 ]] t_gt: [ 0.51580013 -0.61826766 0.59303907] Pose Error in degrees for R and t: 159.51330993710607 85.37645003825148 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99322289e-01 3.68044319e-02 6.29238676e-04] [-3.68061459e-02 9.99318002e-01 2.97283053e-03] [-5.19396198e-04 -2.99397566e-03 9.99995383e-01]] t_estimated: [[0.81623584] [0.57771759] [0.00119858]] R_gt: [[ 0.93995416 -0.32747571 -0.09615207] [ 0.33940244 0.92653671 0.16228415] [ 0.03594524 -0.18517404 0.98204838]] t_gt: [ 0.79057016 -0.51722762 0.3278329 ] Pose Error in degrees for R and t: 24.239204518814578 69.70381890234988 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999207e-01 1.24695788e-03 1.76170682e-04] [-1.24697959e-03 9.99999215e-01 1.23170778e-04] [-1.76016955e-04 -1.23390361e-04 9.99999977e-01]] t_estimated: [[0.87031536] [0.49249265] [0.00147013]] R_gt: [[ 0.9965929 -0.07855637 0.02512949] [ 0.07832309 0.99687684 0.01015915] [-0.02584875 -0.00815717 0.99963238]] t_gt: [ 0.82267401 -0.45389174 0.3423299 ] Pose Error in degrees for R and t: 4.823761716145329 60.465288897021146 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-5.43840103e-01 -8.39188201e-01 1.05130631e-03] [-8.39188612e-01 5.43840478e-01 8.66050928e-05] [-6.44420896e-04 -8.35144958e-04 -9.99999444e-01]] t_estimated: [[0.89227552] [0.45148828] [0.00165422]] R_gt: [[ 0.99282417 -0.11685737 0.02541626] [ 0.1164974 0.99307481 0.01523009] [-0.02702037 -0.01216033 0.99956118]] t_gt: [ 0.87427986 -0.39880408 0.27674903] Pose Error in degrees for R and t: 178.24916835596505 53.09421602798193 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 1.00000000e+00 9.14213150e-13 -4.18046674e-15] [-9.14157638e-13 1.00000000e+00 2.59558000e-15] [ 4.17938253e-15 -2.59200213e-15 1.00000000e+00]] t_estimated: [[0.92187953] [0.38747394] [0.00144338]] R_gt: [[ 0.99523788 -0.08633486 -0.04526917] [ 0.08456854 0.99563165 -0.03958265] [ 0.04848879 0.03556508 0.9981908 ]] t_gt: [ 0.88844842 0.02407827 -0.45834445] Pose Error in degrees for R and t: 5.995464512449311 34.13573111033089 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.75770114 -0.65250507 -0.01123014] [-0.65251756 0.75776759 -0.00301869] [ 0.01047955 0.0050406 -0.99993238]] t_estimated: [[ 0.93646124] [ 0.35073443] [-0.00507041]] R_gt: [[ 0.99029772 0.1369618 0.02353943] [-0.13735672 0.99039068 0.01610303] [-0.02110775 -0.01917922 0.99959346]] t_gt: [-0.87776314 0.45762874 0.14180199] Pose Error in degrees for R and t: 179.1143271206586 48.531820347272294 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.56103393e-01 2.93029250e-01 4.00285554e-04] [-2.93028642e-01 9.56102975e-01 -1.14702331e-03] [-7.18825591e-04 9.79377750e-04 9.99999262e-01]] t_estimated: [[-9.99991799e-01] [-3.97137331e-03] [-7.94274661e-04]] R_gt: [[ 0.94454813 0.32354712 0.0560942 ] [-0.32161971 0.94598998 -0.04078098] [-0.06625885 0.0204784 0.99759175]] t_gt: [-0.82690873 0.56213983 -0.01485806] Pose Error in degrees for R and t: 4.315359954200942 34.44380855082796 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.97369872 0.22781093 -0.0036027 ] [-0.22775496 0.97364659 0.01183185] [ 0.00620318 -0.01070012 0.99992351]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.907316 0.41487383 0.0682568 ] [-0.41453649 0.90981952 -0.01970429] [-0.07027536 -0.01041687 0.99747353]] t_gt: [-0.80035004 0.59657724 0.05945931] Pose Error in degrees for R and t: 12.202362189489422 37.017656330017786 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99997921e-01 2.00401290e-03 3.77684038e-04] [-2.00372962e-03 9.99997712e-01 -7.48935328e-04] [-3.79184050e-04 7.48176994e-04 9.99999648e-01]] t_estimated: [[ 0.03545681] [-0.99934552] [ 0.00716605]] R_gt: [[ 0.99731519 0.05104056 0.05250824] [-0.05123329 0.99868422 0.00231721] [-0.05232159 -0.00499987 0.99861701]] t_gt: [-0.7324549 0.42450193 0.53226678] Pose Error in degrees for R and t: 4.112288381293243 63.488311956178656 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999994e-01 -7.03554999e-05 -8.56392272e-05] [ 7.03391168e-05 9.99999979e-01 -1.91291965e-04] [ 8.56526838e-05 1.91285940e-04 9.99999978e-01]] t_estimated: [[-0.78087278] [-0.62468886] [-0.00123513]] R_gt: [[ 9.95528392e-01 9.28379677e-02 1.74510777e-02] [-9.28431678e-02 9.95680800e-01 -5.07943544e-04] [-1.74228124e-02 -1.11448458e-03 9.99846682e-01]] t_gt: [-0.82189363 0.55301694 0.13661303] Pose Error in degrees for R and t: 5.425592127624107 72.77276427475292 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.5309702 -0.40018583 -0.74694173] [-0.51366542 -0.54905427 0.65930816] [-0.67395733 0.73375112 0.08596984]] t_estimated: [[0.67581908] [0.73555426] [0.04720692]] R_gt: [[ 0.99360592 0.10820282 -0.03224244] [-0.10788767 0.99409841 0.01136249] [ 0.03328048 -0.00781086 0.9994149 ]] t_gt: [-0.81326838 0.56979183 -0.11803308] Pose Error in degrees for R and t: 170.39087028992802 82.17883989502505 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999958e-01 -5.42839464e-05 2.86131081e-04] [ 5.43906021e-05 9.99999929e-01 -3.72756386e-04] [-2.86110826e-04 3.72771933e-04 9.99999890e-01]] t_estimated: [[0.56459576] [0.82536668] [0.0012133 ]] R_gt: [[ 9.97797863e-01 5.88810974e-02 -3.05509371e-02] [-5.88930352e-02 9.98264911e-01 5.01420919e-04] [ 3.05274631e-02 1.29930317e-03 9.99532174e-01]] t_gt: [-0.53856921 0.79391587 -0.28220699] Pose Error in degrees for R and t: 3.8137169062482887 69.46035498958489 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999140e-01 -1.28104034e-03 -2.80062242e-04] [ 1.28129444e-03 9.99998766e-01 9.09012853e-04] [ 2.78897414e-04 -9.09370913e-04 9.99999548e-01]] t_estimated: [[0.48298397] [0.87562169] [0.00362478]] R_gt: [[ 0.9880177 0.15406248 0.0092872 ] [-0.15334398 0.9866836 -0.05424062] [-0.01752022 0.05216667 0.99848392]] t_gt: [-0.51696561 0.84970304 -0.10368848] Pose Error in degrees for R and t: 9.4802905432569 60.39903838871383 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999944e-01 -9.06072229e-06 -3.35815135e-04] [ 9.33979987e-06 9.99999655e-01 8.31053028e-04] [ 3.35807489e-04 -8.31056117e-04 9.99999598e-01]] t_estimated: [[-7.25282583e-01] [-6.88451240e-01] [-2.52709371e-04]] R_gt: [[ 0.96385687 0.26640273 -0.00320461] [-0.26640149 0.96356651 -0.02389563] [-0.00327811 0.0238858 0.99970844]] t_gt: [-0.48241586 0.87459804 -0.04850987] Pose Error in degrees for R and t: 15.518695774721726 75.39119779732991 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 0.95796013 -0.28669402 -0.01090542] [ 0.28678414 0.95796318 0.00783604] [ 0.00820045 -0.01063412 0.99990983]] t_estimated: [[-0.4825731 ] [-0.87585512] [-0.00100327]] R_gt: [[ 0.99762751 0.06376766 0.02593275] [-0.06443435 0.99759038 0.02572157] [-0.02422975 -0.02733025 0.999332 ]] t_gt: [-0.84531102 -0.08096087 0.52810474] Pose Error in degrees for R and t: 20.459889348573782 61.42527414596264 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-0.13840403 -0.99035321 -0.00669725] [-0.9903626 0.13836404 0.00610789] [-0.0051223 0.00747807 -0.99995892]] t_estimated: [[0.71788509] [0.69616092] [0.00098746]] R_gt: [[ 0.99756112 0.02547802 0.06498616] [-0.02729157 0.99925894 0.02715379] [-0.06424585 -0.02886051 0.99751642]] t_gt: [-0.47612573 -0.5762153 0.66428926] Pose Error in degrees for R and t: 176.21614908282268 42.073471840175884 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 0.11728881 0.99307248 0.00709809] [-0.99307724 0.11723734 0.00728053] [ 0.00639794 -0.00790288 0.9999483 ]] t_estimated: [[0.03747348] [0.99929274] [0.00312279]] R_gt: [[ 0.99752042 -0.04832266 0.05117537] [ 0.04689419 0.99848626 0.02875169] [-0.05248667 -0.02627943 0.9982752 ]] t_gt: [ 0.31390748 -0.86135983 0.39940123] Pose Error in degrees for R and t: 86.03861026830936 32.03327761288301 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999993e-01 -7.54544942e-05 9.09315327e-05] [ 7.54663769e-05 9.99999989e-01 -1.30681550e-04] [-9.09216711e-05 1.30688412e-04 9.99999987e-01]] t_estimated: [[-0.79640355] [-0.60476433] [-0.00122196]] R_gt: [[ 0.99952568 -0.03016338 0.00623202] [ 0.03010377 0.99950372 0.0093652 ] [-0.00651206 -0.00917348 0.9999375 ]] t_gt: [ 0.82917136 -0.42545847 0.36257407] Pose Error in degrees for R and t: 1.8387730085844332 66.20308978893905 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-5.26188685e-01 -8.50366964e-01 -1.22261463e-03] [-8.50367839e-01 5.26188266e-01 6.68106553e-04] [ 7.51897291e-05 1.39122227e-03 -9.99999029e-01]] t_estimated: [[8.43538714e-01] [5.37067858e-01] [7.43861300e-04]] R_gt: [[ 0.99940381 0.02943727 -0.01802083] [-0.03021221 0.99855589 -0.04441453] [ 0.01668671 0.04493345 0.99885087]] t_gt: [-0.30071953 0.72565506 -0.61886387] Pose Error in degrees for R and t: 177.84183451038245 82.20685151634808 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.9239037 -0.36980509 -0.09821485] [ 0.38000705 0.91681429 0.12266296] [ 0.0446834 -0.1506511 0.98757665]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.99259568 0.10659112 -0.05823552] [-0.11266933 0.98711391 -0.11363466] [ 0.04537284 0.11935486 0.99181429]] t_gt: [-0.38415294 0.72825157 -0.56751754] Pose Error in degrees for R and t: 32.051125816080734 84.68975830844076 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.95519627 0.29200263 0.04831711] [-0.28919045 0.95553468 -0.05763999] [-0.0629997 0.04108465 0.99716753]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97904305 -0.1838275 0.08764971] [ 0.1901152 0.97928389 -0.06972026] [-0.0730183 0.08492222 0.99370841]] t_gt: [ 0.88938114 -0.40311578 -0.21563596] Pose Error in degrees for R and t: 27.779416721968182 66.1658459201754 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99999951e-01 -6.16078259e-05 3.05608594e-04] [ 6.17171629e-05 9.99999934e-01 -3.57771575e-04] [-3.05586532e-04 3.57790419e-04 9.99999889e-01]] t_estimated: [[-0.8485505 ] [-0.52911288] [-0.0012711 ]] R_gt: [[ 0.94403661 -0.31567659 0.09562082] [ 0.32045265 0.94645476 -0.03917807] [-0.07813408 0.06762773 0.99464703]] t_gt: [ 0.93794476 -0.3450666 -0.03447724] Pose Error in degrees for R and t: 19.501223756534223 52.17364194312753 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.97103688e-01 -7.60509479e-02 6.98744721e-04] [ 7.60511650e-02 9.97103874e-01 -2.89519791e-04] [-6.74702814e-04 3.41821601e-04 9.99999714e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.94096184 -0.33259459 0.06301787] [ 0.33506584 0.9415988 -0.03352542] [-0.04818759 0.05266167 0.99744927]] t_gt: [ 0.97824216 -0.20280654 -0.04372404] Pose Error in degrees for R and t: 15.694244339643197 78.65321799353495 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.99918189e-01 -1.27911046e-02 -5.10070400e-05] [ 1.27911104e-02 9.99918184e-01 1.14463839e-04] [ 4.95387479e-05 -1.15106911e-04 9.99999992e-01]] t_estimated: [[-0.96951994] [-0.24500981] [-0.00112922]] R_gt: [[ 0.99816192 0.05960246 -0.0109684 ] [-0.05949235 0.99817664 0.01015295] [ 0.01155399 -0.0094819 0.99988791]] t_gt: [-0.76032159 0.64095538 0.1052961 ] Pose Error in degrees for R and t: 4.233421816317238 54.55032328658003 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99999964e-01 2.48376653e-04 -1.01879855e-04] [-2.48360539e-04 9.99999957e-01 1.58147657e-04] [ 1.01919131e-04 -1.58122349e-04 9.99999982e-01]] t_estimated: [[-9.98461167e-01] [ 5.54553770e-02] [-7.35823068e-06]] R_gt: [[ 0.98073456 0.19529467 0.00443897] [-0.19526536 0.98072982 -0.00633727] [-0.00559039 0.00534861 0.99996959]] t_gt: [-0.81197743 0.5836242 -0.008686 ] Pose Error in degrees for R and t: 11.256247149068288 32.531800875852035 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 7.53188482e-01 -6.57804023e-01 -9.89142659e-04] [ 6.57804633e-01 7.53188435e-01 4.96105745e-04] [ 4.18670456e-04 -1.02432376e-03 9.99999388e-01]] t_estimated: [[-0.50288199] [-0.8643542 ] [-0.00123445]] R_gt: [[ 0.95672903 0.29078833 0.01057736] [-0.29089557 0.95669556 0.01066388] [-0.00701867 -0.0132785 0.99988695]] t_gt: [-0.79302724 0.60772555 0.04215985] Pose Error in degrees for R and t: 58.047671769343104 82.73012575991368 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99994814e-01 -1.78034513e-03 -2.68374904e-03] [ 1.78294830e-03 9.99997942e-01 9.67894613e-04] [ 2.68202033e-03 -9.72674579e-04 9.99995930e-01]] t_estimated: [[9.54398150e-01] [2.98535741e-01] [7.63518520e-04]] R_gt: [[ 0.99955232 0.01039165 0.02808695] [-0.01003791 0.99986985 -0.01271135] [-0.02821536 0.01242328 0.99952407]] t_gt: [-0.9358059 0.19186761 0.29572646] Pose Error in degrees for R and t: 2.0475039581242935 33.31889215911573 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-1.93428858e-01 9.81113282e-01 1.41583662e-03] [ 9.81114160e-01 1.93427846e-01 8.20756673e-04] [ 5.31393046e-04 1.54785538e-03 -9.99998661e-01]] t_estimated: [[8.51879967e-01] [5.23736450e-01] [8.08235262e-04]] R_gt: [[ 0.98918721 -0.05180372 0.13720954] [ 0.05472781 0.99834644 -0.01762547] [-0.13606927 0.02494275 0.99038474]] t_gt: [-0.00741953 -0.58994927 0.80740622] Pose Error in degrees for R and t: 173.11983720399917 71.66056097590577 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99839306 0.05664446 0.00164254] [-0.05663741 0.99838657 -0.00405661] [-0.00186968 0.00395706 0.99999042]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.96556058 -0.15249093 0.21080777] [ 0.15493727 0.98791196 0.00495863] [-0.20901598 0.02787392 0.97751452]] t_gt: [ 0.34887513 -0.69667848 0.62683749] Pose Error in degrees for R and t: 17.133058353396702 46.77758841380457 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999965e-01 2.63013234e-04 -1.57667438e-05] [-2.63011650e-04 9.99999960e-01 1.00420032e-04] [ 1.57931549e-05 -1.00415882e-04 9.99999995e-01]] t_estimated: [[ 9.93659500e-01] [-1.12429367e-01] [ 6.59850723e-04]] R_gt: [[ 0.99995168 0.00291408 0.00943162] [-0.0028485 0.99997228 -0.00697898] [-0.00945203 0.00695211 0.99993069]] t_gt: [0.76952959 0.63753322 0.03708901] Pose Error in degrees for R and t: 0.6913950166188221 46.13214936420082 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[-0.5717514 -0.81961831 -0.03641665] [-0.81972511 0.57253485 -0.015956 ] [ 0.03392764 0.02072878 -0.9992093 ]] t_estimated: [[ 0.90044517] [ 0.43454732] [-0.01916024]] R_gt: [[ 0.99770932 0.0540532 0.04067382] [-0.0534044 0.9984309 -0.01686596] [-0.04152247 0.01465469 0.99902935]] t_gt: [-0.34876141 0.91427934 0.20605525] Pose Error in degrees for R and t: 179.3930527287109 85.4511491364447 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99999250e-01 1.21660002e-03 -1.40872368e-04] [-1.21661940e-03 9.99999250e-01 -1.37556335e-04] [ 1.40704911e-04 1.37727619e-04 9.99999981e-01]] t_estimated: [[-0.27898077] [-0.96029572] [-0.0013648 ]] R_gt: [[ 0.98983304 0.13589958 0.04197997] [-0.13467717 0.99041403 -0.03071114] [-0.04575233 0.0247448 0.99864646]] t_gt: [-0.62964632 0.77516545 0.05161421] Pose Error in degrees for R and t: 8.267209574217347 55.3334604820029 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99999966e-01 -2.60353852e-04 5.20391398e-06] [ 2.60353100e-04 9.99999956e-01 1.43879684e-04] [-5.24137338e-06 -1.43878324e-04 9.99999990e-01]] t_estimated: [[9.55905252e-01] [2.93674302e-01] [7.43616590e-04]] R_gt: [[ 0.99867241 -0.04267957 -0.02882933] [ 0.04216374 0.99894414 -0.01824216] [ 0.02957643 0.01700278 0.99941722]] t_gt: [ 0.8987889 0.05722885 -0.43463016] Pose Error in degrees for R and t: 3.1121281628044857 28.879133788745925 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99999586e-01 -9.08494573e-04 -5.62891527e-05] [ 9.08494594e-04 9.99999587e-01 3.39073891e-07] [ 5.62888214e-05 -3.90212142e-07 9.99999998e-01]] t_estimated: [[ 9.99327507e-01] [-3.66659188e-02] [-3.78633037e-04]] R_gt: [[ 0.99981145 -0.01918426 -0.00295401] [ 0.01911285 0.99955949 -0.02271204] [ 0.00338702 0.02265143 0.99973782]] t_gt: [ 0.85016586 0.42377636 -0.31246059] Pose Error in degrees for R and t: 1.6773107912467646 33.470043412252686 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.97901280e-01 6.47536415e-02 -4.64005192e-05] [-6.47536424e-02 9.97901280e-01 -1.66852823e-05] [ 4.52227048e-05 1.96548672e-05 9.99999999e-01]] t_estimated: [[7.89826735e-01] [6.13329767e-01] [5.71128645e-04]] R_gt: [[ 0.99713239 0.07142594 0.02498444] [-0.07112452 0.9973865 -0.01273251] [-0.0258294 0.0109193 0.99960591]] t_gt: [-0.31941277 0.94650706 0.04582438] Pose Error in degrees for R and t: 1.6530917875007791 70.83641426102508 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.50191491 -0.86491359 -0.00242936] [ 0.86491612 -0.50190842 -0.00283615] [ 0.00123371 -0.0035247 0.99999303]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99536514 -0.0278871 0.09203806] [ 0.029198 0.99949058 -0.01293013] [-0.0916317 0.01555679 0.99567187]] t_gt: [-0.05154631 -0.47665755 0.87757653] Pose Error in degrees for R and t: 118.57304368139121 86.99955249140652 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.21617341 -0.97634761 0.00379523] [ 0.97632968 0.21619416 0.00635956] [-0.00702965 0.00233063 0.99997258]] t_estimated: [[0.99563795] [0.09328157] [0.00190371]] R_gt: [[ 0.97343923 -0.12526862 0.19163651] [ 0.12592385 0.99200059 0.00880586] [-0.19120675 0.01555932 0.98142598]] t_gt: [ 0.31983531 -0.64564977 0.69342754] Pose Error in degrees for R and t: 70.92206078666698 74.95764451834816 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.01233658 -0.99992141 0.00223355] [ 0.99991857 -0.01232919 0.00329381] [-0.00326601 0.002274 0.99999208]] t_estimated: [[9.99977089e-01] [6.71689060e-03] [8.39611326e-04]] R_gt: [[ 0.94587443 -0.23204436 0.22688414] [ 0.23264947 0.97225321 0.02445704] [-0.22626481 0.0296514 0.97361418]] t_gt: [ 0.52714121 -0.68146635 0.50766698] Pose Error in degrees for R and t: 77.99480108796946 58.46777480231703 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.95979613e-01 8.95801119e-02 1.16778718e-04] [-8.95794269e-02 9.95975678e-01 -2.82388566e-03] [-3.69272756e-04 2.80207157e-03 9.99996006e-01]] t_estimated: [[-0.51367198] [-0.85796807] [-0.00564717]] R_gt: [[ 0.97154785 -0.21883685 0.09058508] [ 0.22644169 0.97035824 -0.08443535] [-0.06942289 0.10254551 0.99230262]] t_gt: [ 0.88045381 -0.3948141 -0.26253175] Pose Error in degrees for R and t: 19.346244542970044 83.56684343584733 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.13779623 -0.99045588 -0.00305857] [-0.99045904 0.13778989 0.00219719] [-0.00175478 0.00333215 -0.99999291]] t_estimated: [[8.48572900e-01] [5.29078035e-01] [6.82681336e-04]] R_gt: [[ 0.91534588 -0.36888687 0.16143953] [ 0.38801828 0.91520981 -0.10878115] [-0.10762297 0.16221409 0.98086861]] t_gt: [ 0.92290374 -0.31132269 -0.22655434] Pose Error in degrees for R and t: 179.27452866639547 51.80918229049317 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[ 0.91453591 -0.40446589 -0.00560521] [-0.40441941 -0.91453981 0.00786586] [-0.00830766 -0.00492675 -0.99995335]] t_estimated: [[-0.00352157] [ 0.99995314] [ 0.00901751]] R_gt: [[ 0.88002551 -0.44757755 0.15883458] [ 0.46058597 0.88587233 -0.05559096] [-0.11582596 0.12207896 0.98573861]] t_gt: [ 0.95998323 -0.26841995 -0.07989326] Pose Error in degrees for R and t: 176.99507268313116 74.18641088854083 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 4.69779291e-02 9.98894777e-01 -1.51602233e-03] [-9.98895703e-01 4.69768477e-02 -7.41218524e-04] [-6.69181362e-04 1.54916910e-03 9.99998576e-01]] t_estimated: [[2.91364631e-01] [9.56612070e-01] [8.95868123e-06]] R_gt: [[ 0.98950011 0.14425074 0.00897988] [-0.14404418 0.9893603 -0.02039853] [-0.0118274 0.01889051 0.99975195]] t_gt: [-0.82534954 0.55417408 -0.10811671] Pose Error in degrees for R and t: 79.02599192209765 73.16293813890036 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99528838e-01 3.06935582e-02 -8.92336051e-05] [-3.06935426e-02 9.99528828e-01 1.71432405e-04] [ 9.44534312e-05 -1.68612737e-04 9.99999981e-01]] t_estimated: [[-9.99846590e-01] [-1.75117578e-02] [-3.67979838e-04]] R_gt: [[ 0.98067422 0.1937894 0.02687264] [-0.19309002 0.98082128 -0.02655562] [-0.03150312 0.02085299 0.99928646]] t_gt: [-0.782241 0.62131549 -0.04545417] Pose Error in degrees for R and t: 9.646794529355931 39.533063854392786 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.95722867e-01 9.23902591e-02 -1.06419549e-04] [-9.23902540e-02 9.95722872e-01 5.20499269e-05] [ 1.10773285e-04 -4.19951733e-05 9.99999993e-01]] t_estimated: [[-9.99984178e-01] [-5.56872653e-03] [-7.95532361e-04]] R_gt: [[ 0.94946015 0.31343137 0.01684833] [-0.31307429 0.94950014 -0.02081732] [-0.02252236 0.01448963 0.9996408 ]] t_gt: [-0.77040648 0.637247 -0.01975129] Pose Error in degrees for R and t: 13.048826846194428 39.92712826396348 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.96025846e-01 8.90646561e-02 1.76216703e-05] [-8.90646556e-02 9.96025846e-01 -2.43955652e-05] [-1.97244217e-05 2.27291455e-05 1.00000000e+00]] t_estimated: [[-9.76806900e-01] [ 2.14121834e-01] [-3.47385917e-04]] R_gt: [[ 0.99033737 0.13819086 0.01160741] [-0.13784138 0.99009015 -0.02684502] [-0.01520262 0.02498591 0.9995722 ]] t_gt: [-0.81584942 0.56020454 -0.14338966] Pose Error in degrees for R and t: 3.2840328865429047 23.518801043092132 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99530389e-01 3.06430064e-02 -8.59517435e-05] [-3.06429912e-02 9.99530378e-01 1.73095442e-04] [ 9.12155435e-05 -1.70380336e-04 9.99999981e-01]] t_estimated: [[-9.99987218e-01] [-5.03937222e-03] [-4.10795714e-04]] R_gt: [[ 0.9813668 0.19056756 0.02452683] [-0.18992441 0.98144574 -0.02633721] [-0.02909136 0.02118791 0.99935189]] t_gt: [-0.78020666 0.62347942 -0.05050716] Pose Error in degrees for R and t: 9.44465640607627 39.006415347609355 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.91256542e-01 1.31947620e-01 -5.41590395e-04] [-1.31947480e-01 9.91256667e-01 2.86704248e-04] [ 5.74685033e-04 -2.12735974e-04 9.99999812e-01]] t_estimated: [[-0.99861987] [-0.05249315] [-0.00167802]] R_gt: [[ 0.94989623 0.31234781 0.01162846] [-0.31188574 0.94962852 -0.03055041] [-0.02058562 0.02539345 0.99946556]] t_gt: [-0.76708605 0.63939456 -0.05247474] Pose Error in degrees for R and t: 10.778403225773431 42.89926844034025 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 7.60214970e-01 6.49671499e-01 3.77322926e-04] [-6.49671112e-01 7.60214979e-01 -7.94691119e-04] [-8.03134711e-04 3.59000280e-04 9.99999613e-01]] t_estimated: [[-9.99994892e-01] [-3.10075964e-03] [-7.75189839e-04]] R_gt: [[ 0.97376769 -0.21230566 0.08187075] [ 0.21891958 0.97223765 -0.08263517] [-0.06205383 0.09839045 0.9932112 ]] t_gt: [ 0.87416057 -0.38556304 -0.29527012] Pose Error in degrees for R and t: 53.393914900932394 29.222353705030415 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.0195273 -0.87226121 -0.48865026] [-0.69162971 -0.34114936 0.63660463] [-0.72198825 0.35039621 -0.59662004]] t_estimated: [[0.79359253] [0.608449 ] [0.00084156]] R_gt: [[ 0.9180713 -0.36937596 0.14390213] [ 0.38465357 0.91783566 -0.09807492] [-0.0958519 0.14539163 0.9847205 ]] t_gt: [ 0.92338962 -0.32023983 -0.21165555] Pose Error in degrees for R and t: 159.63587767140518 57.46821614797599 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.98537352 0.17039689 0.00198245] [-0.16541653 -0.95364838 -0.25138045] [-0.04094389 -0.24803157 0.96788632]] t_estimated: [[0.77746791] [0.6101664 ] [0.15244877]] R_gt: [[ 0.89224248 -0.42962847 0.13900655] [ 0.43957926 0.89682751 -0.04970401] [-0.10331123 0.10545248 0.98904379]] t_gt: [ 0.96184175 -0.26478152 -0.06892896] Pose Error in degrees for R and t: 165.04356527147164 54.849077444887754 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 2.63069353e-01 -9.64775255e-01 -1.79532296e-03] [-9.64776905e-01 -2.63069271e-01 -2.85902383e-04] [-1.96462757e-04 1.80729828e-03 -9.99998348e-01]] t_estimated: [[0.66589691] [0.74604328] [0.00085262]] R_gt: [[ 0.99577447 -0.01885451 0.08988072] [ 0.02020414 0.99969634 -0.01411851] [-0.08958651 0.01587447 0.99585238]] t_gt: [-0.16486221 -0.36744213 0.91531783] Pose Error in degrees for R and t: 177.63436828686048 67.47239253861564 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 8.57788338e-01 5.14002979e-01 -3.24325616e-04] [-5.14003077e-01 8.57788240e-01 -4.14676969e-04] [ 6.50575018e-05 5.22409433e-04 9.99999861e-01]] t_estimated: [[8.97054517e-01] [4.41919122e-01] [8.26017051e-04]] R_gt: [[ 0.97555306 -0.11156301 0.18934255] [ 0.11177843 0.99368748 0.00958053] [-0.18921639 0.01181786 0.98186506]] t_gt: [ 0.27055198 -0.61862816 0.7376319 ] Pose Error in degrees for R and t: 38.9136654050599 88.2766016076047 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.90852738 0.41782211 -0.00163736] [-0.41780847 0.90851896 0.00541939] [ 0.00375191 -0.00423956 0.99998397]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.94806578 -0.21343865 0.23583084] [ 0.21426938 0.97651768 0.02241106] [-0.23507594 0.0292848 0.97153593]] t_gt: [ 0.48487087 -0.67002879 0.56210467] Pose Error in degrees for R and t: 39.642737384211514 80.89177818021989 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999999e-01 4.75665560e-05 9.69737705e-06] [-4.75660465e-05 9.99999997e-01 -5.25348090e-05] [-9.69987593e-06 5.25343477e-05 9.99999999e-01]] t_estimated: [[ 9.99987895e-01] [-4.85185890e-03] [-8.17948588e-04]] R_gt: [[ 0.99870951 -0.03882592 -0.03273977] [ 0.03854935 0.99921547 -0.00905932] [ 0.03306681 0.00778659 0.99942308]] t_gt: [ 0.92364177 0.06602768 -0.37752645] Pose Error in degrees for R and t: 2.9527972641729856 22.538970531730072 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.69137782 -0.72112254 0.04448585] [-0.72124831 0.69249005 0.01607492] [-0.04239799 -0.0209715 -0.99888068]] t_estimated: [[0.92676938] [0.3749335 ] [0.02287772]] R_gt: [[ 0.99956546 -0.02901051 -0.0052588 ] [ 0.02891833 0.99943664 -0.01701873] [ 0.0057502 0.01686029 0.99984176]] t_gt: [ 0.92332565 0.30566438 -0.23246295] Pose Error in degrees for R and t: 177.96781350636962 15.204579127577315 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.99999371e-01 -1.11392309e-03 -1.32917460e-04] [ 1.11390867e-03 9.99999374e-01 -1.08534449e-04] [ 1.33038275e-04 1.08386323e-04 9.99999985e-01]] t_estimated: [[ 9.99994915e-01] [-3.05623819e-03] [-9.10466286e-04]] R_gt: [[ 0.99828938 0.0544405 0.02132037] [-0.05424409 0.99848088 -0.00964612] [-0.02181257 0.00847356 0.99972601]] t_gt: [-0.15003509 0.98740315 0.05024442] Pose Error in degrees for R and t: 3.45248860608624 81.19350795657142 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.87693637 -0.48037279 0.01498649] [-0.48006981 -0.87405788 0.07453727] [-0.02270661 -0.072559 -0.99710561]] t_estimated: [[0.0185899 ] [0.99858365] [0.04985084]] R_gt: [[ 0.99948249 -0.03155508 0.00633769] [ 0.03153915 0.99949995 0.00255347] [-0.00641481 -0.00235208 0.99997605]] t_gt: [ 0.88672225 -0.42554066 0.1806621 ] Pose Error in degrees for R and t: 175.41552715908608 66.45634339374257 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.91307755e-01 -1.31563348e-01 1.42325101e-04] [ 1.31563284e-01 9.91307697e-01 3.89844708e-04] [-1.92377243e-04 -3.67731325e-04 9.99999914e-01]] t_estimated: [[-8.49430800e-01] [-5.27699488e-01] [-7.51708673e-04]] R_gt: [[ 0.99981198 0.01740697 -0.00856266] [-0.01775004 0.99897388 -0.04168503] [ 0.00782851 0.04182988 0.99909372]] t_gt: [-0.21880638 0.74644617 -0.62844402] Pose Error in degrees for R and t: 8.91368571812935 78.02024978984916 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.48275268 0.87575592 -0.00119111] [ 0.87574988 -0.48274308 0.00461261] [ 0.00346452 -0.00326987 -0.99998865]] t_estimated: [[-7.70603793e-01] [-6.37314101e-01] [-7.28358973e-04]] R_gt: [[ 0.99288555 0.10608557 -0.05406425] [-0.11178337 0.9868945 -0.11637477] [ 0.0410102 0.12159154 0.99173261]] t_gt: [-0.38288607 0.73085673 -0.56501919] Pose Error in degrees for R and t: 175.7641025258159 80.19355709670481 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.95046931e-01 9.94058420e-02 2.89348649e-04] [-9.94058450e-02 9.95046973e-01 -4.23586713e-06] [-2.88336567e-04 -2.45480604e-05 9.99999958e-01]] t_estimated: [[0.9346139 ] [0.35566127] [0.00138238]] R_gt: [[ 9.99987443e-01 -6.31402340e-04 5.12514922e-03] [ 6.87685609e-04 9.99938325e-01 -1.11571946e-02] [-5.11788825e-03 1.11596068e-02 9.99924938e-01]] t_gt: [ 0.84047928 0.53167722 -0.10446971] Pose Error in degrees for R and t: 5.784351961203875 12.972940301185023 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 8.64727621e-01 5.02240962e-01 3.96541580e-04] [-5.02240806e-01 8.64727694e-01 -4.33787625e-04] [-5.60766401e-04 1.75948779e-04 9.99999827e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99859105 0.03847549 0.03655682] [-0.03765069 0.99902665 -0.02301186] [-0.03740684 0.02160244 0.99906686]] t_gt: [-0.12632778 0.98275305 0.13504714] Pose Error in degrees for R and t: 28.07011158355532 82.92461357930287 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.96132468e-01 8.78372802e-02 -2.17205228e-03] [-8.78365144e-02 9.96134804e-01 4.45669659e-04] [ 2.20280328e-03 -2.53160516e-04 9.99997542e-01]] t_estimated: [[-0.45810323] [-0.88889598] [-0.00231551]] R_gt: [[ 0.99170612 0.12351835 0.03553069] [-0.12254081 0.99205413 -0.02852568] [-0.03877139 0.02393451 0.99896177]] t_gt: [-0.6071234 0.79387158 0.03419216] Pose Error in degrees for R and t: 3.399183453688896 64.68318100000444 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.78505486 -0.1471621 0.6016911 ] [-0.44485979 -0.54198434 -0.7129886 ] [ 0.43103205 -0.82740334 0.36002094]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99973229 0.01686978 0.01589959] [-0.01660825 0.99972781 -0.01639841] [-0.0161724 0.01612946 0.99973897]] t_gt: [-0.90618776 0.40617366 -0.11767203] Pose Error in degrees for R and t: 168.65292441669257 68.36766597833919 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 3.45211922e-01 9.38524738e-01 2.10846814e-04] [ 9.38517686e-01 -3.45210183e-01 3.80566581e-03] [ 3.64449798e-03 -1.11587775e-03 -9.99992736e-01]] t_estimated: [[-8.46448710e-01] [-5.32469648e-01] [-8.09224389e-04]] R_gt: [[ 0.99160762 -0.03556019 0.12430443] [ 0.03871585 0.99898383 -0.02306707] [-0.12335713 0.02768612 0.99197631]] t_gt: [-0.15191479 -0.51509682 0.84356219] Pose Error in degrees for R and t: 174.90394688917112 66.28553913559823 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.99883538 -0.04812828 0.00339922] [ 0.04813957 0.9988351 -0.0033208 ] [-0.00323543 0.00348057 0.99998871]] t_estimated: [[-0.62548084] [-0.78023898] [-0.00092118]] R_gt: [[ 9.69048513e-01 -1.38717647e-01 2.04215429e-01] [ 1.41728603e-01 9.89905666e-01 -1.18741302e-04] [-2.02138409e-01 2.90574973e-02 9.78926251e-01]] t_gt: [ 0.31565753 -0.69061946 0.65069585] Pose Error in degrees for R and t: 12.76923295339411 70.07370261087506 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.81768997e-01 1.90077911e-01 1.56737434e-04] [-1.90077862e-01 9.81768978e-01 -2.83039176e-04] [-2.07679446e-04 2.48086772e-04 9.99999948e-01]] t_estimated: [[-6.91853412e-01] [ 7.22037987e-01] [-2.62535452e-05]] R_gt: [[ 0.99739107 0.07038601 -0.01598448] [-0.07014209 0.99741812 0.01537437] [ 0.01702618 -0.01421339 0.99975376]] t_gt: [-0.79222312 0.59991042 0.11175874] Pose Error in degrees for R and t: 7.046725223789033 11.110476064837554 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999848e-01 -5.44774048e-04 -8.21437668e-05] [ 5.44776236e-04 9.99999851e-01 2.66237752e-05] [ 8.21292506e-05 -2.66685211e-05 9.99999996e-01]] t_estimated: [[-9.99994803e-01] [-3.18149950e-03] [-5.21437582e-04]] R_gt: [[ 0.9798451 0.19973103 0.00332647] [-0.1997107 0.97983848 -0.00562186] [-0.00438176 0.00484512 0.99997825]] t_gt: [-0.81617599 0.57763811 -0.0138195 ] Pose Error in degrees for R and t: 11.558252477914499 35.477727230061994 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.84585592e-01 1.74903434e-01 5.94331484e-06] [-1.74903431e-01 9.84585577e-01 -1.78402628e-04] [-3.70549344e-05 1.74613151e-04 9.99999984e-01]] t_estimated: [[-9.89708356e-01] [ 1.43097181e-01] [-7.53381335e-04]] R_gt: [[ 0.95432135 0.29860434 0.01023579] [-0.29873145 0.95422211 0.01479076] [-0.00534985 -0.01717227 0.99983801]] t_gt: [-0.7965757 0.60276626 0.04626002] Pose Error in degrees for R and t: 7.37978681256933 29.002692205747824 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.95291093e-01 -9.69308087e-02 -2.42901184e-04] [ 9.69300354e-02 9.95288719e-01 -2.22144195e-03] [ 4.57082974e-04 2.18743697e-03 9.99997503e-01]] t_estimated: [[-0.04993699] [-0.99873989] [-0.0049937 ]] R_gt: [[ 0.97943806 -0.18165627 0.08776965] [ 0.18769428 0.97999105 -0.06623509] [-0.07398154 0.0813478 0.99393635]] t_gt: [ 0.89425649 -0.40832386 -0.18324016] Pose Error in degrees for R and t: 8.067850596746021 68.64976962413036 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999560e-01 -9.19982765e-04 1.85437734e-04] [ 9.20029026e-04 9.99999546e-01 -2.49540317e-04] [-1.85208077e-04 2.49710815e-04 9.99999952e-01]] t_estimated: [[ 8.01059919e-01] [-5.98583752e-01] [-7.05868194e-04]] R_gt: [[ 0.94871105 -0.30395754 0.08693665] [ 0.30735621 0.95116708 -0.02849779] [-0.07402908 0.05375655 0.99580642]] t_gt: [ 9.38004262e-01 -3.46623527e-01 -3.67485340e-04] Pose Error in degrees for R and t: 18.531653202315862 16.48761827271768 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99971983 0.01918577 0.01386263] [-0.01904674 0.99976765 -0.01009269] [-0.01405304 0.00982582 0.99985297]] t_estimated: [[ 0.9989263 ] [ 0.04616621] [-0.00386293]] R_gt: [[ 0.95101397 -0.3042151 0.05502088] [ 0.30599223 0.95164379 -0.02723663] [-0.04407425 0.04273877 0.99811399]] t_gt: [ 0.9818674 -0.1884955 -0.02014608] Pose Error in degrees for R and t: 19.042851691746232 13.54436483966436 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.9769671 -0.21328528 0.00668418] [ 0.21333366 0.97694961 -0.00762927] [-0.00490289 0.00887951 0.99994856]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.9977672 0.05081934 0.04333753] [-0.05100308 0.99869379 0.00315663] [-0.04312025 -0.00536018 0.99905564]] t_gt: [-0.77156264 0.4117572 0.48491969] Pose Error in degrees for R and t: 15.401898826046201 58.21304985530725 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.54056696e-01 2.99625438e-01 6.46877270e-04] [-2.99625613e-01 9.54056841e-01 1.90758645e-04] [-5.60001542e-04 -3.75815560e-04 9.99999773e-01]] t_estimated: [[-0.52982695] [ 0.84810336] [ 0.0020246 ]] R_gt: [[ 0.99626621 0.08622564 0.00435785] [-0.08623572 0.99627276 0.00194889] [-0.00417296 -0.00231788 0.9999894 ]] t_gt: [-0.84510976 0.52855529 0.08011743] Pose Error in degrees for R and t: 12.490377607705998 26.337836196267002 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.90970666e-01 1.34078668e-01 -2.22512780e-04] [-1.34078711e-01 9.90970667e-01 -1.89810377e-04] [ 1.95054115e-04 2.17930742e-04 9.99999957e-01]] t_estimated: [[-0.92582733] [ 0.37794494] [-0.00117421]] R_gt: [[ 0.99439867 0.09792603 -0.03977419] [-0.09766257 0.99518288 0.00852152] [ 0.04041778 -0.00458915 0.99917271]] t_gt: [-0.81798294 0.55052933 -0.16679739] Pose Error in degrees for R and t: 3.1239269077198863 15.077118817652908 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.97316485 0.23006595 -0.00445225] [-0.23004273 0.97316677 0.00517549] [ 0.00552349 -0.0040124 0.9999767 ]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.992348 0.12306588 0.01000594] [-0.12322869 0.99222189 0.01765517] [-0.0077557 -0.01875253 0.99979419]] t_gt: [-0.87940159 0.46046113 0.12094786] Pose Error in degrees for R and t: 6.324778796447189 62.92908661861561 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 7.16223126e-01 6.97871131e-01 5.63951339e-04] [ 6.97862157e-01 -7.16217598e-01 4.55643867e-03] [ 3.58371888e-03 -2.86986645e-03 -9.99989460e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.94738465 0.31616114 0.05003799] [-0.31431116 0.94841218 -0.04152144] [-0.06058364 0.02360849 0.99788417]] t_gt: [-0.82895803 0.55830294 -0.03356219] Pose Error in degrees for R and t: 177.2857920211563 34.18286371898941 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.6449795 0.75100569 0.14139275] [-0.76132546 0.6154272 0.20404145] [ 0.06621934 -0.23924845 0.96869767]] t_estimated: [[0.11016693] [0.99388796] [0.00706862]] R_gt: [[ 0.91438994 0.40037497 0.05992316] [-0.39995353 0.91633068 -0.01940694] [-0.06267891 -0.006221 0.99801442]] t_gt: [-0.80273457 0.59469823 0.04417265] Pose Error in degrees for R and t: 30.2596550430131 59.80524412332525 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99993693e-01 -3.54104504e-03 2.74443632e-04] [ 3.54100612e-03 9.99993721e-01 1.42177576e-04] [-2.74945366e-04 -1.41204872e-04 9.99999952e-01]] t_estimated: [[ 9.08122047e-02] [-9.95867950e-01] [ 4.11255795e-04]] R_gt: [[ 0.99629594 -0.08231116 0.02490105] [ 0.0821424 0.99659107 0.00774034] [-0.02545426 -0.00566624 0.99966005]] t_gt: [ 0.83236132 -0.46453869 0.30228866] Pose Error in degrees for R and t: 4.749471486979507 57.42983163286688 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99967550e-01 -7.90847428e-03 -1.53465313e-03] [ 7.90970403e-03 9.99968400e-01 7.96909796e-04] [ 1.52830230e-03 -8.09022588e-04 9.99998505e-01]] t_estimated: [[-0.08495437] [-0.99634806] [-0.00856114]] R_gt: [[ 0.99448588 -0.10309888 0.01923055] [ 0.10276466 0.99454998 0.01763117] [-0.02094463 -0.01555717 0.99965937]] t_gt: [ 0.88398611 -0.36442003 0.29285934] Pose Error in degrees for R and t: 5.667544279501338 73.41224836764643 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.96819367e-01 7.96939913e-02 1.33970531e-04] [-7.96940890e-02 9.96818800e-01 1.06364314e-03] [-4.87783769e-05 -1.07093674e-03 9.99999425e-01]] t_estimated: [[0.77462105] [0.63242489] [0.00099438]] R_gt: [[ 0.99625054 -0.06402636 -0.05818258] [ 0.06094324 0.99671704 -0.05331789] [ 0.0614043 0.04957298 0.99688152]] t_gt: [ 0.74926696 0.210885 -0.62779498] Pose Error in degrees for R and t: 9.34990853618579 44.508814063221976 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.88020347e-01 -1.54323667e-01 -2.31190839e-06] [ 1.54323666e-01 9.88020341e-01 1.09690618e-04] [-1.46436458e-05 -1.08733344e-04 9.99999994e-01]] t_estimated: [[2.27222923e-01] [9.73842688e-01] [4.03313273e-04]] R_gt: [[ 0.99989448 -0.01236163 -0.00761739] [ 0.01319438 0.99251132 0.12143486] [ 0.00605885 -0.12152173 0.99257079]] t_gt: [ 0.13575822 -0.60578549 0.78396023] Pose Error in degrees for R and t: 10.72265615837819 56.02879351345476 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.99387534 -0.11048799 -0.0020542 ] [-0.11049289 -0.99387391 -0.00244487] [-0.00177149 0.00265687 -0.9999949 ]] t_estimated: [[0.65573461] [0.75498972] [0.00162713]] R_gt: [[ 0.99389803 -0.10009698 -0.04633119] [ 0.10708163 0.97636322 0.18774665] [ 0.02644233 -0.19156147 0.98112408]] t_gt: [ 0.47085786 -0.62330057 0.62433106] Pose Error in degrees for R and t: 169.3241822596735 80.74597714616021 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 8.39970729e-01 5.42631355e-01 6.22632108e-04] [-5.42631618e-01 8.39970705e-01 3.76223696e-04] [-3.18841957e-04 -6.53876760e-04 9.99999735e-01]] t_estimated: [[0.68081645] [0.73245364] [0.00079442]] R_gt: [[ 0.94610336 -0.30951713 -0.09533145] [ 0.32186561 0.93125918 0.17075724] [ 0.03592554 -0.19223758 0.98069026]] t_gt: [ 0.76985627 -0.53182514 0.35282198] Pose Error in degrees for R and t: 52.58633648543243 82.24867508215706 Number of keypoints: Image1: 420 Image2: 420 R_estimated: [[ 9.93440691e-01 -1.14348556e-01 -2.83027538e-05] [ 1.14348558e-01 9.93440687e-01 9.64765855e-05] [ 1.70851489e-05 -9.90801448e-05 9.99999995e-01]] t_estimated: [[-4.74907661e-01] [ 8.80035610e-01] [-1.97489930e-04]] R_gt: [[ 0.99965134 0.01244774 -0.02328222] [-0.01445783 0.99599421 -0.08824399] [ 0.02209068 0.08855072 0.99582639]] t_gt: [ 0.071618 0.72821817 -0.68159311] Pose Error in degrees for R and t: 9.016040633096639 52.62850140750105 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 3.56015653e-01 -9.34479939e-01 -3.13365274e-04] [ 9.34479947e-01 3.56015514e-01 4.26453113e-04] [-2.86948980e-04 -4.44657549e-04 9.99999860e-01]] t_estimated: [[0.87559362] [0.48304713] [0.00113126]] R_gt: [[ 0.99917735 0.04034663 0.00406997] [-0.03937672 0.98930996 -0.1404099 ] [-0.00969186 0.14013504 0.99008474]] t_gt: [-0.04944265 0.81970687 -0.57064531] Pose Error in degrees for R and t: 71.83839481099416 69.38909274034312 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 7.61750426e-01 6.47866625e-01 2.26391469e-03] [ 6.47864120e-01 -7.61753784e-01 1.80383751e-03] [ 2.89319170e-03 9.26351083e-05 -9.99995810e-01]] t_estimated: [[-9.92291876e-01] [-1.23919137e-01] [-9.38781339e-04]] R_gt: [[ 0.99614973 0.08593637 -0.01735571] [-0.08737804 0.98933376 -0.11654819] [ 0.0071562 0.1176168 0.99303261]] t_gt: [-0.0343448 0.88308426 -0.46795579] Pose Error in degrees for R and t: 173.98566502280008 85.70385297256206 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99993924e-01 3.48608227e-03 -1.64189673e-06] [-3.48608224e-03 9.99993923e-01 1.42373207e-05] [ 1.69151923e-06 -1.42315104e-05 1.00000000e+00]] t_estimated: [[ 0.58385035] [-0.81186087] [ 0.00083625]] R_gt: [[ 9.99999739e-01 -2.46274231e-04 -5.63190684e-04] [ 2.51667016e-04 9.99939706e-01 1.09706143e-02] [ 5.60820408e-04 -1.09701810e-02 9.99938976e-01]] t_gt: [ 0.52049403 -0.72698831 0.44785484] Pose Error in degrees for R and t: 0.6660979476238118 26.55847673349324 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 4.37567497e-01 8.99185410e-01 5.33912380e-04] [-8.99104239e-01 4.37535829e-01 -1.31896228e-02] [-1.20935222e-02 5.29130736e-03 9.99912871e-01]] t_estimated: [[0.99849028] [0.05490974] [0.00144499]] R_gt: [[ 0.9942596 -0.1067491 -0.0072788 ] [ 0.10695582 0.99345596 0.04007462] [ 0.00295406 -0.04062214 0.99916999]] t_gt: [ 0.72521558 -0.6641214 0.18167316] Pose Error in degrees for R and t: 70.24869221655102 46.53459379954541 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.82326549e-01 -9.83236677e-01 -1.63274928e-03] [ 9.83237514e-01 1.82327907e-01 -7.24503819e-04] [ 1.01005449e-03 -1.47328406e-03 9.99998405e-01]] t_estimated: [[ 9.35709970e-01] [-3.52770252e-01] [-2.49034747e-05]] R_gt: [[ 0.98134754 -0.18912925 -0.0344559 ] [ 0.19072816 0.98029969 0.05133733] [ 0.02406847 -0.0569508 0.99808704]] t_gt: [ 0.76807895 -0.63368803 0.09216403] Pose Error in degrees for R and t: 68.61197661649473 19.568262996918232 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.99993797e-01 3.52213167e-03 2.84588594e-05] [-3.52213151e-03 9.99993797e-01 -5.81999557e-06] [-2.84791817e-05 5.71972362e-06 1.00000000e+00]] t_estimated: [[-5.76898018e-01] [ 8.16816077e-01] [-4.15090949e-04]] R_gt: [[ 0.99759304 0.06699884 0.01786989] [-0.06743641 0.99740752 0.02511356] [-0.0161409 -0.02625693 0.99952546]] t_gt: [-0.87220174 -0.05604432 0.48592505] Pose Error in degrees for R and t: 4.057203425618409 62.79394912476374 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99998488e-01 -1.73732289e-03 6.90603914e-05] [ 1.73733408e-03 9.99998478e-01 -1.62296747e-04] [-6.87783244e-05 1.62416483e-04 9.99999984e-01]] t_estimated: [[-0.76164945] [ 0.64798764] [-0.00146247]] R_gt: [[ 0.9968706 0.04884888 0.06215356] [-0.05052773 0.99839061 0.02573327] [-0.06079632 -0.0287923 0.99773478]] t_gt: [-0.68159054 -0.41343335 0.60374432] Pose Error in degrees for R and t: 4.856433648011252 75.50175172332521 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999861e-01 -5.25449391e-04 -4.84777025e-05] [ 5.25468077e-04 9.99999787e-01 3.86250957e-04] [ 4.82747369e-05 -3.86276377e-04 9.99999924e-01]] t_estimated: [[5.56551277e-01] [8.30813166e-01] [3.99157515e-04]] R_gt: [[ 0.99830117 -0.03063379 0.04955927] [ 0.02920925 0.99914563 0.02924265] [-0.05041224 -0.02774438 0.99834378]] t_gt: [ 0.18143381 -0.87615758 0.4465755 ] Pose Error in degrees for R and t: 3.696652815346291 51.18794444788443 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99938641e-01 -1.10773675e-02 -8.39959535e-05] [ 1.10773865e-02 9.99938618e-01 2.29233027e-04] [ 8.14514991e-05 -2.30149417e-04 9.99999970e-01]] t_estimated: [[-7.33093989e-01] [-6.80127143e-01] [-5.22697219e-04]] R_gt: [[ 0.99749376 0.0629175 -0.03238834] [-0.06310756 0.9979952 -0.00487867] [ 0.03201637 0.00691059 0.99946403]] t_gt: [-0.5057938 0.80829805 -0.30137499] Pose Error in degrees for R and t: 4.642904939616222 79.70050630809511 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.86401527 -0.50344799 -0.00421095] [ 0.50343499 -0.86402475 0.00379906] [-0.005551 0.0011625 0.99998392]] t_estimated: [[0.87960065] [0.47571191] [0.00093277]] R_gt: [[ 0.98824958 0.15237436 0.0120603 ] [-0.15148181 0.98688204 -0.05582873] [-0.02040853 0.05334594 0.99836731]] t_gt: [-0.51037055 0.85518139 -0.09048037] Pose Error in degrees for R and t: 158.533498276604 87.58216323031392 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 3.21589250e-01 9.46878370e-01 1.30647605e-03] [-9.46878493e-01 3.21590449e-01 -8.38719310e-04] [-1.21431539e-03 -9.67350956e-04 9.99998795e-01]] t_estimated: [[0.53942626] [0.84203124] [0.00164459]] R_gt: [[ 9.61651745e-01 2.74274308e-01 6.28855623e-04] [-2.74178510e-01 9.61372501e-01 -2.42746910e-02] [-7.26170323e-03 2.31712048e-02 9.99705245e-01]] t_gt: [-0.47854084 0.87752074 -0.03091953] Pose Error in degrees for R and t: 55.3384673449371 61.268116943385614 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999963e-01 -2.70707917e-04 1.25187871e-05] [ 2.70711805e-04 9.99999915e-01 -3.11571511e-04] [-1.24344411e-05 3.11574889e-04 9.99999951e-01]] t_estimated: [[-9.30673159e-01] [-3.65850828e-01] [-8.02304447e-04]] R_gt: [[ 9.87638500e-01 1.56638559e-01 5.79358930e-03] [-1.56746176e-01 9.86949858e-01 3.68819323e-02] [ 5.92652320e-05 -3.73348710e-02 9.99302996e-01]] t_gt: [-0.61503961 0.77944017 0.1191608 ] Pose Error in degrees for R and t: 9.287251886282185 73.31280665591876 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999975e-01 -2.17079005e-04 -5.63614899e-05] [ 2.17077271e-04 9.99999976e-01 -3.07643061e-05] [ 5.63681668e-05 3.07520705e-05 9.99999998e-01]] t_estimated: [[-9.37896060e-01] [-3.46915427e-01] [-8.16271593e-04]] R_gt: [[ 0.97544787 0.2201728 -0.00493631] [-0.21977672 0.97463829 0.04218282] [ 0.01409902 -0.04006302 0.99909748]] t_gt: [-0.58642845 0.80862167 0.04725109] Pose Error in degrees for R and t: 12.955799445692431 74.36863546996176 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.31550046e-01 -3.63612954e-01 3.61453017e-04] [-3.63612934e-01 -9.31550116e-01 -1.21374416e-04] [ 3.80844910e-04 -1.83626494e-05 -9.99999927e-01]] t_estimated: [[0.59555844] [0.80331138] [0.0009893 ]] R_gt: [[ 0.95278018 0.3035867 0.00659371] [-0.30351303 0.95277238 -0.01023242] [-0.0093885 0.00774776 0.99992578]] t_gt: [-0.51528789 0.85698559 -0.00735458] Pose Error in degrees for R and t: 179.5766394935471 67.57120662834937 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[-0.03113018 0.9994837 0.00795261] [ 0.99950747 0.03116051 -0.00371895] [-0.00396483 0.00783292 -0.99996146]] t_estimated: [[0.87983141] [0.47528483] [0.00100611]] R_gt: [[ 0.99762552 -0.06064394 0.03266465] [ 0.06078736 0.99814548 -0.00342603] [-0.03239674 0.005404 0.99946087]] t_gt: [ 0.70784276 -0.70499651 0.04402893] Pose Error in degrees for R and t: 178.0050612618688 73.2765543461425 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[-0.98932314 -0.14565732 -0.00486563] [ 0.14562067 -0.98931437 0.00718973] [-0.00586088 0.00640443 0.99996232]] t_estimated: [[8.75613031e-01] [4.83012584e-01] [8.14523750e-04]] R_gt: [[ 9.91084125e-01 -1.30791213e-01 2.54427379e-02] [ 1.30820334e-01 9.91406318e-01 5.16022317e-04] [-2.52914186e-02 2.81711756e-03 9.99676297e-01]] t_gt: [ 0.78375701 -0.6208856 0.01503376] Pose Error in degrees for R and t: 164.10488436255878 67.27027892759702 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.9814864 0.18924768 -0.02949178] [-0.18947637 -0.98187184 0.0051375 ] [-0.02798489 0.01063038 0.99955182]] t_estimated: [[0.7146653 ] [0.69945997] [0.00304104]] R_gt: [[ 0.98535746 -0.16045614 0.05767363] [ 0.15908322 0.98687731 0.02768612] [-0.06135823 -0.01810555 0.9979518 ]] t_gt: [ 0.69558599 -0.70260243 0.1500332 ] Pose Error in degrees for R and t: 178.31964017981815 89.64905218091997 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-1.31519438e-01 -9.91313565e-01 2.32410880e-04] [-9.91313051e-01 1.31519607e-01 1.01393922e-03] [-1.03569829e-03 -9.70392225e-05 -9.99999459e-01]] t_estimated: [[0.78374956] [0.62107473] [0.00167364]] R_gt: [[ 0.9850555 0.16916693 0.03235797] [-0.16810564 0.98521303 -0.03312483] [-0.03748328 0.02719071 0.99892642]] t_gt: [-0.84946817 0.51933123 -0.09326791] Pose Error in degrees for R and t: 179.58300215494623 69.91688703364892 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.97346099e-01 -7.28018726e-02 -8.04142003e-04] [ 7.28019433e-02 9.97346416e-01 5.89781308e-05] [ 7.97714427e-04 -1.17364709e-04 9.99999675e-01]] t_estimated: [[-0.89596673] [-0.44411699] [-0.00192946]] R_gt: [[ 9.45669874e-01 3.22413777e-01 4.19386880e-02] [-3.22061331e-01 9.46598855e-01 -1.50823879e-02] [-4.45611768e-02 7.55633189e-04 9.99005361e-01]] t_gt: [-0.84057565 0.54051028 0.03579401] Pose Error in degrees for R and t: 23.127737909656492 59.135536511671226 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.95863528e-01 9.08599960e-02 5.43144302e-04] [-9.08592401e-02 9.95862917e-01 -1.28378847e-03] [-6.57542285e-04 1.22912844e-03 9.99999028e-01]] t_estimated: [[-9.86786957e-01] [-1.62021314e-01] [-7.71530068e-04]] R_gt: [[ 0.84433481 0.53229207 0.06135756] [-0.53077062 0.84655983 -0.0402351 ] [-0.0733585 0.00140449 0.99730411]] t_gt: [-0.78877981 0.61392157 0.03044193] Pose Error in degrees for R and t: 27.256690370388842 47.24492674665434 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-9.96270706e-01 -8.62434226e-02 2.59842693e-03] [-8.62428036e-02 9.96274087e-01 3.49531067e-04] [-2.61889017e-03 1.24131939e-04 -9.99996563e-01]] t_estimated: [[0.99770562] [0.06767383] [0.00193354]] R_gt: [[ 0.99878349 -0.04872063 -0.0075991 ] [ 0.04928084 0.99154246 0.12006225] [ 0.00168506 -0.12029152 0.99273686]] t_gt: [ 0.35909516 -0.63365138 0.6852274 ] Pose Error in degrees for R and t: 179.81460201443363 71.53564857345427 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 6.01280595e-01 7.99037152e-01 1.12947672e-03] [-7.99037650e-01 6.01280994e-01 -1.68011246e-05] [-6.92557608e-04 -8.92392235e-04 9.99999362e-01]] t_estimated: [[0.65298895] [0.75736698] [0.00083502]] R_gt: [[ 0.974963 -0.2171645 -0.04780554] [ 0.2217464 0.96553474 0.13628061] [ 0.01656296 -0.14347009 0.98951632]] t_gt: [ 0.72788483 -0.57594955 0.37210993] Pose Error in degrees for R and t: 66.24498003591953 87.7416004069865 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.66176673e-01 4.99736758e-01 1.06969497e-03] [-4.99735772e-01 8.66177246e-01 -1.06607204e-03] [-1.45930083e-03 3.88841885e-04 9.99998860e-01]] t_estimated: [[0.68894254] [0.72481538] [0.00091982]] R_gt: [[ 0.88502679 -0.46192045 -0.05794258] [ 0.46543393 0.88060039 0.08896296] [ 0.00993033 -0.10570338 0.99434864]] t_gt: [ 0.88252915 -0.44333657 0.15682786] Pose Error in degrees for R and t: 57.992921594641274 73.33239259174185 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-0.88692114 0.45962221 0.04602528] [-0.46191918 -0.88223426 -0.09106796] [-0.00125178 -0.10203006 0.99478053]] t_estimated: [[8.17053059e-01] [5.76561970e-01] [7.70804772e-04]] R_gt: [[ 0.99668486 0.08027485 0.0132676 ] [-0.08033217 0.99676107 0.00385998] [-0.01291506 -0.00491296 0.99990495]] t_gt: [-0.80597431 0.56898367 0.16328808] Pose Error in degrees for R and t: 147.8810381041914 70.71037007399885 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.91364538 0.40648995 -0.00424785] [-0.4064975 -0.91365128 0.00105978] [-0.00345026 0.00269501 0.99999042]] t_estimated: [[0.69722903] [0.71684803] [0.00075458]] R_gt: [[ 0.99303573 0.11721121 -0.01189294] [-0.1172629 0.9930945 -0.00371541] [ 0.0113755 0.00508406 0.99992252]] t_gt: [-0.75792833 0.63576721 -0.14609824] Pose Error in degrees for R and t: 149.28170059790406 85.82451890131506 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999997e-01 -7.07960767e-05 -2.49755647e-06] [ 7.07980076e-05 9.99999692e-01 7.81766639e-04] [ 2.44220969e-06 -7.81766814e-04 9.99999694e-01]] t_estimated: [[0.74047788] [0.67208032] [0.00074345]] R_gt: [[ 0.9987114 0.05074899 -0.00102578] [-0.0506872 0.99815677 0.03337478] [ 0.00271705 -0.03328037 0.99944187]] t_gt: [-0.73425728 -0.02452369 0.67842821] Pose Error in degrees for R and t: 3.4599928104747355 55.96641350873615 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999855e-01 5.22715809e-04 1.31685039e-04] [-5.22675571e-04 9.99999817e-01 -3.05410956e-04] [-1.31844658e-04 3.05342083e-04 9.99999945e-01]] t_estimated: [[0.99998417] [0.0054578 ] [0.00136521]] R_gt: [[ 0.99614871 0.04472479 0.07541642] [-0.04556798 0.99891621 0.00948735] [-0.07491047 -0.01288642 0.99710611]] t_gt: [-0.65973038 0.35593024 0.66186818] Pose Error in degrees for R and t: 5.0518588272306 48.938119368655165 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.38230156e-01 -3.46011716e-01 2.58853862e-04] [ 3.46011808e-01 9.38230006e-01 -5.33420568e-04] [-5.82946941e-05 5.90037756e-04 9.99999824e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99191586 0.10503145 0.071224 ] [-0.10644139 0.99418525 0.01629532] [-0.06909831 -0.02374389 0.99732634]] t_gt: [-0.75539342 0.50362602 0.41921547] Pose Error in degrees for R and t: 26.646976417049657 79.77847507651991 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.99430477 -0.10517742 -0.01719688] [ 0.10558199 0.99410611 0.02460649] [ 0.01450747 -0.02628203 0.99954929]] t_estimated: [[-0.46744856] [-0.88021328] [-0.08195382]] R_gt: [[ 0.99105137 0.12979035 0.03116806] [-0.13033163 0.9913407 0.01598751] [-0.02882303 -0.01990611 0.99938617]] t_gt: [-0.81421881 0.55124652 0.18214007] Pose Error in degrees for R and t: 13.785234678380952 83.13466569783358 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999972e-01 2.37075322e-04 -1.62390118e-05] [-2.37075676e-04 9.99999972e-01 -2.18134605e-05] [ 1.62338399e-05 2.18173097e-05 1.00000000e+00]] t_estimated: [[ 0.04189776] [-0.99912129] [-0.00111016]] R_gt: [[ 0.99611407 0.06247854 0.06206418] [-0.06326947 0.99793662 0.01085442] [-0.06125743 -0.01473778 0.99801274]] t_gt: [-0.27209063 0.76202441 0.58760998] Pose Error in degrees for R and t: 5.097259874530513 39.33915924644357 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99977585e-01 -6.67029245e-03 5.80602314e-04] [ 6.67475055e-03 9.99945331e-01 -8.04878936e-03] [-5.26882794e-04 8.05248432e-03 9.99967439e-01]] t_estimated: [[-0.87208414] [-0.48933913] [-0.00405779]] R_gt: [[ 0.98339021 0.14560936 0.10835865] [-0.14005007 0.98848467 -0.05729159] [-0.11545316 0.04116523 0.9924587 ]] t_gt: [-0.27592986 0.92819342 0.24963911] Pose Error in degrees for R and t: 11.00283505065257 77.60909513393996 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.93451214 0.35592917 0.00121608] [ 0.35592316 -0.93450849 0.00354751] [ 0.0023991 -0.00288236 -0.99999297]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9647803 0.24328212 0.1000551 ] [-0.23987326 0.96976066 -0.04497878] [-0.10797187 0.01939594 0.99396484]] t_gt: [-0.24351398 0.95469747 0.17103709] Pose Error in degrees for R and t: 177.2799045507463 76.08867767708249 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.80312684e-01 1.97451300e-01 1.58982257e-04] [-1.97451308e-01 9.80312695e-01 3.38660229e-05] [-1.49165434e-04 -6.45905463e-05 9.99999987e-01]] t_estimated: [[0.56744624] [0.82340995] [0.00090404]] R_gt: [[ 0.9968543 -0.07765604 0.0159244 ] [ 0.07776396 0.99695184 -0.00632674] [-0.01538387 0.00754468 0.99985268]] t_gt: [ 0.82610168 -0.55281719 0.10931227] Pose Error in degrees for R and t: 15.874910690056312 89.21663076022868 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99980293e-01 6.27762922e-03 7.24254263e-05] [-6.27762337e-03 9.99980292e-01 -8.06632093e-05] [-7.29303727e-05 8.02069601e-05 9.99999994e-01]] t_estimated: [[ 9.90812940e-01] [-1.35237533e-01] [-7.26789441e-04]] R_gt: [[ 0.98582497 -0.1652576 0.0289901 ] [ 0.16561816 0.98613329 -0.01051204] [-0.02685066 0.0151645 0.9995236 ]] t_gt: [ 0.86413014 -0.49781066 0.07391648] Pose Error in degrees for R and t: 10.040092070576812 22.562686739024002 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.28860738 0.93512596 -0.2055364 ] [ 0.86306646 -0.16115344 0.47869181] [ 0.41451425 -0.31554556 -0.85358593]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97421186 -0.21960785 0.05183689] [ 0.21916098 0.97558527 0.01421096] [-0.05369157 -0.00248411 0.99855439]] t_gt: [ 0.86506448 -0.451618 0.21841387] Pose Error in degrees for R and t: 152.24785721520462 65.01575403879272 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 1.91172081e-01 9.81556466e-01 3.72638956e-04] [-9.81554915e-01 1.91172442e-01 -1.74553192e-03] [-1.78457645e-03 -3.20686282e-05 9.99998407e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9988145 0.0210794 0.04388279] [-0.01769498 0.99694025 -0.07613349] [-0.04535352 0.07526642 0.99613116]] t_gt: [-0.24820287 0.80744083 -0.53519589] Pose Error in degrees for R and t: 77.99630603186533 36.35879514189129 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 8.95049818e-01 -4.45965352e-01 -8.53046798e-04] [ 4.45965834e-01 8.95049852e-01 4.87813227e-04] [ 5.45971612e-04 -8.17046866e-04 9.99999517e-01]] t_estimated: [[-0.30524587] [-0.95227284] [-0.00117856]] R_gt: [[ 0.99682196 0.07157691 0.03498895] [-0.06863365 0.99450078 -0.07910478] [-0.04045785 0.07645093 0.99625182]] t_gt: [-0.2120078 0.91171121 -0.3519025 ] Pose Error in degrees for R and t: 30.91268603663226 36.57586256262794 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.22702006 0.97388899 0.00146085] [-0.9738877 -0.22701593 -0.00255432] [-0.00215598 -0.00200258 0.99999567]] t_estimated: [[0.35361364] [0.93538982] [0.0018098 ]] R_gt: [[ 0.99469469 0.09986382 0.02470286] [-0.09850225 0.99381485 -0.05128987] [-0.02967208 0.04858393 0.99837825]] t_gt: [-0.141003 0.97298217 -0.18282189] Pose Error in degrees for R and t: 97.46188797932273 30.691706084185498 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.80393238e-01 -1.97050890e-01 2.11619336e-04] [ 1.97050835e-01 9.80393239e-01 2.56555142e-04] [-2.58024586e-04 -2.09825159e-04 9.99999945e-01]] t_estimated: [[ 0.72190586] [-0.6919899 ] [ 0.00137874]] R_gt: [[ 0.99505309 0.09018502 0.04167548] [-0.08729228 0.99394843 -0.06668051] [-0.04743721 0.06271209 0.996903 ]] t_gt: [-0.29217656 0.95336863 -0.07563804] Pose Error in degrees for R and t: 17.066911626345956 29.454120687832734 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.91763636 -0.39736374 -0.00675038] [-0.39735462 -0.91703999 -0.0338669 ] [ 0.00726711 0.03375979 -0.99940355]] t_estimated: [[ 0.2024601 ] [ 0.97914315] [-0.01698838]] R_gt: [[ 0.98087452 0.19359273 0.02021347] [-0.19235905 0.97998162 -0.05132243] [-0.02974436 0.0464527 0.99847668]] t_gt: [-0.25814561 0.96236675 -0.08491814] Pose Error in degrees for R and t: 175.56654136799497 26.941038726424747 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999781e-01 6.18358305e-04 -2.36740564e-04] [-6.18424140e-04 9.99999770e-01 -2.78116303e-04] [ 2.36568534e-04 2.78262649e-04 9.99999933e-01]] t_estimated: [[-0.62970286] [-0.77683463] [-0.0015063 ]] R_gt: [[ 0.9288355 0.3704373 0.0063982 ] [-0.36779771 0.92402182 -0.10444474] [-0.04460242 0.09465917 0.99450922]] t_gt: [-0.23114168 0.96774099 -0.10025416] Pose Error in degrees for R and t: 22.492001187805833 52.693897018674896 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.88738919e-01 -1.49649020e-01 7.21911307e-04] [ 1.49649231e-01 9.88739119e-01 -2.48207230e-04] [-6.76637981e-04 3.53445621e-04 9.99999709e-01]] t_estimated: [[0.86943887] [0.49403938] [0.00106935]] R_gt: [[ 0.99808556 -0.02918762 0.05452588] [ 0.03033925 0.99933113 -0.02039893] [-0.05389392 0.02201474 0.99830399]] t_gt: [-0.46192254 -0.4725739 0.75053413] Pose Error in degrees for R and t: 7.6446518124154155 50.63332659051052 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.76006046e-01 2.17735238e-01 1.88789468e-03] [-2.17734465e-01 9.76007855e-01 -6.08008659e-04] [-1.97498495e-03 1.82360388e-04 9.99998033e-01]] t_estimated: [[9.96302826e-01] [8.59051991e-02] [9.87416082e-04]] R_gt: [[ 9.96828662e-01 -7.95715826e-02 -7.75090836e-04] [ 7.95594768e-02 9.96767848e-01 -1.11610164e-02] [ 1.66078847e-03 1.10647293e-02 9.99937396e-01]] t_gt: [ 0.01305959 -0.98463221 -0.17415184] Pose Error in degrees for R and t: 17.151645818713128 85.8857405523506 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.81514404e-01 1.91388261e-01 8.66126659e-05] [-1.91388217e-01 9.81514347e-01 -3.70355553e-04] [-1.55893279e-04 3.46932666e-04 9.99999928e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99526275 -0.07599374 -0.06063656] [ 0.07803902 0.99643342 0.03209545] [ 0.05798101 -0.0366754 0.99764411]] t_gt: [-0.1383556 -0.94164597 -0.306856 ] Pose Error in degrees for R and t: 15.950024895053204 81.86461782851758 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.96376112e-01 -8.50557267e-02 -4.08350931e-04] [ 8.50559704e-02 9.96375981e-01 6.22017850e-04] [ 3.53964879e-04 -6.54496412e-04 9.99999723e-01]] t_estimated: [[8.30067793e-01] [5.57661879e-01] [8.29800626e-04]] R_gt: [[ 9.92903606e-01 1.18921026e-01 -4.56225688e-04] [-1.18852429e-01 9.92186853e-01 -3.79583925e-02] [-4.06122335e-03 3.77437265e-02 9.99279407e-01]] t_gt: [-0.63611846 0.75381634 -0.16466403] Pose Error in degrees for R and t: 11.916083517550275 83.81244324035023 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.21451869 -0.72437412 0.65518232] [ 0.97205871 0.22379251 -0.07084327] [-0.09530786 0.65207289 0.75214185]] t_estimated: [[0.93539241] [0.35360939] [0.00119463]] R_gt: [[ 0.98663145 0.15692547 -0.04396034] [-0.1577749 0.9873365 -0.01656276] [ 0.04080521 0.02327657 0.99889574]] t_gt: [-0.59325226 0.77254927 -0.226317 ] Pose Error in degrees for R and t: 92.85044455550022 73.6195952735295 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.96407747 -0.26560782 -0.00266958] [ 0.26561935 0.96405979 0.00592339] [ 0.00100033 -0.0064197 0.99997889]] t_estimated: [[-8.69219688e-01] [-4.94425485e-01] [-7.57160007e-04]] R_gt: [[ 0.99042287 0.13054384 -0.04495915] [-0.13304663 0.98940758 -0.05808165] [ 0.03690075 0.06350702 0.99729942]] t_gt: [-0.50541643 0.77634709 -0.37661577] Pose Error in degrees for R and t: 23.410563286852597 86.80368541505152 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 1.31202568e-01 -9.91355187e-01 -8.83257932e-04] [-9.91355555e-01 -1.31202712e-01 1.05858620e-04] [-2.20829328e-04 8.61733735e-04 -9.99999604e-01]] t_estimated: [[0.73378155] [0.6793845 ] [0.00115738]] R_gt: [[ 0.99799342 -0.01913591 -0.06035549] [ 0.02044626 0.99956776 0.02117507] [ 0.05992432 -0.02236608 0.99795225]] t_gt: [-0.03955412 -0.70168052 -0.71139294] Pose Error in degrees for R and t: 178.63750805911184 59.5651492931479 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 0.95956705 0.28147823 -0.00104112] [-0.28147513 0.95956545 0.00242731] [ 0.00168226 -0.00203612 0.99999651]] t_estimated: [[-0.67773242] [-0.73530678] [-0.00164498]] R_gt: [[ 0.99020689 -0.037182 -0.1345638 ] [ 0.04652114 0.99667272 0.06694379] [ 0.13162674 -0.07254809 0.98864081]] t_gt: [ 0.0567951 -0.79010263 -0.61033774] Pose Error in degrees for R and t: 20.585976517608664 57.079151211702516 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.46105933 0.53111986 -0.71086988] [ 0.38470642 0.60226038 0.69948796] [ 0.79964071 -0.59598166 0.07335255]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.98488533 -0.10022592 -0.14126892] [ 0.10786583 0.99303179 0.04748049] [ 0.1355252 -0.06199985 0.98883211]] t_gt: [ 0.24426307 -0.86107791 -0.44596006] Pose Error in degrees for R and t: 78.69947033277731 65.68022408905952 Number of keypoints: Image1: 429 Image2: 429 R_estimated: [[ 0.99948026 -0.03219824 -0.00157725] [ 0.03220211 0.99947828 0.00248694] [ 0.00149635 -0.00253644 0.99999566]] t_estimated: [[-0.89963877] [-0.4366325 ] [-0.00146521]] R_gt: [[ 0.9905407 0.13720111 -0.00225405] [-0.13720975 0.99053535 -0.00377532] [ 0.00171527 0.00404888 0.99998999]] t_gt: [-0.96116392 0.27589469 -0.00678473] Pose Error in degrees for R and t: 9.738429394470732 41.905650054822196 Number of keypoints: Image1: 388 Image2: 388 R_estimated: [[-5.36943298e-01 8.43618203e-01 4.71881809e-04] [-8.43617096e-01 -5.36941467e-01 -2.01430361e-03] [-1.44593028e-03 -1.47965439e-03 9.99997860e-01]] t_estimated: [[0.65027595] [0.75969738] [0.00104211]] R_gt: [[ 9.77745587e-01 2.09693077e-01 6.55501803e-03] [-2.09793432e-01 9.77403624e-01 2.58751532e-02] [-9.79774777e-04 -2.66741924e-02 9.99643280e-01]] t_gt: [-0.95861878 0.22872491 0.16951385] Pose Error in degrees for R and t: 110.37369079621155 63.29298549784238 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99936367e-01 1.12693986e-02 -5.12461355e-04] [-1.12693358e-02 9.99936491e-01 1.25323495e-04] [ 5.13841130e-04 -1.19540421e-04 9.99999861e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9739514 0.22003645 0.05479012] [-0.22173503 0.97473194 0.02705766] [-0.04745084 -0.03850138 0.99813066]] t_gt: [-0.95329404 0.12448667 0.27519729] Pose Error in degrees for R and t: 12.627486284885375 83.175724826957 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999995e-01 9.82539726e-05 5.85587339e-07] [-9.82538689e-05 9.99999980e-01 -1.74517127e-04] [-6.02734329e-07 1.74517069e-04 9.99999985e-01]] t_estimated: [[0.68656518] [0.72706759] [0.00098786]] R_gt: [[ 0.99828708 0.05446405 0.02134881] [-0.05425971 0.99847688 -0.00999613] [-0.02185999 0.00882051 0.99972209]] t_gt: [-0.64647508 0.757044 0.09462746] Pose Error in degrees for R and t: 3.3901586052184545 83.87670375443469 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.52570374 -0.85066386 0.00256506] [-0.85066594 0.52569407 -0.00363363] [ 0.00174257 -0.00409222 -0.99999011]] t_estimated: [[8.24137437e-01] [5.66389275e-01] [8.20854021e-04]] R_gt: [[ 0.99022221 0.13945733 -0.00354648] [-0.13947447 0.99021069 -0.00551452] [ 0.0027422 0.00595564 0.99997806]] t_gt: [-0.63151672 0.77432945 -0.04000673] Pose Error in degrees for R and t: 179.72869734405333 85.3012068784651 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999919e-01 -3.64918980e-04 -1.69578930e-04] [ 3.64934329e-04 9.99999929e-01 9.04887320e-05] [ 1.69545897e-04 -9.05506098e-05 9.99999982e-01]] t_estimated: [[-0.99992751] [-0.01196722] [-0.00132969]] R_gt: [[ 9.88502124e-01 1.49557329e-01 -2.22736359e-02] [-1.49606652e-01 9.88745828e-01 -5.49705816e-04] [ 2.19410681e-02 3.87573180e-03 9.99751245e-01]] t_gt: [-0.59631394 0.79737853 -0.09272096] Pose Error in degrees for R and t: 8.717184108579564 54.06609530547542 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.99911357 -0.04206129 0.00170947] [-0.04207067 -0.99627982 0.07521027] [-0.00146033 -0.07521552 -0.99716623]] t_estimated: [[0.04773449] [0.99811925] [0.03846268]] R_gt: [[ 0.99959905 -0.0137304 -0.02476694] [ 0.01261981 0.99892972 -0.04450299] [ 0.02535218 0.0441735 0.99870275]] t_gt: [-0.02533955 0.08886909 -0.99572094] Pose Error in degrees for R and t: 178.25789671222148 87.1802373540472 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.96900468e-01 7.86724729e-02 -3.14204533e-04] [-7.86723681e-02 9.96900470e-01 3.32870406e-04] [ 3.39418385e-04 -3.07119449e-04 9.99999895e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99942282 -0.01210321 0.03173477] [ 0.01362991 0.99873938 -0.04831807] [-0.03110942 0.04872357 0.99832838]] t_gt: [-0.86519176 -0.0402074 -0.49982655] Pose Error in degrees for R and t: 6.221417723320735 68.40866729404313 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.8739246 0.48604555 0.0039392 ] [-0.48571524 0.87357918 -0.03066145] [-0.01834406 0.02488246 0.99952206]] t_estimated: [[8.63339738e-01] [5.04622480e-01] [8.06106198e-04]] R_gt: [[ 0.98639926 -0.08671686 0.1396272 ] [ 0.09309123 0.99486284 -0.03977142] [-0.13546087 0.05222841 0.98940564]] t_gt: [ 0.13528682 -0.7843975 0.60532474] Pose Error in degrees for R and t: 35.00257262122688 73.8270225340135 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.48742981e-01 -3.16048535e-01 2.82001005e-04] [ 3.16048436e-01 9.48742993e-01 3.45972946e-04] [-3.76890720e-04 -2.39113427e-04 9.99999900e-01]] t_estimated: [[9.31452270e-01] [3.63862443e-01] [8.89639226e-04]] R_gt: [[ 0.99118547 0.13220163 -0.00855296] [-0.13224416 0.99120502 -0.00472016] [ 0.00785345 0.00580946 0.99995199]] t_gt: [-0.3557185 0.9216404 -0.1550591] Pose Error in degrees for R and t: 26.028949492837445 89.77783076738463 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.99983393 -0.01653419 0.00766361] [-0.01651001 0.99985855 0.00320867] [-0.00771558 0.00308161 -0.99996549]] t_estimated: [[ 0.9924399 ] [-0.12262134] [ 0.00520075]] R_gt: [[ 0.94691361 0.32141586 -0.00674207] [-0.32144739 0.94626156 -0.03547589] [-0.00502306 0.03575998 0.99934781]] t_gt: [-0.3050105 0.94695564 -0.10121075] Pose Error in degrees for R and t: 179.66472508704942 65.20657327540748 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.80331495 0.59551569 0.00679418] [ 0.59550465 -0.80334303 0.00376746] [ 0.00770164 0.00101951 -0.99996982]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.89755542 0.44085056 -0.00658588] [-0.43794051 0.88970264 -0.12897992] [-0.05100167 0.11865114 0.99162564]] t_gt: [-0.21964924 0.96828747 -0.1190529 ] Pose Error in degrees for R and t: 172.83384545973914 35.81121027958424 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 8.12388362e-01 5.83116663e-01 3.26607854e-04] [-5.83116565e-01 8.12388422e-01 -3.51529618e-04] [-4.70315217e-04 9.51281205e-05 9.99999885e-01]] t_estimated: [[-9.99994892e-01] [-3.10075938e-03] [-7.75189839e-04]] R_gt: [[ 0.99956406 -0.02560605 -0.01466658] [ 0.02533426 0.9995107 -0.0184103 ] [ 0.01513082 0.01803086 0.99972246]] t_gt: [ 0.52600205 0.34744887 -0.77627387] Pose Error in degrees for R and t: 37.1535500981952 58.2324099949769 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-0.86930785 -0.49425183 -0.00435721] [-0.49425121 0.86931816 -0.00129275] [ 0.00442674 0.00102976 -0.99998967]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9967173 -0.07998388 0.01250389] [ 0.08036986 0.99617752 -0.0342369 ] [-0.00971769 0.03512924 0.99933452]] t_gt: [ 0.9518448 -0.13109966 -0.27713597] Pose Error in degrees for R and t: 179.82761747647965 17.969923121634043 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.93176798e-01 1.16618320e-01 -1.22474096e-04] [-1.16618204e-01 9.93176565e-01 7.10747071e-04] [ 2.04524531e-04 -6.91614792e-04 9.99999740e-01]] t_estimated: [[9.73198539e-01] [2.29965630e-01] [6.42022519e-04]] R_gt: [[ 0.98376755 -0.1767688 0.03087534] [ 0.17777396 0.98349921 -0.03356979] [-0.02443082 0.03851407 0.99895897]] t_gt: [ 0.9152352 -0.40151462 -0.03362338] Pose Error in degrees for R and t: 17.11843130225766 37.02722906341164 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-6.05070936e-01 -7.96169348e-01 -1.87916713e-03] [ 7.96171400e-01 -6.05070647e-01 -7.83328131e-04] [-5.13367024e-04 -1.97010821e-03 9.99997928e-01]] t_estimated: [[9.99988849e-01] [4.65833315e-03] [7.76388858e-04]] R_gt: [[ 0.9990138 0.04059695 0.01803716] [-0.04019637 0.99894751 -0.02205839] [-0.01891365 0.02131236 0.99959425]] t_gt: [-0.31810509 0.94478066 0.07873158] Pose Error in degrees for R and t: 129.55695890956562 71.72130988283423 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 0.97907757 -0.20290996 -0.01531867] [ 0.20310762 0.97907437 0.01267575] [ 0.01242609 -0.01552188 0.99980231]] t_estimated: [[-0.60464348] [-0.7963597 ] [-0.0147474 ]] R_gt: [[ 9.95899082e-01 9.04769269e-02 5.55469431e-04] [-9.04740731e-02 9.95758063e-01 1.67439392e-02] [ 9.61467870e-04 -1.67255494e-02 9.99859587e-01]] t_gt: [-0.25306069 0.93923466 0.23194512] Pose Error in degrees for R and t: 16.92372792277017 53.24620061373992 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 6.76306832e-01 7.36618579e-01 1.46243685e-03] [-7.36619771e-01 6.76303595e-01 2.18174682e-03] [ 6.18063939e-04 -2.55279018e-03 9.99996551e-01]] t_estimated: [[0.7153556 ] [0.69876005] [0.00087345]] R_gt: [[ 0.99438893 0.10564771 0.00548002] [-0.10576888 0.99388876 0.03156667] [-0.00211085 -0.03196799 0.99948714]] t_gt: [-0.16864829 0.95999125 0.2235499 ] Pose Error in degrees for R and t: 41.407154996246454 56.608609136331566 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999629e-01 -2.76867032e-04 8.15679126e-04] [ 2.77821996e-04 9.99999276e-01 -1.17087878e-03] [-8.15354358e-04 1.17110496e-03 9.99998982e-01]] t_estimated: [[-8.55168226e-01] [-5.18350050e-01] [-7.29043671e-04]] R_gt: [[ 0.95490426 -0.29621654 0.02031718] [ 0.29675481 0.95438907 -0.03285031] [-0.00965878 0.0373983 0.99925368]] t_gt: [ 0.86651599 -0.49384284 -0.07258988] Pose Error in degrees for R and t: 17.367835163627174 60.988801430354286 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-5.53486367e-01 -8.32857084e-01 -1.38554502e-03] [ 8.32856492e-01 -5.53487846e-01 1.12563560e-03] [-1.70437591e-03 -5.30936205e-04 9.99998407e-01]] t_estimated: [[9.83448888e-01] [1.81183814e-01] [8.42715414e-04]] R_gt: [[ 0.86927421 -0.49428605 -0.00652886] [ 0.49406496 0.86916711 -0.02117958] [ 0.01614312 0.01518607 0.99975472]] t_gt: [ 0.91028962 -0.4120144 -0.04021128] Pose Error in degrees for R and t: 93.99524156049422 34.861205487843236 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999262e-01 -2.68341650e-04 -1.18498565e-03] [ 2.69701726e-04 9.99999305e-01 1.14774693e-03] [ 1.18467683e-03 -1.14806568e-03 9.99998639e-01]] t_estimated: [[9.52678230e-01] [3.03979567e-01] [7.83452491e-04]] R_gt: [[ 8.50049143e-01 -5.26702354e-01 -8.06880000e-08] [ 5.26456933e-01 8.49653830e-01 -3.05298588e-02] [ 1.60806298e-02 2.59521961e-02 9.99533982e-01]] t_gt: [ 0.91465428 -0.40094772 -0.05146336] Pose Error in degrees for R and t: 31.817037705424053 41.45715721740594 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99741741e-01 2.27255527e-02 2.81095621e-06] [-2.27255526e-02 9.99741740e-01 -4.73803657e-05] [-3.88697525e-06 4.73042488e-05 9.99999999e-01]] t_estimated: [[ 0.54261754] [-0.83997923] [-0.00104893]] R_gt: [[ 0.99880174 0.04865765 -0.00530886] [-0.04880085 0.99831698 -0.03133889] [ 0.00377559 0.03156114 0.99949458]] t_gt: [ 0.36545729 0.77537132 -0.51501484] Pose Error in degrees for R and t: 2.3518951746341377 63.09888539537512 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99985561e-01 -5.37376807e-03 -6.65781146e-06] [ 5.37376626e-03 9.99985531e-01 -2.47279365e-04] [ 7.98653708e-06 2.47240017e-04 9.99999969e-01]] t_estimated: [[-0.19422819] [-0.98095481] [-0.00175187]] R_gt: [[ 0.99818914 0.04740977 0.03704524] [-0.04396447 0.99507652 -0.08882612] [-0.04107405 0.08703739 0.99535761]] t_gt: [ 0.34405909 0.82894762 -0.4409866 ] Pose Error in degrees for R and t: 6.2411419150761445 28.452356775128283 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 4.05566104e-01 9.14065474e-01 6.66653259e-04] [-9.14064365e-01 4.05566651e-01 -1.42390725e-03] [-1.57191679e-03 -3.18754718e-05 9.99998764e-01]] t_estimated: [[-0.08643857] [ 0.99625652] [ 0.00114684]] R_gt: [[ 0.99960821 -0.02054369 0.01904121] [ 0.02219984 0.99557938 -0.0912709 ] [-0.01708262 0.09165784 0.99564384]] t_gt: [ 0.80620404 -0.10578195 -0.58210414] Pose Error in degrees for R and t: 67.48285219703857 79.87823699235948 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 0.38838126 -0.92142751 -0.01146023] [-0.92143839 -0.38818341 -0.01627665] [ 0.01054908 0.01688144 -0.99980185]] t_estimated: [[ 0.592899 ] [ 0.80522597] [-0.00905048]] R_gt: [[ 0.99723281 0.02036231 0.07149903] [-0.01819795 0.99936025 -0.03079607] [-0.07208006 0.02940847 0.99696519]] t_gt: [-0.42056679 0.86750797 0.26561907] Pose Error in degrees for R and t: 179.69860617225504 63.46257077636174 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.79560562e-01 2.01149427e-01 1.14062737e-04] [-2.01149370e-01 9.79560504e-01 -3.88443451e-04] [-1.89866530e-04 3.57560238e-04 9.99999918e-01]] t_estimated: [[-0.56315999] [-0.82634709] [-0.00114738]] R_gt: [[ 0.98852228 0.11609832 0.09667189] [-0.10786172 0.99039747 -0.08647786] [-0.10578395 0.07505767 0.99155252]] t_gt: [-0.35189058 0.93601336 0.00721102] Pose Error in degrees for R and t: 9.038666549984946 54.878690747591406 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.85901474e-01 1.67326808e-01 -1.50448600e-04] [-1.67326822e-01 9.85901480e-01 -8.52394746e-05] [ 1.34064648e-04 1.09211810e-04 9.99999985e-01]] t_estimated: [[-0.678806 ] [-0.73431708] [-0.00091742]] R_gt: [[ 0.97572216 0.20300842 0.08218988] [-0.19851753 0.97828159 -0.05962645] [-0.0925101 0.04186151 0.99483127]] t_gt: [-0.30505991 0.95129979 0.04435277] Pose Error in degrees for R and t: 6.158624513845974 60.55947248951334 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999985e-01 1.73845261e-04 -1.51857337e-05] [-1.73846892e-04 9.99999979e-01 -1.07520736e-04] [ 1.51670414e-05 1.07523375e-04 9.99999994e-01]] t_estimated: [[-0.58904352] [-0.80810063] [-0.00104812]] R_gt: [[ 0.99395298 -0.1044489 0.03389545] [ 0.10591885 0.99335858 -0.04495132] [-0.02897483 0.04826952 0.99841348]] t_gt: [ 0.77003846 -0.58858038 -0.2461989 ] Pose Error in degrees for R and t: 6.856268481838844 88.72196568717564 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 7.59403541e-01 6.50619151e-01 -9.91377026e-04] [-6.50618613e-01 7.59404188e-01 8.36890692e-04] [ 1.29735298e-03 9.47059058e-06 9.99999158e-01]] t_estimated: [[-0.95969169] [-0.28105257] [-0.00114249]] R_gt: [[ 0.96885 -0.15961208 0.18935221] [ 0.17042118 0.98447014 -0.04214342] [-0.17968468 0.07310008 0.98100379]] t_gt: [ 0.66459084 -0.62015188 0.4168101 ] Pose Error in degrees for R and t: 51.34787870973143 62.35556134684243 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.27280123 0.96205705 0.00507145] [ 0.96204971 -0.27275699 -0.00799829] [-0.00631154 0.00706093 -0.99995515]] t_estimated: [[0.79726258] [0.60362807] [0.00235132]] R_gt: [[ 0.94478836 -0.14363031 0.29452727] [ 0.1653004 0.98497987 -0.04991371] [-0.28293543 0.09584365 0.95433825]] t_gt: [ 0.54291884 -0.47854725 0.6900954 ] Pose Error in degrees for R and t: 165.931795747134 81.62757182808889 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.94023275e-01 -1.09168345e-01 -2.82854538e-05] [ 1.09168348e-01 9.94023244e-01 2.48318718e-04] [ 1.00785507e-06 -2.49922462e-04 9.99999969e-01]] t_estimated: [[-0.73865986] [-0.67407758] [-0.0010091 ]] R_gt: [[ 0.99931795 0.03421864 -0.01383471] [-0.03398403 0.99928075 0.01683922] [ 0.01440004 -0.0163572 0.99976255]] t_gt: [ 0.15796055 0.98617477 -0.05007783] Pose Error in degrees for R and t: 8.314347105531548 38.6122663835918 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-2.43122552e-01 9.69995216e-01 8.40642019e-04] [-9.69994639e-01 -2.43121018e-01 -1.60315716e-03] [-1.35067703e-03 -1.20518191e-03 9.99998362e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99176011 0.12793773 -0.00656844] [-0.12763887 0.99122181 0.03447987] [ 0.01092137 -0.03335704 0.99938428]] t_gt: [-0.23605118 0.96229958 0.1351272 ] Pose Error in degrees for R and t: 96.74353825781881 16.06495760816113 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 8.09077863e-01 -5.87701239e-01 -5.15718346e-04] [-5.87701418e-01 -8.09077838e-01 -3.09121054e-04] [-2.35585458e-04 5.53191405e-04 -9.99999819e-01]] t_estimated: [[0.58535481] [0.81077671] [0.00092766]] R_gt: [[ 0.98255732 0.1841076 0.02617571] [-0.18520947 0.98147949 0.04895139] [-0.01667886 -0.05294571 0.99845816]] t_gt: [-0.23597324 0.92887011 0.28551172] Pose Error in degrees for R and t: 176.85735892325016 52.030417531364876 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 9.98921836e-01 4.64237278e-02 5.30966218e-05] [-4.64237233e-02 9.98921834e-01 -8.28079307e-05] [-5.68836277e-05 8.02537073e-05 9.99999995e-01]] t_estimated: [[ 3.85858839e-01] [-9.22557646e-01] [-5.87798797e-04]] R_gt: [[ 0.99892211 -0.04087696 -0.02198036] [ 0.04131559 0.99894866 0.01986366] [ 0.02114518 -0.02075078 0.99956117]] t_gt: [ 0.82148216 -0.56991608 -0.01904532] Pose Error in degrees for R and t: 5.297785768940491 32.56644441762205 Number of keypoints: Image1: 514 Image2: 514 R_estimated: [[ 9.99923608e-01 1.23603691e-02 5.46618372e-06] [-1.23603689e-02 9.99923607e-01 -4.32517091e-05] [-6.00037323e-06 4.31808410e-05 9.99999999e-01]] t_estimated: [[ 4.50864833e-02] [-9.98983070e-01] [-1.87601535e-04]] R_gt: [[ 0.99885369 -0.0080506 -0.04716643] [ 0.01045246 0.99864864 0.05090183] [ 0.04669321 -0.05133698 0.99758959]] t_gt: [ 0.67129771 -0.72534365 0.1524335 ] Pose Error in degrees for R and t: 4.169891096902209 40.98826946594315 Number of keypoints: Image1: 381 Image2: 381 R_estimated: [[ 9.98707811e-01 5.08194498e-02 3.04029458e-04] [-5.08195472e-02 9.98707800e-01 3.21535966e-04] [-2.87296310e-04 -3.36571120e-04 9.99999902e-01]] t_estimated: [[-0.02399467] [-0.99969116] [ 0.00646889]] R_gt: [[ 0.99774122 0.06704946 -0.00404227] [-0.06653627 0.99477485 0.07743495] [ 0.0092128 -0.0769906 0.99698881]] t_gt: [-0.80925186 -0.14625009 0.56896602] Pose Error in degrees for R and t: 4.525091256550485 80.25268995633449 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.88446765e-01 -1.51568431e-01 -6.64511401e-05] [ 1.51568439e-01 9.88446755e-01 1.44607594e-04] [ 4.37654677e-05 -1.53008804e-04 9.99999987e-01]] t_estimated: [[-0.65732057] [-0.75361037] [-0.00103469]] R_gt: [[ 0.9968802 0.07548853 -0.02305788] [-0.07477413 0.9967362 0.03040732] [ 0.02527865 -0.02858888 0.99927181]] t_gt: [-0.2148648 0.97621285 0.02901022] Pose Error in degrees for R and t: 13.208279326014253 53.524493489634914 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 1.48625584e-01 9.88892991e-01 1.04332995e-03] [-9.88892901e-01 1.48626606e-01 -9.80732332e-04] [-1.12490592e-03 -8.85979665e-04 9.99998975e-01]] t_estimated: [[0.13792344] [0.9904423 ] [0.00108601]] R_gt: [[ 0.98743336 0.15766073 0.01087624] [-0.15796843 0.98668064 0.03880995] [-0.00461267 -0.04004082 0.99918719]] t_gt: [-0.29498567 0.92913774 0.22290472] Pose Error in degrees for R and t: 72.40034127466501 28.38007034752789 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 5.54500771e-01 -8.32183209e-01 2.99605944e-05] [-8.32183166e-01 -5.54500730e-01 3.44018782e-04] [-2.69673482e-04 -2.15691382e-04 -9.99999940e-01]] t_estimated: [[0.50119018] [0.86533618] [0.00130518]] R_gt: [[ 9.84493026e-01 1.75302765e-01 6.53776483e-03] [-1.75424649e-01 9.83865008e-01 3.51537501e-02] [-2.69769840e-04 -3.57561233e-02 9.99360800e-01]] t_gt: [-0.16984422 0.97200902 0.16233114] Pose Error in degrees for R and t: 178.0918388217102 40.86947443100831 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.99637374 0.07530321 0.03960812] [-0.07301745 0.99574052 -0.05629618] [-0.04367869 0.05319995 0.99762816]] t_estimated: [[0.34030116] [0.94030584] [0.00447765]] R_gt: [[ 0.99714704 -0.07519031 -0.00677769] [ 0.07494047 0.9966852 -0.0316641 ] [ 0.00913529 0.03106629 0.99947616]] t_gt: [ 0.65305037 -0.63183776 -0.41750002] Pose Error in degrees for R and t: 9.121223182802659 68.05253143078345 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.96752772 0.2527576 -0.00192598] [-0.25275151 0.96752678 0.00293493] [ 0.00260526 -0.00235283 0.99999384]] t_estimated: [[-0.66724791] [-0.74483488] [-0.00110839]] R_gt: [[ 0.98323282 -0.15510417 0.09589764] [ 0.15966092 0.9862878 -0.04177094] [-0.08810371 0.05638106 0.99451391]] t_gt: [ 0.70692248 -0.70315918 0.07633987] Pose Error in degrees for R and t: 24.50536533527348 87.02155148655382 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-4.40364064e-01 -8.97816768e-01 -2.13105221e-03] [ 8.97818963e-01 -4.40364708e-01 -1.82588627e-04] [-7.74509054e-04 -1.99370456e-03 9.99997713e-01]] t_estimated: [[0.97505222] [0.22197256] [0.00116216]] R_gt: [[ 0.96271852 -0.16535077 0.21408706] [ 0.17896932 0.98279105 -0.04574032] [-0.20284047 0.08234991 0.97574316]] t_gt: [ 0.63352127 -0.63865454 0.43677361] Pose Error in degrees for R and t: 106.62791335025815 61.54553788345053 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 6.89763274e-01 7.24034687e-01 -6.30409006e-04] [-7.24034853e-01 6.89762432e-01 -1.14803504e-03] [-3.96384745e-04 1.24831050e-03 9.99999142e-01]] t_estimated: [[-2.46918815e-01] [ 9.69035999e-01] [-5.75805503e-04]] R_gt: [[ 0.99735691 0.06094457 0.03955714] [-0.05915985 0.99724038 -0.04483865] [-0.04218025 0.04238011 0.99821031]] t_gt: [-0.30457387 0.94738709 -0.09845034] Pose Error in degrees for R and t: 43.06896676443657 6.629280784283589 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 1.95773104e-02 -9.99807002e-01 -1.63948805e-03] [ 9.99808343e-01 1.95771586e-02 1.08600317e-04] [-7.64828402e-05 -1.64129993e-03 9.99998650e-01]] t_estimated: [[ 7.53926466e-01] [-6.56958800e-01] [ 1.35476277e-04]] R_gt: [[ 0.9861255 0.15897346 0.04778654] [-0.15624004 0.98610968 -0.05635589] [-0.05608192 0.04810748 0.99726687]] t_gt: [-0.30513355 0.95185138 -0.02953774] Pose Error in degrees for R and t: 98.03151614152755 31.198325838496505 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99428679e-01 3.37967615e-02 -3.08214903e-04] [-3.37966835e-02 9.99428696e-01 2.55016199e-04] [ 3.16657540e-04 -2.44453861e-04 9.99999920e-01]] t_estimated: [[0.97968122] [0.20055673] [0.00130909]] R_gt: [[ 0.95607787 0.29301763 -0.00748385] [-0.29310775 0.95590522 -0.01823713] [ 0.00180935 0.01962932 0.99980576]] t_gt: [-0.24817294 0.96596472 -0.07295447] Pose Error in degrees for R and t: 15.14900036366049 87.16297812695998 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 9.99994053e-01 -3.44843201e-03 5.55679361e-05] [ 3.44843622e-03 9.99994051e-01 -7.58434175e-05] [-5.53060647e-05 7.60345889e-05 9.99999996e-01]] t_estimated: [[ 5.95013681e-01] [-8.03715494e-01] [-3.51941616e-04]] R_gt: [[ 0.99879406 -0.03287755 0.03644878] [ 0.03456153 0.99831616 -0.04658535] [-0.03485546 0.04778949 0.99824909]] t_gt: [ 0.65606801 -0.75333826 0.04534559] Pose Error in degrees for R and t: 3.805112684264564 5.238596280719495 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[-0.92687183 0.3729589 0.04254733] [ 0.37297058 0.92780902 -0.00796077] [-0.04244484 0.00849029 -0.99906274]] t_estimated: [[ 0.98119134] [-0.1917878 ] [ 0.02193165]] R_gt: [[ 0.99677987 -0.07754211 -0.02040296] [ 0.07710015 0.99678919 -0.02161762] [ 0.02201417 0.01997577 0.99955846]] t_gt: [ 0.61238558 -0.72064251 -0.32505119] Pose Error in degrees for R and t: 178.48785353150666 42.94996764879004 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-0.83712018 -0.54682871 -0.01442779] [-0.5460443 0.83691166 -0.03760974] [ 0.03264087 -0.02360566 -0.99918834]] t_estimated: [[0.99993236] [0.01157329] [0.00115733]] R_gt: [[ 0.9873095 -0.14734353 -0.05924116] [ 0.14917401 0.98842238 0.02772683] [ 0.0544701 -0.03621289 0.99785869]] t_gt: [ 0.54411591 -0.82388371 -0.15859858] Pose Error in degrees for R and t: 175.85256967751286 57.69944693526665 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.94342079 0.32936143 -0.03844816] [-0.33048959 -0.94339779 0.02787894] [-0.02708966 0.03900829 0.99887162]] t_estimated: [[0.817844 ] [0.57543897] [0.00109191]] R_gt: [[ 0.96221382 -0.26110167 -0.07726733] [ 0.25980914 0.96529623 -0.02651015] [ 0.08150816 0.0054337 0.99665771]] t_gt: [ 0.87277454 -0.45213915 -0.18394235] Pose Error in degrees for R and t: 175.7588116354814 63.037060083870834 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-9.35470468e-01 -3.53404870e-01 2.63685023e-05] [-3.53404492e-01 9.35469573e-01 1.39394766e-03] [-5.17294822e-04 1.29467812e-03 -9.99999028e-01]] t_estimated: [[9.74435346e-01] [2.24666377e-01] [8.81044616e-04]] R_gt: [[ 0.88388607 -0.46464151 -0.05341726] [ 0.45939519 0.88393614 -0.08725168] [ 0.08775896 0.05258059 0.99475297]] t_gt: [ 0.91454382 -0.36225559 -0.17994579] Pose Error in degrees for R and t: 175.1884897992979 35.941312470880774 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.27164718e-01 3.74653926e-01 -1.44476870e-04] [-3.74653749e-01 9.27164545e-01 6.88871807e-04] [ 3.92042359e-04 -5.84568834e-04 9.99999752e-01]] t_estimated: [[9.80914692e-01] [1.94436974e-01] [7.93620301e-04]] R_gt: [[ 0.70770617 -0.7047112 -0.05033229] [ 0.699712 0.70897658 -0.08806444] [ 0.09774569 0.02710488 0.99484268]] t_gt: [ 0.96168846 -0.25666469 -0.09632518] Pose Error in degrees for R and t: 66.97899547682422 26.702371753899524 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.98222274 0.18056262 0.05133835] [ 0.18005782 0.98355162 -0.01433186] [-0.05308171 -0.00483321 -0.99857848]] t_estimated: [[ 0.9966471 ] [-0.07660797] [ 0.02873641]] R_gt: [[ 0.99537736 -0.09451081 0.01713533] [ 0.09504892 0.99489487 -0.03391427] [-0.01384307 0.03538564 0.99927718]] t_gt: [ 0.56570896 -0.81765863 -0.10680701] Pose Error in degrees for R and t: 175.95982470892918 51.43646335272837 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.98655337e-01 -5.18412305e-02 7.47858101e-05] [ 5.18412189e-02 9.98655329e-01 1.48962666e-04] [-8.24076557e-05 -1.44885373e-04 9.99999986e-01]] t_estimated: [[0.9497251 ] [0.31308322] [0.00106589]] R_gt: [[ 0.9993671 -0.03166388 0.01626006] [ 0.03193068 0.99935473 -0.01642395] [-0.01572964 0.016933 0.9997325 ]] t_gt: [ 0.07616946 -0.99272206 0.09327987] Pose Error in degrees for R and t: 1.7556601261386862 76.2099300885544 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99987391e-01 4.92657374e-03 9.72827170e-04] [-4.92560839e-03 9.99987377e-01 -9.92234712e-04] [-9.77703208e-04 9.87430435e-04 9.99999035e-01]] t_estimated: [[0.04588471] [0.99890678] [0.00893564]] R_gt: [[ 0.99792545 -0.02503666 0.05932491] [ 0.02702772 0.99909022 -0.03299534] [-0.05844539 0.03453008 0.99769295]] t_gt: [-0.31638073 -0.72555445 0.61112517] Pose Error in degrees for R and t: 4.208313926186341 42.79260937103482 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-2.10050023e-01 -9.77690061e-01 -1.06451340e-03] [-9.77690602e-01 2.10049583e-01 5.10134858e-04] [-2.75153183e-04 1.14791859e-03 -9.99999303e-01]] t_estimated: [[0.67517517] [0.73765685] [0.00093256]] R_gt: [[ 0.97926195 0.20235102 -0.00998891] [-0.20241727 0.97928029 -0.00611879] [ 0.00854398 0.00801483 0.99993095]] t_gt: [-0.38125876 0.9224599 -0.06090561] Pose Error in degrees for R and t: 179.29264984396926 64.97677386827856 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999980e-01 1.97395555e-04 3.44648992e-05] [-1.97395520e-04 9.99999981e-01 -1.01629088e-06] [-3.44650992e-05 1.00948764e-06 9.99999999e-01]] t_estimated: [[-9.99997491e-01] [ 2.22157189e-03] [ 2.89155904e-04]] R_gt: [[ 0.94528976 0.32616799 0.00658874] [-0.32602604 0.9452142 -0.01666155] [-0.01166265 0.01360332 0.99983911]] t_gt: [-0.31640316 0.94860209 -0.00656638] Pose Error in degrees for R and t: 19.04962995874316 71.427289956177 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.87185223 -0.48965486 -0.01057409] [ 0.4897151 0.8718734 0.00398687] [ 0.00726708 -0.00865425 0.99993614]] t_estimated: [[8.13998698e-01] [5.80866328e-01] [6.54866209e-04]] R_gt: [[ 9.26759268e-01 3.75657158e-01 -2.63033519e-04] [-3.75391532e-01 9.26077537e-01 -3.82402945e-02] [-1.41225755e-02 3.55388645e-02 9.99267913e-01]] t_gt: [-0.26602086 0.96325453 -0.03706228] Pose Error in degrees for R and t: 51.45396414480868 69.94285341320483 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.6075309 -0.79428299 -0.00455307] [ 0.79429403 0.60753229 0.00123036] [ 0.00178889 -0.00436396 0.99998888]] t_estimated: [[0.97679173] [0.21418807] [0.00117686]] R_gt: [[ 0.97434581 0.20361038 -0.0958779 ] [-0.20153064 0.97899146 0.03101016] [ 0.1001774 -0.01089242 0.99490962]] t_gt: [-0.21073869 0.93855072 -0.27333451] Pose Error in degrees for R and t: 64.51608908264384 89.70531950850273 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.67902425e-01 -2.51323245e-01 -1.23332116e-03] [ 2.51324167e-01 9.67902748e-01 6.57847039e-04] [ 1.02840269e-03 -9.46695158e-04 9.99999023e-01]] t_estimated: [[0.72345777] [0.69036823] [0.00075204]] R_gt: [[ 0.93230936 0.34048384 -0.12194654] [-0.33330373 0.93977262 0.07573532] [ 0.14038811 -0.02996403 0.98964241]] t_gt: [-0.1658082 0.96718541 -0.19250982] Pose Error in degrees for R and t: 35.280490410556304 56.79651829715278 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 1.58229362e-01 -9.87400910e-01 -1.70620800e-03] [ 9.87402376e-01 1.58229351e-01 1.42302057e-04] [ 1.29463004e-04 -1.70723020e-03 9.99998534e-01]] t_estimated: [[9.88371320e-01] [1.52057126e-01] [8.73891530e-04]] R_gt: [[ 0.89055272 0.44163477 -0.10897417] [-0.4398249 0.89712728 0.0414464 ] [ 0.11606765 0.01101932 0.99318006]] t_gt: [-0.09045963 0.98128799 -0.16997332] Pose Error in degrees for R and t: 107.28124384907119 86.57995610242637 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999993e-01 -8.13716515e-05 -8.99514463e-05] [ 8.13782130e-05 9.99999994e-01 7.29439481e-05] [ 8.99455102e-05 -7.29512677e-05 9.99999993e-01]] t_estimated: [[-9.92268841e-01] [-1.24106688e-01] [ 2.76475928e-04]] R_gt: [[ 0.99576448 0.0910777 0.01259163] [-0.09092905 0.99578698 -0.01188056] [-0.01362003 0.01068471 0.99985019]] t_gt: [-0.36862684 0.92917253 0.02743486] Pose Error in degrees for R and t: 5.32060804777075 75.4947930164194 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.17790119 -0.97784121 0.11035276] [-0.97071656 0.19278083 0.143335 ] [-0.16143276 -0.08162179 -0.98350259]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.98373864 0.1792925 0.01061318] [-0.17830167 0.98199737 -0.06236597] [-0.02160317 0.0594591 0.9979967 ]] t_gt: [-0.31232616 0.94554754 -0.09160907] Pose Error in degrees for R and t: 171.61150401027712 68.5225722023408 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.28866595 0.13941297 -0.94722542] [-0.7605448 -0.63436138 0.1384097 ] [-0.58158712 0.76036153 0.28914834]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.94925095 0.31372312 0.0223734 ] [-0.31235784 0.9486631 -0.04970579] [-0.03681867 0.04019371 0.99851353]] t_gt: [-0.28009822 0.95969503 0.02303107] Pose Error in degrees for R and t: 129.86237158149137 61.31849497969873 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-0.67642983 -0.73597721 -0.02793253] [-0.73585636 0.67693987 -0.01636561] [ 0.03095337 0.00948414 -0.99947583]] t_estimated: [[ 0.91815276] [ 0.39597622] [-0.01408341]] R_gt: [[ 0.99116677 -0.12948674 0.02867916] [ 0.13032882 0.99102362 -0.02976312] [-0.02456858 0.03323869 0.99914599]] t_gt: [ 0.62152208 -0.7833448 0.00901282] Pose Error in degrees for R and t: 178.82138565933596 74.90980035891941 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 8.22791478e-01 5.68343143e-01 5.05732024e-04] [-5.68342981e-01 8.22791630e-01 -4.34737298e-04] [-6.63192039e-04 7.02688981e-05 9.99999778e-01]] t_estimated: [[0.76519843] [0.64379372] [0.00101004]] R_gt: [[ 0.99001126 -0.13844057 0.02669188] [ 0.13940442 0.98948898 -0.03844848] [-0.0210895 0.04178683 0.99890452]] t_gt: [ 0.591727 -0.8033576 -0.06690085] Pose Error in degrees for R and t: 42.70308124561672 86.30325734700152 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 5.54126694e-01 -8.32432237e-01 4.21737395e-04] [-8.32432072e-01 -5.54126851e-01 -5.27129790e-04] [ 6.72495845e-04 -5.89710462e-05 -9.99999772e-01]] t_estimated: [[0.11412895] [0.99346535] [0.00108694]] R_gt: [[ 0.99396229 -0.09453858 0.05569293] [ 0.09713482 0.99421113 -0.04592114] [-0.05102952 0.05105462 0.99739145]] t_gt: [ 0.37878228 -0.91485613 0.13986513] Pose Error in degrees for R and t: 178.97519030268884 30.060631051287814 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[-9.45897426e-01 -3.24462724e-01 -1.41423694e-03] [ 3.24465613e-01 -9.45892632e-01 -3.03239478e-03] [-3.53817229e-04 -3.32720568e-03 9.99994402e-01]] t_estimated: [[0.88860496] [0.4586719 ] [0.00114955]] R_gt: [[ 0.99863204 0.01789066 -0.04913337] [-0.02038717 0.99850162 -0.05077373] [ 0.04815186 0.05170605 0.99750057]] t_gt: [-0.01017525 0.40065974 -0.91617042] Pose Error in degrees for R and t: 162.17288429779825 79.99835790369933 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.98733675e-01 -5.03095056e-02 -2.35426580e-05] [ 5.03095068e-02 9.98733673e-01 5.53197015e-05] [ 2.07297385e-05 -5.64340682e-05 9.99999998e-01]] t_estimated: [[-3.01552501e-02] [ 9.99545222e-01] [ 9.74603222e-05]] R_gt: [[ 0.99812579 0.02033561 -0.05772724] [-0.02407279 0.99760923 -0.06477714] [ 0.05627166 0.06604533 0.99622908]] t_gt: [ 0.00120088 0.37879643 -0.92547924] Pose Error in degrees for R and t: 6.486271469245562 67.75933922060607 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.60950464 -0.79276983 -0.00448169] [ 0.7927808 -0.60948189 -0.00551597] [ 0.00164139 -0.00691501 0.99997474]] t_estimated: [[0.9545949 ] [0.29788777] [0.00338509]] R_gt: [[ 0.99749695 -0.01465899 0.06917597] [ 0.00840938 0.99592725 0.08977323] [-0.07021012 -0.08896694 0.99355742]] t_gt: [-0.01080313 -0.26488425 0.9642197 ] Pose Error in degrees for R and t: 126.99402784188398 85.0690897955164 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.97205202e-01 7.47112054e-02 -1.42632640e-04] [-7.47111919e-02 9.97205209e-01 9.76693272e-05] [ 1.49531005e-04 -8.67401066e-05 9.99999985e-01]] t_estimated: [[-0.97607849] [-0.21741312] [-0.00152037]] R_gt: [[ 0.99975616 0.00929227 0.02006189] [-0.00878667 0.99964431 -0.02518233] [-0.02028928 0.02500149 0.99948204]] t_gt: [-0.4226181 0.44242175 -0.79098479] Pose Error in degrees for R and t: 4.197731583492127 71.48682353830145 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.47945803e-01 3.18431493e-01 -3.73347055e-04] [-3.18431293e-01 9.47945806e-01 5.09759372e-04] [ 5.16236213e-04 -3.64338872e-04 9.99999800e-01]] t_estimated: [[-9.43275077e-01] [-3.32010996e-01] [-9.09619168e-04]] R_gt: [[ 9.82408883e-01 -1.86737569e-01 -1.43528374e-03] [ 1.86740619e-01 9.82404443e-01 2.98435958e-03] [ 8.53184152e-04 -3.19900829e-03 9.99994656e-01]] t_gt: [ 0.99205155 -0.12581796 0.0018894 ] Pose Error in degrees for R and t: 29.33107241527834 26.618927717380537 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.66636476 0.74558018 -0.00825881] [-0.74561128 0.6663802 -0.00111588] [ 0.00467153 0.00690145 0.99996527]] t_estimated: [[0.06063584] [0.99815927] [0.00116607]] R_gt: [[ 0.92755228 -0.37283384 -0.02536236] [ 0.373477 0.92719073 0.02884441] [ 0.01276095 -0.03622636 0.99926245]] t_gt: [ 0.99508193 -0.05360314 0.08329858] Pose Error in degrees for R and t: 70.16217020313125 89.6029202575302 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 6.95442319e-01 7.18580484e-01 1.43848459e-03] [ 7.18578590e-01 -6.95443797e-01 1.65395997e-03] [ 2.18888854e-03 -1.16569534e-04 -9.99997598e-01]] t_estimated: [[-0.96460101] [-0.2637115 ] [-0.00106624]] R_gt: [[ 0.99030042 -0.13892837 0.0020779 ] [ 0.13893852 0.9902796 -0.00638104] [-0.00117101 0.00660816 0.9999767 ]] t_gt: [ 0.7689906 -0.6388684 -0.02237468] Pose Error in degrees for R and t: 179.66174320751745 55.021549509957694 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 1.00000000e+00 1.09426357e-13 -1.25854188e-15] [-1.09426357e-13 1.00000000e+00 -9.06393694e-15] [ 1.25824373e-15 9.06906657e-15 1.00000000e+00]] t_estimated: [[9.95581268e-01] [9.39035750e-02] [2.39581854e-04]] R_gt: [[ 9.60533054e-01 -2.78166487e-01 -7.48090013e-04] [ 2.78121089e-01 9.60420368e-01 -1.55111049e-02] [ 5.03314050e-03 1.46912759e-02 9.99878074e-01]] t_gt: [ 0.83423229 -0.54946128 -0.04635503] Pose Error in degrees for R and t: 16.17491341699409 38.83650694411585 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 8.75240374e-01 -4.83668625e-01 4.35310599e-03] [-4.83663658e-01 -8.75251180e-01 -2.19935219e-03] [ 4.87381881e-03 -1.80477334e-04 -9.99988107e-01]] t_estimated: [[0.96170877] [0.27406209] [0.00249147]] R_gt: [[ 0.9264096 -0.37623496 0.01463102] [ 0.37634247 0.92408544 -0.06655625] [ 0.01152091 0.06716488 0.99767494]] t_gt: [ 0.87536165 -0.46300105 -0.13918337] Pose Error in degrees for R and t: 176.12803984376188 44.38914921010043 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.32490445 -0.94571844 0.00732989] [-0.94572669 -0.32483716 0.00904674] [-0.00617465 -0.0098714 -0.99993221]] t_estimated: [[0.56648985] [0.82404138] [0.00671217]] R_gt: [[ 0.99257923 -0.12147137 0.00565368] [ 0.1200837 0.98644512 0.11182826] [-0.01916105 -0.11031817 0.99371122]] t_gt: [ 0.42239687 -0.6654921 0.61538699] Pose Error in degrees for R and t: 173.72374800453588 72.24310535019553 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.77229899e-01 2.12182563e-01 5.33664371e-04] [-2.12182870e-01 9.77229790e-01 6.06270204e-04] [-3.92872756e-04 -7.05699808e-04 9.99999674e-01]] t_estimated: [[0.24035881] [0.97068272] [0.00164549]] R_gt: [[ 0.98642229 -0.16373201 -0.01277659] [ 0.16408649 0.97932258 0.11833121] [-0.00686273 -0.11882025 0.99289225]] t_gt: [ 0.50064331 -0.7121962 0.49206996] Pose Error in degrees for R and t: 22.74491843026237 55.23772199435081 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.24305212e-01 5.66145659e-01 -1.00587613e-04] [-5.66145668e-01 8.24305194e-01 -1.70854731e-04] [-1.38137726e-05 1.97783686e-04 9.99999980e-01]] t_estimated: [[-9.99819049e-01] [-1.89965619e-02] [-9.99819049e-04]] R_gt: [[ 0.98990455 -0.1309049 -0.05436052] [ 0.13228887 0.99095187 0.02268342] [ 0.05089967 -0.02964559 0.99826447]] t_gt: [ 0.6529857 -0.7400772 -0.1609205] Pose Error in degrees for R and t: 42.179758127389505 50.308942069153176 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 6.71137447e-01 -7.41332781e-01 -4.84027232e-04] [ 7.41332918e-01 6.71137127e-01 6.79400891e-04] [-1.78813506e-04 -8.14796700e-04 9.99999652e-01]] t_estimated: [[0.50891773] [0.86081402] [0.00140198]] R_gt: [[ 0.98410224 -0.1738794 -0.03618747] [ 0.17474033 0.98436606 0.02214108] [ 0.03177204 -0.02811183 0.99910027]] t_gt: [ 0.61580139 -0.78613751 -0.05269221] Pose Error in degrees for R and t: 37.87493700895504 68.69086263155003 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.17745759 -0.98412118 -0.00378377] [ 0.98411762 -0.17747236 0.00400911] [-0.00461696 -0.00301222 0.9999848 ]] t_estimated: [[0.99961697] [0.02761373] [0.00184092]] R_gt: [[ 0.97911736 -0.20069339 -0.03244172] [ 0.2011463 0.97949583 0.01132465] [ 0.02950315 -0.0176134 0.99940993]] t_gt: [ 0.58368627 -0.80807602 -0.07952038] Pose Error in degrees for R and t: 88.64331760566536 55.87485685594306 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.96572085e-01 8.27289498e-02 1.64161978e-05] [-8.27289495e-02 9.96572085e-01 -1.87171002e-05] [-1.79083705e-05 1.72948448e-05 1.00000000e+00]] t_estimated: [[-7.15172575e-01] [-6.98947586e-01] [-6.78443760e-04]] R_gt: [[ 0.99548735 0.05266016 0.07894444] [-0.0478363 0.99694068 -0.06180265] [-0.08195742 0.05774714 0.99496128]] t_gt: [-0.49540598 0.84464882 0.20283314] Pose Error in degrees for R and t: 6.045179152783708 76.33750730465844 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.20357308e-01 3.91078356e-01 3.79674619e-04] [-3.91077098e-01 9.20356117e-01 -1.82224963e-03] [-1.06207825e-03 1.52863872e-03 9.99998268e-01]] t_estimated: [[0.86410818] [0.50330511] [0.00101065]] R_gt: [[ 0.99080741 0.0312069 0.13163721] [-0.02407364 0.99817211 -0.05543604] [-0.13312756 0.05175745 0.98974658]] t_gt: [-0.27014429 0.61116565 0.74397487] Pose Error in degrees for R and t: 22.904769219279643 85.70332797353687 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.87683416 0.48032989 0.02109636] [ 0.48038919 0.87705189 -0.00249263] [-0.01969989 0.00794885 -0.99977434]] t_estimated: [[ 0.97808295] [-0.20809384] [ 0.00712076]] R_gt: [[ 0.98620736 -0.04271308 0.15991365] [ 0.05173371 0.99727036 -0.05266887] [-0.1572283 0.0602157 0.98572542]] t_gt: [ 0.4635572 -0.19129136 0.86517185] Pose Error in degrees for R and t: 169.1381168602609 60.04202683005062 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.34430215e-01 -3.56103485e-01 -5.52101268e-03] [ 3.56111413e-01 -9.34443373e-01 -4.93247669e-04] [-4.98342650e-03 -2.42700115e-03 9.99984637e-01]] t_estimated: [[0.50247359] [0.86459142] [0.00140356]] R_gt: [[ 0.99796893 -0.05643751 -0.02954787] [ 0.05980479 0.98979696 0.12932778] [ 0.0219476 -0.13083221 0.99116124]] t_gt: [ 0.23600524 -0.74410035 0.62499295] Pose Error in degrees for R and t: 155.8246829832153 58.40718004908752 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.98789921e-01 4.91796990e-02 2.24835682e-04] [-4.91797186e-02 9.98789942e-01 8.25873018e-05] [-2.20501999e-04 -9.35447203e-05 9.99999971e-01]] t_estimated: [[6.87776377e-02] [9.97631592e-01] [9.18313675e-04]] R_gt: [[ 0.99008597 -0.09715771 -0.10143933] [ 0.11361699 0.97858471 0.17165173] [ 0.08259045 -0.1814749 0.97992128]] t_gt: [ 0.36361447 -0.81166908 0.45714092] Pose Error in degrees for R and t: 14.552686306901855 38.342319911745534 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.75118854 0.66008452 0.00204932] [ 0.66006972 -0.75118737 0.00504975] [ 0.00487269 -0.00244062 -0.99998515]] t_estimated: [[0.80739709] [0.59000777] [0.00088091]] R_gt: [[ 0.96808697 -0.1427758 -0.20596809] [ 0.17562834 0.97278319 0.15115566] [ 0.17878057 -0.18250589 0.96681391]] t_gt: [ 0.53109591 -0.8371817 0.13062901] Pose Error in degrees for R and t: 166.77840641426383 86.2718070728443 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99169433e-01 -4.07483746e-02 1.15906828e-04] [ 4.07483703e-02 9.99169440e-01 3.84784609e-05] [-1.17378495e-04 -3.37234877e-05 9.99999993e-01]] t_estimated: [[0.58548478] [0.81068237] [0.00128885]] R_gt: [[ 0.9913632 -0.10555583 -0.0778266 ] [ 0.10863318 0.99341517 0.03641172] [ 0.07347145 -0.04455152 0.99630203]] t_gt: [ 0.58351367 -0.80256608 -0.12409468] Pose Error in degrees for R and t: 6.241482977520042 71.99212338137703 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.06790508 0.9976817 0.00448684] [ 0.99768836 -0.06791595 0.00231626] [ 0.00261562 0.00431918 -0.99998725]] t_estimated: [[-0.99892175] [-0.04630763] [-0.00330769]] R_gt: [[ 0.98480761 -0.14238338 -0.0994053 ] [ 0.15686905 0.97496283 0.15760813] [ 0.07447638 -0.17080748 0.98248605]] t_gt: [ 0.44545021 -0.81603355 0.36832507] Pose Error in degrees for R and t: 169.7347139003393 65.89565827794456 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-6.35146313e-01 7.72390964e-01 -1.16648271e-03] [-7.72388740e-01 -6.35147318e-01 -1.87582135e-03] [-2.18975583e-03 -2.90442901e-04 9.99997560e-01]] t_estimated: [[0.40899022] [0.91253806] [0.00113925]] R_gt: [[ 0.96164782 -0.18225451 -0.20498122] [ 0.21361 0.96641797 0.1428555 ] [ 0.1720619 -0.18116219 0.96828455]] t_gt: [ 0.56499995 -0.81706329 0.11481565] Pose Error in degrees for R and t: 141.37229317849483 59.04323617105242 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.82126106e-01 1.88222015e-01 8.85946680e-04] [-1.88215769e-01 9.82116041e-01 -4.78601707e-03] [-1.77093622e-03 4.53372317e-03 9.99988154e-01]] t_estimated: [[0.95091432] [0.30945008] [0.00161172]] R_gt: [[ 0.99633153 -0.07323322 -0.04428126] [ 0.07417506 0.99704466 0.02001107] [ 0.04268488 -0.02322275 0.99881806]] t_gt: [ 0.63194449 -0.73635927 -0.24170475] Pose Error in degrees for R and t: 15.368545862072121 68.1196802393284 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.68761258e-01 2.47994659e-01 5.23045000e-04] [-2.47994455e-01 9.68761358e-01 -4.24996869e-04] [-6.12102739e-04 2.82008241e-04 9.99999773e-01]] t_estimated: [[0.97931693] [0.20232959] [0.00104294]] R_gt: [[ 0.97373659 -0.20896666 -0.09038829] [ 0.21211258 0.97688249 0.02661987] [ 0.082736 -0.04509305 0.99555076]] t_gt: [ 0.69474548 -0.69850851 -0.17150679] Pose Error in degrees for R and t: 27.083524515360125 57.393374165100404 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.8821518 0.47096 0.00220938] [ 0.47087819 -0.88206931 0.01508169] [ 0.0090517 -0.01226399 -0.99988382]] t_estimated: [[0.86705068] [0.4982162 ] [0.00193107]] R_gt: [[ 0.9528948 -0.28007066 -0.11641253] [ 0.28684542 0.95687804 0.04587807] [ 0.09854367 -0.07710843 0.99214034]] t_gt: [ 0.70183052 -0.70526239 -0.10019421] Pose Error in degrees for R and t: 174.2738930139443 75.11048154086788 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99756077e-01 -2.20858618e-02 -2.20073026e-05] [ 2.20857898e-02 9.99754558e-01 -1.74390623e-03] [ 6.05175731e-05 1.74299481e-03 9.99998479e-01]] t_estimated: [[-0.18466557] [-0.98279643] [-0.00312992]] R_gt: [[ 9.95194636e-01 9.79115059e-02 -1.03158552e-04] [-9.77976151e-02 9.93989403e-01 -4.92115369e-02] [-4.71530987e-03 4.89847122e-02 9.98788652e-01]] t_gt: [-0.33572934 0.91701556 -0.21533295] Pose Error in degrees for R and t: 7.40207952371145 33.01078914698144 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99998664e-01 9.04057685e-04 -1.36192718e-03] [-9.02235542e-04 9.99998698e-01 1.33793627e-03] [ 1.36313498e-03 -1.33670570e-03 9.99998178e-01]] t_estimated: [[-0.42943199] [-0.90309732] [-0.00184306]] R_gt: [[ 0.96919338 0.2460327 0.01154099] [-0.2454595 0.96868755 -0.03734524] [-0.02036793 0.03336213 0.99923583]] t_gt: [-0.32009791 0.94738107 0.00253704] Pose Error in degrees for R and t: 14.370953430010383 44.100378872882985 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 8.64533712e-01 5.02574774e-01 -2.41990217e-04] [-5.02570281e-01 8.64527832e-01 3.83941673e-03] [ 2.13880127e-03 -3.19768811e-03 9.99992600e-01]] t_estimated: [[0.42215147] [0.90652481] [0.00095726]] R_gt: [[ 0.89997028 0.43425749 -0.03838373] [-0.43577494 0.89861304 -0.05094778] [ 0.01236804 0.0625776 0.9979633 ]] t_gt: [-0.2140104 0.97278129 -0.08886002] Pose Error in degrees for R and t: 5.794454302441429 37.681541294518574 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.92710235e-01 1.20525453e-01 7.05726350e-05] [-1.20525428e-01 9.92710196e-01 -2.96184630e-04] [-1.05755961e-04 2.85519717e-04 9.99999954e-01]] t_estimated: [[-0.72636477] [-0.6873081 ] [-0.00134163]] R_gt: [[ 0.99751603 0.00772659 0.07001914] [-0.00900402 0.99979942 0.01793825] [-0.06986647 -0.01852391 0.99738417]] t_gt: [-0.10664255 0.16492517 0.98052387] Pose Error in degrees for R and t: 7.6589744400479285 87.86761751757392 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.98361029e-01 -5.72298033e-02 7.01125409e-05] [ 5.72297935e-02 9.98361023e-01 1.34365975e-04] [-7.76873664e-05 -1.30133227e-04 9.99999989e-01]] t_estimated: [[ 0.81277189] [-0.58258126] [ 0.00096105]] R_gt: [[ 0.99179812 -0.07309635 0.10484882] [ 0.07298759 0.99732138 0.00487517] [-0.10492399 0.00281755 0.99447572]] t_gt: [ 0.54083382 -0.46837097 0.69866116] Pose Error in degrees for R and t: 6.0904612671884175 44.511469334891 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.74761463 -0.66412402 0.00341273] [-0.66402372 0.7475751 0.01428187] [-0.0120362 0.0084112 -0.99989218]] t_estimated: [[0.9440961 ] [0.32966242] [0.00228811]] R_gt: [[ 9.86939361e-01 -1.07182406e-01 1.20260502e-01] [ 1.08018121e-01 9.94149613e-01 -4.35742186e-04] [-1.19510006e-01 1.34200082e-02 9.92742459e-01]] t_gt: [ 0.62108084 -0.57075313 0.53712145] Pose Error in degrees for R and t: 173.18595300126802 66.4572541732955 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 8.95117635e-01 4.45829942e-01 2.85616841e-04] [-4.45829894e-01 8.95117678e-01 -2.17509442e-04] [-3.52632905e-04 6.73600113e-05 9.99999936e-01]] t_estimated: [[-3.19465350e-01] [ 9.47597652e-01] [ 7.61546184e-04]] R_gt: [[ 0.97339109 0.21626612 0.07575088] [-0.21532144 0.97632679 -0.02050794] [-0.07839238 0.00365127 0.99691572]] t_gt: [-0.72800957 0.65924602 0.18814025] Pose Error in degrees for R and t: 14.691452961431864 30.972200875878716 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999924e-01 -1.85275470e-04 -3.41794145e-04] [ 1.85359807e-04 9.99999952e-01 2.46733071e-04] [ 3.41748415e-04 -2.46796407e-04 9.99999911e-01]] t_estimated: [[-9.94179054e-01] [-1.07740431e-01] [-8.86668756e-05]] R_gt: [[ 0.94507244 0.32046868 0.06432561] [-0.32212226 0.94654529 0.01695391] [-0.05545395 -0.03674283 0.99778469]] t_gt: [-0.6911381 0.69939293 0.18214736] Pose Error in degrees for R and t: 19.156160193995476 52.2841439951104 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.99767556 -0.06015209 0.03201875] [ 0.06117689 0.99761222 -0.03205075] [-0.03001437 0.03393506 0.99897325]] t_estimated: [[-8.13305771e-01] [-5.81836166e-01] [-6.32430615e-04]] R_gt: [[ 0.90081919 0.42776872 0.07442092] [-0.42959245 0.90297026 0.00971376] [-0.06304376 -0.04072046 0.99717937]] t_gt: [-0.64706242 0.74709494 0.15218204] Pose Error in degrees for R and t: 29.175303620227876 84.7514455408586 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.24615218e-01 3.80900877e-01 1.10486561e-03] [-3.80900620e-01 9.24615878e-01 -4.42444570e-04] [-1.19010381e-03 -1.17530122e-05 9.99999292e-01]] t_estimated: [[0.45734699] [0.88928581] [0.00211735]] R_gt: [[ 0.97693369 -0.20631543 -0.05509049] [ 0.20876939 0.97700965 0.04320999] [ 0.04490863 -0.05371401 0.99754653]] t_gt: [ 0.96543919 -0.17730349 0.19102523] Pose Error in degrees for R and t: 34.61611254485934 73.48468094658772 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-2.92886072e-01 9.56132208e-01 5.38055289e-03] [ 9.56146190e-01 2.92889833e-01 9.28775890e-05] [-1.48710598e-03 5.17179770e-03 -9.99985520e-01]] t_estimated: [[-0.01358107] [-0.99990633] [-0.00169763]] R_gt: [[ 0.92649305 -0.36931167 -0.07225083] [ 0.37298576 0.92669125 0.04610755] [ 0.04992669 -0.06966653 0.99632031]] t_gt: [ 0.98613471 -0.0715599 0.14972481] Pose Error in degrees for R and t: 175.3955281732266 86.68035880476197 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 0.99993256 0.01130175 0.00267293] [-0.01129532 0.9999333 -0.00240905] [-0.00269998 0.00237869 0.99999353]] t_estimated: [[9.99993272e-01] [3.55869492e-03] [8.89673730e-04]] R_gt: [[ 0.91696181 -0.39745863 -0.03474994] [ 0.39897166 0.91382565 0.07579047] [ 0.00163225 -0.08336142 0.99651835]] t_gt: [ 0.97867818 -0.05996366 0.19645198] Pose Error in degrees for R and t: 24.653095294483418 11.865497561668107 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99672364e-01 -2.55961638e-02 -2.85417752e-05] [ 2.55961666e-02 9.99672359e-01 1.02257382e-04] [ 2.59150271e-05 -1.02954439e-04 9.99999994e-01]] t_estimated: [[0.99986457] [0.01634066] [0.00195352]] R_gt: [[ 9.99961682e-01 -2.81698294e-04 -8.71462292e-03] [ 2.23541960e-05 9.99561413e-01 -2.96203383e-02] [ 8.71957721e-03 2.96196229e-02 9.99523123e-01]] t_gt: [ 0.15726966 -0.13629961 -0.97810463] Pose Error in degrees for R and t: 2.2967994072730957 81.19277857212712 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.41704986e-01 3.36439585e-01 3.55037001e-04] [-3.36439704e-01 9.41704942e-01 3.57111384e-04] [-2.14193693e-04 -4.55742114e-04 9.99999873e-01]] t_estimated: [[0.62865216] [0.77768608] [0.00090324]] R_gt: [[ 0.99574341 -0.09144232 -0.01160046] [ 0.09085898 0.99491275 -0.04352687] [ 0.01552111 0.04228716 0.99898527]] t_gt: [ 0.70562092 -0.60079604 -0.37569035] Pose Error in degrees for R and t: 25.026781637934413 88.62591892950732 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 0.99004362 0.08109241 -0.11505499] [-0.05355136 0.97290659 0.22491115] [ 0.13017634 -0.2165105 0.96756257]] t_estimated: [[0.82943309] [0.55561778] [0.05770295]] R_gt: [[ 0.96609497 -0.25810925 -0.00630112] [ 0.25760225 0.96526479 -0.04363825] [ 0.0173456 0.04053586 0.99902787]] t_gt: [ 0.81509567 -0.55921644 -0.15131431] Pose Error in degrees for R and t: 25.050035051630925 69.10690294309833 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.99999983e-01 1.71872661e-04 6.62490209e-05] [-1.71879630e-04 9.99999980e-01 1.05199435e-04] [-6.62309386e-05 -1.05210820e-04 9.99999992e-01]] t_estimated: [[0.70651976] [0.70769213] [0.00129233]] R_gt: [[ 0.99964983 -0.00902542 0.0248792 ] [ 0.00810146 0.99928177 0.03701097] [-0.02519534 -0.03679601 0.99900543]] t_gt: [ 0.27401301 -0.45738701 0.84599881] Pose Error in degrees for R and t: 2.5974842773581854 82.58817433021798 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[-0.25001373 -0.96817198 0.01166801] [-0.96750426 0.24933459 -0.04204488] [ 0.03779744 -0.02180065 -0.99904759]] t_estimated: [[0.90451837] [0.42643296] [0.00120122]] R_gt: [[ 0.99572097 0.05467788 0.07450481] [-0.0612042 0.99420804 0.08834655] [-0.06924254 -0.09252818 0.99329977]] t_gt: [-0.20007198 -0.06046575 0.97791364] Pose Error in degrees for R and t: 174.43530220713268 78.13662341297218 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.14355587e-01 -4.04911745e-01 -5.82553710e-04] [ 4.04912125e-01 9.14355180e-01 8.80463964e-04] [ 1.76150802e-04 -1.04094021e-03 9.99999443e-01]] t_estimated: [[0.95614275] [0.29289939] [0.00099288]] R_gt: [[ 0.99190534 0.07081514 0.10539982] [-0.08662509 0.98427866 0.15391871] [-0.09284344 -0.16180339 0.98244625]] t_gt: [-0.17149935 -0.04225632 0.98427759] Pose Error in degrees for R and t: 30.353000952505038 79.89937631291069 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-7.42930537e-01 -6.69363049e-01 -2.70652108e-03] [ 6.69368260e-01 -7.42927746e-01 -2.12048813e-03] [-5.91373208e-04 -3.38703469e-03 9.99994089e-01]] t_estimated: [[0.90215498] [0.43141034] [0.00122957]] R_gt: [[ 9.87254285e-01 -1.59145265e-01 -7.88810490e-04] [ 1.58627292e-01 9.83622504e-01 8.55789467e-02] [-1.28435698e-02 -8.46135492e-02 9.96331229e-01]] t_gt: [ 0.59625222 -0.68229041 0.42304029] Pose Error in degrees for R and t: 128.86869791105414 75.87223775741325 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.87495441 -0.48419477 0.00319429] [-0.48420427 0.87494714 -0.00370371] [-0.00100151 -0.00478727 -0.99998804]] t_estimated: [[0.78863321] [0.61486058] [0.00203389]] R_gt: [[ 0.96883233 -0.2477044 0.0023882 ] [ 0.24450076 0.95776466 0.15134224] [-0.03977583 -0.14604133 0.98847865]] t_gt: [ 0.57018078 -0.64738002 0.50575981] Pose Error in degrees for R and t: 176.57252696578107 86.98234300932967 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.95718291e-01 -9.24396295e-02 -1.99123494e-05] [ 9.24396305e-02 9.95718289e-01 5.43651785e-05] [ 1.48015935e-05 -5.59730928e-05 9.99999998e-01]] t_estimated: [[8.31532007e-01] [5.55476309e-01] [7.69612163e-04]] R_gt: [[ 0.99871411 0.0246323 -0.04431373] [-0.02522639 0.9995991 -0.01287287] [ 0.04397971 0.01397429 0.99893416]] t_gt: [-0.13015077 0.54991502 -0.82501773] Pose Error in degrees for R and t: 7.233544300053455 78.66148430932182 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 5.95684734e-01 -8.03214762e-01 -2.39670839e-03] [ 8.03218334e-01 5.95681773e-01 1.88000745e-03] [-8.23742381e-05 -3.04497186e-03 9.99995361e-01]] t_estimated: [[0.52479183] [0.85123014] [0.00088948]] R_gt: [[ 0.99496974 0.04580588 -0.08908155] [-0.05012941 0.99764078 -0.04691189] [ 0.0867234 0.05114243 0.99491904]] t_gt: [-0.07365997 0.5152984 -0.85383943] Pose Error in degrees for R and t: 56.468704260056676 66.47045509138454 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.94059182e-01 -1.08840873e-01 -8.71920453e-05] [ 1.08840885e-01 9.94059174e-01 1.40380825e-04] [ 7.13948810e-05 -1.49036907e-04 9.99999986e-01]] t_estimated: [[-1.69389599e-01] [ 9.85549113e-01] [-3.30399561e-04]] R_gt: [[ 0.99207005 0.04312023 -0.11806006] [-0.0549074 0.99362405 -0.09847846] [ 0.11306117 0.10418014 0.98811078]] t_gt: [ 0.00483365 0.44712739 -0.89445723] Pose Error in degrees for R and t: 12.666242242524802 63.88700995173361 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.26748433 -0.9635246 -0.00851357] [ 0.96349498 0.2675596 -0.00944887] [ 0.0113821 -0.00567536 0.99991912]] t_estimated: [[9.51156214e-01] [3.08708596e-01] [9.27052840e-04]] R_gt: [[ 0.99426632 0.10686307 -0.00395899] [-0.10664102 0.99359221 0.03746693] [ 0.0079381 -0.03682939 0.99929011]] t_gt: [-0.76311272 0.60473498 0.22793547] Pose Error in degrees for R and t: 80.64010145656533 57.38840837283182 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.99520433 0.0974914 0.00798487] [-0.09758119 -0.99515814 -0.01175516] [ 0.00680018 -0.01247796 0.99989902]] t_estimated: [[0.64400661] [0.76501866] [0.00139094]] R_gt: [[ 0.97027811 0.24144943 0.01621454] [-0.24191766 0.96946636 0.04015153] [-0.00602365 -0.04288029 0.99906182]] t_gt: [-0.72397524 0.67354946 0.14896636] Pose Error in degrees for R and t: 160.40205312393888 87.17759938953203 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.09580813e-01 -4.15526431e-01 -7.27530823e-04] [ 4.15526501e-01 9.09581070e-01 -5.92815715e-05] [ 6.86381324e-04 -2.48386957e-04 9.99999734e-01]] t_estimated: [[-0.24530946] [-0.96944411] [-0.00117937]] R_gt: [[ 0.88798292 0.45640843 0.05636565] [-0.4566046 0.88961219 -0.0101022 ] [-0.05475334 -0.01676582 0.99835902]] t_gt: [-0.63773644 0.76517502 0.0883143 ] Pose Error in degrees for R and t: 51.83813233177066 54.16480379161734 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 5.05486725e-01 -8.62833620e-01 1.14711133e-03] [-8.62833058e-01 -5.05487832e-01 -1.07956277e-03] [ 1.51133387e-03 -4.44060927e-04 -9.99998759e-01]] t_estimated: [[0.41291134] [0.91077059] [0.00107529]] R_gt: [[ 0.98713767 -0.15816263 -0.0233307 ] [ 0.15859221 0.98718205 0.01790854] [ 0.02019965 -0.02137802 0.99956661]] t_gt: [ 0.71513154 -0.69863939 0.02213317] Pose Error in degrees for R and t: 179.66363895701107 70.06276843420687 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 7.62250104e-01 6.47282195e-01 7.33393730e-04] [-6.47281882e-01 7.62250457e-01 -6.37564966e-04] [-9.71714157e-04 1.12714884e-05 9.99999528e-01]] t_estimated: [[0.46337769] [0.88616033] [0.00099012]] R_gt: [[ 0.93632518 -0.33966981 -0.08899255] [ 0.34192067 0.93966533 0.01093774] [ 0.07990858 -0.04067011 0.99597127]] t_gt: [ 0.82320119 -0.56674805 -0.03371114] Pose Error in degrees for R and t: 60.507690390645806 83.06115054536191 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.16429338 0.98639051 -0.00643735] [ 0.98635394 0.16435081 0.00973216] [ 0.01065769 -0.00475057 -0.99993192]] t_estimated: [[-0.46523335] [-0.8851785 ] [-0.00411711]] R_gt: [[ 0.90085175 -0.41492357 -0.12769239] [ 0.42361676 0.90448628 0.04951973] [ 0.09494925 -0.09870258 0.99057601]] t_gt: [ 0.84005586 -0.53848231 0.06590106] Pose Error in degrees for R and t: 171.59425417540888 85.09179290807982 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99939763e-01 -1.09759302e-02 -9.32686043e-06] [ 1.09759307e-02 9.99939761e-01 5.49884360e-05] [ 8.72274935e-06 -5.50874946e-05 9.99999998e-01]] t_estimated: [[1.54144103e-01] [9.88048375e-01] [5.78830274e-05]] R_gt: [[ 0.9989851 -0.00654279 -0.04456979] [ 0.00240397 0.99572916 -0.09229435] [ 0.04498368 0.09209439 0.99473455]] t_gt: [ 0.15666996 0.2363176 -0.95896221] Pose Error in degrees for R and t: 5.896691255272441 75.07304107933267 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 7.60963183e-01 -6.48793984e-01 -1.18382635e-03] [ 6.48794828e-01 7.60963195e-01 5.35970831e-04] [ 5.53113631e-04 -1.17591448e-03 9.99999156e-01]] t_estimated: [[0.89274874] [0.45055326] [0.00120025]] R_gt: [[ 0.99518251 0.01776119 -0.09642331] [-0.0277039 0.99431797 -0.10278088] [ 0.0940505 0.10495736 0.99002013]] t_gt: [ 0.08967323 0.36113684 -0.9281912 ] Pose Error in degrees for R and t: 42.504604477780326 76.01587838413181 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99993125 -0.00475561 -0.01071784] [ 0.00486325 0.99993778 0.01003955] [ 0.01066943 -0.01009098 0.99989216]] t_estimated: [[-0.95551121] [-0.29482161] [-0.00886255]] R_gt: [[ 0.9911804 0.02885533 -0.12933936] [-0.04556393 0.9907066 -0.12815572] [ 0.12444019 0.13291855 0.98328421]] t_gt: [ 0.0803854 0.40478147 -0.91087329] Pose Error in degrees for R and t: 10.786521774640237 79.15954636249381 Number of keypoints: Image1: 430 Image2: 430 R_estimated: [[ 9.99975764e-01 6.96210731e-03 7.14149286e-07] [-6.96210730e-03 9.99975764e-01 -1.24957767e-05] [-8.01128916e-07 1.24905018e-05 1.00000000e+00]] t_estimated: [[-0.57357405] [-0.81915287] [-0.00117659]] R_gt: [[ 0.99982098 -0.00372819 -0.01856559] [ 0.00377213 0.99998953 0.00239035] [ 0.01855494 -0.00246066 0.99982545]] t_gt: [ 0.37402466 -0.22238985 -0.9003601 ] Pose Error in degrees for R and t: 1.2353004298342594 88.20633786843752 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-6.32465828e-01 -7.74583388e-01 -2.74792397e-03] [ 7.74588000e-01 -6.32464553e-01 -1.42092648e-03] [-6.37338463e-04 -3.02719638e-03 9.99995215e-01]] t_estimated: [[0.99423066] [0.1072564 ] [0.00120513]] R_gt: [[ 0.99604864 -0.06128035 -0.06428997] [ 0.06309701 0.9976512 0.02663458] [ 0.06250643 -0.03058583 0.99757589]] t_gt: [ 0.63268757 -0.67629239 -0.37727317] Pose Error in degrees for R and t: 125.69152376787305 56.21720695265709 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 6.81009411e-01 7.32274663e-01 -7.73009994e-06] [-7.32273994e-01 6.81008776e-01 -1.35825056e-03] [-9.89348208e-04 9.30641969e-04 9.99999078e-01]] t_estimated: [[0.73959758] [0.67304892] [0.00075623]] R_gt: [[ 0.97860639 -0.18298769 -0.0940559 ] [ 0.18597171 0.98226319 0.02394485] [ 0.08800477 -0.04092366 0.99527957]] t_gt: [ 0.68838807 -0.69232897 -0.21633875] Pose Error in degrees for R and t: 57.98399676647844 87.53579239500303 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.99971147 0.02398373 0.00132722] [-0.02398119 0.9997106 -0.00190052] [-0.00137242 0.00186814 0.99999731]] t_estimated: [[0.99926236] [0.03830358] [0.00275031]] R_gt: [[ 0.99338145 0.08766373 -0.07422712] [-0.08170643 0.99345376 0.07982205] [ 0.08073995 -0.07322996 0.99404165]] t_gt: [-0.95579342 0.28268903 -0.08090648] Pose Error in degrees for R and t: 7.283010140097097 19.181430797546973 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.81593705e-01 -7.31728641e-01 1.79374275e-03] [ 7.31726354e-01 6.81596062e-01 1.83050639e-03] [-2.56204195e-03 6.48672068e-05 9.99996716e-01]] t_estimated: [[ 0.83914044] [-0.54390961] [ 0.0023782 ]] R_gt: [[ 0.98066119 0.14639264 -0.12990083] [-0.12847631 0.98220407 0.13699432] [ 0.14764499 -0.11765707 0.98201795]] t_gt: [-0.96622042 0.06721424 -0.24879782] Pose Error in degrees for R and t: 55.9996370863067 32.011168169917205 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.95400720e-01 -9.57982201e-02 -3.27923916e-04] [ 9.57982110e-02 9.95400774e-01 -4.32821346e-05] [ 3.30562071e-04 1.16685434e-05 9.99999945e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96366026 0.17930109 -0.19801606] [-0.14414421 0.97311137 0.1796519 ] [ 0.22490482 -0.14458074 0.96359521]] t_gt: [-0.91237451 -0.0221706 -0.4087557 ] Pose Error in degrees for R and t: 21.518106009773927 68.3311839091095 Number of keypoints: Image1: 376 Image2: 376 R_estimated: [[ 9.99999497e-01 -1.00290021e-03 2.93218369e-05] [ 1.00289532e-03 9.99999483e-01 1.66409448e-04] [-2.94887138e-05 -1.66379958e-04 9.99999986e-01]] t_estimated: [[-0.17128435] [-0.98521982] [ 0.00189323]] R_gt: [[ 0.99980236 -0.01835915 -0.00768454] [ 0.01824564 0.99972727 -0.01461692] [ 0.00795003 0.01447442 0.99986303]] t_gt: [ 0.74746671 -0.40279041 -0.52825505] Pose Error in degrees for R and t: 1.3762815314908365 74.46615000473406 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.91527408e-01 1.29895863e-01 -6.80439935e-04] [-1.29895215e-01 9.91527297e-01 9.23864542e-04] [ 7.94680951e-04 -8.27651124e-04 9.99999342e-01]] t_estimated: [[9.21313533e-01] [3.88819454e-01] [8.97966406e-04]] R_gt: [[ 9.99353066e-01 1.90391448e-02 -3.05234150e-02] [-1.90135732e-02 9.99818614e-01 1.14934063e-03] [ 3.05389769e-02 -5.67469680e-04 9.99533645e-01]] t_gt: [ 0.67855216 0.43495707 -0.59192847] Pose Error in degrees for R and t: 6.59743045197346 37.462884422345226 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.95102406e-01 -9.88491701e-02 2.07902511e-04] [ 9.88491694e-02 9.95102428e-01 1.35367552e-05] [-2.08222390e-04 7.08053280e-06 9.99999978e-01]] t_estimated: [[9.43887455e-01] [3.30266093e-01] [8.83394978e-04]] R_gt: [[ 0.99300852 0.11733171 -0.01297587] [-0.11712566 0.99299452 0.01563767] [ 0.01471848 -0.01400733 0.99979312]] t_gt: [-0.09549515 0.99532917 -0.01416021] Pose Error in degrees for R and t: 12.460768850337415 76.19759093320083 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.56207804e-01 2.92688630e-01 4.60030495e-05] [-2.92688626e-01 9.56207726e-01 3.91625302e-04] [ 7.06358021e-05 -3.87939740e-04 9.99999922e-01]] t_estimated: [[8.76624087e-01] [4.81175366e-01] [6.91343917e-04]] R_gt: [[ 9.75581618e-01 -2.18087098e-01 -2.60456782e-02] [ 2.18148579e-01 9.75915747e-01 -4.98993172e-04] [ 2.55273759e-02 -5.19535840e-03 9.99660212e-01]] t_gt: [ 0.63348324 -0.76856446 -0.08948554] Pose Error in degrees for R and t: 29.656302035047432 79.31260046350744 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999812e-01 6.11496994e-04 3.60100682e-05] [-6.11492297e-04 9.99999805e-01 -1.30311098e-04] [-3.60897460e-05 1.30289054e-04 9.99999991e-01]] t_estimated: [[-0.00760021] [-0.99997053] [-0.00108574]] R_gt: [[ 0.93144768 -0.36036495 -0.05040597] [ 0.35895838 0.93269952 -0.03493577] [ 0.05960374 0.01444709 0.99811813]] t_gt: [ 0.6655309 -0.72884743 -0.16077946] Pose Error in degrees for R and t: 21.422292012597133 43.619065662686026 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.95321935e-01 9.66138563e-02 8.77674932e-05] [-9.66138517e-02 9.95321938e-01 -5.45623655e-05] [-9.26283920e-05 4.58275636e-05 9.99999995e-01]] t_estimated: [[0.77523361] [0.63167375] [0.00106167]] R_gt: [[ 0.86561098 -0.49727479 -0.0585982 ] [ 0.49732112 0.86743982 -0.01483479] [ 0.05820737 -0.01630104 0.99817144]] t_gt: [ 0.71522923 -0.69457913 -0.07750469] Pose Error in degrees for R and t: 35.56006086680536 83.35945644001927 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[-0.39082217 -0.92046001 -0.00337779] [-0.92045711 0.39083199 -0.00301161] [ 0.00409221 0.00193211 -0.99998976]] t_estimated: [[ 0.86320721] [ 0.5048476 ] [-0.00148927]] R_gt: [[ 0.99446887 0.05195769 -0.09127646] [-0.04581508 0.99662221 0.06814788] [ 0.09450928 -0.06358826 0.99349083]] t_gt: [-0.60760557 -0.47558177 -0.63611119] Pose Error in degrees for R and t: 177.38447696305678 40.21398269196262 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.74783742e-01 2.23151643e-01 -3.80343226e-05] [-2.23151641e-01 9.74783665e-01 -3.88595397e-04] [-4.96404650e-05 3.87283897e-04 9.99999924e-01]] t_estimated: [[2.72221289e-01] [9.62234674e-01] [4.59488688e-05]] R_gt: [[ 0.9826192 0.10217589 -0.1549832 ] [-0.08320302 0.9887458 0.12433202] [ 0.16594242 -0.10927543 0.98006233]] t_gt: [-0.77600583 -0.44761263 -0.44436233] Pose Error in degrees for R and t: 13.71292352672533 50.06081711913784 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.72782487 -0.65944087 0.18817197] [-0.67882095 -0.73174817 0.06121062] [ 0.09732971 -0.17228569 -0.9802268 ]] t_estimated: [[9.66538342e-01] [2.56521941e-01] [3.55586843e-04]] R_gt: [[ 0.97693677 0.08776904 -0.19465996] [-0.06315414 0.98959914 0.12924907] [ 0.20397917 -0.11397383 0.97231773]] t_gt: [-0.29613604 -0.67102155 -0.67973048] Pose Error in degrees for R and t: 170.1348337009502 62.70317611503202 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-9.47206859e-01 -3.20620662e-01 -1.24763018e-03] [ 3.20622553e-01 -9.47205222e-01 -1.85651767e-03] [-5.86523893e-04 -2.15852465e-03 9.99997498e-01]] t_estimated: [[8.90789927e-01] [4.54414534e-01] [8.59006680e-04]] R_gt: [[ 0.97207159 -0.22637009 0.06191848] [ 0.2270632 0.97387087 -0.00431268] [-0.05932429 0.01825177 0.99807302]] t_gt: [ 0.58310456 -0.79243342 0.17899259] Pose Error in degrees for R and t: 148.20249433402205 80.82304340281487 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99994059e-01 -3.44686911e-03 2.65210421e-05] [ 3.44687067e-03 9.99994058e-01 -5.89906491e-05] [-2.63175515e-05 5.90817133e-05 9.99999998e-01]] t_estimated: [[-9.77566388e-01] [-2.10625415e-01] [-9.44508587e-04]] R_gt: [[ 0.92696308 -0.3739354 0.03020488] [ 0.37353748 0.92743901 0.01811136] [-0.03478491 -0.00550556 0.99937973]] t_gt: [ 0.65992312 -0.74538542 0.09435063] Pose Error in degrees for R and t: 21.84809218862244 60.77695862804471 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 1.71302170e-01 9.85218299e-01 6.85265998e-04] [ 9.85216877e-01 -1.71303117e-01 1.71689288e-03] [ 1.80890249e-03 3.81028149e-04 -9.99998291e-01]] t_estimated: [[-0.54291222] [-0.83978896] [-0.00090788]] R_gt: [[ 0.84988508 -0.52434606 0.05250496] [ 0.52560108 0.85063417 -0.01284258] [-0.03792819 0.03851155 0.99853821]] t_gt: [ 0.71819756 -0.69537177 0.02550226] Pose Error in degrees for R and t: 177.1177188874642 78.81227684924532 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.91432910e-01 -1.30616881e-01 -1.20376016e-04] [ 1.30616906e-01 9.91432888e-01 2.30567772e-04] [ 8.92286982e-05 -2.44315620e-04 9.99999966e-01]] t_estimated: [[0.83259438] [0.55388194] [0.00118098]] R_gt: [[ 0.99698651 -0.03322461 -0.07009925] [ 0.0368508 0.99801334 0.05108737] [ 0.06826293 -0.05351672 0.99623154]] t_gt: [ 0.45446956 -0.76030302 -0.46410854] Pose Error in degrees for R and t: 7.402205201329667 87.51961224883983 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.99903863 -0.04375906 -0.00263686] [ 0.04376666 0.99903758 0.00289565] [ 0.00250762 -0.00300827 0.99999233]] t_estimated: [[-0.64524258] [-0.76397681] [-0.00119934]] R_gt: [[ 0.98797172 -0.12981358 -0.08402021] [ 0.13450407 0.98950568 0.05278939] [ 0.07628513 -0.06345475 0.99506522]] t_gt: [ 0.41736901 -0.87258304 -0.25377539] Pose Error in degrees for R and t: 7.4852691035149626 66.56969148430052 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 8.65706366e-01 -5.00552064e-01 -3.43821493e-04] [ 5.00551741e-01 8.65706311e-01 -7.33513271e-04] [ 6.64810018e-04 4.62906661e-04 9.99999672e-01]] t_estimated: [[-0.4729613 ] [-0.88108114] [-0.0019071 ]] R_gt: [[ 0.94772767 -0.28964989 -0.13384588] [ 0.29347402 0.95592033 0.00935404] [ 0.12523644 -0.04814496 0.9909581 ]] t_gt: [ 0.61751216 -0.72612642 -0.30235601] Pose Error in degrees for R and t: 15.100378066371782 69.61702295833533 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99870751e-01 -1.60769344e-02 -1.17103211e-04] [ 1.60769395e-02 9.99870757e-01 4.31098234e-05] [ 1.16395003e-04 -4.49869127e-05 9.99999992e-01]] t_estimated: [[-9.77781528e-01] [-2.09626256e-01] [-3.41351357e-04]] R_gt: [[ 0.98262671 0.18539157 0.00863036] [-0.18558098 0.980993 0.05667418] [ 0.00204074 -0.05729031 0.99835518]] t_gt: [-0.74482051 0.62435157 0.23543049] Pose Error in degrees for R and t: 12.073353395478847 53.32245368469165 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.95846437e-01 9.10486799e-02 1.09745329e-04] [-9.10483350e-02 9.95844839e-01 -1.80477031e-03] [-2.73611274e-04 1.78728196e-03 9.99998365e-01]] t_estimated: [[0.65466634] [0.75591742] [0.00091134]] R_gt: [[ 0.96324445 0.26689144 0.03045991] [-0.268344 0.96121389 0.06371529] [-0.01227329 -0.06954555 0.99750296]] t_gt: [-0.71112588 0.66673916 0.22306698] Pose Error in degrees for R and t: 11.117954687569357 87.78480276875673 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.66934357e-01 -2.55025128e-01 -3.64119824e-04] [ 2.55025135e-01 9.66934424e-01 -2.56298421e-05] [ 3.58616246e-04 -6.80773325e-05 9.99999933e-01]] t_estimated: [[-0.70318361] [-0.71100763] [-0.000978 ]] R_gt: [[ 0.89238802 0.44858856 0.04910296] [-0.45100129 0.89030495 0.06288796] [-0.01550544 -0.07826562 0.99681235]] t_gt: [-0.64564567 0.74891838 0.14920766] Pose Error in degrees for R and t: 41.79270674421869 85.49045582214494 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999537e-01 9.61431037e-04 3.64061719e-05] [-9.61439512e-04 9.99999511e-01 2.33510031e-04] [-3.61816503e-05 -2.33544925e-04 9.99999972e-01]] t_estimated: [[9.63734141e-01] [2.66863112e-01] [7.64588976e-04]] R_gt: [[ 0.97949873 -0.18744381 -0.07379932] [ 0.18876503 0.9819568 0.01128936] [ 0.07035159 -0.02498816 0.99720869]] t_gt: [ 0.81525097 -0.57306347 -0.08345128] Pose Error in degrees for R and t: 11.719878166918626 50.7509944318784 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999412e-01 1.08361413e-03 5.12073758e-05] [-1.08362514e-03 9.99999390e-01 2.15380886e-04] [-5.09739547e-05 -2.15436249e-04 9.99999975e-01]] t_estimated: [[9.78754032e-01] [2.05037489e-01] [4.15067810e-04]] R_gt: [[ 0.971571 -0.22243003 -0.08108261] [ 0.22573801 0.97359103 0.0341004 ] [ 0.07135593 -0.05143394 0.99612347]] t_gt: [ 0.8171521 -0.57600739 0.02186166] Pose Error in degrees for R and t: 13.974179338713535 47.02361396204549 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-6.76436617e-01 -7.36498476e-01 -1.87032875e-03] [ 7.36500398e-01 -6.76436836e-01 -6.08973172e-04] [-8.16651446e-04 -1.78942962e-03 9.99998066e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.98602912 -0.16561013 -0.01787135] [ 0.16655935 0.98152122 0.09419695] [ 0.00194154 -0.09585773 0.99539334]] t_gt: [ 0.66618413 -0.6324824 0.39517683] Pose Error in degrees for R and t: 123.05006280869983 56.18658292072102 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[-0.80482662 -0.58972455 -0.0669259 ] [-0.59006689 0.80718277 -0.01664458] [ 0.06383715 0.02609476 -0.99761911]] t_estimated: [[ 0.95045496] [ 0.30914429] [-0.03263705]] R_gt: [[ 0.994188 -0.10732494 -0.00851376] [ 0.10727016 0.99420708 -0.00669288] [ 0.00918306 0.00574078 0.99994208]] t_gt: [ 0.98197146 -0.1774641 -0.06510406] Pose Error in degrees for R and t: 175.48396169093976 28.287297719929704 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-9.87910923e-01 1.54775724e-01 8.74552344e-03] [ 1.54782271e-01 9.87948604e-01 7.27366778e-05] [-8.62886980e-03 1.42550934e-03 -9.99961755e-01]] t_estimated: [[ 0.99784859] [-0.06539873] [ 0.00460481]] R_gt: [[ 0.96369782 -0.26675428 -0.011371 ] [ 0.2660177 0.96293719 -0.04457046] [ 0.02283957 0.03992801 0.99894222]] t_gt: [ 0.98279382 -0.09557486 -0.15805617] Pose Error in degrees for R and t: 179.70938502061156 9.528950511326364 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 4.56141755e-01 -8.89907126e-01 -7.41906344e-05] [ 8.89906663e-01 4.56141429e-01 1.06248855e-03] [-9.11674710e-04 -5.50668132e-04 9.99999433e-01]] t_estimated: [[9.91349837e-01] [1.31243317e-01] [8.32345341e-04]] R_gt: [[ 0.93789311 -0.34691469 -0.00276741] [ 0.34658371 0.93729533 -0.03682638] [ 0.01537015 0.03358078 0.99931849]] t_gt: [ 0.99171091 -0.08101183 -0.09973237] Pose Error in degrees for R and t: 42.61892446031871 13.488396242017783 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99998734 -0.00305754 -0.00399692] [ 0.00307309 0.99998771 0.00388964] [ 0.00398498 -0.00390187 0.99998445]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99531207 -0.09467581 0.01975789] [ 0.09544404 0.99453 -0.04244301] [-0.01563283 0.04412981 0.99890317]] t_gt: [ 0.80235083 -0.55896418 -0.20926582] Pose Error in degrees for R and t: 6.063975336877817 36.826780098163425 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 0.99658427 -0.08063131 0.0178432 ] [ 0.08020071 0.9964979 0.02365955] [-0.01968841 -0.0221477 0.99956083]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.98911782 -0.11806406 0.08778719] [ 0.1263782 0.98731657 -0.09609597] [-0.07532962 0.10614573 0.9914926 ]] t_gt: [ 0.817848 -0.5345216 -0.21309931] Pose Error in degrees for R and t: 8.362462840526492 79.97815189498264 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.99680764e-01 2.52659711e-02 1.92265258e-06] [-2.52659712e-02 9.99680762e-01 7.44344189e-05] [-4.13809132e-08 -7.44592344e-05 9.99999997e-01]] t_estimated: [[8.13305771e-01] [5.81836166e-01] [6.32430615e-04]] R_gt: [[ 0.98632826 -0.10147647 0.12984371] [ 0.12415273 0.97569725 -0.18055755] [-0.10836651 0.19421015 0.97495585]] t_gt: [ 0.70370514 -0.34357401 -0.62189707] Pose Error in degrees for R and t: 15.13500256438591 68.15911048579828 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.67154163e-01 -2.54190137e-01 -4.46971130e-04] [ 2.54190147e-01 9.67154263e-01 -3.49671983e-05] [ 4.41178351e-04 -7.97969857e-05 9.99999899e-01]] t_estimated: [[ 8.98256977e-01] [-4.39469759e-01] [-8.57122344e-04]] R_gt: [[ 0.98559186 -0.16892505 0.00851182] [ 0.16864173 0.98530571 0.02707137] [-0.01296008 -0.02524603 0.99959676]] t_gt: [ 0.47366382 -0.85850618 0.19649359] Pose Error in degrees for R and t: 5.266757514691137 36.62176658768341 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.82341781e-01 1.87094994e-01 2.95961652e-04] [-1.87094922e-01 9.82341806e-01 -2.56106160e-04] [-3.38651684e-04 1.96210859e-04 9.99999923e-01]] t_estimated: [[-9.98913067e-01] [-4.66055863e-02] [-7.76759772e-04]] R_gt: [[ 0.96293099 -0.26810643 0.02972454] [ 0.26709029 0.96306717 0.03411618] [-0.0377737 -0.02491255 0.99897545]] t_gt: [ 0.40931546 -0.8803863 0.23954292] Pose Error in degrees for R and t: 26.437621865341875 68.40609112534314 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.959429 0.28194691 -0.00138797] [-0.2819424 -0.95942731 -0.00277683] [-0.00211458 -0.00227285 0.99999518]] t_estimated: [[0.73184773] [0.68146691] [0.00132581]] R_gt: [[ 0.92348036 -0.38290464 0.02384488] [ 0.38215782 0.9235879 0.03065244] [-0.03376024 -0.0191945 0.9992461 ]] t_gt: [ 0.49406919 -0.86166189 0.11590691] Pose Error in degrees for R and t: 173.878631004429 76.97024842389251 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.94810118e-01 1.01748692e-01 1.82765128e-04] [-1.01748723e-01 9.94810117e-01 1.66945503e-04] [-1.64830112e-04 -1.84675194e-04 9.99999969e-01]] t_estimated: [[0.31333901] [0.94964008] [0.00154478]] R_gt: [[ 9.93504926e-01 -1.13787228e-01 6.11716623e-04] [ 1.13773184e-01 9.93264821e-01 -2.19248625e-02] [ 1.88721403e-03 2.18524070e-02 9.99759036e-01]] t_gt: [ 0.75041932 -0.65873073 -0.05426474] Pose Error in degrees for R and t: 12.43846726171398 67.0140566811417 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.38225401e-01 9.90400777e-01 1.97196165e-04] [-9.90398832e-01 -1.38224728e-01 -2.01942988e-03] [-1.97278753e-03 -4.74439357e-04 9.99997942e-01]] t_estimated: [[0.09961204] [0.99502575] [0.00109464]] R_gt: [[ 0.98732939 -0.15857767 -0.00588808] [ 0.15760688 0.9842585 -0.07996931] [ 0.01847694 0.07802809 0.99678017]] t_gt: [ 0.76563585 -0.59756837 -0.23814657] Pose Error in degrees for R and t: 107.12177184665565 58.762277323848366 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.67485516 -0.7379493 0.00115348] [ 0.73794794 0.67484839 -0.00353546] [ 0.00183056 0.00323713 0.99999308]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.97693757 -0.21145077 -0.0296919 ] [ 0.20178386 0.9597234 -0.19548544] [ 0.06983057 0.18498502 0.98025703]] t_gt: [ 0.73065181 -0.42103896 -0.53747011] Pose Error in degrees for R and t: 37.177296387023176 67.48303939051037 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.89918825e-01 -1.41635680e-01 -2.33129066e-04] [-1.41576101e-01 -9.89451920e-01 -3.06774321e-02] [ 4.11434895e-03 3.04011730e-02 -9.99529310e-01]] t_estimated: [[ 0.00501658] [ 0.99982462] [-0.01804342]] R_gt: [[ 0.99763795 -0.00951878 0.06802957] [ 0.01539781 0.99614029 -0.08641715] [-0.0669449 0.08726126 0.99393277]] t_gt: [-0.16737479 0.37772678 -0.91066358] Pose Error in degrees for R and t: 173.5489544068172 66.84297673071197 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.13786896 -0.9904469 -0.00266091] [-0.99044854 0.1378735 -0.00160782] [ 0.00195933 0.00241383 -0.99999517]] t_estimated: [[8.67359090e-01] [4.97682830e-01] [9.85712768e-05]] R_gt: [[ 0.98750278 -0.06972695 0.14133291] [ 0.08880874 0.98705555 -0.13354747] [-0.13019256 0.14443063 0.980913 ]] t_gt: [ 0.43519657 -0.24145944 -0.86735304] Pose Error in degrees for R and t: 179.53061991754595 75.09506762147558 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.59337452e-01 2.82261631e-01 1.60047185e-04] [-2.82261548e-01 9.59337402e-01 -4.10193784e-04] [-2.69321217e-04 3.48339094e-04 9.99999903e-01]] t_estimated: [[-0.59352194] [-0.80481701] [-0.00113544]] R_gt: [[ 0.98300852 -0.09894463 0.15460851] [ 0.11806427 0.98575168 -0.11981054] [-0.14055068 0.13602888 0.98068375]] t_gt: [ 0.70422278 -0.50336367 -0.50069481] Pose Error in degrees for R and t: 25.291301031978037 89.29595919432359 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.63054127e-01 2.69307214e-01 6.11001315e-04] [-2.69307219e-01 9.63054316e-01 -7.63017711e-05] [-6.08976071e-04 -9.10643292e-05 9.99999810e-01]] t_estimated: [[0.61204457] [0.79082047] [0.00210325]] R_gt: [[ 0.99002714 -0.13097557 -0.05188171] [ 0.13170633 0.99122909 0.01089585] [ 0.04999965 -0.01762073 0.9985939 ]] t_gt: [ 0.56624735 -0.79936533 -0.20094526] Pose Error in degrees for R and t: 23.3755974118554 73.38085959824568 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.82350002e-01 1.87051934e-01 -2.15840332e-04] [-1.87051268e-01 9.82348551e-01 1.77429508e-03] [ 5.43915764e-04 -1.70260557e-03 9.99998403e-01]] t_estimated: [[0.7591163 ] [0.65095206] [0.00196662]] R_gt: [[ 0.97377179 -0.21044044 -0.0865019 ] [ 0.21058785 0.97754627 -0.00753578] [ 0.08614462 -0.01087785 0.99622362]] t_gt: [ 0.5974922 -0.75729641 -0.26363842] Pose Error in degrees for R and t: 23.478838170822115 87.71237020365042 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.66110722 0.75022964 -0.00962993] [ 0.75020513 0.66117139 0.00668266] [ 0.01138057 -0.00280647 -0.9999313 ]] t_estimated: [[-0.14111232] [-0.98999114] [-0.00220488]] R_gt: [[ 0.92414079 -0.37761956 -0.05802429] [ 0.37973461 0.92458229 0.03080247] [ 0.04201772 -0.05049957 0.99783985]] t_gt: [ 0.69663157 -0.71741988 0.0036301 ] Pose Error in degrees for R and t: 175.73368852317856 52.270957766858004 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-9.68941602e-01 -2.47289279e-01 -4.28468566e-04] [-2.47289478e-01 9.68941519e-01 4.96814645e-04] [ 2.92304048e-04 5.87340146e-04 -9.99999785e-01]] t_estimated: [[9.79822216e-01] [1.99868858e-01] [9.29622596e-04]] R_gt: [[ 0.9927469 -0.11859428 -0.01974796] [ 0.11923976 0.99222748 0.03557963] [ 0.01537508 -0.03767612 0.99917184]] t_gt: [ 0.56261517 -0.8135371 0.14704269] Pose Error in degrees for R and t: 179.2444979586786 67.12022166602114 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.88239892e-01 -1.52910879e-01 4.23788294e-04] [ 1.52910466e-01 9.88239656e-01 8.78890215e-04] [-5.53196273e-04 -8.03752706e-04 9.99999524e-01]] t_estimated: [[-0.63187655] [-0.7750686 ] [-0.00083251]] R_gt: [[ 0.94417507 -0.32936166 0.00741657] [ 0.32826519 0.94245754 0.06336357] [-0.02785999 -0.0573912 0.99796339]] t_gt: [ 0.69970916 -0.68804453 0.19235857] Pose Error in degrees for R and t: 11.025124931652453 84.779335097937 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.44027791e-01 3.29862109e-01 1.58718852e-03] [-3.29862652e-01 9.44028932e-01 8.54582916e-05] [-1.47016243e-03 -6.04229215e-04 9.99998737e-01]] t_estimated: [[0.9410852 ] [0.33816773] [0.00111239]] R_gt: [[ 0.86620738 -0.49912251 -0.02369567] [ 0.49911175 0.8619715 0.08883299] [-0.02391438 -0.08877493 0.99576446]] t_gt: [ 0.79279901 -0.58539911 0.16963963] Pose Error in degrees for R and t: 49.534055221228584 56.74836915691506 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.64867952e-01 -2.62735248e-01 -1.56886213e-04] [ 2.62735250e-01 9.64867964e-01 -8.59586387e-06] [ 1.53632917e-04 -3.29256648e-05 9.99999988e-01]] t_estimated: [[ 9.96100087e-01] [-8.82299907e-02] [ 2.92292871e-04]] R_gt: [[ 0.99418942 -0.10761836 -0.00237666] [ 0.10762319 0.99418978 0.00195934] [ 0.00215181 -0.0022033 0.99999568]] t_gt: [ 0.55685829 -0.83060637 -0.00137858] Pose Error in degrees for R and t: 9.055744452105897 51.09944581790438 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99998092e-01 1.75495659e-04 -1.94534134e-03] [-1.67159564e-04 9.99990808e-01 4.28449245e-03] [ 1.94607537e-03 -4.28415909e-03 9.99988929e-01]] t_estimated: [[0.74237957] [0.66997866] [0.00108061]] R_gt: [[ 0.96020342 -0.27928618 0.00275729] [ 0.27920392 0.96008647 0.016705 ] [-0.00731271 -0.01526962 0.99985692]] t_gt: [ 0.62023582 -0.78274094 0.05122654] Pose Error in degrees for R and t: 16.24517915761519 86.33550187963648 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.90714425 -0.42081543 0.0019221 ] [-0.42080586 0.9071419 0.00400023] [-0.00342697 0.00281996 -0.99999015]] t_estimated: [[0.96180441] [0.27373476] [0.00124425]] R_gt: [[ 0.89893783 -0.43687379 0.03243999] [ 0.43673349 0.89951539 0.01163258] [-0.03426244 0.00371072 0.99940639]] t_gt: [ 0.67549575 -0.73415052 0.06876413] Pose Error in degrees for R and t: 177.83680382386586 63.33213755004512 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.80935008 0.58730286 0.00527241] [ 0.58729856 -0.80919133 -0.01702354] [-0.00573159 0.01687448 -0.99984119]] t_estimated: [[-0.30423812] [ 0.95255554] [-0.00878173]] R_gt: [[ 0.99383876 -0.0386854 0.1038673 ] [ 0.05260879 0.98946694 -0.13485864] [-0.09755625 0.13949248 0.98540631]] t_gt: [-0.039674 0.51624162 -0.85552356] Pose Error in degrees for R and t: 169.67613663418072 59.247396379772134 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 7.47000761e-01 6.64823182e-01 1.45019117e-05] [-6.64823182e-01 7.47000761e-01 -6.73169287e-06] [-1.53083245e-05 -4.61262736e-06 1.00000000e+00]] t_estimated: [[-9.99977050e-01] [-6.72253479e-03] [-8.40316849e-04]] R_gt: [[ 0.97955026 -0.08149677 0.18395643] [ 0.11728185 0.97417678 -0.19293581] [-0.16348258 0.21056461 0.96381358]] t_gt: [ 0.22583265 0.22509007 -0.94780487] Pose Error in degrees for R and t: 49.79299882133117 76.90630130278785 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.99469958 -0.10244074 0.00886793] [-0.1023944 0.9947285 0.00553207] [-0.00938789 0.00459472 -0.99994538]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.96769049 -0.10600034 0.22877923] [ 0.15829955 0.96164279 -0.22401881] [-0.1962576 0.25299728 0.94735208]] t_gt: [ 0.4269236 0.00885233 -0.90424437] Pose Error in degrees for R and t: 167.80165463585485 64.84226413964444 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 7.93115969e-01 6.09070161e-01 7.73416736e-04] [-6.09070425e-01 7.93116131e-01 1.43321647e-04] [-5.26116351e-04 -5.84735947e-04 9.99999691e-01]] t_estimated: [[0.46886007] [0.88327188] [0.0010083 ]] R_gt: [[ 0.99770176 -0.06489164 -0.01953331] [ 0.06275218 0.99347806 -0.09521485] [ 0.02558379 0.09377019 0.99526494]] t_gt: [ 0.61899241 -0.38147352 -0.68653212] Pose Error in degrees for R and t: 41.55406744838291 87.28223059264316 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-9.64997498e-01 2.62259069e-01 -1.00302364e-04] [-2.62249276e-01 -9.64964630e-01 -8.28129155e-03] [-2.26863205e-03 -7.96512140e-03 9.99965704e-01]] t_estimated: [[0.88600103] [0.46367387] [0.00295334]] R_gt: [[ 0.99553066 -0.07736429 -0.05416918] [ 0.06572098 0.97940122 -0.19093315] [ 0.06782367 0.1865195 0.98010731]] t_gt: [ 0.46952485 -0.07619081 -0.8796257 ] Pose Error in degrees for R and t: 169.00326695800345 67.78556872475836 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.95838905e-01 9.11301285e-02 4.19311767e-04] [-9.11300735e-02 9.95838987e-01 -1.48443713e-04] [-4.31094700e-04 1.09614112e-04 9.99999901e-01]] t_estimated: [[0.3260887 ] [0.94533858] [0.00106218]] R_gt: [[ 0.99164281 -0.06953667 -0.1086806 ] [ 0.04522223 0.97622497 -0.21199121] [ 0.1208377 0.2053047 0.97120972]] t_gt: [ 0.40567613 0.05378209 -0.91243321] Pose Error in degrees for R and t: 16.22052940540792 79.50442901648302 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 1.00000000e+00 -2.44249065e-15 -3.15096256e-17] [ 2.33146835e-15 1.00000000e+00 3.02668589e-16] [-7.43518745e-16 4.33762184e-16 1.00000000e+00]] t_estimated: [[-7.40251949e-01] [-6.72329563e-01] [-1.00712937e-04]] R_gt: [[ 0.99116491 -0.13259045 -0.00367094] [ 0.13244739 0.99083166 -0.0266596 ] [ 0.00717228 0.02593736 0.99963787]] t_gt: [ 0.46191699 -0.80033502 -0.38222578] Pose Error in degrees for R and t: 7.770654917686225 78.68560915827145 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999906e-01 -4.34542616e-04 -6.47758035e-06] [ 4.34542101e-04 9.99999902e-01 -7.92355299e-05] [ 6.51201093e-06 7.92327077e-05 9.99999997e-01]] t_estimated: [[0.99944096] [0.03340986] [0.00124627]] R_gt: [[ 0.95359163 -0.29783278 -0.04426307] [ 0.29700832 0.95456497 -0.02433459] [ 0.0495003 0.0100584 0.99872226]] t_gt: [ 0.62466112 -0.74960105 -0.21885326] Pose Error in degrees for R and t: 17.527931333587834 53.20203965004084 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999920e-01 -3.99477134e-04 -8.04341159e-07] [ 3.99477108e-04 9.99999920e-01 -3.18701077e-05] [ 8.17072474e-07 3.18697839e-05 9.99999999e-01]] t_estimated: [[ 1.06797267e-01] [-9.94280575e-01] [-6.93527715e-04]] R_gt: [[ 0.91158021 -0.41095545 0.01178471] [ 0.41105781 0.91054417 -0.04407272] [ 0.00738196 0.04501944 0.99895873]] t_gt: [ 0.5925596 -0.79679519 -0.11828158] Pose Error in degrees for R and t: 24.39675086863094 31.173500009005433 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 6.32717797e-01 7.74380881e-01 1.56244636e-03] [-7.74382343e-01 6.32715319e-01 1.81989306e-03] [ 4.20706644e-04 -2.36140960e-03 9.99997123e-01]] t_estimated: [[0.10927065] [0.99401047] [0.00176243]] R_gt: [[ 0.99515612 0.09368641 0.0297759 ] [-0.09149713 0.99348758 -0.0679094 ] [-0.03594407 0.06485631 0.99724679]] t_gt: [-0.8181131 0.34018593 -0.46364262] Pose Error in degrees for R and t: 45.627161727843244 75.64462148935337 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.72329831 -0.69053242 -0.00212682] [ 0.69051983 -0.72329914 0.0045523 ] [-0.00468183 0.00182406 0.99998738]] t_estimated: [[0.9788273 ] [0.20468468] [0.00114349]] R_gt: [[ 0.99864783 0.04793962 0.0201064 ] [-0.0459406 0.99485883 -0.09024798] [-0.02432917 0.0892019 0.99571639]] t_gt: [-0.5087119 0.32169571 -0.79857628] Pose Error in degrees for R and t: 139.0778567530997 64.34138824235984 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 5.73856898e-01 8.18955589e-01 6.90282235e-05] [ 8.18950067e-01 -5.73853334e-01 3.62469222e-03] [ 3.00807403e-03 -2.02352396e-03 -9.99993428e-01]] t_estimated: [[-7.82785207e-01] [-6.22291528e-01] [-7.57045655e-04]] R_gt: [[ 0.99550464 -0.09084193 0.02680636] [ 0.09355498 0.98726996 -0.12863204] [-0.01477961 0.13056072 0.99132969]] t_gt: [ 0.55500219 0.05954211 -0.82971519] Pose Error in degrees for R and t: 173.01259250590533 61.909089984197536 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.98217736e-01 -5.96770592e-02 -1.11585123e-05] [ 5.96770601e-02 9.98217729e-01 1.17418274e-04] [ 4.13144746e-06 -1.17874911e-04 9.99999993e-01]] t_estimated: [[2.40935821e-01] [9.70541012e-01] [2.72753305e-04]] R_gt: [[ 0.99736422 -0.01854971 0.07015159] [ 0.02388831 0.99681703 -0.07605369] [-0.06851734 0.07752902 0.99463216]] t_gt: [ 0.58675347 -0.01141414 -0.80968518] Pose Error in degrees for R and t: 6.3388397040941795 82.52629388041346 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.43057034e-01 -3.32631071e-01 -4.89800705e-05] [ 3.32631074e-01 9.43057016e-01 1.80775801e-04] [-1.39406490e-05 -1.86774184e-04 9.99999982e-01]] t_estimated: [[5.63007713e-01] [8.26451483e-01] [5.11864844e-04]] R_gt: [[ 0.99403759 0.02295526 0.1065971 ] [-0.00518023 0.98642751 -0.1641152 ] [-0.10891675 0.16258445 0.98066423]] t_gt: [-0.46552933 0.61452748 -0.63689749] Pose Error in degrees for R and t: 23.151768300623335 75.79130265932275 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.15105914 0.98840574 0.01533704] [ 0.98817449 -0.15057448 -0.02895675] [-0.02631165 0.01952986 -0.999463 ]] t_estimated: [[-9.05170201e-01] [-4.25048713e-01] [-7.06062135e-04]] R_gt: [[ 0.98428906 0.06706026 0.1633335 ] [-0.03224664 0.97778115 -0.20713269] [-0.17359463 0.19861171 0.96458093]] t_gt: [-0.69640596 0.68828869 -0.20316847] Pose Error in degrees for R and t: 162.86623777582406 70.24778227874471 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-3.22667746e-01 -9.46510137e-01 -2.02116988e-03] [ 9.46512295e-01 -3.22667038e-01 -6.76188759e-04] [-1.21453817e-05 -2.13124644e-03 9.99997729e-01]] t_estimated: [[9.90889344e-01] [1.34676064e-01] [8.16218570e-04]] R_gt: [[ 0.98541979 -0.16341199 -0.04737623] [ 0.16388768 0.98645835 0.00632377] [ 0.04570059 -0.01399486 0.99885681]] t_gt: [ 0.75201272 -0.63571873 -0.17417968] Pose Error in degrees for R and t: 99.42441448791756 48.74563235515569 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 7.83593190e-01 -6.21273817e-01 -7.45941523e-04] [ 6.21274171e-01 7.83593168e-01 3.90254735e-04] [ 3.42059632e-04 -7.69235154e-04 9.99999646e-01]] t_estimated: [[ 9.87087606e-01] [-1.60180573e-01] [ 4.91917387e-04]] R_gt: [[ 0.9327396 -0.35463813 -0.0650404 ] [ 0.35513118 0.93480692 -0.00420826] [ 0.06229275 -0.01917173 0.99787306]] t_gt: [ 0.80868098 -0.57935443 -0.1018995 ] Pose Error in degrees for R and t: 17.981400184201593 27.00206331056404 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.97479021e-01 -7.09619345e-02 8.23317164e-05] [ 7.09619820e-02 9.97478253e-01 -1.23757507e-03] [ 5.69662450e-06 1.24029759e-03 9.99999231e-01]] t_estimated: [[7.85627485e-01] [6.18699403e-01] [7.10332265e-04]] R_gt: [[ 0.84163111 -0.53792444 -0.04788918] [ 0.53846742 0.842644 -0.00184638] [ 0.04134601 -0.0242323 0.99884988]] t_gt: [ 0.85697699 -0.51445849 -0.03037929] Pose Error in degrees for R and t: 28.644075535418583 69.20974671131012 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999453e-01 -8.51474900e-04 -6.06693778e-04] [ 8.52086140e-04 9.99999129e-01 1.00794836e-03] [ 6.05835006e-04 -1.00846477e-03 9.99999308e-01]] t_estimated: [[0.11622799] [0.993221 ] [0.00176103]] R_gt: [[ 0.98556226 0.16902428 -0.0098737 ] [-0.16856723 0.9850202 0.03631998] [ 0.01586501 -0.03413137 0.9992913 ]] t_gt: [-0.3998994 0.91630343 0.0216445 ] Pose Error in degrees for R and t: 9.990882996828914 30.271043026280328 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99996047e-01 2.17143692e-03 -1.78654951e-03] [-2.17127937e-03 9.99997639e-01 9.01246362e-05] [ 1.78674099e-03 -8.62451819e-05 9.99998400e-01]] t_estimated: [[0.62559881] [0.78014396] [0.00123636]] R_gt: [[ 0.95949026 0.2813747 -0.01432833] [-0.28056704 0.95889619 0.04242967] [ 0.02567815 -0.03669149 0.99899665]] t_gt: [-0.35174324 0.93586284 -0.02091495] Pose Error in degrees for R and t: 16.395318296828183 59.334056289372114 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.99571003 0.08709749 0.0312339 ] [-0.08623083 0.99587884 -0.0280993 ] [-0.03355256 0.02528543 0.99911705]] t_estimated: [[0.67962263] [0.73356093] [0.00119863]] R_gt: [[ 0.91759255 0.3974867 -0.00520107] [-0.39745262 0.91759867 0.00650236] [ 0.00735736 -0.00389922 0.99996561]] t_gt: [-0.28067489 0.95949856 -0.02416846] Pose Error in degrees for R and t: 18.669820517751088 59.13154930525889 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.96855867e-01 7.92361355e-02 -1.26934770e-04] [-7.92361820e-02 9.96855784e-01 -4.16925962e-04] [ 9.35000574e-05 4.25672917e-04 9.99999905e-01]] t_estimated: [[-0.39965099] [-0.91666487] [-0.00214572]] R_gt: [[ 0.99319524 -0.08049027 0.08416888] [ 0.0884914 0.99142944 -0.09610192] [-0.0757122 0.10289602 0.99180616]] t_gt: [ 0.60866756 0.20431136 -0.76666855] Pose Error in degrees for R and t: 11.920903489774929 64.60257210395079 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.999997 0.00135409 0.00203982] [-0.00135153 0.9999983 -0.00125581] [-0.00204152 0.00125305 0.99999713]] t_estimated: [[0.91016787] [0.41423804] [0.0011367 ]] R_gt: [[ 0.98612396 -0.07273863 0.14922897] [ 0.1004288 0.97714441 -0.18735602] [-0.13219047 0.19974275 0.97088988]] t_gt: [ 0.18854069 0.46314083 -0.86599826] Pose Error in degrees for R and t: 14.650136295388013 68.74804490199404 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.00134178 0.99999386 0.00323634] [ 0.9999976 0.00134737 -0.0017268 ] [-0.00173115 0.00323401 -0.99999327]] t_estimated: [[-0.99617055] [-0.08742374] [-0.00115031]] R_gt: [[ 0.96369018 -0.13638094 0.22956995] [ 0.18875489 0.95604199 -0.22439918] [-0.18887515 0.2595833 0.94707012]] t_gt: [ 0.46402016 0.12318019 -0.87721829] Pose Error in degrees for R and t: 161.12005930581907 61.83560484828713 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.98153495 -0.19127125 -0.00210797] [ 0.19127467 0.98153531 0.00156024] [ 0.00177062 -0.00193463 0.99999656]] t_estimated: [[-0.68472959] [-0.72879635] [-0.00112992]] R_gt: [[ 9.74443528e-01 2.24590488e-01 -4.36939851e-03] [-2.24586809e-01 9.74452963e-01 1.21241789e-03] [ 4.53128952e-03 -1.99788876e-04 9.99989882e-01]] t_gt: [-0.33351116 0.94266238 -0.01256741] Pose Error in degrees for R and t: 24.006341913404373 62.70127787187579 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.94212180e-01 -1.07434010e-01 -2.73960293e-04] [ 1.07434019e-01 9.94212216e-01 1.83910400e-05] [ 2.70398847e-04 -4.77172512e-05 9.99999962e-01]] t_estimated: [[-0.76938321] [-0.6387868 ] [-0.00094635]] R_gt: [[ 0.92180329 0.38626661 -0.03280458] [-0.38552914 0.92230935 0.02666919] [ 0.04055766 -0.01193672 0.99910554]] t_gt: [-0.25026183 0.96573178 -0.06878334] Pose Error in degrees for R and t: 28.975806657212853 64.89462525887176 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.91801107 -0.39654571 0.00267982] [ 0.39655176 0.91800945 -0.00231368] [-0.00154262 0.00318667 0.99999373]] t_estimated: [[0.70607939] [0.70813194] [0.00102628]] R_gt: [[ 0.86551539 0.50018889 -0.02635597] [-0.49786639 0.86487781 0.06414167] [ 0.05487838 -0.04239306 0.99759221]] t_gt: [-0.20909036 0.97650899 -0.05207133] Pose Error in degrees for R and t: 53.49134770353152 57.0566621126282 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.9280954 0.37199594 0.01606056] [ 0.37201615 0.92822447 -0.0018217 ] [-0.01558547 0.00428408 -0.99986936]] t_estimated: [[ 0.98552825] [-0.16931308] [ 0.00819427]] R_gt: [[ 0.97481139 -0.21643828 -0.0538357 ] [ 0.21604301 0.97629574 -0.01312958] [ 0.0554018 0.00116834 0.9984637 ]] t_gt: [ 0.7608628 -0.61954521 -0.19300658] Pose Error in degrees for R and t: 177.91151881100916 31.44214366962091 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 8.85815765e-01 4.64037100e-01 3.01822578e-05] [-4.64036532e-01 8.85814780e-01 -1.50734563e-03] [-7.26200186e-04 1.32122486e-03 9.99998863e-01]] t_estimated: [[0.91327765] [0.40733592] [0.00117388]] R_gt: [[ 9.22521680e-01 -3.83672218e-01 -4.18254069e-02] [ 3.84014484e-01 9.23326536e-01 1.48937104e-04] [ 3.85618616e-02 -1.61983081e-02 9.99124720e-01]] t_gt: [ 0.81011193 -0.58456203 -0.04478716] Pose Error in degrees for R and t: 50.28574887154638 59.88803208422171 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.91361473e-01 1.31157430e-01 -3.97673867e-04] [-1.31156963e-01 9.91361077e-01 1.03243215e-03] [ 5.29649541e-04 -9.71355762e-04 9.99999388e-01]] t_estimated: [[9.83640229e-01] [1.80144104e-01] [4.28085151e-05]] R_gt: [[ 0.8424298 -0.53858421 -0.01545931] [ 0.53869692 0.84248967 0.00404194] [ 0.01084779 -0.01173264 0.99987293]] t_gt: [ 0.84926904 -0.5278721 0.00965143] Pose Error in degrees for R and t: 40.138779760967225 42.244509439773054 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99988646e-01 -4.71424546e-03 -6.94967343e-04] [ 4.71547217e-03 9.99987308e-01 1.77420180e-03] [ 6.86594500e-04 -1.77745875e-03 9.99998185e-01]] t_estimated: [[-0.97831055] [-0.20712849] [-0.0025016 ]] R_gt: [[ 0.98781988 -0.14451135 0.05770505] [ 0.14548898 0.98927321 -0.01309253] [-0.05519359 0.02132864 0.99824765]] t_gt: [ 0.6392212 -0.73069061 0.23976551] Pose Error in degrees for R and t: 8.783775593831857 61.666053086105315 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.84912718 -0.52814378 0.00686863] [-0.52813618 0.8491543 0.00302481] [-0.00743006 -0.00105912 -0.99997184]] t_estimated: [[0.95586655] [0.29377068] [0.00423425]] R_gt: [[ 0.96852998 -0.23905649 0.06930025] [ 0.2423198 0.9692354 -0.0431743 ] [-0.05684671 0.05860854 0.99666119]] t_gt: [ 0.66812823 -0.74072661 0.07020516] Pose Error in degrees for R and t: 176.87386365296908 65.08110381656435 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.04263552 -0.99885638 -0.02163686] [ 0.99894026 -0.04224331 -0.01827179] [ 0.01733689 -0.02239296 0.99959891]] t_estimated: [[ 0.99999421] [-0.0022507 ] [-0.00255121]] R_gt: [[ 0.97722708 -0.20254946 0.06326417] [ 0.20478378 0.97831516 -0.03102523] [-0.05560769 0.04327421 0.99751439]] t_gt: [ 0.61142543 -0.78270912 0.11629863] Pose Error in degrees for R and t: 80.84325061681227 52.201466087136005 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.17660466e-01 3.97365358e-01 -2.03541347e-04] [-3.97365183e-01 9.17660369e-01 5.98613933e-04] [ 4.24650267e-04 -4.68444096e-04 9.99999800e-01]] t_estimated: [[-7.40830352e-01] [-6.71691922e-01] [-5.93018645e-04]] R_gt: [[ 0.96374185 -0.17344781 0.20277486] [ 0.16761273 0.98479086 0.04573639] [-0.20762395 -0.01008951 0.97815635]] t_gt: [ 0.48585856 -0.57726084 0.65628606] Pose Error in degrees for R and t: 35.381749952105224 88.42912612722007 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.49784682e-01 3.12903957e-01 4.14645537e-04] [-3.12903768e-01 9.49784722e-01 -4.62012186e-04] [-5.38389438e-04 3.09067946e-04 9.99999807e-01]] t_estimated: [[ 0.99988638] [-0.01503149] [ 0.00113462]] R_gt: [[ 9.16519569e-01 -3.11910892e-01 2.50406654e-01] [ 3.00713486e-01 9.50110726e-01 8.28279145e-02] [-2.63749061e-01 -6.11500214e-04 9.64590948e-01]] t_gt: [ 0.63832511 -0.61154786 0.46749359] Pose Error in degrees for R and t: 39.37583121744791 49.61086428358564 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-4.62631276e-01 -8.86550737e-01 -3.04529842e-04] [-8.86550355e-01 4.62630681e-01 1.14970374e-03] [-8.78385852e-04 8.01869948e-04 -9.99999293e-01]] t_estimated: [[0.96698659] [0.25482515] [0.00104201]] R_gt: [[ 0.85214561 -0.44306737 0.27845974] [ 0.42436994 0.89643949 0.12769662] [-0.30619987 0.00935489 0.95192056]] t_gt: [ 0.72896298 -0.56577308 0.38537488] Pose Error in degrees for R and t: 163.18759772771898 55.86631159638699 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.99185612e-01 -4.03498753e-02 7.00810086e-06] [ 4.03498749e-02 9.99185611e-01 5.57635545e-05] [-9.25244601e-06 -5.54353653e-05 9.99999998e-01]] t_estimated: [[-0.65064218] [-0.75938342] [-0.00125254]] R_gt: [[ 0.99870908 -0.04891544 0.01366835] [ 0.04879148 0.99876456 0.00932391] [-0.01410787 -0.00864486 0.99986297]] t_gt: [ 0.25625969 -0.82695408 0.50047769] Pose Error in degrees for R and t: 1.066430908199743 62.57320096508276 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.28630511 0.95813406 -0.00291812] [-0.9580104 0.28621571 -0.01722305] [-0.01566678 0.00772663 0.99984741]] t_estimated: [[0.98298877] [0.18357019] [0.00592162]] R_gt: [[ 0.98824799 -0.13908341 0.06340383] [ 0.13974745 0.99016775 -0.00612863] [-0.0619291 0.01491673 0.99796859]] t_gt: [ 0.41397941 -0.83434473 0.36399164] Pose Error in degrees for R and t: 81.43031695120357 75.17119997465242 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99685249e-01 -2.50875928e-02 1.21133932e-04] [ 2.50858812e-02 9.99654770e-01 7.81278570e-03] [-3.17096099e-04 -7.80728787e-03 9.99969472e-01]] t_estimated: [[0.89611598] [0.4438177 ] [0.00141343]] R_gt: [[ 0.9612903 -0.27211308 0.04329073] [ 0.27007218 0.96165928 0.04765485] [-0.05459976 -0.03411933 0.99792523]] t_gt: [ 0.61080621 -0.736278 0.2912224 ] Pose Error in degrees for R and t: 14.707087591700628 77.23271726115868 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-3.69003060e-01 -9.29426545e-01 -1.74360791e-03] [ 9.29427589e-01 -3.69004292e-01 4.35951844e-04] [-1.04858402e-03 -1.45968973e-03 9.99998385e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.97028713 0.24130331 -0.01779593] [-0.24106348 0.97039939 0.01461862] [ 0.02079716 -0.0098951 0.999735 ]] t_gt: [-0.62294418 0.78061815 -0.05075288] Pose Error in degrees for R and t: 125.61535740033096 57.788898988177145 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99998487e-01 -1.63727749e-03 -5.87260021e-04] [ 1.63782148e-03 9.99998229e-01 9.27021220e-04] [ 5.85741191e-04 -9.27981645e-04 9.99999398e-01]] t_estimated: [[0.00814874] [0.99996455] [0.00211843]] R_gt: [[ 0.92575237 0.37515681 -0.04733337] [-0.37645987 0.92616683 -0.02219563] [ 0.03551176 0.03836673 0.99863177]] t_gt: [-0.53048374 0.83336819 -0.15519169] Pose Error in degrees for R and t: 22.38369078591478 34.035892189142785 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.01216894 0.99983988 -0.01311987] [-0.99987954 0.01204091 -0.00979389] [-0.00963435 0.01323747 0.99986597]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.90794386 0.41408124 -0.06462284] [-0.41726543 0.90755934 -0.04719201] [ 0.03910883 0.06981168 0.996793 ]] t_gt: [-0.4921962 0.84602955 -0.20488263] Pose Error in degrees for R and t: 64.7947806614562 32.57047699607246 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99962119e-01 -8.70406740e-03 -1.95886928e-05] [ 8.70406697e-03 9.99962119e-01 -2.16862019e-05] [ 1.97767089e-05 2.15148791e-05 1.00000000e+00]] t_estimated: [[-3.68300000e-01] [-9.29706931e-01] [-3.63633524e-04]] R_gt: [[ 0.99904907 0.01152473 0.04204519] [-0.01099258 0.99985708 -0.01288443] [-0.04218868 0.01241034 0.99903263]] t_gt: [-0.95897978 0.27844447 -0.05316442] Pose Error in degrees for R and t: 2.768337137476782 84.58667574508821 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 0.28122726 -0.95963894 -0.00207903] [ 0.95963803 0.28123124 -0.00196135] [ 0.00246687 -0.00144354 0.99999592]] t_estimated: [[ 0.63644005] [-0.77132377] [-0.00192334]] R_gt: [[ 0.99603033 0.07156572 0.05292452] [-0.06929782 0.99664683 -0.04352564] [-0.05586286 0.03968536 0.99764864]] t_gt: [-0.87073833 0.41492272 -0.26392026] Pose Error in degrees for R and t: 77.80010975117732 29.10793160441145 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.62214601e-01 -2.72291693e-01 -5.43988874e-04] [ 2.72291652e-01 9.62214755e-01 -1.50169673e-04] [ 5.64324076e-04 -3.62817677e-06 9.99999841e-01]] t_estimated: [[-0.34221639] [-0.93962001] [-0.00147507]] R_gt: [[ 0.98840753 0.13004575 0.07834999] [-0.12325978 0.98864107 -0.08599472] [-0.08864373 0.07534038 0.99320956]] t_gt: [-0.85643201 0.41555296 -0.30633306] Pose Error in degrees for R and t: 24.041474030399943 84.4378777032216 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99791590e-01 2.04149758e-02 -6.62243913e-05] [-2.04149741e-02 9.99791592e-01 2.65313690e-05] [ 6.67522269e-05 -2.51738704e-05 9.99999997e-01]] t_estimated: [[-0.37109848] [-0.92858802] [-0.00319341]] R_gt: [[ 0.99021525 0.13928324 0.00861446] [-0.13913707 0.99014769 -0.01577551] [-0.0107266 0.01442267 0.99983906]] t_gt: [-0.71007417 0.7033912 -0.03217909] Pose Error in degrees for R and t: 6.910374485481298 67.07347112945223 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99669315e-01 2.56975352e-02 -9.47484299e-04] [-2.56960112e-02 9.99668543e-01 1.58697899e-03] [ 9.87951697e-04 -1.56210763e-03 9.99998292e-01]] t_estimated: [[0.97422903] [0.22551598] [0.00451032]] R_gt: [[ 0.99144381 0.12742555 0.02833186] [-0.12741969 0.99184658 -0.00202512] [-0.02835853 -0.00160252 0.99959695]] t_gt: [-0.69621521 0.706511 0.12699048] Pose Error in degrees for R and t: 6.087517484614175 58.77696975627393 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.97714137e-01 -6.75685015e-02 9.99558917e-04] [ 6.75690684e-02 9.97714450e-01 -5.44690639e-04] [-9.60470445e-04 6.10984815e-04 9.99999352e-01]] t_estimated: [[0.99747581] [0.07097685] [0.00207359]] R_gt: [[ 0.99940644 0.0073117 0.03366737] [-0.00772586 0.99989648 0.01216911] [-0.03357496 -0.01242165 0.99935894]] t_gt: [-0.07366161 0.43873112 0.8955942 ] Pose Error in degrees for R and t: 4.751386363520622 87.68010042804379 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.73551896e-01 2.28461735e-01 1.39345717e-03] [-2.28460048e-01 9.73552459e-01 -1.27113039e-03] [-1.64700831e-03 9.19162106e-04 9.99998221e-01]] t_estimated: [[-0.92398108] [-0.38243637] [-0.00117504]] R_gt: [[ 0.9995057 0.0100067 0.0297808 ] [-0.01039573 0.9998615 0.01295617] [-0.02964633 -0.01325833 0.99947206]] t_gt: [0.50887941 0.07123654 0.85788525] Pose Error in degrees for R and t: 12.750419855850978 60.102729575368485 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999993e-01 -5.40784255e-05 -1.01678696e-04] [ 5.41007057e-05 9.99999975e-01 2.19133024e-04] [ 1.01666843e-04 -2.19138523e-04 9.99999971e-01]] t_estimated: [[0.71936608] [0.69463075] [0.00074895]] R_gt: [[ 0.99888821 0.04384115 0.01732606] [-0.04381591 0.99903808 -0.00182209] [-0.01738931 0.00106164 0.99984789]] t_gt: [0.6048622 0.7592364 0.24021199] Pose Error in degrees for R and t: 2.7088206053156805 15.701171673597464 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-3.55490922e-01 9.34665641e-01 5.13253795e-03] [ 9.34679722e-01 3.55484697e-01 2.10896585e-03] [ 1.46639224e-04 5.54699736e-03 -9.99984605e-01]] t_estimated: [[ 9.91816253e-01] [-1.27669909e-01] [ 9.56812428e-04]] R_gt: [[ 9.97896037e-01 5.77841357e-02 2.93847820e-02] [-5.77485980e-02 9.98329176e-01 -2.03793793e-03] [-2.94525064e-02 3.37022293e-04 9.99565971e-01]] t_gt: [0.62837582 0.69146649 0.35639573] Pose Error in degrees for R and t: 178.40628749876586 57.63608751451773 Number of keypoints: Image1: 401 Image2: 401 R_estimated: [[ 0.09499257 -0.9954722 -0.00339225] [ 0.99547591 0.09499877 -0.00171633] [ 0.00203082 -0.00321386 0.99999277]] t_estimated: [[9.99994892e-01] [3.10075932e-03] [7.75189830e-04]] R_gt: [[ 0.99991513 0.0013138 -0.0129818 ] [-0.00152013 0.99987308 -0.01584611] [ 0.01295886 0.01586445 0.99978961]] t_gt: [-0.58707855 -0.23641542 -0.77423932] Pose Error in degrees for R and t: 84.635610440943 53.95582712259877 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.98053880e-01 -6.23574558e-02 1.85875831e-05] [ 6.23574549e-02 9.98053879e-01 4.43536589e-05] [-2.13171907e-05 -4.31082670e-05 9.99999999e-01]] t_estimated: [[ 6.04849036e-01] [-7.96340137e-01] [-1.73913732e-04]] R_gt: [[ 0.99846486 -0.0052566 -0.05514662] [ 0.00667041 0.99965257 0.0255036 ] [ 0.05499275 -0.02583165 0.99815194]] t_gt: [-0.50980712 -0.70930042 -0.4868158 ] Pose Error in degrees for R and t: 4.752219861153168 75.13320413525544 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.31337959e-01 3.64156002e-01 1.11063388e-04] [-3.64155957e-01 9.31337935e-01 -2.99117347e-04] [-2.12362924e-04 2.38134945e-04 9.99999949e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 9.95568357e-01 -3.61131301e-02 -8.68347089e-02] [ 3.60173098e-02 9.99347921e-01 -2.66536943e-03] [ 8.68743099e-02 -4.73957037e-04 9.96218761e-01]] t_gt: [-0.22772458 -0.67848874 -0.6984229 ] Pose Error in degrees for R and t: 23.9453635608326 76.68122266239116 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.02560766 0.99967142 0.00114209] [-0.99966663 -0.02560374 -0.00332821] [-0.00329788 -0.00122693 0.99999381]] t_estimated: [[0.24878193] [0.96855877] [0.00120768]] R_gt: [[ 0.99766281 -0.06777227 0.00868043] [ 0.06796222 0.9974021 -0.02387679] [-0.00703886 0.02441079 0.99967752]] t_gt: [ 0.86021856 -0.48841237 -0.14655164] Pose Error in degrees for R and t: 95.36558522353059 74.97584509885377 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-4.27911657e-01 -9.03819281e-01 -1.52346599e-03] [ 9.03813654e-01 -4.27914369e-01 3.18941829e-03] [-3.53457073e-03 -1.21400951e-05 9.99993753e-01]] t_estimated: [[0.97880149] [0.20480693] [0.00132604]] R_gt: [[ 0.98433298 -0.17539665 -0.01803482] [ 0.17508657 0.98439687 -0.01752001] [ 0.02082676 0.01408724 0.99968405]] t_gt: [ 0.84750685 -0.5204893 -0.10403376] Pose Error in degrees for R and t: 105.25102641453739 43.713594113393874 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-4.95472227e-02 -9.98770166e-01 -1.79677862e-03] [ 9.98771716e-01 -4.95477941e-02 2.74909001e-04] [-3.63597326e-04 -1.78095069e-03 9.99998348e-01]] t_estimated: [[9.99836179e-01] [1.80859498e-02] [7.16710511e-04]] R_gt: [[ 0.97785202 -0.19922203 -0.06416166] [ 0.19785833 0.97985807 -0.02700364] [ 0.06824994 0.01370993 0.99757434]] t_gt: [ 0.8718305 -0.44615941 -0.20212215] Pose Error in degrees for R and t: 81.45350187177772 30.291135996814432 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.80959881e-01 4.73190681e-01 5.17557521e-04] [-4.73190951e-01 8.80959585e-01 7.30261533e-04] [-1.10394307e-04 -8.88234649e-04 9.99999599e-01]] t_estimated: [[0.62315167] [0.7821005 ] [0.00090312]] R_gt: [[ 0.99434403 -0.10242521 -0.02809771] [ 0.10304426 0.99444299 0.02154569] [ 0.02573417 -0.02431988 0.99937243]] t_gt: [ 0.81552142 -0.57871399 0.00386407] Pose Error in degrees for R and t: 34.19766331444814 86.81359922954836 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.74637391 -0.66500343 -0.02638995] [-0.66492425 -0.74679866 0.01294253] [-0.0283148 0.00788736 -0.99956794]] t_estimated: [[0.13896766] [0.99014456] [0.01737096]] R_gt: [[ 0.98712217 -0.14108899 -0.07539805] [ 0.14224189 0.98977986 0.01011589] [ 0.07319908 -0.02071092 0.99710184]] t_gt: [ 0.85040794 -0.4978821 -0.17005807] Pose Error in degrees for R and t: 179.57810246178548 67.80561033490855 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.54775906 -0.83652424 -0.01368231] [ 0.83663476 0.5477145 0.00714916] [ 0.00151355 -0.01536312 0.99988083]] t_estimated: [[0.98475308] [0.17393737] [0.00267596]] R_gt: [[ 0.98082885 -0.14487651 -0.13032844] [ 0.14833918 0.98878709 0.01721036] [ 0.12637341 -0.03621375 0.99132131]] t_gt: [ 0.87544454 -0.40925097 -0.25711963] Pose Error in degrees for R and t: 48.77686694694235 37.79349130255552 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.99931582e-01 -1.16974630e-02 3.64614702e-05] [ 1.16974617e-02 9.99931582e-01 3.55999291e-05] [-3.68754045e-05 -3.51709868e-05 9.99999999e-01]] t_estimated: [[-0.40154627] [-0.91583815] [-0.001039 ]] R_gt: [[ 9.99995052e-01 -2.39193408e-04 3.14740060e-03] [ 2.47784077e-04 9.99996199e-01 -2.72180918e-03] [-3.14723139e-03 2.72236574e-03 9.99991154e-01]] t_gt: [ 0.96497009 -0.25978349 0.03667794] Pose Error in degrees for R and t: 0.6986791257146704 81.39633316033803 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99778231e-01 -2.10589992e-02 -8.50064983e-05] [ 2.10589560e-02 9.99778120e-01 -4.79904471e-04] [ 9.50939449e-05 4.78007895e-04 9.99999881e-01]] t_estimated: [[-0.96254605] [-0.27106182] [-0.00553187]] R_gt: [[ 0.99870981 0.05035793 0.00650837] [-0.05041274 0.99869232 0.00854218] [-0.00607055 -0.00885892 0.99994249]] t_gt: [0.6313727 0.74716863 0.2076236 ] Pose Error in degrees for R and t: 4.1445271501421255 35.766791172856784 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.88308216 -0.46783658 -0.03598378] [-0.46780231 0.88377784 -0.00988578] [ 0.0364266 0.00810334 -0.99930348]] t_estimated: [[ 0.97256132] [ 0.2319251 ] [-0.01830916]] R_gt: [[ 9.97670041e-01 6.50191657e-02 2.06692724e-02] [-6.49949368e-02 9.97883689e-01 -1.86258840e-03] [-2.07472334e-02 5.14913007e-04 9.99785178e-01]] t_gt: [0.6568 0.72021556 0.22339048] Pose Error in degrees for R and t: 179.0016844090817 36.704926942614435 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 0.63201243 0.77248528 -0.06186102] [ 0.74906241 -0.58848074 0.30429578] [ 0.19866 -0.23865648 -0.95056683]] t_estimated: [[-0.69631062] [-0.69631062] [-0.17407766]] R_gt: [[ 0.99961362 -0.00710714 -0.02687307] [ 0.00733319 0.99993863 0.00835192] [ 0.02681189 -0.00854572 0.99960383]] t_gt: [-0.46733665 -0.77547021 -0.42454965] Pose Error in degrees for R and t: 161.37820179449528 20.06830235354327 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99991877e-01 3.99677444e-03 5.21847387e-04] [-3.99604039e-03 9.99991036e-01 -1.40019253e-03] [-5.27438963e-04 1.39809583e-03 9.99998884e-01]] t_estimated: [[-0.01790065] [-0.9998365 ] [-0.00255713]] R_gt: [[ 0.99536862 -0.08349838 -0.04763386] [ 0.08450591 0.99623109 0.01954992] [ 0.04582239 -0.02348484 0.99867425]] t_gt: [ 0.17141258 -0.95880285 -0.22652776] Pose Error in degrees for R and t: 5.880586330845428 17.028941947219142 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.14856287 0.9693035 -0.19590764] [ 0.89659788 0.2156001 0.38681887] [ 0.41718259 -0.11818345 -0.90110563]] t_estimated: [[-0.78446454] [-0.58834841] [-0.19611614]] R_gt: [[ 0.9861109 -0.13956497 -0.09004334] [ 0.14394814 0.98860093 0.04414389] [ 0.08285562 -0.05649173 0.9949593 ]] t_gt: [ 0.25812062 -0.94403642 -0.20535086] Pose Error in degrees for R and t: 151.65319018021543 66.84571233684397 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[-9.66939113e-01 -2.55003484e-01 -1.40568186e-03] [-2.55007259e-01 9.66919207e-01 6.20849570e-03] [-2.24007239e-04 6.36169640e-03 -9.99979739e-01]] t_estimated: [[9.40023272e-01] [3.41109191e-01] [8.76887380e-04]] R_gt: [[ 0.99524937 -0.07836624 0.05775772] [ 0.07921802 0.99677766 -0.01259661] [-0.0565843 0.01711252 0.99825091]] t_gt: [ 0.26284647 -0.82223047 0.5048255 ] Pose Error in degrees for R and t: 176.87614176935125 88.11199731775822 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 1.14299787e-01 9.93446115e-01 6.13418102e-04] [-9.93446190e-01 1.14300047e-01 -4.07533291e-04] [-4.74976083e-04 -5.62816908e-04 9.99999729e-01]] t_estimated: [[8.76023422e-01] [4.82267852e-01] [8.27217584e-04]] R_gt: [[ 0.98253833 -0.17658177 0.05862568] [ 0.17565351 0.98423445 0.020668 ] [-0.0613509 -0.01000837 0.99806583]] t_gt: [ 0.49403295 -0.78417312 0.37550494] Pose Error in degrees for R and t: 93.64064390811032 86.8521006466674 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.97208298e-01 -7.46692576e-02 3.34928840e-04] [ 7.46693183e-02 9.97208335e-01 -1.72610109e-04] [-3.21105162e-04 1.97137141e-04 9.99999929e-01]] t_estimated: [[-0.61794831] [-0.7862176 ] [-0.00133042]] R_gt: [[ 0.95210407 -0.30071761 0.05537292] [ 0.29973744 0.95368223 0.02544319] [-0.06045886 -0.00762656 0.99814098]] t_gt: [ 0.63990372 -0.73642535 0.21954712] Pose Error in degrees for R and t: 13.654416593397732 79.43965199904403 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-9.98906467e-01 4.66873016e-02 -2.48330032e-03] [ 4.66855891e-02 9.98909357e-01 7.43198388e-04] [ 2.51528985e-03 6.26451337e-04 -9.99996640e-01]] t_estimated: [[9.99994892e-01] [3.10075305e-03] [7.75189831e-04]] R_gt: [[ 0.99970396 0.02404029 0.00393466] [-0.02411428 0.99950607 0.0201619 ] [-0.00344783 -0.020251 0.99978975]] t_gt: [-0.90783643 -0.04675171 0.41671008] Pose Error in degrees for R and t: 180.0 24.816898063604732 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99942724e-01 1.07027136e-02 5.45528675e-07] [-1.07027125e-02 9.99942644e-01 -3.99879386e-04] [-4.82529191e-06 3.99850644e-04 9.99999920e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 9.97962992e-01 3.02385229e-03 6.37253536e-02] [-3.04905919e-03 9.99995266e-01 3.10357354e-04] [-6.37242264e-02 -5.04555463e-04 9.97968271e-01]] t_gt: [-0.92111929 -0.129726 0.36702919] Pose Error in degrees for R and t: 3.6796514114079364 35.34596821456162 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.82170135 0.56769469 0.05029543] [-0.47401324 0.729756 -0.49271455] [-0.31641483 0.38102351 0.86873629]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99531701 0.07292558 0.06345559] [-0.07197555 0.99725964 -0.01711786] [-0.06453011 0.01246941 0.99783853]] t_gt: [-0.96931213 0.2446236 0.02435738] Pose Error in degrees for R and t: 40.32464622974133 53.62289887154073 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999753e-01 7.00618304e-04 5.98803736e-05] [-7.00617047e-04 9.99999754e-01 -2.10094702e-05] [-5.98950786e-05 2.09675118e-05 9.99999998e-01]] t_estimated: [[ 8.29536795e-01] [-5.58451978e-01] [ 3.07394008e-04]] R_gt: [[ 0.98751296 -0.1460777 0.05898847] [ 0.14572433 0.98927176 0.01027774] [-0.05985577 -0.00155321 0.99820609]] t_gt: [ 0.65117229 -0.72201225 0.23382249] Pose Error in degrees for R and t: 9.106313793240107 19.360328440578115 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 1.00000000e+00 -1.60718661e-12 5.96623445e-14] [ 1.60771396e-12 1.00000000e+00 -6.96797763e-15] [-5.96614771e-14 6.96990209e-15 1.00000000e+00]] t_estimated: [[9.69583474e-01] [2.44759302e-01] [8.77781589e-04]] R_gt: [[ 0.94930108 -0.30538173 0.07462904] [ 0.30468865 0.9522253 0.02076926] [-0.07740535 0.00302297 0.99699523]] t_gt: [ 0.7558186 -0.63857861 0.14476047] Pose Error in degrees for R and t: 18.33002478323554 54.78415727268027 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 8.51815831e-01 5.23841141e-01 4.98000492e-04] [-5.23841068e-01 8.51815977e-01 -2.78487802e-04] [-5.70088143e-04 -2.36527908e-05 9.99999837e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.90148458 -0.43151074 0.03352625] [ 0.42685544 0.89921415 0.0959597 ] [-0.07155383 -0.07219546 0.99482101]] t_gt: [ 0.79861577 -0.5693994 0.19492862] Pose Error in degrees for R and t: 57.348021803132795 37.15569188803785 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.87998264 0.47499989 -0.0023804 ] [-0.47498843 0.87998223 0.00415614] [ 0.00406888 -0.00252667 0.99998853]] t_estimated: [[-0.83852087] [-0.54486882] [-0.00084871]] R_gt: [[ 9.97316830e-01 7.22396951e-02 -1.19662555e-02] [-7.22288792e-02 9.97388077e-01 1.32129074e-03] [ 1.20304179e-02 -4.53017016e-04 9.99927252e-01]] t_gt: [-0.62495017 0.76699181 -0.14546772] Pose Error in degrees for R and t: 24.221891176725485 83.90096676955336 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-0.13830661 -0.71174267 -0.68868981] [-0.60704923 -0.48851199 0.62677529] [-0.78253595 0.50475579 -0.3644984 ]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.97962698 0.19902324 -0.02684586] [-0.19933081 0.97988818 -0.00931293] [ 0.02445251 0.01447505 0.99959536]] t_gt: [-0.58701518 0.79488717 -0.15351729] Pose Error in degrees for R and t: 177.67522488208104 86.86786708688197 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-8.84934812e-01 -4.65710530e-01 -2.01996723e-03] [ 4.65711061e-01 -8.84936809e-01 2.27822033e-04] [-1.89364247e-03 -7.39113432e-04 9.99997934e-01]] t_estimated: [[0.99977638] [0.02111337] [0.00119275]] R_gt: [[ 0.9553363 0.28765965 -0.06772173] [-0.28723301 0.95772508 0.01616075] [ 0.06950833 0.00401313 0.99757327]] t_gt: [-0.56353059 0.80189574 -0.1984855 ] Pose Error in degrees for R and t: 168.97581958184125 56.85836310135098 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.99998116 -0.00543419 0.00285635] [ 0.00544149 0.99998193 -0.00255365] [-0.00284242 0.00256915 0.99999266]] t_estimated: [[-0.72553569] [-0.68818361] [-0.00113188]] R_gt: [[ 0.98205365 0.18857668 0.00329144] [-0.18854193 0.98202467 -0.00891516] [-0.00491358 0.00813517 0.99995406]] t_gt: [-0.75875059 0.65117507 -0.01638818] Pose Error in degrees for R and t: 11.186009001068259 84.12311904553323 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.95060948e-01 -8.68857031e-01 -1.45529848e-03] [ 8.68858180e-01 4.95060882e-01 4.30492635e-04] [ 3.46424795e-04 -1.47756808e-03 9.99998848e-01]] t_estimated: [[-0.24895955] [-0.96851336] [-0.00101203]] R_gt: [[ 0.96508379 0.26192986 0.00277452] [-0.26185626 0.96497555 -0.01593513] [-0.00685004 0.01465295 0.99986862]] t_gt: [-0.73941066 0.67280875 -0.02450045] Pose Error in degrees for R and t: 75.51556616628908 62.126816922449386 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99997595e-01 -2.14288705e-03 -4.67832776e-04] [ 2.14295139e-03 9.99997694e-01 1.37057461e-04] [ 4.67537999e-04 -1.38059674e-04 9.99999881e-01]] t_estimated: [[-9.99995190e-01] [ 2.97224130e-03] [-8.86760844e-04]] R_gt: [[ 0.91640276 0.39992063 0.0164518 ] [-0.39976969 0.91654009 -0.01176452] [-0.01978299 0.00420493 0.99979431]] t_gt: [-0.69066069 0.72277293 0.02423028] Pose Error in degrees for R and t: 23.72317191064102 46.14909673595436 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99965006e-01 8.36568094e-03 -3.68612653e-05] [-8.36568236e-03 9.99965006e-01 -3.82939084e-05] [ 3.65396208e-05 3.86009380e-05 9.99999999e-01]] t_estimated: [[-7.20327200e-01] [-6.93634395e-01] [-2.25025083e-04]] R_gt: [[ 0.99980833 0.01913249 0.00406516] [-0.01899962 0.99935629 -0.03042379] [-0.00464448 0.03034194 0.99952902]] t_gt: [-0.38960611 0.82262996 -0.41410993] Pose Error in degrees for R and t: 1.8613540461004465 73.14998434775742 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99057687e-01 -4.34020064e-02 5.42256381e-05] [ 4.34020127e-02 9.99057681e-01 -1.22839536e-04] [-4.88430579e-05 1.25077285e-04 9.99999991e-01]] t_estimated: [[ 9.69109089e-01] [-2.46631338e-01] [ 7.46243975e-04]] R_gt: [[ 0.99763608 -0.0686444 -0.00327397] [ 0.0686009 0.99757127 -0.01205028] [ 0.00409375 0.01179857 0.99992206]] t_gt: [ 0.46850769 -0.85706235 -0.21434708] Pose Error in degrees for R and t: 1.611898433929349 48.29822110598325 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.98062504e-01 -6.22190688e-02 1.57912588e-04] [ 6.22190988e-02 9.98062496e-01 -1.92606752e-04] [-1.45622819e-04 2.02058756e-04 9.99999969e-01]] t_estimated: [[9.50283948e-01] [3.11383286e-01] [9.31436043e-04]] R_gt: [[ 9.72925374e-01 -2.30016700e-01 2.25198399e-02] [ 2.29956441e-01 9.73186770e-01 5.25328018e-03] [-2.31242640e-02 6.83338520e-05 9.99732988e-01]] t_gt: [ 0.58245816 -0.80553501 0.10888454] Pose Error in degrees for R and t: 9.819547530344062 72.3758327180288 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[-9.97492404e-01 -6.94521727e-02 -1.36124726e-02] [-6.94600786e-02 9.97584726e-01 1.08289025e-04] [ 1.35720738e-02 1.05354090e-03 -9.99907340e-01]] t_estimated: [[ 0.99939229] [ 0.03425705] [-0.00644248]] R_gt: [[ 0.98350963 0.17945777 -0.02244937] [-0.18002511 0.98330636 -0.02647274] [ 0.01732366 0.03007794 0.99939719]] t_gt: [-0.61428757 0.76434264 -0.19603855] Pose Error in degrees for R and t: 178.0202510573712 54.09329369708737 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.86181904e-01 1.65665912e-01 -2.40808362e-04] [-1.65665842e-01 9.86181904e-01 2.85564743e-04] [ 2.84789193e-04 -2.41725062e-04 9.99999930e-01]] t_estimated: [[0.50710578] [0.86188327] [0.00098276]] R_gt: [[ 0.94100915 0.33769227 0.02159817] [-0.33659254 0.94067837 -0.04277684] [-0.03476285 0.0329836 0.99885141]] t_gt: [-0.63080649 0.77545221 0.02751462] Pose Error in degrees for R and t: 10.547305958779843 69.60497221669726 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.96198644e-01 8.71106337e-02 -9.45686942e-06] [-8.71106308e-02 9.96198629e-01 1.69704451e-04] [ 2.42039826e-05 -1.68235550e-04 9.99999986e-01]] t_estimated: [[-7.10342683e-01] [ 7.03855781e-01] [ 5.58545290e-04]] R_gt: [[ 0.91745346 0.39521348 0.04567709] [-0.39226002 0.91776343 -0.06200148] [-0.06642444 0.03896655 0.99703082]] t_gt: [-0.62605809 0.77637262 0.07277922] Pose Error in degrees for R and t: 18.750952585224066 7.60205568920146 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.88581099 -0.46403895 0.00259793] [ 0.46398282 -0.88576861 -0.01157204] [ 0.00767104 -0.00904525 0.99992967]] t_estimated: [[8.46729513e-01] [5.32023011e-01] [8.04875963e-04]] R_gt: [[ 0.98997572 -0.1410923 0.00634499] [ 0.14086742 0.98964339 0.02763086] [-0.01017789 -0.02646007 0.99959791]] t_gt: [ 0.52372644 -0.82889379 0.19658509] Pose Error in degrees for R and t: 144.2578689118549 89.8497536184274 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 8.48928195e-01 5.28508023e-01 4.34676296e-04] [-5.28507967e-01 8.48928306e-01 -2.44506013e-04] [-4.98232401e-04 -2.21618373e-05 9.99999876e-01]] t_estimated: [[-1.90042412e-01] [ 9.81775567e-01] [ 7.85403532e-04]] R_gt: [[ 0.96987185 -0.24354308 0.00590899] [ 0.24328996 0.96954725 0.02810797] [-0.01257472 -0.02582389 0.9995865 ]] t_gt: [ 0.58894237 -0.79814753 0.12691498] Pose Error in degrees for R and t: 46.02370410191275 26.436787712298322 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.29318644 0.71997119 -0.62903354] [-0.16310911 0.68596873 0.70911376] [ 0.94203882 -0.10530144 0.31855058]] t_estimated: [[0.74728339] [0.66450505] [0.00075943]] R_gt: [[ 0.92224591 -0.38658246 -0.00401781] [ 0.38635037 0.92121882 0.04572324] [-0.01397371 -0.04372076 0.99894576]] t_gt: [ 0.65127417 -0.75171341 0.1037733 ] Pose Error in degrees for R and t: 92.70602696781253 89.26933413190736 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-9.95436077e-01 -9.54123828e-02 -1.86938829e-03] [ 9.54111446e-02 -9.95437675e-01 7.40881503e-04] [-1.93154880e-03 5.59139700e-04 9.99997978e-01]] t_estimated: [[9.21404880e-01] [3.88603119e-01] [8.14681591e-04]] R_gt: [[ 0.99988749 0.01258611 -0.00819625] [-0.01277478 0.99964515 -0.02335942] [ 0.00789952 0.02346229 0.99969303]] t_gt: [ 0.72936512 0.18805738 -0.65776967] Pose Error in degrees for R and t: 175.25358403031203 41.87658635094672 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.25034038e-01 -3.79884223e-01 8.15651018e-05] [ 3.79884089e-01 9.25033484e-01 -1.06441010e-03] [ 3.28902153e-04 1.01560086e-03 9.99999430e-01]] t_estimated: [[-0.16393191] [-0.98646746] [-0.002876 ]] R_gt: [[ 0.99997724 0.00575621 0.00344052] [-0.00573672 0.99996715 -0.00569883] [-0.00347315 0.0056795 0.99997807]] t_gt: [ 0.98826025 -0.1452459 -0.04738472] Pose Error in degrees for R and t: 22.658213830359674 88.93476667918823 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.71396922 0.70011864 -0.0090468 ] [-0.7001187 -0.71401694 -0.00368859] [-0.00904202 0.0037003 0.99995227]] t_estimated: [[0.44497586] [0.89554187] [0.00111803]] R_gt: [[ 9.98205179e-01 5.98777908e-02 -1.21610661e-03] [-5.98900307e-02 9.98085981e-01 -1.54380953e-02] [ 2.89249858e-04 1.54832362e-02 9.99880440e-01]] t_gt: [ 0.75218898 0.62566797 -0.20676393] Pose Error in degrees for R and t: 132.12617540899504 26.518963454969484 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.84960661e-01 -1.72778514e-01 -2.85359304e-04] [ 1.72778543e-01 9.84960694e-01 7.81293890e-05] [ 2.67568618e-04 -1.26258339e-04 9.99999956e-01]] t_estimated: [[-0.43292364] [-0.90143005] [-0.00098841]] R_gt: [[ 9.86960535e-01 1.60963487e-01 -1.29002672e-04] [-1.60961055e-01 9.86948336e-01 4.94875222e-03] [ 9.23579353e-04 -4.86269011e-03 9.99987766e-01]] t_gt: [-0.67649808 0.73643749 0.00318989] Pose Error in degrees for R and t: 19.214173414341104 68.22405274661315 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.38125588 -0.92446762 -0.00188878] [ 0.92446669 -0.38125899 0.00170784] [-0.00229896 -0.00109499 0.99999676]] t_estimated: [[ 0.75900769] [-0.65107938] [ 0.00172338]] R_gt: [[ 0.94498642 0.32702964 -0.00736729] [-0.32708797 0.94494985 -0.00910317] [ 0.00398417 0.01101262 0.99993078]] t_gt: [-0.61290608 0.78928734 -0.03703547] Pose Error in degrees for R and t: 131.5045030599638 11.719717271545843 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 8.58203172e-01 -5.13309389e-01 8.86610631e-04] [ 5.13310111e-01 8.58202534e-01 -1.06826388e-03] [-2.12541611e-04 1.37189365e-03 9.99999036e-01]] t_estimated: [[-0.55417344] [-0.83240044] [-0.00114027]] R_gt: [[ 0.89586876 0.44176033 0.04762486] [-0.44035374 0.89704605 -0.03738724] [-0.05923849 0.01252322 0.99816521]] t_gt: [-0.59682104 0.79712067 0.09166941] Pose Error in degrees for R and t: 57.174550693855245 70.55597701609298 Number of keypoints: Image1: 359 Image2: 359 R_estimated: [[-0.96584558 0.25788209 0.02528134] [ 0.25788019 0.96617095 -0.0033917 ] [-0.02530076 0.0032437 -0.99967462]] t_estimated: [[ 0.9828749 ] [-0.18379868] [ 0.01322806]] R_gt: [[ 0.99535333 -0.09318866 -0.02426417] [ 0.09416841 0.99462748 0.04299882] [ 0.02012581 -0.04508359 0.99878011]] t_gt: [ 0.43048987 -0.89602524 0.10870716] Pose Error in degrees for R and t: 179.86922652553943 53.896626924384975 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 7.68478507e-01 6.39874686e-01 1.08164204e-03] [-6.39874789e-01 7.68479127e-01 -2.94139094e-04] [-1.01943149e-03 -4.66075903e-04 9.99999372e-01]] t_estimated: [[0.73049279] [0.68291868] [0.00153465]] R_gt: [[ 0.97965865 -0.18210795 -0.08430032] [ 0.1873214 0.98054502 0.05867815] [ 0.07197372 -0.07327587 0.9947106 ]] t_gt: [ 0.5061221 -0.86054326 -0.05749535] Pose Error in degrees for R and t: 50.78187613661814 77.40542938346121 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 4.13616368e-01 9.10450736e-01 9.78712489e-04] [-9.10446313e-01 4.13617425e-01 -2.85234852e-03] [-3.00173534e-03 2.88712857e-04 9.99995453e-01]] t_estimated: [[0.74657171] [0.66530331] [0.0014783 ]] R_gt: [[ 0.95547634 -0.26563947 -0.12845761] [ 0.27094502 0.96225972 0.02543157] [ 0.11685405 -0.05910343 0.99138802]] t_gt: [ 0.57875387 -0.78924893 -0.20525615] Pose Error in degrees for R and t: 81.50364698154836 84.64582193972802 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.77243643e-01 2.12119600e-01 3.71388347e-04] [-2.12119862e-01 9.77243204e-01 9.40158384e-04] [-1.63510719e-04 -9.97542649e-04 9.99999489e-01]] t_estimated: [[0.68932436] [0.72445091] [0.00167775]] R_gt: [[ 0.98426273 -0.17640639 -0.01035542] [ 0.17664215 0.98382076 0.02988724] [ 0.00491522 -0.0312466 0.99949955]] t_gt: [ 0.75415483 -0.65005007 0.09319554] Pose Error in degrees for R and t: 22.484822726061427 87.18654703988253 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.88502392e-01 1.51204635e-01 4.22524868e-04] [-1.51204557e-01 9.88502472e-01 -2.11701788e-04] [-4.49677168e-04 1.45380038e-04 9.99999888e-01]] t_estimated: [[0.362537 ] [0.93196823] [0.00146217]] R_gt: [[ 0.95556162 -0.29362435 -0.02621257] [ 0.29448402 0.95484861 0.03928971] [ 0.01349181 -0.04526285 0.99888352]] t_gt: [ 0.79265803 -0.60471082 0.07757623] Pose Error in degrees for R and t: 25.948734237372477 73.97301960828602 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.98382731e-01 5.68498567e-02 -1.25321248e-04] [-5.68498300e-02 9.98382719e-01 2.06883192e-04] [ 1.36879849e-04 -1.99424115e-04 9.99999971e-01]] t_estimated: [[9.53196316e-01] [3.02351603e-01] [5.39414909e-04]] R_gt: [[ 0.93694815 -0.3481928 -0.02982833] [ 0.34772109 0.93738572 -0.01993897] [ 0.03490258 0.00830996 0.999356 ]] t_gt: [ 0.81658551 -0.57514922 -0.04890275] Pose Error in degrees for R and t: 23.71613986582567 52.811255257211194 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.80638805e-01 -1.95824331e-01 -6.04879052e-04] [ 1.95824409e-01 9.80638973e-01 7.27952548e-05] [ 5.78912890e-04 -1.89835935e-04 9.99999814e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99167293 0.12738615 -0.01890551] [-0.12819057 0.99047423 -0.05028472] [ 0.01231868 0.05228832 0.99855598]] t_gt: [-0.53024985 0.76843705 -0.35824517] Pose Error in degrees for R and t: 18.890048718511373 40.11593822262752 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.66708183 -0.74497428 -0.00389139] [ 0.74497296 -0.66709146 0.00206894] [-0.00413722 -0.00151883 0.99999029]] t_estimated: [[0.91353366] [0.40675694] [0.00224829]] R_gt: [[ 0.98509649 0.16827267 -0.03561885] [-0.17021433 0.98350291 -0.06123061] [ 0.02472721 0.06638005 0.99748754]] t_gt: [-0.50073741 0.77459441 -0.386349 ] Pose Error in degrees for R and t: 141.6330655203071 81.76477270489947 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99358680e-01 -3.58082047e-02 -4.63643756e-05] [ 3.58082050e-02 9.99358681e-01 5.98944705e-06] [ 4.61201698e-05 -7.64583096e-06 9.99999999e-01]] t_estimated: [[-9.17695534e-01] [-3.97283977e-01] [-5.89931825e-04]] R_gt: [[ 0.95736179 0.28383973 -0.053787 ] [-0.28689375 0.95597521 -0.06166916] [ 0.03391432 0.07447082 0.99664616]] t_gt: [-0.50501622 0.81894421 -0.27256007] Pose Error in degrees for R and t: 19.237462979321204 82.05291409110787 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.95138592e-01 -9.84843423e-02 1.33836766e-04] [ 9.84843690e-02 9.95138576e-01 -2.10488657e-04] [-1.12456292e-04 2.22646215e-04 9.99999969e-01]] t_estimated: [[-0.89218804] [-0.45166246] [-0.00123743]] R_gt: [[ 0.99358224 0.11175052 0.01753205] [-0.11164252 0.99372278 -0.00705765] [-0.01821143 0.00505494 0.99982077]] t_gt: [-0.80207852 0.5945527 0.05636608] Pose Error in degrees for R and t: 12.113050705846064 63.44876064808869 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.79544476e-01 2.01226024e-01 -8.41030834e-04] [-2.01225985e-01 9.79544836e-01 1.31170507e-04] [ 8.50222329e-04 4.07499127e-05 9.99999638e-01]] t_estimated: [[0.4216022 ] [0.90677935] [0.00167302]] R_gt: [[ 0.97910352 0.20307807 0.01086138] [-0.20291231 0.97908714 -0.01462677] [-0.01360448 0.01211762 0.99983382]] t_gt: [-7.66947544e-01 6.41709748e-01 2.53528854e-04] Pose Error in degrees for R and t: 1.0835649866163786 75.01638573607877 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 8.50487092e-01 5.25995918e-01 2.00475780e-05] [-5.25995852e-01 8.50487003e-01 -4.70871756e-04] [-2.64726826e-04 3.89925407e-04 9.99999889e-01]] t_estimated: [[-9.44420750e-01] [ 3.28738558e-01] [-6.38233256e-04]] R_gt: [[ 0.91517313 0.40304849 0.00343882] [-0.40291753 0.91503683 -0.01909376] [-0.0108429 0.01608836 0.99981147]] t_gt: [-0.67624017 0.7365571 -0.01352288] Pose Error in degrees for R and t: 8.041452835326272 28.261151636157713 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.97999187 0.1989883 0.0044265 ] [ 0.1988897 -0.97987878 0.01674699] [ 0.00766989 -0.01553153 -0.99984996]] t_estimated: [[8.95496713e-01] [4.45067229e-01] [8.93709295e-04]] R_gt: [[ 0.9953564 0.09622204 0.00272679] [-0.09619111 0.99531546 -0.00963523] [-0.00364087 0.00932866 0.99994995]] t_gt: [-0.87135344 0.48638152 -0.06462358] Pose Error in degrees for R and t: 179.61014432682265 55.67548764735833 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.98755750e-01 4.98691897e-02 1.23574099e-04] [-4.98691972e-02 9.98755756e-01 5.86717830e-05] [-1.20494429e-04 -6.47613218e-05 9.99999991e-01]] t_estimated: [[-0.98999355] [-0.14110831] [-0.00109918]] R_gt: [[ 0.97590336 0.21299588 0.04738718] [-0.21397238 0.97670004 0.01652399] [-0.04276351 -0.026265 0.99874029]] t_gt: [-0.84846636 0.51277804 0.13100959] Pose Error in degrees for R and t: 9.899709747783296 39.87231700982098 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.43049728 0.90258949 0.0020734 ] [-0.90221062 -0.43024754 -0.03005077] [-0.02623143 -0.01480742 0.99954622]] t_estimated: [[0.94703933] [0.32110916] [0.00232688]] R_gt: [[ 0.94144811 0.33399127 0.04610104] [-0.33604785 0.94062178 0.047975 ] [-0.02734049 -0.06065753 0.99778442]] t_gt: [-0.81218954 0.5646023 0.14687542] Pose Error in degrees for R and t: 95.96227384844735 54.01774168206699 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.98356392e-01 5.73082810e-02 -5.24072625e-04] [-5.73083092e-02 9.98356528e-01 -3.88424114e-05] [ 5.20985335e-04 6.88122857e-05 9.99999862e-01]] t_estimated: [[-0.94805346] [-0.31810719] [-0.00156703]] R_gt: [[ 0.99213312 0.1122944 0.05533658] [-0.11114076 0.99352702 -0.02352056] [-0.05761973 0.01718571 0.99819122]] t_gt: [-0.52484342 0.79857568 0.294646 ] Pose Error in degrees for R and t: 4.67872847255403 75.93129494344788 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.69150212e-01 -2.46469863e-01 -6.87537827e-04] [ 2.46470246e-01 9.69150208e-01 5.40427069e-04] [ 5.33128442e-04 -6.93212626e-04 9.99999618e-01]] t_estimated: [[9.94628251e-01] [1.03506983e-01] [9.72956737e-04]] R_gt: [[ 0.98510109 0.1538557 0.07684236] [-0.1513829 0.98778016 -0.03706725] [-0.08160574 0.02488309 0.99635357]] t_gt: [-0.50575672 0.80571138 0.30828448] Pose Error in degrees for R and t: 23.579940103554364 65.20687089085342 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99973565e-01 -7.22616978e-03 -8.07807709e-04] [ 7.22635475e-03 9.99973864e-01 2.26297464e-04] [ 8.06151332e-04 -2.32128987e-04 9.99999648e-01]] t_estimated: [[-0.99982928] [-0.01836421] [-0.00204047]] R_gt: [[ 0.98339362 0.1548764 0.09461626] [-0.15305924 0.98786949 -0.0262154 ] [-0.09752861 0.0112992 0.99516809]] t_gt: [-0.49409502 0.75762434 0.42646861] Pose Error in degrees for R and t: 10.888967567628034 61.36505184713146 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99580531e-01 2.89610706e-02 1.32930538e-04] [-2.89610565e-02 9.99580535e-01 -1.07256719e-04] [-1.35981048e-04 1.03361919e-04 9.99999985e-01]] t_estimated: [[ 0.61962534] [-0.78489699] [ 0.00107856]] R_gt: [[ 0.99464947 0.00823409 0.10297897] [-0.00283381 0.99861781 -0.05248412] [-0.10326817 0.05191167 0.9932971 ]] t_gt: [-0.6683753 0.73061979 0.13953203] Pose Error in degrees for R and t: 6.76202750914625 9.085774504308379 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99998762e-01 1.56289847e-03 -1.83591826e-04] [-1.56280064e-03 9.99998637e-01 5.31807664e-04] [ 1.84422737e-04 -5.31520089e-04 9.99999842e-01]] t_estimated: [[9.99998476e-01] [1.51332534e-03] [8.70425975e-04]] R_gt: [[ 0.98414251 -0.02970475 0.17487504] [ 0.05249025 0.99049259 -0.12715798] [-0.16943453 0.13432054 0.97634481]] t_gt: [-0.35819247 0.92569524 -0.12159968] Pose Error in degrees for R and t: 12.754966553648101 69.09025474592438 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.85815858 0.51334616 0.00629079] [ 0.5084975 -0.85161221 0.12722793] [ 0.07066928 -0.10598288 -0.99185356]] t_estimated: [[0.95670132] [0.29106913] [0.00115964]] R_gt: [[ 0.98008067 -0.06761609 0.18673613] [ 0.08633952 0.99181963 -0.09401918] [-0.17885104 0.1082691 0.97789997]] t_gt: [0.02694707 0.96871938 0.24669133] Pose Error in degrees for R and t: 178.4025987242285 72.05941009237912 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999666e-01 -8.01301849e-04 1.60703977e-04] [ 8.01300884e-04 9.99999679e-01 6.06675805e-06] [-1.60708787e-04 -5.93798379e-06 9.99999987e-01]] t_estimated: [[0.0644268 ] [0.99792125] [0.00153847]] R_gt: [[ 0.99987634 0.00704583 -0.01406183] [-0.00764829 0.99903558 -0.04325369] [ 0.01374465 0.04335743 0.99896465]] t_gt: [ 0.03010857 0.60496347 -0.79568378] Pose Error in degrees for R and t: 2.651278593256822 52.81277070230484 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.90333786 -0.42888653 -0.00608768] [ 0.42889633 -0.90299941 -0.0252982 ] [ 0.00535288 -0.0254638 0.99966141]] t_estimated: [[0.88478853] [0.46598862] [0.0019662 ]] R_gt: [[ 0.99735212 -0.04604662 0.05631196] [ 0.04474512 0.99870721 0.02416921] [-0.05735093 -0.02158438 0.99812048]] t_gt: [ 0.30972503 -0.43378417 0.84610974] Pose Error in degrees for R and t: 152.0532608246286 85.78115160109081 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.52900413 -0.84851525 0.01328538] [-0.84856465 0.5287277 -0.01962265] [ 0.00962577 -0.02165396 -0.99971919]] t_estimated: [[0.97267165] [0.23201342] [0.00892359]] R_gt: [[ 0.98599291 -0.0990132 0.1342228 ] [ 0.08227108 0.98873828 0.12501532] [-0.14508877 -0.11222088 0.98303385]] t_gt: [ 0.24552457 -0.3893145 0.8877792 ] Pose Error in degrees for R and t: 169.57946595886534 81.00137421696165 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.98939279e-01 -4.60465594e-02 1.75437862e-04] [ 4.60465314e-02 9.98939283e-01 1.60430547e-04] [-1.82639047e-04 -1.52182070e-04 9.99999972e-01]] t_estimated: [[0.65066802] [0.75936085] [0.00148894]] R_gt: [[ 0.99945785 -0.00488289 0.03257927] [ 0.002881 0.99812005 0.0612149 ] [-0.03281651 -0.0610877 0.99759235]] t_gt: [-0.23319971 -0.39301561 0.88946985] Pose Error in degrees for R and t: 4.6419878956894385 63.329953130038746 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99998385e-01 -1.78688409e-03 1.91083583e-04] [ 1.78685237e-03 9.99998390e-01 1.66075464e-04] [-1.91380033e-04 -1.65733758e-04 9.99999968e-01]] t_estimated: [[-8.29551754e-03] [ 9.99965223e-01] [ 8.58875529e-04]] R_gt: [[ 0.99902141 -0.01699605 0.04085309] [ 0.01316363 0.99564216 0.09231386] [-0.04224338 -0.09168514 0.99489113]] t_gt: [-0.06278534 -0.47415883 0.87819782] Pose Error in degrees for R and t: 5.831003354252982 61.77942322842817 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99975926e-01 6.93128676e-03 3.23027009e-04] [-6.93141475e-03 9.99975899e-01 3.96812601e-04] [-3.20268802e-04 -3.99042082e-04 9.99999869e-01]] t_estimated: [[0.99972647] [0.02332501] [0.00171313]] R_gt: [[ 0.99431591 -0.10180426 0.03117819] [ 0.09897041 0.99171426 0.08189811] [-0.03925765 -0.078346 0.996152 ]] t_gt: [ 0.4907316 -0.69371723 0.52719911] Pose Error in degrees for R and t: 7.939494125035711 61.619840982179966 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.50222249e-01 3.11572470e-01 5.23701919e-04] [-3.11572444e-01 9.50222392e-01 -1.32575909e-04] [-5.38940293e-04 -3.71945082e-05 9.99999854e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97845102 -0.20072222 0.04842626] [ 0.19911356 0.97931195 0.03607327] [-0.05466531 -0.02565351 0.99817435]] t_gt: [ 0.64431543 -0.70157909 0.30437543] Pose Error in degrees for R and t: 29.890576410793237 45.79480070021767 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99803553e-01 1.98159484e-02 4.29209145e-04] [-1.98162059e-02 9.99803457e-01 6.04103222e-04] [-4.17153909e-04 -6.12489845e-04 9.99999725e-01]] t_estimated: [[0.63524494] [0.77231023] [0.00087862]] R_gt: [[ 0.94179372 -0.33520838 0.02571771] [ 0.3331732 0.94082871 0.06194583] [-0.04496071 -0.04977193 0.99774779]] t_gt: [ 0.72379905 -0.65334412 0.22193781] Pose Error in degrees for R and t: 21.024593944036024 87.44377938634928 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-1.66254096e-02 9.99853059e-01 4.17816590e-03] [ 9.99861679e-01 1.66272193e-02 -3.98788789e-04] [-4.68201472e-04 4.17095795e-03 -9.99991192e-01]] t_estimated: [[0.7011397 ] [0.71302342] [0.00084884]] R_gt: [[ 0.86098965 -0.50620638 -0.04952539] [ 0.50842021 0.85930558 0.055694 ] [ 0.0143648 -0.07313133 0.9972189 ]] t_gt: [ 0.83339749 -0.54003719 0.11750941] Pose Error in degrees for R and t: 176.18129850478297 78.4999586833689 Number of keypoints: Image1: 389 Image2: 389 R_estimated: [[ 9.93548973e-01 -1.13403722e-01 1.84650664e-04] [ 1.13403746e-01 9.93548979e-01 -1.27879649e-04] [-1.68957451e-04 1.47994771e-04 9.99999975e-01]] t_estimated: [[0.98854409] [0.15092824] [0.00112158]] R_gt: [[ 0.99876569 0.04754339 0.0143593 ] [-0.04777782 0.99872332 0.01642414] [-0.01355862 -0.01709019 0.99976157]] t_gt: [-0.92637677 -0.05367609 0.37275321] Pose Error in degrees for R and t: 9.32764808002351 22.56460497771312 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[-0.89496769 0.44588133 -0.0149225 ] [ 0.44587293 0.89508702 0.0040695 ] [ 0.01517145 -0.00301147 -0.99988037]] t_estimated: [[ 0.97530669] [-0.22073153] [-0.00737903]] R_gt: [[ 0.98542117 0.16942628 0.01549206] [-0.16956481 0.98548615 0.00806757] [-0.01389886 -0.01057684 0.99984695]] t_gt: [-0.97258303 0.20889636 0.10219861] Pose Error in degrees for R and t: 179.81249319779477 5.479229683259858 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-6.46983889e-01 -7.62500439e-01 -2.21974544e-03] [-7.62502717e-01 6.46984942e-01 3.02165211e-04] [ 1.20574077e-03 1.88805795e-03 -9.99997491e-01]] t_estimated: [[8.50825650e-01] [5.25448077e-01] [1.76584783e-04]] R_gt: [[ 0.96758558 0.25140356 0.02397511] [-0.25218694 0.96690208 0.0387692 ] [-0.01343419 -0.04355942 0.99896023]] t_gt: [-0.95153676 0.21575556 0.21915138] Pose Error in degrees for R and t: 178.1353482131083 45.87829096302972 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.95925838 -0.28251665 -0.00277636] [ 0.28252832 0.9592421 0.00568779] [ 0.0010563 -0.00624046 0.99997997]] t_estimated: [[0.95263849] [0.30410313] [0.00108998]] R_gt: [[ 0.99556382 0.09284073 0.01524597] [-0.09327853 0.99515479 0.03107356] [-0.0122866 -0.03235718 0.99940058]] t_gt: [-0.91834761 0.13644108 0.37151245] Pose Error in degrees for R and t: 21.819533294875125 33.59638187767776 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-2.28811174e-01 -9.73470508e-01 -7.84836856e-04] [ 9.73466686e-01 -2.28807776e-01 -3.10039735e-03] [ 2.83856861e-03 -1.47341809e-03 9.99994886e-01]] t_estimated: [[ 0.98113514] [-0.19331922] [-0.00123559]] R_gt: [[ 0.99174811 0.12159659 0.04060282] [-0.1239566 0.99036199 0.06178049] [-0.03269888 -0.06630428 0.99726345]] t_gt: [-0.85707049 0.04055697 0.51360034] Pose Error in degrees for R and t: 110.3504924785331 31.856025946115654 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 6.31011736e-01 7.75770594e-01 2.04316149e-03] [-7.75771049e-01 6.31014052e-01 -7.38792370e-04] [-1.86239701e-03 -1.11883888e-03 9.99997640e-01]] t_estimated: [[-0.11469173] [ 0.99339865] [ 0.00221868]] R_gt: [[ 0.97825006 0.20282675 0.04344435] [-0.20494951 0.97740301 0.05174301] [-0.03196799 -0.05952149 0.99771418]] t_gt: [-0.93381328 0.15228187 0.32373291] Pose Error in degrees for R and t: 39.273247695433746 74.98359921272598 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-6.39065049e-02 -9.97954230e-01 -1.82039318e-03] [ 9.97955811e-01 -6.39071205e-02 2.81977536e-04] [-3.97736761e-04 -1.79865175e-03 9.99998303e-01]] t_estimated: [[0.98534667] [0.17056053] [0.00102747]] R_gt: [[ 0.99839569 -0.04132681 0.03871209] [ 0.038519 0.9967564 0.07067093] [-0.04150692 -0.06906615 0.99674773]] t_gt: [ 0.15065336 -0.51771264 0.84218596] Pose Error in degrees for R and t: 91.46077260480142 86.50222587111384 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.89490720e-01 -1.44596380e-01 3.99344050e-05] [ 1.44596369e-01 9.89490701e-01 2.05580490e-04] [-6.92409170e-05 -1.97645617e-04 9.99999978e-01]] t_estimated: [[4.07038849e-01] [9.13410737e-01] [4.47673742e-04]] R_gt: [[ 0.99554208 -0.05165115 0.07891547] [ 0.03988009 0.98876496 0.14405918] [-0.08546888 -0.14027087 0.98641716]] t_gt: [ 0.00605825 -0.43274223 0.90149734] Pose Error in degrees for R and t: 11.012357410372209 66.89596577152356 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 6.62411736e-01 -7.49137653e-01 1.86229670e-03] [-7.49139392e-01 -6.62412262e-01 4.06851984e-04] [ 9.28820030e-04 -1.66462335e-03 -9.99998183e-01]] t_estimated: [[0.39676409] [0.91791911] [0.00166519]] R_gt: [[ 0.99392815 -0.07188345 0.08330447] [ 0.05548772 0.98123404 0.18466505] [-0.09501482 -0.17892243 0.97926436]] t_gt: [ 0.04896166 -0.45608009 0.88859086] Pose Error in degrees for R and t: 168.25576990432327 66.56310869855703 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.83640127 -0.54811059 -0.00277546] [ 0.54811267 -0.83636147 -0.00848484] [ 0.00232935 -0.008618 0.99996015]] t_estimated: [[0.93957435] [0.34232554] [0.00364176]] R_gt: [[ 0.99298938 -0.07637408 0.09021728] [ 0.06799712 0.99338442 0.09254387] [-0.09668825 -0.08576012 0.99161243]] t_gt: [ 0.23588191 -0.49553191 0.83594728] Pose Error in degrees for R and t: 142.71117609202813 86.84486398243324 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.20613297e-01 3.90474916e-01 -7.04817768e-04] [-3.90474398e-01 9.20613466e-01 7.68677993e-04] [ 9.49014202e-04 -4.32441887e-04 9.99999456e-01]] t_estimated: [[-0.99970305] [-0.02428428] [-0.00202369]] R_gt: [[ 0.97877386 -0.12701094 0.16084047] [ 0.09486388 0.97644614 0.19379265] [-0.18166549 -0.17442057 0.96776756]] t_gt: [ 0.23783332 -0.39558914 0.88709895] Pose Error in degrees for R and t: 32.80329686778848 76.70579477639659 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 7.05036725e-01 -7.08919082e-01 -1.88931663e-02] [-7.08688221e-01 -7.05289545e-01 1.81014469e-02] [-2.61576138e-02 6.27179556e-04 -9.99657634e-01]] t_estimated: [[0.13896766] [0.99014456] [0.01737096]] R_gt: [[ 0.97415133 -0.1009772 0.20207353] [ 0.04695106 0.96550248 0.25612828] [-0.2209661 -0.24001952 0.94528472]] t_gt: [ 0.11738308 -0.23443261 0.96501946] Pose Error in degrees for R and t: 161.29356578237426 78.51879863528353 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.99187982 0.1271486 0.00276843] [-0.12713198 0.99187044 -0.00552133] [-0.00344796 0.00512454 0.99998093]] t_estimated: [[0.70560524] [0.70837523] [0.01804951]] R_gt: [[ 0.9963811 0.02352931 0.08167404] [-0.0191915 0.99838459 -0.05348419] [-0.08280133 0.05172296 0.99522369]] t_gt: [-0.84151962 0.53959478 -0.02611905] Pose Error in degrees for R and t: 8.055271108686428 77.75944912994943 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99989129e-01 4.65104494e-03 3.31217006e-04] [-4.65097693e-03 9.99989163e-01 -2.05807735e-04] [-3.32170638e-04 2.04265015e-04 9.99999924e-01]] t_estimated: [[ 0.77407166] [-0.63309701] [ 0.00111562]] R_gt: [[ 0.98708721 0.01150099 0.15977112] [ 0.00818574 0.99249496 -0.12201207] [-0.15997643 0.1217436 0.97958533]] t_gt: [-0.63466234 0.75544303 -0.16281752] Pose Error in degrees for R and t: 11.576198178067298 14.134654031623203 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-6.84522612e-01 -7.28986955e-01 -2.61020889e-03] [ 7.28991600e-01 -6.84519183e-01 -2.17591454e-03] [-2.00524745e-04 -3.39228306e-03 9.99994226e-01]] t_estimated: [[0.9412834 ] [0.33761522] [0.00123312]] R_gt: [[ 0.97450536 -0.03182944 0.22209305] [ 0.06796881 0.98525279 -0.15702896] [-0.21382017 0.16812043 0.96229768]] t_gt: [-0.41044876 0.90954699 -0.06523863] Pose Error in degrees for R and t: 130.81421510536768 85.4486717063609 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[-0.88678631 0.46172997 0.02038328] [ 0.46180418 0.88698111 -0.00118386] [-0.01862621 0.00836325 -0.99979154]] t_estimated: [[ 0.97174797] [-0.23585326] [ 0.00889523]] R_gt: [[ 0.99799009 0.06279478 -0.00854157] [-0.0620764 0.99577761 0.06762481] [ 0.01275145 -0.06695841 0.9976741 ]] t_gt: [-0.91371763 -0.06362613 0.40133752] Pose Error in degrees for R and t: 179.63182910767244 29.619492484697226 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.29664811e-01 3.68406438e-01 -1.85735311e-04] [-3.68406485e-01 9.29664693e-01 -4.69303660e-04] [-2.22928605e-07 5.04721192e-04 9.99999873e-01]] t_estimated: [[-0.97217942] [-0.23423513] [-0.00103644]] R_gt: [[ 0.99377652 0.11123044 -0.00596598] [-0.10984285 0.9874654 0.11333786] [ 0.01849715 -0.11197736 0.99353885]] t_gt: [-0.89955536 0.06466732 0.4319934 ] Pose Error in degrees for R and t: 16.587904560213623 30.80288466864921 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.08015511 -0.99670868 -0.01212336] [-0.99670263 0.08029663 -0.01167526] [ 0.0126103 0.01114755 -0.99985835]] t_estimated: [[ 0.79224106] [ 0.61015925] [-0.00773262]] R_gt: [[ 0.97057106 0.23504995 0.05238783] [-0.23938438 0.96538694 0.10355215] [-0.02623514 -0.11304444 0.99324355]] t_gt: [-0.89458485 0.34688429 0.28176097] Pose Error in degrees for R and t: 175.03587828829106 60.04954487856953 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99209758e-01 -3.97474419e-02 -3.48297840e-05] [ 3.97474440e-02 9.99209756e-01 6.40223418e-05] [ 3.22575357e-05 -6.53561436e-05 9.99999997e-01]] t_estimated: [[ 9.38767015e-01] [-3.44552028e-01] [ 6.26473385e-04]] R_gt: [[ 0.99966558 0.01089831 0.0234354 ] [-0.01094432 0.99993788 0.00183145] [-0.02341384 -0.00208778 0.99972345]] t_gt: [-0.34731963 0.32507028 0.87960127] Pose Error in degrees for R and t: 3.202204944992033 64.05521500447898 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 0.1019738 -0.99465421 0.01625863] [-0.99463568 -0.10165952 0.01911016] [-0.01735515 -0.01812015 -0.99968518]] t_estimated: [[0.65309981] [0.75714712] [0.01374343]] R_gt: [[ 0.99909634 0.01350386 0.04030381] [-0.01389514 0.99985933 0.00944516] [-0.04016962 -0.00999813 0.99914265]] t_gt: [-0.29390963 0.21097232 0.93225952] Pose Error in degrees for R and t: 176.60434347964707 88.88823210873511 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-0.54164093 0.84053416 0.01128863] [-0.84060402 -0.54163876 -0.00351379] [ 0.0031609 -0.01139249 0.99993011]] t_estimated: [[8.38993234e-01] [5.44141461e-01] [6.50886915e-04]] R_gt: [[ 0.99961768 -0.00841911 0.02631607] [ 0.00812766 0.99990452 0.01117584] [-0.02640647 -0.01095803 0.99959115]] t_gt: [ 0.05601163 -0.27828025 0.95886537] Pose Error in degrees for R and t: 123.26790611568023 84.04160159638784 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999816e-01 -6.05564234e-04 2.51742067e-05] [ 6.05563959e-04 9.99999817e-01 1.09359513e-05] [-2.51808245e-05 -1.09207047e-05 1.00000000e+00]] t_estimated: [[ 2.72641199e-01] [-9.62115780e-01] [-5.38469106e-05]] R_gt: [[ 0.99841452 0.01342849 0.05466064] [-0.00770548 0.99459175 -0.10358006] [-0.05575542 0.10299532 0.99311792]] t_gt: [ 0.28100496 0.71275375 -0.642665 ] Pose Error in degrees for R and t: 6.756178836071507 52.47529186882188 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.98647577e-01 5.19899047e-02 -2.56916857e-04] [-5.19899234e-02 9.98647607e-01 -6.66834643e-05] [ 2.53102537e-04 7.99503678e-05 9.99999965e-01]] t_estimated: [[-0.00867646] [-0.99996177] [-0.00108456]] R_gt: [[ 0.99260488 0.03051857 0.11749079] [-0.01766572 0.99389475 -0.10891427] [-0.12009743 0.10603341 0.98708311]] t_gt: [0.33837763 0.94094837 0.01080464] Pose Error in degrees for R and t: 9.362728532793833 19.28975470373387 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.04888526e-01 7.96306208e-01 2.50883962e-03] [ 7.96294768e-01 -6.04893421e-01 4.31188546e-03] [ 4.95116174e-03 -6.10434179e-04 -9.99987557e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98038059 0.12550278 0.15199833] [-0.10228136 0.98307506 -0.15199757] [-0.16850168 0.13346883 0.97662364]] t_gt: [-0.08353947 0.99496972 0.05528477] Pose Error in degrees for R and t: 168.65827954402474 85.38780811912984 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-5.53044486e-01 -8.33149675e-01 -1.84801681e-03] [-8.33151709e-01 5.53042685e-01 1.42086140e-03] [-1.61758035e-04 2.32547793e-03 -9.99997283e-01]] t_estimated: [[0.4293189 ] [0.90315243] [0.00098921]] R_gt: [[ 0.9993923 -0.03465149 -0.00399044] [ 0.03472759 0.99917525 0.02103983] [ 0.00325809 -0.02116588 0.99977048]] t_gt: [ 0.64799164 -0.66430273 0.37257043] Pose Error in degrees for R and t: 179.66375297265103 71.25220559727687 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.65006498e-01 2.62225513e-01 4.89074213e-04] [-2.62225459e-01 9.65006621e-01 -1.73940855e-04] [-5.17571584e-04 3.96063453e-05 9.99999865e-01]] t_estimated: [[-9.62312488e-01] [-2.71946083e-01] [-6.55396075e-05]] R_gt: [[ 0.99677651 -0.07993208 -0.00692026] [ 0.07983582 0.99672047 -0.01319076] [ 0.00795184 0.01259548 0.99988917]] t_gt: [ 0.80777561 -0.55079896 -0.21004539] Pose Error in degrees for R and t: 19.80293969534252 51.13178918901381 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.13034393 -0.99074173 -0.03796429] [-0.99143974 0.13053789 -0.00266526] [ 0.00759637 0.0372919 -0.99927554]] t_estimated: [[ 0.9473131 ] [ 0.31915136] [-0.02720851]] R_gt: [[ 0.99600256 -0.08659243 -0.02196896] [ 0.08094099 0.97876944 -0.18830719] [ 0.0378079 0.18577565 0.98186512]] t_gt: [ 0.58831408 -0.01741444 -0.80844498] Pose Error in degrees for R and t: 169.91800995292934 54.98741308257218 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999929e-01 -3.72998802e-04 -5.54842919e-05] [ 3.72999581e-04 9.99999930e-01 1.40213564e-05] [ 5.54790581e-05 -1.40420510e-05 9.99999998e-01]] t_estimated: [[-0.8935338 ] [-0.44899433] [-0.0012034 ]] R_gt: [[ 0.99544954 0.09500909 -0.00727574] [-0.09506466 0.99544091 -0.00770839] [ 0.0065097 0.00836458 0.9999432 ]] t_gt: [-0.19633664 0.95169822 -0.23605595] Pose Error in degrees for R and t: 5.508735264671688 75.4284030992531 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999961e-01 -2.79625607e-04 -1.90892876e-07] [ 2.79625615e-04 9.99999960e-01 3.94840765e-05] [ 1.79852110e-07 -3.94841284e-05 9.99999999e-01]] t_estimated: [[-2.06549018e-01] [-9.78436187e-01] [-3.63334809e-04]] R_gt: [[ 0.99090901 0.11297841 0.07304133] [-0.10546191 0.98941625 -0.09965696] [-0.0835274 0.09104844 0.99233681]] t_gt: [-0.08252026 0.9735188 -0.21319371] Pose Error in degrees for R and t: 9.496154865899898 20.7064747685121 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999995e-01 -9.54041265e-05 -4.27519318e-07] [ 9.54041713e-05 9.99999990e-01 1.06086484e-04] [ 4.17398225e-07 -1.06086524e-04 9.99999994e-01]] t_estimated: [[-0.60711812] [-0.79461068] [-0.00120682]] R_gt: [[ 0.98969602 0.09011297 0.11126847] [-0.07428181 0.98749848 -0.13902649] [-0.12240558 0.1293289 0.98401716]] t_gt: [ 0.21587759 0.94513472 -0.24518813] Pose Error in degrees for R and t: 11.309050685890943 28.141990121431835 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99872305e-01 -1.59804027e-02 1.26681860e-05] [ 1.59804020e-02 9.99872304e-01 5.49996382e-05] [-1.35454847e-05 -5.47901724e-05 9.99999998e-01]] t_estimated: [[-6.80643200e-01] [ 7.32615051e-01] [ 1.43742024e-04]] R_gt: [[ 0.99277815 0.10909066 -0.04990484] [-0.10641329 0.99288278 0.05348031] [ 0.05538367 -0.04778313 0.99732078]] t_gt: [-0.27908646 0.94432263 0.17425707] Pose Error in degrees for R and t: 8.252853396521504 28.138724758437874 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.86652825 0.49910429 0.00486831] [-0.49911999 0.86652844 0.00277355] [-0.00283424 -0.00483323 0.9999843 ]] t_estimated: [[-0.42696775] [ 0.90424699] [ 0.00599382]] R_gt: [[ 0.975708 0.20286762 -0.08270076] [-0.19799386 0.97814611 0.06347531] [ 0.09377023 -0.04555911 0.99455124]] t_gt: [-0.15227471 0.98102148 -0.12003865] Pose Error in degrees for R and t: 19.316776729533657 17.939438665351105 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999698e-01 -7.73504246e-04 -6.97698689e-05] [ 7.73492550e-04 9.99999687e-01 -1.67507867e-04] [ 6.98994151e-05 1.67453850e-04 9.99999984e-01]] t_estimated: [[-0.93250866] [-0.36114443] [-0.00151653]] R_gt: [[ 9.74900615e-01 2.22640438e-01 1.81472693e-04] [-2.22608223e-01 9.74772115e-01 -1.62274262e-02] [-3.78997828e-03 1.57802545e-02 9.99868469e-01]] t_gt: [-0.11114588 0.99024437 -0.08403974] Pose Error in degrees for R and t: 12.941142374379215 75.29458910628297 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99977948e-01 6.64086446e-03 3.99871901e-05] [-6.64086442e-03 9.99977949e-01 -1.24130956e-06] [-3.99945517e-05 9.75732678e-07 9.99999999e-01]] t_estimated: [[ 9.99085364e-01] [-4.27601495e-02] [ 7.47741047e-05]] R_gt: [[ 9.94484690e-01 -1.04876426e-01 -9.00082702e-04] [ 1.04876949e-01 9.94483124e-01 1.92984165e-03] [ 6.92345016e-04 -2.01256552e-03 9.99997107e-01]] t_gt: [ 0.7708356 -0.63670668 -0.02042254] Pose Error in degrees for R and t: 6.402001322779054 37.12176645701858 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99610272e-01 2.79155532e-02 1.64284278e-04] [-2.79156019e-02 9.99610238e-01 3.01991071e-04] [-1.55789999e-04 -3.06459471e-04 9.99999941e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98758059 -0.15591969 -0.01930204] [ 0.15592762 0.98776791 -0.00107322] [ 0.01923404 -0.00194906 0.99981308]] t_gt: [ 0.84178977 -0.53458099 -0.07492094] Pose Error in degrees for R and t: 10.62960349110165 32.85251022408643 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.13268111 -0.99112846 -0.00775242] [-0.99111051 0.13274778 -0.0088312 ] [ 0.00978197 0.00651178 -0.99993095]] t_estimated: [[ 0.78855177] [ 0.61495766] [-0.00363057]] R_gt: [[ 9.74923838e-01 -2.18952661e-01 -3.97924988e-02] [ 2.19140182e-01 9.75693003e-01 3.68434804e-04] [ 3.87446635e-02 -9.07920287e-03 9.99207772e-01]] t_gt: [ 0.86058897 -0.50010863 -0.09632226] Pose Error in degrees for R and t: 177.80197916772275 68.19659374579436 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 0.95102106 0.30911957 -0.00200739] [-0.3091162 0.95102253 0.00182118] [ 0.00247204 -0.00111146 0.99999633]] t_estimated: [[-0.83989252] [ 0.5427357 ] [-0.00430259]] R_gt: [[ 0.99736618 0.07208902 -0.00793819] [-0.07176214 0.99678047 0.0357527 ] [ 0.0104893 -0.03508801 0.99932923]] t_gt: [-0.55746205 0.76976395 0.31096546] Pose Error in degrees for R and t: 14.020828335940225 27.791687181704546 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-0.3895045 0.92101216 -0.00477924] [-0.92101711 -0.38951698 -0.00200205] [-0.00370551 0.00362196 0.99998658]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9849349 0.17125602 -0.02395748] [-0.17031851 0.98469869 0.03687524] [ 0.02990506 -0.03223856 0.99903197]] t_gt: [-0.63293643 0.77040106 0.07663999] Pose Error in degrees for R and t: 103.11364901028533 39.95779036559444 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.9681633 -0.25031151 -0.00199299] [ 0.25031577 0.96816154 0.00228959] [ 0.00135642 -0.00271557 0.99999539]] t_estimated: [[-8.01117160e-01] [-5.98507234e-01] [-6.21502839e-04]] R_gt: [[ 0.99128041 0.12251155 0.04851489] [-0.12649619 0.98787291 0.0900277 ] [-0.03689772 -0.09537899 0.99475653]] t_gt: [-0.61617095 0.56907155 0.54450981] Pose Error in degrees for R and t: 22.41577468031657 81.2169622910246 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.82438517 -0.56595038 0.00944761] [ 0.56499715 -0.82377486 -0.04661758] [ 0.03416594 -0.03309297 0.99886813]] t_estimated: [[8.54301294e-01] [5.19777698e-01] [6.66381664e-04]] R_gt: [[ 0.999342 -0.03625317 -0.00159163] [ 0.03617953 0.99879458 -0.03318834] [ 0.00279307 0.03310833 0.99944777]] t_gt: [ 0.37454802 -0.80121876 -0.46665006] Pose Error in degrees for R and t: 143.45685043497755 84.44566034233814 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.28139062e-01 3.72229933e-01 -1.66075778e-03] [-3.72232646e-01 9.28117056e-01 -6.44886143e-03] [-8.59081634e-04 6.60362846e-03 9.99977827e-01]] t_estimated: [[9.05837182e-01] [4.23625349e-01] [7.51108774e-04]] R_gt: [[ 0.99345506 -0.11385927 -0.00921256] [ 0.11331552 0.99247102 -0.04650176] [ 0.01443834 0.0451537 0.99887522]] t_gt: [ 0.58701506 -0.75191869 -0.30005267] Pose Error in degrees for R and t: 28.472852402331668 77.7027856449553 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-5.18187998e-01 -8.55252171e-01 4.99230575e-03] [-8.55266198e-01 5.18172263e-01 -4.15164683e-03] [ 9.63830597e-04 -6.42108392e-03 -9.99978920e-01]] t_estimated: [[0.91713176] [0.39856966] [0.00340098]] R_gt: [[ 0.97585504 -0.21729537 0.02214142] [ 0.2180565 0.97505529 -0.0414552 ] [-0.01258105 0.04528169 0.99889448]] t_gt: [ 0.70278905 -0.70751326 -0.07424645] Pose Error in degrees for R and t: 179.72787552489032 68.75821971615305 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 8.89683584e-01 4.56576850e-01 8.37037152e-04] [-4.56577103e-01 8.89683839e-01 1.29375228e-04] [-6.85628692e-04 -4.97275014e-04 9.99999641e-01]] t_estimated: [[0.05904187] [0.99825437] [0.00150628]] R_gt: [[ 0.99720164 -0.03784322 -0.06447767] [ 0.03461551 0.9981251 -0.05046423] [ 0.066266 0.04809116 0.99664227]] t_gt: [ 0.81698974 0.13684347 -0.56018 ] Pose Error in degrees for R and t: 29.62035570349464 79.39731551868954 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 0.30070368 -0.95371548 0.00201841] [-0.9537071 -0.30068975 0.00533237] [-0.00447865 -0.00352844 -0.99998375]] t_estimated: [[0.61186964] [0.79095065] [0.00355174]] R_gt: [[ 0.99364412 -0.08092306 -0.0782498 ] [ 0.07784231 0.9960948 -0.04166101] [ 0.08131592 0.03530433 0.99606281]] t_gt: [ 0.95099521 0.06474643 -0.3023508 ] Pose Error in degrees for R and t: 175.82776726496647 50.800506047943834 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 7.85765550e-01 -6.18475964e-01 7.74488907e-03] [ 6.18524453e-01 7.85703047e-01 -9.91074952e-03] [ 4.43774208e-05 1.25779288e-02 9.99920894e-01]] t_estimated: [[ 0.83978993] [-0.54261304] [-0.01799911]] R_gt: [[ 0.99179166 -0.07572031 -0.10303366] [ 0.0725494 0.99677882 -0.03418915] [ 0.10529116 0.02643355 0.99408957]] t_gt: [ 0.95275025 0.13340954 -0.27288982] Pose Error in degrees for R and t: 34.50863730348193 42.89249342455937 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 0.62437946 -0.77441408 0.10214268] [ 0.77925908 0.6265663 -0.01303667] [-0.05390339 0.08773544 0.99468433]] t_estimated: [[8.51252223e-01] [5.24756078e-01] [8.43659289e-04]] R_gt: [[ 0.99321623 0.1155363 0.01318793] [-0.1155031 0.99330147 -0.00317393] [-0.01346566 0.00162969 0.99990754]] t_gt: [-0.9377056 0.3451281 0.03993504] Pose Error in degrees for R and t: 57.99850163027991 51.89662621289437 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.34052805e-01 -3.57134182e-01 -7.30171284e-04] [ 3.57134458e-01 9.34052941e-01 2.86085914e-04] [ 5.79847577e-04 -5.27988676e-04 9.99999693e-01]] t_estimated: [[-0.00833304] [-0.99996474] [-0.00104163]] R_gt: [[ 0.96008483 0.27889626 0.02133896] [-0.27921684 0.96012731 0.01387602] [-0.01661821 -0.01928056 0.9996758 ]] t_gt: [-0.87607622 0.47242583 0.09645877] Pose Error in degrees for R and t: 37.15909318682191 62.27623370479501 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 7.67826957e-01 6.40657237e-01 2.64253513e-04] [ 6.40652974e-01 -7.67823231e-01 3.35445534e-03] [ 2.35195607e-03 -2.40634643e-03 -9.99994339e-01]] t_estimated: [[-0.78956463] [-0.61366662] [-0.00098819]] R_gt: [[ 0.9105055 0.41171043 0.03840892] [-0.41297241 0.91009656 0.03430361] [-0.0208328 -0.04709604 0.9986724 ]] t_gt: [-0.8455088 0.51412013 0.14420598] Pose Error in degrees for R and t: 178.1580127569639 69.39379833646865 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.93280863e-01 -1.15728465e-01 -2.22886971e-04] [ 1.15728527e-01 9.93280837e-01 2.93165618e-04] [ 1.87461750e-04 -3.16990179e-04 9.99999932e-01]] t_estimated: [[-0.98227491] [ 0.18742985] [-0.00245906]] R_gt: [[ 0.99847049 0.01338533 -0.05366338] [-0.01726083 0.9972254 -0.07241319] [ 0.05254507 0.07322865 0.99592989]] t_gt: [ 0.13722952 0.35757082 -0.92374843] Pose Error in degrees for R and t: 9.132646382814317 86.24408628871882 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99996720e-01 6.68644006e-04 -2.47249434e-03] [-6.60871457e-04 9.99994842e-01 3.14308815e-03] [ 2.47458319e-03 -3.14144384e-03 9.99992004e-01]] t_estimated: [[0.88535447] [0.46491223] [0.00202136]] R_gt: [[ 0.99336464 -0.00962126 -0.11460903] [-0.0067916 0.98984809 -0.14196392] [ 0.11481081 0.14180095 0.98321453]] t_gt: [ 0.25536833 0.25394316 -0.93289865] Pose Error in degrees for R and t: 10.566586872152998 69.98494470028172 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999990e-01 1.40688676e-04 5.45825972e-07] [-1.40688645e-04 9.99999988e-01 -5.71155225e-05] [-5.53861472e-07 5.71154452e-05 9.99999998e-01]] t_estimated: [[-0.97014156] [-0.24253538] [-0.00139388]] R_gt: [[ 0.98664195 0.0065576 -0.16277388] [-0.03141574 0.98809269 -0.15061855] [ 0.15984698 0.15371974 0.97509912]] t_gt: [ 0.24262591 0.32969489 -0.91237818] Pose Error in degrees for R and t: 12.8570838686997 71.69517528122515 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.98778319e-01 4.94147166e-02 -2.35534322e-04] [-4.94146411e-02 9.98778300e-01 3.16244158e-04] [ 2.50873685e-04 -3.04218964e-04 9.99999922e-01]] t_estimated: [[-0.92904593] [-0.36996183] [-0.00138045]] R_gt: [[ 0.99771039 -0.02329284 -0.0635078 ] [ 0.01899018 0.99753743 -0.06752359] [ 0.06492421 0.06616287 0.99569432]] t_gt: [ 0.3262084 0.07143349 -0.942595 ] Pose Error in degrees for R and t: 6.6843766824685655 70.84110553638939 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 7.90959634e-01 -6.11867757e-01 -8.40252700e-04] [ 6.11868321e-01 7.90958588e-01 1.29229018e-03] [-1.26105601e-04 -1.53627337e-03 9.99998812e-01]] t_estimated: [[7.23879986e-01] [6.89925535e-01] [7.22435116e-04]] R_gt: [[ 0.99422634 0.01788884 -0.1058077 ] [-0.02614503 0.99667666 -0.07716473] [ 0.10407597 0.07948604 0.99138786]] t_gt: [ 0.16506202 0.37710998 -0.9113411 ] Pose Error in degrees for R and t: 39.690066807739306 67.72796672568224 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.24346704 -0.96990771 -0.00168137] [ 0.96990809 -0.24346381 -0.00191797] [ 0.0014509 -0.00209774 0.99999675]] t_estimated: [[0.92500102] [0.37996196] [0.00142308]] R_gt: [[ 0.99101041 0.05435108 -0.12225559] [-0.06888741 0.99062078 -0.11801029] [ 0.1146945 0.12537174 0.98545816]] t_gt: [ 0.03108874 0.58750786 -0.80862105] Pose Error in degrees for R and t: 107.9447168050452 75.47295156965305 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.54868089 -0.83603032 0.00160696] [-0.83600755 0.54864926 -0.00868182] [ 0.00637661 -0.00610698 -0.99996102]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.76420535e-01 2.15877128e-01 -7.08802643e-04] [-2.15784258e-01 9.76085885e-01 2.63298743e-02] [ 6.37632917e-03 -2.55553275e-02 9.99652172e-01]] t_gt: [-0.94284674 0.31663151 0.10384846] Pose Error in degrees for R and t: 179.56842222367283 55.50222920239012 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.92972401 0.36789521 0.01632115] [ 0.36821506 -0.9280352 -0.05628793] [-0.00556145 0.05834193 -0.99828117]] t_estimated: [[-9.92230030e-01] [-1.24414715e-01] [-7.38978088e-04]] R_gt: [[ 0.96368053 0.26626924 0.02050972] [-0.26596612 0.96384345 -0.01636904] [-0.02412679 0.01031996 0.9996547 ]] t_gt: [-0.92751006 0.37340728 -0.01709086] Pose Error in degrees for R and t: 175.72724874485405 29.08982182847881 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.99787701 0.06508672 0.00227906] [-0.06510818 0.99781609 0.01113427] [-0.00154939 -0.01125902 0.99993541]] t_estimated: [[8.01117160e-01] [5.98507234e-01] [6.21502839e-04]] R_gt: [[ 0.90514982 0.42462858 0.01988357] [-0.42507186 0.9045875 0.03217263] [-0.00432529 -0.03757129 0.99928391]] t_gt: [-0.87412128 0.47688736 0.09214362] Pose Error in degrees for R and t: 21.470983171655856 65.49354521462651 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99211382e-01 3.97065788e-02 4.51050817e-05] [-3.97065789e-02 9.99211383e-01 2.05062065e-06] [-4.49880880e-05 -3.83997198e-06 9.99999999e-01]] t_estimated: [[8.23731952e-01] [5.66979077e-01] [6.30574881e-04]] R_gt: [[ 0.99704692 -0.0766442 -0.00480556] [ 0.07662537 0.99705226 -0.00402133] [ 0.00509929 0.00364104 0.9999803 ]] t_gt: [ 0.6961583 -0.71582449 -0.05439592] Pose Error in degrees for R and t: 6.680494033063581 80.35424853538231 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.84189807e-01 -1.77116940e-01 1.18273790e-04] [ 1.77116930e-01 9.84189812e-01 8.84711461e-05] [-1.32073598e-04 -6.61241096e-05 9.99999989e-01]] t_estimated: [[9.84725296e-01] [1.74113230e-01] [8.21288821e-04]] R_gt: [[ 0.98581694 -0.163457 0.03805128] [ 0.16435935 0.9861574 -0.02189111] [-0.03394638 0.02783459 0.99903628]] t_gt: [ 0.75747888 -0.64816273 0.07817171] Pose Error in degrees for R and t: 2.625629421515422 50.71937831657169 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.50114201 -0.86535746 -0.00362623] [ 0.86536326 -0.50112802 -0.0041387 ] [ 0.00176425 -0.00521209 0.99998486]] t_estimated: [[0.96178776] [0.2737936 ] [0.00117006]] R_gt: [[ 0.99163456 -0.09896787 0.08286468] [ 0.10292219 0.99367661 -0.04487912] [-0.07789923 0.05303218 0.99555017]] t_gt: [ 0.79839058 -0.49051961 0.349232 ] Pose Error in degrees for R and t: 114.36810255166527 50.654901238012215 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.70685640e-01 -2.40352055e-01 -5.27430881e-04] [ 2.40352183e-01 9.70685732e-01 1.93570869e-04] [ 4.65444475e-04 -3.14665626e-04 9.99999842e-01]] t_estimated: [[-0.64718315] [-0.76233371] [-0.00113167]] R_gt: [[ 0.99248602 0.11440537 0.04338653] [-0.1139222 0.993398 -0.01347613] [-0.04464153 0.0084326 0.99896751]] t_gt: [-0.81795701 0.56758684 0.09376304] Pose Error in degrees for R and t: 20.633395644112454 84.45823483081583 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.54455647e-01 -2.98352750e-01 2.33559951e-04] [ 2.98352819e-01 9.54455584e-01 -3.64158192e-04] [-1.14275001e-04 4.17256113e-04 9.99999906e-01]] t_estimated: [[8.93472691e-01] [4.49116823e-01] [7.93492621e-04]] R_gt: [[ 0.97463625 0.22278813 0.02117658] [-0.22349356 0.97385968 0.04060406] [-0.01157652 -0.04430583 0.99895147]] t_gt: [-0.81343018 0.56918737 0.11982102] Pose Error in degrees for R and t: 30.371651639795314 61.89746198143995 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.55780508e-01 -2.94079142e-01 -1.03838654e-03] [ 2.94079566e-01 9.55780901e-01 2.78626950e-04] [ 9.10531649e-04 -5.71674471e-04 9.99999422e-01]] t_estimated: [[-0.19969636] [-0.97985728] [-0.0010347 ]] R_gt: [[ 0.92271137 0.38548043 0.00270203] [-0.38525018 0.92186729 0.04175598] [ 0.01360486 -0.03956823 0.99912445]] t_gt: [-0.78471586 0.6196171 0.01719517] Pose Error in degrees for R and t: 39.846638913907405 63.227491085628145 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 4.56076937e-01 8.89940090e-01 6.80652776e-04] [-8.89938966e-01 4.56077443e-01 -1.41518466e-03] [-1.56985994e-03 3.96936574e-05 9.99998767e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9986113 -0.01159134 -0.05141049] [ 0.01138423 0.99992666 -0.00431502] [ 0.05145776 0.00372427 0.99866775]] t_gt: [ 0.85812588 0.32734251 -0.39555891] Pose Error in degrees for R and t: 63.58952964164848 70.59297253058295 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99974028e-01 -7.19690573e-03 3.85796797e-04] [ 7.19672691e-03 9.99973996e-01 4.62896035e-04] [-3.89118183e-04 -4.60107538e-04 9.99999818e-01]] t_estimated: [[0.60828873] [0.79371503] [0.00113065]] R_gt: [[ 0.99325518 -0.0462459 -0.10633683] [ 0.04325587 0.99860679 -0.03025423] [ 0.1075884 0.02545006 0.99387004]] t_gt: [ 0.90066831 0.18822637 -0.39162153] Pose Error in degrees for R and t: 6.730797037119039 45.827438785815396 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.94859792e-01 1.01261377e-01 3.58075501e-04] [-1.01261624e-01 9.94859541e-01 7.59030236e-04] [-2.79374382e-04 -7.91387969e-04 9.99999648e-01]] t_estimated: [[0.61566078] [0.78801032] [0.00124435]] R_gt: [[ 0.99135793 -0.08609482 -0.0989909 ] [ 0.08503422 0.99626752 -0.01488195] [ 0.09990248 0.00633517 0.99497684]] t_gt: [ 0.97393137 0.11790359 -0.19379479] Pose Error in degrees for R and t: 12.180375527117132 46.189181427749496 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999508e-01 9.78629529e-04 -1.59626840e-04] [-9.78571522e-04 9.99999455e-01 3.63061578e-04] [ 1.59982056e-04 -3.62905193e-04 9.99999921e-01]] t_estimated: [[ 0.99999748] [-0.00163155] [ 0.00154362]] R_gt: [[ 0.99263793 -0.12056328 -0.01160464] [ 0.12000528 0.99194594 -0.04051828] [ 0.01639614 0.03882843 0.99911083]] t_gt: [ 0.76509057 -0.57900463 -0.28176243] Pose Error in degrees for R and t: 7.3796141202768055 40.03974386633366 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-9.46290323e-01 -3.23317016e-01 -8.55395452e-04] [ 3.23318059e-01 -9.46288703e-01 -1.76701729e-03] [-2.38144296e-04 -1.94867616e-03 9.99998073e-01]] t_estimated: [[8.55663112e-01] [5.17532794e-01] [6.66923704e-04]] R_gt: [[ 0.96197949 -0.27262281 -0.01651753] [ 0.27194363 0.96168809 -0.0346957 ] [ 0.02534317 0.02888553 0.99926112]] t_gt: [ 0.79467148 -0.59076264 -0.13963075] Pose Error in degrees for R and t: 145.33615809941608 68.02889764187584 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-7.12297625e-01 -7.01875522e-01 1.68710416e-03] [-7.01875808e-01 7.12299154e-01 5.15010054e-04] [-1.56319582e-03 -8.17297162e-04 -9.99998444e-01]] t_estimated: [[0.99998032] [0.0057207 ] [0.00257451]] R_gt: [[ 0.91902086 -0.39093895 0.05067112] [ 0.38954811 0.92032959 0.035297 ] [-0.06043305 -0.01269982 0.99809113]] t_gt: [ 0.7942893 -0.59897292 0.10166589] Pose Error in degrees for R and t: 176.3627429502397 37.710742224156256 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999807e-01 6.19494074e-04 4.98805708e-05] [-6.19492881e-04 9.99999808e-01 -2.39313629e-05] [-4.98953866e-05 2.39004576e-05 9.99999998e-01]] t_estimated: [[ 9.99914069e-01] [-1.30975510e-02] [-5.56443675e-04]] R_gt: [[ 0.99815912 -0.05978787 -0.01026239] [ 0.05971149 0.99818632 -0.00759739] [ 0.01069849 0.00697177 0.99991798]] t_gt: [ 0.85849836 -0.48352012 -0.17084745] Pose Error in degrees for R and t: 3.5379449347035004 30.134123166902686 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99209135e-01 3.97621380e-02 2.77064031e-04] [-3.97621301e-02 9.99209173e-01 -3.39873941e-05] [-2.78196333e-04 2.29438586e-05 9.99999961e-01]] t_estimated: [[9.67005299e-01] [2.54754986e-01] [8.05955661e-04]] R_gt: [[ 9.88286343e-01 -1.46717074e-01 -4.20234968e-02] [ 1.46810986e-01 9.89164456e-01 -8.65767013e-04] [ 4.16953682e-02 -5.31341357e-03 9.99116129e-01]] t_gt: [ 0.8470524 -0.50546743 -0.16433174] Pose Error in degrees for R and t: 10.991885549009579 46.35394933058231 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999866e-01 -5.15201634e-04 -5.14148900e-05] [ 5.15201663e-04 9.99999867e-01 5.63155400e-07] [ 5.14145930e-05 -5.89644361e-07 9.99999999e-01]] t_estimated: [[9.41272248e-01] [3.37647506e-01] [8.47065658e-04]] R_gt: [[ 9.85945144e-01 -1.63247105e-01 -3.55554165e-02] [ 1.63114890e-01 9.86584815e-01 -6.61737219e-03] [ 3.61594316e-02 7.25916526e-04 9.99345292e-01]] t_gt: [ 0.86537931 -0.48186358 -0.1375723 ] Pose Error in degrees for R and t: 9.590592384108529 49.32700794366518 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[-0.96360255 -0.26556827 0.03071831] [-0.26529111 0.96408278 0.01284592] [-0.03302646 0.00422906 -0.99944553]] t_estimated: [[0.99511065] [0.09791388] [0.01294845]] R_gt: [[ 0.99896491 0.03863704 -0.02399831] [-0.03786553 0.9987769 0.03178702] [ 0.02519748 -0.03084584 0.99920666]] t_gt: [-0.92903699 0.28832613 0.2318584 ] Pose Error in degrees for R and t: 179.32454067449572 26.714039225482857 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.93372820e-01 1.14936249e-01 -3.15827542e-04] [-1.14936398e-01 9.93372724e-01 -5.04540170e-04] [ 2.55744512e-04 5.37496571e-04 9.99999823e-01]] t_estimated: [[-0.89941807] [ 0.43706303] [-0.00480001]] R_gt: [[ 0.9915094 0.12861461 0.01917742] [-0.12964185 0.98916862 0.06883744] [-0.01011695 -0.0707392 0.99744425]] t_gt: [-0.88758704 0.22027661 0.40455834] Pose Error in degrees for R and t: 4.212349397144991 26.792515785264527 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.96778812e-01 8.01997495e-02 -3.04892115e-05] [-8.01997479e-02 9.96778811e-01 5.16917518e-05] [ 3.45366655e-05 -4.90800159e-05 9.99999998e-01]] t_estimated: [[-9.95808052e-01] [-9.14664683e-02] [ 4.56214259e-04]] R_gt: [[ 0.97632063 0.21602722 -0.01144257] [-0.21502245 0.97486886 0.0582659 ] [ 0.0237417 -0.05442694 0.99823554]] t_gt: [-0.90422007 0.41508399 0.10045567] Pose Error in degrees for R and t: 8.560820573247295 30.400507169776994 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99994209e-01 3.39536000e-03 2.33162063e-04] [-3.39529426e-03 9.99994196e-01 -2.81767251e-04] [-2.34117411e-04 2.80973965e-04 9.99999933e-01]] t_estimated: [[ 0.6107304 ] [-0.79183686] [-0.00166018]] R_gt: [[ 0.98696066 -0.16081119 -0.00697263] [ 0.16090611 0.98683239 0.0164925 ] [ 0.00422854 -0.01739853 0.99983984]] t_gt: [ 0.71870286 -0.69497745 0.02173807] Pose Error in degrees for R and t: 9.509424175054711 8.425834955452805 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-1.90459489e-02 9.99818587e-01 2.11784099e-04] [-9.99816024e-01 -1.90454175e-02 -2.27814602e-03] [-2.27369921e-03 -2.55134589e-04 9.99997383e-01]] t_estimated: [[0.00900864] [0.99995879] [0.00112608]] R_gt: [[ 0.95710412 -0.28489018 0.05283631] [ 0.28041872 0.95665732 0.07857183] [-0.07293051 -0.06038449 0.99550646]] t_gt: [ 0.70211426 -0.66448333 0.25592474] Pose Error in degrees for R and t: 107.6420050941872 48.86445170809475 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-7.49248814e-01 -6.62288588e-01 -2.01206651e-04] [-6.62108953e-01 7.49038448e-01 2.35188964e-02] [-1.54255851e-02 1.77547259e-02 -9.99723372e-01]] t_estimated: [[9.99978451e-01] [6.50881802e-03] [8.55855015e-04]] R_gt: [[ 0.92130107 -0.38091253 0.07818119] [ 0.37248949 0.9222207 0.10373547] [-0.11161466 -0.06644999 0.99152717]] t_gt: [ 0.73683376 -0.61548196 0.27974626] Pose Error in degrees for R and t: 172.33861037206088 42.85719586424552 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 6.98631992e-01 7.15478355e-01 2.01605424e-03] [ 7.15479443e-01 -6.98633743e-01 2.44234010e-04] [ 1.58322767e-03 1.27181567e-03 -9.99997938e-01]] t_estimated: [[-0.68130718] [-0.73199712] [-0.00085915]] R_gt: [[ 0.99243625 0.10236896 -0.06774635] [-0.09822819 0.99323984 0.06185754] [ 0.07362107 -0.05473529 0.99578242]] t_gt: [0.00494263 0.99157974 0.1294032 ] Pose Error in degrees for R and t: 175.36362429293183 43.171240257444964 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.57100923 0.82058551 -0.02424622] [ 0.82089105 -0.57038928 0.0281772 ] [ 0.00929202 -0.03599295 -0.99930884]] t_estimated: [[0.93189699] [0.36272123] [0.00114063]] R_gt: [[ 0.98093196 0.17163728 -0.0911825 ] [-0.16320373 0.98219075 0.09309122] [ 0.10553697 -0.07643466 0.99147302]] t_gt: [0.01937659 0.91740822 0.39747542] Pose Error in degrees for R and t: 171.01552754447638 69.43475418233326 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.34398510e-01 -3.56229383e-01 -2.25580426e-04] [ 3.56229428e-01 9.34398498e-01 2.05919053e-04] [ 1.37427594e-04 -2.72768843e-04 9.99999953e-01]] t_estimated: [[-0.29074484] [-0.95679992] [-0.00115929]] R_gt: [[ 0.95246893 0.2641143 -0.1518128 ] [-0.24590992 0.96072725 0.12857314] [ 0.17980799 -0.08512971 0.98001069]] t_gt: [ 0.0712675 0.99109126 -0.11251249] Pose Error in degrees for R and t: 37.527537611960256 14.334630453773508 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-1.49885552e-01 -9.88699549e-01 -2.74262524e-03] [-9.88703227e-01 1.49886362e-01 -9.08649154e-05] [ 5.00920221e-04 2.69802309e-03 -9.99996235e-01]] t_estimated: [[8.60803406e-01] [5.08937153e-01] [6.85899128e-04]] R_gt: [[ 0.99145966 -0.13000967 0.01025923] [ 0.12997277 0.99150882 0.00406233] [-0.01070038 -0.00269282 0.99993952]] t_gt: [ 0.72797169 -0.68369735 0.05113849] Pose Error in degrees for R and t: 179.52999405138777 73.81637733623198 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.95406266e-01 -9.57411223e-02 -5.76270716e-05] [ 9.57411088e-02 9.95406248e-01 -2.03982885e-04] [ 7.68918975e-05 1.97528562e-04 9.99999978e-01]] t_estimated: [[ 0.78868798] [-0.61479221] [-0.00134347]] R_gt: [[ 9.80866628e-01 -1.94635469e-01 4.14048711e-03] [ 1.94636916e-01 9.80875077e-01 1.90233650e-05] [-4.06352885e-03 7.88146771e-04 9.99991929e-01]] t_gt: [ 0.79257245 -0.60972103 -0.00831762] Pose Error in degrees for R and t: 5.734592689776696 0.5418781497932105 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.97181597 -0.2357346 0.00170593] [ 0.23573855 0.97181279 -0.00268906] [-0.00102393 0.00301543 0.99999493]] t_estimated: [[-0.84895634] [-0.52846108] [-0.00142442]] R_gt: [[ 9.61868947e-01 -2.72380195e-01 -2.48414043e-02] [ 2.72480464e-01 9.62161206e-01 7.17588665e-04] [ 2.37063833e-02 -7.45778183e-03 9.99691040e-01]] t_gt: [ 0.83933544 -0.54114908 -0.0517077 ] Pose Error in degrees for R and t: 2.663930614858694 64.7537675836064 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.54630956 -0.83749972 -0.0118353 ] [-0.83750947 -0.54601918 -0.02099856] [ 0.01112399 0.02138389 -0.99970945]] t_estimated: [[ 0.47067413] [ 0.88222398] [-0.01211225]] R_gt: [[ 0.99887071 0.04550517 -0.01369018] [-0.04666178 0.99374644 -0.10143949] [ 0.00898968 0.10196371 0.99474794]] t_gt: [-0.25917779 0.65967199 -0.70545003] Pose Error in degrees for R and t: 173.17543448619008 62.06077415980696 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.54020167 0.84153344 -0.00190295] [-0.84153478 0.54019662 -0.00261259] [-0.00117061 0.00301273 0.99999478]] t_estimated: [[-0.44862325] [ 0.89372018] [-0.00119607]] R_gt: [[ 0.99614519 0.08696358 -0.01153595] [-0.08761547 0.9928383 -0.08121154] [ 0.00439202 0.08191019 0.99663024]] t_gt: [-0.35551871 0.82513203 -0.43904849] Pose Error in degrees for R and t: 52.46607217229435 26.174310536143935 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.99960136 -0.02819409 -0.00148757] [ 0.028197 0.99960045 0.00196843] [ 0.00143148 -0.00200959 0.99999696]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.97972705 0.19511095 -0.04547861] [-0.19811275 0.97729912 -0.075074 ] [ 0.02979862 0.0825619 0.99614054]] t_gt: [-0.46576571 0.8354639 -0.29165456] Pose Error in degrees for R and t: 13.940591065841584 82.76124382299213 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.72312185 -0.69071724 0.00211763] [-0.69071932 0.72311161 -0.00405249] [ 0.00126784 -0.00439314 -0.99998955]] t_estimated: [[0.91294151] [0.40808906] [0.00105178]] R_gt: [[ 0.99914005 0.03612801 -0.02040668] [-0.03687916 0.99860752 -0.03772353] [ 0.01901537 0.03844425 0.99908012]] t_gt: [-0.38139977 0.68878161 -0.61653395] Pose Error in degrees for R and t: 178.1711160531016 86.1146667308139 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.99981308 0.00412704 0.0188882 ] [-0.00368803 0.99972361 -0.02321866] [-0.01897881 0.02314466 0.99955196]] t_estimated: [[0.18992668] [0.98128785] [0.03165445]] R_gt: [[ 0.98911139 0.13177855 -0.06552179] [-0.13830807 0.98450111 -0.10784005] [ 0.05029509 0.11572803 0.99200666]] t_gt: [-0.43451777 0.72368026 -0.53617273] Pose Error in degrees for R and t: 10.139854470822186 52.36421524489271 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.99504885 -0.09935932 -0.00234866] [ 0.09935141 -0.99504703 0.00327118] [-0.00266205 0.00302165 0.99999189]] t_estimated: [[0.81098065] [0.58507205] [0.00104105]] R_gt: [[ 0.98633755 0.12089945 -0.11190969] [-0.14112691 0.97052398 -0.19536277] [ 0.08499246 0.20848741 0.97432548]] t_gt: [-0.27339994 0.65405594 -0.70531078] Pose Error in degrees for R and t: 178.0650615104846 80.78071002792908 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-8.36041669e-01 -5.48662767e-01 -1.86986153e-03] [ 5.48664478e-01 -8.36042469e-01 -5.30253241e-04] [-1.27235344e-03 -1.46924040e-03 9.99998111e-01]] t_estimated: [[ 9.61250998e-01] [-2.75673640e-01] [ 7.50159140e-04]] R_gt: [[ 0.98603798 0.16628975 0.00879204] [-0.1662488 0.98607106 -0.00511692] [-0.00952004 0.003585 0.99994869]] t_gt: [-0.87505623 0.48397541 0.00666345] Pose Error in degrees for R and t: 156.29663785332033 12.95078313918805 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.82695029e-01 -1.85230183e-01 -5.08524365e-04] [ 1.85230343e-01 9.82695089e-01 2.87095796e-04] [ 4.46545589e-04 -3.76321754e-04 9.99999829e-01]] t_estimated: [[ 0.26688261] [-0.96372817] [-0.001295 ]] R_gt: [[ 0.95763911 0.28588464 0.03462786] [-0.2870399 0.95728143 0.03492858] [-0.02316372 -0.04338851 0.99879006]] t_gt: [-0.8721853 0.45257782 0.18565051] Pose Error in degrees for R and t: 27.47352022267357 47.99669211011432 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.42556982e-01 -3.34045053e-01 -4.88468036e-04] [ 3.34045369e-01 9.42556586e-01 8.80142573e-04] [ 1.66401492e-04 -9.92755012e-04 9.99999493e-01]] t_estimated: [[-8.26186490e-01] [-5.63396373e-01] [-6.40951505e-04]] R_gt: [[ 0.93966476 0.33836664 0.05038108] [-0.34121843 0.93757643 0.06722896] [-0.02448762 -0.08036292 0.99646478]] t_gt: [-0.87326767 0.41101225 0.26167252] Pose Error in degrees for R and t: 39.692387776023985 60.67575540396889 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-0.99991424 0.01300104 -0.00157609] [-0.0129993 -0.9999149 -0.00110424] [-0.00159031 -0.00108365 0.99999815]] t_estimated: [[8.82618034e-01] [4.70090040e-01] [8.72152207e-04]] R_gt: [[ 0.99265061 -0.12025404 -0.01356044] [ 0.11958713 0.99192197 -0.04230076] [ 0.01853752 0.04036857 0.99901271]] t_gt: [ 0.66383021 -0.62392024 -0.41237481] Pose Error in degrees for R and t: 173.856857782765 73.00728150305744 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.99876019 0.04974388 0.00190269] [-0.04975131 -0.9987533 -0.00408191] [ 0.00169727 -0.00417151 0.99998986]] t_estimated: [[8.25113672e-01] [5.64966368e-01] [6.56937637e-04]] R_gt: [[ 0.96337728 -0.2636556 0.04888757] [ 0.26566562 0.96321385 -0.04049652] [-0.03641198 0.05200112 0.99798211]] t_gt: [ 0.70856707 -0.70331757 -0.05724601] Pose Error in degrees for R and t: 167.4979819950666 79.20707640803408 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-2.65107277e-01 9.64218907e-01 -1.75425241e-04] [-9.64216893e-01 -2.65107088e-01 -2.00372436e-03] [-1.97853539e-03 -3.62053927e-04 9.99997977e-01]] t_estimated: [[0.58774175] [0.80904805] [0.00094224]] R_gt: [[ 0.91130929 -0.40917656 0.04572466] [ 0.40888695 0.91244526 0.01594709] [-0.04824602 0.00416346 0.99882706]] t_gt: [ 0.75888875 -0.64487684 0.09067374] Pose Error in degrees for R and t: 129.5462923479152 85.66313493421255 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 2.90616328e-01 -9.56836735e-01 -2.36928389e-03] [ 9.56838416e-01 2.90619063e-01 -8.98282004e-04] [ 1.54806828e-03 -2.00596642e-03 9.99996790e-01]] t_estimated: [[ 9.17991776e-01] [-3.96599078e-01] [-5.20667081e-04]] R_gt: [[ 0.99609097 0.08323487 -0.02959241] [-0.08486076 0.99466131 -0.0587297 ] [ 0.02454749 0.0610116 0.99783491]] t_gt: [-0.51304024 0.70963871 -0.48291057] Pose Error in degrees for R and t: 78.0071917886667 41.222399273315894 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.24964524e-01 -3.80052876e-01 -6.63078500e-04] [ 3.80053339e-01 9.24964198e-01 8.31651540e-04] [ 2.97252313e-04 -1.02125337e-03 9.99999434e-01]] t_estimated: [[0.72780976] [0.68577819] [0.00110609]] R_gt: [[ 0.98988361 0.11949211 -0.07651563] [-0.12967522 0.98075145 -0.14598733] [ 0.05759898 0.15443311 0.98632294]] t_gt: [-0.37228998 0.67599945 -0.63594412] Pose Error in degrees for R and t: 31.00851549527178 78.9347961026455 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.77552579e-02 9.98858994e-01 3.81828551e-04] [-9.98857412e-01 -4.77544793e-02 -1.83878375e-03] [-1.81845166e-03 -4.69203870e-04 9.99998237e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97778469 0.14573539 -0.15066443] [-0.17795957 0.95695716 -0.22926991] [ 0.11076768 0.25098893 0.96163094]] t_gt: [-0.25176883 0.64557528 -0.72100279] Pose Error in degrees for R and t: 84.4736770586749 49.96595707104066 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.98982569e-01 4.50975694e-02 1.88722298e-04] [-4.50975570e-02 9.98982585e-01 -6.98347803e-05] [-1.91679668e-04 6.12528137e-05 9.99999980e-01]] t_estimated: [[ 9.68858458e-01] [-2.47615172e-01] [ 1.24279626e-04]] R_gt: [[ 0.98648967 -0.15943034 -0.03766403] [ 0.15896652 0.98716966 -0.01502381] [ 0.03957625 0.00883427 0.99917788]] t_gt: [ 0.67744749 -0.70126976 -0.22200366] Pose Error in degrees for R and t: 11.977669512425196 33.90453153500197 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.00231615 0.99977229 0.0212134 ] [ 0.99948112 -0.00163291 -0.03216873] [-0.03212676 0.0212769 -0.99925731]] t_estimated: [[7.37735186e-01] [6.75090167e-01] [2.47418242e-04]] R_gt: [[ 0.95534859 -0.29073672 -0.05274148] [ 0.28630658 0.95495422 -0.07804417] [ 0.07305625 0.0594602 0.99555415]] t_gt: [ 0.73786795 -0.56762103 -0.36518112] Pose Error in degrees for R and t: 177.68241104967015 80.73125743968913 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.19308941 0.98118008 0.0014607 ] [-0.98117964 0.19309152 -0.00147611] [-0.00173038 -0.00114819 0.99999784]] t_estimated: [[-0.00404837] [ 0.99999043] [ 0.00165761]] R_gt: [[ 0.92343558 -0.383701 0.00627295] [ 0.38312011 0.92085474 -0.07243295] [ 0.02201624 0.06929116 0.99735453]] t_gt: [ 0.75479554 -0.62110588 -0.21097671] Pose Error in degrees for R and t: 101.5054926427786 51.354109665066005 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99987519e-01 -4.84702055e-03 -1.21203328e-03] [ 4.84712286e-03 9.99988249e-01 8.14887165e-05] [ 1.21162406e-03 -8.73625736e-05 9.99999262e-01]] t_estimated: [[-0.99981044] [-0.01888915] [-0.00472087]] R_gt: [[ 0.99522308 0.0524014 -0.08237788] [-0.05063624 0.99844409 0.02337375] [ 0.08347388 -0.01909103 0.99632711]] t_gt: [ 0.63573183 0.30128748 -0.7106834 ] Pose Error in degrees for R and t: 5.824583837222547 50.3610727480199 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999282e-01 4.04423532e-04 -1.12809360e-03] [-4.02869952e-04 9.99998971e-01 1.37706076e-03] [ 1.12864936e-03 -1.37660529e-03 9.99998416e-01]] t_estimated: [[-0.981303 ] [-0.19246025] [-0.00186435]] R_gt: [[ 0.98013556 0.12868228 -0.15091687] [-0.11621977 0.98925402 0.08871351] [ 0.16071115 -0.06941145 0.98455726]] t_gt: [ 0.84495728 0.22761844 -0.48398041] Pose Error in degrees for R and t: 12.229790186102315 29.300580890249567 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-9.87939485e-01 -1.54829728e-01 -1.82464102e-03] [ 1.54828632e-01 -9.87941073e-01 7.28049891e-04] [-1.91536157e-03 4.36762562e-04 9.99998070e-01]] t_estimated: [[0.82702153] [0.5621696 ] [0.00085436]] R_gt: [[ 0.96041162 0.22033449 -0.17047796] [-0.20225443 0.97229327 0.11721655] [ 0.19158111 -0.07809538 0.97836408]] t_gt: [ 0.5558671 0.71385391 -0.42593938] Pose Error in degrees for R and t: 176.59465210530055 30.609554995465444 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99999929e-01 2.83682160e-04 2.48658414e-04] [-2.83782911e-04 9.99999878e-01 4.05237692e-04] [-2.48543424e-04 -4.05308228e-04 9.99999887e-01]] t_estimated: [[0.800269 ] [0.59963411] [0.00290867]] R_gt: [[ 0.99946223 -0.02889127 -0.01549449] [ 0.02970153 0.99804777 0.05495095] [ 0.0138772 -0.05538056 0.99836883]] t_gt: [ 0.79103061 -0.0206541 0.61142782] Pose Error in degrees for R and t: 3.6696578167686544 51.50613609956737 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.41880476 -0.90806976 -0.00344906] [ 0.9080732 -0.41881023 0.00102355] [-0.00237396 -0.00270333 0.99999353]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.998365 -0.0523663 -0.02290744] [ 0.05295882 0.99825503 0.02610592] [ 0.02150065 -0.02727643 0.99939651]] t_gt: [0.98879724 0.10696982 0.10410316] Pose Error in degrees for R and t: 111.74763585590892 7.752844211297969 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.90574045e-01 1.36977707e-01 4.11977715e-04] [-1.36977817e-01 9.90574083e-01 2.51711872e-04] [-3.73615532e-04 -3.05771055e-04 9.99999883e-01]] t_estimated: [[0.68617723] [0.72743242] [0.0016954 ]] R_gt: [[ 9.99698129e-01 -2.45524539e-02 -8.16327795e-04] [ 2.45634811e-02 9.99480759e-01 2.08771931e-02] [ 3.03664163e-04 -2.08902412e-02 9.99781677e-01]] t_gt: [0.87376373 0.44295268 0.20082297] Pose Error in degrees for R and t: 9.35509661830462 22.7626753027384 Number of keypoints: Image1: 563 Image2: 563 R_estimated: [[ 9.99901245e-01 1.40534969e-02 8.28429749e-06] [-1.40534966e-02 9.99901244e-01 -3.78842303e-05] [-8.81588527e-06 3.77640657e-05 9.99999999e-01]] t_estimated: [[-2.83711620e-02] [-9.99597425e-01] [-2.57004951e-04]] R_gt: [[ 0.99927556 -0.00839804 -0.03712524] [ 0.00972487 0.99931599 0.03567881] [ 0.03680023 -0.03601409 0.99867296]] t_gt: [ 0.73259985 -0.68064177 0.00492337] Pose Error in degrees for R and t: 3.236953931355372 48.73201492841465 Number of keypoints: Image1: 595 Image2: 595 R_estimated: [[-0.12277858 -0.99209985 -0.02575466] [-0.99213106 0.123341 -0.0215163 ] [ 0.02452292 0.02291025 -0.99943671]] t_estimated: [[ 0.76390428] [ 0.64512679] [-0.01617642]] R_gt: [[ 0.99828276 0.05385558 -0.02306294] [-0.05277779 0.99759065 0.04502437] [ 0.0254317 -0.04372929 0.99871944]] t_gt: [-0.95675376 0.0982245 0.27381415] Pose Error in degrees for R and t: 178.72058079400057 47.783773380908556 Number of keypoints: Image1: 442 Image2: 442 R_estimated: [[-7.93549745e-01 -6.08398949e-01 -1.13807795e-02] [-6.08430069e-01 7.93606992e-01 -8.90468616e-04] [ 9.57362633e-03 6.21777728e-03 -9.99934840e-01]] t_estimated: [[ 0.96327535] [ 0.26847825] [-0.00447479]] R_gt: [[ 0.99030303 0.13884676 -0.00479836] [-0.1379964 0.98706085 0.08165402] [ 0.01607407 -0.08019949 0.99664897]] t_gt: [-0.93320745 0.16717775 0.31808089] Pose Error in degrees for R and t: 179.72103281234544 31.18769479901917 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 8.45319648e-01 5.34260002e-01 9.71178010e-04] [-5.34258589e-01 8.45319947e-01 -1.39532183e-03] [-1.56642079e-03 6.60632765e-04 9.99998555e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.98719914 -0.14297879 0.07068231] [ 0.13949435 0.98885496 0.05202418] [-0.07733292 -0.04149937 0.99614151]] t_gt: [ 0.55112155 -0.67555216 0.48979007] Pose Error in degrees for R and t: 40.72437958287964 47.765299333419684 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.03863122 0.9992187 0.00834425] [ 0.99922546 0.03869138 -0.00717337] [-0.00749062 0.00806067 -0.99993946]] t_estimated: [[ 0.53366258] [-0.84566532] [ 0.00737675]] R_gt: [[ 0.97539435 -0.20788147 0.07343692] [ 0.20305337 0.97679687 0.0680938 ] [-0.08588833 -0.05150692 0.99497254]] t_gt: [ 0.62633111 -0.651554 0.42800318] Pose Error in degrees for R and t: 178.4517102328727 27.32670380275366 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99981306 0.01923446 0.00197025] [-0.01923739 0.99981385 0.00148098] [-0.0019414 -0.00151861 0.99999696]] t_estimated: [[0.99891239] [0.0463413 ] [0.00514903]] R_gt: [[ 0.96841785 -0.2432324 0.05482485] [ 0.23974656 0.96877827 0.06317212] [-0.06847859 -0.04803333 0.99649535]] t_gt: [ 0.71207684 -0.61870872 0.33188265] Pose Error in degrees for R and t: 15.799157918393783 46.81631621542781 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99996627e-01 -2.59556408e-03 9.38862571e-05] [ 2.59556998e-03 9.99996630e-01 -6.28184307e-05] [-9.37228914e-05 6.30619071e-05 9.99999994e-01]] t_estimated: [[ 7.34764233e-01] [-6.78322573e-01] [ 8.94977192e-05]] R_gt: [[ 0.99135914 -0.13008885 -0.01686607] [ 0.12896352 0.99006181 -0.05609136] [ 0.02399564 0.05343155 0.99828298]] t_gt: [ 0.6791117 -0.54811667 -0.48823705] Pose Error in degrees for R and t: 8.033576111332788 29.45488045271882 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.97779401 0.209532 -0.00390114] [-0.20954173 -0.97779706 0.00227474] [-0.00333789 0.00304168 0.9999898 ]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96905425 -0.24122359 0.05239833] [ 0.24375628 0.96859992 -0.04895541] [-0.03894444 0.06021374 0.9974253 ]] t_gt: [ 0.69881083 -0.70538145 -0.11874524] Pose Error in degrees for R and t: 178.0470237592719 82.04945733863427 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.14519643 0.98940153 -0.00161585] [-0.98940062 0.14519244 -0.00236054] [-0.00210092 0.00194146 0.99999591]] t_estimated: [[0.72876613] [0.68476224] [0.000772 ]] R_gt: [[ 0.91090182 -0.40907898 0.05396759] [ 0.40983892 0.91215181 -0.00335656] [-0.04785416 0.02517625 0.99853706]] t_gt: [ 0.76669624 -0.64052054 0.04370718] Pose Error in degrees for R and t: 105.87079436755741 83.09798748082544 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.98017281e-01 -6.29402594e-02 -1.74910650e-04] [ 6.29402787e-02 9.98017289e-01 1.06937299e-04] [ 1.67833192e-04 -1.17734197e-04 9.99999979e-01]] t_estimated: [[-0.16789594] [-0.98579929] [-0.00327177]] R_gt: [[ 0.99995542 0.00935209 -0.00159073] [-0.00935476 0.99995585 -0.00114558] [ 0.00157971 0.00116069 0.99999719]] t_gt: [-0.34348617 0.93788532 0.04887092] Pose Error in degrees for R and t: 4.1460265039938 29.881615758057556 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.01682774 0.99982795 -0.00780395] [-0.99983308 0.01688235 0.00698539] [ 0.00711593 0.0076851 0.99994515]] t_estimated: [[-0.0225998 ] [ 0.99970558] [-0.00883152]] R_gt: [[ 0.99371383 0.10260313 -0.044781 ] [-0.10556155 0.99197169 -0.06963427] [ 0.03727669 0.07392365 0.99656613]] t_gt: [-0.46961735 0.7475121 -0.46977144] Pose Error in degrees for R and t: 83.14234871588138 40.35438378978544 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.88647749e-01 1.50249841e-01 7.83487900e-04] [-1.50249145e-01 9.88647771e-01 -8.82923480e-04] [-9.07252679e-04 7.55181923e-04 9.99999303e-01]] t_estimated: [[0.2307956 ] [0.97300172] [0.00101672]] R_gt: [[ 0.99017244 0.10971495 -0.08672985] [-0.12194539 0.9809358 -0.1513087 ] [ 0.06847559 0.16039807 0.98467349]] t_gt: [-0.32054775 0.67914501 -0.66031143] Pose Error in degrees for R and t: 10.20892341656947 54.11523776485406 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-3.11750642e-01 9.50162593e-01 -1.60730914e-03] [-9.50158781e-01 -3.11754080e-01 -2.77218458e-03] [-3.13511128e-03 6.62968574e-04 9.99994866e-01]] t_estimated: [[0.01413739] [0.99989924] [0.00128522]] R_gt: [[ 0.99895735 0.04403564 0.01204444] [-0.0431137 0.99673105 -0.06832255] [-0.01501377 0.06773384 0.99759035]] t_gt: [-0.4015438 0.76542194 -0.50288353] Pose Error in degrees for R and t: 105.70912258952973 40.62197008893075 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.50937326 -0.86042493 -0.01441582] [-0.86043906 0.50950239 -0.00720769] [ 0.01354657 0.00873253 -0.99987011]] t_estimated: [[ 0.8731374 ] [ 0.48741486] [-0.00760537]] R_gt: [[ 0.99552811 0.09445696 -0.00115222] [-0.09441464 0.99454376 -0.04436976] [-0.0030458 0.04428142 0.99901455]] t_gt: [-0.45007068 0.86448743 -0.22382552] Pose Error in degrees for R and t: 177.86451229216684 88.27555169444983 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.99996851 0.00778506 0.00154032] [-0.00777603 0.99995304 -0.0057833 ] [-0.00158527 0.00577114 0.99998209]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.97876005 0.20356938 -0.02424605] [-0.20440275 0.97810101 -0.0392044 ] [ 0.0157341 0.04332849 0.99893658]] t_gt: [-0.53002337 0.83476262 -0.14915292] Pose Error in degrees for R and t: 11.579860274540701 55.319024865811514 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99802956e-01 -1.98506800e-02 1.62576382e-05] [ 1.98506785e-02 9.99802952e-01 9.00864998e-05] [-1.80427130e-05 -8.97460237e-05 9.99999996e-01]] t_estimated: [[-7.98522041e-01] [ 6.01965414e-01] [ 4.35874783e-04]] R_gt: [[ 0.99446984 0.09778011 -0.03833454] [-0.09644267 0.99471175 0.03531428] [ 0.04158456 -0.03142305 0.99863999]] t_gt: [-0.20127734 0.9519527 0.23081051] Pose Error in degrees for R and t: 7.347215324375617 42.78838398028692 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.72829209e-01 7.39797669e-01 5.14170383e-04] [-7.39797244e-01 6.72829385e-01 -8.10430493e-04] [-9.45503532e-04 1.64899475e-04 9.99999539e-01]] t_estimated: [[-2.59265952e-01] [ 9.65805711e-01] [ 7.02716558e-04]] R_gt: [[ 0.97911705 0.18567413 -0.08279044] [-0.1776128 0.97940803 0.09598437] [ 0.09890811 -0.07927553 0.99193347]] t_gt: [-0.15850089 0.92858546 0.33556894] Pose Error in degrees for R and t: 37.89768251499528 20.254717601793807 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.98135938 -0.11005536 0.15754866] [ 0.16724287 0.89292245 -0.41799439] [-0.09467622 0.43655161 0.8946838 ]] t_estimated: [[-0.71974214] [-0.66847518] [-0.18738243]] R_gt: [[ 0.95317804 0.27605472 -0.12346902] [-0.26382078 0.95865326 0.10668517] [ 0.14781602 -0.06911662 0.98659621]] t_gt: [-0.06702086 0.99481518 -0.07649158] Pose Error in degrees for R and t: 41.78127326226176 52.95526862448 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.13055801 0.99142551 0.00548388] [ 0.99143648 0.13057155 -0.0021868 ] [-0.00288409 0.00515142 -0.99998257]] t_estimated: [[-3.43740126e-01] [-9.39064720e-01] [-4.21040071e-04]] R_gt: [[ 0.98809062 -0.15386461 -0.00181298] [ 0.1538544 0.98769338 0.02812194] [-0.00253531 -0.02806559 0.99960216]] t_gt: [ 0.70084256 -0.70785171 0.08812294] Pose Error in degrees for R and t: 179.27610082098568 64.92692917486252 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99841018e-01 1.78304972e-02 1.13511416e-04] [-1.78304922e-02 9.99841023e-01 -4.43958132e-05] [-1.14284970e-04 4.23647906e-05 9.99999993e-01]] t_estimated: [[ 8.63611730e-01] [-5.04157491e-01] [ 6.21671587e-05]] R_gt: [[ 0.95738854 -0.28221954 0.06131863] [ 0.277026 0.9574224 0.0812439 ] [-0.08163608 -0.06079515 0.99480594]] t_gt: [ 0.6927368 -0.66283102 0.28420198] Pose Error in degrees for R and t: 18.254327977493123 21.180865399486446 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-8.14020504e-01 -5.80835783e-01 6.41938422e-04] [-5.80724309e-01 8.13884969e-01 1.87225743e-02] [-1.13972051e-02 1.48677701e-02 -9.99824511e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.92915576 -0.36224552 0.07381317] [ 0.35431228 0.92956289 0.10186443] [-0.10551331 -0.0684946 0.99205612]] t_gt: [ 0.72870783 -0.62030516 0.2901834 ] Pose Error in degrees for R and t: 172.9527092265126 43.36405037588976 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 9.96608088e-01 -8.22939892e-02 -1.37470196e-04] [ 8.22939954e-02 9.96608096e-01 3.95398426e-05] [ 1.33750018e-04 -5.07186986e-05 9.99999990e-01]] t_estimated: [[-0.5501929 ] [-0.83503675] [-0.00117855]] R_gt: [[ 0.99857681 0.05311265 -0.00485062] [-0.05300059 0.99837698 0.02082312] [ 0.00594904 -0.0205364 0.99977149]] t_gt: [-0.89892226 0.36757899 0.23837883] Pose Error in degrees for R and t: 7.857429298363003 79.20137498964885 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.99906493e-01 1.36740511e-02 -1.58426630e-04] [-1.36740571e-02 9.99906505e-01 -3.68662443e-05] [ 1.57907707e-04 3.90291318e-05 9.99999987e-01]] t_estimated: [[-0.94127991] [-0.33762499] [-0.00122348]] R_gt: [[ 0.98894971 0.14562042 0.02780628] [-0.14706249 0.98731512 0.05983873] [-0.0187402 -0.06326698 0.99782083]] t_gt: [-0.89651726 0.25631502 0.36133005] Pose Error in degrees for R and t: 8.527235298708144 40.808925822551664 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99216618e-01 3.95740755e-02 -2.04840880e-04] [-3.95741179e-02 9.99216616e-01 -2.07118505e-04] [ 1.96483888e-04 2.15062649e-04 9.99999958e-01]] t_estimated: [[-0.99475117] [-0.10231726] [-0.00113686]] R_gt: [[ 9.69342801e-01 2.45709707e-01 5.42880310e-05] [-2.45529241e-01 9.68624728e-01 3.84761270e-02] [ 9.40122951e-03 -3.73096390e-02 9.99259617e-01]] t_gt: [-0.87779616 0.47459654 0.06505409] Pose Error in degrees for R and t: 12.158811676885932 34.456561009924044 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.29471846e-01 -5.58548372e-01 -4.16061485e-04] [ 5.58548516e-01 8.29471454e-01 8.14466588e-04] [-1.09807861e-04 -9.07967629e-04 9.99999582e-01]] t_estimated: [[ 0.91749816] [-0.39773884] [ 0.00096806]] R_gt: [[ 0.99092083 -0.12551572 0.04819552] [ 0.12397453 0.99171156 0.03373142] [-0.05203063 -0.02744898 0.99826784]] t_gt: [ 0.57814959 -0.72248701 0.37915111] Pose Error in degrees for R and t: 26.98850158133668 35.09704449582237 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.10126257e-01 -4.14331018e-01 -6.99368126e-05] [ 4.14331018e-01 9.10126203e-01 3.20558231e-04] [-6.91658924e-05 -3.20725454e-04 9.99999946e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9820421 -0.1828559 0.04645874] [ 0.18079452 0.98247881 0.04526812] [-0.05392338 -0.03605562 0.99789359]] t_gt: [ 0.65828251 -0.6800721 0.32274769] Pose Error in degrees for R and t: 14.470397033034175 48.972544722278194 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-5.32991253e-01 -8.46118766e-01 -1.83230427e-03] [ 8.46120749e-01 -5.32990140e-01 -1.09067663e-03] [-5.37581418e-05 -2.13167176e-03 9.99997727e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97560052 -0.21754424 0.02965327] [ 0.21661434 0.97574461 0.03163527] [-0.0358166 -0.02444012 0.99905989]] t_gt: [ 0.75634342 -0.62553455 0.19144493] Pose Error in degrees for R and t: 109.6843396787381 41.014080305268955 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 7.88845914e-01 -6.14577218e-01 4.11918493e-03] [-6.14584800e-01 -7.88850368e-01 7.87466916e-04] [ 2.76546133e-03 -3.15277851e-03 -9.99991206e-01]] t_estimated: [[0.23401653] [0.97223129] [0.00160915]] R_gt: [[ 0.99884729 0.02948712 -0.03788517] [-0.0290977 0.99951846 0.01079205] [ 0.03818499 -0.00967799 0.99922309]] t_gt: [ 0.10094505 0.97991948 -0.17195321] Pose Error in degrees for R and t: 179.93600234750917 12.56377412367755 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-0.94736419 -0.31929781 -0.02345203] [-0.31944316 0.94760177 0.00263672] [ 0.02138128 0.00998952 -0.99972149]] t_estimated: [[ 0.98496726] [ 0.17231663] [-0.01210299]] R_gt: [[ 0.99551924 0.02090073 -0.09221948] [-0.02170818 0.99973458 -0.00775054] [ 0.09203341 0.00971765 0.99570825]] t_gt: [ 0.61329449 0.66124484 -0.43200131] Pose Error in degrees for R and t: 173.39657991459475 43.67678801920424 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99992505e-01 3.72996189e-03 -1.03836554e-03] [-3.74449160e-03 9.99889857e-01 -1.43614813e-02] [ 9.84683398e-04 1.43652618e-02 9.99896329e-01]] t_estimated: [[ 0.70963603] [ 0.70329606] [-0.04232432]] R_gt: [[ 0.99087527 -0.02692787 -0.13206496] [ 0.02371217 0.99938397 -0.02585886] [ 0.13267944 0.02249166 0.99090301]] t_gt: [ 0.8492335 0.37503726 -0.3716847 ] Pose Error in degrees for R and t: 7.753559172235505 28.098375359802766 Number of keypoints: Image1: 787 Image2: 787 R_estimated: [[ 9.99960593e-01 8.87764815e-03 1.49376888e-06] [-8.87764809e-03 9.99960592e-01 -3.71667066e-05] [-1.82366296e-06 3.71519808e-05 9.99999999e-01]] t_estimated: [[-1.76572504e-01] [-9.84287606e-01] [-2.44598957e-04]] R_gt: [[ 0.9992306 0.00704685 -0.03860084] [-0.00558873 0.99927189 0.03775374] [ 0.03883828 -0.03750919 0.99854065]] t_gt: [ 0.53577382 -0.8395567 0.08994976] Pose Error in degrees for R and t: 3.0998500092101566 42.9675088938581 Number of keypoints: Image1: 642 Image2: 642 R_estimated: [[ 9.96790035e-01 8.00600892e-02 -8.77124051e-05] [-8.00601127e-02 9.96789989e-01 -3.08544487e-04] [ 6.27287482e-05 3.14576335e-04 9.99999949e-01]] t_estimated: [[-0.99689364] [-0.07874388] [-0.00157487]] R_gt: [[ 0.99706089 0.07548308 -0.01307861] [-0.07474997 0.99596767 0.04962129] [ 0.0167717 -0.04849743 0.99868257]] t_gt: [-0.93900433 0.16407186 0.30224376] Pose Error in degrees for R and t: 2.9704447786760744 22.67716878311802 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 7.09712476e-01 7.04488122e-01 2.16490650e-03] [ 7.04485368e-01 -7.09715767e-01 1.97387867e-03] [ 2.92704235e-03 1.24258632e-04 -9.99995708e-01]] t_estimated: [[ 9.94460479e-01] [-1.05109852e-01] [ 5.23569730e-04]] R_gt: [[ 0.98608865 0.16463778 -0.02289806] [-0.16233961 0.98347144 0.08019907] [ 0.0357236 -0.07536581 0.99651616]] t_gt: [-0.94897187 0.25284173 0.18847665] Pose Error in degrees for R and t: 175.14841597093923 14.024427436327388 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.54768040e-01 -2.97350177e-01 -9.29070787e-04] [ 2.97350493e-01 9.54768368e-01 2.20202102e-04] [ 8.21570265e-04 -4.86501586e-04 9.99999544e-01]] t_estimated: [[ 9.99999487e-01] [-9.01596683e-04] [-4.62701880e-04]] R_gt: [[ 0.99555437 -0.07971785 0.05017319] [ 0.08100392 0.99642162 -0.0241286 ] [-0.04807044 0.0280864 0.99844888]] t_gt: [ 0.7561681 -0.58660155 0.29001454] Pose Error in degrees for R and t: 13.092741384954516 40.83792348462207 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 7.26712150e-01 6.86941918e-01 5.01500689e-04] [-6.86940870e-01 7.26712036e-01 -1.36296513e-03] [-1.30072447e-03 6.45982001e-04 9.99998945e-01]] t_estimated: [[0.95330661] [0.30200171] [0.00121286]] R_gt: [[ 0.99513505 0.02025866 0.09641471] [-0.01554143 0.99865652 -0.04943049] [-0.09728795 0.04769215 0.99411297]] t_gt: [-0.0954419 0.61977682 0.77895285] Pose Error in degrees for R and t: 42.78185436965371 84.42589897953806 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.57869154e-01 5.13868170e-01 -1.37887498e-04] [-5.13867953e-01 8.57868474e-01 -1.18630223e-03] [-4.91313620e-04 1.08854806e-03 9.99999287e-01]] t_estimated: [[-9.99973671e-01] [-7.20051484e-03] [-9.00066261e-04]] R_gt: [[ 0.99005819 0.07864503 0.11662302] [-0.07092745 0.99509713 -0.06891553] [-0.12147176 0.05995898 0.99078232]] t_gt: [-0.33062133 0.76471928 0.55307682] Pose Error in degrees for R and t: 27.6970201566013 71.05814571856502 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-9.96800391e-01 7.99140048e-02 -1.65295032e-03] [-7.99142649e-02 -9.96801736e-01 9.18358526e-05] [-1.64032478e-03 2.23636324e-04 9.99998630e-01]] t_estimated: [[8.44232820e-01] [5.35976351e-01] [5.44468512e-04]] R_gt: [[ 0.99623634 0.05096422 -0.07011467] [-0.05040218 0.9986813 0.00977322] [ 0.07052009 -0.00620183 0.99749135]] t_gt: [ 0.58474409 0.33831542 -0.73730389] Pose Error in degrees for R and t: 172.51229811731184 47.577852693465076 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99998899e-01 -1.43977686e-03 -3.59392763e-04] [ 1.43974855e-03 9.99998960e-01 -7.90139945e-05] [ 3.59506152e-04 7.84964722e-05 9.99999932e-01]] t_estimated: [[-0.96469798] [-0.26335231] [-0.0018327 ]] R_gt: [[ 0.97935305 0.13869318 -0.14708203] [-0.12698902 0.98814859 0.08623435] [ 0.15729994 -0.06577546 0.98535782]] t_gt: [ 0.76713598 0.34340205 -0.54182785] Pose Error in degrees for R and t: 12.502621346232553 33.952872225534584 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999660e-01 -8.19530410e-04 9.56356168e-05] [ 8.19568949e-04 9.99999583e-01 -4.03632948e-04] [-9.53047874e-05 4.03711190e-04 9.99999914e-01]] t_estimated: [[-9.53749657e-01] [-3.00600660e-01] [-9.13795321e-04]] R_gt: [[ 0.96310505 0.22353938 -0.1498639 ] [-0.20970997 0.97235703 0.10267807] [ 0.16867435 -0.06746077 0.98336067]] t_gt: [ 0.42526176 0.84883819 -0.31404803] Pose Error in degrees for R and t: 16.42637826861662 48.66445558806259 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.39975136 -0.91658795 0.00808553] [-0.91661355 -0.39969009 0.00821196] [-0.00429528 -0.01069405 -0.99993359]] t_estimated: [[0.50829576] [0.86115828] [0.00646861]] R_gt: [[ 0.99742702 0.05862111 -0.04127881] [-0.05958873 0.99796708 -0.02261925] [ 0.03986939 0.02502162 0.9988913 ]] t_gt: [-0.26054309 0.78377179 -0.56375445] Pose Error in degrees for R and t: 178.23359893279272 57.39312237472173 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.54136884e-01 -5.20048149e-01 3.25569065e-04] [ 5.20048207e-01 8.54136901e-01 -1.25660203e-04] [-2.12731197e-04 2.76642623e-04 9.99999939e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99620844 0.06954761 -0.05226479] [-0.07270663 0.99547396 -0.0611915 ] [ 0.047773 0.06475978 0.99675682]] t_gt: [-0.19091478 0.781706 -0.59370639] Pose Error in degrees for R and t: 35.71087343470436 38.75018027517939 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 8.34208345e-01 5.51449392e-01 7.75671506e-05] [-5.51449352e-01 8.34208324e-01 -2.90571570e-04] [-2.24942678e-04 1.99622874e-04 9.99999955e-01]] t_estimated: [[0.86667206] [0.49887444] [0.00195637]] R_gt: [[ 0.99978451 0.01781507 0.01066307] [-0.01774051 0.99981819 -0.00699866] [-0.01078594 0.0068079 0.99991893]] t_gt: [-0.17746386 0.97434237 0.13843239] Pose Error in degrees for R and t: 32.4554537301979 70.57684078868782 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99999887e-01 4.59697301e-04 1.24984979e-04] [-4.59710499e-04 9.99999889e-01 1.05590836e-04] [-1.24936426e-04 -1.05648281e-04 9.99999987e-01]] t_estimated: [[0.9983917 ] [0.05668274] [0.0010422 ]] R_gt: [[ 9.87075642e-01 -1.56817230e-01 -3.30223693e-02] [ 1.56738572e-01 9.87627884e-01 -4.95671260e-03] [ 3.33927967e-02 -2.82470316e-04 9.99442268e-01]] t_gt: [ 0.66907201 -0.72427748 -0.16662766] Pose Error in degrees for R and t: 9.25001972285569 51.18790929658282 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 4.91196125e-01 -8.71046943e-01 -1.89474313e-03] [ 8.71046189e-01 4.91198906e-01 -1.47342443e-03] [ 2.21411760e-03 -9.26668413e-04 9.99997119e-01]] t_estimated: [[ 0.87768822] [-0.47923062] [-0.00118039]] R_gt: [[ 0.95407571 -0.29385107 -0.05822936] [ 0.29017396 0.95482785 -0.0640456 ] [ 0.07441937 0.04420837 0.99624646]] t_gt: [ 0.74207521 -0.58695065 -0.32374886] Pose Error in degrees for R and t: 43.824277047489055 21.096178059322714 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.82789943e-01 -1.84726619e-01 -6.29420353e-05] [ 1.84726483e-01 9.82789537e-01 -9.23430900e-04] [ 2.32441041e-04 8.95911541e-04 9.99999572e-01]] t_estimated: [[ 0.52539235] [-0.8508553 ] [-0.00285191]] R_gt: [[ 0.92138659 -0.38790413 -0.02402573] [ 0.38572911 0.92028016 -0.0655535 ] [ 0.04753992 0.05113396 0.99755899]] t_gt: [ 0.76302701 -0.60875496 -0.21727215] Pose Error in degrees for R and t: 12.76626519915421 23.15119373030012 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999998e-01 4.41177269e-05 5.31635470e-05] [-4.41180661e-05 9.99999999e-01 6.38080707e-06] [-5.31632655e-05 -6.38315252e-06 9.99999999e-01]] t_estimated: [[7.53013436e-03] [9.99971293e-01] [8.42891270e-04]] R_gt: [[ 0.99644837 0.07876589 -0.0297876 ] [-0.08044307 0.99494609 -0.06008775] [ 0.02490379 0.0622707 0.99774779]] t_gt: [-0.49247315 0.70021438 -0.51688492] Pose Error in degrees for R and t: 5.972036947029847 45.88903559959425 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.17751604 -0.98404805 0.01172573] [-0.98408654 0.17759291 0.00586877] [-0.00785755 -0.01049733 -0.99991403]] t_estimated: [[0.62350166] [0.78178678] [0.00742381]] R_gt: [[ 0.98786218 0.13658281 -0.07399115] [-0.14546244 0.98050055 -0.13213051] [ 0.0545019 0.14129028 0.98846627]] t_gt: [-0.41572447 0.70587051 -0.57351547] Pose Error in degrees for R and t: 172.84452618942842 73.23914592281675 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.99971013 0.01760631 -0.01642179] [-0.01743179 0.99979068 0.010711 ] [ 0.01660694 -0.01042163 0.99980778]] t_estimated: [[-0.56205415] [-0.82708781] [-0.00456955]] R_gt: [[ 0.98039919 0.13968259 -0.13895441] [-0.16905127 0.95860742 -0.22911259] [ 0.1012006 0.24811275 0.96343002]] t_gt: [-0.25666275 0.64831852 -0.71680355] Pose Error in degrees for R and t: 17.627060029863326 67.12745307066247 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.85822931e-01 -1.67788119e-01 -5.43515206e-04] [ 1.67788365e-01 9.85822939e-01 4.44781365e-04] [ 4.61180729e-04 -5.29671197e-04 9.99999753e-01]] t_estimated: [[8.45127390e-01] [5.34564549e-01] [6.60772002e-04]] R_gt: [[ 0.99901515 0.00409668 -0.04418209] [-0.00697672 0.99784685 -0.06522826] [ 0.04381855 0.06547237 0.99689184]] t_gt: [ 0.21970331 0.26718851 -0.93826476] Pose Error in degrees for R and t: 10.953038946881367 70.85943629885621 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99745046e-01 -2.25789942e-02 1.80622702e-04] [ 2.25789566e-02 9.99745041e-01 2.07311484e-04] [-1.85257535e-04 -2.03180357e-04 9.99999962e-01]] t_estimated: [[0.71595795] [0.69814251] [0.00111346]] R_gt: [[ 0.99403795 -0.0037999 -0.10896709] [-0.01074338 0.99111663 -0.13256052] [ 0.10850151 0.13294109 0.98516698]] t_gt: [ 0.25464325 0.26092035 -0.9311699 ] Pose Error in degrees for R and t: 10.008437516440747 68.6885986942056 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-8.11897762e-03 -9.99965391e-01 -1.81623677e-03] [ 9.99966984e-01 -8.11835526e-03 -3.49777373e-04] [ 3.35020412e-04 -1.81901664e-03 9.99998289e-01]] t_estimated: [[9.98131074e-01] [6.11075148e-02] [4.79596039e-04]] R_gt: [[ 0.98769066 -0.01765769 -0.15541713] [-0.00667732 0.98794268 -0.15467508] [ 0.15627282 0.15380972 0.97566524]] t_gt: [ 0.31563491 0.23638826 -0.9189642 ] Pose Error in degrees for R and t: 90.83904093133323 70.78891307587881 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[-6.62745967e-01 7.48841836e-01 -1.92029189e-03] [-7.48837916e-01 -6.62748727e-01 -2.42907368e-03] [-3.09166300e-03 -1.71871405e-04 9.99995206e-01]] t_estimated: [[0.42471988] [0.90532396] [0.00124187]] R_gt: [[ 0.9955401 -0.08526841 -0.04035564] [ 0.08494376 0.99633812 -0.00971194] [ 0.04103639 0.00624037 0.99913813]] t_gt: [ 0.48072404 -0.79186696 -0.37663126] Pose Error in degrees for R and t: 136.40512908241874 59.12339743549303 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.06588523 0.99782637 0.00129331] [ 0.99782517 -0.06588766 0.00193813] [ 0.00201913 0.0011628 -0.99999729]] t_estimated: [[-0.98562172] [-0.16896372] [-0.00104299]] R_gt: [[ 0.97179691 -0.22886292 -0.05685369] [ 0.22862587 0.9734546 -0.01073564] [ 0.05780136 -0.00256514 0.9983249 ]] t_gt: [ 0.63786098 -0.74474445 -0.19618632] Pose Error in degrees for R and t: 177.89563573504975 59.82450737910904 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.59830741 0.51986922 -0.60972472] [ 0.41267741 0.45233683 0.79062555] [ 0.68682283 -0.72465674 0.05609819]] t_estimated: [[-0.71196786] [-0.69662682] [-0.08839027]] R_gt: [[ 0.92571424 -0.36725875 -0.09040638] [ 0.36250226 0.92971507 -0.06497287] [ 0.10791349 0.02737438 0.99378316]] t_gt: [ 0.73362245 -0.6141779 -0.2908326 ] Pose Error in degrees for R and t: 88.65744624219953 86.0574586072959 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.86850929 -0.49544795 -0.01493088] [-0.49359208 0.86722808 -0.06543935] [ 0.04537027 -0.04946492 -0.99774484]] t_estimated: [[0.75891666] [0.65118705] [0.00096187]] R_gt: [[ 9.89591467e-01 1.43881255e-01 2.60044594e-03] [-1.43903300e-01 9.89367325e-01 2.10909700e-02] [ 4.61025401e-04 -2.12458320e-02 9.99774339e-01]] t_gt: [-0.92211684 0.34912042 0.16677969] Pose Error in degrees for R and t: 178.83313339134472 61.815864655857716 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99720751e-01 2.36299531e-02 -2.14391471e-04] [-2.36299263e-02 9.99720766e-01 1.26736134e-04] [ 2.17326375e-04 -1.21634688e-04 9.99999969e-01]] t_estimated: [[-9.99994892e-01] [-3.10076005e-03] [-7.75189852e-04]] R_gt: [[ 0.95405438 0.2990233 0.01910515] [-0.29935508 0.95397645 0.01779274] [-0.01290542 -0.0226938 0.99965895]] t_gt: [-0.86761329 0.48763598 0.09725397] Pose Error in degrees for R and t: 16.12720878834331 30.000456012438054 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 8.67040673e-01 -4.98213395e-01 -4.88711349e-03] [ 4.98237306e-01 8.67003586e-01 8.02295889e-03] [ 2.39999336e-04 -9.39117393e-03 9.99955873e-01]] t_estimated: [[-0.27955362] [-0.96012054] [ 0.00428001]] R_gt: [[ 0.90803033 0.41661211 0.04375442] [-0.41855816 0.90655899 0.05440899] [-0.01699916 -0.0677186 0.99755958]] t_gt: [-0.84157848 0.50815889 0.18308523] Pose Error in degrees for R and t: 54.70558195800482 75.41334960709915 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99921280e-01 1.25463759e-02 1.46316775e-04] [-1.25463757e-02 9.99921291e-01 -2.61886723e-06] [-1.46338116e-04 7.82915836e-07 9.99999989e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9982074 0.02859709 -0.05258505] [-0.03346389 0.99499747 -0.09413468] [ 0.04962994 0.09572608 0.99417018]] t_gt: [-0.11332228 0.37402735 -0.92046814] Pose Error in degrees for R and t: 6.28425346123161 72.45003535033892 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.81080083e-01 -1.93601584e-01 5.45552463e-04] [ 1.93602053e-01 9.81079626e-01 -1.00577413e-03] [-3.40510941e-04 1.09236505e-03 9.99999345e-01]] t_estimated: [[-0.14411049] [-0.98955869] [-0.00240184]] R_gt: [[ 0.99087733 0.07120201 -0.11442291] [-0.08968472 0.98212219 -0.16550728] [ 0.10059389 0.17425973 0.97954887]] t_gt: [-0.14263088 0.45812901 -0.87736779] Pose Error in degrees for R and t: 19.581581315577928 64.48904650858324 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.95103998 -0.30904459 -0.0037933 ] [ 0.30899512 -0.95101079 0.0100246 ] [-0.00670552 0.00836168 0.99994256]] t_estimated: [[0.86893412] [0.49492688] [0.00093736]] R_gt: [[ 0.98022166 0.14371733 -0.13605904] [-0.16860181 0.9664374 -0.19383453] [ 0.10363586 0.21294105 0.97155342]] t_gt: [-0.26839954 0.57892495 -0.76993999] Pose Error in degrees for R and t: 171.24159391113238 86.9858668937276 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.91843059e-01 -1.27463148e-01 -7.01842527e-04] [ 1.27464336e-01 9.91841045e-01 2.04578305e-03] [ 4.35354279e-04 -2.11855561e-03 9.99997661e-01]] t_estimated: [[0.9288187 ] [0.37052606] [0.00250355]] R_gt: [[ 0.99769225 -0.02112571 -0.06453325] [ 0.01882297 0.99917139 -0.03608869] [ 0.06524234 0.03479037 0.99726238]] t_gt: [ 0.7933178 0.21368411 -0.57007541] Pose Error in degrees for R and t: 7.508376510628477 35.45249390209672 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 0.08549157 -0.99631047 0.00752612] [-0.99631255 -0.08543193 0.00791817] [-0.00724598 -0.0081753 -0.99994033]] t_estimated: [[0.67795323] [0.73508006] [0.00606005]] R_gt: [[ 0.99363447 -0.07028427 -0.08803861] [ 0.06668437 0.99683899 -0.04318987] [ 0.09079656 0.037044 0.99517943]] t_gt: [ 0.93493001 0.09857327 -0.34086534] Pose Error in degrees for R and t: 175.45594317675702 45.23243516190915 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99810238e-01 -1.94796742e-02 1.72192669e-04] [ 1.94796127e-02 9.99810192e-01 3.51757519e-04] [-1.79012107e-04 -3.48336522e-04 9.99999923e-01]] t_estimated: [[7.37164349e-01] [6.75713482e-01] [1.13239748e-04]] R_gt: [[ 0.99101081 -0.08012338 -0.10713293] [ 0.07718584 0.99652554 -0.03129469] [ 0.10926881 0.02274338 0.99375145]] t_gt: [ 0.95603008 0.12029975 -0.26745927] Pose Error in degrees for R and t: 7.270854623037497 38.185889429532885 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-1.63832779e-01 -9.86485928e-01 -2.08184609e-03] [ 9.86488064e-01 -1.63833145e-01 5.40928418e-06] [-3.46411576e-04 -2.05283011e-03 9.99997833e-01]] t_estimated: [[9.96168465e-01] [8.74499034e-02] [9.50542429e-04]] R_gt: [[ 0.99998461 0.00462819 0.00319046] [-0.00453821 0.99960427 -0.02777035] [-0.00331716 0.02775678 0.99960967]] t_gt: [-0.3736648 -0.58072764 -0.72327728] Pose Error in degrees for R and t: 99.70341384992044 64.93126766989458 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.12575917 0.99199758 0.01119958] [ 0.99202414 0.12584356 -0.00717657] [-0.00852853 0.01020773 -0.99991153]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.99560833 -0.09337379 -0.00678623] [ 0.09297038 0.99462243 -0.04564857] [ 0.0110121 0.04481815 0.99893512]] t_gt: [ 0.53832298 -0.77627567 -0.32803118] Pose Error in degrees for R and t: 177.90983307638675 89.58780885405454 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 1.17013289e-01 9.93129954e-01 8.86015834e-04] [ 9.93127448e-01 -1.17015057e-01 2.31255435e-03] [ 2.40034419e-03 6.09327053e-04 -9.99996934e-01]] t_estimated: [[-0.16142764] [-0.98688389] [-0.00114488]] R_gt: [[ 0.98211509 -0.18747802 0.0174237 ] [ 0.18800845 0.98148158 -0.03669411] [-0.01022193 0.03931454 0.99917428]] t_gt: [ 0.67119845 -0.73751103 -0.07463321] Pose Error in degrees for R and t: 177.88886744547057 51.71502487505059 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99866698e-01 -1.63274818e-02 1.59664414e-05] [ 1.63274736e-02 9.99866608e-01 4.23103112e-04] [-2.28725200e-05 -4.22786020e-04 9.99999910e-01]] t_estimated: [[-0.0118475 ] [-0.99992911] [-0.00118475]] R_gt: [[ 9.96472176e-01 -8.37735243e-02 5.01718379e-03] [ 8.37676550e-02 9.96484282e-01 1.40194366e-03] [-5.11688081e-03 -9.76480774e-04 9.99986958e-01]] t_gt: [ 0.79153178 -0.60913902 0.04926558] Pose Error in degrees for R and t: 3.8806859991667424 53.15446366542626 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-6.89830903e-02 9.97613763e-01 2.84834123e-03] [ 9.97617826e-01 6.89825961e-02 2.71474021e-04] [ 7.43402473e-05 2.86028310e-03 -9.99995907e-01]] t_estimated: [[9.99901500e-01] [1.40042227e-02] [9.33614846e-04]] R_gt: [[ 9.90025943e-01 -1.38998910e-01 -2.29574442e-02] [ 1.39047281e-01 9.90285753e-01 5.10669136e-04] [ 2.26635594e-02 -3.69797295e-03 9.99736814e-01]] t_gt: [ 0.86527919 -0.49448692 -0.08230801] Pose Error in degrees for R and t: 179.07721285335623 30.885793253340474 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.99331306 0.11540153 -0.00341352] [-0.11538281 0.99330723 0.0052493 ] [ 0.00399645 -0.00482033 0.9999804 ]] t_estimated: [[9.99929266e-01] [1.18635676e-02] [8.47397683e-04]] R_gt: [[ 9.79741756e-01 -1.96246125e-01 -3.99138452e-02] [ 1.96431859e-01 9.80517792e-01 7.39391016e-04] [ 3.89915197e-02 -8.56326082e-03 9.99203590e-01]] t_gt: [ 0.86496116 -0.49078765 -0.10473619] Pose Error in degrees for R and t: 18.07014577949416 30.7967729811494 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.77673676e-01 2.10126394e-01 -1.04021256e-03] [-2.10125462e-01 9.77673980e-01 9.37173568e-04] [ 1.21391365e-03 -6.97674783e-04 9.99999020e-01]] t_estimated: [[-0.99530439] [-0.09677168] [-0.0021001 ]] R_gt: [[ 0.99816435 -0.05686372 -0.02085798] [ 0.05681399 0.99837983 -0.00295275] [ 0.0209928 0.00176241 0.99977859]] t_gt: [ 0.86229462 -0.4485937 -0.23497164] Pose Error in degrees for R and t: 15.431001395549409 35.47774728514316 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.14352875 0.98917177 -0.03063841] [-0.98915935 0.14436031 0.02690519] [ 0.03103682 0.02644461 0.99916835]] t_estimated: [[ 0.04585182] [ 0.99828694] [-0.03634287]] R_gt: [[ 9.90091470e-01 -1.33123730e-01 -4.46922979e-02] [ 1.33270367e-01 9.91079513e-01 3.21756010e-04] [ 4.42519756e-02 -6.27476536e-03 9.99000741e-01]] t_gt: [ 0.85429102 -0.48527238 -0.18627285] Pose Error in degrees for R and t: 89.35750989301995 63.991747940386134 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.96323897e-01 -8.56661638e-02 -2.40023127e-05] [ 8.56661634e-02 9.96323897e-01 -1.53937611e-05] [ 2.52328022e-05 1.32809860e-05 1.00000000e+00]] t_estimated: [[ 9.71189773e-01] [-2.38306132e-01] [-7.82680546e-04]] R_gt: [[ 0.98804537 -0.15025886 -0.03448274] [ 0.15010661 0.98864468 -0.00697586] [ 0.03514023 0.00171623 0.99938074]] t_gt: [ 0.86559649 -0.47864369 -0.1471154 ] Pose Error in degrees for R and t: 4.2357116196822195 17.285249499747163 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.98838756 -0.14479334 -0.0460968 ] [ 0.14648497 0.98856837 0.03570334] [ 0.04040023 -0.04204123 0.99829873]] t_estimated: [[ 0.85203175] [ 0.52347258] [-0.00428501]] R_gt: [[ 9.99049382e-01 -7.61335707e-04 -4.36041868e-02] [ 1.11361578e-03 9.99966998e-01 8.07826335e-03] [ 4.35976018e-02 -8.11907187e-03 9.99016050e-01]] t_gt: [ 0.80713208 0.54203508 -0.23395677] Pose Error in degrees for R and t: 8.51105068669987 13.481519116264499 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 0.4695371 -0.88284446 0.01098087] [-0.88286249 -0.46934136 0.01650816] [-0.00942036 -0.01744579 -0.99980343]] t_estimated: [[0.53473183] [0.84496532] [0.00977128]] R_gt: [[ 0.9937134 -0.03209025 -0.1072619 ] [ 0.02924816 0.99918143 -0.02795989] [ 0.10807187 0.02464637 0.99383689]] t_gt: [ 0.87032488 0.25877033 -0.41901374] Pose Error in degrees for R and t: 176.65482511337655 47.1604143924812 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99999773e-01 -2.10347543e-04 6.40827011e-04] [ 2.10697066e-04 9.99999829e-01 -5.45406644e-04] [-6.40712176e-04 5.45541541e-04 9.99999646e-01]] t_estimated: [[6.92103565e-01] [7.21798198e-01] [1.28377892e-04]] R_gt: [[ 0.98934729 -0.0798688 -0.12171047] [ 0.07891004 0.99680094 -0.01268405] [ 0.12233484 0.00294449 0.99248469]] t_gt: [ 0.96227773 0.14161715 -0.23230614] Pose Error in degrees for R and t: 8.40527793878284 39.80881525114749 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99043963e-01 -4.37168171e-02 2.83800286e-05] [ 4.37168164e-02 9.99043963e-01 2.50379313e-05] [-2.94474749e-05 -2.37733096e-05 9.99999999e-01]] t_estimated: [[9.99996603e-01] [2.55118126e-03] [5.34376271e-04]] R_gt: [[ 0.99676986 -0.08014452 -0.00520573] [ 0.08007481 0.99671117 -0.01245012] [ 0.00618626 0.01199296 0.99990897]] t_gt: [ 0.68243199 -0.72007403 -0.12561837] Pose Error in degrees for R and t: 2.228412708343094 47.11527872186308 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 7.29297154e-01 6.84195213e-01 1.60344570e-03] [ 6.84195448e-01 -7.29298537e-01 4.83231040e-04] [ 1.50001497e-03 7.44651228e-04 -9.99998598e-01]] t_estimated: [[0.24193299] [0.97029211] [0.00128007]] R_gt: [[ 0.98286574 -0.18262433 0.0249497 ] [ 0.18307852 0.98294622 -0.01728837] [-0.02136748 0.02156033 0.99953925]] t_gt: [ 0.74896479 -0.66162937 0.03603233] Pose Error in degrees for R and t: 178.4534389958916 62.56588390245032 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 1.88338891e-01 -9.82101900e-01 -2.07859278e-03] [ 9.82103946e-01 1.88337257e-01 9.57537351e-04] [-5.48922790e-04 -2.22173569e-03 9.99997381e-01]] t_estimated: [[-0.07730498] [-0.99700684] [-0.00113684]] R_gt: [[ 0.98577943 -0.15079472 0.07416725] [ 0.15418448 0.98713674 -0.04229044] [-0.06683605 0.05312504 0.99634896]] t_gt: [ 0.78316861 -0.59842957 0.16890526] Pose Error in degrees for R and t: 70.51358945307287 57.594792890087454 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-6.99797036e-01 -7.14313924e-01 -6.30286141e-03] [ 7.14281869e-01 -6.99825380e-01 6.77125803e-03] [-9.24770628e-03 2.36486678e-04 9.99957211e-01]] t_estimated: [[ 0.99837569] [-0.05667705] [ 0.0058039 ]] R_gt: [[ 0.98786312 0.15520138 -0.00633991] [-0.15509255 0.98778495 0.01499837] [ 0.00859122 -0.01383269 0.99986697]] t_gt: [-0.95390146 0.29221018 0.06844862] Pose Error in degrees for R and t: 143.33782402722957 14.415378838373526 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-3.10493079e-01 -9.50575350e-01 -7.43508736e-04] [-9.50575346e-01 3.10493503e-01 -5.43856639e-04] [ 7.47831347e-04 5.37897352e-04 -9.99999576e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.97118678 0.23774267 0.01661979] [-0.23775264 0.97132435 -0.00139712] [-0.01647431 -0.0025946 0.99986073]] t_gt: [-0.93331172 0.35746937 0.03383627] Pose Error in degrees for R and t: 179.2596106806236 61.658025327789304 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-7.26842754e-01 6.86802909e-01 -1.17221253e-03] [-6.86801748e-01 -7.26843690e-01 -1.26873314e-03] [-1.72338490e-03 -1.17091877e-04 9.99998508e-01]] t_estimated: [[4.26264404e-01] [9.04598289e-01] [7.70670765e-04]] R_gt: [[ 0.91717704 0.39789862 0.02152203] [-0.39844032 0.91650861 0.03545384] [-0.00561767 -0.04109174 0.99913947]] t_gt: [-0.87255542 0.47586888 0.11043485] Pose Error in degrees for R and t: 113.16598295068833 86.63962638972795 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.85692217e-01 -1.68553468e-01 7.62239206e-04] [ 1.68551162e-01 9.85689844e-01 2.45695099e-03] [-1.16545905e-03 -2.29332117e-03 9.99996691e-01]] t_estimated: [[0.96979486] [0.24346335] [0.01495055]] R_gt: [[ 0.99740221 -0.0240241 -0.06792103] [ 0.01897627 0.99707826 -0.07400062] [ 0.0695008 0.0725192 0.99494336]] t_gt: [ 0.32542529 0.07026895 -0.94295316] Pose Error in degrees for R and t: 10.319460907230686 71.42135662803925 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.93000845 -0.35989064 -0.07458556] [ 0.36753517 0.91146416 0.18479982] [ 0.00147433 -0.19927821 0.97994185]] t_estimated: [[0.7094349 ] [0.704769 ] [0.00166928]] R_gt: [[ 0.9940333 0.01369152 -0.10822815] [-0.02215568 0.9967557 -0.07738447] [ 0.10681792 0.0793205 0.99110954]] t_gt: [ 0.19040639 0.34903882 -0.91756052] Pose Error in degrees for R and t: 27.794714140831854 67.69474491139601 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 4.17766955e-01 -9.08552473e-01 -1.78171291e-03] [ 9.08554203e-01 4.17766530e-01 6.22282238e-04] [ 1.78963955e-04 -1.87875171e-03 9.99998219e-01]] t_estimated: [[7.26933278e-01] [6.86707721e-01] [7.18313515e-04]] R_gt: [[ 0.98910483 0.05498028 -0.13656723] [-0.07204214 0.98975054 -0.12330825] [ 0.12838775 0.13180302 0.9829273 ]] t_gt: [ 0.05134059 0.56304101 -0.82483269] Pose Error in degrees for R and t: 69.69115714642264 64.95225771571324 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 8.33629888e-01 5.52322359e-01 1.10565688e-03] [-5.52323394e-01 8.33629129e-01 1.15966085e-03] [-2.81201165e-04 -1.57740810e-03 9.99998716e-01]] t_estimated: [[0.67986889] [0.7333319 ] [0.00161615]] R_gt: [[ 0.99832504 0.02496164 -0.05218882] [-0.01991096 0.99526261 0.09515879] [ 0.05431784 -0.09396031 0.99409279]] t_gt: [-0.45996962 -0.30594979 0.83356024] Pose Error in degrees for R and t: 32.80837865253768 57.606254590786364 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99186018e-01 4.03398265e-02 -1.98286926e-06] [-4.03398251e-02 9.99185970e-01 -3.09401253e-04] [-1.04999377e-05 3.09229394e-04 9.99999952e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9949161 0.08060976 -0.06036729] [-0.07190127 0.9882806 0.13465496] [ 0.07051433 -0.12963004 0.98905189]] t_gt: [-0.8729078 -0.1153458 0.47405414] Pose Error in degrees for R and t: 8.75356133216764 83.09087504935769 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-9.98132531e-01 -6.10852034e-02 2.18513986e-04] [-6.10845965e-02 9.98130287e-01 2.14512011e-03] [-3.49140525e-04 2.12776632e-03 -9.99997675e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9917707 0.11104447 -0.06372473] [-0.09341782 0.96800375 0.23289826] [ 0.08754811 -0.22502745 0.9704112 ]] t_gt: [-0.77049736 -0.11540093 0.62691023] Pose Error in degrees for R and t: 176.04379846849625 39.6132976049005 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999582e-01 -5.15407912e-04 -7.55443721e-04] [ 5.15963330e-04 9.99999597e-01 7.35211063e-04] [ 7.55064482e-04 -7.35600536e-04 9.99999444e-01]] t_estimated: [[9.99996551e-01] [2.62507032e-03] [8.19331935e-05]] R_gt: [[ 0.99771197 0.01789479 0.06519914] [-0.01133915 0.99496749 -0.09956078] [-0.06665105 0.09859326 0.99289277]] t_gt: [ 0.18572302 0.79373733 -0.57921327] Pose Error in degrees for R and t: 6.948524646219737 79.17799635946983 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.98047817e-01 6.24544191e-02 2.76631033e-05] [-6.24544196e-02 9.98047817e-01 1.54684517e-05] [-2.66430267e-05 -1.71659375e-05 9.99999999e-01]] t_estimated: [[-5.80832365e-01] [-8.14022887e-01] [-7.08842016e-04]] R_gt: [[ 0.99252423 0.00904441 0.12171326] [ 0.00637349 0.99204927 -0.12569137] [-0.12188147 0.12552758 0.98457518]] t_gt: [ 0.5476026 0.80285276 -0.23570923] Pose Error in degrees for R and t: 10.666284042002408 13.726674512551282 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-3.39800130e-01 -9.40496211e-01 -1.65809204e-03] [ 9.40497589e-01 -3.39800312e-01 -1.79220062e-04] [-3.94864402e-04 -1.62033056e-03 9.99998609e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98282068 0.10672071 0.15058007] [-0.08297208 0.98426214 -0.15602842] [-0.16486145 0.14085426 0.97620741]] t_gt: [-0.02226381 0.99964703 -0.01449633] Pose Error in degrees for R and t: 115.81709607983684 88.90127070541824 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99523434e-01 -3.08690959e-02 -5.62317873e-05] [ 3.08691025e-02 9.99523429e-01 1.19139378e-04] [ 5.25272639e-05 -1.20818425e-04 9.99999991e-01]] t_estimated: [[0.26589008] [0.96400125] [0.00201393]] R_gt: [[ 0.993897 0.10428756 -0.03596296] [-0.10402237 0.99453373 0.00916198] [ 0.03672097 -0.00536455 0.99931055]] t_gt: [-0.14048531 0.9481243 -0.28517395] Pose Error in degrees for R and t: 8.034330791486228 28.828725372458464 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-7.84199060e-01 -6.20500700e-01 -3.27343150e-03] [ 6.20502787e-01 -7.84204108e-01 4.56851126e-04] [-2.85051487e-03 -1.67291115e-03 9.99994538e-01]] t_estimated: [[0.94319958] [0.3322247 ] [0.00113776]] R_gt: [[ 0.99132716 0.12167376 0.04965418] [-0.11740053 0.98974177 -0.08142284] [-0.05905236 0.07488676 0.99544182]] t_gt: [-0.08093885 0.97311478 -0.21563052] Pose Error in degrees for R and t: 148.5737327706986 75.71732765724933 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99998318e-01 -1.81958725e-03 -2.31102278e-04] [ 1.81973974e-03 9.99998126e-01 6.61375220e-04] [ 2.29898415e-04 -6.61794653e-04 9.99999755e-01]] t_estimated: [[-0.00339948] [-0.99999368] [-0.00103666]] R_gt: [[ 0.99228617 0.10061759 0.07242054] [-0.0906535 0.98739821 -0.12972121] [-0.08455981 0.12215579 0.98890189]] t_gt: [ 0.22796339 0.90716487 -0.35367299] Pose Error in degrees for R and t: 10.258007035448975 24.8286721725179 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99998594e-01 -1.66990812e-03 -1.52698313e-04] [ 1.66986076e-03 9.99998558e-01 -3.09759112e-04] [ 1.53215362e-04 3.09503691e-04 9.99999940e-01]] t_estimated: [[ 9.99969893e-01] [-7.75637105e-03] [-2.27408412e-04]] R_gt: [[ 0.99649693 -0.00568449 0.08343999] [ 0.01394406 0.995016 -0.09874146] [-0.08246328 0.0995588 0.99160902]] t_gt: [-0.77812607 0.32254174 -0.53896814] Pose Error in degrees for R and t: 7.43427832601817 38.69528789365108 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.85140182e-01 1.71752212e-01 6.96025921e-06] [-1.71752200e-01 9.85140128e-01 -3.30793265e-04] [-6.36713056e-05 3.24682297e-04 9.99999945e-01]] t_estimated: [[-4.50184244e-01] [-8.92935609e-01] [-3.81818031e-04]] R_gt: [[ 0.98327503 0.0379986 0.17811882] [-0.0109053 0.98852218 -0.15068676] [-0.1818011 0.14622319 0.97240277]] t_gt: [-0.85191354 0.51914046 -0.06882227] Pose Error in degrees for R and t: 15.907715330480105 85.41059095931509 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.88984354e-01 1.48020038e-01 1.24989760e-04] [-1.48019384e-01 9.88981893e-01 -2.25330021e-03] [-4.57146191e-04 2.20997775e-03 9.99997454e-01]] t_estimated: [[-0.59379082] [-0.80461438] [-0.00285802]] R_gt: [[ 0.96978246 0.01919005 0.24321647] [ 0.03655671 0.97421761 -0.22263061] [-0.24121843 0.22479406 0.94407716]] t_gt: [-0.68068421 0.6952787 -0.23077378] Pose Error in degrees for R and t: 21.15408961346644 81.10711784835493 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[-0.82450691 0.56447839 -0.0394018 ] [ 0.5644769 0.82535828 0.01222829] [ 0.03942321 -0.0121591 -0.99914862]] t_estimated: [[ 0.9616444 ] [-0.27355783] [-0.02015362]] R_gt: [[ 0.99871717 0.04424374 0.02464116] [-0.04476518 0.99877657 0.02101234] [-0.02368156 -0.0220892 0.99947526]] t_gt: [-0.8712987 -0.09354626 0.48175479] Pose Error in degrees for R and t: 178.59448997154405 34.71466516200524 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-0.66286296 0.74873965 0.00127531] [-0.74874007 -0.66285913 -0.00246539] [-0.00100058 -0.00258909 0.99999615]] t_estimated: [[0.80214542] [0.59712804] [0.00090946]] R_gt: [[ 0.98957918 0.14195362 0.02413088] [-0.14226956 0.98975645 0.01193803] [-0.0221889 -0.01524677 0.9996382 ]] t_gt: [-0.97533987 0.14963554 0.16223856] Pose Error in degrees for R and t: 123.35047733135272 46.14264929585559 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.46103814 0.88735025 -0.00730479] [ 0.88733722 -0.460919 0.01365073] [ 0.00874606 -0.01277532 -0.99988014]] t_estimated: [[-0.45333756] [-0.89133803] [-0.00125798]] R_gt: [[ 0.9685747 0.24619451 0.03536703] [-0.24761213 0.96787123 0.04373553] [-0.02346255 -0.0511183 0.99841688]] t_gt: [-0.94370009 0.20500735 0.2596192 ] Pose Error in degrees for R and t: 177.655428753714 75.8325116912989 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.51852562 -0.8549583 -0.01332263] [ 0.85501982 0.51859197 -0.00186374] [ 0.00850243 -0.01042471 0.99990951]] t_estimated: [[0.50055151] [0.86570514] [0.00166991]] R_gt: [[ 0.99962725 -0.01376289 0.0235893 ] [ 0.01254134 0.99861034 0.05118225] [-0.02426202 -0.05086777 0.99841014]] t_gt: [-0.10914378 -0.48988624 0.86492722] Pose Error in degrees for R and t: 58.09828270071784 61.4917838972485 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 4.01113788e-02 9.99194819e-01 8.89536006e-04] [-9.99194000e-01 4.01127025e-02 -1.52383662e-03] [-1.55829135e-03 -8.27695852e-04 9.99998443e-01]] t_estimated: [[0.01821453] [0.9998335 ] [0.00110059]] R_gt: [[ 0.99920943 -0.02815168 0.02807723] [ 0.02600681 0.99691824 0.07400663] [-0.03007441 -0.07321877 0.996862 ]] t_gt: [ 0.10229763 -0.5597378 0.82233132] Pose Error in degrees for R and t: 89.34583962947444 56.15995674826547 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999794e-01 4.23551737e-04 -4.83195155e-04] [-4.23194082e-04 9.99999637e-01 7.40049914e-04] [ 4.83508429e-04 -7.39845276e-04 9.99999609e-01]] t_estimated: [[9.16224072e-01] [4.00665507e-01] [7.75458866e-04]] R_gt: [[ 0.99487512 -0.09892591 0.02093313] [ 0.09772018 0.99383291 0.05240827] [-0.02598909 -0.05009423 0.99840635]] t_gt: [ 0.59534784 -0.71359249 0.36925155] Pose Error in degrees for R and t: 6.515260646415905 74.93904786771047 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99997685e-01 -2.14114984e-03 -2.10950065e-04] [ 2.14120062e-03 9.99997679e-01 2.40793953e-04] [ 2.10433999e-04 -2.41245083e-04 9.99999949e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.99992183e-01 -7.88337632e-04 -4.00440292e-03] [ 6.53279319e-04 9.99427833e-01 -3.38253420e-02] [ 4.02954420e-03 3.38227529e-02 9.99420156e-01]] t_gt: [ 0.1706165 0.54615213 -0.82012673] Pose Error in degrees for R and t: 1.9649648826840147 56.88284066863898 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-8.73598915e-01 -4.86643239e-01 -1.81474829e-03] [ 4.86645306e-01 -8.73599152e-01 -9.31513454e-04] [-1.13204784e-03 -1.69690788e-03 9.99997919e-01]] t_estimated: [[9.04590046e-01] [4.26281766e-01] [8.39137334e-04]] R_gt: [[ 0.99502498 -0.06597284 0.07466359] [ 0.06259464 0.99694524 0.04671938] [-0.07751835 -0.04181334 0.99611422]] t_gt: [ 0.31701616 -0.50371038 0.80360227] Pose Error in degrees for R and t: 147.22071489372985 85.8296868548376 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-2.84524376e-02 9.99595026e-01 -4.93025596e-04] [-9.99593939e-01 -2.84531666e-02 -1.54071317e-03] [-1.55411736e-03 4.48988353e-04 9.99998692e-01]] t_estimated: [[1.55037735e-02] [9.99879647e-01] [5.70397286e-04]] R_gt: [[ 0.98341578 -0.11433063 0.14079571] [ 0.09373752 0.98496712 0.14509625] [-0.15526794 -0.12949209 0.97934937]] t_gt: [ 0.26823477 -0.41780675 0.86803665] Pose Error in degrees for R and t: 98.1853442505185 65.60010979043876 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 6.48863759e-01 7.60903037e-01 1.54602027e-03] [-7.60902051e-01 6.48865507e-01 -1.27370895e-03] [-1.97232824e-03 -3.49906419e-04 9.99997994e-01]] t_estimated: [[-0.59656895] [ 0.80255859] [ 0.00228077]] R_gt: [[ 0.99452107 0.02829899 0.10063664] [-0.02328817 0.9984463 -0.05062476] [-0.10191233 0.04800302 0.99363427]] t_gt: [-0.75521058 0.63935947 0.14448684] Pose Error in degrees for R and t: 48.45349757036881 15.423122559107355 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99998721e-01 1.36744543e-03 8.29949535e-04] [-1.36696930e-03 9.99998901e-01 -5.73985537e-04] [-8.30733517e-04 5.72850287e-04 9.99999491e-01]] t_estimated: [[ 0.98019871] [-0.1980123 ] [ 0.00127631]] R_gt: [[ 0.98416284 -0.0075959 0.17710752] [ 0.03249924 0.98988002 -0.13813789] [-0.17426571 0.14170653 0.97444891]] t_gt: [-0.48633585 0.8606322 -0.15096242] Pose Error in degrees for R and t: 12.981366722335656 49.660590560688966 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999623e-01 -2.83004761e-04 8.21113977e-04] [ 2.83888786e-04 9.99999380e-01 -1.07669989e-03] [-8.20808757e-04 1.07693259e-03 9.99999083e-01]] t_estimated: [[9.41849913e-01] [3.36032893e-01] [7.98177892e-04]] R_gt: [[ 0.97736396 -0.05619588 0.20396871] [ 0.08160195 0.98961155 -0.11836295] [-0.1951978 0.13232774 0.97179535]] t_gt: [-0.14529374 0.97832902 0.14751968] Pose Error in degrees for R and t: 14.139730444022735 78.92909830196878 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.62147093e-01 -2.72528933e-01 9.75406845e-04] [ 2.72530404e-01 9.62145042e-01 -2.02416831e-03] [-3.86838429e-04 2.21337568e-03 9.99997476e-01]] t_estimated: [[-0.94240112] [-0.33448245] [-0.0012718 ]] R_gt: [[ 0.99036382 0.12577244 0.05797564] [-0.12452947 0.99191046 -0.02460207] [-0.06060007 0.01714511 0.99801415]] t_gt: [-0.53470863 0.79835309 0.27698199] Pose Error in degrees for R and t: 23.277586864970225 76.31860530343215 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-2.68267232e-01 -9.63343675e-01 -1.28685407e-03] [-9.63343027e-01 2.68268936e-01 -1.41075479e-03] [ 1.70426468e-03 8.61222607e-04 -9.99998177e-01]] t_estimated: [[0.60306918] [0.79768845] [0.00083528]] R_gt: [[ 0.98632357 0.14511851 0.07814388] [-0.14301006 0.98920446 -0.03197327] [-0.08193944 0.0203603 0.99642963]] t_gt: [-0.51685349 0.78620506 0.33873894] Pose Error in degrees for R and t: 177.35055573138268 71.59503678406031 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.62065424e-01 -2.72818830e-01 -8.14085739e-05] [ 2.72818834e-01 9.62065425e-01 3.97320096e-05] [ 6.74807339e-05 -6.04345849e-05 9.99999996e-01]] t_estimated: [[-0.92220357] [-0.3867036 ] [-0.00094766]] R_gt: [[ 0.98433843 0.14785531 0.09600578] [-0.14665238 0.98899546 -0.0195091 ] [-0.09783367 0.00512416 0.99518944]] t_gt: [-0.50069878 0.73414914 0.45861287] Pose Error in degrees for R and t: 24.953361915741766 79.78086137772011 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 8.52535173e-01 5.22669826e-01 1.78048955e-04] [-5.22668018e-01 8.52533027e-01 -2.36232158e-03] [-1.38650682e-03 1.92090174e-03 9.99997194e-01]] t_estimated: [[-0.40919223] [ 0.91244767] [ 0.00097984]] R_gt: [[ 9.97255056e-01 7.40455822e-02 -6.33354048e-04] [-7.40150167e-02 9.97022263e-01 2.15962673e-02] [ 2.23106125e-03 -2.14901064e-02 9.99765795e-01]] t_gt: [-0.92040102 0.35809054 0.15694944] Pose Error in degrees for R and t: 27.299430728701626 45.29041382912266 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.97580814e-01 6.95161233e-02 -1.68286260e-04] [-6.95160585e-02 9.97580766e-01 3.64386183e-04] [ 1.93209851e-04 -3.51806068e-04 9.99999919e-01]] t_estimated: [[-9.69904017e-01] [-2.43486892e-01] [-5.75331783e-04]] R_gt: [[ 0.97855057 0.19830035 0.0558358 ] [-0.2006302 0.97886049 0.03972495] [-0.04677827 -0.05007611 0.9976492 ]] t_gt: [-0.85612497 0.46768345 0.21982315] Pose Error in degrees for R and t: 8.492472799390006 44.24541430691545 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.98124336e-01 -6.12193466e-02 -2.82742930e-05] [ 6.12193464e-02 9.98124337e-01 -6.39408976e-06] [ 2.86127019e-05 4.65116287e-06 1.00000000e+00]] t_estimated: [[-8.99380029e-01] [-4.37167001e-01] [-7.58970489e-04]] R_gt: [[ 0.95106001 0.30530426 0.04767597] [-0.3078972 0.94935382 0.06265555] [-0.02613255 -0.0742679 0.99689555]] t_gt: [-0.82824589 0.53206299 0.17583433] Pose Error in degrees for R and t: 21.85927916945137 59.191253824409316 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.96624235e-01 8.20983041e-02 5.92668276e-05] [-8.20983028e-02 9.96624236e-01 -2.48089233e-05] [-6.11035274e-05 1.98594683e-05 9.99999998e-01]] t_estimated: [[-1.79348597e-01] [ 9.83785463e-01] [ 4.94473385e-04]] R_gt: [[ 9.99378975e-01 -1.15347773e-03 3.52296787e-02] [ 9.49638346e-04 9.99982223e-01 5.82543958e-03] [-3.52358253e-02 -5.78787168e-03 9.99362625e-01]] t_gt: [-0.1001284 -0.04748649 0.9938407 ] Pose Error in degrees for R and t: 5.188300989410894 88.38019286174882 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 0.98348471 0.18091091 -0.00539228] [ 0.18088646 -0.98146525 0.06329339] [ 0.00615813 -0.06322347 -0.9979804 ]] t_estimated: [[-0.0582537 ] [ 0.99780678] [ 0.03143458]] R_gt: [[ 0.99919496 -0.00738691 0.03943346] [ 0.00704829 0.9999368 0.00874271] [-0.03949693 -0.00845714 0.99918421]] t_gt: [-0.01915081 -0.14042708 0.98990579] Pose Error in degrees for R and t: 176.07364349612297 83.8065208677141 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.99997431e-01 -2.26579620e-03 6.21972731e-05] [ 2.26578969e-03 9.99997428e-01 1.04510381e-04] [-6.24339123e-05 -1.04369187e-04 9.99999993e-01]] t_estimated: [[0.93436854] [0.35630587] [0.00124582]] R_gt: [[ 0.99906678 -0.04136844 0.01243504] [ 0.04104584 0.99884069 0.02514981] [-0.0134617 -0.02461574 0.99960657]] t_gt: [ 0.46389035 -0.70762546 0.53298401] Pose Error in degrees for R and t: 2.746614135855073 79.51503838853391 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.94364385e-01 1.06016193e-01 1.93451130e-04] [-1.06016094e-01 9.94364305e-01 -4.65620223e-04] [-2.41724182e-04 4.42487234e-04 9.99999873e-01]] t_estimated: [[-0.34738741] [-0.93771895] [-0.00227051]] R_gt: [[ 0.99823002 0.05751072 -0.01512424] [-0.05656871 0.9967893 0.05666272] [ 0.01833351 -0.05570639 0.99827972]] t_gt: [-0.94865915 -0.07509078 0.30725752] Pose Error in degrees for R and t: 4.405209843540568 66.46753277652259 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99997617e-01 -2.18142606e-03 -8.18191488e-05] [ 2.18142719e-03 9.99997621e-01 1.36812644e-05] [ 8.17891094e-05 -1.38597143e-05 9.99999997e-01]] t_estimated: [[ 2.00892694e-01] [-9.79613167e-01] [-4.09980925e-04]] R_gt: [[ 0.99556213 0.09297675 -0.01455282] [-0.0904607 0.98809806 0.12441915] [ 0.025947 -0.12254919 0.99212392]] t_gt: [-0.8753219 -0.03916754 0.48195173] Pose Error in degrees for R and t: 8.998302970379052 82.08670795563492 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 0.99998757 0.00313536 0.00387755] [-0.00312588 0.99999211 -0.00244925] [-0.0038852 0.0024371 0.99998948]] t_estimated: [[-0.48109739] [-0.87666635] [-0.00118789]] R_gt: [[ 0.97500181 0.22072629 0.02555067] [-0.22214462 0.97085469 0.08996983] [-0.00494761 -0.09339639 0.99561752]] t_gt: [-0.92181675 0.32456468 0.2119237 ] Pose Error in degrees for R and t: 13.772110772111803 80.86872943795568 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99992165e-01 3.95816080e-03 5.70524447e-05] [-3.95815921e-03 9.99992166e-01 -2.79287060e-05] [-5.71625440e-05 2.77026645e-05 9.99999998e-01]] t_estimated: [[ 9.96644928e-01] [-8.18466424e-02] [-1.21147545e-04]] R_gt: [[ 9.97938736e-01 -6.41784443e-02 -5.17816300e-04] [ 6.41806008e-02 9.97881750e-01 1.05795787e-02] [-1.61701565e-04 -1.05897543e-02 9.99943672e-01]] t_gt: [ 0.74600713 -0.64332325 0.1720714 ] Pose Error in degrees for R and t: 3.9538427313770157 37.23719869432728 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.00608646 0.99997516 -0.00355424] [-0.99997996 -0.00609261 -0.00172037] [-0.00174198 0.00354369 0.9999922 ]] t_estimated: [[7.20023296e-01] [6.93949597e-01] [6.39847807e-04]] R_gt: [[ 0.99489481 -0.09951981 -0.01669536] [ 0.0994232 0.99502341 -0.00653823] [ 0.01726285 0.00484552 0.99983884]] t_gt: [ 0.86335715 -0.48483854 -0.13980712] Pose Error in degrees for R and t: 96.0607998344417 73.43551485903288 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 2.72791733e-01 9.62072965e-01 5.29147954e-04] [-9.62073091e-01 2.72791797e-01 -5.01573022e-05] [-1.92602206e-04 -4.95396511e-04 9.99999859e-01]] t_estimated: [[0.79575126] [0.605623 ] [0.00084816]] R_gt: [[ 0.99055426 -0.13698422 0.00622864] [ 0.1371072 0.99013772 -0.02877386] [-0.00222644 0.02935739 0.99956633]] t_gt: [ 0.91301652 -0.39239372 -0.11148095] Pose Error in degrees for R and t: 82.06273991859226 60.738469039492635 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.97238109e-01 7.42708146e-02 -1.83588705e-05] [-7.42708162e-02 9.97238102e-01 -1.13285934e-04] [ 9.89432661e-06 1.14336579e-04 9.99999993e-01]] t_estimated: [[-3.55608203e-01] [-9.34635050e-01] [-3.61197905e-04]] R_gt: [[ 0.9974098 0.01202427 0.07091777] [-0.00708559 0.99755954 -0.06945919] [-0.07157993 0.06877744 0.99506071]] t_gt: [-0.76907648 0.53425068 -0.35085265] Pose Error in degrees for R and t: 6.794633504726385 76.95520451086463 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99996567e-01 2.27163556e-03 1.30636219e-03] [-2.27034594e-03 9.99996935e-01 -9.87824981e-04] [-1.30860217e-03 9.84855695e-04 9.99998659e-01]] t_estimated: [[0.99993029] [0.01170758] [0.0015337 ]] R_gt: [[ 0.98756762 0.01325067 0.15663567] [ 0.0061697 0.99240581 -0.12284754] [-0.15707393 0.12228697 0.97998645]] t_gt: [-0.68559034 0.70589692 -0.17797588] Pose Error in degrees for R and t: 11.388713371386814 47.34742215399869 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.39858476 -0.9163906 -0.03685724] [ 0.91692146 -0.39903159 0.00536903] [-0.01962733 -0.03165518 0.99930612]] t_estimated: [[0.99522177] [0.09631178] [0.01605196]] R_gt: [[ 0.97282 -0.02135194 0.23057731] [ 0.06426707 0.98151838 -0.18025382] [-0.22246772 0.19017333 0.95621203]] t_gt: [-0.48269832 0.86283794 -0.15004343] Pose Error in degrees for R and t: 112.22485284799797 66.44064299845301 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99772449 -0.0655442 -0.01580488] [ 0.06676371 0.99314011 0.09599654] [ 0.00940444 -0.0968333 0.99525618]] t_estimated: [[-0.5898931 ] [-0.80442589] [ 0.07017924]] R_gt: [[ 0.99302358 -0.07158609 0.09370034] [ 0.06249467 0.99335922 0.09660357] [-0.09999468 -0.09007315 0.99090345]] t_gt: [ 0.20713335 -0.46517296 0.86064504] Pose Error in degrees for R and t: 6.2925549262100064 71.79546857229995 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 9.39315704e-01 3.43053936e-01 7.32677275e-05] [-3.43053861e-01 9.39315603e-01 -4.97346705e-04] [-2.39438265e-04 4.42030794e-04 9.99999874e-01]] t_estimated: [[-0.82654033] [-0.56287639] [-0.00111708]] R_gt: [[ 0.98086654 -0.11433705 0.15757137] [ 0.08267121 0.97739382 0.19459179] [-0.17625825 -0.17784135 0.96814516]] t_gt: [ 0.21273406 -0.3760598 0.90184436] Pose Error in degrees for R and t: 29.54928832946029 88.00372814709016 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.99984051e-01 5.64781914e-03 2.25610746e-05] [-5.64776578e-03 9.99982229e-01 -1.90907079e-03] [-3.33427602e-05 1.90891292e-03 9.99998177e-01]] t_estimated: [[-0.39114168] [-0.92032602] [-0.00286319]] R_gt: [[ 0.9786995 -0.07186421 0.19230825] [ 0.02084338 0.96667417 0.25516151] [-0.20423697 -0.24571717 0.9475812 ]] t_gt: [ 0.0508437 -0.17674357 0.98294284] Pose Error in degrees for R and t: 18.9634855133892 81.95445314311806 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-6.96329125e-01 -7.17719427e-01 -2.13880637e-03] [ 7.17721179e-01 -6.96330599e-01 -7.57832346e-05] [-1.43492522e-03 -1.58783670e-03 9.99997710e-01]] t_estimated: [[0.99589268] [0.0905357 ] [0.00102881]] R_gt: [[ 0.99812734 -0.04754068 0.03849526] [ 0.0442003 0.99553517 0.08340107] [-0.04228799 -0.08154231 0.99577159]] t_gt: [ 0.14881994 -0.55000069 0.82179795] Pose Error in degrees for R and t: 131.54941782038088 84.30347062547214 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-1.37002756e-01 -9.90567397e-01 -2.54509545e-03] [ 9.90570651e-01 -1.37001847e-01 -5.28975236e-04] [ 1.75302846e-04 -2.59356792e-03 9.99996621e-01]] t_estimated: [[0.94878244] [0.31592861] [0.00099662]] R_gt: [[ 0.99530755 -0.05277653 0.0810998 ] [ 0.04018434 0.98791007 0.14973202] [-0.08802158 -0.14577001 0.98539408]] t_gt: [-0.02015618 -0.44174917 0.89691215] Pose Error in degrees for R and t: 95.57086042968069 80.92129027137094 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.06223389 0.99806054 -0.00145267] [-0.99805757 0.06222944 -0.00292823] [-0.00283215 0.00163209 0.99999466]] t_estimated: [[0.09394744] [0.99557664] [0.00101688]] R_gt: [[ 0.99454526 -0.06476744 0.08175646] [ 0.04900771 0.98210308 0.18185714] [-0.0920719 -0.17685872 0.97991995]] t_gt: [ 0.02751173 -0.46168563 0.88661687] Pose Error in degrees for R and t: 90.32397077943683 62.8605854753911 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.78926738 -0.61392258 -0.01249242] [ 0.61401998 0.78926593 0.00622499] [ 0.00603818 -0.01258378 0.99990259]] t_estimated: [[9.91169809e-01] [1.32598631e-01] [1.13307938e-04]] R_gt: [[ 0.99341178 0.11310114 0.01849199] [-0.11371346 0.99284979 0.03630395] [-0.01425387 -0.03816652 0.99917011]] t_gt: [-0.91220358 0.20549723 0.35447923] Pose Error in degrees for R and t: 44.44301854039021 28.734144277658636 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-9.02829790e-01 -4.29998096e-01 8.45139888e-05] [-4.29997924e-01 9.02829575e-01 7.37710833e-04] [-3.93515982e-04 6.29686477e-04 -9.99999724e-01]] t_estimated: [[0.97698288] [0.21331504] [0.00106658]] R_gt: [[ 0.98832761 0.14807698 0.03582541] [-0.1501691 0.98650671 0.06522022] [-0.02568479 -0.06983807 0.9972274 ]] t_gt: [-0.87936499 0.11363659 0.46238938] Pose Error in degrees for R and t: 177.40842306003944 33.44752414313792 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.77718626e-01 2.09919671e-01 -1.39640083e-04] [-2.09919286e-01 9.77717749e-01 1.37718908e-03] [ 4.25627665e-04 -1.31719027e-03 9.99999042e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9766247 0.20979059 0.04682154] [-0.21265098 0.97475989 0.06799703] [-0.03137522 -0.07636315 0.99658577]] t_gt: [-0.9104971 0.16299676 0.38003565] Pose Error in degrees for R and t: 4.676413992020302 78.66023373879447 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 8.98097184e-01 -4.39796456e-01 7.25272691e-04] [ 4.39796943e-01 8.98096907e-01 -7.70729479e-04] [-3.12401068e-04 1.01116269e-03 9.99999440e-01]] t_estimated: [[-8.37531061e-01] [-5.46389311e-01] [-6.64707191e-04]] R_gt: [[ 0.98396543 0.17721665 -0.02013408] [-0.17755284 0.98397555 -0.01635842] [ 0.0169128 0.01967008 0.9996631 ]] t_gt: [-0.62961677 0.7603145 -0.15970156] Pose Error in degrees for R and t: 36.338978907784686 83.56926248740325 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-8.54134079e-01 5.20050494e-01 -1.56808044e-03] [-5.20049218e-01 -8.54135499e-01 -1.16631657e-03] [-1.94589668e-03 -1.80711721e-04 9.99998090e-01]] t_estimated: [[0.50960925] [0.86040537] [0.00100515]] R_gt: [[ 9.37910898e-01 3.46874598e-01 5.46808287e-04] [-3.46729624e-01 9.37565189e-01 -2.73915547e-02] [-1.00138004e-02 2.55002228e-02 9.99624306e-01]] t_gt: [-0.61980846 0.7846333 -0.01371336] Pose Error in degrees for R and t: 128.3721018976293 68.94715856096774 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.57862776 0.81555845 0.0073703 ] [-0.81559023 -0.5785856 -0.00716086] [-0.00157575 -0.01015461 0.9999472 ]] t_estimated: [[0.33063049] [0.94375492] [0.00318176]] R_gt: [[ 0.90739352 0.41837897 0.03992918] [-0.41598809 0.90760885 -0.05657081] [-0.05990765 0.0347214 0.99760028]] t_gt: [-0.61060613 0.78915022 0.06634824] Pose Error in degrees for R and t: 100.71055782269244 57.1057282171298 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99890616e-01 -1.47888151e-02 -2.18413517e-04] [ 1.47888151e-02 9.99890639e-01 -1.42324024e-06] [ 2.18410679e-04 -1.80699256e-06 9.99999976e-01]] t_estimated: [[7.40733570e-01] [6.71798526e-01] [7.19599870e-04]] R_gt: [[ 0.99916933 0.0382761 0.01401479] [-0.03784129 0.99883146 -0.03008041] [-0.01515063 0.02952477 0.99944887]] t_gt: [-0.45955646 0.88319122 -0.09370763] Pose Error in degrees for R and t: 3.5791403283188035 75.35376143927317 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-0.98674066 -0.16228121 -0.00277286] [-0.1622901 0.98673738 0.00335744] [ 0.00219124 0.00376293 -0.99999052]] t_estimated: [[ 0.99851306] [ 0.05450375] [-0.00100555]] R_gt: [[ 9.99336479e-01 -3.64425316e-02 -6.86742537e-04] [ 3.64163859e-02 9.99065706e-01 -2.32807657e-02] [ 1.53456263e-03 2.32404743e-02 9.99727645e-01]] t_gt: [ 0.31359079 -0.60419281 -0.73253797] Pose Error in degrees for R and t: 179.68697185467124 73.6842626808027 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 5.78798470e-01 8.15470461e-01 -5.08356846e-04] [ 8.15462303e-01 -5.78789640e-01 4.87700428e-03] [ 3.68282125e-03 -3.23734846e-03 -9.99987978e-01]] t_estimated: [[-9.65053794e-01] [-2.62051613e-01] [-3.56277621e-04]] R_gt: [[ 0.98005664 -0.19655598 0.02924407] [ 0.19653845 0.98049042 0.00349173] [-0.02935916 0.00232543 0.99956581]] t_gt: [ 0.55623787 -0.81655463 0.1543955 ] Pose Error in degrees for R and t: 179.50578500890302 71.16311693325358 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999075e-01 1.35944166e-03 -5.15594942e-05] [-1.35944577e-03 9.99999073e-01 -7.97172588e-05] [ 5.14510754e-05 7.97872774e-05 9.99999995e-01]] t_estimated: [[-0.00678587] [-0.99997628] [-0.00117687]] R_gt: [[ 0.99530726 -0.03310757 0.09093118] [ 0.0385383 0.99753549 -0.05863482] [-0.08876638 0.06186364 0.99412945]] t_gt: [ 0.83461462 -0.19656659 0.51456779] Pose Error in degrees for R and t: 6.568073925054892 79.0301297178026 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 6.86708625e-01 -7.26932543e-01 -5.85364421e-04] [ 7.26932756e-01 6.86708179e-01 8.03007294e-04] [-1.81757598e-04 -9.76952607e-04 9.99999506e-01]] t_estimated: [[ 8.24033055e-01] [-5.66541433e-01] [ 5.73955025e-04]] R_gt: [[ 0.99166111 -0.10608623 0.07317074] [ 0.10983822 0.99272502 -0.04932174] [-0.06740585 0.05694694 0.99609881]] t_gt: [ 0.89142476 -0.45146995 0.03920175] Pose Error in degrees for R and t: 40.72806458588854 7.9610699859837855 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.56126498e-01 -5.16764228e-01 1.46669903e-03] [ 5.16765716e-01 8.56126369e-01 -9.13670164e-04] [-7.83527660e-04 1.54015701e-03 9.99998507e-01]] t_estimated: [[-0.08333884] [-0.99651969] [-0.00177317]] R_gt: [[ 0.9807259 -0.19125081 0.04000455] [ 0.19299089 0.98014685 -0.04545152] [-0.03051819 0.05229571 0.99816532]] t_gt: [ 0.87832666 -0.4695114 -0.0900074 ] Pose Error in degrees for R and t: 20.30757365222961 66.74411465431106 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999425e-01 -1.05143324e-03 -2.10480588e-04] [ 1.05144811e-03 9.99999445e-01 7.05537072e-05] [ 2.10406289e-04 -7.07749761e-05 9.99999975e-01]] t_estimated: [[-9.99993248e-01] [-3.57048333e-03] [-8.69083996e-04]] R_gt: [[ 9.88073424e-01 1.53983633e-01 -1.74793863e-04] [-1.53952711e-01 9.87851890e-01 -2.11437583e-02] [-3.08401073e-03 2.09187385e-02 9.99776404e-01]] t_gt: [-0.76263631 0.63991381 -0.0943195 ] Pose Error in degrees for R and t: 9.000634681866801 40.49802668605904 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 1.00000000e+00 -5.20451737e-14 -4.78675259e-17] [ 5.20590515e-14 1.00000000e+00 1.83196286e-17] [ 3.32307966e-17 -5.35573850e-16 1.00000000e+00]] t_estimated: [[-9.99563626e-01] [ 2.95370334e-02] [-3.48870770e-04]] R_gt: [[ 0.9732549 0.22934861 -0.01317432] [-0.22962582 0.97292542 -0.02623109] [ 0.00680102 0.02855451 0.99956901]] t_gt: [-0.7406912 0.66315478 -0.10771389] Pose Error in degrees for R and t: 13.375554329080035 40.53640269494948 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99857491e-01 -1.68744996e-02 4.99151007e-04] [ 1.68748267e-02 9.99857393e-01 -6.58639988e-04] [-4.87965604e-04 6.66969212e-04 9.99999659e-01]] t_estimated: [[-9.99765622e-01] [-2.16481789e-02] [-2.41087494e-04]] R_gt: [[ 9.20485258e-01 3.90776367e-01 9.54163710e-04] [-3.90711271e-01 9.20371094e-01 -1.61814815e-02] [-7.20147173e-03 1.45217678e-02 9.99868914e-01]] t_gt: [-0.69022841 0.72343917 -0.01484966] Pose Error in degrees for R and t: 23.98530515116324 47.59172200819884 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-0.84155598 -0.54016302 0.00272769] [-0.54016733 0.84155684 -0.00115749] [-0.00167028 -0.0024475 -0.99999561]] t_estimated: [[0.96965154] [0.24447805] [0.00252341]] R_gt: [[ 0.99812889 0.05704247 0.02197092] [-0.05627247 0.99782915 -0.03419872] [-0.02387429 0.0328987 0.99917359]] t_gt: [-0.81555783 0.44075062 -0.37497242] Pose Error in degrees for R and t: 179.14514741177254 46.84304454546026 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99889891e-01 1.48384030e-02 -1.65837146e-04] [-1.48384329e-02 9.99889888e-01 -1.80418303e-04] [ 1.63141766e-04 1.82859201e-04 9.99999970e-01]] t_estimated: [[-0.32674307] [-0.94511197] [-0.00152684]] R_gt: [[ 0.99029217 0.13095822 0.04659155] [-0.12669932 0.98829974 -0.08491772] [-0.05716708 0.07819119 0.99529844]] t_gt: [-0.82529797 0.41272111 -0.38541476] Pose Error in degrees for R and t: 8.600864264421022 83.11835486052006 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.90709747 0.42091889 -0.00121574] [-0.42091361 -0.90709522 -0.00316177] [-0.00243364 -0.00235631 0.99999426]] t_estimated: [[0.7394526 ] [0.67320624] [0.00179044]] R_gt: [[ 0.987941 0.14883942 0.04264846] [-0.14242456 0.98166327 -0.12669893] [-0.0607241 0.11909723 0.99102459]] t_gt: [-0.7566229 0.41979473 -0.5012925 ] Pose Error in degrees for R and t: 146.76128623661083 73.87249328376168 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.90909762 -0.41655995 -0.00439604] [ 0.41649326 -0.90907005 0.01118044] [-0.00865363 0.00833319 0.99992783]] t_estimated: [[8.26017272e-01] [5.63644288e-01] [7.62712163e-04]] R_gt: [[ 0.9963261 0.08508477 -0.00972346] [-0.0850122 0.99634978 0.00762389] [ 0.01033681 -0.00676938 0.99992289]] t_gt: [-0.64068323 0.7661989 -0.04964112] Pose Error in degrees for R and t: 160.26479631305205 84.41112561445848 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.84475421e-01 -1.75522438e-01 -1.34911696e-04] [ 1.75522414e-01 9.84475419e-01 -1.76457780e-04] [ 1.63789548e-04 1.50038321e-04 9.99999975e-01]] t_estimated: [[-0.79044553] [-0.61253175] [-0.00084721]] R_gt: [[ 0.97671773 0.21280653 -0.02709731] [-0.21300901 0.97703794 -0.00477729] [ 0.0254582 0.01043821 0.99962132]] t_gt: [-0.58972909 0.79555107 -0.13898955] Pose Error in degrees for R and t: 22.4582876755259 88.7947625302167 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-0.07295308 -0.99733283 0.00225332] [-0.99733486 0.07295055 -0.00118412] [ 0.00101658 -0.0023337 -0.99999676]] t_estimated: [[0.7911492 ] [0.61162257] [0.00088003]] R_gt: [[ 0.95250707 0.29886199 -0.05840736] [-0.29756778 0.95423134 0.02993061] [ 0.06467936 -0.0111285 0.99784334]] t_gt: [-0.5832384 0.79989735 -0.14141146] Pose Error in degrees for R and t: 178.2641532540298 88.41372206815976 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-9.73963589e-01 2.26291820e-01 1.36725692e-02] [ 2.26311343e-01 9.74055009e-01 -1.22311426e-04] [-1.33455126e-02 2.97513063e-03 -9.99906519e-01]] t_estimated: [[ 0.99469573] [-0.10262778] [ 0.00692424]] R_gt: [[ 0.98387595 -0.177882 -0.01862645] [ 0.1784642 0.98326732 0.03655158] [ 0.01181386 -0.03928592 0.99915791]] t_gt: [ 0.73211411 -0.66895452 0.1284865 ] Pose Error in degrees for R and t: 179.6652012683841 37.08196424325597 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999988e-01 8.55534980e-05 1.28127319e-04] [-8.56088165e-05 9.99999903e-01 4.31802424e-04] [-1.28090364e-04 -4.31813387e-04 9.99999899e-01]] t_estimated: [[0.79238047] [0.61002666] [0.00081773]] R_gt: [[ 0.97592035 -0.21733303 0.0185931 ] [ 0.21670828 0.97575074 0.03078424] [-0.02483167 -0.02601265 0.99935308]] t_gt: [ 0.67070528 -0.70866472 0.218972 ] Pose Error in degrees for R and t: 12.706798153340364 84.29949880966356 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999720e-01 7.22097311e-04 1.96337838e-04] [-7.22126469e-04 9.99999728e-01 1.48483020e-04] [-1.96230566e-04 -1.48624759e-04 9.99999970e-01]] t_estimated: [[9.28512047e-01] [3.71301762e-01] [6.16607992e-04]] R_gt: [[ 0.95082916 -0.30696474 0.04119377] [ 0.30609179 0.95164113 0.02620654] [-0.04724552 -0.01230779 0.9988074 ]] t_gt: [ 0.69083811 -0.6972967 0.19110213] Pose Error in degrees for R and t: 18.116032781426014 67.50133856479438 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.77488409e-01 2.10988856e-01 3.35921583e-04] [-2.10988642e-01 9.77488341e-01 -5.79358521e-04] [-4.50597623e-04 4.95440601e-04 9.99999776e-01]] t_estimated: [[-9.29175614e-01] [ 3.69638508e-01] [ 2.27752357e-04]] R_gt: [[ 0.99468569 0.10092796 0.02034063] [-0.10079828 0.99487989 -0.00730406] [-0.02097443 0.00521507 0.99976627]] t_gt: [-0.80949492 0.58265987 0.07228731] Pose Error in degrees for R and t: 6.503890275855787 14.635472863084367 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.35777636 -0.93380304 -0.00282135] [ 0.9337994 -0.35775927 -0.0051957 ] [ 0.00384239 -0.00449347 0.99998252]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064570e-04]] R_gt: [[ 0.97568707 0.21796263 0.02295501] [-0.21779748 0.97594788 -0.00946044] [-0.02446536 0.00423118 0.99969172]] t_gt: [-0.76508352 0.64169202 0.05365212] Pose Error in degrees for R and t: 123.55931322033449 46.399769559258495 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-9.21327714e-01 -3.88786854e-01 -1.58408504e-04] [-3.88786285e-01 9.21325497e-01 2.13369161e-03] [-6.83605454e-04 2.02741627e-03 -9.99997711e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.91183701 0.41040602 0.01093791] [-0.40999309 0.91166216 -0.02787591] [-0.02141187 0.02093455 0.99955073]] t_gt: [-0.66886835 0.74331766 -0.00969474] Pose Error in degrees for R and t: 179.36317756364937 48.15288872757129 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.65901665e-01 -5.00201928e-01 -3.51236633e-03] [-5.00207101e-01 -8.65905493e-01 -7.30130616e-04] [-2.67616456e-03 2.38913190e-03 -9.99993565e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99451668 0.1038856 -0.01202178] [-0.10440923 0.99285611 -0.05775301] [ 0.00593688 0.05869221 0.9982577 ]] t_gt: [-0.52409172 0.74600838 -0.41085201] Pose Error in degrees for R and t: 176.53603691932474 42.07248661490864 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999874e-01 -2.00148358e-04 4.60522200e-04] [ 2.00375840e-04 9.99999858e-01 -4.93972671e-04] [-4.60423267e-04 4.94064886e-04 9.99999772e-01]] t_estimated: [[-0.58141183] [-0.81360877] [-0.00102607]] R_gt: [[ 0.98662781 0.15924499 -0.03474109] [-0.16115272 0.98500427 -0.0616177 ] [ 0.02440843 0.06639284 0.99749482]] t_gt: [-0.50888284 0.76715538 -0.39052641] Pose Error in degrees for R and t: 10.084979257536292 70.8590533182943 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.61820576 -0.78601439 -0.00173848] [ 0.78601527 -0.61819984 -0.00299215] [ 0.00127715 -0.00321624 0.99999401]] t_estimated: [[9.61466966e-01] [2.74919460e-01] [7.51146067e-04]] R_gt: [[ 0.95872689 0.28000737 -0.04938765] [-0.28282736 0.95699694 -0.06454951] [ 0.02918954 0.07585311 0.99669145]] t_gt: [-0.51030975 0.81922006 -0.26165331] Pose Error in degrees for R and t: 144.58461764332532 74.59602707573822 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.96503492e-01 8.35510710e-02 9.30088330e-05] [-8.35510559e-02 9.96503486e-01 -1.55434921e-04] [-1.05670380e-04 1.47120456e-04 9.99999984e-01]] t_estimated: [[-5.06305635e-01] [-8.62353822e-01] [-6.99721038e-04]] R_gt: [[ 0.99694493 -0.01317705 0.07698413] [ 0.01604043 0.99919674 -0.03669789] [-0.07643877 0.03782142 0.99635648]] t_gt: [-0.18838476 0.5302734 0.82663251] Pose Error in degrees for R and t: 7.452831543060098 68.74733195236807 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.81028080e-01 1.93865692e-01 -1.31651124e-05] [-1.93865687e-01 9.81028032e-01 -3.09298538e-04] [-4.70470309e-05 3.05982814e-04 9.99999952e-01]] t_estimated: [[9.99994892e-01] [3.10075899e-03] [7.75189839e-04]] R_gt: [[ 0.99268015 0.04012917 0.11390521] [-0.0307838 0.996102 -0.08265238] [-0.11677781 0.07854172 0.99004723]] t_gt: [-0.3013075 0.9521354 0.05149732] Pose Error in degrees for R and t: 12.19082377100034 72.64365167014427 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-8.55836956e-01 5.17241119e-01 -2.17479156e-03] [-5.17241365e-01 -8.55839429e-01 -4.91307678e-04] [-2.11539690e-03 7.04412889e-04 9.99997514e-01]] t_estimated: [[0.85992204] [0.51042445] [0.00098728]] R_gt: [[ 0.9822918 0.1417827 0.12247255] [-0.12826135 0.98539133 -0.11203268] [-0.13656774 0.09434008 0.98612805]] t_gt: [-0.30665468 0.95132697 0.0306578 ] Pose Error in degrees for R and t: 141.17234293747393 77.17865898370337 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999935e-01 -2.47672063e-04 -2.62661248e-04] [ 2.47796596e-04 9.99999857e-01 4.74190445e-04] [ 2.62543766e-04 -4.74255501e-04 9.99999853e-01]] t_estimated: [[0.38370915] [0.92345348] [0.00098135]] R_gt: [[ 0.98889264 0.14862925 0.00106703] [-0.1486188 0.98867 0.02108067] [ 0.00207914 -0.02100497 0.99977683]] t_gt: [-0.6982956 0.7102671 0.0889039] Pose Error in degrees for R and t: 8.643390190935081 67.16718791165476 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.85270239e-01 -1.71003717e-01 -5.33812480e-04] [ 1.71003902e-01 9.85270299e-01 3.22328618e-04] [ 4.70830190e-04 -4.08864811e-04 9.99999806e-01]] t_estimated: [[-0.60359104] [-0.79729361] [-0.00086474]] R_gt: [[ 9.48491509e-01 3.16415335e-01 -1.56407412e-02] [-3.16468384e-01 9.48603154e-01 -9.79898428e-04] [ 1.45273183e-02 5.87913721e-03 9.99876766e-01]] t_gt: [-0.61091325 0.79006924 -0.05075031] Pose Error in degrees for R and t: 28.308472215028868 74.86278736653264 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99865796e-01 1.63682496e-02 6.85504753e-04] [-1.63682394e-02 9.99866031e-01 -2.04042395e-05] [-6.85746898e-04 9.18099523e-06 9.99999765e-01]] t_estimated: [[0.63633799] [0.77140973] [0.00100053]] R_gt: [[ 0.89198948 0.45013378 0.04164514] [-0.44956908 0.89296064 -0.0225555 ] [-0.04733954 0.00139804 0.99887806]] t_gt: [-0.58880396 0.80331284 0.08943366] Pose Error in degrees for R and t: 25.94841914763247 75.81258221223435 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99791771e-01 2.04055033e-02 1.76081444e-04] [-2.04054899e-02 9.99791783e-01 -7.79498249e-05] [-1.77635387e-04 7.43405653e-05 9.99999981e-01]] t_estimated: [[-9.10565321e-01] [-4.13365043e-01] [-3.71865466e-04]] R_gt: [[ 9.93324407e-01 -1.15313364e-01 -2.95385611e-03] [ 1.15348789e-01 9.92854858e-01 3.05532672e-02] [-5.90844181e-04 -3.06915149e-02 9.99528491e-01]] t_gt: [ 0.49505055 -0.8488854 0.18525263] Pose Error in degrees for R and t: 7.990489140840663 84.26398492975659 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.72004038e-01 2.34961101e-01 1.19629201e-03] [-2.34960390e-01 9.72004690e-01 -7.05817219e-04] [-1.32864103e-03 4.04975950e-04 9.99999035e-01]] t_estimated: [[8.62925590e-01] [5.05330438e-01] [7.57616848e-04]] R_gt: [[ 0.96699015 -0.2544692 0.01323374] [ 0.25394008 0.96667326 0.03251513] [-0.02106731 -0.02808122 0.99938317]] t_gt: [ 0.58824565 -0.79309682 0.15800158] Pose Error in degrees for R and t: 28.3899027177936 83.86013011900015 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.05494772 -0.99848121 -0.00400229] [-0.99848694 -0.05495575 0.00192329] [-0.00214032 0.00389056 -0.99999014]] t_estimated: [[0.50506285] [0.86308208] [0.00091331]] R_gt: [[ 0.93442072 -0.35607006 -0.00855461] [ 0.35595889 0.93276127 0.05699405] [-0.01231516 -0.05630176 0.99833775]] t_gt: [ 0.62953523 -0.76570918 0.1318137 ] Pose Error in degrees for R and t: 177.5582366158849 69.95277023378344 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.34807390e-01 -3.55154999e-01 -2.66266975e-04] [ 3.55155038e-01 9.34807405e-01 1.18673776e-04] [ 2.06760755e-04 -2.05503181e-04 9.99999958e-01]] t_estimated: [[ 7.76642388e-01] [-6.29941724e-01] [-1.60385759e-04]] R_gt: [[ 0.99788149 -0.05747635 0.03047971] [ 0.0587807 0.99731077 -0.04377568] [-0.02788166 0.04547477 0.9985762 ]] t_gt: [ 0.88194535 -0.41505341 -0.22338992] Pose Error in degrees for R and t: 17.734404275497727 18.835139464410844 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99993791e-01 3.48275452e-03 5.37926404e-04] [-3.48278872e-03 9.99993933e-01 6.26594463e-05] [-5.37704913e-04 -6.45325413e-05 9.99999853e-01]] t_estimated: [[0.99981772] [0.01904415] [0.0013603 ]] R_gt: [[ 0.98618397 -0.16538392 0.00945405] [ 0.16557763 0.98585392 -0.02597511] [-0.0050251 0.02718016 0.99961805]] t_gt: [ 0.85566713 -0.51188921 -0.07617868] Pose Error in degrees for R and t: 9.853775257261656 32.25738442239357 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 5.54413339e-01 -8.32240983e-01 -8.92585746e-04] [ 8.32241461e-01 5.54412981e-01 6.30359380e-04] [-2.97497855e-05 -1.09232651e-03 9.99999403e-01]] t_estimated: [[ 9.89595930e-01] [-1.43873536e-01] [ 5.48924497e-04]] R_gt: [[ 0.97968835 -0.19607213 -0.04202837] [ 0.19461602 0.98020479 -0.0363711 ] [ 0.04832795 0.02745229 0.99845484]] t_gt: [ 0.87324405 -0.4445985 -0.19944174] Pose Error in degrees for R and t: 45.16339674006803 21.872489547647874 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 0.98252049 0.18612127 0.00351573] [-0.18611575 0.98252611 -0.00183797] [-0.00379638 0.00115151 0.99999213]] t_estimated: [[-0.78764647] [ 0.61580119] [ 0.02004824]] R_gt: [[ 9.99322636e-01 -1.04599932e-02 -3.52961770e-02] [ 1.04440364e-02 9.99945034e-01 -6.34286246e-04] [ 3.53008183e-02 2.64447511e-04 9.99376086e-01]] t_gt: [-0.21890682 -0.60066243 -0.76895023] Pose Error in degrees for R and t: 11.543226735489506 77.70861023670489 Number of keypoints: Image1: 453 Image2: 453 R_estimated: [[ 9.95961739e-01 8.97786107e-02 1.27685018e-04] [-8.97786421e-02 9.95961708e-01 2.66129504e-04] [-1.03276651e-04 -2.76518191e-04 9.99999956e-01]] t_estimated: [[9.94636604e-01] [1.03426741e-01] [9.66605058e-04]] R_gt: [[ 0.99787149 -0.01396057 -0.06370636] [ 0.01541515 0.99962903 0.02241945] [ 0.06337017 -0.02335431 0.99771621]] t_gt: [-0.34859297 -0.7556096 -0.55456025] Pose Error in degrees for R and t: 7.135422494076135 64.82340712826627 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 7.72768825e-01 6.34687320e-01 5.90637158e-04] [-6.34687169e-01 7.72769050e-01 -4.39956641e-04] [-7.35661017e-04 -3.48850490e-05 9.99999729e-01]] t_estimated: [[0.47209693] [0.88154593] [0.00111871]] R_gt: [[ 0.99369739 -0.06471938 -0.09152763] [ 0.06599459 0.99775981 0.01096766] [ 0.09061341 -0.01693908 0.99574149]] t_gt: [-0.04093931 -0.83100935 -0.55474988] Pose Error in degrees for R and t: 43.464975705073485 41.190784346687586 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99579764e-01 -2.89878140e-02 -4.47779975e-05] [ 2.89878146e-02 9.99579765e-01 1.47576239e-05] [ 4.43313890e-05 -1.60494385e-05 9.99999999e-01]] t_estimated: [[-0.49186488] [-0.87067077] [-0.00116556]] R_gt: [[ 0.99894621 0.03806073 0.02562897] [-0.03823253 0.99924886 0.00627857] [-0.02537003 -0.00725154 0.99965189]] t_gt: [0.07437036 0.76090969 0.64458164] Pose Error in degrees for R and t: 4.135091452160915 45.58636982259195 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.98762908e-01 -4.97233133e-02 4.95859115e-04] [ 4.97226891e-02 9.98762341e-01 1.20042195e-03] [-5.54934367e-04 -1.17428147e-03 9.99999157e-01]] t_estimated: [[-7.55249126e-01] [-6.55437446e-01] [-7.15847184e-04]] R_gt: [[ 0.9983822 0.05373403 0.01861585] [-0.05364731 0.99854683 -0.00510549] [-0.01886216 0.00409878 0.99981373]] t_gt: [0.4313949 0.87970335 0.20005111] Pose Error in degrees for R and t: 6.028271095896687 25.505447679702204 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.99999727 -0.00174793 -0.00155038] [ 0.00175234 0.99999442 0.00284513] [ 0.0015454 -0.00284784 0.99999475]] t_estimated: [[0.55650363] [0.83068827] [0.01614621]] R_gt: [[ 0.99710173 0.06981792 0.03023889] [-0.06946439 0.99750502 -0.01258523] [-0.0310418 0.01044783 0.99946354]] t_gt: [0.46820271 0.84638897 0.25379509] Pose Error in degrees for R and t: 4.566003442416553 14.593053869184834 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 0.89235688 -0.45125506 0.00824983] [ 0.45131236 0.89233574 -0.00735372] [-0.00404322 0.01028539 0.99993893]] t_estimated: [[9.96874692e-01] [7.89943770e-02] [8.58634532e-04]] R_gt: [[ 0.99860917 -0.00942334 0.05188446] [ 0.01003776 0.99988228 -0.01158857] [-0.05176818 0.01209296 0.99858573]] t_gt: [-0.99516169 0.02210455 0.09573193] Pose Error in degrees for R and t: 26.395029837638116 8.018464079400374 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-9.29391539e-01 3.69095329e-01 6.71058583e-05] [-3.69094742e-01 -9.29389704e-01 -1.96191417e-03] [-6.61765863e-04 -1.84815485e-03 9.99998073e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99664294 0.05759489 0.05818522] [-0.05518738 0.99758433 -0.04217075] [-0.06047226 0.03881853 0.99741434]] t_gt: [-0.87403052 0.39719475 -0.27983385] Pose Error in degrees for R and t: 155.11588442764082 62.40083181473692 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.99998147 -0.00597118 0.00118211] [ 0.00597355 0.99998014 -0.00201103] [-0.00117008 0.00201805 0.99999728]] t_estimated: [[ 9.99998184e-01] [-4.67308033e-04] [ 1.84783296e-03]] R_gt: [[ 0.99103308 0.10382756 0.08409635] [-0.09727856 0.99215138 -0.07856187] [-0.09159255 0.06967673 0.99335557]] t_gt: [-0.85438448 0.41138113 -0.31747869] Pose Error in degrees for R and t: 8.921520827855076 31.22238331084196 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.30509889e-01 3.66266522e-01 4.24756002e-04] [-3.66266387e-01 9.30509968e-01 -3.63751865e-04] [-5.28469824e-04 1.82900861e-04 9.99999844e-01]] t_estimated: [[0.09690126] [0.99529328] [0.00119792]] R_gt: [[ 9.98242144e-01 -5.92624109e-02 7.48161695e-04] [ 5.92384996e-02 9.98077174e-01 1.82537432e-02] [-1.82892731e-03 -1.81768271e-02 9.99833413e-01]] t_gt: [ 0.48043228 -0.81522727 0.32340273] Pose Error in degrees for R and t: 24.904858700141425 40.14206338918295 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.97543396e-01 -7.00511605e-02 9.01750099e-05] [ 7.00511554e-02 9.97543399e-01 5.88320905e-05] [-9.40747421e-05 -5.23706997e-05 9.99999994e-01]] t_estimated: [[ 9.22733764e-01] [ 3.85437933e-01] [-2.75986051e-05]] R_gt: [[ 0.98670216 -0.15108301 0.05993357] [ 0.15151648 0.98845023 -0.00274138] [-0.05882707 0.01178624 0.99819859]] t_gt: [ 0.4777827 -0.81272467 0.33347009] Pose Error in degrees for R and t: 5.815573129019694 82.66895057035126 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.79214567 0.60981252 0.02517782] [ 0.60981612 0.79249816 -0.00842415] [-0.02509053 0.00868069 -0.99964749]] t_estimated: [[ 0.94993235] [-0.31210655] [ 0.01476588]] R_gt: [[ 0.96407146 -0.26195354 0.04411564] [ 0.25997909 0.96452588 0.04583784] [-0.05455823 -0.03272162 0.99797433]] t_gt: [ 0.59697315 -0.74347371 0.30144634] Pose Error in degrees for R and t: 176.52196966063275 36.52682917119749 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 0.99859906 0.05199693 -0.00980962] [-0.05179919 0.99846836 0.01943647] [ 0.01080523 -0.01890111 0.99976297]] t_estimated: [[0.99689076] [0.07818751] [0.00977344]] R_gt: [[ 0.96508288 -0.17844209 0.19176233] [ 0.17092684 0.98373788 0.05517956] [-0.19848881 -0.02047541 0.9798891 ]] t_gt: [ 0.49804149 -0.58920097 0.6362365 ] Pose Error in degrees for R and t: 17.737910873015718 62.82930092790995 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[ 1.00000000e+00 2.21290763e-11 4.72990245e-14] [-2.21291874e-11 1.00000000e+00 -2.45833627e-14] [-4.72993498e-14 2.45828748e-14 1.00000000e+00]] t_estimated: [[ 7.91380594e-01] [-6.11323680e-01] [ 3.37194433e-04]] R_gt: [[ 0.91915568 -0.31403755 0.23776796] [ 0.30173294 0.94937153 0.08747489] [-0.25319977 -0.00866036 0.9673759 ]] t_gt: [ 0.64158034 -0.61349632 0.46043124] Pose Error in degrees for R and t: 23.371573274156898 28.001620002004568 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[ 0.38299765 0.92357591 -0.01789817] [ 0.9206542 -0.38005795 0.08917284] [ 0.07555554 -0.05063101 -0.99585534]] t_estimated: [[-0.99376008] [-0.11041779] [-0.01577397]] R_gt: [[ 0.85334323 -0.45731859 0.25032821] [ 0.44063193 0.88928481 0.12254246] [-0.27865232 0.00573133 0.96037505]] t_gt: [ 0.74823779 -0.56506872 0.34761696] Pose Error in degrees for R and t: 178.32125730936656 46.633820428719595 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999391e-01 1.08230295e-03 2.16809939e-04] [-1.08229527e-03 9.99999414e-01 -3.55391305e-05] [-2.16848276e-04 3.53044565e-05 9.99999976e-01]] t_estimated: [[0.99997187] [0.00740396] [0.00119784]] R_gt: [[ 0.98930928 -0.13727384 0.04921721] [ 0.1369225 0.99052564 0.01045992] [-0.0501871 -0.00361009 0.99873357]] t_gt: [ 0.65587568 -0.72337734 0.21575985] Pose Error in degrees for R and t: 8.449487904674244 49.401085785854455 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.96847206e-01 7.93450038e-02 1.32949857e-04] [-7.93450007e-02 9.96847215e-01 -2.83384520e-05] [-1.34779209e-04 1.77002002e-05 9.99999991e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.95549454 -0.29018792 0.05312004] [ 0.28858397 0.95678182 0.03587518] [-0.06123523 -0.01894912 0.99794362]] t_gt: [ 0.75270177 -0.63759593 0.16404718] Pose Error in degrees for R and t: 21.69867306126003 50.74905110167003 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.62906597 -0.77735064 -0.0014122 ] [ 0.77732575 -0.62905866 0.00706279] [-0.00637862 0.00334523 0.99997406]] t_estimated: [[ 0.97809458] [-0.20814667] [ 0.0024396 ]] R_gt: [[ 0.91139053 -0.41093875 0.02227563] [ 0.40773603 0.90898256 0.08660468] [-0.05583817 -0.06984877 0.99599433]] t_gt: [ 0.79689165 -0.57573768 0.18300225] Pose Error in degrees for R and t: 104.8349129682022 25.878746981923776 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.94649816e-01 -1.03303831e-01 -2.47069636e-04] [ 1.03303946e-01 9.94649704e-01 5.10202066e-04] [ 1.93041912e-04 -5.32995660e-04 9.99999839e-01]] t_estimated: [[-8.24934484e-01] [-5.65227944e-01] [-6.84761695e-04]] R_gt: [[ 0.99896968 0.04486148 -0.00681122] [-0.04475614 0.99888709 0.01486898] [ 0.00747042 -0.01454873 0.99986647]] t_gt: [-0.98041577 0.09366525 0.17323896] Pose Error in degrees for R and t: 8.545820287272038 40.91185891112923 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 5.42750936e-01 -8.39893696e-01 4.39563964e-05] [ 8.39890923e-01 5.42749277e-01 2.54146596e-03] [-2.15841854e-03 -1.34246445e-03 9.99996770e-01]] t_estimated: [[ 0.53651804] [-0.84388477] [ 0.00262268]] R_gt: [[ 0.99888083 0.01383481 0.04522501] [-0.01414881 0.999878 0.00664411] [-0.04512806 -0.00727664 0.9989549 ]] t_gt: [-0.94173962 -0.08943323 0.32423477] Pose Error in degrees for R and t: 57.98099525539198 64.59978062472499 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.91479292 0.40388226 -0.00574796] [-0.40389628 -0.91480359 0.00148029] [-0.0046604 0.00367574 0.99998238]] t_estimated: [[0.6022663 ] [0.79829481] [0.00083416]] R_gt: [[ 0.99520898 0.07813384 0.05876915] [-0.07728553 0.99687074 -0.01657263] [-0.05988033 0.01195105 0.9981345 ]] t_gt: [-0.97470582 0.22253876 0.0206169 ] Pose Error in degrees for R and t: 151.73304503442344 65.83512803644851 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.97440896e-01 -7.14941534e-02 4.95110258e-04] [ 7.14946336e-02 9.97440451e-01 -1.03161067e-03] [-4.20088868e-04 1.06436840e-03 9.99999345e-01]] t_estimated: [[-0.82060504] [-0.5714928 ] [-0.00183171]] R_gt: [[ 0.99667512 -0.05908116 0.05609809] [ 0.05956899 0.99819816 -0.00705991] [-0.05558046 0.01037762 0.99839981]] t_gt: [ 0.0486922 -0.71215742 0.70032912] Pose Error in degrees for R and t: 3.28225941830465 68.54607101124465 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.92288985e-01 1.23945302e-01 3.62832508e-04] [-1.23945216e-01 9.92289031e-01 -2.50203817e-04] [-3.91046306e-04 2.03303138e-04 9.99999903e-01]] t_estimated: [[0.55313584] [0.83309031] [0.00112885]] R_gt: [[ 0.98660237 -0.1523094 0.0584656 ] [ 0.15225689 0.98832561 0.00538265] [-0.05860448 0.00359177 0.99827526]] t_gt: [ 0.44348777 -0.81678744 0.36902151] Pose Error in degrees for R and t: 16.232714965467398 64.23174862388922 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-8.42929696e-01 -5.38023105e-01 8.16285114e-04] [-5.38023450e-01 8.42929828e-01 -2.68403676e-04] [-5.43663692e-04 -6.65425962e-04 -9.99999631e-01]] t_estimated: [[0.97214017] [0.23439547] [0.00150254]] R_gt: [[ 0.95648937 -0.28680013 0.05359996] [ 0.28531483 0.95783972 0.03373364] [-0.06101627 -0.01697325 0.99799208]] t_gt: [ 0.62267963 -0.73946879 0.2558437 ] Pose Error in degrees for R and t: 176.36444862355654 64.38078550414484 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.82554572e-01 1.85974272e-01 2.88813526e-04] [-1.85974286e-01 9.82554612e-01 2.20847854e-05] [-2.79667860e-04 -7.54113961e-05 9.99999958e-01]] t_estimated: [[-0.09689894] [ 0.99529327] [ 0.00138023]] R_gt: [[ 0.99953395 -0.01587956 -0.02608247] [ 0.01568585 0.99984824 -0.00764624] [ 0.0262002 0.00723301 0.99963058]] t_gt: [-0.25010255 -0.72355088 -0.64336835] Pose Error in degrees for R and t: 11.728060009491358 45.829280071309526 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.94896572 -0.31536511 0.00298603] [-0.31535862 0.94896941 0.00245073] [-0.00360653 0.00138399 -0.99999254]] t_estimated: [[0.99394362] [0.10985946] [0.0026428 ]] R_gt: [[ 0.99363525 -0.10272676 -0.04621215] [ 0.10366846 0.99444149 0.01844878] [ 0.04406035 -0.02312322 0.9987614 ]] t_gt: [ 0.27151959 -0.9420874 -0.19684625] Pose Error in degrees for R and t: 177.82956132546306 80.45293465293996 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-8.75539354e-01 4.82897806e-01 -1.55096011e-02] [ 4.82837896e-01 8.75676356e-01 7.64757835e-03] [ 1.72743898e-02 -7.92867373e-04 -9.99850472e-01]] t_estimated: [[0.93506152] [0.35448029] [0.00191611]] R_gt: [[ 0.98043689 -0.17322066 -0.09347445] [ 0.1769623 0.98365529 0.03328237] [ 0.08618122 -0.04917368 0.99506521]] t_gt: [ 0.37240156 -0.90214705 -0.2178251 ] Pose Error in degrees for R and t: 173.4475441922157 88.39507034241659 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 9.99854805e-01 -1.70368656e-02 -3.37932061e-04] [ 1.70369658e-02 9.99854817e-01 2.95871622e-04] [ 3.32842274e-04 -3.01586000e-04 9.99999899e-01]] t_estimated: [[-0.8798609 ] [-0.47522819] [-0.00172184]] R_gt: [[ 0.99907014 0.01393831 0.04079822] [-0.0142069 0.99987901 0.00629145] [-0.04070618 -0.00686479 0.99914837]] t_gt: [-0.73724003 0.26304389 0.6223223 ] Pose Error in degrees for R and t: 2.975148116208121 58.493770512565774 Number of keypoints: Image1: 333 Image2: 333 R_estimated: [[ 1.38983941e-02 -9.99903366e-01 -3.06012737e-04] [-9.99902953e-01 -1.38980938e-02 -9.62586343e-04] [ 9.58240331e-04 3.19361444e-04 -9.99999490e-01]] t_estimated: [[0.64511538] [0.76408471] [0.00083781]] R_gt: [[ 0.99672562 -0.00469172 0.08072169] [ 0.00672125 0.99966712 -0.0248901 ] [-0.08057881 0.02535082 0.99642637]] t_gt: [-0.70125342 0.44562691 0.55647129] Pose Error in degrees for R and t: 177.8299093906024 83.60244985820263 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.98281906e-01 5.85927444e-02 -3.56225354e-04] [-5.85921123e-02 9.98280753e-01 1.58188603e-03] [ 4.48299958e-04 -1.55829620e-03 9.99998685e-01]] t_estimated: [[5.39909690e-01] [8.41722874e-01] [3.61606527e-04]] R_gt: [[ 0.99506176 -0.00555616 0.09910549] [ 0.01200529 0.99783967 -0.06459299] [-0.09853337 0.06546393 0.99297813]] t_gt: [-0.68457826 0.63002363 0.3666372 ] Pose Error in degrees for R and t: 7.874625391536764 80.74507300422337 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99808059e-01 1.95919495e-02 2.26083251e-06] [-1.95919481e-02 9.99808021e-01 -2.78540242e-04] [-7.71754484e-06 2.78442485e-04 9.99999961e-01]] t_estimated: [[-0.69234589] [ 0.72153803] [-0.00632779]] R_gt: [[ 9.99993172e-01 -3.84316386e-03 3.51147612e-04] [ 3.84032267e-03 9.99981032e-01 5.00353814e-03] [-3.69563170e-04 -5.00161699e-03 9.99986677e-01]] t_gt: [ 0.94403428 -0.31454489 0.09930155] Pose Error in degrees for R and t: 1.375597406071704 28.21463626168955 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-9.97924422e-01 -3.85805664e-02 -5.15595639e-02] [-3.86014004e-02 9.99254513e-01 -5.92030446e-04] [ 5.15439678e-02 1.39946973e-03 -9.98669746e-01]] t_estimated: [[ 0.99949464] [ 0.01863405] [-0.02575352]] R_gt: [[ 9.98482279e-01 5.50582996e-02 1.32889209e-03] [-5.50678253e-02 9.98452934e-01 7.79385194e-03] [-8.97016431e-04 -7.85413677e-03 9.99967983e-01]] t_gt: [0.54313569 0.83493337 0.08882505] Pose Error in degrees for R and t: 177.1165544011749 56.211291452721916 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99492859e-01 -3.18437494e-02 -1.38797677e-05] [ 3.18437516e-02 9.99492839e-01 2.02292769e-04] [ 7.43096821e-06 -2.02632162e-04 9.99999979e-01]] t_estimated: [[-0.69454663] [-0.71944714] [-0.0008893 ]] R_gt: [[ 0.99753241 0.06696364 0.02109857] [-0.067021 0.99774972 0.00204615] [-0.02091377 -0.00345442 0.99977512]] t_gt: [0.61078841 0.74400735 0.27090697] Pose Error in degrees for R and t: 5.794897985675649 16.31415796677861 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99925718e-01 -1.21784427e-02 -4.93777719e-04] [ 1.21788770e-02 9.99925442e-01 8.86259351e-04] [ 4.82947645e-04 -8.92207176e-04 9.99999485e-01]] t_estimated: [[-8.13519705e-01] [-5.81537007e-01] [-6.32105443e-04]] R_gt: [[ 0.99775023 0.06561667 -0.01375822] [-0.06582055 0.99772052 -0.01490609] [ 0.01274818 0.01577821 0.9997941 ]] t_gt: [-0.38423994 0.89209878 -0.23773818] Pose Error in degrees for R and t: 4.620315181250883 78.1089453128367 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-6.92147600e-01 7.21755892e-01 -3.62843452e-04] [ 7.21752986e-01 6.92146087e-01 2.53382664e-03] [ 2.07994498e-03 1.49189868e-03 -9.99996724e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99429283 0.10657583 0.00480217] [-0.10634873 0.99373012 -0.03451266] [-0.00844934 0.03380499 0.99939258]] t_gt: [-0.41095441 0.90736523 -0.0883448 ] Pose Error in degrees for R and t: 178.96295606573932 25.218142021716798 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-2.92287469e-01 -9.56330497e-01 1.29080003e-04] [-9.56328500e-01 2.92287130e-01 2.00832960e-03] [-1.95835527e-03 4.63566692e-04 -9.99997975e-01]] t_estimated: [[0.83857812] [0.54477909] [0.00157562]] R_gt: [[ 0.99884355 0.0476516 -0.00643073] [-0.04786422 0.99811861 -0.03833207] [ 0.00459289 0.03859565 0.99924402]] t_gt: [-0.40220995 0.86424019 -0.30218546] Pose Error in degrees for R and t: 178.505758060294 82.35358084678414 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.96227455 -0.26269808 -0.07083361] [ 0.24739533 -0.95315248 0.1740572 ] [-0.11323972 0.14996691 0.98218465]] t_estimated: [[0.83912216] [0.54394211] [0.00099365]] R_gt: [[ 0.99508516 -0.09383541 -0.03162837] [ 0.09425618 0.99547431 0.0120608 ] [ 0.03035372 -0.01498226 0.99942773]] t_gt: [ 0.82053326 -0.56349809 -0.09589094] Pose Error in degrees for R and t: 159.89569895711466 67.54721250277525 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999052e-01 1.31756457e-03 3.99184336e-04] [-1.31750481e-03 9.99999121e-01 -1.49936776e-04] [-3.99381536e-04 1.49410706e-04 9.99999909e-01]] t_estimated: [[-0.99314058] [-0.11684007] [-0.00449385]] R_gt: [[ 0.98712867 -0.14463345 -0.06825093] [ 0.14505396 0.98942222 0.0012295 ] [ 0.06735087 -0.01111378 0.99766765]] t_gt: [ 0.85068312 -0.49033617 -0.18949586] Pose Error in degrees for R and t: 9.288017456521654 38.121312837164346 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.9999891 -0.00430269 0.00181397] [ 0.00430554 0.9999895 -0.00157076] [-0.0018072 0.00157855 0.99999712]] t_estimated: [[-0.01443037] [ 0.99985915] [ 0.00857018]] R_gt: [[ 0.97772828 -0.17552683 -0.11505541] [ 0.1771473 0.98417666 0.00393179] [ 0.11254528 -0.02422615 0.99335131]] t_gt: [ 0.87196336 -0.43627253 -0.22214002] Pose Error in degrees for R and t: 12.000189198304971 63.211549086190075 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.97141916 -0.23735939 -0.00230823] [ 0.2373655 -0.97141615 -0.00287728] [-0.0015593 -0.00334294 0.9999932 ]] t_estimated: [[0.84697528] [0.53162971] [0.00165102]] R_gt: [[ 0.98389713 0.17726979 -0.02286466] [-0.17647765 0.98375183 0.03299612] [ 0.02834319 -0.0284284 0.99919414]] t_gt: [-0.37474129 0.92556592 -0.05382093] Pose Error in degrees for R and t: 176.45787220022828 79.94619747552568 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.97944782 0.03494909 -0.19864676] [ 0.02426249 0.95730699 0.28805323] [ 0.20023313 -0.28695277 0.93678429]] t_estimated: [[0.63691274] [0.77093492] [0.00122956]] R_gt: [[ 0.95440186 0.2977452 -0.02157279] [-0.29621769 0.95351438 0.05537611] [ 0.03705746 -0.0464605 0.99823233]] t_gt: [-0.33837594 0.9403918 -0.03413181] Pose Error in degrees for R and t: 24.01141354244504 59.37459880062285 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.98416819 -0.1772101 -0.00309137] [ 0.17722187 0.9841625 0.00407302] [ 0.00232063 -0.00455639 0.99998693]] t_estimated: [[0.68397678] [0.72950297] [0.00108396]] R_gt: [[ 0.91621085 0.40041871 -0.01492621] [-0.40028479 0.9163222 0.01122709] [ 0.0181731 -0.00431057 0.99982508]] t_gt: [-0.2763889 0.95998321 -0.04518195] Pose Error in degrees for R and t: 33.81983164201717 59.25500304478772 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.0877218 0.99594763 0.01982925] [ 0.9959736 -0.08732006 -0.02029268] [-0.01847896 0.02152952 -0.99959742]] t_estimated: [[ 0.64376159] [-0.76507834] [ 0.01503818]] R_gt: [[ 0.98693458 -0.15865434 -0.02808312] [ 0.15879382 0.98730729 0.00278563] [ 0.02728402 -0.00720769 0.99960068]] t_gt: [ 0.74443375 -0.65654081 -0.12154244] Pose Error in degrees for R and t: 179.6563868031773 11.560046509953365 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-4.22486652e-01 -9.06368789e-01 8.04819503e-04] [-9.06364986e-01 4.22487236e-01 2.65471882e-03] [-2.74618025e-03 3.92123048e-04 -9.99996152e-01]] t_estimated: [[0.93526893] [0.35392836] [0.00259737]] R_gt: [[ 0.93461488 -0.35063461 -0.0595766 ] [ 0.35095918 0.93637546 -0.0052718 ] [ 0.05763375 -0.01598074 0.99820949]] t_gt: [ 0.80578124 -0.58349186 -0.10126131] Pose Error in degrees for R and t: 177.42504305249543 56.84917705961524 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.99607305 -0.08848873 -0.00286685] [ 0.0884828 -0.99607542 0.00213432] [-0.00304446 0.00187227 0.99999361]] t_estimated: [[0.99812928] [0.06113041] [0.00100214]] R_gt: [[ 0.85051921 -0.52456068 -0.03813028] [ 0.52480758 0.85121112 -0.00400089] [ 0.034556 -0.01660754 0.9992642 ]] t_gt: [ 0.85205292 -0.52255832 -0.0306368 ] Pose Error in degrees for R and t: 143.27230197614648 35.066670000364454 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 1.00000000e+00 -8.50778797e-06 1.44319313e-05] [ 8.50821163e-06 1.00000000e+00 -2.93563504e-05] [-1.44316815e-05 2.93564732e-05 9.99999999e-01]] t_estimated: [[-9.85115836e-01] [-1.71890092e-01] [-7.65767848e-04]] R_gt: [[ 0.99477432 -0.10114597 0.01390562] [ 0.10097246 0.99480821 0.0126802 ] [-0.0151156 -0.0112099 0.99982286]] t_gt: [ 0.04751166 -0.95511063 0.29241464] Pose Error in degrees for R and t: 5.899668385160674 83.27260217492473 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 6.50741375e-02 9.97880198e-01 6.82992911e-04] [-9.97877548e-01 6.50755798e-02 -2.35989016e-03] [-2.39933382e-03 -5.27975475e-04 9.99996982e-01]] t_estimated: [[0.07851145] [0.9969117 ] [0.00173743]] R_gt: [[ 0.97164724 -0.23570623 0.01857632] [ 0.23616234 0.97130473 -0.02816646] [-0.0114041 0.03175547 0.99943061]] t_gt: [ 0.36132483 -0.92269336 -0.13446681] Pose Error in degrees for R and t: 99.93067595444673 26.91117129203863 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-9.88867361e-01 -1.48799453e-01 2.54265505e-04] [-1.48798279e-01 9.88864064e-01 2.63356836e-03] [-6.43307552e-04 2.56641553e-03 -9.99996500e-01]] t_estimated: [[0.99995429] [0.00950326] [0.00105592]] R_gt: [[ 0.93738678 -0.34826305 0.0042904 ] [ 0.3482094 0.93683413 -0.03303189] [ 0.00748476 0.03245831 0.99944518]] t_gt: [ 0.42715051 -0.89111607 -0.1531489 ] Pose Error in degrees for R and t: 179.82147068696403 65.26002950803854 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.21088177e-01 3.89354027e-01 1.11638652e-04] [-3.89353531e-01 9.21087393e-01 -1.35723316e-03] [-6.31273151e-04 1.20666451e-03 9.99999073e-01]] t_estimated: [[0.73456327] [0.67853973] [0.0007949 ]] R_gt: [[ 0.97696262 -0.20332132 -0.06483895] [ 0.20296788 0.97911081 -0.01207267] [ 0.06593898 -0.00136473 0.99782268]] t_gt: [ 0.75150651 -0.61490916 -0.2390077 ] Pose Error in degrees for R and t: 34.84944746029784 82.26457896201863 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.84981399e-01 1.72540670e-01 6.43123470e-03] [ 1.72658135e-01 -9.84478857e-01 -3.14729692e-02] [ 9.01047395e-04 3.21106942e-02 -9.99483913e-01]] t_estimated: [[8.09803416e-01] [5.86700949e-01] [6.50444511e-04]] R_gt: [[ 9.29508938e-01 -3.64728532e-01 -5.46455416e-02] [ 3.65276886e-01 9.30899227e-01 2.96886360e-05] [ 5.08589039e-02 -1.99878633e-02 9.98505419e-01]] t_gt: [ 0.80521961 -0.58862924 -0.07167293] Pose Error in degrees for R and t: 179.01181468119245 72.14111764708434 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-6.25181406e-01 -7.80476655e-01 -2.09767478e-03] [ 7.80479442e-01 -6.25178355e-01 -1.96589318e-03] [ 2.22912865e-04 -2.86623190e-03 9.99995868e-01]] t_estimated: [[9.98120678e-01] [6.12725327e-02] [8.88007721e-04]] R_gt: [[ 0.84710679 -0.53051261 -0.03107882] [ 0.53081587 0.8474863 0.00176948] [ 0.02539981 -0.01799625 0.99951522]] t_gt: [ 0.8493111 -0.52783951 -0.00749121] Pose Error in degrees for R and t: 96.6454977042559 35.37640782970479 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999648e-01 8.38395305e-04 1.30698919e-05] [-8.38400758e-04 9.99999559e-01 4.22961086e-04] [-1.27152776e-05 -4.22971895e-04 9.99999910e-01]] t_estimated: [[0.98969419] [0.14316331] [0.00311225]] R_gt: [[ 0.99051138 -0.13742497 0.0016555 ] [ 0.13742047 0.99016352 -0.02634246] [ 0.00198162 0.02632028 0.99965196]] t_gt: [ 0.82349521 -0.54681927 -0.1511434 ] Pose Error in degrees for R and t: 8.094720844993539 42.586752648035315 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.96186831e-01 8.72421578e-02 -7.77543635e-04] [-8.72411560e-02 9.96186449e-01 1.24072707e-03] [ 8.82822139e-04 -1.16816216e-03 9.99998928e-01]] t_estimated: [[0.14828187] [0.98894442] [0.00119582]] R_gt: [[ 0.96995745 -0.24230388 0.02174762] [ 0.24323252 0.96762377 -0.06740188] [-0.00471065 0.07066678 0.99748922]] t_gt: [ 0.85856211 -0.4762367 -0.18992029] Pose Error in degrees for R and t: 19.512745007445393 69.88597617694197 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.46261324 -0.85990334 -0.21576661] [ 0.88655808 -0.44817011 -0.11470973] [ 0.00193913 -0.24435587 0.96968368]] t_estimated: [[0.89946577] [0.43698742] [0.00182078]] R_gt: [[ 0.95309016 -0.29652268 0.06077351] [ 0.30155024 0.9475586 -0.10583215] [-0.02620454 0.11919448 0.99252547]] t_gt: [ 0.86638933 -0.45046662 -0.21552111] Pose Error in degrees for R and t: 101.85791460079167 54.40536119050618 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.98615432e-01 -5.25943805e-02 -1.02501324e-03] [ 5.25954981e-02 9.98615298e-01 1.09574560e-03] [ 9.65963836e-04 -1.14813955e-03 9.99998874e-01]] t_estimated: [[-0.79834492] [-0.60219984] [-0.00086029]] R_gt: [[ 0.97942253 0.20152163 0.01095634] [-0.20157951 0.97946167 0.00451634] [-0.00982139 -0.00663131 0.99993012]] t_gt: [-0.34979936 0.93503925 0.05781003] Pose Error in degrees for R and t: 14.65974353947327 73.50870450639077 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.98826575e-01 -4.84234990e-02 -7.98461354e-04] [ 4.84245213e-02 9.98825979e-01 1.31508421e-03] [ 7.33842965e-04 -1.35220617e-03 9.99998817e-01]] t_estimated: [[0.74883777] [0.66275254] [0.00103717]] R_gt: [[ 0.92374684 0.38225022 -0.02401282] [-0.38194935 0.92404006 0.0162699 ] [ 0.02840717 -0.00585662 0.99957983]] t_gt: [-0.25182769 0.96650586 -0.04948982] Pose Error in degrees for R and t: 25.293604834193065 63.13275615386549 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.05086542 0.99870191 0.00268388] [-0.99868581 0.05088111 -0.006145 ] [-0.00627359 -0.00236779 0.99997752]] t_estimated: [[0.67178614] [0.74074432] [0.00111223]] R_gt: [[ 0.86670942 0.49837885 -0.02080479] [-0.49673257 0.86614964 0.0551557 ] [ 0.04550801 -0.03746892 0.99826101]] t_gt: [-0.20858062 0.97721034 -0.03942171] Pose Error in degrees for R and t: 57.329468174214014 54.28896585460889 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-9.17551159e-01 3.97607732e-01 2.82162033e-03] [-3.97617694e-01 -9.17531470e-01 -6.01415662e-03] [ 1.97650276e-04 -6.64022255e-03 9.99977934e-01]] t_estimated: [[0.56017712] [0.82837003] [0.00216285]] R_gt: [[ 0.99246489 -0.10886599 -0.05623737] [ 0.10994477 0.99380146 0.01646121] [ 0.05409726 -0.02251963 0.99828196]] t_gt: [ 0.5136577 -0.82207582 -0.24565649] Pose Error in degrees for R and t: 162.87418727721885 66.8104044349649 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-0.4069446 0.91342321 -0.00735761] [-0.91341874 -0.40698581 -0.00536197] [-0.0078922 0.00453856 0.99995856]] t_estimated: [[0.73549122] [0.67753131] [0.00199862]] R_gt: [[ 0.97677152 -0.19067111 -0.09779508] [ 0.1902048 0.98164266 -0.01415551] [ 0.09869849 -0.00477425 0.99510606]] t_gt: [ 0.56442374 -0.7414894 -0.36279376] Pose Error in degrees for R and t: 125.09427303368508 84.95266819613433 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[-5.35532979e-01 8.44514252e-01 -3.26724699e-04] [-8.44513957e-01 -5.35533068e-01 -7.13629155e-04] [-7.77641873e-04 -1.06248379e-04 9.99999692e-01]] t_estimated: [[9.75986078e-01] [2.17831243e-01] [8.50903294e-04]] R_gt: [[ 0.93613889 -0.34446596 -0.0706284 ] [ 0.34689171 0.93756671 0.02519276] [ 0.05754021 -0.04808381 0.99718489]] t_gt: [ 0.66737139 -0.74389683 -0.03511325] Pose Error in degrees for R and t: 142.66198532871303 60.7073001271783 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999955e-01 -2.34759117e-05 2.99401038e-04] [ 2.34764696e-05 1.00000000e+00 -1.85980838e-06] [-2.99400995e-04 1.86683718e-06 9.99999955e-01]] t_estimated: [[-7.83283544e-01] [-6.21664251e-01] [-6.70619472e-04]] R_gt: [[ 0.99156476 0.12930236 -0.00896413] [-0.12935426 0.99158306 -0.00552048] [ 0.00817543 0.00663254 0.99994379]] t_gt: [-0.40887103 0.90688052 -0.10194215] Pose Error in degrees for R and t: 7.458047273070092 75.91004985905339 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99824533e-01 1.87316889e-02 1.65137377e-04] [-1.87316255e-02 9.99824476e-01 -3.77764878e-04] [-1.72184565e-04 3.74605301e-04 9.99999915e-01]] t_estimated: [[0.05349462] [0.99856617] [0.00198128]] R_gt: [[ 0.9662616 0.25714955 -0.01458629] [-0.25754317 0.96533997 -0.04231529] [ 0.00320007 0.0446452 0.99899712]] t_gt: [-0.32790779 0.93783254 -0.11378313] Pose Error in degrees for R and t: 14.078065691676917 23.2601718594726 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.38560137e-01 3.45115334e-01 5.24410239e-04] [-3.45115052e-01 9.38560221e-01 -5.59602764e-04] [-6.85318084e-04 3.44238980e-04 9.99999706e-01]] t_estimated: [[0.6216871 ] [0.78326419] [0.00153883]] R_gt: [[ 0.92456842 0.37989069 -0.02926478] [-0.3808811 0.91945986 -0.09758435] [-0.01016273 0.1013691 0.99479655]] t_gt: [-0.25593064 0.95917009 -0.12038372] Pose Error in degrees for R and t: 6.236797416925606 53.70167952446657 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.93018477e-01 1.17958895e-01 -6.13498511e-05] [-1.17958890e-01 9.93018477e-01 7.24627185e-05] [ 6.94691578e-05 -6.47200580e-05 9.99999995e-01]] t_estimated: [[-0.70144159] [-0.71272583] [-0.00125904]] R_gt: [[ 0.99705787 -0.0223796 0.07330673] [ 0.0282018 0.99644629 -0.0793734 ] [-0.07126986 0.08120794 0.99414528]] t_gt: [ 0.09809414 0.14194219 -0.98500251] Pose Error in degrees for R and t: 10.30405646998438 80.28583785145656 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 7.43235526e-01 6.69029786e-01 3.12770224e-04] [-6.69029139e-01 7.43235331e-01 -1.11972802e-03] [-9.81593280e-04 6.22969252e-04 9.99999324e-01]] t_estimated: [[-9.99339434e-01] [-3.63306104e-02] [-8.84264412e-04]] R_gt: [[ 0.98883381 -0.06905135 0.13205393] [ 0.08616054 0.98794853 -0.12858175] [-0.12158376 0.1385239 0.98286763]] t_gt: [ 0.55305474 -0.30710238 -0.77447955] Pose Error in degrees for R and t: 47.59897372333093 57.2586594690144 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-3.75645173e-01 -9.26762531e-01 -1.38355931e-03] [-9.26758470e-01 3.75647640e-01 -2.75492918e-03] [ 3.07289593e-03 2.47349456e-04 -9.99995248e-01]] t_estimated: [[9.20653840e-01] [3.90379395e-01] [6.58850829e-04]] R_gt: [[ 0.9822916 -0.09872729 0.15923418] [ 0.11858004 0.98561762 -0.12040504] [-0.14505701 0.13715572 0.97987062]] t_gt: [ 0.73622365 -0.51825835 -0.43518159] Pose Error in degrees for R and t: 177.0295816834949 61.627430044076824 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999875e-01 -4.89738482e-04 9.64041705e-05] [ 4.89736100e-04 9.99999880e-01 2.47300745e-05] [-9.64162702e-05 -2.46828589e-05 9.99999995e-01]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.99049552 -0.13264117 0.03639521] [ 0.13259908 0.99116342 0.00359036] [-0.03655005 0.00126941 0.99933109]] t_gt: [ 0.67842585 -0.71006244 0.18854628] Pose Error in degrees for R and t: 7.877491118972106 47.43961894023631 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.97673836 -0.21442587 -0.00192776] [ 0.21443016 0.97673638 0.00239943] [ 0.00136841 -0.00275699 0.99999526]] t_estimated: [[0.99875492] [0.04986442] [0.0014666 ]] R_gt: [[ 0.95327922 -0.30080977 -0.0277789 ] [ 0.30139931 0.95328532 0.02015274] [ 0.0204179 -0.02758394 0.99941112]] t_gt: [ 0.78078417 -0.62473709 -0.00892445] Pose Error in degrees for R and t: 5.450996180198312 41.52670567363827 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.97681850e-01 -6.80508040e-02 -1.15583201e-04] [ 6.80508455e-02 9.97681773e-01 4.03492903e-04] [ 8.78572367e-05 -4.10423080e-04 9.99999912e-01]] t_estimated: [[9.99991799e-01] [3.97137331e-03] [7.94274661e-04]] R_gt: [[ 0.87819293 -0.47730832 -0.03089308] [ 0.47798923 0.87813082 0.02031078] [ 0.01743292 -0.03260388 0.99931668]] t_gt: [ 0.83577359 -0.54901712 0.0079184 ] Pose Error in degrees for R and t: 24.728232793622517 33.53041875385646 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-6.78065653e-01 7.35001297e-01 -2.51456028e-04] [-7.34999117e-01 -6.78064404e-01 -2.22758880e-03] [-1.80778404e-03 -1.32563150e-03 9.99997487e-01]] t_estimated: [[0.55588891] [0.83125577] [0.00117293]] R_gt: [[ 0.99180887 -0.12752972 -0.00715065] [ 0.12758223 0.99180014 0.00740997] [ 0.00614644 -0.00826175 0.99994652]] t_gt: [ 0.74071514 -0.66978936 0.05218531] Pose Error in degrees for R and t: 140.02252142102842 81.66563185298037 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.90125891e-01 1.40180891e-01 1.92132041e-04] [-1.40180886e-01 9.90125910e-01 -3.78603268e-05] [-1.95542206e-04 1.05532502e-05 9.99999981e-01]] t_estimated: [[-0.87049406] [-0.49217807] [-0.00091824]] R_gt: [[ 0.98325586 -0.18194844 -0.01012815] [ 0.18125489 0.98222479 -0.04880127] [ 0.01882715 0.04614784 0.99875668]] t_gt: [ 0.76998462 -0.62331221 -0.13640222] Pose Error in degrees for R and t: 18.745343368385196 68.69323831119469 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-4.25802735e-01 -9.04814269e-01 -1.78014707e-03] [ 9.04815922e-01 -4.25802781e-01 -3.71844983e-04] [-4.21540925e-04 -1.76903802e-03 9.99998346e-01]] t_estimated: [[0.78051583] [0.62513536] [0.00090337]] R_gt: [[ 0.9722577 -0.23137674 -0.03433595] [ 0.2230976 0.9613837 -0.16114606] [ 0.07029507 0.14901525 0.98633273]] t_gt: [ 0.75810362 -0.47908633 -0.4424423 ] Pose Error in degrees for R and t: 102.29750570234569 73.03314875310143 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999977e-01 2.09793444e-05 2.13666236e-04] [-2.09182689e-05 9.99999959e-01 -2.85843803e-04] [-2.13672224e-04 2.85839327e-04 9.99999936e-01]] t_estimated: [[-0.56749738] [-0.82337379] [-0.00152466]] R_gt: [[ 0.9832475 -0.18065954 -0.02425776] [ 0.18109057 0.98331979 0.01698918] [ 0.02078378 -0.02109691 0.99956125]] t_gt: [ 0.57851633 -0.81566887 0.00177556] Pose Error in degrees for R and t: 10.564179480926633 69.92248294252418 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.99998071 -0.00109955 -0.00611339] [ 0.00115913 0.99995178 0.00975122] [ 0.00610238 -0.00975812 0.99993377]] t_estimated: [[0.66227112] [0.74924568] [0.00527891]] R_gt: [[ 0.95727348 -0.28865576 0.01751387] [ 0.28873615 0.95740622 -0.00226874] [-0.01611297 0.00722855 0.99984419]] t_gt: [ 0.51310417 -0.85608948 0.06192665] Pose Error in degrees for R and t: 16.789286508360764 72.46547880864499 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99977982e-01 6.62709498e-03 3.41765457e-04] [-6.62691600e-03 9.99977905e-01 -5.22198855e-04] [-3.45218567e-04 5.19922506e-04 9.99999805e-01]] t_estimated: [[9.58398431e-01] [2.85432814e-01] [7.45255390e-04]] R_gt: [[ 0.92305988 -0.38427183 0.01721188] [ 0.38377867 0.92305091 0.0262691 ] [-0.02598176 -0.01764288 0.99950672]] t_gt: [ 0.51473438 -0.8505121 0.10806336] Pose Error in degrees for R and t: 23.03890276732691 75.4847846792138 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-6.33806844e-02 9.97989102e-01 -8.00769939e-04] [ 9.97981561e-01 6.33833497e-02 3.91862218e-03] [ 3.96149771e-03 -5.50788677e-04 -9.99992002e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99487257 -0.09910377 0.02015378] [ 0.09988902 0.99408709 -0.04258661] [-0.01581287 0.04438204 0.99888987]] t_gt: [ 0.8105494 -0.55076916 -0.19915571] Pose Error in degrees for R and t: 177.71965657552124 71.32028782675702 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999057e-01 1.37298038e-03 3.26344651e-05] [-1.37299273e-03 9.99998985e-01 3.81491315e-04] [-3.21106519e-05 -3.81535762e-04 9.99999927e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.98740589 -0.13818238 0.0770353 ] [ 0.14476824 0.98557227 -0.08769372] [-0.06380524 0.09774122 0.99316502]] t_gt: [ 0.82519282 -0.53182467 -0.19031377] Pose Error in degrees for R and t: 10.628646449781254 35.339623738494566 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99473530e-01 -3.24440036e-02 2.24528654e-04] [ 3.24427577e-02 9.99464560e-01 4.24989490e-03] [-3.62292038e-04 -4.24037312e-03 9.99990944e-01]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.9833279 -0.12843048 0.12872695] [ 0.14901535 0.97485363 -0.16569783] [-0.10420902 0.18211798 0.97773936]] t_gt: [ 0.7781058 -0.42642495 -0.46120834] Pose Error in degrees for R and t: 13.776526300288932 65.08800542867179 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999732e-01 -7.25228572e-04 -1.01394375e-04] [ 7.25219300e-04 9.99999733e-01 -9.14569109e-05] [ 1.01460675e-04 9.13833532e-05 9.99999991e-01]] t_estimated: [[-9.81687898e-01] [-1.90494232e-01] [-9.04616987e-04]] R_gt: [[ 9.91183209e-01 1.30037373e-01 -2.54296658e-02] [-1.29971699e-01 9.91508375e-01 4.23049152e-03] [ 2.57632545e-02 -8.88836319e-04 9.99667294e-01]] t_gt: [-0.65231544 0.74038809 -0.16220372] Pose Error in degrees for R and t: 7.655377666315638 60.034579260869045 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-9.99171910e-01 3.88278288e-02 -1.21611490e-02] [ 3.88232142e-02 9.99245905e-01 6.15384351e-04] [ 1.21758724e-02 1.42739866e-04 -9.99925861e-01]] t_estimated: [[ 0.99853228] [-0.05384278] [-0.00585215]] R_gt: [[ 0.97314254 0.22662003 -0.04044506] [-0.22512339 0.97357242 0.03841249] [ 0.04808138 -0.02827647 0.998443 ]] t_gt: [-0.65231174 0.75333952 -0.08348024] Pose Error in degrees for R and t: 176.7138326121653 46.25677100534972 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.89840810e-01 -1.42178258e-01 -7.17289939e-04] [ 1.42178354e-01 9.89841052e-01 8.38988842e-05] [ 6.98074431e-04 -1.85029642e-04 9.99999739e-01]] t_estimated: [[-0.85241289] [-0.52286692] [-0.00156499]] R_gt: [[ 0.92317724 0.38057833 -0.05389054] [-0.37931481 0.92469942 0.03239459] [ 0.06216104 -0.00946462 0.99802091]] t_gt: [-0.57085752 0.8132953 -0.11257195] Pose Error in degrees for R and t: 30.729936360647482 86.47194530262078 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.98246758e-01 -5.91877019e-02 4.74550238e-04] [ 5.91875920e-02 9.98246848e-01 2.42332954e-04] [-4.88061410e-04 -2.13820600e-04 9.99999858e-01]] t_estimated: [[8.06552520e-01] [5.91161934e-01] [7.74786283e-04]] R_gt: [[ 0.99233002 -0.12354578 -0.00422819] [ 0.12347381 0.99224196 -0.01451718] [ 0.0059883 0.0138842 0.99988497]] t_gt: [ 0.98006006 -0.1576332 -0.12097132] Pose Error in degrees for R and t: 3.8070750501451376 45.7980555683066 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-8.53277053e-01 -5.21457376e-01 6.89741602e-04] [-5.21457288e-01 8.53277327e-01 3.15155402e-04] [-7.52880979e-04 -9.07559130e-05 -9.99999712e-01]] t_estimated: [[0.98812951] [0.15361779] [0.00128435]] R_gt: [[ 0.95547038 -0.29489741 -0.01058017] [ 0.29443089 0.95512128 -0.03246339] [ 0.01967743 0.02790262 0.99941612]] t_gt: [ 0.98972941 -0.09607072 -0.10585892] Pose Error in degrees for R and t: 178.72526911879376 15.616155449360974 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.99084992 0.13496412 0.00105561] [-0.13496278 0.99084988 -0.0012535 ] [-0.00121513 0.00109956 0.99999866]] t_estimated: [[-0.58496838] [ 0.81104875] [ 0.00345316]] R_gt: [[ 0.9452163 -0.32554166 -0.02429432] [ 0.32461099 0.94517485 -0.03568534] [ 0.03457881 0.02584405 0.99906782]] t_gt: [ 0.99037859 -0.08805547 -0.10675432] Pose Error in degrees for R and t: 26.847781668756046 49.37344282428499 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99325482e-01 3.67230443e-02 4.39973660e-06] [-3.67230446e-02 9.99325470e-01 1.50006914e-04] [ 1.11194171e-06 -1.50067304e-04 9.99999989e-01]] t_estimated: [[0.63353808] [0.77371089] [0.00097935]] R_gt: [[ 0.99683711 -0.02305479 0.07605895] [ 0.0282838 0.99725625 -0.06839866] [-0.07427317 0.07033354 0.99475449]] t_gt: [ 8.91131524e-01 -4.53744463e-01 -7.54770661e-04] Pose Error in degrees for R and t: 6.880366095105267 77.67257808325671 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 8.67445144e-01 4.97532697e-01 3.70061750e-04] [-4.97531216e-01 8.67443980e-01 -1.90546224e-03] [-1.26903761e-03 1.46876670e-03 9.99998116e-01]] t_estimated: [[0.02400525] [0.99971132] [0.00100796]] R_gt: [[ 0.9934421 0.00311807 0.11429594] [ 0.01471068 0.98783336 -0.15481649] [-0.11338807 0.15548248 0.98130863]] t_gt: [-0.34796678 0.55276736 -0.75721025] Pose Error in degrees for R and t: 32.06486357999322 57.07836024782452 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.01510145 0.99988497 -0.00141164] [-0.99988407 -0.01510416 -0.00192593] [-0.00194703 0.0013824 0.99999715]] t_estimated: [[0.01013461] [0.99994801] [0.00112607]] R_gt: [[ 0.98412693 0.05324894 0.16929237] [-0.01673374 0.97751634 -0.21019204] [-0.17667882 0.20402295 0.96289049]] t_gt: [-0.68689624 0.68328401 -0.24758132] Pose Error in degrees for R and t: 89.88460838620094 47.46750267453022 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.97885413e-01 6.49976978e-02 -3.07732495e-05] [-6.49976988e-02 9.97885413e-01 -3.50764075e-05] [ 2.84282911e-05 3.70024258e-05 9.99999999e-01]] t_estimated: [[-9.04987317e-01] [-4.25438359e-01] [-3.98353075e-04]] R_gt: [[ 0.99538477 0.09217495 0.02667453] [-0.0899507 0.99310868 -0.07512818] [-0.03341522 0.07238248 0.99681693]] t_gt: [-0.78783273 0.33821605 -0.51471303] Pose Error in degrees for R and t: 4.813293635895906 55.29902023206059 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99756898e-01 2.20485896e-02 -7.25979161e-05] [-2.20486085e-02 9.99756863e-01 -2.71395342e-04] [ 6.65963803e-05 2.72930049e-04 9.99999961e-01]] t_estimated: [[-0.31981656] [-0.94747794] [-0.00171025]] R_gt: [[ 0.99974324 0.00812443 0.02114007] [-0.00625102 0.99616993 -0.08721268] [-0.02176697 0.0870587 0.99596466]] t_gt: [-0.15350305 0.24246487 -0.95793925] Pose Error in degrees for R and t: 5.204693657192129 79.68854109314887 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 5.07127387e-01 8.61863941e-01 3.51563616e-03] [-8.61870550e-01 5.07118179e-01 3.21062670e-03] [ 9.84280374e-04 -4.65822000e-03 9.99988666e-01]] t_estimated: [[0.5600411 ] [0.82846317] [0.00165693]] R_gt: [[ 0.989804 -0.13905467 0.03084262] [ 0.14185539 0.98188555 -0.12560607] [-0.01281727 0.12870114 0.99160023]] t_gt: [ 0.73317311 -0.00077796 -0.6800416 ] Pose Error in degrees for R and t: 68.02315999359232 65.86827850193119 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.83417582e-01 1.81353238e-01 9.28891767e-04] [-1.81353299e-01 9.83418009e-01 -1.88650828e-05] [-9.16910136e-04 -1.49905332e-04 9.99999568e-01]] t_estimated: [[-0.90199241] [ 0.43173916] [ 0.00331415]] R_gt: [[ 0.99406502 -0.1086333 -0.00588343] [ 0.108647 0.99407792 0.00198213] [ 0.00563405 -0.0026097 0.99998068]] t_gt: [ 0.30563009 -0.94466015 -0.11919499] Pose Error in degrees for R and t: 16.69046320067104 46.849439733959436 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-8.86378458e-01 -4.62956165e-01 -2.19519724e-03] [-4.62957512e-01 8.86380464e-01 1.21111130e-04] [ 1.88971080e-03 1.12363335e-03 -9.99997583e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96005786 -0.27427305 -0.05534697] [ 0.27347156 0.96163468 -0.02172639] [ 0.05918332 0.00572225 0.99823119]] t_gt: [ 0.61071514 -0.75001196 -0.25398637] Pose Error in degrees for R and t: 176.47743963342106 52.54129106623703 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999860e-01 -1.38917296e-04 5.11362737e-04] [ 1.39266675e-04 9.99999757e-01 -6.83258124e-04] [-5.11267696e-04 6.83329244e-04 9.99999636e-01]] t_estimated: [[9.99981828e-01] [5.97791078e-03] [7.80113941e-04]] R_gt: [[ 0.91768024 -0.39730293 0.00380892] [ 0.39725218 0.91729919 -0.02744683] [ 0.00741076 0.0267001 0.99961616]] t_gt: [ 0.57987473 -0.81038878 -0.08375753] Pose Error in degrees for R and t: 23.45538824867856 54.90355984729059 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.92350875e-01 1.23449159e-01 2.12440861e-04] [-1.23449184e-01 9.92350889e-01 1.05731365e-04] [-1.97763429e-04 -1.31148264e-04 9.99999972e-01]] t_estimated: [[0.06176029] [0.9980904 ] [0.00110286]] R_gt: [[ 0.99786906 -0.0648356 -0.00736489] [ 0.06398813 0.99438746 -0.08425631] [ 0.01278704 0.08360643 0.99641594]] t_gt: [ 0.67235461 -0.47783653 -0.56534196] Pose Error in degrees for R and t: 11.83196799872665 64.14961018967391 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.39186718 0.68438709 0.6148613 ] [ 0.56268262 0.35046556 -0.748707 ] [-0.72789311 0.63936547 -0.24775677]] t_estimated: [[-0.80581035] [-0.59217313] [-0.00081231]] R_gt: [[ 0.99487747 -0.08894136 -0.04804354] [ 0.07843559 0.97900085 -0.18816046] [ 0.06376996 0.18342922 0.98096221]] t_gt: [ 0.5131161 -0.15204868 -0.84474438] Pose Error in degrees for R and t: 99.92193791729484 71.17075001855191 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.48207820e-01 -3.17650578e-01 -2.01782522e-04] [ 3.17650642e-01 9.48207620e-01 6.16490170e-04] [-4.49673382e-06 -6.48657148e-04 9.99999790e-01]] t_estimated: [[8.23573964e-01] [5.67208528e-01] [6.40913591e-04]] R_gt: [[ 0.99205985 -0.0829958 -0.09449369] [ 0.06075913 0.97412181 -0.21770475] [ 0.11011709 0.21023478 0.97142931]] t_gt: [ 0.4460927 -0.00505041 -0.89497251] Pose Error in degrees for R and t: 19.848316152742033 68.65689282528416 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.56016362e-01 2.93310860e-01 -1.20662407e-03] [-2.93309322e-01 9.56016708e-01 1.30214570e-03] [ 1.53548624e-03 -8.90958506e-04 9.99998424e-01]] t_estimated: [[-9.07152915e-01] [-4.20800536e-01] [-7.04858520e-04]] R_gt: [[ 0.99518552 -0.01810556 0.09632428] [ 0.03015501 0.99167989 -0.12514628] [-0.09325714 0.1274478 0.98745151]] t_gt: [-0.20128268 0.59865954 -0.77530126] Pose Error in degrees for R and t: 20.59056604366475 86.05633468002665 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.93125474e-01 1.17054597e-01 1.18651737e-04] [-1.17054578e-01 9.93125472e-01 -1.52756985e-04] [-1.35716969e-04 1.37818124e-04 9.99999981e-01]] t_estimated: [[ 1.86079211e-01] [-9.82534739e-01] [-1.20761835e-04]] R_gt: [[ 0.98156603 -0.08329285 0.17201887] [ 0.11323198 0.97851152 -0.17232013] [-0.15396907 0.18862177 0.96990461]] t_gt: [ 0.37258848 0.06144183 -0.92596043] Pose Error in degrees for R and t: 18.77344538554279 89.48008771160315 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 5.53679685e-01 -8.32729023e-01 -1.08664799e-03] [ 8.32729113e-01 5.53680393e-01 -4.96793923e-04] [ 1.01535041e-03 -6.29818716e-04 9.99999286e-01]] t_estimated: [[ 8.49511972e-01] [-5.27569294e-01] [-2.23272163e-04]] R_gt: [[ 0.97325101 -0.10127831 0.20621725] [ 0.14078521 0.97222649 -0.1869619 ] [-0.18155416 0.21099339 0.96047892]] t_gt: [ 0.57477102 -0.18253895 -0.79769531] Pose Error in degrees for R and t: 51.72857292308195 54.214322340345724 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-0.68847283 0.50571164 0.51986623] [-0.72495349 -0.50076437 -0.47294553] [ 0.02115643 -0.70248899 0.71138009]] t_estimated: [[0.67064667] [0.74177586] [0.00127016]] R_gt: [[ 0.99461174 -0.09865014 -0.03185772] [ 0.09891378 0.99507366 0.00682742] [ 0.03102747 -0.00994249 0.99946946]] t_gt: [ 0.55421736 -0.82044062 -0.14042904] Pose Error in degrees for R and t: 143.40813148345293 76.28589060242165 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-9.46157511e-02 -9.95512408e-01 -1.70448604e-03] [-9.95513609e-01 9.46143560e-02 8.81519477e-04] [-7.16294728e-04 1.78024468e-03 -9.99998159e-01]] t_estimated: [[0.83792673] [0.54578112] [0.00132793]] R_gt: [[ 0.95873192 -0.28421721 -0.00737972] [ 0.28426226 0.95775388 0.04363364] [-0.00533308 -0.04393156 0.99902035]] t_gt: [ 0.66875148 -0.731149 0.13487994] Pose Error in degrees for R and t: 178.36016503423195 80.70622901574507 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-9.83607162e-01 1.80317093e-01 1.64205471e-03] [-1.80324374e-01 -9.83551932e-01 -1.04267558e-02] [-2.65076197e-04 -1.05519341e-02 9.99944292e-01]] t_estimated: [[0.95298433] [0.30301748] [0.00112646]] R_gt: [[ 0.87210887 -0.48885034 -0.02124131] [ 0.48912836 0.86977951 0.06509542] [-0.01334638 -0.06716062 0.9976534 ]] t_gt: [ 0.7902573 -0.5999726 0.1246045] Pose Error in degrees for R and t: 161.08837720089267 55.14922723333169 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-6.53284069e-01 7.57112283e-01 -9.57050399e-04] [-7.57109178e-01 -6.53284303e-01 -2.30484190e-03] [-2.37025011e-03 -7.81124852e-04 9.99996886e-01]] t_estimated: [[0.52582178] [0.85059405] [0.00110467]] R_gt: [[ 0.981536 -0.18784351 -0.03607936] [ 0.18792783 0.98218238 -0.00107318] [ 0.03563745 -0.00572753 0.9993481 ]] t_gt: [ 0.61614296 -0.77518311 -0.1394955 ] Pose Error in degrees for R and t: 141.63127008678333 70.39469129564569 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99995011e-01 2.86267625e-03 -1.33533222e-03] [-2.86134348e-03 9.99995407e-01 9.98926163e-04] [ 1.33818569e-03 -9.95100335e-04 9.99998610e-01]] t_estimated: [[-0.20437143] [-0.97889273] [-0.0011612 ]] R_gt: [[ 0.94107295 -0.33662795 -0.03263647] [ 0.33552914 0.94138375 -0.03487861] [ 0.04246443 0.02187292 0.99885857]] t_gt: [ 0.64951907 -0.74687489 -0.14248815] Pose Error in degrees for R and t: 19.99667442301382 53.23511716415049 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.02181935 0.99960235 0.01786239] [ 0.9996035 0.02213047 -0.01740912] [-0.0177975 0.01747546 -0.99968888]] t_estimated: [[-0.89245246] [-0.45108313] [-0.00725312]] R_gt: [[ 0.87163743 -0.48633948 -0.06102149] [ 0.48598675 0.8737023 -0.02149016] [ 0.06376531 -0.01092386 0.9979049 ]] t_gt: [ 0.70919711 -0.69866521 -0.0943736 ] Pose Error in degrees for R and t: 178.96106005434132 71.51332430465095 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.81105772e-01 1.93472117e-01 -6.32484602e-05] [-1.93472127e-01 9.81105705e-01 -3.61704933e-04] [-7.92639399e-06 3.67107612e-04 9.99999933e-01]] t_estimated: [[-0.97435185] [-0.22502755] [-0.00103923]] R_gt: [[ 0.99146686 0.11131334 -0.06784358] [-0.10562518 0.9909898 0.08234569] [ 0.0763986 -0.07447626 0.99429209]] t_gt: [-0.86528838 0.50115781 -0.01081034] Pose Error in degrees for R and t: 7.860126889129603 43.08574447024417 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.60909257e-01 2.76863500e-01 -4.94183966e-05] [-2.76863495e-01 9.60909162e-01 -4.33351212e-04] [-7.24925434e-05 4.30093341e-04 9.99999905e-01]] t_estimated: [[-9.99996820e-01] [-2.39999219e-03] [-7.74277003e-04]] R_gt: [[ 0.97703313 0.16364953 -0.13647132] [-0.14355551 0.97881358 0.14599817] [ 0.15747282 -0.1230534 0.97982696]] t_gt: [-0.94491675 0.24389828 -0.21827956] Pose Error in degrees for R and t: 13.572074968306785 19.17890293120591 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99984950e-01 -5.48241713e-03 2.07245650e-04] [ 5.48267234e-03 9.99984187e-01 -1.25157068e-03] [-2.00380741e-04 1.25268811e-03 9.99999195e-01]] t_estimated: [[ 9.99999702e-01] [-8.14143375e-05] [ 7.67905165e-04]] R_gt: [[ 0.95663361 0.20927027 -0.20262726] [-0.17026822 0.96612415 0.19393886] [ 0.23634871 -0.15102666 0.95985887]] t_gt: [-0.91979307 0.15698846 -0.35963222] Pose Error in degrees for R and t: 19.949780920039252 23.061965270489964 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.91035208e-01 1.33600477e-01 3.58896040e-04] [-1.33600352e-01 9.91035227e-01 -3.53051728e-04] [-4.02846498e-04 3.01938055e-04 9.99999873e-01]] t_estimated: [[0.65113263] [0.75896351] [0.00082947]] R_gt: [[ 0.98345587 -0.17787317 -0.03428822] [ 0.17843409 0.98385106 0.01404265] [ 0.03123607 -0.01992858 0.99931235]] t_gt: [ 0.73685566 -0.67592422 -0.01304571] Pose Error in degrees for R and t: 18.071156705985793 88.09617653599308 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.9214423 0.38851268 0.00141119] [-0.38849684 0.92142793 -0.00638576] [-0.00378126 0.00533587 0.99997862]] t_estimated: [[7.87794851e-01] [6.15937335e-01] [6.87430062e-04]] R_gt: [[ 0.92983116 -0.35331131 -0.1028793 ] [ 0.35634546 0.93427548 0.01216257] [ 0.09181979 -0.04797008 0.99461889]] t_gt: [ 0.83379602 -0.55099261 -0.03451588] Pose Error in degrees for R and t: 44.12192563075471 71.49064057375274 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-2.00508132e-01 9.79689241e-01 2.34096419e-03] [ 9.79691850e-01 2.00506041e-01 1.09851489e-03] [ 6.06825753e-04 2.51368471e-03 -9.99996657e-01]] t_estimated: [[9.62135575e-01] [2.72570326e-01] [7.43781769e-04]] R_gt: [[ 0.90405101 -0.40777807 -0.12809919] [ 0.41658814 0.90768549 0.05060874] [ 0.09563604 -0.09911704 0.99046885]] t_gt: [ 0.84146658 -0.5367839 0.06162003] Pose Error in degrees for R and t: 172.20975605260213 48.44494527732916 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.99999856e-01 -5.31296204e-04 -6.91311555e-05] [ 5.31300604e-04 9.99999857e-01 6.36462558e-05] [ 6.90973305e-05 -6.36829761e-05 9.99999996e-01]] t_estimated: [[-9.90300919e-01] [-1.38939044e-01] [-1.79915809e-04]] R_gt: [[ 0.99569486 0.09262219 0.00350105] [-0.0926753 0.99547732 0.02087773] [-0.0015516 -0.02111243 0.99977634]] t_gt: [-0.76520057 0.61830706 0.17934454] Pose Error in degrees for R and t: 5.482124134309283 47.7907968532309 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.25584097 0.73388389 0.62925339] [-0.83109705 -0.16550376 0.53092956] [ 0.49378446 -0.65880417 0.56758609]] t_estimated: [[0.60555669] [0.79580171] [0.00084931]] R_gt: [[ 0.9672869 0.25322141 0.0153244 ] [-0.25355447 0.96695561 0.02656022] [-0.00809322 -0.02957703 0.99953055]] t_gt: [-0.71973049 0.6864039 0.1041043 ] Pose Error in degrees for R and t: 87.40494150598325 83.6563107681222 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 3.23368248e-01 9.46267225e-01 3.36369920e-03] [ 9.46273194e-01 -3.23365678e-01 -1.29660934e-03] [-1.39234049e-04 3.60226068e-03 -9.99993502e-01]] t_estimated: [[-8.01642509e-01] [-5.97803395e-01] [-6.23361204e-04]] R_gt: [[ 0.8772249 0.47461505 0.07223168] [-0.47432779 0.88006807 -0.02216603] [-0.07408954 -0.01481685 0.99714192]] t_gt: [-0.63032358 0.76952619 0.10257497] Pose Error in degrees for R and t: 177.16656702028135 87.40906935046442 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999976e-01 2.17019224e-04 4.08651331e-05] [-2.17019581e-04 9.99999976e-01 8.72795069e-06] [-4.08632380e-05 -8.73681902e-06 9.99999999e-01]] t_estimated: [[9.75519947e-01] [2.19910945e-01] [9.30286234e-05]] R_gt: [[ 0.98480867 -0.15939121 -0.06889556] [ 0.16174183 0.98637805 0.02997047] [ 0.06318061 -0.04065808 0.99717324]] t_gt: [ 0.79742289 -0.60331699 -0.01119585] Pose Error in degrees for R and t: 10.217099433893013 49.81746138333966 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.90375148e-01 -1.38409001e-01 1.20050024e-04] [ 1.38408926e-01 9.90375041e-01 4.96546169e-04] [-1.87621006e-04 -4.75150991e-04 9.99999870e-01]] t_estimated: [[0.9617448 ] [0.27394442] [0.00117573]] R_gt: [[ 0.98114215 -0.18279636 -0.06281171] [ 0.18606845 0.98121655 0.05090807] [ 0.0523259 -0.06163557 0.99672609]] t_gt: [ 0.78438556 -0.60882278 0.11863434] Pose Error in degrees for R and t: 5.3496535257520215 54.00358612946769 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.87779223e-01 -1.55859559e-01 -7.12503772e-05] [ 1.55859576e-01 9.87779095e-01 5.02551613e-04] [-7.94783988e-06 -5.07515095e-04 9.99999871e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 9.93189732e-01 -1.16504241e-01 9.23981802e-04] [ 1.15641440e-01 9.86734796e-01 1.13939319e-01] [-1.41870696e-02 -1.13056650e-01 9.93486886e-01]] t_gt: [ 0.55889447 -0.61028182 0.56142058] Pose Error in degrees for R and t: 6.900698575308294 62.981768558706364 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.39272358e-01 3.43172458e-01 3.19264585e-04] [-3.43172491e-01 9.39272399e-01 5.22486695e-05] [-2.81946108e-04 -1.58638554e-04 9.99999948e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98171013 -0.19008289 -0.0106051 ] [ 0.18991089 0.98168029 -0.01541543] [ 0.01334061 0.0131208 0.99982451]] t_gt: [ 0.98118558 -0.17450861 -0.08259294] Pose Error in degrees for R and t: 31.042535809773234 50.93007848075668 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99919550e-01 1.26837758e-02 1.22636109e-04] [-1.26837696e-02 9.99919556e-01 -5.15620440e-05] [-1.23280245e-04 5.00024077e-05 9.99999991e-01]] t_estimated: [[ 9.99930901e-01] [-1.17549836e-02] [ 1.17235354e-04]] R_gt: [[ 0.98059172 -0.19535202 -0.01667729] [ 0.19496701 0.98055785 -0.02223698] [ 0.02069729 0.01855401 0.99961316]] t_gt: [ 0.97602332 -0.17210802 -0.13325657] Pose Error in degrees for R and t: 12.088344861372358 12.050661941521257 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-4.80296791e-01 -8.77105498e-01 9.68260255e-04] [ 8.77096304e-01 -4.80285971e-01 5.24017787e-03] [-4.13114700e-03 3.36609811e-03 9.99985801e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.95075882 -0.30934528 0.01902716] [ 0.30973705 0.95054316 -0.02305722] [-0.01095338 0.02781507 0.99955271]] t_gt: [ 0.99252784 -0.08880468 -0.0836793 ] Pose Error in degrees for R and t: 100.67880714631399 39.63214537319436 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.90073275e-01 -1.40549688e-01 -8.33994483e-04] [-1.40552089e-01 9.90061421e-01 4.84694984e-03] [ 1.44468474e-04 4.91605516e-03 -9.99987906e-01]] t_estimated: [[9.99992164e-01] [3.88195716e-03] [7.76391432e-04]] R_gt: [[ 9.87163442e-01 1.59710343e-01 9.63411084e-04] [-1.59489938e-01 9.85451825e-01 5.87094206e-02] [ 8.42769001e-03 -5.81099624e-02 9.98274351e-01]] t_gt: [-0.74955291 0.60931676 0.25865715] Pose Error in degrees for R and t: 179.9799056221734 41.67047523370446 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.79913786e-01 -1.99419662e-01 -8.77591881e-04] [ 1.99420136e-01 9.79913961e-01 4.89043358e-04] [ 7.62439675e-04 -6.54229821e-04 9.99999495e-01]] t_estimated: [[8.23274563e-01] [5.67643006e-01] [6.40680594e-04]] R_gt: [[ 0.96731036 0.25305553 0.01651528] [-0.253591 0.96556785 0.05804583] [-0.00125709 -0.0603361 0.9981769 ]] t_gt: [-0.71945609 0.66888569 0.18701566] Pose Error in degrees for R and t: 26.411333601966625 77.73099556414256 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.98337374e-01 -5.76409618e-02 -8.29495262e-05] [ 5.76408887e-02 9.98337130e-01 -7.09589396e-04] [ 1.23713007e-04 7.03628330e-04 9.99999745e-01]] t_estimated: [[-0.8478539 ] [-0.53022675] [-0.00183313]] R_gt: [[ 0.89112059 0.45214461 0.03832078] [-0.45344774 0.89047426 0.03794052] [-0.01696886 -0.05118621 0.99854496]] t_gt: [-0.64427333 0.75775764 0.10351439] Pose Error in degrees for R and t: 30.406652634156007 81.70461318058533 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.96375646e-01 -8.50620823e-02 -1.18265352e-04] [ 8.50621065e-02 9.96375627e-01 2.17429916e-04] [ 9.93416731e-05 -2.26701773e-04 9.99999969e-01]] t_estimated: [[0.84094323] [0.54112259] [0.00091258]] R_gt: [[ 9.97461128e-01 -5.45585143e-02 -4.57825737e-02] [ 5.46459098e-02 9.98505518e-01 6.75520160e-04] [ 4.56772671e-02 -3.17569253e-03 9.98951100e-01]] t_gt: [ 0.54254915 -0.73087845 -0.4140738 ] Pose Error in degrees for R and t: 3.147189506545439 86.53835711890392 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999698e-01 7.74773864e-04 -6.26150147e-05] [-7.74748935e-04 9.99999621e-01 3.97179353e-04] [ 6.29227151e-05 -3.97130722e-04 9.99999919e-01]] t_estimated: [[0.93827289] [0.34589404] [0.00114072]] R_gt: [[ 0.98847245 -0.1503045 -0.0182235 ] [ 0.14926473 0.98758103 -0.04902422] [ 0.02536512 0.04573895 0.9986319 ]] t_gt: [ 0.70452238 -0.61150956 -0.3601448 ] Pose Error in degrees for R and t: 9.173964279702783 63.31366564992768 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.57853246 -0.81352352 -0.05898874] [-0.80658834 0.58135617 -0.10695909] [ 0.1213072 -0.01429967 -0.99251201]] t_estimated: [[0.99990759] [0.01355453] [0.00104266]] R_gt: [[ 0.96721232 -0.21464807 0.13574529] [ 0.22280765 0.9736838 -0.04790995] [-0.12188917 0.07658454 0.9895843 ]] t_gt: [ 0.71128027 -0.69554102 0.10150404] Pose Error in degrees for R and t: 178.76837580036397 45.420951704809596 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99995721e-01 -1.85650990e-03 2.26103174e-03] [ 1.85861351e-03 9.99997842e-01 -9.28628008e-04] [-2.25930286e-03 9.32826418e-04 9.99997013e-01]] t_estimated: [[0.64652138] [0.76289522] [0.00099465]] R_gt: [[ 0.97364423 -0.22498556 0.03739283] [ 0.22498154 0.97435227 0.00436158] [-0.03741391 0.00416693 0.9992909 ]] t_gt: [ 0.59487453 -0.79439432 0.12272719] Pose Error in degrees for R and t: 13.058102525837063 77.21351578897817 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99999929e-01 -2.15149310e-04 3.10880826e-04] [ 2.15236267e-04 9.99999938e-01 -2.79704280e-04] [-3.10820629e-04 2.79771173e-04 9.99999913e-01]] t_estimated: [[0.54119844] [0.84089435] [0.00096989]] R_gt: [[ 0.93103871 -0.36384171 0.02803121] [ 0.3633311 0.93140601 0.02173243] [-0.03401511 -0.01004866 0.99937109]] t_gt: [ 0.64866405 -0.75399904 0.10353932] Pose Error in degrees for R and t: 21.41013755864582 73.56800304811138 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.73065241e-01 -2.30529892e-01 -8.06899952e-05] [ 2.30529901e-01 9.73065234e-01 1.21725318e-04] [ 5.04553048e-05 -1.37048132e-04 9.99999989e-01]] t_estimated: [[9.09268791e-01] [4.16208506e-01] [8.63503125e-04]] R_gt: [[ 0.84168693 -0.53702446 0.05628231] [ 0.53810301 0.842864 -0.00489465] [-0.04480911 0.0344052 0.99840219]] t_gt: [ 0.72418367 -0.68863039 0.03669064] Pose Error in degrees for R and t: 19.488491729303295 68.16743660941121 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99289405e-01 3.76919696e-02 -6.63430988e-06] [-3.76919701e-02 9.99289399e-01 -1.12437500e-04] [ 2.39160471e-06 1.12607662e-04 9.99999994e-01]] t_estimated: [[-1.67135987e-01] [-9.85933827e-01] [-2.24057065e-04]] R_gt: [[ 0.99523133 0.05187512 -0.08260058] [-0.04755233 0.99743646 0.05346037] [ 0.08516283 -0.04927756 0.99514754]] t_gt: [-0.52700661 -0.25188105 -0.81167726] Pose Error in degrees for R and t: 5.692783998857834 70.3300350320556 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.91887677e-01 1.27112557e-01 1.11068345e-03] [ 1.27116708e-01 -9.91815290e-01 -1.19905765e-02] [-4.22560022e-04 1.20344915e-02 -9.99927494e-01]] t_estimated: [[-0.18595148] [ 0.98254075] [-0.00597747]] R_gt: [[ 0.98223348 0.11274303 -0.15002414] [-0.09393703 0.98743869 0.12704065] [ 0.16246333 -0.11069045 0.9804857 ]] t_gt: [-0.82601553 -0.3338172 -0.45416343] Pose Error in degrees for R and t: 173.26703189418 80.1147529671708 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.09126119e-01 -4.16520899e-01 -2.01522152e-04] [ 4.16520941e-01 9.09126086e-01 2.55764311e-04] [ 7.66778652e-05 -3.16460212e-04 9.99999947e-01]] t_estimated: [[ 3.18385483e-01] [-9.47961327e-01] [ 7.61556667e-05]] R_gt: [[ 0.97434467 0.11249948 -0.19492414] [-0.08684899 0.98696284 0.13550034] [ 0.2076276 -0.11509492 0.97141378]] t_gt: [-0.51575787 -0.48014955 -0.70954227] Pose Error in degrees for R and t: 33.301652606263204 73.08819377992116 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.79447412e-01 -2.01699689e-01 5.22482230e-05] [ 2.01699688e-01 9.79447413e-01 2.99370550e-05] [-5.72126816e-05 -1.87833207e-05 9.99999998e-01]] t_estimated: [[0.81596179] [0.57810523] [0.00084408]] R_gt: [[ 0.99565435 -0.07528464 -0.05479861] [ 0.08067622 0.99130687 0.10392984] [ 0.04649738 -0.10789921 0.99307354]] t_gt: [ 0.4052116 -0.83485833 0.37257901] Pose Error in degrees for R and t: 9.827122122455082 81.27545319174857 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.80925863e-01 -1.94382219e-01 -6.56911827e-05] [ 1.94382198e-01 9.80925838e-01 -2.47624820e-04] [ 1.12572041e-04 2.30132394e-04 9.99999967e-01]] t_estimated: [[-0.94912685] [-0.31489203] [-0.00111269]] R_gt: [[ 0.98929862 -0.11128507 -0.09435686] [ 0.12630334 0.97696356 0.17201371] [ 0.07303973 -0.18209075 0.98056505]] t_gt: [ 0.37489243 -0.8074515 0.45549725] Pose Error in degrees for R and t: 12.117913928460233 84.1417751433333 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 7.96504167e-01 6.04631530e-01 1.35091914e-03] [-6.04633015e-01 7.96501504e-01 2.06692688e-03] [ 1.73720035e-04 -2.46312618e-03 9.99996951e-01]] t_estimated: [[7.98235526e-01] [6.02345006e-01] [7.33672359e-04]] R_gt: [[ 0.9622447 -0.15635563 -0.22279548] [ 0.19266258 0.96946053 0.15174595] [ 0.19226479 -0.18894094 0.96298232]] t_gt: [ 0.55784502 -0.82396209 0.09947564] Pose Error in degrees for R and t: 49.794131745382806 87.07981655010066 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.03730208e-01 5.94993878e-01 -1.92930279e-04] [-5.94993316e-01 8.03728907e-01 -1.67278522e-03] [-8.40233322e-04 1.45926024e-03 9.99998582e-01]] t_estimated: [[0.92581977] [0.37796388] [0.00102646]] R_gt: [[ 0.98573589 -0.16389306 -0.03824835] [ 0.162479 0.98599667 -0.03756775] [ 0.04386867 0.03081805 0.99856165]] t_gt: [ 0.54259997 -0.77434489 -0.32553841] Pose Error in degrees for R and t: 46.00508634084461 77.91625072967231 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.23780031e-01 3.82923443e-01 -3.00605166e-04] [-3.82923392e-01 9.23780077e-01 2.13277859e-04] [ 3.59362155e-04 -8.19130771e-05 9.99999932e-01]] t_estimated: [[0.63429167] [0.77309341] [0.00080699]] R_gt: [[ 0.94990424 -0.31046489 -0.03595461] [ 0.31049427 0.95056309 -0.00492708] [ 0.03570572 -0.00648312 0.99934108]] t_gt: [ 0.61933041 -0.78134305 -0.07702516] Pose Error in degrees for R and t: 40.65914976827936 77.80279006794454 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 3.21143861e-01 -9.47028507e-01 1.90476387e-03] [-9.47004256e-01 -3.21149290e-01 -6.78772597e-03] [ 7.03988355e-03 3.76017036e-04 -9.99975149e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.89125919 -0.45310317 -0.01882747] [ 0.4519743 0.89090227 -0.04486899] [ 0.03710252 0.03148089 0.99881538]] t_gt: [ 0.68436859 -0.72134352 -0.10631636] Pose Error in degrees for R and t: 176.89241431797126 71.46928853638636 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.99989787e-02 9.99549427e-01 -1.00226412e-03] [-9.99545957e-01 -3.00016713e-02 -2.78922768e-03] [-2.81804053e-03 9.18135067e-04 9.99995608e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99594451 0.03470058 0.08301794] [-0.0325018 0.99908795 -0.02769173] [-0.08390217 0.02488279 0.9961627 ]] t_gt: [-0.42117987 0.61991103 0.66205576] Pose Error in degrees for R and t: 89.89308608685916 51.83268575607458 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 1.99497585e-02 9.99800623e-01 8.48855875e-04] [ 9.99800134e-01 -1.99508415e-02 1.28713775e-03] [ 1.30381651e-03 8.23008130e-04 -9.99998811e-01]] t_estimated: [[0.99894282] [0.04585311] [0.00327522]] R_gt: [[ 0.99198024 -0.00745167 0.12617803] [ 0.01240649 0.99918061 -0.03852391] [-0.12578759 0.03978124 0.99125868]] t_gt: [0.08944665 0.18014053 0.97956556] Pose Error in degrees for R and t: 173.34455400008304 84.21358573097608 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 1.23900120e-01 9.92294528e-01 5.74771474e-04] [ 9.92281441e-01 -1.23901438e-01 5.09656912e-03] [ 5.12851266e-03 -6.11304591e-05 -9.99986847e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.98465226 -0.07107032 0.15940677] [ 0.07647849 0.99667766 -0.02804444] [-0.15688282 0.03980632 0.98681433]] t_gt: [ 0.51220909 -0.3985763 0.76077512] Pose Error in degrees for R and t: 172.69922240040037 59.23218166020163 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.01040019 -0.99967138 0.02343013] [-0.99991504 -0.01058114 -0.00761207] [ 0.00785749 -0.02334897 -0.9996965 ]] t_estimated: [[0.48755937] [0.87307143] [0.00566929]] R_gt: [[ 0.98419677 0.17555717 -0.02314908] [-0.17393761 0.98295717 0.05949056] [ 0.03319882 -0.054523 0.99796086]] t_gt: [-0.74707998 0.6617441 0.06297813] Pose Error in degrees for R and t: 178.06615357744172 77.65128273866509 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 8.87939343e-01 -4.59960320e-01 -4.75910469e-04] [ 4.59960259e-01 8.87939471e-01 -2.37031926e-04] [ 5.31604971e-04 -8.42992975e-06 9.99999859e-01]] t_estimated: [[-0.11234671] [-0.99366847] [-0.00109074]] R_gt: [[ 0.96655372 0.23470994 -0.10336363] [-0.22226704 0.96770056 0.11896394] [ 0.12794783 -0.09201054 0.98750428]] t_gt: [-0.79750482 0.58486469 -0.14805189] Pose Error in degrees for R and t: 41.62989015309812 60.56715698491028 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.76659096e-01 2.14794416e-01 -6.08203098e-04] [-2.14793969e-01 9.76659115e-01 7.23785064e-04] [ 7.49472090e-04 -5.76252909e-04 9.99999553e-01]] t_estimated: [[-0.99216093] [-0.12496226] [-0.00106346]] R_gt: [[ 0.9421371 0.29557192 -0.15815439] [-0.26433448 0.94517335 0.19176303] [ 0.20616323 -0.13886096 0.96861435]] t_gt: [-0.84502998 0.48948518 -0.21524077] Pose Error in degrees for R and t: 14.916160965879177 38.97072080540437 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-9.42873209e-01 -3.33151681e-01 -2.62245254e-04] [-3.33151553e-01 9.42871334e-01 1.92084707e-03] [-3.92669896e-04 1.89848265e-03 -9.99998121e-01]] t_estimated: [[9.97439116e-01] [7.15145027e-02] [9.40980298e-04]] R_gt: [[ 0.99091619 -0.12328303 -0.0537266 ] [ 0.12498325 0.99171918 0.02953263] [ 0.04964098 -0.03597826 0.99811913]] t_gt: [ 0.6383723 -0.75911067 -0.12740408] Pose Error in degrees for R and t: 177.40268033592608 54.385396257819984 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 8.94633741e-01 4.46799677e-01 7.19788364e-04] [-4.46799873e-01 8.94633923e-01 1.29759689e-04] [-5.85970501e-04 -4.37688745e-04 9.99999733e-01]] t_estimated: [[0.57664149] [0.81699662] [0.00105419]] R_gt: [[ 0.98791404 -0.15347192 -0.02174423] [ 0.15397236 0.98779275 0.02362932] [ 0.01785356 -0.02669104 0.99948455]] t_gt: [ 0.56967828 -0.82186702 -0.00111845] Pose Error in degrees for R and t: 35.430381683373795 69.9424625422557 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.98300088 -0.17638174 0.050978 ] [ 0.18067628 0.97866776 -0.09780335] [-0.0326398 0.10535129 0.99389926]] t_estimated: [[ 0.98321384] [ 0.18245 ] [-0.00159668]] R_gt: [[ 0.98527146 -0.16920594 -0.02467474] [ 0.16946628 0.9854959 0.0088993 ] [ 0.0228119 -0.01294939 0.99965634]] t_gt: [ 0.53926515 -0.83853561 -0.07778906] Pose Error in degrees for R and t: 7.5240885252971115 67.83059458684237 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.89926549e-01 1.41581236e-01 4.25236778e-04] [-1.41581380e-01 9.89926565e-01 3.30236480e-04] [-3.74197894e-04 -3.87115469e-04 9.99999855e-01]] t_estimated: [[0.36138069] [0.93241734] [0.00137932]] R_gt: [[ 0.9910254 -0.133589 0.00482874] [ 0.1320494 0.98394917 0.1200308 ] [-0.02078516 -0.1183155 0.99275848]] t_gt: [ 0.4558437 -0.65487365 0.60278273] Pose Error in degrees for R and t: 17.22253616446083 63.5733973127252 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999558e-01 -9.10822358e-04 -2.32716845e-04] [ 9.11138944e-04 9.99998655e-01 1.36392811e-03] [ 2.31474236e-04 -1.36413955e-03 9.99999043e-01]] t_estimated: [[0.65042026] [0.75957408] [0.00083237]] R_gt: [[ 0.98262167 -0.18552436 -0.00603035] [ 0.18455172 0.9729586 0.13889217] [-0.01990059 -0.13759114 0.99028876]] t_gt: [ 0.50836108 -0.68459965 0.52239097] Pose Error in degrees for R and t: 13.272619232971874 79.1101791580453 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999990e-01 -1.39395470e-04 -1.32967717e-07] [ 1.39395476e-04 9.99999989e-01 4.03256444e-05] [ 1.27346503e-07 -4.03256625e-05 9.99999999e-01]] t_estimated: [[9.42622137e-01] [3.33860694e-01] [7.36999325e-04]] R_gt: [[ 9.89227750e-01 -1.46371125e-01 1.93067431e-03] [ 1.46382252e-01 9.89195968e-01 -8.01825304e-03] [-7.35859553e-04 8.21442849e-03 9.99966518e-01]] t_gt: [ 0.77348381 -0.6330242 -0.03167263] Pose Error in degrees for R and t: 8.422384932908388 58.819375572305866 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.99999626 0.00245825 -0.00120265] [-0.00245517 0.99999372 0.00255527] [ 0.00120892 -0.00255231 0.99999601]] t_estimated: [[0.98867585] [0.15004295] [0.00267934]] R_gt: [[ 9.61989597e-01 -2.73082821e-01 -6.04828009e-04] [ 2.72975155e-01 9.61668165e-01 -2.60418236e-02] [ 7.69354960e-03 2.48869424e-02 9.99661213e-01]] t_gt: [ 0.83699777 -0.54134544 -0.07987398] Pose Error in degrees for R and t: 16.070480539279306 41.74801817631714 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 4.53583606e-01 -8.91155001e-01 -1.02311347e-02] [ 8.91201251e-01 4.53608117e-01 -8.45741179e-05] [ 4.71629438e-03 -9.07963858e-03 9.99947657e-01]] t_estimated: [[0.93598883] [0.35201912] [0.00272883]] R_gt: [[ 0.92836345 -0.37114332 0.01983906] [ 0.37157391 0.92556592 -0.07253104] [ 0.00855669 0.07470714 0.99716863]] t_gt: [ 0.87468812 -0.46068644 -0.15062768] Pose Error in degrees for R and t: 41.44816995630081 48.99561115430406 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999875e-01 -4.99873084e-04 2.04274391e-06] [ 4.99873466e-04 9.99999857e-01 -1.91331011e-04] [-1.94710239e-06 1.91332008e-04 9.99999982e-01]] t_estimated: [[-0.75244063] [-0.65865909] [-0.0011377 ]] R_gt: [[ 0.99969958 0.01703832 0.01761697] [-0.01684999 0.99979891 -0.01083131] [-0.01779769 0.01053022 0.99978631]] t_gt: [-0.83901787 0.36174178 -0.40643806] Pose Error in degrees for R and t: 1.5462493534974957 66.82698152131445 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 7.67351828e-01 -6.40709179e-01 2.57472501e-02] [ 6.40939467e-01 7.67590882e-01 -9.14584802e-04] [-1.91773715e-02 1.72042371e-02 9.99668066e-01]] t_estimated: [[-0.0140173 ] [-0.99990107] [-0.00116811]] R_gt: [[ 9.88182012e-01 -1.52679639e-01 1.36555119e-02] [ 1.52672213e-01 9.88275200e-01 1.59253476e-03] [-1.37391703e-02 5.10388293e-04 9.99904933e-01]] t_gt: [ 0.99001628 -0.14044404 0.01196828] Pose Error in degrees for R and t: 31.088214684547303 82.73037157435813 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.00844869 0.999963 0.00162091] [ 0.99996265 -0.00845162 0.00180704] [ 0.00182067 0.00160558 -0.99999705]] t_estimated: [[-0.05355429] [-0.99856432] [-0.00111571]] R_gt: [[ 0.94056897 -0.33891678 -0.02159224] [ 0.33942327 0.94023672 0.02730596] [ 0.0110465 -0.03301218 0.9993939 ]] t_gt: [ 0.99342953 -0.07725792 0.08443331] Pose Error in degrees for R and t: 178.1023086748599 88.63334378923194 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.92563842e-01 -1.21725173e-01 -4.55228487e-05] [ 1.21725180e-01 9.92563818e-01 2.20241419e-04] [ 1.83754077e-05 -2.24144946e-04 9.99999975e-01]] t_estimated: [[0.97981504] [0.19990044] [0.0015144 ]] R_gt: [[ 0.99900014 0.01098853 -0.04334829] [-0.01331174 0.99846893 -0.05369022] [ 0.04269126 0.05421445 0.99761664]] t_gt: [ 0.01783882 0.35651374 -0.93411976] Pose Error in degrees for R and t: 8.649625547702064 84.98989879913412 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-2.62142277e-01 -9.65029188e-01 3.04321927e-04] [-9.65024746e-01 2.62142006e-01 2.96797587e-03] [-2.94395890e-03 4.84353760e-04 -9.99995549e-01]] t_estimated: [[0.83539791] [0.54963994] [0.00250224]] R_gt: [[ 0.99964588 0.01585897 -0.02139569] [-0.0167158 0.99904062 -0.04047867] [ 0.02073326 0.04082257 0.998951 ]] t_gt: [-0.12498181 0.45055402 -0.88395737] Pose Error in degrees for R and t: 177.74165384583196 81.89306494789773 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.35102618e-01 -3.54376873e-01 -3.54461991e-04] [ 3.54376828e-01 9.35102684e-01 -1.85064104e-04] [ 3.97040798e-04 4.74408121e-05 9.99999920e-01]] t_estimated: [[ 6.31737197e-01] [-7.75182475e-01] [-4.93490266e-04]] R_gt: [[ 0.99499516 -0.03500603 0.09359396] [ 0.02155473 0.98976878 0.1410425 ] [-0.09757447 -0.13831817 0.9855693 ]] t_gt: [ 0.05553575 -0.28819452 0.95596009] Pose Error in degrees for R and t: 21.45059523863424 75.04765356382381 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.92671495e-01 -1.20844127e-01 -1.75547329e-05] [ 1.20844129e-01 9.92671488e-01 1.18209664e-04] [ 3.14113915e-06 -1.19464750e-04 9.99999993e-01]] t_estimated: [[9.93547314e-01] [1.13414939e-01] [8.86622215e-04]] R_gt: [[ 0.99918076 0.01577437 -0.03728529] [-0.01646358 0.99969738 -0.01825389] [ 0.03698602 0.01885366 0.9991384 ]] t_gt: [-0.06400058 0.48957237 -0.86961073] Pose Error in degrees for R and t: 8.216881366997018 89.49385375798829 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.89254050e-01 -1.46204678e-01 7.85718000e-04] [ 1.46205219e-01 9.89254047e-01 -6.81195188e-04] [-6.77680788e-04 7.88751170e-04 9.99999459e-01]] t_estimated: [[0.3104012 ] [0.95060367] [0.00194001]] R_gt: [[ 0.99563453 0.03850994 -0.08503487] [-0.04351858 0.9973754 -0.05786511] [ 0.08258362 0.06131284 0.99469595]] t_gt: [-0.04901603 0.48719825 -0.87191473] Pose Error in degrees for R and t: 12.277195554286456 63.49817703119059 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.90748848e-01 -1.35708163e-01 -1.21307819e-04] [ 1.35708191e-01 9.90748818e-01 2.56798908e-04] [ 8.53358703e-05 -2.70885687e-04 9.99999960e-01]] t_estimated: [[-3.18724939e-02] [ 9.99491943e-01] [ 5.07913058e-06]] R_gt: [[ 0.99348073 0.03692398 -0.10786577] [-0.046884 0.99471828 -0.09131399] [ 0.10392489 0.09577552 0.98996311]] t_gt: [ 0.01579756 0.42805626 -0.90361401] Pose Error in degrees for R and t: 13.047299941686145 64.70172223877233 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.07091631e-01 -5.90424272e-01 -1.50951681e-03] [ 5.90426202e-01 8.07089007e-01 2.05805829e-03] [ 3.18686033e-06 -2.55229990e-03 9.99996743e-01]] t_estimated: [[7.71799202e-01] [6.35865883e-01] [7.55185129e-04]] R_gt: [[ 0.98770306 -0.15609081 -0.00882492] [ 0.15633446 0.98558266 0.06469821] [-0.00140129 -0.06528183 0.99786603]] t_gt: [ 0.65750371 -0.68060703 0.32320728] Pose Error in degrees for R and t: 27.423107047183564 85.70279238050732 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.99999546 -0.00189038 -0.0023469 ] [ 0.00189513 0.99999615 0.00202472] [ 0.00234307 -0.00202916 0.9999952 ]] t_estimated: [[-0.99998696] [-0.00447217] [-0.00246481]] R_gt: [[ 0.96661815 -0.2560497 -0.00935214] [ 0.25435049 0.95452242 0.15553479] [-0.03089767 -0.15272119 0.98778592]] t_gt: [ 0.59710134 -0.63465468 0.49059497] Pose Error in degrees for R and t: 17.209938769175235 53.45424802214739 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99978749 0.00796562 0.01901356] [-0.00758631 0.99977242 -0.01993867] [-0.01916806 0.01979019 0.99962039]] t_estimated: [[-0.99602336] [ 0.08063019] [ 0.03789776]] R_gt: [[ 0.96035179 -0.27681989 -0.03310527] [ 0.278618 0.94876169 0.14907012] [-0.00985618 -0.15238303 0.98827172]] t_gt: [ 0.62627888 -0.66130659 0.41285392] Pose Error in degrees for R and t: 19.451894472588855 48.58842215214406 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.96955528 -0.24485795 -0.00267128] [-0.2446996 0.96922286 -0.02700296] [ 0.00920096 -0.02552721 -0.99963178]] t_estimated: [[9.70369033e-01] [2.41625755e-01] [9.66503021e-04]] R_gt: [[ 0.99982245 -0.00178513 -0.0187712 ] [ 0.00124131 0.9995808 -0.02892183] [ 0.01881424 0.02889391 0.99940493]] t_gt: [ 0.21711106 -0.15921841 -0.96307439] Pose Error in degrees for R and t: 178.382942053932 80.13799676642532 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999965e-01 -2.14220262e-04 -1.57290065e-04] [ 2.14235920e-04 9.99999972e-01 9.95383525e-05] [ 1.57268737e-04 -9.95720462e-05 9.99999983e-01]] t_estimated: [[9.91412185e-01] [1.30771599e-01] [8.17322494e-04]] R_gt: [[ 0.99336936 -0.11429875 -0.01235674] [ 0.11373841 0.99273543 -0.03922015] [ 0.01674996 0.0375555 0.99915413]] t_gt: [ 0.73312154 -0.61046566 -0.29977405] Pose Error in degrees for R and t: 6.9499091914299225 49.70305995770748 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999603e-01 -2.00947384e-04 8.68135509e-04] [ 2.01901680e-04 9.99999375e-01 -1.09929963e-03] [-8.67914065e-04 1.09947447e-03 9.99999019e-01]] t_estimated: [[0.57352698] [0.8191861 ] [0.00096716]] R_gt: [[ 0.96447189 -0.26380151 -0.01421779] [ 0.26300021 0.96384761 -0.04275035] [ 0.02498151 0.03749276 0.99898449]] t_gt: [ 0.82059924 -0.54909939 -0.15845107] Pose Error in degrees for R and t: 15.478393484979902 88.81572785609043 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-0.62113173 0.78348863 0.01846456] [ 0.78352292 0.62132359 -0.00698795] [-0.01694745 0.01012697 -0.9998051 ]] t_estimated: [[ 0.9573668 ] [-0.28874329] [ 0.00872513]] R_gt: [[ 0.97563269 -0.21761182 -0.0280299 ] [ 0.21856999 0.97510336 0.03743649] [ 0.01918593 -0.04265066 0.99890584]] t_gt: [ 0.97076889 -0.16489211 0.17440857] Pose Error in degrees for R and t: 178.89917899030002 11.8982911916914 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.57919054e-01 2.87035290e-01 1.35249772e-03] [-2.87034626e-01 9.57919976e-01 -6.65808426e-04] [-1.48669510e-03 2.49576900e-04 9.99998864e-01]] t_estimated: [[0.77253911] [0.63496365] [0.00211655]] R_gt: [[ 0.92062682 -0.38644047 -0.05577156] [ 0.38887564 0.92031584 0.04235475] [ 0.03496042 -0.06068079 0.9975453 ]] t_gt: [ 0.98892677 -0.06055587 0.13548736] Pose Error in degrees for R and t: 39.7221334367055 43.46284518074192 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 0.35666366 0.93423126 0.00172547] [ 0.93423134 -0.35666581 0.00114356] [ 0.00168377 0.00120412 -0.99999786]] t_estimated: [[-0.86844406] [-0.49578509] [-0.00143103]] R_gt: [[ 9.01692524e-01 -4.31081401e-01 -3.34703838e-02] [ 4.32377927e-01 8.98813953e-01 7.20026968e-02] [-9.54577602e-04 -7.93966430e-02 9.96842846e-01]] t_gt: [ 0.98348102 -0.03711476 0.17716538] Pose Error in degrees for R and t: 175.8189487581649 33.28502373876449 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.99653563 0.0831586 0.00117309] [-0.08315442 0.99653139 -0.00324528] [-0.00143889 0.00313648 0.99999405]] t_estimated: [[0.85277669] [0.52227472] [0.00102007]] R_gt: [[ 0.99770594 -0.00500276 0.067505 ] [ 0.00368871 0.99980153 0.01957682] [-0.06759058 -0.01928319 0.99752694]] t_gt: [ 0.02609856 -0.01210071 0.99958613] Pose Error in degrees for R and t: 6.426170491838727 89.02844634399855 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 7.63330788e-01 6.46007575e-01 -5.67673166e-04] [-6.46005808e-01 7.63325916e-01 -3.16875792e-03] [-1.61372198e-03 2.78553064e-03 9.99994818e-01]] t_estimated: [[0.66791642] [0.7442359 ] [0.00076134]] R_gt: [[ 0.99137905 -0.08604918 0.0988077 ] [ 0.08527515 0.99628453 0.01204086] [-0.09947758 -0.00351145 0.99503305]] t_gt: [ 0.56668146 -0.5290988 0.63160635] Pose Error in degrees for R and t: 45.506861485713465 89.1521288760429 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99984901e-01 -5.38982322e-03 -1.07161903e-03] [ 5.39006857e-03 9.99985448e-01 2.26196436e-04] [ 1.07038427e-03 -2.31969121e-04 9.99999400e-01]] t_estimated: [[9.99888328e-01] [1.49186244e-02] [8.75436528e-04]] R_gt: [[ 0.98824075 -0.11517446 0.10057074] [ 0.11615878 0.99322303 -0.00396238] [-0.09943288 0.01559695 0.9949216 ]] t_gt: [ 0.66845481 -0.6172867 0.41487987] Pose Error in degrees for R and t: 8.624716962778189 48.7356351727339 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-9.16192999e-01 -4.00737229e-01 2.48527694e-04] [-4.00735534e-01 9.16190615e-01 2.40618223e-03] [-1.19194554e-03 2.10493343e-03 -9.99997074e-01]] t_estimated: [[9.73184267e-01] [2.30025372e-01] [8.42583781e-04]] R_gt: [[ 0.99415248 -0.09882431 -0.04352706] [ 0.09981938 0.99477647 0.02132996] [ 0.0411914 -0.02554989 0.99882436]] t_gt: [ 0.64820165 -0.74393118 -0.16248391] Pose Error in degrees for R and t: 177.94448408441312 62.64130127532562 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.00733411e-01 4.34371671e-01 7.57859408e-04] [-4.34371142e-01 9.00733656e-01 -7.68923578e-04] [-1.01662810e-03 3.63402901e-04 9.99999417e-01]] t_estimated: [[9.76225068e-01] [2.16757820e-01] [8.14879023e-04]] R_gt: [[ 0.97051099 -0.2204295 -0.0975675 ] [ 0.22438277 0.97399296 0.0314656 ] [ 0.08809435 -0.05243052 0.99473058]] t_gt: [ 0.69607667 -0.7004904 -0.15744989] Pose Error in degrees for R and t: 39.06834563684007 58.15909494455137 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.29848526e-01 -3.67908138e-01 5.03191565e-03] [ 3.67903902e-01 9.29862120e-01 1.77660884e-03] [-5.33261661e-03 1.99284292e-04 9.99985762e-01]] t_estimated: [[0.99920692] [0.03979143] [0.00147376]] R_gt: [[ 0.95584351 -0.27698089 -0.09821591] [ 0.28173578 0.95873345 0.03812751] [ 0.08360171 -0.06411455 0.99443421]] t_gt: [ 0.69044986 -0.71759098 -0.09133549] Pose Error in degrees for R and t: 8.23660835403141 48.607497064249344 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-3.65025674e-01 -9.30997451e-01 -5.04634804e-05] [-9.30986678e-01 3.65021189e-01 4.83082920e-03] [-4.47906943e-03 1.81035751e-03 -9.99988330e-01]] t_estimated: [[0.78921073] [0.61412038] [0.00160758]] R_gt: [[ 0.98747259 -0.12798457 -0.09228075] [ 0.12944993 0.9915352 0.01005289] [ 0.09021216 -0.02187185 0.9956829 ]] t_gt: [ 0.62971742 -0.72385729 -0.28193368] Pose Error in degrees for R and t: 176.35133332065215 87.01979179440238 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.84768189 0.52954636 0.03187584] [ 0.53046088 -0.84530632 -0.06378469] [-0.0068321 0.07097802 -0.99745448]] t_estimated: [[-0.98766015] [-0.15660815] [-0.00114313]] R_gt: [[ 0.9812809 -0.16112195 -0.10547953] [ 0.17493227 0.97481004 0.13836766] [ 0.08052754 -0.15422953 0.98474831]] t_gt: [ 0.49041639 -0.82448055 0.28235367] Pose Error in degrees for R and t: 174.4583561452203 69.17179437706304 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-5.64349000e-01 -8.25533618e-01 -2.10995567e-03] [ 8.25530608e-01 -5.64352759e-01 2.27568336e-03] [-3.06941242e-03 -4.57553357e-04 9.99995185e-01]] t_estimated: [[0.97574574] [0.21890473] [0.00098164]] R_gt: [[ 0.95813564 -0.20238292 -0.20252862] [ 0.23453599 0.9605052 0.14974261] [ 0.16422387 -0.19097316 0.96775985]] t_gt: [ 0.5706933 -0.80810587 0.14585628] Pose Error in degrees for R and t: 112.14765495980629 67.66033719633928 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.90106344e-01 -1.40318806e-01 2.44223814e-04] [ 1.40318798e-01 9.90106374e-01 4.99406475e-05] [-2.48815167e-04 -1.51773600e-05 9.99999969e-01]] t_estimated: [[-8.05155915e-01] [-5.93062821e-01] [-6.64868634e-04]] R_gt: [[ 9.81116176e-01 1.92899655e-01 -1.41661300e-02] [-1.92866701e-01 9.81218696e-01 3.65577488e-03] [ 1.46045967e-02 -8.54053499e-04 9.99893034e-01]] t_gt: [-0.38460788 0.92057659 -0.06793763] Pose Error in degrees for R and t: 19.206677856234574 76.3349615473261 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.44822498e-01 -3.27582155e-01 -6.15208870e-04] [ 3.27582261e-01 9.44822659e-01 7.69126382e-05] [ 5.56068073e-04 -2.74200304e-04 9.99999808e-01]] t_estimated: [[-0.15312485] [-0.9882063 ] [-0.00103898]] R_gt: [[ 0.94138103 0.33714874 0.01146827] [-0.33696176 0.9413894 -0.01560384] [-0.01605636 0.01082475 0.99981295]] t_gt: [-0.31543393 0.94890626 0.00885101] Pose Error in degrees for R and t: 38.8377449999584 27.19909747544712 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99804192e-01 -1.97854745e-02 -3.35165705e-04] [ 1.97855252e-02 9.99804236e-01 1.48816031e-04] [ 3.32155696e-04 -1.55418321e-04 9.99999933e-01]] t_estimated: [[-9.93521777e-01] [-1.13640441e-01] [-5.73928301e-04]] R_gt: [[ 0.92436072 0.38143406 0.0080694 ] [-0.38118283 0.92422687 -0.02249036] [-0.01603661 0.01771298 0.99971501]] t_gt: [-0.27092 0.96257425 -0.00729213] Pose Error in degrees for R and t: 23.591965771006116 80.80577213566787 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 2.96450988e-01 -9.55047998e-01 -3.65466239e-04] [ 9.55047737e-01 2.96450545e-01 9.45901671e-04] [-7.95038831e-04 -6.29451189e-04 9.99999486e-01]] t_estimated: [[ 9.54988229e-01] [-2.96642623e-01] [ 7.98133506e-04]] R_gt: [[ 0.97653478 -0.21347542 -0.02844689] [ 0.2138613 0.97679984 0.01127398] [ 0.02537974 -0.01709252 0.9995312 ]] t_gt: [ 0.82634663 -0.56299761 -0.01359935] Pose Error in degrees for R and t: 60.43777873952896 17.03039159096959 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.93337747e-01 1.15238697e-01 4.03482235e-04] [-1.15238577e-01 9.93337795e-01 -3.08856880e-04] [-4.36386418e-04 2.60302479e-04 9.99999871e-01]] t_estimated: [[9.99992164e-01] [3.88195716e-03] [7.76391432e-04]] R_gt: [[ 0.97464461 -0.22247677 -0.02392248] [ 0.22244081 0.97493754 -0.004168 ] [ 0.02425009 -0.00125796 0.99970477]] t_gt: [ 0.82267192 -0.56585372 -0.05495881] Pose Error in degrees for R and t: 19.52364864732328 34.87252043305734 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.31203627e-01 3.64499353e-01 1.64761337e-04] [-3.64498985e-01 9.31203170e-01 -1.07078214e-03] [-5.43725676e-04 9.37060870e-04 9.99999413e-01]] t_estimated: [[-9.99994884e-01] [-3.10316489e-03] [-7.75791221e-04]] R_gt: [[ 0.95759292 -0.28546417 -0.03907374] [ 0.28460139 0.95828826 -0.02621251] [ 0.04492602 0.01398115 0.9988926 ]] t_gt: [ 0.8321352 -0.54121164 -0.12099987] Pose Error in degrees for R and t: 38.03872331357132 33.86450956560987 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.96397755 -0.26471461 0.02595096] [-0.26472813 0.9643185 0.00297551] [-0.02581265 -0.00400162 -0.99965879]] t_estimated: [[0.98859978] [0.14999741] [0.01308619]] R_gt: [[ 0.99441382 -0.10479143 0.01268533] [ 0.10518226 0.99381841 -0.03554634] [-0.00888129 0.03668254 0.99928668]] t_gt: [ 0.58102939 -0.8047949 -0.12128484] Pose Error in degrees for R and t: 178.1698910385004 63.121423709174366 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99184974e-01 -4.03656567e-02 -4.20776635e-05] [ 4.03656509e-02 9.99184967e-01 -1.30072050e-04] [ 4.72938125e-05 1.28267545e-04 9.99999991e-01]] t_estimated: [[ 9.91659070e-01] [-1.28885231e-01] [-9.41787972e-04]] R_gt: [[ 0.99847005 -0.0545999 0.00885791] [ 0.05476982 0.99829201 -0.02035219] [-0.00773154 0.02080698 0.99975309]] t_gt: [ 0.34352745 -0.93403205 -0.09784187] Pose Error in degrees for R and t: 1.5082706124118561 62.539487313918855 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-9.97121238e-01 -7.56423060e-02 -5.24193649e-03] [-7.56474419e-02 9.97134316e-01 7.88248021e-04] [ 5.16728985e-03 1.18251793e-03 -9.99985950e-01]] t_estimated: [[ 0.99686991] [ 0.0790452 ] [-0.00149697]] R_gt: [[ 0.99782349 -0.04671756 0.0465611 ] [ 0.04856054 0.99804788 -0.03928227] [-0.04463504 0.04145723 0.99814212]] t_gt: [-0.00525417 -0.95437097 0.29857737] Pose Error in degrees for R and t: 177.77165674505792 85.34687413511679 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.96695147e-01 8.12329024e-02 1.67843245e-05] [-8.12329035e-02 9.96695093e-01 3.26191606e-04] [ 9.76863699e-06 -3.26477030e-04 9.99999947e-01]] t_estimated: [[0.23844605] [0.97115446] [0.00157911]] R_gt: [[ 0.9926857 0.11923214 0.01896544] [-0.11991225 0.9919747 0.04006411] [-0.01403648 -0.04204476 0.9990164 ]] t_gt: [-0.37021492 0.82204763 0.43264143] Pose Error in degrees for R and t: 3.3555647475815875 44.70467136562149 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.98978711e-01 4.51801218e-02 -5.39196149e-04] [-4.51796217e-02 9.98978468e-01 9.06252516e-04] [ 5.79589942e-04 -8.80966293e-04 9.99999444e-01]] t_estimated: [[-9.93892846e-01] [-1.10346799e-01] [-7.71655936e-04]] R_gt: [[ 9.77874844e-01 2.09048271e-01 7.71923986e-03] [-2.09189241e-01 9.77369743e-01 3.14126891e-02] [-9.78311024e-04 -3.23309915e-02 9.99476724e-01]] t_gt: [-0.16825662 0.97306068 0.15761543] Pose Error in degrees for R and t: 9.65486429356004 86.5754959030267 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.81458084 0.57998002 0.00901319] [-0.57997971 -0.8146257 0.00291421] [ 0.00903256 -0.0028536 0.99995513]] t_estimated: [[0.65977535] [0.75146075] [0.00179775]] R_gt: [[ 0.97408911 0.22315356 0.03677888] [-0.2229423 0.97478129 -0.00982092] [-0.03804343 0.00136831 0.99927491]] t_gt: [-0.12694231 0.98016813 0.15217123] Pose Error in degrees for R and t: 131.6686783131401 49.225922892637016 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 8.62298315e-01 5.06399985e-01 8.19618434e-04] [-5.06399078e-01 8.62298542e-01 -1.09413604e-03] [-1.26082626e-03 5.28417647e-04 9.99999066e-01]] t_estimated: [[0.80424493] [0.59429562] [0.0016752 ]] R_gt: [[ 0.99117241 -0.12747256 0.03642344] [ 0.12853451 0.99129745 -0.02846235] [-0.03247847 0.03289245 0.99893009]] t_gt: [ 0.62499985 -0.77785675 0.06568145] Pose Error in degrees for R and t: 37.866451206345765 87.67968155549701 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-2.63752703e-02 -9.99650474e-01 -1.80991362e-03] [ 9.99651644e-01 -2.63769658e-02 9.19426366e-04] [-9.66845032e-04 -1.78503300e-03 9.99997939e-01]] t_estimated: [[ 9.91918910e-01] [-1.26869945e-01] [ 9.44809002e-04]] R_gt: [[ 0.98264835 -0.18029003 0.04355568] [ 0.1823125 0.98206657 -0.04804151] [-0.03411406 0.05514814 0.99789445]] t_gt: [ 0.62805758 -0.77768309 -0.02743516] Pose Error in degrees for R and t: 81.13080465641268 43.81153408000714 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99729402 0.07293108 0.00925716] [ 0.07290993 -0.99733513 0.00260314] [ 0.00942234 -0.00192116 -0.99995376]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99124844 -0.11970629 0.05565027] [ 0.12221812 0.99152065 -0.04415274] [-0.04989413 0.0505675 0.99747278]] t_gt: [ 0.471914 -0.87509644 0.10725395] Pose Error in degrees for R and t: 177.26710430896608 29.305278707570245 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.25930616 -0.96579227 -0.00236959] [-0.96579102 0.25929707 0.00356927] [-0.00283275 0.00321406 -0.99999082]] t_estimated: [[0.79916863] [0.60110627] [0.0008649 ]] R_gt: [[ 0.99321615 0.11549601 0.01351673] [-0.11535135 0.99326396 -0.01104689] [-0.01470095 0.00941289 0.99984789]] t_gt: [-0.38587147 0.92220431 0.02534595] Pose Error in degrees for R and t: 179.71213810673456 75.75975042498283 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999006e-01 -1.37386505e-03 -3.16005235e-04] [ 1.37394607e-03 9.99999023e-01 2.56316661e-04] [ 3.15652782e-04 -2.56750580e-04 9.99999917e-01]] t_estimated: [[-7.95842954e-01] [-6.05502698e-01] [-6.89638608e-04]] R_gt: [[ 0.98229385 0.1867647 0.01470455] [-0.18570005 0.98104889 -0.05531065] [-0.02475532 0.05160102 0.99836074]] t_gt: [-0.31792784 0.94621995 -0.05991414] Pose Error in degrees for R and t: 11.311611608944554 71.34452669074953 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.52970449 -0.84781352 -0.02500774] [-0.84717173 0.52740457 0.06437761] [-0.04139101 0.05528696 -0.99761222]] t_estimated: [[0.79856103] [0.60191324] [0.00085499]] R_gt: [[ 0.95076791 0.30887863 0.02516499] [-0.30705066 0.94990026 -0.05840161] [-0.04194226 0.04779896 0.99797606]] t_gt: [-0.28142098 0.95930504 0.02315309] Pose Error in degrees for R and t: 179.86712781239268 69.34706130966534 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 0.08808166 -0.99611132 -0.00196344] [-0.99611275 -0.08807946 -0.00117864] [ 0.00100112 0.00205962 -0.99999738]] t_estimated: [[0.56648897] [0.82406879] [0.00093326]] R_gt: [[ 0.99978866 0.02049124 0.00135794] [-0.02050916 0.99968309 0.01465892] [-0.00105686 -0.01468377 0.99989105]] t_gt: [0.34887013 0.83694486 0.4216787 ] Pose Error in degrees for R and t: 179.45732029961772 27.41128076592428 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.95734086e-01 -9.22688523e-02 -2.97243796e-04] [ 9.22689372e-02 9.95734082e-01 2.85776637e-04] [ 2.69607496e-04 -3.11983907e-04 9.99999915e-01]] t_estimated: [[-0.51164485] [-0.85919643] [-0.00101921]] R_gt: [[ 0.99475822 0.10212848 -0.00513705] [-0.10187157 0.99410853 0.03702987] [ 0.0088891 -0.03631287 0.9993012 ]] t_gt: [-0.15899862 0.96539383 0.20672249] Pose Error in degrees for R and t: 11.35001121426997 41.55469766972184 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-2.81622280e-01 9.59525292e-01 3.25678435e-04] [-9.59524410e-01 -2.81621515e-01 -1.49301564e-03] [-1.34086821e-03 -7.32962876e-04 9.99998832e-01]] t_estimated: [[0.49084348] [0.87124717] [0.00102259]] R_gt: [[ 0.98382072 0.17640855 0.03125541] [-0.17773466 0.98297876 0.04651707] [-0.02251789 -0.05131909 0.99842876]] t_gt: [-0.23655768 0.92005594 0.31230998] Pose Error in degrees for R and t: 96.18990728531537 46.70123148023583 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99883925e-01 1.52345931e-02 -2.11349253e-04] [-1.52344873e-02 9.99883827e-01 4.93720154e-04] [ 2.18846326e-04 -4.90443048e-04 9.99999856e-01]] t_estimated: [[ 6.94395656e-01] [-7.19593351e-01] [-2.85877005e-04]] R_gt: [[ 0.99211737 -0.10589593 0.0670127 ] [ 0.10797989 0.99375116 -0.02828156] [-0.06359867 0.03529485 0.99735099]] t_gt: [ 0.73357705 -0.66482147 0.14098625] Pose Error in degrees for R and t: 8.17613432878807 8.97609482330303 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.99999792 0.00154543 0.00133446] [-0.00154389 0.99999814 -0.00115831] [-0.00133625 0.00115625 0.99999844]] t_estimated: [[9.95363321e-01] [9.61826546e-02] [8.69074406e-04]] R_gt: [[ 0.96903553 -0.14621604 0.19897639] [ 0.15507938 0.98745834 -0.02962386] [-0.19214849 0.0595641 0.97955624]] t_gt: [ 0.60544528 -0.58148497 0.54342546] Pose Error in degrees for R and t: 14.510348980480229 56.82613140761671 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.70539613 0.70878112 0.00675449] [ 0.70876793 0.70542677 -0.00459231] [-0.00801974 0.00154797 -0.99996664]] t_estimated: [[-0.00199252] [-0.99998525] [ 0.00505293]] R_gt: [[ 0.94217903 -0.14099395 0.30400855] [ 0.16033471 0.98627276 -0.03948964] [-0.29426683 0.08594906 0.95185055]] t_gt: [ 0.52354719 -0.43819591 0.73067276] Pose Error in degrees for R and t: 162.0127976456298 63.842619259033974 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-1.21208273e-01 9.92627080e-01 1.83845254e-04] [-9.92625470e-01 -1.21207736e-01 -1.83345479e-03] [-1.79765341e-03 -4.04719369e-04 9.99998302e-01]] t_estimated: [[-5.03312115e-01] [ 8.64104495e-01] [ 5.79292686e-04]] R_gt: [[ 0.99741321 0.03287326 0.06392677] [-0.03073012 0.99894168 -0.03422242] [-0.06498512 0.03217063 0.99736791]] t_gt: [-0.3743625 0.91806003 0.13045498] Pose Error in degrees for R and t: 95.20086644842061 10.949025578215927 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.79665839e-01 2.00636094e-01 5.01004011e-05] [-2.00636092e-01 9.79665839e-01 -4.27641139e-05] [-5.76616762e-05 3.18425929e-05 9.99999998e-01]] t_estimated: [[-6.93006902e-01] [-7.20930621e-01] [-6.87777196e-04]] R_gt: [[ 0.98700866 0.13708675 0.08379359] [-0.12984747 0.9877547 -0.08648942] [-0.09462418 0.07448707 0.992723 ]] t_gt: [-0.34083316 0.94002435 -0.0136736 ] Pose Error in degrees for R and t: 7.924010292750559 63.80144640242335 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.9955632 -0.09408139 0.00161652] [-0.09407387 0.99555623 0.00423015] [-0.00200731 0.00405931 -0.99998975]] t_estimated: [[8.01490828e-01] [5.98006744e-01] [6.22275488e-04]] R_gt: [[ 0.96968947 0.23683263 0.0601016 ] [-0.23448216 0.97114066 -0.04363876] [-0.06870254 0.02822429 0.99723821]] t_gt: [-0.29574439 0.95480447 0.02972686] Pose Error in degrees for R and t: 176.3073848564462 70.49059446389471 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99995549e-01 2.98303502e-03 -6.62808887e-05] [-2.98303328e-03 9.99995550e-01 2.62537291e-05] [ 6.63589095e-05 -2.60558941e-05 9.99999997e-01]] t_estimated: [[ 9.99770031e-01] [-2.14444001e-02] [ 1.50675032e-04]] R_gt: [[ 0.99585762 0.09034997 -0.01018729] [-0.09044498 0.99585777 -0.00931142] [ 0.00930423 0.0101941 0.99990489]] t_gt: [ 0.05870004 0.97390392 -0.21923836] Pose Error in degrees for R and t: 5.0775905887816535 87.83549708707505 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.96715985e-01 8.09758856e-02 -3.87983673e-04] [-8.09755681e-02 9.96715786e-01 7.74071473e-04] [ 4.49390574e-04 -7.40112213e-04 9.99999625e-01]] t_estimated: [[-0.68532904] [-0.72823267] [-0.00112904]] R_gt: [[ 0.99464709 0.09984127 0.02662453] [-0.09794482 0.99307294 -0.06491049] [-0.03292152 0.06195589 0.99753541]] t_gt: [ 0.03517018 0.98244837 -0.18318914] Pose Error in degrees for R and t: 4.2027954448787295 42.32415310878223 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 1.00000000e+00 6.88699042e-10 1.59548026e-12] [-6.88698765e-10 1.00000000e+00 5.22250927e-12] [-1.59547939e-12 -5.22250922e-12 1.00000000e+00]] t_estimated: [[0.93328948] [0.35912289] [0.00122572]] R_gt: [[ 0.99932888 0.02889457 0.02250108] [-0.02715238 0.99687099 -0.07423731] [-0.02457548 0.0735781 0.99698631]] t_gt: [ 0.76393366 0.4294342 -0.48165509] Pose Error in degrees for R and t: 4.730873326349383 29.934030186635542 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999612e-01 6.41826635e-04 6.03037359e-04] [-6.41339438e-04 9.99999468e-01 -8.07750369e-04] [-6.03555474e-04 8.07363304e-04 9.99999492e-01]] t_estimated: [[-0.00778594] [-0.99996526] [-0.00297711]] R_gt: [[ 0.96698384 -0.2535124 0.02598527] [ 0.2543032 0.96653219 -0.03385364] [-0.01653283 0.03934372 0.99908905]] t_gt: [ 0.85924503 -0.5065751 -0.07127169] Pose Error in degrees for R and t: 14.94333647090094 59.99473036495526 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999790e-01 -1.36942814e-04 6.33463474e-04] [ 1.37424157e-04 9.99999702e-01 -7.59878704e-04] [-6.33359225e-04 7.59965598e-04 9.99999511e-01]] t_estimated: [[8.87179266e-01] [4.61424289e-01] [7.58921528e-04]] R_gt: [[ 0.86227954 -0.50643059 0.00155205] [ 0.50634785 0.86207679 -0.02087059] [ 0.00923204 0.01878282 0.99978093]] t_gt: [ 0.91464204 -0.40277725 -0.03464714] Pose Error in degrees for R and t: 30.4411208712766 51.275673264022096 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.99981541 -0.00545024 -0.01842384] [ 0.00581198 0.99979026 0.019638 ] [ 0.01831295 -0.01974146 0.99963739]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.81723693 -0.57616868 0.01242747] [ 0.57626779 0.81676618 -0.02840503] [ 0.00621598 0.03037568 0.99951913]] t_gt: [ 0.92719492 -0.37225667 -0.04164801] Pose Error in degrees for R and t: 35.012461642906885 23.088166337357634 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.94256367e-01 1.07024606e-01 -9.74580631e-05] [-1.07024602e-01 9.94256372e-01 4.01819837e-05] [ 1.01198761e-04 -2.95207828e-05 9.99999994e-01]] t_estimated: [[-9.99961616e-01] [-8.75617531e-03] [-3.10992979e-04]] R_gt: [[ 0.96312442 0.26126198 0.06428953] [-0.26001681 0.96522171 -0.02717448] [-0.06915332 0.00945693 0.99756142]] t_gt: [-0.72334292 0.68099694 0.11409729] Pose Error in degrees for R and t: 9.835105480971258 44.16661258212368 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.93639833e-01 -1.12604907e-01 1.28402907e-04] [ 1.12604981e-01 9.93639172e-01 -1.14652841e-03] [ 1.51856682e-06 1.15369510e-03 9.99999334e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.9275713 0.36848355 0.06190462] [-0.365898 0.92934758 -0.04929781] [-0.07569616 0.02307646 0.99686333]] t_gt: [-0.68872351 0.72212853 0.06473266] Pose Error in degrees for R and t: 28.395815666743857 83.0932915702604 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.87052706e-01 -1.60394472e-01 -7.54345068e-04] [ 1.60394736e-01 9.87052905e-01 3.02872309e-04] [ 6.95999447e-04 -4.19943910e-04 9.99999670e-01]] t_estimated: [[-0.66239065] [-0.74915771] [-0.00116052]] R_gt: [[ 0.89600819 0.44170463 0.04547672] [-0.43896809 0.8965518 -0.0591718 ] [-0.06690874 0.0330558 0.99721085]] t_gt: [-0.66210006 0.74884069 0.02934498] Pose Error in degrees for R and t: 35.649550411072724 82.96561741965041 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.41453536e-01 9.70411592e-01 -1.23793971e-03] [-9.70374483e-01 2.41455184e-01 8.52978376e-03] [ 8.57630800e-03 -8.58281338e-04 9.99962854e-01]] t_estimated: [[8.22104447e-01] [5.69336402e-01] [5.83357871e-04]] R_gt: [[ 0.96816065 -0.23535054 -0.08529873] [ 0.23383871 0.97188825 -0.02745052] [ 0.08936144 0.00663088 0.99597757]] t_gt: [ 0.86111122 -0.45437638 -0.22809993] Pose Error in degrees for R and t: 89.72188557986182 63.314218442502934 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.65983604 0.75130305 -0.01265422] [-0.75135004 0.65947813 -0.02370029] [-0.00946092 0.02514605 0.99963902]] t_estimated: [[7.48848170e-01] [6.62741217e-01] [7.05794693e-04]] R_gt: [[ 0.88447075 -0.46231017 -0.06310568] [ 0.45683446 0.88552949 -0.08450062] [ 0.09494762 0.04591045 0.99442322]] t_gt: [ 0.91458246 -0.36191918 -0.18042571] Pose Error in degrees for R and t: 76.28641341949348 63.583232144059814 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.87191328 -0.48965853 -0.00132847] [-0.48965156 0.87191069 -0.0036205 ] [ 0.00293112 -0.00250628 -0.99999256]] t_estimated: [[9.75504869e-01] [2.19975884e-01] [9.28168286e-04]] R_gt: [[ 0.70459523 -0.70763418 -0.05292203] [ 0.70177783 0.70592744 -0.09578357] [ 0.10513834 0.03034944 0.99399461]] t_gt: [ 0.96251411 -0.25012578 -0.10489847] Pose Error in degrees for R and t: 174.07223346777056 27.89356309874743 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.99999997e-01 1.33818089e-05 7.53920035e-05] [-1.33764540e-05 9.99999997e-01 -7.10271757e-05] [-7.53929538e-05 7.10261670e-05 9.99999995e-01]] t_estimated: [[0.99841616] [0.05624667] [0.00122175]] R_gt: [[ 0.99883938 -0.018336 0.04454625] [ 0.02081778 0.99821993 -0.05590259] [-0.04344154 0.05676644 0.99744273]] t_gt: [ 0.7332126 -0.65385481 0.18674361] Pose Error in degrees for R and t: 4.243894870522952 45.93274263002575 Number of keypoints: Image1: 413 Image2: 413 R_estimated: [[-0.59628495 0.80229588 0.02766894] [ 0.80232499 0.59674935 -0.01283838] [-0.0268116 0.01454415 -0.99953469]] t_estimated: [[ 0.89753181] [-0.44068842] [ 0.01517785]] R_gt: [[ 0.99732782 -0.07285916 0.00531833] [ 0.07303126 0.99616765 -0.04813281] [-0.00179098 0.04839273 0.99882661]] t_gt: [ 0.63394499 -0.69443688 -0.34039854] Pose Error in degrees for R and t: 176.8269802876035 29.55883673477833 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.99999803e-01 -4.03769339e-04 4.80554732e-04] [ 4.04030115e-04 9.99999771e-01 -5.42683914e-04] [-4.80335503e-04 5.42877966e-04 9.99999737e-01]] t_estimated: [[0.01964222] [0.99980381] [0.0025557 ]] R_gt: [[ 0.99314088 -0.10937624 -0.04131525] [ 0.11007416 0.99381014 0.01500904] [ 0.03941816 -0.01945348 0.99903359]] t_gt: [ 0.54119357 -0.82566748 -0.15931959] Pose Error in degrees for R and t: 6.779636393152921 35.38470359810465 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 0.80673786 0.59087759 0.00614025] [ 0.59090835 -0.80671314 -0.00642069] [ 0.00115958 0.00880813 -0.99996054]] t_estimated: [[-0.76160704] [ 0.64798911] [-0.00805182]] R_gt: [[ 9.99868325e-01 -1.06739117e-03 1.62152866e-02] [ 1.05301211e-03 9.99998835e-01 9.21916382e-04] [-1.62164419e-02 -9.04071006e-04 9.99868213e-01]] t_gt: [-0.53803078 -0.56620365 0.6244488 ] Pose Error in degrees for R and t: 179.30039644868103 87.83105024379029 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 0.62207725 -0.78280913 0.01515787] [ 0.78286317 0.62218493 0.00334327] [-0.01204814 0.00978676 0.99987952]] t_estimated: [[ 0.98000096] [-0.19894411] [ 0.00440027]] R_gt: [[ 0.99714207 -0.06116098 -0.04435029] [ 0.06234113 0.99772215 0.02572908] [ 0.04267529 -0.02842028 0.99868497]] t_gt: [ 0.40753202 -0.86666361 -0.28777046] Pose Error in degrees for R and t: 48.12808967048741 55.212589391335314 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.40180366e-01 3.40676976e-01 2.77599990e-04] [-3.40676844e-01 9.40180355e-01 -4.33241337e-04] [-4.08589406e-04 3.12753111e-04 9.99999868e-01]] t_estimated: [[-9.99926409e-01] [-1.21062070e-02] [-7.85527298e-04]] R_gt: [[ 0.99362357 -0.08267919 -0.07666105] [ 0.08678629 0.99487407 0.05188954] [ 0.071978 -0.05821087 0.99570641]] t_gt: [ 0.45423897 -0.85125249 -0.26274733] Pose Error in degrees for R and t: 25.349342011590284 63.660206953055045 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.91806192e-01 1.27751622e-01 -3.14299877e-05] [-1.27751623e-01 9.91806192e-01 -3.16136477e-05] [ 2.71337617e-05 3.53698435e-05 9.99999999e-01]] t_estimated: [[-0.56389478] [-0.82584572] [-0.00123217]] R_gt: [[ 0.99584094 0.08369385 0.03597975] [-0.08173749 0.99525398 -0.0528034 ] [-0.04022692 0.04964365 0.99795635]] t_gt: [-0.3223025 0.94020997 -0.11011951] Pose Error in degrees for R and t: 4.486368160594456 53.51673305469706 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.05361302e-01 4.24642084e-01 -1.13556243e-04] [-4.24642099e-01 9.05361250e-01 -3.06962847e-04] [-2.75399214e-05 3.26133044e-04 9.99999946e-01]] t_estimated: [[-0.8999685 ] [ 0.43595351] [-0.00111198]] R_gt: [[ 0.98493731 0.16993256 0.03196506] [-0.16865373 0.98489619 -0.03920084] [-0.03814286 0.03321923 0.9987196 ]] t_gt: [-0.29404824 0.95534992 -0.02902001] Pose Error in degrees for R and t: 15.642165980099476 47.06606863997039 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999193e-01 -1.24302118e-03 -2.62865183e-04] [ 1.24307354e-03 9.99999208e-01 1.99136417e-04] [ 2.62617444e-04 -1.99463017e-04 9.99999946e-01]] t_estimated: [[ 9.49362121e-01] [-3.14183910e-01] [ 1.81925518e-04]] R_gt: [[ 0.94790197 0.31718975 -0.02952784] [-0.31779986 0.94797085 -0.01884689] [ 0.02201513 0.02724865 0.99938658]] t_gt: [-0.22209905 0.9688246 -0.10977662] Pose Error in degrees for R and t: 18.69532569512373 58.985064500510155 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.57302101 -0.81953795 -0.00211516] [-0.81953768 0.57302398 -0.00122402] [ 0.00221517 0.00103206 -0.99999701]] t_estimated: [[9.15746451e-01] [4.01756054e-01] [7.14868424e-04]] R_gt: [[ 9.95307123e-01 -9.67662845e-02 -5.32984646e-04] [ 9.66614386e-02 9.94450399e-01 -4.15403727e-02] [ 4.54892762e-03 4.12935456e-02 9.99136205e-01]] t_gt: [ 0.70032456 -0.58886445 -0.4034652 ] Pose Error in degrees for R and t: 178.63272925148271 66.14324345234036 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999723e-01 6.69524937e-05 -7.41367130e-04] [-6.60255061e-05 9.99999216e-01 1.25032972e-03] [ 7.41450262e-04 -1.25028042e-03 9.99998944e-01]] t_estimated: [[-0.7020174 ] [-0.7121589 ] [-0.00112683]] R_gt: [[ 0.97839135 -0.16376859 0.12622333] [ 0.17027548 0.98447821 -0.04253737] [-0.11729768 0.06311004 0.99108933]] t_gt: [ 0.71096795 -0.6837708 0.16426221] Pose Error in degrees for R and t: 12.362937874868152 89.2927514068621 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.53501856 -0.84483903 -0.00147127] [ 0.84483534 -0.53500863 -0.00435995] [ 0.00289632 -0.00357563 0.99998941]] t_estimated: [[0.98396237] [0.17837233] [0.00116583]] R_gt: [[ 0.95796743 -0.15300606 0.24267015] [ 0.17021864 0.98406025 -0.05149784] [-0.23092345 0.0906398 0.96874094]] t_gt: [ 0.60252499 -0.58773262 0.53993889] Pose Error in degrees for R and t: 113.52610205585322 60.74770675097438 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 2.56215449e-01 -9.66618272e-01 -1.66144287e-03] [ 9.66619676e-01 2.56214685e-01 6.61218601e-04] [-2.13459919e-04 -1.77539779e-03 9.99998401e-01]] t_estimated: [[ 0.85330028] [-0.52141886] [ 0.00100301]] R_gt: [[ 0.98601214 0.12513494 0.11010903] [-0.12169044 0.99186045 -0.03748772] [-0.11390377 0.02356438 0.99321164]] t_gt: [-0.43341195 0.74065162 0.51340945] Pose Error in degrees for R and t: 82.49690564254728 40.93045769241675 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-1.58857756e-01 -9.87286951e-01 -5.35621754e-03] [-9.87301459e-01 1.58854288e-01 1.06965557e-03] [-2.05198861e-04 5.45812448e-03 -9.99985083e-01]] t_estimated: [[8.73224442e-01] [4.87317771e-01] [6.80611412e-04]] R_gt: [[ 0.94559604 0.3074866 0.10631162] [-0.30345116 0.95139139 -0.05265487] [-0.11733395 0.01752929 0.99293796]] t_gt: [-0.35160015 0.89825627 0.2636532 ] Pose Error in degrees for R and t: 176.60575034101836 82.47898386805439 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99984653e-01 -5.51169689e-03 -5.60584535e-04] [ 5.51147311e-03 9.99984732e-01 -3.99955490e-04] [ 5.62780410e-04 3.96859706e-04 9.99999763e-01]] t_estimated: [[-9.99971562e-01] [-7.48844931e-03] [-8.93225926e-04]] R_gt: [[ 0.8882826 0.44586399 0.1102739 ] [-0.43788407 0.89455279 -0.08963726] [-0.13861186 0.03133611 0.9898511 ]] t_gt: [-0.27565215 0.94028488 0.19970036] Pose Error in degrees for R and t: 27.889877316265654 74.42945396164875 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 6.20000232e-01 7.84600786e-01 1.14823757e-03] [-7.84601298e-01 6.20000647e-01 -7.50236971e-06] [-7.17794404e-04 -8.96257220e-04 9.99999341e-01]] t_estimated: [[0.23379788] [0.97228457] [0.00112403]] R_gt: [[ 0.99712176 0.06485663 -0.03925199] [-0.063638 0.99747355 0.03155898] [ 0.04119968 -0.02896954 0.99873057]] t_gt: [-0.09540487 0.97702993 -0.19055296] Pose Error in degrees for R and t: 48.0814119498673 21.962094854291806 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-0.7691632 -0.63900725 -0.00759691] [-0.63900763 0.76919568 -0.00269326] [ 0.00756453 0.00278292 -0.99996752]] t_estimated: [[ 0.92269093] [ 0.38552928] [-0.00293699]] R_gt: [[ 0.98837157 0.15185682 0.00777538] [-0.15203488 0.98780305 0.03363861] [-0.00257242 -0.03442909 0.99940442]] t_gt: [-0.27928112 0.9401872 0.19506431] Pose Error in degrees for R and t: 179.51466290920297 84.01854049467346 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 6.56067977e-01 7.54701681e-01 4.26080436e-04] [ 7.54678739e-01 -6.56052238e-01 7.44725291e-03] [ 5.89998531e-03 -4.56435030e-03 -9.99972178e-01]] t_estimated: [[0.65780052] [0.75319153] [0.00099366]] R_gt: [[ 0.9832631 0.18159126 0.01476871] [-0.18205152 0.9824548 0.04049306] [-0.00715683 -0.04250264 0.99907108]] t_gt: [-0.20169143 0.95514276 0.21684758] Pose Error in degrees for R and t: 177.69449985014896 54.05926004901012 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999834e-01 -5.75956118e-04 -2.16799903e-05] [ 5.75956476e-04 9.99999834e-01 1.65074552e-05] [ 2.16704791e-05 -1.65199392e-05 1.00000000e+00]] t_estimated: [[-9.99991654e-01] [-4.00465278e-03] [-8.09114660e-04]] R_gt: [[ 0.99497978 0.09869748 0.01655112] [-0.09840259 0.99498985 -0.01770704] [-0.01821656 0.01598972 0.99970631]] t_gt: [-0.66393926 0.74756564 0.01817358] Pose Error in degrees for R and t: 5.856603339830876 48.62952272959642 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999960e-01 2.10634636e-04 -1.87968020e-04] [-2.10577879e-04 9.99999932e-01 3.01919089e-04] [ 1.88031602e-04 -3.01879495e-04 9.99999937e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.98646838 0.16209075 -0.02463392] [-0.16180946 0.98673686 0.01301607] [ 0.02641597 -0.00885398 0.99961147]] t_gt: [-0.63261022 0.77295558 -0.04841469] Pose Error in degrees for R and t: 9.442592893818645 59.96244303950007 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.76183179e-01 -2.16947570e-01 -3.91235834e-04] [ 2.16947709e-01 9.76183160e-01 3.58531778e-04] [ 3.04135235e-04 -4.34870409e-04 9.99999859e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.99028002 0.13443652 -0.03566823] [-0.13564274 0.99017937 -0.03387355] [ 0.0307635 0.03838211 0.99878957]] t_gt: [-0.54671834 0.79607203 -0.25955419] Pose Error in degrees for R and t: 20.48874126216414 37.99000087131639 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.97285993e-01 7.36239764e-02 3.97130103e-04] [-7.36238585e-02 9.97286035e-01 -3.03579486e-04] [-4.18403035e-04 2.73517319e-04 9.99999875e-01]] t_estimated: [[0.43778352] [0.89907971] [0.00111965]] R_gt: [[ 0.99811517 -0.02708574 0.05507097] [ 0.02798548 0.99948624 -0.01563982] [-0.05461966 0.01715062 0.99836009]] t_gt: [-0.4672123 -0.39396959 0.79151793] Pose Error in degrees for R and t: 6.651152344336627 56.091952306726625 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.76443459e-01 -2.15768787e-01 -1.41517477e-03] [ 2.15768194e-01 9.76444454e-01 -5.61009679e-04] [ 1.50288794e-03 2.42444527e-04 9.99998841e-01]] t_estimated: [[ 0.92609722] [-0.37726501] [-0.00387873]] R_gt: [[ 0.99578634 -0.0907345 0.01334476] [ 0.09090229 0.99577967 -0.01262745] [-0.01214267 0.01378597 0.99983068]] t_gt: [ 0.06403477 -0.99794663 0.0014428 ] Pose Error in degrees for R and t: 7.33194062943876 64.16460662016331 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.90530588e-01 1.37291558e-01 4.26130737e-04] [-1.37291593e-01 9.90530674e-01 5.36810691e-05] [-4.14725608e-04 -1.11676909e-04 9.99999908e-01]] t_estimated: [[ 9.79492070e-01] [-2.01482152e-01] [ 4.77130012e-04]] R_gt: [[ 0.99593014 -0.08166591 -0.03812904] [ 0.08244665 0.99640727 0.01937792] [ 0.03640946 -0.02244319 0.9990846 ]] t_gt: [-0.15720881 -0.96205434 -0.22301756] Pose Error in degrees for R and t: 12.838997710596727 87.72214535898118 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99979694e-01 -6.26346245e-03 -1.17460344e-03] [ 6.26273910e-03 9.99980198e-01 -6.18494143e-04] [ 1.17845410e-03 6.11125349e-04 9.99999119e-01]] t_estimated: [[ 0.99994892] [-0.00835867] [-0.00568327]] R_gt: [[ 0.99686891 -0.01286019 0.07802307] [ 0.00443857 0.99423111 0.10717354] [-0.07895096 -0.10649231 0.99117334]] t_gt: [-0.03528883 -0.18496228 0.98211183] Pose Error in degrees for R and t: 7.687492931127246 87.74640023378217 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999022e-01 -1.39485376e-03 -1.03095733e-04] [ 1.39480485e-03 9.99998915e-01 -4.72944834e-04] [ 1.03755310e-04 4.72800573e-04 9.99999883e-01]] t_estimated: [[ 9.99996572e-01] [-2.59124332e-03] [ 3.75129681e-04]] R_gt: [[ 0.99320293 0.07450191 0.08943184] [-0.08848493 0.98244137 0.16425903] [-0.07562437 -0.17105608 0.98235428]] t_gt: [-0.39633781 0.2959507 0.86909696] Pose Error in degrees for R and t: 11.819780689653447 66.62313373682694 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99973756e-01 -6.82920122e-03 -2.41861883e-03] [ 6.83100595e-03 9.99976396e-01 7.38710987e-04] [ 2.41351693e-03 -7.55213199e-04 9.99996802e-01]] t_estimated: [[0.99974938] [0.02236286] [0.00103806]] R_gt: [[ 0.97267259 0.19686003 0.123109 ] [-0.21456155 0.96471969 0.15257977] [-0.08872853 -0.17482435 0.98059302]] t_gt: [-0.54252066 0.61814016 0.56883572] Pose Error in degrees for R and t: 16.778414765009188 58.131546291126966 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999999e-01 2.27810237e-05 -3.93799734e-05] [-2.27876616e-05 9.99999986e-01 -1.68570234e-04] [ 3.93761326e-05 1.68571131e-04 9.99999985e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.99472333 0.09634194 0.03524957] [-0.09428707 0.99397177 -0.05593736] [-0.04042555 0.05231841 0.99781164]] t_gt: [-0.31753504 0.94701587 -0.04829539] Pose Error in degrees for R and t: 6.654413799965484 77.81124852286163 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.82118863e-01 1.88261889e-01 1.59516551e-05] [-1.88261887e-01 9.82118859e-01 -8.79914143e-05] [-3.22318512e-05 8.34149390e-05 9.99999996e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97929853 0.20233942 0.00568261] [-0.2019277 0.97848773 -0.04226113] [-0.01411118 0.04023844 0.9990908 ]] t_gt: [-0.25996363 0.95860245 -0.11619062] Pose Error in degrees for R and t: 2.5719467480287994 75.10313171216336 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99998544e-01 -1.70673781e-03 -6.44907052e-06] [ 1.70674560e-03 9.99997402e-01 1.51115782e-03] [ 3.86990357e-06 -1.51116663e-03 9.99998858e-01]] t_estimated: [[-6.16863374e-01] [-7.87070242e-01] [-1.05115925e-04]] R_gt: [[ 0.9166535 0.39956313 0.00972003] [-0.39743935 0.91381363 -0.08357715] [-0.04227723 0.0727486 0.99645367]] t_gt: [-0.23398542 0.9700012 -0.06594307] Pose Error in degrees for R and t: 24.12448407181429 51.74845549008175 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.97949270e-01 6.40096490e-02 1.39965455e-04] [-6.40096071e-02 9.97949241e-01 -2.85995680e-04] [-1.57984903e-04 2.76450046e-04 9.99999949e-01]] t_estimated: [[8.63021427e-01] [5.05166868e-01] [6.72658945e-04]] R_gt: [[ 0.9994271 -0.03352295 -0.00466029] [ 0.03351152 0.99943515 -0.0025404 ] [ 0.00474321 0.00238288 0.99998558]] t_gt: [ 0.69306588 -0.71230191 -0.11084078] Pose Error in degrees for R and t: 5.599131334189647 76.21820864197807 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.92512169e-01 1.22145778e-01 6.16946855e-05] [-1.22145788e-01 9.92512146e-01 2.16994479e-04] [-3.47277652e-05 -2.22905407e-04 9.99999975e-01]] t_estimated: [[-9.99994892e-01] [-3.10075934e-03] [-7.75189839e-04]] R_gt: [[ 0.99925088 0.02437549 0.03007723] [-0.02418682 0.99968618 -0.00661226] [-0.03022907 0.00587974 0.99952527]] t_gt: [-0.71902962 -0.25724747 0.64561609] Pose Error in degrees for R and t: 5.894204123391218 44.00137423546706 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-9.60795821e-01 -2.77107409e-01 -9.10348438e-03] [ 2.77255588e-01 -9.60374302e-01 -2.84699778e-02] [-8.53510658e-04 -2.98778277e-02 9.99553194e-01]] t_estimated: [[9.59234172e-01] [2.82611471e-01] [7.47649394e-04]] R_gt: [[ 0.99530739 0.09478827 -0.0194329 ] [-0.09507883 0.9953625 -0.01462224] [ 0.0179568 0.01640075 0.99970409]] t_gt: [-0.79142564 0.49318863 -0.36112386] Pose Error in degrees for R and t: 169.34089744341867 51.68008669251289 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.92051095e-01 -1.25835655e-01 -1.13445361e-04] [ 1.25835672e-01 9.92051086e-01 1.61027573e-04] [ 9.22805839e-05 -1.74023053e-04 9.99999981e-01]] t_estimated: [[-0.89469291] [-0.44667977] [-0.00133337]] R_gt: [[ 0.99855581 0.01794557 0.05063355] [-0.01455765 0.99767978 -0.06651342] [-0.05170963 0.06568106 0.99649907]] t_gt: [-0.22127185 0.86095001 -0.45804349] Pose Error in degrees for R and t: 9.469956995568978 79.28126814482364 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[-0.95100078 0.30885815 -0.01428807] [ 0.30885016 0.95110653 0.00281804] [ 0.01445985 -0.00173292 -0.99989395]] t_estimated: [[ 0.98429629] [-0.17637074] [-0.0073603 ]] R_gt: [[ 0.99754802 0.060456 0.03524098] [-0.05844584 0.99674499 -0.05553545] [-0.03848416 0.05334008 0.99783393]] t_gt: [-0.10370398 0.95367392 -0.28240314] Pose Error in degrees for R and t: 178.25641536221852 74.44299080394536 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 1.30994074e-01 9.91383140e-01 -1.47634733e-04] [-9.91381576e-01 1.30993599e-01 -1.80196493e-03] [-1.76709845e-03 3.82409082e-04 9.99998366e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99473177 0.09797302 0.03016069] [-0.09709488 0.99484351 -0.02934217] [-0.03288005 0.02625983 0.99911376]] t_gt: [-0.14458277 0.98780433 -0.05777914] Pose Error in degrees for R and t: 76.90191060183322 9.311670885576953 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.53760153 0.84319296 0.00319732] [ 0.84319404 0.53758144 0.00547831] [ 0.00290045 0.00564111 -0.99997988]] t_estimated: [[-0.07386967] [-0.99724054] [-0.00738697]] R_gt: [[ 0.95719964 -0.27597043 0.08722745] [ 0.28273913 0.95601849 -0.07801243] [-0.06186099 0.09933682 0.9931289 ]] t_gt: [ 0.86191287 -0.46112727 -0.21087403] Pose Error in degrees for R and t: 173.6742357543323 66.56282268696306 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-4.51446882e-02 -9.98978208e-01 -2.12044168e-03] [ 9.98979995e-01 -4.51466100e-02 8.67321179e-04] [-9.62165711e-04 -2.07912388e-03 9.99997376e-01]] t_estimated: [[0.99756353] [0.06975251] [0.00126172]] R_gt: [[ 0.88788433 -0.42568835 0.17450418] [ 0.44930808 0.88387351 -0.12995907] [-0.09891667 0.19379514 0.97604276]] t_gt: [ 0.90019647 -0.32424999 -0.29070303] Pose Error in degrees for R and t: 67.37594688978318 28.95275975017333 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 5.02311138e-01 8.64685987e-01 1.29020757e-03] [ 8.64686683e-01 -5.02309253e-01 -1.53421379e-03] [-6.78529964e-04 1.88627798e-03 -9.99997991e-01]] t_estimated: [[7.58010699e-01] [6.52241765e-01] [6.78005991e-04]] R_gt: [[ 0.8059758 -0.5557221 0.20389917] [ 0.58141356 0.80788247 -0.09635392] [-0.11117987 0.19620848 0.9742389 ]] t_gt: [ 0.94546302 -0.25779541 -0.19910098] Pose Error in degrees for R and t: 167.43784338469519 56.74328996608109 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99646087e-01 -2.66023476e-02 1.28944262e-04] [ 2.66023341e-02 9.99646090e-01 1.05467916e-04] [-1.31704322e-04 -1.02000372e-04 9.99999986e-01]] t_estimated: [[0.99778978] [0.06643871] [0.00120798]] R_gt: [[ 9.96535222e-01 -8.25845549e-02 9.96275443e-03] [ 8.25981407e-02 9.96582894e-01 -9.04961620e-04] [-9.85329778e-03 1.72434994e-03 9.99950229e-01]] t_gt: [ 0.82937398 -0.55486552 0.06529216] Pose Error in degrees for R and t: 3.2620250605043686 37.743858376919 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.72156215e-01 2.34330923e-01 1.14532792e-03] [-2.34330101e-01 9.72156752e-01 -8.07794566e-04] [-1.30272952e-03 5.16917701e-04 9.99999018e-01]] t_estimated: [[-9.55972448e-01] [-2.93456434e-01] [-8.50132000e-06]] R_gt: [[ 0.98784049 -0.15209584 0.03221554] [ 0.15195707 0.98836414 0.00672675] [-0.03286281 -0.00174916 0.99945865]] t_gt: [ 0.85786991 -0.47874563 0.18671328] Pose Error in degrees for R and t: 22.372149682488704 47.18677883309975 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 8.21914646e-01 -5.69608989e-01 1.38359333e-03] [ 5.69609997e-01 8.21914983e-01 -4.59901434e-04] [-8.75232099e-04 1.16610832e-03 9.99998937e-01]] t_estimated: [[0.71369917] [0.70045186] [0.00082796]] R_gt: [[ 0.97878354 -0.20111484 0.03919991] [ 0.20064935 0.97954037 0.01550601] [-0.04151583 -0.00731096 0.99911101]] t_gt: [ 0.87914082 -0.43221583 0.20075083] Pose Error in degrees for R and t: 23.248071035869486 71.04279108461124 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 0.5322765 -0.84656734 -0.00233762] [ 0.8465673 0.53228009 -0.00130933] [ 0.0023527 -0.00128203 0.99999641]] t_estimated: [[-0.1736044 ] [-0.98481041] [-0.00315644]] R_gt: [[ 0.99878101 0.04928317 0.00287865] [-0.04925329 0.9987399 -0.00958489] [-0.00334697 0.00943212 0.99994982]] t_gt: [-0.24921054 0.96720594 0.04905897] Pose Error in degrees for R and t: 60.66758897633134 24.576705206946905 Number of keypoints: Image1: 562 Image2: 562 R_estimated: [[ 9.99694978e-01 -2.46971282e-02 -5.30360336e-05] [ 2.46971285e-02 9.99694979e-01 4.81918334e-06] [ 5.29008365e-05 -6.12755112e-06 9.99999999e-01]] t_estimated: [[-9.65686385e-01] [-2.59710622e-01] [-4.46022355e-04]] R_gt: [[ 0.99585875 0.09041569 -0.0094977 ] [-0.09018689 0.99567574 0.02227145] [ 0.01147015 -0.02132222 0.99970647]] t_gt: [-0.19841159 0.96356578 0.17937063] Pose Error in degrees for R and t: 6.740838542614663 86.63337401031583 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99664230e-01 -2.59116865e-02 1.09688614e-04] [ 2.59117380e-02 9.99664111e-01 -4.97527647e-04] [-9.67599907e-05 5.00202815e-04 9.99999870e-01]] t_estimated: [[-0.93160236] [-0.36347764] [-0.00101814]] R_gt: [[ 0.99547755 0.09484976 -0.00526799] [-0.09444101 0.99412423 0.05288037] [ 0.01025163 -0.0521443 0.99858636]] t_gt: [-0.07847142 0.95412945 0.28892771] Pose Error in degrees for R and t: 7.571800733883273 74.09788409614671 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[-0.95991366 -0.26394371 0.09433703] [-0.26404307 0.96444048 0.01165448] [-0.09405857 -0.01372175 -0.9954721 ]] t_estimated: [[0.98992574] [0.13329075] [0.04775575]] R_gt: [[ 9.99680627e-01 -2.52709248e-02 -1.56794757e-04] [ 2.52631390e-02 9.99525292e-01 -1.76183321e-02] [ 6.00959839e-04 1.76096506e-02 9.99845190e-01]] t_gt: [ 0.65408035 0.53912058 -0.53059202] Pose Error in degrees for R and t: 174.70365411635805 46.051466638217455 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.93705070e-01 1.12020679e-01 1.26571449e-03] [-1.12019267e-01 9.93705385e-01 -1.13641774e-03] [-1.38504960e-03 9.87479657e-04 9.99998553e-01]] t_estimated: [[8.91162823e-01] [4.53682892e-01] [8.10148021e-04]] R_gt: [[ 0.99593602 -0.08743447 0.0216185 ] [ 0.0880433 0.99569288 -0.02903284] [-0.01898741 0.03081839 0.99934526]] t_gt: [ 0.96763524 -0.24332996 -0.06687735] Pose Error in degrees for R and t: 11.636211779073832 41.24722623791699 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.99651193 0.08315801 0.00698033] [-0.08306978 0.99647027 -0.01209999] [-0.0079619 0.01147793 0.99990243]] t_estimated: [[9.04589095e-01] [4.26283998e-01] [7.22515252e-04]] R_gt: [[ 0.98126251 -0.18969464 0.03374781] [ 0.19078204 0.98109181 -0.03256071] [-0.02693388 0.03838955 0.99889959]] t_gt: [ 0.91049658 -0.41336554 -0.01117672] Pose Error in degrees for R and t: 15.852885000706202 49.653683993490304 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-8.39758996e-01 -5.42959309e-01 -1.31327237e-04] [-5.42959273e-01 8.39758785e-01 6.40693973e-04] [-2.37587556e-04 6.09333869e-04 -9.99999786e-01]] t_estimated: [[0.94452198] [0.32844684] [0.00094927]] R_gt: [[ 0.98629904 0.1645735 -0.011391 ] [-0.16490641 0.98545219 -0.04109153] [ 0.00446339 0.04240679 0.99909039]] t_gt: [-0.37057785 0.89902045 -0.23331157] Pose Error in degrees for R and t: 178.8842950213914 86.84943822152832 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.98172473e-01 6.04292211e-02 -1.53619552e-04] [-6.04292185e-02 9.98172485e-01 2.15579617e-05] [ 1.54641541e-04 -1.22354545e-05 9.99999988e-01]] t_estimated: [[-9.58426069e-01] [-2.85340305e-01] [-6.16408896e-04]] R_gt: [[ 0.9458116 0.32444802 -0.01319487] [-0.3246563 0.94407717 -0.05757726] [-0.00622441 0.05874087 0.99825344]] t_gt: [-0.28907882 0.94704816 -0.13976131] Pose Error in degrees for R and t: 15.855000275383842 89.6037496770893 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.37920982 0.92527639 0.00796922] [ 0.92530895 -0.37921184 -0.00131392] [ 0.00180629 0.00787224 -0.99996738]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.90291065 0.42972488 -0.00944004] [-0.42519013 0.8897363 -0.16607625] [-0.06296809 0.15396515 0.98606809]] t_gt: [-0.21594076 0.9658785 -0.14299762] Pose Error in degrees for R and t: 171.04440128101854 35.89275224038244 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99998762e-01 -1.55313195e-03 2.52864165e-04] [ 1.55332145e-03 9.99998512e-01 -7.50950883e-04] [-2.51697463e-04 7.51342733e-04 9.99999686e-01]] t_estimated: [[-9.99997288e-01] [-2.13496899e-03] [-9.30293418e-04]] R_gt: [[ 0.99947883 0.02538159 0.01996337] [-0.02551439 0.99965431 0.00641758] [-0.01979448 -0.00692425 0.99978019]] t_gt: [-0.56613642 0.72603337 0.39033972] Pose Error in degrees for R and t: 1.9588669352142705 55.651737988583875 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99056335 0.13701299 -0.00341827] [-0.13699089 0.99055397 0.00602817] [ 0.00421192 -0.00550301 0.99997599]] t_estimated: [[-0.99964906] [-0.02600602] [-0.00504409]] R_gt: [[ 0.9918744 0.12685675 0.00961153] [-0.12665365 0.99175778 -0.01939189] [-0.01199308 0.01801703 0.9997665 ]] t_gt: [-0.626183 0.77889483 -0.03489544] Pose Error in degrees for R and t: 1.739316644144283 52.70756904958896 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999254e-01 1.21555124e-03 1.22571432e-04] [-1.21556280e-03 9.99999257e-01 9.42020409e-05] [-1.22456834e-04 -9.43509639e-05 9.99999988e-01]] t_estimated: [[-9.99685370e-01] [ 2.50822922e-02] [ 2.00416921e-04]] R_gt: [[ 9.88743031e-01 1.48183717e-01 -2.07164942e-02] [-1.48205619e-01 9.88956139e-01 4.75772616e-04] [ 2.05575141e-02 2.59926468e-03 9.99785635e-01]] t_gt: [-0.59654062 0.79801179 -0.08553636] Pose Error in degrees for R and t: 8.537399684150111 51.94979293380885 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.79558435e-01 2.01159694e-01 2.23657653e-04] [-2.01159639e-01 9.79558441e-01 -2.45009724e-04] [-2.68371823e-04 1.95010449e-04 9.99999945e-01]] t_estimated: [[-0.55768884] [-0.83004851] [-0.00162119]] R_gt: [[ 0.99669541 -0.03796529 -0.07180669] [ 0.03937251 0.99905745 0.01827617] [ 0.07104471 -0.02104347 0.99725088]] t_gt: [ 0.20465736 -0.69835871 -0.68586476] Pose Error in degrees for R and t: 14.464357574164147 62.18304421114034 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99985351e-01 -5.41273847e-03 2.75691046e-05] [ 5.41273310e-03 9.99985333e-01 1.91047511e-04] [-2.86027904e-05 -1.90895488e-04 9.99999981e-01]] t_estimated: [[ 5.14466047e-01] [-8.57510738e-01] [ 1.43875942e-04]] R_gt: [[ 0.99124074 -0.04158051 -0.12535104] [ 0.0494713 0.99694177 0.06050006] [ 0.12245158 -0.06617137 0.99026615]] t_gt: [ 0.0691197 -0.79151206 -0.60723235] Pose Error in degrees for R and t: 8.32417626169887 44.42212373870436 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.86154365e-01 1.65829860e-01 1.63082030e-04] [-1.65829871e-01 9.86154375e-01 5.27177979e-05] [-1.52081872e-04 -7.90317584e-05 9.99999985e-01]] t_estimated: [[ 6.90920338e-01] [-7.22930891e-01] [ 1.15028184e-04]] R_gt: [[ 0.98081509 -0.10526428 -0.1640782 ] [ 0.11545542 0.99185278 0.05383674] [ 0.15707395 -0.07174744 0.98497696]] t_gt: [ 0.2751136 -0.83170933 -0.4822573 ] Pose Error in degrees for R and t: 18.765353047971583 37.69335267973999 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-9.71795214e-01 2.35826101e-01 -3.33820699e-04] [-2.35824899e-01 -9.71793258e-01 -2.11690157e-03] [-8.23625348e-04 -1.97847158e-03 9.99997704e-01]] t_estimated: [[0.60014567] [0.7998902 ] [0.00091208]] R_gt: [[ 9.97821371e-01 6.08547864e-02 -2.54947287e-02] [-6.08389842e-02 9.98147398e-01 1.39761873e-03] [ 2.55328389e-02 1.56346102e-04 9.99673888e-01]] t_gt: [-0.57343137 0.79030142 -0.21587064] Pose Error in degrees for R and t: 162.87377374604924 73.27280477952661 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.99911516 0.03948163 -0.01449471] [ 0.03944664 0.99921805 0.00269212] [ 0.01458966 0.00211797 -0.99989132]] t_estimated: [[ 0.99998154] [ 0.00127861] [-0.00593968]] R_gt: [[ 0.98763554 0.15658487 0.00761022] [-0.15600963 0.98646493 -0.05047764] [-0.01541071 0.04866591 0.99869586]] t_gt: [-0.52322004 0.84669525 -0.09668472] Pose Error in degrees for R and t: 179.87428993577768 58.563483851121056 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999633e-01 6.62537856e-04 -5.44063570e-04] [-6.61966422e-04 9.99999230e-01 1.04981521e-03] [ 5.44758693e-04 -1.04945467e-03 9.99999301e-01]] t_estimated: [[-8.01523678e-01] [-5.97962691e-01] [-6.43519297e-04]] R_gt: [[ 9.65110014e-01 2.61845385e-01 -6.36665254e-04] [-2.61773615e-01 9.64779970e-01 -2.59761116e-02] [-6.18695088e-03 2.52366579e-02 9.99662199e-01]] t_gt: [-0.48719802 0.87226107 -0.04241125] Pose Error in degrees for R and t: 15.22103149786863 82.46963959417386 Number of keypoints: Image1: 367 Image2: 367 R_estimated: [[-0.72897396 0.68449854 0.00766283] [-0.6845114 -0.72900116 0.00120695] [ 0.00641237 -0.00436546 0.99996991]] t_estimated: [[0.47599477] [0.87944755] [0.00099373]] R_gt: [[ 0.99785366 0.05845069 0.02953295] [-0.05930836 0.99781613 0.02906891] [-0.02777015 -0.03075838 0.99914128]] t_gt: [-0.80195822 -0.1167595 0.58585854] Pose Error in degrees for R and t: 133.42792046827114 61.06418111730661 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.86571661e-01 -1.63326588e-01 8.85326769e-04] [ 1.63326776e-01 9.86572017e-01 -1.43180374e-04] [-8.50053454e-04 2.85855266e-04 9.99999598e-01]] t_estimated: [[0.5882903 ] [0.80864929] [0.00091807]] R_gt: [[ 0.99773665 0.0082511 0.0667339 ] [-0.01017832 0.99953931 0.02859206] [-0.06646857 -0.0292064 0.99736146]] t_gt: [-0.28748545 -0.67466355 0.67983911] Pose Error in degrees for R and t: 10.748524396323585 44.433214209991604 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.90782103e-01 1.35461798e-01 9.61857134e-04] [-1.35459545e-01 9.90780626e-01 -2.11271143e-03] [-1.23918110e-03 1.96294395e-03 9.99997306e-01]] t_estimated: [[0.65210675] [0.75812669] [0.00084143]] R_gt: [[ 0.9965964 -0.06280418 0.05339806] [ 0.0612179 0.99764783 0.03084026] [-0.05521005 -0.02746555 0.99809696]] t_gt: [ 0.39848318 -0.83561624 0.3780961 ] Pose Error in degrees for R and t: 11.880964621362264 68.0787880214938 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999887e-01 4.72147912e-04 -4.80474397e-05] [-4.72146857e-04 9.99999888e-01 2.19630273e-05] [ 4.80578041e-05 -2.19403394e-05 9.99999999e-01]] t_estimated: [[-2.42896481e-01] [-9.70052189e-01] [-2.26315067e-04]] R_gt: [[ 0.99971518 0.02087051 -0.01160795] [-0.02093281 0.99976662 -0.00526015] [ 0.01149403 0.00550243 0.99991922]] t_gt: [-0.41490098 0.43997794 -0.79641483] Pose Error in degrees for R and t: 1.3782256375550694 70.98332407744505 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-9.49432959e-01 -3.13968364e-01 9.60289520e-04] [ 3.13958773e-01 -9.49420747e-01 -5.48936065e-03] [ 2.63520438e-03 -4.91028861e-03 9.99984472e-01]] t_estimated: [[8.65144112e-01] [5.01522875e-01] [6.86077805e-04]] R_gt: [[ 0.99756686 -0.06879868 -0.01132956] [ 0.06913397 0.9970815 0.03239057] [ 0.00906794 -0.03309381 0.99941084]] t_gt: [ 0.71616908 -0.68040616 0.15540048] Pose Error in degrees for R and t: 157.74945887036995 73.83187491639943 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99871818e-01 1.60066769e-02 3.66476653e-04] [-1.60066608e-02 9.99871884e-01 -4.69678460e-05] [-3.67181501e-04 4.10957581e-05 9.99999932e-01]] t_estimated: [[0.99975939] [0.0219023 ] [0.00120609]] R_gt: [[ 0.98649788 -0.15980902 -0.0358344 ] [ 0.16107579 0.98629316 0.03576314] [ 0.02962698 -0.0410518 0.99871799]] t_gt: [ 0.76808763 -0.63960934 0.03068036] Pose Error in degrees for R and t: 10.565405986624759 41.06795788714792 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 0.22760985 0.97374764 0.00304826] [-0.97374852 0.22761667 -0.0021129 ] [-0.00275127 -0.00248732 0.99999312]] t_estimated: [[0.25186251] [0.96776019] [0.00234359]] R_gt: [[ 0.99973842 -0.01592224 -0.01643173] [ 0.01739889 0.99541522 0.09404786] [ 0.01485875 -0.09430832 0.99543208]] t_gt: [ 0.18872213 -0.67656549 0.71178866] Pose Error in degrees for R and t: 77.96415612819997 52.73135605148444 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.28394006 0.95870782 0.01604235] [ 0.95880316 -0.28373815 -0.01375383] [-0.00863407 0.01928672 -0.99977671]] t_estimated: [[0.33449576] [0.94239672] [0.00100148]] R_gt: [[ 0.99608653 -0.07721542 -0.0429965 ] [ 0.08405681 0.97797796 0.19103256] [ 0.02729885 -0.19389878 0.98064129]] t_gt: [ 0.38864561 -0.63084012 0.67156186] Pose Error in degrees for R and t: 171.07947665464135 62.365550106144866 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.90359145e-01 -1.38521042e-01 8.27917537e-04] [ 1.38520661e-01 9.90359417e-01 5.01888978e-04] [-8.89458113e-04 -3.82366655e-04 9.99999531e-01]] t_estimated: [[0.67223215] [0.74033989] [0.00088452]] R_gt: [[ 0.9581238 -0.26997337 -0.09546598] [ 0.28347933 0.94136971 0.18292731] [ 0.04048269 -0.2023295 0.97847995]] t_gt: [ 0.72610593 -0.56087499 0.39773033] Pose Error in degrees for R and t: 14.490374377789335 85.80073357117301 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.91171337e-01 -1.32587180e-01 -1.43884073e-04] [ 1.32587189e-01 9.91171345e-01 5.52892542e-05] [ 1.35283124e-04 -7.38783088e-05 9.99999988e-01]] t_estimated: [[-0.53507894] [-0.84480103] [-0.00131916]] R_gt: [[ 0.98882101 0.146385 0.0283827 ] [-0.14672922 0.98912131 0.01041997] [-0.02654946 -0.01446771 0.9995427 ]] t_gt: [-0.88232406 0.45588271 0.116941 ] Pose Error in degrees for R and t: 16.14179652032846 85.01881659315099 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.98004342e-01 6.31451207e-02 -1.65072667e-04] [-6.31450903e-02 9.98004341e-01 1.83237982e-04] [ 1.76313823e-04 -1.72448773e-04 9.99999970e-01]] t_estimated: [[-9.97938096e-01] [-6.41829352e-02] [-3.27919867e-04]] R_gt: [[ 0.94578963 0.32037769 0.05329103] [-0.31866929 0.94709706 -0.0381748 ] [-0.06270308 0.01912379 0.99784933]] t_gt: [-0.82780421 0.56080003 -0.01560536] Pose Error in degrees for R and t: 15.497848447945909 37.804331163004434 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 6.36160930e-01 -7.71554854e-01 -1.54236417e-03] [ 7.71556101e-01 6.36161162e-01 3.97915367e-04] [ 6.74178651e-04 -1.44315870e-03 9.99998731e-01]] t_estimated: [[-0.26908773] [-0.9631149 ] [-0.00121759]] R_gt: [[ 0.90154249 0.42710085 0.06932802] [-0.42679316 0.90412951 -0.01994557] [-0.07120063 -0.01160653 0.99739437]] t_gt: [-0.80146794 0.59481118 0.06203872] Pose Error in degrees for R and t: 75.90329184398605 69.06664052636222 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.91013089e-01 -1.33764819e-01 -1.75998032e-04] [ 1.33764816e-01 9.91013104e-01 -3.22950370e-05] [ 1.78736296e-04 8.46246002e-06 9.99999984e-01]] t_estimated: [[-0.69372798] [-0.72023624] [-0.00111366]] R_gt: [[ 0.99856568 0.05129734 0.01537797] [-0.05135392 0.99867538 0.00328299] [-0.01518839 -0.00406899 0.99987569]] t_gt: [-0.84402893 0.4876036 0.2232888 ] Pose Error in degrees for R and t: 10.668255207300271 76.46212817287989 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.06710568 -0.99774178 0.00285865] [-0.99774479 -0.06710111 0.00166324] [-0.00146767 -0.00296382 -0.99999453]] t_estimated: [[0.6296693 ] [0.77685876] [0.00265332]] R_gt: [[ 9.96322711e-01 8.26103563e-02 -2.27412383e-02] [-8.26300327e-02 9.96581109e-01 9.89181910e-05] [ 2.26710887e-02 1.78028655e-03 9.99741345e-01]] t_gt: [-0.82578352 0.54881094 -0.12995436] Pose Error in degrees for R and t: 179.25776384188777 84.60814655714522 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.95739078e-01 -9.22153020e-02 -1.61216966e-04] [ 9.22153258e-02 9.95739078e-01 1.46975266e-04] [ 1.46976665e-04 -1.61215691e-04 9.99999976e-01]] t_estimated: [[0.59807249] [0.8014409 ] [0.00133086]] R_gt: [[ 0.99544717 0.07842191 -0.05417991] [-0.0788483 0.99687057 -0.00578425] [ 0.05355645 0.01003008 0.99851432]] t_gt: [-0.78305806 0.5199022 -0.34135286] Pose Error in degrees for R and t: 10.286489866977806 87.01302802181608 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.98553678e-01 -5.37637752e-02 -9.72600233e-05] [ 5.37637793e-02 9.98553681e-01 4.06710107e-05] [ 9.49327272e-05 -4.58412537e-05 9.99999994e-01]] t_estimated: [[-4.80404042e-01] [-8.77047063e-01] [-6.37045855e-04]] R_gt: [[ 0.99760888 0.03408091 0.06013337] [-0.03430688 0.99940781 0.00271339] [-0.06000529 -0.0047701 0.99818605]] t_gt: [-0.70021346 0.31811341 0.63914394] Pose Error in degrees for R and t: 6.113325380612245 86.73364491803494 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99111490e-01 -4.21430401e-02 -4.40440665e-04] [ 4.21431858e-02 9.99111528e-01 3.26783341e-04] [ 4.26277702e-04 -3.45054563e-04 9.99999850e-01]] t_estimated: [[-8.50139050e-01] [-5.26558101e-01] [-4.02247351e-04]] R_gt: [[ 0.99427054 0.09903264 0.04024219] [-0.09946095 0.99500287 0.0087519 ] [-0.03917401 -0.01270389 0.99915154]] t_gt: [-0.80463189 0.53298867 0.26170708] Pose Error in degrees for R and t: 8.4546630292483 66.21572196188279 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99868221 0.01337318 -0.04954804] [-0.00951947 0.99696921 0.07721247] [ 0.05043044 -0.07663905 0.99578272]] t_estimated: [[ 0.62905616] [ 0.77735547] [-0.00261087]] R_gt: [[ 0.9926197 0.12124717 -0.00240547] [-0.12117416 0.99241988 0.02047531] [ 0.00487058 -0.02003179 0.99978742]] t_gt: [-0.82756586 0.55914613 0.04990342] Pose Error in degrees for R and t: 7.57404724668134 85.06299589199708 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99922272e-01 1.24603015e-02 -4.36295832e-04] [-1.24643460e-02 9.99861871e-01 -1.09944669e-02] [ 2.99241195e-04 1.09990505e-02 9.99939464e-01]] t_estimated: [[-0.53752748] [-0.84318036] [-0.01053975]] R_gt: [[ 0.99655519 0.07533264 0.03468337] [-0.07516522 0.99715219 -0.00611204] [-0.03504428 0.00348407 0.9993789 ]] t_gt: [-0.80420919 0.5203763 0.28715166] Pose Error in degrees for R and t: 4.1460330272400165 89.45493442621186 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.24970818 -0.96832005 0.00145112] [-0.96831929 0.2497045 -0.00232734] [ 0.00189126 -0.0019863 -0.99999624]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99186359 0.12691786 -0.00995388] [-0.12702545 0.99183805 -0.0110014 ] [ 0.00847763 0.01217623 0.99988993]] t_gt: [-0.7555652 0.63501923 -0.16084717] Pose Error in degrees for R and t: 179.16794507948282 76.93509174630475 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.9994122 -0.02488075 0.023584 ] [ 0.02540393 0.99943184 -0.02215016] [-0.02301949 0.02273627 0.99947645]] t_estimated: [[0.74887989] [0.66270532] [0.00076261]] R_gt: [[ 9.96094604e-01 8.82972841e-02 -6.61602461e-04] [-8.82524134e-02 9.95772578e-01 2.54468469e-02] [ 2.90761356e-03 -2.52884980e-02 9.99675372e-01]] t_gt: [-0.85153651 0.47163141 0.22901832] Pose Error in degrees for R and t: 7.2049143242526075 71.03616543800328 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-1.72404424e-01 -9.85026091e-01 -5.60749203e-04] [-9.85024057e-01 1.72405214e-01 -2.01222413e-03] [ 2.07876935e-03 2.05435114e-04 -9.99997818e-01]] t_estimated: [[7.36347133e-01] [6.76603858e-01] [3.43870030e-04]] R_gt: [[ 9.99480539e-01 -3.20643148e-02 -3.34444108e-03] [ 3.22366840e-02 9.93165961e-01 1.12176255e-01] [-2.76085253e-04 -1.12226031e-01 9.93682344e-01]] t_gt: [ 0.27216732 -0.64065582 0.71797288] Pose Error in degrees for R and t: 176.02354080527076 76.53721804585139 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-8.82193816e-01 -4.70881193e-01 -2.22992403e-03] [-4.70886330e-01 8.82187352e-01 3.39709329e-03] [ 3.67583437e-04 4.04693543e-03 -9.99991744e-01]] t_estimated: [[8.84371590e-01] [4.66783391e-01] [3.96462001e-04]] R_gt: [[ 0.98356949 -0.17470151 -0.04550276] [ 0.17967416 0.971813 0.15263533] [ 0.01755409 -0.15830327 0.987234 ]] t_gt: [ 0.65316194 -0.60532844 0.45492523] Pose Error in degrees for R and t: 179.63899141275095 72.82681354942036 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.90997718e-01 -1.33878685e-01 -1.43784659e-04] [ 1.33878672e-01 9.90997725e-01 -9.65881816e-05] [ 1.55421369e-04 7.64689683e-05 9.99999985e-01]] t_estimated: [[-0.65388279] [-0.75659452] [-0.00142535]] R_gt: [[ 0.90568792 -0.41681663 -0.07741271] [ 0.4235214 0.89772668 0.12131425] [ 0.01892969 -0.14265898 0.98959062]] t_gt: [ 0.85018965 -0.47459854 0.22788984] Pose Error in degrees for R and t: 19.155312727073564 78.62845106575796 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99484688e-01 3.20991498e-02 -6.25120431e-05] [-3.20991469e-02 9.99484689e-01 4.64067472e-05] [ 6.39694471e-05 -4.43762500e-05 9.99999997e-01]] t_estimated: [[-9.87065023e-01] [-1.60319797e-01] [-4.50867156e-04]] R_gt: [[ 0.99003654 0.13569066 0.03763243] [-0.1352705 0.99071679 -0.01351587] [-0.0391168 0.00829166 0.99919954]] t_gt: [-0.86157012 0.50695532 0.02632934] Pose Error in degrees for R and t: 6.377319334727788 39.72337571438325 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-9.68092075e-01 -2.50493012e-01 -7.14037289e-03] [-2.50490109e-01 9.68118269e-01 -1.31250866e-03] [ 7.24149969e-03 5.17963555e-04 -9.99973646e-01]] t_estimated: [[ 0.99210471] [ 0.1253801 ] [-0.00284224]] R_gt: [[ 0.94320515 0.32877665 0.04765279] [-0.32889255 0.9443507 -0.00561824] [-0.04684915 -0.01037256 0.99884789]] t_gt: [-0.84486223 0.5303341 0.07038149] Pose Error in degrees for R and t: 177.66351212655184 39.47532072162874 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.82391939e-01 1.86830901e-01 -5.41426081e-04] [-1.86829113e-01 9.82389494e-01 2.40094563e-03] [ 9.80462129e-04 -2.25751548e-03 9.99996971e-01]] t_estimated: [[-9.99938759e-01] [-1.10287362e-02] [-9.19061359e-04]] R_gt: [[ 0.84784274 0.52506903 0.07393174] [-0.52450666 0.85093203 -0.02840017] [-0.07782395 -0.01469782 0.9968587 ]] t_gt: [-0.79604503 0.6020362 0.06216693] Pose Error in degrees for R and t: 21.435655940203624 37.87990825750175 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99392191e-01 -3.48604184e-02 1.15027050e-05] [ 3.48604174e-02 9.99392188e-01 7.89470507e-05] [-1.42478407e-05 -7.84980769e-05 9.99999997e-01]] t_estimated: [[ 7.37308992e-01] [-6.75555658e-01] [ 4.85218356e-05]] R_gt: [[ 0.99722342 -0.07347323 0.01210366] [ 0.07303588 0.99677364 0.03329506] [-0.01451158 -0.03231882 0.99937208]] t_gt: [ 0.74187842 -0.51550212 0.4288053 ] Pose Error in degrees for R and t: 2.9939896351672326 26.457536341034718 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99479465e-01 3.22613841e-02 3.63631592e-05] [-3.22613850e-02 9.99479466e-01 2.43794359e-05] [-3.55577165e-05 -2.55398714e-05 9.99999999e-01]] t_estimated: [[-0.85614293] [-0.51673771] [-0.00118991]] R_gt: [[ 0.99946569 0.00469459 0.03234959] [-0.00553152 0.99965162 0.02583298] [-0.0322176 -0.0259979 0.99914222]] t_gt: [-0.21037581 0.53673311 0.81710439] Pose Error in degrees for R and t: 2.8348765058606635 84.36385274551967 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.93701409e-01 -1.12060277e-01 -6.60469053e-05] [ 1.12060290e-01 9.93701380e-01 2.43508275e-04] [ 3.83432960e-05 -2.49375752e-04 9.99999968e-01]] t_estimated: [[-5.49331622e-01] [-8.35604162e-01] [-6.72904351e-04]] R_gt: [[ 0.99647124 0.08356524 -0.00781436] [-0.08320554 0.99578495 0.03860064] [ 0.01100621 -0.03781407 0.99922353]] t_gt: [-0.57210685 0.80229633 0.17033597] Pose Error in degrees for R and t: 11.44046906366862 69.13051580579416 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.83309778e-01 1.81937455e-01 8.01604992e-04] [-1.81937310e-01 9.83310100e-01 -2.51102209e-04] [-8.33911182e-04 1.01069402e-04 9.99999647e-01]] t_estimated: [[0.4387022 ] [0.89863193] [0.00101083]] R_gt: [[ 0.99633497 -0.08301477 0.02061519] [ 0.08291543 0.99654146 0.00562197] [-0.02100926 -0.00389207 0.99977162]] t_gt: [ 0.78807009 -0.60895247 0.0901245 ] Pose Error in degrees for R and t: 15.28751351962611 78.38087123164883 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.48181747 0.87626897 -0.00215089] [ 0.87622429 -0.48176449 0.01157446] [ 0.00910612 -0.00746144 -0.9999307 ]] t_estimated: [[0.62954463] [0.77696377] [0.00092716]] R_gt: [[ 0.98957066 -0.14199227 0.02425225] [ 0.14183722 0.98985843 0.00800029] [-0.02514111 -0.00447619 0.99967368]] t_gt: [ 0.7980965 -0.60072086 0.04665214] Pose Error in degrees for R and t: 179.8008960319363 87.95168204182534 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.49405142 0.86942879 0.00260307] [-0.86943111 0.49404262 0.00338072] [ 0.00165327 -0.00393344 0.9999909 ]] t_estimated: [[0.72101276] [0.69292135] [0.00078032]] R_gt: [[ 0.98502872 -0.16903651 0.03384913] [ 0.16785763 0.98518598 0.03510311] [-0.03928037 -0.02889468 0.99881103]] t_gt: [ 0.70925062 -0.68809843 0.15324526] Pose Error in degrees for R and t: 70.1374341961761 88.0114238145797 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 8.21935285e-01 -5.69579775e-01 1.12525397e-03] [ 5.69579692e-01 8.21936004e-01 4.24308376e-04] [-1.16656422e-03 2.92167781e-04 9.99999277e-01]] t_estimated: [[0.72471496] [0.68904836] [0.00075886]] R_gt: [[ 0.99585255 -0.03803799 -0.08264573] [ 0.04169216 0.99820695 0.04295185] [ 0.08086303 -0.04621871 0.99565284]] t_gt: [ 0.23457019 -0.84006186 -0.48915529] Pose Error in degrees for R and t: 32.86670282837117 65.8442844265421 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 9.84461925e-01 1.75597904e-01 3.06439246e-04] [-1.75597913e-01 9.84461971e-01 4.78866374e-06] [-3.00836905e-04 -5.85243493e-05 9.99999953e-01]] t_estimated: [[0.95269192] [0.30393462] [0.00136294]] R_gt: [[ 0.99189418 -0.10209926 -0.07564007] [ 0.10465087 0.9940389 0.0305674 ] [ 0.07206695 -0.03823519 0.99666617]] t_gt: [ 0.37463548 -0.89529707 -0.24102163] Pose Error in degrees for R and t: 16.724972976418805 85.15434100001929 Number of keypoints: Image1: 421 Image2: 421 R_estimated: [[ 3.47516016e-01 9.37673848e-01 6.10596855e-04] [-9.37672137e-01 3.47516548e-01 -1.79226708e-03] [-1.89275448e-03 5.03018571e-05 9.99998207e-01]] t_estimated: [[0.00834173] [0.99996466] [0.00104272]] R_gt: [[ 0.98711321 -0.13880922 -0.07962563] [ 0.14100623 0.98974984 0.02263905] [ 0.07566671 -0.03357481 0.99656817]] t_gt: [ 0.3992109 -0.88512333 -0.23913876] Pose Error in degrees for R and t: 77.84983956936286 28.114055053053146 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.52030207e-01 3.06003931e-01 2.81350160e-04] [-3.06003854e-01 9.52030231e-01 -2.83998585e-04] [-3.54758541e-04 1.84280998e-04 9.99999920e-01]] t_estimated: [[-8.07762648e-01] [ 5.89507721e-01] [ 3.89385669e-04]] R_gt: [[ 0.9925455 0.12181137 0.00397896] [-0.12182409 0.99062813 0.06175934] [ 0.00358168 -0.06178439 0.99808372]] t_gt: [-0.63132645 0.73733615 0.24033793] Pose Error in degrees for R and t: 11.384504996358425 19.139891807221527 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999487e-01 -9.97536658e-04 -1.76348617e-04] [ 9.97540089e-04 9.99999502e-01 1.93683902e-05] [ 1.76329209e-04 -1.95442950e-05 9.99999984e-01]] t_estimated: [[-9.99700545e-01] [ 2.44651469e-02] [ 5.25585255e-04]] R_gt: [[ 0.97457153 0.22321666 0.01961343] [-0.22404235 0.97222193 0.06774071] [-0.00394769 -0.07041278 0.99751024]] t_gt: [-0.59553701 0.78588263 0.16650574] Pose Error in degrees for R and t: 13.608151771170746 52.07184210085001 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.90985995e-01 1.33965460e-01 -1.13874847e-04] [-1.33965473e-01 9.90985993e-01 -1.16969987e-04] [ 9.71784398e-05 1.31170916e-04 9.99999987e-01]] t_estimated: [[-0.99995131] [-0.00979144] [-0.00122393]] R_gt: [[ 0.95833365 0.28564219 -0.00222385] [-0.28564496 0.95833446 -0.00103547] [ 0.00183585 0.00162707 0.99999676]] t_gt: [-0.52914373 0.84811377 -0.02664482] Pose Error in degrees for R and t: 8.899669500849273 58.61096201566483 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99881231e-01 1.54117354e-02 -4.07612708e-05] [-1.54117454e-02 9.99881199e-01 -2.56049123e-04] [ 3.68102670e-05 2.56646915e-04 9.99999966e-01]] t_estimated: [[ 0.5166637 ] [-0.85618483] [-0.00248272]] R_gt: [[ 0.99864575 0.05107382 0.00987427] [-0.05080309 0.99837123 -0.02598278] [-0.01118605 0.02544574 0.99961299]] t_gt: [-0.78811921 0.60699756 -0.10208855] Pose Error in degrees for R and t: 2.578400475372975 22.082846283432783 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999713e-01 7.57247828e-04 -7.71399316e-07] [-7.57247900e-04 9.99999709e-01 -9.76699697e-05] [ 6.97438719e-07 9.76705258e-05 9.99999995e-01]] t_estimated: [[ 0.55807523] [-0.82978895] [ 0.00152914]] R_gt: [[ 9.98520010e-01 5.42689502e-02 -3.44601762e-03] [-5.43769869e-02 9.96889220e-01 -5.70683110e-02] [ 3.38453562e-04 5.71716064e-02 9.98363777e-01]] t_gt: [-0.80791316 0.5270964 -0.26352555] Pose Error in degrees for R and t: 4.488596667445638 27.2948992821787 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-4.86851164e-01 -8.73483156e-01 -1.76636182e-03] [ 8.73484937e-01 -4.86850390e-01 -8.73129829e-04] [-9.72897400e-05 -1.96797471e-03 9.99998059e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99981833 -0.01376981 0.01324567] [ 0.01479294 0.99664755 -0.08047571] [-0.0120933 0.08065743 0.99666813]] t_gt: [-0.85631487 0.34429003 -0.38495353] Pose Error in degrees for R and t: 118.37485861070367 31.180408241096547 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.99700940e-01 -2.44544256e-02 -1.11762790e-04] [ 2.44544339e-02 9.99700943e-01 7.31105097e-05] [ 1.09941491e-04 -7.58217410e-05 9.99999991e-01]] t_estimated: [[-0.83592832] [-0.54883782] [-0.00094457]] R_gt: [[ 0.99022684 0.1381301 0.01926019] [-0.13769705 0.99022447 -0.02227184] [-0.02214837 0.0194024 0.99956629]] t_gt: [-0.84471954 0.53125899 -0.06490598] Pose Error in degrees for R and t: 9.482413398259663 65.50516143213137 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99263542e-01 -3.83709737e-02 -2.05165208e-04] [ 3.83709963e-02 9.99263556e-01 1.07482442e-04] [ 2.00889909e-04 -1.15275680e-04 9.99999973e-01]] t_estimated: [[-0.38634098] [-0.92235532] [-0.00114114]] R_gt: [[ 0.96786584 0.2503161 0.02402521] [-0.25029881 0.96816135 -0.00376084] [-0.0242027 -0.00237279 0.99970385]] t_gt: [-0.8282703 0.55984532 0.02327067] Pose Error in degrees for R and t: 16.755615544236036 78.67300718107414 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.05305794 0.99858966 0.00188211] [ 0.99859022 -0.05306072 0.00145846] [ 0.00155627 0.00180208 -0.99999717]] t_estimated: [[-9.98914753e-01] [-4.65694524e-02] [-7.76157539e-04]] R_gt: [[ 0.90086729 0.43121186 0.04995456] [-0.42781928 0.90144126 -0.06613793] [-0.07355111 0.03820994 0.99655918]] t_gt: [-0.77589689 0.62941929 -0.04260719] Pose Error in degrees for R and t: 175.29127732582086 41.7741875022115 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99999971e-01 2.39999545e-04 6.37939998e-06] [-2.39999773e-04 9.99999971e-01 3.56631659e-05] [-6.37084065e-06 -3.56646960e-05 9.99999999e-01]] t_estimated: [[9.54578994e-01] [2.97957952e-01] [5.06096915e-05]] R_gt: [[ 0.9988828 -0.03541004 -0.03129722] [ 0.03583693 0.99927035 0.01316251] [ 0.03080805 -0.01426955 0.99942402]] t_gt: [ 0.9866016 0.02183375 -0.16168047] Pose Error in degrees for R and t: 2.8301486360713786 18.50670498222142 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99998288e-01 -1.83954204e-03 2.00836275e-04] [ 1.83962100e-03 9.99998230e-01 -3.93688540e-04] [-2.00111713e-04 3.94057328e-04 9.99999902e-01]] t_estimated: [[ 0.9267521 ] [-0.37566397] [-0.00266968]] R_gt: [[ 0.9993397 -0.03359847 -0.01383831] [ 0.03366244 0.99942361 0.00441236] [ 0.01368134 -0.00487506 0.99989488]] t_gt: [ 0.96600083 0.24040166 -0.09512849] Pose Error in degrees for R and t: 2.0102224721999935 36.37167907250577 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.85229619e-01 -1.71238423e-01 2.06615447e-05] [ 1.71238415e-01 9.85229599e-01 2.05746374e-04] [-5.55880500e-05 -1.99169372e-04 9.99999979e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.99382698e-01 2.87535687e-02 2.01863885e-02] [-2.87352952e-02 9.99586159e-01 -1.20145982e-03] [-2.02130937e-02 6.21558585e-04 9.99796177e-01]] t_gt: [0.23844692 0.96272943 0.1276523 ] Pose Error in degrees for R and t: 11.564923880842189 76.02314921062852 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-4.94817205e-01 -8.68994306e-01 -2.19779053e-03] [ 8.68996593e-01 -4.94818034e-01 -1.86997229e-04] [-9.25006863e-04 -2.00240193e-03 9.99997567e-01]] t_estimated: [[0.97432716] [0.22513336] [0.00125074]] R_gt: [[ 0.99762125 -0.00819829 0.06844842] [ 0.00881112 0.99992415 -0.00864498] [-0.06837189 0.00922804 0.99761741]] t_gt: [-0.34913985 -0.28044058 0.89412217] Pose Error in degrees for R and t: 119.2134338342237 66.28455163712741 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-0.12422742 0.99221458 -0.00881874] [ 0.99223212 0.12427852 0.00550172] [ 0.00655487 -0.00806677 -0.99994598]] t_estimated: [[8.67895837e-01] [4.96745577e-01] [8.05098179e-04]] R_gt: [[ 0.98064673 -0.09241571 0.17260717] [ 0.09246113 0.99568594 0.00780221] [-0.17258233 0.00830823 0.98495985]] t_gt: [ 0.20362577 -0.60538595 0.76944421] Pose Error in degrees for R and t: 173.124757722024 82.91294025586446 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.27312843e-01 3.74287026e-01 -3.37835557e-04] [-3.74286612e-01 9.27312632e-01 9.03179091e-04] [ 6.51327396e-04 -7.11082245e-04 9.99999535e-01]] t_estimated: [[-0.88663829] [-0.46246247] [-0.00100754]] R_gt: [[ 0.95620672 -0.18541066 0.22647852] [ 0.18531693 0.9824357 0.02187349] [-0.2265553 0.02105509 0.97377039]] t_gt: [ 0.42477443 -0.67356514 0.60487741] Pose Error in degrees for R and t: 35.28786073069696 86.23110987250247 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999999e-01 3.20940430e-05 3.58348603e-05] [-3.20925494e-05 9.99999999e-01 -4.16775928e-05] [-3.58361979e-05 4.16764427e-05 9.99999998e-01]] t_estimated: [[ 8.29705824e-01] [-5.58200891e-01] [-1.01085133e-04]] R_gt: [[ 0.97682214 -0.19622227 0.08552692] [ 0.20306435 0.97586304 -0.08034833] [-0.06769685 0.09585298 0.99309064]] t_gt: [ 0.88005116 -0.37944368 -0.28553887] Pose Error in degrees for R and t: 13.372272042570387 19.60669660784497 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.75264149 0.65842529 0.00263045] [-0.65842856 -0.7526234 -0.00546386] [-0.0016178 -0.00584429 0.99998161]] t_estimated: [[0.48253675] [0.87587056] [0.00300887]] R_gt: [[ 0.92927887 -0.34863829 0.12203105] [ 0.35846746 0.93089721 -0.07022609] [-0.08911561 0.1090033 0.99003896]] t_gt: [ 0.93189708 -0.33684297 -0.13455348] Pose Error in degrees for R and t: 159.66665604163828 81.12734294653043 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-9.90819037e-01 -1.35193316e-01 -6.35328399e-04] [ 1.35193950e-01 -9.90818551e-01 -1.09265994e-03] [-4.81774844e-04 -1.16852082e-03 9.99999201e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.91470936 -0.39117541 0.10143246] [ 0.39667995 0.91705909 -0.0405836 ] [-0.07714439 0.0773576 0.9940139 ]] t_gt: [ 0.96796378 -0.24613772 -0.04962198] Pose Error in degrees for R and t: 149.00907851165553 51.04649564801298 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.99984533e-01 5.56110632e-03 -9.22606906e-05] [-5.56109790e-03 9.99984533e-01 9.11998121e-05] [ 9.27664354e-05 -9.06853308e-05 9.99999992e-01]] t_estimated: [[-9.97835447e-01] [-6.57593461e-02] [-3.59114867e-04]] R_gt: [[ 0.98917177 0.14647498 0.00919784] [-0.14637899 0.98917362 -0.01038307] [-0.01061951 0.00892473 0.9999036 ]] t_gt: [-0.83745113 0.54414212 -0.05084254] Pose Error in degrees for R and t: 8.14135770754949 36.881904131825785 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99357755e-01 3.58339474e-02 -7.07526986e-05] [-3.58339327e-02 9.99357738e-01 1.99498516e-04] [ 7.78560762e-05 -1.96835042e-04 9.99999978e-01]] t_estimated: [[-9.99992264e-01] [ 3.93343749e-03] [ 2.34721903e-06]] R_gt: [[ 0.98015647 0.19552732 0.03260928] [-0.19473499 0.9805127 -0.02595417] [-0.03704874 0.01908926 0.99913168]] t_gt: [-0.78530718 0.6183573 -0.03044475] Pose Error in degrees for R and t: 9.510255164771726 38.02581322720161 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99946747e-01 1.03191763e-02 -1.30029261e-04] [-1.03191654e-02 9.99946752e-01 8.42296391e-05] [ 1.30891517e-04 -8.28833602e-05 9.99999988e-01]] t_estimated: [[-9.97434705e-01] [-7.15805686e-02] [-4.80564615e-04]] R_gt: [[ 0.95098173 0.30873186 0.01785778] [-0.30853568 0.95112458 -0.01294506] [-0.02098156 0.00680192 0.99975696]] t_gt: [-0.77351303 0.63376382 -0.00458343] Pose Error in degrees for R and t: 17.434045794403232 43.4340872556879 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.47094869 -0.88214606 -0.00506537] [-0.88215338 -0.47091382 -0.00675214] [ 0.00357102 0.00764835 -0.99996437]] t_estimated: [[ 0.59215347] [ 0.80582005] [-0.00288256]] R_gt: [[ 0.99991895 -0.00976612 -0.00813105] [ 0.01075819 0.99112832 0.13246958] [ 0.00676541 -0.13254592 0.99115442]] t_gt: [ 0.06348191 -0.34740129 0.93556528] Pose Error in degrees for R and t: 174.17208614970465 75.81528742328761 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.99261573e-01 3.84227520e-02 1.46473753e-05] [-3.84227504e-02 9.99261569e-01 -9.47021593e-05] [-1.82752768e-05 9.40694362e-05 9.99999995e-01]] t_estimated: [[-3.61349427e-02] [-9.99346878e-01] [-2.89960755e-04]] R_gt: [[ 9.98395344e-01 1.16061190e-02 -5.54232002e-02] [-6.48382574e-04 9.81047898e-01 1.93761531e-01] [ 5.66217165e-02 -1.93414335e-01 9.79481839e-01]] t_gt: [-0.10670589 -0.353226 0.92943276] Pose Error in degrees for R and t: 11.777412740775913 69.1095911454475 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.89588812e-01 -1.43923438e-01 -1.63096321e-04] [-1.43920342e-01 -9.89558708e-01 -7.77808073e-03] [ 9.58054736e-04 7.72057455e-03 -9.99969737e-01]] t_estimated: [[ 0.14967042] [ 0.98872957] [-0.00354924]] R_gt: [[ 0.99600826 0.06784527 -0.05800763] [-0.05259855 0.97113033 0.23267828] [ 0.07211822 -0.22869804 0.9708225 ]] t_gt: [-0.61432739 -0.22774052 0.75547079] Pose Error in degrees for R and t: 167.40037740764708 71.3490628383445 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-2.44423333e-01 -9.69665405e-01 -2.49737951e-03] [-9.69667756e-01 2.44425745e-01 -7.06394239e-04] [ 1.29538990e-03 2.24896915e-03 -9.99996632e-01]] t_estimated: [[8.45731527e-01] [5.33608208e-01] [6.81491964e-04]] R_gt: [[ 0.98103828 -0.17874818 0.07491659] [ 0.18308949 0.98151695 -0.05569534] [-0.06357649 0.06835567 0.99563309]] t_gt: [ 0.90298829 -0.40521118 -0.14288472] Pose Error in degrees for R and t: 179.18323501337576 56.81362108213186 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-9.89955672e-01 -1.41364740e-01 -1.94387050e-03] [ 1.41365154e-01 -9.89957518e-01 -7.62395555e-05] [-1.91357163e-03 -3.50269332e-04 9.99998108e-01]] t_estimated: [[8.23274563e-01] [5.67643006e-01] [6.40680594e-04]] R_gt: [[ 0.95808064 -0.27794708 0.06948072] [ 0.27928494 0.96015552 -0.01014977] [-0.06389042 0.02912953 0.99753173]] t_gt: [ 0.93611137 -0.34615123 0.06224806] Pose Error in degrees for R and t: 155.69187680396473 54.954536832445605 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.76408294e-01 2.15931855e-01 5.26838354e-04] [-2.15931786e-01 9.76408434e-01 -1.84159180e-04] [-5.54175246e-04 6.60534035e-05 9.99999844e-01]] t_estimated: [[-9.76473373e-01] [ 2.15637484e-01] [ 4.75902134e-04]] R_gt: [[ 0.9668177 -0.25387518 0.02848243] [ 0.25426948 0.96706925 -0.01113583] [-0.02471636 0.01800818 0.99953154]] t_gt: [ 0.98900639 -0.1457118 0.0251878 ] Pose Error in degrees for R and t: 27.2457548802696 4.328778074565436 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999998e-01 5.79179377e-05 4.04595955e-06] [-5.79180635e-05 9.99999998e-01 3.10928813e-05] [-4.04415871e-06 -3.10931156e-05 1.00000000e+00]] t_estimated: [[-9.99998644e-01] [ 1.64185063e-03] [ 1.25985844e-04]] R_gt: [[ 0.99810335 0.06148575 0.0031081 ] [-0.06150613 0.99808262 0.00681208] [-0.00268242 -0.0069914 0.99997264]] t_gt: [-0.75618448 0.63910776 0.14045036] Pose Error in degrees for R and t: 3.5481969057056415 40.77759912750708 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.98305792e-01 5.81839263e-02 -4.20842654e-04] [-5.81838334e-02 9.98305859e-01 2.29804621e-04] [ 4.33500622e-04 -2.04929045e-04 9.99999885e-01]] t_estimated: [[-0.63157162] [-0.77531615] [-0.0014678 ]] R_gt: [[ 0.98074682 0.19482445 0.01338823] [-0.19475628 0.98083147 -0.00630169] [-0.01435965 0.00357242 0.99989053]] t_gt: [-0.81079301 0.58511975 0.01579803] Pose Error in degrees for R and t: 7.945767181271176 86.65214329596105 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-9.97903634e-01 -6.47157137e-02 4.63227049e-04] [ 6.47142216e-02 -9.97900121e-01 -2.72368031e-03] [ 6.38519244e-04 -2.68799310e-03 9.99996183e-01]] t_estimated: [[9.58459084e-01] [2.85229083e-01] [7.44723453e-04]] R_gt: [[ 0.95795376 0.28604821 0.02238821] [-0.28620459 0.95815948 0.00404833] [-0.02029258 -0.01028595 0.99974125]] t_gt: [-0.78991427 0.61101562 0.05191685] Pose Error in degrees for R and t: 167.08108022136383 54.353517633768185 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.97999303e-01 6.32195212e-02 -8.26266607e-04] [-6.32186848e-02 9.97999195e-01 1.00206399e-03] [ 8.87963415e-04 -9.47823675e-04 9.99999157e-01]] t_estimated: [[-0.94459446] [-0.32823746] [-0.00121569]] R_gt: [[ 0.999846 0.01621905 -0.00685326] [-0.01635191 0.99966669 -0.01997437] [ 0.00652666 0.02008371 0.9997775 ]] t_gt: [-0.62611997 0.41037876 -0.66299552] Pose Error in degrees for R and t: 2.9662726984593277 62.771919189736785 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.98103935e-01 6.15507653e-02 1.95299988e-04] [-6.15507054e-02 9.98103913e-01 -2.99134967e-04] [-2.13341669e-04 2.86546936e-04 9.99999936e-01]] t_estimated: [[0.94700451] [0.32121594] [0.00166433]] R_gt: [[ 0.99590222 -0.02103581 0.08795615] [ 0.02371549 0.99928267 -0.02952238] [-0.08727185 0.03148824 0.99568696]] t_gt: [-0.40965306 -0.50947008 0.75671964] Pose Error in degrees for R and t: 7.163671034754259 56.61008571270393 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.08312639 -0.99643552 0.01436172] [-0.996401 0.08286641 -0.01783813] [ 0.01658444 -0.01579285 -0.99973774]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.97492706 -0.12186171 0.18618868] [ 0.12589284 0.99199411 -0.00993314] [-0.18348769 0.03312435 0.98246334]] t_gt: [ 0.27063596 -0.7140729 0.64564392] Pose Error in degrees for R and t: 173.1616962076598 86.86178867037286 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99985268e-01 5.42813049e-03 -8.43111055e-06] [-5.42813035e-03 9.99985267e-01 1.63062218e-05] [ 8.51949863e-06 -1.62602164e-05 1.00000000e+00]] t_estimated: [[ 9.99986577e-01] [-5.14862661e-03] [-5.80157026e-04]] R_gt: [[ 0.99981278 -0.01804431 -0.00695233] [ 0.01785494 0.99949305 -0.02639566] [ 0.00742518 0.02626721 0.99962715]] t_gt: [ 0.86968459 0.2598119 -0.4196981 ] Pose Error in degrees for R and t: 2.0596358416835048 29.706103464929438 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.90550633e-01 1.37147385e-01 1.95709948e-04] [-1.37147358e-01 9.90550645e-01 -1.45861979e-04] [-2.13865204e-04 1.17642574e-04 9.99999970e-01]] t_estimated: [[3.28384795e-01] [9.44543996e-01] [2.57847971e-04]] R_gt: [[ 0.99984542 0.00927505 0.01492598] [-0.00879804 0.99945777 -0.03173765] [-0.01521155 0.03160193 0.99938456]] t_gt: [ 0.5051945 0.81633279 -0.27996303] Pose Error in degrees for R and t: 7.6307623221157215 20.46462393450665 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99999990e-01 -1.39931490e-04 7.46466037e-06] [ 1.39932107e-04 9.99999987e-01 -8.26538872e-05] [-7.45309439e-06 8.26549309e-05 9.99999997e-01]] t_estimated: [[-0.79810272] [-0.60252055] [-0.00101342]] R_gt: [[ 0.99338804 0.11197798 0.02530894] [-0.11158677 0.99362068 -0.01636771] [-0.02697958 0.01343618 0.99954519]] t_gt: [-0.53024902 0.84673404 0.04332951] Pose Error in degrees for R and t: 6.6546287661898225 85.00749776546749 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99520450e-01 -3.09656189e-02 -2.03114790e-05] [ 3.09656215e-02 9.99520440e-01 1.43163357e-04] [ 1.58685965e-05 -1.43723661e-04 9.99999990e-01]] t_estimated: [[9.73305910e-01] [2.29510015e-01] [8.70570666e-04]] R_gt: [[ 0.99998144 -0.00586477 -0.0016062 ] [ 0.00583777 0.99985581 -0.01597381] [ 0.00169991 0.01596532 0.99987095]] t_gt: [ 0.86204132 0.42915624 -0.26964735] Pose Error in degrees for R and t: 1.7122232763703267 20.398549072013154 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.99145893e-01 4.13217172e-02 1.86615920e-05] [-4.13217165e-02 9.99145892e-01 -3.69169442e-05] [-2.01711245e-05 3.61142842e-05 9.99999999e-01]] t_estimated: [[ 0.96704251] [-0.25461278] [-0.00105755]] R_gt: [[ 0.99927087 0.02553751 0.0283782 ] [-0.02476436 0.99932132 -0.02729227] [-0.02905601 0.02657049 0.99922508]] t_gt: [ 0.16370691 0.98616585 -0.02601844] Pose Error in degrees for R and t: 2.4364990991107245 84.67808819093023 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.96727273e-01 8.08377614e-02 7.40579281e-07] [-8.08377611e-02 9.96727269e-01 -8.97297304e-05] [-7.99170610e-06 8.93762027e-05 9.99999996e-01]] t_estimated: [[0.63195046] [0.77500737] [0.00148157]] R_gt: [[ 0.99213082 0.12157025 0.02996525] [-0.12077767 0.99231346 -0.0269705 ] [-0.03301449 0.02313942 0.99918689]] t_gt: [-0.56770732 0.82295968 0.02111309] Pose Error in degrees for R and t: 3.2757156555976557 73.7954003808693 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.98755575e-01 -4.98724443e-02 -2.01361479e-04] [ 4.98724129e-02 9.98755584e-01 -1.58374257e-04] [ 2.09009413e-04 1.48134789e-04 9.99999967e-01]] t_estimated: [[-0.50966244] [-0.86037075] [-0.00252308]] R_gt: [[ 9.99817639e-01 1.91277234e-02 6.69135223e-04] [-1.91124177e-02 9.99647494e-01 -1.84353015e-02] [-1.02191733e-03 1.84191060e-02 9.99829909e-01]] t_gt: [-0.73815373 0.44500941 -0.50704605] Pose Error in degrees for R and t: 4.090597458897693 89.6914876353708 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.90713464e-01 1.35965994e-01 2.85069721e-04] [-1.35965719e-01 9.90713196e-01 -8.28973730e-04] [-3.95134572e-04 7.82515726e-04 9.99999616e-01]] t_estimated: [[8.39548225e-01] [5.43284572e-01] [8.07257908e-04]] R_gt: [[ 0.99425971 -0.02405642 0.1042601 ] [ 0.02694187 0.99928975 -0.02635207] [-0.10355254 0.02901033 0.99420178]] t_gt: [-0.30536857 -0.47661833 0.82436946] Pose Error in degrees for R and t: 11.124786041850664 59.026234478774704 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.93467268e-01 1.14117262e-01 -1.95226444e-04] [-1.14117136e-01 9.93467140e-01 5.66753212e-04] [ 2.58627382e-04 -5.40772082e-04 9.99999820e-01]] t_estimated: [[-0.61794312] [-0.78622227] [-0.00091956]] R_gt: [[ 0.97262816 -0.1288489 0.19337258] [ 0.1324112 0.9911793 -0.00555789] [-0.19095167 0.03101051 0.98110982]] t_gt: [ 0.29179575 -0.70537311 0.64599072] Pose Error in degrees for R and t: 17.995030103365274 68.0576894362014 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.99999384e-01 1.10860260e-03 -4.70069119e-05] [-1.10859882e-03 9.99999382e-01 8.03891338e-05] [ 4.70960025e-05 -8.03369725e-05 9.99999996e-01]] t_estimated: [[9.87891639e-01] [1.55145345e-01] [1.79140672e-04]] R_gt: [[ 0.99793913 0.06285349 0.01291988] [-0.06292186 0.9980058 0.00499813] [-0.01257968 -0.00580022 0.99990455]] t_gt: [-0.75791725 0.63368339 0.15494127] Pose Error in degrees for R and t: 3.630037020987183 49.428283263385055 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 0.98883671 -0.14892392 -0.00486159] [ 0.14897236 0.98876969 0.01190534] [ 0.003034 -0.01249668 0.99991731]] t_estimated: [[-9.01435404e-01] [-4.32913402e-01] [-4.47119452e-04]] R_gt: [[ 0.98115082 0.19293156 0.01103797] [-0.19288005 0.98120569 -0.00560633] [-0.01191207 0.00337138 0.99992413]] t_gt: [-0.8075812 0.58971054 0.0073538 ] Pose Error in degrees for R and t: 19.73225599047621 61.79124652094869 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.98620589 -0.1651383 -0.01128215] [-0.16521647 0.98623668 0.00638172] [ 0.010073 0.00815769 -0.99991599]] t_estimated: [[ 0.99995053] [-0.00669573] [-0.00735511]] R_gt: [[ 0.95833801 0.28397273 0.03078688] [-0.28405652 0.95880608 -0.00173734] [-0.03001158 -0.00708041 0.99952434]] t_gt: [-0.78678644 0.61499036 0.05247814] Pose Error in degrees for R and t: 178.90038855757004 37.6973972247513 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99819074e-01 1.90210437e-02 1.34853190e-04] [-1.90210427e-02 9.99819084e-01 -8.68931665e-06] [-1.34994073e-04 6.12269624e-06 9.99999991e-01]] t_estimated: [[ 9.67187803e-01] [-2.54061903e-01] [ 5.50015580e-04]] R_gt: [[ 0.98039232 -0.17775018 0.08505636] [ 0.18321547 0.9811531 -0.06139994] [-0.07253879 0.07578053 0.99448252]] t_gt: [ 0.90322105 -0.40268829 -0.14843814] Pose Error in degrees for R and t: 12.98863085251791 12.62788203310351 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.06127866 0.83298696 -0.54988876] [ 0.69483069 0.35991147 0.62263476] [ 0.71655791 -0.42023381 -0.55673001]] t_estimated: [[0.64629658] [0.73473697] [0.20606387]] R_gt: [[ 0.95314636 -0.29194835 0.07922519] [ 0.29423923 0.95554857 -0.0187125 ] [-0.07024061 0.0411472 0.99668117]] t_gt: [ 0.93691709 -0.34788456 0.03409841] Pose Error in degrees for R and t: 131.07693265107827 69.08705168056517 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-3.44374867e-01 -9.28098111e-01 -1.41562168e-01] [ 9.37510797e-01 -3.47955703e-01 5.78361715e-04] [-4.97941402e-02 -1.32516888e-01 9.89929198e-01]] t_estimated: [[0.96090228] [0.24051637] [0.1371812 ]] R_gt: [[ 0.95958379 -0.27769648 0.04564604] [ 0.27879696 0.96014727 -0.01970117] [-0.03835589 0.0316319 0.99876316]] t_gt: [ 0.9854758 -0.1694659 0.01089735] Pose Error in degrees for R and t: 94.74638668213231 24.81310235141158 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.88947125e-01 1.48268622e-01 1.47424945e-05] [-1.48268619e-01 9.88947117e-01 -1.29547836e-04] [-3.37874266e-05 1.25930111e-04 9.99999992e-01]] t_estimated: [[-5.68344333e-01] [-8.22790596e-01] [-5.95431827e-04]] R_gt: [[ 0.99978862 -0.01936947 -0.00701975] [ 0.0200114 0.99402525 0.10730716] [ 0.00489981 -0.10742444 0.99420071]] t_gt: [ 0.29296931 -0.40358966 0.86676662] Pose Error in degrees for R and t: 11.462416442564592 80.50007991762584 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 0.92069269 -0.39028511 -0.00158475] [-0.39028333 -0.92065277 -0.00879803] [ 0.00197474 0.00871878 -0.99996004]] t_estimated: [[ 0.25538172] [ 0.96683189] [-0.00403511]] R_gt: [[ 0.99891659 0.01321535 -0.04464015] [-0.00445359 0.98159468 0.19092774] [ 0.04634154 -0.19052093 0.98058784]] t_gt: [-0.10750799 -0.3257901 0.93930977] Pose Error in degrees for R and t: 170.2580270048458 69.74309939236623 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 0.23490951 -0.97200967 -0.003836 ] [-0.9720146 -0.23489785 -0.00325782] [ 0.00226557 0.00449394 -0.99998734]] t_estimated: [[ 0.79552161] [ 0.60592441] [-0.0009862 ]] R_gt: [[ 0.99615147 0.06094041 -0.06301226] [-0.0445473 0.97101351 0.23483865] [ 0.07549684 -0.23112808 0.96998917]] t_gt: [-0.53690953 -0.24720619 0.80660849] Pose Error in degrees for R and t: 172.17676286027745 54.710582396079936 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 7.14957492e-01 -6.99167726e-01 -5.25428314e-04] [ 6.99167714e-01 7.14957657e-01 -2.36055537e-04] [ 5.40701409e-04 -1.98592839e-04 9.99999834e-01]] t_estimated: [[-0.00715972] [-0.99997366] [-0.00119329]] R_gt: [[ 9.89427564e-01 1.44919073e-01 5.54277944e-03] [-1.44911879e-01 9.89442893e-01 -1.65304460e-03] [-5.72365929e-03 8.31479121e-04 9.99982641e-01]] t_gt: [-0.85097567 0.52489183 -0.0181378 ] Pose Error in degrees for R and t: 52.69395420909406 58.75064641325634 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.98735817e-01 5.02669524e-02 -3.32973248e-05] [-5.02669486e-02 9.98735812e-01 1.07281180e-04] [ 3.86479287e-05 -1.05471802e-04 9.99999994e-01]] t_estimated: [[-9.99999101e-01] [-1.30811798e-03] [-2.96326867e-04]] R_gt: [[ 0.97911306 0.20062359 0.03295643] [-0.1998715 0.97950902 -0.02472542] [-0.03724096 0.01762159 0.99915029]] t_gt: [-0.78903092 0.61370059 -0.02831594] Pose Error in degrees for R and t: 8.991893430136043 37.97905026924577 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99999867e-01 4.80900041e-04 -1.85020462e-04] [-4.80865293e-04 9.99999867e-01 1.87806809e-04] [ 1.85110754e-04 -1.87717814e-04 9.99999965e-01]] t_estimated: [[-9.95809214e-01] [-9.14537794e-02] [-4.65279604e-04]] R_gt: [[ 0.95202912 0.30552529 0.01713246] [-0.30550096 0.95218267 -0.0040972 ] [-0.01756479 -0.00133381 0.99984485]] t_gt: [-0.77586832 0.63077414 0.01234198] Pose Error in degrees for R and t: 17.792083072937466 44.36299584703134 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.64912267e-01 2.62572478e-01 -1.02787341e-04] [-2.62572480e-01 9.64912272e-01 -8.69302712e-06] [ 9.68982169e-05 3.53771355e-05 9.99999995e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9751657 -0.20514813 0.08346398] [ 0.21184204 0.97391914 -0.08126746] [-0.06461539 0.09693142 0.99319124]] t_gt: [ 0.87502843 -0.38327687 -0.29567565] Pose Error in degrees for R and t: 28.091937502930968 29.119540988166854 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99999997e-01 4.05358654e-05 -6.68208899e-05] [-4.05298157e-05 9.99999995e-01 9.05356125e-05] [ 6.68245595e-05 -9.05329040e-05 9.99999994e-01]] t_estimated: [[9.99998647e-01] [1.57600819e-03] [4.70803458e-04]] R_gt: [[ 0.92383986 -0.35907803 0.13260317] [ 0.37141381 0.92469456 -0.08362518] [-0.09258967 0.12650779 0.98763534]] t_gt: [ 0.92869153 -0.32623161 -0.17636604] Pose Error in degrees for R and t: 23.35691241623416 21.860512230374436 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.28078856 0.95965195 0.01503088] [ 0.95972508 -0.28059014 -0.014034 ] [-0.00925024 0.0183661 -0.99978854]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.90422951 -0.40977337 0.1202284 ] [ 0.41710327 0.907853 -0.04277173] [-0.09162329 0.08882346 0.99182453]] t_gt: [ 0.96508043 -0.25643879 -0.05346887] Pose Error in degrees for R and t: 171.99280325714747 51.66802689094423 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.25459154e-01 3.78847201e-01 3.89600059e-04] [-3.78846900e-01 9.25459113e-01 -6.76022091e-04] [-6.16668002e-04 4.78032058e-04 9.99999696e-01]] t_estimated: [[-9.87512172e-01] [-1.57540852e-01] [-7.68491962e-04]] R_gt: [[ 0.99649611 -0.01093446 0.08293225] [ 0.01214792 0.9998268 -0.01412877] [-0.08276366 0.01508684 0.99645497]] t_gt: [-0.27856179 -0.26967114 0.92178132] Pose Error in degrees for R and t: 23.413261612212406 71.52692357873853 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.36843469 0.92921476 0.02856251] [ 0.92452169 -0.36300404 -0.11613665] [-0.09754759 0.06919543 -0.99282247]] t_estimated: [[8.72711396e-01] [4.88235776e-01] [8.04342300e-04]] R_gt: [[ 0.97752604 -0.10232555 0.1843207 ] [ 0.10259979 0.99468996 0.00807944] [-0.18416877 0.01101377 0.98283323]] t_gt: [ 0.23752189 -0.60692254 0.75843812] Pose Error in degrees for R and t: 167.67081858167768 84.9270992594314 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 2.90296192e-01 -9.56934230e-01 -2.23619662e-03] [ 9.56936777e-01 2.90296244e-01 3.08424789e-04] [ 3.54017240e-04 -2.22943332e-03 9.99997452e-01]] t_estimated: [[9.35875632e-01] [3.52329650e-01] [7.86450111e-04]] R_gt: [[ 0.95125843 -0.1982291 0.23625026] [ 0.19906517 0.97977094 0.02055937] [-0.23554663 0.02747258 0.97147513]] t_gt: [ 0.44928016 -0.6680049 0.59322575] Pose Error in degrees for R and t: 62.88481739706219 79.30511066144949 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.99997489e-01 -2.23829201e-03 1.11895726e-04] [ 2.23827870e-03 9.99997488e-01 1.18854882e-04] [-1.12161477e-04 -1.18604130e-04 9.99999987e-01]] t_estimated: [[ 0.06600996] [-0.99781841] [-0.00105187]] R_gt: [[ 0.99880052 -0.03501399 -0.03422953] [ 0.03510653 0.99938129 0.00209213] [ 0.03413543 -0.00329147 0.99941144]] t_gt: [ 0.95251897 0.06455273 -0.29755766] Pose Error in degrees for R and t: 2.725180690573049 89.92991743660534 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.99999991e-01 -1.31488047e-04 1.64771049e-05] [ 1.31487327e-04 9.99999990e-01 4.36771533e-05] [-1.64828478e-05 -4.36749864e-05 9.99999999e-01]] t_estimated: [[ 9.99947819e-01] [ 1.02148621e-02] [-1.23737710e-04]] R_gt: [[ 0.99945085 -0.03235588 -0.00715382] [ 0.03229862 0.99944609 -0.00805919] [ 0.00740987 0.00782338 0.99994146]] t_gt: [ 0.94901354 0.27330949 -0.1570835 ] Pose Error in degrees for R and t: 1.9465077734996534 17.866251999586485 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99998026e-01 -1.98506186e-03 -8.32524657e-05] [ 1.98505156e-03 9.99998022e-01 -1.23565240e-04] [ 8.34975857e-05 1.23399736e-04 9.99999989e-01]] t_estimated: [[ 0.90683955] [-0.42147259] [-0.0017006 ]] R_gt: [[ 0.99887029 0.04259171 0.02109573] [-0.04244978 0.99907334 -0.00713065] [-0.02137971 0.00622667 0.99975194]] t_gt: [0.02683925 0.99670065 0.07659942] Pose Error in degrees for R and t: 2.853084727900035 66.67954418747381 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99999996e-01 8.86685104e-05 2.40328705e-05] [-8.86685061e-05 9.99999996e-01 -1.83008692e-07] [-2.40328867e-05 1.80877734e-07 1.00000000e+00]] t_estimated: [[-9.88300502e-01] [-1.52518384e-01] [-5.09897000e-04]] R_gt: [[ 0.99023347 0.1377866 0.02129269] [-0.13730097 0.99026689 -0.02283606] [-0.02423169 0.01968882 0.99951204]] t_gt: [-0.8543812 0.51530101 -0.06706444] Pose Error in degrees for R and t: 8.101915467764412 40.019406080268816 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[-9.37313009e-01 -3.48189023e-01 -1.44474230e-02] [-3.48216735e-01 9.37413839e-01 -6.32205924e-04] [ 1.37633415e-02 4.43825964e-03 -9.99895431e-01]] t_estimated: [[ 0.98567238] [ 0.16853474] [-0.00678198]] R_gt: [[ 0.96908118 0.24564381 0.02325261] [-0.24564716 0.96935522 -0.00275935] [-0.0232177 -0.00303768 0.99972536]] t_gt: [-0.83264252 0.55321242 0.02573816] Pose Error in degrees for R and t: 179.5053756798959 43.31010609976351 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.30128806e-01 -5.57570554e-01 -1.11482498e-03] [ 5.57571088e-01 8.30129168e-01 2.16112353e-04] [ 8.04950851e-04 -8.00995268e-04 9.99999355e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.90689035 0.41965507 0.03794243] [-0.41711285 0.90685045 -0.06033849] [-0.05972868 0.03889347 0.99745636]] t_gt: [-0.77822334 0.62560026 -0.05470604] Pose Error in degrees for R and t: 58.78832510351641 39.07496185129169 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.99998127e-01 1.93219103e-03 -1.14018846e-04] [-1.93220312e-03 9.99998128e-01 -1.05937984e-04] [ 1.13813940e-04 1.06158093e-04 9.99999988e-01]] t_estimated: [[ 1.84120795e-01] [-9.82903329e-01] [-7.60876533e-04]] R_gt: [[ 0.99920879 0.03826983 0.01076279] [-0.03792234 0.99880313 -0.03089055] [-0.01193333 0.030458 0.99946451]] t_gt: [-0.79481885 0.59010059 -0.14157783] Pose Error in degrees for R and t: 2.7932206703072384 43.4273346383722 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.99987016e-01 5.09530063e-03 -7.78175032e-05] [-5.09532551e-03 9.99986967e-01 -3.22854873e-04] [ 7.61714463e-05 3.23247186e-04 9.99999945e-01]] t_estimated: [[ 0.27036154] [-0.96275725] [-0.00176569]] R_gt: [[ 0.99919191 0.03910957 -0.00918964] [-0.03960753 0.99726269 -0.06244838] [ 0.00672197 0.06276255 0.9980059 ]] t_gt: [-0.79806174 0.49474208 -0.34398797] Pose Error in degrees for R and t: 4.10173055249528 46.25307023095706 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.78890867e-01 -2.04378077e-01 -1.50767114e-03] [-2.04381683e-01 9.78887135e-01 2.84695557e-03] [ 8.93984581e-04 3.09499917e-03 -9.99994811e-01]] t_estimated: [[8.80532043e-01] [4.73985830e-01] [8.68732842e-04]] R_gt: [[ 0.999203 -0.03505539 0.01908155] [ 0.0366184 0.99536456 -0.08893444] [-0.01587632 0.08956187 0.99585461]] t_gt: [-0.8377341 0.28213919 -0.46754578] Pose Error in degrees for R and t: 179.5912525591024 52.819505499007114 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99727100e-01 2.33606740e-02 -5.88466729e-05] [-2.33606695e-02 9.99727099e-01 7.69807045e-05] [ 6.06289347e-05 -7.55849988e-05 9.99999995e-01]] t_estimated: [[-9.79361488e-01] [-2.02116346e-01] [-2.43191711e-04]] R_gt: [[ 9.91379056e-01 1.24647831e-01 4.03828835e-02] [-1.24716264e-01 9.92192188e-01 -8.32363837e-04] [-4.01707233e-02 -4.21144186e-03 9.99183430e-01]] t_gt: [-0.86326655 0.48838272 0.12748795] Pose Error in degrees for R and t: 6.27064128381759 41.69391059020487 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.94144402 -0.3369836 0.0111899 ] [-0.33714081 0.94127752 -0.01824038] [-0.00438609 -0.02094487 -0.99977101]] t_estimated: [[0.87976457] [0.47535666] [0.00709488]] R_gt: [[ 0.94110018 0.33455944 0.04899388] [-0.3350637 0.94219322 0.00222409] [-0.04541692 -0.01850971 0.99879608]] t_gt: [-0.84589997 0.52569735 0.08997526] Pose Error in degrees for R and t: 176.55126657953898 60.41852452422214 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.43419503 -0.89762501 0.07578929] [-0.88908474 0.44055524 0.12425541] [-0.14492413 -0.01343202 -0.98935159]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.85053307 0.51998857 0.07877346] [-0.51997115 0.85389154 -0.02236381] [-0.07889179 -0.02193864 0.99664162]] t_gt: [-0.7991846 0.59626004 0.07601282] Pose Error in degrees for R and t: 169.84630197991828 77.9202409681015 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.85611116e-01 -1.69028634e-01 2.22544506e-04] [ 1.69028683e-01 9.85611107e-01 -2.23736315e-04] [-1.81524493e-04 2.58133404e-04 9.99999950e-01]] t_estimated: [[7.68409035e-01] [6.39958569e-01] [7.64586104e-04]] R_gt: [[ 9.99151361e-01 -4.08830726e-02 -4.84776613e-03] [ 4.11695547e-02 9.92287926e-01 1.16915079e-01] [ 3.02217570e-05 -1.17014942e-01 9.93129888e-01]] t_gt: [ 0.32174325 -0.63698817 0.70051934] Pose Error in degrees for R and t: 9.98170093481196 80.80006823277304 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.92800189e-01 1.19781909e-01 -2.79799631e-04] [-1.19781795e-01 9.92800164e-01 3.94631279e-04] [ 3.25054807e-04 -3.58275107e-04 9.99999883e-01]] t_estimated: [[-0.88110542] [ 0.47291573] [-0.0019904 ]] R_gt: [[ 0.98002254 -0.19375394 -0.04489115] [ 0.19826926 0.9695442 0.14377755] [ 0.0156665 -0.14980579 0.98859101]] t_gt: [ 0.69235756 -0.59063049 0.41448357] Pose Error in degrees for R and t: 20.174609589941785 27.103693700092062 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.58519599e-01 2.85012420e-01 2.84565853e-03] [-2.85009951e-01 9.58523746e-01 -1.24718026e-03] [-3.08309314e-03 3.84405722e-04 9.99995173e-01]] t_estimated: [[0.572675 ] [0.819782 ] [0.00090185]] R_gt: [[ 0.89616561 -0.43809545 -0.07042453] [ 0.44345632 0.88974958 0.1081247 ] [ 0.0152909 -0.1281288 0.99163962]] t_gt: [ 0.86657811 -0.459313 0.19512549] Pose Error in degrees for R and t: 43.45666935090212 83.11326113697886 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.94960894 -0.31342436 -0.00283418] [ 0.31343212 -0.94960615 -0.00291041] [-0.00177916 -0.00365208 0.99999175]] t_estimated: [[0.8537033 ] [0.52075901] [0.0008537 ]] R_gt: [[ 0.99691209 0.06942773 0.03670468] [-0.06913135 0.99756476 -0.00928144] [-0.03725929 0.0067165 0.99928334]] t_gt: [-0.81343486 0.49739143 0.30153854] Pose Error in degrees for R and t: 165.71477074818281 64.2049360884333 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.91639855e-01 1.29036281e-01 -1.90791453e-04] [-1.29036221e-01 9.91639836e-01 2.98957750e-04] [ 2.27772801e-04 -2.71839412e-04 9.99999937e-01]] t_estimated: [[0.63774117] [0.77025008] [0.00101001]] R_gt: [[ 0.99134985 0.13074826 -0.01147338] [-0.13089137 0.99131366 -0.01280606] [ 0.00969947 0.01419809 0.99985229]] t_gt: [-0.75445856 0.63313404 -0.17301318] Pose Error in degrees for R and t: 0.9955793599256929 89.63631183749098 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 8.99144644e-03 9.99959576e-01 1.03151009e-05] [-9.99957964e-01 8.99145047e-03 -1.79570374e-03] [-1.79572390e-03 5.83130672e-06 9.99998388e-01]] t_estimated: [[-0.00432055] [ 0.99999014] [ 0.00102859]] R_gt: [[ 0.99478654 0.10181209 -0.00592318] [-0.10167762 0.99462002 0.01979071] [ 0.00790727 -0.01908517 0.99978674]] t_gt: [-0.83979215 0.53673332 0.0816485 ] Pose Error in degrees for R and t: 83.65285766563844 57.28637778715352 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 1.49566529e-01 9.88749844e-01 1.89702584e-03] [ 9.88751367e-01 -1.49567697e-01 4.88786626e-04] [ 7.67021486e-04 1.80258077e-03 -9.99998081e-01]] t_estimated: [[-7.00983990e-01] [-7.13176862e-01] [-4.57472963e-04]] R_gt: [[ 0.99720706 0.03731965 0.06469172] [-0.03783174 0.99926168 0.00671306] [-0.06439357 -0.0091409 0.99788277]] t_gt: [-0.68315399 0.32685383 0.65304456] Pose Error in degrees for R and t: 177.88348104439737 75.78999493242848 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.98020190e-01 -6.28913726e-02 -6.13075363e-04] [ 6.28915960e-02 9.98020302e-01 3.52188240e-04] [ 5.89712057e-04 -3.90048262e-04 9.99999750e-01]] t_estimated: [[-0.75676811] [-0.65368216] [-0.00128489]] R_gt: [[ 0.99332827 0.10258177 0.05268057] [-0.10341677 0.99454765 0.01337475] [-0.05102128 -0.01873332 0.99852213]] t_gt: [-0.78311153 0.52457592 0.33400066] Pose Error in degrees for R and t: 10.026219776383533 75.5639797217558 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999866e-01 -5.18218259e-04 -1.86806342e-05] [ 5.18218259e-04 9.99999866e-01 -1.71563930e-09] [ 1.86806325e-05 -7.96500665e-09 1.00000000e+00]] t_estimated: [[-9.99999363e-01] [ 1.10004583e-03] [ 2.51528796e-04]] R_gt: [[ 0.99205858 0.1252762 0.01121098] [-0.12546609 0.99192969 0.01824118] [-0.00883585 -0.01950289 0.99977144]] t_gt: [-0.8243401 0.55679218 0.10220502] Pose Error in degrees for R and t: 7.335931534974758 34.413761496148325 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999963e-01 1.15443355e-04 -2.46876876e-04] [-1.15482348e-04 9.99999981e-01 -1.57936342e-04] [ 2.46858638e-04 1.57964846e-04 9.99999957e-01]] t_estimated: [[-0.74400047] [-0.66817566] [-0.0021432 ]] R_gt: [[ 9.95219127e-01 9.75152082e-02 5.61779434e-03] [-9.76758347e-02 9.93300067e-01 6.17608744e-02] [ 4.42278405e-04 -6.20147078e-02 9.98074482e-01]] t_gt: [-0.65095966 0.69921869 0.29554143] Pose Error in degrees for R and t: 6.637343124882133 89.055723668211 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.97644094e-01 6.86021762e-02 -6.16641348e-05] [-6.86021856e-02 9.97644081e-01 -1.65890812e-04] [ 5.01383884e-05 1.69730283e-04 9.99999984e-01]] t_estimated: [[-9.40579457e-01] [-3.39572378e-01] [-9.40284612e-04]] R_gt: [[ 0.97466653 0.22247933 0.02299233] [-0.22356431 0.97213758 0.07048234] [-0.00667048 -0.0738378 0.99724814]] t_gt: [-0.60216722 0.77983477 0.17103325] Pose Error in degrees for R and t: 9.929835955036804 72.45739215520067 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.98971947e-01 4.53321436e-02 -2.13437302e-04] [-4.53321409e-02 9.98971970e-01 1.74846846e-05] [ 2.14010501e-04 -7.79113953e-06 9.99999977e-01]] t_estimated: [[-0.88254593] [-0.47022451] [-0.00125811]] R_gt: [[ 0.95856588 0.28484093 -0.00410718] [-0.28480403 0.958554 0.00783376] [ 0.00616831 -0.00634028 0.99996028]] t_gt: [-0.53371527 0.84518231 -0.02854605] Pose Error in degrees for R and t: 13.95927541183032 85.77698966231502 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.97962511 -0.20081201 0.00302871] [-0.20079829 -0.97962314 -0.00430658] [ 0.00383181 0.00361068 -0.99998614]] t_estimated: [[ 0.14711588] [ 0.98911783] [-0.00168553]] R_gt: [[ 0.99502501 -0.05547866 -0.08274308] [ 0.05956668 0.99707978 0.04778563] [ 0.07985103 -0.05247595 0.99542478]] t_gt: [ 0.34283151 -0.8728387 -0.34730268] Pose Error in degrees for R and t: 177.84226298283468 35.676876114491975 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[-0.32164682 0.94673378 0.0154429 ] [ 0.94673372 0.3218273 -0.01106611] [-0.01544661 0.01106093 -0.99981951]] t_estimated: [[ 0.8057105 ] [-0.59222235] [ 0.01016241]] R_gt: [[ 0.99101218 -0.1149319 -0.06844791] [ 0.11743792 0.99250452 0.03379301] [ 0.06405085 -0.04152796 0.99708214]] t_gt: [ 0.41914278 -0.89325108 -0.16254797] Pose Error in degrees for R and t: 176.7332990779197 30.110544073782627 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99908753e-01 1.35084193e-02 8.56806281e-05] [-1.35084263e-02 9.99908754e-01 8.08744761e-05] [-8.45803237e-05 -8.20245070e-05 9.99999993e-01]] t_estimated: [[ 8.76203784e-01] [-4.81940762e-01] [-1.73405067e-04]] R_gt: [[ 0.98531574 -0.15402494 -0.07368543] [ 0.15617598 0.98742804 0.02435744] [ 0.06900816 -0.03550734 0.99698449]] t_gt: [ 0.43436652 -0.88173107 -0.18405447] Pose Error in degrees for R and t: 10.680683854934825 36.33488841998992 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.99261129e-01 -3.84331124e-02 3.02250773e-04] [ 3.84332493e-02 9.99261063e-01 -4.61038254e-04] [-2.84308294e-04 4.72314085e-04 9.99999848e-01]] t_estimated: [[-0.84478422] [-0.53510591] [-0.00113852]] R_gt: [[ 0.99571651 -0.091266 0.01484768] [ 0.09117353 0.99581193 0.00683042] [-0.01540847 -0.00544714 0.99986671]] t_gt: [ 0.81587887 -0.57407766 0.06911231] Pose Error in degrees for R and t: 3.1707175045611713 67.53444563602841 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-8.84129239e-02 -9.96083757e-01 5.50815227e-04] [-9.96083717e-01 8.84132368e-02 5.72357954e-04] [-6.18815819e-04 -4.98054239e-04 -9.99999685e-01]] t_estimated: [[0.55968898] [0.82870078] [0.00180545]] R_gt: [[ 0.98912693 -0.144883 0.02522886] [ 0.14465528 0.98942518 0.01067928] [-0.02650954 -0.0069133 0.9996246 ]] t_gt: [ 0.79504007 -0.60277888 0.06759364] Pose Error in degrees for R and t: 178.5179037003102 86.8800709428619 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.94761130e-01 -1.02195864e-01 2.50992082e-03] [ 1.02196360e-01 9.94764243e-01 -6.99223003e-05] [-2.48963372e-03 3.26060758e-04 9.99996848e-01]] t_estimated: [[0.99681843] [0.07969643] [0.0012261 ]] R_gt: [[ 0.98448418 -0.17392655 0.02325859] [ 0.17290503 0.98410791 0.04045445] [-0.02992515 -0.03580474 0.99891036]] t_gt: [ 0.71586396 -0.6793363 0.16137218] Pose Error in degrees for R and t: 4.879231581571093 48.727305170143005 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 7.76928079e-01 6.29589266e-01 3.42248817e-04] [-6.29589243e-01 7.76928151e-01 -1.84915330e-04] [-3.82323447e-04 -7.18102613e-05 9.99999924e-01]] t_estimated: [[0.83123193] [0.55592508] [0.00088523]] R_gt: [[ 0.99672264 -0.08045644 0.00849076] [ 0.08009446 0.99610961 0.03676365] [-0.01141538 -0.03596314 0.99928795]] t_gt: [ 0.75286086 -0.52488873 0.39710495] Pose Error in degrees for R and t: 43.67665339938753 70.4666974562141 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-4.50131995e-01 -8.92961950e-01 -3.78404866e-04] [-8.92962005e-01 4.50132043e-01 -4.67810616e-05] [ 2.12105863e-04 3.16843515e-04 -9.99999927e-01]] t_estimated: [[0.85068939] [0.52566737] [0.00117336]] R_gt: [[ 0.99959365 -0.01582588 0.02374505] [ 0.0152163 0.9995554 0.02564306] [-0.02413947 -0.02527108 0.99938905]] t_gt: [0.20644053 0.33599174 0.91896238] Pose Error in degrees for R and t: 178.08682215612396 69.30979368137095 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999990e-01 -1.59230267e-05 1.41097304e-04] [ 1.59451002e-05 9.99999988e-01 -1.56442524e-04] [-1.41094811e-04 1.56444773e-04 9.99999978e-01]] t_estimated: [[-8.41291710e-01] [-5.40580929e-01] [-7.20013873e-04]] R_gt: [[ 0.99791789 0.06438144 -0.00391669] [-0.06418759 0.99722273 0.03777837] [ 0.00633828 -0.03744726 0.99927853]] t_gt: [-0.53568144 0.81165316 0.23294752] Pose Error in degrees for R and t: 4.287152050402773 89.32776692632874 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[ 6.15958767e-01 -7.87777743e-01 -1.01264731e-03] [ 7.87778049e-01 6.15959191e-01 -1.43934475e-04] [ 7.37137795e-04 -7.09083622e-04 9.99999477e-01]] t_estimated: [[ 8.37546716e-01] [-5.46365568e-01] [-4.05586300e-04]] R_gt: [[ 0.99795635 0.05388637 0.03435159] [-0.05480716 0.99814676 0.02644646] [-0.03286245 -0.02827428 0.99905957]] t_gt: [-0.79989598 -0.13593442 0.58454106] Pose Error in degrees for R and t: 55.14833545327325 53.421937491094 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999923e-01 3.88604394e-04 5.16538679e-05] [-3.88594106e-04 9.99999905e-01 -1.99038719e-04] [-5.17312103e-05 1.99018632e-04 9.99999979e-01]] t_estimated: [[7.08786735e-01] [7.05422800e-01] [1.92154674e-04]] R_gt: [[ 0.99783048 -0.00517381 0.06563068] [ 0.00349616 0.99966514 0.02564639] [-0.06574134 -0.0253608 0.99751379]] t_gt: [-0.1479755 -0.75678738 0.63669153] Pose Error in degrees for R and t: 4.051260968653755 50.31131946014381 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999848e-01 -4.86759607e-04 2.57228740e-04] [ 4.86655581e-04 9.99999800e-01 4.04319996e-04] [-2.57425495e-04 -4.04194753e-04 9.99999885e-01]] t_estimated: [[0.6715691 ] [0.74094003] [0.00167931]] R_gt: [[ 0.99572852 -0.07529202 0.05344959] [ 0.07373575 0.99681097 0.03051239] [-0.05557698 -0.02644066 0.998104 ]] t_gt: [ 0.46372631 -0.81804765 0.34022925] Pose Error in degrees for R and t: 5.507694484228697 72.89470592255144 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-2.83512939e-01 -9.58968411e-01 -2.16405371e-05] [-9.58968083e-01 2.83512861e-01 -8.20822603e-04] [ 7.93278318e-04 -2.11961244e-04 -9.99999663e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.97601667e-01 6.63445924e-02 -1.97332210e-02] [-6.63551623e-02 9.97796330e-01 1.29393948e-04] [ 1.96984023e-02 1.17979544e-03 9.99805612e-01]] t_gt: [-0.59617034 0.78573257 -0.16494018] Pose Error in degrees for R and t: 179.04872770258964 89.53134928900121 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999995e-01 7.98371023e-05 -5.70372106e-05] [-7.98305161e-05 9.99999990e-01 1.15463734e-04] [ 5.70464283e-05 -1.15459180e-04 9.99999992e-01]] t_estimated: [[0.50727394] [0.86178441] [0.00088464]] R_gt: [[ 0.98705119 0.16034967 0.00411548] [-0.15997622 0.98597022 -0.04764892] [-0.01169843 0.04637391 0.99885602]] t_gt: [-0.52673413 0.84415989 -0.09972587] Pose Error in degrees for R and t: 9.617309575858558 62.60017243386271 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99953134e-01 9.68127466e-03 -5.93001665e-05] [-9.68127388e-03 9.99953135e-01 1.33468818e-05] [ 5.94266022e-05 -1.27721551e-05 9.99999998e-01]] t_estimated: [[-0.60325846] [ 0.79754527] [ 0.00088338]] R_gt: [[ 0.96572922 0.25949533 0.00544042] [-0.25922369 0.96534827 -0.0301065 ] [-0.01306514 0.02766451 0.99953213]] t_gt: [-0.49199029 0.8701165 -0.02903149] Pose Error in degrees for R and t: 14.586266254340634 7.807968817781149 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 5.87453102e-01 -8.09257673e-01 -9.33913267e-04] [ 8.09258071e-01 5.87453288e-01 8.91614573e-05] [ 4.76475826e-04 -8.08155024e-04 9.99999560e-01]] t_estimated: [[ 7.63034739e-01] [-6.46357474e-01] [-4.70549291e-05]] R_gt: [[ 9.98068262e-01 5.52257479e-02 2.84659298e-02] [-5.52681645e-02 9.98471708e-01 6.84934610e-04] [-2.83851555e-02 -2.25720748e-03 9.99594095e-01]] t_gt: [-0.80740909 0.49881245 0.31508204] Pose Error in degrees for R and t: 57.21381132337388 20.197652499819842 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.44821881e-01 3.27583326e-01 8.81513559e-04] [-3.27583960e-01 9.44821809e-01 7.06533675e-04] [-6.01424584e-04 -9.56318178e-04 9.99999362e-01]] t_estimated: [[-0.30263221] [ 0.95310353] [ 0.002722 ]] R_gt: [[ 0.99610656 0.08755047 -0.01030819] [-0.08757092 0.99615716 -0.00143701] [ 0.01014223 0.00233459 0.99994592]] t_gt: [-0.82716825 0.56023765 -0.04389147] Pose Error in degrees for R and t: 14.11363476351043 38.35576602500399 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.61998870e-01 -5.06909456e-01 -8.66543124e-04] [ 5.06910183e-01 8.61997994e-01 1.23476380e-03] [ 1.21044990e-04 -1.50362453e-03 9.99998862e-01]] t_estimated: [[ 8.55704198e-02] [-9.96331665e-01] [ 9.56865012e-04]] R_gt: [[ 9.94950748e-01 8.66943659e-02 -5.05659028e-02] [-8.67626537e-02 9.96229160e-01 8.63910332e-04] [ 5.04498457e-02 3.52865992e-03 9.98720589e-01]] t_gt: [-0.79928165 0.52873237 -0.28564125] Pose Error in degrees for R and t: 35.54925444793431 53.45449826716305 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-9.94128792e-01 1.08202054e-01 -5.11270555e-04] [ 1.08201834e-01 9.94128850e-01 4.38593553e-04] [ 5.55725532e-04 3.80698067e-04 -9.99999773e-01]] t_estimated: [[0.98762699] [0.15681406] [0.00150783]] R_gt: [[ 0.98697225 0.15846048 0.02784656] [-0.15863268 0.98733029 0.00403632] [-0.02685276 -0.0084009 0.9996031 ]] t_gt: [-0.88296921 0.46305643 0.0770981 ] Pose Error in degrees for R and t: 178.4797919701313 36.93533502424276 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[-8.95493885e-01 -4.45027753e-01 -6.40321527e-03] [-4.45034746e-01 8.95513227e-01 -3.66301246e-04] [ 5.89717819e-03 2.52163276e-03 -9.99979432e-01]] t_estimated: [[ 0.97613081] [ 0.21716703] [-0.0026674 ]] R_gt: [[ 0.94630789 0.31843794 0.05565622] [-0.31680866 0.94779793 -0.03623384] [-0.06428823 0.01665595 0.99779227]] t_gt: [-0.82891091 0.55934357 -0.0064407 ] Pose Error in degrees for R and t: 177.3259243557661 46.55662819498068 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99975916e-01 -6.87504182e-03 -9.48860951e-04] [ 6.87404116e-03 9.99975818e-01 -1.05385211e-03] [ 9.56083283e-04 1.04730422e-03 9.99998995e-01]] t_estimated: [[-0.99980741] [-0.01938662] [-0.00304829]] R_gt: [[ 0.89384629 0.44312221 0.06841583] [-0.44289133 0.89636763 -0.01934942] [-0.06989876 -0.01300464 0.99746844]] t_gt: [-0.8003996 0.59620102 0.06248854] Pose Error in degrees for R and t: 27.03725704388364 37.95475739305015 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.88079877e-01 -1.53942012e-01 -1.18528824e-04] [ 1.53942041e-01 9.88079836e-01 2.91304897e-04] [ 7.22718787e-05 -3.06079075e-04 9.99999951e-01]] t_estimated: [[9.35504482e-01] [3.53314048e-01] [7.40700302e-04]] R_gt: [[ 0.99980072 -0.01662647 -0.01106331] [ 0.01771979 0.99406414 0.10734396] [ 0.00921203 -0.10751772 0.99415991]] t_gt: [ 0.17376157 -0.6366901 0.75128732] Pose Error in degrees for R and t: 10.000733456336215 86.4545469276836 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-7.36765017e-01 -6.76148312e-01 -8.77285619e-04] [-6.76148300e-01 7.36762062e-01 2.26710457e-03] [-8.86548170e-04 2.26349852e-03 -9.99997045e-01]] t_estimated: [[0.94468166] [0.32798719] [0.000982 ]] R_gt: [[ 0.99485913 -0.08978156 -0.04683475] [ 0.09715167 0.97669793 0.19136997] [ 0.02856136 -0.19493602 0.98039931]] t_gt: [ 0.43103895 -0.62997889 0.6460124 ] Pose Error in degrees for R and t: 177.97802909852197 78.39262702472014 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.10191696e-01 -4.14187175e-01 -2.44508516e-04] [ 4.14187088e-01 9.10190669e-01 1.41497582e-03] [-3.63515466e-04 -1.38917151e-03 9.99998969e-01]] t_estimated: [[9.56646477e-01] [2.91250684e-01] [7.46796625e-04]] R_gt: [[ 0.95209054 -0.29058619 -0.0952995 ] [ 0.3034359 0.93643639 0.176106 ] [ 0.03806755 -0.19658682 0.97974667]] t_gt: [ 0.74959782 -0.54610695 0.37399239] Pose Error in degrees for R and t: 13.43919068002749 56.059933869588015 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99733229e-01 2.30969215e-02 -5.31173349e-05] [-2.30969242e-02 9.99733229e-01 -5.03846298e-05] [ 5.19394350e-05 5.15980357e-05 9.99999997e-01]] t_estimated: [[-0.860298 ] [-0.50979027] [-0.00111266]] R_gt: [[ 0.99905387 0.03558661 -0.02504018] [-0.03565861 0.99936172 -0.00245865] [ 0.02493644 0.00334909 0.99968378]] t_gt: [-0.49573865 0.52414412 -0.69247103] Pose Error in degrees for R and t: 1.6056529560317 80.79020834915414 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.99505883 0.0992767 -0.00143811] [-0.09927386 -0.99505829 -0.00192401] [-0.00162201 -0.00177174 0.99999712]] t_estimated: [[0.80102005] [0.5986365 ] [0.00110848]] R_gt: [[ 0.99884735 -0.04401579 -0.01917661] [ 0.04464884 0.99842793 0.03391787] [ 0.01765302 -0.03473428 0.99924149]] t_gt: [ 0.69965957 -0.70036473 0.14130013] Pose Error in degrees for R and t: 176.84793344319706 81.87494921462611 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999312e-01 1.07043098e-03 4.80304182e-04] [-1.07035984e-03 9.99999416e-01 -1.48349114e-04] [-4.80462699e-04 1.47834914e-04 9.99999874e-01]] t_estimated: [[0.99999046] [0.0041826 ] [0.00126029]] R_gt: [[ 0.98888789 -0.14202808 -0.04392807] [ 0.1436049 0.98901377 0.03508263] [ 0.03846294 -0.04100059 0.99841962]] t_gt: [ 7.64820307e-01 -6.44243630e-01 2.07715929e-04] Pose Error in degrees for R and t: 8.891927181062028 40.34866840180362 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.98304594 0.18334321 0.00243739] [-0.18332934 0.98303862 -0.00504116] [-0.00332031 0.00450885 0.99998432]] t_estimated: [[3.92958454e-01] [9.19555945e-01] [7.18854635e-04]] R_gt: [[ 0.98824911 0.15262271 -0.00825552] [-0.15278557 0.98793258 -0.02538489] [ 0.00428198 0.02634777 0.99964427]] t_gt: [-0.36575745 0.91020717 -0.19427919] Pose Error in degrees for R and t: 2.2165267638738744 46.12246367985108 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.99998312 0.00163964 -0.00557338] [-0.00160114 0.99997488 0.00690503] [ 0.00558456 -0.00689599 0.99996063]] t_estimated: [[0.2587642 ] [0.96592943] [0.00462968]] R_gt: [[ 0.94584023 0.32445942 -0.01053411] [-0.3245707 0.94454683 -0.04984268] [-0.00622124 0.05056395 0.99870191]] t_gt: [-0.29436372 0.94756216 -0.12440237] Pose Error in degrees for R and t: 19.14416984684994 33.01463338770974 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99996963e-01 -5.06151762e-04 2.41186664e-03] [ 5.13787313e-04 9.99994855e-01 -3.16625935e-03] [-2.41025163e-03 3.16748892e-03 9.99992079e-01]] t_estimated: [[-0.66098892] [-0.75039189] [-0.00237809]] R_gt: [[ 0.8993921 0.43710017 -0.00609003] [-0.43311369 0.88912885 -0.1478594 ] [-0.05921478 0.13562145 0.98898982]] t_gt: [-0.21694365 0.96782754 -0.12745711] Pose Error in degrees for R and t: 27.247287358330126 54.36994009447025 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.97072219e-01 -7.64655860e-02 -7.03393408e-05] [ 7.64655961e-02 9.97072208e-01 1.54054396e-04] [ 5.83535422e-05 -1.58981898e-04 9.99999986e-01]] t_estimated: [[9.92117880e-01] [1.25306722e-01] [5.81151074e-04]] R_gt: [[ 0.99969199 -0.0241234 -0.00584134] [ 0.02402938 0.99958771 -0.01572595] [ 0.00621835 0.01558013 0.99985977]] t_gt: [ 0.59676113 0.50924484 -0.62011761] Pose Error in degrees for R and t: 3.157450922942137 49.041758462630824 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 2.37150288e-01 -9.71465775e-01 -3.74006799e-03] [ 9.71471498e-01 2.37154883e-01 -8.30598433e-04] [ 1.69387334e-03 -3.43639279e-03 9.99992661e-01]] t_estimated: [[9.99982376e-01] [5.87731035e-03] [8.39615765e-04]] R_gt: [[ 0.99646265 -0.08185187 0.0190593 ] [ 0.08237998 0.99618622 -0.02875832] [-0.01663331 0.03022706 0.99940452]] t_gt: [ 0.98000456 -0.17808054 -0.08876027] Pose Error in degrees for R and t: 71.59916717080671 11.80035303280012 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99547819e-01 -3.00664861e-02 4.06035256e-04] [ 3.00663995e-02 9.99547880e-01 2.17874931e-04] [-4.12402412e-04 -2.05568394e-04 9.99999894e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98248272 -0.18315611 0.03438337] [ 0.18420386 0.98242207 -0.03024338] [-0.02823938 0.03604614 0.99895052]] t_gt: [ 0.911613 -0.41094416 0.0093076 ] Pose Error in degrees for R and t: 9.244499565747324 24.44743760128912 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[-5.63879965e-01 -8.25854578e-01 -1.89771179e-03] [ 8.25856684e-01 -5.63879400e-01 -8.71629316e-04] [-3.50241527e-04 -2.05873228e-03 9.99997819e-01]] t_estimated: [[9.90254225e-01] [1.39268631e-01] [9.04341758e-04]] R_gt: [[ 9.98530914e-01 5.41822063e-02 -2.42945219e-04] [-5.41820352e-02 9.98473954e-01 -1.06737814e-02] [-3.36470830e-04 1.06710908e-02 9.99942399e-01]] t_gt: [-0.2773098 0.95807454 -0.0720587 ] Pose Error in degrees for R and t: 127.43188089669087 81.88024108764985 Number of keypoints: Image1: 648 Image2: 648 R_estimated: [[-0.84320802 -0.53748391 -0.01054901] [-0.53748629 0.84326768 -0.00284889] [ 0.01042687 0.00326774 -0.9999403 ]] t_estimated: [[ 0.95547587] [ 0.29502366] [-0.00518585]] R_gt: [[ 0.99611967 0.08741691 -0.01021608] [-0.08721711 0.99601604 0.01857733] [ 0.0117987 -0.01761391 0.99977443]] t_gt: [-0.17383293 0.97731492 0.12098617] Pose Error in degrees for R and t: 179.05778178992534 83.0149452758108 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[-6.86106299e-01 -7.27493938e-01 -3.27355895e-03] [ 7.27498383e-01 -6.86109349e-01 -2.53985934e-04] [-2.06124617e-03 -2.55577019e-03 9.99994610e-01]] t_estimated: [[0.95830657] [0.28573361] [0.00219795]] R_gt: [[ 0.99617588 0.0867464 -0.01044927] [-0.08593642 0.99436029 0.06214294] [ 0.01578054 -0.06100774 0.99801206]] t_gt: [-0.01837042 0.94543853 0.32528221] Pose Error in degrees for R and t: 138.2967127965265 75.32984737643402 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-4.02923737e-01 -9.15233310e-01 6.71146548e-04] [-9.15233326e-01 4.02924047e-01 4.14474261e-04] [-6.49761733e-04 -4.47254169e-04 -9.99999689e-01]] t_estimated: [[0.92003628] [0.39182721] [0.00216479]] R_gt: [[ 0.99718778 -0.02954121 -0.0688873 ] [ 0.03113067 0.99927039 0.02213066] [ 0.06818322 -0.02421274 0.99737832]] t_gt: [ 0.1121965 -0.7141122 -0.6909817] Pose Error in degrees for R and t: 177.47867307769025 79.74207971243366 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 6.85807739e-01 7.27782192e-01 -9.09205964e-04] [-7.27735203e-01 6.85748108e-01 -1.22884892e-02] [-8.31985730e-03 9.08920214e-03 9.99924080e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.9904129 -0.0357521 -0.13343585] [ 0.04491307 0.99678905 0.06628936] [ 0.13063661 -0.07164608 0.98883752]] t_gt: [ 0.04818593 -0.78078309 -0.62294131] Pose Error in degrees for R and t: 49.81911942652748 61.78146034692203 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.0149918 -0.99988334 -0.00292571] [ 0.99988418 -0.01499935 0.00257813] [-0.00262171 -0.00288672 0.9999924 ]] t_estimated: [[0.99998962] [0.00406154] [0.00206628]] R_gt: [[ 0.98230883 -0.10281653 -0.15652013] [ 0.11210727 0.99235033 0.0517065 ] [ 0.15000681 -0.06833842 0.98632057]] t_gt: [ 0.26064241 -0.84323283 -0.47013183] Pose Error in degrees for R and t: 85.06658552039299 75.15272192005948 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 1.00000000e+00 -2.22910238e-05 -1.84656741e-08] [ 2.22910238e-05 1.00000000e+00 3.04964600e-09] [ 1.84656057e-08 -3.05005766e-09 1.00000000e+00]] t_estimated: [[ 5.95427213e-02] [-9.98225414e-01] [-8.28574112e-04]] R_gt: [[ 0.99988953 0.00595684 0.01361827] [-0.00607071 0.99994677 0.00835867] [-0.013567 -0.0084412 0.99987187]] t_gt: [-0.33650449 0.73431517 0.58953028] Pose Error in degrees for R and t: 0.9792517040962466 41.102306218864626 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 5.79327802e-01 -8.15094655e-01 4.27062766e-05] [ 8.15094647e-01 5.79327787e-01 -1.79010931e-04] [ 1.21169920e-04 1.38515666e-04 9.99999983e-01]] t_estimated: [[-0.01012321] [-0.99994813] [-0.0011248 ]] R_gt: [[ 0.99348145 0.11315534 0.01378172] [-0.11286312 0.99340085 -0.02041875] [-0.016001 0.01872911 0.9996967 ]] t_gt: [-0.62114054 0.78339693 -0.02176408] Pose Error in degrees for R and t: 61.10109574691669 39.00929339281742 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999894e-01 1.22154481e-04 4.44679239e-04] [-1.22012837e-04 9.99999942e-01 -3.18544199e-04] [-4.44718125e-04 3.18489908e-04 9.99999850e-01]] t_estimated: [[-8.45607136e-01] [-5.33805095e-01] [-8.31472111e-04]] R_gt: [[ 9.89351860e-01 1.43422122e-01 -2.47396886e-02] [-1.43445452e-01 9.89657481e-01 8.20998315e-04] [ 2.46019560e-02 2.73555744e-03 9.99693213e-01]] t_gt: [-0.58967558 0.80101374 -0.10324582] Pose Error in degrees for R and t: 8.366346794730703 85.92084749738652 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.02146047 -0.99976776 -0.00196839] [ 0.99976914 -0.02145833 -0.00109818] [ 0.00105569 -0.0019915 0.99999746]] t_estimated: [[9.85604736e-01] [1.69063586e-01] [8.99274394e-04]] R_gt: [[ 0.99662322 -0.0285603 0.07698688] [ 0.02044643 0.99434689 0.10419748] [-0.07952766 -0.10227128 0.99157155]] t_gt: [ 0.0628078 -0.29579115 0.95318559] Pose Error in degrees for R and t: 90.06608696699148 89.26926855505877 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 8.85901788e-01 4.63872828e-01 1.46660108e-04] [-4.63872553e-01 8.85901532e-01 -8.54451318e-04] [-5.26283164e-04 6.88928352e-04 9.99999624e-01]] t_estimated: [[-9.99920638e-01] [-1.25663276e-02] [-8.97594827e-04]] R_gt: [[ 0.99431456 0.04063172 0.0984322 ] [-0.05664894 0.98452469 0.16583756] [-0.09017066 -0.1704709 0.98122756]] t_gt: [-0.27231804 0.12145557 0.9545111 ] Pose Error in degrees for R and t: 27.17617368104709 74.34088571094921 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 3.64594860e-01 9.31166252e-01 -3.57095463e-06] [-9.31165533e-01 3.64594573e-01 -1.24414708e-03] [-1.15720582e-03 4.56934780e-04 9.99999226e-01]] t_estimated: [[-1.06595794e-01] [ 9.94302020e-01] [ 9.10437110e-04]] R_gt: [[ 0.97519718 0.17496036 0.13557394] [-0.19544069 0.96816743 0.15638825] [-0.10389642 -0.17900618 0.97834593]] t_gt: [-0.51944582 0.56386718 0.64205128] Pose Error in degrees for R and t: 58.94792530464298 51.931032953643424 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 9.99194423e-01 -4.01310401e-02 6.16779895e-05] [ 4.01310357e-02 9.99194423e-01 7.04783093e-05] [-6.44566710e-05 -6.79463320e-05 9.99999996e-01]] t_estimated: [[5.61528791e-01] [8.27457193e-01] [1.00523933e-04]] R_gt: [[ 0.99775078 -0.02641998 0.06161245] [ 0.02773814 0.99940182 -0.02064618] [-0.06103053 0.02230895 0.99788627]] t_gt: [-0.47412953 -0.38054893 0.79396707] Pose Error in degrees for R and t: 3.7977252560772863 54.475887915587336 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 0.91911651 -0.39397238 -0.00325555] [ 0.39398189 0.9191129 0.0031224 ] [ 0.00176208 -0.00415247 0.99998983]] t_estimated: [[-0.28902696] [-0.95732006] [-0.00130781]] R_gt: [[ 0.99622586 -0.08599031 0.01186855] [ 0.08615399 0.99618362 -0.0140102 ] [-0.01061881 0.01498089 0.99983185]] t_gt: [ 0.04132006 -0.99731129 -0.0605214 ] Pose Error in degrees for R and t: 18.310837890061684 19.458564572232397 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.67687441 -0.73609573 -0.00202715] [-0.73603167 0.67684749 -0.01161269] [ 0.00992013 -0.00636828 -0.99993052]] t_estimated: [[9.67340467e-01] [2.53479030e-01] [8.95685618e-04]] R_gt: [[ 0.99595052 -0.07728506 -0.04592957] [ 0.0784067 0.99665264 0.02315309] [ 0.04398618 -0.02666053 0.99867653]] t_gt: [-0.16160209 -0.94833093 -0.27304434] Pose Error in degrees for R and t: 177.81733532817321 66.61230343045341 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-7.61107989e-01 -6.48624920e-01 5.84374046e-04] [-6.48624373e-01 7.61105305e-01 -2.26673552e-03] [ 1.02549096e-03 -2.10426976e-03 -9.99997260e-01]] t_estimated: [[8.96526420e-01] [4.42989525e-01] [8.11336127e-04]] R_gt: [[ 0.9958443 0.08937985 0.01747224] [-0.08919202 0.9959509 -0.0112371 ] [-0.01840552 0.009632 0.99978417]] t_gt: [-0.66962993 0.74141369 0.04360618] Pose Error in degrees for R and t: 179.2492583989531 74.22460298863251 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99999465e-01 -1.00574744e-03 -2.42429457e-04] [ 1.00619274e-03 9.99997794e-01 1.84377089e-03] [ 2.40574554e-04 -1.84401384e-03 9.99998271e-01]] t_estimated: [[0.70893387] [0.70525421] [0.00541115]] R_gt: [[ 0.98631038 0.16307268 -0.0244684 ] [-0.16272069 0.98654616 0.01576387] [ 0.02670955 -0.01156617 0.99957687]] t_gt: [-0.6352073 0.77083014 -0.04829679] Pose Error in degrees for R and t: 9.57042356744916 84.66091020043359 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.90645434e-01 -1.36460605e-01 -3.57499878e-04] [ 1.36460840e-01 9.90645185e-01 7.45829650e-04] [ 2.52379167e-04 -7.87637470e-04 9.99999658e-01]] t_estimated: [[-8.65483614e-01] [-5.00936528e-01] [-8.41910131e-04]] R_gt: [[ 0.98897267 0.1441597 -0.03392733] [-0.14481584 0.98929898 -0.01775578] [ 0.03100508 0.02247234 0.99926687]] t_gt: [-0.57296328 0.79526818 -0.19814542] Pose Error in degrees for R and t: 16.302380906104087 84.39450948625328 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99903536e-01 1.38891732e-02 9.70372319e-05] [-1.38891705e-02 9.99903540e-01 -2.87390903e-05] [-9.74270339e-05 2.73885514e-05 9.99999995e-01]] t_estimated: [[ 9.99078948e-01] [-4.29095942e-02] [ 1.51364622e-04]] R_gt: [[ 0.99672118 -0.08003479 0.01199689] [ 0.08008098 0.99678323 -0.00344854] [-0.01168311 0.00439738 0.99992183]] t_gt: [ 0.83015527 -0.55237874 0.07563036] Pose Error in degrees for R and t: 5.433788107254467 31.449050778348166 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.99974414 0.02234427 -0.0035208 ] [-0.02232174 0.99973091 0.00631322] [ 0.00366092 -0.00623301 0.99997387]] t_estimated: [[-0.65131946] [-0.75880321] [-0.00080212]] R_gt: [[ 0.9870306 -0.15801395 0.02835567] [ 0.15812313 0.98741797 -0.00165667] [-0.02773757 0.00611806 0.99959625]] t_gt: [ 0.86462467 -0.48808528 0.11915095] Pose Error in degrees for R and t: 10.550127176411157 78.87899129917311 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 8.13903862e-01 5.80999381e-01 4.71624727e-04] [-5.80999192e-01 8.13903990e-01 -4.83175825e-04] [-6.64582103e-04 1.19245085e-04 9.99999772e-01]] t_estimated: [[0.55491444] [0.83190691] [0.0009295 ]] R_gt: [[ 0.97660903 -0.21020063 0.04531113] [ 0.20975177 0.97764888 0.01447974] [-0.04734298 -0.0046375 0.99886808]] t_gt: [ 0.87262197 -0.44254802 0.20659658] Pose Error in degrees for R and t: 47.720360232301545 83.32347466004414 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.04152905e-01 -4.27208917e-01 -2.56762436e-04] [ 4.27208949e-01 9.04152923e-01 8.27070903e-05] [ 1.96819301e-04 -1.84471066e-04 9.99999964e-01]] t_estimated: [[ 8.00988517e-01] [-5.98679690e-01] [-1.53472452e-04]] R_gt: [[ 0.95684978 -0.27676131 0.08855497] [ 0.28380727 0.95551343 -0.08029875] [-0.06239282 0.1019668 0.99282951]] t_gt: [ 0.85197864 -0.47171283 -0.22719905] Pose Error in degrees for R and t: 11.287073546137773 15.233100056036866 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.97371121 0.22769867 -0.00630769] [-0.22764136 0.97370641 0.00867435] [ 0.00811698 -0.00701042 0.99994248]] t_estimated: [[-0.64544433] [-0.76380575] [ 0.00154913]] R_gt: [[ 0.88622477 -0.42559215 0.18296777] [ 0.45095655 0.88296268 -0.13044055] [-0.10603979 0.1981102 0.97442778]] t_gt: [ 0.89457941 -0.34223499 -0.28740718] Pose Error in degrees for R and t: 41.71418762854349 71.55190746828843 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.09977249 0.99499724 -0.00509363] [-0.99491192 0.0998333 0.01354954] [ 0.01399027 0.00371584 0.99989523]] t_estimated: [[-0.07446553] [ 0.99716615] [-0.01070286]] R_gt: [[ 0.81300155 -0.54480902 0.20545292] [ 0.57032551 0.81619363 -0.09250303] [-0.11729258 0.19238052 0.97428546]] t_gt: [ 0.94530292 -0.26828426 -0.1855423 ] Pose Error in degrees for R and t: 119.20761088999082 70.37086038793139 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.99974215e-01 -7.18112590e-03 -1.46321119e-05] [ 7.18112676e-03 9.99974214e-01 5.98505145e-05] [ 1.42019405e-05 -5.99540464e-05 9.99999998e-01]] t_estimated: [[-6.23647111e-01] [ 7.81705999e-01] [ 1.09536685e-04]] R_gt: [[ 0.99861019 0.02619291 0.04573629] [-0.02321701 0.99765244 -0.06441997] [-0.0473161 0.06326813 0.9968741 ]] t_gt: [-0.31163114 0.85388815 -0.41684657] Pose Error in degrees for R and t: 4.889641870182871 30.481647239770094 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-0.92130438 -0.38874369 0.00875185] [-0.3887689 0.92133436 -0.00132213] [-0.00754941 -0.00462053 -0.99996083]] t_estimated: [[0.99755155] [0.06939489] [0.00867436]] R_gt: [[ 0.99712644 0.07082843 0.02687056] [-0.0694935 0.99644074 -0.04769486] [-0.03015328 0.04569028 0.99849994]] t_gt: [-0.20280079 0.94284334 -0.26442065] Pose Error in degrees for R and t: 178.44675229059817 82.00021359544769 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-9.92925955e-01 -1.18376272e-01 -9.22533398e-03] [-1.18379574e-01 9.92968399e-01 -1.89247225e-04] [ 9.18286749e-03 9.04182627e-04 -9.99957428e-01]] t_estimated: [[ 0.99797809] [ 0.06340943] [-0.00435626]] R_gt: [[ 0.99422108 0.1039877 0.0266932 ] [-0.10333762 0.99434042 -0.0246692 ] [-0.02910773 0.0217684 0.99933852]] t_gt: [-0.19655709 0.97819112 -0.06713745] Pose Error in degrees for R and t: 179.00939932491187 82.30841353621906 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-6.39219560e-01 -7.69018407e-01 -3.00732787e-03] [ 7.69020187e-01 -6.39224034e-01 7.65624679e-04] [-2.51113572e-03 -1.82329357e-03 9.99995185e-01]] t_estimated: [[0.99834238] [0.05751767] [0.0020542 ]] R_gt: [[ 0.99910476 -0.04201035 -0.00511341] [ 0.04199651 0.99911296 -0.00288826] [ 0.00523015 0.00267158 0.99998277]] t_gt: [ 0.6959858 -0.71007285 -0.10677226] Pose Error in degrees for R and t: 127.32706917287035 49.17346982565621 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.23393665 0.97221031 -0.00898654] [ 0.97218775 0.23401737 0.00931937] [ 0.01116339 -0.00655647 -0.99991619]] t_estimated: [[ 0.96620306] [-0.25776235] [-0.00319776]] R_gt: [[ 0.99943554 0.011178 0.03166671] [-0.01104062 0.9999287 -0.00448988] [-0.03171389 0.00413739 0.99948829]] t_gt: [-0.32964262 -0.63354021 0.69997324] Pose Error in degrees for R and t: 179.1544367117452 80.94182417883007 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-1.86157419e-01 -9.82517677e-01 -2.10474040e-03] [ 9.82519779e-01 -1.86155770e-01 -9.55647810e-04] [ 5.47131297e-04 -2.24585000e-03 9.99997328e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9962775 0.08390845 -0.01977461] [-0.08414503 0.99638732 -0.01145628] [ 0.01874192 0.01307715 0.99973913]] t_gt: [-0.81198167 0.43035892 -0.39430569] Pose Error in degrees for R and t: 105.55401677215723 35.81127027629374 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-1.52995431e-01 -9.88226123e-01 -1.23622424e-03] [-9.88226768e-01 1.52994653e-01 7.01243547e-04] [-5.03851493e-04 1.32895694e-03 -9.99998990e-01]] t_estimated: [[0.79174122] [0.61085588] [0.00096793]] R_gt: [[ 0.99491861 0.09290222 0.03880488] [-0.09038219 0.99395561 -0.06230534] [-0.04435787 0.05848154 0.99730297]] t_gt: [-0.29629972 0.95274659 -0.06693588] Pose Error in degrees for R and t: 179.52738813245938 69.67570114666893 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.89470476 -0.4466462 -0.00324992] [ 0.44662823 -0.89453735 -0.01805961] [ 0.00515908 -0.01760953 0.99983163]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.9800974 0.19819808 0.01122905] [-0.19743096 0.9790867 -0.04909306] [-0.02072464 0.04589828 0.99873117]] t_gt: [-0.25163899 0.96146171 -0.11076641] Pose Error in degrees for R and t: 164.89855671541886 75.59689903737572 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 1.00000000e+00 5.55111512e-16 8.67361738e-17] [-6.10622664e-16 1.00000000e+00 -2.71050543e-17] [ 1.10154941e-16 -7.50267903e-16 1.00000000e+00]] t_estimated: [[-0.79070664] [-0.61219397] [-0.00124384]] R_gt: [[ 0.91906914 0.39397625 0.00966306] [-0.39135113 0.91528491 -0.09538076] [-0.04642192 0.08388036 0.99539428]] t_gt: [-0.22915231 0.9704091 -0.07612749] Pose Error in degrees for R and t: 23.812136970200314 65.61967625195781 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99995032e-01 -3.15152686e-03 6.93804648e-05] [ 3.15153208e-03 9.99995031e-01 -7.51384037e-05] [-6.91433194e-05 7.53566851e-05 9.99999995e-01]] t_estimated: [[9.76732140e-01] [2.14461472e-01] [7.77034320e-04]] R_gt: [[ 0.99991733 -0.01080838 0.00701786] [ 0.01078378 0.99993577 0.003372 ] [-0.00705427 -0.00329618 0.99996923]] t_gt: [-0.16219506 -0.94904919 0.27018215] Pose Error in degrees for R and t: 0.6252685485693925 68.79255737268352 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 9.99995143e-01 -2.99278195e-03 -8.70622461e-04] [ 2.99627850e-03 9.99987338e-01 4.04296022e-03] [ 8.58511739e-04 -4.04554921e-03 9.99991448e-01]] t_estimated: [[-0.57497673] [-0.8181693 ] [-0.00086854]] R_gt: [[ 0.99684911 -0.05817254 -0.05392955] [ 0.05984138 0.9977604 0.02987405] [ 0.05207132 -0.03300784 0.99809749]] t_gt: [ 0.40434119 -0.84878189 -0.34070148] Pose Error in degrees for R and t: 4.662938880512266 62.467193339843824 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.99443744e-01 -3.33491646e-02 -1.90291430e-04] [ 3.33490833e-02 9.99443678e-01 -4.15793181e-04] [ 2.04051922e-04 4.09215849e-04 9.99999895e-01]] t_estimated: [[-0.08585641] [-0.99630421] [-0.00256989]] R_gt: [[ 0.99327397 -0.08534427 -0.07825536] [ 0.08943296 0.99471993 0.05032465] [ 0.07354688 -0.05698503 0.99566167]] t_gt: [ 0.47023682 -0.83793625 -0.27702017] Pose Error in degrees for R and t: 6.183544663121262 37.32788361795518 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.94797146e-01 -1.01875578e-01 -6.28000397e-05] [ 1.01875577e-01 9.94797148e-01 -3.17283228e-05] [ 6.57056416e-05 2.51654547e-05 9.99999998e-01]] t_estimated: [[ 2.90585792e-01] [-9.56848547e-01] [-8.69356778e-04]] R_gt: [[ 0.99881079 -0.0251149 0.04179836] [ 0.02727542 0.99827854 -0.05193082] [-0.04042116 0.0530097 0.997776 ]] t_gt: [ 0.68366564 -0.72018321 0.11805692] Pose Error in degrees for R and t: 5.786278233409847 27.418450399097903 Number of keypoints: Image1: 395 Image2: 395 R_estimated: [[-0.69624832 0.71699929 0.03391583] [ 0.71702346 0.69691598 -0.01361851] [-0.03340094 0.01483658 -0.9993319 ]] t_estimated: [[ 0.91876642] [-0.39436739] [ 0.01851009]] R_gt: [[ 0.99718552 -0.07471853 -0.00622383] [ 0.07446058 0.99662263 -0.03464792] [ 0.00879246 0.03408707 0.99938025]] t_gt: [ 0.62465497 -0.71123882 -0.3224058 ] Pose Error in degrees for R and t: 177.53502968542267 31.958288484282455 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99999965e-01 2.60377173e-04 5.15824891e-05] [-2.60373643e-04 9.99999964e-01 -6.84171906e-05] [-5.16003015e-05 6.84037575e-05 9.99999996e-01]] t_estimated: [[ 9.99992964e-01] [-3.70797234e-03] [-5.68333408e-04]] R_gt: [[ 0.99179173 -0.11808453 -0.04905459] [ 0.11908383 0.99272203 0.01796761] [ 0.04657604 -0.0236618 0.99863508]] t_gt: [ 0.54096364 -0.81952095 -0.18906018] Pose Error in degrees for R and t: 7.4582906654316465 57.036405150894915 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.89298988e-01 1.45901126e-01 6.10752663e-04] [-1.45901070e-01 9.89299176e-01 -1.36366260e-04] [-6.24113097e-04 4.57975360e-05 9.99999804e-01]] t_estimated: [[0.90556817] [0.42419923] [0.00114339]] R_gt: [[ 0.96278348 -0.25835985 -0.07936826] [ 0.25729278 0.96604591 -0.02357027] [ 0.08276282 0.00227249 0.99656655]] t_gt: [ 0.87183576 -0.45497395 -0.18138666] Pose Error in degrees for R and t: 23.835110404788335 53.394658584470704 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.99230375 0.12380289 -0.0024734 ] [-0.12378277 0.99228404 0.0070852 ] [ 0.00333148 -0.00672451 0.99997184]] t_estimated: [[7.42068599e-01] [6.70323578e-01] [7.03382558e-04]] R_gt: [[ 0.8855566 -0.46061897 -0.06017083] [ 0.4553434 0.88636161 -0.08382671] [ 0.09194531 0.04683455 0.99466168]] t_gt: [ 0.91446008 -0.36352154 -0.17780569] Pose Error in degrees for R and t: 34.9625308316495 64.22806891738144 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 5.42341150e-01 -8.40156287e-01 -1.86838803e-03] [ 8.40157886e-01 5.42341873e-01 1.39277589e-04] [ 8.96290120e-04 -1.64527690e-03 9.99998245e-01]] t_estimated: [[9.77461337e-01] [2.11113089e-01] [7.73308021e-04]] R_gt: [[ 0.70733313 -0.70492492 -0.05254602] [ 0.69924375 0.70865308 -0.09417343] [ 0.10362194 0.0298698 0.99416749]] t_gt: [ 0.96175837 -0.2535377 -0.10363146] Pose Error in degrees for R and t: 13.836423660136271 27.56624725413384 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 1.79787385e-01 9.83704928e-01 1.05358587e-03] [-9.83705136e-01 1.79788129e-01 -6.59330359e-04] [-8.38008756e-04 -9.17878551e-04 9.99999228e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96626767 0.25077402 0.05864872] [-0.25003485 0.96803489 -0.01973057] [-0.06172227 0.00440193 0.99808338]] t_gt: [-0.72949431 0.67353004 0.11914422] Pose Error in degrees for R and t: 65.20905548469175 48.00308043944885 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99129910e-01 4.17056142e-02 -2.54088295e-04] [-4.17055927e-02 9.99129939e-01 8.94132925e-05] [ 2.57596259e-04 -7.87385920e-05 9.99999964e-01]] t_estimated: [[-9.97721750e-01] [-6.74623492e-02] [-3.75345752e-04]] R_gt: [[ 0.93450029 0.34965075 0.06673252] [-0.34810758 0.93684224 -0.03387358] [-0.07436183 0.00842477 0.9971958 ]] t_gt: [-0.6993968 0.70792824 0.09839578] Pose Error in degrees for R and t: 18.56098896619083 49.457797856080354 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.97993492e-01 -6.33150698e-02 -4.38746868e-04] [ 6.33150730e-02 9.97993588e-01 -6.61750116e-06] [ 4.38285549e-04 -2.11750669e-05 9.99999904e-01]] t_estimated: [[-0.97246549] [-0.23304457] [-0.0010453 ]] R_gt: [[ 0.90273838 0.42716482 0.05092969] [-0.42497401 0.90390088 -0.04857946] [-0.06678775 0.02221147 0.99752019]] t_gt: [-0.67179711 0.73906351 0.04973713] Pose Error in degrees for R and t: 29.159736094924064 61.24843085763205 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 3.66130958e-01 -9.30563158e-01 -5.74475104e-04] [-9.30563164e-01 -3.66131196e-01 3.82477430e-04] [-5.66252662e-04 3.94548543e-04 -9.99999762e-01]] t_estimated: [[0.55002469] [0.83514778] [0.00101107]] R_gt: [[ 0.99787422 0.0542179 -0.03616997] [-0.05334274 0.99826993 0.02473188] [ 0.03744881 -0.02274871 0.99903951]] t_gt: [-5.43639698e-05 9.67297065e-01 -2.53646180e-01] Pose Error in degrees for R and t: 179.93527702540473 36.142788939104996 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 5.29654101e-02 9.98590336e-01 3.46490673e-03] [-9.98595918e-01 5.29682858e-02 -7.43457181e-04] [-9.25939326e-04 -3.42066420e-03 9.99993721e-01]] t_estimated: [[0.20966867] [0.97777196] [0.00102277]] R_gt: [[ 9.89309298e-01 1.45735841e-01 5.40488757e-03] [-1.45833241e-01 9.88849588e-01 3.01794986e-02] [-9.46490528e-04 -3.06437526e-02 9.99529758e-01]] t_gt: [-0.26931035 0.94699924 0.17511245] Pose Error in degrees for R and t: 78.59279570825221 29.58056105890843 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.81842065e-01 -1.89699934e-01 -3.07257428e-04] [ 1.89700024e-01 9.81842051e-01 2.95654695e-04] [ 2.45592587e-04 -3.48572957e-04 9.99999909e-01]] t_estimated: [[-0.56130746] [-0.82760676] [-0.00098996]] R_gt: [[ 0.98338327 0.18059112 0.0185968 ] [-0.18123788 0.98251624 0.0426199 ] [-0.01057505 -0.04528198 0.99891761]] t_gt: [-0.20882932 0.94664751 0.24545634] Pose Error in degrees for R and t: 21.526067313552435 48.20423118114154 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99644017 0.0836217 -0.01069569] [-0.08415135 0.99421573 -0.06673548] [ 0.00505329 0.06739797 0.99771337]] t_estimated: [[-0.84515425] [-0.50709255] [-0.16903085]] R_gt: [[ 0.98718285 0.11339532 0.11229804] [-0.11011432 0.99330145 -0.03501866] [-0.11551634 0.02220466 0.9930569 ]] t_gt: [-0.43941463 0.71023821 0.54997861] Pose Error in degrees for R and t: 7.517916029681733 85.31102583516059 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99173789 -0.12824961 -0.00282893] [ 0.12827153 0.99169017 0.00985011] [ 0.00154215 -0.01013159 0.99994748]] t_estimated: [[0.94545941] [0.32570851] [0.00452373]] R_gt: [[ 0.95069769 0.28497657 0.12231573] [-0.28027277 0.95837445 -0.05444866] [-0.13274074 0.01748245 0.99099674]] t_gt: [-0.36644983 0.87296512 0.32194165] Pose Error in degrees for R and t: 25.147420576063258 86.5214476388284 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999606e-01 -7.61809099e-04 -4.54593444e-04] [ 7.61829462e-04 9.99999709e-01 4.46209264e-05] [ 4.54559319e-04 -4.49672315e-05 9.99999896e-01]] t_estimated: [[-9.21819906e-01] [-3.87617744e-01] [-7.38323552e-04]] R_gt: [[ 0.89578828 0.42807226 0.11965818] [-0.41878866 0.90304995 -0.0954801 ] [-0.1489296 0.03541834 0.98821331]] t_gt: [-0.29172975 0.92997487 0.22369733] Pose Error in degrees for R and t: 26.72963606151966 84.73757125652057 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.36819624 0.39597334 -0.84121141] [-0.83093742 -0.54604519 0.10666605] [-0.41710254 0.73826808 0.53008085]] t_estimated: [[0.1277649 ] [0.99180212] [0.00216551]] R_gt: [[ 0.99468181 -0.10254365 0.0095974 ] [ 0.10288571 0.99355282 -0.04761331] [-0.00465277 0.04834744 0.99881972]] t_gt: [ 0.71354058 -0.58381318 -0.38732676] Pose Error in degrees for R and t: 137.77069551949504 60.744797393098004 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.13417211 0.9908804 -0.01240506] [-0.99022532 0.13358109 -0.04012374] [-0.03810075 0.01766729 0.99911771]] t_estimated: [[0.02240813] [0.99974742] [0.0017237 ]] R_gt: [[ 0.9751726 -0.1656841 0.14692939] [ 0.17418377 0.98359513 -0.04691388] [-0.13674618 0.07134197 0.98803448]] t_gt: [ 0.7066784 -0.67573454 0.2097343 ] Pose Error in degrees for R and t: 92.31339120955337 48.748385488266386 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-7.89095758e-01 6.14270181e-01 1.71792115e-04] [-6.14268996e-01 -7.89093619e-01 -2.20476309e-03] [-1.21876016e-03 -1.84529577e-03 9.99997555e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95308923 -0.14953534 0.26317326] [ 0.16991424 0.98384717 -0.05632836] [-0.25049932 0.0984035 0.96310354]] t_gt: [ 0.58049473 -0.5576253 0.59336321] Pose Error in degrees for R and t: 151.71845602113785 56.401008862392395 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.98347124e-01 -5.74711450e-02 -2.95502558e-04] [ 5.74711073e-02 9.98347161e-01 -1.34377494e-04] [ 3.02736968e-04 1.17172526e-04 9.99999947e-01]] t_estimated: [[ 0.1839457 ] [-0.98293473] [-0.00181613]] R_gt: [[ 0.99533887 0.09066401 0.03286635] [-0.08878761 0.99454938 -0.05464584] [-0.03764151 0.05147346 0.99796466]] t_gt: [-0.32927976 0.93644561 -0.12101427] Pose Error in degrees for R and t: 9.205319225040565 11.241347174063772 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99903446e-01 -1.38941153e-02 -2.29787131e-04] [ 1.38941244e-02 9.99903471e-01 3.79041296e-05] [ 2.29238306e-04 -4.10931608e-05 9.99999973e-01]] t_estimated: [[-0.01930134] [-0.99981288] [-0.00128676]] R_gt: [[ 0.98359296 0.17856301 0.02571113] [-0.17779834 0.98362428 -0.02948738] [-0.03055536 0.02443224 0.99923397]] t_gt: [-0.29999115 0.95363786 -0.0240861 ] Pose Error in degrees for R and t: 11.290406638825091 18.62337671883737 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99512783e-01 3.12116296e-02 -1.78018663e-04] [-3.12115959e-02 9.99512782e-01 1.89114420e-04] [ 1.83834498e-04 -1.83466034e-04 9.99999966e-01]] t_estimated: [[-9.89144956e-01] [-1.46941002e-01] [-7.73373695e-04]] R_gt: [[ 0.94358531 0.32901325 -0.03738502] [-0.3297326 0.94395591 -0.01489197] [ 0.03039088 0.02637889 0.99918958]] t_gt: [-0.2138584 0.97035751 -0.11256505] Pose Error in degrees for R and t: 17.600483798169947 86.04122430659922 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.92352665e-01 1.23287857e-01 -6.02430371e-03] [-1.23286850e-01 9.92370929e-01 5.39735919e-04] [ 6.04488675e-03 2.07109050e-04 9.99981708e-01]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99766964 0.03948409 0.05564472] [-0.037625 0.99871144 -0.03406262] [-0.05691804 0.03189053 0.99786917]] t_gt: [-0.35063898 0.93563873 0.04040386] Pose Error in degrees for R and t: 6.332071978399753 71.74785439375486 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-1.53516677e-01 -9.88144100e-01 -1.96657571e-03] [ 9.88146047e-01 -1.53516089e-01 -4.47232625e-04] [ 1.40029268e-04 -2.01192169e-03 9.99997966e-01]] t_estimated: [[0.82166321] [0.56997199] [0.00122861]] R_gt: [[ 0.9867417 0.14444416 0.07400924] [-0.13846422 0.98709701 -0.08042599] [-0.08467091 0.06911282 0.99400918]] t_gt: [-0.33036329 0.94352572 -0.024886 ] Pose Error in degrees for R and t: 107.12229434801905 74.55547178932282 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 5.09219697e-01 -8.60634800e-01 -1.74388847e-03] [ 8.60636298e-01 5.09216894e-01 1.82128012e-03] [-6.79439582e-04 -2.42828543e-03 9.99996821e-01]] t_estimated: [[ 0.52233387] [-0.85274011] [ 0.00127287]] R_gt: [[ 0.96618579 0.25439355 0.04207027] [-0.25319038 0.96689087 -0.0318918 ] [-0.04879093 0.02016234 0.9986054 ]] t_gt: [-0.28669155 0.95800741 0.00545445] Pose Error in degrees for R and t: 74.15808458417358 14.83366832120368 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 8.98530914e-01 4.38910220e-01 1.23541581e-04] [-4.38909962e-01 8.98529998e-01 1.37449261e-03] [ 4.92273038e-04 -1.28924773e-03 9.99999048e-01]] t_estimated: [[0.6498834 ] [0.76003313] [0.0011015 ]] R_gt: [[ 0.99130763 -0.10347139 0.08126046] [ 0.10554685 0.9941784 -0.02167128] [-0.07854471 0.03006021 0.99645717]] t_gt: [ 0.69878051 -0.66186597 0.2713655 ] Pose Error in degrees for R and t: 32.40092737956007 87.21345002139131 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.99603858 0.08608227 -0.02229328] [-0.08585938 0.99624904 0.01077083] [ 0.02313684 -0.00881408 0.99969345]] t_estimated: [[-0.23306882] [-0.97245957] [-0.00114812]] R_gt: [[ 0.96987836 -0.13023046 0.20585767] [ 0.13800284 0.99014621 -0.02379726] [-0.20072976 0.05149053 0.97829246]] t_gt: [ 0.55220056 -0.53308029 0.64101478] Pose Error in degrees for R and t: 18.426664859622313 67.11005205398925 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[ 9.99770885e-01 2.04627664e-02 6.28114571e-03] [-2.04624729e-02 9.99790616e-01 -1.10990097e-04] [-6.28210170e-03 -1.75631062e-05 9.99980267e-01]] t_estimated: [[0.96184958] [0.27357005] [0.00219579]] R_gt: [[ 0.94157265 -0.13277798 0.30953609] [ 0.15108604 0.98787108 -0.03583342] [-0.30102439 0.08050671 0.95021183]] t_gt: [ 0.49399538 -0.40581901 0.768947 ] Pose Error in degrees for R and t: 20.178628379239147 68.5420818328089 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.81172965e-01 1.93131010e-01 1.57276803e-04] [-1.93131031e-01 9.81172966e-01 1.27501642e-04] [-1.29691227e-04 -1.55476196e-04 9.99999980e-01]] t_estimated: [[0.37064726] [0.92877309] [0.00107746]] R_gt: [[ 0.99991226 0.01170408 0.00626284] [-0.01178304 0.99984754 0.01282822] [-0.0061132 -0.01290075 0.999898 ]] t_gt: [0.574397 0.55796038 0.59895602] Pose Error in degrees for R and t: 10.493721056879902 42.96563601266034 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.82561569e-01 1.85936185e-01 -7.05311814e-04] [-1.85935710e-01 9.82561672e-01 6.87713038e-04] [ 8.20883093e-04 -5.44577749e-04 9.99999515e-01]] t_estimated: [[0.55469991] [0.83204986] [0.00102343]] R_gt: [[ 0.99619356 0.08708304 -0.00393925] [-0.08689761 0.99562995 0.03420563] [ 0.00689955 -0.03373225 0.9994066 ]] t_gt: [-0.10594246 0.96587861 0.236336 ] Pose Error in degrees for R and t: 6.040629034975017 41.829324883615904 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 2.35877701e-01 9.71782389e-01 8.35943248e-04] [-9.71782648e-01 2.35877981e-01 -2.52723940e-04] [-4.42773279e-04 -7.52743201e-04 9.99999619e-01]] t_estimated: [[0.67207131] [0.74048575] [0.00100609]] R_gt: [[ 0.98565512 0.16622041 0.02923775] [-0.16741018 0.9848793 0.04456145] [-0.02138947 -0.04881669 0.99857856]] t_gt: [-0.2268881 0.92168501 0.3146721 ] Pose Error in degrees for R and t: 66.80699572428561 57.972500838569225 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.22144585 -0.97510065 0.01185189] [-0.97511886 0.22128961 -0.01319508] [ 0.01024383 -0.014479 -0.9998427 ]] t_estimated: [[8.53317907e-01] [5.21390459e-01] [7.34352760e-04]] R_gt: [[ 0.95620659 -0.29156327 0.02569068] [ 0.29235786 0.95562415 -0.03616817] [-0.01400532 0.04209509 0.99901577]] t_gt: [ 0.86680011 -0.4928384 -0.07594656] Pose Error in degrees for R and t: 179.39438274049576 61.14209539826247 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 7.51669733e-01 -6.59539652e-01 -2.44513800e-04] [ 6.59539652e-01 7.51669492e-01 6.49425197e-04] [-2.44528105e-04 -6.49419811e-04 9.99999759e-01]] t_estimated: [[9.43513179e-01] [3.31334059e-01] [7.88890618e-04]] R_gt: [[ 8.65818139e-01 -5.00359414e-01 -4.06948170e-04] [ 5.00211048e-01 8.65580475e-01 -2.36444062e-02] [ 1.21832614e-02 2.02690049e-02 9.99720344e-01]] t_gt: [ 0.91249216 -0.40697949 -0.04154215] Pose Error in degrees for R and t: 11.327014437891544 43.44211457795063 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 1.00000000e+00 -8.67241792e-09 -1.10716807e-12] [ 8.67241789e-09 1.00000000e+00 7.26517961e-12] [ 1.10716807e-12 -7.26517967e-12 1.00000000e+00]] t_estimated: [[9.80900148e-01] [1.94509590e-01] [9.58497044e-04]] R_gt: [[ 0.83403237 -0.55165327 0.00830113] [ 0.55158349 0.83340628 -0.0344979 ] [ 0.01211284 0.03335077 0.99937011]] t_gt: [ 0.9209458 -0.38581735 -0.05480689] Pose Error in degrees for R and t: 33.54994404057582 34.07977671961335 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 1.00000000e+00 -3.21562221e-12 -3.43200132e-15] [ 3.21555282e-12 1.00000000e+00 2.19854517e-15] [ 3.43151343e-15 -2.19854517e-15 1.00000000e+00]] t_estimated: [[-0.10604127] [-0.99436112] [-0.00109712]] R_gt: [[ 0.99787333 0.06456535 -0.00898342] [-0.06477443 0.99758076 -0.02527931] [ 0.00732904 0.02580751 0.99963991]] t_gt: [ 0.22097835 0.87352657 -0.43372791] Pose Error in degrees for R and t: 4.013981301484275 26.93033892404642 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99999987e-01 8.62919524e-05 1.35496338e-04] [-8.62660765e-05 9.99999978e-01 -1.90965426e-04] [-1.35512814e-04 1.90953735e-04 9.99999973e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99711056 0.06894507 0.03190897] [-0.06614624 0.99445691 -0.08173069] [-0.03736768 0.07938327 0.99614342]] t_gt: [ 0.16856602 0.92002069 -0.35376182] Pose Error in degrees for R and t: 6.341443502640008 80.14567775024905 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99821052 0.05971888 0.00306819] [-0.05971003 0.99821155 -0.00290081] [-0.00323594 0.00271242 0.99999109]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99973808 -0.00257826 0.02277816] [ 0.00458342 0.99607316 -0.08842221] [-0.0224598 0.08850363 0.99582283]] t_gt: [ 0.80652816 0.0786263 -0.58594388] Pose Error in degrees for R and t: 6.209464838279779 36.26268915869367 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99826133e-01 -1.86467887e-02 3.25959241e-05] [ 1.86467867e-02 9.99826132e-01 5.87516571e-05] [-3.36857865e-05 -5.81336328e-05 9.99999998e-01]] t_estimated: [[9.65433079e-01] [2.60650897e-01] [2.82930983e-04]] R_gt: [[ 0.9914438 -0.12686098 0.03079043] [ 0.12771856 0.99142425 -0.02770348] [-0.02701111 0.03140009 0.99914102]] t_gt: [ 0.61952506 -0.78407456 0.03762701] Pose Error in degrees for R and t: 6.683144138202761 66.81190686364155 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99477741e-01 -3.23146728e-02 8.34339120e-05] [ 3.23146730e-02 9.99477745e-01 -4.95012630e-07] [-8.33743420e-05 3.19089369e-06 9.99999997e-01]] t_estimated: [[9.80624536e-01] [1.95896526e-01] [2.65534414e-04]] R_gt: [[ 0.9866359 -0.15935071 0.03404242] [ 0.1608107 0.98593014 -0.0456368 ] [-0.02629047 0.05050204 0.99837794]] t_gt: [ 0.61284356 -0.78793656 -0.05982257] Pose Error in degrees for R and t: 8.055637210004495 63.4742793723086 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.98382844e-01 -5.68457708e-02 5.05327389e-04] [ 5.68459526e-02 9.98382899e-01 -3.53033467e-04] [-4.84441764e-04 3.81188373e-04 9.99999810e-01]] t_estimated: [[0.9450809 ] [0.3268351 ] [0.00095258]] R_gt: [[ 0.9928989 -0.10597938 0.05405195] [ 0.10838376 0.99314863 -0.04369182] [-0.04905147 0.04924084 0.99758156]] t_gt: [ 0.42796974 -0.89530574 0.12356994] Pose Error in degrees for R and t: 4.900824312885555 83.57131743946044 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.91995111e-01 1.26276232e-01 1.15877374e-04] [-1.26276267e-01 9.91995043e-01 3.72196478e-04] [-6.79502114e-05 -3.83849649e-04 9.99999924e-01]] t_estimated: [[0.44207291] [0.89697787] [0.00149766]] R_gt: [[ 0.99260319 0.12044722 0.01519653] [-0.1210008 0.99170843 0.0432786 ] [-0.00985858 -0.04479674 0.99894754]] t_gt: [-0.36455585 0.833556 0.41507038] Pose Error in degrees for R and t: 2.6260362045316405 54.045496555252456 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999993e-01 1.15308684e-04 -1.84604580e-05] [-1.15309104e-04 9.99999993e-01 -2.27456841e-05] [ 1.84578351e-05 2.27478126e-05 1.00000000e+00]] t_estimated: [[3.37777939e-01] [9.41225409e-01] [8.90981545e-04]] R_gt: [[ 0.97890441 0.20417215 0.00774217] [-0.20431372 0.97845195 0.02980051] [-0.00149104 -0.03075338 0.99952647]] t_gt: [-0.15937833 0.97550213 0.15163821] Pose Error in degrees for R and t: 11.912442508237902 30.177985334829962 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999966e-01 -2.44005961e-04 -9.39133296e-05] [ 2.43995378e-04 9.99999964e-01 -1.12687364e-04] [ 9.39408226e-05 1.12664445e-04 9.99999989e-01]] t_estimated: [[ 9.99998418e-01] [-1.47545995e-03] [-9.93884148e-04]] R_gt: [[ 0.97611646 0.21361568 0.03956537] [-0.21293917 0.97684726 -0.02062886] [-0.0430558 0.01171122 0.99900427]] t_gt: [-0.13100599 0.98056456 0.14604991] Pose Error in degrees for R and t: 12.596560324381793 82.38026925686073 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99973339e-01 -7.22465848e-03 1.06096909e-03] [ 7.22561953e-03 9.99973486e-01 -9.04799936e-04] [-1.05440409e-03 9.12441972e-04 9.99999028e-01]] t_estimated: [[-0.79726375] [-0.60363052] [-0.00084188]] R_gt: [[ 0.99130406 0.13043561 0.01735189] [-0.13020736 0.99139271 -0.01367371] [-0.01898506 0.01129617 0.9997563 ]] t_gt: [-0.39513344 0.91750008 0.04542215] Pose Error in degrees for R and t: 7.9915208412602485 76.18169379883798 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.12920079 0.9916114 0.00374076] [-0.99160592 0.1292172 -0.00454041] [-0.0049857 -0.00312274 0.9999827 ]] t_estimated: [[0.61158483] [0.79117721] [0.00161795]] R_gt: [[ 0.98145647 0.19116744 0.01403793] [-0.19032021 0.98057943 -0.04733658] [-0.02281324 0.04378728 0.99877997]] t_gt: [-0.32539544 0.94424811 -0.05013289] Pose Error in degrees for R and t: 71.61484721522577 56.77148773958349 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.68800539 -0.7257047 -0.0011252 ] [-0.72562578 0.68795191 -0.01376226] [ 0.01076142 -0.00865203 -0.99990466]] t_estimated: [[8.14349988e-01] [5.80373676e-01] [7.02631569e-04]] R_gt: [[ 0.94984359 0.31123313 0.0304925 ] [-0.30875021 0.94880131 -0.06669811] [-0.04968929 0.0539385 0.99730746]] t_gt: [-0.28293787 0.95855037 0.03357616] Pose Error in degrees for R and t: 179.50136345225775 70.97803877066286 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 6.35469106e-01 -7.72125089e-01 -1.36468982e-03] [ 7.72125807e-01 6.35469699e-01 -1.33465850e-06] [ 8.68249555e-04 -1.05286410e-03 9.99999069e-01]] t_estimated: [[-0.01286894] [-0.99991636] [-0.00128689]] R_gt: [[ 9.81628727e-01 1.90774842e-01 -3.35434914e-03] [-1.90771925e-01 9.81633674e-01 1.07459649e-03] [ 3.49722080e-03 -4.14508737e-04 9.99993236e-01]] t_gt: [-0.3917607 0.91999467 -0.01154775] Pose Error in degrees for R and t: 61.54321479486134 23.81395899769041 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99990478e-01 4.35008243e-03 -3.48684323e-04] [-4.35000332e-03 9.99990513e-01 2.27323268e-04] [ 3.49669890e-04 -2.25804326e-04 9.99999913e-01]] t_estimated: [[-9.97010606e-01] [-7.72632243e-02] [-4.95452111e-04]] R_gt: [[ 0.94042741 0.33950809 0.01820898] [-0.33917752 0.94053101 -0.01898025] [-0.02357042 0.01167441 0.99965359]] t_gt: [-0.31554677 0.9484341 0.03004996] Pose Error in degrees for R and t: 19.65033278192585 76.03615845068835 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999387e-01 -1.03754511e-03 -3.85667939e-04] [ 1.03742868e-03 9.99999416e-01 -3.01975860e-04] [ 3.85981028e-04 3.01575572e-04 9.99999880e-01]] t_estimated: [[-0.90569837] [-0.42391968] [-0.00160368]] R_gt: [[ 0.92115023 0.38868139 0.02027358] [-0.38801357 0.9211531 -0.03036623] [-0.03047739 0.02010592 0.99933288]] t_gt: [-0.27131672 0.96214914 0.0256177 ] Pose Error in degrees for R and t: 23.01355179748767 80.66631827517824 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.96914604e-01 7.84934089e-02 2.38761396e-04] [-7.84933769e-02 9.96914625e-01 -1.40323204e-04] [-2.49039174e-04 1.21149063e-04 9.99999962e-01]] t_estimated: [[0.45140756] [0.89231727] [0.00104979]] R_gt: [[ 0.99500269 -0.09859106 0.01580739] [ 0.09908421 0.99448934 -0.03427124] [-0.01234075 0.03566679 0.99928831]] t_gt: [ 0.56606895 -0.81756111 -0.10563988] Pose Error in degrees for R and t: 10.400193558565794 61.69877759433625 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99994769e-01 3.22944892e-03 1.78692603e-04] [-3.22942940e-03 9.99994779e-01 -1.09386484e-04] [-1.79044928e-04 1.08808837e-04 9.99999978e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99910836 -0.04106036 0.00988465] [ 0.04120285 0.99904469 -0.01462367] [-0.00927407 0.01501869 0.99984399]] t_gt: [ 0.2177379 -0.97597329 -0.00814532] Pose Error in degrees for R and t: 2.731552634930367 12.940219758939568 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 8.30023257e-01 5.57728429e-01 6.25951745e-04] [-5.57727111e-01 8.30022996e-01 -1.51524335e-03] [-1.36464863e-03 9.08576959e-04 9.99998656e-01]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.99805094 -0.03441067 0.05206427] [ 0.03628263 0.99871331 -0.03545968] [-0.05077693 0.03727998 0.99801381]] t_gt: [-0.17967988 -0.86886829 0.46128412] Pose Error in degrees for R and t: 36.09245900529988 29.579274679782298 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.95370990e-01 -9.61071858e-02 3.63336130e-05] [ 9.61071779e-02 9.95370975e-01 1.78637558e-04] [-5.33337768e-05 -1.74318722e-04 9.99999983e-01]] t_estimated: [[9.99982376e-01] [5.87731035e-03] [8.39615765e-04]] R_gt: [[ 0.98474285 -0.17349334 -0.01349114] [ 0.17352957 0.98482673 0.00160873] [ 0.01300724 -0.00392488 0.99990743]] t_gt: [ 0.81206369 -0.58279371 -0.03006757] Pose Error in degrees for R and t: 4.5449328276623415 36.04073732973622 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.94609836e-01 -1.03686270e-01 6.57297771e-04] [ 1.03686733e-01 9.94609748e-01 -7.15063905e-04] [-5.79612462e-04 7.79362652e-04 9.99999528e-01]] t_estimated: [[-8.13818751e-01] [-5.81118440e-01] [-6.32337802e-04]] R_gt: [[ 0.98368038 -0.17961771 -0.01055093] [ 0.17932395 0.98349366 -0.02413069] [ 0.01471181 0.02184525 0.99965293]] t_gt: [ 0.80347013 -0.57963421 -0.13586736] Pose Error in degrees for R and t: 4.635057451470346 71.52100256767258 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.78575554 0.61835877 0.01485492] [ 0.61852609 0.78565862 0.01288466] [-0.00370356 0.01931235 -0.99980664]] t_estimated: [[9.99967893e-01] [7.96434605e-03] [8.84927339e-04]] R_gt: [[ 0.96885166 -0.24655033 -0.02326442] [ 0.24561724 0.96866461 -0.03688862] [ 0.03163072 0.03002548 0.99904889]] t_gt: [ 0.81454658 -0.55902756 -0.15492594] Pose Error in degrees for R and t: 179.82459658784632 35.910805172310305 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.71152635 0.70265667 -0.00196217] [ 0.70263351 0.71152133 0.00659927] [ 0.00603315 0.00331687 -0.9999763 ]] t_estimated: [[ 0.21324716] [-0.9769794 ] [-0.00607434]] R_gt: [[ 0.97638908 -0.21038187 -0.04904006] [ 0.21264147 0.97602026 0.04657355] [ 0.03806648 -0.05590067 0.99771067]] t_gt: [ 0.96252928 -0.17351949 0.20839475] Pose Error in degrees for R and t: 176.34129375712567 68.0673938446789 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[ 0.86709697 0.49808167 0.00758272] [-0.49789399 0.86704714 -0.01818884] [-0.01563411 0.0119961 0.99980582]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.92324699 -0.37845763 -0.06622975] [ 0.38165431 0.92322357 0.04470577] [ 0.04422703 -0.06655063 0.9968029 ]] t_gt: [ 0.98711239 -0.06643613 0.14558627] Pose Error in degrees for R and t: 52.54410745146389 37.64586889348339 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[-0.85725247 0.51485658 0.00639662] [ 0.51481973 0.85727308 -0.00659685] [-0.00888008 -0.00236206 -0.99995778]] t_estimated: [[ 0.88562812] [-0.46431924] [ 0.00839477]] R_gt: [[ 0.91014977 -0.41271224 -0.03601575] [ 0.41427696 0.90699695 0.07570956] [ 0.00142078 -0.0838274 0.99647953]] t_gt: [ 0.98008795 -0.04901405 0.19241943] Pose Error in degrees for R and t: 178.0786801407019 26.827801755958685 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999964e-01 2.62610487e-04 -4.53460111e-05] [-2.62610722e-04 9.99999966e-01 -5.18134922e-06] [ 4.53446489e-05 5.19325739e-06 9.99999999e-01]] t_estimated: [[ 2.24869072e-01] [ 9.74388985e-01] [-7.90006722e-05]] R_gt: [[ 9.99892341e-01 7.93293283e-04 -1.46321968e-02] [-1.26744953e-03 9.99472612e-01 -3.24408357e-02] [ 1.45975488e-02 3.24548641e-02 9.99365961e-01]] t_gt: [ 0.14157243 -0.09449377 -0.98540762] Pose Error in degrees for R and t: 2.0395096209865367 86.55096993485857 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.92218346e-01 -1.24502498e-01 1.37205429e-03] [-1.24501736e-01 -9.92219191e-01 -6.27969688e-04] [ 1.43956240e-03 4.52259903e-04 -9.99998862e-01]] t_estimated: [[0.65669997] [0.75415143] [0.00087794]] R_gt: [[ 0.99463098 -0.1025093 -0.01417551] [ 0.10183264 0.99390534 -0.04223006] [ 0.01841819 0.04055843 0.99900709]] t_gt: [ 0.71833515 -0.60132895 -0.3498544 ] Pose Error in degrees for R and t: 177.53578393898397 88.97260715933673 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.23974427 -0.97055884 0.02319949] [ 0.96294837 -0.24076847 -0.12149481] [ 0.12350357 -0.00678778 0.99232091]] t_estimated: [[0.97777509] [0.20960763] [0.00452863]] R_gt: [[ 0.96526949 -0.26103732 -0.01070973] [ 0.26031478 0.964459 -0.04534207] [ 0.02216506 0.04097777 0.99891436]] t_gt: [ 0.81776226 -0.55189112 -0.16334344] Pose Error in degrees for R and t: 88.87246297558183 46.9083580567804 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.99931699 -0.03692853 0.00135646] [ 0.03693033 0.99931696 -0.00133045] [-0.0013064 0.00137963 0.99999819]] t_estimated: [[7.92098140e-01] [6.10393384e-01] [6.72980578e-04]] R_gt: [[ 0.98785538 -0.15460996 -0.01541362] [ 0.15523732 0.98630216 0.05574937] [ 0.00658364 -0.0574645 0.99832593]] t_gt: [ 0.67995286 -0.68493796 0.26177107] Pose Error in degrees for R and t: 7.608291288750206 83.06842236362792 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 8.69101446e-01 -4.94630561e-01 1.81239416e-03] [ 4.94632628e-01 8.69101659e-01 -9.32540522e-04] [-1.11389173e-03 1.70694160e-03 9.99997923e-01]] t_estimated: [[0.5158315 ] [0.85668931] [0.00113619]] R_gt: [[ 0.96572133 -0.25909147 -0.01595261] [ 0.25844433 0.95391689 0.15247459] [-0.02428647 -0.15137164 0.98817839]] t_gt: [ 0.60830412 -0.63961689 0.46995355] Pose Error in degrees for R and t: 17.047505473229144 76.48873333789815 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.93975327e-01 1.09589142e-01 -1.80785999e-03] [-1.09588112e-01 9.93976866e-01 6.59727816e-04] [ 1.86927002e-03 -4.57633209e-04 9.99998148e-01]] t_estimated: [[ 0.4293106 ] [ 0.90314396] [-0.00483716]] R_gt: [[ 0.95684255 -0.28824383 -0.03698019] [ 0.29049053 0.9450725 0.14984556] [-0.00824282 -0.15412048 0.98801743]] t_gt: [ 0.63868374 -0.65520981 0.40346397] Pose Error in degrees for R and t: 24.81933095176521 71.3669050492898 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.98190024e-01 -6.01388005e-02 -7.43752390e-06] [ 6.01388009e-02 9.98190022e-01 6.77881774e-05] [ 3.34736246e-06 -6.81127662e-05 9.99999998e-01]] t_estimated: [[1.05012842e-01] [9.94470810e-01] [3.34011820e-04]] R_gt: [[ 0.99885776 0.02209803 -0.04238671] [-0.02282441 0.99959972 -0.01672545] [ 0.042 0.01767358 0.99896136]] t_gt: [-0.12540946 0.53179126 -0.83753837] Pose Error in degrees for R and t: 5.407822543693257 58.97570220246395 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.93312501e-01 -1.15456799e-01 -5.07548987e-05] [ 1.15456805e-01 9.93312493e-01 1.30701450e-04] [ 3.53251040e-05 -1.35687382e-04 9.99999990e-01]] t_estimated: [[-1.06336240e-01] [ 9.94330228e-01] [-4.54252577e-05]] R_gt: [[ 0.99513882 0.04369184 -0.08826478] [-0.04838228 0.99748835 -0.05173346] [ 0.08578253 0.05575222 0.99475325]] t_gt: [-0.06900193 0.50677998 -0.85930948] Pose Error in degrees for R and t: 10.975508813308164 59.250666169357125 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.41820143e-01 3.36116544e-01 6.97395064e-04] [-3.36116756e-01 9.41820303e-01 2.09111694e-04] [-5.86534931e-04 -4.31351772e-04 9.99999735e-01]] t_estimated: [[-0.39059179] [ 0.92056322] [ 0.00118793]] R_gt: [[ 0.99242448 0.04119688 -0.1157538 ] [-0.052401 0.99405078 -0.09548342] [ 0.11113164 0.10082554 0.9886778 ]] t_gt: [ 0.00982407 0.4392121 -0.89832968] Pose Error in degrees for R and t: 19.01817112776119 66.4581903593094 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999987e-01 9.51745999e-05 1.28750808e-04] [-9.51813637e-05 9.99999994e-01 5.25285779e-05] [-1.28745808e-04 -5.25408319e-05 9.99999990e-01]] t_estimated: [[0.58294157] [0.81251353] [0.0009445 ]] R_gt: [[ 0.98635507 -0.13352268 -0.09630539] [ 0.13427513 0.99094309 0.00135092] [ 0.09525201 -0.01426417 0.99535076]] t_gt: [ 0.63241824 -0.70254799 -0.32630277] Pose Error in degrees for R and t: 9.495077155323502 78.31826891552183 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.95309900e-01 9.67373456e-02 -2.98126803e-04] [-9.67377781e-02 9.95302601e-01 -3.81254660e-03] [-7.20892558e-05 3.82350550e-03 9.99992688e-01]] t_estimated: [[0.99161267] [0.12924012] [0.00114372]] R_gt: [[ 0.9796839 -0.16991339 -0.10652737] [ 0.18296583 0.97476563 0.12788637] [ 0.08210894 -0.14477979 0.9860508 ]] t_gt: [ 0.50702401 -0.8275124 0.24114286] Pose Error in degrees for R and t: 18.543273160549184 66.66543971324488 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 7.89955938e-01 6.13162297e-01 1.27055780e-03] [ 6.13162709e-01 -7.89956635e-01 8.01403575e-05] [ 1.05282461e-03 7.15751309e-04 -9.99999190e-01]] t_estimated: [[0.94558109] [0.32538472] [0.0010919 ]] R_gt: [[ 0.95780025 -0.21152149 -0.19462089] [ 0.24255561 0.95808903 0.15241927] [ 0.15422346 -0.19319393 0.96896352]] t_gt: [ 0.56482084 -0.80713332 0.17179414] Pose Error in degrees for R and t: 167.2096674598815 74.23796315512746 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.64737116 0.7621212 0.00904776] [ 0.76212213 -0.64714102 -0.01945139] [-0.00896914 0.01948776 -0.99976986]] t_estimated: [[-9.80543380e-01] [-1.96300188e-01] [-9.57561894e-04]] R_gt: [[ 0.99537234 -0.08686435 -0.04110193] [ 0.0877514 0.99593602 0.02030194] [ 0.03917159 -0.02381459 0.99894892]] t_gt: [ 0.64182471 -0.74434084 -0.18443904] Pose Error in degrees for R and t: 179.1138957051442 61.11546215839401 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 7.85378884e-01 -6.19014476e-01 1.04247833e-03] [ 6.19015228e-01 7.85378685e-01 -6.84434680e-04] [-3.95065288e-04 1.18285051e-03 9.99999222e-01]] t_estimated: [[-0.30572609] [-0.9521184 ] [-0.00145584]] R_gt: [[ 0.97201374 -0.21512178 -0.09441196] [ 0.2186657 0.97537417 0.02883726] [ 0.0858824 -0.04867499 0.99511544]] t_gt: [ 0.69551588 -0.69922871 -0.16533869] Pose Error in degrees for R and t: 26.307099648670047 63.04105929253269 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-6.92974374e-01 7.20961988e-01 -5.73595817e-04] [-7.20958775e-01 -6.92973305e-01 -2.53859101e-03] [-2.22771421e-03 -1.34563958e-03 9.99996613e-01]] t_estimated: [[0.50763023] [0.86157425] [0.00116429]] R_gt: [[ 0.95422667 -0.2798753 -0.10546474] [ 0.28531042 0.95758954 0.04025513] [ 0.08972448 -0.06850258 0.99360836]] t_gt: [ 0.69651909 -0.7108742 -0.09756555] Pose Error in degrees for R and t: 150.3924415864793 74.98865218682913 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.76979987e-01 2.13329392e-01 8.22191764e-04] [-2.13328663e-01 9.76980084e-01 -8.92364665e-04] [-9.93632591e-04 6.96425350e-04 9.99999264e-01]] t_estimated: [[-9.99716594e-01] [-2.38020727e-02] [ 4.39393150e-04]] R_gt: [[ 0.99786191 -0.01527535 0.06355991] [ 0.01433628 0.99978152 0.01520411] [-0.06377768 -0.01426041 0.99786198]] t_gt: [ 0.15498337 -0.15837209 0.97514021] Pose Error in degrees for R and t: 13.676287490427937 81.33010607154944 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-1.51339789e-01 9.88481796e-01 -8.11071022e-05] [-9.88479941e-01 -1.51339663e-01 -1.92690139e-03] [-1.91698167e-03 -2.11444107e-04 9.99998140e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99143093 -0.09224715 0.09250029] [ 0.0917342 0.9957357 0.00979496] [-0.09300918 -0.00122664 0.99566371]] t_gt: [ 0.59694697 -0.56729598 0.56730026] Pose Error in degrees for R and t: 104.0868630887863 55.738428476323676 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.9942641 0.10687623 -0.00404641] [-0.10685407 0.99426035 0.00534499] [ 0.00459444 -0.00488195 0.99997753]] t_estimated: [[-0.65809218] [-0.75293488] [-0.00193557]] R_gt: [[ 0.98854879 -0.12087986 0.09033716] [ 0.12196613 0.99251236 -0.00657576] [-0.08886581 0.01751869 0.995889 ]] t_gt: [ 0.694997 -0.63302635 0.34096452] Pose Error in degrees for R and t: 14.220548898698848 88.93449106466446 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99989889e-01 4.49629220e-03 7.28319389e-05] [-4.49629966e-03 9.99989886e-01 1.02567789e-04] [-7.23700275e-05 -1.02894226e-04 9.99999992e-01]] t_estimated: [[ 8.51390856e-01] [-5.24531798e-01] [ 5.60022316e-05]] R_gt: [[ 0.9902631 -0.12645728 -0.05821815] [ 0.12816888 0.99139347 0.02667726] [ 0.05434369 -0.03387898 0.99794728]] t_gt: [ 0.64673932 -0.74619901 -0.15784579] Pose Error in degrees for R and t: 8.421091540437443 19.605677274889718 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.06778232 -0.99768476 0.00553848] [-0.99769042 -0.06780511 -0.00403528] [ 0.00440148 -0.00525217 -0.99997652]] t_estimated: [[8.13306417e-01] [5.81835262e-01] [6.32435684e-04]] R_gt: [[ 0.98584719 -0.1645901 -0.0318826 ] [ 0.16531251 0.98600579 0.02152804] [ 0.02789305 -0.02649306 0.99925956]] t_gt: [ 0.60157167 -0.79770079 -0.04224902] Pose Error in degrees for R and t: 179.84336845233008 88.56144190965132 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 5.63532638e-01 8.26084526e-01 3.91435657e-03] [ 8.26090377e-01 -5.63537617e-01 2.08516025e-04] [ 2.37813903e-03 3.11610670e-03 -9.99992317e-01]] t_estimated: [[-0.57185691] [-0.82035184] [-0.00159292]] R_gt: [[ 0.98226484 -0.18473963 -0.03205549] [ 0.18517695 0.98264043 0.01122326] [ 0.02942615 -0.01696022 0.99942318]] t_gt: [ 0.56412696 -0.82141835 -0.08386102] Pose Error in degrees for R and t: 178.5683826988079 69.42790384985288 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-3.51306364e-01 9.36260173e-01 8.52327781e-04] [-9.36260540e-01 -3.51306017e-01 -5.32847336e-04] [-1.99455861e-04 -9.85193529e-04 9.99999495e-01]] t_estimated: [[9.10768927e-01] [4.12915553e-01] [8.40968539e-04]] R_gt: [[ 0.98492385 0.16825429 -0.04019925] [-0.16485386 0.9833347 0.07664325] [ 0.05242567 -0.06886114 0.99624807]] t_gt: [-0.74484607 0.65713389 0.11566929] Pose Error in degrees for R and t: 101.05071497566767 65.98695808153197 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.36009061 0.932017 -0.04097641] [ 0.93261676 0.36074206 0.00954698] [ 0.02367986 -0.03477751 -0.9991145 ]] t_estimated: [[-0.11163259] [-0.99374895] [-0.00109444]] R_gt: [[ 0.9683549 0.21958205 -0.11862335] [-0.20393676 0.97017002 0.13106657] [ 0.14386528 -0.10272804 0.98425078]] t_gt: [-0.8073826 0.56636987 -0.16540408] Pose Error in degrees for R and t: 167.76089215123963 61.80211523199743 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 4.46671802e-01 8.94691131e-01 3.47583870e-03] [ 8.94696194e-01 -4.46675136e-01 2.07475553e-04] [ 1.73819726e-03 3.01714618e-03 -9.99993938e-01]] t_estimated: [[-0.42628543] [-0.90458782] [-0.00126871]] R_gt: [[ 0.94386167 0.28112437 -0.17347548] [-0.24496233 0.94795829 0.2033883 ] [ 0.22162541 -0.14947559 0.96360792]] t_gt: [-0.86199726 0.46063953 -0.21159383] Pose Error in degrees for R and t: 165.206980097181 87.19347095837053 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-8.06009082e-02 9.96746270e-01 6.05164826e-04] [-9.96742641e-01 -8.05989056e-02 -2.81502679e-03] [-2.75709183e-03 -8.30087303e-04 9.99995855e-01]] t_estimated: [[0.025734 ] [0.99966687] [0.00197954]] R_gt: [[ 0.99621206 0.02543876 0.08315072] [-0.02436399 0.99960621 -0.01391959] [-0.0834726 0.01184144 0.99643933]] t_gt: [-0.33177579 0.45256088 0.82771582] Pose Error in degrees for R and t: 93.28132176628871 63.543982549507575 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.93825577 0.34593821 -0.00169136] [-0.34593349 0.93825553 0.00256692] [ 0.00247492 -0.00182333 0.99999528]] t_estimated: [[-0.97841211] [-0.20665527] [-0.00182881]] R_gt: [[ 0.99176558 -0.0271157 0.1251667 ] [ 0.03131007 0.99900791 -0.03166852] [-0.12418483 0.035326 0.99163013]] t_gt: [ 0.29296518 -0.089423 0.95193221] Pose Error in degrees for R and t: 23.175777436184745 74.34157374595634 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-6.06312499e-02 9.98148176e-01 4.90621242e-03] [ 9.98160119e-01 6.06281582e-02 7.76601199e-04] [ 4.77708448e-04 4.94427188e-03 -9.99987663e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98406434 -0.08573881 0.15577918] [ 0.08979776 0.99577538 -0.01919604] [-0.15347654 0.03287923 0.987605 ]] t_gt: [ 0.53516036 -0.47418958 0.69910487] Pose Error in degrees for R and t: 172.30605504098446 61.95819493115664 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.07195678 0.99739807 -0.00439542] [-0.99740681 -0.07196206 -0.00105523] [-0.00136879 0.00430809 0.99998978]] t_estimated: [[ 2.55957530e-01] [ 9.66687682e-01] [-8.17529852e-04]] R_gt: [[ 0.98609862 -0.1638686 -0.02752053] [ 0.16292213 0.98606387 -0.03367837] [ 0.03265568 0.02872631 0.99905314]] t_gt: [ 0.54238096 -0.7974895 -0.26426009] Pose Error in degrees for R and t: 103.54974631776538 50.810982936054124 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.66124195e-01 -2.58077463e-01 -2.49795905e-04] [ 2.58077513e-01 9.66124195e-01 1.90690417e-04] [ 1.92120969e-04 -2.48697331e-04 9.99999951e-01]] t_estimated: [[ 9.99910906e-01] [-1.33268612e-02] [ 7.58377219e-04]] R_gt: [[ 0.94850093 -0.31484371 -0.0349427 ] [ 0.31491178 0.9491145 -0.0036859 ] [ 0.03432515 -0.007508 0.9993819 ]] t_gt: [ 0.6205472 -0.78088098 -0.07173605] Pose Error in degrees for R and t: 3.9470289848329476 50.88756592704357 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-8.72396526e-01 4.88785643e-01 3.59120530e-03] [ 4.88786784e-01 8.72403063e-01 -6.12526351e-04] [-3.43237259e-03 1.22096783e-03 -9.99993364e-01]] t_estimated: [[ 0.75436647] [-0.65644467] [ 0.00340931]] R_gt: [[ 0.89196161 -0.45201829 -0.00926254] [ 0.45158049 0.89171758 -0.0302455 ] [ 0.02193143 0.02279493 0.99949898]] t_gt: [ 0.68033852 -0.72963116 -0.06912213] Pose Error in degrees for R and t: 179.7138888772822 7.274273888931828 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-6.92743470e-01 -7.21183360e-01 -1.02278055e-03] [-7.21184068e-01 6.92743063e-01 7.67063915e-04] [ 1.55330398e-04 1.26899155e-03 -9.99999183e-01]] t_estimated: [[0.80821689] [0.58888414] [0.00096242]] R_gt: [[ 0.99532776 -0.07884566 -0.0557208 ] [ 0.08334185 0.9930094 0.08358834] [ 0.0487404 -0.08784056 0.99494205]] t_gt: [ 0.45539754 -0.84892685 0.2682094 ] Pose Error in degrees for R and t: 179.13692213928528 82.43785621439 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.99938381 -0.03507114 0.00141652] [-0.0350355 0.99918257 0.02016704] [-0.00212265 0.02010499 -0.99979562]] t_estimated: [[0.82021877] [0.57204934] [0.0008446 ]] R_gt: [[ 0.98959828 -0.1141408 -0.087563 ] [ 0.12771895 0.9772005 0.16961234] [ 0.06620613 -0.17903061 0.98161385]] t_gt: [ 0.37261013 -0.80177071 0.46725306] Pose Error in degrees for R and t: 175.91344956454878 81.22028562733784 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-2.04109125e-01 -9.78945935e-01 -2.07884320e-03] [ 9.78947769e-01 -2.04110442e-01 4.40224205e-04] [-8.55269300e-04 -1.94522513e-03 9.99997742e-01]] t_estimated: [[0.97261683] [0.23241246] [0.00097652]] R_gt: [[ 0.96310566 -0.16035336 -0.21613788] [ 0.19436207 0.96993177 0.14647994] [ 0.18615006 -0.18308423 0.96531334]] t_gt: [ 0.55696732 -0.82388651 0.10487337] Pose Error in degrees for R and t: 92.32921002111634 69.49208852732009 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-0.48393576 0.87510083 0.00217191] [ 0.87510289 0.48393094 0.00240211] [ 0.00105104 0.00306311 -0.99999476]] t_estimated: [[-0.87926594] [-0.47632901] [-0.00143906]] R_gt: [[ 0.99886844 0.014774 -0.04521047] [-0.01714849 0.99846945 -0.0525794 ] [ 0.044365 0.05329548 0.99759264]] t_gt: [-0.00383662 0.38692738 -0.92210221] Pose Error in degrees for R and t: 179.36680466856586 79.65328409970756 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.95404630e-01 -9.57506398e-02 -1.19885923e-03] [ 9.57516555e-02 9.95404916e-01 8.20530081e-04] [ 1.11478410e-03 -9.31552198e-04 9.99998945e-01]] t_estimated: [[0.79878389] [0.60161571] [0.0016852 ]] R_gt: [[ 0.99892208 0.01798219 -0.04281652] [-0.02032188 0.99828891 -0.05483651] [ 0.0417571 0.05564743 0.99757668]] t_gt: [-0.03023157 0.38678177 -0.9216756 ] Pose Error in degrees for R and t: 7.705136035134772 78.05384885529563 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.57645103 0.81696855 0.01632753] [ 0.81692409 0.5766399 -0.01102015] [-0.01841823 0.00698578 -0.99980597]] t_estimated: [[ 0.2985751 ] [-0.95429032] [ 0.01352404]] R_gt: [[ 0.99610824 -0.0212326 0.0855502 ] [ 0.01117974 0.99314918 0.11631649] [-0.08743344 -0.11490757 0.98952083]] t_gt: [ 0.00157708 -0.24972513 0.96831548] Pose Error in degrees for R and t: 177.52726083952535 75.41140745412072 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-2.99048033e-01 9.54236736e-01 -1.58902460e-03] [ 9.54227190e-01 2.99052160e-01 4.27498506e-03] [ 4.55454904e-03 -2.37864605e-04 -9.99989600e-01]] t_estimated: [[-0.1991538 ] [-0.97996315] [-0.00316117]] R_gt: [[ 0.99968746 0.01700805 0.01832284] [-0.01666549 0.99968698 -0.01866655] [-0.01863492 0.01835529 0.99965828]] t_gt: [-0.68422755 0.41808971 -0.59752294] Pose Error in degrees for R and t: 178.73818154402113 74.24305456565082 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.93398639 -0.35729774 -0.00278225] [ 0.35728883 -0.93398832 0.00324189] [-0.00375691 0.00203382 0.99999087]] t_estimated: [[9.41626985e-01] [3.36656960e-01] [8.43751779e-04]] R_gt: [[ 0.98548156 -0.16977036 0.00226415] [ 0.16976801 0.98548306 0.00147481] [-0.00248256 -0.00106897 0.99999643]] t_gt: [ 0.9913921 -0.1309172 -0.00154831] Pose Error in degrees for R and t: 149.29123502960644 27.19627863451962 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 3.24857500e-01 9.45762496e-01 9.51902529e-04] [ 9.45760901e-01 -3.24858731e-01 1.76749911e-03] [ 1.98086821e-03 3.26086853e-04 -9.99997985e-01]] t_estimated: [[0.8648356 ] [0.50205391] [0.00112316]] R_gt: [[ 0.9303597 -0.36550764 -0.02891189] [ 0.36635397 0.92987828 0.0333315 ] [ 0.01470127 -0.04160228 0.99902651]] t_gt: [ 0.99342212 -0.06176396 0.09642463] Pose Error in degrees for R and t: 177.45187551691308 34.08099294722233 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99999566e-01 9.05933633e-04 2.19082000e-04] [-9.05999808e-04 9.99999544e-01 3.02146233e-04] [-2.18808176e-04 -3.02344590e-04 9.99999930e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.98948325 -0.1446181 0.00314438] [ 0.14463962 0.98945173 -0.00797524] [-0.00195669 0.00834599 0.99996278]] t_gt: [ 0.77388632 -0.63268438 -0.02846825] Pose Error in degrees for R and t: 8.383063919716147 39.85945267028926 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.16592473e-01 9.93163531e-01 -5.69181699e-03] [-9.93179442e-01 1.16595643e-01 2.27250737e-04] [ 8.89338206e-04 5.62649990e-03 9.99983776e-01]] t_estimated: [[0.61969816] [0.78483979] [0.00083405]] R_gt: [[ 9.60174412e-01 -2.79401389e-01 -1.57290696e-04] [ 2.79338656e-01 9.59969122e-01 -2.07071570e-02] [ 5.93640096e-03 1.98385946e-02 9.99785750e-01]] t_gt: [ 0.83756256 -0.54292894 -0.06096819] Pose Error in degrees for R and t: 99.53106703202087 84.67109585688497 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.15457489 0.98740041 -0.03386777] [ 0.9879035 0.15490149 0.00722572] [ 0.01238084 -0.03234118 -0.9994002 ]] t_estimated: [[0.95157828] [0.30739821] [0.00226028]] R_gt: [[ 0.92686191 -0.37499054 0.01756188] [ 0.37527027 0.92428476 -0.06977823] [ 0.00993435 0.07126567 0.9974081 ]] t_gt: [ 0.87605879 -0.460107 -0.14430016] Pose Error in degrees for R and t: 179.04494973563948 46.22118187783338 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99728438 -0.0736153 -0.00215591] [ 0.07362191 0.99728119 0.00316938] [ 0.00191674 -0.0033195 0.99999265]] t_estimated: [[0.75108649] [0.66020159] [0.00171481]] R_gt: [[ 0.99038274 -0.1382656 0.00498144] [ 0.1370023 0.98508336 0.10411685] [-0.01930274 -0.10243362 0.99455209]] t_gt: [ 0.49829239 -0.65953216 0.56278062] Pose Error in degrees for R and t: 6.896291093703182 86.5487966259765 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99998091 0.00565591 -0.00248964] [-0.00564459 0.99997382 0.00452778] [ 0.00251519 -0.00451364 0.99998665]] t_estimated: [[ 0.9998178 ] [-0.01850988] [ 0.0046642 ]] R_gt: [[ 0.98108915 -0.19353751 0.00298508] [ 0.19134221 0.97205645 0.13599035] [-0.0292217 -0.13284765 0.99070505]] t_gt: [ 0.51646775 -0.67160393 0.53123368] Pose Error in degrees for R and t: 13.741698485041711 57.90783455329816 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.77377724e-01 -2.11500970e-01 -3.51611405e-04] [ 2.11501036e-01 9.77377760e-01 1.62942971e-04] [ 3.09194570e-04 -2.33623007e-04 9.99999925e-01]] t_estimated: [[-0.48682276] [-0.8735001 ] [-0.00107892]] R_gt: [[ 0.98492445 0.17288775 0.00582573] [-0.1729347 0.98325637 0.05744691] [ 0.00420398 -0.05758809 0.99833165]] t_gt: [-0.74709634 0.61645251 0.24866315] Pose Error in degrees for R and t: 22.41684062258369 79.91924022137968 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99957266e-01 -9.24381431e-03 -1.36807996e-04] [ 9.24381457e-03 9.99957275e-01 1.25530767e-06] [ 1.36790547e-04 -2.51988178e-06 9.99999991e-01]] t_estimated: [[-9.69017742e-01] [-2.46990292e-01] [-6.41367832e-04]] R_gt: [[ 0.96542589 0.25918549 0.02785631] [-0.26044104 0.96357857 0.06070817] [-0.0111066 -0.06586398 0.99776599]] t_gt: [-0.71424591 0.66519447 0.21764443] Pose Error in degrees for R and t: 16.066776201966483 58.151111344860354 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99610318e-01 2.79097416e-02 -5.09087196e-04] [-2.79095445e-02 9.99610377e-01 3.90226000e-04] [ 5.19779950e-04 -3.75865544e-04 9.99999794e-01]] t_estimated: [[-0.80774105] [-0.58953641] [-0.00110537]] R_gt: [[ 0.89105927 0.45145453 0.04692184] [-0.4534999 0.88979443 0.05100682] [-0.01872308 -0.06672844 0.99759445]] t_gt: [-0.6447751 0.75282295 0.13237328] Pose Error in degrees for R and t: 25.642578831395344 85.59256278279534 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99715250e-01 -2.38621806e-02 1.19509423e-04] [ 2.38621873e-02 9.99715256e-01 -5.51552219e-05] [-1.18159270e-04 5.79912727e-05 9.99999991e-01]] t_estimated: [[ 9.97156168e-01] [-7.53629604e-02] [ 4.20940663e-05]] R_gt: [[ 0.98151708 -0.19086274 -0.0140019 ] [ 0.19079242 0.98161073 -0.00615213] [ 0.01491855 0.00336705 0.99988319]] t_gt: [ 0.98095501 -0.1907513 -0.0366226 ] Pose Error in degrees for R and t: 9.67458562575222 7.003184412343527 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.69713009 0.71691014 0.0070346 ] [ 0.71693534 -0.69703747 -0.01193646] [-0.00365399 0.01336462 -0.99990401]] t_estimated: [[-0.76953727] [ 0.63854841] [-0.00826492]] R_gt: [[ 0.98477194 -0.1738118 -0.00367376] [ 0.17375169 0.98470448 -0.01295251] [ 0.00586994 0.01211714 0.99990933]] t_gt: [ 0.97642351 -0.19298421 -0.09671724] Pose Error in degrees for R and t: 178.6496567435063 29.09381846859991 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 8.73367810e-01 4.87061257e-01 -2.90453466e-05] [-4.87061258e-01 8.73367807e-01 -6.48399127e-05] [-6.21373865e-06 7.07759556e-05 9.99999997e-01]] t_estimated: [[9.39135914e-01] [3.43544908e-01] [7.94525515e-04]] R_gt: [[ 0.94913977 -0.3147129 0.00948501] [ 0.31479174 0.94912196 -0.00854741] [-0.00631192 0.01110028 0.99991875]] t_gt: [ 0.99497098 -0.09437093 -0.03356905] Pose Error in degrees for R and t: 47.49950230270757 25.582341331677732 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.80729965 -0.59000917 0.0125083 ] [-0.59000396 0.80738784 0.00449591] [-0.01275168 -0.0037504 -0.99991166]] t_estimated: [[0.95317748] [0.3023266 ] [0.0071641 ]] R_gt: [[ 0.98746161 -0.14420697 -0.06422157] [ 0.14647646 0.98869239 0.03212884] [ 0.05886217 -0.04113179 0.99741901]] t_gt: [ 0.79124618 -0.61118387 0.01958989] Pose Error in degrees for R and t: 178.05146673606262 55.280364944473114 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.89722057e-01 -1.43004148e-01 2.50439658e-04] [ 1.43003860e-01 9.89721694e-01 9.29232325e-04] [-3.80749640e-04 -8.83867891e-04 9.99999537e-01]] t_estimated: [[0.98338589] [0.18151282] [0.00229763]] R_gt: [[ 0.98584499 -0.16067198 -0.04790393] [ 0.1633987 0.98474465 0.05982129] [ 0.03756266 -0.06680089 0.99705943]] t_gt: [ 0.75776502 -0.6228411 0.19457937] Pose Error in degrees for R and t: 4.5030280530221285 50.76009611907381 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.95547383e-01 -9.42624231e-02 -6.20824884e-05] [ 9.42624401e-02 9.95547308e-01 3.87666081e-04] [ 2.52637101e-05 -3.91792000e-04 9.99999923e-01]] t_estimated: [[0.74100598] [0.67149788] [0.00085793]] R_gt: [[ 0.99529441 -0.09630368 0.01074422] [ 0.0944085 0.98870556 0.11640082] [-0.02183247 -0.11483777 0.99314433]] t_gt: [ 0.50467799 -0.59049881 0.62977082] Pose Error in degrees for R and t: 6.691461225230717 88.73887542038743 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 0.98927822 0.14603319 0.00170434] [ 0.14603459 -0.98902676 -0.02235983] [-0.00157964 0.02236899 -0.99974853]] t_estimated: [[-0.04444452] [ 0.99895489] [-0.01066856]] R_gt: [[ 0.99413217 0.05012776 -0.09585875] [-0.04383666 0.99681361 0.06664715] [ 0.09889443 -0.06205414 0.99316126]] t_gt: [-0.51041945 -0.44104449 -0.73820847] Pose Error in degrees for R and t: 177.18860132533393 65.79374699962936 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.94461335e-01 1.05102838e-01 2.15676877e-04] [-1.05102701e-01 9.94461210e-01 -5.69311329e-04] [-2.74318525e-04 5.43489882e-04 9.99999815e-01]] t_estimated: [[ 0.93087127] [-0.36534446] [ 0.00144985]] R_gt: [[ 0.98165841 0.10715048 -0.15768994] [-0.08656101 0.98744917 0.13211087] [ 0.16986754 -0.11603764 0.97861227]] t_gt: [-0.81430899 -0.43226585 -0.38735914] Pose Error in degrees for R and t: 11.908877310649993 53.083354195030225 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 7.24698146e-01 -6.89065961e-01 -8.36211054e-04] [ 6.89066181e-01 7.24698418e-01 -3.35413221e-05] [ 6.29113011e-04 -5.51897423e-04 9.99999650e-01]] t_estimated: [[ 3.76547010e-01] [-9.26397318e-01] [-5.98910530e-04]] R_gt: [[ 0.97476566 0.09945647 -0.19985212] [-0.07307571 0.98810555 0.13530894] [ 0.21093222 -0.11729037 0.97043891]] t_gt: [-0.398003 -0.60941255 -0.68571857] Pose Error in degrees for R and t: 50.41658286111675 65.4742599511795 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.98439093e-01 -5.58359524e-02 1.31325601e-03] [ 5.58368690e-02 9.98439679e-01 -6.71935162e-04] [-1.27368876e-03 7.44214437e-04 9.99998912e-01]] t_estimated: [[8.59275636e-01] [5.11512194e-01] [8.10637392e-04]] R_gt: [[ 0.97634832 -0.21470857 0.02537792] [ 0.2144666 0.97665817 0.01194143] [-0.02734973 -0.00621534 0.99960649]] t_gt: [ 0.59334124 -0.79652934 0.11613434] Pose Error in degrees for R and t: 9.322721005621995 84.1166574547329 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999893e-01 -1.04032842e-04 -4.49645971e-04] [ 1.04243268e-04 9.99999885e-01 4.67983491e-04] [ 4.49597233e-04 -4.68030313e-04 9.99999789e-01]] t_estimated: [[9.70873397e-01] [2.39591155e-01] [9.62213475e-04]] R_gt: [[ 0.93674665 -0.34862027 0.03115004] [ 0.34823356 0.93724887 0.01724479] [-0.03520756 -0.00530681 0.99936601]] t_gt: [ 0.63904208 -0.76224716 0.10297807] Pose Error in degrees for R and t: 20.49427118129255 64.03000754727717 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 5.58315832e-01 -8.29626367e-01 -1.87699581e-03] [ 8.29628377e-01 5.58315509e-01 7.40619475e-04] [ 4.33518425e-04 -1.97070857e-03 9.99997964e-01]] t_estimated: [[9.81235477e-01] [1.92810862e-01] [9.54509218e-04]] R_gt: [[ 0.84475828 -0.53303123 0.04754611] [ 0.53340578 0.84584198 0.00547936] [-0.04313749 0.02073257 0.99885366]] t_gt: [ 0.72374162 -0.68839808 0.04802242] Pose Error in degrees for R and t: 23.982391158465393 54.726775285893154 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99917578e-01 1.28387868e-02 4.47315090e-05] [-1.28387872e-02 9.99917579e-01 8.71778583e-06] [-4.46158964e-05 -9.29136562e-06 9.99999999e-01]] t_estimated: [[3.95284129e-01] [9.18558681e-01] [6.37641197e-04]] R_gt: [[ 0.99670661 -0.05338602 -0.06105075] [ 0.05381958 0.99853622 0.00546199] [ 0.06066988 -0.00872901 0.99811966]] t_gt: [ 0.5662001 -0.69786643 -0.43863412] Pose Error in degrees for R and t: 5.1849498777758845 65.3230820195332 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999768e-01 4.13220732e-04 -5.42036639e-04] [-4.11739120e-04 9.99996187e-01 2.73068638e-03] [ 5.43162948e-04 -2.73046256e-03 9.99996125e-01]] t_estimated: [[0.7829193 ] [0.62211769] [0.00263609]] R_gt: [[ 0.98678613 -0.15624952 -0.04289379] [ 0.15410273 0.98681437 -0.04950432] [ 0.05006367 0.04224044 0.99785228]] t_gt: [ 0.69044025 -0.59740845 -0.40791592] Pose Error in degrees for R and t: 9.749203902453413 80.33859706559316 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999640e-01 -5.51729984e-04 -6.44849284e-04] [ 5.52155711e-04 9.99999630e-01 6.60204496e-04] [ 6.44484790e-04 -6.60560315e-04 9.99999574e-01]] t_estimated: [[ 0.98897773] [-0.14805893] [ 0.00126827]] R_gt: [[ 0.97052148 -0.21808233 0.10260615] [ 0.22416354 0.97316995 -0.05188566] [-0.08853761 0.07335673 0.99336803]] t_gt: [ 0.72689794 -0.6865065 -0.01811671] Pose Error in degrees for R and t: 14.408041921647818 34.86449041187172 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.90595979e-01 1.36819601e-01 5.71652425e-05] [-1.36819504e-01 9.90595633e-01 -8.45178589e-04] [-1.72264637e-04 8.29409192e-04 9.99999641e-01]] t_estimated: [[-0.99993714] [-0.01112587] [-0.00139073]] R_gt: [[ 0.99265216 0.10012221 -0.06794314] [-0.09469167 0.99237243 0.07893217] [ 0.07532868 -0.07191905 0.99456202]] t_gt: [-0.90416711 0.42166848 -0.06839247] Pose Error in degrees for R and t: 6.427191586800857 25.905747136909415 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-8.99593680e-01 -4.36724980e-01 -1.58220450e-03] [ 4.36726926e-01 -8.99593317e-01 -1.20680712e-03] [-8.96297780e-04 -1.77662737e-03 9.99998020e-01]] t_estimated: [[9.99691212e-01] [2.48370487e-02] [7.76157773e-04]] R_gt: [[ 0.97931032 0.15587957 -0.12904626] [-0.13808244 0.98090263 0.13697864] [ 0.14793499 -0.11632492 0.98213205]] t_gt: [-0.94962746 0.17645331 -0.25898247] Pose Error in degrees for R and t: 162.70106013503866 19.064292403026887 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-7.68719523e-01 6.39583372e-01 -1.84552637e-03] [-6.39579447e-01 -7.68721501e-01 -2.32036769e-03] [-2.90276439e-03 -6.03351205e-04 9.99995605e-01]] t_estimated: [[0.54807133] [0.83642942] [0.00190966]] R_gt: [[ 0.96034358 0.19552731 -0.19876954] [-0.15879269 0.96953308 0.18652075] [ 0.2291842 -0.14756012 0.96213269]] t_gt: [-0.9175616 0.08351009 -0.38872454] Pose Error in degrees for R and t: 130.36965450207288 64.29223234046704 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.97715637e-01 6.75532974e-02 2.42782783e-04] [-6.75532662e-02 9.97715660e-01 -1.34456562e-04] [-2.51311169e-04 1.17748644e-04 9.99999961e-01]] t_estimated: [[0.57978477] [0.81476882] [0.00118082]] R_gt: [[ 0.98379926 -0.17629004 -0.03257757] [ 0.17660855 0.98425454 0.00718577] [ 0.0307979 -0.01282287 0.99944419]] t_gt: [ 0.60184115 -0.79261917 -0.0976836 ] Pose Error in degrees for R and t: 14.170314347452038 72.72379141492037 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.96225497e-01 -4.43597546e-01 1.03728218e-03] [ 4.43597904e-01 8.96225910e-01 -1.32902565e-04] [-8.70683912e-04 5.79246867e-04 9.99999453e-01]] t_estimated: [[9.99974549e-01] [7.07946583e-03] [8.84933229e-04]] R_gt: [[ 0.94348549 -0.33081131 -0.0199937 ] [ 0.33020161 0.94347695 -0.02858954] [ 0.0283209 0.02037168 0.99939159]] t_gt: [ 0.6404709 -0.76094225 -0.10374925] Pose Error in degrees for R and t: 7.3134189485610515 50.58181573671292 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-8.44149594e-01 5.36103985e-01 -1.99475877e-03] [-5.36102458e-01 -8.44151951e-01 -1.27970276e-03] [-2.36993326e-03 -1.08654846e-05 9.99997192e-01]] t_estimated: [[0.54737102] [0.83688957] [0.00090475]] R_gt: [[ 0.87174846 -0.48615267 -0.06091561] [ 0.48595641 0.87377589 -0.01898548] [ 0.0624559 -0.01305236 0.99796313]] t_gt: [ 0.70871511 -0.69992124 -0.08850508] Pose Error in degrees for R and t: 176.69733461760433 78.58542171550805 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.93522574e-01 1.13631974e-01 -8.18223849e-04] [-1.13630785e-01 9.93522092e-01 1.37711873e-03] [ 9.69408190e-04 -1.27522312e-03 9.99998717e-01]] t_estimated: [[-9.52562433e-01] [-3.04341858e-01] [-9.19461807e-04]] R_gt: [[ 9.95137588e-01 9.84965097e-02 -5.43921726e-04] [-9.84387717e-02 9.94719168e-01 2.90278973e-02] [ 3.40018933e-03 -2.88328973e-02 9.99578620e-01]] t_gt: [-0.76452982 0.61103985 0.20524244] Pose Error in degrees for R and t: 1.8092279386499805 57.17269941240035 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.93331915e-01 -1.15288876e-01 -4.25073886e-04] [ 1.15288947e-01 9.93331987e-01 1.46677125e-04] [ 4.05329247e-04 -1.94705390e-04 9.99999899e-01]] t_estimated: [[-0.80551466] [-0.59257487] [-0.00107545]] R_gt: [[ 0.96946668 0.24460754 0.01735575] [-0.24506201 0.96896194 0.03251574] [-0.00886358 -0.03577518 0.99932 ]] t_gt: [-0.72271315 0.67882203 0.1299475 ] Pose Error in degrees for R and t: 20.90310511731188 79.64402081789645 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.25048248 -0.96811198 -0.00420872] [ 0.96811955 -0.25047184 -0.00289853] [ 0.00175194 -0.00480057 0.99998694]] t_estimated: [[0.99886731] [0.04756511] [0.00128554]] R_gt: [[ 0.88220249 0.4660873 0.06695235] [-0.4661097 0.88457707 -0.01623729] [-0.06679333 -0.01688235 0.99762412]] t_gt: [-0.63359786 0.76713897 0.10025747] Pose Error in degrees for R and t: 132.3638288594869 53.397332226724096 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.13047710e-01 4.07851854e-01 8.63360060e-04] [-4.07851291e-01 9.13048054e-01 -7.58457361e-04] [-1.09762746e-03 3.40385241e-04 9.99999340e-01]] t_estimated: [[0.83981703] [0.54286792] [0.00133371]] R_gt: [[ 0.98211053 -0.1848922 -0.0356934 ] [ 0.18567545 0.98240746 0.02002644] [ 0.03136214 -0.02629442 0.99916185]] t_gt: [ 0.74423337 -0.6679013 0.00495412] Pose Error in degrees for R and t: 34.83332728552672 74.7848541259825 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.26505502e-01 3.76281054e-01 3.49889689e-04] [-3.76281109e-01 9.26505541e-01 1.02769445e-04] [-2.85504540e-04 -2.26873337e-04 9.99999934e-01]] t_estimated: [[0.72225637] [0.69162496] [0.00080609]] R_gt: [[ 0.928666 -0.35491084 -0.10778718] [ 0.35894754 0.93314296 0.02003932] [ 0.09346897 -0.05729911 0.99397149]] t_gt: [ 0.83621362 -0.54805688 -0.01950491] Pose Error in degrees for R and t: 43.51921446736508 77.00329193655992 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99997410e-01 -2.24980893e-03 3.43268305e-04] [ 2.25016663e-03 9.99996922e-01 -1.04525921e-03] [-3.40915615e-04 1.04602891e-03 9.99999395e-01]] t_estimated: [[ 0.99721963] [-0.07448374] [-0.00227513]] R_gt: [[ 0.90895093 -0.39745552 -0.12585299] [ 0.40576394 0.91271017 0.04813143] [ 0.09573665 -0.09481453 0.99088028]] t_gt: [ 0.84237921 -0.53617833 0.053945 ] Pose Error in degrees for R and t: 24.897993663530695 28.375614588086616 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[-4.24182537e-01 9.05576588e-01 4.67558228e-04] [ 9.05575422e-01 4.24181007e-01 1.90499040e-03] [ 1.52678538e-03 1.23147290e-03 -9.99998076e-01]] t_estimated: [[0.07263369] [0.9973581 ] [0.00108408]] R_gt: [[ 0.99765222 -0.06736229 -0.01245366] [ 0.06598999 0.99382395 -0.0892188 ] [ 0.01838669 0.08818697 0.99593384]] t_gt: [ 0.65485305 -0.44484944 -0.61096355] Pose Error in degrees for R and t: 178.04784242992287 66.62345675470672 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.99664739 -0.08177339 0.00266496] [-0.08176119 0.99664221 0.00440631] [-0.00301633 0.00417365 -0.99998674]] t_estimated: [[0.99839966] [0.05651319] [0.00209308]] R_gt: [[ 0.995321 -0.08223518 -0.05073543] [ 0.07142297 0.97977699 -0.18691364] [ 0.06508019 0.18241515 0.98106456]] t_gt: [ 0.49417199 -0.11803189 -0.86131441] Pose Error in degrees for R and t: 176.40174018942108 60.99355600843895 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.99487218 0.10109272 -0.00309962] [-0.10110235 -0.99487111 0.00312878] [-0.00276743 0.00342612 0.9999903 ]] t_estimated: [[0.73302123] [0.68020529] [0.00080024]] R_gt: [[ 0.99179993 -0.07675143 -0.10220004] [ 0.05369435 0.9758438 -0.21177 ] [ 0.11598441 0.20454609 0.97196053]] t_gt: [ 0.42957876 0.0170177 -0.90286903] Pose Error in degrees for R and t: 177.9786252534826 70.98938232513622 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99999991e-01 1.34423119e-04 -1.61073527e-05] [-1.34425662e-04 9.99999978e-01 -1.57938611e-04] [ 1.60861218e-05 1.57940775e-04 9.99999987e-01]] t_estimated: [[-0.25591315] [-0.96669837] [-0.00164786]] R_gt: [[ 0.99293409 -0.11866233 -0.00148907] [ 0.11863947 0.9928813 -0.01058632] [ 0.00273404 0.01033535 0.99994318]] t_gt: [ 0.37866159 -0.8924776 -0.24515125] Pose Error in degrees for R and t: 6.848465205118337 39.98112673880761 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999852e-01 -5.40371008e-04 -6.16307051e-05] [ 5.40365567e-04 9.99999850e-01 -8.82732360e-05] [ 6.16783961e-05 8.82399198e-05 9.99999994e-01]] t_estimated: [[9.99966915e-01] [8.11460516e-03] [5.66987021e-04]] R_gt: [[ 0.95683917 -0.28636783 -0.04953116] [ 0.28571298 0.95810654 -0.01998486] [ 0.05317873 0.00497029 0.99857232]] t_gt: [ 0.61718049 -0.75294391 -0.22839375] Pose Error in degrees for R and t: 16.879466340659448 52.34389222788137 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99998940e-01 -1.45557586e-03 4.06600301e-05] [ 1.45558936e-03 9.99998885e-01 -3.33768401e-04] [-4.01741596e-05 3.33827231e-04 9.99999943e-01]] t_estimated: [[9.99952848e-01] [9.69248159e-03] [5.97899726e-04]] R_gt: [[ 0.91500515 -0.40330699 0.01047527] [ 0.40340866 0.91427538 -0.03691352] [ 0.00530916 0.03800246 0.9992632 ]] t_gt: [ 0.58382983 -0.80554536 -0.10118993] Pose Error in degrees for R and t: 23.812647200104266 54.83492840513698 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.98627741e-01 5.23699246e-02 1.62195957e-04] [-5.23699112e-02 9.98627751e-01 -8.52510901e-05] [-1.66437976e-04 7.66399156e-05 9.99999983e-01]] t_estimated: [[-0.83646496] [-0.54801904] [ 0.00122663]] R_gt: [[ 0.99513296 0.09409828 0.02926272] [-0.09172516 0.99303387 -0.07395711] [-0.03601764 0.07091338 0.99683241]] t_gt: [-0.79867179 0.34019248 -0.49637934] Pose Error in degrees for R and t: 5.118379911550167 61.247950179758824 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.89767808e-01 1.42687358e-01 6.46334150e-05] [-1.42687311e-01 9.89767702e-01 -4.76262864e-04] [-1.31928756e-04 4.62167283e-04 9.99999884e-01]] t_estimated: [[-9.07173558e-01] [-4.20755736e-01] [-8.63974817e-04]] R_gt: [[ 0.99941419 0.02789516 0.01983754] [-0.02601166 0.99563766 -0.08959687] [-0.02224998 0.0890294 0.99578057]] t_gt: [-0.35075846 0.28886376 -0.89080089] Pose Error in degrees for R and t: 8.467653558761459 78.61344248817569 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.21906831 -0.97567729 0.00793053] [-0.97569307 0.21901018 -0.00758779] [ 0.00566637 -0.0094 -0.99993976]] t_estimated: [[0.90087342] [0.43408007] [0.0012582 ]] R_gt: [[ 0.99291493 -0.11521103 0.02910566] [ 0.11802987 0.9845677 -0.12920848] [-0.01376983 0.13172935 0.99119021]] t_gt: [ 0.64977201 0.02851957 -0.75959395] Pose Error in degrees for R and t: 176.31882467750347 53.35991560087091 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 6.40022780e-01 7.68352577e-01 -2.27114180e-03] [-7.68355794e-01 6.40021649e-01 -1.28949761e-03] [ 4.62791107e-04 2.57035281e-03 9.99996590e-01]] t_estimated: [[ 2.40122819e-01] [ 9.70742220e-01] [-7.58103785e-04]] R_gt: [[ 0.99702166 -0.02142585 0.07408775] [ 0.02676262 0.99705901 -0.07181864] [-0.07233122 0.07358789 0.9946617 ]] t_gt: [ 0.88004732 -0.2910607 -0.37523378] Pose Error in degrees for R and t: 51.90376151678301 85.93196296061198 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.26552839 -0.96400987 -0.01340338] [ 0.96389158 -0.26515333 -0.02463199] [ 0.02019153 -0.0194599 0.99960673]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99355162 0.01036689 0.11290842] [ 0.00782802 0.98716346 -0.15952577] [-0.11311293 0.1593805 0.98071539]] t_gt: [-0.39824789 0.58976379 -0.70255056] Pose Error in degrees for R and t: 105.98149962591673 66.61162024299914 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-0.55670547 -0.83067302 -0.00783253] [ 0.83070934 -0.55669174 -0.00403754] [-0.00100642 -0.00875428 0.99996117]] t_estimated: [[0.97766903] [0.21013953] [0.00215596]] R_gt: [[ 0.98410847 0.0591594 0.16742295] [-0.02320676 0.97763132 -0.20904076] [-0.17604506 0.20183392 0.96346783]] t_gt: [-0.69131025 0.68725619 -0.22308984] Pose Error in degrees for R and t: 126.83927522106416 57.86378607252094 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.99999519e-01 9.41275180e-05 -9.76181991e-04] [-9.30016279e-05 9.99999331e-01 1.15334210e-03] [ 9.76289899e-04 -1.15325076e-03 9.99998858e-01]] t_estimated: [[9.80433659e-01] [1.96847495e-01] [9.50954082e-04]] R_gt: [[ 0.99390554 -0.10692105 -0.02683401] [ 0.10751646 0.99396561 0.02177872] [ 0.02434407 -0.02453009 0.9994022 ]] t_gt: [ 0.55970132 -0.82853215 0.0163985 ] Pose Error in degrees for R and t: 6.446468978361721 67.3145886952022 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 6.94753457e-01 7.19247628e-01 6.95381073e-04] [-7.19246627e-01 6.94753705e-01 -1.25639120e-03] [-1.38677497e-03 3.72731641e-04 9.99998969e-01]] t_estimated: [[0.70962548] [0.70457836] [0.00100942]] R_gt: [[ 0.95198923 -0.30609629 0.00461733] [ 0.30535866 0.95055119 0.0566465 ] [-0.02172742 -0.05251668 0.99838362]] t_gt: [ 0.68003883 -0.71019743 0.18211757] Pose Error in degrees for R and t: 63.88543919008412 88.98964990596336 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 0.92025453 -0.39128915 0.00493921] [-0.39130841 -0.92025169 0.0038156 ] [ 0.00305231 -0.00544408 -0.99998052]] t_estimated: [[0.53084981] [0.8474638 ] [0.00189589]] R_gt: [[ 0.86940924 -0.49351542 -0.02386642] [ 0.49378841 0.86616346 0.07704189] [-0.01734808 -0.07876567 0.99674168]] t_gt: [ 0.79096164 -0.59356772 0.14851615] Pose Error in degrees for R and t: 175.30786562360746 85.24680643251983 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.97867209 0.20542062 0.00182072] [-0.20540908 0.9786627 -0.00514132] [-0.00283801 0.00465768 0.99998513]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.99618238 -0.01244205 0.08640468] [ 0.02213799 0.99344113 -0.11218162] [-0.08444198 0.11366561 0.98992323]] t_gt: [-0.23658791 0.5831475 -0.77715195] Pose Error in degrees for R and t: 15.040185789929254 76.79787194189586 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.13288447e-01 -4.07312850e-01 -6.75085331e-04] [ 4.07308776e-01 9.13284709e-01 -3.25590667e-03] [ 1.94271773e-03 2.69861377e-03 9.99994472e-01]] t_estimated: [[-0.04993699] [-0.99873989] [-0.0049937 ]] R_gt: [[ 0.98326589 -0.08448276 0.16139938] [ 0.11058332 0.98085939 -0.16026728] [-0.14477035 0.17543303 0.97378867]] t_gt: [ 0.42506736 -0.05904402 -0.90323393] Pose Error in degrees for R and t: 22.508159351030947 87.57833105438965 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-5.68595382e-01 8.22579960e-01 -7.84223689e-03] [-8.22604885e-01 -5.68613399e-01 -8.26367691e-05] [-4.52717632e-03 6.40407549e-03 9.99969246e-01]] t_estimated: [[ 5.59188307e-01] [ 8.29040430e-01] [-6.34232398e-04]] R_gt: [[ 0.97641072 -0.1018562 0.19038443] [ 0.13440827 0.97679717 -0.16673948] [-0.16898366 0.18839613 0.96744511]] t_gt: [ 0.63730824 -0.30392468 -0.70814405] Pose Error in degrees for R and t: 131.95312227360787 83.98097994148918 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999940e-01 3.39194150e-04 -6.56317528e-05] [-3.39206683e-04 9.99999924e-01 -1.91041157e-04] [ 6.55669478e-05 1.91063409e-04 9.99999980e-01]] t_estimated: [[-0.27205231] [-0.96228146] [-0.00139023]] R_gt: [[ 0.99601501 -0.03652468 0.08135592] [ 0.04315835 0.99575128 -0.0813443 ] [-0.0780383 0.08453202 0.9933603 ]] t_gt: [ 0.3718866 -0.132926 -0.91871162] Pose Error in degrees for R and t: 6.993334664128029 88.39454327772083 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.98479849 0.17369708 -0.00112525] [-0.17369382 0.98479643 0.00253891] [ 0.00154914 -0.00230487 0.99999614]] t_estimated: [[-0.44049576] [-0.89775421] [ 0.00093134]] R_gt: [[ 0.98901978 -0.07548177 0.12704987] [ 0.09098166 0.98847647 -0.12098399] [-0.11645287 0.13121559 0.98449026]] t_gt: [ 0.62472966 -0.3849493 -0.6793577 ] Pose Error in degrees for R and t: 18.003722985812313 85.99943133261638 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99998983e-01 -1.34058030e-03 -4.87421831e-04] [ 1.34072639e-03 9.99999056e-01 2.99507303e-04] [ 4.87019858e-04 -3.00160497e-04 9.99999836e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98168993 -0.10485502 0.15902972] [ 0.12412407 0.98540351 -0.11650112] [-0.14449237 0.1341071 0.9803763 ]] t_gt: [ 0.75257984 -0.54150695 -0.37469162] Pose Error in degrees for R and t: 13.150504764581145 41.3570616523187 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999994e-01 -7.86433267e-05 7.20162544e-05] [ 7.86502852e-05 9.99999992e-01 -9.66265759e-05] [-7.20086548e-05 9.66322395e-05 9.99999993e-01]] t_estimated: [[-9.99999593e-01] [-9.00079166e-04] [-6.49777708e-05]] R_gt: [[ 9.92466890e-01 1.22240330e-01 -8.19696270e-03] [-1.22239220e-01 9.92500208e-01 6.89962828e-04] [ 8.21952701e-03 3.17452546e-04 9.99966306e-01]] t_gt: [-0.42701147 0.90061549 -0.08095026] Pose Error in degrees for R and t: 7.042037957844227 64.77298135119018 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99988994e-01 -4.68953798e-03 -1.39386642e-04] [ 4.68953675e-03 9.99989004e-01 -9.14151391e-06] [ 1.39427979e-04 8.48775452e-06 9.99999990e-01]] t_estimated: [[-0.99986974] [-0.0160189 ] [ 0.00197408]] R_gt: [[ 0.9679993 0.25083528 -0.00768037] [-0.25095096 0.96741471 -0.03364343] [-0.0010089 0.03449356 0.99940413]] t_gt: [-0.34149071 0.93593064 -0.08612741] Pose Error in degrees for R and t: 14.934158448620675 70.95663882169404 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.90713844 -0.42027769 0.02159894] [-0.42018784 -0.90739484 -0.00876272] [ 0.02328154 -0.00112661 -0.99972831]] t_estimated: [[0.41163422] [0.91134738] [0.00179753]] R_gt: [[ 0.92745951 0.37296516 -0.02676156] [-0.37381588 0.92308933 -0.09037723] [-0.00900476 0.09382482 0.99554799]] t_gt: [-0.26292898 0.95774642 -0.1165768 ] Pose Error in degrees for R and t: 174.66226561355037 40.14639535000683 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.97221166e-01 7.44831377e-02 1.48575258e-03] [-7.44821182e-02 9.97222082e-01 -7.30140479e-04] [-1.53600843e-03 6.17449540e-04 9.99998630e-01]] t_estimated: [[0.5858795 ] [0.81039536] [0.00213825]] R_gt: [[ 0.99118157 -0.12017572 -0.05584599] [ 0.12114028 0.99253417 0.01420526] [ 0.05372139 -0.02084443 0.99833855]] t_gt: [ 0.54453297 -0.80802497 -0.22489882] Pose Error in degrees for R and t: 11.709431935303932 70.35022303226184 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.87874588e-01 1.55251516e-01 8.75133725e-04] [-1.55251288e-01 9.87874958e-01 -3.23680212e-04] [-9.14774536e-04 1.83889818e-04 9.99999565e-01]] t_estimated: [[0.58150205] [0.81354374] [0.00139784]] R_gt: [[ 0.97547745 -0.19904137 -0.09395411] [ 0.19871782 0.9799722 -0.01289109] [ 0.09463763 -0.00609584 0.99549333]] t_gt: [ 0.58000786 -0.74678423 -0.32542925] Pose Error in degrees for R and t: 21.147155923337635 74.29283852388599 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.97786281e-01 6.64905782e-02 1.24116812e-03] [-6.64894472e-02 9.97786694e-01 -9.31349293e-04] [-1.30034699e-03 8.46762965e-04 9.99998796e-01]] t_estimated: [[-0.09688693] [-0.99529296] [-0.00220198]] R_gt: [[ 0.93033655 -0.36079303 -0.06558991] [ 0.36312355 0.93133413 0.02755991] [ 0.05114175 -0.0494574 0.99746643]] t_gt: [ 0.68312284 -0.73013335 -0.01576295] Pose Error in degrees for R and t: 25.40028026031734 48.65850174638862 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99408893e-01 3.43779878e-02 1.33006274e-04] [-3.43779834e-02 9.99408902e-01 -3.51613313e-05] [-1.34136430e-04 3.05680598e-05 9.99999991e-01]] t_estimated: [[9.44500046e-01] [3.28510595e-01] [6.72865733e-04]] R_gt: [[ 0.99320653 -0.11619079 -0.00632836] [ 0.11614352 0.99320565 -0.00724626] [ 0.00712695 0.00646203 0.99995412]] t_gt: [ 0.98263807 -0.17318101 -0.0665639 ] Pose Error in degrees for R and t: 8.659031069567726 29.405682227175763 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-7.54104010e-01 -6.56751853e-01 -2.03595990e-03] [-6.56754717e-01 7.54102974e-01 1.39494622e-03] [ 6.19189906e-04 2.38906081e-03 -9.99996954e-01]] t_estimated: [[8.21889183e-01] [5.69646978e-01] [7.00672790e-04]] R_gt: [[ 0.95883293 -0.28376492 -0.01082002] [ 0.28320152 0.95834383 -0.03704143] [ 0.0208809 0.03245301 0.99925578]] t_gt: [ 0.9875635 -0.09633644 -0.1242482 ] Pose Error in degrees for R and t: 178.3718331347143 40.82560753301124 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-1.00900697e-01 9.94896046e-01 -9.52129625e-04] [-9.94893608e-01 -1.00902666e-01 -2.31514562e-03] [-2.39940164e-03 7.13667871e-04 9.99996867e-01]] t_estimated: [[0.69688469] [0.7171823 ] [0.00112765]] R_gt: [[ 0.94144517 -0.33673908 -0.01696333] [ 0.33600327 0.94118594 -0.03563659] [ 0.02796656 0.0278502 0.99922108]] t_gt: [ 0.99151915 -0.08494375 -0.09835818] Pose Error in degrees for R and t: 115.46753340530967 50.95404938499116 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.90039533e-01 -1.40789436e-01 -2.41878627e-04] [ 1.40789464e-01 9.90039553e-01 1.01102786e-04] [ 2.25235204e-04 -1.34149717e-04 9.99999966e-01]] t_estimated: [[-0.73430314] [-0.67882086] [-0.00106504]] R_gt: [[ 0.99086753 0.13234613 -0.02583802] [-0.1324715 0.99118135 -0.00320191] [ 0.02518653 0.00659607 0.99966057]] t_gt: [-0.6221364 0.75930054 -0.19081138] Pose Error in degrees for R and t: 15.772779666694241 86.6526467225734 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.77807063 -0.6278132 -0.02136998] [-0.62793946 0.77826154 -0.00101162] [ 0.01726654 0.01263194 -0.99977112]] t_estimated: [[ 0.94018748] [ 0.34051467] [-0.00986218]] R_gt: [[ 0.97432687 0.22117691 -0.04205662] [-0.22004864 0.97503134 0.02984683] [ 0.0476089 -0.01982592 0.99866969]] t_gt: [-0.63829496 0.76210383 -0.10852325] Pose Error in degrees for R and t: 176.83391339920726 70.15120263097702 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.99950704 -0.03040755 -0.00781382] [-0.03041973 0.99953617 0.00144478] [ 0.00776626 0.00168176 -0.99996843]] t_estimated: [[ 0.99875872] [-0.04962434] [-0.00429491]] R_gt: [[ 0.92558231 0.37470287 -0.05381238] [-0.37353699 0.92710771 0.03067245] [ 0.06138428 -0.00828792 0.99807956]] t_gt: [-0.56364878 0.81765219 -0.1172389 ] Pose Error in degrees for R and t: 176.1986051366711 52.91342750835225 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-8.04766855e-02 -9.96750011e-01 -3.59424284e-03] [-9.96756370e-01 8.04779355e-02 -2.04280830e-04] [ 4.92874164e-04 3.56614461e-03 -9.99993520e-01]] t_estimated: [[7.34231851e-01] [6.78898436e-01] [7.09402754e-04]] R_gt: [[ 0.99506686 -0.09688788 0.02134277] [ 0.09771632 0.9943301 -0.04195302] [-0.0171575 0.04383191 0.99889224]] t_gt: [ 0.80644447 -0.55890009 -0.19307516] Pose Error in degrees for R and t: 178.99195141441598 77.72852986757718 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-4.71437439e-01 -8.81896726e-01 -2.21491773e-03] [-8.81899419e-01 4.71437030e-01 7.36092340e-04] [ 3.95036809e-04 2.30035614e-03 -9.99997276e-01]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 0.98842858 -0.12773636 0.08180983] [ 0.13510045 0.98656262 -0.09187752] [-0.06897523 0.10186664 0.99240478]] t_gt: [ 0.82098797 -0.53278908 -0.20521832] Pose Error in degrees for R and t: 179.2284257467121 70.15311017570835 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.99991231e-01 4.16520520e-03 4.34876802e-04] [-4.16531328e-03 9.99991294e-01 2.47934742e-04] [-4.33840317e-04 -2.49743966e-04 9.99999875e-01]] t_estimated: [[-9.99994892e-01] [-3.10075922e-03] [-7.75189839e-04]] R_gt: [[ 0.98481353 -0.11492195 0.13013859] [ 0.13651126 0.97569338 -0.17142814] [-0.10727517 0.18659004 0.97656433]] t_gt: [ 0.75285282 -0.39987355 -0.5227942 ] Pose Error in degrees for R and t: 14.531379380609495 41.30523739443669 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99992021e-01 -3.99139731e-03 1.64072778e-04] [ 3.99141520e-03 9.99992028e-01 -1.08851253e-04] [-1.63637001e-04 1.09505267e-04 9.99999981e-01]] t_estimated: [[9.99838426e-01] [1.79747976e-02] [1.66570859e-04]] R_gt: [[ 0.98476989 -0.17369795 -0.00762169] [ 0.1738347 0.98446453 0.02473305] [ 0.00320743 -0.02568164 0.99966488]] t_gt: [ 0.5247284 -0.84370842 0.11320872] Pose Error in degrees for R and t: 9.892534801427887 59.36966989666566 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999975e-01 1.59287199e-05 2.21847865e-04] [-1.58949093e-05 9.99999988e-01 -1.52405302e-04] [-2.21850290e-04 1.52401772e-04 9.99999964e-01]] t_estimated: [[8.01556484e-01] [5.97918635e-01] [7.13806096e-04]] R_gt: [[ 0.95928922 -0.28133414 0.02481736] [ 0.28091767 0.95954451 0.01896327] [-0.02914888 -0.01121982 0.99951191]] t_gt: [ 0.46387063 -0.87021555 0.16597873] Pose Error in degrees for R and t: 16.42878783344405 81.4668791122967 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999745e-01 -7.14712993e-04 -7.96442157e-06] [ 7.14712173e-04 9.99999739e-01 -1.02483246e-04] [ 8.03766560e-06 1.02477528e-04 9.99999995e-01]] t_estimated: [[0.99886639] [0.04758415] [0.00129457]] R_gt: [[ 0.92318248 -0.38390479 0.01874715] [ 0.38302001 0.92293716 0.03850753] [-0.03208588 -0.02836831 0.99908307]] t_gt: [ 0.50154621 -0.85361407 0.14069261] Pose Error in degrees for R and t: 22.65044001260367 62.57795872579519 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99985777e-01 -5.26229917e-03 8.68456470e-04] [ 5.26499991e-03 9.99981218e-01 -3.13740090e-03] [-8.51930216e-04 3.14192870e-03 9.99994701e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99215399 -0.12501015 -0.00197453] [ 0.12499224 0.99213026 -0.00738944] [ 0.00288335 0.0070856 0.99997034]] t_gt: [ 0.7467327 -0.66510261 0.0053654 ] Pose Error in degrees for R and t: 6.885902539666511 50.91523469852217 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99953167 0.0302323 -0.00473806] [-0.03021768 0.99953845 0.00312615] [ 0.00483039 -0.00298152 0.99998389]] t_estimated: [[-0.86950342] [-0.49387794] [-0.00695603]] R_gt: [[ 0.98496605 -0.17259349 -0.00730823] [ 0.17180929 0.98314058 -0.06257933] [ 0.01798645 0.06038307 0.99801323]] t_gt: [ 0.77028646 -0.61382415 -0.17285451] Pose Error in degrees for R and t: 12.241520804230639 68.5671758252437 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.51177124 -0.85900765 0.01400176] [-0.85513756 0.510898 0.08788051] [-0.0826435 0.03300128 -0.99603261]] t_estimated: [[0.99940325] [0.03433065] [0.00381452]] R_gt: [[ 0.97352573 -0.22701612 -0.02667536] [ 0.21899735 0.95977939 -0.17567643] [ 0.06548403 0.16518347 0.984086 ]] t_gt: [ 0.7534029 -0.46381216 -0.46611409] Pose Error in degrees for R and t: 176.4174990712112 42.67145723241857 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.84133052e-01 1.77432018e-01 1.26392410e-04] [-1.77431682e-01 9.84132166e-01 -1.37023220e-03] [-3.67509900e-04 1.32606478e-03 9.99999053e-01]] t_estimated: [[7.55592324e-01] [6.55041873e-01] [6.19550731e-04]] R_gt: [[ 0.98820188 -0.15030387 0.02943873] [ 0.15013202 0.98863336 0.0080043 ] [-0.03030798 -0.00348989 0.99953425]] t_gt: [ 0.71059367 -0.68643327 0.15448626] Pose Error in degrees for R and t: 18.94214353339203 84.98754457948561 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-8.47756485e-01 -5.30383116e-01 -1.64081916e-03] [ 5.30384019e-01 -8.47757496e-01 -1.39765264e-04] [-1.31688761e-03 -9.88751172e-04 9.99998644e-01]] t_estimated: [[9.85492137e-01] [1.69719198e-01] [8.00562256e-04]] R_gt: [[ 0.94355308 -0.32915535 -0.03695295] [ 0.32978031 0.94397923 0.01215553] [ 0.03088105 -0.02365576 0.99924261]] t_gt: [ 0.7969768 -0.60293052 -0.03609394] Pose Error in degrees for R and t: 128.73347935711524 46.91704026198665 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.97348196 0.2286042 0.00854365] [-0.22850852 0.97348113 -0.01087882] [-0.01080402 0.00863804 0.99990432]] t_estimated: [[8.08506583e-01] [5.88486759e-01] [6.62710314e-04]] R_gt: [[ 0.87508817 -0.48283571 -0.03301759] [ 0.4835862 0.87506257 0.02024727] [ 0.01911534 -0.03368455 0.99924952]] t_gt: [ 0.83889214 -0.54424471 0.00759423] Pose Error in degrees for R and t: 42.22547697740672 69.02417250346097 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99999857e-01 5.33893514e-04 -5.57194767e-07] [-5.33893379e-04 9.99999834e-01 2.18965698e-04] [ 6.74099040e-07 -2.18965369e-04 9.99999976e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.98850318 -0.15115403 -0.00372437] [ 0.15096273 0.98803348 -0.03163612] [ 0.00846258 0.03071025 0.99949296]] t_gt: [ 0.84252472 -0.50814342 -0.17872426] Pose Error in degrees for R and t: 8.912100612239614 41.40606153989347 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99998286e-01 7.21534516e-05 -1.85020846e-03] [-6.83306767e-05 9.99997863e-01 2.06611195e-03] [ 1.85035358e-03 -2.06598198e-03 9.99996154e-01]] t_estimated: [[0.94758877] [0.31948521] [0.00217337]] R_gt: [[ 0.97025737 -0.24123207 0.02018412] [ 0.24206279 0.96762902 -0.07141833] [-0.00230223 0.07418084 0.99724198]] t_gt: [ 0.859737 -0.46772343 -0.20515137] Pose Error in degrees for R and t: 14.676393489432662 48.33297437245126 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.76681988e-02 9.95219007e-01 -2.28095101e-04] [-9.95218221e-01 9.76678238e-02 -1.29988534e-03] [-1.27139305e-03 3.53961861e-04 9.99999129e-01]] t_estimated: [[0.9918433 ] [0.1274527 ] [0.00163401]] R_gt: [[ 0.95630411 -0.28416576 0.06880335] [ 0.29043501 0.95034594 -0.11176136] [-0.03362792 0.12686088 0.99135077]] t_gt: [ 0.86515555 -0.44625287 -0.22883238] Pose Error in degrees for R and t: 101.36355438265565 36.78877711215537 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.99365204 0.11238501 -0.00502385] [-0.11233964 0.99363309 0.00854949] [ 0.0059527 -0.00793084 0.99995083]] t_estimated: [[7.95087018e-01] [6.06494949e-01] [7.14363898e-04]] R_gt: [[ 0.97457574 -0.21633289 -0.05833153] [ 0.2158614 0.97631859 -0.01435532] [ 0.06005509 0.00139805 0.99819447]] t_gt: [ 0.7607859 -0.61364045 -0.21130596] Pose Error in degrees for R and t: 19.214051834952333 76.5515619278833 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 6.18373067e-02 9.98069810e-01 5.72725285e-03] [ 9.98085879e-01 -6.18411611e-02 4.98200115e-04] [ 8.51418461e-04 5.68548285e-03 -9.99983475e-01]] t_estimated: [[8.05970314e-01] [5.91955598e-01] [6.50500657e-04]] R_gt: [[ 0.9243113 -0.37863446 -0.04779371] [ 0.37915106 0.92533303 0.00186283] [ 0.04351971 -0.0198433 0.99885617]] t_gt: [ 0.81001071 -0.58406993 -0.05239248] Pose Error in degrees for R and t: 177.9606689043828 72.11743488120968 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 8.32852973e-01 5.53494010e-01 5.53474525e-04] [-5.53494226e-01 8.32852933e-01 3.66468255e-04] [-2.58124897e-04 -6.11559130e-04 9.99999780e-01]] t_estimated: [[7.63866411e-01] [6.45373962e-01] [7.45235523e-04]] R_gt: [[ 0.84267993 -0.53796921 -0.02187269] [ 0.5381352 0.84285579 0.00202901] [ 0.01734431 -0.01348026 0.99975948]] t_gt: [ 8.50707138e-01 -5.25639443e-01 7.35101626e-04] Pose Error in degrees for R and t: 66.1734769583624 71.90502012316027 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 6.37507721e-01 7.70441861e-01 1.80137903e-03] [ 7.70440506e-01 -6.37510123e-01 1.50685036e-03] [ 2.30933796e-03 4.27226631e-04 -9.99997242e-01]] t_estimated: [[0.79002826] [0.61306967] [0.00096699]] R_gt: [[ 0.98308673 0.18270708 0.01256306] [-0.18280829 0.98312023 0.00738446] [-0.01100233 -0.00955571 0.99989342]] t_gt: [-0.36482942 0.92780128 0.07800179] Pose Error in degrees for R and t: 179.80024903569068 73.70059797311688 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.99986031 -0.01637479 -0.00334934] [ 0.01639474 0.99984748 0.0060194 ] [ 0.00325026 -0.00607347 0.99997627]] t_estimated: [[0.76215379] [0.64738932] [0.00294268]] R_gt: [[ 9.28400282e-01 3.70906344e-01 -2.23776733e-02] [-3.70790838e-01 9.28669927e-01 9.25617667e-03] [ 2.42145420e-02 -2.95442454e-04 9.99706008e-01]] t_gt: [-0.25877715 0.96467862 -0.04929053] Pose Error in degrees for R and t: 22.739784931802333 64.71319767790054 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.79218267 0.61001824 0.01800996] [-0.61027885 0.79170914 0.02750212] [ 0.00251815 -0.0327778 0.99945949]] t_estimated: [[0.73813038] [0.67465731] [0.00102376]] R_gt: [[ 0.86960175 0.49343747 -0.01764662] [-0.49214954 0.86910147 0.04949526] [ 0.03975945 -0.03435531 0.99861794]] t_gt: [-0.21272952 0.97654743 -0.03318549] Pose Error in degrees for R and t: 8.377131118184124 59.88224767543098 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999956e-01 -2.03500591e-04 -2.13863202e-04] [ 2.03571148e-04 9.99999925e-01 3.29945259e-04] [ 2.13796042e-04 -3.29988781e-04 9.99999923e-01]] t_estimated: [[0.10422483] [0.99455219] [0.00176652]] R_gt: [[ 0.98298771 0.18155667 -0.02777309] [-0.18069868 0.98305583 0.03081785] [ 0.03289796 -0.025275 0.99914 ]] t_gt: [-0.36288772 0.92801366 -0.08428015] Pose Error in degrees for R and t: 10.713030555672022 27.750049908632743 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99998921e-01 3.10862864e-04 -1.43563025e-03] [-3.08068834e-04 9.99998059e-01 1.94601569e-03] [ 1.43623241e-03 -1.94557132e-03 9.99997076e-01]] t_estimated: [[0.70870556] [0.70550357] [0.00106733]] R_gt: [[ 0.95207804 0.30494413 -0.02358006] [-0.30311192 0.95103367 0.06047796] [ 0.04086813 -0.0504323 0.99789172]] t_gt: [-0.33201332 0.94249934 -0.03823792] Pose Error in degrees for R and t: 18.057284526686797 64.5580660327885 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.99643389 -0.08434672 -0.00226495] [ 0.084352 0.99643325 0.00234991] [ 0.00205866 -0.00253258 0.99999467]] t_estimated: [[0.63646261] [0.77130638] [0.00134844]] R_gt: [[ 0.91403724 0.4051554 -0.01964001] [-0.40490266 0.91422621 0.01566611] [ 0.02430264 -0.00636722 0.99968491]] t_gt: [-0.27221953 0.96067725 -0.05473339] Pose Error in degrees for R and t: 28.76258121580267 55.41382348041176 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99997554e-01 -2.21115643e-03 -4.78857239e-05] [ 2.21115749e-03 9.99997555e-01 2.22715014e-05] [ 4.78363610e-05 -2.23773298e-05 9.99999999e-01]] t_estimated: [[-6.75809256e-01] [ 7.37076427e-01] [ 4.35573649e-04]] R_gt: [[ 0.99512794 -0.0984417 0.00549283] [ 0.09836045 0.99505981 0.01346273] [-0.00679044 -0.01285646 0.99989377]] t_gt: [ 0.07868249 -0.96720676 0.24149563] Pose Error in degrees for R and t: 5.58323386400528 40.006236695149255 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999838e-01 -3.01773632e-05 5.67607019e-04] [ 3.06091097e-05 9.99999710e-01 -7.60650076e-04] [-5.67583901e-04 7.60667327e-04 9.99999550e-01]] t_estimated: [[0.929195 ] [0.36958494] [0.00190378]] R_gt: [[ 0.97000842 -0.24285188 0.01029694] [ 0.24306609 0.96936018 -0.03548308] [-0.00136437 0.03692148 0.99931694]] t_gt: [ 0.39035529 -0.90268006 -0.18108412] Pose Error in degrees for R and t: 14.21512559882694 88.352261983946 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99984300e-01 -5.37039414e-03 -1.59968227e-03] [ 5.37070678e-03 9.99985559e-01 1.91206114e-04] [ 1.59863232e-03 -1.99794536e-04 9.99998702e-01]] t_estimated: [[ 0.99993842] [-0.01078097] [-0.00263264]] R_gt: [[ 0.93891083 -0.34414034 0.00367414] [ 0.34408586 0.93843429 -0.03074177] [ 0.00713138 0.03012845 0.99951974]] t_gt: [ 0.41268906 -0.90025149 -0.13869029] Pose Error in degrees for R and t: 19.90430883265145 64.99266066126796 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.16147935 -0.98677235 -0.01430891] [-0.95015071 0.15153514 0.27248987] [-0.26671717 0.05759711 -0.96205225]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.98617446 -0.16100779 -0.03919828] [ 0.16117607 0.98692451 0.00116665] [ 0.03849839 -0.00746758 0.99923068]] t_gt: [ 0.74971094 -0.63933884 -0.17081963] Pose Error in degrees for R and t: 170.94732507053337 80.94119985197678 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.13339662 -0.9910606 -0.00205562] [-0.99106172 -0.13339323 -0.0017067 ] [ 0.00141724 0.00226492 -0.99999643]] t_estimated: [[7.60629421e-01] [6.49186282e-01] [2.32242723e-04]] R_gt: [[ 0.93333756 -0.35308323 -0.06490022] [ 0.35364935 0.93537304 -0.00292881] [ 0.0617398 -0.02021843 0.9978876 ]] t_gt: [ 0.80832343 -0.58016137 -0.10013001] Pose Error in degrees for R and t: 177.80590101651532 76.22093998407658 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99967602e-01 8.03531897e-03 4.77075645e-04] [-8.03500638e-03 9.99967505e-01 -6.53571757e-04] [-4.82311800e-04 6.49717277e-04 9.99999673e-01]] t_estimated: [[9.90967132e-01] [1.34103353e-01] [6.58383464e-04]] R_gt: [[ 0.84601159 -0.53135388 -0.04390278] [ 0.53176645 0.84688648 -0.00261347] [ 0.03856992 -0.02113449 0.9990329 ]] t_gt: [ 0.85425332 -0.51894935 -0.03070563] Pose Error in degrees for R and t: 32.68619764019523 39.02021308243982 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[-0.15669169 0.98763184 0.0055732 ] [-0.98764541 -0.15670064 0.00120561] [ 0.00206403 -0.00531544 0.99998374]] t_estimated: [[7.37242141e-01] [6.75628244e-01] [7.08205707e-04]] R_gt: [[ 0.99746846 -0.05044839 0.05011436] [ 0.05072393 0.99870427 -0.00424377] [-0.04983518 0.00677469 0.99873406]] t_gt: [-0.03848576 -0.67251086 0.73908592] Pose Error in degrees for R and t: 101.94253746688652 61.16968669746939 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99999832e-01 5.59629976e-04 1.50112069e-04] [-5.59657716e-04 9.99999826e-01 1.84812140e-04] [-1.50008616e-04 -1.84896121e-04 9.99999972e-01]] t_estimated: [[9.46134605e-01] [3.23772298e-01] [8.99367495e-04]] R_gt: [[ 0.98756901 -0.14447515 0.0619223 ] [ 0.14468858 0.98947695 0.0010451 ] [-0.06142198 0.00792651 0.99808064]] t_gt: [ 0.41397989 -0.82664616 0.3811519 ] Pose Error in degrees for R and t: 9.072056605951474 82.85514101634944 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-0.31154609 -0.95022811 -0.00236185] [-0.95022872 0.31153887 0.00298689] [-0.00210242 0.00317486 -0.99999275]] t_estimated: [[8.84175370e-01] [4.67154512e-01] [7.59600833e-04]] R_gt: [[ 0.95923303 -0.27790782 0.05137972] [ 0.27630844 0.96039047 0.03611763] [-0.05938155 -0.02044838 0.99802552]] t_gt: [ 0.61110761 -0.74471184 0.26823826] Pose Error in degrees for R and t: 176.42063914897054 78.89342615991087 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.99580502 -0.09149292 -0.00118517] [ 0.09149469 0.99580438 0.00153634] [ 0.00103963 -0.00163834 0.99999812]] t_estimated: [[ 0.60679971] [-0.79481082] [-0.00835915]] R_gt: [[ 9.99445734e-01 3.32732269e-02 -5.27610140e-04] [-3.32621389e-02 9.99331515e-01 1.51523912e-02] [ 1.03115184e-03 -1.51261833e-02 9.99885476e-01]] t_gt: [-0.96532396 0.02710234 0.2596442 ] Pose Error in degrees for R and t: 7.198135774346857 52.44881380481386 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.13274044 -0.98295859 0.12717068] [-0.99089823 0.12871317 -0.03941596] [ 0.02237572 -0.1312453 -0.99109737]] t_estimated: [[0.91000825] [0.41455931] [0.0050556 ]] R_gt: [[ 0.9985153 0.00689028 0.05403995] [-0.00716851 0.99996184 0.00495373] [-0.05400358 -0.00533363 0.9985261 ]] t_gt: [-0.92041675 -0.12809182 0.36935821] Pose Error in degrees for R and t: 173.45684225519585 27.27451261006201 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999949e-01 -3.17853592e-04 -2.98815785e-05] [ 3.17854664e-04 9.99999949e-01 3.58684998e-05] [ 2.98701760e-05 -3.58779960e-05 9.99999999e-01]] t_estimated: [[-8.45451885e-01] [-5.34051599e-01] [-1.41722708e-05]] R_gt: [[ 0.99522486 0.07570006 0.06161881] [-0.07472503 0.99704257 -0.01798611] [-0.06279853 0.01329542 0.99793757]] t_gt: [-0.97184801 0.2348764 0.01856147] Pose Error in degrees for R and t: 5.6881310361292865 45.87593581129797 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99997208e-01 2.25534255e-03 7.04852195e-04] [-2.25522429e-03 9.99997443e-01 -1.68533989e-04] [-7.05230494e-04 1.66943918e-04 9.99999737e-01]] t_estimated: [[0.99997748] [0.00645886] [0.00182447]] R_gt: [[ 0.98804287 -0.14337657 0.0567162 ] [ 0.14286615 0.98965736 0.0129672 ] [-0.05798848 -0.00471066 0.99830562]] t_gt: [ 0.64968112 -0.7191223 0.24653104] Pose Error in degrees for R and t: 8.989746029530858 49.798958921381576 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.19847018 0.98010519 0.00184723] [ 0.98010593 0.19846693 0.00180283] [ 0.00140035 0.00216829 -0.99999667]] t_estimated: [[9.97071171e-01] [7.64738586e-02] [9.10812082e-04]] R_gt: [[ 0.95182589 -0.29902781 0.06790143] [ 0.29751136 0.95419313 0.03167362] [-0.0742622 -0.00994683 0.99718855]] t_gt: [ 0.75223356 -0.63647991 0.17040539] Pose Error in degrees for R and t: 177.53381997809203 45.451600022316306 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.70884516e-01 2.39547448e-01 5.27010369e-04] [-2.39547158e-01 9.70884569e-01 -5.58757602e-04] [-6.45515193e-04 4.16245268e-04 9.99999705e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.90534338 -0.42367162 0.02927088] [ 0.41941195 0.90280737 0.09503508] [-0.06669011 -0.07376319 0.99504347]] t_gt: [ 0.79715629 -0.57097996 0.19627465] Pose Error in degrees for R and t: 39.25997047030036 55.961636261683346 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.94291164 0.32850114 0.05481464] [ 0.32815076 0.94449766 -0.0155322 ] [-0.05687465 0.00334198 -0.99837573]] t_estimated: [[0.30757362] [0.95152373] [0.00102867]] R_gt: [[ 0.99590506 -0.08610822 -0.02755984] [ 0.08629472 0.99625417 0.00564863] [ 0.0269703 -0.00800316 0.99960373]] t_gt: [ 0.8311574 -0.54187552 -0.12469282] Pose Error in degrees for R and t: 178.37827566303918 74.92438374836392 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-5.85899415e-01 8.10383688e-01 -3.92762746e-04] [-8.10381810e-01 -5.85898989e-01 -1.92270449e-03] [-1.78824765e-03 -8.08223650e-04 9.99998074e-01]] t_estimated: [[0.61217292] [0.79072335] [0.00094471]] R_gt: [[ 0.98661958 -0.15116993 -0.06107468] [ 0.15124698 0.98849095 -0.00339559] [ 0.06088487 -0.00588679 0.99812779]] t_gt: [ 0.84935157 -0.49292045 -0.18876264] Pose Error in degrees for R and t: 134.59721436149854 82.52994578813833 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 8.76852596e-01 -4.80759321e-01 -7.41056871e-07] [ 4.80758988e-01 8.76851988e-01 1.17795401e-03] [-5.65662570e-04 -1.03324830e-03 9.99999306e-01]] t_estimated: [[0.99814332] [0.06089469] [0.0013238 ]] R_gt: [[ 0.9768882 -0.18505054 -0.10698611] [ 0.1856933 0.98259972 -0.00400905] [ 0.1058655 -0.0159508 0.99425299]] t_gt: [ 0.86888929 -0.44123567 -0.22437132] Pose Error in degrees for R and t: 19.036301771663442 32.84825130817923 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.89960455e-01 1.41344565e-01 1.05531167e-04] [-1.41344563e-01 9.89960461e-01 -2.89274101e-05] [-1.08560415e-04 1.37207353e-05 9.99999994e-01]] t_estimated: [[-8.88299339e-01] [ 4.59264349e-01] [ 7.36051324e-04]] R_gt: [[ 0.99758392 0.0680512 -0.01397852] [-0.06826388 0.99754962 -0.01531968] [ 0.01290191 0.01623697 0.99978489]] t_gt: [-0.39030655 0.88778848 -0.24391066] Pose Error in degrees for R and t: 4.382085943842752 41.03932499199871 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.96093063e-01 -8.83060085e-02 -8.11100669e-04] [ 8.83061731e-02 9.96093365e-01 1.69250906e-04] [ 7.92986122e-04 -2.40214850e-04 9.99999657e-01]] t_estimated: [[-0.65284892] [-0.75748405] [-0.00248849]] R_gt: [[ 0.99342394 0.11439195 0.00487306] [-0.11420048 0.99301891 -0.0295503 ] [-0.00822026 0.02879871 0.99955165]] t_gt: [-0.41358275 0.90770153 -0.07090301] Pose Error in degrees for R and t: 11.75926538594271 65.33033893800511 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.8186277 0.57424059 -0.0098196 ] [ 0.57424993 0.8186773 0.00212174] [ 0.00925747 -0.00390199 -0.99994954]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99760378 0.06893856 -0.00584017] [-0.0691177 0.99681205 -0.03984752] [ 0.0030746 0.040155 0.99918848]] t_gt: [-0.40329781 0.88114194 -0.24685979] Pose Error in degrees for R and t: 179.88110685289348 78.26323983712348 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.99807947 -0.0602236 0.01450854] [ 0.06106903 0.99585608 -0.06738867] [-0.01039003 0.06814527 0.99762131]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 9.99975060e-01 -7.13028236e-03 9.22636398e-04] [ 7.12045846e-03 9.99916363e-01 1.07466457e-02] [-9.99632247e-04 -1.07400631e-02 9.99942424e-01]] t_gt: [ 0.90859743 -0.37602268 0.18181762] Pose Error in degrees for R and t: 5.490794307316679 66.71661782643382 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.78281532e-01 -2.07280016e-01 4.88899327e-04] [ 2.07280198e-01 9.78281551e-01 -3.56504468e-04] [-4.04384940e-04 4.50100886e-04 9.99999817e-01]] t_estimated: [[-0.43685176] [-0.89953281] [-0.00112301]] R_gt: [[ 9.98695272e-01 5.10772255e-02 3.95309694e-04] [-5.10780096e-02 9.98662520e-01 7.94068991e-03] [ 1.06532190e-05 -7.95124906e-03 9.99968712e-01]] t_gt: [0.59871058 0.79827976 0.0655368 ] Pose Error in degrees for R and t: 14.898477978954947 11.564340993282997 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-1.52490036e-01 -9.88304797e-01 6.46615091e-04] [-9.88304538e-01 1.52489293e-01 -1.07514625e-03] [ 9.63970317e-04 -8.03001719e-04 -9.99999213e-01]] t_estimated: [[0.68595776] [0.7276408 ] [0.00090615]] R_gt: [[ 0.99803299 0.06085645 0.01508381] [-0.06098074 0.99810697 0.0078952 ] [-0.01457474 -0.00880006 0.9998559 ]] t_gt: [0.68755655 0.68344505 0.24529342] Pose Error in degrees for R and t: 179.05412872561303 14.266607000676713 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[-9.92173907e-01 1.24773040e-01 -4.75676875e-03] [-1.24775602e-01 -9.92184957e-01 2.44410082e-04] [-4.68909861e-03 8.36025989e-04 9.99988657e-01]] t_estimated: [[0.91309803] [0.4077356 ] [0.00191425]] R_gt: [[ 9.99031594e-01 -1.04330992e-03 4.39842234e-02] [ 5.46582655e-04 9.99936579e-01 1.12936482e-02] [-4.39928721e-02 -1.12606750e-02 9.98967966e-01]] t_gt: [-0.63190549 0.14256168 0.76182125] Pose Error in degrees for R and t: 172.88207568958606 58.84159715739725 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-0.05979576 0.99801417 -0.01980345] [ 0.99811994 0.06004598 0.01229081] [ 0.01345552 -0.01903128 -0.99972834]] t_estimated: [[0.90472447] [0.42599598] [0.00103397]] R_gt: [[ 0.99632895 -0.01359475 0.08452185] [ 0.01585934 0.9995316 -0.02618964] [-0.08412626 0.0274327 0.99607729]] t_gt: [-0.67485732 0.43369075 0.59705941] Pose Error in degrees for R and t: 176.73474511360234 64.83717862507704 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-0.50163484 0.86502519 -0.00969043] [ 0.86501292 0.50170372 0.00678389] [ 0.01072996 -0.00497931 -0.99993003]] t_estimated: [[ 0.91967927] [-0.39263372] [-0.0053661 ]] R_gt: [[ 0.99463894 -0.00718133 0.10316384] [ 0.01391251 0.99780948 -0.06467454] [-0.10247262 0.0657618 0.9925589 ]] t_gt: [-0.67633795 0.64290496 0.35949992] Pose Error in degrees for R and t: 173.68730309866416 28.792555138825957 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.98269352e-01 5.88072514e-02 8.79659653e-05] [-5.88072451e-02 9.98269354e-01 -7.30926749e-05] [-9.21121066e-05 6.77931411e-05 9.99999993e-01]] t_estimated: [[9.13457240e-01] [4.06934111e-01] [7.06660778e-04]] R_gt: [[ 9.99573878e-01 -1.09640923e-02 -2.70742040e-02] [ 1.09797284e-02 9.99939042e-01 3.92412945e-04] [ 2.70671616e-02 -6.89196308e-04 9.99632795e-01]] t_gt: [-0.36928541 -0.74791826 -0.5515855 ] Pose Error in degrees for R and t: 4.2925106220029665 50.05367712218602 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.97684555e-01 6.80109351e-02 2.02129768e-04] [-6.80109273e-02 9.97684575e-01 -4.54109546e-05] [-2.04750193e-04 3.15587751e-05 9.99999979e-01]] t_estimated: [[ 9.06975318e-01] [-4.21183319e-01] [-6.19388965e-04]] R_gt: [[ 0.99435953 -0.09494844 -0.04728185] [ 0.09596163 0.99519163 0.01961917] [ 0.04519106 -0.0240443 0.998688 ]] t_gt: [ 0.23102301 -0.95110088 -0.20502557] Pose Error in degrees for R and t: 9.831552741458848 52.39263641057569 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99714333 0.07414687 -0.01440221] [-0.07395737 0.99717307 0.01327304] [ 0.01534565 -0.01216997 0.99980818]] t_estimated: [[-0.64722664] [-0.76228915] [-0.0035957 ]] R_gt: [[ 0.98336449 -0.15637043 -0.09243349] [ 0.16044377 0.98629906 0.0383691 ] [ 0.08516671 -0.05256048 0.99497916]] t_gt: [ 0.31699338 -0.92352526 -0.21590804] Pose Error in degrees for R and t: 14.166028682557757 60.026257229980324 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.95394647 -0.2999361 0.0049469 ] [-0.29996148 0.95393491 -0.00559389] [-0.00304121 -0.00682015 -0.99997212]] t_estimated: [[0.96783467] [0.25152765] [0.00546799]] R_gt: [[ 0.99884988 0.04668854 0.01094445] [-0.04676322 0.99888376 0.00668119] [-0.01062011 -0.00718447 0.99991796]] t_gt: [-0.05335909 0.94935566 0.30963953] Pose Error in degrees for R and t: 179.08982989549764 79.11493167854532 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99997997e-01 1.95677691e-03 4.19781984e-04] [-1.95677290e-03 9.99998085e-01 -9.97301430e-06] [-4.19800695e-04 9.15157632e-06 9.99999912e-01]] t_estimated: [[-0.85328149] [-0.5214498 ] [-0.00089443]] R_gt: [[ 0.99797739 0.06129291 0.01694163] [-0.06124408 0.99811696 -0.003412 ] [-0.01711852 0.0023676 0.99985106]] t_gt: [0.2875249 0.93921791 0.18761435] Pose Error in degrees for R and t: 3.534579054960541 42.6706001651193 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.38618784e-01 3.44955331e-01 7.73400303e-04] [-3.44955833e-01 9.38618694e-01 6.49060842e-04] [-5.02030985e-04 -8.76009644e-04 9.99999490e-01]] t_estimated: [[-0.77163836] [ 0.63605783] [ 0.00216134]] R_gt: [[ 0.99710074 0.07136567 0.02642677] [-0.07090905 0.9973229 -0.01786135] [-0.02763091 0.0159355 0.99949164]] t_gt: [0.42095669 0.89343961 0.15671993] Pose Error in degrees for R and t: 16.200577242110565 75.88956456367079 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[-5.61079972e-01 -8.27752484e-01 -3.88449017e-03] [ 8.27761563e-01 -5.61072389e-01 -2.92731625e-03] [ 2.43613122e-04 -4.85789018e-03 9.99988171e-01]] t_estimated: [[0.99976923] [0.02144916] [0.00119162]] R_gt: [[ 0.99955799 -0.00679359 -0.02897066] [ 0.00660055 0.99995523 -0.0067389 ] [ 0.02901506 0.00654492 0.9995565 ]] t_gt: [-0.32004188 -0.4950032 -0.80780259] Pose Error in degrees for R and t: 123.74998155430305 70.63723913170469 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-8.81874881e-01 -4.71483500e-01 6.27200867e-05] [-4.71470996e-01 8.81852446e-01 7.16681352e-03] [-3.43434419e-03 6.29066212e-03 -9.99974316e-01]] t_estimated: [[0.98410351] [0.17758756] [0.00171433]] R_gt: [[ 0.99820077 -0.01085371 -0.05897094] [ 0.01227173 0.9996424 0.02375122] [ 0.05869233 -0.02443233 0.99797673]] t_gt: [-0.41192532 -0.74911749 -0.51878754] Pose Error in degrees for R and t: 177.1691371311761 57.36396813747642 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99766289e-01 2.16021572e-02 8.45003661e-04] [-2.16005212e-02 9.99764877e-01 -1.89959597e-03] [-8.85840352e-04 1.88089950e-03 9.99997839e-01]] t_estimated: [[-9.00414772e-01] [-4.35031856e-01] [-7.22644279e-04]] R_gt: [[ 0.99469612 -0.04983228 -0.08998351] [ 0.05019515 0.99873804 0.00178085] [ 0.08978065 -0.00628762 0.99594116]] t_gt: [-0.13051708 -0.75131514 -0.64690869] Pose Error in degrees for R and t: 6.642525648821387 63.58734469758155 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999373e-01 -1.52580588e-05 1.11929300e-03] [ 1.68784188e-05 9.99998952e-01 -1.44766868e-03] [-1.11926974e-03 1.44768666e-03 9.99998326e-01]] t_estimated: [[-0.60990278] [-0.79247499] [-0.0014081 ]] R_gt: [[ 0.99763441 -0.05139176 0.04567259] [ 0.05384509 0.99707453 -0.05424322] [-0.0427523 0.05657448 0.99748263]] t_gt: [ 0.9146148 -0.35789069 -0.18813297] Pose Error in degrees for R and t: 4.980260000127342 74.10103901034736 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-9.62551214e-01 -2.70841371e-01 1.18368920e-02] [-2.70829822e-01 9.62623735e-01 2.59856345e-03] [-1.20982717e-02 -7.04532942e-04 -9.99926565e-01]] t_estimated: [[0.99384669] [0.11058604] [0.00628443]] R_gt: [[ 0.98793701 -0.15313865 0.02301714] [ 0.15377838 0.98767124 -0.02926756] [-0.018252 0.03245347 0.99930708]] t_gt: [ 0.86395065 -0.50115181 -0.04935727] Pose Error in degrees for R and t: 178.37434156219146 36.591692646476446 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-1.54992344e-01 -9.87915563e-01 -4.62486840e-04] [-9.87914143e-01 1.54992911e-01 -1.68634338e-03] [ 1.73764705e-03 1.95526976e-04 -9.99998471e-01]] t_estimated: [[8.44878374e-01] [5.34958036e-01] [6.58004964e-04]] R_gt: [[ 0.98161137 -0.18936786 -0.02409851] [ 0.18833042 0.98129849 -0.03980982] [ 0.03118563 0.03453946 0.99891607]] t_gt: [ 0.87860216 -0.44401277 -0.17581499] Pose Error in degrees for R and t: 177.3111719750178 59.690679100746344 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.17804982e-01 -3.97031202e-01 4.90509937e-04] [-3.97025167e-01 -9.17796611e-01 -4.51648320e-03] [ 2.24337311e-03 3.95050599e-03 -9.99989680e-01]] t_estimated: [[ 0.31642696] [ 0.94861558] [-0.0015664 ]] R_gt: [[ 0.96483109 -0.17614905 0.19512208] [ 0.16950506 0.98424043 0.0503684 ] [-0.20091908 -0.01552258 0.97948467]] t_gt: [ 0.49357652 -0.58832595 0.64051135] Pose Error in degrees for R and t: 176.06506664092223 66.23930459918455 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-1.93966068e-01 -9.81007841e-01 -8.83665330e-04] [-9.81008227e-01 1.93965849e-01 3.27521114e-04] [-1.49899885e-04 9.30410941e-04 -9.99999556e-01]] t_estimated: [[9.11361767e-01] [4.11605666e-01] [7.10890614e-04]] R_gt: [[ 0.91687275 -0.31382052 0.24670191] [ 0.30223585 0.94947778 0.08452907] [-0.26076438 -0.0029404 0.96539845]] t_gt: [ 0.63935129 -0.61339842 0.46365106] Pose Error in degrees for R and t: 166.8888121945361 70.69895167085086 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 0.9743728 -0.22468002 -0.01079521] [ 0.22474206 0.97440592 0.00491088] [ 0.00941554 -0.00721116 0.99992967]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.85306334 -0.45003837 0.26409834] [ 0.43318457 0.89295319 0.12241102] [-0.29091727 0.00997818 0.95669617]] t_gt: [ 0.73977542 -0.56869303 0.35961169] Pose Error in degrees for R and t: 22.230552109073706 55.68835328040024 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99998648e-01 1.64426325e-03 1.04980430e-05] [-1.64426390e-03 9.99998646e-01 6.25226425e-05] [-1.03952252e-05 -6.25398196e-05 9.99999998e-01]] t_estimated: [[9.94037395e-01] [1.09039551e-01] [1.86203557e-04]] R_gt: [[ 0.99739572 -0.07165364 -0.00813805] [ 0.07180262 0.99722368 0.01972744] [ 0.00670155 -0.02026117 0.99977151]] t_gt: [ 0.58606833 -0.78982991 0.180811 ] Pose Error in degrees for R and t: 4.381601729584624 60.232291925719906 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.99958503 -0.02826011 0.00558052] [-0.02816757 0.99947487 0.016018 ] [-0.00603026 0.01585416 -0.99985613]] t_estimated: [[0.97215211] [0.23434809] [0.00112128]] R_gt: [[ 9.85863104e-01 -1.61193059e-01 4.57196904e-02] [ 1.61366990e-01 9.86894823e-01 -1.23475903e-04] [-4.51005825e-02 7.49953241e-03 9.98954400e-01]] t_gt: [ 0.53413555 -0.80407005 0.26109494] Pose Error in degrees for R and t: 176.986339811638 70.66314075289837 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999864e-01 -3.57043190e-04 3.79701431e-04] [ 3.57086626e-04 9.99999930e-01 -1.14334921e-04] [-3.79660582e-04 1.14470492e-04 9.99999921e-01]] t_estimated: [[0.63908782] [0.76913251] [0.00139293]] R_gt: [[ 0.96317473 -0.2658881 0.03996263] [ 0.26423225 0.96353268 0.0422641 ] [-0.04974292 -0.03014908 0.99830661]] t_gt: [ 0.61378223 -0.7377741 0.28099955] Pose Error in degrees for R and t: 15.716368139367223 79.93333599870701 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 0.82259871 0.56841805 0.01524065] [ 0.56845358 -0.8214062 -0.04639386] [-0.01385235 0.04682713 -0.99880695]] t_estimated: [[-0.41704603] [ 0.90854759] [-0.02477666]] R_gt: [[ 0.99882026 -0.00145819 0.04853963] [ 0.00206172 0.99992146 -0.01237532] [-0.04851746 0.01246027 0.99874434]] t_gt: [-0.98219221 0.18781082 -0.00505485] Pose Error in degrees for R and t: 175.69364199544586 54.522748908798306 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.97442138e-01 7.14785144e-02 -5.76212235e-05] [-7.14785224e-02 9.97442128e-01 -1.49703330e-04] [ 4.67732642e-05 1.53439089e-04 9.99999987e-01]] t_estimated: [[-0.79570982] [-0.6056775 ] [-0.00080865]] R_gt: [[ 0.99634517 0.0640889 0.05646838] [-0.06167688 0.99714923 -0.04345946] [-0.05909274 0.0398178 0.99745754]] t_gt: [-0.87126167 0.40720118 -0.2740261 ] Pose Error in degrees for R and t: 4.113039298998125 63.45756727868691 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999963e-01 1.00718816e-04 -2.50925336e-04] [-1.00634249e-04 9.99999938e-01 3.37011615e-04] [ 2.50959264e-04 -3.36986351e-04 9.99999912e-01]] t_estimated: [[-0.75882441] [-0.65129471] [-0.00084283]] R_gt: [[ 0.99003983 0.11435483 0.0821289 ] [-0.10763292 0.9907972 -0.08207216] [-0.09075801 0.07241497 0.99323676]] t_gt: [-0.85584496 0.41117628 -0.31378891] Pose Error in degrees for R and t: 9.248613770121075 67.54835534910188 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.93100788e-01 -1.17263781e-01 -1.75782109e-04] [ 1.17263774e-01 9.93100803e-01 -4.76875719e-05] [ 1.80161379e-04 2.67456917e-05 9.99999983e-01]] t_estimated: [[-0.38232081] [-0.92402877] [-0.00127573]] R_gt: [[ 0.99598855 0.08893068 -0.00999496] [-0.08934818 0.99447712 -0.05507051] [ 0.00504224 0.05574302 0.998432 ]] t_gt: [-0.51785833 0.7370794 -0.43420813] Pose Error in degrees for R and t: 12.27644413794961 61.14853380412777 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-9.89358774e-01 1.44032702e-01 -2.05863237e-02] [ 1.44020655e-01 9.89572508e-01 2.07439512e-03] [ 2.06704407e-02 -9.12534806e-04 -9.99785927e-01]] t_estimated: [[ 0.99612225] [-0.08741475] [-0.00995594]] R_gt: [[ 0.98873077 0.14727548 -0.02688586] [-0.14853076 0.9874866 -0.05298773] [ 0.01874487 0.05638466 0.99823297]] t_gt: [-0.53000992 0.7723886 -0.35000763] Pose Error in degrees for R and t: 177.73582224183656 53.70177789803353 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 8.84542480e-01 4.66459377e-01 5.00628883e-04] [-4.66459238e-01 8.84542617e-01 -3.71275332e-04] [-6.16012442e-04 9.48858355e-05 9.99999806e-01]] t_estimated: [[-8.13756007e-01] [ 5.81206376e-01] [ 5.55717309e-04]] R_gt: [[ 0.96098602 0.27326896 -0.04277798] [-0.27548484 0.95946126 -0.05951396] [ 0.02477956 0.06897642 0.99731061]] t_gt: [-0.5236715 0.81740604 -0.24003236] Pose Error in degrees for R and t: 12.57929912781036 25.698412272818974 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.23156356 -0.97273232 -0.01304415] [-0.97269457 0.23172806 -0.01293726] [ 0.01560719 0.00969218 -0.99983122]] t_estimated: [[ 0.76032871] [ 0.64949177] [-0.00779037]] R_gt: [[ 0.99411929 0.10565067 0.02375376] [-0.10549971 0.99439075 -0.00751605] [-0.02441424 0.00496644 0.99968916]] t_gt: [-0.80648946 0.58402751 0.0921229 ] Pose Error in degrees for R and t: 179.82192854641386 76.43232629273243 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.98679251e-01 5.13785086e-02 -4.97431299e-05] [-5.13785044e-02 9.98679249e-01 8.39749659e-05] [ 5.39919401e-05 -8.13083285e-05 9.99999995e-01]] t_estimated: [[-9.78705892e-01] [ 2.05267486e-01] [ 1.90630415e-04]] R_gt: [[ 0.97759478 0.20956589 0.0197458 ] [-0.20938611 0.97777341 -0.01079911] [-0.02156952 0.00642306 0.99974619]] t_gt: [-0.76771555 0.63940646 0.04209765] Pose Error in degrees for R and t: 9.239185354532063 28.039330657926136 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.97664144e-01 -6.83084325e-02 -4.62128413e-04] [ 6.83084805e-02 9.97664244e-01 8.88781240e-05] [ 4.54977869e-04 -1.20237807e-04 9.99999889e-01]] t_estimated: [[-9.99987772e-01] [-4.87798933e-03] [-8.12998190e-04]] R_gt: [[ 0.91300862 0.40785751 0.0081735 ] [-0.40762239 0.9129059 -0.02112717] [-0.01607856 0.01595721 0.99974344]] t_gt: [-0.67285566 0.73974684 -0.00631515] Pose Error in degrees for R and t: 28.013505997312038 47.99125002409369 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.33932012 0.94064082 -0.00753002] [ 0.94064809 0.33935682 0.00425589] [ 0.00655863 -0.00563899 -0.99996259]] t_estimated: [[-0.00900864] [-0.99995879] [-0.00112608]] R_gt: [[ 0.99465121 -0.10307679 -0.0066786 ] [ 0.10320041 0.99441933 0.02189131] [ 0.00438506 -0.02246286 0.99973773]] t_gt: [ 0.49430218 -0.86198198 0.112483 ] Pose Error in degrees for R and t: 178.51314708690995 30.97779938003601 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-7.34921265e-01 -6.78152436e-01 -8.65213136e-05] [-6.78152288e-01 7.34921007e-01 7.66072514e-04] [-4.55927611e-04 6.21677608e-04 -9.99999703e-01]] t_estimated: [[0.98959989] [0.14384314] [0.00109574]] R_gt: [[ 0.96661908 -0.25590078 0.01274093] [ 0.25540878 0.96632226 0.03142191] [-0.02035217 -0.02711799 0.99942492]] t_gt: [ 0.59137567 -0.79201251 0.1516278 ] Pose Error in degrees for R and t: 178.47749740454992 61.87050769007489 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.26819664e-01 7.79162202e-01 1.83648302e-03] [-7.79161831e-01 6.26821895e-01 -1.07353669e-03] [-1.98760698e-03 -7.58003564e-04 9.99997737e-01]] t_estimated: [[-0.59283177] [ 0.80532427] [ 0.00182154]] R_gt: [[ 0.93886247 -0.34410742 -0.01124009] [ 0.34421256 0.93744873 0.05203199] [-0.00736821 -0.05271896 0.99858204]] t_gt: [ 0.625269 -0.77148568 0.11767972] Pose Error in degrees for R and t: 71.38678045024052 7.359877063490645 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.69887460e-01 -2.43553056e-01 -4.72395350e-04] [ 2.43553157e-01 9.69887536e-01 1.66570125e-04] [ 4.17601699e-04 -2.76607654e-04 9.99999875e-01]] t_estimated: [[-0.11562713] [-0.99329208] [-0.00110121]] R_gt: [[ 0.98818291 0.15325106 0.00300392] [-0.15327636 0.98811191 0.01192102] [-0.00114164 -0.01224067 0.99992435]] t_gt: [-0.68644119 0.72515283 0.0543311 ] Pose Error in degrees for R and t: 22.923192742635536 50.135276715826 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-9.95120796e-01 -9.84989895e-02 -5.70526806e-03] [-9.84983091e-02 9.95137138e-01 -4.00803359e-04] [ 5.71700285e-03 1.63111499e-04 -9.99983645e-01]] t_estimated: [[ 0.99786848] [ 0.06522453] [-0.00206483]] R_gt: [[ 0.94686103 0.3214625 -0.01077973] [-0.32151574 0.94689712 -0.00362025] [ 0.00904369 0.00689461 0.99993594]] t_gt: [-0.61292972 0.78918247 -0.03883526] Pose Error in degrees for R and t: 179.08935328669062 55.93943006123157 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-3.42838819e-01 9.39393488e-01 1.19120625e-03] [-9.39394243e-01 -3.42838494e-01 -4.73479133e-04] [-3.63918581e-05 -1.28133932e-03 9.99999178e-01]] t_estimated: [[0.6711372 ] [0.74133267] [0.00085604]] R_gt: [[ 0.89445631 0.44494019 0.0444753 ] [-0.44406835 0.89554228 -0.02840449] [-0.05246742 0.00565671 0.99860707]] t_gt: [-0.59249592 0.80011522 0.09361736] Pose Error in degrees for R and t: 83.68134667697102 78.72106277021614 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 8.30075887e-01 -5.57650371e-01 -2.93920400e-04] [ 5.57650445e-01 8.30075823e-01 3.30443224e-04] [ 5.97044316e-05 -4.38197794e-04 9.99999902e-01]] t_estimated: [[0.81934195] [0.57330392] [0.00117722]] R_gt: [[ 0.99761843 -0.02038391 0.06588104] [ 0.02231466 0.9993394 -0.0286951 ] [-0.06525259 0.03009839 0.99741394]] t_gt: [0.32647324 0.04687906 0.94404321] Pose Error in degrees for R and t: 32.922907756221974 72.81364671905392 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-6.25118627e-01 7.80529033e-01 -1.06345782e-03] [-7.80525067e-01 -6.25119014e-01 -2.61479268e-03] [-2.70570930e-03 -8.04500122e-04 9.99996016e-01]] t_estimated: [[0.65120324] [0.75890156] [0.00166321]] R_gt: [[ 0.99397415 0.02663042 0.10632828] [-0.01917864 0.99732738 -0.07049502] [-0.10792215 0.06803281 0.99182835]] t_gt: [-0.27668496 0.95977673 0.04768719] Pose Error in degrees for R and t: 127.47794230345282 56.751096746243675 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.64944119e-01 2.62454722e-01 -6.05131706e-04] [-2.62454620e-01 9.64944306e-01 2.44384804e-04] [ 6.48058340e-04 -7.69980675e-05 9.99999787e-01]] t_estimated: [[ 0.68165917] [ 0.73166867] [-0.00131782]] R_gt: [[ 0.9839352 0.13301684 0.11907127] [-0.11979214 0.98645106 -0.11209101] [-0.13236797 0.0960278 0.98653742]] t_gt: [-0.30245947 0.95314857 0.00510691] Pose Error in degrees for R and t: 12.311135869602458 60.57999289154927 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-2.85886560e-01 -9.58261670e-01 -1.85637964e-03] [ 9.58263457e-01 -2.85885726e-01 -7.05604908e-04] [ 1.45441695e-04 -1.98062373e-03 9.99998028e-01]] t_estimated: [[9.95301681e-01] [9.68192297e-02] [7.74553838e-04]] R_gt: [[ 0.99513353 -0.02773362 0.09454971] [ 0.03205072 0.99849676 -0.04444876] [-0.09317455 0.0472637 0.99452765]] t_gt: [ 0.61498943 -0.08782547 0.78362918] Pose Error in degrees for R and t: 105.02223686833183 52.82843163979591 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.82632171e-01 -1.85563901e-01 -2.33420076e-04] [ 1.85563881e-01 9.82632197e-01 -1.03318402e-04] [ 2.48538247e-04 5.82096505e-05 9.99999967e-01]] t_estimated: [[ 0.46174666] [-0.8870111 ] [-0.0011522 ]] R_gt: [[ 0.99116283 -0.09858809 0.08875679] [ 0.10315384 0.99348702 -0.04840014] [-0.08340796 0.0571287 0.99487678]] t_gt: [ 0.8815744 -0.45153275 0.13763991] Pose Error in degrees for R and t: 7.59363533003682 36.15538007220512 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-1.00138702e-01 9.94973077e-01 -9.03212059e-04] [-9.94966555e-01 -1.00141352e-01 -3.64199182e-03] [-3.71413269e-03 5.33961455e-04 9.99992960e-01]] t_estimated: [[0.16325759] [0.98658248] [0.00140739]] R_gt: [[ 0.97911901 -0.19426167 0.05991283] [ 0.19664393 0.97978411 -0.03678181] [-0.05155682 0.04779528 0.99752673]] t_gt: [ 0.8750927 -0.48394512 -0.00314541] Pose Error in degrees for R and t: 107.07622303004695 70.4523507834526 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99675406e-01 2.54770697e-02 4.17755006e-05] [-2.54770646e-02 9.99675400e-01 -1.19551607e-04] [-4.48077649e-05 1.18448485e-04 9.99999992e-01]] t_estimated: [[-9.71504140e-01] [-2.37022284e-01] [-3.77292761e-04]] R_gt: [[ 0.99896014 0.04162264 0.01865507] [-0.04121553 0.99891355 -0.02174159] [-0.01954157 0.02095012 0.99958951]] t_gt: [-0.47492897 0.87765287 0.06455939] Pose Error in degrees for R and t: 1.8726111275080601 75.32429261349894 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99853373e-01 -1.71238802e-02 -7.33632452e-05] [ 1.71238734e-02 9.99853371e-01 -9.29515394e-05] [ 7.49441791e-05 9.16816472e-05 9.99999993e-01]] t_estimated: [[-0.36073169] [-0.93266883] [-0.00122049]] R_gt: [[ 0.99961868 -0.02742023 0.00346233] [ 0.02749049 0.99936554 -0.0226601 ] [-0.00283949 0.02274738 0.99973756]] t_gt: [ 0.1479049 -0.35996782 -0.92116628] Pose Error in degrees for R and t: 1.4350966940260848 73.5307300347346 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.92615225e-01 -1.21305373e-01 -1.44931061e-04] [ 1.21305299e-01 9.92615147e-01 -4.41484188e-04] [ 1.97415171e-04 4.20643021e-04 9.99999892e-01]] t_estimated: [[-0.60699133] [-0.79470706] [-0.0014855 ]] R_gt: [[ 0.98316057 -0.18030696 0.02977564] [ 0.18025532 0.98360997 0.00442444] [-0.03008623 0.00101696 0.99954722]] t_gt: [ 0.54248701 -0.821136 0.17732318] Pose Error in degrees for R and t: 3.8357879908106183 71.15468725344277 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.98558047e-01 5.36826089e-02 -6.25596327e-05] [-5.36826032e-02 9.98558045e-01 8.93910020e-05] [ 6.72681667e-05 -8.59037404e-05 9.99999994e-01]] t_estimated: [[0.3373598 ] [0.94137524] [0.00101006]] R_gt: [[ 0.98410735 0.17625434 -0.02163763] [-0.17671069 0.98403014 -0.02140997] [ 0.01751879 0.02489279 0.99953612]] t_gt: [-0.61828929 0.76492075 -0.18059512] Pose Error in degrees for R and t: 7.301507042449886 59.24893237206373 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 4.43912982e-01 8.96068447e-01 1.61351574e-03] [ 8.96067314e-01 -4.43915307e-01 1.60281167e-03] [ 2.15249329e-03 7.34309809e-04 -9.99997414e-01]] t_estimated: [[-0.4983778 ] [-0.86695939] [-0.00099081]] R_gt: [[ 0.94052426 0.3395396 0.01127104] [-0.33901909 0.94018983 -0.03331198] [-0.0219075 0.02750942 0.99938088]] t_gt: [-0.62322201 0.78196359 0.0112813 ] Pose Error in degrees for R and t: 178.03790337479413 68.44822505345243 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 6.45807110e-01 7.63500143e-01 8.41486167e-04] [-7.63499760e-01 6.45807643e-01 -7.77943017e-04] [-1.13739780e-03 -1.40073355e-04 9.99999343e-01]] t_estimated: [[-0.23184867] [ 0.97275112] [ 0.00120743]] R_gt: [[ 0.91306688 0.40542431 0.04405134] [-0.40270283 0.9133983 -0.05944121] [-0.06433576 0.03653441 0.99725932]] t_gt: [-0.61671136 0.78380168 0.07295218] Pose Error in degrees for R and t: 26.236118027187196 25.107164005513713 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99781473e-01 2.09043690e-02 1.14980825e-04] [-2.09043695e-02 9.99781480e-01 2.55428321e-06] [-1.14902304e-04 -4.95732668e-06 9.99999993e-01]] t_estimated: [[9.99769395e-01] [2.14736938e-02] [1.92833755e-04]] R_gt: [[ 0.98233668 -0.18630318 -0.01750476] [ 0.18679916 0.98183872 0.03315961] [ 0.0110092 -0.03584477 0.99929611]] t_gt: [ 0.73647587 -0.66790059 0.10729443] Pose Error in degrees for R and t: 12.144564787766155 43.78143712241533 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.99972638e-01 -7.39285957e-03 2.62443970e-04] [-7.39254160e-03 9.99971964e-01 1.19257074e-03] [-2.71253120e-04 1.19059799e-03 -9.99999254e-01]] t_estimated: [[9.99992708e-01] [3.71162684e-03] [8.99112542e-04]] R_gt: [[ 0.97470746 -0.2234527 0.00383848] [ 0.22322705 0.97426121 0.03137511] [-0.0107498 -0.02972477 0.99950011]] t_gt: [ 0.69848832 -0.69590028 0.16684387] Pose Error in degrees for R and t: 179.5509088702626 45.889027232900574 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.78122725e-01 -2.08027865e-01 5.85555437e-04] [-2.08028434e-01 -9.78122059e-01 1.18650554e-03] [ 3.25918476e-04 -1.28236021e-03 -9.99999125e-01]] t_estimated: [[0.18279631] [0.9831477 ] [0.00247022]] R_gt: [[ 0.94881478 -0.31351836 0.03817674] [ 0.3129295 0.94955138 0.0206651 ] [-0.04272869 -0.00766098 0.99905663]] t_gt: [ 0.70338595 -0.69203861 0.16226759] Pose Error in degrees for R and t: 178.86924031886969 56.53695841180764 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 0.9997806 -0.02082468 -0.00225344] [ 0.02083036 0.99977983 0.00252739] [ 0.00220031 -0.00257378 0.99999427]] t_estimated: [[-0.58452761] [-0.81137327] [-0.00094127]] R_gt: [[ 0.99526084 0.09687335 -0.0085594 ] [-0.09682327 0.99528271 0.00608507] [ 0.00910878 -0.00522697 0.99994498]] t_gt: [-0.64029735 0.76679823 -0.04516401] Pose Error in degrees for R and t: 6.764039683064191 75.64993790918027 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 1.94993085e-01 9.80804161e-01 9.45908790e-04] [-9.80802256e-01 1.94994641e-01 -2.00624786e-03] [-2.15218340e-03 -5.36545015e-04 9.99997540e-01]] t_estimated: [[-0.52409143] [ 0.85166125] [ 0.00113433]] R_gt: [[ 9.75135351e-01 2.19907365e-01 -2.74367069e-02] [-2.20012322e-01 9.75497150e-01 -8.07721325e-04] [ 2.65865012e-02 6.82394489e-03 9.99623888e-01]] t_gt: [-0.59135188 0.79560702 -0.13157667] Pose Error in degrees for R and t: 66.06587041952976 9.119156240034222 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.97587117 -0.21816974 -0.00879944] [ 0.2182401 0.97586208 0.00802864] [ 0.00683543 -0.00975531 0.99992905]] t_estimated: [[-0.7817696 ] [-0.62356655] [-0.00102729]] R_gt: [[ 0.95139407 0.3039841 -0.04944318] [-0.30263603 0.95253573 0.03296964] [ 0.0571189 -0.01640355 0.99823328]] t_gt: [-0.59061937 0.79911152 -0.11220315] Pose Error in degrees for R and t: 30.400031768900785 87.91078025687933 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.98080420e-01 6.19311830e-02 -6.14570238e-05] [-6.19311811e-02 9.98080421e-01 3.20939211e-05] [ 6.33266667e-05 -2.82262082e-05 9.99999998e-01]] t_estimated: [[-7.79845658e-01] [-6.25971614e-01] [-5.36341235e-04]] R_gt: [[ 0.99825127 0.05297792 0.02621228] [-0.05206849 0.99805719 -0.03422819] [-0.02797501 0.03280352 0.99907033]] t_gt: [-0.81652607 0.43964381 -0.37416373] Pose Error in degrees for R and t: 2.5322958477649316 68.79164959030737 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 1.51898808e-01 9.88395720e-01 8.08053654e-04] [-9.88389259e-01 1.51900745e-01 -3.58277410e-03] [-3.66394254e-03 -2.54452437e-04 9.99993255e-01]] t_estimated: [[0.10278546] [0.99469802] [0.00331566]] R_gt: [[ 0.98987028 0.13221538 0.05172441] [-0.12723558 0.98778467 -0.08996164] [-0.06298695 0.08246992 0.9946013 ]] t_gt: [-0.82311288 0.40951383 -0.39342549] Pose Error in degrees for R and t: 73.97798923600499 71.2503250472454 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.13142869 -0.99132423 -0.00166723] [ 0.99132443 -0.13142573 -0.0017776 ] [ 0.00154306 -0.0018864 0.99999703]] t_estimated: [[ 8.33924922e-01] [-5.51877459e-01] [-7.03783400e-04]] R_gt: [[ 0.99038222 0.1297035 0.04816329] [-0.12263046 0.98409764 -0.12850552] [-0.06406487 0.1213627 0.99053874]] t_gt: [-0.72780508 0.41471316 -0.54618015] Pose Error in degrees for R and t: 105.04897054156842 33.34027277479774 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999881e-01 -4.50374923e-04 -1.86531742e-04] [ 4.50382597e-04 9.99999898e-01 4.11007273e-05] [ 1.86513212e-04 -4.11847331e-05 9.99999982e-01]] t_estimated: [[-9.99995199e-01] [-3.00976401e-03] [-7.37535147e-04]] R_gt: [[ 0.9849633 0.17272547 0.0035631 ] [-0.17264361 0.98484141 -0.0167523 ] [-0.00640266 0.01588559 0.99985342]] t_gt: [-0.76148036 0.64626682 -0.04986841] Pose Error in degrees for R and t: 10.019179479240371 40.57383839964245 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-8.41729635e-01 5.39897499e-01 -1.38269338e-03] [ 5.39895339e-01 8.41730520e-01 1.65987062e-03] [ 2.06001521e-03 6.50652583e-04 -9.99997666e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.69012904e-01 2.46955927e-01 -5.11200790e-03] [-2.47007910e-01 9.68759450e-01 -2.22012331e-02] [-5.30184460e-04 2.27760834e-02 9.99740883e-01]] t_gt: [-0.74039614 0.66888715 -0.06635916] Pose Error in degrees for R and t: 179.8671174040837 42.40727324476667 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.75617623e-01 2.19477125e-01 2.10484057e-04] [-2.19477089e-01 9.75617637e-01 -1.84575365e-04] [-2.45862029e-04 1.33878551e-04 9.99999961e-01]] t_estimated: [[-9.53726138e-01] [ 3.00676661e-01] [ 1.22774285e-05]] R_gt: [[ 0.91753592 0.39751743 0.01038794] [-0.39736086 0.91754967 -0.01438487] [-0.01525003 0.00907139 0.9998434 ]] t_gt: [-0.69014604 0.72362879 0.0077338 ] Pose Error in degrees for R and t: 10.788052474390394 28.861543657814757 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.80191297e-01 1.98053061e-01 8.02563685e-05] [-1.98052958e-01 9.80191069e-01 -7.02640285e-04] [-2.17826635e-04 6.72826881e-04 9.99999750e-01]] t_estimated: [[7.94301054e-01] [6.07523986e-01] [6.64687075e-04]] R_gt: [[ 0.99700221 0.0167434 0.07553549] [-0.01221938 0.99812489 -0.05997094] [-0.07639836 0.0588694 0.9953378 ]] t_gt: [-0.8190116 0.54651933 -0.17474729] Pose Error in degrees for R and t: 11.93244038795493 71.41964500310507 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.14702866e-01 5.79878633e-01 1.10470231e-04] [-5.79878437e-01 8.14702721e-01 -6.88842011e-04] [-4.89445162e-04 4.97142256e-04 9.99999757e-01]] t_estimated: [[-5.22714930e-01] [ 8.52507496e-01] [ 2.65589705e-04]] R_gt: [[ 0.98773421 0.01080024 0.15577003] [ 0.00798709 0.99280389 -0.11948222] [-0.15593955 0.11926186 0.98053976]] t_gt: [-0.66061746 0.72907224 -0.17899232] Pose Error in degrees for R and t: 37.06255975676518 14.803761439822333 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.15093195 -0.98851203 0.00796922] [-0.9885222 0.15086997 -0.00788143] [ 0.00658857 -0.00906731 -0.99993719]] t_estimated: [[9.43909630e-01] [3.30202812e-01] [8.44985111e-04]] R_gt: [[ 0.97333494 -0.0272795 0.22776015] [ 0.0665274 0.98379789 -0.16647429] [-0.21952824 0.17718866 0.95938021]] t_gt: [-0.45016838 0.88853492 -0.08862354] Pose Error in degrees for R and t: 176.62212570914392 82.43814667899856 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99150494e-01 4.12094102e-02 2.73522573e-04] [-4.12093546e-02 9.99150513e-01 -2.05774777e-04] [-2.81770077e-04 1.94328282e-04 9.99999941e-01]] t_estimated: [[ 9.96898626e-01] [-7.86932553e-02] [-7.08317063e-04]] R_gt: [[ 0.9981852 -0.06012263 -0.00327093] [ 0.06013839 0.99817732 0.00504769] [ 0.00296048 -0.0052356 0.99998156]] t_gt: [ 0.77576826 -0.62700683 0.0710355 ] Pose Error in degrees for R and t: 5.820651728222729 34.64872125994869 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99965822e-01 -8.26712142e-03 9.87871520e-05] [ 8.26712237e-03 9.99965827e-01 -9.24588837e-06] [-9.87073393e-05 1.00622578e-05 9.99999995e-01]] t_estimated: [[ 9.96047825e-01] [ 8.88181691e-02] [-2.50647479e-04]] R_gt: [[ 0.99567872 -0.09124784 -0.01725005] [ 0.09110681 0.99580215 -0.00880313] [ 0.01798023 0.00719244 0.9998125 ]] t_gt: [ 0.88518227 -0.43138422 -0.17424121] Pose Error in degrees for R and t: 4.886924244627246 32.49772370369115 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.79755954e-01 2.00195092e-01 4.43105032e-04] [-2.00195123e-01 9.79756047e-01 2.77434615e-05] [-4.28580730e-04 -1.15889288e-04 9.99999901e-01]] t_estimated: [[8.92781186e-01] [4.50489988e-01] [7.24353435e-04]] R_gt: [[ 0.9901058 -0.1397195 0.01298971] [ 0.14003965 0.98974078 -0.0283326 ] [-0.00889907 0.02987073 0.99951447]] t_gt: [ 0.91662441 -0.39712804 -0.04570562] Pose Error in degrees for R and t: 19.671190470406657 50.25218235792297 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 3.11985789e-01 9.50075836e-01 4.55775930e-03] [ 9.50084322e-01 -3.11992282e-01 7.72594450e-04] [ 2.15600904e-03 4.08921717e-03 -9.99989315e-01]] t_estimated: [[-0.38337695] [-0.92358993] [-0.00193625]] R_gt: [[ 0.99831436 0.05539766 -0.01727762] [-0.05455299 0.99744516 0.04610434] [ 0.01978754 -0.0450833 0.99878677]] t_gt: [-0.97660759 -0.06410558 0.2052513 ] Pose Error in degrees for R and t: 177.3705141974807 64.32799954487493 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 0.72874354 0.68475812 0.00625922] [ 0.68476471 -0.72861639 -0.01467795] [-0.00549027 0.01498255 -0.99987268]] t_estimated: [[-0.48385535] [ 0.87511456] [-0.00764889]] R_gt: [[ 0.99593399 0.08797859 -0.01936104] [-0.08460253 0.98729708 0.13448589] [ 0.03094676 -0.13230152 0.99072577]] t_gt: [-0.85134273 -0.08065817 0.51837228] Pose Error in degrees for R and t: 173.24492034498573 70.28287644584088 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[-9.49705595e-02 9.95479785e-01 -7.68454582e-04] [-9.95473346e-01 -9.49727283e-02 -3.60527791e-03] [-3.66196351e-03 4.22580794e-04 9.99993206e-01]] t_estimated: [[0.04072457] [0.99916824] [0.00208443]] R_gt: [[ 0.97785615 0.2089043 0.01248755] [-0.20916082 0.97357364 0.09167936] [ 0.00699535 -0.09226153 0.99571025]] t_gt: [-0.93260781 0.29957295 0.20124295] Pose Error in degrees for R and t: 83.5076158005721 74.8252900932843 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.93557323e-01 -1.13330685e-01 -4.54937386e-05] [ 1.13330679e-01 9.93557318e-01 -1.12148721e-04] [ 5.79105282e-05 1.06270346e-04 9.99999993e-01]] t_estimated: [[-0.8168014 ] [-0.57691555] [-0.00198253]] R_gt: [[ 0.9988435 -0.00583136 0.04772902] [ 0.00561435 0.99997369 0.00466814] [-0.04775485 -0.00439514 0.99884931]] t_gt: [-0.05282159 -0.12165787 0.9911656 ] Pose Error in degrees for R and t: 6.763863710568569 83.60593183133106 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 9.98962969e-01 4.55300322e-02 -5.71700826e-05] [-4.55300338e-02 9.98962970e-01 -2.65712011e-05] [ 5.59010079e-05 2.91466018e-05 9.99999998e-01]] t_estimated: [[-2.28922437e-01] [ 9.73444285e-01] [-8.61073763e-04]] R_gt: [[ 0.99919239 -0.01119332 0.03859488] [ 0.01091306 0.99991297 0.00746521] [-0.03867524 -0.00703707 0.99922624]] t_gt: [ 0.04435555 -0.2249611 0.97335764] Pose Error in degrees for R and t: 3.9507914487341873 76.70415191943448 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.98430857e-01 5.59984164e-02 -2.18490312e-05] [-5.59984051e-02 9.98430795e-01 3.55528088e-04] [ 4.17237555e-05 -3.53746703e-04 9.99999937e-01]] t_estimated: [[0.78964505] [0.6135625 ] [0.0013237 ]] R_gt: [[ 0.99838021 -0.05614074 0.00916382] [ 0.05586083 0.99803789 0.02829978] [-0.01073474 -0.02774181 0.99955653]] t_gt: [ 0.52840125 -0.74223666 0.4121612 ] Pose Error in degrees for R and t: 6.638860528627518 87.8443929518947 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.08120772 -0.99669544 -0.00187264] [ 0.99669487 0.08121145 -0.00200733] [ 0.00215277 -0.00170344 0.99999623]] t_estimated: [[ 0.83883726] [-0.544381 ] [-0.00117486]] R_gt: [[ 0.9918164 0.12573277 0.02217035] [-0.12652218 0.99120616 0.03876459] [-0.01710156 -0.04125272 0.99900137]] t_gt: [-0.90682385 0.23794163 0.34792856] Pose Error in degrees for R and t: 92.62131129398254 27.049080139062553 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 8.48738070e-01 -5.28811555e-01 -1.42395043e-03] [ 5.28812849e-01 8.48738126e-01 7.50534887e-04] [ 8.11669498e-04 -1.39001081e-03 9.99998705e-01]] t_estimated: [[-0.42321171] [-0.90602996] [-0.00125237]] R_gt: [[ 0.98555615 0.16529955 0.03680369] [-0.16745735 0.98364149 0.06639278] [-0.02522718 -0.07159753 0.99711338]] t_gt: [-0.88767167 0.155631 0.43337975] Pose Error in degrees for R and t: 41.73102574726778 76.46001243887329 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 8.09432707e-01 -5.87212039e-01 -8.45058931e-04] [ 5.87212642e-01 8.09432042e-01 1.04019397e-03] [ 7.32033529e-05 -1.33819631e-03 9.99999102e-01]] t_estimated: [[ 2.86639610e-01] [-9.58038162e-01] [ 7.83560271e-04]] R_gt: [[ 0.97531516 0.21596786 0.0460278 ] [-0.21877935 0.97334709 0.06879529] [-0.02994329 -0.07716712 0.99656819]] t_gt: [-0.91007147 0.17875835 0.37391894] Pose Error in degrees for R and t: 48.748827014275435 64.41644644432827 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.54251936e-01 -5.19859134e-01 -3.33175653e-04] [ 5.19859240e-01 8.54251752e-01 5.61404703e-04] [-7.23547737e-06 -6.52785496e-04 9.99999787e-01]] t_estimated: [[0.98229372] [0.18734468] [0.00101267]] R_gt: [[ 0.99818647 -0.04676132 0.03792132] [ 0.04351669 0.99565654 0.08230083] [-0.04160514 -0.0805013 0.99588523]] t_gt: [ 0.13827619 -0.55238635 0.82203955] Pose Error in degrees for R and t: 29.182191042385774 88.09894139321457 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.98633706e-01 -5.22559190e-02 -2.01635111e-04] [ 5.22560050e-02 9.98633621e-01 4.48004290e-04] [ 1.77948725e-04 -4.57928830e-04 9.99999879e-01]] t_estimated: [[-1.05377494e-01] [ 9.94432247e-01] [-3.00314596e-04]] R_gt: [[ 0.99594151 -0.05036221 0.07459561] [ 0.03940809 0.9891308 0.14166061] [-0.08091884 -0.13814605 0.98710023]] t_gt: [-0.02487985 -0.45200145 0.89167016] Pose Error in degrees for R and t: 9.204312114706106 63.440251071270055 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.91118598e-01 -1.32980882e-01 9.94236652e-05] [ 1.32980867e-01 9.91118594e-01 1.43725868e-04] [-1.17653436e-04 -1.29227936e-04 9.99999985e-01]] t_estimated: [[3.65265138e-01] [9.30903454e-01] [3.73235247e-04]] R_gt: [[ 0.99504076 -0.06133844 0.07830961] [ 0.04700032 0.98373819 0.1733492 ] [-0.08767006 -0.16880841 0.98174185]] t_gt: [ 0.0281867 -0.46915529 0.88266575] Pose Error in degrees for R and t: 11.844259215449716 64.77885306313988 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.10722188 0.96956058 0.22012666] [ 0.88792228 0.00623256 -0.45995127] [-0.44732258 0.24477221 -0.86022618]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99383311 -0.06874787 0.08701105] [ 0.06027221 0.9935023 0.09655033] [-0.09308365 -0.09070985 0.99151677]] t_gt: [ 0.21549185 -0.48138622 0.84960613] Pose Error in degrees for R and t: 151.5901741499183 86.72202240287527 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-0.82655375 0.56277998 0.00935936] [ 0.56277484 0.82660314 -0.00342412] [-0.0096635 0.00243699 -0.99995034]] t_estimated: [[ 0.7618352 ] [-0.64773884] [ 0.00644386]] R_gt: [[ 0.98226105 -0.10657056 0.1542917 ] [ 0.0758966 0.97834266 0.19257369] [-0.17147315 -0.17744719 0.9690768 ]] t_gt: [ 0.201542 -0.36916053 0.90724932] Pose Error in degrees for R and t: 173.58384975835497 66.51508621171794 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-0.93325539 -0.35921212 0.00101617] [-0.35920223 0.93324469 0.00530109] [-0.00285255 0.00458226 -0.99998543]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.81813186e-01 -4.70444455e-02 1.83929621e-01] [-9.52670450e-04 9.67578152e-01 2.52571243e-01] [-1.89848464e-01 -2.48152311e-01 9.49935609e-01]] t_gt: [-0.00797126 -0.1214219 0.99256898] Pose Error in degrees for R and t: 166.5375789667934 89.56579172684776 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-0.34754429 -0.93765884 -0.00297737] [-0.93765045 0.34752088 0.006393 ] [-0.00495975 0.00501359 -0.99997513]] t_estimated: [[0.85764483] [0.51424177] [0.00086282]] R_gt: [[ 0.9999924 -0.00387623 -0.0010995 ] [ 0.00384579 0.99961839 -0.02736247] [ 0.00120577 0.02735831 0.99962467]] t_gt: [ 0.32082075 0.48886733 -0.81122302] Pose Error in degrees for R and t: 179.121858444916 58.274765858355146 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99365109e-01 3.56267974e-02 3.31062714e-04] [-3.56266134e-02 9.99365022e-01 -5.45862780e-04] [-3.50299839e-04 5.33721574e-04 9.99999796e-01]] t_estimated: [[9.12834478e-01] [4.08328916e-01] [8.43654786e-04]] R_gt: [[ 0.99374398 -0.07489477 0.08285061] [ 0.07022948 0.9958509 0.05787474] [-0.08684021 -0.05169363 0.99488033]] t_gt: [ 0.31893447 -0.5169204 0.79440173] Pose Error in degrees for R and t: 8.498374188452226 85.36941326109864 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.31859471 0.94787274 0.00588966] [ 0.9478846 0.31860929 -0.00170515] [-0.00349276 0.00503946 -0.9999812 ]] t_estimated: [[0.99507651] [0.09910039] [0.00135754]] R_gt: [[ 0.97939977 -0.12546405 0.15822598] [ 0.09991014 0.98200801 0.16024393] [-0.17548317 -0.14113378 0.97431322]] t_gt: [ 0.27021746 -0.41004872 0.8711157 ] Pose Error in degrees for R and t: 176.91945218319117 76.73626998002815 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99956790e-01 9.29616899e-03 1.46889138e-05] [-9.29616926e-03 9.99956790e-01 1.78687217e-05] [-1.45221684e-05 -1.80045002e-05 1.00000000e+00]] t_estimated: [[2.63344705e-02] [9.99653186e-01] [5.02682395e-05]] R_gt: [[ 0.99962726 -0.01853143 0.02004961] [ 0.01755026 0.9986928 0.04800377] [-0.02091275 -0.04763376 0.99864583]] t_gt: [-0.0127581 -0.56771814 0.82312413] Pose Error in degrees for R and t: 3.3675946147034344 55.401941506281226 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-3.63760709e-01 -9.31491803e-01 1.08075467e-03] [-9.31484946e-01 3.63762193e-01 3.58635456e-03] [-3.73379756e-03 2.97868173e-04 -9.99992985e-01]] t_estimated: [[0.8021155 ] [0.59716546] [0.00203571]] R_gt: [[ 0.9989022 -0.04159717 0.02151206] [ 0.03999609 0.9967356 0.07013115] [-0.02435888 -0.06919294 0.99730544]] t_gt: [ 0.23294601 -0.62210231 0.74747901] Pose Error in degrees for R and t: 176.49002679367064 79.44806253054257 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999891e-01 -4.61488620e-05 -4.65138090e-04] [ 4.63763682e-05 9.99999879e-01 4.89116431e-04] [ 4.65115462e-04 -4.89137949e-04 9.99999772e-01]] t_estimated: [[0.95620903] [0.29268149] [0.00135383]] R_gt: [[ 0.99480734 -0.10073461 0.01451126] [ 0.10001335 0.99401679 0.04390998] [-0.01884735 -0.04223088 0.99892919]] t_gt: [ 0.64585217 -0.71302997 0.27287953] Pose Error in degrees for R and t: 6.334663530067273 65.84236822420114 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 9.87604825e-01 -1.56960768e-01 -1.64482590e-04] [ 1.56960787e-01 9.87604829e-01 1.15510806e-04] [ 1.44313135e-04 -1.39896346e-04 9.99999980e-01]] t_estimated: [[ 7.53758507e-01] [-6.57151295e-01] [-5.37721031e-04]] R_gt: [[ 0.99894365 0.0372422 0.02691415] [-0.03801989 0.99885778 0.02893986] [-0.0258049 -0.02993215 0.99921821]] t_gt: [-0.7705759 -0.16273874 0.61622146] Pose Error in degrees for R and t: 11.414432496494264 61.691715265403516 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 2.63874098e-01 9.64556871e-01 -7.08698420e-04] [-9.64556737e-01 2.63873255e-01 -1.09830794e-03] [-8.72373909e-04 9.73394852e-04 9.99999146e-01]] t_estimated: [[7.87407143e-02] [9.96895099e-01] [2.48707296e-04]] R_gt: [[ 0.99165606 0.12655062 0.02456391] [-0.12697895 0.99176457 0.01671839] [-0.02224542 -0.01969761 0.99955825]] t_gt: [-0.97239222 0.10457689 0.2086074 ] Pose Error in degrees for R and t: 67.43576185676669 88.41057084283553 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.42008516 0.90747912 -0.00317999] [ 0.90746753 -0.42005308 0.0076225 ] [ 0.0055815 -0.00608783 -0.99996589]] t_estimated: [[-0.59624087] [-0.80280513] [-0.00086671]] R_gt: [[ 0.97005569 0.23987562 0.03810909] [-0.24153222 0.96923902 0.04731239] [-0.02558686 -0.05509903 0.99815292]] t_gt: [-0.93982284 0.19442147 0.28095075] Pose Error in degrees for R and t: 178.0260322148111 66.1693477497549 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.60257802e-01 -2.79114475e-01 -2.51998967e-04] [ 2.79114581e-01 9.60257178e-01 1.09670276e-03] [-6.41217968e-05 -1.12345397e-03 9.99999367e-01]] t_estimated: [[ 0.14695017] [-0.98914333] [ 0.00105829]] R_gt: [[ 9.98080506e-01 6.19348483e-02 7.83245650e-05] [-6.18880731e-02 9.97271882e-01 4.02374570e-02] [ 2.41398672e-03 -4.01657312e-02 9.99189585e-01]] t_gt: [-0.90279338 0.2450333 0.35344418] Pose Error in degrees for R and t: 19.883743397925524 67.99641216200678 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-7.14460581e-01 -6.99673250e-01 -1.84980426e-03] [ 6.99675681e-01 -7.14457528e-01 -2.09349510e-03] [ 1.43155943e-04 -2.78998277e-03 9.99996098e-01]] t_estimated: [[0.9886182 ] [0.1504419 ] [0.00113114]] R_gt: [[ 0.98077213 0.18704044 0.05570135] [-0.18971278 0.98070095 0.0472817 ] [-0.04578289 -0.05694035 0.99732723]] t_gt: [-0.86331727 0.44134575 0.24473909] Pose Error in degrees for R and t: 146.49748521343443 38.11091700224273 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.11780084 -0.9929743 0.01118085] [ 0.99303491 -0.1177687 0.00349299] [-0.0021517 0.01151445 0.99993139]] t_estimated: [[9.99148879e-01] [4.12421266e-02] [7.78153332e-04]] R_gt: [[ 0.95517657 0.29135412 0.05245399] [-0.29452212 0.95315722 0.06890481] [-0.02992155 -0.0812658 0.99624306]] t_gt: [-0.83354288 0.51487402 0.20027731] Pose Error in degrees for R and t: 113.9042893002955 35.762833983617185 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99906097e-01 -1.37034871e-02 -1.04160005e-04] [ 1.37034886e-02 9.99906103e-01 1.33505986e-05] [ 1.03967275e-04 -1.47767004e-05 9.99999994e-01]] t_estimated: [[-9.38737391e-01] [ 3.44633101e-01] [-3.69334856e-04]] R_gt: [[ 0.99007219 0.12945085 0.05477272] [-0.12807796 0.99137139 -0.02788754] [-0.05790927 0.02059535 0.99810936]] t_gt: [-0.54114736 0.80552694 0.24142469] Pose Error in degrees for R and t: 8.91744609406743 38.23144830456727 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.65246113e-01 -2.61342322e-01 -3.62319578e-04] [ 2.61342425e-01 9.65246115e-01 2.72683918e-04] [ 2.78463717e-04 -3.57896569e-04 9.99999897e-01]] t_estimated: [[-0.9496403 ] [-0.31333946] [-0.00129662]] R_gt: [[ 0.98712589 0.13998691 0.0773794 ] [-0.13821228 0.99000969 -0.02787131] [-0.08050819 0.01681787 0.99661171]] t_gt: [-0.52225207 0.7750621 0.35571268] Pose Error in degrees for R and t: 23.632947085640353 75.36663456934521 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.47048199e-01 -3.21090322e-01 8.45552573e-04] [ 3.21091392e-01 9.47046146e-01 -1.97859453e-03] [-1.65469752e-04 2.14532404e-03 9.99997685e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9851527 0.14229138 0.096064 ] [-0.14122931 0.98981607 -0.01780597] [-0.0976194 0.00397524 0.99521629]] t_gt: [-0.50323937 0.72373384 0.47218584] Pose Error in degrees for R and t: 27.457399779343405 88.30159558038399 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.51909477e-01 3.06379366e-01 -1.77563054e-04] [-3.06379334e-01 9.51909486e-01 1.87190822e-04] [ 2.26375361e-04 -1.23787067e-04 9.99999967e-01]] t_estimated: [[0.92769796] [0.37333042] [0.00093802]] R_gt: [[ 0.99450815 0.01582137 0.10345499] [-0.01014362 0.99842447 -0.05517629] [-0.10416496 0.05382345 0.99310243]] t_gt: [-0.70724629 0.69839688 0.10974735] Pose Error in degrees for R and t: 18.369297048126565 66.71686166812002 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.14346301 0.98965461 -0.00145364] [ 0.98957178 -0.14343157 0.01323172] [ 0.01288633 -0.00333674 -0.9999114 ]] t_estimated: [[7.79912638e-01] [6.25888050e-01] [6.52646559e-04]] R_gt: [[ 0.98393916 -0.0194541 0.17744128] [ 0.04370483 0.99004289 -0.13380573] [-0.17307224 0.139412 0.97499315]] t_gt: [-0.42640887 0.89522379 -0.12942121] Pose Error in degrees for R and t: 168.02534370544032 76.84043500668832 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.41687608 -0.90885536 0.01400948] [ 0.9071784 -0.41504263 0.06904317] [-0.05693572 0.04149154 0.9975153 ]] t_estimated: [[0.98494144] [0.17288272] [0.00138911]] R_gt: [[ 0.97901186 -0.06549138 0.1929942 ] [ 0.08700822 0.99063685 -0.10520423] [-0.18429745 0.11978837 0.97554386]] t_gt: [-0.04825057 0.98179717 0.18370139] Pose Error in degrees for R and t: 110.38965530358897 82.96550048624167 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99017557 0.13982283 0.00138489] [-0.13981984 0.99017481 -0.0020629 ] [-0.00165972 0.00184899 0.99999691]] t_estimated: [[0.62826316] [0.7779924 ] [0.00363705]] R_gt: [[ 9.97047359e-01 2.53454224e-04 7.67950265e-02] [ 7.24467936e-03 9.95225220e-01 -9.73358316e-02] [-7.64519983e-02 9.76043452e-02 9.92284021e-01]] t_gt: [-0.74034127 0.39234472 -0.54585751] Pose Error in degrees for R and t: 10.793526229388718 80.68435677355752 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999892e-01 -1.85026167e-04 4.27382648e-04] [ 1.85205223e-04 9.99999895e-01 -4.18957574e-04] [-4.27305085e-04 4.19036682e-04 9.99999821e-01]] t_estimated: [[ 0.37335666] [-0.92768733] [ 0.00100669]] R_gt: [[ 0.98390869 0.03831514 0.17451605] [-0.01256937 0.98915919 -0.14630359] [-0.17822976 0.14175594 0.9737238 ]] t_gt: [-0.83150318 0.55169304 -0.06509416] Pose Error in degrees for R and t: 13.213101994063667 34.68314948898063 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.97040500e-01 7.68764911e-02 -4.96143528e-04] [-7.68762182e-02 9.97040494e-01 5.47451856e-04] [ 5.36761366e-04 -5.07690035e-04 9.99999727e-01]] t_estimated: [[-3.98716493e-01] [-9.17074006e-01] [-6.52359720e-04]] R_gt: [[ 0.96933081 0.0167247 0.24519094] [ 0.04010513 0.97354234 -0.22495766] [-0.24246635 0.22789145 0.94301402]] t_gt: [-0.65151414 0.72791632 -0.21369875] Pose Error in degrees for R and t: 20.128288762129618 65.94306164875121 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999711e-01 -7.57819993e-04 -5.71042794e-05] [ 7.57827215e-04 9.99999705e-01 1.26553314e-04] [ 5.70083579e-05 -1.26596553e-04 9.99999990e-01]] t_estimated: [[0.00839642] [0.99996377] [0.0013992 ]] R_gt: [[ 0.99466571 0.10021708 -0.02444922] [-0.10003792 0.99494774 0.00843513] [ 0.02517039 -0.005945 0.99966568]] t_gt: [-0.16954517 0.94711466 -0.27244863] Pose Error in degrees for R and t: 5.975931404078749 19.04272059611234 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.77674032e-01 2.10127295e-01 7.78382711e-05] [-2.10127252e-01 9.77673973e-01 -3.75397741e-04] [-1.54981764e-04 3.50660681e-04 9.99999927e-01]] t_estimated: [[-9.99982376e-01] [-5.87731035e-03] [-8.39615765e-04]] R_gt: [[ 0.99142033 0.11639018 0.05950204] [-0.11101355 0.9900179 -0.08683656] [-0.06901508 0.07948526 0.99444359]] t_gt: [-0.07663568 0.96946801 -0.23293506] Pose Error in degrees for R and t: 8.209791692724368 85.92098947636649 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 1.00000000e+00 1.00736086e-12 2.75278932e-15] [-1.00747188e-12 1.00000000e+00 2.05586416e-15] [-2.75343984e-15 -2.06020097e-15 1.00000000e+00]] t_estimated: [[0.71710156] [0.69696696] [0.00154882]] R_gt: [[ 0.99178112 0.09170232 0.08922271] [-0.07979361 0.98843858 -0.12892678] [-0.10001439 0.12074752 0.98763224]] t_gt: [ 0.24507011 0.91394427 -0.32349112] Pose Error in degrees for R and t: 10.286874141897782 35.685802764065336 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.96488379e-01 8.37311777e-02 5.73000546e-06] [-8.37311505e-02 9.96488105e-01 -7.41790414e-04] [-6.78208673e-05 7.38705748e-04 9.99999725e-01]] t_estimated: [[-0.61898029] [-0.78540368] [-0.00211298]] R_gt: [[ 0.99796682 0.01689923 0.06145008] [-0.0103358 0.99435334 -0.10561489] [-0.06288867 0.10476464 0.99250545]] t_gt: [ 0.21887745 0.76413443 -0.60678764] Pose Error in degrees for R and t: 8.054685597089668 42.74745274334257 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.26812000e-01 3.75525628e-01 1.38263687e-04] [-3.75525611e-01 9.26812007e-01 -1.36636326e-04] [-1.79454888e-04 7.47146312e-05 9.99999981e-01]] t_estimated: [[0.72173231] [0.6921713 ] [0.00117037]] R_gt: [[ 0.99225135 0.02163788 0.12235012] [-0.00701248 0.99290248 -0.11872855] [-0.12405119 0.11695026 0.98535931]] t_gt: [ 0.42783993 0.8992646 -0.09097346] Pose Error in degrees for R and t: 23.36119603715277 21.389200529348717 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.92386575 -0.38271192 -0.00191606] [ 0.38270989 -0.92380778 -0.01059875] [ 0.0022862 -0.01052512 0.999942 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98112878 0.11725297 0.15374485] [-0.09303799 0.98333203 -0.15620922] [-0.16949871 0.13895736 0.97568404]] t_gt: [-0.0571219 0.99792596 0.0296793 ] Pose Error in degrees for R and t: 163.75855811998082 86.9042771957721 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-4.87151687e-01 -8.73300799e-01 -5.38033106e-03] [-8.73313225e-01 4.87159115e-01 -8.05952490e-05] [ 2.69146122e-03 4.65945216e-03 -9.99985523e-01]] t_estimated: [[ 9.09352562e-01] [ 4.16025451e-01] [-8.61556878e-04]] R_gt: [[ 0.99870958 0.02921336 -0.04153099] [-0.02501963 0.99485906 0.09812549] [ 0.04418414 -0.0969586 0.99430645]] t_gt: [-0.55855411 -0.25987368 0.78770742] Pose Error in degrees for R and t: 179.5555849365038 51.923334989408666 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.89251274e-01 1.46225421e-01 2.06246221e-04] [-1.46225193e-01 9.89250951e-01 -8.65841125e-04] [-3.30637253e-04 8.26376043e-04 9.99999604e-01]] t_estimated: [[-0.10896689] [-0.99404421] [-0.00152264]] R_gt: [[ 0.99511193 0.07494418 -0.06430392] [-0.06516033 0.98762281 0.14266749] [ 0.07420028 -0.13778024 0.98767914]] t_gt: [-0.83579573 -0.15378065 0.52706452] Pose Error in degrees for R and t: 10.04979372561726 75.92827886216669 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.96772324 -0.25162044 -0.01410234] [-0.25162326 0.96782393 -0.00160343] [ 0.01405204 0.0019968 -0.99989927]] t_estimated: [[ 9.99957857e-01] [ 9.17952017e-03] [-1.44519219e-04]] R_gt: [[ 0.99202167 0.10781218 -0.06532722] [-0.08890195 0.96574452 0.24378875] [ 0.08937311 -0.23603532 0.9676258 ]] t_gt: [-0.74718431 -0.13639216 0.6504712 ] Pose Error in degrees for R and t: 176.51576943492628 41.53949026507547 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.97766280e-01 6.68012693e-02 2.00164790e-04] [-6.68012457e-02 9.97766295e-01 -1.22508976e-04] [-2.07901436e-04 1.08864068e-04 9.99999972e-01]] t_estimated: [[0.01823906] [0.99983228] [0.0016581 ]] R_gt: [[ 0.99630131 -0.08553083 -0.00828886] [ 0.08539796 0.99623064 -0.01524199] [ 0.0095616 0.01447789 0.99984957]] t_gt: [ 0.6745998 -0.71956091 -0.16476408] Pose Error in degrees for R and t: 8.789596315556123 44.97547767185174 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.43455052 0.90064674 0.00114011] [ 0.90064651 0.43454787 0.0020043 ] [ 0.00130974 0.0018978 -0.99999734]] t_estimated: [[ 2.43309876e-01] [-9.69948197e-01] [-8.94522235e-04]] R_gt: [[ 0.98167486 -0.18948969 0.02022994] [ 0.18978091 0.9817325 -0.01358124] [-0.01728654 0.0171715 0.99970288]] t_gt: [ 0.74085613 -0.67088141 0.03240879] Pose Error in degrees for R and t: 178.60795399244833 33.80366964841463 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-9.83866050e-01 -1.78906545e-01 -2.09339158e-04] [-1.78906576e-01 9.83866057e-01 1.41244145e-04] [ 1.80692190e-04 1.76417471e-04 -9.99999968e-01]] t_estimated: [[0.98448898] [0.17544356] [0.00100253]] R_gt: [[ 0.98317064 -0.17048687 0.06565479] [ 0.17365263 0.98373557 -0.04593084] [-0.05675604 0.05655841 0.99678489]] t_gt: [ 0.78401416 -0.61424064 0.08961157] Pose Error in degrees for R and t: 176.7665045156314 48.38066071954232 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 9.99968403e-01 7.94791171e-03 1.51600578e-04] [-7.94791343e-03 9.99968415e-01 1.07657776e-05] [-1.51510224e-04 -1.19703457e-05 9.99999988e-01]] t_estimated: [[0.6875531 ] [0.72613358] [0.00087411]] R_gt: [[ 9.98878674e-01 -7.60286418e-03 -4.67271735e-02] [ 7.65208217e-03 9.99971218e-01 8.87939430e-04] [ 4.67191294e-02 -1.24415870e-03 9.98907626e-01]] t_gt: [ 0.8492323 0.42021499 -0.31972467] Pose Error in degrees for R and t: 2.83108320755782 27.2840300620038 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99240856e-01 3.89577979e-02 4.21299593e-05] [-3.89578076e-02 9.99240822e-01 2.61207809e-04] [-3.19218941e-05 -2.62650806e-04 9.99999965e-01]] t_estimated: [[5.72237451e-01] [8.20087927e-01] [3.02951814e-04]] R_gt: [[ 0.99356093 -0.03918936 -0.10630623] [ 0.03618294 0.99889332 -0.03005289] [ 0.10736567 0.02601263 0.99387948]] t_gt: [ 0.8864313 0.22499236 -0.4044972 ] Pose Error in degrees for R and t: 7.722252354080595 46.239917107363375 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.99999778e-01 9.10227357e-05 6.59421967e-04] [-9.10599557e-05 9.99999994e-01 5.64136630e-05] [-6.59416828e-04 -5.64736975e-05 9.99999781e-01]] t_estimated: [[ 7.43813623e-01] [ 6.68387074e-01] [-1.19052562e-04]] R_gt: [[ 0.99051736 -0.08389018 -0.10880117] [ 0.08293265 0.99646687 -0.01329703] [ 0.10953247 0.00414805 0.99397463]] t_gt: [ 0.9688593 0.13014302 -0.21065245] Pose Error in degrees for R and t: 7.945859693270911 36.13189809884677 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999916e-01 -4.07417654e-04 4.69205250e-05] [ 4.07417674e-04 9.99999917e-01 -4.14424877e-07] [-4.69203522e-05 4.33541093e-07 9.99999999e-01]] t_estimated: [[ 9.67142630e-01] [ 2.54234397e-01] [-6.36139938e-05]] R_gt: [[ 0.99815525 -0.05792543 -0.01821195] [ 0.05779959 0.99830195 -0.00733014] [ 0.01860568 0.00626312 0.99980796]] t_gt: [ 0.85243134 -0.45985538 -0.24878474] Pose Error in degrees for R and t: 3.480791725967638 44.96590324141496 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999889e-01 2.82304499e-04 -3.77666882e-04] [-2.82303854e-04 9.99999960e-01 1.76126587e-06] [ 3.77667364e-04 -1.65464886e-06 9.99999929e-01]] t_estimated: [[-0.69644119] [-0.717613 ] [-0.00111431]] R_gt: [[ 0.98915758 -0.14049087 -0.04278456] [ 0.14057283 0.99007028 -0.00108305] [ 0.04251195 -0.00494304 0.99908418]] t_gt: [ 0.85065343 -0.49757104 -0.16974038] Pose Error in degrees for R and t: 8.45472686566996 76.3979142710051 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999822e-01 5.87545021e-04 1.05569959e-04] [-5.87550150e-04 9.99999826e-01 4.85644571e-05] [-1.05541406e-04 -4.86264761e-05 9.99999993e-01]] t_estimated: [[ 9.99998902e-01] [-1.44674438e-03] [-3.20295630e-04]] R_gt: [[ 0.9871043 -0.15660382 -0.03319337] [ 0.15646493 0.98766059 -0.00675343] [ 0.03384163 0.00147238 0.99942647]] t_gt: [ 0.86606699 -0.48271409 -0.13005794] Pose Error in degrees for R and t: 9.248778090966908 29.910421720539652 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.53264855 -0.84598415 -0.02441986] [ 0.84632624 0.53256257 0.01044041] [ 0.00417268 -0.02622824 0.99964727]] t_estimated: [[0.521641 ] [0.85315116] [0.00487515]] R_gt: [[ 0.99753302 -0.01995604 -0.06730658] [ 0.01505539 0.99725139 -0.07255367] [ 0.06856917 0.07136121 0.99509122]] t_gt: [ 0.31070513 0.09579303 -0.94566697] Pose Error in degrees for R and t: 57.108548721322414 76.16113179371052 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.92429602 0.38166419 0.00305095] [-0.38162579 0.92427413 -0.00889382] [-0.00621437 0.0070562 0.99995579]] t_estimated: [[0.14833808] [0.98893468] [0.00200323]] R_gt: [[ 0.99358305 0.00872597 -0.11277916] [-0.01786313 0.9966145 -0.08025764] [ 0.11169759 0.08175762 0.99037403]] t_gt: [ 0.21661631 0.31203504 -0.92504676] Pose Error in degrees for R and t: 23.056367396452934 70.19246562794045 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999991e-01 1.28668715e-04 4.06172006e-05] [-1.28669239e-04 9.99999992e-01 1.29148089e-05] [-4.06155385e-05 -1.29200350e-05 9.99999999e-01]] t_estimated: [[-1.18046555e-01] [ 9.93008054e-01] [ 1.23899144e-04]] R_gt: [[ 0.9880868 0.05562874 -0.14349827] [-0.0735957 0.98966153 -0.12310422] [ 0.13516669 0.13219801 0.98196399]] t_gt: [ 0.05801814 0.55694468 -0.82852068] Pose Error in degrees for R and t: 11.519396404227393 56.900198367824316 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.92152937e-01 -1.25029860e-01 -2.87545856e-04] [ 1.25029903e-01 9.92152965e-01 1.35091218e-04] [ 2.68399038e-04 -1.69982979e-04 9.99999950e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99155873 0.12957624 -0.00464897] [-0.12953037 0.99153461 0.00903548] [ 0.00578054 -0.00835693 0.99994801]] t_gt: [-0.95895015 0.27988642 0.04558721] Pose Error in degrees for R and t: 14.637345730753964 16.656166691496963 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.31648333 -0.94859276 -0.0031739 ] [ 0.94859744 -0.31647749 -0.00221236] [ 0.00109416 -0.00371093 0.99999252]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97337371 0.22885019 0.01304753] [-0.22892843 0.97343228 0.00481981] [-0.01159778 -0.007678 0.99990326]] t_gt: [-0.93273937 0.35689543 0.05121449] Pose Error in degrees for R and t: 121.68551285426845 21.31623584309128 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-3.86486767e-01 -9.22294925e-01 2.25300671e-04] [-9.22294173e-01 3.86486111e-01 -1.39472911e-03] [ 1.19927600e-03 -7.46837841e-04 -9.99999002e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.92071351 0.38971031 0.02031655] [-0.39018064 0.92022943 0.03062556] [-0.00676075 -0.03612437 0.99932404]] t_gt: [-0.8701352 0.4823077 0.10121274] Pose Error in degrees for R and t: 178.27773469192846 65.85583244487486 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.93365510e-01 1.14999527e-01 2.67234167e-04] [-1.14999553e-01 9.93365540e-01 8.33300667e-05] [-2.55878295e-04 -1.13509024e-04 9.99999961e-01]] t_estimated: [[0.00867646] [0.99996177] [0.00108456]] R_gt: [[ 0.99797186 0.0341499 -0.05373109] [-0.03877785 0.9954008 -0.087594 ] [ 0.05049235 0.08949969 0.99470616]] t_gt: [-0.15943475 0.41384561 -0.89627695] Pose Error in degrees for R and t: 7.432537183561402 65.70251237822184 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.89576502e-01 -1.44008112e-01 -1.03850028e-04] [ 1.44008127e-01 9.89576492e-01 1.58767791e-04] [ 7.99036969e-05 -1.72068124e-04 9.99999982e-01]] t_estimated: [[-4.05669962e-01] [ 9.14019608e-01] [-1.95277278e-04]] R_gt: [[ 0.99108083 0.06341095 -0.11720988] [-0.08215197 0.98325072 -0.16269564] [ 0.10493062 0.17087404 0.97968985]] t_gt: [-0.11279221 0.43871656 -0.89151876] Pose Error in degrees for R and t: 17.016111500610325 63.45336732441256 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 2.21009105e-01 9.75271361e-01 -8.64765327e-04] [ 9.75262298e-01 -2.21002975e-01 4.59732009e-03] [ 4.29251891e-03 -1.85942262e-03 -9.99989058e-01]] t_estimated: [[-9.25046089e-01] [-3.79853939e-01] [-8.47888257e-04]] R_gt: [[ 0.9794869 0.13028949 -0.15372433] [-0.16072866 0.96526079 -0.2060045 ] [ 0.12154479 0.22648633 0.96640088]] t_gt: [-0.20982138 0.54974366 -0.80855235] Pose Error in degrees for R and t: 175.42904520412492 89.19540969529 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.97262678e-01 7.39400084e-02 -1.61233250e-04] [-7.39399971e-02 9.97262689e-01 7.46274856e-05] [ 1.66309862e-04 -6.25016201e-05 9.99999984e-01]] t_estimated: [[0.73255104] [0.68071158] [0.00084983]] R_gt: [[ 0.98735863 0.15847259 0.00301113] [-0.15849502 0.98698927 0.02705482] [ 0.00131498 -0.02718942 0.99962918]] t_gt: [-0.9156322 0.35562416 0.18748104] Pose Error in degrees for R and t: 5.122330662199049 64.6269296329155 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-8.76931073e-01 4.80562040e-01 -7.21240595e-03] [ 4.80543784e-01 8.76960706e-01 4.19412762e-03] [ 8.34053514e-03 2.12083984e-04 -9.99965195e-01]] t_estimated: [[ 0.94202155] [-0.33552019] [-0.00464745]] R_gt: [[ 0.95122217 0.3080171 0.01737624] [-0.30830424 0.95112966 0.01735559] [-0.011181 -0.02186578 0.99969776]] t_gt: [-0.86496946 0.49341248 0.09149838] Pose Error in degrees for R and t: 179.93432076416508 11.247157231362971 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 5.95108657e-01 8.03644936e-01 7.09295211e-04] [ 8.03639736e-01 -5.95107611e-01 3.17901983e-03] [ 2.97691017e-03 -1.32184440e-03 -9.99994695e-01]] t_estimated: [[-0.77453175] [-0.63253426] [-0.00099299]] R_gt: [[ 0.9039824 0.42534741 0.04352764] [-0.42726676 0.90247895 0.05454528] [-0.01608333 -0.06790592 0.99756139]] t_gt: [-0.8422597 0.50776458 0.18103516] Pose Error in degrees for R and t: 177.40847533126583 70.67060151750101 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.62128099e-01 2.72597289e-01 4.89374379e-04] [-2.72597030e-01 9.62128148e-01 -5.35026360e-04] [-6.16687600e-04 3.81361892e-04 9.99999737e-01]] t_estimated: [[0.14108647] [0.98999656] [0.00119565]] R_gt: [[ 0.99440957 -0.09933233 -0.03580897] [ 0.09934049 0.9950522 -0.00156437] [ 0.03578931 -0.00200036 0.99935691]] t_gt: [ 0.52966251 -0.81194679 -0.24535695] Pose Error in degrees for R and t: 21.62149821670937 43.16474687630459 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999919e-01 3.98908192e-04 4.89365008e-05] [-3.98904217e-04 9.99999917e-01 -8.11995282e-05] [-4.89688879e-05 8.11800007e-05 9.99999996e-01]] t_estimated: [[ 9.99998049e-01] [-1.96896320e-03] [ 1.56130670e-04]] R_gt: [[ 0.96808104 -0.24286684 -0.0619189 ] [ 0.24266825 0.97004867 -0.01082882] [ 0.06269564 -0.00454126 0.99802221]] t_gt: [ 0.6562588 -0.73091426 -0.18731988] Pose Error in degrees for R and t: 14.539171048823516 48.877781634869486 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99983708e-01 -5.68731221e-03 -4.88113932e-04] [ 5.68721801e-03 9.99983809e-01 -1.94144917e-04] [ 4.89210192e-04 1.91365744e-04 9.99999862e-01]] t_estimated: [[9.99880582e-01] [1.54477816e-02] [4.32962965e-04]] R_gt: [[ 0.92075717 -0.37969296 -0.08965846] [ 0.3746802 0.92465709 -0.06800435] [ 0.10872506 0.02902354 0.99364739]] t_gt: [ 0.74535426 -0.60147217 -0.28753827] Pose Error in degrees for R and t: 22.821335666685655 42.62096630721465 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 8.24786106e-01 -5.65281531e-01 -1.35893271e-02] [ 5.65343679e-01 8.24854957e-01 9.07941257e-04] [ 1.06959814e-02 -8.43149754e-03 9.99907249e-01]] t_estimated: [[8.28637643e-01] [5.59784991e-01] [6.49402541e-04]] R_gt: [[ 0.99917845 -0.00664789 -0.03999232] [ 0.00401381 0.99783924 -0.06559198] [ 0.04034277 0.06537739 0.99704533]] t_gt: [ 0.33372561 0.12458584 -0.93440119] Pose Error in degrees for R and t: 34.38487059765766 69.77717225025138 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-9.99782410e-01 -2.08534123e-02 5.18198022e-04] [-2.08523071e-02 9.99780458e-01 2.05368034e-03] [-5.60910499e-04 2.04242785e-03 -9.99997757e-01]] t_estimated: [[0.99993858] [0.01101524] [0.00122392]] R_gt: [[ 0.99464286 -0.00587544 -0.10320605] [-0.00734307 0.99184543 -0.12723552] [ 0.10311308 0.12731155 0.98648893]] t_gt: [ 0.28238012 0.23400906 -0.93032319] Pose Error in degrees for R and t: 174.02158843368815 73.51276013518611 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-7.58081608e-01 -6.52157424e-01 -1.72346656e-03] [ 6.52158307e-01 -7.58082804e-01 6.45901358e-05] [-1.34865330e-03 -1.07500844e-03 9.99998513e-01]] t_estimated: [[9.87712686e-01] [1.56278780e-01] [7.69846209e-04]] R_gt: [[ 0.98854342 -0.03023918 -0.14787457] [ 0.00628968 0.98712727 -0.15981497] [ 0.15080393 0.1570541 0.97600844]] t_gt: [ 0.35805151 0.18847251 -0.91448195] Pose Error in degrees for R and t: 138.50464676028898 67.51743589403844 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99843854e-01 1.76706529e-02 1.28619433e-04] [-1.76706259e-02 9.99843841e-01 -2.08466768e-04] [-1.32283091e-04 2.06161431e-04 9.99999970e-01]] t_estimated: [[ 0.60165727] [-0.79875138] [-0.00218459]] R_gt: [[ 0.99554067 -0.09431862 -0.00154947] [ 0.09432343 0.99553452 0.00370286] [ 0.00119304 -0.00383257 0.99999177]] t_gt: [ 0.78010871 -0.62519943 -0.02358147] Pose Error in degrees for R and t: 6.429528112407136 14.352618077682903 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99716445e-01 2.38030183e-02 6.67089179e-04] [-2.38021047e-02 9.99715784e-01 -1.34557535e-03] [-6.98928337e-04 1.32931568e-03 9.99998872e-01]] t_estimated: [[-9.48907122e-01] [-3.15554614e-01] [-7.47759749e-04]] R_gt: [[ 9.88740367e-01 -1.47279840e-01 -2.64734977e-02] [ 1.47347854e-01 9.89083789e-01 6.79295334e-04] [ 2.60844709e-02 -4.57254339e-03 9.99649057e-01]] t_gt: [ 0.85033928 -0.51500292 -0.10814393] Pose Error in degrees for R and t: 9.96043912471865 49.88674428422416 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.91217381e-01 -1.23231846e-01 4.79793246e-02] [ 1.23098949e-01 9.92377881e-01 5.72621762e-03] [-4.83192729e-02 2.30278012e-04 9.98831915e-01]] t_estimated: [[0.68845573] [0.72527751] [0.00111581]] R_gt: [[ 9.77121928e-01 -2.08355758e-01 -4.26609204e-02] [ 2.08535204e-01 9.78014241e-01 -2.30923169e-04] [ 4.17719137e-02 -8.67061051e-03 9.99088590e-01]] t_gt: [ 0.86115897 -0.49481757 -0.11645088] Pose Error in degrees for R and t: 7.183962552660018 76.47557651892969 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.97743277 0.21124158 0.00147607] [-0.21123773 0.97743175 -0.00240684] [-0.00195118 0.00204072 0.99999601]] t_estimated: [[-9.90822136e-01] [-1.35171928e-01] [ 2.10747980e-04]] R_gt: [[ 0.99935151 0.03577746 0.00401309] [-0.03569659 0.99918856 -0.01868328] [-0.00467885 0.01852775 0.99981792]] t_gt: [-0.9250501 0.21676224 -0.31192377] Pose Error in degrees for R and t: 10.19089673515617 27.477236996263255 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.25451946 0.96705385 0.0051678 ] [ 0.96706401 -0.25450019 -0.00410515] [-0.00265469 0.00604244 -0.99997822]] t_estimated: [[ 0.84798413] [-0.53000611] [ 0.00405378]] R_gt: [[ 0.99737963 -0.07197019 -0.00736296] [ 0.0716519 0.99674715 -0.03690193] [ 0.00999393 0.03627779 0.999292 ]] t_gt: [ 0.47110798 -0.81716191 -0.33211999] Pose Error in degrees for R and t: 178.2725091731395 33.7729969456977 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-3.42339201e-01 -9.39576423e-01 -1.33597382e-04] [ 9.39572316e-01 -3.42338118e-01 2.91122608e-03] [-2.78105486e-03 8.71102406e-04 9.99995753e-01]] t_estimated: [[9.90165775e-01] [1.39896518e-01] [8.37703702e-04]] R_gt: [[ 0.9871997 -0.15910859 0.01102009] [ 0.15937495 0.98675342 -0.03029609] [-0.00605408 0.03166421 0.99948064]] t_gt: [ 0.63625423 -0.76710751 -0.082016 ] Pose Error in degrees for R and t: 100.86789459957672 58.49232430308035 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99996707e-01 2.56649233e-03 8.50053962e-06] [-2.56649420e-03 9.99996681e-01 2.27571982e-04] [-7.91644965e-06 -2.27593049e-04 9.99999974e-01]] t_estimated: [[7.25833037e-01] [6.87870681e-01] [5.74319652e-04]] R_gt: [[ 0.99747739 -0.02897701 -0.06480386] [ 0.02595622 0.99855934 -0.04697448] [ 0.06607163 0.04517375 0.99679176]] t_gt: [ 0.79046574 0.18862366 -0.58273925] Pose Error in degrees for R and t: 4.9106391350318175 45.31890359288406 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 3.53801698e-01 9.35318056e-01 2.11962931e-03] [-9.35319711e-01 3.53803371e-01 -4.62080310e-04] [-1.18212405e-03 -1.81904628e-03 9.99997647e-01]] t_estimated: [[-0.02683567] [ 0.99963865] [ 0.00155165]] R_gt: [[ 0.99353509 -0.07442167 -0.08573569] [ 0.07087193 0.99652653 -0.04373817] [ 0.08869245 0.03738026 0.99535808]] t_gt: [ 0.93650645 0.09141898 -0.33852361] Pose Error in degrees for R and t: 73.64384988051616 86.23129406859142 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.81030089e-01 1.93852258e-01 1.12540753e-03] [-1.93850863e-01 9.81030228e-01 -1.23913879e-03] [-1.34426865e-03 9.97471214e-04 9.99998599e-01]] t_estimated: [[0.3302996 ] [0.94387535] [0.00122721]] R_gt: [[ 0.99147704 -0.07523435 -0.10637305] [ 0.07206723 0.99684377 -0.03331392] [ 0.10854377 0.02536383 0.99376804]] t_gt: [ 0.95099131 0.14038895 -0.2755113 ] Pose Error in degrees for R and t: 16.702925775129508 63.49450733273755 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 6.97179268e-01 7.16896033e-01 1.07121153e-03] [-7.16896096e-01 6.97179915e-01 -3.92360440e-04] [-1.02810881e-03 -4.94401799e-04 9.99999349e-01]] t_estimated: [[-0.5184859 ] [ 0.85508558] [ 0.00100878]] R_gt: [[ 0.99604097 0.04755331 -0.07511906] [-0.04644713 0.99878554 0.01640192] [ 0.07580764 -0.01284799 0.99703981]] t_gt: [ 0.66483475 0.24155977 -0.70685475] Pose Error in degrees for R and t: 43.32188264535155 82.01775503537728 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 2.31797197e-01 9.72764046e-01 4.12612345e-04] [-9.72763221e-01 2.31797539e-01 -1.27117950e-03] [-1.33220024e-03 -1.06718269e-04 9.99999107e-01]] t_estimated: [[2.19759472e-01] [9.75553660e-01] [9.11315570e-04]] R_gt: [[ 0.97984678 0.1352695 -0.14698019] [-0.12276983 0.98824853 0.09106357] [ 0.15757184 -0.07118362 0.98493931]] t_gt: [ 0.83575076 0.31774432 -0.44783837] Pose Error in degrees for R and t: 69.76416205179683 60.44672250638801 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99995944 -0.00785185 0.00441115] [ 0.00849528 0.98496439 -0.17254848] [-0.00299 0.17257895 0.98499115]] t_estimated: [[-0.99522177] [-0.09631178] [-0.01605196]] R_gt: [[ 0.96251787 0.22424376 -0.15256239] [-0.20905403 0.97176296 0.10942087] [ 0.17279149 -0.0734263 0.98221811]] t_gt: [ 0.44685867 0.84494004 -0.29392798] Pose Error in degrees for R and t: 22.26910977999232 58.5749311941984 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.66903237e-01 -2.55143327e-01 1.15178561e-04] [ 2.55143300e-01 9.66903229e-01 2.04720606e-04] [-1.63599619e-04 -1.68557979e-04 9.99999972e-01]] t_estimated: [[0.98293538] [0.18394772] [0.00112851]] R_gt: [[ 0.99499698 -0.08772072 0.04781339] [ 0.08883453 0.99581088 -0.0216804 ] [-0.04571154 0.02581969 0.99862063]] t_gt: [ 0.74512695 -0.61470432 0.25869755] Pose Error in degrees for R and t: 10.167752648346992 51.710870880947915 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 7.10919665e-01 7.03269517e-01 2.28403546e-03] [ 7.03269558e-01 -7.10922697e-01 9.20575731e-04] [ 2.27118550e-03 9.51837221e-04 -9.99996968e-01]] t_estimated: [[0.95837811] [0.28549954] [0.00118465]] R_gt: [[ 0.99555367 -0.00739527 0.09390667] [ 0.01162827 0.99893736 -0.04460944] [-0.09347753 0.04550307 0.99458031]] t_gt: [0.20955522 0.3723657 0.90411857] Pose Error in degrees for R and t: 175.56243897058258 72.04834337146306 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.99116668 0.13260781 0.00194517] [-0.13260083 0.99116382 -0.00336213] [-0.00237383 0.0030745 0.99999246]] t_estimated: [[-0.85411499] [-0.52007992] [-0.00211415]] R_gt: [[ 0.99084131 0.07451414 0.11260728] [-0.06689928 0.99530521 -0.06995815] [-0.11729104 0.06178372 0.99117355]] t_gt: [-0.32573707 0.77689257 0.53882584] Pose Error in degrees for R and t: 8.22252377289182 82.70555338728416 Number of keypoints: Image1: 798 Image2: 798 R_estimated: [[ 9.99996089e-01 2.79267973e-03 -1.53065329e-04] [-2.79270292e-03 9.99996089e-01 -1.51462937e-04] [ 1.52641743e-04 1.51889810e-04 9.99999977e-01]] t_estimated: [[-0.14997757] [-0.98868634] [-0.00245943]] R_gt: [[ 0.99919573 0.01375666 -0.03764826] [-0.01240028 0.99927459 0.03601998] [ 0.03811653 -0.03552397 0.99864146]] t_gt: [ 0.11425687 -0.99115591 0.06749319] Pose Error in degrees for R and t: 3.044200909089293 15.710879396604795 Number of keypoints: Image1: 617 Image2: 617 R_estimated: [[ 9.84900184e-01 -1.73122567e-01 -4.51522176e-04] [ 1.73122506e-01 9.84900284e-01 -1.70190794e-04] [ 4.74168187e-04 8.94522932e-05 9.99999884e-01]] t_estimated: [[-0.37928109] [-0.92527915] [-0.00208396]] R_gt: [[ 0.99622914 0.08658533 -0.00545467] [-0.08619795 0.99497458 0.05094113] [ 0.00983892 -0.05027817 0.9986865 ]] t_gt: [-0.93467051 0.17536714 0.30925297] Pose Error in degrees for R and t: 15.214013211907337 78.95412916787461 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.26818986e-01 -3.75508345e-01 2.23118114e-04] [ 3.75508282e-01 9.26818996e-01 2.80778821e-04] [-3.12224897e-04 -1.76448443e-04 9.99999936e-01]] t_estimated: [[-0.34082217] [-0.94012721] [-0.00104227]] R_gt: [[ 0.98327093 0.18023916 -0.02628225] [-0.17771865 0.98095208 0.07841624] [ 0.03991557 -0.07243302 0.99657432]] t_gt: [-0.94255071 0.298895 0.14919766] Pose Error in degrees for R and t: 32.71949769763568 87.70254848693101 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.83565956 0.54895658 -0.01788198] [ 0.54892744 -0.83361774 0.06131979] [ 0.01875516 -0.06105838 -0.99795797]] t_estimated: [[-0.25275762] [ 0.96697313] [ 0.03281097]] R_gt: [[ 0.9989932 0.0287208 -0.03446739] [-0.02818097 0.9994732 0.01607021] [ 0.0349114 -0.01508363 0.99927652]] t_gt: [ 0.14164684 0.98951148 -0.02834085] Pose Error in degrees for R and t: 174.91275771146016 23.059470106357203 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 8.99112990e-01 4.37716146e-01 6.37766272e-04] [-4.37715887e-01 8.99113199e-01 -5.07524665e-04] [-7.95575813e-04 1.77161589e-04 9.99999668e-01]] t_estimated: [[0.12373917] [0.99231421] [0.00105919]] R_gt: [[ 0.99581509 0.01172232 -0.09064549] [-0.01298973 0.99982612 -0.01340186] [ 0.09047327 0.01452256 0.99579348]] t_gt: [ 0.6962392 0.56749865 -0.43954097] Pose Error in degrees for R and t: 25.789519464425403 49.54704426320721 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999461e-01 -1.03804567e-03 -1.53533758e-05] [ 1.03805689e-03 9.99999180e-01 7.50027070e-04] [ 1.45748008e-05 -7.50042604e-04 9.99999719e-01]] t_estimated: [[0.52421846] [0.85158314] [0.00107806]] R_gt: [[ 0.99214937 -0.03540298 -0.1199498 ] [ 0.03168151 0.99895938 -0.03278629] [ 0.12098535 0.02872819 0.99223849]] t_gt: [ 0.88169448 0.32844697 -0.33872914] Pose Error in degrees for R and t: 7.393238864506999 42.137639727983036 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.98060671e-01 6.22486051e-02 8.60666390e-05] [-6.22486009e-02 9.98060674e-01 -5.08918691e-05] [-8.90676756e-05 4.54356451e-05 9.99999995e-01]] t_estimated: [[ 8.16815115e-01] [-5.76899529e-01] [ 3.40993428e-05]] R_gt: [[ 0.98880034 -0.13615492 0.06112129] [ 0.13344038 0.98996495 0.04650622] [-0.06683954 -0.03782843 0.99704674]] t_gt: [ 0.56093507 -0.68630868 0.46296031] Pose Error in degrees for R and t: 12.150017991470468 31.33655711383765 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 8.54387775e-01 2.36564213e-01 -4.62665001e-01] [-4.01417340e-04 8.90663916e-01 4.54662103e-01] [ 5.19635804e-01 -3.88272021e-01 7.61067322e-01]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.97870723 -0.19594935 0.06113082] [ 0.19248854 0.97957305 0.05817834] [-0.0712825 -0.04517144 0.99643354]] t_gt: [ 0.63938978 -0.66236473 0.39045317] Pose Error in degrees for R and t: 45.60294363230424 84.4804083860764 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.98216196e-01 -4.39553930e-01 -8.88084107e-05] [ 4.39553904e-01 8.98216027e-01 5.78567008e-04] [-1.74542264e-04 -5.58714341e-04 9.99999829e-01]] t_estimated: [[9.98634617e-01] [5.22311718e-02] [8.97711187e-04]] R_gt: [[ 0.97256383 -0.22889708 0.04154272] [ 0.22694458 0.97277823 0.04687906] [-0.05114246 -0.03616432 0.99803682]] t_gt: [ 0.73360116 -0.62446838 0.26808315] Pose Error in degrees for R and t: 13.370048854950845 45.55506498541402 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 1.00000000e+00 1.86331965e-05 1.15675077e-05] [-1.86325073e-05 9.99999998e-01 -5.95806382e-05] [-1.15686179e-05 5.95804227e-05 9.99999998e-01]] t_estimated: [[0.68282007] [0.73058616] [0.00078305]] R_gt: [[ 0.99712071 0.07086137 -0.02700758] [-0.07236995 0.99559206 -0.05966688] [ 0.02266002 0.06144885 0.99785299]] t_gt: [-0.47399835 0.69748034 -0.53744464] Pose Error in degrees for R and t: 5.564582022025444 79.31012060578448 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99998391e-01 1.62393924e-03 -7.61561658e-04] [-1.62302911e-03 9.99997970e-01 1.19418585e-03] [ 7.63499397e-04 -1.19294790e-03 9.99998997e-01]] t_estimated: [[-0.99917289] [-0.04063957] [-0.00140136]] R_gt: [[ 0.98797604 0.13788048 -0.06995795] [-0.14595894 0.98099806 -0.12782684] [ 0.05100346 0.1365005 0.98932667]] t_gt: [-0.42460918 0.71451132 -0.55604012] Pose Error in degrees for R and t: 11.687544620784346 66.67165872150218 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.58681886e-02 9.99873989e-01 -4.55377097e-04] [-9.99871436e-01 -1.58691946e-02 -2.29779747e-03] [-2.30473439e-03 4.18856668e-04 9.99997256e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.98282235 0.13327281 -0.12766526] [-0.15975105 0.96072566 -0.22690597] [ 0.09241097 0.24340284 0.96551315]] t_gt: [-0.25980147 0.64965132 -0.71446229] Pose Error in degrees for R and t: 83.45047546333086 49.642922537582066 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 1.55460786e-01 -9.87839192e-01 -2.38215359e-03] [ 9.87842025e-01 1.55461009e-01 9.24499589e-05] [ 2.79006308e-04 -2.36756377e-03 9.99997158e-01]] t_estimated: [[ 9.87932716e-01] [-1.54880950e-01] [ 9.16037202e-04]] R_gt: [[ 0.98761842 -0.15293811 -0.03493773] [ 0.15268423 0.98822631 -0.0098055 ] [ 0.03602603 0.00434988 0.99934136]] t_gt: [ 0.66640412 -0.71805595 -0.20075161] Pose Error in degrees for R and t: 72.28715207425118 39.70070282242098 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.27169610e-01 3.74640916e-01 8.35782627e-04] [-3.74640262e-01 9.27169869e-01 -8.41978859e-04] [-1.09035220e-03 4.67539389e-04 9.99999296e-01]] t_estimated: [[0.92310904] [0.38453606] [0.00131405]] R_gt: [[ 0.95517423 -0.29103575 -0.05422029] [ 0.28703498 0.9552816 -0.07105094] [ 0.07247479 0.0523022 0.99599767]] t_gt: [ 0.73989596 -0.57677556 -0.34624257] Pose Error in degrees for R and t: 39.1629985576813 62.56392654227854 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99847263e-01 1.74727939e-02 3.91230294e-04] [-1.74727333e-02 9.99847328e-01 -1.57876161e-04] [-3.93929102e-04 1.51016185e-04 9.99999911e-01]] t_estimated: [[ 0.70892963] [-0.70527861] [-0.00093197]] R_gt: [[ 0.92272667 -0.38538043 -0.00764552] [ 0.38407006 0.92090931 -0.06645847] [ 0.03265295 0.05838586 0.9977596 ]] t_gt: [ 0.75771111 -0.61798077 -0.20969891] Pose Error in degrees for R and t: 23.9589694128126 13.292766163025297 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.02456861 0.99969756 0.00108395] [ 0.9996964 0.02456652 0.00189774] [ 0.00187053 0.00113025 -0.99999761]] t_estimated: [[7.94026088e-01] [6.07883294e-01] [6.86873779e-04]] R_gt: [[ 0.99785668 0.0499853 -0.04223032] [-0.05068394 0.99859274 -0.01563142] [ 0.04138909 0.01773679 0.99898534]] t_gt: [-0.20343942 0.76036166 -0.61681646] Pose Error in degrees for R and t: 178.9178762967946 72.5273043850353 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.34011718 -0.94036537 -0.00576876] [-0.94037101 0.34013748 -0.00297586] [ 0.00476057 0.00441263 -0.99997893]] t_estimated: [[ 0.8651358 ] [ 0.50153257] [-0.00226253]] R_gt: [[ 0.99545496 0.0773994 -0.05548924] [-0.08065045 0.99499802 -0.05894407] [ 0.05064958 0.06315041 0.99671732]] t_gt: [-0.20753879 0.7965125 -0.56788686] Pose Error in degrees for R and t: 175.12286458368877 77.21973622771762 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-4.87340758e-01 8.73211641e-01 -6.44489394e-04] [-8.73209990e-01 -4.87341107e-01 -1.72025895e-03] [-1.81623631e-03 -2.75577724e-04 9.99998313e-01]] t_estimated: [[0.73613437] [0.67683465] [0.00102241]] R_gt: [[ 0.99948062 0.03105108 -0.0086346 ] [-0.03124039 0.99925382 -0.02268135] [ 0.00792346 0.02293828 0.99970499]] t_gt: [-0.18050313 0.92508441 -0.3341219 ] Pose Error in degrees for R and t: 117.3853116928324 60.46777340380386 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 1.00000000e+00 1.39332990e-14 -1.89258331e-15] [-1.38222767e-14 1.00000000e+00 -2.86375741e-15] [ 1.89540224e-15 2.85741483e-15 1.00000000e+00]] t_estimated: [[-0.92101065] [-0.38953575] [-0.00113516]] R_gt: [[ 0.99998572 0.00479267 0.00255777] [-0.00481997 0.99993488 0.01046448] [-0.00250765 -0.01047612 0.99994236]] t_gt: [-0.21892188 0.6967207 0.6831204 ] Pose Error in degrees for R and t: 0.6707408171686651 85.95478413716128 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.79462865e-01 -2.01624335e-01 -3.51420374e-04] [ 2.01624541e-01 9.79462627e-01 7.11132918e-04] [ 2.00821421e-04 -7.67383257e-04 9.99999685e-01]] t_estimated: [[-0.70551756] [-0.70869199] [-0.00079361]] R_gt: [[ 0.99589486 0.0862539 -0.02747637] [-0.08739803 0.99521972 -0.04359216] [ 0.0235848 0.04581439 0.99867143]] t_gt: [-0.52262983 0.77388505 -0.35771495] Pose Error in degrees for R and t: 16.88005603976521 79.66298913210015 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.54635488 -0.83408371 -0.07616237] [ 0.83669914 0.54764302 0.00465513] [ 0.03782702 -0.06626834 0.99708456]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.99071859 0.11292488 -0.07567061] [-0.1224405 0.98312836 -0.13589786] [ 0.05904726 0.14390138 0.98782861]] t_gt: [-0.36081072 0.7012463 -0.61487336] Pose Error in degrees for R and t: 64.34732229085091 46.44195090995641 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.88514298e-01 -1.51127218e-01 -2.15470705e-04] [ 1.51127273e-01 9.88514277e-01 2.67289095e-04] [ 1.72601211e-04 -2.96782592e-04 9.99999941e-01]] t_estimated: [[0.87040757] [0.49233077] [0.00103867]] R_gt: [[ 0.99237208 -0.12233537 -0.01521646] [ 0.12137622 0.99118838 -0.05303023] [ 0.02157037 0.05077859 0.99847724]] t_gt: [ 0.66912674 -0.56811084 -0.47908191] Pose Error in degrees for R and t: 3.59507119487992 72.40919464168292 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999883e-01 4.15688946e-04 -2.46120541e-04] [-4.15335627e-04 9.99998886e-01 1.43386720e-03] [ 2.46716310e-04 -1.43376481e-03 9.99998942e-01]] t_estimated: [[-8.01504622e-01] [-5.97988061e-01] [-7.87259675e-04]] R_gt: [[ 0.96805535 -0.24595438 0.04872774] [ 0.24836267 0.9672846 -0.0517295 ] [-0.03441003 0.06217944 0.99747179]] t_gt: [ 0.70511259 -0.69912433 -0.11849642] Pose Error in degrees for R and t: 14.936930216303965 81.54748416162342 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 1.60264294e-02 -9.99870969e-01 -1.09469044e-03] [ 9.99871153e-01 1.60254156e-02 9.28709385e-04] [-9.11046684e-04 -1.10943328e-03 9.99998970e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91321039 -0.40433645 0.05059086] [ 0.40475926 0.91442085 0.00204719] [-0.047089 0.01860686 0.99871764]] t_gt: [ 0.7626565 -0.64410097 0.05906775] Pose Error in degrees for R and t: 65.26114222765429 40.473947412226394 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 9.84633921e-01 -1.74631063e-01 -1.84616303e-04] [ 1.74631066e-01 9.84633937e-01 1.91476305e-07] [ 1.81746040e-04 -3.24282759e-05 9.99999983e-01]] t_estimated: [[0.94737523] [0.32012305] [0.00118127]] R_gt: [[ 9.98146176e-01 6.08374181e-02 1.98437909e-03] [-6.08622182e-02 9.98013966e-01 1.62494358e-02] [-9.93106627e-04 -1.63404443e-02 9.99865394e-01]] t_gt: [-0.90512294 0.37259523 0.2047566 ] Pose Error in degrees for R and t: 13.578317796337274 42.44098064601313 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 7.47856879e-01 6.63859896e-01 -3.56630483e-04] [-6.63859970e-01 7.47856610e-01 -6.55991431e-04] [-1.68777939e-04 7.27340407e-04 9.99999721e-01]] t_estimated: [[-4.14423879e-02] [ 9.99140895e-01] [-2.01626474e-05]] R_gt: [[ 0.98840268 0.14937435 0.0273232 ] [-0.15069406 0.98704108 0.05514909] [-0.01873204 -0.05862694 0.99810318]] t_gt: [-0.90437449 0.26523568 0.33430048] Pose Error in degrees for R and t: 33.14548484562147 72.39335055439197 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99608906e-01 2.79639067e-02 -2.34795027e-04] [-2.79640835e-02 9.99608619e-01 -7.86816958e-04] [ 2.12700657e-04 7.93075067e-04 9.99999663e-01]] t_estimated: [[-0.98329857] [-0.1819928 ] [-0.00159648]] R_gt: [[ 0.96605499 0.25829432 0.00462313] [-0.25830003 0.96546602 0.0339912 ] [ 0.00431548 -0.03403092 0.99941046]] t_gt: [-0.86729082 0.49372217 0.06360069] Pose Error in degrees for R and t: 13.521122097086108 40.28386793908729 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.91060904e-01 1.33409861e-01 3.06906021e-04] [-1.33409802e-01 9.91060938e-01 -2.04193033e-04] [-3.31403933e-04 1.61423461e-04 9.99999932e-01]] t_estimated: [[-0.02016394] [-0.99979528] [-0.00168033]] R_gt: [[ 0.98710749 -0.15999393 -0.00478665] [ 0.1600578 0.98689537 0.02049225] [ 0.00144651 -0.02099467 0.99977831]] t_gt: [ 0.71152536 -0.70192775 0.03207949] Pose Error in degrees for R and t: 16.919639864091767 46.57669448781292 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.98854501e-01 4.78466491e-02 6.20240761e-04] [-4.78466564e-02 9.98854693e-01 -3.15787200e-06] [-6.19681488e-04 -2.65221919e-05 9.99999808e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.95701963 -0.28437725 0.05696446] [ 0.2796215 0.95685112 0.07904131] [-0.07698363 -0.05971609 0.99524203]] t_gt: [ 0.69942644 -0.6650001 0.26187309] Pose Error in degrees for R and t: 19.946819055019525 46.11591978523891 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.60372478e-01 2.78710609e-01 2.25830947e-03] [-2.78719252e-01 -9.60354656e-01 -5.87484149e-03] [ 5.31397362e-04 -6.27147040e-03 9.99980193e-01]] t_estimated: [[0.63687962] [0.77095954] [0.00239428]] R_gt: [[ 0.924078 -0.37428422 0.07741976] [ 0.36605519 0.92494349 0.10239531] [-0.10993351 -0.06628133 0.99172589]] t_gt: [ 0.73469752 -0.61793158 0.27996449] Pose Error in degrees for R and t: 174.39556398977493 89.55216856238161 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999765e-01 -6.38168422e-04 2.49786687e-04] [ 6.38269171e-04 9.99999715e-01 -4.03470057e-04] [-2.49529134e-04 4.03629394e-04 9.99999887e-01]] t_estimated: [[-9.99994892e-01] [-3.10075958e-03] [-7.75189839e-04]] R_gt: [[ 0.99381733 0.09776893 -0.05261173] [-0.09530748 0.99431658 0.04743386] [ 0.05695015 -0.04212581 0.99748778]] t_gt: [-0.1081675 0.98409466 0.14091661] Pose Error in degrees for R and t: 6.919132227049996 83.97247239337844 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999303e-01 -1.17142990e-03 1.48867103e-04] [ 1.17141416e-03 9.99999308e-01 1.05780517e-04] [-1.48990914e-04 -1.05606058e-04 9.99999983e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98069244 0.17278297 -0.0915841 ] [-0.1640388 0.98179822 0.09572698] [ 0.10645718 -0.07885456 0.99118508]] t_gt: [-0.01035446 0.93056895 0.36597023] Pose Error in degrees for R and t: 12.410108722118203 21.42975679417253 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99977083e-01 -6.76841802e-03 1.49480240e-04] [ 6.76841728e-03 9.99977094e-01 5.42529705e-06] [-1.49513536e-04 -4.41342808e-06 9.99999989e-01]] t_estimated: [[-5.31293026e-01] [ 8.47188041e-01] [ 3.78896559e-04]] R_gt: [[ 0.95254519 0.26907289 -0.14232411] [-0.25297943 0.95981623 0.1214667 ] [ 0.16928804 -0.07969817 0.98233902]] t_gt: [ 0.0168095 0.99161039 -0.12816506] Pose Error in degrees for R and t: 18.996442705892182 33.787982473406835 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 7.77856657e-01 6.28440959e-01 9.90638796e-04] [ 6.28431549e-01 -7.77852055e-01 4.46866505e-03] [ 3.57886258e-03 -2.85343219e-03 -9.99989525e-01]] t_estimated: [[-0.95903013] [-0.28329461] [-0.0023192 ]] R_gt: [[ 9.99135316e-01 4.15798265e-02 -8.31222656e-04] [-4.15023387e-02 9.95564011e-01 -8.44476563e-02] [-2.68305837e-03 8.44104838e-02 9.96427011e-01]] t_gt: [-0.3201914 0.70678434 -0.6308196 ] Pose Error in degrees for R and t: 175.640548562918 83.78221122111039 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.48204321 -0.87614351 -0.00262729] [ 0.87614506 -0.48203274 -0.00377671] [ 0.00204251 -0.00412242 0.99998942]] t_estimated: [[ 9.94376156e-01] [-1.05905662e-01] [ 2.26084960e-04]] R_gt: [[ 0.99608591 0.08811344 -0.00709586] [-0.08838743 0.99407244 -0.06331767] [ 0.00147447 0.06369739 0.99796785]] t_gt: [-0.39735226 0.850064 -0.34569116] Pose Error in degrees for R and t: 123.91817178505904 60.97295849874591 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.08105743 0.88732566 -0.45396351] [-0.97234033 -0.17049697 -0.15964042] [-0.21905244 0.42846698 0.87660257]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.97974209 0.19726024 -0.03454184] [-0.1989638 0.97841353 -0.05587255] [ 0.02277569 0.06161332 0.99784005]] t_gt: [-0.50050741 0.83735672 -0.21983189] Pose Error in degrees for R and t: 88.76855335370489 54.36597782328362 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999937e-01 3.49597210e-04 6.79688701e-05] [-3.49603520e-04 9.99999935e-01 9.28525876e-05] [-6.79364046e-05 -9.28763439e-05 9.99999993e-01]] t_estimated: [[5.99533256e-01] [8.00349837e-01] [1.13258505e-04]] R_gt: [[ 0.99711011 -0.03469179 -0.06759614] [ 0.03253926 0.99893664 -0.03266727] [ 0.0686575 0.03037317 0.99717789]] t_gt: [ 0.8708094 0.09229953 -0.48287865] Pose Error in degrees for R and t: 4.730975066186083 53.42343778564827 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.94523329e-01 1.04514364e-01 3.08589760e-04] [-1.04514515e-01 9.94523224e-01 5.22157480e-04] [-2.52326726e-04 -5.51549905e-04 9.99999816e-01]] t_estimated: [[0.48807014] [0.87280296] [0.00158981]] R_gt: [[ 0.99437943 -0.07941638 -0.07002633] [ 0.07861587 0.99680568 -0.01410415] [ 0.07092359 0.00852008 0.99744526]] t_gt: [ 0.97794866 0.01534753 -0.20828074] Pose Error in degrees for R and t: 11.31059735569112 60.63497895646623 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999958e-01 -2.89810442e-04 -1.51442283e-06] [ 2.89811239e-04 9.99999804e-01 5.55792622e-04] [ 1.35334803e-06 -5.55793037e-04 9.99999846e-01]] t_estimated: [[6.33746440e-01] [7.73540752e-01] [3.93837472e-04]] R_gt: [[ 0.99393521 -0.05648316 -0.09436333] [ 0.05403082 0.99813751 -0.02834347] [ 0.09578918 0.02307358 0.99513438]] t_gt: [ 0.95239658 0.16960748 -0.25332599] Pose Error in degrees for R and t: 6.4830942609403905 42.72011483037488 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.16841297e-01 -3.99251845e-01 -2.34026657e-05] [ 3.99251823e-01 9.16841224e-01 3.89833278e-04] [-1.34185127e-04 -3.66758805e-04 9.99999924e-01]] t_estimated: [[8.10570051e-01] [5.85641140e-01] [8.04865200e-04]] R_gt: [[ 0.99822248 -0.05890404 -0.00914548] [ 0.05857123 0.99772997 -0.03322505] [ 0.0110809 0.03263094 0.99940563]] t_gt: [ 0.49348641 -0.76998253 -0.40447257] Pose Error in degrees for R and t: 20.260718363753856 87.06209280544029 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.94091292e-01 1.08547167e-01 1.24613871e-04] [-1.08547196e-01 9.94091262e-01 2.62425526e-04] [-9.53920129e-05 -2.74401416e-04 9.99999958e-01]] t_estimated: [[7.58345948e-01] [6.51851949e-01] [6.78305865e-04]] R_gt: [[ 0.99111262 -0.13242396 -0.01267054] [ 0.13170472 0.99018865 -0.04669181] [ 0.01872904 0.04460891 0.99882857]] t_gt: [ 0.62190104 -0.73057587 -0.2819539 ] Pose Error in degrees for R and t: 14.102290662022563 89.72484043265692 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.72519175e-01 -2.32822755e-01 -1.36302115e-04] [ 2.32822795e-01 9.72519024e-01 5.41583577e-04] [ 6.46341878e-06 -5.58434653e-04 9.99999844e-01]] t_estimated: [[9.88023261e-01] [1.54302897e-01] [8.07868570e-04]] R_gt: [[ 0.97188937 -0.23465982 0.01915687] [ 0.23530693 0.97086361 -0.04531992] [-0.00796426 0.04855425 0.9987881 ]] t_gt: [ 0.72122816 -0.6867962 -0.09022703] Pose Error in degrees for R and t: 2.8553454789820263 52.6600672101821 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.24881083 0.96854755 0.00296981] [ 0.96855059 0.24881468 -0.00100107] [-0.00170852 0.00262733 -0.99999509]] t_estimated: [[0.80851357] [0.58847506] [0.00170572]] R_gt: [[ 9.92027277e-01 -1.26009745e-01 2.09381674e-03] [ 1.26009144e-01 9.92028621e-01 1.53042622e-04] [-2.09607157e-03 1.12392758e-04 9.99998185e-01]] t_gt: [ 0.75785738 -0.65240462 -0.00451776] Pose Error in degrees for R and t: 179.73978800360553 76.77318916088525 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999693e-01 7.42451093e-04 2.48959826e-04] [-7.42457447e-04 9.99999724e-01 2.54292873e-05] [-2.48940878e-04 -2.56141216e-05 9.99999969e-01]] t_estimated: [[9.85261569e-01] [1.71052356e-01] [8.55261779e-04]] R_gt: [[ 0.98511957 -0.17093892 -0.0178963 ] [ 0.17086745 0.98527916 -0.00543178] [ 0.01856091 0.00229325 0.99982549]] t_gt: [ 0.82362502 -0.55861117 -0.09795608] Pose Error in degrees for R and t: 9.942912434643345 44.28705253414981 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999231e-01 7.28883713e-04 -1.00297133e-03] [-7.28878010e-04 9.99999734e-01 6.05129736e-06] [ 1.00297548e-03 -5.32024896e-06 9.99999497e-01]] t_estimated: [[0.69644119] [0.717613 ] [0.00111431]] R_gt: [[ 9.66813846e-01 -2.51902358e-01 -4.26276614e-02] [ 2.52165223e-01 9.67683840e-01 8.35031268e-04] [ 4.10394422e-02 -1.15554916e-02 9.99090848e-01]] t_gt: [ 0.85033007 -0.51797598 -0.09294977] Pose Error in degrees for R and t: 14.838437125565045 77.26776470781512 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.12026093 0.99272491 -0.00587878] [ 0.99271991 -0.12021632 0.0074304 ] [ 0.00666962 -0.00672957 -0.99995511]] t_estimated: [[0.80676545] [0.59087047] [0.00126254]] R_gt: [[ 0.9982932 0.01536792 -0.05635615] [-0.01927308 0.99740282 -0.06940411] [ 0.05514293 0.07037126 0.99599573]] t_gt: [ 0.12609206 0.37566625 -0.91813706] Pose Error in degrees for R and t: 179.6672837357988 71.18354085790943 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-4.89462770e-01 8.72020278e-01 2.61364085e-03] [ 8.72024052e-01 4.89458779e-01 2.03859288e-03] [ 4.98424872e-04 3.27697300e-03 -9.99994506e-01]] t_estimated: [[-8.23212579e-01] [-5.67732813e-01] [-7.09666016e-04]] R_gt: [[ 0.99327327 -0.01080266 -0.11528351] [-0.00533662 0.9903085 -0.13878361] [ 0.11566429 0.13846464 0.98358979]] t_gt: [ 0.25588546 0.2531978 -0.93295954] Pose Error in degrees for R and t: 178.36537473961386 69.2840805725808 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-6.83586720e-01 7.29869143e-01 -4.79251372e-04] [ 7.29865342e-01 6.83585028e-01 2.84464009e-03] [ 2.40382409e-03 1.59476922e-03 -9.99995839e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.98663275 0.01472777 -0.16229537] [-0.03857534 0.98871093 -0.14478512] [ 0.15833049 0.14911024 0.97606237]] t_gt: [ 0.22255601 0.35752126 -0.9069991 ] Pose Error in degrees for R and t: 174.79738136631207 73.96104784369302 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.92316685e-01 -1.23723327e-01 3.67680572e-04] [ 1.23723655e-01 9.92316132e-01 -1.07260372e-03] [-2.32149262e-04 1.10985336e-03 9.99999357e-01]] t_estimated: [[ 0.61459459] [ 0.78884257] [-0.00093848]] R_gt: [[ 0.99486431 0.0993518 0.01933436] [-0.09907786 0.99497222 -0.01461368] [-0.02068843 0.01262333 0.99970584]] t_gt: [-0.93866427 0.34106213 -0.05085286] Pose Error in degrees for R and t: 12.871554257920396 72.07294434304127 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.8320748 -0.55457827 0.00971968] [ 0.55465568 0.83202809 -0.00929164] [-0.00293411 0.01312242 0.99990959]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96373806 0.26583844 0.02323387] [-0.26612817 0.96388078 0.01041196] [-0.01962627 -0.01621757 0.99967502]] t_gt: [-0.88125646 0.46353721 0.09230552] Pose Error in degrees for R and t: 49.141027480061844 64.58466013953408 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.48428223 0.87490626 -0.00312355] [ 0.87489953 -0.48425339 0.00703341] [ 0.00464098 -0.00613895 -0.99997039]] t_estimated: [[0.69459325] [0.71940015] [0.00190822]] R_gt: [[ 0.91578879 0.40022048 0.03399241] [-0.40102859 0.91581319 0.02148096] [-0.02253426 -0.03330314 0.99919102]] t_gt: [-0.84949529 0.51467869 0.11603279] Pose Error in degrees for R and t: 179.01820148878215 77.31608360011394 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.08960929 -0.97358233 -0.21001817] [-0.98109488 0.12260188 -0.1497385 ] [ 0.17153138 0.19262979 -0.9661629 ]] t_estimated: [[ 0.78080132] [ 0.61561569] [-0.10661437]] R_gt: [[ 9.86217457e-01 -1.63107650e-01 -2.77580000e-02] [ 1.63184207e-01 9.86594810e-01 5.14354024e-04] [ 2.73028823e-02 -5.03682417e-03 9.99614582e-01]] t_gt: [ 0.66779714 -0.73381971 -0.12472211] Pose Error in degrees for R and t: 164.2637959674036 85.24109329222519 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999868e-01 -3.10235696e-04 -4.08628804e-04] [ 3.10410548e-04 9.99999860e-01 4.27907502e-04] [ 4.08495995e-04 -4.28034288e-04 9.99999825e-01]] t_estimated: [[ 9.99998385e-01] [-1.64911831e-03] [-7.15108389e-04]] R_gt: [[ 0.95119806 -0.30316666 -0.05754896] [ 0.30040183 0.95239379 -0.05200435] [ 0.07057577 0.03217863 0.99698673]] t_gt: [ 0.74848766 -0.60009217 -0.28223325] Pose Error in degrees for R and t: 18.123010532620484 41.4375154598296 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-0.84973028 0.52721667 -0.00102006] [-0.52721382 -0.84972988 -0.00217038] [-0.00201103 -0.00130645 0.99999712]] t_estimated: [[0.55159344] [0.83411241] [0.00108242]] R_gt: [[ 0.91777996 -0.39535725 -0.03706313] [ 0.39271253 0.91752086 -0.06270372] [ 0.05879712 0.04299282 0.99734414]] t_gt: [ 0.76774939 -0.60148829 -0.22084547] Pose Error in degrees for R and t: 171.4267092492153 85.49981214540983 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.95323092e-01 -9.66019627e-02 -5.45261197e-05] [ 9.66019716e-02 9.95323074e-01 1.94185496e-04] [ 3.55124051e-05 -1.98544639e-04 9.99999980e-01]] t_estimated: [[3.91548032e-01] [9.20157648e-01] [2.03954855e-04]] R_gt: [[ 0.99847258 -0.00308457 -0.05515471] [-0.00251414 0.99486844 -0.10115078] [ 0.05518374 0.10113522 0.99334114]] t_gt: [ 0.08277277 0.25042873 -0.96459013] Pose Error in degrees for R and t: 8.625434780425733 74.77283423470818 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.08731606 0.99617919 0.00171297] [-0.99618004 -0.08731395 -0.00126741] [-0.001113 -0.0018171 0.99999773]] t_estimated: [[0.00867646] [0.99996177] [0.00108456]] R_gt: [[ 0.99430881 0.0239505 -0.10380455] [-0.04181254 0.9839481 -0.17348728] [ 0.0979819 0.17684003 0.97934978]] t_gt: [-0.00977532 0.3709341 -0.92860774] Pose Error in degrees for R and t: 93.67691542606094 68.29499135181709 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 7.72227665e-01 -6.35344718e-01 1.23420619e-03] [ 6.35345891e-01 7.72225627e-01 -1.78335869e-03] [ 1.79961875e-04 2.16130675e-03 9.99997648e-01]] t_estimated: [[-0.04896067] [-0.99879771] [-0.00244803]] R_gt: [[ 0.98442996 0.04751983 -0.16922736] [-0.08873304 0.96543556 -0.24507591] [ 0.15173169 0.25627673 0.95461984]] t_gt: [-0.00780689 0.42514286 -0.90509259] Pose Error in degrees for R and t: 46.58334139357384 65.03694447184141 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.96961431 -0.24443894 0.00988384] [ 0.2445757 0.96948994 -0.01649188] [-0.00555103 0.01840811 0.99981515]] t_estimated: [[-0.23332883] [-0.97220347] [-0.01944407]] R_gt: [[ 0.99804521 0.06147852 0.01125818] [-0.06128909 0.99798361 -0.01651268] [-0.01225092 0.01579169 0.99980026]] t_gt: [-0.92599203 0.29968075 -0.22963059] Pose Error in degrees for R and t: 17.674428457177747 85.93862195008465 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.976726 -0.21448659 -0.00135146] [ 0.21448817 0.97672589 0.00116399] [ 0.00107035 -0.00142678 0.99999841]] t_estimated: [[9.99996327e-01] [2.67327497e-03] [4.46416956e-04]] R_gt: [[ 0.97660835 0.21486062 0.0084988 ] [-0.21493576 0.9765843 0.00926683] [-0.00630833 -0.01087545 0.99992121]] t_gt: [-0.919727 0.38589054 0.07204678] Pose Error in degrees for R and t: 24.805411030207768 23.26905692222094 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.26347515 -0.96466033 -0.00336008] [ 0.9644377 -0.26333535 -0.02268074] [ 0.02099438 -0.0092164 0.99973711]] t_estimated: [[ 0.9495952 ] [-0.31335214] [-0.00891048]] R_gt: [[ 0.93184633 0.36229974 0.02006711] [-0.36235318 0.93204039 -0.00106618] [-0.01908849 -0.00627675 0.99979796]] t_gt: [-0.85979593 0.50904415 0.04031153] Pose Error in degrees for R and t: 126.54014730119947 12.491699875864578 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.80817983 0.5889038 0.0061381 ] [-0.58887336 0.80820202 -0.00613696] [-0.0085749 0.0013452 0.99996233]] t_estimated: [[0.78977456] [0.61339157] [0.00263258]] R_gt: [[ 0.99753496 0.00587526 -0.06994079] [-0.010621 0.99765184 -0.06767152] [ 0.06937888 0.06824759 0.99525348]] t_gt: [ 0.18933147 0.27760164 -0.94185504] Pose Error in degrees for R and t: 36.05498301182117 71.498579242186 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.08379845e-01 -4.18145660e-01 -5.14468579e-04] [ 4.18145859e-01 9.08379824e-01 3.68721577e-04] [ 3.13153551e-04 -5.50062155e-04 9.99999800e-01]] t_estimated: [[9.21432230e-01] [3.88538454e-01] [7.18185682e-04]] R_gt: [[ 0.99310451 -0.01578797 -0.11617008] [ 0.00411988 0.99497989 -0.09999955] [ 0.11716477 0.09883175 0.98818249]] t_gt: [ 0.31643299 0.18425167 -0.93054902] Pose Error in degrees for R and t: 25.68059570176352 68.74667609773927 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.75699984 0.65340357 0.00387538] [-0.65337216 0.75700478 -0.00697006] [-0.00748794 0.00274427 0.9999682 ]] t_estimated: [[0.0419209 ] [0.99911483] [0.00349341]] R_gt: [[ 0.9859401 0.04635534 -0.16054861] [-0.06603124 0.99064042 -0.11947147] [ 0.15350673 0.12839287 0.97977114]] t_gt: [ 0.11481466 0.48756333 -0.8655054 ] Pose Error in degrees for R and t: 39.24656441003689 60.7302925115609 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99975277e-01 -7.03033558e-03 1.41125974e-04] [ 7.03034190e-03 9.99975286e-01 -4.43718123e-05] [-1.40810537e-04 4.53628791e-05 9.99999989e-01]] t_estimated: [[8.20623560e-01] [5.71468719e-01] [6.90179613e-04]] R_gt: [[ 9.98112595e-01 -5.67636989e-02 -2.34439848e-02] [ 5.67604756e-02 9.98387181e-01 -7.49954880e-04] [ 2.34479551e-02 -5.82083074e-04 9.99724651e-01]] t_gt: [ 0.88853692 -0.40870409 -0.20847808] Pose Error in degrees for R and t: 3.156051892698195 60.30064865337728 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99997697e-01 2.13548357e-03 2.12817888e-04] [-2.13548285e-03 9.99997720e-01 -3.61403684e-06] [-2.12825120e-04 3.15955957e-06 9.99999977e-01]] t_estimated: [[9.99969968e-01] [7.70068638e-03] [8.73362112e-04]] R_gt: [[ 0.99214594 -0.11866914 -0.03955008] [ 0.11870354 0.99292842 -0.00146906] [ 0.03944473 -0.00323693 0.99921553]] t_gt: [ 0.86680277 -0.46515206 -0.1796845 ] Pose Error in degrees for R and t: 7.306151407401775 30.340600686076176 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.92754889 -0.37368862 -0.0031419 ] [ 0.37369934 -0.92754061 -0.0041497 ] [-0.00136355 -0.00502318 0.99998645]] t_estimated: [[0.84684923] [0.53183152] [0.00127538]] R_gt: [[ 0.98683551 -0.15729284 -0.03762834] [ 0.1569902 0.98754007 -0.01085897] [ 0.03886764 0.00480919 0.99923212]] t_gt: [ 0.85405996 -0.49745451 -0.1520546 ] Pose Error in degrees for R and t: 149.01316871207408 62.70937809229031 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[ 9.98162051e-01 -6.06012554e-02 8.93615797e-05] [ 6.06012165e-02 9.98161982e-01 3.88375787e-04] [-1.12733392e-04 -3.82246551e-04 9.99999921e-01]] t_estimated: [[0.80794674] [0.58925044] [0.0024457 ]] R_gt: [[ 0.99840523 0.03432976 -0.04480891] [-0.03308585 0.99905469 0.0281893 ] [ 0.04573459 -0.02666169 0.99859763]] t_gt: [0.23254 0.97129669 0.0500789 ] Pose Error in degrees for R and t: 6.197145477206237 40.50587090825324 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 8.07056231e-01 -5.90473797e-01 -9.66821991e-04] [ 5.90474537e-01 8.07055760e-01 9.05843090e-04] [ 2.45402648e-04 -1.30195008e-03 9.99999122e-01]] t_estimated: [[9.69001245e-01] [2.47054142e-01] [9.15015340e-04]] R_gt: [[ 0.99503714 0.00429963 -0.09940673] [-0.00658732 0.9997206 -0.02270327] [ 0.09928191 0.02324506 0.9947878 ]] t_gt: [ 0.74948497 0.48435613 -0.4512997 ] Pose Error in degrees for R and t: 36.95054695820878 32.27433425499083 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.14108566e-01 4.05446275e-01 -4.34125757e-03] [-4.05438378e-01 9.14118663e-01 2.60597446e-03] [ 5.02500720e-03 -6.22031149e-04 9.99987181e-01]] t_estimated: [[-0.99842201] [-0.05581241] [-0.00620138]] R_gt: [[ 0.99177629 -0.04073034 -0.12132858] [ 0.03845514 0.99903866 -0.02104893] [ 0.12206933 0.01621102 0.99238989]] t_gt: [ 0.91572423 0.28670144 -0.28151629] Pose Error in degrees for R and t: 27.052627915175396 21.79242206256171 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.03505389e-01 4.28576724e-01 5.28514623e-05] [-4.28576727e-01 9.03505385e-01 8.85124491e-05] [-9.81720532e-06 -1.02622382e-04 9.99999995e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.99293687 -0.11720773 -0.01844131] [ 0.11680932 0.9929248 -0.02137661] [ 0.02081629 0.01907148 0.99960178]] t_gt: [ 0.65911182 -0.72205556 -0.2102555 ] Pose Error in degrees for R and t: 32.13796768279293 88.3371091976569 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-9.43307694e-01 -3.31919531e-01 -1.40327260e-04] [-3.31919536e-01 9.43307380e-01 7.79645368e-04] [-1.26407785e-04 7.82022833e-04 -9.99999686e-01]] t_estimated: [[9.90165775e-01] [1.39896518e-01] [8.37703702e-04]] R_gt: [[ 0.97895257 -0.20408696 -0.00137938] [ 0.2040407 0.97883531 -0.01580613] [ 0.00457652 0.01519141 0.99987468]] t_gt: [ 0.7210391 -0.69138506 -0.04570911] Pose Error in degrees for R and t: 179.69019168358068 51.88895350786582 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 4.05276841e-01 9.14193266e-01 1.16398142e-03] [-9.14191573e-01 4.05278371e-01 -1.79150024e-03] [-2.10951395e-03 -3.38048445e-04 9.99997718e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.96842155 -0.24634184 0.03842099] [ 0.24806635 0.96747856 -0.04949562] [-0.02497795 0.05746393 0.99803529]] t_gt: [ 0.77151477 -0.63437015 -0.04836821] Pose Error in degrees for R and t: 80.47974807738483 51.398726944294204 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99299609 -0.11807422 0.00415188] [ 0.11808538 0.99300017 -0.00255258] [-0.00382142 0.00302498 0.99998812]] t_estimated: [[ 0.99955613] [-0.02957994] [ 0.00354482]] R_gt: [[ 0.99850781 0.03470222 -0.04217918] [-0.03961051 0.99177146 -0.12173363] [ 0.03760796 0.12322304 0.99166552]] t_gt: [-0.11848048 0.55118807 -0.8259262 ] Pose Error in degrees for R and t: 11.537631440677727 82.08755077022685 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.15381240e-01 -9.09646728e-01 -1.12056309e-03] [ 9.09647418e-01 4.15380954e-01 4.88147664e-04] [ 2.14186386e-05 -1.22208470e-03 9.99999253e-01]] t_estimated: [[ 6.67062043e-01] [-7.45002063e-01] [ 3.96773562e-04]] R_gt: [[ 0.99682806 0.07685806 -0.02065656] [-0.07879269 0.98963801 -0.12003055] [ 0.01121746 0.12127702 0.99255514]] t_gt: [-0.27212921 0.74802643 -0.60531162] Pose Error in degrees for R and t: 70.24723736096986 42.34957730114216 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.79917419 -0.59275114 -0.0998334 ] [ 0.59291421 0.80465872 -0.03125849] [ 0.09886032 -0.03421166 0.99451305]] t_estimated: [[ 0.83556464] [-0.54199608] [-0.08984417]] R_gt: [[ 0.98537051 0.16419866 -0.04564297] [-0.16792249 0.98116224 -0.09551161] [ 0.02910069 0.10177822 0.99438077]] t_gt: [-0.40410246 0.82348044 -0.39822252] Pose Error in degrees for R and t: 46.52987037834216 41.56539715550139 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-8.74499557e-01 -4.85026151e-01 -3.96048383e-04] [-4.85025727e-01 8.74496941e-01 2.26808166e-03] [-7.53735820e-04 2.17553007e-03 -9.99997349e-01]] t_estimated: [[9.42457497e-01] [3.34325173e-01] [7.38024665e-04]] R_gt: [[ 0.99264684 0.09068688 -0.08018546] [-0.08517291 0.99392537 0.06970958] [ 0.0860198 -0.06236776 0.99434009]] t_gt: [0.77584572 0.52307931 0.35277677] Pose Error in degrees for R and t: 176.33383398505666 24.995556875205242 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-9.90934305e-01 1.34344956e-01 7.97236063e-04] [ 1.34347311e-01 9.90914442e-01 6.27446378e-03] [ 5.29498291e-05 6.32468793e-03 -9.99979998e-01]] t_estimated: [[9.59114389e-01] [2.83017361e-01] [8.73510372e-04]] R_gt: [[ 0.97967383 0.18022496 -0.0880922 ] [-0.17315866 0.98145578 0.08222972] [ 0.10127744 -0.06530527 0.99271282]] t_gt: [-0.1012493 0.97418491 0.20177301] Pose Error in degrees for R and t: 174.25648411990738 79.70141987540964 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.35115357 0.93629211 -0.00694631] [ 0.93629064 0.35119028 0.00502225] [ 0.00714177 -0.00474018 -0.99996326]] t_estimated: [[ 0.88292788] [-0.46949317] [-0.00381186]] R_gt: [[ 0.9521049 0.26590328 -0.1509743 ] [-0.24723051 0.9599756 0.13161907] [ 0.1799284 -0.08798977 0.9797365 ]] t_gt: [ 0.04656746 0.99866922 -0.02216449] Pose Error in degrees for R and t: 167.9602266658765 64.68033229386947 Number of keypoints: Image1: 363 Image2: 363 R_estimated: [[-0.36685445 -0.92988936 0.02689966] [-0.92989571 0.36737949 0.01806333] [-0.02667928 -0.01838726 -0.99947492]] t_estimated: [[0.8350434 ] [0.54996408] [0.01555722]] R_gt: [[ 0.9987929 -0.03786249 -0.03129661] [ 0.03822298 0.99920877 0.01100705] [ 0.0308551 -0.01218997 0.99944895]] t_gt: [ 0.93347823 0.35536378 -0.04832156] Pose Error in degrees for R and t: 179.2410081633704 13.048219384080939 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.95499403e-01 9.47677647e-02 9.80046861e-05] [-9.47677817e-02 9.95499389e-01 1.86754996e-04] [-7.98652515e-05 -1.95202174e-04 9.99999978e-01]] t_estimated: [[0.61079756] [0.79178639] [0.00081279]] R_gt: [[ 0.99829204 -0.00191285 -0.05838023] [ 0.0037849 0.99948135 0.03197625] [ 0.05828942 -0.03214321 0.99778155]] t_gt: [0.58035886 0.81149963 0.06820525] Pose Error in degrees for R and t: 6.7770659160537585 4.3859276443585955 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.3282638 0.94452555 0.01069399] [ 0.94447999 0.32837557 -0.01127099] [-0.01415738 0.0064004 -0.99987929]] t_estimated: [[0.69263608] [0.72128526] [0.00168525]] R_gt: [[ 0.99323708 -0.01790337 -0.1147165 ] [ 0.018271 0.9998314 0.00215125] [ 0.11465928 -0.00423297 0.99339585]] t_gt: [ 0.78832964 0.54872424 -0.278277 ] Pose Error in degrees for R and t: 175.3988325512905 19.72161828722139 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999996e-01 1.65553178e-05 -8.65481217e-05] [-1.65452729e-05 9.99999993e-01 1.16061072e-04] [ 8.65500425e-05 -1.16059640e-04 9.99999990e-01]] t_estimated: [[-0.65318626] [-0.75719681] [-0.00083208]] R_gt: [[ 0.98638166 -0.16188407 0.02907563] [ 0.16062024 0.98614271 0.04152321] [-0.03539454 -0.03628704 0.99871452]] t_gt: [ 0.66070521 -0.71023037 0.24298446] Pose Error in degrees for R and t: 9.728854767393013 83.9141543701345 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 6.15192096e-01 -7.88375945e-01 -1.43321523e-03] [ 7.88376243e-01 6.15193198e-01 -4.78719336e-04] [ 1.25911507e-03 -8.35408484e-04 9.99998858e-01]] t_estimated: [[ 9.52651642e-01] [-3.04063884e-01] [-5.81528763e-05]] R_gt: [[ 0.9576417 -0.27882656 0.07195612] [ 0.27325348 0.95873947 0.07843114] [-0.09085463 -0.05544595 0.99431953]] t_gt: [ 0.68387998 -0.6639699 0.30241056] Pose Error in degrees for R and t: 36.471756374826846 31.419759416908253 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.99946402 0.0160991 0.02850423] [-0.01492599 0.99905171 -0.04090097] [-0.02913567 0.0404536 0.99875654]] t_estimated: [[ 0.7764439 ] [ 0.63018443] [-0.00156382]] R_gt: [[ 0.93907072 -0.33652022 0.07000495] [ 0.32996114 0.93962961 0.09067733] [-0.09629303 -0.06205243 0.99341735]] t_gt: [ 0.72297952 -0.62911458 0.28550913] Pose Error in degrees for R and t: 21.741631551073645 80.53481113581525 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.76277077 0.6466647 0.00234703] [ 0.64666817 0.7627705 0.00120023] [-0.0010141 0.00243326 -0.99999653]] t_estimated: [[0.95837811] [0.28549955] [0.00118465]] R_gt: [[ 0.99546289 0.07899781 0.0530525 ] [-0.07781866 0.99668028 -0.02392491] [-0.05476682 0.01968788 0.99830469]] t_gt: [-0.48236724 0.80372475 0.34835094] Pose Error in degrees for R and t: 176.56719349558088 76.56073596739638 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.96914517e-01 -7.84942681e-02 3.10489993e-04] [ 7.84946979e-02 9.96912948e-01 -1.77660909e-03] [-1.70077864e-04 1.79549921e-03 9.99998374e-01]] t_estimated: [[-0.85411499] [-0.52007992] [-0.00211415]] R_gt: [[ 0.98439295 0.15983089 0.07365663] [-0.15673202 0.98656404 -0.04612127] [-0.08003798 0.03385677 0.99621672]] t_gt: [-0.49977506 0.8264348 0.25928828] Pose Error in degrees for R and t: 14.485728124928615 89.79975388882731 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.41469174e-01 -3.37098456e-01 -6.51941738e-04] [ 3.37098836e-01 9.41469072e-01 6.01395916e-04] [ 4.11053348e-04 -7.85964517e-04 9.99999607e-01]] t_estimated: [[ 9.96756223e-01] [-8.04773088e-02] [ 6.59934071e-04]] R_gt: [[ 0.98050139 0.15459309 0.12132367] [-0.15006875 0.98762111 -0.04563859] [-0.1268781 0.02654162 0.99156352]] t_gt: [-0.47287909 0.74417245 0.47179734] Pose Error in degrees for R and t: 29.447734763895145 57.932172963965336 Number of keypoints: Image1: 661 Image2: 661 R_estimated: [[ 0.60428717 0.79567025 -0.04178359] [ 0.79545697 -0.59945828 0.08887055] [ 0.04566414 -0.08694038 -0.9951664 ]] t_estimated: [[-0.44071464] [ 0.89630294] [ 0.04910862]] R_gt: [[ 0.99657121 0.07751707 0.0289537 ] [-0.07789957 0.99688455 0.01232593] [-0.02790772 -0.01453889 0.99950416]] t_gt: [-0.92085758 0.26763061 0.28354043] Pose Error in degrees for R and t: 174.40179494451664 48.72774533882664 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 1.19595429e-01 9.92822328e-01 -8.70925372e-04] [-9.92820677e-01 1.19593362e-01 -2.12882950e-03] [-2.00939257e-03 1.11927099e-03 9.99997355e-01]] t_estimated: [[0.34082217] [0.94012721] [0.00104227]] R_gt: [[ 0.98535282 0.17047526 0.00434344] [-0.17051898 0.98466598 0.03681926] [ 0.0019996 -0.03702043 0.99931226]] t_gt: [-0.92906699 0.34308177 0.13830916] Pose Error in degrees for R and t: 73.34155218586521 89.65404389815288 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 9.42597788e-01 -3.33929639e-01 -6.36585188e-04] [ 3.33929712e-01 9.42597978e-01 8.06615501e-06] [ 5.97350382e-04 -2.20177848e-04 9.99999797e-01]] t_estimated: [[-0.33861297] [-0.94092455] [-0.00149829]] R_gt: [[ 0.96054431 0.27468054 0.04366248] [-0.27597946 0.96078046 0.02710467] [-0.03450505 -0.0380863 0.99867823]] t_gt: [-0.85433954 0.50025675 0.14087987] Pose Error in degrees for R and t: 35.62009122884917 79.53560411709918 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.27862465e-01 3.72921425e-01 9.25749418e-04] [-3.72918360e-01 9.27860923e-01 -2.45050462e-03] [-1.77281238e-03 1.92850230e-03 9.99996569e-01]] t_estimated: [[-0.98387678] [-0.17884388] [-0.00115728]] R_gt: [[ 0.98816614 -0.15109363 -0.02641948] [ 0.14932376 0.98699735 -0.0594934 ] [ 0.03506592 0.05484386 0.99787913]] t_gt: [ 0.70027766 -0.53965079 -0.46732026] Pose Error in degrees for R and t: 30.75701833774448 53.70570917048455 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.98976533 0.14269508 0.00164749] [-0.14269143 0.98976487 -0.00215637] [-0.00193834 0.00189922 0.99999632]] t_estimated: [[-0.22055649] [-0.97537361] [-0.00107066]] R_gt: [[ 0.96820547 -0.24944583 0.01887284] [ 0.2501027 0.96681728 -0.05209592] [-0.00525099 0.05515919 0.99846381]] t_gt: [ 0.71710984 -0.66885309 -0.19593118] Pose Error in degrees for R and t: 22.879121451043815 60.36794776995111 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.97328668e-01 -7.30445993e-02 1.17082674e-04] [ 7.30446089e-02 9.97328671e-01 -8.00465352e-05] [-1.10922940e-04 8.83849625e-05 9.99999990e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.90678894 -0.41856777 0.05034844] [ 0.4197673 0.90749577 -0.01573365] [-0.03910551 0.03540218 0.99860766]] t_gt: [ 0.77761446 -0.62871641 0.00560502] Pose Error in degrees for R and t: 20.82862584462743 63.8049093056429 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999989e-01 -1.47438804e-04 4.09638138e-06] [ 1.47438828e-04 9.99999989e-01 -5.86275495e-06] [-4.09551694e-06 5.86335885e-06 1.00000000e+00]] t_estimated: [[ 0.16082289] [-0.98698194] [-0.00162877]] R_gt: [[ 0.99958969 -0.02688811 0.01001064] [ 0.0267278 0.9995189 0.0157268 ] [-0.01042923 -0.01545287 0.99982544]] t_gt: [ 0.69289217 -0.34265754 0.63441805] Pose Error in degrees for R and t: 1.863901464645126 63.34633379900664 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99998845e-01 -7.76924085e-04 1.30644406e-03] [ 7.77820155e-04 9.99999463e-01 -6.85516712e-04] [-1.30591076e-03 6.86532099e-04 9.99998912e-01]] t_estimated: [[-0.68282007] [-0.73058616] [-0.00078305]] R_gt: [[ 0.9989409 0.04263318 -0.01733672] [-0.04331213 0.99822856 -0.04079236] [ 0.01556605 0.04149921 0.99901641]] t_gt: [-0.40241633 0.76756316 -0.49890669] Pose Error in degrees for R and t: 3.565021104319634 73.4051396046435 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-9.89766396e-01 -1.42688121e-01 -1.60671722e-03] [ 1.42689194e-01 -9.89767379e-01 -5.73662374e-04] [-1.50842149e-03 -7.97052925e-04 9.99998545e-01]] t_estimated: [[7.79627685e-01] [6.26242860e-01] [7.43845137e-04]] R_gt: [[ 0.99209922 0.11070428 -0.0590432 ] [-0.11668181 0.98707755 -0.10983321] [ 0.04612051 0.1158543 0.99219449]] t_gt: [-0.39949333 0.73459061 -0.5484357 ] Pose Error in degrees for R and t: 178.359287891959 81.47921892068038 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.92834165e-01 -1.19500297e-01 -2.56450821e-05] [ 1.19500299e-01 9.92834132e-01 2.56436963e-04] [-5.18298031e-06 -2.57663973e-04 9.99999967e-01]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.99930798 0.03381777 -0.01548471] [-0.03452321 0.99826132 -0.04778751] [ 0.01384221 0.04828872 0.99873684]] t_gt: [-0.26816649 0.81211747 -0.51821998] Pose Error in degrees for R and t: 9.284165582652353 75.29430486185487 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97672735e-01 6.81843996e-02 2.89573689e-05] [-6.81843997e-02 9.97672736e-01 2.70194537e-06] [-2.87057469e-05 -4.67009804e-06 1.00000000e+00]] t_estimated: [[0.5189021 ] [0.85483313] [0.0009681 ]] R_gt: [[ 0.99943693 -0.01324968 0.0308226 ] [ 0.01355043 0.99986237 -0.00956694] [-0.03069168 0.00997882 0.99947851]] t_gt: [0.11476398 0.31594944 0.94180952] Pose Error in degrees for R and t: 5.029538854336281 70.69801523367379 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999875e-01 3.31669916e-04 -3.74691679e-04] [-3.31878312e-04 9.99999790e-01 -5.56254008e-04] [ 3.74507108e-04 5.56378291e-04 9.99999775e-01]] t_estimated: [[-0.72475965] [-0.68899979] [-0.00165622]] R_gt: [[ 0.99201543 -0.0633904 0.10902826] [ 0.05495262 0.99538063 0.07873822] [-0.11351516 -0.0721184 0.9909147 ]] t_gt: [ 0.17431966 -0.3285515 0.92825997] Pose Error in degrees for R and t: 8.486047616296114 84.34750748491743 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.17322265e-01 -3.98145306e-01 -4.21611189e-04] [ 3.98145423e-01 9.17322278e-01 2.43504837e-04] [ 2.89803029e-04 -3.91234974e-04 9.99999881e-01]] t_estimated: [[ 8.20965250e-01] [-5.70978158e-01] [-4.07292679e-05]] R_gt: [[ 0.98531617 -0.16830757 -0.02872227] [ 0.16758627 0.98551666 -0.02589313] [ 0.03266441 0.02069995 0.9992522 ]] t_gt: [ 0.71019428 -0.65700263 -0.25292615] Pose Error in degrees for R and t: 13.96547189197687 16.626713269450068 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999979e-01 1.81387680e-04 9.61878972e-05] [-1.81375315e-04 9.99999975e-01 -1.28547149e-04] [-9.62112117e-05 1.28529700e-04 9.99999987e-01]] t_estimated: [[ 0.23160405] [-0.97280879] [-0.00161844]] R_gt: [[ 0.95988098 -0.27731391 -0.04154028] [ 0.27388146 0.95897071 -0.073226 ] [ 0.06014273 0.0589113 0.99645036]] t_gt: [ 0.73818197 -0.57830662 -0.34734541] Pose Error in degrees for R and t: 16.743388473845737 42.76794634995944 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 1.00000000e+00 -4.73898698e-13 -1.24845880e-16] [ 4.74065232e-13 1.00000000e+00 -6.01515365e-16] [-1.62630326e-18 6.49003420e-16 1.00000000e+00]] t_estimated: [[-0.33368246] [-0.94268468] [-0.00126875]] R_gt: [[ 0.91843521 -0.39477013 0.02515372] [ 0.39551475 0.91537869 -0.0751561 ] [ 0.00664445 0.07897537 0.99685483]] t_gt: [ 0.76572363 -0.61622907 -0.18419839] Pose Error in degrees for R and t: 23.746743817473345 70.99595773076382 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-6.02386287e-01 -7.98202187e-01 -2.00722327e-03] [ 7.98196499e-01 -6.02389592e-01 3.02128439e-03] [-3.62072622e-03 2.17821701e-04 9.99993421e-01]] t_estimated: [[0.99997437] [0.00691065] [0.00187348]] R_gt: [[ 0.99587149 0.08515916 -0.03143799] [-0.08695192 0.99434848 -0.0609095 ] [ 0.02607398 0.06339125 0.99764727]] t_gt: [-0.5094007 0.70916753 -0.48743444] Pose Error in degrees for R and t: 132.021709162754 59.64208887617228 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.26093100e-01 -3.77292142e-01 1.48677359e-03] [-3.77293049e-01 -9.26093847e-01 3.75450707e-04] [ 1.23523727e-03 -9.08651650e-04 -9.99998824e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99059117 0.11097982 -0.08008188] [-0.12222872 0.98065346 -0.15290136] [ 0.0615641 0.16125058 0.98499048]] t_gt: [-0.34413121 0.6567034 -0.67105466] Pose Error in degrees for R and t: 170.36526670167459 49.16776286299356 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.54432625e-01 -2.98426307e-01 3.21929486e-04] [-2.98426105e-01 -9.54432581e-01 -5.55894952e-04] [ 4.73153668e-04 4.34492115e-04 -9.99999794e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97859374 0.1454369 -0.14560999] [-0.17597743 0.95818582 -0.22563464] [ 0.10670651 0.24642851 0.96326867]] t_gt: [-0.2605059 0.64709686 -0.71652099] Pose Error in degrees for R and t: 165.28925164881628 49.85573696881598 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-6.49813069e-01 7.60093926e-01 -4.46672939e-04] [ 7.60085463e-01 6.49808404e-01 4.37345089e-03] [ 3.61448529e-03 2.50241594e-03 -9.99990337e-01]] t_estimated: [[8.47972649e-01] [5.30039449e-01] [7.54291049e-04]] R_gt: [[ 0.98812165 -0.1384706 0.06664457] [ 0.13410089 0.98875973 0.06610683] [-0.07504927 -0.05638389 0.99558496]] t_gt: [ 0.53811036 -0.67522607 0.50448687] Pose Error in degrees for R and t: 177.88758755684168 84.33067851728097 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 1.00000000e+00 -2.42345033e-12 1.55040911e-17] [ 2.42353360e-12 1.00000000e+00 8.91702077e-16] [ 1.78134417e-16 4.52735722e-16 1.00000000e+00]] t_estimated: [[ 9.89779511e-01] [-1.42605261e-01] [ 5.08263328e-04]] R_gt: [[ 0.96870953 -0.23197009 0.08827411] [ 0.22412385 0.97035684 0.09042703] [-0.10663382 -0.06781213 0.99198353]] t_gt: [ 0.61814844 -0.64343864 0.45152987] Pose Error in degrees for R and t: 15.088487305525492 45.265877579144835 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 6.76654535e-02 9.97708018e-01 3.11869889e-04] [-9.97706896e-01 6.76658496e-02 -1.51045826e-03] [-1.52809926e-03 -2.08948896e-04 9.99998811e-01]] t_estimated: [[2.37022397e-01] [9.71503701e-01] [9.70309284e-04]] R_gt: [[ 0.96045634 -0.27092101 0.06422042] [ 0.26478156 0.96007843 0.09021743] [-0.086099 -0.06964433 0.99385005]] t_gt: [ 0.69316469 -0.62429708 0.36024417] Pose Error in degrees for R and t: 101.84827520584184 63.77726675098256 Number of keypoints: Image1: 505 Image2: 505 R_estimated: [[ 9.87284488e-01 1.58963329e-01 1.49271438e-05] [-1.58963329e-01 9.87284485e-01 7.26159726e-05] [-3.19406074e-06 -7.40654918e-05 9.99999997e-01]] t_estimated: [[0.54804912] [0.8364456 ] [0.00095813]] R_gt: [[ 0.99930753 -0.01619708 -0.03352512] [ 0.01731422 0.99929529 0.03332448] [ 0.03296209 -0.0338818 0.99888147]] t_gt: [ 0.76370867 -0.64551677 0.00756102] Pose Error in degrees for R and t: 10.462445886753805 83.02809985384728 Number of keypoints: Image1: 611 Image2: 611 R_estimated: [[ 9.99982031e-01 5.99474554e-03 1.10988993e-05] [-5.99474526e-03 9.99982031e-01 -2.56639472e-05] [-1.12525487e-05 2.55969510e-05 1.00000000e+00]] t_estimated: [[-3.10719854e-01] [-9.50501530e-01] [ 1.16029453e-04]] R_gt: [[ 0.99882083 0.04130849 -0.02554052] [-0.04009803 0.99812522 0.04624645] [ 0.02740254 -0.04516815 0.99860296]] t_gt: [-0.91941944 -0.041063 0.39112879] Pose Error in degrees for R and t: 3.6251182523754237 71.04910386457112 Number of keypoints: Image1: 486 Image2: 486 R_estimated: [[ 9.99400670e-01 3.46159436e-02 -1.93908300e-04] [-3.46159487e-02 9.99400688e-01 -2.25056570e-05] [ 1.93013034e-04 2.92044885e-05 9.99999981e-01]] t_estimated: [[-0.80174748] [-0.59766116] [-0.00145461]] R_gt: [[ 0.99160867 0.12925018 0.00256688] [-0.12897946 0.98778541 0.0874354 ] [ 0.00876553 -0.08703277 0.99616593]] t_gt: [-0.90729727 0.13236331 0.39911355] Pose Error in degrees for R and t: 7.40735420392741 49.62900269013911 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 8.03847825e-01 5.94834185e-01 9.83410921e-04] [-5.94834058e-01 8.03848395e-01 -4.48728496e-04] [-1.05743234e-03 -2.24256883e-04 9.99999416e-01]] t_estimated: [[-0.09400365] [ 0.9955708 ] [ 0.00144644]] R_gt: [[ 0.99513014 0.06233298 -0.07636057] [-0.06144413 0.9980133 0.01393773] [ 0.07707774 -0.00917851 0.99698177]] t_gt: [ 0.50347291 0.39387947 -0.76900845] Pose Error in degrees for R and t: 33.246889753765345 69.89788978397385 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.92637951 -0.37616557 0.0179017 ] [-0.37441112 0.92508292 0.06354459] [-0.04046384 0.05216381 -0.99781843]] t_estimated: [[0.96669935] [0.25549068] [0.01472646]] R_gt: [[ 0.98126347 0.15504122 -0.11438818] [-0.14913633 0.98708218 0.05853801] [ 0.12198614 -0.04038167 0.99170939]] t_gt: [ 0.36772807 0.71659773 -0.59267508] Pose Error in degrees for R and t: 175.30488563527106 58.005455041531526 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-4.53139915e-01 8.91291180e-01 1.62557406e-02] [ 8.91404518e-01 4.53208170e-01 -5.82991050e-04] [-7.88684921e-03 1.42262641e-02 -9.99867697e-01]] t_estimated: [[ 0.55918387] [-0.82901286] [ 0.00714656]] R_gt: [[ 0.96141935 0.2292358 -0.15206568] [-0.21385614 0.97054033 0.11098461] [ 0.17302745 -0.0741821 0.98211844]] t_gt: [ 0.37162301 0.88963347 -0.26542158] Pose Error in degrees for R and t: 169.9091392059949 57.88577722864863 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.21830123 -0.97587142 -0.00442015] [-0.97587847 0.21828716 0.00345468] [-0.00240646 0.00506769 -0.99998426]] t_estimated: [[7.50814435e-01] [6.60512796e-01] [7.28239025e-04]] R_gt: [[ 0.99588084 -0.00767332 0.09034619] [ 0.01323268 0.99804537 -0.06108643] [-0.08970072 0.06203075 0.99403519]] t_gt: [-0.47107283 0.86613438 -0.16703781] Pose Error in degrees for R and t: 178.2494066314778 77.39179966332581 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99998657e-01 1.20974194e-03 1.10551145e-03] [-1.20869189e-03 9.99998818e-01 -9.50004344e-04] [-1.10665940e-03 9.48666846e-04 9.99998938e-01]] t_estimated: [[0.99999823] [0.00155384] [0.00105827]] R_gt: [[ 0.98573333 -0.04984222 0.160765 ] [ 0.06844068 0.99131422 -0.11230266] [-0.15377046 0.12170376 0.98058291]] t_gt: [-0.11975412 0.99025343 -0.07111324] Pose Error in degrees for R and t: 11.755203435294415 83.20654855941073 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.99989441 0.01030019 -0.01025036] [-0.01013955 0.99982687 0.01560221] [ 0.01040929 -0.01549663 0.99982574]] t_estimated: [[ 9.98344707e-01] [ 5.75138835e-02] [-1.07419667e-05]] R_gt: [[ 0.98500272 -0.07654126 0.15463423] [ 0.08678975 0.99438007 -0.06063131] [-0.14912341 0.07314333 0.98611003]] t_gt: [0.27101094 0.90100318 0.33874229] Pose Error in degrees for R and t: 11.740333605117314 71.19314859961312 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-9.51162470e-01 -3.08690670e-01 -1.61249965e-04] [-3.08690666e-01 9.51162484e-01 -4.86222184e-05] [ 1.68384142e-04 3.52872972e-06 -9.99999986e-01]] t_estimated: [[9.75700960e-01] [2.19104777e-01] [8.55878035e-04]] R_gt: [[ 0.99345896 0.11036361 0.02927724] [-0.10963555 0.99364568 -0.02545212] [-0.03190055 0.02207605 0.99924626]] t_gt: [-0.57033801 0.81403264 0.10984268] Pose Error in degrees for R and t: 178.48637533155312 67.78848302652356 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.99073958 -0.13576489 0.00172439] [ 0.13576815 0.99073873 -0.00194106] [-0.00144489 0.0021572 0.99999663]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99171097 0.10439365 0.07491193] [-0.10304544 0.9944407 -0.02166407] [-0.07675692 0.01376497 0.99695451]] t_gt: [-0.54618315 0.71012176 0.44430963] Pose Error in degrees for R and t: 14.435482992919972 89.25857259760764 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.49628700e-01 -3.13377147e-01 -3.09913980e-04] [ 3.13377245e-01 9.49628656e-01 3.44311824e-04] [ 1.86403739e-04 -4.24088378e-04 9.99999893e-01]] t_estimated: [[ 5.03486133e-02] [-9.98731698e-01] [-1.12383404e-04]] R_gt: [[ 0.99291169 0.09888983 0.0659358 ] [-0.09785719 0.99502436 -0.01872384] [-0.06745957 0.01213986 0.99764714]] t_gt: [-0.54815304 0.71532923 0.43339629] Pose Error in degrees for R and t: 24.234413607650342 42.092001394149946 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 8.96749906e-01 4.42537681e-01 8.40281533e-05] [-4.42536853e-01 8.96748565e-01 -1.77361827e-03] [-8.60245044e-04 1.55330647e-03 9.99998424e-01]] t_estimated: [[0.55627389] [0.830997 ] [0.00183009]] R_gt: [[ 0.99942553 0.03315208 -0.00706096] [-0.0323101 0.99473811 0.09722433] [ 0.01024572 -0.09694086 0.99523707]] t_gt: [-0.60476591 -0.1774107 0.77639142] Pose Error in degrees for R and t: 25.032404444876658 61.156268403501606 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 0.89306708 -0.4490846 -0.02746281] [-0.44924995 -0.88672862 -0.10902678] [ 0.02461019 0.10970589 -0.99365938]] t_estimated: [[ 0.17898961] [ 0.9820179 ] [-0.0600297 ]] R_gt: [[ 0.98755654 0.15597727 0.02009187] [-0.15684122 0.98619978 0.05301349] [-0.01154602 -0.05550557 0.99839185]] t_gt: [-0.9093748 0.35959544 0.20911381] Pose Error in degrees for R and t: 176.8043202664427 79.75792218776444 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.9998154 0.01918362 -0.0010709 ] [-0.01918481 0.99981534 -0.00111117] [ 0.00104939 0.00113151 0.99999881]] t_estimated: [[-0.81844739] [-0.5745666 ] [-0.00413357]] R_gt: [[ 0.96217386 0.2672413 0.05293738] [-0.27150547 0.95664893 0.10538954] [-0.02247904 -0.11577677 0.99302137]] t_gt: [-0.84875446 0.44877784 0.27966821] Pose Error in degrees for R and t: 16.10646014445943 64.1732053856509 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[-0.88244087 0.45789601 0.10783946] [ 0.45838155 0.88849024 -0.0217131 ] [-0.10575665 0.0302711 -0.99393118]] t_estimated: [[ 0.97768718] [-0.20348761] [ 0.05215916]] R_gt: [[ 0.99922069 -0.03555717 -0.01716402] [ 0.03524621 0.99921435 -0.01811633] [ 0.01779548 0.01749655 0.99968892]] t_gt: [ 0.73264419 0.00077518 -0.68061141] Pose Error in degrees for R and t: 174.41864083823086 47.10640565808122 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 2.99381971e-01 9.54130402e-01 2.36869432e-03] [-9.54133338e-01 2.99380815e-01 8.36835585e-04] [ 8.93086401e-05 -2.51058370e-03 9.99996844e-01]] t_estimated: [[0.41396183] [0.91029363] [0.00105603]] R_gt: [[ 0.99637595 -0.08398101 0.01352866] [ 0.08443675 0.9957185 -0.03762613] [-0.01031067 0.03863176 0.99920095]] t_gt: [ 0.94918978 -0.18876348 -0.2518077 ] Pose Error in degrees for R and t: 77.44352316282348 77.2420811930151 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.86876866e-01 -1.61474520e-01 -1.78200278e-04] [ 1.61474583e-01 9.86876777e-01 4.31559282e-04] [ 1.06175888e-04 -4.54670687e-04 9.99999891e-01]] t_estimated: [[-0.48835932] [-0.87264206] [-0.00100074]] R_gt: [[ 0.9858963 -0.16523711 0.02654868] [ 0.16604144 0.98561132 -0.03164258] [-0.02093681 0.03560503 0.99914626]] t_gt: [ 0.91863581 -0.39281195 -0.04250906] Pose Error in degrees for R and t: 2.405521168856877 83.92687908824087 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 9.71942898e-01 -2.35216922e-01 -4.73528598e-05] [ 2.35216924e-01 9.71942898e-01 4.52398197e-05] [ 3.53831046e-05 -5.51087155e-05 9.99999998e-01]] t_estimated: [[-0.57961228] [-0.81489193] [-0.00085868]] R_gt: [[ 0.9987873 0.04805735 0.01069913] [-0.0483672 0.99835373 0.0308286 ] [-0.00920037 -0.03130888 0.99946657]] t_gt: [-0.82262355 -0.13791709 0.55160617] Pose Error in degrees for R and t: 16.474185216255638 53.934014353666505 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[ 0.20879674 0.80867815 0.54994869] [-0.80725997 -0.17490718 0.56368326] [ 0.55202831 -0.56164679 0.61629345]] t_estimated: [[0.69026303] [0.72355807] [0.00081207]] R_gt: [[ 0.99483402 0.09988953 0.01811767] [-0.10047225 0.99433685 0.03465283] [-0.01455353 -0.03629379 0.99923524]] t_gt: [-0.92712459 -0.01667861 0.3743819 ] Pose Error in degrees for R and t: 94.20479626592098 49.32830817494876 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.93468392e-01 1.14107589e-01 1.14677554e-04] [-1.14107590e-01 9.93468398e-01 1.90866449e-06] [-1.13710733e-04 -1.49817771e-05 9.99999993e-01]] t_estimated: [[-8.54438959e-01] [ 5.19551793e-01] [-1.04302662e-05]] R_gt: [[ 0.97090659 0.2374538 0.03091485] [-0.23876912 0.96979997 0.04978062] [-0.01816099 -0.05571282 0.99828085]] t_gt: [-0.94371771 0.19080234 0.2701691 ] Pose Error in degrees for R and t: 7.974738256695645 25.112252673765585 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.15415561e-01 -4.02509883e-01 -3.79679472e-04] [ 4.02510040e-01 9.15415417e-01 5.30272044e-04] [ 1.34124704e-04 -6.38244080e-04 9.99999787e-01]] t_estimated: [[0.87852729] [0.47768979] [0.00150691]] R_gt: [[ 9.99165363e-01 -2.75301016e-03 4.07605738e-02] [-7.53416740e-05 9.97602016e-01 6.92155483e-02] [-4.08524323e-02 -6.91601039e-02 9.96767988e-01]] t_gt: [-0.24794943 -0.36638544 0.89681815] Pose Error in degrees for R and t: 24.09235961481513 66.95228967024156 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 4.25522444e-01 9.04947005e-01 1.25183391e-03] [ 9.04945419e-01 -4.25524104e-01 1.73944799e-03] [ 2.10679375e-03 3.92667202e-04 -9.99997704e-01]] t_estimated: [[-4.74603642e-01] [-8.80199417e-01] [-6.08015225e-04]] R_gt: [[ 0.99888426 -0.01345772 0.04527865] [ 0.00882982 0.99485713 0.10090233] [-0.04640399 -0.10038868 0.99386493]] t_gt: [-0.09794118 -0.45109379 0.8870862 ] Pose Error in degrees for R and t: 176.48785787997957 63.70478198877912 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.26123099 0.96422386 -0.04506359] [ 0.95712813 -0.25269037 0.14160975] [ 0.12515636 -0.08012448 -0.98889633]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.99342942 -0.10932616 0.03387212] [ 0.10550584 0.98945655 0.09921904] [-0.04436131 -0.09499225 0.9944886 ]] t_gt: [ 0.45225216 -0.67921575 0.57804321] Pose Error in degrees for R and t: 169.08326980670626 87.95152188649706 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99285508e-01 3.77951293e-02 5.16913013e-05] [-3.77951121e-02 9.99285464e-01 -3.00144250e-04] [-6.29983568e-05 2.97976120e-04 9.99999954e-01]] t_estimated: [[-0.25014394] [-0.96820419] [-0.00294287]] R_gt: [[ 0.99848932 -0.04412814 0.03271911] [ 0.04336498 0.99877948 0.02366735] [-0.03372356 -0.02221269 0.99918426]] t_gt: [ 0.40344413 -0.63267857 0.66102244] Pose Error in degrees for R and t: 5.218799965245545 59.356308444929134 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.60109619 -0.79917428 -0.00195918] [ 0.79916287 -0.60106958 -0.00735289] [ 0.00469864 -0.00598549 0.99997105]] t_estimated: [[9.73882288e-01] [2.27051555e-01] [9.38229565e-04]] R_gt: [[ 0.98843656 -0.10195078 0.11225 ] [ 0.08914133 0.98950149 0.11376346] [-0.1226691 -0.10244113 0.98714545]] t_gt: [ 0.28142432 -0.48950903 0.82533706] Pose Error in degrees for R and t: 121.67135885038212 80.5780024019609 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.83186437 0.55497771 0.00118494] [-0.55496836 0.83185977 -0.0044107 ] [-0.00343354 0.0030115 0.99998957]] t_estimated: [[0.81817693] [0.57496543] [0.00112079]] R_gt: [[ 0.9738565 -0.14038066 0.17859544] [ 0.10167678 0.97241766 0.20991661] [-0.20313691 -0.18626947 0.96126946]] t_gt: [ 0.25348901 -0.37946042 0.8898051 ] Pose Error in degrees for R and t: 43.723069257640894 89.43961084245989 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.09285711e-01 4.16172417e-01 1.24003149e-04] [-4.16171661e-01 9.09284554e-01 -1.65794933e-03] [-8.02746930e-04 1.45594304e-03 9.99998618e-01]] t_estimated: [[0.81031638] [0.58599151] [0.00114451]] R_gt: [[ 0.99368618 -0.07305504 0.08515346] [ 0.06548283 0.99391559 0.08857163] [-0.09110469 -0.08243538 0.99242361]] t_gt: [ 0.23921433 -0.49745455 0.83385579] Pose Error in degrees for R and t: 29.431929193719213 84.45022299375951 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.80856415 -0.58840548 0.00173209] [-0.58837469 0.80854617 0.00826505] [-0.00626368 0.00566371 -0.99996434]] t_estimated: [[0.99519718] [0.09788109] [0.00136431]] R_gt: [[ 0.97922908 -0.12596508 0.15888251] [ 0.09476228 0.977082 0.19060771] [-0.17925016 -0.17159142 0.96872337]] t_gt: [ 0.24009092 -0.39895162 0.88498246] Pose Error in degrees for R and t: 167.17150842067608 78.39897863674868 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-8.77635763e-01 -4.79326341e-01 -1.31394765e-03] [ 4.79328060e-01 -8.77633916e-01 -1.82219330e-03] [-2.79739778e-04 -2.22903399e-03 9.99997477e-01]] t_estimated: [[0.9258871 ] [0.37779916] [0.00093054]] R_gt: [[ 0.9729917 -0.10621742 0.2049535 ] [ 0.05174761 0.96561572 0.25477241] [-0.22496637 -0.23728486 0.94503209]] t_gt: [ 0.13125745 -0.24256595 0.96121446] Pose Error in degrees for R and t: 147.1815642753647 88.2359958749687 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.97459407e-01 -7.12371454e-02 -1.24677861e-05] [ 7.12371464e-02 9.97459401e-01 1.07461997e-04] [ 4.78082454e-06 -1.08077150e-04 9.99999994e-01]] t_estimated: [[3.02345902e-01] [9.53198274e-01] [7.26117313e-05]] R_gt: [[ 0.99876794 -0.03035541 0.03927532] [ 0.02678262 0.99571768 0.08848414] [-0.04179323 -0.08732283 0.99530356]] t_gt: [-0.03916122 -0.49977719 0.86526826] Pose Error in degrees for R and t: 6.063574469961868 60.78001185715637 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-8.04343376e-01 -5.94159849e-01 -2.41007567e-03] [-5.94162903e-01 8.04344353e-01 7.78363136e-04] [ 1.47605864e-03 2.05804879e-03 -9.99996793e-01]] t_estimated: [[9.00930277e-01] [4.33963298e-01] [7.02205983e-04]] R_gt: [[ 0.99722692 -0.05146681 0.05376739] [ 0.04424078 0.99080446 0.12786088] [-0.05985394 -0.12512742 0.99033417]] t_gt: [ 0.00675286 -0.51525948 0.85700762] Pose Error in degrees for R and t: 174.74020448190583 77.47192043978924 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 2.15376753e-01 9.76527852e-01 2.49158186e-03] [ 9.76530583e-01 -2.15378396e-01 4.07825271e-04] [ 9.34885640e-04 2.34526980e-03 -9.99996813e-01]] t_estimated: [[-9.73941544e-01] [-2.26797914e-01] [-7.58521452e-04]] R_gt: [[ 0.99578896 -0.07454196 0.05336445] [ 0.06577245 0.98641315 0.15054065] [-0.06386138 -0.14639602 0.98716281]] t_gt: [ 0.14123541 -0.55118637 0.82234187] Pose Error in degrees for R and t: 175.52910795011132 89.24534248319257 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.26202608 0.96482737 -0.02122442] [ 0.96481306 -0.26139716 0.02841283] [ 0.02186547 -0.0279225 -0.99937092]] t_estimated: [[ 0.63370402] [-0.77338051] [-0.01737238]] R_gt: [[ 0.99656775 0.08171778 0.01324597] [-0.08213649 0.99600835 0.0349545 ] [-0.01033752 -0.03592164 0.99930143]] t_gt: [-0.89295356 0.07477025 0.44389566] Pose Error in degrees for R and t: 176.7653314734442 50.846096084536846 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-2.83319426e-01 -9.59025370e-01 -6.65578342e-04] [ 9.59024299e-01 -2.83317830e-01 -1.84392552e-03] [ 1.57980114e-03 -1.16072572e-03 9.99998078e-01]] t_estimated: [[ 0.69488952] [-0.71911437] [-0.00175673]] R_gt: [[ 0.99247881 0.11581206 0.03967399] [-0.11797065 0.99136728 0.05721905] [-0.0327053 -0.06146824 0.99757283]] t_gt: [-0.862918 0.02152663 0.50488527] Pose Error in degrees for R and t: 113.22872422208337 51.97540206513103 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.94705517e-01 1.02766334e-01 -1.23569515e-04] [-1.02766387e-01 9.94705370e-01 -5.44144030e-04] [ 6.69955725e-05 5.53961861e-04 9.99999844e-01]] t_estimated: [[-0.99994508] [-0.01041609] [-0.00115734]] R_gt: [[ 0.97810171 0.20428753 0.03980904] [-0.20596009 0.97758177 0.04375735] [-0.02997823 -0.05099746 0.99824886]] t_gt: [-0.94487701 0.15374115 0.28908666] Pose Error in degrees for R and t: 6.860855331001673 19.45744417085945 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.95357624e-01 -9.62453439e-02 -1.83313335e-04] [ 9.62453649e-02 9.95357633e-01 1.09746543e-04] [ 1.71899733e-04 -1.26880117e-04 9.99999977e-01]] t_estimated: [[9.53602302e-01] [3.01068719e-01] [5.25419892e-04]] R_gt: [[ 0.99955898 0.01951594 0.02238393] [-0.01940773 0.99979804 -0.00510989] [-0.02247936 0.00467316 0.99973547]] t_gt: [-0.5025413 0.59879649 0.62361446] Pose Error in degrees for R and t: 6.769845061519626 72.6253846867206 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99375284e-01 3.53417878e-02 -3.31480555e-06] [-3.53417877e-02 9.99375284e-01 1.32847473e-05] [ 3.78224145e-06 -1.31592970e-05 1.00000000e+00]] t_estimated: [[-3.45627786e-01] [ 9.38371678e-01] [ 1.67480379e-04]] R_gt: [[ 0.99891718 0.02163338 0.04118347] [-0.021863 0.99974737 0.00510872] [-0.0410625 -0.00600316 0.99913839]] t_gt: [-0.37838889 0.35702914 0.8540211 ] Pose Error in degrees for R and t: 2.5032838099528334 62.22822785957689 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99991463e-01 4.13130110e-03 7.97502315e-05] [-4.13135911e-03 9.99991191e-01 7.41469380e-04] [-7.66862957e-05 -7.41792527e-04 9.99999722e-01]] t_estimated: [[0.60305569] [0.79769271] [0.00319077]] R_gt: [[ 9.99519504e-01 8.72195695e-03 2.97502318e-02] [-8.71569821e-03 9.99961459e-01 -3.85956069e-04] [-2.97519917e-02 1.26160559e-04 9.99556381e-01]] t_gt: [-0.3293857 0.23082491 0.91554624] Pose Error in degrees for R and t: 1.7227160828289318 89.33596862646276 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 8.73621141e-01 4.86606708e-01 1.18865090e-04] [-4.86604987e-01 8.73618653e-01 -2.45682629e-03] [-1.29935091e-03 2.08849504e-03 9.99996975e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.99822305 0.05909924 -0.00767371] [-0.058361 0.99548232 0.07488792] [ 0.01206513 -0.07430702 0.99716212]] t_gt: [-0.88051892 -0.09809386 0.46374996] Pose Error in degrees for R and t: 26.12306129563296 64.77805970888154 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.98501043e-01 5.47326319e-02 7.87291577e-05] [-5.47326068e-02 9.98501005e-01 -2.92141658e-04] [-9.46008248e-05 2.87394698e-04 9.99999954e-01]] t_estimated: [[-0.34903864] [-0.93710751] [-0.00124571]] R_gt: [[ 0.99269559 0.12058823 -0.00381231] [-0.11956128 0.98749074 0.10280035] [ 0.01616135 -0.10159407 0.99469441]] t_gt: [-0.91702047 0.11989264 0.38039351] Pose Error in degrees for R and t: 7.022744824739103 78.0387901398952 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[-8.88541314e-01 -4.58790375e-01 -2.39263089e-03] [ 4.58792858e-01 -8.88543059e-01 -5.87817206e-04] [-1.85627069e-03 -1.62002184e-03 9.99996965e-01]] t_estimated: [[0.9886182 ] [0.1504419 ] [0.00113114]] R_gt: [[ 0.96874648 0.24077976 0.05963337] [-0.24611129 0.96300388 0.10979046] [-0.03099171 -0.12103586 0.99216443]] t_gt: [-0.88217687 0.35933107 0.30437668] Pose Error in degrees for R and t: 166.85753275587697 35.14146540621376 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.98442908e-01 5.57831425e-02 -8.20591007e-06] [-5.57831428e-02 9.98442907e-01 -4.66619970e-05] [ 5.59017988e-06 4.70470914e-05 9.99999999e-01]] t_estimated: [[-3.29571327e-01] [-9.44130655e-01] [-2.15213523e-04]] R_gt: [[ 0.99802634 0.00945297 0.06208866] [-0.00420502 0.99644679 -0.08411872] [-0.06266242 0.0836923 0.99451933]] t_gt: [-0.65571552 0.49091109 -0.5736231 ] Pose Error in degrees for R and t: 6.622335901354285 75.68482049075305 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999999e-01 -5.06986578e-05 -2.50315807e-06] [ 5.06988021e-05 9.99999997e-01 5.76822054e-05] [ 2.50023365e-06 -5.76823323e-05 9.99999998e-01]] t_estimated: [[0.99996451] [0.00836378] [0.00101595]] R_gt: [[ 0.98678674 0.03082947 0.15906819] [-0.00937342 0.99094928 -0.13390497] [-0.16175628 0.13064534 0.97814408]] t_gt: [-0.74278016 0.64477574 -0.18039368] Pose Error in degrees for R and t: 12.059545563853849 42.47735392504075 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-2.52287576e-01 9.67652149e-01 -5.44688065e-04] [-9.67649330e-01 -2.52288156e-01 -2.33672159e-03] [-2.39855202e-03 -6.24587844e-05 9.99997122e-01]] t_estimated: [[0.23611489] [0.97172384] [0.00159352]] R_gt: [[ 0.97202829 0.00137902 0.2348632 ] [ 0.04896799 0.9768172 -0.20839695] [-0.22970622 0.21406983 0.94942619]] t_gt: [-0.57109524 0.78589306 -0.23711246] Pose Error in degrees for R and t: 107.0795825563886 51.06420806145604 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.97508243e-01 7.05499934e-02 5.20000967e-05] [-7.05499944e-02 9.97508245e-01 1.65012522e-05] [-5.07063620e-05 -2.01287416e-05 9.99999999e-01]] t_estimated: [[-9.49183139e-02] [-9.95485056e-01] [-1.32375694e-04]] R_gt: [[ 0.99582128 0.02090617 0.08890723] [-0.01219675 0.99517112 -0.09739879] [-0.09051441 0.09590788 0.99126574]] t_gt: [ 0.07602183 0.95363369 -0.29121036] Pose Error in degrees for R and t: 8.182769859884653 16.96063626753332 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.17463845 -0.98463159 -0.00143167] [ 0.98463146 -0.1746403 0.00128498] [-0.00151526 -0.00118526 0.99999815]] t_estimated: [[9.96963463e-01] [7.78649311e-02] [9.51619065e-04]] R_gt: [[ 0.99291187 -0.00339705 0.11880416] [ 0.01996066 0.99016115 -0.13850313] [-0.11716529 0.13989386 0.98321021]] t_gt: [ 0.64398597 0.63461101 -0.4272598 ] Pose Error in degrees for R and t: 99.80095486778778 46.287681035316936 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.06859274 -0.99763567 0.00425493] [ 0.99762961 0.06861458 0.00521643] [-0.00549605 0.00388703 0.99997734]] t_estimated: [[ 0.99958987] [-0.02860689] [ 0.00131523]] R_gt: [[ 0.984785 0.09707375 0.14413558] [-0.0761615 0.98662545 -0.14411823] [-0.15619875 0.13094861 0.97900706]] t_gt: [ 0.03811636 0.99886955 -0.02840376] Pose Error in degrees for R and t: 91.64362160335578 89.45632261827912 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999764e-01 6.08017181e-04 3.20629907e-04] [-6.07931449e-04 9.99999779e-01 -2.67414174e-04] [-3.20792429e-04 2.67219190e-04 9.99999913e-01]] t_estimated: [[0.99999052] [0.00414681] [0.00132555]] R_gt: [[ 0.99441927 -0.09218742 0.05128554] [ 0.09415694 0.99485435 -0.0374071 ] [-0.04757376 0.04202707 0.99798287]] t_gt: [ 0.39899216 -0.90493584 -0.14797423] Pose Error in degrees for R and t: 6.486854707663173 66.73155398109712 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999953e-01 3.08099330e-04 3.67650590e-08] [-3.08099328e-04 9.99999951e-01 -5.58987866e-05] [-5.39874360e-08 5.58987726e-05 9.99999998e-01]] t_estimated: [[-4.95800099e-02] [-9.98770112e-01] [-2.92106674e-04]] R_gt: [[ 0.9902613 -0.08583004 0.10961457] [ 0.09857324 0.98826489 -0.11668357] [-0.09831291 0.12635162 0.9871017 ]] t_gt: [-0.13811877 -0.59488161 -0.79185799] Pose Error in degrees for R and t: 10.644467960260213 53.042015689018115 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999732e-01 -6.78011208e-04 2.76608847e-04] [ 6.78158187e-04 9.99999629e-01 -5.31615518e-04] [-2.76248303e-04 5.31802960e-04 9.99999820e-01]] t_estimated: [[9.99995025e-01] [3.05277347e-03] [7.94632063e-04]] R_gt: [[ 0.97751971 -0.04456108 0.20607828] [ 0.07983167 0.98286287 -0.16614878] [-0.19514344 0.17886531 0.96432657]] t_gt: [-0.89593786 0.0548279 -0.44078255] Pose Error in degrees for R and t: 15.731351183608515 26.347825041148404 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.98522365e-01 5.43386837e-02 -6.28022983e-04] [-5.43383077e-02 9.98522402e-01 6.00930358e-04] [ 6.59748782e-04 -5.65916696e-04 9.99999622e-01]] t_estimated: [[-0.89642207] [-0.44319998] [-0.00111357]] R_gt: [[ 0.99675729 0.07196412 0.03598959] [-0.0709067 0.99703728 -0.02983674] [-0.03802983 0.02718879 0.99890671]] t_gt: [-0.24102998 0.96129055 -0.13351036] Pose Error in degrees for R and t: 2.9008548013086557 77.88756983816056 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999994e-01 -1.03398847e-04 -2.06671768e-05] [ 1.03400888e-04 9.99999990e-01 9.87896993e-05] [ 2.06569619e-05 -9.87918358e-05 9.99999995e-01]] t_estimated: [[-0.50084421] [-0.8655366 ] [-0.00121564]] R_gt: [[ 0.99196573 0.0890786 0.08982165] [-0.07710504 0.98864834 -0.12895412] [-0.10028966 0.12099292 0.98757337]] t_gt: [-0.02666938 0.94574603 -0.32381043] Pose Error in degrees for R and t: 10.240300261795241 36.406453511205235 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.74722224e-01 6.32295796e-01 2.73915503e-03] [ 6.32301669e-01 -7.74716765e-01 -2.92132856e-03] [ 2.74925558e-04 3.99519046e-03 -9.99991981e-01]] t_estimated: [[-9.12443307e-01] [-4.09202627e-01] [-6.49447270e-04]] R_gt: [[ 0.98407979 0.09468571 0.15040475] [-0.07329021 0.98716038 -0.14192913] [-0.16191245 0.128647 0.97838342]] t_gt: [ 0.10220234 0.99430559 -0.03018412] Pose Error in degrees for R and t: 169.40968646356552 59.992940754170306 Number of keypoints: Image1: 445 Image2: 445 R_estimated: [[ 9.99953201e-01 9.67453089e-03 -1.20239653e-05] [-9.67453159e-03 9.99953199e-01 -5.91399331e-05] [ 1.14512515e-05 5.92534916e-05 9.99999998e-01]] t_estimated: [[ 4.75813783e-01] [-8.79545964e-01] [-3.75811999e-04]] R_gt: [[ 0.99852118 0.04328383 -0.03288822] [-0.04169809 0.99800281 0.04745078] [ 0.03487568 -0.04600961 0.99833186]] t_gt: [-0.9540271 -0.11783652 0.27558455] Pose Error in degrees for R and t: 3.80997576949964 69.48820614569539 Number of keypoints: Image1: 350 Image2: 350 R_estimated: [[ 0.65362393 0.75679902 0.0055683 ] [ 0.75681433 -0.65362897 -0.00111372] [ 0.00279674 0.00494212 -0.99998388]] t_estimated: [[-0.90231358] [-0.43106479] [-0.00365309]] R_gt: [[ 0.99641882 0.07597726 -0.03708625] [-0.06965702 0.98635242 0.14918775] [ 0.04791444 -0.1460696 0.98811354]] t_gt: [-0.79115439 -0.15365296 0.59200126] Pose Error in degrees for R and t: 171.4362136588712 38.92755081628801 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-3.33549560e-01 -9.42731090e-01 1.66797111e-03] [-9.42731614e-01 3.33551216e-01 8.31078227e-04] [-1.33983708e-03 -1.29524332e-03 -9.99998264e-01]] t_estimated: [[0.80873229] [0.58816894] [0.00306338]] R_gt: [[ 0.98332527 0.18107101 -0.01685901] [-0.17785471 0.97689416 0.11851611] [ 0.03792821 -0.11354182 0.99280889]] t_gt: [-0.93555296 0.22581895 0.271563 ] Pose Error in degrees for R and t: 177.32215743037605 51.4673656750344 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.74964376 0.66005984 -0.04853089] [ 0.54232259 -0.57058418 0.61670082] [ 0.37936849 -0.48862532 -0.78570023]] t_estimated: [[0.91000825] [0.41455931] [0.0050556 ]] R_gt: [[ 0.99788581 -0.02744827 0.05890968] [ 0.02814423 0.99954314 -0.0109991 ] [-0.05858043 0.01263401 0.99820223]] t_gt: [ 0.64627773 -0.75640596 0.10087177] Pose Error in degrees for R and t: 145.45921390932068 74.0348333483081 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99250164e-01 3.87064697e-02 -9.58649547e-04] [-3.87040823e-02 9.99247846e-01 2.39494520e-03] [ 1.05062837e-03 -2.35604573e-03 9.99996673e-01]] t_estimated: [[0.98629753] [0.16497211] [0.00117837]] R_gt: [[ 0.99699505 0.04154773 0.06537581] [-0.03937097 0.9986388 -0.03422668] [-0.066709 0.03154966 0.99727335]] t_gt: [-0.91929699 0.33221212 -0.21101693] Pose Error in degrees for R and t: 4.346432987832397 31.55444515030044 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99391234e-01 -3.48787177e-02 7.97362412e-04] [ 3.48799560e-02 9.99390235e-01 -1.59584367e-03] [-7.41215228e-04 1.62268414e-03 9.99998409e-01]] t_estimated: [[-2.51486976e-01] [-9.67860357e-01] [ 7.93469002e-04]] R_gt: [[ 0.99327854 0.07601125 0.08729031] [-0.07059689 0.99547968 -0.0635216 ] [-0.09172363 0.05693312 0.99415533]] t_gt: [-0.87414928 0.38968864 -0.28983754] Pose Error in degrees for R and t: 8.71319776020012 80.93487587959771 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99989023e-01 4.68480664e-03 7.84787482e-05] [-4.68480726e-03 9.99989026e-01 7.71019842e-06] [-7.84417662e-05 -8.07777160e-06 9.99999997e-01]] t_estimated: [[ 9.98873831e-01] [-4.74453435e-02] [-9.02538935e-05]] R_gt: [[ 0.98892945 -0.14811815 -0.00891257] [ 0.14833023 0.98842058 0.03197673] [ 0.00407195 -0.0329451 0.99944897]] t_gt: [ 0.69785024 -0.69869059 0.157596 ] Pose Error in degrees for R and t: 8.997931081222472 43.09685865814682 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.78566681e-01 6.27561798e-01 3.34762705e-04] [-6.27561881e-01 7.78566487e-01 5.56630177e-04] [ 8.86848119e-05 -6.43458023e-04 9.99999789e-01]] t_estimated: [[9.02470807e-01] [4.30750370e-01] [7.49300248e-04]] R_gt: [[ 0.97959741 -0.19712446 0.03912201] [ 0.19621938 0.98022123 0.02579948] [-0.04343417 -0.01759719 0.99890092]] t_gt: [ 0.61380376 -0.73390244 0.29091605] Pose Error in degrees for R and t: 50.285040739509995 76.22974818555781 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.25070232 0.96805597 0.00399929] [-0.96803741 -0.25066249 -0.00847891] [-0.00720558 -0.00599715 0.99995606]] t_estimated: [[0.13399667] [0.99095645] [0.00708527]] R_gt: [[ 0.95611058 -0.2890235 0.04814399] [ 0.28784882 0.95720884 0.02991579] [-0.05473097 -0.01474565 0.99839251]] t_gt: [ 0.65726949 -0.71695523 0.23231878] Pose Error in degrees for R and t: 121.30892797685996 51.62882420432166 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 9.99999044e-01 1.38295555e-03 4.52197255e-07] [-1.38295555e-03 9.99999044e-01 -5.57938354e-07] [-4.52968427e-07 5.57312451e-07 1.00000000e+00]] t_estimated: [[ 4.85060456e-01] [-8.74480613e-01] [-1.04460586e-04]] R_gt: [[ 0.97377789 -0.17448391 0.14598531] [ 0.16901129 0.98438546 0.04918771] [-0.15228817 -0.02322594 0.98806369]] t_gt: [ 0.5458021 -0.6440548 0.53599765] Pose Error in degrees for R and t: 13.375444410966438 34.11592643470922 Number of keypoints: Image1: 26 Image2: 26 R_estimated: [[ 7.90519132e-01 -6.12437305e-01 -2.21971149e-04] [ 6.12437255e-01 7.90518766e-01 8.30251521e-04] [-3.33004645e-04 -7.92273113e-04 9.99999631e-01]] t_estimated: [[ 8.59504716e-01] [-5.11127172e-01] [ 8.10242567e-04]] R_gt: [[ 0.93651006 -0.29658057 0.18705639] [ 0.28658201 0.95478975 0.07904262] [-0.20204133 -0.02041857 0.97916419]] t_gt: [ 0.6511731 -0.63598909 0.41411529] Pose Error in degrees for R and t: 23.685381820736755 27.737008592087598 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[ 0.25994558 0.96562119 0.00200132] [ 0.9656212 -0.25994875 0.00153298] [ 0.00200052 0.00153403 -0.99999682]] t_estimated: [[0.79371133] [0.60829329] [0.00126024]] R_gt: [[ 0.87607678 -0.44493925 0.18579036] [ 0.42978014 0.89526492 0.11743329] [-0.21858168 -0.0230321 0.97554679]] t_gt: [ 0.75665615 -0.57442999 0.31225257] Pose Error in degrees for R and t: 175.98566072721962 75.43144863450318 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.74709337e-01 2.23476379e-01 1.26549850e-04] [-2.23476368e-01 9.74709343e-01 -9.87582513e-05] [-1.45419458e-04 6.79796888e-05 9.99999987e-01]] t_estimated: [[-5.58808988e-01] [ 8.29296163e-01] [ 6.22790836e-04]] R_gt: [[ 0.99621724 -0.03666378 0.07878447] [ 0.04157123 0.99723554 -0.06158352] [-0.07630861 0.06462625 0.99498763]] t_gt: [ 0.96546536 -0.21608703 0.14554394] Pose Error in degrees for R and t: 16.201524134904403 44.05931949325877 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999905e-01 2.95640530e-04 3.19326516e-04] [-2.95487249e-04 9.99999841e-01 -4.79954193e-04] [-3.19468359e-04 4.79859791e-04 9.99999834e-01]] t_estimated: [[-0.35869607] [-0.93345288] [-0.00168807]] R_gt: [[ 0.99142423 -0.11943887 0.05303764] [ 0.12181726 0.99157052 -0.04414399] [-0.04731766 0.05022748 0.99761519]] t_gt: [ 0.88026788 -0.47215343 -0.04689988] Pose Error in degrees for R and t: 7.983633213633864 82.81557600013664 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.8122369 0.58332535 0.00165932] [-0.58331432 0.81223425 -0.00446375] [-0.00395158 0.00265772 0.99998866]] t_estimated: [[0.61217292] [0.79072335] [0.00094471]] R_gt: [[ 0.98228194 -0.18603672 0.02264631] [ 0.18693497 0.98121007 -0.04777777] [-0.01333232 0.05116563 0.99860093]] t_gt: [ 0.88088941 -0.45364001 -0.13507256] Pose Error in degrees for R and t: 46.51673328548768 79.60546746422476 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.86763677e-01 -1.62164811e-01 -1.42806429e-04] [ 1.62164817e-01 9.86763685e-01 3.13012813e-05] [ 1.35840232e-04 -5.40451459e-05 9.99999989e-01]] t_estimated: [[-0.53483788] [-0.84495395] [-0.00112361]] R_gt: [[ 0.99221493 0.11318442 0.05195617] [-0.11135629 0.99309846 -0.03682678] [-0.05576501 0.03075461 0.99797053]] t_gt: [-0.7702066 0.60293929 0.20795674] Pose Error in degrees for R and t: 16.201243410579803 84.39015315545305 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.86310183e-01 -1.64900374e-01 -2.99079541e-04] [ 1.64900534e-01 9.86310002e-01 6.27098828e-04] [ 1.91576312e-04 -6.67832335e-04 9.99999759e-01]] t_estimated: [[-0.8981787 ] [-0.43962891] [-0.00120291]] R_gt: [[ 0.99045447 0.1014386 0.09332545] [-0.09986913 0.9947717 -0.02135449] [-0.0950032 0.01182961 0.99540711]] t_gt: [-0.75295198 0.48852813 0.44091221] Pose Error in degrees for R and t: 16.240513808834024 62.549380862499156 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.54643947e-01 -2.97749699e-01 -2.23732984e-04] [ 2.97749782e-01 9.54643749e-01 6.16067212e-04] [ 3.01514672e-05 -6.54741282e-04 9.99999785e-01]] t_estimated: [[-0.911219 ] [-0.41192092] [-0.0010402 ]] R_gt: [[ 0.98689505 0.08979806 0.13406821] [-0.08264692 0.99488975 -0.0580018 ] [-0.13859149 0.04616134 0.98927401]] t_gt: [-0.72585007 0.53149125 0.43664486] Pose Error in degrees for R and t: 23.81365829380672 63.76704793486088 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[-3.71205494e-01 -9.28549418e-01 -1.56803337e-03] [-9.28550278e-01 3.71206468e-01 -3.73366512e-04] [ 9.28753388e-04 1.31740213e-03 -9.99998701e-01]] t_estimated: [[8.37225086e-01] [5.46858004e-01] [6.91350195e-04]] R_gt: [[ 0.99884076 -0.01707877 -0.04500466] [ 0.01809171 0.99959115 0.02216872] [ 0.04460799 -0.02295753 0.99874112]] t_gt: [-0.11179472 -0.85090874 -0.51327989] Pose Error in degrees for R and t: 178.5140179043688 55.99408716003529 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.93203255e-01 -1.16392312e-01 3.51683860e-04] [ 1.16392291e-01 9.93203317e-01 8.07641962e-05] [-3.58693908e-04 -3.92819724e-05 9.99999935e-01]] t_estimated: [[ 0.88980825] [-0.45633311] [ 0.001173 ]] R_gt: [[ 0.99720805 -0.02648188 -0.06982017] [ 0.02776218 0.99946284 0.01740589] [ 0.06932139 -0.01929499 0.99740785]] t_gt: [-0.19975524 -0.79643531 -0.57077897] Pose Error in degrees for R and t: 6.592848313786681 79.33732779243438 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 6.81626604e-01 7.31690891e-01 3.68962982e-03] [ 7.31700149e-01 -6.81619649e-01 -3.08951836e-03] [ 2.54351740e-04 4.80560060e-03 -9.99988421e-01]] t_estimated: [[-8.97818109e-01] [-4.40365803e-01] [-7.76659264e-04]] R_gt: [[ 0.98973502 -0.10999072 -0.09125253] [ 0.11338978 0.99300588 0.03290894] [ 0.08699467 -0.04291641 0.99528365]] t_gt: [ 0.16955777 -0.93324419 -0.31671034] Pose Error in degrees for R and t: 176.2113189960422 74.99028821402955 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.58491257 -0.81077288 -0.02290474] [-0.81081713 0.58521894 -0.00971469] [ 0.02128069 0.01288931 -0.99969045]] t_estimated: [[ 0.88891199] [ 0.45792169] [-0.01196654]] R_gt: [[ 0.99847745 0.05277534 0.01602181] [-0.05248813 0.99846315 -0.01781211] [-0.01693801 0.016943 0.99971303]] t_gt: [-0.46772514 0.88119068 0.06881989] Pose Error in degrees for R and t: 178.96322606265488 89.25091092617896 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.98088717e-01 6.17972523e-02 1.13059653e-04] [-6.17972357e-02 9.98088714e-01 -1.44417569e-04] [-1.21768172e-04 1.37154772e-04 9.99999983e-01]] t_estimated: [[-9.44635946e-01] [-3.28120142e-01] [-3.18656835e-04]] R_gt: [[ 0.99996142 0.00728596 0.00476268] [-0.00715157 0.99959233 -0.0276201 ] [-0.00496178 0.02758394 0.99960676]] t_gt: [-0.41083858 0.82482119 -0.38843489] Pose Error in degrees for R and t: 3.5139122543744645 83.24775985285709 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999176e-01 1.27739513e-03 1.25078789e-04] [-1.27732609e-03 9.99999033e-01 -5.50448479e-04] [-1.25781808e-04 5.50288260e-04 9.99999841e-01]] t_estimated: [[-0.35136101] [-0.93623487] [-0.00311756]] R_gt: [[ 0.99034554 -0.13711814 0.02034513] [ 0.13721047 0.99053616 -0.00318646] [-0.01971509 0.00594702 0.99978767]] t_gt: [ 0.52803707 -0.83778379 0.13890705] Pose Error in degrees for R and t: 8.042920576352827 53.244772186529794 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 4.82838580e-03 9.99988044e-01 7.73850360e-04] [ 9.99982729e-01 -4.83095039e-03 3.34718916e-03] [ 3.35088757e-03 7.57675474e-04 -9.99994099e-01]] t_estimated: [[0.63217954] [0.77482147] [0.00084403]] R_gt: [[ 0.99816436 0.06050502 0.0028595 ] [-0.06049849 0.9981661 -0.00221862] [-0.0029879 0.0020417 0.99999308]] t_gt: [-0.13029961 0.99141805 -0.01059496] Pose Error in degrees for R and t: 179.89386391741976 46.70220775528542 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.83327127e-01 1.81789221e-01 4.52113280e-03] [ 1.81788151e-01 -9.83337504e-01 6.49765291e-04] [ 4.56391976e-03 1.82956536e-04 -9.99989569e-01]] t_estimated: [[0.72634186] [0.68733317] [0.00078017]] R_gt: [[ 0.99736493 0.07042385 0.01744723] [-0.07039536 0.99751666 -0.00228804] [-0.01756424 0.00105414 0.99984532]] t_gt: [0.15408503 0.96824326 0.1968827 ] Pose Error in degrees for R and t: 179.83555415190875 38.96067431902016 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.93471645 -0.35481439 -0.02029567] [ 0.35501912 0.93482931 0.00745563] [ 0.01632762 -0.01417425 0.99976622]] t_estimated: [[0.86495855] [0.50183916] [0.00204 ]] R_gt: [[ 0.99887091 0.04133321 0.02344553] [-0.04072691 0.99883735 -0.02580047] [-0.02448442 0.02481703 0.99939166]] t_gt: [0.82768611 0.55962409 0.0419116 ] Pose Error in degrees for R and t: 23.36332213579269 4.555431178528199 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.99685887 -0.07823249 -0.01233179] [ 0.07707624 0.99411821 -0.07608041] [ 0.01821122 0.07489095 0.99702542]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.99901297 -0.00556069 -0.04405749] [ 0.00723826 0.99924984 0.03802645] [ 0.04381259 -0.03830824 0.9983049 ]] t_gt: [-0.39315871 -0.89209392 -0.2226986 ] Pose Error in degrees for R and t: 7.871614125458604 21.77781499585081 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99994972e-01 3.17097102e-03 -1.02562111e-05] [-3.17097523e-03 9.99994875e-01 -4.40988824e-04] [ 8.85779579e-06 4.41019129e-04 9.99999903e-01]] t_estimated: [[-0.02257187] [-0.99974118] [-0.00284148]] R_gt: [[ 0.99615677 -0.04411115 -0.07566592] [ 0.04549112 0.99882618 0.01661992] [ 0.07484274 -0.01999791 0.99699445]] t_gt: [-0.05471491 -0.83334609 -0.55003689] Pose Error in degrees for R and t: 5.231656677554474 33.287372604299705 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.77294794e-01 2.11883667e-01 4.43806027e-04] [-2.11883216e-01 9.77294585e-01 -8.92840758e-04] [-6.22907600e-04 7.78533576e-04 9.99999503e-01]] t_estimated: [[9.97402418e-01] [7.20241454e-02] [9.69481052e-04]] R_gt: [[ 0.98745278 -0.11667514 -0.10641165] [ 0.12296919 0.99090556 0.05461853] [ 0.09907109 -0.0670192 0.99282054]] t_gt: [ 0.18749375 -0.94632064 -0.26329328] Pose Error in degrees for R and t: 20.34168190128759 83.18906208299796 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99980424e-01 -6.25665108e-03 7.61281082e-05] [ 6.25665357e-03 9.99980426e-01 -3.25057756e-05] [-7.59232408e-05 3.29814465e-05 9.99999997e-01]] t_estimated: [[-0.99987225] [ 0.01570815] [-0.00295654]] R_gt: [[ 0.99999353 -0.00316334 0.00206841] [ 0.00316624 0.99999449 -0.0011671 ] [-0.00206424 0.0011738 0.99999631]] t_gt: [ 0.94821527 -0.31603512 0.03177433] Pose Error in degrees for R and t: 0.22064735993246146 17.607249173590468 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99875586e-01 1.57391231e-02 -1.04498008e-03] [-1.57387022e-02 9.99876055e-01 4.09745725e-04] [ 1.05129960e-03 -3.93248117e-04 9.99999370e-01]] t_estimated: [[-0.96783467] [-0.25152765] [-0.00546799]] R_gt: [[ 0.99903479 0.04264852 0.01048681] [-0.0427136 0.99906857 0.00614053] [-0.01021453 -0.00658093 0.99992576]] t_gt: [0.75649006 0.59281755 0.2762067 ] Pose Error in degrees for R and t: 1.7119630845901255 28.020738240166317 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.52842448 0.84897893 -0.00153243] [ 0.84813031 -0.5279753 -0.04378423] [-0.03798098 0.02183696 -0.99903984]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99822408 0.05725966 0.01647616] [-0.05720183 0.99835478 -0.00394596] [-0.01667422 0.00299734 0.99985631]] t_gt: [0.76311765 0.62930418 0.14706358] Pose Error in degrees for R and t: 177.17705551853453 8.868251699521531 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99399223e-01 -3.46581812e-02 6.60339017e-05] [ 3.46581251e-02 9.99398970e-01 7.16511506e-04] [-9.08271989e-05 -7.13792431e-04 9.99999741e-01]] t_estimated: [[0.97283329] [0.23150311] [0.00130058]] R_gt: [[ 0.99381447 -0.10706356 -0.02949504] [ 0.10771339 0.99395136 0.02142774] [ 0.02702325 -0.02447237 0.99933533]] t_gt: [ 0.81559781 -0.57861711 -0.0015639 ] Pose Error in degrees for R and t: 4.663547793821855 48.73923903078459 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99926986e-01 1.20728533e-02 5.18006819e-04] [-1.20728494e-02 9.99927120e-01 -1.07943058e-05] [-5.18099385e-04 4.53969936e-06 9.99999866e-01]] t_estimated: [[-8.44878374e-01] [-5.34958036e-01] [-6.58004964e-04]] R_gt: [[ 0.98692825 -0.14085662 -0.07831169] [ 0.14198644 0.98982833 0.00902006] [ 0.07624489 -0.02002064 0.99688721]] t_gt: [ 0.85088896 -0.49357084 -0.17993279] Pose Error in degrees for R and t: 9.935623130832372 62.951819721221895 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-5.54354376e-01 -8.32280665e-01 3.47455882e-04] [-8.32279352e-01 5.54352644e-01 -2.05586834e-03] [ 1.51844638e-03 -1.42885997e-03 -9.99997826e-01]] t_estimated: [[0.7989736 ] [0.60136486] [0.00121981]] R_gt: [[ 0.98204254 -0.13079121 -0.13596245] [ 0.13440278 0.99076951 0.01769408] [ 0.1323939 -0.03565037 0.99055508]] t_gt: [ 0.87370146 -0.39116184 -0.28920267] Pose Error in degrees for R and t: 173.8672611839832 62.45270505770618 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 2.46740133e-01 9.69081675e-01 -1.14195184e-04] [-9.69079953e-01 2.46739469e-01 -1.91794819e-03] [-1.83047199e-03 5.83899056e-04 9.99998154e-01]] t_estimated: [[-4.85283459e-02] [ 9.98821539e-01] [ 7.29752945e-04]] R_gt: [[ 0.98582252 -0.15269536 0.06955557] [ 0.15207136 0.9882673 0.01421585] [-0.07091031 -0.00343682 0.99747738]] t_gt: [ 0.64121084 -0.72207722 0.25971744] Pose Error in degrees for R and t: 84.56850571003301 41.22272027767351 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 2.05792653e-01 9.78595584e-01 2.57603194e-04] [-9.78593460e-01 2.05792745e-01 -2.04596591e-03] [-2.05518607e-03 1.68955951e-04 9.99997874e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94974298 -0.2964853 0.10041508] [ 0.29529286 0.95502817 0.02687996] [-0.10386934 0.00412214 0.9945826 ]] t_gt: [ 0.73362068 -0.6505287 0.19650216] Pose Error in degrees for R and t: 95.51916328656162 49.779124162897624 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-0.09069276 0.99587671 0.00210027] [ 0.99587729 0.0906886 0.00199917] [ 0.00180045 0.00227292 -0.9999958 ]] t_estimated: [[8.13305771e-01] [5.81836166e-01] [6.32430615e-04]] R_gt: [[ 0.89604948 -0.43952915 0.0625186 ] [ 0.43300603 0.89632442 0.09542737] [-0.09798049 -0.05843665 0.99347171]] t_gt: [ 0.79521106 -0.57186978 0.20150515] Pose Error in degrees for R and t: 179.51874431612347 71.6909350548748 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-2.52302701e-01 -9.67648336e-01 2.09878254e-04] [-9.67644486e-01 2.52301072e-01 -2.88406623e-03] [ 2.73780939e-03 -9.30745236e-04 -9.99995819e-01]] t_estimated: [[8.05103813e-01] [5.93133579e-01] [6.38464563e-04]] R_gt: [[ 0.9997315 -0.00616868 0.02235363] [ 0.005934 0.99992685 0.01054277] [-0.02241766 -0.01040676 0.99969459]] t_gt: [-0.62719587 -0.3889901 0.67476814] Pose Error in degrees for R and t: 178.70992438934962 42.67164987093657 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-8.05893944e-01 -5.92057258e-01 -1.77595279e-03] [ 5.92059701e-01 -8.05892608e-01 -1.55433340e-03] [-5.10972860e-04 -2.30409795e-03 9.99997215e-01]] t_estimated: [[9.99979910e-01] [6.29620348e-03] [7.32992109e-04]] R_gt: [[ 9.97942364e-01 -2.80239150e-03 6.40640109e-02] [ 2.73900287e-03 9.99995692e-01 1.07672667e-03] [-6.40665875e-02 -8.98677596e-04 9.97945290e-01]] t_gt: [-0.87045898 -0.13685221 0.47283468] Pose Error in degrees for R and t: 143.561133958301 29.43001115374227 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.98102629 0.19387004 -0.00135289] [-0.19386581 -0.98102416 -0.00276546] [-0.00186335 -0.00245071 0.99999526]] t_estimated: [[0.87706204] [0.48037467] [0.00153376]] R_gt: [[ 0.99537581 0.06263419 0.07283208] [-0.06050891 0.99768475 -0.03103063] [-0.07460727 0.02648098 0.99686116]] t_gt: [-0.94918467 0.302179 -0.08795631] Pose Error in degrees for R and t: 165.29050104918514 46.569861205322056 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.55994649e-01 2.93383469e-01 -6.09373890e-04] [-2.93381878e-01 9.55993427e-01 1.90821929e-03] [ 1.14239743e-03 -1.64546818e-03 9.99997994e-01]] t_estimated: [[-0.97215211] [-0.23434809] [-0.00112128]] R_gt: [[ 0.99445998 -0.0874666 0.05829625] [ 0.08869404 0.99588121 -0.01882052] [-0.05641023 0.02388782 0.99812214]] t_gt: [ 0.35215245 -0.84691583 0.39839959] Pose Error in degrees for R and t: 22.405659058277404 81.70213285550595 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.99854551 0.053854 -0.00256989] [-0.05384414 0.99854227 0.00376143] [ 0.00276872 -0.00361758 0.99998962]] t_estimated: [[-8.88096548e-01] [-4.59656298e-01] [-7.80401185e-04]] R_gt: [[ 0.97955927 -0.19363766 0.05447168] [ 0.19252534 0.98097323 0.02500378] [-0.05827724 -0.01400541 0.99820204]] t_gt: [ 0.54806826 -0.76709632 0.33344328] Pose Error in degrees for R and t: 14.656723548817856 82.2762417943325 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.94213907e-01 1.07418151e-01 2.16687419e-04] [-1.07418223e-01 9.94213861e-01 3.51509349e-04] [-1.77675151e-04 -3.72751661e-04 9.99999915e-01]] t_estimated: [[9.24575424e-01] [3.80998329e-01] [7.48108789e-04]] R_gt: [[ 0.95165786 -0.30306844 0.0499709 ] [ 0.30221157 0.95293674 0.02406671] [-0.0549142 -0.00780129 0.99846067]] t_gt: [ 0.64975541 -0.73284908 0.20186663] Pose Error in degrees for R and t: 24.002962380545096 71.23516538140709 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.98715266 -0.1068269 0.11881766] [ 0.11292188 0.99254835 -0.04578673] [-0.11304102 0.05861561 0.99185984]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.975748 0.21811815 0.01839594] [-0.21805096 0.97592083 -0.00562404] [-0.01918021 0.00147622 0.99981468]] t_gt: [-0.74759363 0.66261242 0.04526096] Pose Error in degrees for R and t: 19.922295167225094 82.4889709219531 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99993386e-01 -3.55668839e-03 -7.60188486e-04] [ 3.55723368e-03 9.99993416e-01 7.17163962e-04] [ 7.57632752e-04 -7.19863387e-04 9.99999454e-01]] t_estimated: [[-9.87069135e-01] [-1.60293276e-01] [-7.66953483e-04]] R_gt: [[ 0.94998469 0.30949013 0.04175633] [-0.30910057 0.95090041 -0.0156539 ] [-0.04455071 0.00196443 0.99900507]] t_gt: [-0.72394902 0.68572109 0.07539491] Pose Error in degrees for R and t: 18.41391540424993 52.79897004560015 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 5.99747144e-01 -8.00187616e-01 -1.77254204e-03] [ 8.00189123e-01 5.99747696e-01 2.60734669e-04] [ 8.54441351e-04 -1.57474373e-03 9.99998395e-01]] t_estimated: [[-0.07900148] [-0.99687396] [-0.00103949]] R_gt: [[ 0.91236738 0.40771348 0.03679535] [-0.4072035 0.91310108 -0.02078356] [-0.04207126 0.00397925 0.99910647]] t_gt: [-0.68686859 0.72478542 0.05382962] Pose Error in degrees for R and t: 77.24030539339603 48.06308022887081 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.25299765e-01 -3.79236512e-01 1.16144564e-04] [ 3.79236530e-01 9.25299720e-01 -2.86588582e-04] [ 1.21632144e-06 3.09226609e-04 9.99999952e-01]] t_estimated: [[8.40740840e-01] [5.41437101e-01] [8.40740840e-04]] R_gt: [[ 0.99781015 0.06361946 -0.01812506] [-0.06367578 0.99796654 -0.00261026] [ 0.0179217 0.0037595 0.99983166]] t_gt: [-0.58944731 0.76058602 -0.27214108] Pose Error in degrees for R and t: 25.956835353463326 85.18195181126525 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-2.54680758e-01 -9.67024410e-01 -1.22525563e-03] [-9.67025071e-01 2.54679903e-01 8.11912160e-04] [-4.73090891e-04 1.39163132e-03 -9.99998920e-01]] t_estimated: [[6.37084234e-01] [7.70793830e-01] [7.42123763e-04]] R_gt: [[ 0.98097487 0.19216403 -0.0275882 ] [-0.1925157 0.98123502 -0.01071435] [ 0.0250109 0.01582147 0.99956159]] t_gt: [-0.58111638 0.79659514 -0.16655309] Pose Error in degrees for R and t: 178.29988442245198 75.89693249639336 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.56472318e-01 -2.91822216e-01 7.07175054e-04] [ 2.91822904e-01 9.56471560e-01 -1.24371278e-03] [-3.13449809e-04 1.39594672e-03 9.99998977e-01]] t_estimated: [[-0.79255835] [-0.60979545] [-0.00087867]] R_gt: [[ 0.95734505 0.28073241 -0.06840577] [-0.28082579 0.95972162 0.00843361] [ 0.06801896 0.01113724 0.99762147]] t_gt: [-0.55651949 0.80152888 -0.21871788] Pose Error in degrees for R and t: 33.52442414360979 87.2772934695537 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999992e-01 -4.97997945e-05 -1.19581982e-04] [ 4.98046534e-05 9.99999998e-01 4.06300814e-05] [ 1.19579958e-04 -4.06360368e-05 9.99999992e-01]] t_estimated: [[-9.98796053e-01] [-4.90529648e-02] [-5.01705640e-04]] R_gt: [[ 0.98204109 0.1877182 -0.01890738] [-0.18806744 0.98197746 -0.0187181 ] [ 0.01505269 0.02193866 0.99964575]] t_gt: [-0.64630336 0.74877293 -0.14707505] Pose Error in degrees for R and t: 10.940747737176695 52.492194735404276 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.88811822e-01 1.49168255e-01 -1.07276586e-04] [-1.49168267e-01 9.88811821e-01 -1.05153879e-04] [ 9.03907361e-05 1.19979661e-04 9.99999989e-01]] t_estimated: [[-8.45131481e-01] [ 5.34558386e-01] [-3.34875702e-04]] R_gt: [[ 0.9474251 0.31812573 0.03440041] [-0.31665054 0.94759924 -0.04228166] [-0.04604887 0.029166 0.99851296]] t_gt: [-0.65588716 0.75176094 0.06831922] Pose Error in degrees for R and t: 10.418860934826638 17.030667792464005 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.99977009 -0.02057378 -0.00604097] [ 0.02063989 0.99972543 0.01109365] [ 0.00581108 -0.01121578 0.99992022]] t_estimated: [[ 0.12173591] [ 0.99251998] [-0.00918979]] R_gt: [[ 0.93309645 0.35487274 0.05828093] [-0.35217986 0.93450369 -0.05169391] [-0.07280857 0.02771041 0.99696052]] t_gt: [-0.66241344 0.74002727 0.11648212] Pose Error in degrees for R and t: 22.49839305925353 49.248324911393894 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-0.31483207 -0.94913164 0.00546882] [-0.94906823 0.314875 0.01110085] [-0.01225817 -0.00169538 -0.99992343]] t_estimated: [[0.82172128] [0.56985004] [0.006714 ]] R_gt: [[ 0.99997567 0.0067895 0.00129426] [-0.00674669 0.99949711 -0.03099988] [-0.0015044 0.03098981 0.9995187 ]] t_gt: [-0.27804699 0.68225611 -0.67617784] Pose Error in degrees for R and t: 179.6474052827144 81.03873636736854 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99998991e-01 1.42036368e-03 1.47446040e-05] [-1.42036192e-03 9.99998984e-01 -1.18366165e-04] [-1.49127120e-05 1.18345103e-04 9.99999993e-01]] t_estimated: [[0.99992249] [0.01239739] [0.00114513]] R_gt: [[ 0.99586833 -0.09080046 -0.00132054] [ 0.09079179 0.99585386 -0.00569461] [ 0.001833 0.00555077 0.99998312]] t_gt: [ 0.49424852 -0.86716205 -0.06122397] Pose Error in degrees for R and t: 5.300853337688764 61.09298552207626 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999894e-01 -2.56124654e-05 4.59989918e-04] [ 2.58965005e-05 9.99999809e-01 -6.17485728e-04] [-4.59974015e-04 6.17497574e-04 9.99999704e-01]] t_estimated: [[-0.41656215] [-0.90905081] [-0.01012895]] R_gt: [[ 9.69679661e-01 -2.43359904e-01 2.22992215e-02] [ 2.43309440e-01 9.69936178e-01 4.99669422e-03] [-2.28435771e-02 5.80319823e-04 9.99739287e-01]] t_gt: [ 0.59020113 -0.80105057 0.09990297] Pose Error in degrees for R and t: 14.142145130837685 61.2278080776917 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99999980e-01 -1.91453358e-04 5.01704009e-05] [ 1.91453337e-04 9.99999982e-01 4.31776243e-07] [-5.01704826e-05 -4.22170944e-07 9.99999999e-01]] t_estimated: [[ 4.49915175e-01] [-8.93071260e-01] [ 2.43728043e-04]] R_gt: [[ 0.99936205 -0.0256413 0.02483022] [ 0.02578262 0.99965209 -0.00538556] [-0.02468325 0.00602266 0.99967716]] t_gt: [ 0.73555351 -0.6623197 0.14245578] Pose Error in degrees for R and t: 2.0630875986683295 22.7100929378425 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.92362215e-01 -1.23358089e-01 -1.26157851e-04] [ 1.23358101e-01 9.92362217e-01 9.71673543e-05] [ 1.13207905e-04 -1.11987804e-04 9.99999987e-01]] t_estimated: [[ 3.65145380e-01] [-9.30950418e-01] [-4.13893406e-04]] R_gt: [[ 0.99485409 -0.04204041 0.09217615] [ 0.04575503 0.99820813 -0.03855839] [-0.0903896 0.04257777 0.9949955 ]] t_gt: [ 0.76316842 -0.55249915 0.33513977] Pose Error in degrees for R and t: 7.3346068809581855 37.54471377051257 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.95118874e-01 -9.86831714e-02 -2.42046867e-04] [ 9.86831364e-02 9.95118895e-01 -1.52463626e-04] [ 2.55911005e-04 1.27833487e-04 9.99999959e-01]] t_estimated: [[ 0.2979497 ] [-0.95458107] [-0.00097616]] R_gt: [[ 0.9912317 0.00548803 0.13201995] [ 0.00532442 0.99666603 -0.08140656] [-0.13202693 0.08139627 0.98789845]] t_gt: [0.03188665 0.99705163 0.06979458] Pose Error in degrees for R and t: 10.574552513942129 19.55268825492598 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 7.67016044e-01 6.41626685e-01 1.25865925e-03] [ 6.41626302e-01 -7.67017040e-01 7.41191826e-04] [ 1.44098154e-03 2.39082855e-04 -9.99998933e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99154014 0.00634388 0.12965135] [-0.00552633 0.99996258 -0.0066639 ] [-0.12968913 0.0058905 0.99153736]] t_gt: [-0.12209607 0.10642291 0.98679619] Pose Error in degrees for R and t: 177.1349739552428 86.97961189765995 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-1.84450569e-02 9.99829362e-01 -1.01321793e-03] [-9.99815103e-01 -1.84502837e-02 -5.41732235e-03] [-5.43509210e-03 9.13107770e-04 9.99984813e-01]] t_estimated: [[0.00981764] [0.99994878] [0.00246159]] R_gt: [[ 0.9769346 -0.0204258 0.21256072] [ 0.03153561 0.99830069 -0.04900358] [-0.21119835 0.05457684 0.97591853]] t_gt: [0.1730065 0.01806404 0.98475502] Pose Error in degrees for R and t: 93.18841123087532 88.72874863936148 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 6.21203195e-01 -7.83649509e-01 1.92868200e-04] [ 7.83649529e-01 6.21203149e-01 -2.50878747e-04] [ 7.67906737e-05 3.06987753e-04 9.99999950e-01]] t_estimated: [[ 8.58698183e-01] [-5.12481413e-01] [-4.81717080e-04]] R_gt: [[ 0.97407792 -0.09134886 0.20695306] [ 0.10263027 0.99372788 -0.0444201 ] [-0.20159808 0.06450841 0.9773418 ]] t_gt: [ 0.67027473 -0.33309479 0.66315884] Pose Error in degrees for R and t: 47.47529921250745 41.759313294743464 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.92649508 0.37609565 0.01260628] [ 0.37620452 -0.92494194 -0.05433762] [-0.00877607 0.05508607 -0.99844304]] t_estimated: [[-9.87944426e-01] [-1.54806107e-01] [-9.38218827e-04]] R_gt: [[ 0.99124347 0.13092439 -0.01719231] [-0.13033113 0.99095321 0.03205377] [ 0.02123276 -0.02953248 0.99933823]] t_gt: [-0.72007565 0.6922014 0.04845898] Pose Error in degrees for R and t: 178.76708143608016 52.82926008002885 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 9.92150965e-01 -1.25044640e-01 5.48577835e-04] [ 1.25044643e-01 9.92151116e-01 2.95713296e-05] [-5.47969848e-04 3.92574964e-05 9.99999849e-01]] t_estimated: [[0.3373598 ] [0.94137524] [0.00101006]] R_gt: [[ 9.56117548e-01 2.91035412e-01 -3.37339838e-02] [-2.90841949e-01 9.56712612e-01 1.06256847e-02] [ 3.53656640e-02 -3.48478018e-04 9.99373578e-01]] t_gt: [-0.61573472 0.78247241 -0.09277761] Pose Error in degrees for R and t: 24.189417309217266 58.07678297353233 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 0.9983337 -0.05758914 0.00364887] [ 0.0576082 0.99832491 -0.00535484] [-0.00333438 0.00555612 0.99997901]] t_estimated: [[-7.73063829e-01] [-6.34327806e-01] [-7.41903867e-04]] R_gt: [[ 8.94458390e-01 4.47125240e-01 4.71967043e-03] [-4.47131969e-01 8.94468714e-01 2.93718283e-04] [-4.09097080e-03 -2.37304015e-03 9.99987973e-01]] t_gt: [-0.58327907 0.81180265 0.027604 ] Pose Error in degrees for R and t: 29.864354809610155 86.32725980709404 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.88192175e-01 1.53219426e-01 1.79307801e-04] [-1.53219395e-01 9.88192181e-01 -1.73066279e-04] [-2.03707683e-04 1.43549310e-04 9.99999969e-01]] t_estimated: [[-1.93262907e-01] [ 9.81146558e-01] [ 9.38289946e-04]] R_gt: [[ 0.99754885 -0.06787577 -0.01702443] [ 0.06781915 0.99769063 -0.00382548] [ 0.01724559 0.00266206 0.9998481 ]] t_gt: [ 0.51402718 -0.81213977 -0.27605263] Pose Error in degrees for R and t: 12.743915743786163 26.307355459616115 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-6.83119216e-01 7.30306874e-01 -7.95119987e-05] [-7.30299561e-01 -6.83112855e-01 -4.40202978e-03] [-3.26914828e-03 -2.94904356e-03 9.99990308e-01]] t_estimated: [[0.31549867] [0.94892292] [0.00242691]] R_gt: [[ 0.97537129 -0.220472 0.00664322] [ 0.22030437 0.97522839 0.0198937 ] [-0.01086404 -0.01794076 0.99978043]] t_gt: [ 0.58080197 -0.8072231 0.10516622] Pose Error in degrees for R and t: 145.82315181056683 54.3737789123201 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 7.32487085e-01 6.80780621e-01 6.45740347e-04] [-6.80780438e-01 7.32485092e-01 1.89320208e-03] [ 8.15860110e-04 -1.82635347e-03 9.99997999e-01]] t_estimated: [[8.52762519e-01] [5.22298309e-01] [7.49351950e-04]] R_gt: [[ 0.95473215 -0.2971843 -0.01294119] [ 0.29741107 0.95448697 0.02236376] [ 0.00570709 -0.02520033 0.99966597]] t_gt: [ 0.61964395 -0.78391885 0.0388923 ] Pose Error in degrees for R and t: 60.21689483806169 83.16567684608734 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.98579364e-01 5.32846515e-02 -2.53340474e-05] [-5.32846526e-02 9.98579363e-01 -4.44475047e-05] [ 2.29296871e-05 4.57342769e-05 9.99999999e-01]] t_estimated: [[-9.11795934e-01] [-4.10643523e-01] [-2.70164650e-04]] R_gt: [[ 0.99604956 0.0834148 0.03043339] [-0.08161328 0.99507348 -0.05628059] [-0.03497866 0.05357499 0.99795044]] t_gt: [-0.84118953 0.33541252 -0.42414457] Pose Error in degrees for R and t: 4.035342166041311 50.99613577799231 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 7.33951330e-01 -6.79201579e-01 8.12911607e-04] [ 6.79202053e-01 7.33950556e-01 -1.07370521e-03] [ 1.32625348e-04 1.34017860e-03 9.99999093e-01]] t_estimated: [[-0.22884862] [-0.97346053] [-0.00170783]] R_gt: [[ 0.99635398 0.08099642 0.02678484] [-0.07812038 0.99240441 -0.09502469] [-0.0342785 0.09258496 0.9951139 ]] t_gt: [-0.68375171 0.34175163 -0.64473981] Pose Error in degrees for R and t: 47.66474381094574 79.91523211572337 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99993603e-01 3.51763796e-03 6.48738125e-04] [-3.51571381e-03 9.99989487e-01 -2.94365203e-03] [-6.59086007e-04 2.94135242e-03 9.99995457e-01]] t_estimated: [[-0.45687802] [-0.88952767] [-0.0017306 ]] R_gt: [[ 0.99828607 -0.04720305 0.03458179] [ 0.05113473 0.99103988 -0.12338592] [-0.02844781 0.12494221 0.99175555]] t_gt: [ 0.3072919 0.12785599 -0.94298703] Pose Error in degrees for R and t: 7.801989650542817 75.37483126462769 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-0.9717396 0.23432276 -0.02854812] [ 0.23429039 0.97215615 0.00452077] [ 0.02881254 -0.00229554 -0.9995822 ]] t_estimated: [[ 0.99223894] [-0.12351011] [-0.01439226]] R_gt: [[ 0.99641856 0.0844984 -0.00320962] [-0.08452454 0.99637938 -0.00920218] [ 0.00242084 0.00944082 0.99995238]] t_gt: [-0.80136904 0.59076045 -0.0938603 ] Pose Error in degrees for R and t: 178.24600075448166 29.915301751287235 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.97807822e-01 6.61781690e-02 2.03823190e-05] [-6.61781676e-02 9.97807820e-01 -6.42445301e-05] [-2.45892227e-05 6.27548301e-05 9.99999998e-01]] t_estimated: [[-9.86920783e-01] [ 1.61205969e-01] [-5.80796401e-05]] R_gt: [[ 0.97035684 0.2412535 0.01432685] [-0.24125277 0.97046074 -0.00185007] [-0.01435008 -0.00166035 0.99989593]] t_gt: [-0.75266841 0.6569174 0.0441564 ] Pose Error in degrees for R and t: 10.200045047989105 31.927220347189007 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.90687723 -0.42132639 0.0075998 ] [ 0.42137544 0.90686125 -0.00673871] [-0.00405277 0.00931355 0.99994842]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.92261937 0.38551705 0.01225839] [-0.38499446 0.92237478 -0.03168014] [-0.02352125 0.02450926 0.9994229 ]] t_gt: [-0.66948257 0.74270631 -0.01343233] Pose Error in degrees for R and t: 47.60350929662661 48.14970447446672 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.00506392e-01 4.34842266e-01 6.64557403e-04] [-4.34842086e-01 9.00506634e-01 -4.02880050e-04] [-7.73627624e-04 7.38185332e-05 9.99999698e-01]] t_estimated: [[0.58576182] [0.81048255] [0.00105899]] R_gt: [[ 0.97161118 -0.23556283 0.02198378] [ 0.23484258 0.97153684 0.03106569] [-0.02867511 -0.02502072 0.99927556]] t_gt: [ 0.71238964 -0.68246804 0.16351876] Pose Error in degrees for R and t: 39.44078891778336 82.20294635256154 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-3.34959378e-01 -9.42230726e-01 -1.86406683e-03] [-9.42232448e-01 3.34959686e-01 1.53856450e-04] [ 4.79418964e-04 1.80791991e-03 -9.99998251e-01]] t_estimated: [[7.94854797e-01] [6.06799345e-01] [6.36934524e-04]] R_gt: [[ 9.19142557e-01 -3.93925590e-01 2.74528170e-04] [ 3.93066887e-01 9.17183048e-01 6.53837365e-02] [-2.60087744e-02 -5.99891140e-02 9.97860346e-01]] t_gt: [ 0.7805556 -0.60360072 0.16247808] Pose Error in degrees for R and t: 177.32313652212468 75.26982474132426 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.99918605 -0.04028938 0.00200148] [ 0.04029275 0.99918652 -0.0016718 ] [-0.0019325 0.00175108 0.9999966 ]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.90306592 -0.42901888 0.02037004] [ 0.42704012 0.90194801 0.06424033] [-0.04593287 -0.04931378 0.99772722]] t_gt: [ 0.77582852 -0.60487866 0.17947678] Pose Error in degrees for R and t: 23.386503525544814 72.52391843546953 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 6.03875953e-01 -7.97078061e-01 6.30996114e-04] [ 7.97078310e-01 6.03875807e-01 -4.21986522e-04] [-4.46870890e-05 7.57780829e-04 9.99999712e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99826741 0.05785795 -0.01071406] [-0.05825398 0.99744328 -0.04139482] [ 0.00829156 0.04194838 0.99908553]] t_gt: [-0.46415492 0.68457385 -0.56206659] Pose Error in degrees for R and t: 56.22938810596827 62.93837565178478 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.9894757 0.14467374 0.00270967] [-0.14466147 0.98947194 -0.00428256] [-0.00330072 0.0038455 0.99998716]] t_estimated: [[0.22614951] [0.97409189] [0.00117786]] R_gt: [[ 0.98887862 0.14713587 -0.02169025] [-0.14780803 0.98844422 -0.0336257 ] [ 0.01649221 0.036459 0.99919867]] t_gt: [-0.56128033 0.78152779 -0.27235768] Pose Error in degrees for R and t: 2.1932625248991457 50.652231934016065 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.6078056 -0.79390952 -0.01673411] [ 0.7940357 -0.6078691 -0.00157074] [-0.00892512 -0.01424219 0.99985874]] t_estimated: [[ 0.9784673 ] [-0.20582855] [ 0.01537376]] R_gt: [[ 0.96232163 0.26809904 -0.04538402] [-0.26986312 0.96212645 -0.03856827] [ 0.03332465 0.04936324 0.99822496]] t_gt: [-0.53851482 0.80942132 -0.23417712] Pose Error in degrees for R and t: 143.08120066606963 45.80349798594192 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99978597e-01 6.51129633e-03 6.38572422e-04] [-6.51047630e-03 9.99977990e-01 -1.27793511e-03] [-6.46879381e-04 1.27375035e-03 9.99998980e-01]] t_estimated: [[0.56795426] [0.82305967] [0.00086184]] R_gt: [[ 0.99652487 -0.08260824 0.01073952] [ 0.08309088 0.99489092 -0.05735518] [-0.00594768 0.05804881 0.99829589]] t_gt: [ 0.74012886 -0.62266706 -0.25395866] Pose Error in degrees for R and t: 6.080925389278987 84.7010883997615 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 6.54484542e-01 7.56074096e-01 1.39478326e-03] [-7.56072988e-01 6.54485998e-01 -1.30950386e-03] [-1.90294806e-03 -1.97507913e-04 9.99998170e-01]] t_estimated: [[0.07263369] [0.9973581 ] [0.00108408]] R_gt: [[ 9.89489748e-01 -1.44605751e-01 -9.13259080e-04] [ 1.42961313e-01 9.79145877e-01 -1.44344268e-01] [ 2.17665752e-02 1.42696767e-01 9.89526893e-01]] t_gt: [ 0.72588478 -0.49331829 -0.47929986] Pose Error in degrees for R and t: 57.9720975485664 63.90818312077088 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.99785577 -0.06539607 0.00268631] [-0.0653892 0.99785653 0.00256823] [-0.00284851 0.00238706 -0.99999309]] t_estimated: [[0.99839966] [0.05651319] [0.00209308]] R_gt: [[ 0.98614534 -0.1613962 -0.03831684] [ 0.14762365 0.95921912 -0.2410516 ] [ 0.07565843 0.23205593 0.96975496]] t_gt: [ 0.63610306 -0.2612211 -0.72604162] Pose Error in degrees for R and t: 176.42034068072024 51.77122620053603 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999977e-01 1.47066436e-04 1.57549545e-04] [-1.47070274e-04 9.99999989e-01 2.43504445e-05] [-1.57545962e-04 -2.43736148e-05 9.99999987e-01]] t_estimated: [[0.87658916] [0.48123783] [0.00126099]] R_gt: [[ 0.98197303 -0.18262682 -0.04875866] [ 0.18194386 0.98314075 -0.01814315] [ 0.05125054 0.00894494 0.99864527]] t_gt: [ 0.64955899 -0.71596948 -0.25585313] Pose Error in degrees for R and t: 10.934557684687258 77.02521970830777 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999964e-01 -8.28031488e-05 2.54628443e-04] [ 8.28900357e-05 9.99999938e-01 -3.41238605e-04] [-2.54600171e-04 3.41259699e-04 9.99999909e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.52780837e-01 -3.03459929e-01 1.10140187e-02] [ 3.03660714e-01 9.52137387e-01 -3.49900600e-02] [ 1.30960706e-04 3.66833683e-02 9.99326384e-01]] t_gt: [ 0.58099417 -0.80951571 -0.08443991] Pose Error in degrees for R and t: 17.794079527250915 54.66081660082151 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999953e-01 -3.06246905e-04 3.49171294e-06] [ 3.06250643e-04 9.99999319e-01 -1.12593345e-03] [-3.14689693e-06 1.12593447e-03 9.99999366e-01]] t_estimated: [[-0.80301863] [-0.59595252] [-0.00129228]] R_gt: [[ 0.92312712 -0.38421183 0.01472668] [ 0.38430474 0.92319792 -0.00392818] [-0.0120862 0.00928708 0.99988375]] t_gt: [ 0.5452085 -0.8379023 0.02583463] Pose Error in degrees for R and t: 22.59721384945511 86.4738536121083 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-4.43912061e-01 -8.96067841e-01 -2.12291414e-03] [ 8.96070186e-01 -4.43909273e-01 -1.66684134e-03] [ 5.51221646e-04 -2.64221104e-03 9.99996357e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99584283 -0.08376293 0.03579265] [ 0.08510879 0.99565059 -0.03790587] [-0.0324618 0.04079406 0.99863968]] t_gt: [ 0.79455651 -0.60338884 -0.06783702] Pose Error in degrees for R and t: 111.53770599036528 37.568130354488545 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.40012018 0.91644987 0.00484452] [ 0.91642583 -0.40014591 0.0068516 ] [ 0.00821767 0.00169818 -0.99996479]] t_estimated: [[8.56136612e-01] [5.16749123e-01] [6.66773063e-04]] R_gt: [[ 0.98976209 -0.09803826 0.10372878] [ 0.10902049 0.98835945 -0.10612037] [-0.0921172 0.11634268 0.98892779]] t_gt: [ 0.81173198 -0.54079551 -0.2205253 ] Pose Error in degrees for R and t: 171.70546827358461 65.45858885350503 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.98984785 0.14212184 0.00161824] [ 0.14205702 -0.98963561 0.02100407] [ 0.00458661 -0.02056095 -0.99977808]] t_estimated: [[-9.99991799e-01] [-3.97137332e-03] [-7.94274662e-04]] R_gt: [[ 0.9878565 -0.06463766 0.14128718] [ 0.09164686 0.97672477 -0.1939371 ] [-0.12546274 0.20452992 0.97078649]] t_gt: [ 0.53553836 -0.17529883 -0.82611681] Pose Error in degrees for R and t: 169.13346626289822 57.71157167474861 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999988e-01 -1.52989237e-04 -4.60554956e-06] [ 1.52989327e-04 9.99999988e-01 1.95438342e-05] [ 4.60255951e-06 -1.95445386e-05 1.00000000e+00]] t_estimated: [[ 9.99765922e-01] [-2.16356065e-02] [ 4.06812869e-05]] R_gt: [[ 0.99816211 -0.05895254 -0.01402141] [ 0.0585863 0.99796432 -0.02521557] [ 0.01547931 0.02434832 0.99958411]] t_gt: [ 0.91708453 -0.11776606 -0.38090304] Pose Error in degrees for R and t: 3.74569593701166 23.16114167941745 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.87951890e-01 1.54759472e-01 7.54238882e-04] [-1.54759019e-01 9.87952051e-01 -6.25302529e-04] [-8.41923339e-04 5.01043545e-04 9.99999520e-01]] t_estimated: [[-9.53312532e-01] [-3.01985396e-01] [ 1.90928085e-04]] R_gt: [[ 0.97943908 -0.20127916 -0.01363298] [ 0.1998535 0.97728334 -0.07055263] [ 0.02752403 0.06637802 0.99741526]] t_gt: [ 0.94291992 -0.08374657 -0.32231743] Pose Error in degrees for R and t: 20.89047971745423 29.112196443445825 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.97601195e-01 6.92220615e-02 -4.02525658e-04] [-6.92216336e-02 9.97600810e-01 9.94325697e-04] [ 4.70389198e-04 -9.64077020e-04 9.99999425e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 9.40706430e-01 -3.39222868e-01 -6.73593130e-04] [ 3.38868167e-01 9.39811896e-01 -4.38424509e-02] [ 1.55056162e-02 4.10146263e-02 9.99038256e-01]] t_gt: [ 0.98887937 -0.08071333 -0.12491174] Pose Error in degrees for R and t: 23.93374524723358 13.135011254147198 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.30815863 0.95113433 0.01953833] [ 0.95112498 0.30845714 -0.01467885] [-0.01998829 0.01405998 -0.99970135]] t_estimated: [[ 0.8385585 ] [-0.54466579] [ 0.01260213]] R_gt: [[ 0.98858056 -0.14364915 -0.04554493] [ 0.1433719 0.98962507 -0.00928915] [ 0.04640725 0.00265321 0.99891933]] t_gt: [ 0.60260802 -0.75347163 -0.26295263] Pose Error in degrees for R and t: 179.4642583958691 24.16105581737042 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.66179058 0.74967718 -0.00416559] [ 0.74967387 -0.66173222 0.00997777] [ 0.0047236 -0.00972603 -0.99994154]] t_estimated: [[9.80433659e-01] [1.96847495e-01] [9.50954082e-04]] R_gt: [[ 0.96711285 -0.24527321 -0.06733935] [ 0.24677635 0.9689587 0.01486265] [ 0.06160411 -0.03099143 0.9976193 ]] t_gt: [ 0.64273115 -0.75995614 -0.0967643 ] Pose Error in degrees for R and t: 176.6481934558197 61.28404235672975 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-2.75356223e-01 9.61338408e-01 2.72330715e-03] [-9.61342234e-01 -2.75354394e-01 -1.03242410e-03] [-2.42634350e-04 -2.90231458e-03 9.99995759e-01]] t_estimated: [[7.83282872e-01] [6.21665005e-01] [7.51711009e-04]] R_gt: [[ 0.89897808 -0.43669601 -0.03369625] [ 0.43782692 0.89809148 0.04168895] [ 0.01205765 -0.05223112 0.99856256]] t_gt: [ 0.73920695 -0.67066144 0.06153305] Pose Error in degrees for R and t: 131.9504215311546 80.6695859383462 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99680768e-01 2.52657901e-02 3.29606774e-05] [-2.52657880e-02 9.99680767e-01 -6.30896618e-05] [-3.45441654e-05 6.22367441e-05 9.99999997e-01]] t_estimated: [[ 3.26948437e-01] [-9.45042063e-01] [-4.67546918e-04]] R_gt: [[ 0.99414477 -0.08003223 0.07259768] [ 0.08441822 0.99465227 -0.05949556] [-0.06744775 0.06527522 0.99558576]] t_gt: [ 0.74118458 -0.58016834 -0.33771307] Pose Error in degrees for R and t: 8.189342836017607 37.74242363228651 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.88777898e-01 -1.49392988e-01 6.49589132e-05] [ 1.49392973e-01 9.88777884e-01 1.89419363e-04] [-9.25278612e-05 -1.77589274e-04 9.99999980e-01]] t_estimated: [[ 6.28169640e-01] [-7.78076305e-01] [ 4.09907553e-04]] R_gt: [[ 0.98989392 -0.1006007 0.0999442 ] [ 0.10768944 0.9918396 -0.06824535] [-0.0922631 0.07831921 0.99264985]] t_gt: [ 0.76496001 -0.61194185 -0.20090635] Pose Error in degrees for R and t: 7.420641841522753 16.946026436260382 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.46623819e-01 3.22340315e-01 2.58126724e-04] [-3.22340155e-01 9.46623765e-01 -5.22049190e-04] [-4.12626392e-04 4.10979589e-04 9.99999830e-01]] t_estimated: [[ 8.14201522e-01] [-5.80581869e-01] [ 7.59087253e-04]] R_gt: [[ 0.98040693 -0.11694383 0.15851148] [ 0.13277813 0.98674809 -0.0932567 ] [-0.14550524 0.11247661 0.98294325]] t_gt: [ 0.79341307 -0.58502528 -0.16805093] Pose Error in degrees for R and t: 28.066802189943736 9.760287046802276 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-6.85613713e-01 7.27959830e-01 -2.88475022e-03] [-7.27956998e-01 -6.85619483e-01 -2.12911321e-03] [-3.52774984e-03 6.40224902e-04 9.99993573e-01]] t_estimated: [[0.42233171] [0.90644066] [0.00112322]] R_gt: [[ 0.9931148 -0.04513561 0.10810742] [ 0.05979346 0.98884171 -0.13644321] [-0.10074338 0.14196827 0.98473184]] t_gt: [ 0.02508661 0.51767059 -0.85521215] Pose Error in degrees for R and t: 136.47283290750772 61.38824710058182 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.86080082 -0.50890157 0.00641374] [-0.50890158 0.86082292 0.00175244] [-0.00641291 -0.00175546 -0.9999779 ]] t_estimated: [[ 0.99977587] [-0.02067263] [ 0.00456559]] R_gt: [[ 0.97958997 -0.07505912 0.1864644 ] [ 0.11286737 0.97300946 -0.2012792 ] [-0.16632372 0.21821824 0.96162217]] t_gt: [ 0.13428812 0.33443616 -0.93280178] Pose Error in degrees for R and t: 172.9684630867516 82.92978745589215 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-4.22335520e-01 -9.06437608e-01 -1.88979466e-03] [ 9.06439472e-01 -4.22333545e-01 -1.36355593e-03] [ 4.37854695e-04 -2.28886257e-03 9.99997285e-01]] t_estimated: [[0.99039965] [0.13823002] [0.0009981 ]] R_gt: [[ 0.96587568 -0.1072714 0.23574735] [ 0.16368075 0.95821241 -0.2346011 ] [-0.20072999 0.26518424 0.94307182]] t_gt: [ 0.37948117 0.07699384 -0.92199023] Pose Error in degrees for R and t: 108.20267553144654 67.32145010927155 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.87862948e-01 -1.55328007e-01 7.35924981e-05] [ 1.55327992e-01 9.87862938e-01 1.77865304e-04] [-1.00326764e-04 -1.64275568e-04 9.99999981e-01]] t_estimated: [[-0.55870869] [-0.82936341] [-0.00096662]] R_gt: [[ 0.99475267 -0.09333975 -0.04189708] [ 0.09246912 0.99546667 -0.02226086] [ 0.04378646 0.01826976 0.99887413]] t_gt: [ 0.53315182 -0.72461397 -0.43667348] Pose Error in degrees for R and t: 4.518121932242768 72.3312232482527 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 2.36567755e-01 -9.71614727e-01 -7.20677236e-04] [ 9.71613695e-01 2.36566160e-01 1.81102609e-03] [-1.58913178e-03 -1.12865025e-03 9.99998100e-01]] t_estimated: [[ 0.98145741] [-0.1916773 ] [ 0.0010805 ]] R_gt: [[ 0.96589709 -0.25861724 -0.01263084] [ 0.25887392 0.96552906 0.02717998] [ 0.00516742 -0.02952267 0.99955113]] t_gt: [ 0.6541205 -0.75343046 0.06684989] Pose Error in degrees for R and t: 61.33595149842562 38.14231012844075 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.63371533e-01 2.68166299e-01 1.45816956e-03] [-2.68166273e-01 9.63372619e-01 -2.16530360e-04] [-1.46282678e-03 -1.82432713e-04 9.99998913e-01]] t_estimated: [[9.56864602e-01] [2.90533147e-01] [7.89492246e-04]] R_gt: [[ 8.79558154e-01 -4.75226226e-01 -2.32089435e-02] [ 4.75791564e-01 8.78411230e-01 4.49127276e-02] [-9.55307660e-04 -5.05451356e-02 9.98720989e-01]] t_gt: [ 0.78147 -0.61810826 0.08512826] Pose Error in degrees for R and t: 44.05955766259876 55.37190865298165 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.00982549 0.99994712 0.0030365 ] [-0.99995118 -0.00982862 0.00101775] [ 0.00104754 -0.00302635 0.99999487]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.90438760e-01 1.37948643e-01 2.15784167e-04] [-1.37829927e-01 9.89647822e-01 -4.00111332e-02] [-5.73342141e-03 3.95977574e-02 9.99199048e-01]] t_gt: [-0.36872073 0.92055599 -0.12892517] Pose Error in degrees for R and t: 82.66519783062557 23.349559144677176 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 7.79788727e-01 -6.26033420e-01 3.42041483e-03] [ 6.26038829e-01 7.79791557e-01 -7.15219789e-04] [-2.21945912e-03 2.69903282e-03 9.99993895e-01]] t_estimated: [[8.13818751e-01] [5.81118440e-01] [6.32337802e-04]] R_gt: [[ 0.96436785 0.26382539 -0.0197504 ] [-0.26447581 0.95943232 -0.09769192] [-0.00682527 0.09943384 0.99502081]] t_gt: [-0.29447455 0.94003437 -0.17210496] Pose Error in degrees for R and t: 54.38310770274013 72.15075310298516 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.80621694e-01 1.95910904e-01 -1.02280173e-04] [-1.95910926e-01 9.80621646e-01 -3.09342847e-04] [ 3.96945148e-05 3.23386110e-04 9.99999947e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.94270127 0.33352706 -0.00858487] [-0.33288797 0.93854819 -0.09118084] [-0.0223551 0.08881336 0.99579759]] t_gt: [-0.29010669 0.95383152 -0.07774027] Pose Error in degrees for R and t: 9.734036017089613 73.30913121473563 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.99718463e-01 -2.37275263e-02 7.03676403e-07] [ 2.37275263e-02 9.99718462e-01 4.70984465e-05] [-1.82100792e-06 -4.70684900e-05 9.99999999e-01]] t_estimated: [[4.45764401e-01] [8.95150277e-01] [2.82800687e-04]] R_gt: [[ 0.99724018 -0.04000766 0.06253813] [ 0.04339579 0.99760887 -0.05378124] [-0.06023651 0.0563476 0.99659302]] t_gt: [ 0.81171486 -0.58359752 0.02308489] Pose Error in degrees for R and t: 4.844761939807484 80.76017046014061 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.99990738e-01 -4.29047483e-03 -3.41388057e-04] [ 4.29082678e-03 9.99990257e-01 1.03697163e-03] [ 3.36935630e-04 -1.03842686e-03 9.99999404e-01]] t_estimated: [[-0.00455408] [-0.99998782] [ 0.00190406]] R_gt: [[ 0.99333939 -0.0294722 0.11139233] [ 0.04436898 0.99002561 -0.13371857] [-0.10633977 0.13777145 0.98473965]] t_gt: [ 0.40930555 -0.00274114 -0.91239325] Pose Error in degrees for R and t: 10.255623393255249 89.95071680992109 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-1.58951651e-01 -9.87286366e-01 -6.06207016e-05] [-9.87281867e-01 1.58950740e-01 3.02939390e-03] [-2.98124359e-03 5.41376880e-04 -9.99995410e-01]] t_estimated: [[0.50662962] [0.86215708] [0.00340639]] R_gt: [[ 0.98743175 0.01930204 0.15686469] [ 0.01257298 0.97977579 -0.19970314] [-0.15754566 0.19916586 0.96721915]] t_gt: [-0.56415399 0.6326567 -0.53054291] Pose Error in degrees for R and t: 179.55336300114624 75.05894995531507 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[-0.63368218 -0.77351385 0.01110046] [-0.773529 0.6337494 0.00381922] [-0.00998913 -0.00616636 -0.99993109]] t_estimated: [[0.90150833] [0.43270454] [0.00703613]] R_gt: [[ 0.99489934 0.09851562 -0.02168067] [-0.09770321 0.99457137 0.03579761] [ 0.02508978 -0.0334972 0.99912477]] t_gt: [-0.74358309 0.66595479 0.05990336] Pose Error in degrees for R and t: 179.69600600635803 67.55705762143725 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 8.96022420e-01 -4.44003195e-01 -2.23287969e-03] [ 4.44007718e-01 8.96020038e-01 2.28873535e-03] [ 9.84499135e-04 -3.04217400e-03 9.99994888e-01]] t_estimated: [[-0.63300462] [-0.77414754] [-0.00085541]] R_gt: [[ 0.96585525 0.25700294 -0.03275743] [-0.25594393 0.96611891 0.03327993] [ 0.04020131 -0.02375913 0.99890935]] t_gt: [-0.63953275 0.76676962 -0.05533723] Pose Error in degrees for R and t: 41.301050276664434 79.12200525074493 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.35303813e-01 -3.53844777e-01 8.06408596e-04] [ 3.53845668e-01 9.35302222e-01 -1.73131790e-03] [-1.41617954e-04 1.90465243e-03 9.99998176e-01]] t_estimated: [[-0.68594942] [-0.72764848] [-0.00104248]] R_gt: [[ 0.90795388 0.41855084 -0.02084442] [-0.41802029 0.90807761 0.02559384] [ 0.02964031 -0.01452425 0.99945592]] t_gt: [-0.58742267 0.80892633 -0.02393306] Pose Error in degrees for R and t: 45.49736414072307 79.30115408056321 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.98746129e-01 5.00616548e-02 -2.23382062e-06] [-5.00616548e-02 9.98746129e-01 -7.77775714e-06] [ 1.84165231e-06 7.87983359e-06 1.00000000e+00]] t_estimated: [[-8.94611263e-01] [-4.46845226e-01] [-1.81633194e-04]] R_gt: [[ 0.99761334 0.06793995 0.01239946] [-0.06699906 0.99564288 -0.06485607] [-0.01675223 0.06387062 0.9978176 ]] t_gt: [-0.72655648 0.32312658 -0.60638676] Pose Error in degrees for R and t: 3.9158940917510225 59.62162582769516 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.80350576 -0.59529576 -0.00120692] [ 0.59529609 -0.80349939 -0.00336064] [ 0.00103081 -0.00341876 0.99999362]] t_estimated: [[9.99993834e-01] [3.49955381e-03] [2.90692114e-04]] R_gt: [[ 0.99888087 -0.04487353 0.01498835] [ 0.04581085 0.99652843 -0.06951487] [-0.01181742 0.07012373 0.99746877]] t_gt: [ 0.53444384 0.03749862 -0.84437174] Pose Error in degrees for R and t: 140.89153619670554 57.70176423491984 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999894e-01 1.65033099e-04 4.29213116e-04] [-1.64788883e-04 9.99999825e-01 -5.68957046e-04] [-4.29306938e-04 5.68886256e-04 9.99999746e-01]] t_estimated: [[-7.97540070e-01] [-6.03265466e-01] [-7.84098037e-04]] R_gt: [[ 9.76518796e-01 -2.14428496e-01 2.08093319e-02] [ 2.15435973e-01 9.71917002e-01 -9.46766788e-02] [ 7.68153220e-05 9.69374638e-02 9.95291210e-01]] t_gt: [ 0.90994489 -0.07012315 -0.40875792] Pose Error in degrees for R and t: 13.618079942017253 46.914094837455906 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99818311e-01 -1.90612019e-02 1.24872686e-04] [ 1.90612299e-02 9.99818293e-01 -2.26535107e-04] [-1.20531965e-04 2.28874175e-04 9.99999967e-01]] t_estimated: [[ 9.99350406e-01] [ 3.60352633e-02] [-4.75161525e-04]] R_gt: [[ 9.88187680e-01 -1.53245029e-01 -6.01572189e-04] [ 1.53214820e-01 9.88056057e-01 -1.64414067e-02] [ 3.11355636e-03 1.61540476e-02 9.99865056e-01]] t_gt: [ 0.74672445 -0.66227216 -0.06162943] Pose Error in degrees for R and t: 7.77834063684557 43.746723005467146 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.82237458e-01 1.87642019e-01 2.22121530e-04] [-1.87641983e-01 9.82237475e-01 -1.69870478e-04] [-2.50050930e-04 1.25173822e-04 9.99999961e-01]] t_estimated: [[7.67912122e-01] [6.40554763e-01] [7.53593839e-04]] R_gt: [[ 0.95968703 -0.28015233 0.022696 ] [ 0.28040015 0.95984589 -0.00850416] [-0.019403 0.01452504 0.99970643]] t_gt: [ 0.77845019 -0.62728944 0.02287477] Pose Error in degrees for R and t: 27.128418037828308 78.69770993828949 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 8.20784960e-01 -5.71237254e-01 2.22756280e-04] [-5.71235857e-01 -8.20783704e-01 -1.92556864e-03] [ 1.28279126e-03 1.45323140e-03 -9.99998121e-01]] t_estimated: [[9.84577223e-01] [1.74948781e-01] [7.84523684e-04]] R_gt: [[ 0.89090718 -0.4523729 -0.0405389 ] [ 0.45254581 0.89172553 -0.00531324] [ 0.03855227 -0.0136127 0.99916384]] t_gt: [ 0.83926705 -0.54199774 -0.04323499] Pose Error in degrees for R and t: 179.4264923544505 42.99044202854899 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.96595982e-01 8.24390287e-02 5.04350776e-04] [-8.24387693e-02 9.96595998e-01 -5.15193109e-04] [-5.45105985e-04 4.71861325e-04 9.99999740e-01]] t_estimated: [[0.31434071] [0.94930893] [0.0015717 ]] R_gt: [[ 0.98595556 -0.16558684 -0.02173657] [ 0.1639441 0.98445241 -0.06304615] [ 0.03183821 0.05859708 0.99777393]] t_gt: [ 0.5838475 -0.59529401 -0.55203907] Pose Error in degrees for R and t: 14.722055618680775 67.51394682970168 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999911e-01 4.20840779e-04 8.04111882e-06] [-4.20841025e-04 9.99999911e-01 3.05977019e-05] [-8.02824134e-06 -3.06010832e-05 9.99999999e-01]] t_estimated: [[0.99970186] [0.02438822] [0.00118594]] R_gt: [[ 0.94840762 -0.31679055 -0.0129018 ] [ 0.31619774 0.94805292 -0.03484518] [ 0.0232712 0.02896692 0.9993093 ]] t_gt: [ 0.62233615 -0.76559302 -0.16298787] Pose Error in degrees for R and t: 18.60321430208096 52.89440609148764 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.8994735 0.43690346 0.00792421] [ 0.43692758 0.89949538 0.0015306 ] [-0.00645907 0.00483904 -0.99996743]] t_estimated: [[0.98982693] [0.14226257] [0.0020037 ]] R_gt: [[ 0.90827126 -0.41756693 0.02608909] [ 0.41832843 0.90737703 -0.04083205] [-0.00662222 0.04799967 0.99882516]] t_gt: [ 0.58691112 -0.80642874 -0.07216664] Pose Error in degrees for R and t: 178.02758667950764 62.22042950709848 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.99980051 0.01803786 -0.00857726] [-0.01798984 0.99982225 0.00564264] [ 0.00867751 -0.00548721 0.99994729]] t_estimated: [[-0.86950342] [-0.49387794] [-0.00695603]] R_gt: [[ 0.99844105 -0.05552835 -0.00568079] [ 0.05506065 0.99648452 -0.06315072] [ 0.00916755 0.06273988 0.99798784]] t_gt: [ 0.69889977 -0.53498855 -0.47468554] Pose Error in degrees for R and t: 5.754856750101764 70.11247783930718 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.54030874 -0.84141906 -0.00896773] [ 0.84146625 -0.54026497 -0.00695059] [ 0.00100341 -0.01130151 0.99993563]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99351325 -0.11093176 -0.02501916] [ 0.10484942 0.97876194 -0.17615694] [ 0.04402891 0.17239102 0.98404362]] t_gt: [ 0.60740733 -0.30443736 -0.73373989] Pose Error in degrees for R and t: 116.75980183591396 52.7069825833163 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.63488863e-02 9.95347533e-01 4.25149470e-04] [ 9.95346904e-01 -9.63493217e-02 1.16175637e-03] [ 1.19731420e-03 3.11237275e-04 -9.99999235e-01]] t_estimated: [[9.99994892e-01] [3.10075947e-03] [7.75189839e-04]] R_gt: [[ 0.99115984 -0.10895178 -0.07572014] [ 0.08803554 0.9670091 -0.23904757] [ 0.09926637 0.23026829 0.968051 ]] t_gt: [ 0.50122203 -0.07439498 -0.86211476] Pose Error in degrees for R and t: 173.37924921931196 59.97879448601269 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999917e-01 2.63195011e-04 -3.10716666e-04] [-2.63058202e-04 9.99999868e-01 4.40260284e-04] [ 3.10832499e-04 -4.40178510e-04 9.99999855e-01]] t_estimated: [[-0.80086207] [-0.59884365] [-0.00249725]] R_gt: [[ 0.99194682 -0.12544418 0.01744932] [ 0.12610583 0.99102931 -0.04426692] [-0.01173984 0.04611129 0.99886704]] t_gt: [ 0.84255203 -0.50610971 -0.1842798 ] Pose Error in degrees for R and t: 7.750855644861936 68.20867938634765 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 8.34928832e-01 -5.50355712e-01 -1.56069544e-03] [ 5.50357171e-01 8.34929025e-01 7.12166474e-04] [ 9.11125037e-04 -1.45354825e-03 9.99998529e-01]] t_estimated: [[9.59377148e-01] [2.82125729e-01] [7.48344110e-04]] R_gt: [[ 0.98312961 -0.17103749 0.06483427] [ 0.17620897 0.98068751 -0.08487304] [-0.04906546 0.09486529 0.99428053]] t_gt: [ 0.846669 -0.49756634 -0.18862484] Pose Error in degrees for R and t: 24.168416453189913 47.79714731639493 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.81147717e-01 -1.93257586e-01 -8.13683805e-04] [ 1.93258933e-01 9.81145360e-01 2.18363197e-03] [ 3.76338647e-04 -2.29971718e-03 9.99997285e-01]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.97934725 -0.16390964 0.11837707] [ 0.18179859 0.97010062 -0.16079534] [-0.0884808 0.17899562 0.97986295]] t_gt: [ 0.8158572 -0.4202744 -0.39717307] Pose Error in degrees for R and t: 11.696139128349287 65.4438020292794 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-3.14653749e-01 9.49206296e-01 -6.52389348e-04] [-9.49205876e-01 -3.14654262e-01 -9.48969029e-04] [-1.10604447e-03 3.20655140e-04 9.99999337e-01]] t_estimated: [[8.82634543e-01] [4.70059287e-01] [7.27645955e-04]] R_gt: [[ 0.98983722 -0.1419905 0.00785212] [ 0.14191701 0.98983332 0.00940205] [-0.00910633 -0.0081922 0.99992477]] t_gt: [ 0.71695775 -0.69359812 0.06995167] Pose Error in degrees for R and t: 116.5027168857452 72.13168477007157 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.16649964e-01 9.93166782e-01 3.53972130e-03] [ 9.93172760e-01 1.16652088e-01 -3.98921630e-04] [-8.09111591e-04 3.46902058e-03 -9.99993656e-01]] t_estimated: [[9.92541479e-01] [1.21904857e-01] [7.86482947e-04]] R_gt: [[ 0.93960476 -0.33872969 -0.04903451] [ 0.33901675 0.94077673 -0.00262469] [ 0.04701919 -0.01415845 0.99879356]] t_gt: [ 0.79992656 -0.59406249 -0.08489555] Pose Error in degrees for R and t: 177.87225072769425 43.82365436138731 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.99687514e-01 7.14443775e-01 2.73406101e-03] [-7.14435047e-01 6.99692642e-01 -3.57355382e-03] [-4.46610565e-03 5.47061982e-04 9.99989877e-01]] t_estimated: [[-0.59924237] [ 0.80055617] [ 0.00429006]] R_gt: [[ 0.86888239 -0.49334798 -0.04061491] [ 0.49423246 0.86920037 0.01500906] [ 0.02789796 -0.03311518 0.99906232]] t_gt: [ 0.84202898 -0.53941861 -0.00384197] Pose Error in degrees for R and t: 75.24722129450049 20.539453227662108 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999882e-01 -8.77093713e-05 -4.77801277e-04] [ 8.75411021e-05 9.99999934e-01 -3.52183492e-04] [ 4.77832135e-04 3.52141623e-04 9.99999824e-01]] t_estimated: [[0.79522966] [0.60630769] [0.00087871]] R_gt: [[ 0.97615418 0.21316089 -0.04104448] [-0.21326326 0.97699254 0.00193703] [ 0.04051307 0.00686339 0.99915487]] t_gt: [-0.31672751 0.93377757 -0.16656273] Pose Error in degrees for R and t: 12.537988817375323 71.69115278141818 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.99018835 0.13908462 0.01350909] [ 0.1390337 0.99027677 -0.0046421 ] [-0.01402338 -0.00271833 -0.99989797]] t_estimated: [[0.79999872] [0.59999904] [0.00178571]] R_gt: [[ 0.9383339 0.3437284 -0.03713537] [-0.34205955 0.93861085 0.04476078] [ 0.0502414 -0.02929659 0.99830692]] t_gt: [-0.29176817 0.95292654 -0.08247636] Pose Error in degrees for R and t: 178.12808146504454 70.23314565218864 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 4.37451343e-01 8.99241891e-01 5.87083342e-04] [ 8.99240169e-01 -4.37451665e-01 1.77724965e-03] [ 1.85499792e-03 -2.49531320e-04 -9.99998248e-01]] t_estimated: [[0.61921649] [0.78521921] [0.00131748]] R_gt: [[ 0.89583866 0.44251758 -0.04063681] [-0.4414994 0.89669714 0.03180765] [ 0.05051437 -0.01055244 0.9986676 ]] t_gt: [-0.24567957 0.96522807 -0.08931031] Pose Error in degrees for R and t: 177.435088079677 52.72299392638461 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 5.86272637e-01 -8.10102191e-01 -4.33983682e-03] [ 8.10109266e-01 5.86278886e-01 -2.10764029e-04] [ 2.71509510e-03 -3.39217684e-03 9.99990561e-01]] t_estimated: [[-0.03328563] [-0.99944491] [-0.00139032]] R_gt: [[ 0.97307159 0.23017677 -0.01228769] [-0.23017378 0.97314796 0.0017241 ] [ 0.01235404 0.00115166 0.99992285]] t_gt: [-0.32635193 0.94413227 -0.04592024] Pose Error in degrees for R and t: 67.41569749971215 21.143249776654066 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-4.27818473e-01 -9.03864510e-01 -5.48770684e-04] [-9.03863904e-01 4.27818823e-01 -1.04822049e-03] [ 1.18222372e-03 4.75659245e-05 -9.99999300e-01]] t_estimated: [[0.76098062] [0.6487741 ] [0.00081213]] R_gt: [[ 0.92228539 0.38488582 -0.0353847 ] [-0.38390565 0.92283404 0.03152262] [ 0.04478594 -0.01548799 0.99887714]] t_gt: [-0.25371714 0.96435907 -0.07509456] Pose Error in degrees for R and t: 178.70476498635594 64.37263754238177 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-5.45368473e-01 8.38188525e-01 -3.63658086e-03] [-8.38193512e-01 -5.45372869e-01 -2.65366872e-04] [-2.20572001e-03 2.90343576e-03 9.99993352e-01]] t_estimated: [[0.60288737] [0.79782526] [0.00129098]] R_gt: [[ 0.86605839 0.49897831 -0.03104052] [-0.49658136 0.86576265 0.06213627] [ 0.05787752 -0.03839897 0.99758535]] t_gt: [-0.210535 0.97564481 -0.06158098] Pose Error in degrees for R and t: 93.22686402506615 49.353841656436956 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.88251050e-01 -1.52839330e-01 3.71573568e-05] [ 1.52839322e-01 9.88251039e-01 1.61019095e-04] [-6.13308471e-05 -1.53448184e-04 9.99999986e-01]] t_estimated: [[ 9.93735488e-01] [-1.11755522e-01] [ 6.94467062e-04]] R_gt: [[ 9.76421591e-01 -2.13747775e-01 -3.01949640e-02] [ 2.13825009e-01 9.76871436e-01 -7.19637360e-04] [ 2.96493660e-02 -5.75371999e-03 9.99542971e-01]] t_gt: [ 0.75939727 -0.64508768 -0.0847211 ] Pose Error in degrees for R and t: 3.956023066625653 34.241493663497906 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-6.68717311e-01 7.43489368e-01 -6.38107596e-03] [-7.43500461e-01 -6.68734842e-01 -8.80084952e-04] [-4.92158163e-03 4.15580488e-03 9.99979253e-01]] t_estimated: [[8.16356270e-01] [5.77548180e-01] [7.34794124e-04]] R_gt: [[ 0.91526464 -0.40272117 -0.01029397] [ 0.40279476 0.91526768 0.00642681] [ 0.00683315 -0.01002787 0.99992596]] t_gt: [ 0.80878397 -0.58806987 0.00650598] Pose Error in degrees for R and t: 155.72264918667858 71.29945740157042 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.70218034e-01 -2.42232497e-01 6.20061976e-04] [ 2.42232802e-01 9.70218040e-01 -4.74520913e-04] [-4.86650929e-04 6.10588097e-04 9.99999695e-01]] t_estimated: [[8.01117160e-01] [5.98507234e-01] [6.21502839e-04]] R_gt: [[ 0.85110641 -0.52466369 0.01856055] [ 0.52458282 0.85130722 0.00940127] [-0.02073379 0.00173579 0.99978316]] t_gt: [ 0.83867771 -0.54290196 0.04332627] Pose Error in degrees for R and t: 17.666777336503557 69.69757879639197 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99799254e-01 -2.00362466e-02 -1.73005280e-05] [ 2.00362442e-02 9.99799246e-01 -1.32288707e-04] [ 1.99476240e-05 1.31915513e-04 9.99999991e-01]] t_estimated: [[ 0.01882618] [-0.99982226] [-0.00101144]] R_gt: [[ 0.98790026 -0.15500094 0.00514395] [ 0.15505978 0.98658638 -0.05101956] [ 0.00283313 0.05119887 0.99868474]] t_gt: [ 0.47974046 -0.75546525 -0.44623016] Pose Error in degrees for R and t: 8.310048768243538 40.10955385467537 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.23872341 -0.97106719 0.0062971 ] [-0.97108182 0.23869459 -0.00499878] [ 0.00335107 -0.00730833 -0.99996768]] t_estimated: [[0.7094501 ] [0.70475176] [0.00234917]] R_gt: [[ 9.65943986e-01 -2.58749240e-01 1.95951556e-04] [ 2.58474673e-01 9.64886146e-01 -4.67374459e-02] [ 1.19040376e-02 4.51960958e-02 9.98906942e-01]] t_gt: [ 0.4433389 -0.85218115 -0.27791708] Pose Error in degrees for R and t: 178.14129562584608 73.33937491010126 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.20001134e-01 3.91915696e-01 -2.76910665e-05] [-3.91915666e-01 9.20001031e-01 -4.62327162e-04] [-1.55717462e-04 4.36194076e-04 9.99999893e-01]] t_estimated: [[-0.96759027] [-0.25252314] [-0.00106771]] R_gt: [[ 0.94381076 -0.32622554 0.05289619] [ 0.32803464 0.94419079 -0.0299423 ] [-0.04017624 0.04561102 0.99815126]] t_gt: [ 0.3455527 -0.93756926 -0.03946158] Pose Error in degrees for R and t: 42.3222942760279 84.40170067708011 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 7.09186369e-01 -7.05018997e-01 -1.70527284e-03] [ 7.05020085e-01 7.09187336e-01 5.23463650e-05] [ 1.17245272e-03 -1.23937493e-03 9.99998545e-01]] t_estimated: [[0.65669997] [0.75415143] [0.00087794]] R_gt: [[ 0.99394219 -0.10979193 -0.00494338] [ 0.10972666 0.99389196 -0.01179426] [ 0.00620971 0.01118013 0.99991768]] t_gt: [ 0.75819397 -0.64468892 -0.09756069] Pose Error in degrees for R and t: 38.536254277893796 89.33379376809638 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.54865765 -0.83599131 -0.00966022] [ 0.83593933 -0.54836475 -0.02239503] [ 0.01342473 -0.02036256 0.99970253]] t_estimated: [[0.96956731] [0.24465717] [0.00906138]] R_gt: [[ 0.96336394 -0.26812004 -0.00649181] [ 0.26801241 0.96331619 -0.01381956] [ 0.00996046 0.01157282 0.99988339]] t_gt: [ 0.82602699 -0.56134792 -0.05067471] Pose Error in degrees for R and t: 107.72090551333858 48.46390193546516 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.72659346e-01 4.88304774e-01 4.91052499e-03] [ 4.88307086e-01 -8.72671503e-01 7.97999625e-04] [ 4.67494225e-03 1.70146232e-03 -9.99987625e-01]] t_estimated: [[0.96772116] [0.25201072] [0.00252011]] R_gt: [[ 0.92557027 -0.37847411 0.0087471 ] [ 0.37834968 0.92397902 -0.05579889] [ 0.01303677 0.05495517 0.99840366]] t_gt: [ 0.87441027 -0.4707298 -0.11755909] Pose Error in degrees for R and t: 176.82028579141274 43.34281220894855 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.87315280e-01 -1.58770951e-01 -5.68819077e-04] [ 1.58771443e-01 9.87314898e-01 9.59675263e-04] [ 4.09234994e-04 -1.03781428e-03 9.99999378e-01]] t_estimated: [[0.73349208] [0.67969396] [0.00234448]] R_gt: [[ 0.99257841 -0.1215363 0.00413172] [ 0.12039084 0.98687695 0.10760785] [-0.01715516 -0.10631267 0.99418454]] t_gt: [ 0.42857992 -0.67173329 0.60422979] Pose Error in degrees for R and t: 6.499583700187332 81.90606204228519 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.88814704e-01 -1.49149186e-01 2.61196609e-05] [ 1.49149165e-01 9.88814634e-01 3.81266387e-04] [-8.26930741e-05 -3.73106084e-04 9.99999927e-01]] t_estimated: [[0.85788896] [0.51383389] [0.00112436]] R_gt: [[ 9.88164566e-01 -1.52608612e-01 -1.55121371e-02] [ 1.53393038e-01 9.82500428e-01 1.05659935e-01] [-8.84185282e-04 -1.06788507e-01 9.94281032e-01]] t_gt: [ 0.49946422 -0.72943935 0.46739033] Pose Error in degrees for R and t: 6.1142138965933395 86.89306355584009 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-9.60204785e-01 -2.79296224e-01 -6.24989799e-04] [ 2.79296894e-01 -9.60203304e-01 -1.69115016e-03] [-1.27785415e-04 -1.79840819e-03 9.99998375e-01]] t_estimated: [[8.14857234e-01] [5.79661319e-01] [6.66277378e-04]] R_gt: [[ 0.9989396 -0.04143576 0.02009562] [ 0.0419312 0.99881002 -0.02489194] [-0.01904082 0.02570733 0.9994881 ]] t_gt: [ 0.85130285 0.07525751 -0.51924923] Pose Error in degrees for R and t: 161.39588039755793 42.526211616483785 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.99997655 -0.00483754 -0.00484839] [ 0.00485512 -0.99998166 -0.00362166] [-0.00483078 -0.00364512 0.99998169]] t_estimated: [[0.961631 ] [0.27433032] [0.00294979]] R_gt: [[ 0.97186303 -0.23411575 -0.02595582] [ 0.23472603 0.9717746 0.02361511] [ 0.01969353 -0.0290427 0.99938397]] t_gt: [ 0.98860044 -0.12120549 0.08932188] Pose Error in degrees for R and t: 166.15677770068933 23.410479809989187 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.24800222 0.96846771 -0.02377395] [ 0.9686 -0.24744147 0.02422293] [ 0.01757646 -0.02903479 -0.99942386]] t_estimated: [[-0.23141788] [-0.97285379] [-0.00112339]] R_gt: [[ 0.91508146 -0.401334 -0.03947989] [ 0.40245685 0.91506408 0.02618779] [ 0.02561634 -0.03985295 0.99887722]] t_gt: [ 0.99643969 -0.03203834 0.07798386] Pose Error in degrees for R and t: 175.36638502727558 78.49152122263133 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.98523997e-01 5.42663176e-02 -2.23465666e-03] [ 5.43117926e-02 -9.97489533e-01 4.54407317e-02] [ 2.36854553e-04 -4.54950293e-02 -9.98964537e-01]] t_estimated: [[-0.05221441] [ 0.99836631] [ 0.02320286]] R_gt: [[ 0.99862152 0.02173404 -0.04777678] [-0.02371232 0.99886756 -0.04124415] [ 0.04682659 0.04232027 0.99800603]] t_gt: [-0.05089685 0.44834381 -0.89241097] Pose Error in degrees for R and t: 179.71422747732504 64.56020651495786 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.94772472e-01 -1.02116240e-01 -4.30298408e-05] [ 1.02116249e-01 9.94772417e-01 3.31422888e-04] [ 8.96123950e-06 -3.34084411e-04 9.99999944e-01]] t_estimated: [[0.36090081] [0.9326033 ] [0.00130136]] R_gt: [[ 0.9969625 0.01961852 -0.0753813 ] [-0.02603973 0.99602674 -0.08515925] [ 0.07341177 0.08686364 0.99351099]] t_gt: [ 0.04094338 0.36335617 -0.9307502 ] Pose Error in degrees for R and t: 9.706970932123248 69.36383459657843 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.83116514 -0.55601815 -0.00288695] [-0.55602388 0.83116437 0.00179695] [ 0.00140039 0.00309877 -0.99999422]] t_estimated: [[8.77080767e-01] [4.80342326e-01] [7.60035327e-04]] R_gt: [[ 0.99951756 0.0022533 0.03098662] [-0.00297784 0.99972333 0.02331647] [-0.03092515 -0.02339761 0.99924746]] t_gt: [-0.19681695 -0.13238217 0.97146181] Pose Error in degrees for R and t: 178.04169523266057 76.38038891971229 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.50298813e-01 -3.11335399e-01 -1.56028137e-03] [ 3.11336792e-01 9.50299348e-01 7.41892268e-04] [ 1.25175704e-03 -1.19079234e-03 9.99998508e-01]] t_estimated: [[-0.57773405] [-0.81622319] [-0.00175278]] R_gt: [[ 0.99874612 -0.04695451 -0.0173243 ] [ 0.04888507 0.98942109 0.13659148] [ 0.01072732 -0.13726758 0.99047528]] t_gt: [ 0.15413135 -0.68336178 0.7136247 ] Pose Error in degrees for R and t: 17.256668444427664 62.12928989634387 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 5.80573518e-02 9.98312149e-01 1.48218047e-03] [-9.98312778e-01 5.80587039e-02 -8.86084161e-04] [-9.70642060e-04 -1.42823600e-03 9.99998509e-01]] t_estimated: [[0.71307334] [0.70108892] [0.00085603]] R_gt: [[ 0.99015173 -0.09061454 -0.10671412] [ 0.10764054 0.98015395 0.16647171] [ 0.08951124 -0.17631916 0.98025401]] t_gt: [ 0.36587766 -0.8223963 0.43565796] Pose Error in degrees for R and t: 92.96399077976177 71.62093012375425 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.94118131e-01 -1.08288528e-01 1.65433493e-03] [ 1.08287215e-01 9.94119275e-01 8.63758413e-04] [-1.73814137e-03 -6.79534576e-04 9.99998259e-01]] t_estimated: [[0.44847312] [0.89379529] [0.00135468]] R_gt: [[ 0.97070475 -0.13616609 -0.19796425] [ 0.16701643 0.97470301 0.14852483] [ 0.17273241 -0.1772365 0.96889169]] t_gt: [ 0.5164171 -0.84511521 0.13817981] Pose Error in degrees for R and t: 14.612510805593825 58.42773015837034 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.96884648e-01 7.88732450e-02 -9.59551479e-05] [-7.88732702e-02 9.96884607e-01 -2.95780623e-04] [ 7.23270323e-05 3.02427458e-04 9.99999952e-01]] t_estimated: [[-0.69441944] [-0.71956729] [-0.00213612]] R_gt: [[ 0.99592406 0.05601692 0.0707062 ] [-0.05017472 0.9953798 -0.08186037] [-0.0749647 0.07798002 0.99413249]] t_gt: [-0.46497186 0.88394649 -0.04939406] Pose Error in degrees for R and t: 6.372162552093154 71.75578152658915 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999696e-01 -7.38591951e-04 2.51866273e-04] [ 7.38592257e-04 9.99999727e-01 -1.12205768e-06] [-2.51865375e-04 1.30808382e-06 9.99999968e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99124479 0.04265618 0.12496137] [-0.03431614 0.99708421 -0.06814605] [-0.12750379 0.0632622 0.98981867]] t_gt: [-0.35056906 0.74794435 0.5636316 ] Pose Error in degrees for R and t: 8.476275658429772 56.0845233332262 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-6.17118470e-01 -7.86863923e-01 -3.15592918e-03] [ 7.86869771e-01 -6.17117564e-01 -1.36944248e-03] [-8.70014447e-04 -3.32841352e-03 9.99994082e-01]] t_estimated: [[0.99984232] [0.01769632] [0.00147469]] R_gt: [[ 0.98662705 -0.03195045 0.15983367] [ 0.04337426 0.99670774 -0.06849616] [-0.15711919 0.07451267 0.98476431]] t_gt: [ 0.45210999 -0.03494889 0.89127725] Pose Error in degrees for R and t: 126.17278238740333 63.080731261450715 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.95206008e-01 9.78005198e-02 2.46254788e-04] [-9.78005113e-02 9.95206038e-01 -4.64167438e-05] [-2.49613834e-04 2.21103781e-05 9.99999969e-01]] t_estimated: [[0.99887529] [0.04740003] [0.00117811]] R_gt: [[ 0.98809744 -0.14487474 -0.05173032] [ 0.14588366 0.98916778 0.01628496] [ 0.0488099 -0.02363823 0.99852742]] t_gt: [ 0.66774596 -0.72713299 -0.15935166] Pose Error in degrees for R and t: 14.320901180328626 50.77694496005243 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.56397000e-01 5.16317132e-01 8.93253017e-04] [-5.16316687e-01 8.56397456e-01 -6.89751232e-04] [-1.12110999e-03 1.29499447e-04 9.99999363e-01]] t_estimated: [[0.50763023] [0.86157425] [0.00116429]] R_gt: [[ 0.97552376 -0.21095488 -0.06206833] [ 0.21312687 0.97654248 0.03067694] [ 0.0541401 -0.04315475 0.99759992]] t_gt: [ 0.65955637 -0.74785551 -0.07548201] Pose Error in degrees for R and t: 43.52117119203901 71.96426042012199 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.98058243e-01 -6.22841469e-02 6.54446075e-04] [ 6.22841010e-02 9.98058457e-01 9.03916282e-05] [-6.58805405e-04 -4.94545242e-05 9.99999782e-01]] t_estimated: [[-0.58186298] [-0.81328576] [-0.00132242]] R_gt: [[ 0.96896629 -0.24439986 -0.037053 ] [ 0.24532877 0.96916851 0.02295967] [ 0.03029886 -0.03133818 0.99904913]] t_gt: [ 0.62625313 -0.7788236 -0.03522541] Pose Error in degrees for R and t: 10.905325277411466 74.39170800533047 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-9.71577364e-01 2.36715694e-01 -1.76263822e-03] [-2.36713667e-01 -9.71578608e-01 -1.28400885e-03] [-2.01648663e-03 -8.30273381e-04 9.99997622e-01]] t_estimated: [[0.82712919] [0.56201095] [0.00099295]] R_gt: [[ 0.99758805 -0.0513683 0.04669553] [ 0.05224125 0.99847761 -0.01766978] [-0.04571666 0.02006672 0.99875263]] t_gt: [ 0.73983856 -0.58143426 0.33848648] Pose Error in degrees for R and t: 169.2795894000715 73.41091784563996 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[-0.22522945 0.97417048 0.01623461] [ 0.97418477 0.2254328 -0.01200351] [-0.01535328 0.01311197 -0.99979616]] t_estimated: [[ 0.74478575] [-0.66722572] [ 0.01019957]] R_gt: [[ 0.99091728 -0.11035217 0.07685343] [ 0.11143035 0.99372308 -0.00986804] [-0.0752823 0.01834354 0.99699305]] t_gt: [ 0.68336789 -0.65744467 0.31745051] Pose Error in degrees for R and t: 174.91913200680307 18.035565012193175 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.28308337 0.95896226 0.01597464] [ 0.95897299 0.283274 -0.01125354] [-0.01531692 0.01213355 -0.99980907]] t_estimated: [[ 0.80238427] [-0.59672876] [ 0.00970946]] R_gt: [[ 0.98912349 -0.1307158 0.06744455] [ 0.13263326 0.99085528 -0.02477184] [-0.06358986 0.03344936 0.99741555]] t_gt: [ 0.75214714 -0.64729551 0.12362528] Pose Error in degrees for R and t: 174.86390999281582 7.7051251101140945 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99687017e-01 -2.50173412e-02 2.40844544e-05] [ 2.50173430e-02 9.99687015e-01 -7.43369782e-05] [-2.22172028e-05 7.49162410e-05 9.99999997e-01]] t_estimated: [[ 9.98891140e-01] [ 4.70791440e-02] [-2.09220854e-04]] R_gt: [[ 0.98530313 -0.17008495 -0.01578454] [ 0.17050334 0.98487907 0.03069969] [ 0.01032455 -0.0329397 0.99940436]] t_gt: [ 0.57265272 -0.81790513 0.05567815] Pose Error in degrees for R and t: 8.605284052287152 57.7577709850851 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.55081390e-01 -2.96343588e-01 -1.27453761e-04] [ 2.96343550e-01 9.55081377e-01 -2.53771773e-04] [ 1.96932351e-04 2.04602597e-04 9.99999960e-01]] t_estimated: [[-0.33674892] [-0.94159357] [-0.00130719]] R_gt: [[ 0.94913849 -0.31482659 0.0045867 ] [ 0.31479361 0.94913676 0.00659715] [-0.00642984 -0.00481752 0.9999681 ]] t_gt: [ 0.63414013 -0.77302191 0.01741905] Pose Error in degrees for R and t: 1.208951876038005 59.04907565881075 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.76203280e-01 2.16857031e-01 4.29723179e-04] [-2.16856914e-01 9.76203353e-01 -3.02803776e-04] [-4.85162336e-04 2.02409597e-04 9.99999862e-01]] t_estimated: [[0.38502082] [0.92290689] [0.00135377]] R_gt: [[ 0.87165863 -0.48924975 -0.02909794] [ 0.48975791 0.87175087 0.01367149] [ 0.01867743 -0.02616778 0.99948386]] t_gt: [ 0.71571315 -0.69839021 0.00240957] Pose Error in degrees for R and t: 41.88081611821516 68.34718796234021 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99632219e-01 2.71184913e-02 1.17523924e-04] [-2.71184880e-02 9.99632226e-01 -2.98857506e-05] [-1.18291158e-04 2.66876880e-05 9.99999993e-01]] t_estimated: [[ 9.92954060e-01] [-1.18498758e-01] [ 5.28907153e-04]] R_gt: [[ 0.99253792 -0.11516991 -0.0400569 ] [ 0.11571752 0.99321464 0.01164528] [ 0.03844432 -0.01619307 0.99912922]] t_gt: [ 0.65373172 -0.73714947 -0.17101315] Pose Error in degrees for R and t: 8.529337352205063 42.575503419379615 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.71436921e-01 4.90507538e-01 2.18428153e-04] [-4.90507466e-01 8.71436933e-01 -3.12230695e-04] [-3.43497869e-04 1.64948716e-04 9.99999927e-01]] t_estimated: [[9.80332741e-01] [1.97350126e-01] [8.02236286e-04]] R_gt: [[ 0.96934828 -0.22806948 -0.09137773] [ 0.23174061 0.97226213 0.03168653] [ 0.08161655 -0.05189096 0.99531132]] t_gt: [ 0.69147357 -0.70994936 -0.13355228] Pose Error in degrees for R and t: 43.0424885183156 57.475619327342656 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 4.62228658e-01 8.86758693e-01 1.92036679e-03] [ 8.86757648e-01 -4.62231694e-01 1.65360550e-03] [ 2.35400345e-03 9.38556091e-04 -9.99996789e-01]] t_estimated: [[-0.53248925] [-0.84643604] [-0.00110935]] R_gt: [[ 0.96179916 -0.26586384 -0.06526698] [ 0.26793996 0.96310392 0.02528926] [ 0.05613544 -0.04180992 0.99754652]] t_gt: [ 0.66819822 -0.74032067 -0.07373221] Pose Error in degrees for R and t: 176.51393096363316 74.28172326938179 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.98617988 0.16519787 0.0126057 ] [-0.16503842 0.98620418 -0.01279222] [-0.01454504 0.010535 0.99983871]] t_estimated: [[0.09735563] [0.99519087] [0.01081729]] R_gt: [[ 0.99359717 0.11272364 0.00761071] [-0.11263383 0.9935719 -0.01128898] [-0.0088332 0.01036017 0.9999076 ]] t_gt: [-0.76659666 0.64050649 0.04561793] Pose Error in degrees for R and t: 3.05093963803157 55.71656575642451 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 8.88984451e-01 -4.57935657e-01 1.25687936e-03] [ 4.57937334e-01 8.88982257e-01 -1.98599014e-03] [-2.07887756e-04 2.34108634e-03 9.99997238e-01]] t_estimated: [[-0.53092595] [-0.84741744] [-0.00114671]] R_gt: [[ 0.96752565 0.25069339 -0.03236495] [-0.24853022 0.9668152 0.05916295] [ 0.04612322 -0.04919698 0.99772353]] t_gt: [-0.70153676 0.71114982 0.04595779] Pose Error in degrees for R and t: 41.908627904126256 76.68942269788974 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.85524077 -0.51822327 -0.00280268] [ 0.51822855 -0.8552406 -0.00164105] [-0.00154654 -0.00285593 0.99999473]] t_estimated: [[0.99988613] [0.01499829] [0.00166648]] R_gt: [[ 0.94760673 0.29924512 -0.11177127] [-0.28700625 0.9511964 0.11336926] [ 0.14024203 -0.07534989 0.98724553]] t_gt: [-0.73046183 0.66304415 -0.16370088] Pose Error in degrees for R and t: 165.97479921070345 43.88712390454793 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.49503327 -0.86879867 -0.01144251] [ 0.86879687 -0.49512188 0.00680559] [-0.01157813 -0.00657222 0.99991137]] t_estimated: [[0.9976057 ] [0.06846314] [0.00978045]] R_gt: [[ 0.98520419 -0.15459333 -0.07398273] [ 0.15526744 0.98786627 0.00341238] [ 0.07255655 -0.01484812 0.99725344]] t_gt: [ 0.62867706 -0.75021053 -0.20481532] Pose Error in degrees for R and t: 110.80338453237549 54.98388034367206 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.04125811 0.99864106 -0.03184014] [-0.99914235 -0.04134889 -0.00219768] [-0.00351125 0.03172216 0.99949056]] t_estimated: [[0.01066289] [0.99994245] [0.00118477]] R_gt: [[ 0.96677796 -0.22279042 -0.12531697] [ 0.23448022 0.96815358 0.08773299] [ 0.10178014 -0.11420153 0.98823025]] t_gt: [ 0.60467597 -0.79345175 0.06929138] Pose Error in degrees for R and t: 105.93645864894843 38.105443753411734 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-9.75309803e-01 -2.20321706e-01 -1.51372100e-02] [-2.20302455e-01 9.75427155e-01 -2.94839871e-03] [ 1.54148419e-02 4.59162357e-04 -9.99881079e-01]] t_estimated: [[0.81987441] [0.57254277] [0.00085582]] R_gt: [[ 0.95377887 -0.2562107 -0.15704401] [ 0.28169864 0.94426692 0.17031156] [ 0.1046554 -0.20667756 0.97279574]] t_gt: [ 0.54795535 -0.7896798 0.27595425] Pose Error in degrees for R and t: 172.7620737209895 89.84904101939341 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.99674922e-01 -2.54960856e-02 1.45441557e-06] [ 2.54960856e-02 9.99674922e-01 9.31647771e-06] [-1.69147649e-06 -9.27636722e-06 1.00000000e+00]] t_estimated: [[8.56715467e-02] [9.96323430e-01] [9.56164684e-05]] R_gt: [[ 0.99928201 0.01153136 -0.03611775] [-0.01260713 0.99947887 -0.02970582] [ 0.03575599 0.03014089 0.99890578]] t_gt: [-0.00130333 0.41557119 -0.90955972] Pose Error in degrees for R and t: 3.4378835561867787 65.5534181999487 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.91948799e-01 -1.26639318e-01 -2.50089040e-04] [ 1.26639428e-01 9.91948696e-01 4.90357824e-04] [ 1.85976916e-04 -5.18080988e-04 9.99999849e-01]] t_estimated: [[0.87926594] [0.47632901] [0.00143906]] R_gt: [[ 0.99684266 0.02334233 -0.07589815] [-0.02920902 0.9965933 -0.07712588] [ 0.07383954 0.07910033 0.99412826]] t_gt: [ 0.00883692 0.42055242 -0.90722521] Pose Error in degrees for R and t: 10.763437274653304 78.06594393570224 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.55470658e-01 -2.95085195e-01 7.41220654e-04] [ 2.95085061e-01 9.55470944e-01 2.86238349e-04] [-7.92679497e-04 -5.47692014e-05 9.99999684e-01]] t_estimated: [[0.84767262] [0.5305162 ] [0.00192216]] R_gt: [[ 0.99693471 0.02661078 -0.07358836] [-0.0324469 0.99632448 -0.07928027] [ 0.07120779 0.08142562 0.99413241]] t_gt: [-0.00947742 0.41985716 -0.90754071] Pose Error in degrees for R and t: 19.85858270474893 77.70396135642767 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999955e-01 2.89669155e-04 -8.00783994e-05] [-2.89654247e-04 9.99999941e-01 1.86105479e-04] [ 8.01323037e-05 -1.86082275e-04 9.99999979e-01]] t_estimated: [[ 9.99997948e-01] [-8.19519276e-04] [ 1.85244145e-03]] R_gt: [[ 0.99915661 -0.03789728 -0.015769 ] [ 0.03766647 0.99918202 -0.01471458] [ 0.01631384 0.01410771 0.99976765]] t_gt: [ 0.6707917 -0.62211751 -0.40374286] Pose Error in degrees for R and t: 2.5098149643374126 47.89029799880789 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-5.09962185e-01 8.60186841e-01 4.14359862e-03] [ 8.60195116e-01 5.09964847e-01 4.65729244e-04] [-1.71247547e-03 3.80180759e-03 -9.99991307e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.98521177 -0.1709216 -0.0120279 ] [ 0.17059781 0.98504408 -0.0241816 ] [ 0.01598245 0.02177144 0.99963485]] t_gt: [ 0.77582867 -0.61486133 -0.14154653] Pose Error in degrees for R and t: 179.83652065842955 39.682261857862656 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99997195e-01 -2.36849886e-03 -1.26987241e-05] [ 2.36852052e-03 9.99994933e-01 2.12716315e-03] [ 7.66047631e-06 -2.12718726e-03 9.99997738e-01]] t_estimated: [[0.61969816] [0.78483979] [0.00083405]] R_gt: [[ 0.95229402 -0.30490678 -0.01295414] [ 0.30422308 0.95180907 -0.03884008] [ 0.0241724 0.03304589 0.99916176]] t_gt: [ 0.83962641 -0.52912508 -0.12269532] Pose Error in degrees for R and t: 17.773133114400096 83.97662542472371 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.98718663e-01 5.06058614e-02 2.82246444e-04] [-5.06058437e-02 9.98718701e-01 -6.95162193e-05] [-2.85402730e-04 5.51438262e-05 9.99999958e-01]] t_estimated: [[ 9.69240496e-01] [ 2.46114808e-01] [-6.01848932e-04]] R_gt: [[ 0.99116883 -0.13102288 -0.02043434] [ 0.13150594 0.9910151 0.02440987] [ 0.01705296 -0.02688123 0.99949284]] t_gt: [ 0.70358452 -0.70160795 0.11276125] Pose Error in degrees for R and t: 10.605151815632441 59.38953372113316 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.93522941 0.03800164 -0.35199691] [-0.17751965 -0.91054587 0.37335371] [-0.30632128 0.41165774 0.85831531]] t_estimated: [[0.75108649] [0.66020159] [0.00171481]] R_gt: [[ 0.9659261 -0.25797796 -0.02083698] [ 0.25849826 0.9575949 0.12724423] [-0.012873 -0.12829488 0.99165203]] t_gt: [ 0.64229858 -0.65239765 0.40228081] Pose Error in degrees for R and t: 170.72765529213214 86.99646017514854 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 3.68034405e-03 -9.99993209e-01 1.91341596e-04] [ 9.99993191e-01 3.68039558e-03 2.69617157e-04] [-2.70319539e-04 1.90348009e-04 9.99999945e-01]] t_estimated: [[ 9.99999099e-01] [-1.33936478e-03] [ 9.18918161e-05]] R_gt: [[ 0.94990064 -0.31162401 -0.02409741] [ 0.31142829 0.93712047 0.15753704] [-0.02651125 -0.15714867 0.98721846]] t_gt: [ 0.64473703 -0.643634 0.41237051] Pose Error in degrees for R and t: 72.02432107540203 49.78659244688708 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 4.41331052e-02 9.99025280e-01 -8.71641796e-04] [ 9.99020223e-01 -4.41299699e-02 3.33758991e-03] [ 3.29587116e-03 -1.01808599e-03 -9.99994050e-01]] t_estimated: [[0.0518083 ] [0.99865393] [0.00249624]] R_gt: [[ 0.98050018 -0.1958243 -0.01649822] [ 0.19603983 0.98051451 0.01261608] [ 0.01370648 -0.01560439 0.99978456]] t_gt: [ 0.9873514 -0.14320161 0.06804782] Pose Error in degrees for R and t: 178.64930486375994 84.73939210056831 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-4.27626458e-01 9.03955481e-01 -3.16920645e-04] [-9.03953325e-01 -4.27626161e-01 -2.06215460e-03] [-1.99961951e-03 -5.95350396e-04 9.99997824e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.91966984 -0.38955698 -0.04952456] [ 0.39156054 0.91926382 0.04041461] [ 0.02978318 -0.05656007 0.9979555 ]] t_gt: [ 0.99045924 -0.05646998 0.12570452] Pose Error in degrees for R and t: 138.35751797138107 87.12479068085683 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.23336548 0.97238774 0.00162578] [-0.97238699 -0.23336117 -0.00247228] [-0.00202462 -0.00215784 0.99999562]] t_estimated: [[0.00900864] [0.99995879] [0.00112608]] R_gt: [[ 0.88417718 -0.46557081 -0.03841985] [ 0.46712269 0.88205746 0.06140014] [ 0.00530376 -0.07223632 0.99737371]] t_gt: [ 0.98916032 -0.01045272 0.14646707] Pose Error in degrees for R and t: 131.36906535181612 89.92113965957556 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.60612435e-01 2.77891417e-01 3.31838414e-04] [-2.77891374e-01 9.60612490e-01 -1.71633617e-04] [-3.66463634e-04 7.26583543e-05 9.99999930e-01]] t_estimated: [[0.64332831] [0.7655898 ] [0.00097033]] R_gt: [[ 0.97818857 -0.2006154 -0.05386133] [ 0.20075489 0.97963683 -0.00287747] [ 0.053342 -0.00799845 0.99854508]] t_gt: [ 0.79057097 -0.59663598 -0.13792408] Pose Error in degrees for R and t: 27.89079214385687 87.03738026840907 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.93413173e-01 1.14586938e-01 3.18424387e-04] [-1.14586965e-01 9.93413219e-01 6.74104941e-05] [-3.08602633e-04 -1.03453757e-04 9.99999947e-01]] t_estimated: [[9.13822342e-01] [4.06113581e-01] [6.98184421e-04]] R_gt: [[ 0.93939718 -0.32466111 -0.11012757] [ 0.32934162 0.94382928 0.02684713] [ 0.09522533 -0.06148941 0.99355551]] t_gt: [ 0.83344299 -0.55238112 -0.015744 ] Pose Error in degrees for R and t: 26.53129604338096 57.50144350855924 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-8.31263550e-01 -5.55875122e-01 1.93880522e-03] [-5.55875982e-01 8.31265228e-01 1.12497497e-04] [-1.67419592e-03 -9.84220187e-04 -9.99998114e-01]] t_estimated: [[0.98338589] [0.18151282] [0.00229763]] R_gt: [[ 0.93548226 -0.34070317 -0.09377821] [ 0.34646754 0.93652245 0.05371963] [ 0.06952394 -0.08274488 0.99414318]] t_gt: [ 0.82274058 -0.56293873 0.07872686] Pose Error in degrees for R and t: 176.7033547171734 45.002836462701765 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-0.96537748 -0.25926414 -0.02878254] [-0.2592846 0.96579604 -0.00308389] [ 0.02859761 0.00448575 -0.99958094]] t_estimated: [[ 0.99277833] [ 0.11908106] [-0.01452227]] R_gt: [[ 0.99497785 0.09879624 0.0161158 ] [-0.09894459 0.99505481 0.00869358] [-0.0151769 -0.01024412 0.99983157]] t_gt: [-0.76344374 0.62699368 0.15502446] Pose Error in degrees for R and t: 179.3028398474654 46.72359168225994 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.68042116e-01 -2.50785261e-01 -1.10171854e-03] [ 2.50785935e-01 9.68042428e-01 5.21232732e-04] [ 9.35792805e-04 -7.80870752e-04 9.99999257e-01]] t_estimated: [[-0.54062319] [-0.84126238] [-0.00204131]] R_gt: [[ 0.95318335 0.30137979 0.02474359] [-0.30153059 0.95345267 0.00251603] [-0.02283317 -0.00985827 0.99968968]] t_gt: [-0.70116352 0.71042096 0.0605952 ] Pose Error in degrees for R and t: 32.1049325123936 77.36679027596635 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-8.96151344e-01 -4.43743995e-01 -2.00898135e-03] [ 4.43745642e-01 -8.96152672e-01 -4.41057292e-04] [-1.60463748e-03 -1.28673080e-03 9.99997885e-01]] t_estimated: [[0.54861794] [0.83607271] [0.00087639]] R_gt: [[ 0.85091825 0.51850437 0.08421317] [-0.51808367 0.85485489 -0.02849103] [-0.08676267 -0.01938598 0.99604009]] t_gt: [-0.6131893 0.78173455 0.11353404] Pose Error in degrees for R and t: 175.05874008920995 71.50150320084691 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.96961393e-01 7.78972061e-02 -8.43242996e-05] [-7.78971994e-02 9.96961393e-01 7.97329108e-05] [ 9.02790422e-05 -7.29220070e-05 9.99999993e-01]] t_estimated: [[-9.07275347e-01] [-4.20536417e-01] [-7.52301284e-04]] R_gt: [[ 0.99996223 0.00255202 0.00824314] [-0.0024759 0.99995482 -0.00918589] [-0.00826634 0.00916559 0.99992363]] t_gt: [-0.39371792 0.12934753 -0.91008539] Pose Error in degrees for R and t: 4.382406674340063 72.33206463554068 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.07630054 0.99706842 0.00572625] [-0.99706699 0.0763323 -0.00554969] [-0.00597052 -0.00528601 0.9999682 ]] t_estimated: [[0.14393726] [0.98956864] [0.00599739]] R_gt: [[ 0.98958136 -0.14247306 0.02072861] [ 0.14256594 0.98978011 -0.00309193] [-0.02007721 0.00601684 0.99978045]] t_gt: [ 0.98867603 -0.14920533 -0.01604597] Pose Error in degrees for R and t: 93.81794458882555 89.68843344517447 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.49128084e-01 3.14871604e-01 3.42824777e-03] [ 3.14889313e-01 -9.49042163e-01 -1.27942672e-02] [-7.74999746e-04 1.32229169e-02 -9.99912273e-01]] t_estimated: [[9.43065430e-01] [3.32606265e-01] [8.17214410e-04]] R_gt: [[ 0.94136568 -0.33631124 -0.02692483] [ 0.33688655 0.94131736 0.02070952] [ 0.01837942 -0.02856478 0.99942278]] t_gt: [ 0.99464414 -0.08216685 0.06270277] Pose Error in degrees for R and t: 179.13194692375862 24.392665195970277 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.12428595 -0.9922437 -0.00233509] [-0.99224105 0.12427717 0.00358864] [-0.00327061 0.00276299 -0.99999083]] t_estimated: [[0.71203857] [0.70213975] [0.00092427]] R_gt: [[ 9.87914431e-01 -1.54332982e-01 1.43782872e-02] [ 1.54321420e-01 9.88018888e-01 1.88849909e-03] [-1.44978429e-02 3.52654994e-04 9.99895536e-01]] t_gt: [ 0.53394623 -0.8384557 0.10905714] Pose Error in degrees for R and t: 179.29496944713168 77.97010874346196 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.42888386 -0.90335372 -0.00326903] [ 0.90335797 -0.42887331 -0.00347169] [ 0.00173417 -0.00444205 0.99998863]] t_estimated: [[9.80580236e-01] [1.96116047e-01] [9.47420517e-04]] R_gt: [[ 0.93493175 -0.35316623 0.03428542] [ 0.35376039 0.93524625 -0.01299539] [-0.02747616 0.02427831 0.99932785]] t_gt: [ 0.64134648 -0.76652636 0.03334715] Pose Error in degrees for R and t: 94.71442819518586 61.40631024918988 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999898e-01 4.20182768e-04 -1.66161938e-04] [-4.20143264e-04 9.99999883e-01 2.37708214e-04] [ 1.66261800e-04 -2.37638378e-04 9.99999958e-01]] t_estimated: [[-8.08321400e-01] [-5.88741342e-01] [-3.83829309e-04]] R_gt: [[ 0.86976321 -0.49278462 -0.02598124] [ 0.49204248 0.87004751 -0.03019085] [ 0.03748209 0.01347515 0.99920662]] t_gt: [ 0.70635275 -0.70391972 -0.07458433] Pose Error in degrees for R and t: 29.622401398071432 80.9959212553771 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999800e-01 -4.65704117e-04 -4.29039442e-04] [ 4.65874692e-04 9.99999812e-01 3.97560409e-04] [ 4.28854216e-04 -3.97760208e-04 9.99999829e-01]] t_estimated: [[-0.99990949] [-0.01337175] [-0.00148575]] R_gt: [[ 0.98759336 0.14944237 -0.04823616] [-0.14528027 0.98610187 0.0806005 ] [ 0.05961139 -0.07259178 0.995579 ]] t_gt: [-0.78835169 0.6087423 0.08907542] Pose Error in degrees for R and t: 10.06117366392383 38.73868821469806 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99843630e-01 -1.76834194e-02 -1.07051141e-04] [ 1.76832847e-02 9.99842977e-01 -1.15003507e-03] [ 1.27370884e-04 1.14796222e-03 9.99999333e-01]] t_estimated: [[-0.6183681 ] [-0.78588588] [-0.00206812]] R_gt: [[ 0.97134983 0.19740893 -0.13231979] [-0.17861502 0.97369569 0.14146531] [ 0.15676684 -0.11377784 0.98106004]] t_gt: [-0.85150126 0.46747174 -0.23752005] Pose Error in degrees for R and t: 16.373227906611646 80.81324422502495 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.26350796e-01 3.76661902e-01 1.17309546e-04] [-3.76660213e-01 9.26347490e-01 -2.72253341e-03] [-1.13414401e-03 2.47783515e-03 9.99996287e-01]] t_estimated: [[0.7985421 ] [0.60193136] [0.00302478]] R_gt: [[ 0.94794919 0.25609089 -0.18923298] [-0.21624868 0.95397957 0.20774907] [ 0.23372885 -0.1560134 0.95970429]] t_gt: [-0.90119981 0.35732683 -0.24526809] Pose Error in degrees for R and t: 18.35718107934837 59.648621236092254 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 6.94374461e-01 -7.19613229e-01 -9.53287654e-04] [ 7.19613784e-01 6.94374389e-01 4.58853254e-04] [ 3.31741661e-04 -1.00461492e-03 9.99999440e-01]] t_estimated: [[0.71117705] [0.70301202] [0.00114251]] R_gt: [[ 9.91687841e-01 -6.34731773e-02 -1.11922950e-01] [ 6.30049308e-02 9.97983453e-01 -7.71602641e-03] [ 1.12187556e-01 6.00161602e-04 9.93687303e-01]] t_gt: [ 0.58402391 -0.51057039 -0.6310578 ] Pose Error in degrees for R and t: 42.84387440187941 86.8077593298444 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 5.08167240e-01 -8.61258030e-01 -8.13982579e-04] [ 8.61258346e-01 5.08167350e-01 8.09453827e-05] [ 3.43924509e-04 -7.42183081e-04 9.99999665e-01]] t_estimated: [[0.52968915] [0.84819123] [0.00102564]] R_gt: [[ 0.98092243 -0.11242521 -0.15859656] [ 0.11247873 0.99361683 -0.0086702 ] [ 0.15855922 -0.00933386 0.98730577]] t_gt: [ 0.61716931 -0.57931213 -0.53244671] Pose Error in degrees for R and t: 53.679893362281355 80.50243550036458 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.65617031 0.75460689 0.00299372] [-0.75458454 0.6561749 -0.00605603] [-0.00653433 0.00171478 0.99997718]] t_estimated: [[0.7829193 ] [0.62211769] [0.00263609]] R_gt: [[ 0.96684131 -0.21446743 -0.13864412] [ 0.20596885 0.97582073 -0.0731551 ] [ 0.15098176 0.04217266 0.98763689]] t_gt: [ 0.69331472 -0.52270471 -0.49607912] Pose Error in degrees for R and t: 61.8296200753989 77.50714207991315 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-5.91162315e-01 -8.06552197e-01 -8.19028192e-04] [ 8.06549476e-01 -5.91156879e-01 -3.38922940e-03] [ 2.24941627e-03 -2.66417146e-03 9.99993921e-01]] t_estimated: [[8.42284927e-01] [5.39032028e-01] [7.58132247e-04]] R_gt: [[ 0.97206216 -0.22573566 0.06434461] [ 0.22633443 0.97404765 -0.00208798] [-0.06220429 0.01659343 0.99792544]] t_gt: [ 0.57708415 -0.79243099 0.19755255] Pose Error in degrees for R and t: 113.20843240114148 86.61337388549615 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.87225645 0.48904773 0.00100608] [-0.48904503 0.87225598 -0.00211339] [-0.00191111 0.0013514 0.99999726]] t_estimated: [[0.50773542] [0.86151236] [0.0010919 ]] R_gt: [[ 0.92367123 -0.38217121 0.02787045] [ 0.38206981 0.92408867 0.00907356] [-0.02922225 0.00226761 0.99957023]] t_gt: [ 0.66781736 -0.74130708 0.06696106] Pose Error in degrees for R and t: 51.77122343345056 72.57257147899743 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-6.69698534e-01 -7.42632827e-01 -5.97701809e-04] [-7.42632338e-01 6.69698788e-01 -8.62696915e-04] [ 1.04094723e-03 -1.33874168e-04 -9.99999449e-01]] t_estimated: [[9.47462372e-01] [3.19866071e-01] [8.66845720e-04]] R_gt: [[ 0.85063711 -0.52427658 0.03938006] [ 0.52517989 0.85081942 -0.01709166] [-0.02454483 0.03522053 0.99907749]] t_gt: [ 0.72021759 -0.69370387 0.00784601] Pose Error in degrees for R and t: 178.95015013590026 62.581040998956944 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99999292e-01 -1.18972705e-03 -2.26650245e-05] [ 1.18972594e-03 9.99999291e-01 -4.90033674e-05] [ 2.27233090e-05 4.89763675e-05 9.99999999e-01]] t_estimated: [[-1.98757347e-01] [-9.80048665e-01] [-3.62105912e-04]] R_gt: [[ 0.99571154 0.05464471 -0.07465146] [-0.0500749 0.9968331 0.06176541] [ 0.07779062 -0.05776148 0.99529516]] t_gt: [-0.82211773 -0.40533526 -0.39978214] Pose Error in degrees for R and t: 6.354718855732496 55.889205784844286 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.04839640e-01 -4.25752536e-01 6.67659686e-05] [ 4.25752468e-01 9.04839565e-01 4.45820621e-04] [-2.50221750e-04 -3.74970394e-04 9.99999898e-01]] t_estimated: [[ 4.74584313e-01] [-8.80209740e-01] [ 7.37171528e-04]] R_gt: [[ 0.98482536 0.09070072 -0.14796224] [-0.07467519 0.99106696 0.110491 ] [ 0.15666223 -0.09776419 0.98280124]] t_gt: [-0.73413921 -0.48056788 -0.47968129] Pose Error in degrees for R and t: 31.772317331800974 85.74267611987317 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 6.64893550e-01 7.46938112e-01 1.55776166e-04] [-7.46937629e-01 6.64893332e-01 -1.01743803e-03] [-8.63537775e-04 5.60132904e-04 9.99999470e-01]] t_estimated: [[-4.93513539e-01] [ 8.69738011e-01] [ 4.23338997e-04]] R_gt: [[ 0.98253683 0.05939926 -0.17633397] [-0.03926875 0.99252676 0.11553456] [ 0.18187888 -0.10659174 0.97752655]] t_gt: [-0.05824941 -0.82215385 -0.56627736] Pose Error in degrees for R and t: 46.99713114254321 46.64226858715588 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999557e-01 9.38107042e-04 8.31050152e-05] [-9.38111140e-04 9.99999559e-01 4.92930779e-05] [-8.30587364e-05 -4.93710178e-05 9.99999995e-01]] t_estimated: [[9.90243524e-01] [1.39347110e-01] [3.81650597e-04]] R_gt: [[ 0.97774801 -0.19678574 -0.07269194] [ 0.19807748 0.98012465 0.01093925] [ 0.06909504 -0.02509444 0.99729336]] t_gt: [ 0.81774544 -0.56950661 -0.0833943 ] Pose Error in degrees for R and t: 12.206378009708802 43.08205853371708 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.87386990e-01 1.58322841e-01 9.00431557e-04] [-1.58322119e-01 9.87387173e-01 -8.23193339e-04] [-1.01940488e-03 6.70252161e-04 9.99999256e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.96597742 -0.24230375 -0.09043074] [ 0.24669269 0.96823256 0.04083206] [ 0.0776639 -0.06175107 0.99506439]] t_gt: [ 0.81939018 -0.57239882 0.03097286] Pose Error in degrees for R and t: 23.990704349826878 75.62406986614184 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-7.69019198e-01 -6.39212207e-01 -4.15047593e-03] [ 6.39215766e-01 -7.69027225e-01 5.76822476e-04] [-3.56054096e-03 -2.20946209e-03 9.99991220e-01]] t_estimated: [[0.9614292 ] [0.27504177] [0.002434 ]] R_gt: [[ 0.98117073 -0.19124061 -0.02704307] [ 0.19295206 0.97677078 0.09320462] [ 0.00859014 -0.09666784 0.99527902]] t_gt: [ 0.69936873 -0.62856485 0.34027871] Pose Error in degrees for R and t: 129.21638713723632 59.977492320343025 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.99995738 -0.00901961 0.00197136] [ 0.0090246 0.99995605 -0.00254113] [-0.00194835 0.00255882 0.99999483]] t_estimated: [[-0.90618988] [-0.42286653] [-0.00194808]] R_gt: [[ 0.97798669 0.20712094 0.02532857] [-0.20804658 0.97721257 0.04208229] [-0.01603536 -0.04642538 0.99879298]] t_gt: [-0.73810933 0.6405151 0.21197884] Pose Error in degrees for R and t: 12.836995412451852 66.57165581270165 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.89842721e-01 -1.42166748e-01 5.85613918e-05] [ 1.42166747e-01 9.89842723e-01 2.21592810e-05] [-6.11168804e-05 -1.36087204e-05 9.99999998e-01]] t_estimated: [[-8.48239678e-01] [-5.29611979e-01] [-7.74485667e-04]] R_gt: [[ 0.95681233 0.28927528 0.02880718] [-0.29054876 0.9548478 0.06201859] [-0.00956577 -0.06771033 0.99765905]] t_gt: [-0.70651415 0.68074795 0.19344246] Pose Error in degrees for R and t: 25.346235151757234 76.19541008299916 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.76915406 -0.63906252 0.00106089] [-0.63904168 0.76911316 -0.00952255] [ 0.00526957 -0.00800226 -0.9999541 ]] t_estimated: [[0.73211156] [0.68117646] [0.00336087]] R_gt: [[ 0.90288661 0.42681159 0.05124844] [-0.42940119 0.90106664 0.06077637] [-0.02023815 -0.07687994 0.99683412]] t_gt: [-0.65284577 0.74060313 0.15905785] Pose Error in degrees for R and t: 176.6561255774377 88.44938315801602 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-0.27430584 0.96095037 0.03647855] [ 0.960998 0.27531328 -0.02618076] [-0.03520144 0.02787428 -0.99899143]] t_estimated: [[ 0.66622286] [-0.74542085] [ 0.02224554]] R_gt: [[ 0.99949014 0.02808723 0.01517279] [-0.02758332 0.99909447 -0.03241872] [-0.01606921 0.03198375 0.99935887]] t_gt: [ 0.53278048 0.76672082 -0.35816774] Pose Error in degrees for R and t: 175.60191266539687 77.0237709681813 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.92011885e-01 -1.26144222e-01 -2.34135122e-04] [ 1.26144197e-01 9.92011909e-01 -1.16755920e-04] [ 2.46992914e-04 8.62884735e-05 9.99999966e-01]] t_estimated: [[ 0.66811934] [-0.74405348] [-0.000983 ]] R_gt: [[ 9.98557781e-01 3.61355843e-03 5.35648189e-02] [ 4.73831490e-04 9.97102154e-01 -7.60771519e-02] [-5.36842373e-02 7.59933274e-02 9.95661604e-01]] t_gt: [ 0.97723295 0.13185523 -0.16622264] Pose Error in degrees for R and t: 9.073527877282121 56.29174514959972 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99995224e-01 2.72449960e-03 -1.45939023e-03] [-2.72381371e-03 9.99996179e-01 4.71767276e-04] [ 1.46066999e-03 -4.67789916e-04 9.99998824e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99886413 -0.0471634 0.00675784] [ 0.04747848 0.9971741 -0.05823245] [-0.0039922 0.05848718 0.99827929]] t_gt: [ 0.78254251 -0.46475578 -0.41428166] Pose Error in degrees for R and t: 4.446830465245091 45.76454554288035 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[ 9.98699282e-01 -5.09876834e-02 -2.83701598e-05] [ 5.09876877e-02 9.98699265e-01 1.83658166e-04] [ 1.89689533e-05 -1.84865807e-04 9.99999983e-01]] t_estimated: [[0.8834138 ] [0.4685926 ] [0.00102092]] R_gt: [[ 0.99901516 0.02472411 0.03684691] [-0.02411353 0.99956593 -0.01693712] [-0.03725042 0.01603375 0.99917761]] t_gt: [-0.75797064 0.29433521 0.58210591] Pose Error in degrees for R and t: 4.909872544488948 57.921264990329 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99795537e-01 -2.02208620e-02 2.10876389e-05] [ 2.02208611e-02 9.99795537e-01 4.10070540e-05] [-2.19125253e-05 -4.05722593e-05 9.99999999e-01]] t_estimated: [[4.91208154e-01] [8.71042202e-01] [1.77240416e-04]] R_gt: [[ 0.99905625 0.01517124 0.04070642] [-0.01463617 0.99980319 -0.01343423] [-0.04090264 0.01282726 0.9990808 ]] t_gt: [-0.77915972 -0.11328685 0.61650322] Pose Error in degrees for R and t: 3.1752814906471736 61.22979108593328 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-9.79492496e-01 -2.01475309e-01 -1.46608178e-03] [ 2.01480588e-01 -9.79460936e-01 -7.86428041e-03] [ 1.48488488e-04 -7.99839067e-03 9.99968001e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.99925748 -0.03324392 -0.01948755] [ 0.03353303 0.99932969 0.01473034] [ 0.01898511 -0.01537193 0.99970178]] t_gt: [ 0.00221551 -0.98870664 -0.14984749] Pose Error in degrees for R and t: 166.45924205367294 83.85677074988996 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99644339e-01 -2.66669121e-02 -2.67797353e-04] [ 2.66670051e-02 9.99644311e-01 3.49965389e-04] [ 2.58369604e-04 -3.56982274e-04 9.99999903e-01]] t_estimated: [[-0.99296079] [-0.11843749] [-0.00119634]] R_gt: [[ 0.97050413 0.24038897 0.0182964 ] [-0.23955677 0.97010292 -0.03888722] [-0.02709677 0.03335734 0.99907652]] t_gt: [-0.71079759 0.70180745 -0.04725567] Pose Error in degrees for R and t: 15.617886027848966 51.48420537606322 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.89486185e-01 1.44627247e-01 -2.24010616e-04] [-1.44627413e-01 9.89485423e-01 -1.22850928e-03] [ 4.39793249e-05 1.24799103e-03 9.99999220e-01]] t_estimated: [[-0.98526978] [-0.17099876] [-0.00170113]] R_gt: [[ 0.8859181 0.45955164 0.06294022] [-0.45690204 0.88797593 -0.05233483] [-0.07993944 0.01760777 0.9966438 ]] t_gt: [-0.64173038 0.76436795 0.06263986] Pose Error in degrees for R and t: 19.567181154323254 59.90302764529139 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 6.30858023e-01 -7.75897922e-01 -7.53854804e-04] [ 7.75897810e-01 6.30858416e-01 -4.97420065e-04] [ 8.61522843e-04 -2.71112853e-04 9.99999592e-01]] t_estimated: [[-0.19341983] [-0.98111508] [-0.00140159]] R_gt: [[ 0.83298537 0.54914765 0.06761113] [-0.54539992 0.83551591 -0.06673395] [-0.09313594 0.01871318 0.99547747]] t_gt: [-0.6063771 0.79254922 0.06459524] Pose Error in degrees for R and t: 84.29812592664247 48.670592280835976 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999668e-01 8.05632089e-04 1.22468097e-04] [-8.05652487e-04 9.99999662e-01 1.66599743e-04] [-1.22333838e-04 -1.66698355e-04 9.99999979e-01]] t_estimated: [[9.53117145e-01] [3.02601181e-01] [4.83320241e-04]] R_gt: [[ 0.96552287 -0.25993669 0.01410079] [ 0.26030379 0.96465988 -0.04092487] [-0.002964 0.0431844 0.9990628 ]] t_gt: [ 0.86665333 -0.48716496 -0.10762111] Pose Error in degrees for R and t: 15.332646710281452 47.26929327650135 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99998682e-01 2.39992685e-04 1.60583918e-03] [-2.37239595e-04 9.99998502e-01 -1.71439542e-03] [-1.60624822e-03 1.71401220e-03 9.99997241e-01]] t_estimated: [[9.77461337e-01] [2.11113089e-01] [7.73308020e-04]] R_gt: [[ 0.84374922 -0.53670974 0.0054392 ] [ 0.53660123 0.84326474 -0.03104311] [ 0.01207464 0.02911188 0.99950302]] t_gt: [ 0.92438473 -0.378511 -0.04735285] Pose Error in degrees for R and t: 32.52317007770429 34.55267711961848 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99999996e-01 7.97774107e-05 -2.72742270e-05] [-7.97774061e-05 9.99999997e-01 1.72593958e-07] [ 2.72742407e-05 -1.70418091e-07 1.00000000e+00]] t_estimated: [[-0.38263465] [-0.92389924] [-0.00096139]] R_gt: [[ 0.76500959 -0.64396451 0.00831635] [ 0.64396793 0.76472275 -0.02249187] [ 0.00812363 0.0225619 0.99971269]] t_gt: [ 0.94439469 -0.3276312 -0.02786529] Pose Error in degrees for R and t: 40.122256697752775 86.63864142106652 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.56175487e-01 -2.92792135e-01 -1.09719006e-03] [ 2.92792783e-01 9.56175797e-01 4.82015353e-04] [ 9.07976271e-04 -7.82140595e-04 9.99999282e-01]] t_estimated: [[-0.48768586] [-0.87301789] [-0.0015052 ]] R_gt: [[ 0.98197556 0.18774655 0.02178636] [-0.18775244 0.98221469 -0.0017923 ] [-0.02173538 -0.00232995 0.99976112]] t_gt: [-0.39947315 0.90986585 0.11209521] Pose Error in degrees for R and t: 27.878315893894406 53.152982321810434 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.94727193 -0.29613181 -0.12240029] [ 0.30206545 0.95272523 0.03272761] [ 0.10692216 -0.06797485 0.99194106]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.94161854 0.33548252 0.02841183] [-0.3347244 0.94189027 -0.02832958] [-0.03626507 0.01716596 0.99919472]] t_gt: [-0.32513726 0.94373693 0.06038526] Pose Error in degrees for R and t: 38.253008954571264 68.18055248040673 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.57213386e-01 -2.89382948e-01 -2.06048595e-04] [ 2.89382969e-01 9.57213398e-01 8.41269052e-05] [ 1.72887584e-04 -1.40154354e-04 9.99999975e-01]] t_estimated: [[-0.69224713] [-0.72165976] [-0.00105045]] R_gt: [[ 0.91402753 0.40419573 0.03435626] [-0.40285467 0.91439121 -0.03995803] [-0.04756628 0.02268226 0.99861047]] t_gt: [-0.27238799 0.96045137 0.05777503] Pose Error in degrees for R and t: 40.74565916140018 59.69387087242394 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[ 9.99926169e-01 1.21512943e-02 4.96401659e-05] [-1.21512930e-02 9.99926170e-01 -2.68881310e-05] [-4.99632266e-05 2.62829536e-05 9.99999998e-01]] t_estimated: [[8.12168281e-01] [5.83422909e-01] [6.26948017e-04]] R_gt: [[ 0.99988286 -0.01376385 -0.0067545 ] [ 0.0137396 0.99989971 -0.00356872] [ 0.00680277 0.00347557 0.99997101]] t_gt: [ 0.8390585 -0.38131914 -0.38804195] Pose Error in degrees for R and t: 1.5467743700290562 62.69396847018848 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.04763869 0.99886237 -0.00212586] [-0.998863 0.04763466 -0.00190901] [-0.00180557 0.00221438 0.99999592]] t_estimated: [[0.55002469] [0.83514778] [0.00101107]] R_gt: [[ 0.99818273 0.04072563 -0.04442923] [-0.03973409 0.99894644 0.02297017] [ 0.04531818 -0.02116332 0.99874848]] t_gt: [ 0.47807059 0.73662449 -0.47836479] Pose Error in degrees for R and t: 85.00403666026587 28.638959468308837 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-5.99026126e-01 -8.00728109e-01 -1.48164844e-03] [-8.00729470e-01 5.99024792e-01 1.27101029e-03] [-1.30189520e-04 1.94776794e-03 -9.99998095e-01]] t_estimated: [[7.62098652e-01] [6.47460531e-01] [7.11421162e-04]] R_gt: [[ 0.99118767 0.13243708 -0.00298729] [-0.13229503 0.99078145 0.02919291] [ 0.00682566 -0.02854056 0.99956933]] t_gt: [-0.14359029 0.98300569 0.11437499] Pose Error in degrees for R and t: 179.55838775606279 58.189685185451 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999931e-01 3.67457131e-04 4.98459218e-05] [-3.67453111e-04 9.99999929e-01 -8.06376480e-05] [-4.98755492e-05 8.06193265e-05 9.99999996e-01]] t_estimated: [[ 4.24054118e-01] [-9.05636832e-01] [-1.81520403e-04]] R_gt: [[ 0.98715853 -0.07911458 0.13877789] [ 0.08019541 0.99677716 -0.0021984 ] [-0.13815736 0.01329933 0.99032107]] t_gt: [ 0.37210317 -0.48602684 0.79076997] Pose Error in degrees for R and t: 9.21063602337387 53.28663573026574 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-4.94866800e-01 8.68959193e-01 4.09527189e-03] [-8.68968839e-01 -4.94860853e-01 -2.42751836e-03] [-8.28246525e-05 -4.75996190e-03 9.99988668e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96420292 -0.07040487 0.25564644] [ 0.07587625 0.99704966 -0.01158963] [-0.25407704 0.03057247 0.96670096]] t_gt: [ 0.21643609 -0.25176757 0.94327542] Pose Error in degrees for R and t: 124.40317021663546 75.55608850211017 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99997693e-01 2.10455560e-03 4.30845017e-04] [-2.10455362e-03 9.99997785e-01 -5.04515531e-06] [-4.30854680e-04 4.13840723e-06 9.99999907e-01]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.93541763 -0.09090158 0.34165612] [ 0.11165545 0.99287847 -0.04153282] [-0.33544827 0.07699845 0.93890657]] t_gt: [ 0.34884325 -0.2405663 0.90577936] Pose Error in degrees for R and t: 21.00772579414188 69.61040091605723 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.20593698 -0.97854834 -0.00575433] [-0.97854262 -0.20588865 -0.0080133 ] [ 0.00665665 0.00728109 -0.99995134]] t_estimated: [[ 0.66716175] [ 0.74490299] [-0.00383966]] R_gt: [[ 0.99708574 0.01200269 0.07534287] [-0.00965484 0.9994596 -0.03144274] [-0.07567973 0.0306246 0.99666151]] t_gt: [-0.43310549 0.82016915 0.37382108] Pose Error in degrees for R and t: 179.2175271768494 71.30322460531634 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 3.61571707e-01 -9.32337881e-01 3.46079086e-03] [-9.32344230e-01 -3.61567707e-01 1.74070809e-03] [-3.71617880e-04 -3.85603918e-03 -9.99992496e-01]] t_estimated: [[0.65069587] [0.75933234] [0.00304753]] R_gt: [[ 0.98986404 0.09894324 0.10187582] [-0.08994759 0.99192543 -0.08940289] [-0.10989922 0.07933428 0.99077131]] t_gt: [-0.348676 0.93720966 0.00794325] Pose Error in degrees for R and t: 179.6366526102559 61.000906787274296 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.94118726e-01 -1.08295439e-01 -2.37765586e-04] [ 1.08295453e-01 9.94118752e-01 4.78450589e-05] [ 2.31185826e-04 -7.33126009e-05 9.99999971e-01]] t_estimated: [[-0.28069714] [-0.95979583] [-0.00104285]] R_gt: [[ 0.97819383 0.18651576 0.09137486] [-0.180483 0.98105404 -0.07041958] [-0.10277817 0.05239299 0.99332289]] t_gt: [-0.30435605 0.95144205 0.0461023 ] Pose Error in degrees for R and t: 18.07975562784746 34.12595176893642 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.74644897e-01 2.23757184e-01 2.16395010e-04] [-2.23757167e-01 9.74644920e-01 -1.00253624e-04] [-2.33340766e-04 4.92917485e-05 9.99999972e-01]] t_estimated: [[-0.73608151] [ 0.67689201] [ 0.0011035 ]] R_gt: [[ 0.99362798 0.11007333 0.02425387] [-0.1088722 0.99297806 -0.04628124] [-0.02917773 0.04334613 0.99863382]] t_gt: [-0.35632228 0.9295225 -0.0949861 ] Pose Error in degrees for R and t: 7.279716652594174 26.954878008442535 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-8.59538119e-01 -5.11071638e-01 5.23416186e-05] [-5.11071558e-01 8.59538034e-01 4.79002933e-04] [-2.89794426e-04 3.84970968e-04 -9.99999884e-01]] t_estimated: [[0.80387293] [0.59479923] [0.00148 ]] R_gt: [[ 0.97515384 0.22150276 -0.00356147] [-0.22147019 0.97513551 0.00784167] [ 0.00520911 -0.00685773 0.99996272]] t_gt: [-0.3208999 0.94700201 -0.01450662] Pose Error in degrees for R and t: 179.88096962282506 72.22427612162014 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.85907538 0.36533795 -0.35849362] [ 0.45708184 -0.23235237 0.85853862] [ 0.2303599 -0.90141032 -0.36659754]] t_estimated: [[0.82035704] [0.57180282] [0.00747328]] R_gt: [[ 0.90949324 0.40644029 -0.08734512] [-0.40441699 0.91367606 0.0405317 ] [ 0.09627839 -0.00153937 0.99535255]] t_gt: [-0.17997233 0.97520773 -0.12876273] Pose Error in degrees for R and t: 111.79433207898462 65.85654342393408 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.86284039e-01 1.65056864e-01 1.59669021e-04] [-1.65056883e-01 9.86284042e-01 1.15300321e-04] [-1.38447898e-04 -1.40073338e-04 9.99999981e-01]] t_estimated: [[0.48828672] [0.87268265] [0.00103891]] R_gt: [[ 0.99807255 -0.06170948 -0.00655188] [ 0.06150586 0.99772151 -0.02770003] [ 0.0082473 0.02724427 0.99959518]] t_gt: [ 0.60204107 -0.64561861 -0.46981183] Pose Error in degrees for R and t: 13.135809219995073 74.33932800279216 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.45643810e-01 3.25204202e-01 -1.05945857e-04] [-3.25203853e-01 9.45643184e-01 1.19229650e-03] [ 4.87926808e-04 -1.09303380e-03 9.99999284e-01]] t_estimated: [[0.62746624] [0.77864334] [0.00081278]] R_gt: [[ 0.98553792 -0.14777118 0.08293118] [ 0.1518414 0.98737472 -0.04510169] [-0.07521913 0.05704192 0.99553446]] t_gt: [ 0.70866513 -0.70544515 0.01186879] Pose Error in degrees for R and t: 28.139193126584182 83.9948950701837 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99998056e-01 7.53828106e-04 -1.82176557e-03] [-7.49325500e-04 9.99996666e-01 2.47098171e-03] [ 1.82362219e-03 -2.46961181e-03 9.99995288e-01]] t_estimated: [[0.9413122 ] [0.33753066] [0.00209646]] R_gt: [[ 0.96311133 -0.17057197 0.20813865] [ 0.18406956 0.98178084 -0.0471565 ] [-0.19630263 0.08372963 0.97696222]] t_gt: [ 0.64233439 -0.65093546 0.40458565] Pose Error in degrees for R and t: 16.207155636226805 67.30815524539496 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.98183249e-01 -6.02511516e-02 1.95743456e-05] [ 6.02511498e-02 9.98183246e-01 7.89372519e-05] [-2.42948441e-05 -7.76144657e-05 9.99999997e-01]] t_estimated: [[-9.86806320e-01] [-1.61903059e-01] [-8.28400550e-04]] R_gt: [[ 0.9966014 0.08086772 -0.01565882] [-0.08044109 0.99641526 0.02620648] [ 0.01772104 -0.02485689 0.99953337]] t_gt: [-0.25474823 0.96342785 0.08312713] Pose Error in degrees for R and t: 8.267819001930965 84.52931860046955 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-0.68851469 0.72499589 -0.01812428] [ 0.72498431 0.688714 0.00841252] [ 0.01858149 -0.00734768 -0.99980035]] t_estimated: [[ 0.91908964] [-0.39393427] [-0.0094882 ]] R_gt: [[ 0.98691254 0.16036176 0.01691917] [-0.16089851 0.98625669 0.03754183] [-0.01066685 -0.03977247 0.99915159]] t_gt: [-0.30499015 0.9202489 0.24519984] Pose Error in degrees for R and t: 178.70753865501143 49.82252421259592 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.39549002e-01 -3.42402618e-01 -2.84965275e-03] [ 3.42404442e-01 9.39552644e-01 1.63934939e-04] [ 2.62126703e-03 -1.12975867e-03 9.99995926e-01]] t_estimated: [[-0.23375599] [-0.97228939] [-0.00338777]] R_gt: [[ 0.98503036 0.17220334 0.00771396] [-0.17236117 0.98455242 0.03078788] [-0.00229341 -0.03165608 0.99949559]] t_gt: [-0.16199709 0.97442501 0.15573323] Pose Error in degrees for R and t: 30.00019839790804 24.483189852110755 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999121e-01 1.39939568e-04 1.31882530e-03] [-1.38194915e-04 9.99999115e-01 -1.32288215e-03] [-1.31900925e-03 1.32269873e-03 9.99998255e-01]] t_estimated: [[0.93269032] [0.36067089] [0.00229727]] R_gt: [[ 0.9623257 -0.26342568 -0.06734832] [ 0.26141672 0.96450747 -0.03723514] [ 0.07476648 0.01822621 0.99703421]] t_gt: [ 0.87121197 -0.44783412 -0.20108285] Pose Error in degrees for R and t: 15.879674278075827 49.414028363025565 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99998494e-01 -2.59047408e-04 1.71621478e-03] [ 2.62442278e-04 9.99998009e-01 -1.97818542e-03] [-1.71569892e-03 1.97863284e-03 9.99996571e-01]] t_estimated: [[8.53317907e-01] [5.21390459e-01] [7.34352760e-04]] R_gt: [[ 0.85753862 -0.51332154 -0.03359239] [ 0.5092432 0.85633794 -0.08575893] [ 0.07278821 0.05643497 0.99574939]] t_gt: [ 0.92347349 -0.35202097 -0.15257113] Pose Error in degrees for R and t: 31.24109694644997 52.816906530729874 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-7.81744568e-01 -6.23596178e-01 -1.79923070e-03] [ 6.23597882e-01 -7.81745075e-01 -5.65079918e-04] [-1.05415806e-03 -1.56374461e-03 9.99998222e-01]] t_estimated: [[9.43513179e-01] [3.31334059e-01] [7.88890618e-04]] R_gt: [[ 0.71801972 -0.69444358 -0.04686714] [ 0.689787 0.71896472 -0.085336 ] [ 0.09295715 0.02894534 0.99524891]] t_gt: [ 0.95862766 -0.26772919 -0.0967165 ] Pose Error in degrees for R and t: 97.61167242996021 35.34398507621371 Number of keypoints: Image1: 426 Image2: 426 R_estimated: [[ 0.61899257 -0.78531713 -0.01118973] [-0.78530249 -0.61863454 -0.0243169 ] [ 0.01217413 0.02383931 -0.99964167]] t_estimated: [[ 0.47285407] [ 0.88105766] [-0.01210091]] R_gt: [[ 0.99915379 0.00691308 0.04054857] [-0.00463535 0.99841983 -0.05599421] [-0.04087177 0.0557582 0.99760738]] t_gt: [ 0.00981177 0.99635263 -0.08476536] Pose Error in degrees for R and t: 176.60374755547065 27.931358977912236 Number of keypoints: Image1: 395 Image2: 395 R_estimated: [[ 5.90564567e-01 -8.06986469e-01 -2.51603874e-03] [ 8.06989552e-01 5.90565579e-01 3.98927641e-04] [ 1.16395667e-03 -2.26600950e-03 9.99996755e-01]] t_estimated: [[-0.26471659] [-0.96432472] [-0.00171894]] R_gt: [[ 0.99748823 -0.06437706 0.02955768] [ 0.0661151 0.99587448 -0.06215571] [-0.02543287 0.06395383 0.99762905]] t_gt: [ 0.68352371 -0.68457341 -0.25328754] Pose Error in degrees for R and t: 50.2130970558041 61.33769053504705 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.07656356e-01 -4.19714112e-01 5.21171072e-05] [ 4.19714096e-01 9.07656268e-01 -4.20924435e-04] [ 1.29363507e-04 4.03929023e-04 9.99999910e-01]] t_estimated: [[-0.17522507] [-0.98452728] [-0.00148496]] R_gt: [[ 0.99581343 -0.08555639 -0.03219212] [ 0.08565071 0.99632404 0.00155307] [ 0.03194157 -0.0043049 0.99948039]] t_gt: [ 0.60601737 -0.7684331 -0.20555661] Pose Error in degrees for R and t: 19.989167312637345 49.408681780359586 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99999990e-01 -1.12235576e-04 -8.61889749e-05] [ 1.12237142e-04 9.99999994e-01 1.81745794e-05] [ 8.61869345e-05 -1.81842528e-05 9.99999996e-01]] t_estimated: [[ 9.99829751e-01] [-1.84511001e-02] [-1.61282661e-04]] R_gt: [[ 0.99557625 0.09321348 -0.01181985] [-0.09331062 0.99560511 -0.00794241] [ 0.01102846 0.00900989 0.99989839]] t_gt: [ 0.03332708 0.98115604 -0.19032113] Pose Error in degrees for R and t: 5.4192867390366946 89.12628041859044 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99999985e-01 7.02054556e-05 1.55825491e-04] [-7.01389612e-05 9.99999907e-01 -4.26687694e-04] [-1.55855432e-04 4.26676758e-04 9.99999897e-01]] t_estimated: [[-0.68412874] [-0.72936039] [-0.00113079]] R_gt: [[ 0.99436786 0.1041565 0.0196199 ] [-0.10286455 0.99299268 -0.05816182] [-0.02553921 0.05581548 0.99811381]] t_gt: [ 0.03491287 0.97972681 -0.19727256] Pose Error in degrees for R and t: 6.892923252505835 42.41865455643774 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.92953774e-01 1.18502240e-01 1.48781638e-04] [-1.18502225e-01 9.92953781e-01 -1.06379428e-04] [-1.60339491e-04 8.79988997e-05 9.99999983e-01]] t_estimated: [[0.72374974] [0.69006169] [0.00108671]] R_gt: [[ 0.99884199 0.04115664 0.02495344] [-0.03938039 0.99691381 -0.06790439] [-0.02767 0.06684264 0.99737964]] t_gt: [ 0.71065468 0.58221263 -0.3949663 ] Pose Error in degrees for R and t: 6.1102174543801 23.699007266373695 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99849819e-01 1.73301935e-02 6.86208651e-05] [-1.73301984e-02 9.99849818e-01 7.15504030e-05] [-6.73705771e-05 -7.27288707e-05 9.99999995e-01]] t_estimated: [[9.63074435e-01] [2.69233930e-01] [8.50872145e-04]] R_gt: [[ 0.9990163 -0.04424766 0.00295846] [ 0.04430131 0.99878136 -0.02178252] [-0.00198995 0.02189251 0.99975843]] t_gt: [ 0.4802914 -0.82768146 -0.29028188] Pose Error in degrees for R and t: 3.7496386479714072 76.14477142660239 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.20841077e-01 -3.89929998e-01 -2.51137907e-03] [ 3.89929630e-01 9.20844425e-01 -6.54979208e-04] [ 2.56798546e-03 -3.76129353e-04 9.99996632e-01]] t_estimated: [[0.90424811] [0.42700605] [0.00109209]] R_gt: [[ 0.99966418 0.00896792 0.02430763] [-0.00852647 0.99979779 -0.01822436] [-0.02446606 0.01801138 0.99953823]] t_gt: [-0.90727193 -0.16488089 0.38687458] Pose Error in degrees for R and t: 23.524093922677586 27.078767083423347 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.03789763 0.99928095 0.00116705] [ 0.99928009 -0.0378996 0.00171216] [ 0.00175516 0.00110133 -0.99999785]] t_estimated: [[-0.26408862] [-0.96449758] [-0.00127579]] R_gt: [[ 0.99800491 0.01642739 0.06094859] [-0.01485021 0.99954558 -0.02624974] [-0.06135128 0.02529268 0.99779513]] t_gt: [-0.74001674 -0.08330749 0.66740923] Pose Error in degrees for R and t: 176.52889731141082 74.04225266442151 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.64230672e-01 -2.65062595e-01 -1.01607078e-03] [ 2.65062831e-01 9.64231137e-01 1.01839517e-04] [ 9.52733234e-04 -3.67519382e-04 9.99999479e-01]] t_estimated: [[-0.52409789] [-0.85165415] [-0.00257252]] R_gt: [[ 0.97849991 0.2061273 -0.00699007] [-0.20619654 0.97844794 -0.0111076 ] [ 0.0045497 0.01231072 0.99991397]] t_gt: [-0.37936379 0.9236174 -0.0549001 ] Pose Error in degrees for R and t: 27.278587911849772 54.010456742564735 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.03077598e-01 -4.29476553e-01 -8.61452962e-04] [ 4.29474741e-01 9.03077236e-01 -1.71824196e-03] [ 1.51590319e-03 1.18173354e-03 9.99998153e-01]] t_estimated: [[-0.04993699] [-0.99873989] [-0.0049937 ]] R_gt: [[ 0.94921451 0.31458524 0.00521251] [-0.31442212 0.94906196 -0.02053095] [-0.01140661 0.01785043 0.99977603]] t_gt: [-0.31792195 0.94799236 -0.01536651] Pose Error in degrees for R and t: 43.7819680182526 21.433083459955668 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.9998432 -0.00468341 0.0170775 ] [ 0.00507267 0.99972667 -0.0228221 ] [-0.01696595 0.02290515 0.99959367]] t_estimated: [[8.18671675e-01] [5.74261483e-01] [6.62124941e-04]] R_gt: [[ 0.92809236 0.37234669 0.00149957] [-0.37174208 0.92679696 -0.05343018] [-0.02128491 0.0490313 0.99857012]] t_gt: [-0.26505241 0.96346187 -0.03858029] Pose Error in degrees for R and t: 22.198992394819683 70.35066601724282 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-1.01630270e-02 9.99948309e-01 -3.03638678e-04] [-9.99946170e-01 -1.01636391e-02 -2.08724034e-03] [-2.09021852e-03 2.82409653e-04 9.99997776e-01]] t_estimated: [[0.00639642] [0.99997888] [0.00114729]] R_gt: [[ 0.98723401 0.1587939 0.01240223] [-0.15848521 0.98709822 -0.02279401] [-0.01586142 0.0205374 0.99966361]] t_gt: [-0.40338949 0.91497885 -0.00951926] Pose Error in degrees for R and t: 81.46170771596135 24.16527874752525 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999957e-01 -2.85161080e-04 -7.07534776e-05] [ 2.85161035e-04 9.99999959e-01 -6.41684881e-07] [ 7.07536577e-05 6.21508719e-07 9.99999997e-01]] t_estimated: [[-9.99999762e-01] [-6.68988078e-04] [-1.66710676e-04]] R_gt: [[ 0.97744649 0.2107033 0.01427379] [-0.21013034 0.97708631 -0.03386849] [-0.02108186 0.03010461 0.99932483]] t_gt: [-0.34514611 0.93837653 -0.01799057] Pose Error in degrees for R and t: 12.347792152538986 69.84742549444356 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.41731422 0.90873688 -0.00679115] [-0.90448529 0.41606276 0.09379838] [ 0.08806359 -0.03300091 0.99556805]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.94920843 0.3142488 0.01584874] [-0.3117577 0.94610596 -0.08769194] [-0.04255223 0.07829681 0.99602214]] t_gt: [-0.28528462 0.95796294 -0.03032641] Pose Error in degrees for R and t: 48.15440366118418 74.38276687183665 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-2.26962623e-01 -9.73903388e-01 3.97241326e-04] [ 9.73890261e-01 -2.26957402e-01 5.30072338e-03] [-5.07223560e-03 1.58993554e-03 9.99985872e-01]] t_estimated: [[0.99999212] [0.00346377] [0.00193711]] R_gt: [[ 0.9902144 -0.13314426 0.04182121] [ 0.13404983 0.99078049 -0.01963654] [-0.03882144 0.02505043 0.99893164]] t_gt: [ 0.63665035 -0.75778433 0.14296587] Pose Error in degrees for R and t: 95.46053941707945 50.632100574984904 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99865758e-01 -1.63843771e-02 1.33652510e-04] [ 1.63842973e-02 9.99865601e-01 5.77880150e-04] [-1.43102753e-04 -5.75612772e-04 9.99999824e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.97300302 -0.22218558 0.06243333] [ 0.22529286 0.9731052 -0.04806465] [-0.05007423 0.06083292 0.99689142]] t_gt: [ 0.65499505 -0.7548711 0.03392804] Pose Error in degrees for R and t: 12.835677119178444 63.41259075352881 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.65527385e-01 -2.60301072e-01 -4.69978251e-04] [ 2.60301312e-01 9.65527277e-01 5.52442558e-04] [ 3.09975430e-04 -6.55734374e-04 9.99999737e-01]] t_estimated: [[9.68886641e-01] [2.47503753e-01] [7.54584611e-04]] R_gt: [[ 0.98459128 -0.16578227 0.05564404] [ 0.16767057 0.98535207 -0.03113209] [-0.04966706 0.03998251 0.99796453]] t_gt: [ 0.56226731 -0.81868505 0.11666299] Pose Error in degrees for R and t: 6.608444599339989 69.98697859783374 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99980631e-01 -6.22313944e-03 1.01961976e-04] [ 6.22317123e-03 9.99980586e-01 -3.14533586e-04] [-1.00002610e-04 3.15162021e-04 9.99999945e-01]] t_estimated: [[ 0.04411369] [-0.99901791] [-0.00414809]] R_gt: [[ 9.99893249e-01 -1.45901586e-02 2.84657890e-04] [ 1.45925769e-02 9.99635132e-01 -2.27333641e-02] [ 4.77314420e-05 2.27351374e-02 9.99740797e-01]] t_gt: [ 0.5367324 -0.51975983 -0.66465634] Pose Error in degrees for R and t: 1.372385618054891 56.92860366029006 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.98179954e-01 -6.03057124e-02 -1.79361488e-05] [ 6.03057140e-02 9.98179949e-01 1.03653694e-04] [ 1.16525942e-05 -1.04546692e-04 9.99999994e-01]] t_estimated: [[9.92728956e-01] [1.20368537e-01] [7.96520628e-04]] R_gt: [[ 0.99646755 -0.08303719 -0.0125517 ] [ 0.0825594 0.99598021 -0.03475877] [ 0.01538784 0.03359938 0.99931673]] t_gt: [ 0.70985205 -0.61762271 -0.33860339] Pose Error in degrees for R and t: 2.485911729735961 50.94407568009446 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-4.49755986e-01 8.93151466e-01 -1.07084201e-04] [ 8.93143446e-01 4.49752449e-01 4.18567561e-03] [ 3.78660369e-03 1.78689111e-03 -9.99991234e-01]] t_estimated: [[5.83508326e-01] [8.12107041e-01] [4.32578898e-04]] R_gt: [[ 0.96693308 -0.25500743 0.00349776] [ 0.25494106 0.96613539 -0.03984083] [ 0.00678023 0.03941614 0.99919951]] t_gt: [ 0.81440971 -0.56664043 -0.1251217 ] Pose Error in degrees for R and t: 178.98355871265292 89.14121667406361 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.74793064e-01 -2.23110747e-01 -2.77630511e-04] [ 2.23110792e-01 9.74793082e-01 1.44389862e-04] [ 2.38417372e-04 -2.02692599e-04 9.99999951e-01]] t_estimated: [[ 2.32447700e-01] [-9.72608840e-01] [-3.34433451e-04]] R_gt: [[ 0.99624401 0.07342345 -0.0459264 ] [-0.07376992 0.99725802 -0.00590423] [ 0.04536662 0.00927091 0.99892741]] t_gt: [-0.5582115 0.59963892 -0.5734397 ] Pose Error in degrees for R and t: 17.31558592146274 44.538663245665056 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.73608774e-01 -2.28221022e-01 1.05799512e-03] [ 2.28223462e-01 9.73599787e-01 -4.18402782e-03] [-7.51807170e-05 4.31506550e-03 9.99990687e-01]] t_estimated: [[-0.65050708] [-0.75949256] [-0.0034058 ]] R_gt: [[ 0.99819474 0.04431342 -0.0405674 ] [-0.04329495 0.99873291 0.02565564] [ 0.0416534 -0.02385307 0.99884739]] t_gt: [-0.6008157 0.43991183 -0.66745642] Pose Error in degrees for R and t: 15.970717136546813 86.61768095988003 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-5.64565475e-01 -8.25386555e-01 -1.69100937e-03] [ 8.25388191e-01 -5.64565212e-01 -6.74948748e-04] [-3.97591439e-04 -1.77679192e-03 9.99998342e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99525645 -0.08191769 -0.05249439] [ 0.08356157 0.99605391 0.02992696] [ 0.04983521 -0.03417124 0.99817248]] t_gt: [ 0.74079729 -0.66417169 -0.10047559] Pose Error in degrees for R and t: 119.64865208519318 42.38293198227391 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-0.94085684 -0.33861797 -0.01123714] [-0.33862655 0.94092011 -0.00118751] [ 0.01097536 0.00268792 -0.99993616]] t_estimated: [[ 0.97364801] [ 0.22800909] [-0.00462631]] R_gt: [[ 0.98139511 0.19139151 0.01529612] [-0.19053873 0.98063797 -0.04521451] [-0.0236546 0.04145911 0.99886009]] t_gt: [-0.83955859 0.51052335 -0.18576134] Pose Error in degrees for R and t: 180.0 45.559259227968624 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-0.57620071 -0.81730547 -0.00212501] [ 0.81730753 -0.57619484 -0.00281237] [ 0.00107415 -0.00335728 0.99999379]] t_estimated: [[ 9.62039923e-01] [-2.72908744e-01] [-6.67509673e-05]] R_gt: [[ 0.95396941 0.2951966 0.05292794] [-0.29325626 0.9551346 -0.04146487] [-0.06279387 0.02403562 0.99773664]] t_gt: [-0.82840447 0.55962892 -0.02369625] Pose Error in degrees for R and t: 142.3437912581012 18.25272818861327 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-8.52432277e-01 5.22784130e-01 -7.48105765e-03] [-5.22797201e-01 -8.52457053e-01 -2.42007724e-04] [-6.50379816e-03 3.70478081e-03 9.99971987e-01]] t_estimated: [[0.65556073] [0.75513687] [0.00290528]] R_gt: [[ 0.86818515 0.49345379 0.052515 ] [-0.49189898 0.86972577 -0.04016818] [-0.06549493 0.00904188 0.99781149]] t_gt: [-0.79055078 0.61222317 0.0145692 ] Pose Error in degrees for R and t: 118.96268596538458 86.79552842629548 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.84601712e-01 -1.74812648e-01 -8.44335408e-05] [ 1.74812666e-01 9.84601658e-01 3.26354585e-04] [ 2.60824951e-05 -3.36089335e-04 9.99999943e-01]] t_estimated: [[0.64857304] [0.76115177] [0.00099627]] R_gt: [[ 0.99935366 -0.02503633 -0.02577186] [ 0.02681223 0.99711354 0.07104063] [ 0.02392021 -0.07168616 0.99714033]] t_gt: [ 0.30090997 -0.74417743 0.59636662] Pose Error in degrees for R and t: 9.60222824411915 68.24270271811912 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99983607e-01 -5.70740279e-03 -4.58962753e-04] [ 5.70745796e-03 9.99983705e-01 1.18987892e-04] [ 4.58276163e-04 -1.21605452e-04 9.99999888e-01]] t_estimated: [[-0.79771862] [ 0.60302502] [-0.00241422]] R_gt: [[ 0.99735738 -0.06527668 -0.03186222] [ 0.06988638 0.98192251 0.17591047] [ 0.01980435 -0.17767172 0.98389028]] t_gt: [ 0.33011678 -0.65072994 0.68379343] Pose Error in degrees for R and t: 10.89121596084951 48.89830260474177 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-2.85870130e-01 9.58263276e-01 3.12465655e-03] [ 9.58268370e-01 2.85868695e-01 9.06002824e-04] [-2.50522559e-05 3.25325868e-03 -9.99994708e-01]] t_estimated: [[9.50274246e-01] [3.11413141e-01] [8.43938052e-04]] R_gt: [[ 0.97330545 -0.21488226 -0.08063299] [ 0.22691114 0.95368471 0.19747526] [ 0.03446577 -0.21050016 0.97698582]] t_gt: [ 0.64431621 -0.59800644 0.47670213] Pose Error in degrees for R and t: 170.3707796262567 64.75737301881851 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.98486551e-01 5.49954368e-02 3.31355735e-04] [ 5.49507493e-02 -9.97884528e-01 3.47402210e-02] [ 2.24120839e-03 -3.46694352e-02 -9.99396321e-01]] t_estimated: [[-0.07756449] [ 0.99683535] [ 0.01740799]] R_gt: [[ 0.99781384 0.06577734 -0.00638164] [-0.06570957 0.99778549 0.01034381] [ 0.00704813 -0.00990185 0.99992562]] t_gt: [-0.81219033 0.58102248 0.0525332 ] Pose Error in degrees for R and t: 177.41829768461582 49.97697670518995 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-9.09066223e-01 -4.16460506e-01 -1.26193673e-02] [-4.16493980e-01 9.09138474e-01 2.69851965e-05] [ 1.14615141e-02 5.28042184e-03 -9.99920372e-01]] t_estimated: [[ 0.97687911] [ 0.21368384] [-0.00681338]] R_gt: [[ 0.99494877 0.08821575 -0.04791095] [-0.08751658 0.99602652 0.01651381] [ 0.04917703 -0.01223761 0.99871501]] t_gt: [-0.79750728 0.56228489 -0.21867293] Pose Error in degrees for R and t: 176.74222566760324 48.89605703199773 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.95038299e-01 -9.94925785e-02 9.82637793e-05] [ 9.94925673e-02 9.95038299e-01 1.12899937e-04] [-1.09008930e-04 -1.02563246e-04 9.99999989e-01]] t_estimated: [[0.61604956] [0.7877056 ] [0.00168099]] R_gt: [[ 0.99408842 0.07871818 -0.07478332] [-0.07985263 0.9967321 -0.01228788] [ 0.07357174 0.01818639 0.99712319]] t_gt: [-0.69744966 0.53049017 -0.48181341] Pose Error in degrees for R and t: 11.146734269230995 89.27785914902599 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 8.00125729e-01 5.99831903e-01 7.11245221e-04] [-5.99832129e-01 8.00125863e-01 1.42214780e-04] [-4.83780734e-04 -5.40417440e-04 9.99999737e-01]] t_estimated: [[-0.55209474] [ 0.83378039] [ 0.00128436]] R_gt: [[ 0.99052239 0.13684251 0.011826 ] [-0.13692266 0.99056246 0.00625197] [-0.01085915 -0.00781213 0.999911 ]] t_gt: [-0.62450438 0.77700021 0.07915138] Pose Error in degrees for R and t: 28.998799893901715 6.9107468168876105 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99977778e-01 -6.66607204e-03 -8.30843231e-05] [ 6.66608580e-03 9.99977768e-01 1.66371947e-04] [ 8.19734286e-05 -1.66922097e-04 9.99999983e-01]] t_estimated: [[-5.95520337e-01] [ 8.03340158e-01] [ 3.43861001e-04]] R_gt: [[ 0.97991401 0.19848007 -0.01933261] [-0.19926424 0.9783683 -0.05559048] [ 0.00788008 0.05832593 0.99826622]] t_gt: [-0.52087315 0.83642157 -0.17055823] Pose Error in degrees for R and t: 12.33414912808038 10.868371773035216 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 1.10222666e-01 9.93906552e-01 -8.54683181e-04] [ 9.93900628e-01 -1.10218868e-01 3.65289965e-03] [ 3.53643868e-03 -1.25210249e-03 -9.99992963e-01]] t_estimated: [[0.56498008] [0.82510288] [0.00165683]] R_gt: [[ 0.95755418 0.28761609 0.01916428] [-0.28618844 0.9565336 -0.05603816] [-0.03444939 0.0481751 0.99824504]] t_gt: [-0.49598006 0.86816704 -0.01702238] Pose Error in degrees for R and t: 176.9165351142458 64.14595995245777 Number of keypoints: Image1: 430 Image2: 430 R_estimated: [[-0.39161745 0.91651265 -0.08148826] [ 0.91666624 0.39628615 0.05177159] [ 0.07974198 -0.05442288 -0.99532877]] t_estimated: [[ 0.86420088] [-0.50099751] [-0.04645792]] R_gt: [[ 0.9986197 0.02598777 0.0456396 ] [-0.02624077 0.99964339 0.00495328] [-0.0454942 -0.00614271 0.9989459 ]] t_gt: [-0.79537648 -0.37117536 0.47917127] Pose Error in degrees for R and t: 176.46922239319073 58.42135467968991 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99999661e-01 6.61930080e-04 -4.89192531e-04] [-6.61548045e-04 9.99999476e-01 7.80699840e-04] [ 4.89709043e-04 -7.80375951e-04 9.99999576e-01]] t_estimated: [[0.99915399] [0.04102098] [0.00293007]] R_gt: [[ 0.99655232 -0.06020534 0.05710291] [ 0.0593433 0.99809833 0.01667632] [-0.05799801 -0.01322964 0.99822895]] t_gt: [ 0.4616927 -0.81778549 0.34360842] Pose Error in degrees for R and t: 4.8745729420351145 64.61094718321957 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99371090e-01 3.54096053e-02 1.89328701e-03] [-3.54080329e-02 9.99372571e-01 -8.57643140e-04] [-1.92246792e-03 7.90066191e-04 9.99997840e-01]] t_estimated: [[0.62208312] [0.78295065] [0.00092987]] R_gt: [[ 0.991219 -0.1140765 0.06687157] [ 0.11278621 0.99335837 0.02278306] [-0.06902678 -0.01504025 0.99750101]] t_gt: [ 0.60667927 -0.7615939 0.22784862] Pose Error in degrees for R and t: 9.420988772433825 77.36885890229924 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.98518741e-01 5.44085911e-02 1.69276719e-04] [-5.44086241e-02 9.98518734e-01 1.97310839e-04] [-1.58290570e-04 -2.06228684e-04 9.99999966e-01]] t_estimated: [[0.86382004] [0.50379917] [0.00115023]] R_gt: [[ 0.99523716 -0.09743207 -0.0029347 ] [ 0.09726926 0.99463554 -0.03520668] [ 0.0063487 0.03475437 0.99937548]] t_gt: [ 0.83913106 -0.45437837 -0.29899726] Pose Error in degrees for R and t: 8.942147788836385 60.29075205965784 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999357e-01 1.13273498e-03 5.73426155e-05] [-1.13274415e-03 9.99999346e-01 1.60012155e-04] [-5.71613266e-05 -1.60077006e-04 9.99999986e-01]] t_estimated: [[ 9.99965062e-01] [-8.35687646e-03] [ 1.91886387e-04]] R_gt: [[ 0.98561685 -0.16868633 0.0102009 ] [ 0.16870959 0.98566499 -0.00135032] [-0.00982673 0.00305181 0.99994749]] t_gt: [ 0.87024205 -0.49168982 0.03032978] Pose Error in degrees for R and t: 9.794864387931634 29.03463831649958 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.98198413e-01 5.99983989e-02 3.47477000e-04] [-5.99984198e-02 9.98198471e-01 5.02727533e-05] [-3.43834725e-04 -7.10302535e-05 9.99999938e-01]] t_estimated: [[0.93167147] [0.36329829] [0.00162184]] R_gt: [[ 0.9943079 -0.1040388 0.02297603] [ 0.1043445 0.9944622 -0.01250624] [-0.02154684 0.01483263 0.99965812]] t_gt: [ 0.94879053 -0.31417262 0.033047 ] Pose Error in degrees for R and t: 9.53722762399794 39.65721952689846 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[-0.98845498 -0.14669506 0.03791203] [-0.14668943 0.98917821 0.00294534] [-0.03793382 -0.00264996 -0.99927674]] t_estimated: [[0.99614931] [0.08553615] [0.01923844]] R_gt: [[ 0.9973104 -0.07233571 0.0117957 ] [ 0.07237416 0.99737327 -0.002963 ] [-0.01155058 0.00380879 0.99992547]] t_gt: [ 0.4572888 -0.87802882 0.14125274] Pose Error in degrees for R and t: 177.16804533850885 67.4715459747161 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99122385e-01 -4.18853427e-02 2.79470504e-04] [ 4.18852979e-02 9.99122412e-01 1.64384699e-04] [-2.86110554e-04 -1.52534727e-04 9.99999947e-01]] t_estimated: [[0.78100298] [0.62452595] [0.00130141]] R_gt: [[ 0.99369521 -0.11183529 0.00794045] [ 0.1119059 0.99367601 -0.00920878] [-0.00685975 0.01004003 0.99992606]] t_gt: [ 0.4534539 -0.89113323 0.01615972] Pose Error in degrees for R and t: 4.082273008631144 78.32465253383329 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-9.71204316e-01 -2.37976496e-01 1.13738612e-02] [-2.37964739e-01 9.71270839e-01 2.39580145e-03] [-1.16172441e-02 -3.79765189e-04 -9.99932445e-01]] t_estimated: [[0.98937566] [0.14524434] [0.00631559]] R_gt: [[ 0.97710463 -0.20829085 0.04338538] [ 0.2077059 0.97803281 0.01760622] [-0.04609985 -0.00819173 0.99890273]] t_gt: [ 0.47251069 -0.84210074 0.25999998] Pose Error in degrees for R and t: 176.68468319393133 69.70692685248444 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99999520e-01 -9.48684852e-04 2.45638505e-04] [ 9.48729479e-04 9.99999533e-01 -1.81628714e-04] [-2.45466082e-04 1.81861672e-04 9.99999953e-01]] t_estimated: [[-0.01166164] [-0.99992752] [-0.00299197]] R_gt: [[ 0.99763322 -0.05537412 0.04077192] [ 0.05550993 0.99845595 -0.00221065] [-0.04058686 0.00446845 0.99916599]] t_gt: [ 0.6651813 -0.73987385 0.10060084] Pose Error in degrees for R and t: 3.894944006015831 42.96567664353224 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-4.31545766e-02 9.99063136e-01 3.24538640e-03] [ 9.99068045e-01 4.31515666e-02 9.91865703e-04] [ 8.50892953e-04 3.28516539e-03 -9.99994242e-01]] t_estimated: [[-0.99965455] [-0.02619182] [-0.00218265]] R_gt: [[ 9.91611801e-01 -1.25585262e-01 3.05984532e-02] [ 1.25614258e-01 9.92078816e-01 9.74439746e-04] [-3.04793228e-02 2.87690661e-03 9.99531541e-01]] t_gt: [ 0.77250429 -0.6345611 0.02386065] Pose Error in degrees for R and t: 178.59096104181498 40.91612257545921 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.83423869e-01 1.81315321e-01 1.49955599e-03] [-1.81314645e-01 9.83424968e-01 -5.76240492e-04] [-1.57918204e-03 2.94797191e-04 9.99998710e-01]] t_estimated: [[-0.98192089] [ 0.18927243] [ 0.00270574]] R_gt: [[ 0.98496984 -0.15853622 0.06856863] [ 0.15673643 0.98715628 0.03091151] [-0.0725881 -0.0196993 0.99716791]] t_gt: [ 0.68850872 -0.70423358 0.17323628] Pose Error in degrees for R and t: 19.979171548718664 36.01292679986473 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99945967e-01 1.03947594e-02 -1.13366458e-04] [-1.03947543e-02 9.99945972e-01 4.55859855e-05] [ 1.13834189e-04 -4.44051058e-05 9.99999993e-01]] t_estimated: [[-9.84525140e-01] [-1.75243397e-01] [-3.62491173e-05]] R_gt: [[ 0.98662475 0.16274358 0.0093192 ] [-0.16294834 0.98620632 0.02905833] [-0.00446096 -0.03018804 0.99953395]] t_gt: [-0.6099874 0.78395343 0.11546599] Pose Error in degrees for R and t: 8.950727157931087 62.40872463626674 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99665784e-01 -2.58518213e-02 6.39477329e-05] [ 2.58518224e-02 9.99665786e-01 -1.61961735e-05] [-6.35076601e-05 1.78439259e-05 9.99999998e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.97606407 0.217064 -0.01351869] [-0.21659131 0.97580405 0.02991274] [ 0.01968542 -0.0262684 0.9994612 ]] t_gt: [-0.57919187 0.81518713 -0.00259136] Pose Error in degrees for R and t: 14.13299475463001 88.67393602230965 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 7.66806731e-01 6.41877887e-01 4.63585246e-04] [-6.41877825e-01 7.66805645e-01 1.40051172e-03] [ 5.43477720e-04 -1.37148690e-03 9.99998912e-01]] t_estimated: [[0.67860904] [0.73449857] [0.00127517]] R_gt: [[ 0.95141831 0.30762168 0.01310682] [-0.30736318 0.95141032 -0.01859452] [-0.01818958 0.01366372 0.99974134]] t_gt: [-0.51051584 0.85985209 0.00528701] Pose Error in degrees for R and t: 22.06339581862441 73.4336073657507 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.96341322e-01 8.54631857e-02 -1.18883923e-04] [-8.54631856e-02 9.96341329e-01 6.05136208e-06] [ 1.18966134e-04 4.13097667e-06 9.99999993e-01]] t_estimated: [[-0.7301122 ] [-0.68332671] [-0.00088742]] R_gt: [[ 0.99081052 0.04088578 0.12893025] [-0.04227839 0.99907342 0.00808063] [-0.12847991 -0.0134574 0.99162057]] t_gt: [-0.487249 0.24730862 0.83751231] Pose Error in degrees for R and t: 7.840983225961505 79.2799401113338 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99954449e-01 9.54343247e-03 -1.53113445e-04] [-9.54343997e-03 9.99954459e-01 -4.83164636e-05] [ 1.52645367e-04 4.97754917e-05 9.99999987e-01]] t_estimated: [[-0.68902873] [-0.72473363] [-0.00075968]] R_gt: [[ 0.98432478 0.09052633 0.15135981] [-0.09187296 0.99576898 0.00191396] [-0.15054583 -0.01578984 0.98847665]] t_gt: [-0.61965261 0.37456576 0.68973266] Pose Error in degrees for R and t: 9.90745524743564 81.08470781380197 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-6.04497234e-01 -7.96606702e-01 9.25534637e-04] [-7.96606934e-01 6.04497612e-01 1.74457814e-04] [-6.98457742e-04 -6.31828044e-04 -9.99999556e-01]] t_estimated: [[0.80283511] [0.59619939] [0.00143886]] R_gt: [[ 0.98593305 0.12324328 0.11289967] [-0.12356427 0.99232734 -0.00418058] [-0.11254853 -0.00982778 0.99359788]] t_gt: [-0.74047138 0.47651978 0.47395257] Pose Error in degrees for R and t: 174.06714707087437 71.95922986140907 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-5.80427243e-01 -8.14310377e-01 -1.68074491e-03] [ 8.14308941e-01 -5.80429507e-01 1.59285007e-03] [-2.27262828e-03 -4.44112033e-04 9.99997319e-01]] t_estimated: [[0.9985782 ] [0.05329134] [0.00126884]] R_gt: [[ 0.99641608 0.08448 -0.0043981 ] [-0.08442621 0.99636661 0.01117293] [ 0.00532601 -0.01076155 0.99992791]] t_gt: [-0.80142578 0.59609708 0.04883643] Pose Error in degrees for R and t: 130.32580767078298 39.78442180887659 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99984627e-01 -5.50369560e-03 -6.74602068e-04] [ 5.50419562e-03 9.99984577e-01 7.41595202e-04] [ 6.70510149e-04 -7.45296943e-04 9.99999497e-01]] t_estimated: [[-0.69800332] [-0.71609412] [-0.00075378]] R_gt: [[ 0.99389376 0.10900364 -0.01716469] [-0.10896357 0.99404077 0.00323377] [ 0.01741547 -0.00134439 0.99984716]] t_gt: [-0.75907379 0.63252714 -0.15400131] Pose Error in degrees for R and t: 6.64173525919193 85.58367312696593 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97865539e-01 -6.52962633e-02 -8.73592769e-04] [ 6.52972150e-02 9.97865243e-01 1.10925459e-03] [ 7.99297681e-04 -1.16393011e-03 9.99999003e-01]] t_estimated: [[0.9977771 ] [0.06662176] [0.00154934]] R_gt: [[ 0.99949368 0.02956444 -0.01177817] [-0.02906889 0.99876862 0.04021886] [ 0.01295298 -0.03985601 0.9991217 ]] t_gt: [-0.11132119 -0.6790777 0.72557637] Pose Error in degrees for R and t: 5.9014081808856 81.07213079498645 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99850143e-01 1.73115781e-02 3.62961339e-05] [-1.73115389e-02 9.99849747e-01 -8.91152300e-04] [-5.17179329e-05 8.90390413e-04 9.99999602e-01]] t_estimated: [[-0.93534383] [-0.35373573] [-0.00171568]] R_gt: [[ 0.98276283 0.18280233 0.02757538] [-0.18160524 0.98251461 -0.04104087] [-0.0345956 0.0353251 0.99877682]] t_gt: [-0.84363921 0.51973256 -0.13472543] Pose Error in degrees for R and t: 9.913387857307887 52.73690465985048 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.82937162e-01 1.83941077e-01 4.64925984e-04] [ 1.83925110e-01 -9.82879469e-01 1.09317107e-02] [ 2.46775684e-03 -1.06596731e-02 -9.99940139e-01]] t_estimated: [[-0.3127664 ] [ 0.94980987] [ 0.0061957 ]] R_gt: [[ 0.94866689 0.3137416 0.03996633] [-0.31315746 0.94948438 -0.02030356] [-0.04431717 0.0067458 0.9989939 ]] t_gt: [-0.83896263 0.54384471 0.01935556] Pose Error in degrees for R and t: 179.6159139499676 38.82464946260146 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99919642e-01 1.26744121e-02 -2.63995362e-04] [-1.26744127e-02 9.99919676e-01 -5.95480925e-07] [ 2.63966610e-04 3.94141923e-06 9.99999965e-01]] t_estimated: [[-9.75216026e-01] [-2.21253200e-01] [-8.50973845e-04]] R_gt: [[ 0.84473295 0.53272032 0.05133195] [-0.53099284 0.8462324 -0.04400692] [-0.06688281 0.00991752 0.99771126]] t_gt: [-0.78552385 0.61871135 0.0121881 ] Pose Error in degrees for R and t: 31.679860736841494 51.01232443827705 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.46308246e-01 -3.23265575e-01 -2.66820403e-04] [ 3.23265666e-01 9.46308149e-01 4.42577460e-04] [ 1.09424265e-04 -5.05068576e-04 9.99999866e-01]] t_estimated: [[0.94468166] [0.32798719] [0.000982 ]] R_gt: [[ 0.99673379 -0.07669124 -0.02529868] [ 0.07889078 0.99163841 0.10211571] [ 0.01725571 -0.10377755 0.99445037]] t_gt: [ 0.55527501 -0.64704983 0.52249036] Pose Error in degrees for R and t: 15.585230744781121 71.76910285406875 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.29956556 0.95401803 -0.01049201] [-0.952178 0.29964489 0.05974952] [ 0.060146 -0.00790864 0.99815826]] t_estimated: [[-0.99844139] [-0.05546897] [-0.00616322]] R_gt: [[ 0.9578586 -0.28179241 -0.05567369] [ 0.28598715 0.95367664 0.09332926] [ 0.02679534 -0.10531861 0.99407722]] t_gt: [ 0.82528475 -0.51965561 0.22105006] Pose Error in degrees for R and t: 89.07143747805391 37.199416527712486 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.24496783e-01 3.81189159e-01 7.23448029e-04] [-3.81189364e-01 9.24496967e-01 1.64954911e-04] [-6.05946485e-04 -4.28270978e-04 9.99999725e-01]] t_estimated: [[0.57250265] [0.81990239] [0.00089314]] R_gt: [[ 0.85368701 -0.52040021 -0.020079 ] [ 0.52070438 0.85360604 0.01496279] [ 0.00935278 -0.02322782 0.99968612]] t_gt: [ 0.92525057 -0.37859908 0.02396084] Pose Error in degrees for R and t: 53.800144497838886 77.33116746003074 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.90733705e-01 -1.35815462e-01 9.41500783e-04] [ 1.35815287e-01 9.90734145e-01 2.46886112e-04] [-9.66307925e-04 -1.16728193e-04 9.99999526e-01]] t_estimated: [[ 0.46530562] [-0.88512532] [ 0.0066218 ]] R_gt: [[ 0.99259468 0.12066414 0.01397722] [-0.12058782 0.99268277 -0.00615392] [-0.01461734 0.004423 0.99988315]] t_gt: [-0.35938088 0.93252709 0.03519385] Pose Error in degrees for R and t: 14.757643741085497 7.071993114650412 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.29279347 0.92775673 -0.23138588] [ 0.94941224 0.31081336 0.04484927] [ 0.11352704 -0.20654901 -0.97182772]] t_estimated: [[0.66560207] [0.74613288] [0.01611242]] R_gt: [[ 0.96582973 0.2591594 0.00288383] [-0.25886007 0.96514319 -0.03858132] [-0.01278206 0.03651606 0.99925132]] t_gt: [-0.30561266 0.94738192 -0.09522813] Pose Error in degrees for R and t: 170.1685260751401 59.87275812392059 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-8.03540797e-01 -5.95247755e-01 -1.51589575e-03] [-5.95249678e-01 8.03537774e-01 2.20622289e-03] [-9.51697253e-05 2.67512656e-03 -9.99996417e-01]] t_estimated: [[9.39556458e-01] [3.42393223e-01] [7.36329513e-04]] R_gt: [[ 0.90503577 0.42533039 -0.00189662] [-0.42454929 0.90308393 -0.0647803 ] [-0.02584015 0.05943512 0.99789752]] t_gt: [-0.23167124 0.96980107 -0.07625165] Pose Error in degrees for R and t: 179.44977879605042 83.43507784259441 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 2.60471627e-02 9.99660653e-01 -3.53299023e-04] [-9.99659369e-01 2.60465459e-02 -1.65044821e-03] [-1.64068591e-03 3.96168171e-04 9.99998576e-01]] t_estimated: [[-9.06845573e-02] [ 9.95879522e-01] [ 5.36849092e-04]] R_gt: [[ 0.99918953 0.01946505 0.03524198] [-0.01636003 0.99613171 -0.08632527] [-0.03678539 0.08567969 0.99564315]] t_gt: [-0.16310119 0.75811791 -0.63139151] Pose Error in degrees for R and t: 87.60288194437315 39.69584319555378 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 8.79719762e-01 -4.75492348e-01 -4.10577216e-04] [ 4.75492447e-01 8.79719784e-01 1.86049746e-04] [ 2.72727670e-04 -3.58898003e-04 9.99999898e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99700099 0.07179455 0.02888348] [-0.06872796 0.99301205 -0.09592956] [-0.03556873 0.09365738 0.99496846]] t_gt: [-0.19507254 0.88426085 -0.42429878] Pose Error in degrees for R and t: 32.926780903096756 28.018800103605436 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-0.95297138 0.30285952 -0.01102976] [ 0.30286092 0.95303345 0.00158387] [ 0.01099142 -0.0018311 -0.99993792]] t_estimated: [[ 0.99061189] [-0.13660445] [-0.00522551]] R_gt: [[ 0.99444336 0.10403798 0.01609123] [-0.10272814 0.99240208 -0.06770548] [-0.02301272 0.06567731 0.99757483]] t_gt: [-0.14532712 0.94793342 -0.28337654] Pose Error in degrees for R and t: 178.94033650421648 74.21824071272913 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 9.99900270e-01 1.41226498e-02 -1.77445716e-05] [-1.41226482e-02 9.99900267e-01 8.60879318e-05] [ 1.89585916e-05 -8.58287459e-05 9.99999996e-01]] t_estimated: [[ 9.90030544e-01] [ 1.40852827e-01] [-5.58669647e-05]] R_gt: [[ 0.99785916 -0.05966256 0.02680329] [ 0.06003697 0.99810744 -0.01340025] [-0.0259539 0.01498143 0.99955083]] t_gt: [ 0.84249439 -0.46472956 0.27245116] Pose Error in degrees for R and t: 4.576102574585554 39.76973926203138 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-4.40393462e-01 -8.97802251e-01 -2.17185077e-03] [ 8.97804735e-01 -4.40393470e-01 -5.00330125e-04] [-5.07271384e-04 -2.17024002e-03 9.99997516e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98604578 -0.16147272 0.04051342] [ 0.16215556 0.98666372 -0.0141727 ] [-0.03768445 0.02054374 0.99907805]] t_gt: [ 0.85016671 -0.51075462 0.12785263] Pose Error in degrees for R and t: 106.83534406572446 31.931856325857595 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 0.03513528 0.99937643 0.00350322] [ 0.99938144 -0.03512977 -0.00162453] [-0.00150045 0.00355813 -0.99999254]] t_estimated: [[0.99986651] [0.01625799] [0.0016258 ]] R_gt: [[ 9.72353627e-01 -2.26457314e-01 5.69808799e-02] [ 2.26816495e-01 9.73937997e-01 1.55654988e-04] [-5.55310331e-02 1.27723849e-02 9.98374953e-01]] t_gt: [ 0.87185263 -0.45511343 0.18095512] Pose Error in degrees for R and t: 177.26965738739236 30.159378805704968 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.37513669 -0.92684228 -0.01535755] [-0.9268886 0.37527135 -0.00699504] [ 0.01224655 0.01161064 -0.9998576 ]] t_estimated: [[ 0.7926644 ] [ 0.60961647] [-0.00713494]] R_gt: [[ 9.93186251e-01 1.16509188e-01 -2.68054692e-03] [-1.16537500e-01 9.92725075e-01 -3.02842720e-02] [-8.67024750e-04 3.03894891e-02 9.99538376e-01]] t_gt: [-0.64405251 0.75164081 -0.14224084] Pose Error in degrees for R and t: 178.02215727826828 87.06000948418377 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 1.00000000e+00 -7.21744886e-12 -4.67226084e-14] [ 7.21767091e-12 1.00000000e+00 -3.52844923e-14] [ 4.67231505e-14 3.52835708e-14 1.00000000e+00]] t_estimated: [[-0.8896042 ] [-0.45673114] [-0.0010162 ]] R_gt: [[ 0.98836872 0.1463091 -0.04148504] [-0.14678056 0.98913232 -0.00853871] [ 0.03978536 0.01452788 0.99910273]] t_gt: [-0.60332544 0.77205547 -0.19982182] Pose Error in degrees for R and t: 8.772430560379092 79.37955201118454 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-6.07189878e-01 7.94542876e-01 -4.69802025e-03] [-7.94550396e-01 -6.07198071e-01 -4.13672418e-04] [-3.18130931e-03 3.48163614e-03 9.99988879e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99178874 0.1218901 -0.03871907] [-0.12354373 0.9913802 -0.04362923] [ 0.03306743 0.04805412 0.99829697]] t_gt: [-0.52757116 0.78173271 -0.33250961] Pose Error in degrees for R and t: 120.35165671354244 58.61714835355698 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 7.81927790e-01 6.23358366e-01 3.64410352e-03] [ 6.23349152e-01 -7.81936181e-01 3.41223895e-03] [ 4.97650408e-03 -3.96575623e-04 -9.99987538e-01]] t_estimated: [[0.04682354] [0.99890217] [0.0014189 ]] R_gt: [[ 0.99882814 -0.04058843 0.02636977] [ 0.04095325 0.99907139 -0.01346159] [-0.02579931 0.01452544 0.99956161]] t_gt: [-0.17412756 -0.94082419 0.29073947] Pose Error in degrees for R and t: 178.86080661284657 18.642409030038053 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.28949398 0.95675954 0.02836224] [ 0.95676231 0.29011574 -0.02094616] [-0.02826878 0.02107214 -0.99937823]] t_estimated: [[ 0.8028021 ] [-0.59597686] [ 0.01789907]] R_gt: [[ 0.99737912 -0.06420245 -0.03337899] [ 0.06444242 0.99790249 0.00620297] [ 0.03291055 -0.00833824 0.99942301]] t_gt: [-0.04207193 -0.93220135 -0.35948656] Pose Error in degrees for R and t: 179.760520043618 58.97844387850805 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.03575509e-01 4.28428236e-01 7.38293424e-04] [-4.28427705e-01 9.03575728e-01 -7.77716871e-04] [-1.00029989e-03 3.86420560e-04 9.99999425e-01]] t_estimated: [[-9.50032518e-01] [ 3.12150573e-01] [-4.84117234e-04]] R_gt: [[ 0.9926243 -0.07135586 -0.09801033] [ 0.07660235 0.99576418 0.05085347] [ 0.09396554 -0.05798612 0.99388486]] t_gt: [-0.04837399 -0.90719053 -0.41792978] Pose Error in degrees for R and t: 30.29234511321662 76.28922514196336 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999973e-01 -2.31579833e-04 -2.35137517e-05] [ 2.31575448e-04 9.99999956e-01 -1.86347188e-04] [ 2.35569049e-05 1.86341738e-04 9.99999982e-01]] t_estimated: [[0.99987943] [0.01546535] [0.00139792]] R_gt: [[ 0.99700457 0.07458217 0.0204781 ] [-0.07595238 0.99411543 0.07722404] [-0.01459754 -0.07854804 0.9968037 ]] t_gt: [-0.61623645 0.56526465 0.5483872 ] Pose Error in degrees for R and t: 6.316429709935324 52.65207711773743 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99998996e-01 -1.41379974e-03 -9.09466936e-05] [ 1.41377108e-03 9.99998951e-01 -3.14430135e-04] [ 9.13911395e-05 3.14301241e-04 9.99999946e-01]] t_estimated: [[-0.99989922] [-0.01409613] [-0.00168605]] R_gt: [[ 0.97632184 0.21131631 0.0462681 ] [-0.21447448 0.97347913 0.07962005] [-0.02821547 -0.08765819 0.9957511 ]] t_gt: [-0.60513739 0.75064322 0.26522349] Pose Error in degrees for R and t: 13.481724490171812 53.555199966288484 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 1.00000000e+00 -5.05151476e-15 2.51226448e-14] [ 5.21804822e-15 1.00000000e+00 -2.97088200e-14] [-2.65108573e-14 3.12995073e-14 1.00000000e+00]] t_estimated: [[-7.60642736e-01] [-6.49170542e-01] [-4.85603515e-04]] R_gt: [[ 0.95950149 0.28139912 0.01310182] [-0.2816865 0.95790434 0.05541899] [ 0.00304427 -0.056865 0.99837725]] t_gt: [-0.55410982 0.82946754 0.07032718] Pose Error in degrees for R and t: 16.686226682131032 83.27982567605119 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97725316e-01 6.74105588e-02 1.03192011e-04] [-6.74105548e-02 9.97725321e-01 -4.20507518e-05] [-1.05791947e-04 3.49988689e-05 9.99999994e-01]] t_estimated: [[9.98529165e-01] [5.42105152e-02] [8.52973532e-04]] R_gt: [[ 0.99773828 -0.0662554 0.0113589 ] [ 0.06596023 0.9975177 0.02468982] [-0.01296675 -0.02388418 0.99963027]] t_gt: [ 0.7716073 -0.52613343 0.35749934] Pose Error in degrees for R and t: 7.812669673589881 42.076105487712326 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 4.51290779e-01 8.92376887e-01 3.52659848e-04] [ 8.92367548e-01 -4.51287801e-01 4.41367102e-03] [ 4.09780909e-03 -1.67714683e-03 -9.99990198e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99929718 0.02116267 0.03096407] [-0.02136237 0.99975354 0.00613542] [-0.03082574 -0.00679163 0.99950113]] t_gt: [-0.44320272 0.76811047 0.46214462] Pose Error in degrees for R and t: 179.59178612802546 63.86673468106869 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.99026874e-01 4.41056090e-02 -2.45322857e-05] [-4.41056147e-02 9.99026569e-01 -7.79969231e-04] [-9.89261274e-06 7.80292234e-04 9.99999696e-01]] t_estimated: [[-0.98490558] [-0.17306893] [-0.0028527 ]] R_gt: [[ 0.99532845 0.0960621 -0.00971606] [-0.0957072 0.9948931 0.03208145] [ 0.0127485 -0.03100032 0.99943808]] t_gt: [-0.58495613 0.80410708 0.10601005] Pose Error in degrees for R and t: 3.564309655643759 64.10914539989184 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[-0.28305982 0.95877166 0.02518024] [ 0.95878693 0.28354239 -0.01820262] [-0.02459182 0.01899006 -0.99951719]] t_estimated: [[ 0.79720631] [-0.60350295] [ 0.01569352]] R_gt: [[ 9.96750041e-01 -6.40622231e-02 -4.88496582e-02] [ 6.41295248e-02 9.97941869e-01 -2.01386346e-04] [ 4.87615147e-02 -2.93160134e-03 9.98806820e-01]] t_gt: [ 0.34664744 -0.77588382 -0.52710515] Pose Error in degrees for R and t: 179.49183482489906 42.58065587790098 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.84090284e-01 4.67316134e-01 -2.17375532e-05] [-4.67316135e-01 8.84090284e-01 -1.62500670e-05] [ 1.16240411e-05 2.45248357e-05 1.00000000e+00]] t_estimated: [[-0.8846308 ] [-0.46629104] [-0.00101029]] R_gt: [[ 0.99284192 -0.05434507 -0.10635432] [ 0.05860598 0.99758199 0.03735806] [ 0.10406649 -0.04332432 0.9936267 ]] t_gt: [ 0.09712454 -0.78772506 -0.60832233] Pose Error in degrees for R and t: 31.757909538443812 73.62013265429657 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99975667e-01 6.97609189e-03 9.15380160e-06] [-6.97607609e-03 9.99974961e-01 -1.18797014e-03] [-1.74409612e-05 1.18787737e-03 9.99999294e-01]] t_estimated: [[-0.09409012] [-0.99556107] [-0.00228066]] R_gt: [[ 0.97992011 -0.11888677 -0.16007384] [ 0.12902886 0.99014262 0.05449877] [ 0.15201514 -0.07405888 0.98559958]] t_gt: [ 0.29049457 -0.84796158 -0.44336673] Pose Error in degrees for R and t: 12.348918456107286 35.12726115352687 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[-0.8272841 -0.56141909 -0.02023934] [-0.56141775 0.82750868 -0.00628453] [ 0.02027648 0.00616363 -0.99977541]] t_estimated: [[ 0.95353331] [ 0.30111054] [-0.01032774]] R_gt: [[ 0.99856935 0.05067126 -0.01708338] [-0.05038057 0.99858532 0.0170052 ] [ 0.01792069 -0.01611969 0.99970887]] t_gt: [-0.08229339 0.99456883 0.06372317] Pose Error in degrees for R and t: 178.10588567135585 77.27055302812488 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 9.99782887e-01 -2.08369224e-02 -4.40076337e-05] [ 2.08369213e-02 9.99782887e-01 -2.48176770e-05] [ 4.45152031e-05 2.38953051e-05 9.99999999e-01]] t_estimated: [[-9.33336670e-01] [-3.59002032e-01] [-4.50242448e-04]] R_gt: [[ 0.99636726 0.08382487 -0.01508332] [-0.08313903 0.99567573 0.04146814] [ 0.01849379 -0.0400625 0.99902523]] t_gt: [-0.1274763 0.94799827 0.29163174] Pose Error in degrees for R and t: 6.49683551904532 77.20365431621782 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.98744934e-01 5.00854789e-02 -3.81761814e-05] [-5.00854872e-02 9.98744900e-01 -2.61814606e-04] [ 2.50151566e-05 2.63398084e-04 9.99999965e-01]] t_estimated: [[-8.31577663e-01] [-5.55407960e-01] [-7.67138066e-04]] R_gt: [[ 0.99768573 0.06435487 -0.02192729] [-0.06084291 0.98905121 0.13444549] [ 0.03033944 -0.13279941 0.99067777]] t_gt: [0.13032166 0.53741324 0.83318862] Pose Error in degrees for R and t: 7.878245769532529 65.95240689263865 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-3.17079303e-01 -9.48397399e-01 1.75777620e-03] [-9.48398604e-01 3.17080369e-01 3.57584824e-04] [-8.96488841e-04 -1.55368975e-03 -9.99998391e-01]] t_estimated: [[0.820979 ] [0.57095566] [0.00176466]] R_gt: [[ 0.99786139 0.05448774 0.03608454] [-0.05439129 0.99851297 -0.00362953] [-0.03622803 0.00165873 0.99934211]] t_gt: [-0.80278257 0.40388093 0.43865743] Pose Error in degrees for R and t: 178.31210617020994 64.6786038890288 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.88972930e-01 1.48096373e-01 8.84395552e-05] [-1.48096351e-01 9.88972914e-01 -2.16080831e-04] [-1.19465112e-04 2.00600517e-04 9.99999973e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99177566 0.12706927 -0.01530407] [-0.12724208 0.99181134 -0.01092151] [ 0.01379083 0.01277854 0.99982361]] t_gt: [-0.75707244 0.62604183 -0.18685008] Pose Error in degrees for R and t: 1.618675941843098 40.95083916389762 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.59875231 0.80092136 0.00454251] [ 0.80092823 -0.5987162 -0.0072724 ] [-0.00310494 0.00799259 -0.99996324]] t_estimated: [[0.97632021] [0.21632193] [0.00191435]] R_gt: [[ 0.99342303 0.1144418 -0.00358964] [-0.11439957 0.99338222 0.01019822] [ 0.00473314 -0.00972033 0.99994198]] t_gt: [-0.82190385 0.56949053 0.01243418] Pose Error in degrees for R and t: 179.86839062209094 47.21694755745273 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.95045774e-01 -9.94178313e-02 -5.39495442e-05] [ 9.94178396e-02 9.95045758e-01 1.83066390e-04] [ 3.54822016e-05 -1.87522984e-04 9.99999982e-01]] t_estimated: [[9.41425619e-01] [3.37219675e-01] [8.33420451e-04]] R_gt: [[ 0.99908 -0.04051848 0.01408244] [ 0.04083743 0.99889791 -0.02314506] [-0.01312829 0.02369921 0.99963288]] t_gt: [ 0.9787455 -0.03848313 -0.20143557] Pose Error in degrees for R and t: 3.717977769304831 24.7325083619309 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-4.08646235e-01 9.12684709e-01 3.85704628e-03] [ 9.12692725e-01 4.08640239e-01 2.26801132e-03] [ 4.93834938e-04 4.44711237e-03 -9.99989990e-01]] t_estimated: [[0.99736344] [0.07255788] [0.00122979]] R_gt: [[ 0.9933422 -0.1124353 0.02511974] [ 0.11299427 0.99335054 -0.02208617] [-0.0224697 0.02477723 0.99943993]] t_gt: [ 0.90615451 -0.42266457 0.01544915] Pose Error in degrees for R and t: 177.99496081712894 29.177130950303294 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 8.61719585e-01 5.07384014e-01 9.05089597e-04] [-5.07379701e-01 8.61717532e-01 -2.95529518e-03] [-2.27940111e-03 2.08741165e-03 9.99995224e-01]] t_estimated: [[0.65171993] [0.75845927] [0.00081985]] R_gt: [[ 0.98090285 -0.18971173 0.04289266] [ 0.19066017 0.9814677 -0.01920619] [-0.03845404 0.02701683 0.99889454]] t_gt: [ 0.90341683 -0.42054147 0.08356376] Pose Error in degrees for R and t: 41.53305157431879 74.34289214944951 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.85822659 -0.51326972 -0.00114934] [ 0.51324595 0.85820468 -0.0079576 ] [ 0.00507077 0.00623953 0.99996768]] t_estimated: [[ 0.41227626] [-0.91097025] [-0.01270824]] R_gt: [[ 0.96209729 -0.27265591 -0.00531282] [ 0.27255459 0.9620278 -0.01472484] [ 0.00912591 0.01271725 0.99987766]] t_gt: [ 0.87131733 -0.48694185 -0.06077615] Pose Error in degrees for R and t: 15.067328164388325 36.52614569536438 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 3.98874952e-01 9.17005081e-01 6.74147828e-04] [ 9.16994095e-01 -3.98873597e-01 4.65661580e-03] [ 4.53904012e-03 -1.23921783e-03 -9.99988931e-01]] t_estimated: [[-0.83635383] [-0.54818885] [-0.00112564]] R_gt: [[ 0.86775546 -0.49044214 0.08041873] [ 0.49632276 0.8635611 -0.0890321 ] [-0.02578164 0.11717137 0.99277718]] t_gt: [ 0.9194545 -0.34346208 -0.19140854] Pose Error in degrees for R and t: 173.29661175549884 54.51486315083425 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 0.39407074 0.91907073 0.0041523 ] [ 0.91881616 -0.39384528 -0.02574427] [-0.02202544 0.01396026 -0.99965994]] t_estimated: [[ 0.60770532] [ 0.79415848] [-0.00256004]] R_gt: [[ 0.76568141 -0.618543 0.17645708] [ 0.64155873 0.75410741 -0.14044292] [-0.04619754 0.22074138 0.97423829]] t_gt: [ 0.93731993 -0.21964151 -0.27053458] Pose Error in degrees for R and t: 165.89938400808157 66.6793358715418 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.98745151e-01 -5.00791272e-02 -4.52077806e-04] [ 5.00794274e-02 9.98745007e-01 6.79100674e-04] [ 4.17501683e-04 -7.00888303e-04 9.99999667e-01]] t_estimated: [[-0.53938339] [-0.84204 ] [-0.00584779]] R_gt: [[ 0.99284428 0.11733425 -0.02220939] [-0.1169585 0.99298213 0.01752311] [ 0.02410862 -0.01480106 0.99959956]] t_gt: [-0.32062639 0.93667618 -0.14084198] Pose Error in degrees for R and t: 9.72787740051404 52.0513750952329 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99730530e-01 2.32115733e-02 -3.00938201e-04] [-2.32114570e-02 9.99730504e-01 3.84178186e-04] [ 3.09774479e-04 -3.77089447e-04 9.99999881e-01]] t_estimated: [[-9.54605783e-01] [-2.97871162e-01] [-7.54973149e-04]] R_gt: [[ 0.94833849 0.3171176 -0.00948766] [-0.31725596 0.94804941 -0.02346774] [ 0.00155245 0.02526559 0.99967965]] t_gt: [-0.31405809 0.945201 -0.08923331] Pose Error in degrees for R and t: 17.22814756298281 88.95023019458151 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.97154123e-01 7.53889475e-02 -4.03159236e-04] [-7.53886548e-02 9.97153982e-01 6.97518880e-04] [ 4.54597052e-04 -6.65140194e-04 9.99999675e-01]] t_estimated: [[-0.62375783] [-0.7816172 ] [-0.00085329]] R_gt: [[ 0.90135489 0.43296347 -0.01009627] [-0.43177666 0.89658747 -0.09848865] [-0.03359064 0.09313249 0.99508675]] t_gt: [-0.2217647 0.9682572 -0.11531872] Pose Error in degrees for R and t: 22.10726653409158 51.80202548523586 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.94541107e-01 -1.04345071e-01 -3.05503464e-04] [ 1.04345145e-01 9.94541118e-01 2.35931087e-04] [ 2.79217510e-04 -2.66520967e-04 9.99999926e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99910304 -0.0326773 -0.02694807] [ 0.03364057 0.99878087 0.0361231 ] [ 0.02573395 -0.03699764 0.99898408]] t_gt: [ 0.9859956 -0.00344906 0.16673568] Pose Error in degrees for R and t: 4.8240015145264525 9.56107145273971 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.99988551e-01 -4.78516947e-03 -7.46941738e-06] [ 4.78517087e-03 9.99988531e-01 2.00910574e-04] [ 6.50794057e-06 -2.00944016e-04 9.99999980e-01]] t_estimated: [[ 4.37227494e-01] [-8.99350611e-01] [-7.72549667e-04]] R_gt: [[ 0.99905799 -0.03544068 -0.02504729] [ 0.03607865 0.99902352 0.02550621] [ 0.0241189 -0.0263849 0.9993603 ]] t_gt: [0.98113698 0.18922181 0.03956427] Pose Error in degrees for R and t: 2.704767573939306 75.00274615420622 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 6.89737520e-01 7.24059489e-01 1.01882391e-04] [-7.24059496e-01 6.89737516e-01 6.97999001e-05] [-1.97328273e-05 -1.21912523e-04 9.99999992e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99996652 -0.0053271 0.00622598] [ 0.0052336 0.99987576 0.01488833] [-0.00630486 -0.0148546 0.99986989]] t_gt: [0.74197571 0.65015539 0.16361545] Pose Error in degrees for R and t: 46.70171367789121 41.91688299467159 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999767e-01 2.06868624e-04 -6.49914889e-04] [-2.06285603e-04 9.99999576e-01 8.97012947e-04] [ 6.50100177e-04 -8.96878670e-04 9.99999386e-01]] t_estimated: [[-8.37672690e-01] [-5.46171997e-01] [-7.83604013e-04]] R_gt: [[ 0.99305088 -0.04507154 0.10872178] [ 0.04637235 0.99887948 -0.00945914] [-0.10817359 0.01443494 0.99402804]] t_gt: [ 0.09531313 -0.54599272 0.8323505 ] Pose Error in degrees for R and t: 6.837443057223885 77.42528783336083 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.97937646e-01 6.41906505e-02 -1.19086353e-04] [-6.41906083e-02 9.97937602e-01 3.29801984e-04] [ 1.40010954e-04 -3.21477591e-04 9.99999939e-01]] t_estimated: [[-0.61794312] [-0.78622227] [-0.00091956]] R_gt: [[ 0.96893368 -0.15089576 0.19595725] [ 0.15155517 0.98837932 0.01171363] [-0.19544812 0.01834793 0.98054257]] t_gt: [ 0.39686557 -0.66727584 0.63027032] Pose Error in degrees for R and t: 16.828468034886384 73.81097196151202 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 6.91085927e-01 -7.22772397e-01 5.51106081e-04] [ 7.22772576e-01 6.91085919e-01 -2.36061524e-04] [-2.10242899e-04 5.61463159e-04 9.99999820e-01]] t_estimated: [[ 8.81892396e-01] [-4.71450740e-01] [-2.87012454e-05]] R_gt: [[ 0.9383453 -0.26585375 0.22097654] [ 0.26586475 0.96353483 0.03025795] [-0.22096256 0.03035713 0.97480972]] t_gt: [ 0.58442236 -0.67588477 0.44903262] Pose Error in degrees for R and t: 33.19303332817488 33.484913846587446 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.75459204 0.65619045 0.002222 ] [-0.65616821 0.75458796 -0.0063472 ] [-0.00584166 0.00333154 0.99997739]] t_estimated: [[-0.99659365] [-0.08246035] [-0.00117801]] R_gt: [[ 0.99050654 0.13616536 0.01884649] [-0.13565008 0.99040599 -0.02634372] [-0.02225244 0.02353716 0.99947489]] t_gt: [-0.81646465 0.56554448 -0.11638265] Pose Error in degrees for R and t: 33.2273200197774 39.89817460194295 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-0.9997997 0.0156979 -0.0124153 ] [ 0.01567021 0.99987451 0.00232469] [ 0.01245024 0.00212968 -0.99992022]] t_estimated: [[ 0.99924353] [-0.03840941] [-0.00609004]] R_gt: [[ 0.9819654 0.18777367 0.02200677] [-0.18726864 0.98203683 -0.0231203 ] [-0.0259528 0.01858293 0.99949002]] t_gt: [-0.77803739 0.62688043 -0.04097265] Pose Error in degrees for R and t: 179.32885987422844 36.74774095596155 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.97856617 -0.20590972 -0.00307213] [ 0.205914 0.97856942 0.00114378] [ 0.00277078 -0.00175186 0.99999463]] t_estimated: [[9.90235746e-01] [1.39400790e-01] [7.66535597e-04]] R_gt: [[ 0.94907421 0.31462823 0.01636796] [-0.31394284 0.94880846 -0.0346674 ] [-0.02643746 0.02776328 0.99926472]] t_gt: [-0.76689659 0.639638 -0.05227666] Pose Error in degrees for R and t: 30.298123452814565 47.9111325134193 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.95837994 0.25230075 -0.13361221] [-0.17764463 0.89336388 0.41272673] [ 0.22349559 -0.37181353 0.9010019 ]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96718464 -0.23549172 0.09538079] [ 0.2437795 0.96590304 -0.08719243] [-0.07159465 0.10758192 0.99161438]] t_gt: [ 0.87172866 -0.41228407 -0.2647848 ] Pose Error in degrees for R and t: 42.44603531671956 67.83786456018592 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 2.32945354e-01 9.72487122e-01 2.29345120e-03] [ 9.72489653e-01 -2.32946073e-01 4.76982113e-05] [ 5.80636346e-04 2.21924648e-03 -9.99997369e-01]] t_estimated: [[0.82704618] [0.56213295] [0.00107688]] R_gt: [[ 0.90719458 -0.37908604 0.18245995] [ 0.40379399 0.90631547 -0.124671 ] [-0.11810412 0.18677663 0.97527768]] t_gt: [ 0.90951002 -0.31568541 -0.27043344] Pose Error in degrees for R and t: 167.19801275260463 54.9382881814416 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-3.88642610e-01 -9.21386672e-01 -1.87681577e-03] [ 9.21388580e-01 -3.88641969e-01 -7.09547603e-04] [-7.56416725e-05 -2.00503705e-03 9.99997987e-01]] t_estimated: [[9.88872938e-01] [1.48760705e-01] [7.51209772e-04]] R_gt: [[ 0.85528577 -0.484546 0.18357789] [ 0.50313986 0.86130544 -0.07073954] [-0.12383991 0.15286707 0.98045714]] t_gt: [ 0.95430218 -0.27004277 -0.12800098] Pose Error in degrees for R and t: 83.60497494243052 25.389258197748102 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.98838778e-01 4.81777098e-02 -5.46412413e-05] [-4.81777019e-02 9.98838771e-01 1.37560723e-04] [ 6.12051509e-05 -1.34768495e-04 9.99999989e-01]] t_estimated: [[-0.99245758] [ 0.1225823 ] [-0.00123418]] R_gt: [[ 0.99741873 0.06657107 0.02688636] [-0.06578056 0.99740536 -0.02922997] [-0.02876293 0.02738624 0.99921065]] t_gt: [-0.72274732 0.67109576 -0.1651266 ] Pose Error in degrees for R and t: 2.5083275376903904 36.89239828316295 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99962840e-01 -8.61991857e-03 -1.28786319e-04] [ 8.61994155e-03 9.99962832e-01 1.78924792e-04] [ 1.27239215e-04 -1.80028273e-04 9.99999976e-01]] t_estimated: [[0.79782451] [0.60288733] [0.00170849]] R_gt: [[ 0.98467174 0.17409259 0.010609 ] [-0.1740137 0.98471161 -0.0079156 ] [-0.01182577 0.0059484 0.99991262]] t_gt: [-0.78840355 0.61513234 -0.00566095] Pose Error in degrees for R and t: 10.54597130662666 75.03897881529339 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99960762e-01 -8.85458873e-03 -2.67159632e-04] [ 8.85466369e-03 9.99960757e-01 2.80695537e-04] [ 2.64663704e-04 -2.83050132e-04 9.99999925e-01]] t_estimated: [[-9.98311900e-01] [-5.80790130e-02] [-4.21889834e-04]] R_gt: [[ 0.95709057 0.28860834 0.02614601] [-0.28783838 0.95722149 -0.02959352] [-0.03356907 0.02079809 0.9992201 ]] t_gt: [-0.7734636 0.63345127 -0.02221593] Pose Error in degrees for R and t: 17.41512784102457 42.660912876658244 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.97569599 -0.21912603 0.00105969] [-0.21910553 -0.97565208 -0.00978723] [ 0.00317852 0.00931718 -0.99995154]] t_estimated: [[ 0.22900851] [ 0.97341479] [-0.00432948]] R_gt: [[ 0.98222991 -0.18081456 0.05030488] [ 0.18222279 0.98294114 -0.02493944] [-0.04493712 0.03366352 0.99842267]] t_gt: [ 0.9067533 -0.42165571 0.00221646] Pose Error in degrees for R and t: 178.06682376485486 78.29918199224846 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-2.31210091e-01 -9.72903789e-01 -3.32761593e-04] [-9.72903749e-01 2.31210207e-01 -3.66485526e-04] [ 4.33493033e-04 2.39009850e-04 -9.99999877e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.97177836 -0.23331979 0.03475881] [ 0.23304806 0.97239459 0.01174478] [-0.03653935 -0.00331284 0.99932679]] t_gt: [ 0.94229986 -0.29917594 0.15021561] Pose Error in degrees for R and t: 178.1452812913895 51.13629896491318 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 7.73207606e-01 -6.34137106e-01 -4.48656126e-03] [ 6.34140700e-01 7.73217309e-01 -7.51937552e-04] [ 3.94591833e-03 -2.26370727e-03 9.99989653e-01]] t_estimated: [[8.38993234e-01] [5.44141461e-01] [6.50886915e-04]] R_gt: [[ 0.97875682 -0.20495994 -0.0051394 ] [ 0.20501244 0.97866457 0.01365779] [ 0.0022303 -0.01442205 0.99989304]] t_gt: [ 0.99164692 -0.06924726 0.1088173 ] Pose Error in degrees for R and t: 27.537369090957135 37.40368283406551 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.98338436e-01 5.76226182e-02 2.02423527e-05] [-5.76226122e-02 9.98338411e-01 -2.27284333e-04] [-3.33054366e-05 2.25740268e-04 9.99999974e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.99477819e-01 3.23093469e-02 5.14328773e-04] [-3.23079794e-02 9.98969723e-01 3.18540679e-02] [ 5.15205777e-04 -3.18536775e-02 9.99492472e-01]] t_gt: [-0.06011207 0.71638269 0.69511322] Pose Error in degrees for R and t: 2.3427156552506014 86.71219219897849 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.98707354e-01 5.08219406e-02 8.66735766e-04] [-5.08206140e-02 9.98706687e-01 -1.48944459e-03] [-9.41311270e-04 1.44347122e-03 9.99998515e-01]] t_estimated: [[0.98338546] [0.18152577] [0.0011973 ]] R_gt: [[ 0.99988285 0.01406018 -0.00605558] [-0.0131446 0.9912848 0.13107724] [ 0.00784628 -0.13098214 0.99135342]] t_gt: [0.16433861 0.00490015 0.98639181] Pose Error in degrees for R and t: 7.918365384665558 80.57951338462736 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 0.67290772 -0.73971984 -0.00312352] [-0.73971952 -0.67287715 -0.0071679 ] [ 0.0032005 0.00713387 -0.99996943]] t_estimated: [[ 0.43919224] [ 0.89838628] [-0.0035038 ]] R_gt: [[ 0.99795067 0.0474896 -0.04288716] [-0.03723499 0.97604847 0.21434168] [ 0.05203871 -0.2123047 0.97581627]] t_gt: [-0.16632181 -0.03433995 0.9854734 ] Pose Error in degrees for R and t: 170.29107471755316 83.83738299410578 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 8.63041927e-01 -5.05129808e-01 -1.58423548e-03] [ 5.05129271e-01 8.63043368e-01 -7.51501249e-04] [ 1.74686960e-03 -1.51666625e-04 9.99998463e-01]] t_estimated: [[ 0.91559064] [-0.40210689] [-0.00195943]] R_gt: [[ 0.99971538 -0.00958798 -0.02185723] [ 0.00893618 0.99951793 -0.02975192] [ 0.02213156 0.02954796 0.99931843]] t_gt: [-0.08998623 0.0215672 -0.99570946] Pose Error in degrees for R and t: 29.877276505549112 84.887485614785 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.97505287e-01 7.05917830e-02 5.03144773e-05] [-7.05917755e-02 9.97505279e-01 -1.37742312e-04] [-5.99124321e-05 1.33846896e-04 9.99999989e-01]] t_estimated: [[-4.29234507e-01] [-9.03193051e-01] [ 2.22729478e-04]] R_gt: [[ 0.99807207 -0.01957413 0.05890646] [ 0.02224311 0.99873966 -0.04499774] [-0.05795272 0.04622117 0.99724836]] t_gt: [-0.77981596 -0.54643659 0.30544085] Pose Error in degrees for R and t: 6.747916282817657 34.072463327372645 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.05727158 0.99833843 0.00635109] [ 0.99835245 -0.05724767 -0.00388472] [-0.00351468 0.00656311 -0.99997229]] t_estimated: [[8.72711396e-01] [4.88235776e-01] [8.04342300e-04]] R_gt: [[ 0.98065916 -0.10763061 0.16347535] [ 0.11315749 0.99326592 -0.02485482] [-0.15970046 0.04287285 0.98623412]] t_gt: [ 0.22731756 -0.74775231 0.62385352] Pose Error in degrees for R and t: 171.7710924659568 80.43333800741344 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 9.95596480e-01 -9.37423636e-02 -1.37347505e-04] [ 9.37423807e-02 9.95596480e-01 1.23945333e-04] [ 1.25123764e-04 -1.36274819e-04 9.99999983e-01]] t_estimated: [[ 8.17993137e-01] [-5.75227978e-01] [ 2.81242810e-05]] R_gt: [[ 0.99972247 0.00239578 0.02343026] [-0.00211642 0.99992691 -0.01190437] [-0.023457 0.01185138 0.99965453]] t_gt: [0.61505708 0.75698346 0.22063733] Pose Error in degrees for R and t: 5.712957805044143 86.11922030402224 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-0.22194264 -0.97492391 -0.01627349] [-0.97495965 0.22212806 -0.01062091] [ 0.01396938 0.01350876 -0.99981117]] t_estimated: [[ 0.79561592] [ 0.60573456] [-0.00899686]] R_gt: [[ 0.99568173 0.07738393 0.05128637] [-0.07680041 0.9969583 -0.01324988] [-0.05215469 0.00925369 0.99859643]] t_gt: [-0.5617751 0.7863168 0.25712765] Pose Error in degrees for R and t: 179.1963454438944 88.45118005382311 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999949e-01 1.60089034e-04 -2.75525870e-04] [-1.60019069e-04 9.99999955e-01 2.53934752e-04] [ 2.75566510e-04 -2.53890649e-04 9.99999930e-01]] t_estimated: [[-0.54874453] [-0.83598953] [-0.00096727]] R_gt: [[ 0.98906698 0.1389456 0.04941014] [-0.13742188 0.98996215 -0.03300487] [-0.05349942 0.02585435 0.99823325]] t_gt: [-0.67782529 0.73225126 0.06603761] Pose Error in degrees for R and t: 8.64769021889568 76.09779847955583 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.99933059e-01 -1.15702805e-02 -8.31632637e-05] [ 1.15702850e-02 9.99933061e-01 5.38587816e-05] [ 8.25345355e-05 -5.48173989e-05 9.99999995e-01]] t_estimated: [[-9.44753390e-01] [-3.27781620e-01] [-4.90695821e-04]] R_gt: [[ 0.99311085 0.11684725 0.00888686] [-0.1170178 0.992885 0.02204392] [-0.00624777 -0.02293053 0.99971691]] t_gt: [-0.86053449 0.47979103 0.17111681] Pose Error in degrees for R and t: 7.503205128957003 49.031634915230775 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.98069420e-01 -6.21082033e-02 -6.65359833e-05] [ 6.21081134e-02 9.98068983e-01 -9.41715227e-04] [ 1.24895742e-04 9.35764746e-04 9.99999554e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9544288 0.29708857 0.02838507] [-0.2961388 0.95456287 -0.03336204] [-0.03700625 0.02343625 0.99903977]] t_gt: [-0.82384734 0.5638148 -0.05821024] Pose Error in degrees for R and t: 20.96905401520636 34.700406448709025 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99130047e-01 4.17023507e-02 -2.52423848e-04] [-4.17022853e-02 9.99130048e-01 2.58924293e-04] [ 2.63002003e-04 -2.48172390e-04 9.99999935e-01]] t_estimated: [[-9.97258473e-01] [-7.39961196e-02] [-3.34020004e-04]] R_gt: [[ 0.91871149 0.38986336 0.0630651 ] [-0.3893224 0.92085929 -0.02114482] [-0.06631804 -0.00512554 0.9977853 ]] t_gt: [-0.79594435 0.60334032 0.04952826] Pose Error in degrees for R and t: 20.915812498978486 41.48744840681839 Number of keypoints: Image1: 388 Image2: 388 R_estimated: [[ 9.83261479e-01 -1.82199647e-01 -3.89348639e-04] [ 1.82199609e-01 9.83261555e-01 -1.33127299e-04] [ 4.07087295e-04 5.99597759e-05 9.99999915e-01]] t_estimated: [[ 9.88132029e-01] [-1.53605557e-01] [-6.52626560e-04]] R_gt: [[ 0.99374296 0.10839722 0.02691089] [-0.10883364 0.99394149 0.01536115] [-0.02508206 -0.01819336 0.99952053]] t_gt: [-0.77402604 0.59338427 0.22085922] Pose Error in degrees for R and t: 16.83051265987327 31.11507118772941 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[-0.71723623 -0.69664005 -0.01627339] [-0.69666239 0.71738038 -0.00518615] [ 0.01528709 0.00761736 -0.99985413]] t_estimated: [[ 0.93333796] [ 0.35891475] [-0.00777493]] R_gt: [[ 0.99006951 0.13536832 0.03791343] [-0.13489158 0.99074853 -0.01488161] [-0.039578 0.00961993 0.99917055]] t_gt: [-0.79104303 0.60462474 0.09316572] Pose Error in degrees for R and t: 179.18090941748181 58.53174267755298 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 9.99434818e-01 3.36059821e-02 -8.25874477e-04] [-3.36059423e-02 9.99435159e-01 6.19698779e-05] [ 8.27490548e-04 -3.41805637e-05 9.99999657e-01]] t_estimated: [[-0.4869923 ] [ 0.87340216] [ 0.00267744]] R_gt: [[ 0.99046387 0.13659198 0.01798474] [-0.13563659 0.98966772 -0.04649471] [-0.02414953 0.04361293 0.99875733]] t_gt: [-0.82230127 0.5665872 -0.052911 ] Pose Error in degrees for R and t: 6.566631010762041 26.46957124528197 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.99999719e-01 -7.46039154e-04 -7.62122308e-05] [ 7.46034961e-04 9.99999720e-01 -5.50422873e-05] [ 7.62532732e-05 5.49854148e-05 9.99999996e-01]] t_estimated: [[-9.99999932e-01] [-3.01318377e-04] [ 2.10572372e-04]] R_gt: [[ 0.99424586 0.10244085 0.03131295] [-0.10286208 0.99462218 0.01214674] [-0.02990189 -0.01529809 0.99943612]] t_gt: [-0.77789863 0.58374179 0.23263543] Pose Error in degrees for R and t: 6.24168557272312 38.942998170744715 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99022682e-01 4.42004066e-02 -6.50696167e-05] [-4.42004211e-02 9.99022655e-01 -2.40361090e-04] [ 5.43819633e-05 2.43002286e-04 9.99999969e-01]] t_estimated: [[-9.66702250e-01] [-2.55903766e-01] [-1.50143576e-04]] R_gt: [[ 0.9892598 0.14050477 0.04029416] [-0.13988262 0.99000692 -0.0178866 ] [-0.04240597 0.01205751 0.99902807]] t_gt: [-0.78067327 0.61851257 0.08939496] Pose Error in degrees for R and t: 6.078393295417955 53.38853669675423 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[-9.70789316e-01 2.38987715e-01 -2.12832355e-02] [ 2.38944181e-01 9.71022395e-01 4.60294800e-03] [ 2.17665464e-02 -6.17012545e-04 -9.99762890e-01]] t_estimated: [[ 0.99308556] [-0.11697585] [-0.00988547]] R_gt: [[ 0.9892325 0.14383903 0.02700743] [-0.14240571 0.98859159 -0.04907814] [-0.03375904 0.04470377 0.99843016]] t_gt: [-0.81256824 0.58208028 -0.03025558] Pose Error in degrees for R and t: 179.18881688463713 28.985776750645773 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 7.00982365e-01 7.13178350e-01 6.03734361e-04] [-7.13178288e-01 7.00982601e-01 -3.51078682e-04] [-6.73588998e-04 -1.84470273e-04 9.99999756e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99184232 0.12735415 0.00552826] [-0.12744861 0.99157852 0.02300916] [-0.0025516 -0.02352596 0.99971978]] t_gt: [-0.86208954 0.48436627 0.14896627] Pose Error in degrees for R and t: 38.19675048077156 61.3710980929969 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.90270056e-01 1.39158957e-01 -6.50085362e-06] [-1.39158957e-01 9.90270051e-01 -1.06591985e-04] [-8.39562889e-06 1.06459503e-04 9.99999994e-01]] t_estimated: [[-9.58255291e-01] [-2.85913000e-01] [-7.44565105e-04]] R_gt: [[ 0.94854035 0.31449707 0.03694312] [-0.31322683 0.94898135 -0.03638761] [-0.04650199 0.02294282 0.99865482]] t_gt: [-0.82345506 0.56541527 -0.04719455] Pose Error in degrees for R and t: 10.723424538710663 51.13734035095738 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 8.08961017e-01 5.87857861e-01 2.28204514e-03] [ 5.87856358e-01 -8.08964198e-01 1.35213593e-03] [ 2.64095656e-03 2.47689487e-04 -9.99996482e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.91503474 0.39916366 0.05815425] [-0.3987946 0.91685807 -0.01834277] [-0.06064061 -0.00640793 0.9981391 ]] t_gt: [-0.79598215 0.60362859 0.04522108] Pose Error in degrees for R and t: 178.65599588186842 37.43237249489324 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99999846e-01 -5.54113421e-04 1.77296683e-05] [ 5.54114425e-04 9.99999845e-01 -5.66877250e-05] [-1.76982541e-05 5.66975406e-05 9.99999998e-01]] t_estimated: [[ 0.84117885] [-0.54075458] [-0.00162099]] R_gt: [[ 0.99990919 0.00277895 0.01317249] [-0.00267394 0.99996467 -0.00801218] [-0.01319365 0.00797627 0.99988087]] t_gt: [0.71249333 0.69999445 0.04859047] Pose Error in degrees for R and t: 0.9008862636012311 77.2480665688295 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.61771293e-01 2.73853886e-01 1.69997204e-04] [-2.73853845e-01 9.61771292e-01 -2.33016118e-04] [-2.27310800e-04 1.77553825e-04 9.99999958e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99677474 0.06550633 0.04635244] [-0.064862 0.9977773 -0.01528387] [-0.04724978 0.01222883 0.99880825]] t_gt: [-0.48053762 0.84452585 0.23634655] Pose Error in degrees for R and t: 12.467489565389858 61.46253662744713 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99999908e-01 -4.25440109e-04 5.40603876e-05] [ 4.25451014e-04 9.99999889e-01 -2.01865754e-04] [-5.39744999e-05 2.01888736e-04 9.99999978e-01]] t_estimated: [[0.94886258] [0.3156874 ] [0.00112228]] R_gt: [[ 0.98926768 0.13888121 0.04540612] [-0.13742961 0.98993786 -0.03369961] [-0.04962871 0.02709774 0.9983995 ]] t_gt: [-0.65236263 0.75581054 0.05633327] Pose Error in degrees for R and t: 8.60154925522523 67.6452924228328 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 5.22552540e-01 8.52603238e-01 2.56165307e-03] [-8.52605510e-01 5.22554992e-01 -3.52425677e-04] [-1.63908387e-03 -1.99991859e-03 9.99996657e-01]] t_estimated: [[-0.00779678] [ 0.99996643] [ 0.002519 ]] R_gt: [[ 0.99952134 -0.01287018 -0.02814241] [ 0.01195527 0.99940256 -0.03244455] [ 0.02854349 0.03209238 0.99907721]] t_gt: [-0.00859249 0.01659594 -0.99982536] Pose Error in degrees for R and t: 59.260166534853816 89.18959207509587 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-5.51946587e-01 -8.33875889e-01 -2.44264616e-03] [ 8.33877403e-01 -5.51949370e-01 6.07898239e-04] [-1.85512869e-03 -1.70134008e-03 9.99996832e-01]] t_estimated: [[0.96928452] [0.24593786] [0.00144669]] R_gt: [[ 0.99879225 -0.01850568 0.04550701] [ 0.02060891 0.99871992 -0.04620727] [-0.04459384 0.04708939 0.9978945 ]] t_gt: [-0.87628514 -0.46832802 -0.1131071 ] Pose Error in degrees for R and t: 122.41689082151714 15.266215259426174 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.15700426 0.98502968 0.07117721] [-0.98553514 -0.1609246 0.0531391 ] [ 0.06379775 -0.06180458 0.99604721]] t_estimated: [[8.67895837e-01] [4.96745577e-01] [8.05098179e-04]] R_gt: [[ 0.98328107 -0.09857778 0.15310635] [ 0.10456824 0.99401718 -0.03156139] [-0.14907846 0.04704345 0.98770508]] t_gt: [ 0.19055317 -0.76002538 0.62132995] Pose Error in degrees for R and t: 105.48272895850052 77.78042543597303 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.78652412e-01 -2.05522356e-01 -1.29901073e-04] [ 2.05522273e-01 9.78652321e-01 -4.78255233e-04] [ 2.25420129e-04 4.41348074e-04 9.99999877e-01]] t_estimated: [[-0.29724857] [-0.95479843] [-0.00180151]] R_gt: [[ 9.99723415e-01 2.35414299e-02 -4.78440577e-04] [-2.34975234e-02 9.98768829e-01 4.36813463e-02] [ 1.50653357e-03 -4.36576971e-02 9.99044879e-01]] t_gt: [0.13319545 0.44611337 0.88500951] Pose Error in degrees for R and t: 13.447527860221893 62.15152589867768 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.81750084e-01 1.90175636e-01 2.61232486e-05] [-1.90175603e-01 9.81749979e-01 -4.67869284e-04] [-1.14623837e-04 4.54362705e-04 9.99999890e-01]] t_estimated: [[-8.83440711e-01] [-4.68542157e-01] [-8.70103880e-04]] R_gt: [[ 0.99987031 0.01425905 -0.00747189] [-0.0128566 0.98664937 0.162348 ] [ 0.00968798 -0.16223041 0.9867053 ]] t_gt: [ 0.06815407 -0.0692125 0.99527115] Pose Error in degrees for R and t: 13.8350067162285 88.35841766578972 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.046711 0.99890759 -0.00130732] [-0.99890641 0.04670823 -0.00208139] [-0.00201805 0.00140311 0.99999698]] t_estimated: [[-5.41771074e-01] [ 8.40525975e-01] [-4.34520894e-04]] R_gt: [[ 0.99784958 0.03700799 -0.05409851] [-0.02403428 0.97445355 0.2232967 ] [ 0.06098107 -0.22151589 0.97324741]] t_gt: [-0.08695572 -0.11084921 0.99002584] Pose Error in degrees for R and t: 86.40181895168726 87.33525923716567 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.50472624e-01 -3.10803724e-01 1.68443946e-03] [ 3.10807818e-01 9.50466653e-01 -3.41190797e-03] [-5.40569831e-04 3.76646207e-03 9.99992761e-01]] t_estimated: [[-0.04968917] [-0.99875237] [-0.00496892]] R_gt: [[ 0.98369341 -0.17632612 0.03542275] [ 0.17676226 0.98420693 -0.00954473] [-0.03318078 0.01565086 0.99932717]] t_gt: [ 0.90333156 -0.4253385 0.05549108] Pose Error in degrees for R and t: 8.178273099098373 67.68822430761436 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-9.99905873e-01 -1.34776672e-02 -2.56850416e-03] [ 1.34752067e-02 -9.99908732e-01 9.72861923e-04] [-2.58138164e-03 9.38159226e-04 9.99996228e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97561119 -0.21917077 0.01207765] [ 0.21896303 0.97559387 0.0164413 ] [-0.01538617 -0.01339557 0.99979153]] t_gt: [ 0.95206189 -0.27347632 0.13707248] Pose Error in degrees for R and t: 166.57135903952047 53.15061949542934 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-8.16688058e-01 -5.77079172e-01 -4.94284618e-04] [-5.77079232e-01 8.16686921e-01 1.42617543e-03] [-4.19340354e-04 1.44998183e-03 -9.99998861e-01]] t_estimated: [[9.89144435e-01] [1.46943959e-01] [8.71636465e-04]] R_gt: [[ 0.98175779 -0.18901076 -0.0206413 ] [ 0.18946935 0.98161283 0.02316805] [ 0.01588327 -0.02665527 0.99951813]] t_gt: [ 0.99067988 -0.04385236 0.12895867] Pose Error in degrees for R and t: 179.43631307584027 13.196196562391574 Number of keypoints: Image1: 363 Image2: 363 R_estimated: [[ 9.90145695e-01 -1.40008687e-01 -3.01162654e-03] [ 1.40011559e-01 9.90149574e-01 7.63965194e-04] [ 2.87499898e-03 -1.17809937e-03 9.99995173e-01]] t_estimated: [[ 0.80019793] [-0.59963708] [-0.01089264]] R_gt: [[ 0.99771904 0.06170287 0.02738263] [-0.06118138 0.99793711 -0.01948738] [-0.02852875 0.01776721 0.99943511]] t_gt: [-0.73206942 0.67815991 -0.06460265] Pose Error in degrees for R and t: 11.760094290710915 7.3663794717140645 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99987510e-01 4.99678416e-03 -1.13751093e-04] [-4.99676730e-03 9.99987505e-01 1.48092639e-04] [ 1.14489658e-04 -1.47522402e-04 9.99999983e-01]] t_estimated: [[-9.97401700e-01] [-7.20390474e-02] [-4.74233114e-04]] R_gt: [[ 0.98395856 0.1778914 0.01342094] [-0.17782643 0.98404445 -0.00590763] [-0.01425764 0.00342668 0.99989221]] t_gt: [-0.79386419 0.6079778 0.01194324] Pose Error in degrees for R and t: 9.995377092621936 41.582771918747184 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 0.99826647 -0.05883768 -0.00147508] [ 0.05884149 0.99826372 0.00268631] [ 0.00131447 -0.00276845 0.9999953 ]] t_estimated: [[-9.87712686e-01] [-1.56278780e-01] [-7.69846209e-04]] R_gt: [[ 0.95714999 0.28815469 0.02883461] [-0.28753211 0.95747312 -0.02388996] [-0.03449343 0.01457529 0.99929852]] t_gt: [-0.7755966 0.63121476 -0.00422357] Pose Error in degrees for R and t: 20.237828796116776 48.13141252430071 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.82444768 0.56587199 0.00865531] [ 0.56587728 0.82448691 -0.00205993] [-0.00830184 0.00319953 -0.99996042]] t_estimated: [[ 0.94081817] [-0.33888052] [ 0.00460093]] R_gt: [[ 0.9695075 -0.2273733 0.09141968] [ 0.23514821 0.96816598 -0.08578697] [-0.06900461 0.10466882 0.99211115]] t_gt: [ 0.87465268 -0.40094669 -0.27244162] Pose Error in degrees for R and t: 173.4294286706325 16.76245847108503 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.53922573 0.84215451 0.00337498] [-0.84212966 0.53916643 0.0108259 ] [ 0.0072974 -0.00867977 0.9999357 ]] t_estimated: [[8.42504345e-01] [5.38689090e-01] [7.02069393e-04]] R_gt: [[ 0.911281 -0.37435 0.1715499 ] [ 0.39637114 0.91034188 -0.11902356] [-0.11161379 0.17646153 0.97795994]] t_gt: [ 0.91436861 -0.31227361 -0.25771154] Pose Error in degrees for R and t: 81.14128681654744 52.989583235960986 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 5.99771326e-02 9.98199705e-01 3.04725479e-04] [-9.98199269e-01 5.99774009e-02 -9.64850802e-04] [-9.81390428e-04 -2.46307766e-04 9.99999488e-01]] t_estimated: [[6.33217427e-01] [7.73973653e-01] [6.88742570e-04]] R_gt: [[ 0.86760336 -0.46648491 0.17221443] [ 0.48240827 0.87360947 -0.06395432] [-0.12061463 0.13856491 0.9829823 ]] t_gt: [ 0.95688343 -0.27015935 -0.10671468] Pose Error in degrees for R and t: 115.45395684048557 66.62511613885269 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99064134e-01 -4.32531396e-02 -1.47472126e-04] [ 4.32531551e-02 9.99064139e-01 1.03905681e-04] [ 1.42839865e-04 -1.10187074e-04 9.99999984e-01]] t_estimated: [[9.90778046e-01] [1.35493245e-01] [6.67102470e-04]] R_gt: [[ 0.99085958 0.13206294 0.02749283] [-0.13133046 0.99097272 -0.02693426] [-0.03080029 0.02307723 0.99925843]] t_gt: [-0.81667399 0.5704077 -0.08762797] Pose Error in degrees for R and t: 10.290458405275594 42.95284698113691 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99853813e-01 1.70978323e-02 -1.25818539e-04] [-1.70978065e-02 9.99853801e-01 2.03243501e-04] [ 1.29275168e-04 -2.01062568e-04 9.99999971e-01]] t_estimated: [[-9.99994191e-01] [ 3.38275967e-03] [-4.18636823e-04]] R_gt: [[ 0.98324932 0.18141791 0.01754582] [-0.18101541 0.98322656 -0.02233313] [-0.02130174 0.01878156 0.99959667]] t_gt: [-0.77597397 0.62891077 -0.0483284 ] Pose Error in degrees for R and t: 9.604033941075052 38.91149472738667 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99586745e-01 -2.87443175e-02 -3.21334626e-04] [ 2.87444140e-02 9.99586749e-01 2.99585009e-04] [ 3.12590467e-04 -3.08697780e-04 9.99999903e-01]] t_estimated: [[-9.96373164e-01] [-8.50897999e-02] [-4.94247098e-04]] R_gt: [[ 0.94981231 0.31191418 0.02377924] [-0.31094946 0.94970236 -0.03711266] [-0.03415899 0.02785492 0.9990275 ]] t_gt: [-0.76945983 0.63732734 -0.04177834] Pose Error in degrees for R and t: 19.963952526329464 44.5646014315353 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99991170e-01 4.20238099e-03 -3.12117488e-06] [-4.20238099e-03 9.99991170e-01 -9.98946657e-08] [ 3.12072752e-06 1.13010150e-07 1.00000000e+00]] t_estimated: [[ 1.26114449e-01] [-9.92015672e-01] [ 2.26893050e-04]] R_gt: [[ 0.9944176 -0.03693289 0.09884014] [ 0.03816945 0.99921415 -0.01064206] [-0.09836894 0.01435618 0.9950467 ]] t_gt: [ 0.04040585 -0.5270485 0.84887411] Pose Error in degrees for R and t: 6.188663599433574 58.12089199890186 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.42776912 0.90388581 -0.00200475] [-0.90388583 0.42776211 -0.00316058] [-0.00199925 0.00316406 0.999993 ]] t_estimated: [[6.04170612e-01] [7.96854861e-01] [4.49143037e-04]] R_gt: [[ 0.9708816 -0.13924328 0.19493427] [ 0.13999939 0.99010102 0.00996582] [-0.19439209 0.01761545 0.9807653 ]] t_gt: [ 0.36400436 -0.65788467 0.65930917] Pose Error in degrees for R and t: 73.52428336287196 72.30068109644445 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.90638553e-01 1.36510257e-01 4.54504895e-04] [-1.36509123e-01 9.90636867e-01 -1.96415403e-03] [-7.18376477e-04 1.88372265e-03 9.99997968e-01]] t_estimated: [[-0.04106118] [-0.99915548] [-0.00152078]] R_gt: [[ 0.94186333 -0.25019677 0.22426336] [ 0.25068505 0.96769832 0.02677377] [-0.22371789 0.03100329 0.97416068]] t_gt: [ 0.55964769 -0.68019813 0.47341839] Pose Error in degrees for R and t: 25.990352676057174 49.01025632617094 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99393397e-01 -3.48258109e-02 1.26856995e-05] [ 3.48258096e-02 9.99393393e-01 8.99013811e-05] [-1.58088928e-05 -8.94050570e-05 9.99999996e-01]] t_estimated: [[9.49139518e-01] [3.14855175e-01] [6.27422318e-04]] R_gt: [[ 0.99922617 -0.03120125 -0.02397822] [ 0.03230039 0.9983766 0.0469181 ] [ 0.02247488 -0.04765571 0.99861077]] t_gt: [ 0.92655314 -0.03712921 0.37432699] Pose Error in degrees for R and t: 3.0207181683274693 29.776093281196786 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99983863e-01 -5.68092331e-03 2.73000602e-05] [ 5.68091912e-03 9.99983852e-01 1.50916186e-04] [-2.81569626e-05 -1.50758661e-04 9.99999988e-01]] t_estimated: [[9.51890657e-01] [3.06437473e-01] [5.01569097e-04]] R_gt: [[ 0.99883528 -0.04147979 -0.02468492] [ 0.04211168 0.99878434 0.02564801] [ 0.02359011 -0.02665706 0.99936608]] t_gt: [0.98484941 0.15925023 0.06863678] Pose Error in degrees for R and t: 2.9021710248474526 9.49374467514457 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.14071452 -0.98948515 0.03344497] [-0.98959296 0.14159583 0.02562022] [-0.0300865 -0.02949177 -0.99911212]] t_estimated: [[0.79091767] [0.61159277] [0.0200876 ]] R_gt: [[ 0.999882 -0.01536048 -0.00141059] [ 0.0153862 0.99966609 0.02076007] [ 0.00109091 -0.0207789 0.99978337]] t_gt: [0.83452473 0.52575345 0.16477801] Pose Error in degrees for R and t: 176.86530586272858 9.970390750643949 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-0.10607393 0.99398453 0.0272594 ] [ 0.9939947 0.10673654 -0.02412171] [-0.02688618 0.02453701 -0.99933731]] t_estimated: [[ 0.74245041] [-0.66964176] [ 0.01863588]] R_gt: [[ 0.99729582 -0.06611847 -0.03208903] [ 0.06595032 0.99780359 -0.00624797] [ 0.03243202 0.00411394 0.99946503]] t_gt: [ 0.33365864 -0.82681112 -0.4528303 ] Pose Error in degrees for R and t: 179.0925901257053 37.53762912615258 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.25050100e-01 3.79844930e-01 3.76534098e-04] [-3.79844908e-01 9.25050176e-01 -1.30373145e-04] [-3.97834511e-04 -2.24228692e-05 9.99999921e-01]] t_estimated: [[-0.11916947] [ 0.99287335] [ 0.00107554]] R_gt: [[ 0.99490714 -0.05656732 -0.08342013] [ 0.05892755 0.99792135 0.0261079 ] [ 0.08177011 -0.03089074 0.99617217]] t_gt: [ 0.06073287 -0.81879272 -0.57086777] Pose Error in degrees for R and t: 26.12301499402223 34.83414440270302 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.85131981e-01 -1.71756573e-01 -3.82875114e-03] [ 1.71759156e-01 9.85138908e-01 3.53767013e-04] [ 3.71108990e-03 -1.00613026e-03 9.99992608e-01]] t_estimated: [[9.97404799e-01] [7.19972638e-02] [2.47359797e-04]] R_gt: [[ 0.9817478 -0.11569387 -0.15094971] [ 0.12491951 0.99074452 0.05311429] [ 0.14340857 -0.07100201 0.98711321]] t_gt: [ 0.25947726 -0.86021113 -0.43898561] Pose Error in degrees for R and t: 9.459214926612239 78.65230168732656 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.96964568e-01 7.78565397e-02 9.99935761e-05] [-7.78565340e-02 9.96964571e-01 -5.89295030e-05] [-1.04278100e-04 5.09654732e-05 9.99999993e-01]] t_estimated: [[-9.99994892e-01] [-3.10075963e-03] [-7.75189839e-04]] R_gt: [[ 0.99812355 -0.05882006 0.01707176] [ 0.05821989 0.99773488 0.03370897] [-0.01901547 -0.03265154 0.99928533]] t_gt: [ 0.68030727 -0.48198555 0.55215211] Pose Error in degrees for R and t: 8.115061978429523 47.21592890955854 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99499683e-01 3.16288008e-02 5.67475788e-05] [-3.16288020e-02 9.99499684e-01 2.15917965e-05] [-5.60362644e-05 -2.33758517e-05 9.99999998e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9987683 0.0422822 0.02600308] [-0.04210204 0.99908671 -0.00742179] [-0.02629254 0.00631829 0.99963411]] t_gt: [-0.55191992 0.81399331 0.18110576] Pose Error in degrees for R and t: 1.6594889698024493 56.68423923495966 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.98363258 -0.17984422 -0.01109093] [ 0.17999848 0.98355293 0.0149726 ] [ 0.00821578 -0.01672389 0.99982639]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99420841 0.10649045 -0.01454156] [-0.10614705 0.99409289 0.02267394] [ 0.01687059 -0.02099895 0.99963653]] t_gt: [-0.58898038 0.80759884 0.0297697 ] Pose Error in degrees for R and t: 16.476297771255233 63.135064430469974 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999704e-01 5.90901908e-04 -4.93435195e-04] [-5.90903607e-04 9.99999825e-01 -3.29603258e-06] [ 4.93433161e-04 3.58760424e-06 9.99999878e-01]] t_estimated: [[-0.63626456] [-0.77146494] [-0.00304371]] R_gt: [[ 0.99507027 0.09871046 0.00954791] [-0.09915649 0.99197045 0.07850491] [-0.00172263 -0.07906438 0.9968676 ]] t_gt: [-0.64159604 0.66676379 0.37918408] Pose Error in degrees for R and t: 7.248035315364585 83.83948630567826 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99887407e-01 -1.50049901e-02 -1.51048162e-04] [ 1.50049804e-02 9.99887417e-01 -6.52005689e-05] [ 1.52009490e-04 6.29267531e-05 9.99999986e-01]] t_estimated: [[-6.73574455e-01] [-7.39119019e-01] [-7.27678463e-04]] R_gt: [[ 0.97417611 0.22334484 0.03314546] [-0.2253034 0.97118277 0.07773432] [-0.01482869 -0.08319402 0.99642252]] t_gt: [-0.60292211 0.77028297 0.20772353] Pose Error in degrees for R and t: 14.668657483680532 80.5974995223392 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999957e-01 1.74603683e-04 -2.37000989e-04] [-1.74592387e-04 9.99999984e-01 4.76839678e-05] [ 2.37009311e-04 -4.76425872e-05 9.99999971e-01]] t_estimated: [[-9.20550249e-01] [-3.90623507e-01] [-7.18057916e-04]] R_gt: [[ 0.95767926 0.28777113 0.00616149] [-0.28780465 0.9570366 0.03534477] [ 0.00427469 -0.03562187 0.99935605]] t_gt: [-0.5429275 0.83926593 0.02936724] Pose Error in degrees for R and t: 16.845904275369943 80.09971758868375 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[-0.99929664 0.03724883 -0.00433009] [ 0.0372538 0.99930526 -0.00107386] [ 0.00428708 -0.00123442 -0.99999005]] t_estimated: [[9.97259858e-01] [7.39725718e-02] [9.13241628e-04]] R_gt: [[ 0.99268051 0.11864504 -0.02255657] [-0.11826794 0.99282892 0.01738157] [ 0.02445806 -0.01458708 0.99959492]] t_gt: [-0.32032994 0.93502051 -0.15207027] Pose Error in degrees for R and t: 178.39238141663137 75.4973253061779 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.98392249e-01 5.66822773e-02 -1.92413471e-04] [-5.66822805e-02 9.98392267e-01 -1.10699356e-05] [ 1.91476653e-04 2.19585722e-05 9.99999981e-01]] t_estimated: [[-0.97933254] [-0.20225386] [-0.00107051]] R_gt: [[ 9.47433372e-01 3.19903219e-01 -5.65362155e-03] [-3.19951414e-01 9.47232393e-01 -1.94877951e-02] [-8.78681188e-04 2.02726218e-02 9.99794054e-01]] t_gt: [-0.31468667 0.94627224 -0.07443885] Pose Error in degrees for R and t: 15.45461543708637 83.28819453135968 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 8.80967067e-01 -4.73171183e-01 -2.46158637e-03] [ 4.73174497e-01 8.80968192e-01 9.69789552e-04] [ 1.70970282e-03 -2.01911255e-03 9.99996500e-01]] t_estimated: [[-0.64254624] [-0.76624498] [-0.00171804]] R_gt: [[ 0.89725664 0.44147619 -0.00552204] [-0.43939491 0.89166195 -0.10894775] [-0.04317363 0.10018047 0.99403186]] t_gt: [-0.22250666 0.96901048 -0.10728225] Pose Error in degrees for R and t: 54.801027771724534 53.17705013254564 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.25947538 -0.96027165 0.10271748] [-0.96309328 -0.26517726 -0.04617731] [ 0.0715811 -0.08694464 -0.99363815]] t_estimated: [[0.44721131] [0.89442263] [0.00319437]] R_gt: [[ 0.96871349 -0.24795005 -0.01071972] [ 0.24790604 0.96876875 -0.00534447] [ 0.0117098 0.00252032 0.99992785]] t_gt: [ 0.88199338 -0.46955228 -0.04010401] Pose Error in degrees for R and t: 179.90208811810226 88.52912050388662 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999895e-01 -3.43678087e-04 3.01551282e-04] [ 3.43426380e-04 9.99999593e-01 8.34362840e-04] [-3.01837912e-04 -8.34259192e-04 9.99999606e-01]] t_estimated: [[0.72646787] [0.68719934] [0.00122714]] R_gt: [[ 0.87150469 -0.48433619 0.0767929 ] [ 0.48971244 0.86777736 -0.08451988] [-0.02570268 0.11126671 0.99345708]] t_gt: [ 0.92352307 -0.34082846 -0.17590082] Pose Error in degrees for R and t: 29.94898515174995 64.12069177280864 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99993410e-01 -3.63049353e-03 -1.42157056e-05] [ 3.63051283e-03 9.99991882e-01 1.74786894e-03] [ 7.86996329e-06 -1.74790903e-03 9.99998472e-01]] t_estimated: [[0.49823319] [0.86704253] [0.00097311]] R_gt: [[ 0.7713431 -0.6145566 0.16537963] [ 0.63511414 0.75995509 -0.13819734] [-0.04075067 0.21163308 0.97649872]] t_gt: [ 0.94085566 -0.21212785 -0.26418251] Pose Error in degrees for R and t: 40.89999871732329 73.4659819799734 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.97246919e-01 7.41509804e-02 4.63530756e-04] [-7.41509516e-02 9.97247026e-01 -7.89676017e-05] [-4.68110193e-04 4.43789508e-05 9.99999889e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99883269 -0.04428324 0.01930371] [ 0.04468941 0.99877632 -0.02117789] [-0.0183419 0.02201648 0.99958926]] t_gt: [ 0.9827594 -0.17897893 0.04637356] Pose Error in degrees for R and t: 6.993140826015549 10.815856288237242 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.98429214e-01 5.60238554e-02 6.58178827e-04] [-5.60236914e-02 9.98429405e-01 -2.64988504e-04] [-6.71990772e-04 2.27698656e-04 9.99999748e-01]] t_estimated: [[0.99778977] [0.06643879] [0.00120798]] R_gt: [[ 0.99219219 -0.12149768 0.02818484] [ 0.12205042 0.99234618 -0.01879335] [-0.02568601 0.02208573 0.99942618]] t_gt: [ 0.8882909 -0.45633127 0.05197169] Pose Error in degrees for R and t: 10.383229054713041 31.121604523905127 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.87567843e-01 1.57193346e-01 8.90928627e-05] [-1.57193370e-01 9.87567730e-01 4.71810310e-04] [-1.38197950e-05 -4.79949498e-04 9.99999885e-01]] t_estimated: [[9.11894225e-01] [4.10424659e-01] [7.22578625e-04]] R_gt: [[ 0.9803953 -0.19015482 0.05162915] [ 0.19089871 0.98156008 -0.00984787] [-0.04880441 0.01951072 0.99861796]] t_gt: [ 0.89109588 -0.42374399 0.16244742] Pose Error in degrees for R and t: 20.25899634448729 50.29852817887996 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.99692221 0.07807219 0.0071303 ] [-0.07799333 0.99689603 -0.01073993] [-0.00794666 0.01015076 0.9999169 ]] t_estimated: [[-0.91757793] [-0.39753101] [-0.00445444]] R_gt: [[ 0.99770121 0.05781229 0.03539544] [-0.05768495 0.99832407 -0.00461014] [-0.03560298 0.002559 0.99936251]] t_gt: [-0.80202596 0.44548389 0.39786739] Pose Error in degrees for R and t: 2.0188129282364713 56.147598138753075 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.9987676 -0.04932713 -0.00548741] [ 0.04935673 0.99876664 0.0053959 ] [ 0.00521448 -0.00566009 0.99997039]] t_estimated: [[-0.99879118] [-0.04885392] [-0.00542821]] R_gt: [[ 0.99165444 0.12816701 -0.0139847 ] [-0.12834942 0.99164323 -0.01300286] [ 0.01220116 0.01469004 0.99981771]] t_gt: [-0.75000868 0.63332386 -0.19075606] Pose Error in degrees for R and t: 10.26781756835003 44.01176285529179 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.29152504 0.95652465 -0.00858757] [ 0.95648182 -0.29137139 0.01566014] [ 0.01247714 -0.01277917 -0.99984049]] t_estimated: [[-0.790447 ] [-0.6125235 ] [-0.00291678]] R_gt: [[ 0.99424039 0.10692681 -0.00735558] [-0.10679933 0.99415292 0.01590902] [ 0.00901404 -0.01503129 0.99984598]] t_gt: [-0.82522835 0.5639601 0.03077605] Pose Error in degrees for R and t: 177.9862662905997 72.13527550520037 Number of keypoints: Image1: 477 Image2: 477 R_estimated: [[-0.83917298 -0.54348204 -0.02039549] [-0.54347826 0.83940026 -0.00621172] [ 0.02049594 0.0058718 -0.99977269]] t_estimated: [[ 0.95563254] [ 0.29437909] [-0.01036305]] R_gt: [[ 0.99882832 0.04730205 -0.01018879] [-0.04722394 0.99885406 0.00784217] [ 0.01054735 -0.00735108 0.99991753]] t_gt: [-0.02071412 0.999381 -0.02843498] Pose Error in degrees for R and t: 178.33161256280184 74.05607399314049 Number of keypoints: Image1: 470 Image2: 470 R_estimated: [[ 9.99957757e-01 -9.19149230e-03 -2.25428453e-05] [ 9.19149311e-03 9.99957757e-01 3.60568511e-05] [ 2.22104767e-05 -3.62625304e-05 9.99999999e-01]] t_estimated: [[-9.68001844e-01] [-2.50943020e-01] [-1.74425875e-04]] R_gt: [[ 0.99629067 0.08508798 -0.0128442 ] [-0.08458407 0.99577641 0.03573844] [ 0.01583042 -0.03451845 0.99927896]] t_gt: [-0.13585387 0.95572736 0.2610152 ] Pose Error in degrees for R and t: 5.815820548689122 83.77853217396954 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.87400817e-01 -1.58237226e-01 -7.78760838e-04] [ 1.58237344e-01 9.87401101e-01 9.15028412e-05] [ 7.54470154e-04 -2.13579027e-04 9.99999693e-01]] t_estimated: [[-0.63067257] [-0.77604742] [-0.00158503]] R_gt: [[ 0.99739906 0.06885717 -0.02127848] [-0.06600771 0.9913009 0.1138732 ] [ 0.0289336 -0.11217141 0.99326798]] t_gt: [0.1221935 0.68664968 0.71664564] Pose Error in degrees for R and t: 14.574325436320235 52.33289328030971 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99942815e-01 1.06942606e-02 1.66597244e-05] [-1.06942605e-02 9.99942815e-01 -4.96947882e-06] [-1.67119166e-05 4.79103121e-06 1.00000000e+00]] t_estimated: [[ 9.99278126e-01] [ 3.79867762e-02] [-4.81623660e-04]] R_gt: [[ 0.99747739 -0.06633979 0.02528006] [ 0.06670147 0.9976783 -0.01374933] [-0.02430902 0.01540038 0.9995867 ]] t_gt: [ 0.84046364 -0.506485 0.19259753] Pose Error in degrees for R and t: 4.723812846567637 34.86267332955796 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.09538298e-01 4.15618703e-01 1.08521316e-03] [-4.15618758e-01 9.09538902e-01 -1.85298094e-04] [-1.06405694e-03 -2.82499231e-04 9.99999394e-01]] t_estimated: [[0.79630692] [0.60489009] [0.00180769]] R_gt: [[ 0.98495443 -0.1690621 0.0358105 ] [ 0.16974636 0.98534165 -0.01698197] [-0.03241462 0.02280498 0.9992143 ]] t_gt: [ 0.85748283 -0.50834346 0.0794363 ] Pose Error in degrees for R and t: 34.384685550288815 67.94656193507183 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-6.45245639e-01 -7.63974552e-01 -9.75015369e-04] [-7.63904069e-01 6.45167647e-01 1.44664992e-02] [-1.04229889e-02 1.00792637e-02 -9.99894879e-01]] t_estimated: [[0.89121121] [0.4535866 ] [0.00133017]] R_gt: [[ 0.97181389 -0.22814018 0.05942389] [ 0.22813241 0.97360485 0.0069988 ] [-0.05945226 0.00675397 0.99820851]] t_gt: [ 0.86420151 -0.45706535 0.21034975] Pose Error in degrees for R and t: 176.50058087869726 55.72627490121645 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.91393509e-01 -1.30915584e-01 1.40142659e-04] [ 1.30915645e-01 9.91393325e-01 -6.07715284e-04] [-5.93770955e-05 6.20831854e-04 9.99999806e-01]] t_estimated: [[-0.71900294] [-0.69500424] [-0.0019693 ]] R_gt: [[ 0.99949937 0.01713587 0.02660138] [-0.01459601 0.99556703 -0.09291623] [-0.02807557 0.09248196 0.99531848]] t_gt: [-0.09472011 0.73981776 -0.66610644] Pose Error in degrees for R and t: 10.071748743883445 63.59197177959905 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.70293622e-01 -2.41929595e-01 -5.98825796e-04] [ 2.41929956e-01 9.70293513e-01 6.29220880e-04] [ 4.28809633e-04 -7.55402905e-04 9.99999623e-01]] t_estimated: [[0.17925896] [0.98380016] [0.0018629 ]] R_gt: [[ 0.99769599 0.06400552 0.02251227] [-0.06132521 0.99264145 -0.10441545] [-0.02902854 0.10279545 0.99427929]] t_gt: [-0.13325814 0.88282521 -0.45040196] Pose Error in degrees for R and t: 18.648154044958158 32.45674773539608 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.05871121e-01 -4.23552469e-01 -9.04287384e-04] [ 4.23552813e-01 9.05871385e-01 2.21120235e-04] [ 7.25512043e-04 -5.83319901e-04 9.99999567e-01]] t_estimated: [[0.77449095] [0.63258417] [0.00102068]] R_gt: [[ 0.99458326 0.10375395 0.00626503] [-0.10301895 0.99196691 -0.07341624] [-0.01383128 0.07237398 0.99728179]] t_gt: [-0.11629398 0.94342737 -0.31051653] Pose Error in degrees for R and t: 31.28516198721625 59.57489483393214 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 8.93626295e-01 -4.48811508e-01 -5.23926954e-04] [ 4.48811521e-01 8.93626437e-01 -9.92046225e-05] [ 5.12719153e-04 -1.46492594e-04 9.99999858e-01]] t_estimated: [[-0.0128524 ] [-0.99991658] [-0.00128524]] R_gt: [[ 0.99285297 0.11908446 0.00794439] [-0.11906852 0.99288266 -0.00244086] [-0.00817951 0.00147787 0.99996543]] t_gt: [-0.35359074 0.93518859 0.01989686] Pose Error in degrees for R and t: 33.51010753986578 21.47276755655045 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.94976569e-01 -1.00107037e-01 4.56098119e-04] [ 1.00107112e-01 9.94976656e-01 -1.44736071e-04] [-4.39317882e-04 1.89667665e-04 9.99999886e-01]] t_estimated: [[ 0.6155844 ] [-0.78806128] [ 0.00390667]] R_gt: [[ 0.96189175 0.27340253 -0.00398769] [-0.27328906 0.96081816 -0.04627473] [-0.00882021 0.0456012 0.99892067]] t_gt: [-0.30799595 0.94412699 -0.1173146 ] Pose Error in degrees for R and t: 21.77761803983514 20.919061858065994 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.97933822 -0.20168128 0.01487679] [-0.20161052 0.9794466 0.00612758] [-0.01580684 0.00300166 -0.99987056]] t_estimated: [[0.99574986] [0.09175578] [0.0079427 ]] R_gt: [[ 0.90386532 0.4277648 -0.00674467] [-0.42728966 0.90185357 -0.06390146] [-0.02125336 0.06064026 0.99793295]] t_gt: [-0.22796371 0.96994658 -0.08506575] Pose Error in degrees for R and t: 179.1428531682801 82.02897619052838 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99999987e-01 -1.32979637e-05 -1.61582014e-04] [ 1.33151088e-05 9.99999994e-01 1.06106805e-04] [ 1.61580603e-04 -1.06108955e-04 9.99999981e-01]] t_estimated: [[ 0.64335616] [ 0.76556432] [-0.00203047]] R_gt: [[ 0.99843606 -0.03775061 0.04123231] [ 0.03860397 0.99905247 -0.0201009 ] [-0.04043494 0.02166182 0.99894684]] t_gt: [-0.30264866 -0.79593819 0.5242959 ] Pose Error in degrees for R and t: 3.4293085377195416 36.378412552045965 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-0.37338337 0.92712412 0.03202692] [ 0.92712867 0.37412714 -0.02147802] [-0.03189493 0.02167354 -0.99925621]] t_estimated: [[ 0.82476238] [-0.56514142] [ 0.01954969]] R_gt: [[ 9.97317854e-01 -6.81146789e-02 -2.67639775e-02] [ 6.81326056e-02 9.97675977e-01 -2.44094597e-04] [ 2.67178285e-02 -1.57976629e-03 9.99641363e-01]] t_gt: [-0.03301367 -0.93966174 -0.34050832] Pose Error in degrees for R and t: 179.0823094486939 60.18794651558653 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 6.91965660e-01 -7.21929912e-01 8.52900856e-04] [-7.21901686e-01 -6.91948179e-01 -8.10395376e-03] [ 6.44064982e-03 4.99194715e-03 -9.99966799e-01]] t_estimated: [[ 0.51085491] [ 0.85966312] [-0.00256638]] R_gt: [[ 0.99410482 -0.07272478 -0.08041324] [ 0.07630839 0.99618153 0.04242019] [ 0.07702063 -0.04830555 0.99585848]] t_gt: [-0.09327992 -0.92392663 -0.37102349] Pose Error in degrees for R and t: 179.79668716190145 32.75773545254977 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.54052790e-01 2.99638041e-01 5.63945980e-04] [-2.99638001e-01 9.54052957e-01 -1.56083806e-04] [-5.84802975e-04 -2.00674558e-05 9.99999829e-01]] t_estimated: [[-0.46184595] [ 0.88695924] [ 0.00127255]] R_gt: [[ 0.99372989 0.11144838 -0.00893003] [-0.11164975 0.99339164 -0.02661728] [ 0.00590457 0.02744739 0.99960592]] t_gt: [-0.64008463 0.74970564 -0.16802713] Pose Error in degrees for R and t: 11.14704057493124 16.185343608824873 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999999e-01 -4.93669974e-05 1.58813673e-06] [ 4.93670227e-05 9.99999999e-01 -1.59124805e-05] [-1.58735118e-06 1.59125589e-05 1.00000000e+00]] t_estimated: [[-9.99903015e-01] [ 1.39064478e-02] [-7.55932815e-04]] R_gt: [[ 0.99039423 0.13254021 -0.03940036] [-0.13288898 0.99111048 -0.0063503 ] [ 0.03820855 0.01152445 0.99920305]] t_gt: [-0.60342934 0.7721886 -0.19899196] Pose Error in degrees for R and t: 7.9672703292018525 52.10185565969943 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999987e-01 4.46463797e-05 1.57332900e-04] [-4.45473445e-05 9.99999801e-01 -6.29409791e-04] [-1.57360970e-04 6.29402774e-04 9.99999790e-01]] t_estimated: [[0.7307788 ] [0.68261384] [0.00083043]] R_gt: [[ 0.99382119 0.10709746 -0.02915437] [-0.10764885 0.99402585 -0.01801245] [ 0.02705166 0.02103953 0.99941278]] t_gt: [-0.56043512 0.79834157 -0.22037065] Pose Error in degrees for R and t: 6.464221844302425 82.22854894640916 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.53451729e-01 3.01545536e-01 -3.01468866e-04] [-3.01545631e-01 9.53451684e-01 -3.44021694e-04] [ 1.83697791e-04 4.18914699e-04 9.99999895e-01]] t_estimated: [[-0.99152072] [ 0.1299391 ] [-0.00157587]] R_gt: [[ 0.98588442 0.16705867 0.01114045] [-0.16727367 0.98565726 0.02238635] [-0.00724107 -0.02393371 0.99968654]] t_gt: [-0.60673771 0.78761266 0.10740415] Pose Error in degrees for R and t: 8.058635944288364 45.270108446586974 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 2.03263599e-01 9.79124052e-01 1.14237641e-05] [-9.79122198e-01 2.03263237e-01 -1.94357083e-03] [-1.90531898e-03 3.83871940e-04 9.99998111e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97579149 0.21822078 -0.01455566] [-0.2178448 0.97569496 0.02377936] [ 0.01939079 -0.02003237 0.99961105]] t_gt: [-0.57252518 0.81980059 -0.01191277] Pose Error in degrees for R and t: 65.69631831713475 35.29370751006486 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-2.15579744e-01 -9.76486188e-01 -3.15022855e-04] [-9.76485607e-01 2.15579960e-01 -1.06762888e-03] [ 1.11043747e-03 7.74561237e-05 -9.99999380e-01]] t_estimated: [[0.77153905] [0.63618132] [0.00090238]] R_gt: [[ 0.95041119 0.31031187 0.02064407] [-0.30967032 0.95039425 -0.02925762] [-0.02869899 0.02141424 0.99935824]] t_gt: [-0.50697763 0.86180697 0.01619949] Pose Error in degrees for R and t: 179.8505237874095 80.95981909131505 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999372e-01 -1.06995876e-03 3.34593370e-04] [ 1.07001651e-03 9.99999413e-01 -1.72480130e-04] [-3.34408627e-04 1.72838042e-04 9.99999929e-01]] t_estimated: [[0.11913507] [0.99287275] [0.00324721]] R_gt: [[ 9.97959564e-01 -4.66423196e-02 4.36047937e-02] [ 4.66222693e-02 9.98911506e-01 1.46890049e-03] [-4.36258785e-02 5.68019817e-04 9.99047716e-01]] t_gt: [ 0.57433012 -0.78682199 0.2259559 ] Pose Error in degrees for R and t: 3.6032565673754133 44.597431269773146 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999681e-01 7.67473246e-04 2.20612209e-04] [-7.67465509e-04 9.99999705e-01 -3.51526544e-05] [-2.20639122e-04 3.49833310e-05 9.99999975e-01]] t_estimated: [[ 9.99993995e-01] [-3.45769189e-03] [-2.31035874e-04]] R_gt: [[ 0.99250892 -0.11784127 0.03224698] [ 0.11783347 0.99303105 0.00213152] [-0.03227281 0.00168579 0.99947716]] t_gt: [ 0.7520565 -0.65727009 0.04906175] Pose Error in degrees for R and t: 7.056765663798836 41.03459787715337 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.00000000e+00 8.50885801e-06 -1.33415777e-07] [-8.50885784e-06 1.00000000e+00 1.26891095e-06] [ 1.33426574e-07 -1.26890982e-06 1.00000000e+00]] t_estimated: [[0.80085251] [0.59886061] [0.001106 ]] R_gt: [[ 0.985323 -0.15542427 0.07058084] [ 0.15331183 0.98757703 0.03445708] [-0.07505878 -0.02312935 0.99691028]] t_gt: [ 0.67711065 -0.7067082 0.20514553] Pose Error in degrees for R and t: 9.968237831903515 83.14985549867492 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.01881220e-01 -4.31983848e-01 4.69345281e-04] [ 4.31983820e-01 9.01881341e-01 1.64267951e-04] [-4.94254853e-04 5.45993870e-05 9.99999876e-01]] t_estimated: [[0.94338246] [0.33170545] [0.00101439]] R_gt: [[ 0.99759658 -0.06693731 -0.01789999] [ 0.0685272 0.99133742 0.11204107] [ 0.01024551 -0.11299777 0.9935419 ]] t_gt: [ 0.47624556 -0.64241363 0.60041227] Pose Error in degrees for R and t: 22.643128219714686 76.30232837930203 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.60616677 0.7953095 0.00668247] [ 0.79533607 -0.60616056 -0.00314876] [ 0.00154641 0.00722349 -0.99997271]] t_estimated: [[0.66542979] [0.74645999] [0.00081849]] R_gt: [[ 0.96299314 -0.26382549 -0.05514856] [ 0.26849584 0.9569001 0.11068623] [ 0.02356968 -0.12139683 0.99232355]] t_gt: [ 0.79618328 -0.54016624 0.2726034 ] Pose Error in degrees for R and t: 173.32259064669648 82.71443492958197 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 7.10720397e-01 -7.03469205e-01 2.75586638e-03] [-7.03471337e-01 -7.10723581e-01 -2.62993852e-04] [ 2.14366730e-03 -1.75175791e-03 -9.99996168e-01]] t_estimated: [[0.60936091] [0.79289246] [0.0009041 ]] R_gt: [[ 0.86408817 -0.50233243 -0.03184574] [ 0.50328831 0.86318097 0.04024359] [ 0.0072731 -0.05080091 0.99868234]] t_gt: [ 0.91276318 -0.40264511 0.06884973] Pose Error in degrees for R and t: 177.93705332737792 76.28985434625866 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 5.14342991e-01 -8.57584536e-01 -2.26794471e-04] [ 8.57580283e-01 5.14339568e-01 3.29649844e-03] [-2.71037671e-03 -1.89002533e-03 9.99994541e-01]] t_estimated: [[ 0.88712258] [-0.46152106] [ 0.00344145]] R_gt: [[ 0.97988356 0.19762704 0.0277975 ] [-0.19609965 0.97931876 -0.04979611] [-0.03706395 0.04334441 0.9983726 ]] t_gt: [-0.83965442 0.51968203 -0.15783233] Pose Error in degrees for R and t: 70.48033411742787 9.848399044848106 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.99584193 -0.0910461 -0.00307607] [ 0.09106107 0.99583204 0.00514127] [ 0.00259516 -0.00540001 0.99998205]] t_estimated: [[0.06404285] [0.99791942] [0.00743902]] R_gt: [[ 0.94998046 0.30938087 0.0426874 ] [-0.30837709 0.95083594 -0.02854046] [-0.04941835 0.01394981 0.99868044]] t_gt: [-0.83628617 0.54828862 0.00224146] Pose Error in degrees for R and t: 23.448582083095456 60.42210420359815 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.75731835 0.15223731 -0.63505332] [ 0.53649271 0.40942891 0.73793194] [ 0.37234996 -0.89955087 0.22839382]] t_estimated: [[-0.47110954] [-0.6055226 ] [ 0.6414033 ]] R_gt: [[ 0.84518891 0.53238282 0.04717456] [-0.5304621 0.84636475 -0.04770711] [-0.06532513 0.01529832 0.99774703]] t_gt: [-0.78348358 0.62140644 0.00273983] Pose Error in degrees for R and t: 92.64532299892343 89.68992989958485 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.0213409 0.99948385 -0.02401234] [ 0.99915957 -0.02048095 0.03550622] [ 0.0349961 -0.02474989 -0.99908094]] t_estimated: [[-0.48704687] [-0.87315137] [-0.01979993]] R_gt: [[ 0.99629015 0.08466546 -0.01541886] [-0.08455385 0.99638842 0.00782615] [ 0.01602463 -0.00649349 0.99985062]] t_gt: [-0.77446815 0.62413937 -0.10319463] Pose Error in degrees for R and t: 176.64311096403657 80.46078557990255 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99997469e-01 2.12955112e-03 -7.26383191e-04] [-2.12900839e-03 9.99997455e-01 7.47134587e-04] [ 7.27972403e-04 -7.45586220e-04 9.99999457e-01]] t_estimated: [[-0.69839889] [-0.71570834] [-0.00075259]] R_gt: [[ 0.99479718 0.0993931 -0.02234274] [-0.09926329 0.99503733 0.00688384] [ 0.0229142 -0.00462978 0.99972707]] t_gt: [-0.75366527 0.62769866 -0.19489241] Pose Error in degrees for R and t: 5.726091578765329 85.5691139587605 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-3.66528692e-01 9.30406749e-01 -3.17835634e-06] [-9.30404864e-01 -3.66527956e-01 -2.01168571e-03] [-1.87285092e-03 -7.34383375e-04 9.99997977e-01]] t_estimated: [[0.008859 ] [0.99996015] [0.00110738]] R_gt: [[ 0.99968469 0.00983424 -0.02310928] [-0.00882184 0.99901451 0.04350796] [ 0.0235138 -0.04328944 0.99878549]] t_gt: [ 0.41721621 -0.83921125 0.34879091] Pose Error in degrees for R and t: 110.99393845488135 33.37422209176263 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.32525289 -0.75276925 0.57231898] [-0.92909578 0.14171904 -0.34160907] [ 0.17604431 -0.64284848 -0.74548925]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99198815 0.04737447 0.11711197] [-0.04883469 0.99876027 0.00963824] [-0.116511 -0.01527945 0.99307165]] t_gt: [-0.53068242 0.29284695 0.79537213] Pose Error in degrees for R and t: 158.33167673536354 83.91793988413801 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-2.14996170e-01 -9.76611401e-01 -2.61133696e-03] [ 9.76614229e-01 -2.14998370e-01 5.90056976e-04] [-1.13768956e-03 -2.42340884e-03 9.99996416e-01]] t_estimated: [[0.99976556] [0.02157767] [0.00179814]] R_gt: [[ 0.98723414 0.09451942 0.12819933] [-0.09661779 0.99526834 0.01024107] [-0.12662451 -0.0224966 0.99169513]] t_gt: [-0.65936032 0.39437312 0.6400889 ] Pose Error in degrees for R and t: 108.09955985945935 49.492685408892854 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.88179677 -0.47122276 0.01958483] [-0.47137217 0.88192708 -0.00359218] [-0.01557967 -0.01239931 -0.99980175]] t_estimated: [[0.99522177] [0.09631178] [0.01605196]] R_gt: [[ 0.98784771 0.12637729 0.0904726 ] [-0.1272149 0.99186887 0.00353444] [-0.08929148 -0.01500019 0.99589275]] t_gt: [-0.76501903 0.49408397 0.41307011] Pose Error in degrees for R and t: 173.79158708084853 44.99674956573651 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.52340591 0.82283629 -0.22132938] [ 0.83304886 0.54874575 0.07005494] [ 0.1790973 -0.14771102 -0.9726796 ]] t_estimated: [[ 0.95026865] [-0.30005739] [-0.08339699]] R_gt: [[ 0.99742035 0.06998558 -0.01599059] [-0.06985196 0.99751919 0.00876586] [ 0.01656415 -0.00762559 0.99983371]] t_gt: [-0.79027916 0.60738496 -0.08088484] Pose Error in degrees for R and t: 165.87676910270278 22.10705360960265 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.34025426e-01 3.57203068e-01 -1.57233274e-03] [-3.57203701e-01 9.34026498e-01 -1.32639274e-04] [ 1.42122129e-03 6.85531530e-04 9.99998755e-01]] t_estimated: [[-0.93892106] [ 0.34411637] [-0.00334174]] R_gt: [[ 0.99402693 0.09207133 -0.05860206] [-0.09093948 0.99562021 0.02169972] [ 0.06034347 -0.01623961 0.99804557]] t_gt: [-0.76751966 0.57835776 -0.2764342 ] Pose Error in degrees for R and t: 16.058204427960234 22.98802186260381 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.98415817e-01 -5.62656625e-02 -1.77224772e-04] [ 5.62656900e-02 9.98415819e-01 1.54129865e-04] [ 1.68271797e-04 -1.63857370e-04 9.99999972e-01]] t_estimated: [[-3.82580730e-01] [ 9.23921997e-01] [ 3.58666282e-04]] R_gt: [[ 0.9933486 0.07978822 -0.0830253 ] [-0.08142864 0.99654242 -0.01656103] [ 0.08141669 0.02321224 0.99640905]] t_gt: [-0.65753214 0.52755546 -0.53790029] Pose Error in degrees for R and t: 9.231081815926274 42.37187099925998 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.98085629e-01 -6.18472031e-02 8.51051133e-06] [ 6.18472027e-02 9.98085628e-01 4.33241079e-05] [-1.11736939e-05 -4.27148181e-05 9.99999999e-01]] t_estimated: [[-9.32053519e-02] [ 9.95646856e-01] [-3.16565915e-04]] R_gt: [[ 0.99906511 -0.0353895 -0.02480968] [ 0.03701344 0.99697195 0.06838504] [ 0.02231412 -0.06923937 0.99735065]] t_gt: [ 0.36213527 -0.74328956 0.56247549] Pose Error in degrees for R and t: 4.420704899146621 39.28690746143511 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.45182106 -0.89209502 0.00491911] [-0.89208592 -0.45176341 0.00961924] [-0.006359 -0.00873445 -0.99994163]] t_estimated: [[0.40505202] [0.91427083] [0.00645904]] R_gt: [[ 0.9976393 -0.06297896 -0.0273764 ] [ 0.06675756 0.98289652 0.17163525] [ 0.01609786 -0.17305761 0.98478016]] t_gt: [ 0.31561756 -0.65257704 0.68886048] Pose Error in degrees for R and t: 171.58138721233655 62.332403178917424 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 5.20630672e-01 8.53781535e-01 8.91206665e-04] [ 8.53716372e-01 -5.20603311e-01 1.18553546e-02] [ 1.05858480e-02 -5.41142350e-03 -9.99929326e-01]] t_estimated: [[0.68783235] [0.72586916] [0.00079243]] R_gt: [[ 0.97625383 -0.20218732 -0.07777023] [ 0.21420823 0.95450438 0.2074524 ] [ 0.03228725 -0.21918511 0.97514876]] t_gt: [ 0.61511237 -0.60322702 0.50769473] Pose Error in degrees for R and t: 167.1052146824845 89.1767812339597 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99953071e-01 9.68620977e-03 -1.80613683e-04] [-9.68617151e-03 9.99953066e-01 2.11546933e-04] [ 1.82654294e-04 -2.09787550e-04 9.99999961e-01]] t_estimated: [[-9.95497902e-01] [-9.47828802e-02] [-3.63174424e-04]] R_gt: [[ 0.98191685 0.18844859 0.01808834] [-0.18777137 0.98163171 -0.03378012] [-0.02412114 0.02977236 0.99926541]] t_gt: [-0.85404631 0.50373468 -0.12983169] Pose Error in degrees for R and t: 10.525901206054892 36.63020549441745 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.88356526e-01 1.52155742e-01 -9.31806189e-05] [-1.52155746e-01 9.88356529e-01 -3.64535706e-05] [ 8.65490530e-05 5.02070909e-05 9.99999995e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95160893 0.30269692 0.05305589] [-0.30084811 0.95282819 -0.04011789] [-0.06269565 0.02221491 0.99778481]] t_gt: [-0.82666905 0.56233453 -0.01995389] Pose Error in degrees for R and t: 9.620482778793626 34.417932787924535 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.08264823 -0.99639916 -0.01892035] [ 0.99650771 -0.0824007 -0.01350991] [ 0.01190222 -0.01997085 0.99972971]] t_estimated: [[9.44705117e-01] [3.27920263e-01] [7.36899467e-04]] R_gt: [[ 0.87252052 0.48518272 0.05749832] [-0.4839422 0.87440923 -0.03476253] [-0.06714349 0.00250499 0.99774006]] t_gt: [-0.79200323 0.60990787 0.02726295] Pose Error in degrees for R and t: 123.84337405106403 56.7571911923631 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.92957974e-01 -1.18464941e-01 -7.21243812e-04] [ 1.18466026e-01 9.92956623e-01 1.71628931e-03] [ 5.12843709e-04 -1.78964604e-03 9.99998267e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 9.96919337e-01 6.28313650e-02 -4.69588147e-02] [-6.29237491e-02 9.98018960e-01 -4.95827076e-04] [ 4.68350671e-02 3.44974617e-03 9.98897237e-01]] t_gt: [-0.53005663 0.57806777 -0.62038507] Pose Error in degrees for R and t: 10.744396478230561 85.4325648434605 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999986e-01 7.07484923e-05 1.53872282e-04] [-7.07243572e-05 9.99999985e-01 -1.56851344e-04] [-1.53883377e-04 1.56840459e-04 9.99999976e-01]] t_estimated: [[0.99844115] [0.05579524] [0.0014683 ]] R_gt: [[ 0.9989896 0.0239439 -0.03805496] [-0.0226345 0.99915001 0.03447274] [ 0.0388491 -0.03357536 0.99868079]] t_gt: [ 0.25105591 -0.72441811 -0.64201973] Pose Error in degrees for R and t: 3.240996152359381 77.91850269398418 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.74401027e-01 -2.24811311e-01 1.58543720e-03] [-2.24815917e-01 -9.74393398e-01 3.91278926e-03] [ 6.65200257e-04 -4.16905739e-03 -9.99991088e-01]] t_estimated: [[0.22734777] [0.97380626] [0.00378913]] R_gt: [[ 0.99331003 -0.100086 -0.05760441] [ 0.10212513 0.99420424 0.03359946] [ 0.0539083 -0.03925686 0.99777458]] t_gt: [ 0.75268479 -0.65379894 -0.07754058] Pose Error in degrees for R and t: 178.05577009282754 62.23500528216611 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.98811144e-01 -4.87472859e-02 1.64521720e-05] [ 4.87472859e-02 9.98811144e-01 -7.15398328e-07] [-1.63977390e-05 1.51654656e-06 1.00000000e+00]] t_estimated: [[ 9.96965081e-01] [-7.78498644e-02] [-1.60900909e-04]] R_gt: [[ 0.99743269 -0.07124604 0.00722315] [ 0.0713141 0.99740668 -0.00972035] [-0.00651253 0.01020958 0.99992619]] t_gt: [ 0.44930555 -0.89267116 0.03553469] Pose Error in degrees for R and t: 1.467917296324133 58.83994439966466 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-9.99547449e-01 2.15491446e-02 2.09888481e-02] [ 2.15676959e-02 9.99767174e-01 6.57872912e-04] [-2.09697847e-02 1.11025628e-03 -9.99779493e-01]] t_estimated: [[0.99993993] [0.00188975] [0.01079676]] R_gt: [[ 0.99411405 -0.10824349 0.00466591] [ 0.10830046 0.99401192 -0.01456305] [-0.00306119 0.01498173 0.99988349]] t_gt: [ 0.44865447 -0.89267351 -0.04293206] Pose Error in degrees for R and t: 178.5667296129586 63.482120433812135 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.00347295 -0.99988096 -0.0150333 ] [-0.9999273 0.00364592 -0.01149334] [ 0.01154679 0.01499229 -0.99982094]] t_estimated: [[ 0.72454585] [ 0.68919769] [-0.00631312]] R_gt: [[ 0.97753749 -0.20678522 0.04075851] [ 0.20654255 0.97838549 0.0101106 ] [-0.04196851 -0.00146596 0.99911756]] t_gt: [ 0.47222343 -0.8545141 0.21635779] Pose Error in degrees for R and t: 179.1290507574762 75.632081639725 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-9.24951053e-01 3.79954116e-01 -1.00209600e-02] [-3.79981677e-01 -9.24993543e-01 9.32845948e-04] [-8.91488468e-03 4.67061804e-03 9.99949354e-01]] t_estimated: [[0.93504938] [0.35451565] [0.0011473 ]] R_gt: [[ 0.995323 -0.09658647 -0.00216337] [ 0.09652242 0.99512144 -0.0204199 ] [ 0.00412546 0.02011529 0.99978859]] t_gt: [ 0.85610503 -0.48803065 -0.17003019] Pose Error in degrees for R and t: 163.2043994263665 51.149468854966315 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99956540e-01 -9.32298048e-03 2.01314861e-05] [ 9.32297399e-03 9.99956495e-01 3.01147688e-04] [-2.29382043e-05 -3.00946915e-04 9.99999954e-01]] t_estimated: [[9.96505219e-01] [8.35285978e-02] [5.67013094e-04]] R_gt: [[ 0.98643824 -0.16375567 0.01111825] [ 0.16378763 0.98649294 -0.00201559] [-0.01063828 0.00380811 0.99993613]] t_gt: [ 0.87134729 -0.48963591 0.03178948] Pose Error in degrees for R and t: 8.915884664446027 34.16522743125248 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99536819e-01 -3.04302400e-02 -3.84540682e-04] [ 3.04303437e-02 9.99536854e-01 2.66801431e-04] [ 3.76243752e-04 -2.78379559e-04 9.99999890e-01]] t_estimated: [[ 0.9454174 ] [-0.32584487] [-0.00332742]] R_gt: [[ 0.99593116 -0.08546446 0.02859652] [ 0.0857607 0.9962722 -0.00929368] [-0.02769578 0.01170751 0.99954749]] t_gt: [ 0.96029675 -0.23008517 0.15776874] Pose Error in degrees for R and t: 3.6191820842478446 10.787424037716868 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.99061481e-01 -4.33146176e-02 4.24158014e-05] [ 4.33146164e-02 9.99061481e-01 2.78158452e-05] [-4.35808261e-05 -2.59525153e-05 9.99999999e-01]] t_estimated: [[2.71800834e-01] [9.62353212e-01] [7.75492290e-04]] R_gt: [[ 0.99832923 0.03754919 0.04391345] [-0.03805087 0.99921836 0.01066517] [-0.04347729 -0.0123182 0.99897809]] t_gt: [-0.82559209 -0.25697844 0.50235424] Pose Error in degrees for R and t: 5.32125556426022 61.880565250097064 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.04616982e-01 4.26224762e-01 7.54501479e-04] [-4.26224575e-01 9.04617295e-01 -4.01380106e-04] [-8.53613227e-04 4.15081878e-05 9.99999635e-01]] t_estimated: [[-0.15554149] [ 0.98782867] [ 0.00116407]] R_gt: [[ 0.99727381 -0.04381391 0.05936744] [ 0.0426705 0.99888065 0.02040163] [-0.0601933 -0.01781331 0.99802716]] t_gt: [ 0.30902666 -0.84118617 0.44374357] Pose Error in degrees for R and t: 27.93203132574467 28.538325925771733 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.95545942e-01 9.42583792e-02 -1.90651632e-03] [-9.42572050e-02 9.95547635e-01 6.96815905e-04] [ 1.96370855e-03 -5.14009347e-04 9.99997940e-01]] t_estimated: [[0.62954463] [0.77696377] [0.00092716]] R_gt: [[ 0.99273787 -0.10305528 0.06205233] [ 0.10167316 0.99450226 0.02505027] [-0.0642914 -0.01855903 0.99775784]] t_gt: [ 0.57897627 -0.77752391 0.24544461] Pose Error in degrees for R and t: 11.953573933873384 76.14952226937693 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999984e-01 1.51900905e-04 -9.22624790e-05] [-1.51905577e-04 9.99999987e-01 -5.06323741e-05] [ 9.22547867e-05 5.06463885e-05 9.99999994e-01]] t_estimated: [[-0.63085478] [-0.77589896] [-0.00174752]] R_gt: [[ 0.99142245 0.130414 0.00869013] [-0.13047978 0.99142244 0.00746394] [-0.00764261 -0.00853398 0.99993399]] t_gt: [-0.62225884 0.77956105 0.07126361] Pose Error in degrees for R and t: 7.516128192685153 77.73519529434681 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99777796 -0.06658921 0.00224059] [ 0.06660374 0.99775358 -0.00719333] [-0.00175656 0.00732658 0.99997162]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.98112241 0.19264555 -0.01697351] [-0.19332789 0.97926602 -0.06050842] [ 0.0049649 0.06264727 0.99802266]] t_gt: [-0.51869516 0.83625015 -0.17787921] Pose Error in degrees for R and t: 15.296632781789652 83.17906968716404 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.0170287 0.99972185 -0.01631689] [-0.99982414 0.01689768 -0.00813395] [-0.00785597 0.01645253 0.99983379]] t_estimated: [[0.64628147] [0.76309761] [0.00151709]] R_gt: [[ 0.95605433 0.29269081 0.01715184] [-0.29165639 0.95539639 -0.04642525] [-0.02997545 0.03938336 0.99877405]] t_gt: [-0.49254857 0.8702381 -0.00903087] Pose Error in degrees for R and t: 72.05438974307981 69.77315395094948 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-2.24997317e-01 -9.74359357e-01 -2.26310584e-04] [-9.74359372e-01 2.24997343e-01 -9.94039920e-05] [ 1.47774490e-04 1.98142207e-04 -9.99999969e-01]] t_estimated: [[0.79855484] [0.60192145] [0.00085866]] R_gt: [[ 0.98615659 0.16414851 0.02344228] [-0.16359161 0.98623669 -0.02398815] [-0.02705704 0.01982103 0.9994373 ]] t_gt: [-0.39390914 0.91778763 0.05001467] Pose Error in degrees for R and t: 179.66023361870816 76.23613432564409 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999898e-01 -4.15233066e-04 -1.78179577e-04] [ 4.15248995e-04 9.99999910e-01 8.93703759e-05] [ 1.78142452e-04 -8.94443557e-05 9.99999980e-01]] t_estimated: [[-9.86291238e-01] [-1.65013590e-01] [-3.29162965e-04]] R_gt: [[ 0.977346 0.21073492 0.01963279] [-0.21006837 0.97718195 -0.03143135] [-0.02580893 0.02659483 0.99931307]] t_gt: [-0.33569835 0.94193933 0.00754476] Pose Error in degrees for R and t: 12.358811267119544 79.88286980226583 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.70175891 -0.38524081 -0.59926951] [-0.05279041 -0.8107487 0.58300919] [-0.71045591 0.44076758 0.5486131 ]] t_estimated: [[0.76200076] [0.63500064] [0.12700013]] R_gt: [[ 0.9466824 0.32067747 0.03093847] [-0.31693838 0.94424511 -0.08916848] [-0.0578075 0.07460893 0.99553553]] t_gt: [-0.28024246 0.95976064 0.01799084] Pose Error in degrees for R and t: 173.4896717457574 66.5350192315981 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.9965059 0.08344442 -0.0036075 ] [-0.08342787 0.99650358 0.00451736] [ 0.00397184 -0.00420061 0.99998329]] t_estimated: [[-0.99844139] [-0.05546897] [-0.00616322]] R_gt: [[ 0.99980257 -0.01882087 0.0062209 ] [ 0.01892062 0.99968623 -0.01638451] [-0.0059104 0.01649999 0.9998458 ]] t_gt: [ 0.65738752 -0.68072607 -0.32319293] Pose Error in degrees for R and t: 6.014473185421975 51.93086752098041 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.86959558e-01 1.60967001e-01 -6.74829663e-04] [-1.60965371e-01 9.86958004e-01 2.01197667e-03] [ 9.89890387e-04 -1.87711540e-03 9.99997748e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.99641835 -0.08415221 -0.00820441] [ 0.08380116 0.99581564 -0.03644989] [ 0.0112372 0.03563235 0.99930168]] t_gt: [ 0.71078155 -0.61999335 -0.3322617 ] Pose Error in degrees for R and t: 14.257904121186646 72.40522111574597 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.73708430e-01 -2.27361525e-01 1.40936584e-02] [ 2.27797917e-01 9.71857790e-01 -6.00045400e-02] [-5.43079516e-05 6.16374325e-02 9.98098604e-01]] t_estimated: [[0.99995119] [0.00980344] [0.00122543]] R_gt: [[ 0.97274852 -0.23184993 0.00230317] [ 0.23177311 0.97206058 -0.03714672] [ 0.0063742 0.03666901 0.99930702]] t_gt: [ 0.79817146 -0.58924801 -0.12533597] Pose Error in degrees for R and t: 1.4969089162205538 37.60820539516859 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99785117e-01 -2.07295068e-02 9.06437970e-05] [ 2.07294963e-02 9.99785114e-01 1.15210072e-04] [-9.30125669e-05 -1.13306315e-04 9.99999989e-01]] t_estimated: [[9.42774849e-01] [3.33429728e-01] [4.48390787e-04]] R_gt: [[ 0.98911003 -0.13928565 0.04756197] [ 0.14022293 0.98997512 -0.01696406] [-0.04472171 0.02344885 0.99872422]] t_gt: [ 0.63790269 -0.74764219 0.18469246] Pose Error in degrees for R and t: 7.43557293689978 69.37835182852471 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-9.77411206e-01 -2.11345668e-01 -5.86369760e-04] [-2.11346476e-01 9.77406786e-01 2.93958307e-03] [-4.81463647e-05 2.99710861e-03 -9.99995508e-01]] t_estimated: [[9.77918175e-01] [2.08986554e-01] [8.14649380e-04]] R_gt: [[ 0.97093604 -0.23109716 0.06227295] [ 0.23398429 0.97125169 -0.04384075] [-0.05035034 0.05713779 0.99709528]] t_gt: [ 0.65974091 -0.74954968 0.05401118] Pose Error in degrees for R and t: 177.07179425470767 60.75331076584361 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.82149381 -0.56989879 0.0190602 ] [-0.56992037 0.82168584 0.0048113 ] [-0.01840345 -0.00691035 -0.99980676]] t_estimated: [[0.95265175] [0.3039262 ] [0.00913852]] R_gt: [[ 0.98160322 -0.18192429 0.05796835] [ 0.1839204 0.98244657 -0.03116918] [-0.0512801 0.04125806 0.99783145]] t_gt: [ 0.58236512 -0.80503267 0.11301885] Pose Error in degrees for R and t: 176.5073110776435 71.87124309709145 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.00135046 -0.99999618 -0.00241068] [ 0.99999678 -0.00134528 -0.00215005] [ 0.0021468 -0.00241358 0.99999478]] t_estimated: [[9.99927425e-01] [1.20470199e-02] [1.19574981e-04]] R_gt: [[ 0.99768577 -0.06772672 0.00601975] [ 0.06784417 0.99744775 -0.02227261] [-0.00449555 0.02262959 0.99973334]] t_gt: [ 0.54229727 -0.8245595 -0.16129257] Pose Error in degrees for R and t: 86.19911938452015 57.83866318117949 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 1.65659351e-01 9.86182947e-01 4.16722090e-04] [-9.86181647e-01 1.65659812e-01 -1.60780902e-03] [-1.65462794e-03 -1.44615078e-04 9.99998621e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99978083 -0.00692317 0.01977375] [ 0.00724253 0.99984358 -0.01614569] [-0.01965872 0.01628567 0.99967362]] t_gt: [-0.57790923 -0.75515815 0.30944642] Pose Error in degrees for R and t: 80.87947397171153 40.67438903406288 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.96519904e-01 -8.33551310e-02 5.02670525e-05] [ 8.33551188e-02 9.96519885e-01 2.09045169e-04] [-6.75171048e-05 -2.04127655e-04 9.99999977e-01]] t_estimated: [[9.35747239e-01] [3.52670246e-01] [8.95527037e-04]] R_gt: [[ 9.98131889e-01 3.70909482e-04 6.10943187e-02] [ 1.26473818e-03 9.99641917e-01 -2.67510446e-02] [-6.10817834e-02 2.67789333e-02 9.97772965e-01]] t_gt: [-0.61175744 -0.330721 0.71859339] Pose Error in degrees for R and t: 6.102954691618154 46.493072826609634 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99988258e-01 4.84480374e-03 -1.12857474e-04] [-4.84477876e-03 9.99988240e-01 2.20583184e-04] [ 1.13924829e-04 -2.20033824e-04 9.99999969e-01]] t_estimated: [[ 9.99997503e-01] [-2.04766767e-03] [ 8.95532564e-04]] R_gt: [[ 9.94594121e-01 1.02940400e-01 -1.36571977e-02] [-1.02938307e-01 9.94687448e-01 8.45033663e-04] [ 1.36721613e-02 5.65805554e-04 9.99906409e-01]] t_gt: [-0.00116609 0.98990407 -0.14173416] Pose Error in degrees for R and t: 5.684394114502242 89.80977686781428 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99207799e-01 3.97966613e-02 1.45498833e-05] [-3.97966608e-02 9.99207799e-01 -3.40187392e-05] [-1.58921891e-05 3.34127528e-05 9.99999999e-01]] t_estimated: [[9.24467239e-01] [3.81260516e-01] [8.61831098e-04]] R_gt: [[ 0.99286435 0.11831067 0.01495251] [-0.11763367 0.99224824 -0.0400714 ] [-0.01957687 0.03802692 0.99908467]] t_gt: [ 0.02526642 0.98939473 -0.1430373 ] Pose Error in degrees for R and t: 5.120751053669008 66.39357104400308 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.92759087e-01 1.20122334e-01 1.40758507e-04] [-1.20122322e-01 9.92759094e-01 -9.29620146e-05] [-1.50906102e-04 7.53806460e-05 9.99999986e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.99717507 0.06896401 0.02976303] [-0.06701163 0.99580849 -0.06224329] [-0.03393087 0.06007316 0.99761742]] t_gt: [ 0.50368306 0.83621493 -0.21690541] Pose Error in degrees for R and t: 4.955794505620038 53.650213623660214 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.31895684 -0.94775348 -0.0054652 ] [-0.94772006 0.31887625 0.01202611] [-0.00965506 0.00901529 -0.99991275]] t_estimated: [[0.78004403] [0.62571439] [0.00357837]] R_gt: [[ 9.79738212e-01 2.00228406e-01 -4.69945768e-03] [-2.00281982e-01 9.79568535e-01 -1.82559846e-02] [ 9.46942797e-04 1.88277209e-02 9.99821612e-01]] t_gt: [-0.38096772 0.92280922 -0.05733011] Pose Error in degrees for R and t: 179.31395843571602 73.73751149589368 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.98482943e-01 5.50616734e-02 -1.54673783e-04] [-5.50616605e-02 9.98482952e-01 8.67293160e-05] [ 1.59214597e-04 -7.80811474e-05 9.99999984e-01]] t_estimated: [[-9.99991562e-01] [-4.09208521e-03] [-3.60340646e-04]] R_gt: [[ 0.95561546 0.29460121 0.0032858 ] [-0.29442769 0.95533417 -0.02550735] [-0.0106539 0.02340793 0.99966905]] t_gt: [-0.32291915 0.94598494 -0.02890871] Pose Error in degrees for R and t: 14.052613421147578 71.3941673610074 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.86010093e-01 1.66685599e-01 -8.46885281e-05] [-1.66685612e-01 9.86010078e-01 -1.80940653e-04] [ 5.33435410e-05 1.92525669e-04 9.99999980e-01]] t_estimated: [[-9.99324245e-01] [-3.67487747e-02] [-7.62272494e-04]] R_gt: [[ 0.93189932 0.36270004 0.00345821] [-0.36161706 0.92977228 -0.06897692] [-0.02823369 0.06302939 0.99761164]] t_gt: [-0.26651607 0.96296999 -0.0407183 ] Pose Error in degrees for R and t: 12.31297093728843 76.64528143573456 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999816e-01 -6.07112483e-04 -4.44675793e-06] [ 6.07112602e-04 9.99999815e-01 2.69022115e-05] [ 4.43042444e-06 -2.69049062e-05 1.00000000e+00]] t_estimated: [[0.01636684] [0.99986495] [0.00148789]] R_gt: [[ 0.99622111 0.08604856 -0.01184512] [-0.08575099 0.99603226 0.02378657] [ 0.01384425 -0.02268168 0.99964735]] t_gt: [-0.28399898 0.95322581 0.10346565] Pose Error in degrees for R and t: 5.190946718933596 18.44951871267161 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.20565328 -0.97859009 0.00825629] [-0.97861132 -0.20559862 0.00700727] [-0.00515976 -0.00952076 -0.99994136]] t_estimated: [[0.58709502] [0.80946805] [0.00899524]] R_gt: [[ 0.98667494 0.16098902 0.02357179] [-0.16172869 0.98625484 0.03383066] [-0.0178031 -0.03719182 0.99915014]] t_gt: [-0.31383302 0.91031111 0.26989352] Pose Error in degrees for R and t: 177.04816836055437 56.28613653245315 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-7.76646084e-01 -6.29936250e-01 -1.08721674e-03] [-6.29937026e-01 7.76643492e-01 2.05673888e-03] [-4.51234577e-04 2.28223628e-03 -9.99997294e-01]] t_estimated: [[9.42670116e-01] [3.33724997e-01] [8.24012339e-04]] R_gt: [[ 0.98514703 0.17104345 0.01517414] [-0.17136083 0.98494387 0.0228339 ] [-0.0110406 -0.0250949 0.99962386]] t_gt: [-0.16701876 0.97008154 0.1762003 ] Pose Error in degrees for R and t: 178.8587474953807 80.4189832895033 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999980e-01 -2.02166069e-04 -7.68385707e-06] [ 2.02165872e-04 9.99999979e-01 -2.56210726e-05] [ 7.68903662e-06 2.56195187e-05 1.00000000e+00]] t_estimated: [[ 9.98516958e-01] [-5.44414817e-02] [-9.34487508e-05]] R_gt: [[ 9.98519337e-01 -5.44004696e-02 -8.91925899e-04] [ 5.43578278e-02 9.98173875e-01 -2.63589884e-02] [ 2.32479470e-03 2.62720123e-02 9.99652177e-01]] t_gt: [ 0.54058864 -0.7375653 -0.40467439] Pose Error in degrees for R and t: 3.4531784526982627 54.550942507779396 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99990333e-01 8.16796613e-04 -4.32061636e-03] [-7.94842879e-04 9.99986779e-01 5.08043694e-03] [ 4.32470892e-03 -5.07695361e-03 9.99977760e-01]] t_estimated: [[0.94169069] [0.3364782 ] [0.00102925]] R_gt: [[ 0.98736225 -0.14436042 0.06539766] [ 0.14749699 0.98799344 -0.04597472] [-0.05797508 0.05504 0.9967995 ]] t_gt: [ 0.70535833 -0.70645898 -0.05818362] Pose Error in degrees for R and t: 9.797782234215953 64.75679675908293 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99995624e-01 -2.00919136e-04 2.95162142e-03] [ 2.10258775e-04 9.99994972e-01 -3.16427060e-03] [-2.95097081e-03 3.16487735e-03 9.99990638e-01]] t_estimated: [[0.84897562] [0.52843032] [0.00134119]] R_gt: [[ 0.963238 -0.18143791 0.19812361] [ 0.19430127 0.97979761 -0.04737092] [-0.18552515 0.08412566 0.97903158]] t_gt: [ 0.65306198 -0.67265271 0.34792008] Pose Error in degrees for R and t: 15.879911970229708 78.49518746438146 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.75011105e-01 -2.22154944e-01 -7.25835008e-04] [ 2.22155218e-01 9.75011259e-01 3.21410990e-04] [ 6.36294265e-04 -4.74627319e-04 9.99999685e-01]] t_estimated: [[-0.79945607] [-0.6007214 ] [-0.00194437]] R_gt: [[ 0.99363258 0.10968511 0.02575894] [-0.10828256 0.99282878 -0.05065043] [-0.03112807 0.04753936 0.99838425]] t_gt: [-0.35414337 0.92888116 -0.10845396] Pose Error in degrees for R and t: 19.37750379418805 74.05789768702965 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99051487e-01 4.35443832e-02 -1.18315959e-04] [-4.35443734e-02 9.99051490e-01 8.37273230e-05] [ 1.21849590e-04 -7.84959122e-05 9.99999989e-01]] t_estimated: [[-9.99517608e-01] [ 3.10544148e-02] [-4.16870543e-04]] R_gt: [[ 9.77577349e-01 2.10490260e-01 5.98390230e-03] [-2.10482317e-01 9.77595762e-01 -1.82659172e-03] [-6.23283350e-03 5.26177087e-04 9.99980406e-01]] t_gt: [-0.31813543 0.94800294 -0.00895922] Pose Error in degrees for R and t: 9.662284660167728 69.67007950692498 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.9523436 -0.30499046 -0.00474249] [ 0.3050008 0.95235072 0.00161892] [ 0.00402275 -0.00298823 0.99998744]] t_estimated: [[0.86436917] [0.50285543] [0.00153679]] R_gt: [[ 9.14902629e-01 3.97171992e-01 -7.21651513e-02] [-3.95926306e-01 9.17743683e-01 3.14302559e-02] [ 7.87132932e-02 -1.82624063e-04 9.96897542e-01]] t_gt: [-0.19103077 0.97540365 -0.10997706] Pose Error in degrees for R and t: 41.365453193722004 71.02249542469238 Number of keypoints: Image1: 416 Image2: 416 R_estimated: [[ 9.99999953e-01 -3.03246868e-04 -4.39631232e-05] [ 3.03246488e-04 9.99999954e-01 -8.64661985e-06] [ 4.39657432e-05 8.63328778e-06 9.99999999e-01]] t_estimated: [[-0.23241178] [-0.97261667] [-0.00125565]] R_gt: [[ 0.9991688 0.01511024 0.03786525] [-0.01309031 0.99850757 -0.053032 ] [-0.03861006 0.05249256 0.99787473]] t_gt: [-0.07488882 0.98891331 -0.12822685] Pose Error in degrees for R and t: 3.8271049094865064 19.218954942004824 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[ 9.99997740e-01 -2.07192139e-03 -4.75755136e-04] [ 2.07196989e-03 9.99997848e-01 1.01480348e-04] [ 4.75543853e-04 -1.02465869e-04 9.99999882e-01]] t_estimated: [[-0.99995463] [-0.0093746 ] [-0.00169175]] R_gt: [[ 0.99789376 -0.05592351 0.03287118] [ 0.05786902 0.9964223 -0.0616001 ] [-0.02930769 0.06337375 0.99755961]] t_gt: [ 0.71270617 -0.65646822 -0.24718292] Pose Error in degrees for R and t: 5.105643919176647 45.08139573469378 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[-3.54389829e-02 -9.99371810e-01 2.52417816e-04] [-9.99371716e-01 3.54388507e-02 -5.10271471e-04] [ 5.01005526e-04 -2.70342728e-04 -9.99999838e-01]] t_estimated: [[0.82414484] [0.56637787] [0.00118242]] R_gt: [[ 0.99657031 -0.07633606 -0.03194727] [ 0.0762186 0.99707962 -0.00486157] [ 0.03222477 0.00240988 0.99947812]] t_gt: [ 0.6416052 -0.71351743 -0.28148827] Pose Error in degrees for R and t: 178.51991771828241 82.85837896794067 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.94366424 -0.33089412 -0.00262275] [-0.33085671 0.943633 -0.00951849] [ 0.00562453 -0.0081145 -0.99995126]] t_estimated: [[9.77267168e-01] [2.12010664e-01] [6.00485132e-04]] R_gt: [[ 0.96171732 -0.26300464 -0.0769979 ] [ 0.26113338 0.96471658 -0.03362217] [ 0.08312447 0.01222851 0.99646445]] t_gt: [ 0.87149378 -0.44653379 -0.20274655] Pose Error in degrees for R and t: 174.90462707797604 40.80915928012891 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99996344 0.00820207 -0.00241658] [-0.00819049 0.99995511 0.00476402] [ 0.00245555 -0.00474405 0.99998573]] t_estimated: [[9.92510654e-01] [1.22155157e-01] [8.48299704e-04]] R_gt: [[ 0.87679602 -0.47907232 -0.04145834] [ 0.47496995 0.87628196 -0.08083178] [ 0.07505431 0.05118112 0.99586565]] t_gt: [ 0.91744583 -0.36490951 -0.15853771] Pose Error in degrees for R and t: 29.50095275737192 30.018411221894645 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.80098159e-01 -1.98511014e-01 9.88102701e-04] [ 1.98511101e-01 9.80098639e-01 1.02729364e-05] [-9.70477404e-04 1.86080869e-04 9.99999512e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.71287323 -0.69946824 -0.05054343] [ 0.69481352 0.71422559 -0.08435769] [ 0.09510612 0.02501868 0.9951531 ]] t_gt: [ 0.96020079 -0.26316573 -0.09358551] Pose Error in degrees for R and t: 33.358549127348105 25.10536340312439 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99674633e-01 -2.55051551e-02 3.40260628e-04] [ 2.55051684e-02 9.99674690e-01 -3.47979679e-05] [-3.39262410e-04 4.34650503e-05 9.99999942e-01]] t_estimated: [[9.76116126e-01] [2.17247712e-01] [8.60953840e-04]] R_gt: [[ 9.65915528e-01 -2.58686315e-01 9.43764733e-03] [ 2.58857860e-01 9.65326320e-01 -3.37485361e-02] [-3.79830692e-04 3.50420254e-02 9.99386327e-01]] t_gt: [ 0.86750598 -0.4891784 -0.09021009] Pose Error in degrees for R and t: 13.686972187855543 42.231428801223956 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99586021e-01 -2.87712637e-02 -5.14907447e-06] [ 2.87712596e-02 9.99585746e-01 7.42934325e-04] [-1.62282179e-05 -7.42774912e-04 9.99999724e-01]] t_estimated: [[9.16973290e-01] [3.98947573e-01] [9.04744690e-04]] R_gt: [[ 8.43451197e-01 -5.37205536e-01 9.30984827e-04] [ 5.37049617e-01 8.43163481e-01 -2.55657580e-02] [ 1.29488056e-02 2.20634229e-02 9.99673321e-01]] t_gt: [ 0.92543626 -0.37700731 -0.03785789] Pose Error in degrees for R and t: 30.881500267421906 45.72043971627734 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 7.28020023e-01 6.85555510e-01 6.99162589e-04] [-6.85555358e-01 7.28017862e-01 1.96064644e-03] [ 8.35129118e-04 -1.90670453e-03 9.99997834e-01]] t_estimated: [[9.51776395e-01] [3.06792266e-01] [4.47409341e-04]] R_gt: [[ 7.58001145e-01 -6.52253235e-01 -5.95067609e-04] [ 6.52107364e-01 7.57851991e-01 -2.04265877e-02] [ 1.37740541e-02 1.50959980e-02 9.99791885e-01]] t_gt: [ 0.94674926 -0.3210651 -0.02414637] Pose Error in degrees for R and t: 83.99903938604415 36.62257453242781 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.98628967 -0.16479055 -0.00876116] [ 0.16490225 0.98620933 0.01408533] [ 0.00631921 -0.01533695 0.99986241]] t_estimated: [[-0.81914547] [-0.57358509] [-0.00091627]] R_gt: [[ 0.97140348 0.23722327 0.00999182] [-0.23687966 0.97115242 -0.02740355] [-0.01620463 0.02425378 0.99957397]] t_gt: [-0.71498881 0.69762194 -0.04598517] Pose Error in degrees for R and t: 23.351627473500127 79.30525788013829 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 4.73712981e-01 8.80674821e-01 2.80566973e-03] [ 8.80677954e-01 -4.73715407e-01 2.32295813e-04] [ 1.53366605e-03 2.36084994e-03 -9.99996037e-01]] t_estimated: [[-0.47678695] [-0.87901841] [-0.00092044]] R_gt: [[ 0.88462511 0.46105271 0.06977186] [-0.45896079 0.88734259 -0.04448569] [-0.08242143 0.00733186 0.99657031]] t_gt: [-0.64170781 0.76257139 0.08182879] Pose Error in degrees for R and t: 176.34798502877442 68.62738715273298 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.81230492e-01 1.92838588e-01 -4.21876545e-06] [-1.92838579e-01 9.81230437e-01 -3.34629356e-04] [-6.03898715e-05 3.29162069e-04 9.99999944e-01]] t_estimated: [[-9.96428027e-01] [-8.44408145e-02] [-9.67297877e-04]] R_gt: [[ 0.82711727 0.55821189 0.06539814] [-0.55449729 0.82947557 -0.06709989] [-0.09170139 0.01923683 0.99559971]] t_gt: [-0.60152935 0.79649875 0.06125506] Pose Error in degrees for R and t: 23.38578018041312 57.85495244604959 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 0.75788703 0.65210257 -0.01922207] [ 0.65207035 -0.75627548 0.05340094] [ 0.0202857 -0.05300602 -0.99838813]] t_estimated: [[-0.30398523] [ 0.95223528] [ 0.02899902]] R_gt: [[ 0.9987504 0.03262669 0.03787316] [-0.0321369 0.9993926 -0.01348524] [-0.03829073 0.01225053 0.99919165]] t_gt: [-0.73396553 0.39087631 0.55543704] Pose Error in degrees for R and t: 178.19809404923092 52.30716918618876 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 0.95727824 -0.28907643 0.00729339] [-0.28910432 -0.95623051 0.04518741] [-0.00608845 -0.04536547 -0.9989519 ]] t_estimated: [[0.14096411] [0.98975024] [0.02288195]] R_gt: [[ 0.99818022 0.03108347 0.05168982] [-0.0304578 0.99945445 -0.01284296] [-0.05206123 0.01124534 0.99858111]] t_gt: [-0.7568968 0.14559621 0.63710986] Pose Error in degrees for R and t: 177.6261497947394 87.02002624297745 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.80080177e-01 1.98602157e-01 1.73866083e-04] [-1.98602213e-01 9.80080096e-01 4.08352234e-04] [-8.93030527e-05 -4.34748118e-04 9.99999902e-01]] t_estimated: [[0.40503266] [0.91430168] [0.00099273]] R_gt: [[ 0.9995227 -0.02982906 -0.00809921] [ 0.02994163 0.99945148 0.01415192] [ 0.00767197 -0.0143881 0.99986774]] t_gt: [-0.06804969 -0.9976071 -0.01221931] Pose Error in degrees for R and t: 13.199487868587543 20.000720278974722 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.16433891e-01 4.00185836e-01 4.68588998e-04] [-4.00185672e-01 9.16433992e-01 -4.08427451e-04] [-5.92877767e-04 1.86774155e-04 9.99999807e-01]] t_estimated: [[-8.82380805e-01] [ 4.70535983e-01] [-5.90244697e-05]] R_gt: [[ 0.99946989 0.03166965 0.00756055] [-0.03140562 0.99896557 -0.03288733] [-0.00859361 0.03263282 0.99943057]] t_gt: [ 0.49956496 0.71645314 -0.4869597 ] Pose Error in degrees for R and t: 21.864492522457212 84.04998479640079 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 5.60980583e-01 8.27828114e-01 1.18313865e-03] [ 8.27828959e-01 -5.60980059e-01 -7.67372719e-04] [ 2.84644817e-05 1.40991763e-03 -9.99999006e-01]] t_estimated: [[0.84680789] [0.53189709] [0.00137108]] R_gt: [[ 0.99861915 0.01398682 0.05064322] [-0.00978928 0.99656646 -0.0822158 ] [-0.05161901 0.08160761 0.9953272 ]] t_gt: [ 0.82169556 0.46128496 -0.33471269] Pose Error in degrees for R and t: 174.40232911019726 19.827935363297932 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.96781439e-01 -8.01670456e-02 8.75511524e-05] [ 8.01664865e-02 -9.96777549e-01 -2.80233140e-03] [ 3.11923652e-04 -2.78629325e-03 9.99996070e-01]] t_estimated: [[8.13519705e-01] [5.81537007e-01] [6.32105443e-04]] R_gt: [[ 0.99905249 -0.04157012 0.01286597] [ 0.04241148 0.99634789 -0.07410032] [-0.00973861 0.0745756 0.99716711]] t_gt: [ 0.79451028 -0.35968501 -0.48926486] Pose Error in degrees for R and t: 172.99722921554948 64.0956322888526 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.87159509e-01 1.59737591e-01 7.57536798e-05] [-1.59737564e-01 9.87159477e-01 -2.80187492e-04] [-1.19537438e-04 2.64489039e-04 9.99999958e-01]] t_estimated: [[-0.90674891] [-0.42166904] [-0.00127623]] R_gt: [[ 0.99652101 0.00827877 0.08293011] [-0.00499068 0.99919632 -0.03976815] [-0.08319306 0.03921638 0.99576142]] t_gt: [-0.45215184 0.79713393 0.40017024] Pose Error in degrees for R and t: 10.261479218775367 85.79353218962797 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.50935104 -0.86054982 -0.00394009] [-0.86054743 -0.50931535 -0.00748333] [ 0.00443303 0.00720227 -0.99996424]] t_estimated: [[ 0.58335963] [ 0.81220743] [-0.00325975]] R_gt: [[ 0.99012679 0.08740334 0.1095827 ] [-0.07709827 0.99248833 -0.0949904 ] [-0.11706175 0.08560471 0.9894279 ]] t_gt: [-0.34477681 0.93862986 0.01014564] Pose Error in degrees for R and t: 178.23532170899668 55.861159485809424 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 7.29605232e-01 6.83868558e-01 2.80121766e-05] [-6.83868403e-01 7.29605094e-01 -6.44014533e-04] [-4.60859117e-04 4.50719731e-04 9.99999792e-01]] t_estimated: [[-0.97854897] [-0.20601031] [-0.00128756]] R_gt: [[ 0.97959328 0.17341323 0.1016159 ] [-0.16480811 0.98241432 -0.08776204] [-0.1150481 0.06922384 0.99094441]] t_gt: [-0.30111123 0.95289153 0.03646592] Pose Error in degrees for R and t: 34.214449722343325 84.35873486171252 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.10241479 -0.99474074 -0.00144021] [-0.99474032 0.10241205 0.00186161] [-0.00170433 0.00162329 -0.99999723]] t_estimated: [[0.81531005] [0.57902293] [0.00140452]] R_gt: [[ 0.98814751 -0.0859943 0.12716919] [ 0.08719735 0.99618375 -0.00390819] [-0.12634771 0.01494998 0.99187314]] t_gt: [ 0.43929571 -0.54575377 0.71356296] Pose Error in degrees for R and t: 174.93734686843814 87.5263183493863 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.98591439e-01 5.30577162e-02 -1.26815352e-04] [-5.30578578e-02 9.98586937e-01 -2.99868589e-03] [-3.24672706e-05 3.00119061e-03 9.99995496e-01]] t_estimated: [[-0.95219209] [-0.30549065] [-0.00238656]] R_gt: [[ 0.96640273 -0.0814607 0.24378582] [ 0.08721347 0.996107 -0.01287824] [-0.2417887 0.03370657 0.96974339]] t_gt: [ 0.2730156 -0.31498134 0.90898253] Pose Error in degrees for R and t: 16.193856624400038 80.44996889296483 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.16237183 0.98527968 -0.0534728 ] [ 0.94258496 -0.13885173 0.30373308] [ 0.29183724 -0.09972035 -0.95125542]] t_estimated: [[0.79160374] [0.61103426] [0.00080611]] R_gt: [[ 0.93526378 -0.09835392 0.34001327] [ 0.11932313 0.99199757 -0.04126673] [-0.33323384 0.07916585 0.93951485]] t_gt: [ 0.36559086 -0.27324606 0.88976396] Pose Error in degrees for R and t: 179.4063318641413 82.9256256846546 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99575752e-01 2.91257972e-02 5.53501075e-05] [-2.91257955e-02 9.99575754e-01 -3.08757010e-05] [-5.62259048e-05 2.92504862e-05 9.99999998e-01]] t_estimated: [[0.72157432] [0.69233661] [0.00072833]] R_gt: [[ 9.99951170e-01 -9.85804567e-03 -9.47726108e-04] [ 9.85898352e-03 9.99951427e-01 1.02290060e-03] [ 9.37931172e-04 -1.03244588e-03 9.99999143e-01]] t_gt: [ 0.92749337 -0.32760871 -0.18007938] Pose Error in degrees for R and t: 2.234792067119023 63.74871981946807 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-9.94852456e-01 9.90460916e-02 -2.14117264e-02] [ 9.90022657e-02 9.95082380e-01 3.09985773e-03] [ 2.16134604e-02 9.64091654e-04 -9.99765937e-01]] t_estimated: [[ 0.99894998] [-0.04452037] [-0.01081108]] R_gt: [[ 0.99766045 0.05469104 -0.04101204] [-0.05342859 0.99808213 0.03126936] [ 0.04264401 -0.02900521 0.9986692 ]] t_gt: [ 0.27888487 0.912408 -0.29955778] Pose Error in degrees for R and t: 176.28186531862417 76.04204316378232 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.97307436 0.2278081 -0.03506796] [ 0.22783916 0.97369365 0.0031613 ] [ 0.03486562 -0.00491368 -0.99937993]] t_estimated: [[ 0.99073492] [-0.13460141] [-0.01807696]] R_gt: [[ 0.98987808 0.1417938 0.00599558] [-0.14191556 0.98931249 0.0335066 ] [-0.00118016 -0.03401877 0.99942137]] t_gt: [-0.17240393 0.96880748 0.1780139 ] Pose Error in degrees for R and t: 177.97403106158964 72.27628146881717 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-9.54513508e-01 -2.98167109e-01 -5.80813486e-04] [ 2.98167449e-01 -9.54508576e-01 -3.09034323e-03] [ 3.67047256e-04 -3.12295404e-03 9.99995056e-01]] t_estimated: [[0.84862192] [0.52899904] [0.00092644]] R_gt: [[ 9.79618034e-01 2.00391212e-01 1.38666282e-02] [-2.00412017e-01 9.79711274e-01 1.80040248e-04] [-1.35484020e-02 -2.95516539e-03 9.99903779e-01]] t_gt: [-0.38178185 0.92127903 0.07407808] Pose Error in degrees for R and t: 174.21475132980783 80.59361525449181 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-5.46842782e-01 8.37235275e-01 -2.56668943e-04] [-8.37233483e-01 -5.46842201e-01 -1.92416244e-03] [-1.75133408e-03 -8.37322510e-04 9.99998116e-01]] t_estimated: [[0.3023625 ] [0.95319241] [0.00107221]] R_gt: [[ 0.93861646 0.34391767 0.02682139] [-0.34334351 0.93890782 -0.02382343] [-0.0333759 0.01315307 0.99935629]] t_gt: [-0.31269271 0.94814246 0.05700128] Pose Error in degrees for R and t: 103.05788243807231 35.97467050447222 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.96444347 -0.26317053 0.02429135] [ 0.2635093 0.96458298 -0.01193865] [-0.02028912 0.01791515 0.99963363]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.91674233 0.39810444 0.03310544] [-0.39671127 0.91699902 -0.04162096] [-0.04692652 0.02502304 0.99858431]] t_gt: [-0.26965358 0.96113881 0.05915341] Pose Error in degrees for R and t: 38.726547146346235 38.24033586424852 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.74656621e-01 2.23706213e-01 -2.81225760e-05] [-2.23706212e-01 9.74656581e-01 -2.81694448e-04] [-3.56069443e-05 2.80846554e-04 9.99999960e-01]] t_estimated: [[-8.49495090e-01] [ 5.27595861e-01] [-8.36341314e-04]] R_gt: [[ 0.99564491 0.04827128 -0.07975303] [-0.0430631 0.99690469 0.06577731] [ 0.08268221 -0.0620566 0.99464203]] t_gt: [-0.68812972 -0.55449746 -0.46798511] Pose Error in degrees for R and t: 11.890125156826537 72.99808620854907 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.51977881e-01 -3.06165703e-01 8.22739506e-04] [ 3.06165733e-01 9.51978222e-01 9.27233363e-05] [-8.11618798e-04 1.63624079e-04 9.99999657e-01]] t_estimated: [[ 0.73764929] [-0.67518206] [ 0.00164877]] R_gt: [[ 0.98450064 0.09048237 -0.15023729] [-0.07389678 0.9908962 0.11253285] [ 0.15905242 -0.09968641 0.98222367]] t_gt: [-0.68563817 -0.5070204 -0.5223319 ] Pose Error in degrees for R and t: 25.030055418441176 80.5439712323743 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 1.52942848e-01 -9.88233887e-01 -1.50644396e-03] [ 9.88234694e-01 1.52943885e-01 -5.98384824e-04] [ 8.21745552e-04 -1.39720150e-03 9.99998686e-01]] t_estimated: [[ 7.73607320e-01] [-6.33665248e-01] [-2.62402196e-04]] R_gt: [[ 0.98122477 0.06405415 -0.18191943] [-0.04232181 0.99175877 0.12092948] [ 0.18816618 -0.11096007 0.97584895]] t_gt: [-0.07270245 -0.80892306 -0.58340195] Pose Error in degrees for R and t: 85.03801846249434 62.838745271729465 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999985e-01 -1.62879526e-04 5.81160466e-05] [ 1.62886199e-04 9.99999980e-01 -1.14850310e-04] [-5.80973387e-05 1.14859775e-04 9.99999992e-01]] t_estimated: [[0.8385454 ] [0.544831 ] [0.00088996]] R_gt: [[ 0.97417863 -0.21682327 0.06295902] [ 0.21763845 0.97600844 -0.00631684] [-0.06007951 0.01985584 0.99799577]] t_gt: [ 0.57135322 -0.79799808 0.19171479] Pose Error in degrees for R and t: 13.060532566685893 87.44937258867498 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.04368956 0.9990409 0.00291631] [-0.99904419 -0.04368527 -0.00152024] [-0.00139138 -0.00297994 0.99999459]] t_estimated: [[0.02370018] [0.99971679] [0.00215456]] R_gt: [[ 0.92059634 -0.38964325 0.02605008] [ 0.38965351 0.92094846 0.00491577] [-0.02590677 0.00562453 0.99964801]] t_gt: [ 0.67429797 -0.73652969 0.05335045] Pose Error in degrees for R and t: 115.44447982998696 43.926926494271505 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.94836979e-01 1.01485819e-01 1.14321514e-04] [-1.01485810e-01 9.94836984e-01 -8.02798193e-05] [-1.21878533e-04 6.82633215e-05 9.99999990e-01]] t_estimated: [[0.20437143] [0.97889273] [0.0011612 ]] R_gt: [[ 0.84966898 -0.52658136 0.02783424] [ 0.52714519 0.84955307 -0.0194188 ] [-0.01342098 0.03117227 0.99942371]] t_gt: [ 0.72356328 -0.69023327 -0.00584982] Pose Error in degrees for R and t: 37.676768403675716 58.14337700772877 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 5.86862424e-01 -8.09686620e-01 2.70064452e-04] [ 8.09686651e-01 5.86862320e-01 -3.81580180e-04] [ 1.50469715e-04 4.42602651e-04 9.99999891e-01]] t_estimated: [[-0.27639253] [-0.96104425] [-0.00105493]] R_gt: [[ 0.97854745 0.20492795 0.02117805] [-0.20578163 0.97717486 0.05274827] [-0.00988496 -0.05597545 0.9983836 ]] t_gt: [-0.73751276 0.63307293 0.23514589] Pose Error in degrees for R and t: 65.99801451749147 66.1203933562002 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-0.9217673 0.3873684 -0.01705185] [ 0.38736374 0.9219195 0.00370948] [ 0.01715737 -0.00318599 -0.99984773]] t_estimated: [[ 0.97175428] [-0.23584719] [-0.00835001]] R_gt: [[ 0.95796663 0.28530362 0.03001418] [-0.28672886 0.95559223 0.06804477] [-0.00926754 -0.07379124 0.99723093]] t_gt: [-0.70628859 0.67521073 0.21271317] Pose Error in degrees for R and t: 179.31323646358575 32.074140612628234 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 6.02230629e-01 7.98316989e-01 2.87290604e-03] [ 7.98321053e-01 -6.02231886e-01 -5.02689025e-04] [ 1.32885043e-03 2.59623610e-03 -9.99995747e-01]] t_estimated: [[-0.81214738] [-0.58344956] [-0.00180077]] R_gt: [[ 0.89841498 0.43638903 0.04913805] [-0.43892253 0.89588924 0.06876371] [-0.01401486 -0.08334698 0.99642269]] t_gt: [-0.64976158 0.74309847 0.16004548] Pose Error in degrees for R and t: 176.88830678879503 84.61466554460434 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999799e-01 -6.29197972e-04 7.26844148e-05] [ 6.29168636e-04 9.99999721e-01 4.02921142e-04] [-7.29379117e-05 -4.02875330e-04 9.99999916e-01]] t_estimated: [[-0.60160286] [-0.79879491] [-0.00083556]] R_gt: [[ 0.97681025 -0.20203079 -0.07089146] [ 0.20306153 0.97913685 0.00756381] [ 0.06788465 -0.02178455 0.99745488]] t_gt: [ 0.8180521 -0.5687031 -0.08583444] Pose Error in degrees for R and t: 12.358110720702598 87.83406920254596 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999961e-01 -2.82734856e-05 2.78994239e-04] [ 2.83439555e-05 9.99999968e-01 -2.52584747e-04] [-2.78987089e-04 2.52592645e-04 9.99999929e-01]] t_estimated: [[8.25413307e-01] [5.64528394e-01] [7.51932777e-04]] R_gt: [[ 0.96077974 -0.26017937 -0.09597235] [ 0.2655588 0.9628929 0.04811691] [ 0.07989231 -0.07171599 0.99422003]] t_gt: [ 0.81853661 -0.57203223 0.05269675] Pose Error in degrees for R and t: 16.48096387473784 69.34486800970816 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99998630e-01 1.63573176e-03 2.54801713e-04] [-1.63575715e-03 9.99998657e-01 9.94495423e-05] [-2.54638698e-04 -9.98661998e-05 9.99999963e-01]] t_estimated: [[9.93464832e-01] [1.14134321e-01] [9.92472359e-04]] R_gt: [[ 0.97528297 -0.21789391 -0.03670357] [ 0.22038864 0.97121158 0.09042402] [ 0.01594453 -0.09627888 0.99522616]] t_gt: [ 0.7247728 -0.62145986 0.29747609] Pose Error in degrees for R and t: 13.950788656838288 49.503497484829225 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 4.34711996e-01 -9.00569405e-01 -4.77160874e-04] [ 9.00569122e-01 4.34711232e-01 1.18357549e-03] [-8.58464683e-04 -9.44230813e-04 9.99999186e-01]] t_estimated: [[ 0.90008209] [-0.43571882] [ 0.00115423]] R_gt: [[ 0.9997446 -0.02111564 -0.00809878] [ 0.02107858 0.9997669 -0.00461825] [ 0.00819409 0.00444584 0.99995598]] t_gt: [ 0.8616947 -0.27995739 -0.4232093 ] Pose Error in degrees for R and t: 63.026650736098446 26.221816965254362 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 8.39513954e-01 5.43337827e-01 -5.71762089e-04] [-5.43334887e-01 8.39512117e-01 2.57040617e-03] [ 1.87660010e-03 -1.84723356e-03 9.99996533e-01]] t_estimated: [[-0.99669082] [-0.08127958] [-0.00101599]] R_gt: [[ 0.98994062 -0.13916879 0.02546611] [ 0.13932778 0.99023595 -0.00454627] [-0.02458513 0.00804779 0.99966487]] t_gt: [ 0.98744379 -0.15590484 -0.02546441] Pose Error in degrees for R and t: 40.94662247626059 13.717094098172671 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-1.54217497e-01 -9.88035576e-01 -1.63251186e-03] [-9.88036245e-01 1.54219118e-01 -9.17635928e-04] [ 1.15842148e-03 1.47146537e-03 -9.99998246e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.9423356 -0.33334085 -0.02978322] [ 0.33405592 0.94226128 0.02345381] [ 0.02024479 -0.032051 0.99928028]] t_gt: [ 0.99365204 -0.08679529 0.07156959] Pose Error in degrees for R and t: 179.83607486526728 38.172839248342875 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.92946667e-01 -1.18561376e-01 3.40969538e-04] [ 1.18561747e-01 9.92945647e-01 -1.43334807e-03] [-1.68624498e-04 1.46366414e-03 9.99998915e-01]] t_estimated: [[-9.63491412e-01] [-2.67737689e-01] [-9.10672412e-04]] R_gt: [[ 0.99426096 0.10628511 0.01220958] [-0.10635225 0.99431701 0.00492762] [-0.0116162 -0.00619708 0.99991341]] t_gt: [-0.76451014 0.63752239 0.09533862] Pose Error in degrees for R and t: 12.935861752384296 55.54051355239677 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.97867148e-01 6.52773358e-02 -1.54357049e-04] [-6.52773379e-02 9.97867160e-01 -8.22401576e-06] [ 1.53490988e-04 1.82824924e-05 9.99999988e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.94868591 0.31539546 0.02282637] [-0.3151674 0.94894677 -0.01306723] [-0.02578266 0.00520296 0.99965456]] t_gt: [-0.69313614 0.72037774 0.02486348] Pose Error in degrees for R and t: 14.715960548973356 46.300221922832144 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.42941219e-01 -5.38005198e-01 -7.13111512e-04] [ 5.38005420e-01 8.42941365e-01 1.53430189e-04] [ 5.18564951e-04 -5.12990489e-04 9.99999734e-01]] t_estimated: [[-0.52105208] [-0.85352442] [-0.00089374]] R_gt: [[ 0.84091362 0.53422814 0.08639976] [-0.53297813 0.84523545 -0.0388925 ] [-0.09380601 -0.01334331 0.99550106]] t_gt: [-0.6069521 0.78735651 0.10806888] Pose Error in degrees for R and t: 65.08478133281079 69.15316845556266 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.98888383e-01 -4.71380669e-02 1.98277713e-06] [ 4.71380666e-02 9.98888381e-01 7.45659534e-05] [-5.49546794e-06 -7.43896003e-05 9.99999997e-01]] t_estimated: [[ 9.94628728e-01] [-1.03506886e-01] [ 1.35715121e-04]] R_gt: [[ 0.97834939 -0.20113043 -0.04878572] [ 0.20166474 0.97943466 0.00624661] [ 0.04652681 -0.01594947 0.99879027]] t_gt: [ 0.78170253 -0.61685031 -0.09185232] Pose Error in degrees for R and t: 9.357462009981449 32.71815236227351 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.91990010e-01 1.26315645e-01 4.21892447e-04] [-1.26315620e-01 9.91990099e-01 -8.43511361e-05] [-4.29167999e-04 3.03838783e-05 9.99999907e-01]] t_estimated: [[9.16226821e-01] [4.00659554e-01] [5.78096656e-04]] R_gt: [[ 0.93496831 -0.33700125 -0.11074796] [ 0.34186084 0.93934209 0.02771442] [ 0.0946914 -0.06377258 0.99346205]] t_gt: [ 0.83490353 -0.55024055 -0.01309353] Pose Error in degrees for R and t: 27.937601625422868 57.009887116478374 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.80583707 0.59213314 -0.00222767] [-0.59211543 0.80583392 0.00556883] [ 0.00509262 -0.00316854 0.99998201]] t_estimated: [[-0.98669896] [-0.16254206] [-0.00228932]] R_gt: [[ 0.92729831 -0.35940489 -0.10462375] [ 0.36564196 0.92953758 0.04759254] [ 0.0801469 -0.08238787 0.99337278]] t_gt: [ 0.83199221 -0.55152407 0.06008471] Pose Error in degrees for R and t: 57.94356288532666 42.99463624223788 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.79927015 -0.59874133 0.05173041] [-0.59247204 0.79946701 0.09914326] [-0.10071793 0.04859343 -0.99372762]] t_estimated: [[0.97404274] [0.22636205] [0.00097992]] R_gt: [[ 0.98967416 -0.0763938 -0.1212868 ] [ 0.07501137 0.99705565 -0.01593262] [ 0.12214739 0.00667081 0.99248894]] t_gt: [ 0.59330675 -0.49724912 -0.63303271] Pose Error in degrees for R and t: 177.93542000873364 62.307413186429805 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.91625014e-01 -1.29149726e-01 4.23622337e-04] [ 1.29149504e-01 9.91625000e-01 5.15190694e-04] [-4.86611237e-04 -4.56165364e-04 9.99999778e-01]] t_estimated: [[0.63930903] [0.76894792] [0.00174671]] R_gt: [[ 0.98185084 -0.11699016 -0.1492752 ] [ 0.11500248 0.99312396 -0.02190791] [ 0.15081169 0.00434396 0.988552 ]] t_gt: [ 0.61071164 -0.55393426 -0.56585168] Pose Error in degrees for R and t: 8.73586019610962 87.90815288610695 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.80179776e-01 1.98100667e-01 1.93199253e-03] [-1.98099290e-01 9.80181562e-01 -8.81652011e-04] [-2.06835931e-03 4.81451122e-04 9.99997745e-01]] t_estimated: [[0.57504206] [0.81812315] [0.00107084]] R_gt: [[ 0.97002466 -0.2117005 -0.11931373] [ 0.20299323 0.97581848 -0.08107097] [ 0.13359074 0.05442179 0.98954094]] t_gt: [ 0.69820434 -0.5049408 -0.50748939] Pose Error in degrees for R and t: 24.888530312106948 89.30381972686077 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.75723227e-01 2.19007202e-01 1.71263447e-04] [-2.19006944e-01 9.75722829e-01 -9.58698156e-04] [-3.77067455e-04 8.97916175e-04 9.99999526e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.98800068 0.15034743 -0.03536926] [-0.14758567 0.98651163 0.07081187] [ 0.04553947 -0.06474198 0.99686287]] t_gt: [-0.74828493 0.66025115 0.06432792] Pose Error in degrees for R and t: 6.136597424448613 41.73910631305841 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.91416255 -0.40061323 -0.0617728 ] [ 0.40320419 0.91435892 0.0370696 ] [ 0.04163194 -0.05879469 0.99740161]] t_estimated: [[0.99842201] [0.05581241] [0.00620138]] R_gt: [[ 0.97353744 0.19644716 -0.11675606] [-0.18163954 0.97522091 0.12629194] [ 0.13867387 -0.10174264 0.98509815]] t_gt: [-0.80179949 0.53611652 -0.26400125] Pose Error in degrees for R and t: 35.11870821362322 39.44367825611225 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 3.16361946e-01 9.48630687e-01 3.86504482e-03] [-9.48559569e-01 3.16385555e-01 -1.16157286e-02] [-1.22418810e-02 8.54926388e-06 9.99925065e-01]] t_estimated: [[0.09841504] [0.99508538] [0.010935 ]] R_gt: [[ 0.94908051 0.25915982 -0.17911607] [-0.22263251 0.95402041 0.20069402] [ 0.22289327 -0.15059756 0.96314002]] t_gt: [-0.87180967 0.41602714 -0.25859104] Pose Error in degrees for R and t: 59.45490163055302 71.01287670790892 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.25231404 0.96738242 -0.02255857] [-0.96752123 0.25183963 -0.02189675] [-0.01550139 0.02735075 0.9995057 ]] t_estimated: [[0.01209101] [0.99992617] [0.0012091 ]] R_gt: [[ 9.87276037e-01 -1.59016735e-01 4.12204820e-04] [ 1.59011724e-01 9.87258391e-01 6.06391834e-03] [-1.37172393e-03 -5.92046549e-03 9.99981973e-01]] t_gt: [ 0.55138546 -0.83217571 0.05880183] Pose Error in degrees for R and t: 84.5699147108272 34.37333193932424 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.61334263e-01 -2.75256014e-01 -8.40012412e-03] [ 2.75268726e-01 9.61367250e-01 3.73927472e-04] [ 7.97267843e-03 -2.67176076e-03 9.99964648e-01]] t_estimated: [[-0.95344096] [-0.30143801] [-0.00924456]] R_gt: [[ 0.93737674 -0.34682224 0.03224536] [ 0.34766447 0.93726854 -0.02563952] [-0.02133038 0.03524454 0.99915049]] t_gt: [ 0.63656439 -0.77122292 0.00099567] Pose Error in degrees for R and t: 5.149368508124316 68.00906723535908 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999899e-01 2.55159036e-04 -3.71261866e-04] [-2.54968983e-04 9.99999836e-01 5.11867060e-04] [ 3.71392412e-04 -5.11772348e-04 9.99999800e-01]] t_estimated: [[9.99998335e-01] [1.65229907e-03] [7.74432026e-04]] R_gt: [[ 0.86955299 -0.49263118 -0.03453593] [ 0.4918067 0.87019099 -0.02988267] [ 0.04477323 0.0090007 0.99895706]] t_gt: [ 0.70736607 -0.70219567 -0.08095975] Pose Error in degrees for R and t: 29.630770779870698 45.078124895986704 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99582865e-01 -2.88803488e-02 -1.48734489e-04] [ 2.88804514e-02 9.99582598e-01 7.41659429e-04] [ 1.27253023e-04 -7.45645576e-04 9.99999714e-01]] t_estimated: [[0.88178663] [0.4716359 ] [0.0034517 ]] R_gt: [[ 0.98510361 -0.15030058 -0.08354819] [ 0.15051081 0.98860167 -0.00381049] [ 0.08316892 -0.00882136 0.99649649]] t_gt: [ 0.63049093 -0.72487801 -0.27754829] Pose Error in degrees for R and t: 8.488263945123201 77.6946295216845 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.96514966e-01 8.34141261e-02 7.38499248e-05] [-8.34141286e-02 9.96514968e-01 3.15343911e-05] [-7.09621418e-05 -3.75846199e-05 9.99999997e-01]] t_estimated: [[0.4815527 ] [0.87641645] [0.00109259]] R_gt: [[ 0.9687798 -0.21206401 -0.12842734] [ 0.2251262 0.96944559 0.09743281] [ 0.1038421 -0.12330357 0.98692105]] t_gt: [ 0.59079452 -0.80161063 0.09155452] Pose Error in degrees for R and t: 19.787045441240213 65.2950212064666 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 8.46835548e-01 5.31854417e-01 6.58310391e-04] [-5.31854284e-01 8.46835803e-01 -3.78039111e-04] [-7.58542580e-04 -2.99882442e-05 9.99999712e-01]] t_estimated: [[0.94912685] [0.31489203] [0.00111269]] R_gt: [[ 0.9545931 -0.24643497 -0.1673973 ] [ 0.27319126 0.94822877 0.16195093] [ 0.11882093 -0.20032907 0.97249699]] t_gt: [ 0.55412444 -0.79642861 0.24217262] Pose Error in degrees for R and t: 49.18440877614141 74.01326300388158 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999937e-01 -3.55723569e-04 -1.72474499e-05] [ 3.55723663e-04 9.99999937e-01 5.45980088e-06] [ 1.72455066e-05 -5.46593586e-06 1.00000000e+00]] t_estimated: [[-9.05052379e-01] [ 4.25300110e-01] [-8.07376628e-05]] R_gt: [[ 0.99607671 0.08741559 0.01375286] [-0.08717616 0.99604554 -0.01709353] [-0.01519173 0.01582741 0.9997599 ]] t_gt: [-0.73942515 0.67015718 0.06434131] Pose Error in degrees for R and t: 5.184030219913234 17.401745324956853 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.31663857e-01 -3.63321397e-01 -1.44833297e-04] [ 3.63321352e-01 9.31663847e-01 -2.67299795e-04] [ 2.32051682e-04 1.96412529e-04 9.99999954e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.9694597 0.24499843 -0.01108733] [-0.24437471 0.9688293 0.0406116 ] [ 0.02069198 -0.03666084 0.99911408]] t_gt: [-0.70304715 0.70963144 0.0463458 ] Pose Error in degrees for R and t: 35.55396319947464 67.20217486210841 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.24073 -0.96498858 0.10414468] [-0.96312801 0.25078117 0.09743329] [-0.12013953 -0.07684955 -0.98977808]] t_estimated: [[0.74926865] [0.65561007] [0.09365858]] R_gt: [[ 0.94896541 0.30150013 -0.09252593] [-0.29246105 0.95107754 0.09958752] [ 0.11802592 -0.06744454 0.99071831]] t_gt: [-0.73354864 0.66714054 -0.12973008] Pose Error in degrees for R and t: 173.91178349491116 82.85439567430541 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.99801451 0.06295719 0.00185275] [-0.06294767 0.99800523 -0.00481157] [-0.00215198 0.00468539 0.99998671]] t_estimated: [[-0.98786614] [-0.15530106] [-0.00143982]] R_gt: [[ 0.99207392 -0.11792038 -0.04341594] [ 0.11839056 0.99293122 0.00844199] [ 0.04211315 -0.0135151 0.99902152]] t_gt: [ 0.65602256 -0.72840247 -0.1976468 ] Pose Error in degrees for R and t: 10.748339529525984 57.67940037463021 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.43011586e-01 3.32758883e-01 8.20778434e-04] [-3.32758762e-01 9.43011944e-01 -2.83747314e-04] [-8.68423306e-04 -5.54421112e-06 9.99999623e-01]] t_estimated: [[-9.93398962e-01] [ 1.14710510e-01] [-3.14288496e-05]] R_gt: [[ 0.96980426 -0.22670053 -0.08993157] [ 0.23034729 0.97256957 0.03236345] [ 0.08012731 -0.05210134 0.99542236]] t_gt: [ 0.68826587 -0.71404993 -0.12815142] Pose Error in degrees for R and t: 33.13005020555779 40.037140827642844 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99998447e-01 -4.20083444e-04 1.71185124e-03] [ 4.23631240e-04 9.99997762e-01 -2.07265505e-03] [-1.71097672e-03 2.07337703e-03 9.99996387e-01]] t_estimated: [[0.99993664] [0.01121137] [0.00101037]] R_gt: [[ 0.96472988 -0.25675633 -0.05808578] [ 0.25853468 0.96566757 0.02540149] [ 0.04956995 -0.03952282 0.99798872]] t_gt: [ 0.65181697 -0.75577099 -0.06280795] Pose Error in degrees for R and t: 15.390651236513769 49.96623153285296 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.39963938e-01 3.41273773e-01 -8.64037637e-05] [-3.41273768e-01 9.39963786e-01 -5.44001162e-04] [-1.04436920e-04 5.40828812e-04 9.99999848e-01]] t_estimated: [[7.85640816e-01] [6.18682390e-01] [7.80179559e-04]] R_gt: [[ 0.98573049 -0.16808674 -0.00907187] [ 0.16831273 0.98498717 0.03835144] [ 0.00248879 -0.0393308 0.99922273]] t_gt: [ 0.55870549 -0.82138643 0.11477157] Pose Error in degrees for R and t: 29.727914943742956 86.03506568520625 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 6.24734726e-01 7.80837061e-01 -8.45411741e-05] [-7.80836749e-01 6.24734372e-01 -9.66843405e-04] [-7.02131385e-04 6.70033505e-04 9.99999529e-01]] t_estimated: [[-0.99986286] [-0.01650393] [-0.00137533]] R_gt: [[ 0.94800331 -0.31826005 0.00107005] [ 0.31825729 0.94800183 0.0020183 ] [-0.00165745 -0.00157235 0.99999712]] t_gt: [ 0.63635776 -0.77139335 0.0010444 ] Pose Error in degrees for R and t: 69.89514900763243 51.42482610535978 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.96015404e-01 8.91811497e-02 1.92578519e-04] [-8.91811058e-02 9.96015401e-01 -2.25595412e-04] [-2.11930029e-04 2.07522140e-04 9.99999956e-01]] t_estimated: [[0.65905948] [0.75208998] [0.00112085]] R_gt: [[ 0.86840547 -0.49541143 -0.02097353] [ 0.49583192 0.86798958 0.02727279] [ 0.00469362 -0.03408269 0.9994073 ]] t_gt: [ 0.71519128 -0.69800726 0.03587895] Pose Error in degrees for R and t: 34.89192473280083 86.92916837285574 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.97606993e-01 6.91385319e-02 -3.88010725e-04] [-6.91383069e-02 9.97606924e-01 5.66017690e-04] [ 4.26215818e-04 -5.37836801e-04 9.99999765e-01]] t_estimated: [[0.87457747] [0.48488479] [0.00099158]] R_gt: [[ 0.99793908 -0.04470002 0.04603822] [ 0.04528629 0.99890466 -0.01177515] [-0.045462 0.01383609 0.99887047]] t_gt: [ 0.6796998 -0.58061697 0.4482099 ] Pose Error in degrees for R and t: 7.100297409657113 71.738028144904 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 0.99935703 0.03575968 0.00260202] [-0.03575142 0.99935574 -0.00315362] [-0.00271311 0.00305857 0.99999164]] t_estimated: [[-0.65899597] [-0.75214519] [-0.00139029]] R_gt: [[ 0.99097701 -0.10901666 0.07797698] [ 0.10985467 0.99392709 -0.00653614] [-0.07679022 0.01504386 0.99693423]] t_gt: [ 0.67756436 -0.65010233 0.34390916] Pose Error in degrees for R and t: 9.389442938417407 87.59395727566272 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99966959e-01 -7.90586214e-03 -1.89154079e-03] [ 7.90712313e-03 9.99968520e-01 6.60100585e-04] [ 1.88626258e-03 -6.75035421e-04 9.99997993e-01]] t_estimated: [[9.99886190e-01] [1.50841662e-02] [2.74890709e-04]] R_gt: [[ 0.98875643 -0.13207463 0.07012004] [ 0.13393471 0.9907353 -0.02250789] [-0.06649767 0.03164652 0.9972853 ]] t_gt: [ 0.74472985 -0.65152737 0.14453217] Pose Error in degrees for R and t: 8.404817789242273 42.70485974890473 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 8.64969676e-01 5.01823849e-01 5.32738091e-04] [-5.01824127e-01 8.64969325e-01 7.82128545e-04] [-6.83113497e-05 -9.43858302e-04 9.99999552e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98548203 -0.16976698 0.00217956] [ 0.16974972 0.98546428 0.0067636 ] [-0.00329563 -0.00629582 0.99997402]] t_gt: [ 0.98817398 -0.14265369 0.05623256] Pose Error in degrees for R and t: 39.89612749896115 45.02251065623025 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 8.18643397e-01 -5.74296949e-01 2.45010943e-03] [-5.74299917e-01 -8.18644692e-01 6.88281376e-04] [ 1.61049119e-03 -1.97055465e-03 -9.99996762e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.93429003 -0.35490378 -0.03384107] [ 0.35590007 0.93403693 0.03017476] [ 0.02089988 -0.04023584 0.99897145]] t_gt: [ 0.99216078 -0.07067627 0.10306241] Pose Error in degrees for R and t: 178.46752182422648 86.24952181455397 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.99996898e-01 -2.49050635e-03 4.84276779e-05] [ 2.49050242e-03 9.99996895e-01 8.08948286e-05] [-4.86289967e-05 -8.07739684e-05 9.99999996e-01]] t_estimated: [[-3.35753600e-03] [-9.99994257e-01] [-4.62301125e-04]] R_gt: [[ 0.88486234 -0.46464819 -0.0334779 ] [ 0.46585105 0.88276829 0.06086383] [ 0.00127344 -0.06945121 0.99758433]] t_gt: [ 0.98947091 -0.00956019 0.14441583] Pose Error in degrees for R and t: 27.899726272796865 89.64641465549516 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.98708511 0.16014798 -0.00395054] [-0.16010678 0.98705718 0.00916214] [ 0.00536671 -0.00841131 0.99995022]] t_estimated: [[0.70276012] [0.71142645] [0.00078785]] R_gt: [[ 0.98974202 -0.1406578 -0.02503271] [ 0.14143624 0.98940883 0.03262944] [ 0.02017816 -0.03583422 0.99915433]] t_gt: [ 0.70632238 -0.69701604 0.12360151] Pose Error in degrees for R and t: 17.416926358458436 89.96579804152037 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.66582730e-01 -2.56270613e-01 6.57262130e-03] [ 2.56260907e-01 9.66604929e-01 2.29299669e-03] [-6.94075581e-03 -5.32065103e-04 9.99975771e-01]] t_estimated: [[0.86621985] [0.4996583 ] [0.00218191]] R_gt: [[ 0.96613383 -0.25713663 -0.02161409] [ 0.25760926 0.9562648 0.13854708] [-0.01495604 -0.13942218 0.99011984]] t_gt: [ 0.62911486 -0.64947639 0.42707718] Pose Error in degrees for R and t: 7.999254121315583 77.21064309388132 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.8556658 -0.51752435 -0.0021421 ] [-0.5175199 -0.85561952 -0.00940107] [ 0.00303246 0.00915275 -0.99995351]] t_estimated: [[ 0.52459948] [ 0.85134869] [-0.00089072]] R_gt: [[ 0.95102069 -0.30731806 -0.03341416] [ 0.30868493 0.93829841 0.15591146] [-0.01656214 -0.15858874 0.98720515]] t_gt: [ 0.64842919 -0.64731473 0.4006535 ] Pose Error in degrees for R and t: 171.8562884071056 77.80252044815273 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99794267e-01 -2.02835531e-02 2.90398834e-05] [ 2.02835547e-02 9.99794266e-01 -5.73375051e-05] [-2.78709006e-05 5.79147410e-05 9.99999998e-01]] t_estimated: [[ 9.89380160e-01] [-1.45350950e-01] [ 2.83808499e-05]] R_gt: [[ 0.99851283 -0.05307111 -0.01241651] [ 0.05282959 0.99842333 -0.01898707] [ 0.01340485 0.01830405 0.99974266]] t_gt: [ 0.69820808 -0.62991912 -0.34015789] Pose Error in degrees for R and t: 2.279451946453196 38.524406895155 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999885e-01 4.19022318e-04 2.32859662e-04] [-4.19022677e-04 9.99999912e-01 1.49291561e-06] [-2.32859016e-04 -1.59048892e-06 9.99999973e-01]] t_estimated: [[9.78798666e-01] [2.04823551e-01] [6.95569058e-04]] R_gt: [[ 0.98166525 -0.19041269 -0.00875102] [ 0.19013984 0.98142792 -0.02543954] [ 0.01343305 0.02331005 0.99963817]] t_gt: [ 0.78327055 -0.60863427 -0.12669484] Pose Error in degrees for R and t: 11.102814506576557 50.06535398912579 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999423e-01 7.30688960e-04 -7.87041807e-04] [-7.30062481e-04 9.99999417e-01 7.95984788e-04] [ 7.87622965e-04 -7.95409739e-04 9.99999373e-01]] t_estimated: [[-0.27325575] [-0.96194089] [-0.00100832]] R_gt: [[ 0.94878199 -0.31580352 -0.00894286] [ 0.31512126 0.94799847 -0.04468838] [ 0.02259115 0.03958247 0.99896107]] t_gt: [ 0.84283947 -0.52195408 -0.13109371] Pose Error in degrees for R and t: 18.62693190227734 74.2220194580788 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99438539e-01 -3.35053186e-02 -2.67934043e-05] [ 3.35053196e-02 9.99438538e-01 3.88602638e-05] [ 2.54763353e-05 -3.97361669e-05 9.99999999e-01]] t_estimated: [[ 6.48429721e-02] [ 9.97895478e-01] [-6.27834700e-05]] R_gt: [[ 0.99931656 0.0127608 -0.03471972] [-0.01377858 0.99947757 -0.02924184] [ 0.03432824 0.02969978 0.99896896]] t_gt: [-0.03348966 0.4407994 -0.89698067] Pose Error in degrees for R and t: 3.735399989185799 64.03917698470846 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 8.79949862e-01 4.75066559e-01 -7.30231373e-05] [-4.75066531e-01 8.79949847e-01 2.41830843e-04] [ 1.79142445e-04 -1.78108168e-04 9.99999968e-01]] t_estimated: [[-0.9583845 ] [-0.28547624] [-0.00156855]] R_gt: [[ 0.99690139 0.01921472 -0.07628914] [-0.02542513 0.99636531 -0.08129795] [ 0.07444944 0.08298584 0.99376608]] t_gt: [ 0.02846686 0.39036565 -0.9202197 ] Pose Error in degrees for R and t: 27.814111700534564 82.10958168398749 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.99512944 -0.09856452 0.00156211] [ 0.09856781 0.99512792 -0.00219197] [-0.00133845 0.00233527 0.99999638]] t_estimated: [[0.47384645] [0.88060689] [0.00102197]] R_gt: [[ 0.99820791 0.02471384 -0.05451514] [-0.02840479 0.99728049 -0.06800345] [ 0.05268666 0.06942994 0.99619413]] t_gt: [-0.05455113 0.44302201 -0.89484953] Pose Error in degrees for R and t: 8.720751957546803 68.69301166942324 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.96449963e-01 8.41860839e-02 4.17509304e-04] [-8.41861127e-02 9.96450047e-01 5.17671578e-05] [-4.11669092e-04 -8.67318679e-05 9.99999912e-01]] t_estimated: [[0.3104012 ] [0.95060367] [0.00194001]] R_gt: [[ 0.99856166 0.02299467 -0.04844425] [-0.02505999 0.99878377 -0.04246165] [ 0.04740891 0.04361396 0.99792241]] t_gt: [-0.0648704 0.45987343 -0.8856118 ] Pose Error in degrees for R and t: 5.069334022895558 65.46157400687169 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 0.94348994 -0.33138709 0.00305482] [-0.33138719 -0.94332536 0.01788297] [-0.00304449 -0.01788473 -0.99983542]] t_estimated: [[0.12978475] [0.99149553] [0.0096191 ]] R_gt: [[ 0.9972125 0.02181938 -0.07136155] [-0.02725186 0.99673197 -0.07605032] [ 0.06946909 0.07778235 0.99454702]] t_gt: [ 0.02254392 0.37636967 -0.92619525] Pose Error in degrees for R and t: 176.00747091560956 68.4578537378207 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-9.90136332e-01 -1.40102263e-01 -1.18329541e-03] [ 1.40103774e-01 -9.90135961e-01 -1.30818551e-03] [-9.88343590e-04 -1.46106616e-03 9.99998444e-01]] t_estimated: [[0.78241459] [0.6227572 ] [0.00093367]] R_gt: [[ 9.98964939e-01 -8.00086639e-04 4.54883789e-02] [-1.56705563e-03 9.98648768e-01 5.19470254e-02] [-4.54681987e-02 -5.19648360e-02 9.97613223e-01]] t_gt: [-0.11368804 -0.18458385 0.97621915] Pose Error in degrees for R and t: 171.973306374345 78.28810180937779 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.41846540e-01 -3.36043255e-01 -1.62732703e-04] [ 3.36043164e-01 9.41846490e-01 -4.25455489e-04] [ 2.96240672e-04 3.46028568e-04 9.99999896e-01]] t_estimated: [[-0.04978707] [-0.99875872] [-0.0015087 ]] R_gt: [[ 0.99958681 -0.02183188 0.01867367] [ 0.02240702 0.99926247 -0.03121635] [-0.01797721 0.03162239 0.99933832]] t_gt: [ 0.51775781 0.23421955 -0.82284145] Pose Error in degrees for R and t: 18.483545004105256 75.02099775929725 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.37460035 0.92709384 0.01309951] [ 0.92714448 -0.37441174 -0.0147971 ] [-0.00881369 0.01768814 -0.99980471]] t_estimated: [[0.82662336] [0.56275418] [0.00125056]] R_gt: [[ 0.9755271 -0.21962279 -0.01054739] [ 0.21975093 0.97546973 0.01302778] [ 0.00742753 -0.01502628 0.99985921]] t_gt: [ 0.99109758 -0.12209882 0.05307973] Pose Error in degrees for R and t: 179.82556358226594 41.35595943434041 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.29693986e-01 -3.68332625e-01 4.13035142e-04] [ 3.68332749e-01 9.29693987e-01 -2.77958799e-04] [-2.81614994e-04 4.10550993e-04 9.99999876e-01]] t_estimated: [[-0.10964656] [-0.99396992] [-0.00119181]] R_gt: [[ 0.92056668 -0.3890798 -0.03425483] [ 0.38989522 0.92060903 0.02145784] [ 0.0231866 -0.03310846 0.99918294]] t_gt: [ 0.99714654 -0.03679009 0.06591867] Pose Error in degrees for R and t: 2.691000043711748 85.8226459512292 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 6.78045380e-01 7.35019138e-01 1.15296811e-03] [-7.35019049e-01 6.78046208e-01 -5.80901556e-04] [-1.20873941e-03 -4.53575905e-04 9.99999167e-01]] t_estimated: [[-0.17114264] [ 0.98524558] [ 0.00115796]] R_gt: [[ 0.993372 -0.11468255 0.00765312] [ 0.11331588 0.98832946 0.10179538] [-0.01923799 -0.10025313 0.99477582]] t_gt: [ 0.42078141 -0.66476403 0.61727773] Pose Error in degrees for R and t: 54.16540556209519 43.4266772890078 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99938931 -0.03425468 0.00690109] [ 0.03434412 0.99932172 -0.01328803] [-0.00644123 0.01351693 0.9998879 ]] t_estimated: [[-0.99998981] [ 0.0039976 ] [-0.00209811]] R_gt: [[ 0.99039941 -0.13742929 -0.01489967] [ 0.1382259 0.98576247 0.09572982] [ 0.00153164 -0.09686982 0.99529537]] t_gt: [ 0.48714561 -0.7438399 0.45759301] Pose Error in degrees for R and t: 8.72927477641548 60.5887835217642 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999663e-01 8.15212820e-04 9.40102187e-05] [-8.15221625e-04 9.99999663e-01 9.36584997e-05] [-9.39338354e-05 -9.37351073e-05 9.99999991e-01]] t_estimated: [[9.91600057e-01] [1.29339138e-01] [8.45353842e-04]] R_gt: [[ 9.92785956e-01 -1.19897592e-01 4.48283159e-04] [ 1.19896807e-01 9.92738591e-01 -9.65017747e-03] [ 7.12004401e-04 9.63432708e-03 9.99952947e-01]] t_gt: [ 0.76061731 -0.64682868 -0.0554434 ] Pose Error in degrees for R and t: 6.955856922641286 47.89270882636633 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999956e-01 2.74854683e-04 1.10004154e-04] [-2.74808926e-04 9.99999876e-01 -4.15755470e-04] [-1.10118413e-04 4.15725222e-04 9.99999908e-01]] t_estimated: [[0.57352699] [0.8191861 ] [0.00096716]] R_gt: [[ 0.96308908 -0.26911371 -0.00605131] [ 0.26903281 0.96306081 -0.01158251] [ 0.00894475 0.0095267 0.99991414]] t_gt: [ 0.82723229 -0.56023172 -0.04274524] Pose Error in degrees for R and t: 15.642781443913513 89.11390455077658 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-7.97455631e-02 9.96815222e-01 -2.39874386e-04] [-9.96771334e-01 -7.97443062e-02 -9.36767607e-03] [-9.35697072e-03 -5.07930692e-04 9.99956094e-01]] t_estimated: [[0.76476485] [0.6442882 ] [0.00523812]] R_gt: [[ 0.92582282 -0.37781281 0.01044405] [ 0.37775959 0.92409139 -0.05790146] [ 0.01222431 0.05755145 0.99826688]] t_gt: [ 0.87469429 -0.46923742 -0.12135136] Pose Error in degrees for R and t: 116.80951256749435 68.532361034907 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 4.00610452e-01 -9.16248206e-01 -6.99955519e-04] [ 9.16248404e-01 4.00610008e-01 6.95255386e-04] [-3.56617315e-04 -9.19859702e-04 9.99999513e-01]] t_estimated: [[9.76225068e-01] [2.16757820e-01] [8.14879022e-04]] R_gt: [[ 0.98861277 -0.1395696 -0.05625756] [ 0.14074411 0.98989212 0.01748046] [ 0.05325034 -0.02519903 0.99826283]] t_gt: [ 0.6619526 -0.72828802 -0.17724365] Pose Error in degrees for R and t: 58.406978220177855 60.777122367963095 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-4.50001647e-01 8.93027716e-01 -1.23809288e-04] [-8.93025388e-01 -4.50000783e-01 -2.22506686e-03] [-2.04276066e-03 -8.90718917e-04 9.99997517e-01]] t_estimated: [[0.00623687] [0.99998001] [0.00103948]] R_gt: [[ 0.97876243 -0.19715935 -0.0561562 ] [ 0.1988682 0.97966431 0.02662289] [ 0.04976554 -0.03722426 0.99806704]] t_gt: [ 0.64540881 -0.75968195 -0.07956635] Pose Error in degrees for R and t: 128.20718037395991 40.91131610939323 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 7.64078183e-01 6.45121343e-01 1.72701780e-03] [-6.45123068e-01 7.64071137e-01 3.39476683e-03] [ 8.70472085e-04 -3.70800629e-03 9.99992746e-01]] t_estimated: [[9.16457492e-01] [4.00131107e-01] [8.73648705e-04]] R_gt: [[ 0.97197793 -0.2318124 -0.03900684] [ 0.23260929 0.9724169 0.01726344] [ 0.03392961 -0.02585183 0.99908945]] t_gt: [ 0.6151708 -0.78611118 -0.05995071] Pose Error in degrees for R and t: 53.65638840917059 75.5711255737457 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.71476078e-01 -2.37135741e-01 -9.33049080e-04] [ 2.37134141e-01 9.71475663e-01 -1.56039948e-03] [ 1.27646096e-03 1.29463298e-03 9.99998347e-01]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.99608503 0.06170764 0.06331504] [-0.05543611 0.99379398 -0.09644181] [-0.06887304 0.0925547 0.99332262]] t_gt: [-0.42630467 0.87884948 -0.21421464] Pose Error in degrees for R and t: 18.306029486795964 31.457031209365386 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.93825803 -0.34591903 0.00344977] [ 0.34592456 0.93826163 -0.00114473] [-0.00284081 0.00226741 0.99999339]] t_estimated: [[9.78257285e-01] [2.07393594e-01] [7.62476450e-04]] R_gt: [[ 0.9907616 0.05952748 0.12185245] [-0.05022892 0.99568583 -0.07801819] [-0.12597197 0.07117809 0.98947768]] t_gt: [-0.40038471 0.82733572 0.39396407] Pose Error in degrees for R and t: 24.746547878438204 77.30302252644732 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999547e-01 9.47836810e-04 8.75299410e-05] [-9.47815953e-04 9.99999522e-01 -2.38022132e-04] [-8.77555053e-05 2.37939062e-04 9.99999968e-01]] t_estimated: [[-0.0065479 ] [-0.99997794] [-0.00111737]] R_gt: [[ 0.98685905 -0.01842794 0.16053224] [ 0.03173384 0.99623097 -0.08072444] [-0.1584404 0.08475912 0.98372379]] t_gt: [0.35982818 0.24455736 0.90039734] Pose Error in degrees for R and t: 10.449128433402109 75.64588296110493 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 4.57530321e-01 8.89193868e-01 -5.20487172e-04] [-8.89188440e-01 4.57525298e-01 -3.81043757e-03] [-3.15008167e-03 2.20620190e-03 9.99992605e-01]] t_estimated: [[0.47476149] [0.8801134 ] [0.00138819]] R_gt: [[ 0.9990038 -0.0414611 -0.01645073] [ 0.04338138 0.9888963 0.14213691] [ 0.0103746 -0.14270969 0.98971024]] t_gt: [ 0.12434512 -0.65505903 0.74527576] Pose Error in degrees for R and t: 65.70402155219233 58.90508253939388 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.81613883e-01 -1.90877359e-01 -1.38755115e-04] [ 1.90877388e-01 9.81613857e-01 2.40015582e-04] [ 9.03904027e-05 -2.62087842e-04 9.99999962e-01]] t_estimated: [[-0.42636387] [-0.90455097] [-0.0011778 ]] R_gt: [[ 0.98973437 -0.08528124 -0.11468799] [ 0.10301969 0.98190479 0.15890039] [ 0.09906148 -0.16908397 0.98061016]] t_gt: [ 0.37980701 -0.83904971 0.38954104] Pose Error in degrees for R and t: 12.571779719568761 53.37547598796577 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 5.25105305e-01 8.51034363e-01 2.22059114e-03] [-8.51036442e-01 5.25106632e-01 -1.69090528e-05] [-1.18043732e-03 -1.88092495e-03 9.99997534e-01]] t_estimated: [[0.06898936] [0.99761636] [0.00143642]] R_gt: [[ 0.97249348 -0.12919377 -0.19381861] [ 0.15907316 0.97619318 0.14745545] [ 0.1701534 -0.17423117 0.96989198]] t_gt: [ 0.50633601 -0.85053643 0.1421676 ] Pose Error in degrees for R and t: 68.0521464467215 35.57319109695926 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.87574493e-01 1.57151584e-01 1.68194884e-05] [-1.57151582e-01 9.87574491e-01 -7.44931716e-05] [-2.83172175e-05 7.09243469e-05 9.99999997e-01]] t_estimated: [[-9.47014940e-01] [ 3.21189463e-01] [-1.77493087e-04]] R_gt: [[ 0.97278104 0.23073818 -0.02137897] [-0.2308732 0.9729751 -0.00407082] [ 0.01986197 0.00889605 0.99976335]] t_gt: [-0.32014325 0.94327554 -0.08797471] Pose Error in degrees for R and t: 4.4814189347829245 52.68719093142348 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-9.81496740e-01 -1.91415284e-01 -4.93334856e-03] [-1.91412007e-01 9.81509124e-01 -1.13251240e-03] [ 5.05890680e-03 -1.67255084e-04 -9.99987190e-01]] t_estimated: [[ 0.98197451] [ 0.18900985] [-0.00116035]] R_gt: [[ 0.92215842 0.38491698 -0.03825408] [-0.3838191 0.92281548 0.03308392] [ 0.04803628 -0.01582494 0.99872112]] t_gt: [-0.25493084 0.96348213 -0.08192955] Pose Error in degrees for R and t: 177.35327806810702 86.09324554058257 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 4.89303781e-01 -8.72113405e-01 -1.40496174e-04] [-8.72108794e-01 -4.89301706e-01 3.17683592e-03] [-2.83930621e-03 -1.43190988e-03 -9.99994944e-01]] t_estimated: [[0.28638839] [0.95810806] [0.00326189]] R_gt: [[ 0.86741786 0.49621567 -0.03683156] [-0.4938995 0.86762533 0.05735726] [ 0.06041673 -0.0315618 0.99767462]] t_gt: [-0.2111375 0.97472866 -0.07297254] Pose Error in degrees for R and t: 179.05937800618418 29.16851533027673 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.91380262e-01 -1.31014207e-01 6.73821453e-04] [ 1.31014464e-01 9.91380394e-01 -3.52855534e-04] [-6.21784290e-04 4.38094368e-04 9.99999711e-01]] t_estimated: [[0.95257568] [0.30429937] [0.00121523]] R_gt: [[ 0.98941612 -0.14503564 0.00447159] [ 0.14509742 0.98859437 -0.04034925] [ 0.00143141 0.04057092 0.99917522]] t_gt: [ 0.46220366 -0.77921624 -0.42330819] Pose Error in degrees for R and t: 2.4436039657706212 78.30776762616009 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.60432377e-01 2.78512144e-01 -7.96731979e-04] [-2.78510629e-01 9.60431783e-01 1.61863117e-03] [ 1.21601515e-03 -1.33268746e-03 9.99998373e-01]] t_estimated: [[-9.84422430e-01] [-1.75817582e-01] [-8.10227231e-04]] R_gt: [[ 0.96546275 -0.26040643 -0.00828521] [ 0.2597557 0.96454079 -0.04677789] [ 0.0201728 0.04301021 0.99887064]] t_gt: [ 0.46470734 -0.83076137 -0.30640273] Pose Error in degrees for R and t: 31.376251423347988 71.87099232041481 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999890e-01 -4.11688458e-04 2.25163711e-04] [ 4.11783168e-04 9.99999827e-01 -4.20740197e-04] [-2.24990458e-04 4.20832869e-04 9.99999886e-01]] t_estimated: [[0.91100264] [0.41239856] [0.00127626]] R_gt: [[ 0.9470252 -0.31598179 0.05742829] [ 0.3180656 0.94754521 -0.03151775] [-0.04445687 0.04811325 0.9978516 ]] t_gt: [ 0.3229467 -0.94591291 -0.03089 ] Pose Error in degrees for R and t: 18.849664370196955 84.49530885543413 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-5.60116636e-01 -8.28407395e-01 -3.24697607e-03] [ 8.28411214e-01 -5.60120327e-01 2.83014235e-04] [-2.05314838e-03 -2.53131040e-03 9.99994689e-01]] t_estimated: [[0.97275407] [0.23183377] [0.00161879]] R_gt: [[ 0.97586467 -0.21496192 -0.03845953] [ 0.2148481 0.97662079 -0.00712883] [ 0.03909259 -0.00130606 0.99923506]] t_gt: [ 0.76134043 -0.63547367 -0.12858445] Pose Error in degrees for R and t: 111.66286348384068 53.6252160257483 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 1.00000000e+00 -5.35838041e-12 3.03894280e-14] [ 5.35843592e-12 1.00000000e+00 8.01391288e-14] [-3.03876932e-14 -8.01407551e-14 1.00000000e+00]] t_estimated: [[-0.54964908] [-0.83539505] [-0.0009998 ]] R_gt: [[ 0.91683087 -0.39891378 -0.01703483] [ 0.39894353 0.91697336 -0.00175002] [ 0.01631961 -0.0051916 0.99985349]] t_gt: [ 0.8108793 -0.58498685 -0.01628321] Pose Error in degrees for R and t: 23.533200841494466 87.53481409531886 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.93851874 -0.3452145 -0.00308764] [-0.34522669 0.93850415 0.00533763] [ 0.00105513 0.0060754 -0.99998099]] t_estimated: [[9.01886971e-01] [4.31971314e-01] [8.21718951e-04]] R_gt: [[ 8.47066334e-01 -5.31421896e-01 8.40841885e-03] [ 5.31402228e-01 8.47107425e-01 4.60922857e-03] [-9.57139207e-03 5.63935230e-04 9.99953824e-01]] t_gt: [ 0.84333104 -0.53667458 0.02780567] Pose Error in degrees for R and t: 179.47589764741602 58.07666208509279 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-9.99434949e-01 -2.09281454e-02 2.63019935e-02] [-2.09062641e-02 9.99780828e-01 1.10666525e-03] [-2.63193893e-02 5.56163507e-04 -9.99653430e-01]] t_estimated: [[0.99990902] [0.00182636] [0.01336473]] R_gt: [[ 0.99047282 -0.1368499 0.01537844] [ 0.13672797 0.99056922 0.00877272] [-0.01643381 -0.00658706 0.99984382]] t_gt: [ 0.70506039 -0.70051 0.11034303] Pose Error in degrees for R and t: 177.57555336970654 45.15497755213836 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.28032000e-01 3.72500429e-01 -1.95441391e-04] [-3.72500462e-01 9.28031990e-01 -1.77417730e-04] [ 1.15287682e-04 2.37451339e-04 9.99999965e-01]] t_estimated: [[-0.98530003] [-0.17082601] [-0.00152523]] R_gt: [[ 9.43427751e-01 -3.28404878e-01 -4.57550716e-02] [ 3.28746917e-01 9.44417434e-01 -6.42252450e-05] [ 4.32334467e-02 -1.49809637e-02 9.98952867e-01]] t_gt: [ 0.79469246 -0.60181642 -0.07925211] Pose Error in degrees for R and t: 41.14234872649998 47.149814020825424 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.26779120e-01 3.75606775e-01 1.19194862e-04] [-3.75606715e-01 9.26778674e-01 9.40825929e-04] [ 2.42913337e-04 -9.16708217e-04 9.99999550e-01]] t_estimated: [[8.09803416e-01] [5.86700949e-01] [6.50444511e-04]] R_gt: [[ 0.87518099 -0.48231311 -0.03783942] [ 0.48310508 0.87543217 0.01508916] [ 0.02584898 -0.03148638 0.99916973]] t_gt: [ 0.83800519 -0.54564249 -0.00464467] Pose Error in degrees for R and t: 50.98572960116959 68.99266414048206 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-2.45762378e-01 9.69317393e-01 4.96442968e-03] [ 9.69329927e-01 2.45762216e-01 6.52077574e-04] [-5.87999105e-04 4.97242639e-03 -9.99987465e-01]] t_estimated: [[8.01490828e-01] [5.98006744e-01] [6.22275488e-04]] R_gt: [[ 0.99306205 -0.11528837 0.02316855] [ 0.11630551 0.99201352 -0.04880087] [-0.01735626 0.05115728 0.99854017]] t_gt: [ 0.83666652 -0.50512198 -0.21175676] Pose Error in degrees for R and t: 177.1065848069655 68.38410861916948 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99998459e-01 1.74924375e-03 -1.51469549e-04] [-1.74916730e-03 9.99998344e-01 5.03354803e-04] [ 1.52349788e-04 -5.03089082e-04 9.99999862e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98320872 -0.17193881 0.06112691] [ 0.17686448 0.98036095 -0.08723622] [-0.04492698 0.09658336 0.99431085]] t_gt: [ 0.84110588 -0.49722323 -0.21286137] Pose Error in degrees for R and t: 11.880460079872236 32.923732352026285 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-8.19720262e-01 -5.72764039e-01 -2.16797687e-04] [-5.70857114e-01 8.16960158e-01 8.18428656e-02] [-4.66995352e-02 6.72120158e-02 -9.96645222e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97697693 -0.17368759 0.12389376] [ 0.19258227 0.9678502 -0.1617915 ] [-0.09180879 0.18192703 0.97901692]] t_gt: [ 0.82053265 -0.42491798 -0.382323 ] Pose Error in degrees for R and t: 175.23702516435273 35.023719695708785 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99997750e-01 -2.11987982e-03 -7.58491552e-05] [ 2.11991186e-03 9.99997663e-01 4.24826022e-04] [ 7.49483978e-05 -4.24985859e-04 9.99999907e-01]] t_estimated: [[0.01588563] [0.9998694 ] [0.00297163]] R_gt: [[ 0.97707004 0.20950513 -0.03796631] [-0.20928058 0.97780585 0.00987588] [ 0.03919253 -0.00170313 0.99923068]] t_gt: [-0.32551068 0.93420434 -0.14596247] Pose Error in degrees for R and t: 12.415946624362434 21.8012618636334 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99994373e-01 -3.17478004e-03 -1.08355699e-03] [ 3.17450569e-03 9.99994929e-01 -2.54822573e-04] [ 1.08436050e-03 2.51381381e-04 9.99999380e-01]] t_estimated: [[-0.98585785] [-0.16755884] [-0.00288571]] R_gt: [[ 0.94189514 0.33402783 -0.03546749] [-0.33211707 0.94187999 0.0506081 ] [ 0.05031072 -0.03588788 0.99808851]] t_gt: [-0.30099559 0.95058854 -0.0760466 ] Pose Error in degrees for R and t: 19.96445430599735 82.08644895500312 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998768e-01 -4.22387221e-04 -1.51205333e-03] [ 4.35388596e-04 9.99962851e-01 8.60851200e-03] [ 1.50836103e-03 -8.60915972e-03 9.99961803e-01]] t_estimated: [[0.7399412 ] [0.67267057] [0.001155 ]] R_gt: [[ 0.89896974 0.43658311 -0.03531808] [-0.43577746 0.89960665 0.02839589] [ 0.04416928 -0.01013603 0.99897224]] t_gt: [-0.25133312 0.96461155 -0.0797259 ] Pose Error in degrees for R and t: 26.00225831706156 62.43193729900944 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 8.51992173e-01 -5.23554222e-01 -5.60065106e-04] [ 5.23554229e-01 8.51992341e-01 -1.45434135e-04] [ 5.53313836e-04 -1.69315710e-04 9.99999833e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98939734 0.14515959 -0.00468643] [-0.14522738 0.98847308 -0.0427837 ] [-0.00157818 0.04301226 0.99907324]] t_gt: [-0.35900726 0.92106415 -0.15084631] Pose Error in degrees for R and t: 39.996352391095456 23.270508685165556 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999907e-01 -2.32617086e-04 -3.63641196e-04] [ 2.32617551e-04 9.99999973e-01 1.23565780e-06] [ 3.63640899e-04 -1.32024701e-06 9.99999934e-01]] t_estimated: [[-0.6216871 ] [-0.78326419] [-0.00153883]] R_gt: [[ 0.96213555 0.27187267 -0.01951069] [-0.27244544 0.95702905 -0.09934103] [-0.008336 0.10089499 0.99486238]] t_gt: [-0.29295789 0.94200215 -0.16373033] Pose Error in degrees for R and t: 16.872699074327976 56.25783971066007 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99998263e-01 -1.80727720e-03 -4.55986467e-04] [ 1.80733839e-03 9.99998358e-01 1.33828058e-04] [ 4.55743854e-04 -1.34651948e-04 9.99999887e-01]] t_estimated: [[-9.99994892e-01] [-3.10075944e-03] [-7.75189839e-04]] R_gt: [[ 9.43302637e-01 3.31932190e-01 4.36668454e-04] [-3.30926411e-01 9.40542543e-01 -7.65963185e-02] [-2.58353587e-02 7.21090618e-02 9.97062097e-01]] t_gt: [-0.29701152 0.95385804 -0.04403409] Pose Error in degrees for R and t: 19.975794557294762 72.89723473849119 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 5.31922805e-01 8.46789129e-01 2.50996744e-03] [-8.46785794e-01 5.31928136e-01 -2.50552282e-03] [-3.45677179e-03 -7.92660041e-04 9.99993711e-01]] t_estimated: [[0.01873201] [0.99981781] [0.00366982]] R_gt: [[ 0.99416942 -0.10010195 -0.04010415] [ 0.09908027 0.99472172 -0.02670135] [ 0.04256526 0.02257188 0.9988386 ]] t_gt: [ 0.5488238 -0.70623671 -0.44723835] Pose Error in degrees for R and t: 63.64348870540487 45.775727262608505 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.72469793e-01 2.33026782e-01 1.01022098e-03] [-2.33026585e-01 9.72470315e-01 -3.10448558e-04] [-1.05475274e-03 6.64935011e-05 9.99999442e-01]] t_estimated: [[9.75986078e-01] [2.17831243e-01] [8.50903294e-04]] R_gt: [[ 0.96647316 -0.25650713 -0.01160416] [ 0.25670897 0.96623577 0.02211975] [ 0.00553814 -0.02435694 0.9996881 ]] t_gt: [ 0.65200462 -0.75682874 0.04582834] Pose Error in degrees for R and t: 28.383560820966036 61.86663572049937 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 4.70965343e-01 8.82149697e-01 1.88629385e-03] [-8.82149942e-01 4.70967606e-01 -9.96761543e-04] [-1.76767619e-03 -1.19455387e-03 9.99997724e-01]] t_estimated: [[0.88028691] [0.47444035] [0.00114323]] R_gt: [[ 0.88151306 -0.47140489 -0.0266995 ] [ 0.47214425 0.88053494 0.0416854 ] [ 0.00385933 -0.04935215 0.99877419]] t_gt: [ 0.7808995 -0.62065658 0.0705789 ] Pose Error in degrees for R and t: 90.10754533103591 66.85672291835965 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99996513e-01 -2.64067485e-03 1.74197730e-05] [ 2.64067395e-03 9.99996512e-01 5.14677714e-05] [-1.75556219e-05 -5.14215920e-05 9.99999999e-01]] t_estimated: [[ 4.48079840e-01] [-8.93993507e-01] [ 2.55901349e-04]] R_gt: [[ 0.99293358 -0.05269361 0.10632428] [ 0.06643375 0.98926723 -0.13014252] [-0.09832471 0.13628706 0.98577812]] t_gt: [ 0.11186233 0.47977716 -0.87023025] Pose Error in degrees for R and t: 10.218546078436141 67.72718659517513 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.78958255e-01 -2.04056418e-01 1.30921011e-03] [ 2.04055914e-01 9.78959103e-01 5.09057229e-04] [-1.38553955e-03 -2.31193711e-04 9.99999013e-01]] t_estimated: [[ 0.95627385] [-0.29246565] [ 0.00204212]] R_gt: [[ 0.98216885 -0.06832561 0.17514186] [ 0.10259854 0.97545902 -0.1948175 ] [-0.15753225 0.20931381 0.96507501]] t_gt: [ 0.10200611 0.39376302 -0.91353458] Pose Error in degrees for R and t: 16.595606090639635 88.88369714971127 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.73781060e-01 2.27487234e-01 -6.86360747e-05] [-2.27487223e-01 9.73780800e-01 -7.19376314e-04] [-9.68124359e-05 7.16128860e-04 9.99999739e-01]] t_estimated: [[-0.4318695] [-0.9019344] [-0.0017526]] R_gt: [[ 0.96540153 -0.10671635 0.23792822] [ 0.16416581 0.95764 -0.23658877] [-0.20260152 0.26746334 0.94202746]] t_gt: [ 0.34254388 0.14571417 -0.92813311] Pose Error in degrees for R and t: 28.75371262797144 73.8750960192226 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 5.34806126e-01 8.44974778e-01 1.82357491e-04] [-8.44974345e-01 5.34806050e-01 -9.18591979e-04] [-8.73712943e-04 3.37181216e-04 9.99999561e-01]] t_estimated: [[-1.70787499e-01] [ 9.85307777e-01] [ 4.63451527e-04]] R_gt: [[ 9.98088832e-01 -6.17361709e-02 2.84761229e-03] [ 6.17969783e-02 9.96350773e-01 -5.88896550e-02] [ 7.97650580e-04 5.89529121e-02 9.98259556e-01]] t_gt: [ 0.72434407 -0.59369655 -0.35049976] Pose Error in degrees for R and t: 61.29536233765355 44.85896678250106 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.97826099 -0.20736539 0.00224433] [-0.2073546 -0.97793457 0.02545678] [-0.00308405 -0.02536875 -0.9996734 ]] t_estimated: [[0.09515763] [0.9953843 ] [0.01245498]] R_gt: [[ 0.99344473 -0.1123926 -0.02086939] [ 0.10723367 0.97950448 -0.17050607] [ 0.0396044 0.16715089 0.98513481]] t_gt: [ 0.62545179 -0.33569979 -0.70435481] Pose Error in degrees for R and t: 171.59812912234938 73.53637797090545 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 2.31788750e-01 -9.72763260e-01 -2.36969154e-03] [ 9.72765364e-01 2.31790966e-01 -7.03776028e-04] [ 1.23388055e-03 -2.14202649e-03 9.99996945e-01]] t_estimated: [[0.7363608 ] [0.67658856] [0.00083017]] R_gt: [[ 0.99095806 -0.11692164 -0.06581463] [ 0.09796063 0.9656751 -0.24057537] [ 0.09168366 0.23195279 0.96839584]] t_gt: [ 0.52548007 -0.10713002 -0.84403427] Pose Error in degrees for R and t: 71.61226237301496 71.71407084429435 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.00291931 0.99999273 0.00245361] [ 0.99999472 0.00291579 0.00143564] [ 0.00142848 0.00245778 -0.99999596]] t_estimated: [[9.93938598e-01] [1.09932880e-01] [9.08536196e-04]] R_gt: [[ 0.98760146 -0.15570079 -0.02002425] [ 0.15435055 0.98637002 -0.05701272] [ 0.02862799 0.05321561 0.99817233]] t_gt: [ 0.55090389 -0.59874883 -0.58138175] Pose Error in degrees for R and t: 178.6991950869362 61.235263535822305 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99997765e-01 1.99796290e-03 -6.90919754e-04] [-1.99701868e-03 9.99997075e-01 1.36461877e-03] [ 6.93644190e-04 -1.36323594e-03 9.99998830e-01]] t_estimated: [[ 9.99997281e-01] [-8.92281811e-04] [ 2.15439441e-03]] R_gt: [[ 0.94833413 -0.3161417 -0.02678955] [ 0.31533137 0.94849078 -0.03051952] [ 0.03505831 0.02049577 0.99917487]] t_gt: [ 0.62916172 -0.75417278 -0.18809293] Pose Error in degrees for R and t: 18.674513732926773 50.99208682741731 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.0427352 0.9990854 0.00143828] [ 0.99907446 0.0427276 0.00495713] [ 0.00489114 0.00164879 -0.99998668]] t_estimated: [[-0.44334904] [-0.8963361 ] [-0.00481901]] R_gt: [[ 0.90843495 -0.41753717 0.02021803] [ 0.41801916 0.90707505 -0.04975207] [ 0.00243432 0.05364802 0.99855701]] t_gt: [ 0.59566105 -0.79473424 -0.11655647] Pose Error in degrees for R and t: 177.60223850209636 63.331682970692825 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.82482487e-01 1.86354641e-01 3.31853991e-04] [-1.86354596e-01 9.82482539e-01 -1.61339234e-04] [-3.56107066e-04 9.66704554e-05 9.99999932e-01]] t_estimated: [[0.80470325] [0.59367661] [0.00087563]] R_gt: [[ 0.98921327 -0.14616076 -0.009725 ] [ 0.14595398 0.9891012 -0.01939933] [ 0.0124534 0.01777129 0.99976436]] t_gt: [ 0.74553534 -0.6578636 -0.1067359 ] Pose Error in degrees for R and t: 19.17985219930168 77.91966145081432 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-8.31500321e-01 -5.55523820e-01 7.08917591e-04] [ 5.55473057e-01 -8.31440314e-01 -1.25174392e-02] [ 7.54315829e-03 -1.00144701e-02 9.99921402e-01]] t_estimated: [[9.59234172e-01] [2.82611471e-01] [7.47649394e-04]] R_gt: [[ 0.96417744 -0.26395872 0.02620936] [ 0.26448078 0.96420598 -0.01890728] [-0.02028113 0.02516231 0.99947755]] t_gt: [ 0.76770287 -0.64078536 0.00514162] Pose Error in degrees for R and t: 130.94228749138819 56.26742246218425 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-7.41703637e-01 6.70723833e-01 2.29255761e-03] [ 6.70721752e-01 7.41707126e-01 -1.69406240e-03] [-2.83665434e-03 2.81176013e-04 -9.99995937e-01]] t_estimated: [[0.99875492] [0.04986442] [0.0014666 ]] R_gt: [[ 0.90371744 -0.4267814 -0.03393574] [ 0.42690919 0.90428719 -0.00376398] [ 0.03229247 -0.0110852 0.99941696]] t_gt: [ 0.82853708 -0.55853436 -0.03956869] Pose Error in degrees for R and t: 178.25121845288643 36.90841535079624 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.93633021e-01 -1.12665024e-01 -1.08604345e-04] [ 1.12665040e-01 9.93633013e-01 1.56290901e-04] [ 9.03043442e-05 -1.67531713e-04 9.99999982e-01]] t_estimated: [[-2.82708589e-01] [-9.59205742e-01] [-4.43984105e-04]] R_gt: [[ 0.99875113 0.04962376 0.00583877] [-0.04921057 0.99715083 -0.0571628 ] [-0.00865872 0.05680376 0.99834772]] t_gt: [-0.65574293 0.30586048 -0.69025399] Pose Error in degrees for R and t: 9.871951167983074 83.81768432656158 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.92947284e-01 1.18556692e-01 3.74074490e-05] [-1.18556696e-01 9.92947275e-01 1.34019177e-04] [-2.12547543e-05 -1.37508881e-04 9.99999990e-01]] t_estimated: [[ 0.99739283] [-0.07215516] [ 0.00108594]] R_gt: [[ 0.99772044 -0.06637668 0.01215289] [ 0.06707342 0.99524047 -0.07068882] [-0.00740263 0.07134323 0.99742353]] t_gt: [ 0.68445564 -0.00972072 -0.7289897 ] Pose Error in degrees for R and t: 11.4077945363479 46.95434501312385 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.98974585e-01 4.52640088e-02 9.73833530e-04] [-4.52626330e-02 9.98974153e-01 -1.39123346e-03] [-1.03580733e-03 1.34572859e-03 9.99998558e-01]] t_estimated: [[-0.59764522] [-0.80175902] [-0.00163291]] R_gt: [[ 0.97073856 -0.23964508 0.01537189] [ 0.24007573 0.9670366 -0.08486815] [ 0.00547274 0.0860751 0.99627269]] t_gt: [ 0.93819927 -0.07914255 -0.3369252 ] Pose Error in degrees for R and t: 17.196929431641475 60.21763288050406 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.68710566 0.72621462 -0.02231894] [ 0.72618946 0.68741114 0.01071414] [ 0.02312305 -0.00884603 -0.99969349]] t_estimated: [[ 0.89982277] [-0.43608883] [-0.01206263]] R_gt: [[ 0.99385956 0.10925679 -0.01748568] [-0.10855537 0.9934016 0.03700662] [ 0.02141398 -0.03488216 0.99916187]] t_gt: [-0.74620496 0.66047855 0.08334416] Pose Error in degrees for R and t: 176.74035680322356 16.160687846525633 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.92048627e-01 -1.25855079e-01 -1.43455926e-04] [ 1.25855081e-01 9.92048637e-01 6.27308391e-06] [ 1.41525756e-04 -2.42778615e-05 9.99999990e-01]] t_estimated: [[-8.37597023e-01] [-5.46288179e-01] [-6.72768693e-04]] R_gt: [[ 0.9628825 0.26808136 -0.03147431] [-0.2672858 0.96323007 0.02730471] [ 0.03763709 -0.01787888 0.99913116]] t_gt: [-0.63987758 0.76616148 -0.05960927] Pose Error in degrees for R and t: 22.88604829704704 83.25477122313308 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.75762924 0.65266546 0.00507346] [-0.6526844 -0.75759347 -0.0074302 ] [-0.00100581 -0.0089407 0.99995953]] t_estimated: [[0.6806895 ] [0.73257132] [0.00103764]] R_gt: [[ 0.90458067 0.42604809 -0.01476883] [-0.42578505 0.90464577 0.01799466] [ 0.02102738 -0.00998977 0.9997287 ]] t_gt: [-0.5902111 0.80716938 -0.01133367] Pose Error in degrees for R and t: 114.05329949308451 79.07365855464253 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.90277301e-01 1.39105845e-01 -6.57301076e-04] [-1.39105588e-01 9.90277465e-01 4.22175443e-04] [ 7.09637515e-04 -3.26636506e-04 9.99999695e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.99735246 -0.04841258 0.05425079] [ 0.05109984 0.99747653 -0.04929679] [-0.05172736 0.0519389 0.99730978]] t_gt: [ 0.79790726 -0.6018741 -0.033039 ] Pose Error in degrees for R and t: 11.651162394356248 38.037340247521186 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.98420567 0.15755042 0.08072831] [ 0.15839504 0.9873672 0.00412708] [-0.07905826 0.01684886 -0.9967276 ]] t_estimated: [[0.08985802] [0.99592643] [0.00748817]] R_gt: [[ 0.99347496 -0.04113921 0.1063643 ] [ 0.0546832 0.99029962 -0.12773921] [-0.10007827 0.13272326 0.98608762]] t_gt: [ 0.6113993 -0.25672783 -0.74851968] Pose Error in degrees for R and t: 168.88245911195847 78.09158213480845 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[ 9.99999955e-01 -1.84343549e-04 2.35075494e-04] [ 1.84400237e-04 9.99999954e-01 -2.41150193e-04] [-2.35031028e-04 2.41193530e-04 9.99999943e-01]] t_estimated: [[2.27755859e-01] [9.73718073e-01] [6.19282006e-04]] R_gt: [[ 0.98876439 0.01068205 0.14909975] [ 0.0194804 0.97972877 -0.19937919] [-0.14820809 0.2000441 0.96851273]] t_gt: [-0.47072694 0.57183275 -0.67188053] Pose Error in degrees for R and t: 14.399162752440137 63.30910778423412 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.29929875 -0.95415682 0.00224297] [-0.95415312 0.29928737 -0.00434613] [ 0.0034756 -0.00344093 -0.99998804]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99679652 -0.07915863 -0.01146088] [ 0.07892728 0.99669085 -0.01944985] [ 0.0129626 0.01848249 0.99974542]] t_gt: [ 0.96136764 -0.14910946 -0.23138414] Pose Error in degrees for R and t: 178.73830727073684 47.05446933413595 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 5.34353396e-01 8.45260815e-01 7.76258146e-04] [-8.45259999e-01 5.34353960e-01 -1.17508531e-03] [-1.40805018e-03 -2.82291326e-05 9.99999008e-01]] t_estimated: [[0.00834173] [0.99996466] [0.00104272]] R_gt: [[ 0.97423237 -0.2252596 -0.01140139] [ 0.22411125 0.97248605 -0.06360172] [ 0.02541449 0.05940712 0.99791082]] t_gt: [ 0.96087201 -0.08837087 -0.26251775] Pose Error in degrees for R and t: 70.78162407848875 85.37544231983658 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.46868647e-01 -3.21619416e-01 8.46933956e-04] [ 3.21619915e-01 9.46868704e-01 -5.36101718e-04] [-6.29514536e-04 7.80008735e-04 9.99999498e-01]] t_estimated: [[-0.01045967] [-0.99994475] [-0.00104597]] R_gt: [[ 0.93779135 -0.34717661 0.00387639] [ 0.34706697 0.93707139 -0.03799312] [ 0.00955829 0.03697478 0.99927094]] t_gt: [ 0.99102136 -0.08060342 -0.10667595] Pose Error in degrees for R and t: 2.658106533605037 85.96620888789171 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99998889e-01 1.48845579e-03 7.76466199e-05] [-1.48846761e-03 9.99998881e-01 1.52468043e-04] [-7.74195910e-05 -1.52583448e-04 9.99999985e-01]] t_estimated: [[-0.99961243] [-0.02776176] [-0.00206562]] R_gt: [[ 0.99588176 -0.08599506 0.02871143] [ 0.08716668 0.99529034 -0.04242746] [-0.02492766 0.04475501 0.99868633]] t_gt: [ 0.79638375 -0.58173992 -0.16538317] Pose Error in degrees for R and t: 5.848587618475353 38.77755673329318 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.98223782 0.18760877 -0.00343626] [-0.18759958 0.98224152 0.00282644] [ 0.0039055 -0.00213159 0.9999901 ]] t_estimated: [[-0.69900033] [-0.71511984] [-0.00146541]] R_gt: [[ 0.98955169 -0.10385855 0.10000249] [ 0.11435851 0.98779874 -0.10571377] [-0.08780232 0.11604566 0.98935548]] t_gt: [ 0.81144917 -0.5349212 -0.23539233] Pose Error in degrees for R and t: 19.14295685749836 79.3781879972602 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.98825535e-01 -4.84415042e-02 9.85483963e-04] [ 4.84414341e-02 9.98826020e-01 9.48078317e-05] [-9.88919659e-04 -4.69582267e-05 9.99999510e-01]] t_estimated: [[0.48166913] [0.87635219] [0.0012983 ]] R_gt: [[ 0.98763489 -0.07598528 0.13712419] [ 0.1017555 0.97610546 -0.19200107] [-0.11925776 0.20358033 0.97176707]] t_gt: [ 0.59259992 -0.23587212 -0.77018808] Pose Error in degrees for R and t: 13.827854824610421 85.54189604599448 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.1105056 -0.99387419 0.00161442] [-0.9938577 0.11049375 -0.00616527] [ 0.00594912 -0.0022858 -0.99997969]] t_estimated: [[ 0.7451894 ] [ 0.6668517 ] [-0.00125333]] R_gt: [[ 0.98268791 -0.17981601 -0.04461278] [ 0.17865828 0.98349186 -0.02873551] [ 0.04904324 0.02026783 0.9985912 ]] t_gt: [ 0.64806468 -0.69639576 -0.30829388] Pose Error in degrees for R and t: 176.85593995477234 88.9156337846112 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999960e-01 -1.26800966e-04 -2.52173335e-04] [ 1.26887514e-04 9.99999933e-01 3.43222366e-04] [ 2.52129798e-04 -3.43254350e-04 9.99999909e-01]] t_estimated: [[-8.05060099e-01] [-5.93192758e-01] [-7.67477198e-04]] R_gt: [[ 0.9519509 -0.30586589 0.01537305] [ 0.30621778 0.95139035 -0.03298522] [-0.00453767 0.0361081 0.99933753]] t_gt: [ 0.58252748 -0.80873784 -0.08127017] Pose Error in degrees for R and t: 17.942947767758426 89.3794645892572 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-2.92425555e-01 -9.56288196e-01 -4.25615153e-04] [ 9.56288257e-01 -2.92425634e-01 1.36977153e-04] [-2.55450416e-04 -3.66955153e-04 9.99999900e-01]] t_estimated: [[9.97212860e-01] [7.46044534e-02] [8.28938371e-04]] R_gt: [[ 0.92371963 -0.38271277 0.01655069] [ 0.38289818 0.92373713 -0.0099721 ] [-0.01147197 0.01554933 0.99981326]] t_gt: [ 0.54732668 -0.83687827 0.00826232] Pose Error in degrees for R and t: 84.49966705103652 61.09405604615623 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.43521991e-01 -3.31309901e-01 -4.74454961e-05] [ 3.31309904e-01 9.43521976e-01 1.64867372e-04] [-9.85632437e-06 -1.71275153e-04 9.99999985e-01]] t_estimated: [[9.33499511e-01] [3.58577648e-01] [8.56766184e-04]] R_gt: [[ 9.96098803e-01 -8.81445273e-02 4.26134781e-03] [ 8.82466347e-02 9.94701137e-01 -5.27565287e-02] [ 4.11054513e-04 5.29262672e-02 9.98597895e-01]] t_gt: [ 0.74349854 -0.61888571 -0.25335822] Pose Error in degrees for R and t: 14.603952519192275 61.84100784128869 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.10403215 -0.99451391 -0.01092681] [-0.99457153 0.10400144 0.00334385] [-0.0021891 0.01121537 -0.99993471]] t_estimated: [[0.06176029] [0.9980904 ] [0.00110286]] R_gt: [[ 0.98900765 -0.14785588 -0.00145592] [ 0.14642436 0.98070132 -0.12955527] [ 0.02058362 0.12791847 0.99157041]] t_gt: [ 0.73997362 -0.52375415 -0.42204341] Pose Error in degrees for R and t: 174.27159089168677 61.47654603857159 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 6.68251082e-01 7.43935385e-01 7.96340592e-04] [-7.43935575e-01 6.68251340e-01 -8.05382061e-05] [-5.92070889e-04 -5.38606353e-04 9.99999680e-01]] t_estimated: [[0.80581035] [0.59217313] [0.00081231]] R_gt: [[ 0.98398471 -0.17347175 -0.0409956 ] [ 0.15944928 0.95941187 -0.23260218] [ 0.07968125 0.22234092 0.97170749]] t_gt: [ 0.65706043 -0.29617849 -0.69321706] Pose Error in degrees for R and t: 59.25181620615611 69.29759898867445 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.55194736e-01 -2.95978020e-01 -1.67773069e-04] [ 2.95978062e-01 9.55194678e-01 3.37993749e-04] [ 6.02172219e-05 -3.72506997e-04 9.99999929e-01]] t_estimated: [[ 7.32687679e-01] [-6.80564856e-01] [ 4.92080529e-04]] R_gt: [[ 0.99436695 -0.07240479 0.07741092] [ 0.07752116 0.9948518 -0.06528243] [-0.07228543 0.070916 0.99485921]] t_gt: [ 0.73653799 -0.5516931 -0.39133939] Pose Error in degrees for R and t: 14.1568857999316 23.80525229228374 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.98749583e-01 4.99926796e-02 5.10154812e-05] [-4.99926677e-02 9.98749562e-01 -2.13000371e-04] [-6.16001488e-05 2.10183631e-04 9.99999976e-01]] t_estimated: [[-0.25272513] [-0.96753724] [-0.00130568]] R_gt: [[ 0.98945132 -0.0944536 0.10984289] [ 0.10380979 0.99114167 -0.08283825] [-0.10104506 0.09336752 0.99049069]] t_gt: [ 0.75549663 -0.58859768 -0.287711 ] Pose Error in degrees for R and t: 11.657708258606016 67.73240400865238 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 8.85598151e-01 4.64452160e-01 3.25570902e-04] [-4.64451896e-01 8.85598108e-01 -6.54252755e-04] [-5.92194079e-04 4.28193008e-04 9.99999733e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98042626 -0.11417577 0.16040219] [ 0.13129791 0.98623421 -0.10052238] [-0.14671718 0.11961597 0.98191915]] t_gt: [ 0.78596249 -0.58142608 -0.21025382] Pose Error in degrees for R and t: 36.397708164422575 38.372395378943075 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.96226384e-01 -8.67928040e-02 -3.05817716e-05] [ 8.67928020e-02 9.96226383e-01 -6.38571543e-05] [ 3.60087092e-05 6.09619042e-05 9.99999997e-01]] t_estimated: [[ 9.18813901e-01] [-3.94690743e-01] [-4.82866075e-04]] R_gt: [[ 0.98817699 -0.1476797 -0.04120617] [ 0.14770875 0.98902816 -0.00237676] [ 0.04110585 -0.00373689 0.99914719]] t_gt: [ 0.60242954 -0.77078429 -0.2072926 ] Pose Error in degrees for R and t: 4.237996310766738 30.924843212714073 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 6.12465232e-01 7.90496943e-01 9.61214245e-04] [-7.90497259e-01 6.12463571e-01 1.56758751e-03] [ 6.50464424e-04 -1.71993007e-03 9.99998309e-01]] t_estimated: [[0.67097824] [0.74147657] [0.00082939]] R_gt: [[ 0.96928983 -0.23642061 -0.06769836] [ 0.2375952 0.97131583 0.0097383 ] [ 0.06345429 -0.02552344 0.99765802]] t_gt: [ 0.62981049 -0.76627428 -0.1271317 ] Pose Error in degrees for R and t: 66.06075424638117 81.62272000862039 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.89852685 0.4389057 0.00335871] [-0.438886 0.8985271 -0.00530357] [-0.00534565 0.00329131 0.9999803 ]] t_estimated: [[0.83792673] [0.54578112] [0.00132793]] R_gt: [[ 0.90861004 -0.41541103 -0.04316247] [ 0.41703078 0.90802458 0.03971565] [ 0.02269443 -0.05408564 0.9982777 ]] t_gt: [ 0.72229636 -0.68974711 0.05036757] Pose Error in degrees for R and t: 50.78208833561532 76.77077947042672 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 0.75068809 -0.66062726 -0.00624587] [-0.66065263 -0.75061627 -0.01064489] [ 0.00234406 0.01211734 -0.99992383]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.96827571e-01 -7.72541888e-02 -1.91968922e-02] [ 7.72757506e-02 9.97009232e-01 4.26154176e-04] [ 1.91056432e-02 -1.90794537e-03 9.99815043e-01]] t_gt: [ 0.5133689 -0.8313951 -0.21268418] Pose Error in degrees for R and t: 178.97959718229853 85.08208113969721 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.73639661e-01 2.28091615e-01 -1.58739577e-04] [-2.28091063e-01 9.73638441e-01 1.62862717e-03] [ 5.26031156e-04 -1.54948893e-03 9.99998661e-01]] t_estimated: [[0.76054308] [0.64928703] [0.00076218]] R_gt: [[ 0.97144817 -0.23714495 0.00715981] [ 0.23691624 0.9712356 0.02391039] [-0.01262434 -0.02153136 0.99968856]] t_gt: [ 0.58685494 -0.80097826 0.11846985] Pose Error in degrees for R and t: 26.93162892034973 85.77656895377862 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 4.73384903e-01 8.80855674e-01 -1.26232677e-04] [-8.80854108e-01 4.73384322e-01 1.82319993e-03] [ 1.66573257e-03 -7.51882749e-04 9.99998330e-01]] t_estimated: [[ 2.88251806e-01] [ 9.57554591e-01] [-3.19567169e-04]] R_gt: [[ 0.95220787 -0.30498897 -0.0168102 ] [ 0.30536501 0.95180411 0.02862741] [ 0.00726817 -0.03239219 0.99944842]] t_gt: [ 0.62006755 -0.7829854 0.04949847] Pose Error in degrees for R and t: 79.53603427431986 55.17781429006422 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.53203484e-01 -3.02329279e-01 -3.52215600e-04] [ 3.02329410e-01 9.53203421e-01 4.06987317e-04] [ 2.12688933e-04 -4.94426864e-04 9.99999855e-01]] t_estimated: [[-0.67740648] [-0.73560846] [-0.00080836]] R_gt: [[ 0.99286794 0.11785383 -0.01800953] [-0.1172291 0.99257345 0.03250724] [ 0.02170679 -0.03016492 0.99930902]] t_gt: [-0.73481517 0.67668225 0.04634431] Pose Error in degrees for R and t: 24.438960032177697 89.99758822001152 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[-7.25471477e-01 -6.88251704e-01 -8.53191181e-04] [-6.88252219e-01 7.25470657e-01 1.09941086e-03] [-1.37706231e-04 1.38480194e-03 -9.99999032e-01]] t_estimated: [[8.37531061e-01] [5.46389311e-01] [6.64707191e-04]] R_gt: [[ 0.96145037 0.27335894 -0.02980963] [-0.27293231 0.96187191 0.01764152] [ 0.03349526 -0.00882623 0.99939926]] t_gt: [-0.6264748 0.77575345 -0.07573582] Pose Error in degrees for R and t: 178.54908039619932 84.21020736990044 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.36271434e-01 -3.51276682e-01 -7.03247516e-04] [ 3.51277267e-01 9.36270886e-01 1.05316673e-03] [ 2.88477259e-04 -1.23308479e-03 9.99999198e-01]] t_estimated: [[-7.69802272e-01] [-6.38281999e-01] [-7.43052386e-04]] R_gt: [[ 0.89946358 0.43698543 -0.00304085] [-0.43695299 0.89945122 0.00777511] [ 0.0061324 -0.00566563 0.99996453]] t_gt: [-0.58624587 0.81004412 0.01201276] Pose Error in degrees for R and t: 46.47822482416641 86.22996244365297 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999849e-01 -5.42998270e-04 7.87067718e-05] [ 5.42995622e-04 9.99999852e-01 3.36527814e-05] [-7.87250335e-05 -3.36100389e-05 9.99999996e-01]] t_estimated: [[ 1.91342152e-02] [-9.99816770e-01] [ 5.54302303e-04]] R_gt: [[ 0.9913605 0.00910361 0.13084981] [-0.00830392 0.99994375 -0.00665952] [-0.13090277 0.00551563 0.99137959]] t_gt: [-0.13468084 0.11869522 0.9837543 ] Pose Error in degrees for R and t: 7.542773316874485 83.06719742166474 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 1.44163462e-01 9.89553745e-01 5.30230537e-04] [-9.89553378e-01 1.44163911e-01 -9.37369118e-04] [-1.00401723e-03 -3.89557042e-04 9.99999420e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97831806 -0.02253386 0.20588053] [ 0.03517139 0.99770169 -0.05792893] [-0.20410185 0.06391363 0.97686139]] t_gt: [ 0.21516477 -0.00503272 0.97656479] Pose Error in degrees for R and t: 84.11765148780009 89.8467023163034 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.72664392 0.68688986 0.01307409] [ 0.68688814 0.72674359 -0.00533161] [-0.01316374 0.00510625 -0.99990032]] t_estimated: [[0.99737322] [0.07227342] [0.00481823]] R_gt: [[ 0.9774818 -0.09559917 0.18812153] [ 0.10495378 0.99365719 -0.04039007] [-0.18306623 0.05922414 0.98131512]] t_gt: [ 0.7193493 -0.35279316 0.59839249] Pose Error in degrees for R and t: 168.17442139898782 45.98510493389958 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.95586607 -0.29313212 0.01983993] [-0.29280881 -0.95600773 -0.01766951] [ 0.02414663 0.01108038 -0.99964702]] t_estimated: [[-0.19617738] [ 0.98035655] [-0.02038327]] R_gt: [[ 0.99800415 0.06275806 -0.0070805 ] [-0.06301952 0.99693563 -0.04634418] [ 0.00415085 0.04669731 0.99890032]] t_gt: [-0.48995327 0.70218063 -0.51661219] Pose Error in degrees for R and t: 176.5215020178087 37.341403165285335 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.91059238e-01 -1.33422547e-01 -1.03727747e-04] [ 1.33422531e-01 9.91059235e-01 -1.46056615e-04] [ 1.22287587e-04 1.30911139e-04 9.99999984e-01]] t_estimated: [[-0.5549102 ] [-0.83190961] [-0.00103378]] R_gt: [[ 0.98970453 0.14212853 -0.01688474] [-0.14267266 0.98906614 -0.03730087] [ 0.01139918 0.03932536 0.99916056]] t_gt: [-0.56519077 0.78028145 -0.26780637] Pose Error in degrees for R and t: 16.027940164674042 70.4142865775661 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.9880942 -0.1537807 -0.00461945] [ 0.15379764 0.98809593 0.00356608] [ 0.00401607 -0.00423408 0.99998297]] t_estimated: [[-7.86699600e-01] [-6.17335567e-01] [-7.33177633e-04]] R_gt: [[ 0.96270674 0.26757737 -0.03996954] [-0.26934191 0.96182788 -0.04838771] [ 0.0254965 0.05734849 0.99802842]] t_gt: [-0.53844705 0.81089721 -0.22917348] Pose Error in degrees for R and t: 24.705654379762777 85.59353194065638 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.83967532 0.54308223 0.0026557 ] [ 0.54308647 0.83967589 0.00122125] [-0.00156669 0.00246773 -0.99999573]] t_estimated: [[ 0.99389685] [-0.11030484] [ 0.00137795]] R_gt: [[ 0.96835296 -0.24950278 0.00637208] [ 0.24915517 0.96786902 0.03395222] [-0.0146377 -0.03128934 0.99940297]] t_gt: [ 0.7410165 -0.65859155 0.13096457] Pose Error in degrees for R and t: 179.80252835512925 35.97042826137331 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.0549649 0.99847555 0.00504291] [ 0.99848059 0.05498361 -0.00364958] [-0.00392129 0.00483464 -0.99998062]] t_estimated: [[0.99916663] [0.0407269 ] [0.00271513]] R_gt: [[ 0.92168382 -0.38785705 -0.00809746] [ 0.3875344 0.91955843 0.06504506] [-0.01778091 -0.06308813 0.9978493 ]] t_gt: [ 0.78545924 -0.59923056 0.15484351] Pose Error in degrees for R and t: 177.984985119171 40.463434767496324 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 6.00865882e-01 7.99349168e-01 1.04838856e-03] [-7.99348330e-01 6.00866781e-01 -1.16547264e-03] [-1.56156145e-03 -1.37734902e-04 9.99998771e-01]] t_estimated: [[0.75586203] [0.65473001] [0.00109653]] R_gt: [[ 0.90455558 -0.4254372 0.02794871] [ 0.42333461 0.90400657 0.05967355] [-0.0506518 -0.04214496 0.99782668]] t_gt: [ 0.7741046 -0.60741931 0.17833632] Pose Error in degrees for R and t: 78.28434939268193 79.18630028327107 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.94844972e-01 1.01407402e-01 -1.41226539e-04] [-1.01407434e-01 9.94844952e-01 -2.33967457e-04] [ 1.16772477e-04 2.47082769e-04 9.99999963e-01]] t_estimated: [[-0.9888424 ] [ 0.14895611] [-0.00167117]] R_gt: [[ 0.99628654 0.08565301 -0.00872645] [-0.08572045 0.99628951 -0.00766002] [ 0.00803806 0.00838007 0.99993204]] t_gt: [-0.79666518 0.59309984 -0.11643527] Pose Error in degrees for R and t: 1.1157106606855363 28.798804075870926 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-3.28820507e-01 9.44392102e-01 -7.94464117e-04] [-9.44390789e-01 -3.28821389e-01 -1.59100544e-03] [-1.76376976e-03 2.27129380e-04 9.99998419e-01]] t_estimated: [[0.32513502] [0.94566709] [0.00099127]] R_gt: [[ 0.96749696 0.25274069 0.00847899] [-0.25276123 0.96752756 0.00137324] [-0.00785591 -0.00347144 0.99996294]] t_gt: [-0.74660753 0.6644331 0.03325423] Pose Error in degrees for R and t: 94.5575100854725 67.31793622859684 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 5.67581021e-01 -8.23309498e-01 3.64070323e-03] [-8.23313583e-01 -5.67586462e-01 -5.93608608e-04] [ 2.55513747e-03 -2.66051944e-03 -9.99993196e-01]] t_estimated: [[0.37855727] [0.92557736] [0.00096818]] R_gt: [[ 0.92325495 0.38400976 0.0116855 ] [-0.38366796 0.92316057 -0.02392837] [-0.01997579 0.01760959 0.99964482]] t_gt: [-0.6693945 0.74289823 -0.00363638] Pose Error in degrees for R and t: 179.4578185303401 64.26546608377753 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.22606311 -0.9738562 -0.02235109] [-0.97386092 0.2264668 -0.0175413 ] [ 0.02214449 0.01780141 -0.99959628]] t_estimated: [[ 0.79321401] [ 0.60878282] [-0.01396475]] R_gt: [[ 0.99654033 0.07682311 0.03171868] [-0.07502679 0.99569522 -0.05441567] [-0.03576263 0.05184853 0.99801431]] t_gt: [-0.83594062 0.33861508 -0.43190636] Pose Error in degrees for R and t: 177.99282003181696 63.198218462602675 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99312640e-01 3.70708541e-02 1.46364259e-05] [-3.70708569e-02 9.99312590e-01 3.13234182e-04] [-3.01450605e-06 -3.13561462e-04 9.99999951e-01]] t_estimated: [[-8.08219032e-01] [-5.88881982e-01] [ 8.41774198e-05]] R_gt: [[ 0.99508275 0.09491191 0.02832996] [-0.09180151 0.99113211 -0.09606637] [-0.03719664 0.09299348 0.99497176]] t_gt: [-0.72595074 0.35102237 -0.59142102] Pose Error in degrees for R and t: 6.61527374800889 67.66838165975251 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-4.94576441e-01 8.69126059e-01 -3.74654192e-03] [ 8.69109112e-01 4.94590317e-01 5.45614808e-03] [ 6.59508384e-03 -5.57671424e-04 -9.99978097e-01]] t_estimated: [[8.29443374e-01] [5.58590364e-01] [7.03514312e-04]] R_gt: [[ 0.99890329 -0.02309442 0.04073163] [ 0.02769808 0.99281844 -0.11637314] [-0.03775104 0.11737474 0.99237034]] t_gt: [ 0.1248084 0.1887914 -0.97405373] Pose Error in degrees for R and t: 175.0184871976039 77.97764590566652 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.99979996e-01 6.32491748e-03 -5.12710073e-05] [-6.32491631e-03 9.99979997e-01 2.29047630e-05] [ 5.14148525e-05 -2.25800200e-05 9.99999998e-01]] t_estimated: [[-9.86379020e-01] [-1.64488384e-01] [-1.52276510e-05]] R_gt: [[ 0.99819832 0.05660351 -0.01988058] [-0.05677654 0.99835272 -0.00822828] [ 0.01938226 0.00934302 0.99976832]] t_gt: [-0.55106043 0.73954565 -0.38652896] Pose Error in degrees for R and t: 3.139571956009233 65.04453579554294 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 3.63034513e-01 9.31775202e-01 -9.56859294e-04] [ 9.31773675e-01 -3.63031398e-01 2.45391061e-03] [ 1.93912309e-03 -1.78243055e-03 -9.99996531e-01]] t_estimated: [[0.80676583] [0.59087075] [0.00081164]] R_gt: [[ 0.98322305 0.1802401 -0.02802042] [-0.18066563 0.98345282 -0.01344281] [ 0.02513336 0.01827961 0.99951674]] t_gt: [-0.57560968 0.7963918 -0.18556294] Pose Error in degrees for R and t: 179.742891253023 89.65440171877191 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 8.36471694e-01 5.48010027e-01 3.40138754e-04] [-5.48009997e-01 8.36470890e-01 1.22213505e-03] [ 3.85226093e-04 -1.20868081e-03 9.99999195e-01]] t_estimated: [[0.5494718 ] [0.83551168] [0.00098295]] R_gt: [[ 0.96118984 0.26895671 -0.06145007] [-0.26931288 0.96304897 0.00257629] [ 0.05987187 0.01407347 0.99810636]] t_gt: [-0.55697431 0.80175981 -0.21670446] Pose Error in degrees for R and t: 17.95094243239123 68.677012739237 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99927219e-01 -1.20645802e-02 4.47550088e-05] [ 1.20644964e-02 9.99926020e-01 1.54992280e-03] [-6.34508658e-05 -1.54927004e-03 9.99998798e-01]] t_estimated: [[-0.98652935] [-0.16346504] [ 0.00624689]] R_gt: [[ 0.97837947 0.20662109 0.00902231] [-0.20658804 0.97841746 -0.00450463] [-0.00975971 0.00254348 0.99995001]] t_gt: [-0.75200444 0.65888111 0.01910484] Pose Error in degrees for R and t: 12.629704563030796 50.6326718496987 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.25404435e-01 3.78981043e-01 -3.77706205e-05] [-3.78981011e-01 9.25404303e-01 -5.18696785e-04] [-1.61623154e-04 4.94318653e-04 9.99999865e-01]] t_estimated: [[-8.68290661e-01] [ 4.96055586e-01] [-4.28109744e-04]] R_gt: [[ 0.95648186 0.29066548 0.02563161] [-0.29040296 0.95680868 -0.01353024] [-0.0284583 0.00549808 0.99958051]] t_gt: [-0.73162626 0.68049985 0.04053359] Pose Error in degrees for R and t: 5.6233561715648905 13.390906768325078 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99996126e-01 2.77803492e-03 1.72063074e-04] [-2.77815080e-03 9.99995912e-01 6.76913940e-04] [-1.70181880e-04 -6.77389335e-04 9.99999756e-01]] t_estimated: [[-0.99946719] [ 0.03260774] [ 0.00143997]] R_gt: [[ 0.91528861 0.40186184 0.02747136] [-0.40155075 0.91569218 -0.01626902] [-0.0316939 0.00386007 0.99949095]] t_gt: [-0.68992132 0.72274375 0.04062068] Pose Error in degrees for R and t: 23.602347271881346 44.50581983829479 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 0.98028027 0.19752652 0.00581879] [ 0.19757653 -0.97911879 -0.04785298] [-0.00375494 0.04805899 -0.99883744]] t_estimated: [[-0.10351874] [ 0.99434403] [-0.023745 ]] R_gt: [[ 0.99940047 -0.02811158 0.02022459] [ 0.02826721 0.99957295 -0.00740932] [-0.02000809 0.00797641 0.99976818]] t_gt: [ 0.76303829 -0.63589193 0.11581893] Pose Error in degrees for R and t: 176.68385792025873 44.435894192938505 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.90014960e-01 1.40962215e-01 1.80798140e-04] [-1.40962155e-01 9.90014936e-01 -3.12682069e-04] [-2.23069216e-04 2.84074231e-04 9.99999935e-01]] t_estimated: [[ 0.97221582] [-0.23408186] [ 0.0014403 ]] R_gt: [[ 0.99459626 -0.03641796 0.09722266] [ 0.04047476 0.99837592 -0.0400877 ] [-0.09560553 0.04380676 0.99445501]] t_gt: [ 0.74340078 -0.43705454 0.50629893] Pose Error in degrees for R and t: 11.936879283165055 34.33216979667036 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.89684783e-01 1.43262105e-01 1.55102906e-05] [-1.43262094e-01 9.89684738e-01 -3.03817902e-04] [-5.88758900e-05 2.98461917e-04 9.99999954e-01]] t_estimated: [[-0.29562177] [-0.95530402] [-0.00141184]] R_gt: [[ 0.99085316 0.01712899 0.13385087] [-0.00547308 0.99619581 -0.08696993] [-0.13483182 0.08544245 0.9871778 ]] t_gt: [-0.05567854 0.99487289 0.08442653] Pose Error in degrees for R and t: 11.898357584972455 20.922312499465022 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 0.70699769 -0.70680169 -0.02420014] [-0.70678026 -0.7049476 -0.05924987] [ 0.02481808 0.0589937 -0.9979498 ]] t_estimated: [[ 0.38154205] [ 0.92381193] [-0.03157834]] R_gt: [[ 9.99996220e-01 -2.59424470e-03 -7.23875431e-04] [ 2.57595579e-03 9.99683063e-01 -2.50563672e-02] [ 7.89531943e-04 2.50537168e-02 9.99686190e-01]] t_gt: [-0.11875733 0.43866253 -0.89077038] Pose Error in degrees for R and t: 174.98808510808846 67.16617063897536 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.95754847 0.28631035 -0.03357549] [-0.21817453 0.79590014 0.56475025] [ 0.18841658 -0.53345042 0.82457858]] t_estimated: [[0.71178345] [0.70239405] [0.00262901]] R_gt: [[ 9.93529570e-01 -1.13564538e-01 -1.02033980e-03] [ 1.13568574e-01 9.93516767e-01 5.15133259e-03] [ 4.29628234e-04 -5.23521210e-03 9.99986810e-01]] t_gt: [ 0.51093761 -0.85894097 0.0341053 ] Pose Error in degrees for R and t: 40.7475743140458 76.14011042474903 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999953e-01 -2.44421611e-04 1.84474149e-04] [ 2.44429791e-04 9.99999969e-01 -4.43244037e-05] [-1.84463310e-04 4.43694926e-05 9.99999982e-01]] t_estimated: [[0.57966239] [0.81485328] [0.00237567]] R_gt: [[ 0.9674646 -0.25231028 0.01873116] [ 0.25220917 0.9676429 0.00763913] [-0.02005169 -0.00266629 0.99979576]] t_gt: [ 0.59374104 -0.7992913 0.09276312] Pose Error in degrees for R and t: 14.643709786568051 72.12656302069813 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-9.66102467e-01 -2.57952862e-01 -1.03123909e-02] [-2.57961675e-01 9.66155026e-01 -4.89044486e-04] [ 1.00895187e-02 2.18773455e-03 -9.99946706e-01]] t_estimated: [[ 0.99018932] [ 0.139657 ] [-0.0045867 ]] R_gt: [[ 0.98208526 0.18706622 -0.02270152] [-0.18760387 0.98194193 -0.0244274 ] [ 0.01772205 0.02824849 0.99944302]] t_gt: [-0.62708034 0.75628239 -0.18656687] Pose Error in degrees for R and t: 178.05658135560788 59.03914032324475 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 6.60689280e-01 7.50658459e-01 1.24620157e-03] [-7.50658483e-01 6.60690204e-01 -5.43641631e-04] [-1.23144236e-03 -5.76293585e-04 9.99999076e-01]] t_estimated: [[0.00924988] [0.99995586] [0.00165065]] R_gt: [[ 0.94399993 0.32846343 0.03125334] [-0.3269729 0.94397493 -0.04472989] [-0.04419398 0.03200703 0.99850995]] t_gt: [-0.64545871 0.76210754 0.0507459 ] Pose Error in degrees for R and t: 29.65835966894477 40.87078250728211 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.33140258 -0.94348268 -0.00357117] [ 0.94348345 -0.33141159 0.00230912] [-0.00336214 -0.00260409 0.99999096]] t_estimated: [[ 0.94231103] [-0.33472166] [ 0.00336659]] R_gt: [[ 0.92726003 0.37077569 0.05211017] [-0.36793738 0.92812359 -0.05664822] [-0.06936851 0.03335482 0.99703302]] t_gt: [-0.64853503 0.75545299 0.0932368 ] Pose Error in degrees for R and t: 131.10937570313695 30.26832932720053 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.29498810e-01 -3.68823050e-01 -1.23300945e-03] [ 3.68822657e-01 9.29499626e-01 -5.40629030e-04] [ 1.34547827e-03 4.77522193e-05 9.99999094e-01]] t_estimated: [[ 0.77998816] [-0.62578631] [-0.00315652]] R_gt: [[ 0.99314614 -0.11304239 -0.02971383] [ 0.1135749 0.9933852 0.01690419] [ 0.02760543 -0.02016328 0.9994155 ]] t_gt: [ 0.81387663 -0.58057218 -0.02325471] Pose Error in degrees for R and t: 15.253856543956926 3.436677714635073 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-6.70979468e-01 -7.41471284e-01 -2.62473962e-03] [ 7.41475751e-01 -6.70977560e-01 -1.68089298e-03] [-5.14807513e-04 -3.07402546e-03 9.99995143e-01]] t_estimated: [[0.79818849] [0.60240652] [0.00123296]] R_gt: [[ 0.98649215 -0.14157723 -0.08240055] [ 0.14249516 0.98978121 0.0053349 ] [ 0.08080305 -0.01700391 0.99658552]] t_gt: [ 0.84954249 -0.48553324 -0.20624022] Pose Error in degrees for R and t: 124.00761416155214 67.33438279955026 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.44926570e-02 9.96424043e-01 -3.43311587e-04] [-9.96421710e-01 8.44916943e-02 -2.22010938e-03] [-2.18316339e-03 5.29666059e-04 9.99997477e-01]] t_estimated: [[-4.56849552e-02] [ 9.98955435e-01] [ 9.61610727e-04]] R_gt: [[ 0.98378342 -0.11441031 -0.13813302] [ 0.1178396 0.99288927 0.01688434] [ 0.13521945 -0.03288706 0.99026997]] t_gt: [ 0.87409159 -0.35877546 -0.32748139] Pose Error in degrees for R and t: 92.13306920328155 66.5062871458802 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99995249e-01 -3.08218903e-03 3.95945531e-05] [ 3.08218781e-03 9.99995250e-01 3.06994149e-05] [-3.96889864e-05 -3.05772312e-05 9.99999999e-01]] t_estimated: [[-0.99718077] [ 0.07497686] [-0.00299813]] R_gt: [[ 0.99998096 -0.00521667 -0.0035545 ] [ 0.00520346 0.99997999 -0.00356788] [ 0.00357251 0.00355012 0.99998785]] t_gt: [ 0.93458784 -0.3281156 -0.13742533] Pose Error in degrees for R and t: 0.3089786862469909 17.031851057874622 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.99406733 0.10874768 -0.00202044] [-0.10874236 0.99406662 0.00257926] [ 0.00228894 -0.00234425 0.99999463]] t_estimated: [[0.49186488] [0.87067077] [0.00116556]] R_gt: [[ 0.99926967 0.03512998 0.01501414] [-0.03516831 0.99937827 0.0022487 ] [-0.01492565 -0.00277374 0.99988511]] t_gt: [0.84760052 0.43356718 0.30592951] Pose Error in degrees for R and t: 4.341151820405256 37.367806269599015 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.99995934 0.00894727 -0.0011233 ] [-0.00894425 0.99995644 0.00266635] [ 0.00114711 -0.0026562 0.99999581]] t_estimated: [[-0.99908007] [-0.04281772] [-0.00237876]] R_gt: [[ 0.99867927 0.05077389 0.00793789] [-0.05070345 0.99867309 -0.00897034] [-0.00838244 0.0085573 0.99992859]] t_gt: [ 0.83927847 0.54322967 -0.02265329] Pose Error in degrees for R and t: 2.5398585638576177 30.49060616149753 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-0.33342086 0.94209159 0.03597166] [ 0.94213483 0.33435998 -0.02419447] [-0.03482089 0.02582321 -0.99905989]] t_estimated: [[ 0.82565641] [-0.56378762] [ 0.02085671]] R_gt: [[ 0.99940897 -0.00316216 -0.0342464 ] [ 0.00406436 0.99964417 0.02633164] [ 0.03415069 -0.02645528 0.99906556]] t_gt: [-0.49323742 -0.8295341 -0.26189698] Pose Error in degrees for R and t: 180.0 86.84862686611228 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-9.96330859e-01 -8.32959413e-02 1.96622951e-02] [-8.32777659e-02 9.96524850e-01 1.74279658e-03] [-1.97391335e-02 9.89700087e-05 -9.99805159e-01]] t_estimated: [[0.99890431] [0.04601912] [0.00851056]] R_gt: [[ 0.99660019 -0.05385672 -0.0623547 ] [ 0.05497676 0.99835345 0.01637271] [ 0.06137022 -0.01974478 0.9979188 ]] t_gt: [ 0.00266619 -0.90123714 -0.43331801] Pose Error in degrees for R and t: 177.62845871202057 87.56427303372172 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.92014630e-01 1.26121861e-01 5.00655112e-04] [-1.26122106e-01 9.92014603e-01 4.91279308e-04] [-4.34696122e-04 -5.50499938e-04 9.99999754e-01]] t_estimated: [[ 0.99490926] [-0.10076215] [ 0.00159915]] R_gt: [[ 0.98806529 -0.11718804 -0.09997847] [ 0.12278236 0.99108291 0.05174678] [ 0.09302246 -0.06340438 0.99364225]] t_gt: [ 0.18762104 -0.94998908 -0.24963791] Pose Error in degrees for R and t: 15.561058333903288 73.62101160307643 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 9.95387471e-01 -9.59363443e-02 1.15125300e-05] [ 9.59363420e-02 9.95387463e-01 1.32229727e-04] [-2.41450646e-05 -1.30515344e-04 9.99999991e-01]] t_estimated: [[9.35401862e-01] [3.53585362e-01] [8.64511889e-04]] R_gt: [[ 0.9937313 -0.09357548 0.06115667] [ 0.09510094 0.9952119 -0.02251598] [-0.0587567 0.02819015 0.99787354]] t_gt: [ 0.39683178 -0.84560625 0.35703586] Pose Error in degrees for R and t: 3.740695490342712 85.84172739113062 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-2.86347943e-01 9.58119550e-01 3.43258972e-03] [ 9.58125527e-01 2.86348200e-01 4.26853120e-04] [-5.73939567e-04 3.41108035e-03 -9.99994018e-01]] t_estimated: [[9.58209211e-01] [2.86067313e-01] [7.75250170e-04]] R_gt: [[ 0.9774272 -0.20584388 0.04756993] [ 0.20477912 0.97845381 0.02633382] [-0.05196573 -0.01599905 0.99852013]] t_gt: [ 0.57677908 -0.76191275 0.2946436 ] Pose Error in degrees for R and t: 178.27068447107152 70.43079923787181 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.59783934e-01 -2.80739591e-01 -2.86489776e-04] [ 2.80739736e-01 9.59783375e-01 1.03591268e-03] [-1.58535788e-05 -1.07468141e-03 9.99999422e-01]] t_estimated: [[ 0.99952087] [-0.0309259 ] [ 0.00126874]] R_gt: [[ 0.95109013 -0.30573432 0.04419307] [ 0.30503852 0.95208836 0.02187763] [-0.04876476 -0.00732773 0.99878301]] t_gt: [ 0.65748777 -0.73003228 0.18644759] Pose Error in degrees for R and t: 3.185945895591649 47.15743477228733 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.00226752 -0.9998946 0.01434027] [-0.99997754 -0.00235769 -0.00627419] [ 0.00630734 -0.01432572 -0.99987749]] t_estimated: [[8.03579607e-01] [5.95196949e-01] [6.37255835e-04]] R_gt: [[ 0.99986722 0.00540104 0.01534741] [-0.00564149 0.99986027 0.01573781] [-0.01525963 -0.01582254 0.9997582 ]] t_gt: [-0.79376673 -0.20208684 0.57366827] Pose Error in degrees for R and t: 178.4133635269576 40.73194393095583 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 0.96340681 0.26794573 0.00723914] [ 0.26799133 -0.96233517 -0.04573482] [-0.00528798 0.04600127 -0.99892739]] t_estimated: [[-0.28304853] [ 0.95881745] [-0.02350818]] R_gt: [[ 0.99807552 -0.00178195 0.06198884] [ 0.00140861 0.99998043 0.00607609] [-0.06199787 -0.00597764 0.99805827]] t_gt: [-0.83223338 -0.15451564 0.53245894] Pose Error in degrees for R and t: 177.2089834708195 85.70492579374871 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.98642047e-01 5.20963404e-02 -1.81812717e-04] [-5.20963231e-02 9.98642060e-01 9.88847974e-05] [ 1.86717362e-04 -8.92787424e-05 9.99999979e-01]] t_estimated: [[-8.01819175e-01] [-5.97566713e-01] [ 1.83512628e-04]] R_gt: [[ 0.99545936 0.06509533 0.06944496] [-0.06348036 0.99766389 -0.02521161] [-0.07092305 0.02068889 0.99726685]] t_gt: [-0.95927356 0.27954763 -0.04058776] Pose Error in degrees for R and t: 4.307112185081235 52.978969212411975 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.96082732 0.15118122 0.23228236] [-0.12048671 0.98262811 -0.14115574] [-0.24958727 0.10763936 0.96235127]] t_estimated: [[0.7729529 ] [0.63242815] [0.05077851]] R_gt: [[ 0.98606887 -0.15215594 0.06721197] [ 0.15194664 0.98835368 0.00824577] [-0.06768395 0.0020825 0.99770486]] t_gt: [ 0.6495285 -0.72502092 0.22903578] Pose Error in degrees for R and t: 20.850606350195658 86.83788012823005 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.51738538e-01 3.06909759e-01 3.93942901e-04] [-3.06909618e-01 9.51738589e-01 -3.79531507e-04] [-4.91412584e-04 2.40309896e-04 9.99999850e-01]] t_estimated: [[-9.83281383e-01] [-1.82091730e-01] [-5.69063375e-04]] R_gt: [[ 0.94817985 -0.3031731 0.09508093] [ 0.3028818 0.95286055 0.01783214] [-0.09600414 0.0118904 0.99530963]] t_gt: [ 0.74586918 -0.64512227 0.16582048] Pose Error in degrees for R and t: 35.96852435045137 51.973766627817234 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.03235856 0.9994743 0.0020136 ] [ 0.99947579 0.0323564 0.00109489] [ 0.00102917 0.00204798 -0.99999737]] t_estimated: [[-0.7656057 ] [-0.64330965] [-0.00077494]] R_gt: [[ 0.8948381 -0.44305522 0.05446532] [ 0.43701226 0.89437068 0.09549777] [-0.09102325 -0.06165246 0.99393808]] t_gt: [ 0.79868619 -0.56835168 0.19767839] Pose Error in degrees for R and t: 179.9069839514167 75.75872075584907 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 1.00000000e+00 -9.38069067e-14 -1.24249569e-15] [ 9.38086414e-14 1.00000000e+00 3.13611916e-15] [ 1.24271253e-15 -3.13550929e-15 1.00000000e+00]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.97606632 -0.16861223 0.13734655] [ 0.16316999 0.98532783 0.05004764] [-0.1437691 -0.02643916 0.98925829]] t_gt: [ 0.54060842 -0.64354127 0.54184608] Pose Error in degrees for R and t: 12.754178573999868 57.65988073031619 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[ 9.99997942e-01 2.02901913e-03 7.57298370e-07] [-2.02901913e-03 9.99997942e-01 -1.22432685e-06] [-7.59780993e-07 1.22278776e-06 1.00000000e+00]] t_estimated: [[ 7.06494004e-01] [-7.07719012e-01] [ 1.49338871e-04]] R_gt: [[ 0.94069749 -0.29030087 0.17553532] [ 0.28124936 0.95670123 0.07497476] [-0.18970004 -0.02115998 0.9816142 ]] t_gt: [ 0.65395047 -0.63739407 0.40752618] Pose Error in degrees for R and t: 20.12824160093427 24.05299748347034 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 1.72944770e-01 9.84931515e-01 1.31943173e-04] [-9.84930085e-01 1.72944744e-01 -1.68606388e-03] [-1.68347633e-03 1.61641129e-04 9.99998570e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.88409876 -0.43616672 0.16771515] [ 0.4210462 0.89920208 0.11898013] [-0.2027047 -0.03457418 0.97862939]] t_gt: [ 0.7551234 -0.57417529 0.31640383] Pose Error in degrees for R and t: 106.17361502329301 55.310747413807185 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99890695e-01 -1.47849300e-02 5.48418388e-05] [ 1.47849287e-02 9.99890697e-01 2.35047532e-05] [-5.51833605e-05 -2.26913513e-05 9.99999998e-01]] t_estimated: [[ 9.99829964e-01] [-1.84380035e-02] [ 2.89729416e-04]] R_gt: [[ 9.91295603e-01 -1.31601340e-01 -3.67047515e-03] [ 1.31650229e-01 9.90694928e-01 3.45078851e-02] [-9.04456674e-04 -3.46906789e-02 9.99397425e-01]] t_gt: [ 0.68535595 -0.70117095 0.19658717] Pose Error in degrees for R and t: 7.0064347308751636 45.7152662258312 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.94245275e-01 -1.07127585e-01 1.17370375e-04] [ 1.07127569e-01 9.94245275e-01 1.31665607e-04] [-1.30799959e-04 -1.18334305e-04 9.99999984e-01]] t_estimated: [[9.70689091e-01] [2.40337206e-01] [8.46122177e-04]] R_gt: [[ 0.98054171 -0.18937302 0.05171806] [ 0.18815413 0.98175253 0.02754946] [-0.05599094 -0.01728224 0.99828143]] t_gt: [ 0.58534772 -0.73422381 0.34392361] Pose Error in degrees for R and t: 5.804416763024837 66.91973023419102 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999062e-01 -1.36181802e-03 1.44981621e-04] [ 1.36188605e-03 9.99998962e-01 -4.70148695e-04] [-1.44341213e-04 4.70345702e-04 9.99999879e-01]] t_estimated: [[-0.99997791] [-0.00654598] [-0.00115425]] R_gt: [[ 0.95849363 -0.28054171 0.05086249] [ 0.2787595 0.95955113 0.03942791] [-0.05986672 -0.02361163 0.99792772]] t_gt: [ 0.64032057 -0.71869247 0.2710548 ] Pose Error in degrees for R and t: 16.59264096354845 50.512137520271345 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.97715909e-01 -6.75496036e-02 -1.25432278e-04] [ 6.75492150e-02 9.97713910e-01 -2.01444039e-03] [ 2.61220178e-04 2.00136637e-03 9.99997963e-01]] t_estimated: [[-0.79565512] [-0.60573991] [-0.00347649]] R_gt: [[ 0.99821324 -0.02883249 0.05233421] [ 0.02910889 0.99956605 -0.00450404] [-0.05218157 0.00601922 0.99861966]] t_gt: [ 0.62425423 -0.65457559 0.42642403] Pose Error in degrees for R and t: 3.7373673060629806 84.16459906552551 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99197793e-01 4.00471049e-02 -3.60616012e-06] [-4.00471045e-02 9.99197758e-01 -2.62924213e-04] [-6.92608645e-06 2.62857710e-04 9.99999965e-01]] t_estimated: [[-6.19440426e-01] [-7.85043594e-01] [-3.36800477e-04]] R_gt: [[ 0.99723676 0.03571471 0.0651402 ] [-0.03393976 0.99902674 -0.02814479] [-0.06608164 0.02585592 0.99747963]] t_gt: [-0.9410024 0.30176141 -0.15314872] Pose Error in degrees for R and t: 4.074292518036714 69.75405540318236 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.99004306 0.14059417 -0.00692907] [-0.14066263 -0.9900003 0.01065003] [-0.00536245 0.01151865 0.99991928]] t_estimated: [[9.57754590e-01] [2.87585463e-01] [8.63620009e-04]] R_gt: [[ 0.99358126 0.07117627 0.08792374] [-0.06623271 0.99612158 -0.05791463] [-0.09170447 0.05171934 0.99444214]] t_gt: [-0.88572869 0.38315759 -0.26205905] Pose Error in degrees for R and t: 168.00095448088743 42.40924877013068 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.91316392e-01 1.31497383e-01 -4.99835559e-04] [-1.31497445e-01 9.91316505e-01 -9.22498235e-05] [ 4.83364629e-04 1.57175861e-04 9.99999871e-01]] t_estimated: [[-0.9914707 ] [ 0.13029721] [-0.00291159]] R_gt: [[ 0.99823151 0.05937279 0.0030889 ] [-0.05938622 0.99822513 0.0045081 ] [-0.00281583 -0.00468325 0.99998518]] t_gt: [-0.1377199 0.98821383 0.06683308] Pose Error in degrees for R and t: 4.165101418411006 74.6263824530726 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.46868212e-01 -3.21621775e-01 -1.50628109e-04] [ 3.21621785e-01 9.46868219e-01 4.76042710e-05] [ 1.27314400e-04 -9.35202524e-05 9.99999988e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 9.97191729e-01 7.13366149e-02 2.28187186e-02] [-7.13250131e-02 9.97452067e-01 -1.26050025e-03] [-2.28509527e-02 -3.70630218e-04 9.99739510e-01]] t_gt: [0.13262095 0.95245527 0.27430028] Pose Error in degrees for R and t: 22.88939326821742 17.557192602206857 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.99982002 0.01883161 -0.0022996 ] [-0.01882275 0.99981555 0.00381745] [ 0.00237107 -0.00377348 0.99999007]] t_estimated: [[-0.71125781] [-0.70292927] [-0.00166571]] R_gt: [[ 0.99844921 0.04985492 0.02478405] [-0.04930348 0.99853367 -0.02237485] [-0.02586332 0.02111789 0.99944233]] t_gt: [0.7141336 0.69300074 0.09880878] Pose Error in degrees for R and t: 2.7867269125174543 5.599536932296745 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99991700e-01 -4.07421391e-03 3.75497072e-05] [ 4.07421936e-03 9.99991690e-01 -1.46425194e-04] [-3.69528276e-05 1.46576964e-04 9.99999989e-01]] t_estimated: [[-9.31759984e-01] [-3.63074534e-01] [-4.64161591e-04]] R_gt: [[ 0.99879274 0.04622767 0.01661381] [-0.04589523 0.9987491 -0.01984167] [-0.01750953 0.01905521 0.99966485]] t_gt: [-0.47310807 0.87813325 0.07106868] Pose Error in degrees for R and t: 3.230547379120883 82.99463039543517 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-0.25019393 0.96272004 0.10282568] [ 0.96311682 0.25833784 -0.07528313] [-0.09904035 0.08019776 -0.99184642]] t_estimated: [[ 0.78076143] [-0.62175809] [ 0.06187467]] R_gt: [[ 0.99990976 -0.01268621 0.00449547] [ 0.01278629 0.99965391 -0.02299538] [-0.00420152 0.0230509 0.99972502]] t_gt: [-0.33120621 0.58785738 -0.73805566] Pose Error in degrees for R and t: 171.6772951853056 47.95106569593853 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.85762208 -0.51426259 -0.00428542] [ 0.51427462 0.85762224 0.00238873] [ 0.00244684 -0.00425251 0.99998796]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 9.86582034e-01 -1.61271510e-01 2.54373146e-02] [ 1.61303288e-01 9.86904606e-01 8.17159679e-04] [-2.52362019e-02 3.29805200e-03 9.99676200e-01]] t_gt: [ 0.53510361 -0.82885489 0.16329019] Pose Error in degrees for R and t: 21.730030082463127 55.83396059124999 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.56122864e-01 -2.92965886e-01 -2.42016596e-04] [ 2.92965921e-01 9.56122876e-01 1.24031706e-04] [ 1.95060545e-04 -1.89492165e-04 9.99999963e-01]] t_estimated: [[0.90427774] [0.4269437 ] [0.00091619]] R_gt: [[ 0.99863103 -0.01579685 -0.04985427] [ 0.01739365 0.99934472 0.03175481] [ 0.04931894 -0.03257903 0.99825089]] t_gt: [-0.12420397 -0.89161333 -0.43542972] Pose Error in degrees for R and t: 16.43155749229626 60.43685210016246 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.19841139e-01 -3.92289435e-01 -1.13087679e-03] [ 3.92289447e-01 9.19841802e-01 -2.20431090e-04] [ 1.12670053e-03 -2.40869445e-04 9.99999336e-01]] t_estimated: [[ 0.48100494] [-0.87671528] [-0.00213571]] R_gt: [[ 0.99705545 -0.03044413 -0.07038185] [ 0.03171874 0.99935135 0.01705179] [ 0.06981618 -0.01923416 0.99737383]] t_gt: [-0.16252914 -0.81212169 -0.56039508] Pose Error in degrees for R and t: 21.697616388202707 50.57860519255337 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.65643505 -0.75438114 -0.00145666] [ 0.75434524 -0.65638216 -0.01121219] [ 0.00750214 -0.0084589 0.99993608]] t_estimated: [[0.96380992] [0.26658572] [0.00157743]] R_gt: [[ 0.98886363 -0.11663678 -0.09243063] [ 0.1206537 0.99192415 0.03910905] [ 0.08712174 -0.04982638 0.99495032]] t_gt: [ 0.19501468 -0.94089183 -0.27693291] Pose Error in degrees for R and t: 124.24775215090233 86.37028660517538 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-1.76846781e-01 9.84238112e-01 7.45312017e-04] [-9.84237627e-01 -1.76845647e-01 -1.38235264e-03] [-1.22875897e-03 -9.78028746e-04 9.99998767e-01]] t_estimated: [[0.61541768] [0.78820057] [0.00097069]] R_gt: [[ 0.99188914 0.11593579 0.05210308] [-0.11439445 0.99293113 -0.03164604] [-0.05540404 0.0254279 0.99814 ]] t_gt: [-0.75670077 0.6076684 0.24112873] Pose Error in degrees for R and t: 93.6132789237643 89.2258184319613 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.96806002 -0.25068238 -0.00425974] [ 0.25070457 0.9680458 0.00587836] [ 0.00265002 -0.00675854 0.99997365]] t_estimated: [[0.8798609 ] [0.47522819] [0.00172184]] R_gt: [[ 0.98760027 0.12663594 0.09278422] [-0.12483065 0.99186191 -0.0250308 ] [-0.0951997 0.01313884 0.9953721 ]] t_gt: [-0.76001461 0.51667501 0.39423944] Pose Error in degrees for R and t: 22.508500512537534 65.00812175195894 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 8.83357227e-01 4.68700143e-01 -4.30980281e-04] [-4.68699356e-01 8.83356882e-01 1.23765927e-03] [ 9.60800473e-04 -8.91295078e-04 9.99999141e-01]] t_estimated: [[0.64511538] [0.76408471] [0.00083781]] R_gt: [[ 0.98511023 0.1088457 0.13308018] [-0.10230557 0.99322811 -0.05504873] [-0.13817163 0.04061415 0.9895756 ]] t_gt: [-0.73129312 0.53419525 0.42408231] Pose Error in degrees for R and t: 23.377141703373088 86.37403977141844 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.86635867e-01 1.62940646e-01 1.07884730e-04] [-1.62940637e-01 9.86635871e-01 -8.70109692e-05] [-1.20620568e-04 6.82693364e-05 9.99999990e-01]] t_estimated: [[-5.76841869e-01] [ 8.16855778e-01] [ 3.08555870e-04]] R_gt: [[ 0.9965424 -0.0397855 0.07295158] [ 0.04457192 0.99687761 -0.06519646] [-0.07013053 0.06822311 0.99520242]] t_gt: [ 0.96809405 -0.25057283 -0.00267876] Pose Error in degrees for R and t: 13.060561931284266 40.259984210885534 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.83586927 0.54859055 0.01926055] [ 0.54858873 0.83607188 -0.00584931] [-0.01931208 0.00567687 -0.99979739]] t_estimated: [[ 0.93273559] [-0.36040062] [ 0.01075718]] R_gt: [[ 0.99060757 -0.12869191 0.04620852] [ 0.13068908 0.99048451 -0.04313972] [-0.04021816 0.04877432 0.99800036]] t_gt: [ 0.87265674 -0.48510321 -0.05608107] Pose Error in degrees for R and t: 175.71483381853693 8.815775324047538 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 6.33418026e-01 -7.73809796e-01 6.17537869e-05] [ 7.73805014e-01 6.33413828e-01 -3.56695729e-03] [ 2.72103079e-03 2.30716043e-03 9.99993636e-01]] t_estimated: [[ 0.95961816] [-0.28128219] [-0.00364879]] R_gt: [[ 0.98332061 -0.18146269 0.01233955] [ 0.18185537 0.98205949 -0.04987703] [-0.00306893 0.05128949 0.99867905]] t_gt: [ 0.88319284 -0.44423274 -0.15042499] Pose Error in degrees for R and t: 40.31479359249828 13.336650231212486 Number of keypoints: Image1: 365 Image2: 365 R_estimated: [[ 0.70253328 0.7114822 0.01549413] [ 0.71150768 -0.70178862 -0.03534913] [-0.01427667 0.03585813 -0.99925491]] t_estimated: [[ 0.38117964] [-0.92429355] [ 0.01958362]] R_gt: [[ 0.99843708 0.05052559 -0.02389199] [-0.04931688 0.99759507 0.0487043 ] [ 0.02629471 -0.04744946 0.99852696]] t_gt: [-0.95424538 -0.08209138 0.28753568] Pose Error in degrees for R and t: 179.10965838750747 73.60657371647461 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 6.32091904e-01 7.74892574e-01 -1.15046899e-03] [-7.74893417e-01 6.32090946e-01 -1.10813700e-03] [-1.31486098e-04 1.59193528e-03 9.99998724e-01]] t_estimated: [[6.51803552e-01] [7.58387845e-01] [8.18719505e-05]] R_gt: [[ 0.99629531 0.08063726 -0.02990344] [-0.07540017 0.98621743 0.1472744 ] [ 0.04136677 -0.14447233 0.98864323]] t_gt: [-0.79915585 -0.12908966 0.58709947] Pose Error in degrees for R and t: 47.06566910385669 51.775485148489686 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[-7.22322112e-02 -9.97387829e-01 -1.59193595e-04] [-9.97378896e-01 7.22308864e-02 4.24689675e-03] [-4.22430443e-03 4.65539075e-04 -9.99990969e-01]] t_estimated: [[0.9356972 ] [0.35279685] [0.00226299]] R_gt: [[ 0.98121449 0.19291867 -0.00131627] [-0.19169383 0.97571468 0.10599815] [ 0.02173334 -0.103754 0.9943655 ]] t_gt: [-0.93258575 0.26105657 0.24926551] Pose Error in degrees for R and t: 176.2282981509152 38.74364960892069 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999934e-01 3.59981274e-04 -5.22407220e-05] [-3.59983266e-04 9.99999934e-01 -3.81252580e-05] [ 5.22269942e-05 3.81440613e-05 9.99999998e-01]] t_estimated: [[-0.32351581] [-0.94622194] [-0.00124554]] R_gt: [[ 0.99678275 0.07691265 0.02253895] [-0.07645061 0.99685768 -0.02071722] [-0.0240618 0.01892619 0.99953111]] t_gt: [-0.23451714 0.95985002 -0.15391441] Pose Error in degrees for R and t: 4.717131387743553 33.677758527615815 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999613e-01 -8.78404822e-04 4.05703644e-05] [ 8.78419150e-04 9.99999551e-01 -3.54503547e-04] [-4.02589486e-05 3.54539048e-04 9.99999936e-01]] t_estimated: [[0.95898943] [0.28343963] [0.00112031]] R_gt: [[ 0.99132756 0.10110116 0.08394842] [-0.09109318 0.98911806 -0.11552783] [-0.09471411 0.10687769 0.98975049]] t_gt: [-0.07079794 0.95772547 -0.27883611] Pose Error in degrees for R and t: 9.917678562516045 78.2728964386463 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-7.73295991e-01 -6.34041645e-01 -2.12178873e-03] [ 6.34044636e-01 -7.73295424e-01 -1.25960562e-03] [-8.42127093e-04 -2.31935674e-03 9.99996956e-01]] t_estimated: [[ 9.91542194e-01] [-1.29782299e-01] [ 7.95702207e-04]] R_gt: [[ 0.9857368 0.0926581 0.14048645] [-0.07267276 0.98730001 -0.14126583] [-0.15179172 0.1290408 0.97995353]] t_gt: [ 0.13514166 0.98594168 -0.09826365] Pose Error in degrees for R and t: 145.63458911521033 89.65836090384916 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.97383192e-01 7.22918350e-02 -8.11723777e-04] [-7.22848860e-02 9.97361905e-01 6.64266936e-03] [ 1.28979313e-03 -6.56661141e-03 9.99977608e-01]] t_estimated: [[0.92757763] [0.37362769] [0.00144258]] R_gt: [[ 0.99452785 -0.1001288 0.0298114 ] [ 0.10066328 0.99477471 -0.01702557] [-0.02795148 0.01993334 0.99941007]] t_gt: [ 0.52294304 -0.84431558 -0.11688361] Pose Error in degrees for R and t: 10.158978867072182 80.24462406357863 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.95328523 0.30101695 -0.0252203 ] [-0.3000881 0.95327129 0.03494248] [ 0.03456006 -0.02574184 0.99907105]] t_estimated: [[-0.98827203] [-0.14973819] [-0.02994764]] R_gt: [[ 0.9893976 -0.1047958 0.10054953] [ 0.115332 0.98771585 -0.10543162] [-0.08826667 0.11591087 0.98933006]] t_gt: [ 0.12747859 -0.74656932 -0.65298045] Pose Error in degrees for R and t: 26.185441818068917 89.69279943036356 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99998624e-01 1.48568661e-03 -7.38655592e-04] [-1.48579375e-03 9.99998886e-01 -1.44515359e-04] [ 7.38440064e-04 1.45612650e-04 9.99999717e-01]] t_estimated: [[-0.59279622] [-0.80534974] [-0.00210808]] R_gt: [[ 0.97907882 -0.0591888 0.19468049] [ 0.09080952 0.98329508 -0.15774869] [-0.18209299 0.17212719 0.96809828]] t_gt: [-0.82283402 -0.16831805 -0.54278284] Pose Error in degrees for R and t: 15.201834417171089 51.35655441305117 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99997389e-01 5.21338726e-04 2.22473309e-03] [-5.07580491e-04 9.99980773e-01 -6.18030789e-03] [-2.22791235e-03 6.17916252e-03 9.99978427e-01]] t_estimated: [[-0.71091629] [-0.70327203] [-0.00254809]] R_gt: [[ 0.99573422 0.0292035 0.08752732] [-0.0214828 0.99589987 -0.08788518] [-0.08973567 0.08562904 0.99227824]] t_gt: [-0.03647692 0.97618695 -0.21384218] Pose Error in degrees for R and t: 6.936261108323573 48.69646301016296 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999680e-01 7.93268643e-04 -9.88492534e-05] [-7.93268574e-04 9.99999685e-01 7.34879270e-07] [ 9.88498053e-05 -6.56465029e-07 9.99999995e-01]] t_estimated: [[-0.45680285] [-0.8895675 ] [-0.00090509]] R_gt: [[ 0.99385833 0.00827725 0.11035633] [ 0.00675182 0.99080786 -0.13511346] [-0.11046 0.13502858 0.98466567]] t_gt: [ 0.52850975 0.70602258 -0.47139109] Pose Error in degrees for R and t: 10.050206935570264 29.651239330574036 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.03471151e-01 4.28648446e-01 6.24212476e-04] [-4.28647260e-01 9.03470764e-01 -1.45069273e-03] [-1.18579491e-03 1.04309206e-03 9.99998753e-01]] t_estimated: [[0.98277311] [0.18479494] [0.00279992]] R_gt: [[ 0.98407081 0.10090824 0.14636763] [-0.08103649 0.98740392 -0.13589728] [-0.15823673 0.12187059 0.97985105]] t_gt: [3.09781752e-02 9.99519902e-01 5.64045777e-04] Pose Error in degrees for R and t: 23.102154088609453 77.57553618786679 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.40155977e-01 -3.40743952e-01 5.45658042e-04] [ 3.40744288e-01 9.40155726e-01 -7.36020309e-04] [-2.62209064e-04 8.77903754e-04 9.99999580e-01]] t_estimated: [[-0.7241177 ] [-0.6896759 ] [-0.00084004]] R_gt: [[ 0.99733497 0.07156547 0.01417567] [-0.07207788 0.9966096 0.03965418] [-0.01129024 -0.04057049 0.99911257]] t_gt: [-0.8520034 0.01422948 0.52334285] Pose Error in degrees for R and t: 24.165674698472237 52.64891690230305 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-0.01487552 0.99973952 -0.0173095 ] [ 0.99976296 0.01514665 0.01563946] [ 0.01589757 -0.01707275 -0.99972786]] t_estimated: [[ 0.92259783] [-0.385691 ] [-0.00746362]] R_gt: [[ 0.9928808 0.11365753 0.0356438 ] [-0.11544221 0.99190961 0.05279647] [-0.02935525 -0.05653622 0.99796828]] t_gt: [-0.87686896 0.01192004 0.48058166] Pose Error in degrees for R and t: 177.79702046350207 35.196338589517175 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.39696938e-01 -3.42007406e-01 -7.74031217e-04] [ 3.42007798e-01 9.39697009e-01 4.44696740e-04] [ 5.75265240e-04 -6.82604877e-04 9.99999602e-01]] t_estimated: [[9.19098850e-01] [3.94026167e-01] [8.27387030e-04]] R_gt: [[ 0.97685928 0.2104447 0.03819871] [-0.21199567 0.97634603 0.0425001 ] [-0.02835147 -0.04961469 0.99836623]] t_gt: [-0.94771761 0.1601676 0.27600304] Pose Error in degrees for R and t: 32.36468692804005 36.12744373614861 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-9.66319552e-01 -2.56294370e-01 2.32318783e-02] [-2.56200852e-01 9.66598462e-01 6.96678653e-03] [-2.42414460e-02 7.80115024e-04 -9.99705829e-01]] t_estimated: [[0.97693952] [0.21320646] [0.01149659]] R_gt: [[ 0.9986092 -0.03372348 0.04052198] [ 0.03015423 0.99586652 0.08567466] [-0.04324374 -0.08433259 0.99549831]] t_gt: [ 0.00346647 -0.51053299 0.85985118] Pose Error in degrees for R and t: 175.61276365976443 84.51546672661874 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-2.07824486e-01 -9.78165405e-01 -1.19279375e-03] [-9.78166130e-01 2.07824234e-01 3.32964787e-04] [-7.78031878e-05 1.23594868e-03 -9.99999233e-01]] t_estimated: [[0.88696509] [0.46183537] [0.00101015]] R_gt: [[ 0.99695802 -0.05053679 0.05933941] [ 0.04222223 0.99009874 0.13386903] [-0.06551823 -0.13095617 0.98922022]] t_gt: [-0.0061912 -0.49330185 0.86983616] Pose Error in degrees for R and t: 172.45742992659268 76.55941133071414 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.31812682 0.9480411 0.00366017] [ 0.94804469 -0.31813374 0.00147971] [ 0.00256725 0.00299926 -0.99999221]] t_estimated: [[0.31894286] [0.94777341] [0.00100613]] R_gt: [[ 0.99590521 -0.0652193 0.06260573] [ 0.05470958 0.9860882 0.15695833] [-0.07197178 -0.15289075 0.98561837]] t_gt: [ 0.09240767 -0.51904291 0.84973836] Pose Error in degrees for R and t: 175.08300642871248 62.50912408799456 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.18272858 0.98316122 0.00207001] [ 0.98313894 0.18270878 0.007438 ] [ 0.00693454 0.00339425 -0.9999702 ]] t_estimated: [[-0.51564571] [-0.85676518] [-0.00793301]] R_gt: [[ 0.99425995 -0.06801232 0.08259521] [ 0.06109526 0.99462793 0.08356651] [-0.08783503 -0.07803961 0.99307312]] t_gt: [ 0.22752222 -0.48379884 0.84508717] Pose Error in degrees for R and t: 179.37069192509847 73.11348096051395 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.95465578e-01 9.51223317e-02 -1.55365279e-04] [-9.51223688e-02 9.95465555e-01 -2.52274755e-04] [ 1.30663821e-04 2.65909548e-04 9.99999956e-01]] t_estimated: [[-0.12273509] [-0.99243859] [-0.00131973]] R_gt: [[ 0.98201236 -0.11874914 0.14680163] [ 0.09122506 0.97910186 0.18176267] [-0.16531708 -0.16510036 0.9723229 ]] t_gt: [ 0.23755786 -0.40513427 0.88285474] Pose Error in degrees for R and t: 17.78327910197504 68.17647252262579 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 7.34553178e-01 6.78551017e-01 3.82162369e-04] [-6.78548476e-01 7.34551767e-01 -2.38066038e-03] [-1.89611757e-03 1.48940595e-03 9.99997093e-01]] t_estimated: [[-9.97103626e-01] [-7.60502766e-02] [-8.45003073e-04]] R_gt: [[ 0.9714859 -0.11189465 0.20902919] [ 0.05701013 0.96600772 0.25214893] [-0.23013723 -0.23304221 0.94484228]] t_gt: [ 0.14609177 -0.25174082 0.95670463] Pose Error in degrees for R and t: 51.20804419651326 82.68454896576638 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999484e-01 -9.97351242e-04 1.91481409e-04] [ 9.97425472e-04 9.99999427e-01 -3.87955965e-04] [-1.91094371e-04 3.88146753e-04 9.99999906e-01]] t_estimated: [[9.99991958e-01] [3.97208384e-03] [5.53795873e-04]] R_gt: [[ 0.99776576 0.0082573 0.06629032] [-0.00244547 0.99618096 -0.087281 ] [-0.06675845 0.08692373 0.99397574]] t_gt: [-0.67496118 0.47114164 -0.56784941] Pose Error in degrees for R and t: 6.278622611698656 47.6700678950601 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.85178169e-01 1.71534156e-01 9.03099217e-05] [-1.71534006e-01 9.85177784e-01 -9.04774102e-04] [-2.44170990e-04 8.75872471e-04 9.99999587e-01]] t_estimated: [[-0.83467733] [-0.55073753] [-0.00138738]] R_gt: [[ 0.9869101 0.03994228 0.15624452] [-0.01934007 0.99116476 -0.13122256] [-0.16010568 0.12648292 0.97896242]] t_gt: [-0.77857333 0.60667261 -0.1605363 ] Pose Error in degrees for R and t: 14.28398561482274 71.58104930508448 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.84077766 0.50892884 0.18461949] [-0.02924168 -0.2978274 0.95417177] [ 0.54059028 -0.80764489 -0.23552469]] t_estimated: [[0.92689541] [0.37531666] [0.0015195 ]] R_gt: [[ 0.97204068 0.01020347 0.2345901 ] [ 0.04148759 0.97587581 -0.21435144] [-0.23111854 0.21809204 0.94816666]] t_gt: [-0.59985807 0.75802058 -0.25607636] Pose Error in degrees for R and t: 125.27521319682118 74.22281708085148 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.91038693e-01 1.33575105e-01 1.11955898e-05] [-1.33575102e-01 9.91038682e-01 -1.48882980e-04] [-3.09823223e-05 1.46053342e-04 9.99999989e-01]] t_estimated: [[-9.38131175e-01] [ 3.46279449e-01] [-6.64745504e-04]] R_gt: [[ 0.99810785 0.06098101 -0.00782663] [-0.06007739 0.99442838 0.08661899] [ 0.01306581 -0.08598507 0.99621109]] t_gt: [-0.84473827 -0.09251528 0.52712254] Pose Error in degrees for R and t: 6.527197077488383 40.52797603682628 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.96459269e-01 -8.40761157e-02 -3.62908424e-04] [ 8.40760607e-02 9.96459326e-01 -1.64523590e-04] [ 3.75455988e-04 1.33429146e-04 9.99999921e-01]] t_estimated: [[-0.21348542] [-0.97694477] [-0.00170175]] R_gt: [[ 0.99137736 0.13100488 -0.00305263] [-0.13013023 0.98696044 0.09473346] [ 0.01542387 -0.09351931 0.99549748]] t_gt: [-0.9276848 0.17262992 0.33105864] Pose Error in degrees for R and t: 13.485969606273523 88.34770973597469 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 4.12645228e-01 9.10842078e-01 9.51969001e-03] [ 9.10891555e-01 -4.12630608e-01 -3.54349745e-03] [ 7.00548898e-04 1.01336126e-02 -9.99948408e-01]] t_estimated: [[-0.67296712] [-0.73967091] [-0.00148231]] R_gt: [[ 0.96633973 0.24957535 0.06246112] [-0.25528647 0.9603 0.11248276] [-0.03190866 -0.1246429 0.9916886 ]] t_gt: [-0.87292368 0.37774985 0.30872204] Pose Error in degrees for R and t: 176.1281294741636 72.08650481277712 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.89070601e-01 6.14297792e-01 2.41015865e-03] [-6.14301819e-01 7.89069556e-01 1.58447601e-03] [-9.28442699e-04 -2.73082828e-03 9.99995840e-01]] t_estimated: [[0.10965314] [0.99396546] [0.00297408]] R_gt: [[ 0.99934914 0.02867826 0.02187052] [-0.0284622 0.99954336 -0.01013322] [-0.02215075 0.00950372 0.99970954]] t_gt: [-0.54890473 0.73267892 0.40234961] Pose Error in degrees for R and t: 36.28801153456824 47.98963510780933 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 5.27687364e-01 8.49438630e-01 2.44802438e-04] [-8.49438292e-01 5.27687380e-01 -7.85714026e-04] [-7.96595003e-04 2.06666798e-04 9.99999661e-01]] t_estimated: [[-1.56556904e-01] [ 9.87668812e-01] [ 5.03495121e-04]] R_gt: [[ 0.99871623 0.0312637 0.03985365] [-0.03138854 0.99950388 0.00251986] [-0.03975533 -0.00376752 0.99920195]] t_gt: [-0.45049301 0.48520812 0.7494192 ] Pose Error in degrees for R and t: 56.396150240959514 56.624064697164556 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.98037228e-01 -6.26234003e-02 -4.54461973e-05] [ 6.26234032e-02 9.98037226e-01 6.35077495e-05] [ 4.13799254e-05 -6.62290938e-05 9.99999997e-01]] t_estimated: [[-9.87000644e-01] [-1.60714568e-01] [-7.46433972e-04]] R_gt: [[ 0.99919143 0.02356891 0.03257561] [-0.02335207 0.99970226 -0.00702502] [-0.03273189 0.0062585 0.99944363]] t_gt: [-0.49973201 0.53778472 0.67901068] Pose Error in degrees for R and t: 5.293017879504416 66.02743650485037 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 0.3437544 0.93807945 0.0428935 ] [ 0.93798465 -0.34081762 -0.0634676 ] [-0.04491879 0.06205071 -0.99706169]] t_estimated: [[0.71504962] [0.69907085] [0.00199735]] R_gt: [[ 0.99898816 -0.04177278 -0.01662986] [ 0.0415182 0.99901996 -0.01535772] [ 0.01725474 0.01465115 0.99974338]] t_gt: [ 0.81679365 -0.17684858 -0.54915636] Pose Error in degrees for R and t: 175.46199439854098 62.65666977815181 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.86072693e-01 1.66314195e-01 4.81816376e-04] [-1.66314164e-01 9.86072811e-01 -1.03086749e-04] [-4.92250817e-04 2.15181407e-05 9.99999879e-01]] t_estimated: [[0.57157503] [0.82054924] [0.00096877]] R_gt: [[ 0.99683569 -0.07922242 0.00662582] [ 0.07941548 0.99613309 -0.03758023] [-0.00362408 0.03798764 0.99927145]] t_gt: [ 0.92441208 -0.12580247 -0.36005006] Pose Error in degrees for R and t: 14.290947637364084 64.86231623022702 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99834822e-01 1.81740296e-02 -1.84981590e-04] [-1.81738927e-02 9.99834584e-01 7.16822875e-04] [ 1.97978551e-04 -7.13342636e-04 9.99999726e-01]] t_estimated: [[0.79421549] [0.60763568] [0.00080242]] R_gt: [[ 0.98711688 -0.15912025 0.01677882] [ 0.15957307 0.9867186 -0.0303967 ] [-0.01172037 0.03268299 0.99939697]] t_gt: [ 0.92160911 -0.37719725 -0.09142699] Pose Error in degrees for R and t: 10.412606682393942 59.82224498078629 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 4.36911961e-01 8.99504273e-01 -5.30716313e-06] [-8.99503625e-01 4.36911639e-01 -1.20358650e-03] [-1.08031244e-03 5.30635152e-04 9.99999276e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99922972 0.03899595 -0.00438405] [-0.03850063 0.9958282 0.08272643] [ 0.00759175 -0.08249194 0.99656279]] t_gt: [-0.69406925 -0.08529291 0.71483774] Pose Error in degrees for R and t: 62.03762249923973 84.63434467611881 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.56342067e-01 2.92249454e-01 3.27900641e-04] [-2.92248680e-01 9.56341203e-01 -1.48733753e-03] [-7.48258475e-04 1.32657492e-03 9.99998840e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98511736 0.16921477 0.03018249] [-0.17050718 0.98422711 0.04716769] [-0.02172468 -0.05161114 0.99843099]] t_gt: [-0.89550575 0.39739193 0.20037241] Pose Error in degrees for R and t: 7.91083507613825 26.60519534427959 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.49551030e-01 5.27506042e-01 -6.51010973e-04] [-5.27506208e-01 8.49551170e-01 -1.03598168e-04] [ 4.98418474e-04 4.31424260e-04 9.99999783e-01]] t_estimated: [[-0.93299497] [ 0.35988609] [-0.00154494]] R_gt: [[ 0.95894726 0.27810694 0.05545057] [-0.28242476 0.95424399 0.09825005] [-0.02558942 -0.10987716 0.99361518]] t_gt: [-0.84134878 0.47131692 0.26456113] Pose Error in degrees for R and t: 16.809198810697872 17.410434606958866 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.99992646 0.01207022 -0.00117428] [-0.01206714 0.99992383 0.00259372] [ 0.00120549 -0.00257936 0.99999595]] t_estimated: [[-9.76086310e-01] [-2.17381667e-01] [-8.52477126e-04]] R_gt: [[ 0.99152731 0.1264381 0.02978343] [-0.12561686 0.99168348 -0.02801356] [-0.03307767 0.02403576 0.99916374]] t_gt: [-0.55383662 0.82685355 0.09786835] Pose Error in degrees for R and t: 7.008884709808369 68.85274736952526 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 3.07917381e-01 9.51413082e-01 -1.83615419e-04] [-9.51411087e-01 3.07916327e-01 -2.11630575e-03] [-1.95694279e-03 8.26341070e-04 9.99997744e-01]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.99047098 0.12155069 0.06476185] [-0.12028482 0.99247011 -0.02310576] [-0.06708227 0.01509655 0.99763375]] t_gt: [-0.54372719 0.76494466 0.34528308] Pose Error in degrees for R and t: 65.21343374198034 40.368551028965115 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.54981525 0.83513747 -0.01576708] [ 0.83513842 0.54997515 0.00843608] [ 0.01571679 -0.0085294 -0.9998401 ]] t_estimated: [[ 0.91098981] [-0.41234786] [-0.00817355]] R_gt: [[ 0.99090482 0.11544901 0.06913708] [-0.11432464 0.99324175 -0.02000948] [-0.07098079 0.01192419 0.99740688]] t_gt: [-0.5356342 0.73958129 0.40757272] Pose Error in degrees for R and t: 177.04518154526525 37.22619873591927 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.86981273 0.25082583 0.42486729] [ 0.19069932 0.623293 -0.75837959] [-0.45503799 0.74067013 0.49431587]] t_estimated: [[-0.81178527] [-0.56058012] [-0.16356833]] R_gt: [[ 0.99543989 -0.00508059 0.0952512 ] [ 0.01038891 0.99841435 -0.05532022] [-0.09481892 0.05605736 0.99391558]] t_gt: [-0.55530646 0.83160751 -0.0079805 ] Pose Error in degrees for R and t: 54.99642460205479 89.19280881978307 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999921e-01 1.58575414e-04 3.65326910e-04] [-1.58574469e-04 9.99999987e-01 -2.61750118e-06] [-3.65327321e-04 2.55956945e-06 9.99999933e-01]] t_estimated: [[-0.79733139] [-0.60354121] [-0.00081425]] R_gt: [[ 0.98487349 -0.04455387 0.16744831] [ 0.06469841 0.99104071 -0.11684609] [-0.16074264 0.12591222 0.97893233]] t_gt: [-0.20151904 0.97634296 -0.07838682] Pose Error in degrees for R and t: 12.184021832555631 64.6262055224258 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999450e-01 1.04136910e-03 1.21201831e-04] [-1.04107690e-03 9.99996610e-01 -2.38646502e-03] [-1.23686611e-04 2.38633753e-03 9.99997145e-01]] t_estimated: [[-0.69846847] [-0.7156346 ] [-0.00298472]] R_gt: [[ 0.98331647 -0.07597831 0.16527513] [ 0.08834945 0.99370906 -0.06882446] [-0.15900619 0.0822773 0.98384326]] t_gt: [0.20766664 0.91947207 0.3338348 ] Pose Error in degrees for R and t: 11.320166110972984 36.48129181872224 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99904485e-01 -1.38205445e-02 1.17818248e-04] [ 1.38204944e-02 9.99904406e-01 4.15760784e-04] [-1.23553025e-04 -4.14092766e-04 9.99999907e-01]] t_estimated: [[-0.48267833] [-0.8757972 ] [-0.00094273]] R_gt: [[ 0.99916285 -0.03150161 0.02611529] [ 0.03115232 0.99942096 0.01369659] [-0.02653262 -0.01287122 0.99956518]] t_gt: [ 0.39895439 -0.57888096 0.71114853] Pose Error in degrees for R and t: 1.9504938472041433 71.71491667086195 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 7.06612724e-01 -7.07598271e-01 -1.77361658e-03] [ 7.07599155e-01 7.06614043e-01 -1.74046540e-04] [ 1.37641741e-03 -1.13202609e-03 9.99998412e-01]] t_estimated: [[-0.08410882] [-0.99645589] [-0.00116818]] R_gt: [[ 0.98939568 -0.09428278 0.11048666] [ 0.08300412 0.99125455 0.10259169] [-0.11919407 -0.09233251 0.98856935]] t_gt: [ 0.26621345 -0.47384103 0.83940757] Pose Error in degrees for R and t: 40.83040621246157 63.33390837456544 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 1.83627876e-01 9.82990054e-01 3.37007705e-03] [ 9.82995772e-01 -1.83625599e-01 -9.75790855e-04] [-3.40360289e-04 3.49195390e-03 -9.99993845e-01]] t_estimated: [[0.18082555] [0.98351457] [0.00110259]] R_gt: [[ 0.97517721 -0.13704149 0.17392543] [ 0.10111219 0.97439281 0.20083354] [-0.19699413 -0.17826205 0.96406208]] t_gt: [ 0.25296223 -0.38219515 0.88878399] Pose Error in degrees for R and t: 178.5880227052251 70.7814427533747 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.95784950e-01 -9.17187656e-02 -4.56553154e-05] [ 9.17187711e-02 9.95784940e-01 1.39058138e-04] [ 3.27086348e-05 -1.42659450e-04 9.99999989e-01]] t_estimated: [[1.31233505e-01] [9.91351418e-01] [3.66179484e-04]] R_gt: [[ 0.99889141 -0.00478109 0.04682362] [ 0.00111784 0.99695586 0.07796685] [-0.04705368 -0.07782854 0.99585527]] t_gt: [-0.23162595 -0.37038577 0.89953533] Pose Error in degrees for R and t: 7.286382484917017 66.59361589440353 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.72475147e-01 -2.32999518e-01 1.82008483e-03] [ 2.33005548e-01 9.72464740e-01 -4.55456955e-03] [-7.08755811e-04 4.85329556e-03 9.99987972e-01]] t_estimated: [[-0.49975441] [-0.86615513] [-0.00456223]] R_gt: [[ 0.99868986 -0.01671475 0.04835379] [ 0.01130521 0.99386043 0.1100641 ] [-0.04989666 -0.10937438 0.99274762]] t_gt: [-0.09810877 -0.45122017 0.8870034 ] Pose Error in degrees for R and t: 14.52793168735595 64.1631375405399 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.98639031 -0.16438376 -0.00348336] [ 0.16439636 0.9863874 0.00370482] [ 0.00282693 -0.00422705 0.99998707]] t_estimated: [[0.93211774] [0.36215397] [0.00100879]] R_gt: [[ 0.99342309 -0.11000518 0.0317598 ] [ 0.10580044 0.98798285 0.11267886] [-0.04377401 -0.10857733 0.99312333]] t_gt: [ 0.42159729 -0.667904 0.61331882] Pose Error in degrees for R and t: 7.327754873280343 81.27379323461686 Number of keypoints: Image1: 447 Image2: 447 R_estimated: [[ 5.87763538e-01 -8.09032261e-01 -9.08221481e-04] [ 8.09032684e-01 5.87763623e-01 1.97470918e-04] [ 3.74059205e-04 -8.50847068e-04 9.99999568e-01]] t_estimated: [[ 7.58637796e-01] [-6.51512617e-01] [-7.02865121e-05]] R_gt: [[ 0.99909082 0.03983964 0.01522352] [-0.04033403 0.99861979 0.03361438] [-0.01386359 -0.03419824 0.99931817]] t_gt: [-0.74653283 -0.19230091 0.63695298] Pose Error in degrees for R and t: 56.335665086092234 63.82550982816167 Number of keypoints: Image1: 357 Image2: 357 R_estimated: [[-5.46729166e-02 -9.98504107e-01 6.48286169e-04] [-9.98499596e-01 5.46706500e-02 -3.11068132e-03] [ 3.07058585e-03 -8.17383498e-04 -9.99994952e-01]] t_estimated: [[8.60556520e-01] [5.09354420e-01] [7.42499154e-04]] R_gt: [[ 0.99440689 0.10278874 0.0242737 ] [-0.10365917 0.993895 0.03777203] [-0.0202434 -0.040077 0.99899046]] t_gt: [-0.91600284 -0.00648036 0.40111944] Pose Error in degrees for R and t: 177.62233926039096 37.69516061417713 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[ 9.54001253e-01 -2.99802375e-01 -3.80882896e-04] [ 2.99802524e-01 9.54001187e-01 4.26393639e-04] [ 2.35528910e-04 -5.20969719e-04 9.99999837e-01]] t_estimated: [[-0.62400464] [-0.78142016] [-0.00086409]] R_gt: [[ 0.9707459 0.23758466 0.03472607] [-0.2390445 0.96988508 0.04668829] [-0.02258881 -0.05362417 0.99830549]] t_gt: [-0.94368763 0.19175266 0.26960077] Pose Error in degrees for R and t: 31.416340009842695 63.97309791274118 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.15917689 -0.98724236 0.00390311] [-0.9872276 0.1591987 0.00611904] [-0.00666234 -0.00287925 -0.99997366]] t_estimated: [[0.69310333] [0.72082033] [0.005082 ]] R_gt: [[ 0.99439445 0.09583597 -0.04466126] [-0.09896078 0.99233811 -0.07397684] [ 0.03722955 0.07798256 0.99625908]] t_gt: [-0.4740988 0.69512579 -0.54039843] Pose Error in degrees for R and t: 175.77100940227012 80.22874909063776 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-8.82044068e-01 -4.71164757e-01 -1.42623771e-03] [ 4.71166870e-01 -8.82038608e-01 -3.11027357e-03] [ 2.07454565e-04 -3.41539431e-03 9.99994146e-01]] t_estimated: [[9.05170198e-01] [4.25048720e-01] [7.06060997e-04]] R_gt: [[ 0.99092271 0.10278965 -0.08664245] [-0.11537338 0.98105785 -0.15561215] [ 0.06900609 0.16419663 0.9840108 ]] t_gt: [-0.31228991 0.6338961 -0.70756678] Pose Error in degrees for R and t: 158.28668570367 89.21282412483897 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.83471006 -0.55065734 0.0059671 ] [ 0.55068701 0.83469068 -0.00594055] [-0.00170948 0.00824464 0.99996455]] t_estimated: [[-0.30429268] [-0.95256838] [-0.00441004]] R_gt: [[ 0.97922136 0.14082397 -0.14592425] [-0.17135237 0.95941626 -0.22396327] [ 0.10846231 0.24431466 0.96361157]] t_gt: [-0.2544504 0.63975081 -0.72524058] Pose Error in degrees for R and t: 45.08392873131926 58.076894319900944 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99999672e-01 8.03360992e-04 1.00845389e-04] [-8.03359605e-04 9.99999677e-01 -1.37923478e-05] [-1.00856437e-04 1.37113282e-05 9.99999995e-01]] t_estimated: [[ 9.80167957e-01] [-1.98168357e-01] [ 2.79255736e-04]] R_gt: [[ 0.98504757 -0.16987789 -0.02867506] [ 0.16944992 0.98539602 -0.01677043] [ 0.03110478 0.01166031 0.99944826]] t_gt: [ 0.70137111 -0.68511234 -0.19672225] Pose Error in degrees for R and t: 10.000420021590116 34.596188268769964 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99904396e-01 -1.38265649e-02 1.59846835e-04] [ 1.38266011e-02 9.99904382e-01 -2.27775945e-04] [-1.56682192e-04 2.29964307e-04 9.99999961e-01]] t_estimated: [[ 0.70694617] [-0.70726688] [-0.00082114]] R_gt: [[ 0.9591908 -0.27900712 -0.04591053] [ 0.2751022 0.95836322 -0.0765459 ] [ 0.06535545 0.06079134 0.99600864]] t_gt: [ 0.73746354 -0.57135744 -0.36013638] Pose Error in degrees for R and t: 16.151957829622937 22.219045507600768 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-9.51235126e-02 -9.95465325e-01 5.51365195e-04] [-9.95462387e-01 9.51218225e-02 -2.54463445e-03] [ 2.48064850e-03 -7.90917880e-04 -9.99996610e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.92269403 -0.38466455 0.02585652] [ 0.38550909 0.9198377 -0.07267269] [ 0.00416968 0.07702287 0.99702069]] t_gt: [ 0.75672212 -0.62630662 -0.18738103] Pose Error in degrees for R and t: 177.4256385984426 76.5866519868061 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 6.35472583e-01 7.72122586e-01 1.14432895e-03] [-7.72122750e-01 6.35473294e-01 -3.88987905e-04] [-1.02753683e-03 -6.36371264e-04 9.99999270e-01]] t_estimated: [[0.40015621] [0.91644608] [0.00126232]] R_gt: [[ 0.99524586 0.06079642 -0.07609062] [-0.05940869 0.99802653 0.02036266] [ 0.07717836 -0.01574563 0.99689282]] t_gt: [ 0.57968926 0.27617046 -0.76660957] Pose Error in degrees for R and t: 47.30420079947221 61.046876502496225 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.81502854 0.5793985 0.00508614] [ 0.57941104 -0.81493239 -0.01296343] [-0.00336614 0.01351253 -0.99990304]] t_estimated: [[0.9031992 ] [0.42922057] [0.0009572 ]] R_gt: [[ 0.98190524 0.1596557 -0.10184485] [-0.15485936 0.9864912 0.053425 ] [ 0.10899805 -0.03668744 0.99336479]] t_gt: [ 0.2707395 0.8335335 -0.48158284] Pose Error in degrees for R and t: 176.4709636754529 52.99817555321351 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-5.11509308e-01 8.59277346e-01 -8.18754181e-04] [-8.59275320e-01 -5.11509897e-01 -1.88381471e-03] [-2.03752017e-03 -2.60053497e-04 9.99997890e-01]] t_estimated: [[0.42403646] [0.90564444] [0.00110714]] R_gt: [[ 0.9582907 0.24677586 -0.14415121] [-0.23077115 0.96569576 0.11906501] [ 0.16858885 -0.08083274 0.98236695]] t_gt: [ 0.1663512 0.97728657 -0.13129449] Pose Error in degrees for R and t: 107.21320956901035 17.163264375498645 Number of keypoints: Image1: 576 Image2: 576 R_estimated: [[ 9.93915653e-01 1.10115451e-01 2.50257357e-03] [-1.10112672e-01 9.93918359e-01 -1.22258016e-03] [-2.62197879e-03 9.39576493e-04 9.99996121e-01]] t_estimated: [[-0.54502148] [-0.83842154] [-0.00094951]] R_gt: [[ 0.99924721 -0.02347587 -0.03087974] [ 0.02441336 0.9992407 0.03035185] [ 0.03014291 -0.03108292 0.99906201]] t_gt: [ 0.78994201 -0.6131473 -0.00648113] Pose Error in degrees for R and t: 8.131244300870847 85.20754039459233 Number of keypoints: Image1: 710 Image2: 710 R_estimated: [[ 9.99717809e-01 2.37550539e-02 2.42379539e-06] [-2.37550538e-02 9.99717809e-01 -4.98481006e-06] [-2.54152585e-06 4.92582601e-06 1.00000000e+00]] t_estimated: [[-3.25798866e-01] [-9.45439103e-01] [ 1.70792025e-05]] R_gt: [[ 0.99918944 0.02710558 -0.02975772] [-0.02560003 0.99842818 0.04984882] [ 0.03106272 -0.04904666 0.9983141 ]] t_gt: [-0.62460082 -0.42727348 0.65369043] Pose Error in degrees for R and t: 3.3318160144996742 52.593463922756705 Number of keypoints: Image1: 482 Image2: 482 R_estimated: [[ 9.94264679e-01 1.06947376e-01 -7.68098505e-05] [-1.06947387e-01 9.94264669e-01 -1.56192559e-04] [ 5.96649362e-05 1.63511357e-04 9.99999985e-01]] t_estimated: [[-9.05321223e-01] [-4.24726877e-01] [-7.50702400e-04]] R_gt: [[ 0.99289344 0.11886944 0.00569075] [-0.11889245 0.98872643 0.09101462] [ 0.00519216 -0.09104463 0.9958341 ]] t_gt: [-0.8844377 0.09371569 0.45715131] Pose Error in degrees for R and t: 5.288169510373654 40.486985581632666 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99969794e-01 7.77251748e-03 -7.16166104e-06] [-7.77251752e-03 9.99969794e-01 -6.07120449e-06] [ 7.11425616e-06 6.12668523e-06 1.00000000e+00]] t_estimated: [[ 6.65127531e-01] [-7.46729745e-01] [-2.37416490e-04]] R_gt: [[ 0.98763835 -0.14000555 0.07050185] [ 0.13565404 0.98874234 0.06314839] [-0.07854829 -0.05280401 0.99551122]] t_gt: [ 0.53622452 -0.66451954 0.52045849] Pose Error in degrees for R and t: 9.988053854019256 31.487884080267367 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-8.91362562e-01 -4.53291058e-01 -5.98398275e-06] [-4.53289523e-01 8.91359509e-01 2.61425934e-03] [-1.17968650e-03 2.33296538e-03 -9.99996583e-01]] t_estimated: [[0.99989554] [0.01441662] [0.00102976]] R_gt: [[ 0.97114871 -0.22301092 0.08448604] [ 0.21601097 0.97271832 0.08460835] [-0.10104853 -0.06391698 0.99282679]] t_gt: [ 0.61599624 -0.64151891 0.4571675 ] Pose Error in degrees for R and t: 173.73698160568807 52.6159882287463 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.02990509 0.99954658 -0.0035112 ] [-0.99954225 -0.02992068 -0.00447605] [-0.00457907 0.00337574 0.99998382]] t_estimated: [[0.01922719] [0.99981386] [0.00160227]] R_gt: [[ 0.96315045 -0.26187918 0.0613388 ] [ 0.25669291 0.96308101 0.08114358] [-0.08032283 -0.06240788 0.99481342]] t_gt: [ 0.69761264 -0.62335835 0.3532152 ] Pose Error in degrees for R and t: 106.9052311922946 52.463750679942116 Number of keypoints: Image1: 620 Image2: 620 R_estimated: [[ 9.99994682e-01 3.26062241e-03 -6.26367970e-05] [-3.26061973e-03 9.99994683e-01 4.29208618e-05] [ 6.27764127e-05 -4.27163988e-05 9.99999997e-01]] t_estimated: [[-9.92390204e-01] [ 1.23132248e-01] [-3.65079917e-04]] R_gt: [[ 0.99708243 0.07263013 0.02346774] [-0.07290298 0.9972795 0.01095451] [-0.02260774 -0.01263246 0.99966487]] t_gt: [-0.91621971 0.29914069 0.26656385] Pose Error in degrees for R and t: 4.25445673747216 18.917917633347635 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-5.98430341e-01 8.01173401e-01 -1.51921600e-03] [-8.01171819e-01 -5.98432216e-01 -1.61208835e-03] [-2.20071010e-03 2.52430464e-04 9.99997547e-01]] t_estimated: [[0.44973364] [0.89316203] [0.00111337]] R_gt: [[ 0.98683841 0.16140001 0.01003877] [-0.16167119 0.98609477 0.03849009] [-0.00368634 -0.0396056 0.99920908]] t_gt: [-0.93219757 0.31604352 0.17642046] Pose Error in degrees for R and t: 117.47430928977472 82.13924140647036 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[-0.97752541 -0.21072973 -0.00608703] [-0.21074114 0.97754105 0.00129106] [ 0.00567826 0.00254483 -0.99998064]] t_estimated: [[ 0.99564818] [ 0.09316269] [-0.00232568]] R_gt: [[ 0.96122301 0.2739428 0.03171955] [-0.27480558 0.96112031 0.02702385] [-0.02308356 -0.03469127 0.99913134]] t_gt: [-0.85608966 0.50472394 0.11119456] Pose Error in degrees for R and t: 178.5848128949037 36.33163578348753 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 6.89094669e-02 -9.97621562e-01 -1.64474973e-03] [ 9.97622760e-01 6.89084368e-02 6.75006796e-04] [-5.60064201e-04 -1.68735412e-03 9.99998420e-01]] t_estimated: [[0.95330661] [0.30200171] [0.00121286]] R_gt: [[ 0.99389523 0.09667743 0.05316168] [-0.09563207 0.99517644 -0.02187817] [-0.05502135 0.01666114 0.99834623]] t_gt: [-0.50630407 0.80058214 0.3205065 ] Pose Error in degrees for R and t: 91.62003110867076 76.0841177526489 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.82703052e-01 1.85188134e-01 2.58238339e-04] [-1.85188107e-01 9.82703083e-01 -1.27388876e-04] [-2.77362520e-04 7.73627680e-05 9.99999959e-01]] t_estimated: [[-7.08978790e-01] [ 7.05229561e-01] [ 5.84071460e-04]] R_gt: [[ 0.98521219 0.15399217 0.07513316] [-0.15140687 0.9877012 -0.03900247] [-0.08021544 0.02705038 0.99641049]] t_gt: [-0.49905352 0.81483651 0.29493567] Pose Error in degrees for R and t: 5.189025090823391 21.776600102180545 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 7.68486225e-01 6.39866133e-01 5.04456164e-04] [ 6.39857560e-01 -7.68479579e-01 4.63036207e-03] [ 3.35047613e-03 -3.23558938e-03 -9.99989153e-01]] t_estimated: [[-0.82211889] [-0.56931236] [-0.0019906 ]] R_gt: [[ 0.98229185 0.15271669 0.10854124] [-0.1498076 0.98811291 -0.03451104] [-0.11252216 0.0176401 0.99349196]] t_gt: [-0.47926413 0.74807757 0.45900527] Pose Error in degrees for R and t: 176.6706698894062 88.12085383472656 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99420089e-01 3.40510378e-02 1.07638551e-04] [-3.40510282e-02 9.99420092e-01 -9.03162326e-05] [-1.10651492e-04 8.65986539e-05 9.99999990e-01]] t_estimated: [[ 8.51918229e-01] [-5.23674826e-01] [ 8.39874292e-05]] R_gt: [[ 0.98642356 -0.15989582 0.03746033] [ 0.15798158 0.98620225 0.04945692] [-0.04485022 -0.04286696 0.99807413]] t_gt: [ 0.6370277 -0.71061074 0.2987107 ] Pose Error in degrees for R and t: 11.659369191666325 23.815629184998144 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.02712802 -0.99962877 -0.00252924] [ 0.99963082 -0.02713174 0.0014466 ] [-0.00151469 -0.00248906 0.99999576]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.95975998 -0.27054735 0.07526357] [ 0.26445857 0.96091938 0.08181449] [-0.09445622 -0.05861668 0.99380174]] t_gt: [ 0.67005396 -0.66594003 0.32795055] Pose Error in degrees for R and t: 76.21039464386203 48.40183884691803 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.89180613e-01 -1.46699610e-01 -9.69328404e-04] [ 1.46702373e-01 -9.89172233e-01 -4.08734687e-03] [-3.59220548e-04 -4.18532706e-03 9.99991177e-01]] t_estimated: [[0.80154625] [0.59793068] [0.00158837]] R_gt: [[ 0.94276945 -0.32586591 0.07068985] [ 0.31885468 0.94305039 0.09479945] [-0.09755579 -0.06683371 0.99298336]] t_gt: [ 0.713306 -0.62941793 0.3082655 ] Pose Error in degrees for R and t: 152.74748087782845 78.70333312730995 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 9.93387048e-01 1.14813456e-01 2.09904865e-04] [-1.14813435e-01 9.93387066e-01 -1.11275089e-04] [-2.21292656e-04 8.64393339e-05 9.99999972e-01]] t_estimated: [[0.60305643] [0.79769809] [0.0008318 ]] R_gt: [[ 0.99876616 -0.04058053 -0.02861897] [ 0.04120822 0.99891464 0.02170914] [ 0.02770666 -0.02286264 0.99935521]] t_gt: [0.94815052 0.26282446 0.17870059] Pose Error in degrees for R and t: 9.173814873829146 38.593478344581015 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 0.99631292 0.08569479 0.00411828] [ 0.08577142 -0.99599973 -0.02505609] [ 0.00195463 0.02531693 -0.99967756]] t_estimated: [[ 0.06537217] [ 0.99779315] [-0.01163215]] R_gt: [[ 0.99806372 -0.0129093 -0.06084776] [ 0.01511365 0.99924169 0.03589814] [ 0.06033727 -0.03674888 0.99750128]] t_gt: [0.6868517 0.72188644 0.08434873] Pose Error in degrees for R and t: 179.21596862560145 40.16295670713247 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.98743288e-01 -5.01181175e-02 -1.37990565e-04] [ 5.01182007e-02 9.98743058e-01 6.85142325e-04] [ 1.03479075e-04 -6.91197137e-04 9.99999756e-01]] t_estimated: [[0.77355339] [0.63373034] [0.00100592]] R_gt: [[ 0.9931321 -0.01995785 -0.11528139] [ 0.02208378 0.99960888 0.01719621] [ 0.11489273 -0.01962391 0.99318443]] t_gt: [ 0.8049306 0.5507664 -0.22077842] Pose Error in degrees for R and t: 6.884207523042775 13.718624713643953 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.91386825e-01 1.30964640e-01 6.53102473e-04] [-1.30964230e-01 9.91386890e-01 -6.35478097e-04] [-7.30702390e-04 5.44471550e-04 9.99999585e-01]] t_estimated: [[0.60275933] [0.79792134] [0.00165245]] R_gt: [[ 0.99170519 0.09812062 -0.08304248] [-0.09204187 0.99299218 0.07412115] [ 0.08973387 -0.06586281 0.99378503]] t_gt: [0.54730855 0.79229305 0.26967587] Pose Error in degrees for R and t: 6.761603186625911 15.734529814065404 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.72948029e-01 -2.31024057e-01 -1.33780651e-04] [ 2.31024077e-01 9.72948019e-01 1.65339412e-04] [ 9.19642374e-05 -1.91773206e-04 9.99999977e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.97913973 0.18353426 -0.08719292] [-0.17623489 0.98065631 0.08516194] [ 0.10113651 -0.0680184 0.99254427]] t_gt: [-0.12084502 0.96584419 0.22921928] Pose Error in degrees for R and t: 24.752029189753078 83.24224185592047 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.71493000e-01 -2.37066915e-01 -7.92611310e-04] [ 2.37067553e-01 9.71492804e-01 8.40499960e-04] [ 5.70761452e-04 -1.00444225e-03 9.99999333e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.95005147 0.27224946 -0.15259047] [-0.25348044 0.95833903 0.13165201] [ 0.18207575 -0.08639818 0.97948147]] t_gt: [ 0.04854379 0.99714631 -0.05781638] Pose Error in degrees for R and t: 31.281248648617765 87.04276171965395 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.95017933e-01 9.96960931e-02 -4.93447231e-05] [-9.96961003e-02 9.95017918e-01 -1.72830347e-04] [ 3.18683733e-05 1.76888772e-04 9.99999984e-01]] t_estimated: [[-7.38331595e-01] [-6.74437600e-01] [-6.15940267e-04]] R_gt: [[ 0.99873629 0.0381308 -0.03273929] [-0.04167503 0.99243943 -0.11544137] [ 0.02808979 0.11665988 0.99277452]] t_gt: [-0.16210178 0.58413632 -0.79530357] Pose Error in degrees for R and t: 7.686504979504706 74.1101542955949 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-8.94827098e-01 -4.46182748e-01 1.43324623e-02] [-4.46123353e-01 8.94941864e-01 7.28102048e-03] [-1.60753863e-02 1.21208288e-04 -9.99870775e-01]] t_estimated: [[0.98425293] [0.17657652] [0.00817947]] R_gt: [[ 0.99671532 0.07970827 -0.01436287] [-0.08078272 0.9911337 -0.10549073] [ 0.00582744 0.106304 0.99431673]] t_gt: [-0.30666512 0.77755653 -0.5489648 ] Pose Error in degrees for R and t: 178.926868213498 80.26868659843736 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.35889009 -0.93337271 -0.00364437] [-0.9333771 0.35889575 -0.00101723] [ 0.0022574 0.0030365 -0.99999284]] t_estimated: [[ 0.83008993] [ 0.55762886] [-0.00087104]] R_gt: [[ 0.98287276 0.1789775 -0.04392453] [-0.18234906 0.97898885 -0.09126741] [ 0.02666717 0.09771303 0.99485717]] t_gt: [-0.42640334 0.82966202 -0.36033475] Pose Error in degrees for R and t: 175.03015482274523 83.7420829524728 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 7.35078700e-01 -6.77942872e-01 -7.26406110e-03] [ 6.77961547e-01 7.35097353e-01 1.48967366e-04] [ 5.23880072e-03 -5.03425684e-03 9.99973605e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99963407 0.02224617 -0.01537371] [-0.02294534 0.99863554 -0.0469108 ] [ 0.01430898 0.04724597 0.99878061]] t_gt: [-0.17665853 0.74985713 -0.63757826] Pose Error in degrees for R and t: 44.07077154433467 41.57587331035404 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.64224241e-01 -2.65084082e-01 -1.42914060e-03] [ 2.65087095e-01 9.64220742e-01 2.68183182e-03] [ 6.67096088e-04 -2.96473398e-03 9.99995383e-01]] t_estimated: [[0.86667206] [0.49887444] [0.00195637]] R_gt: [[ 0.99843898 -0.0305478 0.04675789] [ 0.0301461 0.99950293 0.00928129] [-0.04701891 -0.00785804 0.99886314]] t_gt: [ 0.24656875 -0.26615491 0.93186126] Pose Error in degrees for R and t: 13.908922136144968 85.25395432136195 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.9256732 -0.37829874 -0.00438055] [ 0.37830867 -0.92567798 -0.00168481] [-0.00341761 -0.00321678 0.99998899]] t_estimated: [[0.95336951] [0.30178603] [0.00342939]] R_gt: [[ 0.98933169 -0.07940749 0.12213775] [ 0.06689392 0.99239389 0.10334732] [-0.12941577 -0.09407576 0.98711727]] t_gt: [ 0.20432184 -0.35357488 0.91281838] Pose Error in degrees for R and t: 153.63371799127924 84.7661651881857 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999529e-01 9.68737794e-04 5.32880932e-05] [-9.68737214e-04 9.99999531e-01 -1.09230871e-05] [-5.32986498e-05 1.08714598e-05 9.99999999e-01]] t_estimated: [[ 8.54394625e-01] [-5.19624168e-01] [ 7.40129542e-04]] R_gt: [[ 0.999812 -0.01761101 0.00818184] [ 0.01748021 0.99972258 0.01576826] [-0.00845733 -0.01562324 0.99984232]] t_gt: [ 0.5891229 -0.16140518 0.79175917] Pose Error in degrees for R and t: 1.4691949845715646 53.99899251623613 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999953e-01 2.94473868e-04 8.03240787e-05] [-2.94463738e-04 9.99999949e-01 -1.26100993e-04] [-8.03612080e-05 1.26077334e-04 9.99999989e-01]] t_estimated: [[-3.47074127e-01] [ 9.37837686e-01] [ 1.57512916e-04]] R_gt: [[ 0.99825051 0.05676429 -0.01652269] [-0.05734919 0.99765188 -0.03743484] [ 0.01435895 0.03831626 0.99916222]] t_gt: [-0.47765142 0.78554399 -0.39340787] Pose Error in degrees for R and t: 4.009403804997402 25.520493316491557 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-5.14953918e-01 -8.57215219e-01 -2.12861712e-03] [ 8.57216938e-01 -5.14955421e-01 1.89242205e-04] [-1.25836422e-03 -1.72723563e-03 9.99997717e-01]] t_estimated: [[0.99958006] [0.02895779] [0.00107251]] R_gt: [[ 0.9914946 0.11578037 -0.05944052] [-0.12181013 0.98637878 -0.1105379 ] [ 0.04583346 0.11683803 0.99209272]] t_gt: [-0.41161856 0.73828887 -0.53432173] Pose Error in degrees for R and t: 127.96081983936392 67.00569998927075 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.99996990e-01 -2.45260568e-03 7.29512294e-05] [ 2.45261297e-03 9.99996987e-01 -9.99383754e-05] [-7.27059002e-05 1.00116996e-04 9.99999992e-01]] t_estimated: [[ 5.55351014e-01] [-8.31615772e-01] [-6.77305132e-04]] R_gt: [[ 0.98787485 -0.15182351 -0.03243757] [ 0.14986747 0.9871165 -0.05603116] [ 0.04052607 0.05049098 0.99790196]] t_gt: [ 0.70124021 -0.54746606 -0.45666517] Pose Error in degrees for R and t: 9.313959220917472 32.32536699306442 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-7.35019453e-01 6.78045985e-01 2.14401113e-04] [-6.78044945e-01 -7.35017688e-01 -2.01271161e-03] [-1.20712242e-03 -1.62475578e-03 9.99997952e-01]] t_estimated: [[0.18798545] [0.98217125] [0.0010561 ]] R_gt: [[ 9.68305275e-01 -2.49767677e-01 8.55312921e-04] [ 2.49436124e-01 9.66830278e-01 -5.49582309e-02] [ 1.28999115e-02 5.34309022e-02 9.98487774e-01]] t_gt: [ 0.72417649 -0.64849443 -0.23457064] Pose Error in degrees for R and t: 151.78438693421057 59.930794935686784 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-2.61272092e-01 9.65265013e-01 5.90304865e-04] [ 9.65263501e-01 2.61270440e-01 2.03229398e-03] [ 1.80747307e-03 1.10078144e-03 -9.99997761e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.9067971 -0.41904773 0.04602043] [ 0.42020182 0.90723672 -0.0187365 ] [-0.03389921 0.03632945 0.99876454]] t_gt: [ 0.77840898 -0.6277458 -0.00382951] Pose Error in degrees for R and t: 177.17401597154583 51.4135145528319 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.73422940e-01 -2.29014642e-01 -2.72713144e-04] [ 2.29014742e-01 9.73422865e-01 4.17691178e-04] [ 1.69807814e-04 -4.69045505e-04 9.99999876e-01]] t_estimated: [[0.41804584] [0.90842531] [0.00106373]] R_gt: [[ 9.97691443e-01 7.17260594e-04 -6.79160929e-02] [-5.53344633e-03 9.97479694e-01 -7.07440045e-02] [ 6.76943230e-02 7.09560880e-02 9.95179838e-01]] t_gt: [ 0.20781688 0.25355371 -0.94473417] Pose Error in degrees for R and t: 14.54964333979457 71.56632658646645 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.2262679 0.97404775 -0.00581546] [-0.97404509 -0.2262975 -0.00506103] [-0.00624571 0.00451937 0.99997028]] t_estimated: [[0.02259308] [0.99974375] [0.00141207]] R_gt: [[ 9.93271321e-01 -1.02003296e-02 -1.15362918e-01] [-5.56851496e-04 9.95682550e-01 -9.28271264e-02] [ 1.15811521e-01 9.22668731e-02 9.88977368e-01]] t_gt: [ 0.2951169 0.2095867 -0.93219066] Pose Error in degrees for R and t: 103.5820961566542 77.59126190589387 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99883322 -0.02997154 0.03786682] [ 0.03028567 0.99951124 -0.00774936] [-0.03761605 0.00888714 0.99925275]] t_estimated: [[0.67228459] [0.74029025] [0.00194302]] R_gt: [[ 0.98677496 0.05137427 -0.15374512] [-0.07006572 0.99045093 -0.11873912] [ 0.1461773 0.12794076 0.98095096]] t_gt: [ 0.08723335 0.52083368 -0.84918939] Pose Error in degrees for R and t: 13.725967318796602 63.73242735594785 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99996907e-01 2.48713554e-03 -1.27268250e-05] [-2.48713509e-03 9.99996906e-01 3.55042759e-05] [ 1.28150896e-05 -3.54725128e-05 9.99999999e-01]] t_estimated: [[-9.96801974e-01] [-7.99104446e-02] [-3.80403890e-04]] R_gt: [[ 0.99706517 0.07621704 0.00714866] [-0.07611435 0.99700438 -0.01372229] [-0.00817374 0.01313777 0.99987985]] t_gt: [-0.94145675 0.29742032 -0.15874615] Pose Error in degrees for R and t: 4.318798236192022 23.83126192415478 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.99947235 0.03232663 0.0031642 ] [-0.03231601 0.99947208 -0.00335179] [-0.00327088 0.00324777 0.99998938]] t_estimated: [[-8.08296599e-01] [-5.88775241e-01] [-5.68470429e-04]] R_gt: [[ 0.97636858 0.21603288 0.00589071] [-0.21607929 0.97633371 0.00902444] [-0.00380243 -0.01008438 0.99994213]] t_gt: [-0.92368154 0.37802642 0.06251746] Pose Error in degrees for R and t: 10.651734273467724 58.39901748009476 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.83874727 0.54451558 0.00240864] [ 0.54451758 -0.83871846 -0.00720806] [-0.00190473 0.00735728 -0.99997112]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.92947186 0.36832667 0.02043747] [-0.3685007 0.92961195 0.00535625] [-0.01702608 -0.01250916 0.99977662]] t_gt: [-0.86233128 0.50354089 0.05321029] Pose Error in degrees for R and t: 179.7634711976214 30.60199849038326 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 1.00000000e+00 3.54006993e-06 -1.87990477e-05] [-3.54005930e-06 1.00000000e+00 5.65507022e-07] [ 1.87990497e-05 -5.65440472e-07 1.00000000e+00]] t_estimated: [[ 1.58832912e-02] [ 9.99873835e-01] [-1.88670393e-04]] R_gt: [[ 0.99830443 -0.00159289 -0.05817677] [-0.00426602 0.99493395 -0.10043969] [ 0.05804191 0.10051895 0.99324058]] t_gt: [ 0.07953629 0.25058081 -0.9648229 ] Pose Error in degrees for R and t: 6.665598408384421 75.40443025046451 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-1.49359036e-02 9.99888451e-01 -6.01439281e-05] [-9.99886988e-01 -1.49359847e-02 -1.71105970e-03] [-1.71176714e-03 3.45809084e-05 9.99998534e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99415853 0.01665966 -0.10663437] [-0.03625814 0.9821471 -0.18458699] [ 0.10165467 0.18737618 0.97701432]] t_gt: [ 0.02472096 0.34220197 -0.93930117] Pose Error in degrees for R and t: 89.9839151683538 71.04582732496247 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.88950085e-01 -1.48247959e-01 -5.21194789e-04] [ 1.48248866e-01 9.88945151e-01 3.12442108e-03] [ 5.22440120e-05 -3.16716303e-03 9.99994983e-01]] t_estimated: [[0.14411049] [0.98955869] [0.00240184]] R_gt: [[ 0.98369949 0.05338189 -0.17171055] [-0.09615446 0.9630836 -0.25144209] [ 0.15194947 0.26385522 0.95251922]] t_gt: [-0.01944269 0.43406887 -0.90066986] Pose Error in degrees for R and t: 22.021335470988248 64.87645883368069 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-5.85343857e-03 -9.99980098e-01 -2.35374756e-03] [ 9.99982621e-01 -5.85507539e-03 6.89125706e-04] [-7.02893360e-04 -2.34967290e-03 9.99996992e-01]] t_estimated: [[0.99995615] [0.00927112] [0.00132445]] R_gt: [[ 0.98802995 -0.15314206 -0.01856261] [ 0.15331119 0.98814411 0.00805823] [ 0.01710889 -0.01080808 0.99979574]] t_gt: [ 0.64587171 -0.76129861 -0.0572203 ] Pose Error in degrees for R and t: 81.52563314672001 50.30434151334617 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.99940971 -0.03429179 -0.00207516] [ 0.03429724 0.99940816 0.00264969] [ 0.00198307 -0.0027193 0.99999434]] t_estimated: [[0.9999091 ] [0.01343663] [0.00111972]] R_gt: [[ 0.95413536 -0.29421943 -0.05532007] [ 0.29225369 0.95546173 -0.04097805] [ 0.06491271 0.02293092 0.9976277 ]] t_gt: [ 0.73987331 -0.62484167 -0.24931982] Pose Error in degrees for R and t: 15.605250760793625 43.01869589136645 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.10072799 -0.99491221 -0.00188852] [ 0.99491071 -0.1007226 -0.00276384] [ 0.00255956 -0.00215731 0.9999944 ]] t_estimated: [[ 9.97819787e-01] [-6.59966013e-02] [-3.49351221e-04]] R_gt: [[ 0.92100117 -0.38710911 -0.04363295] [ 0.38445185 0.92128284 -0.0586007 ] [ 0.06288349 0.03719615 0.99732765]] t_gt: [ 0.76206363 -0.60859917 -0.22105671] Pose Error in degrees for R and t: 73.15050341629468 36.808272490925184 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.99044631 0.13502275 0.02801723] [-0.13568757 0.9904763 0.02335761] [-0.02459659 -0.02693605 0.99933451]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99363434 -0.11182566 -0.01361454] [ 0.11153749 0.99355253 -0.02037026] [ 0.01580491 0.01872248 0.99970059]] t_gt: [ 0.66511277 -0.72168907 -0.19180692] Pose Error in degrees for R and t: 14.615323500287262 89.17300940826823 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.67933681 0.7335518 0.02008119] [ 0.73357466 0.67956627 -0.00760902] [-0.01922812 0.00956197 -0.9997694 ]] t_estimated: [[ 0.95375913] [-0.30041136] [ 0.0098252 ]] R_gt: [[ 0.97846393 -0.20625561 0.00821776] [ 0.20634533 0.97840384 -0.01218003] [-0.00552805 0.01361378 0.99989187]] t_gt: [ 0.72728135 -0.68632751 -0.00404821] Pose Error in degrees for R and t: 178.11080484978615 25.869255586655754 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99316446e-01 3.69669434e-02 2.93529725e-04] [-3.69669098e-02 9.99316483e-01 -1.19248009e-04] [-2.97737327e-04 1.08315609e-04 9.99999950e-01]] t_estimated: [[-9.37802933e-01] [-3.47167926e-01] [-3.00451795e-04]] R_gt: [[ 0.97163316 -0.23245498 0.04351751] [ 0.23441986 0.97098181 -0.047354 ] [-0.03124636 0.05621183 0.9979299 ]] t_gt: [ 0.77553632 -0.63077194 -0.02588777] Pose Error in degrees for R and t: 16.055150954572923 59.44876359163709 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.99940878 0.03429426 -0.00244636] [ 0.03429143 -0.99941117 -0.00118918] [-0.0024857 0.00110459 -0.9999963 ]] t_estimated: [[0.05510365] [0.99847821] [0.00220415]] R_gt: [[ 0.99875581 0.03423144 -0.03628366] [-0.03339707 0.99916946 0.0233737 ] [ 0.03705315 -0.02213206 0.99906783]] t_gt: [0.15182225 0.98314604 0.1018522 ] Pose Error in degrees for R and t: 178.72753672270872 8.011402499833585 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.97325730e-01 7.30847953e-02 3.35482764e-05] [-7.30848015e-02 9.97325697e-01 2.57879512e-04] [-1.46114867e-05 -2.59641742e-04 9.99999966e-01]] t_estimated: [[3.14373722e-01] [9.49299241e-01] [3.36400189e-04]] R_gt: [[ 0.99560254 0.01563342 -0.09237576] [-0.0172481 0.99971193 -0.01671005] [ 0.09208749 0.01823015 0.99558359]] t_gt: [ 0.69235735 0.57457793 -0.43646477] Pose Error in degrees for R and t: 6.292237284748821 40.27428625956559 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.39752212e-01 3.41855438e-01 7.99534159e-04] [-3.41855716e-01 9.39752421e-01 2.37548688e-04] [-6.70156850e-04 -4.96562228e-04 9.99999652e-01]] t_estimated: [[0.42784661] [0.90385061] [0.00116437]] R_gt: [[ 0.99260947 -0.03318526 -0.11673375] [ 0.03044632 0.99921974 -0.02517082] [ 0.11747806 0.02143117 0.99284334]] t_gt: [ 0.89928564 0.32399098 -0.29379445] Pose Error in degrees for R and t: 22.873716902812255 47.37059357420836 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999965e-01 1.93394020e-04 -1.78429624e-04] [-1.93314962e-04 9.99999883e-01 4.42986004e-04] [ 1.78515274e-04 -4.42951496e-04 9.99999886e-01]] t_estimated: [[8.20617478e-01] [5.71477474e-01] [6.71536398e-04]] R_gt: [[ 9.98087737e-01 -5.75029898e-02 -2.26731616e-02] [ 5.74776774e-02 9.98345293e-01 -1.78287910e-03] [ 2.27374762e-02 4.75352122e-04 9.99741742e-01]] t_gt: [ 0.90219579 -0.38863163 -0.18710481] Pose Error in degrees for R and t: 3.551345083346937 58.7925808795689 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.91184083e-01 1.32491652e-01 2.76820520e-04] [-1.32491637e-01 9.91184120e-01 -7.49006734e-05] [-2.84303817e-04 3.75639516e-05 9.99999959e-01]] t_estimated: [[0.72412692] [0.68966622] [0.00084389]] R_gt: [[ 0.99252912 -0.11543909 -0.03949684] [ 0.11546944 0.9933104 -0.00153373] [ 0.03940913 -0.00303757 0.99921915]] t_gt: [ 0.86646043 -0.4660459 -0.17901827] Pose Error in degrees for R and t: 14.4264980162514 72.19008060414674 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 1.97506804e-01 -9.80296806e-01 -3.03894959e-03] [ 9.80301507e-01 1.97506281e-01 4.74276995e-04] [ 1.35279406e-04 -3.07275979e-03 9.99995270e-01]] t_estimated: [[8.31947866e-01] [5.54853409e-01] [6.64495101e-04]] R_gt: [[ 0.9850106 -0.1673685 -0.04173591] [ 0.16685457 0.98585986 -0.01552234] [ 0.04374329 0.00832517 0.99900868]] t_gt: [ 0.84752829 -0.50304788 -0.16922953] Pose Error in degrees for R and t: 69.02251367797837 64.79431488592034 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.91830724e-01 1.27560755e-01 2.61476451e-04] [-1.27560735e-01 9.91830757e-01 -8.86387395e-05] [-2.70647211e-04 5.45604968e-05 9.99999962e-01]] t_estimated: [[0.61090102] [0.7917058 ] [0.00136973]] R_gt: [[ 9.92846324e-01 -1.19406266e-01 -5.21128385e-04] [ 1.19405978e-01 9.92843698e-01 1.48989964e-03] [ 3.39242514e-04 -1.54007687e-03 9.99999100e-01]] t_gt: [ 0.7675083 -0.64078993 -0.01786815] Pose Error in degrees for R and t: 14.186767453910793 87.79528840635713 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.98288534e-01 -5.84807615e-02 5.64767197e-05] [ 5.84807648e-02 9.98288534e-01 -5.85306986e-05] [-5.29571419e-05 6.17333270e-05 9.99999997e-01]] t_estimated: [[-0.83420598] [-0.55145077] [-0.00156218]] R_gt: [[ 9.85547880e-01 -1.68093532e-01 -2.10105239e-02] [ 1.68070249e-01 9.85770182e-01 -2.85693546e-03] [ 2.11914204e-02 -7.14529724e-04 9.99775489e-01]] t_gt: [ 0.82695292 -0.55379664 -0.097253 ] Pose Error in degrees for R and t: 6.440787010750675 67.39936465425043 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.92808698e-01 1.19711658e-01 9.34742425e-05] [-1.19711680e-01 9.92808658e-01 2.88216601e-04] [-5.82991501e-05 -2.97333907e-04 9.99999954e-01]] t_estimated: [[0.73468091] [0.678412 ] [0.00106168]] R_gt: [[ 9.68997024e-01 -2.42970155e-01 -4.48516088e-02] [ 2.43231687e-01 9.69967875e-01 4.05582716e-04] [ 4.34061937e-02 -1.13014702e-02 9.98993382e-01]] t_gt: [ 0.85142505 -0.51381648 -0.10520461] Pose Error in degrees for R and t: 21.107943315306645 73.9286154870082 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.92009197e-01 1.26165572e-01 -2.90178833e-05] [-1.26165572e-01 9.92009198e-01 1.11007385e-05] [ 3.01865382e-05 -7.35097689e-06 1.00000000e+00]] t_estimated: [[0.72955996] [0.68391645] [0.00073619]] R_gt: [[ 0.99700533 -0.07587301 -0.01498215] [ 0.07537423 0.99665958 -0.03144664] [ 0.01731879 0.03022316 0.9993934 ]] t_gt: [ 0.54674806 -0.75479517 -0.36242353] Pose Error in degrees for R and t: 11.75638959478083 83.24649500732929 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.93922473e-01 1.10081761e-01 -3.51448958e-04] [-1.10081206e-01 9.93921707e-01 1.32993357e-03] [ 4.95714177e-04 -1.28316294e-03 9.99999054e-01]] t_estimated: [[0.99985742] [0.01682789] [0.00140232]] R_gt: [[ 0.9893497 -0.14460349 -0.01664788] [ 0.14379473 0.98869894 -0.04240298] [ 0.02259196 0.03955762 0.99896234]] t_gt: [ 0.64252798 -0.72205074 -0.25651612] Pose Error in degrees for R and t: 14.855585604791408 50.955332608343795 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99987077e-01 5.06650711e-03 4.19626340e-04] [-5.06634812e-03 9.99987094e-01 -3.79080772e-04] [-4.21541540e-04 3.76949900e-04 9.99999840e-01]] t_estimated: [[9.97846097e-01] [6.55985220e-02] [3.07295763e-05]] R_gt: [[ 0.96935835 -0.24508402 0.01665072] [ 0.2456118 0.96816621 -0.04826269] [-0.00429196 0.05087415 0.99869634]] t_gt: [ 0.73430857 -0.67106133 -0.10231136] Pose Error in degrees for R and t: 14.787756125759046 46.47245944388143 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.96479692e-01 8.38333449e-02 -4.39705725e-04] [-8.38333209e-02 9.96479789e-01 7.27272548e-05] [ 4.44254837e-04 -3.56092413e-05 9.99999901e-01]] t_estimated: [[ 0.12995726] [ 0.99151555] [-0.00283419]] R_gt: [[ 0.99714363 -0.03539123 -0.06672552] [ 0.03267171 0.99860866 -0.04141022] [ 0.06809821 0.03911094 0.99691087]] t_gt: [ 0.85021329 0.1114171 -0.51451296] Pose Error in degrees for R and t: 8.112308597129614 77.14870609436187 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999614e-01 7.30114139e-04 -4.89106529e-04] [-7.29623443e-04 9.99999231e-01 1.00267759e-03] [ 4.89838222e-04 -1.00232034e-03 9.99999378e-01]] t_estimated: [[-0.94142252] [-0.33721676] [-0.00291569]] R_gt: [[ 0.99325065 -0.08337001 -0.08063581] [ 0.08167382 0.99636757 -0.02411606] [ 0.08235349 0.01736677 0.99645181]] t_gt: [ 0.96668608 0.02233234 -0.25498882] Pose Error in degrees for R and t: 6.78668327336697 23.530538806819127 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99999633 -0.00251127 -0.00101835] [ 0.00251313 0.99999517 0.00182864] [ 0.00101376 -0.00183119 0.99999781]] t_estimated: [[ 0.00117521] [ 0.99999809] [-0.00156262]] R_gt: [[ 0.99358489 -0.06172224 -0.09476313] [ 0.05862449 0.99766171 -0.03514143] [ 0.09670979 0.02935982 0.99487912]] t_gt: [ 0.9474243 0.16913705 -0.27162449] Pose Error in degrees for R and t: 6.662418876767555 80.17295625013078 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.98381037e-01 5.68795979e-02 1.30232785e-04] [-5.68795946e-02 9.98381045e-01 -2.88384416e-05] [-1.31662263e-04 2.13841652e-05 9.99999991e-01]] t_estimated: [[-9.96553988e-01] [-8.29463958e-02] [-2.08796135e-04]] R_gt: [[ 0.99635535 0.08237376 0.02214439] [-0.08168435 0.99619486 -0.03041226] [-0.02456487 0.02849213 0.99929156]] t_gt: [-0.90566636 0.35045658 -0.23863912] Pose Error in degrees for R and t: 2.5911891051472824 29.12897807795517 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 2.31212071e-01 9.72902059e-01 1.60067955e-03] [-9.72903371e-01 2.31211909e-01 2.88309008e-04] [-8.95997479e-05 -1.62396706e-03 9.99998677e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96822383 0.24910614 0.02207851] [-0.24928833 0.96841203 0.00592326] [-0.01990562 -0.01123836 0.99973821]] t_gt: [-0.88722475 0.45470878 0.07792407] Pose Error in degrees for R and t: 62.21025119554806 63.30460617148415 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.97082427 -0.23976635 -0.00351266] [ 0.23978788 -0.97078982 -0.00830104] [-0.00141975 -0.00890115 0.99995938]] t_estimated: [[0.999652 ] [0.02633079] [0.00160054]] R_gt: [[ 0.92200861 0.38624826 0.02666935] [-0.38653243 0.92225449 0.00628987] [-0.0221663 -0.01610807 0.99962396]] t_gt: [-0.8518646 0.51816994 0.0763323 ] Pose Error in degrees for R and t: 171.13463590915845 33.09124474308534 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-1.81499212e-01 -9.83389409e-01 -1.81819355e-03] [ 9.83391079e-01 -1.81499179e-01 -1.84619302e-04] [-1.48447970e-04 -1.82150358e-03 9.99998330e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99810511 0.01263612 -0.06022726] [-0.01690588 0.9973394 -0.07091343] [ 0.05917119 0.07179751 0.99566189]] t_gt: [ 0.15545261 0.33739787 -0.92843802] Pose Error in degrees for R and t: 101.40774335005466 81.03806297796085 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-3.12146274e-01 -9.50032669e-01 -1.62204389e-03] [ 9.50033787e-01 -3.12147012e-01 2.17037613e-04] [-7.12508976e-04 -1.47324902e-03 9.99998661e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.92774517e-01 -1.59466414e-02 -1.18929112e-01] [-9.61180874e-04 9.90041829e-01 -1.40774527e-01] [ 1.19990114e-01 1.39871707e-01 9.82872553e-01]] t_gt: [ 0.27155664 0.23147946 -0.93417035] Pose Error in degrees for R and t: 108.1180211509145 74.24354625003015 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.92376052 0.38291575 0.00648388] [-0.38296097 0.92372509 0.00853563] [-0.0027209 -0.01036795 0.99994255]] t_estimated: [[0.24359443] [0.9698667 ] [0.00451101]] R_gt: [[ 0.98670622 0.01893888 -0.16141034] [-0.04220289 0.98897493 -0.14194559] [ 0.15694283 0.14687073 0.97662498]] t_gt: [ 0.21100278 0.37434286 -0.9029647 ] Pose Error in degrees for R and t: 24.43957630696673 65.77075851287474 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.87655686e-01 -1.56638471e-01 7.97025484e-04] [ 1.56639648e-01 9.87654307e-01 -1.72932227e-03] [-5.16307256e-04 1.83282076e-03 9.99998187e-01]] t_estimated: [[-0.65898023] [-0.75215965] [-0.00096061]] R_gt: [[ 9.98137507e-01 -5.80142432e-02 -1.88694090e-02] [ 5.79854995e-02 9.98315408e-01 -2.07593998e-03] [ 1.89591005e-02 9.78583625e-04 9.99819471e-01]] t_gt: [ 0.87906659 -0.44424579 -0.17288032] Pose Error in degrees for R and t: 5.7961481325375495 75.81948562162549 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 6.79850937e-01 -7.33350320e-01 1.04591363e-04] [ 7.33350294e-01 6.79850856e-01 -3.98978848e-04] [ 2.21484738e-04 3.47948251e-04 9.99999915e-01]] t_estimated: [[-0.33365364] [-0.9426951 ] [-0.00109353]] R_gt: [[ 9.91751592e-01 -1.22007667e-01 -3.92966001e-02] [ 1.22078894e-01 9.92520100e-01 -6.04382666e-04] [ 3.90768246e-02 -4.19791559e-03 9.99226992e-01]] t_gt: [ 0.866418 -0.46960306 -0.16968446] Pose Error in degrees for R and t: 40.2156197725311 81.15310947184436 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999913e-01 1.16040271e-04 4.01340262e-04] [-1.15830089e-04 9.99999856e-01 -5.23684117e-04] [-4.01400973e-04 5.23637584e-04 9.99999782e-01]] t_estimated: [[-0.3503986 ] [-0.93660003] [-0.00110188]] R_gt: [[ 0.98772145 -0.1523707 -0.03449764] [ 0.15215682 0.98831737 -0.00875801] [ 0.03542959 0.00340174 0.99936594]] t_gt: [ 0.85813865 -0.49341179 -0.14192557] Pose Error in degrees for R and t: 9.005378231596705 80.70049455209985 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 4.90711802e-01 8.71321701e-01 6.48725007e-04] [-8.71321384e-01 4.90712195e-01 -7.66524089e-04] [-9.86226344e-04 -1.89105554e-04 9.99999496e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99346918 0.11274732 -0.01754066] [-0.11268199 0.99362028 0.00467069] [ 0.01795449 -0.00266285 0.99983467]] t_gt: [-0.70024968 0.71257836 -0.04338732] Pose Error in degrees for R and t: 54.15065096169329 44.91527354915685 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.98030074 -0.19742834 0.00570076] [ 0.1974621 0.98029136 -0.00612883] [-0.00437841 0.00713378 0.99996497]] t_estimated: [[-8.01117160e-01] [-5.98507234e-01] [-6.21502839e-04]] R_gt: [[ 0.99622093 0.06600659 0.05646117] [-0.06928364 0.99589685 0.05821561] [-0.05238746 -0.06190675 0.99670585]] t_gt: [-0.65401813 0.42694133 0.62448489] Pose Error in degrees for R and t: 15.994479722897024 74.45295256353918 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-3.66344148e-01 9.30477465e-01 -1.91093166e-03] [-9.30473970e-01 -3.66348260e-01 -2.67274736e-03] [-3.18699768e-03 7.98926814e-04 9.99994602e-01]] t_estimated: [[0.04723507] [0.99888283] [0.00138927]] R_gt: [[ 0.99679177 0.01567606 0.07849137] [-0.02579724 0.99122435 0.12965115] [-0.07577043 -0.13125967 0.98844824]] t_gt: [-0.33981743 0.11880641 0.93295721] Pose Error in degrees for R and t: 110.53714982637277 84.03513886727391 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999946e-01 -3.27314268e-04 -1.94223589e-05] [ 3.27316032e-04 9.99999942e-01 9.09204352e-05] [ 1.93925983e-05 -9.09267875e-05 9.99999996e-01]] t_estimated: [[0.00723814] [0.99997319] [0.00110601]] R_gt: [[ 9.93607591e-01 1.04267324e-01 -4.32832076e-02] [-1.04197896e-01 9.94549542e-01 3.84434954e-03] [ 4.34484831e-02 6.89800889e-04 9.99055865e-01]] t_gt: [-0.1194202 0.94127661 -0.31581191] Pose Error in degrees for R and t: 6.499264145997384 19.942110630294465 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.96601940e-01 8.23685187e-02 -5.13501199e-06] [-8.23685188e-02 9.96601938e-01 -6.39820720e-05] [-1.52545591e-07 6.41876204e-05 9.99999998e-01]] t_estimated: [[-0.68457585] [-0.72894095] [-0.00099922]] R_gt: [[ 0.99095883 0.12857149 0.03834627] [-0.12536603 0.98913824 -0.07673112] [-0.04779476 0.07123017 0.99631435]] t_gt: [-0.09284293 0.96946176 -0.22698917] Pose Error in degrees for R and t: 5.554639586437972 49.991927513171085 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.11446795e-01 4.11417773e-01 3.93241156e-04] [-4.11417376e-01 9.11446695e-01 -8.15241090e-04] [-6.93823026e-04 5.81262634e-04 9.99999590e-01]] t_estimated: [[-9.97063280e-01] [-7.65781728e-02] [-7.73516897e-04]] R_gt: [[ 0.99099889 0.11818466 0.06288404] [-0.10885271 0.98479492 -0.13538567] [-0.07792708 0.12732231 0.98879552]] t_gt: [ 0.16043834 0.92129049 -0.35423632] Pose Error in degrees for R and t: 19.669791062526034 76.68856775447318 Number of keypoints: Image1: 389 Image2: 389 R_estimated: [[ 9.99396062e-01 -3.47488763e-02 1.61202690e-04] [ 3.47488795e-02 9.99396075e-01 -1.68043626e-05] [-1.60521403e-04 2.23958266e-05 9.99999987e-01]] t_estimated: [[0.48346009] [0.87536591] [0.00093267]] R_gt: [[ 0.99863962 0.02078522 -0.04784018] [-0.01954903 0.99946587 0.02616939] [ 0.04835815 -0.02519798 0.99851183]] t_gt: [ 0.52662948 0.84927645 -0.03729477] Pose Error in degrees for R and t: 4.44197956375766 3.6268415634489495 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.06108585 0.99803694 0.01381249] [-0.99812763 0.06103639 0.00397482] [ 0.00312395 -0.01402943 0.9998967 ]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.99395911 -0.01289232 -0.10900038] [ 0.01023486 0.99963684 -0.02489885] [ 0.10928152 0.02363325 0.99373004]] t_gt: [ 0.81308913 0.3689943 -0.45025468] Pose Error in degrees for R and t: 87.40128906366647 66.00239954929292 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.99999530e-01 -8.43457566e-04 4.79011124e-04] [ 8.43200292e-04 9.99999500e-01 5.37041789e-04] [-4.79463856e-04 -5.36637634e-04 9.99999741e-01]] t_estimated: [[0.6356547 ] [0.77197303] [0.00086641]] R_gt: [[ 0.99074965 -0.05566984 -0.12376465] [ 0.05384367 0.99838609 -0.01805148] [ 0.12457044 0.0112202 0.99214753]] t_gt: [ 0.93886662 0.22859667 -0.25743549] Pose Error in degrees for R and t: 7.853855773002445 39.37211486318687 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.70618330e-02 9.99854318e-01 4.86119158e-04] [-9.99853197e-01 1.70625753e-02 -1.56609836e-03] [-1.57416466e-03 -4.59327285e-04 9.99998656e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99576619 -0.09121969 -0.01135554] [ 0.09102706 0.99571181 -0.01650614] [ 0.01281325 0.01540344 0.99979857]] t_gt: [ 0.66564625 -0.72263264 -0.18632535] Pose Error in degrees for R and t: 94.25671652680793 44.05601566161018 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.90532154e-01 -1.37280860e-01 1.33733435e-04] [ 1.37280844e-01 9.90532157e-01 1.22126209e-04] [-1.49232859e-04 -1.02610898e-04 9.99999984e-01]] t_estimated: [[9.95592533e-01] [9.37811016e-02] [7.83045276e-04]] R_gt: [[ 0.98047443 -0.19592066 0.01685284] [ 0.19612957 0.9805058 -0.01185089] [-0.01420218 0.01492474 0.999787 ]] t_gt: [ 0.73482822 -0.67778622 0.02516598] Pose Error in degrees for R and t: 3.613710189335167 48.08359373580976 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.48216660e-01 3.17624012e-01 3.91053544e-04] [-3.17623993e-01 9.48216740e-01 -1.10585958e-04] [-4.05928272e-04 -1.93485405e-05 9.99999917e-01]] t_estimated: [[0.2980628 ] [0.95454573] [0.00100468]] R_gt: [[ 0.97988502 -0.19258637 0.05229557] [ 0.19509975 0.97960009 -0.0481483 ] [-0.04195583 0.05738353 0.99746931]] t_gt: [ 0.78280737 -0.62203151 0.01701273] Pose Error in degrees for R and t: 29.980616821935094 68.87433527542582 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-1.27152712e-02 9.99919125e-01 2.57265411e-04] [-9.99915739e-01 -1.27145545e-02 -2.61826556e-03] [-2.61478279e-03 -2.90535690e-04 9.99996539e-01]] t_estimated: [[0.50956405] [0.86043048] [0.00196943]] R_gt: [[ 9.93777283e-01 1.11386109e-01 9.03810567e-04] [-1.11387564e-01 9.93775735e-01 1.47708737e-03] [-7.33841665e-04 -1.56622571e-03 9.99998204e-01]] t_gt: [-0.95907692 0.28306978 0.00655422] Pose Error in degrees for R and t: 84.33346195523126 75.81010860926541 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99637399e-01 -2.69257350e-02 -2.72792382e-04] [ 2.69258862e-02 9.99637272e-01 5.66530829e-04] [ 2.57439174e-04 -5.73670582e-04 9.99999802e-01]] t_estimated: [[-0.70042723] [ 0.71372111] [ 0.0019661 ]] R_gt: [[ 0.97479992 0.2227879 0.01146775] [-0.22284435 0.97484583 0.00387928] [-0.01031481 -0.00633506 0.99992652]] t_gt: [-0.93036134 0.36344103 0.04835697] Pose Error in degrees for R and t: 14.434549493417599 24.33648759624926 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.27014435 0.96281505 0.00303549] [-0.96281849 0.27013736 0.00252295] [ 0.00160914 -0.00360419 0.99999221]] t_estimated: [[0.00833304] [0.99996474] [0.00104163]] R_gt: [[ 0.92412708 0.38151889 0.02081421] [-0.38192348 0.92395252 0.02111608] [-0.01117551 -0.0274622 0.9995604 ]] t_gt: [-0.86815796 0.48892895 0.08514837] Pose Error in degrees for R and t: 51.90090168677905 61.1991936671112 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-7.23877646e-01 -6.89918860e-01 -3.62219423e-03] [ 6.89928364e-01 -7.23868298e-01 -3.67975190e-03] [-8.32613370e-05 -5.16274468e-03 9.99986669e-01]] t_estimated: [[0.88535449] [0.46491218] [0.00202136]] R_gt: [[ 0.99734258 -0.02047918 -0.06992653] [ 0.01512177 0.99696927 -0.07630833] [ 0.07127676 0.07504834 0.99462998]] t_gt: [ 0.32148747 0.07871255 -0.94363666] Pose Error in degrees for R and t: 135.41048775132379 71.3783525396698 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-9.95275841e-01 -9.70874185e-02 1.82589530e-04] [ 9.70864876e-02 -9.95271741e-01 -2.89393499e-03] [ 4.62690877e-04 -2.86253660e-03 9.99995796e-01]] t_estimated: [[7.50260902e-01] [6.61141514e-01] [6.90847977e-04]] R_gt: [[ 0.99311178 -0.00106346 -0.1171699 ] [-0.00909879 0.99623942 -0.08616554] [ 0.1168199 0.08663722 0.98936735]] t_gt: [ 0.25917029 0.25068169 -0.93273225] Pose Error in degrees for R and t: 174.6637231768559 68.92823386700518 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.47562683e-01 -3.19569925e-01 1.57602077e-04] [ 3.19569867e-01 9.47562665e-01 3.08948850e-04] [-2.48068605e-04 -2.42383527e-04 9.99999940e-01]] t_estimated: [[0.1409551 ] [0.99001537] [0.00110988]] R_gt: [[ 0.98726314 0.05038151 -0.15091507] [-0.06955645 0.98976464 -0.1246073 ] [ 0.14309235 0.13351665 0.98066248]] t_gt: [ 0.08652434 0.52493636 -0.84673216] Pose Error in degrees for R and t: 24.79955630659508 57.93024442585201 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 3.64072359e-01 9.31370605e-01 3.36031810e-04] [-9.31370373e-01 3.64072507e-01 -6.61962031e-04] [-7.38871921e-04 -7.19679941e-05 9.99999724e-01]] t_estimated: [[-4.10542198e-01] [ 9.11841552e-01] [ 2.96298463e-04]] R_gt: [[ 0.99738644 0.01303511 -0.07106813] [-0.01793821 0.99747149 -0.06878261] [ 0.06999164 0.06987653 0.99509684]] t_gt: [ 0.13557368 0.33877246 -0.93104941] Pose Error in degrees for R and t: 67.97006636270275 75.34653733503687 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.35048327 0.93654463 0.00675518] [ 0.93656293 0.35049784 -0.00107139] [-0.00337108 0.00595115 -0.99997661]] t_estimated: [[0.78800119] [0.61567196] [0.0014729 ]] R_gt: [[ 0.99218708 -0.0128237 -0.12409834] [-0.0034386 0.99151587 -0.12994376] [ 0.12471198 0.12935395 0.98372464]] t_gt: [ 0.25311037 0.24788095 -0.93514179] Pose Error in degrees for R and t: 178.72207435754106 69.4706437646517 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.29288779 -0.9561414 0.00321904] [-0.95614441 0.29287783 -0.00323041] [ 0.00214594 -0.00402401 -0.9999896 ]] t_estimated: [[0.71194675] [0.70223208] [0.00138781]] R_gt: [[ 0.98535998 0.02557192 -0.16855643] [-0.04905724 0.9894013 -0.13667759] [ 0.16327521 0.14294479 0.97616981]] t_gt: [ 0.18520384 0.39834161 -0.89834487] Pose Error in degrees for R and t: 167.53503221801893 65.77400616546153 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.16399644 -0.98591583 -0.03278937] [-0.98623027 -0.16314871 -0.0270622 ] [ 0.0213315 0.03677597 -0.99909584]] t_estimated: [[ 0.6398072 ] [ 0.76827068] [-0.02017196]] R_gt: [[ 0.99821152 0.05726626 0.01713274] [-0.05663567 0.99777096 -0.03528762] [-0.01911565 0.03425469 0.99922962]] t_gt: [-0.80553488 0.341859 -0.48398966] Pose Error in degrees for R and t: 176.7416465179137 75.93728943905839 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.91217282 -0.40937346 0.01881786] [ 0.40978537 0.91162313 -0.03192517] [-0.00408548 0.03683255 0.9993131 ]] t_estimated: [[-8.01117160e-01] [-5.98507235e-01] [-6.21502846e-04]] R_gt: [[ 0.97441251 0.22436911 0.01337137] [-0.22455082 0.9743601 0.01409472] [-0.00986635 -0.01673472 0.99981084]] t_gt: [-0.89806983 0.42953274 0.09472174] Pose Error in degrees for R and t: 37.270864765901315 62.462967335241984 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-9.99922625e-01 -1.24320126e-02 -4.35121576e-04] [-1.24318863e-02 9.99922679e-01 -2.91867393e-04] [ 4.38716431e-04 -2.86435428e-04 -9.99999863e-01]] t_estimated: [[9.99992176e-01] [3.87894540e-03] [7.75789120e-04]] R_gt: [[ 9.31785686e-01 3.62568514e-01 1.78857882e-02] [-3.62618457e-01 9.31937460e-01 -4.91924891e-04] [-1.68477672e-02 -6.02596923e-03 9.99839908e-01]] t_gt: [-0.8543756 0.51788492 0.04286657] Pose Error in degrees for R and t: 179.00873470741428 31.534344427236995 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99043621e-01 4.37245377e-02 8.77301179e-05] [-4.37245312e-02 9.99043623e-01 -7.53169771e-05] [-9.09394148e-05 7.14089873e-05 9.99999993e-01]] t_estimated: [[ 4.58225862e-01] [ 8.88835731e-01] [-3.22065201e-04]] R_gt: [[ 0.99738142 -0.03726703 -0.06198755] [ 0.03562608 0.99899128 -0.02736851] [ 0.06294539 0.02508836 0.99770193]] t_gt: [ 0.89571648 0.0733062 -0.43854099] Pose Error in degrees for R and t: 6.019968943549271 61.59253196767585 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-8.78267845e-01 4.78164418e-01 2.09328658e-03] [-4.78168960e-01 -8.78261148e-01 -3.43523237e-03] [ 1.95846382e-04 -4.01799880e-03 9.99991909e-01]] t_estimated: [[0.48952285] [0.87198952] [0.00128651]] R_gt: [[ 0.99551517 -0.07714096 -0.05477051] [ 0.07669688 0.99700339 -0.01015092] [ 0.05538909 0.0059044 0.99844718]] t_gt: [ 0.9875618 0.01430596 -0.15657913] Pose Error in degrees for R and t: 155.8651989831396 60.28360028028839 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99348635e-01 3.60837110e-02 5.21862030e-04] [-3.60836637e-02 9.99348768e-01 -9.96937414e-05] [-5.25119497e-04 8.07981104e-05 9.99999859e-01]] t_estimated: [[5.02348684e-01] [8.64665044e-01] [4.03304554e-04]] R_gt: [[ 0.99361163 -0.05475024 -0.09868564] [ 0.05287088 0.99836901 -0.02156007] [ 0.09970558 0.01620482 0.99488535]] t_gt: [ 0.95488365 0.15993643 -0.250235 ] Pose Error in degrees for R and t: 7.781184649361106 51.838874131165305 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.83019808 -0.55746645 -0.00151951] [-0.55745108 0.83019058 -0.00564701] [ 0.0044095 -0.00384109 -0.9999829 ]] t_estimated: [[9.88383517e-01] [1.51978464e-01] [7.54555838e-04]] R_gt: [[ 0.98382336 -0.17879883 -0.01115262] [ 0.17885083 0.98386875 0.00387745] [ 0.01027946 -0.00580917 0.99993026]] t_gt: [ 0.73820489 -0.67362839 -0.03575378] Pose Error in degrees for R and t: 179.289905989468 51.154275493528196 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-1.02687697e-01 9.94713540e-01 4.57949688e-04] [-9.94711795e-01 -1.02686607e-01 -1.97649749e-03] [-1.91902352e-03 -6.58489932e-04 9.99997942e-01]] t_estimated: [[0.54352911] [0.83938928] [0.00132169]] R_gt: [[ 0.95159584 -0.30307769 0.05109381] [ 0.29901861 0.95135902 0.07418514] [-0.07109197 -0.05531678 0.99593465]] t_gt: [ 0.7204368 -0.65078355 0.23969061] Pose Error in degrees for R and t: 113.52628947341196 81.11999685709648 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.96184081e-01 8.72768128e-02 1.87232614e-04] [-8.72767728e-02 9.96184079e-01 -2.11771248e-04] [-2.05000868e-04 1.94622088e-04 9.99999960e-01]] t_estimated: [[ 9.47125747e-01] [-3.20862616e-01] [-1.39101199e-05]] R_gt: [[ 0.90882687 -0.40941438 0.08009144] [ 0.40170424 0.91064148 0.09677454] [-0.11255546 -0.05577715 0.99207854]] t_gt: [ 0.75618909 -0.60670129 0.24513588] Pose Error in degrees for R and t: 29.898545866682127 24.374071729221868 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-5.10983839e-02 -9.98693102e-01 -1.02161844e-03] [-9.98692856e-01 5.10995867e-02 -1.18809066e-03] [ 1.23874223e-03 9.59573530e-04 -9.99998772e-01]] t_estimated: [[7.57015431e-01] [6.53396981e-01] [1.53756547e-04]] R_gt: [[ 0.99440415 -0.1035877 -0.02071955] [ 0.10300501 0.99430151 -0.02745683] [ 0.02344579 0.0251683 0.99940829]] t_gt: [ 0.61208546 -0.73752923 -0.28531039] Pose Error in degrees for R and t: 177.9517577960803 88.9350909228896 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 6.98802095e-01 -7.15309199e-01 2.89502821e-03] [ 7.15312563e-01 6.98804624e-01 -1.87060279e-04] [-1.88925316e-03 2.20156816e-03 9.99995792e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9851763 -0.1699959 -0.02297733] [ 0.16926803 0.9850948 -0.0306036 ] [ 0.0278369 0.02626031 0.99926672]] t_gt: [ 0.67889013 -0.70868475 -0.19202635] Pose Error in degrees for R and t: 35.96663942399516 45.19985303162595 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.93881326e-01 1.10453161e-01 8.93455166e-05] [-1.10453187e-01 9.93881258e-01 3.70927314e-04] [-4.78287400e-05 -3.78526228e-04 9.99999927e-01]] t_estimated: [[9.84725296e-01] [1.74113230e-01] [8.21288821e-04]] R_gt: [[ 0.96685411 -0.25435708 0.02226383] [ 0.25517877 0.96560172 -0.04995908] [-0.00879074 0.05398418 0.9985027 ]] t_gt: [ 0.75132135 -0.65396775 -0.08855734] Pose Error in degrees for R and t: 21.344477337506273 51.25113879379349 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99357782e-01 3.58332142e-02 -7.10981837e-05] [-3.58332208e-02 9.99357780e-01 -9.38978516e-05] [ 6.76878611e-05 9.63852256e-05 9.99999993e-01]] t_estimated: [[-9.89511080e-01] [-1.44454172e-01] [-9.02838576e-04]] R_gt: [[ 0.99405126 0.10545758 -0.02720606] [-0.10470837 0.99411834 0.02764411] [ 0.02996231 -0.02462965 0.99924691]] t_gt: [-0.93081195 0.36512315 0.01655912] Pose Error in degrees for R and t: 4.559880871160115 29.739443838435484 Number of keypoints: Image1: 426 Image2: 426 R_estimated: [[ 9.99964037e-01 8.47803643e-03 -2.18465199e-04] [-8.47801065e-03 9.99964054e-01 1.18650165e-04] [ 2.19463267e-04 -1.16793748e-04 9.99999969e-01]] t_estimated: [[-0.99624602] [-0.08656074] [-0.00105522]] R_gt: [[ 0.97846538 0.20533694 0.02102974] [-0.20569513 0.97847625 0.01651758] [-0.01718451 -0.02048713 0.99964206]] t_gt: [-0.85286138 0.51530458 0.0841942 ] Pose Error in degrees for R and t: 11.47920005043333 36.39305095135415 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 0.89372795 -0.44860465 0.00205379] [ 0.44860819 0.89372669 -0.00181812] [-0.00101991 0.00254626 0.99999624]] t_estimated: [[8.93472691e-01] [4.49116823e-01] [7.93492619e-04]] R_gt: [[ 0.95004641 0.31209946 0.00224568] [-0.31142763 0.94747456 0.07283656] [ 0.0206055 -0.06989623 0.9973416 ]] t_gt: [-0.82389546 0.55883411 0.09434357] Pose Error in degrees for R and t: 45.04270355497083 60.982847697597784 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.98731949 -0.15872542 0.00254268] [-0.15872951 -0.98732097 0.00149571] [ 0.00227303 -0.00188034 -0.99999565]] t_estimated: [[0.28019406] [0.95994284] [0.00101153]] R_gt: [[ 0.99180188 -0.12768918 0.00505428] [ 0.12768185 0.99181444 0.00171154] [-0.00523157 -0.00105225 0.99998592]] t_gt: [ 0.75189834 -0.65899664 0.01929546] Pose Error in degrees for R and t: 179.81250132448207 65.04526457875953 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-1.78909701e-01 -9.83817397e-01 9.72875350e-03] [-9.83865104e-01 1.78909739e-01 -8.73433406e-04] [-8.81269769e-04 -9.72804678e-03 -9.99952293e-01]] t_estimated: [[0.89826892] [0.43944091] [0.00215412]] R_gt: [[ 0.98431377 -0.1763797 -0.00417327] [ 0.17636053 0.98431494 -0.00458241] [ 0.00491598 0.00377546 0.99997998]] t_gt: [ 0.81670585 -0.57587343 -0.03689644] Pose Error in degrees for R and t: 179.94971857872474 61.28326606319308 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99918737e-01 1.27451756e-02 -2.82514991e-04] [-1.27451765e-02 9.99918777e-01 -1.70555153e-06] [ 2.82470306e-04 5.30611636e-06 9.99999960e-01]] t_estimated: [[-0.67665846] [-0.73629615] [-0.00114688]] R_gt: [[ 0.96452628 -0.26149166 -0.03622542] [ 0.26175608 0.96513106 0.0026703 ] [ 0.03426357 -0.01205753 0.99933964]] t_gt: [ 0.84676163 -0.52743549 -0.06932926] Pose Error in degrees for R and t: 16.034496272060117 79.36567473497433 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.91154142e-01 -1.32715659e-01 1.42998173e-04] [ 1.32715733e-01 9.91153296e-01 -1.29565113e-03] [ 3.02200830e-05 1.30316809e-03 9.99999150e-01]] t_estimated: [[-0.29953695] [-0.95408067] [-0.00277349]] R_gt: [[ 0.98814384 -0.13858531 0.06608945] [ 0.13396329 0.98851823 0.06989412] [-0.07501716 -0.06021072 0.99536208]] t_gt: [ 0.536313 -0.67393256 0.50811738] Pose Error in degrees for R and t: 5.572916560352912 61.25376198889945 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 5.05786377e-01 -8.62657974e-01 -1.16635926e-03] [ 8.62658641e-01 5.05786561e-01 1.52568592e-04] [ 4.58314330e-04 -1.08333701e-03 9.99999308e-01]] t_estimated: [[ 9.76245119e-01] [-2.16668477e-01] [ 4.89422200e-04]] R_gt: [[ 0.96672982 -0.23860026 0.0922226 ] [ 0.22982652 0.96844354 0.096415 ] [-0.11231748 -0.07201164 0.99105952]] t_gt: [ 0.61727395 -0.64012573 0.45739689] Pose Error in degrees for R and t: 46.612054104131175 42.13812154637019 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.92448781 -0.38120698 -0.00187941] [ 0.38121029 -0.92448636 -0.00192201] [-0.0010048 -0.00249333 0.99999639]] t_estimated: [[0.8872966 ] [0.4611975 ] [0.00126535]] R_gt: [[ 0.95737641 -0.28051599 0.06886088] [ 0.27332782 0.9569097 0.09805572] [-0.09340037 -0.07505424 0.99279551]] t_gt: [ 0.68942405 -0.62314392 0.36930492] Pose Error in degrees for R and t: 141.52906675511264 71.04663215452253 Number of keypoints: Image1: 392 Image2: 392 R_estimated: [[ 9.96250660e-01 8.65109855e-02 -6.87294812e-04] [-8.65106830e-02 9.96250818e-01 4.58435891e-04] [ 7.24377759e-04 -3.97258715e-04 9.99999659e-01]] t_estimated: [[-0.82029053] [-0.57194569] [-0.00125427]] R_gt: [[ 0.99908469 -0.03473133 -0.02496716] [ 0.03529729 0.99912125 0.02261617] [ 0.02415979 -0.02347634 0.99943242]] t_gt: [ 0.80979364 -0.58342061 -0.0620858 ] Pose Error in degrees for R and t: 7.219872742657036 70.7006744287248 Number of keypoints: Image1: 667 Image2: 667 R_estimated: [[ 9.99890854e-01 1.47742913e-02 6.38043339e-06] [-1.47742910e-02 9.99890853e-01 -4.60914572e-05] [-7.06070560e-06 4.59921601e-05 9.99999999e-01]] t_estimated: [[-5.59965942e-02] [-9.98430949e-01] [-1.48412827e-04]] R_gt: [[ 0.99914745 0.00452391 -0.04102389] [-0.00254738 0.99883833 0.04811786] [ 0.04119479 -0.04797203 0.9979985 ]] t_gt: [ 0.48547224 -0.85227552 0.19478998] Pose Error in degrees for R and t: 3.6846651243603015 34.540606746910214 Number of keypoints: Image1: 386 Image2: 386 R_estimated: [[ 9.96868237e-01 -7.90799513e-02 -2.80865472e-04] [ 7.90799885e-02 9.96868266e-01 1.24205788e-04] [ 2.70163688e-04 -1.46027644e-04 9.99999953e-01]] t_estimated: [[-0.31590085] [-0.94879147] [-0.00118243]] R_gt: [[ 0.99556616 0.09398983 0.0036832 ] [-0.09395528 0.99180078 0.08662764] [ 0.00448894 -0.08658886 0.99623419]] t_gt: [-0.85837926 0.00647872 0.51297472] Pose Error in degrees for R and t: 11.107034529028232 74.668147939212 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99998827e-01 -1.52947289e-03 8.62083723e-05] [ 1.52948630e-03 9.99998818e-01 -1.55664142e-04] [-8.59701864e-05 1.55795814e-04 9.99999984e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99130984 -0.11188131 0.06919079] [ 0.11191329 0.9937124 0.00342391] [-0.06913799 0.00434848 0.99759807]] t_gt: [ 0.55582804 -0.75723418 0.34300378] Pose Error in degrees for R and t: 7.481855644636429 41.1145995561067 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.20110357e-01 3.91659055e-01 -3.40681155e-04] [-3.91658536e-01 9.20110046e-01 1.04655778e-03] [ 7.23357986e-04 -8.29517974e-04 9.99999394e-01]] t_estimated: [[8.60803406e-01] [5.08937153e-01] [6.85899128e-04]] R_gt: [[ 0.97025663 -0.22974348 0.07629255] [ 0.22913831 0.97325027 0.01670033] [-0.07808851 0.00127831 0.99694609]] t_gt: [ 0.69463987 -0.69042476 0.20196311] Pose Error in degrees for R and t: 36.611534391715 75.71743780241158 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.18512535e-01 -3.95391539e-01 -5.03579909e-04] [ 3.95391469e-01 9.18512673e-01 -2.35533652e-04] [ 5.55672542e-04 1.72294114e-05 9.99999845e-01]] t_estimated: [[ 0.76715456] [-0.64146171] [-0.00086659]] R_gt: [[ 0.95360916 -0.29298111 0.06922087] [ 0.29251809 0.95610932 0.01696595] [-0.07115188 0.0040692 0.99745777]] t_gt: [ 0.76513882 -0.63070499 0.12951369] Pose Error in degrees for R and t: 7.479895066948749 7.501867286906631 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.94439321e-01 -1.05310651e-01 -3.21303343e-04] [ 1.05310770e-01 9.94439288e-01 3.78899812e-04] [ 2.79614482e-04 -4.10629574e-04 9.99999877e-01]] t_estimated: [[-0.99924503] [-0.03875188] [-0.00276799]] R_gt: [[ 0.99566147 0.05799631 -0.07276102] [-0.05756265 0.99830883 0.0080479 ] [ 0.07310435 -0.00382461 0.99731735]] t_gt: [ 0.50641723 0.38794396 -0.7700916 ] Pose Error in degrees for R and t: 10.250465730338831 58.739035488299095 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-2.20341207e-01 -9.75422790e-01 -3.65185171e-04] [-9.75422157e-01 2.20340585e-01 1.28124519e-03] [-1.16929064e-03 6.38520819e-04 -9.99999113e-01]] t_estimated: [[0.66317573] [0.74846177] [0.00170902]] R_gt: [[ 0.97998482 0.150867 -0.12987542] [-0.14281781 0.98732264 0.0692537 ] [ 0.13867724 -0.04931912 0.98910862]] t_gt: [ 0.50944983 0.57417015 -0.64092863] Pose Error in degrees for R and t: 176.1134687427053 39.95903560590422 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.95266581e-01 -9.71787626e-02 -8.49443653e-04] [ 9.71797136e-02 9.95266173e-01 1.16090234e-03] [ 7.32607481e-04 -1.23795599e-03 9.99998965e-01]] t_estimated: [[-0.90937828] [-0.41596865] [-0.0011063 ]] R_gt: [[ 0.96364113 0.21944577 -0.15244823] [-0.20507987 0.97315028 0.1044961 ] [ 0.17128643 -0.06943233 0.98277165]] t_gt: [ 0.48723163 0.81855895 -0.30424756] Pose Error in degrees for R and t: 20.804047756753835 38.44216426636688 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 7.19994660e-01 6.93979211e-01 7.37360533e-04] [-6.93978449e-01 7.19994994e-01 -1.05840049e-03] [-1.26540383e-03 2.50330380e-04 9.99999168e-01]] t_estimated: [[-0.16499475] [ 0.98629376] [ 0.00116229]] R_gt: [[ 0.98545456 -0.16676087 -0.03271511] [ 0.16559488 0.98554996 -0.03561292] [ 0.038181 0.0296778 0.99882932]] t_gt: [ 0.7158581 -0.61975185 -0.32164395] Pose Error in degrees for R and t: 53.58474370981238 43.13505895675617 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.82697266e-01 -1.85219000e-01 7.73471471e-05] [ 1.85219014e-01 9.82697231e-01 -2.62716517e-04] [-2.73487366e-05 2.72496966e-04 9.99999962e-01]] t_estimated: [[ 0.32959214] [-0.9441223 ] [-0.00145172]] R_gt: [[ 0.96179158 -0.27107134 -0.03842938] [ 0.26796594 0.96081872 -0.07085369] [ 0.05612988 0.05784893 0.99674571]] t_gt: [ 0.73697781 -0.58308564 -0.34186963] Pose Error in degrees for R and t: 6.793143343288106 37.44827901986965 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99998066e-01 1.93179858e-03 3.70167756e-04] [-1.93184218e-03 9.99998127e-01 1.17477930e-04] [-3.69940119e-04 -1.18192808e-04 9.99999925e-01]] t_estimated: [[9.99988329e-01] [4.76563142e-03] [7.94271905e-04]] R_gt: [[ 0.91299891 -0.40696834 0.02844325] [ 0.40794541 0.9101277 -0.07243194] [ 0.00359051 0.07773332 0.99696655]] t_gt: [ 0.77500909 -0.61049626 -0.16326429] Pose Error in degrees for R and t: 24.597616777634357 39.46968973784634 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-2.98106565e-01 9.54498286e-01 8.09305375e-03] [ 9.54528546e-01 2.98119282e-01 -3.85251550e-04] [-2.78041732e-03 7.61020481e-03 -9.99967176e-01]] t_estimated: [[0.97554907] [0.21977887] [0.00112132]] R_gt: [[ 0.99328638 0.10631693 -0.04557613] [-0.10959491 0.9910105 -0.07673194] [ 0.03700881 0.08121191 0.99600896]] t_gt: [-0.49411583 0.70364044 -0.51062675] Pose Error in degrees for R and t: 178.85178024560844 70.85490593758182 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.89575116e-01 -1.44017649e-01 -8.45882946e-05] [ 1.44017666e-01 9.89575080e-01 2.69236994e-04] [ 4.49315896e-05 -2.78612438e-04 9.99999960e-01]] t_estimated: [[-3.37689448e-01] [ 9.41257564e-01] [-1.86595001e-04]] R_gt: [[ 0.99098489 0.09706875 -0.09234213] [-0.11134511 0.98003718 -0.16470948] [ 0.07451165 0.173507 0.98200984]] t_gt: [-0.28373854 0.61241782 -0.73785964] Pose Error in degrees for R and t: 17.974551394565662 47.747732793390774 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.60695040e-01 -2.77605909e-01 -1.53278376e-05] [ 2.77605889e-01 9.60694949e-01 4.29231626e-04] [-1.04431859e-04 -4.16615792e-04 9.99999908e-01]] t_estimated: [[-0.99830262] [-0.05822249] [-0.00142006]] R_gt: [[ 0.9811999 0.12563302 -0.1465025 ] [-0.1580415 0.95873646 -0.23632007] [ 0.11076789 0.25503082 0.96056753]] t_gt: [-0.22304625 0.61454262 -0.75669527] Pose Error in degrees for R and t: 29.232649714865104 79.16612687323263 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[-0.48790535 0.87274001 -0.01653017] [ 0.87272802 0.48809578 0.01040748] [ 0.01715133 -0.00934847 -0.9998092 ]] t_estimated: [[ 0.86668341] [-0.49876639] [-0.00958951]] R_gt: [[ 0.99050651 0.13505093 0.02568628] [-0.13610701 0.98966468 0.04515227] [-0.01932292 -0.04822001 0.99864979]] t_gt: [-0.88363628 0.2695783 0.38277208] Pose Error in degrees for R and t: 178.6403352587715 25.316412809143188 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-0.54481388 0.83848574 -0.01093142] [ 0.8384798 0.54489432 0.00646591] [ 0.01137804 -0.00564306 -0.99991934]] t_estimated: [[ 0.89379143] [-0.44844144] [-0.00609563]] R_gt: [[ 0.98097541 0.18952867 0.04202444] [-0.19233676 0.97822965 0.07792979] [-0.02633836 -0.08452988 0.99607238]] t_gt: [-0.87042349 0.2107796 0.44489876] Pose Error in degrees for R and t: 178.77226206957246 28.93000687394354 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.10403212e-01 -4.13722076e-01 -1.88881137e-04] [ 4.13722099e-01 9.10403215e-01 1.02446417e-04] [ 1.29573650e-04 -1.71411848e-04 9.99999977e-01]] t_estimated: [[-0.69398494] [-0.71998906] [-0.00081263]] R_gt: [[ 0.97199316 0.22822737 0.05605521] [-0.23256099 0.96844943 0.08956081] [-0.03384547 -0.1000881 0.99440247]] t_gt: [-0.87773314 0.1981181 0.43627257] Pose Error in degrees for R and t: 38.262641054985735 62.216221166191 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-0.9346422 -0.35551403 0.00732946] [-0.35548815 0.93466938 0.00461929] [-0.00849284 0.00171184 -0.99996247]] t_estimated: [[0.98893146] [0.14831251] [0.00423763]] R_gt: [[ 0.9882627 -0.15121463 -0.02174489] [ 0.14968436 0.98690787 -0.06005339] [ 0.03054075 0.05609425 0.99795822]] t_gt: [ 0.69854708 -0.53993571 -0.46957577] Pose Error in degrees for R and t: 178.39205771819 52.50110859749242 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99997970e-01 1.99786787e-03 2.62940346e-04] [-1.99781086e-03 9.99997981e-01 -2.16913657e-04] [-2.63373180e-04 2.16387911e-04 9.99999942e-01]] t_estimated: [[ 8.22819200e-01] [-5.68302808e-01] [-6.94911732e-04]] R_gt: [[ 0.96797605 -0.24854309 0.03534376] [ 0.25012845 0.96685021 -0.05134663] [-0.02141086 0.05854304 0.99805586]] t_gt: [ 0.71182199 -0.68274778 -0.16481784] Pose Error in degrees for R and t: 14.992364765710597 13.138659637687184 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.01241477 0.99992192 -0.00142042] [-0.99992107 0.01241199 -0.00194742] [-0.00192964 0.00144449 0.99999709]] t_estimated: [[5.99304563e-01] [8.00520869e-01] [6.16558396e-04]] R_gt: [[ 0.90573472 -0.42052321 0.05297963] [ 0.42167335 0.90666437 -0.01228859] [-0.04286739 0.03347116 0.99852 ]] t_gt: [ 0.77652421 -0.62989751 0.01546858] Pose Error in degrees for R and t: 114.23736634731968 87.77280673491434 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99997142e-01 2.38193331e-03 2.04018392e-04] [-2.38178405e-03 9.99996898e-01 -7.28752522e-04] [-2.05753599e-04 7.28264512e-04 9.99999714e-01]] t_estimated: [[0.92904526] [0.36996463] [0.00103342]] R_gt: [[ 9.99989693e-01 -9.25185472e-04 4.52924640e-03] [ 8.53251896e-04 9.99876858e-01 1.56903876e-02] [-4.54233837e-03 -1.56871042e-02 9.99866114e-01]] t_gt: [0.02942672 0.3845654 0.92262859] Pose Error in degrees for R and t: 0.990443494700587 80.17916528568715 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 3.62734265e-01 9.31891950e-01 1.11688709e-03] [ 9.31889852e-01 -3.62735848e-01 2.00211112e-03] [ 2.27088622e-03 3.14581444e-04 -9.99997372e-01]] t_estimated: [[-0.71149963] [-0.70268601] [-0.00080124]] R_gt: [[ 0.99663482 0.07922857 -0.02101372] [-0.07998474 0.99607409 -0.03794915] [ 0.01792564 0.039502 0.99905859]] t_gt: [-0.53363199 0.78036927 -0.32597655] Pose Error in degrees for R and t: 178.86120520819242 80.30435711909433 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-7.95298448e-01 6.06213258e-01 -2.42161375e-03] [-6.06212744e-01 -7.95301867e-01 -1.02457334e-03] [-2.54702388e-03 6.53171524e-04 9.99996543e-01]] t_estimated: [[0.72780976] [0.68577819] [0.00110609]] R_gt: [[ 0.99091475 0.11651133 -0.06718932] [-0.12425718 0.98424515 -0.12578843] [ 0.05147512 0.13299439 0.98977934]] t_gt: [-0.39062605 0.71907353 -0.57475607] Pose Error in degrees for R and t: 135.84289575451342 77.98382846898188 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999940e-01 3.44097673e-04 4.10500247e-05] [-3.44097655e-04 9.99999941e-01 -4.46761381e-07] [-4.10501760e-05 4.32636137e-07 9.99999999e-01]] t_estimated: [[ 9.80377454e-01] [-1.97129281e-01] [ 3.05340833e-04]] R_gt: [[ 0.99724801 -0.06128371 0.04173748] [ 0.06196561 0.99796199 -0.01523459] [-0.04071929 0.017779 0.9990122 ]] t_gt: [0.83217167 0.33639165 0.44082986] Pose Error in degrees for R and t: 4.3709423199196005 41.43869301841269 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999928e-01 3.13875244e-04 2.12781327e-04] [-3.13829711e-04 9.99999928e-01 -2.13989507e-04] [-2.12848477e-04 2.13922715e-04 9.99999954e-01]] t_estimated: [[9.95277049e-01] [9.70744531e-02] [3.82399215e-04]] R_gt: [[ 0.99602977 -0.08534454 0.02529848] [ 0.08434954 0.99570781 0.03810002] [-0.02844105 -0.03581477 0.99895334]] t_gt: [0.83014282 0.18484944 0.52601671] Pose Error in degrees for R and t: 5.547413738431052 32.395778224604236 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99999654e-01 8.03264422e-04 2.15082290e-04] [-8.03243774e-04 9.99999673e-01 -9.60729117e-05] [-2.15159392e-04 9.59001150e-05 9.99999972e-01]] t_estimated: [[9.99999918e-01] [4.01592374e-04] [5.32496908e-05]] R_gt: [[ 0.993888 -0.10886624 0.01827178] [ 0.10869347 0.99402218 0.01021614] [-0.01927463 -0.00816866 0.99978039]] t_gt: [0.95663971 0.21780084 0.19339923] Pose Error in degrees for R and t: 6.4037018947842155 16.915010110315897 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.91557230e-01 1.29669806e-01 -2.79127484e-05] [-1.29669808e-01 9.91557176e-01 -3.29467034e-04] [-1.50448404e-05 3.30304860e-04 9.99999945e-01]] t_estimated: [[-0.7859191 ] [-0.61832848] [-0.00103126]] R_gt: [[ 0.99820618 0.02871737 -0.05253546] [-0.03503218 0.99172531 -0.1235091 ] [ 0.04855372 0.12512824 0.99095242]] t_gt: [-0.0674381 0.51333239 -0.85553607] Pose Error in degrees for R and t: 9.524058288575345 74.72068190675323 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999474e-01 -1.02484641e-03 -4.04515750e-05] [ 1.02484524e-03 9.99999474e-01 -2.88320124e-05] [ 4.04811021e-05 2.87905407e-05 9.99999999e-01]] t_estimated: [[-4.76723127e-01] [-8.79053495e-01] [-1.15134479e-04]] R_gt: [[ 0.99683463 0.07309124 -0.03128106] [-0.0767251 0.98751784 -0.13755497] [ 0.02083569 0.1395198 0.99000039]] t_gt: [-0.22865086 0.70964496 -0.6664254 ] Pose Error in degrees for R and t: 9.211488904496667 59.02018961553888 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 5.16211328e-01 8.56461040e-01 5.92645469e-04] [-8.56460077e-01 5.16211644e-01 -1.29427139e-03] [-1.41442351e-03 1.60540370e-04 9.99998987e-01]] t_estimated: [[-0.19324914] [ 0.98114854] [ 0.0015195 ]] R_gt: [[ 0.98744483 0.14842761 -0.05405515] [-0.15339242 0.98271211 -0.10367551] [ 0.03773265 0.11066537 0.99314111]] t_gt: [-0.36194881 0.81011717 -0.4611976 ] Pose Error in degrees for R and t: 50.627421364080384 30.220953590562093 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.90139529 -0.43295274 -0.00620222] [ 0.4329916 0.90136381 0.00784525] [ 0.00219384 -0.00975718 0.99994999]] t_estimated: [[0.7841945 ] [0.62050342] [0.00380677]] R_gt: [[ 0.99360451 0.08293721 -0.07663058] [-0.0785217 0.99516865 0.05894566] [ 0.08114893 -0.05255199 0.99531506]] t_gt: [0.90616516 0.42250692 0.01877777] Pose Error in degrees for R and t: 30.704401298016442 13.382105923106382 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.70887778e-01 -2.39534212e-01 -5.31900514e-04] [ 2.39534310e-01 -9.70878885e-01 -4.18385103e-03] [ 4.85764482e-04 -4.18945826e-03 9.99991106e-01]] t_estimated: [[0.82702153] [0.5621696 ] [0.00085436]] R_gt: [[ 0.97954842 0.17485336 -0.09955762] [-0.16716606 0.98259671 0.08099514] [ 0.1119866 -0.06269593 0.9917291 ]] t_gt: [ 0.03827311 0.99922991 -0.00864569] Pose Error in degrees for R and t: 176.02465156353003 53.6026273262093 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-4.80364412e-01 8.77068902e-01 4.15956210e-04] [ 8.77065323e-01 4.80360971e-01 3.12376138e-03] [ 2.53994483e-03 1.86536457e-03 -9.99995035e-01]] t_estimated: [[0.93908431] [0.3436855 ] [0.00096813]] R_gt: [[ 0.95186328 0.26869004 -0.14751846] [-0.25007531 0.95902599 0.13315653] [ 0.17725135 -0.08985633 0.98005426]] t_gt: [ 0.01276362 0.99991716 -0.001662 ] Pose Error in degrees for R and t: 168.47102441592057 69.16723282369534 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-7.51376196e-01 6.59872588e-01 -1.40726526e-03] [-6.59872040e-01 -7.51377469e-01 -8.88850132e-04] [-1.64391524e-03 2.60754164e-04 9.99998615e-01]] t_estimated: [[0.72452635] [0.68924656] [0.00086048]] R_gt: [[ 0.98749859 -0.15715234 0.0121966 ] [ 0.15667625 0.98709073 0.0332305 ] [-0.01726146 -0.03090333 0.9993736 ]] t_gt: [ 0.68100943 -0.71615415 0.15280509] Pose Error in degrees for R and t: 147.74710065970285 89.99621734244057 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-5.18752996e-01 -8.54922288e-01 -1.79201825e-03] [ 8.54924135e-01 -5.18752400e-01 -8.18795352e-04] [-2.29607371e-04 -1.95679219e-03 9.99998059e-01]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064570e-04]] R_gt: [[ 0.95682438 -0.28288704 0.06679602] [ 0.27790767 0.95767933 0.07494944] [-0.08517153 -0.0531507 0.99494775]] t_gt: [ 0.69223181 -0.6660648 0.27779996] Pose Error in degrees for R and t: 105.0353306122818 52.06383504151992 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99990546e-01 4.27945847e-03 7.71327674e-04] [-4.27941788e-03 9.99990842e-01 -5.42687531e-05] [-7.71552851e-04 5.09674066e-05 9.99999701e-01]] t_estimated: [[0.9998987 ] [0.01419734] [0.0010141 ]] R_gt: [[ 0.93594463 -0.34551111 0.06804572] [ 0.33907557 0.93637671 0.09069933] [-0.09505402 -0.0618166 0.99355084]] t_gt: [ 0.72804865 -0.62795461 0.27498759] Pose Error in degrees for R and t: 21.326788829027187 44.00010977564557 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.88909943e-01 -1.48516091e-01 -3.08063070e-04] [ 1.48516118e-01 9.88909985e-01 6.38180183e-05] [ 2.95168643e-04 -1.08862604e-04 9.99999951e-01]] t_estimated: [[ 0.34310078] [-0.93929793] [-0.00112162]] R_gt: [[ 0.99779836 0.06590918 0.00745396] [-0.0660006 0.99773828 0.01278433] [-0.006595 -0.01324775 0.9998901 ]] t_gt: [-0.91004747 0.36490752 0.19661157] Pose Error in degrees for R and t: 12.352035274006003 49.06401543789089 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.99470955e-01 3.25239599e-02 4.66302527e-05] [-3.25239617e-02 9.99470955e-01 3.76142280e-05] [-4.53822195e-05 -3.91109289e-05 9.99999998e-01]] t_estimated: [[-9.71449989e-01] [-2.37244116e-01] [ 3.84839336e-04]] R_gt: [[ 0.98822426 0.15130368 0.02284543] [-0.15223667 0.98722846 0.04695608] [-0.01544863 -0.04988064 0.99863529]] t_gt: [-0.91871709 0.27700136 0.28147672] Pose Error in degrees for R and t: 7.493195006953724 34.22053268781389 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-1.90758670e-01 -9.81631252e-01 -3.34893531e-03] [-9.81636536e-01 1.90754290e-01 1.58490936e-03] [-9.16972779e-04 3.58977245e-03 -9.99993136e-01]] t_estimated: [[0.57083466] [0.82106355] [0.00156393]] R_gt: [[ 0.96393382 0.26591024 0.01115974] [-0.26612227 0.96354474 0.02762148] [-0.00340796 -0.02959475 0.99955558]] t_gt: [-0.86083051 0.50495617 0.06316724] Pose Error in degrees for R and t: 178.73728550223478 85.60155359267587 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99439637e-01 -3.34713558e-02 -2.81918012e-04] [ 3.34714361e-02 9.99439634e-01 2.85120877e-04] [ 2.72216652e-04 -2.94397307e-04 9.99999920e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9980393 0.05539912 0.02911959] [-0.05501488 0.99838952 -0.01386564] [-0.0298412 0.0122369 0.99947945]] t_gt: [-0.57284084 0.77009317 0.28073098] Pose Error in degrees for R and t: 5.416431655717413 89.91706797666578 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-4.55848636e-01 -8.90057268e-01 -2.84570588e-04] [-8.90055776e-01 4.55848419e-01 -1.71298479e-03] [ 1.65437562e-03 -5.27578085e-04 -9.99998492e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.97313581e-01 5.62159001e-02 4.69710541e-02] [-5.61405299e-02 9.98418856e-01 -2.94259955e-03] [-4.70631451e-02 2.98560594e-04 9.98891561e-01]] t_gt: [-0.52790455 0.62742444 0.57241188] Pose Error in degrees for R and t: 177.81055613240767 87.26860163532946 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.87993155 -0.47509701 0.0018194 ] [ 0.47509931 0.87993145 -0.00113728] [-0.00106063 0.00186513 0.9999977 ]] t_estimated: [[-0.00834173] [-0.99996466] [-0.00104272]] R_gt: [[ 0.99748902 0.05219391 0.04786656] [-0.05158688 0.99857305 -0.01384402] [-0.04852152 0.01134055 0.99875761]] t_gt: [-0.54782583 0.65740405 0.51740388] Pose Error in degrees for R and t: 31.459279116302202 49.20530495064264 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[-6.15548479e-01 -7.88094713e-01 -2.60658798e-03] [ 7.88098491e-01 -6.15548540e-01 -8.73725961e-04] [-9.15902613e-04 -2.59206874e-03 9.99996221e-01]] t_estimated: [[9.99994892e-01] [3.10075930e-03] [7.75189839e-04]] R_gt: [[ 0.99863969 0.05151983 -0.00803306] [-0.05044997 0.99362576 0.10080896] [ 0.01317561 -0.10026683 0.9948733 ]] t_gt: [-0.73914098 -0.14514616 0.65772579] Pose Error in degrees for R and t: 130.98215354209242 42.34711641344326 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.91859299e-01 1.27338616e-01 -8.30790700e-05] [-1.27338631e-01 9.91859281e-01 -1.99825724e-04] [ 5.69572154e-05 2.08778178e-04 9.99999977e-01]] t_estimated: [[-0.73752009] [-0.67532434] [-0.001072 ]] R_gt: [[ 0.98928033 0.14600713 0.002723 ] [-0.14573614 0.98591349 0.08206847] [ 0.00929805 -0.08158551 0.99662276]] t_gt: [-0.92287962 0.25649151 0.28723738] Pose Error in degrees for R and t: 4.844838777232768 59.527856508133766 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 6.07433019e-01 -7.94369929e-01 -1.24222057e-03] [ 7.94370403e-01 6.07433646e-01 -1.69147945e-04] [ 8.88932612e-04 -8.84037210e-04 9.99999214e-01]] t_estimated: [[ 3.75656855e-01] [-9.26758469e-01] [-8.17369579e-04]] R_gt: [[ 0.9646389 0.25711061 0.05802155] [-0.26208373 0.95904465 0.107457 ] [-0.02801706 -0.11886372 0.9925153 ]] t_gt: [-0.86627201 0.40635482 0.29060034] Pose Error in degrees for R and t: 68.01951759182455 45.39209185372236 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.06478205 -0.99101244 0.11703688] [-0.99718051 0.06873976 0.03009781] [-0.03787239 -0.1147571 -0.99267139]] t_estimated: [[0.76448958] [0.64278416] [0.04882828]] R_gt: [[ 0.99787324 0.01044985 0.06434854] [-0.00510137 0.99655913 -0.08272629] [-0.06499198 0.08222131 0.99449338]] t_gt: [-0.67037804 0.51405024 -0.53511274] Pose Error in degrees for R and t: 174.4274040325845 77.98297609282169 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-2.21712376e-01 -9.75107618e-01 -2.95894366e-03] [-9.75112088e-01 2.21710747e-01 8.71595737e-04] [-1.93870033e-04 3.07854529e-03 -9.99995242e-01]] t_estimated: [[8.79047950e-01] [4.76733268e-01] [3.04256369e-04]] R_gt: [[ 0.98748022 0.02259781 0.15611688] [-0.00242533 0.99174394 -0.12821406] [-0.15772473 0.12622948 0.97938143]] t_gt: [-0.72438491 0.66210227 -0.19206011] Pose Error in degrees for R and t: 177.608394922666 71.26561850054328 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.99999176 -0.00148913 0.00377694] [ 0.00150758 0.99998692 -0.00488703] [-0.00376961 0.00489269 0.99998093]] t_estimated: [[9.99151470e-01] [4.11759441e-02] [9.39478503e-04]] R_gt: [[ 0.97313953 -0.0098615 0.2300056 ] [ 0.05693138 0.97835928 -0.19892893] [-0.22306563 0.20667894 0.95264125]] t_gt: [-0.53689064 0.80593608 -0.24943031] Pose Error in degrees for R and t: 17.45606016938221 59.76921628385601 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.23451515 -0.97170617 -0.02810272] [-0.97113487 0.23288524 0.05158992] [-0.04358553 0.03939015 -0.99827287]] t_estimated: [[8.80999522e-01] [4.73116657e-01] [6.86671490e-04]] R_gt: [[ 0.99610883 -0.05981809 0.06473259] [ 0.05569078 0.9964083 0.06379418] [-0.06831506 -0.05994029 0.99586168]] t_gt: [ 0.25679093 -0.52103518 0.81399064] Pose Error in degrees for R and t: 174.14449945467084 88.87012333663024 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-3.17779782e-01 9.48074290e-01 -1.30824829e-02] [ 9.47159532e-01 3.18047843e-01 4.16460245e-02] [ 4.36443805e-02 8.43066187e-04 -9.99046774e-01]] t_estimated: [[0.93862663] [0.34493246] [0.00128228]] R_gt: [[ 0.98331896 -0.11565577 0.14038419] [ 0.09201627 0.98206636 0.16455274] [-0.15689751 -0.14889001 0.97632759]] t_gt: [ 0.24717053 -0.42024522 0.87309832] Pose Error in degrees for R and t: 179.77601686499958 84.94199755521522 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 7.64797180e-01 6.44270793e-01 6.46719175e-04] [-6.44270647e-01 7.64797449e-01 -4.41316152e-04] [-7.78936283e-04 -7.91448329e-05 9.99999693e-01]] t_estimated: [[0.75821073] [0.652009 ] [0.00087051]] R_gt: [[ 0.97276559 -0.11746126 0.19982474] [ 0.06869534 0.96945502 0.23545029] [-0.22137711 -0.21531081 0.95112227]] t_gt: [ 0.17099944 -0.28851234 0.9420827 ] Pose Error in degrees for R and t: 48.82178583807682 86.69570055126276 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-3.00640534e-01 -9.53737221e-01 -7.62877113e-04] [-9.53736304e-01 3.00638772e-01 1.84174922e-03] [-1.52719434e-03 1.28128807e-03 -9.99998013e-01]] t_estimated: [[0.81397906] [0.58089295] [0.00121011]] R_gt: [[ 0.99823455 -0.04458608 0.03922266] [ 0.04108262 0.99544829 0.08599305] [-0.04287742 -0.08423012 0.99552277]] t_gt: [ 0.10573397 -0.54600308 0.83108421] Pose Error in degrees for R and t: 175.18191073486656 76.697134820988 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.30207861e-01 -3.67032820e-01 4.94624524e-04] [ 3.67032722e-01 9.30207989e-01 2.80027874e-04] [-5.62883104e-04 -7.89407444e-05 9.99999838e-01]] t_estimated: [[0.89495848] [0.44614746] [0.00133178]] R_gt: [[ 0.99645905 -0.05127676 0.06663476] [ 0.04176393 0.98968455 0.13704062] [-0.0729732 -0.1337724 0.98832153]] t_gt: [-0.01910007 -0.46863224 0.88318685] Pose Error in degrees for R and t: 20.76217243746284 76.99731941267304 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.98285520e-01 5.85120940e-02 1.53462145e-03] [-5.85128720e-02 9.98286545e-01 4.66979327e-04] [-1.50466800e-03 -5.55973809e-04 9.99998713e-01]] t_estimated: [[-0.9932345 ] [ 0.11610322] [ 0.00229595]] R_gt: [[ 0.99521073 -0.06394196 0.07394295] [ 0.05075331 0.98444541 0.16819765] [-0.08354624 -0.16363882 0.98297601]] t_gt: [ 0.04353805 -0.48295304 0.87456321] Pose Error in degrees for R and t: 12.454464975567348 84.41582924279551 Number of keypoints: Image1: 450 Image2: 450 R_estimated: [[ 9.89010248e-01 -1.47846969e-01 -4.92953539e-05] [ 1.47846975e-01 9.89010234e-01 1.72761890e-04] [ 2.32112878e-05 -1.78151448e-04 9.99999984e-01]] t_estimated: [[-6.75576195e-01] [-7.37289978e-01] [-5.41044788e-04]] R_gt: [[ 0.99733955 0.07131197 0.01509903] [-0.07184582 0.99667657 0.03838511] [-0.01231199 -0.03936694 0.99914865]] t_gt: [-0.85665614 -0.0139464 0.5156993 ] Pose Error in degrees for R and t: 12.825905924419086 53.93235322274189 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[ 9.95510356e-01 9.46526432e-02 -9.40267913e-05] [-9.46526513e-02 9.95510356e-01 -8.55091858e-05] [ 8.55109740e-05 9.40251651e-05 9.99999992e-01]] t_estimated: [[-0.8688926 ] [ 0.49499972] [-0.00095761]] R_gt: [[ 0.99335201 0.11146979 0.02873795] [-0.11283435 0.99228992 0.05127616] [-0.02280035 -0.05417737 0.99827017]] t_gt: [-0.88201687 -0.00916783 0.47112863] Pose Error in degrees for R and t: 3.52593821301989 40.41322322305822 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.16678030e-01 -3.99626486e-01 2.46599261e-04] [ 3.99626550e-01 9.16677979e-01 -3.22425946e-04] [-9.72021644e-05 3.94108393e-04 9.99999918e-01]] t_estimated: [[-0.70226905] [-0.71191119] [-0.00080351]] R_gt: [[ 0.97209346 0.23211333 0.03402907] [-0.23340848 0.97151776 0.04090676] [-0.02356458 -0.04770704 0.9985825 ]] t_gt: [-0.95089315 0.18553357 0.24774888] Pose Error in degrees for R and t: 37.146325862168354 57.622150773443224 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99550166e-01 2.99855564e-02 5.77001132e-04] [-2.99854085e-02 9.99550302e-01 -2.63391621e-04] [-5.84639600e-04 2.45971524e-04 9.99999799e-01]] t_estimated: [[-8.00940051e-01] [-5.98744213e-01] [-6.34037442e-04]] R_gt: [[ 0.98613313 -0.16482189 -0.01939218] [ 0.16535573 0.98577055 0.03024884] [ 0.01413082 -0.03303651 0.99935348]] t_gt: [ 0.69903829 -0.70797122 0.10060923] Pose Error in degrees for R and t: 11.4156957708801 82.18020370432448 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.50802102e-01 3.09798708e-01 3.51968007e-04] [-3.09798863e-01 9.50801965e-01 5.36201548e-04] [-1.68537326e-04 -6.18860846e-04 9.99999794e-01]] t_estimated: [[0.7011397 ] [0.71302342] [0.00084884]] R_gt: [[ 0.93299048 -0.34905237 -0.08770135] [ 0.35166891 0.93598915 0.01590287] [ 0.07653679 -0.04567905 0.99601946]] t_gt: [ 0.8192402 -0.57314788 -0.01862789] Pose Error in degrees for R and t: 38.92403463887561 80.46104387401682 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.97148302e-01 -7.45663867e-02 -1.16239954e-02] [ 7.45554002e-02 9.97215924e-01 -1.37623963e-03] [ 1.16942545e-02 5.05683375e-04 9.99931492e-01]] t_estimated: [[0.99992861] [0.01188976] [0.00118898]] R_gt: [[ 0.89362033 -0.42953569 -0.13016317] [ 0.43950823 0.89624584 0.05980404] [ 0.09097002 -0.11065003 0.9896865 ]] t_gt: [ 0.84017524 -0.53579525 0.08383919] Pose Error in degrees for R and t: 22.9510598437372 33.50429288449662 Number of keypoints: Image1: 439 Image2: 439 R_estimated: [[ 0.9835646 0.1805489 -0.00166775] [ 0.18050506 -0.98302119 0.03297363] [ 0.00431392 -0.03273274 -0.99945483]] t_estimated: [[0.04363398] [0.99894337] [0.01443 ]] R_gt: [[ 0.99903309 0.03525634 0.02625181] [-0.03616884 0.99872942 0.03509421] [-0.02498099 -0.03601027 0.99903917]] t_gt: [-0.70052917 -0.18939957 0.68803102] Pose Error in degrees for R and t: 176.21256402046316 77.88713950110022 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[-0.60961092 0.792429 -0.02075579] [ 0.79240862 0.60988813 0.01118222] [ 0.02151983 -0.00963027 -0.99972204]] t_estimated: [[ 0.8930214 ] [-0.44985063] [-0.01213227]] R_gt: [[ 0.99271861 0.11740419 0.02694212] [-0.11811132 0.99265138 0.02631751] [-0.02365466 -0.02930791 0.99928977]] t_gt: [-0.95442997 0.06663988 0.29089958] Pose Error in degrees for R and t: 179.24740928045713 27.645714483336338 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 8.31880926e-01 5.54947088e-01 -2.80271815e-03] [-5.54945652e-01 8.31885529e-01 1.33770835e-03] [ 3.07389802e-03 4.42542186e-04 9.99995178e-01]] t_estimated: [[-0.88132713] [ 0.4724847 ] [-0.00454904]] R_gt: [[ 0.9703064 0.23884453 0.03820735] [-0.24050076 0.96950956 0.0470326 ] [-0.0258089 -0.05482491 0.99816248]] t_gt: [-0.94040105 0.19200233 0.28067946] Pose Error in degrees for R and t: 20.138920028649846 23.329543255891167 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.72994099e-01 -2.30829984e-01 4.29894521e-05] [ 2.30829953e-01 9.72994036e-01 3.72426847e-04] [-1.27795764e-04 -3.52445871e-04 9.99999930e-01]] t_estimated: [[0.86849492] [0.49569663] [0.00119739]] R_gt: [[ 0.99901613 -0.01278445 0.04245706] [ 0.0094016 0.99683438 0.07893836] [-0.04333128 -0.07846206 0.99597479]] t_gt: [-0.15095095 -0.41822914 0.895711 ] Pose Error in degrees for R and t: 13.698450309262142 70.2849593428032 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.97203914 -0.10333779 0.21085826] [ 0.1081085 0.99407609 -0.01119268] [-0.20845253 0.0336753 0.97745257]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.9983017 -0.03273044 0.0481895 ] [ 0.02678148 0.99249772 0.11929034] [-0.05173191 -0.11779769 0.99168908]] t_gt: [-0.0394369 -0.48575356 0.87320571] Pose Error in degrees for R and t: 13.061515738549017 75.52906471119952 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-3.17783582e-02 9.99490349e-01 3.02959607e-03] [-9.99494863e-01 -3.17770128e-02 -4.91205348e-04] [-3.94683492e-04 -3.04367541e-03 9.99995290e-01]] t_estimated: [[0.01536661] [0.99988071] [0.00155987]] R_gt: [[ 0.9942701 -0.10203667 0.03186107] [ 0.09711011 0.98677927 0.12974887] [-0.04467901 -0.12591209 0.99103376]] t_gt: [ 0.33536705 -0.63898018 0.69226676] Pose Error in degrees for R and t: 97.77412130944533 50.75256542227975 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.97643059 -0.21582275 -0.00195796] [ 0.21582565 0.9764309 0.00141083] [ 0.00160733 -0.00180016 0.99999709]] t_estimated: [[-0.48979021] [-0.87182657] [-0.0048979 ]] R_gt: [[ 0.99988373 -0.01255325 0.00872038] [ 0.0126676 0.99983388 -0.01308093] [-0.00855477 0.01318974 0.99987696]] t_gt: [ 0.94454786 -0.32787269 0.01813407] Pose Error in degrees for R and t: 11.786644473982232 79.81244335830098 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-6.96925741e-01 -7.17134330e-01 -3.58657169e-03] [ 7.17140396e-01 -6.96928435e-01 -6.39980244e-04] [-2.04063199e-03 -3.01809415e-03 9.99993363e-01]] t_estimated: [[0.8046377 ] [0.59376321] [0.00185049]] R_gt: [[ 0.99196973 -0.08309467 0.09535284] [ 0.07584389 0.99411823 0.07730801] [-0.10121533 -0.0694551 0.99243702]] t_gt: [ 0.28684294 -0.49902556 0.8177375 ] Pose Error in degrees for R and t: 129.70696219598256 86.33141427165936 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-5.33780599e-01 8.45622973e-01 -2.44912008e-04] [-8.45621038e-01 -5.33779958e-01 -2.00394259e-03] [-1.82530902e-03 -8.62562932e-04 9.99997962e-01]] t_estimated: [[0.25879792] [0.96593069] [0.00123879]] R_gt: [[ 0.97706425 -0.13250322 0.16670012] [ 0.1021793 0.9785448 0.17891497] [-0.18682957 -0.15777759 0.96963962]] t_gt: [ 0.2631564 -0.39839008 0.87865468] Pose Error in degrees for R and t: 129.5165765471654 71.60148695420632 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999670e-01 7.71864675e-04 -2.53838803e-04] [-7.71841036e-04 9.99999698e-01 9.32111475e-05] [ 2.53910673e-04 -9.30151936e-05 9.99999963e-01]] t_estimated: [[-0.31911454] [-0.94771516] [-0.00137549]] R_gt: [[ 0.99601056 -0.01064164 0.08859527] [ 0.01701922 0.99729193 -0.07154963] [-0.08759473 0.0727717 0.99349511]] t_gt: [-0.37564359 0.87662779 -0.30069188] Pose Error in degrees for R and t: 6.607004807702098 44.72385818780678 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.77293917 0.63444417 0.00675522] [ 0.63414159 -0.7721352 -0.04088618] [-0.02072405 0.0358863 -0.99914097]] t_estimated: [[9.46010671e-01] [3.24134432e-01] [8.24769548e-04]] R_gt: [[ 0.98713706 -0.05697973 0.14937265] [ 0.07401787 0.99104855 -0.11110739] [-0.14170491 0.12073452 0.98251869]] t_gt: [-0.01257166 0.98920617 -0.1459901 ] Pose Error in degrees for R and t: 168.56387047285975 72.0237677484825 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-6.98354858e-01 -7.15748662e-01 -2.08429483e-03] [ 7.15751443e-01 -6.98349197e-01 -2.87574005e-03] [ 6.02741477e-04 -3.50012407e-03 9.99993693e-01]] t_estimated: [[0.94630754] [0.32326581] [0.00111857]] R_gt: [[ 0.98635621 -0.08446013 0.14130218] [ 0.09275249 0.99426916 -0.05315495] [-0.13600367 0.06553654 0.98853819]] t_gt: [0.40143377 0.85997564 0.31510765] Pose Error in degrees for R and t: 129.35529679176744 48.83475018268196 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-9.56484389e-01 -2.91780743e-01 -1.26918135e-03] [-2.91783099e-01 9.56481260e-01 2.49440608e-03] [ 4.86128516e-04 2.75618614e-03 -9.99996084e-01]] t_estimated: [[9.78346128e-01] [2.06973820e-01] [8.31220160e-04]] R_gt: [[ 0.99006718 0.13100318 0.05102594] [-0.12967707 0.99114548 -0.02851086] [-0.05430926 0.02161142 0.99829027]] t_gt: [-0.54464494 0.81127513 0.21259012] Pose Error in degrees for R and t: 177.28041210010647 68.6070728174462 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.71450125e-01 -2.37243407e-01 -4.70540996e-04] [ 2.37243564e-01 9.71450150e-01 3.12992080e-04] [ 3.82851813e-04 -4.15689018e-04 9.99999840e-01]] t_estimated: [[9.70744450e-01] [2.40113468e-01] [8.57548100e-04]] R_gt: [[ 0.98826691 0.13446277 0.07244173] [-0.13305467 0.99081845 -0.02395515] [-0.07499837 0.01403604 0.99708422]] t_gt: [-0.52963818 0.77138524 0.35277218] Pose Error in degrees for R and t: 21.865304516386978 70.81491354082196 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.13081169e-01 -4.07777648e-01 -4.10439413e-04] [ 4.07777756e-01 9.13081187e-01 2.20836152e-04] [ 2.84712459e-04 -3.69009394e-04 9.99999891e-01]] t_estimated: [[-2.40530926e-01] [-9.70641176e-01] [-7.61695287e-04]] R_gt: [[ 0.98650633 0.1372983 0.08919035] [-0.13636616 0.99052148 -0.01649674] [-0.0906096 0.00411133 0.99587738]] t_gt: [-0.51435177 0.72528071 0.45761354] Pose Error in degrees for R and t: 32.36006820126055 54.505952508181956 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.95582986 -0.29384574 -0.00663054] [ 0.29389081 0.95581081 0.0073406 ] [ 0.00418054 -0.00896502 0.99995107]] t_estimated: [[0.98241062] [0.18673036] [0.00107021]] R_gt: [[ 0.99853673 0.05406321 -0.00144625] [-0.05390862 0.99712119 0.05330637] [ 0.00432411 -0.05315072 0.99857689]] t_gt: [-0.87000044 0.13093008 0.47534887] Pose Error in degrees for R and t: 20.348945233872115 33.927927080111246 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99989643e-01 4.53128907e-03 -4.25102423e-04] [-4.53141925e-03 9.99989686e-01 -3.05762023e-04] [ 4.23712543e-04 3.07685174e-04 9.99999863e-01]] t_estimated: [[-0.79093031] [-0.61190084] [-0.00256977]] R_gt: [[ 0.98201773 0.18227238 0.04919412] [-0.18442324 0.98188794 0.04340054] [-0.04039213 -0.05169177 0.99784539]] t_gt: [-0.87752702 0.42776249 0.21671545] Pose Error in degrees for R and t: 10.989381761254933 64.42084743911857 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-3.65458335e-01 -9.30826924e-01 -1.20153829e-03] [-9.30827656e-01 3.65458406e-01 1.67510008e-04] [ 2.83189443e-04 1.17964300e-03 -9.99999264e-01]] t_estimated: [[7.16026159e-01] [6.98073085e-01] [7.13087986e-04]] R_gt: [[ 0.95684322 0.28519314 0.05582002] [-0.28887432 0.95436198 0.07578115] [-0.0316601 -0.0886361 0.99556023]] t_gt: [-0.83743475 0.50043732 0.21969416] Pose Error in degrees for R and t: 175.27649220385123 75.5149902993832 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-9.60820660e-01 -2.77135350e-01 -4.43356909e-03] [ 2.77132811e-01 -9.60830886e-01 1.18933128e-03] [-4.58951585e-03 -8.59533972e-05 9.99989464e-01]] t_estimated: [[0.84626742] [0.53275384] [0.0021924 ]] R_gt: [[ 0.99643483 0.06852814 0.04921025] [-0.06632275 0.99677593 -0.04513683] [-0.05214582 0.04171175 0.9977677 ]] t_gt: [-0.22348931 0.96582953 -0.13124727] Pose Error in degrees for R and t: 167.79284478296444 71.02655318672504 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99998566e-01 1.51137031e-03 7.64528206e-04] [-1.51100583e-03 9.99998745e-01 -4.77091321e-04] [-7.65248307e-04 4.75935431e-04 9.99999594e-01]] t_estimated: [[0.99625427] [0.08646248] [0.00129048]] R_gt: [[ 0.9924657 0.08050495 0.09236171] [-0.06753653 0.98842829 -0.13582183] [-0.10222802 0.12856143 0.98641781]] t_gt: [ 0.02508451 0.93397376 -0.35646007] Pose Error in degrees for R and t: 10.294037099463699 83.95645711378306 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.59174902 -0.80611994 -0.00193536] [ 0.80612022 -0.59174041 -0.00367158] [ 0.00181451 -0.00373279 0.99999139]] t_estimated: [[0.98408235] [0.17771007] [0.00102723]] R_gt: [[ 0.98304185 0.09903533 0.15433963] [-0.07720828 0.98692138 -0.14150798] [-0.16633675 0.1271921 0.97783064]] t_gt: [0.07735483 0.99690202 0.01423316] Pose Error in degrees for R and t: 131.70236510900307 75.32726220191273 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-9.41224734e-01 -3.37778382e-01 -1.32830016e-03] [ 3.37780468e-01 -9.41222929e-01 -1.93750307e-03] [-5.95779921e-04 -2.27229966e-03 9.99997241e-01]] t_estimated: [[0.92595613] [0.37762989] [0.00095361]] R_gt: [[ 0.9983282 -0.05719905 -0.00824993] [ 0.0568777 0.99776672 -0.03501769] [ 0.01023436 0.03449027 0.99935245]] t_gt: [ 0.74773535 -0.37293982 -0.54937031] Pose Error in degrees for R and t: 156.9916140958422 56.56346163038731 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-3.59376609e-01 -9.33190531e-01 -1.97126003e-03] [ 9.33192437e-01 -3.59377038e-01 -1.44132795e-04] [-5.73922231e-04 -1.89136290e-03 9.99998047e-01]] t_estimated: [[9.99967893e-01] [7.96434605e-03] [8.84927339e-04]] R_gt: [[ 0.99766876 -0.0642007 -0.02314841] [ 0.05794424 0.97604623 -0.20970681] [ 0.03605666 0.20787683 0.97749063]] t_gt: [ 0.44525117 0.14887366 -0.88294282] Pose Error in degrees for R and t: 108.0041600604662 63.535629012908366 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 2.93653915e-01 9.55910719e-01 -1.44024714e-03] [-9.55884270e-01 2.93656559e-01 7.14762268e-03] [ 7.25542716e-03 -7.22217806e-04 9.99973418e-01]] t_estimated: [[-0.99981909] [-0.01890414] [-0.00210046]] R_gt: [[ 0.99489656 -0.09221241 -0.04095558] [ 0.07433395 0.94433563 -0.3204752 ] [ 0.06822759 0.31579479 0.94637114]] t_gt: [ 0.40182746 0.24469291 -0.88241718] Pose Error in degrees for R and t: 79.78614572530807 66.1385103139945 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.79572750e-01 2.01090088e-01 6.54025550e-05] [-2.01090079e-01 9.79572746e-01 -1.24661522e-04] [-8.91347568e-05 1.08963225e-04 9.99999990e-01]] t_estimated: [[-0.74957649] [-0.66191728] [-0.00077374]] R_gt: [[ 0.9962645 0.01697549 0.08467434] [-0.00836437 0.99484724 -0.10103399] [-0.08595308 0.0999483 0.99127318]] t_gt: [ 0.16205755 0.90443454 -0.39463339] Pose Error in degrees for R and t: 13.23928017970136 43.959550356056894 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 7.77312559e-01 6.29114052e-01 8.34030193e-04] [-6.29112247e-01 7.77312592e-01 -1.70759692e-03] [-1.72257539e-03 8.02637921e-04 9.99998194e-01]] t_estimated: [[-9.99994892e-01] [-3.10075933e-03] [-7.75189839e-04]] R_gt: [[ 0.99240481 -0.00561749 0.12288791] [ 0.02294358 0.98988088 -0.14003382] [-0.12085776 0.1417893 0.98249129]] t_gt: [ 0.66368446 0.63627922 -0.39328323] Pose Error in degrees for R and t: 41.14731292950167 48.29088313542815 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-1.20387740e-01 -9.92726883e-01 -3.56536607e-04] [ 9.92723449e-01 -1.20388262e-01 2.61152855e-03] [-2.63545742e-03 -3.95462298e-05 9.99996526e-01]] t_estimated: [[0.98724597] [0.15919876] [0.00106845]] R_gt: [[ 0.98471162 0.10029527 0.14242242] [-0.07887791 0.98571643 -0.14879602] [-0.15531188 0.13528717 0.97855826]] t_gt: [ 0.0299439 0.99837318 -0.04852163] Pose Error in degrees for R and t: 102.60821099425323 79.13766258630446 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.73015923e-01 2.30737883e-01 2.06601954e-04] [-2.30737816e-01 9.73015913e-01 -3.06869874e-04] [-2.71833494e-04 2.50918391e-04 9.99999932e-01]] t_estimated: [[-4.75283518e-01] [ 8.79832637e-01] [ 3.31129326e-04]] R_gt: [[ 0.98517056 -0.15714399 0.06887558] [ 0.15621041 0.98754487 0.01878657] [-0.07097108 -0.00774866 0.99744899]] t_gt: [ 0.64100202 -0.7225597 0.25888973] Pose Error in degrees for R and t: 22.731207019299518 19.897399290238237 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 1.00000000e+00 3.33392117e-07 -6.02012216e-07] [-3.33391630e-07 1.00000000e+00 8.06810416e-07] [ 6.02012485e-07 -8.06810215e-07 1.00000000e+00]] t_estimated: [[9.99969162e-01] [7.81431685e-03] [7.81449500e-04]] R_gt: [[ 0.94901056 -0.29563048 0.10945847] [ 0.29308872 0.95528954 0.03900103] [-0.11609498 -0.00493126 0.99322611]] t_gt: [ 0.72029549 -0.65167736 0.23767842] Pose Error in degrees for R and t: 18.42051063267044 44.32674902170257 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-5.46789429e-01 8.37270112e-01 2.82448379e-04] [-8.37269067e-01 -5.46788140e-01 -1.79956615e-03] [-1.35228353e-03 -1.22046904e-03 9.99998341e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.89595772 -0.43805832 0.07324125] [ 0.43081637 0.89727042 0.09645015] [-0.10796886 -0.05486206 0.99263967]] t_gt: [ 0.79114167 -0.57460598 0.20957773] Pose Error in degrees for R and t: 149.05381151591234 55.288649604505856 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 5.54216011e-01 -8.32372865e-01 -1.62899085e-04] [-8.32372163e-01 -5.54215266e-01 -1.42137228e-03] [ 1.09283056e-03 9.23339942e-04 -9.99998977e-01]] t_estimated: [[0.36409576] [0.93136098] [0.00100579]] R_gt: [[ 0.9779011 -0.2077988 0.02302204] [ 0.20754083 0.97813811 0.01310132] [-0.02524122 -0.00803419 0.99964888]] t_gt: [ 0.73269692 -0.66884892 0.1256835 ] Pose Error in degrees for R and t: 178.8845256181781 69.14270897158426 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 1.51659963e-01 -9.88429078e-01 -2.68579141e-03] [ 9.88432670e-01 1.51660319e-01 7.20577340e-05] [ 3.36104021e-04 -2.66565224e-03 9.99996391e-01]] t_estimated: [[9.71464721e-01] [2.37182884e-01] [7.57772794e-04]] R_gt: [[ 0.94085868 -0.33158216 0.06956642] [ 0.33222586 0.94319693 0.00244419] [-0.06642542 0.02081173 0.99757383]] t_gt: [ 0.75339544 -0.64366752 0.13448954] Pose Error in degrees for R and t: 61.992630864213425 54.596421398356625 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.40395178e-01 -3.40083478e-01 3.71433215e-04] [ 3.40083426e-01 9.40395249e-01 1.96068651e-04] [-4.15973740e-04 -5.80637335e-05 9.99999912e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.90365316 -0.42080339 0.07959932] [ 0.42391502 0.90531321 -0.02654813] [-0.0608909 0.05773324 0.99647306]] t_gt: [ 0.77256117 -0.63285498 0.05141798] Pose Error in degrees for R and t: 7.03632460286846 73.1489056671621 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.63377782e-01 -2.68146404e-01 -8.69214767e-04] [ 2.68147721e-01 9.63375077e-01 2.29355830e-03] [ 2.22370431e-04 -2.44264107e-03 9.99996992e-01]] t_estimated: [[-8.17254062e-01] [-5.76277173e-01] [-6.46050642e-04]] R_gt: [[ 0.99953187 -0.01666795 0.0256679 ] [ 0.01650236 0.99984293 0.00661941] [-0.02577457 -0.00619268 0.99964876]] t_gt: [-0.17225515 -0.66856153 0.72343185] Pose Error in degrees for R and t: 14.682197896629905 58.29232640976696 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.7880858 -0.6155583 -0.00295927] [ 0.61526287 -0.78784007 0.02756132] [-0.01929704 0.01989996 0.99961573]] t_estimated: [[0.97861112] [0.20569533] [0.0031166 ]] R_gt: [[ 9.98024833e-01 7.87298850e-04 6.28190673e-02] [-5.39342127e-04 9.99993117e-01 -3.97778386e-03] [-6.28219432e-02 3.93643193e-03 9.98017785e-01]] t_gt: [-0.94273039 -0.04852722 0.33000684] Pose Error in degrees for R and t: 142.02464255720398 21.327028175538903 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-8.47782536e-01 5.29883798e-01 2.20891961e-02] [ 5.30022112e-01 8.47983683e-01 4.83262690e-04] [-1.84752048e-02 1.21174641e-02 -9.99755887e-01]] t_estimated: [[ 0.98430339] [-0.1763341 ] [ 0.00728918]] R_gt: [[ 0.99539215 0.06075699 0.07418145] [-0.0582246 0.99766115 -0.03584736] [-0.07618592 0.03136309 0.99660019]] t_gt: [-0.93592299 0.32384017 -0.13847636] Pose Error in degrees for R and t: 174.12353671197525 11.665253151867288 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 8.57436260e-01 -5.14589372e-01 -9.15734434e-04] [ 5.14589421e-01 8.57436696e-01 -1.99713015e-04] [ 8.87954503e-04 -2.99986071e-04 9.99999561e-01]] t_estimated: [[-0.08040208] [-0.9967616 ] [-0.00135004]] R_gt: [[ 0.97708149 0.21242148 0.01385508] [-0.21247972 0.97716118 0.00284841] [-0.01293361 -0.00572712 0.99989891]] t_gt: [-0.74556757 0.66428398 0.05343959] Pose Error in degrees for R and t: 43.24486499161907 52.96808959588724 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99356648e-01 3.58643137e-02 -2.03925746e-04] [-3.58643048e-02 9.99356668e-01 4.73437995e-05] [ 2.05492507e-04 -3.99996856e-05 9.99999978e-01]] t_estimated: [[-9.99994329e-01] [ 3.26838558e-03] [-8.11733762e-04]] R_gt: [[ 0.94984645 0.31164447 0.02591948] [-0.31147414 0.9501972 -0.01044999] [-0.02788508 0.00185271 0.99960902]] t_gt: [-0.68857379 0.72371038 0.0459284 ] Pose Error in degrees for R and t: 16.181605732287558 46.298766732233105 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 8.74747803e-01 -4.84578454e-01 5.50556732e-05] [ 4.84578396e-01 8.74747631e-01 -6.00318055e-04] [ 2.42741375e-04 5.51805690e-04 9.99999818e-01]] t_estimated: [[-0.40142166] [-0.91589286] [-0.00095805]] R_gt: [[ 0.95285706 0.29998389 0.04556271] [-0.3004452 0.95379221 0.0035033 ] [-0.04240606 -0.01702756 0.99895476]] t_gt: [-0.6838007 0.71990217 0.11898517] Pose Error in degrees for R and t: 46.535208409287485 67.35782196709306 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99628665e-01 -2.72494168e-02 -2.69473809e-05] [ 2.72494079e-02 9.99628624e-01 -2.88377977e-04] [ 3.47955050e-05 2.87536593e-04 9.99999958e-01]] t_estimated: [[ 0.78348755] [ 0.62140661] [-0.00104347]] R_gt: [[ 0.99362149 -0.09735761 0.05689288] [ 0.098506 0.99497826 -0.01772519] [-0.05488224 0.02321624 0.99822218]] t_gt: [ 0.43707754 -0.83490262 0.33451583] Pose Error in degrees for R and t: 5.306347374078249 79.82133506048905 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.91820223 0.29918145 0.25960571] [-0.14735764 0.86634103 -0.47722002] [-0.36768245 0.3999296 0.83956294]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.97205223 -0.23160047 0.03840568] [ 0.23030745 0.97247672 0.03530313] [-0.04552582 -0.02547197 0.99863814]] t_gt: [ 0.62890063 -0.73096502 0.26490401] Pose Error in degrees for R and t: 42.696861845054485 85.70328605369413 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.49079570e-01 -3.15035846e-01 -6.21724608e-04] [ 3.15036385e-01 9.49076142e-01 2.55975380e-03] [-2.16350212e-04 -2.62527591e-03 9.99996531e-01]] t_estimated: [[0.97420165] [0.22566253] [0.00275198]] R_gt: [[ 0.94900403 -0.31277854 0.03950213] [ 0.31167253 0.94965876 0.03174619] [-0.04744295 -0.01781688 0.99871487]] t_gt: [ 0.66265625 -0.71917954 0.20896763] Pose Error in degrees for R and t: 2.848647006536683 61.063236876388196 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 1.37731625e-01 9.90468809e-01 1.23987325e-03] [-9.90468971e-01 1.37732826e-01 -9.41051252e-04] [-1.10285316e-03 -1.09844347e-03 9.99998789e-01]] t_estimated: [[-0.54465106] [ 0.83866212] [ 0.00103523]] R_gt: [[ 0.98672843 0.15811287 -0.03697455] [-0.15934364 0.98666829 -0.0330942 ] [ 0.03124847 0.03854662 0.9987674 ]] t_gt: [-0.55524544 0.76391024 -0.32885202] Pose Error in degrees for R and t: 72.9951350342668 19.483572830254932 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99813370e-01 -1.93167622e-02 -2.95926905e-04] [ 1.93168255e-02 9.99813390e-01 2.12665790e-04] [ 2.91763668e-04 -2.18342468e-04 9.99999934e-01]] t_estimated: [[-9.85059995e-01] [-1.72210972e-01] [ 4.33430913e-04]] R_gt: [[ 0.97829098 0.19987547 -0.05474743] [-0.20297647 0.97743356 -0.05853128] [ 0.04181334 0.06837196 0.99678307]] t_gt: [-0.50177939 0.76723188 -0.39946551] Pose Error in degrees for R and t: 13.546316182189871 68.77791503457111 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 4.91967182e-01 8.70613068e-01 1.08531506e-03] [-8.70613738e-01 4.91966949e-01 4.90824856e-04] [-1.06620604e-04 -1.18635992e-03 9.99999291e-01]] t_estimated: [[0.37139042] [0.92847605] [0.00117529]] R_gt: [[ 0.95272647 0.29569925 -0.06981352] [-0.29936253 0.95285723 -0.04944698] [ 0.05190017 0.06800824 0.99633371]] t_gt: [-0.49868951 0.81475565 -0.29577358] Pose Error in degrees for R and t: 43.46039883822933 55.18524738698104 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 0.63581832 0.77127608 -0.0294666 ] [ 0.76033144 -0.61931456 0.19582026] [ 0.13278239 -0.14691049 -0.98019699]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.99891457 -0.00933439 -0.0456409 ] [ 0.01121145 0.99909355 0.04106657] [ 0.04521575 -0.04153329 0.99811303]] t_gt: [-0.30249526 -0.93111944 -0.2037479 ] Pose Error in degrees for R and t: 165.8309329307749 27.108028463335977 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-0.32402417 0.94583996 0.0198774 ] [ 0.94584014 0.32432246 -0.01419071] [-0.01986883 0.01420271 -0.99970171]] t_estimated: [[ 0.79950352] [-0.60052994] [ 0.01256655]] R_gt: [[ 0.9961768 -0.03968259 -0.07783005] [ 0.04082751 0.99907955 0.01317907] [ 0.0772356 -0.0163065 0.99687927]] t_gt: [-0.07395617 -0.79434654 -0.60294615] Pose Error in degrees for R and t: 177.28842264999975 65.77482902787612 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 2.20806866e-01 -9.75311591e-01 -3.41007559e-03] [-9.75317541e-01 -2.20804982e-01 -9.24272947e-04] [ 1.48492440e-04 3.52999235e-03 -9.99993759e-01]] t_estimated: [[0.85692327] [0.5154432 ] [0.00090115]] R_gt: [[ 0.98783645 -0.11946002 -0.09954248] [ 0.12538761 0.99055038 0.05556281] [ 0.09196427 -0.06736872 0.99348095]] t_gt: [ 0.19562854 -0.95414435 -0.22657898] Pose Error in degrees for R and t: 179.17007340806734 71.07242243071519 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.71103769e-01 -2.38657412e-01 -3.29486041e-04] [ 2.38657590e-01 9.71103534e-01 6.94215191e-04] [ 1.54285458e-04 -7.52789333e-04 9.99999705e-01]] t_estimated: [[-0.77157676] [-0.63613394] [-0.00170445]] R_gt: [[ 0.9998605 0.00211324 -0.0165996 ] [-0.00234664 0.99989963 -0.0139869 ] [ 0.01656876 0.01402447 0.99976429]] t_gt: [ 0.8176603 -0.12279896 -0.56245182] Pose Error in degrees for R and t: 13.99167516913687 56.508557439443564 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99996651e-01 -2.58636218e-03 9.37095860e-05] [ 2.58637260e-03 9.99996649e-01 -1.11271862e-04] [-9.34214827e-05 1.11513858e-04 9.99999989e-01]] t_estimated: [[-0.9786942 ] [-0.20530173] [-0.0029774 ]] R_gt: [[ 0.99970357 0.01916122 0.015003 ] [-0.01909442 0.99980627 -0.004646 ] [-0.01508868 0.00435878 0.99987664]] t_gt: [0.97855572 0.09323298 0.18367446] Pose Error in degrees for R and t: 1.5324938506911638 12.205779264614842 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.93632209e-01 1.12672125e-01 1.60255397e-04] [-1.12672083e-01 9.93632196e-01 -2.47016779e-04] [-1.87066827e-04 2.27387519e-04 9.99999957e-01]] t_estimated: [[0.45633849] [0.8898056 ] [0.00108911]] R_gt: [[ 0.99860554 0.05276099 0.00195989] [-0.05271593 0.99843041 -0.01891783] [-0.00295527 0.01878841 0.9998192 ]] t_gt: [ 0.81104933 0.55713244 -0.17833238] Pose Error in degrees for R and t: 3.6095426787452447 30.042033414119313 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.98808362e-01 4.88006678e-02 5.92511283e-04] [-4.88004577e-02 9.98808482e-01 -3.63933776e-04] [-6.09565506e-04 3.34585277e-04 9.99999758e-01]] t_estimated: [[-9.71954020e-01] [-2.35170793e-01] [ 2.86449818e-04]] R_gt: [[ 0.99275722 -0.11548346 -0.03313585] [ 0.11577759 0.9932499 0.00708822] [ 0.03209415 -0.01087331 0.99942601]] t_gt: [ 0.81043646 -0.57912178 -0.08837825] Pose Error in degrees for R and t: 9.644005973101478 49.34220591035339 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-8.39373605e-01 -5.43552212e-01 -1.71569789e-03] [ 5.43554609e-01 -8.39372322e-01 -1.57868634e-03] [-5.82010872e-04 -2.25768314e-03 9.99997282e-01]] t_estimated: [[8.97209359e-01] [4.41604610e-01] [8.57467882e-04]] R_gt: [[ 0.98715025 -0.13843864 -0.07981519] [ 0.13866279 0.99033561 -0.00275391] [ 0.07942615 -0.00834895 0.9968062 ]] t_gt: [ 0.84924883 -0.47258838 -0.2354499 ] Pose Error in degrees for R and t: 139.1264524833293 56.4231547693612 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999742e-01 -4.79684807e-04 5.34704159e-04] [ 4.79686463e-04 9.99999885e-01 -2.96813506e-06] [-5.34702674e-04 3.22462464e-06 9.99999857e-01]] t_estimated: [[0.56499862] [0.82509125] [0.00099025]] R_gt: [[ 0.98756473 -0.08094132 -0.13477732] [ 0.08367781 0.99638335 0.01475283] [ 0.13309691 -0.02584741 0.99076593]] t_gt: [ 0.87237629 -0.26766465 -0.40904187] Pose Error in degrees for R and t: 9.132277195844258 74.2382041311683 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.95245331e-01 9.73998320e-02 6.92054181e-05] [-9.73998305e-02 9.95245333e-01 -2.52879400e-05] [-7.13394105e-05 1.84271082e-05 9.99999997e-01]] t_estimated: [[8.21042321e-01] [5.70866780e-01] [7.91116754e-04]] R_gt: [[ 0.99726281 -0.0480607 0.05619506] [ 0.05151183 0.99676703 -0.06167072] [-0.05304856 0.06439658 0.99651268]] t_gt: [ 0.92317946 -0.33700495 -0.1848441 ] Pose Error in degrees for R and t: 9.70566072606804 55.56727032806177 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.90383543e-01 1.38348497e-01 3.61460697e-04] [-1.38348441e-01 9.90383601e-01 -1.75817623e-04] [-3.82308851e-04 1.24119357e-04 9.99999919e-01]] t_estimated: [[ 9.69057741e-01] [-2.46833212e-01] [-6.78695591e-04]] R_gt: [[ 0.98879897 -0.14525192 0.03434178] [ 0.14643213 0.98860923 -0.03477321] [-0.02890007 0.03941205 0.9988048 ]] t_gt: [ 0.86360229 -0.50251925 -0.04081028] Pose Error in degrees for R and t: 16.576660363581702 16.065362317595028 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.51131083 0.85939439 0.00158626] [ 0.85937945 -0.5113116 0.00523445] [ 0.00530953 -0.00131323 -0.99998504]] t_estimated: [[-0.78171426] [-0.62362925] [-0.00306219]] R_gt: [[ 0.98238426 -0.18656467 -0.01078558] [ 0.18593533 0.98159114 -0.0436661 ] [ 0.01873266 0.04089129 0.99898785]] t_gt: [ 0.87757741 -0.44922195 -0.1675038 ] Pose Error in degrees for R and t: 178.49675554145017 66.08669352094964 Number of keypoints: Image1: 389 Image2: 389 R_estimated: [[-0.18492704 -0.98274783 -0.00294671] [ 0.98274645 -0.18491481 -0.00399226] [ 0.0033785 -0.00363415 0.99998769]] t_estimated: [[9.63172726e-01] [2.68881718e-01] [9.60291850e-04]] R_gt: [[ 0.9989992 -0.01625513 -0.0416833 ] [ 0.01684459 0.999762 0.01384193] [ 0.04144784 -0.01452923 0.99903467]] t_gt: [-0.11586176 -0.79121574 -0.60046124] Pose Error in degrees for R and t: 99.72390802267483 71.03957724168609 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 8.53654959e-01 5.20838814e-01 3.75227097e-04] [-5.20838575e-01 8.53654988e-01 -5.83504375e-04] [-6.24226209e-04 3.02678658e-04 9.99999759e-01]] t_estimated: [[0.45313235] [0.89144262] [0.00105872]] R_gt: [[ 0.99749347 -0.0225928 -0.06705826] [ 0.02375669 0.99957944 0.01663307] [ 0.066654 -0.01818359 0.99761009]] t_gt: [-0.23998785 -0.7778591 -0.58081069] Pose Error in degrees for R and t: 32.954876630345865 36.60380015839134 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 5.38228546e-01 8.42785599e-01 4.73987765e-03] [ 8.42793315e-01 -5.38236975e-01 6.22447692e-04] [ 3.07576736e-03 3.65971808e-03 -9.99988573e-01]] t_estimated: [[0.47975023] [0.87740417] [0.00128275]] R_gt: [[ 0.99119189 -0.09871305 -0.08828673] [ 0.10124606 0.99455451 0.02469035] [ 0.08536914 -0.0334109 0.99578955]] t_gt: [ 0.1244365 -0.91917462 -0.37367577] Pose Error in degrees for R and t: 176.25254310243642 41.64567935854107 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-1.67306557e-01 -9.85839217e-01 -1.13821776e-02] [ 9.85904770e-01 -1.67301802e-01 -1.37541239e-03] [-5.48323345e-04 -1.14518587e-02 9.99934275e-01]] t_estimated: [[0.96254605] [0.27106182] [0.00553187]] R_gt: [[ 0.99866219 0.05163413 0.00288191] [-0.05165953 0.99861918 0.00956887] [-0.00238404 -0.00970521 0.9999496 ]] t_gt: [-0.08030918 0.98692221 0.13976764] Pose Error in degrees for R and t: 102.59269047698214 78.98950381520558 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.97754319 -0.20801968 0.03372121] [ 0.20984066 0.97557887 -0.06490582] [-0.01939601 0.07052432 0.99732147]] t_estimated: [[-0.73200842] [-0.68108983] [-0.01674235]] R_gt: [[ 9.97655701e-01 6.62821364e-02 1.70588725e-02] [-6.62788257e-02 9.97800562e-01 -7.82935730e-04] [-1.70731907e-02 -3.50086811e-04 9.99854111e-01]] t_gt: [0.21647589 0.95494263 0.20303389] Pose Error in degrees for R and t: 16.35231981434996 35.68235878920215 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-8.50377054e-01 -5.26166683e-01 -2.73621957e-03] [ 5.26159892e-01 -8.50380889e-01 2.84807674e-03] [-3.82539193e-03 9.82250119e-04 9.99992201e-01]] t_estimated: [[0.99985416] [0.01701879] [0.00141823]] R_gt: [[ 0.99742679 0.06698589 0.02558632] [-0.06641206 0.99753512 -0.02267033] [-0.02704237 0.02091245 0.9994146 ]] t_gt: [0.47095625 0.87621511 0.10221196] Pose Error in degrees for R and t: 152.08379807894775 60.925617654162316 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.72995121e-01 -2.30784025e-01 4.38502770e-03] [ 2.30787721e-01 9.73004063e-01 -3.49494695e-04] [-4.18599198e-03 1.35206718e-03 9.99990325e-01]] t_estimated: [[0.99983113] [0.0177086 ] [0.00491081]] R_gt: [[ 0.99767415 -0.02120564 0.06477014] [ 0.02246631 0.99957068 -0.01879181] [-0.06434415 0.02020342 0.99772417]] t_gt: [ 0.03902802 -0.66234045 -0.74818577] Pose Error in degrees for R and t: 12.617647190586458 88.6466560464718 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.99909433 0.03727103 0.02052773] [-0.03452625 0.99207154 -0.12083876] [-0.02486876 0.12002058 0.99245988]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99681272 0.04872286 0.06316243] [-0.04649651 0.99826071 -0.03624155] [-0.06481866 0.03318887 0.99734576]] t_gt: [-0.90742083 0.35792886 -0.22016896] Pose Error in degrees for R and t: 5.505434436557883 59.12647611825793 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999959e-01 1.92812680e-04 -2.12646299e-04] [-1.92820220e-04 9.99999981e-01 -3.54359794e-05] [ 2.12639462e-04 3.54769804e-05 9.99999977e-01]] t_estimated: [[-0.6853967 ] [-0.72816902] [-0.00111462]] R_gt: [[ 0.99276901 0.08420368 0.0855424 ] [-0.0786465 0.99468922 -0.06638825] [-0.09067765 0.05918154 0.99412026]] t_gt: [-0.8687958 0.39908501 -0.29312968] Pose Error in degrees for R and t: 7.782861139695129 72.23009418682284 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.55666168e-01 2.94452163e-01 3.13306706e-04] [-2.94452109e-01 9.55666214e-01 -2.08559688e-04] [-3.60827484e-04 1.07059618e-04 9.99999929e-01]] t_estimated: [[-2.35534744e-01] [ 9.71865642e-01] [ 7.47687567e-04]] R_gt: [[ 0.99578583 -0.09095665 -0.01164834] [ 0.09123016 0.99549935 0.02566897] [ 0.00926063 -0.02662299 0.99960205]] t_gt: [ 0.65711095 -0.73891662 0.14902158] Pose Error in degrees for R and t: 22.41102240301926 29.215659202836466 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 8.85385245e-01 4.64858004e-01 6.63140098e-05] [ 4.64846068e-01 -8.85363517e-01 7.04094816e-03] [ 3.33175311e-03 -6.20312581e-03 -9.99975210e-01]] t_estimated: [[-0.4908853 ] [ 0.87121645] [ 0.00367798]] R_gt: [[ 0.98472276 -0.16934703 0.04049957] [ 0.16903203 0.9855483 0.01110338] [-0.04179489 -0.00408825 0.99911742]] t_gt: [ 0.56459588 -0.78165938 0.26502849] Pose Error in degrees for R and t: 179.76816604927362 16.829301800347622 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-9.97916942e-01 -6.45109009e-02 -3.48565382e-04] [ 6.45114895e-02 -9.97914789e-01 -2.08342106e-03] [-2.13435180e-04 -2.10156765e-03 9.99997769e-01]] t_estimated: [[0.58307831] [0.81241523] [0.00108178]] R_gt: [[ 0.96317781 -0.26600362 0.03910775] [ 0.26435942 0.9634843 0.04256014] [-0.04900112 -0.03065411 0.9983278 ]] t_gt: [ 0.61639105 -0.73702721 0.27722367] Pose Error in degrees for R and t: 160.92070373593887 76.16846124421578 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999973e-01 2.33007579e-04 9.35491993e-06] [-2.33008122e-04 9.99999971e-01 5.80820352e-05] [-9.34138611e-06 -5.80842134e-05 9.99999998e-01]] t_estimated: [[9.99975464e-01] [6.96270030e-03] [7.69890216e-04]] R_gt: [[ 0.97159589 -0.17699783 0.15707919] [ 0.17116325 0.98397206 0.05002985] [-0.16341642 -0.02172277 0.98631709]] t_gt: [ 0.53659699 -0.63539831 0.5552771 ] Pose Error in degrees for R and t: 13.854842433240055 57.81956840274444 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 4.21207236e-01 9.06961414e-01 2.33638020e-03] [ 9.06963142e-01 -4.21209573e-01 5.95627223e-04] [ 1.52431662e-03 1.86812823e-03 -9.99997093e-01]] t_estimated: [[-0.84314511] [-0.53768519] [-0.00098509]] R_gt: [[ 0.93058677 -0.30405545 0.20385848] [ 0.29328656 0.95251351 0.08186304] [-0.21906874 -0.01639111 0.97557147]] t_gt: [ 0.64871304 -0.62946713 0.4277178 ] Pose Error in degrees for R and t: 175.7161772000137 77.94061380140525 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.94924355 0.31453973 -0.00119941] [-0.31453658 -0.94924266 -0.00225955] [-0.00184924 -0.0017676 0.99999673]] t_estimated: [[0.80245437] [0.59671218] [0.00125292]] R_gt: [[ 0.86620344 -0.45549783 0.20545798] [ 0.44083589 0.89019175 0.11498927] [-0.2352745 -0.00902972 0.97188662]] t_gt: [ 0.7596902 -0.57247078 0.3084607 ] Pose Error in degrees for R and t: 171.36867773561713 74.4307472759455 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999868e-01 -5.08554320e-04 -7.49532175e-05] [ 5.08557157e-04 9.99999870e-01 3.78331049e-05] [ 7.49339676e-05 -3.78712178e-05 9.99999996e-01]] t_estimated: [[-9.96349560e-01] [ 8.53671683e-02] [-8.52154968e-06]] R_gt: [[ 0.9962359 0.08659946 0.00374683] [-0.0865622 0.99620227 -0.00938699] [-0.00454484 0.00902743 0.99994922]] t_gt: [-0.80782981 0.58763154 -0.04582763] Pose Error in degrees for R and t: 5.030035421160302 31.235215055889444 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 4.29636429e-01 9.03000804e-01 1.44467955e-03] [-9.03000007e-01 4.29638278e-01 -1.39218524e-03] [-1.87783402e-03 -7.06412149e-04 9.99997987e-01]] t_estimated: [[-0.26801026] [ 0.96341432] [ 0.00183083]] R_gt: [[ 0.97279349 0.2309428 0.01836888] [-0.23088089 0.97296658 -0.00542778] [-0.01912567 0.00103937 0.99981627]] t_gt: [-0.75816583 0.65027246 0.0482732 ] Pose Error in degrees for R and t: 51.21197918070603 33.92525096417281 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.81493395e-01 -1.91495434e-01 -4.63538231e-04] [ 1.91495456e-01 9.81493500e-01 4.59838773e-06] [ 4.54079191e-04 -9.32787523e-05 9.99999893e-01]] t_estimated: [[-0.37038198] [-0.92887902] [-0.00097469]] R_gt: [[ 0.91954705 0.39284141 0.01035429] [-0.39226778 0.91915017 -0.03587675] [-0.02361056 0.02892844 0.99930236]] t_gt: [-0.668282 0.74357247 -0.02234164] Pose Error in degrees for R and t: 34.228166870837725 63.69512411913661 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.91986247 -0.39062616 -0.03555625] [-0.39062019 0.92052218 -0.00740206] [ 0.03562175 0.00708011 -0.99934026]] t_estimated: [[ 0.97720513] [ 0.21158522] [-0.01737341]] R_gt: [[ 0.99692702 0.07814397 -0.00555305] [-0.07833067 0.99547752 -0.05374144] [ 0.00132752 0.05401131 0.9985401 ]] t_gt: [-0.52515262 0.72816671 -0.44044065] Pose Error in degrees for R and t: 177.1123816007795 69.42332438990981 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99976014e-01 -6.92561757e-03 -8.49549634e-05] [ 6.92561270e-03 9.99976016e-01 -5.74838924e-05] [ 8.53510373e-05 5.68941484e-05 9.99999995e-01]] t_estimated: [[-0.89977724] [-0.43634835] [-0.00101736]] R_gt: [[ 0.98885116 0.14782504 -0.01797735] [-0.14854007 0.98770668 -0.04870118] [ 0.01055669 0.05082831 0.99865214]] t_gt: [-0.55817608 0.77465384 -0.29723879] Pose Error in degrees for R and t: 9.40458628530089 80.53078755579782 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.94674585 0.29447045 0.13022849] [-0.25184464 0.92924806 -0.27031893] [-0.2006155 0.22312598 0.95392254]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.96150822 0.27196755 -0.0391761 ] [-0.2739089 0.95999654 -0.05813653] [ 0.02179732 0.06662943 0.99753962]] t_gt: [-0.53578244 0.81268894 -0.22907175] Pose Error in degrees for R and t: 15.832088836286307 84.45190749665518 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.87288877e-01 -1.58936021e-01 -1.24646173e-04] [ 1.58936027e-01 9.87288882e-01 4.43620179e-05] [ 1.16011058e-04 -6.36088943e-05 9.99999991e-01]] t_estimated: [[-0.65990306] [-0.7513503 ] [-0.00082385]] R_gt: [[ 0.99026183 0.13874616 -0.01140458] [-0.1383288 0.98988064 0.03163426] [ 0.01567902 -0.02974937 0.99943438]] t_gt: [-0.7107932 0.69928261 0.07600562] Pose Error in degrees for R and t: 17.217465513664624 86.76598704253493 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 8.48415421e-01 -5.29330836e-01 -3.72715081e-04] [ 5.29330939e-01 8.48415395e-01 2.72559093e-04] [ 1.71943279e-04 -4.28532962e-04 9.99999893e-01]] t_estimated: [[-0.61423855] [-0.78911993] [-0.00086148]] R_gt: [[ 0.9529278 0.30174151 -0.02967244] [-0.30167727 0.95338629 0.00672398] [ 0.03031854 0.00254414 0.99953684]] t_gt: [-0.60951887 0.78844828 -0.08268048] Pose Error in degrees for R and t: 49.552885414308555 75.65742223404614 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.83547404 0.2801759 -0.47274158] [ 0.18414239 0.66779347 0.72120972] [ 0.51775932 -0.68960377 0.50633184]] t_estimated: [[0.68114679] [0.73214636] [0.0008644 ]] R_gt: [[ 0.89177466 0.45204389 0.01986622] [-0.45195863 0.8919942 -0.00885957] [-0.02172539 -0.00107826 0.99976365]] t_gt: [-0.58392007 0.81001445 0.05398102] Pose Error in degrees for R and t: 64.40304749096963 78.73421560365296 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99675719e-01 2.54646347e-02 -9.97292359e-05] [-2.54646254e-02 9.99675719e-01 9.39391028e-05] [ 1.02089021e-04 -9.13690724e-05 9.99999991e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99553989 -0.09366501 -0.01134117] [ 0.09383492 0.99546769 0.01545038] [ 0.00984388 -0.01644475 0.99981604]] t_gt: [ 0.50064512 -0.86537873 0.0217741 ] Pose Error in degrees for R and t: 6.9252901438290735 83.3328990593065 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-7.06500125e-01 -7.07710779e-01 -1.73999357e-03] [ 7.07712632e-01 -7.06499914e-01 -8.37843375e-04] [-6.36354517e-04 -1.82335187e-03 9.99998135e-01]] t_estimated: [[9.50615966e-01] [3.10368223e-01] [9.22603077e-04]] R_gt: [[ 0.96688179 -0.25502452 0.01007807] [ 0.2546115 0.96654418 0.03107012] [-0.01766378 -0.02747481 0.99946647]] t_gt: [ 0.59281366 -0.79252065 0.14311879] Pose Error in degrees for R and t: 120.192305116018 71.47629689713631 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99727869e-01 2.33278053e-02 3.08595494e-05] [-2.33278022e-02 9.99727865e-01 -9.83113088e-05] [-3.31445385e-05 9.75646698e-05 9.99999995e-01]] t_estimated: [[-0.9990475 ] [-0.04361462] [-0.00136296]] R_gt: [[ 0.94245087 -0.33404939 -0.01408217] [ 0.33433875 0.94130987 0.0464089 ] [-0.00224633 -0.04844598 0.99882293]] t_gt: [ 0.62359389 -0.7753244 0.10001368] Pose Error in degrees for R and t: 21.055209169851103 53.89117841067701 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.64018404 0.76817669 -0.00830456] [ 0.76814696 -0.63993378 0.02085659] [ 0.01070718 -0.01973118 -0.99974799]] t_estimated: [[ 0.21073312] [-0.97749065] [-0.01017756]] R_gt: [[ 0.9823087 0.18697193 -0.01060044] [-0.18712658 0.98220163 -0.01625356] [ 0.00737143 0.01794969 0.99981083]] t_gt: [-0.66542923 0.73994676 -0.0984009 ] Pose Error in degrees for R and t: 179.38282107183394 30.399562393708234 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 4.95015795e-01 -8.68883365e-01 -1.02961502e-03] [ 8.68883841e-01 4.95016030e-01 3.12785363e-05] [ 4.82498541e-04 -9.10099226e-04 9.99999469e-01]] t_estimated: [[ 8.56685571e-01] [-5.15838954e-01] [ 8.05116543e-05]] R_gt: [[ 0.95038621 0.30801253 0.04352855] [-0.30617742 0.95095422 -0.04408115] [-0.05497254 0.02856719 0.99807884]] t_gt: [-0.6678776 0.7385751 0.09190397] Pose Error in degrees for R and t: 78.30177908993471 17.609691840496144 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.996962 -0.07786908 0.00178456] [ 0.07787782 0.99694769 -0.00550829] [-0.00135018 0.00563053 0.99998324]] t_estimated: [[0.25877309] [0.96593749] [0.0011154 ]] R_gt: [[ 0.9393376 0.33600251 0.06889506] [-0.3334432 0.94164146 -0.04612708] [-0.08037411 0.02035635 0.99655631]] t_gt: [-0.6783778 0.71869284 0.15259149] Pose Error in degrees for R and t: 24.476753123661755 58.745752061526105 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.97750345 0.21081394 0.00666921] [-0.21072666 0.97747331 -0.01184053] [-0.00901512 0.01016878 0.99990766]] t_estimated: [[-0.32141649] [-0.94680012] [-0.01615485]] R_gt: [[ 0.99364217 -0.09688924 -0.05734256] [ 0.09858562 0.99474817 0.02753384] [ 0.05437402 -0.03301317 0.9979744 ]] t_gt: [ 0.48312445 -0.85172131 -0.20288317] Pose Error in degrees for R and t: 18.30682584105051 49.125586189901966 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-5.91199269e-01 8.06519541e-01 3.10701274e-03] [ 8.06525271e-01 5.91197759e-01 1.48223561e-03] [-6.41406989e-04 3.38218090e-03 -9.99994075e-01]] t_estimated: [[0.92048603] [0.39077199] [0.00164761]] R_gt: [[ 0.9779892 -0.18368268 -0.09898444] [ 0.18426718 0.98287169 -0.00329159] [ 0.09789474 -0.01502077 0.99508285]] t_gt: [ 0.55546104 -0.75702021 -0.34406895] Pose Error in degrees for R and t: 174.92045390925688 77.5900491765228 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.59111067e-01 2.83027622e-01 1.15137840e-03] [-2.83026640e-01 9.59111583e-01 -9.44623695e-04] [-1.37165496e-03 5.80128281e-04 9.99998891e-01]] t_estimated: [[0.57989104] [0.81469355] [0.0008894 ]] R_gt: [[ 0.93927634 -0.33453605 -0.07645865] [ 0.33791235 0.94048099 0.03621457] [ 0.05979433 -0.05985316 0.99641422]] t_gt: [ 0.65941239 -0.75152775 -0.01952795] Pose Error in degrees for R and t: 36.450083203298036 76.70911956711564 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99950168e-01 9.98304234e-03 -2.21788490e-05] [-9.98304357e-03 9.99950167e-01 -5.64222005e-05] [ 2.16144785e-05 5.66408013e-05 9.99999998e-01]] t_estimated: [[-0.87163955] [-0.49014214] [-0.00227583]] R_gt: [[ 0.99957609 -0.02826078 -0.00706585] [ 0.02815603 0.99949833 -0.01451814] [ 0.00747213 0.01431283 0.99986966]] t_gt: [ 0.44546171 -0.63231015 -0.63383573] Pose Error in degrees for R and t: 2.374184220131277 85.58858334035355 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.54436803e-01 -2.98413117e-01 3.25299850e-06] [ 2.98412550e-01 9.54434969e-01 -1.95933641e-03] [ 5.81586909e-04 1.87103351e-03 9.99998080e-01]] t_estimated: [[ 0.09074074] [-0.99586654] [-0.00399394]] R_gt: [[ 0.98638194 -0.16445358 0.00223424] [ 0.16441466 0.98631579 0.01220418] [-0.00421107 -0.01167078 0.99992333]] t_gt: [ 0.55097374 -0.83111742 0.07531122] Pose Error in degrees for R and t: 7.940271207797909 28.672446350005927 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99891592e-01 1.47212085e-02 3.00357477e-04] [-1.47211546e-02 9.99891622e-01 -1.80666244e-04] [-3.02984550e-04 1.76225049e-04 9.99999939e-01]] t_estimated: [[0.74331818] [0.6689364 ] [0.00147683]] R_gt: [[ 0.96385804 -0.26639351 0.00342943] [ 0.26633414 0.96380222 0.01233683] [-0.00659221 -0.0109781 0.99991754]] t_gt: [ 0.60516236 -0.79414756 0.05575098] Pose Error in degrees for R and t: 16.308704884859743 85.3353448293593 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.96457743e-01 -8.40949881e-02 3.83690295e-07] [ 8.40949869e-02 9.96457728e-01 -1.70421593e-04] [ 1.39492707e-05 1.69850183e-04 9.99999985e-01]] t_estimated: [[-0.50480591] [-0.86323179] [-0.00136804]] R_gt: [[ 0.9978937 0.05764951 0.02972903] [-0.05806158 0.99822559 0.01320508] [-0.02891534 -0.01490277 0.99947166]] t_gt: [-0.29650429 0.78033294 0.55060486] Pose Error in degrees for R and t: 8.352884894691988 58.35300523708611 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.98441596e-01 5.57998315e-02 8.70578834e-04] [-5.57994565e-02 9.98441896e-01 -4.49243488e-04] [-8.94290092e-04 3.99965559e-04 9.99999520e-01]] t_estimated: [[-9.43096593e-01] [-3.32517871e-01] [-8.25106381e-04]] R_gt: [[ 0.99724096 0.07066861 0.02273268] [-0.07046552 0.99746795 -0.00958452] [-0.02335262 0.00795754 0.99969555]] t_gt: [0.10317629 0.96924447 0.22342742] Pose Error in degrees for R and t: 1.6011478424624577 65.1792591013082 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 8.14347954e-01 5.80374732e-01 -1.60634880e-03] [ 5.80376272e-01 -8.14339633e-01 3.78743941e-03] [ 8.90020634e-04 -4.01658026e-03 -9.99991537e-01]] t_estimated: [[0.16393191] [0.98646746] [0.002876 ]] R_gt: [[ 0.99738201 0.06367094 0.03426883] [-0.06398903 0.9979162 0.00828693] [-0.03367011 -0.01045702 0.99937893]] t_gt: [0.6015621 0.61432633 0.51061356] Pose Error in degrees for R and t: 179.85421033936447 45.08178858084448 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 6.90008086e-01 7.23801558e-01 3.82260237e-04] [-7.23801446e-01 6.90008192e-01 -4.02572951e-04] [-5.55145625e-04 1.09807915e-06 9.99999846e-01]] t_estimated: [[-9.99991799e-01] [-3.97137414e-03] [-7.94274662e-04]] R_gt: [[ 0.9896996 -0.14185959 -0.01924874] [ 0.14215897 0.98972802 0.01516725] [ 0.01689837 -0.01774733 0.99969901]] t_gt: [ 0.74823325 -0.66318996 0.01805781] Pose Error in degrees for R and t: 54.55212667221121 41.78867946064192 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-7.60769422e-01 -6.49019957e-01 -1.72684301e-03] [ 6.49021838e-01 -7.60763228e-01 -3.15682444e-03] [ 7.35123399e-04 -3.52237433e-03 9.99993526e-01]] t_estimated: [[0.88020479] [0.47459318] [0.00091975]] R_gt: [[ 0.97981784 -0.19873316 -0.02148471] [ 0.19767067 0.97929706 -0.04362749] [ 0.02970921 0.03850029 0.99881647]] t_gt: [ 0.77071254 -0.61693403 -0.15935678] Pose Error in degrees for R and t: 128.10769887624593 67.32859242622716 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.54380035e-01 -2.98594008e-01 -6.05941296e-04] [ 2.98594387e-01 9.54379867e-01 6.79814694e-04] [ 3.75309579e-04 -8.29732241e-04 9.99999585e-01]] t_estimated: [[0.78872694] [0.61474305] [0.00089223]] R_gt: [[ 0.9676247 -0.24786955 -0.04756245] [ 0.23810523 0.95900115 -0.15369625] [ 0.08370875 0.13739602 0.98697279]] t_gt: [ 0.76452488 -0.48228274 -0.42767401] Pose Error in degrees for R and t: 9.826782135068843 72.17324841784281 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999593e-01 -8.97709648e-04 -9.42943829e-05] [ 8.97704113e-04 9.99999595e-01 -5.87277355e-05] [ 9.43470652e-05 5.86430631e-05 9.99999994e-01]] t_estimated: [[-9.86254514e-01] [-1.65231485e-01] [-7.68233140e-04]] R_gt: [[ 9.72317535e-01 2.31113161e-01 3.44078823e-02] [-2.30956471e-01 9.72926881e-01 -8.50517820e-03] [-3.54420604e-02 3.22696004e-04 9.99371740e-01]] t_gt: [-0.74185766 0.66534944 0.08341067] Pose Error in degrees for R and t: 13.56676264000477 51.56256299192944 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-6.94199073e-01 -7.19780959e-01 -1.73726534e-03] [-7.19783005e-01 6.94197907e-01 1.30080932e-03] [ 2.69708180e-04 2.15347469e-03 -9.99997645e-01]] t_estimated: [[9.40569422e-01] [3.39601475e-01] [1.80317499e-05]] R_gt: [[ 0.94295967 0.32814615 0.05609645] [-0.32765288 0.94462596 -0.01804117] [-0.05891112 -0.00136915 0.99826245]] t_gt: [-0.71464105 0.69203432 0.10186591] Pose Error in degrees for R and t: 177.19199140684518 64.07770377024796 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-2.18011684e-01 -9.75909090e-01 8.50610298e-03] [-9.75945687e-01 2.17994720e-01 -2.88424752e-03] [ 9.60477836e-04 -8.93029417e-03 -9.99959663e-01]] t_estimated: [[0.35338131] [0.93547885] [0.00098161]] R_gt: [[ 0.90897717 0.41404465 0.04825427] [-0.41307011 0.91023365 -0.0291191 ] [-0.05597935 0.0065358 0.99841108]] t_gt: [-0.68266869 0.72770689 0.06637875] Pose Error in degrees for R and t: 177.90718413608082 63.923091028888855 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[-0.82184341 -0.56581782 -0.06651022] [-0.56579244 0.82427931 -0.02103637] [ 0.06672575 0.02034238 -0.99756396]] t_estimated: [[ 0.95508641] [ 0.29434068] [-0.0342565 ]] R_gt: [[ 0.99886742 0.04515424 -0.01495637] [-0.04537983 0.99885522 -0.01511706] [ 0.01425659 0.01577956 0.99977379]] t_gt: [-0.50662756 0.703646 -0.49820761] Pose Error in degrees for R and t: 174.93932536825065 74.94805791523618 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 4.62355788e-02 9.98924683e-01 3.42771078e-03] [ 9.98930447e-01 -4.62336388e-02 -6.43091780e-04] [-4.83924710e-04 3.45377838e-03 -9.99993919e-01]] t_estimated: [[-8.59823318e-01] [-5.10591116e-01] [-7.57553584e-04]] R_gt: [[ 0.98606675 0.16400918 -0.02778904] [-0.16454882 0.98619748 -0.01836911] [ 0.02439284 0.02268752 0.99944518]] t_gt: [-0.58129536 0.78407849 -0.21752387] Pose Error in degrees for R and t: 180.0 84.281986893423 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99249674e-01 -3.87309244e-02 -6.97802328e-05] [ 3.87309123e-02 9.99249663e-01 -1.66401482e-04] [ 7.61727573e-05 1.63573974e-04 9.99999984e-01]] t_estimated: [[-9.44534950e-01] [-3.28409577e-01] [-9.37297288e-04]] R_gt: [[ 0.96446816 0.25924004 -0.05094114] [-0.25978261 0.96565837 -0.00420847] [ 0.04809997 0.01729342 0.99869271]] t_gt: [-0.56394583 0.80022989 -0.20395397] Pose Error in degrees for R and t: 17.514702022565956 74.33248668213157 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.89576803 -0.44447966 0.00612122] [-0.4444708 -0.89537172 0.02748082] [-0.0067339 -0.02733714 -0.99960359]] t_estimated: [[0.21572423] [0.97634704] [0.01447496]] R_gt: [[ 0.99700851 -0.03350114 0.06965455] [ 0.03756387 0.99761758 -0.05785705] [-0.06755104 0.06030164 0.99589199]] t_gt: [ 0.81927862 -0.55809719 0.13156775] Pose Error in degrees for R and t: 179.2103841667534 68.51523287625734 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.97077895 -0.23990188 0.00594314] [ 0.23996998 -0.97029134 0.03080781] [-0.00162427 0.03133375 0.99950766]] t_estimated: [[8.13305771e-01] [5.81836166e-01] [6.32430615e-04]] R_gt: [[ 0.99348627 -0.01887882 0.11238001] [ 0.03493665 0.98915162 -0.14268131] [-0.10846724 0.14567883 0.98336845]] t_gt: [ 0.0741183 0.29231285 -0.95344621] Pose Error in degrees for R and t: 164.516062407628 76.71729078420074 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-5.93662947e-01 8.04713733e-01 3.35870878e-04] [-8.04706645e-01 -5.93655854e-01 -4.46568770e-03] [-3.39420851e-03 -2.92139085e-03 9.99989972e-01]] t_estimated: [[0.36849561] [0.92962717] [0.00207515]] R_gt: [[ 0.98664394 0.02885477 0.16031412] [ 0.0043358 0.97918544 -0.20292192] [-0.16283256 0.20090724 0.96598305]] t_gt: [-0.61736636 0.65755496 -0.43183359] Pose Error in degrees for R and t: 126.17131491611221 67.48730956658693 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.51283303 -0.85805371 -0.0273151 ] [-0.85816694 0.51325206 -0.011037 ] [ 0.02348987 0.01778078 -0.99956594]] t_estimated: [[ 0.88113848] [ 0.47264121] [-0.01432697]] R_gt: [[ 0.99671451 0.07917445 0.01701913] [-0.07780757 0.9945166 -0.06986959] [-0.02245755 0.06831591 0.99741097]] t_gt: [-0.75549532 0.32780716 -0.56724711] Pose Error in degrees for R and t: 177.3486662701177 59.825589442226104 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.60477250e-01 -2.78358228e-01 3.85833258e-04] [ 2.78358197e-01 9.60477328e-01 1.31419212e-04] [-4.07165716e-04 -1.88253130e-05 9.99999917e-01]] t_estimated: [[0.91499006] [0.40347524] [0.0009561 ]] R_gt: [[ 0.99945991 -0.0289337 0.01555322] [ 0.02997165 0.99700971 -0.07122273] [-0.01344645 0.07164993 0.99733925]] t_gt: [ 0.34825009 0.09054233 -0.93301873] Pose Error in degrees for R and t: 15.060890978383188 69.25037606332369 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-2.53698001e-01 9.67283298e-01 5.88896574e-04] [-9.67273899e-01 -2.53692732e-01 -4.60454260e-03] [-4.30449837e-03 -1.73778754e-03 9.99989226e-01]] t_estimated: [[0.24078994] [0.97057207] [0.00317157]] R_gt: [[ 0.98149556 -0.19011649 0.02282756] [ 0.19146602 0.97594949 -0.10422723] [-0.00246338 0.10666921 0.99429153]] t_gt: [ 0.87104823 -0.05666863 -0.48791766] Pose Error in degrees for R and t: 115.82003932479873 81.18809360704066 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.70939571e-01 2.39324777e-01 9.34079027e-06] [-2.39324757e-01 9.70939504e-01 -3.74299485e-04] [-9.86484830e-05 3.61186699e-04 9.99999930e-01]] t_estimated: [[7.65704679e-01] [6.43191931e-01] [6.96095163e-04]] R_gt: [[ 0.98373781 -0.17841679 -0.02068249] [ 0.17708934 0.98270128 -0.05420026] [ 0.02999404 0.04965609 0.99831608]] t_gt: [ 0.61244411 -0.65444357 -0.44341383] Pose Error in degrees for R and t: 24.316940296255382 87.26538961530717 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.22811402e-01 3.85251858e-01 -3.49086335e-04] [-3.85252004e-01 9.22811219e-01 -5.88946746e-04] [ 9.52479582e-05 6.77972983e-04 9.99999766e-01]] t_estimated: [[-0.49615203] [ 0.86823276] [-0.00224272]] R_gt: [[ 0.94716282 -0.32074857 0.00149851] [ 0.32060652 0.94658266 -0.03454571] [ 0.00966155 0.03320037 0.9994016 ]] t_gt: [ 0.61556932 -0.77839655 -0.12317965] Pose Error in degrees for R and t: 41.41260721809389 11.195887031743164 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 7.99022055e-01 6.01301718e-01 4.45930602e-06] [-6.01301689e-01 7.99022018e-01 -3.07083047e-04] [-1.88212648e-04 2.42684739e-04 9.99999953e-01]] t_estimated: [[-9.98913067e-01] [-4.66055863e-02] [-7.76759772e-04]] R_gt: [[ 0.90990833 -0.41379742 0.02896597] [ 0.41454494 0.90960123 -0.02789402] [-0.01480537 0.0373882 0.99919093]] t_gt: [ 0.5736905 -0.81860626 -0.02762245] Pose Error in degrees for R and t: 61.479184553417944 57.663286544878616 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 1.24465092e-01 9.92223441e-01 1.04103894e-03] [-9.92222784e-01 1.24466507e-01 -1.42658277e-03] [-1.54506335e-03 -8.55382801e-04 9.99998441e-01]] t_estimated: [[0.01413739] [0.99989924] [0.00128522]] R_gt: [[ 0.99858833 -0.05280694 -0.00585412] [ 0.05232593 0.99658591 -0.06386986] [ 0.00920736 0.0634744 0.99794134]] t_gt: [ 0.69852437 -0.52757075 -0.4834592 ] Pose Error in degrees for R and t: 85.9293789870257 58.78414881981812 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.86366276 -0.50403422 0.00601185] [ 0.50403665 0.86368141 0.00121409] [-0.00580427 0.00198162 0.99998119]] t_estimated: [[ 0.99955695] [-0.02901656] [ 0.00662837]] R_gt: [[ 0.99388786 -0.10609371 -0.03052411] [ 0.0989598 0.97874147 -0.1796473 ] [ 0.048934 0.17552879 0.98325743]] t_gt: [ 0.58692685 -0.26871563 -0.76374654] Pose Error in degrees for R and t: 26.49413268773066 53.885442971967116 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.16195478 0.90078853 0.40292763] [ 0.96857577 -0.06700205 -0.2395239 ] [-0.18876341 0.42905798 -0.88333325]] t_estimated: [[-0.75743467] [-0.62967735] [-0.17262429]] R_gt: [[ 0.99181032 -0.09675362 -0.08338522] [ 0.07518446 0.96998861 -0.23123525] [ 0.1032559 0.22307327 0.96931772]] t_gt: [ 0.47501449 -0.04182443 -0.87898348] Pose Error in degrees for R and t: 146.97772290051785 79.52988498293243 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.80958793 -0.58696578 -0.00620905] [ 0.58686039 -0.80958155 0.01313755] [-0.01273803 0.00699216 0.99989442]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.99267524 -0.07263944 0.09653825] [ 0.08368031 0.98975121 -0.11571655] [-0.08714389 0.12294785 0.98857937]] t_gt: [ 0.38148916 0.32599867 -0.86498028] Pose Error in degrees for R and t: 139.6794067555923 61.1420507695118 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99788821e-01 -2.05481742e-02 2.93441239e-04] [ 2.05481883e-02 9.99788863e-01 -4.52136722e-05] [-2.92450225e-04 5.12338098e-05 9.99999956e-01]] t_estimated: [[ 6.02888076e-01] [-7.97825523e-01] [ 6.35147587e-04]] R_gt: [[ 0.98465579 -0.07228982 0.15883297] [ 0.10293197 0.97556891 -0.1940887 ] [-0.14092207 0.20745973 0.96803953]] t_gt: [ 0.14974709 0.40926779 -0.90004204] Pose Error in degrees for R and t: 15.032470803644339 76.30135221880522 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.94466185e-01 -1.05056982e-01 1.94603918e-04] [ 1.05057155e-01 9.94463731e-01 -2.20935170e-03] [ 3.85812822e-05 2.21757009e-03 9.99997540e-01]] t_estimated: [[-0.07281743] [-0.99733956] [-0.00338113]] R_gt: [[ 0.96371021 -0.12263744 0.23711151] [ 0.17898355 0.95584531 -0.2330772 ] [-0.19805876 0.26705806 0.9431086 ]] t_gt: [ 0.38505814 0.12734688 -0.914064 ] Pose Error in degrees for R and t: 19.535404445000736 81.25967675851845 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.18877392 0.98201761 -0.00241372] [-0.9820179 0.1887671 -0.00279727] [-0.00229133 0.00289837 0.99999317]] t_estimated: [[0.57039555] [0.82136959] [0.00095066]] R_gt: [[ 0.99485587 -0.09433265 -0.03693622] [ 0.09377978 0.995458 -0.01642986] [ 0.03831822 0.01288223 0.99918279]] t_gt: [ 0.5428298 -0.75788382 -0.36186726] Pose Error in degrees for R and t: 84.54167472814854 71.7466679373429 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99556539e-01 -2.97774507e-02 1.67806153e-04] [ 2.97773225e-02 9.99556297e-01 7.20862248e-04] [-1.89197137e-04 -7.15545756e-04 9.99999726e-01]] t_estimated: [[9.99500835e-01] [3.15855607e-02] [6.58681060e-04]] R_gt: [[ 9.63991676e-01 -2.65826931e-01 -7.60733294e-03] [ 2.65934032e-01 9.63500098e-01 3.07645424e-02] [-8.46543273e-04 -3.16789557e-02 9.99497583e-01]] t_gt: [ 0.66068845 -0.74584725 0.08486845] Pose Error in degrees for R and t: 13.830747614204833 50.44218199324377 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 8.87319173e-01 4.61153064e-01 1.59291711e-03] [-4.61152094e-01 8.87320596e-01 -9.52476818e-04] [-1.85266576e-03 1.10573883e-04 9.99998278e-01]] t_estimated: [[0.66444894] [0.74733239] [0.00138139]] R_gt: [[ 0.87539508 -0.48327701 -0.01125425] [ 0.48318581 0.87404845 0.05070732] [-0.01466855 -0.04982648 0.99864974]] t_gt: [ 0.78581624 -0.60999817 0.10195623] Pose Error in degrees for R and t: 56.45330968191978 86.19251664959732 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-0.25908267 -0.96583241 0.00662737] [-0.9658417 0.25903675 -0.00705519] [ 0.0050974 -0.00822887 -0.99995315]] t_estimated: [[0.74237957] [0.66997866] [0.00108061]] R_gt: [[ 9.84088026e-01 -1.77678899e-01 3.11198138e-04] [ 1.77650332e-01 9.83959162e-01 1.62973600e-02] [-3.20196037e-03 -1.59824509e-02 9.99866629e-01]] t_gt: [ 0.57765347 -0.81422234 0.05795219] Pose Error in degrees for R and t: 179.34706983310068 83.30345601540387 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 7.41715328e-01 -6.70701060e-01 -4.29654058e-03] [-6.70706266e-01 -7.41723004e-01 2.99801523e-04] [-3.38792019e-03 2.65934931e-03 -9.99990725e-01]] t_estimated: [[0.52164188] [0.85316372] [0.00118825]] R_gt: [[ 9.39655874e-01 -3.40795137e-01 3.00987015e-02] [ 3.40622306e-01 9.40138153e-01 1.08193562e-02] [-3.19843110e-02 8.54414000e-05 9.99488003e-01]] t_gt: [ 0.6329463 -0.76947343 0.08537924] Pose Error in degrees for R and t: 179.08865851397755 70.96085517720229 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-7.74482579e-01 6.32595213e-01 -1.76581962e-04] [ 6.32584356e-01 7.74470863e-01 5.64926092e-03] [ 3.71045300e-03 4.26355118e-03 -9.99984027e-01]] t_estimated: [[9.94645781e-01] [1.03339821e-01] [8.07342355e-04]] R_gt: [[ 0.84943937 -0.52734481 0.01896408] [ 0.52697424 0.84961224 0.02140962] [-0.02740321 -0.00819214 0.99959054]] t_gt: [ 0.72537403 -0.68623211 0.05401855] Pose Error in degrees for R and t: 179.02392442279472 49.411732178253274 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.86147095e-01 1.65871306e-01 7.84950193e-04] [-1.65870443e-01 9.86146983e-01 -1.05990834e-03] [-9.49884645e-04 9.15025492e-04 9.99999130e-01]] t_estimated: [[-0.07381315] [-0.99726346] [-0.0041481 ]] R_gt: [[ 0.98986798 -0.13447435 -0.04559987] [ 0.13401142 0.99089426 -0.01307801] [ 0.04694349 0.00683515 0.99887448]] t_gt: [ 0.59588122 -0.74377438 -0.30286175] Pose Error in degrees for R and t: 17.483961263049 45.652254298147966 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.54841665 0.83609469 0.01359607] [ 0.83604834 0.54855622 -0.01045195] [-0.01619703 0.00563495 -0.99985294]] t_estimated: [[ 0.84590278] [-0.53322558] [ 0.01090706]] R_gt: [[ 0.96712776 -0.24681134 -0.0612342 ] [ 0.24846116 0.96841763 0.0208529 ] [ 0.05415328 -0.035381 0.99790541]] t_gt: [ 0.64470111 -0.76204184 -0.06043773] Pose Error in degrees for R and t: 177.23715419536887 18.003902941564846 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99831035e-01 -1.83763654e-02 4.58172943e-04] [ 1.83762538e-02 9.99831112e-01 2.46732029e-04] [-4.62629601e-04 -2.38270838e-04 9.99999865e-01]] t_estimated: [[9.99767657e-01] [2.15524912e-02] [3.50048469e-04]] R_gt: [[ 0.89284864 -0.44935922 -0.02997658] [ 0.45027421 0.89198925 0.04010999] [ 0.00871396 -0.04930872 0.99874569]] t_gt: [ 0.75208891 -0.65635456 0.05967374] Pose Error in degrees for R and t: 25.85390696076604 42.456590170445416 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99957112e-01 9.26103162e-03 -8.49353445e-05] [-9.26104933e-03 9.99957093e-01 -2.10540544e-04] [ 8.29818776e-05 2.11318105e-04 9.99999974e-01]] t_estimated: [[-0.19534084] [-0.98073426] [-0.00150476]] R_gt: [[ 0.99528203 -0.0540126 0.08060875] [ 0.06019586 0.99526105 -0.07636396] [-0.0761023 0.08085463 0.99381674]] t_gt: [ 0.60246291 -0.4389066 -0.66663291] Pose Error in degrees for R and t: 7.4234535121515774 71.71352941997475 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.75069774e-01 2.21898460e-01 9.63838574e-05] [-2.21898424e-01 9.75069743e-01 -2.93718277e-04] [-1.59156616e-04 2.65008388e-04 9.99999952e-01]] t_estimated: [[-0.80612427] [-0.59174484] [-0.0013073 ]] R_gt: [[ 0.98882986 -0.08445473 0.12282025] [ 0.09841753 0.9887707 -0.11245671] [-0.11194349 0.12328815 0.98603721]] t_gt: [ 0.67885889 -0.4809802 -0.55480505] Pose Error in degrees for R and t: 20.458438833274414 74.81706255328145 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.94202384 0.33554426 0.00106076] [-0.33554409 -0.94200344 -0.00629878] [-0.00111428 -0.00628953 0.9999796 ]] t_estimated: [[0.61514824] [0.78840451] [0.00331264]] R_gt: [[ 0.98151776 -0.10986115 0.15670079] [ 0.1278569 0.98569765 -0.10978533] [-0.1423991 0.12779082 0.98152593]] t_gt: [ 0.75882637 -0.568558 -0.31768593] Pose Error in degrees for R and t: 167.31577185507186 88.99815299758704 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.62697355e-01 -2.70580455e-01 1.41607472e-04] [ 2.70580463e-01 9.62697362e-01 -4.34458137e-05] [-1.24569551e-04 8.01413853e-05 9.99999989e-01]] t_estimated: [[0.86734576] [0.49770512] [0.00097019]] R_gt: [[ 0.99674907 -0.07932068 0.01411913] [ 0.08003166 0.994978 -0.06012442] [-0.0092782 0.06105841 0.99809141]] t_gt: [ 0.73724296 -0.62621409 -0.2536311 ] Pose Error in degrees for R and t: 11.671081617958246 70.88116403174092 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-8.05080072e-01 5.93151373e-01 4.18647236e-03] [-5.93165548e-01 -8.05069235e-01 -4.26144053e-03] [ 8.42720797e-04 -5.91407202e-03 9.99982157e-01]] t_estimated: [[0.51654698] [0.85625806] [0.00116339]] R_gt: [[ 0.99020836 -0.13953149 -0.00423151] [ 0.13721915 0.97847625 -0.15413224] [ 0.02564659 0.15204185 0.98804137]] t_gt: [ 0.70745261 -0.46178793 -0.53503524] Pose Error in degrees for R and t: 151.72146674335005 88.24649915268061 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.66565012e-01 -2.56419115e-01 -1.14718377e-03] [ 2.56420823e-01 9.66563677e-01 1.73760079e-03] [ 6.63272103e-04 -1.97366593e-03 9.99997832e-01]] t_estimated: [[0.88600103] [0.46367387] [0.00295334]] R_gt: [[ 0.98735281 -0.15389503 -0.03807615] [ 0.13978997 0.95841715 -0.24878947] [ 0.07477978 0.24031972 0.96780928]] t_gt: [ 0.61639135 -0.23007826 -0.75307749] Pose Error in degrees for R and t: 15.949095071847067 64.0734873650053 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999853e-01 5.33685239e-04 9.71888222e-05] [-5.33684298e-04 9.99999858e-01 -9.71167548e-06] [-9.71939914e-05 9.65980590e-06 9.99999995e-01]] t_estimated: [[9.99994892e-01] [3.10075938e-03] [7.75189839e-04]] R_gt: [[ 0.98165193 -0.1847794 -0.04708479] [ 0.18476601 0.98277153 -0.00467688] [ 0.04713827 -0.00410784 0.99887944]] t_gt: [ 0.63761487 -0.74963813 -0.17745408] Pose Error in degrees for R and t: 11.023716139890231 50.568918741268206 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999998e-01 6.54492444e-05 -2.55648374e-05] [-6.54479353e-05 9.99999997e-01 5.12030387e-05] [ 2.55681885e-05 -5.12013655e-05 9.99999998e-01]] t_estimated: [[0.99991238] [0.01318636] [0.00116393]] R_gt: [[ 0.95294139 -0.30308634 0.00660147] [ 0.30315448 0.95261633 -0.02491434] [ 0.00126291 0.02574373 0.99966843]] t_gt: [ 0.57098396 -0.81925432 -0.052912 ] Pose Error in degrees for R and t: 17.713114445892256 55.93940517908504 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999896e-01 -4.40208012e-04 1.21666371e-04] [ 4.40236404e-04 9.99999876e-01 -2.33438045e-04] [-1.21563594e-04 2.33491583e-04 9.99999965e-01]] t_estimated: [[9.97155564e-01] [7.53664089e-02] [8.28202296e-04]] R_gt: [[ 0.92304253 -0.38449407 0.01259914] [ 0.38441208 0.92312319 0.00844661] [-0.01487786 -0.00295255 0.99988508]] t_gt: [ 0.53851916 -0.84074315 0.05610768] Pose Error in degrees for R and t: 22.602289613996103 61.727207363729455 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.53183543 -0.84681666 0.00725391] [-0.84681627 0.53186999 0.0040641 ] [-0.00729968 -0.0039813 -0.99996543]] t_estimated: [[0.86475555] [0.50216595] [0.00521503]] R_gt: [[ 0.99579377 -0.08289068 0.03904137] [ 0.08428976 0.99580179 -0.03567 ] [-0.03592085 0.03881029 0.99860106]] t_gt: [ 0.79278544 -0.60924562 -0.01763592] Pose Error in degrees for R and t: 178.67675742881607 67.69535113969584 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.96347600e-01 8.53900473e-02 3.07772732e-06] [-8.53900473e-02 9.96347600e-01 1.33398161e-07] [-3.05509535e-06 -3.95718219e-07 1.00000000e+00]] t_estimated: [[8.23274563e-01] [5.67643006e-01] [6.40680594e-04]] R_gt: [[ 0.99034987 -0.09311668 0.10265388] [ 0.10405531 0.9888053 -0.10693289] [-0.09154723 0.11658252 0.98895271]] t_gt: [ 0.80948568 -0.53664653 -0.23820881] Pose Error in degrees for R and t: 13.585223035728077 68.79827109876197 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 0.85831868 0.51302414 0.00976102] [ 0.51311507 -0.85821226 -0.01358864] [ 0.00140573 0.01667191 -0.99986003]] t_estimated: [[-9.58459084e-01] [-2.85229083e-01] [-7.44723453e-04]] R_gt: [[ 0.98920795 -0.05025591 0.13763465] [ 0.07687295 0.97768445 -0.19550607] [-0.124737 0.20397619 0.97099669]] t_gt: [ 0.40333916 -0.05580912 -0.91334707] Pose Error in degrees for R and t: 165.92757260523533 68.28527645672446 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99349316e-01 3.60685339e-02 7.33911924e-05] [-3.60685315e-02 9.99349318e-01 -3.29936597e-05] [-7.45334710e-05 3.03250787e-05 9.99999997e-01]] t_estimated: [[-0.44953178] [-0.89326316] [-0.0014501 ]] R_gt: [[ 0.99929781 -0.03615958 -0.00982044] [ 0.03584148 0.99888193 -0.03082926] [ 0.01092375 0.03045474 0.99947705]] t_gt: [ 0.79191917 -0.05010909 -0.60856644] Pose Error in degrees for R and t: 4.5271687431397565 71.91969083741374 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 4.80504276e-01 -8.76992109e-01 -6.93343354e-04] [ 8.76992311e-01 4.80503766e-01 7.85776587e-04] [-3.55965774e-04 -9.85625801e-04 9.99999451e-01]] t_estimated: [[9.97961515e-01] [6.38127603e-02] [8.64214371e-04]] R_gt: [[ 0.98462067 -0.1743554 -0.01108383] [ 0.17307776 0.98211518 -0.07413095] [ 0.02381016 0.07107108 0.99718713]] t_gt: [ 0.9208323 -0.07991486 -0.38168245] Pose Error in degrees for R and t: 51.43595281250071 24.002775537476584 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.95889418e-01 9.05763743e-02 4.34048454e-04] [-9.05764440e-02 9.95889495e-01 1.43445151e-04] [-4.19271554e-04 -1.82170073e-04 9.99999896e-01]] t_estimated: [[0.69419928] [0.71978202] [0.00110155]] R_gt: [[ 0.94607132 -0.32395154 -0.00219181] [ 0.32343008 0.94489283 -0.05070436] [ 0.01849656 0.04726145 0.99871206]] t_gt: [ 0.98515346 -0.08328022 -0.15012351] Pose Error in degrees for R and t: 24.26972936741632 51.4070193954772 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 8.34177971e-01 5.51494505e-01 9.61369614e-04] [-5.51493663e-01 8.34178465e-01 -1.01377245e-03] [-1.36104377e-03 3.15477398e-04 9.99999024e-01]] t_estimated: [[0.09907478] [0.99507875] [0.00157263]] R_gt: [[ 0.97688943 -0.21239231 -0.02405133] [ 0.21254532 0.9771433 0.0039645 ] [ 0.02265966 -0.00898362 0.99970232]] t_gt: [ 0.75526969 -0.65356228 -0.04923461] Pose Error in degrees for R and t: 45.76117482992228 54.85867656088005 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.31788581 0.94809409 0.00813747] [ 0.94810537 -0.31780557 -0.00978885] [-0.00669462 0.01082691 -0.99991898]] t_estimated: [[-7.85627485e-01] [-6.18699403e-01] [-7.10332265e-04]] R_gt: [[ 0.91331093 -0.4071537 -0.00940277] [ 0.40725387 0.91319938 0.01452546] [ 0.00267178 -0.01709487 0.99984935]] t_gt: [ 0.80891136 -0.58740029 0.0249662 ] Pose Error in degrees for R and t: 179.7550489253862 74.21093937798852 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 4.60020117e-01 8.87900767e-01 3.70412757e-03] [ 8.87906414e-01 -4.60024064e-01 2.44606469e-04] [ 1.92117409e-03 3.17639473e-03 -9.99993110e-01]] t_estimated: [[0.9920394 ] [0.12592111] [0.00130166]] R_gt: [[ 0.85432139 -0.51894559 0.02881742] [ 0.51880971 0.85479702 0.01260916] [-0.03117645 0.00418 0.99950512]] t_gt: [ 0.83338676 -0.54981981 0.05625554] Pose Error in degrees for R and t: 179.14039513073277 40.747645936123625 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.93974341e-01 1.09611354e-01 -6.00011511e-04] [-1.09612182e-01 9.93973166e-01 -1.58606603e-03] [ 4.22544495e-04 1.64227751e-03 9.99998562e-01]] t_estimated: [[0.78380726] [0.62100361] [0.00083919]] R_gt: [[ 0.97422679 0.22252893 -0.036928 ] [-0.2230357 0.97475722 -0.01013262] [ 0.0337407 0.01810792 0.99926679]] t_gt: [-0.31162943 0.93656616 -0.16040865] Pose Error in degrees for R and t: 6.921198853806862 70.29247287002616 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 6.20849329e-01 7.83927608e-01 1.90164452e-03] [ 7.83928003e-01 -6.20851346e-01 7.02316606e-04] [ 1.73120393e-03 1.05471959e-03 -9.99997945e-01]] t_estimated: [[0.72926153] [0.68423449] [0.00088288]] R_gt: [[ 0.9272811 0.37205771 -0.04151629] [-0.37096273 0.92810157 0.03183219] [ 0.05037455 -0.01411648 0.99863047]] t_gt: [-0.26432555 0.95991112 -0.09328794] Pose Error in degrees for R and t: 177.61375516465716 62.35709762241132 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-9.35560339e-01 3.53166889e-01 1.70309798e-05] [-3.53166292e-01 -9.35558667e-01 -1.88462423e-03] [-6.49653396e-04 -1.76919445e-03 9.99998224e-01]] t_estimated: [[0.62559881] [0.78014396] [0.00123636]] R_gt: [[ 0.87804175 0.47634147 -0.04627003] [-0.47474616 0.87913931 0.04160263] [ 0.06049467 -0.01456297 0.99806221]] t_gt: [-0.2192343 0.97114459 -0.09388555] Pose Error in degrees for R and t: 130.92296171837882 51.65729392998755 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99992246e-01 -3.93790635e-03 2.12923691e-05] [ 3.93791118e-03 9.99992220e-01 -2.31860192e-04] [-2.03791597e-05 2.31942241e-04 9.99999973e-01]] t_estimated: [[ 0.90225833] [ 0.43119342] [-0.00146108]] R_gt: [[ 0.99930081 -0.03036678 -0.02180687] [ 0.03062765 0.999462 0.01172583] [ 0.02143924 -0.01238585 0.99969345]] t_gt: [ 0.99512082 -0.07280252 0.06659087] Pose Error in degrees for R and t: 2.086177221578725 29.960856957390725 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.9998699 0.01565879 -0.00386985] [ 0.01565369 0.99987657 0.00134337] [ 0.00389041 0.00128262 -0.99999161]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99250418 -0.10523506 0.06213506] [ 0.1103748 0.99015481 -0.08607759] [-0.05246474 0.0922915 0.99434925]] t_gt: [ 0.8236487 0.16190339 -0.54349804] Pose Error in degrees for R and t: 176.88516666532067 34.54054187188955 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 8.79810611e-01 4.75324339e-01 2.48249312e-04] [-4.75323365e-01 8.79809659e-01 -1.63158023e-03] [-9.93941936e-04 1.31748290e-03 9.99998638e-01]] t_estimated: [[8.89095011e-01] [4.57722072e-01] [7.52832355e-04]] R_gt: [[ 0.98698315 -0.09812914 0.12741857] [ 0.1200544 0.97672848 -0.1777287 ] [-0.10701304 0.19071311 0.97579549]] t_gt: [ 0.45055397 0.42731775 -0.78383713] Pose Error in degrees for R and t: 36.84797757811399 53.44544224737849 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-9.90768873e-01 1.35560515e-01 -6.21615852e-04] [ 1.35559014e-01 9.90767200e-01 2.02735662e-03] [ 8.90706105e-04 1.92437621e-03 -9.99997752e-01]] t_estimated: [[0.79572356] [0.6056593 ] [0.0009094 ]] R_gt: [[ 0.98096752 0.19126188 -0.03347272] [-0.19046711 0.9813614 0.02553123] [ 0.03773218 -0.01867019 0.99911333]] t_gt: [-0.34621437 0.93088268 -0.1165892 ] Pose Error in degrees for R and t: 177.81376168499818 73.24972881895583 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.1286169 0.99167408 -0.00634059] [ 0.99166405 -0.12856035 0.00864038] [ 0.0077533 -0.00739903 -0.99994257]] t_estimated: [[-0.66025525] [-0.75104035] [-0.00117903]] R_gt: [[ 0.94895489 0.31423991 -0.02716313] [-0.31210048 0.94795136 0.06309865] [ 0.04557828 -0.05139974 0.9976373 ]] t_gt: [-0.32207765 0.94548753 -0.04815933] Pose Error in degrees for R and t: 175.49518065572045 60.17258993875618 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 7.97718711e-01 6.03029309e-01 -7.14382975e-04] [-6.03029681e-01 7.97718573e-01 -5.31004236e-04] [ 2.49665450e-04 8.54386152e-04 9.99999604e-01]] t_estimated: [[-0.99972515] [-0.02337487] [-0.00179807]] R_gt: [[ 0.91026747 0.41325891 -0.02509857] [-0.41267758 0.91052554 0.02529562] [ 0.03330745 -0.01266899 0.99936487]] t_gt: [-0.26726351 0.96153763 -0.06336878] Pose Error in degrees for R and t: 12.850029909933799 75.82832020154106 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 5.53750977e-01 8.32677435e-01 -2.85390288e-03] [-8.32681974e-01 5.53744343e-01 -2.81647482e-03] [-7.64882451e-04 3.93601916e-03 9.99991961e-01]] t_estimated: [[ 3.35254377e-01] [ 9.42127213e-01] [-9.03890544e-04]] R_gt: [[ 9.89027349e-01 -1.47723881e-01 -1.35671167e-03] [ 1.47729826e-01 9.88978430e-01 9.85644959e-03] [-1.14553014e-04 -9.94783220e-03 9.99950255e-01]] t_gt: [ 0.72729502 -0.68594214 0.02292017] Pose Error in degrees for R and t: 64.87537955200305 66.26940710843544 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.34145933e-01 3.56891154e-01 2.82532533e-04] [-3.56888559e-01 9.34141639e-01 -3.15499636e-03] [-1.38991569e-03 2.84639439e-03 9.99994983e-01]] t_estimated: [[8.00211424e-01] [5.99717679e-01] [6.18829097e-04]] R_gt: [[ 0.93793002 -0.34310785 -0.05063883] [ 0.34323433 0.93922776 -0.00643734] [ 0.04976987 -0.01134298 0.99869673]] t_gt: [ 0.80192309 -0.58970892 -0.09572222] Pose Error in degrees for R and t: 41.09755104123479 73.26234636256581 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-9.99317578e-01 -3.69368795e-02 2.14470370e-04] [-3.69362854e-02 9.99314942e-01 2.31467573e-03] [-2.99820344e-04 2.30517441e-03 -9.99997298e-01]] t_estimated: [[0.99413876] [0.10809708] [0.00177208]] R_gt: [[ 0.86393561 -0.50202279 -0.03984507] [ 0.50265959 0.86445268 0.00729985] [ 0.03077932 -0.02633453 0.99917924]] t_gt: [ 0.84511835 -0.53435694 -0.01541526] Pose Error in degrees for R and t: 177.97168274164918 38.52143894164652 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.98419790e-01 -5.61953879e-02 -4.13005658e-05] [ 5.61953918e-02 9.98419785e-01 1.01636400e-04] [ 3.55238051e-05 -1.03796695e-04 9.99999994e-01]] t_estimated: [[3.34780927e-01] [9.42295961e-01] [2.28156668e-04]] R_gt: [[ 0.99927706 0.01149474 -0.03625607] [-0.01244395 0.99958268 -0.02606444] [ 0.03594125 0.02649626 0.9990021 ]] t_gt: [ 6.52825351e-04 4.18345611e-01 -9.08287687e-01] Pose Error in degrees for R and t: 4.671745235515735 66.7828692965881 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-5.46644933e-01 -8.37364294e-01 -5.97005324e-04] [-8.37355346e-01 5.46642149e-01 -4.28789441e-03] [ 3.91687794e-03 -1.84405015e-03 -9.99990629e-01]] t_estimated: [[0.88860496] [0.4586719 ] [0.00114955]] R_gt: [[ 0.99642965 0.02683677 -0.0800479 ] [-0.0326933 0.99681157 -0.07278183] [ 0.07783998 0.07513911 0.99412973]] t_gt: [ 0.00614488 0.42723866 -0.90411801] Pose Error in degrees for R and t: 173.84860878910348 78.44061929719807 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 1.03956951e-01 9.94581012e-01 1.24989032e-03] [ 9.94567523e-01 -1.03962110e-01 5.22711830e-03] [ 5.32873384e-03 6.99705040e-04 -9.99985557e-01]] t_estimated: [[0.71712868] [0.69694023] [0.00087776]] R_gt: [[ 0.99563649 0.02907799 -0.08867555] [-0.03679234 0.99555987 -0.08664208] [ 0.08576223 0.08952657 0.99228528]] t_gt: [ 0.0143436 0.41146415 -0.91131307] Pose Error in degrees for R and t: 179.77255212483848 72.7673589973457 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99995752 -0.00421227 0.00819815] [ 0.00429137 0.99994418 -0.00965469] [-0.00815703 0.00968946 0.99991979]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99961849 -0.01949906 -0.01956723] [ 0.01904526 0.99955051 -0.02310838] [ 0.0200092 0.02272752 0.99954117]] t_gt: [ 0.5037508 -0.45785385 -0.73253326] Pose Error in degrees for R and t: 1.9721943870356682 89.60043380324271 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-0.9936801 -0.11224463 0.001003 ] [-0.11224089 0.99367579 0.00322699] [-0.00135887 0.00309402 -0.99999429]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98882553 -0.14825716 -0.01560776] [ 0.14771685 0.98853028 -0.03140026] [ 0.02008394 0.02874436 0.99938484]] t_gt: [ 0.76019242 -0.61490366 -0.20976408] Pose Error in degrees for R and t: 178.9606061308043 40.70132403652226 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 1.00000000e+00 8.38088279e-17 -1.48366291e-15] [-8.38088279e-17 1.00000000e+00 1.30812767e-15] [ 1.48289042e-15 1.34993970e-16 1.00000000e+00]] t_estimated: [[9.9999984e-01] [5.5716333e-04] [9.2860555e-05]] R_gt: [[ 0.95774769 -0.28723442 -0.01469942] [ 0.28639903 0.95715443 -0.04278088] [ 0.02635741 0.03676396 0.9989756 ]] t_gt: [ 0.83149751 -0.53591328 -0.14631766] Pose Error in degrees for R and t: 16.875290249811005 33.77932052975359 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-6.30293020e-01 -7.76357315e-01 -1.69196373e-04] [-7.76357174e-01 6.30292737e-01 7.76948351e-04] [-4.96546290e-04 6.21061941e-04 -9.99999684e-01]] t_estimated: [[0.98711382] [0.16001635] [0.00103907]] R_gt: [[ 0.98846554 -0.15027431 -0.01878452] [ 0.15099951 0.98745149 0.04623945] [ 0.01159998 -0.0485424 0.99875361]] t_gt: [ 0.69240446 -0.68828028 0.2164401 ] Pose Error in degrees for R and t: 179.60522508845895 55.000393455130656 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.88690909 -0.46193836 -0.00228249] [ 0.46193074 -0.88691024 0.00319516] [-0.00350033 0.00177946 0.99999229]] t_estimated: [[9.53057048e-01] [3.02789416e-01] [9.12016314e-04]] R_gt: [[ 0.96617984 -0.257171 -0.01896451] [ 0.2571644 0.95549744 0.14453567] [-0.01905007 -0.14452325 0.98931734]] t_gt: [ 0.61479031 -0.64690715 0.45115852] Pose Error in degrees for R and t: 137.60976622322164 67.01655999678614 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99670464e-01 -2.56702614e-02 2.68114155e-05] [ 2.56702613e-02 9.99670465e-01 5.54226180e-06] [-2.69448515e-05 -4.85217939e-06 1.00000000e+00]] t_estimated: [[0.76838291] [0.63998981] [0.00085819]] R_gt: [[ 0.9539515 -0.29744507 -0.03876376] [ 0.29985196 0.94213799 0.14987984] [-0.00806095 -0.15460084 0.98794404]] t_gt: [ 0.64640046 -0.65234578 0.39574162] Pose Error in degrees for R and t: 18.309917736216743 85.43856195480559 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-4.47372066e-01 -8.94347798e-01 5.01628506e-04] [-8.94347581e-01 4.47371315e-01 -1.14485339e-03] [ 7.99482907e-04 -9.60805669e-04 -9.99999219e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.97693596 -0.21233151 -0.02258963] [ 0.21280507 0.97686613 0.021133 ] [ 0.01758007 -0.02545241 0.99952129]] t_gt: [ 0.98394943 -0.14852819 0.09890848] Pose Error in degrees for R and t: 179.7021560266733 41.89150868171097 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-0.3779341 0.92580333 -0.00734908] [-0.92581338 -0.3779654 -0.00342649] [-0.00594995 0.00550889 0.99996712]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.91675886 -0.39634888 -0.04960664] [ 0.39841651 0.91621815 0.04253237] [ 0.02859196 -0.05875593 0.99786288]] t_gt: [ 0.98993839 -0.05512292 0.13032054] Pose Error in degrees for R and t: 135.68495092145008 87.20215379923275 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 5.00819365e-01 8.65550966e-01 1.22026247e-03] [-8.65548934e-01 5.00820839e-01 -1.87889677e-03] [-2.23741378e-03 -1.15208990e-04 9.99997490e-01]] t_estimated: [[0.94874453] [0.31604187] [0.00116142]] R_gt: [[ 0.88673163 -0.46081643 -0.03682311] [ 0.46227711 0.88434724 0.06503868] [ 0.00259308 -0.07469405 0.9972033 ]] t_gt: [ 0.98793179 -0.01585781 0.15407564] Pose Error in degrees for R and t: 87.56291125299065 21.178076996566794 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.88962375e-01 1.48166761e-01 1.77036795e-04] [-1.48166745e-01 9.88962388e-01 -9.99775206e-05] [-1.89896077e-04 7.26430405e-05 9.99999979e-01]] t_estimated: [[-0.86410818] [-0.50330511] [-0.00101065]] R_gt: [[ 0.99799727 -0.02237538 0.05918321] [ 0.02174303 0.99970074 0.01129672] [-0.05941854 -0.00998663 0.99818285]] t_gt: [ 0.27984138 -0.25384147 0.92587975] Pose Error in degrees for R and t: 10.37281284270561 83.3969946539912 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.88959886 0.45658509 -0.01199679] [-0.45658816 0.88967425 0.00264197] [ 0.01187952 0.00312729 0.99992455]] t_estimated: [[-0.98862705] [-0.14922672] [-0.01865334]] R_gt: [[ 9.91753299e-01 -9.77715880e-02 8.28752373e-02] [ 9.74155177e-02 9.95208882e-01 8.34297157e-03] [-8.32938616e-02 -1.99921630e-04 9.96525249e-01]] t_gt: [ 0.63191318 -0.60215622 0.48794838] Pose Error in degrees for R and t: 33.22543818398342 57.04565859547364 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99075038e-01 -4.30007583e-02 6.00065095e-05] [ 4.30007607e-02 9.99075039e-01 -4.08074369e-05] [-5.81962551e-05 4.33500172e-05 9.99999997e-01]] t_estimated: [[ 6.25018720e-01] [-7.80609698e-01] [-3.14616458e-04]] R_gt: [[ 0.98854283 -0.12726981 0.08115822] [ 0.12856248 0.99164227 -0.01088593] [-0.07909398 0.02119555 0.99664157]] t_gt: [ 0.71502885 -0.64835581 0.26147369] Pose Error in degrees for R and t: 6.781617555235118 17.648006628093032 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 8.97341242e-01 4.41337377e-01 1.20164168e-04] [-4.41337227e-01 8.97341107e-01 -6.23929819e-04] [-3.83191797e-04 5.06845038e-04 9.99999798e-01]] t_estimated: [[0.68817618] [0.72554321] [0.00077848]] R_gt: [[ 0.99275905 -0.11255227 -0.04197262] [ 0.11316924 0.99349534 0.01262898] [ 0.0402786 -0.01728739 0.99903924]] t_gt: [ 0.65160582 -0.73680096 -0.18037241] Pose Error in degrees for R and t: 32.768401574536156 85.04911545965528 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-5.71272832e-01 -8.20758592e-01 -1.63883323e-03] [ 8.20756975e-01 -5.71275050e-01 1.67497263e-03] [-2.31097271e-03 -3.88217447e-04 9.99997254e-01]] t_estimated: [[9.21960011e-01] [3.87284153e-01] [8.49858151e-04]] R_gt: [[ 0.96878091 -0.22824784 -0.0967843 ] [ 0.23219773 0.97215597 0.03158111] [ 0.086882 -0.05306825 0.99480464]] t_gt: [ 0.69474935 -0.70437082 -0.14555095] Pose Error in degrees for R and t: 111.59414686460825 68.43134959426861 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 8.67118085e-01 4.98101085e-01 1.23886280e-03] [-4.98102471e-01 8.67117096e-01 1.36754132e-03] [-3.93065301e-04 -1.80290043e-03 9.99998298e-01]] t_estimated: [[0.50891773] [0.86081402] [0.00140198]] R_gt: [[ 0.95939977 -0.27075541 -0.07901255] [ 0.2737158 0.96136759 0.02920369] [ 0.06805382 -0.04964442 0.99644597]] t_gt: [ 0.67654489 -0.73159896 -0.08396407] Pose Error in degrees for R and t: 45.941769775083635 73.40631950244486 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.03691635 0.99931438 0.00282168] [-0.99931599 -0.03690997 -0.00228044] [-0.00217473 -0.00290394 0.99999342]] t_estimated: [[0.09322186] [0.99564293] [0.00220105]] R_gt: [[ 0.98591269 -0.13729236 -0.0955307 ] [ 0.13763358 0.99047942 -0.00303175] [ 0.09503814 -0.01015892 0.99542135]] t_gt: [ 0.63158008 -0.69884124 -0.3357492 ] Pose Error in degrees for R and t: 100.15773987932825 50.38257718624235 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.91633678 -0.40000868 0.01788735] [-0.40039118 0.91579704 -0.03166505] [-0.00371489 -0.03617779 -0.99933846]] t_estimated: [[0.99355912] [0.11217603] [0.01602515]] R_gt: [[ 0.97645322 -0.1817079 -0.11628189] [ 0.19533545 0.97347941 0.11908996] [ 0.09155897 -0.13899965 0.98605028]] t_gt: [ 0.53690172 -0.82344202 0.18352053] Pose Error in degrees for R and t: 176.08658793109208 63.639722118839856 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.99879165 0.04368991 -0.0225039 ] [-0.04339434 0.99896735 0.0134597 ] [ 0.02306871 -0.01246689 0.99965615]] t_estimated: [[-0.42099851] [-0.90706043] [-0.00127575]] R_gt: [[ 0.95725643 -0.22063964 -0.18702411] [ 0.25078392 0.95529218 0.15660632] [ 0.14411033 -0.19681483 0.9697917 ]] t_gt: [ 0.5585728 -0.80562186 0.1974078 ] Pose Error in degrees for R and t: 20.655539053185446 60.30798890447235 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.49491186e-01 3.13793702e-01 3.10515856e-05] [-3.13793632e-01 9.49491031e-01 -5.81850573e-04] [-2.12064247e-04 5.42718201e-04 9.99999830e-01]] t_estimated: [[0.45207926] [0.89197674] [0.00135353]] R_gt: [[ 0.99896148 -0.03945739 -0.02276935] [ 0.04222559 0.98956706 0.13774935] [ 0.01709717 -0.13856712 0.99020543]] t_gt: [ 0.1405455 -0.66294725 0.73535563] Pose Error in degrees for R and t: 22.142079744419107 58.2104686355161 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.41704744 0.90449009 0.08926985] [-0.90886491 -0.4156704 -0.03439036] [ 0.00600109 -0.09547665 0.99541358]] t_estimated: [[0.43801911] [0.89896485] [0.00120666]] R_gt: [[ 0.98814837 -0.08405556 -0.12844072] [ 0.10050208 0.98674013 0.12745153] [ 0.11602487 -0.13884836 0.98349303]] t_gt: [ 0.44515614 -0.86623395 0.22688049] Pose Error in degrees for R and t: 120.41593561490949 54.30620881971466 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.09439576e-01 -4.15835735e-01 -5.47108238e-04] [ 4.15836036e-01 9.09439361e-01 6.63388205e-04] [ 2.21701245e-04 -8.30818809e-04 9.99999630e-01]] t_estimated: [[9.07792634e-01] [4.19418680e-01] [7.10879118e-04]] R_gt: [[ 0.97252862 -0.12699322 -0.19509054] [ 0.15357103 0.97984758 0.12772866] [ 0.17493773 -0.15417985 0.97243238]] t_gt: [ 0.5315137 -0.84470875 0.06293102] Pose Error in degrees for R and t: 21.169921221423746 82.63080965917328 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.13946367 0.99021137 0.00559735] [-0.99021874 0.1394836 -0.00334178] [-0.00408981 -0.00507654 0.99997875]] t_estimated: [[-0.4549821 ] [ 0.89048199] [ 0.00575521]] R_gt: [[ 0.9951358 0.07627304 0.06234486] [-0.06885477 0.99114452 -0.11353968] [-0.07045217 0.10869463 0.99157497]] t_gt: [-0.41846586 0.86609086 -0.27344641] Pose Error in degrees for R and t: 78.08970363099519 16.24811794980725 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 8.89532262e-01 -4.56871078e-01 -1.08326789e-03] [ 4.56871563e-01 8.89532640e-01 2.39366248e-04] [ 8.54242631e-04 -7.07838295e-04 9.99999385e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9875885 0.09090439 0.12808658] [-0.07891287 0.99226984 -0.09577967] [-0.13580266 0.08448377 0.98712725]] t_gt: [-0.44300297 0.85655918 0.26467858] Pose Error in degrees for R and t: 33.36579092410858 31.34459391327642 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99997565e-01 5.33811309e-04 -2.14116568e-03] [-5.28309062e-04 9.99996559e-01 2.56948671e-03] [ 2.14252993e-03 -2.56834926e-03 9.99994407e-01]] t_estimated: [[-0.76860387] [-0.63972332] [-0.0014758 ]] R_gt: [[ 0.98509544 0.01413499 0.1714269 ] [ 0.00375101 0.99461561 -0.1035635 ] [-0.17196687 0.10266337 0.97973823]] t_gt: [-0.04265894 0.71524312 0.69757258] Pose Error in degrees for R and t: 11.73770943644374 64.79872982455166 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.94069016e-01 -1.08749848e-01 -5.12010536e-04] [ 1.08749904e-01 9.94069138e-01 8.34145909e-05] [ 4.99902548e-04 -1.38600957e-04 9.99999865e-01]] t_estimated: [[-0.6071937 ] [-0.79455234] [-0.00154595]] R_gt: [[ 0.98722711 0.15803044 0.02023874] [-0.15827907 0.98732904 0.01133957] [-0.01819035 -0.01439767 0.99973067]] t_gt: [-0.38428965 0.9109978 0.1496812 ] Pose Error in degrees for R and t: 15.40325771420647 60.61151998958685 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.15797405 -0.98743183 -0.00475098] [-0.98742487 -0.15799865 0.00534361] [-0.0060271 0.00384708 -0.99997444]] t_estimated: [[0.76458295] [0.64452447] [0.00105314]] R_gt: [[ 0.93506652 0.35390047 -0.02009788] [-0.3540618 0.93520836 -0.00503029] [ 0.01701593 0.01181912 0.99978494]] t_gt: [-0.26927436 0.96177906 -0.04972293] Pose Error in degrees for R and t: 178.90751381070046 65.54646281900632 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.21946843 0.97561583 -0.00271384] [ 0.97560839 -0.21945171 0.00540588] [ 0.00467851 -0.00383407 -0.99998171]] t_estimated: [[-0.73908621] [-0.67361012] [-0.00099206]] R_gt: [[ 0.87205978 0.48908763 -0.01744935] [-0.48829786 0.87193554 0.03595535] [ 0.03280115 -0.02283444 0.99920038]] t_gt: [-0.21214281 0.97681656 -0.02871994] Pose Error in degrees for R and t: 177.36377429896575 59.92235105882439 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.93055538e-01 1.17646095e-01 3.09255738e-04] [-1.17646035e-01 9.93055572e-01 -2.05087980e-04] [-3.31235933e-04 1.67281043e-04 9.99999931e-01]] t_estimated: [[0.97931693] [0.20232959] [0.00104294]] R_gt: [[ 0.98825253 -0.14826922 -0.03706197] [ 0.1488056 0.9887918 0.01214905] [ 0.03484573 -0.01752087 0.99923962]] t_gt: [ 0.66969424 -0.73219886 -0.12407438] Pose Error in degrees for R and t: 15.466154739451623 59.49802813324659 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.09370775 -0.99558422 -0.00556006] [ 0.99559464 0.09372369 -0.00268001] [ 0.00318928 -0.00528443 0.99998095]] t_estimated: [[9.98452415e-01] [5.56054267e-02] [9.00863679e-04]] R_gt: [[ 0.97325682 -0.22112201 -0.06226161] [ 0.22357385 0.97403851 0.03556074] [ 0.05278267 -0.04852854 0.99742621]] t_gt: [ 0.6686284 -0.74135489 -0.0576974 ] Pose Error in degrees for R and t: 71.84101593376035 51.22098692129071 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-1.58759931e-01 9.87316154e-01 -1.44780211e-03] [ 9.87309950e-01 1.58764218e-01 3.60367644e-03] [ 3.78782713e-03 -8.57310005e-04 -9.99992459e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.96756292 -0.25087908 -0.02970175] [ 0.25166479 0.96745205 0.02650118] [ 0.02208715 -0.03311647 0.9992073 ]] t_gt: [ 0.63047191 -0.77615504 -0.00940879] Pose Error in degrees for R and t: 177.56119343627034 39.446966191121525 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99995796e-01 -2.89951646e-03 1.82143865e-05] [ 2.89951362e-03 9.99995785e-01 1.54044247e-04] [-1.86609636e-05 -1.53990787e-04 9.99999988e-01]] t_estimated: [[-0.41320221] [ 0.91063879] [ 0.00096421]] R_gt: [[ 0.9958338 0.07222741 0.05567085] [-0.07559713 0.99527027 0.06101155] [-0.05099956 -0.06496546 0.99658338]] t_gt: [-0.44358998 0.17200378 0.87956957] Pose Error in degrees for R and t: 6.4675018818552354 70.07597666984748 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99928312e-01 1.19737206e-02 2.82575715e-05] [-1.19737136e-02 9.99928285e-01 -2.35915067e-04] [-3.10803261e-05 2.35559807e-04 9.99999972e-01]] t_estimated: [[-0.5881124 ] [ 0.80877873] [-0.00087768]] R_gt: [[ 0.99228196 0.08918603 0.08615463] [-0.09974698 0.98683928 0.12727028] [-0.07366924 -0.13488182 0.98811943]] t_gt: [-0.31534805 0.08241677 0.94539044] Pose Error in degrees for R and t: 10.05127758556502 75.44630047418435 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-5.95903790e-01 -8.03055639e-01 -5.59798003e-04] [-8.03053872e-01 5.95900648e-01 2.62628872e-03] [-1.77547197e-03 2.01456335e-03 -9.99996395e-01]] t_estimated: [[0.82068574] [0.57137859] [0.00119286]] R_gt: [[ 0.97399811 0.19255366 0.11937694] [-0.2086945 0.96762006 0.1419763 ] [-0.08817275 -0.16319724 0.9826452 ]] t_gt: [-0.54646315 0.36151082 0.75543891] Pose Error in degrees for R and t: 170.636138729323 76.05361430370105 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 8.15290563e-01 -5.79051812e-01 5.44265516e-04] [ 5.79052055e-01 8.15290386e-01 -5.51728815e-04] [-1.24254872e-04 7.64977362e-04 9.99999700e-01]] t_estimated: [[-0.62865216] [-0.77768608] [-0.00090324]] R_gt: [[ 0.99562054 -0.09294635 -0.01008788] [ 0.09279362 0.99557736 -0.01467849] [ 0.01140737 0.01367754 0.99984181]] t_gt: [ 0.74739775 -0.64447016 -0.16141502] Pose Error in degrees for R and t: 30.070963671063417 88.19556902032119 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.95873194 -0.26869638 -0.09292641] [-0.2639664 -0.96265495 0.0601431 ] [-0.10561631 -0.03313166 -0.99385486]] t_estimated: [[0.96715481] [0.25400025] [0.00976924]] R_gt: [[ 0.96565651 -0.25964052 -0.0096801 ] [ 0.25948337 0.96563107 -0.01494733] [ 0.01322858 0.0119223 0.99984187]] t_gt: [ 0.82134496 -0.56725953 -0.06007566] Pose Error in degrees for R and t: 177.42689942465978 49.481256017942734 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.96831427 0.23381978 0.08772565] [-0.22902648 0.97148446 -0.06135805] [-0.09957083 0.03932238 0.99425319]] t_estimated: [[0.97489482] [0.22264034] [0.00337334]] R_gt: [[ 0.92865824 -0.37089523 0.00551818] [ 0.3705982 0.92707463 -0.05647787] [ 0.01583093 0.0544943 0.99838848]] t_gt: [ 0.87083712 -0.47549247 -0.12469814] Pose Error in degrees for R and t: 35.63750304607915 42.03891901409345 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.97953975e-01 -6.39364014e-02 2.36852907e-05] [ 6.39364019e-02 9.97953975e-01 -2.17055240e-05] [-2.22490569e-05 2.31754663e-05 9.99999999e-01]] t_estimated: [[ 7.58040510e-01] [ 6.52207465e-01] [-8.73586716e-05]] R_gt: [[ 0.99501653 -0.09917115 0.01038257] [ 0.0980931 0.99222595 0.07658741] [-0.01789751 -0.07518802 0.99700865]] t_gt: [ 0.42194587 -0.69719742 0.57954934] Pose Error in degrees for R and t: 4.864927829112535 82.24624162638334 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.97707181e-01 6.76783059e-02 -1.65092287e-04] [-6.76783142e-02 9.97707193e-01 -4.53894809e-05] [ 1.61641880e-04 5.64585788e-05 9.99999985e-01]] t_estimated: [[-9.99977127e-01] [-6.71125589e-03] [-8.38906986e-04]] R_gt: [[ 0.93663442 0.35001948 0.01414262] [-0.34959988 0.93654708 -0.02567697] [-0.02223251 0.01910504 0.99956981]] t_gt: [-0.67298259 0.73963578 -0.00577495] Pose Error in degrees for R and t: 16.68435910113841 48.08648100854174 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.69106837e-01 -2.46640670e-01 5.64895976e-04] [ 2.46641009e-01 9.69106704e-01 -6.39401739e-04] [-3.89742005e-04 7.58975111e-04 9.99999636e-01]] t_estimated: [[-8.37639504e-01] [-5.46222963e-01] [-7.32202363e-04]] R_gt: [[ 0.85268111 0.51746932 0.07183552] [-0.51676879 0.85561834 -0.02945453] [-0.07670489 -0.01200776 0.99698125]] t_gt: [-0.6114595 0.78505249 0.09904478] Pose Error in degrees for R and t: 45.67318641529401 85.22193094536304 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.78653799e-01 2.05515395e-01 -4.05064987e-04] [-2.05515468e-01 9.78653856e-01 -1.47095750e-04] [ 3.66187970e-04 2.27202935e-04 9.99999907e-01]] t_estimated: [[-0.99993858] [-0.01101524] [-0.00122392]] R_gt: [[ 0.79248246 0.60698914 0.05946592] [-0.6084445 0.79355124 0.00849272] [-0.04203421 -0.04291226 0.99819385]] t_gt: [-0.56884926 0.81763675 0.08877311] Pose Error in degrees for R and t: 25.834597149724033 55.965001664512776 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.87197693 -0.48952599 -0.00453114] [-0.48950063 -0.87172973 -0.02182665] [ 0.00673478 0.02125034 -0.9997515 ]] t_estimated: [[ 0.27608301] [ 0.96107046] [-0.01103349]] R_gt: [[ 0.99775094 -0.06325975 0.02216715] [ 0.0635766 0.99787878 -0.01392818] [-0.02123909 0.01530648 0.99965776]] t_gt: [ 0.97619582 -0.05212289 -0.21053487] Pose Error in degrees for R and t: 178.22639326392454 77.18873357109753 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 2.18900691e-01 9.75747107e-01 -2.67136797e-04] [ 9.75738613e-01 -2.18897624e-01 4.24150330e-03] [ 4.08015896e-03 -1.18912369e-03 -9.99990969e-01]] t_estimated: [[-0.43879754] [-0.8985854 ] [-0.00099954]] R_gt: [[ 0.96684146 -0.25410386 -0.0254903 ] [ 0.25476691 0.96661318 0.02741338] [ 0.01767273 -0.03299729 0.99929967]] t_gt: [ 0.98841132 -0.11558388 0.09840443] Pose Error in degrees for R and t: 177.6784677501716 70.73433024694158 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.79207671 -0.61041661 0.0024583 ] [-0.61042058 -0.79207624 0.00139366] [ 0.00109645 -0.00260448 -0.99999601]] t_estimated: [[0.01358107] [0.99990633] [0.00169763]] R_gt: [[ 0.90899514 -0.41484484 -0.04041083] [ 0.41622922 0.9085617 0.035618 ] [ 0.0219401 -0.04919583 0.99854823]] t_gt: [ 0.99486208 -0.02718176 0.09752224] Pose Error in degrees for R and t: 178.13866274630237 89.22634778468881 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 7.06092538e-01 -7.08119564e-01 -1.04181011e-04] [-7.08119035e-01 -7.06092176e-01 1.12723521e-03] [-8.71778702e-04 -7.22159812e-04 -9.99999359e-01]] t_estimated: [[0.56432878] [0.82554646] [0.00246432]] R_gt: [[ 0.99879976 0.02015973 -0.04462209] [-0.02191199 0.99899387 -0.03914347] [ 0.04378899 0.04007537 0.99823745]] t_gt: [-0.0534348 0.44841672 -0.89222596] Pose Error in degrees for R and t: 176.98919871803346 70.25495554265372 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.98177452e-01 -6.03470994e-02 -4.52780881e-05] [ 6.03471031e-02 9.98177449e-01 8.35639065e-05] [ 4.01527272e-05 -8.61440087e-05 9.99999995e-01]] t_estimated: [[ 3.87043851e-02] [ 9.99250704e-01] [-4.06069524e-05]] R_gt: [[ 0.99711984 0.01780681 -0.07372565] [-0.02450001 0.99555879 -0.09090813] [ 0.07177986 0.09245307 0.99312662]] t_gt: [ 0.03702004 0.36391962 -0.93069438] Pose Error in degrees for R and t: 8.188223600413279 68.58518192903112 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99866007e-01 1.63697470e-02 1.31767172e-05] [-1.63697464e-02 9.99866006e-01 -4.30386227e-05] [-1.38794830e-05 4.28171562e-05 9.99999999e-01]] t_estimated: [[0.74596739] [0.66598021] [0.00173885]] R_gt: [[ 0.99980958 0.0034769 0.01920306] [-0.00353579 0.99998917 0.00302307] [-0.01919244 -0.00309073 0.99981094]] t_gt: [-0.38324259 0.02776021 0.92323046] Pose Error in degrees for R and t: 1.335434797225926 74.58590014570748 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-2.51645329e-01 9.67819362e-01 -5.57137784e-04] [ 9.67808193e-01 2.51645127e-01 4.69370590e-03] [ 4.68286046e-03 6.41946653e-04 -9.99988829e-01]] t_estimated: [[0.46337769] [0.88616033] [0.00099012]] R_gt: [[ 0.97601271 -0.20676232 -0.06818647] [ 0.20693653 0.97834424 -0.00456417] [ 0.06765442 -0.00965619 0.99766169]] t_gt: [ 0.81398307 -0.56583105 -0.13140317] Pose Error in degrees for R and t: 176.6441914225811 82.85588223454295 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.69540640e-01 2.44930034e-01 4.75435982e-04] [-2.44929832e-01 9.69540705e-01 -4.44622395e-04] [-5.69855915e-04 3.14631026e-04 9.99999788e-01]] t_estimated: [[0.72074212] [0.69320284] [0.00078684]] R_gt: [[ 0.95208133 -0.28698454 -0.10574788] [ 0.29207258 0.9557204 0.03593783] [ 0.09075219 -0.06510202 0.99374302]] t_gt: [ 0.82666927 -0.56237152 0.01887304] Pose Error in degrees for R and t: 31.708444282971367 78.11238439662343 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-8.26658851e-01 5.62691366e-01 3.68370651e-03] [ 5.62684657e-01 8.26667033e-01 -2.75544550e-03] [-4.59566413e-03 -2.05048273e-04 -9.99989419e-01]] t_estimated: [[0.98250677] [0.18621076] [0.00245014]] R_gt: [[ 0.96119087 -0.26911179 -0.060769 ] [ 0.27292533 0.95970669 0.06688809] [ 0.04032021 -0.08087796 0.99590783]] t_gt: [ 0.77854973 -0.60292316 0.17419522] Pose Error in degrees for R and t: 176.17684357026607 49.225290204992646 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.15802030e-01 9.93272285e-01 2.39273512e-04] [ 9.93253501e-01 1.15798351e-01 6.18263103e-03] [ 6.11332857e-03 9.53620478e-04 -9.99980859e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.97858233 0.20185331 0.04039339] [-0.20290271 0.97890856 0.02381237] [-0.03473523 -0.03149677 0.99889972]] t_gt: [-0.7379703 0.64204059 0.20780691] Pose Error in degrees for R and t: 179.68855759991334 71.83035058818528 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.22818704 0.97361196 0.00322927] [ 0.97361216 -0.22819537 0.00249761] [ 0.00316861 0.00257413 -0.99999167]] t_estimated: [[9.89372205e-01] [1.45402944e-01] [7.90233390e-04]] R_gt: [[ 0.95602644 0.29055379 0.03990789] [-0.29234042 0.95498707 0.05036802] [-0.02347739 -0.05981885 0.99793323]] t_gt: [-0.70467645 0.68182206 0.19634099] Pose Error in degrees for R and t: 178.606995987261 53.28084214924263 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-6.85484419e-01 -7.28086685e-01 -9.43711486e-04] [-7.28086656e-01 6.85484960e-01 -4.38316276e-04] [ 9.66032274e-04 3.86644763e-04 -9.99999459e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.90648393 0.41775074 0.06141013] [-0.42069938 0.90598631 0.04691368] [-0.03603842 -0.06836069 0.99700936]] t_gt: [-0.65452861 0.73747526 0.16650088] Pose Error in degrees for R and t: 176.08897571385035 73.55888384368545 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.79240169 0.60926079 -0.03001432] [ 0.60941008 -0.78851419 0.08285363] [ 0.02681275 -0.08394439 -0.99610964]] t_estimated: [[-0.36396865] [ 0.93033295] [ 0.04480426]] R_gt: [[ 0.99766526 0.03369653 -0.05940566] [-0.03487368 0.99921275 -0.01888828] [ 0.05872255 0.02091632 0.99805522]] t_gt: [-0.13589306 0.53052076 -0.83670831] Pose Error in degrees for R and t: 174.93808171234346 59.63321520151931 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.62398089e-01 -2.71642212e-01 6.52687647e-04] [ 2.71642673e-01 9.62397874e-01 -7.68292030e-04] [-4.19444657e-04 9.16700599e-04 9.99999492e-01]] t_estimated: [[0.71419016] [0.69995132] [0.00074941]] R_gt: [[ 0.9946809 0.04752449 -0.09138131] [-0.0518082 0.99763799 -0.04509221] [ 0.08902285 0.04958667 0.99479408]] t_gt: [-0.09180791 0.52265213 -0.84758838] Pose Error in degrees for R and t: 19.50734404835965 72.5647654664394 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.93624724e-01 -1.12738222e-01 -4.30374214e-05] [ 1.12738226e-01 9.93624719e-01 1.06020146e-04] [ 3.08105230e-05 -1.10196201e-04 9.99999993e-01]] t_estimated: [[ 1.07191525e-02] [ 9.99942547e-01] [-4.00682221e-05]] R_gt: [[ 0.99114648 0.04377038 -0.12534834] [-0.05634513 0.99353218 -0.09858936] [ 0.12022287 0.10478003 0.98720165]] t_gt: [ 0.00495819 0.45434003 -0.89081455] Pose Error in degrees for R and t: 13.103065869010576 62.97348632974686 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.65937058e-01 -2.58777122e-01 3.97098508e-05] [-2.58683352e-01 -9.65591150e-01 -2.67704080e-02] [ 6.96591264e-03 2.58482569e-02 -9.99641608e-01]] t_estimated: [[ 0.07788548] [ 0.99684954] [-0.01499491]] R_gt: [[ 0.99771486 -0.05948885 0.03203937] [ 0.0595638 0.99822365 -0.00138925] [-0.03189953 0.00329399 0.99948607]] t_gt: [ 0.61413396 -0.73922755 0.27637312] Pose Error in degrees for R and t: 178.58074333426796 46.11519472131421 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 1.00000000e+00 -2.42889042e-13 6.30246723e-16] [ 2.43000065e-13 1.00000000e+00 -1.59941504e-15] [-5.10767643e-16 1.58618778e-15 1.00000000e+00]] t_estimated: [[ 0.19424818] [-0.98095059] [-0.00189326]] R_gt: [[ 0.99671761 -0.07806525 0.0214636 ] [ 0.07827456 0.99689064 -0.0090888 ] [-0.02068764 0.01073848 0.99972792]] t_gt: [ 0.72401742 -0.68855452 0.04112722] Pose Error in degrees for R and t: 4.678487529692033 35.31372281946421 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-6.06616986e-01 -7.94993088e-01 -1.35019567e-03] [-7.94993997e-01 6.06617242e-01 2.57885775e-04] [ 6.14034565e-04 1.22983534e-03 -9.99999055e-01]] t_estimated: [[9.21313533e-01] [3.88819454e-01] [8.97966406e-04]] R_gt: [[ 9.99173748e-01 -4.06332945e-02 -1.19176370e-03] [ 4.06384726e-02 9.99158005e-01 5.58143789e-03] [ 9.63635006e-04 -5.62563919e-03 9.99984182e-01]] t_gt: [ 0.89517511 -0.44529178 -0.0194101 ] Pose Error in degrees for R and t: 179.98909952316916 49.33906010967962 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999746e-01 6.96100838e-04 1.50736646e-04] [-6.96074142e-04 9.99999742e-01 -1.77085394e-04] [-1.50859877e-04 1.76980425e-04 9.99999973e-01]] t_estimated: [[-9.29469153e-01] [ 3.68899835e-01] [-7.18706824e-05]] R_gt: [[ 0.97761959 -0.20482346 0.0480376 ] [ 0.20547546 0.97862059 -0.00900543] [-0.04516636 0.01867388 0.99880383]] t_gt: [ 0.56484331 -0.81099321 0.15245341] Pose Error in degrees for R and t: 12.207447233586953 34.493478582423876 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.99831445 -0.05792684 0.00356814] [ 0.05793553 0.99831749 -0.00238157] [-0.00342418 0.00258428 0.9999908 ]] t_estimated: [[9.31678584e-01] [3.63283565e-01] [2.59367990e-04]] R_gt: [[ 0.91572749 -0.40073999 0.02919538] [ 0.40086122 0.91613737 0.00181777] [-0.02747545 0.01003833 0.99957106]] t_gt: [ 0.67848868 -0.73298593 0.04883373] Pose Error in degrees for R and t: 20.364186035422147 68.53921701923983 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.99983182 -0.0180528 -0.00323036] [ 0.01807251 0.99981759 0.00617771] [ 0.00311824 -0.00623505 0.9999757 ]] t_estimated: [[ 0.05747595] [-0.99832781] [ 0.00617252]] R_gt: [[ 0.84645998 -0.53243868 0.00386398] [ 0.5323628 0.8461622 -0.02448404] [ 0.00976697 0.02278159 0.99969271]] t_gt: [ 0.72676191 -0.68610334 -0.03285305] Pose Error in degrees for R and t: 31.187655684053205 43.40417588886564 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.98853098e-01 4.78796782e-02 1.56725363e-04] [-4.78796256e-02 9.98853061e-01 -3.23930319e-04] [-1.72055288e-04 3.16054851e-04 9.99999935e-01]] t_estimated: [[-0.55960279] [-0.82875956] [-0.00152066]] R_gt: [[ 0.99750842 -0.05549857 -0.04356909] [ 0.05650884 0.99815233 0.02230865] [ 0.04225113 -0.02471487 0.9988011 ]] t_gt: [ 0.62587264 -0.72103075 -0.29731816] Pose Error in degrees for R and t: 6.591175954949945 75.65422097972196 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 4.21745912e-01 9.06710432e-01 2.56481310e-03] [ 9.06714018e-01 -4.21743346e-01 -1.49664821e-03] [-2.75333685e-04 2.95675726e-03 -9.99995591e-01]] t_estimated: [[0.73959758] [0.67304892] [0.00075623]] R_gt: [[ 0.98141504 -0.17747284 -0.07300053] [ 0.1795036 0.98350666 0.02221793] [ 0.06785315 -0.03490797 0.99708468]] t_gt: [ 0.68159512 -0.70927154 -0.17989435] Pose Error in degrees for R and t: 176.59067061250627 88.47600411987517 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-9.61238799e-01 2.75705171e-01 -2.57493089e-03] [-2.75706596e-01 -9.61241816e-01 2.09058650e-04] [-2.41749269e-03 9.10880717e-04 9.99996663e-01]] t_estimated: [[8.38800355e-01] [5.44438739e-01] [6.51242511e-04]] R_gt: [[ 0.95465066 -0.27392552 -0.11665361] [ 0.28088587 0.9585498 0.04780375] [ 0.09872345 -0.07840214 0.99202181]] t_gt: [ 0.70459445 -0.70167529 -0.10582269] Pose Error in degrees for R and t: 179.83190558107893 77.94058234872402 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 0.82043995 -0.57170013 -0.00610289] [-0.57170203 -0.82023861 -0.0191158 ] [ 0.00592268 0.0191724 -0.99979865]] t_estimated: [[ 0.3634223 ] [ 0.93158022] [-0.00908415]] R_gt: [[ 0.99564812 0.05920502 -0.0719657 ] [-0.0548096 0.99659514 0.06159289] [ 0.07536722 -0.05738197 0.99550439]] t_gt: [-0.87937718 -0.3238779 -0.34899697] Pose Error in degrees for R and t: 179.15985720526155 51.82006289171804 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.62675490e-01 9.86678813e-01 -1.26685005e-03] [-9.86677967e-01 1.62677437e-01 1.62530622e-03] [ 1.80974313e-03 9.85575544e-04 9.99997877e-01]] t_estimated: [[-0.09702834] [ 0.99527738] [-0.00290397]] R_gt: [[ 0.98575269 0.0883214 -0.14314156] [-0.07382776 0.9918758 0.10359132] [ 0.1511283 -0.09154818 0.9842667 ]] t_gt: [-0.73769004 -0.43809887 -0.51369522] Pose Error in degrees for R and t: 76.51150286006032 68.71782826543051 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.71463958 -0.69948168 -0.00395646] [-0.69948271 -0.71458729 -0.00943106] [ 0.00376962 0.00950729 -0.9999477 ]] t_estimated: [[ 0.46725802] [ 0.88411049] [-0.00431023]] R_gt: [[ 0.98414688 0.05288983 -0.16927982] [-0.03437383 0.99328111 0.11050429] [ 0.17398705 -0.10293434 0.97935374]] t_gt: [ 0.00611304 -0.83153016 -0.55544597] Pose Error in degrees for R and t: 178.62607799084105 43.120808999942284 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.89963417 0.43664225 0.00138009] [-0.43663782 0.89963345 -0.00266046] [-0.00240325 0.00179084 0.99999551]] t_estimated: [[0.56497886] [0.82510454] [0.00117704]] R_gt: [[ 0.98513289 -0.17017286 -0.02354474] [ 0.17063428 0.98514863 0.01916109] [ 0.01993444 -0.02289278 0.99953861]] t_gt: [ 0.58540041 -0.81074083 -0.00238113] Pose Error in degrees for R and t: 35.7531575923647 70.23215209528126 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 1.00000000e+00 6.07291162e-10 6.86623935e-13] [-6.07290995e-10 1.00000000e+00 1.98903068e-12] [-6.86623935e-13 -1.98903177e-12 1.00000000e+00]] t_estimated: [[ 0.79050267] [-0.61245389] [-0.00240018]] R_gt: [[ 9.42685368e-01 -3.33681436e-01 -6.35764032e-04] [ 3.33596268e-01 9.42484525e-01 -2.08841144e-02] [ 7.56762526e-03 1.94757830e-02 9.99781201e-01]] t_gt: [ 0.63487513 -0.77134064 -0.04435304] Pose Error in degrees for R and t: 19.528463283313695 12.99555459801113 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999978e-01 -8.06990486e-05 1.92625259e-04] [ 8.07487681e-05 9.99999963e-01 -2.58121604e-04] [-1.92604422e-04 2.58137153e-04 9.99999948e-01]] t_estimated: [[-9.63127547e-01] [-2.69044095e-01] [-7.76792952e-04]] R_gt: [[ 0.86969593 -0.49045394 -0.05552384] [ 0.49039047 0.87136111 -0.0157177 ] [ 0.05608995 -0.0135581 0.99833374]] t_gt: [ 0.70983185 -0.70049315 -0.07381126] Pose Error in degrees for R and t: 29.57336461095908 60.321167655094484 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.78813472 -0.61548916 -0.00409359] [ 0.61549881 -0.78808837 -0.00882789] [ 0.00220735 -0.00947717 0.99995265]] t_estimated: [[0.93064543] [0.36591941] [0.00144063]] R_gt: [[ 0.98904201 0.13616818 -0.05704734] [-0.13106396 0.98769831 0.08529661] [ 0.06796097 -0.07688441 0.99472059]] t_gt: [-0.80693754 0.58208523 0.10014289] Pose Error in degrees for R and t: 149.731122603263 57.46381270749974 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-5.05803116e-01 8.62648566e-01 -8.12238109e-04] [-8.62648030e-01 -5.05803727e-01 -9.83363398e-04] [-1.25913009e-03 2.03287334e-04 9.99999187e-01]] t_estimated: [[0.69353508] [0.72042242] [0.0007908 ]] R_gt: [[ 0.97307408 0.1859479 -0.13619525] [-0.16549468 0.97493868 0.14867869] [ 0.16042935 -0.1221351 0.97946114]] t_gt: [-0.89270885 0.3999718 -0.20758966] Pose Error in degrees for R and t: 110.57732170997767 70.66199122417937 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 8.93786428e-02 9.95996807e-01 -1.34858010e-03] [-9.95997646e-01 8.93780341e-02 -5.05244747e-04] [-3.82688716e-04 1.38834070e-03 9.99998963e-01]] t_estimated: [[-4.88108411e-02] [ 9.98807889e-01] [-5.49363479e-04]] R_gt: [[ 0.95130455 0.23867112 -0.19507803] [-0.19821278 0.95829798 0.20585526] [ 0.23607487 -0.15716384 0.9589409 ]] t_gt: [-0.91879884 0.29654906 -0.26051361] Pose Error in degrees for R and t: 73.60239638132487 70.05085164625214 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99999865e-01 5.09228052e-04 1.00087189e-04] [-5.09219094e-04 9.99999866e-01 -8.95141349e-05] [-1.00132759e-04 8.94631566e-05 9.99999991e-01]] t_estimated: [[-0.99999566] [-0.00274194] [ 0.00107855]] R_gt: [[ 0.99498882 -0.09899656 -0.01401805] [ 0.09925301 0.99488127 0.01896938] [ 0.01206811 -0.02026497 0.99972195]] t_gt: [ 0.26673347 -0.96371606 -0.01022796] Pose Error in degrees for R and t: 5.8779264590192914 74.68646526450402 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.0748985 0.99718985 0.00161736] [ 0.99718099 0.07489031 0.00463781] [ 0.00450365 0.00196016 -0.99998794]] t_estimated: [[-0.06142182] [-0.99810452] [-0.00383886]] R_gt: [[ 0.96322925 -0.26201904 -0.05945847] [ 0.26173972 0.96505588 -0.01256744] [ 0.06067382 -0.00345692 0.99815149]] t_gt: [ 0.60007806 -0.75786305 -0.25602717] Pose Error in degrees for R and t: 177.55506708072824 43.899967461228314 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99998515e-01 -1.71796949e-03 1.38647384e-04] [ 1.71785366e-03 9.99998179e-01 8.31272413e-04] [-1.40075232e-04 -8.31033003e-04 9.99999645e-01]] t_estimated: [[0.54723315] [0.83697935] [0.00120215]] R_gt: [[ 0.92053899 -0.39057094 -0.00781167] [ 0.3904134 0.92049471 -0.0163334 ] [ 0.01357009 0.01198544 0.99983652]] t_gt: [ 0.5778163 -0.81293285 -0.07258438] Pose Error in degrees for R and t: 22.91390024761953 68.63579544102852 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.51125058 0.85942112 0.00426488] [-0.85943104 -0.51123774 -0.00377658] [-0.0010653 -0.00559614 0.99998377]] t_estimated: [[0.10697697] [0.99425652] [0.00314638]] R_gt: [[ 0.98058111 -0.19204418 -0.03975085] [ 0.19286922 0.98105887 0.01803139] [ 0.03553571 -0.02534791 0.99904645]] t_gt: [ 0.76019582 -0.64933388 -0.02162953] Pose Error in degrees for R and t: 131.86613368581274 55.6428995151516 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-2.19425758e-01 -9.75627421e-01 -1.86311448e-03] [ 9.75628811e-01 -2.19426976e-01 4.73983567e-04] [-8.71248942e-04 -1.71370396e-03 9.99998152e-01]] t_estimated: [[9.94847330e-01] [1.01380800e-01] [8.50153124e-04]] R_gt: [[ 0.92890769 -0.35308948 -0.11161317] [ 0.35776002 0.93349551 0.02434825] [ 0.09559449 -0.062548 0.99345249]] t_gt: [ 0.83755967 -0.54615758 -0.01434243] Pose Error in degrees for R and t: 81.99386000523396 38.9347710075685 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 2.41394663e-01 9.70426222e-01 -1.25067280e-03] [-9.70426973e-01 2.41394014e-01 -6.48280065e-04] [-3.27203047e-04 1.37017797e-03 9.99999008e-01]] t_estimated: [[-0.02917732] [ 0.9995737 ] [-0.00105096]] R_gt: [[ 0.91476588 -0.38596247 -0.11931429] [ 0.39338653 0.91823746 0.04568544] [ 0.09192677 -0.08872807 0.9918041 ]] t_gt: [ 0.84216973 -0.53717454 0.04683654] Pose Error in degrees for R and t: 99.2664917561501 55.835762993538076 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99973562e-01 7.27136716e-03 -4.46106796e-05] [-7.27136695e-03 9.99973563e-01 4.84458014e-06] [ 4.46447270e-05 -4.52007144e-06 9.99999999e-01]] t_estimated: [[-9.70816967e-01] [-2.39820782e-01] [-6.39124641e-04]] R_gt: [[ 0.99554195 0.0931083 0.01507756] [-0.09328549 0.9955736 0.01147194] [-0.0139425 -0.01282615 0.99982023]] t_gt: [-0.7630706 0.62121082 0.17838267] Pose Error in degrees for R and t: 5.049746397727702 53.721649522304915 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.41701425e-01 -3.36449517e-01 -3.84642976e-04] [ 3.36449615e-01 9.41701442e-01 2.24874756e-04] [ 2.86559842e-04 -3.41177860e-04 9.99999901e-01]] t_estimated: [[-0.70318361] [-0.71100763] [-0.000978 ]] R_gt: [[ 0.95816471 0.28522286 0.02385193] [-0.28560847 0.95823444 0.01466013] [-0.01867417 -0.0208592 0.99960842]] t_gt: [-0.70818867 0.70061407 0.08722806] Pose Error in degrees for R and t: 36.282211666698224 89.98621499894388 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.28168635e-01 3.72159336e-01 6.42515759e-04] [-3.72159618e-01 9.28168663e-01 3.90771909e-04] [-4.50933579e-04 -6.01820649e-04 9.99999717e-01]] t_estimated: [[0.56069439] [0.82802237] [0.00086795]] R_gt: [[ 0.86146443 0.50168311 0.07869603] [-0.50135292 0.86487193 -0.0253416 ] [-0.08077596 -0.01762369 0.99657701]] t_gt: [-0.61982468 0.77721694 0.10840292] Pose Error in degrees for R and t: 9.549536284146562 72.77559744681439 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999715e-01 5.56041284e-04 -5.10302625e-04] [-5.55677063e-04 9.99999591e-01 7.13598851e-04] [ 5.10699207e-04 -7.13315084e-04 9.99999615e-01]] t_estimated: [[-0.98968784] [-0.14323019] [-0.00175724]] R_gt: [[ 0.96319829 -0.2630227 -0.05538744] [ 0.26116705 0.96452275 -0.03854996] [ 0.06356289 0.02266604 0.99772025]] t_gt: [ 0.87065182 -0.45348559 -0.19056815] Pose Error in degrees for R and t: 15.7230188316335 37.213653428115435 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999143e-01 1.06164878e-03 7.66432994e-04] [-1.06137595e-03 9.99999373e-01 -3.56298304e-04] [-7.66810777e-04 3.55484525e-04 9.99999643e-01]] t_estimated: [[9.30627854e-01] [3.65965960e-01] [8.44646033e-04]] R_gt: [[ 0.85536631 -0.51725528 -0.02819611] [ 0.51373857 0.85402147 -0.08197117] [ 0.06648135 0.05563017 0.99623495]] t_gt: [ 0.92368957 -0.35510438 -0.14386958] Pose Error in degrees for R and t: 31.54258959951663 43.15269094415564 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.99997238e-01 2.30382122e-03 4.64443920e-04] [-2.30379963e-03 9.99997345e-01 -4.70075570e-05] [-4.64550984e-04 4.59374414e-05 9.99999891e-01]] t_estimated: [[-9.99996770e-01] [ 2.50708113e-03] [ 4.17512027e-04]] R_gt: [[ 0.72320603 -0.68927296 -0.04330385] [ 0.68523183 0.72396553 -0.07955906] [ 0.08618875 0.0278656 0.99588877]] t_gt: [ 0.957198 -0.27449257 -0.0917922 ] Pose Error in degrees for R and t: 43.95234775741537 16.680265923861217 Number of keypoints: Image1: 384 Image2: 384 R_estimated: [[-6.22639143e-01 -7.82508514e-01 9.60696100e-04] [-7.82508842e-01 6.22639469e-01 5.24666355e-05] [-6.39222899e-04 -7.19085412e-04 -9.99999537e-01]] t_estimated: [[0.91430054] [0.40503349] [0.00154578]] R_gt: [[ 0.9990122 -0.00130301 0.04442031] [ 0.00384189 0.99836119 -0.05711255] [-0.04427349 0.05722776 0.9973787 ]] t_gt: [0.44608482 0.84808711 0.2859311 ] Pose Error in degrees for R and t: 179.08170416152927 41.25334981157424 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.99637009e-01 -2.69416192e-02 1.43292390e-05] [ 2.69416204e-02 9.99637005e-01 -8.67289807e-05] [-1.19874184e-05 8.70835518e-05 9.99999996e-01]] t_estimated: [[ 6.62539416e-01] [-7.49026793e-01] [-6.21427359e-04]] R_gt: [[ 0.99734653 -0.06864086 0.02425406] [ 0.06997208 0.99579514 -0.05915056] [-0.02009304 0.0606909 0.99795419]] t_gt: [ 0.66257716 -0.69913542 -0.26870276] Pose Error in degrees for R and t: 4.395397211688294 15.6724766493904 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.97049008e-01 -7.67676653e-02 -2.34948642e-05] [ 7.67676671e-02 9.97049005e-01 8.88883287e-05] [ 1.66017815e-05 -9.04296659e-05 9.99999996e-01]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.99535021 -0.09107052 -0.03138348] [ 0.09133066 0.99579715 0.00694351] [ 0.03061924 -0.00977613 0.9994828 ]] t_gt: [ 0.57299434 -0.80587411 -0.14914559] Pose Error in degrees for R and t: 2.018055616129185 55.223482139392 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-0.46923867 -0.88291983 -0.01635989] [-0.88296796 0.46938672 -0.00660969] [ 0.01351494 0.01134374 -0.99984432]] t_estimated: [[ 0.88340235] [ 0.46855273] [-0.00765602]] R_gt: [[ 0.99445628 0.1004855 0.03099059] [-0.09868902 0.99360388 -0.05488805] [-0.03630796 0.0515258 0.99801168]] t_gt: [-0.34132797 0.93311396 -0.11310857] Pose Error in degrees for R and t: 179.07790022154026 82.15179226715279 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99675660e-01 2.54667615e-02 -1.35183339e-04] [-2.54667535e-02 9.99675668e-01 6.06679558e-05] [ 1.36684511e-04 -5.72055980e-05 9.99999989e-01]] t_estimated: [[ 4.33676835e-01] [-9.01068320e-01] [-5.34852446e-04]] R_gt: [[ 0.98199598 0.18789446 0.01952931] [-0.18745837 0.98202321 -0.02214418] [-0.02333934 0.01808425 0.99956398]] t_gt: [-0.3064309 0.95167074 -0.0205648 ] Pose Error in degrees for R and t: 9.512876969009222 7.944947272922651 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.98138673e-01 -6.09837335e-02 -4.15760770e-04] [ 6.09838516e-02 9.98138714e-01 2.77494147e-04] [ 3.98064292e-04 -3.02332333e-04 9.99999875e-01]] t_estimated: [[-0.252268 ] [-0.9676569] [-0.0009896]] R_gt: [[ 0.93740933 0.34476325 -0.04901602] [-0.34527352 0.93850049 -0.0020861 ] [ 0.04528239 0.0188791 0.99879528]] t_gt: [-0.20884557 0.97096641 -0.11665227] Pose Error in degrees for R and t: 23.853536797826337 27.53087802003655 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.01225773 -0.9121735 0.40962086] [ 0.95654552 -0.10865393 -0.27058269] [ 0.29132528 0.39513773 0.87120362]] t_estimated: [[ 0.82476355] [-0.29684577] [-0.4812979 ]] R_gt: [[ 0.99852092 -0.04702944 -0.0273278 ] [ 0.04683612 0.99887368 -0.00766667] [ 0.02765848 0.00637534 0.99959709]] t_gt: [ 0.51178179 -0.72838939 -0.45555273] Pose Error in degrees for R and t: 93.90722729524794 30.95463193107571 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.98916327 0.14681253 -0.00145307] [-0.14680551 -0.98915679 -0.00412082] [-0.0020423 -0.00386284 0.99999045]] t_estimated: [[0.48020732] [0.87715288] [0.00193632]] R_gt: [[ 0.98945728 -0.14473792 0.00516458] [ 0.14481624 0.98824142 -0.04906921] [ 0.00199936 0.04929957 0.99878187]] t_gt: [ 0.71242562 -0.62656488 -0.3160161 ] Pose Error in degrees for R and t: 179.9032744843983 77.98937342388616 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 6.21620736e-01 7.83315340e-01 2.17707048e-03] [-7.83308358e-01 6.21624442e-01 -3.32713117e-03] [-3.95951310e-03 3.62896224e-04 9.99992095e-01]] t_estimated: [[-9.53161160e-01] [-3.02461851e-01] [-7.94398590e-04]] R_gt: [[ 0.96665776 -0.19885261 0.16134311] [ 0.20895879 0.97674011 -0.04812379] [-0.14801979 0.08023291 0.98572408]] t_gt: [ 0.69830946 -0.68707475 0.20072912] Pose Error in degrees for R and t: 64.0408827640981 62.745288749401176 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.99110760e-01 4.21626589e-02 -1.81567127e-06] [-4.21626590e-02 9.99110759e-01 -3.65824775e-05] [ 2.71642181e-07 3.66265004e-05 9.99999999e-01]] t_estimated: [[-8.44563430e-02] [-9.96427129e-01] [-3.19210905e-04]] R_gt: [[ 9.97667821e-01 1.63698640e-03 -6.82236730e-02] [-3.00314540e-05 9.99721830e-01 2.35535260e-02] [ 6.82431713e-02 -2.34960476e-02 9.97391427e-01]] t_gt: [ 0.61101724 -0.53021732 -0.5878159 ] Pose Error in degrees for R and t: 4.769810098350342 61.51645970403248 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.99999989e-01 -1.47024468e-04 3.88286163e-06] [ 1.47024661e-04 9.99999988e-01 -4.97671287e-05] [-3.87554460e-06 4.97676990e-05 9.99999999e-01]] t_estimated: [[ 2.23561749e-01] [-9.74689719e-01] [-3.09753621e-04]] R_gt: [[ 0.9957142 -0.03245029 -0.08659643] [ 0.03574928 0.99868174 0.03681144] [ 0.08528721 -0.03974977 0.99556308]] t_gt: [ 0.76882245 -0.56917858 -0.29145805] Pose Error in degrees for R and t: 5.742128265312897 43.38603834449854 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99995713e-01 2.92718169e-03 6.82187620e-05] [-2.92718280e-03 9.99995716e-01 1.61828020e-05] [-6.81710997e-05 -1.63824214e-05 9.99999998e-01]] t_estimated: [[ 7.54010573e-02] [-9.97153205e-01] [ 4.07363288e-04]] R_gt: [[ 9.93810234e-01 8.51510170e-04 -1.11076544e-01] [ 6.94104337e-03 9.97539380e-01 6.97473092e-02] [ 1.10862594e-01 -7.00870204e-02 9.91361459e-01]] t_gt: [ 0.66853631 -0.69872585 -0.25463971] Pose Error in degrees for R and t: 7.547667414417906 41.66526483355658 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99779828e-01 2.09831289e-02 -5.65500109e-05] [-2.09831265e-02 9.99779829e-01 4.26235677e-05] [ 5.74319360e-05 -4.14275872e-05 9.99999997e-01]] t_estimated: [[-0.99996749] [ 0.00795862] [-0.00129762]] R_gt: [[ 9.94931301e-01 1.00547696e-01 -7.27895408e-04] [-1.00518522e-01 9.94780992e-01 1.75297294e-02] [ 2.48569487e-03 -1.73673687e-02 9.99846040e-01]] t_gt: [-0.35708975 0.92478446 0.13137965] Pose Error in degrees for R and t: 4.676823000579049 68.63747906753315 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 6.68985239e-01 7.43272240e-01 -2.26437661e-03] [-7.43275559e-01 6.68980214e-01 -2.62997742e-03] [-4.39966061e-04 3.44247187e-03 9.99993978e-01]] t_estimated: [[-0.59013446] [ 0.80730199] [-0.00219442]] R_gt: [[ 0.98703473 0.15747465 0.03103509] [-0.15844295 0.98685924 0.03169715] [-0.02563635 -0.03620367 0.99901512]] t_gt: [-0.3189422 0.8976514 0.30413457] Pose Error in degrees for R and t: 39.010720381555394 24.18503629653763 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.96972546e-01 -7.77491629e-02 -9.00021883e-04] [ 7.77494604e-02 9.96972884e-01 3.00327968e-04] [ 8.73947164e-04 -3.69394955e-04 9.99999550e-01]] t_estimated: [[-0.66853342] [-0.74367982] [-0.00184387]] R_gt: [[ 0.98544523 0.16770911 0.02776129] [-0.16802492 0.98573694 0.00946568] [-0.02577866 -0.01399263 0.99956922]] t_gt: [-0.17027849 0.96314429 0.2082266 ] Pose Error in degrees for R and t: 14.22912958989127 52.92800662675441 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 6.14675756e-01 7.88778664e-01 1.39062150e-03] [-7.88779072e-01 6.14676703e-01 -3.56751073e-04] [-1.13618027e-03 -8.77606900e-04 9.99998969e-01]] t_estimated: [[0.03796444] [0.99927817] [0.00135587]] R_gt: [[ 0.99994804 0.00283982 0.00972284] [-0.00292309 0.99995963 0.0085014 ] [-0.00969804 -0.00852925 0.99991626]] t_gt: [0.78437118 0.17655619 0.59463414] Pose Error in degrees for R and t: 51.91041642193932 78.0526242237521 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.98194868e-01 6.00581797e-02 -1.41241941e-04] [-6.00580714e-02 9.98194656e-01 6.75659932e-04] [ 1.81565856e-04 -6.65957558e-04 9.99999762e-01]] t_estimated: [[0.22113079] [0.9752435 ] [0.001134 ]] R_gt: [[ 0.99716165 0.07432577 -0.0120165 ] [-0.07386189 0.99664321 0.03530195] [ 0.01460061 -0.03431466 0.99930453]] t_gt: [-0.01224993 0.98482425 0.17312176] Pose Error in degrees for R and t: 2.248020175916486 16.678365944491798 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.49013168e-01 -3.15236135e-01 4.32162655e-04] [ 3.15236359e-01 9.49012987e-01 -6.23609435e-04] [-2.13543743e-04 7.28046947e-04 9.99999712e-01]] t_estimated: [[-0.67731778] [-0.73568989] [-0.00100642]] R_gt: [[ 0.98745554 0.1563155 0.02228391] [-0.15715331 0.98664784 0.04276119] [-0.01530225 -0.04572716 0.99883642]] t_gt: [-0.20791839 0.93477421 0.28804012] Pose Error in degrees for R and t: 27.537164969070364 56.82712636110172 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-9.09256877e-01 -4.16235286e-01 3.42817021e-04] [-4.16235424e-01 9.09256657e-01 -6.35455884e-04] [-4.72094971e-05 -7.20485221e-04 -9.99999739e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.98993417 -0.09929585 0.10085056] [ 0.10134996 0.99473072 -0.01543371] [-0.09878509 0.02549978 0.99478153]] t_gt: [ 0.60837777 -0.63279862 0.47900145] Pose Error in degrees for R and t: 174.63683776823123 52.93372588380355 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.97761773 0.21032037 0.00537762] [ 0.21023516 0.97756084 -0.0132657 ] [-0.008047 -0.01183822 -0.99989755]] t_estimated: [[ 0.6677734 ] [-0.74422263] [ 0.01453841]] R_gt: [[ 0.96917083 -0.11376934 0.21855342] [ 0.12086079 0.99248134 -0.01931509] [-0.21471215 0.04513478 0.97563402]] t_gt: [ 0.45990389 -0.46582525 0.75597305] Pose Error in degrees for R and t: 166.9943269116433 48.334556372602385 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.03094930e-01 -4.29436665e-01 1.92312068e-03] [ 4.29440751e-01 9.03089946e-01 -3.03175907e-03] [-4.34802443e-04 3.56383263e-03 9.99993555e-01]] t_estimated: [[-0.05525101] [-0.9984647 ] [-0.0039465 ]] R_gt: [[ 0.93796933 -0.11942171 0.32550431] [ 0.13924274 0.98952027 -0.03820236] [-0.31753042 0.08115659 0.94476899]] t_gt: [ 0.43783754 -0.34690307 0.82943146] Pose Error in degrees for R and t: 25.991788901066585 71.4032134593468 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[-3.16241765e-03 9.99994797e-01 6.37092511e-04] [-9.99993188e-01 -3.16119851e-03 -1.90559826e-03] [-1.90357436e-03 -6.43114469e-04 9.99997981e-01]] t_estimated: [[0.00146883] [0.99999809] [0.00128741]] R_gt: [[ 0.99665658 -0.00807063 0.0813093 ] [ 0.0108353 0.99937646 -0.03360284] [-0.08098745 0.0343704 0.99612253]] t_gt: [-0.40152909 0.59583376 0.69552607] Pose Error in degrees for R and t: 90.82647653703555 53.4061801028622 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 0.3556895 0.93445051 -0.01694744] [ 0.93442067 -0.35520186 0.02626118] [ 0.01852002 -0.02517686 -0.99951145]] t_estimated: [[-7.58491743e-01] [-6.51682250e-01] [-7.21685769e-04]] R_gt: [[ 0.99202727 0.05325692 0.11421832] [-0.04400201 0.99565413 -0.08207152] [-0.1180921 0.07639063 0.99005954]] t_gt: [-0.32390337 0.94487249 0.04798521] Pose Error in degrees for R and t: 174.24859960800515 68.27739967617703 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 7.50160309e-01 -6.61255179e-01 -1.04859360e-03] [ 6.61255415e-01 7.50160818e-01 -1.52254695e-04] [ 8.87293042e-04 -5.79172770e-04 9.99999439e-01]] t_estimated: [[ 0.37494652] [-0.92704592] [-0.00098356]] R_gt: [[ 0.98133335 0.15160476 0.11832624] [-0.1400358 0.9850164 -0.10065799] [-0.1318133 0.08220792 0.98786027]] t_gt: [-0.30857745 0.95029857 0.04138338] Pose Error in degrees for R and t: 50.58685490314182 4.648129293909724 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99800566e-01 1.99705842e-02 6.33959554e-05] [-1.99705786e-02 9.99800564e-01 -8.87548420e-05] [-6.51557980e-05 8.74710874e-05 9.99999994e-01]] t_estimated: [[-0.31706171] [-0.94840389] [-0.00139062]] R_gt: [[ 0.99943927 0.02480438 0.0224775 ] [-0.02409045 0.999214 -0.03150687] [-0.02324089 0.03094911 0.9992505 ]] t_gt: [ 0.50500623 0.85775531 -0.09604446] Pose Error in degrees for R and t: 2.2265374138232716 13.224029235643464 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.97141305e-01 7.55562822e-02 6.82862809e-04] [-7.55551873e-02 9.97140482e-01 -1.50780841e-03] [-7.94834549e-04 1.45190422e-03 9.99998630e-01]] t_estimated: [[ 0.53461292] [-0.8450677 ] [-0.00704316]] R_gt: [[ 0.99848821 -0.00640257 0.05458523] [ 0.01018761 0.99753939 -0.06936117] [-0.05400727 0.06981359 0.99609656]] t_gt: [ 0.97476238 -0.22119003 0.03022027] Pose Error in degrees for R and t: 6.91573942340877 44.94150899042804 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999916e-01 4.07347869e-04 4.39206719e-05] [-4.07348655e-04 9.99999917e-01 1.78929041e-05] [-4.39133796e-05 -1.79107936e-05 9.99999999e-01]] t_estimated: [[ 9.90412579e-01] [-1.38139742e-01] [ 5.78483773e-04]] R_gt: [[ 0.99862522 -0.05239913 -0.00123051] [ 0.05229506 0.99767831 -0.04362804] [ 0.00351344 0.04350509 0.99904691]] t_gt: [ 0.75422405 -0.55501617 -0.35086055] Pose Error in degrees for R and t: 3.9263212442613753 34.56735073398914 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.14367683e-01 -9.76741009e-01 -4.84752446e-03] [-9.76752675e-01 -2.14360689e-01 -1.92505551e-03] [ 8.41161981e-04 5.14750217e-03 -9.99986398e-01]] t_estimated: [[8.45472064e-01] [5.34019193e-01] [6.99894093e-04]] R_gt: [[ 0.9707718 -0.23957436 0.01439481] [ 0.23999644 0.96954922 -0.04873992] [-0.00227979 0.05077053 0.99870761]] t_gt: [ 0.85869492 -0.49193351 -0.1436818 ] Pose Error in degrees for R and t: 177.8231985094116 62.40620424634007 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 7.86886879e-01 6.17089158e-01 3.16394142e-03] [ 6.17081605e-01 -7.86893094e-01 3.09052503e-03] [ 4.39681314e-03 -4.79483539e-04 -9.99990219e-01]] t_estimated: [[9.80003730e-01] [1.98977576e-01] [7.83376283e-04]] R_gt: [[ 0.8573658 -0.51469841 0.00307417] [ 0.51453157 0.85690045 -0.03129061] [ 0.01347138 0.02840945 0.99950594]] t_gt: [ 0.91833853 -0.3925377 -0.05068034] Pose Error in degrees for R and t: 178.466323281618 34.731666516926964 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-5.81350567e-01 8.13651917e-01 -1.44111937e-03] [-8.13650833e-01 -5.81352235e-01 -1.37855081e-03] [-1.95945848e-03 3.71146677e-04 9.99998011e-01]] t_estimated: [[9.35443650e-01] [3.53475019e-01] [7.66757091e-04]] R_gt: [[ 0.79067122 -0.61216431 0.00967388] [ 0.61214211 0.79016011 -0.03046739] [ 0.01100697 0.03001262 0.99948873]] t_gt: [ 0.93659757 -0.34790571 -0.04179253] Pose Error in degrees for R and t: 163.3027663954774 41.13808819379484 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.18291681e-01 6.95741833e-01 6.01991588e-04] [-6.95741007e-01 7.18291820e-01 -1.14588185e-03] [-1.22964357e-03 4.04247167e-04 9.99999162e-01]] t_estimated: [[0.32675961] [0.9451068 ] [0.00113458]] R_gt: [[ 0.99095322 -0.12862883 0.03830076] [ 0.12951107 0.99134426 -0.02150852] [-0.03520271 0.02627425 0.99903498]] t_gt: [ 0.6296289 -0.76737364 0.12126476] Pose Error in degrees for R and t: 51.559430849971776 58.70965177749075 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.67953161e-01 -2.51130674e-01 2.51820357e-04] [ 2.51130606e-01 9.67953173e-01 2.72449218e-04] [-3.12170669e-04 -2.00478283e-04 9.99999931e-01]] t_estimated: [[ 9.99385195e-01] [-3.50504957e-02] [ 8.33292812e-04]] R_gt: [[ 0.97592233 -0.21071633 0.05633649] [ 0.21348307 0.97573529 -0.04863094] [-0.04472186 0.05948647 0.99722686]] t_gt: [ 0.64722568 -0.76217517 0.01370862] Pose Error in degrees for R and t: 4.8386402457515345 47.65805487414428 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 5.84771760e-01 8.11197660e-01 5.87142157e-04] [-8.11196583e-01 5.84771968e-01 -1.35985596e-03] [-1.44645625e-03 3.18917651e-04 9.99998903e-01]] t_estimated: [[0.18996369] [0.98179053] [0.00107404]] R_gt: [[ 0.98736434 -0.14881354 0.05445463] [ 0.15076268 0.98799745 -0.03361449] [-0.048798 0.04139981 0.99795064]] t_gt: [ 0.53361164 -0.83735403 0.11873015] Pose Error in degrees for R and t: 62.92761307475391 43.8949771059111 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-9.97253548e-01 -7.40537093e-02 -1.18668760e-03] [ 7.40547911e-02 -9.97253772e-01 -8.95122849e-04] [-1.11714152e-03 -9.80544340e-04 9.99998895e-01]] t_estimated: [[0.78268553] [0.62241659] [0.00097424]] R_gt: [[ 0.98928303 0.14441847 0.02152276] [-0.14408691 0.9894307 -0.01627015] [-0.02364474 0.01299549 0.9996363 ]] t_gt: [-0.3987812 0.91490913 0.06256869] Pose Error in degrees for R and t: 175.95043646600817 75.08443541941669 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.99997114 -0.00137631 -0.00747109] [ 0.00145193 0.99994767 0.0101262 ] [ 0.00745676 -0.01013676 0.99992082]] t_estimated: [[0.53299905] [0.84611401] [0.00175907]] R_gt: [[ 0.98039216 0.19650988 0.01467171] [-0.19582878 0.97987625 -0.03863745] [-0.02196952 0.0350068 0.99914565]] t_gt: [-0.33005345 0.94340685 -0.03237653] Pose Error in degrees for R and t: 11.807523876933672 51.519033359715934 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.95873714e-01 -9.07495036e-02 2.72025475e-04] [ 9.07496932e-02 9.95873418e-01 -7.92760810e-04] [-1.98960290e-04 8.14175880e-04 9.99999649e-01]] t_estimated: [[-0.58693841] [-0.80962975] [-0.00172629]] R_gt: [[ 0.94930948 0.31259375 0.03311642] [-0.30945957 0.94785723 -0.07615941] [-0.05519753 0.06205106 0.99654596]] t_gt: [-0.2853342 0.9578184 0.03418043] Pose Error in degrees for R and t: 23.825241895148775 52.5503745447036 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99987920e-01 4.91488737e-03 -6.81729295e-05] [-4.91487218e-03 9.99987897e-01 2.21118438e-04] [ 6.92588767e-05 -2.20780706e-04 9.99999973e-01]] t_estimated: [[0.00217669] [0.99999692] [0.00119096]] R_gt: [[ 0.99100476 0.13056466 -0.02936373] [-0.12871851 0.98999346 0.05783761] [ 0.03662182 -0.05353794 0.99789458]] t_gt: [-0.41251773 0.90062333 0.13677261] Pose Error in degrees for R and t: 8.074545249276317 25.856976071559036 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 8.82319252e-01 -4.70650358e-01 -9.89029367e-04] [ 4.70651109e-01 8.82319090e-01 7.46816786e-04] [ 5.21149902e-04 -1.12441860e-03 9.99999232e-01]] t_estimated: [[9.97450132e-01] [7.13622859e-02] [8.10935067e-04]] R_gt: [[ 0.94209152 0.31815556 -0.10601648] [-0.30944596 0.94656885 0.09084104] [ 0.12925415 -0.05277449 0.99020595]] t_gt: [-0.23053398 0.96532408 -0.1224888 ] Pose Error in degrees for R and t: 47.096754495475516 80.72589785480916 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-0.91878453 0.39472727 -0.00503707] [-0.39474163 -0.91878945 0.00223382] [-0.00374626 0.00404074 0.99998482]] t_estimated: [[0.72345777] [0.69036823] [0.00075204]] R_gt: [[ 0.8841893 0.45054807 -0.12335324] [-0.43463162 0.89024759 0.13621781] [ 0.17118793 -0.0668298 0.98296878]] t_gt: [-0.15590786 0.98071522 -0.11785755] Pose Error in degrees for R and t: 130.46438865290412 55.65510063989723 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 8.31475499e-01 -5.55559833e-01 -1.32888451e-03] [ 5.55560720e-01 8.31475873e-01 3.98453659e-04] [ 8.83570557e-04 -1.06958049e-03 9.99999038e-01]] t_estimated: [[-0.00833304] [-0.99996474] [-0.00104163]] R_gt: [[ 9.83573403e-01 1.80489276e-01 -2.87387849e-03] [-1.80511496e-01 9.83382107e-01 -1.93999641e-02] [-6.75825157e-04 1.96005861e-02 9.99808280e-01]] t_gt: [-0.38877205 0.9190424 -0.06494127] Pose Error in degrees for R and t: 44.16388391323421 23.694283821042045 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.35006268 0.93669934 -0.00710421] [ 0.93668792 0.35010691 0.00639514] [ 0.00847756 -0.00441573 -0.99995432]] t_estimated: [[ 0.37168275] [-0.92835347] [-0.00343043]] R_gt: [[ 0.96541014 0.26064334 0.00700064] [-0.26035666 0.96510369 -0.02812454] [-0.01408654 0.02532948 0.99958008]] t_gt: [-0.32979822 0.94367989 -0.02648385] Pose Error in degrees for R and t: 179.16646083901247 3.077359623011001 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.99978333 0.02064675 0.00264762] [-0.02064216 0.9997854 -0.00174862] [-0.00268316 0.00169359 0.99999497]] t_estimated: [[0.05491632] [0.99847848] [0.00499239]] R_gt: [[ 0.93843277 0.34544338 0.00359953] [-0.34412908 0.93567589 -0.07801534] [-0.03031757 0.07197412 0.99694555]] t_gt: [-0.26955782 0.96166112 -0.05046267] Pose Error in degrees for R and t: 19.504537356344237 19.066007571624215 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99852831e-01 -1.71556617e-02 -1.31193584e-05] [ 1.71556617e-02 9.99852831e-01 1.32032649e-06] [ 1.30947765e-05 -1.54520345e-06 1.00000000e+00]] t_estimated: [[ 9.96670863e-01] [-8.15303117e-02] [-2.11280608e-06]] R_gt: [[ 9.99781497e-01 -2.09467407e-02 8.69420133e-04] [ 2.09567079e-02 9.99700070e-01 -1.27277816e-02] [-6.02997338e-04 1.27449056e-02 9.99918527e-01]] t_gt: [ 0.32160343 -0.86323655 -0.38909368] Pose Error in degrees for R and t: 0.7586978652726916 66.98864568214822 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.29233077 0.95602925 0.02346919] [ 0.95460388 0.29318753 -0.05265468] [-0.05722029 0.0070112 -0.99833696]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99926968 0.02233731 0.03104038] [-0.02175022 0.99958081 -0.01912827] [-0.03145437 0.0184405 0.99933455]] t_gt: [-0.89101379 0.17291061 0.4197575 ] Pose Error in degrees for R and t: 175.02596437046896 80.34086337336313 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999998e-01 -2.40287669e-06 6.40209123e-05] [ 2.40837136e-06 9.99999996e-01 -8.58262162e-05] [-6.40207058e-05 8.58263702e-05 9.99999994e-01]] t_estimated: [[3.47759698e-01] [9.37583641e-01] [3.28968004e-04]] R_gt: [[ 0.99781615 0.02673871 0.06041399] [-0.02533862 0.99939563 -0.02381874] [-0.0610138 0.02223759 0.99788911]] t_gt: [-0.78044009 0.05259177 0.62301474] Pose Error in degrees for R and t: 4.006407988868283 77.17984718458922 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.95978282e-01 8.95949345e-02 -9.53444727e-05] [-8.95949381e-02 9.95978286e-01 -3.43281895e-05] [ 9.18853926e-05 4.27325134e-05 9.99999995e-01]] t_estimated: [[-0.6822554 ] [-0.73111342] [-0.00085849]] R_gt: [[ 0.98973959 0.02902844 0.13990624] [-0.03071603 0.99947881 0.00991442] [-0.13954609 -0.01411063 0.99011533]] t_gt: [-0.42214831 0.16544142 0.89130238] Pose Error in degrees for R and t: 8.761981376175974 80.42774045433197 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 8.28562205e-01 -5.59896785e-01 -5.12368092e-04] [ 5.59894495e-01 8.28560870e-01 -2.24480042e-03] [ 1.68138469e-03 1.57308471e-03 9.99997349e-01]] t_estimated: [[-0.0398232 ] [-0.99920018] [-0.00362029]] R_gt: [[ 0.98183087 0.07632986 0.17373009] [-0.07781427 0.99696647 0.00174132] [-0.17306985 -0.01522911 0.98479214]] t_gt: [-0.56520635 0.29866587 0.76898665] Pose Error in degrees for R and t: 39.75229764080583 73.8172113598851 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99998228e-01 -1.85531966e-03 -3.19769357e-04] [ 1.85533391e-03 9.99998278e-01 4.42784144e-05] [ 3.19686655e-04 -4.48716149e-05 9.99999948e-01]] t_estimated: [[9.99970672e-01] [7.59567934e-03] [9.80564748e-04]] R_gt: [[ 0.98448205 0.11202532 0.13507674] [-0.11250946 0.99364203 -0.00407687] [-0.13467411 -0.01118478 0.99082781]] t_gt: [-0.71357141 0.42118751 0.55983652] Pose Error in degrees for R and t: 10.191153252614624 44.78116647493954 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[ 9.72490217e-01 -2.32943143e-01 5.19726047e-04] [ 2.32943547e-01 9.72489803e-01 -9.42151220e-04] [-2.85960615e-04 1.03729967e-03 9.99999421e-01]] t_estimated: [[9.92698006e-01] [1.20623403e-01] [8.15022993e-04]] R_gt: [[ 0.99906985 -0.03261088 0.02820575] [ 0.03467053 0.99651159 -0.07590411] [-0.0256321 0.0768113 0.99671605]] t_gt: [ 0.56006981 0.62581603 -0.54284077] Pose Error in degrees for R and t: 12.41335206114098 50.87415401993895 Number of keypoints: Image1: 403 Image2: 403 R_estimated: [[ 9.99816505e-01 -1.91559404e-02 8.40932411e-05] [-1.91548735e-02 -9.99691373e-01 1.58192803e-02] [-2.18965903e-04 -1.58179883e-02 -9.99874864e-01]] t_estimated: [[-0.09693506] [ 0.99525594] [ 0.00831957]] R_gt: [[ 0.99978406 -0.01900835 0.00834246] [ 0.02007886 0.98749356 -0.15637396] [-0.00526626 0.15650823 0.98766253]] t_gt: [ 0.26599863 0.74150797 -0.61596319] Pose Error in degrees for R and t: 171.90972517054232 45.00208333720247 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 8.81550687e-01 -4.72087514e-01 1.32850073e-03] [ 4.72089139e-01 8.81549604e-01 -1.46334710e-03] [-4.80311399e-04 1.91718541e-03 9.99998047e-01]] t_estimated: [[0.68645237] [0.72717412] [0.00096957]] R_gt: [[ 0.99937407 0.01071701 0.0336989 ] [-0.00344929 0.9779638 -0.20874305] [-0.03519447 0.20849674 0.97738959]] t_gt: [ 0.12131995 0.82284461 -0.55516504] Pose Error in degrees for R and t: 30.985829870421608 47.070855289618486 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.91911933 -0.3939206 0.00679812] [-0.39384074 0.91911692 0.01065654] [-0.0104461 0.00711726 -0.99992011]] t_estimated: [[0.9096355 ] [0.41540188] [0.00213049]] R_gt: [[ 9.95949652e-01 8.11889497e-02 -3.86359761e-02] [-8.12661781e-02 9.96691867e-01 -4.20005077e-04] [ 3.84741629e-02 3.55870731e-03 9.99253113e-01]] t_gt: [-0.65463157 0.62711453 -0.4221195 ] Pose Error in degrees for R and t: 178.29378968426897 70.37449511390594 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999867e-01 -5.07131764e-04 -9.40993307e-05] [ 5.07131503e-04 9.99999871e-01 -2.79658556e-06] [ 9.41007368e-05 2.74886446e-06 9.99999996e-01]] t_estimated: [[0.99750843] [0.07053765] [0.00117218]] R_gt: [[ 0.99651684 0.07722071 -0.03147854] [-0.07687679 0.99696747 0.01201396] [ 0.03231093 -0.00955163 0.99943186]] t_gt: [-0.72481224 0.60217159 -0.33471868] Pose Error in degrees for R and t: 4.848376043417091 47.08419591870812 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-9.93949311e-01 -1.09831562e-01 1.34009025e-03] [-1.09831591e-01 9.93950210e-01 5.22789896e-05] [-1.33772487e-03 -9.52215782e-05 -9.99999101e-01]] t_estimated: [[0.99849028] [0.05490974] [0.00144499]] R_gt: [[ 0.99884007 -0.02941559 -0.03812599] [ 0.03085728 0.99880833 0.0377984 ] [ 0.03696924 -0.03893008 0.99855792]] t_gt: [ 0.66667364 -0.74529674 -0.00888993] Pose Error in degrees for R and t: 178.04922632726738 51.337609011073084 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.98842297e-01 4.81046687e-02 8.55226692e-05] [-4.81046541e-02 9.98842287e-01 -1.64656979e-04] [-9.33444280e-05 1.60352317e-04 9.99999983e-01]] t_estimated: [[0.80797881] [0.58921061] [0.00105028]] R_gt: [[ 0.99943021 -0.03350768 -0.00402474] [ 0.03354792 0.99938269 0.01043957] [ 0.00367232 -0.01056837 0.99993669]] t_gt: [ 0.9412703 -0.26111544 0.21407696] Pose Error in degrees for R and t: 4.724074494923703 52.6343612336475 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.82373578e-01 9.59289889e-01 5.29812944e-03] [ 9.59303990e-01 -2.82374924e-01 -5.07859206e-04] [ 1.00887470e-03 5.22592273e-03 -9.99985836e-01]] t_estimated: [[8.50264953e-01] [5.26354495e-01] [6.74813455e-04]] R_gt: [[ 0.99664756 0.00509582 -0.08164298] [-0.00997733 0.99817887 -0.05950038] [ 0.08119105 0.0601161 0.99488388]] t_gt: [ 0.2078532 0.50596063 -0.83713851] Pose Error in degrees for R and t: 179.84547554423082 63.73777579280764 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.2207555 0.9753277 -0.00170067] [ 0.97531908 -0.22074495 0.00493566] [ 0.00443847 -0.00274827 -0.99998637]] t_estimated: [[0.35072487] [0.93647156] [0.00361572]] R_gt: [[ 0.98001759 0.07334665 -0.18489041] [-0.10435942 0.9809203 -0.16402487] [ 0.16933246 0.18004279 0.96897441]] t_gt: [ 0.01291574 0.6166006 -0.78717017] Pose Error in degrees for R and t: 178.90565361502144 54.6118471418306 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.19109537e-01 3.94002051e-01 2.07781216e-04] [-3.94001987e-01 9.19109542e-01 -2.91346520e-04] [-3.05764824e-04 1.85913153e-04 9.99999936e-01]] t_estimated: [[-9.99821310e-01] [-1.88871088e-02] [-7.90811518e-04]] R_gt: [[ 0.97760918 0.20687068 0.03852304] [-0.20438186 0.97704369 -0.06011214] [-0.0500746 0.05089252 0.99744806]] t_gt: [-0.84505384 0.50705354 -0.16964879] Pose Error in degrees for R and t: 12.030618205635854 33.336209563010264 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-9.41736047e-01 -3.36334758e-01 -3.48541697e-03] [ 3.36351798e-01 -9.41708141e-01 -7.29698665e-03] [-8.28015293e-04 -8.04416163e-03 9.99967302e-01]] t_estimated: [[0.93863174] [0.34491474] [0.00206771]] R_gt: [[ 0.95450984 0.29448673 0.04677983] [-0.29295777 0.95541346 -0.03688857] [-0.05555758 0.02150648 0.99822368]] t_gt: [-0.83574826 0.54871551 -0.02088389] Pose Error in degrees for R and t: 177.45659357366648 53.470045931036516 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.76552613 -0.2335263 0.59952916] [-0.64178877 0.21115157 -0.73723957] [ 0.0455733 -0.94914724 -0.3115166 ]] t_estimated: [[0.74820542] [0.66346392] [0.00206687]] R_gt: [[ 0.85420978 0.51829136 0.04122043] [-0.51614725 0.85487235 -0.0527705 ] [-0.06258899 0.02380274 0.99775573]] t_gt: [-0.78560212 0.61853586 -0.01557882] Pose Error in degrees for R and t: 140.16721449508233 79.77886749199678 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99970937e-01 -7.61794199e-03 -3.04319922e-04] [ 7.61808666e-03 9.99970868e-01 4.77059076e-04] [ 3.00676848e-04 -4.79363547e-04 9.99999840e-01]] t_estimated: [[0.5944694 ] [0.8041177 ] [0.00093177]] R_gt: [[ 0.99574579 -0.08765649 -0.02839555] [ 0.08979035 0.9922825 0.08552275] [ 0.02067891 -0.08770785 0.99593094]] t_gt: [ 0.6421959 -0.63822058 0.42456909] Pose Error in degrees for R and t: 6.938990581422153 82.47012987125154 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.85498049e-01 -1.69686750e-01 4.74243409e-05] [ 1.69686666e-01 9.85497776e-01 7.53904916e-04] [-1.74664257e-04 -7.34924546e-04 9.99999715e-01]] t_estimated: [[9.43815137e-01] [3.30472614e-01] [9.15436603e-04]] R_gt: [[ 0.95174254 -0.30181927 -0.05560235] [ 0.30541105 0.94927051 0.07489911] [ 0.03017522 -0.08826596 0.99563907]] t_gt: [ 0.85089559 -0.49825294 0.16649535] Pose Error in degrees for R and t: 9.558088972002171 50.31386537119325 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 3.96788315e-01 9.17909823e-01 7.68029293e-04] [-9.17908585e-01 3.96789044e-01 -1.51115804e-03] [-1.69185242e-03 -1.05370830e-04 9.99998563e-01]] t_estimated: [[0.59066589] [0.80691574] [0.00089359]] R_gt: [[ 0.84106938 -0.54087508 -0.00753216] [ 0.54081716 0.84109748 -0.00849659] [ 0.01093024 0.00307288 0.99993523]] t_gt: [ 0.9354878 -0.35273485 -0.02099294] Pose Error in degrees for R and t: 99.36679786671985 74.45978458313324 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99999685e-01 -7.72095993e-04 1.86542256e-04] [ 7.72120996e-04 9.99999693e-01 -1.33998472e-04] [-1.86438739e-04 1.34142463e-04 9.99999974e-01]] t_estimated: [[7.76681964e-03] [9.99969537e-01] [7.75906652e-04]] R_gt: [[ 9.98680340e-01 -1.41008530e-02 4.93827748e-02] [ 1.40424610e-02 9.99900119e-01 1.51435061e-03] [-4.93995716e-02 -8.18552070e-04 9.98778517e-01]] t_gt: [-0.05370336 -0.87350875 0.48383718] Pose Error in degrees for R and t: 2.922869388366564 29.129249819496923 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.73417868e-01 2.29036060e-01 3.70618162e-04] [-2.29035289e-01 9.73407093e-01 4.63329577e-03] [ 7.00429461e-04 -4.59501753e-03 9.99989198e-01]] t_estimated: [[0.76486588] [0.64418897] [0.00086818]] R_gt: [[ 9.94837384e-01 -9.37899222e-02 3.87505268e-02] [ 9.37025155e-02 9.95592297e-01 4.08106222e-03] [-3.89625204e-02 -4.28555138e-04 9.99241115e-01]] t_gt: [ 0.6682336 -0.7352074 0.11372748] Pose Error in degrees for R and t: 18.754932907109325 87.8454391549134 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.19709695 0.98034696 -0.00852212] [ 0.98036446 0.19714046 0.00460114] [ 0.00619077 -0.00744791 -0.9999531 ]] t_estimated: [[0.66441782] [0.74735778] [0.00230562]] R_gt: [[ 0.98619038 -0.14600409 0.07816733] [ 0.14322873 0.98887965 0.04003671] [-0.08314426 -0.02828784 0.99613591]] t_gt: [ 0.64570539 -0.71389348 0.27096246] Pose Error in degrees for R and t: 178.20665305981998 84.03672731764485 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 1.00000000e+00 -5.40678613e-14 -1.40241551e-15] [ 5.42899059e-14 1.00000000e+00 1.53913340e-15] [ 1.22514845e-15 -1.44242257e-15 1.00000000e+00]] t_estimated: [[-0.73582292] [-0.67717354] [-0.00079828]] R_gt: [[ 0.98687428 0.16086685 0.01418145] [-0.16106916 0.98683652 0.01452974] [-0.01165739 -0.016623 0.99979321]] t_gt: [-0.61630526 0.7819769 0.09316622] Pose Error in degrees for R and t: 9.336698248561833 85.63460037916667 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 1.00000000e+00 -2.79939194e-09 -5.43851693e-12] [ 2.79939200e-09 1.00000000e+00 1.13056916e-12] [ 5.43851726e-12 -1.13056960e-12 1.00000000e+00]] t_estimated: [[0.53247044] [0.84644726] [0.00150565]] R_gt: [[ 0.97533466 0.21953571 -0.02297112] [-0.21954097 0.97560105 0.0023096 ] [ 0.02291667 0.00279079 0.99973347]] t_gt: [-0.55033025 0.83153906 -0.07536188] Pose Error in degrees for R and t: 12.752007094100783 65.75081385668219 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.80825257 -0.58882992 0.00266749] [ 0.58883344 0.80822753 -0.00659072] [ 0.00172487 0.00689768 0.99997472]] t_estimated: [[-0.06651719] [-0.99775791] [-0.0073908 ]] R_gt: [[ 0.9517715 0.30601259 0.02208657] [-0.30466943 0.9511702 -0.04951401] [-0.0361605 0.04039728 0.99852841]] t_gt: [-0.50029282 0.86585459 0.00170996] Pose Error in degrees for R and t: 53.929891690708295 33.8346571731551 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.98502975e-01 5.46974317e-02 6.24631483e-06] [-5.46974318e-02 9.98502975e-01 1.26460247e-05] [-5.54525887e-06 -1.29687506e-05 1.00000000e+00]] t_estimated: [[0.89206636] [0.45190204] [0.00146721]] R_gt: [[ 9.96397131e-01 8.45462018e-02 -6.63499999e-03] [-8.45380889e-02 9.96420004e-01 1.52288611e-03] [ 6.73960090e-03 -9.56322040e-04 9.99976270e-01]] t_gt: [-0.62259742 0.78200891 -0.02888786] Pose Error in degrees for R and t: 1.7580909745422149 78.34318493805388 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.21315657e-01 9.92612957e-01 1.42469031e-03] [-9.92613961e-01 1.21315256e-01 3.64814979e-04] [ 1.89283405e-04 -1.45842526e-03 9.99998919e-01]] t_estimated: [[0.03136709] [0.99950726] [0.00116262]] R_gt: [[ 0.98532613 0.17067307 0.00138047] [-0.17038564 0.98407865 -0.05058401] [-0.0099923 0.04960734 0.99871838]] t_gt: [-0.52963059 0.84101137 -0.1104143 ] Pose Error in degrees for R and t: 73.25919192599902 34.527359983732474 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.78469357e-01 2.06392143e-01 -6.64860171e-06] [-2.06392141e-01 9.78469354e-01 8.95485437e-05] [ 2.49875688e-05 -8.62482869e-05 9.99999996e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96291756 0.26958656 0.0106323 ] [-0.26908122 0.96248812 -0.03482024] [-0.01962067 0.03066865 0.999337 ]] t_gt: [-0.4939328 0.86931651 -0.01786588] Pose Error in degrees for R and t: 4.266374996402274 29.97999091080321 Number of keypoints: Image1: 384 Image2: 384 R_estimated: [[ 9.67920578e-01 -2.51256278e-01 -1.94657520e-04] [ 2.51256309e-01 9.67920577e-01 1.53754643e-04] [ 1.49781200e-04 -1.97731213e-04 9.99999969e-01]] t_estimated: [[ 8.88306955e-01] [-4.59250209e-01] [ 1.56964521e-05]] R_gt: [[ 0.99783478 0.05339278 0.03843398] [-0.05417406 0.99834027 0.01957288] [-0.03732556 -0.02161216 0.99906952]] t_gt: [-0.84002226 -0.13898542 0.52444796] Pose Error in degrees for R and t: 17.807778644277153 46.97163840471765 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99987159e-01 5.05833280e-03 3.09357002e-04] [-5.05827041e-03 9.99987186e-01 -2.02100687e-04] [-3.10375330e-04 2.00533281e-04 9.99999932e-01]] t_estimated: [[-7.62956810e-01] [ 6.46449385e-01] [ 3.13257432e-04]] R_gt: [[ 0.99794118 -0.01047166 0.0632883 ] [ 0.00922786 0.99975985 0.01990746] [-0.06348203 -0.01928239 0.99779706]] t_gt: [-0.07311027 -0.82156862 0.56540241] Pose Error in degrees for R and t: 3.884985756133522 61.631180232085605 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99637774e-01 2.69127376e-02 1.62141423e-04] [-2.69127986e-02 9.99637710e-01 3.86589410e-04] [-1.51678502e-04 -3.90813057e-04 9.99999912e-01]] t_estimated: [[8.75613031e-01] [4.83012584e-01] [8.14523750e-04]] R_gt: [[ 0.99525784 -0.08067607 0.05435943] [ 0.07936026 0.99650866 0.02594488] [-0.05626263 -0.02150817 0.99818444]] t_gt: [ 0.49794553 -0.81562443 0.29463034] Pose Error in degrees for R and t: 7.031482506256275 87.5761974035815 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-1.77892145e-01 -9.84048718e-01 -1.58262862e-03] [ 9.84049378e-01 -1.77893599e-01 8.30387861e-04] [-1.09868161e-03 -1.40966523e-03 9.99998403e-01]] t_estimated: [[ 0.9881807 ] [-0.15328942] [ 0.0011244 ]] R_gt: [[ 0.9986058 0.04171204 -0.03234776] [-0.04187358 0.9991147 -0.00430861] [ 0.0321392 0.00565708 0.99946765]] t_gt: [-0.4682471 0.52777921 -0.7086563 ] Pose Error in degrees for R and t: 102.65506717210314 57.01547298730205 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999384e-01 1.11018659e-03 4.19647862e-06] [-1.11018759e-03 9.99999353e-01 2.47255868e-04] [-3.92197576e-06 -2.47260375e-04 9.99999969e-01]] t_estimated: [[0.99277849] [0.11995532] [0.00126352]] R_gt: [[ 0.99945955 -0.02497333 -0.02139913] [ 0.02563762 0.99917821 0.03141067] [ 0.02059615 -0.0319428 0.99927709]] t_gt: [ 0.68659861 -0.71744408 0.11771295] Pose Error in degrees for R and t: 2.642767081507663 53.43546533946344 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.97714848e-01 -6.75653905e-02 2.06770264e-05] [ 6.75653912e-02 9.97714683e-01 -5.73957546e-04] [ 1.81498929e-05 5.74043017e-04 9.99999835e-01]] t_estimated: [[-0.44502255] [-0.89551749] [-0.00183282]] R_gt: [[ 0.99022377 -0.13096033 -0.04803687] [ 0.13254387 0.99067904 0.03141226] [ 0.04347498 -0.03747286 0.99835196]] t_gt: [ 0.76410291 -0.64426955 -0.03261115] Pose Error in degrees for R and t: 4.9662261327683295 76.29214158404135 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-3.53885474e-01 -9.35284982e-01 -2.65967381e-03] [ 9.35288398e-01 -3.53886418e-01 -1.22240330e-04] [-8.26892893e-04 -2.53082113e-03 9.99996456e-01]] t_estimated: [[0.9903316 ] [0.13871094] [0.00161292]] R_gt: [[ 0.98494241 0.17137709 0.02275325] [-0.17129313 0.98520382 -0.005638 ] [-0.02338231 0.00165604 0.999725 ]] t_gt: [-0.87938759 0.47601154 0.00951203] Pose Error in degrees for R and t: 120.59808152632174 36.405003872860405 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[ 9.98759652e-01 4.97908095e-02 -1.80473297e-04] [-4.97907702e-02 9.98759647e-01 2.16123743e-04] [ 1.91010423e-04 -2.06869770e-04 9.99999960e-01]] t_estimated: [[-9.96341494e-01] [-8.54608287e-02] [-2.73826935e-04]] R_gt: [[ 0.94736412 0.31511237 0.05660168] [-0.31349465 0.94891805 -0.03573079] [-0.06497063 0.0161066 0.99775726]] t_gt: [-0.82904396 0.55917933 -0.0021424 ] Pose Error in degrees for R and t: 15.955341072543046 38.90178804733601 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.87382214e-01 1.58355007e-01 -2.34525519e-04] [-1.58354999e-01 9.87382242e-01 5.48443823e-05] [ 2.40251215e-04 -1.70140794e-05 9.99999971e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.88516644 0.46064848 0.06545017] [-0.46028006 0.88751339 -0.02150258] [-0.06799306 -0.01109198 0.99762403]] t_gt: [-0.7982044 0.59985817 0.05513538] Pose Error in degrees for R and t: 18.76093517908883 37.22201332420463 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.87031543e-01 -1.60526291e-01 -2.07620632e-04] [ 1.60526372e-01 9.87031443e-01 4.62287390e-04] [ 1.30718812e-04 -4.89620823e-04 9.99999872e-01]] t_estimated: [[-0.58517859] [-0.81090389] [-0.00094843]] R_gt: [[ 0.9995405 -0.01860379 -0.02391159] [ 0.0204121 0.99676557 0.07773485] [ 0.02238795 -0.07818762 0.99668642]] t_gt: [ 0.23696136 -0.72591095 0.64567996] Pose Error in degrees for R and t: 9.346507024772476 63.296926835980116 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.68484635e-01 -2.49073292e-01 8.59379588e-05] [ 2.49073276e-01 9.68484629e-01 1.62353210e-04] [-1.23667441e-04 -1.35831740e-04 9.99999983e-01]] t_estimated: [[-0.99770562] [-0.06767383] [-0.00193354]] R_gt: [[ 0.9972471 -0.06505773 -0.0355715 ] [ 0.07048542 0.98068224 0.18246532] [ 0.023013 -0.18447076 0.98256777]] t_gt: [ 0.33771006 -0.64145838 0.6888273 ] Pose Error in degrees for R and t: 14.986797715593358 72.85102795060882 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.41023256e-01 -3.38341875e-01 8.67149367e-05] [ 3.38341762e-01 9.41023098e-01 6.17540204e-04] [-2.90540469e-04 -5.51780409e-04 9.99999806e-01]] t_estimated: [[0.65298895] [0.75736698] [0.00083502]] R_gt: [[ 0.96936125 -0.2301091 -0.08594729] [ 0.24277558 0.95075551 0.19267743] [ 0.03737812 -0.20764048 0.97749065]] t_gt: [ 0.67177656 -0.58796481 0.45057034] Pose Error in degrees for R and t: 13.520000278677735 89.64096939019274 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.83165763e-01 -1.82715678e-01 -2.50042962e-04] [ 1.82715695e-01 9.83165791e-01 4.89900083e-05] [ 2.36882444e-04 -9.38520727e-05 9.99999968e-01]] t_estimated: [[ 1.80609028e-01] [-9.83554688e-01] [-7.44738630e-04]] R_gt: [[ 0.99399384 0.09957955 0.04540488] [-0.09657447 0.99325628 -0.06414976] [-0.05148751 0.05937957 0.99690594]] t_gt: [-0.32420914 0.94504074 -0.04226614] Pose Error in degrees for R and t: 16.781104335600794 8.876635054842007 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-7.95551280e-01 -6.05883399e-01 -1.86212141e-03] [ 6.05884955e-01 -7.95552189e-01 -3.69247736e-04] [-1.25769369e-03 -1.42198686e-03 9.99998198e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189838e-04]] R_gt: [[ 0.9795301 0.19791913 0.03672225] [-0.19621131 0.97950836 -0.04543138] [-0.04496188 0.03729712 0.99829238]] t_gt: [-0.28266561 0.95914888 -0.01155745] Pose Error in degrees for R and t: 154.09710128393314 73.75775680184123 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999815e-01 -6.00481875e-04 9.88357942e-05] [ 6.00516460e-04 9.99999758e-01 -3.50264501e-04] [-9.86254428e-05 3.50323789e-04 9.99999934e-01]] t_estimated: [[-9.44590253e-01] [-3.28250906e-01] [-7.72355072e-04]] R_gt: [[ 0.92853125 0.37113074 0.00962182] [-0.36792599 0.9233582 -0.10973215] [-0.04960957 0.09834953 0.99391448]] t_gt: [-0.23280161 0.96729525 -0.10071399] Pose Error in degrees for R and t: 22.67309516664864 84.40272195142987 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.90649406e-01 -1.36432023e-01 -2.39793279e-04] [ 1.36432028e-01 9.90649434e-01 9.09242080e-07] [ 2.37427026e-04 -3.36162233e-05 9.99999971e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 9.98264666e-01 5.88926831e-02 6.51322908e-04] [-5.88954372e-02 9.98212641e-01 1.02096154e-02] [-4.87107170e-05 -1.02302144e-02 9.99946705e-01]] t_gt: [-0.83023473 0.53823667 0.1449537 ] Pose Error in degrees for R and t: 11.233053973015199 79.59506944781242 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.9956147 0.0934936 -0.00321095] [-0.09346135 0.99558183 0.00904371] [ 0.00404229 -0.00870395 0.99995395]] t_estimated: [[0.55842392] [0.82955215] [0.00244267]] R_gt: [[ 0.99574189 0.08325268 -0.03957873] [-0.0828545 0.99649415 0.01160226] [ 0.04040627 -0.00827387 0.9991489 ]] t_gt: [-0.8194305 0.54424506 -0.17980815] Pose Error in degrees for R and t: 2.1711277516381555 89.62475908448985 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.07642043 0.99706492 -0.00463297] [-0.99707303 0.07640869 -0.00266062] [-0.00229882 0.00482273 0.99998573]] t_estimated: [[0.28175735] [0.95948518] [0.00099302]] R_gt: [[ 0.99509286 0.07338139 -0.06637795] [-0.07411698 0.99721207 -0.00869449] [ 0.06555464 0.01357099 0.99775641]] t_gt: [-0.74542761 0.50583848 -0.43412568] Pose Error in degrees for R and t: 81.45145259682765 74.04491520478342 Number of keypoints: Image1: 443 Image2: 443 R_estimated: [[ 0.99922094 -0.0394347 0.0015539 ] [-0.03943645 -0.99922146 0.00111007] [ 0.00150891 -0.00117049 -0.99999818]] t_estimated: [[0.30524587] [0.95227284] [0.00117856]] R_gt: [[ 0.99854187 0.05393334 -0.00261536] [-0.0539468 0.9985278 -0.00553245] [ 0.00231398 0.00566499 0.99998107]] t_gt: [-0.23268248 0.96952015 -0.07674341] Pose Error in degrees for R and t: 179.73388447885407 31.55569141739105 Number of keypoints: Image1: 490 Image2: 490 R_estimated: [[ 9.99544085e-01 -3.01930304e-02 -5.89654913e-05] [ 3.01930289e-02 9.99544086e-01 -2.53155629e-05] [ 5.97029617e-05 2.35236744e-05 9.99999998e-01]] t_estimated: [[-9.58406741e-01] [-2.85405427e-01] [-5.11387234e-04]] R_gt: [[ 0.99649895 0.08291165 -0.01077385] [-0.08264256 0.99630418 0.02341374] [ 0.01267539 -0.02244134 0.99966792]] t_gt: [-0.10975703 0.97855044 0.17433426] Pose Error in degrees for R and t: 6.645046868611251 79.96900588476771 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.68550577e-01 2.48816632e-01 2.51099580e-04] [-2.48816442e-01 9.68550461e-01 -6.18659246e-04] [-3.97135324e-04 5.36725066e-04 9.99999777e-01]] t_estimated: [[-9.84932091e-01] [-1.72939581e-01] [-8.23521815e-04]] R_gt: [[ 0.99671712 0.07963366 -0.01465663] [-0.07832626 0.99412087 0.07475105] [ 0.02052397 -0.07335704 0.99709455]] t_gt: [0.03932838 0.91079262 0.41098672] Pose Error in degrees for R and t: 10.80724721115594 78.66259231567744 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.10564317e-01 -4.13367406e-01 -1.09914022e-04] [ 4.13367417e-01 9.10564247e-01 3.62148553e-04] [-4.96166292e-05 -3.75194426e-04 9.99999928e-01]] t_estimated: [[9.99994892e-01] [3.10075858e-03] [7.75189839e-04]] R_gt: [[ 0.9993136 -0.03504654 0.01211923] [ 0.03529903 0.99915056 -0.02130786] [-0.01136313 0.02172092 0.99969909]] t_gt: [ 0.96175415 0.20249816 -0.18445448] Pose Error in degrees for R and t: 22.445141052528236 15.796601033709514 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.88898401e-01 1.48592749e-01 3.85189606e-04] [-1.48593117e-01 9.88897648e-01 1.23577514e-03] [-1.97285870e-04 -1.27929259e-03 9.99999162e-01]] t_estimated: [[0.78449747] [0.62013042] [0.00141045]] R_gt: [[ 0.99429171 -0.10371984 0.02506766] [ 0.10430007 0.99427815 -0.02308982] [-0.02252956 0.02557221 0.99941858]] t_gt: [ 0.924548 -0.3796722 0.03255791] Pose Error in degrees for R and t: 14.652780627147138 60.66564885165763 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-0.99060012 -0.13616837 0.01302238] [-0.13613428 0.99068431 0.00347344] [-0.01337404 0.00166799 -0.99990917]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.98084028 -0.19075489 0.03957123] [ 0.19186379 0.98106606 -0.02639903] [-0.03378687 0.03348587 0.99886714]] t_gt: [ 0.90820705 -0.41661052 0.0399454 ] Pose Error in degrees for R and t: 177.2419581568202 27.880020915355438 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99795222e-01 -2.02362474e-02 -9.67284259e-05] [ 2.02362541e-02 9.99795224e-01 6.89849553e-05] [ 9.53126216e-05 -7.09282497e-05 9.99999993e-01]] t_estimated: [[-9.99999612e-01] [ 3.05612043e-05] [-8.80914078e-04]] R_gt: [[ 0.99327351 0.11487997 -0.01452102] [-0.11457757 0.99320888 0.02017086] [ 0.01673995 -0.01837062 0.99969097]] t_gt: [-0.33511315 0.93978415 -0.06711878] Pose Error in degrees for R and t: 7.877047297022002 70.4152471060825 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.98572809 0.16831629 -0.0031227 ] [-0.16826899 0.9856703 0.01181526] [ 0.00506665 -0.01112118 0.99992532]] t_estimated: [[0.39553672] [0.91844967] [0.00095772]] R_gt: [[ 0.95514885 0.29576498 -0.01459122] [-0.29606991 0.95475708 -0.02793492] [ 0.00566906 0.03100309 0.99950314]] t_gt: [-0.31534893 0.94169633 -0.11731616] Pose Error in degrees for R and t: 7.899329858414964 42.26379336305078 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.97216949 -0.23251153 -0.02872061] [ 0.23424589 0.96675173 0.10256683] [ 0.00391773 -0.10644003 0.99431141]] t_estimated: [[0.0119039 ] [0.9999277 ] [0.00170056]] R_gt: [[ 0.90359488 0.42829349 -0.00902268] [-0.42761844 0.90050949 -0.07889363] [-0.02566452 0.07514584 0.99684258]] t_gt: [-0.22304531 0.96882427 -0.10784397] Pose Error in degrees for R and t: 40.336796591102804 15.00223705795738 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.98864600e-01 4.76393666e-02 2.94336563e-05] [-4.76393687e-02 9.98864598e-01 7.53670846e-05] [-2.58097971e-05 -7.66837137e-05 9.99999997e-01]] t_estimated: [[0.91660038] [0.39980358] [0.00092121]] R_gt: [[ 0.99972952 -0.01931499 0.01300069] [ 0.01916154 0.99974788 0.01176494] [-0.01322385 -0.01151199 0.99984617]] t_gt: [ 0.64211223 -0.08858409 0.76147537] Pose Error in degrees for R and t: 3.9608931630590822 56.36876398992111 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99164614e-01 -4.08656364e-02 -2.71629393e-04] [ 4.08657919e-02 9.99164468e-01 5.93990982e-04] [ 2.47128618e-04 -6.04595120e-04 9.99999787e-01]] t_estimated: [[-9.89761488e-01] [ 1.42731165e-01] [ 1.10405128e-04]] R_gt: [[ 0.99559462 0.09225188 0.01677728] [-0.09192598 0.99557967 -0.01928613] [-0.01848202 0.0176601 0.99967299]] t_gt: [-0.61249056 0.79044236 -0.00749526] Pose Error in degrees for R and t: 7.772503252001462 44.024763213977316 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-3.19182618e-01 -9.47670669e-01 6.53911382e-03] [ 9.47691582e-01 -3.19187329e-01 3.38107151e-04] [ 1.76678804e-03 6.30498104e-03 9.99978563e-01]] t_estimated: [[ 0.87068918] [-0.49181108] [-0.00471304]] R_gt: [[ 0.99100365 0.13128119 -0.02602363] [-0.13128887 0.99134335 0.00142314] [ 0.02598599 0.00200635 0.99965964]] t_gt: [-0.58218284 0.80488042 -0.11502459] Pose Error in degrees for R and t: 116.16901085312752 25.55026008496839 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99990119e-01 -4.44446952e-03 9.26431944e-05] [ 4.44446570e-03 9.99990122e-01 4.13814807e-05] [-9.28261981e-05 -4.09693223e-05 9.99999995e-01]] t_estimated: [[ 7.73064430e-01] [-6.34327358e-01] [ 4.35851106e-04]] R_gt: [[ 0.99665768 -0.05765391 -0.05787654] [ 0.05801048 0.99830617 0.00449108] [ 0.05751965 -0.00783301 0.99831292]] t_gt: [ 0.32055645 -0.74207834 -0.58869627] Pose Error in degrees for R and t: 4.526843450853719 44.08777237505356 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 8.35040347e-01 5.50127627e-01 -8.19832825e-03] [-5.50091808e-01 8.35080235e-01 6.32493834e-03] [ 1.03257852e-02 -7.71745495e-04 9.99946390e-01]] t_estimated: [[0.76505359] [0.64396597] [0.00091733]] R_gt: [[ 0.99166199 -0.0529787 -0.11747376] [ 0.05892625 0.99711965 0.04774956] [ 0.11460557 -0.05427407 0.991927 ]] t_gt: [ 0.11015638 -0.7934628 -0.59856693] Pose Error in degrees for R and t: 37.176436698623384 64.70768542246168 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-7.51241010e-01 6.60027057e-01 1.10897574e-03] [ 6.60027492e-01 7.51237323e-01 2.48901941e-03] [ 8.09716192e-04 2.60180793e-03 -9.99996287e-01]] t_estimated: [[-2.96468714e-01] [-9.55042449e-01] [-4.72206483e-04]] R_gt: [[ 0.97979384 -0.11675374 -0.1624002 ] [ 0.12703915 0.99040281 0.05443074] [ 0.15448727 -0.07396283 0.9852223 ]] t_gt: [ 0.29397555 -0.8407688 -0.45462754] Pose Error in degrees for R and t: 170.15966546604852 44.27232357669714 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.92973833e-01 1.18333843e-01 -2.63182718e-04] [-1.18333853e-01 9.92973866e-01 -2.32099247e-05] [ 2.58587042e-04 5.41902730e-05 9.99999965e-01]] t_estimated: [[-0.92264144] [ 0.38565411] [-0.0019183 ]] R_gt: [[ 0.99605375 0.08840735 0.00789436] [-0.08861838 0.99554334 0.03225597] [-0.00500614 -0.0328278 0.99944799]] t_gt: [-0.89905639 0.02869128 0.43689177] Pose Error in degrees for R and t: 2.5663889118249426 32.88801062018436 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.77682052e-01 -2.10088980e-01 6.52159404e-04] [ 2.10089454e-01 9.77681863e-01 -7.71722672e-04] [-4.75473992e-04 8.91511219e-04 9.99999490e-01]] t_estimated: [[-0.66244779] [-0.74910762] [-0.00083327]] R_gt: [[ 0.99351682 0.09882468 0.05619601] [-0.10079809 0.99434562 0.03342138] [-0.05257417 -0.03886862 0.9978596 ]] t_gt: [-0.8503119 -0.1374882 0.50800262] Pose Error in degrees for R and t: 18.248106615125494 48.251863983833026 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 2.09785792e-01 -9.77746991e-01 -8.62285162e-04] [ 9.77747123e-01 2.09785029e-01 8.97273081e-04] [-6.96411537e-04 -1.03133198e-03 9.99999226e-01]] t_estimated: [[ 9.82993572e-01] [-1.83638041e-01] [ 8.40936614e-04]] R_gt: [[ 0.99801899 0.00928961 0.06222849] [-0.01211468 0.99890559 0.04517331] [-0.06173972 -0.04583735 0.99703853]] t_gt: [-0.18074976 -0.74407407 0.64318217] Pose Error in degrees for R and t: 78.60590656827151 87.67919135345882 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 1.00000000e+00 6.34603481e-13 -1.17278149e-15] [-6.34492459e-13 1.00000000e+00 1.47134366e-15] [ 1.12204083e-15 -1.33234894e-15 1.00000000e+00]] t_estimated: [[-9.61908654e-01] [-2.73369664e-01] [-8.76398837e-04]] R_gt: [[ 0.99472219 0.09916701 -0.02634313] [-0.09930439 0.99504874 -0.00401738] [ 0.02581406 0.00661316 0.999645 ]] t_gt: [-0.64299459 0.74434422 -0.18030429] Pose Error in degrees for R and t: 5.897129623563996 65.46941395030314 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999932e-01 3.67722107e-04 3.84721598e-05] [-3.67718314e-04 9.99999928e-01 -9.85662265e-05] [-3.85084020e-05 9.85520728e-05 9.99999994e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99298583 0.10931398 -0.04504338] [-0.10937161 0.99399999 0.00117947] [ 0.04490262 0.0037559 0.99898437]] t_gt: [-0.59087341 0.77375223 -0.22842087] Pose Error in degrees for R and t: 6.771821186033933 40.07051839746777 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999800e-01 -6.32738612e-04 1.68726069e-05] [ 6.32736785e-04 9.99999794e-01 1.08041615e-04] [-1.69409655e-05 -1.08030918e-04 9.99999994e-01]] t_estimated: [[0.17699435] [0.98421134] [0.00102309]] R_gt: [[ 9.96405502e-01 7.72835570e-02 -3.46900897e-02] [-7.73156132e-02 9.97006555e-01 3.94780896e-04] [ 3.46164636e-02 2.28910481e-03 9.99398435e-01]] t_gt: [-0.53862388 0.81427513 -0.21642629] Pose Error in degrees for R and t: 4.8931896584377155 45.10061198854432 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.99027934 0.10636832 0.08962479] [ 0.10631869 0.99431776 -0.00534124] [-0.08968366 0.00423947 -0.99596128]] t_estimated: [[ 0.99754808] [-0.05295924] [ 0.04575092]] R_gt: [[ 0.99897499 -0.04378211 0.01150441] [ 0.04384543 0.99902335 -0.00545031] [-0.01125526 0.00594936 0.99991927]] t_gt: [-0.05078698 -0.99566844 0.07787843] Pose Error in degrees for R and t: 174.18236895637276 89.67740021733735 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.92676155e-01 1.20805824e-01 6.42352634e-05] [-1.20805827e-01 9.92676155e-01 5.76610846e-05] [-5.67990195e-05 -6.49987779e-05 9.99999996e-01]] t_estimated: [[ 9.99999390e-01] [-3.33387145e-04] [ 1.05321590e-03]] R_gt: [[ 0.99746189 -0.05728534 -0.04227897] [ 0.05792406 0.99822248 0.01406733] [ 0.04139776 -0.01648022 0.99900677]] t_gt: [-0.0870265 -0.91904493 -0.38442529] Pose Error in degrees for R and t: 10.55580519663385 85.00177210123128 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 8.84633094e-01 4.66287773e-01 -3.94614257e-05] [-4.66287718e-01 8.84632942e-01 -5.67950360e-04] [-2.29919431e-04 5.20828062e-04 9.99999838e-01]] t_estimated: [[-0.72739287] [ 0.68621657] [-0.00253386]] R_gt: [[ 0.99030921 -0.07562867 -0.11647819] [ 0.08305805 0.99471825 0.06031729] [ 0.11130076 -0.06940725 0.9913598 ]] t_gt: [ 0.01243959 -0.90224567 -0.43104294] Pose Error in degrees for R and t: 33.2122005850975 51.16408562365063 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999818e-01 -5.44678324e-04 -2.58377388e-04] [ 5.44709069e-04 9.99999845e-01 1.18935144e-04] [ 2.58312567e-04 -1.19075863e-04 9.99999960e-01]] t_estimated: [[-0.01521092] [-0.99988279] [-0.00173968]] R_gt: [[ 0.99332945 0.11368263 0.01925557] [-0.11336601 0.99341055 -0.01682277] [-0.02104121 0.01452868 0.99967349]] t_gt: [-0.35703279 0.93360991 0.03000202] Pose Error in degrees for R and t: 6.716184820776422 21.85608146086491 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-9.47166152e-01 -3.20739501e-01 -1.56632244e-03] [-3.20739659e-01 9.47167381e-01 -1.56441058e-04] [ 1.53374635e-03 3.54206051e-04 -9.99998761e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9719831 0.23490841 0.00812736] [-0.2345383 0.97157109 -0.03226409] [-0.01547572 0.02945368 0.99944626]] t_gt: [-0.29688173 0.9517134 -0.07812067] Pose Error in degrees for R and t: 179.70633971772455 72.90303219966742 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.93052643e-01 -1.17668407e-01 7.70963559e-04] [ 1.17664703e-01 9.93046173e-01 3.78365445e-03] [-1.21081900e-03 -3.66665286e-03 9.99992545e-01]] t_estimated: [[-0.63442192] [-0.77295077] [ 0.00747907]] R_gt: [[ 0.90823071 0.41844669 0.00429508] [-0.41729048 0.90639529 -0.0656924 ] [-0.03138219 0.05787162 0.99783091]] t_gt: [-0.2359446 0.96962865 -0.06442377] Pose Error in degrees for R and t: 31.729603035011603 53.110861165274144 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[-0.36205498 -0.93215494 -0.00183097] [-0.93215608 0.36205168 0.00190427] [-0.00111217 0.0023962 -0.99999651]] t_estimated: [[7.96640986e-01] [6.04452290e-01] [7.53681160e-04]] R_gt: [[ 0.99872193 0.01946416 -0.04663283] [-0.01902574 0.99977144 0.00984017] [ 0.04681366 -0.00894004 0.99886319]] t_gt: [-0.627173 0.42391106 -0.65341674] Pose Error in degrees for R and t: 178.06626140670758 75.88374397636773 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 7.20086172e-02 9.97386266e-01 5.94939461e-03] [-9.97403571e-01 7.20129028e-02 -5.09007970e-04] [-9.36110735e-04 -5.89729447e-03 9.99982173e-01]] t_estimated: [[0.17933624] [0.9837837 ] [0.00285291]] R_gt: [[ 0.9975273 0.00678729 -0.06995287] [-0.00876762 0.99956851 -0.02805314] [ 0.06973286 0.02859803 0.99715576]] t_gt: [-0.31718495 0.24845963 -0.91523851] Pose Error in degrees for R and t: 85.53129995658037 79.34255922537257 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999391e-01 1.10313679e-03 -3.88283528e-05] [-1.10314476e-03 9.99999370e-01 -2.05879191e-04] [ 3.86012154e-05 2.05921899e-04 9.99999978e-01]] t_estimated: [[2.30570265e-01] [9.73055510e-01] [5.72441979e-04]] R_gt: [[ 0.99988076 0.00750117 -0.01348101] [-0.00792799 0.99945995 -0.03191249] [ 0.01323476 0.03201646 0.99939985]] t_gt: [-0.80331684 0.23432897 -0.54751437] Pose Error in degrees for R and t: 2.0091218439134244 87.56530248108216 Number of keypoints: Image1: 412 Image2: 412 R_estimated: [[ 9.99809266e-01 -1.95300990e-02 8.17676753e-05] [ 1.95300810e-02 9.99809247e-01 2.15141409e-04] [-8.59538109e-05 -2.13503445e-04 9.99999974e-01]] t_estimated: [[0.11043459] [0.99388241] [0.00139817]] R_gt: [[ 0.99994038 0.00996472 0.00448068] [-0.00949162 0.9953722 -0.09562498] [-0.00541234 0.09557705 0.99540706]] t_gt: [ 0.05197944 0.72184006 -0.69010511] Pose Error in degrees for R and t: 5.755186388057901 43.76361761523246 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.10735412e-01 -4.12990076e-01 -4.54451425e-04] [ 4.12990232e-01 9.10735396e-01 3.27097948e-04] [ 2.78796793e-04 -4.85583684e-04 9.99999843e-01]] t_estimated: [[9.99988849e-01] [4.65833262e-03] [7.76388857e-04]] R_gt: [[ 0.99858755 0.051584 0.01279731] [-0.04976814 0.99206858 -0.11542738] [-0.01864959 0.11462744 0.99323332]] t_gt: [-0.08443477 0.88112942 -0.46527596] Pose Error in degrees for R and t: 28.101302497618466 85.37174494003487 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.07124407 -0.99743502 0.00690383] [-0.99718838 0.07138424 0.02279544] [-0.0232298 -0.00526038 -0.99971631]] t_estimated: [[0.60464348] [0.7963597 ] [0.0147474 ]] R_gt: [[ 0.99498729 0.09957635 -0.00927306] [-0.09999486 0.99204921 -0.07642848] [ 0.00158888 0.07697172 0.99703151]] t_gt: [-0.08247726 0.95149055 -0.29641734] Pose Error in degrees for R and t: 177.91367347447593 45.29247857955139 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.97376479e-01 -7.23878530e-02 -3.96452693e-04] [ 7.23880863e-02 9.97376355e-01 6.09644577e-04] [ 3.51281680e-04 -6.36743613e-04 9.99999736e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99802191 -0.05560722 0.0293599 ] [ 0.05599236 0.99835424 -0.01247639] [-0.02861838 0.01409471 0.99949037]] t_gt: [ 0.81862703 -0.42654598 0.38458848] Pose Error in degrees for R and t: 2.090590540323165 35.154901410229556 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 7.21773121e-01 6.92129659e-01 3.10798492e-04] [-6.92127944e-01 7.21772206e-01 -1.94714696e-03] [-1.57200387e-03 1.19028602e-03 9.99998056e-01]] t_estimated: [[-0.96720812] [-0.25398161] [-0.00133924]] R_gt: [[ 0.98717166 -0.15304328 0.04551612] [ 0.15365577 0.9880722 -0.01026068] [-0.04340254 0.01712252 0.99891089]] t_gt: [ 0.840191 -0.50734899 0.19151003] Pose Error in degrees for R and t: 52.683552040437874 46.839945595030485 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[-0.82091043 -0.57083611 0.01588073] [-0.57085406 0.82104264 0.00382432] [-0.01522182 -0.00592616 -0.99986658]] t_estimated: [[0.97717806] [0.21226277] [0.00821917]] R_gt: [[ 9.73658838e-01 -2.20612142e-01 5.76234822e-02] [ 2.20935153e-01 9.75289172e-01 7.72532611e-04] [-5.63706173e-02 1.19785757e-02 9.98338026e-01]] t_gt: [ 0.87067945 -0.45035672 0.19772739] Pose Error in degrees for R and t: 176.038230723916 40.8135906921984 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 7.92423345e-01 -6.09971273e-01 -5.36932191e-04] [ 6.09971490e-01 7.92423231e-01 4.51011995e-04] [ 1.50373182e-04 -6.84905762e-04 9.99999754e-01]] t_estimated: [[ 5.62545600e-01] [-8.26766257e-01] [ 6.38650066e-05]] R_gt: [[ 0.99798896 0.06098379 0.01728676] [-0.06095643 0.99813811 -0.00207152] [-0.01738107 0.00101311 0.99984873]] t_gt: [-0.75660773 0.64826273 0.08544108] Pose Error in degrees for R and t: 41.0953935312358 15.93314967637705 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.98865685e-01 -4.76154256e-02 -3.38677114e-04] [ 4.76155453e-02 9.98865674e-01 3.54417245e-04] [ 3.21417216e-04 -3.70141519e-04 9.99999880e-01]] t_estimated: [[-9.98923628e-01] [-4.63851450e-02] [ 5.61031493e-05]] R_gt: [[ 0.9825045 0.18608988 0.00749512] [-0.18605103 0.98252396 -0.00556715] [-0.00840015 0.00407555 0.999957 ]] t_gt: [-8.03173988e-01 5.95744332e-01 -4.85983451e-04] Pose Error in degrees for R and t: 13.464594905402574 39.224354939754896 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99734094e-01 2.30591602e-02 -1.27463889e-04] [-2.30591494e-02 9.99734099e-01 8.55210190e-05] [ 1.29402039e-04 -8.25590696e-05 9.99999988e-01]] t_estimated: [[-9.96969533e-01] [-7.77909917e-02] [-5.58197008e-04]] R_gt: [[ 9.58958767e-01 2.81864950e-01 3.08346014e-02] [-2.81696308e-01 9.59452930e-01 -9.79142658e-03] [-3.23445614e-02 7.03783722e-04 9.99476949e-01]] t_gt: [-0.78412565 0.6197879 0.03177915] Pose Error in degrees for R and t: 15.16370739242497 42.817885598898705 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99913138e-01 1.31800194e-02 5.20683923e-05] [-1.31800060e-02 9.99913109e-01 -2.49771272e-04] [-5.53558582e-05 2.49063315e-04 9.99999967e-01]] t_estimated: [[ 0.69114363] [-0.72271618] [-0.00134324]] R_gt: [[ 0.98157899 -0.18188339 0.05850865] [ 0.18425046 0.98214602 -0.03795611] [-0.05056041 0.0480364 0.99756516]] t_gt: [ 0.90807026 -0.41347244 -0.06670048] Pose Error in degrees for R and t: 11.996421565714725 22.10134618884319 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.25958457 0.91282011 0.3152385 ] [ 0.81401923 0.38245583 -0.43715012] [-0.51960422 0.14313277 -0.84233275]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96808743 -0.24562452 0.04976188] [ 0.24567486 0.96933859 0.00518244] [-0.04950976 0.00720789 0.99874782]] t_gt: [ 0.93983274 -0.31664883 0.12824952] Pose Error in degrees for R and t: 148.5338698592433 56.670976460637654 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.08593679 0.99629189 0.00416347] [-0.99629136 0.08591725 0.00466437] [ 0.00428936 -0.00454887 0.99998045]] t_estimated: [[0.07399601] [0.99725775] [0.00125114]] R_gt: [[ 0.97599416 -0.21775637 0.00447737] [ 0.21772087 0.97598559 0.00716947] [-0.0059311 -0.00602294 0.99996417]] t_gt: [ 0.99263469 -0.08994287 0.0811582 ] Pose Error in degrees for R and t: 97.64691207201815 89.07499523859191 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99915106e-01 -1.30299052e-02 -4.16072018e-05] [ 1.30299062e-02 9.99915107e-01 2.27103401e-05] [ 4.13077560e-05 -2.32505501e-05 9.99999999e-01]] t_estimated: [[9.98707754e-01] [5.08130680e-02] [9.23873963e-04]] R_gt: [[ 9.99910233e-01 -6.27688252e-04 -1.33886141e-02] [ 2.56520983e-04 9.99616517e-01 -2.76922923e-02] [ 1.34010181e-02 2.76865247e-02 9.99526866e-01]] t_gt: [-0.3200913 0.17480865 -0.93111949] Pose Error in degrees for R and t: 1.9044920937647214 71.8409831473088 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.66348848 0.74816851 0.00518825] [ 0.74818499 -0.6634851 -0.00259547] [ 0.00150048 0.00560384 -0.99998317]] t_estimated: [[0.66589691] [0.74604328] [0.00085262]] R_gt: [[ 0.99730494 -0.02245625 0.06985022] [ 0.02542882 0.99879502 -0.04196196] [-0.06882265 0.04362483 0.99667432]] t_gt: [-0.57794401 -0.61572223 0.53559953] Pose Error in degrees for R and t: 175.8697963632199 32.46175564878013 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.98112226 -0.16820467 0.0954269 ] [ 0.17334631 0.9836725 -0.04836798] [-0.0857331 0.0639968 0.99426065]] t_estimated: [[0.9976057 ] [0.06846314] [0.00978045]] R_gt: [[ 0.97863909 -0.11228746 0.17221402] [ 0.11744035 0.99287832 -0.01999675] [-0.16874208 0.03979444 0.98485715]] t_gt: [ 0.23865818 -0.7371472 0.63218374] Pose Error in degrees for R and t: 5.818490494933255 78.82522895034568 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.23791181 -0.9697751 -0.0541685 ] [-0.96968753 0.24034944 -0.04402536] [ 0.05571407 0.04205237 -0.9975608 ]] t_estimated: [[ 0.81290652] [ 0.5814876 ] [-0.03248316]] R_gt: [[ 0.99961695 0.00534156 0.02714181] [-0.0050349 0.99992282 -0.01132775] [-0.02719997 0.01118772 0.99956773]] t_gt: [0.41981073 0.8235448 0.38148777] Pose Error in degrees for R and t: 176.8268746205375 36.12273381353824 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99999986e-01 1.64247297e-04 -4.10375629e-05] [-1.64250496e-04 9.99999983e-01 -7.79561773e-05] [ 4.10247582e-05 7.79629167e-05 9.99999996e-01]] t_estimated: [[-0.55474703] [-0.83201832] [-0.00112043]] R_gt: [[ 0.99460369 0.08854241 0.05406088] [-0.08830986 0.99607041 -0.00667055] [-0.05443887 0.00186084 0.9985151 ]] t_gt: [-0.62602723 0.72640508 0.28359404] Pose Error in degrees for R and t: 5.953052697692198 75.08336625612279 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999871e-01 5.04766523e-04 6.14497149e-05] [-5.04746445e-04 9.99999819e-01 -3.26319309e-04] [-6.16144189e-05 3.26288250e-04 9.99999945e-01]] t_estimated: [[-0.56626387] [-0.82422305] [-0.00126553]] R_gt: [[ 0.98771422 0.14412684 0.06039673] [-0.14223373 0.98922865 -0.03456741] [-0.06472746 0.025553 0.99757555]] t_gt: [-0.69863362 0.70848741 0.09978306] Pose Error in degrees for R and t: 9.124907834071397 79.13666920795269 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-8.34127995e-01 -5.51570002e-01 -1.01040300e-03] [-5.51570833e-01 8.34125383e-01 2.11240961e-03] [-3.22338979e-04 2.31932882e-03 -9.99997258e-01]] t_estimated: [[0.9304982 ] [0.36629483] [0.00109342]] R_gt: [[ 9.99780116e-01 1.18101220e-02 -1.73417612e-02] [-1.17991514e-02 9.99930385e-01 6.93248798e-04] [ 1.73477513e-02 -4.87496378e-04 9.99849579e-01]] t_gt: [-0.30087522 0.85584181 -0.42072425] Pose Error in degrees for R and t: 179.03762932245485 88.10508056262896 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.96109492e-01 8.81236563e-02 -3.16669667e-04] [-8.81235136e-02 9.96109458e-01 4.39391799e-04] [ 3.54158463e-04 -4.09776298e-04 9.99999853e-01]] t_estimated: [[-0.96864456] [-0.24844624] [-0.00147885]] R_gt: [[ 0.99969747 -0.02124305 -0.01248146] [ 0.02133096 0.99974943 0.00689027] [ 0.01233143 -0.00715378 0.99989782]] t_gt: [ 0.95543307 0.25194143 -0.15386089] Pose Error in degrees for R and t: 6.324423945962453 8.943764850491403 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.64171761e-01 -2.65278749e-01 -2.33639546e-06] [ 2.65278726e-01 9.64171673e-01 4.26995467e-04] [-1.11020137e-04 -4.12316767e-04 9.99999909e-01]] t_estimated: [[-0.6975308 ] [-0.71655436] [-0.00079265]] R_gt: [[ 0.99924588 0.0277898 -0.02714387] [-0.02876983 0.99892298 -0.03642224] [ 0.02610196 0.03717685 0.99896745]] t_gt: [-0.23877405 0.78837807 -0.56696293] Pose Error in degrees for R and t: 17.20476980554926 66.55215707351356 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 4.14823277e-01 9.09901964e-01 2.53383583e-04] [-9.09901999e-01 4.14823273e-01 6.88330148e-05] [-4.24781119e-05 -2.59107765e-04 9.99999966e-01]] t_estimated: [[-9.99982376e-01] [-5.87731035e-03] [-8.39615765e-04]] R_gt: [[ 0.99906693 -0.03542933 -0.02471518] [ 0.03603695 0.99904847 0.02457272] [ 0.02381984 -0.0254402 0.99939232]] t_gt: [0.99919133 0.01626814 0.0367699 ] Pose Error in degrees for R and t: 67.5662210040753 2.1436152430648487 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99966236e-01 -8.21742764e-03 1.82550868e-05] [ 8.21742562e-03 9.99966231e-01 1.08211429e-04] [-1.91436899e-05 -1.08057765e-04 9.99999994e-01]] t_estimated: [[9.81718723e-01] [1.90337275e-01] [2.65230640e-04]] R_gt: [[ 0.99938196 -0.02994552 -0.01845862] [ 0.0302998 0.99935693 0.01921199] [ 0.01787176 -0.01975912 0.99964481]] t_gt: [0.96598653 0.25756939 0.02297891] Pose Error in degrees for R and t: 1.9726035451743973 4.165642670909688 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99615686e-01 -2.77214689e-02 -3.10672627e-06] [ 2.77214689e-02 9.99615663e-01 2.13420279e-04] [-2.81079138e-06 -2.13424382e-04 9.99999977e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99986663 0.00819031 0.01417073] [-0.00830743 0.99993208 0.00824169] [-0.01410204 -0.00835771 0.99986537]] t_gt: [0.57523564 0.8006797 0.16737974] Pose Error in degrees for R and t: 2.261930595498484 54.70087434521122 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.98260184 0.1856666 0.0046408 ] [-0.18561868 0.98257863 -0.00921632] [-0.00627111 0.00819455 0.99994676]] t_estimated: [[8.46448710e-01] [5.32469648e-01] [8.09224389e-04]] R_gt: [[ 0.99156169 -0.05521335 0.11729628] [ 0.05652606 0.99836992 -0.00790148] [-0.11666775 0.0144654 0.99306519]] t_gt: [ 0.15509602 -0.57282318 0.80487193] Pose Error in degrees for R and t: 15.309925307140524 80.03312408920979 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99607257 0.08850166 -0.00262636] [-0.08847822 0.99604602 0.00799606] [ 0.00332364 -0.00773228 0.99996458]] t_estimated: [[0.62548084] [0.78023898] [0.00092118]] R_gt: [[ 0.96764899 -0.15918059 0.1957509 ] [ 0.15949965 0.98709563 0.01423432] [-0.19549126 0.01744793 0.98054993]] t_gt: [ 0.42035802 -0.66832567 0.61370998] Pose Error in degrees for R and t: 18.361886980237646 75.05080042208465 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.98364883 0.18007535 -0.00280135] [-0.18006218 0.98364538 0.00440233] [ 0.00354828 -0.00382593 0.99998639]] t_estimated: [[-0.01777495] [-0.99984092] [-0.00148125]] R_gt: [[ 0.93659447 -0.27799827 0.21332592] [ 0.27714044 0.96020892 0.03453965] [-0.21443918 0.02677159 0.97637033]] t_gt: [ 0.60567546 -0.67336162 0.42395916] Pose Error in degrees for R and t: 29.490762502635057 48.55806790429316 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99811675e-01 1.94063628e-02 8.51973557e-05] [-1.94063350e-02 9.99811630e-01 -3.15196466e-04] [-9.12981240e-05 3.13483738e-04 9.99999947e-01]] t_estimated: [[-9.69784870e-01] [-2.43960155e-01] [-8.65106932e-04]] R_gt: [[ 0.99329055 0.11128883 0.03141953] [-0.11021977 0.99332885 -0.03391035] [-0.03498258 0.03022016 0.99893143]] t_gt: [-0.78495491 0.60845139 -0.11675916] Pose Error in degrees for R and t: 5.873275613063149 52.20047466149799 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99616952e-01 -2.76734276e-02 -3.62329208e-04] [ 2.76736142e-02 9.99616877e-01 5.20595774e-04] [ 3.47783722e-04 -5.30423319e-04 9.99999799e-01]] t_estimated: [[ 9.99767408e-01] [ 2.15644822e-02] [-3.21312298e-04]] R_gt: [[ 0.98348889 0.18044771 0.01368772] [-0.18025217 0.98351552 -0.01439366] [-0.01605892 0.01168865 0.99980255]] t_gt: [-0.77771327 0.6281317 -0.02475172] Pose Error in degrees for R and t: 12.034130320043564 40.183747458577145 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-8.75099746e-01 4.83929325e-01 3.58374136e-03] [-4.83942354e-01 -8.75082694e-01 -5.48416053e-03] [ 4.82123937e-04 -6.53351172e-03 9.99978540e-01]] t_estimated: [[0.81067866] [0.58549014] [0.0011852 ]] R_gt: [[ 0.95112226 0.30746456 0.02885533] [-0.3062869 0.9511408 -0.0389913 ] [-0.03943386 0.02824851 0.99882247]] t_gt: [-0.76903286 0.63813858 -0.03698127] Pose Error in degrees for R and t: 133.18540066215616 75.53086020099315 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99626233e-01 -2.73384330e-02 5.89540986e-05] [ 2.73384383e-02 9.99626231e-01 -9.11592973e-05] [-5.64399110e-05 9.27369380e-05 9.99999994e-01]] t_estimated: [[ 8.31391871e-01] [-5.55686538e-01] [-1.67512452e-04]] R_gt: [[ 0.96531834 -0.24468333 0.09104549] [ 0.25234003 0.96389725 -0.0850033 ] [-0.06695957 0.10502995 0.99221162]] t_gt: [ 0.86565714 -0.42473567 -0.26502326] Pose Error in degrees for R and t: 14.724241583513185 17.10553653470778 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 5.79263716e-01 8.15140108e-01 -3.89545523e-04] [-8.15131332e-01 5.79255118e-01 -4.94166804e-03] [-3.80250558e-03 3.18005976e-03 9.99987714e-01]] t_estimated: [[8.19590887e-01] [5.72948839e-01] [6.37317952e-04]] R_gt: [[ 0.90266147 -0.38911647 0.18382479] [ 0.41440568 0.90112524 -0.12743715] [-0.11606106 0.19121133 0.97466273]] t_gt: [ 0.90331638 -0.32172026 -0.2837527 ] Pose Error in degrees for R and t: 79.45139259233399 56.231423407145385 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 7.97757626e-01 6.02978231e-01 1.50668733e-04] [-6.02978021e-01 7.97757516e-01 -6.72769733e-04] [-5.25862618e-04 4.45857251e-04 9.99999762e-01]] t_estimated: [[-0.91208267] [-0.41000389] [-0.00141675]] R_gt: [[ 0.84443544 -0.50079946 0.19007683] [ 0.52142709 0.84975742 -0.07762089] [-0.12264655 0.16465682 0.97869588]] t_gt: [ 0.95200711 -0.2675284 -0.14869776] Pose Error in degrees for R and t: 69.0811900748626 40.67569994817345 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.99587745 -0.09027919 -0.00881907] [ 0.09040356 0.99579372 0.0149017 ] [ 0.00743666 -0.01563755 0.99985007]] t_estimated: [[-0.61038263] [-0.79210624] [-0.00086949]] R_gt: [[ 0.999906 0.00334888 -0.01332829] [-0.00352637 0.99990507 -0.01331377] [ 0.01328209 0.01335959 0.99982248]] t_gt: [-0.02941239 0.66481044 -0.74643284] Pose Error in degrees for R and t: 5.632583949211688 59.46938645957695 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999992e-01 1.06633884e-04 6.73791704e-05] [-1.06634139e-04 9.99999994e-01 3.79188252e-06] [-6.73787657e-05 -3.79906741e-06 9.99999998e-01]] t_estimated: [[-0.80034937] [-0.59953149] [-0.00169474]] R_gt: [[ 0.99966854 -0.0253285 -0.0046366 ] [ 0.02535571 0.99966172 0.00585749] [ 0.00448676 -0.00597293 0.99997291]] t_gt: [0.98964135 0.10826332 0.09428173] Pose Error in degrees for R and t: 1.5189974131535615 31.00460682639991 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 4.73103629e-01 8.81006108e-01 1.09280783e-03] [ 8.81001894e-01 -4.73104772e-01 2.74543830e-03] [ 2.93576051e-03 -3.36111055e-04 -9.99995634e-01]] t_estimated: [[-0.69354974] [-0.72040702] [-0.00157984]] R_gt: [[ 0.99899189 0.03419215 -0.02907598] [-0.03554048 0.99824958 -0.04725409] [ 0.02740949 0.0482413 0.9984599 ]] t_gt: [-0.26489115 0.76170767 -0.59129866] Pose Error in degrees for R and t: 178.58541590542814 68.6483967527144 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.96771110e-01 8.02952098e-02 1.83419286e-04] [-8.02951814e-02 9.96771117e-01 -1.57273194e-04] [-1.95455330e-04 1.42037691e-04 9.99999971e-01]] t_estimated: [[ 8.59497272e-01] [-5.11140327e-01] [-7.55601814e-05]] R_gt: [[ 0.96295795 -0.25492993 0.08788796] [ 0.26188007 0.96182578 -0.07943621] [-0.06428245 0.0995095 0.99295819]] t_gt: [ 0.8634826 -0.44070736 -0.24530557] Pose Error in degrees for R and t: 20.764992849679697 14.660429026110226 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.82336708 0.5670399 0.02307389] [-0.54139704 0.79702409 -0.26765994] [-0.17016431 0.20789025 0.96323712]] t_estimated: [[-0.87898218] [-0.46416318] [-0.10928346]] R_gt: [[ 0.89784999 -0.40137996 0.1809995 ] [ 0.42589047 0.89600458 -0.12567535] [-0.11173326 0.18992229 0.97542019]] t_gt: [ 0.90055687 -0.32762378 -0.28576212] Pose Error in degrees for R and t: 58.965954625209264 52.53523224565049 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-0.99987772 0.00737408 -0.01379017] [ 0.00766814 0.99974171 -0.02139418] [ 0.01362884 -0.02149731 -0.99967601]] t_estimated: [[0.84854888] [0.52911446] [0.00163813]] R_gt: [[ 0.83148662 -0.51992011 0.19574048] [ 0.54222152 0.83620501 -0.0822064 ] [-0.12093878 0.17448771 0.97720443]] t_gt: [ 0.94980663 -0.26643179 -0.16395567] Pose Error in degrees for R and t: 171.55208998269356 48.33946900255022 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99928790e-01 1.19140290e-02 -6.86085865e-04] [-1.19130267e-02 9.99927990e-01 1.44695616e-03] [ 7.03275538e-04 -1.43867976e-03 9.99998718e-01]] t_estimated: [[-0.99065249] [ 0.13631041] [ 0.00520714]] R_gt: [[ 0.99168405 0.12503129 0.03046568] [-0.12420781 0.99187211 -0.02758343] [-0.03366542 0.0235699 0.99915538]] t_gt: [-0.80979941 0.58158038 -0.07738983] Pose Error in degrees for R and t: 6.922747411348324 28.224382149681485 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.99959539e-01 8.99557412e-03 1.47052535e-05] [-8.99557242e-03 9.99959533e-01 -1.11639396e-04] [-1.57089189e-05 1.11502597e-04 9.99999994e-01]] t_estimated: [[-9.95926149e-01] [-9.01694952e-02] [-7.53286528e-04]] R_gt: [[ 0.9836918 0.17937299 0.01322145] [-0.17913168 0.9836661 -0.01766674] [-0.01617386 0.01500942 0.99975644]] t_gt: [-0.77623653 0.62913839 -0.04051841] Pose Error in degrees for R and t: 9.892477023536204 44.24394461315065 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-3.75151256e-01 -9.26959615e-01 -2.72149153e-03] [ 9.26962769e-01 -3.75153254e-01 2.45585086e-04] [-1.24862386e-03 -2.43058977e-03 9.99996267e-01]] t_estimated: [[ 0.97242732] [-0.23320223] [ 0.00135415]] R_gt: [[ 0.94966836 0.31228834 0.02459653] [-0.31129794 0.94958441 -0.03718926] [-0.03496947 0.02766016 0.99900534]] t_gt: [-0.76861537 0.63846691 -0.0398801 ] Pose Error in degrees for R and t: 130.22745699787401 26.315247432073654 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.88692306 0.461893 0.00472723] [ 0.46191264 -0.88691328 -0.00464222] [ 0.00204844 0.00630086 -0.99997805]] t_estimated: [[8.51879967e-01] [5.23736450e-01] [8.08235262e-04]] R_gt: [[ 0.99087343 -0.06592979 0.1175777 ] [ 0.06729373 0.99770411 -0.0076622 ] [-0.11680264 0.01550382 0.99303374]] t_gt: [ 0.23155773 -0.6288974 0.74220555] Pose Error in degrees for R and t: 177.4242404333884 82.44272443546086 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.52303842 -0.8214854 -0.22713992] [ 0.84211258 0.53919119 -0.0109204 ] [ 0.13144279 -0.1855656 0.9738009 ]] t_estimated: [[0.99822225] [0.05913176] [0.00746884]] R_gt: [[ 0.96735544 -0.16713161 0.19050173] [ 0.1677727 0.98574142 0.01287376] [-0.18993773 0.01950786 0.98160212]] t_gt: [ 0.44797194 -0.68498403 0.57455898] Pose Error in degrees for R and t: 53.13243710761026 65.73468608337674 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 2.75414302e-01 9.61325497e-01 4.99921710e-04] [-9.61324074e-01 2.75414755e-01 -1.65458046e-03] [-1.72827620e-03 -2.48916505e-05 9.99998506e-01]] t_estimated: [[0.00905525] [0.99995816] [0.00129361]] R_gt: [[ 0.93520126 -0.28407043 0.2114316 ] [ 0.28257822 0.9584951 0.0378986 ] [-0.21342256 0.02430294 0.97665722]] t_gt: [ 0.6170796 -0.66337678 0.42325407] Pose Error in degrees for R and t: 91.3212115198071 48.91228182723826 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.18893826e-01 -3.94502636e-01 1.34407077e-03] [ 3.94504154e-01 9.18893434e-01 -1.15300430e-03] [-7.80194572e-04 1.58973003e-03 9.99998432e-01]] t_estimated: [[0.56005632] [0.82845405] [0.00089466]] R_gt: [[ 0.99892202 -0.03870453 -0.0256197 ] [ 0.03916432 0.99907602 0.01769005] [ 0.02491163 -0.01867429 0.99951442]] t_gt: [ 0.99867088 -0.02166955 -0.04676424] Pose Error in degrees for R and t: 21.086545106862804 57.22660275530915 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.84204988e-01 1.77032287e-01 3.32424339e-04] [-1.77032305e-01 9.84205041e-01 2.74933419e-05] [-3.22306501e-04 -8.59089315e-05 9.99999944e-01]] t_estimated: [[0.35179009] [0.93607812] [0.00121727]] R_gt: [[ 0.99932922 -0.03396864 -0.01371093] [ 0.03412357 0.99935555 0.01120989] [ 0.01332173 -0.0116695 0.99984225]] t_gt: [ 0.97412244 0.22562595 -0.01335639] Pose Error in degrees for R and t: 12.191331108684032 56.366814465952594 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.99964228e-01 -8.45818798e-03 -2.90750160e-05] [ 8.45818300e-03 9.99964215e-01 -1.67318297e-04] [ 3.04891852e-05 1.67066390e-04 9.99999986e-01]] t_estimated: [[ 0.98167398] [-0.19056431] [-0.00120037]] R_gt: [[ 0.99969086 0.01661666 0.01849638] [-0.01666443 0.99985855 0.00247177] [-0.01845277 -0.00277931 0.99982467]] t_gt: [0.43689741 0.8859119 0.15582286] Pose Error in degrees for R and t: 1.7945957403815147 74.9370232348192 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 0.38379265 -0.92175417 -0.05542969] [-0.92189743 -0.37902436 -0.08028491] [ 0.05299375 0.08191325 -0.99522956]] t_estimated: [[ 0.57021079] [ 0.82008821] [-0.04811429]] R_gt: [[ 0.99955015 0.01471096 0.02613871] [-0.01454345 0.99987304 -0.00657446] [-0.02623295 0.00619174 0.99963735]] t_gt: [-0.01343111 0.91185592 0.41029061] Pose Error in degrees for R and t: 174.9320390097932 43.91224690018218 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999602e-01 8.74273119e-04 -1.77599161e-04] [-8.74262517e-04 9.99999616e-01 5.97650284e-05] [ 1.77651344e-04 -5.96097363e-05 9.99999982e-01]] t_estimated: [[-0.00197375] [ 0.99999681] [ 0.00157481]] R_gt: [[ 9.92959254e-01 1.04703470e-01 5.53937664e-02] [-1.04903473e-01 9.94482756e-01 7.13165907e-04] [-5.50137126e-02 -6.51854025e-03 9.98464020e-01]] t_gt: [-0.67292086 0.68149331 0.28765323] Pose Error in degrees for R and t: 6.766457931718521 46.900114540510145 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.74828551e-01 2.22955727e-01 1.97534760e-04] [-2.22955593e-01 9.74828448e-01 -5.48455299e-04] [-3.14843754e-04 4.90608405e-04 9.99999830e-01]] t_estimated: [[-0.91684797] [-0.39923462] [-0.00123405]] R_gt: [[ 0.98633231 0.15127915 0.06529078] [-0.14951099 0.98826801 -0.03119366] [-0.06924423 0.02100624 0.99737887]] t_gt: [-0.71720764 0.68547253 0.12546162] Pose Error in degrees for R and t: 5.901474684665356 67.43376636828032 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99995711e-01 2.92852351e-03 -4.94720141e-05] [-2.92852317e-03 9.99995712e-01 6.90797028e-06] [ 4.94920321e-05 -6.76306071e-06 9.99999999e-01]] t_estimated: [[-0.99852491] [-0.05428356] [-0.00114082]] R_gt: [[ 0.99989681 0.01097495 -0.00924234] [-0.01120073 0.9996305 -0.02477706] [ 0.00896729 0.0248796 0.99965085]] t_gt: [-0.52302722 0.37838075 -0.7637215 ] Pose Error in degrees for R and t: 1.5846819654136879 59.82868897287384 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.75016353 0.66124052 -0.00395503] [-0.66125063 -0.7501618 0.00220724] [-0.0015074 0.00427106 0.99998974]] t_estimated: [[8.03662904e-01] [5.95084345e-01] [7.47593399e-04]] R_gt: [[ 0.99658385 -0.01834168 0.08052324] [ 0.02144831 0.99905226 -0.03789458] [-0.07975194 0.03949247 0.99603301]] t_gt: [-0.54099081 -0.46724826 0.69929107] Pose Error in degrees for R and t: 139.7938331704209 44.577347796439184 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.76365892e-01 2.16123882e-01 3.34472699e-04] [-2.16123652e-01 9.76365807e-01 -6.15348586e-04] [-4.59559232e-04 5.28517910e-04 9.99999755e-01]] t_estimated: [[0.99563795] [0.09328157] [0.00190371]] R_gt: [[ 0.97659901 -0.11338912 0.18275012] [ 0.11848292 0.99280761 -0.01716468] [-0.1794884 0.03841647 0.98300958]] t_gt: [ 0.24127309 -0.71077725 0.66074427] Pose Error in degrees for R and t: 21.880050985857597 79.91109402897719 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.52737495 0.84958624 0.008882 ] [ 0.84961162 0.52740665 -0.00152545] [-0.00598042 0.00674176 -0.99995939]] t_estimated: [[8.48572900e-01] [5.29078035e-01] [6.82681336e-04]] R_gt: [[ 0.98144179 -0.1792176 0.06820804] [ 0.18268027 0.98198021 -0.04840596] [-0.05830379 0.05996796 0.99649622]] t_gt: [ 0.90772912 -0.40589593 -0.10619011] Pose Error in degrees for R and t: 174.79771460448143 56.25820120902518 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.80582908 -0.59102574 0.03644273] [ 0.59119161 0.80649903 0.00719737] [-0.03364486 0.01574478 0.99930982]] t_estimated: [[0.81609736] [0.57791286] [0.00135112]] R_gt: [[ 0.96285134 -0.26314154 0.06061172] [ 0.26379405 0.96457443 -0.00286967] [-0.05770966 0.01875241 0.99815748]] t_gt: [ 0.93603376 -0.33937088 0.09310315] Pose Error in degrees for R and t: 20.99752060043192 55.396523818398656 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.80314481e-01 1.97441889e-01 4.66795663e-04] [-1.97441772e-01 9.80314574e-01 -2.86523014e-04] [-5.14178237e-04 1.88717697e-04 9.99999850e-01]] t_estimated: [[ 9.99428567e-01] [ 3.38013292e-02] [-9.93261653e-05]] R_gt: [[ 0.97204883 -0.23420459 0.0164036 ] [ 0.23426651 0.97217071 -0.00193011] [-0.01549543 0.00571952 0.9998642 ]] t_gt: [ 0.99102207 -0.12174997 0.05524669] Pose Error in degrees for R and t: 24.951380097582696 9.482846004881496 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[ 8.10480924e-01 5.85764349e-01 8.94140731e-04] [-5.85764100e-01 8.10481413e-01 -5.46165575e-04] [-1.04460877e-03 -8.10987613e-05 9.99999451e-01]] t_estimated: [[0.0119039 ] [0.9999277 ] [0.00170056]] R_gt: [[ 0.99805945 0.05889349 0.02020575] [-0.05867576 0.99821359 -0.011212 ] [-0.02082938 0.01000437 0.99973284]] t_gt: [-0.74049509 0.67193026 -0.01329477] Pose Error in degrees for R and t: 32.51044320713926 48.46753714804248 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99864416e-01 -1.64658155e-02 -1.63341268e-04] [ 1.64658446e-02 9.99864413e-01 1.78206147e-04] [ 1.60384812e-04 -1.80871537e-04 9.99999971e-01]] t_estimated: [[-9.92815665e-01] [-1.19651543e-01] [-7.50162775e-04]] R_gt: [[ 0.98326089 0.18179482 0.01212692] [-0.18174959 0.98333291 -0.00476406] [-0.01279072 0.00247981 0.99991408]] t_gt: [-0.79901179 0.6010708 0.01714788] Pose Error in degrees for R and t: 11.442321562922931 43.834815811449126 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.99996994e-01 -2.44048236e-03 -2.38712912e-04] [ 2.44053590e-03 9.99996997e-01 2.24280706e-04] [ 2.38164842e-04 -2.24862620e-04 9.99999946e-01]] t_estimated: [[-9.95278512e-01] [-9.70596173e-02] [-3.38620399e-04]] R_gt: [[ 0.95885991 0.28250517 0.02788927] [-0.28208208 0.95921763 -0.01820881] [-0.03189556 0.0095932 0.9994445 ]] t_gt: [-0.78049474 0.62513705 0.00562472] Pose Error in degrees for R and t: 16.652794101621655 44.26393809519684 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 8.02719373e-01 5.96356602e-01 6.41319043e-04] [-5.96356352e-01 8.02719627e-01 -5.49448212e-04] [-8.42466452e-04 5.85980392e-05 9.99999643e-01]] t_estimated: [[0.00656664] [0.9999779 ] [0.00103962]] R_gt: [[ 9.98739949e-01 -5.01707504e-02 -5.12958474e-04] [ 5.01696437e-02 9.98736862e-01 -2.83827596e-03] [ 6.54598370e-04 2.81027550e-03 9.99995719e-01]] t_gt: [ 0.11603617 -0.98646544 -0.1158514 ] Pose Error in degrees for R and t: 39.48549624142608 9.666398912155568 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.91155523e-01 1.32705150e-01 2.68707983e-04] [-1.32705118e-01 9.91155555e-01 -1.30875907e-04] [-2.83699317e-04 9.40594531e-05 9.99999955e-01]] t_estimated: [[ 0.02446145] [-0.99969754] [-0.00254433]] R_gt: [[ 0.99728863 -0.05698088 -0.04655621] [ 0.05781306 0.99818709 0.01672783] [ 0.04551769 -0.01937335 0.99877541]] t_gt: [-0.05675856 -0.91174896 -0.40680745] Pose Error in degrees for R and t: 11.283952624078589 24.33943274075372 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.79800314e-01 1.99978192e-01 2.58903116e-04] [-1.99978175e-01 9.79800348e-01 -8.89164296e-05] [-2.71454710e-04 3.53453730e-05 9.99999963e-01]] t_estimated: [[ 0.1942804 ] [-0.98094542] [-0.00109677]] R_gt: [[ 0.98823526 -0.08587066 -0.12655727] [ 0.09416711 0.99368039 0.06109258] [ 0.12051095 -0.07229186 0.99007591]] t_gt: [ 0.0962905 -0.89813239 -0.42905286] Pose Error in degrees for R and t: 18.569116754065977 25.81605447550957 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.91540442e-01 -1.29798089e-01 -8.79994064e-05] [ 1.29798095e-01 9.91540443e-01 7.30300765e-05] [ 7.77758060e-05 -8.38344296e-05 9.99999993e-01]] t_estimated: [[-0.75679756] [-0.65364855] [-0.00100988]] R_gt: [[ 0.99426124 0.10532623 -0.01875231] [-0.10570231 0.99419093 -0.02029302] [ 0.01650556 0.02215855 0.99961744]] t_gt: [-0.63289093 0.74577909 -0.20799669] Pose Error in degrees for R and t: 13.607957318503098 89.5246084196006 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999751e-01 -7.03876855e-04 -5.12877906e-05] [ 7.03948755e-04 9.99998750e-01 1.41562146e-03] [ 5.02913033e-05 -1.41565722e-03 9.99998997e-01]] t_estimated: [[0.63584125] [0.77181275] [0.0033138 ]] R_gt: [[ 0.99195539 0.11931559 -0.04230618] [-0.11963055 0.992807 -0.00495507] [ 0.04140973 0.00997552 0.99909157]] t_gt: [-0.59448961 0.77203076 -0.22483462] Pose Error in degrees for R and t: 7.327566941466537 77.4602365615139 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 6.60982047e-01 -7.50401371e-01 -7.18022563e-04] [ 7.50401702e-01 6.60981557e-01 8.16458813e-04] [-1.38072141e-04 -1.07846997e-03 9.99999409e-01]] t_estimated: [[ 6.07743159e-01] [-7.94133506e-01] [ 4.77757148e-04]] R_gt: [[ 0.99548807 0.09067247 -0.02799498] [-0.09097282 0.99580728 -0.0096438 ] [ 0.02700271 0.01214643 0.99956141]] t_gt: [-0.55550149 0.80575663 -0.20536394] Pose Error in degrees for R and t: 53.86217403630044 12.155785295598488 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.99462535e-01 3.27817311e-02 1.40129758e-05] [-3.27817322e-02 9.99462531e-01 8.57624040e-05] [-1.11940042e-05 -8.61756793e-05 9.99999996e-01]] t_estimated: [[-6.51646328e-01] [ 7.58522909e-01] [ 2.45365298e-04]] R_gt: [[ 0.99673878 0.07895103 0.01668134] [-0.07948011 0.99626347 0.03380846] [-0.01395017 -0.03502387 0.99928953]] t_gt: [-0.8638291 -0.00715872 0.50373409] Pose Error in degrees for R and t: 3.428429747884972 56.10969809965074 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.99571725 -0.09237064 -0.00384963] [ 0.09236259 -0.99572296 0.00222102] [-0.00403833 0.00185595 0.99999012]] t_estimated: [[0.86878625] [0.49518606] [0.00110533]] R_gt: [[ 0.99522632 0.07523677 0.06216193] [-0.07738791 0.99645704 0.03294889] [-0.05946231 -0.03760212 0.99752199]] t_gt: [-0.78518256 -0.24276975 0.56969395] Pose Error in degrees for R and t: 179.07651740940796 36.703195912519035 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.16031182 -0.98706497 -0.00169234] [-0.98699043 0.16027797 0.0126831 ] [-0.0122478 0.00370357 -0.99991813]] t_estimated: [[0.66986343] [0.74247517] [0.00368725]] R_gt: [[ 0.99847513 -0.01187173 0.05391654] [ 0.00976324 0.99918468 0.03918203] [-0.0543376 -0.03859623 0.99777714]] t_gt: [ 0.00913984 -0.82956367 0.55833733] Pose Error in degrees for R and t: 175.79075883517933 52.57306274613748 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.73021658e-01 2.30713591e-01 3.04825623e-04] [-2.30713603e-01 9.73021702e-01 7.13401921e-06] [-2.94956031e-04 -7.72689731e-05 9.99999954e-01]] t_estimated: [[0.17682502] [0.98424146] [0.00128794]] R_gt: [[ 0.99832823 -0.05093733 0.02732017] [ 0.05144154 0.99851202 -0.01808925] [-0.02635835 0.0194632 0.99946337]] t_gt: [ 0.89095639 -0.36274852 0.27314873] Pose Error in degrees for R and t: 16.37984742808311 78.51350506979477 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 8.63891768e-01 5.03677292e-01 4.45969027e-04] [-5.03677261e-01 8.63891881e-01 -1.88659275e-04] [-4.80292414e-04 -6.16432629e-05 9.99999883e-01]] t_estimated: [[3.44636462e-01] [9.38735842e-01] [8.53260381e-04]] R_gt: [[ 0.98919336 -0.1404372 0.04210986] [ 0.14102836 0.98993929 -0.01139598] [-0.04008584 0.01721084 0.9990483 ]] t_gt: [ 0.84861059 -0.49662875 0.18226341] Pose Error in degrees for R and t: 38.414337393090776 80.00364448259438 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 7.78626607e-01 6.27487096e-01 7.42627691e-04] [-6.27487180e-01 7.78626880e-01 -1.42650723e-04] [-6.67741370e-04 -3.54917708e-04 9.99999714e-01]] t_estimated: [[0.31717265] [0.94836723] [0.00105024]] R_gt: [[ 0.97585016 -0.21130028 0.05541319] [ 0.21187245 0.97728677 -0.0045842 ] [-0.05318541 0.01621308 0.99845357]] t_gt: [ 0.87842765 -0.4456782 0.17244072] Pose Error in degrees for R and t: 51.179910810066 81.72801977664483 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[-0.28665778 0.95780089 -0.02108977] [ 0.95779132 0.28701048 0.01614831] [ 0.02151985 -0.01557056 -0.99964716]] t_estimated: [[ 0.81319993] [-0.58183074] [-0.0133743 ]] R_gt: [[ 0.99973905 0.01512505 0.01712977] [-0.01328888 0.99462509 -0.10267666] [-0.01859038 0.10242315 0.99456713]] t_gt: [-0.04639483 0.70397981 -0.708703 ] Pose Error in degrees for R and t: 177.1850516280567 64.03341074962451 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 3.96584499e-01 9.17996262e-01 1.89686377e-03] [ 9.17994496e-01 -3.96587930e-01 2.02967754e-03] [ 2.61550967e-03 9.36371849e-04 -9.99996141e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99817536 0.05782219 0.01740286] [-0.05545824 0.99185998 -0.11462108] [-0.02388869 0.1134478 0.99325686]] t_gt: [-0.10423444 0.86700731 -0.48727149] Pose Error in degrees for R and t: 173.91664345400503 84.15006922991846 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.97408253e-01 -7.19497643e-02 -8.72058327e-05] [ 7.19497677e-02 9.97408256e-01 3.65196973e-05] [ 8.43522339e-05 -4.26994869e-05 9.99999996e-01]] t_estimated: [[-9.98600686e-01] [ 5.28811924e-02] [-4.99603801e-04]] R_gt: [[ 0.99454329 0.10431959 -0.00175005] [-0.10411348 0.99120004 -0.0817488 ] [-0.00679219 0.08148572 0.99665107]] t_gt: [-0.10800708 0.93171627 -0.34675533] Pose Error in degrees for R and t: 11.150638905908814 80.94981873058485 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.95109191 -0.30886701 0.0050342 ] [-0.3088916 -0.95074691 0.02581246] [-0.00318636 -0.02610504 -0.99965413]] t_estimated: [[0.14145161] [0.98985424] [0.01341726]] R_gt: [[ 0.99852618 0.02285498 -0.04922726] [-0.02227539 0.99967657 0.01228736] [ 0.04949202 -0.01117192 0.99871279]] t_gt: [-0.62780839 0.40504654 -0.6646758 ] Pose Error in degrees for R and t: 178.27323474303194 72.34922980761851 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99479673e-01 3.22549414e-02 3.29674149e-05] [-3.22549471e-02 9.99479655e-01 1.91612421e-04] [-2.67698131e-05 -1.92576082e-04 9.99999981e-01]] t_estimated: [[0.4348154 ] [0.9005186 ] [0.00135181]] R_gt: [[ 0.99745988 0.01137493 -0.07032651] [-0.01347356 0.99947634 -0.02943827] [ 0.06995415 0.03031148 0.99708944]] t_gt: [-0.35084101 0.3000862 -0.88705065] Pose Error in degrees for R and t: 4.522683226049014 83.31082992333928 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999992e-01 -7.95604243e-05 -9.32808861e-05] [ 7.95748957e-05 9.99999985e-01 1.55143510e-04] [ 9.32685414e-05 -1.55150932e-04 9.99999984e-01]] t_estimated: [[0.39864482] [0.91710377] [0.00172898]] R_gt: [[ 0.99935828 0.01323884 -0.03331442] [-0.01431921 0.99937354 -0.03237891] [ 0.03286516 0.03283597 0.99892104]] t_gt: [-0.6633815 0.26385479 -0.70021828] Pose Error in degrees for R and t: 2.7797442282333877 88.6429920654462 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 5.34907637e-01 8.44767789e-01 1.55306888e-02] [ 8.44910471e-01 -5.34824625e-01 -9.42950257e-03] [ 3.40454765e-04 1.81659545e-02 -9.99834927e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99336791 0.11068677 0.03111086] [-0.1094691 0.99324561 -0.03844416] [-0.03515615 0.03478313 0.99877657]] t_gt: [-0.33996525 0.94025663 0.01846909] Pose Error in degrees for R and t: 176.36900234730695 70.30374714167444 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.89538825e-01 1.44266812e-01 -2.81290666e-05] [-1.44266814e-01 9.89538817e-01 -1.23899240e-04] [ 9.96025494e-06 1.26661199e-04 9.99999992e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97614569 0.21691989 0.00921625] [-0.21649831 0.97569188 -0.03395707] [-0.01635761 0.03115093 0.99938154]] t_gt: [-0.27871817 0.95692423 -0.08131544] Pose Error in degrees for R and t: 4.678483871845399 73.98955522352031 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.99895553 -0.04528012 0.00612865] [-0.04519045 0.99887953 0.01405344] [-0.00675812 0.01376181 -0.99988246]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91180891 0.41051334 0.00917539] [-0.40882285 0.90968569 -0.07304328] [-0.03833184 0.06284972 0.99728671]] t_gt: [-0.23585822 0.97007467 -0.0576718 ] Pose Error in degrees for R and t: 178.5049040131241 76.53250063897988 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99960456e-01 -8.89273515e-03 -7.23236217e-05] [ 8.89273162e-03 9.99960458e-01 -4.88736071e-05] [ 7.27553819e-05 4.82285199e-05 9.99999996e-01]] t_estimated: [[-0.93587854] [-0.35231766] [-0.0019047 ]] R_gt: [[ 0.9937512 0.11126458 -0.00890353] [-0.11105482 0.99358577 0.02128776] [ 0.01121428 -0.0201664 0.99973305]] t_gt: [-0.34195635 0.93958863 -0.01546166] Pose Error in degrees for R and t: 7.018417397220008 89.37118839795252 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.8986034 0.43873636 0.00472702] [ 0.43868738 -0.89859725 0.00873913] [ 0.00808186 -0.00577933 -0.99995064]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.95714049 0.28902489 -0.01863993] [-0.28952043 0.95653826 -0.03480673] [ 0.00776977 0.03871081 0.99921987]] t_gt: [-0.3080377 0.94089537 -0.14081436] Pose Error in degrees for R and t: 178.57326270376655 20.548259447635342 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.3371867 -0.94141174 0.00700485] [-0.94141204 -0.33722319 -0.00488836] [ 0.00696416 -0.00494616 -0.99996352]] t_estimated: [[0.51633673] [0.85638518] [0.00089486]] R_gt: [[ 0.90682458 0.421294 -0.01349523] [-0.42128629 0.90483809 -0.06153027] [-0.01371159 0.06148191 0.9980134 ]] t_gt: [-0.22403992 0.96835835 -0.10994641] Pose Error in degrees for R and t: 177.15830936040268 44.47883501797137 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.93915202e-01 1.10147644e-01 2.61942302e-04] [-1.10147617e-01 9.93915232e-01 -1.15433835e-04] [-2.73063209e-04 8.58791228e-05 9.99999959e-01]] t_estimated: [[0.46463295] [0.88550288] [0.00093113]] R_gt: [[ 0.99957305 -0.02838155 0.00708633] [ 0.02851518 0.99940218 -0.01955656] [-0.00652631 0.01975063 0.99978315]] t_gt: [ 0.78908614 0.50212266 -0.35385858] Pose Error in degrees for R and t: 8.041181979159429 35.81242009371856 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.11568746 0.99328442 -0.00157329] [ 0.99324551 -0.11566839 0.00917533] [ 0.00893173 -0.00262413 -0.99995667]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99524572 -0.09455958 0.02334827] [ 0.09518361 0.99508858 -0.02722106] [-0.02065901 0.02931406 0.99935678]] t_gt: [ 0.9513412 -0.30660011 -0.0307618 ] Pose Error in degrees for R and t: 178.38762591386993 18.128366166580093 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.96284885 0.26502664 0.05179747] [ 0.26750993 0.96231345 0.04890053] [-0.03688546 0.06094016 -0.99745965]] t_estimated: [[9.74443636e-01] [2.24630782e-01] [7.82685651e-04]] R_gt: [[ 0.98119618 -0.18967084 0.03576866] [ 0.19075919 0.98118083 -0.02992236] [-0.02941984 0.03618257 0.99891152]] t_gt: [ 0.91154346 -0.41103031 0.01194163] Pose Error in degrees for R and t: 175.02730499324966 37.25709813660026 Number of keypoints: Image1: 499 Image2: 499 R_estimated: [[ 9.99920572e-01 -1.26034752e-02 -4.30730217e-05] [ 1.26034792e-02 9.99920569e-01 9.44076161e-05] [ 4.18797363e-05 -9.49429875e-05 9.99999995e-01]] t_estimated: [[-9.97608453e-01] [ 6.91172648e-02] [ 4.22517965e-04]] R_gt: [[ 0.99876103 0.04946688 -0.00549812] [-0.04945906 0.99877504 0.00143063] [ 0.00556186 -0.0011572 0.99998408]] t_gt: [-0.11180477 0.99224069 -0.05438848] Pose Error in degrees for R and t: 3.571633989818265 79.62468531157042 Number of keypoints: Image1: 508 Image2: 508 R_estimated: [[ 9.99524112e-01 -3.08471355e-02 -6.32746561e-05] [ 3.08471348e-02 9.99524114e-01 -1.17743961e-05] [ 6.36077510e-05 9.81695093e-06 9.99999998e-01]] t_estimated: [[-9.44990967e-01] [-3.27096049e-01] [-4.97365147e-04]] R_gt: [[ 0.99689159 0.07779232 -0.01247432] [-0.07736604 0.99650019 0.03164017] [ 0.01489141 -0.03057661 0.99942117]] t_gt: [-0.01507968 0.96577678 0.25893594] Pose Error in degrees for R and t: 6.516305187139116 72.43543076451486 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-1.48922874e-01 9.88848751e-01 -3.53829932e-04] [-9.88845975e-01 -1.48923295e-01 -2.34308168e-03] [-2.36964692e-03 9.44845142e-07 9.99997192e-01]] t_estimated: [[0.11216514] [0.99368832] [0.00157979]] R_gt: [[ 0.99722817 0.07190429 -0.0191328 ] [-0.06978793 0.99306194 0.0946366 ] [ 0.02580509 -0.09303843 0.99532753]] t_gt: [0.11833436 0.80246474 0.58484811] Pose Error in degrees for R and t: 94.62419346427977 35.74776478086193 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.86554491e-01 1.63432436e-01 2.75367750e-04] [-1.63432370e-01 9.86554509e-01 -2.46402879e-04] [-3.11935518e-04 1.98085863e-04 9.99999932e-01]] t_estimated: [[-0.83726944] [-0.54678541] [-0.00236855]] R_gt: [[ 0.99665712 -0.04724317 -0.06665243] [ 0.04804324 0.99879041 0.01045044] [ 0.06607786 -0.01361739 0.99772123]] t_gt: [ 0.26213119 -0.70753988 -0.65625799] Pose Error in degrees for R and t: 12.745179109722281 80.27308335044302 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.84500615 0.534727 0.00562458] [-0.5345409 -0.84431991 -0.03728159] [-0.01518653 -0.03450974 0.99928897]] t_estimated: [[0.22710999] [0.97332853] [0.03244428]] R_gt: [[ 0.99152549 -0.04882017 -0.12039346] [ 0.0556446 0.99698993 0.0539907 ] [ 0.11739506 -0.06023104 0.99125636]] t_gt: [ 0.09732817 -0.79961549 -0.59257261] Pose Error in degrees for R and t: 150.88655222342183 39.157784192417985 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.37800701e-01 3.47173926e-01 3.32712385e-04] [-3.47173859e-01 9.37800753e-01 -2.42477812e-04] [-3.96199899e-04 1.11886819e-04 9.99999915e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.98012639 -0.11180732 -0.16386288] [ 0.12207146 0.99105513 0.05393694] [ 0.15636651 -0.07286685 0.98500713]] t_gt: [ 0.28941506 -0.83320878 -0.47117093] Pose Error in degrees for R and t: 28.82170729390106 33.90183119436132 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 1.00000000e+00 -4.31400684e-06 -7.26602979e-07] [ 4.31400763e-06 1.00000000e+00 1.08935919e-06] [ 7.26598279e-07 -1.08936233e-06 1.00000000e+00]] t_estimated: [[ 0.99994611] [-0.01027754] [-0.00146719]] R_gt: [[ 0.99898627 -0.04239864 0.01511662] [ 0.04200224 0.99879027 0.02561952] [-0.0161838 -0.02495764 0.99955796]] t_gt: [ 0.6745344 -0.42166556 0.60597154] Pose Error in degrees for R and t: 2.958202105472884 47.31691680861109 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999994e-01 -1.08131573e-04 -1.39356836e-05] [ 1.08131623e-04 9.99999994e-01 3.58843030e-06] [ 1.39352955e-05 -3.58993717e-06 1.00000000e+00]] t_estimated: [[-9.99992449e-01] [-3.78877956e-03] [-8.63784281e-04]] R_gt: [[ 0.99753687 0.06741325 0.01938843] [-0.06716649 0.99765647 -0.01312734] [-0.02022739 0.01179426 0.99972589]] t_gt: [-0.59515239 0.80191782 0.05216742] Pose Error in degrees for R and t: 4.090992509539592 53.69634800962687 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 1.00000000e+00 -1.03736464e-15 2.88397778e-17] [ 1.03389519e-15 1.00000000e+00 1.05591127e-16] [-2.62376926e-17 4.16740210e-19 1.00000000e+00]] t_estimated: [[-9.99872414e-01] [ 1.59557091e-02] [-7.55377824e-04]] R_gt: [[ 0.99257846 0.11958812 -0.02209167] [-0.11935326 0.99278439 0.0116468 ] [ 0.02332556 -0.00892253 0.99968853]] t_gt: [-0.58629398 0.80781923 -0.06072445] Pose Error in degrees for R and t: 7.009612111126288 53.19064204173533 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[ 0.16052977 0.98645842 -0.03361523] [ 0.98644463 -0.15916759 0.0399082 ] [ 0.03401732 -0.03956602 -0.99863775]] t_estimated: [[ 0.68050855] [-0.73227793] [-0.02602216]] R_gt: [[ 0.99806033 0.04790066 0.03977895] [-0.0484877 0.99872729 0.01392484] [-0.03906019 -0.01582555 0.99911191]] t_gt: [-0.8522847 -0.18350496 0.48983337] Pose Error in degrees for R and t: 177.82559499153197 62.718867195334525 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-0.64818535 0.76129013 0.01711973] [-0.76147238 -0.64812931 -0.00939235] [ 0.0039455 -0.01912419 0.99980933]] t_estimated: [[0.6514969 ] [0.75864801] [0.00223518]] R_gt: [[ 0.99792895 -0.02568724 0.05897756] [ 0.02462006 0.99952128 0.01876037] [-0.05943156 -0.01726919 0.99808298]] t_gt: [ 0.11608607 -0.85831028 0.49982746] Pose Error in degrees for R and t: 131.84144138967244 54.941782924172955 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999534e-01 9.30052245e-04 2.58966075e-04] [-9.30076212e-04 9.99999563e-01 9.24423879e-05] [-2.58879986e-04 -9.26832030e-05 9.99999962e-01]] t_estimated: [[9.18419298e-01] [3.95607830e-01] [6.61635794e-04]] R_gt: [[ 0.99418064 -0.0914947 0.05686996] [ 0.09024505 0.9956264 0.02416978] [-0.05883227 -0.01889687 0.99808941]] t_gt: [ 0.54055111 -0.80023064 0.25968332] Pose Error in degrees for R and t: 6.342018551415164 79.62750941660751 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-3.46194404e-01 -9.38160611e-01 -2.02573952e-03] [ 9.38162794e-01 -3.46193782e-01 -6.61208077e-04] [-8.09790507e-05 -2.12937998e-03 9.99997730e-01]] t_estimated: [[9.99326729e-01] [3.66800186e-02] [8.15111525e-04]] R_gt: [[ 0.99434207 0.10614269 0.00434185] [-0.10615023 0.99434878 0.00161593] [-0.00414634 -0.00206829 0.99998962]] t_gt: [-0.63045288 0.77522733 0.03939232] Pose Error in degrees for R and t: 116.34837520866643 53.018225582655354 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99686216e-01 2.50493195e-02 -1.57567938e-05] [-2.50493182e-02 9.99686214e-01 7.76730156e-05] [ 1.76975057e-05 -7.72539462e-05 9.99999997e-01]] t_estimated: [[0.24606407] [0.96925272] [0.0012792 ]] R_gt: [[ 0.98401338 0.17798638 -0.00622684] [-0.17803512 0.98217652 -0.06026661] [-0.00461044 0.06041061 0.99816377]] t_gt: [-0.52639819 0.83595864 -0.15517121] Pose Error in degrees for R and t: 9.487099607666973 47.11500486187048 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 1.00000000e+00 -4.71289674e-14 2.55871713e-16] [ 4.70457007e-14 1.00000000e+00 -2.85687272e-16] [-3.79796021e-16 8.60287319e-16 1.00000000e+00]] t_estimated: [[-9.78032833e-01] [-2.08449099e-01] [-8.66506127e-04]] R_gt: [[ 0.96080112 0.27687779 0.01419973] [-0.276027 0.96012381 -0.04439718] [-0.02592585 0.03873664 0.99891294]] t_gt: [-0.49518342 0.86859655 -0.01825965] Pose Error in degrees for R and t: 16.276784791226376 72.34628969641736 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.76707643e-01 2.14574407e-01 -6.94177526e-05] [-2.14574409e-01 9.76707644e-01 -2.46131264e-05] [ 6.25195026e-05 3.89351019e-05 9.99999997e-01]] t_estimated: [[-2.08901639e-01] [ 9.77936556e-01] [ 4.45113525e-04]] R_gt: [[ 0.99865622 0.05151037 0.00587179] [-0.05156053 0.99863174 0.00875925] [-0.00541335 -0.00904952 0.99994401]] t_gt: [-0.85352111 0.48694275 0.1854413 ] Pose Error in degrees for R and t: 9.455761444409934 49.11191522372605 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99994888e-01 3.19728145e-03 4.23977991e-05] [-3.19728182e-03 9.99994889e-01 8.58039171e-06] [-4.23701484e-05 -8.71590556e-06 9.99999999e-01]] t_estimated: [[-0.54362679] [ 0.83932621] [ 0.00119446]] R_gt: [[ 0.99613215 0.08094614 -0.0342159 ] [-0.08073631 0.99670816 0.00745607] [ 0.03470586 -0.00466463 0.99938668]] t_gt: [-0.82231637 0.5389777 -0.18247965] Pose Error in degrees for R and t: 4.886450115452718 25.947760985356716 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.98374148 0.17896458 -0.01497933] [ 0.17896406 0.98385464 0.00138612] [ 0.01498555 -0.00131718 -0.99988684]] t_estimated: [[ 0.99896587] [ 0.04506392] [-0.00603597]] R_gt: [[ 0.99561275 0.0716718 -0.06017053] [-0.07217491 0.99737253 -0.00623353] [ 0.05956474 0.01054948 0.99816894]] t_gt: [-0.77261469 0.49500791 -0.39753454] Pose Error in degrees for R and t: 175.76169093028312 41.65941487868834 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.8986498 -0.43464723 0.05924794] [-0.43445656 0.90053724 0.01673831] [-0.06063024 -0.01069878 -0.99810296]] t_estimated: [[0.98402193] [0.17549558] [0.0300357 ]] R_gt: [[ 0.9937946 0.09852736 0.05162065] [-0.0955664 0.99378871 -0.0570167 ] [-0.05691718 0.05172976 0.99703752]] t_gt: [-0.34978792 0.93675402 0.01184566] Pose Error in degrees for R and t: 174.1486137934357 79.6624487235525 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.83833110e-01 -1.79087377e-01 -3.51610455e-04] [ 1.79087446e-01 9.83833145e-01 1.73593937e-04] [ 3.14837537e-04 -2.33756481e-04 9.99999923e-01]] t_estimated: [[-0.19694489] [-0.98041388] [-0.0011542 ]] R_gt: [[ 0.97889516 0.19974838 0.04318677] [-0.19794108 0.97928112 -0.04275598] [-0.05083155 0.03330438 0.99815158]] t_gt: [-0.29499963 0.95530783 0.01903096] Pose Error in degrees for R and t: 22.073686756931387 28.535614256349838 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.84883148 -0.52858067 -0.00935927] [ 0.52835749 -0.84760487 -0.04903418] [ 0.01798555 -0.04656679 0.99875325]] t_estimated: [[9.16990388e-01] [3.98908659e-01] [7.13611197e-04]] R_gt: [[ 0.93146485 0.36333849 0.01890366] [-0.3595918 0.92727736 -0.1041711 ] [-0.05537698 0.0902337 0.99437911]] t_gt: [-0.24426387 0.96616028 -0.08288225] Pose Error in degrees for R and t: 169.38832769066255 80.71398534901137 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 3.00348721e-01 -9.53829440e-01 2.13540362e-04] [ 9.53829112e-01 3.00348795e-01 7.91137258e-04] [-8.18746598e-04 -3.39360502e-05 9.99999664e-01]] t_estimated: [[0.56703064] [0.8236962 ] [0.00091016]] R_gt: [[ 0.99973846 -0.01314478 -0.01873203] [ 0.01465284 0.99645807 0.08279915] [ 0.01757753 -0.08305177 0.99638986]] t_gt: [ 0.19437813 -0.69764138 0.68957498] Pose Error in degrees for R and t: 71.86515756674004 62.36750467347615 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.53333544e-01 -3.01919085e-01 1.40625870e-04] [ 3.01919062e-01 9.53333548e-01 1.65291190e-04] [-1.83967925e-04 -1.15120006e-04 9.99999976e-01]] t_estimated: [[0.94489959] [0.32735866] [0.00103268]] R_gt: [[ 0.99693363 -0.06780467 -0.03906145] [ 0.07397941 0.97936567 0.18806889] [ 0.02550328 -0.19038252 0.98137869]] t_gt: [ 0.35686701 -0.63281805 0.68715882] Pose Error in degrees for R and t: 17.417181403444328 82.48679780330393 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.94029464 0.34035219 -0.00252319] [-0.34035754 -0.94029371 0.0021168 ] [-0.00165208 0.0028492 0.99999458]] t_estimated: [[0.66227258] [0.74926254] [0.00082066]] R_gt: [[ 0.96448826 -0.24798914 -0.09090467] [ 0.26112993 0.94698456 0.18716554] [ 0.03967037 -0.20425756 0.97811327]] t_gt: [ 0.69996493 -0.57556059 0.42282278] Pose Error in degrees for R and t: 175.05039582859573 88.12789444115957 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99513141e-01 3.12004782e-02 -1.04860537e-04] [-3.12004869e-02 9.99513143e-01 -8.19153021e-05] [ 1.02253688e-04 8.51471207e-05 9.99999991e-01]] t_estimated: [[-9.93131534e-01] [-1.16999809e-01] [-8.94856202e-04]] R_gt: [[ 0.98301942 0.1824412 0.01971427] [-0.18206898 0.98309653 -0.01932263] [-0.02290652 0.01540569 0.99961818]] t_gt: [-0.86918923 0.49040404 -0.0633558 ] Pose Error in degrees for R and t: 8.857578745433782 36.30285784461102 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.79317868 -0.608959 -0.00604307] [-0.6089638 0.79319707 -0.00122324] [ 0.00553825 0.00270976 -0.99998099]] t_estimated: [[ 0.94111589] [ 0.33807657] [-0.00225994]] R_gt: [[ 0.94945088 0.30919617 0.05422414] [-0.30748083 0.95080513 -0.03776539] [-0.06323262 0.01918286 0.99781396]] t_gt: [-0.82790446 0.56075215 -0.01145514] Pose Error in degrees for R and t: 177.65570571193484 53.87484776055653 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-9.86548941e-01 1.63354778e-01 -6.03346734e-03] [ 1.63348636e-01 9.86567267e-01 1.50048328e-03] [ 6.19753249e-03 4.94741533e-04 -9.99980673e-01]] t_estimated: [[ 0.98798135] [-0.15454686] [-0.00284902]] R_gt: [[ 0.87767881 0.47527208 0.0616033 ] [-0.47446057 0.87982831 -0.02814391] [-0.06757637 -0.00452702 0.99770291]] t_gt: [-0.79505957 0.60514705 0.04095521] Pose Error in degrees for R and t: 176.4891330045963 28.460689006801083 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.99976741 0.01975374 0.00865503] [ 0.01977102 0.9998027 0.00191632] [-0.00861547 0.002087 -0.99996071]] t_estimated: [[ 0.99994481] [-0.00930063] [ 0.00488583]] R_gt: [[ 0.99767787 0.05224465 -0.04370187] [-0.05234973 0.9986283 -0.00128666] [ 0.04357481 0.00357183 0.99904352]] t_gt: [-0.4862607 0.5487631 -0.68000706] Pose Error in degrees for R and t: 177.9908447956717 60.352660605201024 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-8.93448118e-01 4.49161730e-01 -2.04974159e-03] [-4.49160840e-01 -8.93450461e-01 -9.01683525e-04] [-2.23634430e-03 1.15056205e-04 9.99997493e-01]] t_estimated: [[0.82702718] [0.56216092] [0.00107213]] R_gt: [[ 9.99432162e-01 -4.88792610e-05 -3.36992542e-02] [ 1.21030830e-03 9.99405848e-01 3.44517915e-02] [ 3.36779120e-02 -3.44735636e-02 9.98837338e-01]] t_gt: [ 0.65972002 -0.75126063 -0.01941552] Pose Error in degrees for R and t: 153.35677795524467 82.91993510517786 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 8.46004251e-01 -5.33176146e-01 -6.97179304e-05] [ 5.33176106e-01 8.46004121e-01 5.17093581e-04] [-2.16720306e-04 -4.74635303e-04 9.99999864e-01]] t_estimated: [[ 9.56938042e-01] [-2.90290788e-01] [ 9.17590764e-04]] R_gt: [[ 0.99172713 -0.11558082 -0.05584243] [ 0.11746279 0.99257221 0.03168126] [ 0.05176663 -0.0379786 0.99793622]] t_gt: [ 0.75980681 -0.64669399 -0.06693648] Pose Error in degrees for R and t: 25.77995275199112 23.82891050713331 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.54025888 -0.84149303 -0.00313368] [ 0.84149118 0.54026612 -0.00226171] [ 0.00359624 -0.00141506 0.99999253]] t_estimated: [[0.80203314] [0.59727879] [0.00094357]] R_gt: [[ 0.99376208 -0.10756769 -0.02943291] [ 0.10932533 0.99177133 0.06660982] [ 0.0220257 -0.06941119 0.99734473]] t_gt: [ 0.72473301 -0.61195911 0.31665139] Pose Error in degrees for R and t: 51.219418344552665 77.5229537365385 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 5.44474122e-01 8.38776670e-01 1.27628727e-03] [-8.38777637e-01 5.44473641e-01 7.28798118e-04] [-8.36059195e-05 -1.46733294e-03 9.99998920e-01]] t_estimated: [[0.69423551] [0.7197475 ] [0.00077309]] R_gt: [[ 0.94330429 -0.32725877 -0.05548741] [ 0.33015283 0.94232466 0.05497383] [ 0.03429723 -0.07017581 0.99694556]] t_gt: [ 0.87402492 -0.47158802 0.11698367] Pose Error in degrees for R and t: 76.34153064794351 74.4876980029806 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.55196908e-02 9.95427184e-01 8.42928326e-04] [-9.95424709e-01 9.55214047e-02 -2.30447435e-03] [-2.37445411e-03 -6.18949005e-04 9.99996989e-01]] t_estimated: [[0.5856166 ] [0.81058743] [0.00110048]] R_gt: [[ 0.82547919 -0.5643346 0.01054723] [ 0.56433405 0.82484062 -0.03413745] [ 0.0105655 0.03413221 0.99936153]] t_gt: [ 0.94350968 -0.32577981 -0.06047322] Pose Error in degrees for R and t: 118.89679241740811 73.23808690219191 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.73919918e-01 2.26891904e-01 2.39413192e-04] [-2.26891982e-01 9.73919856e-01 3.77437737e-04] [-1.47531695e-04 -4.21915063e-04 9.99999900e-01]] t_estimated: [[-0.77581566] [ 0.63095822] [ 0.00133539]] R_gt: [[ 0.97685881 0.21079827 0.03619766] [-0.20864951 0.97641804 -0.05543394] [-0.04703012 0.04659907 0.99780523]] t_gt: [-0.843399 0.51694637 -0.14643969] Pose Error in degrees for R and t: 3.935184691391771 11.392175708951157 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.97093795e-01 7.61832871e-02 -2.64558562e-04] [-7.61832485e-02 9.97093822e-01 1.52957322e-04] [ 2.75442499e-04 -1.32357866e-04 9.99999953e-01]] t_estimated: [[-0.7533523 ] [-0.65761616] [-0.00113972]] R_gt: [[ 0.95084059 0.30608989 0.04702787] [-0.30482011 0.95186177 -0.03231998] [-0.05465699 0.01639684 0.99837067]] t_gt: [-0.833903 0.55190701 -0.002105 ] Pose Error in degrees for R and t: 13.826239768742237 74.61627934512086 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 5.05262970e-01 8.62964240e-01 1.43260698e-03] [ 8.62963178e-01 -5.05264747e-01 1.44517488e-03] [ 1.97098004e-03 5.06093721e-04 -9.99997930e-01]] t_estimated: [[0.72652573] [0.68713578] [0.00218833]] R_gt: [[ 0.84706357 0.52933413 0.04784051] [-0.52716264 0.84821851 -0.05123539] [-0.0677006 0.01818087 0.99753994]] t_gt: [-0.78296222 0.62206843 -0.00101681] Pose Error in degrees for R and t: 176.55133149857986 81.87119444875577 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.93526279e-01 1.13602380e-01 1.80396924e-04] [-1.13602330e-01 9.93526265e-01 -2.68053812e-04] [-2.09680633e-04 2.45824996e-04 9.99999948e-01]] t_estimated: [[0.48748298] [0.87313198] [0.00094291]] R_gt: [[ 0.99888735 -0.04702081 0.00355066] [ 0.0469938 0.99886886 0.00726297] [-0.00388827 -0.00708766 0.99996764]] t_gt: [ 0.90128629 -0.38010996 0.20784474] Pose Error in degrees for R and t: 9.22937265100019 83.81889293143324 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 1.00000000e+00 -2.84386136e-11 -6.05133782e-13] [ 2.84386135e-11 1.00000000e+00 -1.16011470e-13] [ 6.05133890e-13 1.15995742e-13 1.00000000e+00]] t_estimated: [[ 9.99999671e-01] [-4.61469855e-04] [-6.66595031e-04]] R_gt: [[ 0.99758715 -0.0168951 -0.06733394] [ 0.01375442 0.99880837 -0.04682552] [ 0.06804504 0.04578649 0.99663162]] t_gt: [ 0.41896112 0.38350001 -0.82304273] Pose Error in degrees for R and t: 4.785799360671859 65.20753849668502 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.89875751 -0.43842621 0.00417153] [ 0.43843822 0.89875765 -0.00257231] [-0.00262143 0.00414084 0.99998799]] t_estimated: [[0.63488694] [0.77260457] [0.00086615]] R_gt: [[ 0.98370225 0.05595453 -0.1708784 ] [-0.08333331 0.9839944 -0.15751364] [ 0.15932911 0.16918576 0.97261987]] t_gt: [ 0.04705814 0.59830952 -0.79988203] Pose Error in degrees for R and t: 32.860023806785954 60.564697717312 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 8.62707387e-01 5.05703392e-01 2.11030275e-04] [-5.05702263e-01 8.62706209e-01 -1.79418019e-03] [-1.08938014e-03 1.44113401e-03 9.99998368e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.96217236e-01 8.34602192e-02 -2.42068267e-02] [-8.34192468e-02 9.96510607e-01 2.71080192e-03] [ 2.43490195e-02 -6.81157877e-04 9.99702566e-01]] t_gt: [-0.72924973 0.63752119 -0.24851872] Pose Error in degrees for R and t: 25.631165382538747 43.325967403584265 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.71806392e-01 -2.35780178e-01 -2.09928419e-04] [ 2.35780189e-01 9.71806412e-01 2.84462819e-05] [ 1.97302714e-04 -7.71412408e-05 9.99999978e-01]] t_estimated: [[ 4.55694155e-03] [-9.99989187e-01] [-9.27353489e-04]] R_gt: [[ 0.99580915 0.08718887 -0.02761328] [-0.08694625 0.99616451 0.00983583] [ 0.02836537 -0.00739442 0.99956948]] t_gt: [-0.74103632 0.61900185 -0.26019586] Pose Error in degrees for R and t: 18.70747819926465 51.52810117121278 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.98706901 -0.15372953 0.04540937] [ 0.15703303 0.98423194 -0.08141328] [-0.03217773 0.0874913 0.99564545]] t_estimated: [[-0.65582584] [-0.75419971] [-0.03279129]] R_gt: [[ 0.99944671 -0.00931043 -0.03194643] [ 0.01064004 0.99907495 0.04165549] [ 0.03152908 -0.04197269 0.99862057]] t_gt: [ 0.59519112 -0.79659307 0.10576865] Pose Error in degrees for R and t: 11.806308154829491 78.05455405350982 Number of keypoints: Image1: 406 Image2: 406 R_estimated: [[ 9.98953294e-01 4.57418143e-02 -5.52422790e-05] [-4.57418182e-02 9.98953293e-01 -7.19653605e-05] [ 5.18926303e-05 7.44169162e-05 9.99999996e-01]] t_estimated: [[-3.23930230e-01] [ 9.46080707e-01] [-7.09176210e-04]] R_gt: [[ 0.99951224 -0.02604126 0.01726753] [ 0.02742357 0.99597431 -0.08535246] [-0.01497431 0.08578423 0.9962003 ]] t_gt: [ 0.41173282 0.6140471 -0.67336635] Pose Error in degrees for R and t: 6.495021902013583 63.381809763406764 Number of keypoints: Image1: 404 Image2: 404 R_estimated: [[ 7.25547145e-01 6.88172394e-01 3.10866469e-04] [-6.88170988e-01 7.25546451e-01 -1.74305988e-03] [-1.42507375e-03 1.05074283e-03 9.99998433e-01]] t_estimated: [[0.48382221] [0.87516558] [0.00112779]] R_gt: [[ 0.99974704 -0.0167075 0.01510047] [ 0.01913484 0.98377166 -0.17840148] [-0.01187413 0.17864618 0.98384129]] t_gt: [ 0.21986936 0.68839776 -0.69120618] Pose Error in degrees for R and t: 45.61991177538425 44.922695916063624 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.44719182e-01 -3.27880345e-01 -3.82039382e-04] [ 3.27880542e-01 9.44718925e-01 7.08836638e-04] [ 1.28506233e-04 -7.94914849e-04 9.99999676e-01]] t_estimated: [[-0.73056644] [-0.682841 ] [-0.0009178 ]] R_gt: [[ 0.99949344 0.01832655 0.02602949] [-0.01277365 0.97983563 -0.19939987] [-0.02915756 0.1989671 0.97957195]] t_gt: [ 0.1215626 0.83460769 -0.53726394] Pose Error in degrees for R and t: 23.149006314251867 48.83567832537361 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-6.95723029e-01 -7.18309820e-01 -6.84632021e-04] [ 6.96824056e-01 -6.74680886e-01 -2.43396667e-01] [ 1.74372308e-01 -1.69813735e-01 9.69926592e-01]] t_estimated: [[9.99983476e-01] [5.69096287e-03] [8.12994696e-04]] R_gt: [[ 0.98865994 0.02244867 0.14848653] [-0.02296969 0.99973501 0.00179186] [-0.14840691 -0.0051828 0.98891261]] t_gt: [-0.3907493 0.1462695 0.90880153] Pose Error in degrees for R and t: 136.9211802139105 67.09703754468255 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.98347045 0.11932583 0.13618819] [-0.16472222 -0.90190475 -0.39929238] [ 0.07518288 -0.41512548 0.90665229]] t_estimated: [[0.8504323 ] [0.51681969] [0.09829706]] R_gt: [[ 0.97873472 0.0664032 0.19408559] [-0.06704807 0.99774493 -0.00325975] [-0.19386444 -0.00982259 0.98097838]] t_gt: [-0.51187689 0.26044103 0.81862844] Pose Error in degrees for R and t: 165.5598468769421 77.27646956208436 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.27169772e-01 3.74640353e-01 -9.05322030e-04] [-3.74640644e-01 9.27170081e-01 -1.70557246e-04] [ 7.75489873e-04 4.97305951e-04 9.99999576e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.98128688 0.10830791 0.15920425] [-0.10777841 0.99410321 -0.01198683] [-0.159563 -0.00539746 0.98717209]] t_gt: [-0.67781404 0.40242852 0.61532058] Pose Error in degrees for R and t: 18.25165782653172 47.95903269575078 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-4.95218913e-01 -8.68765582e-01 -2.14297327e-03] [ 8.68768173e-01 -4.95218230e-01 -8.75845132e-04] [-3.00335323e-04 -2.29548205e-03 9.99997320e-01]] t_estimated: [[9.99450454e-01] [3.31359024e-02] [8.95564923e-04]] R_gt: [[ 0.98628028 0.16473914 0.01056953] [-0.164901 0.98616491 0.01694014] [-0.00763239 -0.0184512 0.99980042]] t_gt: [-0.61183155 0.78635936 0.08544652] Pose Error in degrees for R and t: 129.17443845804695 54.17142745894664 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.78933976e-01 2.04177054e-01 3.41568455e-05] [-2.04177040e-01 9.78933951e-01 -2.37114727e-04] [-8.18506820e-05 2.25145619e-04 9.99999971e-01]] t_estimated: [[-0.99995131] [-0.00979144] [-0.00122393]] R_gt: [[ 0.97616124 0.21633359 -0.01758157] [-0.21605391 0.97624282 0.01647889] [ 0.0207283 -0.01228795 0.99970883]] t_gt: [-0.56454443 0.82477036 -0.03230223] Pose Error in degrees for R and t: 1.5606962090562084 56.18723169111027 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.84020240e-01 -1.78056256e-01 -3.70082058e-04] [ 1.78056333e-01 9.84020278e-01 1.86560254e-04] [ 3.30950029e-04 -2.49474520e-04 9.99999914e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.95108234 0.308025 0.02372154] [-0.30697554 0.95089423 -0.03957903] [-0.03474869 0.03036019 0.99893415]] t_gt: [-0.50419219 0.8634392 0.01621658] Pose Error in degrees for R and t: 28.298617450620494 30.650366910229575 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.99512096 -0.09854593 -0.00479374] [ 0.09856205 0.9951256 0.00324996] [ 0.0044501 -0.00370658 0.99998323]] t_estimated: [[7.76000567e-01] [6.30732184e-01] [1.79543312e-04]] R_gt: [[ 0.99846114 -0.03112951 0.04590435] [ 0.03102073 0.9995147 0.00304712] [-0.04597666 -0.00161803 0.99894154]] t_gt: [ 0.35231966 -0.86252136 0.36321862] Pose Error in degrees for R and t: 4.838281018070075 74.30273395877656 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.96649555 0.25667759 -0.00172241] [ 0.25656705 -0.96623782 -0.02361842] [-0.00772657 0.02238519 -0.99971956]] t_estimated: [[ 0.19779384] [ 0.98023368] [-0.00442041]] R_gt: [[ 9.93883078e-01 -1.05106805e-01 3.39175376e-02] [ 1.05055079e-01 9.94461506e-01 3.29315335e-03] [-3.40752747e-02 2.91096742e-04 9.99419253e-01]] t_gt: [ 0.71350011 -0.69634609 0.07758683] Pose Error in degrees for R and t: 178.52022607785284 57.19381631679042 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999957e-01 -2.64094889e-04 1.27521037e-04] [ 2.64121916e-04 9.99999943e-01 -2.11969576e-04] [-1.27465050e-04 2.12003248e-04 9.99999969e-01]] t_estimated: [[ 0.98888512] [ 0.14867728] [-0.00113111]] R_gt: [[ 0.98570765 -0.14993689 0.07680629] [ 0.1474072 0.98836042 0.03763313] [-0.0815551 -0.02577327 0.99633575]] t_gt: [ 0.66006767 -0.71117109 0.24196353] Pose Error in degrees for R and t: 9.854856786647526 56.857552858286546 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.05181309 0.99861829 0.00876997] [ 0.99863419 -0.05175083 -0.00718324] [-0.00671946 0.00913018 -0.99993574]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.98117339 0.19301545 -0.00660113] [-0.19309694 0.98105771 -0.01546485] [ 0.00349215 0.01644778 0.99985862]] t_gt: [-0.38136349 0.92169284 -0.07102253] Pose Error in degrees for R and t: 178.90062047748796 68.53273630865107 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 1.69907064e-01 9.85460090e-01 -9.57438130e-06] [-9.85450921e-01 1.69905441e-01 -4.31544972e-03] [-4.25107673e-03 7.42660475e-04 9.99990688e-01]] t_estimated: [[0.02016394] [0.99979528] [0.00168033]] R_gt: [[ 0.96058271 0.27798324 0.00228519] [-0.27784278 0.96030349 -0.02490527] [-0.00911715 0.02328829 0.99968704]] t_gt: [-0.32441327 0.94518471 -0.03717381] Pose Error in degrees for R and t: 64.08885145737932 20.217536535551886 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.98775017 -0.15339147 0.02864729] [ 0.15444953 0.98721738 -0.03933423] [-0.02224757 0.04327695 0.99881537]] t_estimated: [[-0.19601146] [-0.98005728] [-0.03266858]] R_gt: [[ 0.93485101 0.35503163 0.00218039] [-0.35394701 0.93244037 -0.07263536] [-0.02782016 0.06713136 0.99735603]] t_gt: [-0.26650005 0.96258062 -0.04915556] Pose Error in degrees for R and t: 29.691325550018387 27.18434413091699 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.99973639e-01 7.26085286e-03 2.32791847e-05] [-7.26085207e-03 9.99973639e-01 -3.38878109e-05] [-2.35246254e-05 3.37178909e-05 9.99999999e-01]] t_estimated: [[9.86879534e-01] [1.61457052e-01] [6.36545159e-04]] R_gt: [[ 0.99999938 0.00114458 -0.00160327] [-0.00115262 0.99998873 -0.00472997] [ 0.00159682 0.0047321 0.99998826]] t_gt: [-0.63344414 -0.46009051 -0.62214568] Pose Error in degrees for R and t: 0.4416880216094668 45.58792193022689 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999065e-01 -1.36769945e-03 1.14047911e-05] [ 1.36769819e-03 9.99999059e-01 1.09322338e-04] [-1.15543005e-05 -1.09306638e-04 9.99999994e-01]] t_estimated: [[-1.24835415e-03] [ 9.99999124e-01] [ 4.40850159e-04]] R_gt: [[ 0.99887838 0.03325991 0.03372348] [-0.03265032 0.99929551 -0.01847758] [-0.03431509 0.0173566 0.9992607 ]] t_gt: [-0.86129462 0.32178429 0.3932257 ] Pose Error in degrees for R and t: 2.955684677530876 71.15357939303891 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-9.36819899e-01 -3.49807206e-01 -1.84244912e-03] [ 3.49808806e-01 -9.36820907e-01 -6.22270317e-04] [-1.50837021e-03 -1.22746014e-03 9.99998109e-01]] t_estimated: [[9.99982376e-01] [5.87731035e-03] [8.39615765e-04]] R_gt: [[ 0.99779965 0.03702341 0.05501141] [-0.0360174 0.99916725 -0.01917419] [-0.0556764 0.01715036 0.99830196]] t_gt: [-0.82295477 0.14866627 0.54830993] Pose Error in degrees for R and t: 161.62942803344902 34.7541005485026 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.64717114e-01 2.63288591e-01 8.30618540e-05] [-2.63288599e-01 9.64717109e-01 1.15496563e-04] [-4.97222642e-05 -1.33290751e-04 9.99999990e-01]] t_estimated: [[8.24229885e-01] [5.66254960e-01] [6.44937312e-04]] R_gt: [[ 0.99131352 -0.12592819 0.03793906] [ 0.12701084 0.99151631 -0.02763844] [-0.03413624 0.03221695 0.99889825]] t_gt: [ 0.62500852 -0.77585166 0.08613095] Pose Error in degrees for R and t: 22.693071266135192 85.64842019401021 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.73350189e-01 -2.29316859e-01 1.78557479e-03] [ 2.29316146e-01 9.73351811e-01 5.97226123e-04] [-1.87494648e-03 -1.71849030e-04 9.99998228e-01]] t_estimated: [[0.9371598 ] [0.34889872] [0.00109146]] R_gt: [[ 0.97934334 -0.19594725 0.04992288] [ 0.19834314 0.97892442 -0.04864854] [-0.03933827 0.05754484 0.99756839]] t_gt: [ 0.63620009 -0.77149842 -0.00629559] Pose Error in degrees for R and t: 4.3684266490546975 70.91081856206 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.74668709e-01 2.23652970e-01 5.07002870e-04] [-2.23652966e-01 9.74668839e-01 -6.42783673e-05] [-5.08535947e-04 -5.07425825e-05 9.99999869e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98967596 -0.13261293 0.05435701] [ 0.13484776 0.99006895 -0.03974401] [-0.04854682 0.04666391 0.99773119]] t_gt: [ 0.50059966 -0.85887002 0.10836175] Pose Error in degrees for R and t: 20.968015809639233 31.171920810699064 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-9.22521843e-01 -3.85944844e-01 1.61537340e-04] [-3.85944871e-01 9.22521669e-01 -5.71353983e-04] [ 7.14894271e-05 -5.89431038e-04 -9.99999824e-01]] t_estimated: [[0.95195869] [0.30622447] [0.00110951]] R_gt: [[ 0.99007507 0.13575083 -0.03638257] [-0.13355611 0.98939045 0.05717291] [ 0.04375776 -0.05174643 0.99770086]] t_gt: [-0.41190998 0.90717482 0.08581384] Pose Error in degrees for R and t: 178.36364473111465 83.44096200315941 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.74149239e-01 -2.25905417e-01 -4.69938584e-05] [ 2.25905409e-01 9.74149233e-01 -1.34427037e-04] [ 7.61468270e-05 1.20335829e-04 9.99999990e-01]] t_estimated: [[0.7171825 ] [0.69688488] [0.00084573]] R_gt: [[ 0.94369285 0.3110256 -0.11272542] [-0.30227421 0.9491263 0.08825588] [ 0.13444075 -0.04921203 0.98969805]] t_gt: [-0.20959208 0.96608279 -0.15084829] Pose Error in degrees for R and t: 32.05724941290704 58.479396418754796 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.97217126 -0.23425226 -0.0029882 ] [ 0.2342676 0.97214861 0.00676566] [ 0.00132011 -0.00727742 0.99997265]] t_estimated: [[0.75979434] [0.65016279] [0.00095332]] R_gt: [[ 0.87941486 0.46016275 -0.1219791 ] [-0.44497259 0.8856235 0.13293563] [ 0.16919954 -0.06262755 0.98358926]] t_gt: [-0.15708141 0.98038256 -0.11906074] Pose Error in degrees for R and t: 41.868033584915786 58.80548016062025 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.99975020e-01 -7.04484361e-03 -5.74507622e-04] [ 7.04594378e-03 -9.99973303e-01 -1.93599616e-03] [-5.60853494e-04 -1.93999575e-03 9.99997961e-01]] t_estimated: [[0.79116562] [0.61160123] [0.00095052]] R_gt: [[ 0.98712123 0.15776573 0.02649583] [-0.15714403 0.98728264 -0.0240796 ] [-0.02995869 0.01960707 0.99935846]] t_gt: [-0.39531673 0.91572572 0.07191026] Pose Error in degrees for R and t: 171.3412275059859 75.67828065348235 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.86209153 -0.45830426 0.21622997] [ 0.48358408 0.87156991 -0.08069898] [-0.15147485 0.17413528 0.97300168]] t_estimated: [[0.98754144] [0.15430335] [0.03086067]] R_gt: [[ 0.9784664 0.20548053 0.01951927] [-0.20473193 0.97820261 -0.03471076] [-0.02622693 0.02996756 0.99920645]] t_gt: [-3.31826852e-01 9.43339883e-01 8.97262355e-04] Pose Error in degrees for R and t: 41.782275246459456 79.50763071266812 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99986361e-01 -5.16573830e-03 -7.70476999e-04] [ 5.16597135e-03 9.99986611e-01 3.00796934e-04] [ 7.68912845e-04 -3.04773093e-04 9.99999658e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.9474557 0.31803337 0.03439198] [-0.31422507 0.94543156 -0.08614769] [-0.05991304 0.07081544 0.99568811]] t_gt: [-0.28254394 0.95875453 0.03096231] Pose Error in degrees for R and t: 19.510274274385033 16.862524414730718 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999774e-01 6.71299700e-04 -3.56189274e-05] [-6.71303753e-04 9.99999768e-01 -1.13876206e-04] [ 3.55424741e-05 1.13900091e-04 9.99999993e-01]] t_estimated: [[-0.24219457] [-0.97022712] [-0.00106477]] R_gt: [[ 9.96389803e-01 7.43005091e-04 8.48956205e-02] [ 2.67554701e-03 9.99189558e-01 -4.01554925e-02] [-8.48552884e-02 4.02382569e-02 9.95580319e-01]] t_gt: [-0.48793037 0.73747837 0.46695783] Pose Error in degrees for R and t: 5.3886925658841855 53.284313838314354 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-7.75282651e-01 -6.31611859e-01 -1.80844947e-03] [ 6.31613804e-01 -7.75282773e-01 -7.90754405e-04] [-9.02609861e-04 -1.75529982e-03 9.99998052e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99098612 0.07127102 0.11343776] [-0.06112642 0.99401629 -0.09052365] [-0.11921037 0.08277375 0.98941199]] t_gt: [-0.34264203 0.9392207 0.02146914] Pose Error in degrees for R and t: 144.75198723921758 70.1407117967487 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-6.61277463e-01 -7.50140940e-01 -8.29088382e-04] [ 7.50141072e-01 -6.61275741e-01 -1.66341107e-03] [ 6.99536709e-04 -1.72190950e-03 9.99998273e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98033446 0.16290923 0.11138429] [-0.15228667 0.98345857 -0.09807116] [-0.12551834 0.07918074 0.98892652]] t_gt: [-0.30623441 0.95130869 0.03510367] Pose Error in degrees for R and t: 140.63671461892665 67.1758204190373 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.43310493e-01 3.31911594e-01 -9.25623299e-05] [-3.31911560e-01 9.43310174e-01 -7.94834611e-04] [-1.76499835e-04 7.80498335e-04 9.99999680e-01]] t_estimated: [[-0.9869884 ] [-0.16078359] [-0.00159192]] R_gt: [[ 0.98954812 -0.09189183 0.11114045] [ 0.09345609 0.99558315 -0.00893293] [-0.10982889 0.01922695 0.99376517]] t_gt: [ 0.54283564 -0.60458157 0.58293275] Pose Error in degrees for R and t: 25.519876237907702 63.928420513364436 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-1.63861794e-02 -9.99863973e-01 -1.87865728e-03] [ 9.99865728e-01 -1.63858928e-02 -1.67848071e-04] [ 1.37041762e-04 -1.88115542e-03 9.99998221e-01]] t_estimated: [[0.99996586] [0.00819867] [0.00102744]] R_gt: [[ 0.96918469 -0.09787997 0.22605522] [ 0.10315311 0.9945981 -0.0116034 ] [-0.22369797 0.0345644 0.97404623]] t_gt: [ 0.3730723 -0.40651783 0.83400258] Pose Error in degrees for R and t: 85.91842458804264 68.24838942508009 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.74341212 0.66882339 -0.00369943] [-0.66870371 0.74336537 0.01559701] [ 0.01318168 -0.00912119 0.99987152]] t_estimated: [[0.05277146] [0.99859837] [0.00405934]] R_gt: [[ 0.93743308 -0.10923429 0.33058738] [ 0.12883217 0.99094205 -0.03789052] [-0.32345443 0.07811098 0.94301468]] t_gt: [ 0.40369871 -0.31834146 0.85772144] Pose Error in degrees for R and t: 52.75584570221036 72.95577840653749 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.99999646e-01 8.38115389e-04 7.94730296e-05] [-8.38114537e-04 9.99999649e-01 -1.07587420e-05] [-7.94820188e-05 1.06921306e-05 9.99999997e-01]] t_estimated: [[0.99990828] [0.01342966] [0.00175429]] R_gt: [[ 0.99997071 -0.00267972 0.00717802] [ 0.00264872 0.99998712 0.00427802] [-0.00718948 -0.00425951 0.99996533]] t_gt: [ 0.95401984 -0.04380451 0.29652539] Pose Error in degrees for R and t: 0.5155302166548456 17.47191250716044 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.9934559 -0.11420469 0.00163037] [ 0.1142083 0.99345411 -0.002325 ] [-0.00135417 0.00249599 0.99999597]] t_estimated: [[-0.47234013] [-0.88141547] [-0.00125332]] R_gt: [[ 0.99749641 0.06575396 -0.02602438] [-0.0648149 0.99726832 0.03541864] [ 0.02828233 -0.03364311 0.99903353]] t_gt: [ 0.10053668 0.99488849 -0.00944806] Pose Error in degrees for R and t: 10.645232923860945 22.424083455493587 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.37645735 0.92643091 0.00237494] [-0.92642936 0.37646232 -0.00218244] [-0.00291596 -0.00137862 0.9999948 ]] t_estimated: [[0.04424407] [0.99901693] [0.00276205]] R_gt: [[ 0.98874487 0.14884258 0.01516924] [-0.14931779 0.98807763 0.03749471] [-0.00940801 -0.03933749 0.99918221]] t_gt: [-0.19243581 0.95099602 0.2420228 ] Pose Error in degrees for R and t: 59.34842938025775 19.572994423780493 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 2.66495611e-01 9.63829944e-01 3.45367968e-03] [ 9.63835639e-01 -2.66497386e-01 5.61202080e-05] [ 9.74486944e-04 3.31382377e-03 -9.99994034e-01]] t_estimated: [[7.96080246e-01] [6.05190666e-01] [7.06998442e-04]] R_gt: [[ 0.9696489 -0.24372078 0.01957044] [ 0.24436518 0.96868914 -0.04390584] [-0.0082563 0.04735662 0.99884365]] t_gt: [ 0.85846795 -0.49918416 -0.11767735] Pose Error in degrees for R and t: 177.28024496673123 67.59044322961378 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999988e-01 -5.76734316e-05 1.44368366e-04] [ 5.77107288e-05 9.99999965e-01 -2.58356637e-04] [-1.44353461e-04 2.58364966e-04 9.99999956e-01]] t_estimated: [[8.03860643e-01] [5.94817309e-01] [6.59442693e-04]] R_gt: [[ 0.85972379 -0.51075769 0.0014906 ] [ 0.51059717 0.85937282 -0.02772576] [ 0.01287941 0.02459866 0.99961395]] t_gt: [ 0.91640938 -0.39750858 -0.04669875] Pose Error in degrees for R and t: 30.751767475197436 59.98745151222332 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.99999290e-01 9.24430304e-04 7.51993968e-04] [-9.23895313e-04 9.99999320e-01 -7.11467179e-04] [-7.52651158e-04 7.10771910e-04 9.99999464e-01]] t_estimated: [[ 9.99997726e-01] [ 2.13247112e-03] [-1.08455106e-05]] R_gt: [[ 0.80339099 -0.59536252 0.01028492] [ 0.59536941 0.8028745 -0.03045946] [ 0.0098757 0.03059431 0.9994829 ]] t_gt: [ 0.93203257 -0.35969885 -0.0439548 ] Pose Error in degrees for R and t: 36.645377954980646 21.367304283294967 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.94464710e-01 1.05071081e-01 9.10966190e-05] [-1.05070996e-01 9.94464494e-01 -6.75217747e-04] [-1.61538211e-04 6.61908609e-04 9.99999768e-01]] t_estimated: [[ 5.09135382e-01] [ 8.60686306e-01] [-4.94816919e-04]] R_gt: [[ 0.99937119 0.0229428 0.02701076] [-0.02197926 0.99913035 -0.03543593] [-0.02779997 0.03482049 0.99900775]] t_gt: [ 0.29874135 0.95012237 -0.08956057] Pose Error in degrees for R and t: 5.370527874828674 14.093083299524276 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.74076656e-01 2.26218114e-01 1.80816714e-04] [-2.26218079e-01 9.74076662e-01 -1.93452475e-04] [-2.19891795e-04 1.47533530e-04 9.99999965e-01]] t_estimated: [[0.60544996] [0.79588253] [0.00115517]] R_gt: [[ 0.99856874 -0.01803106 0.05034969] [ 0.0212134 0.99776176 -0.06340634] [-0.04909374 0.06438437 0.99671739]] t_gt: [ 0.89026743 -0.45524015 -0.01342795] Pose Error in degrees for R and t: 14.93249879380132 79.82360869931952 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99999991e-01 -1.30865531e-04 1.86216567e-05] [ 1.30866043e-04 9.99999991e-01 -2.74974590e-05] [-1.86180581e-05 2.74998957e-05 9.99999999e-01]] t_estimated: [[ 8.99247194e-01] [-4.37440726e-01] [-3.09242305e-04]] R_gt: [[ 0.99827828 -0.05769245 -0.01054061] [ 0.05736516 0.99792925 -0.02911053] [ 0.01219825 0.02845589 0.99952093]] t_gt: [ 0.72162484 -0.61469528 -0.31844512] Pose Error in degrees for R and t: 3.7382387299401074 23.37752495628733 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 9.99013372e-01 -4.44103775e-02 6.80943596e-06] [ 4.44103779e-02 9.99013368e-01 -9.83087274e-05] [-2.43678986e-06 9.85141429e-05 9.99999995e-01]] t_estimated: [[-0.00990037] [-0.9999503 ] [-0.001176 ]] R_gt: [[ 0.99895394 -0.00964631 0.04469327] [ 0.01221614 0.99826464 -0.05760571] [-0.04405988 0.05809171 0.99733921]] t_gt: [ 0.92562849 -0.29545978 0.23646442] Pose Error in degrees for R and t: 4.59562800305866 73.38119115187179 Number of keypoints: Image1: 420 Image2: 420 R_estimated: [[-0.70551462 0.7082735 0.02444945] [ 0.70830185 0.70585264 -0.00897404] [-0.02361378 0.01098628 -0.99966079]] t_estimated: [[ 0.92847547] [-0.37117168] [ 0.01284091]] R_gt: [[ 0.99743655 -0.0699284 0.01516013] [ 0.07067993 0.99588595 -0.05671087] [-0.011131 0.05763688 0.99827581]] t_gt: [ 0.64916305 -0.68441541 -0.33190795] Pose Error in degrees for R and t: 176.5543828266462 31.514754670079 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.99698750e-01 2.45435413e-02 1.56625991e-04] [-2.45435316e-02 9.99698760e-01 -6.38046830e-05] [-1.58144802e-04 5.99413069e-05 9.99999986e-01]] t_estimated: [[0.2078943 ] [0.97815015] [0.00149564]] R_gt: [[ 0.99440518 -0.09967313 -0.03497519] [ 0.10011946 0.99491151 0.01126594] [ 0.03367516 -0.01470432 0.99932464]] t_gt: [ 0.55007777 -0.82349508 -0.13881752] Pose Error in degrees for R and t: 7.447958757248114 46.26281834028353 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.72090626 -0.69302583 0.00306023] [-0.69303181 0.72089179 -0.00468365] [ 0.0010398 -0.00549731 -0.99998435]] t_estimated: [[0.93417689] [0.35680367] [0.00216245]] R_gt: [[ 0.96433406 -0.26181498 -0.03888871] [ 0.26046671 0.96479133 -0.03653036] [ 0.04708392 0.02509862 0.99857556]] t_gt: [ 0.87062356 -0.46404601 -0.16332765] Pose Error in degrees for R and t: 177.04927036726033 49.65490073992812 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99445989 0.10423332 -0.01359905] [-0.1037974 0.9941588 0.02956981] [ 0.01660177 -0.02799445 0.99947021]] t_estimated: [[0.13751194] [0.99049957] [0.00103392]] R_gt: [[ 0.85555154 -0.51721881 -0.02273838] [ 0.51454252 0.85434061 -0.07314232] [ 0.05725716 0.05087822 0.99706182]] t_gt: [ 0.92330029 -0.36210428 -0.12805099] Pose Error in degrees for R and t: 37.483906934240565 76.59506354513545 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 9.94692118e-01 1.02880984e-01 1.75873902e-03] [-1.02879669e-01 9.94693469e-01 -8.22299056e-04] [-1.83400516e-03 6.36995900e-04 9.99998115e-01]] t_estimated: [[0.54978596] [0.83530506] [0.00092401]] R_gt: [[ 0.73050421 -0.68189617 -0.03714754] [ 0.67926308 0.7311426 -0.06349976] [ 0.0704611 0.02115465 0.99728955]] t_gt: [ 0.95559219 -0.28533286 -0.07367986] Pose Error in degrees for R and t: 49.041977100357464 73.32377093520763 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.58068134e-01 2.86540091e-01 4.77042717e-04] [-2.86539723e-01 9.58068095e-01 -7.16555125e-04] [-6.62361178e-04 5.49816944e-04 9.99999629e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99549396 0.09459631 -0.00660793] [-0.09440976 0.99523464 0.02441932] [ 0.00888689 -0.02368558 0.99967969]] t_gt: [-0.32298285 0.93529667 0.14457599] Pose Error in degrees for R and t: 11.326021286072978 21.026615527348476 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 7.88181996e-01 -6.15441987e-01 -5.49544712e-04] [ 6.15442122e-01 7.88182075e-01 1.03765334e-04] [ 3.69279749e-04 -4.19998932e-04 9.99999844e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98668261 0.16028772 0.02763775] [-0.16118765 0.98633345 0.03414545] [-0.02178656 -0.03814538 0.99903415]] t_gt: [-0.31757004 0.90209435 0.29219011] Pose Error in degrees for R and t: 47.30166308237913 25.789384313863568 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999290e-01 1.12761195e-03 3.85073924e-04] [-1.12756009e-03 9.99999355e-01 -1.34863985e-04] [-3.85225750e-04 1.34429695e-04 9.99999917e-01]] t_estimated: [[-9.99998007e-01] [ 1.78581491e-03] [ 8.92319267e-04]] R_gt: [[ 0.9848169 0.17210579 0.02270242] [-0.1724881 0.9848801 0.01610281] [-0.01958806 -0.01977506 0.99961239]] t_gt: [-0.17272427 0.96568508 0.19395526] Pose Error in degrees for R and t: 9.984730387401244 79.94336544860587 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.97889616e-01 6.49331361e-02 4.08067131e-05] [-6.49331055e-02 9.97889478e-01 -5.30148425e-04] [-7.51447895e-05 5.26379902e-04 9.99999859e-01]] t_estimated: [[-0.85070231] [-0.52561707] [-0.00568078]] R_gt: [[ 0.99729699 0.01408541 -0.07211056] [-0.01182303 0.99942734 0.03170801] [ 0.07251629 -0.03077013 0.9968923 ]] t_gt: [ 0.34945842 -0.57447705 -0.74017223] Pose Error in degrees for R and t: 5.4244533990315675 89.49151504752179 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.73654065e-01 2.28030172e-01 4.06883700e-05] [-2.28030172e-01 9.73654066e-01 -3.18551790e-06] [-4.03427911e-05 -6.17658355e-06 9.99999999e-01]] t_estimated: [[0.46589401] [0.88483999] [0.00098087]] R_gt: [[ 0.99590111 -0.02291757 -0.08749936] [ 0.02669971 0.99874801 0.0423014 ] [ 0.08642032 -0.04446471 0.99526575]] t_gt: [ 0.74172179 -0.61344807 -0.27116463] Pose Error in degrees for R and t: 15.63004468820881 78.60886711401236 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.06929497 0.99758629 0.00445097] [-0.99759397 -0.06928466 -0.00243059] [-0.00211634 -0.00460869 0.99998714]] t_estimated: [[0.3820024 ] [0.9241566 ] [0.00295698]] R_gt: [[ 0.99238109 0.0035367 -0.12315438] [ 0.00621869 0.99687534 0.07874237] [ 0.12304951 -0.07890825 0.98925905]] t_gt: [ 0.64425096 -0.72702372 -0.23743886] Pose Error in degrees for R and t: 94.35582997352414 64.75559265388785 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-5.72068604e-01 -8.20151206e-01 9.46110424e-03] [-8.20185403e-01 5.72097634e-01 4.48715390e-04] [-5.78068981e-03 -7.50316361e-03 -9.99955142e-01]] t_estimated: [[0.9976057 ] [0.06846314] [0.00978045]] R_gt: [[ 0.99880234 -0.04721197 -0.01291734] [ 0.04697666 0.99873501 -0.01793567] [ 0.01374834 0.01730729 0.9997562 ]] t_gt: [ 0.50730187 -0.70530844 -0.4951614 ] Pose Error in degrees for R and t: 179.34444885844806 63.06645760366983 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999069e-01 1.36465240e-03 2.33614016e-05] [-1.36465781e-03 9.99999042e-01 2.33076433e-04] [-2.30433109e-05 -2.33108096e-04 9.99999973e-01]] t_estimated: [[0.99996866] [0.00785263] [0.00100941]] R_gt: [[ 0.98851201 -0.14752543 0.03289087] [ 0.14894387 0.98777788 -0.04593274] [-0.02571277 0.05030358 0.99840302]] t_gt: [ 0.70831624 -0.67424982 -0.20898635] Pose Error in degrees for R and t: 9.201284545976103 45.34884788004437 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99998792e-01 -3.32093680e-05 1.55376407e-03] [ 3.60900695e-05 9.99998281e-01 -1.85402342e-03] [-1.55369983e-03 1.85407726e-03 9.99997074e-01]] t_estimated: [[-0.03233588] [-0.99947274] [-0.00293963]] R_gt: [[ 0.96473466 -0.19051789 0.18163273] [ 0.20260309 0.97796719 -0.05031319] [-0.16804492 0.08533867 0.9820785 ]] t_gt: [ 0.67888542 -0.68431619 0.26613144] Pose Error in degrees for R and t: 15.678856627725684 48.60696420383204 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 0.15337153 -0.98785497 -0.02489459] [-0.9879496 -0.15275852 -0.02490841] [ 0.02080304 0.02841484 -0.99937972]] t_estimated: [[ 0.69349833] [ 0.7202814 ] [-0.01596138]] R_gt: [[ 0.9938369 0.10697489 0.02904471] [-0.10533361 0.99301682 -0.05314009] [-0.03452627 0.04975207 0.99816423]] t_gt: [-0.35133844 0.93011965 -0.106952 ] Pose Error in degrees for R and t: 176.92798348961978 64.6591481573613 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.04365511 0.99904501 0.00181466] [-0.9990461 -0.0436531 -0.00113592] [-0.00105562 -0.00186252 0.99999771]] t_estimated: [[0.02457075] [0.99969692] [0.00153002]] R_gt: [[ 0.98028652 0.19710914 0.01358651] [-0.19694643 0.98033574 -0.01247875] [-0.01577854 0.00955647 0.99982967]] t_gt: [-0.31295846 0.94966821 -0.01368528] Pose Error in degrees for R and t: 81.1424912571056 19.66610028800442 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.98791956e-01 -4.91376362e-02 -3.48154847e-04] [ 4.91377515e-02 9.98791956e-01 3.30601900e-04] [ 3.31489265e-04 -3.47310065e-04 9.99999885e-01]] t_estimated: [[ 6.73507088e-01] [-7.39180742e-01] [-1.82038301e-04]] R_gt: [[ 0.93101472 0.36076179 -0.05533422] [-0.36082489 0.93258916 0.00920457] [ 0.05492555 0.0113963 0.99842546]] t_gt: [-0.20745934 0.97197586 -0.1105602 ] Pose Error in degrees for R and t: 24.191812612665956 30.88815639771199 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.95150696e-01 -9.83620411e-02 1.29318515e-05] [ 9.83620381e-02 9.95150612e-01 -4.10068046e-04] [ 2.74659900e-05 4.09351505e-04 9.99999916e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98982121 0.1272004 -0.06382082] [-0.12170574 0.98903547 0.08364567] [ 0.07376085 -0.07502731 0.99444978]] t_gt: [-0.84271163 0.5374082 0.03208648] Pose Error in degrees for R and t: 14.168107717316815 79.92333923909625 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.72518159 0.68855676 0.00111873] [ 0.68855037 -0.72518042 0.00342851] [ 0.00317201 -0.00171599 -0.9999935 ]] t_estimated: [[-0.38536688] [ 0.92276089] [ 0.00216995]] R_gt: [[ 0.97474115 0.17606907 -0.13739512] [-0.15561418 0.97671983 0.14765433] [ 0.16019354 -0.12254483 0.97944968]] t_gt: [-0.92013805 0.32309788 -0.2212549 ] Pose Error in degrees for R and t: 169.37667685463154 49.28833785293086 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.7440726 0.66809786 -0.00110237] [ 0.66805816 -0.74400818 0.01225234] [ 0.00736559 -0.00985308 -0.99992433]] t_estimated: [[0.74738105] [0.66438532] [0.00370349]] R_gt: [[ 0.95438217 0.22306402 -0.19848633] [-0.18399262 0.96289491 0.19743127] [ 0.23516115 -0.15190479 0.96001244]] t_gt: [-0.91738223 0.2326145 -0.32295563] Pose Error in degrees for R and t: 165.26604551181617 57.84006076706648 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999987e-01 6.48497261e-06 1.62118386e-04] [-6.46344307e-06 9.99999991e-01 -1.32801518e-04] [-1.62119246e-04 1.32800469e-04 9.99999978e-01]] t_estimated: [[-8.01702103e-01] [-5.97723448e-01] [-6.46144332e-04]] R_gt: [[ 0.98586504 -0.16708072 -0.01246459] [ 0.16725068 0.98581366 0.01410297] [ 0.00993206 -0.01598774 0.9998224 ]] t_gt: [ 0.56897182 -0.82167475 0.03349152] Pose Error in degrees for R and t: 9.685650613033179 87.9961460137594 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.16508346 0.98620115 -0.0124395 ] [-0.9862134 0.16491312 -0.01366706] [-0.01142703 0.0145242 0.99982922]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.93969508 -0.34150327 0.0186963 ] [ 0.34188143 0.9394489 -0.02349772] [-0.00953904 0.02847312 0.99954937]] t_gt: [ 0.63410451 -0.77310216 -0.01498386] Pose Error in degrees for R and t: 100.48375843947088 39.72260790292061 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.99999539 0.00132998 -0.00272841] [-0.00131402 0.99998205 0.00584495] [ 0.00273613 -0.00584134 0.9999792 ]] t_estimated: [[-0.80241885] [-0.59675901] [ 0.00163767]] R_gt: [[ 0.86914186 -0.49242358 -0.0459541 ] [ 0.49190392 0.87035007 -0.02278968] [ 0.05121893 -0.00279661 0.99868312]] t_gt: [ 0.70918365 -0.70079348 -0.07711708] Pose Error in degrees for R and t: 29.71624464580209 81.3160564813507 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.57713071e-01 -2.87722957e-01 -1.08318075e-03] [ 2.87723681e-01 9.57713289e-01 5.81973179e-04] [ 8.69929556e-04 -8.69020073e-04 9.99999244e-01]] t_estimated: [[-0.48512264] [-0.87444375] [-0.00203833]] R_gt: [[ 0.99581509 0.09085574 0.00991814] [-0.09100675 0.99572067 0.01605428] [-0.00841765 -0.01689014 0.99982187]] t_gt: [-0.76351574 0.6184763 0.1858246 ] Pose Error in degrees for R and t: 21.965306129364347 80.16550480492918 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.89456994e-01 1.44826945e-01 1.13543233e-04] [-1.44826869e-01 9.89456878e-01 -5.15273565e-04] [-1.86971629e-04 4.93396922e-04 9.99999861e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9634355 0.26723987 0.01939494] [-0.26764637 0.96324742 0.02280792] [-0.01258716 -0.02716572 0.99955179]] t_gt: [-0.7147253 0.69214742 0.10049724] Pose Error in degrees for R and t: 7.394564109374611 44.5615112458658 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-9.82238117e-01 -1.87638699e-01 -2.40789802e-05] [-1.87638661e-01 9.82237823e-01 7.69285634e-04] [-1.20696470e-04 7.60139820e-04 -9.99999704e-01]] t_estimated: [[9.97773456e-01] [6.66892768e-02] [8.19587444e-04]] R_gt: [[ 0.8705886 0.48614001 0.07579531] [-0.48573981 0.87374906 -0.02486813] [-0.0783155 -0.01516675 0.99681276]] t_gt: [-0.62582578 0.77285172 0.10508244] Pose Error in degrees for R and t: 175.4897428364917 55.05391951391089 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999884e-01 -4.75093201e-04 -7.43175699e-05] [ 4.75086697e-04 9.99999883e-01 -8.75077514e-05] [ 7.43591356e-05 8.74724340e-05 9.99999993e-01]] t_estimated: [[ 9.85880988e-01] [ 1.67447502e-01] [-1.07895200e-04]] R_gt: [[ 0.97943773 -0.19684237 -0.04421266] [ 0.1974724 0.9802542 0.01032587] [ 0.04130615 -0.0188445 0.99896887]] t_gt: [ 0.77286051 -0.63163387 -0.06103511] Pose Error in degrees for R and t: 11.642493000249026 48.990090252061584 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999639e-01 8.06744770e-04 2.67197669e-04] [-8.06718658e-04 9.99999670e-01 -9.78156594e-05] [-2.67276493e-04 9.76000708e-05 9.99999960e-01]] t_estimated: [[9.99999677e-01] [8.03581864e-04] [1.50393225e-05]] R_gt: [[ 0.93205361 -0.34481631 -0.11125203] [ 0.34961599 0.93652219 0.02636273] [ 0.09509913 -0.06346636 0.99344263]] t_gt: [ 0.83747227 -0.54634433 -0.0121679 ] Pose Error in degrees for R and t: 21.45630453950274 33.17189680726745 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-3.90199582e-01 -9.20730037e-01 -6.96178249e-04] [ 9.20637999e-01 -3.90171060e-01 1.38643005e-02] [-1.30369065e-02 4.76891610e-03 9.99903644e-01]] t_estimated: [[0.99356721] [0.11322045] [0.00231062]] R_gt: [[ 0.92017262 -0.37463905 -0.11370424] [ 0.38140816 0.92334233 0.04434174] [ 0.08837495 -0.08417 0.99252542]] t_gt: [ 0.83904066 -0.54204768 0.04685176] Pose Error in degrees for R and t: 90.90708683880335 39.431846388455156 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-0.22225529 -0.97495269 0.00835743] [-0.9749767 0.22220225 -0.00682529] [ 0.0047973 -0.00966525 -0.99994178]] t_estimated: [[0.73181263] [0.68150543] [0.00078605]] R_gt: [[ 0.9954208 -0.09189908 -0.02630065] [ 0.09265791 0.99526918 0.02925963] [ 0.02348738 -0.03156284 0.9992261 ]] t_gt: [ 0.27862773 -0.95992511 -0.03017251] Pose Error in degrees for R and t: 179.9237009760749 63.23613013931249 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 8.20574548e-01 -5.71535294e-01 -2.19536049e-03] [ 5.71538034e-01 8.20575105e-01 8.79057420e-04] [ 1.29904582e-03 -1.97606416e-03 9.99997204e-01]] t_estimated: [[9.99825118e-01] [1.86800066e-02] [8.89524126e-04]] R_gt: [[ 0.96677868 -0.24786694 -0.0624594 ] [ 0.24802175 0.96873973 -0.00538068] [ 0.06184111 -0.01028997 0.99803311]] t_gt: [ 0.59341063 -0.76210467 -0.25896001] Pose Error in degrees for R and t: 20.778346500965494 54.63097738298988 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999524e-01 3.24151547e-05 9.75450053e-04] [-3.14087229e-05 9.99999467e-01 -1.03175915e-03] [-9.75482978e-04 1.03172802e-03 9.99998992e-01]] t_estimated: [[9.36245160e-01] [3.51346503e-01] [7.96487727e-04]] R_gt: [[ 9.24393623e-01 -3.80736482e-01 -2.31494134e-02] [ 3.80639832e-01 9.24683810e-01 -8.62765704e-03] [ 2.46907749e-02 -8.36132900e-04 9.99694377e-01]] t_gt: [ 0.58356347 -0.80868412 -0.07405188] Pose Error in degrees for R and t: 22.428934817487708 74.80107012023281 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.93830299e-01 -1.10911374e-01 -6.98351478e-05] [ 1.10911383e-01 9.93830289e-01 1.45303382e-04] [ 5.32884873e-05 -1.52152417e-04 9.99999987e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99786079 0.02701135 -0.05953169] [-0.02824205 0.99940335 -0.01992042] [ 0.05895756 0.02155932 0.99802739]] t_gt: [-0.063157 0.47296972 -0.87881218] Pose Error in degrees for R and t: 8.72758825537405 86.42406352208043 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.14797119 0.98899003 0.00180137] [-0.98899085 0.14797317 -0.00102179] [-0.00127709 -0.00163035 0.99999786]] t_estimated: [[0.0811442 ] [0.99670153] [0.00129812]] R_gt: [[ 0.99551567 0.03693555 -0.08708939] [-0.04101899 0.99811911 -0.045565 ] [ 0.08524321 0.04893266 0.99515738]] t_gt: [-0.0348083 0.47681355 -0.87831499] Pose Error in degrees for R and t: 79.42761791850387 61.8828347402023 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.92614411e-01 -1.21312110e-01 -5.92565486e-05] [ 1.21312117e-01 9.92614402e-01 1.35298654e-04] [ 4.24055383e-05 -1.41487931e-04 9.99999989e-01]] t_estimated: [[ 4.93774256e-02] [ 9.98780188e-01] [-8.26189608e-05]] R_gt: [[ 0.9913207 0.0388786 -0.12558394] [-0.05146386 0.99379825 -0.09856958] [ 0.12097308 0.10417772 0.98717329]] t_gt: [ 0.02660598 0.43895161 -0.8981167 ] Pose Error in degrees for R and t: 13.262831274027203 63.908616843334975 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99154872 -0.12842971 0.01835631] [ 0.12878583 0.99147582 -0.01974621] [-0.01566383 0.02194336 0.9996365 ]] t_estimated: [[-0.60885144] [-0.79326539] [-0.00547134]] R_gt: [[ 0.97757679 0.20211633 0.0590812 ] [-0.20268338 0.97923718 0.00370011] [-0.05710637 -0.0155914 0.99824614]] t_gt: [-0.73573558 0.64450201 0.20811129] Pose Error in degrees for R and t: 19.300892378688054 86.30494868953082 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.18768954 0.98221879 0.00434659] [ 0.98222648 -0.1876961 0.00115037] [ 0.00194575 0.00405343 -0.99998989]] t_estimated: [[-0.09803254] [-0.99517878] [-0.00297068]] R_gt: [[ 0.95296015 0.29864031 0.05176286] [-0.30064002 0.95304638 0.03630799] [-0.03848968 -0.05016229 0.99799912]] t_gt: [-0.70096242 0.68616442 0.19449954] Pose Error in degrees for R and t: 179.8134026670095 52.06864452032427 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.98905529 -0.14750994 -0.00323338] [ 0.14751597 0.98905819 0.00171283] [ 0.00294534 -0.00217106 0.99999331]] t_estimated: [[0.99995119] [0.00980344] [0.00122543]] R_gt: [[ 0.90642583 0.41666219 0.06916265] [-0.41943055 0.90724693 0.03131832] [-0.04969868 -0.05739694 0.99711395]] t_gt: [-0.65363211 0.73838729 0.16597972] Pose Error in degrees for R and t: 33.51895974734997 49.74744033580734 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.97262809e-01 -7.39382666e-02 -1.51062086e-04] [ 7.39384157e-02 9.97261425e-01 1.66188448e-03] [ 2.77715334e-05 -1.66850488e-03 9.99998608e-01]] t_estimated: [[0.71110367] [0.70308672] [0.0008017 ]] R_gt: [[ 0.97532282 -0.20895371 -0.07130692] [ 0.20940015 0.97782967 -0.00123709] [ 0.06998521 -0.01372462 0.99745298]] t_gt: [ 0.81563461 -0.56680521 -0.11606908] Pose Error in degrees for R and t: 8.843755605521045 79.5490040946907 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.81681171e-01 1.90530518e-01 4.46937230e-04] [-1.90530542e-01 9.81681268e-01 1.14699364e-05] [-4.36564534e-04 -9.64150132e-05 9.99999900e-01]] t_estimated: [[0.48657446] [0.87363845] [0.00107675]] R_gt: [[ 0.95600925 -0.2751746 -0.10161669] [ 0.2805757 0.95886404 0.04309027] [ 0.08558014 -0.06970503 0.99388971]] t_gt: [ 0.82178747 -0.56836555 0.04032317] Pose Error in degrees for R and t: 27.888332895732432 84.45417750646814 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-8.71299049e-01 -4.90750784e-01 -1.27887417e-03] [-4.90750634e-01 8.71299956e-01 -4.50254203e-04] [ 1.33524561e-03 2.35302248e-04 -9.99999081e-01]] t_estimated: [[9.94687813e-01] [1.02932868e-01] [9.89739117e-04]] R_gt: [[ 0.96885754 -0.24312266 -0.04698323] [ 0.24623007 0.9659944 0.07890873] [ 0.02620166 -0.08801964 0.99577374]] t_gt: [ 0.75238309 -0.61413702 0.23823392] Pose Error in degrees for R and t: 179.09895122989593 46.73236054350255 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 0.986504 -0.15693195 0.04671431] [ 0.16359285 0.95664627 -0.24096741] [-0.00687358 0.24535744 0.96940831]] t_estimated: [[-0.76200076] [-0.63500064] [-0.12700013]] R_gt: [[ 0.99557712 0.06112618 -0.07134689] [-0.05670634 0.9964372 0.06242204] [ 0.07490913 -0.05810133 0.99549629]] t_gt: [-0.88208476 -0.30394319 -0.35992362] Pose Error in degrees for R and t: 22.451473535417442 24.37501422564839 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 6.97112599e-01 7.16961561e-01 -3.79065596e-04] [-7.16960031e-01 6.97109788e-01 -2.50151141e-03] [-1.52923719e-03 2.01561000e-03 9.99996799e-01]] t_estimated: [[0.05823431] [0.9983024 ] [0.0010399 ]] R_gt: [[ 0.9871355 0.08212033 -0.13718452] [-0.069526 0.99312124 0.09421281] [ 0.14397822 -0.08346387 0.98605438]] t_gt: [-0.67429576 -0.43431021 -0.59724356] Pose Error in degrees for R and t: 42.49541640156495 61.740797824369736 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.8515411 -0.51770647 -0.08281156] [ 0.50317582 -0.76262125 -0.40647623] [ 0.14728152 -0.38779999 0.90990072]] t_estimated: [[0.98311822] [0.18274235] [0.0091542 ]] R_gt: [[ 0.9861322 0.04622993 -0.15939258] [-0.02974351 0.9940996 0.10431033] [ 0.16327435 -0.09812363 0.98168934]] t_gt: [ 0.07506203 -0.83829125 -0.54003099] Pose Error in degrees for R and t: 148.793665758289 85.16192528422202 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[-8.29653590e-01 -5.58274620e-01 -2.09032420e-03] [ 5.58273552e-01 -8.29656189e-01 1.11797687e-03] [-2.35838852e-03 -2.39439190e-04 9.99997190e-01]] t_estimated: [[0.99395481] [0.10978361] [0.00118047]] R_gt: [[ 0.99796858 -0.05179934 -0.03709581] [ 0.05261258 0.99838896 0.02126106] [ 0.03593469 -0.02316847 0.99908491]] t_gt: [ 0.62857122 -0.73106434 -0.26541128] Pose Error in degrees for R and t: 143.07728493555194 57.0300431694766 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99107432e-01 4.22411333e-02 1.59627943e-04] [-4.22411328e-02 9.99107445e-01 -6.52538675e-06] [-1.59761106e-04 -2.23302735e-07 9.99999987e-01]] t_estimated: [[ 9.23385153e-01] [-3.83874687e-01] [ 2.90346479e-04]] R_gt: [[ 0.98413044 -0.1623601 -0.07160884] [ 0.16416964 0.98622789 0.02011147] [ 0.067357 -0.03154677 0.99722924]] t_gt: [ 0.67105738 -0.71338034 -0.20191702] Pose Error in degrees for R and t: 12.576331114890372 26.69195745158682 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.74352143e-01 -2.25027849e-01 -6.07854615e-04] [ 2.25027707e-01 9.74352321e-01 -2.93359404e-04] [ 6.58278590e-04 1.49051234e-04 9.99999772e-01]] t_estimated: [[-0.11669683] [-0.99316448] [-0.00248291]] R_gt: [[ 0.95603441 -0.26677908 -0.12177238] [ 0.27359896 0.96088656 0.04290927] [ 0.1055618 -0.07433841 0.99162962]] t_gt: [ 0.70381183 -0.69809325 -0.13158543] Pose Error in degrees for R and t: 7.8819277527436515 52.30083347255634 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999915e-01 -2.32429567e-04 3.39215521e-04] [ 2.32437610e-04 9.99999973e-01 -2.36732015e-05] [-3.39210010e-04 2.37520460e-05 9.99999942e-01]] t_estimated: [[0.61027609] [0.7921862 ] [0.00202846]] R_gt: [[ 0.97563467 -0.21202575 0.05640966] [ 0.21290453 0.97702176 -0.00996515] [-0.05300047 0.02173229 0.99835818]] t_gt: [ 0.56874399 -0.80555533 0.16616525] Pose Error in degrees for R and t: 12.689310214281356 73.09882030267178 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 8.92121972e-01 -4.51792257e-01 1.46421553e-03] [ 4.51793401e-01 8.92122419e-01 -5.59179737e-04] [-1.05362642e-03 1.16037944e-03 9.99998772e-01]] t_estimated: [[7.94576745e-01] [6.07163325e-01] [7.01922920e-04]] R_gt: [[ 0.91738724 -0.39725423 0.02428991] [ 0.39733358 0.91767207 0.00169139] [-0.02296241 0.00809949 0.99970313]] t_gt: [ 0.67924293 -0.73273072 0.04165002] Pose Error in degrees for R and t: 3.688844113883451 84.55716100220971 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 6.25640377e-01 -7.80111428e-01 5.28288988e-04] [ 7.80111481e-01 6.25639749e-01 -9.90511296e-04] [ 4.42190592e-04 1.03182817e-03 9.99999370e-01]] t_estimated: [[-0.01762544] [-0.99984338] [-0.00160231]] R_gt: [[ 0.84966493 -0.52698733 0.01882077] [ 0.52731377 0.84932566 -0.02419487] [-0.00323421 0.03048186 0.99952992]] t_gt: [ 0.72496454 -0.68846179 -0.0211374 ] Pose Error in degrees for R and t: 19.522371297912596 47.49846153957287 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99802563e-01 -1.98704458e-02 3.56044938e-05] [ 1.98704460e-02 9.99802563e-01 -3.38514052e-06] [-3.55301999e-05 4.09194934e-06 9.99999999e-01]] t_estimated: [[ 9.43708324e-01] [-3.30778143e-01] [ 6.47746312e-04]] R_gt: [[ 0.99836881 -0.05041211 0.0268296 ] [ 0.05053211 0.99871548 -0.00377519] [-0.02660458 0.00512484 0.99963278]] t_gt: [ 0.61821213 -0.74747474 0.24309519] Pose Error in degrees for R and t: 2.341241213811837 33.81717239401648 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999970e-01 -2.39497865e-04 4.07994838e-05] [ 2.39499262e-04 9.99999971e-01 -3.42270700e-05] [-4.07912853e-05 3.42368405e-05 9.99999999e-01]] t_estimated: [[ 0.1003065 ] [-0.99495571] [-0.00131676]] R_gt: [[ 0.99778305 -0.06387074 0.0187216 ] [ 0.06398679 0.99793489 -0.00561231] [-0.01832395 0.00679928 0.99980875]] t_gt: [ 0.73285891 -0.67847553 0.05087988] Pose Error in degrees for R and t: 3.818867775187485 41.53968170217582 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-4.16910119e-01 9.08947294e-01 -8.76853404e-04] [-9.08947168e-01 -4.16908611e-01 1.50220252e-03] [ 9.99855181e-04 1.42329685e-03 9.99998487e-01]] t_estimated: [[0.93745132] [0.34811512] [0.00094597]] R_gt: [[ 0.99975411 -0.01828452 -0.01257876] [ 0.01850324 0.9996771 0.01741369] [ 0.01225614 -0.01764078 0.99976905]] t_gt: [ 0.95265899 -0.3026239 -0.02931945] Pose Error in degrees for R and t: 115.69712861787107 38.02930786051679 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99863564e-01 1.64965393e-02 8.47446282e-04] [-1.64958853e-02 9.99863635e-01 -7.73002640e-04] [-8.60082588e-04 7.58917797e-04 9.99999342e-01]] t_estimated: [[9.63960876e-01] [2.66042560e-01] [8.86808533e-04]] R_gt: [[ 0.98889051 -0.14380443 -0.03765577] [ 0.14415299 0.98953202 0.00669657] [ 0.03629833 -0.01205034 0.99926798]] t_gt: [ 0.66353763 -0.73270693 -0.15118982] Pose Error in degrees for R and t: 9.496332010077152 63.604871879112 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 7.56403541e-01 6.54104727e-01 8.29953775e-04] [-6.54104484e-01 7.56403989e-01 -5.73768916e-04] [-1.00308531e-03 -1.08875646e-04 9.99999491e-01]] t_estimated: [[0.50394474] [0.86373507] [0.00119136]] R_gt: [[ 0.97172095 -0.2254119 -0.07034355] [ 0.22829203 0.97293026 0.03590137] [ 0.0603475 -0.05094445 0.99687658]] t_gt: [ 0.67419348 -0.73520763 -0.07023457] Pose Error in degrees for R and t: 54.164726311883925 72.8213517912707 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 5.59799265e-01 8.28613528e-01 4.94002408e-03] [ 8.28625532e-01 -5.59802759e-01 -7.74372144e-04] [ 2.12378388e-03 4.52692304e-03 -9.99987498e-01]] t_estimated: [[-0.56358435] [-0.82605744] [-0.00133235]] R_gt: [[ 0.9674347 -0.25110549 -0.03188559] [ 0.25189296 0.9674663 0.0236315 ] [ 0.02491501 -0.03089389 0.9992117 ]] t_gt: [ 0.632121 -0.77461885 -0.01971471] Pose Error in degrees for R and t: 178.03799361274204 73.52168535911144 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.99983365 -0.01538772 -0.00979219] [ 0.01528629 -0.99982958 0.01035056] [-0.00994979 0.01019916 0.99989848]] t_estimated: [[7.99258527e-01] [6.00986865e-01] [7.71485064e-04]] R_gt: [[ 0.9823798 0.18586031 0.01962068] [-0.18608928 0.98247586 0.01053213] [-0.01731929 -0.01399747 0.99975193]] t_gt: [-0.35187822 0.92823152 0.12069782] Pose Error in degrees for R and t: 170.16919762369812 73.93626961841775 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99982863 -0.00793135 -0.0167272 ] [ 0.00860982 0.99912671 0.0408864 ] [ 0.01638831 -0.04102341 0.99902378]] t_estimated: [[0.69761172] [0.71646609] [0.00377087]] R_gt: [[ 0.92642471 0.37608677 -0.01714901] [-0.37609048 0.9265774 0.00313141] [ 0.01706758 0.00354804 0.99984846]] t_gt: [-0.24918232 0.96774659 -0.03707708] Pose Error in degrees for R and t: 22.68823295034771 58.70897233228705 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99994925e-01 5.65025241e-04 -3.13543141e-03] [-5.54121797e-04 9.99993801e-01 3.47727397e-03] [ 3.13737672e-03 -3.47551891e-03 9.99989039e-01]] t_estimated: [[0.72849187] [0.68505385] [0.00090496]] R_gt: [[ 0.86045152 0.50936126 -0.01316844] [-0.5084024 0.85997743 0.0443355 ] [ 0.0339078 -0.03145297 0.99893012]] t_gt: [-0.19624004 0.98027295 -0.02355406] Pose Error in degrees for R and t: 30.6654984765408 58.09184516645562 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.58848798e-01 2.83917210e-01 2.00972823e-05] [-2.83917199e-01 9.58848777e-01 -2.17878478e-04] [-8.11297041e-05 2.03206552e-04 9.99999976e-01]] t_estimated: [[-9.97707500e-01] [-6.76673328e-02] [-9.36062368e-04]] R_gt: [[ 0.99560062 0.06773171 0.0647449 ] [-0.0602829 0.9920147 -0.11078555] [-0.07173192 0.10639473 0.99173297]] t_gt: [-0.41985355 0.86975437 -0.2593267 ] Pose Error in degrees for R and t: 14.765515833505203 68.88261814601034 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.55844982e-01 -2.93871307e-01 -1.59217681e-04] [ 2.93871277e-01 9.55844987e-01 -1.84072114e-04] [ 2.06280935e-04 1.29154903e-04 9.99999970e-01]] t_estimated: [[-0.00523533] [-0.99998576] [-0.00103946]] R_gt: [[ 0.98898295 0.07525445 0.12747836] [-0.06366404 0.99365852 -0.09268239] [-0.13364496 0.08354603 0.98750194]] t_gt: [-0.43176062 0.84594768 0.31297809] Pose Error in degrees for R and t: 22.94524718125894 32.43498948611118 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99988659 0.0146146 0.00363484] [-0.01460899 0.99989206 -0.0015652 ] [-0.00365732 0.00151192 0.99999217]] t_estimated: [[9.99994892e-01] [3.10076045e-03] [7.75189838e-04]] R_gt: [[ 0.98559412 -0.00395431 0.16908216] [ 0.02038579 0.99521592 -0.0955558 ] [-0.16789483 0.09762646 0.98095892]] t_gt: [0.16884477 0.50000299 0.84940477] Pose Error in degrees for R and t: 11.08109460866328 80.15096641163784 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.26689074e-01 -3.75828839e-01 -2.08107678e-04] [ 3.75828876e-01 9.26689065e-01 1.80210461e-04] [ 1.25122821e-04 -2.45211940e-04 9.99999962e-01]] t_estimated: [[0.97910355] [0.20335991] [0.000992 ]] R_gt: [[ 0.99899565 -0.04022956 -0.01968915] [ 0.04263078 0.98885484 0.14264598] [ 0.01373126 -0.14334136 0.98957836]] t_gt: [ 0.12638291 -0.65503656 0.74495266] Pose Error in degrees for R and t: 21.337573866405243 89.49996048368926 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.71203981 -0.70205502 -0.01086549] [ 0.70202993 -0.71211673 0.0066142 ] [-0.01238103 -0.00291833 0.99991909]] t_estimated: [[0.94189343] [0.33590416] [0.00226962]] R_gt: [[ 0.98922259 -0.08253041 -0.12093807] [ 0.0996284 0.98470307 0.14294808] [ 0.10728998 -0.15345564 0.98231404]] t_gt: [ 0.4055528 -0.8569966 0.31793673] Pose Error in degrees for R and t: 130.31928132829165 84.55786663078767 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.9860663 0.15819822 -0.05144494] [-0.15789235 0.98740588 0.00998213] [ 0.05237619 -0.00172028 0.99862594]] t_estimated: [[-0.98640751] [-0.15648353] [-0.0501312 ]] R_gt: [[ 0.97289344 -0.12489108 -0.19462589] [ 0.15387305 0.97787944 0.141683 ] [ 0.1726256 -0.16778983 0.97059168]] t_gt: [ 0.51137741 -0.85133541 0.11713742] Pose Error in degrees for R and t: 20.70199975564878 67.84714743578753 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.89635600e-01 -1.43601400e-01 -1.33088055e-04] [ 1.43601442e-01 9.89635523e-01 3.96666005e-04] [ 7.47468731e-05 -4.11666436e-04 9.99999912e-01]] t_estimated: [[-1.96929541e-01] [-9.80417588e-01] [-3.29273117e-04]] R_gt: [[ 0.99910999 0.01919134 -0.03756387] [-0.02037291 0.99930074 -0.03134937] [ 0.03693619 0.03208688 0.99880234]] t_gt: [-0.09776844 0.49295525 -0.86454407] Pose Error in degrees for R and t: 9.802454382409305 62.36975160797161 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 6.57091161e-01 7.53794177e-01 -5.05412679e-03] [-7.53805682e-01 6.57097120e-01 -6.07081608e-04] [ 2.86343757e-03 4.20873745e-03 9.99987044e-01]] t_estimated: [[-0.92383215] [ 0.38273155] [-0.00712171]] R_gt: [[ 0.99736951 0.01411198 -0.07111165] [-0.02025413 0.99605335 -0.08642049] [ 0.06961206 0.08763373 0.99371788]] t_gt: [ 0.05366366 0.34709885 -0.93629194] Pose Error in degrees for R and t: 48.30015309250626 84.83999015194286 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 1.00000000e+00 1.94582829e-09 -1.72843009e-11] [-1.94582829e-09 1.00000000e+00 4.58038176e-10] [ 1.72842841e-11 -4.58037821e-10 1.00000000e+00]] t_estimated: [[-9.96234106e-01] [-8.67040864e-02] [-9.05947714e-05]] R_gt: [[ 0.99991465 0.00845536 0.00997212] [-0.0083655 0.99992512 -0.00892305] [-0.01004649 0.00883915 0.99991109]] t_gt: [-0.69621837 0.61689491 0.36704313] Pose Error in degrees for R and t: 0.9043677265736827 50.20251913874084 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.23574302e-01 9.05861364e-01 2.35892994e-05] [-9.05860739e-01 4.23573979e-01 1.18567528e-03] [ 1.06406561e-03 -5.23590198e-04 9.99999297e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.99573308 -0.08554633 0.0346122 ] [ 0.08580277 0.99629451 -0.00599676] [-0.03397106 0.00894104 0.99938261]] t_gt: [ 0.99290364 -0.1168341 -0.02218474] Pose Error in degrees for R and t: 69.88266278285825 39.74697001963527 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-7.06595125e-01 7.07617912e-01 4.69600584e-04] [-7.07616756e-01 -7.06592382e-01 -2.39422522e-03] [-1.36238045e-03 -2.02404511e-03 9.99997024e-01]] t_estimated: [[0.69386393] [0.72010572] [0.00077182]] R_gt: [[ 0.9601712 -0.27895867 -0.01594853] [ 0.27932722 0.9597308 0.02989082] [ 0.00696784 -0.03315477 0.99942626]] t_gt: [ 0.98860697 -0.10685803 0.10600764] Pose Error in degrees for R and t: 151.17790643242435 52.4761618258173 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-9.53219785e-01 -3.02276721e-01 -9.08915568e-04] [ 3.02277745e-01 -9.53218920e-01 -1.36230797e-03] [-4.54601530e-04 -1.57332386e-03 9.99998659e-01]] t_estimated: [[8.38800355e-01] [5.44438739e-01] [6.51242511e-04]] R_gt: [[ 0.90194412 -0.43078607 -0.03035105] [ 0.43180058 0.90069698 0.04787747] [ 0.00671207 -0.05628784 0.99839211]] t_gt: [ 0.99249487 -0.02288739 0.12012539] Pose Error in degrees for R and t: 136.85008264818313 34.90294235215521 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.78771876 -0.61603281 0.00165039] [ 0.6159612 0.78758007 -0.0175907 ] [ 0.00953663 0.0148731 0.99984391]] t_estimated: [[-0.13661747] [-0.99047667] [-0.01707718]] R_gt: [[ 0.94222179 0.3349845 -0.00147729] [-0.33498315 0.94217566 -0.00945661] [-0.00177571 0.00940562 0.99995433]] t_gt: [-0.67822512 0.73444793 -0.02443208] Pose Error in degrees for R and t: 57.60074600644741 50.62606526215335 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-9.59141527e-01 -2.82922172e-01 -1.60488251e-03] [ 2.82923887e-01 -9.59141882e-01 -9.61939139e-04] [-1.26715612e-03 -1.37669537e-03 9.99998250e-01]] t_estimated: [[0.94499698] [0.32707766] [0.00095358]] R_gt: [[ 0.85619323 0.51210604 0.06840812] [-0.5110077 0.8589018 -0.03403234] [-0.0761833 -0.00581871 0.99707668]] t_gt: [-0.6133878 0.78477816 0.08876181] Pose Error in degrees for R and t: 165.62454101030593 71.16272031496358 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.11880864e-01 -4.10453698e-01 -1.02519361e-03] [ 4.10454104e-01 9.11881233e-01 2.12911012e-04] [ 8.47464703e-04 -6.14944403e-04 9.99999452e-01]] t_estimated: [[-0.61100277] [-0.79162767] [-0.00111497]] R_gt: [[ 0.78681647 0.61418286 0.06081697] [-0.61565251 0.78798466 0.00722104] [-0.04348848 -0.04312392 0.99812335]] t_gt: [-0.56497462 0.82035816 0.08840906] Pose Error in degrees for R and t: 62.312678295216934 72.28299828385649 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999429e-01 1.06908503e-03 -6.75407439e-07] [-1.06908522e-03 9.99999067e-01 -8.49969764e-04] [-2.33283144e-07 8.49970000e-04 9.99999639e-01]] t_estimated: [[ 0.53808187] [ 0.8428913 ] [-0.00147007]] R_gt: [[ 0.99376415 -0.11117266 0.00847327] [ 0.1098997 0.98952312 0.09362686] [-0.01879347 -0.09211154 0.99557192]] t_gt: [ 0.41839099 -0.68384658 0.59774814] Pose Error in degrees for R and t: 8.41597607906178 69.38060710763396 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.86654538e-01 1.62813638e-01 -2.13125086e-03] [-1.62815667e-01 9.86656169e-01 -8.14599151e-04] [ 1.97018395e-03 1.15072898e-03 9.99997397e-01]] t_estimated: [[-0.54044814] [ 0.84130942] [-0.01068954]] R_gt: [[ 0.9919615 -0.12531389 -0.01756636] [ 0.12632133 0.98881434 0.07930359] [ 0.00743183 -0.08088466 0.99669604]] t_gt: [ 0.48321469 -0.77360887 0.40991814] Pose Error in degrees for R and t: 17.257617692839847 23.59770819934382 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99752570e-01 2.22439550e-02 6.88077547e-05] [-2.22439375e-02 9.99752543e-01 -2.46521492e-04] [-7.42743407e-05 2.44929940e-04 9.99999967e-01]] t_estimated: [[9.52236136e-01] [3.05361669e-01] [7.69172970e-04]] R_gt: [[ 0.99684981 -0.07763115 -0.01623643] [ 0.07749276 0.996953 -0.00895584] [ 0.01688314 0.00766987 0.99982797]] t_gt: [ 0.73774381 -0.65424959 -0.16640774] Pose Error in degrees for R and t: 5.820622067926888 59.828129244348034 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.94041783e-01 -1.08999645e-01 -1.08234766e-04] [ 1.08999686e-01 9.94041664e-01 4.89162657e-04] [ 5.42713112e-05 -4.98045675e-04 9.99999875e-01]] t_estimated: [[9.99999113e-01] [1.08427503e-03] [7.73933645e-04]] R_gt: [[ 0.96852466 -0.2487779 -0.00829508] [ 0.24865981 0.96850218 -0.01309105] [ 0.01129148 0.01061649 0.9998798 ]] t_gt: [ 0.81585587 -0.57573183 -0.0539635 ] Pose Error in degrees for R and t: 8.195365062148884 35.39393308004886 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.90538696 -0.42458604 0.00106748] [-0.42458273 0.90538595 0.00240579] [-0.00198795 0.00172494 -0.99999654]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.93238 -0.36146212 -0.00366142] [ 0.36083928 0.93128053 -0.05011316] [ 0.02152389 0.04540338 0.99873699]] t_gt: [ 0.86744183 -0.48322399 -0.11848734] Pose Error in degrees for R and t: 178.78891276103565 38.86043239640534 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.94490982e-01 1.04817217e-01 -1.01861229e-03] [-1.04817210e-01 9.94491503e-01 6.06321921e-05] [ 1.01935657e-03 4.64699301e-05 9.99999479e-01]] t_estimated: [[-0.89986657] [ 0.43614721] [-0.00397073]] R_gt: [[ 0.99637107 0.06936172 0.04932314] [-0.07249757 0.99525329 0.0649198 ] [-0.04458514 -0.06825965 0.99667129]] t_gt: [-0.42586459 0.17753961 0.88719729] Pose Error in degrees for R and t: 5.09484347896531 62.79781192948924 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 0.97957278 -0.17821798 0.09314248] [ 0.18564006 0.97950168 -0.07819349] [-0.07729773 0.09388719 0.99257758]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99292918 0.08760445 0.0801097 ] [-0.09789309 0.98597985 0.1351292 ] [-0.06714852 -0.1420158 0.98758447]] t_gt: [-0.31726113 0.08714799 0.94432547] Pose Error in degrees for R and t: 20.476105508231363 87.40528845832955 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 8.46779375e-01 -5.31943804e-01 -6.92341648e-04] [ 5.31944102e-01 8.46779402e-01 3.42589212e-04] [ 4.04022438e-04 -6.58384535e-04 9.99999702e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97266417 0.20673816 0.10575104] [-0.21934537 0.96745991 0.12612499] [-0.07623401 -0.14587288 0.98636198]] t_gt: [-0.58126944 0.4176896 0.69832746] Pose Error in degrees for R and t: 45.46854573431189 54.58953926297135 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.98154231e-01 -6.07298067e-02 -1.47911498e-04] [ 6.07298566e-02 9.98154174e-01 3.59950781e-04] [ 1.25778738e-04 -3.68269039e-04 9.99999924e-01]] t_estimated: [[ 9.99004176e-01] [-4.46159718e-02] [-2.66726781e-04]] R_gt: [[ 0.97585604 -0.21751942 -0.01980382] [ 0.21801856 0.97554224 0.02804069] [ 0.0132193 -0.03168043 0.99941055]] t_gt: [ 0.97904383 -0.15560928 0.13137326] Pose Error in degrees for R and t: 9.304973908213304 9.944169860958633 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.40513662 0.91425408 -0.00194867] [-0.91424568 0.40512086 -0.00565023] [-0.0043763 0.00407068 0.99998214]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.91846984 -0.39204302 -0.05213511] [ 0.39427262 0.91799353 0.04285952] [ 0.03105691 -0.05992018 0.99771969]] t_gt: [ 0.98945458 -0.05679167 0.1332454 ] Pose Error in degrees for R and t: 89.36123615702829 38.227203578740834 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 0.27850404 0.96042785 0.00371991] [ 0.96043162 -0.27851132 0.00159788] [ 0.00257068 0.00312771 -0.9999918 ]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 8.93466362e-01 -4.47813495e-01 -3.43853662e-02] [ 4.49131846e-01 8.90863221e-01 6.81466028e-02] [ 1.14696426e-04 -7.63295807e-02 9.97082266e-01]] t_gt: [ 0.98622967 -0.02558967 0.16338972] Pose Error in degrees for R and t: 176.09016852084778 36.8024942307773 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 2.36032507e-01 -9.71744411e-01 1.20645350e-03] [-9.71744822e-01 -2.36033278e-01 -5.40119185e-04] [ 8.09620973e-04 -1.04487925e-03 -9.99999126e-01]] t_estimated: [[0.69896857] [0.71515197] [0.00077064]] R_gt: [[ 0.98924233 -0.14478026 -0.02095038] [ 0.14546373 0.98871139 0.03590857] [ 0.01551598 -0.03856912 0.99913596]] t_gt: [ 0.70533216 -0.68877045 0.16763596] Pose Error in degrees for R and t: 178.9537303978003 89.9679915420406 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-9.83958035e-01 -1.78399795e-01 -3.15028052e-04] [-1.78400072e-01 9.83956319e-01 1.83742154e-03] [-1.78217833e-05 1.86414671e-03 -9.99998262e-01]] t_estimated: [[9.84642201e-01] [1.74582684e-01] [7.88661451e-04]] R_gt: [[ 0.96684565 -0.25475801 -0.01754864] [ 0.2546504 0.95674381 0.14069155] [-0.01905122 -0.14049479 0.98989843]] t_gt: [ 0.61847615 -0.64795817 0.44456435] Pose Error in degrees for R and t: 179.22394013557044 60.250689822561824 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 5.69451903e-02 -9.98376978e-01 8.09228792e-04] [-9.98375936e-01 -5.69437508e-02 1.70265427e-03] [-1.65381030e-03 -9.04872524e-04 -9.99998223e-01]] t_estimated: [[0.70556558] [0.70864091] [0.00229664]] R_gt: [[ 0.9526834 -0.30183942 -0.03590216] [ 0.30374206 0.94076845 0.15065076] [-0.0116952 -0.15442725 0.9879357 ]] t_gt: [ 0.64885063 -0.6495259 0.39636974] Pose Error in degrees for R and t: 173.92456056372427 89.91041063125641 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.37203766 0.92817549 0.00884543] [-0.92815309 0.37210728 -0.00824748] [-0.01094656 -0.00514154 0.99992687]] t_estimated: [[-0.0732001 ] [ 0.99724553] [ 0.01196273]] R_gt: [[ 0.99978905 -0.0075854 -0.019073 ] [ 0.00705786 0.99959466 -0.02755056] [ 0.01927395 0.02740956 0.9994377 ]] t_gt: [ 0.33090582 -0.26973767 -0.90429139] Pose Error in degrees for R and t: 68.61101752485769 72.29989457424956 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99801312 -0.05616076 -0.0285618 ] [ 0.05644799 0.99836175 0.00935097] [ 0.02798986 -0.01094465 0.99954829]] t_estimated: [[9.91056195e-01] [1.33442706e-01] [8.13675037e-04]] R_gt: [[ 0.99142429 -0.12987755 -0.01448237] [ 0.12929939 0.99097017 -0.03547868] [ 0.01895918 0.03330078 0.99926558]] t_gt: [ 0.74809726 -0.61383301 -0.25211014] Pose Error in degrees for R and t: 4.978008136331653 48.75427242022432 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999932e-01 -3.68444748e-04 -1.35725942e-05] [ 3.68440342e-04 9.99999880e-01 -3.23201732e-04] [ 1.36916746e-05 3.23196709e-04 9.99999948e-01]] t_estimated: [[9.03331284e-01] [4.28942834e-01] [7.97291513e-04]] R_gt: [[ 0.96186332 -0.27318349 -0.01370517] [ 0.27242403 0.96127681 -0.04161728] [ 0.02454298 0.03629597 0.99903931]] t_gt: [ 0.82603702 -0.54373493 -0.14837509] Pose Error in degrees for R and t: 16.01220296662328 59.147108467882155 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99999973e-01 2.32890814e-04 -1.97407199e-05] [-2.32891126e-04 9.99999973e-01 -1.57913347e-05] [ 1.97370417e-05 1.57959318e-05 1.00000000e+00]] t_estimated: [[-5.73387056e-02] [ 9.98354745e-01] [-2.75531954e-04]] R_gt: [[ 0.99927918 0.01260797 -0.03581157] [-0.01337413 0.99968627 -0.02119624] [ 0.03553416 0.02166003 0.9991335 ]] t_gt: [-0.02030652 0.44940692 -0.89309634] Pose Error in degrees for R and t: 2.4930415616463866 63.25131430687935 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.60848246e-01 -2.77075167e-01 1.73389400e-05] [ 2.77075126e-01 9.60848134e-01 4.89034943e-04] [-1.52159527e-04 -4.65084179e-04 9.99999880e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.99590736 0.03438916 -0.08358692] [-0.04001228 0.99698126 -0.0665483 ] [ 0.08104703 0.06962112 0.99427528]] t_gt: [-0.0342605 0.46852129 -0.88278764] Pose Error in degrees for R and t: 19.22678171894615 73.80982704262239 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-0.74694695 -0.6648755 -0.00328949] [ 0.66487618 -0.74695286 0.00104125] [-0.00314939 -0.00140934 0.99999405]] t_estimated: [[0.96544521] [0.26060025] [0.00174899]] R_gt: [[ 0.99449767 0.03446838 -0.09893194] [-0.04317122 0.99525456 -0.0872152 ] [ 0.09545704 0.09100704 0.99126458]] t_gt: [ 0.00529394 0.43058994 -0.90253215] Pose Error in degrees for R and t: 140.66026463748713 83.35344155075794 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.70035145e-01 2.42963644e-01 6.96256353e-04] [-2.42963722e-01 9.70035375e-01 2.84987033e-05] [-6.68469144e-04 -1.96809779e-04 9.99999757e-01]] t_estimated: [[0.67115025] [0.74132066] [0.00101434]] R_gt: [[ 0.98528943 -0.14411253 -0.09184776] [ 0.14438371 0.98951471 -0.00371647] [ 0.09142143 -0.00959885 0.99576569]] t_gt: [ 0.6308073 -0.7091521 -0.31493721] Pose Error in degrees for R and t: 22.987678402932584 84.10751426354008 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.59826053e-01 -2.80595330e-01 -4.57369000e-04] [ 2.80595641e-01 9.59825649e-01 8.99911176e-04] [ 1.86483623e-04 -9.92093940e-04 9.99999490e-01]] t_estimated: [[-0.36211001] [-0.93213483] [-0.00099481]] R_gt: [[ 0.97199902 -0.19772638 -0.12697266] [ 0.21203393 0.97091195 0.11122405] [ 0.10128912 -0.13503132 0.98565024]] t_gt: [ 0.5672945 -0.81267039 0.13320582] Pose Error in degrees for R and t: 10.611963991492434 56.49822330619438 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.68862601 0.72511046 -0.00300648] [-0.72511538 0.68861096 -0.00475668] [-0.00137883 0.00545562 0.99998417]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95580935 -0.23292835 -0.1793686 ] [ 0.2620625 0.95156614 0.16076169] [ 0.13323561 -0.20066221 0.97055778]] t_gt: [ 0.55593253 -0.80152791 0.22020905] Pose Error in degrees for R and t: 62.497705583199924 37.07797938540709 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.15281776e-01 4.02813878e-01 -5.00040572e-04] [-4.02810582e-01 9.15278129e-01 3.09527056e-03] [ 1.70449414e-03 -2.63162311e-03 9.99995085e-01]] t_estimated: [[8.63883544e-01] [5.03691266e-01] [5.75605980e-04]] R_gt: [[ 0.99316128 -0.10755411 -0.04543506] [ 0.108534 0.99389767 0.01968849] [ 0.04304049 -0.02448522 0.99877322]] t_gt: [ 0.65128055 -0.74107812 -0.16320804] Pose Error in degrees for R and t: 30.07947408288665 79.09027995939483 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.81126566 0.58466794 0.00338105] [ 0.5846407 -0.81126581 0.00656058] [ 0.00657869 -0.00334567 -0.99997276]] t_estimated: [[9.92928546e-01] [1.18710501e-01] [8.47932146e-04]] R_gt: [[ 0.96911899 -0.22558941 -0.09959273] [ 0.22989338 0.97262303 0.03394103] [ 0.08920868 -0.05578917 0.99444887]] t_gt: [ 0.6963837 -0.70227426 -0.1478533 ] Pose Error in degrees for R and t: 175.59609080443934 52.55738318741706 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.93241461 0.36134659 -0.00562498] [-0.36102385 0.93205694 0.03052278] [ 0.01627211 -0.02642913 0.99951824]] t_estimated: [[9.96993338e-01] [7.74816920e-02] [9.33514361e-04]] R_gt: [[ 0.9572588 -0.27448133 -0.09119668] [ 0.2785074 0.95981062 0.03458355] [ 0.07803917 -0.05850389 0.99523147]] t_gt: [ 0.68460129 -0.72346077 -0.08902575] Pose Error in degrees for R and t: 37.50661147653461 51.21462522630026 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-9.15715179e-01 4.01784649e-01 -5.89980105e-03] [-4.01796674e-01 -9.15728398e-01 9.66203641e-04] [-5.01440958e-03 3.25528778e-03 9.99982129e-01]] t_estimated: [[0.81325496] [0.58190665] [0.00101025]] R_gt: [[ 9.98074197e-01 -3.29618819e-02 5.25492872e-02] [ 3.30321006e-02 9.99454333e-01 -4.87345248e-04] [-5.25033907e-02 2.22264858e-03 9.98618251e-01]] t_gt: [ 0.49429493 -0.43514785 0.7525416 ] Pose Error in degrees for R and t: 158.21266303492894 81.40015704871821 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 5.17982588e-01 8.55391095e-01 -3.35011423e-04] [ 8.55377035e-01 -5.17971744e-01 5.94988576e-03] [ 4.91595284e-03 -3.36849830e-03 -9.99982243e-01]] t_estimated: [[-8.13642559e-01] [-5.81365063e-01] [-6.71322243e-04]] R_gt: [[ 9.91303433e-01 -1.03742401e-01 8.09674415e-02] [ 1.04104434e-01 9.94566341e-01 -2.65193343e-04] [-8.04994145e-02 8.69185316e-03 9.96716854e-01]] t_gt: [ 0.65684982 -0.62892559 0.41593379] Pose Error in degrees for R and t: 177.79862962809682 80.26538667556603 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 3.61426726e-01 -9.32398460e-01 -1.95783752e-03] [ 9.32399900e-01 3.61428105e-01 -3.90571136e-04] [ 1.07178543e-03 -1.68432466e-03 9.99998007e-01]] t_estimated: [[ 9.25862709e-01] [-3.77860043e-01] [ 1.76980636e-04]] R_gt: [[ 0.98838456 -0.13130987 0.07650136] [ 0.13311709 0.99091723 -0.01901456] [-0.07330995 0.0289776 0.99688798]] t_gt: [ 0.73102915 -0.65330149 0.19696077] Pose Error in degrees for R and t: 61.36220993471331 22.523272376111834 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-2.26385557e-01 -9.74037479e-01 -7.54872950e-04] [-9.74037603e-01 2.26384995e-01 7.62731344e-04] [-5.72037007e-04 9.07945999e-04 -9.99999424e-01]] t_estimated: [[0.77680526] [0.62974019] [0.00094272]] R_gt: [[ 0.97896363 0.20072154 -0.03662733] [-0.20019716 0.97959945 0.01747279] [ 0.03938741 -0.00977296 0.99917589]] t_gt: [-0.3352098 0.93243477 -0.13490658] Pose Error in degrees for R and t: 178.7619395123947 70.93311263208369 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.99999314 -0.00142749 -0.00341707] [ 0.00143421 0.99999704 0.00196512] [ 0.00341426 -0.00197 0.99999223]] t_estimated: [[-0.88328256] [-0.4688291 ] [-0.00334663]] R_gt: [[ 0.94495422 0.32566691 -0.03166824] [-0.32349046 0.94438571 0.05907057] [ 0.04914444 -0.04557475 0.99775153]] t_gt: [-0.30996352 0.94869588 -0.06243995] Pose Error in degrees for R and t: 19.384284747574686 80.16671683748883 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 5.36858987e-01 8.41617046e-01 5.88487538e-02] [ 8.43671546e-01 -5.35622711e-01 -3.64229976e-02] [ 8.66513378e-04 6.92030327e-02 -9.97602220e-01]] t_estimated: [[0.60232681] [0.7982485 ] [0.0013238 ]] R_gt: [[ 0.90435711 0.42569339 -0.03038856] [-0.42499007 0.90479372 0.02703323] [ 0.03900397 -0.01153336 0.99917235]] t_gt: [-0.25937143 0.9631696 -0.07092806] Pose Error in degrees for R and t: 179.0257709627285 52.227450336212655 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.04403757e-01 4.26676130e-01 1.15062149e-03] [-4.26675585e-01 9.04404478e-01 -6.96519747e-04] [-1.33781558e-03 1.38992980e-04 9.99999095e-01]] t_estimated: [[-9.95514244e-01] [-9.46079461e-02] [-8.52323839e-04]] R_gt: [[ 0.99902982 -0.03974186 -0.01896332] [ 0.04001685 0.99909726 0.01427603] [ 0.01837895 -0.01502045 0.99971824]] t_gt: [ 0.98392738 -0.16213817 0.07482058] Pose Error in degrees for R and t: 27.579279031357267 15.369217258597493 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.24237881 -0.97018076 -0.00133979] [-0.97018036 0.24237596 0.00198912] [-0.00160508 0.00178195 -0.99999712]] t_estimated: [[8.84384492e-01] [4.66758482e-01] [7.67694872e-04]] R_gt: [[ 0.99120989 -0.11176205 0.07078821] [ 0.1183972 0.98814473 -0.09774012] [-0.05902515 0.10526292 0.99269085]] t_gt: [ 0.79067494 0.1788135 -0.58554152] Pose Error in degrees for R and t: 179.3669719519334 38.530758574602345 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-7.97147493e-01 -6.03754494e-01 -6.03210779e-03] [ 6.03742821e-01 -7.97170082e-01 3.80356324e-03] [-7.10503426e-03 -6.09840872e-04 9.99974573e-01]] t_estimated: [[0.96740151] [0.25323157] [0.0028453 ]] R_gt: [[ 0.98551008 -0.10574268 0.13262394] [ 0.12899686 0.97494648 -0.18121584] [-0.11013861 0.19569868 0.97445958]] t_gt: [ 0.47887377 0.37009553 -0.79605855] Pose Error in degrees for R and t: 136.3634162333754 56.308702415090856 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.98854279e-01 4.78549666e-02 1.76804082e-04] [-4.78549358e-02 9.98854281e-01 -1.74301973e-04] [-1.84942730e-04 1.65641323e-04 9.99999969e-01]] t_estimated: [[-0.03411661] [-0.99941584] [-0.00200686]] R_gt: [[ 0.98798401 -0.15375124 -0.01573704] [ 0.1538788 0.98806247 0.00724517] [ 0.01443606 -0.00957989 0.99985016]] t_gt: [ 0.73567561 -0.67524517 -0.05315406] Pose Error in degrees for R and t: 11.635251772781851 49.46905537791254 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.9911269 0.13252216 0.01026409] [ 0.13248132 0.99117499 -0.00456491] [-0.01077846 -0.00316461 -0.9999369 ]] t_estimated: [[ 0.89994675] [-0.43588044] [ 0.01020199]] R_gt: [[ 0.93628411 -0.34696078 -0.05468206] [ 0.34706455 0.9378079 -0.00789067] [ 0.0540196 -0.01159059 0.99847288]] t_gt: [ 0.80330492 -0.58654736 -0.1032638 ] Pose Error in degrees for R and t: 177.3902971484446 12.16557833241588 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.92489916 0.38020319 0.00265977] [-0.38017657 0.92488532 -0.00727512] [-0.005226 0.00571757 0.99997 ]] t_estimated: [[7.73246267e-01] [6.34105421e-01] [7.24691910e-04]] R_gt: [[ 8.58423066e-01 -5.11499799e-01 -3.84175669e-02] [ 5.11905286e-01 8.59040488e-01 8.39580705e-04] [ 3.25728701e-02 -2.03864641e-02 9.99261450e-01]] t_gt: [ 0.84772343 -0.52992364 -0.02336492] Pose Error in degrees for R and t: 53.19392995091717 71.3700559934202 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.64547163 -0.75779893 -0.09543143] [ 0.61802567 -0.59161473 0.51772221] [-0.44878798 0.27519592 0.85020971]] t_estimated: [[0.95926419] [0.27407548] [0.06851887]] R_gt: [[ 0.97706839 -0.2123562 -0.01556997] [ 0.21242814 0.97717161 0.00315358] [ 0.01454461 -0.00638844 0.99987387]] t_gt: [ 0.75190448 -0.65872863 -0.02676278] Pose Error in degrees for R and t: 122.39934215378813 57.39121714818634 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.86379675e-01 -1.64484418e-01 -1.17638750e-04] [ 1.64484425e-01 9.86379679e-01 4.82778066e-05] [ 1.08095526e-04 -6.69699894e-05 9.99999992e-01]] t_estimated: [[ 9.97598553e-01] [-6.92608379e-02] [ 2.52815772e-04]] R_gt: [[ 0.91498784 -0.4034616 -0.00400793] [ 0.40347239 0.9148608 0.01546898] [-0.00257454 -0.01577007 0.9998725 ]] t_gt: [ 0.80647783 -0.59021029 0.03528909] Pose Error in degrees for R and t: 14.358269757875318 32.28212482444051 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.86153887 -0.50765053 -0.00645856] [ 0.50736821 -0.86137438 0.02473219] [-0.01811855 0.01803087 0.99967325]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.8554358 -0.51631463 0.04061168] [ 0.51636542 0.856309 0.0100154 ] [-0.03994813 0.01240433 0.99912522]] t_gt: [ 0.83049224 -0.55369627 0.06085295] Pose Error in degrees for R and t: 118.38433583697022 58.638856248819245 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.30929238e-01 -3.65198305e-01 -9.75386576e-04] [ 3.65198739e-01 9.30929529e-01 3.06014647e-04] [ 7.96260135e-04 -6.41087930e-04 9.99999477e-01]] t_estimated: [[ 1.59276020e-01] [-9.87233791e-01] [-7.69532257e-04]] R_gt: [[ 0.97315194 0.22843779 -0.02810987] [-0.22874245 0.97345308 -0.00811571] [ 0.02551018 0.01432756 0.99957172]] t_gt: [-0.31442322 0.94174578 -0.11938562] Pose Error in degrees for R and t: 34.674354920798905 11.561122466080663 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999489e-01 -9.80435381e-04 -2.46212548e-04] [ 9.80435917e-04 9.99999519e-01 2.05531205e-06] [ 2.46210414e-04 -2.29670663e-06 9.99999970e-01]] t_estimated: [[-9.99948752e-01] [-1.00928558e-02] [-7.92454024e-04]] R_gt: [[ 0.9241603 0.37996054 -0.03946977] [-0.37890674 0.92489193 0.03171194] [ 0.04855471 -0.01435193 0.99871706]] t_gt: [-0.2591252 0.96195565 -0.08657634] Pose Error in degrees for R and t: 22.553313758889356 75.55375075214644 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.77560572e-01 -2.10654053e-01 -4.45445997e-04] [ 2.10654072e-01 9.77560669e-01 -3.38820454e-06] [ 4.36164226e-04 -9.05228380e-05 9.99999901e-01]] t_estimated: [[-0.70229964] [-0.71188081] [-0.00095812]] R_gt: [[ 0.87134707 0.48887764 -0.04185814] [-0.48693635 0.8720706 0.04884727] [ 0.06038286 -0.02218081 0.99792906]] t_gt: [-0.21363929 0.97333222 -0.08356224] Pose Error in degrees for R and t: 41.55178446882398 57.12707202190186 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.62284066e-01 2.72046628e-01 9.39347827e-05] [-2.72046548e-01 9.62283960e-01 -5.06753033e-04] [-2.28252389e-04 4.62085736e-04 9.99999867e-01]] t_estimated: [[0.72491952] [0.68883275] [0.00106138]] R_gt: [[ 0.99466212 -0.0641679 0.08080967] [ 0.0698618 0.99511646 -0.06972156] [-0.07594094 0.07499526 0.99428802]] t_gt: [ 0.70048484 -0.52784421 -0.48031394] Pose Error in degrees for R and t: 20.556515456168228 81.73863277511548 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99944899e-01 1.04975863e-02 2.13439675e-05] [-1.04975222e-02 9.99942880e-01 -2.00981261e-03] [-4.24409298e-05 2.00947781e-03 9.99997980e-01]] t_estimated: [[-0.62006132] [-0.78454643] [-0.00329601]] R_gt: [[ 0.98904423 -0.08928464 0.11755943] [ 0.10083946 0.99022896 -0.09631514] [-0.10781119 0.10711505 0.98838377]] t_gt: [ 0.73056516 -0.55123293 -0.40300967] Pose Error in degrees for R and t: 10.58546477433162 88.89990815839333 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.97700390e-01 -6.77779375e-02 2.87720526e-04] [ 6.77779199e-02 9.97700430e-01 7.04982602e-05] [-2.91837119e-04 -5.08350429e-05 9.99999956e-01]] t_estimated: [[ 6.53138801e-01] [-7.57237878e-01] [ 7.09386609e-04]] R_gt: [[ 0.98105173 -0.11213147 0.15800185] [ 0.12930155 0.98624863 -0.10292616] [-0.14428834 0.12140686 0.98206027]] t_gt: [ 0.77239441 -0.57937151 -0.2602605 ] Pose Error in degrees for R and t: 11.293380941522617 19.435239415226462 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.98457746 -0.17492722 -0.00277419] [ 0.17493738 0.98457151 0.00398125] [ 0.00203496 -0.00440516 0.99998823]] t_estimated: [[-0.40278477] [-0.91529367] [-0.00138891]] R_gt: [[ 0.99151376 -0.12154977 -0.04611633] [ 0.12086535 0.99251708 -0.01735602] [ 0.04788003 0.01163583 0.99878498]] t_gt: [ 0.57981386 -0.73189507 -0.35797415] Pose Error in degrees for R and t: 4.167937877807179 64.09655172962117 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.24983675 0.96768513 0.03416254] [ 0.96826438 0.24992142 0.00183774] [-0.00675959 0.03353751 -0.9994146 ]] t_estimated: [[-0.04993746] [-0.99874923] [-0.00249687]] R_gt: [[ 0.96782753 -0.24651856 -0.05039948] [ 0.24788811 0.96851791 0.02291834] [ 0.04316301 -0.03467406 0.99846674]] t_gt: [ 0.64372983 -0.76470922 -0.02883946] Pose Error in degrees for R and t: 178.47667355016938 42.97270504301728 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.95170835 0.30699465 -0.00234748] [-0.30698855 -0.95170957 -0.00263284] [-0.00304239 -0.00178504 0.99999378]] t_estimated: [[0.49662037] [0.86796714] [0.00111851]] R_gt: [[ 0.89203797 -0.45091691 -0.03071584] [ 0.45186309 0.89119781 0.03983634] [ 0.00941128 -0.04941543 0.99873368]] t_gt: [ 0.75702545 -0.65056103 0.06068614] Pose Error in degrees for R and t: 171.02501123239793 79.1263713694163 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.80412552 -0.59445222 -0.00294944] [ 0.59445703 0.80412665 0.00108483] [ 0.00172684 -0.00262565 0.99999506]] t_estimated: [[-0.07083438] [-0.99748741] [-0.00116122]] R_gt: [[ 0.97655211 -0.21481 0.01421299] [ 0.21465414 0.97661953 0.01174912] [-0.01640469 -0.00842278 0.99983045]] t_gt: [ 0.59700297 -0.79822561 0.08014571] Pose Error in degrees for R and t: 24.09894895958218 41.076007821862774 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.36238643 0.93201898 0.00408605] [ 0.93202605 -0.36237339 -0.00360258] [-0.001877 0.00511383 -0.99998516]] t_estimated: [[-0.9628629 ] [-0.26998731] [-0.00137749]] R_gt: [[ 0.93668107 -0.34844696 0.03484824] [ 0.3483297 0.93732361 0.00959722] [-0.03600796 0.00314953 0.99934693]] t_gt: [ 0.6384205 -0.76427578 0.09111417] Pose Error in degrees for R and t: 178.67849543758595 65.88985026861381 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.28876801 0.9573915 0.00381389] [ 0.95739558 0.28875386 0.00386204] [ 0.00259621 0.00476663 -0.99998527]] t_estimated: [[-0.23776828] [-0.97130873] [-0.0050589 ]] R_gt: [[ 0.84214773 -0.53820056 0.03357236] [ 0.5380699 0.84279045 0.01358866] [-0.03560802 0.00662001 0.99934439]] t_gt: [ 0.72680854 -0.68495382 0.05086846] Pose Error in degrees for R and t: 178.33863552768042 60.51259175915306 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99410552e-01 3.43299868e-02 1.10032846e-05] [-3.43299874e-02 9.99410550e-01 6.07045562e-05] [-8.91281206e-06 -6.10465166e-05 9.99999998e-01]] t_estimated: [[-0.37743641] [-0.92603475] [-0.00118452]] R_gt: [[ 0.99991821 -0.0121057 -0.00407197] [ 0.01193931 0.99918089 -0.03868017] [ 0.0045362 0.03862953 0.99924384]] t_gt: [ 0.35829963 0.10774548 -0.92736847] Pose Error in degrees for R and t: 3.4694979771571375 76.47244952969511 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.97012751e-01 7.72371338e-02 5.58018957e-06] [-7.72371332e-02 9.97012728e-01 2.13379467e-04] [ 1.09172984e-05 -2.13173048e-04 9.99999977e-01]] t_estimated: [[0.99556168] [0.09410437] [0.00114023]] R_gt: [[ 0.98899663 -0.14782913 -0.00566043] [ 0.1469392 0.98604097 -0.07830613] [ 0.01715758 0.07661405 0.9969133 ]] t_gt: [ 0.88511348 -0.07152296 -0.45984627] Pose Error in degrees for R and t: 13.6815116409644 29.08139306468481 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-5.29039324e-01 -8.48597310e-01 -6.22435360e-06] [-8.48596702e-01 5.29038937e-01 1.20011728e-03] [-1.01512337e-03 6.40191200e-04 -9.99999280e-01]] t_estimated: [[0.96147731] [0.27488173] [0.00118819]] R_gt: [[ 0.9516251 -0.30725964 -0.00140625] [ 0.30660991 0.94989065 -0.06081474] [ 0.02002116 0.05744217 0.99814825]] t_gt: [ 0.97807951 -0.08417948 -0.19045811] Pose Error in degrees for R and t: 177.83357018799987 23.50352265509451 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-8.97131451e-01 -4.41763681e-01 9.79607326e-05] [ 4.41760743e-01 -8.97126252e-01 -3.45451612e-03] [ 1.61396290e-03 -3.05587985e-03 9.99994028e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99631028 -0.07638579 0.03911339] [ 0.07786083 0.99625066 -0.03769823] [-0.03608743 0.04060478 0.99852403]] t_gt: [ 0.78848816 -0.61409336 -0.03428947] Pose Error in degrees for R and t: 149.37129504446065 74.64286132595811 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 8.56406770e-01 5.16301630e-01 -2.66577638e-04] [-5.16301021e-01 8.56406369e-01 1.17773758e-03] [ 8.36366617e-04 -8.70988127e-04 9.99999271e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99109657 -0.08486917 0.10258766] [ 0.0963431 0.98895574 -0.11261984] [-0.09189636 0.12150115 0.98832809]] t_gt: [ 0.79694467 -0.51726788 -0.31195054] Pose Error in degrees for R and t: 37.33745283726156 45.292667015199704 Number of keypoints: Image1: 26 Image2: 26 R_estimated: [[ 9.70626637e-01 2.40590290e-01 4.94779292e-04] [-2.40590333e-01 9.70626751e-01 2.98021947e-05] [-4.73075899e-04 -1.47965919e-04 9.99999877e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9896643 -0.03594817 0.13882455] [ 0.06299085 0.97865018 -0.19564149] [-0.12882749 0.20236408 0.97080011]] t_gt: [ 0.24257419 0.07852612 -0.96694954] Pose Error in degrees for R and t: 21.75235372434459 80.545457879131 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99999659e-01 8.24030536e-04 -5.80349978e-05] [-8.24019624e-04 9.99999643e-01 1.87800545e-04] [ 5.81897304e-05 -1.87752659e-04 9.99999981e-01]] t_estimated: [[0.99992662] [0.01201982] [0.00150811]] R_gt: [[ 0.98258024 -0.18122646 -0.04116695] [ 0.18164769 0.98334142 0.00670845] [ 0.03926476 -0.01406956 0.99913044]] t_gt: [ 0.61867962 -0.77768079 -0.11157114] Pose Error in degrees for R and t: 10.771456969799079 52.47421687578395 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999995e-01 2.05535382e-05 9.34385400e-05] [-2.06266038e-05 9.99999694e-01 7.82030853e-04] [-9.34224379e-05 -7.82032777e-04 9.99999690e-01]] t_estimated: [[-0.75481291] [-0.65593965] [-0.00080385]] R_gt: [[ 0.95524679 -0.29572574 0.00708874] [ 0.29580252 0.95512648 -0.01528917] [-0.0022498 0.01670157 0.99985803]] t_gt: [ 0.55114417 -0.83417742 -0.01970129] Pose Error in degrees for R and t: 17.235070139746977 82.46249506523574 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999101e-01 -1.34124294e-03 -5.24960236e-06] [ 1.34124158e-03 9.99999069e-01 -2.49592075e-04] [ 5.58436109e-06 2.49584810e-04 9.99999969e-01]] t_estimated: [[9.99955789e-01] [9.36864431e-03] [8.04895765e-04]] R_gt: [[ 0.92403095 -0.38214543 0.01149037] [ 0.38196762 0.92405377 0.01501933] [-0.01635839 -0.00948951 0.9998212 ]] t_gt: [ 0.52847685 -0.84625009 0.06762408] Pose Error in degrees for R and t: 22.41272253009061 58.62885565041409 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99156825e-01 4.10564113e-02 1.05574209e-04] [-4.10564208e-02 9.99156826e-01 8.94974164e-05] [-1.01810749e-04 -9.37564536e-05 9.99999990e-01]] t_estimated: [[0.18084299] [0.98351126] [0.00119264]] R_gt: [[ 0.99691472 -0.07753788 0.01223623] [ 0.07816289 0.99490655 -0.06365048] [-0.00723955 0.06441087 0.99789828]] t_gt: [ 0.7335368 -0.6142563 -0.29088309] Pose Error in degrees for R and t: 7.7699281386869465 61.84750394275947 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-8.78778804e-01 -4.77225622e-01 1.87593299e-03] [-4.77228632e-01 8.78764148e-01 -5.13861431e-03] [ 8.03775748e-04 -5.41095427e-03 -9.99985038e-01]] t_estimated: [[0.96864533] [0.24843494] [0.00250944]] R_gt: [[ 0.99065308 -0.13620356 -0.00742023] [ 0.13319097 0.97761292 -0.16288784] [ 0.02943939 0.16037705 0.98661705]] t_gt: [ 0.69286175 -0.43223194 -0.57716387] Pose Error in degrees for R and t: 176.68814898311925 55.78447763662049 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-8.55030092e-01 -5.18578248e-01 3.77493696e-04] [-5.18578292e-01 8.55030149e-01 -2.04660773e-05] [-3.12155229e-04 -2.13259148e-04 -9.99999929e-01]] t_estimated: [[0.9693239 ] [0.24578298] [0.0013808 ]] R_gt: [[ 0.98784265 -0.14998838 -0.04086597] [ 0.13499245 0.95800749 -0.25297849] [ 0.07709284 0.24438588 0.96660849]] t_gt: [ 0.60119367 -0.20609085 -0.77207042] Pose Error in degrees for R and t: 172.84558315148848 57.92481175306384 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.88266061 -0.46998914 -0.00452227] [ 0.46999946 0.8826654 0.00151644] [ 0.00327894 -0.00346397 0.99998862]] t_estimated: [[-0.06563294] [-0.99784321] [-0.00111242]] R_gt: [[ 0.99836981 -0.05674413 -0.00612868] [ 0.05613166 0.99564329 -0.07446199] [ 0.0103275 0.07399704 0.99720512]] t_gt: [ 0.68020222 -0.49255772 -0.54287369] Pose Error in degrees for R and t: 25.178151955037286 63.419444919497415 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.96705254 -0.25457194 -0.00158229] [ 0.25457468 -0.96705131 -0.00186839] [-0.00105451 -0.00220965 0.999997 ]] t_estimated: [[0.79219624] [0.61026589] [0.00080964]] R_gt: [[ 0.99444601 -0.09638928 -0.04225388] [ 0.08691642 0.97856206 -0.1867118 ] [ 0.05934507 0.18200289 0.98150482]] t_gt: [ 0.53688128 -0.19364952 -0.82113236] Pose Error in degrees for R and t: 160.04179299394136 72.15320608603977 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.18235986 -0.98322793 -0.00277704] [-0.983211 0.18233687 0.00702819] [-0.00640396 0.00401208 -0.99997145]] t_estimated: [[0.70391872] [0.71027653] [0.00238457]] R_gt: [[ 0.99204588 -0.08689091 -0.09107662] [ 0.06446389 0.9721542 -0.22530259] [ 0.10811821 0.21764007 0.97002157]] t_gt: [ 0.44902333 -0.01015973 -0.89346227] Pose Error in degrees for R and t: 167.51979449314564 72.13777364881477 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.98882756 -0.14890282 -0.00692839] [ 0.14868346 -0.98855649 0.02548142] [-0.01064336 0.02416659 0.99965129]] t_estimated: [[8.25339216e-01] [5.64636829e-01] [6.55031124e-04]] R_gt: [[ 0.98576234 -0.16702301 -0.01938927] [ 0.16591901 0.98492478 -0.04893448] [ 0.02727019 0.0450201 0.9986136 ]] t_gt: [ 0.62368971 -0.6729442 -0.39768989] Pose Error in degrees for R and t: 161.88904401939672 82.26878820801574 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99997646e-01 2.01783469e-03 7.97326572e-04] [-2.01755793e-03 9.99997904e-01 -3.47756422e-04] [-7.98026616e-04 3.46146951e-04 9.99999622e-01]] t_estimated: [[0.99998805] [0.00468415] [0.00140056]] R_gt: [[ 0.95160997 -0.3069891 0.01401858] [ 0.30730408 0.95087643 -0.03738736] [-0.00185203 0.03988539 0.99920225]] t_gt: [ 0.60068423 -0.79301496 -0.10151717] Pose Error in degrees for R and t: 18.15040995137471 53.357496380790835 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99998485e-01 -1.14234646e-04 1.73682910e-03] [ 1.17838587e-04 9.99997840e-01 -2.07505099e-03] [-1.73658831e-03 2.07525252e-03 9.99996339e-01]] t_estimated: [[-9.99936349e-01] [-1.12428668e-02] [ 9.46511087e-04]] R_gt: [[ 0.91906234 -0.39271685 0.03311618] [ 0.39359118 0.91892025 -0.02593603] [-0.02024568 0.03686963 0.99911429]] t_gt: [ 0.55069004 -0.83466733 -0.00842173] Pose Error in degrees for R and t: 23.26293845189886 57.22925785943825 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99669946e-01 2.56902475e-02 -1.01078878e-04] [-2.56902541e-02 9.99669949e-01 -6.46306963e-05] [ 9.93851381e-05 6.72061068e-05 9.99999993e-01]] t_estimated: [[-0.84181902] [-0.53975904] [-0.00095367]] R_gt: [[ 0.99589714 0.08798117 0.02117881] [-0.08623396 0.99361792 -0.07270813] [-0.02743933 0.07058413 0.99712914]] t_gt: [-0.77645838 0.33476012 -0.53389892] Pose Error in degrees for R and t: 5.596194425794628 61.74108062733619 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.94242756e-01 1.07151021e-01 3.38815880e-05] [-1.07151018e-01 9.94242754e-01 -7.63715269e-05] [-4.18698104e-05 7.23013907e-05 9.99999997e-01]] t_estimated: [[-9.97086400e-01] [ 7.62773414e-02] [-6.91132952e-04]] R_gt: [[ 0.9997657 -0.00902908 0.01965208] [ 0.01056639 0.99677285 -0.07957536] [-0.01886975 0.07976477 0.99663514]] t_gt: [ 0.06542272 0.18374708 -0.980794 ] Pose Error in degrees for R and t: 8.191902233442129 87.10312276179643 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.88981812e-01 1.48036248e-01 4.95205691e-04] [-1.48036015e-01 9.88981855e-01 -4.78162921e-04] [-5.60534887e-04 3.99586155e-04 9.99999763e-01]] t_estimated: [[0.57954698] [0.81493721] [0.00162338]] R_gt: [[ 0.98608371 -0.16401486 0.02716351] [ 0.16607634 0.97926388 -0.11601702] [-0.00757083 0.11891375 0.99287649]] t_gt: [ 0.81036871 -0.03146641 -0.58507471] Pose Error in degrees for R and t: 19.280688727384533 63.70111208481527 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 8.85795076e-01 4.64069644e-01 2.53926688e-03] [ 4.64064439e-01 -8.85798219e-01 2.39006251e-03] [ 3.35843354e-03 -9.38722138e-04 -9.99993920e-01]] t_estimated: [[0.00834173] [0.99996466] [0.00104272]] R_gt: [[ 0.99687121 -0.02694718 0.0743105 ] [ 0.03163243 0.99753619 -0.06261529] [-0.07244095 0.06477012 0.99526766]] t_gt: [ 0.82863386 -0.52418939 0.19644695] Pose Error in degrees for R and t: 175.54036412289219 58.86516773337266 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99999701e-01 7.71683298e-04 5.47935317e-05] [-7.71656057e-04 9.99999580e-01 -4.95444064e-04] [-5.51758346e-05 4.95401634e-04 9.99999876e-01]] t_estimated: [[-0.9991791 ] [-0.04037087] [-0.00336424]] R_gt: [[ 0.99327024 -0.0073656 0.11559043] [ 0.02476212 0.98840648 -0.14979639] [-0.11314726 0.15165 0.98193692]] t_gt: [-0.20443347 0.4754344 -0.8556688 ] Pose Error in degrees for R and t: 10.92534578919568 79.16679124561637 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.34043967 -0.94025182 -0.00522877] [ 0.94026568 0.3404275 0.00309207] [-0.00112731 -0.00596909 0.99998155]] t_estimated: [[ 0.98626335] [-0.16515542] [ 0.00287823]] R_gt: [[ 0.98572359 0.03920084 0.16374555] [-0.00492373 0.97881444 -0.20468924] [-0.16830071 0.20096055 0.96503355]] t_gt: [-0.65979701 0.67155671 -0.33716389] Pose Error in degrees for R and t: 72.84776005488986 40.304699537565284 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 2.51156415e-01 9.67946426e-01 -4.15640989e-04] [-9.67944852e-01 2.51155164e-01 -1.96138768e-03] [-1.79412781e-03 8.94932652e-04 9.99997990e-01]] t_estimated: [[0.48439292] [0.87484983] [0.00113176]] R_gt: [[ 0.99492381 -0.09556262 -0.03153992] [ 0.09538028 0.99541504 -0.00726323] [ 0.03209003 0.00421779 0.99947656]] t_gt: [ 0.54971087 -0.79274022 -0.26340254] Pose Error in degrees for R and t: 80.95237214246849 64.68777823425974 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.15242987 -0.98830555 0.00415641] [ 0.98826836 0.15246198 0.00899969] [-0.00952814 0.00273582 0.99995086]] t_estimated: [[9.79006298e-01] [2.03828482e-01] [7.86982554e-04]] R_gt: [[ 9.62021980e-01 -2.72786545e-01 -1.01321310e-02] [ 2.72973909e-01 9.61444462e-01 3.33213026e-02] [ 6.51946856e-04 -3.48226398e-02 9.99393308e-01]] t_gt: [ 0.66676063 -0.73945222 0.09295522] Pose Error in degrees for R and t: 65.41476199447015 59.86000123682162 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-0.1058191 0.99438426 0.00150067] [-0.99438461 -0.10581699 -0.00142076] [-0.00125398 -0.00164258 0.99999786]] t_estimated: [[7.78621389e-01] [6.27493624e-01] [6.96441314e-04]] R_gt: [[ 0.87307929 -0.4874611 -0.01070512] [ 0.48717792 0.87126134 0.0596912 ] [-0.01977011 -0.05733064 0.99815909]] t_gt: [ 0.78926345 -0.60290034 0.11650916] Pose Error in degrees for R and t: 125.29502609123398 76.33159131781282 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-1.43613568e-02 9.99896781e-01 4.23626945e-04] [-9.99892167e-01 -1.43599885e-02 -3.07316626e-03] [-3.06676577e-03 -4.67716101e-04 9.99995188e-01]] t_estimated: [[0.00891479] [0.9999588 ] [0.00170769]] R_gt: [[ 0.99280459 -0.06415857 0.10110653] [ 0.07625306 0.98975749 -0.12068807] [-0.09232776 0.12753015 0.98752832]] t_gt: [ 0.24979416 0.37762683 -0.8916282 ] Pose Error in degrees for R and t: 95.18394148747306 67.77061923936365 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-2.18186395e-01 -9.75907077e-01 -2.71542177e-04] [-9.75906050e-01 2.18185737e-01 1.53818120e-03] [-1.44187529e-03 6.00609863e-04 -9.99998780e-01]] t_estimated: [[0.90114836] [0.43350864] [0.00137745]] R_gt: [[ 0.98372421 -0.07306537 0.16416035] [ 0.10433741 0.97606693 -0.19080475] [-0.14629137 0.20482829 0.96780377]] t_gt: [ 0.13211455 0.36331183 -0.92225282] Pose Error in degrees for R and t: 179.89361332741507 74.02110412788511 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99921402e-01 1.25196368e-02 6.69350017e-04] [-1.25195641e-02 9.99921621e-01 -1.12727903e-04] [-6.70708867e-04 1.04339072e-04 9.99999770e-01]] t_estimated: [[ 0.78641213] [-0.61770124] [ 0.00106825]] R_gt: [[ 0.96457625 -0.11548169 0.23718599] [ 0.17195431 0.95707786 -0.23330997] [-0.2000623 0.26583128 0.94303164]] t_gt: [ 0.35113607 0.12429991 -0.92803717] Pose Error in degrees for R and t: 21.464957325332808 78.55857228053662 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99269758e-01 -3.82092437e-02 -6.18303008e-05] [ 3.82092485e-02 9.99269757e-01 7.94435106e-05] [ 5.87496732e-05 -8.17479870e-05 9.99999995e-01]] t_estimated: [[-0.7373394 ] [-0.67552206] [-0.00074479]] R_gt: [[ 0.9986076 0.04877426 0.02011729] [-0.04914189 0.99862724 0.01815853] [-0.01920459 -0.01912103 0.99963253]] t_gt: [-0.21680098 0.79422663 0.56762787] Pose Error in degrees for R and t: 5.231695069758153 67.84679572656758 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.37157603 -0.92839811 -0.0028636 ] [ 0.92840102 0.3715681 0.00295012] [-0.00167486 -0.00375476 0.99999155]] t_estimated: [[9.17896203e-01] [3.96819756e-01] [8.01656072e-04]] R_gt: [[ 9.98319852e-01 5.76643174e-02 5.67721347e-03] [-5.76659452e-02 9.98336524e-01 2.30152646e-04] [-5.65483641e-03 -5.55855398e-04 9.99983251e-01]] t_gt: [0.41119169 0.91011278 0.05114814] Pose Error in degrees for R and t: 71.49424098048539 42.38575028151868 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.73822755e-01 -2.27308606e-01 1.98633539e-04] [ 2.27308581e-01 9.73822771e-01 1.40832113e-04] [-2.25446214e-04 -9.19944079e-05 9.99999970e-01]] t_estimated: [[-0.52771353] [-0.84942124] [-0.001411 ]] R_gt: [[ 0.99754455 0.062077 0.03241278] [-0.0624805 0.99797919 0.01159717] [-0.03162747 -0.0135931 0.99940678]] t_gt: [0.63063959 0.58557763 0.50930594] Pose Error in degrees for R and t: 16.824002698300102 33.806871082844054 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.43095067 0.89380112 0.12410109] [ 0.89343969 -0.40332256 -0.19772819] [-0.1266769 0.19608794 -0.97236952]] t_estimated: [[-0.51768765] [ 0.84824623] [-0.11170417]] R_gt: [[ 0.99980902 -0.01942799 -0.00209365] [ 0.01939323 0.9996926 -0.01546522] [ 0.0023935 0.0154209 0.99987777]] t_gt: [ 0.37025847 -0.50494507 -0.77970452] Pose Error in degrees for R and t: 165.82448949757486 57.798410785736685 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99386079e-01 3.50351778e-02 -3.72084258e-05] [-3.50351705e-02 9.99386063e-01 1.82745749e-04] [ 4.35881120e-05 -1.81329954e-04 9.99999983e-01]] t_estimated: [[0.47167416] [0.88177206] [0.00123153]] R_gt: [[ 0.98957561 -0.14400799 0.00144269] [ 0.14397703 0.9894954 0.01301092] [-0.00330062 -0.01266805 0.99991367]] t_gt: [ 0.53217099 -0.84241379 0.08445729] Pose Error in degrees for R and t: 10.31369686269801 60.54751372545441 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-6.63470699e-01 7.48202088e-01 -5.17171539e-04] [-7.48198413e-01 -6.63469341e-01 -2.75095060e-03] [-2.40139444e-03 -1.43822819e-03 9.99996082e-01]] t_estimated: [[0.40029234] [0.91638648] [0.0013649 ]] R_gt: [[ 0.96560361 -0.25970546 0.01274285] [ 0.25957954 0.96566169 0.01070325] [-0.01508564 -0.00702736 0.99986114]] t_gt: [ 0.59830103 -0.79722518 0.08042321] Pose Error in degrees for R and t: 146.6157481034376 60.596216362198845 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.36235248 0.93174845 0.02335585] [ 0.93174876 0.36275268 -0.01596048] [-0.02334355 0.01597846 -0.9995998 ]] t_estimated: [[ 0.81217588] [-0.58322774] [ 0.01468818]] R_gt: [[ 0.99468596 -0.08754003 -0.0541838 ] [ 0.0888877 0.99577745 0.02297118] [ 0.05194454 -0.02766582 0.99826659]] t_gt: [ 0.45221585 -0.85363597 -0.25846943] Pose Error in degrees for R and t: 178.28501202405542 30.531889311356885 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.88591859e-01 -1.50619110e-01 -1.41003538e-04] [ 1.50619131e-01 9.88591854e-01 1.52319361e-04] [ 1.16452743e-04 -1.71819510e-04 9.99999978e-01]] t_estimated: [[ 8.91729256e-01] [-4.52569256e-01] [-4.85265378e-05]] R_gt: [[ 0.97904041 -0.17986382 -0.09554283] [ 0.1801093 0.98362774 -0.0061137 ] [ 0.09507813 -0.01122246 0.99540669]] t_gt: [ 0.54323258 -0.75635086 -0.36446088] Pose Error in degrees for R and t: 5.752355526037017 34.23518764029793 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 7.08076300e-01 7.06135916e-01 -1.48728028e-04] [-7.06134334e-01 7.08074234e-01 -2.27644270e-03] [-1.50216747e-03 1.71691709e-03 9.99997398e-01]] t_estimated: [[0.68327592] [0.73015987] [0.00076859]] R_gt: [[ 0.94488939 -0.31509744 -0.08886421] [ 0.31887074 0.94726902 0.03168006] [ 0.07419727 -0.05826993 0.99553945]] t_gt: [ 0.63880432 -0.76730542 -0.05631555] Pose Error in degrees for R and t: 63.660130090202095 82.88742320122594 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999922e-01 -3.72399353e-04 -1.34597932e-04] [ 3.72408952e-04 9.99999928e-01 7.12982932e-05] [ 1.34571370e-04 -7.13484130e-05 9.99999988e-01]] t_estimated: [[-9.99991391e-01] [-4.10713506e-03] [-5.90729583e-04]] R_gt: [[ 9.82152984e-01 1.88055391e-01 -3.20730034e-03] [-1.88081386e-01 9.82040620e-01 -1.48735330e-02] [ 3.51790314e-04 1.52113816e-02 9.99884683e-01]] t_gt: [-0.68341025 0.72790564 -0.05571176] Pose Error in degrees for R and t: 10.897127013683248 47.12136436486024 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.74988209e-01 2.22256534e-01 1.56966820e-04] [-2.22256537e-01 9.74988221e-01 6.54670108e-07] [-1.52895296e-04 -3.55251974e-05 9.99999988e-01]] t_estimated: [[-5.97856563e-01] [ 8.01602906e-01] [ 5.58528899e-04]] R_gt: [[ 0.95359421 0.29729477 0.04768341] [-0.29528052 0.95435064 -0.04498636] [-0.05888157 0.02881842 0.99784959]] t_gt: [-0.67738373 0.72797348 0.10585791] Pose Error in degrees for R and t: 5.791182720887623 8.666145652280315 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.84493292e-01 -1.75421232e-01 5.90469366e-04] [ 1.75421677e-01 9.84493054e-01 -8.13000259e-04] [-4.38695483e-04 9.03974428e-04 9.99999495e-01]] t_estimated: [[-0.69505473] [-0.7189562 ] [-0.00095606]] R_gt: [[ 0.9453132 0.31615098 0.08019879] [-0.31368697 0.94859836 -0.04198826] [-0.08935176 0.01453474 0.99589444]] t_gt: [-0.69316419 0.69463179 0.19238006] Pose Error in degrees for R and t: 28.950072078308537 88.9796967768657 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[-7.22143227e-01 -6.91743553e-01 -1.29648895e-04] [-6.91743427e-01 7.22142952e-01 7.66468196e-04] [-4.36574397e-04 6.43183588e-04 -9.99999698e-01]] t_estimated: [[9.71703770e-01] [2.36201349e-01] [8.40574196e-04]] R_gt: [[ 0.99857427 0.05074271 -0.01659436] [-0.05095064 0.99862516 -0.01236254] [ 0.01594409 0.0131896 0.99978617]] t_gt: [-0.54722921 0.71296597 -0.43842869] Pose Error in degrees for R and t: 178.8704758484687 68.67180314284668 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.63081671e-01 -2.69208285e-01 -7.70836213e-04] [ 2.69208285e-01 9.63081974e-01 -1.05494507e-04] [ 7.70778457e-04 -1.05915669e-04 9.99999697e-01]] t_estimated: [[8.09638837e-01] [5.86927856e-01] [8.04010761e-04]] R_gt: [[ 0.98487625 0.17109973 -0.0272634 ] [-0.1715465 0.98506128 -0.01500296] [ 0.02428792 0.01945235 0.99951543]] t_gt: [-0.58073122 0.79049214 -0.19461095] Pose Error in degrees for R and t: 25.543110127310097 89.63461297122318 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.72543999e-01 2.32718980e-01 2.16222026e-04] [-2.32718999e-01 9.72544016e-01 6.48065662e-05] [-1.95203720e-04 -1.13346211e-04 9.99999975e-01]] t_estimated: [[-7.92595911e-01] [-6.09746804e-01] [-7.46324104e-04]] R_gt: [[ 9.63544826e-01 2.62023995e-01 -5.40828978e-02] [-2.62437904e-01 9.64948454e-01 -5.77855364e-04] [ 5.20358638e-02 1.47497473e-02 9.98536583e-01]] t_gt: [-0.56559267 0.79889095 -0.20464162] Pose Error in degrees for R and t: 3.574191049590986 87.78312947571582 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.94531565e-01 -1.04435933e-01 -3.19132765e-04] [ 1.04435968e-01 9.94531608e-01 9.60324134e-05] [ 3.07358388e-04 -1.28836206e-04 9.99999944e-01]] t_estimated: [[-0.28541773] [-0.95840269] [-0.00100147]] R_gt: [[ 0.96916275 0.2415441 0.04879456] [-0.24116304 0.97038781 -0.01362412] [-0.05064027 0.00143693 0.99871592]] t_gt: [-0.73582214 0.66831436 0.1091865 ] Pose Error in degrees for R and t: 20.180949628394977 64.49391525745443 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.99763374 -0.06873794 0.00141781] [-0.06873322 0.99763013 0.00314193] [-0.00163042 0.00303705 -0.99999406]] t_estimated: [[8.32962155e-01] [5.53329571e-01] [6.59510811e-04]] R_gt: [[ 9.39338987e-01 3.36423766e-01 6.68036885e-02] [-3.35561655e-01 9.41710813e-01 -2.40614532e-02] [-7.10041013e-02 1.86022126e-04 9.97476664e-01]] t_gt: [-0.70770302 0.69708681 0.11500616] Pose Error in degrees for R and t: 175.9612636716418 78.2468698792857 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.99590679 -0.09033735 0.00297212] [ 0.09032648 -0.99590567 -0.00360837] [ 0.00328592 -0.00332514 0.99998907]] t_estimated: [[0.49142719] [0.87091819] [0.00091005]] R_gt: [[ 0.90611969 0.41973563 0.05262292] [-0.41811304 0.90754405 -0.03930848] [-0.06425654 0.01361566 0.9978407 ]] t_gt: [-0.67808112 0.73229439 0.06285634] Pose Error in degrees for R and t: 160.394618446615 72.26600712485005 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.82116271e-01 1.88275310e-01 1.93030141e-04] [-1.88275347e-01 9.82116264e-01 1.93901323e-04] [-1.53071209e-04 -2.26776461e-04 9.99999963e-01]] t_estimated: [[0.47855642] [0.87805617] [0.00105409]] R_gt: [[ 0.98997944 -0.13870526 -0.0265024 ] [ 0.13956385 0.98963145 0.03392571] [ 0.02152148 -0.03728403 0.99907256]] t_gt: [ 0.74295135 -0.66499051 0.07622932] Pose Error in degrees for R and t: 19.012416677998424 76.80449265455822 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.84884336 -0.52856538 0.009143 ] [-0.5285715 -0.84888659 -0.00193131] [ 0.00878219 -0.00319335 -0.99995634]] t_estimated: [[0.46768613] [0.88389393] [0.00109528]] R_gt: [[ 0.97797851 -0.20794909 -0.01780486] [ 0.20751169 0.97794786 -0.02362226] [ 0.02232346 0.0194078 0.99956176]] t_gt: [ 0.7764336 -0.62614471 -0.07136997] Pose Error in degrees for R and t: 178.4706299058559 79.02407819041214 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-2.39409829e-01 -9.70918270e-01 -8.03815292e-04] [ 9.70912274e-01 -2.39411176e-01 3.41242828e-03] [-3.50563133e-03 3.65347369e-05 9.99993855e-01]] t_estimated: [[0.99933835] [0.03633958] [0.00151415]] R_gt: [[ 0.96501973 -0.2582711 -0.04510944] [ 0.2507487 0.95943027 -0.12891134] [ 0.07657384 0.11309107 0.99062968]] t_gt: [ 0.7863973 -0.5151 -0.34095642] Pose Error in degrees for R and t: 89.32855740527137 39.94668800181738 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.08209455 0.99662063 -0.00279528] [-0.99661973 0.08208512 -0.00333745] [-0.00309672 0.00305982 0.99999052]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 9.97460684e-01 7.11627003e-02 -2.68993919e-03] [-7.12073766e-02 9.96156575e-01 -5.09977204e-02] [-9.48773018e-04 5.10593611e-02 9.98694964e-01]] t_gt: [-0.52257902 0.72037882 -0.45603237] Pose Error in degrees for R and t: 81.24071803069245 44.177971761638105 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99789798e-01 -2.05023494e-02 -1.19370523e-04] [ 2.05023539e-02 9.99789804e-01 3.67520274e-05] [ 1.18591929e-04 -3.91916788e-05 9.99999992e-01]] t_estimated: [[-9.87636351e-01] [-1.56762115e-01] [-2.77682950e-04]] R_gt: [[ 0.98921068 0.14552442 -0.01688903] [-0.14613113 0.98832688 -0.04308679] [ 0.01042293 0.04509006 0.99892896]] t_gt: [-0.56637024 0.77575468 -0.27826143] Pose Error in degrees for R and t: 9.924555800483231 64.03409873953598 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.93871780e-01 -1.10539054e-01 -4.95322719e-05] [ 1.10539052e-01 9.93871781e-01 -3.31063575e-05] [ 5.28882727e-05 2.74282241e-05 9.99999998e-01]] t_estimated: [[-8.86955301e-01] [-4.61854754e-01] [-6.93475606e-04]] R_gt: [[ 0.96267146 0.26801143 -0.03785776] [-0.26977315 0.96143346 -0.05355525] [ 0.02204441 0.06176866 0.99784723]] t_gt: [-0.5373221 0.81268879 -0.2254371 ] Pose Error in degrees for R and t: 22.27721229455293 84.180617807096 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.79958865e-01 1.99199543e-01 -4.05403449e-04] [-1.99199689e-01 9.79958854e-01 -3.59272000e-04] [ 3.25711881e-04 4.32828022e-04 9.99999853e-01]] t_estimated: [[-0.99293668] [-0.11862518] [-0.00219676]] R_gt: [[ 0.99550274 0.09405548 0.01128019] [-0.0939688 0.99554333 -0.00798801] [-0.01198168 0.00689209 0.99990484]] t_gt: [-0.81072075 0.58525055 0.01461663] Pose Error in degrees for R and t: 6.14732585690232 42.647404630928975 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.62410582 0.78133839 0.00150086] [ 0.78128991 -0.62408651 0.01010461] [ 0.00883179 -0.00513374 -0.99994782]] t_estimated: [[0.74863222] [0.66298362] [0.00158609]] R_gt: [[ 0.97430705 0.22422274 0.02119742] [-0.22411804 0.9745355 -0.00723503] [-0.02228049 0.00229925 0.99974987]] t_gt: [-0.76230233 0.64508227 0.05257393] Pose Error in degrees for R and t: 179.73536361209287 81.78305083940064 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.96913738e-01 -7.85033803e-02 -4.66337064e-04] [ 7.85034596e-02 9.96913829e-01 1.54141263e-04] [ 4.52797258e-04 -1.90274615e-04 9.99999879e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.91446412 0.40452967 0.01049851] [-0.40401288 0.91415451 -0.03309616] [-0.02298663 0.02602393 0.99939795]] t_gt: [-0.66733825 0.74454322 -0.01774963] Pose Error in degrees for R and t: 28.42546198066278 57.35873913809296 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99728492e-01 2.33010823e-02 -5.13954070e-05] [-2.33010736e-02 9.99728480e-01 1.64410907e-04] [ 5.52124042e-05 -1.63168700e-04 9.99999985e-01]] t_estimated: [[0.39995209] [0.9165354 ] [0.00108906]] R_gt: [[ 0.99623935 -0.08511294 -0.01620639] [ 0.08527778 0.99631021 0.00971024] [ 0.01531891 -0.0110562 0.99982163]] t_gt: [ 0.50828473 -0.85733284 -0.08140663] Pose Error in degrees for R and t: 6.3148514716084945 54.368140418862815 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.21997629 -0.975499 0.00348398] [ 0.97548964 -0.21995119 0.00643632] [-0.00551231 0.00481443 0.99997322]] t_estimated: [[9.11391615e-01] [4.11539237e-01] [8.83131410e-04]] R_gt: [[ 0.96826869 -0.24977156 0.00831746] [ 0.24944317 0.96795954 0.02887353] [-0.01526355 -0.02588314 0.99954904]] t_gt: [ 0.59121557 -0.79530559 0.13398945] Pose Error in degrees for R and t: 88.25857791485656 77.78106569199433 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.82472161e-01 1.86409360e-01 -5.37365939e-05] [-1.86409355e-01 9.82472161e-01 7.37829334e-05] [ 6.65485369e-05 -6.24726742e-05 9.99999996e-01]] t_estimated: [[0.2887194 ] [0.95741326] [0.00098134]] R_gt: [[ 0.94573431 -0.32444664 -0.01790732] [ 0.32491595 0.94490616 0.03978325] [ 0.00401247 -0.0434432 0.99904844]] t_gt: [ 0.62327688 -0.77829033 0.0760926 ] Pose Error in degrees for R and t: 29.801224151417763 55.5894666974739 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.34655743e-01 -5.50771883e-01 -3.51413202e-04] [ 5.50771812e-01 8.34655816e-01 -2.83436306e-04] [ 4.49417821e-04 4.30232550e-05 9.99999898e-01]] t_estimated: [[-0.12253992] [-0.99246297] [-0.00110396]] R_gt: [[ 0.98949593 0.14446594 -0.00535772] [-0.14427124 0.98916533 0.02718405] [ 0.00922658 -0.02612525 0.99961557]] t_gt: [-0.70768289 0.70129351 0.08586238] Pose Error in degrees for R and t: 41.7512622664886 52.4550807022115 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-9.67539784e-01 2.52546083e-01 -9.34040429e-03] [ 2.52540750e-01 9.67584649e-01 1.76546024e-03] [ 9.48349187e-03 -6.50679687e-04 -9.99954819e-01]] t_estimated: [[ 0.98560154] [-0.16902403] [-0.00452573]] R_gt: [[ 0.9502359 0.31080652 -0.02126677] [-0.31082103 0.95046451 0.00274337] [ 0.021065 0.00400392 0.99977009]] t_gt: [-0.61122416 0.78891646 -0.06337064] Pose Error in degrees for R and t: 178.2455566139724 42.651995935615574 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 8.65173674e-01 -5.01472021e-01 -5.70774702e-04] [ 5.01472195e-01 8.65173735e-01 2.11394357e-04] [ 3.87810926e-04 -4.69120475e-04 9.99999815e-01]] t_estimated: [[-0.63949368] [-0.7687957 ] [-0.00100234]] R_gt: [[ 0.89158791 0.45151026 0.03479587] [-0.45125529 0.8922636 -0.01533862] [-0.0379731 -0.00202556 0.99927606]] t_gt: [-0.58609094 0.80624462 0.08041777] Pose Error in degrees for R and t: 56.97982382153241 75.81127880882548 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.84367965e-01 1.76117142e-01 1.56922272e-03] [-1.76117359e-01 9.84369177e-01 2.11701688e-07] [-1.54465719e-03 -2.76575753e-04 9.99998769e-01]] t_estimated: [[-0.87214835] [ 0.48922082] [ 0.00449857]] R_gt: [[ 9.98443685e-01 5.57486467e-02 9.12714036e-04] [-5.57537197e-02 9.98395002e-01 9.91540636e-03] [-3.58826422e-04 -9.95144422e-03 9.99950257e-01]] t_gt: [-0.1073203 0.99065418 0.08418226] Pose Error in degrees for R and t: 6.970743831444933 54.64599895950822 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99997680e-01 -2.15393107e-03 -3.71009944e-05] [ 2.15393528e-03 9.99997674e-01 1.13701155e-04] [ 3.68560036e-05 -1.13780804e-04 9.99999993e-01]] t_estimated: [[-0.92485425] [-0.38031973] [-0.00123117]] R_gt: [[ 0.99731492 0.07036164 0.02027613] [-0.07039643 0.99751824 0.00100098] [-0.0201546 -0.00242567 0.99979306]] t_gt: [0.15647553 0.95527069 0.25094484] Pose Error in degrees for R and t: 4.3201922960626975 59.44705750145117 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 5.13391782e-01 8.58143268e-01 4.36006839e-03] [ 8.58154296e-01 -5.13386819e-01 -2.27547323e-03] [ 2.85719610e-04 4.90982068e-03 -9.99987906e-01]] t_estimated: [[-0.84949297] [ 0.52758493] [-0.00397968]] R_gt: [[ 0.99794991 0.05915215 0.02441729] [-0.05863744 0.99805228 -0.0212861 ] [-0.02562825 0.01980955 0.99947499]] t_gt: [0.58440642 0.80604669 0.09358349] Pose Error in degrees for R and t: 178.03558536591387 85.89620581289992 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 0.38774439 0.92175662 0.00436157] [-0.92175161 0.38770631 0.00760236] [ 0.00531652 -0.00696806 0.99996159]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99907934 -0.0134744 -0.04072229] [ 0.01376191 0.99988257 0.00678423] [ 0.04062664 -0.00733851 0.99914772]] t_gt: [-0.15413575 -0.69334028 -0.70393283] Pose Error in degrees for R and t: 68.00061014518239 45.54569847876819 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.32360646e-01 3.61529211e-01 5.04880778e-04] [-3.61528935e-01 9.32360720e-01 -5.62174850e-04] [-6.73973636e-04 3.41620696e-04 9.99999715e-01]] t_estimated: [[0.12067776] [0.99269036] [0.00165123]] R_gt: [[ 0.99760608 -0.01805135 -0.06674928] [ 0.01947456 0.99959493 0.02073282] [ 0.06634808 -0.0219829 0.99755428]] t_gt: [-0.29165428 -0.76992391 -0.56758696] Pose Error in degrees for R and t: 22.631217147663023 36.828869282126135 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 6.87898219e-01 -7.25806806e-01 -7.21599387e-04] [ 7.25806882e-01 6.87898489e-01 -1.99580641e-04] [ 6.41244115e-04 -3.86450634e-04 9.99999720e-01]] t_estimated: [[-0.09026435] [-0.9959167 ] [-0.00150441]] R_gt: [[ 0.99261005 -0.08245981 -0.08902158] [ 0.0843179 0.99628806 0.01730581] [ 0.08726504 -0.02468357 0.99587967]] t_gt: [ 0.05006904 -0.88777807 -0.45754036] Pose Error in degrees for R and t: 42.04604044611205 28.31878266994747 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.30732128 0.95113728 0.02985804] [ 0.95113087 0.30800786 -0.02193708] [-0.03006169 0.02165717 -0.9993134 ]] t_estimated: [[ 0.76710559] [-0.64125548] [ 0.01845076]] R_gt: [[ 0.99695556 -0.04477023 0.06385023] [ 0.04893371 0.99667063 -0.06521533] [-0.06071802 0.06814109 0.99582583]] t_gt: [ 0.93642443 -0.31371255 -0.15714238] Pose Error in degrees for R and t: 172.73585578131417 23.565030329844017 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.86743115e-01 1.62289897e-01 1.21418255e-04] [-1.62289927e-01 9.86743070e-01 3.05124950e-04] [-7.02899254e-05 -3.20784903e-04 9.99999946e-01]] t_estimated: [[0.62338261] [0.78191517] [0.00167076]] R_gt: [[ 0.98967819 -0.13774559 0.03955396] [ 0.13929498 0.98946189 -0.03953072] [-0.03369174 0.04463366 0.99843512]] t_gt: [ 0.86548209 -0.49757353 -0.05797704] Pose Error in degrees for R and t: 17.60223205519285 81.35166930481697 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999700e-01 5.63662005e-04 5.30488003e-04] [-5.63192353e-04 9.99999450e-01 -8.85054609e-04] [-5.30986582e-04 8.84755577e-04 9.99999468e-01]] t_estimated: [[-0.45829703] [-0.8887944 ] [-0.00288904]] R_gt: [[ 9.83022119e-01 -1.83491247e-01 -2.67638654e-04] [ 1.83265890e-01 9.81887950e-01 -4.80507172e-02] [ 9.07975518e-03 4.71871470e-02 9.98844987e-01]] t_gt: [ 0.87964094 -0.44561464 -0.16631116] Pose Error in degrees for R and t: 10.94400824765438 89.62204276984288 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 7.83203123e-02 9.96928037e-01 -6.45740910e-04] [ 9.96896767e-01 -7.83126754e-02 7.99755453e-03] [ 7.92241664e-03 -1.27010799e-03 -9.99967811e-01]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.9677331 -0.17813464 0.17821363] [ 0.17059126 0.98369675 0.056917 ] [-0.18544611 -0.02467924 0.9823446 ]] t_gt: [ 0.50879123 -0.60195384 0.61545353] Pose Error in degrees for R and t: 174.93131512400024 55.248070565903646 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99997915e-01 -3.66038579e-04 2.00891885e-03] [ 3.71092708e-04 9.99996766e-01 -2.51604950e-03] [-2.00799138e-03 2.51678975e-03 9.99994817e-01]] t_estimated: [[ 0.47830665] [-0.87819159] [-0.00150615]] R_gt: [[ 0.92480819 -0.30857876 0.22250457] [ 0.29646196 0.95109135 0.08681655] [-0.23841169 -0.01432437 0.97105824]] t_gt: [ 0.64196535 -0.61828042 0.45344219] Pose Error in degrees for R and t: 22.49379495855358 31.859825281771748 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-0.40946749 -0.91232376 -0.00131394] [ 0.91231372 -0.40945507 -0.00549735] [ 0.00447736 -0.00344971 0.99998403]] t_estimated: [[9.94364342e-01] [1.06013942e-01] [7.73824391e-04]] R_gt: [[ 0.86091836 -0.45460102 0.22837632] [ 0.4387372 0.89069216 0.11906865] [-0.25754244 -0.00231207 0.96626378]] t_gt: [ 0.75199778 -0.56855319 0.33353652] Pose Error in degrees for R and t: 88.22522697174333 46.548263348063 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999999e-01 1.84406373e-05 5.13382549e-05] [-1.84410241e-05 1.00000000e+00 7.53383806e-06] [-5.13381160e-05 -7.53478478e-06 9.99999999e-01]] t_estimated: [[-0.01414382] [-0.99989908] [-0.00133642]] R_gt: [[ 0.99373993 -0.11148251 -0.00727743] [ 0.11165463 0.99328036 0.03046026] [ 0.00383348 -0.03108157 0.99950884]] t_gt: [ 0.68222876 -0.71049831 0.17249949] Pose Error in degrees for R and t: 6.654763013086828 45.529114083280426 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.36656927e-01 -3.50243765e-01 -1.76248414e-03] [ 3.50245438e-01 -9.36657665e-01 -7.42183639e-04] [-1.39089908e-03 -1.31247347e-03 9.99998171e-01]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064570e-04]] R_gt: [[ 0.98242441 -0.18003065 0.04931841] [ 0.17914125 0.98357968 0.02192812] [-0.05245582 -0.0127072 0.99854168]] t_gt: [ 0.57678495 -0.75160262 0.32001974] Pose Error in degrees for R and t: 149.15683308439225 60.61726429130407 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999913e-01 3.93508202e-04 1.38268947e-04] [-3.93529256e-04 9.99999911e-01 1.52277118e-04] [-1.38209013e-04 -1.52331518e-04 9.99999979e-01]] t_estimated: [[8.74054271e-01] [4.85827901e-01] [6.17813071e-04]] R_gt: [[ 0.96140864 -0.27122094 0.04618269] [ 0.26942156 0.96212123 0.04165417] [-0.05573024 -0.02760325 0.99806357]] t_gt: [ 0.62712694 -0.72781323 0.27748819] Pose Error in degrees for R and t: 16.115816409331945 78.77149013878145 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.97367460e-01 7.25131029e-02 -9.82781065e-06] [-7.25131035e-02 9.97367454e-01 -1.07517354e-04] [ 2.00552153e-06 1.07946955e-04 9.99999994e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.9980507 -0.01670293 0.06014668] [ 0.01768759 0.99971827 -0.01587582] [-0.059865 0.01690885 0.99806356]] t_gt: [-0.61537001 -0.67704677 -0.4036427 ] Pose Error in degrees for R and t: 6.257968882306683 26.06173331685978 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.30803400e-01 -3.65520212e-01 -7.98650513e-05] [ 3.65520219e-01 9.30803356e-01 2.87845308e-04] [-3.08746202e-05 -2.97119683e-04 9.99999955e-01]] t_estimated: [[ 3.18333810e-01] [-9.47978629e-01] [ 3.24088980e-04]] R_gt: [[ 0.99673129 0.05363271 0.06042197] [-0.05128578 0.99789289 -0.03973898] [-0.06242522 0.03651018 0.99738228]] t_gt: [-0.88770832 0.38186648 -0.25720019] Pose Error in degrees for R and t: 24.796229991443333 49.858898592443076 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.90605570e-01 1.36747698e-01 8.19390190e-04] [-1.36747051e-01 9.90605675e-01 -8.00191466e-04] [-9.21116913e-04 6.80624931e-04 9.99999344e-01]] t_estimated: [[0.13138115] [0.99133046] [0.00170625]] R_gt: [[ 0.99207562 0.09262911 0.08488984] [-0.08652842 0.99357641 -0.07292903] [-0.09109914 0.06500623 0.99371853]] t_gt: [-0.85855728 0.40567049 -0.3135456 ] Pose Error in degrees for R and t: 6.910328413611078 73.21265850562689 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.82623733e-01 -1.85607692e-01 6.19795555e-04] [-1.85606835e-01 -9.82593170e-01 7.79513622e-03] [-8.37830359e-04 -7.77472414e-03 -9.99969425e-01]] t_estimated: [[-0.0316996 ] [ 0.99948023] [ 0.00586593]] R_gt: [[ 0.9878671 0.1508954 -0.03672785] [-0.15253458 0.98718572 -0.04687593] [ 0.0291838 0.05191011 0.9982257 ]] t_gt: [-0.54082077 0.75524718 -0.37028987] Pose Error in degrees for R and t: 177.44228862868653 39.66170379733922 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.16803885e-01 -3.99337728e-01 1.26080245e-04] [ 3.99337739e-01 9.16803886e-01 -7.51116321e-05] [-8.55959502e-05 1.19211236e-04 9.99999989e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98019781 0.19031433 -0.05470728] [-0.19355787 0.97914264 -0.06177437] [ 0.04180885 0.07113947 0.99659023]] t_gt: [-0.50122554 0.76088054 -0.41210893] Pose Error in degrees for R and t: 34.93376417134232 40.77230011872133 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 8.33263244e-01 -5.52875273e-01 1.13945216e-03] [ 5.52875471e-01 8.33263876e-01 1.61834947e-04] [-1.03893886e-03 4.95124035e-04 9.99999338e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.95310041 0.29427125 -0.0707444 ] [-0.29834593 0.95280747 -0.05610818] [ 0.05089472 0.07458292 0.99591586]] t_gt: [-0.50129637 0.81245419 -0.29769134] Pose Error in degrees for R and t: 51.08661497134863 35.950170253938865 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.89487445e-01 -1.44618706e-01 -1.60609847e-04] [ 1.44618752e-01 9.89487398e-01 3.25403673e-04] [ 1.11861962e-04 -3.45210045e-04 9.99999934e-01]] t_estimated: [[9.34731924e-01] [3.55352632e-01] [8.58339692e-04]] R_gt: [[ 0.99343094 -0.09453916 0.06448207] [ 0.09605355 0.99515954 -0.02079398] [-0.06220401 0.0268509 0.99770251]] t_gt: [ 0.40308917 -0.83490058 0.37478012] Pose Error in degrees for R and t: 4.823254307257405 85.38741399360111 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-7.71023972e-01 -6.36805817e-01 -6.21951027e-04] [-6.36800136e-01 7.71012123e-01 5.08857642e-03] [-2.76090328e-03 4.31947290e-03 -9.99986860e-01]] t_estimated: [[0.97062393] [0.24059608] [0.00164792]] R_gt: [[ 0.97393578 -0.22242247 0.04446543] [ 0.2211426 0.97471843 0.03194071] [-0.05044595 -0.02127456 0.99850068]] t_gt: [ 0.60777151 -0.74159252 0.28399705] Pose Error in degrees for R and t: 176.80801618222918 65.67189859517372 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-7.74504204e-01 6.32566992e-01 1.49595023e-03] [-6.32568621e-01 -7.74500295e-01 -2.49643581e-03] [-4.20548997e-04 -2.87979121e-03 9.99995765e-01]] t_estimated: [[7.72150428e-01] [6.35439323e-01] [7.63749187e-04]] R_gt: [[ 0.94923667 -0.31164096 0.04276051] [ 0.31072 0.95012068 0.02690027] [-0.04901086 -0.01224822 0.99872353]] t_gt: [ 0.66345011 -0.72125636 0.19905581] Pose Error in degrees for R and t: 158.90501190466406 86.89759872952538 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.97029242e-01 -7.70237686e-02 -1.75095090e-04] [ 7.70237781e-02 9.97029255e-01 4.83708016e-05] [ 1.70849225e-04 -6.17135890e-05 9.99999984e-01]] t_estimated: [[-9.62282815e-01] [-2.72049883e-01] [-8.03026170e-04]] R_gt: [[ 0.98227796 0.18667397 0.01680464] [-0.18677514 0.98239187 0.00461663] [-0.01564728 -0.00767326 0.99984836]] t_gt: [-0.76130411 0.64357758 0.07889201] Pose Error in degrees for R and t: 15.213187265775963 56.120968799019685 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99641148e-01 2.67864994e-02 -2.44006939e-04] [-2.67864817e-02 9.99641175e-01 7.55410179e-05] [ 2.45942863e-04 -6.89778224e-05 9.99999967e-01]] t_estimated: [[-9.99287283e-01] [-3.77369347e-02] [-9.21548677e-04]] R_gt: [[ 0.94970407 0.31235201 0.02229974] [-0.31202314 0.94992142 -0.01703435] [-0.02650423 0.00921994 0.99960625]] t_gt: [-0.68816527 0.72513485 0.02465788] Pose Error in degrees for R and t: 16.7382402354433 48.67818121959432 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.78510471 -0.61935548 -0.00306285] [ 0.6192361 -0.78483406 -0.02412761] [ 0.01253974 -0.02083933 0.99970419]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.94726143 0.31778536 0.04132595] [-0.3181195 0.94804857 0.0016303 ] [-0.03866179 -0.01469082 0.99914372]] t_gt: [-0.68049914 0.72577306 0.10086819] Pose Error in degrees for R and t: 160.31094156066575 47.29942684691688 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-8.38649727e-01 -5.44667108e-01 2.09209158e-03] [-5.44664822e-01 8.38652314e-01 1.58978446e-03] [-2.62044075e-03 1.93783619e-04 -9.99996548e-01]] t_estimated: [[0.9598503 ] [0.2805042 ] [0.00219144]] R_gt: [[ 0.99917993 -0.02623793 0.03082903] [ 0.02611081 0.99964845 0.00454477] [-0.03093753 -0.00373556 0.99951372]] t_gt: [ 0.41534649 -0.71078389 0.56769143] Pose Error in degrees for R and t: 178.0939272535877 78.43165741372101 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-7.04999663e-01 -7.09205828e-01 -1.60261302e-03] [ 7.09207071e-01 -7.05000159e-01 -3.27147977e-04] [-8.97827184e-04 -1.36722370e-03 9.99998662e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99817324 0.00421208 0.0602568 ] [-0.00377565 0.99996565 -0.00735625] [-0.06028585 0.00711631 0.99815607]] t_gt: [-0.97811102 0.03477066 0.20515807] Pose Error in degrees for R and t: 135.08247178602392 12.08470140070907 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.95625679e-01 9.34317694e-02 -1.04330314e-04] [-9.34317715e-02 9.95625685e-01 -1.52183169e-05] [ 1.02452066e-04 2.48995131e-05 9.99999994e-01]] t_estimated: [[-9.15261654e-01] [-4.02859263e-01] [-7.20678467e-04]] R_gt: [[ 0.99535357 0.05788583 0.07694263] [-0.05494195 0.99769307 -0.03985366] [-0.07907224 0.03544202 0.99623839]] t_gt: [-0.92305167 0.34012141 -0.17970266] Pose Error in degrees for R and t: 5.409142323201974 44.93226358266375 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.95775873 0.28693988 0.01907146] [ 0.28693717 0.9579449 -0.00293677] [-0.01911208 0.00265959 -0.99981381]] t_estimated: [[ 0.99064047] [-0.13611456] [ 0.01021217]] R_gt: [[ 0.97760561 -0.2100292 0.01325526] [ 0.20977615 0.97757902 0.01823429] [-0.01678692 -0.01504542 0.99974615]] t_gt: [ 0.73183679 -0.67205615 0.11294 ] Pose Error in degrees for R and t: 178.18498243684675 35.153034356911846 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 6.04595303e-01 -7.96532596e-01 5.85926446e-04] [ 7.96532811e-01 6.04595119e-01 -4.71764312e-04] [ 2.15273826e-05 7.51936126e-04 9.99999717e-01]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.94036561 -0.3348432 0.05995301] [ 0.33478164 0.94222665 0.01136352] [-0.06029338 0.00938511 0.99813622]] t_gt: [ 0.75327509 -0.64221005 0.14192564] Pose Error in degrees for R and t: 33.39687298365969 50.482163819731284 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.39225235 0.91985628 0.00158692] [-0.91984299 0.39223577 0.00632204] [ 0.00519292 -0.00393955 0.99997876]] t_estimated: [[-0.91338336] [ 0.40681034] [-0.01536848]] R_gt: [[ 0.89634722 -0.4366208 0.07696997] [ 0.43916941 0.89820038 -0.01915547] [-0.06077019 0.05097324 0.99684902]] t_gt: [ 0.78131022 -0.62148711 0.05751625] Pose Error in degrees for R and t: 93.02037542253657 14.6820806044601 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 1.00000000e+00 -6.23945340e-14 6.36507990e-15] [ 6.23390228e-14 1.00000000e+00 -2.75905058e-15] [-6.45970365e-15 2.75224721e-15 1.00000000e+00]] t_estimated: [[ 5.07175453e-01] [-8.61842790e-01] [-2.55557342e-04]] R_gt: [[ 0.9864578 -0.14897205 0.06861213] [ 0.14794924 0.98879701 0.01979268] [-0.07079241 -0.00937426 0.99744666]] t_gt: [ 0.62956302 -0.73108668 0.26298795] Pose Error in degrees for R and t: 9.477362955303093 18.32042396092639 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 1.00000000e+00 -5.32907052e-14 7.64319164e-15] [ 5.33462163e-14 1.00000000e+00 2.01292975e-15] [-7.65641890e-15 -2.01249607e-15 1.00000000e+00]] t_estimated: [[-0.57968191] [-0.81484183] [-0.00129061]] R_gt: [[ 0.95111223 -0.28547619 0.11784806] [ 0.28167939 0.95830453 0.04806242] [-0.12665433 -0.0125177 0.99186718]] t_gt: [ 0.70135757 -0.65718551 0.2760521 ] Pose Error in degrees for R and t: 18.07670410177944 82.61236009802032 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 8.74885024e-01 -4.83628728e-01 2.60662358e-02] [-4.83783914e-01 -8.75187387e-01 -4.01349235e-04] [ 2.30069449e-02 -1.22592912e-02 -9.99660137e-01]] t_estimated: [[0.0118475 ] [0.99992911] [0.00118475]] R_gt: [[ 0.90167358 -0.42446727 0.0825334 ] [ 0.41684672 0.90398417 0.09513732] [-0.11499115 -0.05137931 0.99203619]] t_gt: [ 0.78198283 -0.58454729 0.21634999] Pose Error in degrees for R and t: 174.34763984361683 54.90141925947735 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999957e-01 2.29904899e-04 1.84417956e-04] [-2.29910678e-04 9.99999973e-01 3.13177457e-05] [-1.84410751e-04 -3.13601440e-05 9.99999983e-01]] t_estimated: [[0.9136381 ] [0.40652723] [0.00102256]] R_gt: [[ 0.99257644 -0.11748332 -0.03147333] [ 0.11790212 0.99295598 0.01177954] [ 0.02986774 -0.01540246 0.99943505]] t_gt: [ 0.8097885 -0.58369555 -0.05951543] Pose Error in degrees for R and t: 7.044403187614406 59.83415606635391 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.90829669e-01 -1.35116495e-01 3.15066963e-04] [ 1.35116500e-01 9.90829719e-01 3.61843934e-06] [-3.12666622e-04 3.89854883e-05 9.99999950e-01]] t_estimated: [[-0.48705374] [-0.87337146] [-0.00097802]] R_gt: [[ 9.86702638e-01 -1.42393767e-01 -7.83765702e-02] [ 1.42850953e-01 9.89744431e-01 2.37320956e-04] [ 7.75392805e-02 -1.14289415e-02 9.96922925e-01]] t_gt: [ 0.84876812 -0.48534562 -0.20983876] Pose Error in degrees for R and t: 4.535447704564289 89.38712116635963 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 7.46275382e-01 6.65636097e-01 1.28113988e-03] [-6.65635887e-01 7.46276389e-01 -6.45862796e-04] [-1.38599403e-03 -3.70781174e-04 9.99998971e-01]] t_estimated: [[0.68272909] [0.73067106] [0.00088781]] R_gt: [[ 0.98609927 -0.09841085 -0.13387768] [ 0.10156414 0.99468582 0.01691528] [ 0.13150129 -0.03027659 0.99085345]] t_gt: [ 0.8779975 -0.32510797 -0.35131921] Pose Error in degrees for R and t: 48.10248474118262 68.80301242996634 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.92765548e-01 -1.20068700e-01 -2.73593411e-04] [ 1.20068826e-01 9.92765442e-01 5.04113827e-04] [ 2.11085791e-04 -5.33316879e-04 9.99999836e-01]] t_estimated: [[0.9985235 ] [0.05418345] [0.00387025]] R_gt: [[ 0.99991055 -0.00249637 -0.01316796] [ 0.0023896 0.99996472 -0.00816026] [ 0.01318778 0.00812711 0.99987941]] t_gt: [ 0.87742598 -0.24397192 -0.41303916] Pose Error in degrees for R and t: 6.8145063865592395 30.535710639253942 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99760571e-01 -2.18767734e-02 -4.54871968e-04] [ 2.18773472e-02 9.99759821e-01 1.29716912e-03] [ 4.26384842e-04 -1.30680993e-03 9.99999055e-01]] t_estimated: [[-8.57717689e-01] [-5.14120485e-01] [-7.02296396e-04]] R_gt: [[ 9.99545524e-01 2.55824169e-02 1.59675410e-02] [-2.55747349e-02 9.99673511e-01 -6.50287502e-04] [-1.59793275e-02 2.41508616e-04 9.99871264e-01]] t_gt: [0.93976455 0.21930971 0.26219429] Pose Error in degrees for R and t: 2.8790785254242697 23.22135778284552 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.96654076e-01 -8.17284289e-02 -1.05670467e-03] [ 8.17306643e-02 9.96651842e-01 2.28113314e-03] [ 8.66733229e-04 -2.35986582e-03 9.99996840e-01]] t_estimated: [[-0.72455787] [-0.68921358] [-0.00073634]] R_gt: [[ 0.99878573 0.04924578 0.00159253] [-0.04921885 0.99869254 -0.01385012] [-0.00227302 0.01375379 0.99990189]] t_gt: [ 0.84474862 0.51336341 -0.1511879 ] Pose Error in degrees for R and t: 7.568503713372686 15.033360945130335 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[ 9.99217731e-01 -3.95464883e-02 2.13443533e-05] [ 3.95464870e-02 9.99217730e-01 6.04148037e-05] [-2.37168496e-05 -5.95234489e-05 9.99999998e-01]] t_estimated: [[ 5.92482202e-01] [-8.05583540e-01] [-1.91462570e-05]] R_gt: [[ 0.99903573 -0.01204749 -0.04222394] [ 0.01395471 0.9988815 0.04519122] [ 0.04163296 -0.04573779 0.99808516]] t_gt: [-0.25503728 -0.96162376 -0.10117176] Pose Error in degrees for R and t: 3.8564651395271876 51.42304818855514 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 3.95362934e-02 -9.99215974e-01 -2.07822654e-03] [ 9.99218135e-01 3.95362600e-02 5.71707358e-05] [ 2.50393923e-05 -2.07886196e-03 9.99997839e-01]] t_estimated: [[ 8.29143582e-01] [-5.59035665e-01] [ 2.12405243e-04]] R_gt: [[ 0.99678697 -0.03668205 -0.07120085] [ 0.03776902 0.99918869 0.01399123] [ 0.07062944 -0.01663559 0.99736403]] t_gt: [-0.11689812 -0.81130403 -0.57281813] Pose Error in degrees for R and t: 85.67426539970539 69.1145413199792 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99498380e-01 3.16699922e-02 -9.80451672e-06] [-3.16699938e-02 9.99498325e-01 -3.30059253e-04] [-6.53375937e-07 3.30204198e-04 9.99999945e-01]] t_estimated: [[ 0.58101324] [-0.81389171] [-0.00197489]] R_gt: [[ 0.98840171 -0.12147988 -0.09113431] [ 0.12695174 0.9902793 0.05684129] [ 0.0833424 -0.06775201 0.9942154 ]] t_gt: [ 0.19880142 -0.96264753 -0.18381439] Pose Error in degrees for R and t: 10.888145431183206 25.925916436502206 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 4.21962950e-01 9.06613061e-01 -1.62467463e-04] [-9.06612255e-01 4.21962320e-01 -1.42117175e-03] [-1.21989773e-03 7.46976819e-04 9.99998977e-01]] t_estimated: [[-1.06607684e-01] [ 9.94301034e-01] [ 5.05880899e-04]] R_gt: [[ 0.99688481 0.01922305 0.07648792] [-0.0117908 0.99526708 -0.09645934] [-0.07798078 0.09525609 0.9923935 ]] t_gt: [ 0.16340834 0.88396136 -0.43807537] Pose Error in degrees for R and t: 64.48754332623562 30.53922475786835 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-3.77460160e-01 -9.26023721e-01 -1.97375592e-03] [ 9.26025803e-01 -3.77458842e-01 -1.01662262e-03] [ 1.96405039e-04 -2.21148345e-03 9.99997535e-01]] t_estimated: [[0.98395087] [0.17843669] [0.00101964]] R_gt: [[ 0.99211273 0.0026129 0.12532298] [ 0.01426463 0.99093448 -0.13358987] [-0.12453681 0.13432334 0.98308019]] t_gt: [ 0.61325231 0.7360815 -0.28654079] Pose Error in degrees for R and t: 112.18155747100691 42.738231230426834 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.96865027 0.2484218 0.00180449] [ 0.24842511 -0.96864919 -0.00192484] [ 0.00126975 0.00231278 -0.99999652]] t_estimated: [[9.87731467e-01] [1.56160037e-01] [7.69261267e-04]] R_gt: [[ 0.98410668 0.10082888 0.14617652] [-0.07842007 0.98531185 -0.15169359] [-0.15932475 0.13781817 0.9775591 ]] t_gt: [ 0.01118181 0.99916747 -0.03923437] Pose Error in degrees for R and t: 170.48474428824161 80.38397722007943 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999840e-01 5.50468491e-04 -1.33461129e-04] [-5.50496667e-04 9.99999826e-01 -2.11172060e-04] [ 1.33344863e-04 2.11245496e-04 9.99999969e-01]] t_estimated: [[-0.58115949] [-0.81378802] [-0.00164652]] R_gt: [[ 0.99663135 0.05357303 0.06209358] [-0.0502141 0.99725252 -0.05444976] [-0.0648403 0.05114777 0.99658412]] t_gt: [-0.20877711 0.97146509 -0.11255091] Pose Error in degrees for R and t: 5.57784153099308 48.006327591444986 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 1.00000000e+00 1.02279296e-14 1.46106407e-16] [-1.02556852e-14 1.00000000e+00 -1.52113565e-16] [ 2.84030476e-16 1.28803218e-16 1.00000000e+00]] t_estimated: [[-6.57209678e-02] [-9.97837951e-01] [-4.21209714e-04]] R_gt: [[ 0.99295637 0.06516464 0.09895235] [-0.05071012 0.98854572 -0.14214804] [-0.10708241 0.13612855 0.98488646]] t_gt: [ 0.09268001 0.9197928 -0.38130254] Pose Error in degrees for R and t: 10.519046443594808 22.52169399256686 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.73070319e-01 2.30508400e-01 1.79650167e-04] [-2.30508284e-01 9.73070228e-01 -5.12894341e-04] [-2.93038683e-04 4.57671408e-04 9.99999852e-01]] t_estimated: [[ 5.57950872e-01] [-8.29873916e-01] [ 3.28322863e-04]] R_gt: [[ 0.9822997 0.10190173 0.15716972] [-0.08024989 0.98711247 -0.13845091] [-0.16925204 0.1233866 0.97781874]] t_gt: [0.05137647 0.99672967 0.06237332] Pose Error in degrees for R and t: 14.489408845975316 37.01538076301868 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.99996636 0.00309339 -0.00759615] [-0.00305608 0.99998323 0.00491843] [ 0.00761124 -0.00489505 0.99995905]] t_estimated: [[-0.70349022] [-0.71066869] [-0.00717847]] R_gt: [[ 0.9988555 -0.04673024 -0.01022869] [ 0.04609763 0.99741238 -0.05516578] [ 0.01277916 0.05463094 0.9984247 ]] t_gt: [ 0.66443757 -0.22812392 -0.71167562] Pose Error in degrees for R and t: 4.4568926489959 72.53062056917264 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-4.40467832e-01 -8.97766196e-01 -1.98640927e-03] [ 8.97768393e-01 -4.40466846e-01 -9.32816847e-04] [-3.74959932e-05 -2.19421127e-03 9.99997592e-01]] t_estimated: [[9.99991786e-01] [3.97453015e-03] [7.94906030e-04]] R_gt: [[ 0.99795345 -0.05806854 -0.02679866] [ 0.0505033 0.97262372 -0.22683026] [ 0.03923657 0.22501293 0.97356542]] t_gt: [ 0.38785861 0.20319192 -0.89904324] Pose Error in degrees for R and t: 113.48974829626518 67.17309962118426 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.9897913 0.14224477 0.00892198] [-0.14214264 0.98978287 -0.01119518] [-0.01042328 0.0098127 0.99989753]] t_estimated: [[-0.09735563] [-0.99519087] [-0.01081729]] R_gt: [[ 0.99576717 -0.08375974 -0.03784621] [ 0.06721597 0.94445126 -0.32170447] [ 0.06268955 0.31779878 0.94608301]] t_gt: [ 0.37494796 0.26887364 -0.8871984 ] Pose Error in degrees for R and t: 22.28260996879989 72.87323388746626 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.97078067 -0.2399346 0.00403488] [ 0.23989429 -0.97076136 -0.00855019] [ 0.00596839 -0.00733241 0.99995531]] t_estimated: [[7.90681783e-01] [6.12226977e-01] [6.68370062e-04]] R_gt: [[ 0.99961443 -0.02140188 0.01769818] [ 0.02137917 0.9997706 0.0014563 ] [-0.01772614 -0.00107765 0.99984209]] t_gt: [ 0.50453324 -0.56027826 0.65691285] Pose Error in degrees for R and t: 164.89752716898442 86.7698532275086 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.61469185e-01 2.74911532e-01 8.09435938e-04] [-2.74910553e-01 9.61469126e-01 -1.14360635e-03] [-1.09263824e-03 8.77019789e-04 9.99999018e-01]] t_estimated: [[-0.80662086] [-0.59106809] [-0.00113668]] R_gt: [[ 0.99058439 -0.08924262 0.10381727] [ 0.07993157 0.99267142 0.09063834] [-0.11114601 -0.08148718 0.99045715]] t_gt: [ 0.27541686 -0.48577833 0.82955709] Pose Error in degrees for R and t: 22.269893061069073 86.3289461282161 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 3.07050859e-01 -9.51693106e-01 -3.63332345e-05] [-9.51692826e-01 -3.07050739e-01 -7.79476566e-04] [ 7.30666328e-04 2.73917028e-04 -9.99999696e-01]] t_estimated: [[0.73801762] [0.674781 ] [0.00077118]] R_gt: [[ 0.97571978 -0.13731854 0.17063103] [ 0.10389945 0.97601047 0.19133125] [-0.19281156 -0.16895786 0.96657952]] t_gt: [ 0.26397392 -0.39413212 0.88032815] Pose Error in degrees for R and t: 165.37590018965702 85.95978821204312 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.93548816e-01 -1.13405243e-01 -1.96997841e-05] [ 1.13405244e-01 9.93548806e-01 1.41170355e-04] [ 3.56323852e-06 -1.42493698e-04 9.99999990e-01]] t_estimated: [[3.30875967e-01] [9.43674182e-01] [3.63897983e-04]] R_gt: [[ 0.99891643 -0.00999796 0.04546352] [ 0.00642475 0.99692639 0.07807817] [-0.04610507 -0.07770064 0.99590989]] t_gt: [-0.19012338 -0.39476778 0.8988946 ] Pose Error in degrees for R and t: 7.953662056089293 64.20755932458985 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.88372287e-01 -1.52053352e-01 2.94485795e-05] [ 1.52053344e-01 9.88372272e-01 1.78123437e-04] [-5.61904251e-05 -1.71574514e-04 9.99999984e-01]] t_estimated: [[0.65631101] [0.75448999] [0.0008429 ]] R_gt: [[ 0.99846317 -0.02476231 0.04958245] [ 0.01889263 0.99312354 0.11554203] [-0.05210312 -0.11442655 0.99206412]] t_gt: [-0.07270386 -0.46586028 0.8818664 ] Pose Error in degrees for R and t: 10.394803612686758 66.51806296689166 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 8.51066646e-01 -5.25056679e-01 -1.02345384e-03] [ 5.25057298e-01 8.51066757e-01 4.57256296e-04] [ 6.30942071e-04 -9.26527491e-04 9.99999372e-01]] t_estimated: [[9.70790485e-01] [2.39928201e-01] [5.41081401e-04]] R_gt: [[ 0.99362098 -0.10817239 0.03189493] [ 0.10345836 0.98687524 0.12399138] [-0.04488978 -0.11990033 0.99177013]] t_gt: [ 0.38265107 -0.65363454 0.6529472 ] Pose Error in degrees for R and t: 26.58589264619653 77.58435777128025 Number of keypoints: Image1: 492 Image2: 492 R_estimated: [[ 0.22691854 0.97315007 -0.03856063] [ 0.97317024 -0.22502069 0.04801432] [ 0.0380482 -0.04842139 -0.99810205]] t_estimated: [[ 0.5941152 ] [-0.80375661] [-0.03166143]] R_gt: [[ 0.99911529 0.03631386 0.02118965] [-0.03705045 0.99868349 0.03547547] [-0.01987307 -0.03622878 0.99914624]] t_gt: [-0.70247927 -0.19957483 0.68314915] Pose Error in degrees for R and t: 175.59413308103706 73.82491507175419 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 0.71782087 0.69617486 -0.00858878] [ 0.69615873 -0.71752118 0.02294313] [ 0.0098098 -0.02244821 -0.99969988]] t_estimated: [[-0.42768384] [ 0.90385273] [ 0.01169526]] R_gt: [[ 0.99363753 0.10930417 0.02713499] [-0.11021455 0.9933027 0.03465693] [-0.02316493 -0.03742616 0.99903137]] t_gt: [-0.93030283 0.02727264 0.36577706] Pose Error in degrees for R and t: 177.22252208139747 64.73510936501033 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 7.79283238e-01 -6.26665643e-01 -2.79408390e-03] [ 6.26669824e-01 7.79284344e-01 9.18030516e-04] [ 1.60208766e-03 -2.46637386e-03 9.99995675e-01]] t_estimated: [[ 9.78777191e-01] [-2.04926972e-01] [-3.81655790e-04]] R_gt: [[ 0.96985884 0.24067973 0.03803768] [-0.24227739 0.96915333 0.04518844] [-0.02598793 -0.05304119 0.99825385]] t_gt: [-0.94245671 0.195708 0.27106037] Pose Error in degrees for R and t: 52.89119768168136 15.705781851453015 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.38218511 -0.92397891 -0.0140538 ] [-0.92400061 -0.3818992 -0.01938752] [ 0.01254653 0.02039534 -0.99971327]] t_estimated: [[ 0.61819194] [ 0.78595953] [-0.01031233]] R_gt: [[ 0.99891572 0.04642341 -0.00337801] [-0.04610266 0.99678854 0.06546928] [ 0.00640549 -0.0652421 0.99784874]] t_gt: [-0.80813295 0.02415399 0.58850465] Pose Error in degrees for R and t: 178.41221947060853 60.8783133944196 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.87818092 0.47827196 -0.00736219] [-0.47816792 0.87818084 0.01240409] [ 0.01239786 -0.00737267 0.99989596]] t_estimated: [[-0.34319273] [-0.93926433] [-0.00112892]] R_gt: [[ 0.98310638 0.17860505 0.040044 ] [-0.18020751 0.9827826 0.04078078] [-0.03207048 -0.04730733 0.99836524]] t_gt: [-0.88711606 0.42021931 0.19089483] Pose Error in degrees for R and t: 18.520427949999085 84.80988715164717 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.92634625e-01 1.21143863e-01 -8.16252487e-04] [-1.21144129e-01 9.92634887e-01 -2.84481042e-04] [ 7.75777563e-04 3.81269929e-04 9.99999626e-01]] t_estimated: [[-0.98510419] [-0.17192536] [-0.00337648]] R_gt: [[ 0.95750893 0.28280678 0.05653543] [-0.28682862 0.95425722 0.08438629] [-0.03008523 -0.09701594 0.99482811]] t_gt: [-0.8401891 0.48751563 0.23750954] Pose Error in degrees for R and t: 11.276381652286695 42.00764293698957 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.05228378 -0.99862416 0.00402368] [-0.99862244 0.05230072 0.00422646] [-0.00443109 -0.00379716 -0.99998297]] t_estimated: [[0.67469885] [0.73808241] [0.00397681]] R_gt: [[ 0.99089046 0.12963175 0.03649864] [-0.12864563 0.99129099 -0.02815366] [-0.03983038 0.02320161 0.99893717]] t_gt: [-0.55076179 0.82358834 0.1355127 ] Pose Error in degrees for R and t: 179.0961356086795 76.30126915197921 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.39802954 -0.91737041 0.00200695] [-0.91737025 0.39802262 -0.00313289] [ 0.00207521 -0.0030881 -0.99999308]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98983483 0.12779403 0.06241384] [-0.12671683 0.9917181 -0.02092009] [-0.06457016 0.01279778 0.99783111]] t_gt: [-0.54055406 0.77393132 0.32989638] Pose Error in degrees for R and t: 177.47123639480702 88.30076415015013 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.98836728e-01 -4.82201898e-02 -7.09021312e-05] [ 4.82202168e-02 9.98836628e-01 4.48671062e-04] [ 4.91846419e-05 -4.51568051e-04 9.99999897e-01]] t_estimated: [[0.01403241] [0.99989922] [0.00215506]] R_gt: [[ 0.98905122 0.12658125 0.07586813] [-0.12574307 0.99193747 -0.01573382] [-0.07724746 0.00602162 0.99699334]] t_gt: [-0.5267903 0.73335356 0.42974938] Pose Error in degrees for R and t: 10.964368533183809 43.38006827485861 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99997986e-01 -4.02195947e-04 1.96608178e-03] [ 4.06958224e-04 9.99996983e-01 -2.42241738e-03] [-1.96510156e-03 2.42321262e-03 9.99995133e-01]] t_estimated: [[0.98900418] [0.14788217] [0.0012657 ]] R_gt: [[ 0.99625509 -0.01573398 0.08501355] [ 0.02278591 0.99632065 -0.08262426] [-0.08340123 0.0842511 0.99294893]] t_gt: [-0.26475918 0.86598543 -0.42423084] Pose Error in degrees for R and t: 6.718520676530284 82.28063671546305 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999296e-01 1.18640352e-03 7.32431742e-06] [-1.18638928e-03 9.99997838e-01 -1.70782733e-03] [-9.35047394e-06 1.70781744e-03 9.99998542e-01]] t_estimated: [[-0.6720196 ] [-0.74052898] [-0.00254547]] R_gt: [[ 0.98822111 -0.06640202 0.13787365] [ 0.08174689 0.99069801 -0.10879465] [-0.1293667 0.11878341 0.98445732]] t_gt: [ 0.12659381 0.97276486 -0.1941714 ] Pose Error in degrees for R and t: 10.949904094429888 36.39555459715128 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999272e-01 7.32345879e-04 -9.58535326e-04] [-7.31362991e-04 9.99999207e-01 1.02535551e-03] [ 9.59285481e-04 -1.02465373e-03 9.99999015e-01]] t_estimated: [[-0.27361886] [-0.96183749] [-0.00116474]] R_gt: [[ 0.98731717 -0.09478682 0.12735687] [ 0.10143242 0.99374439 -0.04672957] [-0.12213102 0.05905511 0.99075566]] t_gt: [0.5407532 0.79717539 0.26850954] Pose Error in degrees for R and t: 9.714181894877864 23.790552071695377 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.95518228 -0.29597415 -0.00510991] [-0.29599738 -0.95476761 -0.02836113] [ 0.00351539 0.02860257 -0.99958468]] t_estimated: [[ 0.16820312] [ 0.98565215] [-0.01405555]] R_gt: [[ 0.99754954 0.0103699 0.06918929] [-0.00490361 0.9968858 -0.07870598] [-0.06979015 0.07817401 0.99449471]] t_gt: [-0.72251965 0.52374412 -0.45128423] Pose Error in degrees for R and t: 174.49712953109798 66.35663310434343 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99914200e-01 1.30970108e-02 -2.48241013e-04] [-1.30969156e-02 9.99914159e-01 3.81331965e-04] [ 2.53214012e-04 -3.78048055e-04 9.99999896e-01]] t_estimated: [[ 3.75789087e-02] [-9.99293660e-01] [ 8.41461613e-05]] R_gt: [[ 0.98783625 0.01503748 0.15477361] [ 0.00453382 0.99210547 -0.12532641] [-0.15543616 0.12450422 0.97996938]] t_gt: [-0.70854436 0.6748815 -0.20615491] Pose Error in degrees for R and t: 11.520587469242356 45.4888157120469 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999996e-01 -8.68700312e-05 9.83536455e-07] [ 8.68700201e-05 9.99999996e-01 1.12743982e-05] [-9.84515858e-07 -1.12743127e-05 1.00000000e+00]] t_estimated: [[-2.99070114e-03] [-9.99995502e-01] [-2.26633340e-04]] R_gt: [[ 0.97286919 -0.01551495 0.23083623] [ 0.06085526 0.97977624 -0.19062154] [-0.22321036 0.19949725 0.9541377 ]] t_gt: [-0.51222917 0.83405617 -0.20486968] Pose Error in degrees for R and t: 17.561637442634566 33.64627086541766 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.72640189e-01 -2.32316574e-01 -2.67753109e-04] [ 2.32316614e-01 9.72640208e-01 1.29437724e-04] [ 2.30356911e-04 -1.88099828e-04 9.99999956e-01]] t_estimated: [[ 4.17963255e-01] [-9.08463869e-01] [-3.40729149e-04]] R_gt: [[ 0.99835252 0.05665522 -0.00907061] [-0.05550879 0.99372011 0.09715367] [ 0.01451773 -0.0964905 0.99522815]] t_gt: [-0.78135124 -0.12078103 0.61229256] Pose Error in degrees for R and t: 17.562478414571572 77.46361645643078 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 3.08505269e-01 -9.51140980e-01 -1.24633840e-02] [-9.51217517e-01 -3.08520104e-01 -7.62398598e-04] [-3.12005598e-03 1.20905932e-02 -9.99922038e-01]] t_estimated: [[7.05696087e-01] [7.08514624e-01] [2.47426078e-04]] R_gt: [[ 0.99032733 0.13872637 -0.00261451] [-0.13788356 0.98606697 0.09306742] [ 0.0154884 -0.09180749 0.995656 ]] t_gt: [-0.9212967 0.21626869 0.32317217] Pose Error in degrees for R and t: 176.4985144010379 60.208449566543095 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-0.37071671 -0.9287193 -0.00704188] [-0.92872403 0.37074943 -0.00406632] [ 0.00638724 0.00503252 -0.99996694]] t_estimated: [[ 0.87864989] [ 0.47745997] [-0.00251892]] R_gt: [[ 0.96545087 0.25349604 0.06036782] [-0.25891212 0.95936424 0.11218709] [-0.02947636 -0.12394216 0.99185137]] t_gt: [-0.86692415 0.39351108 0.30592735] Pose Error in degrees for R and t: 174.4741366121288 54.927841294333106 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99984688e-01 -5.53333503e-03 -7.53942779e-05] [ 5.53333673e-03 9.99984691e-01 2.23830274e-05] [ 7.52692708e-05 -2.27998666e-05 9.99999997e-01]] t_estimated: [[-9.97595663e-01] [-6.92959574e-02] [-9.81352978e-04]] R_gt: [[ 0.99889908 0.04065346 0.0234153 ] [-0.04039819 0.99911976 -0.01132276] [-0.02385508 0.01036442 0.99966167]] t_gt: [-0.56377359 0.76520844 0.31083015] Pose Error in degrees for R and t: 3.0335766385858722 59.39695187776003 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.91481534e-01 -1.30247293e-01 1.03571249e-04] [ 1.30247295e-01 9.91481539e-01 -1.07722573e-05] [-1.01285924e-04 2.41703692e-05 9.99999995e-01]] t_estimated: [[0.92238801] [0.38626317] [0.00105536]] R_gt: [[ 0.9983694 0.04150655 0.03917585] [-0.04163761 0.99913094 0.00251649] [-0.03903721 -0.00414363 0.99923001]] t_gt: [-0.49094376 0.57241978 0.65674183] Pose Error in degrees for R and t: 10.11845318844684 76.64152313991555 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.55315557e-01 -2.95587854e-01 8.50354940e-05] [ 2.95587864e-01 9.55315475e-01 -3.96989665e-04] [ 3.61095999e-05 4.04385863e-04 9.99999918e-01]] t_estimated: [[-0.45792949] [-0.88898781] [-0.00111963]] R_gt: [[ 0.99858135 0.03763611 0.03767061] [-0.03729727 0.99925838 -0.00967245] [-0.03800719 0.00825303 0.99924446]] t_gt: [-0.53413992 0.62913399 0.56469901] Pose Error in degrees for R and t: 19.46664782927093 71.61948781455159 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.18847752 0.98205538 0.00659189] [-0.9820705 0.18844658 0.00504144] [ 0.00370875 -0.0074239 0.99996556]] t_estimated: [[7.89764750e-01] [6.13409514e-01] [6.38968244e-04]] R_gt: [[ 0.98651966 -0.16306272 -0.01377769] [ 0.16351177 0.98560301 0.04302235] [ 0.0065641 -0.04469579 0.99897856]] t_gt: [ 0.6840333 -0.7045145 0.18909725] Pose Error in degrees for R and t: 88.55656703951517 83.78899414886305 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.01902018 -0.99981109 -0.00400244] [-0.99981801 0.0190141 0.00155109] [-0.00147469 0.00403121 -0.99999079]] t_estimated: [[7.72531319e-01] [6.34976282e-01] [6.94722409e-04]] R_gt: [[ 0.93489447 -0.3453968 -0.0816924 ] [ 0.34842762 0.93697852 0.02586452] [ 0.06760991 -0.05264473 0.99632152]] t_gt: [ 0.81197513 -0.58360181 0.01026211] Pose Error in degrees for R and t: 178.43702961973656 75.12506342557302 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99991395 0.0130646 0.001183 ] [-0.01306216 0.9999126 -0.00204077] [-0.00120956 0.00202514 0.99999722]] t_estimated: [[ 0.36873543] [-0.92951585] [-0.00587117]] R_gt: [[ 0.88586483 -0.44436817 -0.13334372] [ 0.45522849 0.88799574 0.06504327] [ 0.08950601 -0.11832226 0.98893316]] t_gt: [ 0.84179659 -0.5309132 0.09751756] Pose Error in degrees for R and t: 28.940403748209782 36.55168852008608 Number of keypoints: Image1: 385 Image2: 385 R_estimated: [[ 9.69807713e-01 -2.43869046e-01 9.42357665e-04] [ 2.43870684e-01 9.69804480e-01 -2.52191349e-03] [-2.98886047e-04 2.67558456e-03 9.99996376e-01]] t_estimated: [[-0.7095625 ] [-0.70464182] [-0.00098414]] R_gt: [[ 0.99742327 0.07041704 0.01373085] [-0.07088399 0.99679365 0.03713601] [-0.01106988 -0.03801346 0.99921607]] t_gt: [-0.86311109 -0.00306278 0.50500481] Pose Error in degrees for R and t: 18.32488781477301 52.11399572769454 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 9.64509962e-01 -2.64046273e-01 -3.15134502e-04] [ 2.64046364e-01 9.64509943e-01 2.95803314e-04] [ 2.25844598e-04 -3.68515362e-04 9.99999907e-01]] t_estimated: [[ 8.44643102e-01] [-5.35329811e-01] [ 1.52550940e-04]] R_gt: [[ 0.99322898 0.11246883 0.0291167 ] [-0.1137831 0.99233189 0.04828806] [-0.02346108 -0.05127294 0.99840904]] t_gt: [-0.89291523 0.00091092 0.45022389] Pose Error in degrees for R and t: 22.044910224700605 41.00837695648966 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.78980587e-01 -2.03953115e-01 -3.69149137e-04] [ 2.03953242e-01 9.78980570e-01 3.45658502e-04] [ 2.90891705e-04 -4.13682127e-04 9.99999872e-01]] t_estimated: [[-0.6455073 ] [-0.7637537 ] [-0.00077823]] R_gt: [[ 0.97464023 0.22102487 0.03501916] [-0.22240994 0.97403107 0.04239587] [-0.02473789 -0.04910971 0.99848692]] t_gt: [-0.94989128 0.17429404 0.25947669] Pose Error in degrees for R and t: 24.78509940341398 61.32490951176857 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.70983169e-01 -2.39131693e-01 -2.77823770e-03] [ 2.39133119e-01 9.70986775e-01 1.88061203e-04] [ 2.65266067e-03 -8.46972907e-04 9.99996123e-01]] t_estimated: [[8.44878374e-01] [5.34958036e-01] [6.58004964e-04]] R_gt: [[ 0.99840013 -0.04127655 0.03865149] [ 0.03769747 0.99530416 0.08915339] [-0.04215 -0.08755316 0.99526779]] t_gt: [ 0.06503979 -0.54163478 0.83809402] Pose Error in degrees for R and t: 12.85431282896393 76.45260060475724 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 1.48186465e-01 9.88959207e-01 6.76429422e-04] [-9.88957541e-01 1.48187486e-01 -1.85744477e-03] [-1.93717548e-03 -3.93711804e-04 9.99998046e-01]] t_estimated: [[0.27730907] [0.96078001] [0.00120585]] R_gt: [[ 0.99671015 -0.05045199 0.06343812] [ 0.04133467 0.98962194 0.13762448] [-0.0697233 -0.13454892 0.9884512 ]] t_gt: [-0.01584833 -0.47948811 0.87740525] Pose Error in degrees for R and t: 84.49112329559303 62.35321857673373 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 5.99105781e-01 -8.00669857e-01 2.07801108e-04] [ 8.00669087e-01 5.99105530e-01 1.25578012e-03] [-1.12996008e-03 -5.85965204e-04 9.99999190e-01]] t_estimated: [[0.89420344] [0.44765939] [0.00113047]] R_gt: [[ 0.99554376 -0.065088 0.06824307] [ 0.05322087 0.98515523 0.16321112] [-0.07785244 -0.15885035 0.98422847]] t_gt: [ 0.06464427 -0.50171089 0.86261654] Pose Error in degrees for R and t: 50.72811544895558 80.45539982917417 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.9972664 0.07383514 0.00284553] [-0.07382498 0.99726499 -0.00352207] [-0.0030978 0.00330237 0.99998975]] t_estimated: [[7.72827449e-01] [6.34615798e-01] [7.23621206e-04]] R_gt: [[ 0.9951928 -0.0621508 0.07568682] [ 0.05641061 0.99553112 0.07574732] [-0.08005594 -0.07111355 0.99425061]] t_gt: [ 0.22244227 -0.48404446 0.84629806] Pose Error in degrees for R and t: 9.8145296644968 82.26101885465515 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99978786e-01 -6.50882709e-03 2.50124985e-04] [ 6.50882472e-03 9.99978817e-01 1.02726269e-05] [-2.50186550e-04 -8.64438925e-06 9.99999969e-01]] t_estimated: [[0.9990475 ] [0.04361462] [0.00136296]] R_gt: [[ 0.98251384 -0.1147019 0.14666063] [ 0.08816423 0.98041089 0.17613352] [-0.16398951 -0.1601229 0.97337967]] t_gt: [ 0.22905554 -0.3986264 0.88804874] Pose Error in degrees for R and t: 14.342547948963507 77.72161413421289 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 1.00000000e+00 3.74900089e-06 -2.18022646e-06] [-3.74899893e-06 1.00000000e+00 8.98523640e-07] [ 2.18022982e-06 -8.98515468e-07 1.00000000e+00]] t_estimated: [[9.99945469e-01] [1.04070647e-02] [8.67255394e-04]] R_gt: [[ 0.97141172 -0.11321114 0.20866883] [ 0.05978159 0.96729841 0.24649798] [-0.22974974 -0.22697598 0.94641186]] t_gt: [ 0.15091379 -0.25851447 0.95414637] Pose Error in degrees for R and t: 19.51391383628939 81.42854771595265 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[-7.10928940e-01 -7.03262644e-01 -1.30198139e-03] [-7.03263711e-01 7.10928744e-01 6.88247731e-04] [ 4.41597074e-04 1.40493149e-03 -9.99998916e-01]] t_estimated: [[0.9300023 ] [0.36755216] [0.00105923]] R_gt: [[ 0.99992462 -0.00683679 0.01032237] [ 0.00660959 0.99974117 0.02182726] [-0.01046836 -0.02175764 0.99970824]] t_gt: [0.17221862 0.07400663 0.98227479] Pose Error in degrees for R and t: 179.02697537219822 79.14025634477116 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.91157037e-01 1.32693776e-01 3.00694929e-04] [-1.32693548e-01 9.91156879e-01 -6.81049596e-04] [-3.88406890e-04 6.35126823e-04 9.99999723e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99727502 0.07224086 -0.01494976] [-0.07268281 0.99685769 -0.03150764] [ 0.01262676 0.03250774 0.99939148]] t_gt: [-0.54468291 0.79089271 -0.2789431 ] Pose Error in degrees for R and t: 3.9898142729046278 58.483896421629964 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-9.93946884e-01 -1.09861474e-01 -2.17832312e-04] [-1.09861358e-01 9.93946803e-01 -4.84883415e-04] [ 2.69783736e-04 -4.58017006e-04 -9.99999859e-01]] t_estimated: [[0.95808178] [0.28649177] [0.00133252]] R_gt: [[ 0.99102586 0.11962671 -0.05964377] [-0.12577 0.98561174 -0.11292659] [ 0.04527604 0.1194148 0.99181187]] t_gt: [-0.42113166 0.73705605 -0.52857971] Pose Error in degrees for R and t: 176.60644867183305 78.8707780844423 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99997916e-01 5.90298168e-04 -1.95456446e-03] [-5.85776718e-04 9.99997153e-01 2.31304236e-03] [ 1.95592429e-03 -2.31189260e-03 9.99995415e-01]] t_estimated: [[0.99999637] [0.00237467] [0.00127562]] R_gt: [[ 0.98947595 -0.14352561 -0.01834477] [ 0.14222694 0.98807184 -0.05903573] [ 0.02659939 0.05580499 0.99808666]] t_gt: [ 0.69088068 -0.54316454 -0.47713328] Pose Error in degrees for R and t: 9.017821856825336 46.45060303514612 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.39417823e-01 3.42774172e-01 -1.44734618e-04] [-3.42774192e-01 9.39417608e-01 -6.41193639e-04] [-8.38183704e-05 6.51960024e-04 9.99999784e-01]] t_estimated: [[0.75090221] [0.66041294] [0.00079377]] R_gt: [[ 0.96785441 -0.24678538 0.04850877] [ 0.24911382 0.96719166 -0.04982834] [-0.03462005 0.06031135 0.99757891]] t_gt: [ 0.70405715 -0.69765616 -0.13258736] Pose Error in degrees for R and t: 34.63992562578479 86.11054467075023 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.16718718 -0.91406355 -0.36950816] [-0.76796925 -0.11429381 0.63020644] [-0.61828123 0.38913334 -0.68286424]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.90801188 -0.41520505 0.05583878] [ 0.41627263 0.90919975 -0.00852004] [-0.04723047 0.03098027 0.99840277]] t_gt: [ 0.77108268 -0.63602779 0.03000259] Pose Error in degrees for R and t: 158.62291068378468 78.05528214699562 Number of keypoints: Image1: 437 Image2: 437 R_estimated: [[ 9.99322595e-01 3.68014441e-02 -7.48335919e-05] [-3.68014456e-02 9.99322597e-01 -1.81122983e-05] [ 7.41163407e-05 2.08540133e-05 9.99999997e-01]] t_estimated: [[-0.97732976] [ 0.21172005] [-0.00107651]] R_gt: [[ 0.99737436 0.0708017 0.01517381] [-0.07095902 0.99742747 0.01012964] [-0.01441729 -0.01118066 0.99983291]] t_gt: [-0.91495133 0.34336838 0.21204298] Pose Error in degrees for R and t: 2.2208058980614176 14.832381375578537 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99015189e-01 4.43691851e-02 -1.65679630e-04] [-4.43691493e-02 9.99015182e-01 2.13727538e-04] [ 1.74999382e-04 -2.06165993e-04 9.99999963e-01]] t_estimated: [[-0.88151241] [ 0.47215079] [ 0.00308332]] R_gt: [[ 0.98776002 0.15504602 0.01706409] [-0.15563434 0.98694339 0.04148146] [-0.01041024 -0.04363011 0.99899311]] t_gt: [-0.92836061 0.29360368 0.22791109] Pose Error in degrees for R and t: 6.891666563593832 16.726532141466667 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 2.46152317e-01 9.69231142e-01 1.72146355e-04] [-9.69229988e-01 2.46152292e-01 -1.50963268e-03] [-1.50555723e-03 2.04750173e-04 9.99998846e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96194031 0.27258285 0.0192258 ] [-0.27301187 0.96168315 0.02509684] [-0.01164871 -0.02939138 0.99949899]] t_gt: [-0.85695369 0.50994673 0.07473091] Pose Error in degrees for R and t: 59.94089533857105 59.6905846502205 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99675110e-01 -2.54887098e-02 -2.71317524e-05] [ 2.54887144e-02 9.99675093e-01 1.83172590e-04] [ 2.24541041e-05 -1.83804632e-04 9.99999983e-01]] t_estimated: [[9.93918071e-01] [1.10118671e-01] [8.63692530e-04]] R_gt: [[ 0.9882493 -0.15284856 0.00104329] [ 0.15276292 0.98788237 0.02740807] [-0.00522056 -0.02692649 0.9996236 ]] t_gt: [ 0.69734553 -0.71136029 0.08761139] Pose Error in degrees for R and t: 7.494958483931546 52.059273000426934 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 6.51953274e-02 9.97871813e-01 -1.18891933e-03] [-9.97871992e-01 6.51964735e-02 9.52153866e-04] [ 1.02764085e-03 1.12431331e-03 9.99998840e-01]] t_estimated: [[-0.83725155] [ 0.54681146] [-0.00266017]] R_gt: [[ 0.95782263 -0.27997768 0.06472512] [ 0.27493805 0.95837605 0.0769671 ] [-0.08358057 -0.0559251 0.99493024]] t_gt: [ 0.69151078 -0.6643282 0.28369153] Pose Error in degrees for R and t: 102.53376579248135 19.440882282603024 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.5477722 0.83659428 0.00745868] [ 0.83661146 0.54779516 -0.00131279] [-0.0051841 0.00552091 -0.99997132]] t_estimated: [[ 0.9244734 ] [-0.38123879] [ 0.00243167]] R_gt: [[ 0.93339624 -0.35158901 0.07181477] [ 0.34433729 0.93386723 0.09655698] [-0.10101395 -0.06539704 0.9927328 ]] t_gt: [ 0.72624299 -0.62341046 0.28970765] Pose Error in degrees for R and t: 177.38305741094035 24.527096770062766 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 6.16918048e-01 -7.87027380e-01 -1.60619630e-04] [ 7.87026379e-01 6.16917565e-01 -1.48224250e-03] [ 1.26565450e-03 7.88010266e-04 9.99998889e-01]] t_estimated: [[-0.02040385] [-0.99978857] [-0.00255048]] R_gt: [[ 0.99465603 0.07256327 -0.07344747] [-0.0690478 0.99639271 0.04934133] [ 0.07676283 -0.04400667 0.99607786]] t_gt: [ 0.94154181 0.23058894 -0.24561712] Pose Error in degrees for R and t: 56.18798951173417 75.57427051637642 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.74361624e-01 -2.24987501e-01 -2.23975747e-04] [ 2.24987569e-01 9.74361571e-01 3.49366200e-04] [ 1.39630333e-04 -3.90800776e-04 9.99999914e-01]] t_estimated: [[-0.81706556] [-0.57654409] [-0.00088427]] R_gt: [[ 0.97966932 0.17256439 -0.10231824] [-0.16521348 0.98328721 0.07649194] [ 0.11380755 -0.05803272 0.99180589]] t_gt: [ 0.12143013 0.98725482 -0.10287199] Pose Error in degrees for R and t: 23.89860304530463 48.062362876370756 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.02901672 0.99955841 0.00640384] [-0.99957836 -0.02900926 -0.00125456] [-0.00106823 -0.00643754 0.99997871]] t_estimated: [[0.43545106] [0.90021132] [0.00139568]] R_gt: [[ 0.95334506 0.26872467 -0.13755233] [-0.25262022 0.95960645 0.12385098] [ 0.16527765 -0.08332539 0.98272049]] t_gt: [-0.02976986 0.99888798 0.03655896] Pose Error in degrees for R and t: 77.06642797998438 27.588323328379655 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99602999e-01 2.81752328e-02 6.45715956e-07] [-2.81752327e-02 9.99602997e-01 -6.68135832e-05] [-2.52794787e-06 6.67688650e-05 9.99999998e-01]] t_estimated: [[-3.64623373e-01] [-9.31155055e-01] [-2.44888759e-04]] R_gt: [[ 0.99770679 0.0227755 -0.06374118] [-0.03060916 0.99171423 -0.12476053] [ 0.06037164 0.126425 0.99013697]] t_gt: [-0.00981689 0.47249409 -0.88127916] Pose Error in degrees for R and t: 8.050734708829355 64.14023490337138 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99221505e-01 3.94509717e-02 -6.41545569e-05] [-3.94509699e-02 9.99221507e-01 2.98177566e-05] [ 6.52809525e-05 -2.72635842e-05 9.99999997e-01]] t_estimated: [[-5.48890645e-01] [-8.35894168e-01] [ 1.91987543e-05]] R_gt: [[ 0.9968746 0.06847652 -0.03939325] [-0.07363148 0.98604984 -0.14927626] [ 0.02862258 0.15171028 0.98801039]] t_gt: [-0.18917534 0.67739664 -0.71087726] Pose Error in degrees for R and t: 9.069952521677884 62.45733612518244 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.98531662e-01 -5.41701593e-02 -3.37372268e-04] [ 5.41700472e-02 9.98531670e-01 -3.32867026e-04] [ 3.54908354e-04 3.14102793e-04 9.99999888e-01]] t_estimated: [[-0.60541951] [-0.79590517] [-0.00147663]] R_gt: [[ 0.98922069 0.13320386 -0.06082511] [-0.13928908 0.9841044 -0.11016218] [ 0.04518483 0.11744744 0.99205079]] t_gt: [-0.31308069 0.79383024 -0.52135788] Pose Error in degrees for R and t: 13.11572971152844 63.80046479945675 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999959e-01 2.84176510e-04 3.92667851e-05] [-2.84178668e-04 9.99999958e-01 5.49706353e-05] [-3.92511621e-05 -5.49817919e-05 9.99999998e-01]] t_estimated: [[ 9.95411086e-01] [-9.56889405e-02] [ 6.30462095e-04]] R_gt: [[ 0.99711898 -0.05928561 0.04732054] [ 0.06068148 0.99774643 -0.02863796] [-0.0455164 0.03142712 0.99846977]] t_gt: [0.81726185 0.51295826 0.26259644] Pose Error in degrees for R and t: 4.6906981164093935 40.12923606985725 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999629e-01 -8.35524765e-04 -2.11398645e-04] [ 8.35525388e-04 9.99999651e-01 2.85591571e-06] [ 2.11396185e-04 -3.03254358e-06 9.99999978e-01]] t_estimated: [[9.99999524e-01] [9.47624148e-04] [2.30450391e-04]] R_gt: [[ 0.99574495 -0.08528231 0.03491379] [ 0.08426036 0.99599872 0.02977737] [-0.03731407 -0.02670986 0.99894633]] t_gt: [0.81105128 0.22502103 0.53996422] Pose Error in degrees for R and t: 5.4929950528756395 35.76817959140026 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999997e-01 5.32268091e-05 -4.76556325e-05] [-5.32213355e-05 9.99999992e-01 1.14852625e-04] [ 4.76617454e-05 -1.14850088e-04 9.99999992e-01]] t_estimated: [[9.99992457e-01] [3.88317786e-03] [7.85725320e-05]] R_gt: [[ 0.9925332 -0.12108177 0.0147665 ] [ 0.12101591 0.99263676 0.00531821] [-0.01530186 -0.00349298 0.99987715]] t_gt: [0.97354481 0.19362206 0.12133009] Pose Error in degrees for R and t: 7.013744551548404 13.018120171666784 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.18917583 -0.98187869 -0.01125782] [-0.98185606 0.18929936 -0.01115459] [ 0.01308355 0.00894338 -0.99987441]] t_estimated: [[ 0.76470003] [ 0.64435167] [-0.00669261]] R_gt: [[ 9.96249034e-01 5.35076780e-02 -6.80096862e-02] [-5.33298007e-02 9.98567806e-01 4.41873070e-03] [ 6.81493317e-02 -7.75335753e-04 9.97674964e-01]] t_gt: [ 0.55097278 0.35760965 -0.75401879] Pose Error in degrees for R and t: 176.18254431986048 48.94359929396878 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99993108e-01 -3.70373819e-03 -2.55968612e-04] [ 3.70355584e-03 9.99992890e-01 -7.09234678e-04] [ 2.58593612e-04 7.08281796e-04 9.99999716e-01]] t_estimated: [[-0.99995439] [-0.00947222] [-0.00122391]] R_gt: [[ 0.97965425 0.14326201 -0.14054979] [-0.13354614 0.98809914 0.07632335] [ 0.14981133 -0.05600072 0.98712742]] t_gt: [ 0.66036036 0.41712648 -0.62444351] Pose Error in degrees for R and t: 12.336078358619574 48.43133875629654 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.29330289e-01 -3.69248319e-01 -9.45183518e-04] [-3.69249433e-01 9.29325153e-01 3.10112148e-03] [-2.66701079e-04 3.23097460e-03 -9.99994745e-01]] t_estimated: [[0.96205694] [0.27284702] [0.00097636]] R_gt: [[ 0.96423521 0.21712134 -0.15201407] [-0.20368507 0.97400084 0.09917655] [ 0.16959543 -0.06466653 0.98339018]] t_gt: [ 0.49670352 0.79719413 -0.34317216] Pose Error in degrees for R and t: 171.70535247999118 45.97006972661672 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.98406862 -0.17761138 0.00794668] [-0.17767052 -0.98406159 0.00748153] [ 0.00649122 -0.00877423 -0.99994044]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99063283 -0.11265508 0.07717281] [ 0.11251001 0.99363126 0.00622758] [-0.07738199 0.00251359 0.99699847]] t_gt: [ 0.53617384 -0.74285984 0.40084521] Pose Error in degrees for R and t: 179.05529192176567 42.346532801230985 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.64563328e-01 2.63851124e-01 4.13735449e-04] [-2.63850950e-01 9.64563368e-01 -4.31424366e-04] [-5.12905862e-04 3.06971630e-04 9.99999821e-01]] t_estimated: [[-9.46761967e-01] [-3.21933781e-01] [-6.46951391e-04]] R_gt: [[ 0.96807385 -0.23152885 0.09606518] [ 0.23067847 0.97282371 0.02001558] [-0.09808866 0.00278287 0.99517323]] t_gt: [ 0.67808679 -0.68319651 0.27099969] Pose Error in degrees for R and t: 29.224891935383834 65.02529696867931 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.98464052 0.17456277 0.00329851] [ 0.17456931 0.98464322 0.00181019] [-0.00293187 0.00235821 -0.99999292]] t_estimated: [[ 0.99911171] [-0.04210753] [ 0.00165446]] R_gt: [[ 0.95121989 -0.29650432 0.08523793] [ 0.2954865 0.95502932 0.02461498] [-0.08870334 0.00177203 0.9960566 ]] t_gt: [ 0.754277 -0.63103247 0.18128491] Pose Error in degrees for R and t: 174.8358541274776 38.69562573257053 Number of keypoints: Image1: 523 Image2: 523 R_estimated: [[ 9.97706734e-01 6.76850875e-02 4.59692612e-05] [-6.76850822e-02 9.97706729e-01 -1.09098727e-04] [-5.32481981e-05 1.05737101e-04 9.99999993e-01]] t_estimated: [[-0.62244161] [-0.78266579] [-0.00083887]] R_gt: [[ 0.99913893 -0.02981854 -0.02883063] [ 0.03059916 0.99916548 0.02703069] [ 0.02800022 -0.02788971 0.99921882]] t_gt: [ 0.80041051 -0.59817899 -0.03905012] Pose Error in degrees for R and t: 6.054921858274088 88.28076496307048 Number of keypoints: Image1: 752 Image2: 752 R_estimated: [[ 9.99801440e-01 1.99268782e-02 2.27513447e-05] [-1.99268780e-02 9.99801440e-01 -5.73878817e-06] [-2.28611833e-05 5.28428541e-06 1.00000000e+00]] t_estimated: [[-1.86734161e-01] [-9.82410468e-01] [ 1.62725731e-04]] R_gt: [[ 0.99918039 0.01694561 -0.03675249] [-0.01506352 0.99858997 0.05090241] [ 0.03756393 -0.05030748 0.9980275 ]] t_gt: [-0.10175571 -0.82013523 0.56304883] Pose Error in degrees for R and t: 3.607601653988364 34.431545250761516 Number of keypoints: Image1: 432 Image2: 432 R_estimated: [[ 9.99997425e-01 2.26424868e-03 -1.54838371e-04] [-2.26424629e-03 9.99997436e-01 1.55921347e-05] [ 1.54873278e-04 -1.52415023e-05 9.99999988e-01]] t_estimated: [[ 5.92261114e-02] [-9.98244473e-01] [-4.90083735e-04]] R_gt: [[ 0.99410642 0.10829626 0.0047635 ] [-0.10829709 0.99026208 0.08747244] [ 0.0047557 -0.08747336 0.99615618]] t_gt: [-0.88294426 0.06196425 0.46537067] Pose Error in degrees for R and t: 7.901302248464061 83.43231317124535 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.79966572e-01 1.99161943e-01 1.95264491e-04] [-1.99161890e-01 9.79966567e-01 -2.61596022e-04] [-2.43452645e-04 2.17466112e-04 9.99999947e-01]] t_estimated: [[0.82156782] [0.57010985] [0.00103769]] R_gt: [[ 0.98900175 -0.13554599 0.05919946] [ 0.13136906 0.98889279 0.06952862] [-0.06796597 -0.06098614 0.99582157]] t_gt: [ 0.53983386 -0.68333239 0.49156511] Pose Error in degrees for R and t: 19.87025810202188 86.87894819019859 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-2.03277765e-01 -9.79119753e-01 -1.63082179e-03] [ 9.79121064e-01 -2.03277989e-01 -2.88288772e-05] [-3.03283250e-04 -1.60263223e-03 9.99998670e-01]] t_estimated: [[9.99994892e-01] [3.10075885e-03] [7.75189839e-04]] R_gt: [[ 0.96652477 -0.23975016 0.09139033] [ 0.23077102 0.96798153 0.09878226] [-0.11214715 -0.07438476 0.99090358]] t_gt: [ 0.61319806 -0.64173507 0.4606129 ] Pose Error in degrees for R and t: 88.32792509265299 52.29745928327979 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.97086964e-01 -7.62723635e-02 -3.36653696e-04] [ 7.62721298e-02 9.97086820e-01 -6.59637214e-04] [ 3.85985052e-04 6.32038373e-04 9.99999726e-01]] t_estimated: [[-0.68223738] [-0.73112736] [-0.00222227]] R_gt: [[ 0.95571721 -0.28538012 0.07185316] [ 0.27766758 0.95534339 0.10109878] [-0.09749552 -0.07666994 0.99227764]] t_gt: [ 0.68423307 -0.62560282 0.37476156] Pose Error in degrees for R and t: 14.006235294765547 89.4128877304778 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.48872213 0.87226891 -0.01725178] [ 0.8722582 0.48892814 0.01071941] [ 0.01778509 -0.00980919 -0.99979371]] t_estimated: [[ 0.87033889] [-0.4923544 ] [-0.00986712]] R_gt: [[ 0.9904424 0.13486718 0.02888923] [-0.13600915 0.98981472 0.04206755] [-0.02292123 -0.04559377 0.99869672]] t_gt: [-0.89189928 0.26163809 0.36886471] Pose Error in degrees for R and t: 178.84845339595392 24.67191023663958 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.96626011e-01 -8.20763452e-02 -2.59910254e-04] [ 8.20764079e-02 9.96626011e-01 2.40398723e-04] [ 2.39302271e-04 -2.60920120e-04 9.99999937e-01]] t_estimated: [[-0.95828877] [-0.28579969] [-0.00108364]] R_gt: [[ 0.98254041 0.18115958 0.0423721 ] [-0.18382991 0.98037918 0.07115864] [-0.02864844 -0.07770548 0.99656445]] t_gt: [-0.88007928 0.1926093 0.43400706] Pose Error in degrees for R and t: 15.958350810665173 38.01476291289795 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.42172911e-01 -3.35127069e-01 -2.30023636e-04] [ 3.35127126e-01 9.42172875e-01 2.88529556e-04] [ 1.20027966e-04 -3.48931892e-04 9.99999932e-01]] t_estimated: [[-0.82280117] [-0.5683287 ] [-0.00085706]] R_gt: [[ 0.97273233 0.22537539 0.05475608] [-0.22915512 0.97034067 0.07699652] [-0.03577871 -0.08744395 0.9955263 ]] t_gt: [-0.89398822 0.19920306 0.40137664] Pose Error in degrees for R and t: 33.1780894455191 51.536370062645524 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 7.96007724e-01 -6.05277805e-01 3.23763458e-03] [-6.05282634e-01 -7.96010328e-01 7.00358562e-04] [ 2.15327907e-03 -2.51717481e-03 -9.99994514e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9935752 0.10351469 -0.04573901] [-0.10673262 0.991484 -0.0746172 ] [ 0.03762564 0.07902045 0.99616269]] t_gt: [-0.48826748 0.70218139 -0.51820475] Pose Error in degrees for R and t: 175.15890642789432 45.68653756894381 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.47621084 -0.8793272 -0.00263033] [-0.87932957 0.47620222 0.00331104] [-0.00165892 0.00388968 -0.99999106]] t_estimated: [[0.76222214] [0.64731428] [0.00127675]] R_gt: [[ 0.99082379 0.10031611 -0.09058409] [-0.11380327 0.98074946 -0.15867943] [ 0.0729213 0.16753207 0.98316548]] t_gt: [-0.29842229 0.62335581 -0.72275284] Pose Error in degrees for R and t: 171.08879999084007 79.91434350786734 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.1385152 0.99035579 0.0029908 ] [ 0.9903585 -0.13852009 0.00149416] [ 0.00189403 0.002755 -0.99999441]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98001053 0.13361396 -0.14739896] [-0.1653457 0.9590471 -0.22997598] [ 0.11063359 0.24975049 0.9619688 ]] t_gt: [-0.23769775 0.62725817 -0.74165152] Pose Error in degrees for R and t: 174.37731474115301 51.318384680958516 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99859903e-01 -1.67383861e-02 1.46750917e-06] [ 1.67383862e-02 9.99859899e-01 -9.29444646e-05] [ 8.84367664e-08 9.29560071e-05 9.99999996e-01]] t_estimated: [[ 8.70511892e-01] [-4.92147337e-01] [-2.13519899e-04]] R_gt: [[ 0.98625735 -0.16063766 -0.03861214] [ 0.15894225 0.98632481 -0.04360138] [ 0.04508847 0.03686596 0.99830239]] t_gt: [ 0.70906841 -0.58484161 -0.39393184] Pose Error in degrees for R and t: 8.891638045479823 25.154507982876716 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.71852466e-01 -2.35590143e-01 2.63532184e-04] [ 2.35590185e-01 9.71852482e-01 -1.37624447e-04] [-2.23691443e-04 1.95836254e-04 9.99999956e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96498561 -0.25989893 -0.03541063] [ 0.25700854 0.9638436 -0.07036978] [ 0.05241915 0.05880522 0.99689236]] t_gt: [ 0.72953066 -0.59049365 -0.34511195] Pose Error in degrees for R and t: 4.723213013242011 43.32875864390318 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.86346905 0.50439331 -0.00293104] [-0.50435807 0.8634561 0.00815486] [ 0.00664408 -0.00556318 0.99996245]] t_estimated: [[0.54115556] [0.84092103] [0.00157771]] R_gt: [[ 0.91176308 -0.4095055 0.03152115] [ 0.41070031 0.90972005 -0.06110677] [-0.00365181 0.06866109 0.99763322]] t_gt: [ 0.77701577 -0.61649403 -0.12720691] Pose Error in degrees for R and t: 54.70090414184298 84.36809416392543 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.90061450e-01 -1.40635416e-01 7.64995733e-05] [ 1.40635419e-01 9.90061451e-01 -4.64025915e-05] [-6.92134307e-05 5.66999666e-05 9.99999996e-01]] t_estimated: [[-8.57565942e-01] [-5.14373370e-01] [-8.30974750e-04]] R_gt: [[ 0.99751366 0.06749627 0.02028818] [-0.06667379 0.9970194 -0.03883022] [-0.02284745 0.03738138 0.99903981]] t_gt: [-0.83425135 0.3537195 -0.42297423] Pose Error in degrees for R and t: 12.192364934471373 57.73518809242426 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.70453805e-01 -2.41286676e-01 3.90025981e-04] [ 2.41286811e-01 9.70453788e-01 -3.46356533e-04] [-2.94930975e-04 4.30231141e-04 9.99999864e-01]] t_estimated: [[0.8456111 ] [0.53379847] [0.00103249]] R_gt: [[ 0.9719559 0.23446703 0.01810458] [-0.234605 0.97207282 0.00586171] [-0.01622338 -0.00994428 0.99981809]] t_gt: [-0.89288091 0.44467402 0.07091335] Pose Error in degrees for R and t: 27.54890975193034 58.82923617717242 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.91936972e-01 -1.26728001e-01 -1.02844718e-03] [ 1.26729518e-01 9.91936061e-01 1.57513134e-03] [ 8.20540598e-04 -1.69276563e-03 9.99998231e-01]] t_estimated: [[-0.99587509] [-0.09071337] [-0.00197203]] R_gt: [[ 0.92730997 0.37375019 0.02018374] [-0.37378949 0.92751205 -0.00194011] [-0.0194443 -0.00574459 0.99979391]] t_gt: [-0.85272852 0.52031277 0.04613767] Pose Error in degrees for R and t: 29.255803973336867 36.686082963850914 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.99774888 -0.06700223 -0.00280736] [-0.06699062 0.99774541 -0.00404466] [ 0.00307203 -0.00384749 -0.99998788]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99783528 0.01070664 -0.06489152] [-0.01532937 0.99734736 -0.07115796] [ 0.06395828 0.07199925 0.99535205]] t_gt: [ 0.16297165 0.31640748 -0.93451942] Pose Error in degrees for R and t: 176.00130070354103 80.60571887142991 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99837457e-01 1.80291934e-02 -8.32778873e-05] [ 1.80290415e-02 -9.99836244e-01 -1.56173336e-03] [-1.11421043e-04 1.55997809e-03 -9.99998777e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.92321368e-01 -1.67147204e-02 -1.22545835e-01] [-4.09267907e-04 9.90377407e-01 -1.38388524e-01] [ 1.23680748e-01 1.37376543e-01 9.82766476e-01]] t_gt: [ 0.26808189 0.22932423 -0.93570428] Pose Error in degrees for R and t: 172.03427719823972 76.70181015328592 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.32021753e-01 -3.62402300e-01 1.57377471e-04] [ 3.62402243e-01 9.32021739e-01 3.03506592e-04] [-2.56670711e-04 -2.25840797e-04 9.99999942e-01]] t_estimated: [[0.09226587] [0.99573383] [0.00107285]] R_gt: [[ 0.98628671 0.01864956 -0.16398277] [-0.0422082 0.98905402 -0.14138267] [ 0.15955145 0.14636545 0.97627906]] t_gt: [ 0.20962476 0.37177485 -0.90434558] Pose Error in degrees for R and t: 26.159412387449112 67.13508578406434 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.98332876e-01 5.77182265e-02 2.73405122e-04] [-5.77181754e-02 9.98332898e-01 -1.91317596e-04] [-2.83991840e-04 1.75218201e-04 9.99999944e-01]] t_estimated: [[9.85253599e-01] [1.71097698e-01] [9.61223023e-04]] R_gt: [[ 0.99196301 -0.1261485 0.00982498] [ 0.12611495 0.99200772 0.00397683] [-0.01024721 -0.00270598 0.99994403]] t_gt: [ 0.74515533 -0.66407623 0.06120689] Pose Error in degrees for R and t: 10.57182781611314 51.639752676334076 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.53761895e-01 3.00562990e-01 3.68988318e-04] [-3.00562790e-01 9.53761891e-01 -5.14344074e-04] [-5.06519789e-04 3.79657621e-04 9.99999800e-01]] t_estimated: [[0.89606031] [0.4439313 ] [0.00095823]] R_gt: [[ 9.83153388e-01 -1.82747237e-01 3.39909718e-03] [ 1.82744446e-01 9.83159642e-01 9.52883277e-04] [-3.51591622e-03 -3.15883240e-04 9.99993507e-01]] t_gt: [ 0.80513126 -0.59305487 0.0070403 ] Pose Error in degrees for R and t: 28.021853280756776 62.73044556473706 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.88225032e-01 1.52967846e-01 3.48195151e-03] [ 1.53006128e-01 -9.88055765e-01 -1.83010789e-02] [ 6.40885646e-04 1.86183442e-02 -9.99826458e-01]] t_estimated: [[-0.0986669 ] [ 0.99506267] [-0.0107292 ]] R_gt: [[ 0.96372117 -0.26512875 -0.03080137] [ 0.26533366 0.96415285 0.00269701] [ 0.02898274 -0.01077195 0.99952193]] t_gt: [ 0.84571001 -0.5303936 -0.05879811] Pose Error in degrees for R and t: 179.4532829175131 52.36799762141677 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-1.98996236e-02 9.99801977e-01 1.09433476e-04] [-9.99800618e-01 -1.98994154e-02 -1.65444022e-03] [-1.65193494e-03 -1.42334395e-04 9.99998625e-01]] t_estimated: [[0.39405416] [0.91908654] [0.00111947]] R_gt: [[ 0.99458106 0.10009305 -0.02809083] [-0.09955742 0.99483296 0.01986195] [ 0.02993445 -0.01695737 0.99940781]] t_gt: [-0.89800728 0.43716141 -0.0497275 ] Pose Error in degrees for R and t: 85.43023335956285 87.25620282507064 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[-0.87987197 -0.47494866 -0.01578283] [-0.47495444 0.88000295 -0.00361938] [ 0.01560796 0.00431154 -0.99986889]] t_estimated: [[ 0.96631129] [ 0.2572685 ] [-0.00744401]] R_gt: [[ 0.97903103 0.20301201 0.01683587] [-0.20332594 0.97891329 0.01965835] [-0.01248954 -0.02266841 0.99966451]] t_gt: [-0.84592509 0.52719708 0.08046111] Pose Error in degrees for R and t: 179.8022354686152 46.96894116094712 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-9.91861451e-01 1.27316975e-01 1.11779318e-03] [ 1.27321246e-01 9.91846012e-01 5.54871982e-03] [-4.02232486e-04 5.64588011e-03 -9.99983981e-01]] t_estimated: [[ 0.99963701] [-0.02691145] [ 0.00127731]] R_gt: [[ 0.9490536 0.31507759 -0.00485348] [-0.3140005 0.94687927 0.06944195] [ 0.02647646 -0.06438063 0.99757364]] t_gt: [-0.81652274 0.57254975 0.07400945] Pose Error in degrees for R and t: 178.83610812705652 33.74274484451187 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 8.78143900e-01 4.78396580e-01 -5.82595437e-05] [-4.78396017e-01 8.78142666e-01 -1.64582558e-03] [-7.36197139e-04 1.47314283e-03 9.99998644e-01]] t_estimated: [[7.29719035e-01] [6.83746735e-01] [7.29719035e-04]] R_gt: [[ 0.99575461 -0.09036908 -0.01751803] [ 0.089836 0.99553054 -0.02913595] [ 0.02007316 0.02743761 0.99942206]] t_gt: [ 0.58335201 -0.74865655 -0.31498222] Pose Error in degrees for R and t: 33.80254316730311 85.04126497499209 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.05744425 0.99833904 0.00439441] [ 0.99834683 -0.05743504 -0.00219404] [-0.001938 0.00451318 -0.99998794]] t_estimated: [[0.99824837] [0.05914477] [0.00144256]] R_gt: [[ 0.98728588 -0.15795952 -0.01775759] [ 0.15722349 0.98686458 -0.03714114] [ 0.02339096 0.0338764 0.99915162]] t_gt: [ 0.66259755 -0.7157588 -0.22057613] Pose Error in degrees for R and t: 179.0565256780681 51.772512169043075 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 3.30097454e-01 9.43945322e-01 1.70295852e-03] [ 9.43946110e-01 -3.30098927e-01 6.63424522e-04] [ 1.18838125e-03 1.38850633e-03 -9.99998330e-01]] t_estimated: [[-9.84901422e-01] [-1.73114073e-01] [-8.40359575e-04]] R_gt: [[ 0.96805712 -0.25010772 0.01766886] [ 0.25068723 0.96679212 -0.04969611] [-0.00465259 0.05253659 0.9986083 ]] t_gt: [ 0.74304718 -0.66154801 -0.10116877] Pose Error in degrees for R and t: 177.18038796951558 51.88659739675498 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.98899993e-01 4.68911128e-02 1.66263279e-04] [-4.68911112e-02 9.98900007e-01 -1.31667417e-05] [-1.66697794e-04 5.35598825e-06 9.99999986e-01]] t_estimated: [[9.93298041e-01] [1.15580347e-01] [4.29389230e-04]] R_gt: [[ 0.98630185 -0.16461587 -0.01055597] [ 0.16467093 0.9863381 0.00459349] [ 0.00965599 -0.00626897 0.99993382]] t_gt: [ 0.74324887 -0.66832509 -0.03037593] Pose Error in degrees for R and t: 12.182637334723266 48.62310224168607 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.56124465e-01 -2.92940348e-01 -3.45819342e-03] [-2.92939487e-01 9.56130678e-01 -7.64344529e-04] [ 3.53039217e-03 2.82232900e-04 -9.99993728e-01]] t_estimated: [[9.99974549e-01] [7.07946583e-03] [8.84933229e-04]] R_gt: [[ 0.95350525 -0.29900494 0.03773836] [ 0.29664724 0.95325101 0.05756511] [-0.05318661 -0.04369422 0.99762875]] t_gt: [ 0.73390297 -0.65618042 0.17553828] Pose Error in degrees for R and t: 177.1598646083511 43.16436637589256 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.96864620e-01 7.91199663e-02 9.79692557e-04] [-7.91198408e-02 9.96865098e-01 -1.66306401e-04] [-9.89779474e-04 8.82718484e-05 9.99999506e-01]] t_estimated: [[0.99965192] [0.02636092] [0.00106518]] R_gt: [[ 0.91292447 -0.40253946 0.06731355] [ 0.39679723 0.91401683 0.08441301] [-0.09550581 -0.05035358 0.99415478]] t_gt: [ 0.76202891 -0.61452161 0.20414489] Pose Error in degrees for R and t: 28.82062398498054 41.77371014980081 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99481329e-01 3.22035911e-02 -4.34482962e-05] [-3.22035907e-02 9.99481330e-01 9.31102381e-06] [ 4.37256093e-05 -7.90700330e-06 9.99999999e-01]] t_estimated: [[ 0.53174149] [ 0.84690628] [-0.00085742]] R_gt: [[ 0.99772018 -0.04040472 -0.05406151] [ 0.03923836 0.99897754 -0.02247087] [ 0.05491478 0.02029879 0.99828437]] t_gt: [ 0.92588593 0.05593349 -0.37363978] Pose Error in degrees for R and t: 5.319612927129005 57.31481174265235 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-0.31351896 -0.94954861 0.00795571] [-0.94956115 0.31355653 0.0039902 ] [-0.00628345 -0.00630343 -0.99996039]] t_estimated: [[0.81076894] [0.58534073] [0.0054738 ]] R_gt: [[ 0.99628201 -0.07346114 -0.04501679] [ 0.07314773 0.99728484 -0.00856262] [ 0.04552428 0.00523854 0.99894938]] t_gt: [ 0.99283106 0.02232312 -0.117423 ] Pose Error in degrees for R and t: 178.16344279251592 35.17657888458557 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.88271293e-01 -1.52705994e-01 8.55145769e-04] [ 1.52706504e-01 9.88271421e-01 -5.67143320e-04] [-7.58509940e-04 6.91077784e-04 9.99999474e-01]] t_estimated: [[ 0.13987793] [-0.9901644 ] [-0.00293539]] R_gt: [[ 0.9942014 -0.05108706 -0.0946236 ] [ 0.04993 0.99864682 -0.01456216] [ 0.09524063 0.00975358 0.99540614]] t_gt: [ 0.95990611 0.16043506 -0.22987139] Pose Error in degrees for R and t: 8.075383047559155 88.62977591486424 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.59490224e-01 2.81741919e-01 -1.43545490e-05] [-2.81741862e-01 9.59490059e-01 5.92183388e-04] [ 1.80615931e-04 -5.64149894e-04 9.99999825e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.99480084 -0.10105143 -0.01271139] [ 0.10081805 0.99474747 -0.01775968] [ 0.01443983 0.01638656 0.99976161]] t_gt: [ 0.66520139 -0.72314185 -0.18593812] Pose Error in degrees for R and t: 22.193918696750742 88.11203485366204 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.93043847e-01 -1.17745048e-01 1.44366357e-04] [ 1.17745002e-01 9.93043821e-01 2.89473959e-04] [-1.77446244e-04 -2.70461917e-04 9.99999948e-01]] t_estimated: [[0.98972242] [0.14299744] [0.00112596]] R_gt: [[ 0.9793165 -0.20187504 0.01365363] [ 0.2020427 0.9792987 -0.01235521] [-0.01087638 0.0148591 0.99983071]] t_gt: [ 0.73087499 -0.68240343 0.01213712] Pose Error in degrees for R and t: 5.004064719561713 51.25943160164872 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.95398361 -0.29984909 0.0024083 ] [-0.29980489 0.95393369 0.01129374] [-0.00568377 0.01005203 -0.99993332]] t_estimated: [[0.96093767] [0.27676129] [0.00140488]] R_gt: [[ 0.97585765 -0.2133431 0.04677731] [ 0.21552652 0.97531569 -0.04803205] [-0.03537425 0.05695508 0.99775029]] t_gt: [ 0.77918419 -0.62667162 -0.01243721] Pose Error in degrees for R and t: 177.8187671371623 54.879949413106935 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.99891308e-01 1.47432635e-02 9.13854249e-05] [-1.47432655e-02 9.99891312e-01 2.17103119e-05] [-9.10554116e-05 -2.30552717e-05 9.99999996e-01]] t_estimated: [[4.78232913e-01] [8.78232813e-01] [6.38776755e-04]] R_gt: [[ 0.99885812 0.00987859 -0.0467496 ] [-0.00903571 0.99979335 0.01820906] [ 0.04691971 -0.01776568 0.9987406 ]] t_gt: [ 0.69721317 0.69886795 -0.15961639] Pose Error in degrees for R and t: 2.8958986208561677 18.72021735586251 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 0.60449251 -0.79654829 0.00998069] [-0.79656442 -0.60427463 0.01836563] [-0.00859804 -0.01905215 -0.99978152]] t_estimated: [[0.47373899] [0.88060635] [0.01018924]] R_gt: [[ 0.99327753 -0.024753 -0.11308644] [ 0.02189515 0.99941003 -0.02644873] [ 0.1136738 0.02379641 0.99323316]] t_gt: [ 0.84253232 0.29756974 -0.44898946] Pose Error in degrees for R and t: 177.0084947528607 48.95835908413801 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99846430e-01 -1.75036755e-02 -8.58958844e-04] [ 1.75047758e-02 9.99845947e-01 1.29054242e-03] [ 8.36237283e-04 -1.30538011e-03 9.99998798e-01]] t_estimated: [[0.75192181] [0.65925126] [0.00117304]] R_gt: [[ 0.98949525 -0.0684614 -0.12733319] [ 0.06699165 0.99762815 -0.01579512] [ 0.1281125 0.00709969 0.99173456]] t_gt: [ 0.95011298 0.18346417 -0.25224239] Pose Error in degrees for R and t: 7.881207982655536 33.37752181918842 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.54107858 -0.8379446 -0.07129387] [ 0.8408629 -0.54042653 -0.0298119 ] [-0.01354837 -0.07607895 0.99700975]] t_estimated: [[0.99355912] [0.11217603] [0.01602515]] R_gt: [[ 0.99358885 0.10312749 -0.04632607] [-0.10309077 0.99466655 0.00317314] [ 0.04640616 0.00162319 0.99892126]] t_gt: [-0.11600007 0.94067429 -0.31886652] Pose Error in degrees for R and t: 128.6771956754681 89.1496018277294 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.30644232 -0.95183117 0.01051333] [-0.94620034 0.30338661 -0.11252327] [ 0.10391355 -0.0444296 -0.99359347]] t_estimated: [[ 0.90996232] [ 0.41403693] [-0.0232808 ]] R_gt: [[ 0.99093771 0.13322179 0.01715786] [-0.13199922 0.98947822 -0.0592428 ] [-0.02486947 0.05644148 0.99809663]] t_gt: [-0.07775622 0.95305891 -0.29263063] Pose Error in degrees for R and t: 176.08187159143097 70.69121922429714 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999917e-01 -2.13716652e-04 -3.46559642e-04] [ 2.13717484e-04 9.99999977e-01 2.36363738e-06] [ 3.46559129e-04 -2.43770304e-06 9.99999940e-01]] t_estimated: [[-0.78219068] [-0.62303692] [-0.001657 ]] R_gt: [[ 0.98960712 0.13529515 0.04870116] [-0.12764714 0.98249889 -0.13564881] [-0.06620144 0.12802397 0.98955893]] t_gt: [ 0.10978416 0.91824544 -0.38049016] Pose Error in degrees for R and t: 11.250356162496235 48.90249140198931 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.99935798e-01 -1.13298521e-02 -1.85339017e-04] [ 1.13298518e-02 9.99935815e-01 -2.72184386e-06] [ 1.85357959e-04 6.21805521e-07 9.99999983e-01]] t_estimated: [[-9.98812299e-01] [-4.87181200e-02] [-7.32240125e-04]] R_gt: [[ 0.99278791 0.11813249 -0.02043998] [-0.11799471 0.9929834 0.00782577] [ 0.02122021 -0.00535733 0.99976057]] t_gt: [-0.69945523 0.71336311 -0.04330666] Pose Error in degrees for R and t: 7.533489438111276 48.4018181306513 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.02583409e-01 -4.30514983e-01 1.99876636e-04] [ 4.30515028e-01 9.02583284e-01 -4.74430781e-04] [ 2.38442486e-05 5.14263247e-04 9.99999867e-01]] t_estimated: [[-0.30447696] [-0.95251914] [-0.00102864]] R_gt: [[ 0.99555348 0.08315983 0.04424742] [-0.08548308 0.99490217 0.05350176] [-0.03957345 -0.05704524 0.99758691]] t_gt: [-0.68855515 0.48627264 0.53798766] Pose Error in degrees for R and t: 30.59973399416199 75.28043606905793 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.70586894 0.7083409 0.00148874] [ 0.70833418 -0.70586929 0.00335084] [ 0.0034244 -0.00131073 -0.99999328]] t_estimated: [[0.55448342] [0.83219424] [0.00093821]] R_gt: [[ 0.99705139 0.03149846 0.06996897] [-0.04053012 0.99046631 0.13166133] [-0.06515468 -0.13410869 0.9888224 ]] t_gt: [-0.39327313 0.17306666 0.90298626] Pose Error in degrees for R and t: 174.28731371866573 85.80270234997732 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99992699e-01 3.82031280e-03 8.13478326e-05] [-3.82031769e-03 9.99992701e-01 6.00571258e-05] [-8.11178019e-05 -6.03674619e-05 9.99999995e-01]] t_estimated: [[9.33387347e-01] [3.58869841e-01] [7.06102180e-04]] R_gt: [[ 0.99812166 -0.05774379 -0.02051139] [ 0.05766526 0.99832618 -0.00437821] [ 0.02072906 0.00318755 0.99978097]] t_gt: [ 0.85692197 -0.45524467 -0.24173753] Pose Error in degrees for R and t: 3.727294943653569 50.48383869697559 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999911e-01 -2.63436709e-04 3.29169004e-04] [ 2.63534659e-04 9.99999921e-01 -2.97559102e-04] [-3.29090590e-04 2.97645823e-04 9.99999902e-01]] t_estimated: [[0.48134734] [0.87652931] [0.00105096]] R_gt: [[ 9.91266184e-01 -1.25268531e-01 -4.12361583e-02] [ 1.25365422e-01 9.92110476e-01 -2.26570389e-04] [ 4.09386696e-02 -4.94341877e-03 9.99149596e-01]] t_gt: [ 0.86112471 -0.47583934 -0.17900043] Pose Error in degrees for R and t: 7.571245585844478 89.84099503613999 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.79367390e-01 2.02087759e-01 2.30387715e-04] [-2.02087753e-01 9.79367417e-01 -4.85704788e-05] [-2.35449721e-04 1.00980743e-06 9.99999972e-01]] t_estimated: [[7.82075844e-01] [6.23182827e-01] [7.33664092e-04]] R_gt: [[ 0.98786263 -0.15193308 -0.03232212] [ 0.15169671 0.98837997 -0.00963794] [ 0.03341155 0.00461822 0.99943138]] t_gt: [ 0.85771428 -0.4936732 -0.14357224] Pose Error in degrees for R and t: 20.485282404016704 68.71276627945386 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.80471751e-01 -1.96659869e-01 -2.02471645e-04] [ 1.96659925e-01 9.80471713e-01 3.05805484e-04] [ 1.38378054e-04 -3.39651697e-04 9.99999933e-01]] t_estimated: [[0.71473829] [0.69939115] [0.00109622]] R_gt: [[ 0.99766501 -0.00754777 -0.06789087] [ 0.00245825 0.99720054 -0.0747458 ] [ 0.06826474 0.07440343 0.99488824]] t_gt: [ 0.24615557 0.19677108 -0.94904614] Pose Error in degrees for R and t: 12.4803561906341 71.78905448626288 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-7.55162305e-01 -6.55537861e-01 7.28034636e-05] [-6.55524707e-01 7.55147846e-01 6.25223651e-03] [-4.15355513e-03 4.67372886e-03 -9.99980452e-01]] t_estimated: [[0.97815481] [0.20787384] [0.0012753 ]] R_gt: [[ 0.99279119 -0.00623338 -0.11970385] [-0.00461717 0.99591808 -0.09015395] [ 0.11977678 0.09005662 0.98870773]] t_gt: [ 0.2783163 0.22408805 -0.93398318] Pose Error in degrees for R and t: 171.86556496031918 71.48050168024547 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 3.30658765e-02 9.99443710e-01 4.34947336e-03] [ 9.99453041e-01 -3.30633131e-02 -6.59974000e-04] [-5.15798864e-04 4.36891700e-03 -9.99990323e-01]] t_estimated: [[-0.71863709] [-0.69538493] [-0.00072663]] R_gt: [[ 0.98721884 0.05110429 -0.15095915] [-0.06940562 0.99051752 -0.11857375] [ 0.14346845 0.12753544 0.98140267]] t_gt: [ 0.08320773 0.52379697 -0.84776955] Pose Error in degrees for R and t: 179.38998543924794 64.9492623567503 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.90673862 -0.42166078 -0.00522128] [ 0.42167794 0.90674152 0.00274533] [ 0.00357676 -0.00469099 0.9999826 ]] t_estimated: [[ 9.84427724e-01] [-1.75788083e-01] [-7.78734445e-04]] R_gt: [[ 0.99552848 0.0944017 0.00303933] [-0.09437352 0.9955018 -0.00837611] [-0.00381624 0.00805211 0.9999603 ]] t_gt: [-0.95176856 0.29389067 -0.08811853] Pose Error in degrees for R and t: 30.367631390708265 8.682053331141855 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.56300706 -0.82644768 -0.00269812] [ 0.82645059 -0.56299684 -0.0037394 ] [ 0.00157138 -0.00433517 0.99998937]] t_estimated: [[9.78686978e-01] [2.05356316e-01] [7.63406379e-04]] R_gt: [[ 0.97576778 0.21868667 0.00728462] [-0.21873343 0.97576324 0.00649855] [-0.00568637 -0.00793406 0.99995168]] t_gt: [-0.92791239 0.36898514 0.0531842 ] Pose Error in degrees for R and t: 136.8989153845704 33.66201898974511 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.93464524e-01 -1.14133034e-01 -1.37489724e-03] [ 1.14137148e-01 9.93459106e-01 3.42279364e-03] [ 9.75250365e-04 -3.55735091e-03 9.99993197e-01]] t_estimated: [[-9.98619949e-01] [-5.25104586e-02] [-9.21236116e-04]] R_gt: [[ 0.92701046 0.37451608 0.01967618] [-0.37480249 0.92700407 0.0136496 ] [-0.01312696 -0.02002771 0.99971331]] t_gt: [-0.86529825 0.49652635 0.068706 ] Pose Error in degrees for R and t: 28.588760323031675 33.07383907718031 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.99977142e-01 6.76059438e-03 9.46529724e-05] [-6.76058726e-03 9.99977144e-01 -7.52665995e-05] [-9.51596559e-05 7.46249694e-05 9.99999993e-01]] t_estimated: [[ 0.6703294 ] [-0.74206294] [-0.00104388]] R_gt: [[ 0.99719497 -0.07451278 -0.00715355] [ 0.07428799 0.99685027 -0.02776953] [ 0.00919976 0.0271599 0.99958806]] t_gt: [ 0.36395675 -0.84105794 -0.40019623] Pose Error in degrees for R and t: 4.935523604444724 29.71444285435303 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99999894e-01 -8.07808475e-05 4.52712547e-04] [ 8.09949187e-05 9.99999885e-01 -4.72865080e-04] [-4.52674297e-04 4.72901697e-04 9.99999786e-01]] t_estimated: [[8.13826545e-01] [5.81107556e-01] [6.02824944e-04]] R_gt: [[ 0.98268912 -0.18140027 -0.0376396 ] [ 0.18100871 0.98338769 -0.01359188] [ 0.03947986 0.00654358 0.99919846]] t_gt: [ 0.53131836 -0.82021312 -0.21201706] Pose Error in degrees for R and t: 10.691793336232877 87.45758999635511 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999893e-01 -3.22177097e-04 -3.31296047e-04] [ 3.22250300e-04 9.99999924e-01 2.20928984e-04] [ 3.31224844e-04 -2.21035721e-04 9.99999921e-01]] t_estimated: [[9.99955848e-01] [9.39521209e-03] [1.79126590e-04]] R_gt: [[ 0.94418655 -0.32212265 -0.06890983] [ 0.32051369 0.94664897 -0.03356881] [ 0.07604668 0.00960886 0.99705735]] t_gt: [ 0.66456227 -0.71640907 -0.212403 ] Pose Error in degrees for R and t: 19.25346592955452 48.870430286743044 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.11364273 0.99351935 0.00215285] [-0.99351944 0.11364681 -0.00187722] [-0.00210972 -0.00192557 0.99999592]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99666597 0.03246795 -0.07484891] [-0.03997699 0.99407181 -0.10110691] [ 0.07112252 0.10376264 0.99205583]] t_gt: [-0.09209531 0.38422823 -0.91863329] Pose Error in degrees for R and t: 81.66437172878756 67.58099162533246 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 8.64370703e-01 -5.02854671e-01 -6.83761101e-04] [ 5.02854920e-01 8.64370793e-01 2.48229566e-04] [ 4.66199728e-04 -5.58394998e-04 9.99999735e-01]] t_estimated: [[-0.20773816] [-0.97818375] [-0.00118433]] R_gt: [[ 0.9932005 0.0219972 -0.11431977] [-0.04193599 0.98366355 -0.17506594] [ 0.10860064 0.17867092 0.97789752]] t_gt: [ 0.02401091 0.33633617 -0.94143585] Pose Error in degrees for R and t: 34.18388955913874 70.55683788273207 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.45945196e-01 -3.24326414e-01 -2.49836362e-04] [ 3.24326510e-01 9.45944937e-01 7.00716118e-04] [ 9.07069563e-06 -7.43867601e-04 9.99999723e-01]] t_estimated: [[-9.58459084e-01] [-2.85229083e-01] [-7.44723453e-04]] R_gt: [[ 0.98202793 0.06679886 -0.17651982] [-0.11022118 0.96219177 -0.24907652] [ 0.15320677 0.26405676 0.95226131]] t_gt: [-0.04021305 0.44832329 -0.89296648] Pose Error in degrees for R and t: 29.90834136061851 84.91305978730325 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99653155e-01 2.63355618e-02 8.66586390e-05] [-2.63355787e-02 9.99653139e-01 1.99704474e-04] [-8.13692509e-05 -2.01917413e-04 9.99999976e-01]] t_estimated: [[-0.88102048] [ 0.47304268] [ 0.00579115]] R_gt: [[ 0.99850882 0.04583413 0.02966222] [-0.0451636 0.99871685 -0.02289929] [-0.03067508 0.02152501 0.99929746]] t_gt: [-0.54073004 0.83855889 0.06655834] Pose Error in degrees for R and t: 2.4154624877313675 29.13748833224245 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.01496488 -0.99988479 -0.00254321] [ 0.99988315 0.0149727 -0.00308212] [ 0.00311985 -0.00249679 0.99999202]] t_estimated: [[ 9.88888646e-01] [-1.48656444e-01] [-7.12816560e-04]] R_gt: [[ 0.99221345 0.12357564 0.01555468] [-0.12368332 0.99230321 0.00612333] [-0.01467842 -0.00800023 0.99985971]] t_gt: [-0.57603314 0.80904331 0.11676791] Pose Error in degrees for R and t: 96.25066975080759 46.37104966484554 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 5.85180615e-01 -8.10900636e-01 -1.95098898e-03] [ 8.10901552e-01 5.85182409e-01 -4.71251329e-04] [ 1.52382243e-03 -1.30629285e-03 9.99997986e-01]] t_estimated: [[ 7.74936046e-01] [-6.32039289e-01] [-6.79005378e-04]] R_gt: [[ 9.79604042e-01 2.00934751e-01 9.64325080e-04] [-2.00931845e-01 9.79529532e-01 1.21485881e-02] [ 1.49632735e-03 -1.20952155e-02 9.99925097e-01]] t_gt: [-0.60720256 0.79090359 0.07600374] Pose Error in degrees for R and t: 65.77920077132673 13.957027548613837 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99999984e-01 1.59199164e-04 -7.62209876e-05] [-1.59188663e-04 9.99999978e-01 1.37753702e-04] [ 7.62429162e-05 -1.37741567e-04 9.99999988e-01]] t_estimated: [[-9.73148809e-01] [-2.30175250e-01] [-8.66178542e-04]] R_gt: [[ 0.99370335 0.10663403 -0.03439889] [-0.10595633 0.99415005 0.02098893] [ 0.03643538 -0.01721143 0.99918772]] t_gt: [-0.37374172 0.92738526 0.0165438 ] Pose Error in degrees for R and t: 6.514695616093564 81.35969536357248 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999999e-01 -4.46328208e-05 5.25212458e-06] [ 4.46328638e-05 9.99999999e-01 -8.19067292e-06] [-5.25175900e-06 8.19090733e-06 1.00000000e+00]] t_estimated: [[-0.99999432] [-0.00319066] [-0.00108343]] R_gt: [[ 0.9758957 0.19937748 -0.0887457 ] [-0.19377614 0.97869426 0.06788384] [ 0.10038897 -0.04905045 0.99373846]] t_gt: [-0.17844624 0.98394791 -0.00185803] Pose Error in degrees for R and t: 13.054802788821359 79.90342904006798 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999962e-01 2.59791796e-04 -9.73224664e-05] [-2.59783186e-04 9.99999962e-01 8.84728191e-05] [ 9.73454473e-05 -8.84475330e-05 9.99999991e-01]] t_estimated: [[-9.99985182e-01] [-5.36972597e-03] [-8.94989891e-04]] R_gt: [[ 0.95141467 0.29340701 -0.09339741] [-0.28686592 0.95483928 0.07739677] [ 0.11188802 -0.04684408 0.99261672]] t_gt: [-0.15580393 0.98261421 -0.10096752] Pose Error in degrees for R and t: 18.281619742366573 81.33739575054128 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 1.00000000e+00 4.23185284e-07 5.34592994e-08] [-4.23185280e-07 1.00000000e+00 -7.80229718e-08] [-5.34593324e-08 7.80229492e-08 1.00000000e+00]] t_estimated: [[9.99998613e-01] [1.65279213e-03] [2.06598587e-04]] R_gt: [[ 0.9872842 -0.1587334 0.00858681] [ 0.15876739 0.98730987 -0.00344853] [-0.00792962 0.00476849 0.99995768]] t_gt: [ 0.74315364 -0.669069 -0.00832667] Pose Error in degrees for R and t: 9.14985884353468 42.09408418651443 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.94236434e-01 -1.07202382e-01 1.25015385e-03] [ 1.07205215e-01 9.94233829e-01 -2.47675893e-03] [-9.77430795e-04 2.59650698e-03 9.99996151e-01]] t_estimated: [[-0.02115914] [-0.99976667] [-0.0043469 ]] R_gt: [[ 0.95387807 -0.29922248 0.02414755] [ 0.29854441 0.95398309 0.02805264] [-0.03143019 -0.01954903 0.99931545]] t_gt: [ 0.75903407 -0.6461957 0.07936245] Pose Error in degrees for R and t: 11.449838615499887 50.976473807032775 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-7.65551448e-01 6.43374026e-01 9.18029627e-04] [-6.43374539e-01 -7.65549552e-01 -1.75676649e-03] [-4.27460759e-04 -1.93553202e-03 9.99998035e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.90466796 -0.41867784 0.07928376] [ 0.4137771 0.90758106 0.07130607] [-0.10181083 -0.03170297 0.994299 ]] t_gt: [ 0.77480908 -0.60663016 0.17796273] Pose Error in degrees for R and t: 164.64407456432477 52.9573294338907 Number of keypoints: Image1: 433 Image2: 433 R_estimated: [[ 0.64320548 0.76569242 -0.00135042] [ 0.76567464 -0.64317613 0.00817396] [ 0.00539018 -0.00629152 -0.99996568]] t_estimated: [[-0.58906303] [-0.80808647] [-0.00100011]] R_gt: [[ 0.99542965 0.09418789 0.0158208 ] [-0.09471241 0.99483421 0.03653036] [-0.01229879 -0.03786179 0.99920705]] t_gt: [-0.93151935 0.16944197 0.32180914] Pose Error in degrees for R and t: 177.94310031577908 65.70228527777331 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[-3.04810881e-01 9.52410381e-01 2.18907928e-03] [-9.52412897e-01 -3.04809996e-01 -7.35413300e-04] [-3.31620165e-05 -2.30906931e-03 9.99997334e-01]] t_estimated: [[0.08485757] [0.99639215] [0.00136867]] R_gt: [[ 9.77725296e-01 2.09870349e-01 2.96164211e-03] [-2.09889376e-01 9.77558860e-01 1.80777397e-02] [ 8.98072845e-04 -1.82966696e-02 9.99831760e-01]] t_gt: [-0.87261621 0.48745946 0.03040118] Pose Error in degrees for R and t: 95.63387183312452 65.68868765244565 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[-5.26166514e-01 8.50379522e-01 -1.86225835e-03] [-8.50378246e-01 -5.26169316e-01 -1.64023009e-03] [-2.37468129e-03 7.20589843e-04 9.99996921e-01]] t_estimated: [[0.36249889] [0.93198356] [0.00109516]] R_gt: [[ 0.95620083 0.28968382 0.04199874] [-0.29214636 0.95340175 0.0753444 ] [-0.01821643 -0.08431463 0.99627255]] t_gt: [-0.84515567 0.49685874 0.197087 ] Pose Error in degrees for R and t: 104.89050587143281 80.97229597952787 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.48388187e-01 5.29374425e-01 4.51146908e-04] [-5.29374208e-01 8.48388282e-01 -5.20461808e-04] [-6.58266921e-04 2.02728112e-04 9.99999763e-01]] t_estimated: [[0.28683659] [0.95797851] [0.00139241]] R_gt: [[ 0.9927871 -0.07728907 -0.09165546] [ 0.07304539 0.99613522 -0.04877769] [ 0.09507055 0.0417308 0.99459574]] t_gt: [ 0.70320438 -0.27955195 -0.65372342] Pose Error in degrees for R and t: 36.7589581823772 86.15771534052001 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.02360166e-01 9.79311088e-01 3.94099942e-04] [-9.79308839e-01 -2.02358791e-01 -2.26200072e-03] [-2.13545280e-03 -8.43684398e-04 9.99997364e-01]] t_estimated: [[0.56159253] [0.827413 ] [0.00124798]] R_gt: [[ 0.97729844 -0.19868687 -0.07357219] [ 0.19272332 0.97791578 -0.08086427] [ 0.08801374 0.06484879 0.99400583]] t_gt: [ 0.80170367 -0.43731422 -0.40746472] Pose Error in degrees for R and t: 113.1118147908189 84.95818103749956 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.93470412 -0.35539194 0.00497783] [ 0.35540382 0.93471127 -0.00171996] [-0.00404157 0.00337679 0.99998613]] t_estimated: [[0.69326802] [0.72067895] [0.00114212]] R_gt: [[ 0.9372264 -0.34192147 -0.06853177] [ 0.33675247 0.93845482 -0.07680764] [ 0.09057591 0.04890853 0.99468849]] t_gt: [ 0.83538345 -0.49201456 -0.24506358] Pose Error in degrees for R and t: 6.099518607748454 77.039444844407 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.95269341e-01 -9.71540023e-02 -1.96893308e-04] [ 9.71540159e-02 9.95269357e-01 6.07880379e-05] [ 1.90056074e-04 -7.96294459e-05 9.99999979e-01]] t_estimated: [[-0.34769978] [-0.9376053 ] [-0.00107647]] R_gt: [[ 0.99365443 0.10752414 -0.03301528] [-0.10741932 0.99420127 0.00492664] [ 0.03335301 -0.00134917 0.99944221]] t_gt: [-0.843771 0.50109057 -0.19224656] Pose Error in degrees for R and t: 11.899069386552735 79.84921824204093 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 9.99886239e-01 1.50822905e-02 -1.80530219e-04] [-1.50822925e-02 9.99886256e-01 -9.42882239e-06] [ 1.80367476e-04 1.21505593e-05 9.99999984e-01]] t_estimated: [[-9.96315916e-01] [-8.57539801e-02] [-9.22526235e-04]] R_gt: [[ 0.97830566 0.20680109 0.01229501] [-0.20701808 0.97812669 0.02029226] [-0.00783045 -0.02239672 0.9997181 ]] t_gt: [-0.83997371 0.5394051 0.05904493] Pose Error in degrees for R and t: 11.162353613399219 37.761322783921536 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-9.58596541e-01 -2.84767527e-01 3.57058032e-04] [-2.84766507e-01 9.58595306e-01 1.75384171e-03] [-8.41711320e-04 1.57954843e-03 -9.99998398e-01]] t_estimated: [[0.9998497 ] [0.01726585] [0.00156962]] R_gt: [[ 0.94671519 0.3217056 -0.01534935] [-0.32026598 0.94537864 0.06074119] [ 0.03405167 -0.05258822 0.99803534]] t_gt: [-0.80936 0.58640337 0.03267225] Pose Error in degrees for R and t: 179.07094406758043 36.95934631773033 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99374963e-01 -3.53491117e-02 -3.50431204e-04] [ 3.53492287e-02 9.99374965e-01 3.33649980e-04] [ 3.38417942e-04 -3.45828909e-04 9.99999883e-01]] t_estimated: [[-9.83068553e-01] [ 1.83237635e-01] [ 4.35894947e-04]] R_gt: [[ 0.99279941 0.11660986 -0.02741744] [-0.11643245 0.9931662 0.00796711] [ 0.02815924 -0.00471716 0.99959235]] t_gt: [-0.66937521 0.73980489 -0.06801144] Pose Error in degrees for R and t: 8.866164201277538 37.479398853254224 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-9.74681151e-01 2.23572515e-01 -3.46178730e-03] [-2.23572063e-01 -9.74687263e-01 -5.21823335e-04] [-3.49082535e-03 2.65347562e-04 9.99993872e-01]] t_estimated: [[0.60147253] [0.7988924 ] [0.00131613]] R_gt: [[ 0.99270706 0.12030231 0.00767817] [-0.12053371 0.99151471 0.04868558] [-0.00175478 -0.04925525 0.99878479]] t_gt: [-0.71259943 0.63013993 0.30842459] Pose Error in degrees for R and t: 160.17161014802056 85.68665720134518 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.92628918 -0.37680387 -0.0026841 ] [ 0.37681123 0.9262846 0.00318284] [ 0.00128693 -0.00395962 0.99999133]] t_estimated: [[0.50557815] [0.86278011] [0.00109908]] R_gt: [[ 0.99607826 0.07013553 0.05392847] [-0.07647693 0.98904224 0.12628088] [-0.04448031 -0.12990894 0.99052716]] t_gt: [-0.52387672 0.32774439 0.78621676] Pose Error in degrees for R and t: 27.452957040828018 88.92421817274925 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999971e-01 -1.90939289e-04 1.45192608e-04] [ 1.90981931e-04 9.99999939e-01 -2.93734386e-04] [-1.45136513e-04 2.93762107e-04 9.99999946e-01]] t_estimated: [[9.29237563e-01] [3.69482508e-01] [4.76967598e-04]] R_gt: [[ 0.99552235 -0.08777414 -0.03506775] [ 0.08767826 0.9961395 -0.00427563] [ 0.03530702 0.00118237 0.99937565]] t_gt: [ 0.81677964 -0.51863585 -0.25276052] Pose Error in degrees for R and t: 5.418742636857893 55.442369588497655 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 1.00000000e+00 7.99360578e-14 -6.91829406e-16] [-7.98805466e-14 1.00000000e+00 -1.71087103e-16] [ 9.50411624e-16 -5.76145034e-16 1.00000000e+00]] t_estimated: [[ 9.46638975e-01] [ 3.22294874e-01] [-8.14969186e-04]] R_gt: [[ 9.92698863e-01 -1.13854804e-01 -3.98041042e-02] [ 1.13774620e-01 9.93497031e-01 -4.30394048e-03] [ 4.00345936e-02 -2.55939707e-04 9.99198383e-01]] t_gt: [ 0.84973455 -0.48210922 -0.21335859] Pose Error in degrees for R and t: 6.9286530515456235 49.51986302545762 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 4.49871027e-01 8.93090313e-01 2.39810581e-03] [ 8.93093528e-01 -4.49869680e-01 -1.10489992e-03] [ 9.20596751e-05 2.63879524e-03 -9.99996514e-01]] t_estimated: [[9.96232706e-01] [8.67146173e-02] [9.85393379e-04]] R_gt: [[ 0.97689158 -0.20595052 -0.05714101] [ 0.20488719 0.97849227 -0.02395144] [ 0.06084381 0.01169114 0.99807913]] t_gt: [ 0.82666655 -0.52331157 -0.20680284] Pose Error in degrees for R and t: 179.22607044359196 38.92494177765626 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 -2.95816772e-06 -1.88042352e-07] [ 2.95816772e-06 1.00000000e+00 5.07250466e-09] [ 1.88042337e-07 -5.07306093e-09 1.00000000e+00]] t_estimated: [[-0.96059948] [ 0.27793463] [-0.00098601]] R_gt: [[ 0.99244851 0.09700248 -0.07507128] [-0.09445067 0.99484799 0.03683241] [ 0.07825632 -0.02946366 0.99649732]] t_gt: [ 0.09054852 0.93034405 -0.3553321 ] Pose Error in degrees for R and t: 7.299007748808545 80.09911418017212 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999993e-01 1.19350671e-04 -2.69303686e-05] [-1.19350743e-04 9.99999993e-01 -2.67376239e-06] [ 2.69300493e-05 2.67697653e-06 1.00000000e+00]] t_estimated: [[-0.93454014] [-0.35585584] [-0.00116239]] R_gt: [[ 0.98638192 0.16084923 -0.03430812] [-0.16061716 0.9869726 0.00943103] [ 0.0353783 -0.00379199 0.99936706]] t_gt: [-0.05670186 0.97227747 -0.2268511 ] Pose Error in degrees for R and t: 9.466864483668093 72.97812687610441 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999999e-01 4.80381176e-05 -3.01939392e-07] [-4.80381177e-05 9.99999999e-01 -2.35273615e-07] [ 3.01928090e-07 2.35288120e-07 1.00000000e+00]] t_estimated: [[ 0.06356938] [-0.99795731] [ 0.00633555]] R_gt: [[ 0.98418478 0.17597587 0.02028228] [-0.17353003 0.98078091 -0.08919946] [-0.03559013 0.08426909 0.99580663]] t_gt: [ 0.03530833 0.95401904 -0.29765918] Pose Error in degrees for R and t: 11.364175708895807 17.878142593375784 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 3.96803026e-01 -9.17902876e-01 -1.29167930e-03] [ 9.17903778e-01 3.96802462e-01 6.78034118e-04] [-1.09827939e-04 -1.45468330e-03 9.99998936e-01]] t_estimated: [[0.99988188] [0.01533561] [0.00102237]] R_gt: [[ 0.98955263 -0.14342886 -0.01461645] [ 0.14365627 0.98949818 0.01598918] [ 0.01217005 -0.01792067 0.99976522]] t_gt: [ 0.60741099 -0.79392266 0.02717916] Pose Error in degrees for R and t: 58.37793336753514 53.47369818972518 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.41578971 -0.90925534 -0.01932988] [ 0.90906974 -0.41614026 0.02048178] [-0.0266671 -0.00905609 0.99960335]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.95647136 -0.28748568 -0.05015717] [ 0.2867662 0.9577669 -0.02113716] [ 0.05411541 0.00583447 0.99851734]] t_gt: [ 0.72695165 -0.66441669 -0.17346976] Pose Error in degrees for R and t: 97.96123087584124 48.86304647272055 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.31597187e-01 3.63492247e-01 2.59490560e-04] [-3.63491322e-01 9.31596032e-01 -1.70085474e-03] [-8.59987886e-04 1.49018892e-03 9.99998520e-01]] t_estimated: [[9.77404375e-01] [2.11376379e-01] [8.45505514e-04]] R_gt: [[ 0.91991303 -0.38791271 -0.05731029] [ 0.3848029 0.92115453 -0.05830884] [ 0.07541026 0.0315865 0.99665215]] t_gt: [ 0.7630086 -0.60350976 -0.23150344] Pose Error in degrees for R and t: 44.31688708748435 51.829441576655334 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.88437386e-01 1.51628550e-01 5.62313196e-04] [-1.51629382e-01 9.88435402e-01 1.99654201e-03] [-2.53077499e-04 -2.05871997e-03 9.99997849e-01]] t_estimated: [[-0.25573877] [ 0.96670663] [ 0.00871601]] R_gt: [[ 0.99845929 0.05268315 0.01743568] [-0.05224152 0.9983248 -0.02483549] [-0.01871519 0.02388676 0.99953975]] t_gt: [-0.8705103 0.32209291 -0.37211286] Pose Error in degrees for R and t: 5.996361367428878 57.94390799109427 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.53618249e-01 3.01018551e-01 -2.59957369e-04] [-3.01018566e-01 9.53618279e-01 -2.13194343e-05] [ 2.41482553e-04 9.85825960e-05 9.99999966e-01]] t_estimated: [[-0.88883527] [ 0.45822551] [-0.00111324]] R_gt: [[ 0.97671763 0.21421156 0.01167902] [-0.21436331 0.9766548 0.01389414] [-0.00842957 -0.01607312 0.9998355 ]] t_gt: [-0.91369686 0.39326923 0.10245664] Pose Error in degrees for R and t: 5.2502265918352995 7.1526537087619255 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.61542084e-01 9.86865718e-01 4.58475471e-04] [ 9.86861139e-01 1.61539868e-01 3.15634526e-03] [ 3.04082687e-03 9.62334218e-04 -9.99994914e-01]] t_estimated: [[-0.0967008 ] [-0.9953107 ] [-0.00235856]] R_gt: [[ 0.93444078 0.35563603 0.01851787] [-0.35564158 0.93461731 -0.00310735] [-0.01841203 -0.00368115 0.9998238 ]] t_gt: [-0.858746 0.51112395 0.03616084] Pose Error in degrees for R and t: 179.31474298329886 64.80052517129842 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.98990939 -0.14169297 0.00158123] [-0.1416873 -0.98958684 0.02534949] [-0.00202708 -0.02531774 -0.9996774 ]] t_estimated: [[0.06758437] [0.99763232] [0.01273177]] R_gt: [[ 0.99869581 0.00297311 -0.0509626 ] [-0.00778317 0.99550046 -0.0944361 ] [ 0.05045307 0.09471054 0.99422621]] t_gt: [ 0.02720283 0.29640798 -0.95467393] Pose Error in degrees for R and t: 175.83354984231744 73.41783923370305 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.38852730e-01 -3.44318913e-01 -1.94623417e-04] [ 3.44318966e-01 9.38852627e-01 4.40053087e-04] [ 3.12041058e-05 -4.80157576e-04 9.99999884e-01]] t_estimated: [[0.73842898] [0.67433055] [0.0009754 ]] R_gt: [[ 0.99400968 0.03616378 -0.10312994] [-0.0533388 0.98417289 -0.16899294] [ 0.09538584 0.17348202 0.98020768]] t_gt: [-0.06197957 0.41326285 -0.90850005] Pose Error in degrees for R and t: 25.41289128306934 76.58384932333982 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 8.46300984e-01 -5.32705023e-01 -4.75744072e-05] [ 5.32705016e-01 8.46300949e-01 2.63716956e-04] [-1.00221081e-04 -2.48527045e-04 9.99999964e-01]] t_estimated: [[0.54130324] [0.8408269 ] [0.00096746]] R_gt: [[ 0.98473314 0.04809077 -0.16729334] [-0.08866237 0.96563686 -0.24430442] [ 0.14979517 0.25540869 0.95515919]] t_gt: [-0.01346307 0.4299305 -0.9027616 ] Pose Error in degrees for R and t: 39.96940515557967 69.30849541983919 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99630518e-01 -2.71663013e-02 -9.05614566e-04] [ 2.71671400e-02 9.99630475e-01 9.26974376e-04] [ 8.80097454e-04 -9.51234833e-04 9.99999160e-01]] t_estimated: [[-0.92500102] [-0.37996196] [-0.00142308]] R_gt: [[ 0.99894913 0.04087271 -0.02076709] [-0.04187532 0.99784725 -0.05046818] [ 0.01865877 0.05128483 0.99850995]] t_gt: [-0.27125863 0.79996599 -0.53523188] Pose Error in degrees for R and t: 5.042569581093625 87.003184225321 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99953090e-01 -9.68576262e-03 6.78207431e-05] [ 9.68576202e-03 9.99953092e-01 9.24335756e-06] [-6.79070907e-05 -8.58602837e-06 9.99999998e-01]] t_estimated: [[0.92376004] [0.38297038] [0.00104112]] R_gt: [[ 9.99898731e-01 -2.53262614e-04 1.42122203e-02] [ 6.35203156e-04 9.99639373e-01 -2.68570478e-02] [-1.42011820e-02 2.68631524e-02 9.99538514e-01]] t_gt: [-0.08219708 0.98833724 -0.12819179] Pose Error in degrees for R and t: 1.8183724073933745 72.39578284707251 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.54233572 -0.83860569 -0.05111235] [-0.8250589 0.52011676 0.22080843] [-0.15858682 0.161923 -0.97397698]] t_estimated: [[9.73882288e-01] [2.27051555e-01] [9.38229565e-04]] R_gt: [[ 0.99382807 -0.05435906 0.09670703] [ 0.04843207 0.99686194 0.06262261] [-0.099808 -0.05755196 0.99334035]] t_gt: [ 0.16986868 -0.3133863 0.93430919] Pose Error in degrees for R and t: 169.57323287533572 84.53982491497266 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.84885277e-01 -1.73207650e-01 -3.16705374e-04] [ 1.73207757e-01 9.84885248e-01 3.46879717e-04] [ 2.51836231e-04 -3.96492553e-04 9.99999890e-01]] t_estimated: [[-0.56443578] [-0.82547653] [-0.00086437]] R_gt: [[ 0.98338743 0.18147462 0.00410681] [-0.18143931 0.98201295 0.05225396] [ 0.00545021 -0.05212977 0.99862542]] t_gt: [-0.87638108 0.38610734 0.28788422] Pose Error in degrees for R and t: 20.650464734670486 79.88121730581065 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.89843843e-01 -1.42158245e-01 -4.46886963e-04] [ 1.42158462e-01 9.89843788e-01 4.97267178e-04] [ 3.71657655e-04 -5.55745618e-04 9.99999777e-01]] t_estimated: [[-7.91412053e-01] [-6.11282618e-01] [-7.23411383e-04]] R_gt: [[ 0.94692743 0.32113451 0.01422116] [-0.32144749 0.94613998 0.03861644] [-0.0010545 -0.04113757 0.99915334]] t_gt: [-0.85781906 0.49307442 0.14499683] Pose Error in degrees for R and t: 27.02093902272328 67.8287826057612 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-8.92050624e-01 -4.51934339e-01 -1.01824158e-03] [-4.51935439e-01 8.92047244e-01 2.46445081e-03] [-2.05450349e-04 2.65859434e-03 -9.99996445e-01]] t_estimated: [[9.30015978e-01] [3.67518679e-01] [5.48569259e-04]] R_gt: [[ 0.90599739 0.42160488 0.03766848] [-0.42325644 0.90336063 0.06922856] [-0.00484094 -0.07866457 0.99688921]] t_gt: [-0.84431393 0.49746947 0.19914343] Pose Error in degrees for R and t: 177.83310886762078 52.96614031135169 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 8.20632958e-01 5.71455600e-01 2.12633264e-04] [-5.71455303e-01 8.20632822e-01 -7.80489972e-04] [-6.20509200e-04 5.18985389e-04 9.99999673e-01]] t_estimated: [[0.50788059] [0.86142678] [0.00109457]] R_gt: [[ 0.98649014 -0.15241072 0.06007975] [ 0.1483999 0.9866981 0.06636481] [-0.06939435 -0.05655204 0.99598442]] t_gt: [ 0.57861727 -0.68621284 0.4408106 ] Pose Error in degrees for R and t: 43.80821042180935 72.73622693620017 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 2.43771939e-01 9.69799430e-01 8.01917863e-03] [ 9.69831775e-01 -2.43774084e-01 -7.23763003e-04] [ 1.25296298e-03 7.95368736e-03 -9.99967584e-01]] t_estimated: [[0.81950626] [0.57306962] [0.00083538]] R_gt: [[ 0.96038093 -0.26379809 0.08989078] [ 0.2559531 0.96249003 0.09000411] [-0.11026164 -0.06342851 0.99187582]] t_gt: [ 0.65057475 -0.6547022 0.3848604 ] Pose Error in degrees for R and t: 179.5812809176648 80.89282929394278 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 8.89766216e-01 4.56416176e-01 -5.95815754e-04] [-4.56415276e-01 8.89766048e-01 1.21462292e-03] [ 1.08451017e-03 -8.08791024e-04 9.99999085e-01]] t_estimated: [[-0.99751241] [-0.07047549] [-0.00148233]] R_gt: [[ 0.95010496 -0.30390681 0.07029491] [ 0.29717671 0.95036993 0.09210391] [-0.09479744 -0.06661774 0.99326449]] t_gt: [ 0.70572352 -0.63408646 0.3160517 ] Pose Error in degrees for R and t: 45.17373356228568 48.71927445500265 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 0.80592688 0.59167495 0.02006515] [ 0.59181529 -0.80431155 -0.05326909] [-0.01537935 0.05480585 -0.99837858]] t_estimated: [[-0.27507547] [ 0.96095508] [-0.02998047]] R_gt: [[ 0.99781014 -0.06399145 -0.01675505] [ 0.0646114 0.99712863 0.03948952] [ 0.01418044 -0.040486 0.99908004]] t_gt: [ 0.88654932 -0.13078179 0.44376393] Pose Error in degrees for R and t: 179.19178672888648 67.48981555756971 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.78888058e-01 2.04396900e-01 2.79498833e-04] [-2.04396951e-01 9.78888073e-01 1.66753754e-04] [-2.39514124e-04 -2.20361968e-04 9.99999947e-01]] t_estimated: [[0.56191625] [0.82719354] [0.00098894]] R_gt: [[ 0.99787684 -0.03363272 -0.05578314] [ 0.03604784 0.99843029 0.04286572] [ 0.05425411 -0.04478673 0.99752229]] t_gt: [0.81476239 0.53938888 0.21265438] Pose Error in degrees for R and t: 14.369663043779537 25.281897756508194 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.71481881 -0.69909628 -0.01727613] [ 0.69927219 0.71481822 0.00730251] [ 0.00724414 -0.01730069 0.99982409]] t_estimated: [[-0.0061664 ] [-0.99996594] [ 0.00548526]] R_gt: [[ 0.9933061 -0.04342411 -0.10704621] [ 0.04774014 0.99813305 0.03808953] [ 0.10519363 -0.04294473 0.99352378]] t_gt: [ 0.88864737 0.4534945 -0.06818053] Pose Error in degrees for R and t: 42.08767578023536 62.65593729506096 Number of keypoints: Image1: 653 Image2: 653 R_estimated: [[ 9.99934931e-01 -1.14064371e-02 -1.62099242e-04] [ 1.14064545e-02 9.99934939e-01 1.07012491e-04] [ 1.60868064e-04 -1.08854505e-04 9.99999981e-01]] t_estimated: [[-0.15298917] [-0.98822733] [-0.00103371]] R_gt: [[ 0.99591745 0.08272415 0.03612039] [-0.08333197 0.99639843 0.01567439] [-0.03469344 -0.01862017 0.99922425]] t_gt: [-0.91557895 0.23993747 0.32271535] Pose Error in degrees for R and t: 5.8712215765073426 84.41210119865038 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[-6.34657131e-01 -7.72790255e-01 -2.35538031e-03] [ 7.72793165e-01 -6.34657667e-01 -6.08622385e-04] [-1.02452272e-03 -2.20648834e-03 9.99997041e-01]] t_estimated: [[9.89511080e-01] [1.44454174e-01] [9.02838576e-04]] R_gt: [[ 0.98382789 0.17908243 0.00337217] [-0.17908373 0.98314875 0.03671484] [ 0.00325965 -0.03672413 0.99931955]] t_gt: [-0.92127463 0.36628016 0.13073597] Pose Error in degrees for R and t: 139.71964606050773 30.84217825446123 Number of keypoints: Image1: 397 Image2: 397 R_estimated: [[-9.24177104e-01 -3.81946400e-01 3.69166876e-03] [-3.81944585e-01 9.24184432e-01 1.21245454e-03] [-3.87487545e-03 -2.89490168e-04 -9.99992451e-01]] t_estimated: [[0.9791781 ] [0.20297447] [0.00340825]] R_gt: [[ 0.95949182 0.27683071 0.05234701] [-0.27827009 0.96024095 0.02242858] [-0.04405676 -0.03608667 0.9983768 ]] t_gt: [-0.85405339 0.4993443 0.14576721] Pose Error in degrees for R and t: 176.71766272717673 42.74181910292032 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.64866000e-01 -2.62740844e-01 9.22121503e-04] [ 2.62741626e-01 9.64865841e-01 -8.63969713e-04] [-6.62723409e-04 1.07589470e-03 9.99999202e-01]] t_estimated: [[0.96178776] [0.2737936 ] [0.00117006]] R_gt: [[ 0.99657962 0.06263455 0.05390797] [-0.06136093 0.99780358 -0.02497213] [-0.05535394 0.02157817 0.99823408]] t_gt: [-0.45132077 0.79543633 0.40446336] Pose Error in degrees for R and t: 19.082456013621183 77.5365848903385 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.92649081 -0.37629578 -0.00403341] [ 0.37630754 0.9264909 0.00269252] [ 0.00272373 -0.0040124 0.99998824]] t_estimated: [[0.90830519] [0.41830351] [0.00196045]] R_gt: [[ 0.98431876 0.15905835 0.07626149] [-0.15542174 0.98650454 -0.05150916] [-0.08342555 0.0388478 0.99575637]] t_gt: [-0.49259693 0.8318948 0.25553728] Pose Error in degrees for R and t: 31.65071077024784 84.3217010193695 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 8.53203093e-01 -5.21570842e-01 2.88787965e-03] [ 5.21572772e-01 8.53206794e-01 9.83385447e-05] [-2.51524905e-03 1.42233664e-03 9.99995825e-01]] t_estimated: [[0.8168014 ] [0.57691555] [0.00198253]] R_gt: [[ 0.98055081 0.15384961 0.12186737] [-0.14907706 0.9876885 -0.04741596] [-0.12766161 0.02832476 0.99141377]] t_gt: [-0.46631615 0.74965087 0.46965181] Pose Error in degrees for R and t: 40.82447138604607 86.98894373733438 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999938e-01 -7.32210103e-05 -3.45857547e-04] [ 7.33286986e-05 9.99999949e-01 3.11363522e-04] [ 3.45834731e-04 -3.11388864e-04 9.99999892e-01]] t_estimated: [[9.99979128e-01] [6.38564346e-03] [9.83620562e-04]] R_gt: [[ 0.99613494 -0.04927714 0.07271049] [ 0.05389816 0.99655462 -0.06303001] [-0.06935332 0.06670559 0.99535938]] t_gt: [ 0.38823305 0.90981572 -0.1466644 ] Pose Error in degrees for R and t: 6.2882830146260655 66.80320793237996 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999631e-01 8.58924599e-04 2.95535602e-07] [-8.58924648e-04 9.99999551e-01 4.00527932e-04] [ 4.84878242e-08 -4.00528038e-04 9.99999920e-01]] t_estimated: [[0.89507692] [0.44590985] [0.00131075]] R_gt: [[ 0.99500372 -0.07560859 0.06520491] [ 0.07661267 0.99697541 -0.0130311 ] [-0.06402144 0.01796203 0.99778715]] t_gt: [0.69844951 0.57227937 0.42972621] Pose Error in degrees for R and t: 5.839322290171279 28.247147750142247 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.99989527e-01 -4.52525660e-03 -6.84346119e-04] [ 4.52437467e-03 9.99988940e-01 -1.28481860e-03] [ 6.90152683e-04 1.28170891e-03 9.99998940e-01]] t_estimated: [[0.9777846 ] [0.20960892] [0.001171 ]] R_gt: [[ 0.99331925 -0.11049211 0.03328564] [ 0.11108854 0.99367085 -0.0166331 ] [-0.03123652 0.0202201 0.99930767]] t_gt: [0.92272748 0.38225064 0.04958265] Pose Error in degrees for R and t: 6.465194370539063 10.762423532688175 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-2.30974521e-01 -9.72946425e-01 -5.10143482e-03] [-9.72959688e-01 2.30973826e-01 7.33045134e-04] [ 4.65084273e-04 5.13280518e-03 -9.99986719e-01]] t_estimated: [[8.75543275e-01] [4.83139612e-01] [2.96821186e-04]] R_gt: [[ 0.99221921 -0.10848491 0.06110549] [ 0.10881956 0.99405936 -0.00216376] [-0.06050779 0.008797 0.99812888]] t_gt: [ 0.59245881 -0.74309873 0.31112188] Pose Error in degrees for R and t: 177.64765225860253 80.80498843759682 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.69944900e-01 2.43324295e-01 4.22303720e-04] [-2.43324163e-01 9.69944965e-01 -3.40736715e-04] [-4.92520888e-04 2.27739140e-04 9.99999853e-01]] t_estimated: [[0.18986566] [0.98180923] [0.00129365]] R_gt: [[ 0.97340138 -0.22073502 0.06138042] [ 0.22074753 0.975309 0.00666616] [-0.06133607 0.00706024 0.9980924 ]] t_gt: [ 0.72517951 -0.67212372 0.14954731] Pose Error in degrees for R and t: 27.072287677105084 58.532346883348325 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99038167e-01 -4.38490369e-02 5.70212475e-05] [ 4.38490358e-02 9.99038168e-01 1.93874625e-05] [-5.78165242e-05 -1.68684882e-05 9.99999998e-01]] t_estimated: [[ 9.41259038e-01] [-3.37685392e-01] [-6.24109730e-06]] R_gt: [[ 0.96186424 -0.26856967 0.05185534] [ 0.26877296 0.96319845 0.00315003] [-0.05079257 0.01090793 0.99864889]] t_gt: [ 0.78927618 -0.60777002 0.08751405] Pose Error in degrees for R and t: 13.415324774231294 18.53171864516991 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.85810024e-01 1.67864773e-01 1.17022047e-04] [-1.67864744e-01 9.85810011e-01 -2.24985618e-04] [-1.53128665e-04 2.02149202e-04 9.99999968e-01]] t_estimated: [[-0.61794312] [-0.78622227] [-0.00091956]] R_gt: [[ 0.98821659 -0.11371463 0.10245267] [ 0.11325106 0.99351239 0.01034516] [-0.10296425 0.00137966 0.99468387]] t_gt: [ 0.47013477 -0.71657666 0.51525836] Pose Error in degrees for R and t: 17.232757596706726 74.19297792141535 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99995855e-01 1.21581976e-04 2.87654321e-03] [-1.13360695e-04 9.99995909e-01 -2.85803260e-03] [-2.87687893e-03 2.85769467e-03 9.99991779e-01]] t_estimated: [[-0.90681934] [-0.42151847] [-0.00092438]] R_gt: [[ 0.96463097 -0.23003478 0.12872591] [ 0.22968072 0.9731028 0.0177871 ] [-0.12935427 0.01240829 0.99152038]] t_gt: [ 0.63676896 -0.69682353 0.33009431] Pose Error in degrees for R and t: 15.213316637668763 73.49998742001539 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-9.30791895e-01 -3.65547825e-01 -1.11177208e-03] [ 3.65549416e-01 -9.30789576e-01 -2.09515136e-03] [-2.68947839e-04 -2.35655754e-03 9.99997187e-01]] t_estimated: [[9.62228019e-01] [2.72243781e-01] [7.49982868e-04]] R_gt: [[ 0.94011533 -0.3176368 0.12365338] [ 0.31627562 0.94816 0.03100932] [-0.12709258 0.00995702 0.99184047]] t_gt: [ 0.72858452 -0.64451112 0.23188362] Pose Error in degrees for R and t: 140.09495842324705 58.27962276094471 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.97952678e-01 6.39566257e-02 5.05737485e-05] [-6.39566269e-02 9.97952679e-01 2.30967263e-05] [-4.89930191e-05 -2.62839662e-05 9.99999998e-01]] t_estimated: [[8.50815237e-01] [5.25464550e-01] [6.62628689e-04]] R_gt: [[ 0.9983015 -0.05566479 0.01721516] [ 0.0553805 0.99832772 0.01659632] [-0.01811084 -0.01561326 0.99971417]] t_gt: [0.80552369 0.10619019 0.58297103] Pose Error in degrees for R and t: 6.9849842087750735 42.13746428625185 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.89519114e-01 -1.44399059e-01 9.13878339e-04] [ 1.44400167e-01 9.89518532e-01 -1.29130242e-03] [-7.17836698e-04 1.40973261e-03 9.99998749e-01]] t_estimated: [[-0.02855968] [-0.99958872] [-0.00259633]] R_gt: [[ 0.9964117 -0.08436593 -0.00683568] [ 0.08459546 0.99528471 0.04746454] [ 0.00279785 -0.04787219 0.99885012]] t_gt: [0.91967911 0.09814101 0.38020872] Pose Error in degrees for R and t: 4.464731400245874 82.79882744406191 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.98196544 0.18905162 -0.00183305] [-0.18904603 -0.98196407 -0.0028561 ] [-0.00233994 -0.00245806 0.99999424]] t_estimated: [[0.71815267] [0.69588359] [0.00166728]] R_gt: [[ 0.99618359 -0.08714134 -0.00496582] [ 0.08726525 0.99550203 0.03690298] [ 0.00172748 -0.03719388 0.99930647]] t_gt: [0.94745037 0.20128813 0.24863807] Pose Error in degrees for R and t: 174.1108831178868 34.824844048726185 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 8.14736594e-01 5.79830912e-01 -6.29956548e-04] [ 5.79810053e-01 -8.14697032e-01 9.43650228e-03] [ 4.95835199e-03 -8.05351886e-03 -9.99955277e-01]] t_estimated: [[0.21538666] [0.9765275 ] [0.00161945]] R_gt: [[ 0.99471073 0.07104399 -0.07417681] [-0.06828114 0.99689769 0.03915411] [ 0.07672767 -0.03388302 0.99647595]] t_gt: [ 0.76086986 0.36545691 -0.53620733] Pose Error in degrees for R and t: 176.15610710036816 58.675020424389864 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.87753806e-01 -1.56019826e-01 -4.82567105e-04] [ 1.56020401e-01 9.87752578e-01 1.57433454e-03] [ 2.31029501e-04 -1.63034525e-03 9.99998644e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.98055899 0.16750485 -0.10220675] [-0.16137591 0.98470894 0.06561433] [ 0.11163453 -0.04784595 0.99259755]] t_gt: [ 0.20999499 0.93473416 -0.28666036] Pose Error in degrees for R and t: 19.717058065238692 54.27768638298897 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.87144125 -0.49049682 -0.00173747] [-0.49047215 0.8713488 0.01372384] [-0.00521756 0.0128117 -0.99990431]] t_estimated: [[9.11570647e-01] [4.11142843e-01] [7.20040005e-04]] R_gt: [[ 0.95349108 0.26783879 -0.1382621 ] [-0.25207522 0.96005855 0.12143528] [ 0.16526376 -0.08093568 0.98292282]] t_gt: [-0.01596973 0.99801544 -0.06091101] Pose Error in degrees for R and t: 172.96077580096727 66.68877035603228 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[-8.19958883e-01 -5.72422209e-01 4.95137920e-04] [ 5.72411400e-01 -8.19948155e-01 -5.49657955e-03] [ 3.55235163e-03 -4.22354664e-03 9.99984771e-01]] t_estimated: [[8.04413322e-01] [5.94069655e-01] [6.72024497e-04]] R_gt: [[ 0.99938597 0.00983944 -0.03365124] [-0.00971816 0.99994509 0.00376337] [ 0.0336866 -0.00343344 0.9994268 ]] t_gt: [ 0.25333462 0.94370229 -0.21271471] Pose Error in degrees for R and t: 145.64151233009116 40.158113193558144 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 0.86272854 0.50566314 0.00206097] [-0.50565902 0.86268379 0.00925441] [ 0.00290165 -0.00902619 0.99995505]] t_estimated: [[0.51624773] [0.8564341 ] [0.00298409]] R_gt: [[ 0.99657091 0.02222018 -0.07970962] [-0.02003058 0.99940204 0.02816207] [ 0.08028735 -0.02646882 0.99641986]] t_gt: [ 0.46843233 0.86813308 -0.16406128] Pose Error in degrees for R and t: 29.527065538683765 9.990565732745432 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-9.31626215e-01 3.63250414e-01 1.10332641e-02] [ 3.63279767e-01 9.31679828e-01 7.13344600e-04] [-1.00203469e-02 4.67273215e-03 -9.99938877e-01]] t_estimated: [[ 0.80907836] [-0.58767598] [ 0.00539862]] R_gt: [[ 0.98998238 -0.01138181 -0.14073542] [ 0.00810527 0.99968229 -0.02383186] [ 0.14096174 0.02245236 0.98976051]] t_gt: [ 0.75077738 0.51095777 -0.41863525] Pose Error in degrees for R and t: 172.9030501116456 72.24784790330155 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99798906e-01 -2.00535734e-02 4.64016430e-05] [ 2.00535752e-02 9.99798906e-01 -3.82046928e-05] [-4.56261713e-05 3.91275289e-05 9.99999998e-01]] t_estimated: [[9.69459890e-01] [2.45249849e-01] [1.79905253e-04]] R_gt: [[ 0.99343654 -0.11105509 0.02742302] [ 0.11095511 0.99381308 0.00508467] [-0.02781806 -0.00200877 0.99961039]] t_gt: [ 0.70511192 -0.67388128 0.22068349] Pose Error in degrees for R and t: 5.4633073479415275 58.778486816972176 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.95696506e-01 -9.26613387e-02 1.53109287e-03] [ 9.26611248e-02 9.95697681e-01 2.10184989e-04] [-1.54398165e-03 -6.74076714e-05 9.99998806e-01]] t_estimated: [[9.91094319e-01] [1.33158750e-01] [8.93682884e-04]] R_gt: [[ 0.99212281 -0.10833924 0.06289908] [ 0.11045689 0.99339053 -0.03123277] [-0.05909983 0.03793518 0.99753027]] t_gt: [ 0.78243262 -0.56296631 0.26621068] Pose Error in degrees for R and t: 4.0719667238948976 45.51371267038163 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-2.39214986e-01 -9.70964109e-01 -2.21118772e-03] [ 9.70966544e-01 -2.39215286e-01 -1.31682686e-04] [-4.01090741e-04 -2.17848977e-03 9.99997547e-01]] t_estimated: [[0.93486134] [0.35501063] [0.00131485]] R_gt: [[ 0.99403915 0.01692269 0.10770586] [-0.0100701 0.99790915 -0.06385438] [-0.10856085 0.06238886 0.99212985]] t_gt: [-3.19269199e-04 6.15318231e-01 7.88278740e-01] Pose Error in degrees for R and t: 104.80048681311004 77.33897729115841 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.84328708e-01 -1.76341800e-01 -7.50580845e-04] [ 1.76342074e-01 9.84328895e-01 3.14725130e-04] [ 6.83319218e-04 -4.42151964e-04 9.99999669e-01]] t_estimated: [[-0.67563621] [-0.73723267] [-0.00192489]] R_gt: [[ 0.98805367 0.15355261 0.01312635] [-0.15376697 0.98795488 0.01732404] [-0.01030846 -0.01913596 0.99976302]] t_gt: [-0.90873091 0.37911537 0.1745843 ] Pose Error in degrees for R and t: 19.037682066861816 70.47979779380051 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.92961516e-01 -1.18436028e-01 5.78404256e-04] [ 1.18436685e-01 9.92960785e-01 -1.27693722e-03] [-4.23097371e-04 1.33645380e-03 9.99999017e-01]] t_estimated: [[-0.83238132] [-0.55420222] [-0.00111466]] R_gt: [[ 0.97462155 0.22257958 0.02391305] [-0.22351294 0.97348862 0.04860106] [-0.01246154 -0.05271287 0.99853165]] t_gt: [-0.90684395 0.32226808 0.27161983] Pose Error in degrees for R and t: 19.950004943370853 54.83482688818854 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.56109810e-01 2.93008500e-01 2.21397115e-04] [-2.93008580e-01 9.56109395e-01 8.93143254e-04] [ 5.00187043e-05 -9.18814282e-04 9.99999577e-01]] t_estimated: [[0.30784137] [0.95143696] [0.00118792]] R_gt: [[ 0.96552066 0.25532495 0.05079224] [-0.25848254 0.96344302 0.07045394] [-0.0309465 -0.08115401 0.99622022]] t_gt: [-0.89721849 0.27313055 0.34698513] Pose Error in degrees for R and t: 5.371386895111226 89.08768197305618 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.99982183e-01 5.91312304e-03 -8.17840562e-04] [ 5.91359822e-03 9.99982346e-01 -5.79817358e-04] [ 8.14397592e-04 -5.84643408e-04 -9.99999497e-01]] t_estimated: [[0.99995133] [0.00978984] [0.00122393]] R_gt: [[ 0.99843189 0.0150331 -0.05393148] [-0.01601322 0.99971395 -0.01779347] [ 0.05364814 0.01862822 0.99838565]] t_gt: [ 0.14348275 0.39431354 -0.90770564] Pose Error in degrees for R and t: 176.8726682118302 81.59177355030347 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 1.00000000e+00 1.07275300e-13 -2.57389596e-16] [-1.07330811e-13 1.00000000e+00 3.71339244e-16] [ 9.16150836e-18 -3.79470760e-16 1.00000000e+00]] t_estimated: [[-1.96602903e-01] [ 9.80482817e-01] [ 8.62717418e-04]] R_gt: [[ 0.99406892 0.06864962 -0.08435782] [-0.0738642 0.9954414 -0.06033555] [ 0.0798317 0.06620805 0.99460687]] t_gt: [-0.10068593 0.6927528 -0.71411197] Pose Error in degrees for R and t: 7.225603584449986 45.700320262735296 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99998674e-01 -1.61615339e-03 -2.02070802e-04] [ 1.61615429e-03 9.99998694e-01 4.29252047e-06] [ 2.02063601e-04 -4.61909237e-06 9.99999980e-01]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.99495096 0.06074809 -0.07989758] [-0.06688561 0.99482108 -0.07653656] [ 0.07483434 0.08149378 0.99385955]] t_gt: [-0.05751304 0.69364768 -0.71801473] Pose Error in degrees for R and t: 7.3752897715056385 87.28564333499354 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.5336897 -0.84538073 -0.02251067] [-0.84545145 -0.5339755 0.00905648] [-0.01967632 0.01419832 -0.99970558]] t_estimated: [[0.30873198] [0.95114397] [0.0031185 ]] R_gt: [[ 0.99770959 -0.05288688 0.04217826] [ 0.05136008 0.99801205 0.03651324] [-0.04402639 -0.03426377 0.99844253]] t_gt: [ 0.36252121 -0.61434722 0.70082513] Pose Error in degrees for R and t: 177.16204342972236 61.95108204681649 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 4.71944191e-01 8.81625662e-01 2.20741324e-03] [ 8.81626712e-01 -4.71946731e-01 7.90219089e-04] [ 1.73845889e-03 1.57317517e-03 -9.99997251e-01]] t_estimated: [[7.98720002e-01] [6.01702401e-01] [7.60685716e-04]] R_gt: [[ 0.98732929 -0.10620731 0.11790462] [ 0.09134645 0.98794213 0.12501023] [-0.12976012 -0.11265632 0.98512469]] t_gt: [ 0.27624792 -0.48265237 0.83110395] Pose Error in degrees for R and t: 177.82496740314406 86.0356284868888 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.9560447 0.29317074 -0.005427 ] [ 0.29314774 0.95605583 0.00465382] [ 0.00655288 0.00285835 -0.99997444]] t_estimated: [[-0.13309095] [-0.99110282] [-0.00141586]] R_gt: [[ 0.97326059 -0.13662015 0.18465769] [ 0.0947569 0.97110078 0.21905318] [-0.20924895 -0.19569829 0.95807991]] t_gt: [ 0.23449911 -0.35846493 0.90361112] Pose Error in degrees for R and t: 170.8045658745491 71.16847507576813 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.89803583e-01 1.42438692e-01 2.93146934e-04] [-1.42438630e-01 9.89803610e-01 -2.24590692e-04] [-3.22148298e-04 1.80545224e-04 9.99999932e-01]] t_estimated: [[0.22055649] [0.97537361] [0.00107066]] R_gt: [[ 9.92802746e-01 -1.13293192e-01 3.88252906e-02] [ 1.13179126e-01 9.93561413e-01 5.12417278e-03] [-3.91564188e-02 -6.93954262e-04 9.99232651e-01]] t_gt: [ 0.5508027 -0.80195868 0.23125453] Pose Error in degrees for R and t: 14.860383851004082 48.66361399242541 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 8.99926616e-01 4.36040022e-01 1.08853103e-03] [-4.36040120e-01 8.99927213e-01 -1.58274595e-04] [-1.04861276e-03 -3.32207681e-04 9.99999395e-01]] t_estimated: [[0.52597845] [0.85049662] [0.00146899]] R_gt: [[ 0.95493174 -0.29076646 0.05965645] [ 0.28847752 0.95646887 0.04413561] [-0.06989404 -0.024937 0.99724239]] t_gt: [ 0.67925247 -0.6921265 0.24408398] Pose Error in degrees for R and t: 42.906615680957074 76.64283763616565 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.72714400e-01 2.32005808e-01 -3.69161196e-05] [-2.32005393e-01 9.72712940e-01 1.74180961e-03] [ 4.40018732e-04 -1.68571855e-03 9.99998482e-01]] t_estimated: [[7.42931670e-01] [6.69366867e-01] [7.28364382e-04]] R_gt: [[ 0.89874908 -0.43793872 0.0214504 ] [ 0.43590414 0.89771021 0.06405603] [-0.04730962 -0.04822076 0.99771548]] t_gt: [ 0.76637525 -0.618775 0.17258759] Pose Error in degrees for R and t: 39.529710443917516 81.06564965183718 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.97414369e-01 -7.18648938e-02 -1.14818956e-04] [ 7.18648932e-02 9.97414376e-01 -9.99015131e-06] [ 1.15240019e-04 1.71286843e-06 9.99999993e-01]] t_estimated: [[-0.99167139] [-0.12878849] [-0.0011708 ]] R_gt: [[ 0.99491641 0.09626857 0.02955264] [-0.09566706 0.99518965 -0.02114111] [-0.03144515 0.01820614 0.99933983]] t_gt: [-0.58194091 0.79972077 0.1476193 ] Pose Error in degrees for R and t: 9.853009381870892 61.71052309247119 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-9.87020863e-01 -1.60591288e-01 -5.03821714e-04] [-1.60590733e-01 9.87020578e-01 -9.97494974e-04] [ 6.57471402e-04 -9.03639252e-04 -9.99999376e-01]] t_estimated: [[0.99052242] [0.13734623] [0.00116395]] R_gt: [[ 0.99291416 0.09030075 0.07725066] [-0.08893487 0.99581686 -0.02095738] [-0.07882082 0.01393856 0.99679184]] t_gt: [-0.54190831 0.67116312 0.50584133] Pose Error in degrees for R and t: 175.64609609875325 63.64050669218304 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99988317 -0.01508936 -0.00243923] [ 0.01510019 0.99987593 0.00448332] [ 0.00237128 -0.00451963 0.99998697]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99483928 0.08397743 0.05694988] [-0.08325135 0.99641575 -0.01500027] [-0.05800524 0.01018192 0.99826449]] t_gt: [-0.55312432 0.70292087 0.44716411] Pose Error in degrees for R and t: 6.697208286604184 88.69311542576317 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[-0.66304099 -0.74799958 0.02955109] [-0.74791601 0.66359995 0.0160236 ] [-0.03159575 -0.01147743 -0.99943483]] t_estimated: [[0.91228947] [0.40918519] [0.0171874 ]] R_gt: [[ 0.99908208 -0.03848659 -0.01884153] [ 0.03827636 0.99920226 -0.0113618 ] [ 0.01926373 0.01063026 0.99975804]] t_gt: [ 0.80355765 -0.18682845 -0.56514621] Pose Error in degrees for R and t: 179.33148159345495 49.690490743108896 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 6.65667759e-01 7.46248239e-01 -1.23300850e-05] [-7.46248239e-01 6.65667759e-01 2.15359858e-06] [ 9.81485923e-06 7.76772310e-06 1.00000000e+00]] t_estimated: [[-9.99974549e-01] [-7.07946580e-03] [-8.84933229e-04]] R_gt: [[ 0.99698632 -0.07757098 -0.0016941 ] [ 0.07747963 0.99649828 -0.03142566] [ 0.00412673 0.03120015 0.9995049 ]] t_gt: [ 0.91182797 -0.15380942 -0.38067363] Pose Error in degrees for R and t: 52.74246520153281 24.44221990224336 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.96798869e-01 7.99495439e-02 2.91321247e-04] [-7.99495392e-02 9.96798912e-01 -2.78133953e-05] [-2.92612370e-04 4.43336150e-06 9.99999957e-01]] t_estimated: [[ 9.91522413e-01] [ 1.29935393e-01] [-3.14667065e-04]] R_gt: [[ 0.98876613 -0.14914502 0.00998292] [ 0.14938872 0.98827703 -0.0314862 ] [-0.00517017 0.03262368 0.99945413]] t_gt: [ 0.92336853 -0.35770552 -0.13941778] Pose Error in degrees for R and t: 13.306401419028242 29.64510017525279 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.95046082 0.3097996 0.02546464] [ 0.30979038 0.95079467 -0.00440585] [-0.02557658 0.00370111 -0.99966601]] t_estimated: [[ 0.98217987] [-0.18745139] [ 0.01358928]] R_gt: [[ 0.9938366 -0.10564612 0.03362107] [ 0.10496937 0.99424843 0.02128258] [-0.03567637 -0.01762157 0.99920734]] t_gt: [ 0.62297847 -0.68709964 0.37388756] Pose Error in degrees for R and t: 176.73381832591528 41.775962869392586 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999827e-01 5.88120525e-04 3.14087599e-06] [-5.88120668e-04 9.99999826e-01 4.55989056e-05] [-3.11405779e-06 -4.56007449e-05 9.99999999e-01]] t_estimated: [[ 9.92984072e-01] [-1.18248147e-01] [ 9.48958127e-05]] R_gt: [[ 0.98909614 -0.14675385 0.01237133] [ 0.14650813 0.98903013 0.01882422] [-0.01499874 -0.01680563 0.99974594]] t_gt: [ 0.7418931 -0.6460005 0.17966073] Pose Error in degrees for R and t: 8.563841855721263 35.60072022919091 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-5.24136996e-01 -8.51629968e-01 2.60918286e-03] [-8.51631742e-01 5.24140168e-01 6.79013985e-04] [-1.94584620e-03 -1.86616659e-03 -9.99996366e-01]] t_estimated: [[0.94044909] [0.33991824] [0.00333052]] R_gt: [[ 0.98576884 -0.16795211 0.0072987 ] [ 0.16792535 0.98579169 0.00407779] [-0.00787987 -0.00279404 0.99996498]] t_gt: [ 0.83503808 -0.54501285 0.07531525] Pose Error in degrees for R and t: 179.37598017201998 53.10848191244614 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.81532493 0.57848818 0.02442691] [ 0.57848281 0.81565531 -0.00800347] [-0.02455385 0.00760512 -0.99966958]] t_estimated: [[ 0.95078747] [-0.30949854] [ 0.01462364]] R_gt: [[ 9.81764866e-01 -1.89931929e-01 -8.05527769e-03] [ 1.90101739e-01 9.80882490e-01 4.15964197e-02] [ 1.80327000e-07 -4.23695680e-02 9.99102193e-01]] t_gt: [ 0.68978487 -0.69282359 0.21021965] Pose Error in degrees for R and t: 179.49440721751319 29.150777230849844 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.19038478 0.98170565 0.00276498] [-0.98170574 0.19039113 -0.00224842] [-0.00273371 -0.00228634 0.99999365]] t_estimated: [[0.38509637] [0.92287352] [0.00229199]] R_gt: [[ 0.92915723 -0.36521177 -0.05734236] [ 0.36780907 0.9288597 0.04399108] [ 0.03719607 -0.06196557 0.9973847 ]] t_gt: [ 0.79703492 -0.59728773 0.08934601] Pose Error in degrees for R and t: 100.62340717331564 75.8724702665451 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.24542840e-01 -3.81077797e-01 -5.00306085e-04] [ 3.81077500e-01 9.24542904e-01 -5.97877032e-04] [ 6.90392103e-04 3.62107537e-04 9.99999696e-01]] t_estimated: [[ 0.98683657] [-0.16171694] [-0.00110049]] R_gt: [[ 0.85634542 -0.4999516 -0.12931048] [ 0.50981162 0.85836134 0.0575049 ] [ 0.08224516 -0.11516729 0.98993521]] t_gt: [ 0.85669904 -0.50614823 0.09940184] Pose Error in degrees for R and t: 11.464166593928484 22.00283849400282 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999614e-01 8.68339129e-04 1.35419157e-04] [-8.68348833e-04 9.99999620e-01 7.16173765e-05] [-1.35356918e-04 -7.17349399e-05 9.99999988e-01]] t_estimated: [[-0.9999927 ] [-0.00368604] [-0.00100285]] R_gt: [[ 0.99886693 -0.02508177 0.04044718] [ 0.02131594 0.99562538 0.09097208] [-0.04255302 -0.09000589 0.99503197]] t_gt: [-0.0780993 -0.47529769 0.87635187] Pose Error in degrees for R and t: 5.871562588095336 85.47053047000115 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999966e-01 -1.53482660e-04 -2.10138889e-04] [ 1.53550592e-04 9.99999936e-01 3.23292872e-04] [ 2.10089256e-04 -3.23325128e-04 9.99999926e-01]] t_estimated: [[-0.99999234] [-0.00362258] [-0.00148459]] R_gt: [[ 0.99743876 -0.04856792 0.05251297] [ 0.0415062 0.99089632 0.1280663 ] [-0.0582552 -0.12555879 0.99037432]] t_gt: [ 0.00204752 -0.51424595 0.85764032] Pose Error in degrees for R and t: 8.353371639257842 89.916470978247 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.88843243e-01 -1.48959845e-01 7.30101683e-05] [ 1.48959815e-01 9.88843200e-01 3.15588373e-04] [-1.19205603e-04 -3.01191849e-04 9.99999948e-01]] t_estimated: [[6.56129946e-01] [7.54647735e-01] [5.38746331e-04]] R_gt: [[ 0.99573777 -0.08098778 0.04413639] [ 0.07363035 0.98617648 0.14844044] [-0.05554838 -0.14455757 0.98793549]] t_gt: [ 0.19775489 -0.58101492 0.78950279] Pose Error in degrees for R and t: 9.790867495758837 72.04419266241628 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999953e-01 -2.96344470e-04 8.32168155e-05] [ 2.96341735e-04 9.99999956e-01 3.28786713e-05] [-8.32265552e-05 -3.28540091e-05 9.99999996e-01]] t_estimated: [[0.48775571] [0.8729796 ] [0.00099122]] R_gt: [[ 0.999735 -0.02044884 0.01053625] [ 0.01997952 0.99887975 0.04289953] [-0.01140141 -0.04267782 0.99902423]] t_gt: [ 0.10822352 -0.62432146 0.77363453] Pose Error in degrees for R and t: 2.774528122708662 60.56298958122094 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.05416255 0.99853076 -0.00165443] [-0.99852142 -0.05416957 -0.00454279] [-0.00462574 0.00140594 0.99998831]] t_estimated: [[0.02718373] [0.99962974] [0.00119286]] R_gt: [[ 9.95866238e-01 -9.08258634e-02 -3.42102513e-04] [ 9.07258037e-02 9.94572246e-01 5.09371377e-02] [-4.28643599e-03 -5.07579954e-02 9.98701308e-01]] t_gt: [ 0.59811241 -0.69875174 0.39243797] Pose Error in degrees for R and t: 98.3572873651715 47.01820312610016 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999847e-01 5.53334004e-04 -1.91691667e-06] [-5.53333828e-04 9.99999843e-01 9.08050383e-05] [ 1.96716189e-06 -9.08039637e-05 9.99999996e-01]] t_estimated: [[ 9.98601701e-01] [-5.28631816e-02] [ 3.55260371e-04]] R_gt: [[ 0.99523718 -0.09540239 -0.02004504] [ 0.09506899 0.99532629 -0.01700553] [ 0.02157345 0.01501855 0.99965476]] t_gt: [ 0.779793 -0.6033265 -0.16709282] Pose Error in degrees for R and t: 5.700418913978013 35.85156737320846 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.25402686e-01 3.78985164e-01 3.38657868e-04] [-3.78984985e-01 9.25402690e-01 -4.92977435e-04] [-5.00226036e-04 3.27856395e-04 9.99999821e-01]] t_estimated: [[1.64172808e-01] [9.86431212e-01] [8.67555496e-04]] R_gt: [[ 9.93003667e-01 -1.17575918e-01 1.09250048e-02] [ 1.17565816e-01 9.93063675e-01 1.52929444e-03] [-1.10298672e-02 -2.33729691e-04 9.99939093e-01]] t_gt: [ 0.59503875 -0.80352268 -0.01673899] Pose Error in degrees for R and t: 29.029252213588393 45.977150456661825 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.0674997 -0.99768038 0.00881175] [-0.99770658 0.06745161 -0.00564457] [ 0.00503711 -0.00917254 -0.99994524]] t_estimated: [[0.84811663] [0.52980852] [0.0010575 ]] R_gt: [[ 0.98724606 -0.1217732 0.10255015] [ 0.1316876 0.98661183 -0.09620359] [-0.08946319 0.10848137 0.99006422]] t_gt: [ 0.28610445 -0.8532956 -0.4359253 ] Pose Error in degrees for R and t: 179.86114522628196 77.88384032385156 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.67510204e-01 2.52821883e-01 -2.25843463e-03] [-2.52822990e-01 -9.67512527e-01 2.14488731e-04] [-2.13083635e-03 7.78504232e-04 9.99997427e-01]] t_estimated: [[7.98458315e-01] [6.02049719e-01] [6.74943631e-04]] R_gt: [[ 0.98060171 -0.08977293 0.17424186] [ 0.11565554 0.98271127 -0.14457673] [-0.15825104 0.16192483 0.97403145]] t_gt: [-0.45798013 -0.59870081 -0.65712369] Pose Error in degrees for R and t: 171.37782823350418 43.40045458386568 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.98273439e-01 -5.87379002e-02 2.53012738e-05] [ 5.87378688e-02 9.98273202e-01 6.91323457e-04] [-6.58644719e-05 -6.88643702e-04 9.99999761e-01]] t_estimated: [[ 0.22078889] [-0.97532024] [ 0.00164203]] R_gt: [[ 0.99974335 -0.00158058 -0.02258714] [ 0.00497987 0.98848057 0.15126335] [ 0.02208652 -0.15133799 0.9882351 ]] t_gt: [-0.03696949 -0.34546191 0.93770428] Pose Error in degrees for R and t: 9.316570492089499 70.71220846367297 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99280451e-01 3.79286145e-02 2.90068111e-05] [-3.79286104e-02 9.99280443e-01 -1.31503199e-04] [-3.39736732e-05 1.30308388e-04 9.99999991e-01]] t_estimated: [[ 1.00130225e-01] [-9.94974305e-01] [-2.65947445e-04]] R_gt: [[ 0.99715702 0.0246401 -0.07121413] [-0.0105639 0.98140667 0.19164766] [ 0.07461153 -0.19035087 0.97887655]] t_gt: [-0.31209437 -0.35774856 0.88012106] Pose Error in degrees for R and t: 11.861146068910324 71.06674531170691 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 4.06276533e-01 -9.13747843e-01 -2.06332170e-03] [ 9.13749864e-01 4.06277216e-01 9.51991358e-05] [ 7.51292593e-04 -1.92403710e-03 9.99997867e-01]] t_estimated: [[ 8.42807282e-01] [-5.38215070e-01] [ 6.51825813e-04]] R_gt: [[ 0.99418731 0.08397548 -0.06738322] [-0.06411021 0.96451588 0.25612116] [ 0.08649917 -0.25031293 0.96429271]] t_gt: [-0.64479306 -0.20307313 0.73688752] Pose Error in degrees for R and t: 71.77606852326518 64.30000878391965 Number of keypoints: Image1: 510 Image2: 510 R_estimated: [[ 9.96635248e-01 8.19312747e-02 2.33410818e-03] [ 8.19643763e-02 -9.96176843e-01 -3.02248005e-02] [-1.51171914e-04 3.03144152e-02 -9.99540401e-01]] t_estimated: [[-0.02563872] [ 0.9995536 ] [-0.01533838]] R_gt: [[ 0.99879472 0.03369866 -0.03567481] [-0.03190106 0.99824954 0.04981321] [ 0.0372908 -0.04861572 0.99812145]] t_gt: [-0.91631463 -0.20392504 0.34464776] Pose Error in degrees for R and t: 178.83107513707986 79.30229783086403 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.38457101e-01 3.45395623e-01 3.65355942e-04] [-3.45395800e-01 9.38456857e-01 6.84149113e-04] [-1.06568680e-04 -7.68237001e-04 9.99999699e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99626483 0.07613829 -0.0407204 ] [-0.06941604 0.98674957 0.14665225] [ 0.05134718 -0.14327847 0.98834949]] t_gt: [-0.80306853 -0.1653137 0.57249656] Pose Error in degrees for R and t: 18.214423029887172 36.569645525319814 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.91915740e-01 -1.26897953e-01 2.70616926e-04] [ 1.26897973e-01 9.91915773e-01 -5.87709949e-05] [-2.60971279e-04 9.26366144e-05 9.99999962e-01]] t_estimated: [[-8.95496713e-01] [-4.45067229e-01] [-8.93709295e-04]] R_gt: [[ 0.9851483 0.16980946 -0.02544697] [-0.16511574 0.97754392 0.13093748] [ 0.04711044 -0.12479142 0.99106372]] t_gt: [-0.93437487 0.18103227 0.30687282] Pose Error in degrees for R and t: 18.61683856172705 40.897342426054166 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.84871070e-01 1.73288695e-01 5.46191086e-05] [-1.73288664e-01 9.84871009e-01 -3.67453154e-04] [-1.17468254e-04 3.52429109e-04 9.99999931e-01]] t_estimated: [[4.58022449e-01] [8.88940609e-01] [1.73673314e-04]] R_gt: [[ 0.99539808 -0.04158913 0.08633539] [ 0.04791778 0.99621149 -0.07256566] [-0.08299024 0.07636905 0.9936202 ]] t_gt: [-0.62063876 -0.69080677 -0.37093602] Pose Error in degrees for R and t: 14.110321623591632 26.049223943352104 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 5.97205402e-01 -8.02087977e-01 -7.65091020e-04] [ 8.02088287e-01 5.97205441e-01 2.00877269e-04] [ 2.95795278e-04 -7.33635536e-04 9.99999687e-01]] t_estimated: [[ 7.54000343e-01] [-6.56874000e-01] [ 1.72150237e-04]] R_gt: [[ 0.98949129 -0.02746271 0.14196333] [ 0.04831528 0.98816205 -0.14559987] [-0.13628467 0.15092884 0.97910568]] t_gt: [-0.80165452 0.14526965 -0.57986788] Pose Error in degrees for R and t: 52.386545067830575 45.57528553941877 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.55976805 0.82864812 -0.00141988] [ 0.82861463 0.55975947 0.00819338] [ 0.00758423 0.00340986 -0.99996543]] t_estimated: [[-0.06651719] [-0.99775791] [-0.0073908 ]] R_gt: [[ 0.97275289 -0.00880312 0.23167764] [ 0.05420355 0.98022002 -0.19034063] [-0.22541897 0.19771208 0.9539889 ]] t_gt: [-0.85438438 0.45331052 -0.25404115] Pose Error in degrees for R and t: 163.24468504183963 66.82222546277616 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99989419e-01 4.56341837e-03 5.80743078e-04] [-4.56352242e-03 9.99989571e-01 1.77979125e-04] [-5.79924829e-04 -1.80627476e-04 9.99999816e-01]] t_estimated: [[0.99993858] [0.01101524] [0.00122392]] R_gt: [[ 0.99584224 -0.09107728 -0.00185332] [ 0.09104676 0.99576135 -0.01304891] [ 0.00303284 0.0128271 0.99991243]] t_gt: [ 0.8254542 -0.54201736 -0.15761518] Pose Error in degrees for R and t: 5.540523047444939 34.991198054245075 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.39097638 -0.92039502 -0.00323697] [ 0.92039549 -0.39098359 0.00199282] [-0.00309978 -0.00220015 0.99999278]] t_estimated: [[0.97752586] [0.2108106 ] [0.00144391]] R_gt: [[ 0.99589315 -0.08257989 -0.03711429] [ 0.07665725 0.98722848 -0.13965346] [ 0.04817221 0.13623526 0.98950408]] t_gt: [ 0.63067411 -0.07770127 -0.77214809] Pose Error in degrees for R and t: 108.66020426127389 53.20132443482018 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99817455e-01 1.91054128e-02 2.00241231e-04] [-1.91045846e-02 9.99811222e-01 -3.54051353e-03] [-2.67846402e-04 3.53604170e-03 9.99993712e-01]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.99284729 -0.10913385 -0.04842789] [ 0.09028894 0.95166564 -0.2935651 ] [ 0.07812409 0.28709349 0.95471124]] t_gt: [ 0.48344999 0.16270137 -0.86011881] Pose Error in degrees for R and t: 18.461689492925903 79.35582947066983 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[-0.88316352 -0.46906275 -0.00152789] [-0.46906383 0.88314823 0.00532114] [-0.0011466 0.00541612 -0.99998468]] t_estimated: [[9.77141492e-01] [2.12587856e-01] [9.53308772e-04]] R_gt: [[ 0.9987496 -0.01217703 -0.04849337] [ 0.01436249 0.99888365 0.04498541] [ 0.04789237 -0.04562532 0.99780981]] t_gt: [-0.22416945 -0.95591408 -0.18967427] Pose Error in degrees for R and t: 177.93811468629596 65.01115413841387 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.18289417e-01 3.95909767e-01 -5.90042509e-05] [-3.95909768e-01 9.18289379e-01 -2.67258608e-04] [-5.16273164e-05 2.68781111e-04 9.99999963e-01]] t_estimated: [[-0.99690496] [-0.07860833] [-0.00111057]] R_gt: [[ 0.99673495 -0.03609499 -0.07224049] [ 0.03737104 0.9991663 0.01639578] [ 0.07158823 -0.01904183 0.9972529 ]] t_gt: [-0.11530166 -0.82475421 -0.5536118 ] Pose Error in degrees for R and t: 25.777913324585484 79.60739628474143 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 8.42109198e-01 5.39307045e-01 9.89103775e-05] [-5.39307048e-01 8.42109202e-01 4.19544487e-06] [-8.10307061e-05 -5.68760864e-05 9.99999995e-01]] t_estimated: [[9.81524416e-01] [1.91335139e-01] [8.28290646e-04]] R_gt: [[ 0.9881282 -0.1229841 -0.09208201] [ 0.12831098 0.99024373 0.05433781] [ 0.08450078 -0.06550778 0.99426808]] t_gt: [ 0.21177755 -0.95859604 -0.19037831] Pose Error in degrees for R and t: 40.32659430809051 88.6079173112019 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.81245528 0.58300258 -0.00494154] [ 0.58298349 -0.812271 0.0186031 ] [ 0.00683178 -0.01799502 -0.99981474]] t_estimated: [[-0.29512064] [ 0.95541229] [ 0.00954795]] R_gt: [[ 0.98844679 0.13865826 0.06121401] [-0.13693265 0.99007783 -0.0315544 ] [-0.06498232 0.02280913 0.99762607]] t_gt: [-0.74970784 0.60734797 0.26280526] Pose Error in degrees for R and t: 178.50497400540567 36.48320143512512 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-3.13247995e-01 9.49671204e-01 -5.45376550e-04] [-9.49669541e-01 -3.13248468e-01 -1.77783443e-03] [-1.85919654e-03 -3.89755744e-05 9.99998271e-01]] t_estimated: [[0.17173165] [0.98514323] [0.00102833]] R_gt: [[ 0.98198926 0.16775557 0.08691651] [-0.16535984 0.98564274 -0.03411579] [-0.09139176 0.01912973 0.99563131]] t_gt: [-0.75237116 0.58124591 0.30998521] Pose Error in degrees for R and t: 98.74851111900317 63.65831519792345 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.96905828 -0.17719748 0.17183451] [ 0.21618137 0.94527631 -0.24437331] [-0.11912876 0.2739594 0.95433463]] t_estimated: [[-0.69631062] [-0.69631062] [-0.17407766]] R_gt: [[ 0.97924564 0.14401353 0.14260811] [-0.13751123 0.98899903 -0.05450029] [-0.14888799 0.03375988 0.98827798]] t_gt: [-0.72870824 0.5387441 0.42277547] Pose Error in degrees for R and t: 23.325953167994527 86.6360493992661 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99561880e-01 -2.95979408e-02 -9.49332188e-05] [ 2.95979516e-02 9.99561878e-01 1.14452122e-04] [ 9.15040793e-05 -1.17211807e-04 9.99999989e-01]] t_estimated: [[-0.40553427] [-0.91407887] [-0.00133342]] R_gt: [[ 0.99833847 0.05760434 0.00187026] [-0.05758818 0.99831126 -0.0076682 ] [-0.00230881 0.00754811 0.99996957]] t_gt: [-0.08340682 0.9929203 -0.08457289] Pose Error in degrees for R and t: 5.018535656257654 29.111997192922356 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.91807469e-01 1.27737289e-01 1.06266096e-03] [-1.27736193e-01 9.91807632e-01 -1.04261595e-03] [-1.18713619e-03 8.98334022e-04 9.99998892e-01]] t_estimated: [[-9.99988849e-01] [-4.65833315e-03] [-7.76388858e-04]] R_gt: [[ 0.99764138 0.06763653 0.0117411 ] [-0.06760184 0.99770647 -0.00331694] [-0.01193811 0.00251589 0.9999255 ]] t_gt: [0.19740267 0.97285325 0.12078385] Pose Error in degrees for R and t: 3.5172589036715713 78.34453409707648 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.96963424e-01 -7.78707832e-02 2.69956001e-04] [ 7.78708092e-02 9.96963454e-01 -8.71827151e-05] [-2.62347281e-04 1.07939670e-04 9.99999960e-01]] t_estimated: [[-0.5687931 ] [-0.82248016] [-0.00089013]] R_gt: [[ 0.99944344 0.02816601 0.01789968] [-0.02766354 0.99923353 -0.02768999] [-0.01866493 0.02718005 0.99945673]] t_gt: [ 0.94700429 0.3149087 -0.06336704] Pose Error in degrees for R and t: 6.349349266241714 37.098543844733065 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.91847328 -0.39545595 0.00462819] [ 0.39543562 0.91848149 0.00473564] [-0.00612364 -0.0025194 0.99997808]] t_estimated: [[ 0.47534854] [-0.8796406 ] [ 0.01661853]] R_gt: [[ 0.99829405 0.05621681 0.01578136] [-0.05589587 0.99823426 -0.02010814] [-0.01688446 0.01919178 0.99967328]] t_gt: [-0.45812061 0.88763189 0.04727716] Pose Error in degrees for R and t: 26.548298148848513 3.8199436587738393 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 4.81661213e-01 8.76357496e-01 1.25654957e-04] [-8.76355768e-01 4.81660539e-01 -1.92166345e-03] [-1.74458720e-03 8.15472299e-04 9.99998146e-01]] t_estimated: [[-2.74167336e-01] [ 9.61681560e-01] [ 9.21228343e-04]] R_gt: [[ 0.99975486 0.02146992 0.00558821] [-0.02127016 0.99920982 -0.03358222] [-0.00630513 0.03345457 0.99942026]] t_gt: [-0.40967905 0.85785558 -0.31023681] Pose Error in degrees for R and t: 60.00659758046639 20.443232456997563 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.66094773 0.5471296 0.51361202] [-0.2386394 0.80213504 -0.54738526] [-0.71147687 0.23922498 0.66073601]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99321228 -0.1150124 0.01737077] [ 0.11511411 0.9933399 -0.00496101] [-0.01668478 0.00692651 0.99983701]] t_gt: [ 0.5162588 -0.84597062 0.13345621] Pose Error in degrees for R and t: 58.37717789808876 78.09145610134257 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.99998898e-01 1.48431389e-03 3.29415893e-06] [-1.48431352e-03 9.99998892e-01 -1.09681078e-04] [-3.45695643e-06 1.09676067e-04 9.99999994e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97939846 -0.16686255 0.11373398] [ 0.16295556 0.98570122 0.04289478] [-0.11926559 -0.02347742 0.99258482]] t_gt: [ 0.57539032 -0.6629359 0.47900101] Pose Error in degrees for R and t: 11.876594913899343 48.788832887866555 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.99999964e-01 2.68463251e-04 6.42187796e-07] [-2.68463250e-04 9.99999964e-01 -1.96148055e-06] [-6.42714358e-07 1.96130808e-06 1.00000000e+00]] t_estimated: [[0.95739616] [0.28877426] [0.00142057]] R_gt: [[ 0.94442571 -0.29052242 0.15380242] [ 0.28363159 0.9566951 0.06548788] [-0.16616787 -0.01822496 0.98592862]] t_gt: [ 0.67434376 -0.63847853 0.37095236] Pose Error in degrees for R and t: 19.361155237596748 62.4989463504158 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.40617324e-01 3.39468710e-01 2.10617251e-04] [-3.39468771e-01 9.40617232e-01 4.19829015e-04] [-5.55914019e-05 -4.66396424e-04 9.99999890e-01]] t_estimated: [[-0.68021608] [-0.73301125] [-0.00076515]] R_gt: [[ 0.89285326 -0.43441406 0.118729 ] [ 0.42317245 0.89949084 0.10882138] [-0.1540695 -0.04691904 0.98694496]] t_gt: [ 0.77208937 -0.57623523 0.268013 ] Pose Error in degrees for R and t: 46.297337636367025 84.08771785161422 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 6.52248936e-01 7.58004576e-01 6.23349447e-04] [-7.58003936e-01 6.52249209e-01 -1.00092596e-03] [-1.16528564e-03 1.80351556e-04 9.99999305e-01]] t_estimated: [[0.1016603 ] [0.99481863] [0.00103735]] R_gt: [[ 0.97950135 -0.19968735 0.02646954] [ 0.19947529 0.97984654 0.01047083] [-0.0280263 -0.00497546 0.99959484]] t_gt: [ 0.71488222 -0.68428095 0.14388534] Pose Error in degrees for R and t: 60.82203620925155 52.56138982248015 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 8.83176672e-01 -4.69039558e-01 -9.26423488e-04] [ 4.69040446e-01 8.83175574e-01 1.40242388e-03] [ 1.60402317e-04 -1.67311814e-03 9.99998587e-01]] t_estimated: [[9.99982346e-01] [5.88224910e-03] [8.40321299e-04]] R_gt: [[ 0.94742272 -0.31378998 0.06266604] [ 0.31469529 0.94918035 -0.00487789] [-0.05795075 0.02434291 0.9980219 ]] t_gt: [ 0.74021436 -0.66183597 0.11855735] Pose Error in degrees for R and t: 10.307243315998631 42.57368934773621 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 4.38246223e-01 -8.98850682e-01 -2.77492159e-03] [-8.98854870e-01 -4.38245509e-01 -8.92788968e-04] [-4.13612953e-04 2.88551318e-03 -9.99995751e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.91360596 -0.39828058 0.08182865] [ 0.40178853 0.91519274 -0.03143865] [-0.06236663 0.06160108 0.99615053]] t_gt: [ 0.75776745 -0.65059142 0.0501925 ] Pose Error in degrees for R and t: 179.83113906140784 71.82455775660618 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.05763094e-01 -4.23782164e-01 -1.37676408e-03] [ 4.23782063e-01 9.05764108e-01 -3.78137298e-04] [ 1.40727134e-03 -2.40945115e-04 9.99998981e-01]] t_estimated: [[-0.10681029] [-0.99427818] [-0.00157074]] R_gt: [[ 9.74643003e-01 2.23767629e-01 1.05958471e-04] [-2.23767713e-01 9.74642711e-01 -1.11189117e-03] [-3.52858408e-04 1.05943669e-03 9.99999234e-01]] t_gt: [-0.72982705 0.68359777 -0.00682389] Pose Error in degrees for R and t: 38.00415022129604 53.006631296098405 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99708151e-01 2.41559112e-02 -3.24550219e-04] [-2.41558995e-02 9.99708203e-01 3.99236680e-05] [ 3.25419909e-04 -3.20722138e-05 9.99999947e-01]] t_estimated: [[-0.99143983] [-0.13055635] [-0.00145001]] R_gt: [[ 0.95007175 0.31079363 0.0277463 ] [-0.31094114 0.95042941 0.00104181] [-0.02604746 -0.00961736 0.99961416]] t_gt: [-0.68868414 0.72159628 0.0708023 ] Pose Error in degrees for R and t: 16.807621126879894 53.9509771267134 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99926993e-01 1.20816835e-02 -2.04982131e-04] [-1.20816677e-02 9.99927011e-01 7.82764235e-05] [ 2.05912880e-04 -7.57941828e-05 9.99999976e-01]] t_estimated: [[-9.73336114e-01] [-2.29381661e-01] [-9.28594509e-04]] R_gt: [[ 0.96329556 0.26436968 0.04658956] [-0.26484847 0.96428114 0.00430454] [-0.04378743 -0.01648552 0.99890426]] t_gt: [-0.690594 0.71088162 0.13314374] Pose Error in degrees for R and t: 14.903905624633905 59.4032072284619 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999010e-01 1.40681249e-03 1.25920422e-05] [-1.40680860e-03 9.99998964e-01 -3.03726714e-04] [-1.30193157e-05 3.03708698e-04 9.99999954e-01]] t_estimated: [[0.01621407] [0.99986763] [0.00135117]] R_gt: [[ 9.77717785e-01 2.09868392e-01 -4.90914305e-03] [-2.09924509e-01 9.77405189e-01 -2.47201022e-02] [-3.89817355e-04 2.51996279e-02 9.99682340e-01]] t_gt: [-0.58660674 0.80470665 -0.09132214] Pose Error in degrees for R and t: 12.12150775990046 37.348006454298904 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-8.64889122e-01 -5.01962920e-01 1.86522330e-04] [ 5.01955857e-01 -8.64878809e-01 -4.99632330e-03] [ 2.66928824e-03 -4.22763969e-03 9.99987501e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.91530484 0.40040992 -0.04348896] [-0.40115736 0.91595761 -0.00972461] [ 0.03593963 0.02634725 0.99900675]] t_gt: [-0.51281387 0.85019366 -0.11913305] Pose Error in degrees for R and t: 173.50525047713833 84.42166889840952 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 8.68859355e-01 -4.95056158e-01 -1.67982915e-03] [ 4.95056891e-01 8.68860561e-01 2.32416010e-05] [ 1.44803140e-03 -8.51804680e-04 9.99998589e-01]] t_estimated: [[0.82739234] [0.56162351] [0.00097407]] R_gt: [[ 0.86248896 0.50256306 -0.05953268] [-0.50557356 0.86089148 -0.05710577] [ 0.02255139 0.07935024 0.9965918 ]] t_gt: [-0.44263325 0.88417152 -0.14938718] Pose Error in degrees for R and t: 60.167051887445 82.51916017882198 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 2.89232586e-01 -9.57255382e-01 -2.57782794e-03] [-9.57258821e-01 -2.89230827e-01 -1.03892552e-03] [ 2.48929741e-04 2.76813965e-03 -9.99996138e-01]] t_estimated: [[0.34102849] [0.94005244] [0.00098849]] R_gt: [[ 0.98806175 0.15357591 0.01219814] [-0.1536284 0.98812262 0.00350966] [-0.01151369 -0.0053416 0.99991878]] t_gt: [-0.77819633 0.6233123 0.07676099] Pose Error in degrees for R and t: 179.53015557571283 71.2986677603889 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.66775808 -0.74437133 0.00323431] [-0.74437222 -0.66776392 -0.00115893] [ 0.00302243 -0.00163365 -0.9999941 ]] t_estimated: [[0.37038198] [0.92887902] [0.00097469]] R_gt: [[ 0.94766315 0.31921862 0.00579078] [-0.31897309 0.94740591 -0.02602667] [-0.01379356 0.02281699 0.99964386]] t_gt: [-0.68708684 0.72592164 -0.03081298] Pose Error in degrees for R and t: 178.98190478607722 65.17937914239029 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.94516557 -0.32658741 -0.00164809] [ 0.32658956 0.94516541 0.00126814] [ 0.00114356 -0.00173685 0.99999784]] t_estimated: [[-0.36107628] [-0.93253577] [-0.00097853]] R_gt: [[ 0.92755671 0.37215446 0.03376199] [-0.37230228 0.92810936 -0.00203573] [-0.03209238 -0.01068192 0.9994273 ]] t_gt: [-0.66879602 0.74009549 0.07050203] Pose Error in degrees for R and t: 40.9689810133874 63.3366066841489 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99996477e-01 -1.25552101e-03 2.33856559e-03] [ 1.25625711e-03 9.99999162e-01 -3.13323975e-04] [-2.33817025e-03 3.16260711e-04 9.99997216e-01]] t_estimated: [[-7.19795375e-01] [-6.94186296e-01] [ 6.72633690e-05]] R_gt: [[ 0.97883056 0.19772433 -0.05287708] [-0.19755485 0.98025504 0.00847731] [ 0.05350969 0.00214798 0.9985646 ]] t_gt: [-0.59310269 0.77126569 -0.23103772] Pose Error in degrees for R and t: 11.916936537900986 83.7708549060108 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 2.93791820e-01 -9.55862916e-01 -3.52865355e-03] [ 9.55869278e-01 2.93791848e-01 5.22174315e-04] [ 5.37562586e-04 -3.52634207e-03 9.99993638e-01]] t_estimated: [[ 0.85330129] [-0.52141447] [ 0.00196258]] R_gt: [[ 0.96393534 0.2604181 -0.05487157] [-0.26259808 0.9641935 -0.03705241] [ 0.0432566 0.05012575 0.99780545]] t_gt: [-0.53976762 0.79354014 -0.28097145] Pose Error in degrees for R and t: 88.15604855806997 28.966957163958824 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99973304e-01 -2.80063984e-04 7.30162670e-03] [ 3.29968617e-04 9.99976591e-01 -6.83441947e-03] [-7.29954170e-03 6.83664633e-03 9.99949987e-01]] t_estimated: [[-0.99936347] [-0.03563813] [-0.00160432]] R_gt: [[ 0.94255885 0.32745968 -0.06598506] [-0.32982582 0.94360971 -0.028574 ] [ 0.05290663 0.04869648 0.99741101]] t_gt: [-0.52065422 0.81771156 -0.24549334] Pose Error in degrees for R and t: 19.69991325902151 60.55584897170923 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.73589364 -0.6770814 0.00461765] [ 0.67709278 0.73589627 -0.00142735] [-0.00243168 0.00417695 0.99998832]] t_estimated: [[-0.09486569] [-0.99548936] [-0.00120083]] R_gt: [[ 0.97672996 -0.21353767 0.01998494] [ 0.21325058 0.97687374 0.01554465] [-0.02284285 -0.0109204 0.99967971]] t_gt: [ 0.72909035 -0.67465945 0.11516029] Pose Error in degrees for R and t: 30.32401639522569 52.964312382652324 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.97103047e-01 7.60571783e-02 9.05449697e-04] [-7.60562580e-02 9.97103016e-01 -1.01087423e-03] [-9.79710865e-04 9.39080661e-04 9.99999079e-01]] t_estimated: [[8.53123574e-01] [5.21708775e-01] [3.49593538e-04]] R_gt: [[ 0.93710131 -0.34583794 0.04728052] [ 0.34513371 0.93828135 0.02258583] [-0.05217436 -0.00484642 0.99862657]] t_gt: [ 0.76300356 -0.63045947 0.1426409 ] Pose Error in degrees for R and t: 24.763508217738483 71.21184698016371 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.99599147 0.08943564 -0.00150409] [-0.08942643 0.99597902 0.00535814] [ 0.00197725 -0.00520215 0.99998451]] t_estimated: [[ 9.74714732e-01] [ 2.23452705e-01] [-2.83693535e-04]] R_gt: [[ 0.88834629 -0.45388068 0.06952279] [ 0.45487016 0.89055615 0.00178484] [-0.06272397 0.03003893 0.99757847]] t_gt: [ 0.79102451 -0.60588128 0.08478273] Pose Error in degrees for R and t: 32.45225539616958 50.53450759457117 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.71384175e-01 -2.37138338e-01 -1.33489208e-02] [-2.37162849e-01 9.71469873e-01 2.61225938e-04] [ 1.29061277e-02 3.41961884e-03 -9.99910865e-01]] t_estimated: [[ 0.98663098] [ 0.16286821] [-0.00576683]] R_gt: [[ 0.99664969 0.07252179 0.037817 ] [-0.07157717 0.99710291 -0.02575407] [-0.03957499 0.02296135 0.99895248]] t_gt: [-0.78798495 0.59460383 0.15976859] Pose Error in degrees for R and t: 178.72363288141878 47.0367076107066 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.15985165 0.9871399 0.00150432] [-0.98713929 0.15985405 -0.0016416 ] [-0.00186096 -0.00122256 0.99999752]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99482804 0.04236842 0.09231618] [-0.04062174 0.99895963 -0.02072089] [-0.09309783 0.01686316 0.99551363]] t_gt: [-0.74593762 0.4107871 0.52424329] Pose Error in degrees for R and t: 78.56616967489458 66.00408526207919 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.97387754e-01 -7.22330378e-02 2.39280912e-04] [ 7.22330273e-02 9.97387782e-01 5.23360734e-05] [-2.42436252e-04 -3.49153740e-05 9.99999970e-01]] t_estimated: [[0.33196736] [0.9432902 ] [0.0011292 ]] R_gt: [[ 0.9918937 0.03391816 0.12245719] [-0.02533765 0.99715778 -0.07095957] [-0.12451611 0.06728108 0.98993352]] t_gt: [-0.73061191 0.54497671 0.41134731] Pose Error in degrees for R and t: 10.008773105241142 74.21690235869217 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.97763446e-01 6.68438737e-02 -5.51993372e-05] [-6.68438822e-02 9.97763432e-01 -1.70767197e-04] [ 4.36611392e-05 1.74075005e-04 9.99999984e-01]] t_estimated: [[-0.9929586 ] [-0.11845357] [-0.00140478]] R_gt: [[ 9.98662359e-01 4.93627119e-02 -1.53569644e-02] [-4.93574914e-02 9.98781652e-01 7.33185200e-04] [ 1.53745444e-02 2.71132720e-05 9.99881745e-01]] t_gt: [-0.41427086 0.88162898 -0.2260752 ] Pose Error in degrees for R and t: 1.3332202872746561 72.10706379908892 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.73751347e-01 -2.27612109e-01 -1.02085701e-03] [ 2.27612491e-01 9.73751755e-01 2.72819363e-04] [ 9.31964310e-04 -4.98018028e-04 9.99999442e-01]] t_estimated: [[-0.33452603] [-0.9423843 ] [-0.00203979]] R_gt: [[ 0.99455378 0.10348452 -0.01235245] [-0.10360002 0.99457835 -0.00907912] [ 0.01134621 0.01030992 0.99988305]] t_gt: [-0.39603645 0.90866253 -0.13224042] Pose Error in degrees for R and t: 19.11874920725342 43.65122140750429 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-0.70987473 -0.27949704 0.6464977 ] [-0.59999849 -0.24077263 -0.76290914] [ 0.3688898 -0.92946756 0.0032206 ]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.99320845 0.11591593 -0.0099821 ] [-0.11620856 0.99253898 -0.03690709] [ 0.00562903 0.0378179 0.99926887]] t_gt: [-0.38420741 0.9055132 -0.1800847 ] Pose Error in degrees for R and t: 163.22146590019378 69.81771307608295 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999164e-01 -1.29144660e-03 6.48771661e-05] [ 1.29144190e-03 9.99999163e-01 7.25071579e-05] [-6.49707510e-05 -7.24233122e-05 9.99999995e-01]] t_estimated: [[ 2.54564807e-02] [-9.99675882e-01] [ 3.14909335e-04]] R_gt: [[ 0.99305253 -0.00544591 0.11754847] [ 0.00743007 0.99983716 -0.01644858] [-0.11743996 0.01720796 0.99293035]] t_gt: [0.02361052 0.05284501 0.99832357] Pose Error in degrees for R and t: 6.820100972440545 87.02429734534569 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99481457 0.10147965 -0.0067715 ] [-0.10143069 0.99481641 0.0072202 ] [ 0.00746911 -0.00649592 0.99995101]] t_estimated: [[0.82108217] [0.57080579] [0.00219541]] R_gt: [[ 0.98514204 -0.04955087 0.16443713] [ 0.06118158 0.99591437 -0.06643142] [-0.16047234 0.07550558 0.98414722]] t_gt: [ 0.62500466 -0.20130227 0.75421918] Pose Error in degrees for R and t: 14.0263978231514 66.42610373519699 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.39723499e-01 3.41935229e-01 2.13345332e-04] [-3.41935217e-01 9.39723523e-01 -9.30834553e-05] [-2.32314139e-04 1.45224282e-05 9.99999973e-01]] t_estimated: [[0.62315166] [0.7821005 ] [0.00090312]] R_gt: [[ 0.9787743 -0.14695928 0.14284088] [ 0.15260207 0.98785285 -0.02932097] [-0.13679693 0.05049675 0.98931079]] t_gt: [ 0.82595141 -0.46324362 0.32126252] Pose Error in degrees for R and t: 29.82876585150372 81.21772740691037 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99999369e-01 -1.12192116e-03 4.95901175e-05] [ 1.12192147e-03 9.99999371e-01 -6.21463795e-06] [-4.95831139e-05 6.27027025e-06 9.99999999e-01]] t_estimated: [[ 3.08184911e-01] [-9.51326474e-01] [-3.29631513e-05]] R_gt: [[ 0.9991274 -0.02815117 0.03083937] [ 0.02860115 0.99948954 -0.01425705] [-0.03042204 0.01512823 0.99942237]] t_gt: [ 0.73850743 -0.67092912 0.06678987] Pose Error in degrees for R and t: 2.494413050157623 30.0181145795342 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.82775787e-01 1.84801866e-01 1.50580070e-04] [-1.84801833e-01 9.82775782e-01 -2.10022069e-04] [-1.86798916e-04 1.78577132e-04 9.99999967e-01]] t_estimated: [[-9.64738887e-01] [-2.63207381e-01] [-8.67971306e-04]] R_gt: [[ 0.99487205 -0.04844203 0.08878241] [ 0.05224835 0.99778876 -0.04106843] [-0.08659648 0.04549778 0.99520379]] t_gt: [ 0.77426492 -0.60378633 0.18962044] Pose Error in degrees for R and t: 14.6496125421623 53.970122748253246 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.83598649e-01 -1.80370896e-01 -1.94109383e-04] [ 1.80370914e-01 9.83598662e-01 7.93022703e-05] [ 1.76621907e-04 -1.13013293e-04 9.99999978e-01]] t_estimated: [[ 3.60474961e-01] [-9.32768810e-01] [-3.87859359e-04]] R_gt: [[ 0.99092442 -0.00612059 0.13428095] [ 0.01651893 0.99693545 -0.07646455] [-0.13340099 0.07798947 0.98798852]] t_gt: [0.19500128 0.9702585 0.1434327 ] Pose Error in degrees for R and t: 13.186695103777852 33.40608263582753 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.47269287 0.88077163 0.02833363] [ 0.88077821 0.47323402 -0.01671239] [-0.02812824 0.01705581 -0.9994588 ]] t_estimated: [[ 0.84746932] [-0.53058039] [ 0.01673915]] R_gt: [[ 0.99660189 -0.07127864 -0.04128737] [ 0.07271219 0.9967624 0.03431641] [ 0.03870761 -0.03720066 0.99855814]] t_gt: [ 0.34395949 -0.93208288 -0.11363705] Pose Error in degrees for R and t: 178.86261734892116 38.35899225130077 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99975102e-01 7.05521659e-03 1.39781051e-04] [-7.05516109e-03 9.99975035e-01 -3.93653501e-04] [-1.42554872e-04 3.92657522e-04 9.99999913e-01]] t_estimated: [[ 0.43642594] [-0.89973682] [-0.00246132]] R_gt: [[ 0.97608235 -0.19867848 -0.08826067] [ 0.20107288 0.97939089 0.01903455] [ 0.08266032 -0.03632551 0.99591609]] t_gt: [ 0.55847713 -0.79926687 -0.22198144] Pose Error in degrees for R and t: 13.033812950056966 15.547172095168987 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.9815845 0.19102344 -0.00138307] [-0.19102018 -0.98158365 -0.00219732] [-0.00177734 -0.00189266 0.99999663]] t_estimated: [[9.80433659e-01] [1.96847495e-01] [9.50954082e-04]] R_gt: [[ 0.94788099 -0.29803601 -0.11267529] [ 0.30388537 0.95193097 0.03848754] [ 0.09578876 -0.07072115 0.9928864 ]] t_gt: [ 0.62129121 -0.77811959 -0.09234249] Pose Error in degrees for R and t: 173.43544078094448 62.878680992795765 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.74582472e-01 -2.24028593e-01 -4.40891973e-04] [ 2.24028775e-01 9.74582440e-01 4.18742492e-04] [ 3.35875284e-04 -5.06871582e-04 9.99999815e-01]] t_estimated: [[-0.56443568] [-0.82547595] [-0.00135048]] R_gt: [[ 0.99521173 0.09060628 0.03666278] [-0.09096041 0.99582107 0.00811643] [-0.03577437 -0.01141266 0.99929492]] t_gt: [-0.40154051 0.82853813 0.39024324] Pose Error in degrees for R and t: 18.284093551471656 62.75337644248482 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.89399693e-01 -1.45217604e-01 -3.06645005e-04] [ 1.45217647e-01 9.89399727e-01 1.22880707e-04] [ 2.85550042e-04 -1.66108400e-04 9.99999945e-01]] t_estimated: [[-7.71182480e-01] [-6.36613725e-01] [-7.39388764e-04]] R_gt: [[ 0.99438465 0.10229352 0.02711153] [-0.10236181 0.99474609 0.00113318] [-0.02685327 -0.00390205 0.9996316 ]] t_gt: [-0.18573804 0.94924135 0.25385477] Pose Error in degrees for R and t: 14.310352231777063 62.532213081502235 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.99892471 -0.04632731 0.00178839] [ 0.04632971 0.99892532 -0.00132483] [-0.00172509 0.00140626 0.99999752]] t_estimated: [[-0.52348832] [-0.85203176] [-0.00136325]] R_gt: [[ 9.94441327e-01 1.01060098e-01 2.95536401e-02] [-1.01099560e-01 9.94875657e-01 -1.47663214e-04] [-2.94169475e-02 -2.84125291e-03 9.99562935e-01]] t_gt: [0.1972782 0.93134041 0.30608226] Pose Error in degrees for R and t: 8.60761247976704 26.204756719566273 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99788516e-01 2.05650076e-02 -6.60912093e-05] [-2.05650074e-02 9.99788518e-01 4.43222091e-06] [ 6.61683808e-05 -3.07211736e-06 9.99999998e-01]] t_estimated: [[-9.38624875e-01] [-3.44938488e-01] [-8.84840729e-04]] R_gt: [[ 0.99721058 0.07408307 0.00912518] [-0.07386613 0.99702398 -0.02206677] [-0.01073267 0.02133062 0.9997148 ]] t_gt: [-0.89162749 0.40107336 -0.2100966 ] Pose Error in degrees for R and t: 3.3567048315874883 45.67367838403478 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.96429373e-01 8.44303581e-02 -1.39539219e-04] [-8.44303704e-02 9.96429378e-01 -8.48851538e-05] [ 1.31874094e-04 9.63634085e-05 9.99999987e-01]] t_estimated: [[-0.97864067] [-0.20557219] [-0.00158573]] R_gt: [[ 0.99349925 0.10921657 0.03210267] [-0.10752282 0.9929215 -0.05044984] [-0.03738445 0.04667087 0.99820965]] t_gt: [-0.86040184 0.42547151 -0.28050431] Pose Error in degrees for R and t: 3.6977118930730937 40.97428686207627 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.93147900e-01 1.16864130e-01 -1.53636657e-04] [-1.16864141e-01 9.93147908e-01 -6.70379680e-05] [ 1.44749591e-04 8.45332331e-05 9.99999986e-01]] t_estimated: [[-9.08859450e-01] [-4.17101882e-01] [-7.20957916e-04]] R_gt: [[ 0.97883324 0.1972486 0.05458462] [-0.18945007 0.97416134 -0.122957 ] [-0.07742691 0.11001304 0.99090993]] t_gt: [-0.82375953 0.43668347 -0.36156297] Pose Error in degrees for R and t: 8.93846603874626 55.472563589569106 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 8.63943674e-01 -5.03587776e-01 8.24368310e-04] [ 5.03587790e-01 8.63944035e-01 2.06406883e-04] [-8.16152068e-04 2.36817894e-04 9.99999639e-01]] t_estimated: [[7.78621389e-01] [6.27493624e-01] [6.96441314e-04]] R_gt: [[ 0.96810343 -0.25053769 0.00259862] [ 0.25036432 0.96772934 0.0286063 ] [-0.00968084 -0.02704262 0.99958688]] t_gt: [ 0.75197732 -0.64899327 0.11548958] Pose Error in degrees for R and t: 15.81482447316454 79.72651275144482 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 6.85201510e-01 -7.28353313e-01 -5.84541504e-04] [ 7.28353276e-01 6.85201727e-01 -3.14818168e-04] [ 6.29827704e-04 -2.10038835e-04 9.99999780e-01]] t_estimated: [[ 0.73747246] [-0.67537656] [-0.0009314 ]] R_gt: [[ 0.9472303 -0.3203853 -0.01039352] [ 0.32050316 0.94600793 0.04844691] [-0.00568844 -0.04922003 0.99877138]] t_gt: [ 0.76717209 -0.62625041 0.13877105] Pose Error in degrees for R and t: 28.187572507453073 8.662037816563972 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99917807e-01 1.28042810e-02 6.55289645e-04] [-1.28034932e-02 9.99917321e-01 -1.19257041e-03] [-6.70505473e-04 1.18408239e-03 9.99999074e-01]] t_estimated: [[-0.99751807] [-0.06997536] [-0.00781933]] R_gt: [[ 0.91776011 -0.39512155 0.03993376] [ 0.39396438 0.91849973 0.03391868] [-0.05008026 -0.01539601 0.99862628]] t_gt: [ 0.76085987 -0.63077672 0.15235811] Pose Error in degrees for R and t: 24.172639521479223 44.27281888970567 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-8.55405578e-01 -5.17958715e-01 -2.59797346e-04] [-5.17958773e-01 8.55405377e-01 5.91721044e-04] [-8.42550247e-05 6.40725796e-04 -9.99999791e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9872841 -0.15399109 -0.03943779] [ 0.15648685 0.9851341 0.07087058] [ 0.02793784 -0.07614194 0.99670559]] t_gt: [ 0.73426189 -0.65887981 0.16351415] Pose Error in degrees for R and t: 179.2671111204637 42.916918455780056 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.92803937e-01 1.19750966e-01 2.20444052e-04] [-1.19750944e-01 9.92803958e-01 -1.10406035e-04] [-2.32078957e-04 8.32131628e-05 9.99999970e-01]] t_estimated: [[0.76706408] [0.64156982] [0.00092959]] R_gt: [[ 0.97327049 -0.22724701 -0.03321961] [ 0.2276119 0.97372273 0.00760328] [ 0.03061807 -0.01496162 0.99941889]] t_gt: [ 0.78188158 -0.62318008 -0.01754391] Pose Error in degrees for R and t: 20.12277862505736 78.46751799108065 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-7.39975117e-01 6.72634000e-01 -5.72876852e-04] [-6.72631456e-01 -7.39974234e-01 -2.24884618e-03] [-1.93656451e-03 -1.27875523e-03 9.99997307e-01]] t_estimated: [[0.07263369] [0.9973581 ] [0.00108408]] R_gt: [[ 0.95682474 -0.28654025 -0.04880213] [ 0.28204071 0.9558489 -0.08249386] [ 0.07028481 0.06516709 0.99539561]] t_gt: [ 0.80483034 -0.55217657 -0.21759861] Pose Error in degrees for R and t: 154.3155430026697 60.49523954503817 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 1.00000000e+00 -1.03972386e-13 -7.91467586e-18] [ 1.03916875e-13 1.00000000e+00 7.47963974e-17] [-8.70614345e-17 3.47581664e-16 1.00000000e+00]] t_estimated: [[9.83990024e-01] [1.78222426e-01] [6.31912118e-04]] R_gt: [[ 0.98665985 -0.15374747 0.05351302] [ 0.15305791 0.98807511 0.01677642] [-0.05545454 -0.00836215 0.99842606]] t_gt: [ 0.67877478 -0.67923933 0.27910344] Pose Error in degrees for R and t: 9.397071922497387 56.83662051174514 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.54326175e-01 2.98766712e-01 5.25390757e-05] [-2.98766717e-01 9.54326154e-01 2.03499577e-04] [ 1.06594856e-05 -2.09901900e-04 9.99999978e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95280992 -0.30282414 0.02122813] [ 0.30089186 0.95136449 0.06610172] [-0.0402134 -0.05659563 0.99758696]] t_gt: [ 0.764915 -0.61379097 0.19536038] Pose Error in degrees for R and t: 35.19222765986746 52.496857033684265 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.40530753 -0.91417951 -0.00127322] [-0.90157121 -0.39994731 0.1649591 ] [-0.15131145 -0.06571127 -0.98629959]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.91552969 -0.40203415 0.01320807] [ 0.40089964 0.9146514 0.05189582] [-0.03294454 -0.04221688 0.99856515]] t_gt: [ 0.81052921 -0.57136044 0.12880077] Pose Error in degrees for R and t: 168.1296299535793 75.165258585805 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.98854418e-01 -4.78518787e-02 -2.22127153e-04] [ 4.78519193e-02 9.98854424e-01 1.80937693e-04] [ 2.13214481e-04 -1.91359624e-04 9.99999959e-01]] t_estimated: [[-9.99089597e-01] [ 4.26542760e-02] [-7.68647483e-04]] R_gt: [[ 0.99589701 0.08983632 -0.0109271 ] [-0.08989357 0.9959391 -0.00489115] [ 0.01044339 0.0058536 0.99992806]] t_gt: [-0.79469939 0.59877 -0.09963617] Pose Error in degrees for R and t: 7.927956715152093 34.95596964088822 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.31236574e-01 -3.64414912e-01 -4.63351503e-04] [ 3.64414941e-01 9.31236678e-01 -2.26203888e-05] [ 4.39733121e-04 -1.47787277e-04 9.99999892e-01]] t_estimated: [[-0.3254113 ] [-0.94557205] [-0.00098909]] R_gt: [[ 9.56913165e-01 2.90376955e-01 7.61613051e-04] [-2.90377669e-01 9.56911373e-01 5.07823954e-04] [-5.81179314e-04 -7.07504177e-04 9.99998537e-01]] t_gt: [-0.72315067 0.69065409 0.00707412] Pose Error in degrees for R and t: 38.25222550067069 65.30745884934018 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99466336e-01 -3.26437759e-02 -1.19448323e-03] [ 3.26444224e-02 9.99466891e-01 5.25793381e-04] [ 1.17668256e-03 -5.64505999e-04 9.99999148e-01]] t_estimated: [[0.36616572] [0.93054915] [0.00097644]] R_gt: [[ 0.92192649 0.38715983 0.0126569 ] [-0.38703171 0.92199509 -0.01143535] [-0.01609651 0.0056437 0.99985411]] t_gt: [-0.66765696 0.74427958 0.01679562] Pose Error in degrees for R and t: 24.668518952711754 63.37609944494198 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99985235e-01 5.41701068e-03 4.31333026e-04] [-5.41693874e-03 9.99985314e-01 -1.67780043e-04] [-4.32235558e-04 1.65441061e-04 9.99999893e-01]] t_estimated: [[-0.07995878] [-0.99677171] [ 0.00726337]] R_gt: [[ 0.99771736 0.05994829 0.031084 ] [-0.05857927 0.99734579 -0.04322138] [-0.03359258 0.04130209 0.9985811 ]] t_gt: [-0.83992682 0.34780476 -0.41659907] Pose Error in degrees for R and t: 4.327204892224959 73.58764384421949 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-7.51283241e-01 -6.59978858e-01 -1.18247185e-03] [ 6.59975545e-01 -7.51283580e-01 2.29392735e-03] [-2.40231524e-03 9.42986675e-04 9.99996670e-01]] t_estimated: [[9.44262464e-01] [3.29192419e-01] [8.66295839e-04]] R_gt: [[ 0.99234925 0.11752366 0.03783931] [-0.11313003 0.98827279 -0.10255713] [-0.04944942 0.09749179 0.9940065 ]] t_gt: [-0.77256526 0.36827102 -0.51722276] Pose Error in degrees for R and t: 145.40141330978963 52.50296193028653 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.89207293 0.45188853 0.00162491] [-0.45187119 0.89206121 -0.00626398] [-0.00428014 0.00485368 0.99997906]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.98995314e-01 5.06800125e-03 4.45280904e-02] [-4.06561994e-04 9.94567688e-01 -1.04087834e-01] [-4.48147131e-02 1.03965180e-01 9.93570612e-01]] t_gt: [-0.16628904 0.26188853 -0.95066416] Pose Error in degrees for R and t: 27.387196230693462 80.43228798469647 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 1.87105272e-01 -9.82339246e-01 -1.10579095e-03] [ 9.82339606e-01 1.87105927e-01 -5.20771895e-04] [ 7.18474711e-04 -9.88823082e-04 9.99999253e-01]] t_estimated: [[0.76678474] [0.64190383] [0.00079542]] R_gt: [[ 0.99842674 0.05345653 -0.01696722] [-0.05401667 0.99794719 -0.03440675] [ 0.01509333 0.03526858 0.99926399]] t_gt: [-0.46181115 0.65748795 -0.59534869] Pose Error in degrees for R and t: 82.32135966281989 86.13184698981918 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.55045656e-01 -2.96458747e-01 -7.57156565e-05] [ 2.96458754e-01 9.55045653e-01 9.01976069e-05] [ 4.55720391e-05 -1.08589402e-04 9.99999993e-01]] t_estimated: [[-8.15978545e-01] [-5.78081666e-01] [-7.74908400e-04]] R_gt: [[ 0.98787174 0.15237856 -0.02984109] [-0.15324291 0.98775621 -0.02920132] [ 0.02502524 0.03342 0.99912817]] t_gt: [-0.55856408 0.77999905 -0.28214827] Pose Error in degrees for R and t: 26.146788347037347 89.70826050341711 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.50633385e-01 -3.10315285e-01 -7.69455685e-04] [ 3.10315384e-01 9.50633664e-01 9.77926540e-06] [ 7.28435821e-04 -2.48070432e-04 9.99999704e-01]] t_estimated: [[-0.34755586] [-0.93765853] [-0.00118986]] R_gt: [[ 0.96179586 0.26796847 -0.05606043] [-0.26973108 0.96256998 -0.02652896] [ 0.04685274 0.04063651 0.99807497]] t_gt: [-0.54184763 0.8043152 -0.24388154] Pose Error in degrees for R and t: 33.86776597152736 55.558777348457035 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.76131555 -0.64836887 -0.00405551] [-0.64837019 0.76132434 -0.00115608] [ 0.00383712 0.00174934 -0.99999111]] t_estimated: [[ 9.47398929e-01] [ 3.20054846e-01] [-4.06345078e-04]] R_gt: [[ 0.97211577 -0.23259776 0.02983197] [ 0.23162784 0.97225499 0.03269335] [-0.03660794 -0.0248725 0.99901957]] t_gt: [ 0.69601723 -0.69090896 0.19546055] Pose Error in degrees for R and t: 177.86400514608488 64.01105042409415 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999383e-01 7.59224328e-04 8.10503811e-04] [-7.58701495e-04 9.99999504e-01 -6.45183588e-04] [-8.10993248e-04 6.44568260e-04 9.99999463e-01]] t_estimated: [[9.89976524e-01] [1.41230974e-01] [5.42644306e-04]] R_gt: [[ 0.91573506 -0.40174575 0.00540831] [ 0.4005333 0.91386574 0.06650161] [-0.03165875 -0.05873169 0.99777226]] t_gt: [ 0.77907619 -0.60374723 0.168907 ] Pose Error in degrees for R and t: 24.02668208686086 46.67853226308483 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-5.35961593e-01 -8.44242142e-01 6.14035981e-04] [-8.44242279e-01 5.35961725e-01 6.26735054e-05] [-3.82011398e-04 -4.84804544e-04 -9.99999810e-01]] t_estimated: [[0.88899023] [0.45792433] [0.00129998]] R_gt: [[ 0.89879821 -0.4379532 0.01894794] [ 0.43559073 0.89713065 0.07359596] [-0.04922975 -0.05789351 0.99710829]] t_gt: [ 0.77913217 -0.59705381 0.1909969 ] Pose Error in degrees for R and t: 176.350478730862 65.19800344912159 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[-7.85767652e-01 -6.18519042e-01 -1.84192227e-03] [ 6.18520990e-01 -7.85767931e-01 -7.37143992e-04] [-9.91385860e-04 -1.71849149e-03 9.99998032e-01]] t_estimated: [[ 9.38636044e-01] [-3.44909055e-01] [ 3.46344514e-04]] R_gt: [[ 0.99891808 -0.0329561 -0.03281543] [ 0.03203706 0.9990912 -0.02813621] [ 0.0337136 0.02705419 0.99906467]] t_gt: [ 0.08019778 -0.55701772 -0.82661936] Pose Error in degrees for R and t: 139.93848685909987 74.50759199270338 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-0.35925413 0.9330983 0.01624928] [ 0.93309929 0.3594477 -0.01109357] [-0.01619216 0.01117678 -0.99980643]] t_estimated: [[ 0.82980256] [-0.55796389] [ 0.01019845]] R_gt: [[ 0.99218785 -0.11366774 -0.05141027] [ 0.11473044 0.99322995 0.01819942] [ 0.04899402 -0.02395599 0.99851155]] t_gt: [ 0.32870912 -0.91188593 -0.24579335] Pose Error in degrees for R and t: 178.06390088209008 38.825741060991476 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.96320327 0.26869055 -0.00669741] [-0.2686408 0.96321138 0.00748088] [ 0.00846106 -0.00540641 0.99994959]] t_estimated: [[-0.5858795 ] [-0.81039536] [-0.00213825]] R_gt: [[ 0.96813419 -0.22887551 -0.10165574] [ 0.23252 0.97225954 0.0254288 ] [ 0.09301697 -0.04825538 0.99449415]] t_gt: [ 0.50203327 -0.84071823 -0.20286807] Pose Error in degrees for R and t: 29.459715321361138 67.19370061013203 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99825823e-01 -1.86625850e-02 -1.80043580e-04] [ 1.86626219e-02 9.99825817e-01 2.05170876e-04] [ 1.76183201e-04 -2.08495225e-04 9.99999963e-01]] t_estimated: [[-7.70277945e-01] [-6.37707854e-01] [-7.61897077e-04]] R_gt: [[ 0.99900344 0.04141489 0.01666654] [-0.04162618 0.99905497 0.01256569] [-0.01613063 -0.01324725 0.99978147]] t_gt: [-0.12564361 0.80669964 0.57745076] Pose Error in degrees for R and t: 3.6506965434470473 65.28542634890563 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.83514089e-01 1.80831493e-01 8.57767079e-05] [-1.80831466e-01 9.83514064e-01 -2.60002394e-04] [-1.31379220e-04 2.40204890e-04 9.99999963e-01]] t_estimated: [[0.47468909] [0.88015268] [0.00123617]] R_gt: [[ 0.99905518 0.0434448 -0.00127683] [-0.04344289 0.99905543 0.00117368] [ 0.00132692 -0.0011162 0.99999838]] t_gt: [ 0.74897576 0.65833053 -0.07507473] Pose Error in degrees for R and t: 7.929024174401828 20.79297659712601 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 0.94645458 0.32283236 -0.00173064] [-0.32282482 0.94645184 0.00361339] [ 0.00280449 -0.00286121 0.99999197]] t_estimated: [[0.45582919] [0.89006647] [0.00119955]] R_gt: [[ 0.99773121 0.05997014 0.03057506] [-0.06030757 0.99812652 0.01025494] [-0.02990247 -0.01207468 0.99947982]] t_gt: [0.66783854 0.55967205 0.49067186] Pose Error in degrees for R and t: 15.504206964796108 36.567628413442804 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.98388655e-01 -5.67458556e-02 2.40036962e-05] [ 5.67458541e-02 9.98388654e-01 5.85233421e-05] [-2.72859751e-05 -5.70669306e-05 9.99999998e-01]] t_estimated: [[ 6.65764638e-01] [-7.46161755e-01] [ 2.84230190e-04]] R_gt: [[ 0.99886616 -0.03681851 0.03017081] [ 0.03690684 0.99931516 -0.00238259] [-0.03006241 0.00349256 0.99954184]] t_gt: [ 0.72322526 -0.63668647 0.2675361 ] Pose Error in degrees for R and t: 2.0752839805778187 16.93320757025364 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 0.47819436 -0.87814082 0.01410175] [-0.87823461 -0.47801533 0.01432891] [-0.00584195 -0.01923665 -0.99979789]] t_estimated: [[0.56260915] [0.82663971] [0.01173586]] R_gt: [[ 0.99488486 -0.02150961 0.09869853] [ 0.02437201 0.99931376 -0.02789078] [-0.09803052 0.03015361 0.99472643]] t_gt: [0.41592885 0.27167393 0.86786892] Pose Error in degrees for R and t: 177.43451506568624 62.04570904380336 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 8.83613897e-01 -4.68214367e-01 1.33668725e-03] [ 4.68215939e-01 8.83613082e-01 -1.32476904e-03] [-5.60838446e-04 1.79644261e-03 9.99998229e-01]] t_estimated: [[-0.39332531] [-0.91939791] [-0.00163886]] R_gt: [[ 0.98994023 0.06554376 0.12538291] [-0.05474209 0.9946371 -0.08774191] [-0.13046115 0.07999567 0.98822084]] t_gt: [-0.23672247 0.96999382 0.05544776] Pose Error in degrees for R and t: 32.54174761041195 36.985077427545384 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.87084657e-01 -1.60198942e-01 -4.23989202e-04] [ 1.60198976e-01 9.87084741e-01 4.75113172e-05] [ 4.10902009e-04 -1.14820328e-04 9.99999909e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.90982477e-01 1.09182948e-03 1.33992980e-01] [ 3.36743021e-04 9.99942996e-01 -1.06405522e-02] [-1.33996853e-01 1.05896537e-02 9.90925585e-01]] t_gt: [-0.10490781 0.0675926 0.99218224] Pose Error in degrees for R and t: 12.053920320597602 86.10269839619812 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-7.76447013e-02 -9.96979284e-01 -1.89951640e-03] [ 9.96981074e-01 -7.76441831e-02 -3.45184043e-04] [ 1.96654942e-04 -1.92058361e-03 9.99998136e-01]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.97465256 -0.02157746 0.22268239] [ 0.03234276 0.99847149 -0.04481063] [-0.22137495 0.05087681 0.97386069]] t_gt: [0.14987961 0.00294865 0.98869986] Pose Error in degrees for R and t: 93.6158900715846 81.3327389661121 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99998613e-01 -1.49188417e-03 7.40019532e-04] [ 1.49240368e-03 9.99998640e-01 -7.01963934e-04] [-7.38971277e-04 7.03067369e-04 9.99999480e-01]] t_estimated: [[-0.1016603 ] [-0.99481863] [-0.00103735]] R_gt: [[ 0.96985979 -0.08500283 0.22835822] [ 0.09877776 0.99387472 -0.04956398] [-0.22274576 0.07062673 0.9723149 ]] t_gt: [ 0.60799474 -0.28974829 0.73918085] Pose Error in degrees for R and t: 14.44920385494771 76.95764489626865 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 1.82611854e-02 -9.99831482e-01 -1.88045484e-03] [ 9.99833228e-01 1.82615515e-02 -1.77669511e-04] [ 2.11979593e-04 -1.87689678e-03 9.99998216e-01]] t_estimated: [[ 9.98738322e-01] [-5.02092359e-02] [ 8.92233142e-04]] R_gt: [[ 0.99404459 -0.08201399 0.07176064] [ 0.0862538 0.99457643 -0.05812323] [-0.06660488 0.06396701 0.99572645]] t_gt: [ 0.73407742 -0.59820309 -0.32137736] Pose Error in degrees for R and t: 84.26024215937403 40.2794883522842 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-6.28080425e-01 -7.78147804e-01 -9.87101126e-04] [-7.78148382e-01 6.28079434e-01 1.14859556e-03] [-2.73799193e-04 1.48952153e-03 -9.99998853e-01]] t_estimated: [[9.58008584e-01] [2.86737951e-01] [9.49463413e-04]] R_gt: [[ 0.99017298 -0.10419003 0.0932816 ] [ 0.11005649 0.99210517 -0.06011378] [-0.08628166 0.06978978 0.99382267]] t_gt: [ 0.76518711 -0.62209856 -0.16577717] Pose Error in degrees for R and t: 176.9719210584684 56.32239813159323 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999164e-01 1.20691204e-03 4.64068928e-04] [-1.20674245e-03 9.99999205e-01 -3.65537346e-04] [-4.64509731e-04 3.64977029e-04 9.99999826e-01]] t_estimated: [[0.99998572] [0.0051916 ] [0.00126426]] R_gt: [[ 0.98011746 -0.11597844 0.16099158] [ 0.13186316 0.98701421 -0.09173606] [-0.14826117 0.11114134 0.9826821 ]] t_gt: [ 0.79761813 -0.58588563 -0.14332946] Pose Error in degrees for R and t: 12.873258989579998 37.402901680390784 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999966e-01 -2.41819176e-04 9.99216632e-05] [ 2.41827519e-04 9.99999967e-01 -8.34891671e-05] [-9.99014707e-05 8.35133280e-05 9.99999992e-01]] t_estimated: [[-9.94775882e-01] [ 1.02082070e-01] [ 4.42038082e-04]] R_gt: [[ 0.99479563 -0.1001288 -0.01883071] [ 0.10045703 0.99478905 0.01740208] [ 0.01698937 -0.01920286 0.99967129]] t_gt: [ 0.5149928 -0.85570526 -0.0505066 ] Pose Error in degrees for R and t: 5.929984465754713 53.153238434319846 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-4.84014476e-01 8.74936820e-01 -1.46815626e-02] [ 8.74589383e-01 4.84236258e-01 2.46709794e-02] [ 2.86948931e-02 -8.99227582e-04 -9.99587812e-01]] t_estimated: [[8.42284927e-01] [5.39032028e-01] [7.58132247e-04]] R_gt: [[ 0.95086653 -0.30699644 0.04008085] [ 0.30695636 0.95169567 0.00727271] [-0.04037838 0.00538819 0.99917029]] t_gt: [ 0.61167505 -0.78422259 0.10415646] Pose Error in degrees for R and t: 179.3227930365901 84.68895443985055 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99997426 0.0069775 0.00167086] [-0.00697382 0.99997326 -0.00220046] [-0.00168617 0.00218875 0.99999618]] t_estimated: [[0.67231564] [0.74026244] [0.00178807]] R_gt: [[ 0.88882681 -0.45823619 0.00237521] [ 0.45815903 0.8887537 0.01434503] [-0.00868424 -0.0116619 0.99989456]] t_gt: [ 0.69300511 -0.72022024 0.03204257] Pose Error in degrees for R and t: 27.687276708545745 86.14816814179538 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99998894e-01 2.09188099e-04 -1.47251486e-03] [-2.06515735e-04 9.99998332e-01 1.81474834e-03] [ 1.47289203e-03 -1.81444223e-03 9.99997269e-01]] t_estimated: [[-0.70710647] [-0.70710647] [-0.00093656]] R_gt: [[ 0.98991859 0.1415997 0.00329594] [-0.1416264 0.98928353 0.0354882 ] [ 0.00176433 -0.03559708 0.99936389]] t_gt: [-0.44966373 0.88765812 0.09932566] Pose Error in degrees for R and t: 8.360396815613035 71.95272011055582 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999827e-01 4.26883856e-04 -4.05843225e-04] [-4.26882802e-04 9.99999909e-01 2.68424578e-06] [ 4.05844334e-04 -2.51099782e-06 9.99999918e-01]] t_estimated: [[-0.65342704] [-0.75698906] [-0.00082192]] R_gt: [[ 0.96929176 0.245903 0.0022514 ] [-0.24588742 0.96928256 -0.00543987] [-0.00352026 0.00471816 0.99998216]] t_gt: [-0.37543102 0.92665633 -0.0189631 ] Pose Error in degrees for R and t: 14.214822881548189 62.86192801311378 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999976e-01 -1.97528568e-04 9.04521606e-05] [ 1.97515348e-04 9.99999970e-01 1.46131508e-04] [-9.04810230e-05 -1.46113639e-04 9.99999985e-01]] t_estimated: [[-0.66759223] [-0.74452665] [-0.00082725]] R_gt: [[ 0.92934992 0.36898288 -0.01265687] [-0.36914382 0.92806086 -0.0493482 ] [-0.00646291 0.05053376 0.99870046]] t_gt: [-0.28412125 0.95641447 -0.0674276 ] Pose Error in degrees for R and t: 21.878660450898217 58.51044366153633 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[-4.24161620e-01 -9.05585477e-01 -1.36511440e-03] [ 9.05586398e-01 -4.24160351e-01 -1.12817409e-03] [ 4.42630670e-04 -1.71475718e-03 9.99998432e-01]] t_estimated: [[0.79799194] [0.60266755] [0.00083472]] R_gt: [[ 0.99069789 0.13586249 -0.00766109] [-0.13592811 0.99068009 -0.00875159] [ 0.00639982 0.00971113 0.99993257]] t_gt: [-0.61669164 0.78042197 -0.10311627] Pose Error in degrees for R and t: 122.90909573420683 88.74706871632462 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.97756166e-01 -6.69472595e-02 -8.35786395e-04] [ 6.69474137e-02 9.97756493e-01 1.57940169e-04] [ 8.23337640e-04 -2.13539515e-04 9.99999638e-01]] t_estimated: [[-0.85330762] [-0.52139821] [-0.00316396]] R_gt: [[ 0.97296336 0.22582661 -0.04841346] [-0.22567871 0.97416447 0.00857486] [ 0.04909987 0.00258353 0.99879073]] t_gt: [-0.59266072 0.78403596 -0.1845017 ] Pose Error in degrees for R and t: 17.11771671572512 84.40415535300254 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.52349063e-01 -5.22970210e-01 -1.79838099e-03] [ 5.22972270e-01 8.52349172e-01 9.44981602e-04] [ 1.03865132e-03 -1.74595757e-03 9.99997936e-01]] t_estimated: [[-0.39876175] [-0.91705404] [-0.00097976]] R_gt: [[ 0.93446602 0.35328592 -0.04430486] [-0.35173185 0.93527791 0.03925864] [ 0.05530713 -0.02110194 0.99824619]] t_gt: [-0.57811354 0.8113869 -0.08623246] Pose Error in degrees for R and t: 52.28654107445207 59.1046522111257 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 0.99999329 0.00228863 0.00286209] [-0.00224662 0.99989096 -0.01459496] [-0.00289518 0.01458843 0.99988939]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189838e-04]] R_gt: [[ 0.99094571 -0.13218314 0.02350166] [ 0.13228707 0.99120661 -0.00291697] [-0.02290956 0.00599999 0.9997191 ]] t_gt: [ 0.71294466 -0.69427882 0.09842168] Pose Error in degrees for R and t: 7.83907933061448 44.694700842597264 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 5.06849541e-01 8.62028280e-01 3.28440293e-03] [ 8.62034094e-01 -5.06841739e-01 -2.94499951e-03] [-8.74000371e-04 4.32393895e-03 -9.99990270e-01]] t_estimated: [[0.99985599] [0.01683968] [0.00210496]] R_gt: [[ 0.96370924 -0.26635792 0.01781011] [ 0.26627352 0.96387179 0.00698725] [-0.01902859 -0.00199054 0.99981611]] t_gt: [ 0.76723115 -0.63968424 0.04648037] Pose Error in degrees for R and t: 179.4460197360441 40.84808382450474 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.99530733 0.09307308 0.02647117] [-0.09292896 0.99565069 -0.00662617] [-0.02697275 0.00413514 0.99962762]] t_estimated: [[9.84144563e-01] [1.77367583e-01] [4.69455749e-04]] R_gt: [[ 0.89019547 -0.4545021 -0.03130233] [ 0.45456723 0.89069593 -0.00539829] [ 0.03033357 -0.00942338 0.99949522]] t_gt: [ 0.83634344 -0.54662386 -0.0416175 ] Pose Error in degrees for R and t: 32.55403156565017 43.4387384827288 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.97444392e-01 7.14469926e-02 1.12194657e-04] [-7.14469945e-02 9.97444398e-01 1.30385745e-05] [-1.10976366e-04 -2.10212240e-05 9.99999994e-01]] t_estimated: [[0.7165908 ] [0.69749339] [0.00077864]] R_gt: [[ 0.98891565 -0.14786207 -0.01353164] [ 0.14740448 0.98861561 -0.03019822] [ 0.01784246 0.027869 0.99945217]] t_gt: [ 0.74889201 -0.64097362 -0.16826639] Pose Error in degrees for R and t: 12.731214418443583 84.86842156468373 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 7.42834669e-01 6.69474486e-01 7.53369946e-04] [-6.69474769e-01 7.42834772e-01 1.87743852e-04] [-4.33939674e-04 -6.43824812e-04 9.99999699e-01]] t_estimated: [[0.68556065] [0.72801509] [0.00078619]] R_gt: [[ 0.9627113 -0.26880985 0.03047134] [ 0.26957524 0.96266632 -0.02455766] [-0.0227329 0.03185584 0.99923403]] t_gt: [ 0.7696401 -0.6384767 0.0012716] Pose Error in degrees for R and t: 57.68851225440868 86.39857773277176 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-9.86720014e-01 1.62424378e-01 1.39119725e-03] [-1.62428440e-01 -9.86713689e-01 -3.61923424e-03] [ 7.84861503e-04 -3.79714086e-03 9.99992483e-01]] t_estimated: [[7.75958350e-01] [6.30783729e-01] [7.25873106e-04]] R_gt: [[ 0.91018001 -0.41395765 -0.01452975] [ 0.41375212 0.91026251 -0.01524068] [ 0.01953401 0.00786104 0.99977864]] t_gt: [ 0.82588355 -0.56196105 -0.04600143] Pose Error in degrees for R and t: 164.89630782369827 73.36091946216163 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.95825645e-01 -9.12756379e-02 -2.08528435e-04] [ 9.12756579e-02 9.95825661e-01 8.84106344e-05] [ 1.99588229e-04 -1.07075147e-04 9.99999974e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99469942 0.09956587 -0.02568846] [-0.09863771 0.99450098 0.0351807 ] [ 0.02904999 -0.03245969 0.99905138]] t_gt: [-0.74463778 0.6671985 0.01899315] Pose Error in degrees for R and t: 11.205247090068854 48.504541245384885 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99207810e-01 -3.97961257e-02 -1.43438030e-04] [ 3.97961287e-02 9.99207820e-01 1.85199752e-05] [ 1.42587378e-04 -2.42135822e-05 9.99999990e-01]] t_estimated: [[-9.41148252e-01] [-3.37992867e-01] [-8.88344709e-04]] R_gt: [[ 0.96677288 0.2534679 -0.03321587] [-0.25220858 0.96693214 0.03785591] [ 0.04171288 -0.02822082 0.99873103]] t_gt: [-0.64553244 0.76207617 -0.05027697] Pose Error in degrees for R and t: 17.177161802699363 69.51206809261903 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.49610079e-01 -3.13433329e-01 -4.96826469e-04] [ 3.13433341e-01 9.49610203e-01 -5.67943755e-05] [ 4.89592734e-04 -1.01789468e-04 9.99999875e-01]] t_estimated: [[-0.60210553] [-0.79841598] [-0.00092213]] R_gt: [[ 0.90879525 0.41643232 -0.02597203] [-0.41572202 0.90903768 0.02871658] [ 0.03556725 -0.01530043 0.99925058]] t_gt: [-0.58380147 0.81100174 -0.03810554] Pose Error in degrees for R and t: 42.91672308348717 72.78419699662433 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99725297e-01 2.34377938e-02 -1.67830865e-06] [-2.34377938e-02 9.99725297e-01 -1.45700912e-05] [ 1.33635682e-06 1.46054246e-05 1.00000000e+00]] t_estimated: [[-0.83015377] [-0.55753378] [-0.00089757]] R_gt: [[ 9.99970869e-01 7.67617587e-03 -5.46846810e-05] [-7.67026646e-03 9.98928880e-01 -4.56313899e-02] [-2.95850582e-04 4.56302731e-02 9.98958074e-01]] t_gt: [-0.16979401 0.2208541 -0.96041317] Pose Error in degrees for R and t: 2.766096389768353 88.92944893752934 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.90314587 0.42932031 0.00340838] [ 0.42932828 0.90314611 0.00208003] [-0.00218527 0.00334189 -0.99999203]] t_estimated: [[9.84029504e-01] [1.78003771e-01] [7.70579094e-04]] R_gt: [[ 0.99270527 -0.12055819 0.00161947] [ 0.12031665 0.9896677 -0.07798429] [ 0.00779911 0.07761027 0.99695313]] t_gt: [ 0.84027839 -0.06058674 -0.53875921] Pose Error in degrees for R and t: 179.01659948231764 35.3474356358761 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 1.75269935e-01 9.84518702e-01 1.83720933e-03] [ 9.84520251e-01 -1.75270680e-01 2.51567080e-04] [ 5.69681423e-04 1.76467764e-03 -9.99998281e-01]] t_estimated: [[9.98119741e-01] [6.12864641e-02] [9.75865444e-04]] R_gt: [[ 0.95741368 -0.28871243 0.00222039] [ 0.28815536 0.95503058 -0.06987735] [ 0.01805314 0.06754135 0.99755278]] t_gt: [ 0.96865434 -0.08272356 -0.23423403] Pose Error in degrees for R and t: 177.17306378367564 15.943172955824522 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.94318579e-01 1.06445088e-01 7.55143843e-05] [-1.06445102e-01 9.94318559e-01 2.10423958e-04] [-5.26867569e-05 -2.17266588e-04 9.99999975e-01]] t_estimated: [[0.49177635] [0.8707209 ] [0.00106445]] R_gt: [[ 0.98644961 -0.16296204 0.01904338] [ 0.16244397 0.98637124 0.02615599] [-0.02304569 -0.02270845 0.99947667]] t_gt: [ 0.54320874 -0.80737927 0.23035403] Pose Error in degrees for R and t: 15.58517056941952 64.17527375828567 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99965720e-01 -8.27245758e-03 3.55049922e-04] [ 8.27262567e-03 9.99965669e-01 -4.74579929e-04] [-3.51111791e-04 4.77500855e-04 9.99999824e-01]] t_estimated: [[ 0.97967067] [-0.20060245] [-0.00200699]] R_gt: [[ 0.97060669 -0.24066978 -0.0010765 ] [ 0.24059494 0.97017382 0.02959495] [-0.00607724 -0.02898393 0.99956104]] t_gt: [ 0.59244822 -0.79820164 0.10899199] Pose Error in degrees for R and t: 13.56243262674402 42.24245997754861 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.98681541e-01 -5.13253679e-02 9.41789428e-04] [-5.13256154e-02 -9.98681943e-01 2.40544018e-04] [ 9.28202085e-04 -2.88564793e-04 -9.99999528e-01]] t_estimated: [[0.40252978] [0.91540557] [0.00155417]] R_gt: [[ 0.89732646 -0.44079798 0.02244685] [ 0.43975848 0.89723511 0.0397767 ] [-0.03767335 -0.02582076 0.99895621]] t_gt: [ 0.67857503 -0.72595047 0.11194575] Pose Error in degrees for R and t: 178.02211518581882 66.9696632294304 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.86338383 -0.50453613 0.0034136 ] [-0.50454423 -0.86338318 0.00214707] [ 0.00186397 -0.00357606 -0.99999187]] t_estimated: [[0.14713238] [0.98911623] [0.00107396]] R_gt: [[ 0.99177063 0.12801908 0.00104341] [-0.12785229 0.99083312 -0.04361576] [-0.00661823 0.04312419 0.99904849]] t_gt: [-0.37332116 0.91647849 -0.14386971] Pose Error in degrees for R and t: 177.83324096891815 31.633371232638996 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.83858609 0.54476657 -0.00165861] [-0.54476219 -0.8385869 -0.00248198] [-0.00274299 -0.00117781 0.99999554]] t_estimated: [[0.57378426] [0.81900491] [0.00160275]] R_gt: [[ 0.96610743 0.25726182 -0.02125213] [-0.25808143 0.96090201 -0.10030383] [-0.00538382 0.10238999 0.99473034]] t_gt: [-0.29308935 0.93815179 -0.18430915] Pose Error in degrees for R and t: 132.0793825223092 53.13830478302076 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 7.47482668e-01 -6.64281309e-01 -5.35857141e-05] [-6.64281311e-01 -7.47482665e-01 -6.78600338e-05] [ 5.02375968e-06 8.63201876e-05 -9.99999996e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9416036 0.33637056 -0.01538587] [-0.33606716 0.93594378 -0.10520346] [-0.02098739 0.10423148 0.99433217]] t_gt: [-0.28217079 0.95387818 -0.10245032] Pose Error in degrees for R and t: 174.35072739990403 17.825592993895693 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.98891467e-01 4.70726564e-02 4.38692720e-05] [-4.70726574e-02 9.98891468e-01 2.27857062e-05] [-4.27480577e-05 -2.48254907e-05 9.99999999e-01]] t_estimated: [[0.26695498] [0.9637084 ] [0.0010727 ]] R_gt: [[ 9.99578125e-01 2.45372292e-02 -1.55551799e-02] [-2.45394003e-02 9.99698617e-01 2.21483130e-05] [ 1.55508294e-02 3.60637428e-04 9.99878687e-01]] t_gt: [-0.06479318 0.99650398 -0.05274146] Pose Error in degrees for R and t: 1.5712742591055189 19.440811571611693 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.99272734 -0.12024264 0.00584232] [-0.12020957 0.99273208 0.00571688] [-0.00648727 0.004973 -0.99996659]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99900301 -0.04276422 0.01281605] [ 0.04324247 0.998275 -0.03971887] [-0.01109637 0.04023386 0.99912831]] t_gt: [ 0.68846027 0.51995962 -0.50563272] Pose Error in degrees for R and t: 179.0924754831593 46.089587269202 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-8.01865691e-01 -5.97489769e-01 4.17007972e-03] [-5.97497850e-01 8.01869959e-01 -9.42183324e-04] [-2.78091676e-03 -3.24711815e-03 -9.99990861e-01]] t_estimated: [[ 0.99980662] [-0.0191135 ] [ 0.00462544]] R_gt: [[ 0.99191194 -0.06888207 0.10661355] [ 0.08553182 0.98332971 -0.16045348] [-0.09378391 0.1682752 0.98126858]] t_gt: [ 0.31291736 0.62699485 -0.71341445] Pose Error in degrees for R and t: 177.2975965161412 72.6881146062832 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 1.00000000e+00 -6.50001710e-06 -2.16564277e-05] [ 6.50064559e-06 1.00000000e+00 2.90209997e-05] [ 2.16562390e-05 -2.90211405e-05 9.99999999e-01]] t_estimated: [[-0.42373968] [-0.9057834 ] [-0.00105814]] R_gt: [[ 0.98910188 -0.13668912 0.0547289 ] [ 0.13737 0.9904804 -0.00886362] [-0.05299562 0.01628504 0.99846195]] t_gt: [ 0.21941651 -0.93104001 0.29158342] Pose Error in degrees for R and t: 8.49782396636876 41.406454416583685 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999936e-01 -3.47382400e-04 -8.90495779e-05] [ 3.47365637e-04 9.99999922e-01 -1.88188146e-04] [ 8.91149442e-05 1.88157201e-04 9.99999978e-01]] t_estimated: [[-0.91614277] [-0.4008489 ] [-0.00160588]] R_gt: [[ 0.97324088 -0.22204739 0.05914743] [ 0.22069669 0.97492426 0.02855647] [-0.06400451 -0.01473859 0.99784026]] t_gt: [ 0.21787964 -0.91819746 0.33082001] Pose Error in degrees for R and t: 13.327098655367926 80.33319190442839 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.95435704 -0.29850994 0.00971867] [-0.29760605 0.95320151 0.05326839] [-0.025165 0.04794473 -0.99853294]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.92820869 -0.36804495 0.05451433] [ 0.36938752 0.92912574 -0.01665832] [-0.04451861 0.03559949 0.99837348]] t_gt: [ 0.44668447 -0.8946674 0.00657473] Pose Error in degrees for R and t: 175.8296801387513 79.81222109459496 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 2.89086339e-02 9.99581711e-01 -8.33175471e-04] [ 9.99575485e-01 -2.89054111e-02 3.65051918e-03] [ 3.62490892e-03 -9.38353298e-04 -9.99992990e-01]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.99347712 -0.11261927 0.01788661] [ 0.11343628 0.99205512 -0.05439539] [-0.01161887 0.05606999 0.99835898]] t_gt: [ 0.83259078 -0.47802981 -0.27978581] Pose Error in degrees for R and t: 177.31229884392172 62.94524535048533 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-7.79304554e-02 -9.96958195e-01 1.09580919e-03] [-9.96958359e-01 7.79314053e-02 8.52584169e-04] [-9.35388725e-04 -1.02603386e-03 -9.99999036e-01]] t_estimated: [[0.71949179] [0.69449799] [0.00202645]] R_gt: [[ 0.98131968 -0.18376848 0.056927 ] [ 0.18817464 0.97842224 -0.08532388] [-0.04001949 0.09444201 0.99472512]] t_gt: [ 0.84400479 -0.49379227 -0.20934447] Pose Error in degrees for R and t: 178.6101982823505 74.6988414949191 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[-4.95940328e-01 -8.68355087e-01 -1.62298697e-03] [-8.68356521e-01 4.95940231e-01 4.89633021e-04] [ 3.79729208e-04 1.65216008e-03 -9.99998563e-01]] t_estimated: [[8.23274563e-01] [5.67643006e-01] [6.40680594e-04]] R_gt: [[ 0.97430524 -0.19003655 0.12089777] [ 0.20769623 0.96569681 -0.1558575 ] [-0.08713231 0.17696303 0.98035215]] t_gt: [ 0.83099871 -0.4348325 -0.34693205] Pose Error in degrees for R and t: 179.67849518735915 64.08175606835452 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.00571816 0.99988444 0.01408583] [ 0.99991995 0.00587622 -0.01120541] [-0.01128689 0.01402063 -0.999838 ]] t_estimated: [[-0.98196267] [-0.18883898] [-0.00944195]] R_gt: [[ 9.83794092e-01 -1.79275776e-01 -3.33719080e-03] [ 1.79277491e-01 9.83799197e-01 2.17990602e-04] [ 3.24473975e-03 -8.14230055e-04 9.99994781e-01]] t_gt: [ 0.80751343 -0.58978588 -0.00864144] Pose Error in degrees for R and t: 179.12477621570736 47.03966465786788 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.67780864e-01 -2.51793827e-01 -2.60302936e-04] [ 2.51793872e-01 9.67780875e-01 1.55547984e-04] [ 2.12750181e-04 -2.16079047e-04 9.99999954e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.95611837 -0.29280216 0.01024398] [ 0.29297199 0.95522036 -0.04150518] [ 0.00236722 0.04268392 0.99908614]] t_gt: [ 0.86249708 -0.49519277 -0.10432113] Pose Error in degrees for R and t: 3.47643639143434 54.936415395687696 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.95705669 -0.28972837 0.00999801] [ 0.28980928 0.95705195 -0.00788331] [-0.0072846 0.0104423 0.99991894]] t_estimated: [[ 0.07727374] [-0.99696304] [-0.00966764]] R_gt: [[ 0.92769676 -0.37174101 0.03447379] [ 0.37333188 0.92418201 -0.08069885] [-0.00186168 0.08773334 0.99614238]] t_gt: [ 0.8798083 -0.44934416 -0.15500702] Pose Error in degrees for R and t: 6.729785059654672 58.8376945661607 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999916e-01 -4.07924613e-04 -4.70446449e-05] [ 4.07923990e-04 9.99999917e-01 -1.32604619e-05] [ 4.70500503e-05 1.32412702e-05 9.99999999e-01]] t_estimated: [[0.99993737] [0.01106239] [0.0016943 ]] R_gt: [[ 0.99206203 -0.12570993 -0.00315888] [ 0.12571425 0.9920651 0.00127811] [ 0.00297338 -0.00166575 0.99999438]] t_gt: [ 0.36613335 -0.9165358 -0.16096118] Pose Error in degrees for R and t: 7.201199901189371 69.16373268802623 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.66570538 0.3921483 -0.63486696] [ 0.19566328 0.729285 0.65563654] [ 0.72010571 -0.56068092 0.40875992]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96573054 -0.25887927 -0.01859544] [ 0.25801295 0.96533503 -0.03946243] [ 0.02816758 0.0333117 0.99904784]] t_gt: [ 0.47420755 -0.82664055 -0.30297292] Pose Error in degrees for R and t: 69.76414963659862 78.98276344775778 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-9.99970392e-01 -7.69325300e-03 -1.72931313e-04] [-7.69339693e-03 9.99970046e-01 8.47618142e-04] [ 1.66405193e-04 8.48923475e-04 -9.99999626e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.95058674 -0.30623264 0.05105877] [ 0.3073618 0.95146171 -0.01578071] [-0.04374717 0.03069438 0.99857029]] t_gt: [ 0.28142896 -0.95956388 0.00590814] Pose Error in degrees for R and t: 177.25638761396203 73.83188129769678 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.23261886 -0.97239781 0.0181925 ] [-0.97239844 0.23288687 0.01431715] [-0.01815876 -0.01435992 -0.99973199]] t_estimated: [[0.8037099 ] [0.59489848] [0.012091 ]] R_gt: [[ 0.99874472 -0.04776132 -0.01511326] [ 0.04790398 0.99881025 0.00911853] [ 0.01465963 -0.00983037 0.99984378]] t_gt: [ 0.98856752 -0.14590137 -0.03804006] Pose Error in degrees for R and t: 179.00936921810367 44.987173295053566 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.07908746e-01 -4.19150316e-01 3.83694780e-03] [ 4.19151453e-01 9.07916167e-01 5.41594271e-04] [-3.71063635e-03 1.11654407e-03 9.99992492e-01]] t_estimated: [[0.9032415 ] [0.42913089] [0.00121567]] R_gt: [[ 0.99043147 -0.11352814 0.07847037] [ 0.12132695 0.98725277 -0.10301317] [-0.06577556 0.11154891 0.99157886]] t_gt: [ 0.73289134 0.18882981 -0.65361578] Pose Error in degrees for R and t: 19.422077671711033 42.07947210101747 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.99995137 0.00584807 0.00794056] [-0.00580776 0.99997018 -0.0050898 ] [-0.00797008 0.00504343 0.99995552]] t_estimated: [[8.99004682e-01] [4.37938380e-01] [7.46061977e-04]] R_gt: [[ 0.98346461 -0.1137895 0.14089196] [ 0.13869534 0.97348684 -0.18189781] [-0.11645841 0.19843161 0.97317024]] t_gt: [ 0.48454081 0.31909844 -0.81449149] Pose Error in degrees for R and t: 14.927607026224146 54.91841650188279 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.58716148 0.80945135 0.00546843] [ 0.8094677 0.58716202 0.00167581] [-0.00185437 0.00541049 -0.99998364]] t_estimated: [[-0.00900864] [-0.99995879] [-0.00112608]] R_gt: [[ 0.9819786 -0.18746592 0.02399345] [ 0.18823359 0.9814929 -0.03521432] [-0.01694794 0.03909625 0.99909106]] t_gt: [ 0.55753879 -0.82855318 -0.05147932] Pose Error in degrees for R and t: 177.72221185643033 34.55780390744116 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999998e-01 3.23088815e-07 -6.79593792e-05] [-3.16897175e-07 9.99999996e-01 9.11079424e-05] [ 6.79594084e-05 -9.11079207e-05 9.99999994e-01]] t_estimated: [[-2.88817140e-01] [-9.57384239e-01] [-2.80305866e-04]] R_gt: [[ 0.93462711 -0.35446126 -0.02880978] [ 0.35380268 0.93496962 -0.02561393] [ 0.03601546 0.01374661 0.99925663]] t_gt: [ 0.65138967 -0.75051089 -0.11146704] Pose Error in degrees for R and t: 20.864235562841454 57.96575514486023 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.88328198e-01 -1.52338272e-01 -6.50720589e-04] [ 1.52338591e-01 9.88328251e-01 4.72238071e-04] [ 5.71185610e-04 -5.65856059e-04 9.99999677e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.86863383 -0.49537934 -0.00866994] [ 0.49524736 0.86864288 -0.01376601] [ 0.01435032 0.00766384 0.99986772]] t_gt: [ 0.70317448 -0.71011936 -0.03572326] Pose Error in degrees for R and t: 20.950407643852742 45.109292631289605 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.99676815 -0.08032027 -0.00137862] [ 0.08032273 -0.99676722 -0.00183705] [-0.00122661 -0.00194185 0.99999736]] t_estimated: [[0.84311382] [0.53773401] [0.00110645]] R_gt: [[ 9.90415225e-01 1.38050599e-01 4.37489852e-03] [-1.38053496e-01 9.90424248e-01 4.62940348e-04] [-4.26981089e-03 -1.06303519e-03 9.99990759e-01]] t_gt: [-0.72911203 0.68438863 0.00280257] Pose Error in degrees for R and t: 176.67111084475752 75.71754402485595 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-7.50262039e-01 -6.61140341e-01 -5.67615507e-04] [-6.61139940e-01 7.50262230e-01 -7.52382800e-04] [ 9.23291097e-04 -1.89210971e-04 -9.99999556e-01]] t_estimated: [[0.97967969] [0.20056435] [0.00128567]] R_gt: [[ 0.96550942 0.25519388 -0.05165375] [-0.25086602 0.96488842 0.07782485] [ 0.06970076 -0.06218239 0.99562786]] t_gt: [-0.72081939 0.69269534 -0.02434286] Pose Error in degrees for R and t: 178.10627194983246 55.43968897592804 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.86311049 0.50501082 0.00208567] [-0.50495445 0.86306345 -0.01193652] [-0.00782814 0.00924937 0.99992658]] t_estimated: [[-9.99988329e-01] [-4.76563143e-03] [-7.94271905e-04]] R_gt: [[ 0.94416956 0.30219311 -0.13123438] [-0.28394055 0.94840655 0.1410704 ] [ 0.16709433 -0.09593139 0.98126244]] t_gt: [-0.75279031 0.61918907 -0.22340913] Pose Error in degrees for R and t: 17.590367401955472 41.40891649504736 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99802885e-01 1.98537220e-02 -1.44755712e-04] [-1.98537240e-02 9.99802895e-01 -1.22736467e-05] [ 1.44483502e-04 1.51451674e-05 9.99999989e-01]] t_estimated: [[-0.91948342] [-0.39312701] [-0.00118236]] R_gt: [[ 0.99066125 0.13412647 0.02450449] [-0.13333206 0.99056769 -0.03159336] [-0.0285113 0.02803122 0.9992005 ]] t_gt: [-0.38593601 0.91770353 0.09419995] Pose Error in degrees for R and t: 6.941033097519644 89.65486759787105 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.88838290e-01 -1.48989214e-01 -1.02527436e-03] [ 1.48989640e-01 9.88838694e-01 3.51784936e-04] [ 9.61418794e-04 -5.00613671e-04 9.99999413e-01]] t_estimated: [[0.0118475 ] [0.99992911] [0.00118475]] R_gt: [[ 0.93899783 0.34391855 0.00196261] [-0.34358967 0.93831995 -0.03875704] [-0.01517107 0.035719 0.99924617]] t_gt: [-0.27520597 0.96136339 -0.00648921] Pose Error in degrees for R and t: 28.769256700974992 16.659166173297194 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.15165124 -0.988397 -0.00855945] [-0.98839603 0.15156374 0.01008592] [-0.00867159 0.00998966 -0.9999125 ]] t_estimated: [[0.70646052] [0.70775014] [0.00181073]] R_gt: [[ 0.87092394 0.49062619 -0.02787742] [-0.49104943 0.8710657 -0.01073178] [ 0.01901724 0.02303576 0.99955399]] t_gt: [-0.19870493 0.97888536 -0.04795619] Pose Error in degrees for R and t: 178.1063808514744 56.472151992248705 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.99999760e-01 -6.88734812e-04 -7.32044520e-05] [ 6.88734300e-04 9.99999763e-01 -7.02038410e-06] [ 7.32092698e-05 6.96996399e-06 9.99999997e-01]] t_estimated: [[-0.93446049] [ 0.35606534] [-0.00103035]] R_gt: [[ 0.99579031 0.06305919 0.06652705] [-0.06657122 0.99642707 0.05196552] [-0.06301214 -0.05617555 0.99643063]] t_gt: [-0.43384064 0.12923679 0.89167267] Pose Error in degrees for R and t: 6.134377683935833 63.223914628513015 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-1.43564717e-01 -9.89640361e-01 -1.06195293e-03] [ 9.89639800e-01 -1.43566093e-01 1.35775777e-03] [-1.49615232e-03 -8.56024772e-04 9.99998514e-01]] t_estimated: [[0.99577611] [0.09180914] [0.00100889]] R_gt: [[ 0.99174314 0.08823599 0.0930673 ] [-0.09877173 0.98838999 0.11545571] [-0.08180051 -0.12369456 0.98894213]] t_gt: [-0.32211059 0.07713985 0.94355403] Pose Error in degrees for R and t: 103.89014321319033 71.7770178396259 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-7.37471901e-01 -6.75376155e-01 -1.49811611e-03] [ 6.75376514e-01 -7.37473021e-01 3.28140964e-04] [-1.32643880e-03 -7.69797697e-04 9.99998824e-01]] t_estimated: [[0.93628596] [0.35123713] [0.00103916]] R_gt: [[ 0.98200841 0.13302051 0.13403372] [-0.15552427 0.97229378 0.17452188] [-0.10710568 -0.19222741 0.97548777]] t_gt: [-0.37853951 0.17248133 0.90937233] Pose Error in degrees for R and t: 146.1237709335775 72.96868098171349 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.46058849e-01 -3.23992231e-01 1.29966224e-03] [ 3.23993725e-01 9.46058501e-01 -1.17407665e-03] [-8.49164802e-04 1.53182801e-03 9.99998466e-01]] t_estimated: [[-7.78285624e-01] [-6.27909985e-01] [-7.33539702e-04]] R_gt: [[ 0.97027624 0.24192745 0.00594825] [-0.24190368 0.97028953 -0.00456514] [-0.00687652 0.00299079 0.99997179]] t_gt: [-0.7096231 0.70455602 -0.00598951] Pose Error in degrees for R and t: 32.90605261112036 83.69067401929722 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.57809214e-01 -5.13963573e-01 2.19036759e-03] [ 5.13967754e-01 8.57806472e-01 -2.28120391e-03] [-7.06455782e-04 3.08261604e-03 9.99994999e-01]] t_estimated: [[-0.31997873] [-0.94742304] [-0.00178759]] R_gt: [[ 0.87776203 0.47446294 0.06647066] [-0.47170209 0.88013839 -0.05341686] [-0.08384772 0.01553375 0.99635708]] t_gt: [-0.62478415 0.77748575 0.0718378 ] Pose Error in degrees for R and t: 59.39040525212674 57.53266488788311 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 8.79267690e-01 -4.76322250e-01 -2.33309549e-03] [ 4.76325291e-01 8.79268618e-01 9.56255489e-04] [ 1.59593188e-03 -1.95211694e-03 9.99996821e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.78823168 0.61210662 0.06338061] [-0.61276464 0.7901928 -0.01075335] [-0.05666536 -0.03036036 0.99793108]] t_gt: [-0.56344365 0.82178507 0.08485604] Pose Error in degrees for R and t: 66.35423609154013 57.011076619698656 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99935698e-01 -1.13400482e-02 5.03663950e-05] [ 1.13400490e-02 9.99935699e-01 -1.65665486e-05] [-5.01752910e-05 1.71366408e-05 9.99999999e-01]] t_estimated: [[9.54619040e-01] [2.97828600e-01] [7.83759474e-04]] R_gt: [[ 0.99711613 -0.07365099 -0.01828707] [ 0.07328519 0.9971111 -0.01995863] [ 0.01970476 0.01856105 0.99963354]] t_gt: [ 0.72131029 -0.61906879 -0.31058863] Pose Error in degrees for R and t: 3.8877740886483325 59.7378788971564 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99722678 -0.07433517 -0.00360882] [ 0.07434759 0.99722646 0.00343803] [ 0.00334324 -0.0036968 0.99998758]] t_estimated: [[0.99227128] [0.1240339 ] [0.00364806]] R_gt: [[ 0.9692303 -0.24610988 -0.00472575] [ 0.24590715 0.96893667 -0.02626822] [ 0.01104386 0.02429936 0.99964355]] t_gt: [ 0.81586685 -0.56915441 -0.1021007 ] Pose Error in degrees for R and t: 10.121616679898525 42.38818896547451 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-8.19462961e-01 5.73125968e-01 2.66079578e-03] [ 5.73120457e-01 8.19467068e-01 -2.58184334e-03] [-3.66015598e-03 -5.90768495e-04 -9.99993127e-01]] t_estimated: [[0.98471861] [0.17412707] [0.00300219]] R_gt: [[ 0.93343289 -0.35867129 -0.0075153 ] [ 0.35775499 0.93219826 -0.05492899] [ 0.02670769 0.04858403 0.99846196]] t_gt: [ 0.86454484 -0.48271618 -0.1398117 ] Pose Error in degrees for R and t: 179.86888702829015 39.92727596241391 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999968e-01 -1.98263852e-04 1.58346945e-04] [ 1.98267431e-04 9.99999980e-01 -2.25826794e-05] [-1.58342464e-04 2.26140737e-05 9.99999987e-01]] t_estimated: [[8.69053852e-01] [4.94717276e-01] [4.68532541e-04]] R_gt: [[ 0.9942466 -0.09755235 -0.04425181] [ 0.09982011 0.99362799 0.05232169] [ 0.0388658 -0.05643745 0.99764938]] t_gt: [ 0.73567215 -0.64769368 0.19819025] Pose Error in degrees for R and t: 6.8921910446519075 71.39715790533616 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-4.59988792e-01 -8.87921267e-01 -2.47701227e-03] [ 8.87924715e-01 -4.59986646e-01 -1.40932471e-03] [ 1.11976814e-04 -2.84767398e-03 9.99995939e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99689707 -0.07871529 0.00117572] [ 0.07835461 0.99354806 0.08198063] [-0.00762138 -0.08163384 0.99663323]] t_gt: [ 0.55031973 -0.62307225 0.55581396] Pose Error in degrees for R and t: 112.9349625993304 63.656249423179666 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.9999947 -0.00135438 -0.00295996] [ 0.00135901 0.99999785 0.00156311] [ 0.00295783 -0.00156713 0.9999944 ]] t_estimated: [[-0.99991068] [-0.00775704] [-0.01088406]] R_gt: [[ 0.9987991 -0.03260386 0.03656778] [ 0.02734922 0.9903333 0.13598209] [-0.04064786 -0.13481876 0.99003659]] t_gt: [ 0.28180891 -0.45518304 0.84462544] Pose Error in degrees for R and t: 8.224015520028708 73.29489715674785 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99998465e-01 1.72782019e-03 2.89336019e-04] [-1.72773757e-03 9.99998467e-01 -2.85555620e-04] [-2.89828964e-04 2.85055285e-04 9.99999917e-01]] t_estimated: [[-9.99999956e-01] [ 2.93939717e-04] [ 5.04422022e-05]] R_gt: [[ 0.94261915 0.32947653 0.05398109] [-0.32703205 0.9437202 -0.04941377] [-0.06722319 0.02892512 0.9973183 ]] t_gt: [-0.68552378 0.72607842 0.05354688] Pose Error in degrees for R and t: 19.537430179703687 46.706178180198584 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.81687507 -0.57278877 -0.06803045] [ 0.57633532 -0.80569256 -0.13673735] [ 0.02350999 -0.15090569 0.98826856]] t_estimated: [[9.58710614e-01] [2.84382267e-01] [8.27787327e-04]] R_gt: [[ 0.85938097 0.50662412 0.0692566 ] [-0.50631328 0.86203537 -0.02326947] [-0.07149044 -0.01506746 0.99732746]] t_gt: [-0.61799979 0.77952058 0.10209766] Pose Error in degrees for R and t: 175.50434467301193 68.24018081414752 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 7.45137805e-01 -6.66908944e-01 -1.45324203e-03] [ 6.66909276e-01 7.45138859e-01 -3.13867929e-04] [ 1.29218844e-03 -7.35305730e-04 9.99998895e-01]] t_estimated: [[-0.56255772] [-0.82675487] [-0.00227756]] R_gt: [[ 8.09685837e-01 5.83325610e-01 6.43511039e-02] [-5.84580327e-01 8.11336184e-01 8.22161795e-04] [-5.17305947e-02 -3.82838965e-02 9.97927495e-01]] t_gt: [-0.58059067 0.80836875 0.09723392] Pose Error in degrees for R and t: 77.67854544484571 70.00558762377412 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-4.60366527e-01 -8.87728443e-01 -9.34014815e-04] [ 8.87727133e-01 -4.60363219e-01 -2.49869804e-03] [ 1.78817925e-03 -1.97946723e-03 9.99996442e-01]] t_estimated: [[0.71419016] [0.69995132] [0.00074941]] R_gt: [[ 0.9991758 0.01842805 -0.03616726] [-0.01956052 0.99932105 -0.03123627] [ 0.03556671 0.03191821 0.99885749]] t_gt: [-0.10911983 0.4878562 -0.8660769 ] Pose Error in degrees for R and t: 118.51556832688348 74.75813492067626 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 9.99110520e-01 -4.21683341e-02 -2.64674967e-05] [ 4.21683354e-02 9.99110519e-01 4.91541954e-05] [ 2.43712038e-05 -5.02265640e-05 9.99999998e-01]] t_estimated: [[ 5.60682067e-02] [ 9.98426941e-01] [-1.54755902e-05]] R_gt: [[ 0.99740631 0.01529356 -0.07033434] [-0.02126601 0.99615856 -0.08496224] [ 0.06876468 0.08623863 0.99389873]] t_gt: [ 0.03598285 0.36823759 -0.92903515] Pose Error in degrees for R and t: 7.219552877421437 68.30348778345974 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.29533283 -0.95539319 0.00153758] [-0.9553906 0.29532671 -0.00330738] [ 0.00270576 -0.00244577 -0.99999335]] t_estimated: [[0.92984752] [0.36793966] [0.00199967]] R_gt: [[ 0.99990233 0.01353473 -0.0035972 ] [-0.01363247 0.99949491 -0.02872399] [ 0.0032068 0.02877045 0.9995814 ]] t_gt: [-0.35356147 0.67017423 -0.6525801 ] Pose Error in degrees for R and t: 178.82586392232798 85.2114031435794 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99999946e-01 3.25265533e-04 -4.06454911e-05] [-3.25263303e-04 9.99999946e-01 5.48644337e-05] [ 4.06633344e-05 -5.48512102e-05 9.99999998e-01]] t_estimated: [[9.71264806e-01] [2.37999808e-01] [8.75871605e-04]] R_gt: [[ 0.98358033 -0.1783533 -0.02755734] [ 0.1790442 0.98352212 0.02503729] [ 0.02263808 -0.02956033 0.99930626]] t_gt: [ 0.58140119 -0.81351433 -0.01292629] Pose Error in degrees for R and t: 10.533341554833315 68.21856719094961 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 5.87577237e-01 -8.09167973e-01 -4.26450512e-04] [ 8.09167997e-01 5.87577338e-01 -1.57998122e-04] [ 3.78419677e-04 -2.52234007e-04 9.99999897e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.94548126 -0.32555356 -0.00898012] [ 0.32562315 0.94546658 0.0078899 ] [ 0.00592193 -0.01038404 0.99992782]] t_gt: [ 0.63909388 -0.76912014 -0.00363717] Pose Error in degrees for R and t: 35.01895429215225 40.08210031796401 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.20628240e-01 3.90438822e-01 1.08133718e-03] [-3.90438546e-01 9.20628875e-01 -4.63816974e-04] [-1.17660238e-03 4.80728994e-06 9.99999308e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.86913185 -0.49269098 -0.04318557] [ 0.49330716 0.86984425 0.00428208] [ 0.03545517 -0.02502579 0.99905759]] t_gt: [ 0.71877894 -0.69474032 -0.02631965] Pose Error in degrees for R and t: 52.5930053554361 80.74991749926264 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 7.98883292e-01 6.01486061e-01 6.09615764e-05] [-6.01486062e-01 7.98883294e-01 -7.23648687e-06] [-5.30538309e-05 -3.08864301e-05 9.99999998e-01]] t_estimated: [[0.83506038] [0.55015743] [0.00098242]] R_gt: [[ 0.99691867 -0.06422549 0.04503521] [ 0.06532492 0.99758976 -0.02336543] [-0.04342504 0.02623656 0.99871148]] t_gt: [ 0.75530883 -0.62935294 0.18282078] Pose Error in degrees for R and t: 40.79199913432323 73.4611812458551 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.99991901e-01 -4.02427785e-03 4.90903282e-05] [ 4.02428022e-03 9.99991901e-01 -4.81316615e-05] [-4.88962354e-05 4.83288249e-05 9.99999998e-01]] t_estimated: [[ 6.55172288e-01] [-7.55479441e-01] [-2.95030719e-04]] R_gt: [[ 0.990942 -0.11149022 0.07485311] [ 0.11336064 0.99332757 -0.02120808] [-0.07198838 0.02950208 0.99696906]] t_gt: [ 0.6997047 -0.67366567 0.2378821 ] Pose Error in degrees for R and t: 7.663424241167136 14.693279147693 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 8.99784465e-01 4.36334123e-01 6.70652504e-04] [-4.36332903e-01 8.99784158e-01 -1.43752344e-03] [-1.23068303e-03 1.00083351e-03 9.99998742e-01]] t_estimated: [[0.69265627] [0.72126647] [0.00140553]] R_gt: [[ 0.98937125 -0.13024152 0.06466262] [ 0.13226764 0.99081606 -0.0280906 ] [-0.06040995 0.03634544 0.99751093]] t_gt: [ 0.75854411 -0.64526068 0.0908267 ] Pose Error in degrees for R and t: 33.64854845525 86.55254718503946 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.71560372 -0.69830936 0.01659409] [ 0.69850236 0.71531584 -0.02043748] [ 0.00240166 0.02621615 0.99965341]] t_estimated: [[-0.15658355] [-0.98749676] [-0.01821361]] R_gt: [[ 0.9972733 0.06765335 0.02947541] [-0.06710967 0.99756332 -0.01906139] [-0.03069269 0.01703162 0.9993837 ]] t_gt: [-0.74697705 0.63758377 0.18844686] Pose Error in degrees for R and t: 48.1873187978476 58.930336598789324 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-9.42882033e-01 3.32675185e-01 1.73404919e-02] [ 3.32722241e-01 9.43024855e-01 -1.81352904e-04] [-1.64128465e-02 5.59857294e-03 -9.99849626e-01]] t_estimated: [[0.62843333] [0.77785104] [0.00439464]] R_gt: [[ 0.97347969 0.22858496 0.00930059] [-0.22872111 0.97332446 0.01805144] [-0.00492632 -0.01969947 0.99979369]] t_gt: [-0.70729851 0.70163948 0.08620247] Pose Error in degrees for R and t: 178.8232372740377 84.16523854796804 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 5.24439209e-01 -8.51447530e-01 -7.87067269e-04] [ 8.51447105e-01 5.24439758e-01 -8.76497050e-04] [ 1.15906062e-03 -2.10476727e-04 9.99999306e-01]] t_estimated: [[ 0.37412014] [-0.92737898] [-0.00153274]] R_gt: [[ 0.95284349 0.29747363 -0.05999528] [-0.29196875 0.95255307 0.08600116] [ 0.08273266 -0.06442913 0.99448696]] t_gt: [-0.72967083 0.68245535 -0.04283898] Pose Error in degrees for R and t: 75.76043240017401 25.066909834113407 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.99774451 0.06700743 0.00398783] [-0.06699103 0.9977451 -0.00411252] [-0.0042544 0.0038361 0.99998359]] t_estimated: [[0.73959758] [0.67304892] [0.00075623]] R_gt: [[ 0.99103606 -0.12801934 -0.03819088] [ 0.12829503 0.99172468 0.00484427] [ 0.03725402 -0.00969934 0.99925888]] t_gt: [ 0.6613949 -0.72891069 -0.17676539] Pose Error in degrees for R and t: 11.47964750572287 89.91060921386882 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99069316e-01 -4.31335264e-02 3.21098661e-05] [ 4.31335253e-02 9.99069316e-01 3.18874578e-05] [-3.34554004e-05 -3.04727689e-05 9.99999999e-01]] t_estimated: [[9.99993433e-01] [3.55614521e-03] [6.99005593e-04]] R_gt: [[ 0.97065213 -0.22665204 -0.08039437] [ 0.22993733 0.97260601 0.03415545] [ 0.07045007 -0.05163834 0.99617793]] t_gt: [ 0.68058871 -0.72596863 -0.09883601] Pose Error in degrees for R and t: 11.858029460734942 47.31763033419646 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99969322e-01 -7.61097584e-03 -1.85160065e-03] [ 7.61097739e-03 9.99971036e-01 -6.20939825e-06] [ 1.85159428e-03 -7.88328290e-06 9.99998286e-01]] t_estimated: [[ 9.99519213e-01] [-3.10013096e-02] [-5.10744676e-04]] R_gt: [[ 0.96709098 -0.25093473 -0.04201592] [ 0.25198178 0.96748811 0.02171258] [ 0.03520083 -0.0315845 0.99888106]] t_gt: [ 0.63780993 -0.76892275 -0.04422994] Pose Error in degrees for R and t: 14.3763428546855 48.59605687954307 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999922e-01 -3.93891042e-04 -4.45328777e-06] [ 3.93891139e-04 9.99999922e-01 2.19219924e-05] [ 4.44465255e-06 -2.19237448e-05 1.00000000e+00]] t_estimated: [[-0.80029573] [-0.59960492] [-0.0008225 ]] R_gt: [[ 0.99802135 0.06282397 0.00259399] [-0.062791 0.99796478 -0.01115033] [-0.00328858 0.01096548 0.99993496]] t_gt: [-0.33740941 0.93639028 -0.0965822 ] Pose Error in degrees for R and t: 3.6823317612309117 73.06075676757385 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-9.99198298e-01 3.96719086e-02 -5.37593840e-03] [-3.96688253e-02 -9.99212652e-01 -6.79007352e-04] [-5.39864318e-03 -4.65205830e-04 9.99985319e-01]] t_estimated: [[0.46566593] [0.88495848] [0.00193222]] R_gt: [[ 0.98553197 0.1693554 0.00667151] [-0.16859281 0.98361116 -0.06392156] [-0.01738852 0.06187285 0.99793327]] t_gt: [-0.31781763 0.94131823 -0.11363072] Pose Error in degrees for R and t: 167.98424605346978 46.77924312384255 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.99918582 -0.04005583 0.00481878] [ 0.04000508 -0.99914738 -0.01020351] [ 0.00522338 -0.01000243 0.99993633]] t_estimated: [[0.7927009 ] [0.60960988] [0.00104029]] R_gt: [[ 0.93884269 0.34426643 0.0073485 ] [-0.34337806 0.93759029 -0.05492018] [-0.02579741 0.04903876 0.99846426]] t_gt: [-0.26015716 0.96544866 -0.0150714 ] Pose Error in degrees for R and t: 162.17807537458907 67.52349489387873 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.60163744 -0.79871161 0.00959997] [-0.79858272 -0.60119372 0.02884025] [-0.0172636 -0.02501774 -0.99953793]] t_estimated: [[0.46652346] [0.88437538] [0.01536414]] R_gt: [[ 9.92719093e-01 -6.13289504e-02 -1.03669947e-01] [ 6.16769355e-02 9.98096105e-01 1.55872146e-04] [ 1.03463402e-01 -6.54807824e-03 9.94611513e-01]] t_gt: [ 0.59048464 -0.57025121 -0.57108795] Pose Error in degrees for R and t: 179.24665340981 76.25415414170605 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.89557678 0.14489856 0.42065025] [ 0.06281296 0.89482963 -0.4419666 ] [-0.44045063 0.42223731 0.79228713]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.9798914 -0.11305949 -0.16440888] [ 0.11495088 0.99336873 0.00200991] [ 0.16309099 -0.02086876 0.98639022]] t_gt: [ 0.6232911 -0.61109573 -0.4879244 ] Pose Error in degrees for R and t: 46.04787121128751 85.61574856646031 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.90802674e-01 -4.54383794e-01 2.44201851e-03] [ 4.54390314e-01 8.90787398e-01 -5.22057901e-03] [ 1.96827186e-04 5.76013530e-03 9.99983391e-01]] t_estimated: [[-0.11765174] [-0.99303332] [-0.00654997]] R_gt: [[ 0.96565182 -0.21129727 -0.15122677] [ 0.2041564 0.97700698 -0.06145451] [ 0.16073529 0.0284697 0.9865865 ]] t_gt: [ 0.69238456 -0.54151527 -0.47682788] Pose Error in degrees for R and t: 17.635644045993068 62.65123665638077 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.95910332e-01 -9.03471119e-02 -9.99756008e-05] [ 9.03470897e-02 9.95910317e-01 -2.07939260e-04] [ 1.18353444e-04 1.98056353e-04 9.99999973e-01]] t_estimated: [[ 0.02756606] [-0.99961749] [-0.00223334]] R_gt: [[ 0.99892465 -0.04256985 0.01836633] [ 0.04271209 0.99906042 -0.00738721] [-0.01803383 0.00816379 0.99980428]] t_gt: [ 0.65220546 -0.74595311 0.1348406 ] Pose Error in degrees for R and t: 2.9651473092060163 40.23998770259534 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 1.00000000e+00 2.44926710e-08 -1.10663678e-09] [-2.44926710e-08 1.00000000e+00 3.95376260e-10] [ 1.10663666e-09 -3.95376233e-10 1.00000000e+00]] t_estimated: [[ 1.84037377e-05] [-1.00000000e+00] [ 1.44054074e-06]] R_gt: [[ 0.99846784 -0.05274962 0.01670131] [ 0.05288198 0.99857154 -0.00760017] [-0.01627622 0.00847275 0.99983161]] t_gt: [ 0.76043641 -0.64894713 0.0245782 ] Pose Error in degrees for R and t: 3.2054028073402816 49.53667616516082 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-1.12682222e-01 -9.93630146e-01 -1.36015697e-03] [ 9.93631001e-01 -1.12681572e-01 -5.45188953e-04] [ 3.88451553e-04 -1.41292723e-03 9.99998926e-01]] t_estimated: [[0.55002469] [0.83514778] [0.00101107]] R_gt: [[ 0.99977317 0.00156557 -0.02123978] [-0.0011896 0.99984236 0.01768424] [ 0.0212649 -0.01765428 0.99961784]] t_gt: [ 0.98816784 -0.06086333 -0.14078341] Pose Error in degrees for R and t: 96.55716331654689 60.49203835288334 Number of keypoints: Image1: 510 Image2: 510 R_estimated: [[-0.18287881 -0.98286218 0.02317936] [-0.9828365 0.18335378 0.02034204] [-0.02424345 -0.01906139 -0.99952435]] t_estimated: [[0.75914721] [0.65069566] [0.01704925]] R_gt: [[ 9.99861876e-01 -2.27483354e-04 1.65961282e-02] [-2.35302200e-06 9.99905279e-01 1.38223614e-02] [-1.65968529e-02 -1.38202761e-02 9.99766578e-01]] t_gt: [-0.13051773 -0.07531527 0.98858117] Pose Error in degrees for R and t: 176.99538051375617 82.45904061873291 Number of keypoints: Image1: 515 Image2: 515 R_estimated: [[ 0.71510175 -0.69779764 0.04132726] [-0.69768617 -0.70883729 0.1038446 ] [-0.04316821 -0.10309292 -0.99373455]] t_estimated: [[0.36686499] [0.92849477] [0.05751116]] R_gt: [[ 0.99987871 -0.00408611 0.01504639] [ 0.00406312 0.99999102 0.00153867] [-0.01505236 -0.00147773 0.99988568]] t_gt: [-0.08181837 -0.2353535 0.96845985] Pose Error in degrees for R and t: 173.17720038991246 78.88122340069663 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.68780408 -0.72589436 0.00171194] [-0.72589502 0.68779632 -0.00355586] [ 0.00140372 -0.00368842 -0.99999221]] t_estimated: [[0.95091432] [0.30945008] [0.00161172]] R_gt: [[ 0.99672838 -0.07665652 -0.02562164] [ 0.07720878 0.99678699 0.02131739] [ 0.02390552 -0.02322652 0.99944365]] t_gt: [ 0.61766789 -0.7850687 -0.04640593] Pose Error in degrees for R and t: 179.19921627436625 69.85880059709967 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-8.25671249e-01 -5.64151380e-01 4.57446969e-04] [-5.64150658e-01 8.25668195e-01 -2.46299207e-03] [ 1.01180096e-03 -2.29169075e-03 -9.99996862e-01]] t_estimated: [[0.99051781] [0.13737951] [0.00115445]] R_gt: [[ 0.97617784 -0.20773766 -0.06262473] [ 0.20744196 0.97818251 -0.01125567] [ 0.06359598 -0.00200394 0.99797348]] t_gt: [ 0.79767809 -0.57788728 -0.17249916] Pose Error in degrees for R and t: 176.41357620567004 44.72232492752101 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.99731895 0.07316944 0.00106702] [-0.07316806 0.99731881 -0.00127445] [-0.00115741 0.00119296 0.99999862]] t_estimated: [[-0.52800286] [-0.84923961] [-0.00225105]] R_gt: [[ 0.9427113 -0.31482234 -0.11037363] [ 0.31981657 0.94699001 0.0304539 ] [ 0.0949357 -0.06400952 0.99342371]] t_gt: [ 0.8306017 -0.5568207 -0.00717813] Pose Error in degrees for R and t: 23.70332186403523 88.0326333970339 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.58967591e-01 -2.83515194e-01 5.41752544e-04] [-2.83515647e-01 9.58964330e-01 -2.50828183e-03] [ 1.91614643e-04 -2.55895630e-03 -9.99996708e-01]] t_estimated: [[0.99256593] [0.12168477] [0.00238598]] R_gt: [[ 0.9431954 -0.32138086 -0.0842436 ] [ 0.32679145 0.94313834 0.06080012] [ 0.05991413 -0.08487683 0.99458868]] t_gt: [ 0.81152892 -0.57507383 0.10349347] Pose Error in degrees for R and t: 176.44283945519433 42.62808883094402 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99996319e-01 -2.71121626e-03 1.09007760e-04] [ 2.71123108e-03 9.99996315e-01 -1.35987407e-04] [-1.08638667e-04 1.36282452e-04 9.99999985e-01]] t_estimated: [[7.86588500e-01] [6.17477291e-01] [5.71771751e-04]] R_gt: [[ 0.99731428 -0.07282947 -0.00777071] [ 0.07288183 0.99731812 0.00673607] [ 0.00725967 -0.00728425 0.99994737]] t_gt: [ 0.95336461 -0.29542325 0.0618145 ] Pose Error in degrees for R and t: 4.066867011061655 55.42226517689259 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99924340e-01 1.23003721e-02 1.20777119e-04] [-1.23003567e-02 9.99924340e-01 -1.26962667e-04] [-1.22329669e-04 1.25467459e-04 9.99999985e-01]] t_estimated: [[ 4.30063566e-01] [-9.02798244e-01] [-8.12291350e-04]] R_gt: [[ 0.98871525 -0.14745811 0.0264189 ] [ 0.14764093 0.98902751 -0.00508831] [-0.02537864 0.00893145 0.99963855]] t_gt: [ 0.9857317 -0.16516541 -0.03245611] Pose Error in degrees for R and t: 9.317984379931335 55.03578595824197 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 8.04914707e-01 5.93388962e-01 1.36164487e-03] [-5.93390519e-01 8.04912268e-01 1.98334457e-03] [ 8.08901126e-05 -2.40441037e-03 9.99997106e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.9420729 -0.3346178 -0.02301684] [ 0.33527982 0.94139564 0.03690248] [ 0.00931917 -0.04248091 0.99905435]] t_gt: [ 0.98939247 -0.09656373 0.10852639] Pose Error in degrees for R and t: 56.023174920998756 40.24237130457251 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.84822793e-01 -1.73562542e-01 3.31742270e-04] [ 1.73562689e-01 9.84822705e-01 -4.83393098e-04] [-2.42808385e-04 5.33634622e-04 9.99999828e-01]] t_estimated: [[-0.68655917] [-0.72707325] [-0.00099932]] R_gt: [[ 0.99247876 0.12217049 0.00781329] [-0.12218915 0.99250508 0.00207724] [-0.00750114 -0.00301609 0.99996748]] t_gt: [-0.76040832 0.64769207 0.04768825] Pose Error in degrees for R and t: 17.019082251588127 87.0710208574025 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99215729e-01 3.95966177e-02 -1.88475157e-04] [-3.95966001e-02 9.99215742e-01 9.60843435e-05] [ 1.92131959e-04 -8.85460119e-05 9.99999978e-01]] t_estimated: [[-9.99685990e-01] [-2.50494543e-02] [-6.68314250e-04]] R_gt: [[ 0.94065538 0.33861217 0.02256568] [-0.33752873 0.94040541 -0.04136366] [-0.03522757 0.03129268 0.99888998]] t_gt: [-0.67737103 0.73538235 -0.01952657] Pose Error in degrees for R and t: 17.708699873880523 48.79535559061393 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.15289477e-01 -5.79053466e-01 -3.91070251e-04] [ 5.79053520e-01 8.15289532e-01 2.96363450e-05] [ 3.01674453e-04 -2.50612805e-04 9.99999923e-01]] t_estimated: [[-0.51515531] [-0.85709638] [-0.00089748]] R_gt: [[ 0.83383699 0.54799052 0.06650493] [-0.5452443 0.83642194 -0.05572816] [-0.08616535 0.01020772 0.99622849]] t_gt: [-0.60088646 0.79660097 0.06604811] Pose Error in degrees for R and t: 68.75002279375876 68.08237196112891 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99987022 -0.01606796 -0.00116985] [ 0.01606958 0.99986991 0.00139252] [ 0.00114732 -0.00141114 0.99999835]] t_estimated: [[-0.99908136] [-0.04270295] [-0.0035915 ]] R_gt: [[ 0.9981768 -0.05469537 -0.02553499] [ 0.05122855 0.9913424 -0.12089765] [ 0.03192645 0.11936888 0.99233599]] t_gt: [ 0.46116465 -0.15733839 -0.87325357] Pose Error in degrees for R and t: 7.469853307960808 63.199463665848555 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.55314216e-01 -2.95590564e-01 -9.84030834e-04] [ 2.95592004e-01 9.55312131e-01 2.02480774e-03] [ 3.41542532e-04 -2.22519926e-03 9.99997466e-01]] t_estimated: [[ 0.18551739] [-0.98264033] [ 0.00112805]] R_gt: [[ 0.99584873 -0.05002148 -0.07606006] [ 0.03524995 0.98221249 -0.18443816] [ 0.08393291 0.1809912 0.97989662]] t_gt: [ 0.32887232 0.10042108 -0.93902002] Pose Error in degrees for R and t: 18.72907687584214 87.78063587205737 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.97903170e-01 -6.47244897e-02 5.40436899e-05] [ 6.47244764e-02 9.97903149e-01 2.18909727e-04] [-6.80991886e-05 -2.14952761e-04 9.99999975e-01]] t_estimated: [[2.22967653e-01] [9.74825654e-01] [6.08758594e-04]] R_gt: [[ 0.99219436 -0.03508182 -0.11966914] [ 0.01129922 0.98095949 -0.19388577] [ 0.12419293 0.19102029 0.9736971 ]] t_gt: [ 0.28297766 0.1951356 -0.93906642] Pose Error in degrees for R and t: 13.391919849908897 75.35991079520556 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 0.99999768 0.00149377 -0.00155058] [-0.00149064 0.99999684 0.00202202] [ 0.00155359 -0.0020197 0.99999675]] t_estimated: [[-0.99999615] [-0.00193405] [-0.00198754]] R_gt: [[ 0.99763282 -0.04282507 -0.05380648] [ 0.04602338 0.99715606 0.05967565] [ 0.05109747 -0.06201136 0.99676639]] t_gt: [ 0.13252359 -0.98917031 -0.06308397] Pose Error in degrees for R and t: 5.182925756210518 82.50240382957185 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-1.45159619e-01 -9.89404935e-01 -2.56121550e-03] [ 9.89408013e-01 -1.45157306e-01 -1.06788021e-03] [ 6.84786809e-04 -2.68910022e-03 9.99996150e-01]] t_estimated: [[9.97344741e-01] [7.28190708e-02] [9.21760390e-04]] R_gt: [[ 0.97701541 -0.19769312 -0.07974119] [ 0.19762183 0.98023794 -0.00886302] [ 0.07991731 -0.00709958 0.9967759 ]] t_gt: [ 0.54519357 -0.70132258 -0.45925004] Pose Error in degrees for R and t: 87.01712749629668 60.51122956593678 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999212e-01 -1.02999486e-03 -7.18132250e-04] [ 1.03046675e-03 9.99999253e-01 6.57046732e-04] [ 7.17454959e-04 -6.57786225e-04 9.99999526e-01]] t_estimated: [[9.99993753e-01] [3.39595796e-03] [9.80031980e-04]] R_gt: [[ 0.93427757 -0.34776881 -0.078628 ] [ 0.34954235 0.93687135 0.00960027] [ 0.07032639 -0.0364544 0.99685719]] t_gt: [ 0.60031552 -0.78847967 -0.13386968] Pose Error in degrees for R and t: 20.86376359959876 53.30873332726911 Number of keypoints: Image1: 474 Image2: 474 R_estimated: [[ 9.99996405e-01 2.68120209e-03 3.37042405e-05] [-2.68120155e-03 9.99996405e-01 -1.61142148e-05] [-3.37473248e-05 1.60237890e-05 9.99999999e-01]] t_estimated: [[ 9.99274846e-01] [-3.80751317e-02] [ 2.57149526e-04]] R_gt: [[ 0.99726406 -0.07305764 -0.01133037] [ 0.07295482 0.9972923 -0.00932616] [ 0.01198143 0.00847501 0.99989213]] t_gt: [ 0.6183881 -0.76671362 -0.17247138] Pose Error in degrees for R and t: 4.4209303267607325 49.67758878285975 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.97443181e-01 7.14639629e-02 -4.84144934e-05] [-7.14639468e-02 9.97443145e-01 2.78263449e-04] [ 6.81765133e-05 -2.74092089e-04 9.99999960e-01]] t_estimated: [[0.17522507] [0.98452728] [0.00148496]] R_gt: [[ 0.99311703 -0.09075262 -0.07405273] [ 0.09483091 0.99405332 0.05353551] [ 0.06875343 -0.06018961 0.99581564]] t_gt: [ 0.55919676 -0.81802063 -0.13468942] Pose Error in degrees for R and t: 10.78351895668612 44.961777394794964 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-9.12060385e-01 4.10052459e-01 1.68379037e-03] [-4.10055880e-01 -9.12050875e-01 -4.16847542e-03] [-1.73591112e-04 -4.49234944e-03 9.99989894e-01]] t_estimated: [[0.70374063] [0.71045571] [0.00134302]] R_gt: [[ 0.97545245 -0.20492926 -0.08060759] [ 0.20750179 0.97791939 0.02485917] [ 0.07373301 -0.0409742 0.99643596]] t_gt: [ 0.56969117 -0.78871262 -0.23105057] Pose Error in degrees for R and t: 167.73419055422573 80.80814432490085 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99693114e-01 -2.47725072e-02 -7.22527483e-06] [ 2.47725073e-02 9.99693114e-01 2.07770945e-05] [ 6.70835677e-06 -2.09497064e-05 1.00000000e+00]] t_estimated: [[-8.94265862e-02] [ 9.95993414e-01] [-7.27861482e-05]] R_gt: [[ 0.99859412 0.01594275 -0.05056585] [-0.01757007 0.99933585 -0.03190063] [ 0.05002304 0.03274525 0.99821102]] t_gt: [ 0.01991125 0.40546448 -0.91389392] Pose Error in degrees for R and t: 4.173292001655785 66.28885536014033 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.37490781e-01 -3.48007363e-01 -1.38242758e-03] [ 3.48010104e-01 9.37482720e-01 3.88802637e-03] [-5.70598324e-05 -4.12608764e-03 9.99991486e-01]] t_estimated: [[ 0.98321925] [-0.1818717 ] [ 0.01423325]] R_gt: [[ 0.99639455 0.0246685 -0.08118172] [-0.02930823 0.99797382 -0.05646049] [ 0.07962412 0.05863643 0.99509862]] t_gt: [ 0.02676256 0.43043067 -0.9022268 ] Pose Error in degrees for R and t: 22.657669146010964 86.28398101223613 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999284e-01 1.19652604e-03 -2.62643661e-05] [-1.19652595e-03 9.99999284e-01 3.47131691e-06] [ 2.62685008e-05 -3.43988843e-06 1.00000000e+00]] t_estimated: [[-2.94784618e-01] [ 9.55563684e-01] [-2.72942379e-04]] R_gt: [[ 0.99137403 0.03857343 -0.12525731] [-0.05155583 0.99343436 -0.10211865] [ 0.12049617 0.10769632 0.98685437]] t_gt: [ 0.03619028 0.44629076 -0.89415593] Pose Error in degrees for R and t: 9.637233482597134 65.41549041550995 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.50993777 -0.8602027 0.00384513] [-0.86020504 0.50991193 -0.00609142] [ 0.00327918 -0.00641385 -0.99997405]] t_estimated: [[0.88734765] [0.46109908] [0.0013404 ]] R_gt: [[ 0.98761637 -0.15681681 -0.00479306] [ 0.15644551 0.98665788 -0.04506959] [ 0.01179693 0.04376145 0.99897299]] t_gt: [ 0.95033504 -0.13083655 -0.28239175] Pose Error in degrees for R and t: 178.30820277201394 38.503471949668125 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 1.63070601e-02 9.99866327e-01 1.18633825e-03] [ 9.99866555e-01 -1.63081991e-02 9.56849969e-04] [ 9.76069105e-04 1.17057653e-03 -9.99998839e-01]] t_estimated: [[8.79916721e-01] [4.75127445e-01] [6.89589906e-04]] R_gt: [[ 9.54984117e-01 -2.96626669e-01 4.42314171e-03] [ 2.96657639e-01 9.54826097e-01 -1.73219886e-02] [ 9.15243348e-04 1.78536696e-02 9.99840465e-01]] t_gt: [ 0.98992028 -0.12623609 -0.06420505] Pose Error in degrees for R and t: 179.1822810132369 35.803811763787984 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-9.10870440e-01 -4.12676881e-01 -3.58246256e-03] [ 4.12673697e-01 -9.10877485e-01 1.62100934e-03] [-3.93213757e-03 -1.85858352e-06 9.99992269e-01]] t_estimated: [[0.95501372] [0.29655689] [0.00167546]] R_gt: [[ 0.95973909 -0.28030673 0.01816667] [ 0.28084575 0.95876542 -0.04352497] [-0.00521749 0.04687498 0.99888743]] t_gt: [ 0.98051649 -0.09638726 -0.17116338] Pose Error in degrees for R and t: 139.3399446291056 24.833016731507904 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999908e-01 4.27649125e-04 4.48368691e-05] [-4.27649097e-04 9.99999909e-01 -6.27658032e-07] [-4.48371335e-05 6.08483527e-07 9.99999999e-01]] t_estimated: [[ 8.88390752e-01] [-4.59088036e-01] [ 2.13966999e-04]] R_gt: [[ 0.99631811 -0.07998747 0.03087772] [ 0.0802848 0.99673538 -0.00848151] [-0.03009865 0.01093009 0.99948761]] t_gt: [ 0.70623392 -0.69468507 0.13655145] Pose Error in degrees for R and t: 4.971744313316288 18.85091502670036 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.89269753e-01 -1.46100478e-01 7.52900050e-05] [ 1.46100457e-01 9.89269732e-01 2.29677892e-04] [-1.08038173e-04 -2.16213487e-04 9.99999971e-01]] t_estimated: [[ 9.35412368e-01] [-3.53557432e-01] [ 9.19074007e-04]] R_gt: [[ 0.99353765 -0.10955487 0.02967885] [ 0.11042136 0.9934528 -0.02930496] [-0.02627371 0.03239308 0.99912977]] t_gt: [ 0.73586303 -0.6745509 -0.05904811] Pose Error in degrees for R and t: 3.175416849427532 22.062664114680267 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999863e-01 -6.89479877e-05 -5.18172697e-04] [ 6.92526884e-05 9.99999825e-01 5.88034426e-04] [ 5.18132063e-04 -5.88070230e-04 9.99999693e-01]] t_estimated: [[0.99990542] [0.01371018] [0.00108637]] R_gt: [[ 0.99501624 -0.09346937 0.03474217] [ 0.09406802 0.99543628 -0.01601181] [-0.03308793 0.01920026 0.99926817]] t_gt: [ 0.80398873 -0.59345464 0.03759936] Pose Error in degrees for R and t: 5.823831113207312 37.267492717009745 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 0.98037487 -0.1921827 0.0439423 ] [ 0.19447877 0.97931472 -0.05586306] [-0.03229743 0.06331259 0.997471 ]] t_estimated: [[0.98934793] [0.14556491] [0.0012336 ]] R_gt: [[ 0.99926282 -0.03074444 -0.02301985] [ 0.03086871 0.99951162 0.00509129] [ 0.02285228 -0.00579905 0.99972159]] t_gt: [ 0.59709876 -0.67212895 -0.43785356] Pose Error in degrees for R and t: 10.705093718305084 60.504190589726086 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 0.87610566 0.48211764 0.00120448] [-0.48211082 0.87610248 -0.00368693] [-0.00283278 0.00264945 0.99999248]] t_estimated: [[0.68817618] [0.72554321] [0.00077848]] R_gt: [[ 0.98936214 -0.13437651 -0.05574152] [ 0.13523413 0.99074244 0.01190602] [ 0.05362577 -0.01931852 0.99837443]] t_gt: [ 0.66019191 -0.71574895 -0.22770613] Pose Error in degrees for R and t: 36.73373087138484 86.26420622554201 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.58294844 0.81248966 0.00562696] [ 0.81250648 -0.58291478 -0.00660127] [-0.00208342 0.00842015 -0.99996238]] t_estimated: [[-0.79851364] [-0.60197545] [-0.00123609]] R_gt: [[ 0.96208439 -0.24945205 -0.11031513] [ 0.25401211 0.9667608 0.0291984 ] [ 0.0993654 -0.05611385 0.99346798]] t_gt: [ 0.70431146 -0.68950945 -0.16888484] Pose Error in degrees for R and t: 175.52681712506288 81.53960152926952 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.81767117e-01 -1.90086102e-01 7.76193631e-04] [ 1.90085869e-01 9.81767401e-01 3.65344237e-04] [-8.31488466e-04 -2.11139518e-04 9.99999632e-01]] t_estimated: [[9.13398552e-01] [4.07065813e-01] [7.14150549e-04]] R_gt: [[ 0.99157936 -0.07286101 -0.10706375] [ 0.07141821 0.99729698 -0.01725554] [ 0.1080305 0.009464 0.99410258]] t_gt: [ 0.59071902 -0.48745532 -0.64299172] Pose Error in degrees for R and t: 9.255810590081378 70.08191617102104 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-3.86723825e-02 9.99243771e-01 -4.04133934e-03] [-9.99251793e-01 -3.86698386e-02 7.05771415e-04] [ 5.48959750e-04 4.06560945e-03 9.99991585e-01]] t_estimated: [[-0.00162012] [ 0.99999559] [-0.00248715]] R_gt: [[ 0.98477484 -0.13179587 -0.11335245] [ 0.12693759 0.99069458 -0.04909133] [ 0.11876818 0.0339559 0.99234141]] t_gt: [ 0.62218754 -0.50908656 -0.59473821] Pose Error in degrees for R and t: 99.84517101958943 59.42850496697527 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.85233822 -0.52293786 0.00745319] [ 0.52298537 0.85217665 -0.01677042] [ 0.00241845 0.01819198 0.99983159]] t_estimated: [[-0.13661747] [-0.99047667] [-0.01707718]] R_gt: [[ 0.97612795 -0.21610177 -0.02176261] [ 0.21391252 0.97389243 -0.07598817] [ 0.03761538 0.06951911 0.99687132]] t_gt: [ 0.71693668 -0.58598633 -0.37765304] Pose Error in degrees for R and t: 19.44080516418449 60.731103665685694 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999704e-01 9.61834291e-05 7.63140911e-04] [-9.57159014e-05 9.99999808e-01 -6.12649067e-04] [-7.63199691e-04 6.12575841e-04 9.99999521e-01]] t_estimated: [[0.82923258] [0.55889878] [0.00234134]] R_gt: [[ 0.98612343 -0.07544039 0.1478814 ] [ 0.07655704 0.9970637 -0.00186743] [-0.14730584 0.01316239 0.98900324]] t_gt: [ 0.3318733 -0.44190024 0.83341723] Pose Error in degrees for R and t: 9.528058496962464 88.27089682616587 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.55406528 -0.73404975 -0.39266097] [-0.82731338 0.53796488 0.16169834] [ 0.09254318 0.41444511 -0.90535684]] t_estimated: [[ 0.93682379] [ 0.15020167] [-0.31591239]] R_gt: [[ 0.96312611 -0.0630834 0.26155044] [ 0.06737274 0.99769969 -0.00746005] [-0.26047812 0.02480592 0.96516037]] t_gt: [ 0.18394428 -0.21047052 0.96013888] Pose Error in degrees for R and t: 177.36515929174854 80.64161130876556 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.25753 0.96626449 0.00335136] [ 0.96625223 -0.25754485 0.00522287] [ 0.0059098 0.00189322 -0.99998074]] t_estimated: [[8.02579727e-01] [5.96544335e-01] [7.98586793e-04]] R_gt: [[ 0.93566668 -0.08793267 0.34175257] [ 0.10955189 0.99298669 -0.04444245] [-0.33544726 0.07902352 0.93873805]] t_gt: [ 0.34885117 -0.22978573 0.90857107] Pose Error in degrees for R and t: 165.18661675758156 81.74210005765288 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 9.99946268e-01 1.03663135e-02 3.30476379e-05] [-1.03663101e-02 9.99946263e-01 -1.01777666e-04] [-3.41009213e-05 1.01429615e-04 9.99999994e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99882084 -0.00884326 -0.047739 ] [ 0.00927063 0.99991801 0.00874343] [ 0.04765791 -0.00917591 0.99882139]] t_gt: [ 0.57310848 -0.45011487 -0.68479432] Pose Error in degrees for R and t: 2.9994741734352046 63.43304614039217 Number of keypoints: Image1: 461 Image2: 461 R_estimated: [[ 9.99953908e-01 -9.60112150e-03 2.49315204e-05] [ 9.60112182e-03 9.99953908e-01 -1.28178546e-05] [-2.48073054e-05 1.30566343e-05 1.00000000e+00]] t_estimated: [[ 3.26101861e-01] [-9.45334635e-01] [ 6.23649542e-05]] R_gt: [[ 0.99662946 -0.03473496 -0.07432242] [ 0.03742438 0.99868186 0.03510708] [ 0.07300489 -0.03777038 0.99661527]] t_gt: [ 0.75416868 -0.57108169 -0.32418405] Pose Error in degrees for R and t: 4.955947414716535 38.20722570514549 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99237215e-01 -3.90510838e-02 9.78852063e-06] [ 3.90510834e-02 9.99237215e-01 4.00309737e-05] [-1.13443070e-05 -3.96181864e-05 9.99999999e-01]] t_estimated: [[ 1.66045074e-01] [-9.86118148e-01] [ 1.75263253e-04]] R_gt: [[ 0.99657632 0.0121033 -0.08179347] [-0.0071145 0.99811138 0.06101529] [ 0.08237838 -0.06022494 0.99477926]] t_gt: [ 0.45588135 -0.82899354 -0.32394739] Pose Error in degrees for R and t: 6.486230718001501 26.731319037834133 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.97695945 -0.21341007 -0.00252539] [ 0.21341443 0.97696044 0.00160596] [ 0.00212448 -0.00210792 0.99999552]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98258982 0.18334788 0.0300191 ] [-0.18335959 0.98304325 -0.00237612] [-0.02994525 -0.00316848 0.99954677]] t_gt: [-0.40546874 0.90211348 0.14760211] Pose Error in degrees for R and t: 22.96471295624631 47.22689352198507 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.92718495 -0.37459498 0.00258095] [ 0.37460108 0.92718264 -0.00252653] [-0.00144659 0.00330939 0.99999348]] t_estimated: [[-0.18422076] [-0.98287986] [-0.00314654]] R_gt: [[ 0.94100337 0.33714652 0.02908371] [-0.33632662 0.94127703 -0.02970824] [-0.03739173 0.01817449 0.99913623]] t_gt: [-0.32739502 0.94303166 0.05919278] Pose Error in degrees for R and t: 41.74064202104399 29.915700942394956 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-9.86130086e-01 -1.65864771e-01 -6.02753659e-03] [-1.65862305e-01 9.86148502e-01 -9.10253648e-04] [ 6.09502519e-03 1.02112602e-04 -9.99981420e-01]] t_estimated: [[ 0.98479684] [ 0.17370189] [-0.00168534]] R_gt: [[ 0.90980267 0.41329871 0.03799669] [-0.4118292 0.91033859 -0.04100615] [-0.05153675 0.02165994 0.99843655]] t_gt: [-0.2713853 0.96037673 0.06345516] Pose Error in degrees for R and t: 177.87229533939734 84.22932533114462 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-9.51026865e-02 -9.95465130e-01 -2.15716129e-03] [ 9.95467467e-01 -9.51024302e-02 -2.21303933e-04] [ 1.51490673e-05 -2.16843049e-03 9.99997649e-01]] t_estimated: [[0.99394364] [0.10988437] [0.00121317]] R_gt: [[ 9.75586269e-01 2.19524001e-01 6.32241028e-03] [-2.19519079e-01 9.75606953e-01 -1.53197634e-03] [-6.50385157e-03 1.08249543e-04 9.99977829e-01]] t_gt: [-0.73122773 0.68202996 0.01188029] Pose Error in degrees for R and t: 108.13922626511102 49.31950322908699 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 7.18822453e-01 -6.95191106e-01 1.89910866e-03] [ 6.95192399e-01 7.18823711e-01 -2.85880863e-05] [-1.34525015e-03 1.34079566e-03 9.99998196e-01]] t_estimated: [[0.5287999 ] [0.84874606] [0.00088874]] R_gt: [[ 0.89312936 0.44501808 0.06540885] [-0.44414993 0.89551281 -0.0280658 ] [-0.07106392 -0.00398429 0.9974635 ]] t_gt: [-0.64767739 0.756438 0.09118966] Pose Error in degrees for R and t: 70.57175953105933 72.56563495481142 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.86250441 -0.50591697 0.01158298] [ 0.50583415 -0.86257917 -0.00943311] [ 0.0147636 -0.00227703 0.99988842]] t_estimated: [[ 0.90525172] [ 0.42481132] [-0.00739316]] R_gt: [[ 0.81929909 0.57044516 0.05780099] [-0.56783121 0.82123019 -0.05610785] [-0.0794738 0.01314942 0.99674947]] t_gt: [-0.59467125 0.80198862 0.05639466] Pose Error in degrees for R and t: 175.6420855486124 78.57703361781817 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 8.92339170e-01 -4.51365475e-01 -1.14740746e-04] [-4.51365362e-01 -8.92338700e-01 -9.76701716e-04] [ 3.38461825e-04 9.23339197e-04 -9.99999516e-01]] t_estimated: [[0.11412895] [0.99346535] [0.00108694]] R_gt: [[ 9.98063104e-01 5.46615392e-02 2.97292498e-02] [-5.46849066e-02 9.98503835e-01 -4.38072540e-05] [-2.96868409e-02 -1.58108580e-03 9.99558364e-01]] t_gt: [-0.721686 0.54046079 0.43251758] Pose Error in degrees for R and t: 179.6157658750392 62.93288309309934 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-7.07106142e-01 7.07104775e-01 -1.93429637e-03] [-7.07105856e-01 -7.07107686e-01 -1.69546759e-04] [-1.48764315e-03 1.24786473e-03 9.99998115e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99653478 0.05845422 0.05918388] [-0.05827631 0.99828959 -0.00473074] [-0.05935855 0.0012666 0.99823673]] t_gt: [-0.70941745 0.37602896 0.59609487] Pose Error in degrees for R and t: 131.67474115785987 69.91313344314615 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 7.18538383e-01 -6.95486794e-01 -8.43080103e-04] [ 6.95487269e-01 7.18538209e-01 5.47781835e-04] [ 2.24810235e-04 -9.79953753e-04 9.99999495e-01]] t_estimated: [[-0.495188 ] [-0.86878529] [-0.00098057]] R_gt: [[ 0.9999867 -0.00426132 0.00296771] [ 0.00420311 0.99980446 0.01931381] [-0.00304837 -0.0193004 0.99980968]] t_gt: [-0.53893012 -0.78554405 0.30409683] Pose Error in degrees for R and t: 43.83606132352986 18.369727665038507 Number of keypoints: Image1: 537 Image2: 537 R_estimated: [[ 0.98462658 -0.17459516 0.00519802] [-0.17460569 -0.98299084 0.0569373 ] [-0.00483137 -0.05696959 -0.99836422]] t_estimated: [[0.11333992] [0.99316153] [0.02800433]] R_gt: [[ 0.99890125 0.00767691 0.04623874] [-0.00675746 0.99977781 -0.01998741] [-0.04638143 0.01965324 0.99872991]] t_gt: [-0.59227736 0.04521227 0.80446465] Pose Error in degrees for R and t: 177.62195779795388 89.98264493419508 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.99891551 0.0184841 -0.04273339] [ 0.01809386 0.99979115 0.00950081] [ 0.04290008 0.00871729 -0.99904134]] t_estimated: [[ 0.99977543] [-0.00413463] [-0.02078428]] R_gt: [[ 0.99931904 -0.03417497 0.01393461] [ 0.03427644 0.99938792 -0.00708062] [-0.01368362 0.00755332 0.99987733]] t_gt: [ 0.03194077 -0.9923759 0.11903722] Pose Error in degrees for R and t: 178.34955854391194 88.07664375063217 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[-0.99873385 0.04716225 0.01750493] [ 0.04790391 0.99785162 0.04469188] [-0.01535956 0.04547385 -0.99884744]] t_estimated: [[0.99945462] [0.03294905] [0.0021966 ]] R_gt: [[ 0.99766727 -0.05917513 -0.03403234] [ 0.05988406 0.99800153 0.02018627] [ 0.03276966 -0.02217686 0.99921676]] t_gt: [ 0.27566454 -0.93383595 -0.2279462 ] Pose Error in degrees for R and t: 179.07480332839646 75.86281052608167 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-1.15082033e-01 -9.93351509e-01 -2.98418722e-03] [ 9.93355969e-01 -1.15080867e-01 -5.60029930e-04] [ 2.12883724e-04 -3.02880957e-03 9.99995390e-01]] t_estimated: [[0.99886731] [0.04756511] [0.00128554]] R_gt: [[ 0.96582859 0.25568682 0.04243257] [-0.25386996 0.96624379 -0.04385502] [-0.05221382 0.0315838 0.99813669]] t_gt: [-0.71123486 0.70279928 0.01476964] Pose Error in degrees for R and t: 111.4258178603544 47.391781693595256 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.91398691e-01 1.30876404e-01 -4.51005163e-05] [-1.30876393e-01 9.91398674e-01 1.97817811e-04] [ 7.06022759e-05 -1.90213726e-04 9.99999979e-01]] t_estimated: [[-9.61814632e-01] [ 2.73701383e-01] [ 4.07967260e-04]] R_gt: [[ 0.89854208 0.43714415 0.03907642] [-0.4347699 0.89874525 -0.05685421] [-0.05997345 0.03409627 0.99761703]] t_gt: [-0.64884749 0.76077245 0.01490695] Pose Error in degrees for R and t: 18.779008057941905 33.664105159605654 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.48525072e-01 -3.16692887e-01 -2.40904627e-03] [ 3.16695118e-01 9.48527197e-01 5.98830268e-04] [ 2.09540062e-03 -1.33093871e-03 9.99996919e-01]] t_estimated: [[-0.15617917] [-0.98772774] [-0.00140702]] R_gt: [[ 0.85165506 0.52094653 0.05743591] [-0.51720848 0.85310703 -0.06858881] [-0.08472977 0.02870793 0.99599003]] t_gt: [-0.62122247 0.78228972 0.04588504] Pose Error in degrees for R and t: 50.06539569881869 47.488995116644396 Number of keypoints: Image1: 509 Image2: 509 R_estimated: [[ 9.99183114e-01 4.04116941e-02 5.03009692e-06] [-4.04116936e-02 9.99183111e-01 -8.14715340e-05] [-8.31839059e-06 8.12017063e-05 9.99999997e-01]] t_estimated: [[-5.11952666e-01] [-8.59013639e-01] [-1.89405605e-04]] R_gt: [[ 0.99622072 0.03875155 -0.07773312] [-0.03516955 0.99827834 0.04693693] [ 0.07941832 -0.04402513 0.99586861]] t_gt: [-0.6631912 -0.45696749 -0.59275471] Pose Error in degrees for R and t: 5.21628275722814 42.930865941812925 Number of keypoints: Image1: 392 Image2: 392 R_estimated: [[ 9.99997259e-01 2.34114898e-03 4.24008131e-05] [-2.34114625e-03 9.99997257e-01 -6.44786839e-05] [-4.25516510e-05 6.43792407e-05 9.99999997e-01]] t_estimated: [[ 2.84846383e-01] [-9.58573136e-01] [ 2.84891182e-04]] R_gt: [[ 9.94524526e-01 5.89823211e-03 -1.04336820e-01] [-1.98371008e-04 9.98510781e-01 5.45622659e-02] [ 1.04503310e-01 -5.42425153e-02 9.93044461e-01]] t_gt: [ 0.48359442 -0.74373302 -0.46151666] Pose Error in degrees for R and t: 6.765634856901962 31.72942511375949 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[ 9.99482494e-01 -3.21671606e-02 1.36699706e-04] [ 3.21671444e-02 9.99482496e-01 1.19628982e-04] [-1.40477088e-04 -1.15169834e-04 9.99999984e-01]] t_estimated: [[ 2.62959883e-01] [-9.64806419e-01] [ 8.20932478e-04]] R_gt: [[ 0.98965069 0.01176732 -0.14301436] [ 0.00122723 0.99590135 0.09044144] [ 0.14349279 -0.08968013 0.98558012]] t_gt: [ 0.53762291 -0.77675941 -0.32803418] Pose Error in degrees for R and t: 9.978283535898653 27.060527633551903 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 6.11386146e-01 -7.91331314e-01 -1.31600647e-03] [ 7.91330449e-01 6.11387487e-01 -1.20874874e-03] [ 1.76111062e-03 -3.02383759e-04 9.99998404e-01]] t_estimated: [[ 0.54873268] [-0.835996 ] [-0.00176671]] R_gt: [[ 0.9873567 0.07952096 0.13712779] [-0.07528982 0.99652025 -0.03577547] [-0.13949526 0.02499866 0.98990749]] t_gt: [-0.40602958 0.55294975 0.72758955] Pose Error in degrees for R and t: 57.31890947560912 46.658057827223104 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.76951636 -0.63861192 -0.00440196] [ 0.63862141 -0.76952032 -0.00108327] [-0.00269561 -0.00364478 0.99998972]] t_estimated: [[0.98590077] [0.16730437] [0.00298758]] R_gt: [[ 0.95998446 0.2046009 0.19123363] [-0.19431811 0.9783467 -0.07126583] [-0.20167434 0.0312541 0.97895363]] t_gt: [-0.37642712 0.73003921 0.57039055] Pose Error in degrees for R and t: 152.11210900074596 75.68356591132988 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.99674681 -0.07898106 -0.01605597] [ 0.07910881 0.9968379 0.00748257] [ 0.01541421 -0.0087284 0.9998431 ]] t_estimated: [[-0.78628389] [-0.61779448] [-0.00936052]] R_gt: [[ 0.90854457 0.38446097 0.16351521] [-0.36966291 0.92212674 -0.11415571] [-0.19466913 0.04327042 0.97991382]] t_gt: [-0.31782385 0.8920654 0.32125895] Pose Error in degrees for R and t: 29.651963915921247 72.28872875719314 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.90239724e-01 1.39374625e-01 4.53685510e-05] [-1.39374627e-01 9.90239724e-01 4.31273859e-05] [-3.89148781e-05 -4.90296756e-05 9.99999998e-01]] t_estimated: [[-0.10586358] [ 0.99437807] [ 0.00227193]] R_gt: [[ 0.99348038 0.11169099 0.02285969] [-0.11073711 0.99306626 -0.03945511] [-0.02710791 0.03666688 0.99895907]] t_gt: [-0.36020917 0.93047726 -0.0667939 ] Pose Error in degrees for R and t: 3.0773779926636857 15.586167920248185 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99480141e-01 -3.22393605e-02 -2.67645332e-04] [ 3.22394197e-02 9.99480151e-01 2.19841383e-04] [ 2.60418651e-04 -2.28355826e-04 9.99999940e-01]] t_estimated: [[-0.30094516] [-0.95364095] [-0.00097889]] R_gt: [[ 0.97256363 0.23229567 -0.01257784] [-0.2321136 0.97258158 0.01441921] [ 0.01558235 -0.01110414 0.99981725]] t_gt: [-0.32224567 0.94636162 -0.0236096 ] Pose Error in degrees for R and t: 15.313322479853985 36.34260797257364 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999677e-01 5.13867110e-05 -8.01689545e-04] [-5.08350046e-05 9.99999762e-01 6.88184827e-04] [ 8.01724718e-04 -6.88143851e-04 9.99999442e-01]] t_estimated: [[-0.78522633] [-0.61920705] [-0.00149567]] R_gt: [[ 9.06514970e-01 4.10661954e-01 -9.79094234e-02] [-4.08176025e-01 9.11786961e-01 4.51335326e-02] [ 1.07807364e-01 -9.49929744e-04 9.94170891e-01]] t_gt: [-0.16694797 0.97551096 -0.14320178] Pose Error in degrees for R and t: 24.993581621824802 61.78788268027385 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99591836e-01 2.85685272e-02 -3.83980105e-05] [-2.85685187e-02 9.99591816e-01 2.04812690e-04] [ 4.42335340e-05 -2.03632119e-04 9.99999978e-01]] t_estimated: [[-4.54000647e-02] [ 9.98968419e-01] [ 9.65606900e-04]] R_gt: [[ 0.9879271 0.14667733 -0.04986017] [-0.14402005 0.98813989 0.05326546] [ 0.05708079 -0.04544275 0.99733476]] t_gt: [-0.39262739 0.91923605 -0.02913447] Pose Error in degrees for R and t: 7.919648936884736 20.595859180504476 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.35729061 -0.93398653 0.00354698] [-0.9339922 0.35728189 -0.00286785] [ 0.00141126 -0.00433751 -0.9999896 ]] t_estimated: [[0.80031408] [0.59957956] [0.00131199]] R_gt: [[ 0.94303125 0.3089499 -0.12346066] [-0.30044722 0.95019158 0.08286743] [ 0.14291262 -0.0410529 0.98888331]] t_gt: [-0.18000739 0.96422591 -0.19459122] Pose Error in degrees for R and t: 175.77252293779918 64.29025104925823 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.69335386e-01 -4.94221256e-01 -1.15612809e-03] [ 4.94222014e-01 8.69335590e-01 4.82753304e-04] [ 7.66476350e-04 -9.91058482e-04 9.99999215e-01]] t_estimated: [[8.95203821e-01] [4.45656463e-01] [6.59918195e-04]] R_gt: [[ 0.87326115 0.47028851 -0.12745436] [-0.45489177 0.88061529 0.13262357] [ 0.17460966 -0.05783737 0.98293741]] t_gt: [-0.15316425 0.97862044 -0.13726888] Pose Error in degrees for R and t: 58.3047543501259 72.60696969319295 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99999954e-01 -3.01500159e-04 1.90890317e-05] [ 3.01501188e-04 9.99999953e-01 -5.39502267e-05] [-1.90727648e-05 5.39559796e-05 9.99999998e-01]] t_estimated: [[8.60842603e-01] [5.08870745e-01] [7.59614971e-04]] R_gt: [[ 0.99309297 0.11627668 -0.01568667] [-0.11613157 0.9931851 0.00983546] [ 0.01672401 -0.00794475 0.99982914]] t_gt: [-0.07210869 0.99423506 -0.07935347] Pose Error in degrees for R and t: 6.774683194019548 63.653243575069496 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.98898271e-01 4.69280548e-02 -4.09648031e-05] [-4.69280491e-02 9.98898264e-01 1.30438330e-04] [ 4.70408878e-05 -1.28372224e-04 9.99999991e-01]] t_estimated: [[0.8405113 ] [0.54179228] [0.00137188]] R_gt: [[ 0.99029475 0.13883719 0.00635993] [-0.13873206 0.99022149 -0.01469991] [-0.00833749 0.01367625 0.99987209]] t_gt: [ 0.01463067 0.99921446 -0.0368295 ] Pose Error in degrees for R and t: 5.368293378508677 56.384737943274054 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999771e-01 6.76516220e-04 1.69668503e-06] [-6.76516624e-04 9.99999740e-01 2.50246615e-04] [-1.52738869e-06 -2.50247706e-04 9.99999969e-01]] t_estimated: [[0.99283991] [0.11944688] [0.00116621]] R_gt: [[ 0.99350511 0.10726729 0.03796249] [-0.10518574 0.99303152 -0.05313799] [-0.04339758 0.0488007 0.99786539]] t_gt: [0.20695458 0.97784341 0.03149704] Pose Error in degrees for R and t: 7.1333034204058805 71.19732826482552 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999991e-01 5.06848914e-05 -1.25639711e-04] [-5.06579236e-05 9.99999976e-01 2.14638365e-04] [ 1.25650587e-04 -2.14631999e-04 9.99999969e-01]] t_estimated: [[8.12064519e-01] [5.83567283e-01] [6.66172698e-04]] R_gt: [[ 0.94817968 -0.31693754 -0.02248694] [ 0.31714828 0.94835532 0.00639633] [ 0.01929922 -0.01319668 0.99972677]] t_gt: [ 0.86311168 -0.50497815 -0.00594026] Pose Error in degrees for R and t: 18.536825816197656 66.03304526642269 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999775e-01 -3.99630741e-04 5.39027272e-04] [ 4.00126417e-04 9.99999497e-01 -9.19779980e-04] [-5.38659429e-04 9.19995452e-04 9.99999432e-01]] t_estimated: [[-0.8524489 ] [-0.52280919] [-0.0011944 ]] R_gt: [[ 0.90416628 -0.42670427 -0.02015638] [ 0.42686014 0.90430949 0.00393882] [ 0.01654698 -0.01216464 0.99978867]] t_gt: [ 0.88654794 -0.4626284 -0.00277696] Pose Error in degrees for R and t: 25.272847961378314 59.07823786855795 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999975e-01 -1.00430719e-04 2.01000990e-04] [ 1.00488213e-04 9.99999954e-01 -2.86048999e-04] [-2.00972253e-04 2.86069190e-04 9.99999939e-01]] t_estimated: [[9.34216983e-01] [3.56704444e-01] [7.53617520e-04]] R_gt: [[ 0.90614472 -0.42139917 -0.03638671] [ 0.42077532 0.90685394 -0.02376387] [ 0.04301112 0.00622292 0.99905445]] t_gt: [ 0.88237806 -0.4653024 -0.0700188 ] Pose Error in degrees for R and t: 25.032881050749307 48.829317486505296 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99687038e-01 2.50163402e-02 -9.13279980e-05] [-2.50163199e-02 9.99687019e-01 2.17155282e-04] [ 9.67318446e-05 -2.14802631e-04 9.99999972e-01]] t_estimated: [[9.52678230e-01] [3.03979567e-01] [7.83452491e-04]] R_gt: [[ 0.99854448 -0.05373558 0.00459718] [ 0.05377838 0.99850415 -0.00984925] [-0.00406116 0.01008361 0.99994098]] t_gt: [ 0.74222779 -0.66464745 -0.08568358] Pose Error in degrees for R and t: 4.559787407447296 59.668787886629225 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99791889e-01 2.04003707e-02 6.32596156e-05] [-2.04003647e-02 9.99791886e-01 -9.43549104e-05] [-6.51713255e-05 9.30447549e-05 9.99999994e-01]] t_estimated: [[9.35896681e-01] [3.52273804e-01] [7.55082189e-04]] R_gt: [[ 0.99510809 -0.0984577 -0.00808338] [ 0.09822564 0.99484193 -0.02530594] [ 0.01053285 0.02438871 0.99964755]] t_gt: [ 0.73932592 -0.63602402 -0.22106702] Pose Error in degrees for R and t: 6.9806581216967585 62.114175064358804 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-9.59769158e-01 -2.80784443e-01 -1.80524616e-03] [ 2.80786031e-01 -9.59770143e-01 -6.91411252e-04] [-1.53848384e-03 -1.17048310e-03 9.99998132e-01]] t_estimated: [[9.91399908e-01] [1.30864788e-01] [7.93119927e-04]] R_gt: [[ 0.97310563 -0.23034375 -0.00299737] [ 0.23011598 0.97258081 -0.03365089] [ 0.01066724 0.03205646 0.999429 ]] t_gt: [ 0.79702091 -0.59098104 -0.12449529] Pose Error in degrees for R and t: 150.3842727509055 44.54260070727975 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.98775777e-01 4.94663427e-02 1.68204562e-04] [-4.94663907e-02 9.98775745e-01 2.94271804e-04] [-1.53442086e-04 -3.02232022e-04 9.99999943e-01]] t_estimated: [[-0.29086622] [ 0.95676046] [ 0.0025025 ]] R_gt: [[ 0.99684223 0.07511032 0.0257465 ] [-0.07557365 0.9969857 0.01755008] [-0.02435081 -0.01944023 0.99951448]] t_gt: [-0.30204998 0.66594233 0.68211922] Pose Error in degrees for R and t: 2.3102975967303054 43.38867799610497 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99968092e-01 -7.98838464e-03 -1.13406113e-05] [ 7.98838725e-03 9.99968061e-01 2.52095909e-04] [ 9.32641000e-06 -2.52178459e-04 9.99999968e-01]] t_estimated: [[-1.81225452e-01] [ 9.83441149e-01] [ 9.17388796e-04]] R_gt: [[ 0.97674037 0.21265676 0.02749195] [-0.21397215 0.97496455 0.06049285] [-0.01393862 -0.06496841 0.99779039]] t_gt: [-0.28324052 0.87523195 0.39210183] Pose Error in degrees for R and t: 13.337513253662566 24.156760735088884 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999993e-01 8.61830127e-05 8.37816589e-05] [-8.61736259e-05 9.99999990e-01 -1.12035949e-04] [-8.37913137e-05 1.12028728e-04 9.99999990e-01]] t_estimated: [[0.01318043] [0.99991103] [0.00205114]] R_gt: [[ 0.96813488 0.24868322 0.02950336] [-0.2495245 0.96792297 0.02937888] [-0.02125049 -0.03580478 0.9991335 ]] t_gt: [-0.12167126 0.95776292 0.26055 ] Pose Error in degrees for R and t: 14.621253207136974 16.940383793015428 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-9.73335597e-01 2.27867410e-01 -2.63487833e-02] [ 2.27805601e-01 9.73691857e-01 5.36423979e-03] [ 2.68779311e-02 -7.81194863e-04 -9.99638418e-01]] t_estimated: [[ 0.99286392] [-0.1184941 ] [-0.01343093]] R_gt: [[ 0.99467499 0.10295931 -0.00462859] [-0.102755 0.99417251 0.03257953] [ 0.00795571 -0.03193066 0.99945836]] t_gt: [-0.38573456 0.90909937 0.15731236] Pose Error in degrees for R and t: 177.88961441571038 60.474050830926046 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99682080e-01 2.52138302e-02 -4.22094863e-05] [-2.52138135e-02 9.99682017e-01 3.58400237e-04] [ 5.12327071e-05 -3.57222032e-04 9.99999935e-01]] t_estimated: [[-8.66431980e-01] [-4.99294998e-01] [-3.59673398e-04]] R_gt: [[ 0.96175208 0.26638159 -0.0638185 ] [-0.26306771 0.96316094 0.05582284] [ 0.07633778 -0.03689945 0.99639846]] t_gt: [-0.28690845 0.95487347 -0.07681275] Pose Error in degrees for R and t: 14.750367790778123 76.81186431381073 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 6.71247219e-01 7.41233547e-01 1.41091010e-05] [-7.41221440e-01 6.71236364e-01 -5.70265154e-03] [-4.23646717e-03 3.81743102e-03 9.99983740e-01]] t_estimated: [[0.64925016] [0.76057446] [0.0008498 ]] R_gt: [[ 0.90573599 0.40565141 -0.12283771] [-0.3952912 0.91304016 0.10050935] [ 0.15292775 -0.04247787 0.98732327]] t_gt: [-0.13491441 0.98079091 -0.14088045] Pose Error in degrees for R and t: 25.812897914900105 48.83333451313108 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.99999930e-01 3.04396292e-04 2.18627207e-04] [-3.04378209e-04 9.99999950e-01 -8.27414302e-05] [-2.18652382e-04 8.26748790e-05 9.99999973e-01]] t_estimated: [[0.95767876] [0.28783647] [0.00124589]] R_gt: [[ 9.95490826e-01 -9.48558168e-02 -4.15743899e-04] [ 9.47815061e-02 9.94869412e-01 -3.53750911e-02] [ 3.76952442e-03 3.51768205e-02 9.99373798e-01]] t_gt: [ 0.84124541 -0.45501296 -0.29200919] Pose Error in degrees for R and t: 5.822728137042202 47.5994303470308 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999911e-01 7.08104662e-05 4.16986201e-04] [-7.06145270e-05 9.99999887e-01 -4.69889734e-04] [-4.17019427e-04 4.69860247e-04 9.99999803e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98471206 -0.17409634 0.0057461 ] [ 0.17407597 0.98472431 0.00385096] [-0.00632832 -0.00279148 0.99997636]] t_gt: [ 0.8675505 -0.49546975 0.04319545] Pose Error in degrees for R and t: 10.037196222396116 29.997957884914193 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-5.67572477e-02 9.98377655e-01 4.54672241e-03] [ 9.98387984e-01 5.67556603e-02 4.77498234e-04] [ 2.18671334e-04 4.56649451e-03 -9.99989550e-01]] t_estimated: [[0.68656518] [0.72706759] [0.00098786]] R_gt: [[ 0.99212422 -0.12286684 0.02431889] [ 0.12303573 0.99238603 -0.00554898] [-0.02345095 0.00849777 0.99968925]] t_gt: [ 0.92408973 -0.37207665 0.08727627] Pose Error in degrees for R and t: 178.54373719137027 68.65338158463886 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.95154612e-01 -9.83223861e-02 8.55371722e-05] [ 9.83223750e-02 9.95154608e-01 1.25996392e-04] [-9.75109771e-05 -1.16975673e-04 9.99999988e-01]] t_estimated: [[ 0.06323102] [-0.99799828] [ 0.00112662]] R_gt: [[ 0.99871614 0.01667894 0.04783413] [-0.01677108 0.99985873 0.00151615] [-0.04780178 -0.00231651 0.99885374]] t_gt: [-0.70882522 -0.52122512 0.47528011] Pose Error in degrees for R and t: 7.145936433237015 61.582198358458804 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[-4.16079998e-01 -9.09327786e-01 -6.42887258e-04] [-9.09328002e-01 4.16079999e-01 1.38680416e-04] [ 1.41386574e-04 6.42297533e-04 -9.99999784e-01]] t_estimated: [[0.78499109] [0.61950648] [0.00084864]] R_gt: [[ 0.99573951 -0.07267819 0.0567581 ] [ 0.07207196 0.99731931 0.0126569 ] [-0.05752574 -0.00851255 0.99830737]] t_gt: [ 0.55321962 -0.79070574 0.26216881] Pose Error in degrees for R and t: 176.93922022010327 86.8269209044585 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.74431055e-01 2.24686568e-01 -2.55687108e-04] [-2.24686088e-01 9.74430397e-01 1.25032043e-03] [ 5.30079495e-04 -1.16090172e-03 9.99999186e-01]] t_estimated: [[0.62284575] [0.78234416] [0.00089105]] R_gt: [[ 0.98918005 -0.12495216 0.07688372] [ 0.12268579 0.99187934 0.03353863] [-0.08045078 -0.02374371 0.99647524]] t_gt: [ 0.61346045 -0.73919362 0.27795516] Pose Error in degrees for R and t: 20.670979625436903 78.69890369826608 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.98185682 0.18700982 0.03137708] [ 0.18702612 0.98235191 -0.0024408 ] [-0.03127979 0.00347182 -0.99950464]] t_estimated: [[ 0.9962195 ] [-0.08543651] [ 0.01572615]] R_gt: [[ 0.99732433 -0.07202766 -0.01255297] [ 0.07194743 0.99738539 -0.0067737 ] [ 0.01300711 0.00585387 0.9998978 ]] t_gt: [ 0.45007037 -0.88372637 -0.12831353] Pose Error in degrees for R and t: 178.89259792313123 58.54333726614624 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 5.92803873e-01 -8.05346772e-01 -3.81059740e-04] [ 8.05346488e-01 5.92803076e-01 1.24366700e-03] [-7.75689814e-04 -1.04413574e-03 9.99999154e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.99357044 -0.11289326 -0.00864609] [ 0.11278076 0.99354091 -0.01248477] [ 0.00999879 0.0114304 0.99988399]] t_gt: [ 0.46223746 -0.88046956 -0.10540347] Pose Error in degrees for R and t: 47.17340779177058 28.636759666122135 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.90014566e-01 -1.40965099e-01 -2.40239129e-05] [ 1.40965101e-01 9.90014561e-01 1.01151800e-04] [ 9.52514997e-06 -1.03528289e-04 9.99999995e-01]] t_estimated: [[ 9.85413446e-01] [-1.70177082e-01] [-3.19666592e-04]] R_gt: [[ 0.97724663 -0.2110191 0.02145493] [ 0.21070623 0.97741892 0.01594314] [-0.02433581 -0.01105893 0.99964222]] t_gt: [ 0.48761684 -0.85719257 0.16568257] Pose Error in degrees for R and t: 4.34943479299517 51.22043888829718 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.78437161e-01 2.06544578e-01 -2.42613572e-04] [-2.06544718e-01 9.78436308e-01 -1.29285431e-03] [-2.96501205e-05 1.31508726e-03 9.99999135e-01]] t_estimated: [[-0.99876392] [-0.04932167] [-0.00616521]] R_gt: [[ 0.99398754 0.09813553 0.04855263] [-0.09701546 0.99497012 -0.02491943] [-0.05075377 0.02005973 0.99850974]] t_gt: [-0.36194249 0.92286159 0.13162109] Pose Error in degrees for R and t: 7.037153343362692 71.62913153461808 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.79607373 -0.60519252 -0.00293655] [ 0.60519667 -0.79604523 -0.00699862] [ 0.00189788 -0.00734861 0.9999712 ]] t_estimated: [[ 9.99971914e-01] [-7.46227118e-03] [ 6.97334201e-04]] R_gt: [[ 0.97678318 0.20606894 0.05855275] [-0.20387114 0.97812237 -0.04137652] [-0.06579771 0.02847954 0.9974271 ]] t_gt: [-0.3124556 0.94648022 0.0809116 ] Pose Error in degrees for R and t: 154.63088471837082 71.3701346123178 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.02525961 0.99967932 0.00179417] [ 0.99968032 0.02525758 0.00114507] [ 0.00109939 0.00182252 -0.99999773]] t_estimated: [[-9.31452215e-01] [-3.63862585e-01] [-8.89639320e-04]] R_gt: [[ 0.94482694 0.32458384 0.0441235 ] [-0.32171809 0.94483954 -0.06143836] [-0.06163113 0.04385277 0.99713526]] t_gt: [-0.2510348 0.96794648 -0.00781892] Pose Error in degrees for R and t: 175.65395320325447 83.20221188118772 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.992371 0.12019931 -0.0274211 ] [ 0.12038741 0.99271279 -0.00530893] [ 0.02658315 -0.00856958 -0.99960987]] t_estimated: [[ 0.96827273] [ 0.24982346] [-0.00601307]] R_gt: [[ 0.99804468 0.05936316 -0.01954863] [-0.0594764 0.99821599 -0.00525949] [ 0.0192019 0.0064122 0.99979438]] t_gt: [-0.78394572 0.58867279 -0.19721423] Pose Error in degrees for R and t: 177.37320715644634 52.35095565273787 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-9.99881796e-01 1.53738645e-02 -1.94065585e-04] [-1.53733174e-02 -9.99878543e-01 -2.56124606e-03] [-2.33418264e-04 -2.55795988e-03 9.99996701e-01]] t_estimated: [[7.96640986e-01] [6.04452290e-01] [7.53681160e-04]] R_gt: [[ 0.9942252 0.077443 -0.07427919] [-0.07668748 0.99697139 0.01298137] [ 0.07506047 -0.00721043 0.99715195]] t_gt: [-0.70366524 0.54052386 -0.46118238] Pose Error in degrees for R and t: 174.70257274188077 76.45580860121581 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.96211595e-01 -8.69622854e-02 -1.33976160e-04] [ 8.69623062e-02 9.96211590e-01 1.58181495e-04] [ 1.19712779e-04 -1.69233115e-04 9.99999979e-01]] t_estimated: [[-1.54791234e-01] [ 9.87946887e-01] [ 7.88437719e-04]] R_gt: [[ 0.99311853 0.06474157 -0.09759019] [-0.06749444 0.9974022 -0.02518241] [ 0.09570784 0.03159626 0.99490743]] t_gt: [-0.56122758 0.45236282 -0.69310279] Pose Error in degrees for R and t: 10.51679645015539 57.775566636709144 Number of keypoints: Image1: 368 Image2: 368 R_estimated: [[ 9.94746139e-01 1.02372396e-01 -1.02807361e-04] [-1.02372425e-01 9.94746087e-01 -3.30302707e-04] [ 6.84533405e-05 3.39091981e-04 9.99999940e-01]] t_estimated: [[-0.38814958] [ 0.92159574] [-0.00108966]] R_gt: [[ 9.99726835e-01 -2.33539006e-02 7.55537689e-04] [ 2.33480294e-02 9.97189270e-01 -7.11890085e-02] [ 9.10354385e-04 7.11882882e-02 9.97462650e-01]] t_gt: [ 0.50029011 0.65462841 -0.5667199 ] Pose Error in degrees for R and t: 8.279694518313025 65.81194318731178 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 0.47566331 0.87944854 0.01773941] [-0.87937605 0.47591277 -0.0143108 ] [-0.02102802 -0.00879249 0.99974022]] t_estimated: [[-0.54638055] [ 0.83725724] [ 0.02164735]] R_gt: [[ 0.99983471 -0.01223108 0.01341131] [ 0.01432925 0.98539944 -0.16965171] [-0.0111399 0.16981722 0.98541284]] t_gt: [ 0.21366539 0.71245002 -0.66840263] Pose Error in degrees for R and t: 63.00725942447721 62.27086675616789 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.99954483 0.03003059 0.00288099] [-0.03000681 0.99951791 -0.00797087] [-0.00311897 0.00788079 0.99996408]] t_estimated: [[-0.82511919] [-0.56494647] [-0.00371675]] R_gt: [[ 0.99937992 0.02991331 0.01858857] [-0.02585366 0.9815319 -0.18954194] [-0.02391458 0.18894483 0.98169682]] t_gt: [ 0.09547417 0.84218877 -0.53066256] Pose Error in degrees for R and t: 10.509809131163534 56.45465279191296 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-1.14711831e-01 9.93398749e-01 3.47310928e-04] [-9.93397302e-01 -1.14711041e-01 -1.78280737e-03] [-1.73119821e-03 -5.49526837e-04 9.99998350e-01]] t_estimated: [[0.20300033] [0.97917807] [0.00108556]] R_gt: [[ 0.97992689 0.19863897 0.01692367] [-0.1975311 0.97890742 -0.05217857] [-0.02693055 0.04778828 0.99849416]] t_gt: [-0.83440676 0.51098013 -0.20655427] Pose Error in degrees for R and t: 85.19683899409024 70.68682174863956 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.98327369e-01 -5.78113538e-02 -5.58282023e-04] [ 5.78114962e-02 9.98327487e-01 2.42432566e-04] [ 5.43332934e-04 -2.74302185e-04 9.99999815e-01]] t_estimated: [[-0.91826509] [-0.39596393] [-0.00133894]] R_gt: [[ 0.9541141 0.29527357 0.04980278] [-0.29357065 0.95515191 -0.03874554] [-0.05900976 0.02234779 0.99800734]] t_gt: [-0.82831007 0.55988074 -0.0208804 ] Pose Error in degrees for R and t: 20.774886674330652 57.388246511165406 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99995713e-01 2.92446912e-03 1.44241187e-04] [-2.92437641e-03 9.99995520e-01 -6.38833901e-04] [-1.46108791e-04 6.38409347e-04 9.99999786e-01]] t_estimated: [[-0.73054435] [-0.68286313] [-0.0017029 ]] R_gt: [[ 0.86134703 0.50587553 0.04659602] [-0.50431167 0.86251882 -0.0416111 ] [-0.06123925 0.01234324 0.9980465 ]] t_gt: [-0.78741656 0.61639355 0.00584417] Pose Error in degrees for R and t: 30.406703353306117 81.12262016214882 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 7.46651100e-01 6.65214390e-01 1.39666129e-03] [-6.65214499e-01 7.46652172e-01 -4.51996295e-04] [-1.34349462e-03 -5.91595810e-04 9.99998923e-01]] t_estimated: [[-0.12175595] [ 0.99255793] [ 0.00206239]] R_gt: [[ 9.94732785e-01 -1.01637069e-01 1.33135392e-02] [ 1.01641413e-01 9.94821156e-01 3.12115048e-04] [-1.32758564e-02 1.04249176e-03 9.99911516e-01]] t_gt: [ 0.82045449 -0.56350371 0.09652975] Pose Error in degrees for R and t: 47.537072833839915 48.7758758101064 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.93913404e-01 1.10163342e-01 4.29082183e-04] [-1.10163260e-01 9.93913483e-01 -2.09811808e-04] [-4.49584137e-04 1.61265676e-04 9.99999886e-01]] t_estimated: [[-9.41153659e-01] [ 3.37978005e-01] [ 8.11392474e-04]] R_gt: [[ 0.98513571 -0.16998248 0.02478211] [ 0.16980417 0.98543573 0.00910983] [-0.0259702 -0.00476655 0.99965154]] t_gt: [ 0.86190653 -0.48533066 0.14687169] Pose Error in degrees for R and t: 16.17645703999509 12.813171628777575 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.75379204e-01 2.20534281e-01 1.97439209e-04] [-2.20534339e-01 9.75379149e-01 3.47689259e-04] [-1.15900687e-04 -3.82670999e-04 9.99999920e-01]] t_estimated: [[0.69018996] [0.72362773] [0.00085738]] R_gt: [[ 0.98628482 -0.16447215 0.01384633] [ 0.16423669 0.986279 0.01671884] [-0.01640623 -0.01421534 0.99976494]] t_gt: [ 0.90865932 -0.38531771 0.16083689] Pose Error in degrees for R and t: 22.234421478984075 69.60691915804125 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[ 9.98752051e-01 4.99431567e-02 -1.49012869e-04] [ 4.99307379e-02 -9.98427689e-01 2.54768925e-02] [ 1.12361786e-03 -2.54525390e-02 -9.99675400e-01]] t_estimated: [[-0.01992946] [ 0.9997178 ] [ 0.01292829]] R_gt: [[ 0.99831869 -0.04044604 0.04152888] [ 0.04369406 0.99579412 -0.080523 ] [-0.03809689 0.0822026 0.99588773]] t_gt: [ 0.63747303 0.55892871 -0.53030823] Pose Error in degrees for R and t: 176.7337493416668 57.370088770388314 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 0.95815505 -0.2861858 -0.00604898] [ 0.28622339 0.95813961 0.00668322] [ 0.00388312 -0.00813492 0.99995937]] t_estimated: [[-0.76760873] [-0.64091603] [-0.00186313]] R_gt: [[ 0.99863403 -0.05223284 0.00150046] [ 0.05178411 0.98539599 -0.16221368] [ 0.00699523 0.16207024 0.98675494]] t_gt: [ 0.47065849 0.62483878 -0.62294228] Pose Error in degrees for R and t: 16.75487346073873 40.4837488738324 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-0.803204 -0.59569707 -0.00288794] [-0.59570253 0.80320351 0.00161884] [ 0.00135527 0.00302061 -0.99999452]] t_estimated: [[ 9.03343066e-01] [ 4.28918675e-01] [-2.73588100e-04]] R_gt: [[ 0.99860555 -0.02723487 0.04523241] [ 0.03678135 0.97345865 -0.22588664] [-0.03787967 0.22723549 0.973103 ]] t_gt: [ 0.2511167 0.75417625 -0.60676073] Pose Error in degrees for R and t: 178.05227008892405 56.59930915717201 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[-0.02736967 -0.96166708 0.27285039] [-0.97211358 0.08920236 0.21688277] [-0.23290792 -0.25930556 -0.93729106]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99793917 -0.05885548 0.02559555] [ 0.05823113 0.99800279 0.02448746] [-0.02698533 -0.02294746 0.99937231]] t_gt: [ 0.7295711 -0.40125181 0.55382578] Pose Error in degrees for R and t: 157.7037802790899 66.37958572181721 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99138224e-01 -4.15066315e-02 9.88578039e-05] [ 4.15066277e-02 9.99138228e-01 3.97853268e-05] [-1.00423966e-04 -3.56477867e-05 9.99999994e-01]] t_estimated: [[0.9886539 ] [0.15019934] [0.00190126]] R_gt: [[ 0.99925391 -0.02822158 -0.02634623] [ 0.02815743 0.99959933 -0.00278107] [ 0.02641394 0.00203639 0.9996485 ]] t_gt: [ 0.88477445 0.32843024 -0.33061723] Pose Error in degrees for R and t: 1.705672382541682 22.56614507865434 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.96930907 -0.24567962 -0.00902499] [ 0.24559768 -0.96932727 0.00929629] [-0.01103208 0.00679446 0.99991606]] t_estimated: [[0.8821968 ] [0.4708772 ] [0.00186117]] R_gt: [[ 0.9929703 0.03485629 -0.11311689] [-0.04811245 0.99200558 -0.1166583 ] [ 0.1081472 0.12128012 0.98670885]] t_gt: [ 0.07812404 0.63477222 -0.76873979] Pose Error in degrees for R and t: 168.2737494273439 68.5068624227303 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999249e-01 1.21632220e-03 1.49769593e-04] [-1.21631838e-03 9.99999260e-01 -2.55669790e-05] [-1.49800580e-04 2.53847922e-05 9.99999988e-01]] t_estimated: [[ 0.97600022] [-0.21776728] [ 0.00098959]] R_gt: [[ 0.99919903 -0.02465645 0.03150494] [ 0.02622266 0.99839027 -0.05029442] [-0.03021447 0.05108015 0.99823777]] t_gt: [ 0.90444839 0.07481188 -0.41997179] Pose Error in degrees for R and t: 3.7246553890527863 29.998940903072878 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999964e-01 2.67146421e-04 3.00439488e-06] [-2.67143774e-04 9.99999604e-01 -8.48926574e-04] [-3.23118139e-06 8.48925741e-04 9.99999640e-01]] t_estimated: [[-0.71579923] [-0.69830294] [-0.00211376]] R_gt: [[ 0.99510868 0.07317276 0.06635908] [-0.07007653 0.99639334 -0.04785102] [-0.06962173 0.0429663 0.99664816]] t_gt: [0.01329755 0.99804894 0.06100395] Pose Error in degrees for R and t: 6.20974142286712 45.04203391465692 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99999999e-01 4.28246857e-05 -2.28202520e-05] [-4.28236157e-05 9.99999998e-01 4.68853447e-05] [ 2.28222598e-05 -4.68843674e-05 9.99999999e-01]] t_estimated: [[9.99994884e-01] [3.10354370e-03] [7.75192582e-04]] R_gt: [[ 0.98211123 0.15768969 0.10291425] [-0.14572519 0.98262287 -0.11496364] [-0.11925558 0.09790909 0.98802441]] t_gt: [-0.12658647 0.99176773 0.01930398] Pose Error in degrees for R and t: 12.478217077112053 82.90627120103119 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98371177e-01 5.70522543e-02 1.84144245e-04] [-5.70522431e-02 9.98371192e-01 -6.54629020e-05] [-1.87579116e-04 5.48504323e-05 9.99999981e-01]] t_estimated: [[9.99580557e-01] [2.89591538e-02] [2.78350047e-04]] R_gt: [[ 0.99106673 -0.13310656 0.00833273] [ 0.13294656 0.99096849 0.01752048] [-0.01058894 -0.01625617 0.9998113 ]] t_gt: [ 0.81693392 -0.55635188 0.15195907] Pose Error in degrees for R and t: 10.971991308450086 36.82001411287907 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.94432723e-01 1.05373357e-01 1.26115945e-04] [-1.05373357e-01 9.94432731e-01 -2.39194815e-06] [-1.25665871e-04 -1.09106290e-05 9.99999992e-01]] t_estimated: [[0.96363785] [0.26720962] [0.00105201]] R_gt: [[ 0.99033409 -0.13670695 0.02346962] [ 0.13600564 0.99027645 0.02926068] [-0.02724082 -0.02578559 0.99929623]] t_gt: [ 0.82536049 -0.49391671 0.27354403] Pose Error in degrees for R and t: 14.052166266104738 48.42061703951015 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99440404e-01 3.34490577e-02 1.97537126e-04] [-3.34490684e-02 9.99440422e-01 5.08424846e-05] [-1.95725955e-04 -5.74214662e-05 9.99999979e-01]] t_estimated: [[-9.47971967e-01] [-3.18353201e-01] [-6.24383838e-04]] R_gt: [[ 0.99925069 -0.02550006 0.02913033] [ 0.02560018 0.999668 -0.00305673] [-0.02904241 0.00380102 0.9995708 ]] t_gt: [0.41046944 0.72739658 0.54991732] Pose Error in degrees for R and t: 3.7697220775229923 51.60890928352591 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.88929721e-01 1.48384101e-01 -4.07874575e-04] [-1.48384154e-01 9.88929791e-01 -1.02866646e-04] [ 3.88095544e-04 1.62250007e-04 9.99999912e-01]] t_estimated: [[-0.74302174] [-0.66924653] [-0.00526966]] R_gt: [[ 0.99775291 0.00505065 -0.06681539] [-0.00206185 0.99899785 0.0447216 ] [ 0.06697412 -0.04448275 0.99676299]] t_gt: [-0.39903096 -0.6345322 -0.66192385] Pose Error in degrees for R and t: 9.511319914468746 43.561485497185785 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-0.08224033 -0.99632952 0.02374905] [-0.99581992 0.08120139 -0.04182134] [ 0.03973938 -0.02708918 -0.99884281]] t_estimated: [[0.8442328 ] [0.53596522] [0.00350304]] R_gt: [[ 0.99194015 -0.05944557 -0.1119037 ] [ 0.06589924 0.99631615 0.05488149] [ 0.10822955 -0.06181323 0.99220294]] t_gt: [ 0.17687236 -0.87854365 -0.4437085 ] Pose Error in degrees for R and t: 176.9161660353083 71.14939192704615 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.61394654e-01 2.75172790e-01 5.04397729e-04] [-2.75172736e-01 9.61394786e-01 -1.76475998e-04] [-5.33486739e-04 3.08665778e-05 9.99999857e-01]] t_estimated: [[0.69563707] [0.71839243] [0.00117381]] R_gt: [[ 0.9881092 -0.11372103 -0.10348168] [ 0.11859322 0.99204634 0.04219586] [ 0.09785999 -0.05396585 0.99373562]] t_gt: [ 0.30109535 -0.90873383 -0.2890405 ] Pose Error in degrees for R and t: 23.55121962098625 63.6589288438729 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-7.56895934e-01 6.53532294e-01 -2.02141842e-03] [-6.53533006e-01 -7.56897925e-01 -3.76971626e-04] [-1.77637053e-03 1.03573536e-03 9.99997886e-01]] t_estimated: [[0.72991626] [0.68353616] [0.00076033]] R_gt: [[ 0.99478704 -0.05215815 0.08763162] [ 0.04257127 0.9932495 0.10790397] [-0.09266854 -0.10360989 0.99029153]] t_gt: [ 0.15474948 -0.39138122 0.90712366] Pose Error in degrees for R and t: 142.0231367810542 81.14819215165622 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.71447602e-01 2.37254158e-01 -1.47519385e-04] [-2.37254148e-01 9.71447612e-01 7.83069128e-05] [ 1.61885995e-04 -4.10714765e-05 9.99999986e-01]] t_estimated: [[-0.76740348] [-0.64116395] [-0.00083052]] R_gt: [[ 0.99076288 -0.02918059 0.13243397] [ 0.00546117 0.98436763 0.17604212] [-0.13550082 -0.17369207 0.9754337 ]] t_gt: [-0.01150357 -0.16876419 0.98558932] Pose Error in degrees for R and t: 19.4443918986854 83.32630030473962 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.44790662 0.89406335 0.00551199] [ 0.8940772 -0.44788016 -0.00541531] [-0.00237292 0.00735369 -0.99997015]] t_estimated: [[-9.99996995e-01] [-2.32557441e-03] [-7.75191469e-04]] R_gt: [[ 0.97960657 0.11933415 0.16165173] [-0.1486236 0.9717612 0.18328064] [-0.13521605 -0.2035683 0.96967898]] t_gt: [-0.41634835 0.39599537 0.81843858] Pose Error in degrees for R and t: 175.40674589177647 65.49379810773377 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[-0.79076241 0.61182708 -0.01903767] [ 0.61176716 0.79098077 0.00950613] [ 0.02087454 -0.00412953 -0.99977357]] t_estimated: [[ 0.9241423 ] [-0.38185486] [-0.0121606 ]] R_gt: [[ 0.99145651 0.1300125 0.01055214] [-0.13026323 0.99107914 0.02816106] [-0.00679667 -0.02929438 0.99954712]] t_gt: [-0.93825199 0.18612466 0.29161758] Pose Error in degrees for R and t: 178.72199276982082 19.66143954670268 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 4.05591692e-01 -9.14054133e-01 -6.48623491e-04] [ 9.14054190e-01 4.05591075e-01 9.04329944e-04] [-5.63530624e-04 -9.59665732e-04 9.99999381e-01]] t_estimated: [[ 5.90321950e-01] [-8.07167644e-01] [ 6.24852338e-04]] R_gt: [[ 0.98336141 0.17522579 0.0479275 ] [-0.17731075 0.98319936 0.04335427] [-0.03952626 -0.05113036 0.99790876]] t_gt: [-0.91465249 0.11116369 0.38865597] Pose Error in degrees for R and t: 76.30902520448012 50.992337013948195 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.22185441e-01 -3.86747941e-01 2.04042541e-04] [ 3.86747284e-01 9.22184629e-01 1.43096785e-03] [-7.41588764e-04 -1.24070482e-03 9.99998955e-01]] t_estimated: [[-0.40968868] [-0.91222351] [ 0.00185789]] R_gt: [[ 0.99123592 0.11125972 0.07122428] [-0.1145736 0.99242878 0.04424486] [-0.06576313 -0.05201731 0.99647806]] t_gt: [-0.80516767 -0.2420564 0.54139979] Pose Error in degrees for R and t: 29.620657479976742 56.51741664180275 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.48445916e-01 3.16938987e-01 1.53834217e-04] [-3.16938754e-01 9.48445630e-01 -8.44603634e-04] [-4.13591211e-04 7.52304842e-04 9.99999631e-01]] t_estimated: [[0.76466177] [0.64443042] [0.00134647]] R_gt: [[ 0.9953655 -0.08914257 -0.03606404] [ 0.08960321 0.99591292 0.01137154] [ 0.03490171 -0.01455036 0.99928442]] t_gt: [ 0.76717352 -0.6281505 -0.12989124] Pose Error in degrees for R and t: 23.70809142936935 79.53388046330622 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.90564010e-01 1.37050804e-01 1.36920645e-04] [-1.37050807e-01 9.90564019e-01 1.81437278e-05] [-1.33142052e-04 -3.67376087e-05 9.99999990e-01]] t_estimated: [[0.75391841] [0.65696699] [0.00118757]] R_gt: [[ 0.99733716 -0.06823099 -0.02575481] [ 0.06830779 0.99766193 0.00211643] [ 0.02555012 -0.00387053 0.9996656 ]] t_gt: [ 0.69353062 -0.70022209 -0.16942343] Pose Error in degrees for R and t: 11.885759840300116 86.40855466699686 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-7.01890213e-01 -7.12276733e-01 -3.46199430e-03] [-7.12285145e-01 7.01882227e-01 3.34836537e-03] [ 4.49495280e-05 4.81611199e-03 -9.99988401e-01]] t_estimated: [[8.17053059e-01] [5.76561970e-01] [7.70804772e-04]] R_gt: [[ 0.99982752 0.00517424 -0.01786337] [-0.00499651 0.99993813 0.00997099] [ 0.01791302 -0.00987989 0.99979093]] t_gt: [ 0.20637559 -0.95845036 -0.19693153] Pose Error in degrees for R and t: 179.1653019367185 67.40976264836917 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 4.82318220e-01 8.75988291e-01 3.69438582e-03] [ 8.75993771e-01 -4.82322344e-01 2.62507389e-04] [ 2.01183823e-03 3.10964687e-03 -9.99993141e-01]] t_estimated: [[-0.55730987] [-0.83030364] [-0.00125804]] R_gt: [[ 0.95942688 -0.28125069 0.01995994] [ 0.28173427 0.95908218 -0.02805132] [-0.01125402 0.03253693 0.99940741]] t_gt: [ 0.86613218 -0.49017734 -0.09767923] Pose Error in degrees for R and t: 177.90893721298522 85.66515865085942 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999812e-01 -5.77282234e-04 2.08544339e-04] [ 5.77293909e-04 9.99999832e-01 -5.59296096e-05] [-2.08512017e-04 5.60499904e-05 9.99999977e-01]] t_estimated: [[-0.31363969] [-0.94954146] [-0.0010778 ]] R_gt: [[ 0.87354409 -0.47423114 0.10965643] [ 0.48455182 0.86861707 -0.10350903] [-0.04616141 0.14355357 0.98856458]] t_gt: [ 0.91537841 -0.33302109 -0.22622848] Pose Error in degrees for R and t: 30.04154609132768 88.31742999458939 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.991194 -0.01263917 -0.13181317] [ 0.00237181 0.9969692 -0.07776108] [ 0.13239651 0.07676368 0.98821987]] t_estimated: [[8.42842722e-01] [5.38159528e-01] [6.84681334e-04]] R_gt: [[ 0.77821152 -0.5956697 0.19890487] [ 0.62401628 0.76909163 -0.1382118 ] [-0.07064614 0.23167814 0.97022412]] t_gt: [ 0.93615402 -0.2209945 -0.27345399] Pose Error in degrees for R and t: 41.4579694416367 47.9396437616133 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.95598212e-01 -9.37239157e-02 -1.64119486e-04] [ 9.37239447e-02 9.95598207e-01 1.79001477e-04] [ 1.46620347e-04 -1.93595476e-04 9.99999971e-01]] t_estimated: [[-2.15900440e-01] [-9.76415012e-01] [-8.51171976e-04]] R_gt: [[ 0.99344551 0.11422441 -0.00421934] [-0.11412972 0.99329566 0.01837282] [ 0.0062898 -0.01776987 0.99982266]] t_gt: [-0.34002743 0.94021186 0.01957052] Pose Error in degrees for R and t: 11.982145453599056 32.36644751346098 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.87704042e-01 -1.56332973e-01 -8.52739808e-04] [ 1.56333424e-01 9.87704217e-01 4.90164205e-04] [ 7.65625876e-04 -6.17448901e-04 9.99999516e-01]] t_estimated: [[-3.59377698e-01] [-9.33191778e-01] [-8.80954839e-04]] R_gt: [[ 0.95612532 0.29233296 -0.01912317] [-0.29288314 0.95532216 -0.03975263] [ 0.00664787 0.04360929 0.99902659]] t_gt: [-0.30140895 0.94257491 -0.14389294] Pose Error in degrees for R and t: 26.138926136471497 39.542122701839006 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.95174374e-01 -9.81203948e-02 -5.94625667e-04] [-9.81221775e-02 -9.95152135e-01 -6.65337535e-03] [ 6.10888138e-05 6.67961461e-03 -9.99977689e-01]] t_estimated: [[0.01948471] [0.99980941] [0.00121779]] R_gt: [[ 0.90611436 0.42257511 -0.01964615] [-0.42301144 0.90463321 -0.05196868] [-0.00418827 0.05540063 0.998455 ]] t_gt: [-0.22028166 0.96889728 -0.11275664] Pose Error in degrees for R and t: 176.45254743530344 15.359434251670653 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.7869187 0.61693365 -0.01232182] [ 0.61691745 -0.78616009 0.03694815] [ 0.01310764 -0.03667674 -0.99924122]] t_estimated: [[-0.33218023] [ 0.94301073] [ 0.019674 ]] R_gt: [[ 0.99851161 0.03082283 -0.04500327] [-0.03073913 0.99952391 0.00256596] [ 0.04506102 -0.00117843 0.99898373]] t_gt: [-0.64825041 0.46065984 -0.60627049] Pose Error in degrees for R and t: 176.82432164417423 50.3708901690097 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.66353769e-01 -2.57215907e-01 -6.08951716e-04] [ 2.57216069e-01 9.66353896e-01 2.02138171e-04] [ 5.36469711e-04 -3.51969150e-04 9.99999794e-01]] t_estimated: [[8.88369152e-01] [4.59129396e-01] [6.68534813e-04]] R_gt: [[ 0.99721103 0.02075272 -0.07170466] [-0.02208062 0.99959826 -0.01777717] [ 0.07130638 0.01931092 0.99726761]] t_gt: [-0.45280859 0.35248512 -0.81897413] Pose Error in degrees for R and t: 16.66998321988487 76.05606001130971 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99725519e-01 -2.34176586e-02 -7.07684590e-04] [ 2.34179392e-02 9.99725686e-01 3.90843461e-04] [ 6.98337823e-04 -4.07308696e-04 9.99999673e-01]] t_estimated: [[-0.99998396] [ 0.0048518 ] [-0.00292229]] R_gt: [[ 0.99707683 0.03884078 -0.06580911] [-0.04101399 0.99864668 -0.03199099] [ 0.06447727 0.03459672 0.9973187 ]] t_gt: [-0.57696983 0.40852829 -0.70725558] Pose Error in degrees for R and t: 5.530746470658373 54.478424815698716 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-1.57752018e-02 -9.99874530e-01 -1.43786552e-03] [ 9.99875549e-01 -1.57754304e-02 1.47770731e-04] [-1.70435137e-04 -1.43535546e-03 9.99998955e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99862594 0.01206573 -0.05099743] [-0.01158789 0.99988599 0.00966219] [ 0.05110945 -0.00905855 0.99865169]] t_gt: [-0.44668497 0.33443121 -0.82983631] Pose Error in degrees for R and t: 91.61733462239529 63.49416292850153 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.32237371 0.9466114 -0.00143294] [-0.94661134 0.32237059 -0.00204254] [-0.00147155 0.0020149 0.99999689]] t_estimated: [[-1.82411604e-02] [ 9.99833616e-01] [-7.48859974e-06]] R_gt: [[ 0.99741471 0.00616025 -0.07159926] [-0.00746879 0.99981004 -0.01803066] [ 0.07147534 0.01851818 0.99727029]] t_gt: [-0.2853274 0.20299897 -0.93668548] Pose Error in degrees for R and t: 70.91048987854715 77.98446413171555 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.2972137 -0.95480786 -0.00244067] [-0.95480836 0.29721791 -0.00158616] [ 0.00223989 0.00185895 -0.99999576]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99994854 -0.00476823 0.00901924] [ 0.00507175 0.99941163 -0.03392692] [-0.00885236 0.03397037 0.99938286]] t_gt: [-0.89804703 0.01327023 -0.43969925] Pose Error in degrees for R and t: 179.09169210976614 44.587107157273266 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99767975e-01 2.15405458e-02 8.12506355e-06] [-2.15405457e-02 9.99767975e-01 -1.03744211e-05] [-8.34664903e-06 1.01969957e-05 1.00000000e+00]] t_estimated: [[0.81587001] [0.57823473] [0.00085126]] R_gt: [[ 0.99834107 0.04755326 0.03245825] [-0.04739179 0.99885951 -0.00572397] [-0.03269323 0.00417585 0.99945603]] t_gt: [-0.8213198 0.38510211 0.42086833] Pose Error in degrees for R and t: 2.4045417598265684 63.44526756299544 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99980153 -0.01609026 0.01174717] [ 0.0161918 0.99983192 -0.00860026] [-0.01160681 0.00878876 0.99989401]] t_estimated: [[-0.3873308 ] [-0.92194008] [-0.00115967]] R_gt: [[ 0.99240651 0.12250417 -0.01107513] [-0.12260648 0.99241311 -0.00913342] [ 0.00987216 0.01042236 0.9998963 ]] t_gt: [-0.77424757 0.61463878 -0.15086374] Pose Error in degrees for R and t: 8.065774061862445 74.5382364782944 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999842e-01 -2.27954336e-04 5.13013925e-04] [ 2.28316864e-04 9.99999724e-01 -7.06716550e-04] [-5.12852685e-04 7.06833569e-04 9.99999619e-01]] t_estimated: [[-9.40549932e-01] [-3.39655208e-01] [-4.05975673e-04]] R_gt: [[ 0.99293457 0.11860081 -0.00387913] [-0.11858757 0.99293723 0.00341727] [ 0.00425697 -0.0029328 0.99998577]] t_gt: [-0.81510899 0.57790255 -0.04032344] Pose Error in degrees for R and t: 6.833074861406187 55.223308859275484 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.81841457e-01 1.89702889e-01 4.09842553e-04] [ 1.89670718e-01 -9.81710427e-01 1.64211963e-02] [ 3.51749509e-03 -1.60452761e-02 -9.99865079e-01]] t_estimated: [[0.04281675] [0.99905746] [0.00713612]] R_gt: [[ 0.99839233 0.05431635 -0.01622575] [-0.05397809 0.99833022 0.02056774] [ 0.0173167 -0.01965848 0.99965653]] t_gt: [-0.15831768 0.98670213 0.03680247] Pose Error in degrees for R and t: 177.8230212556466 11.690591292225065 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-0.8005455 -0.59914934 -0.01212341] [-0.59914828 0.80062748 -0.00412141] [ 0.01217567 0.00396435 -0.99991802]] t_estimated: [[ 0.9486839 ] [ 0.31616626] [-0.00614381]] R_gt: [[ 0.99684263 0.07801696 -0.01478276] [-0.07716913 0.99570639 0.05112474] [ 0.01870808 -0.04982241 0.99858328]] t_gt: [-0.05396468 0.91890227 0.39077671] Pose Error in degrees for R and t: 179.27227386326476 76.29460537037589 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.67895837e-01 4.96735397e-01 3.28065344e-03] [-4.96737635e-01 8.67900743e-01 -1.50619454e-04] [-2.92209957e-03 -1.49890203e-03 9.99994607e-01]] t_estimated: [[-0.99956958] [-0.02909208] [ 0.00378162]] R_gt: [[ 0.99796709 0.05992695 -0.02169995] [-0.05601645 0.98711808 0.14986858] [ 0.03040251 -0.1483484 0.98846786]] t_gt: [0.1283262 0.43043152 0.89345458] Pose Error in degrees for R and t: 27.813163728282635 82.10174305377477 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.72280609e-01 2.33815547e-01 8.40502108e-04] [-2.33815331e-01 9.72280962e-01 -3.47495348e-04] [-8.98454014e-04 1.41340710e-04 9.99999586e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 9.73251127e-01 -2.29571545e-01 -8.86378241e-03] [ 2.29556701e-01 9.73291443e-01 -2.57718852e-03] [ 9.21863413e-03 4.73231078e-04 9.99956658e-01]] t_gt: [ 0.88012957 -0.47428384 -0.02065874] Pose Error in degrees for R and t: 26.799713788012703 61.34450182469658 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999996e-01 8.95369209e-05 -3.01428819e-05] [-8.95287029e-05 9.99999959e-01 2.72526219e-04] [ 3.01672818e-05 -2.72523519e-04 9.99999962e-01]] t_estimated: [[0.78750445] [0.61630783] [0.00118067]] R_gt: [[ 0.87993595 -0.47157096 0.05773539] [ 0.47478414 0.87721883 -0.07117581] [-0.01708244 0.0900417 0.99579109]] t_gt: [ 0.92405773 -0.35120878 -0.15089637] Pose Error in degrees for R and t: 28.788014305565273 59.2649588716437 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-9.83771729e-01 1.79423360e-01 -6.65506337e-04] [ 1.79422828e-01 9.83771736e-01 7.88148960e-04] [ 7.96118659e-04 6.55951636e-04 -9.99999468e-01]] t_estimated: [[9.99479855e-01] [3.22368393e-02] [8.98102858e-04]] R_gt: [[ 0.77503107 -0.61529063 0.14402558] [ 0.63131188 0.76391547 -0.1337017 ] [-0.02775761 0.19454869 0.98049972]] t_gt: [ 0.94373475 -0.21521068 -0.25109576] Pose Error in degrees for R and t: 173.89460556695568 20.596561325186205 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[-0.71138117 -0.70156791 0.04170498] [-0.70162885 0.71237141 0.01561843] [-0.04066682 -0.01815076 -0.99900789]] t_estimated: [[0.9322617 ] [0.36105649] [0.02294183]] R_gt: [[ 0.99839633 -0.04891337 0.02847627] [ 0.04948659 0.9985793 -0.01978226] [-0.02746861 0.02115871 0.99939915]] t_gt: [ 0.89821648 -0.30385836 0.31761178] Pose Error in degrees for R and t: 176.41312036816544 42.69706033443152 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 4.05187516e-01 9.14233586e-01 -1.67384863e-04] [-9.14232230e-01 4.05186585e-01 -1.80594009e-03] [-1.58322899e-03 8.84773018e-04 9.99998355e-01]] t_estimated: [[3.61854895e-01] [9.32234102e-01] [7.83934799e-04]] R_gt: [[ 0.99061432 -0.1306999 0.03997859] [ 0.13129476 0.99126338 -0.01262914] [-0.03797795 0.01775948 0.99912022]] t_gt: [ 0.85890758 -0.47996199 0.17864563] Pose Error in degrees for R and t: 73.65868199042836 82.15480815950825 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 0.07147787 -0.99744079 -0.00166879] [-0.99742962 -0.07148527 0.00489994] [-0.0050067 0.00131426 -0.9999866 ]] t_estimated: [[0.80731919] [0.59011188] [0.00192219]] R_gt: [[ 0.97829954 -0.19910427 0.0573316 ] [ 0.19958933 0.97987571 -0.00281288] [-0.05561791 0.01419376 0.99835101]] t_gt: [ 0.87777593 -0.43273331 0.2055512 ] Pose Error in degrees for R and t: 177.97538416165577 63.02000396533493 Number of keypoints: Image1: 471 Image2: 471 R_estimated: [[ 9.99662894e-01 -2.59632466e-02 -9.33516421e-05] [ 2.59632608e-02 9.99662886e-01 1.53943108e-04] [ 8.93233090e-05 -1.56314926e-04 9.99999984e-01]] t_estimated: [[-0.999138 ] [-0.04147324] [-0.00179896]] R_gt: [[ 0.99859662 0.05273364 0.004989 ] [-0.05275862 0.99859618 0.00472631] [-0.00473185 -0.00498355 0.9999766 ]] t_gt: [-0.98964525 0.04258516 0.13707218] Pose Error in degrees for R and t: 4.527978046568437 9.327004478952755 Number of keypoints: Image1: 443 Image2: 443 R_estimated: [[ 0.84369168 0.53675629 0.00877756] [-0.53682543 0.84352363 0.01692157] [ 0.00167868 -0.0189886 0.99981829]] t_estimated: [[0.56836414] [0.82277516] [0.00179726]] R_gt: [[ 0.98137455 0.19161117 0.01374256] [-0.19188049 0.98117145 0.02200095] [-0.00926769 -0.02422805 0.99966287]] t_gt: [-0.95939889 0.23042249 0.16266298] Pose Error in degrees for R and t: 21.417212763345077 69.18144511797284 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-7.32349241e-02 -9.97314718e-01 9.55328283e-06] [-9.97314093e-01 7.32348676e-02 -1.11966286e-03] [ 1.11595662e-03 -9.15260485e-05 -9.99999373e-01]] t_estimated: [[0.76148375] [0.6481834 ] [0.0008783 ]] R_gt: [[ 0.96827403 0.24744916 0.03484676] [-0.24886188 0.96750929 0.04465253] [-0.0226649 -0.05190807 0.99839461]] t_gt: [-0.94216809 0.20198644 0.26743366] Pose Error in degrees for R and t: 176.92027183484848 54.10606905642784 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.98823419e-01 -4.84942256e-02 2.96792876e-04] [ 4.84942767e-02 9.98823446e-01 -1.67460892e-04] [-2.88322797e-04 1.81656616e-04 9.99999942e-01]] t_estimated: [[ 0.37245035] [-0.92805013] [ 0.00192128]] R_gt: [[ 0.99778166 0.06223462 0.02365865] [-0.06393957 0.99474958 0.07990187] [-0.01856085 -0.08123662 0.99652144]] t_gt: [-0.58829799 0.48493597 0.64710322] Pose Error in degrees for R and t: 7.992245900215272 48.093775266905894 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.89751318e-01 -1.42800806e-01 -5.08734102e-04] [ 1.42800869e-01 9.89751435e-01 8.95776030e-05] [ 4.90728554e-04 -1.61307222e-04 9.99999867e-01]] t_estimated: [[-0.43064499] [-0.90252036] [-0.00138019]] R_gt: [[ 0.97703858 0.20668574 0.05174547] [-0.21037862 0.97428084 0.08072929] [-0.03372825 -0.08976162 0.99539118]] t_gt: [-0.60652124 0.7408692 0.28852179] Pose Error in degrees for R and t: 21.00216092276786 65.93000182432075 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.10943976 0.9939909 0.0022442 ] [-0.99399181 0.10944338 -0.00155677] [-0.00179303 -0.00206034 0.99999627]] t_estimated: [[-0.25779177] [ 0.96619806] [ 0.00217009]] R_gt: [[ 9.63441823e-01 2.67275831e-01 1.85870964e-02] [-2.67921821e-01 9.61163922e-01 6.61948169e-02] [-1.73201000e-04 -6.87545815e-02 9.97633425e-01]] t_gt: [-0.56855384 0.81635742 0.10152389] Pose Error in degrees for R and t: 68.27438992490947 20.682529535592344 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99697940e-01 -2.45769418e-02 -5.39194264e-05] [ 2.45769420e-02 9.99697941e-01 3.05738506e-06] [ 5.38279984e-05 -4.38163616e-06 9.99999999e-01]] t_estimated: [[-0.8010727 ] [-0.59856439] [-0.00179211]] R_gt: [[ 0.99841018 0.03647453 -0.04296949] [-0.03559447 0.9991442 0.02106572] [ 0.04370101 -0.01950293 0.99885422]] t_gt: [-0.54707439 0.77645097 -0.31278348] Pose Error in degrees for R and t: 4.424838512691096 88.5130650581815 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.98074743e-01 -6.20226359e-02 -6.12338928e-06] [ 6.20226361e-02 9.98074731e-01 1.53942460e-04] [-3.43631701e-06 -1.54025870e-04 9.99999988e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99909309 0.01175559 -0.04093431] [-0.01234133 0.99982518 -0.01407934] [ 0.04076125 0.01457202 0.99906226]] t_gt: [-0.08851045 0.6342611 -0.76803565] Pose Error in degrees for R and t: 4.919205112500654 56.517956886476306 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.96255872e-01 -8.64536319e-02 8.59962377e-05] [ 8.64535817e-02 9.96255766e-01 4.75470150e-04] [-1.26780369e-04 -4.66255246e-04 9.99999883e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.99896739 0.01836047 -0.04156311] [-0.01877076 0.99977964 -0.0094898 ] [ 0.04137961 0.01026118 0.99909093]] t_gt: [-0.15087597 0.80118775 -0.57908084] Pose Error in degrees for R and t: 6.5044982429444405 78.45726509382227 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.79517603e-01 2.01358381e-01 -2.61462060e-04] [-2.01357850e-01 9.79509940e-01 -3.91077998e-03] [-5.31363638e-04 3.88332527e-03 9.99992319e-01]] t_estimated: [[-0.95830657] [-0.28573361] [-0.00219795]] R_gt: [[ 0.99999776 -0.0014204 0.00167498] [ 0.00135134 0.99917335 0.04063154] [-0.00173123 -0.0406293 0.99917242]] t_gt: [0.58483024 0.07299637 0.80786455] Pose Error in degrees for R and t: 11.970908875071453 54.332546505990194 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-9.16098602e-01 4.00952509e-01 -6.61698486e-04] [-4.00950238e-01 -9.16097105e-01 -2.23645672e-03] [-1.50289300e-03 -1.78350671e-03 9.99997280e-01]] t_estimated: [[0.57216343] [0.82013884] [0.0011375 ]] R_gt: [[ 9.99822001e-01 3.65349774e-03 -1.84952102e-02] [-2.37488097e-04 9.83401606e-01 1.81444752e-01] [ 1.88508091e-02 -1.81408243e-01 9.83227076e-01]] t_gt: [ 0.04489816 -0.23769505 0.97030161] Pose Error in degrees for R and t: 156.35819417944302 80.31971852148057 Number of keypoints: Image1: 502 Image2: 502 R_estimated: [[-0.95164905 -0.3071705 0.00321889] [-0.30714865 0.95164323 0.0059056 ] [-0.00487726 0.00463138 -0.99997738]] t_estimated: [[0.99720405] [0.0747091 ] [0.00162411]] R_gt: [[ 0.99730729 0.03133803 -0.06630776] [-0.01590902 0.97502458 0.22152927] [ 0.07159426 -0.21987744 0.97289672]] t_gt: [-0.22743727 -0.26488323 0.93707479] Pose Error in degrees for R and t: 178.2792415910057 75.814109846281 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.01592244 0.99976926 0.01441881] [ 0.99978345 -0.01572611 -0.01362891] [-0.01339902 0.0146327 -0.99980316]] t_estimated: [[-0.63185876] [ 0.77501146] [-0.01057099]] R_gt: [[ 0.98610275 -0.16554838 0.01400449] [ 0.16547772 0.98619487 0.00609444] [-0.01481981 -0.0036912 0.99988312]] t_gt: [ 0.89630541 -0.43080297 0.10509718] Pose Error in degrees for R and t: 178.48298311843027 25.666999940383707 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.68567309 0.7276259 0.02032147] [ 0.72745449 0.68596436 -0.016213 ] [-0.0257368 0.00366613 -0.99966203]] t_estimated: [[ 0.17089463] [-0.98510702] [ 0.01895227]] R_gt: [[ 0.98106252 -0.19267125 -0.01990488] [ 0.19300453 0.98106001 0.0164518 ] [ 0.01635793 -0.01998124 0.9996661 ]] t_gt: [ 0.97220723 -0.22078932 0.07787924] Pose Error in degrees for R and t: 180.0 67.34867991499249 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-2.37167593e-01 9.71461151e-01 -3.84257321e-03] [-9.71467553e-01 -2.37171655e-01 -6.31917641e-04] [-1.52523289e-03 3.58306481e-03 9.99992418e-01]] t_estimated: [[5.95994333e-01] [8.02988629e-01] [1.30814351e-04]] R_gt: [[ 0.98648946 -0.1569964 -0.04681216] [ 0.1587739 0.98662045 0.03702146] [ 0.04037398 -0.04395383 0.99821699]] t_gt: [0.98821081 0.02218347 0.15148361] Pose Error in degrees for R and t: 112.84796872031079 52.64145243278871 Number of keypoints: Image1: 609 Image2: 609 R_estimated: [[ 9.83820097e-01 1.79158985e-01 -2.72267601e-04] [-1.79158991e-01 9.83820134e-01 3.72606420e-06] [ 2.68529906e-04 4.51134118e-05 9.99999963e-01]] t_estimated: [[-0.99546177] [-0.09515443] [-0.00121993]] R_gt: [[ 0.99917883 0.04041223 -0.00313142] [-0.04030976 0.99880018 0.02783697] [ 0.00425182 -0.02768721 0.99960706]] t_gt: [-0.30042977 0.80087775 0.51801233] Pose Error in degrees for R and t: 8.165899796220044 77.16011044966552 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.01788212 0.99982358 -0.00574786] [-0.99983584 0.01786496 -0.0030232 ] [-0.00291998 0.00580098 0.99997891]] t_estimated: [[ 3.39000000e-02] [ 9.99425224e-01] [-1.03843241e-04]] R_gt: [[ 0.99973549 0.02081512 -0.00971186] [-0.01948599 0.99243976 0.12117349] [ 0.01216021 -0.12095166 0.99258348]] t_gt: [0.12467386 0.09870884 0.98727554] Pose Error in degrees for R and t: 88.06829607855789 84.1009508726786 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[ 9.63086728e-01 2.69191296e-01 1.92984340e-05] [-2.69191208e-01 9.63086468e-01 -7.41230435e-04] [-2.18118842e-04 7.08674225e-04 9.99999725e-01]] t_estimated: [[-0.99851507] [-0.05446446] [-0.00113468]] R_gt: [[ 0.99768528 0.05374005 -0.0416535 ] [-0.04361403 0.97579385 0.21430095] [ 0.05216045 -0.21198792 0.97587908]] t_gt: [-0.19381567 0.00738796 0.98101014] Pose Error in degrees for R and t: 17.973774244162506 78.9297536595265 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.98380791e-01 -5.68840095e-02 -8.04000310e-05] [ 5.68840487e-02 9.98380597e-01 6.23869815e-04] [ 4.47816145e-05 -6.27433118e-04 9.99999802e-01]] t_estimated: [[-8.65483614e-01] [-5.00936528e-01] [-8.41910131e-04]] R_gt: [[ 0.99989074 -0.01181405 -0.00887356] [ 0.01158821 0.9996183 -0.02507308] [ 0.00916654 0.02496698 0.9996461 ]] t_gt: [ 0.40864016 0.27405711 -0.87057792] Pose Error in degrees for R and t: 3.02231327826402 60.64471861693653 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 0.78258485 0.62254206 -0.00153007] [ 0.62252454 -0.78253871 0.00981614] [ 0.00491362 -0.00863447 -0.99995065]] t_estimated: [[-0.78774502] [-0.61600083] [-0.00087625]] R_gt: [[ 0.99940891 -0.03425409 0.00312565] [ 0.03425883 0.99941147 -0.00159527] [-0.00306946 0.00170171 0.99999319]] t_gt: [ 0.99292829 -0.08629444 0.08152716] Pose Error in degrees for R and t: 179.58521073956064 43.18998236042631 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.03413571 0.99941298 0.00290656] [-0.99940748 0.03412239 0.00451208] [ 0.00441025 -0.00305886 0.9999856 ]] t_estimated: [[0.68282007] [0.73058616] [0.00078305]] R_gt: [[ 0.99907147 0.03479297 -0.02540318] [-0.03620923 0.99768465 -0.05756794] [ 0.02334081 0.05843391 0.99801765]] t_gt: [-0.25936227 0.75258402 -0.6052673 ] Pose Error in degrees for R and t: 86.08073159713402 68.14519757725297 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99999997e-01 -7.56571901e-05 -2.73781883e-05] [ 7.56529360e-05 9.99999985e-01 -1.55348774e-04] [ 2.73899412e-05 1.55346703e-04 9.99999988e-01]] t_estimated: [[-0.94029694] [-0.34035357] [-0.00105691]] R_gt: [[ 0.99545692 0.09504541 0.00562049] [-0.09502713 0.99546925 -0.0035871 ] [-0.00593503 0.00303712 0.99997807]] t_gt: [-0.78365524 0.6211649 0.00621523] Pose Error in degrees for R and t: 5.470585513298561 58.3017029115723 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-0.84797383 -0.52960433 -0.02143917] [-0.52964419 0.84820932 -0.00424093] [ 0.02043092 0.00775894 -0.99976116]] t_estimated: [[ 0.96655439] [ 0.25625705] [-0.0102437 ]] R_gt: [[ 0.99289756 0.11678567 0.02272279] [-0.11634415 0.99301088 -0.01986241] [-0.0248837 0.01707755 0.9995452 ]] t_gt: [-0.81029088 0.58532902 0.0286116 ] Pose Error in degrees for R and t: 179.77469747402702 50.692022613488426 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.98991310e-01 4.49039161e-02 2.90739096e-05] [-4.49038993e-02 9.98991218e-01 -4.32018527e-04] [-4.84439041e-05 4.30277222e-04 9.99999906e-01]] t_estimated: [[-0.86566542] [-0.50062159] [-0.00118597]] R_gt: [[ 9.94021949e-01 1.09111212e-01 -3.87736595e-03] [-1.09179714e-01 9.93226343e-01 -3.97776242e-02] [-4.88670484e-04 3.99645419e-02 9.99201817e-01]] t_gt: [-0.84501399 0.52243315 -0.11408311] Pose Error in degrees for R and t: 4.333664930014717 61.95964229741128 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.96571551e-01 8.27353757e-02 -2.19223831e-05] [-8.27353761e-02 9.96571551e-01 -1.84742691e-05] [ 2.03187477e-05 2.02246876e-05 1.00000000e+00]] t_estimated: [[-9.99969743e-01] [-7.74029419e-03] [-7.75114084e-04]] R_gt: [[ 0.99379886 0.11066908 0.01074628] [-0.11085876 0.99365367 0.01905533] [-0.00856914 -0.02012816 0.99976009]] t_gt: [-0.8593487 0.48472154 0.16298724] Pose Error in degrees for R and t: 2.0453676858126233 31.19112643219582 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99373592e-01 -3.53885420e-02 -2.74593450e-04] [ 3.53885858e-02 9.99373616e-01 1.56283879e-04] [ 2.68890791e-04 -1.65903455e-04 9.99999950e-01]] t_estimated: [[-9.53451331e-01] [-3.01545886e-01] [-7.98876905e-04]] R_gt: [[ 0.95770781 0.28663054 0.02528245] [-0.28588519 0.95781183 -0.02943035] [-0.03265169 0.02095721 0.9992467 ]] t_gt: [-0.82319527 0.56534132 -0.05233292] Pose Error in degrees for R and t: 18.80145867686448 52.08860752463499 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.99429387 -0.1066686 -0.00122477] [ 0.10666985 0.99429399 0.00100658] [ 0.00111041 -0.00113148 0.99999874]] t_estimated: [[-9.99994105e-01] [-3.34494270e-03] [-7.75188089e-04]] R_gt: [[ 9.20010850e-01 3.86542987e-01 6.45284567e-02] [-3.85612029e-01 9.22271428e-01 -2.68220963e-02] [-6.98802336e-02 -2.06283209e-04 9.97554657e-01]] t_gt: [-0.79470113 0.605634 0.04071325] Pose Error in degrees for R and t: 29.145297316721063 37.567174083878136 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.99856513e-01 -1.69394022e-02 -1.03975108e-04] [ 1.69393938e-02 9.99856515e-01 -8.07726959e-05] [ 1.05328431e-04 7.89998307e-05 9.99999991e-01]] t_estimated: [[-0.98849207] [-0.15126696] [-0.00131481]] R_gt: [[ 0.99053397 0.13686647 -0.01047035] [-0.13684536 0.99058881 0.00270596] [ 0.01074298 -0.00124766 0.99994211]] t_gt: [-0.86196822 0.50648652 -0.02195885] Pose Error in degrees for R and t: 8.858003780738587 39.15297611745058 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[-0.98976739 0.14168889 -0.01687508] [ 0.14164609 0.98991041 0.00371117] [ 0.01723065 0.00128291 -0.99985072]] t_estimated: [[ 0.99428873] [-0.10634801] [-0.00894594]] R_gt: [[ 9.72244504e-01 2.33560177e-01 1.37747321e-02] [-2.33585817e-01 9.72335878e-01 2.07566641e-04] [-1.33446742e-02 -3.41956999e-03 9.99905516e-01]] t_gt: [-0.8288368 0.55900095 0.02339881] Pose Error in degrees for R and t: 179.78862931220098 27.90056157610064 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99998909e-01 -1.45040122e-03 -2.79753703e-04] [ 1.45045397e-03 9.99998930e-01 1.88472386e-04] [ 2.79480043e-04 -1.88877950e-04 9.99999943e-01]] t_estimated: [[-9.88853562e-01] [-1.48890687e-01] [-4.43086324e-04]] R_gt: [[ 9.25482284e-01 3.76878723e-01 3.80071601e-02] [-3.77138716e-01 9.26156814e-01 -3.64645939e-04] [-3.53365373e-02 -1.39968576e-02 9.99276969e-01]] t_gt: [-0.79817476 0.60061271 0.04670564] Pose Error in degrees for R and t: 22.34653635509444 45.586503399319504 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.99999966e-01 2.48225088e-04 -8.23328688e-05] [-2.48227773e-04 9.99999969e-01 -3.26035594e-05] [ 8.23247732e-05 3.26239956e-05 9.99999996e-01]] t_estimated: [[-8.93307671e-01] [-4.49445406e-01] [-4.81072761e-04]] R_gt: [[ 0.99594121 0.08553782 0.0279842 ] [-0.08573256 0.99630106 0.0058564 ] [-0.02738058 -0.00823157 0.99959084]] t_gt: [-0.76531666 0.60705669 0.21394528] Pose Error in degrees for R and t: 5.167740274887324 65.74983499086626 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99999733e-01 1.94889565e-04 -7.03581193e-04] [-1.94790851e-04 9.99999971e-01 1.40367707e-04] [ 7.03608529e-04 -1.40230618e-04 9.99999743e-01]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.98937791 0.14107124 0.03506944] [-0.14041044 0.98987801 -0.02063697] [-0.03762597 0.01549421 0.99917147]] t_gt: [-0.76453338 0.64193091 0.05842444] Pose Error in degrees for R and t: 8.423344327305115 80.7472047910116 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[ 9.98438100e-01 5.58642131e-02 -7.41603181e-04] [-5.58641398e-02 9.98438372e-01 1.19200883e-04] [ 7.47104136e-04 -7.75856789e-05 9.99999718e-01]] t_estimated: [[-0.53923345] [ 0.84215181] [ 0.0027604 ]] R_gt: [[ 0.98775053 0.15264602 0.03238636] [-0.15132101 0.98767376 -0.04003627] [-0.03809873 0.03464508 0.99867283]] t_gt: [-0.7981933 0.60239603 0.0025452 ] Pose Error in degrees for R and t: 6.297202422567398 20.326485806792796 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99999985e-01 -1.59502852e-04 -6.29711548e-05] [ 1.59498525e-04 9.99999985e-01 -6.87112734e-05] [ 6.29821135e-05 6.87012286e-05 9.99999996e-01]] t_estimated: [[-9.48882532e-01] [-3.15629179e-01] [-4.01760091e-04]] R_gt: [[ 0.99506773 0.09493647 0.02875678] [-0.09530033 0.99538173 0.01157875] [-0.02752532 -0.01426159 0.99951927]] t_gt: [-0.7756032 0.59111237 0.22141778] Pose Error in degrees for R and t: 5.751146575023908 56.68133516522425 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[-0.61787148 -0.78615144 -0.01416844] [-0.7861741 0.61798314 -0.00520726] [ 0.01284955 0.00792144 -0.99988606]] t_estimated: [[ 0.90944883] [ 0.41575878] [-0.00688874]] R_gt: [[ 0.9891632 0.14148871 0.03920597] [-0.14082812 0.98984921 -0.01913136] [-0.04151569 0.01340331 0.99904847]] t_gt: [-0.77251928 0.63025953 0.07737495] Pose Error in degrees for R and t: 179.18877423761668 63.828221959612684 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.99654427e-01 2.62842444e-02 -4.06942865e-04] [-2.62844824e-02 9.99654329e-01 -5.91089898e-04] [ 3.91265845e-04 6.01581915e-04 9.99999743e-01]] t_estimated: [[-0.59606118] [-0.80293547] [-0.00238519]] R_gt: [[ 0.98820931 0.15012723 0.03005834] [-0.14877142 0.98792892 -0.04315376] [-0.03617392 0.03817387 0.99861605]] t_gt: [-0.80391574 0.59461653 -0.01227482] Pose Error in degrees for R and t: 7.703616861594229 89.89838362029565 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[-0.99942902 -0.0242588 -0.02351922] [-0.02430782 0.9997029 0.00180059] [ 0.02346855 0.00237126 -0.99972176]] t_estimated: [[ 0.99989603] [ 0.00807632] [-0.01194549]] R_gt: [[ 0.9910759 0.13295011 -0.0095938 ] [-0.13281664 0.99105005 0.01341902] [ 0.01129231 -0.01202571 0.99986361]] t_gt: [-0.86338448 0.50141021 0.05616967] Pose Error in degrees for R and t: 178.05711436491885 30.692831207165334 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.97664643e-01 -6.83006085e-02 -5.35956522e-04] [ 6.83008656e-02 9.97664655e-01 4.76946900e-04] [ 5.02129115e-04 -5.12439353e-04 9.99999743e-01]] t_estimated: [[ 0.95657529] [-0.29148144] [-0.00151074]] R_gt: [[ 0.97208436 0.23448988 0.00816701] [-0.23451485 0.97211104 0.00211803] [-0.00744198 -0.00397385 0.99996447]] t_gt: [-0.82831829 0.55995133 0.01852887] Pose Error in degrees for R and t: 17.485999877003973 17.139083185573945 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.84854244e-01 1.73384306e-01 -3.34052318e-05] [-1.73384306e-01 9.84854244e-01 -1.83048415e-07] [ 3.28675466e-05 5.97221894e-06 9.99999999e-01]] t_estimated: [[-9.95666905e-01] [-9.29884577e-02] [-7.48911687e-04]] R_gt: [[ 0.92903607 0.36831843 0.03513655] [-0.36887666 0.92941593 0.01076983] [-0.02868977 -0.02296683 0.99932453]] t_gt: [-0.80051039 0.59607001 0.06231897] Pose Error in degrees for R and t: 11.840572062049397 42.13489390602667 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99974337e-01 -7.16356743e-03 -9.06051751e-05] [ 7.16357194e-03 9.99974340e-01 4.94971752e-05] [ 9.02482739e-05 -5.01449617e-05 9.99999995e-01]] t_estimated: [[-9.74480583e-01] [-2.24471396e-01] [-4.30308979e-04]] R_gt: [[ 0.99388426 0.1100176 0.00949759] [-0.110163 0.99377911 0.01640759] [-0.0076349 -0.01735301 0.99982007]] t_gt: [-0.85562218 0.49876785 0.13835213] Pose Error in degrees for R and t: 6.818297547812322 43.79931081918577 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.96115823e-01 8.80525731e-02 -1.06351172e-04] [-8.80525838e-02 9.96115823e-01 -9.99815499e-05] [ 9.71344527e-05 1.08957699e-04 9.99999989e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95967423 0.27953681 0.02974518] [-0.27888672 0.96001926 -0.02422007] [-0.03532679 0.0149475 0.99926379]] t_gt: [-0.82576073 0.56336006 -0.02728863] Pose Error in degrees for R and t: 11.381639922039152 34.50964613140651 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-9.71377103e-01 -2.37542401e-01 -3.62930309e-04] [-2.37542672e-01 9.71375620e-01 1.69806660e-03] [-5.08211624e-05 1.73567445e-03 -9.99998492e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91846796 0.38999253 0.06573938] [-0.38869841 0.92081091 -0.03198199] [-0.07300644 0.00382193 0.99732355]] t_gt: [-0.79085593 0.61108939 0.03341637] Pose Error in degrees for R and t: 176.12285352742578 37.914262792330554 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99988991e-01 -4.69163680e-03 -7.45852290e-05] [ 4.69162591e-03 9.99988984e-01 -1.45568868e-04] [ 7.52673636e-05 1.45217339e-04 9.99999987e-01]] t_estimated: [[-8.31285159e-01] [-5.55845631e-01] [-7.86545951e-04]] R_gt: [[ 0.99578456 0.09153337 0.00596689] [-0.09147193 0.99575901 -0.00993837] [-0.00685101 0.00935073 0.99993286]] t_gt: [-0.77796382 0.62803811 -0.01845052] Pose Error in degrees for R and t: 5.557878654500514 72.6845661742204 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.98654340e-01 5.18604708e-02 -3.36981740e-05] [-5.18604780e-02 9.98654303e-01 -2.70794411e-04] [ 1.96093009e-05 2.72177617e-04 9.99999963e-01]] t_estimated: [[-9.79908573e-01] [-1.99447202e-01] [-3.94627985e-05]] R_gt: [[ 0.99398516 0.10795139 0.01845799] [-0.10751736 0.99393482 -0.02311553] [-0.02084056 0.02099257 0.99956182]] t_gt: [-0.8177854 0.57551615 0.00286448] Pose Error in degrees for R and t: 3.6279695687746703 46.640817511763814 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99780456e-01 -2.09532702e-02 6.60940117e-07] [ 2.09532686e-02 9.99780363e-01 -4.32043513e-04] [ 8.39192952e-06 4.31962509e-04 9.99999907e-01]] t_estimated: [[0.87158423] [0.49024494] [0.00090721]] R_gt: [[ 0.99579695 0.09108748 -0.00956243] [-0.09139608 0.9950359 -0.03939563] [ 0.00592691 0.04010407 0.99917754]] t_gt: [-0.85490064 0.49704002 -0.14864763] Pose Error in degrees for R and t: 6.835503944366688 59.89531938971184 Number of keypoints: Image1: 644 Image2: 644 R_estimated: [[-0.10578258 -0.99435926 -0.00772757] [-0.99436476 0.10583136 -0.00620086] [ 0.0069837 0.00702808 -0.99995092]] t_estimated: [[ 0.71986325] [ 0.69410469] [-0.00394787]] R_gt: [[ 0.99935107 0.03557203 -0.00578726] [-0.03537304 0.99888183 0.03140313] [ 0.00689775 -0.03117774 0.99949033]] t_gt: [-0.12731506 0.75200865 0.64674095] Pose Error in degrees for R and t: 179.6413582347049 64.6738746994013 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.78625649e-01 -2.05649302e-01 -4.51515228e-04] [ 2.05649290e-01 9.78625753e-01 -7.38383338e-05] [ 4.57049232e-04 -2.05936988e-05 9.99999895e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99971426 0.01927192 -0.0141526 ] [-0.01760495 0.99381075 0.10968935] [ 0.01617841 -0.10940842 0.9938657 ]] t_gt: [0.2365742 0.14458212 0.96079585] Pose Error in degrees for R and t: 14.395585252826429 81.54379220134689 Number of keypoints: Image1: 442 Image2: 442 R_estimated: [[ 0.61976682 -0.78477815 -0.0035125 ] [-0.78477825 -0.61973457 -0.00722239] [ 0.00349115 0.00723273 -0.99996775]] t_estimated: [[ 0.46050004] [ 0.88765211] [-0.00366577]] R_gt: [[ 0.99792136 0.04951448 -0.04125397] [-0.03958379 0.97604525 0.21394014] [ 0.05085912 -0.21186282 0.97597527]] t_gt: [-0.12357894 0.01263101 0.99225435] Pose Error in degrees for R and t: 170.55770342346932 87.17224848084585 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 7.77118013e-01 6.29354774e-01 4.01963728e-04] [-6.29354537e-01 7.77118092e-01 -5.81378549e-04] [-6.78266651e-04 1.98822047e-04 9.99999750e-01]] t_estimated: [[-5.12736329e-01] [ 8.58546089e-01] [ 2.63837044e-04]] R_gt: [[ 0.98508734 -0.17077881 0.02087929] [ 0.1707732 0.98530816 0.00206615] [-0.02092535 0.00152977 0.99977957]] t_gt: [ 0.90003766 -0.42743 0.08506353] Pose Error in degrees for R and t: 48.84968157314719 34.06241556418036 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999923e-01 -3.79743286e-04 -9.81389828e-05] [ 3.79689114e-04 9.99999776e-01 -5.51429498e-04] [ 9.83483624e-05 5.51392193e-04 9.99999843e-01]] t_estimated: [[8.47663894e-01] [5.30533209e-01] [6.60688928e-04]] R_gt: [[ 9.79497684e-01 -2.01423108e-01 -3.58545074e-03] [ 2.01454238e-01 9.79332956e-01 1.79538733e-02] [-1.05079850e-04 -1.83089302e-02 9.99832589e-01]] t_gt: [ 0.96428553 -0.23369898 0.12465233] Pose Error in degrees for R and t: 11.650383636980589 46.09320232647007 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-5.79177072e-01 8.15182362e-01 5.62450648e-03] [-8.15197111e-01 -5.79183295e-01 -6.16828041e-04] [ 2.75479286e-03 -4.94233409e-03 9.99983992e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98403915 -0.1742834 -0.03595357] [ 0.17542527 0.98398927 0.03148802] [ 0.02988947 -0.03729305 0.99885684]] t_gt: [ 0.98996341 -0.02325474 0.13939751] Pose Error in degrees for R and t: 135.48100698803225 89.02964439013654 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[-9.99163179e-01 4.08955620e-02 -7.04024346e-04] [-4.08934409e-02 -9.99159586e-01 -2.80154499e-03] [-8.18003431e-04 -2.77041062e-03 9.99995828e-01]] t_estimated: [[0.85165797] [0.52409721] [0.00089743]] R_gt: [[ 0.99957646 -0.02714353 -0.01051003] [ 0.02667009 0.99872992 -0.0427593 ] [ 0.01165717 0.04246137 0.99903062]] t_gt: [ 0.52027977 0.0215823 -0.85372312] Pose Error in degrees for R and t: 179.199437617658 63.02218396088508 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999692e-01 6.53803874e-04 4.34575824e-04] [-6.53703183e-04 9.99999759e-01 -2.31800831e-04] [-4.34727272e-04 2.31516676e-04 9.99999879e-01]] t_estimated: [[-0.9535016 ] [-0.30138533] [ 0.00126032]] R_gt: [[ 9.99331466e-01 -3.65671092e-02 -4.04714953e-04] [ 3.65536309e-02 9.99179275e-01 -1.74497906e-02] [ 1.04179780e-03 1.74237056e-02 9.99848038e-01]] t_gt: [ 0.91645884 -0.03870376 -0.39825269] Pose Error in degrees for R and t: 2.35016028263504 30.380918358444685 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99985721e-01 -5.34386034e-03 1.29355754e-05] [ 5.34385881e-03 9.99985715e-01 1.15467459e-04] [-1.35524326e-05 -1.15396685e-04 9.99999993e-01]] t_estimated: [[-5.86999075e-01] [ 8.09587306e-01] [-6.93205266e-04]] R_gt: [[ 0.99893615 0.03697204 -0.02753907] [-0.03881905 0.9968007 -0.06986728] [ 0.02486722 0.07086269 0.99717609]] t_gt: [-0.24555764 0.72153249 -0.6473734 ] Pose Error in degrees for R and t: 4.975920140384541 43.219599988486216 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-0.56100744 -0.82692028 -0.03838632] [-0.82679395 0.56201324 -0.02351342] [ 0.04101734 0.01854637 -0.99898629]] t_estimated: [[ 0.88153045] [ 0.47162076] [-0.02186163]] R_gt: [[ 0.99892148 0.0266195 -0.03803543] [-0.02583872 0.99944764 0.02089482] [ 0.0385701 -0.01989052 0.99905826]] t_gt: [-0.50700498 0.80096475 -0.31843589] Pose Error in degrees for R and t: 176.03464793001348 86.43233895861732 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.02420661e-01 -4.30849597e-01 -2.36121336e-03] [ 4.30850588e-01 -9.02423272e-01 9.74956826e-05] [-2.17281986e-03 -9.29348047e-04 9.99997208e-01]] t_estimated: [[0.9812553 ] [0.19270869] [0.00117787]] R_gt: [[ 9.99593660e-01 6.86099370e-04 -2.84926313e-02] [-4.23880758e-04 9.99957107e-01 9.25884095e-03] [ 2.84977449e-02 -9.24341862e-03 9.99551922e-01]] t_gt: [ 0.08505619 0.84586926 -0.52656495] Pose Error in degrees for R and t: 154.51212844242858 75.76804845528287 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.98641931e-01 -5.20987664e-02 1.13137060e-04] [ 5.20987622e-02 9.98641937e-01 3.92696379e-05] [-1.15029313e-04 -3.33220062e-05 9.99999993e-01]] t_estimated: [[-9.57891272e-01] [-2.87130084e-01] [-7.90991967e-04]] R_gt: [[ 0.99916712 0.01592497 -0.03757003] [-0.01646869 0.99976404 -0.01418286] [ 0.03733514 0.01478948 0.99919333]] t_gt: [-0.12772042 0.79050835 -0.59898584] Pose Error in degrees for R and t: 4.54437403403353 84.02107388512503 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-6.89332963e-01 7.24429872e-01 -4.62896322e-03] [ 7.24415056e-01 6.89348487e-01 4.63575462e-03] [ 6.54924792e-03 -1.57712180e-04 -9.99978541e-01]] t_estimated: [[-0.13672458] [-0.99060826] [-0.00128985]] R_gt: [[ 0.99998304 0.00423568 0.00418518] [-0.00436227 0.99951899 0.03070642] [-0.00405345 -0.03072472 0.99951886]] t_gt: [0.56145673 0.40465482 0.72181771] Pose Error in degrees for R and t: 179.1739588989678 61.40923195455367 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99910048e-01 -1.34113770e-02 1.73517906e-04] [-1.34109803e-02 -9.99907832e-01 -2.11497402e-03] [ 2.01866628e-04 2.11245673e-03 -9.99997748e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.99852098e-01 2.46238063e-03 -1.70995179e-02] [ 5.50842724e-04 9.84736485e-01 1.74054129e-01] [ 1.72676238e-02 -1.74037556e-01 9.84587199e-01]] t_gt: [ 0.07442171 -0.21596638 0.97356044] Pose Error in degrees for R and t: 170.1042587904643 77.61463142955196 Number of keypoints: Image1: 362 Image2: 362 R_estimated: [[ 9.97102517e-01 7.60695074e-02 1.67303656e-05] [-7.60695034e-02 9.97102503e-01 -1.73533602e-04] [-2.98825050e-05 1.71758121e-04 9.99999985e-01]] t_estimated: [[-1.97422484e-01] [-9.80318399e-01] [-4.46099421e-04]] R_gt: [[ 0.99745089 0.02713194 -0.06600506] [-0.0122422 0.97625256 0.21629025] [ 0.07030617 -0.21493069 0.97409502]] t_gt: [-0.15777778 -0.25727513 0.95337069] Pose Error in degrees for R and t: 13.468382641611447 73.56453904515526 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[-8.57477999e-01 -5.14518926e-01 -1.32500760e-03] [-5.14520518e-01 8.57476677e-01 1.54440128e-03] [ 3.41539432e-04 2.00603372e-03 -9.99997930e-01]] t_estimated: [[9.36829598e-01] [3.49786014e-01] [2.21462052e-04]] R_gt: [[ 0.9988263 -0.04360243 0.02111879] [ 0.04405832 0.99879451 -0.02164237] [-0.02015006 0.02254754 0.99954324]] t_gt: [ 0.98162703 -0.17187282 0.08287404] Pose Error in degrees for R and t: 179.2473574925166 30.737616083000542 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-0.9394635 -0.34225849 0.01635397] [-0.34224562 0.93960337 0.00366645] [-0.01662112 -0.00215258 -0.99985954]] t_estimated: [[0.98704916] [0.16019776] [0.00840435]] R_gt: [[ 0.99183766 -0.1239427 0.02993918] [ 0.12438468 0.99214488 -0.01333984] [-0.02805107 0.01695535 0.99946334]] t_gt: [ 0.87679629 -0.46824079 0.10944781] Pose Error in degrees for R and t: 177.55198537352138 37.68817173601617 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.80549904e-01 1.96268935e-01 6.25874860e-04] [-1.96268942e-01 9.80550101e-01 -4.95066081e-05] [-6.23418266e-04 -7.42960971e-05 9.99999803e-01]] t_estimated: [[0.87031536] [0.49249265] [0.00147013]] R_gt: [[ 0.97981592 -0.19239288 0.05425893] [ 0.19293203 0.98120042 -0.00481624] [-0.05231174 0.01518733 0.99851547]] t_gt: [ 0.88391246 -0.42613997 0.19262264] Pose Error in degrees for R and t: 22.644106848632326 55.96529418837399 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99872241e-01 1.59835249e-02 1.66923738e-04] [-1.59835243e-02 9.99872255e-01 -5.40482848e-06] [-1.66988803e-04 2.73610835e-06 9.99999986e-01]] t_estimated: [[9.97108916e-01] [7.59852792e-02] [2.17982333e-04]] R_gt: [[ 0.97055369 -0.24058025 -0.01209505] [ 0.24053966 0.97062786 -0.00469488] [ 0.01286943 0.00164768 0.99991581]] t_gt: [ 0.88005554 -0.47344694 -0.03674568] Pose Error in degrees for R and t: 14.855026053836886 32.69815091814321 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999182e-01 1.24727227e-03 2.82904119e-04] [-1.24724215e-03 9.99999217e-01 -1.06620885e-04] [-2.83036883e-04 1.06267948e-04 9.99999954e-01]] t_estimated: [[ 9.73830968e-01] [-2.27273503e-01] [ 8.93447713e-06]] R_gt: [[ 0.87321421 -0.48257082 0.06799199] [ 0.48690907 0.86975715 -0.08026846] [-0.02040151 0.10319761 0.99445095]] t_gt: [ 0.92289408 -0.34613252 -0.16869734] Pose Error in degrees for R and t: 29.758163015700404 12.202118427884484 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99984867 0.01728797 0.0019394 ] [-0.01729401 0.9998455 0.00314406] [-0.00188474 -0.00317713 0.99999318]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.77183122 -0.61661645 0.15511285] [ 0.63496938 0.76016494 -0.13770523] [-0.03300094 0.20477758 0.97825171]] t_gt: [ 0.94176382 -0.2120675 -0.26097562] Pose Error in degrees for R and t: 41.94193103074012 21.792993577187005 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999379e-01 1.11375049e-03 -4.51620605e-05] [-1.11374306e-03 9.99999366e-01 1.64221557e-04] [ 4.53449337e-05 -1.64171156e-04 9.99999985e-01]] t_estimated: [[-9.59561569e-01] [-2.81498313e-01] [ 5.43270920e-04]] R_gt: [[ 0.99833806 0.0550991 -0.01691378] [-0.05436972 0.99768175 0.04091736] [ 0.01912845 -0.03992885 0.99901955]] t_gt: [-0.13624882 0.86471145 0.48343601] Pose Error in degrees for R and t: 3.9807228087755213 83.54556405178158 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.97309771e-01 -7.33021352e-02 -1.35904923e-04] [ 7.33021089e-02 9.97309764e-01 -1.89956750e-04] [ 1.49463542e-04 1.79483605e-04 9.99999973e-01]] t_estimated: [[-0.78961415] [-0.61360265] [-0.00112903]] R_gt: [[ 0.99731565 0.07173404 -0.01470386] [-0.07057772 0.99518038 0.06807572] [ 0.01951508 -0.06685485 0.99757171]] t_gt: [0.01442994 0.80869347 0.58805327] Pose Error in degrees for R and t: 9.203020689387323 59.451038630733294 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.05953481 -0.99820244 -0.00689216] [-0.9981536 -0.05944578 -0.01247339] [ 0.01204125 0.00762203 -0.99989845]] t_estimated: [[ 0.70378569] [ 0.71036994] [-0.00776213]] R_gt: [[ 0.99779521 0.06263541 -0.02192034] [-0.05747918 0.9808201 0.18624553] [ 0.03316496 -0.18457443 0.98225914]] t_gt: [0.02077978 0.26147686 0.96498604] Pose Error in degrees for R and t: 174.09584981968942 78.87912574870406 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99997104e-01 2.40662953e-03 1.90946048e-07] [-2.40662952e-03 9.99997103e-01 -4.84974583e-05] [-3.07660909e-07 4.84968584e-05 9.99999999e-01]] t_estimated: [[8.49610822e-01] [5.27409679e-01] [6.93680472e-04]] R_gt: [[ 0.99875983 0.04132757 0.02775611] [-0.04115625 0.99912939 -0.0067462 ] [-0.02801109 0.00559535 0.99959219]] t_gt: [-0.84578489 0.36562871 0.3885403 ] Pose Error in degrees for R and t: 2.763126433312599 58.29927919699296 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99281866e-01 3.78911943e-02 -9.84896245e-05] [-3.78911972e-02 9.99281870e-01 -2.76675811e-05] [ 9.73705385e-05 3.13796018e-05 9.99999995e-01]] t_estimated: [[-0.98240597] [-0.18675129] [-0.00156934]] R_gt: [[ 0.99295741 0.11841006 -0.00376576] [-0.11843758 0.99293087 -0.00782014] [ 0.00281301 0.008211 0.99996223]] t_gt: [-0.79517427 0.5993285 -0.09221298] Pose Error in degrees for R and t: 4.656032557950007 47.97897298742941 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-1.39939644e-01 -9.90159790e-01 6.97023575e-04] [-9.90100478e-01 1.39938913e-01 1.08694294e-02] [-1.08600127e-02 8.30940709e-04 -9.99940683e-01]] t_estimated: [[0.79220444] [0.61024936] [0.00279931]] R_gt: [[ 9.92491992e-01 1.22094473e-01 -7.21275147e-03] [-1.22102930e-01 9.92517628e-01 -7.68893276e-04] [ 7.06480652e-03 1.64299038e-03 9.99973521e-01]] t_gt: [-0.80604799 0.58469227 -0.09176916] Pose Error in degrees for R and t: 179.94145070435246 73.6201771527054 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.89864481e-01 1.42015150e-01 8.08771953e-05] [-1.42015166e-01 9.89864449e-01 2.54310391e-04] [-4.39415322e-05 -2.63218611e-04 9.99999964e-01]] t_estimated: [[-8.20826181e-01] [-5.71177540e-01] [-7.72906009e-04]] R_gt: [[ 0.99814392 0.0169991 -0.05848286] [-0.01608954 0.99974235 0.01599604] [ 0.05873855 -0.01502521 0.99816016]] t_gt: [-0.43971035 0.32923389 -0.83561944] Pose Error in degrees for R and t: 8.008144165051494 80.00742140868239 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.52323346e-01 -3.05090536e-01 -9.50207932e-05] [ 3.05090538e-01 9.52323169e-01 5.88017898e-04] [-8.89081929e-05 -5.88973117e-04 9.99999823e-01]] t_estimated: [[ 0.89564939] [-0.44475743] [ 0.00173213]] R_gt: [[ 0.99653301 0.00616381 -0.08297737] [-0.0074458 0.99985734 -0.01515592] [ 0.08287191 0.01572164 0.99643645]] t_gt: [-0.22884534 0.18461808 -0.95579599] Pose Error in degrees for R and t: 18.784268001894652 73.2180009753687 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.86588174e-01 -1.63226202e-01 -9.91004235e-04] [ 1.63227201e-01 9.86587970e-01 1.02841967e-03] [ 8.09847821e-04 -1.17638553e-03 9.99998980e-01]] t_estimated: [[0.96928452] [0.24593786] [0.00144669]] R_gt: [[ 9.99954478e-01 -7.28567302e-04 -9.51091728e-03] [ 4.48584767e-04 9.99568231e-01 -2.93812235e-02] [ 9.52748463e-03 2.93762617e-02 9.99523088e-01]] t_gt: [-0.78261138 0.07585189 -0.61787209] Pose Error in degrees for R and t: 9.534543268241052 42.19935867430814 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-8.40883849e-01 -5.41202777e-01 -3.72914376e-03] [-5.41197321e-01 8.40892118e-01 -2.43032366e-03] [ 4.45110551e-03 -2.54172993e-05 -9.99990093e-01]] t_estimated: [[0.72645447] [0.68721386] [0.00100617]] R_gt: [[ 0.99826005 0.05044673 0.03052878] [-0.05269635 0.99555838 0.07801473] [-0.02645806 -0.07948728 0.99648413]] t_gt: [-0.54055832 0.38956458 0.74567831] Pose Error in degrees for R and t: 177.39915188877407 82.86390781115527 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.52021073e-01 -3.06031968e-01 -5.57990143e-04] [ 3.06032018e-01 9.52021220e-01 4.79186378e-06] [ 5.29751993e-04 -1.75324805e-04 9.99999844e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97722253 0.20591059 0.05135234] [-0.20954474 0.97452333 0.07996769] [-0.03357743 -0.0889065 0.99547386]] t_gt: [-0.60641238 0.74224605 0.28519261] Pose Error in degrees for R and t: 30.321976092232212 42.375335361720005 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.91292842e-01 -1.31674937e-01 4.61502217e-04] [ 1.31674909e-01 9.91292949e-01 8.88717004e-05] [-4.69186069e-04 -2.73296179e-05 9.99999890e-01]] t_estimated: [[-8.61554002e-01] [-5.07665491e-01] [-6.71515200e-04]] R_gt: [[ 0.96554782 0.25887025 0.02653627] [-0.26016813 0.96246448 0.077296 ] [-0.00553083 -0.08153643 0.99665444]] t_gt: [-0.57815773 0.80364988 0.14099823] Pose Error in degrees for R and t: 23.106145304500462 84.83443039507323 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[ 9.99296655e-01 -3.74991823e-02 -8.31745036e-05] [ 3.74991963e-02 9.99296643e-01 1.73535455e-04] [ 7.66085645e-05 -1.76532376e-04 9.99999981e-01]] t_estimated: [[0.78343174] [0.62146357] [0.00421191]] R_gt: [[ 0.99799105 0.06264521 0.00941848] [-0.06273987 0.99797912 0.01004328] [-0.00877087 -0.01061437 0.999904 ]] t_gt: [-0.97560426 0.08630163 0.20186222] Pose Error in degrees for R and t: 5.797395185825686 44.77844334247908 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.94967967e-01 -1.00193369e-01 -1.80482135e-04] [ 1.00193396e-01 9.94967970e-01 1.51418130e-04] [ 1.64402851e-04 -1.68739307e-04 9.99999972e-01]] t_estimated: [[-9.93509056e-01] [ 1.13751507e-01] [-5.91368803e-04]] R_gt: [[ 0.97995821 0.19854063 0.01622195] [-0.19885957 0.97979678 0.02126766] [-0.01167283 -0.02406821 0.99964186]] t_gt: [-0.95725069 0.2415926 0.15907275] Pose Error in degrees for R and t: 17.280796163691583 11.923403142347176 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 0.09063346 0.99584586 -0.00875175] [ 0.99584115 -0.0905442 0.01010726] [ 0.00927285 -0.0096314 -0.99991062]] t_estimated: [[ 0.77049874] [-0.6374164 ] [-0.00565885]] R_gt: [[ 0.96667885 0.25255631 0.04179742] [-0.25438005 0.96599445 0.04631097] [-0.02867999 -0.05540017 0.99805148]] t_gt: [-0.93774167 0.20497014 0.28040651] Pose Error in degrees for R and t: 178.44037156312868 31.266009483151894 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 8.45788736e-01 5.33517801e-01 -4.12253019e-04] [ 5.33507732e-01 -8.45767485e-01 6.84546278e-03] [ 3.30350605e-03 -6.00975549e-03 -9.99976485e-01]] t_estimated: [[0.84793108] [0.53010516] [0.00118592]] R_gt: [[ 0.99223989 0.12376933 0.01188257] [-0.12412118 0.99161795 0.03586975] [-0.00734256 -0.03706636 0.99928558]] t_gt: [-0.91923308 0.15226602 0.36307796] Pose Error in degrees for R and t: 177.75308835736183 45.709331901575915 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 1.26138730e-01 9.92012436e-01 5.90476611e-04] [ 9.92010645e-01 -1.26139642e-01 1.91598426e-03] [ 1.97516272e-03 3.44079263e-04 -9.99997990e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98547353 0.16130775 0.05312587] [-0.16381932 0.98537656 0.04687362] [-0.04478738 -0.05489528 0.99748739]] t_gt: [-0.89681123 0.06994713 0.43684896] Pose Error in degrees for R and t: 179.60075769173662 86.28425568853525 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99381932 0.05272496 0.09768948] [-0.02432604 0.96205588 -0.27176594] [-0.10831158 0.26770984 0.95739231]] t_estimated: [[-0.85372074] [-0.51716433] [-0.06084361]] R_gt: [[ 0.99370664 0.08757425 0.06984029] [-0.0913345 0.99443066 0.05259445] [-0.06484623 -0.05864274 0.99617054]] t_gt: [-0.70031622 -0.34780796 0.62336733] Pose Error in degrees for R and t: 19.206200974254237 42.28387844014286 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 6.64614645e-01 7.47186269e-01 2.31169334e-04] [-7.47185817e-01 6.64614533e-01 -9.36652715e-04] [-8.53492547e-04 4.49786664e-04 9.99999535e-01]] t_estimated: [[-9.99710160e-01] [-2.40582857e-02] [-8.91870782e-04]] R_gt: [[ 0.99568787 -0.0500304 0.07813075] [ 0.04183107 0.99377528 0.10325575] [-0.08281027 -0.09954265 0.99158235]] t_gt: [ 0.16078413 -0.407271 0.89904327] Pose Error in degrees for R and t: 51.49676081483367 81.27215941628778 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.95270298e-01 -9.71422961e-02 -6.39569800e-04] [ 9.71424175e-02 9.95270478e-01 1.61512409e-04] [ 6.20855255e-04 -2.22877860e-04 9.99999782e-01]] t_estimated: [[-0.00729147] [-0.99997287] [-0.00104164]] R_gt: [[ 0.9893334 -0.03905761 0.14033433] [ 0.01376639 0.98414213 0.17684878] [-0.14501612 -0.17303152 0.97418252]] t_gt: [ 0.01993235 -0.19643203 0.98031483] Pose Error in degrees for R and t: 13.670379695133693 78.74007375990185 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.69619359e-01 -2.44617631e-01 -7.16517816e-04] [ 2.44617657e-01 9.69619616e-01 -5.21002098e-05] [ 7.07494359e-04 -1.24755537e-04 9.99999742e-01]] t_estimated: [[-0.23288489] [-0.97250344] [-0.00129814]] R_gt: [[ 0.98217855 0.09616012 0.16148835] [-0.12734656 0.97240231 0.19549497] [-0.13823338 -0.21257588 0.96731771]] t_gt: [-0.37039434 0.3233199 0.87078831] Pose Error in degrees for R and t: 25.334754953531547 76.74408526025145 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99996693e-01 -2.57190021e-03 -6.08679508e-07] [ 2.57190026e-03 9.99996685e-01 1.23331907e-04] [ 2.91480134e-07 -1.23333064e-04 9.99999992e-01]] t_estimated: [[0.1019727 ] [0.99478611] [0.0014696 ]] R_gt: [[ 9.98420574e-01 3.33290036e-02 -4.52526206e-02] [-3.32904497e-02 9.99444615e-01 1.60066165e-03] [ 4.52809483e-02 -9.22154520e-05 9.98974086e-01]] t_gt: [-0.64565628 0.48759376 -0.58769064] Pose Error in degrees for R and t: 3.3109657786216786 65.26963344337167 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.92963419 -0.36839508 -0.00808377] [-0.36842115 0.92965693 0.00196234] [ 0.00679222 0.00480249 -0.9999654 ]] t_estimated: [[ 0.98375924] [ 0.17944979] [-0.00394176]] R_gt: [[ 0.9971805 0.02392857 -0.07113735] [-0.02485613 0.99961646 -0.01218253] [ 0.07081873 0.01391617 0.99739218]] t_gt: [-0.5085438 0.37421554 -0.77546498] Pose Error in degrees for R and t: 175.42552820068795 64.52767616328323 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.99493235 -0.10052321 0.00216848] [ 0.10052734 0.9949325 -0.00188794] [-0.00196771 0.00209636 0.99999587]] t_estimated: [[-0.25867655] [-0.96596297] [-0.00140857]] R_gt: [[ 0.99613062 0.04315527 -0.07657708] [-0.04537014 0.99859321 -0.02742636] [ 0.07528645 0.03079364 0.99668634]] t_gt: [-0.55761793 0.42184591 -0.71491837] Pose Error in degrees for R and t: 9.564088820179117 74.79711078140396 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999126e-01 -1.31687072e-03 -1.15516534e-04] [ 1.31687766e-03 9.99999131e-01 6.00108428e-05] [ 1.15437407e-04 -6.01629116e-05 9.99999992e-01]] t_estimated: [[-0.99997203] [-0.00739089] [-0.00115061]] R_gt: [[ 9.93488921e-01 1.13921191e-01 1.10182057e-03] [-1.13926240e-01 9.93440601e-01 9.89146045e-03] [ 3.13389200e-05 -9.95318595e-03 9.99950793e-01]] t_gt: [-0.34320221 0.93882154 0.02874648] Pose Error in degrees for R and t: 6.641230635478467 70.3532082286112 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-6.77609613e-01 -7.35419967e-01 -1.63871212e-03] [ 7.35421533e-01 -6.77609564e-01 -6.69435508e-04] [-6.18090766e-04 -1.65876011e-03 9.99998433e-01]] t_estimated: [[9.56673549e-01] [2.91161515e-01] [8.31890043e-04]] R_gt: [[ 9.59344756e-01 2.81906141e-01 -1.36047601e-02] [-2.82234404e-01 9.58277618e-01 -4.52723426e-02] [ 2.74173458e-04 4.72712966e-02 9.98881856e-01]] t_gt: [-0.30614186 0.94187278 -0.13839374] Pose Error in degrees for R and t: 149.06074136450098 88.92530609304094 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.65216241 -0.75800332 0.01073141] [ 0.75800629 0.65223071 0.00464372] [-0.01051931 0.00510602 0.99993163]] t_estimated: [[ 0.91250119] [-0.40901453] [ 0.00697747]] R_gt: [[ 0.90445719 0.42634641 -0.01358534] [-0.42639192 0.9027328 -0.05713647] [-0.01209724 0.05747004 0.99827461]] t_gt: [-0.22403136 0.96974558 -0.09697142] Pose Error in degrees for R and t: 74.61880898108353 53.00498467988401 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999767e-01 6.40950304e-04 2.36302524e-04] [-6.40935838e-04 9.99999793e-01 -6.12891776e-05] [-2.36341758e-04 6.11377085e-05 9.99999970e-01]] t_estimated: [[9.99994443e-01] [3.28852354e-03] [5.48208879e-04]] R_gt: [[ 0.95914311 -0.28106284 0.03236384] [ 0.28224413 0.95847365 -0.04082387] [-0.01954575 0.04829103 0.99864211]] t_gt: [ 0.86220436 -0.48786871 -0.13633698] Pose Error in degrees for R and t: 16.673051994274378 30.624930062257754 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-7.81991221e-01 -6.23289037e-01 7.12128492e-04] [-6.23286803e-01 7.81990723e-01 2.01761875e-03] [-1.81443752e-03 1.13389986e-03 -9.99997711e-01]] t_estimated: [[0.98706607] [0.160309 ] [0.00126822]] R_gt: [[ 0.87640569 -0.46607661 0.12118482] [ 0.47849054 0.87120063 -0.10980058] [-0.05440088 0.15421621 0.9865389 ]] t_gt: [ 0.91206351 -0.33127069 -0.24166068] Pose Error in degrees for R and t: 177.57264310526682 32.12879100141807 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-9.75147251e-01 -2.21546891e-01 -2.19428103e-03] [ 2.21543997e-01 -9.75149243e-01 1.48699288e-03] [-2.46919013e-03 9.63907225e-04 9.99996487e-01]] t_estimated: [[8.45731527e-01] [5.33608208e-01] [6.81491964e-04]] R_gt: [[ 0.78100482 -0.5901361 0.20437881] [ 0.61978357 0.77264353 -0.13743882] [-0.07680485 0.23401147 0.96919601]] t_gt: [ 0.93601377 -0.222579 -0.27264779] Pose Error in degrees for R and t: 129.71842196559857 47.72725816602584 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-9.96087255e-01 8.77472397e-02 1.05167800e-02] [ 8.77529400e-02 9.96142266e-01 8.09071526e-05] [-1.04691097e-02 1.00346895e-03 -9.99944694e-01]] t_estimated: [[ 0.99682436] [-0.07940864] [ 0.00595529]] R_gt: [[ 0.99437097 -0.09786779 -0.04060727] [ 0.09857043 0.99500643 0.01568976] [ 0.03886889 -0.01960396 0.9990521 ]] t_gt: [ 0.77124338 -0.626812 -0.11086189] Pose Error in degrees for R and t: 178.28038588459893 35.124052184295415 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.85399416e-01 -1.70258544e-01 -1.40834575e-04] [ 1.70258560e-01 9.85399416e-01 1.12688628e-04] [ 1.19592106e-04 -1.35021601e-04 9.99999984e-01]] t_estimated: [[ 8.38882014e-01] [-5.44313296e-01] [ 4.56575101e-05]] R_gt: [[ 0.99537908 -0.08892627 -0.03623372] [ 0.08927428 0.99597375 0.00812312] [ 0.03536474 -0.01132058 0.99931025]] t_gt: [ 0.72591605 -0.67213605 -0.14587331] Pose Error in degrees for R and t: 5.14557227129705 12.889049560873532 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.96669424e-01 8.15477560e-02 1.49626261e-04] [-8.15475926e-02 9.96669054e-01 -8.86942318e-04] [-2.21456020e-04 8.71786628e-04 9.99999595e-01]] t_estimated: [[-0.73489198] [-0.67818006] [-0.002363 ]] R_gt: [[ 0.99979396 -0.01356153 -0.01510639] [ 0.01374635 0.99983036 0.01228927] [ 0.01493608 -0.01249455 0.99981041]] t_gt: [ 0.42347623 -0.90399287 -0.05886238] Pose Error in degrees for R and t: 5.58088197863053 72.42224819903015 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999886e-01 -1.70245261e-04 4.45233087e-04] [ 1.70501926e-04 9.99999819e-01 -5.76498479e-04] [-4.45134860e-04 5.76574327e-04 9.99999735e-01]] t_estimated: [[9.97141521e-01] [7.55505848e-02] [9.46942384e-04]] R_gt: [[ 0.99944363 -0.01873533 0.02760594] [ 0.02025569 0.99823304 -0.05585547] [-0.02651043 0.05638403 0.99805728]] t_gt: [ 0.82323282 0.17776995 -0.53915265] Pose Error in degrees for R and t: 3.7010662522474522 33.50893925529937 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.5603576 -0.82822388 -0.00667514] [ 0.82824959 -0.56035225 -0.002822 ] [-0.00140318 -0.00711001 0.99997374]] t_estimated: [[0.98277311] [0.18479494] [0.00279992]] R_gt: [[ 0.9949186 0.07081786 0.07157009] [-0.067362 0.99649458 -0.04960243] [-0.07483166 0.04452913 0.996201 ]] t_gt: [0.04088847 0.99541303 0.08649298] Pose Error in degrees for R and t: 128.12354093053222 77.03395638725111 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999711e-01 -7.37107391e-04 1.87853575e-04] [ 7.37174768e-04 9.99999664e-01 -3.58854113e-04] [-1.87588998e-04 3.58992490e-04 9.99999918e-01]] t_estimated: [[0.99998166] [0.00596765] [0.00103559]] R_gt: [[ 0.98212206 0.15292272 0.10977379] [-0.13942055 0.98273166 -0.12165009] [-0.12648105 0.10417118 0.98648437]] t_gt: [-0.11693462 0.9929504 0.01938529] Pose Error in degrees for R and t: 12.676756739452092 83.62779520065423 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99545912e-01 -3.01323032e-02 1.22729814e-04] [ 3.01323323e-02 9.99545889e-01 -2.42286061e-04] [-1.15373444e-04 2.45874178e-04 9.99999963e-01]] t_estimated: [[-0.15304874] [-0.98821698] [-0.00181156]] R_gt: [[ 0.9978061 -0.06128643 0.02503164] [ 0.06067408 0.99785582 0.02455504] [-0.02648284 -0.02298277 0.99938424]] t_gt: [ 0.73935417 -0.40610195 0.53706296] Pose Error in degrees for R and t: 2.681927692988066 73.3103979658909 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.89217443 -0.45168897 -0.00136332] [-0.45168377 0.89217315 -0.00297513] [ 0.00256015 -0.00203854 -0.99999464]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99931177 -0.03325285 -0.01643676] [ 0.03334289 0.99942991 0.00524463] [ 0.01625344 -0.00578888 0.9998502 ]] t_gt: [ 0.97015751 0.2341916 -0.06283872] Pose Error in degrees for R and t: 179.04298719619342 13.872896564453796 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.06154793e-01 -4.22946162e-01 -1.84524560e-04] [ 4.22946202e-01 9.06154691e-01 4.30249185e-04] [-1.47644463e-05 -4.67916323e-04 9.99999890e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99429551 0.02796102 -0.10292598] [-0.03870286 0.99383537 -0.10389457] [ 0.09938658 0.10728567 0.9892481 ]] t_gt: [ 0.10439975 0.64211235 -0.75946852] Pose Error in degrees for R and t: 28.204685948410834 83.92665236715034 Number of keypoints: Image1: 395 Image2: 395 R_estimated: [[ 9.99964148e-01 -8.46770910e-03 1.84627324e-05] [ 8.46770814e-03 9.99964147e-01 5.10471161e-05] [-1.88943226e-05 -5.08889490e-05 9.99999999e-01]] t_estimated: [[1.50666887e-02] [9.99886483e-01] [1.25752050e-04]] R_gt: [[ 0.99838834 -0.03966998 0.04057746] [ 0.04280821 0.99590452 -0.07963121] [-0.03725281 0.08124021 0.99599697]] t_gt: [ 0.62893322 0.56895933 -0.52983799] Pose Error in degrees for R and t: 5.464740720010084 54.6686531053398 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.93422547e-01 1.14505944e-01 1.80679063e-04] [-1.14505883e-01 9.93422519e-01 -3.17273011e-04] [-2.15820296e-04 2.94497347e-04 9.99999933e-01]] t_estimated: [[1.54139663e-02] [9.99881088e-01] [4.68822966e-04]] R_gt: [[ 0.99916704 -0.04075792 -0.00169077] [ 0.03996112 0.98629133 -0.16010287] [ 0.0081932 0.15990217 0.98709781]] t_gt: [ 0.4039641 0.66094356 -0.63242914] Pose Error in degrees for R and t: 12.793386830119374 48.179807520402754 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 0.16799068 0.98562239 0.01810093] [-0.98577959 0.16788241 0.00735447] [ 0.0042099 -0.01907901 0.99980912]] t_estimated: [[0.61339889] [0.78977279] [0.00086884]] R_gt: [[ 0.99885317 -0.01928766 0.04381293] [ 0.02848278 0.97505566 -0.22012702] [-0.03847446 0.22112315 0.97448645]] t_gt: [ 0.2224784 0.77337425 -0.59362921] Pose Error in degrees for R and t: 82.71821836291245 41.691042947004426 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.91818541 0.39598347 0.01151691] [ 0.39575032 -0.91556214 -0.07160762] [-0.01781099 0.07030689 -0.99736639]] t_estimated: [[-0.13693928] [ 0.98994328] [-0.03549562]] R_gt: [[ 9.97926876e-01 -2.59652511e-04 -6.43630419e-02] [ 3.33990740e-03 9.98854397e-01 4.77496126e-02] [ 6.42766707e-02 -4.78640889e-02 9.96782831e-01]] t_gt: [-0.33399032 -0.76248086 -0.55414204] Pose Error in degrees for R and t: 179.2766462090445 46.416830316047154 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 0.10674677 0.99412145 0.0181016 ] [ 0.9940847 -0.10634091 -0.0220729 ] [-0.02001821 0.02035074 -0.99959248]] t_estimated: [[-0.60789951] [ 0.79387867] [-0.01465723]] R_gt: [[ 0.99210754 -0.06401735 -0.10781425] [ 0.0698762 0.99622842 0.05146148] [ 0.10411298 -0.05858766 0.99283784]] t_gt: [ 0.20311305 -0.88573416 -0.41739679] Pose Error in degrees for R and t: 175.20863771259175 34.86312791378304 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 8.15079524e-01 -5.79348556e-01 -7.87665367e-04] [ 5.79349073e-01 8.15079084e-01 8.59089758e-04] [ 1.44297156e-04 -1.15655967e-03 9.99999321e-01]] t_estimated: [[ 9.51752445e-01] [-3.06865593e-01] [ 8.89254322e-04]] R_gt: [[ 0.9887472 -0.11475121 -0.09597143] [ 0.11893234 0.9921361 0.03901521] [ 0.09073939 -0.04998907 0.99461914]] t_gt: [ 0.30469925 -0.91367748 -0.26898296] Pose Error in degrees for R and t: 29.26361434859634 55.24034275819688 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-4.82348986e-01 8.75976042e-01 -2.33013403e-03] [-8.75973708e-01 -4.82353656e-01 -2.23886473e-03] [-3.08514054e-03 9.61222017e-04 9.99994779e-01]] t_estimated: [[0.23006252] [0.97317525] [0.00108011]] R_gt: [[ 0.99230709 -0.12338277 0.01021336] [ 0.12322347 0.99226691 0.01493823] [-0.01197749 -0.01356383 0.99983533]] t_gt: [ 0.81858938 -0.55233964 0.15758284] Pose Error in degrees for R and t: 125.92621969272717 69.57222712473354 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999695e-01 7.81506687e-04 3.96245743e-06] [-7.81507951e-04 9.99999640e-01 3.29649265e-04] [-3.70483290e-06 -3.29652261e-04 9.99999946e-01]] t_estimated: [[9.99923826e-01] [1.23147119e-02] [8.30904948e-04]] R_gt: [[ 0.98835938 -0.15012043 0.02469602] [ 0.14919603 0.98816042 0.03578694] [-0.02977619 -0.03168556 0.99905376]] t_gt: [ 0.81613081 -0.50099257 0.28798775] Pose Error in degrees for R and t: 9.002802337065301 35.89054855083523 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-9.99757165e-01 2.20250968e-02 -7.12060572e-04] [ 2.20240898e-02 9.99756471e-01 1.39246252e-03] [ 7.42556286e-04 1.37644190e-03 -9.99998777e-01]] t_estimated: [[ 9.99968519e-01] [-7.90067231e-03] [ 7.35342571e-04]] R_gt: [[ 0.99871514 -0.04083482 0.03002483] [ 0.04097466 0.99915229 -0.00405939] [-0.02983396 0.00528523 0.99953997]] t_gt: [0.76678902 0.38103924 0.51656916] Pose Error in degrees for R and t: 178.3209429510533 40.169966242921575 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99925873e-01 -1.21755963e-02 6.44964402e-05] [ 1.21755958e-02 9.99925875e-01 7.74783222e-06] [-6.45859938e-05 -6.96197531e-06 9.99999998e-01]] t_estimated: [[ 9.98418895e-01] [-5.62113016e-02] [-1.31147852e-05]] R_gt: [[ 9.97393771e-01 -7.21323244e-02 1.20275116e-03] [ 7.21404862e-02 9.97339473e-01 -1.05245751e-02] [-4.40556642e-04 1.05832662e-02 9.99943961e-01]] t_gt: [ 0.46003213 -0.88735275 -0.03123348] Pose Error in degrees for R and t: 3.492341473919412 59.39047929648644 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-9.97907134e-01 -6.44997565e-02 4.59717703e-03] [-6.44965494e-02 9.97917574e-01 8.42641292e-04] [-4.64195391e-03 5.44375700e-04 -9.99989078e-01]] t_estimated: [[0.99928605] [0.03761474] [0.00353992]] R_gt: [[ 9.93955474e-01 -1.09784669e-01 -2.62089357e-04] [ 1.09763683e-01 9.93816030e-01 -1.68094859e-02] [ 2.10642204e-03 1.66790406e-02 9.99858018e-01]] t_gt: [ 0.45722432 -0.88501739 -0.08769343] Pose Error in degrees for R and t: 179.8209583469856 64.95703612462435 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.82856245e-01 -1.84373536e-01 -1.82607296e-05] [ 1.84373523e-01 9.82856129e-01 4.82977077e-04] [-7.11005213e-05 -4.78063832e-04 9.99999883e-01]] t_estimated: [[0.90813188] [0.41868294] [0.0010396 ]] R_gt: [[ 0.97684854 -0.21117477 0.03423111] [ 0.21088938 0.97743918 0.01175674] [-0.03594215 -0.00426547 0.99934403]] t_gt: [ 0.48566879 -0.85218064 0.19471512] Pose Error in degrees for R and t: 2.591363993692588 85.15501260101595 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[ 9.98422748e-01 -5.61428086e-02 3.22338267e-05] [ 5.61428042e-02 9.98422741e-01 1.26306203e-04] [-3.92741706e-05 -1.24297289e-04 9.99999992e-01]] t_estimated: [[0.86878625] [0.49518606] [0.00110533]] R_gt: [[ 0.99858802 0.00341759 0.05301948] [-0.00360844 0.99998765 0.0035113 ] [-0.05300567 -0.00369748 0.99858715]] t_gt: [-0.48845655 -0.66799879 0.5614159 ] Pose Error in degrees for R and t: 4.577431431172482 41.01590159661732 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.98012960e-01 6.30079806e-02 3.53916661e-04] [-6.30078854e-02 9.98012992e-01 -2.74026106e-04] [-3.70479257e-04 2.51182065e-04 9.99999900e-01]] t_estimated: [[0.64531631] [0.76391498] [0.00087205]] R_gt: [[ 0.9953481 -0.08389829 0.04737423] [ 0.08356039 0.99646163 0.00905953] [-0.04796582 -0.00505896 0.99883678]] t_gt: [ 0.61843847 -0.76343477 0.18628262] Pose Error in degrees for R and t: 8.853872916625772 79.40017325704095 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 8.83701913e-01 4.68050135e-01 6.70188272e-06] [-4.68050119e-01 8.83701880e-01 2.71821935e-04] [ 1.21303827e-04 -2.43346381e-04 9.99999963e-01]] t_estimated: [[8.76149328e-01] [4.82039146e-01] [7.85080043e-04]] R_gt: [[ 0.98764601 -0.1353933 0.0788955 ] [ 0.13263768 0.99038892 0.03920107] [-0.08344338 -0.02825274 0.99611193]] t_gt: [ 0.62328892 -0.72579347 0.29109235] Pose Error in degrees for R and t: 35.96942333852028 78.66986770024052 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.53009779 -0.84793204 0.00275464] [-0.84793512 0.53008822 -0.00353823] [ 0.00153998 -0.00421137 -0.99998995]] t_estimated: [[0.86042658] [0.50957303] [0.00119338]] R_gt: [[ 9.95732656e-01 -9.22628807e-02 2.26282162e-03] [ 9.22882291e-02 9.95223471e-01 -3.18409317e-02] [ 6.86218637e-04 3.19150883e-02 9.99490594e-01]] t_gt: [ 0.84679017 -0.46740755 -0.2539224 ] Pose Error in degrees for R and t: 179.18209139730536 60.65156572200336 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 1.00000000e+00 5.38957767e-13 1.08767162e-15] [-5.38957767e-13 1.00000000e+00 -1.14854957e-15] [-9.94863913e-16 8.71210656e-16 1.00000000e+00]] t_estimated: [[-0.94989429] [-0.31256915] [-0.00116655]] R_gt: [[ 0.98260346 -0.18569978 0.00244029] [ 0.18568999 0.98260164 0.00378383] [-0.00310031 -0.00326467 0.99998949]] t_gt: [ 0.86620815 -0.49876267 0.03031895] Pose Error in degrees for R and t: 10.704783623960363 48.16838406933477 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.93148584e-01 -1.16855827e-01 -7.78043539e-04] [ 1.16858302e-01 9.93134946e-01 5.20725491e-03] [ 1.64204147e-04 -5.26249869e-03 9.99986139e-01]] t_estimated: [[0.951708 ] [0.30700258] [0.00113705]] R_gt: [[ 9.88996231e-01 -1.45736719e-01 2.54246826e-02] [ 1.45670997e-01 9.89323037e-01 4.45539453e-03] [-2.58020293e-02 -7.02016996e-04 9.99666998e-01]] t_gt: [ 0.89723581 -0.42167851 0.13097761] Pose Error in degrees for R and t: 2.2481862817891893 43.56449694896181 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 0.99827223 0.0584967 0.00553936] [ 0.05845818 -0.99826617 0.0068773 ] [ 0.00593205 -0.0065416 -0.99996101]] t_estimated: [[0.07442245] [0.99722147] [0.00326235]] R_gt: [[ 0.99570523 -0.09195155 0.01074004] [ 0.09190789 0.99575711 0.00447983] [-0.011107 -0.00347384 0.99993288]] t_gt: [ 0.81878482 -0.56168927 0.11872907] Pose Error in degrees for R and t: 179.42301382340767 60.07901014704795 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.99988043 0.01542876 -0.00104133] [-0.01542717 0.99987984 0.00151964] [ 0.00106465 -0.00150339 0.9999983 ]] t_estimated: [[0.99250841] [0.12217152] [0.00108116]] R_gt: [[ 0.98625553 -0.16362561 0.02299284] [ 0.16345865 0.98650974 0.00899037] [-0.02415378 -0.00510897 0.99969605]] t_gt: [ 0.86395397 -0.48400369 0.13901066] Pose Error in degrees for R and t: 10.399102369362359 37.01285969756431 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.38753380e-01 3.44588783e-01 8.13414351e-04] [-3.44587723e-01 9.38753345e-01 -1.20760448e-03] [-1.17972240e-03 8.53350191e-04 9.99998940e-01]] t_estimated: [[0.5725982 ] [0.81983563] [0.0009191 ]] R_gt: [[ 0.98549154 -0.16879642 0.01772122] [ 0.16842345 0.98549637 0.02077772] [-0.02097216 -0.01749214 0.99962796]] t_gt: [ 0.89954615 -0.39627732 0.18379611] Pose Error in degrees for R and t: 29.905627674686816 79.02590412132187 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.96460634 -0.26369083 0.00132678] [-0.26368731 0.96460534 0.00235464] [-0.00190071 0.00192144 -0.99999635]] t_estimated: [[0.95430775] [0.29882364] [0.00107105]] R_gt: [[ 0.97746832 0.20924728 0.02779685] [-0.20742965 0.976575 -0.05720709] [-0.03911593 0.05015237 0.99797541]] t_gt: [-0.83750132 0.51334275 -0.18727188] Pose Error in degrees for R and t: 178.42204580238922 49.75663191668154 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.87241653e-01 1.59229092e-01 1.24992434e-04] [-1.59228957e-01 9.87241401e-01 -7.45472225e-04] [-2.42098571e-04 7.16058816e-04 9.99999714e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95354775 0.29753082 0.04715597] [-0.29592031 0.95444621 -0.03825771] [-0.05639028 0.02252635 0.99815461]] t_gt: [-0.82869006 0.55922231 -0.02330669] Pose Error in degrees for R and t: 8.817348737429404 34.211282187960876 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-9.98419204e-01 5.61745666e-02 -1.87395034e-03] [ 5.61753035e-02 9.98420862e-01 -3.42894085e-04] [ 1.85172919e-03 -4.47621769e-04 -9.99998185e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.85682506 0.5139619 0.04115402] [-0.51206155 0.85756148 -0.04878499] [-0.06036501 0.02072774 0.99796117]] t_gt: [-0.7849829 0.61943554 -0.01007309] Pose Error in degrees for R and t: 177.0212491892026 38.457843135590025 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 8.85945670e-01 4.63788852e-01 4.13209939e-04] [-4.63788590e-01 8.85945702e-01 -5.97849393e-04] [-6.43357453e-04 3.38020026e-04 9.99999736e-01]] t_estimated: [[-6.55184974e-02] [ 9.97851046e-01] [ 7.85801662e-04]] R_gt: [[ 0.99973704 -0.01993572 -0.01128644] [ 0.01904451 0.99706147 -0.07420423] [ 0.01273367 0.0739704 0.99717884]] t_gt: [ 0.44673826 0.66281288 -0.60091931] Pose Error in degrees for R and t: 29.060681614920362 50.828282277173 Number of keypoints: Image1: 467 Image2: 467 R_estimated: [[ 9.89876121e-01 -1.41934012e-01 -3.12891723e-05] [ 1.41934015e-01 9.89876109e-01 1.57843874e-04] [ 8.56898992e-06 -1.60686879e-04 9.99999987e-01]] t_estimated: [[-3.30524826e-01] [ 9.43797294e-01] [-8.85311542e-05]] R_gt: [[ 0.99992304 -0.00348103 0.01185787] [ 0.00541585 0.98589673 -0.16726467] [-0.01110813 0.16731634 0.98583988]] t_gt: [ 0.15480091 0.73424418 -0.66100088] Pose Error in degrees for R and t: 12.477157600267374 50.06854948642635 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.85273255e-01 -1.70987035e-01 2.15186286e-04] [ 1.70987089e-01 9.85273233e-01 -2.67484565e-04] [-1.66280895e-04 3.00339465e-04 9.99999941e-01]] t_estimated: [[0.31801589] [0.94808486] [0.0009938 ]] R_gt: [[ 0.99918836 0.03916578 0.00935253] [-0.03686447 0.98319062 -0.178824 ] [-0.01619902 0.17833446 0.98383596]] t_gt: [ 0.08283727 0.85229732 -0.51645644] Pose Error in degrees for R and t: 15.832500895320091 33.50055185227232 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.41408460e-01 -3.37264620e-01 -1.63956758e-03] [ 3.37267693e-01 9.41406096e-01 2.25083011e-03] [ 7.84373550e-04 -2.67192368e-03 9.99996123e-01]] t_estimated: [[-4.80450294e-01] [-8.77021890e-01] [ 3.45232676e-04]] R_gt: [[ 0.99739815 0.06795393 -0.02407202] [-0.06784699 0.99768285 0.00523951] [ 0.02437159 -0.0035925 0.99969625]] t_gt: [-0.77086071 0.6031756 -0.20482424] Pose Error in degrees for R and t: 23.640782904770468 80.868049692029 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.57723349e-01 -2.87689491e-01 -8.62277052e-04] [ 2.87689899e-01 9.57723535e-01 3.90322038e-04] [ 7.13531478e-04 -6.21888927e-04 9.99999552e-01]] t_estimated: [[0.8510195 ] [0.52513339] [0.00085713]] R_gt: [[ 0.99372364 0.08810943 -0.06892302] [-0.08673533 0.99597364 0.02268338] [ 0.07064355 -0.0165628 0.99736435]] t_gt: [-0.74386473 0.56538047 -0.35638487] Pose Error in degrees for R and t: 22.12174290569911 70.33934315658882 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.40386723 0.91477649 -0.0086733 ] [ 0.91476358 -0.40372218 0.01469665] [ 0.00994255 -0.01386951 -0.99985438]] t_estimated: [[-0.4948375 ] [ 0.86894287] [ 0.00861032]] R_gt: [[ 0.99296956 0.07676711 -0.09011004] [-0.07879911 0.99670631 -0.01920957] [ 0.08833746 0.02617494 0.99574595]] t_gt: [-0.62211211 0.51094312 -0.59322311] Pose Error in degrees for R and t: 177.31775047313545 41.693216819627416 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 5.71164682e-01 -8.20834831e-01 1.04236312e-03] [-8.20834920e-01 -5.71165323e-01 -4.56493192e-04] [ 9.70067179e-04 -5.94875257e-04 -9.99999353e-01]] t_estimated: [[0.31557683] [0.94889941] [0.00108446]] R_gt: [[ 0.99384635 0.10033759 0.0469189 ] [-0.0995264 0.99484715 -0.0193406 ] [-0.04861877 0.01455239 0.99871133]] t_gt: [-0.36565456 0.91955744 0.14391266] Pose Error in degrees for R and t: 179.58239555730196 40.7704922997354 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-7.85563589e-01 -6.18776633e-01 -2.30800065e-03] [ 6.18780579e-01 -7.85553658e-01 -4.00554260e-03] [ 6.65477810e-04 -4.57475440e-03 9.99989314e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97680315 0.20410544 0.0647752 ] [-0.20116206 0.97832225 -0.04917925] [-0.07340985 0.03500875 0.99668695]] t_gt: [-0.31158309 0.94604439 0.08897184] Pose Error in degrees for R and t: 153.51624551257174 72.02638037062441 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.7686657 -0.63964849 -0.00168826] [ 0.63964936 -0.76865593 -0.00409419] [ 0.00132116 -0.00422695 0.99999019]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.95042773 0.30815589 0.04155228] [-0.30615207 0.95075747 -0.04828475] [-0.05438566 0.03317009 0.99796912]] t_gt: [-0.2476396 0.96884203 -0.00444473] Pose Error in degrees for R and t: 158.15849893437985 75.83957986372715 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99999809e-01 5.99525346e-04 -1.52226556e-04] [-5.99484058e-04 9.99999784e-01 2.71133953e-04] [ 1.52389075e-04 -2.71042644e-04 9.99999952e-01]] t_estimated: [[-0.99785388] [-0.06546691] [-0.0013079 ]] R_gt: [[ 0.99665163 0.07886499 0.02157663] [-0.07920645 0.99673862 0.01542642] [-0.02028938 -0.01708286 0.99964775]] t_gt: [-0.3184603 0.75384747 0.57471474] Pose Error in degrees for R and t: 4.748705685829552 74.4741495721101 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.95626293e-01 9.34252201e-02 1.11837795e-04] [-9.34252383e-02 9.95626283e-01 1.69847550e-04] [-9.54806036e-05 -1.79553159e-04 9.99999979e-01]] t_estimated: [[0.57315792] [0.81944397] [0.00125712]] R_gt: [[ 0.97719697 0.21169292 0.01648138] [-0.21225181 0.97603278 0.04804459] [-0.00591551 -0.05044655 0.99870824]] t_gt: [-0.24776187 0.92444057 0.28986841] Pose Error in degrees for R and t: 7.470942296982685 51.98374793158962 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999823e-01 2.62270148e-04 5.33242272e-04] [-2.62066367e-04 9.99999893e-01 -3.82188866e-04] [-5.33342452e-04 3.82049053e-04 9.99999785e-01]] t_estimated: [[0.92866255] [0.37091552] [0.00274752]] R_gt: [[ 0.9700569 0.24172775 0.02359749] [-0.24222347 0.96999289 0.0210298 ] [-0.01780585 -0.02611497 0.99949987]] t_gt: [-0.10243635 0.97314707 0.20613485] Pose Error in degrees for R and t: 14.107514479382402 74.55026430082597 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99999998e-01 -5.89234185e-05 3.40370092e-05] [ 5.89225980e-05 9.99999998e-01 2.41071364e-05] [-3.40384296e-05 -2.41051308e-05 9.99999999e-01]] t_estimated: [[0.98683168] [0.16174629] [0.00117515]] R_gt: [[ 0.99946191 -0.03199769 0.00714899] [ 0.03207124 0.99943075 -0.01041451] [-0.00681315 0.01063892 0.9999201 ]] t_gt: [ 0.71300013 -0.69572669 -0.08715035] Pose Error in degrees for R and t: 1.9711861306598986 53.7735950701137 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.98397438 -0.17752535 0.01670836] [ 0.17788806 0.97088567 -0.16042707] [ 0.01225797 0.16082834 0.98690627]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.99583975 -0.09090297 -0.00621656] [ 0.09069642 0.9954908 -0.02779053] [ 0.00871416 0.02711234 0.99959469]] t_gt: [ 0.73073283 -0.63903913 -0.2401219 ] Pose Error in degrees for R and t: 9.25085184153322 83.55615039550855 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-5.38552568e-01 8.42591818e-01 3.98909618e-04] [-8.42588718e-01 -5.38549161e-01 -3.00889223e-03] [-2.32043553e-03 -1.95656338e-03 9.99995394e-01]] t_estimated: [[0.38428128] [0.9232147 ] [0.00158427]] R_gt: [[ 0.97378461 -0.22746906 -0.00139498] [ 0.22729742 0.97325603 -0.03330169] [ 0.00893244 0.0321125 0.9994447 ]] t_gt: [ 0.79497879 -0.59472712 -0.11961763] Pose Error in degrees for R and t: 135.73777360455395 75.89173831284648 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.42389802 0.90547891 -0.02045514] [ 0.90542824 -0.42309486 0.03450279] [ 0.02258709 -0.03314632 -0.99919525]] t_estimated: [[-0.49724975] [ 0.86737332] [ 0.02015485]] R_gt: [[ 0.99457123 0.10359868 -0.0097059 ] [-0.10314142 0.99388091 0.03954174] [ 0.0137428 -0.03832561 0.99917081]] t_gt: [-0.38687106 0.90535272 0.17512063] Pose Error in degrees for R and t: 175.45579115753708 11.133521739355858 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.73502992e-01 -2.28674168e-01 -2.21022027e-04] [ 2.28674218e-01 9.73502976e-01 2.40015574e-04] [ 1.60280239e-04 -2.84197918e-04 9.99999947e-01]] t_estimated: [[-0.70431249] [-0.70988963] [-0.00079673]] R_gt: [[ 0.95913221 0.27434266 -0.06929187] [-0.27013064 0.96066858 0.06439355] [ 0.08423264 -0.0430433 0.99551619]] t_gt: [-0.28305484 0.95646224 -0.07113326] Pose Error in degrees for R and t: 29.541508119677115 61.34288154488082 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.55535740e-01 -2.94871031e-01 -1.58894427e-03] [ 2.94874362e-01 9.55532468e-01 2.61036617e-03] [ 7.48566479e-04 -2.96283710e-03 9.99995331e-01]] t_estimated: [[0.77950046] [0.62640096] [0.00093353]] R_gt: [[ 0.90143012 0.41409113 -0.12630234] [-0.40185018 0.90886256 0.11174108] [ 0.16106258 -0.0499716 0.9856781 ]] t_gt: [-0.13875653 0.98027468 -0.14074151] Pose Error in degrees for R and t: 42.45429337226905 59.61865984188076 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.64374653e-01 -2.64539946e-01 -3.81346943e-04] [ 2.64540068e-01 9.64374644e-01 3.15306372e-04] [ 2.84350192e-04 -4.04955019e-04 9.99999878e-01]] t_estimated: [[ 9.62537407e-01] [-2.71148541e-01] [ 4.57383454e-04]] R_gt: [[ 0.98632125 0.15468458 -0.05694899] [-0.15218289 0.98728478 0.04592811] [ 0.06332991 -0.03663424 0.99732021]] t_gt: [-0.37856509 0.91801618 -0.11804561] Pose Error in degrees for R and t: 24.528757186866514 52.16745361709807 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-5.96518192e-01 -8.02599506e-01 2.82713591e-04] [-8.02599365e-01 5.96517770e-01 -8.99710085e-04] [ 5.53463189e-04 -7.63599182e-04 -9.99999555e-01]] t_estimated: [[0.78742661] [0.61640718] [0.00123319]] R_gt: [[ 0.94451506 0.30398806 -0.12442991] [-0.29653857 0.95207081 0.07500382] [ 0.14126679 -0.03394469 0.98939021]] t_gt: [-0.16565875 0.96374453 -0.20917375] Pose Error in degrees for R and t: 174.5204177969871 62.39605960772001 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.90472879e-01 -1.37707479e-01 -3.55207551e-04] [ 1.37707670e-01 9.90472744e-01 5.83337290e-04] [ 2.71493490e-04 -6.26694570e-04 9.99999767e-01]] t_estimated: [[0.99069125] [0.1361233 ] [0.00113538]] R_gt: [[ 0.86827051 0.47919827 -0.12835381] [-0.46545608 0.87642513 0.12340651] [ 0.17162841 -0.04740707 0.9840205 ]] t_gt: [-0.14581647 0.97875113 -0.14416583] Pose Error in degrees for R and t: 37.71149312911086 89.34727543454677 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999098e-01 1.30790115e-03 3.05013872e-04] [-1.30797583e-03 9.99999115e-01 2.44757323e-04] [-3.04693484e-04 -2.45156053e-04 9.99999924e-01]] t_estimated: [[9.33670941e-01] [3.58131191e-01] [7.90576580e-04]] R_gt: [[ 0.95012637 -0.31061508 -0.02789718] [ 0.3109795 0.95036688 0.009716 ] [ 0.02349405 -0.01790616 0.99956318]] t_gt: [ 0.86022746 -0.5098898 -0.00459345] Pose Error in degrees for R and t: 18.265134188652134 51.643083265751336 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99989615e-01 4.53619158e-03 4.39927633e-04] [-4.53656210e-03 9.99989353e-01 8.44931627e-04] [-4.36090178e-04 -8.46918611e-04 9.99999546e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.91369052 -0.4057714 -0.02275856] [ 0.40595313 0.91388606 0.00379831] [ 0.01925669 -0.01270973 0.99973366]] t_gt: [ 0.88009667 -0.47474529 -0.0068385 ] Pose Error in degrees for R and t: 24.244436391912984 29.310646897580565 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999996e-01 -8.16443103e-05 -2.42150616e-05] [ 8.16455202e-05 9.99999995e-01 4.99701215e-05] [ 2.42109817e-05 -4.99720984e-05 9.99999998e-01]] t_estimated: [[9.99999100e-01] [1.31845791e-03] [2.50301911e-04]] R_gt: [[ 0.91313937 -0.4054794 -0.04199646] [ 0.40495761 0.91410281 -0.02065282] [ 0.04676308 0.00185237 0.99890385]] t_gt: [ 0.8768625 -0.4756553 -0.0697437] Pose Error in degrees for R and t: 24.061744364383244 28.81064914587526 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99998097e-01 2.48682377e-04 -1.93497815e-03] [-2.46787538e-04 9.99999490e-01 9.79433098e-04] [ 1.93522073e-03 -9.78953706e-04 9.99997648e-01]] t_estimated: [[0.75679339] [0.65365289] [0.00128926]] R_gt: [[ 0.99403862 0.10809723 -0.01424923] [-0.10798876 0.99411888 0.0081864 ] [ 0.01505027 -0.00659933 0.99986467]] t_gt: [-0.02820698 0.9957117 -0.08810544] Pose Error in degrees for R and t: 6.242243052482718 50.99491310472554 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 0.99999006 -0.00196534 0.00400111] [ 0.00199311 0.99997387 -0.00694848] [-0.00398735 0.00695639 0.99996785]] t_estimated: [[-0.80076498] [-0.59897731] [-0.00127714]] R_gt: [[ 0.99173933 0.12779699 0.01098463] [-0.1274693 0.99148634 -0.0266085 ] [-0.01429205 0.02498866 0.99958625]] t_gt: [ 0.02847619 0.99635223 -0.08044465] Pose Error in degrees for R and t: 7.541861141215632 51.72092551599781 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.99308227 -0.11654844 0.0142855 ] [ 0.11680907 0.99297233 -0.01901533] [-0.0119689 0.02055247 0.99971713]] t_estimated: [[-0.13896766] [-0.99014456] [-0.01737096]] R_gt: [[ 0.9956453 0.08681027 0.03398553] [-0.08485455 0.99485847 -0.05528666] [-0.03861104 0.0521624 0.99789226]] t_gt: [ 0.35646231 0.93229661 -0.06129972] Pose Error in degrees for R and t: 11.864067199492949 13.692453073030075 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.39234266e-01 -3.43276491e-01 -4.94060359e-04] [ 3.43276566e-01 9.39234366e-01 7.25624604e-05] [ 4.39129481e-04 -2.37752493e-04 9.99999875e-01]] t_estimated: [[-0.41292081] [-0.91076623] [-0.00113194]] R_gt: [[ 0.96433335 0.26006611 0.04926589] [-0.2581112 0.96517168 -0.04268479] [-0.0586511 0.02844666 0.99787281]] t_gt: [-0.7124093 0.70081192 0.03654651] Pose Error in degrees for R and t: 35.304125315637386 69.8701696275687 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.99640687 -0.08444236 -0.00654508] [ 0.08396307 0.99497666 -0.05451278] [ 0.01111539 0.05376736 0.99849162]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.90027029 0.43335109 0.04146419] [-0.43094476 0.90063583 -0.05605572] [-0.06163651 0.03259693 0.99756644]] t_gt: [-0.65184884 0.75808031 0.02018255] Pose Error in degrees for R and t: 30.66746196187981 85.58598512549345 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.41579012e-01 3.36791295e-01 -7.66297540e-04] [-3.36790592e-01 9.41579130e-01 9.15627037e-04] [ 1.02990499e-03 -6.04053399e-04 9.99999287e-01]] t_estimated: [[0.37627632] [0.92650678] [0.00114704]] R_gt: [[ 0.85834711 0.51027913 0.05343765] [-0.50672123 0.85945 -0.06767425] [-0.08045988 0.03101048 0.99627531]] t_gt: [-0.62645474 0.77847807 0.03906848] Pose Error in degrees for R and t: 12.036705333347504 60.94886930067869 Number of keypoints: Image1: 470 Image2: 470 R_estimated: [[ 9.99969436e-01 7.81830416e-03 1.94950402e-05] [-7.81830378e-03 9.99969436e-01 -1.93623136e-05] [-1.96458249e-05 1.92093036e-05 1.00000000e+00]] t_estimated: [[2.47530111e-01] [9.68880153e-01] [3.04560869e-04]] R_gt: [[ 0.99879869 0.00711431 0.04849878] [-0.00626637 0.9998252 -0.0176115 ] [-0.04861547 0.0172874 0.99866812]] t_gt: [-0.54669952 0.02852825 0.83684274] Pose Error in degrees for R and t: 2.9564109001740357 83.83285495310916 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 8.61740073e-03 -9.99962771e-01 4.42785411e-04] [-9.99959781e-01 -8.61847377e-03 -2.48150585e-03] [ 2.48522960e-03 -4.21383472e-04 -9.99996823e-01]] t_estimated: [[0.86395748] [0.50356379] [0.00098738]] R_gt: [[ 0.99905352 -0.04325827 0.00468472] [ 0.04326759 0.99906085 -0.00206592] [-0.00459063 0.00226779 0.99998699]] t_gt: [ 0.18079788 -0.9834862 0.00818696] Pose Error in degrees for R and t: 179.95219811675082 70.1817090136959 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.95826514e-01 9.12658824e-02 3.04997903e-04] [-9.12653362e-02 9.95825508e-01 -1.48222062e-03] [-4.39000865e-04 1.44819886e-03 9.99998855e-01]] t_estimated: [[-0.7853304 ] [-0.61906676] [-0.00353752]] R_gt: [[ 0.99708859 -0.06461569 -0.04049746] [ 0.06577465 0.99744118 0.02797407] [ 0.03858715 -0.03055653 0.99878781]] t_gt: [ 0.31973006 -0.92339976 -0.21238075] Pose Error in degrees for R and t: 9.429455720912221 71.25821696633811 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.89319881e-01 1.45760647e-01 8.52267622e-05] [-1.45760644e-01 9.89319884e-01 -3.78988660e-05] [-8.98406937e-05 2.50713938e-05 9.99999996e-01]] t_estimated: [[-0.74016781] [ 0.67242178] [ 0.00074422]] R_gt: [[ 0.99361242 0.1102328 0.02414867] [-0.10961803 0.99364775 -0.02543438] [-0.02679964 0.02262482 0.99938439]] t_gt: [-0.37234794 0.92806865 0.00675243] Pose Error in degrees for R and t: 2.8810953534533743 25.886777385429003 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-7.80492953e-01 -6.25164510e-01 2.93153187e-04] [-6.25164370e-01 7.80492223e-01 -1.18312260e-03] [ 5.10842474e-04 -1.10668778e-03 -9.99999257e-01]] t_estimated: [[0.912786 ] [0.40843671] [0.00107767]] R_gt: [[ 0.97100343 0.23824246 -0.01983256] [-0.23776963 0.97103567 0.02352658] [ 0.02486245 -0.0181284 0.99952645]] t_gt: [-0.32377496 0.94592499 -0.01989177] Pose Error in degrees for R and t: 179.18519603694602 84.79083949911764 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 8.40996154e-01 -5.41039315e-01 -1.38840343e-03] [ 5.41041097e-01 8.40993394e-01 2.15472347e-03] [ 1.84799922e-06 -2.56329747e-03 9.99996715e-01]] t_estimated: [[-0.7171825 ] [-0.69688488] [-0.00084573]] R_gt: [[ 0.90837627 0.40538363 -0.10255134] [-0.40204389 0.91412423 0.05230516] [ 0.11494791 -0.00628166 0.99335101]] t_gt: [-0.15968853 0.9762212 -0.1466006 ] Pose Error in degrees for R and t: 56.993040995782934 55.55158685433757 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.94951093 -0.31042522 0.04544421] [-0.309948 0.95059474 0.01737435] [-0.04859246 0.00241179 -0.99881578]] t_estimated: [[0.99072925] [0.13431515] [0.02037137]] R_gt: [[ 0.9858601 0.08462159 0.14463225] [-0.08053212 0.99617612 -0.03390304] [-0.1469474 0.02177647 0.98890367]] t_gt: [-0.40027016 0.54740745 0.73493461] Pose Error in degrees for R and t: 169.26354653829443 72.05748638061598 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.14923928 -0.98879513 -0.00343933] [-0.98879585 -0.14922624 -0.0037802 ] [ 0.0032246 0.00396495 -0.99998694]] t_estimated: [[ 0.657495 ] [ 0.75345617] [-0.00203226]] R_gt: [[ 0.95832283 0.20178874 0.20223762] [-0.19044442 0.97888527 -0.07426824] [-0.21295419 0.03265815 0.97651553]] t_gt: [-0.37164223 0.71365281 0.59378592] Pose Error in degrees for R and t: 174.79337301049523 73.01349361333666 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.99598728 -0.08938912 -0.00435024] [ 0.08937524 0.9959926 -0.00328653] [ 0.00462659 0.00288454 0.99998514]] t_estimated: [[-0.84364426] [-0.53686453] [-0.00639124]] R_gt: [[ 0.90914763 0.37998524 0.17047827] [-0.36502466 0.92410068 -0.11311075] [-0.20051958 0.04060549 0.97884785]] t_gt: [-0.31920383 0.88604729 0.33619802] Pose Error in degrees for R and t: 29.71757266597829 77.9630993846382 Number of keypoints: Image1: 473 Image2: 473 R_estimated: [[ 0.86902841 -0.49470739 -0.00736358] [-0.49470036 -0.86858829 -0.0287391 ] [ 0.00782152 0.02861786 -0.99955982]] t_estimated: [[ 0.26753296] [ 0.96344117] [-0.01439539]] R_gt: [[ 0.99624066 0.04230476 -0.07558844] [-0.03875815 0.99810459 0.0477911 ] [ 0.07746709 -0.04468173 0.99599268]] t_gt: [-0.76641026 -0.41312699 -0.49187539] Pose Error in degrees for R and t: 179.7390421398305 53.41727349955609 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.80031957e-01 1.98832169e-01 1.76971494e-03] [ 1.98831708e-01 -9.80033552e-01 4.34174005e-04] [ 1.82070777e-03 -7.36289558e-05 -9.99998340e-01]] t_estimated: [[-8.55195521e-01] [ 5.18305529e-01] [ 1.55356538e-05]] R_gt: [[ 0.99428419 0.01410965 -0.1058233 ] [-0.00792646 0.99824786 0.05863597] [ 0.10646464 -0.05746237 0.99265491]] t_gt: [ 0.36777622 -0.79841168 -0.47673834] Pose Error in degrees for R and t: 176.06024746698608 43.25182310284494 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 9.45093669e-01 -3.26799560e-01 -7.26812459e-05] [ 3.26799568e-01 9.45093633e-01 2.59172854e-04] [-1.60069920e-05 -2.68694823e-04 9.99999964e-01]] t_estimated: [[ 3.21960445e-01] [-9.46753107e-01] [ 1.60000721e-04]] R_gt: [[ 0.9897545 0.01113473 -0.14233995] [ 0.00187924 0.99585177 0.0909674 ] [ 0.14276216 -0.09030349 0.98562856]] t_gt: [ 0.52175459 -0.79168125 -0.31782533] Pose Error in degrees for R and t: 21.624061865922734 23.442443997991415 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.99117254 -0.13177384 -0.01458237] [-0.13147805 0.99112398 -0.01966659] [ 0.01704448 -0.01757572 -0.99970025]] t_estimated: [[0.9795777 ] [0.20103274] [0.00365514]] R_gt: [[ 9.83740994e-01 1.74556127e-01 4.22569840e-02] [-1.74356814e-01 9.84647284e-01 -8.39629329e-03] [-4.30732609e-02 8.92369909e-04 9.99071671e-01]] t_gt: [-0.4154818 0.88687241 0.20206981] Pose Error in degrees for R and t: 178.37986681740773 76.82254720077128 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.94868008 0.3158363 -0.01592257] [-0.31568031 0.94879502 0.01157399] [ 0.01876274 -0.00595358 0.99980624]] t_estimated: [[-0.97744672] [-0.21070699] [-0.01415861]] R_gt: [[ 0.93945268 0.34077301 0.03610902] [-0.33972498 0.9399741 -0.03219016] [-0.04490995 0.01797356 0.99882938]] t_gt: [-0.32866588 0.941312 0.07687957] Pose Error in degrees for R and t: 4.174304152863254 83.0026257183929 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.11916072 0.97232533 0.20095814] [ 0.98162579 -0.08499104 -0.17084299] [-0.14903533 0.21762347 -0.96458722]] t_estimated: [[-0.75271058] [-0.65703289] [-0.04164818]] R_gt: [[ 0.90574338 0.42160344 0.04336151] [-0.41978482 0.90649392 -0.0452756 ] [-0.05839464 0.02280527 0.99803293]] t_gt: [-0.2716389 0.95958606 0.07353162] Pose Error in degrees for R and t: 162.15947219280216 64.59102778883536 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[ 9.99911967e-01 1.32686800e-02 9.99163630e-06] [-1.32686795e-02 9.99911966e-01 -4.76323075e-05] [-1.06227745e-05 4.74955384e-05 9.99999999e-01]] t_estimated: [[-4.35623084e-02] [-9.99050669e-01] [-2.94598280e-04]] R_gt: [[ 9.98577475e-01 -7.45087933e-04 -5.32979942e-02] [ 1.35444696e-03 9.99933620e-01 1.14025868e-02] [ 5.32863254e-02 -1.14581929e-02 9.98514021e-01]] t_gt: [ 0.4401045 -0.42453817 -0.79124925] Pose Error in degrees for R and t: 3.231862156016807 66.09657277502365 Number of keypoints: Image1: 375 Image2: 375 R_estimated: [[ 9.99941112e-01 1.08522246e-02 3.28541720e-05] [-1.08522224e-02 9.99941111e-01 -6.62745994e-05] [-3.35714640e-05 6.59141559e-05 9.99999997e-01]] t_estimated: [[ 2.86050136e-01] [-9.58214649e-01] [-7.63058608e-05]] R_gt: [[ 0.99653974 -0.0317157 -0.07682503] [ 0.03425664 0.99890154 0.03198491] [ 0.07572609 -0.03450541 0.99653163]] t_gt: [ 0.72045014 -0.5672027 -0.39903972] Pose Error in degrees for R and t: 5.398153075889329 41.44276679631098 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[-2.41520895e-03 -9.99995151e-01 -1.96564343e-03] [ 9.99996797e-01 -2.41371533e-03 -7.61879653e-04] [ 7.57131455e-04 -1.96747723e-03 9.99997778e-01]] t_estimated: [[0.93041619] [0.36650243] [0.00129381]] R_gt: [[ 0.99568939 0.00771543 -0.09242181] [-0.00222165 0.99823185 0.0593988 ] [ 0.09271738 -0.05893694 0.99394649]] t_gt: [ 0.51866656 -0.72719356 -0.44963821] Pose Error in degrees for R and t: 90.5868458424974 77.55655603438139 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.12398952 -0.99227919 0.00293227] [-0.99226606 0.12400433 0.00556659] [-0.00588722 -0.00221939 -0.99998021]] t_estimated: [[0.81419946] [0.58057489] [0.00346939]] R_gt: [[ 0.98418464 -0.07302223 0.16139631] [ 0.07348177 0.99729151 0.00312534] [-0.16118716 0.00878387 0.98688423]] t_gt: [ 0.2787852 -0.3963404 0.87475317] Pose Error in degrees for R and t: 172.8069353522155 89.99520647259395 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.49982470e-01 3.12298586e-01 -1.70298869e-03] [-3.12297013e-01 9.49983842e-01 1.12903007e-03] [ 1.97040624e-03 -5.40720488e-04 9.99997913e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96098338 -0.05978319 0.27007015] [ 0.06410792 0.99791722 -0.00721431] [-0.26907588 0.02424689 0.96281319]] t_gt: [ 0.16860608 -0.1941281 0.96637791] Pose Error in degrees for R and t: 26.87235207746085 83.44740416965884 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.85197683e-01 1.71422058e-01 -5.72549662e-05] [-1.71422018e-01 9.85197597e-01 4.31251542e-04] [ 1.30333482e-04 -4.15053258e-04 9.99999905e-01]] t_estimated: [[ 3.55779308e-03] [-9.99993423e-01] [ 7.04570213e-04]] R_gt: [[ 0.93523544 -0.08969953 0.34247661] [ 0.11412568 0.99211538 -0.05180404] [-0.3351293 0.08753416 0.93809722]] t_gt: [ 0.3687038 -0.25130528 0.89493193] Pose Error in degrees for R and t: 25.71964790253601 75.33032619903021 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.37187529e-01 -3.48825919e-01 -1.20785580e-04] [ 3.48825926e-01 9.37187533e-01 4.56214764e-05] [ 9.72847867e-05 -8.48890207e-05 9.99999992e-01]] t_estimated: [[-0.29858507] [-0.95438245] [-0.00104536]] R_gt: [[ 0.99846132 0.04189039 0.03635105] [-0.04156585 0.99908938 -0.00962728] [-0.03672236 0.00810297 0.99929304]] t_gt: [-0.72838745 0.46599552 0.50229462] Pose Error in degrees for R and t: 22.90875683860179 76.8337457707332 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-1.55438561e-01 9.87845562e-01 -2.45772070e-06] [-9.87844056e-01 -1.55438328e-01 -1.74535363e-03] [-1.72452186e-03 -2.68867411e-04 9.99998477e-01]] t_estimated: [[0.34881937] [0.93718939] [0.00105066]] R_gt: [[ 0.9973009 0.04545337 0.05766917] [-0.04493006 0.99893724 -0.01033287] [-0.05807874 0.00771425 0.99828263]] t_gt: [-0.73136466 0.28359155 0.62022703] Pose Error in degrees for R and t: 96.39055614123097 89.35159954022602 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.85958920e-01 1.66987019e-01 5.85336211e-04] [-1.66987012e-01 9.85959093e-01 -6.11518838e-05] [-5.87329131e-04 -3.74502998e-05 9.99999827e-01]] t_estimated: [[0.22824269] [0.97359774] [0.00356629]] R_gt: [[ 0.99982905 -0.01841313 -0.00179091] [ 0.01843933 0.99970477 0.01582943] [ 0.00149872 -0.01585934 0.99987319]] t_gt: [-0.27840183 -0.9498794 0.14220251] Pose Error in degrees for R and t: 10.70777016069577 8.945579763726649 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.83939396 0.54351352 0.00329075] [-0.5435193 0.83939586 0.00116087] [-0.00213129 -0.00276302 0.99999391]] t_estimated: [[-0.5451944 ] [ 0.83829898] [ 0.00422911]] R_gt: [[ 0.97335433 0.22924286 0.00541479] [-0.22915719 0.97330137 -0.01310077] [-0.00827362 0.01151114 0.99989916]] t_gt: [-0.72296156 0.69048162 -0.02370058] Pose Error in degrees for R and t: 19.69139153914545 13.373144007804592 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.31000245e-01 -3.65012894e-01 2.03231889e-03] [-3.65014799e-01 -9.31001490e-01 6.49346654e-04] [ 1.65507201e-03 -1.34636836e-03 -9.99997724e-01]] t_estimated: [[0.53973012] [0.84183765] [0.00088336]] R_gt: [[ 8.86690482e-01 4.57102886e-01 6.95498135e-02] [-4.55781301e-01 8.89413299e-01 -3.47525073e-02] [-7.77443157e-02 -8.84251574e-04 9.96972039e-01]] t_gt: [-0.64341677 0.76008237 0.09104755] Pose Error in degrees for R and t: 179.8861029690601 72.98182943912025 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.94145818 -0.33712498 0.00180162] [-0.3371174 0.94145595 0.00354423] [-0.00289099 0.00272939 -0.9999921 ]] t_estimated: [[0.94524577] [0.32635498] [0.00169096]] R_gt: [[ 0.82207406 0.56615905 0.06048771] [-0.56315508 0.82415082 -0.06026883] [-0.08397353 0.0154817 0.99634718]] t_gt: [-0.59737351 0.79986542 0.05796721] Pose Error in degrees for R and t: 176.03898158369313 72.33045160491567 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 7.43640927e-01 6.68579124e-01 3.57242827e-04] [-6.68579009e-01 7.43640163e-01 1.18987454e-03] [ 5.29865166e-04 -1.12368446e-03 9.99999228e-01]] t_estimated: [[7.89118036e-01] [6.14241167e-01] [7.16731457e-04]] R_gt: [[ 9.86948059e-01 -1.61040746e-01 -2.05476017e-04] [ 1.60876904e-01 9.86001829e-01 -4.37971777e-02] [ 7.25555739e-03 4.31925848e-02 9.99040694e-01]] t_gt: [ 0.95516392 -0.13582561 -0.2630842 ] Pose Error in degrees for R and t: 51.28546733883159 47.92376307448713 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.92134017 0.38873996 0.00367956] [ 0.38875313 -0.92133308 -0.004044 ] [ 0.00181803 0.00515634 -0.99998505]] t_estimated: [[8.19416779e-01] [5.73197795e-01] [6.56583957e-04]] R_gt: [[ 0.9583492 -0.28532593 0.01245928] [ 0.28550927 0.95822735 -0.01689997] [-0.0071165 0.01975382 0.9997797 ]] t_gt: [ 0.98876281 -0.13500586 -0.06419906] Pose Error in degrees for R and t: 178.55909227089143 42.879902985876264 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.03732317e-01 -4.28097989e-01 1.00949526e-04] [ 4.28097971e-01 9.03732317e-01 1.62802656e-04] [-1.60926839e-04 -1.03913735e-04 9.99999982e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.95781339 -0.28636966 0.02421893] [ 0.28720265 0.95683511 -0.044513 ] [-0.01042573 0.04959087 0.99871567]] t_gt: [ 0.98104895 -0.09041316 -0.17137214] Pose Error in degrees for R and t: 9.144336744601748 42.927940661727135 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999650e-01 -5.62468642e-04 -6.18641901e-04] [ 5.63293382e-04 9.99998952e-01 1.33378039e-03] [ 6.17891043e-04 -1.33412840e-03 9.99998919e-01]] t_estimated: [[-6.77587654e-01] [-7.35441960e-01] [-3.08642196e-04]] R_gt: [[ 0.99845455 0.02045331 -0.05166712] [-0.02247243 0.9989936 -0.03881496] [ 0.05082126 0.03991569 0.99790925]] t_gt: [-0.02135333 0.45354086 -0.89097964] Pose Error in degrees for R and t: 3.9333268526126606 71.40907240924713 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 1.00000000e+00 7.50649543e-14 7.19639192e-17] [-7.50718931e-14 1.00000000e+00 -6.83047369e-17] [ 8.03051609e-16 -2.71050543e-18 1.00000000e+00]] t_estimated: [[4.24954944e-02] [9.99096621e-01] [2.73097041e-04]] R_gt: [[ 0.99615535 0.02930696 -0.08255406] [-0.03439585 0.99755083 -0.06089997] [ 0.08056717 0.06350511 0.99472387]] t_gt: [ 0.00218502 0.4599423 -0.88794612] Pose Error in degrees for R and t: 6.165922552598534 62.653076306493595 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.50774538e-01 -5.25530812e-01 -2.26368945e-04] [ 5.25530858e-01 8.50774406e-01 4.77493476e-04] [-5.83486294e-05 -5.25203157e-04 9.99999860e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99017413 0.04903358 -0.13096231] [-0.0630125 0.99249265 -0.10482281] [ 0.12483927 0.1120454 0.98582954]] t_gt: [ 0.0044458 0.48339653 -0.87539022] Pose Error in degrees for R and t: 36.21256872027508 89.69827471446035 Number of keypoints: Image1: 462 Image2: 462 R_estimated: [[-0.95148496 0.30558789 0.03595009] [ 0.30559581 0.95214597 -0.0054093 ] [-0.03588275 0.00583933 -0.99933895]] t_estimated: [[ 0.98738657] [-0.15721775] [ 0.01871754]] R_gt: [[ 0.99777483 -0.06664731 -0.00193894] [ 0.06661467 0.99768734 -0.01349714] [ 0.00283525 0.01333883 0.99990683]] t_gt: [ 0.62979332 -0.76720501 -0.1214778 ] Pose Error in degrees for R and t: 177.93373659947946 42.25206108667397 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.99975022e-01 -7.06734957e-03 8.55689807e-05] [ 7.06734817e-03 9.99975026e-01 1.66807513e-05] [-8.56847324e-05 -1.60755888e-05 9.99999996e-01]] t_estimated: [[7.64740989e-01] [6.44337746e-01] [2.98022354e-04]] R_gt: [[ 0.99418931 -0.08375782 -0.06762171] [ 0.08674965 0.99531929 0.04258649] [ 0.06373821 -0.04820546 0.99680177]] t_gt: [ 0.5856111 -0.79163656 -0.17427334] Pose Error in degrees for R and t: 6.420497442759561 86.4285934865895 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999715e-01 -4.35469976e-04 -6.16042721e-04] [ 4.35673609e-04 9.99999850e-01 3.30455276e-04] [ 6.15898725e-04 -3.30723575e-04 9.99999756e-01]] t_estimated: [[-0.77655135] [-0.63005301] [-0.00110149]] R_gt: [[ 0.97920084 -0.18935735 -0.07287018] [ 0.19215624 0.98079272 0.03346895] [ 0.06513384 -0.04677519 0.99677948]] t_gt: [ 0.55683846 -0.81367524 -0.16692373] Pose Error in degrees for R and t: 11.895539132259394 85.38678993656872 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.75839311 -0.65177457 -0.00545891] [ 0.65170618 -0.75840048 0.01038139] [-0.01090636 0.00431557 0.99993121]] t_estimated: [[7.94635455e-01] [6.07086424e-01] [7.53208962e-04]] R_gt: [[ 0.9897832 -0.07717924 -0.11988343] [ 0.0756317 0.99698304 -0.01741189] [ 0.12086562 0.00816677 0.99263576]] t_gt: [ 0.5979592 -0.47635685 -0.64461535] Pose Error in degrees for R and t: 135.04832580632896 79.31063237756725 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.50675675e-01 3.10186503e-01 -3.07130968e-04] [ 3.09984852e-01 -9.50092423e-01 -3.51251845e-02] [-1.11871610e-02 3.32974525e-02 -9.99382873e-01]] t_estimated: [[ 0.27693879] [ 0.96087894] [-0.00407022]] R_gt: [[ 0.98507542 -0.12371232 -0.11967714] [ 0.11893309 0.99182182 -0.04631047] [ 0.12442748 0.03138579 0.99173225]] t_gt: [ 0.60893035 -0.50973462 -0.60776184] Pose Error in degrees for R and t: 176.93836700252626 71.41669710067593 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.88772093e-01 1.49430610e-01 4.91202690e-04] [-1.49430790e-01 9.88772125e-01 3.52957625e-04] [-4.32944854e-04 -4.22395456e-04 9.99999817e-01]] t_estimated: [[0.78613023] [0.61805721] [0.00213362]] R_gt: [[ 0.97585211 -0.2123232 -0.05130589] [ 0.20811787 0.97508427 -0.07679411] [ 0.06633255 0.06426189 0.99572597]] t_gt: [ 0.71042099 -0.55567112 -0.43189307] Pose Error in degrees for R and t: 21.42270546428224 77.63577968570043 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.67981158e-01 2.51020713e-01 1.03897334e-03] [-2.51019878e-01 9.67981541e-01 -8.70694359e-04] [-1.22426933e-03 5.82012774e-04 9.99999081e-01]] t_estimated: [[-8.38993234e-01] [-5.44141461e-01] [-6.50886915e-04]] R_gt: [[ 9.99667456e-01 -2.07990186e-02 -1.52231036e-02] [ 2.07938495e-02 9.99783521e-01 -4.81837294e-04] [ 1.52302373e-02 1.65716684e-04 9.99884387e-01]] t_gt: [ 0.55746828 -0.63172626 -0.53865671] Pose Error in degrees for R and t: 15.757423136203546 82.8993315233926 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.61193197 0.79074403 -0.01622177] [ 0.79078443 0.61207185 0.00529476] [ 0.01411569 -0.00958789 -0.9998544 ]] t_estimated: [[0.96241301] [0.27158799] [0.00107773]] R_gt: [[ 0.9911042 -0.12070111 -0.05607596] [ 0.12157617 0.99250378 0.01245917] [ 0.05415161 -0.0191652 0.9983495 ]] t_gt: [ 0.65207739 -0.71686196 -0.24678737] Pose Error in degrees for R and t: 175.78409934689168 64.36664411373884 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-8.31076566e-01 -5.56158017e-01 4.18632403e-05] [-5.56152777e-01 8.31069059e-01 4.27880809e-03] [-2.41448466e-03 3.53273477e-03 -9.99990845e-01]] t_estimated: [[9.77966300e-01] [2.08761279e-01] [8.02927997e-04]] R_gt: [[ 0.96492146 -0.23873099 -0.109244 ] [ 0.2428059 0.96973999 0.02545886] [ 0.09985921 -0.05109065 0.9936893 ]] t_gt: [ 0.70059398 -0.68841874 -0.18774375] Pose Error in degrees for R and t: 174.95933225646854 57.228408185465554 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-0.89166956 0.45253558 -0.01170228] [ 0.45237421 0.89171654 0.01411317] [ 0.01682183 0.00729048 -0.99983192]] t_estimated: [[ 0.4578004 ] [-0.88888766] [-0.01724882]] R_gt: [[ 0.99639791 -0.07933784 0.02997404] [ 0.07963356 0.99678599 -0.00882745] [-0.02917791 0.01118278 0.99951201]] t_gt: [ 0.69188743 -0.70992435 0.13152643] Pose Error in degrees for R and t: 179.03239478865956 18.999632865827138 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99947274e-01 -1.02680517e-02 1.25147261e-04] [ 1.02680423e-02 9.99947279e-01 7.50680333e-05] [-1.25911465e-04 -7.37790579e-05 9.99999989e-01]] t_estimated: [[0.99988856] [0.01488332] [0.00116364]] R_gt: [[ 0.99392667 -0.10698758 0.025753 ] [ 0.10772113 0.99375716 -0.02903897] [-0.02248671 0.0316373 0.99924651]] t_gt: [ 0.73185165 -0.67723641 -0.07578915] Pose Error in degrees for R and t: 6.0033092988154175 43.813065089985855 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99998443e-01 1.76088058e-03 1.12579066e-04] [-1.76088645e-03 9.99998448e-01 5.21403887e-05] [-1.12487078e-04 -5.23385465e-05 9.99999992e-01]] t_estimated: [[ 9.23896380e-01] [-3.82642452e-01] [ 4.82182874e-04]] R_gt: [[ 0.9961362 -0.08438827 0.02431352] [ 0.08474903 0.99630186 -0.0142337 ] [-0.02302301 0.0162393 0.99960237]] t_gt: [ 8.16719848e-01 -5.77033910e-01 -7.46288526e-04] Pose Error in degrees for R and t: 5.208075863649369 12.7449363868125 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.92152178e-01 -1.25032694e-01 -9.38478727e-04] [ 1.25034161e-01 9.92150957e-01 1.71362806e-03] [ 7.16853034e-04 -1.81752172e-03 9.99998091e-01]] t_estimated: [[0.98238571] [0.18685938] [0.00137397]] R_gt: [[ 0.99972155 -0.00146015 0.02359864] [ 0.00119573 0.99993635 0.01118427] [-0.02361372 -0.01115227 0.99965858]] t_gt: [-0.10766978 -0.1011716 0.98902554] Pose Error in degrees for R and t: 7.262942689401967 82.9162960774465 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[ 9.99935359e-01 -1.13700390e-02 1.62221501e-06] [ 1.13700390e-02 9.99935359e-01 2.84666574e-05] [-1.94577716e-06 -2.84463726e-05 1.00000000e+00]] t_estimated: [[4.12366190e-01] [9.11018117e-01] [3.40102861e-04]] R_gt: [[ 9.99686767e-01 -5.49786799e-03 2.44381355e-02] [ 5.49474723e-03 9.99984692e-01 1.78972168e-04] [-2.44387488e-02 -4.42701610e-05 9.99701122e-01]] t_gt: [-0.05288438 -0.2026948 0.9778129 ] Pose Error in degrees for R and t: 1.4399762248715215 78.10412092844838 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.87713635e-01 -1.56274595e-01 -1.59258866e-04] [ 1.56274637e-01 9.87713596e-01 3.00252005e-04] [ 1.10380387e-04 -3.21451121e-04 9.99999942e-01]] t_estimated: [[ 8.98573412e-01] [-4.38822986e-01] [ 4.58067494e-04]] R_gt: [[ 0.99732582 -0.06819408 -0.02631199] [ 0.06882828 0.99733931 0.02401396] [ 0.02460504 -0.02576015 0.99936561]] t_gt: [ 0.61644083 -0.78692491 -0.02738415] Pose Error in degrees for R and t: 5.449983331969194 25.943546656406816 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99534363e-01 3.05124042e-02 2.26078154e-04] [-3.05123511e-02 9.99534362e-01 -2.34732594e-04] [-2.33135139e-04 2.27725118e-04 9.99999947e-01]] t_estimated: [[0.6004192 ] [0.79968495] [0.00087397]] R_gt: [[ 0.99921913 -0.03827723 0.00981413] [ 0.03838363 0.99920339 -0.01093895] [-0.00938756 0.01130717 0.9998917 ]] t_gt: [ 0.6695069 -0.74226106 -0.02844343] Pose Error in degrees for R and t: 4.0302872574561475 78.95294754609777 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99983850e-01 5.68297902e-03 5.46755780e-05] [-5.68297897e-03 9.99983852e-01 -1.03937679e-06] [-5.46806018e-05 7.28639843e-07 9.99999999e-01]] t_estimated: [[ 6.92174483e-01] [-7.21730198e-01] [-8.14678764e-05]] R_gt: [[ 0.998915 -0.04413342 0.01488039] [ 0.04425265 0.99899022 -0.00778726] [-0.01452131 0.00843749 0.99985838]] t_gt: [ 0.78130879 -0.62407754 0.00915454] Pose Error in degrees for R and t: 3.0155079736254264 7.599426101736906 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-1.17860147e-01 9.93030113e-01 -4.24517623e-04] [ 9.93024897e-01 1.17860904e-01 3.21897661e-03] [ 3.24657474e-03 -4.21675126e-05 -9.99994729e-01]] t_estimated: [[-0.23379791] [-0.97228456] [-0.00112403]] R_gt: [[ 0.99946548 0.02007265 -0.0257921 ] [-0.01952072 0.99957862 0.02147481] [ 0.02621283 -0.02095965 0.99943592]] t_gt: [ 0.93814486 0.28646821 -0.19447413] Pose Error in degrees for R and t: 177.93590497351934 60.15559590470847 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.95992156e-01 -8.94404588e-02 -1.73259831e-04] [ 8.94405564e-02 9.95991933e-01 6.76034384e-04] [ 1.12100569e-04 -6.88821399e-04 9.99999756e-01]] t_estimated: [[0.49078574] [0.87127934] [0.00129118]] R_gt: [[ 0.99293257 -0.06291287 -0.10062717] [ 0.06443415 0.99785103 0.01194367] [ 0.09965906 -0.01834331 0.99485283]] t_gt: [ 0.60492459 -0.64209159 -0.47094015] Pose Error in degrees for R and t: 5.985533253014163 74.74230149766994 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.56034444e-01 -2.93253362e-01 7.79754927e-04] [ 2.93253716e-01 9.56034576e-01 -3.84895292e-04] [-6.32600832e-04 5.96639186e-04 9.99999622e-01]] t_estimated: [[-0.80961349] [-0.58696228] [ 0.00113233]] R_gt: [[ 0.97900168 -0.11519379 -0.16818154] [ 0.11889025 0.99283439 0.0120495 ] [ 0.16558835 -0.03179209 0.98568299]] t_gt: [ 0.62977704 -0.63976235 -0.44055081] Pose Error in degrees for R and t: 14.162378653157583 82.24956441564389 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.98878247 0.14935252 0.0017496 ] [-0.14935024 0.98878341 -0.00136623] [-0.00193402 0.0010896 0.99999754]] t_estimated: [[0.61964297] [0.78488109] [0.00206548]] R_gt: [[ 0.96415786 -0.20868407 -0.16385772] [ 0.20340759 0.97789068 -0.04853501] [ 0.17036259 0.01346497 0.98528934]] t_gt: [ 0.69192741 -0.56278636 -0.45222558] Pose Error in degrees for R and t: 22.818960552620094 89.2031913261023 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.98202211e-01 -5.99361538e-02 -6.12797627e-05] [ 5.99361584e-02 9.98202210e-01 7.57451384e-05] [ 5.66297222e-05 -7.92818382e-05 9.99999995e-01]] t_estimated: [[2.62874989e-01] [9.64829782e-01] [4.81365789e-04]] R_gt: [[ 0.99776697 -0.03542821 -0.05661545] [ 0.03927588 0.99688627 0.06837337] [ 0.05401771 -0.07044494 0.99605204]] t_gt: [ 0.07389546 -0.99571667 0.05556771] Pose Error in degrees for R and t: 5.2486776726598645 19.738285853985843 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.87470954e-01 1.57800588e-01 -3.00436451e-04] [-1.57800568e-01 9.87470998e-01 8.93614720e-05] [ 3.10773576e-04 -4.08328154e-05 9.99999951e-01]] t_estimated: [[-9.93938598e-01] [-1.09932880e-01] [-9.08536196e-04]] R_gt: [[ 0.9801793 -0.18055289 -0.08154558] [ 0.18129675 0.98342728 0.00176487] [ 0.07987546 -0.0165138 0.99666809]] t_gt: [ 0.51255233 -0.71518082 -0.47519102] Pose Error in degrees for R and t: 20.063780136952595 64.50756435800174 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-2.28417882e-01 9.73563089e-01 -4.26856638e-04] [-9.73560356e-01 -2.28418253e-01 -2.30987346e-03] [-2.34630938e-03 -1.12045702e-04 9.99997241e-01]] t_estimated: [[0.19058549] [0.98166989] [0.00117762]] R_gt: [[ 0.93575489 -0.3390272 -0.09708091] [ 0.34216788 0.93948004 0.01727882] [ 0.08534801 -0.04938655 0.99512659]] t_gt: [ 0.60724207 -0.77939027 -0.15429804] Pose Error in degrees for R and t: 123.25020119508211 49.492006009773874 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.11137912e-01 4.12099519e-01 -1.30058664e-03] [-4.12101162e-01 9.11136916e-01 -1.46737323e-03] [ 5.80308701e-04 1.87295264e-03 9.99998078e-01]] t_estimated: [[ 0.06382885] [ 0.99796013] [-0.00120386]] R_gt: [[ 0.99830409 -0.05364175 -0.02260906] [ 0.05074737 0.99225028 -0.11341701] [ 0.02851678 0.1120777 0.99328975]] t_gt: [ 0.51006771 -0.202163 -0.8360389 ] Pose Error in degrees for R and t: 28.093541288750444 80.31757002349363 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.74747033e-01 -2.23311922e-01 8.39259241e-05] [ 2.23311916e-01 9.74747035e-01 7.65318244e-05] [-9.88970145e-05 -5.58575098e-05 9.99999994e-01]] t_estimated: [[0.525997 ] [0.85048598] [0.00087305]] R_gt: [[ 0.99614563 -0.05570758 -0.06775155] [ 0.04238574 0.98197297 -0.18420833] [ 0.07679156 0.18062649 0.98054893]] t_gt: [ 0.37058218 0.06271514 -0.92667991] Pose Error in degrees for R and t: 15.139886787364393 75.67307088146474 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.50373466e-01 -3.11111329e-01 -1.28242855e-04] [ 3.11111341e-01 9.50373214e-01 6.98095335e-04] [-9.53067930e-05 -7.03349089e-04 9.99999748e-01]] t_estimated: [[8.52767742e-01] [5.22289771e-01] [7.56868213e-04]] R_gt: [[ 0.99252307 -0.03799059 -0.11599302] [ 0.01525175 0.98148026 -0.19095658] [ 0.1210991 0.18775985 0.97472119]] t_gt: [ 0.31261473 0.17340585 -0.93391779] Pose Error in degrees for R and t: 21.007793680214142 69.11772288247681 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99813572e-01 1.93085212e-02 -4.69620459e-05] [-1.93085220e-02 9.99813573e-01 -1.57483983e-05] [ 4.66492126e-05 1.66522300e-05 9.99999999e-01]] t_estimated: [[-9.95025047e-01] [-9.96224086e-02] [-7.28460902e-04]] R_gt: [[ 0.99360102 0.11274004 0.0069082 ] [-0.11275653 0.99362067 0.00201741] [-0.00663613 -0.00278372 0.9999737 ]] t_gt: [-0.76226094 0.64601586 0.04027117] Pose Error in degrees for R and t: 5.3834530346762675 46.04591139949674 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.70515996e-01 -2.41034727e-01 -9.80935314e-04] [ 2.41035053e-01 9.70516384e-01 2.27291890e-04] [ 8.97228555e-04 -4.57030211e-04 9.99999493e-01]] t_estimated: [[-0.44627769] [-0.8948913 ] [-0.00240409]] R_gt: [[ 0.94397409 0.32944 0.01956906] [-0.32879782 0.94392201 -0.03004731] [-0.02837106 0.02192943 0.99935651]] t_gt: [-0.68338236 0.72996736 -0.01167069] Pose Error in degrees for R and t: 33.2344454560113 69.62059693133942 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99561378e-01 2.96135278e-02 -2.99541628e-04] [-2.96139618e-02 9.99560183e-01 -1.56622628e-03] [ 2.53028399e-04 1.57440991e-03 9.99998729e-01]] t_estimated: [[0.47678695] [0.87901841] [0.00092044]] R_gt: [[ 0.83550559 0.54385836 0.07841684] [-0.54162 0.8391762 -0.04930936] [-0.09262289 -0.00127355 0.99570035]] t_gt: [-0.60304537 0.79283236 0.08805187] Pose Error in degrees for R and t: 31.689286559408057 65.8283839445626 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99969351e-01 7.82685442e-03 1.91382894e-04] [-7.82681793e-03 9.99969352e-01 -1.90691284e-04] [-1.92869542e-04 1.89187521e-04 9.99999964e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 9.98755989e-01 -4.69948690e-02 -1.67186099e-02] [ 4.70134985e-02 9.98893886e-01 7.15150520e-04] [ 1.66666048e-02 -1.49972640e-03 9.99860760e-01]] t_gt: [ 0.95136422 -0.29166231 -0.09919283] Pose Error in degrees for R and t: 3.2884747873645472 53.97532470646559 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.08500658e-01 4.17883035e-01 5.69708196e-04] [-4.17882779e-01 9.08500807e-01 -5.17429322e-04] [-7.33805291e-04 2.32013635e-04 9.99999704e-01]] t_estimated: [[0.00938436] [0.99995542] [0.00104271]] R_gt: [[ 0.98970086 -0.1407247 0.02625795] [ 0.14089564 0.9900129 -0.00475913] [-0.02532643 0.00841036 0.99964407]] t_gt: [ 0.98639815 -0.16158068 -0.03017226] Pose Error in degrees for R and t: 32.829835888937595 81.23696555708989 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.39678011 -0.91791312 0.00102424] [-0.91791151 0.39677649 -0.00262309] [ 0.00200138 -0.00198095 -0.99999604]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.94305447 -0.33174478 -0.02438581] [ 0.33237774 0.94268577 0.02946486] [ 0.01321287 -0.03589124 0.99926905]] t_gt: [ 0.99169358 -0.0923767 0.08950079] Pose Error in degrees for R and t: 179.99301545453253 39.8642158509295 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.17622821 0.9843364 0.00504723] [ 0.98434643 -0.17621292 -0.00333245] [-0.00239087 0.00555549 -0.99998171]] t_estimated: [[-0.7011397 ] [-0.71302342] [-0.00084884]] R_gt: [[ 0.9738306 -0.21638483 -0.0695123 ] [ 0.21604939 0.97630348 -0.01238459] [ 0.07054511 -0.00295788 0.9975041 ]] t_gt: [ 0.80538459 -0.56901031 -0.1660811 ] Pose Error in degrees for R and t: 177.95756194875187 80.86109824359526 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.94895645 0.31534303 0.00635847] [ 0.31539628 -0.94889816 -0.01083847] [ 0.0026157 0.01229068 -0.99992105]] t_estimated: [[-0.25103569] [ 0.96793293] [-0.00932352]] R_gt: [[ 0.94669484 -0.30292101 -0.10958364] [ 0.30809277 0.95076895 0.03342584] [ 0.09406316 -0.06540653 0.99341484]] t_gt: [ 0.82852344 -0.55994276 0.00360712] Pose Error in degrees for R and t: 176.92309519429628 41.40878856399429 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.89189651 0.45219393 -0.00642415] [-0.45209402 0.89187988 0.01269991] [ 0.0114724 -0.00842269 0.99989872]] t_estimated: [[-0.98709245] [-0.16013364] [-0.00239005]] R_gt: [[ 0.95255304 -0.29583185 -0.07160332] [ 0.30059556 0.9512786 0.06863999] [ 0.04780866 -0.08690756 0.99506833]] t_gt: [ 0.79572558 -0.58896279 0.14122193] Pose Error in degrees for R and t: 44.52398763019421 46.25266244849404 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99999982e-01 1.90228797e-04 -2.60860955e-05] [-1.90229051e-04 9.99999982e-01 -9.74718470e-06] [ 2.60842409e-05 9.75214685e-06 1.00000000e+00]] t_estimated: [[-0.07466868] [-0.99720752] [-0.0013252 ]] R_gt: [[ 0.99944229 -0.02571321 -0.0213041 ] [ 0.0254313 0.99958597 -0.01340237] [ 0.02164008 0.01285353 0.9996831 ]] t_gt: [ 0.34331644 -0.47767141 -0.80868031] Pose Error in degrees for R and t: 2.063588434764868 63.14242798327596 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.99997586e-01 -2.17158324e-03 -3.36269808e-04] [ 2.17160168e-03 9.99997641e-01 5.44660418e-05] [ 3.36150737e-04 -5.51961544e-05 9.99999942e-01]] t_estimated: [[-0.9918513 ] [ 0.12733916] [-0.00396638]] R_gt: [[ 0.9994589 0.01256829 -0.03042636] [-0.01340093 0.99953726 -0.02731726] [ 0.0300701 0.02771025 0.99916331]] t_gt: [-0.04686124 0.45958736 -0.88689542] Pose Error in degrees for R and t: 2.4874095681183235 83.76995712049394 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.90539431e-01 -1.37227967e-01 3.47744922e-04] [ 1.37227876e-01 9.90539467e-01 2.73680303e-04] [-3.82011661e-04 -2.23370835e-04 9.99999902e-01]] t_estimated: [[0.24692409] [0.96903403] [0.001238 ]] R_gt: [[ 0.99749579 0.01535371 -0.06904749] [-0.02093875 0.99650191 -0.08090102] [ 0.06756467 0.08214516 0.99432702]] t_gt: [ 0.03797243 0.37645787 -0.92565521] Pose Error in degrees for R and t: 10.828223696797005 68.09734152430869 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999859e-01 1.90504868e-04 -4.94892098e-04] [-1.90176683e-04 9.99999762e-01 6.63107282e-04] [ 4.95018306e-04 -6.63013072e-04 9.99999658e-01]] t_estimated: [[0.41594386] [0.90938956] [0.00115289]] R_gt: [[ 0.99931089 0.02104849 -0.03057347] [-0.02267376 0.9982932 -0.0538307 ] [ 0.02938864 0.05448691 0.99808121]] t_gt: [-0.13411805 0.49399489 -0.85905844] Pose Error in degrees for R and t: 3.779276229624356 66.89248168643483 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.99895156 0.04574876 0.00168523] [-0.04573199 0.99891392 -0.0089198 ] [-0.00209147 0.00883338 0.9999588 ]] t_estimated: [[0.00631618] [0.9999795 ] [0.00105477]] R_gt: [[ 0.93940555 0.34130394 0.03206914] [-0.34018354 0.93967974 -0.03571352] [-0.04232536 0.02264117 0.99884689]] t_gt: [-0.67935097 0.73345706 0.02286943] Pose Error in degrees for R and t: 17.472898289286686 43.182704540708876 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99996167e-01 -2.71843923e-03 -5.26131394e-04] [ 2.71848068e-03 9.99996302e-01 7.80860832e-05] [ 5.25917176e-04 -7.95160619e-05 9.99999859e-01]] t_estimated: [[-9.99960523e-01] [-8.84138394e-03] [-8.84138394e-04]] R_gt: [[ 0.85680176 0.51127523 0.06699484] [-0.51092505 0.85930238 -0.02355058] [-0.06961002 -0.01405005 0.99747486]] t_gt: [-0.61549885 0.78220253 0.09654203] Pose Error in degrees for R and t: 31.200415757404407 52.52079546657079 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-9.83409733e-01 -1.81397672e-01 4.26247118e-04] [-1.81397659e-01 9.83409825e-01 6.86980508e-05] [-4.31637270e-04 -9.76189761e-06 -9.99999907e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.80221557 0.59431435 0.05693177] [-0.59564322 0.80320516 0.00839768] [-0.04073774 -0.04064755 0.99834241]] t_gt: [-0.57561916 0.81300886 0.08763085] Pose Error in degrees for R and t: 176.90628594743356 55.42229839487517 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99996534e-01 2.63242799e-03 4.78749243e-05] [-2.63243040e-03 9.99996534e-01 5.03561904e-05] [-4.77421993e-05 -5.04820433e-05 9.99999998e-01]] t_estimated: [[8.52491632e-01] [5.22740727e-01] [3.86424604e-04]] R_gt: [[ 0.99519252 -0.08965498 -0.03941806] [ 0.09161734 0.99447812 0.05117897] [ 0.03461293 -0.05454386 0.99791091]] t_gt: [ 0.7216935 -0.65842383 0.21362711] Pose Error in degrees for R and t: 6.511241331261925 74.26816683274724 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999202e-01 1.26164018e-03 7.22643288e-05] [-1.26166165e-03 9.99999160e-01 2.97747320e-04] [-7.18886181e-05 -2.97838255e-04 9.99999953e-01]] t_estimated: [[0.73432655] [0.67879587] [0.00083506]] R_gt: [[ 0.99831595 -0.05587768 0.01559608] [ 0.05436371 0.99492064 0.08472589] [-0.02025029 -0.08373546 0.99628178]] t_gt: [ 0.44052874 -0.5838134 0.68197972] Pose Error in degrees for R and t: 5.893107935650474 85.85799472776726 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 4.78847495e-01 -8.77890696e-01 3.60593097e-03] [-8.77898019e-01 -4.78841630e-01 2.40032858e-03] [-3.80556258e-04 -4.31503098e-03 -9.99990618e-01]] t_estimated: [[0.53507213] [0.84480427] [0.00188714]] R_gt: [[ 0.99893163 -0.01549857 0.04353805] [ 0.00940279 0.99054396 0.13687318] [-0.04524715 -0.13631757 0.98963037]] t_gt: [ 0.20232438 -0.40325617 0.89244009] Pose Error in degrees for R and t: 171.72085432965864 76.65993252709944 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.95825755e-01 -9.12746707e-02 -2.35392651e-05] [ 9.12746725e-02 9.95825751e-01 9.18776458e-05] [ 1.50549045e-05 -9.36426647e-05 9.99999996e-01]] t_estimated: [[9.99995270e-01] [2.98301727e-03] [7.48747317e-04]] R_gt: [[ 0.99763531 -0.06684452 -0.01595699] [ 0.06648755 0.99754521 -0.02197502] [ 0.01738587 0.02086215 0.99963117]] t_gt: [ 0.71131711 -0.61625912 -0.33801281] Pose Error in degrees for R and t: 2.105444533476537 44.82832129293423 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999940e-01 3.43551335e-04 -5.42910552e-05] [-3.43539511e-04 9.99999917e-01 2.17646528e-04] [ 5.43658234e-05 -2.17627864e-04 9.99999975e-01]] t_estimated: [[9.78693338e-01] [2.05325868e-01] [7.98933337e-04]] R_gt: [[ 0.97656981 -0.21506872 -0.00752382] [ 0.21483654 0.97635553 -0.02399296] [ 0.01250599 0.0218147 0.99968379]] t_gt: [ 0.79682348 -0.59483529 -0.10603451] Pose Error in degrees for R and t: 12.518465635847638 48.88092835009448 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.95905351 0.28319336 0.00422849] [ 0.28320756 -0.95905316 -0.00324367] [ 0.00313676 0.0043084 -0.9999858 ]] t_estimated: [[0.98969419] [0.14316331] [0.00311225]] R_gt: [[ 0.94434252 -0.32891988 -0.00532875] [ 0.32821788 0.94316884 -0.05202212] [ 0.02213666 0.04737759 0.99863163]] t_gt: [ 0.84765824 -0.51068192 -0.14380361] Pose Error in degrees for R and t: 177.0037195473459 40.06061717563834 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.97103911 -0.23888168 0.00431164] [ 0.23881522 -0.97098871 -0.01217459] [ 0.00709484 -0.01079232 0.99991659]] t_estimated: [[0.80039481] [0.59947266] [0.00082345]] R_gt: [[ 9.98327113e-01 5.78135956e-02 -5.00253688e-04] [-5.78155040e-02 9.98281193e-01 -9.67897227e-03] [-6.03039690e-05 9.69197534e-03 9.99953146e-01]] t_gt: [-0.31096886 0.9400183 -0.14022827] Pose Error in degrees for R and t: 169.49403677458693 71.66925164212361 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 3.27868218e-01 9.44723431e-01 -2.66216209e-04] [-9.44722749e-01 3.27867608e-01 -1.32664683e-03] [-1.16603067e-03 6.86465840e-04 9.99999085e-01]] t_estimated: [[-6.38873985e-02] [ 9.97956977e-01] [ 5.22772314e-04]] R_gt: [[ 0.98519579 0.17090352 0.0134168 ] [-0.16968947 0.98332792 -0.06535869] [-0.02436238 0.06211508 0.99777134]] t_gt: [-0.32031011 0.9446606 -0.07083638] Pose Error in degrees for R and t: 61.14771036581869 15.60110509752529 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-9.99777364e-01 2.10842896e-02 8.22047991e-04] [-2.10869950e-02 -9.99771746e-01 -3.43439598e-03] [ 7.49448556e-04 -3.45096588e-03 9.99993765e-01]] t_estimated: [[0.79834492] [0.60219984] [0.00086029]] R_gt: [[ 0.93471823 0.3553507 0.00527338] [-0.35444614 0.93321718 -0.05893982] [-0.02586494 0.0532236 0.99824766]] t_gt: [-0.25356212 0.96716081 -0.01749892] Pose Error in degrees for R and t: 157.9950241093603 67.66761855830082 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.9886213 -0.1503902 -0.00327371] [ 0.15040523 0.98861195 0.00496824] [ 0.00248925 -0.0054041 0.9999823 ]] t_estimated: [[0.98883543] [0.14900357] [0.0015605 ]] R_gt: [[ 0.99212418 -0.11851708 -0.0405386 ] [ 0.11879817 0.99290849 0.00460807] [ 0.03970469 -0.00938691 0.99916642]] t_gt: [ 0.65201917 -0.72985924 -0.20536915] Pose Error in degrees for R and t: 2.817775262888982 57.61080572783042 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.97519767e-01 -7.03868832e-02 -2.84328903e-05] [-7.03868172e-02 9.97518092e-01 1.83081233e-03] [-1.00502851e-04 1.82827279e-03 -9.99998324e-01]] t_estimated: [[9.98997696e-01] [4.47533670e-02] [8.59737349e-04]] R_gt: [[ 0.97024333 -0.22505056 -0.08933337] [ 0.22855165 0.97303851 0.03099073] [ 0.07995001 -0.05048552 0.99551889]] t_gt: [ 0.68342669 -0.71830336 -0.13026225] Pose Error in degrees for R and t: 175.21109260595543 49.42195705242979 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.27284511 0.96175045 -0.02432338] [-0.96202146 0.27252724 -0.01560828] [-0.00838249 0.02765826 0.99958229]] t_estimated: [[9.83855564e-01] [1.78962192e-01] [8.72986304e-04]] R_gt: [[ 0.96650905 -0.25166728 -0.05023592] [ 0.25302761 0.967192 0.02275593] [ 0.04286059 -0.03470559 0.99847756]] t_gt: [ 0.64333252 -0.7634132 -0.05765019] Pose Error in degrees for R and t: 88.86998651305694 60.246215211266296 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.44706274 0.89450119 0.00158847] [-0.89450148 -0.44705866 -0.00237792] [-0.00141691 -0.00248397 0.99999591]] t_estimated: [[0.46787529] [0.88379341] [0.00138681]] R_gt: [[ 0.99674293 0.07637908 0.02589104] [-0.07590478 0.99693676 -0.01884999] [-0.02725041 0.01682395 0.99948695]] t_gt: [-0.75079452 0.64929445 0.12134376] Pose Error in degrees for R and t: 112.19475563586964 77.13043911467796 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.61308426e-01 -2.75471835e-01 1.17393502e-03] [ 2.75474252e-01 9.61296086e-01 -4.87551679e-03] [ 2.14568412e-04 5.01026424e-03 9.99987426e-01]] t_estimated: [[-0.48069489] [-0.87687201] [-0.00528236]] R_gt: [[ 0.97108914 0.23871177 -0.00174344] [-0.23854329 0.97063433 0.03109398] [ 0.00911639 -0.02977903 0.99951446]] t_gt: [-0.70515938 0.70548431 0.07100805] Pose Error in degrees for R and t: 29.870116594750737 73.73812291656894 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.96503259e-01 -8.35533690e-02 -2.98501972e-04] [ 8.35538776e-02 -9.96499348e-01 -2.79261278e-03] [-6.41248142e-05 -2.80778874e-03 9.99996056e-01]] t_estimated: [[0.91102541] [0.4123492 ] [0.00091837]] R_gt: [[ 0.9511287 0.29932648 -0.07587805] [-0.29226369 0.95193147 0.09169854] [ 0.09967979 -0.06504042 0.99289101]] t_gt: [-0.73161963 0.67559583 -0.09112081] Pose Error in degrees for R and t: 167.55432131082037 67.16825111960675 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.56171252e-01 2.92807994e-01 1.22105092e-04] [-2.92807999e-01 9.56171258e-01 2.46560505e-05] [-1.09533891e-04 -5.93287545e-05 9.99999992e-01]] t_estimated: [[0.54380269] [0.83921264] [0.00088712]] R_gt: [[ 0.99618674 -0.07398187 0.04624605] [ 0.07513454 0.99689206 -0.02368754] [-0.04434944 0.02707256 0.99864907]] t_gt: [ 0.74099192 -0.65288563 0.1570711 ] Pose Error in degrees for R and t: 21.509032051289644 81.6733100970097 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 0.94550684 0.32560038 0.00110007] [-0.3255981 0.94550646 -0.00184713] [-0.00164155 0.0013883 0.99999769]] t_estimated: [[-0.80493729] [-0.59335915] [-0.00094035]] R_gt: [[ 0.99119267 -0.11211658 0.07048595] [ 0.11419827 0.99311299 -0.0262115 ] [-0.06706183 0.03402974 0.99716843]] t_gt: [ 0.71441092 -0.67424103 0.18712582] Pose Error in degrees for R and t: 25.846161366017313 79.91174737700916 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.7905365 0.61220321 0.01610175] [ 0.61221129 0.79067841 -0.00499877] [-0.01579157 0.00590596 -0.99985786]] t_estimated: [[ 0.9223344 ] [-0.3862895 ] [ 0.00892614]] R_gt: [[ 0.99008217 -0.12572809 0.0626942 ] [ 0.12763965 0.99144113 -0.02745513] [-0.05870544 0.03518623 0.99765503]] t_gt: [ 0.76580665 -0.63735944 0.08551675] Pose Error in degrees for R and t: 175.152179187229 17.579571778144807 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.82501458e-01 -1.86254893e-01 2.37162935e-05] [ 1.86254892e-01 9.82501456e-01 5.84136666e-05] [-3.41811242e-05 -5.29742370e-05 9.99999998e-01]] t_estimated: [[0.79017032] [0.61288679] [0.00080398]] R_gt: [[ 0.98343867 -0.17802729 -0.03398647] [ 0.17878071 0.98367396 0.02054973] [ 0.02977319 -0.02628523 0.99921025]] t_gt: [ 0.58646639 -0.808187 -0.0537675 ] Pose Error in degrees for R and t: 2.3209705232351054 88.16839881507207 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.97526919e-01 7.02853740e-02 1.12245691e-04] [-7.02853702e-02 9.97526925e-01 -3.77891686e-05] [-1.14624124e-04 2.98064830e-05 9.99999993e-01]] t_estimated: [[0.4703313 ] [0.88248906] [0.00123081]] R_gt: [[ 0.94393448 -0.32983708 -0.01398975] [ 0.3299492 0.94397557 0.00654348] [ 0.0110487 -0.01079259 0.99988071]] t_gt: [ 0.64303283 -0.76572494 -0.01319457] Pose Error in degrees for R and t: 23.310694911244827 68.0793809445304 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.91027955e-01 1.33647399e-01 1.40194332e-03] [-1.33646290e-01 9.91028725e-01 -8.57185362e-04] [-1.50392670e-03 6.62130133e-04 9.99998650e-01]] t_estimated: [[9.83640420e-01] [1.80140857e-01] [8.91786419e-04]] R_gt: [[ 0.87194129 -0.48754597 -0.04492824] [ 0.48777986 0.87294368 -0.00634488] [ 0.04231346 -0.0163813 0.99897015]] t_gt: [ 0.71765003 -0.69478238 -0.04749616] Pose Error in degrees for R and t: 36.978717117609044 54.49960812130048 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.92505711e-01 -1.22197888e-01 2.98264187e-04] [ 1.22198015e-01 9.92505638e-01 -4.50826952e-04] [-2.40938786e-04 4.83895616e-04 9.99999854e-01]] t_estimated: [[-0.59360286] [-0.80475741] [-0.00107732]] R_gt: [[ 0.9900674 0.13900466 0.02105815] [-0.13873737 0.9902345 -0.01370429] [-0.02275699 0.01064609 0.99968398]] t_gt: [-0.3850672 0.91549995 0.11654649] Pose Error in degrees for R and t: 15.068842803218018 59.44907808985876 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.10105044 0.9948787 0.0022755 ] [ 0.99487968 0.10104588 0.00203735] [ 0.00179698 0.00246972 -0.99999534]] t_estimated: [[0.66983078] [0.74251335] [0.00080413]] R_gt: [[ 0.9373903 0.34826033 -0.00372628] [-0.34823175 0.93702546 -0.02678433] [-0.00583574 0.02640502 0.99963378]] t_gt: [-0.27198246 0.96217715 -0.01551375] Pose Error in degrees for R and t: 178.92881378263982 57.84343162659911 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999374e-01 3.47446673e-04 -1.06392195e-03] [-3.46222815e-04 9.99999278e-01 1.15029578e-03] [ 1.06432085e-03 -1.14992671e-03 9.99998772e-01]] t_estimated: [[0.52900753] [0.84861625] [0.00122455]] R_gt: [[ 0.86867794 0.49477052 -0.02450853] [-0.49473817 0.86900693 0.00783121] [ 0.02517344 0.00532337 0.99966914]] t_gt: [-0.19956147 0.97902114 -0.04114396] Pose Error in degrees for R and t: 29.67179838635889 43.515066192313874 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99018963 -0.13948725 -0.00823478] [ 0.13952193 0.9902117 0.00379637] [ 0.00762463 -0.00490805 0.99995889]] t_estimated: [[-0.86176096] [-0.50727773] [-0.00611178]] R_gt: [[ 9.89460631e-01 1.44802916e-01 2.85349053e-04] [-1.44796969e-01 9.89390743e-01 1.17966781e-02] [ 1.42530265e-03 -1.17137065e-02 9.99930799e-01]] t_gt: [-0.72987165 0.68277338 0.033285 ] Pose Error in degrees for R and t: 16.356113061223407 73.59556367098018 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.44115119e-01 -3.29614731e-01 -8.78152744e-04] [ 3.29614759e-01 9.44115510e-01 -1.16137017e-04] [ 8.67358098e-04 -1.79805392e-04 9.99999608e-01]] t_estimated: [[-0.47873779] [-0.87795643] [-0.00162284]] R_gt: [[ 0.96542232 0.25379696 -0.05955798] [-0.24803474 0.96457903 0.08981209] [ 0.08024263 -0.07193461 0.99417631]] t_gt: [-0.73383784 0.67888101 -0.02454784] Pose Error in degrees for R and t: 34.359107077496574 75.83753706298377 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-9.43763750e-01 -3.30620586e-01 1.07716241e-04] [-3.30619612e-01 9.43761669e-01 2.14109260e-03] [-8.09547748e-04 1.98507248e-03 -9.99997702e-01]] t_estimated: [[9.64587376e-01] [2.63761800e-01] [9.52208664e-04]] R_gt: [[ 0.94437476 0.30083987 -0.13285667] [-0.28024296 0.94755691 0.15361996] [ 0.17210421 -0.10784347 0.97915818]] t_gt: [-0.77475295 0.60106449 -0.19616152] Pose Error in degrees for R and t: 172.5250190270237 53.91634365950669 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.96895979e-01 -7.87286829e-02 -4.49382687e-04] [ 7.87287838e-02 9.96896050e-01 2.11494344e-04] [ 4.31337154e-04 -2.46217213e-04 9.99999877e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97907699 -0.20137428 0.02928113] [ 0.20230994 0.97874632 -0.03356303] [-0.0219 0.03878462 0.99900847]] t_gt: [ 0.57115064 -0.82032388 -0.02925201] Pose Error in degrees for R and t: 7.585731195666006 35.23668161760531 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 8.73931661e-01 4.86048790e-01 -1.58051722e-04] [-4.86048523e-01 8.73931444e-01 8.15051949e-04] [ 5.34281384e-04 -6.35478898e-04 9.99999655e-01]] t_estimated: [[9.45593530e-01] [3.25349541e-01] [7.42807172e-04]] R_gt: [[ 0.93168179 -0.36169565 -0.03384679] [ 0.36075138 0.93214693 -0.0309741 ] [ 0.04275331 0.01664812 0.99894706]] t_gt: [ 0.65834173 -0.74132405 -0.13047916] Pose Error in degrees for R and t: 50.332841360265085 67.58965371650311 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999796e-01 5.23295636e-04 -3.65293818e-04] [-5.23124162e-04 9.99999753e-01 4.69351621e-04] [ 3.65539337e-04 -4.69160432e-04 9.99999823e-01]] t_estimated: [[0.99987963] [0.01546206] [0.0012885 ]] R_gt: [[ 0.86634474 -0.49925217 -0.01394668] [ 0.49900801 0.86641558 -0.01775163] [ 0.02094659 0.00841965 0.99974554]] t_gt: [ 0.70704152 -0.70558357 -0.04737209] Pose Error in degrees for R and t: 30.003858118859693 45.89419102420553 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999974e-01 1.64305702e-04 1.56286020e-04] [-1.64259584e-04 9.99999943e-01 -2.95049035e-04] [-1.56334489e-04 2.95023356e-04 9.99999944e-01]] t_estimated: [[-9.91631737e-01] [-1.29097979e-01] [-4.58524624e-04]] R_gt: [[ 0.97657342 0.21499643 0.00907414] [-0.21494605 0.97660668 -0.00620985] [-0.01019694 0.004114 0.99993914]] t_gt: [-7.15631399e-01 6.98477899e-01 5.70320186e-04] Pose Error in degrees for R and t: 12.41983162740806 51.722525011447196 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 7.66443525e-01 -6.42311690e-01 1.24362896e-04] [ 6.42311644e-01 7.66443359e-01 -5.73211501e-04] [ 2.72863332e-04 5.19213980e-04 9.99999828e-01]] t_estimated: [[-0.74111508] [-0.67137698] [-0.001182 ]] R_gt: [[ 0.88365463 0.4632145 0.06772835] [-0.45994549 0.88600353 -0.05872469] [-0.08721015 0.02074168 0.995974 ]] t_gt: [-0.62745699 0.77546388 0.07038103] Pose Error in degrees for R and t: 67.6852288979111 86.80731969259301 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.60489536 0.79627514 -0.00689228] [ 0.79626798 -0.60476118 0.01487342] [ 0.00767515 -0.01448496 -0.99986563]] t_estimated: [[-0.66070074] [-0.75064762] [-0.0016354 ]] R_gt: [[ 0.78732739 0.61291892 0.06669085] [-0.61333508 0.7896521 -0.0164595 ] [-0.06275122 -0.02794455 0.99763788]] t_gt: [-0.56175086 0.82263423 0.08780032] Pose Error in degrees for R and t: 179.46367720116575 75.72933735383685 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 0.0741152 -0.9972482 -0.00172156] [ 0.99724606 0.07411016 0.00282539] [-0.00269003 -0.00192623 0.99999453]] t_estimated: [[0.94416175] [0.32947314] [0.00245875]] R_gt: [[ 0.99558074 0.06748935 0.06529469] [-0.07155849 0.99549977 0.06211742] [-0.06080852 -0.0665154 0.99593031]] t_gt: [-0.43945943 0.12847197 0.88902776] Pose Error in degrees for R and t: 89.85163485371669 68.25929076148418 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-4.27971516e-01 -9.03785023e-01 -3.60752357e-03] [ 9.03792130e-01 -4.27966256e-01 -2.16075281e-03] [ 4.08957677e-04 -4.18519206e-03 9.99991158e-01]] t_estimated: [[0.99401813] [0.10921054] [0.00101121]] R_gt: [[ 0.9915277 0.08895445 0.09465925] [-0.10054665 0.98695688 0.1257206 ] [-0.0822417 -0.13417263 0.98753876]] t_gt: [-0.31754899 0.07374006 0.94537032] Pose Error in degrees for R and t: 121.01597259653323 72.14312477641732 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.91319826e-01 1.31472392e-01 1.08435498e-04] [-1.31472409e-01 9.91319817e-01 1.62784782e-04] [-8.60925538e-05 -1.75628058e-04 9.99999981e-01]] t_estimated: [[-0.99233906] [-0.12354019] [-0.00100439]] R_gt: [[ 0.98083581 0.1400297 0.13547091] [-0.16284579 0.9709294 0.17543508] [-0.10696644 -0.19413342 0.97512568]] t_gt: [-0.41006758 0.19537153 0.89088413] Pose Error in degrees for R and t: 12.857182027943473 67.54888412736703 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99999936e-01 -3.52587969e-04 -5.27656660e-05] [ 3.52625929e-04 9.99999678e-01 7.21128918e-04] [ 5.25113876e-05 -7.21147478e-04 9.99999739e-01]] t_estimated: [[-0.66902934] [-0.74323506] [-0.00117787]] R_gt: [[ 9.90640072e-01 -1.36499214e-01 6.93563566e-04] [ 1.36458056e-01 9.90195505e-01 -2.98593245e-02] [ 3.38865514e-03 2.96749563e-02 9.99553373e-01]] t_gt: [ 0.4221986 -0.82300125 -0.38002275] Pose Error in degrees for R and t: 8.019403144793335 70.751389674241 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.47920630e-01 3.18506536e-01 2.57252817e-04] [-3.18506078e-01 9.47920165e-01 -1.11290733e-03] [-5.98323392e-04 9.73011235e-04 9.99999348e-01]] t_estimated: [[0.60403027] [0.79695934] [0.00180308]] R_gt: [[ 0.96474718 -0.26273712 -0.0152638 ] [ 0.26182889 0.96404975 -0.04531233] [ 0.02662029 0.03971771 0.998856 ]] t_gt: [ 0.47431416 -0.82133792 -0.31690708] Pose Error in degrees for R and t: 33.89135068156998 68.36797257741897 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.99999662 0.0014147 0.00218077] [-0.00140999 0.99999668 -0.00215772] [-0.00218382 0.00215464 0.99999529]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9485474 -0.31159251 0.0562967 ] [ 0.31340354 0.94924539 -0.02665739] [-0.04513255 0.04292994 0.99805793]] t_gt: [ 0.30321982 -0.9527501 -0.01802741] Pose Error in degrees for R and t: 18.61871868621227 72.52737764274683 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.90268448 -0.42923011 0.03036854] [ 0.43020432 0.90173892 -0.04232208] [-0.00921858 0.05126816 0.99864238]] t_estimated: [[-0.21678881] [-0.97554965] [-0.03613147]] R_gt: [[ 0.98574281 -0.16819774 -0.00454207] [ 0.16818597 0.98575163 -0.00274448] [ 0.00494028 0.00194096 0.99998578]] t_gt: [ 0.80778698 -0.58882956 -0.02756721] Pose Error in degrees for R and t: 16.063052194391602 66.40248199662855 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-8.21509177e-01 -5.70194432e-01 -9.90810080e-04] [ 5.70193547e-01 -8.21509722e-01 1.04664503e-03] [-1.41075128e-03 2.94874986e-04 9.99998961e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.95985073 -0.28029876 0.01092871] [ 0.28049268 0.95860718 -0.04896084] [ 0.00324833 0.05005994 0.99874044]] t_gt: [ 0.86061375 -0.49232009 -0.13024938] Pose Error in degrees for R and t: 128.96105016091764 55.025781083293914 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 1.13256422e-01 -9.93565424e-01 8.54733537e-04] [-9.93564983e-01 -1.13255190e-01 1.37342551e-03] [-1.26778509e-03 -1.00478257e-03 -9.99998692e-01]] t_estimated: [[0.7497652 ] [0.66170096] [0.00199479]] R_gt: [[ 0.93263703 -0.35879089 0.03819376] [ 0.36078714 0.92868239 -0.08591484] [-0.00464392 0.09390651 0.99556951]] t_gt: [ 0.87721471 -0.45003051 -0.16723308] Pose Error in degrees for R and t: 177.00941265290462 68.9252362977673 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.95815100e-01 9.13907849e-02 1.07054906e-04] [-9.13907819e-02 9.95815105e-01 -3.30118926e-05] [-1.09623876e-04 2.30899095e-05 9.99999994e-01]] t_estimated: [[7.96230484e-01] [6.04992984e-01] [7.10920075e-04]] R_gt: [[ 0.99838199 -0.0562187 -0.00842029] [ 0.05625015 0.99841035 0.00360294] [ 0.00820434 -0.0040701 0.9999579 ]] t_gt: [ 0.96964108 -0.17209016 -0.17372725] Pose Error in degrees for R and t: 8.484188890446955 48.10089418566078 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.83557129 0.54936868 0.00383185] [ 0.54935668 -0.83544539 -0.0154349 ] [-0.00527815 0.01500202 -0.99987353]] t_estimated: [[-0.06855793] [ 0.99762215] [-0.00706139]] R_gt: [[ 0.98949363 -0.11170024 0.09178232] [ 0.12208678 0.98563862 -0.11666785] [-0.07743272 0.12664824 0.988921 ]] t_gt: [ 0.6624605 0.23199399 -0.71226741] Pose Error in degrees for R and t: 170.9832245225988 78.98563947143458 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 8.94938841e-01 4.46188790e-01 1.87096133e-04] [-4.46188617e-01 8.94938745e-01 -6.01061516e-04] [-4.35626489e-04 4.54433132e-04 9.99999802e-01]] t_estimated: [[-0.30997222] [-0.95074483] [-0.00122519]] R_gt: [[ 0.98055856 -0.12049286 0.15487291] [ 0.14886834 0.97099479 -0.18710092] [-0.12783793 0.20652015 0.97005497]] t_gt: [ 0.48070262 0.27966336 -0.83109169] Pose Error in degrees for R and t: 37.02809470669294 65.55152893038884 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99945802e-01 1.04111787e-02 4.73370447e-06] [-1.04111788e-02 9.99945801e-01 3.87797711e-05] [-4.32970478e-06 -3.88269527e-05 9.99999999e-01]] t_estimated: [[0.64465123] [0.76447629] [0.0008895 ]] R_gt: [[ 9.99855089e-01 5.59922977e-03 -1.60915171e-02] [-5.61596250e-03 9.99983360e-01 -9.76938422e-04] [ 1.60855388e-02 1.06773000e-03 9.99869478e-01]] t_gt: [0.41150676 0.91122506 0.01819543] Pose Error in degrees for R and t: 0.9654455729103549 15.865838652355626 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-8.33456706e-01 -5.52584610e-01 -4.09870232e-04] [-5.52583058e-01 8.33452065e-01 3.10158002e-03] [-1.37227820e-03 2.81152002e-03 -9.99995106e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99760365 -0.06440741 0.02528297] [ 0.06569952 0.99637065 -0.05412051] [-0.0217054 0.05565202 0.99821396]] t_gt: [ 0.76358161 0.36143249 -0.53507913] Pose Error in degrees for R and t: 179.58374779326346 40.15669659268691 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.85791172e-01 4.64083870e-01 4.00285948e-04] [-4.64083420e-01 8.85791067e-01 -8.74495181e-04] [-7.60408826e-04 5.88854040e-04 9.99999538e-01]] t_estimated: [[0.51843549] [0.85511613] [0.00101988]] R_gt: [[ 0.99030336 -0.07979972 0.11372009] [ 0.0983174 0.98089621 -0.16786064] [-0.09815233 0.1774136 0.979229 ]] t_gt: [ 0.35578511 0.56620085 -0.74352778] Pose Error in degrees for R and t: 34.76427458584215 48.09782571526813 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999908e-01 -4.28341849e-04 -1.46426734e-06] [ 4.28342280e-04 9.99999861e-01 3.08552177e-04] [ 1.33210132e-06 -3.08552776e-04 9.99999952e-01]] t_estimated: [[0.65605255] [0.7547143 ] [0.00116962]] R_gt: [[ 0.99390169 -0.10856623 0.01933072] [ 0.10943888 0.9926294 -0.05206492] [-0.01353639 0.05386324 0.99845643]] t_gt: [ 0.83012523 -0.4906337 -0.26489749] Pose Error in degrees for R and t: 7.0104318935673104 79.97908362919351 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.72498277 -0.68875383 -0.00425965] [ 0.68875581 0.72499238 -0.001218 ] [ 0.00392711 -0.00205083 0.99999019]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98283958 -0.17497786 0.05838266] [ 0.17955321 0.9800301 -0.08544678] [-0.04226615 0.09446309 0.99463135]] t_gt: [ 0.84097016 -0.49860525 -0.21014753] Pose Error in degrees for R and t: 33.831430710804774 67.9235092720848 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-7.41464673e-01 -6.70990382e-01 -1.43000096e-03] [-6.70991848e-01 7.41462035e-01 1.99770049e-03] [-2.80146394e-04 2.44074333e-03 -9.99996982e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97611894 -0.17967013 0.12210824] [ 0.19798209 0.96712134 -0.15962088] [-0.08941438 0.17998407 0.97959715]] t_gt: [ 0.82333914 -0.42965818 -0.37081869] Pose Error in degrees for R and t: 177.8444086745129 66.2444489535755 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.99999835e-01 -5.25302558e-04 2.32421884e-04] [ 5.25414891e-04 9.99999745e-01 -4.83517213e-04] [-2.32167832e-04 4.83639251e-04 9.99999856e-01]] t_estimated: [[0.98579489] [0.16794787] [0.00139407]] R_gt: [[ 0.98999368 -0.13111564 0.05215991] [ 0.13190167 0.99119124 -0.01188904] [-0.05014171 0.01865001 0.99856674]] t_gt: [ 0.18830013 -0.94315346 0.27386969] Pose Error in degrees for R and t: 8.124261431436244 88.41806395658129 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999969e-01 2.39598457e-04 -6.51281139e-05] [-2.39619240e-04 9.99999920e-01 -3.19287850e-04] [ 6.50516078e-05 3.19303446e-04 9.99999947e-01]] t_estimated: [[-0.74823188] [-0.66343626] [-0.00117468]] R_gt: [[ 0.97353892 -0.22153818 0.05605465] [ 0.2205991 0.97510519 0.02249902] [-0.05964425 -0.00953817 0.99817289]] t_gt: [ 0.21577056 -0.93168529 0.29224234] Pose Error in degrees for R and t: 13.25816853676649 62.849838054909775 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.68571031 0.72775393 0.01325088] [ 0.72784441 0.68573396 0.00338411] [-0.00662378 0.0119651 -0.99990648]] t_estimated: [[8.73077344e-01] [4.87581215e-01] [7.13881721e-04]] R_gt: [[ 0.92974481 -0.36476067 0.05022943] [ 0.36629368 0.93015189 -0.02542308] [-0.03744728 0.04203573 0.99841349]] t_gt: [ 0.44600201 -0.89434038 -0.03517788] Pose Error in degrees for R and t: 176.17273754963705 87.32363297652795 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-3.42380344e-01 -9.39559538e-01 1.89088631e-03] [-9.39561277e-01 3.42380778e-01 -9.88572258e-05] [-5.54520877e-04 -1.81045032e-03 -9.99998207e-01]] t_estimated: [[0.82554111] [0.56433953] [0.00166589]] R_gt: [[ 0.99958549 0.02877601 0.0012786 ] [-0.0286745 0.99828327 -0.051063 ] [-0.00274552 0.051005 0.99869507]] t_gt: [-0.49159827 0.28057562 -0.82438369] Pose Error in degrees for R and t: 178.5029945181548 75.58946366306651 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-3.79962961e-01 -9.25001259e-01 9.04672202e-04] [-9.24996919e-01 3.79957669e-01 -3.58749723e-03] [ 2.97470232e-03 -2.19993507e-03 -9.99993156e-01]] t_estimated: [[8.29443374e-01] [5.58590364e-01] [7.03514312e-04]] R_gt: [[ 0.99593576 -0.08966304 0.00854247] [ 0.090051 0.99310859 -0.07499714] [-0.0017582 0.07546215 0.9971479 ]] t_gt: [ 0.7719716 -0.03293201 -0.63480339] Pose Error in degrees for R and t: 177.76127370611542 51.576831524543024 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.95300129e-01 9.68380955e-02 1.89905348e-04] [-9.68380842e-02 9.95300146e-01 -6.77149316e-05] [-1.95570206e-04 4.90066101e-05 9.99999980e-01]] t_estimated: [[ 9.95829693e-01] [-9.12308301e-02] [-3.96568338e-04]] R_gt: [[ 0.96439697 -0.26427835 0.00975904] [ 0.26424036 0.9614487 -0.07610168] [ 0.01072904 0.07597191 0.99705284]] t_gt: [ 0.95729373 -0.08196321 -0.27725575] Pose Error in degrees for R and t: 21.355710966049426 16.077280584777267 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99954746e-01 -9.51228434e-03 -1.52092880e-04] [ 9.51228545e-03 9.99954757e-01 6.56342624e-06] [ 1.52023565e-04 -8.00988010e-06 9.99999988e-01]] t_estimated: [[-0.82053882] [-0.57158881] [-0.0015074 ]] R_gt: [[ 0.99423066 0.10202859 -0.03310301] [-0.1009952 0.99438758 0.03152765] [ 0.03613351 -0.02800193 0.99895426]] t_gt: [-0.72961963 0.68069329 -0.06566461] Pose Error in degrees for R and t: 6.8886509043579744 77.89501999295449 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 5.80496985e-01 8.14261972e-01 8.31415632e-04] [-8.14261926e-01 5.80497444e-01 -4.82011535e-04] [-8.75118313e-04 -3.97183851e-04 9.99999538e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96760472 0.25033699 -0.03273663] [-0.2490826 0.96773427 0.0380623 ] [ 0.04120785 -0.02867488 0.99873934]] t_gt: [-0.65046684 0.75795396 -0.04897639] Pose Error in degrees for R and t: 40.14698349981107 41.0766688733529 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 4.16577861e-01 -9.09098941e-01 -1.41482771e-03] [ 9.09088153e-01 4.16579868e-01 -4.46588327e-03] [ 4.64931849e-03 5.74184993e-04 9.99989027e-01]] t_estimated: [[-0.07797295] [-0.99693992] [-0.0055695 ]] R_gt: [[ 0.91055414 0.412004 -0.03383584] [-0.4111667 0.91109539 0.02910518] [ 0.04281796 -0.01258967 0.9990032 ]] t_gt: [-0.57997464 0.81253348 -0.05847014] Pose Error in degrees for R and t: 89.72430608389462 40.13755187769488 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 8.09470048e-01 5.87161169e-01 -4.90918378e-05] [-5.87161055e-01 8.09469833e-01 -6.96041835e-04] [-3.68950376e-04 5.92249833e-04 9.99999757e-01]] t_estimated: [[5.87860801e-01] [8.08961843e-01] [6.44999969e-04]] R_gt: [[ 0.98881685 -0.14870351 -0.01131627] [ 0.14837619 0.98859607 -0.02572767] [ 0.01501245 0.02376126 0.99960546]] t_gt: [ 0.74853997 -0.64807812 -0.14029495] Pose Error in degrees for R and t: 44.52639807769819 85.16286639708588 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 8.75977038e-01 -4.82352789e-01 1.26018907e-04] [ 4.82352755e-01 8.75977036e-01 2.27117397e-04] [-2.19940379e-04 -1.38164058e-04 9.99999966e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96299397 -0.26794748 0.02907828] [ 0.26862756 0.96297643 -0.02267791] [-0.02192512 0.02965077 0.9993202 ]] t_gt: [ 0.76921622 -0.6389855 0.00198564] Pose Error in degrees for R and t: 13.438026911247523 39.89398481548196 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99999809 0.00132752 0.00143488] [-0.00132562 0.99999824 -0.00132472] [-0.00143664 0.00132281 0.99999809]] t_estimated: [[9.95833670e-01] [9.11847698e-02] [7.99866401e-04]] R_gt: [[ 0.9069869 -0.42049601 -0.02359024] [ 0.42045023 0.90728739 -0.00710463] [ 0.02438989 -0.00347417 0.99969657]] t_gt: [ 0.82710828 -0.56074545 -0.03816341] Pose Error in degrees for R and t: 24.9884457151913 39.42105248794282 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.92957442e-01 -1.18471197e-01 -3.06447021e-04] [ 1.18471181e-01 9.92957489e-01 -7.09625497e-05] [ 3.12695882e-04 3.41576514e-05 9.99999951e-01]] t_estimated: [[-0.65393688] [-0.75654779] [-0.00141589]] R_gt: [[ 9.92239543e-01 1.24342697e-01 -1.74207798e-04] [-1.24211899e-01 9.91126945e-01 -4.73206576e-02] [-5.71184793e-03 4.69756430e-02 9.98879922e-01]] t_gt: [-0.37472004 0.91184214 -0.16771643] Pose Error in degrees for R and t: 14.206491051172499 63.6040777150052 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-9.99900424e-01 1.39152254e-02 -2.34710427e-03] [-1.39175798e-02 -9.99902656e-01 9.89773234e-04] [-2.33310288e-03 1.02234069e-03 9.99996756e-01]] t_estimated: [[0.69067786] [0.72316215] [0.00077344]] R_gt: [[ 0.96771862 0.250928 -0.02360218] [-0.25202643 0.96260373 -0.0993905 ] [-0.00222036 0.1021304 0.99476812]] t_gt: [-0.29324614 0.93528707 -0.198103 ] Pose Error in degrees for R and t: 164.6119413069191 61.727056467186735 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.92328560e-01 1.23628510e-01 -1.40749619e-04] [-1.23628511e-01 9.92328570e-01 7.41736395e-07] [ 1.39761568e-04 1.66646197e-05 9.99999990e-01]] t_estimated: [[-9.88220630e-01] [-1.53035452e-01] [-3.69195921e-04]] R_gt: [[ 0.93993634 0.34070695 -0.02095225] [-0.34082073 0.93328226 -0.11325434] [-0.01903312 0.11359304 0.99334481]] t_gt: [-0.27604947 0.95362591 -0.11997633] Pose Error in degrees for R and t: 14.482117870565848 82.70930610945628 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.31332059e-01 -3.64165697e-01 -1.98527647e-03] [ 3.64167192e-01 9.31333486e-01 4.39704873e-04] [ 1.68882903e-03 -1.13248380e-03 9.99997933e-01]] t_estimated: [[8.06825132e-01] [5.90789988e-01] [6.29840072e-04]] R_gt: [[ 0.98518444 -0.16992492 0.02318071] [ 0.16923648 0.98515044 0.02895024] [-0.02775498 -0.02459748 0.99931251]] t_gt: [ 0.54737699 -0.798651 0.25007002] Pose Error in degrees for R and t: 11.789907676711957 88.2785761614335 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999980e-01 -1.69698401e-04 -1.03175080e-04] [ 1.69732890e-04 9.99999930e-01 3.34356811e-04] [ 1.03118333e-04 -3.34374317e-04 9.99999939e-01]] t_estimated: [[-5.98135821e-01] [-8.01394354e-01] [-7.93726704e-04]] R_gt: [[ 0.97104972 -0.23887543 -0.00118331] [ 0.23876991 0.97045226 0.03479251] [-0.00716244 -0.0340668 0.99939386]] t_gt: [ 0.59009464 -0.79779485 0.12374042] Pose Error in degrees for R and t: 13.951638347536413 73.36382719091729 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 2.98079841e-01 9.54534555e-01 3.49156856e-03] [ 9.54540939e-01 -2.98078108e-01 -1.01874668e-03] [ 6.83312378e-05 3.63651298e-03 -9.99993386e-01]] t_estimated: [[0.64652138] [0.76289522] [0.00099465]] R_gt: [[ 0.89469881 -0.44543032 0.03328103] [ 0.44439388 0.89517664 0.03423447] [-0.04504034 -0.01583847 0.99885985]] t_gt: [ 0.67995576 -0.72470855 0.11161399] Pose Error in degrees for R and t: 179.63740844467063 83.50250707236914 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99998603e-01 -1.64472473e-03 -2.96655888e-04] [ 1.64470857e-03 9.99998646e-01 -5.47057539e-05] [ 2.96745462e-04 5.42177651e-05 9.99999955e-01]] t_estimated: [[-0.99406128] [-0.10880982] [-0.00161038]] R_gt: [[ 0.98985961 0.14204065 0.00161667] [-0.1419904 0.98904751 0.04030356] [ 0.00412546 -0.04012411 0.99918657]] t_gt: [-0.44524404 0.88973992 0.1006013 ] Pose Error in degrees for R and t: 8.57940395810211 69.78002199269451 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 6.62311745e-01 -7.49226199e-01 -1.80419987e-03] [ 7.49226721e-01 6.62313420e-01 -5.04176309e-04] [ 1.57268789e-03 -1.01783286e-03 9.99998245e-01]] t_estimated: [[ 0.82626446] [-0.56328177] [-0.00082963]] R_gt: [[ 9.68780844e-01 2.47917323e-01 6.74125239e-04] [-2.47918434e-01 9.68769329e-01 4.74896201e-03] [ 5.24470376e-04 -4.76799337e-03 9.99988568e-01]] t_gt: [-0.37778261 0.92581577 -0.01206068] Pose Error in degrees for R and t: 62.87844772380134 33.52618585016776 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.47344654 -0.62875218 0.61686228] [-0.71891241 -0.12880823 -0.68306178] [ 0.50893352 -0.76686318 -0.39103393]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.92901377 0.36982487 -0.0127577 ] [-0.37003885 0.92822944 -0.03823228] [-0.00229719 0.0402391 0.99918747]] t_gt: [-0.2868204 0.95586161 -0.06373889] Pose Error in degrees for R and t: 164.84043385598568 62.45972323467463 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999977e-01 -2.13753926e-04 3.00491795e-05] [ 2.13755143e-04 9.99999976e-01 -4.05193305e-05] [-3.00405176e-05 4.05257527e-05 9.99999999e-01]] t_estimated: [[0.70861388] [0.7055961 ] [0.00071683]] R_gt: [[ 0.99362166 -0.11134021 -0.01790706] [ 0.1117086 0.99351726 0.02106304] [ 0.01544652 -0.0229286 0.99961792]] t_gt: [ 0.52485212 -0.85112374 -0.01089187] Pose Error in degrees for R and t: 6.5859890077938195 76.78298927501584 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999802e-01 5.59831039e-04 2.88337386e-04] [-5.59746427e-04 9.99999800e-01 -2.93445949e-04] [-2.88501608e-04 2.93284495e-04 9.99999915e-01]] t_estimated: [[-9.98183651e-01] [ 6.02431217e-02] [-4.07410744e-04]] R_gt: [[ 0.95066492 -0.30785746 0.03822226] [ 0.30777305 0.95142388 0.00821797] [-0.03889505 0.00395136 0.99923514]] t_gt: [ 0.61099787 -0.78478183 0.10391865] Pose Error in degrees for R and t: 18.10291505843657 48.912705362855846 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 4.93375178e-01 8.69809295e-01 3.56690293e-03] [ 8.69816607e-01 -4.93370752e-01 -2.09081549e-03] [-5.88051694e-05 4.13410787e-03 -9.99991453e-01]] t_estimated: [[-0.99316448] [-0.11669683] [-0.00248291]] R_gt: [[ 8.80465284e-01 -4.74108252e-01 -9.28559967e-04] [ 4.74070123e-01 8.80363807e-01 1.47543093e-02] [-6.17716809e-03 -1.34310721e-02 9.99890195e-01]] t_gt: [ 0.70230034 -0.71129719 0.02881915] Pose Error in degrees for R and t: 179.5817292118796 52.07966772698653 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 0.3630378 0.93167726 0.01345507] [ 0.93168238 -0.36276115 -0.01929468] [-0.01309543 0.01954055 -0.9997233 ]] t_estimated: [[-0.56952428] [ 0.82189391] [-0.01151083]] R_gt: [[ 0.99389586 -0.07929076 0.07670466] [ 0.08407139 0.99457623 -0.06124313] [-0.07143308 0.0673181 0.99517076]] t_gt: [ 0.72826414 -0.61762505 -0.29693541] Pose Error in degrees for R and t: 173.2041567280886 23.22426737320743 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99986636e-01 -5.16918876e-03 8.27931274e-05] [ 5.16918883e-03 9.99986640e-01 -6.45568457e-07] [-8.27886842e-05 1.07353314e-06 9.99999997e-01]] t_estimated: [[ 5.15016491e-01] [-8.57180269e-01] [-2.74840681e-05]] R_gt: [[ 0.99027276 -0.10626386 0.08982278] [ 0.11165654 0.99209421 -0.05728623] [-0.08302554 0.06675819 0.9943088 ]] t_gt: [ 0.76832335 -0.62433016 -0.14103575] Pose Error in degrees for R and t: 8.546690681655795 21.429697626192837 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.97657060e-01 -6.84104516e-02 6.33773899e-04] [ 6.84111929e-02 9.97656448e-01 -1.23282352e-03] [-5.47950604e-04 1.27329232e-03 9.99999039e-01]] t_estimated: [[-0.80626226] [-0.59155719] [-0.00111826]] R_gt: [[ 0.97989179 -0.1097408 0.16664024] [ 0.12578247 0.98806191 -0.08894901] [-0.15489009 0.10812152 0.98199721]] t_gt: [ 0.80766215 -0.58374088 -0.08323727] Pose Error in degrees for R and t: 11.203182488759172 72.19500466781616 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-6.43017836e-01 -7.65850889e-01 -6.91838373e-04] [-7.65849116e-01 6.43013715e-01 2.91453305e-03] [-1.78723617e-03 2.40394054e-03 -9.99995513e-01]] t_estimated: [[9.75207634e-01] [2.21289748e-01] [9.57964277e-04]] R_gt: [[ 9.90939670e-01 -1.30246678e-01 3.27591491e-02] [ 1.30144628e-01 9.91481341e-01 5.21796502e-03] [-3.31608133e-02 -9.06120475e-04 9.99449131e-01]] t_gt: [ 0.68784436 -0.70102062 0.18825573] Pose Error in degrees for R and t: 178.1632469316026 58.946198687000134 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.94210057 0.33532828 -0.0012105 ] [-0.33532567 0.94210026 0.00194602] [ 0.00179296 -0.00142743 0.99999737]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.96298805 -0.26930078 0.0114466 ] [ 0.2691043 0.9629751 0.01615943] [-0.01537518 -0.01248095 0.99980406]] t_gt: [ 0.76500116 -0.6414456 0.0576261 ] Pose Error in degrees for R and t: 35.22839669321831 41.04156487102623 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.73245773e-01 2.29761047e-01 1.58967368e-03] [-2.29759154e-01 9.73246665e-01 -1.28838719e-03] [-1.84316580e-03 8.88675307e-04 9.99997906e-01]] t_estimated: [[0.75733231] [0.65302906] [0.00090698]] R_gt: [[ 0.88998882 -0.45500588 -0.02983619] [ 0.45536499 0.89028297 0.00625044] [ 0.02371777 -0.01914921 0.99953541]] t_gt: [ 0.83411213 -0.55124549 -0.01963065] Pose Error in degrees for R and t: 40.408115932856674 74.23437332570379 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99923628e-01 -1.23583315e-02 -9.79223898e-05] [ 1.23583152e-02 9.99923619e-01 -1.64993900e-04] [ 9.99539598e-05 1.63771144e-04 9.99999982e-01]] t_estimated: [[0.60044858] [0.79966282] [0.00093528]] R_gt: [[ 0.99124287 0.13174906 -0.00899823] [-0.13180312 0.99126075 -0.00562322] [ 0.00817869 0.00675886 0.99994404]] t_gt: [-0.61401323 0.78354337 -0.09511858] Pose Error in degrees for R and t: 8.301721604314181 75.06054688546577 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.92134080e-01 -1.25179465e-01 -2.62943428e-04] [ 1.25179526e-01 9.92134080e-01 2.30755451e-04] [ 2.31989292e-04 -2.61855480e-04 9.99999939e-01]] t_estimated: [[-8.03045841e-01] [-5.95916750e-01] [-7.77548701e-04]] R_gt: [[ 9.74199732e-01 2.21783816e-01 -4.18149081e-02] [-2.21618290e-01 9.75095677e-01 8.63176978e-03] [ 4.26879055e-02 8.57233576e-04 9.99088173e-01]] t_gt: [-0.59389047 0.78767854 -0.16387994] Pose Error in degrees for R and t: 20.151634705983202 89.56123260597602 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 7.19140826e-01 -6.94862553e-01 1.58253413e-03] [-6.94863863e-01 -7.19141163e-01 4.47149059e-04] [ 8.27358298e-04 -1.42120892e-03 -9.99998648e-01]] t_estimated: [[0.16349087] [0.98654421] [0.0011198 ]] R_gt: [[ 0.93687861 0.34672047 -0.04520104] [-0.34485004 0.93760865 0.04437509] [ 0.0577673 -0.02598742 0.99799174]] t_gt: [-0.58058614 0.80994589 -0.08311069] Pose Error in degrees for R and t: 179.15384352847883 45.24845835894069 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.55643327e-01 2.94526043e-01 4.92324720e-04] [-2.94525929e-01 9.55643444e-01 -2.92203616e-04] [-5.56548466e-04 1.34240040e-04 9.99999836e-01]] t_estimated: [[0.77322401] [0.63413218] [0.00100629]] R_gt: [[ 0.97275767 -0.22893919 0.03645993] [ 0.22746408 0.97294243 0.04054302] [-0.04475606 -0.03114469 0.99851242]] t_gt: [ 0.67729665 -0.69432865 0.24326317] Pose Error in degrees for R and t: 30.485683978317518 85.20156152519483 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99074361 0.13571124 0.0030917 ] [-0.13569203 0.99073437 -0.00575146] [-0.00384359 0.0052787 0.99997868]] t_estimated: [[-0.0952863 ] [-0.99530014] [-0.01726728]] R_gt: [[ 0.91350676 -0.40672081 0.00909652] [ 0.40508762 0.9114464 0.07190105] [-0.03753552 -0.06199758 0.99736974]] t_gt: [ 0.77555116 -0.60398604 0.18363349] Pose Error in degrees for R and t: 32.077094638207605 58.39386272944448 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 8.96162578e-01 -4.43724374e-01 -1.14627759e-03] [ 4.43724456e-01 8.96163249e-01 -1.95933528e-04] [ 1.11419233e-03 -3.33043103e-04 9.99999324e-01]] t_estimated: [[ 9.79543681e-01] [-2.01229795e-01] [-8.64411121e-04]] R_gt: [[ 0.89560571 -0.44463706 0.01371203] [ 0.44212081 0.89309975 0.08308183] [-0.04918792 -0.06834645 0.99644764]] t_gt: [ 0.77815573 -0.59395452 0.20418544] Pose Error in degrees for R and t: 4.8528332031617545 28.16616308612986 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.99956247e-01 -9.35426098e-03 -3.19528959e-05] [ 9.35426095e-03 9.99956248e-01 -1.15790208e-06] [ 3.19623292e-05 8.58955691e-07 9.99999999e-01]] t_estimated: [[-7.96395343e-01] [-6.04776129e-01] [-5.40279911e-04]] R_gt: [[ 0.99843675 0.05180658 -0.02097364] [-0.05231319 0.99833391 -0.0243496 ] [ 0.01967621 0.02540914 0.99948297]] t_gt: [-0.4779515 0.65968961 -0.57997584] Pose Error in degrees for R and t: 3.972988660596372 88.9678849348145 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.21774157 0.97596535 0.00895793] [-0.97599907 -0.21776646 0.00189113] [ 0.00379641 -0.00833116 0.99995809]] t_estimated: [[0.72655861] [0.68710409] [0.00074442]] R_gt: [[ 0.98670472 0.15909817 -0.03319509] [-0.15988501 0.98687788 -0.02254863] [ 0.0291719 0.02755708 0.99919417]] t_gt: [-0.56969921 0.78001316 -0.2588866 ] Pose Error in degrees for R and t: 93.43235565710285 83.00182947774876 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.98313952e-01 5.80452206e-02 -7.82995790e-05] [-5.80452215e-02 9.98313955e-01 -9.15973534e-06] [ 7.76358835e-05 1.36892080e-05 9.99999997e-01]] t_estimated: [[-9.97103319e-01] [-7.60581060e-02] [-3.69193165e-04]] R_gt: [[ 0.96147273 0.26901514 -0.05658065] [-0.27017943 0.96270978 -0.01388443] [ 0.05073548 0.02863627 0.99830062]] t_gt: [-0.55323126 0.80194771 -0.22542192] Pose Error in degrees for R and t: 12.768060055543195 60.61225950072092 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99636773e-01 2.69502671e-02 -6.78108365e-05] [-2.69502669e-02 9.99636776e-01 5.01424408e-06] [ 6.79213411e-05 -3.18490264e-06 9.99999998e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99725902 0.06722348 0.03089791] [-0.06571836 0.99671122 -0.04741253] [-0.0339835 0.04525251 0.99839726]] t_gt: [-0.84100703 0.33823962 -0.4222572 ] Pose Error in degrees for R and t: 3.961553489877109 61.82599122674568 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99977503e-01 6.70627196e-03 -1.42327389e-04] [-6.70627005e-03 9.99977513e-01 1.39139816e-05] [ 1.42417500e-04 -1.29591826e-05 9.99999990e-01]] t_estimated: [[-0.83923331] [-0.5437707 ] [-0.00093352]] R_gt: [[ 0.99370668 0.10736003 0.03193994] [-0.10378281 0.98975709 -0.09803788] [-0.04213852 0.09410616 0.9946696 ]] t_gt: [-0.75671798 0.35927819 -0.5461658 ] Pose Error in degrees for R and t: 8.212217784105956 63.882856776482804 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 1.09422189e-01 -9.93994365e-01 -1.40976590e-03] [-9.93995268e-01 -1.09421443e-01 -5.95633465e-04] [ 4.37797688e-04 1.46647615e-03 -9.99998829e-01]] t_estimated: [[8.06552520e-01] [5.91161934e-01] [7.74786283e-04]] R_gt: [[ 0.9990486 -0.00818287 0.04281962] [ 0.01277968 0.99404746 -0.10820314] [-0.04167948 0.10864827 0.99320499]] t_gt: [-0.0236797 0.22583939 -0.97387671] Pose Error in degrees for R and t: 176.9034780033608 83.47399356126968 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.92503050e-01 -1.22218761e-01 -5.20108869e-04] [ 1.22218956e-01 9.92503097e-01 3.60770705e-04] [ 4.72116714e-04 -4.21633188e-04 9.99999800e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9961181 0.0874105 -0.01048643] [-0.08749521 0.99613294 -0.00798896] [ 0.00974694 0.00887609 0.99991238]] t_gt: [-0.79272982 0.59647818 -0.12567104] Pose Error in degrees for R and t: 12.060625906544235 37.723405896828424 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.98774811e-01 -4.94854371e-02 2.61913667e-04] [ 4.94858902e-02 9.98772461e-01 -2.17200812e-03] [-1.54109387e-04 2.18230803e-03 9.99997607e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9650951 0.26185845 0.00466616] [-0.26186915 0.96510194 0.0016671 ] [-0.0040674 -0.00283013 0.99998801]] t_gt: [-0.74051142 0.67168618 0.02192081] Pose Error in degrees for R and t: 18.020611925268902 42.404030618850676 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.78237135e-01 -4.78224858e-01 7.21397646e-04] [ 4.78225335e-01 8.78235220e-01 -1.85095985e-03] [ 2.51618189e-04 1.97057230e-03 9.99998027e-01]] t_estimated: [[0.37290082] [0.9278707 ] [0.00097363]] R_gt: [[ 0.92299438 0.38468575 0.00988228] [-0.38447164 0.92295323 -0.01838985] [-0.016196 0.0131751 0.99978217]] t_gt: [-0.66843773 0.74376761 0.0008628 ] Pose Error in degrees for R and t: 51.20061631490374 63.841232507277674 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999999e-01 -3.39439534e-05 2.49825108e-05] [ 3.39439569e-05 9.99999999e-01 -1.40696570e-07] [-2.49825060e-05 1.41544576e-07 1.00000000e+00]] t_estimated: [[-0.63131012] [-0.77552974] [-0.00107381]] R_gt: [[ 9.88931909e-01 -1.41365042e-01 4.50504292e-02] [ 1.41187140e-01 9.89957657e-01 7.11140156e-03] [-4.56033575e-02 -6.72175841e-04 9.98959373e-01]] t_gt: [ 0.67809776 -0.70951859 0.19174669] Pose Error in degrees for R and t: 8.533066290062884 82.99494609790912 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 5.15268580e-01 -8.57028104e-01 -1.05822054e-03] [ 8.57024856e-01 5.15269567e-01 -2.38104210e-03] [ 2.58588883e-03 3.19954878e-04 9.99996605e-01]] t_estimated: [[ 0.99410006] [-0.10846151] [-0.00108122]] R_gt: [[ 0.95777555 -0.28704482 0.01647591] [ 0.28611125 0.95718579 0.0439892 ] [-0.02839762 -0.03741782 0.99889613]] t_gt: [ 0.76605326 -0.63094625 0.1227568 ] Pose Error in degrees for R and t: 42.41254183652431 33.91828493142328 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 5.67391229e-01 8.23448155e-01 5.74379038e-04] [-8.23445048e-01 5.67390789e-01 -2.43853334e-03] [-2.33390315e-03 9.10632853e-04 9.99996862e-01]] t_estimated: [[-9.93002915e-01] [-1.18087442e-01] [-7.52958915e-04]] R_gt: [[ 0.91751164 -0.39759368 0.00959465] [ 0.39677877 0.91674691 0.04628273] [-0.02719829 -0.03865761 0.99888231]] t_gt: [ 0.80891914 -0.57885585 0.10283832] Pose Error in degrees for R and t: 78.88906135503143 42.694398359241184 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.46614023 -0.8846961 -0.00510909] [-0.88470382 -0.46610574 -0.00667746] [ 0.00352614 0.00763266 -0.99996465]] t_estimated: [[ 0.57158939] [ 0.82053366] [-0.00317495]] R_gt: [[ 0.99100515 -0.00651956 0.13367065] [ 0.0076913 0.99993637 -0.00825458] [-0.133609 0.00920819 0.99099165]] t_gt: [-0.06215776 -0.00164267 0.99806499] Pose Error in degrees for R and t: 176.94124621858646 87.70495456215164 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.00832567 0.99996474 -0.00109355] [-0.9999645 -0.00832708 -0.0012861 ] [-0.00129516 0.0010828 0.99999858]] t_estimated: [[5.23708777e-03] [9.99986239e-01] [3.09287453e-04]] R_gt: [[ 0.97223729 -0.02634296 0.23251162] [ 0.03664311 0.99852334 -0.04009196] [-0.23111195 0.04749823 0.97176731]] t_gt: [ 0.14545655 -0.03918138 0.98858849] Pose Error in degrees for R and t: 93.08053527649227 87.81573899278663 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.01773358 0.99983207 0.00462125] [ 0.99983833 -0.01771957 -0.00305489] [-0.00297249 0.00467468 -0.99998466]] t_estimated: [[ 0.99999746] [-0.00150741] [ 0.00167283]] R_gt: [[ 0.96543561 -0.08533117 0.24628126] [ 0.10095574 0.99355663 -0.0515031 ] [-0.24029908 0.07458628 0.9678295 ]] t_gt: [ 0.56290864 -0.2872753 0.77498823] Pose Error in degrees for R and t: 167.20254887125455 55.62293461192727 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99753921e-01 2.21830731e-02 9.77829519e-05] [-2.21830671e-02 9.99753924e-01 -6.24321752e-05] [-9.91438274e-05 6.02476861e-05 9.99999993e-01]] t_estimated: [[-5.93653258e-01] [-8.04720583e-01] [-7.70026086e-04]] R_gt: [[ 9.99132140e-01 -3.31720212e-02 2.51954693e-02] [ 3.31972787e-02 9.99448927e-01 -5.92467888e-04] [-2.51625294e-02 1.42964647e-03 9.99681767e-01]] t_gt: [ 0.75386553 -0.61495719 0.23133182] Pose Error in degrees for R and t: 3.483899387875074 87.29716647165918 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-0.79809876 -0.60252161 -0.002466 ] [-0.60252552 0.79809851 0.00132609] [ 0.00116912 0.00254418 -0.99999608]] t_estimated: [[0.68059771] [0.73265693] [0.00076558]] R_gt: [[ 0.99494201 -0.02556125 0.09714694] [ 0.02854002 0.99915957 -0.02940014] [-0.0963142 0.0320248 0.99483536]] t_gt: [0.57052267 0.03767924 0.82041706] Pose Error in degrees for R and t: 175.40445845074854 65.38426528847413 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.83531518 -0.54976002 0.00353113] [-0.5497664 0.8353177 -0.00111765] [-0.00233517 -0.00287489 -0.99999314]] t_estimated: [[ 0.99962975] [-0.02676612] [ 0.00489296]] R_gt: [[ 0.99077391 0.0534621 0.12453077] [-0.04293958 0.99539442 -0.08570724] [-0.12853917 0.07957033 0.98850648]] t_gt: [-0.19502944 0.97935015 0.05326163] Pose Error in degrees for R and t: 174.21528641821163 77.23751146314086 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 8.02490510e-01 5.96664361e-01 -7.87934656e-04] [-5.96664410e-01 8.02490837e-01 1.97789338e-04] [ 7.50324190e-04 3.11408500e-04 9.99999670e-01]] t_estimated: [[0.50245742] [0.86460093] [0.00133632]] R_gt: [[ 0.99929514 0.03635102 0.00940664] [-0.03643637 0.99929644 0.00893791] [-0.00907552 -0.00927314 0.99991599]] t_gt: [0.00932088 0.89744896 0.44101983] Pose Error in degrees for R and t: 34.55414801022035 38.628698210654505 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.88844163 -0.4589364 -0.0069896 ] [ 0.45897149 0.88843886 0.00464294] [ 0.00407902 -0.007333 0.99996479]] t_estimated: [[-0.47592711] [-0.87948387] [-0.00122662]] R_gt: [[ 0.99944143 0.03340325 -0.00107517] [-0.03339774 0.99943268 0.00453281] [ 0.00122618 -0.00449416 0.99998903]] t_gt: [0.92338555 0.38382691 0.0060031 ] Pose Error in degrees for R and t: 29.235341540178258 39.0095406498495 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.95335052 -0.30185132 0.00292628] [ 0.30186158 0.95334274 -0.00414771] [-0.00153776 0.00483755 0.99998712]] t_estimated: [[-0.44769075] [-0.89418766] [-0.00119384]] R_gt: [[ 0.99772936 0.06106733 0.028407 ] [-0.06141929 0.99804426 0.01169892] [-0.0276371 -0.01341604 0.99952743]] t_gt: [0.66615475 0.56897104 0.48219271] Pose Error in degrees for R and t: 21.15481216650921 36.14043619417143 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.86881174e-01 -1.61447855e-01 -3.72003213e-04] [ 1.61447856e-01 9.86881244e-01 -2.68822736e-05] [ 3.71463079e-04 -3.35295113e-05 9.99999930e-01]] t_estimated: [[ 0.56100907] [-0.82780732] [-0.00196663]] R_gt: [[ 0.99922153 -0.02838348 -0.02738508] [ 0.02758956 0.99920067 -0.0289159 ] [ 0.02818396 0.02813884 0.99920647]] t_gt: [ 0.00193938 -0.55911569 -0.82908738] Pose Error in degrees for R and t: 8.013820968799513 62.25362197835643 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.88152690e-01 -1.53473973e-01 4.71322164e-06] [ 1.53473959e-01 9.88152609e-01 4.06686122e-04] [-6.70731172e-05 -4.01144629e-04 9.99999917e-01]] t_estimated: [[ 9.96409349e-01] [-8.46626383e-02] [ 8.03817167e-04]] R_gt: [[ 0.99250462 -0.11406763 -0.04386037] [ 0.11494465 0.99320853 0.01801219] [ 0.04150744 -0.02291794 0.99887526]] t_gt: [ 0.32471963 -0.92420132 -0.20102008] Pose Error in degrees for R and t: 3.521408319488052 66.31941895247411 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-3.32305194e-01 9.43168653e-01 2.47993713e-03] [-9.43171396e-01 -3.32301111e-01 -1.92056921e-03] [-9.87334808e-04 -2.97722089e-03 9.99995081e-01]] t_estimated: [[0.42223832] [0.90648366] [0.00147636]] R_gt: [[ 0.97094165 -0.2190011 -0.09649283] [ 0.22252201 0.97454646 0.02725457] [ 0.08806969 -0.04793364 0.99496024]] t_gt: [ 0.48113874 -0.85430356 -0.19664931] Pose Error in degrees for R and t: 122.28302302885928 55.14180374542927 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.99623166 -0.0612767 -0.06138121] [-0.06095636 0.99811532 -0.00707959] [ 0.06169934 -0.00331134 -0.99808929]] t_estimated: [[ 0.99887481] [ 0.03800099] [-0.02837314]] R_gt: [[ 0.99566999 0.08698906 0.03278046] [-0.08739111 0.99611321 0.0110565 ] [-0.0316926 -0.01387233 0.9994016 ]] t_gt: [-0.4012632 0.83139678 0.38440505] Pose Error in degrees for R and t: 178.35659099731464 67.65860022756043 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-5.07156354e-01 -8.61851779e-01 -1.98580942e-03] [ 8.61853908e-01 -5.07156314e-01 -5.60676846e-04] [-5.23895449e-04 -1.99582843e-03 9.99997871e-01]] t_estimated: [[9.42670116e-01] [3.33724997e-01] [8.24012339e-04]] R_gt: [[ 9.94997059e-01 9.69435600e-02 2.41548248e-02] [-9.69713906e-02 9.95288176e-01 -3.23721350e-05] [-2.40443251e-02 -2.30936641e-03 9.99707605e-01]] t_gt: [-0.15697253 0.96190717 0.22381737] Pose Error in degrees for R and t: 126.04486673095055 80.02470186986655 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-9.92106901e-01 -1.25394725e-01 2.46048405e-04] [ 1.25389996e-01 -9.92083134e-01 -6.95737615e-03] [ 1.11651874e-03 -6.87160888e-03 9.99975767e-01]] t_estimated: [[9.41717182e-01] [3.36404680e-01] [7.99794885e-04]] R_gt: [[ 0.99545119 0.09265688 0.02220253] [-0.09275025 0.99568467 0.00324574] [-0.02180687 -0.00529035 0.99974845]] t_gt: [0.30394008 0.9172112 0.25757338] Pose Error in degrees for R and t: 178.12177777293562 53.48838457348912 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99996722e-01 2.55159576e-03 2.12092215e-04] [-2.55164631e-03 9.99996716e-01 2.38410327e-04] [-2.11483192e-04 -2.38950730e-04 9.99999949e-01]] t_estimated: [[0.99998124] [0.0058832 ] [0.00170529]] R_gt: [[ 0.99673045 -0.07169752 -0.03725314] [ 0.07315933 0.9965392 0.03947459] [ 0.03429487 -0.04207077 0.99852548]] t_gt: [ 0.33383728 -0.94212815 -0.03077687] Pose Error in degrees for R and t: 5.308107590499728 70.83826904818903 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.30908654 -0.94207919 0.13020103] [ 0.93465538 -0.27560482 0.22463595] [-0.17574082 0.19112504 0.96570512]] t_estimated: [[0.99874854] [0.04962726] [0.00620341]] R_gt: [[ 0.97433993 -0.20906805 -0.08337784] [ 0.21226132 0.97671068 0.03135909] [ 0.07488098 -0.04825139 0.99602374]] t_gt: [ 0.56773365 -0.80950716 -0.1495883 ] Pose Error in degrees for R and t: 96.87247037492021 58.26969540308783 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.96720271 -0.20407797 0.15123194] [ 0.10239822 -0.85813408 -0.50311084] [ 0.23245112 -0.47112428 0.85088682]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.94876392 -0.29522201 -0.11265049] [ 0.30114966 0.95276202 0.03944544] [ 0.09568438 -0.07134851 0.99285106]] t_gt: [ 0.61476083 -0.78272889 -0.09697734] Pose Error in degrees for R and t: 152.89719714021774 89.84404296645053 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-9.56947650e-01 2.88906842e-01 2.80005562e-02] [ 2.88789469e-01 9.57357193e-01 -8.23696295e-03] [-2.91862489e-02 2.03923416e-04 -9.99573970e-01]] t_estimated: [[ 0.94120136] [-0.33723306] [ 0.02034365]] R_gt: [[ 0.99887161 -0.03165196 0.03541123] [ 0.03249511 0.99919501 -0.02350196] [-0.03463809 0.02462677 0.99909644]] t_gt: [ 0.75395755 -0.64926894 -0.09998929] Pose Error in degrees for R and t: 176.1605647118961 22.097251922932646 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.58309543e-01 2.85731985e-01 2.29259232e-04] [-2.85731900e-01 9.58309534e-01 -3.44672396e-04] [-3.18185236e-04 2.64796170e-04 9.99999914e-01]] t_estimated: [[-9.81925916e-01] [ 1.89264820e-01] [-5.68800410e-04]] R_gt: [[ 0.99485565 -0.05504642 0.08504216] [ 0.05888635 0.99732484 -0.04331136] [-0.08243056 0.04809732 0.99543534]] t_gt: [ 0.78405046 -0.6185877 0.05112857] Pose Error in degrees for R and t: 20.603183163813007 27.50315090889491 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99997553e-01 -2.21195845e-03 -4.61065025e-05] [ 2.21195626e-03 9.99997553e-01 -4.73437356e-05] [ 4.62111121e-05 4.72416341e-05 9.99999998e-01]] t_estimated: [[ 1.55708543e-01] [-9.87802864e-01] [-5.92795091e-04]] R_gt: [[ 0.99047655 -0.01842412 0.13644479] [ 0.0288106 0.99680171 -0.07453695] [-0.13463541 0.07775866 0.98783926]] t_gt: [0.50715038 0.84513806 0.16893829] Pose Error in degrees for R and t: 9.030140027661826 40.890475879305356 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.17095501e-01 3.98666067e-01 -1.09941270e-03] [-3.98666156e-01 9.17096110e-01 1.46589187e-04] [ 1.06670724e-03 3.03862350e-04 9.99999385e-01]] t_estimated: [[0.89415484] [0.44775584] [0.00135684]] R_gt: [[ 9.93257669e-01 -7.11735963e-04 1.15926027e-01] [ 1.81665069e-03 9.99953770e-01 -9.42820965e-03] [-1.15913513e-01 9.57560207e-03 9.93212565e-01]] t_gt: [-0.02857226 0.08495084 0.99597539] Pose Error in degrees for R and t: 24.500157945529992 89.20696763997198 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 8.45397609e-01 5.34137509e-01 6.11160707e-05] [-5.34137490e-01 8.45397601e-01 -1.93693959e-04] [-1.55126588e-04 1.31104025e-04 9.99999979e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98422714 -0.04171509 0.17191999] [ 0.05378222 0.99635925 -0.06614302] [-0.1685348 0.07434608 0.98288704]] t_gt: [ 0.53212977 -0.14396453 0.83433334] Pose Error in degrees for R and t: 36.56704613749135 57.8371554606998 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.79994996e-01 -1.99021848e-01 3.35776135e-04] [ 1.99021907e-01 9.79995029e-01 -1.52253433e-04] [-2.98757183e-04 2.16034409e-04 9.99999932e-01]] t_estimated: [[-0.2367681 ] [-0.97156566] [-0.00102055]] R_gt: [[ 0.97980959 -0.13486287 0.14759598] [ 0.14083716 0.98955473 -0.03076021] [-0.14190552 0.05092763 0.9885689 ]] t_gt: [ 0.81827988 -0.45767803 0.34777702] Pose Error in degrees for R and t: 9.33493011241261 75.48894736913978 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999898e-01 -4.51680725e-04 -9.66156798e-06] [ 4.51680867e-04 9.99999898e-01 1.46821564e-05] [ 9.65493535e-06 -1.46865189e-05 1.00000000e+00]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.98612099 -0.16091124 -0.04089032] [ 0.16338798 0.98428852 0.06694009] [ 0.0294768 -0.07269156 0.99691861]] t_gt: [ 0.73970927 -0.65950112 0.13374778] Pose Error in degrees for R and t: 10.346830256714158 42.55809660174177 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.98816533e-01 4.86367390e-02 1.77221576e-05] [-4.86367415e-02 9.98816516e-01 1.87129800e-04] [-8.59980053e-06 -1.87770286e-04 9.99999982e-01]] t_estimated: [[0.7048701 ] [0.70933602] [0.00074432]] R_gt: [[ 0.97080496 -0.23681093 -0.03818939] [ 0.2372557 0.97141881 0.007516 ] [ 0.03531882 -0.01635753 0.99924192]] t_gt: [ 0.78580349 -0.61775604 -0.02983867] Pose Error in degrees for R and t: 16.653224506608428 83.35769584221343 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.81322808e-01 1.92358415e-01 1.94569898e-03] [ 1.92360482e-01 -9.81323886e-01 -9.36120732e-04] [ 1.72929019e-03 1.29291222e-03 -9.99997669e-01]] t_estimated: [[0.06176029] [0.9980904 ] [0.00110286]] R_gt: [[ 0.95455156 -0.2942459 -0.04743433] [ 0.29053623 0.95414236 -0.07211683] [ 0.06648076 0.05505837 0.99626701]] t_gt: [ 0.80689917 -0.55929964 -0.18999378] Pose Error in degrees for R and t: 176.56927944418743 59.428925116765775 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99998504e-01 -1.71761930e-03 2.04655552e-04] [ 1.71762891e-03 9.99998524e-01 -4.67755811e-05] [-2.04574907e-04 4.71270334e-05 9.99999978e-01]] t_estimated: [[9.94927300e-01] [1.00596383e-01] [1.85631012e-04]] R_gt: [[ 0.96752642 -0.25274236 0.00344662] [ 0.25257163 0.96722844 0.02602959] [-0.00991225 -0.02431441 0.99965506]] t_gt: [ 0.74867339 -0.65365949 0.11053244] Pose Error in degrees for R and t: 14.616244070793602 47.22349783007955 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.69293810e-01 -2.45905386e-01 -2.26931692e-04] [ 2.45905027e-01 9.69293360e-01 -1.04839815e-03] [ 4.77770135e-04 9.60402194e-04 9.99999425e-01]] t_estimated: [[ 0.55835594] [-0.82959447] [-0.00341586]] R_gt: [[ 0.94082572 -0.33858924 -0.01425872] [ 0.3388667 0.93943969 0.05120949] [-0.00394297 -0.05301126 0.99858619]] t_gt: [ 0.77501776 -0.61830845 0.13054552] Pose Error in degrees for R and t: 6.383100838620006 19.049823251349785 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-3.06165146e-01 -9.51971217e-01 3.70212687e-03] [-9.51976199e-01 3.06170509e-01 9.67159817e-04] [-2.05419038e-03 -3.22822604e-03 -9.99992679e-01]] t_estimated: [[0.80038942] [0.59947426] [0.00271678]] R_gt: [[ 0.91390082 -0.40387084 0.04090782] [ 0.40226986 0.91455039 0.04215956] [-0.05443863 -0.02207385 0.99827308]] t_gt: [ 0.76312165 -0.62491283 0.16470973] Pose Error in degrees for R and t: 176.4510676672651 76.3126980657918 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-0.89954415 -0.43333522 -0.05514449] [-0.43332969 0.90114627 -0.01268 ] [ 0.05518794 0.01248953 -0.99839787]] t_estimated: [[ 0.97680733] [ 0.21233023] [-0.02762796]] R_gt: [[ 0.99730571 0.07333001 0.00183936] [-0.07329227 0.99718986 -0.01548362] [-0.00296909 0.0153067 0.99987919]] t_gt: [-0.8945895 0.40703551 -0.18447688] Pose Error in degrees for R and t: 176.6973868201312 38.52661317003338 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.27224078 0.95955018 0.07175236] [ 0.9596144 -0.26525153 -0.09371139] [-0.07088836 0.09436666 -0.99301046]] t_estimated: [[ 0.67227302] [-0.73850565] [ 0.05155959]] R_gt: [[ 0.99336209 0.11172468 0.02736125] [-0.11037713 0.99279683 -0.04659097] [-0.03236899 0.04326188 0.99854004]] t_gt: [-0.86534106 0.4215669 -0.2710465 ] Pose Error in degrees for R and t: 170.14290137120278 24.89918165173549 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.72574774e-01 2.32590348e-01 -1.96614744e-04] [-2.32590384e-01 9.72574768e-01 -1.86018746e-04] [ 1.47956374e-04 2.26647839e-04 9.99999963e-01]] t_estimated: [[-9.97296486e-01] [ 7.34761861e-02] [-9.84231207e-04]] R_gt: [[ 0.97932631 0.19700394 0.04592056] [-0.19051762 0.97457501 -0.11792706] [-0.06798546 0.10673994 0.99196078]] t_gt: [-0.8229146 0.43528807 -0.36515182] Pose Error in degrees for R and t: 7.598782751539862 31.456946690752467 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.68597355 0.70798475 0.16792226] [ 0.71752998 0.69650656 -0.00541578] [-0.12079325 0.11677417 -0.98578536]] t_estimated: [[0.99462948] [0.10209619] [0.01698751]] R_gt: [[ 0.97788246 -0.20842562 0.01750391] [ 0.20812079 0.97794231 0.01773964] [-0.02081435 -0.01370447 0.99968957]] t_gt: [ 0.72789034 -0.6744428 0.12370354] Pose Error in degrees for R and t: 169.99904793457264 48.91145612617433 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 6.64044744e-02 -9.97792750e-01 2.71930474e-04] [-9.97792763e-01 -6.64044109e-02 2.36182365e-04] [-2.17603668e-04 -2.87013825e-04 -9.99999935e-01]] t_estimated: [[0.74627767] [0.66563376] [0.00115533]] R_gt: [[ 0.93499138 -0.35245174 0.03963319] [ 0.35150228 0.93573753 0.02903184] [-0.04731782 -0.01321334 0.99879228]] t_gt: [ 0.7668702 -0.62582361 0.14231974] Pose Error in degrees for R and t: 177.35087512010102 81.03139680187655 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 4.80090757e-01 -8.77218389e-01 -8.73853427e-04] [ 8.77218268e-01 4.80091336e-01 -6.47595504e-04] [ 9.87612143e-04 -4.55655574e-04 9.99999408e-01]] t_estimated: [[ 9.78087710e-01] [-2.08193022e-01] [-3.11605928e-04]] R_gt: [[ 0.8862382 -0.45851044 0.06595641] [ 0.45901233 0.88839262 0.00823706] [-0.06237109 0.02297417 0.99778837]] t_gt: [ 0.7945749 -0.60010177 0.09235036] Pose Error in degrees for R and t: 34.18247615199172 25.568204148156557 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99966832e-01 -8.12892257e-03 -5.05611784e-04] [ 8.12895854e-03 9.99966957e-01 6.91255684e-05] [ 5.05033161e-04 -7.32333729e-05 9.99999870e-01]] t_estimated: [[-0.79018202] [-0.61287049] [-0.00145781]] R_gt: [[ 0.97999717 0.19303279 -0.04841252] [-0.192991 0.98118437 0.00558408] [ 0.04857948 0.00387041 0.99881133]] t_gt: [-0.60176425 0.76826411 -0.2182889 ] Pose Error in degrees for R and t: 11.924842555292484 89.71494570896985 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.54865219 0.83601696 0.00751117] [ 0.83604033 -0.54857848 -0.00991082] [-0.00416515 0.01171724 -0.99992268]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.96700422 0.24953403 -0.05132754] [-0.25153104 0.96714372 -0.03693283] [ 0.04042464 0.0486246 0.99799835]] t_gt: [-0.54451164 0.78920416 -0.28401386] Pose Error in degrees for R and t: 178.39972017131296 38.18045689560057 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99991136 -0.0132453 -0.00135475] [ 0.01324692 0.99991155 0.00118899] [ 0.00133888 -0.00120683 0.99999838]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.94481907 0.3212167 -0.06431808] [-0.32333062 0.94594529 -0.02540452] [ 0.05268089 0.04479921 0.99760621]] t_gt: [-0.52642849 0.81599717 -0.23879209] Pose Error in degrees for R and t: 19.970501192878725 35.81794971897572 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.90490147 -0.4256155 -0.00218317] [ 0.42561899 0.90490125 0.001488 ] [ 0.00134224 -0.0022757 0.99999651]] t_estimated: [[-0.35509758] [-0.93482872] [-0.00098093]] R_gt: [[ 0.9902952 0.13887319 0.0054756 ] [-0.138893 0.99030228 0.00331365] [-0.00496248 -0.00404124 0.99998002]] t_gt: [-0.78447474 0.61780414 0.05401324] Pose Error in degrees for R and t: 33.17557565090125 72.60071068333399 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 6.84103409e-01 -7.29375935e-01 -3.64293603e-03] [ 7.29384731e-01 6.84099133e-01 2.50787236e-03] [ 6.62947640e-04 -4.37274595e-03 9.99990220e-01]] t_estimated: [[-0.35681028] [-0.93417636] [-0.00098025]] R_gt: [[ 0.94613284 0.32376512 -0.0029449 ] [-0.32375901 0.94593333 -0.0197689 ] [-0.00361541 0.01965762 0.99980093]] t_gt: [-0.68797331 0.72465155 -0.03965919] Pose Error in degrees for R and t: 65.74058133891124 64.44117642319704 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.51873154e-01 -6.59304611e-01 -2.04699977e-03] [ 6.59307712e-01 7.51870938e-01 1.85264915e-03] [ 3.17619510e-04 -2.74255990e-03 9.99996189e-01]] t_estimated: [[-0.35252183] [-0.93580308] [-0.00098195]] R_gt: [[ 9.22918485e-01 3.83849081e-01 2.96902238e-02] [-3.84036323e-01 9.23317889e-01 6.49287282e-04] [-2.71647697e-02 -1.20008651e-02 9.99559732e-01]] t_gt: [-0.6663031 0.74274085 0.06615289] Pose Error in degrees for R and t: 63.852003657544515 62.59755008369147 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.86523967e-01 -1.63616436e-01 -3.53653092e-04] [ 1.63616490e-01 9.86524013e-01 1.28071881e-04] [ 3.27932603e-04 -1.84209458e-04 9.99999929e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99911294 0.03649451 -0.02105263] [-0.03655825 0.9993285 -0.00263653] [ 0.02094279 0.00340367 0.99977484]] t_gt: [-0.36547225 0.84513766 -0.39009278] Pose Error in degrees for R and t: 11.572127428203705 32.60175847391521 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 7.49426974e-01 6.62084752e-01 1.72986187e-03] [-6.62086927e-01 7.49425641e-01 1.45267447e-03] [-3.34609223e-04 -2.23399236e-03 9.99997449e-01]] t_estimated: [[0.66246919] [0.74908744] [0.00160404]] R_gt: [[ 0.99583086 0.08918122 -0.01917821] [-0.08940964 0.99593002 -0.01139011] [ 0.01808414 0.01305724 0.99975131]] t_gt: [-0.37839052 0.90246271 -0.20586808] Pose Error in degrees for R and t: 36.36152044353369 64.84799486295597 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99985920e-01 5.30142143e-03 -2.34079641e-04] [-5.30153251e-03 9.99985833e-01 -4.76464290e-04] [ 2.31550386e-04 4.77698562e-04 9.99999859e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99332461 0.11450355 -0.01400982] [-0.11497079 0.99260218 -0.03902511] [ 0.00943813 0.04037483 0.99913979]] t_gt: [-0.37432566 0.90353855 -0.20856269] Pose Error in degrees for R and t: 6.710551863392846 25.714259728978806 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.86435323e-01 -1.64150275e-01 2.00391504e-04] [ 1.64150337e-01 9.86435274e-01 -3.42863449e-04] [-1.41392119e-04 3.71106950e-04 9.99999921e-01]] t_estimated: [[-0.49079435] [-0.87127496] [-0.00092353]] R_gt: [[ 0.99762401 0.0617565 0.03053555] [-0.06127851 0.99798572 -0.01637407] [-0.03148579 0.0144645 0.99939923]] t_gt: [-0.79706103 0.57777776 0.17568888] Pose Error in degrees for R and t: 13.123689536124225 83.54790226459122 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.95017305e-01 -9.97023674e-02 -3.83943005e-05] [ 9.97023736e-02 9.95017277e-01 2.33859787e-04] [ 1.48866179e-05 -2.36522538e-04 9.99999972e-01]] t_estimated: [[-2.03188987e-02] [ 9.99793550e-01] [ 1.19678637e-05]] R_gt: [[ 0.99565194 0.03344883 0.08693258] [-0.0318337 0.9992943 -0.01990341] [-0.08753719 0.01705025 0.99601567]] t_gt: [-0.7467614 0.41299981 0.52132386] Pose Error in degrees for R and t: 9.159241787126728 64.65332879064508 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.92589814e-01 -1.21513211e-01 -1.00380022e-05] [ 1.21513210e-01 9.92589792e-01 2.11326644e-04] [-1.57153604e-05 -2.10980424e-04 9.99999978e-01]] t_estimated: [[-3.47753518e-02] [ 9.99395147e-01] [ 1.21362198e-04]] R_gt: [[ 0.99327587 0.02067957 0.11391816] [-0.01282347 0.99751506 -0.06927146] [-0.11506776 0.0673448 0.99107209]] t_gt: [-0.72510598 0.55814207 0.40335933] Pose Error in degrees for R and t: 11.036389340537669 54.3332919710015 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.97812576e-01 -6.61064594e-02 -6.07167483e-06] [ 6.61064557e-02 9.97812543e-01 -2.57384129e-04] [ 2.30731468e-05 2.56419744e-04 9.99999967e-01]] t_estimated: [[-0.67432137] [-0.73843718] [-0.00110544]] R_gt: [[ 0.99837142 0.05589607 0.01142642] [-0.05564665 0.99822672 -0.02114815] [-0.01258906 0.0204773 0.99971115]] t_gt: [-0.44226468 0.89681275 -0.01135149] Pose Error in degrees for R and t: 7.119770671933207 68.6540198673982 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.90550768e-01 1.37146176e-01 3.20332220e-04] [-1.37145996e-01 9.90550703e-01 -5.29133199e-04] [-3.89873901e-04 4.80201015e-04 9.99999809e-01]] t_estimated: [[-9.72935758e-01] [-2.31074324e-01] [-8.17250273e-04]] R_gt: [[ 0.99947039 0.03204704 0.00568126] [-0.03182608 0.99886139 -0.03556078] [-0.00681497 0.03536073 0.99935102]] t_gt: [-0.40766899 0.87456607 -0.26256464] Pose Error in degrees for R and t: 6.383471202750663 78.76926379618723 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.79166279e-01 -2.03060054e-01 1.13730813e-04] [ 2.03060077e-01 9.79166248e-01 -2.52904856e-04] [-6.00064994e-05 2.70730095e-04 9.99999962e-01]] t_estimated: [[8.55032967e-01] [5.18573003e-01] [8.16650398e-04]] R_gt: [[ 0.99561689 -0.09279997 0.0116638 ] [ 0.09287295 0.99566044 -0.00596505] [-0.01105963 0.00702206 0.99991364]] t_gt: [ 0.50533852 -0.85737771 0.09765472] Pose Error in degrees for R and t: 6.431407991072599 89.28652959218188 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99296965e-01 3.74810645e-02 -8.63090918e-04] [-3.74808875e-02 9.99297320e-01 2.20316866e-04] [ 8.70742152e-04 -1.87812562e-04 9.99999603e-01]] t_estimated: [[0.67507619] [0.73774715] [0.00112958]] R_gt: [[ 0.99866872 0.05089276 -0.00840381] [-0.05100461 0.99860444 -0.01365095] [ 0.00769763 0.01406213 0.99987166]] t_gt: [ 0.02946936 0.93840145 -0.34428808] Pose Error in degrees for R and t: 1.1907000124759093 44.61777736767104 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.92182953e-01 1.24791199e-01 3.81030729e-04] [-1.24791244e-01 9.92183016e-01 9.56062835e-05] [-3.66121395e-04 -1.42408223e-04 9.99999923e-01]] t_estimated: [[-0.71553215] [ 0.69857719] [ 0.00191029]] R_gt: [[ 0.99791954 0.06397478 0.00794538] [-0.06391427 0.9979267 -0.00756378] [-0.00841257 0.00704043 0.99993998]] t_gt: [0.22889267 0.97294558 0.03138527] Pose Error in degrees for R and t: 3.55641724634092 58.93852422416613 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.43174349 0.90199324 0.00239961] [ 0.9019931 -0.43174759 0.00156881] [ 0.00245108 0.00148711 -0.99999589]] t_estimated: [[0.55922712] [0.82901401] [0.00089333]] R_gt: [[ 0.99993643 0.00680632 0.009027 ] [-0.00651999 0.99948696 -0.03134272] [-0.00923566 0.03128281 0.99946804]] t_gt: [ 0.98482084 -0.026242 -0.17157876] Pose Error in degrees for R and t: 178.20567217381483 58.073545654426226 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-8.06069305e-01 5.91727180e-01 -1.05461136e-02] [-5.91820314e-01 -8.05970158e-01 1.26815005e-02] [-9.95864318e-04 1.64635726e-02 9.99863970e-01]] t_estimated: [[ 0.62476439] [ 0.78079965] [-0.00462139]] R_gt: [[ 0.98991959 0.12943644 0.05750593] [-0.12774716 0.99128527 -0.03214449] [-0.06116657 0.02447382 0.99782751]] t_gt: [-0.75639751 0.60492158 0.24886278] Pose Error in degrees for R and t: 136.3672120585736 89.91991388188534 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 4.97430618e-02 -9.98761794e-01 -7.11634868e-04] [-9.98762016e-01 -4.97432256e-02 2.14362506e-04] [-2.49496094e-04 7.00090829e-04 -9.99999724e-01]] t_estimated: [[0.70097242] [0.71318776] [0.00093964]] R_gt: [[ 0.98471462 0.14897244 0.09025702] [-0.14688881 0.98871836 -0.02933671] [-0.09361025 0.01563047 0.99548596]] t_gt: [-0.75871037 0.54982375 0.34936002] Pose Error in degrees for R and t: 177.3137103178251 81.98807498732565 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-3.04253215e-01 9.52591186e-01 1.13841793e-04] [-9.52590433e-01 -3.04252819e-01 -1.29947732e-03] [-1.20323395e-03 -5.03814754e-04 9.99999149e-01]] t_estimated: [[0.65044279] [0.75955478] [0.00084583]] R_gt: [[ 0.98234609 0.12812677 0.1363136 ] [-0.12166031 0.99105836 -0.05478994] [-0.14211565 0.03723912 0.98914906]] t_gt: [-0.73284144 0.53788936 0.41667549] Pose Error in degrees for R and t: 100.75099532528259 86.11451366445849 Number of keypoints: Image1: 385 Image2: 385 R_estimated: [[ 0.59476658 0.803704 0.01768063] [ 0.80369749 -0.59398232 -0.03543093] [-0.017974 0.03528301 -0.99921571]] t_estimated: [[ 0.33783801] [-0.94097843] [ 0.02061721]] R_gt: [[ 0.99865227 -0.01432959 -0.04986437] [ 0.0163316 0.99906699 0.03997397] [ 0.04924525 -0.04073524 0.99795589]] t_gt: [-0.16948607 -0.93671158 -0.30634277] Pose Error in degrees for R and t: 178.92467314175576 35.12979213463596 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 0.96510452 -0.26160584 -0.0116471 ] [ 0.26171472 0.96510274 0.00906184] [ 0.00887002 -0.01179384 0.99989111]] t_estimated: [[-0.6120017 ] [-0.79085151] [-0.00279453]] R_gt: [[ 0.99713767 -0.03107411 -0.06892772] [ 0.03227403 0.99934523 0.01635731] [ 0.06837379 -0.01853517 0.99748748]] t_gt: [-0.17263344 -0.81564402 -0.5521979 ] Pose Error in degrees for R and t: 13.766927845944865 41.2144816180159 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 6.97642126e-01 7.16446196e-01 5.59471506e-04] [-7.16445891e-01 6.97642347e-01 -6.63613537e-04] [-8.65754409e-04 6.21336967e-05 9.99999623e-01]] t_estimated: [[0.75608882] [0.65446799] [0.00116219]] R_gt: [[ 0.98847753 -0.11870948 -0.09391499] [ 0.12322033 0.99141421 0.04376006] [ 0.08791439 -0.05482937 0.99461799]] t_gt: [ 0.19518319 -0.94714605 -0.25459356] Pose Error in degrees for R and t: 53.04472101209488 61.79700540068384 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999667e-01 -8.10791807e-04 -9.39664526e-05] [ 8.10762485e-04 9.99999623e-01 -3.11664605e-04] [ 9.42191123e-05 3.11588317e-04 9.99999947e-01]] t_estimated: [[-0.99954241] [-0.03023116] [-0.0010191 ]] R_gt: [[ 0.97449872 0.22434874 0.00462882] [-0.22417363 0.97424261 -0.02444635] [-0.00999438 0.02278588 0.99969029]] t_gt: [-0.59644984 0.80078797 -0.05464621] Pose Error in degrees for R and t: 13.083732031685981 55.1085236452853 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.79646817 -0.60466395 -0.00446713] [ 0.60467684 0.79646722 0.00242716] [ 0.00209031 -0.00463432 0.99998708]] t_estimated: [[-2.04194156e-01] [-9.78930340e-01] [ 3.69994431e-04]] R_gt: [[ 0.91280042 0.40683535 -0.035794 ] [-0.40739606 0.91319909 -0.00977422] [ 0.02871106 0.02350504 0.99931102]] t_gt: [-0.51528732 0.85065781 -0.10421261] Pose Error in degrees for R and t: 61.26908697041796 43.31821959662353 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.84828497e-01 -1.73530313e-01 2.48742041e-04] [ 1.73530361e-01 9.84828503e-01 -1.84719162e-04] [-2.12913878e-04 2.25080991e-04 9.99999952e-01]] t_estimated: [[-8.03301260e-01] [-5.95572575e-01] [-6.27579109e-04]] R_gt: [[ 0.86491542 0.49957289 -0.04845466] [-0.50177857 0.86290627 -0.06008046] [ 0.0117972 0.07627897 0.99701642]] t_gt: [-0.45317203 0.88134865 -0.13364005] Pose Error in degrees for R and t: 40.32052097848161 80.74727256791066 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 7.48883601e-01 -6.62699593e-01 -1.61294664e-03] [ 6.62701081e-01 7.48883761e-01 6.24937385e-04] [ 7.93763792e-04 -1.53690684e-03 9.99998504e-01]] t_estimated: [[-0.05546998] [-0.99845971] [-0.00113204]] R_gt: [[ 9.75319679e-01 2.20691342e-01 6.83372696e-03] [-2.20690123e-01 9.75343426e-01 -8.50724889e-04] [-6.85308888e-03 -6.78276911e-04 9.99976641e-01]] t_gt: [-0.73707202 0.67560377 0.01686333] Pose Error in degrees for R and t: 54.25790720938776 50.67659954780823 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-4.53533969e-01 -8.91238984e-01 -1.10369554e-04] [-8.91232323e-01 4.53530093e-01 3.92449902e-03] [-3.44761061e-03 1.87825853e-03 -9.99992293e-01]] t_estimated: [[0.71440271] [0.69973325] [0.00146695]] R_gt: [[ 0.94936618 0.31288689 0.02838555] [-0.31286766 0.94978284 -0.00521659] [-0.02859237 -0.00392687 0.99958381]] t_gt: [-0.68819661 0.72291687 0.0614543 ] Pose Error in degrees for R and t: 178.53073825004225 89.18123826563503 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.41713866 0.90637696 -0.06690404] [ 0.81241716 -0.33887118 0.47449413] [ 0.40739869 -0.25228384 -0.87771247]] t_estimated: [[9.89352087e-01] [1.45539736e-01] [7.95299106e-04]] R_gt: [[ 0.95792815 0.28310885 0.04715438] [-0.28358689 0.95894014 0.00362923] [-0.04419092 -0.01684876 0.99888083]] t_gt: [-0.68708042 0.71522752 0.12794565] Pose Error in degrees for R and t: 153.57732254322835 54.86053418669041 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.9990114 0.04443658 0.00127039] [-0.04443351 0.99900957 -0.00235303] [-0.00137369 0.00229426 0.99999642]] t_estimated: [[-9.98120678e-01] [-6.12725327e-02] [-8.88007721e-04]] R_gt: [[ 0.97867883 -0.20373168 0.02608494] [ 0.20350558 0.97901161 0.01108394] [-0.02779611 -0.00553948 0.99959825]] t_gt: [ 0.7211558 -0.67920686 0.13642708] Pose Error in degrees for R and t: 14.386336626592763 47.28867333104695 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 4.69441553e-01 -8.82963039e-01 -9.49379491e-04] [ 8.82963383e-01 4.69441852e-01 -1.08555394e-04] [ 5.41528867e-04 -7.87306914e-04 9.99999543e-01]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.94317797 -0.32493914 0.06950008] [ 0.32599395 0.94536381 -0.00410327] [-0.06436983 0.02652682 0.99757394]] t_gt: [ 0.74850038 -0.65174488 0.12237563] Pose Error in degrees for R and t: 43.16545545131156 49.76603161781447 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-9.67057316e-01 2.54555622e-01 -1.25801253e-03] [-2.54554289e-01 -9.67057827e-01 -1.12828633e-03] [-1.50378249e-03 -7.70885067e-04 9.99998572e-01]] t_estimated: [[9.25143106e-01] [3.79617612e-01] [8.37750442e-04]] R_gt: [[ 0.9075431 -0.41169667 0.08289232] [ 0.41513664 0.90929916 -0.02894348] [-0.06345796 0.06067924 0.99613802]] t_gt: [ 0.7657798 -0.64095751 0.05248588] Pose Error in degrees for R and t: 170.2906549258876 62.27805595250702 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.99999938e-01 -3.41995618e-04 8.51814756e-05] [ 3.42000099e-04 9.99999940e-01 -5.25905774e-05] [-8.51634847e-05 5.26197062e-05 9.99999995e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97957277 -0.16060311 0.12101403] [ 0.15612591 0.98667962 0.04567502] [-0.12673714 -0.02584807 0.99159989]] t_gt: [ 0.55177064 -0.65486158 0.51643535] Pose Error in degrees for R and t: 11.765904027508828 49.39274616146291 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[ 1.00000000e+00 -1.13632342e-05 2.75773662e-05] [ 1.13632601e-05 1.00000000e+00 -9.37122841e-07] [-2.75773555e-05 9.37436209e-07 1.00000000e+00]] t_estimated: [[-0.72671186] [-0.68694127] [-0.00125238]] R_gt: [[ 0.94532508 -0.28468671 0.15910545] [ 0.27757397 0.95845089 0.06575292] [-0.17121317 -0.01799426 0.98506976]] t_gt: [ 0.66526099 -0.64397324 0.37779132] Pose Error in degrees for R and t: 19.190554669274405 87.61842290241172 Number of keypoints: Image1: 15 Image2: 15 R_estimated: [[ 6.74708291e-01 7.38084486e-01 1.17608395e-04] [-7.38084118e-01 6.74708099e-01 -9.03901499e-04] [-7.46507010e-04 5.23064947e-04 9.99999585e-01]] t_estimated: [[-0.989608 ] [ 0.14378804] [-0.00100639]] R_gt: [[ 0.89119909 -0.43031295 0.14350811] [ 0.41699647 0.90170466 0.11420346] [-0.1785447 -0.04193527 0.98303762]] t_gt: [ 0.7609327 -0.57545334 0.29972469] Pose Error in degrees for R and t: 73.51994019014508 33.27257794148477 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 2.99783820e-01 9.54007157e-01 6.96229413e-05] [-9.54005528e-01 2.99783441e-01 -1.82802573e-03] [-1.76482143e-03 4.81591865e-04 9.99998327e-01]] t_estimated: [[0.02185838] [0.99976035] [0.00120397]] R_gt: [[ 0.99557019 -0.03118241 0.08869731] [ 0.0383565 0.99602764 -0.08035351] [-0.08583963 0.08340045 0.99281193]] t_gt: [-0.81082635 -0.32440879 -0.48715455] Pose Error in degrees for R and t: 74.81530258567862 69.96214498141171 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99997765e-01 2.10889926e-03 -1.52908949e-04] [-2.10897906e-03 9.99997639e-01 -5.23606019e-04] [ 1.51804355e-04 5.23927330e-04 9.99999851e-01]] t_estimated: [[-0.39241512] [-0.91978664] [-0.00170332]] R_gt: [[ 0.988759 -0.01411577 0.14884545] [ 0.03651705 0.98818301 -0.14886319] [-0.14498559 0.15262555 0.97759189]] t_gt: [-0.84039358 0.26062005 -0.47520082] Pose Error in degrees for R and t: 12.240091844402208 84.78589553824054 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 7.87531652e-01 -6.16274061e-01 4.23464276e-04] [ 6.16273419e-01 7.87531558e-01 1.05715572e-03] [-9.84989131e-04 -5.71573815e-04 9.99999352e-01]] t_estimated: [[ 0.84630394] [-0.53269856] [ 0.00136883]] R_gt: [[ 0.97251558 -0.00292497 0.23282 ] [ 0.04941716 0.97973359 -0.19411332] [-0.22753374 0.2002842 0.95295123]] t_gt: [-0.82572354 0.5013057 -0.25859859] Pose Error in degrees for R and t: 40.41803068376965 14.93654101001339 Number of keypoints: Image1: 454 Image2: 454 R_estimated: [[-0.66402196 -0.74769887 -0.00460926] [-0.74770964 0.66398759 0.00712627] [-0.00226782 0.00817839 -0.99996398]] t_estimated: [[0.90432574] [0.42684175] [0.00103352]] R_gt: [[ 0.99881434 0.02857393 -0.03941894] [-0.02686515 0.99870449 0.04322209] [ 0.04060277 -0.04211129 0.99828676]] t_gt: [-0.94175465 -0.23770486 0.23789616] Pose Error in degrees for R and t: 178.82887211463225 17.66076335734428 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 0.96286438 -0.26995268 -0.00421129] [ 0.26997639 0.96284298 0.00679306] [ 0.00222101 -0.00767774 0.99996806]] t_estimated: [[-0.74520591] [-0.6668331 ] [-0.00132835]] R_gt: [[ 0.99576374 0.07963115 -0.04596877] [-0.07273213 0.9880301 0.13603698] [ 0.05625139 -0.13211649 0.98963627]] t_gt: [-0.84839552 -0.1506794 0.50746504] Pose Error in degrees for R and t: 21.50021858391937 42.94287755068254 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-8.25362160e-01 -5.64603658e-01 -1.17265177e-04] [-5.64603247e-01 8.25361269e-01 1.39621496e-03] [-6.91521939e-04 1.21859130e-03 -9.99999018e-01]] t_estimated: [[0.96956587] [0.24482756] [0.00121805]] R_gt: [[ 0.98625707 0.16121091 -0.03616458] [-0.15502272 0.97865903 0.13489178] [ 0.05713844 -0.12743119 0.99019925]] t_gt: [-0.9403444 0.15138745 0.30468713] Pose Error in degrees for R and t: 179.6681121980293 29.03883551448915 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 4.83632230e-01 -8.75270659e-01 -1.06737925e-03] [ 8.75271295e-01 4.83632084e-01 4.08436298e-04] [ 1.58726542e-04 -1.13177937e-03 9.99999347e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99641576 -0.08447429 -0.00448627] [ 0.08437618 0.99625345 -0.01895879] [ 0.00607145 0.01851217 0.9998098 ]] t_gt: [ 0.82020262 -0.5121515 -0.25488918] Pose Error in degrees for R and t: 56.24467450923813 35.07377819360814 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.03632363 -0.99928189 0.01078381] [ 0.99496218 -0.03515344 0.09388554] [-0.09343903 0.01413974 0.99552459]] t_estimated: [[9.96348406e-01] [8.53761065e-02] [8.80169930e-04]] R_gt: [[ 0.99617076 -0.080415 -0.03433506] [ 0.07406812 0.98475271 -0.15740151] [ 0.0464696 0.15425518 0.98693793]] t_gt: [ 0.591093 -0.0214531 -0.80631807] Pose Error in degrees for R and t: 88.61152158296872 54.09851955164143 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-9.82879234e-02 9.95157985e-01 -2.62991192e-04] [-9.95156243e-01 -9.82882439e-02 -1.86384177e-03] [-1.88066597e-03 7.85241887e-05 9.99998228e-01]] t_estimated: [[0.00900864] [0.99995879] [0.00112608]] R_gt: [[ 0.99294124 -0.10873566 -0.04737815] [ 0.08934993 0.94843166 -0.30412668] [ 0.0780043 0.29774714 0.95145293]] t_gt: [ 0.46738096 0.18182347 -0.86515621] Pose Error in degrees for R and t: 102.59255604220034 79.33582364148722 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.82452494 -0.56399512 -0.04547678] [ 0.55313232 -0.7864921 -0.27472678] [ 0.11917744 -0.25167376 0.96044628]] t_estimated: [[0.96312129] [0.26899991] [0.00603563]] R_gt: [[ 0.99981381 -0.01652008 0.00993859] [ 0.01609485 0.99901029 0.04145779] [-0.01061343 -0.04128993 0.9990909 ]] t_gt: [ 0.09967103 -0.62008117 0.77818059] Pose Error in degrees for R and t: 144.83565910420594 86.20942983913142 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 7.87698555e-03 9.99968870e-01 4.60828342e-04] [-9.99967660e-01 7.87772214e-03 -1.61904254e-03] [-1.62262242e-03 -4.48060264e-04 9.99998583e-01]] t_estimated: [[-5.31984282e-03] [ 9.99985459e-01] [ 8.83475047e-04]] R_gt: [[ 0.99488287 -0.10102726 -0.00136378] [ 0.10098019 0.99378438 0.04683904] [-0.00337698 -0.04673776 0.99890145]] t_gt: [ 0.65335496 -0.68936221 0.31290101] Pose Error in degrees for R and t: 95.37896502151436 46.16757767660863 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999605e-01 6.08973751e-04 -6.47148530e-04] [-6.08917544e-04 9.99999811e-01 8.70478067e-05] [ 6.47201417e-04 -8.66537122e-05 9.99999787e-01]] t_estimated: [[0.65814743] [0.7528884 ] [0.00100788]] R_gt: [[ 0.99546457 -0.09078378 -0.02842437] [ 0.08979018 0.99536351 -0.03447533] [ 0.03142236 0.0317669 0.99900186]] t_gt: [ 0.78631087 -0.53463981 -0.30963766] Pose Error in degrees for R and t: 5.802622223677956 83.4152766933649 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[ 9.99082155e-01 4.28351087e-02 3.36462985e-05] [-4.28351089e-02 9.99082156e-01 3.12464921e-06] [-3.34815717e-05 -4.56302413e-06 9.99999999e-01]] t_estimated: [[-2.59028752e-02] [-9.99664460e-01] [-9.63506262e-05]] R_gt: [[ 0.99972534 -0.00884214 -0.02171142] [ 0.01201961 0.98847579 0.1509011 ] [ 0.02012673 -0.15112046 0.98831072]] t_gt: [ 0.03481091 -0.37439138 0.92661712] Pose Error in degrees for R and t: 9.285506831670615 68.08227651843046 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.99340075e-01 3.63237332e-02 1.20982593e-05] [-3.63237314e-02 9.99340068e-01 -1.23122411e-04] [-1.65625409e-05 1.22601705e-04 9.99999992e-01]] t_estimated: [[ 6.33968698e-02] [-9.97988332e-01] [-3.56169047e-04]] R_gt: [[ 9.97355229e-01 1.47005831e-02 -7.11708099e-02] [-6.60820309e-04 9.81122869e-01 1.93382539e-01] [ 7.26695279e-02 -1.92823925e-01 9.78539004e-01]] t_gt: [-0.19814702 -0.39874829 0.89539799] Pose Error in degrees for R and t: 12.010370079985872 67.35220400948297 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.96831007e-01 7.95483689e-02 -3.45026580e-06] [-7.95483679e-02 9.96830985e-01 -2.12507137e-04] [-1.34652643e-05 2.12108167e-04 9.99999977e-01]] t_estimated: [[ 6.72512007e-02] [-9.97735986e-01] [-4.23224324e-04]] R_gt: [[ 0.99508148 0.07244138 -0.06756474] [-0.05294074 0.96539468 0.25536102] [ 0.08372541 -0.25052794 0.96448182]] t_gt: [-0.59381934 -0.23993032 0.76799221] Pose Error in degrees for R and t: 15.35462120556059 78.51408615783241 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.88041062e-01 -1.54190554e-01 -3.65776358e-04] [ 1.54190779e-01 9.88040848e-01 6.97503877e-04] [ 2.53853474e-04 -7.45561813e-04 9.99999690e-01]] t_estimated: [[0.4149234 ] [0.90985445] [0.00186064]] R_gt: [[ 0.99391553 -0.10829036 0.02016019] [ 0.10847189 0.99406704 -0.00812552] [-0.01916059 0.01026261 0.99976403]] t_gt: [ 0.5767961 -0.81469481 -0.05982151] Pose Error in degrees for R and t: 2.9391660429309203 59.865021775447005 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.38666394 -0.92221616 -0.00289099] [ 0.92221854 -0.38665438 -0.00336891] [ 0.00198905 -0.00396876 0.99999015]] t_estimated: [[0.91314808] [0.40762284] [0.00204831]] R_gt: [[ 0.98841282 -0.11289145 0.10147188] [ 0.12315974 0.98719533 -0.10137252] [-0.08872816 0.11269488 0.98966055]] t_gt: [ 0.22775736 -0.80537418 -0.54726503] Pose Error in degrees for R and t: 106.17431781290986 83.02514823576375 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.76323338 0.64610778 -0.00442136] [-0.6460607 0.76323698 0.00865348] [ 0.00896562 -0.00374816 0.99995278]] t_estimated: [[8.67901181e-01] [4.96736407e-01] [6.93765932e-04]] R_gt: [[ 0.98028677 -0.07102235 0.18437437] [ 0.0996165 0.98353579 -0.1507778 ] [-0.17062953 0.16617273 0.97122186]] t_gt: [-0.70967932 -0.34771399 -0.61273995] Pose Error in degrees for R and t: 47.331327248530556 37.900491392911526 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99986633e-01 -5.17012247e-03 6.75645056e-05] [ 5.17011842e-03 9.99986633e-01 5.98646816e-05] [-6.78731102e-05 -5.95145648e-05 9.99999996e-01]] t_estimated: [[9.99994892e-01] [3.10075785e-03] [7.75189837e-04]] R_gt: [[ 0.9949448 -0.09690771 0.02635669] [ 0.09641326 0.9951514 0.01943063] [-0.02811147 -0.01679103 0.99946428]] t_gt: [ 0.63403611 -0.68546837 0.35795436] Pose Error in degrees for R and t: 5.5751637850461995 50.788495853143864 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.58981815e-01 2.83463644e-01 1.49717228e-03] [-2.83463139e-01 9.58982978e-01 -5.43976670e-04] [-1.58996034e-03 9.72705813e-05 9.99998731e-01]] t_estimated: [[-0.53590069] [ 0.8442704 ] [ 0.00423565]] R_gt: [[ 0.99044798 -0.13776769 0.00584458] [ 0.13767893 0.99038376 0.01357267] [-0.00765785 -0.01263819 0.99989083]] t_gt: [ 0.76049036 -0.63568119 0.13252865] Pose Error in degrees for R and t: 24.39734471069651 19.322207473128163 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.07374591 0.99727538 0.00183299] [ 0.99727507 0.07374196 0.0021353 ] [ 0.00199431 0.00198546 -0.99999604]] t_estimated: [[0.77461702] [0.63242705] [0.00212224]] R_gt: [[ 0.98712427 -0.15982404 0.00657302] [ 0.15983679 0.98714174 -0.00162965] [-0.00622827 0.00265977 0.99997731]] t_gt: [ 0.84973327 -0.524584 0.05258319] Pose Error in degrees for R and t: 179.64618502238113 70.93938074682319 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.99999804 -0.00161705 -0.00113861] [ 0.00161842 0.99999797 0.00120205] [ 0.00113667 -0.00120389 0.99999863]] t_estimated: [[-0.99997252] [-0.00665634] [-0.00326277]] R_gt: [[ 0.99869652 -0.02185576 0.04612603] [ 0.01773221 0.99596194 0.08800748] [-0.04786312 -0.08707486 0.99505099]] t_gt: [-0.11048704 -0.45708183 0.88253545] Pose Error in degrees for R and t: 5.76861014806793 83.6473871417296 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.19979115 -0.93622314 0.28908428] [-0.94446199 0.26256707 0.19761095] [-0.26091195 -0.2335482 -0.93668575]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.9976612 -0.0436768 0.0525751 ] [ 0.03667894 0.99117105 0.12741408] [-0.05767658 -0.12518691 0.99045448]] t_gt: [-0.01258072 -0.5069645 0.86187512] Pose Error in degrees for R and t: 152.61723104203782 77.77614895081936 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.0661759 -0.99780391 -0.00284598] [ 0.99780598 -0.0661812 0.0018097 ] [-0.00199408 -0.00271997 0.99999431]] t_estimated: [[0.99957971] [0.02893079] [0.00184554]] R_gt: [[ 0.99453974 -0.09590598 0.04115644] [ 0.08898218 0.98530475 0.14579616] [-0.05453473 -0.14133781 0.98845782]] t_gt: [ 0.26535572 -0.61636782 0.74140209] Pose Error in degrees for R and t: 88.78090569359314 75.59464111498494 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.98643249e-01 -5.20691248e-02 6.83986991e-04] [ 5.20695961e-02 9.98643220e-01 -6.90392354e-04] [-6.47110846e-04 7.25070589e-04 9.99999528e-01]] t_estimated: [[0.95024128] [0.31151289] [0.00110619]] R_gt: [[ 0.98149873 -0.1914572 -0.00187633] [ 0.19140029 0.98085746 0.03585362] [-0.00502448 -0.03554918 0.99935567]] t_gt: [ 0.69146514 -0.69341523 0.20261115] Pose Error in degrees for R and t: 8.322999738333657 63.814735952007325 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.99939936 0.03463839 0.00105044] [-0.03463711 0.99939922 -0.0012105 ] [-0.00109174 0.00117339 0.99999872]] t_estimated: [[ 0.98716708] [-0.15968249] [-0.00163334]] R_gt: [[ 0.93088417 -0.36232796 -0.04662045] [ 0.36442142 0.92993418 0.04919244] [ 0.02553034 -0.06278141 0.99770076]] t_gt: [ 0.78942848 -0.60405939 0.10915557] Pose Error in degrees for R and t: 23.650644824744816 28.88663716952254 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99998197e-01 6.52215060e-04 -1.78322834e-03] [-6.47946531e-04 9.99996926e-01 2.39323966e-03] [ 1.78478377e-03 -2.39207991e-03 9.99995546e-01]] t_estimated: [[9.18944591e-01] [3.94385961e-01] [7.43645752e-04]] R_gt: [[ 0.85170936 -0.50924131 -0.1235474 ] [ 0.51817174 0.85357839 0.05386003] [ 0.07803037 -0.10989153 0.99087558]] t_gt: [ 0.85904185 -0.50293322 0.09542158] Pose Error in degrees for R and t: 31.992320757138344 53.76254807604787 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.23883155 0.97101199 0.0097575 ] [-0.97104912 -0.2388663 0.00254945] [ 0.00480629 -0.00886612 0.99994914]] t_estimated: [[0.18798546] [0.98217124] [0.0010561 ]] R_gt: [[ 0.99370329 -0.10911679 0.02543669] [ 0.10923826 0.99401019 -0.00339466] [-0.02491427 0.00615304 0.99966958]] t_gt: [ 0.58915833 -0.80149032 0.10249746] Pose Error in degrees for R and t: 110.09357206986056 47.441759576199125 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.02478685 0.99968128 -0.00479133] [ 0.99968094 -0.02476296 0.00498165] [ 0.00486141 -0.00491328 -0.99997611]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.95586846 -0.28742141 0.06086145] [ 0.28563703 0.95764571 0.03642269] [-0.06875212 -0.01742974 0.99748069]] t_gt: [ 0.68085505 -0.69719976 0.22438559] Pose Error in degrees for R and t: 178.8841109128677 46.098712396149914 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-9.95221594e-01 -9.76414569e-02 3.52607818e-04] [-9.76410744e-02 9.95221217e-01 9.75019220e-04] [-4.46125078e-04 9.35931176e-04 -9.99999463e-01]] t_estimated: [[0.99995119] [0.00980344] [0.00122543]] R_gt: [[ 0.90350259 -0.42749562 0.03050108] [ 0.42527194 0.90308007 0.05993353] [-0.05316578 -0.04117831 0.99773556]] t_gt: [ 0.7601038 -0.62733691 0.16938302] Pose Error in degrees for R and t: 177.36428893642451 41.05109601647025 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.93061577e-01 -1.17594499e-01 4.88906955e-04] [ 1.17595227e-01 9.93059763e-01 -1.91582382e-03] [-2.60223482e-04 1.96002415e-03 9.99998045e-01]] t_estimated: [[-0.41166889] [-0.91132807] [-0.00314251]] R_gt: [[ 0.99652581 -0.06079813 0.05692378] [ 0.05770339 0.99684434 0.05451464] [-0.06005867 -0.05104079 0.99688881]] t_gt: [ 0.30526409 -0.56358508 0.76758433] Pose Error in degrees for R and t: 5.67474359462868 67.32328880403404 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.08574583 0.99579854 -0.03213895] [-0.99565042 0.08682369 0.03379171] [ 0.03644015 0.02910167 0.99891201]] t_estimated: [[0.6371537 ] [0.77073627] [0.00087883]] R_gt: [[ 0.98509986 -0.1126923 0.1299222 ] [ 0.09302757 0.9845142 0.14858657] [-0.14465467 -0.13428684 0.98032672]] t_gt: [ 0.26087814 -0.44697308 0.85566212] Pose Error in degrees for R and t: 91.83286227646991 79.77425773112246 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.16320946 0.98657401 0.00586541] [ 0.98658835 0.16319119 0.00347299] [ 0.00246917 0.00635357 -0.99997677]] t_estimated: [[0.99969769] [0.02454919] [0.00136384]] R_gt: [[ 0.97304325 -0.12412882 0.19436927] [ 0.07717153 0.96946177 0.2327846 ] [-0.21732848 -0.21151017 0.95290618]] t_gt: [ 0.18914019 -0.30679537 0.9327929 ] Pose Error in degrees for R and t: 179.08321832987806 79.4657292967553 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 8.86074037e-01 4.63539258e-01 2.03923857e-03] [-4.63540534e-01 8.86075697e-01 1.77250407e-04] [-1.72475722e-03 -1.10232672e-03 9.99997905e-01]] t_estimated: [[-0.32820006] [ 0.94459919] [ 0.00413519]] R_gt: [[ 0.99901219 -0.04089952 -0.01739326] [ 0.04063847 0.99905958 -0.015127 ] [ 0.01799524 0.01440568 0.99973507]] t_gt: [ 0.80257834 -0.18925706 -0.56572942] Pose Error in degrees for R and t: 29.986122301087356 63.60751304839221 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 8.68013859e-01 4.96539613e-01 5.94358169e-04] [-4.96539087e-01 8.68013952e-01 -8.45045766e-04] [-9.35509880e-04 4.38389374e-04 9.99999466e-01]] t_estimated: [[0.40238162] [0.91547141] [0.0010645 ]] R_gt: [[ 9.96907138e-01 -7.85623789e-02 2.32088846e-03] [ 7.85949231e-02 9.96280036e-01 -3.53502780e-02] [ 4.64943183e-04 3.54243317e-02 9.99372469e-01]] t_gt: [ 0.91438939 -0.14113212 -0.37943875] Pose Error in degrees for R and t: 34.33551415584199 76.2121712587946 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.93950015e-01 1.09833125e-01 2.30786711e-04] [-1.09833171e-01 9.93950016e-01 1.98864850e-04] [-2.07548507e-04 -2.23009757e-04 9.99999954e-01]] t_estimated: [[0.46844282] [0.88349324] [0.0010074 ]] R_gt: [[ 0.98777854 -0.15538095 0.01235194] [ 0.15571974 0.98720834 -0.03424107] [-0.0068742 0.03574553 0.9993377 ]] t_gt: [ 0.91823188 -0.36805195 -0.14624628] Pose Error in degrees for R and t: 15.399415800110695 83.9831808581836 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99995903e-01 2.86228376e-03 -4.01532350e-05] [-2.86228505e-03 9.99995903e-01 -3.23003845e-05] [ 4.00606177e-05 3.24151821e-05 9.99999999e-01]] t_estimated: [[-9.84335127e-01] [ 1.76306124e-01] [-7.13752092e-04]] R_gt: [[ 0.99677085 0.07500855 0.02869507] [-0.07456582 0.99708393 -0.01620821] [-0.02982774 0.01401633 0.99945643]] t_gt: [-0.58352522 0.78420194 0.21101101] Pose Error in degrees for R and t: 4.538132857111958 44.561854117688256 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99997379e-01 -2.28819565e-03 -7.97585977e-05] [ 2.28819708e-03 9.99997382e-01 1.78442471e-05] [ 7.97175578e-05 -1.80267037e-05 9.99999997e-01]] t_estimated: [[-8.09542769e-01] [ 5.87060626e-01] [-5.71705402e-04]] R_gt: [[ 0.99536841 0.07332121 0.06218298] [-0.07272493 0.99728263 -0.01179553] [-0.06288002 0.00721899 0.99799393]] t_gt: [-0.5391647 0.64925386 0.53644278] Pose Error in degrees for R and t: 5.64664338337799 35.182435549486364 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.68394943e-01 -2.49421654e-01 2.69032440e-04] [ 2.49421687e-01 9.68394967e-01 -9.87246654e-05] [-2.35905592e-04 1.62706992e-04 9.99999959e-01]] t_estimated: [[0.91783325] [0.3969649 ] [0.0009951 ]] R_gt: [[ 0.9961266 0.07091126 0.0520011 ] [-0.07020727 0.99741572 -0.0152482 ] [-0.05294919 0.0115376 0.9985305 ]] t_gt: [-0.56351295 0.68639236 0.45969412] Pose Error in degrees for R and t: 18.746579991276526 75.86072375760585 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99998861e-01 -9.50736519e-04 1.17238658e-03] [ 9.52633365e-04 9.99998237e-01 -1.61844036e-03] [-1.17084580e-03 1.61955537e-03 9.99998003e-01]] t_estimated: [[-9.02852673e-01] [-4.29949572e-01] [-6.44964607e-04]] R_gt: [[ 0.99409869 -0.10571916 0.02432457] [ 0.10557268 0.99438575 0.00721468] [-0.02495094 -0.00460366 0.99967852]] t_gt: [ 0.69665375 -0.68093351 0.22583866] Pose Error in degrees for R and t: 6.174528850429481 70.34508743071731 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999978e-01 -1.13777847e-04 1.76922689e-04] [ 1.13786790e-04 9.99999992e-01 -5.05424856e-05] [-1.76916937e-04 5.05626160e-05 9.99999983e-01]] t_estimated: [[0.6893564 ] [0.72442192] [0.00079694]] R_gt: [[ 0.99135674 -0.11807496 0.05719514] [ 0.11983228 0.99239011 -0.0283268 ] [-0.05341469 0.03493636 0.99796168]] t_gt: [ 0.78084614 -0.5872229 0.2131867 ] Pose Error in degrees for R and t: 7.744364420559229 83.5086025125139 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-9.35285844e-01 3.53866601e-01 -4.33801403e-03] [-3.53873176e-01 -9.35293048e-01 8.29996559e-04] [-3.76360631e-03 2.31139084e-03 9.99990246e-01]] t_estimated: [[0.9379695 ] [0.34671373] [0.00167495]] R_gt: [[ 0.99407037 0.0043232 0.10865203] [ 0.00184332 0.9983958 -0.05659503] [-0.10872189 0.05646001 0.99246756]] t_gt: [0.12580269 0.46575761 0.87592439] Pose Error in degrees for R and t: 159.24235035342102 73.68304226313171 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[ 9.99468042e-01 3.26133392e-02 4.87556744e-05] [-3.26133428e-02 9.99468041e-01 7.52654470e-05] [-4.62750808e-05 -7.68154945e-05 9.99999996e-01]] t_estimated: [[0.6462356 ] [0.76313741] [0.00091621]] R_gt: [[ 0.99892605 0.0235594 -0.03989913] [-0.02341965 0.99971805 0.00398542] [ 0.03998212 -0.00304686 0.99919612]] t_gt: [ 0.0966748 0.96529201 -0.24262178] Pose Error in degrees for R and t: 2.3584265946141665 36.97454047406232 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-0.99993226 -0.01138368 -0.00242497] [ 0.011388 -0.99993358 -0.00177464] [-0.00240461 -0.00180214 0.99999549]] t_estimated: [[0.81858689] [0.57438136] [0.00124595]] R_gt: [[ 0.99645432 0.02598754 -0.08001619] [-0.02455943 0.99952243 0.01878783] [ 0.080466 -0.01675671 0.99661673]] t_gt: [ 0.44813956 0.86455717 -0.22740237] Pose Error in degrees for R and t: 179.2076382852938 30.328627026557466 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.91818421e-01 1.27656321e-01 2.89317393e-04] [-1.27656495e-01 9.91818199e-01 6.92524116e-04] [-1.98545174e-04 -7.23791420e-04 9.99999718e-01]] t_estimated: [[0.48212794] [0.87610035] [0.00091355]] R_gt: [[ 0.98922528 -0.00874621 -0.14614012] [ 0.00486776 0.99962725 -0.0268763 ] [ 0.14631983 0.02587605 0.98889917]] t_gt: [ 0.74726935 0.5014915 -0.43599861] Pose Error in degrees for R and t: 11.531105180680303 36.94260101622202 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.86235916 -0.50628205 -0.00389355] [ 0.50625977 -0.8623635 0.00549887] [-0.00614164 0.00277086 0.9999773 ]] t_estimated: [[0.99929482] [0.03743756] [0.00287981]] R_gt: [[ 0.99494987 0.06707511 -0.07466493] [-0.06501069 0.99744141 0.02974541] [ 0.07646942 -0.02474007 0.99676433]] t_gt: [ 0.64059282 0.35198217 -0.68245834] Pose Error in degrees for R and t: 153.40423306376098 49.35630305797014 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.92774538 -0.37314103 -0.00736752] [ 0.37318691 0.92773464 0.00632168] [ 0.00447622 -0.00861437 0.99995288]] t_estimated: [[-0.67114229] [-0.74132711] [-0.00146218]] R_gt: [[ 0.9817973 0.16216429 -0.0988781 ] [-0.15717713 0.98596174 0.05634122] [ 0.10662651 -0.03977304 0.99350292]] t_gt: [ 0.23867536 0.89373356 -0.3798347 ] Pose Error in degrees for R and t: 31.692332512097515 34.69651616887797 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 8.22218601e-01 -5.69171646e-01 -4.57960857e-04] [ 5.69171749e-01 8.22218647e-01 1.28253878e-04] [ 3.03545486e-04 -3.66111106e-04 9.99999887e-01]] t_estimated: [[9.12296643e-01] [4.09529389e-01] [7.17214342e-04]] R_gt: [[ 0.95586744 0.25933114 -0.1380773 ] [-0.24372357 0.96236243 0.12023821] [ 0.16406252 -0.0812781 0.98309541]] t_gt: [ 0.03484709 0.99642946 -0.07690263] Pose Error in degrees for R and t: 50.42656552436378 63.90869557044753 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.02894229e-01 -4.29851307e-01 -3.14069535e-03] [ 4.29862074e-01 9.02881896e-01 4.78318464e-03] [ 7.79618805e-04 -5.66877563e-03 9.99983628e-01]] t_estimated: [[8.37619949e-01] [5.46253009e-01] [6.85821283e-04]] R_gt: [[ 9.97851777e-01 -6.00311329e-02 2.62477507e-02] [ 5.99863260e-02 9.98195401e-01 2.47695911e-03] [-2.63496074e-02 -8.97263708e-04 9.99652495e-01]] t_gt: [0.85247542 0.19869462 0.48353501] Pose Error in degrees for R and t: 22.07788449275144 34.62186865880375 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-3.51021679e-01 -9.36365672e-01 -1.76348569e-03] [ 9.36366823e-01 -3.51022831e-01 3.82281413e-04] [-9.76978932e-04 -1.51708043e-03 9.99998372e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99597664 -0.08956677 0.00296464] [ 0.08934383 0.9949894 0.04486598] [-0.00696851 -0.04442046 0.99898912]] t_gt: [0.90749609 0.09929117 0.40815696] Pose Error in degrees for R and t: 105.43452251107801 24.75375499167572 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-9.99969980e-01 -7.74634856e-03 1.81612402e-04] [-7.74597470e-03 9.99968047e-01 1.97599911e-03] [-1.96913377e-04 1.97453303e-03 -9.99998031e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99500456 -0.09980802 0.00227759] [ 0.09972549 0.99472878 0.02386602] [-0.00464823 -0.02351952 0.99971307]] t_gt: [0.96065679 0.19591928 0.19686079] Pose Error in degrees for R and t: 179.78616001717003 15.968730354931965 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.66287769 -0.74871633 -0.00412554] [-0.74848271 0.6625098 0.02923022] [-0.01915193 0.02246396 -0.99956419]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.98827703 -0.10985238 0.10602136] [ 0.10907995 0.993947 0.01306878] [-0.1068154 -0.00135152 0.99427786]] t_gt: [ 0.44262688 -0.70889237 0.54913847] Pose Error in degrees for R and t: 173.6911382574654 84.06678589473772 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 2.54276464e-01 9.67130287e-01 -1.57717922e-03] [-9.67131336e-01 2.54274921e-01 -1.11554766e-03] [-6.77842812e-04 1.80899696e-03 9.99998134e-01]] t_estimated: [[8.50864198e-01] [5.25385188e-01] [7.21682950e-04]] R_gt: [[ 0.96549211 -0.22206431 0.13605933] [ 0.22147252 0.97496857 0.01965967] [-0.13701956 0.01115207 0.99050586]] t_gt: [ 0.61507469 -0.70193982 0.35911505] Pose Error in degrees for R and t: 88.42891365805532 81.09390887746699 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 4.84743552e-01 -8.74649144e-01 3.54441274e-03] [-8.74655569e-01 -4.84744483e-01 6.48931444e-04] [ 1.15054719e-03 -3.41470568e-03 -9.99993508e-01]] t_estimated: [[0.82752853] [0.56142132] [0.0016226 ]] R_gt: [[ 0.93906869 -0.31691788 0.13309502] [ 0.31525258 0.94839987 0.03396742] [-0.13699207 0.01006043 0.99052106]] t_gt: [ 0.71810761 -0.64810203 0.25354528] Pose Error in degrees for R and t: 175.3026674108233 76.65537422386453 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.90156116e-01 -1.39963566e-01 -1.03298798e-03] [ 1.39964481e-01 9.90156139e-01 8.73883366e-04] [ 9.00507561e-04 -1.00986259e-03 9.99999085e-01]] t_estimated: [[8.55367739e-01] [5.18020836e-01] [6.66693483e-04]] R_gt: [[ 0.99850572 0.00107848 -0.05465225] [-0.00232278 0.99973976 -0.02269523] [ 0.0546131 0.02278815 0.99824732]] t_gt: [ 0.26820349 0.2227621 -0.9372534 ] Pose Error in degrees for R and t: 8.809100877567245 69.86805879400285 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 4.74523721e-01 8.80237922e-01 2.90497788e-03] [ 8.80240692e-01 -4.74527123e-01 5.78430722e-04] [ 1.88764745e-03 2.28260064e-03 -9.99995613e-01]] t_estimated: [[-0.99981909] [-0.01890414] [-0.00210046]] R_gt: [[ 0.99477935 0.06040585 -0.08225524] [-0.06509654 0.9963293 -0.05559226] [ 0.07859554 0.0606563 0.99505937]] t_gt: [-0.08926271 0.67629486 -0.73120273] Pose Error in degrees for R and t: 179.4482835836739 85.52652033698891 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.83460253 -0.55030204 0.02462288] [ 0.55063632 0.83469348 -0.00929757] [-0.01543609 0.02131803 0.99965357]] t_estimated: [[8.23780000e-01] [5.66909253e-01] [6.40575428e-04]] R_gt: [[ 0.99469666 0.05564467 -0.08650308] [-0.06312699 0.99426595 -0.08631763] [ 0.08120433 0.09132072 0.99250492]] t_gt: [-0.02990814 0.66260659 -0.74837024] Pose Error in degrees for R and t: 37.52246217716091 69.48083381466489 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.97233838 0.23283708 0.01857339] [-0.2322987 0.97226299 -0.02723964] [-0.02440062 0.02217157 0.99945637]] t_estimated: [[0.79460327] [0.60711261] [0.00446406]] R_gt: [[ 0.98878121 0.14812192 0.01931 ] [-0.14865424 0.98843847 0.02986319] [-0.01466272 -0.03239789 0.99936777]] t_gt: [-0.89972338 0.34849285 0.26277476] Pose Error in degrees for R and t: 5.878776591991382 59.85595253555965 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-0.57537656 0.81787128 0.00532812] [-0.81788143 -0.57533195 -0.0079445 ] [-0.00343214 -0.00892885 0.99995425]] t_estimated: [[0.4472093 ] [0.89441859] [0.0043844 ]] R_gt: [[ 0.97684257 0.21167996 0.03114663] [-0.21326517 0.97502052 0.06206235] [-0.01723155 -0.06726756 0.99758633]] t_gt: [-0.89398672 0.28714235 0.34400147] Pose Error in degrees for R and t: 112.87944304368231 81.86734400522673 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.31982132e-01 -3.62504146e-01 -2.24105794e-04] [ 3.62504215e-01 9.31981983e-01 5.25788274e-04] [ 1.82621331e-05 -5.71264571e-04 9.99999837e-01]] t_estimated: [[-8.26186490e-01] [-5.63396373e-01] [-6.40951505e-04]] R_gt: [[ 0.96620564 0.25215496 0.05353174] [-0.25567575 0.96389341 0.0744238 ] [-0.03283277 -0.08559592 0.99578867]] t_gt: [-0.89406865 0.25879034 0.36560746] Pose Error in degrees for R and t: 36.36120374159699 53.65602505796178 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99984680e-01 5.53525654e-03 -3.47565081e-05] [-5.53525138e-03 9.99984670e-01 1.46853393e-04] [ 3.55688464e-05 -1.46658757e-04 9.99999989e-01]] t_estimated: [[0.8456111 ] [0.53379846] [0.00103249]] R_gt: [[ 0.9830915 0.18300388 0.00641709] [-0.18309014 0.98174807 0.05146349] [ 0.00311868 -0.0517681 0.99865338]] t_gt: [-0.87200166 0.39899728 0.28357412] Pose Error in degrees for R and t: 10.656912884137439 58.392501938765704 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.68389663 0.72957127 -0.00334089] [-0.72957805 -0.68389571 0.00159001] [-0.00112479 0.00352484 0.99999316]] t_estimated: [[ 6.81791342e-01] [ 7.31546694e-01] [-5.61217416e-06]] R_gt: [[ 9.45868833e-01 3.24189755e-01 1.52720192e-02] [-3.24549276e-01 9.44803898e-01 4.48841264e-02] [ 1.22820369e-04 -4.74105683e-02 9.98874911e-01]] t_gt: [-0.85619641 0.49090421 0.16106133] Pose Error in degrees for R and t: 114.2362200526767 77.0189457748484 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-9.88970938e-01 -1.48034438e-01 -4.72104025e-03] [-1.48033146e-01 9.88982203e-01 -6.23696026e-04] [ 4.76135328e-03 8.20531986e-05 -9.99988661e-01]] t_estimated: [[ 9.63987669e-01] [ 2.65945715e-01] [-8.06511100e-04]] R_gt: [[ 0.91001679 0.41307253 0.03521386] [-0.41456697 0.90709039 0.07294263] [-0.00181136 -0.08097759 0.99671399]] t_gt: [-0.8472361 0.48940548 0.2065751 ] Pose Error in degrees for R and t: 178.84395564798436 46.627676351689985 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 4.15542373e-01 -9.09561984e-01 4.64041594e-03] [-9.09573318e-01 -4.15542100e-01 1.06829405e-03] [ 9.56608532e-04 -4.66471996e-03 -9.99988663e-01]] t_estimated: [[0.52432819] [0.85151323] [0.00227227]] R_gt: [[ 0.99869675 0.04402122 -0.02584511] [-0.04535352 0.99754116 -0.05343323] [ 0.02343002 0.05453637 0.9982361 ]] t_gt: [-0.25277524 0.77715715 -0.57630846] Pose Error in degrees for R and t: 176.8306598638468 58.13545498703351 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 1.64904024e-01 -9.86308613e-01 -1.40823866e-03] [ 9.86309616e-01 1.64903764e-01 2.99752535e-04] [-6.34246518e-05 -1.43838973e-03 9.99998964e-01]] t_estimated: [[9.99037861e-01] [4.38476170e-02] [8.59757195e-04]] R_gt: [[ 0.99990885 0.01336174 0.00237499] [-0.01326058 0.9991714 -0.03848506] [-0.00288755 0.03845063 0.99925561]] t_gt: [-0.17860625 0.89046912 -0.41852666] Pose Error in degrees for R and t: 81.2982257798319 81.96666134024257 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 7.54824074e-01 6.55923049e-01 2.36045515e-03] [ 6.55923551e-01 -7.54827037e-01 6.62927450e-04] [ 2.21656476e-03 1.04788452e-03 -9.99996994e-01]] t_estimated: [[0.7274883 ] [0.68611934] [0.001009 ]] R_gt: [[ 0.99490572 -0.04527124 0.09008205] [ 0.04093944 0.99794138 0.04936983] [-0.09213203 -0.04542971 0.99470998]] t_gt: [ 0.14281691 -0.26357123 0.95400919] Pose Error in degrees for R and t: 179.29615593799107 85.6424044003389 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.05888620e-02 -9.95887283e-01 -1.47575791e-03] [ 9.95888253e-01 9.05894894e-02 -3.63862396e-04] [ 4.96054089e-04 -1.43672808e-03 9.99998845e-01]] t_estimated: [[ 8.58090796e-01] [-5.13497980e-01] [-1.05906878e-04]] R_gt: [[ 0.99193786 -0.10645731 0.06874617] [ 0.10683728 0.99427467 -0.00186039] [-0.06815426 0.0091896 0.99763218]] t_gt: [ 0.56598882 -0.74156325 0.36019521] Pose Error in degrees for R and t: 78.76023972266883 29.954420456023893 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.95032941e-01 9.95459987e-02 2.02271330e-04] [-9.95459830e-02 9.95032959e-01 -8.60938022e-05] [-2.09836933e-04 6.55308708e-05 9.99999976e-01]] t_estimated: [[ 9.95485976e-01] [-9.49070560e-02] [ 5.67264965e-04]] R_gt: [[ 0.97212576 -0.22223193 0.07473329] [ 0.22219976 0.97496048 0.00885108] [-0.07482807 0.008001 0.99716437]] t_gt: [ 0.70879708 -0.67757965 0.19619509] Pose Error in degrees for R and t: 19.058749217870865 39.64467986785 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-1.43119946e-01 -9.89703503e-01 -1.91228670e-03] [ 9.89705206e-01 -1.43120704e-01 2.65018374e-04] [-5.35977432e-04 -1.85467069e-03 9.99998136e-01]] t_estimated: [[9.62448927e-01] [2.71461198e-01] [9.38537809e-04]] R_gt: [[ 0.95824434 -0.27776065 0.0679375 ] [ 0.27776626 0.96060035 0.00954576] [-0.06791218 0.00972329 0.99764349]] t_gt: [ 0.77380881 -0.61931956 0.13290302] Pose Error in degrees for R and t: 82.162894404434 54.77737392204694 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.01638133 0.91500119 -0.40311843] [ 0.69122268 0.30167703 0.65665986] [ 0.72245613 -0.26788764 -0.63741145]] t_estimated: [[0.99522177] [0.09631178] [0.01605196]] R_gt: [[ 0.99572752 -0.04639312 0.07984895] [ 0.05237369 0.99584376 -0.07451997] [-0.07606034 0.07838405 0.99401789]] t_gt: [ 0.26447969 0.93159458 -0.24936325] Pose Error in degrees for R and t: 139.1480965686172 69.57770674822764 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.9669415 0.25451121 -0.01575356] [-0.2515976 0.9622797 0.10352014] [ 0.04150636 -0.09613436 0.99450259]] t_estimated: [[-0.9976057 ] [-0.06846314] [-0.00978045]] R_gt: [[ 0.99405301 -0.07768822 0.07631965] [ 0.08006867 0.99637822 -0.02863672] [-0.07381843 0.03457688 0.99667223]] t_gt: [0.67610139 0.64408668 0.35782573] Pose Error in degrees for R and t: 21.510058976013394 43.77364734394313 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.35124530e-01 3.54318299e-01 8.10118105e-04] [-3.54190336e-01 9.34843584e-01 -2.48330328e-02] [-9.55613165e-03 2.29350421e-02 9.99691284e-01]] t_estimated: [[0.08314338] [0.99652128] [0.00570166]] R_gt: [[ 0.99247456 -0.11318364 0.04674234] [ 0.11431208 0.99319677 -0.02220219] [-0.04391057 0.02737819 0.9986608 ]] t_gt: [0.91097509 0.40682378 0.06796168] Pose Error in degrees for R and t: 27.378941998549777 61.21412676066619 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 3.29242803e-01 9.44244821e-01 9.45709640e-04] [ 9.44244583e-01 -3.29243619e-01 8.98286527e-04] [ 1.15957127e-03 5.97226831e-04 -9.99999149e-01]] t_estimated: [[9.90716272e-01] [1.35942312e-01] [9.78002243e-04]] R_gt: [[ 0.99746334 0.04834954 0.05222738] [-0.04702165 0.99854532 -0.02637211] [-0.0534269 0.02385015 0.9982865 ]] t_gt: [-0.41303741 0.79224965 0.44915541] Pose Error in degrees for R and t: 177.0842629536753 72.47851790854719 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.69463026e-01 -2.45236000e-01 -8.63340461e-04] [ 2.45236809e-01 9.69462683e-01 1.00684978e-03] [ 5.90060547e-04 -1.18782650e-03 9.99999120e-01]] t_estimated: [[-0.98868522] [-0.14999811] [-0.00144717]] R_gt: [[ 0.98454765 0.15772943 0.0760636 ] [-0.15352502 0.98642287 -0.05830964] [-0.08422842 0.04573158 0.99539633]] t_gt: [-0.48873636 0.839368 0.23790363] Pose Error in degrees for R and t: 23.821323551514254 69.08647483394209 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.95015294e-01 -9.97221224e-02 -2.49578826e-04] [ 9.97221976e-02 9.95015270e-01 3.09430829e-04] [ 2.17477644e-04 -3.32776957e-04 9.99999921e-01]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.98187113 0.15360891 0.11105431] [-0.14847361 0.98748574 -0.05316285] [-0.11783084 0.03571105 0.99239171]] t_gt: [-0.46942176 0.77831512 0.41697577] Pose Error in degrees for R and t: 16.082686390576058 39.122140338829084 Number of keypoints: Image1: 537 Image2: 537 R_estimated: [[ 9.99942534e-01 1.07202167e-02 -7.49435534e-05] [-1.07202132e-02 9.99942536e-01 4.69308776e-05] [ 7.54423560e-05 -4.61247698e-05 9.99999996e-01]] t_estimated: [[-9.99747953e-01] [ 2.24339887e-02] [-8.64538212e-04]] R_gt: [[ 0.99576826 0.08130142 0.0428411 ] [-0.08242768 0.99627809 0.02520519] [-0.04063179 -0.02862876 0.99876416]] t_gt: [-0.88223396 0.1894844 0.43099757] Pose Error in degrees for R and t: 4.980873959340193 27.638770979186376 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 7.03661685e-01 -7.10534435e-01 -1.02455842e-03] [-7.10534849e-01 -7.03659256e-01 -1.96942401e-03] [ 6.78403561e-04 2.11379268e-03 -9.99997536e-01]] t_estimated: [[0.39405416] [0.91908654] [0.00111947]] R_gt: [[ 0.98424126 0.17653165 0.01021877] [-0.17677745 0.98369472 0.03307218] [-0.00421244 -0.03435646 0.99940125]] t_gt: [-0.91222781 0.3836906 0.14360345] Pose Error in degrees for R and t: 178.17739657464887 89.61831917172216 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 9.73400907e-01 -2.29108255e-01 -2.84019883e-04] [ 2.29108036e-01 9.73400783e-01 -6.50195317e-04] [ 4.25430292e-04 5.67829474e-04 9.99999748e-01]] t_estimated: [[-0.35147313] [-0.93619661] [-0.00159761]] R_gt: [[ 0.95920518 0.27704904 0.0562838 ] [-0.2789331 0.95987902 0.02878119] [-0.04605069 -0.04330488 0.99800014]] t_gt: [-0.8519214 0.4968652 0.16539319] Pose Error in degrees for R and t: 29.62381172892688 80.4446532523147 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 9.86648349e-01 -1.62865059e-01 8.62331687e-05] [ 1.62865056e-01 9.86648353e-01 3.50152948e-05] [-9.07845820e-05 -2.05034129e-05 9.99999996e-01]] t_estimated: [[9.63592920e-01] [2.67372626e-01] [7.51046703e-04]] R_gt: [[ 0.99815499 -0.05485098 -0.02603208] [ 0.05566785 0.9979432 0.0317851 ] [ 0.02423512 -0.03317552 0.99915574]] t_gt: [ 0.94702205 -0.0233307 0.32032001] Pose Error in degrees for R and t: 6.636240960751785 24.967640240781613 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 0.97430833 -0.22518094 0.0041014 ] [ 0.22519762 0.97430407 -0.00419693] [-0.00305095 0.00501273 0.99998278]] t_estimated: [[-0.32195045] [-0.94675259] [-0.00272839]] R_gt: [[ 0.99802628 -0.02352414 -0.05822761] [ 0.02585645 0.99887951 0.03964381] [ 0.05722996 -0.04107013 0.99751597]] t_gt: [0.76410739 0.62496843 0.15985728] Pose Error in degrees for R and t: 12.388488083784175 33.05668214406746 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-1.63824087e-01 -9.86487364e-01 -2.08528015e-03] [ 9.86489531e-01 -1.63824297e-01 -7.10277279e-05] [-2.71551597e-04 -2.06874309e-03 9.99997823e-01]] t_estimated: [[0.77736355] [0.62905077] [0.00102285]] R_gt: [[ 0.99336662 -0.03240758 -0.11033188] [ 0.03580532 0.99893941 0.0289525 ] [ 0.10927626 -0.03271042 0.99347365]] t_gt: [ 0.85536139 0.49979012 -0.13625979] Pose Error in degrees for R and t: 97.62446325163465 11.71187791335166 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99999766 0.00157436 -0.00148189] [-0.00157273 0.99999816 0.00109799] [ 0.00148361 -0.00109566 0.9999983 ]] t_estimated: [[-0.49883993] [-0.86669345] [-0.00109155]] R_gt: [[ 0.98732991 -0.15159288 0.04690153] [ 0.14897848 0.98731095 0.05497714] [-0.05464116 -0.04729333 0.99738546]] t_gt: [ 0.60764648 -0.70769089 0.36047103] Pose Error in degrees for R and t: 9.682605497861266 71.95045667868513 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99940820e-01 -1.08479271e-02 8.24187593e-04] [ 1.08503305e-02 9.99936723e-01 -2.96994043e-03] [-7.91917743e-04 2.97870738e-03 9.99995250e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.96257288 -0.25994714 0.07668942] [ 0.25366335 0.96373964 0.08282711] [-0.09544023 -0.06027408 0.99360845]] t_gt: [ 0.65975054 -0.66866657 0.34294934] Pose Error in degrees for R and t: 15.731698874008778 48.85707307244185 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.67347696e-01 -2.53452996e-01 -1.14825903e-04] [ 2.53453014e-01 9.67347680e-01 1.87141143e-04] [ 6.36450879e-05 -2.10133525e-04 9.99999976e-01]] t_estimated: [[ 9.70036751e-01] [-2.42957860e-01] [ 4.24108190e-04]] R_gt: [[ 0.94684946 -0.31347675 0.0721794 ] [ 0.30621863 0.94708406 0.09623626] [-0.09852726 -0.06901886 0.99273812]] t_gt: [ 0.70565076 -0.62943475 0.325375 ] Pose Error in degrees for R and t: 7.711641617093363 33.11546443553565 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99997753e-01 2.11984322e-03 -7.18287304e-06] [-2.11984298e-03 9.99997753e-01 3.44312850e-05] [ 7.25584582e-06 -3.44159811e-05 9.99999999e-01]] t_estimated: [[-4.84422447e-01] [ 8.74834187e-01] [-1.93708044e-04]] R_gt: [[ 0.99246876 0.09266406 -0.08011618] [-0.0894895 0.99508632 0.04235504] [ 0.08364765 -0.03486556 0.99588491]] t_gt: [ 0.16800088 0.92865838 -0.33071034] Pose Error in degrees for R and t: 7.291741003219567 43.021077840574684 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.72896213e-01 -2.31241905e-01 -3.74783107e-04] [ 2.31241978e-01 9.72896254e-01 1.62216896e-04] [ 3.27113736e-04 -2.44485791e-04 9.99999917e-01]] t_estimated: [[ 0.7097241 ] [-0.70447926] [-0.0008201 ]] R_gt: [[ 0.98559912 0.16210657 -0.04812359] [-0.16106918 0.98663269 0.0247296 ] [ 0.05148943 -0.01662227 0.99853454]] t_gt: [-0.04888898 0.97637875 -0.21046237] Pose Error in degrees for R and t: 22.881461601618295 43.750024881924126 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999869e-01 6.98488301e-05 -5.06746574e-04] [-6.91973220e-05 9.99999171e-01 1.28557201e-03] [ 5.06835950e-04 -1.28553677e-03 9.99999045e-01]] t_estimated: [[-0.7482375 ] [-0.66343009] [-0.00107351]] R_gt: [[ 0.98288234 0.18366751 0.01443607] [-0.18227017 0.98082569 -0.06897285] [-0.026826 0.06516109 0.99751353]] t_gt: [ 0.01183762 0.96605969 -0.25804756] Pose Error in degrees for R and t: 11.32592842360416 49.496582029482276 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-2.07145353e-01 -9.78310168e-01 1.36470818e-04] [-9.78309466e-01 2.07145368e-01 1.17722612e-03] [-1.17996159e-03 1.10346227e-04 -9.99999298e-01]] t_estimated: [[0.77845842] [0.62769422] [0.00156528]] R_gt: [[ 0.99721929 -0.06732053 -0.03197353] [ 0.0673227 0.99773018 -0.00103063] [ 0.03197043 -0.00112465 0.99948824]] t_gt: [ 0.86630766 -0.42631198 -0.26032505] Pose Error in degrees for R and t: 178.62868723996797 66.02214971929011 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-2.35494799e-01 9.71875544e-01 3.56971234e-04] [-9.71873901e-01 -2.35493681e-01 -1.96137594e-03] [-1.82214884e-03 -8.08824860e-04 9.99998013e-01]] t_estimated: [[0.31394749] [0.94943967] [0.00113603]] R_gt: [[ 9.92595526e-01 -1.13133675e-01 -4.42220449e-02] [ 1.13221296e-01 9.93569810e-01 -5.23594492e-04] [ 4.39975017e-02 -4.48751647e-03 9.99021107e-01]] t_gt: [ 0.85946996 -0.46605727 -0.21000477] Pose Error in degrees for R and t: 110.14490984147132 80.0433283087252 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.98056199e-01 -6.23200675e-02 1.80989481e-04] [ 6.23200626e-02 9.98056215e-01 3.29669632e-05] [-1.82692180e-04 -2.16236062e-05 9.99999983e-01]] t_estimated: [[9.99999156e-01] [1.25259684e-03] [3.46356077e-04]] R_gt: [[ 0.98163668 -0.18329607 -0.05284176] [ 0.18256435 0.98302151 -0.01840449] [ 0.05531845 0.00841929 0.99843286]] t_gt: [ 0.83703369 -0.50859331 -0.20176089] Pose Error in degrees for R and t: 7.681647499922759 33.24583249408394 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.95660206e-01 9.30631756e-02 -1.03761169e-05] [-9.30631754e-02 9.95660206e-01 1.67527853e-05] [ 1.18901541e-05 -1.57144472e-05 1.00000000e+00]] t_estimated: [[-9.49435214e-01] [ 3.13962976e-01] [ 1.54583129e-04]] R_gt: [[ 9.93237062e-01 1.12636679e-01 -2.81812981e-02] [-1.12586269e-01 9.93636031e-01 3.38629219e-03] [ 2.83834707e-02 -1.90874973e-04 9.99596858e-01]] t_gt: [-0.64776587 0.75544301 -0.09851515] Pose Error in degrees for R and t: 1.9782692566096698 31.550683352036057 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.94051547e-01 1.08910612e-01 -6.68743044e-06] [-1.08910612e-01 9.94051545e-01 7.23797884e-05] [ 1.45305776e-05 -7.12209085e-05 9.99999997e-01]] t_estimated: [[-7.80237945e-01] [ 6.25482663e-01] [ 4.33287402e-04]] R_gt: [[ 0.99129996 0.13144259 -0.00689535] [-0.13100911 0.99037208 0.04472576] [ 0.01270824 -0.0434341 0.99897538]] t_gt: [-0.7058779 0.67172006 0.22478557] Pose Error in degrees for R and t: 2.8936772209219845 13.832368046364598 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-0.90610016 -0.42301356 -0.00648327] [-0.42288602 0.90605775 -0.01505853] [ 0.01224418 -0.01090285 -0.99986559]] t_estimated: [[0.68052231] [0.73272676] [0.00093222]] R_gt: [[ 0.99541091 0.08079013 0.05129134] [-0.0865107 0.98882889 0.12138519] [-0.04091192 -0.12526616 0.9912797 ]] t_gt: [-0.55655381 0.38015306 0.73873643] Pose Error in degrees for R and t: 176.39345810217588 84.28902832617233 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.53293374e-01 3.02045883e-01 1.65243348e-04] [-3.02045905e-01 9.53293372e-01 1.31125576e-04] [-1.17919448e-04 -1.74912219e-04 9.99999978e-01]] t_estimated: [[0.53418782] [0.84536519] [0.00103726]] R_gt: [[ 0.99415798 0.10146287 -0.03682291] [-0.10195437 0.99471982 -0.0117439 ] [ 0.03543671 0.01543068 0.99925279]] t_gt: [-0.76170499 0.55169258 -0.33976582] Pose Error in degrees for R and t: 11.949127395974847 86.60979313833948 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.99607815e-01 -2.79786698e-02 -1.18736193e-03] [ 2.79792264e-02 9.99608401e-01 4.54792640e-04] [ 1.17417247e-03 -4.87835745e-04 9.99999192e-01]] t_estimated: [[-0.84501048] [-0.53474716] [-0.00166212]] R_gt: [[ 0.98048059 0.19649594 0.00693143] [-0.1965928 0.98030781 0.01866786] [-0.00312769 -0.01966562 0.99980183]] t_gt: [-0.83475335 0.5496923 0.03201888] Pose Error in degrees for R and t: 12.988680316881835 65.70871563003732 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.93642566e-01 -1.12580115e-01 -4.11399221e-04] [ 1.12579624e-01 9.93642133e-01 -1.06796225e-03] [ 5.29014912e-04 1.01485758e-03 9.99999345e-01]] t_estimated: [[-0.99233756] [-0.12354931] [-0.00131435]] R_gt: [[ 0.94988229 0.31136547 -0.02784085] [-0.30999972 0.94969585 0.04449418] [ 0.04029419 -0.03363265 0.99862139]] t_gt: [-0.80195205 0.59684158 -0.02555446] Pose Error in degrees for R and t: 24.761385268449214 43.77175331303701 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.36119265 0.93249065 0.00102631] [ 0.93243325 -0.36118225 0.01075284] [ 0.01039761 -0.00292688 -0.99994166]] t_estimated: [[-0.91889492] [-0.39447509] [-0.00464088]] R_gt: [[ 0.99450549 -0.06404668 -0.08280193] [ 0.06079254 0.9972971 -0.04124963] [ 0.08522037 0.03598966 0.99571184]] t_gt: [ 0.73008289 -0.24276829 -0.63878207] Pose Error in degrees for R and t: 178.6409737176606 55.10048703564068 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-9.93311170e-01 1.15464228e-01 -9.64681357e-04] [ 1.15461520e-01 9.93308797e-01 2.50410823e-03] [ 1.24736140e-03 2.37597510e-03 -9.99996399e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98120418 -0.17814737 -0.07417847] [ 0.17248325 0.98200966 -0.07686075] [ 0.08653702 0.0626218 0.99427842]] t_gt: [ 0.80683199 -0.41643026 -0.41905605] Pose Error in degrees for R and t: 175.55919743492848 36.36928760481975 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999182e-01 4.50385596e-04 -1.19704393e-03] [-4.48468667e-04 9.99998618e-01 1.60117243e-03] [ 1.19776342e-03 -1.60063428e-03 9.99998002e-01]] t_estimated: [[0.93327984] [0.35914172] [0.00244314]] R_gt: [[ 0.94350297 -0.32304547 -0.07378439] [ 0.31760086 0.94511674 -0.07670092] [ 0.09451341 0.04893443 0.99432023]] t_gt: [ 0.83837521 -0.4816846 -0.25516064] Pose Error in degrees for R and t: 19.724864325300373 52.49560729954579 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-7.79661007e-01 -6.26201294e-01 8.09139921e-04] [-6.26196615e-01 7.79659147e-01 3.06824680e-03] [-2.55219345e-03 1.88551171e-03 -9.99994966e-01]] t_estimated: [[0.9295521 ] [0.36868702] [0.00166834]] R_gt: [[ 0.99884041 0.01054623 -0.04697265] [-0.01480465 0.99571648 -0.09126224] [ 0.04580826 0.09185153 0.99471793]] t_gt: [-0.04111576 0.35371767 -0.93444813] Pose Error in degrees for R and t: 175.84586740577691 84.79998202642876 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 5.86767073e-01 8.09754835e-01 1.22849514e-03] [-8.09755130e-01 5.86767839e-01 -3.63368747e-04] [-1.01508104e-03 -7.81567423e-04 9.99999179e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99364124 0.04855105 -0.10158224] [-0.0650276 0.9840174 -0.16577129] [ 0.09190955 0.1713224 0.98091807]] t_gt: [-0.11107843 0.45393749 -0.88408276] Pose Error in degrees for R and t: 51.9382014336441 63.1075847034061 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.70722518e-01 -2.40203650e-01 5.21024547e-06] [ 2.40203228e-01 9.70720853e-01 1.85345158e-03] [-4.50263529e-04 -1.79793567e-03 9.99998282e-01]] t_estimated: [[0.22389673] [0.97460931] [0.00263408]] R_gt: [[ 0.98540953 0.05122238 -0.16230913] [-0.09019887 0.96587583 -0.24279155] [ 0.14433457 0.2538897 0.95640351]] t_gt: [-0.02818767 0.44046407 -0.89732762] Pose Error in degrees for R and t: 24.795917990792468 65.12717077479327 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99913658e-01 1.31406386e-02 -2.77544287e-05] [-1.31406380e-02 9.99913658e-01 2.19535934e-05] [ 2.80405166e-05 -2.15869869e-05 9.99999999e-01]] t_estimated: [[-8.67304555e-01] [-4.97777407e-01] [-6.79087798e-04]] R_gt: [[ 0.99835116 0.05310983 0.0217746 ] [-0.05243763 0.99816298 -0.03036161] [-0.02334678 0.0291701 0.99930235]] t_gt: [-0.837083 0.34418605 -0.42523877] Pose Error in degrees for R and t: 3.1236543304524242 56.29158330891531 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.21751659e-01 3.87635298e-01 -1.06186571e-02] [ 3.87618987e-01 9.21812504e-01 3.63706840e-03] [ 1.11982670e-02 -7.63519283e-04 -9.99937006e-01]] t_estimated: [[ 0.97753974] [-0.21068137] [-0.00542475]] R_gt: [[ 0.97589583 0.2175914 0.01675177] [-0.21785863 0.97584555 0.01624962] [-0.01281112 -0.01950632 0.99972801]] t_gt: [-0.90245706 0.4130373 0.12235787] Pose Error in degrees for R and t: 179.95521525532936 14.100319768572625 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.9998592 0.01671135 -0.00151896] [-0.01670524 -0.99985267 -0.00394672] [-0.00158469 -0.00392079 0.99999106]] t_estimated: [[0.9890895 ] [0.1473112 ] [0.00116914]] R_gt: [[ 0.93437237 0.35555289 0.02301235] [-0.35557377 0.9346433 -0.0033353 ] [-0.02269414 -0.00506585 0.99972935]] t_gt: [-0.85547284 0.51571804 0.04691618] Pose Error in degrees for R and t: 158.21069368140496 39.63593530126423 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.80286675e-01 -1.97580434e-01 -8.68118072e-05] [ 1.97580453e-01 9.80286604e-01 3.71635622e-04] [ 1.16725242e-05 -3.81461764e-04 9.99999927e-01]] t_estimated: [[ 9.98526104e-01] [-5.42647634e-02] [ 9.76797456e-04]] R_gt: [[ 0.98883391 -0.14864598 -0.01053453] [ 0.14879452 0.98875399 0.0150306 ] [ 0.00818177 -0.0164304 0.99983145]] t_gt: [ 0.61913787 -0.78500422 0.02089691] Pose Error in degrees for R and t: 3.0236679332868692 48.63574208729799 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99995746e-01 5.20380273e-04 -2.86989967e-03] [-5.10958414e-04 9.99994481e-01 3.28274903e-03] [ 2.87159211e-03 -3.28126867e-03 9.99990494e-01]] t_estimated: [[-0.68875972] [-0.72498785] [-0.00163437]] R_gt: [[ 0.95508554 -0.29159114 -0.0527824 ] [ 0.29028828 0.95643548 -0.03106344] [ 0.05954141 0.01434655 0.99812233]] t_gt: [ 0.73284889 -0.64681856 -0.21108826] Pose Error in degrees for R and t: 17.302285661751288 87.96693651739265 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999920e-01 -2.78723415e-05 3.97869497e-04] [ 2.80618164e-05 9.99999886e-01 -4.76226178e-04] [-3.97856178e-04 4.76237305e-04 9.99999807e-01]] t_estimated: [[9.99995047e-01] [3.14250047e-03] [1.77716649e-04]] R_gt: [[ 0.92063234 -0.38711344 -0.0507792 ] [ 0.38414872 0.92136322 -0.05933198] [ 0.06975435 0.03511601 0.99694576]] t_gt: [ 0.76120907 -0.60726533 -0.22757323] Pose Error in degrees for R and t: 23.14985400581953 40.60130148158441 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.90196071e-01 1.39684349e-01 1.51625047e-04] [-1.39684400e-01 9.90195994e-01 4.03092983e-04] [-9.38327334e-05 -4.20320742e-04 9.99999907e-01]] t_estimated: [[0.67155906] [0.74095049] [0.00089831]] R_gt: [[ 0.99696829 0.02322957 -0.07425722] [-0.03139465 0.9933526 -0.11074661] [ 0.07119133 0.11274204 0.99106994]] t_gt: [-0.04106615 0.34868305 -0.93634059] Pose Error in degrees for R and t: 10.035839735560398 76.7066131212792 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.06395581 -0.99795088 -0.00192133] [ 0.99795058 -0.06395955 0.00195201] [-0.00207089 -0.00179255 0.99999625]] t_estimated: [[0.99987359] [0.0157771 ] [0.00197214]] R_gt: [[ 0.99371267 0.01579259 -0.11084072] [-0.03576346 0.98290976 -0.18058135] [ 0.10609525 0.18340997 0.97729464]] t_gt: [ 0.04097005 0.32431822 -0.94506039] Pose Error in degrees for R and t: 95.77566896662746 87.465675726994 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.93269791 -0.360654 0.00181832] [ 0.36065612 0.93269832 -0.00100775] [-0.0013325 0.00159572 0.99999784]] t_estimated: [[0.45652236] [0.88971136] [0.00101449]] R_gt: [[ 0.98283112 0.06025848 -0.17438921] [-0.10453189 0.96069804 -0.25716195] [ 0.15203888 0.27097582 0.95050257]] t_gt: [-0.02747627 0.44237694 -0.89640822] Pose Error in degrees for R and t: 31.57199754545489 67.65796388441153 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99998661e-01 1.60699521e-03 3.10359953e-04] [-1.60701321e-03 9.99998707e-01 5.77508028e-05] [-3.10266747e-04 -5.82494780e-05 9.99999950e-01]] t_estimated: [[0.99354029] [0.11344952] [0.00262531]] R_gt: [[ 0.9972237 -0.07241731 -0.01733243] [ 0.07192349 0.99702741 -0.02761295] [ 0.01927972 0.02628923 0.99946816]] t_gt: [ 0.3664518 -0.79960355 -0.47575964] Pose Error in degrees for R and t: 4.631188828268079 74.20948387628415 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.83165697e-01 1.82715875e-01 3.49277628e-04] [-1.82715718e-01 9.83165690e-01 -4.38881338e-04] [-4.23588368e-04 3.67674564e-04 9.99999843e-01]] t_estimated: [[0.71353439] [0.70061974] [0.00080717]] R_gt: [[ 0.98115991 -0.18853377 -0.0421847 ] [ 0.18816406 0.98205676 -0.0125981 ] [ 0.04380212 0.00442319 0.99903035]] t_gt: [ 0.55134989 -0.80705707 -0.21135794] Pose Error in degrees for R and t: 21.53845901835796 80.08403387334421 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.00000000e+00 5.84532422e-14 4.60135402e-16] [-5.85642645e-14 1.00000000e+00 -8.60856525e-17] [ 8.67361738e-17 -6.03033248e-16 1.00000000e+00]] t_estimated: [[-0.84497982] [-0.53479493] [-0.0018677 ]] R_gt: [[ 0.93944217 -0.33522529 -0.07122203] [ 0.33348522 0.94209017 -0.03540261] [ 0.07896536 0.00950779 0.9968316 ]] t_gt: [ 0.68068465 -0.7021416 -0.20896312] Pose Error in degrees for R and t: 20.08537003658404 78.50556523088062 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[-9.90242159e-01 1.39354064e-01 9.54652492e-04] [ 1.39357332e-01 9.90217805e-01 6.94490428e-03] [ 2.24867398e-05 7.01017483e-03 -9.99975428e-01]] t_estimated: [[9.93621021e-01] [1.12768100e-01] [7.88588112e-04]] R_gt: [[ 0.99567056 0.09283596 0.00469128] [-0.09294485 0.99503756 0.03551907] [-0.0013715 -0.03580121 0.99935786]] t_gt: [-0.94703658 0.18277554 0.26403564] Pose Error in degrees for R and t: 179.9681255641245 23.048176251747826 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[ 0.22666124 0.9739722 -0.00168259] [-0.97396953 0.22665491 -0.00330294] [-0.0028356 0.00238744 0.99999313]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97729881 0.21177445 0.00622547] [-0.21185994 0.97708166 0.02065954] [-0.00170868 -0.02150959 0.99976635]] t_gt: [-0.86788144 0.49450086 0.04744161] Pose Error in degrees for R and t: 64.68408537562016 60.716754838547715 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 0.99223757 -0.12434717 0.0015429 ] [ 0.12434959 0.9922372 -0.00158756] [-0.00133351 0.00176709 0.99999755]] t_estimated: [[0.27687048] [0.96090341] [0.00271442]] R_gt: [[ 0.95561816 0.29270977 0.03341314] [-0.29447818 0.95242351 0.07856297] [-0.00882776 -0.08491516 0.99634846]] t_gt: [-0.84326182 0.50629318 0.18049023] Pose Error in degrees for R and t: 24.74571438929464 75.31442162405534 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.50875262e-01 -3.09574169e-01 -2.63011110e-04] [ 3.09574251e-01 9.50875201e-01 3.68906514e-04] [ 1.35886814e-04 -4.32205546e-04 9.99999897e-01]] t_estimated: [[9.95215025e-01] [9.77047676e-02] [9.12162518e-04]] R_gt: [[ 0.98752945 -0.15653604 0.01675737] [ 0.15671321 0.98759533 -0.00985667] [-0.01500628 0.01235988 0.99981076]] t_gt: [ 0.7433435 -0.66890783 0.00166015] Pose Error in degrees for R and t: 9.092980882323301 47.589892534120246 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.39800856 0.91735251 0.00731792] [ 0.91736718 0.39803448 -0.00245065] [-0.00516089 0.00573784 -0.99997022]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.95540772 -0.29477519 0.01743795] [ 0.29451751 0.95551402 0.01588707] [-0.02134502 -0.01004345 0.9997216 ]] t_gt: [ 0.76568438 -0.64196823 0.04005276] Pose Error in degrees for R and t: 179.03377420039723 80.66465398490834 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99586565 0.0908287 0.00132239] [-0.09082491 0.99586324 -0.00269182] [-0.00156141 0.00256059 0.9999955 ]] t_estimated: [[-0.43971132] [-0.89813375] [-0.00311852]] R_gt: [[ 0.90602978 -0.41510972 0.08243341] [ 0.41048246 0.90935859 0.06761039] [-0.10302674 -0.02741998 0.99430034]] t_gt: [ 0.77455522 -0.60671763 0.17876778] Pose Error in degrees for R and t: 30.27629961183271 78.24217867247702 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999709e-01 -7.46852520e-04 -1.52609141e-04] [ 7.46865336e-04 9.99999718e-01 8.39346825e-05] [ 1.52546411e-04 -8.40486366e-05 9.99999985e-01]] t_estimated: [[-0.99998465] [-0.00540007] [-0.00124398]] R_gt: [[ 0.9933569 0.1084286 -0.03851971] [-0.107467 0.99386331 0.0262136 ] [ 0.04112528 -0.0218999 0.99891306]] t_gt: [-0.37107299 0.92820203 0.02730982] Pose Error in degrees for R and t: 6.786287437558559 68.52957208356855 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.85199642e-01 1.71408981e-01 7.92060947e-04] [-1.71409188e-01 9.85199903e-01 2.01615848e-04] [-7.45779602e-04 -3.34398385e-04 9.99999666e-01]] t_estimated: [[0.03107297] [0.99951376] [0.00258941]] R_gt: [[ 0.97567501 0.20439235 -0.07925689] [-0.19926043 0.97757954 0.06807517] [ 0.09139371 -0.05062745 0.99452639]] t_gt: [-0.25018483 0.96469465 0.08229085] Pose Error in degrees for R and t: 6.289664627852855 16.929323382250683 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-6.97440739e-03 9.99975236e-01 -9.40525147e-04] [-9.99975324e-01 -6.97519418e-03 -8.35879703e-04] [-8.42419349e-04 9.34672173e-04 9.99999208e-01]] t_estimated: [[ 3.63606052e-03] [ 9.99993389e-01] [-3.40586134e-05]] R_gt: [[ 0.94870698 0.29931596 -0.10180881] [-0.29141617 0.95276502 0.08553934] [ 0.12260236 -0.05148291 0.99111881]] t_gt: [-0.16571372 0.98055841 -0.10509126] Pose Error in degrees for R and t: 73.48759069005273 11.491877206136952 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999999e-01 3.58896264e-05 3.50927579e-07] [-3.58896264e-05 9.99999999e-01 3.19246247e-08] [-3.50926433e-07 -3.19372193e-08 1.00000000e+00]] t_estimated: [[-8.61294353e-01] [-5.08106246e-01] [ 2.82147041e-04]] R_gt: [[ 0.9984522 0.04548094 0.03202172] [-0.04447733 0.99851728 -0.03139337] [-0.03340201 0.02992063 0.99899393]] t_gt: [-0.54254806 0.8391334 -0.03868779] Pose Error in degrees for R and t: 3.6393831074378924 87.65516075208747 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.02874106e-01 4.29904685e-01 5.56643400e-04] [-4.29904334e-01 9.02874211e-01 -6.50842797e-04] [-7.82379339e-04 3.48325698e-04 9.99999633e-01]] t_estimated: [[-8.48028779e-01] [ 5.29949891e-01] [ 5.50965409e-04]] R_gt: [[ 0.99348292 0.11251465 0.01826206] [-0.11258813 0.99363726 0.00298293] [-0.01781036 -0.00501905 0.99982895]] t_gt: [-0.56180843 0.82006476 0.10892691] Pose Error in degrees for R and t: 19.026028975638685 24.344559209270585 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-1.30510857e-01 -9.91446770e-01 4.68291210e-04] [-9.91446256e-01 1.30511291e-01 1.06083796e-03] [-1.11288166e-03 -3.25834695e-04 -9.99999328e-01]] t_estimated: [[0.68575721] [0.7278281 ] [0.00181856]] R_gt: [[ 9.78799535e-01 2.04815133e-01 -1.91630879e-03] [-2.04813495e-01 9.78800763e-01 1.36920916e-03] [ 2.15658439e-03 -9.46783196e-04 9.99997732e-01]] t_gt: [-0.59552497 0.80268427 0.03237226] Pose Error in degrees for R and t: 179.97084505177753 79.86957462507814 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-0.57965247 -0.2418132 0.77815769] [-0.70988046 -0.31902202 -0.62792889] [ 0.40009093 -0.91637947 0.01326343]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99069736 -0.1346546 -0.01963337] [ 0.13500636 0.99068309 0.01785036] [ 0.01704665 -0.02033516 0.99964688]] t_gt: [ 0.59605284 -0.80277544 0.01651077] Pose Error in degrees for R and t: 166.09129433510813 81.89029120207078 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-9.99663723e-01 -2.59310861e-02 -1.37525649e-04] [-2.59312828e-02 9.99662279e-01 1.70202765e-03] [ 9.33437779e-05 1.70502151e-03 -9.99998542e-01]] t_estimated: [[9.95443449e-01] [9.53489894e-02] [9.53489894e-04]] R_gt: [[ 0.95747023 -0.28411933 -0.0502598 ] [ 0.28394226 0.95878064 -0.01077037] [ 0.05124813 -0.00395862 0.99867738]] t_gt: [ 0.71938964 -0.68111396 -0.13624358] Pose Error in degrees for R and t: 177.06480829118806 49.38007112875267 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.13666202e-01 4.06465337e-01 -3.24649928e-05] [-4.06465338e-01 9.13666202e-01 -2.26205985e-05] [ 2.04676775e-05 3.38635706e-05 9.99999999e-01]] t_estimated: [[0.87040757] [0.49233077] [0.00103867]] R_gt: [[ 0.91895917 -0.38902136 -0.06461602] [ 0.3855054 0.92071499 -0.06056666] [ 0.0830547 0.03074815 0.99607006]] t_gt: [ 0.76413491 -0.59810621 -0.24159224] Pose Error in degrees for R and t: 47.07401320051036 68.26021871734434 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99387457e-01 -3.49956561e-02 -1.20995707e-04] [ 3.49956708e-02 9.99387456e-01 1.22165591e-04] [ 1.16646327e-04 -1.26325085e-04 9.99999985e-01]] t_estimated: [[-0.5846018 ] [ 0.81131938] [-0.00126591]] R_gt: [[ 0.99807419 0.03440392 -0.0516127 ] [-0.03950305 0.9940767 -0.10124838] [ 0.04782435 0.1030923 0.99352098]] t_gt: [-0.18640418 0.48488812 -0.85448054] Pose Error in degrees for R and t: 7.724509479641258 59.77128465698996 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-9.38375311e-01 -3.45614648e-01 -1.51328277e-03] [ 3.45616998e-01 -9.38374038e-01 -1.74800530e-03] [-8.15889029e-04 -2.16330127e-03 9.99997327e-01]] t_estimated: [[9.52837557e-01] [3.03479878e-01] [7.43823230e-04]] R_gt: [[ 0.99062186 0.07315777 -0.11539174] [-0.0929049 0.97994253 -0.17629718] [ 0.1001806 0.18536452 0.97755037]] t_gt: [-0.16651441 0.5160238 -0.84023353] Pose Error in degrees for R and t: 164.68469685117307 89.84625634551773 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-8.54129372e-01 -5.20058083e-01 -1.61436608e-03] [ 5.20058824e-01 -8.54130445e-01 -4.65443135e-05] [-1.35467347e-03 -8.79320189e-04 9.99998696e-01]] t_estimated: [[9.32386076e-01] [3.61463245e-01] [7.27290231e-04]] R_gt: [[ 0.98443406 0.05962108 -0.16533036] [-0.10098707 0.96179489 -0.25446783] [ 0.14384363 0.26720364 0.95284432]] t_gt: [-0.04834236 0.47081546 -0.88090625] Pose Error in degrees for R and t: 153.7124896947813 82.84996138742747 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99994670e-01 3.25781140e-03 2.16981100e-04] [-3.25697689e-03 9.99987697e-01 -3.74130809e-03] [-2.29166907e-04 3.74058144e-03 9.99992978e-01]] t_estimated: [[-0.99153531] [-0.12853236] [-0.01836177]] R_gt: [[ 0.99259562 -0.07973652 -0.09162219] [ 0.07538795 0.99590116 -0.0499746 ] [ 0.09523072 0.04269793 0.99453895]] t_gt: [ 0.70118088 -0.28092668 -0.65530571] Pose Error in degrees for R and t: 7.51728505743132 49.67632465948769 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.56519406e-01 2.91666730e-01 1.06955731e-03] [-2.91666752e-01 9.56519988e-01 -1.38487016e-04] [-1.06344500e-03 -1.79488790e-04 9.99999418e-01]] t_estimated: [[0.59163203] [0.80620717] [0.00124032]] R_gt: [[ 0.97460999 -0.21353013 -0.06738003] [ 0.2079769 0.97478466 -0.08087364] [ 0.0829499 0.06480727 0.99444319]] t_gt: [ 0.80425886 -0.45316112 -0.38446415] Pose Error in degrees for R and t: 29.774292831692666 83.68429800168582 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.14139504 0.98992956 -0.00684953] [ 0.98988984 -0.14130429 0.01229646] [ 0.01120476 -0.00851894 -0.99990094]] t_estimated: [[-0.70882746] [-0.70538097] [-0.00114883]] R_gt: [[ 0.93391171 -0.35216707 -0.06154605] [ 0.34787625 0.93487672 -0.07062052] [ 0.08240865 0.04454302 0.99560236]] t_gt: [ 0.83472095 -0.50238058 -0.22550985] Pose Error in degrees for R and t: 179.0406817324587 76.28783914432256 Number of keypoints: Image1: 373 Image2: 373 R_estimated: [[ 2.96419361e-01 9.55057388e-01 9.73156135e-04] [-9.55055819e-01 2.96420685e-01 -1.77742974e-03] [-1.98601101e-03 -4.02553842e-04 9.99997947e-01]] t_estimated: [[0.11276286] [0.99362058] [0.00163424]] R_gt: [[ 0.99273569 0.11550594 -0.03367482] [-0.11617304 0.99305487 -0.01855981] [ 0.03129718 0.02233759 0.99926047]] t_gt: [-0.73402603 0.60363054 -0.31118476] Pose Error in degrees for R and t: 66.13762919211896 58.9022097383494 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.28866904e-01 -3.70410127e-01 1.61624683e-03] [-3.70410475e-01 -9.28868167e-01 -8.96886857e-05] [ 1.53450183e-03 -5.15365903e-04 -9.99998690e-01]] t_estimated: [[0.35148319] [0.93619355] [0.00109496]] R_gt: [[ 9.79827053e-01 1.99696743e-01 7.70099033e-03] [-1.99845479e-01 9.79205535e-01 3.48999364e-02] [-5.71046061e-04 -3.57352213e-02 9.99361650e-01]] t_gt: [-0.828595 0.55429586 0.07865388] Pose Error in degrees for R and t: 177.93584812007543 76.83376332151641 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 6.57956903e-01 -7.53054716e-01 -1.14434024e-03] [ 7.53055521e-01 6.57956713e-01 5.88078880e-04] [ 3.10070769e-04 -1.24868229e-03 9.99999172e-01]] t_estimated: [[ 5.54590715e-01] [-8.32123188e-01] [ 3.71448092e-04]] R_gt: [[ 0.94647841 0.32114121 -0.03236923] [-0.31949081 0.94639843 0.04749591] [ 0.04588704 -0.03461204 0.99834745]] t_gt: [-0.79635974 0.60392916 -0.03287444] Pose Error in degrees for R and t: 67.62081223705063 19.229070308072046 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.91014374e-01 -1.33755371e-01 -1.07494999e-04] [ 1.33755368e-01 9.91014379e-01 -4.21862848e-05] [ 1.12171732e-04 2.74291814e-05 9.99999993e-01]] t_estimated: [[-0.82371905] [-0.56699753] [-0.00085007]] R_gt: [[ 0.99262754 0.11916531 -0.02212509] [-0.11893632 0.99283653 0.0114102 ] [ 0.02332726 -0.00869456 0.99969022]] t_gt: [-0.68645678 0.72658358 -0.02921301] Pose Error in degrees for R and t: 14.594065464697891 81.17011507464696 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.92882342 -0.37048046 -0.00559278] [ 0.3704919 0.92883501 0.00113316] [ 0.00477496 -0.00312458 0.99998372]] t_estimated: [[0.70040084] [0.71374929] [0.0007852 ]] R_gt: [[ 0.9937284 0.11012422 0.01940953] [-0.11094307 0.99267361 0.04787113] [-0.01399537 -0.04972345 0.99866453]] t_gt: [-0.71521979 0.59127068 0.37263875] Pose Error in degrees for R and t: 28.248374673244207 85.49023969206031 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.72127026e-01 -2.34454596e-01 -2.96168461e-04] [ 2.34454669e-01 9.72127024e-01 2.40349731e-04] [ 2.31562265e-04 -3.03088547e-04 9.99999927e-01]] t_estimated: [[0.32790696] [0.94470943] [0.00105436]] R_gt: [[ 0.99673164 0.0569533 0.05729116] [-0.06407883 0.98925525 0.13140499] [-0.04919114 -0.13464638 0.98967161]] t_gt: [-0.482203 0.27465868 0.83189114] Pose Error in degrees for R and t: 18.9176949067497 84.13228389861656 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999610e-01 -8.80159325e-04 -7.55784080e-05] [ 8.80175552e-04 9.99999590e-01 2.14939548e-04] [ 7.53891959e-05 -2.15005987e-04 9.99999974e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.99204247 0.10465788 -0.06999149] [-0.10290885 0.99429164 0.02816969] [ 0.07254042 -0.02074329 0.99714957]] t_gt: [-0.00141496 0.92094267 -0.38969551] Pose Error in degrees for R and t: 7.404643152654328 22.998175174102393 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-1.80271606e-01 9.83611929e-01 3.11791238e-03] [ 9.83616869e-01 1.80270505e-01 6.32974824e-04] [ 6.05339492e-05 3.18093860e-03 -9.99994939e-01]] t_estimated: [[9.59436649e-01] [2.81923318e-01] [7.47807209e-04]] R_gt: [[ 0.98746884 0.15667577 -0.01893977] [-0.15692398 0.98753285 -0.01235201] [ 0.01676862 0.01516887 0.99974408]] t_gt: [-0.07147249 0.96447254 -0.25433129] Pose Error in degrees for R and t: 179.82902272627956 78.27914073342428 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 1.00000000e+00 1.66533454e-16 -8.78203760e-18] [-1.11022302e-16 1.00000000e+00 -3.36211094e-16] [ 7.17199737e-16 1.39319979e-16 1.00000000e+00]] t_estimated: [[-2.68118850e-01] [-9.63385686e-01] [-5.49281082e-04]] R_gt: [[ 0.98559558 0.16730715 0.02470323] [-0.16396124 0.98108236 -0.10292681] [-0.04145598 0.09739456 0.99438139]] t_gt: [ 0.049542 0.94021475 -0.33695968] Pose Error in degrees for R and t: 11.324826174698067 23.23602181297474 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999337e-01 1.14616362e-03 -1.06425971e-04] [-1.14615016e-03 9.99999335e-01 1.26523088e-04] [ 1.06570917e-04 -1.26401024e-04 9.99999986e-01]] t_estimated: [[-0.82654459] [-0.56287037] [-0.00099228]] R_gt: [[ 0.99856598 0.04498549 0.02901379] [-0.04478731 0.99896873 -0.00748918] [-0.02932053 0.00617931 0.99955171]] t_gt: [-0.52563951 0.81821612 0.23286366] Pose Error in degrees for R and t: 3.042952993317789 88.4920197434755 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.92267573e-01 -1.24116782e-01 -2.95773853e-04] [ 1.24116789e-01 9.92267616e-01 5.47283788e-06] [ 2.92807545e-04 -4.21410204e-05 9.99999956e-01]] t_estimated: [[-9.99531285e-01] [-3.06124398e-02] [-2.98171739e-04]] R_gt: [[ 0.99075428 0.13495271 0.01388557] [-0.13512439 0.99075377 0.0122304 ] [-0.01210628 -0.01399342 0.99982909]] t_gt: [-0.58605492 0.80059526 0.12484737] Pose Error in degrees for R and t: 14.929494675558754 55.85876299448341 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.01745438 0.99977662 -0.01191873] [ 0.99969819 -0.01724442 0.0174972 ] [ 0.01728776 -0.01222054 -0.99977587]] t_estimated: [[-0.51330979] [-0.8581647 ] [-0.00814932]] R_gt: [[ 9.81195732e-01 1.92978308e-01 3.70280201e-03] [-1.93011846e-01 9.80912904e-01 2.36198207e-02] [ 9.25650392e-04 -2.38899906e-02 9.99714638e-01]] t_gt: [-0.61899881 0.77521441 0.12602815] Pose Error in degrees for R and t: 177.8721879371343 69.60131490539648 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999988e-01 -6.25357595e-05 -1.40369554e-04] [ 6.25556513e-05 9.99999988e-01 1.41710601e-04] [ 1.40360691e-04 -1.41719380e-04 9.99999980e-01]] t_estimated: [[-0.99651425] [-0.08341634] [-0.00103287]] R_gt: [[ 0.99424094 0.10448867 -0.02384868] [-0.10413972 0.99444332 0.01543403] [ 0.02532878 -0.01286208 0.99959627]] t_gt: [-0.37761442 0.92070577 0.0985304 ] Pose Error in degrees for R and t: 6.2062493779154275 72.57876251599359 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999976e-01 4.64447056e-05 2.13464556e-04] [-4.64442727e-05 9.99999999e-01 -2.03260542e-06] [-2.13464650e-04 2.02269117e-06 9.99999977e-01]] t_estimated: [[0.81785663] [0.57542061] [0.00128793]] R_gt: [[ 0.97773857 0.18799691 -0.09319574] [-0.18293841 0.98127867 0.06020895] [ 0.10276989 -0.04181917 0.99382529]] t_gt: [-0.09805721 0.99162163 -0.08409119] Pose Error in degrees for R and t: 12.470095990422276 60.64006141003304 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99888882 -0.04581435 -0.01105313] [ 0.04600812 0.99877952 0.01796424] [ 0.01021662 -0.01845281 0.99977753]] t_estimated: [[-8.55367739e-01] [-5.18020836e-01] [-6.66693483e-04]] R_gt: [[ 0.95720747 0.27673613 -0.08468426] [-0.27214868 0.96026597 0.06184967] [ 0.09843544 -0.03615712 0.99448593]] t_gt: [-0.13208816 0.98345164 -0.12399832] Pose Error in degrees for R and t: 19.263470025497874 66.64781743147593 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-1.34378085e-01 9.90930131e-01 -7.65021832e-05] [-9.90927795e-01 -1.34377936e-01 -2.16236683e-03] [-2.15303465e-03 -2.14766575e-04 9.99997659e-01]] t_estimated: [[-1.03433889e-01] [ 9.94636020e-01] [ 7.86077418e-04]] R_gt: [[ 0.98643609 -0.1640987 0.00372929] [ 0.16411667 0.9864257 -0.00532318] [-0.0028043 0.00586234 0.99997952]] t_gt: [ 0.74565157 -0.66535705 -0.03610709] Pose Error in degrees for R and t: 107.16815687873235 42.35862208566919 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99781715e-01 2.08867595e-02 5.16261021e-04] [-2.08867950e-02 9.99781845e-01 6.35310890e-05] [-5.14821437e-04 -7.43002592e-05 9.99999865e-01]] t_estimated: [[0.94162567] [0.33665976] [0.00114608]] R_gt: [[ 0.95129689 -0.30598949 0.03747784] [ 0.30454502 0.95167072 0.03968475] [-0.04781009 -0.02633896 0.99850941]] t_gt: [ 0.75117568 -0.6463643 0.1339712 ] Pose Error in degrees for R and t: 19.234360400563606 60.66763429608443 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.68156845e-01 2.50344078e-01 4.06521964e-04] [-2.50343971e-01 9.68156913e-01 -2.95628385e-04] [-4.67585865e-04 1.84444322e-04 9.99999874e-01]] t_estimated: [[ 9.42695865e-01] [-3.33653272e-01] [-1.16313443e-05]] R_gt: [[ 0.90524077 -0.41720304 0.08049705] [ 0.41160158 0.90805555 0.07757911] [-0.10546129 -0.03709571 0.99373156]] t_gt: [ 0.77102397 -0.60568578 0.1966387 ] Pose Error in degrees for R and t: 39.56285151971904 21.731700030493812 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99827186e-01 -1.85902632e-02 6.53716305e-06] [ 1.85902621e-02 9.99827177e-01 1.38448617e-04] [-9.10982951e-06 -1.38303164e-04 9.99999990e-01]] t_estimated: [[8.99999874e-01] [4.35890154e-01] [2.46709936e-05]] R_gt: [[ 0.99800605 -0.05364043 -0.03328824] [ 0.05288282 0.99833081 -0.02321356] [ 0.03447752 0.02140742 0.999176 ]] t_gt: [ 0.96882467 -0.02791437 -0.24616975] Pose Error in degrees for R and t: 3.0637151557812534 30.709410180222047 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.65865908 -0.75129906 0.04144806] [-0.75140419 0.65964383 0.01617907] [-0.03949628 -0.02048775 -0.99900966]] t_estimated: [[0.9073258 ] [0.419805 ] [0.02288341]] R_gt: [[ 0.99627268 -0.07207238 -0.04739478] [ 0.07186818 0.99739652 -0.00598568] [ 0.04770362 0.00255777 0.9988584 ]] t_gt: [ 0.99199631 0.01108486 -0.12577939] Pose Error in degrees for R and t: 179.93464558481278 25.59913348188116 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99299368e-01 -3.74268587e-02 -6.41705467e-05] [ 3.74268862e-02 9.99299243e-01 5.01483452e-04] [ 4.53566284e-05 -5.03533800e-04 9.99999872e-01]] t_estimated: [[8.31744624e-01] [5.55158303e-01] [3.72799039e-04]] R_gt: [[ 0.99602175 -0.0504807 -0.07344009] [ 0.04998755 0.99871332 -0.0085271 ] [ 0.07377646 0.00482239 0.9972631 ]] t_gt: [ 0.97117166 0.1444272 -0.18964808] Pose Error in degrees for R and t: 4.30319278345533 27.392444223495087 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.99547342e-01 -3.00778891e-02 -6.56973610e-04] [ 3.00780290e-02 9.99547533e-01 2.04072448e-04] [ 6.50538283e-04 -2.23740544e-04 9.99999763e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189844e-04]] R_gt: [[ 0.9946447 0.10152497 -0.0193161 ] [-0.10092438 0.99444486 0.02989695] [ 0.02224452 -0.02778659 0.99936678]] t_gt: [-0.95112386 0.30099996 0.06901032] Pose Error in degrees for R and t: 7.797795145926061 18.170602946799654 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[-9.98016237e-01 5.91569575e-02 -2.15417278e-02] [ 5.91436715e-02 9.98248693e-01 1.25389736e-03] [ 2.15781784e-02 -2.26469526e-05 -9.99767164e-01]] t_estimated: [[ 0.99860272] [-0.05175053] [-0.01069971]] R_gt: [[ 0.97802813 0.20756476 0.0194093 ] [-0.20798175 0.97786696 0.02277861] [-0.01425104 -0.02631539 0.99955245]] t_gt: [-0.85821659 0.50342613 0.10013199] Pose Error in degrees for R and t: 179.69482099190685 27.853956901030045 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 8.70424194e-01 -4.92298085e-01 2.07806449e-03] [ 4.92293823e-01 8.70426169e-01 2.25297666e-03] [-2.91793781e-03 -9.38027079e-04 9.99995303e-01]] t_estimated: [[0.99488598] [0.10099776] [0.00116089]] R_gt: [[ 0.95176647 0.30658805 0.01197373] [-0.30655968 0.94861856 0.07838839] [ 0.01267532 -0.07827795 0.99685099]] t_gt: [-0.83192578 0.54048019 0.1256211 ] Pose Error in degrees for R and t: 47.570032066266144 39.381527610965485 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-1.69897619e-01 9.85335189e-01 -1.57912466e-02] [-9.85461653e-01 -1.69881662e-01 2.35629889e-03] [-3.60899000e-04 1.59619975e-02 9.99872534e-01]] t_estimated: [[ 0.5164226 ] [ 0.85632524] [-0.00384405]] R_gt: [[ 0.99371458 -0.10979576 -0.02182329] [ 0.1091772 0.99363536 -0.02776426] [ 0.02473212 0.0252068 0.99937579]] t_gt: [ 0.62585467 -0.7281149 -0.27956149] Pose Error in degrees for R and t: 106.06587405131185 72.58905727318835 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.47550258e-01 -3.19605392e-01 -9.49359906e-04] [ 3.19606315e-01 9.47549819e-01 1.06927367e-03] [ 5.57820179e-04 -1.31661196e-03 9.99998978e-01]] t_estimated: [[0.99604066] [0.0888915 ] [0.00113963]] R_gt: [[ 0.9838243 -0.17801862 -0.01999739] [ 0.17743961 0.98373987 -0.027775 ] [ 0.02461607 0.02377737 0.9994139 ]] t_gt: [ 0.69073855 -0.70414622 -0.16449424] Pose Error in degrees for R and t: 8.629859703461907 51.301398277265676 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-3.95372732e-02 -9.99213396e-01 -3.06480523e-03] [ 9.99218090e-01 -3.95374303e-02 -9.32859256e-06] [-1.11853268e-04 -3.06277765e-03 9.99995303e-01]] t_estimated: [[0.98293538] [0.18394772] [0.00112851]] R_gt: [[ 0.96707946 -0.25292244 0.02808119] [ 0.25410143 0.96574907 -0.05255721] [-0.01382669 0.05796232 0.99822282]] t_gt: [ 0.75701409 -0.64793114 -0.08434984] Pose Error in degrees for R and t: 77.63832709335306 51.331368684557184 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99893454e-01 1.45968324e-02 1.10844505e-04] [-1.45968265e-02 9.99893459e-01 -5.43208333e-05] [-1.11625607e-04 5.26970676e-05 9.99999992e-01]] t_estimated: [[ 0.662114 ] [-0.74940236] [-0.00107385]] R_gt: [[ 0.9969129 -0.07850675 -0.00113033] [ 0.07843355 0.99643144 -0.03119976] [ 0.00357533 0.03101499 0.99951282]] t_gt: [ 0.37598928 -0.8489034 -0.37147688] Pose Error in degrees for R and t: 5.628712880271661 27.684802305727423 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.98299070e-01 -5.83002834e-02 2.07446151e-04] [ 5.83002517e-02 9.98299082e-01 1.55692632e-04] [-2.16170226e-04 -1.43333647e-04 9.99999966e-01]] t_estimated: [[0.9998421 ] [0.01773543] [0.00110846]] R_gt: [[ 0.98419871 -0.17486618 -0.02783113] [ 0.17449808 0.9845417 -0.01516116] [ 0.03005223 0.01006573 0.99949824]] t_gt: [ 0.51717191 -0.83220429 -0.19992306] Pose Error in degrees for R and t: 6.964746051901627 59.860362214734884 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 7.87487863e-01 6.16330151e-01 -1.00032222e-04] [-6.16330147e-01 7.87487869e-01 7.17632561e-05] [ 1.23004020e-04 5.14018082e-06 9.99999992e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.94771034 -0.31367906 -0.05875264] [ 0.31226076 0.94945231 -0.03216001] [ 0.06587018 0.0121326 0.99775464]] t_gt: [ 0.64935127 -0.73216474 -0.20561547] Pose Error in degrees for R and t: 56.42784633526238 64.59831222215986 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 8.99680923e-01 4.36547250e-01 8.57785717e-04] [ 4.36546275e-01 -8.99669769e-01 -4.65364599e-03] [-1.25981248e-03 4.56125968e-03 -9.99988804e-01]] t_estimated: [[0.71743534] [0.69662424] [0.00109532]] R_gt: [[ 0.99805812 0.00582451 -0.0620063 ] [-0.01248216 0.99412336 -0.1075295 ] [ 0.06101677 0.10809517 0.99226582]] t_gt: [ 0.0338705 0.28471129 -0.95801475] Pose Error in degrees for R and t: 174.48631729588817 77.19771733295265 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999973e-01 -2.25844321e-04 4.55998227e-05] [ 2.25843141e-04 9.99999974e-01 2.58789132e-05] [-4.56056661e-05 -2.58686141e-05 9.99999999e-01]] t_estimated: [[-9.33156541e-04] [ 9.99999543e-01] [ 2.08999074e-04]] R_gt: [[ 0.99420075 0.01391438 -0.10663857] [-0.03347745 0.98237109 -0.18392443] [ 0.10219936 0.18642761 0.97713798]] t_gt: [ 0.03850261 0.32912244 -0.94350197] Pose Error in degrees for R and t: 12.35517487638103 70.79863370444575 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 1.38868865e-01 9.90310759e-01 1.98214469e-04] [-9.90308578e-01 1.38868976e-01 -2.08036633e-03] [-2.08773500e-03 9.26046230e-05 9.99997816e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98344795 0.05702034 -0.17198247] [-0.10104491 0.9604814 -0.25935818] [ 0.1503982 0.27244317 0.95034461]] t_gt: [-0.02591927 0.44227962 -0.89650261] Pose Error in degrees for R and t: 79.13345450726801 63.820982818422706 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.84884189 -0.52758131 0.03354714] [ 0.52864512 0.84696801 -0.05638735] [ 0.00133555 0.06559848 0.99784521]] t_estimated: [[-0.2731401 ] [-0.96060207] [-0.05136293]] R_gt: [[ 0.99687753 0.01402861 -0.07771244] [-0.0194187 0.9974255 -0.06903235] [ 0.07654485 0.07032574 0.99458264]] t_gt: [ 0.12696539 0.33426244 -0.93388886] Pose Error in degrees for R and t: 33.29280580052114 72.0729848285 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.17103349 0.98520739 -0.01067412] [-0.98518081 -0.1711506 -0.01123548] [-0.01289616 0.00859429 0.99987991]] t_estimated: [[0.21308494] [0.97703124] [0.00218159]] R_gt: [[ 0.99192534 -0.00984926 -0.12644087] [-0.0056845 0.99252545 -0.12190182] [ 0.12669707 0.12163589 0.98445509]] t_gt: [ 0.24669311 0.25290035 -0.93551265] Pose Error in degrees for R and t: 100.28704458419968 72.68545556611494 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.29565545 0.95529343 0.00151947] [ 0.95529302 0.29565164 0.00231515] [ 0.00176242 0.00213603 -0.99999617]] t_estimated: [[-0.0128524 ] [-0.99991658] [-0.00128524]] R_gt: [[ 0.98523077 0.03297053 -0.16802706] [-0.05539984 0.98988678 -0.13059548] [ 0.16202195 0.13797414 0.97709303]] t_gt: [ 0.16111612 0.42546491 -0.89051738] Pose Error in degrees for R and t: 176.92504585620708 64.76350003319025 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99867762e-01 1.62619368e-02 8.82205684e-05] [-1.62619325e-02 9.99867765e-01 -4.94386901e-05] [-8.90128714e-05 4.79975155e-05 9.99999995e-01]] t_estimated: [[ 7.15000710e-01] [-6.99123698e-01] [-1.96058662e-04]] R_gt: [[ 0.98598706 -0.16227388 -0.03869188] [ 0.1601078 0.98563517 -0.05373765] [ 0.04685621 0.04679017 0.99780476]] t_gt: [ 0.70646816 -0.55442438 -0.43990494] Pose Error in degrees for R and t: 10.899452644080988 26.769882179844206 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.93513225 0.35426046 0.00521598] [ 0.35424398 0.93514518 -0.00383196] [-0.00623521 -0.00173567 -0.99997905]] t_estimated: [[0.91201913] [0.41013878] [0.00269828]] R_gt: [[ 0.9659122 -0.25823849 -0.01811687] [ 0.2566786 0.96446894 -0.06256605] [ 0.0336301 0.05578328 0.9978769 ]] t_gt: [ 0.72739183 -0.62362329 -0.28634789] Pose Error in degrees for R and t: 179.46021703054015 65.99285735738056 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.40893311e-01 -3.38702878e-01 -3.70551482e-04] [ 3.38703080e-01 9.40892780e-01 9.99911552e-04] [ 9.97629369e-06 -1.06631702e-03 9.99999431e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9028579 -0.42829371 0.03758513] [ 0.42940997 0.90262979 -0.0294081 ] [-0.02133027 0.04269073 0.99886017]] t_gt: [ 0.78381325 -0.62001477 -0.03490665] Pose Error in degrees for R and t: 6.266960913922588 52.03717174918353 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-0.22493589 -0.97436908 0.002956 ] [-0.97434799 0.22490697 -0.00792834] [ 0.00706031 -0.00466354 -0.9999642 ]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.99002669 0.1389619 0.02317604] [-0.13974835 0.98950838 0.03666481] [-0.01783826 -0.03953717 0.9990584 ]] t_gt: [-0.89777411 0.29349503 0.32842399] Pose Error in degrees for R and t: 177.83187347540394 54.81879049620581 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.23829517e-01 -3.82803326e-01 -7.98208761e-04] [ 3.82803762e-01 9.23829553e-01 4.86295502e-04] [ 5.51253307e-04 -7.54811455e-04 9.99999563e-01]] t_estimated: [[-0.30560292] [-0.95215837] [-0.00114031]] R_gt: [[ 0.97975126 0.19610316 0.04038723] [-0.19870268 0.97712324 0.07581247] [-0.02459604 -0.08230144 0.99630341]] t_gt: [-0.87443545 0.2295927 0.42737553] Pose Error in degrees for R and t: 34.257021038335466 87.24105439278003 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.73822701 0.67448149 0.00977811] [-0.6745291 -0.7380036 -0.01900477] [-0.00560209 -0.02062546 0.99977158]] t_estimated: [[0.60487138] [0.79628637] [0.0076566 ]] R_gt: [[ 0.97045098 0.23483 0.05549712] [-0.2390184 0.96705659 0.08759329] [-0.03309834 -0.09826903 0.9946083 ]] t_gt: [-0.87957816 0.21124925 0.42628161] Pose Error in degrees for R and t: 123.88376103559061 68.86584503754949 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 8.36874959e-01 -5.47393811e-01 -5.64248008e-04] [ 5.47394023e-01 8.36874947e-01 3.25648958e-04] [ 2.93946798e-04 -5.81393446e-04 9.99999788e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99379596 0.10156428 -0.04532444] [-0.10496562 0.99122761 -0.08030622] [ 0.03677035 0.08456689 0.99573939]] t_gt: [-0.48254231 0.6960138 -0.53171205] Pose Error in degrees for R and t: 39.47232136389915 46.17662075181117 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99177285e-01 -4.05374408e-02 1.21186043e-03] [-4.05528251e-02 -9.98317529e-01 4.14436970e-02] [-4.70199905e-04 -4.14587451e-02 -9.99140106e-01]] t_estimated: [[0.01561827] [0.99976707] [0.01489531]] R_gt: [[ 0.99126398 0.09017163 -0.09626137] [-0.10586315 0.97924381 -0.17284248] [ 0.07867819 0.18152357 0.98023476]] t_gt: [-0.25374387 0.59179449 -0.76511001] Pose Error in degrees for R and t: 172.04301885836713 54.80948386235515 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-8.16445831e-01 -5.77420164e-01 -1.46982781e-03] [-5.77421761e-01 8.16445276e-01 1.10491772e-03] [ 5.62032198e-04 1.75081603e-03 -9.99998309e-01]] t_estimated: [[0.71190204] [0.70227822] [0.0008871 ]] R_gt: [[ 0.98274552 0.11288065 -0.14652842] [-0.14631638 0.95905393 -0.24249953] [ 0.11315427 0.25975455 0.95902222]] t_gt: [-0.19669765 0.59359524 -0.78035551] Pose Error in degrees for R and t: 168.3206301697708 73.96960306092588 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-1.10827287e-01 -9.93833735e-01 -3.43793859e-03] [-9.93839509e-01 1.10824566e-01 9.72808438e-04] [-5.85801793e-04 3.52457291e-03 -9.99993617e-01]] t_estimated: [[7.33931003e-01] [6.79223658e-01] [7.10484998e-04]] R_gt: [[ 0.99857408 -0.0192396 -0.04980071] [ 0.01737287 0.99913985 -0.03765739] [ 0.05048278 0.03673819 0.99804846]] t_gt: [ 0.41899699 0.00728007 -0.90795843] Pose Error in degrees for R and t: 176.3272966385536 71.83137976674071 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 7.24800472e-01 -6.88957815e-01 1.18479819e-03] [ 6.88955620e-01 7.24801272e-01 1.80827124e-03] [-2.10456584e-03 -4.94362474e-04 9.99997663e-01]] t_estimated: [[0.74501921] [0.6670417 ] [0.00132283]] R_gt: [[ 0.99484216 0.04558323 -0.09062525] [-0.05132204 0.99675353 -0.06203937] [ 0.08750338 0.06636976 0.9939506 ]] t_gt: [-0.00902038 0.587824 -0.80893855] Pose Error in degrees for R and t: 46.75422667771199 67.39892309943579 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.18950179 0.98180255 0.01236228] [-0.98187654 -0.18945086 -0.00517947] [-0.00274317 -0.01311975 0.99991017]] t_estimated: [[0.48386458] [0.87513779] [0.00298682]] R_gt: [[ 0.99354429 0.04767152 -0.10294212] [-0.05822282 0.99307388 -0.10205482] [ 0.09736504 0.10738987 0.98943742]] t_gt: [ 0.02281457 0.60197908 -0.79818587] Pose Error in degrees for R and t: 98.20749983453706 57.62422458890287 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.20306936 -0.9791628 -0.00174343] [ 0.97914588 -0.20305426 -0.00650489] [ 0.00601534 -0.00302802 0.99997732]] t_estimated: [[ 0.94535751] [-0.3260242 ] [-0.00271938]] R_gt: [[ 9.88818375e-01 -1.16022298e-01 9.36912977e-02] [ 1.15563625e-01 9.93246768e-01 1.03271811e-02] [-9.42572478e-02 6.15643499e-04 9.95548212e-01]] t_gt: [ 0.49996928 -0.72518664 0.47342904] Pose Error in degrees for R and t: 95.19228825256103 44.94455845970634 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 3.48247035e-01 9.37402666e-01 4.94621897e-04] [-9.37401559e-01 3.48247384e-01 -1.44129468e-03] [-1.52332425e-03 3.82672610e-05 9.99998839e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96510987 -0.23627985 0.11284683] [ 0.23575789 0.97164304 0.01814802] [-0.11393444 0.00909019 0.99344744]] t_gt: [ 0.66015705 -0.69583054 0.28286485] Pose Error in degrees for R and t: 83.52240154425108 46.258547992745115 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.9999964 0.00192762 0.00186715] [-0.0019243 0.99999657 -0.00177511] [-0.00187056 0.00177152 0.99999668]] t_estimated: [[0.99986779] [0.01622547] [0.00106151]] R_gt: [[ 0.94257741 -0.31506326 0.11082964] [ 0.31374354 0.94904635 0.02961927] [-0.11451496 0.00685371 0.99339854]] t_gt: [ 0.73885912 -0.63973869 0.21171116] Pose Error in degrees for R and t: 19.59426932906909 43.23033403646714 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999980e-01 1.91264740e-04 5.66630308e-05] [-1.91266730e-04 9.99999981e-01 3.51275270e-05] [-5.66563111e-05 -3.51383641e-05 9.99999998e-01]] t_estimated: [[9.66620186e-01] [2.56212754e-01] [6.64360448e-04]] R_gt: [[ 0.99887328 -0.04672771 0.00833654] [ 0.04648831 0.99855461 0.0269682 ] [-0.00958552 -0.02654953 0.99960129]] t_gt: [0.76685154 0.13624262 0.62719747] Pose Error in degrees for R and t: 3.1311691242613806 39.05168447565848 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99996165e-01 2.72825909e-03 4.76331473e-04] [-2.72837682e-03 9.99996248e-01 2.46693839e-04] [-4.75656641e-04 -2.47992505e-04 9.99999856e-01]] t_estimated: [[9.99982376e-01] [5.87731035e-03] [8.39615765e-04]] R_gt: [[ 0.99644743 -0.08271838 -0.01584508] [ 0.08336016 0.99548605 0.04536736] [ 0.01201918 -0.04652662 0.99884489]] t_gt: [0.94766395 0.07192027 0.31106353] Pose Error in degrees for R and t: 5.637387565789445 18.49865254269183 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.99999859 0.00129389 -0.00106916] [-0.0012927 0.99999855 0.00111285] [ 0.0010706 -0.00111147 0.99999881]] t_estimated: [[ 7.17212503e-02] [-9.97424707e-01] [ 1.26557921e-04]] R_gt: [[ 0.9969574 -0.07738212 -0.00947481] [ 0.0777012 0.99617593 0.03995925] [ 0.00634635 -0.04057348 0.99915655]] t_gt: [0.9440449 0.21879389 0.2467964 ] Pose Error in degrees for R and t: 5.064548419362552 81.3446116727426 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[ 9.99999988e-01 1.44832153e-04 4.83179038e-05] [-1.44840651e-04 9.99999974e-01 1.75921377e-04] [-4.82924235e-05 -1.75928373e-04 9.99999983e-01]] t_estimated: [[0.85555859] [0.5177047 ] [0.00115464]] R_gt: [[ 0.99939716 -0.0047334 -0.03441426] [ 0.00492831 0.9999719 0.00562029] [ 0.03438676 -0.00578628 0.99939235]] t_gt: [ 0.48143596 0.84367356 -0.23755914] Pose Error in degrees for R and t: 2.018801969761028 31.96234859983488 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-2.51143428e-01 -9.67928354e-01 -6.45602562e-03] [-9.67949684e-01 2.51133496e-01 2.31881545e-03] [-6.23122940e-04 6.83146322e-03 -9.99976471e-01]] t_estimated: [[ 0.79221425] [ 0.61024232] [-0.00094898]] R_gt: [[ 0.99678155 0.0188381 -0.07792069] [-0.01627358 0.99930862 0.03342426] [ 0.07849637 -0.03204892 0.99639934]] t_gt: [ 0.47952492 0.87149686 -0.10270868] Pose Error in degrees for R and t: 177.3869238330216 24.24355932069488 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999804e-01 5.71048676e-04 -2.56979315e-04] [-5.70792912e-04 9.99999343e-01 9.94243979e-04] [ 2.57546908e-04 -9.94097102e-04 9.99999473e-01]] t_estimated: [[0.77513201] [0.6317986 ] [0.00094298]] R_gt: [[ 0.99112319 -0.01087961 -0.13250014] [ 0.00852471 0.99979593 -0.01832011] [ 0.13267249 0.01702709 0.99101399]] t_gt: [ 0.74497009 0.5381394 -0.39424047] Pose Error in degrees for R and t: 7.702706866440815 23.4979807623783 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.35965536e-01 3.52091386e-01 4.14824128e-04] [-3.52091562e-01 9.35965438e-01 4.79761575e-04] [-2.19341129e-04 -5.95096375e-04 9.99999799e-01]] t_estimated: [[0.1462564 ] [0.98924605] [0.00115163]] R_gt: [[ 0.99546294 -0.09391411 0.01531784] [ 0.09385336 0.99557529 0.00464959] [-0.01568711 -0.00319066 0.99987204]] t_gt: [ 0.69455447 -0.69991272 0.16648203] Pose Error in degrees for R and t: 26.017677651703913 53.799611956559566 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 3.21395628e-02 9.99483349e-01 2.88443999e-04] [-9.99481923e-01 3.21400089e-02 -1.70469189e-03] [-1.71308176e-03 -2.33506510e-04 9.99998505e-01]] t_estimated: [[0.4101632 ] [0.91201144] [0.00113105]] R_gt: [[ 0.98897425 -0.13781847 0.05418617] [ 0.13948802 0.98981923 -0.02831344] [-0.04973272 0.03556078 0.99812921]] t_gt: [ 0.7698499 -0.62055008 0.14916008] Pose Error in degrees for R and t: 96.17976556542156 75.52154344643714 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.96458049 -0.26377884 -0.00227914] [ 0.26378312 -0.96458026 -0.00183843] [-0.00171347 -0.00237452 0.99999571]] t_estimated: [[0.94805346] [0.31810719] [0.00156703]] R_gt: [[ 0.99413829 -0.02571451 0.1050144 ] [ 0.03141676 0.99809962 -0.05301705] [-0.10345268 0.0560057 0.99305714]] t_gt: [0.45759689 0.08905848 0.88468846] Pose Error in degrees for R and t: 163.10206819605338 62.38404522897942 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.98482634e-01 -5.50674890e-02 4.63970940e-05] [ 5.50674846e-02 9.98482631e-01 9.10362615e-05] [-5.13398308e-05 -8.83431548e-05 9.99999995e-01]] t_estimated: [[9.85383737e-01] [1.70347940e-01] [6.85000216e-04]] R_gt: [[ 0.9965153 -0.08249567 -0.01227287] [ 0.08293578 0.99570045 0.04126448] [ 0.00881597 -0.0421389 0.99907289]] t_gt: [ 0.87722309 -0.26238298 0.40203834] Pose Error in degrees for R and t: 2.9319021723258545 34.91717220658089 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999994e-01 1.12042784e-04 -5.65583012e-06] [-1.12042283e-04 9.99999990e-01 8.83866295e-05] [ 5.66573314e-06 -8.83859953e-05 9.99999996e-01]] t_estimated: [[8.77465931e-01] [4.79638762e-01] [4.44939871e-04]] R_gt: [[ 0.99705781 -0.0518647 -0.05644623] [ 0.05443554 0.99750317 0.0450116 ] [ 0.05397132 -0.04795212 0.99739021]] t_gt: [0.90949564 0.35482439 0.21660409] Pose Error in degrees for R and t: 5.143014414666824 14.456983907535816 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.98749706 0.15620839 0.02117774] [-0.15736229 0.98477109 0.07391213] [-0.00930953 -0.07632059 0.99703987]] t_estimated: [[0.65546597] [0.74942873] [0.09338592]] R_gt: [[ 0.99313331 -0.05859728 -0.10125143] [ 0.06323161 0.99706497 0.04318519] [ 0.09842412 -0.04929097 0.99392291]] t_gt: [ 0.92433663 0.38157649 -0.00108459] Pose Error in degrees for R and t: 14.260988432897697 26.908004918823185 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-9.97911130e-01 -6.46007843e-02 -3.38701573e-04] [-6.46016354e-02 9.97891252e-01 6.29897905e-03] [-6.89316502e-05 6.30770198e-03 -9.99980104e-01]] t_estimated: [[9.83463957e-01] [1.81102250e-01] [7.87401087e-04]] R_gt: [[ 0.99877647 0.0113834 0.04812251] [-0.00959483 0.99926041 -0.03723468] [-0.0485105 0.03672681 0.99814689]] t_gt: [-0.15326704 0.81334652 0.5612278 ] Pose Error in degrees for R and t: 177.30949253732766 89.82858129866138 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 7.27618593e-01 6.85980406e-01 -1.43715056e-03] [-6.85976015e-01 7.27619428e-01 2.62189356e-03] [ 2.84426628e-03 -9.21887685e-04 9.99995530e-01]] t_estimated: [[0.93020203] [0.36704553] [0.00132507]] R_gt: [[ 0.98743545 0.13547038 0.08134718] [-0.13001272 0.98910489 -0.06904504] [-0.08981442 0.05760121 0.99429157]] t_gt: [-0.46899705 0.8479416 0.2470563 ] Pose Error in degrees for R and t: 36.19786725746401 82.8364837305001 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.99620402 0.087008 -0.0026751 ] [-0.08699926 0.99620315 0.00322778] [ 0.00294578 -0.0029828 0.99999121]] t_estimated: [[-0.99889725] [-0.04675689] [-0.00425063]] R_gt: [[ 0.98486958 0.13969833 0.10254591] [-0.13354975 0.98893383 -0.06460322] [-0.11043656 0.04993062 0.99262765]] t_gt: [-0.45732811 0.80815229 0.37113457] Pose Error in degrees for R and t: 7.747097955814591 65.32569801334175 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.28764479 0.957712 0.00694258] [-0.95765551 0.28770736 -0.01097253] [-0.01250595 -0.00349241 0.9999157 ]] t_estimated: [[-0.01691541] [ 0.99976491] [ 0.01356443]] R_gt: [[ 0.9964883 -0.0506303 0.06668274] [ 0.05432681 0.99701693 -0.05483639] [-0.06370735 0.05826637 0.99626569]] t_gt: [ 0.50707069 0.86115433 -0.03595175] Pose Error in degrees for R and t: 76.38456895801785 31.58250277522863 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999873e-01 -4.99536815e-04 -6.12141846e-05] [ 4.99536833e-04 9.99999875e-01 2.75745202e-07] [ 6.12140393e-05 -3.06323908e-07 9.99999998e-01]] t_estimated: [[ 9.41010279e-01] [-3.38377625e-01] [-4.88330892e-04]] R_gt: [[ 0.99535475 -0.07757516 0.05700781] [ 0.07761462 0.99698232 0.00153308] [-0.05695514 0.00289915 0.99837185]] t_gt: [0.73661225 0.44633884 0.50811814] Pose Error in degrees for R and t: 5.503941370237145 57.18825616302162 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.92712109 0.32559693 0.18556162] [-0.26198704 0.91715267 -0.30032278] [-0.26797251 0.22982084 0.93561376]] t_estimated: [[-0.96841111] [-0.24189408] [-0.06055726]] R_gt: [[ 0.99333479 -0.11178469 0.02809788] [ 0.11218474 0.99360168 -0.01307453] [-0.02645641 0.01614027 0.99951952]] t_gt: [0.93750785 0.34113214 0.06861401] Pose Error in degrees for R and t: 30.596737953471006 5.975807611733375 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.85793666e-01 -1.67960822e-01 -1.04161739e-04] [ 1.67960757e-01 9.85793573e-01 -4.63217172e-04] [ 1.80484310e-04 4.39141470e-04 9.99999887e-01]] t_estimated: [[ 0.12712066] [-0.99188516] [-0.00204111]] R_gt: [[ 0.99207914 -0.1118822 0.05712252] [ 0.11235228 0.99365478 -0.00508014] [-0.0561923 0.01145888 0.99835428]] t_gt: [ 0.61858249 -0.73437572 0.27937072] Pose Error in degrees for R and t: 4.609231842335596 36.24649577896016 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.75721074e-01 -2.19016860e-01 -3.70327830e-05] [ 2.19016863e-01 9.75721040e-01 2.55335540e-04] [-1.97891227e-05 -2.57247071e-04 9.99999967e-01]] t_estimated: [[ 9.54369570e-01] [-2.98627640e-01] [ 5.07024969e-04]] R_gt: [[ 0.97330768 -0.22226696 0.0571869 ] [ 0.22255063 0.97491949 0.0014409 ] [-0.05607257 0.01132452 0.99836274]] t_gt: [ 0.73474597 -0.6657458 0.13011878] Pose Error in degrees for R and t: 3.2878645429335767 25.829408221535626 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.98947139e-01 4.58750495e-02 3.06259468e-04] [-4.58750770e-02 9.98947181e-01 8.35404013e-05] [-3.02104612e-04 -9.75021215e-05 9.99999950e-01]] t_estimated: [[9.85261569e-01] [1.71052356e-01] [8.55261779e-04]] R_gt: [[ 0.96311425 -0.26652396 0.03710301] [ 0.26676599 0.96375996 -0.00163809] [-0.03532224 0.01147537 0.99931036]] t_gt: [ 0.80005192 -0.5981104 0.04669975] Pose Error in degrees for R and t: 18.221286946397313 46.68631497324441 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.26859631 -0.84925555 0.45455587] [-0.91331748 0.07456658 -0.4003636 ] [ 0.30611633 -0.52269 -0.79566824]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99793875 0.0568912 -0.02969975] [-0.05835232 0.99699707 -0.05091863] [ 0.02671297 0.052546 0.99826057]] t_gt: [-0.28919637 0.80592806 -0.51657084] Pose Error in degrees for R and t: 176.11641084097835 75.67418671694358 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.94739864e-01 1.02433356e-01 1.00664003e-04] [-1.02433356e-01 9.94739869e-01 -1.95212665e-06] [-1.00334460e-04 -8.36949346e-06 9.99999995e-01]] t_estimated: [[-9.96220633e-01] [-8.68544579e-02] [-8.68544579e-04]] R_gt: [[ 0.99890667 0.04209692 -0.02032925] [-0.0432315 0.99731662 -0.05908598] [ 0.0177865 0.05989991 0.99804621]] t_gt: [-0.21356678 0.81478798 -0.5389896 ] Pose Error in degrees for R and t: 4.96173864779019 81.8097902979269 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.72244898 -0.69134909 0.01019325] [-0.69141467 0.72228295 -0.01590901] [ 0.00363627 -0.01854121 -0.99982148]] t_estimated: [[0.99618218] [0.08662454] [0.01082807]] R_gt: [[ 0.9972693 -0.0246008 0.06962988] [ 0.02258748 0.99930829 0.02955909] [-0.07030909 -0.02790576 0.99713459]] t_gt: [ 0.07396912 -0.08639438 0.99351124] Pose Error in degrees for R and t: 175.47200867263865 85.58611501906736 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 7.04009321e-01 7.10189006e-01 1.56555277e-03] [-7.10190725e-01 7.04007905e-01 1.41546098e-03] [-9.69166961e-05 -2.10833878e-03 9.99997773e-01]] t_estimated: [[0.6192466 ] [0.78519578] [0.00111375]] R_gt: [[ 9.83024436e-01 1.83409014e-01 5.02712724e-03] [-1.83475646e-01 9.82536104e-01 3.09803964e-02] [ 7.43254190e-04 -3.13772922e-02 9.99506794e-01]] t_gt: [-0.87892645 0.44397227 0.17428974] Pose Error in degrees for R and t: 34.71692471840681 78.72764680541013 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.92802882 -0.37250171 -0.00223209] [ 0.3725053 0.92802888 0.00148171] [ 0.00151951 -0.00220653 0.99999641]] t_estimated: [[-0.69459325] [-0.71940015] [-0.00190822]] R_gt: [[ 0.9468414 0.32114714 0.01889941] [-0.32168232 0.945805 0.04442979] [-0.00360726 -0.04814715 0.99883383]] t_gt: [-0.85794532 0.48593579 0.16672205] Pose Error in degrees for R and t: 40.71492514106439 75.75772544629685 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.55659117e-01 -2.94474175e-01 -7.82740260e-04] [ 2.94474591e-01 9.55659188e-01 4.81016158e-04] [ 6.06386086e-04 -6.90184594e-04 9.99999578e-01]] t_estimated: [[-0.95263849] [-0.30410313] [-0.00108998]] R_gt: [[ 0.91812909 0.39481419 0.03407523] [-0.39627101 0.91534576 0.07149675] [-0.00296211 -0.07914579 0.99685841]] t_gt: [-0.85514747 0.47228262 0.21370991] Pose Error in degrees for R and t: 40.70559882441555 47.871868680552645 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[-0.28624995 0.95774735 -0.02794587] [ 0.9577391 0.28686323 0.02110245] [ 0.02822746 -0.02072428 -0.99938667]] t_estimated: [[ 0.82262148] [-0.56833559] [-0.01698713]] R_gt: [[ 0.99780284 0.06442199 0.01543697] [-0.06499589 0.99708005 0.04008312] [-0.01280989 -0.04099812 0.99907666]] t_gt: [-0.83129238 -0.03558553 0.55469509] Pose Error in degrees for R and t: 177.255459848919 47.69809342691037 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.98861238e-01 4.77098176e-02 -1.62806229e-05] [-4.77098177e-02 9.98861238e-01 -7.09138348e-06] [ 1.59237546e-05 7.86005363e-06 1.00000000e+00]] t_estimated: [[-8.22445453e-01] [ 5.68843696e-01] [-5.71635029e-04]] R_gt: [[ 0.99413355 0.10447475 0.0279847 ] [-0.10584253 0.99297618 0.05287499] [-0.02226453 -0.055526 0.99820865]] t_gt: [-0.87278172 -0.01921541 0.48773234] Pose Error in degrees for R and t: 4.764814243689013 45.04056434867347 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[-9.03457557e-01 -4.28674711e-01 -1.56051587e-03] [ 4.28677358e-01 -9.03454621e-01 -2.33907660e-03] [-4.07152289e-04 -2.78221425e-03 9.99996047e-01]] t_estimated: [[9.67928708e-01] [2.51223897e-01] [7.54426117e-04]] R_gt: [[ 0.97158413 0.23428744 0.03367105] [-0.23566434 0.97077853 0.04530605] [-0.02207324 -0.05195344 0.99840571]] t_gt: [-0.94697319 0.18822245 0.26041137] Pose Error in degrees for R and t: 168.22312094993543 29.643450320064485 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99997828e-01 2.01000197e-03 5.51616158e-04] [-2.00986514e-03 9.99997949e-01 -2.48488985e-04] [-5.52114491e-04 2.47379771e-04 9.99999817e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.83205181e-01 -1.82311363e-01 -8.34888370e-03] [ 1.82500648e-01 9.81936793e-01 4.99301826e-02] [-9.04277294e-04 -5.06150345e-02 9.98718256e-01]] t_gt: [ 0.67601166 -0.69635313 0.24104057] Pose Error in degrees for R and t: 11.02410904518626 47.62067824760895 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.95862494e-01 -9.08728236e-02 1.53331270e-04] [ 9.08727246e-02 9.95862356e-01 5.61339976e-04] [-2.03707388e-04 -5.45083798e-04 9.99999831e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.93108418 -0.35919016 -0.06375123] [ 0.36241043 0.93072645 0.04905771] [ 0.04171481 -0.06877982 0.99675978]] t_gt: [ 0.79689548 -0.59752815 0.08898148] Pose Error in degrees for R and t: 16.615805222029124 37.334580610667324 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 8.71365331e-01 4.90633808e-01 9.62227841e-04] [-4.90633953e-01 8.71365776e-01 -9.47952450e-05] [-8.84962161e-04 -3.89500359e-04 9.99999533e-01]] t_estimated: [[0.64672386] [0.76272354] [0.00102655]] R_gt: [[ 0.8657117 -0.4829613 -0.13149542] [ 0.49390841 0.86686316 0.06784478] [ 0.08122315 -0.12367993 0.98899237]] t_gt: [ 0.84879985 -0.5169142 0.11107896] Pose Error in degrees for R and t: 59.36094849104387 81.0953529173932 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999927e-01 -3.83128165e-04 8.78596227e-07] [ 3.83128166e-04 9.99999927e-01 -1.48438479e-06] [-8.78027453e-07 1.48472129e-06 1.00000000e+00]] t_estimated: [[ 9.34486709e-01] [-3.55998012e-01] [-7.54941972e-05]] R_gt: [[ 0.99319191 -0.11016378 0.03788887] [ 0.10942942 0.99377364 0.02095173] [-0.03996112 -0.01666292 0.99906216]] t_gt: [ 0.61482995 -0.69505674 0.37266643] Pose Error in degrees for R and t: 6.756141065919456 34.71840832262299 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999662e-01 8.21788869e-04 2.18131572e-05] [-8.21790371e-04 9.99999660e-01 6.89163075e-05] [-2.17565151e-05 -6.89342101e-05 9.99999997e-01]] t_estimated: [[ 9.81715728e-01] [-1.90352882e-01] [ 1.00582583e-04]] R_gt: [[ 0.9878433 -0.15442906 0.01783487] [ 0.15406668 0.98785381 0.02020683] [-0.02073886 -0.01721343 0.99963652]] t_gt: [ 0.72795817 -0.65882726 0.18979867] Pose Error in degrees for R and t: 9.05364963859421 32.85177528818291 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.95893824 -0.28359175 -0.00362878] [-0.28357425 0.95893888 -0.00467586] [ 0.00480581 -0.00345483 -0.99998248]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98424198 -0.1766135 0.00872914] [ 0.17656794 0.98427283 0.0057377 ] [-0.00960545 -0.00410569 0.9999453 ]] t_gt: [ 0.82201676 -0.56459841 0.07427704] Pose Error in degrees for R and t: 179.69702264673617 34.88321454303516 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 5.24958558e-01 8.51126969e-01 1.18087612e-03] [-8.51125557e-01 5.24959854e-01 -1.56129456e-03] [-1.94877247e-03 -1.85458906e-04 9.99998084e-01]] t_estimated: [[-0.76080004] [ 0.64898576] [ 0.00088532]] R_gt: [[ 0.99902521 0.04359434 -0.00684039] [-0.04266264 0.99379118 0.10275727] [ 0.01127742 -0.102365 0.99468379]] t_gt: [-0.68628555 -0.1710633 0.70692962] Pose Error in degrees for R and t: 56.14889209984998 65.68617322080516 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.72382620e-01 2.33392458e-01 -8.04582205e-06] [-2.33392158e-01 9.72381311e-01 -1.63935940e-03] [-3.74790512e-04 1.59596242e-03 9.99998656e-01]] t_estimated: [[-9.97981309e-01] [-6.35009432e-02] [-9.67783170e-04]] R_gt: [[ 0.98867396 0.14985181 0.00824198] [-0.15006246 0.98627244 0.06890904] [ 0.00219664 -0.06936614 0.99758929]] t_gt: [-0.92327334 0.29715217 0.243448 ] Pose Error in degrees for R and t: 6.341262790875822 25.53734512817076 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.61670277 0.78718235 0.00465182] [-0.78685423 0.61659832 -0.025825 ] [-0.02319729 0.01226605 0.99965566]] t_estimated: [[0.94823845] [0.31752939] [0.00434972]] R_gt: [[ 0.96414083 0.25947575 0.05571639] [-0.26405439 0.9589484 0.10340935] [-0.02659677 -0.11441421 0.99307734]] t_gt: [-0.86407943 0.420395 0.27682989] Pose Error in degrees for R and t: 37.46552821792491 46.79101284173903 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 9.99286712e-01 -3.77632955e-02 3.17228743e-05] [ 3.77632921e-02 9.99286707e-01 1.00184222e-04] [-3.54835330e-05 -9.89148011e-05 9.99999994e-01]] t_estimated: [[9.77784701e-01] [2.09610246e-01] [7.89419341e-04]] R_gt: [[ 0.99891917 -0.04260888 -0.01860977] [ 0.0424348 0.99905306 -0.00963183] [ 0.01900302 0.00883163 0.99977981]] t_gt: [ 0.82608698 -0.29302847 -0.48136745] Pose Error in degrees for R and t: 1.2351004012264177 41.76066303908526 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-9.04289468e-01 -4.26919390e-01 6.26718461e-04] [-4.26917357e-01 9.04288230e-01 2.08984207e-03] [-1.45892823e-03 1.62226518e-03 -9.99997620e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99714305 -0.07525672 -0.00669272] [ 0.0750253 0.99673496 -0.02986546] [ 0.00891832 0.02927764 0.99953118]] t_gt: [ 0.89439608 -0.14138141 -0.42434297] Pose Error in degrees for R and t: 179.25788103203672 26.667747878434312 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-1.52487566e-01 9.88301819e-01 2.65658501e-03] [ 9.88305156e-01 1.52488824e-01 -2.76479053e-04] [-6.78344275e-04 2.58335705e-03 -9.99996433e-01]] t_estimated: [[0.81447548] [0.58019585] [0.00157235]] R_gt: [[ 0.9896161 -0.14357749 0.00689102] [ 0.14372703 0.98906952 -0.03292644] [-0.00208757 0.03357431 0.9994336 ]] t_gt: [ 0.92356808 -0.34281017 -0.17176492] Pose Error in degrees for R and t: 178.4290716022275 56.423048946880265 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99991866e-01 4.03226684e-03 -9.79608743e-05] [-4.03237405e-03 9.99991243e-01 -1.12006547e-03] [ 9.34436136e-05 1.12045137e-03 9.99999368e-01]] t_estimated: [[-0.71969219] [-0.69428937] [-0.00232785]] R_gt: [[ 0.99654309 -0.03036678 0.07732699] [ 0.03757605 0.99490409 -0.09356028] [-0.0740927 0.09614182 0.9926064 ]] t_gt: [-0.06060974 0.83317243 -0.54968187] Pose Error in degrees for R and t: 7.261276988252671 57.7535012589612 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999738e-01 7.20854433e-04 -7.03960474e-05] [-7.20844998e-04 9.99999731e-01 1.33964627e-04] [ 7.04925975e-05 -1.33913847e-04 9.99999989e-01]] t_estimated: [[ 9.04310923e-01] [-4.26874281e-01] [ 3.20668126e-04]] R_gt: [[ 0.99030176 -0.08578054 0.10929246] [ 0.0959808 0.99114459 -0.0917652 ] [-0.10045391 0.10136492 0.98976429]] t_gt: [ 0.44210251 0.87088955 -0.21470157] Pose Error in degrees for R and t: 9.762455766043567 88.39728947395633 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.99743393 0.0715226 0.00317242] [-0.07150501 0.99742589 -0.00535021] [-0.00354692 0.00510964 0.99998066]] t_estimated: [[ 0.58226851] [-0.81298998] [ 0.00326922]] R_gt: [[ 0.98927926 -0.11107274 0.09480428] [ 0.11501034 0.99267118 -0.03711865] [-0.0899866 0.04762387 0.99480321]] t_gt: [0.74691414 0.65416536 0.11910901] Pose Error in degrees for R and t: 11.966989925459432 84.46027294522052 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.96628232e-01 8.20494841e-02 2.22585684e-04] [-8.20494533e-02 9.96628249e-01 -1.44380354e-04] [-2.33681514e-04 1.25630503e-04 9.99999965e-01]] t_estimated: [[0.60615925] [0.79534271] [0.00096522]] R_gt: [[ 0.99241541 -0.11230988 0.04996913] [ 0.11209087 0.99367249 0.00717491] [-0.0504583 -0.00151992 0.99872532]] t_gt: [ 0.5172367 -0.79962882 0.30505728] Pose Error in degrees for R and t: 11.51767684100729 71.2065971893207 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.85739191e-01 1.68275215e-01 1.30365760e-03] [-1.68274615e-01 9.85739998e-01 -5.57916088e-04] [-1.37895089e-03 3.30587273e-04 9.99998995e-01]] t_estimated: [[0.1287924 ] [0.9916662 ] [0.00326628]] R_gt: [[ 0.95473076 -0.29202403 0.05666907] [ 0.28955635 0.95596145 0.04791004] [-0.06816364 -0.02933217 0.99724262]] t_gt: [ 0.6759867 -0.69225295 0.25264171] Pose Error in degrees for R and t: 26.940648905828343 53.230540303527995 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.35002563e-01 3.54640305e-01 6.78307549e-04] [-3.54639721e-01 9.35002646e-01 -8.48975137e-04] [-9.35300155e-04 5.53239130e-04 9.99999410e-01]] t_estimated: [[7.48844437e-01] [6.62745415e-01] [7.23521195e-04]] R_gt: [[ 0.89506871 -0.44566775 0.01524026] [ 0.44355419 0.8933058 0.07254541] [-0.04594477 -0.05817388 0.99724785]] t_gt: [ 0.76891838 -0.61169944 0.18597933] Pose Error in degrees for R and t: 47.39081454126339 80.18114264747382 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 7.87563865e-01 -6.16232579e-01 -7.52807368e-04] [ 6.16232951e-01 7.87563818e-01 4.27846271e-04] [ 3.29231034e-04 -8.00860968e-04 9.99999625e-01]] t_estimated: [[9.99967893e-01] [7.96434605e-03] [8.84927339e-04]] R_gt: [[ 0.99740449 -0.07182166 -0.00511676] [ 0.07164776 0.99702364 -0.02846026] [ 0.00714573 0.02801825 0.9995811 ]] t_gt: [ 0.78874847 -0.44818339 -0.4207226 ] Pose Error in degrees for R and t: 33.967854217441015 38.29954002737464 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.3865553 -0.91429222 -0.12101541] [ 0.90683226 0.40070492 -0.13073186] [ 0.16801859 -0.05920558 0.98400429]] t_estimated: [[ 0.99511068] [ 0.09799452] [-0.01232104]] R_gt: [[ 0.99708611 -0.07236293 -0.02414866] [ 0.06625088 0.97833314 -0.19614855] [ 0.03781837 0.19397595 0.9802761 ]] t_gt: [ 0.49752964 0.0931096 -0.86243542] Pose Error in degrees for R and t: 63.521562177404405 59.01274539160059 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 6.37329494e-01 7.70588516e-01 2.11060981e-03] [ 7.70591253e-01 -6.37328706e-01 -1.11432004e-03] [ 4.86469990e-04 2.33660648e-03 -9.99997152e-01]] t_estimated: [[0.37744284] [0.92603179] [0.00142465]] R_gt: [[ 0.99398496 -0.10043446 -0.04367662] [ 0.08153373 0.94485952 -0.31716236] [ 0.07312268 0.31169245 0.94736488]] t_gt: [ 0.42634234 0.2228537 -0.87668035] Pose Error in degrees for R and t: 164.75185732913664 68.52836876985633 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99558113e-01 2.97250454e-02 1.50637873e-05] [-2.97250431e-02 9.99558104e-01 -1.36310047e-04] [-1.91089530e-05 1.35802041e-04 9.99999991e-01]] t_estimated: [[-0.3288166 ] [-0.94439186] [-0.00191172]] R_gt: [[ 0.99844331 0.02024516 -0.05196876] [-0.01802837 0.9989216 0.04278705] [ 0.05277857 -0.04178405 0.9977316 ]] t_gt: [-0.91042993 -0.358196 0.20691297] Pose Error in degrees for R and t: 3.912738089562419 50.41321206255113 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 0.9890713 -0.14741595 0.00254773] [ 0.14742563 0.98906442 -0.00415336] [-0.0019076 0.00448357 0.99998813]] t_estimated: [[0.99990745] [0.01355807] [0.00112984]] R_gt: [[ 0.99531906 0.07786402 -0.05724368] [-0.07068577 0.99046827 0.1182162 ] [ 0.06590251 -0.1136171 0.99133616]] t_gt: [-0.90052323 -0.14226854 0.41087417] Pose Error in degrees for R and t: 14.957888369388934 25.590448395388886 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-1.23080022e-01 -9.92396676e-01 -3.80615393e-04] [-9.92396465e-01 1.23080268e-01 -7.10193664e-04] [ 7.51640076e-04 2.90310719e-04 -9.99999675e-01]] t_estimated: [[7.88113986e-01] [6.15528875e-01] [7.40708634e-04]] R_gt: [[ 0.98899292 0.13903799 -0.05060418] [-0.1301877 0.9802405 0.14893027] [ 0.07031083 -0.14070391 0.98755167]] t_gt: [-0.93005992 0.07035441 0.36060894] Pose Error in degrees for R and t: 177.1268334620743 46.41571009619243 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99998052e-01 -1.89383476e-03 5.55901268e-04] [ 1.89451347e-03 9.99997458e-01 -1.22294426e-03] [-5.53583800e-04 1.22399504e-03 9.99999098e-01]] t_estimated: [[ 9.99929953e-01] [ 1.18035165e-02] [-8.75065818e-04]] R_gt: [[ 0.99605537 0.03855826 0.07992236] [-0.03223007 0.99635171 -0.07901437] [-0.08267774 0.07612698 0.99366438]] t_gt: [-0.11590496 0.97008009 -0.21333227] Pose Error in degrees for R and t: 6.731669319694495 84.01547758073607 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99998932 0.00394294 0.00241241] [-0.00393914 0.999991 -0.00157738] [-0.00241861 0.00156786 0.99999585]] t_estimated: [[0.99999092] [0.00394726] [0.00160383]] R_gt: [[ 0.99413399 0.02823173 0.10441033] [-0.01374459 0.99048313 -0.13694326] [-0.10728224 0.13470527 0.98506077]] t_gt: [ 0.35101571 0.80947849 -0.47067244] Pose Error in degrees for R and t: 9.809674921676503 69.30134626667912 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999732e-01 7.32278674e-04 1.85424064e-06] [-7.32278538e-04 9.99999729e-01 -7.22339218e-05] [-1.90713550e-06 7.22325446e-05 9.99999997e-01]] t_estimated: [[-1.73968452e-02] [-9.99848484e-01] [-5.99790315e-04]] R_gt: [[ 0.98378481 0.10295585 0.14685927] [-0.08320172 0.98736713 -0.13484339] [-0.15888672 0.12043791 0.97992303]] t_gt: [ 3.33126434e-02 9.99444861e-01 -4.87885417e-04] Pose Error in degrees for R and t: 12.679044424006193 0.9143372197933182 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-1.00096417e-01 -9.94977377e-01 -8.52563325e-04] [-9.94977316e-01 1.00097130e-01 -8.39269521e-04] [ 9.20393328e-04 7.64273298e-04 -9.99999284e-01]] t_estimated: [[8.62436983e-01] [5.06163889e-01] [7.53220073e-04]] R_gt: [[ 0.99512578 -0.05827413 0.07955737] [ 0.06343363 0.99593643 -0.06393868] [-0.07550742 0.06867237 0.99477749]] t_gt: [-0.14014716 -0.95284469 -0.26915751] Pose Error in degrees for R and t: 179.3213047695788 52.88861874840442 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.30274675e-01 3.66863498e-01 -4.50813958e-04] [-3.66863738e-01 9.30273324e-01 -1.59401756e-03] [-1.65406659e-04 1.64826146e-03 9.99998628e-01]] t_estimated: [[-0.99981909] [-0.01890413] [-0.00210046]] R_gt: [[ 0.9899295 -0.04783918 0.1332341 ] [ 0.06651543 0.98799111 -0.13946403] [-0.12496132 0.1469212 0.98122238]] t_gt: [-0.66766866 -0.10920681 -0.73640508] Pose Error in degrees for R and t: 27.145490012257916 47.84341028790425 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.16810676 -0.98574628 -0.0066629 ] [ 0.98575934 -0.16807169 -0.00551692] [ 0.00431844 -0.00749545 0.99996258]] t_estimated: [[9.99974504e-01] [7.08573608e-03] [8.85717009e-04]] R_gt: [[ 0.97349919 -0.02003214 0.22781271] [ 0.06441768 0.97984064 -0.18911049] [-0.21943125 0.19877373 0.95516325]] t_gt: [-0.87229171 0.36674873 -0.32342316] Pose Error in degrees for R and t: 98.42046957862448 29.546328539716296 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 6.98828442e-01 -7.15289257e-01 -2.95058787e-04] [ 7.15289258e-01 6.98828156e-01 6.97084944e-04] [-2.92421984e-04 -6.98195166e-04 9.99999714e-01]] t_estimated: [[ 9.37576963e-01] [-3.47776873e-01] [ 8.27543542e-04]] R_gt: [[ 9.92869709e-01 -1.19201463e-01 -2.26196989e-04] [ 1.19199258e-01 9.92836910e-01 8.13372244e-03] [-7.45453992e-04 -8.10252070e-03 9.99967217e-01]] t_gt: [ 0.6102612 -0.79215388 -0.00857319] Pose Error in degrees for R and t: 38.823033727167285 32.042741754039014 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.53625691e-01 3.00995083e-01 2.24087649e-05] [-3.00995044e-01 9.53625600e-01 -4.45976427e-04] [-1.55606284e-04 4.18549651e-04 9.99999900e-01]] t_estimated: [[-0.99380289] [-0.11114901] [-0.00130764]] R_gt: [[ 0.98722019 -0.12981524 0.09243756] [ 0.13799054 0.98648696 -0.08832961] [-0.07972286 0.09995585 0.99179305]] t_gt: [ 0.33842413 -0.85310435 -0.39709203] Pose Error in degrees for R and t: 26.26860244615824 76.0552621296375 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.98685857 0.16118658 -0.01135985] [-0.16088796 0.98669126 0.02356757] [ 0.01500744 -0.02143019 0.9996577 ]] t_estimated: [[0.98884425] [0.14885827] [0.00531637]] R_gt: [[ 0.98131537 -0.10489992 0.16129336] [ 0.12813839 0.98165891 -0.14116121] [-0.14352778 0.15919135 0.97675893]] t_gt: [-0.23344257 -0.68596189 -0.68917403] Pose Error in degrees for R and t: 21.157039971998955 70.32932520017512 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.86283576 -0.50547174 0.00357358] [ 0.50548237 0.86283069 -0.00328205] [-0.00142441 0.00463825 0.99998823]] t_estimated: [[-0.03028901] [-0.99953739] [-0.00275355]] R_gt: [[ 0.99993372 -0.00716687 -0.00908422] [ 0.00826029 0.9919124 0.12665458] [ 0.00810253 -0.12672091 0.99190548]] t_gt: [-0.00290054 -0.41676559 0.90900937] Pose Error in degrees for R and t: 30.836030297925504 65.53371935681989 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.34630764e-01 -3.55619625e-01 1.32833527e-04] [ 3.55619379e-01 9.34630449e-01 8.84092309e-04] [-4.38550834e-04 -7.79061694e-04 9.99999600e-01]] t_estimated: [[ 0.52256167] [-0.85260066] [ 0.00119365]] R_gt: [[ 0.99813509 0.01357712 -0.05952114] [-0.00234699 0.9827695 0.18482168] [ 0.06100388 -0.18433726 0.98096849]] t_gt: [-0.17681514 -0.40645618 0.89639823] Pose Error in degrees for R and t: 24.006995477472692 75.21349820286737 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-0.99296838 0.11823115 -0.00593173] [-0.11821989 -0.99298497 -0.00221478] [-0.00615197 -0.00149796 0.99997995]] t_estimated: [[0.93735936] [0.34835435] [0.00258406]] R_gt: [[ 0.99576624 0.06873422 -0.06103726] [-0.05311214 0.97214611 0.22827637] [ 0.07502706 -0.22406743 0.97168111]] t_gt: [-0.65781892 -0.25851971 0.70741913] Pose Error in degrees for R and t: 169.78416412765156 45.18328590468866 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.10731323 -0.9873413 -0.1167948 ] [-0.98740094 0.11957896 -0.10363525] [ 0.11628956 0.10420186 -0.98773413]] t_estimated: [[ 0.72713908] [ 0.68257561] [-0.07320722]] R_gt: [[ 0.99992942 -0.01149241 0.00308877] [ 0.01138277 0.99936695 0.03371941] [-0.00347494 -0.03368137 0.9994259 ]] t_gt: [ 0.2062053 -0.63386204 0.74545174] Pose Error in degrees for R and t: 172.44341019876651 70.28806985218293 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99276758 0.11830461 0.02040952] [-0.11872361 0.9927114 0.02070686] [-0.01781105 -0.0229802 0.99957725]] t_estimated: [[0.76647825] [0.63384373] [0.10369775]] R_gt: [[ 0.99416051 -0.10790291 -0.00164048] [ 0.10790662 0.99376032 0.02824586] [-0.00141698 -0.02825756 0.99959914]] t_gt: [ 0.73103947 -0.65923602 0.1760374 ] Pose Error in degrees for R and t: 13.054207491840296 80.75085017488193 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999959e-01 -2.78963631e-04 6.86994428e-05] [ 2.78979322e-04 9.99999935e-01 -2.28496640e-04] [-6.86356961e-05 2.28515796e-04 9.99999972e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.99545701 -0.08738596 -0.03780802] [ 0.08377688 0.99256033 -0.0883576 ] [ 0.04524785 0.08478838 0.99537064]] t_gt: [ 0.749326 -0.33441634 -0.571556 ] Pose Error in degrees for R and t: 7.3716682671978955 57.409722360255174 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-1.52574348e-01 9.88285915e-01 3.46665215e-03] [ 9.88291873e-01 1.52571646e-01 1.03245232e-03] [ 4.91445260e-04 3.58358989e-03 -9.99993458e-01]] t_estimated: [[-0.16325759] [-0.98658248] [-0.00140739]] R_gt: [[ 0.99354979 -0.10587167 -0.04062584] [ 0.10614548 0.99433972 0.00464848] [ 0.0399038 -0.00893072 0.99916431]] t_gt: [ 0.80952278 -0.56589506 -0.15631903] Pose Error in degrees for R and t: 178.11449040096764 64.76313273535635 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.9828425 0.18137582 0.03351756] [ 0.18143948 0.98340143 -0.00115805] [-0.03317126 0.00494322 -0.99943746]] t_estimated: [[0.99982355] [0.01013501] [0.01581611]] R_gt: [[ 0.98790593 -0.13210922 -0.08117542] [ 0.13229593 0.9912055 -0.00310074] [ 0.08087197 -0.00767539 0.99669444]] t_gt: [ 0.84874097 -0.46433621 -0.25304279] Pose Error in degrees for R and t: 177.27128297023603 32.87223254576583 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.79671138 -0.52953022 0.29128803] [ 0.0697227 -0.55929268 -0.82603295] [ 0.60032468 -0.63780047 0.48251512]] t_estimated: [[8.65656967e-01] [5.00637155e-01] [6.74713146e-04]] R_gt: [[ 0.9887722 -0.06523646 -0.13444048] [ 0.06788681 0.99757728 0.01521331] [ 0.13312217 -0.02416864 0.99080476]] t_gt: [ 0.86796653 -0.21310354 -0.44857663] Pose Error in degrees for R and t: 153.17283067527234 49.88146380070774 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-9.62129808e-01 2.72591416e-01 -3.90351664e-04] [-2.72588429e-01 -9.62124302e-01 -3.51793872e-03] [-1.33452672e-03 -3.27830836e-03 9.99993736e-01]] t_estimated: [[0.73121252] [0.68214836] [0.00136608]] R_gt: [[ 0.99569057 0.08208864 0.04314694] [-0.08081583 0.99626331 -0.03044849] [-0.04548581 0.02683062 0.99860421]] t_gt: [-0.77456603 0.60709011 0.17745158] Pose Error in degrees for R and t: 159.50828447092658 81.2568950283709 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 2.87960771e-01 9.57642176e-01 -2.39363588e-04] [-9.57642085e-01 2.87960600e-01 -5.74295065e-04] [-4.81041893e-04 3.94599095e-04 9.99999806e-01]] t_estimated: [[0.61708657] [0.78689479] [0.0008753 ]] R_gt: [[ 0.99392236 0.0564189 0.09452678] [-0.05463216 0.99827806 -0.02137395] [-0.09557028 0.01607979 0.99529226]] t_gt: [-0.75170344 0.42543622 0.50393051] Pose Error in degrees for R and t: 70.26451348568118 82.60832748375752 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-9.51765490e-01 -3.06820023e-01 -1.98122922e-03] [ 3.06818335e-01 -9.51767445e-01 1.11375616e-03] [-2.22739216e-03 4.52157229e-04 9.99997417e-01]] t_estimated: [[9.54089993e-01] [2.99518709e-01] [9.10391214e-04]] R_gt: [[ 0.99109532 0.04713099 0.12453826] [-0.03934481 0.99715782 -0.06425266] [-0.12721219 0.05878059 0.99013195]] t_gt: [-0.72665487 0.53389043 0.43235832] Pose Error in degrees for R and t: 164.66196711389574 57.79227580302096 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999932e-01 -3.64469425e-04 -6.08945263e-05] [ 3.64469428e-04 9.99999934e-01 3.85282827e-08] [ 6.08945082e-05 -6.07224732e-08 9.99999998e-01]] t_estimated: [[-4.17807445e-01] [-9.08535412e-01] [-5.86284629e-04]] R_gt: [[ 0.99945359 0.01411028 -0.02987172] [-0.01452237 0.99980249 -0.01361346] [ 0.02967354 0.01403895 0.99946167]] t_gt: [-0.16020396 0.60759624 -0.77792127] Pose Error in degrees for R and t: 2.057338243814652 61.011621046361554 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.73390561 -0.67889519 -0.02199704] [-0.67893433 0.73416768 -0.00678243] [ 0.02075407 0.00995688 -0.99973503]] t_estimated: [[ 0.93606017] [ 0.35167159] [-0.01088395]] R_gt: [[ 0.99709057 0.06688786 -0.03656366] [-0.06766383 0.99750004 -0.02041326] [ 0.03510728 0.02282762 0.9991229 ]] t_gt: [-0.30805903 0.84886721 -0.42956267] Pose Error in degrees for R and t: 176.31641363556335 89.14992691046494 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-6.81576170e-01 7.31744356e-01 -2.03016390e-03] [ 7.31738673e-01 6.81579003e-01 2.92881569e-03] [ 3.52686144e-03 5.10661548e-04 -9.99993650e-01]] t_estimated: [[ 0.6823529 ] [-0.73102041] [-0.00191874]] R_gt: [[ 0.99388857 0.10841847 -0.02076863] [-0.10924488 0.99304341 -0.04393811] [ 0.01585997 0.04593822 0.99881894]] t_gt: [-0.35521064 0.89509295 -0.26950698] Pose Error in degrees for R and t: 179.90181642676504 26.337905633353543 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.99851359 -0.05446745 -0.00197607] [ 0.05447885 0.99849526 0.00626636] [ 0.00163178 -0.0063647 0.99997841]] t_estimated: [[0.61739673] [0.78662807] [0.00612833]] R_gt: [[ 0.98576056 0.16746036 0.01530603] [-0.16755302 0.98585148 0.00487891] [-0.01427117 -0.00737337 0.99987146]] t_gt: [-0.77213459 0.62953252 0.08658504] Pose Error in degrees for R and t: 12.801390451848423 88.9098703464009 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.96959457e-01 7.79217883e-02 -1.90632729e-04] [-7.79217844e-02 9.96959475e-01 2.79966708e-05] [ 1.92234656e-04 -1.30571033e-05 9.99999981e-01]] t_estimated: [[-9.99994892e-01] [-3.10075941e-03] [-7.75189839e-04]] R_gt: [[ 0.94901226 0.31491737 0.01424589] [-0.31451011 0.94892035 -0.02517913] [-0.02144745 0.01941469 0.99958168]] t_gt: [-0.68797704 0.72566315 -0.01002905] Pose Error in degrees for R and t: 13.97743490056524 46.706861262950255 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-3.71097102e-01 9.28594061e-01 1.04162877e-04] [-9.28593537e-01 -3.71096768e-01 -1.11001232e-03] [-9.92096342e-04 -5.08647331e-04 9.99999379e-01]] t_estimated: [[9.99994892e-01] [3.10075942e-03] [7.75189839e-04]] R_gt: [[ 0.93396621 0.35538254 0.03756519] [-0.35552554 0.93466246 -0.00304822] [-0.03619321 -0.01050759 0.99928905]] t_gt: [-0.67288584 0.73560275 0.07818723] Pose Error in degrees for R and t: 90.97294517167393 47.89117745790047 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.99965155e-01 -8.34799881e-03 2.10307966e-05] [ 8.34800175e-03 9.99965144e-01 -1.43905864e-04] [-1.98287376e-05 1.44076415e-04 9.99999989e-01]] t_estimated: [[ 3.50734809e-02] [-9.99384729e-01] [-1.21376618e-04]] R_gt: [[ 0.99831823 -0.03222351 0.04820051] [ 0.03236191 0.99947406 -0.00208249] [-0.04810804 0.00363906 0.99883479]] t_gt: [ 0.64868717 -0.64392224 0.40567117] Pose Error in degrees for R and t: 3.0861723981232694 48.22335560233556 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-0.97964271 -0.20071706 0.00358016] [ 0.2004626 -0.97904185 -0.03594165] [ 0.01071923 -0.03449229 0.99934748]] t_estimated: [[9.87793861e-01] [1.55763772e-01] [9.67476847e-04]] R_gt: [[ 0.99774243 0.02536837 0.06219273] [-0.0242491 0.9995315 -0.0186909 ] [-0.06263846 0.01714139 0.9978892 ]] t_gt: [-0.9689361 0.24203328 -0.05082046] Pose Error in degrees for R and t: 169.91487718295417 23.152985054212426 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.17641439e-01 6.96412692e-01 -3.57220668e-04] [-6.96412685e-01 7.17641516e-01 1.64466654e-04] [ 3.70893046e-04 1.30744918e-04 9.99999923e-01]] t_estimated: [[-6.20793834e-02] [ 9.98071065e-01] [-5.46379275e-04]] R_gt: [[ 0.99416529 0.06587994 0.08541591] [-0.06168481 0.99679975 -0.05085517] [-0.08849374 0.04528994 0.99504638]] t_gt: [-0.89864647 0.37249018 -0.23170152] Pose Error in degrees for R and t: 40.8601501869025 64.67922280374111 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99849122e-01 1.73698261e-02 -1.50926137e-04] [-1.73697967e-02 9.99849115e-01 1.94457199e-04] [ 1.54281052e-04 -1.91806303e-04 9.99999970e-01]] t_estimated: [[-9.75046743e-01] [ 2.21997550e-01] [ 9.67997087e-04]] R_gt: [[ 0.98478265 0.16978751 -0.03710316] [-0.17051382 0.98520191 -0.01736742] [ 0.03360436 0.02343042 0.99916084]] t_gt: [-0.57897206 0.77040502 -0.26695968] Pose Error in degrees for R and t: 9.111872410034074 42.66789918362983 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.75536653e-01 -4.83150194e-01 -1.20783432e-03] [ 4.83150866e-01 8.75537054e-01 3.26897595e-04] [ 8.99563063e-04 -8.69777023e-04 9.99999217e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97442138 0.21805266 -0.05438244] [-0.22079376 0.9739944 -0.05083901] [ 0.04188172 0.06154719 0.99722541]] t_gt: [-0.5181848 0.77443241 -0.36295861] Pose Error in degrees for R and t: 41.79197165818694 39.57351706095884 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.77784216e-01 -2.09613867e-01 -2.30388258e-04] [ 2.09613874e-01 9.77784242e-01 1.02330179e-05] [ 2.23125026e-04 -5.82982587e-05 9.99999973e-01]] t_estimated: [[-0.58452761] [-0.81137327] [-0.00094127]] R_gt: [[ 0.95024806 0.30442081 -0.06601693] [-0.30731522 0.95080324 -0.03911343] [ 0.05086148 0.0574569 0.99705134]] t_gt: [-0.51265063 0.81438651 -0.27196313] Pose Error in degrees for R and t: 30.25041272859234 68.84716302744685 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.50799226 -0.86099249 0.02521493] [-0.8609497 0.50843695 0.01604656] [-0.02663617 -0.01355726 -0.99955326]] t_estimated: [[0.8583576 ] [0.51281775] [0.01549814]] R_gt: [[ 0.99411665 -0.09863996 0.04474604] [ 0.09935898 0.99495088 -0.01412239] [-0.04312679 0.01848653 0.99889853]] t_gt: [ 0.46693261 -0.84114483 0.27285402] Pose Error in degrees for R and t: 176.56227266611407 88.4912210179817 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.98308356e-01 5.81384408e-02 -5.90545481e-04] [-5.81382513e-02 9.98308486e-01 3.33152447e-04] [ 6.08915529e-04 -2.98255590e-04 9.99999770e-01]] t_estimated: [[0.8117624 ] [0.58398646] [0.00127402]] R_gt: [[ 0.97284792 -0.22959737 0.02918134] [ 0.22863871 0.97295572 0.03287335] [-0.03593914 -0.02530823 0.99903338]] t_gt: [ 0.63627809 -0.7362309 0.23046533] Pose Error in degrees for R and t: 16.775737441833822 85.01750611305229 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.78186555e-01 -2.07727527e-01 -5.81946533e-04] [ 2.07727470e-01 9.78186727e-01 -1.57514206e-04] [ 6.01972411e-04 3.31919974e-05 9.99999818e-01]] t_estimated: [[ 0.10313452] [-0.99466326] [-0.00287624]] R_gt: [[ 0.9478157 -0.31731506 0.03090473] [ 0.31621073 0.94800953 0.03590385] [-0.04069071 -0.02425768 0.99887754]] t_gt: [ 0.67074707 -0.7128814 0.20469117] Pose Error in degrees for R and t: 7.0450460241728585 38.9526865911332 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.31068666 -0.95051086 0.00170551] [-0.95051041 0.31068186 -0.00259641] [ 0.00193804 -0.00242778 -0.99999517]] t_estimated: [[7.85627485e-01] [6.18699403e-01] [7.10332265e-04]] R_gt: [[ 0.97579476 -0.2180176 0.01705593] [ 0.21774234 0.97586443 0.01663972] [-0.02027329 -0.01252366 0.99971531]] t_gt: [ 0.73362162 -0.67126047 0.10587115] Pose Error in degrees for R and t: 178.66213106571925 80.72808576631793 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.83355224 0.55243299 -0.00290866] [-0.55241608 -0.83355327 -0.00504137] [-0.00520955 -0.00259546 0.99998306]] t_estimated: [[0.66176944] [0.7497022 ] [0.00279607]] R_gt: [[ 0.93913786 -0.33914382 0.05477461] [ 0.3386682 0.94073335 0.01803212] [-0.0576444 0.00161623 0.99833606]] t_gt: [ 0.75696237 -0.63720913 0.14481885] Pose Error in degrees for R and t: 166.29377793276953 88.64640999862674 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99478964e-01 -3.22674049e-02 7.84423889e-04] [ 3.22682034e-02 9.99478718e-01 -1.02752427e-03] [-7.50859441e-04 1.05230085e-03 9.99999164e-01]] t_estimated: [[9.82311058e-01] [1.87256379e-01] [1.85651565e-04]] R_gt: [[ 0.89011559 -0.4499416 0.07243852] [ 0.45136639 0.89233075 -0.00375225] [-0.06295168 0.03603642 0.99736589]] t_gt: [ 0.7881868 -0.61035874 0.07889093] Pose Error in degrees for R and t: 25.303589459732457 48.702743878903554 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.76159467e-01 2.17054515e-01 1.80105850e-04] [-2.17054287e-01 9.76159155e-01 -8.60725229e-04] [-3.62636271e-04 8.01112334e-04 9.99999613e-01]] t_estimated: [[8.01590647e-01] [5.97872947e-01] [6.11173972e-04]] R_gt: [[ 0.98076777 -0.19303166 0.02885096] [ 0.19284043 0.98118583 0.00930571] [-0.03010451 -0.00356386 0.99954141]] t_gt: [ 0.70743592 -0.69021723 0.15210062] Pose Error in degrees for R and t: 23.72528012622984 81.11192461041743 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.93420482e-01 -1.14519620e-01 1.00099988e-03] [ 1.14520823e-01 9.93420073e-01 -1.24042953e-03] [-8.52359854e-04 1.34690343e-03 9.99998730e-01]] t_estimated: [[-0.32675961] [-0.9451068 ] [-0.00113458]] R_gt: [[ 0.95080124 -0.30344646 0.06243478] [ 0.30459547 0.95243421 -0.00955268] [-0.0565665 0.02809941 0.99800345]] t_gt: [ 0.7318384 -0.67199386 0.11329968] Pose Error in degrees for R and t: 11.691129874922826 66.68149061935436 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 8.40345180e-01 5.42051552e-01 3.06397303e-04] [-5.42049886e-01 8.40343765e-01 -2.06828336e-03] [-1.37859527e-03 1.57198933e-03 9.99997814e-01]] t_estimated: [[0.87002975] [0.49299845] [0.00087913]] R_gt: [[ 0.92090995 -0.38160957 0.07936478] [ 0.38513522 0.92220951 -0.03466005] [-0.05996422 0.06248387 0.99624289]] t_gt: [ 0.74854447 -0.66162465 0.04397738] Pose Error in degrees for R and t: 55.60610028168906 71.0274763667908 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.98909813e-01 -4.66815457e-02 1.37116071e-04] [ 4.66816520e-02 9.98909398e-01 -9.15639464e-04] [-9.42230664e-05 9.21042050e-04 9.99999571e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9744546 0.22454509 -0.00437587] [-0.22456142 0.97445291 -0.00369842] [ 0.00343339 0.00458618 0.99998413]] t_gt: [-0.7229933 0.69025694 -0.0287409 ] Pose Error in degrees for R and t: 15.655016187914558 43.87351449616901 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.41747023e-01 -3.36318142e-01 -1.62840260e-03] [ 3.36316967e-01 9.41748365e-01 -9.56665717e-04] [ 1.85528952e-03 3.53277667e-04 9.99998217e-01]] t_estimated: [[-0.56867447] [-0.822547 ] [-0.00507745]] R_gt: [[ 0.95238158 0.30355002 0.02878212] [-0.30373091 0.95275549 0.00202664] [-0.02680737 -0.01067208 0.99958441]] t_gt: [-0.69018422 0.71963001 0.07601571] Pose Error in degrees for R and t: 37.373094033881785 78.47325535246792 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 4.67141721e-04 -9.99999537e-01 -8.41763062e-04] [-9.99999890e-01 -4.67116429e-04 -3.02420574e-05] [ 2.98488420e-05 8.41777097e-04 -9.99999645e-01]] t_estimated: [[8.88656978e-01] [4.58572014e-01] [6.94806082e-04]] R_gt: [[ 0.96931305 0.24154454 0.045715 ] [-0.24187122 0.97030697 0.00165205] [-0.04395917 -0.01265829 0.99895397]] t_gt: [-0.69413003 0.7075591 0.13245236] Pose Error in degrees for R and t: 177.91648976974346 73.00521481390341 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999418e-01 -1.06909470e-03 -1.42935647e-04] [ 1.06909643e-03 9.99999428e-01 1.20283727e-05] [ 1.42922705e-04 -1.21811777e-05 9.99999990e-01]] t_estimated: [[-9.99899554e-01] [-1.41652367e-02] [-4.77951128e-04]] R_gt: [[ 0.96969023 0.24407858 0.01124845] [-0.24367622 0.96942355 -0.02895704] [-0.01797316 0.02533818 0.9995167 ]] t_gt: [-0.59744711 0.80108028 -0.03643261] Pose Error in degrees for R and t: 14.291693411430185 54.122301567010624 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-8.88860785e-01 -4.58172457e-01 -2.12239875e-03] [ 4.58176324e-01 -8.88859124e-01 -1.97812654e-03] [-9.80190395e-04 -2.73071197e-03 9.99995791e-01]] t_estimated: [[0.7656594 ] [0.64324418] [0.00161693]] R_gt: [[ 0.90787982 0.41683712 -0.0447419 ] [-0.4179139 0.90831111 -0.01781527] [ 0.03321309 0.03487178 0.99884002]] t_gt: [-0.50265487 0.85492778 -0.1282052 ] Pose Error in degrees for R and t: 177.41365062038034 80.5110385529372 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.66702652 0.74501557 0.0052361 ] [ 0.74502976 0.66702992 0.00132276] [-0.00250716 0.00478336 -0.99998542]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.8730697 0.48519146 -0.0483705 ] [-0.48747705 0.87074472 -0.06457392] [ 0.01078725 0.07995694 0.99673938]] t_gt: [-0.45937001 0.8769034 -0.1414907 ] Pose Error in degrees for R and t: 179.6643961696729 29.088035419816336 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.01607416e-01 4.32555270e-01 -7.67122084e-05] [-4.32554847e-01 9.01606756e-01 1.24958199e-03] [ 6.09677522e-04 -1.09345015e-03 9.99999216e-01]] t_estimated: [[0.6711372 ] [0.74133267] [0.00085604]] R_gt: [[ 0.98705483 0.14964717 0.05770157] [-0.14848324 0.98862395 -0.02399071] [-0.06063577 0.01511256 0.99804515]] t_gt: [-0.74371081 0.61059571 0.27215274] Pose Error in degrees for R and t: 17.426840553550573 87.34944183779545 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 0.66032948 0.7509706 0.00285411] [-0.75097458 0.66031601 0.00446659] [ 0.00146967 -0.00509278 0.99998595]] t_estimated: [[0.69232849] [0.72158181] [0.00097511]] R_gt: [[ 0.97875998 0.18778718 0.08224678] [-0.18553367 0.98203927 -0.03430204] [-0.08721137 0.01831417 0.99602106]] t_gt: [-0.74492906 0.60436422 0.28253245] Pose Error in degrees for R and t: 38.23392493928778 85.44811179999793 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.37552518 -0.90091555 0.21755919] [-0.91260869 0.40037677 0.08272745] [-0.16163609 -0.16748017 -0.97253492]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.97628631 0.16152536 0.14413207] [-0.15583138 0.98651614 -0.05003574] [-0.15027144 0.02638825 0.98829223]] t_gt: [-0.72520212 0.54097795 0.42593984] Pose Error in degrees for R and t: 160.822473604782 85.43911807887403 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.22772564e-01 3.85344788e-01 4.35916925e-04] [-3.85344747e-01 9.22772667e-01 -1.77658249e-04] [-4.70711903e-04 -4.04013966e-06 9.99999889e-01]] t_estimated: [[-0.56714489] [ 0.82361737] [ 0.00105256]] R_gt: [[ 0.99822776 0.05927453 0.0052042 ] [-0.05918272 0.99811621 -0.01619873] [-0.00615366 0.01586247 0.99985563]] t_gt: [-0.42188047 0.90484861 -0.05714776] Pose Error in degrees for R and t: 19.29306187978033 10.115328807511569 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999577e-01 -9.12332649e-04 -1.16312137e-04] [ 9.12320073e-04 9.99999578e-01 -1.08132210e-04] [ 1.16410740e-04 1.08026051e-04 9.99999987e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99812552 0.0610523 0.00416414] [-0.06082715 0.99727914 -0.04165683] [-0.00669646 0.0413257 0.99912283]] t_gt: [-0.39763056 0.8924811 -0.21299632] Pose Error in degrees for R and t: 4.279747611497671 77.59861012339181 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99811817e-01 -1.93929466e-02 4.94286375e-04] [ 1.93932207e-02 9.99811779e-01 -5.55910431e-04] [-4.83412599e-04 5.65391623e-04 9.99999723e-01]] t_estimated: [[0.47913324] [0.87773988] [0.00201316]] R_gt: [[ 0.99932542 -0.03663878 0.0025762 ] [ 0.03667583 0.99919893 -0.01602735] [-0.00198615 0.01611149 0.99986782]] t_gt: [ 0.08156417 -0.27963522 -0.95663547] Pose Error in degrees for R and t: 1.3341517891480352 77.9776783442923 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-8.76364141e-01 -4.81644950e-01 -2.00850903e-03] [ 4.81648475e-01 -8.76362234e-01 -1.99557312e-03] [-7.99023741e-04 -2.71624403e-03 9.99995992e-01]] t_estimated: [[9.76994108e-01] [2.13264777e-01] [8.04772742e-04]] R_gt: [[ 0.99870815 -0.03958449 -0.03185715] [ 0.0388547 0.998976 -0.02317851] [ 0.03274055 0.02191175 0.99922328]] t_gt: [ 0.14569384 -0.64852749 -0.74711807] Pose Error in degrees for R and t: 148.96322176037438 89.80332089959528 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 8.71497646e-01 4.90399534e-01 3.86578271e-04] [-4.90399484e-01 8.71497732e-01 -2.21039611e-04] [-4.45299808e-04 3.05771644e-06 9.99999901e-01]] t_estimated: [[0.72109362] [0.692837 ] [0.00093358]] R_gt: [[ 0.99174006 -0.11342486 -0.05988649] [ 0.11470233 0.99323013 0.01833778] [ 0.05740067 -0.02505535 0.99803634]] t_gt: [ 0.33248775 -0.89531102 -0.29642886] Pose Error in degrees for R and t: 36.09868190587567 67.61510959256256 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.94068858 -0.33924834 -0.00394318] [ 0.33925842 0.94069057 0.00223228] [ 0.00295201 -0.00343764 0.99998973]] t_estimated: [[-0.61204457] [-0.79082047] [-0.00210325]] R_gt: [[ 0.96521703 -0.24002588 -0.10365629] [ 0.24369585 0.96955148 0.02414251] [ 0.09470504 -0.04856318 0.99431959]] t_gt: [ 0.52262493 -0.82892237 -0.19937626] Pose Error in degrees for R and t: 8.24269347028097 70.3618736897468 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 0.48642546 0.87368678 0.00785351] [ 0.87372122 -0.48639273 -0.00577398] [-0.00122476 0.00967039 -0.99995249]] t_estimated: [[-0.50119018] [-0.86533618] [-0.00130518]] R_gt: [[ 9.99709652e-01 2.40545834e-02 -1.71414221e-03] [-2.40531841e-02 9.99709879e-01 9.85061322e-04] [ 1.73699018e-03 -9.43234671e-04 9.99998587e-01]] t_gt: [ 0.61626178 0.77444289 -0.14303714] Pose Error in degrees for R and t: 179.58872039635506 11.810158669973191 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-0.68886649 -0.72488302 -0.0027494 ] [ 0.72485582 -0.6888666 0.00684395] [-0.00685504 0.00272165 0.9999728 ]] t_estimated: [[0.98209472] [0.18837593] [0.00211658]] R_gt: [[ 9.99739746e-01 2.27711046e-02 1.95994813e-03] [-2.27716061e-02 9.99740263e-01 1.44308568e-04] [-1.95581371e-03 -1.89181541e-04 9.99997994e-01]] t_gt: [ 0.99175624 0.12813316 -0.00120176] Pose Error in degrees for R and t: 134.84603232725212 3.5014750775949 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 3.83091203e-01 -9.23702983e-01 -3.73206022e-03] [ 9.23710483e-01 3.83089249e-01 1.25360384e-03] [ 2.71754539e-04 -3.92758775e-03 9.99992250e-01]] t_estimated: [[0.99501152] [0.09973309] [0.00231937]] R_gt: [[ 0.99759428 0.0685316 0.01043854] [-0.068611 0.99761514 0.00745551] [-0.00990224 -0.00815259 0.99991813]] t_gt: [0.67906068 0.71390529 0.17092638] Pose Error in degrees for R and t: 71.41036258317543 41.645585673448345 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.99958882e-01 9.06815396e-03 5.34265137e-05] [-9.06815264e-03 9.99958883e-01 -2.49694821e-05] [-5.36507440e-05 2.44839756e-05 9.99999998e-01]] t_estimated: [[ 0.19424831] [-0.98095096] [-0.00167646]] R_gt: [[ 0.99941902 -0.0316985 0.01253821] [ 0.03160823 0.99947395 0.00727596] [-0.01276181 -0.00687526 0.99989445]] t_gt: [ 0.74983044 -0.64337099 0.15436346] Pose Error in degrees for R and t: 2.476437168207667 39.05787323671394 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.95644949e-01 9.32261885e-02 1.12141312e-04] [-9.32261686e-02 9.95644943e-01 -1.71311691e-04] [-1.27623666e-04 1.60111115e-04 9.99999979e-01]] t_estimated: [[-8.78054437e-02] [-9.96137486e-01] [-5.60323462e-04]] R_gt: [[ 0.99503745 -0.03603027 0.09274842] [ 0.03911674 0.99873273 -0.03167664] [-0.09148981 0.03514674 0.99518548]] t_gt: [ 0.74235117 -0.39881291 0.53838927] Pose Error in degrees for R and t: 9.37263268457533 70.62264307233237 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.95491866e-01 4.45077827e-01 2.14870291e-04] [-4.45077715e-01 8.95491846e-01 -4.25513322e-04] [-3.81801138e-04 2.85409740e-04 9.99999886e-01]] t_estimated: [[-9.95946184e-01] [-8.99478352e-02] [-7.65565045e-04]] R_gt: [[ 0.99174238 0.02535398 0.1257124 ] [-0.01523994 0.99661545 -0.08077922] [-0.1273345 0.07819606 0.98877194]] t_gt: [-0.08461888 0.99503096 0.05246942] Pose Error in degrees for R and t: 26.649773644341927 89.69832521313978 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99959460e-01 -9.00399830e-03 -7.60147815e-05] [ 9.00397397e-03 9.99959414e-01 -3.14459715e-04] [ 7.88430911e-05 3.13762532e-04 9.99999948e-01]] t_estimated: [[ 7.19357739e-01] [-6.94639709e-01] [-3.44937316e-04]] R_gt: [[ 0.99077733 -0.02887112 0.13238856] [ 0.02979397 0.99954352 -0.00500366] [-0.13218365 0.00890206 0.99118539]] t_gt: [ 0.1206382 -0.19594874 0.9731652 ] Pose Error in degrees for R and t: 7.70616678190227 77.14055400506376 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.88601844e-01 -1.50552881e-01 -4.73619170e-04] [ 1.50552805e-01 9.88601950e-01 -1.91829646e-04] [ 4.97101341e-04 1.18338447e-04 9.99999869e-01]] t_estimated: [[-0.00906698] [-0.99995806] [-0.00129528]] R_gt: [[ 0.96962707 -0.03914676 0.24143468] [ 0.0466535 0.99858611 -0.02545438] [-0.24009669 0.03594449 0.97008354]] t_gt: [ 0.17536024 -0.11466771 0.97780371] Pose Error in degrees for R and t: 15.360596676063508 83.58054392466424 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-6.63022881e-01 7.48596841e-01 1.85163599e-03] [ 7.48599076e-01 6.63021752e-01 1.25687010e-03] [-2.86785956e-04 2.21946662e-03 -9.99997496e-01]] t_estimated: [[0.9379278 ] [0.34682853] [0.00118582]] R_gt: [[ 0.95720085 -0.08930749 0.275302 ] [ 0.10931717 0.99230195 -0.05818855] [-0.26798596 0.0857941 0.95959528]] t_gt: [ 0.52529035 -0.28908929 0.80031083] Pose Error in degrees for R and t: 163.80518243036207 66.83570598510849 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999940e-01 3.34850200e-04 9.15518842e-05] [-3.34854947e-04 9.99999943e-01 5.18381494e-05] [-9.15345209e-05 -5.18688029e-05 9.99999994e-01]] t_estimated: [[0.97637982] [0.21605876] [0.00102885]] R_gt: [[ 0.9864344 -0.15788936 0.04490341] [ 0.15764769 0.98745529 0.00890114] [-0.04574582 -0.00170188 0.99895198]] t_gt: [ 0.70371592 -0.67802028 0.2123026 ] Pose Error in degrees for R and t: 9.469832640850063 57.26050673950147 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 5.54928804e-01 8.31897843e-01 -4.38288034e-05] [-8.31897199e-01 5.54928307e-01 -1.27436711e-03] [-1.03582140e-03 7.43644074e-04 9.99999187e-01]] t_estimated: [[4.04382043e-01] [9.14589924e-01] [6.59774430e-04]] R_gt: [[ 0.95151191 -0.30743704 0.0103113 ] [ 0.30603398 0.94949314 0.06931782] [-0.03110164 -0.06280078 0.99754199]] t_gt: [ 0.7703443 -0.60968236 0.1867005 ] Pose Error in degrees for R and t: 74.27577622715894 75.76067209206656 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.94130467 0.33739022 0.01064717] [ 0.3373946 0.94136222 -0.00143653] [-0.01050751 0.00224008 -0.99994229]] t_estimated: [[ 0.98471366] [-0.17408686] [ 0.0057251 ]] R_gt: [[ 0.91731705 -0.39809949 0.00671267] [ 0.39759015 0.916782 0.03785948] [-0.02122609 -0.03205939 0.99926058]] t_gt: [ 0.81502484 -0.5709222 0.09890581] Pose Error in degrees for R and t: 178.93669294730668 25.508369379474633 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.96347077e-01 8.53961278e-02 -5.95563259e-05] [-8.53961424e-02 9.96347027e-01 -3.16645138e-04] [ 3.22984996e-05 3.20574338e-04 9.99999948e-01]] t_estimated: [[8.89689141e-01] [4.56566639e-01] [3.69569001e-04]] R_gt: [[ 0.99811297 0.05289119 0.03120837] [-0.05164457 0.99788433 -0.03947401] [-0.0332296 0.0377882 0.99873309]] t_gt: [-0.83596596 0.35607453 -0.41757855] Pose Error in degrees for R and t: 3.4441342187671267 54.455687846364825 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.97667387e-01 6.82624493e-02 -1.52740204e-04] [-6.82625388e-02 9.97667155e-01 -6.87697517e-04] [ 1.05439968e-04 6.96519818e-04 9.99999752e-01]] t_estimated: [[-0.93862348] [-0.34494069] [-0.00137427]] R_gt: [[ 0.9912841 0.12479603 0.04220043] [-0.11977434 0.98715149 -0.10575484] [-0.05485535 0.09977897 0.99349628]] t_gt: [-0.78035345 0.37618592 -0.49953243] Pose Error in degrees for R and t: 7.220076395710164 52.887446305971835 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.03310775e-01 4.28986765e-01 -1.87043240e-05] [-4.28986740e-01 9.03310705e-01 -3.83932152e-04] [-1.47805996e-04 3.54833956e-04 9.99999926e-01]] t_estimated: [[-6.89800060e-01] [ 7.23999768e-01] [-4.62134279e-04]] R_gt: [[ 0.99886663 0.01693345 0.04448435] [-0.01221889 0.99448302 -0.10417583] [-0.04600289 0.10351398 0.99356352]] t_gt: [-0.27920924 0.2947013 -0.91388913] Pose Error in degrees for R and t: 25.393609911393337 66.02207988442308 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.25656655e-01 3.78364580e-01 -4.36024024e-05] [-3.78364578e-01 9.25656656e-01 3.54918930e-05] [ 5.37897292e-05 -1.63557024e-05 9.99999998e-01]] t_estimated: [[-0.83792673] [-0.54578112] [-0.00132793]] R_gt: [[ 0.97878717 -0.20372269 0.02175514] [ 0.2023903 0.97792806 0.05192466] [-0.03185272 -0.04641993 0.99841434]] t_gt: [ 0.63647241 -0.71615439 0.2864014 ] Pose Error in degrees for R and t: 34.1060641041676 81.78812756890305 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99083316e-01 -4.27989506e-02 8.81392848e-04] [ 4.28008147e-02 9.99081164e-01 -2.21746098e-03] [-7.85677990e-04 2.25315260e-03 9.99997153e-01]] t_estimated: [[-0.32943995] [-0.94416231] [-0.00518174]] R_gt: [[ 0.90989504 -0.41480287 0.00533997] [ 0.41310543 0.90719733 0.07961007] [-0.03786663 -0.07023039 0.99681256]] t_gt: [ 0.77182057 -0.60511119 0.19527789] Pose Error in degrees for R and t: 22.52921983128825 71.57622378026457 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99643926e-01 2.66811353e-02 3.72266779e-04] [-2.66812365e-02 9.99643956e-01 2.69808285e-04] [-3.64935444e-04 -2.79644751e-04 9.99999894e-01]] t_estimated: [[9.78469680e-01] [2.06390034e-01] [4.88497704e-04]] R_gt: [[ 0.88492502 -0.46572941 0.00145162] [ 0.46329145 0.88060147 0.09950851] [-0.04762248 -0.08738565 0.9950357 ]] t_gt: [ 0.78328981 -0.58151842 0.21975759] Pose Error in degrees for R and t: 29.818189188567416 49.72078409876687 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-0.95738912 -0.28029456 -0.06957755] [-0.28024887 0.95986866 -0.01061758] [ 0.06976136 0.00933388 -0.99752004]] t_estimated: [[ 0.99155663] [ 0.12500691] [-0.03447794]] R_gt: [[ 0.99734107 0.07158733 0.01362768] [-0.07126826 0.9972035 -0.02253129] [-0.01520293 0.02149974 0.99965302]] t_gt: [-0.89652259 0.39095617 -0.20832791] Pose Error in degrees for R and t: 176.60721457875366 33.60240887822915 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.90457543e-01 -1.37818034e-01 -2.11387764e-04] [ 1.37818034e-01 9.90457566e-01 -1.41987836e-05] [ 2.11327458e-04 -1.50697536e-05 9.99999978e-01]] t_estimated: [[-0.43499035] [-0.90043461] [-0.00094871]] R_gt: [[ 0.99374016 0.10574401 0.03603633] [-0.10387883 0.99332271 -0.05018488] [-0.04110224 0.04612806 0.99808927]] t_gt: [-0.86256975 0.42378485 -0.27636899] Pose Error in degrees for R and t: 14.386371251747253 89.64941409227563 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.95575879e-01 9.39609702e-02 7.81539771e-05] [-9.39608970e-02 9.95575661e-01 -6.72488524e-04] [-1.40995872e-04 6.62169935e-04 9.99999771e-01]] t_estimated: [[-8.31401732e-01] [-5.55671445e-01] [-6.36393899e-04]] R_gt: [[ 0.97914912 0.19364094 0.06139604] [-0.18542635 0.97540471 -0.11918139] [-0.08296449 0.10531206 0.99097242]] t_gt: [-0.83195429 0.43425159 -0.34536592] Pose Error in degrees for R and t: 9.484135864491268 63.21737648308726 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-9.98524674e-01 5.27933393e-02 1.27018858e-02] [ 5.28052703e-02 9.98604645e-01 6.05536851e-04] [-1.26521939e-02 1.27537000e-03 -9.99919144e-01]] t_estimated: [[ 0.99980869] [-0.01842686] [ 0.00655966]] R_gt: [[ 0.96974991 -0.24399484 -0.00721613] [ 0.24409635 0.96949185 0.02240596] [ 0.00153033 -0.02348917 0.99972296]] t_gt: [ 0.74443588 -0.66336917 0.075872 ] Pose Error in degrees for R and t: 179.56142621696577 40.79825353554335 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99635919e-01 2.69806937e-02 2.66001947e-04] [-2.69807116e-02 9.99635952e-01 6.36638201e-05] [-2.64187415e-04 -7.08175631e-05 9.99999963e-01]] t_estimated: [[9.90006829e-01] [1.41018705e-01] [4.50621473e-04]] R_gt: [[ 0.93004115 -0.36724847 -0.01235027] [ 0.36734212 0.9283937 0.05606524] [-0.00912389 -0.05667972 0.99835048]] t_gt: [ 0.78084437 -0.60997675 0.13494605] Pose Error in degrees for R and t: 23.343209587485344 46.600281914974204 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.81899469e-01 -1.89399979e-01 1.03932222e-03] [ 1.89401704e-01 9.81897772e-01 -1.93888338e-03] [-6.53283700e-04 2.10063796e-03 9.99997580e-01]] t_estimated: [[ 0.60299328] [-0.79774235] [-0.0025004 ]] R_gt: [[ 0.90962057 -0.41400765 0.03447492] [ 0.41218046 0.90974581 0.04969821] [-0.05193806 -0.03099693 0.99816836]] t_gt: [ 0.76763691 -0.61761897 0.17111513] Pose Error in degrees for R and t: 13.95292890150152 17.224303012882267 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.91762986e-01 1.28086457e-01 1.97347451e-04] [-1.28086431e-01 9.91763000e-01 -1.37752624e-04] [-2.13366146e-04 1.11340423e-04 9.99999971e-01]] t_estimated: [[-8.31370838e-02] [ 9.96537631e-01] [ 9.87570179e-04]] R_gt: [[ 0.98894144 -0.14338714 -0.03787922] [ 0.14557014 0.98733197 0.06311702] [ 0.02834823 -0.06793257 0.99728754]] t_gt: [ 0.73343747 -0.66286637 0.15059098] Pose Error in degrees for R and t: 16.23552388023829 43.82994256977396 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99672489e-01 2.55906219e-02 1.88100998e-04] [-2.55906132e-02 9.99672505e-01 -4.83480875e-05] [-1.89276653e-04 4.35186330e-05 9.99999981e-01]] t_estimated: [[0.62764081] [0.7785026 ] [0.00083968]] R_gt: [[ 0.97631145 -0.21446636 -0.02864188] [ 0.21461073 0.97669777 0.00205308] [ 0.0275345 -0.00815128 0.99958758]] t_gt: [ 0.77757378 -0.62846908 -0.02014045] Pose Error in degrees for R and t: 13.955605487793047 89.92868488175256 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.98859844e-01 -4.77388168e-02 1.34789893e-04] [ 4.77388118e-02 9.98859852e-01 4.01970084e-05] [-1.36555171e-04 -3.37164682e-05 9.99999990e-01]] t_estimated: [[6.67984118e-01] [7.44175326e-01] [5.49989583e-04]] R_gt: [[ 0.96101994 -0.27180413 -0.05062859] [ 0.26628988 0.95920842 -0.09491895] [ 0.07436198 0.07773728 0.99419654]] t_gt: [ 0.79838853 -0.54384397 -0.25847531] Pose Error in degrees for R and t: 14.315228774037003 82.619768475326 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999943e-01 -2.83720867e-04 1.80320510e-04] [ 2.83722181e-04 9.99999960e-01 -7.26050505e-06] [-1.80318443e-04 7.31166557e-06 9.99999984e-01]] t_estimated: [[-7.51043554e-02] [-9.97175571e-01] [ 4.66084682e-04]] R_gt: [[ 0.99301296 0.0084598 0.11770095] [-0.00758142 0.99993997 -0.00790967] [-0.1177619 0.00696256 0.99301709]] t_gt: [-0.13808367 0.15258498 0.9785963 ] Pose Error in degrees for R and t: 6.781367495005312 81.875346095841 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99998994e-01 -1.41765158e-03 -4.65595643e-05] [ 1.41764161e-03 9.99998972e-01 -2.13325805e-04] [ 4.68619381e-05 2.13259586e-04 9.99999976e-01]] t_estimated: [[9.99997647e-01] [2.00840588e-03] [8.20123333e-04]] R_gt: [[ 0.98161941 -0.02428263 0.1892964 ] [ 0.03724901 0.99717306 -0.06524503] [-0.18717703 0.07109711 0.97974988]] t_gt: [0.29612324 0.01001502 0.95509723] Pose Error in degrees for R and t: 11.672644906917574 72.72693801591052 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 1.79818533e-01 9.83694986e-01 3.07737874e-03] [ 9.83698777e-01 -1.79821976e-01 8.79062091e-04] [ 1.41810930e-03 2.86914205e-03 -9.99994878e-01]] t_estimated: [[0.76814499] [0.64027526] [0.00092659]] R_gt: [[ 0.98062494 -0.10729732 0.16389657] [ 0.1151153 0.9925879 -0.03894922] [-0.15850228 0.05706243 0.98570719]] t_gt: [ 0.79004796 -0.40750013 0.45800422] Pose Error in degrees for R and t: 171.8411249794873 69.73372618478719 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99862822e-01 -1.65631105e-02 3.73831930e-05] [ 1.65631097e-02 9.99862822e-01 2.20750103e-05] [-3.77436957e-05 -2.14528002e-05 9.99999999e-01]] t_estimated: [[ 5.35874881e-01] [-8.44297389e-01] [ 1.78866591e-04]] R_gt: [[ 0.99785277 -0.04702676 0.04558856] [ 0.0490813 0.99777778 -0.04505934] [-0.04336742 0.04720124 0.9979433 ]] t_gt: [ 0.7497584 -0.56434535 -0.34550928] Pose Error in degrees for R and t: 4.0953071975660595 28.575186952924817 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 1.95660601e-01 -9.80670352e-01 -1.60901352e-03] [ 9.80671574e-01 1.95661054e-01 -1.27737956e-04] [ 4.40090108e-04 -1.55292054e-03 9.99998697e-01]] t_estimated: [[ 8.31118128e-01] [-5.56095905e-01] [ 4.58238825e-05]] R_gt: [[ 0.99412748 -0.07510064 0.07791224] [ 0.07873908 0.99589145 -0.04472374] [-0.07423317 0.05059627 0.99595652]] t_gt: [ 0.78364281 -0.61700194 -0.07219793] Pose Error in degrees for R and t: 74.45592260773718 6.061732984783484 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99858275e-01 1.68327984e-02 2.95737198e-04] [-1.68327730e-02 9.99858315e-01 -8.83355492e-05] [-2.97182231e-04 8.33449527e-05 9.99999952e-01]] t_estimated: [[ 0.6755705 ] [-0.73729489] [ 0.00086605]] R_gt: [[ 0.98844763 -0.05108786 0.14268937] [ 0.06213811 0.99531386 -0.0740956 ] [-0.13823454 0.08210595 0.98699018]] t_gt: [ 0.99214917 -0.10312955 0.07074115] Pose Error in degrees for R and t: 10.156218628212404 41.72353459033513 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.8122338 -0.58327301 0.00829708] [-0.58326303 0.81227434 0.003827 ] [-0.00897169 -0.00173096 -0.99995826]] t_estimated: [[0.97067601] [0.24032532] [0.00564191]] R_gt: [[ 0.99615809 -0.07458145 -0.0459021 ] [ 0.07589148 0.99673663 0.02750274] [ 0.04370129 -0.0308802 0.99856797]] t_gt: [ 0.37519589 -0.90200574 -0.21357362] Pose Error in degrees for R and t: 178.58898352948316 81.59242178721958 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999610e-01 -5.25049934e-04 -7.10829986e-04] [ 5.25511464e-04 9.99999651e-01 6.49252329e-04] [ 7.10488848e-04 -6.49625625e-04 9.99999537e-01]] t_estimated: [[0.98184894] [0.18965963] [0.00137234]] R_gt: [[ 0.97767981 -0.18971672 -0.09027651] [ 0.19125224 0.98150314 0.0085957 ] [ 0.08697683 -0.0256695 0.99588048]] t_gt: [ 0.55155704 -0.78514587 -0.28165721] Pose Error in degrees for R and t: 12.121286466736864 66.9055077433752 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.60220929 -0.79533462 -0.06918677] [ 0.79831871 -0.60053531 -0.04521694] [-0.0055865 -0.08246316 0.99657846]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.94778805 -0.30004478 -0.10803389] [ 0.30544665 0.95148458 0.03712227] [ 0.0916547 -0.06818246 0.99345428]] t_gt: [ 0.62553509 -0.77574099 -0.08325724] Pose Error in degrees for R and t: 109.23010086610783 55.841794168413216 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.96943945e-01 -7.81190024e-02 -4.37600059e-04] [ 7.81191740e-02 9.96943952e-01 3.89943896e-04] [ 4.05800704e-04 -4.22937161e-04 9.99999828e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98221414 0.18761164 0.00761608] [-0.18749183 0.9821644 -0.01414885] [-0.01013336 0.01246865 0.99987082]] t_gt: [-0.71837663 0.69524811 0.02377139] Pose Error in degrees for R and t: 15.320599969184041 44.25847341840432 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99880429 0.04339651 0.0225109 ] [-0.04253682 0.99839623 -0.03735765] [-0.02409599 0.03635544 0.99904838]] t_estimated: [[0.02727544] [0.99960872] [0.00620061]] R_gt: [[ 0.95774873 0.28206618 0.05619098] [-0.27944493 0.95884936 -0.05018799] [-0.06803324 0.03236519 0.9971577 ]] t_gt: [-0.69835188 0.70377071 0.13042793] Pose Error in degrees for R and t: 14.045443436841051 46.74423948035709 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.09734512 0.99523183 -0.00612678] [ 0.99522206 -0.09729379 0.00818381] [ 0.00754869 -0.00689416 -0.99994774]] t_estimated: [[ 0.53522686] [-0.84469064] [-0.00546986]] R_gt: [[ 0.95770078 0.27067487 0.09769659] [-0.26853556 0.96264554 -0.0346728 ] [-0.10343067 0.0069702 0.99461203]] t_gt: [-0.71477295 0.64567471 0.26870763] Pose Error in degrees for R and t: 175.77754318152415 21.653729144973603 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-0.96631365 0.25723996 0.00809559] [-0.25731845 -0.96626505 -0.01091216] [ 0.00501544 -0.01262771 0.99990769]] t_estimated: [[0.72086172] [0.69307851] [0.0007509 ]] R_gt: [[ 0.99710403 0.06946834 0.03096431] [-0.06981296 0.99750833 0.01017771] [-0.03017985 -0.01230999 0.99946878]] t_gt: [-0.36179402 0.81933496 0.44474186] Pose Error in degrees for R and t: 161.08652109175236 72.09775242254965 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.3187976 0.94781233 0.00445873] [ 0.94778564 0.31882323 -0.00735734] [-0.00839493 0.00188042 -0.99996299]] t_estimated: [[7.54905666e-01] [6.55833019e-01] [6.97694701e-04]] R_gt: [[ 0.99643858 0.07973108 0.02746835] [-0.07942534 0.9967677 -0.01205665] [-0.02834081 0.00983202 0.99954997]] t_gt: [-0.03999191 0.9754865 0.21639487] Pose Error in degrees for R and t: 177.87376578176895 52.430948965010785 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99559403e-01 -2.96786719e-02 -4.18794654e-04] [ 2.96789534e-02 9.99559250e-01 6.82743350e-04] [ 3.98347155e-04 -6.94871923e-04 9.99999679e-01]] t_estimated: [[0.12716381] [0.9918777 ] [0.00282586]] R_gt: [[ 0.99701982 0.07175992 0.02835515] [-0.07184965 0.9974132 0.00217593] [-0.02812526 -0.00420644 0.99959603]] t_gt: [0.53636049 0.76155765 0.36379578] Pose Error in degrees for R and t: 6.0477130635023295 34.45146124418806 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99639613e-01 2.68447559e-02 5.49892609e-05] [-2.68447511e-02 9.99639611e-01 -8.66910720e-05] [-5.72966441e-05 8.51836567e-05 9.99999995e-01]] t_estimated: [[-8.21889610e-01] [-5.69646206e-01] [-8.17514952e-04]] R_gt: [[ 0.99904765 -0.0417881 -0.0125178 ] [ 0.04164311 0.99906511 -0.01159008] [ 0.01299029 0.01105821 0.99985433]] t_gt: [ 0.48959905 -0.723722 -0.48633242] Pose Error in degrees for R and t: 4.049100310507597 89.41175102267586 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 7.10025946e-01 -7.04175072e-01 -7.90345262e-04] [ 7.04175039e-01 7.10026324e-01 -3.66008362e-04] [ 8.18899905e-04 -2.96665973e-04 9.99999621e-01]] t_estimated: [[ 0.62431802] [-0.78116963] [-0.00101085]] R_gt: [[ 9.82589494e-01 -1.85788416e-01 9.30943830e-04] [ 1.85769292e-01 9.82540310e-01 1.01814685e-02] [-2.80598819e-03 -9.83002286e-03 9.99947711e-01]] t_gt: [ 0.56813523 -0.82112576 0.05454208] Pose Error in degrees for R and t: 34.061247558941695 5.0745603960320125 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999984e-01 -1.80906462e-04 4.16685024e-07] [ 1.80906462e-04 9.99999984e-01 -2.12881718e-07] [-4.16646505e-07 2.12957095e-07 1.00000000e+00]] t_estimated: [[8.55209148e-01] [5.18282531e-01] [7.29480256e-04]] R_gt: [[ 0.96123351 -0.27568547 -0.00528773] [ 0.27573297 0.96113412 0.01387648] [ 0.00125633 -0.01479555 0.99989001]] t_gt: [ 0.61262743 -0.78960205 0.03487463] Pose Error in degrees for R and t: 16.01724785941399 83.4129243181783 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 4.18491252e-01 -9.08218496e-01 -2.05812842e-03] [-9.08215994e-01 -4.18495344e-01 2.31407396e-03] [-2.96300193e-03 9.00805444e-04 -9.99995205e-01]] t_estimated: [[0.70540315] [0.70880541] [0.00113409]] R_gt: [[ 0.98418886 -0.17517858 0.02614354] [ 0.17464422 0.98439666 0.02151878] [-0.02950556 -0.01661253 0.99942669]] t_gt: [ 0.56383259 -0.79507062 0.22350731] Pose Error in degrees for R and t: 178.1510266407427 80.46979086963098 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999909e-01 -1.75188223e-04 -3.89225461e-04] [ 1.75412916e-04 9.99999818e-01 5.77324042e-04] [ 3.89124250e-04 -5.77392265e-04 9.99999758e-01]] t_estimated: [[0.96629732] [0.25742319] [0.00166979]] R_gt: [[ 0.96661425 -0.25622191 0.00272065] [ 0.2559356 0.96593785 0.03823581] [-0.01242506 -0.03626276 0.99926477]] t_gt: [ 0.59554076 -0.79183886 0.13536035] Pose Error in degrees for R and t: 14.989856574078217 68.16976317977979 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.63309596 -0.7735463 -0.02855917] [ 0.77405273 0.63291717 0.01606917] [ 0.00564534 -0.03227963 0.99946293]] t_estimated: [[0.5652698 ] [0.82489954] [0.00328645]] R_gt: [[ 0.88754084 -0.45752014 0.05428232] [ 0.45659243 0.88919926 0.02913937] [-0.06160008 -0.00107745 0.99810102]] t_gt: [ 0.6812973 -0.72125777 0.12498487] Pose Error in degrees for R and t: 23.921931655047953 77.91060076828651 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.22764827 0.79071109 0.56828887] [ 0.97242535 -0.15425173 -0.17491526] [-0.0506479 0.59243766 -0.80402264]] t_estimated: [[0.65315694] [0.7572221 ] [0.00084606]] R_gt: [[ 0.9928322 0.11943053 -0.00464707] [-0.11951484 0.99165576 -0.04832861] [-0.00116376 0.04853803 0.99882052]] t_gt: [-0.38166967 0.90095756 -0.20640674] Pose Error in degrees for R and t: 149.1586005560364 64.35714588929049 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 5.33371363e-01 -8.45881092e-01 4.08258917e-04] [-8.45881141e-01 -5.33371105e-01 5.99069373e-04] [-2.88987946e-04 -6.64864967e-04 -9.99999737e-01]] t_estimated: [[0.50563776] [0.86274443] [0.00158012]] R_gt: [[ 0.96908471 0.24546479 -0.02495254] [-0.24671366 0.96519977 -0.08672245] [ 0.00279663 0.09019838 0.99591987]] t_gt: [-0.30063903 0.93338059 -0.19600217] Pose Error in degrees for R and t: 175.1754264541875 49.23600673005874 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99316606e-01 -3.69519136e-02 9.36071507e-04] [ 3.69530448e-02 9.99316256e-01 -1.22148121e-03] [-8.90295406e-04 1.25523715e-03 9.99998816e-01]] t_estimated: [[-9.77924143e-01] [-2.08958150e-01] [-9.28702890e-04]] R_gt: [[ 0.93597836 0.35037594 -0.03437635] [-0.35185995 0.92770764 -0.12471213] [-0.01180494 0.1288243 0.99159698]] t_gt: [-0.26453384 0.95209879 -0.15339409] Pose Error in degrees for R and t: 23.911102665281398 86.56663387185509 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.93322354e-01 1.15371930e-01 1.39951628e-04] [-1.15371914e-01 9.93322359e-01 -1.15008307e-04] [-1.52285812e-04 9.80938354e-05 9.99999984e-01]] t_estimated: [[0.75942565] [0.65059353] [0.00085739]] R_gt: [[ 0.98883047 -0.14811973 -0.01654243] [ 0.14748338 0.98845664 -0.03467355] [ 0.02148768 0.03184673 0.99926169]] t_gt: [ 0.74787092 -0.632901 -0.20031331] Pose Error in degrees for R and t: 15.28614616124606 81.02408190995978 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.68619132 0.72738147 -0.00759339] [ 0.72739663 0.68621648 0.00104044] [ 0.00596751 -0.00480946 -0.99997063]] t_estimated: [[0.98366127] [0.18001644] [0.00214305]] R_gt: [[ 0.96271971 -0.26889954 0.02938175] [ 0.26974937 0.96245328 -0.03030065] [-0.0201306 0.03709799 0.99910855]] t_gt: [ 0.77103645 -0.63657577 -0.01655543] Pose Error in degrees for R and t: 178.34802433617875 49.9235552654516 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.79692728e-01 2.00504424e-01 3.67942953e-04] [-2.00504353e-01 9.79692786e-01 -2.22426181e-04] [-4.05068490e-04 1.44135148e-04 9.99999908e-01]] t_estimated: [[7.32742330e-01] [6.80505816e-01] [7.15568682e-04]] R_gt: [[ 0.91210738 -0.40986795 -0.00826137] [ 0.40956706 0.91194069 -0.02487076] [ 0.01772793 0.01930271 0.99965634]] t_gt: [ 0.82453096 -0.56278241 -0.05852058] Pose Error in degrees for R and t: 35.78858397838304 77.22340402878008 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.80372329e-01 -1.97154955e-01 -1.39843708e-04] [ 1.97154994e-01 9.80372259e-01 3.75973162e-04] [ 6.29739197e-05 -3.96164570e-04 9.99999920e-01]] t_estimated: [[ 0.99700167] [-0.0773682 ] [ 0.00134957]] R_gt: [[ 0.98356652 -0.17676411 -0.03676867] [ 0.17564357 0.98394185 -0.03175208] [ 0.0417913 0.02477222 0.99881916]] t_gt: [ 0.6403114 -0.69911062 -0.31819123] Pose Error in degrees for R and t: 3.0458208568146716 46.20731306575386 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 4.32675270e-01 9.01549379e-01 9.09796133e-04] [-9.01547695e-01 4.32676222e-01 -1.74353681e-03] [-1.96553168e-03 -6.58393475e-05 9.99998066e-01]] t_estimated: [[-0.11292019] [ 0.99360302] [ 0.00143893]] R_gt: [[ 0.95142863 -0.3073835 0.01727954] [ 0.30779933 0.95090529 -0.03225502] [-0.00651605 0.03600642 0.99933084]] t_gt: [ 0.58310877 -0.80901705 -0.07399713] Pose Error in degrees for R and t: 82.3024427963624 29.565405110223114 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999934e-01 2.63626570e-04 2.50431976e-04] [-2.63547163e-04 9.99999915e-01 -3.17057706e-04] [-2.50515540e-04 3.16991684e-04 9.99999918e-01]] t_estimated: [[9.99956485e-01] [9.29111971e-03] [8.38178945e-04]] R_gt: [[ 0.92213738 -0.38640318 0.01887748] [ 0.38667956 0.92210475 -0.01422514] [-0.01190962 0.02041698 0.99972083]] t_gt: [ 0.54791187 -0.83651203 0.00634136] Pose Error in degrees for R and t: 22.796203445439417 57.308109829873864 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.98172324e-01 6.04318391e-02 -7.05933859e-05] [-6.04318419e-02 9.98172325e-01 -3.86901112e-05] [ 6.81262496e-05 4.28854865e-05 9.99999997e-01]] t_estimated: [[-9.88090130e-01] [-1.53873437e-01] [-9.27066414e-04]] R_gt: [[ 0.99369091 0.10295136 -0.04449133] [-0.10209352 0.99455033 0.02114264] [ 0.04642512 -0.01646751 0.99878647]] t_gt: [-0.67250283 0.70307183 -0.23114917] Pose Error in degrees for R and t: 3.7183203262148625 56.184277549376155 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999847e-01 -2.85330279e-04 -4.72974685e-04] [ 2.85698637e-04 9.99999656e-01 7.78925182e-04] [ 4.72752272e-04 -7.79060191e-04 9.99999585e-01]] t_estimated: [[0.38370915] [0.92345348] [0.00098135]] R_gt: [[ 0.97038967 0.23884622 -0.03601535] [-0.23725742 0.97047647 0.04340613] [ 0.04531851 -0.03357658 0.99840777]] t_gt: [-0.65636292 0.75283942 -0.04919879] Pose Error in degrees for R and t: 14.159677152821152 63.684643912069646 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 8.77341570e-01 -4.79866370e-01 1.89035853e-04] [ 4.79866407e-01 8.77341487e-01 -3.83553635e-04] [ 1.82054946e-05 4.27219504e-04 9.99999909e-01]] t_estimated: [[-0.70606424] [-0.70814702] [-0.00104139]] R_gt: [[ 0.91418356 0.40241064 -0.04830823] [-0.40151622 0.91544196 0.02741407] [ 0.05525383 -0.00566586 0.99845579]] t_gt: [-0.56885346 0.81638881 -0.09957438] Pose Error in degrees for R and t: 52.48769450901353 79.84145933226695 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.92757327e-01 -1.20136848e-01 -1.68649703e-04] [ 1.20136854e-01 9.92757340e-01 2.94997568e-05] [ 1.63884223e-04 -4.95471445e-05 9.99999985e-01]] t_estimated: [[-0.61643259] [-0.78740714] [-0.00092419]] R_gt: [[ 0.99227291 0.12368781 -0.009753 ] [-0.12373181 0.99230784 -0.00400642] [ 0.00918158 0.00518282 0.99994459]] t_gt: [-0.62457516 0.77506181 -0.0958387 ] Pose Error in degrees for R and t: 14.019079897493418 76.98582211661852 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-0.96700489 0.25438608 -0.01375764] [ 0.25438875 0.96710074 0.00158494] [ 0.01370821 -0.00196715 -0.9999041 ]] t_estimated: [[ 0.98893228] [-0.14823439] [-0.00628572]] R_gt: [[ 0.97496602 0.22009633 -0.03160062] [-0.21994237 0.97547836 0.00832873] [ 0.03265714 -0.00117012 0.99946578]] t_gt: [-0.59887672 0.7900506 -0.13102185] Pose Error in degrees for R and t: 177.33966335917205 44.88394335648657 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99984989e-01 -5.43691374e-03 -6.78915183e-04] [ 5.43767790e-03 9.99984579e-01 1.12884141e-03] [ 6.72767300e-04 -1.13251619e-03 9.99999132e-01]] t_estimated: [[-0.67740648] [-0.73560846] [-0.00080836]] R_gt: [[ 0.94169672 0.33302771 -0.04795787] [-0.33125431 0.94263681 0.04133098] [ 0.05897036 -0.02303518 0.99799403]] t_gt: [-0.5851205 0.80496312 -0.09832795] Pose Error in degrees for R and t: 20.04636256717374 78.71474464409725 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.08267553 -0.99657142 0.00318685] [-0.99657579 0.08267118 -0.00147163] [ 0.00120312 -0.0032976 -0.99999384]] t_estimated: [[0.72229 ] [0.69158835] [0.00164819]] R_gt: [[ 0.99677263 -0.06656005 0.04489424] [ 0.06856961 0.9966393 -0.04481387] [-0.04175986 0.04774722 0.9979864 ]] t_gt: [ 0.80952763 -0.58323336 -0.06711083] Pose Error in degrees for R and t: 179.90497914814526 79.55767309766345 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-0.4432041 0.89641457 -0.00332404] [-0.89641278 -0.44321274 -0.0025688 ] [-0.00377597 0.00184121 0.99999118]] t_estimated: [[-0.05658713] [ 0.99839702] [ 0.00113287]] R_gt: [[ 0.99317396 -0.06210602 0.09873804] [ 0.07394886 0.98987144 -0.12118652] [-0.09021018 0.1276611 0.98770659]] t_gt: [ 0.74797862 -0.41184656 -0.52049053] Pose Error in degrees for R and t: 120.41792642577374 62.99283036018161 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 3.11302983e-01 9.50285592e-01 6.90987077e-03] [ 9.50308914e-01 -3.11308314e-01 -3.17611157e-04] [ 1.84927891e-03 6.66538509e-03 -9.99976076e-01]] t_estimated: [[0.99522761] [0.09756972] [0.00146606]] R_gt: [[ 0.98952146 -0.00935222 0.1440841 ] [ 0.03846774 0.97890759 -0.20064948] [-0.1391679 0.20409002 0.96900981]] t_gt: [-0.17114638 0.40268945 -0.89919415] Pose Error in degrees for R and t: 165.44987417827681 82.39415101349677 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-8.34419488e-01 -5.51122486e-01 -2.85032803e-03] [ 5.51129757e-01 -8.34405065e-01 -4.91726826e-03] [ 3.31688962e-04 -5.67396506e-03 9.99983848e-01]] t_estimated: [[0.98829541] [0.15254835] [0.00108963]] R_gt: [[ 0.99074216 -0.13514822 0.01279756] [ 0.13525438 0.99077953 -0.0078653 ] [-0.01161663 0.00952359 0.99988777]] t_gt: [ 0.72561584 -0.68767 0.02432351] Pose Error in degrees for R and t: 138.78844720824097 52.24789163671595 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-4.62903587e-01 -8.86407124e-01 -1.63705842e-03] [ 8.86407929e-01 -4.62904761e-01 4.07505607e-04] [-1.11901801e-03 -1.26246575e-03 9.99998577e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.64108393e-01 -2.64878473e-01 1.83000372e-02] [ 2.64927397e-01 9.64268056e-01 -2.63586002e-04] [-1.75756558e-02 5.10235935e-03 9.99832875e-01]] t_gt: [ 0.7692429 -0.63822997 0.03046095] Pose Error in degrees for R and t: 102.21657203587738 39.88942029765113 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.93658328e-01 1.12440057e-01 -6.01143039e-04] [-1.12439212e-01 9.93657767e-01 1.29064472e-03] [ 7.42450615e-04 -1.21486782e-03 9.99998986e-01]] t_estimated: [[9.92537083e-01] [1.21940648e-01] [7.85975177e-04]] R_gt: [[ 0.89001454 -0.4544397 -0.03685749] [ 0.45439815 0.89074285 -0.00997888] [ 0.03736445 -0.00786751 0.9992712 ]] t_gt: [ 0.837832 -0.54338254 -0.0526589 ] Pose Error in degrees for R and t: 33.56121671217129 40.06831205536726 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.36861931 -0.92952129 0.01048697] [-0.92952503 -0.36845069 0.01507673] [-0.01015021 -0.01530548 -0.99983134]] t_estimated: [[0.53118318] [0.84719686] [0.0100952 ]] R_gt: [[ 9.97192522e-01 -7.48707514e-02 9.71353238e-04] [ 7.47593739e-02 9.94819720e-01 -6.88771334e-02] [ 4.18958269e-03 6.87564976e-02 9.97624399e-01]] t_gt: [ 0.70087171 -0.57551837 -0.42137567] Pose Error in degrees for R and t: 177.73223087505127 83.13444619204259 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.60752807 0.79429011 -0.00358746] [ 0.79424055 0.60753219 0.00930458] [ 0.00957003 0.00280349 -0.99995028]] t_estimated: [[ 0.12723528] [-0.99183035] [-0.00915126]] R_gt: [[ 0.99176423 -0.12583099 -0.02386194] [ 0.11965866 0.97680001 -0.17760319] [ 0.04565591 0.17328577 0.98381293]] t_gt: [ 0.63383648 -0.34817221 -0.69067172] Pose Error in degrees for R and t: 177.7108078214121 64.386727808605 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.9996259 -0.02487529 -0.01137025] [ 0.02494183 0.99967238 0.005748 ] [ 0.01122354 -0.00602945 0.99991884]] t_estimated: [[-0.99537121] [-0.09479726] [-0.01579954]] R_gt: [[ 0.98907457 -0.13569172 -0.05761042] [ 0.11732868 0.96120701 -0.24963033] [ 0.08924783 0.24014462 0.96662612]] t_gt: [ 0.56075624 -0.15294485 -0.81373234] Pose Error in degrees for R and t: 16.134913075148244 57.940120323196766 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99999989e-01 -2.30247043e-05 1.46907360e-04] [ 2.30572267e-05 9.99999975e-01 -2.21382160e-04] [-1.46902259e-04 2.21385545e-04 9.99999965e-01]] t_estimated: [[0.74728339] [0.66450505] [0.00075943]] R_gt: [[ 0.9881418 -0.15315258 -0.01092456] [ 0.15333184 0.98800809 0.01813604] [ 0.00801601 -0.01959572 0.9997756 ]] t_gt: [ 0.56500577 -0.82484822 0.01984653] Pose Error in degrees for R and t: 8.89970015843677 82.76834711070137 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.43195038e-01 -3.32238843e-01 -6.86576249e-04] [-3.32238998e-01 -9.43195225e-01 -1.22563798e-04] [-6.06854985e-04 3.43708971e-04 -9.99999757e-01]] t_estimated: [[0.42604519] [0.90470129] [0.00103159]] R_gt: [[ 9.44184966e-01 -3.28091644e-01 2.94913576e-02] [ 3.27936181e-01 9.44645074e-01 1.00800810e-02] [-3.11671695e-02 1.53499450e-04 9.99513213e-01]] t_gt: [ 0.62533339 -0.77553695 0.08660595] Pose Error in degrees for R and t: 179.42143721449693 64.20709169758196 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.91305231 0.10321959 -0.39456458] [-0.13089935 -0.99042714 0.04381151] [-0.38626526 0.09165045 0.91782316]] t_estimated: [[0.702556 ] [0.71162774] [0.00100797]] R_gt: [[ 0.85771319 -0.51407965 0.0071312 ] [ 0.51391802 0.85767601 0.01671164] [-0.0147082 -0.0106691 0.99983401]] t_gt: [ 0.72183083 -0.69107992 0.03699716] Pose Error in degrees for R and t: 156.39420946741168 89.11920158298975 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999651e-01 5.77451576e-04 6.03672886e-04] [-5.76963323e-04 9.99999507e-01 -8.08666621e-04] [-6.04139554e-04 8.08318041e-04 9.99999491e-01]] t_estimated: [[0.04372911] [0.99904201] [0.00168189]] R_gt: [[ 0.98836739 0.15207294 0.00137788] [-0.15199518 0.98747795 0.04223082] [ 0.0050616 -0.04194832 0.99910709]] t_gt: [-0.43836714 0.89268294 0.10464902] Pose Error in degrees for R and t: 9.058478333062386 29.21030006206781 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 2.08364427e-01 9.78050933e-01 7.98681965e-04] [ 9.78048251e-01 -2.08365742e-01 2.31019774e-03] [ 2.42590902e-03 2.99786469e-04 -9.99997013e-01]] t_estimated: [[7.83508887e-01] [6.21380208e-01] [6.78362673e-04]] R_gt: [[ 0.96632435 0.25731312 -0.00262426] [-0.2571684 0.96603885 0.02514934] [ 0.00900622 -0.02362732 0.9996808 ]] t_gt: [-0.37851333 0.9255944 0.00163362] Pose Error in degrees for R and t: 178.60424627539223 73.8246111983086 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-1.18088272e-02 9.99929874e-01 8.93421814e-04] [-9.99929578e-01 -1.18077609e-02 -1.18958156e-03] [-1.17894883e-03 -9.07406461e-04 9.99998893e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.92492089 0.38001508 -0.0104724 ] [-0.38013079 0.92483827 -0.01317362] [ 0.00467916 0.01616545 0.99985837]] t_gt: [-0.29139966 0.955562 -0.04458142] Pose Error in degrees for R and t: 68.34316481849147 17.507204477903713 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.84535965e-01 1.75181999e-01 4.48712947e-04] [-1.75181942e-01 9.84536064e-01 -1.63306654e-04] [-4.70382464e-04 8.21748687e-05 9.99999886e-01]] t_estimated: [[0.83917901] [0.5438531 ] [0.00154644]] R_gt: [[ 0.99357106 -0.1027212 -0.04759026] [ 0.10193582 0.99461695 -0.01866725] [ 0.04925252 0.01369654 0.99869212]] t_gt: [ 0.54596644 -0.7266185 -0.41706858] Pose Error in degrees for R and t: 16.235413381685376 86.42558262286644 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.98089812 -0.19420714 0.0110666 ] [-0.19423683 -0.98095325 0.00166464] [ 0.01053253 -0.00378238 -0.99993738]] t_estimated: [[0.57989104] [0.81469355] [0.0008894 ]] R_gt: [[ 0.9664497 -0.25580315 -0.02323483] [ 0.25641803 0.96612638 0.02916655] [ 0.01498824 -0.03414636 0.99930418]] t_gt: [ 0.64837439 -0.7597654 0.04865374] Pose Error in degrees for R and t: 178.21207025380104 75.93950689685916 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 6.41720138e-01 7.66937839e-01 1.27105208e-03] [-7.66935853e-01 6.41721380e-01 -1.75142842e-03] [-2.15889802e-03 1.49111472e-04 9.99997658e-01]] t_estimated: [[0.71666044] [0.69742123] [0.00120245]] R_gt: [[ 0.88363899 -0.46726674 -0.02905056] [ 0.4681566 0.88236889 0.0475006 ] [ 0.00343805 -0.05557399 0.99844872]] t_gt: [ 0.77522482 -0.62697345 0.07701154] Pose Error in degrees for R and t: 78.04801421299021 83.20017319352503 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.67419596e-01 -2.53178136e-01 -3.95893606e-04] [ 2.53178235e-01 9.67419625e-01 2.23429500e-04] [ 3.26427780e-04 -3.16381721e-04 9.99999897e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99772214 -0.06598415 0.01400075] [ 0.06629473 0.99753408 -0.0230477 ] [-0.01244546 0.02392355 0.99963641]] t_gt: [ 0.90323437 -0.04728182 -0.42653499] Pose Error in degrees for R and t: 10.985014901305584 25.472601018283942 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.9999872 0.00385282 0.00327887] [-0.00384548 0.99999009 -0.00224329] [-0.00328748 0.00223066 0.99999211]] t_estimated: [[0.98783383] [0.15550607] [0.00148101]] R_gt: [[ 0.98839134 -0.10166886 0.1129004 ] [ 0.1177258 0.98223788 -0.1461146 ] [-0.09603986 0.15770917 0.98280448]] t_gt: [ 0.50419331 0.33672937 -0.79523734] Pose Error in degrees for R and t: 12.322374077854672 56.68477340565215 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.22478165 -0.97440779 -0.00163312] [ 0.97440811 -0.22477864 -0.00184171] [ 0.00142749 -0.00200531 0.99999697]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.9728525 -0.12994778 0.19149431] [ 0.17003384 0.96268119 -0.21055528] [-0.15698601 0.2374002 0.95864265]] t_gt: [ 0.47181757 0.2560564 -0.84369621] Pose Error in degrees for R and t: 95.30026664509118 59.59469606334201 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-5.50668507e-01 8.34721150e-01 2.19037986e-03] [-8.34723869e-01 -5.50664914e-01 -2.05294051e-03] [-5.07467524e-04 -2.95885204e-03 9.99995494e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97422035 0.22144732 -0.04305926] [-0.22220824 0.97490322 -0.01369387] [ 0.03894564 0.02290801 0.99897871]] t_gt: [-0.30632023 0.93350202 -0.18639178] Pose Error in degrees for R and t: 110.61482627668589 71.79043384933874 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.0958402 0.99528848 -0.01467955] [ 0.99527811 -0.09559068 0.01684967] [ 0.01536705 -0.01622511 -0.99975027]] t_estimated: [[-0.73908621] [-0.67361012] [-0.00099206]] R_gt: [[ 0.93045726 0.36404689 -0.04144629] [-0.36299841 0.93128124 0.03077903] [ 0.04980347 -0.01359398 0.99866631]] t_gt: [-0.26969176 0.95842383 -0.09322078] Pose Error in degrees for R and t: 175.98982249350604 63.50075351050154 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.00680486 0.99996461 0.00494795] [-0.9999754 0.00679635 0.00173419] [ 0.0017005 -0.00495963 0.99998626]] t_estimated: [[0.70316173] [0.71102927] [0.00098344]] R_gt: [[ 0.88239828 0.46809732 -0.04751018] [-0.46690769 0.88363925 0.03433457] [ 0.05805295 -0.00811403 0.9982809 ]] t_gt: [-0.222177 0.9701473 -0.0972193] Pose Error in degrees for R and t: 61.796224416975555 57.759034197712765 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.78396041 -0.62068523 0.01248721] [-0.6207948 0.78392611 -0.00858383] [-0.00446119 -0.01448138 -0.99988519]] t_estimated: [[0.96715481] [0.25400025] [0.00976924]] R_gt: [[ 9.83170995e-01 -1.82686492e-01 4.39023164e-04] [ 1.82685826e-01 9.83171331e-01 3.71361770e-04] [-4.98891720e-04 -2.84472405e-04 1.00000011e+00]] t_gt: [ 0.80328636 -0.59559237 0.0008675 ] Pose Error in degrees for R and t: 179.51968578397285 51.271547609148435 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.86117520e-01 -1.66046816e-01 8.32137926e-04] [ 1.66047550e-01 9.86117330e-01 -9.07182602e-04] [-6.69950847e-04 1.03276312e-03 9.99999242e-01]] t_estimated: [[9.65090645e-01] [2.61916027e-01] [2.03598594e-04]] R_gt: [[ 0.95487184 -0.29669908 0.01377245] [ 0.2970158 0.95403139 -0.0400936 ] [-0.00124396 0.04237579 0.99910071]] t_gt: [ 0.86050658 -0.50000648 -0.09758046] Pose Error in degrees for R and t: 8.073017594229206 45.614117656856465 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.89068785 -0.45460925 0.00236192] [-0.45460213 0.89068953 0.00301014] [-0.00347218 0.00160736 -0.99999268]] t_estimated: [[0.99563795] [0.09328157] [0.00190371]] R_gt: [[ 0.92495007 -0.37855092 0.03416194] [ 0.38008306 0.92168581 -0.07767378] [-0.00208267 0.08482971 0.99639374]] t_gt: [ 0.88036325 -0.45062447 -0.14798017] Pose Error in degrees for R and t: 179.88105850708413 33.466706924941796 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.53139982e-01 3.02529546e-01 2.22328052e-04] [-3.02529571e-01 9.53139995e-01 8.94919068e-05] [-1.84835813e-04 -1.52559125e-04 9.99999971e-01]] t_estimated: [[7.54408290e-01] [6.56405099e-01] [6.91169147e-04]] R_gt: [[ 9.77991523e-01 -2.08642150e-01 2.49869158e-04] [ 2.08630825e-01 9.77950162e-01 9.33019706e-03] [-2.19266079e-03 -9.07276924e-03 9.99956437e-01]] t_gt: [ 0.74924234 -0.66091106 0.04280751] Pose Error in degrees for R and t: 29.656901660759043 82.44725534850772 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 3.36441414e-01 9.41703926e-01 9.43474817e-04] [ 9.41701138e-01 -3.36442717e-01 2.29468978e-03] [ 2.47834361e-03 1.16442635e-04 -9.99996922e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9201992 -0.39083014 0.02202624] [ 0.39047271 0.92042115 0.01885653] [-0.02764374 -0.00875133 0.99957913]] t_gt: [ 0.79991126 -0.59535376 0.07547104] Pose Error in degrees for R and t: 179.8729031775607 37.0490865047856 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.97356085e-01 7.26287609e-02 2.42953595e-03] [ 7.26310741e-02 -9.97358490e-01 -8.77726678e-04] [ 2.35937011e-03 1.05186585e-03 -9.99996663e-01]] t_estimated: [[0.0149237 ] [0.99988798] [0.00114798]] R_gt: [[ 0.8601408 -0.50552549 0.06783908] [ 0.50620597 0.86237582 0.00802336] [-0.06255946 0.02743917 0.99766332]] t_gt: [ 0.82485808 -0.5602094 0.07599062] Pose Error in degrees for R and t: 179.19284332779407 56.78724591424964 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999887e-01 -4.63152210e-04 1.06321107e-04] [ 4.63180156e-04 9.99999858e-01 -2.62971579e-04] [-1.06199296e-04 2.63020796e-04 9.99999960e-01]] t_estimated: [[0.99993375] [0.01140056] [0.00159069]] R_gt: [[ 9.93067323e-01 -1.17484915e-01 -3.81344944e-03] [ 1.17543040e-01 9.92748141e-01 2.51992410e-02] [ 8.25604244e-04 -2.54725325e-02 9.99676144e-01]] t_gt: [ 0.28438229 -0.95375416 0.09736379] Pose Error in degrees for R and t: 6.882888704590665 74.11871878491185 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.15485099 0.77753763 0.60947223] [ 0.72482135 0.32978141 -0.60487869] [-0.67130856 0.53542455 -0.5125089 ]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.96575235 -0.2588224 -0.01825399] [ 0.25817845 0.96558006 -0.03161299] [ 0.02580844 0.02581768 0.99933426]] t_gt: [ 0.47101864 -0.84278416 -0.26049243] Pose Error in degrees for R and t: 121.7964350270773 78.63995175270789 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.995804 0.05154678 -0.07561299] [-0.05095125 0.9986532 0.00978528] [ 0.07601556 -0.00589164 0.99708923]] t_estimated: [[-0.74926865] [-0.65561007] [-0.09365858]] R_gt: [[ 9.50620545e-01 -3.06857918e-01 4.64740606e-02] [ 3.07160210e-01 9.51657614e-01 6.33654180e-04] [-4.44216860e-02 1.36726177e-02 9.98919700e-01]] t_gt: [ 0.27142775 -0.96084012 0.05579633] Pose Error in degrees for R and t: 21.98323422405485 65.08088797156113 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.92563668e-01 -1.21726587e-01 -5.19826178e-05] [ 1.21726572e-01 9.92563645e-01 -2.28766779e-04] [ 7.94430558e-05 2.20737927e-04 9.99999972e-01]] t_estimated: [[-0.07061301] [-0.99750242] [-0.00165286]] R_gt: [[ 0.98856976 -0.13974255 0.0565852 ] [ 0.14028087 0.99009597 -0.00562371] [-0.05523921 0.0134978 0.99838181]] t_gt: [ 0.24453688 -0.92266445 0.29814766] Pose Error in degrees for R and t: 3.4302740948304558 25.49807677148281 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.97969385e-01 -6.36953142e-02 -1.20147329e-04] [ 6.36953092e-02 9.97969391e-01 -4.44194546e-05] [ 1.22732668e-04 3.66764344e-05 9.99999992e-01]] t_estimated: [[-0.50676459] [-0.86208229] [-0.00194163]] R_gt: [[ 0.97279633 -0.22438394 0.05760207] [ 0.22301926 0.97437669 0.02920519] [-0.06267924 -0.01556338 0.99791275]] t_gt: [ 0.23185635 -0.91648705 0.32602778] Pose Error in degrees for R and t: 10.000443857747856 47.781662848364036 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.90442750e-01 1.37924212e-01 2.67193758e-04] [-1.37924051e-01 9.90442656e-01 -5.48668129e-04] [-3.40314715e-04 5.06571924e-04 9.99999814e-01]] t_estimated: [[-0.74945654] [-0.66205094] [-0.00185969]] R_gt: [[ 0.92763267 -0.36955175 0.05411593] [ 0.37056764 0.92875372 -0.0097683 ] [-0.04665045 0.02911441 0.99848656]] t_gt: [ 0.45004392 -0.8925349 0.02901581] Pose Error in degrees for R and t: 29.82478149360912 75.31165109950719 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.99846138 -0.05513668 0.00589996] [-0.05515848 0.99847113 -0.00359881] [-0.00569251 -0.0039187 -0.99997612]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.99305827 -0.11651716 0.01609494] [ 0.11724788 0.99150283 -0.05633969] [-0.00939359 0.05783604 0.99828188]] t_gt: [ 0.83015789 -0.4741998 -0.29321053] Pose Error in degrees for R and t: 179.04078947046577 36.49240342529818 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.95706191e-01 -9.25684099e-02 -5.21140828e-04] [ 9.25693443e-02 9.95703780e-01 2.21337252e-03] [ 3.14013517e-04 -2.25211038e-03 9.99997415e-01]] t_estimated: [[0.67177365] [0.74075041] [0.00299899]] R_gt: [[ 0.98022186 -0.19083592 0.05240304] [ 0.19484071 0.97700011 -0.08664834] [-0.03466214 0.09514506 0.99485908]] t_gt: [ 0.84402517 -0.48804548 -0.22233559] Pose Error in degrees for R and t: 8.324176269501432 78.18178709234228 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.99622272e-01 -2.74828773e-02 -6.20072060e-05] [ 2.74829225e-02 9.99621855e-01 9.14554388e-04] [ 3.68491723e-05 -9.15913075e-04 9.99999580e-01]] t_estimated: [[0.47977653] [0.8773895 ] [0.00146721]] R_gt: [[ 0.97213161 -0.20086205 0.12088733] [ 0.21827175 0.96364372 -0.1541075 ] [-0.08553767 0.17619997 0.98063034]] t_gt: [ 0.83612351 -0.43758629 -0.33078047] Pose Error in degrees for R and t: 15.540812893672543 89.04119653889164 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99912770e-01 1.32080680e-02 3.26257632e-06] [-1.32080681e-02 9.99912768e-01 5.11559887e-05] [-2.58661994e-06 -5.11946187e-05 9.99999999e-01]] t_estimated: [[7.65191987e-01] [6.43801756e-01] [7.22560894e-04]] R_gt: [[ 0.99962418 -0.01807422 -0.02061637] [ 0.01829142 0.99977835 0.01038178] [ 0.02042471 -0.01075628 0.99973284]] t_gt: [0.98050976 0.17375007 0.09171431] Pose Error in degrees for R and t: 2.2327610603385 30.43492123509498 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-8.76931120e-01 -4.80611785e-01 -2.03069400e-03] [ 4.80615512e-01 -8.76928733e-01 -2.17414639e-03] [-7.35853539e-04 -2.88255966e-03 9.99995575e-01]] t_estimated: [[0.89684074] [0.44235152] [0.00134863]] R_gt: [[ 0.99449441 -0.09093375 0.05207012] [ 0.09458729 0.99286451 -0.07262197] [-0.04509434 0.07714674 0.99599933]] t_gt: [ 0.80444207 0.23104978 -0.54725585] Pose Error in degrees for R and t: 145.98348359938794 34.621463547665996 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-5.37740323e-01 8.43106578e-01 -2.57750330e-03] [ 8.43090723e-01 5.37746134e-01 5.20842826e-03] [ 5.77730256e-03 6.27712769e-04 -9.99983114e-01]] t_estimated: [[9.07297251e-01] [4.20489239e-01] [7.05518858e-04]] R_gt: [[ 0.98812965 -0.08978393 0.12465399] [ 0.11077229 0.97863551 -0.17321181] [-0.10643859 0.18496322 0.97696335]] t_gt: [ 0.40580216 0.49094484 -0.77090711] Pose Error in degrees for R and t: 169.43188977581372 54.96502811060295 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99702775e-01 2.43793132e-02 1.04313903e-04] [-2.43793101e-02 9.99702780e-01 -3.09698294e-05] [-1.05037922e-04 2.84175234e-05 9.99999994e-01]] t_estimated: [[-0.09456986] [ 0.99551716] [ 0.00145672]] R_gt: [[ 0.98150781 -0.18220436 -0.05868378] [ 0.18310968 0.98303646 0.0103985 ] [ 0.0557936 -0.02095232 0.99822221]] t_gt: [ 0.60458923 -0.77731175 -0.17394916] Pose Error in degrees for R and t: 12.410800867923006 33.77197238677644 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.02493096 0.99968416 -0.00316809] [ 0.99959062 -0.02488388 0.0141201 ] [ 0.01403681 -0.00351882 -0.99989529]] t_estimated: [[-0.99992003] [-0.01256883] [-0.00139654]] R_gt: [[ 0.94134059 -0.33530732 -0.03804516] [ 0.33584912 0.9418748 0.00869972] [ 0.03291697 -0.02096626 0.99923744]] t_gt: [ 0.65316555 -0.75580647 -0.04616643] Pose Error in degrees for R and t: 177.31991158105635 49.94300988626719 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.98643495 0.16412489 0.00301936] [ 0.16413167 0.98643609 0.00215308] [-0.00262503 0.00261944 -0.99999312]] t_estimated: [[0.99987114] [0.01599794] [0.00133316]] R_gt: [[ 0.87392513 -0.48261102 -0.05781077] [ 0.48235607 0.87576405 -0.01921519] [ 0.05990234 -0.01109301 0.99814244]] t_gt: [ 0.7177324 -0.69128513 -0.08357671] Pose Error in degrees for R and t: 176.73893317994762 45.051626572438714 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.49481641e-01 3.13822557e-01 1.27811357e-04] [-3.13822493e-01 9.49481599e-01 -3.68731117e-04] [-2.37070673e-04 3.09993347e-04 9.99999924e-01]] t_estimated: [[-5.1757783e-01] [ 8.5563613e-01] [ 5.0169386e-05]] R_gt: [[ 0.99717367 0.06264464 0.04147937] [-0.06179736 0.9978585 -0.02140566] [-0.04273206 0.01878198 0.99890999]] t_gt: [-0.75955812 0.60912332 0.2281233 ] Pose Error in degrees for R and t: 14.9571617820397 23.88927005563923 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.58912155 -0.80791015 -0.01473057] [-0.80794068 -0.58924014 0.00528323] [-0.01294822 0.00878897 -0.99987754]] t_estimated: [[0.08826003] [0.99607752] [0.00630429]] R_gt: [[ 0.97621307 0.21546657 0.02415246] [-0.21561647 0.97647023 0.00376999] [-0.02277113 -0.00888767 0.99970104]] t_gt: [-0.71340405 0.69410175 0.09631939] Pose Error in degrees for R and t: 179.2692937311197 51.02204667989831 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.95830289 0.28574729 -0.00201337] [ 0.28574298 0.95830381 0.00218212] [ 0.00255296 0.00151583 -0.99999559]] t_estimated: [[ 0.9339818 ] [-0.35731832] [-0.00127066]] R_gt: [[ 0.95442674 0.29595262 -0.03847977] [-0.29261865 0.95333667 0.07432042] [ 0.05867969 -0.0596735 0.99649186]] t_gt: [-0.72483989 0.6888749 -0.00764937] Pose Error in degrees for R and t: 176.50407773315104 22.612677159378745 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.99978455 0.02063151 0.00227738] [-0.02062498 0.9997832 -0.00285719] [-0.00233583 0.0028096 0.99999332]] t_estimated: [[-0.98653206] [-0.16356475] [-0.00102871]] R_gt: [[ 0.99823107 0.05909303 -0.00657957] [-0.05921639 0.99803284 -0.02060224] [ 0.00534865 0.02095602 0.9997657 ]] t_gt: [-0.26169706 0.91316171 -0.31249054] Pose Error in degrees for R and t: 2.4829772854967556 83.73466479977374 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.98244859 0.18652068 -0.00219151] [ 0.18651231 0.9824462 0.00355251] [ 0.00281566 0.00308142 -0.99999129]] t_estimated: [[8.25580832e-01] [5.64283382e-01] [7.44437180e-04]] R_gt: [[ 0.98392322 0.17802974 0.01418497] [-0.17699133 0.98263084 -0.0557721 ] [-0.02386863 0.05236584 0.9983427 ]] t_gt: [-0.32209361 0.94590297 -0.03902922] Pose Error in degrees for R and t: 178.7790910922403 74.46577366147912 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999505e-01 5.85606737e-04 -8.04985992e-04] [-5.84907889e-04 9.99999452e-01 8.68110240e-04] [ 8.05493922e-04 -8.67638967e-04 9.99999299e-01]] t_estimated: [[0.28611394] [0.95819368] [0.00192023]] R_gt: [[ 0.92454965 0.38102233 -0.00551151] [-0.38067882 0.92287468 -0.05819163] [-0.01708561 0.0559 0.99829046]] t_gt: [-0.23943878 0.97026945 -0.0353024 ] Pose Error in degrees for R and t: 22.627555684902664 30.556134572590167 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999999e-01 3.83749410e-05 -3.03319407e-05] [-3.83701957e-05 9.99999987e-01 1.56431784e-04] [ 3.03379433e-05 -1.56430620e-04 9.99999987e-01]] t_estimated: [[ 8.01486178e-01] [ 5.98013179e-01] [-3.79681503e-04]] R_gt: [[ 0.99785853 -0.06099749 -0.02361894] [ 0.06191756 0.9972636 0.04039983] [ 0.02108964 -0.04177577 0.99890382]] t_gt: [ 0.70493408 -0.66222427 0.25402157] Pose Error in degrees for R and t: 4.426094344799208 80.27731538889962 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.99988854 -0.01485255 -0.00151926] [ 0.01485568 0.9998875 0.00207048] [ 0.00148833 -0.00209282 0.9999967 ]] t_estimated: [[-0.9614292 ] [-0.27504177] [-0.002434 ]] R_gt: [[ 0.99917948 -0.00771618 0.03975015] [ 0.00414958 0.99602035 0.08903266] [-0.04027905 -0.08879526 0.99523496]] t_gt: [ 0.16083457 -0.41444268 0.8957508 ] Pose Error in degrees for R and t: 5.547091474340133 87.545714829978 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-9.02507869e-01 -4.30666609e-01 -2.41212824e-03] [ 4.30673364e-01 -9.02493578e-01 -5.07896644e-03] [ 1.04110065e-05 -5.62264656e-03 9.99984193e-01]] t_estimated: [[0.88373037] [0.46799089] [0.0022718 ]] R_gt: [[ 0.99760129 0.02113753 0.06591005] [-0.03069855 0.98857003 0.14760616] [-0.06203735 -0.14927616 0.98684713]] t_gt: [ 0.01867288 -0.25692588 0.9662507 ] Pose Error in degrees for R and t: 156.07003210166192 84.17202449697092 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.98523796e-01 -5.43154641e-02 -2.44937718e-04] [ 5.43154396e-02 9.98523821e-01 -1.05978495e-04] [ 2.50332417e-04 9.25181491e-05 9.99999964e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.94772189 0.31298549 0.06214706] [-0.30985093 0.94918324 -0.05516292] [-0.07625408 0.03302247 0.99654203]] t_gt: [-0.6926639 0.71855974 0.06235882] Pose Error in degrees for R and t: 21.813863956326276 46.33949084511798 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 8.36514864e-01 -5.47943771e-01 -7.11188209e-04] [ 5.47943640e-01 8.36515164e-01 -3.84565064e-04] [ 8.05639753e-04 -6.79966642e-05 9.99999673e-01]] t_estimated: [[-0.02180686] [-0.99976079] [-0.00167745]] R_gt: [[ 0.86687884 0.49327739 0.07209452] [-0.49342845 0.86962093 -0.01693812] [-0.07105063 -0.02089015 0.99725472]] t_gt: [-0.62443712 0.77281686 0.11328011] Pose Error in degrees for R and t: 62.96392961702872 40.6058368533433 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.99992230e-01 6.99276156e-04 -3.87965875e-03] [-6.81286691e-04 9.99989020e-01 4.63625343e-03] [ 3.88285817e-03 -4.63357424e-03 9.99981727e-01]] t_estimated: [[-0.79246137] [-0.60991817] [-0.00219144]] R_gt: [[ 8.21894867e-01 5.65272915e-01 7.03976337e-02] [-5.66633319e-01 8.23969440e-01 -7.75131695e-04] [-5.84437013e-02 -3.92527701e-02 9.97519432e-01]] t_gt: [-0.58901677 0.80089406 0.107833 ] Pose Error in degrees for R and t: 34.72406940916772 88.74265148247474 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999381e-01 -1.10045512e-03 -1.64670262e-04] [ 1.10052428e-03 9.99999306e-01 4.20518497e-04] [ 1.64207386e-04 -4.20699460e-04 9.99999898e-01]] t_estimated: [[0.24669616] [0.96909116] [0.00182323]] R_gt: [[ 0.99576634 -0.0911198 0.01210563] [ 0.09019887 0.99397785 0.06222526] [-0.0177025 -0.06087098 0.99798823]] t_gt: [ 0.40340673 -0.72543106 0.55768521] Pose Error in degrees for R and t: 6.28548982183052 52.952770255912085 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99988841e-01 4.72393583e-03 -5.67870941e-05] [-4.72393656e-03 9.99988842e-01 -1.27557513e-05] [ 5.67262031e-05 1.30238675e-05 9.99999998e-01]] t_estimated: [[-6.58384938e-01] [ 7.52681133e-01] [-6.20815176e-04]] R_gt: [[ 0.99533534 0.07338039 0.06263158] [-0.07731101 0.99502716 0.06280106] [-0.05771196 -0.06735024 0.99605878]] t_gt: [-0.44976113 0.16455232 0.87785959] Pose Error in degrees for R and t: 6.5104426904474275 65.20162163778943 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-2.93461393e-01 -9.55968408e-01 -2.19402322e-03] [ 9.55970915e-01 -2.93460955e-01 -5.26215125e-04] [-1.40815115e-04 -2.25184621e-03 9.99997455e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99150035 0.09201371 0.09197753] [-0.10364158 0.98596594 0.13087185] [-0.07864499 -0.13929229 0.98712321]] t_gt: [-0.31813304 0.09016989 0.94374825] Pose Error in degrees for R and t: 112.95995503155889 71.51114224769542 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99995209e-01 -3.09540182e-03 -1.87295215e-06] [ 3.09540181e-03 9.99995209e-01 -7.82326982e-06] [ 1.89715934e-06 7.81743480e-06 1.00000000e+00]] t_estimated: [[-6.36418102e-01] [ 7.71344281e-01] [-1.05450086e-05]] R_gt: [[ 0.97523212 0.17808002 0.1311804 ] [-0.19770118 0.96777125 0.15599106] [-0.0991732 -0.17806195 0.97900912]] t_gt: [-0.50284568 0.31078071 0.80657397] Pose Error in degrees for R and t: 16.17435367257407 55.9628371884867 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.88429776 -0.46584004 -0.03178886] [ 0.46618849 0.88467566 0.00415515] [ 0.02618719 -0.01849399 0.99948597]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 9.90175996e-01 -1.37413480e-01 2.58954327e-02] [ 1.37343093e-01 9.90513287e-01 4.45613081e-03] [-2.62622384e-02 -8.54917359e-04 9.99654786e-01]] t_gt: [ 0.98648058 -0.1462606 0.07391828] Pose Error in degrees for R and t: 20.14914932392915 82.37430431833307 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-6.94953871e-01 -7.19054322e-01 5.84291104e-06] [ 7.19035483e-01 -6.94935605e-01 7.24422809e-03] [-5.20493307e-03 5.03860561e-03 9.99973760e-01]] t_estimated: [[8.38800341e-01] [5.44438760e-01] [6.51242381e-04]] R_gt: [[ 0.94328085 -0.33117519 -0.02335986] [ 0.33176742 0.94291128 0.0291334 ] [ 0.01237835 -0.03523098 0.99930236]] t_gt: [ 0.99166748 -0.08244901 0.09898372] Pose Error in degrees for R and t: 114.67271255223086 38.09516951612273 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 8.07756224e-01 5.89516339e-01 6.07302344e-04] [-5.89499691e-01 8.07740370e-01 -6.75352518e-03] [-4.47185606e-03 5.09719746e-03 9.99977010e-01]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.89066534 -0.45381943 -0.02765264] [ 0.45463862 0.88836806 0.06408224] [-0.00451495 -0.0696482 0.99756125]] t_gt: [ 0.98838733 -0.01423481 0.15128731] Pose Error in degrees for R and t: 63.31334418028306 89.9696319052833 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-3.39623137e-01 -9.40561273e-01 -7.85160527e-04] [-9.40560428e-01 3.39623913e-01 -1.29539983e-03] [ 1.48506220e-03 2.98543169e-04 -9.99998853e-01]] t_estimated: [[0.74611547] [0.66581605] [0.00083645]] R_gt: [[ 9.61509066e-01 2.74772043e-01 2.57131433e-04] [-2.74769672e-01 9.61502650e-01 -3.84824469e-03] [-1.30443495e-03 3.62989474e-03 9.99992392e-01]] t_gt: [-0.69888844 0.7149652 -0.01948626] Pose Error in degrees for R and t: 179.830131529972 87.39601500016941 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 1.75784935e-01 -9.84427847e-01 1.21278622e-03] [-9.84428498e-01 -1.75785329e-01 -2.25289467e-04] [ 4.34971249e-04 -1.15429882e-03 -9.99999239e-01]] t_estimated: [[0.33686077] [0.94155346] [0.00138058]] R_gt: [[ 0.86966377 0.48884389 0.06867168] [-0.48654786 0.87233103 -0.04805676] [-0.08339626 0.00838112 0.99648162]] t_gt: [-0.62032067 0.78029861 0.07960117] Pose Error in degrees for R and t: 178.3412000014511 58.27512018406518 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-9.99993796e-01 3.51650856e-03 -2.06812182e-04] [ 3.51603489e-03 9.99991292e-01 2.24779181e-03] [ 2.14714761e-04 2.24705070e-03 -9.99997452e-01]] t_estimated: [[9.99982406e-01] [5.87237990e-03] [8.38911414e-04]] R_gt: [[ 0.78719302 0.61384338 0.05936492] [-0.6147056 0.78874434 -0.00460594] [-0.04965131 -0.03286611 0.99822664]] t_gt: [-0.5634438 0.82213002 0.08144518] Pose Error in degrees for R and t: 176.75065838279136 56.04526980012625 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-8.31775127e-01 -5.55112726e-01 1.51749247e-06] [-5.55112552e-01 8.31774868e-01 7.90139569e-04] [-4.39878743e-04 6.56376061e-04 -9.99999688e-01]] t_estimated: [[9.81235477e-01] [1.92810862e-01] [9.54509218e-04]] R_gt: [[ 0.97543992 -0.21996467 0.01154472] [ 0.22011527 0.97537424 -0.01401695] [-0.00817734 0.016214 0.99983528]] t_gt: [ 0.60397622 -0.79666588 -0.02315604] Pose Error in degrees for R and t: 179.68739010371945 63.95895130950747 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999980e-01 -1.82724811e-04 -8.50627602e-05] [ 1.82757262e-04 9.99999910e-01 3.81637258e-04] [ 8.49930180e-05 -3.81652796e-04 9.99999924e-01]] t_estimated: [[0.67089279] [0.74155395] [0.0007765 ]] R_gt: [[ 0.92895127 -0.36704099 -0.04828593] [ 0.36568942 0.93009204 -0.03466201] [ 0.05763253 0.01454227 0.99823204]] t_gt: [ 0.66515662 -0.72969462 -0.15846903] Pose Error in degrees for R and t: 21.766987064650007 84.54970450399637 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999965e-01 2.29765777e-05 -2.63023046e-04] [-2.28332527e-05 9.99999851e-01 5.44904467e-04] [ 2.63035527e-04 -5.44898442e-04 9.99999817e-01]] t_estimated: [[-0.73011419] [-0.68332474] [-0.00074601]] R_gt: [[ 0.8678353 -0.49520526 -0.04043297] [ 0.49538727 0.868651 -0.00609752] [ 0.03814171 -0.01473782 0.99916456]] t_gt: [ 0.70762864 -0.70486111 -0.04932058] Pose Error in degrees for R and t: 29.792949252147174 87.99630841437038 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.91825772e-01 -1.27597813e-01 -6.60898846e-04] [ 1.27597931e-01 9.91825967e-01 1.39005444e-04] [ 6.37759847e-04 -2.22198508e-04 9.99999772e-01]] t_estimated: [[-0.90795747] [-0.41905729] [-0.0020542 ]] R_gt: [[ 0.99145845 0.1300731 0.00958356] [-0.12996865 0.99145839 -0.01086661] [-0.0109154 0.00952845 0.99989456]] t_gt: [-0.73261617 0.68013693 -0.02621667] Pose Error in degrees for R and t: 14.827106974722945 67.65257578454458 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.22582132 -0.9741364 0.00793736] [-0.97415641 0.22585196 0.00319079] [-0.00490094 -0.00701168 -0.99996341]] t_estimated: [[0.70631547] [0.70786614] [0.00663216]] R_gt: [[ 0.96579114 0.25596628 -0.04158786] [-0.2529233 0.96517262 0.06686718] [ 0.05725453 -0.05406099 0.99689484]] t_gt: [-0.71348157 0.70054455 -0.01346818] Pose Error in degrees for R and t: 179.5788192532011 89.53357160146557 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99283400e-01 -3.72342003e-02 -6.80453541e-03] [ 3.72291568e-02 9.99306379e-01 -8.66415484e-04] [ 6.83207593e-03 6.12467495e-04 9.99976474e-01]] t_estimated: [[9.99991799e-01] [3.97137339e-03] [7.94274662e-04]] R_gt: [[ 0.94524441 0.30088841 -0.12640845] [-0.28530861 0.94990407 0.12759371] [ 0.15846745 -0.08454234 0.98373773]] t_gt: [-0.73502448 0.63614422 -0.23464773] Pose Error in degrees for R and t: 21.760583787577318 42.88858904465237 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999988e-01 -5.68401907e-05 -1.43540576e-04] [ 5.69730656e-05 9.99999570e-01 9.25861230e-04] [ 1.43487888e-04 -9.25869396e-04 9.99999561e-01]] t_estimated: [[0.71234328] [0.70182526] [0.0028922 ]] R_gt: [[ 0.98861827 0.14910982 0.01998034] [-0.1493277 0.98873818 0.00986172] [-0.01828507 -0.01273371 0.99975182]] t_gt: [-0.38890115 0.90810033 0.15527295] Pose Error in degrees for R and t: 8.677611470141324 68.8540006843692 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.99951415 -0.02872415 -0.01209896] [ 0.02889763 0.9994784 0.01441689] [ 0.01167854 -0.01475952 0.99982287]] t_estimated: [[-0.78380726] [-0.62100361] [-0.00083919]] R_gt: [[ 0.93653866 0.35017772 -0.01644874] [-0.35033868 0.93658802 -0.00807428] [ 0.01257831 0.01332445 0.99983233]] t_gt: [-0.27064905 0.96177499 -0.0416888 ] Pose Error in degrees for R and t: 22.203978241322442 67.35042004908212 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.9798899 0.1952855 0.04097997] [-0.19700374 -0.97945164 -0.04317408] [ 0.03170662 -0.05037906 0.99822675]] t_estimated: [[0.72926153] [0.68423449] [0.00088288]] R_gt: [[ 0.87023565 0.49218929 -0.02096905] [-0.49150501 0.87033335 0.03068865] [ 0.03335491 -0.01640031 0.99930885]] t_gt: [-0.20748596 0.97760147 -0.03528379] Pose Error in degrees for R and t: 139.24440314763947 58.83087790499619 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.94675698 -0.32193914 0.00253204] [ 0.32194746 0.94674793 -0.00426384] [-0.00102451 0.00485201 0.9999877 ]] t_estimated: [[-0.40216135] [-0.91555882] [-0.00427831]] R_gt: [[ 0.99885308 -0.03952524 -0.02701589] [ 0.04281397 0.9899821 0.13454854] [ 0.02142769 -0.13554967 0.9905382 ]] t_gt: [ 0.15613271 -0.67940976 0.71695534] Pose Error in degrees for R and t: 18.31855450184366 56.20785427159032 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-9.71361644e-01 -2.37604597e-01 -7.82762583e-04] [-2.37605646e-01 9.71350703e-01 4.62267537e-03] [-3.38031935e-04 4.67627836e-03 -9.99989009e-01]] t_estimated: [[0.98795475] [0.1547399 ] [0.00099192]] R_gt: [[ 0.98647927 -0.08660659 -0.13913232] [ 0.10308083 0.98789446 0.11592706] [ 0.1274085 -0.12870109 0.98346517]] t_gt: [ 0.48938439 -0.86229152 0.13021617] Pose Error in degrees for R and t: 173.21794352218456 69.50119187805227 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.60855106e-01 -7.50511721e-01 -1.63853688e-03] [ 7.50512963e-01 6.60855686e-01 2.35261157e-04] [ 9.06270161e-04 -1.38521671e-03 9.99998630e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.97303072 -0.12885147 -0.1913351 ] [ 0.15231766 0.98180169 0.11342796] [ 0.17323795 -0.13951195 0.97494903]] t_gt: [ 0.54948731 -0.83539662 0.01327308] Pose Error in degrees for R and t: 42.33155703640645 33.70193067741831 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998345e-01 -5.38275667e-04 1.73799477e-03] [ 5.41472436e-04 9.99998162e-01 -1.83939703e-03] [-1.73700148e-03 1.84033506e-03 9.99996798e-01]] t_estimated: [[0.48663192] [0.87360514] [0.00185253]] R_gt: [[ 0.98006803 -0.19480823 0.03894653] [ 0.19513674 0.98076422 -0.00481121] [-0.03725929 0.01231521 0.99922996]] t_gt: [ 0.55819715 -0.81695552 0.14491246] Pose Error in degrees for R and t: 11.416267724596187 63.78175546996004 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.9913572 0.13114582 0.003418 ] [-0.13113556 0.99135969 -0.00307146] [-0.00379128 0.00259669 0.99998944]] t_estimated: [[0.23234759] [0.97261781] [0.00540343]] R_gt: [[ 0.91902879 -0.39298081 0.03084706] [ 0.39293071 0.91953426 0.00793927] [-0.03148487 0.00482506 0.99949281]] t_gt: [ 0.67047111 -0.73890406 0.06700206] Pose Error in degrees for R and t: 30.722399423098615 55.76927182669695 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.70033661e-01 2.42970315e-01 3.51072413e-04] [-2.42970416e-01 -9.70030419e-01 -2.52259711e-03] [-2.72365295e-04 -2.53230432e-03 9.99996757e-01]] t_estimated: [[0.64235897] [0.76640324] [0.00101485]] R_gt: [[ 0.8523151 -0.52300978 -0.00442662] [ 0.52274284 0.85210035 -0.02578006] [ 0.01725569 0.0196593 0.99965789]] t_gt: [ 0.72238915 -0.69016761 -0.04269171] Pose Error in degrees for R and t: 162.53117461493795 86.2756235356361 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 6.96272325e-01 7.17777383e-01 6.90893498e-04] [-7.17777270e-01 6.96272643e-01 -4.44352955e-04] [-7.99996744e-04 -1.86516983e-04 9.99999663e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.97120274e-01 -6.79211587e-02 3.37410359e-02] [ 6.79003035e-02 9.97690377e-01 1.78489909e-03] [-3.37855682e-02 5.11840574e-04 9.99428534e-01]] t_gt: [ 0.63103463 -0.72009899 0.28853552] Pose Error in degrees for R and t: 49.79983218664188 44.28718096006465 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99982891 0.01845254 0.00128836] [-0.01844992 0.99982776 -0.00201433] [-0.00132531 0.00199022 0.99999714]] t_estimated: [[0.66044509] [0.75087394] [0.000786 ]] R_gt: [[ 0.99581128 -0.08820473 0.0240826 ] [ 0.08855818 0.99597191 -0.01403314] [-0.02274891 0.01610788 0.9996116 ]] t_gt: [ 0.72763764 -0.68564033 0.02099533] Pose Error in degrees for R and t: 6.303105986860379 88.03733626573606 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.11629393 0.99320469 0.00449114] [-0.99321365 -0.1162996 0.001021 ] [ 0.00153639 -0.00434193 0.99998939]] t_estimated: [[0.73865986] [0.67407758] [0.0010091 ]] R_gt: [[ 9.98496855e-01 -5.40702662e-02 8.90870064e-03] [ 5.40621805e-02 9.98536328e-01 1.18926883e-03] [-8.96141513e-03 -7.05296976e-04 9.99959156e-01]] t_gt: [ 0.86942295 -0.49354773 0.02267998] Pose Error in degrees for R and t: 99.77815489606942 71.96841277427231 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.97976179e-01 6.35888730e-02 -2.27156400e-05] [-6.35888749e-02 9.97976175e-01 -9.27072203e-05] [ 1.67745198e-05 9.39640595e-05 9.99999995e-01]] t_estimated: [[-4.81328713e-01] [-8.76540056e-01] [-4.48835918e-04]] R_gt: [[ 0.99518577 0.05715291 -0.07960837] [-0.05071291 0.99544819 0.08068948] [ 0.08385802 -0.07626373 0.9935557 ]] t_gt: [-0.8618135 -0.48454314 0.14998479] Pose Error in degrees for R and t: 6.534103773536318 32.9158331074915 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99976120e-01 -6.91083755e-03 2.93551490e-06] [ 6.91083754e-03 9.99975755e-01 -8.53852045e-04] [ 2.96538905e-06 8.53851942e-04 9.99999635e-01]] t_estimated: [[-0.667787 ] [-0.74435019] [-0.00182165]] R_gt: [[ 0.98939734 0.06373376 -0.13049877] [-0.05191998 0.99440303 0.0920135 ] [ 0.13563316 -0.08426242 0.98716988]] t_gt: [-0.4632162 -0.70655775 -0.53498308] Pose Error in degrees for R and t: 9.94094745993012 33.255793878008205 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.97801371e-01 6.62753583e-02 1.40480475e-05] [-6.62753551e-02 9.97801358e-01 -1.65333817e-04] [-2.49747188e-05 1.64039270e-04 9.99999986e-01]] t_estimated: [[ 1.16776209e-02] [-9.99931798e-01] [-1.77756410e-04]] R_gt: [[ 0.98805077 0.03085634 -0.15100683] [-0.01533327 0.99457376 0.10289463] [ 0.15336241 -0.09935056 0.98316392]] t_gt: [ 0.29396899 -0.87043642 -0.39487046] Pose Error in degrees for R and t: 10.818814416045443 29.08728838552318 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[-7.76911009e-01 -6.29603105e-01 -3.03548010e-03] [ 6.29605083e-01 -7.76915247e-01 3.72691209e-04] [-2.59295831e-03 -1.62160580e-03 9.99995323e-01]] t_estimated: [[0.91328681] [0.40731464] [0.00140939]] R_gt: [[ 0.99893675 -0.03780197 -0.02640987] [ 0.03811173 0.99920815 0.01136434] [ 0.02595935 -0.01235848 0.9995863 ]] t_gt: [ 0.60808117 -0.71644802 -0.34196422] Pose Error in degrees for R and t: 138.8061267811844 74.74883826888751 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.14569996e-01 4.04427544e-01 2.88496648e-04] [-4.04427409e-01 9.14569999e-01 -4.33072976e-04] [-4.38997019e-04 2.79399598e-04 9.99999865e-01]] t_estimated: [[0.71706971] [0.69700102] [0.00077187]] R_gt: [[ 0.98775166 -0.14271345 -0.06308653] [ 0.14397221 0.98945426 0.01586617] [ 0.06015789 -0.02475364 0.9978815 ]] t_gt: [ 0.66381334 -0.7136098 -0.22385911] Pose Error in degrees for R and t: 32.31881536669994 88.7646582374622 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-2.89570992e-01 -9.57153620e-01 2.36384788e-03] [-9.57155973e-01 2.89572623e-01 3.72066581e-04] [-1.04063051e-03 -2.15483143e-03 -9.99997137e-01]] t_estimated: [[0.90954279] [0.41559633] [0.00340653]] R_gt: [[ 0.96024607 -0.25452889 -0.11464842] [ 0.25977338 0.96509994 0.03315715] [ 0.10220849 -0.06162102 0.99285179]] t_gt: [ 0.70390919 -0.69178579 -0.16107224] Pose Error in degrees for R and t: 176.70540341661504 69.37909263700844 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.90466598e-01 1.37750335e-01 8.73605858e-04] [-1.37750320e-01 9.90466982e-01 -7.78092998e-05] [-8.75996015e-04 -4.32719735e-05 9.99999615e-01]] t_estimated: [[0.42850604] [0.9035356 ] [0.00244861]] R_gt: [[ 0.98911015 -0.07496536 -0.12666219] [ 0.07323363 0.99714736 -0.01827554] [ 0.12767126 0.00880121 0.99177817]] t_gt: [ 0.59714487 -0.45673142 -0.65940459] Pose Error in degrees for R and t: 14.249748934661092 80.88552402817007 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 7.57552526e-01 -6.52731935e-01 7.42911160e-03] [-6.52774154e-01 -7.57508176e-01 8.20164689e-03] [ 2.74135933e-04 -1.10627104e-02 -9.99938769e-01]] t_estimated: [[0.54597791] [0.83779369] [0.0031378 ]] R_gt: [[ 0.98303847 -0.11670855 -0.14147935] [ 0.11318639 0.99303557 -0.03271667] [ 0.14431269 0.01614881 0.98940059]] t_gt: [ 0.59864758 -0.52029156 -0.60903018] Pose Error in degrees for R and t: 176.39091802214017 83.62936168607881 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 8.19209637e-01 5.73493299e-01 1.00364273e-03] [-5.73493646e-01 8.19210006e-01 7.18949572e-05] [-7.80962888e-04 -6.34479768e-04 9.99999494e-01]] t_estimated: [[0.62045607] [0.78424081] [0.00078626]] R_gt: [[ 0.97122412 -0.21316211 -0.1062376 ] [ 0.20472778 0.97512727 -0.08493528] [ 0.12170074 0.06074184 0.99070661]] t_gt: [ 0.69782769 -0.49853132 -0.51429858] Pose Error in degrees for R and t: 47.729127008577784 87.61589662935351 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.99607193e-01 2.80259979e-02 5.86978354e-05] [-2.80259959e-02 9.99607194e-01 -3.36059806e-05] [-5.96166197e-05 3.19477146e-05 9.99999998e-01]] t_estimated: [[9.72477826e-01] [2.32995217e-01] [3.26108352e-04]] R_gt: [[ 0.9972648 -0.07096255 -0.02068049] [ 0.07085916 0.99747038 -0.00569052] [ 0.02103065 0.00420902 0.99976981]] t_gt: [ 0.61540672 -0.75342982 -0.23155579] Pose Error in degrees for R and t: 5.804764253914315 64.9854545471236 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.85606743e-01 1.69052380e-01 -8.00533807e-04] [-1.69052808e-01 9.85606868e-01 -5.00126622e-04] [ 7.04464022e-04 6.28260659e-04 9.99999555e-01]] t_estimated: [[-0.5788015 ] [ 0.81545359] [-0.00492575]] R_gt: [[ 0.99291393 -0.09020946 -0.07736589] [ 0.09490856 0.99371393 0.05936431] [ 0.07152418 -0.06628556 0.99523343]] t_gt: [ 0.53808646 -0.83438636 -0.11942511] Pose Error in degrees for R and t: 16.05293793378641 7.5805629445809295 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999990e-01 -1.02162389e-04 9.42176087e-05] [ 1.02174037e-04 9.99999987e-01 -1.23629124e-04] [-9.42049773e-05 1.23638750e-04 9.99999988e-01]] t_estimated: [[0.83151204] [0.55550501] [0.00137904]] R_gt: [[ 0.97176514 -0.2190635 -0.08766327] [ 0.22127986 0.97507391 0.01629446] [ 0.08190796 -0.03523257 0.99601706]] t_gt: [ 0.58141034 -0.76611469 -0.27391659] Pose Error in degrees for R and t: 13.72652833763808 86.70416782835169 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99720738e-01 -2.36314697e-02 -1.81828121e-06] [ 2.36314697e-02 9.99720737e-01 -2.79975869e-05] [ 2.47939756e-06 2.79467996e-05 1.00000000e+00]] t_estimated: [[-9.05731297e-02] [ 9.95889736e-01] [-3.77669981e-04]] R_gt: [[ 0.99844514 0.01675925 -0.05316789] [-0.01825362 0.99944758 -0.02775631] [ 0.05267364 0.0286835 0.99819928]] t_gt: [ 0.01141729 0.40692211 -0.9133915 ] Pose Error in degrees for R and t: 4.1687823785113745 66.13641653932022 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.55407256e-01 2.95290579e-01 6.69680465e-04] [-2.95290828e-01 9.55407365e-01 3.07317537e-04] [-5.49069675e-04 -4.91363903e-04 9.99999729e-01]] t_estimated: [[-0.39193814] [ 0.91999023] [ 0.001573 ]] R_gt: [[ 0.99597028 0.02528042 -0.08604622] [-0.03010744 0.99801687 -0.0552759 ] [ 0.08447815 0.05764432 0.99475621]] t_gt: [ 0.02748155 0.417351 -0.90832973] Pose Error in degrees for R and t: 16.661370597953834 68.17586123898948 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.30556517 0.95214658 0.0068431 ] [ 0.95217009 -0.30554615 -0.00369573] [-0.001428 0.00764508 -0.99996976]] t_estimated: [[0.24485081] [0.96955999] [0.00123041]] R_gt: [[ 0.99138301 0.03597497 -0.12595253] [-0.04897882 0.99360664 -0.10171975] [ 0.12148851 0.10701288 0.98680723]] t_gt: [ 0.03808221 0.43529932 -0.89947999] Pose Error in degrees for R and t: 178.94666438837635 64.51552359361428 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.59775082e-01 2.80769636e-01 4.50017294e-04] [-2.80769826e-01 9.59775035e-01 4.33640504e-04] [-3.10162277e-04 -5.42548628e-04 9.99999805e-01]] t_estimated: [[0.66020041] [0.75108842] [0.00126233]] R_gt: [[ 0.98799285 -0.15408647 -0.01129186] [ 0.15348811 0.98724942 -0.04221184] [ 0.01765169 0.03997111 0.99904531]] t_gt: [ 0.95240568 -0.13221172 -0.27466977] Pose Error in degrees for R and t: 25.28255856366419 58.05336226825372 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.97793406 0.20891023 0.00122109] [-0.20890426 0.97792856 -0.00383876] [-0.00199609 0.00349896 0.99999189]] t_estimated: [[8.15382796e-01] [5.78921785e-01] [6.79485664e-04]] R_gt: [[ 0.95244139 -0.30463378 -0.00732592] [ 0.30445142 0.95233538 -0.01916387] [ 0.01281454 0.01602314 0.99979057]] t_gt: [ 0.99070103 -0.11832495 -0.06716153] Pose Error in degrees for R and t: 29.808923203284166 42.332089029044205 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.99990354 0.01360541 -0.0027928 ] [-0.01359484 0.99990049 0.00376739] [ 0.00284378 -0.00372906 0.999989 ]] t_estimated: [[0.94799894] [0.31826894] [0.00170197]] R_gt: [[ 0.96027589 -0.27890591 0.00897734] [ 0.27903576 0.95939742 -0.04118904] [ 0.00287454 0.04205851 0.99911181]] t_gt: [ 0.98115137 -0.10208352 -0.16407601] Pose Error in degrees for R and t: 17.189114358016624 26.18665329667579 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99999997e-01 -8.06719929e-05 6.77180063e-06] [ 8.06720874e-05 9.99999997e-01 -1.39604135e-05] [-6.77067440e-06 1.39609598e-05 1.00000000e+00]] t_estimated: [[ 9.99829706e-01] [ 1.84473571e-02] [-5.04883279e-04]] R_gt: [[ 0.99882353 -0.04588058 -0.01570611] [ 0.04595796 0.99893289 0.00461747] [ 0.01547702 -0.00533264 0.99986516]] t_gt: [ 0.58924485 -0.77334061 -0.23395472] Pose Error in degrees for R and t: 2.790392096658777 54.900610369208835 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.96534606e-01 8.31791448e-02 9.59563924e-05] [-8.31791363e-02 9.96534607e-01 -9.00557431e-05] [-1.03114625e-04 8.17620946e-05 9.99999991e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9948044 -0.10174529 0.00352587] [ 0.10167956 0.99470023 0.01521854] [-0.00505539 -0.01478078 0.99987861]] t_gt: [ 0.94627031 -0.28587493 0.15115562] Pose Error in degrees for R and t: 10.647288111581648 54.008393207917955 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.93705700e-01 1.12022162e-01 1.32382215e-04] [-1.12022149e-01 9.93705704e-01 -1.05404470e-04] [-1.43356599e-04 8.99112820e-05 9.99999986e-01]] t_estimated: [[7.37330843e-01] [6.75531437e-01] [7.10337999e-04]] R_gt: [[ 0.98832945 -0.14964568 0.02848683] [ 0.14987996 0.988684 -0.00626462] [-0.02722655 0.01046058 0.99957518]] t_gt: [ 0.98511657 -0.16768239 -0.03778832] Pose Error in degrees for R and t: 15.137870664991034 52.18925240537575 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.66306427 0.74855436 0.00348528] [ 0.74856169 -0.66304966 -0.00453283] [-0.00108215 0.00561451 -0.99998365]] t_estimated: [[0.99999631] [0.00147552] [0.00228054]] R_gt: [[ 0.94110441 -0.33744452 -0.02132137] [ 0.3380754 0.94011288 0.04350502] [ 0.00536406 -0.04815014 0.99882622]] t_gt: [ 0.98708994 -0.09848644 0.12630866] Pose Error in degrees for R and t: 177.57683577770413 9.16669719431115 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.87233115 0.48889739 0.00420875] [-0.48891251 0.87232361 0.00400875] [-0.00171153 -0.00555466 0.99998311]] t_estimated: [[0.05491632] [0.99847848] [0.00499239]] R_gt: [[ 0.99799584 -0.05673815 -0.02801421] [ 0.05282017 0.99075899 -0.12493175] [ 0.03484323 0.12320108 0.99177015]] t_gt: [ 0.44962223 -0.14109097 -0.88200521] Pose Error in degrees for R and t: 33.29698800358047 83.07396028308604 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.41988474 -0.84149241 0.33998136] [-0.85311186 0.49376505 0.16851184] [-0.30967235 -0.21928658 -0.92521156]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.99577263 -0.04460841 -0.08029978] [ 0.02978704 0.98373912 -0.1771179 ] [ 0.08689541 0.17397765 0.98090862]] t_gt: [ 0.30845784 0.12027274 -0.94360385] Pose Error in degrees for R and t: 167.16178618408907 82.66441826617253 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.30415216 0.95262113 0.00211087] [ 0.95262006 -0.30415625 0.00199913] [ 0.00254645 0.00140282 -0.99999577]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99231494 -0.03478922 -0.11874684] [ 0.01145784 0.98137517 -0.19176064] [ 0.12320655 0.18892648 0.97423168]] t_gt: [ 0.27661329 0.19930445 -0.9400866 ] Pose Error in degrees for R and t: 175.2688714218415 73.94850835587971 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99999964e-01 -1.60883507e-04 -2.13635854e-04] [ 1.60918474e-04 9.99999974e-01 1.63668365e-04] [ 2.13609517e-04 -1.63702737e-04 9.99999964e-01]] t_estimated: [[-0.99989031] [ 0.01464903] [-0.00218411]] R_gt: [[ 0.99615406 -0.07164418 -0.05043716] [ 0.0744215 0.99568127 0.05550244] [ 0.04624286 -0.05904334 0.99718337]] t_gt: [ 0.27956178 -0.95952503 -0.03401376] Pose Error in degrees for R and t: 5.989653483757379 72.9316123695014 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 1.70092391e-01 9.85426812e-01 -1.60499692e-03] [-9.85427614e-01 1.70090428e-01 -1.29006021e-03] [-9.98265311e-04 1.80103771e-03 9.99997880e-01]] t_estimated: [[0.76796768] [0.64048813] [0.0007726 ]] R_gt: [[ 0.97309446 -0.21831051 -0.07366952] [ 0.21817458 0.9758591 -0.00999299] [ 0.07407234 -0.00634846 0.99723236]] t_gt: [ 0.5692289 -0.72831691 -0.38148779] Pose Error in degrees for R and t: 92.90465126705769 88.30243996922245 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999522e-01 -1.94516293e-04 9.58490129e-04] [ 1.94563627e-04 9.99999980e-01 -4.92913301e-05] [-9.58480522e-04 4.94777938e-05 9.99999539e-01]] t_estimated: [[0.76279958] [0.64663162] [0.00208419]] R_gt: [[ 0.9311911 -0.35997501 -0.05744118] [ 0.36064256 0.932704 0.00134415] [ 0.05309184 -0.02196755 0.99834705]] t_gt: [ 0.59611078 -0.79519057 -0.11101303] Pose Error in degrees for R and t: 21.387223113911638 86.57662117519082 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 4.05448192e-01 -9.14096715e-01 6.24174400e-03] [ 9.14118019e-01 4.05439518e-01 -2.65411926e-03] [-1.04527982e-04 6.78179852e-03 9.99976998e-01]] t_estimated: [[0.40301968] [0.91519053] [0.00119946]] R_gt: [[ 0.99526879 -0.05626274 -0.07921401] [ 0.05965926 0.9973686 0.04119013] [ 0.07668765 -0.04572127 0.9960056 ]] t_gt: [ 0.56066015 -0.82004129 -0.11485855] Pose Error in degrees for R and t: 62.96952790024822 58.35365235535987 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.27038902e-01 3.74964545e-01 6.81561694e-04] [-3.74913743e-01 9.26940340e-01 -1.48758708e-02] [-6.20969116e-03 1.35349841e-02 9.99889116e-01]] t_estimated: [[0.46925812] [0.88305847] [0.00213299]] R_gt: [[ 0.97983215 -0.11392578 -0.16416338] [ 0.11958648 0.9925087 0.02499095] [ 0.16008641 -0.0441179 0.98611675]] t_gt: [ 0.62293684 -0.69504023 -0.35898296] Pose Error in degrees for R and t: 30.41747023404166 71.20344955845148 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.28394262 0.95877591 0.011196 ] [ 0.95884034 -0.28390669 -0.0047109 ] [-0.00133808 0.0120728 -0.99992623]] t_estimated: [[8.98876069e-01] [4.38202084e-01] [8.64303912e-04]] R_gt: [[ 0.96766745 -0.18409931 -0.1724205 ] [ 0.18390973 0.98279236 -0.01721404] [ 0.17262241 -0.01505154 0.98487337]] t_gt: [ 0.67067671 -0.62883634 -0.39339244] Pose Error in degrees for R and t: 174.71321127602994 70.91576789224138 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 9.99997457e-01 2.25506336e-03 2.96009025e-05] [-2.25506357e-03 9.99997457e-01 7.08509036e-06] [-2.95848499e-05 -7.15182426e-06 1.00000000e+00]] t_estimated: [[0.99417714] [0.10775303] [0.00104661]] R_gt: [[ 9.99469832e-01 -3.25502334e-02 9.21076020e-04] [ 3.25625531e-02 9.99280689e-01 -1.94054354e-02] [-2.89645716e-04 1.94258979e-02 9.99810883e-01]] t_gt: [ 0.69035134 -0.64520689 -0.32729665] Pose Error in degrees for R and t: 2.2853505836047368 51.9414818547996 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 8.45526153e-01 5.33933524e-01 7.18582585e-04] [-5.33933384e-01 8.45526457e-01 -3.90570904e-04] [-8.16119486e-04 -5.34373179e-05 9.99999666e-01]] t_estimated: [[0.58078379] [0.81405728] [0.00095997]] R_gt: [[ 0.99958518 -0.02623889 0.01183488] [ 0.02636269 0.99959704 -0.01049025] [-0.01155547 0.01079874 0.99987446]] t_gt: [ 0.86341633 -0.50257023 -0.04399335] Pose Error in degrees for R and t: 33.789593194588555 84.70434806670133 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.81227340e-01 -1.92854586e-01 1.27718987e-04] [ 1.92854592e-01 9.81227346e-01 -3.85010204e-05] [-1.17896264e-04 6.24094469e-05 9.99999991e-01]] t_estimated: [[-0.55241773] [-0.83356694] [-0.00089824]] R_gt: [[ 0.99892952 0.04487107 -0.01126365] [-0.04468594 0.99886887 0.01621458] [ 0.01197821 -0.01569366 0.99980503]] t_gt: [0.55721526 0.83034868 0.00567676] Pose Error in degrees for R and t: 13.733193330908701 0.42955803764786693 Number of keypoints: Image1: 494 Image2: 494 R_estimated: [[ 0.95971003 -0.28071852 0.01240072] [-0.28078866 -0.9564004 0.08034923] [-0.01069546 -0.08059394 -0.99668963]] t_estimated: [[0.13999676] [0.98929881] [0.04109467]] R_gt: [[ 0.99980775 0.00119224 0.01958951] [-0.00143039 0.99992534 0.01210425] [-0.01957377 -0.01212938 0.9997342 ]] t_gt: [-0.17612975 -0.01254342 0.98428704] Pose Error in degrees for R and t: 174.4899795361063 89.80621590425999 Number of keypoints: Image1: 508 Image2: 508 R_estimated: [[ 9.99923842e-01 1.23413702e-02 1.50573594e-05] [-1.23413703e-02 9.99923842e-01 6.79372591e-06] [-1.49723688e-05 -6.97903697e-06 1.00000000e+00]] t_estimated: [[4.86582176e-01] [8.73634530e-01] [7.02342500e-04]] R_gt: [[ 0.99990492 -0.00644341 0.01223472] [ 0.00641315 0.99997601 0.00239831] [-0.01225021 -0.00231925 0.99992109]] t_gt: [ 0.03822848 -0.39921269 0.91606103] Pose Error in degrees for R and t: 1.2921255363875888 70.76027650099945 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.86257391e-01 1.65215824e-01 3.00964801e-04] [-1.65215280e-01 9.86256601e-01 -1.35224994e-03] [-5.20241610e-04 1.28394251e-03 9.99999040e-01]] t_estimated: [[-0.95628959] [-0.29241913] [-0.00112903]] R_gt: [[ 0.99557875 -0.08995003 -0.02707337] [ 0.09058152 0.9956204 0.02311984] [ 0.02487591 -0.0254691 0.99936521]] t_gt: [ 0.62763683 -0.77744256 -0.04068261] Pose Error in degrees for R and t: 14.840331943160843 68.11051113186913 Number of keypoints: Image1: 446 Image2: 446 R_estimated: [[ 9.99953804e-01 9.61191340e-03 -1.85487623e-06] [-9.61191350e-03 9.99953803e-01 -6.19825906e-05] [ 1.25901925e-06 6.19975562e-05 9.99999998e-01]] t_estimated: [[-1.62029836e-01] [-9.86785851e-01] [-1.31348742e-04]] R_gt: [[ 0.99628234 0.0326917 -0.07970212] [-0.02903171 0.99848899 0.04665135] [ 0.08110742 -0.04416342 0.99572688]] t_gt: [-0.4302703 -0.62116597 -0.65499642] Pose Error in degrees for R and t: 5.439421571389584 46.94026735591309 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 9.99869898e-01 1.61296262e-02 1.50301417e-04] [-1.61295918e-02 9.99869884e-01 -2.27089465e-04] [-1.53944729e-04 2.24635620e-04 9.99999963e-01]] t_estimated: [[ 0.94416828] [-0.3294614 ] [ 0.00120386]] R_gt: [[ 0.99456732 -0.00401226 -0.10401391] [ 0.00990174 0.99837245 0.05616723] [ 0.10361966 -0.05689153 0.99298847]] t_gt: [ 0.61946505 -0.71235357 -0.32987187] Pose Error in degrees for R and t: 6.930298025949133 34.99769374930523 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.71526171e-01 2.36932268e-01 -3.62309387e-06] [-2.36932254e-01 9.71526107e-01 -3.62248103e-04] [-8.23083343e-05 3.52791940e-04 9.99999934e-01]] t_estimated: [[7.87483972e-01] [6.16334756e-01] [6.79754520e-04]] R_gt: [[ 0.99006379 0.00827902 -0.14037917] [ 0.00480959 0.99568836 0.092637 ] [ 0.14054052 -0.09239156 0.98575415]] t_gt: [ 0.59650576 -0.76928721 -0.22886254] Pose Error in degrees for R and t: 16.693615591440103 89.73900000598027 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.65430254 -0.75623079 -0.00178399] [ 0.75622667 -0.65428576 -0.00560035] [ 0.00306792 -0.00501342 0.99998273]] t_estimated: [[0.99311765] [0.11711457] [0.00122769]] R_gt: [[ 0.98799387 0.07229396 0.13653634] [-0.06852176 0.9971315 -0.03213352] [-0.13846735 0.02239226 0.99011401]] t_gt: [-0.40395109 0.51704266 0.75464588] Pose Error in degrees for R and t: 135.06627781163544 70.14193489698937 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.07236922 0.99737646 -0.00170279] [ 0.99736419 0.07237707 0.0051226 ] [ 0.0052324 -0.00132759 -0.99998543]] t_estimated: [[0.99984416] [0.01759257] [0.00146605]] R_gt: [[ 0.95618481 0.19414126 0.21913452] [-0.17986763 0.98013988 -0.08350665] [-0.230994 0.04043246 0.97211511]] t_gt: [-0.36976974 0.68191827 0.6310767 ] Pose Error in degrees for R and t: 168.26316619940653 69.09679592815421 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 4.61753978e-01 -8.87007102e-01 -1.29007546e-03] [ 8.87007200e-01 4.61755054e-01 -7.05550330e-04] [ 1.22152702e-03 -8.18515551e-04 9.99998919e-01]] t_estimated: [[ 0.48140074] [-0.87650011] [-0.00093669]] R_gt: [[ 0.91179541 0.36513081 0.1879061 ] [-0.34875696 0.93012268 -0.11506601] [-0.21678951 0.03938288 0.97542353]] t_gt: [-0.32755902 0.86664566 0.37633812] Pose Error in degrees for R and t: 84.48379231600963 23.41441301048626 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.93862933e-01 -1.10617736e-01 -4.31557979e-04] [ 1.10617853e-01 9.93862981e-01 2.56304520e-04] [ 4.00557674e-04 -3.02469580e-04 9.99999874e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99455501 0.10354321 0.01176301] [-0.10369591 0.99452175 0.01319075] [-0.0103342 -0.01433753 0.9998434 ]] t_gt: [-0.38361838 0.90057098 0.20447211] Pose Error in degrees for R and t: 12.340814202176896 76.63888202135261 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 3.08289578e-01 9.51292383e-01 -5.81142439e-04] [-9.51290646e-01 3.08287674e-01 -2.19467782e-03] [-1.90862125e-03 1.22943167e-03 9.99997423e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98791027 0.15071616 0.0362817 ] [-0.15180142 0.98797719 0.02926712] [-0.03143511 -0.03442029 0.99891343]] t_gt: [-0.31856639 0.88511493 0.33924478] Pose Error in degrees for R and t: 63.391955251909074 27.93703184984279 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.81332531 -0.58179949 -0.00336057] [-0.58180477 0.81328305 0.00859593] [-0.00226801 0.00894648 -0.99995741]] t_estimated: [[9.44552596e-01] [3.28359226e-01] [7.81875219e-04]] R_gt: [[ 0.98606355 0.1637324 0.02949651] [-0.16398654 0.98644127 0.00639878] [-0.02804945 -0.01114526 0.99954392]] t_gt: [-0.15942852 0.96249643 0.21950667] Pose Error in degrees for R and t: 178.34659951775924 80.4663056476943 Number of keypoints: Image1: 558 Image2: 558 R_estimated: [[ 0.96227708 0.27194327 -0.00834711] [ 0.27194359 -0.96043233 0.06013667] [ 0.00833693 -0.06013808 -0.99815525]] t_estimated: [[-0.09287035] [ 0.99520563] [ 0.03067328]] R_gt: [[ 0.99906304 0.00828666 0.04248688] [-0.00748274 0.99979037 -0.01907553] [-0.04263637 0.01874057 0.99891449]] t_gt: [-0.61434971 0.06535955 0.78632218] Pose Error in degrees for R and t: 177.9284349203005 81.59205873572785 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.99997380e-01 2.28796780e-03 7.47686813e-05] [-2.28799542e-03 9.99997314e-01 3.71376061e-04] [-7.39187840e-05 -3.71546158e-04 9.99999928e-01]] t_estimated: [[0.88017709] [0.47464365] [0.00130397]] R_gt: [[ 0.99945002 -0.02364603 0.02327916] [ 0.02386928 0.99967136 -0.00940282] [-0.02305022 0.00995392 0.99968437]] t_gt: [-0.18859824 -0.92463539 0.33087777] Pose Error in degrees for R and t: 2.0755178391262183 52.81139371938242 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 6.61478980e-01 7.49963304e-01 7.75734564e-04] [-7.49963007e-01 6.61479422e-01 -6.80860716e-04] [-1.02375300e-03 -1.31397175e-04 9.99999467e-01]] t_estimated: [[0.37889372] [0.92543952] [0.00111768]] R_gt: [[ 0.99810788 -0.05343291 -0.03045942] [ 0.0539692 0.99839563 0.01709895] [ 0.02949668 -0.01871014 0.99938996]] t_gt: [ 0.22680741 -0.94808386 -0.22292463] Pose Error in degrees for R and t: 51.7048811578854 37.654629786996914 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 2.50485875e-01 9.68119571e-01 1.15026295e-03] [ 9.68110586e-01 -2.50488507e-01 4.17137293e-03] [ 4.32651542e-03 6.87117343e-05 -9.99990638e-01]] t_estimated: [[0.24530946] [0.96944411] [0.00117937]] R_gt: [[ 0.96834762 0.24702168 0.03581134] [-0.24526375 0.9683036 -0.04726892] [-0.04635251 0.03698931 0.9982405 ]] t_gt: [-0.71094897 0.70307916 -0.01520718] Pose Error in degrees for R and t: 176.79540295376628 59.52412593958295 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 4.92933558e-01 8.70066536e-01 8.55073584e-04] [-8.70066493e-01 4.92934071e-01 -5.46493301e-04] [-8.96980436e-04 -4.74585988e-04 9.99999485e-01]] t_estimated: [[-4.92203994e-01] [ 8.70479451e-01] [ 8.68566163e-04]] R_gt: [[ 0.89542389 0.44303777 0.04396707] [-0.44031038 0.89584946 -0.05984528] [-0.06590135 0.03422786 0.99723904]] t_gt: [-0.64633153 0.76278386 0.02040456] Pose Error in degrees for R and t: 34.46710169551204 10.847260732344315 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.30779997e-01 -3.65579161e-01 -6.88827612e-04] [ 3.65579281e-01 9.30780203e-01 5.28590172e-05] [ 6.21822949e-04 -3.01021219e-04 9.99999761e-01]] t_estimated: [[-0.38785674] [-0.92171897] [-0.0011382 ]] R_gt: [[ 0.8446412 0.53191827 0.0603703 ] [-0.52799085 0.84635524 -0.07006974] [-0.08836644 0.02730802 0.99571384]] t_gt: [-0.61575374 0.78636965 0.04970023] Pose Error in degrees for R and t: 53.769502133602224 60.91909494162441 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.9988882 0.04709606 -0.00207949] [-0.04706707 0.99881609 0.01229294] [ 0.00265598 -0.0121814 0.99992228]] t_estimated: [[-0.9573176 ] [ 0.28880794] [ 0.01153189]] R_gt: [[ 0.96670379 -0.25589081 -0.00199513] [ 0.25571405 0.96627157 -0.03048199] [ 0.00972726 0.02895772 0.99953355]] t_gt: [ 0.86803232 -0.48717167 -0.0958314 ] Pose Error in degrees for R and t: 17.690116545970184 13.397304242378967 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.99544656 -0.04895767 -0.08178805] [ 0.0573608 0.99294569 0.10377187] [ 0.07613066 -0.10799078 0.99123262]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.84461611 -0.53532202 -0.00736527] [ 0.53495568 0.84442053 -0.02785625] [ 0.02113067 0.01958908 0.99958459]] t_gt: [ 0.92603665 -0.37498518 -0.04292128] Pose Error in degrees for R and t: 30.44944324517312 68.27133738336488 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.99997379e-01 2.00963603e-03 1.09714206e-03] [-2.00886511e-03 9.99997735e-01 -7.03315539e-04] [-1.09855298e-03 7.01109685e-04 9.99999151e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.75266025 -0.65824194 -0.01480214] [ 0.65764841 0.75268106 -0.03112708] [ 0.03162974 0.01369406 0.99940579]] t_gt: [ 0.94907264 -0.31285936 -0.0371502 ] Pose Error in degrees for R and t: 41.31949150659409 18.545946735988576 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.72318008e-01 -6.35235684e-01 -7.21630289e-04] [ 6.35235736e-01 7.72318280e-01 -1.84333564e-04] [ 6.74423521e-04 -3.16041216e-04 9.99999723e-01]] t_estimated: [[-0.400632 ] [-0.91623828] [-0.0011853 ]] R_gt: [[ 0.97891741 0.20401923 0.00986482] [-0.20406817 0.97894764 0.00422992] [-0.0087944 -0.00615421 0.99994249]] t_gt: [-0.73911196 0.67212461 0.04429473] Pose Error in degrees for R and t: 51.21522690758541 71.35117183484311 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-9.96835366e-01 7.94936764e-02 8.90520765e-05] [-7.94936882e-02 -9.96833167e-01 -2.09527263e-03] [-7.77908608e-05 -2.09572094e-03 9.99997801e-01]] t_estimated: [[0.56069439] [0.82802237] [0.00086795]] R_gt: [[ 0.9013482 0.42853507 0.06268057] [-0.42732931 0.90352228 -0.03220943] [-0.0704371 0.00224633 0.99751395]] t_gt: [-0.65313552 0.75271199 0.0826962 ] Pose Error in degrees for R and t: 150.08516613727338 75.10047882825275 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.99921374 0.03580518 0.01702594] [ 0.03534963 -0.99902772 0.02634415] [ 0.01795265 -0.02572158 -0.99950793]] t_estimated: [[0.15904712] [0.98727029] [0.00117813]] R_gt: [[ 0.8189786 0.57111048 0.05574403] [-0.56860186 0.82076276 -0.05514569] [-0.07724777 0.01346693 0.99692067]] t_gt: [-0.59348624 0.80305496 0.05363588] Pose Error in degrees for R and t: 179.58766952696848 45.69295994343879 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.91834611e-01 1.27530751e-01 -1.06554930e-04] [-1.27530654e-01 9.91834411e-01 6.58526274e-04] [ 1.89667196e-04 -6.39560131e-04 9.99999777e-01]] t_estimated: [[0.6911454 ] [0.72271485] [0.00112748]] R_gt: [[ 0.99931221 0.013574 0.03450977] [-0.01178346 0.998599 -0.05157582] [-0.03516057 0.05113411 0.99807283]] t_gt: [ 0.04626552 0.94516432 -0.32330158] Pose Error in degrees for R and t: 7.5138106098503545 44.38171139039852 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[-0.1465685 0.98919982 0.00117922] [-0.98919998 -0.14656707 -0.00122372] [-0.00103767 -0.00134584 0.99999856]] t_estimated: [[0.72374974] [0.69006169] [0.00108671]] R_gt: [[ 0.99799206 -0.04960691 0.03939625] [ 0.05193241 0.99682277 -0.06038839] [-0.03627444 0.06231362 0.99739784]] t_gt: [ 0.7289894 -0.6580983 -0.18836423] Pose Error in degrees for R and t: 101.40096656124778 85.79801374416792 Number of keypoints: Image1: 362 Image2: 362 R_estimated: [[-9.81823458e-01 -1.89784223e-01 -2.15531098e-03] [ 1.89786149e-01 -9.81825184e-01 -7.25435429e-04] [-1.97846240e-03 -1.12129769e-03 9.99997414e-01]] t_estimated: [[0.83259438] [0.55388194] [0.00118098]] R_gt: [[ 0.99713587 -0.07155194 -0.02451403] [ 0.07132714 0.99740323 -0.00992663] [ 0.02516151 0.00814983 0.99965052]] t_gt: [ 0.66219806 -0.69353886 -0.28372095] Pose Error in degrees for R and t: 164.96351270458732 80.39419348047909 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[-0.00510209 -0.99998481 0.00208424] [-0.99998141 0.00509509 -0.00335032] [ 0.00333965 -0.00210129 -0.99999222]] t_estimated: [[0.90424811] [0.42700605] [0.00109209]] R_gt: [[ 0.99786491 0.06217641 0.02000344] [-0.06226279 0.99805253 0.0036953 ] [-0.01973531 -0.00493288 0.99979309]] t_gt: [-0.72547985 0.61172051 0.31539976] Pose Error in degrees for R and t: 179.06098359831984 66.76763912370876 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.28092963e-01 3.72346854e-01 -1.12784123e-03] [-3.72347038e-01 9.28093573e-01 4.99696290e-05] [ 1.06534823e-03 3.73571882e-04 9.99999363e-01]] t_estimated: [[-0.57302908] [ 0.81952975] [-0.00294174]] R_gt: [[ 9.96015346e-01 6.87423729e-02 5.68059449e-02] [-6.86092440e-02 9.97634157e-01 -4.30515961e-03] [-5.69673832e-02 3.90638267e-04 9.98375582e-01]] t_gt: [-0.71218989 0.447738 0.54066278] Pose Error in degrees for R and t: 18.223726871466884 39.335317328495776 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 9.99801400e-01 1.99287422e-02 8.05198473e-05] [-1.99287492e-02 9.99801399e-01 8.67648867e-05] [-7.87747409e-05 -8.83523150e-05 9.99999993e-01]] t_estimated: [[0.9959025 ] [0.09042652] [0.00111804]] R_gt: [[ 0.99995904 0.0079083 0.00431876] [-0.00798284 0.99981669 0.017401 ] [-0.00418013 -0.01743473 0.9998391 ]] t_gt: [-0.76354951 -0.56241354 0.3173061 ] Pose Error in degrees for R and t: 1.2314435218122137 35.81377083704003 Number of keypoints: Image1: 521 Image2: 521 R_estimated: [[ 9.99953287e-01 9.66562639e-03 5.86383147e-06] [-9.66562596e-03 9.99953284e-01 -6.82648755e-05] [-6.52338032e-06 6.82050090e-05 9.99999998e-01]] t_estimated: [[ 1.84959711e-01] [-9.82745869e-01] [-6.80364962e-04]] R_gt: [[ 0.99893263 -0.01663138 -0.04309815] [ 0.01695926 0.99982993 0.00727448] [ 0.04297087 -0.00799736 0.99904454]] t_gt: [ 0.66105413 -0.4773144 -0.57894594] Pose Error in degrees for R and t: 2.928865220432246 53.71934543436885 Number of keypoints: Image1: 544 Image2: 544 R_estimated: [[ 9.99999805e-01 -6.24160870e-04 2.68921248e-05] [ 6.24162418e-04 9.99999804e-01 -5.75992797e-05] [-2.68561683e-05 5.76160535e-05 9.99999998e-01]] t_estimated: [[ 3.23689635e-01] [-9.46163314e-01] [-5.46710287e-05]] R_gt: [[ 0.99672468 -0.03585401 -0.07248415] [ 0.03844297 0.99865982 0.03465169] [ 0.07114489 -0.03732439 0.9967676 ]] t_gt: [ 0.76147785 -0.56499709 -0.31769445] Pose Error in degrees for R and t: 5.065094342341282 38.64049107509761 Number of keypoints: Image1: 420 Image2: 420 R_estimated: [[ 9.99432012e-01 3.36993848e-02 -7.32287289e-05] [-3.36994023e-02 9.99431982e-01 -2.52594383e-04] [ 6.46748584e-05 2.54918677e-04 9.99999965e-01]] t_estimated: [[-0.14536075] [-0.98937791] [-0.00126296]] R_gt: [[ 0.99736113 0.01471673 -0.07109038] [-0.01072522 0.99836163 0.05620464] [ 0.07180281 -0.05529358 0.99588613]] t_gt: [ 0.35284472 -0.88063803 -0.31619182] Pose Error in degrees for R and t: 5.3417601659134695 34.875807974965106 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.15804966 -0.98742925 -0.00194302] [ 0.98742995 -0.15804608 -0.00187669] [ 0.00154601 -0.00221521 0.99999635]] t_estimated: [[ 9.89030163e-01] [-1.47713690e-01] [ 4.86910561e-05]] R_gt: [[ 0.98696698 0.14904217 0.06068775] [-0.1483476 0.98880897 -0.01583058] [-0.06236812 0.0066213 0.99803146]] t_gt: [-0.42762711 0.84953738 0.30890336] Pose Error in degrees for R and t: 107.70072180119925 56.74204224006078 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.89875985 -0.43843143 0.00293598] [ 0.43843764 0.89875948 -0.00195554] [-0.00178137 0.00304481 0.99999378]] t_estimated: [[-4.93909842e-01] [-8.69512758e-01] [-7.95194747e-04]] R_gt: [[ 0.94395667 0.32651205 0.04831587] [-0.32467689 0.9448864 -0.04213531] [-0.05941001 0.02408699 0.99794367]] t_gt: [-0.34035636 0.93379924 0.11034735] Pose Error in degrees for R and t: 45.15214926494254 49.91429677925937 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.82600442 -0.20785977 -0.52393799] [ 0.4011658 0.86975224 0.28739703] [ 0.39595795 -0.44757721 0.80180542]] t_estimated: [[-0.78446454] [-0.58834841] [-0.19611614]] R_gt: [[ 0.90076198 0.43059952 0.0566631 ] [-0.42762987 0.90212205 -0.05753013] [-0.07588957 0.02759062 0.9967354 ]] t_gt: [-0.2743311 0.9563405 0.10077353] Pose Error in degrees for R and t: 60.71956889746336 68.45562599859225 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-6.33960075e-01 7.73358504e-01 3.35376896e-03] [ 7.73364479e-01 6.33960994e-01 9.17430004e-04] [-1.41665641e-03 3.17529978e-03 -9.99993955e-01]] t_estimated: [[0.85673702] [0.51575269] [0.00092132]] R_gt: [[ 0.9925077 0.12024083 -0.02171735] [-0.11886138 0.99130778 0.05639976] [ 0.02831031 -0.05339506 0.99817192]] t_gt: [-0.40336447 0.89415826 0.1943659 ] Pose Error in degrees for R and t: 177.49598305860027 83.35217231655673 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.48362874e-01 -3.17187274e-01 -3.04027254e-04] [ 3.17187327e-01 9.48362894e-01 1.43487084e-04] [ 2.42815889e-04 -2.32511416e-04 9.99999943e-01]] t_estimated: [[-0.17410535] [-0.98472651] [-0.00101271]] R_gt: [[ 0.94440847 0.31459866 -0.09550359] [-0.30636527 0.94749754 0.09159024] [ 0.11930397 -0.0572391 0.99120588]] t_gt: [-0.25235121 0.96364373 -0.08780445] Pose Error in degrees for R and t: 37.41355291440163 25.190058385600864 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.67359964 -0.73900226 -0.01179755] [-0.73884313 -0.67370086 0.01542632] [-0.01934811 -0.00167463 -0.99981141]] t_estimated: [[0.70587414] [0.70832872] [0.00348012]] R_gt: [[ 0.8897975 0.43955141 -0.12269862] [-0.42468662 0.89597048 0.12991712] [ 0.16703956 -0.06349037 0.98390441]] t_gt: [-0.15214768 0.981562 -0.11570277] Pose Error in degrees for R and t: 177.9294806472267 54.02240955854963 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.99995407 0.00884428 -0.00369392] [-0.0088226 0.999944 0.00584377] [ 0.0037454 -0.00581091 0.9999761 ]] t_estimated: [[-0.98827203] [-0.14973819] [-0.02994764]] R_gt: [[ 0.9970973 -0.07584457 0.00663186] [ 0.07594739 0.99696712 -0.01700884] [-0.00532125 0.01746365 0.99983325]] t_gt: [ 0.7575543 -0.63985848 -0.12919984] Pose Error in degrees for R and t: 5.066415631367913 49.53456086112542 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999995e-01 -1.03751237e-04 1.39921735e-05] [ 1.03751946e-04 9.99999993e-01 -5.06440589e-05] [-1.39869190e-05 5.06455104e-05 9.99999999e-01]] t_estimated: [[9.70104343e-01] [2.42687503e-01] [5.82436739e-04]] R_gt: [[ 0.99465727 -0.1027189 -0.01027092] [ 0.10236223 0.99427408 -0.03066707] [ 0.01336254 0.0294528 0.99947666]] t_gt: [ 0.73974795 -0.6200066 -0.26146661] Pose Error in degrees for R and t: 6.1654041508684845 55.45783610407746 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 9.94185884e-01 1.07677417e-01 -3.64101374e-05] [-1.07677408e-01 9.94185864e-01 2.07075215e-04] [ 5.84957683e-05 -2.01950707e-04 9.99999978e-01]] t_estimated: [[9.68700927e-01] [2.48229613e-01] [7.56797600e-04]] R_gt: [[ 0.97315266 -0.23009551 -0.00541412] [ 0.22973584 0.97252259 -0.03769606] [ 0.01393909 0.03544105 0.99927447]] t_gt: [ 0.7965936 -0.58750711 -0.1423869 ] Pose Error in degrees for R and t: 19.60042783478081 51.26520128267372 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.99999610e-01 8.79420369e-04 7.82826342e-05] [-8.79411545e-04 9.99999607e-01 -1.12687537e-04] [-7.83817031e-05 1.12618650e-04 9.99999991e-01]] t_estimated: [[4.96372255e-03] [9.99987674e-01] [1.14203713e-04]] R_gt: [[ 0.99709188 0.07100258 0.02768356] [-0.07148195 0.99730114 0.01671639] [-0.02642169 -0.01864744 0.99947681]] t_gt: [-0.28813417 0.60003563 0.74628141] Pose Error in degrees for R and t: 4.441217804316791 53.224349928262356 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.90540910e-01 1.37215569e-01 7.70111405e-04] [-1.37206039e-01 9.90514179e-01 -7.49428620e-03] [-1.79113901e-03 7.31773314e-03 9.99971621e-01]] t_estimated: [[-0.9885475 ] [-0.15088654] [-0.00266396]] R_gt: [[ 0.97763939 0.20734565 0.03507928] [-0.20920473 0.97589454 0.06215153] [-0.02134651 -0.06810082 0.9974495 ]] t_gt: [-0.30786341 0.83652798 0.45325606] Pose Error in degrees for R and t: 6.091686429110274 79.81021123080046 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 1.00000000e+00 -1.70646611e-11 -2.18720983e-14] [ 1.70662690e-11 1.00000000e+00 3.24963792e-14] [ 2.18279713e-14 -3.24960054e-14 1.00000000e+00]] t_estimated: [[-9.99999663e-01] [-7.29990704e-04] [-3.74946140e-04]] R_gt: [[ 0.96677223 0.253802 0.03059899] [-0.25466583 0.96660377 0.02869547] [-0.02229425 -0.03553489 0.99911918]] t_gt: [-0.13821011 0.95432765 0.26487111] Pose Error in degrees for R and t: 14.92860349943017 82.1017613749437 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-3.90323666e-02 -9.99237819e-01 -5.06329263e-04] [-9.99237935e-01 3.90322847e-02 1.70727168e-04] [-1.50833855e-04 5.12607293e-04 -9.99999857e-01]] t_estimated: [[0.79424755] [0.60759294] [0.00128727]] R_gt: [[ 0.99196221 0.12558511 -0.0154987 ] [-0.12532835 0.99197753 0.01658121] [ 0.01745616 -0.01450541 0.99974194]] t_gt: [-0.13882772 0.98948353 -0.04061047] Pose Error in degrees for R and t: 179.9044022567397 60.601078874033824 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.42482540e-01 3.34255158e-01 3.89237657e-04] [-3.34255093e-01 9.42482617e-01 -2.24210838e-04] [-4.41793355e-04 8.12101308e-05 9.99999899e-01]] t_estimated: [[0.78723765] [0.61664843] [0.00126362]] R_gt: [[ 0.98857471 0.15071557 0.00233269] [-0.15069787 0.98855957 -0.0064686 ] [-0.00328072 0.00604285 0.99997641]] t_gt: [-0.01707714 0.99962557 -0.02137982] Pose Error in degrees for R and t: 10.865588249022277 52.918763915262566 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 1.67507863e-01 9.85870398e-01 8.20809268e-04] [-9.85869182e-01 1.67509021e-01 -1.63833171e-03] [-1.75267569e-03 -5.34777118e-04 9.99998321e-01]] t_estimated: [[0.19552053] [0.98069863] [0.00138709]] R_gt: [[ 0.9912949 0.12540983 0.0400951 ] [-0.12333744 0.99107739 -0.05054015] [-0.04607557 0.04515505 0.99791674]] t_gt: [0.09592627 0.99279655 0.07178548] Pose Error in degrees for R and t: 73.28017304197276 7.026656639117662 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99895404e-01 1.44631055e-02 -2.21689025e-05] [-1.44631052e-02 9.99895404e-01 1.36566507e-05] [ 2.23641013e-05 -1.33345911e-05 1.00000000e+00]] t_estimated: [[-9.94954086e-01] [-1.00331267e-01] [-5.26380461e-05]] R_gt: [[ 0.99934597 0.03598329 -0.00373453] [-0.03593731 0.99928851 0.01148058] [ 0.00414482 -0.01133826 0.99992645]] t_gt: [-0.81189551 0.57847469 0.07869373] Pose Error in degrees for R and t: 1.4121706641084242 41.43079547836658 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.94911752e-01 -1.00750211e-01 -1.20611786e-05] [ 1.00750212e-01 9.94911751e-01 5.86743512e-05] [ 6.08835507e-06 -5.95909679e-05 9.99999998e-01]] t_estimated: [[-0.68863095] [-0.7251115 ] [-0.00085264]] R_gt: [[ 0.99826473 0.04803444 0.03407062] [-0.04780478 0.99882842 -0.0075085 ] [-0.03439227 0.00586806 0.99939117]] t_gt: [-0.80520472 0.41039272 0.42804575] Pose Error in degrees for R and t: 8.760848650340492 75.13493955700923 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.87448719e-01 -1.57939752e-01 -2.48176246e-04] [ 1.57939882e-01 9.87448520e-01 6.43222280e-04] [ 1.43470899e-04 -6.74345944e-04 9.99999762e-01]] t_estimated: [[-0.0053514 ] [-0.9999851 ] [-0.00107521]] R_gt: [[ 0.99854424 0.0384498 0.03784041] [-0.03832441 0.99925754 -0.00403207] [-0.03796791 0.00257702 0.99927535]] t_gt: [-0.86625369 0.13266726 0.48166788] Pose Error in degrees for R and t: 11.49893205239306 82.61433349408159 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99573949 0.09220242 -0.00125972] [-0.09220015 0.99573895 0.00175633] [ 0.00141629 -0.0016327 0.99999766]] t_estimated: [[9.77461337e-01] [2.11113089e-01] [7.73308020e-04]] R_gt: [[ 9.48144717e-01 -3.17277653e-01 -1.89030334e-02] [ 3.17339519e-01 9.48311565e-01 3.23426258e-04] [ 1.78232590e-02 -6.30422069e-03 9.99820850e-01]] t_gt: [ 0.8650586 -0.50132921 -0.01851071] Pose Error in degrees for R and t: 23.81259999166686 42.29329399057559 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.98829543 0.1524894 0.00437388] [-0.15244145 0.98826438 -0.00975339] [-0.00580984 0.00897247 0.99994287]] t_estimated: [[-9.35347745e-01] [-3.53728721e-01] [-7.67307420e-04]] R_gt: [[ 0.89758838 -0.44038202 -0.0199757 ] [ 0.44056041 0.89770739 0.00536597] [ 0.01556853 -0.01361665 0.9997861 ]] t_gt: [ 0.89120457 -0.45359722 0.00199308] Pose Error in degrees for R and t: 34.94932086593724 47.690328826703926 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.99212676 0.12520063 0.00304732] [-0.12517999 0.99211456 -0.00621858] [-0.00380186 0.00578816 0.99997602]] t_estimated: [[-0.39935646] [-0.91679487] [-0.00126126]] R_gt: [[ 0.90056779 -0.43350265 -0.03245103] [ 0.43291457 0.90112297 -0.02372005] [ 0.03952621 0.0073136 0.99919153]] t_gt: [ 0.88682064 -0.45754979 -0.06478684] Pose Error in degrees for R and t: 32.95817589355108 86.24998104157902 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.98471972e-01 -5.52584672e-02 -4.72260615e-04] [ 5.52586186e-02 9.98472026e-01 3.13863638e-04] [ 4.54195390e-04 -3.39480515e-04 9.99999839e-01]] t_estimated: [[0.24804552] [0.96874521] [0.0024776 ]] R_gt: [[ 0.98526042 0.17104906 0.00225529] [-0.17095792 0.98502904 -0.02216919] [-0.00601369 0.02145728 0.99975157]] t_gt: [-0.39387473 0.91777523 -0.05051061] Pose Error in degrees for R and t: 13.079573794081837 37.695987884927554 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.3246592 0.94578485 0.00935013] [-0.94582261 0.32468223 -0.00101783] [-0.00399847 -0.00851311 0.99995577]] t_estimated: [[0.07063493] [0.99748188] [0.00637239]] R_gt: [[ 0.96987849 0.24343392 0.00873098] [-0.2430491 0.96948948 -0.03189208] [-0.01622857 0.0288095 0.99945306]] t_gt: [-0.3345395 0.94191594 -0.02962573] Pose Error in degrees for R and t: 57.00553593578786 23.691084975275785 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-9.91390792e-01 -1.30594671e-01 -9.45139651e-03] [-1.30596445e-01 9.91435516e-01 -4.31859525e-04] [ 9.42684873e-03 8.06177228e-04 -9.99955241e-01]] t_estimated: [[ 0.999628 ] [ 0.02696717] [-0.00407888]] R_gt: [[ 0.9428178 0.33324968 0.00618814] [-0.33167326 0.93987115 -0.08145677] [-0.03296119 0.07474667 0.99665784]] t_gt: [-0.27502724 0.96013188 -0.05006781] Pose Error in degrees for R and t: 179.69429293523174 75.59179016980723 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-0.97960591 -0.20089997 -0.00338478] [ 0.20090868 -0.97960688 -0.00246238] [-0.00282106 -0.00309219 0.99999124]] t_estimated: [[0.87508789] [0.48396165] [0.00152189]] R_gt: [[ 0.98350091 0.17153738 -0.05746444] [-0.17039389 0.98507725 0.02427327] [ 0.06077134 -0.01408179 0.9980515 ]] t_gt: [-0.34444244 0.92199296 -0.17688523] Pose Error in degrees for R and t: 178.25982566452274 81.6903633629746 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 7.85588593e-01 -6.18749076e-01 3.80108634e-04] [ 6.18748365e-01 7.85588398e-01 1.15298759e-03] [-1.01201894e-03 -6.70582302e-04 9.99999263e-01]] t_estimated: [[0.69832356] [0.71578165] [0.00091885]] R_gt: [[ 0.94085581 0.31550735 -0.12347549] [-0.30897034 0.94853447 0.06942984] [ 0.13902603 -0.02717387 0.98991538]] t_gt: [-0.16074977 0.96565709 -0.20412225] Pose Error in degrees for R and t: 57.0534177407694 54.63685578550221 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-9.99627832e-01 2.72753304e-02 -5.04593879e-04] [-2.72725210e-02 -9.99615920e-01 -4.92164538e-03] [-6.38639578e-04 -4.90605215e-03 9.99987761e-01]] t_estimated: [[0.82766304] [0.56122357] [0.00141723]] R_gt: [[ 0.85987878 0.49239588 -0.13474096] [-0.47949374 0.86959623 0.11785062] [ 0.17519969 -0.03672987 0.98384702]] t_gt: [-0.12993262 0.9782517 -0.16168221] Pose Error in degrees for R and t: 149.2561442108862 63.816442778670705 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999695e-01 -7.64265700e-04 -1.60186148e-04] [ 7.64261449e-04 9.99999708e-01 -2.65976915e-05] [ 1.60206429e-04 2.64752593e-05 9.99999987e-01]] t_estimated: [[-0.93470954] [-0.3554104 ] [-0.00123806]] R_gt: [[ 0.98851245 0.15014738 0.01729625] [-0.15033291 0.9885856 0.00999613] [-0.0155974 -0.01248147 0.99980027]] t_gt: [-0.62087508 0.77637228 0.10844453] Pose Error in degrees for R and t: 8.761444378680396 72.2855799935735 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 1.10078613e-13 1.24943458e-15] [-1.09912079e-13 1.00000000e+00 -1.94793183e-15] [-1.24997668e-15 1.94879919e-15 1.00000000e+00]] t_estimated: [[-8.40084852e-01] [-5.42454511e-01] [-7.38948527e-04]] R_gt: [[ 0.97560352 0.21855902 -0.02075289] [-0.21883305 0.97568776 -0.01207423] [ 0.01760913 0.01632148 0.99971141]] t_gt: [-0.54090387 0.83671663 -0.08560543] Pose Error in degrees for R and t: 12.708649746631997 89.9663274765119 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999980e-01 -9.02433990e-06 -2.00406227e-04] [ 9.07762243e-06 9.99999965e-01 2.65873280e-04] [ 2.00403820e-04 -2.65875094e-04 9.99999945e-01]] t_estimated: [[0.13245736] [0.99118779] [0.00134337]] R_gt: [[ 0.9524154 0.30392129 0.02318818] [-0.30243244 0.95173842 -0.0522318 ] [-0.03794245 0.04273363 0.99836557]] t_gt: [-0.49780606 0.86727647 0.00454401] Pose Error in degrees for R and t: 17.966292950170658 37.46718326372453 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.78027119 0.54195519 0.31218814] [-0.62032812 -0.73428584 -0.2757124 ] [ 0.07981157 -0.40878953 0.90913213]] t_estimated: [[0.65977615] [0.75146166] [0.00089888]] R_gt: [[ 0.99466964 -0.10311437 -0.00142121] [ 0.10311075 0.99466838 -0.00218888] [ 0.00163984 0.00203102 0.99999659]] t_gt: [ 0.85185979 -0.52371802 -0.00737142] Pose Error in degrees for R and t: 149.18990757551896 80.30076988263934 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99998449e-01 1.75387139e-03 1.63894223e-04] [-1.75389597e-03 9.99998451e-01 1.49966530e-04] [-1.63630947e-04 -1.50253751e-04 9.99999975e-01]] t_estimated: [[9.99944946e-01] [1.04639118e-02] [7.81646035e-04]] R_gt: [[ 0.98725514 -0.15898739 0.00709682] [ 0.15892324 0.98725155 0.00889997] [-0.00842217 -0.00765831 0.99993549]] t_gt: [ 0.86532974 -0.49595946 0.07230943] Pose Error in degrees for R and t: 9.268906383229726 30.666689150164117 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99732367e-01 2.31332049e-02 2.22976827e-04] [-2.31332189e-02 9.99732389e-01 6.01067910e-05] [-2.21526694e-04 -6.52488762e-05 9.99999973e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99709661 -0.07181456 0.02533828] [ 0.07206766 0.99735744 -0.00922394] [-0.02460865 0.01102387 0.99963647]] t_gt: [ 0.97719539 -0.11740219 0.17693471] Pose Error in degrees for R and t: 5.663260481280726 12.322048885701129 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-0.73397304 -0.67914692 -0.00656075] [ 0.67875301 -0.7338208 0.02830894] [-0.02404034 0.01632487 0.99957769]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99792261 0.00842859 -0.06387386] [-0.00603241 0.99927337 0.03762703] [ 0.06414494 -0.03716462 0.99724812]] t_gt: [-0.44576749 -0.51134122 -0.73472546] Pose Error in degrees for R and t: 137.70553452981437 48.43238073516852 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 0.93051903 -0.36623114 -0.00301539] [ 0.36623781 0.930519 0.00206231] [ 0.0020506 -0.00302337 0.99999333]] t_estimated: [[0.85064827] [0.52572254] [0.00365085]] R_gt: [[ 0.99139588 -0.05677305 -0.11795277] [ 0.06392467 0.99628155 0.05776633] [ 0.11423391 -0.06481017 0.99133695]] t_gt: [ 0.16331699 -0.86686692 -0.47103005] Pose Error in degrees for R and t: 19.43745257435553 71.42620353284092 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.99994191e-01 3.40831454e-03 3.13747430e-05] [-3.40831499e-03 9.99994192e-01 1.43989175e-05] [-3.13254848e-05 -1.45057689e-05 9.99999999e-01]] t_estimated: [[ 7.11680783e-01] [-7.02502724e-01] [-6.20731490e-04]] R_gt: [[ 0.98780621 -0.11268081 -0.10744055] [ 0.11797498 0.99203031 0.04424578] [ 0.10159823 -0.05638235 0.9932266 ]] t_gt: [ 0.29458097 -0.90667933 -0.30191826] Pose Error in degrees for R and t: 9.553800937554271 32.1368762371509 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.86526502e-01 1.63601520e-01 5.57878168e-05] [-1.63601499e-01 9.86526468e-01 -2.79145128e-04] [-1.00704725e-04 2.66257097e-04 9.99999959e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99573765 0.07931717 -0.04706448] [-0.07961612 0.99681508 -0.00449409] [ 0.04655832 0.00822128 0.99888161]] t_gt: [-0.58719331 0.61110052 -0.53081087] Pose Error in degrees for R and t: 5.561506904943701 54.14705402756869 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-9.20176402e-01 -3.91499437e-01 1.89222461e-03] [-3.91499171e-01 9.20178311e-01 5.24206178e-04] [-1.94641047e-03 -2.58442214e-04 -9.99998072e-01]] t_estimated: [[0.97632021] [0.21632193] [0.00191435]] R_gt: [[ 0.99715112 0.06657977 -0.03543885] [-0.06603986 0.99768499 0.01620299] [ 0.03643614 -0.01381658 0.9992404 ]] t_gt: [-0.69982291 0.58300901 -0.41273283] Pose Error in degrees for R and t: 178.26454772198304 56.087668642438324 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.34509522 0.89268599 0.28986377] [ 0.93342738 -0.29414952 -0.20540054] [-0.0980949 0.34144953 -0.93476714]] t_estimated: [[0.99362448] [0.11272887] [0.00161041]] R_gt: [[ 0.99791085 -0.0482742 -0.04293476] [ 0.04971271 0.99821467 0.03310935] [ 0.04126005 -0.03517576 0.99852899]] t_gt: [ 0.7027168 -0.70796957 -0.07048537] Pose Error in degrees for R and t: 163.19977623954705 51.806845706000985 Number of keypoints: Image1: 431 Image2: 431 R_estimated: [[ 9.99015593e-01 -4.43604004e-02 -7.47328876e-07] [ 4.43604002e-02 9.99015589e-01 9.21151921e-05] [-3.33967360e-06 -9.20576650e-05 9.99999996e-01]] t_estimated: [[3.47645558e-02] [9.99395525e-01] [1.02796223e-04]] R_gt: [[ 0.99877865 -0.03405551 0.03579317] [ 0.03661408 0.99662721 -0.07343757] [-0.03317027 0.07465811 0.99665677]] t_gt: [ 0.58931468 0.62971462 -0.50613013] Pose Error in degrees for R and t: 4.71921439398853 49.475796740554706 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[-1.64886769e-01 -9.86310520e-01 -1.97769709e-03] [ 9.86312456e-01 -1.64885813e-01 -6.37942309e-04] [ 3.03115017e-04 -2.05581552e-03 9.99997841e-01]] t_estimated: [[0.95793934] [0.2869689 ] [0.00103226]] R_gt: [[ 0.99959198 -0.02837838 0.0030424 ] [ 0.02851431 0.98840045 -0.14916863] [ 0.00122657 0.14919465 0.98880701]] t_gt: [ 0.35848637 0.71901537 -0.59540274] Pose Error in degrees for R and t: 98.13729103913316 56.69274598693724 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-9.95100839e-01 9.88522597e-02 1.59744603e-03] [ 9.88644074e-02 9.95026598e-01 1.21613013e-02] [-3.87329172e-04 1.22596517e-02 -9.99924773e-01]] t_estimated: [[0.84204001] [0.53941383] [0.00115506]] R_gt: [[ 9.99224020e-01 7.40407730e-04 3.93801880e-02] [ 7.56171448e-03 9.77616554e-01 -2.10257970e-01] [-3.86536676e-02 2.10391847e-01 9.76852442e-01]] t_gt: [ 0.15194349 0.81002976 -0.56636116] Pose Error in degrees for R and t: 177.09629488511885 55.65119114547359 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.66935682e-01 2.55020033e-01 4.11096480e-04] [-2.55020122e-01 9.66935730e-01 1.79649002e-04] [-3.51689781e-04 -2.78546905e-04 9.99999899e-01]] t_estimated: [[0.02740482] [0.99962357] [0.00130499]] R_gt: [[ 0.98744045 -0.15455426 -0.03278168] [ 0.15611817 0.98635816 0.05221099] [ 0.02426519 -0.05667277 0.99809849]] t_gt: [ 0.7934408 -0.57577289 0.1973253 ] Pose Error in degrees for R and t: 23.977502780990356 56.38878776833108 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-3.41922788e-01 9.39716345e-01 4.69026445e-03] [ 9.39727986e-01 3.41916673e-01 2.07374348e-03] [ 3.45051023e-04 5.11663292e-03 -9.99986850e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.91949993 -0.39018401 -0.04772167] [ 0.39188707 0.91939862 0.03364783] [ 0.03074658 -0.04964111 0.99829383]] t_gt: [ 0.89670546 -0.43835653 0.06134229] Pose Error in degrees for R and t: 176.921320638128 59.1111304622166 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.36963648 0.92858111 -0.03325644] [ 0.89483761 -0.34610783 0.28191313] [ 0.25026889 -0.13396449 -0.95886339]] t_estimated: [[8.40431351e-01] [5.41917483e-01] [7.65420174e-04]] R_gt: [[ 0.80006812 -0.59926559 0.02779045] [ 0.59983929 0.79840342 -0.05240749] [ 0.00921812 0.05860004 0.99823916]] t_gt: [ 0.95158868 -0.29161629 -0.0971541 ] Pose Error in degrees for R and t: 171.6352693862465 50.08588302012809 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.99842153e-01 -1.77671022e-02 3.72666258e-06] [ 1.77671021e-02 9.99842152e-01 2.12406468e-05] [-4.10345908e-06 -2.11710821e-05 1.00000000e+00]] t_estimated: [[ 0.30633199] [-0.9519241 ] [-0.00110426]] R_gt: [[ 0.99829646 -0.05456013 0.02069167] [ 0.05413759 0.99832473 0.02042199] [-0.02177183 -0.0192672 0.99957703]] t_gt: [ 0.75868971 -0.39219991 0.52016262] Pose Error in degrees for R and t: 2.67828369306093 52.75812630989464 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 0.81441826 0.58025341 0.00537371] [ 0.58008783 -0.81435329 0.01807859] [ 0.01486626 -0.01160631 -0.99982213]] t_estimated: [[0.81266937] [0.58272423] [0.00098267]] R_gt: [[ 0.99906058 -0.0231319 -0.0366385 ] [ 0.02258406 0.99962706 -0.01528396] [ 0.03697788 0.01444206 0.99921085]] t_gt: [ 0.7021269 0.41296419 -0.58006757] Pose Error in degrees for R and t: 179.280329091685 35.83843312612925 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.87926542 -0.47631465 -0.00408458] [ 0.47629717 -0.87927244 0.00458036] [-0.00577315 0.00208188 0.99998117]] t_estimated: [[0.97885657] [0.20453719] [0.00208711]] R_gt: [[ 0.99057692 0.04374452 -0.12978315] [-0.06075521 0.98963088 -0.13014663] [ 0.1227445 0.13680551 0.98296327]] t_gt: [ 0.0510669 0.63055513 -0.77446265] Pose Error in degrees for R and t: 154.71936887794774 79.78497915321958 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.90797888e-01 1.35349629e-01 1.51535241e-04] [-1.35349594e-01 9.90797879e-01 -2.26224828e-04] [-1.80760242e-04 2.03632848e-04 9.99999963e-01]] t_estimated: [[9.99994892e-01] [3.10075946e-03] [7.75189839e-04]] R_gt: [[ 0.99896796 -0.02633865 0.0370143 ] [ 0.02808339 0.99847989 -0.04742802] [-0.03570836 0.04841826 0.99818796]] t_gt: [ 0.94965492 0.04471946 -0.31008984] Pose Error in degrees for R and t: 9.949361621013384 18.277565050129947 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.89070323 -0.45458205 -0.00170921] [ 0.45458411 -0.89070314 -0.00109902] [-0.0010228 -0.00175588 0.99999794]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99475253 0.07729037 0.06704017] [-0.07417057 0.99609604 -0.04785809] [-0.0704771 0.04263457 0.99660151]] t_gt: [-0.02009684 0.99778538 0.06340703] Pose Error in degrees for R and t: 157.3368394031414 89.0285784669901 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999897e-01 4.54712787e-04 4.61387091e-06] [-4.54712599e-04 9.99999896e-01 -4.07901146e-05] [-4.63241821e-06 4.07880124e-05 9.99999999e-01]] t_estimated: [[ 4.46867986e-01] [-8.94599911e-01] [ 5.35310233e-05]] R_gt: [[ 0.98158329 0.16423454 0.09758366] [-0.15349784 0.98212746 -0.10891809] [-0.11372676 0.09193338 0.98924923]] t_gt: [-0.14214095 0.98959313 0.02239172] Pose Error in degrees for R and t: 12.430799707383024 18.412528655839623 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.97683097e-01 6.80306084e-02 5.23589890e-04] [-6.80298972e-02 9.97682470e-01 -1.27367165e-03] [-6.09025112e-04 1.23510091e-03 9.99999052e-01]] t_estimated: [[0.79167214] [0.61094301] [0.00196445]] R_gt: [[ 0.9936987 0.10068059 0.04926801] [-0.09931784 0.99462269 -0.02937545] [-0.05196128 0.02429716 0.99835358]] t_gt: [-0.36151919 0.92662177 0.10332455] Pose Error in degrees for R and t: 3.7149623796218583 73.73314604938317 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.77867393e-01 2.09225219e-01 -4.12670721e-04] [-2.09224356e-01 9.77866427e-01 1.55545780e-03] [ 7.28977842e-04 -1.43469070e-03 9.99998705e-01]] t_estimated: [[-9.80422304e-01] [-1.96905267e-01] [-6.49255559e-04]] R_gt: [[ 0.97598903 0.2110642 0.05382987] [-0.20918036 0.9771162 -0.03857068] [-0.06073889 0.02638427 0.99780508]] t_gt: [-0.30819699 0.94901841 0.06617153] Pose Error in degrees for R and t: 3.8689452524970562 83.38175224595028 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-9.50960284e-01 -3.09312761e-01 -3.91751637e-04] [-3.09310058e-01 9.50955981e-01 -3.16388742e-03] [ 1.35116931e-03 -2.88755856e-03 -9.99994918e-01]] t_estimated: [[9.50963626e-01] [3.09301714e-01] [7.95120088e-04]] R_gt: [[ 0.93738373 0.34624152 0.03779494] [-0.3427759 0.93632053 -0.07621562] [-0.06177734 0.05848741 0.9963752 ]] t_gt: [-0.25100211 0.96753606 -0.02952819] Pose Error in degrees for R and t: 177.76910149043243 86.52900729920611 Number of keypoints: Image1: 392 Image2: 392 R_estimated: [[ 5.57995256e-01 -8.29843379e-01 -1.12224614e-03] [ 8.29844044e-01 5.57995328e-01 2.77178548e-04] [ 3.96193320e-04 -1.08595359e-03 9.99999332e-01]] t_estimated: [[ 9.47403531e-01] [-3.20041336e-01] [ 3.04538077e-04]] R_gt: [[ 0.99936155 -0.01557708 -0.03217743] [ 0.01255805 0.99568115 -0.0919848 ] [ 0.03347164 0.09152205 0.9952398 ]] t_gt: [ 0.36260578 0.60562783 -0.70833042] Pose Error in degrees for R and t: 55.53741778038042 81.40249156716543 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[-0.13519008 -0.9902109 -0.03472785] [ 0.98963572 -0.1366585 0.04410892] [-0.04842299 -0.02840483 0.99842295]] t_estimated: [[ 0.55449992] [-0.83038937] [ 0.05461993]] R_gt: [[ 0.99995359 0.00615939 0.0075122 ] [-0.00485763 0.98671677 -0.16237295] [-0.00841213 0.16232959 0.98670033]] t_gt: [ 0.10086442 0.74672926 -0.65743576] Pose Error in degrees for R and t: 98.84186504850334 53.12610442362958 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 0.99765372 -0.06671495 0.01536771] [ 0.06703489 0.99752239 -0.02134006] [-0.01390593 0.02232016 0.99965416]] t_estimated: [[-0.78801482] [-0.61563658] [-0.00492509]] R_gt: [[ 0.99832017 0.05787572 -0.00280051] [-0.05750644 0.98370623 -0.1703364 ] [-0.00710353 0.17021165 0.98538133]] t_gt: [ 0.02977487 0.84978561 -0.52628688] Pose Error in degrees for R and t: 11.17773147410066 57.041589067933515 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.97579489e-01 6.95352712e-02 9.94759963e-05] [-6.95352754e-02 9.97579493e-01 3.89027028e-05] [-9.65301040e-05 -4.57256291e-05 9.99999994e-01]] t_estimated: [[8.58282596e-01] [5.13176800e-01] [7.46982242e-04]] R_gt: [[ 0.99414761 -0.10725962 0.0129187 ] [ 0.10729389 0.99422502 -0.00201591] [-0.01262769 0.00338916 0.99991354]] t_gt: [ 0.82703852 -0.55655407 0.07908757] Pose Error in degrees for R and t: 10.17322156750708 64.89482526488183 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.96515579e-01 -8.34015408e-02 9.40289690e-04] [ 8.34021669e-02 9.96515760e-01 -6.47446265e-04] [-8.83015478e-04 7.23612487e-04 9.99999348e-01]] t_estimated: [[-0.50540288] [-0.86288297] [-0.00094822]] R_gt: [[ 0.98448044 -0.17314266 0.02865451] [ 0.17290857 0.98488224 0.01046238] [-0.03003278 -0.00534626 0.99953377]] t_gt: [ 0.85845362 -0.48496206 0.16694064] Pose Error in degrees for R and t: 5.456300227405921 89.10857189026208 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 5.40586724e-01 8.41288285e-01 1.22942532e-04] [-8.41287719e-01 5.40586520e-01 -1.09056686e-03] [-9.83942199e-04 4.86115923e-04 9.99999398e-01]] t_estimated: [[-0.99963151] [-0.02711701] [-0.00123259]] R_gt: [[ 0.98762491 -0.15654675 0.0095612 ] [ 0.15643466 0.98762111 0.01151156] [-0.0112451 -0.00987395 0.9998874 ]] t_gt: [ 0.9218322 -0.36481251 0.13090924] Pose Error in degrees for R and t: 66.2852884445416 24.250111668914013 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.98724251 0.15921842 0.00131336] [ 0.15921325 0.98723841 -0.00338477] [-0.00183552 -0.00313249 -0.99999341]] t_estimated: [[ 0.97563032] [-0.21939669] [ 0.00325252]] R_gt: [[ 0.99653402 -0.08304352 0.0049066 ] [ 0.08311883 0.99637896 -0.01788104] [-0.00340417 0.01822733 0.99982833]] t_gt: [ 0.85672855 -0.50186158 -0.1189586 ] Pose Error in degrees for R and t: 179.5998744863444 18.990912653711543 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-2.49251846e-01 -9.68438610e-01 -4.19726123e-04] [-9.68438605e-01 2.49251991e-01 -3.37666010e-04] [ 4.31626373e-04 3.22315104e-04 -9.99999855e-01]] t_estimated: [[8.21329078e-01] [5.70454225e-01] [7.23043432e-04]] R_gt: [[ 0.97929282 -0.20237011 0.00563951] [ 0.20233285 0.97929399 0.00670226] [-0.00687958 -0.00542241 0.99996181]] t_gt: [ 0.86121074 -0.50579706 0.04985382] Pose Error in degrees for R and t: 179.53625929761682 65.23866440951298 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.26600237e-01 3.76047385e-01 6.05117677e-04] [-3.76047269e-01 9.26600433e-01 -2.99370828e-04] [-6.73279918e-04 4.98442302e-05 9.99999772e-01]] t_estimated: [[0.76446072] [0.64466904] [0.00128009]] R_gt: [[ 0.98202638 -0.1872917 0.02336108] [ 0.18695587 0.98224051 0.01586117] [-0.02591661 -0.01120885 0.9996008 ]] t_gt: [ 0.87540214 -0.46251263 0.14054595] Pose Error in degrees for R and t: 32.91356897599678 68.20894387368566 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.71364858 0.69996626 0.02743964] [ 0.69998075 0.7140819 -0.01067698] [-0.02706767 0.01158761 -0.99956644]] t_estimated: [[ 0.92764781] [-0.37315454] [ 0.01500753]] R_gt: [[ 9.96900148e-01 -7.24509757e-02 -3.06755557e-02] [ 7.24817100e-02 9.97370095e-01 -1.53245013e-04] [ 3.06061465e-02 -2.07004046e-03 9.99530043e-01]] t_gt: [ 0.4506328 -0.86212901 -0.23165416] Pose Error in degrees for R and t: 179.9451233518476 42.586264865887884 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.85508011e-01 -1.69628889e-01 -1.41332273e-05] [ 1.69628888e-01 9.85507982e-01 2.39420701e-04] [-2.66842593e-05 -2.38348422e-04 9.99999971e-01]] t_estimated: [[ 9.26620671e-01] [-3.75997349e-01] [ 3.53549974e-04]] R_gt: [[ 0.99325458 -0.11405242 -0.02092331] [ 0.11392597 0.99346386 -0.00715397] [ 0.02160277 0.00472197 0.99975584]] t_gt: [ 0.46397266 -0.87431955 -0.14245947] Pose Error in degrees for R and t: 3.461437491300045 40.65747417867186 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.32329239 -0.89726645 -0.30065753] [-0.85559694 0.14142508 0.49794861] [-0.40427207 0.41822466 -0.81342008]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.97948725 -0.20150558 -0.00135161] [ 0.20149725 0.97932265 0.01809287] [-0.00232185 -0.01799359 0.99983542]] t_gt: [ 0.48275521 -0.86959471 0.10369397] Pose Error in degrees for R and t: 171.9338464374799 75.44497589730145 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[-0.9235363 0.38191444 -0.03495805] [ 0.38188671 0.92417682 0.00772996] [ 0.03525961 -0.00621111 -0.99935889]] t_estimated: [[ 0.98031783] [-0.19663212] [-0.01768489]] R_gt: [[ 0.99625114 0.08639006 0.00440275] [-0.08637364 0.99625551 -0.00380149] [-0.00471473 0.00340711 0.99998255]] t_gt: [-0.97792984 0.2070591 -0.02792398] Pose Error in degrees for R and t: 178.24451677808545 2.6843513122102336 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.98076389e-01 -6.19960810e-02 -9.15070014e-05] [ 6.19960893e-02 9.98076388e-01 9.13180516e-05] [ 8.56696162e-05 -9.68154674e-05 9.99999992e-01]] t_estimated: [[-9.98625453e-01] [ 5.24074027e-02] [-8.18211519e-04]] R_gt: [[ 0.97788695 0.20878309 0.01212751] [-0.20899314 0.9777142 0.01995766] [-0.00769019 -0.02205091 0.99972757]] t_gt: [-0.95695612 0.25178193 0.14436358] Pose Error in degrees for R and t: 15.669789094042263 14.368935064781551 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.99800625 -0.06310176 -0.00129844] [-0.06310677 -0.99799764 -0.00427171] [-0.00102629 0.00434514 -0.99999003]] t_estimated: [[8.07298987e-03] [9.99967094e-01] [7.98180335e-04]] R_gt: [[ 0.96521982 0.25751401 0.0451369 ] [-0.25933968 0.96492817 0.04071871] [-0.03306805 -0.05100789 0.99815095]] t_gt: [-0.9411178 0.20717814 0.26716008] Pose Error in degrees for R and t: 177.53233818455203 78.47550061682155 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 8.71396896e-01 4.90578076e-01 7.75290548e-04] [-4.90576500e-01 8.71396641e-01 -1.60988223e-03] [-1.46535851e-03 1.02250706e-03 9.99998404e-01]] t_estimated: [[-9.97408472e-01] [-7.19413056e-02] [-8.88164267e-04]] R_gt: [[ 0.998607 0.03254942 0.04153544] [-0.03570187 0.99634972 0.07754431] [-0.03885998 -0.07891806 0.99612265]] t_gt: [-0.40982628 0.2097956 0.88770954] Pose Error in degrees for R and t: 27.878271158474885 66.86600496624958 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.95831068e-01 9.12165124e-02 1.80836061e-04] [-9.12164243e-02 9.95830992e-01 -4.47288112e-04] [-2.20882216e-04 4.28928179e-04 9.99999884e-01]] t_estimated: [[-9.17388651e-01] [-3.97991494e-01] [-9.12824528e-04]] R_gt: [[ 0.98002981 0.18868333 0.06277023] [-0.19397318 0.97659812 0.09289997] [-0.04377222 -0.10321994 0.99369429]] t_gt: [-0.59462172 0.70735954 0.38218777] Pose Error in degrees for R and t: 8.696784140803224 74.7145991765207 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-7.86584216e-01 6.17444897e-01 -6.86076128e-03] [ 6.17428809e-01 7.86613835e-01 4.51006950e-03] [ 8.18148914e-03 -6.88482185e-04 -9.99966294e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9687461 0.24421582 0.04346673] [-0.24726502 0.96469083 0.09073187] [-0.0197732 -0.09864329 0.99492618]] t_gt: [-0.58932384 0.77794925 0.21792747] Pose Error in degrees for R and t: 179.47323975818333 89.59281211834518 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.31135871e-01 -3.64672256e-01 -3.67800638e-04] [ 3.64672325e-01 9.31135906e-01 1.39855897e-04] [ 2.91470815e-04 -2.64351556e-04 9.99999923e-01]] t_estimated: [[ 9.47533943e-01] [-3.19655139e-01] [ 1.33393900e-04]] R_gt: [[ 0.99896368 0.00385204 -0.04534262] [-0.00371207 0.99998838 0.00320076] [ 0.0453554 -0.00302868 0.9989673 ]] t_gt: [-0.35240348 0.23484031 -0.90590387] Pose Error in degrees for R and t: 21.756428212748922 65.85150013838593 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.26499726 0.96423967 -0.00427884] [ 0.96421139 -0.26494499 0.01002728] [ 0.00853505 -0.00678291 -0.99994057]] t_estimated: [[0.2492038 ] [0.96845054] [0.00101302]] R_gt: [[ 0.99828136 0.01118412 -0.05752649] [-0.0124144 0.99970142 -0.02105644] [ 0.05727376 0.02173385 0.99812237]] t_gt: [-0.38400476 0.29859665 -0.87371642] Pose Error in degrees for R and t: 178.37595721233868 78.89570387197531 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999959e-01 -1.93561270e-04 -2.10126669e-04] [ 1.93583541e-04 9.99999976e-01 1.05970912e-04] [ 2.10106152e-04 -1.06011584e-04 9.99999972e-01]] t_estimated: [[9.99996873e-01] [2.38336243e-03] [7.57385766e-04]] R_gt: [[ 0.99960995 -0.01118171 0.02559986] [ 0.01210996 0.99926249 -0.03642871] [-0.02517272 0.03672363 0.99900848]] t_gt: [-0.96307171 -0.14240766 -0.2285015 ] Pose Error in degrees for R and t: 2.646467289723616 15.510562101298227 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.65249063 -0.75779039 0.00311396] [ 0.75779564 0.65247698 -0.00442312] [ 0.00132001 0.00524579 0.99998537]] t_estimated: [[-0.04968917] [-0.99875237] [-0.00496892]] R_gt: [[ 0.9994913 0.02720111 0.01663171] [-0.02703282 0.99958173 -0.01030173] [-0.01690654 0.00984698 0.99980859]] t_gt: [-0.94224008 0.2786627 0.18582447] Pose Error in degrees for R and t: 50.83227476793854 76.56045530055114 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.99436786 0.10596622 -0.00192892] [-0.10595305 0.99435314 0.00598256] [ 0.00255198 -0.00574449 0.99998024]] t_estimated: [[9.21553610e-01] [3.88250464e-01] [7.21655137e-04]] R_gt: [[ 9.94412468e-01 1.05458012e-01 4.78524518e-03] [-1.05460702e-01 9.94423380e-01 3.41541516e-04] [-4.72374361e-03 -8.43962164e-04 9.99988539e-01]] t_gt: [-0.83578734 0.54790942 0.03542305] Pose Error in degrees for R and t: 0.5025630224448743 56.11890670279969 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-2.53128605e-01 -9.67431537e-01 -1.45949949e-03] [ 9.67432586e-01 -2.53128799e-01 -5.33609463e-05] [-3.17818289e-04 -1.42547454e-03 9.99998934e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99150656 0.12979659 -0.0082511 ] [-0.12986087 0.99150212 -0.00782049] [ 0.00716529 0.00882518 0.99993515]] t_gt: [-0.79509814 0.59119453 -0.13530699] Pose Error in degrees for R and t: 112.12403121886791 37.49882585055996 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-9.98878811e-01 -4.56855060e-02 1.24078833e-02] [-4.56774806e-02 9.98955807e-01 9.29575223e-04] [-1.24373952e-02 3.61772145e-04 -9.99922587e-01]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.97478251 -0.22274823 -0.01345662] [ 0.22278431 0.97486608 0.00126683] [ 0.01283642 -0.00423369 0.99990822]] t_gt: [ 0.87637324 -0.48132009 -0.01734699] Pose Error in degrees for R and t: 179.94585739657833 31.98334785643612 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-1.52411775e-01 -9.88317072e-01 -1.24119658e-04] [-9.88316997e-01 1.52411709e-01 4.28911775e-04] [-4.04983540e-04 1.88040772e-04 -9.99999900e-01]] t_estimated: [[0.90699437] [0.42114057] [0.00135759]] R_gt: [[ 0.88527597 -0.46294234 0.04440323] [ 0.46496156 0.88306428 -0.06331005] [-0.00990214 0.07669304 0.99700502]] t_gt: [ 0.92242936 -0.36153548 -0.13570617] Pose Error in degrees for R and t: 178.54132577654357 46.82753151279319 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 7.36559822e-01 6.76336778e-01 -6.94198209e-03] [-6.76372256e-01 7.36514077e-01 -8.22108644e-03] [-4.47355588e-04 1.07506860e-02 9.99942110e-01]] t_estimated: [[-0.99689076] [-0.07818751] [-0.00977344]] R_gt: [[ 0.77793076 -0.61560355 0.12591967] [ 0.62805809 0.76790066 -0.12597925] [-0.01914042 0.17708787 0.98400832]] t_gt: [ 0.9457342 -0.22193689 -0.23734117] Pose Error in degrees for R and t: 81.85287045753944 22.6132441974963 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.91347431e-01 1.31264027e-01 1.64971725e-04] [-1.31264000e-01 9.91347434e-01 -1.63719899e-04] [-1.85034829e-04 1.40648453e-04 9.99999973e-01]] t_estimated: [[0.9561995 ] [0.29271413] [0.00097571]] R_gt: [[ 0.99283969 -0.11344859 -0.03740323] [ 0.11443994 0.99310095 0.02555253] [ 0.03424669 -0.02964988 0.99897358]] t_gt: [ 0.77819436 -0.6277219 -0.0194617 ] Pose Error in degrees for R and t: 14.327251658661647 55.92020179961303 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.61566549e-01 2.74571943e-01 1.39185444e-04] [-2.74571938e-01 9.61566559e-01 -5.97665323e-05] [-1.50246282e-04 1.92530810e-05 9.99999989e-01]] t_estimated: [[0.69239941] [0.72151388] [0.00088676]] R_gt: [[ 0.99182637 -0.12200288 -0.03736433] [ 0.12280932 0.99222544 0.02012112] [ 0.03461969 -0.02454561 0.99909868]] t_gt: [ 0.75644318 -0.65252527 -0.04477147] Pose Error in degrees for R and t: 23.09832832671433 86.96677310070567 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.80128994 -0.59826933 -0.00287259] [ 0.59827425 0.80129039 0.00127671] [ 0.00153796 -0.00274161 0.99999506]] t_estimated: [[0.91598754] [0.40120254] [0.00183198]] R_gt: [[ 0.99829231 -0.05839943 0.00160577] [ 0.05837037 0.99819242 0.01433765] [-0.00244027 -0.01421891 0.99989608]] t_gt: [ 0.59591246 -0.79582276 0.10749169] Pose Error in degrees for R and t: 33.40686948281831 76.89365313864099 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.90896598 0.41686849 0.00123039] [-0.41686586 0.90896596 -0.00193443] [-0.00192479 0.00124542 0.99999737]] t_estimated: [[0.572675 ] [0.819782 ] [0.00090185]] R_gt: [[ 0.9599605 -0.2799374 0.01056149] [ 0.28010021 0.95975911 -0.02013958] [-0.00449906 0.02229043 0.99974108]] t_gt: [ 0.8698836 -0.48803159 -0.07160784] Pose Error in degrees for R and t: 40.916694447680726 84.37503706921953 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99997938e-01 1.97803046e-03 4.59261566e-04] [-1.97803648e-03 9.99998044e-01 1.26432014e-05] [-4.59235659e-04 -1.35516114e-05 9.99999894e-01]] t_estimated: [[ 9.99998690e-01] [-1.48879951e-03] [ 6.35414899e-04]] R_gt: [[ 0.87127025 -0.48051796 0.09995098] [ 0.48920781 0.86664443 -0.09798983] [-0.03953653 0.13427257 0.99015456]] t_gt: [ 0.91807345 -0.3348688 -0.2121415 ] Pose Error in degrees for R and t: 30.333064778818194 23.301502779539486 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 1.26787968e-01 -9.91929262e-01 -1.07302126e-03] [ 9.91929215e-01 1.26789030e-01 -9.87443720e-04] [ 1.11552164e-03 -9.39165149e-04 9.99998937e-01]] t_estimated: [[ 9.84952140e-01] [-1.72827254e-01] [-1.51347415e-04]] R_gt: [[ 0.77381755 -0.60279839 0.19453051] [ 0.63005533 0.76408111 -0.13859776] [-0.0650908 0.22981485 0.97105472]] t_gt: [ 0.93684167 -0.22013526 -0.27178697] Pose Error in degrees for R and t: 46.02913999526355 16.08934431894986 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999533e-01 -9.58319624e-04 -1.26075308e-04] [ 9.58324145e-04 9.99999540e-01 3.58026899e-05] [ 1.26040939e-04 -3.59234942e-05 9.99999991e-01]] t_estimated: [[-0.99997883] [-0.00633789] [-0.00147108]] R_gt: [[ 0.99867263 0.02747028 -0.04359335] [-0.02727815 0.99961552 0.00498258] [ 0.04371324 -0.00378706 0.99903683]] t_gt: [-0.6780946 0.4298288 -0.59618363] Pose Error in degrees for R and t: 2.9869287166402123 47.45002173997985 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999703e-01 5.25461901e-04 -5.63679861e-04] [-5.25462724e-04 9.99999862e-01 -1.31262012e-06] [ 5.63679093e-04 1.60881249e-06 9.99999841e-01]] t_estimated: [[0.67133109] [0.74115674] [0.00111491]] R_gt: [[ 0.99736495 0.01773596 -0.07036276] [-0.019452 0.99952874 -0.02378398] [ 0.06990801 0.02508944 0.99723698]] t_gt: [-0.42131606 0.34583072 -0.83838767] Pose Error in degrees for R and t: 4.353733175634022 88.42631565514151 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.82430855e-01 -1.86624183e-01 1.01407232e-03] [ 1.86626097e-01 9.82428239e-01 -2.33565219e-03] [-5.60364099e-04 2.48386914e-03 9.99996758e-01]] t_estimated: [[-0.5485838 ] [-0.8360874 ] [-0.00369724]] R_gt: [[ 0.99818271 0.03114249 -0.05161322] [-0.03292798 0.99887531 -0.03412916] [ 0.05049223 0.03576678 0.998083 ]] t_gt: [-0.62360454 0.38026177 -0.6830215 ] Pose Error in degrees for R and t: 13.071228724494741 88.47044660659505 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 7.99893005e-01 -6.00142453e-01 -4.65147816e-04] [ 6.00142413e-01 7.99893135e-01 -2.36711702e-04] [ 5.14129287e-04 -8.98108979e-05 9.99999864e-01]] t_estimated: [[ 0.45159852] [-0.89222081] [-0.00090004]] R_gt: [[ 0.99484072 -0.05596267 0.08461969] [ 0.04689674 0.99330478 0.10557567] [-0.08996142 -0.10106275 0.99080496]] t_gt: [ 0.1702961 -0.41543369 0.8935402 ] Pose Error in degrees for R and t: 34.777958476379474 63.46401297007136 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.29627439 -0.95508245 -0.00624437] [-0.95508095 0.29621698 0.0087103 ] [-0.00646937 0.00854452 -0.99994257]] t_estimated: [[8.92050510e-01] [4.51935177e-01] [6.95284887e-04]] R_gt: [[ 0.98796218 -0.05493033 0.14461497] [ 0.02857619 0.98354892 0.17836689] [-0.15203391 -0.17208748 0.97327923]] t_gt: [ 0.06460419 -0.24915476 0.96630648] Pose Error in degrees for R and t: 167.06549708329032 86.88732328995019 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.46240501e-01 3.23463929e-01 -4.00811834e-05] [-3.23463928e-01 9.46240468e-01 -2.54034008e-04] [-4.42444004e-05 2.53342084e-04 9.99999967e-01]] t_estimated: [[-8.80999522e-01] [-4.73116657e-01] [-6.86671490e-04]] R_gt: [[ 0.98575255 0.03822755 0.16380595] [-0.07475747 0.97193439 0.22305739] [-0.15068218 -0.23212491 0.96094371]] t_gt: [-0.23325041 0.12877998 0.96385163] Pose Error in degrees for R and t: 22.34539896602353 81.72619994434096 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999256e-01 1.21028854e-03 1.50832879e-04] [-1.21028898e-03 9.99999268e-01 2.83973347e-06] [-1.50829332e-04 -3.02228273e-06 9.99999989e-01]] t_estimated: [[-0.98965159] [ 0.14348553] [ 0.00127848]] R_gt: [[ 0.99525073 0.09250099 -0.03030556] [-0.0922269 0.99568439 0.01027544] [ 0.03112612 -0.00743075 0.99948849]] t_gt: [-0.6554821 0.74258012 -0.13754267] Pose Error in degrees for R and t: 5.546404546390856 40.968290138156426 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999613e-01 -8.79209081e-04 -2.16939014e-05] [ 8.79210805e-04 9.99999610e-01 7.95874167e-05] [ 2.16239190e-05 -7.96064595e-05 9.99999997e-01]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.99439369 0.09737086 -0.04121832] [-0.09715294 0.99524293 0.00724496] [ 0.04172784 -0.00319953 0.99912452]] t_gt: [-0.59400742 0.78068052 -0.19414714] Pose Error in degrees for R and t: 6.122583100380173 39.19402036641576 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99999999e-01 -5.05604638e-05 4.63960301e-07] [ 5.05604644e-05 9.99999999e-01 -1.14227978e-06] [-4.63902546e-07 1.14230324e-06 1.00000000e+00]] t_estimated: [[-0.99712973] [-0.07570208] [-0.00122676]] R_gt: [[ 0.99725352 0.06441169 -0.03656476] [-0.06398714 0.99787091 0.01264512] [ 0.037302 -0.01027067 0.99925114]] t_gt: [-0.52745184 0.83012289 -0.18080527] Pose Error in degrees for R and t: 4.300475410210527 62.39860010231128 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.26811445e-01 -3.75508643e-01 3.71537063e-03] [-3.75526674e-01 -9.26751743e-01 1.05320486e-02] [-5.11649067e-04 -1.11564440e-02 -9.99937634e-01]] t_estimated: [[0.22838218] [0.97355664] [0.00539048]] R_gt: [[ 0.99486769 0.10091812 0.00747084] [-0.10111007 0.99434033 0.03261678] [-0.00413714 -0.03320592 0.9994395 ]] t_gt: [-0.91510726 0.08404938 0.39435314] Pose Error in degrees for R and t: 177.44468122708022 82.8168412355515 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.98575018e-01 5.33652954e-02 2.79407988e-04] [-5.33652658e-02 9.98575053e-01 -1.12440528e-04] [-2.85010268e-04 9.73696206e-05 9.99999955e-01]] t_estimated: [[-0.61502511] [ 0.78850708] [ 0.00084222]] R_gt: [[ 0.99124495 0.1196738 0.05578465] [-0.12188354 0.99181494 0.03804299] [-0.05077533 -0.04450898 0.99771843]] t_gt: [-0.87607281 -0.05041553 0.47953594] Pose Error in degrees for R and t: 5.478347310120859 60.03587581474264 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99994595e-01 -3.26388767e-03 -3.95512617e-04] [ 3.26381141e-03 9.99994655e-01 -1.93308364e-04] [ 3.96141440e-04 1.92016440e-04 9.99999903e-01]] t_estimated: [[-0.99914267] [ 0.04115893] [-0.004457 ]] R_gt: [[ 0.99737187 0.03333681 0.06434736] [-0.03661778 0.99805215 0.05050499] [-0.06253838 -0.05272914 0.99664904]] t_gt: [-0.37781802 -0.62975675 0.67871937] Pose Error in degrees for R and t: 5.201575926459866 69.6014127684999 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 8.83684697e-01 4.68082326e-01 5.39954810e-04] [-4.68081579e-01 8.83684564e-01 -1.10715201e-03] [-9.95388020e-04 7.25630391e-04 9.99999241e-01]] t_estimated: [[0.44161706] [0.89720234] [0.00152484]] R_gt: [[ 0.99753498 -0.06629667 -0.02302745] [ 0.06642656 0.99777917 0.00496516] [ 0.02264718 -0.00648175 0.99972249]] t_gt: [ 0.31728616 -0.91267402 -0.25759586] Pose Error in degrees for R and t: 31.745905736417555 47.2245325099263 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 3.23863863e-03 9.99941503e-01 1.03200138e-02] [ 9.99994756e-01 -3.23837152e-03 -4.25932136e-05] [-9.17068341e-06 1.03200976e-02 -9.99946746e-01]] t_estimated: [[0.70752115] [0.70669148] [0.00098789]] R_gt: [[ 0.99587586 -0.05687822 -0.07068948] [ 0.05908524 0.99781646 0.02954417] [ 0.06885505 -0.03359854 0.9970603 ]] t_gt: [ 0.01903943 -0.87826667 -0.47779196] Pose Error in degrees for R and t: 176.32230361028027 52.5791578475636 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.10672725 -0.9937017 -0.03415003] [ 0.99180432 0.1088241 -0.06694403] [ 0.07023874 -0.0267254 0.99717214]] t_estimated: [[ 0.99693603] [-0.07776804] [-0.00840778]] R_gt: [[ 0.98358583 -0.11083191 -0.14239208] [ 0.12080507 0.99065036 0.063394 ] [ 0.13403541 -0.07955417 0.98777797]] t_gt: [ 0.2287631 -0.89059812 -0.39306797] Pose Error in degrees for R and t: 77.29463797069918 72.5047297135606 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99990971e-01 -4.24932085e-03 3.39621591e-05] [ 4.24932016e-03 9.99990971e-01 2.04607278e-05] [-3.40487967e-05 -2.03162270e-05 9.99999999e-01]] t_estimated: [[5.20848908e-01] [8.53648876e-01] [1.11144974e-04]] R_gt: [[ 0.99953402 -0.03027215 -0.00419053] [ 0.03004981 0.99850389 -0.04569866] [ 0.00556756 0.04555152 0.99894688]] t_gt: [ 0.55225646 -0.01826451 -0.83347418] Pose Error in degrees for R and t: 3.0208326206551788 74.21918383697857 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.62169424 -0.78304473 0.01836349] [ 0.78290128 -0.62052918 0.04482314] [-0.02370344 0.04224309 0.99882615]] t_estimated: [[0.96051118] [0.27823745] [0.00147999]] R_gt: [[ 0.99956091 -0.0296045 -0.00175146] [ 0.02954396 0.99916874 -0.028086 ] [ 0.00258225 0.02802182 0.99960364]] t_gt: [ 0.75317045 0.15697792 -0.63882095] Pose Error in degrees for R and t: 126.75758247447857 39.98966896726625 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999315e-01 1.15223077e-03 2.06128173e-04] [-1.15239769e-03 9.99999007e-01 8.11524200e-04] [-2.05192905e-04 -8.11761186e-04 9.99999649e-01]] t_estimated: [[0.71486029] [0.69926538] [0.00164024]] R_gt: [[ 0.99830454 0.04942385 -0.03075587] [-0.05177356 0.99536897 -0.08099604] [ 0.02661137 0.08245146 0.99623985]] t_gt: [-0.2899036 0.72606419 -0.62352762] Pose Error in degrees for R and t: 5.7652906170707405 72.57553317279998 Number of keypoints: Image1: 480 Image2: 480 R_estimated: [[ 9.99702964e-01 2.43717758e-02 1.21054317e-05] [-2.43717756e-02 9.99702964e-01 -1.40748697e-05] [-1.24448655e-05 1.37756581e-05 1.00000000e+00]] t_estimated: [[-0.69453578] [-0.71945756] [-0.00093402]] R_gt: [[ 0.99877512 0.03753301 0.03225054] [-0.03718267 0.99924443 -0.01138363] [-0.03265276 0.01016957 0.99941463]] t_gt: [-0.44334873 0.83428201 0.32774294] Pose Error in degrees for R and t: 2.095333045374902 72.9854190550753 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.99970621e-01 7.66515275e-03 -4.60922595e-05] [-7.66515838e-03 9.99970615e-01 -1.23448098e-04] [ 4.51446565e-05 1.23797776e-04 9.99999991e-01]] t_estimated: [[-0.8629019 ] [-0.50537071] [-0.00087276]] R_gt: [[ 0.98909508 0.13760028 0.05251581] [-0.1379916 0.99042589 0.00390408] [-0.05147443 -0.01110873 0.99861263]] t_gt: [-0.69490256 0.6745474 0.24919118] Pose Error in degrees for R and t: 8.072717996924265 75.01781172744867 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99999986e-01 -1.26674292e-04 -1.10353776e-04] [ 1.26639252e-04 9.99999942e-01 -3.17472140e-04] [ 1.10393986e-04 3.17458160e-04 9.99999944e-01]] t_estimated: [[-0.81258881] [-0.5828367 ] [-0.00089608]] R_gt: [[ 0.98434567 0.16453765 0.06318405] [-0.16312138 0.98623654 -0.02699543] [-0.0667563 0.01626545 0.99763645]] t_gt: [-0.7354641 0.66409811 0.13441079] Pose Error in degrees for R and t: 10.234688151012726 77.85135105256286 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99886181e-01 -1.50872019e-02 -4.47739541e-05] [ 1.50872029e-02 9.99886181e-01 2.37769395e-05] [ 4.44101305e-05 -2.44497470e-05 9.99999999e-01]] t_estimated: [[-8.41217411e-01] [-5.40696814e-01] [-4.72856410e-04]] R_gt: [[ 0.999501 0.03033887 -0.00876897] [-0.03005179 0.99905996 0.03125731] [ 0.00970864 -0.03097845 0.99947283]] t_gt: [0.13938846 0.8093186 0.57059115] Pose Error in degrees for R and t: 3.19178687808498 56.28089556598063 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 3.97907995e-01 9.17423712e-01 1.72036027e-03] [ 9.17417746e-01 -3.97911631e-01 3.31878737e-03] [ 3.72928559e-03 2.57717010e-04 -9.99993013e-01]] t_estimated: [[-9.84932091e-01] [-1.72939581e-01] [-8.23521815e-04]] R_gt: [[ 0.99955294 0.02708472 -0.01267751] [-0.02594729 0.99624644 0.0825813 ] [ 0.01486697 -0.08221523 0.99650354]] t_gt: [0.33577789 0.45941334 0.8223093 ] Pose Error in degrees for R and t: 175.50719172241512 65.74198681792481 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 0.45072941 -0.89265731 -0.00243372] [-0.89265886 -0.45072141 -0.00322208] [ 0.00177928 0.00362477 -0.99999185]] t_estimated: [[ 0.56353769] [ 0.82608966] [-0.00107153]] R_gt: [[ 0.99855897 0.04107846 -0.03452801] [-0.03254776 0.97519606 0.21893415] [ 0.04266444 -0.21749509 0.97512828]] t_gt: [0.0057569 0.00905738 0.99994241] Pose Error in degrees for R and t: 170.66805988922957 89.44680234565982 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99072527e-01 4.30589472e-02 -1.08906685e-04] [-4.30589288e-02 9.99072520e-01 1.66477037e-04] [ 1.15974002e-04 -1.61633229e-04 9.99999980e-01]] t_estimated: [[-0.98129569] [-0.19250298] [-0.0011738 ]] R_gt: [[ 0.99548259 0.09094949 0.02724728] [-0.08987952 0.99521871 -0.03820005] [-0.03059178 0.03557874 0.99889893]] t_gt: [-0.7458745 0.63930431 -0.18697925] Pose Error in degrees for R and t: 3.8350137670062074 52.477356584090366 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.99788416e-01 2.05698820e-02 -5.92918906e-05] [-2.05698818e-02 9.99788418e-01 3.24089988e-06] [ 5.93460104e-05 -2.02058697e-06 9.99999998e-01]] t_estimated: [[-9.97108489e-01] [-7.59857966e-02] [-9.05096295e-04]] R_gt: [[ 0.98403718 0.17746205 0.01332304] [-0.17729839 0.98407528 -0.01265556] [-0.01535788 0.01009179 0.99983097]] t_gt: [-0.78060847 0.62478316 -0.01721711] Pose Error in degrees for R and t: 9.100904796047462 43.038751924548436 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-7.91457934e-01 -6.11220285e-01 -2.02545918e-03] [ 6.11222919e-01 -7.91457746e-01 -1.08589731e-03] [-9.39342895e-04 -2.09744911e-03 9.99997359e-01]] t_estimated: [[0.93438077] [0.35627468] [0.00096031]] R_gt: [[ 0.95362188 0.29915028 0.03338997] [-0.29787325 0.95383277 -0.03839565] [-0.04333472 0.02666882 0.99870467]] t_gt: [-0.77020325 0.63723875 -0.02671569] Pose Error in degrees for R and t: 159.71196648461975 60.48464931632206 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.92583455e-01 -1.21565054e-01 -1.46966176e-04] [ 1.21565045e-01 9.92583465e-01 -7.18006830e-05] [ 1.54604650e-04 5.34022203e-05 9.99999987e-01]] t_estimated: [[-0.41570008] [-0.90950088] [-0.00126223]] R_gt: [[ 0.9996709 0.02519988 0.0049463 ] [-0.02528034 0.99953297 0.01713365] [-0.00451141 -0.01725182 0.99984158]] t_gt: [-0.13575779 0.9761011 0.16969522] Pose Error in degrees for R and t: 8.491018033026174 33.74227813440369 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-6.75520935e-02 9.97715516e-01 -6.80794166e-04] [-9.97697268e-01 -6.75549797e-02 -6.04045249e-03] [-6.07264421e-03 2.71181267e-04 9.99981525e-01]] t_estimated: [[0.03028901] [0.99953739] [0.00275355]] R_gt: [[ 0.99992257 0.0098236 -0.00774932] [-0.0085184 0.98813887 0.1533255 ] [ 0.00916364 -0.1532467 0.98814582]] t_gt: [ 0.06366889 -0.14451747 0.98745176] Pose Error in degrees for R and t: 93.69501998408414 81.96354427213869 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 2.59049543e-01 9.65863930e-01 -4.50874312e-04] [-9.65863252e-01 2.59048710e-01 -1.39454200e-03] [-1.23013941e-03 7.96738396e-04 9.99998926e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99783026 0.03188597 -0.05761218] [-0.01903316 0.97725576 0.21120915] [ 0.0630359 -0.20965362 0.9757423 ]] t_gt: [-0.11437595 -0.18771955 0.97554062] Pose Error in degrees for R and t: 74.45312336247328 79.19802962329008 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.80741251e-01 1.95311543e-01 4.00100834e-06] [-1.95311540e-01 9.80741238e-01 -1.65083086e-04] [-3.61665861e-05 1.61122349e-04 9.99999986e-01]] t_estimated: [[-8.63339738e-01] [-5.04622480e-01] [-8.06106198e-04]] R_gt: [[ 0.98928738 -0.08280231 0.12023082] [ 0.08304965 0.99654112 0.00295839] [-0.12005936 0.00705843 0.99274207]] t_gt: [ 0.31005108 -0.65723689 0.6869556 ] Pose Error in degrees for R and t: 17.451850223558495 86.36367043090733 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.65127469 0.7588394 -0.00201042] [-0.75880735 0.65121727 -0.01129004] [-0.00725811 0.00887844 0.99993424]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96655237 -0.17900535 0.18367055] [ 0.17999557 0.98360194 0.01140513] [-0.18269972 0.0220363 0.98292237]] t_gt: [ 0.48745972 -0.69640624 0.52668907] Pose Error in degrees for R and t: 60.61034755863608 46.1474702619401 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.64395298e-01 -2.64464347e-01 5.63902159e-04] [ 2.64464921e-01 9.64393973e-01 -1.60316983e-03] [-1.19842581e-04 1.69522178e-03 9.99998556e-01]] t_estimated: [[-0.02855968] [-0.99958872] [-0.00259633]] R_gt: [[ 0.93663296 -0.29503502 0.18887774] [ 0.29320254 0.95528606 0.03822073] [-0.1917089 0.01958188 0.9812571 ]] t_gt: [ 0.64614586 -0.66803596 0.36908466] Pose Error in degrees for R and t: 11.2630458219383 49.58274413451622 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.99973203e-01 7.32079078e-03 -3.79843058e-06] [-7.32079094e-03 9.99973202e-01 -4.37201927e-05] [ 3.47826240e-06 4.37468286e-05 9.99999999e-01]] t_estimated: [[-0.63192498] [ 0.77502691] [-0.00202659]] R_gt: [[ 0.99957832 0.01549052 -0.02456563] [-0.01524054 0.99983006 0.01035479] [ 0.02472238 -0.00997528 0.99964395]] t_gt: [-0.38401328 0.8613687 -0.33253235] Pose Error in degrees for R and t: 1.597138448191179 24.366448844573693 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.87851499 -0.47770592 -0.00290831] [ 0.47771341 -0.87851077 -0.0029537 ] [-0.00114398 -0.00398421 0.99999141]] t_estimated: [[0.96979684] [0.24390975] [0.00146054]] R_gt: [[ 0.99975381 -0.01681644 -0.01451265] [ 0.01696545 0.99980378 0.01022507] [ 0.01433749 -0.01046817 0.99984211]] t_gt: [ 0.88788401 0.45147169 -0.08851721] Pose Error in degrees for R and t: 150.49516898084832 13.818750000613084 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.98122185e-01 -6.12542539e-02 -1.42041156e-04] [ 6.12543218e-02 9.98122046e-01 5.37623833e-04] [ 1.08842662e-04 -5.45314909e-04 9.99999845e-01]] t_estimated: [[0.91294151] [0.40808906] [0.00105178]] R_gt: [[ 0.99932535 0.02184876 -0.02954515] [-0.02263312 0.99939332 -0.02645826] [ 0.02894921 0.02711014 0.99921289]] t_gt: [-0.19627805 0.79951664 -0.56766897] Pose Error in degrees for R and t: 5.305492052999126 81.57662819674005 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 9.99705347e-01 -2.42737729e-02 -5.95059660e-05] [ 2.42737735e-02 9.99705348e-01 1.08188144e-05] [ 5.92258191e-05 -1.22600609e-05 9.99999998e-01]] t_estimated: [[-9.92460640e-01] [-1.22562267e-01] [-6.06491534e-04]] R_gt: [[ 0.99361969 0.11219416 -0.01146855] [-0.11187196 0.99339144 0.02566907] [ 0.01427289 -0.024222 0.99960548]] t_gt: [-0.85970599 0.48595417 0.15733455] Pose Error in degrees for R and t: 7.988015669843588 37.479670562260374 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.99956952e-01 -9.27818189e-03 -9.49791073e-05] [ 9.27818732e-03 9.99956955e-01 5.68758806e-05] [ 9.44473142e-05 -5.77546662e-05 9.99999994e-01]] t_estimated: [[-9.98953045e-01] [-4.57472039e-02] [-8.44226111e-05]] R_gt: [[ 0.97370514 0.22766702 0.00816343] [-0.22771991 0.97370612 0.00634447] [-0.00650383 -0.00803634 0.99994719]] t_gt: [-0.83080482 0.55524915 0.03823248] Pose Error in degrees for R and t: 13.705968789163718 36.43504481482403 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.78257226e-01 -2.07395216e-01 -1.54037301e-04] [ 2.07395218e-01 9.78257238e-01 -4.88492005e-07] [ 1.50789416e-04 -3.14687289e-05 9.99999988e-01]] t_estimated: [[-0.6599393 ] [-0.7513185 ] [-0.00079747]] R_gt: [[ 0.93989002 0.34054286 0.02523941] [-0.34112018 0.93971794 0.02382706] [-0.01560443 -0.03100382 0.99939783]] t_gt: [-0.80408931 0.58914894 0.07964869] Pose Error in degrees for R and t: 31.964151989908714 84.95442551110939 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99999909e-01 4.03465052e-04 -1.39548476e-04] [-4.03486060e-04 9.99999907e-01 -1.50550370e-04] [ 1.39487721e-04 1.50606662e-04 9.99999979e-01]] t_estimated: [[-0.60947221] [-0.79280533] [-0.00182634]] R_gt: [[ 9.96581644e-01 7.50333699e-02 3.45764130e-02] [-7.49694366e-02 9.97181461e-01 -3.15342248e-03] [-3.47150306e-02 5.50697645e-04 9.99397193e-01]] t_gt: [-0.74892025 0.62158899 0.22966408] Pose Error in degrees for R and t: 4.722068624251399 87.89261999410405 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999936e-01 3.50951748e-04 -6.23602081e-05] [-3.50967613e-04 9.99999906e-01 -2.54583415e-04] [ 6.22708557e-05 2.54605286e-04 9.99999966e-01]] t_estimated: [[-0.63011147] [-0.77650331] [-0.0014673 ]] R_gt: [[ 0.9900618 0.13662171 0.03335652] [-0.13594041 0.99047512 -0.02190792] [-0.03603175 0.01715645 0.99920331]] t_gt: [-0.75979437 0.64822608 0.0501544 ] Pose Error in degrees for R and t: 8.141777292872005 88.58647664728403 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.99999916e-01 -3.10585357e-04 -2.67495754e-04] [ 3.10491262e-04 9.99999890e-01 -3.51732413e-04] [ 2.67604968e-04 3.51649329e-04 9.99999902e-01]] t_estimated: [[-0.82396095] [-0.56664538] [-0.00116906]] R_gt: [[ 0.9875989 0.15185691 0.03984813] [-0.15026368 0.98782244 -0.04035317] [-0.04549106 0.03386434 0.99839003]] t_gt: [-0.79351715 0.60796559 0.02661533] Pose Error in degrees for R and t: 9.298387564497132 71.98324310343607 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99893978e-01 1.45579747e-02 -3.13713141e-04] [-1.45579147e-02 9.99894009e-01 1.92421252e-04] [ 3.16481154e-04 -1.87833842e-04 9.99999932e-01]] t_estimated: [[-0.54442994] [ 0.83880146] [ 0.00285546]] R_gt: [[ 0.99446083 0.10452944 0.01107325] [-0.10455443 0.99451779 0.0017269 ] [-0.01083261 -0.00287494 0.99993712]] t_gt: [-0.7777185 0.62574626 0.05996297] Pose Error in degrees for R and t: 5.208265758261174 18.47512364580949 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99999986e-01 -3.32253877e-05 -1.62623527e-04] [ 3.31848972e-05 9.99999968e-01 -2.48979838e-04] [ 1.62631794e-04 2.48974437e-04 9.99999956e-01]] t_estimated: [[-7.87104882e-01] [-6.16818852e-01] [-6.39442659e-04]] R_gt: [[ 0.99181337 0.12406063 0.03026809] [-0.12357217 0.99218076 -0.01751305] [-0.03220299 0.0136294 0.99938806]] t_gt: [-0.80461992 0.59043445 0.06303923] Pose Error in degrees for R and t: 7.3935142133675535 74.38994452990704 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999433e-01 -1.06472319e-03 -3.07202891e-05] [ 1.06470955e-03 9.99999336e-01 -4.40738351e-04] [ 3.11895330e-05 4.40705393e-04 9.99999902e-01]] t_estimated: [[-9.32716735e-01] [-3.60609252e-01] [-6.77289909e-04]] R_gt: [[ 0.99258214 0.12142368 0.0061144 ] [-0.12104778 0.9916931 -0.0435033 ] [-0.01134531 0.04244131 0.99903424]] t_gt: [-0.83813452 0.53880427 -0.08497343] Pose Error in degrees for R and t: 7.456501377092652 54.02006888821668 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99737065e-01 2.29303152e-02 -4.65725606e-05] [-2.29303111e-02 9.99737062e-01 8.66123898e-05] [ 4.85463643e-05 -8.55216930e-05 9.99999995e-01]] t_estimated: [[-9.62445839e-01] [-2.71473764e-01] [-5.25358179e-05]] R_gt: [[ 9.93722745e-01 1.08792376e-01 2.60564294e-02] [-1.08852661e-01 9.94058197e-01 8.62403019e-04] [-2.58073648e-02 -3.69328691e-03 9.99659972e-01]] t_gt: [-0.85347929 0.51390356 0.08646519] Pose Error in degrees for R and t: 5.156181471802645 47.00678721660855 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99230003e-01 3.92349858e-02 -1.30891662e-04] [-3.92349702e-02 9.99230005e-01 1.19202870e-04] [ 1.35467799e-04 -1.13975553e-04 9.99999984e-01]] t_estimated: [[-9.90382435e-01] [-1.38356526e-01] [-3.23340876e-04]] R_gt: [[ 9.62488424e-01 2.67444230e-01 4.57108585e-02] [-2.67118793e-01 9.63573286e-01 -1.31975503e-02] [-4.75745650e-02 4.92698105e-04 9.98867500e-01]] t_gt: [-0.83254739 0.55281753 0.03546286] Pose Error in degrees for R and t: 13.540950641856147 41.578865868706266 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.14599808e-01 -4.04321463e-01 -5.59882096e-03] [-4.04329303e-01 9.14613430e-01 2.96987221e-04] [ 5.00067853e-03 2.53539183e-03 -9.99984282e-01]] t_estimated: [[ 0.98484037] [ 0.17344836] [-0.00226227]] R_gt: [[ 0.91015688 0.40682539 0.07814508] [-0.40429629 0.91344305 -0.04655644] [-0.09032219 0.01078061 0.99585447]] t_gt: [-0.7863586 0.6170772 0.02925559] Pose Error in degrees for R and t: 175.8341585463606 48.127683958164475 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.05567766e-01 4.24201271e-01 5.50030971e-04] [-4.24201107e-01 9.05567925e-01 -3.91948211e-04] [-6.64355334e-04 1.21611919e-04 9.99999772e-01]] t_estimated: [[-0.34467038] [ 0.93872286] [ 0.00130935]] R_gt: [[ 0.99411907 0.10637391 0.02032553] [-0.10658661 0.99425664 0.0096308 ] [-0.01918392 -0.01174091 0.99974737]] t_gt: [-0.85381383 0.50176072 0.13870154] Pose Error in degrees for R and t: 19.028495606033683 40.05026783196945 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.0211637 -0.99974684 -0.00763943] [ 0.99970408 0.02125322 -0.01183429] [ 0.01199366 -0.00738671 0.99990079]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96100724 0.27353222 0.0405808 ] [-0.27300162 0.96184101 -0.01822231] [-0.04401729 0.00643361 0.99901024]] t_gt: [-0.83005471 0.55751768 0.01353597] Pose Error in degrees for R and t: 104.69543633956012 34.074348969751 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.91343774 -0.40683241 -0.01090368] [-0.40682386 0.91350139 -0.00309164] [ 0.01121831 0.00161186 -0.99993577]] t_estimated: [[ 0.98141364] [ 0.19183287] [-0.00523579]] R_gt: [[ 0.91502891 0.39635146 0.07501933] [-0.39444503 0.9180759 -0.03936771] [-0.0844763 0.00643099 0.99640518]] t_gt: [-0.78881435 0.61348333 0.03755159] Pose Error in degrees for R and t: 176.33606163034884 48.954093334347114 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.99999794e-01 -6.38186729e-04 -6.27325011e-05] [ 6.38180926e-04 9.99999792e-01 -9.24713017e-05] [ 6.27915020e-05 9.24312480e-05 9.99999994e-01]] t_estimated: [[-9.89207334e-01] [-1.46522221e-01] [-2.97743089e-04]] R_gt: [[ 0.99421269 0.10642863 0.01462155] [-0.10669859 0.99410772 0.01915089] [-0.01249665 -0.02059969 0.99970918]] t_gt: [-0.78730965 0.59602957 0.15777283] Pose Error in degrees for R and t: 6.308905036619557 46.25627580160578 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[ 9.99997712e-01 2.09729650e-03 -4.21657439e-04] [-2.09750090e-03 9.99997683e-01 -4.84910265e-04] [ 4.20639461e-04 4.85793583e-04 9.99999794e-01]] t_estimated: [[-0.50448824] [-0.86341459] [-0.00262012]] R_gt: [[ 0.99134473 0.12702476 0.03316785] [-0.12665214 0.99186109 -0.01310993] [-0.03456347 0.00879521 0.99936324]] t_gt: [-0.80508236 0.58784006 0.0792872 ] Pose Error in degrees for R and t: 7.458462684347603 84.16852335711627 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[ 9.99999942e-01 2.54694504e-04 -2.25100856e-04] [-2.54766543e-04 9.99999916e-01 -3.20060422e-04] [ 2.25019320e-04 3.20117751e-04 9.99999923e-01]] t_estimated: [[-0.70809121] [-0.70612047] [-0.00085084]] R_gt: [[ 0.99160309 0.12886419 0.01086828] [-0.12829024 0.99080695 -0.04293485] [-0.0163007 0.04118029 0.99901821]] t_gt: [-0.83289689 0.54857236 -0.07315145] Pose Error in degrees for R and t: 7.796059620363746 78.31850419996104 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 4.65130719e-01 -8.85241064e-01 -1.29357719e-03] [ 8.85241822e-01 4.65131075e-01 2.94886693e-05] [ 5.75578366e-04 -1.15884471e-03 9.99999163e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99756626 0.06033352 0.03495859] [-0.06009034 0.99816212 -0.00797775] [-0.03537467 0.00585908 0.99935684]] t_gt: [-0.73768286 0.63855544 0.21925089] Pose Error in degrees for R and t: 65.76519305246208 42.6480550431852 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99999759e-01 -5.59456836e-04 4.12182523e-04] [ 5.59604664e-04 9.99999779e-01 -3.58618104e-04] [-4.11981801e-04 3.58848677e-04 9.99999851e-01]] t_estimated: [[0.60601047] [0.79545511] [0.00157493]] R_gt: [[ 0.99041242 0.13374888 0.03458198] [-0.13290864 0.99079876 -0.02558271] [-0.03768453 0.02074181 0.99907373]] t_gt: [-0.74857915 0.66152122 0.04493251] Pose Error in degrees for R and t: 8.072670405301782 85.83468818661326 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.97439124e-01 7.15205490e-02 -7.69617539e-05] [-7.15205697e-02 9.97439076e-01 -3.12109889e-04] [ 5.44423901e-05 3.16814962e-04 9.99999948e-01]] t_estimated: [[-9.28357381e-01] [-3.71688570e-01] [-4.24501516e-04]] R_gt: [[ 0.98768776 0.15019851 0.04376567] [-0.14850053 0.98811297 -0.03977965] [-0.04921992 0.03279104 0.99824882]] t_gt: [-0.78604308 0.61695176 0.03881744] Pose Error in degrees for R and t: 5.624970481740417 59.97363176246883 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[-9.68299251e-01 -2.49203989e-01 -1.71444822e-02] [-2.49227895e-01 9.68444565e-01 -7.61996172e-04] [ 1.67933731e-02 3.53504291e-03 -9.99852732e-01]] t_estimated: [[ 0.98979869] [ 0.14225033] [-0.00796192]] R_gt: [[ 0.99244137 0.12221228 -0.01111386] [-0.12197342 0.99233021 0.02005314] [ 0.01348008 -0.01854516 0.99973689]] t_gt: [-0.86533404 0.49078622 0.10161637] Pose Error in degrees for R and t: 178.4557626096941 38.04740875370151 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[-0.98827553 -0.15229152 -0.01089846] [-0.15231193 0.9883319 0.00106361] [ 0.01060932 0.00271111 -0.99994004]] t_estimated: [[ 0.99707934] [ 0.07621477] [-0.00490855]] R_gt: [[ 0.97234721 0.23342311 0.00739641] [-0.23345966 0.9723544 0.00467411] [-0.00610133 -0.00627128 0.99996162]] t_gt: [-0.82909071 0.55841036 0.02804411] Pose Error in degrees for R and t: 179.79168729631377 38.34884150564658 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99047685e-01 -4.36302070e-02 -3.57068465e-04] [ 4.36302681e-02 9.99047733e-01 1.65149963e-04] [ 3.49522913e-04 -1.80571681e-04 9.99999923e-01]] t_estimated: [[-9.43330056e-01] [-3.31854698e-01] [-9.30031167e-04]] R_gt: [[ 0.93425455 0.35528869 0.0306509 ] [-0.35595792 0.93428514 0.02008542] [-0.02150062 -0.02967447 0.99932807]] t_gt: [-0.8025526 0.59171802 0.07602047] Pose Error in degrees for R and t: 23.433347044991493 55.90014645557748 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.96492919 0.26250577 -0.00154432] [-0.26250074 0.96492755 0.00285978] [ 0.00224086 -0.0023541 0.99999472]] t_estimated: [[8.57777318e-01] [5.14020838e-01] [8.06940092e-04]] R_gt: [[ 0.99010361 -0.0746704 0.11882784] [ 0.07571396 0.99712095 -0.00428762] [-0.11816502 0.01324202 0.99290591]] t_gt: [ 0.27631273 -0.64788358 0.70985783] Pose Error in degrees for R and t: 20.73451192188178 84.52346694139216 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99365163 -0.11248504 -0.00188584] [ 0.11248856 0.99365125 0.00187758] [ 0.00166267 -0.00207779 0.99999646]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96716066 -0.17423419 0.18504885] [ 0.17511594 0.9844789 0.01169392] [-0.18421361 0.02109606 0.98265994]] t_gt: [ 0.47134834 -0.69752014 0.53971882] Pose Error in degrees for R and t: 11.40236334871571 62.34225428299915 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-3.70000394e-02 -9.99315213e-01 -3.18548291e-04] [-9.99315224e-01 3.69999458e-02 2.94715003e-04] [-2.82726916e-04 3.29234624e-04 -9.99999906e-01]] t_estimated: [[0.84543918] [0.53407076] [0.00100846]] R_gt: [[ 0.93506452 -0.29116614 0.20218263] [ 0.28951397 0.95640424 0.0383726 ] [-0.20454144 0.02265398 0.97859517]] t_gt: [ 0.63123282 -0.66520758 0.39880321] Pose Error in degrees for R and t: 171.14132239494927 79.69994161974384 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-0.72389417 -0.68928408 -0.02940546] [-0.68930167 0.72438854 -0.0111553 ] [ 0.02899015 0.01219397 -0.99950532]] t_estimated: [[ 0.93280403] [ 0.36005957] [-0.0152888 ]] R_gt: [[ 0.99987203 0.01545873 0.00410787] [-0.01554648 0.99963014 0.02232393] [-0.00376179 -0.02238502 0.99974249]] t_gt: [0.16043812 0.88031157 0.44644278] Pose Error in degrees for R and t: 178.88297591233103 62.62603248989968 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.23526690e-01 -3.83532867e-01 -9.96264254e-04] [ 3.83533354e-01 9.23526960e-01 3.47730710e-04] [ 7.86710741e-04 -7.03239163e-04 9.99999443e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99990779 0.00345047 -0.01314285] [-0.0012364 0.98630924 0.16490213] [ 0.01353207 -0.1648716 0.98622247]] t_gt: [ 0.09669429 -0.189908 0.97702874] Pose Error in degrees for R and t: 24.567368915607062 79.14725351882127 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.98903542e-01 4.68157430e-02 1.30572788e-05] [-4.68157406e-02 9.98903532e-01 -1.43146530e-04] [-1.97444730e-05 1.42378289e-04 9.99999990e-01]] t_estimated: [[-1.93185322e-01] [-9.81162204e-01] [-4.00848325e-04]] R_gt: [[ 0.99769791 0.02653888 -0.06240683] [-0.01269805 0.97707537 0.21251664] [ 0.06661487 -0.21123568 0.97516304]] t_gt: [-0.10901617 -0.23886031 0.96491514] Pose Error in degrees for R and t: 12.897056678176645 75.22438566930505 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[-9.86654450e-01 1.58933355e-01 -3.54003640e-02] [ 1.58803128e-01 9.87289013e-01 6.47851375e-03] [ 3.59800424e-02 7.70365863e-04 -9.99352212e-01]] t_estimated: [[ 0.99510584] [-0.09716503] [-0.0179813 ]] R_gt: [[ 0.9966868 0.07735523 0.02510468] [-0.0763976 0.99638707 -0.03708094] [-0.02788248 0.0350409 0.99899764]] t_gt: [-0.71529944 0.66484783 -0.21523029] Pose Error in degrees for R and t: 179.6241675659083 39.41850931073815 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99985002e-01 -5.47589687e-03 -1.05858610e-04] [ 5.47589988e-03 9.99985007e-01 2.81537912e-05] [ 1.05702856e-04 -2.87330401e-05 9.99999994e-01]] t_estimated: [[-0.98237249] [-0.18692579] [-0.00174185]] R_gt: [[ 0.98416228 0.17695881 0.01045768] [-0.17684767 0.98417913 -0.01073853] [-0.01219219 0.00871968 0.99988768]] t_gt: [-0.77938272 0.62634093 -0.01611241] Pose Error in degrees for R and t: 10.539322513638245 49.56440037939816 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.95058769 -0.31045178 -0.00165397] [-0.31045376 0.95058783 0.00110998] [ 0.00122765 0.00156862 -0.99999802]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.95423574 0.29748715 0.03057263] [-0.29647179 0.95444511 -0.03373832] [-0.03921649 0.02313095 0.99896349]] t_gt: [-0.76813031 0.64000053 -0.01936879] Pose Error in degrees for R and t: 178.35609120087963 49.03295816167112 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99965857e-01 8.26208037e-03 1.53875391e-04] [-8.26205496e-03 9.99965855e-01 -1.65057271e-04] [-1.55233853e-04 1.63780308e-04 9.99999975e-01]] t_estimated: [[-9.33163182e-01] [-3.59452157e-01] [-7.89464651e-04]] R_gt: [[ 0.99934576 0.0186833 -0.03097838] [-0.01811368 0.99966378 0.01859372] [ 0.03131457 -0.01802038 0.99934691]] t_gt: [-0.44717166 0.85388731 -0.26629678] Pose Error in degrees for R and t: 2.16183016825552 83.65224472518284 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-7.42549183e-01 -6.69789950e-01 1.46063597e-03] [-6.69791151e-01 7.42544622e-01 -2.70158722e-03] [ 7.24908589e-04 -2.98438243e-03 -9.99995284e-01]] t_estimated: [[0.92638182] [0.37658309] [0.00137724]] R_gt: [[ 0.99979473 -0.01050237 -0.01735072] [ 0.01074997 0.99984155 0.01422238] [ 0.01719829 -0.01440585 0.99974884]] t_gt: [ 0.65513335 0.75375849 -0.05146286] Pose Error in degrees for R and t: 179.39383955248624 27.040492440859843 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.97448868e-01 -7.13845286e-02 6.68749659e-05] [ 7.13845230e-02 9.97448867e-01 8.30537967e-05] [-7.26331151e-05 -7.80680780e-05 9.99999994e-01]] t_estimated: [[-0.7314878 ] [-0.68185404] [-0.00081367]] R_gt: [[ 0.9992935 0.01701777 -0.03349979] [-0.01764736 0.99967194 -0.01857386] [ 0.03317293 0.01915217 0.99926614]] t_gt: [-0.14589668 0.79842865 -0.5841454 ] Pose Error in degrees for R and t: 5.542483411089506 64.07368724066382 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.99616540e-01 -2.76906184e-02 4.27030354e-05] [ 2.76906157e-02 9.99616539e-01 6.34829459e-05] [-4.44445425e-05 -6.22761294e-05 9.99999997e-01]] t_estimated: [[6.48852793e-01] [7.60913877e-01] [3.53435010e-04]] R_gt: [[ 0.99952319 -0.03007917 -0.00707513] [ 0.02972322 0.99850557 -0.04588112] [ 0.00844447 0.04564849 0.99892137]] t_gt: [ 0.54289341 -0.00589296 -0.83978094] Pose Error in degrees for R and t: 2.667115617982923 69.6669216451966 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99999649e-01 -6.63251677e-04 5.11519134e-04] [ 6.63690805e-04 9.99999411e-01 -8.58788145e-04] [-5.10949240e-04 8.59127335e-04 9.99999500e-01]] t_estimated: [[-0.9300023 ] [-0.36755216] [-0.00105923]] R_gt: [[ 9.99409542e-01 -3.43986478e-02 -5.73515940e-05] [ 3.43865180e-02 9.99110263e-01 -2.44662392e-02] [ 8.99099569e-04 2.44498057e-02 9.99699970e-01]] t_gt: [ 0.84845306 0.04492483 -0.52736057] Pose Error in degrees for R and t: 2.3587068633239134 36.38811045279254 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 3.79334070e-01 9.25258209e-01 1.70582660e-03] [ 9.25257354e-01 -3.79336653e-01 1.59111134e-03] [ 2.11927139e-03 9.74765869e-04 -9.99997279e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99863544 0.04347896 -0.02892691] [-0.04558769 0.99600707 -0.07676062] [ 0.02547372 0.07797433 0.99662918]] t_gt: [-0.27059312 0.72389456 -0.63463063] Pose Error in degrees for R and t: 177.20722797350714 55.58902732660735 Number of keypoints: Image1: 415 Image2: 415 R_estimated: [[ 9.99971418e-01 -7.56059849e-03 -2.59353592e-05] [ 7.56059845e-03 9.99971418e-01 -1.55431465e-06] [ 2.59463695e-05 1.35818338e-06 1.00000000e+00]] t_estimated: [[-8.95445752e-01] [-4.45170426e-01] [-4.43736564e-04]] R_gt: [[ 0.99961337 0.02679987 -0.00748492] [-0.02654469 0.99912428 0.03234039] [ 0.0083453 -0.03212977 0.99944859]] t_gt: [0.21659163 0.70794879 0.67223253] Pose Error in degrees for R and t: 2.7324257096072886 59.37598041852116 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-4.82521129e-01 8.75883161e-01 -1.43149200e-03] [-8.75879750e-01 -4.82523247e-01 -2.44542108e-03] [-2.83263131e-03 7.38475149e-05 9.99995985e-01]] t_estimated: [[-2.17075421e-02] [ 9.99763875e-01] [ 9.88119246e-04]] R_gt: [[ 0.99968197 0.02090789 -0.01414805] [-0.01946509 0.99525109 0.09536957] [ 0.01607594 -0.09506396 0.99534092]] t_gt: [0.31635118 0.2570236 0.91315979] Pose Error in degrees for R and t: 117.78033828701396 75.4634226562053 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 7.76917828e-01 -6.29600639e-01 -1.31319301e-03] [ 6.29601359e-01 7.76918333e-01 1.83887928e-04] [ 9.04467770e-04 -9.69653915e-04 9.99999121e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99834186 0.04292513 -0.03835827] [-0.03359101 0.97550827 0.21738154] [ 0.04675037 -0.21573242 0.97533223]] t_gt: [-0.03542109 0.00369838 0.99936563] Pose Error in degrees for R and t: 43.070900803379466 89.73912824050088 Number of keypoints: Image1: 348 Image2: 348 R_estimated: [[ 9.99999848e-01 5.47238422e-04 -6.68496075e-05] [-5.47240330e-04 9.99999850e-01 -2.85359527e-05] [ 6.68339815e-05 2.85725312e-05 9.99999997e-01]] t_estimated: [[-0.37864628] [-0.92553997] [-0.00166038]] R_gt: [[ 0.99911547 0.02784356 0.03150938] [-0.02755303 0.9995744 -0.00964173] [-0.03176537 0.00876543 0.99945713]] t_gt: [-0.35350617 0.85785171 0.37299307] Pose Error in degrees for R and t: 2.448992350824514 48.64354727068606 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99999986e-01 -1.43959783e-04 -7.94006377e-05] [ 1.43953250e-04 9.99999986e-01 -8.22850405e-05] [ 7.94124824e-05 8.22736094e-05 9.99999993e-01]] t_estimated: [[-8.83602359e-01] [-4.68237636e-01] [-6.22014968e-04]] R_gt: [[ 0.99046305 0.12546706 0.05691781] [-0.12591567 0.99203221 0.00432703] [-0.05592268 -0.01145264 0.99836898]] t_gt: [-0.6907927 0.66750824 0.27791759] Pose Error in degrees for R and t: 7.941819833198698 72.68284585074367 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999975e-01 8.76008309e-05 -2.03416672e-04] [-8.76525236e-05 9.99999964e-01 -2.54127432e-04] [ 2.03394403e-04 2.54145256e-04 9.99999947e-01]] t_estimated: [[-0.73853098] [-0.67421883] [-0.0009839 ]] R_gt: [[ 0.98437052 0.16344629 0.0655691 ] [-0.16201477 0.98642894 -0.02664521] [-0.06903531 0.01560541 0.99749173]] t_gt: [-0.72593556 0.67396141 0.13708967] Pose Error in degrees for R and t: 10.214270051394571 85.31983162224837 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.63552738e-01 2.67514813e-01 -1.39498479e-03] [-2.67515362e-01 9.63553570e-01 -2.19638162e-04] [ 1.28538612e-03 5.84812814e-04 9.99999003e-01]] t_estimated: [[-0.85497431] [ 0.51865337] [-0.00419545]] R_gt: [[ 0.99856382 0.02647289 -0.04658228] [-0.02601204 0.9996064 0.01047013] [ 0.04684157 -0.00924273 0.99885982]] t_gt: [-0.66240666 0.43257405 -0.61163478] Pose Error in degrees for R and t: 14.261839573472253 37.50852511668776 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.77287888 -0.63451322 0.00715645] [-0.63454035 -0.77274081 0.01517187] [-0.00409668 -0.01626707 -0.99985929]] t_estimated: [[0.32652055] [0.94515159] [0.00853244]] R_gt: [[ 0.99738634 0.01399426 -0.07088715] [-0.01599016 0.99948942 -0.02767091] [ 0.07046383 0.02873223 0.99709992]] t_gt: [-0.37910204 0.31536686 -0.86995712] Pose Error in degrees for R and t: 178.0682326061058 80.39457955601986 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99919531e-01 1.26857194e-02 -5.81616286e-05] [-1.26857129e-02 9.99919527e-01 1.11122872e-04] [ 5.95666217e-05 -1.10376108e-04 9.99999992e-01]] t_estimated: [[0.25706736] [0.9663922 ] [0.00157482]] R_gt: [[ 0.9988937 0.02349585 -0.04074271] [-0.02491564 0.99908711 -0.0347059 ] [ 0.03989012 0.03568262 0.99856655]] t_gt: [-0.64774741 0.35160333 -0.67586862] Pose Error in degrees for R and t: 3.139840221312857 80.08380003844066 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.62559932e-01 2.71068931e-01 1.10666937e-04] [-2.71068949e-01 9.62559908e-01 2.19024718e-04] [-4.71527607e-05 -2.40822788e-04 9.99999970e-01]] t_estimated: [[9.61552527e-01] [2.74620014e-01] [7.64958256e-04]] R_gt: [[ 9.62107243e-01 -2.72670009e-01 7.40116457e-04] [ 2.72662140e-01 9.62053485e-01 -1.04424027e-02] [ 2.13491900e-03 1.02486679e-02 9.99945545e-01]] t_gt: [ 0.87424024 -0.48225395 -0.05599222] Pose Error in degrees for R and t: 31.55709599388301 44.915529046090285 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99999652 0.00129727 -0.00229877] [-0.00129334 0.9999977 0.00170949] [ 0.00230098 -0.00170651 0.9999959 ]] t_estimated: [[-0.65940517] [-0.75178577] [-0.00172663]] R_gt: [[ 0.87221875 -0.48130036 0.08709339] [ 0.48801433 0.86829227 -0.08893981] [-0.03281618 0.12007822 0.99222269]] t_gt: [ 0.92059064 -0.33565649 -0.19961863] Pose Error in degrees for R and t: 30.069508330040243 69.24603258206297 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.29811514 -0.78904487 -0.53715506] [ 0.0775329 -0.58090026 0.81027374] [-0.95137585 0.19990769 0.2343521 ]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.7738705 -0.60671202 0.18172922] [ 0.63078452 0.76410537 -0.13510965] [-0.05688849 0.21918886 0.97402289]] t_gt: [ 0.93792457 -0.21798789 -0.26977541] Pose Error in degrees for R and t: 120.92497112765368 56.807600458081 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.66059813 -0.75073181 -0.00344499] [-0.75072656 -0.66055245 -0.0089491 ] [ 0.00444278 0.008498 -0.99995402]] t_estimated: [[ 0.52247966] [ 0.85264491] [-0.00341419]] R_gt: [[ 0.99366539 -0.10506426 -0.03990183] [ 0.10603197 0.9940979 0.02295755] [ 0.0372543 -0.02704372 0.99893993]] t_gt: [ 0.77400376 -0.63116001 -0.05054927] Pose Error in degrees for R and t: 179.84348553800345 82.32339306619514 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.18073154e-01 3.96409763e-01 9.91929736e-04] [-3.96409432e-01 9.18073686e-01 -5.18552988e-04] [-1.11622406e-03 8.28592743e-05 9.99999374e-01]] t_estimated: [[0.51257955] [0.8586358 ] [0.00260193]] R_gt: [[ 0.99362574 -0.10593358 -0.03854073] [ 0.10662644 0.99416524 0.0163595 ] [ 0.03658244 -0.02036461 0.99912302]] t_gt: [ 0.74392691 -0.66328057 -0.08143481] Pose Error in degrees for R and t: 29.55818318766798 79.14018982159051 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.80507343e-01 1.96482357e-01 1.82752889e-04] [-1.96482336e-01 9.80507356e-01 -1.25707680e-04] [-2.03889894e-04 8.73495889e-05 9.99999975e-01]] t_estimated: [[0.73150088] [0.6818394 ] [0.00122067]] R_gt: [[ 0.99936125 -0.03540969 -0.00489652] [ 0.03547809 0.99926584 0.0144867 ] [ 0.00437989 -0.01465105 0.99988254]] t_gt: [ 0.52839389 -0.84506624 0.08162685] Pose Error in degrees for R and t: 13.39181035397265 79.07177072446423 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99250063e-01 3.87206440e-02 1.52597486e-04] [-3.87206560e-02 9.99250071e-01 7.69187517e-05] [-1.49504706e-04 -8.27697423e-05 9.99999985e-01]] t_estimated: [[0.97045455] [0.24127913] [0.00153023]] R_gt: [[ 9.98252705e-01 -5.77938416e-02 -1.23186881e-02] [ 5.78060144e-02 9.98327309e-01 7.70825570e-04] [ 1.22536193e-02 -1.48213020e-03 9.99923600e-01]] t_gt: [ 0.22010949 -0.9514448 -0.21518504] Pose Error in degrees for R and t: 5.578862031215748 89.06679379403232 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99992740e-01 3.81035351e-03 -1.55165503e-05] [-3.81035114e-03 9.99992729e-01 1.50274284e-04] [ 1.60890356e-05 -1.50214070e-04 9.99999989e-01]] t_estimated: [[ 7.92841914e-01] [-6.09427331e-01] [ 1.66958625e-04]] R_gt: [[ 0.99697813 -0.05439657 -0.05544829] [ 0.05555006 0.99826511 0.01950007] [ 0.05429227 -0.02252175 0.99827092]] t_gt: [-0.05160981 -0.88427092 -0.46411353] Pose Error in degrees for R and t: 4.764594017258711 60.138642588640735 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.9843794 -0.17597653 0.00542842] [-0.17595603 0.98438969 0.0040505 ] [-0.00605647 0.00303206 -0.99997706]] t_estimated: [[9.77481894e-01] [2.11017501e-01] [8.71973144e-04]] R_gt: [[ 0.98654788 -0.09468002 -0.13325856] [ 0.10329779 0.99288095 0.05930872] [ 0.12669533 -0.07227637 0.98930445]] t_gt: [ 0.14887551 -0.88988898 -0.43120028] Pose Error in degrees for R and t: 173.22190932967683 87.55645223998481 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.25374229e-01 -3.79054366e-01 -5.69662956e-04] [ 3.79054480e-01 9.25374352e-01 1.02314454e-04] [ 4.88368748e-04 -3.10612454e-04 9.99999833e-01]] t_estimated: [[ 7.62637071e-01] [-6.46826216e-01] [-7.37671312e-04]] R_gt: [[ 0.99356378 0.1127319 0.01110155] [-0.11308363 0.99281493 0.0391221 ] [-0.00661081 -0.04012539 0.99917286]] t_gt: [-0.90550927 0.11478226 0.40850704] Pose Error in degrees for R and t: 28.852662983036307 40.08229076803705 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-6.09294105e-01 -7.92944131e-01 5.47200510e-04] [-7.92944220e-01 6.09294229e-01 8.09780085e-05] [-3.97617149e-04 -3.84560058e-04 -9.99999847e-01]] t_estimated: [[0.87070118] [0.49181117] [0.00110968]] R_gt: [[ 0.98833989 0.14187917 0.05527029] [-0.14440233 0.98850898 0.04470382] [-0.04829187 -0.05216361 0.99747063]] t_gt: [-0.88482452 0.01754946 0.46559379] Pose Error in degrees for R and t: 176.06849830200852 40.42370698909087 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.98115033 -0.19323491 0.00207372] [ 0.19323932 0.9811492 -0.00219538] [-0.0016104 0.00255472 0.99999544]] t_estimated: [[-0.34945198] [-0.93694988] [-0.00286906]] R_gt: [[ 0.99586389 0.06036978 0.06790012] [-0.06416855 0.99640967 0.05523832] [-0.06432057 -0.05936737 0.996162 ]] t_gt: [-0.5535586 -0.48433038 0.67749314] Pose Error in degrees for R and t: 15.55123541678845 49.81245255458283 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.7833074 -0.62088965 -0.03042286] [-0.62086689 0.78383406 -0.01133441] [ 0.0308839 0.01001022 -0.99947285]] t_estimated: [[ 0.93873318] [ 0.34428604] [-0.01572054]] R_gt: [[ 0.99528192 0.09033113 -0.03542458] [-0.08972737 0.99579815 0.01828337] [ 0.03692781 -0.01501887 0.99920504]] t_gt: [-0.65875603 0.74203077 -0.12422088] Pose Error in degrees for R and t: 176.4982128803953 68.84006804352539 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 7.16896719e-01 -6.97178758e-01 9.34612812e-04] [ 6.97179328e-01 7.16896556e-01 -5.58913862e-04] [-2.80357834e-04 1.05227625e-03 9.99999407e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 9.95633138e-01 8.29229283e-02 -4.29018987e-02] [-8.29614311e-02 9.96552127e-01 8.99393785e-04] [ 4.28288322e-02 2.66297342e-03 9.99078723e-01]] t_gt: [-0.56283282 0.78183716 -0.26823475] Pose Error in degrees for R and t: 49.0208707436199 59.505934845569065 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99313358e-01 -3.70514188e-02 7.46423307e-05] [ 3.70514202e-02 9.99313360e-01 -1.68331340e-05] [-7.39673868e-05 1.95871800e-05 9.99999997e-01]] t_estimated: [[-7.47326297e-01] [-6.64457030e-01] [-5.11365136e-04]] R_gt: [[ 0.99792985 0.0542175 -0.03461229] [-0.05357638 0.99837934 0.0192011 ] [ 0.03559795 -0.01730755 0.99921703]] t_gt: [-0.50998238 0.85188187 -0.11922772] Pose Error in degrees for R and t: 5.687138797229671 79.34733937526897 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999806e-01 6.06494420e-04 1.40172705e-04] [-6.06452139e-04 9.99999771e-01 -3.01482520e-04] [-1.40355520e-04 3.01397454e-04 9.99999945e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99509274 -0.0537652 0.08307426] [ 0.04482468 0.99335946 0.10597111] [-0.08821934 -0.10172702 0.99089335]] t_gt: [ 0.16719961 -0.41056339 0.89637157] Pose Error in degrees for R and t: 8.261185677041462 65.88429765184557 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 3.17131711e-02 9.99432304e-01 1.13729953e-02] [-9.99496536e-01 3.17221949e-02 -6.13880762e-04] [-9.74308637e-04 -1.13478013e-02 9.99935137e-01]] t_estimated: [[0.09287377] [0.99567414] [0.00273332]] R_gt: [[ 0.98816455 -0.04863072 0.14549329] [ 0.02206983 0.98362381 0.17888275] [-0.15180859 -0.17355428 0.97305313]] t_gt: [ 0.04855623 -0.2250928 0.97312668] Pose Error in degrees for R and t: 90.9015582820658 77.47006819644567 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-0.85240195 0.52288411 -0.0017651 ] [-0.52288004 -0.85240313 -0.00231553] [-0.00271533 -0.00105082 0.99999576]] t_estimated: [[0.59738504] [0.80195251] [0.00181018]] R_gt: [[ 0.98411665 0.0695572 0.16333516] [-0.10406006 0.97143227 0.2132886 ] [-0.14383255 -0.22689788 0.96323957]] t_gt: [-0.30669618 0.23610864 0.92205757] Pose Error in degrees for R and t: 143.75785392520203 89.55301444196077 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.77428778e-01 2.11265181e-01 7.91971135e-05] [-2.11265145e-01 9.77428735e-01 -3.25211928e-04] [-1.46115491e-04 3.01139908e-04 9.99999944e-01]] t_estimated: [[-9.99050726e-01] [-4.35529231e-02] [-8.88835165e-04]] R_gt: [[ 0.99848574 0.04233125 0.03511425] [-0.04490405 0.99609356 0.07604804] [-0.03175761 -0.07751022 0.9964851 ]] t_gt: [-0.49812927 0.32114167 0.80544103] Pose Error in degrees for R and t: 10.821559660003835 61.1214993219599 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 7.49811912e-01 -6.61650313e-01 9.80177476e-04] [ 6.61651000e-01 7.49811551e-01 -7.69329519e-04] [-2.25921277e-04 1.22538784e-03 9.99999224e-01]] t_estimated: [[0.7468062 ] [0.6650405 ] [0.00127652]] R_gt: [[ 0.97839796 0.19823611 0.05864895] [-0.20279907 0.97542182 0.08618137] [-0.04012248 -0.09621325 0.99455111]] t_gt: [-0.59822172 0.72521513 0.34087211] Pose Error in degrees for R and t: 53.34164387762726 87.93823199654162 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.81920713e-01 -4.71397671e-01 -3.01557217e-04] [ 4.71397725e-01 8.81920726e-01 1.37531134e-04] [ 2.01117703e-04 -2.63444942e-04 9.99999945e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96736917 0.25075794 0.03629848] [-0.25300306 0.96372294 0.08503236] [-0.01365845 -0.09144063 0.9957168 ]] t_gt: [-0.58528964 0.78925157 0.18579022] Pose Error in degrees for R and t: 43.057525705936044 38.2072594446632 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 9.99609142e-01 -2.79563939e-02 -5.91078000e-05] [ 2.79563989e-02 9.99609140e-01 8.58571748e-05] [ 5.66844402e-05 -8.74760580e-05 9.99999995e-01]] t_estimated: [[-9.82702348e-01] [ 1.85192025e-01] [-8.99154102e-05]] R_gt: [[ 0.99723148 0.07382179 0.00893847] [-0.07388023 0.99724689 0.00627409] [-0.00845084 -0.00691648 0.99994031]] t_gt: [-0.98217438 0.14854346 0.11518821] Pose Error in degrees for R and t: 5.870831775451823 6.934995366218186 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[-0.74698867 0.66470407 -0.01328259] [ 0.66470056 0.74709096 0.00531624] [ 0.01345702 -0.00485778 -0.99989765]] t_estimated: [[ 0.9546194 ] [-0.29776425] [-0.00618471]] R_gt: [[ 0.978367 0.20624131 0.01622139] [-0.20653947 0.97824329 0.01950675] [-0.01184523 -0.0224346 0.99967732]] t_gt: [-0.95649858 0.250648 0.1492851 ] Pose Error in degrees for R and t: 179.51044120905198 8.640892762268438 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[-6.45612813e-02 -9.97913290e-01 -9.52656042e-04] [ 9.97912806e-01 -6.45625001e-02 1.30939874e-03] [-1.36817226e-03 -8.66131204e-04 9.99998689e-01]] t_estimated: [[ 0.72785219] [-0.68573324] [ 0.00105854]] R_gt: [[ 0.96581383 0.2555466 0.04360063] [-0.25743078 0.96524565 0.04504995] [-0.03057301 -0.05473423 0.99803249]] t_gt: [-0.93791276 0.20626806 0.27887836] Pose Error in degrees for R and t: 108.61581519066888 34.53181850819819 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 8.93881507e-01 -4.48302189e-01 9.98838836e-04] [-4.48301973e-01 -8.93882064e-01 -4.43249666e-04] [ 1.09155392e-03 -5.15687412e-05 -9.99999403e-01]] t_estimated: [[0.56149384] [0.82748016] [0.00111875]] R_gt: [[ 0.97704542 -0.21234778 -0.01704956] [ 0.21252418 0.97711274 0.00919521] [ 0.01470616 -0.01260806 0.99981213]] t_gt: [ 0.86949792 -0.49390875 0.00524549] Pose Error in degrees for R and t: 179.61856591931885 85.43879978056525 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.65003656 -0.75973868 -0.01579896] [-0.75980867 -0.6501429 0.00223394] [-0.01196879 0.01055204 -0.99987269]] t_estimated: [[0.78939591] [0.61388389] [0.00081633]] R_gt: [[ 0.89134355 -0.45227045 0.03094188] [ 0.45329309 0.89004484 -0.04844494] [-0.00562972 0.05720671 0.99834685]] t_gt: [ 0.92016292 -0.3760797 -0.10892319] Pose Error in degrees for R and t: 177.57227472650925 60.302903308878385 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.97601428 -0.21722266 -0.01450681] [ 0.21721722 -0.97612131 0.0019681 ] [-0.01458793 -0.00123024 0.99989283]] t_estimated: [[8.80493970e-01] [4.74056802e-01] [7.19357818e-04]] R_gt: [[ 0.77929423 -0.61634446 0.11322604] [ 0.62645885 0.77078258 -0.11595349] [-0.01580577 0.16129303 0.98678 ]] t_gt: [ 0.94809604 -0.2331085 -0.21627373] Pose Error in degrees for R and t: 128.98310185692773 43.60342813781016 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99948054e-01 1.01925748e-02 5.14499036e-06] [-1.01925750e-02 9.99948054e-01 4.12399600e-05] [-4.72438172e-06 -4.12902584e-05 9.99999999e-01]] t_estimated: [[0.87322669] [0.48731286] [0.00114846]] R_gt: [[ 0.99918982 0.034365 0.02096193] [-0.03419673 0.99938042 -0.0082797 ] [-0.02123323 0.00755631 0.99974589]] t_gt: [-0.89405681 0.33501074 0.29737221] Pose Error in degrees for R and t: 1.8911123466827227 51.89404173828161 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 7.74771280e-01 6.32240611e-01 1.12841401e-03] [-6.32241082e-01 7.74767067e-01 2.68425103e-03] [ 8.22834497e-04 -2.79311030e-03 9.99995761e-01]] t_estimated: [[0.39159569] [0.92013669] [0.00113178]] R_gt: [[ 9.93723062e-01 1.11864394e-01 -1.06489168e-03] [-1.11867202e-01 9.93718652e-01 -3.13703038e-03] [ 7.07186166e-04 3.23677378e-03 9.99994879e-01]] t_gt: [-0.81614145 0.57640436 -0.04087968] Pose Error in degrees for R and t: 32.79470162976471 77.83503652647813 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.93361857e-01 1.15031244e-01 1.85885749e-04] [-1.15031267e-01 9.93361864e-01 1.21508691e-04] [-1.70674519e-04 -1.42084772e-04 9.99999975e-01]] t_estimated: [[0.7616743 ] [0.64795828] [0.00152347]] R_gt: [[ 0.99193553 0.1264805 -0.00815338] [-0.12651786 0.99195517 -0.00429009] [ 0.00754433 0.00528788 0.99995818]] t_gt: [-0.80016757 0.5881184 -0.11768012] Pose Error in degrees for R and t: 0.8534121041147499 76.78709368185886 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.90358521 -0.42828478 0.01029175] [-0.42812856 -0.90186616 0.05782179] [-0.01548241 -0.05665311 -0.99827387]] t_estimated: [[0.21124079] [0.9769327 ] [0.03130211]] R_gt: [[ 0.99927706 -0.00377732 -0.03782518] [ 0.00362503 0.99998507 -0.0041005 ] [ 0.03783976 0.0039615 0.99927631]] t_gt: [-0.25803324 0.14019286 -0.95591046] Pose Error in degrees for R and t: 177.3387630366803 86.98887673852865 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-8.88131029e-01 -4.59581675e-01 -2.82131831e-03] [ 4.59584355e-01 -8.88134054e-01 -3.51005114e-04] [-2.34439335e-03 -1.60837229e-03 9.99995958e-01]] t_estimated: [[0.93578774] [0.35256056] [0.00153784]] R_gt: [[ 0.9987219 0.01030253 -0.0494749 ] [-0.01140231 0.99969264 -0.02199805] [ 0.04923307 0.02253509 0.99853349]] t_gt: [-0.41935005 0.28669187 -0.86136712] Pose Error in degrees for R and t: 153.272233276909 72.98206504056594 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.49358717 0.86969269 0.00251664] [ 0.86969335 -0.49359098 0.00118924] [ 0.00227646 0.00160171 -0.99999613]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99900319 -0.01922166 0.04028334] [ 0.02069157 0.99912242 -0.03642099] [-0.03954835 0.03721795 0.99852501]] t_gt: [-0.92066573 -0.39026016 0.00846293] Pose Error in degrees for R and t: 177.0102627825494 22.79979044444926 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-0.96206326 -0.27281977 -0.0019143 ] [ 0.27282306 -0.96206265 -0.00174 ] [-0.00136697 -0.00219626 0.99999665]] t_estimated: [[0.82997088] [0.5578051 ] [0.00134736]] R_gt: [[ 0.99369671 -0.11160373 0.01056738] [ 0.11168178 0.99371952 -0.00702074] [-0.0097183 0.00815744 0.99991891]] t_gt: [ 0.8359782 -0.54831132 0.02225177] Pose Error in degrees for R and t: 157.75896895516303 67.16885161943257 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 0.98673766 0.16198707 0.0104391 ] [-0.1619533 0.98679028 -0.0040079 ] [-0.01095043 0.0022641 0.99993748]] t_estimated: [[0.98874607] [0.14898913] [0.01354447]] R_gt: [[ 0.98458519 -0.17164486 0.03364391] [ 0.17120994 0.98511375 0.01543142] [-0.03579274 -0.00943344 0.99931433]] t_gt: [ 0.84812213 -0.48563077 0.21178197] Pose Error in degrees for R and t: 19.26481229173179 39.727561635334254 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 6.90854336e-01 -7.22990409e-01 -2.27028800e-03] [ 7.22993752e-01 6.90853179e-01 1.38575093e-03] [ 5.66551052e-04 -2.59875608e-03 9.99996463e-01]] t_estimated: [[0.99972424] [0.02345032] [0.00123423]] R_gt: [[ 0.98886566 -0.14880418 0.00183006] [ 0.14879966 0.98886406 0.00267146] [-0.00220835 -0.0023691 0.99999482]] t_gt: [ 0.93751944 -0.34345367 0.05564964] Pose Error in degrees for R and t: 37.74514203750885 21.677842397524284 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 0.98765678 -0.15662811 0.00131306] [ 0.15663029 0.98765572 -0.00176926] [-0.00101973 0.00195309 0.99999757]] t_estimated: [[0.9988686 ] [0.04736015] [0.00430547]] R_gt: [[ 0.99957905 -0.0185434 -0.02229116] [ 0.01670151 0.99664149 -0.0801626 ] [ 0.0237032 0.07975716 0.99653194]] t_gt: [ 0.43391413 0.64501128 -0.62903019] Pose Error in degrees for R and t: 9.271182030114 62.531378919426096 Number of keypoints: Image1: 482 Image2: 482 R_estimated: [[ 9.94470104e-01 -1.05020059e-01 -1.35403989e-05] [ 1.05020060e-01 9.94470096e-01 1.20791073e-04] [ 7.80036074e-07 -1.21545125e-04 9.99999993e-01]] t_estimated: [[-3.10702221e-01] [ 9.50507301e-01] [ 3.16273067e-06]] R_gt: [[ 9.99948877e-01 1.95213222e-03 9.88077614e-03] [-3.17339259e-04 9.86650687e-01 -1.62850531e-01] [-1.00672082e-02 1.62838848e-01 9.86600678e-01]] t_gt: [ 0.1286021 0.74966074 -0.64920742] Pose Error in degrees for R and t: 11.196122933379213 47.732025195687186 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-6.46155923e-01 7.63176225e-01 6.67627473e-03] [-7.63204990e-01 -6.46140187e-01 -4.58277260e-03] [ 8.16346316e-04 -8.05655185e-03 9.99967212e-01]] t_estimated: [[0.70858434] [0.70562574] [0.00073965]] R_gt: [[ 0.99882275 0.04844111 0.00251577] [-0.04727165 0.98371805 -0.17339088] [-0.01087332 0.17306822 0.98484959]] t_gt: [ 0.06367447 0.85668446 -0.51189578] Pose Error in degrees for R and t: 127.7249279214494 49.51577110145527 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.94611113e-01 1.03675561e-01 3.34065209e-04] [-1.03675233e-01 9.94610811e-01 -8.83761965e-04] [-4.23889386e-04 8.44365183e-04 9.99999554e-01]] t_estimated: [[0.93428128] [0.35653033] [0.00214777]] R_gt: [[ 0.99317102 0.10378372 0.05328203] [-0.10154887 0.9938983 -0.04306932] [-0.05742831 0.03736427 0.99765008]] t_gt: [-0.36231552 0.92955757 0.06819221] Pose Error in degrees for R and t: 3.8823975148051373 89.60221039515184 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.95467657e-01 9.51006925e-02 4.46089700e-05] [-9.51003126e-02 9.95464806e-01 -2.39814779e-03] [-2.72472175e-04 2.38303624e-03 9.99997123e-01]] t_estimated: [[-9.99994892e-01] [-3.10075934e-03] [-7.75189839e-04]] R_gt: [[ 0.97667987 0.20898569 0.0492162 ] [-0.20707893 0.97745829 -0.04113983] [-0.05670565 0.02998926 0.99793996]] t_gt: [-0.30286167 0.95197305 0.04496801] Pose Error in degrees for R and t: 7.482060740205249 72.54999893586006 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 5.50734736e-01 8.34677263e-01 2.26216494e-03] [ 8.34678228e-01 -5.50737407e-01 7.50681559e-04] [ 1.87243568e-03 1.47475342e-03 -9.99997160e-01]] t_estimated: [[-0.94897897] [-0.3153378 ] [-0.00098852]] R_gt: [[ 0.93266382 0.35943669 0.03071991] [-0.35551119 0.93024475 -0.09086153] [-0.06123624 0.07382231 0.995389 ]] t_gt: [-0.24911356 0.96707366 -0.05206701] Pose Error in degrees for R and t: 174.4977070253769 86.07217000366835 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999970e-01 2.41500696e-04 4.29263196e-05] [-2.41500923e-04 9.99999971e-01 5.26661548e-06] [-4.29250465e-05 -5.27698207e-06 9.99999999e-01]] t_estimated: [[ 8.53003907e-01] [-5.21904456e-01] [-2.70192802e-04]] R_gt: [[ 0.99666403 -0.06970338 -0.04247658] [ 0.07004558 0.99752174 0.00663087] [ 0.04190899 -0.00958309 0.99907488]] t_gt: [ 0.43723121 -0.85115181 -0.29046421] Pose Error in degrees for R and t: 4.7179584846284195 35.18872288245298 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.43348989e-01 -3.31800527e-01 -1.04703619e-03] [-3.31802099e-01 -9.43341876e-01 -3.67033927e-03] [ 2.30107424e-04 3.80981964e-03 -9.99992716e-01]] t_estimated: [[ 2.65462863e-01] [ 9.64120883e-01] [-6.25400315e-04]] R_gt: [[ 9.92874728e-01 -1.16078565e-01 -2.69549064e-02] [ 1.16038515e-01 9.93240148e-01 -3.02217338e-03] [ 2.71235230e-02 -1.26697183e-04 9.99631387e-01]] t_gt: [ 0.46240822 -0.87284106 -0.15597157] Pose Error in degrees for R and t: 179.43738870457608 44.05484424218493 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 8.26351025e-01 -5.63152471e-01 1.81079200e-03] [-5.63151948e-01 -8.26352943e-01 -8.35246594e-04] [ 1.96672448e-03 -3.29544161e-04 -9.99998012e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98118284 -0.19230917 -0.01726031] [ 0.19260459 0.98112189 0.01743619] [ 0.01358112 -0.02043242 0.99969829]] t_gt: [ 0.47956006 -0.87669535 0.03778106] Pose Error in degrees for R and t: 179.24522145311172 29.114679238996445 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.2345178 -0.80571426 -0.54389882] [-0.56008266 0.34531638 -0.75303653] [ 0.79454944 0.48122877 -0.37028375]] t_estimated: [[ 0.65348367] [ 0.48616428] [-0.5801753 ]] R_gt: [[ 9.96261369e-01 -8.63625802e-02 1.86655452e-03] [ 8.63813568e-02 9.95928801e-01 -2.57265619e-02] [ 3.62411909e-04 2.57919616e-02 9.99666955e-01]] t_gt: [ 0.85063149 -0.47883886 -0.21711613] Pose Error in degrees for R and t: 111.72636139606576 63.31758064182456 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.98289307e-01 5.84670689e-02 -2.49693850e-04] [-5.84669383e-02 9.98289219e-01 5.01822299e-04] [ 2.78606758e-04 -4.86365000e-04 9.99999843e-01]] t_estimated: [[ 9.93878319e-01] [ 1.10478746e-01] [-5.77473921e-04]] R_gt: [[ 9.80838431e-01 -1.94820322e-01 -8.99552682e-04] [ 1.94822661e-01 9.80832348e-01 3.49926326e-03] [ 2.00204946e-04 -3.60689124e-03 9.99992597e-01]] t_gt: [ 0.86514182 -0.50126493 0.01622031] Pose Error in degrees for R and t: 14.58732159811736 36.442131870661605 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999778e-01 6.65926073e-04 2.57345149e-06] [-6.65926068e-04 9.99999778e-01 -1.62769861e-06] [-2.57453485e-06 1.62598452e-06 1.00000000e+00]] t_estimated: [[ 0.92916018] [-0.36967572] [-0.00110164]] R_gt: [[ 0.9857888 -0.16659538 0.02158048] [ 0.16634269 0.98598221 0.01298527] [-0.02344222 -0.0092109 0.99968193]] t_gt: [ 0.88302 -0.44819143 0.1392843 ] Pose Error in degrees for R and t: 9.72989082386437 9.598955266255665 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.35649127e-01 -3.52914099e-01 3.51437824e-03] [ 3.52909321e-01 9.35655562e-01 1.91829741e-03] [-3.96524175e-03 -5.54596462e-04 9.99991985e-01]] t_estimated: [[0.79212121] [0.61035969] [0.00224397]] R_gt: [[ 0.9986325 0.00804495 -0.05166238] [-0.00667802 0.9996243 0.02658592] [ 0.0518566 -0.02620383 0.99831076]] t_gt: [-0.48831094 -0.46456502 -0.7387366 ] Pose Error in degrees for R and t: 21.372721319604427 47.77754106331568 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99999998e-01 6.05926744e-05 -1.87169489e-05] [-6.05926725e-05 9.99999998e-01 1.02831832e-07] [ 1.87169551e-05 -1.01697721e-07 1.00000000e+00]] t_estimated: [[ 2.64127120e-01] [-9.64487425e-01] [-9.33754016e-04]] R_gt: [[ 0.99148521 -0.05176402 -0.1194943 ] [ 0.05874731 0.99671836 0.05568706] [ 0.11622017 -0.06223259 0.991272 ]] t_gt: [ 0.13050822 -0.8454458 -0.51786967] Pose Error in degrees for R and t: 8.215884360897903 31.747392840975692 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.94628092e-01 -1.03513061e-01 -6.26439332e-05] [ 1.03513077e-01 9.94628032e-01 3.47757355e-04] [ 2.63099837e-05 -3.52373701e-04 9.99999938e-01]] t_estimated: [[ 8.67818455e-01] [-4.96881256e-01] [ 3.81743142e-04]] R_gt: [[ 0.9881821 -0.11150959 -0.10517605] [ 0.11637833 0.99234445 0.04133161] [ 0.09976172 -0.0530829 0.99359402]] t_gt: [ 0.28230424 -0.90578839 -0.3159932 ] Pose Error in degrees for R and t: 6.50778837582334 45.97776475648638 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.69995829e-01 2.43121448e-01 2.30373118e-04] [-2.43121438e-01 9.69995856e-01 -7.06667983e-05] [-2.40641584e-04 1.25378559e-05 9.99999971e-01]] t_estimated: [[0.59588482] [0.80306939] [0.00091675]] R_gt: [[ 0.99360454 -0.11272222 0.00660506] [ 0.11267906 0.9936102 0.00664246] [-0.00731056 -0.00585498 0.99995641]] t_gt: [ 0.83346872 -0.54484922 0.09202838] Pose Error in degrees for R and t: 20.548626474939645 86.6070244691135 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.34949566e-01 -5.50326171e-01 -5.73112361e-04] [ 5.50326457e-01 8.34949313e-01 6.60334700e-04] [ 1.15120305e-04 -8.66745066e-04 9.99999618e-01]] t_estimated: [[ 8.39043760e-01] [-5.44063821e-01] [ 3.58202333e-04]] R_gt: [[ 0.98750094 -0.15655749 0.01821779] [ 0.15595637 0.98728537 0.03074998] [-0.02280012 -0.02752438 0.99936068]] t_gt: [ 0.83236466 -0.50468861 0.22903817] Pose Error in degrees for R and t: 24.47925506890201 13.330760065466446 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.98519324e-01 5.43977869e-02 2.02225687e-04] [-5.43977597e-02 9.98519336e-01 -1.38070143e-04] [-2.09436969e-04 1.26865081e-04 9.99999970e-01]] t_estimated: [[8.33978899e-01] [5.51795793e-01] [7.74611785e-04]] R_gt: [[ 0.99807126 -0.05598065 0.02684415] [ 0.05628038 0.99836064 -0.01048199] [-0.02621289 0.01197278 0.99958463]] t_gt: [0.96721934 0.09701209 0.23468151] Pose Error in degrees for R and t: 6.544423903079949 30.64374028167426 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999362e-01 8.91713674e-04 -6.93406697e-04] [-8.91578615e-04 9.99999584e-01 1.95060454e-04] [ 6.93580346e-04 -1.94442103e-04 9.99999741e-01]] t_estimated: [[-0.60357387] [-0.79730485] [-0.00188551]] R_gt: [[ 0.98794911 0.15455373 0.00841809] [-0.15465209 0.987889 0.01255748] [-0.00637511 -0.01370765 0.9998854 ]] t_gt: [-0.61730345 0.78352839 0.07084998] Pose Error in degrees for R and t: 8.886465452759708 75.38892880824137 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99996488e-01 -1.92946461e-03 1.81703386e-03] [ 1.93048242e-03 9.99997981e-01 -5.58559907e-04] [-1.81595247e-03 5.62065698e-04 9.99998193e-01]] t_estimated: [[-0.62860533] [-0.77772403] [-0.00082386]] R_gt: [[ 0.97568127 0.21800582 -0.02279663] [-0.21860264 0.97540723 -0.02816021] [ 0.01609731 0.03245888 0.99934346]] t_gt: [-0.52943132 0.84025939 -0.11690441] Pose Error in degrees for R and t: 12.897042569579558 71.30137539381981 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99992385 -0.00664807 -0.01039727] [ 0.00673056 0.99994599 0.00791939] [ 0.01034406 -0.00798876 0.99991459]] t_estimated: [[0.91801128] [0.39655246] [0.00119568]] R_gt: [[ 0.95147672 0.307129 0.01906867] [-0.30597837 0.95085635 -0.04741714] [-0.03269454 0.03928123 0.99869331]] t_gt: [-4.93352096e-01 8.69829660e-01 -2.68590144e-04] Pose Error in degrees for R and t: 18.604181017257144 83.80169074886092 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99589730e-01 -2.86420919e-02 -5.00206242e-05] [ 2.86420918e-02 9.99589731e-01 -3.73441926e-06] [ 5.01070639e-05 2.30019183e-06 9.99999999e-01]] t_estimated: [[ 5.44706331e-01] [-8.38626669e-01] [-5.68958856e-04]] R_gt: [[ 0.99886898 -0.01910828 0.04354873] [ 0.02101061 0.99882565 -0.04365289] [-0.0426638 0.04451879 0.99809666]] t_gt: [ 0.97143102 0.18651307 -0.14674686] Pose Error in degrees for R and t: 3.571015305680312 68.11077509061359 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.82774974e-01 1.84806242e-01 -5.72549454e-05] [-1.84806250e-01 9.82774891e-01 -4.04541879e-04] [-1.84931419e-05 4.08154707e-04 9.99999917e-01]] t_estimated: [[9.87731467e-01] [1.56160037e-01] [7.69261267e-04]] R_gt: [[ 0.99430587 0.07684764 0.07383036] [-0.07291492 0.99584419 -0.0545582 ] [-0.07771579 0.04886357 0.99577748]] t_gt: [-0.05217853 0.9960716 0.07154559] Pose Error in degrees for R and t: 8.237914615829078 84.02680126722134 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-9.44314346e-01 -3.29044590e-01 -2.73444891e-04] [-3.29044352e-01 9.44311796e-01 2.24625947e-03] [-4.80902289e-04 2.21115054e-03 -9.99997440e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.97992072 0.17404006 0.09728825] [-0.16390396 0.98098012 -0.10398207] [-0.11353411 0.08594811 0.98980901]] t_gt: [-0.1619025 0.98587769 0.04281082] Pose Error in degrees for R and t: 174.92495100951913 87.01398224434001 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.97877793e-01 6.51143154e-02 -1.88108733e-04] [-6.51141727e-02 9.97877585e-01 6.84949713e-04] [ 2.32309520e-04 -6.71247564e-04 9.99999748e-01]] t_estimated: [[0.71369917] [0.70045186] [0.00082796]] R_gt: [[ 0.99857735 -0.05150979 0.01381783] [ 0.05133527 0.99860062 0.01264479] [-0.01444994 -0.01191772 0.99982403]] t_gt: [ 0.8289402 -0.39734101 0.3936728 ] Pose Error in degrees for R and t: 6.764553619463869 71.72237721390397 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.58035749 -0.81435365 -0.00364944] [ 0.81435494 -0.58036518 0.00151185] [-0.00334919 -0.00209452 0.9999922 ]] t_estimated: [[0.95722156] [0.28935024] [0.00181981]] R_gt: [[ 0.99852117 -0.0221742 -0.04964756] [ 0.02066364 0.99931391 -0.03072762] [ 0.05029516 0.0296561 0.99829394]] t_gt: [ 0.55736191 0.38280915 -0.73675292] Pose Error in degrees for R and t: 124.27706847517058 49.98830145609913 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.5740505 0.81572325 -0.07114496] [-0.81873148 -0.57309465 0.03523199] [-0.01203324 0.07847356 0.99684357]] t_estimated: [[0.65337857] [0.75701793] [0.00450606]] R_gt: [[ 0.98774131 0.04829735 -0.148441 ] [-0.0700886 0.98690521 -0.14527346] [ 0.13948115 0.1538955 0.97819254]] t_gt: [ 0.04928112 0.61082416 -0.79023111] Pose Error in degrees for R and t: 121.49595230880347 60.590825856512744 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 2.26740628e-01 9.73954422e-01 1.21333235e-03] [-9.73953233e-01 2.26742489e-01 -1.71547602e-03] [-1.94590945e-03 -7.92760858e-04 9.99997792e-01]] t_estimated: [[0.0268 ] [0.99963992] [0.00134 ]] R_gt: [[ 0.99147915 -0.12673908 -0.03010565] [ 0.12838238 0.98984781 0.06097909] [ 0.02207188 -0.06432619 0.99768472]] t_gt: [ 0.77361325 -0.57741231 0.26099341] Pose Error in degrees for R and t: 84.30913891984297 56.211981844160654 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.45742707e-01 -3.24914529e-01 -1.13176104e-03] [ 3.24916078e-01 9.45741356e-01 1.68243249e-03] [ 5.23706460e-04 -1.95887562e-03 9.99997944e-01]] t_estimated: [[0.94791219] [0.3185292 ] [0.00127923]] R_gt: [[ 0.93454318 -0.35178426 -0.05364067] [ 0.3542397 0.93400859 0.04627072] [ 0.03382342 -0.06224417 0.99748752]] t_gt: [ 0.88988974 -0.44733389 0.08937915] Pose Error in degrees for R and t: 4.315509669573376 45.47963254667987 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 6.98587250e-01 7.15519536e-01 2.76527517e-03] [ 7.15523822e-01 -6.98587646e-01 -9.80271434e-04] [ 1.23038371e-03 2.66342538e-03 -9.99995696e-01]] t_estimated: [[0.61578154] [0.78791644] [0.00088729]] R_gt: [[ 0.81351506 -0.58112201 0.0221409 ] [ 0.58147939 0.81226965 -0.04581682] [ 0.00864136 0.0501468 0.99870355]] t_gt: [ 0.94954979 -0.30311901 -0.0804616 ] Pose Error in degrees for R and t: 177.03409960038954 69.7686665155139 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 9.99483357e-01 -3.21406136e-02 1.81555040e-05] [ 3.21406122e-02 9.99483354e-01 7.25675803e-05] [-2.04784906e-05 -7.19465597e-05 9.99999997e-01]] t_estimated: [[1.16882143e-01] [9.93145743e-01] [3.11538579e-04]] R_gt: [[ 0.99863445 -0.03562988 0.03820798] [ 0.0384631 0.99635152 -0.0761868 ] [-0.03535521 0.07755331 0.99636054]] t_gt: [ 0.58677177 0.61655786 -0.52493361] Pose Error in degrees for R and t: 4.901031310613799 47.09761047507674 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.77188708e-01 -2.12372715e-01 -2.42126242e-04] [ 2.12372840e-01 9.77188413e-01 7.63794761e-04] [ 7.43937913e-05 -7.97792654e-04 9.99999679e-01]] t_estimated: [[0.41971341] [0.90765609] [0.00103378]] R_gt: [[ 9.99300983e-01 -3.73776980e-02 9.25100232e-04] [ 3.70697764e-02 9.87242138e-01 -1.54846496e-01] [ 4.87390387e-03 1.54772842e-01 9.87937745e-01]] t_gt: [ 0.40567285 0.67698844 -0.61409787] Pose Error in degrees for R and t: 13.500759786529668 38.36209898215608 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.48899048e-01 -3.15579607e-01 3.28323782e-04] [ 3.15579650e-01 9.48899087e-01 -8.69323057e-05] [-2.84112074e-04 1.86102286e-04 9.99999942e-01]] t_estimated: [[0.89469291] [0.44667977] [0.00133337]] R_gt: [[ 0.99898376 -0.00896199 0.04417948] [ 0.01831576 0.9761896 -0.21614505] [-0.04119108 0.21673536 0.97536067]] t_gt: [ 0.18013581 0.79205648 -0.58326463] Pose Error in degrees for R and t: 21.69773222738263 59.05706379307803 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.96713129 -0.25424676 0.00395649] [ 0.25425684 0.96713403 -0.0022875 ] [-0.00324487 0.00321828 0.99998956]] t_estimated: [[0.978201 ] [0.2076532 ] [0.00171614]] R_gt: [[ 0.99586258 0.07543962 -0.05064753] [-0.07595546 0.99707623 -0.00833374] [ 0.04987147 0.01214604 0.99868171]] t_gt: [-0.53435768 0.59644893 -0.59892449] Pose Error in degrees for R and t: 19.325202886776232 66.42916484876946 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-5.73780391e-01 8.19009053e-01 -4.83363926e-04] [-8.19006761e-01 -5.73780025e-01 -2.09955982e-03] [-1.99690306e-03 -8.08807930e-04 9.99997679e-01]] t_estimated: [[0.55425251] [0.83234768] [0.00122213]] R_gt: [[ 0.99756113 0.05407979 -0.04411673] [-0.05324979 0.99838563 0.01976145] [ 0.04511538 -0.01736453 0.99883033]] t_gt: [-0.58237076 0.52985243 -0.61652307] Pose Error in degrees for R and t: 121.95814271701613 83.25287764396629 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99620336e-01 -2.75520180e-02 -2.65843032e-04] [ 2.75522194e-02 9.99620056e-01 7.86432467e-04] [ 2.44074225e-04 -7.93458452e-04 9.99999655e-01]] t_estimated: [[0.99485636] [0.10128258] [0.00163359]] R_gt: [[ 0.99614303 -0.07104267 -0.05148224] [ 0.07262076 0.99692496 0.02944351] [ 0.04923273 -0.03306884 0.99823965]] t_gt: [ 0.73793252 -0.66529241 -0.11332083] Pose Error in degrees for R and t: 4.217683892028847 48.19717685780318 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 3.92498156e-01 9.19752770e-01 1.99481253e-04] [-9.19752694e-01 3.92498205e-01 -3.74819325e-04] [-4.23037146e-04 -3.63575257e-05 9.99999910e-01]] t_estimated: [[9.23513397e-01] [3.83565379e-01] [7.78023081e-04]] R_gt: [[ 0.94821765 -0.31715198 -0.01726702] [ 0.31723318 0.94834525 0.002098 ] [ 0.0157094 -0.00746692 0.99984879]] t_gt: [ 0.86661242 -0.49889122 -0.00951121] Pose Error in degrees for R and t: 85.38964621939569 52.48541335446964 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999593e-01 6.24111566e-04 6.52093064e-04] [-6.23220216e-04 9.99998873e-01 -1.36621637e-03] [-6.52945001e-04 1.36580941e-03 9.99998854e-01]] t_estimated: [[-0.51038276] [-0.85994681] [-0.00096299]] R_gt: [[ 0.89307942 -0.44933282 -0.02255902] [ 0.44953082 0.89325458 0.00435373] [ 0.01819424 -0.01402839 0.99973622]] t_gt: [ 8.94791456e-01 -4.46484322e-01 -3.02491402e-05] Pose Error in degrees for R and t: 26.78196352990463 85.82900354423776 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999828e-01 -4.39754534e-04 -3.88986411e-04] [ 4.39942082e-04 9.99999787e-01 4.82192444e-04] [ 3.88774282e-04 -4.82363493e-04 9.99999808e-01]] t_estimated: [[-6.01741765e-03] [-9.99981575e-01] [-8.00182252e-04]] R_gt: [[ 0.89378594 -0.44769535 -0.02674235] [ 0.44714566 0.89413382 -0.02419013] [ 0.03474086 0.0096636 0.9993499 ]] t_gt: [ 0.8916682 -0.44874611 -0.05962178] Pose Error in degrees for R and t: 26.64080128610208 63.67770426893171 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 0.9376511 -0.34757402 -0.00164964] [ 0.34756809 0.9376497 -0.00307574] [ 0.00261584 0.00231061 0.99999391]] t_estimated: [[ 0.08984869] [-0.99591269] [-0.00922629]] R_gt: [[ 9.99865287e-01 1.63918014e-02 -4.90419500e-06] [-1.63919203e-02 9.99860154e-01 3.57780899e-03] [ 6.27182440e-05 -3.57556009e-03 9.99993881e-01]] t_gt: [-0.91021376 0.41408782 -0.00649535] Pose Error in degrees for R and t: 21.281464618477987 60.38846531860693 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.11201844e-01 -4.11960185e-01 -7.19608813e-05] [ 4.11960187e-01 9.11201846e-01 1.66233516e-05] [ 5.87227288e-05 -4.47922468e-05 9.99999997e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99854734 0.04211579 0.0335982 ] [-0.04167945 0.99903852 -0.01359159] [-0.03413904 0.01217154 0.99934283]] t_gt: [-0.82984235 0.39436844 0.39475969] Pose Error in degrees for R and t: 26.809552922156204 67.0706816965191 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.14544596 0.98886835 -0.03138241] [ 0.98876276 0.14639179 0.03029275] [ 0.03454967 -0.0266238 -0.99904829]] t_estimated: [[ 0.73723108] [-0.6752401 ] [-0.0232626 ]] R_gt: [[ 0.99805083 0.04057117 0.04741753] [-0.03999829 0.99911649 -0.01295651] [-0.04790184 0.01103552 0.99879137]] t_gt: [-0.84781506 0.17585878 0.50028324] Pose Error in degrees for R and t: 179.95795830560579 40.93788339716349 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99979624e-01 6.38026620e-03 -2.10687444e-04] [-6.38020094e-03 9.99979599e-01 3.09002211e-04] [ 2.12654662e-04 -3.07651687e-04 9.99999930e-01]] t_estimated: [[2.52316918e-01] [9.67644545e-01] [4.54577894e-04]] R_gt: [[ 0.99040989 0.13778003 -0.01021386] [-0.13746103 0.99013347 0.02721634] [ 0.01386303 -0.02555092 0.99957709]] t_gt: [-0.21231502 0.97437772 0.07423204] Pose Error in degrees for R and t: 7.723255572656865 27.212784558148783 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 1.00000000e+00 -1.21375102e-05 -2.55073466e-06] [ 1.21375222e-05 1.00000000e+00 4.68932000e-06] [ 2.55067775e-06 -4.68935096e-06 1.00000000e+00]] t_estimated: [[ 9.99993254e-01] [-3.61894509e-03] [-6.28476091e-04]] R_gt: [[ 0.98631029 0.16489191 0.00172086] [-0.16489707 0.98630665 0.0029764 ] [-0.00120573 -0.00321878 0.99999474]] t_gt: [-0.05350769 0.99824986 0.02518215] Pose Error in degrees for R and t: 9.493663751240595 86.72457785331686 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 1.00000000e+00 7.42389483e-12 1.00389261e-14] [-7.42400585e-12 1.00000000e+00 -5.39282161e-16] [-9.41157959e-15 6.38811920e-16 1.00000000e+00]] t_estimated: [[ 0.15625151] [-0.98771676] [-0.00103062]] R_gt: [[ 0.98833137 0.14578252 0.04415047] [-0.14373132 0.98852135 -0.04655569] [-0.05043035 0.03966795 0.99794031]] t_gt: [0.01006244 0.99124049 0.13168538] Pose Error in degrees for R and t: 9.106263578502771 12.142278112094447 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.95648501e-01 -9.31883102e-02 -1.90947355e-05] [ 9.31883120e-02 9.95648491e-01 1.45179667e-04] [ 5.48259677e-06 -1.46327324e-04 9.99999989e-01]] t_estimated: [[0.58547962] [0.81068649] [0.0010101 ]] R_gt: [[ 0.98501711 0.1631129 -0.05600142] [-0.16155927 0.98636813 0.03126632] [ 0.06033837 -0.02175069 0.99794148]] t_gt: [-0.36210011 0.91744067 -0.16488219] Pose Error in degrees for R and t: 15.148703570950387 57.887189175294886 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.77228457e-01 -2.12189874e-01 3.06389183e-05] [ 2.12189868e-01 9.77228370e-01 -4.16571526e-04] [ 5.84510394e-05 4.13586818e-04 9.99999913e-01]] t_estimated: [[0.7043281 ] [0.70987399] [0.00092432]] R_gt: [[ 0.94338316 0.30862134 -0.12157846] [-0.30229674 0.9507931 0.067896 ] [ 0.13655094 -0.02729941 0.99025739]] t_gt: [-0.16424256 0.96474487 -0.20564952] Pose Error in degrees for R and t: 31.149877335821856 55.32111151132625 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.74448203e-01 -4.85117120e-01 -1.31125961e-03] [ 4.85118130e-01 8.74448427e-01 5.90629512e-04] [ 8.60104419e-04 -1.15259073e-03 9.99998966e-01]] t_estimated: [[8.58551008e-01] [5.12727508e-01] [8.17744115e-04]] R_gt: [[ 0.8648267 0.48483854 -0.13040662] [-0.47204013 0.8736751 0.1177753 ] [ 0.1710348 -0.04029763 0.98444128]] t_gt: [-0.13928161 0.97846864 -0.15231468] Pose Error in degrees for R and t: 58.63736942244467 67.54343976230957 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.96047533e-01 -8.88215761e-02 -1.97494764e-04] [ 8.88215456e-02 9.96047543e-01 -1.58229588e-04] [ 2.10768376e-04 1.40062401e-04 9.99999968e-01]] t_estimated: [[-0.474393 ] [-0.88031143] [-0.00175304]] R_gt: [[ 0.98448557 0.17522095 0.00920133] [-0.17500911 0.98435822 -0.02027373] [-0.01260972 0.01834936 0.99975269]] t_gt: [-0.38245281 0.9238873 -0.01273164] Pose Error in degrees for R and t: 15.235469657095946 50.81301211023123 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.66448181e-01 2.56861448e-01 -3.31488388e-04] [-2.56861465e-01 9.66448233e-01 -9.38988007e-06] [ 3.17954468e-04 9.42214256e-05 9.99999945e-01]] t_estimated: [[-0.99993843] [-0.01102873] [-0.00122541]] R_gt: [[ 0.97249588 0.2323861 0.0157256 ] [-0.23168724 0.97208388 -0.03706039] [-0.02389849 0.03239776 0.99918933]] t_gt: [-0.33320588 0.9428396 -0.00522789] Pose Error in degrees for R and t: 2.7372727083081423 71.16805485242052 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.65700176 -0.27851013 0.70055749] [-0.65106816 -0.25887743 -0.71350734] [ 0.38007754 -0.92488626 -0.01124615]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.94150377 0.33678817 0.0119743 ] [-0.33468794 0.93860784 -0.08365572] [-0.03941354 0.07475473 0.99642235]] t_gt: [-0.26713392 0.96315651 -0.0311288 ] Pose Error in degrees for R and t: 151.92693305521456 65.28141258951831 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.74179864e-01 -2.25772984e-01 -3.90749561e-04] [ 2.25772987e-01 9.74179941e-01 -3.58181054e-05] [ 3.88747145e-04 -5.33274187e-05 9.99999923e-01]] t_estimated: [[ 0.60951666] [-0.79277166] [-0.00159272]] R_gt: [[ 0.99386348 0.10963173 -0.01467817] [-0.10880856 0.99288497 0.0483793 ] [ 0.01987784 -0.04648583 0.99872055]] t_gt: [-0.39112311 0.89755266 0.20352381] Pose Error in degrees for R and t: 19.53565448111351 18.144432609138423 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.50949669e-01 -3.09345416e-01 3.76352125e-04] [ 3.09345447e-01 9.50949733e-01 -2.59101168e-05] [-3.49876777e-04 1.41062033e-04 9.99999929e-01]] t_estimated: [[0.7740002 ] [0.63318461] [0.00097114]] R_gt: [[ 0.94870672 0.305222 -0.08243366] [-0.29849584 0.95065265 0.0846138 ] [ 0.10419155 -0.0556672 0.99299771]] t_gt: [-0.26635708 0.96186981 -0.06213192] Pose Error in degrees for R and t: 36.275728508555794 66.24538677345929 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.49289011e-01 -3.14404365e-01 -5.17464153e-04] [ 3.14404550e-01 9.49289036e-01 3.23469353e-04] [ 3.89522870e-04 -4.69758987e-04 9.99999814e-01]] t_estimated: [[0.63851896] [0.76960563] [0.00084572]] R_gt: [[ 0.89584521 0.42649288 -0.12476182] [-0.4130132 0.90273823 0.12034567] [ 0.16395357 -0.05628313 0.98486013]] t_gt: [-0.14526548 0.98113206 -0.12758453] Pose Error in degrees for R and t: 44.41885446836908 48.53043637291372 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.87634650e-01 -1.56773080e-01 -1.09142550e-05] [ 1.56773080e-01 9.87634640e-01 1.35387397e-04] [-1.04458029e-05 -1.35424346e-04 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075908e-03] [7.75189839e-04]] R_gt: [[ 0.99748063 0.06578892 0.02656495] [-0.06606702 0.99776762 0.00970443] [-0.02586754 -0.01143579 0.99960002]] t_gt: [-0.25976831 0.55468337 0.79047251] Pose Error in degrees for R and t: 12.901886912468001 75.08212467568114 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999976e-01 -6.29078579e-05 -2.08712586e-04] [ 6.29548563e-05 9.99999973e-01 2.25183371e-04] [ 2.08698415e-04 -2.25196505e-04 9.99999953e-01]] t_estimated: [[-0.99999338] [-0.00331903] [-0.00149436]] R_gt: [[ 0.98000193 0.19597012 0.03454285] [-0.19755838 0.97896937 0.05089196] [-0.02384304 -0.05669964 0.99810686]] t_gt: [-0.31296695 0.81965293 0.47981325] Pose Error in degrees for R and t: 11.89341589739328 71.96924784202234 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999998e-01 6.17710210e-05 2.44488659e-06] [-6.17710139e-05 9.99999998e-01 -2.94203403e-06] [-2.44506832e-06 2.94188300e-06 1.00000000e+00]] t_estimated: [[-0.99994221] [-0.01069646] [-0.00107472]] R_gt: [[ 0.96628351 0.25582605 0.02914661] [-0.25651297 0.96626989 0.02287593] [-0.02231073 -0.02958234 0.99931374]] t_gt: [-0.14700599 0.95466493 0.25885151] Pose Error in degrees for R and t: 14.994784827024056 82.15418399256745 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999951e-01 2.99401176e-04 9.44426120e-05] [-2.99401228e-04 9.99999955e-01 5.43684459e-07] [-9.44424449e-05 -5.71960664e-07 9.99999996e-01]] t_estimated: [[9.59804660e-01] [2.80667755e-01] [7.90613394e-04]] R_gt: [[ 0.99498812 -0.09968524 0.00784442] [ 0.09974922 0.9949772 -0.00828755] [-0.0069796 0.00902926 0.99993447]] t_gt: [ 0.77315205 -0.63386077 -0.02136431] Pose Error in degrees for R and t: 5.777289336597842 55.65645148032538 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999910e-01 3.79519673e-04 1.89652492e-04] [-3.79437065e-04 9.99999833e-01 -4.35422688e-04] [-1.89817711e-04 4.35350687e-04 9.99999887e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99392241 -0.10930785 -0.01306676] [ 0.10886917 0.99358603 -0.0305359 ] [ 0.01632033 0.02892827 0.99944723]] t_gt: [ 0.74959725 -0.6102257 -0.25637583] Pose Error in degrees for R and t: 6.563186173112999 73.85706855702513 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-9.63470025e-01 -2.67815849e-01 -4.26753173e-04] [-2.67815447e-01 9.63469883e-01 -8.19303455e-04] [ 6.30586280e-04 -6.75083229e-04 -9.99999573e-01]] t_estimated: [[9.93908456e-01] [1.10207150e-01] [6.03728768e-04]] R_gt: [[ 0.97313402 -0.23009747 -0.00815581] [ 0.22964194 0.9725439 -0.0377062 ] [ 0.01660751 0.03482028 0.99925538]] t_gt: [ 0.79824254 -0.5844879 -0.14554292] Pose Error in degrees for R and t: 178.97541277405068 43.20763554585819 Number of keypoints: Image1: 568 Image2: 568 R_estimated: [[ 3.73110310e-01 9.27786606e-01 8.42846225e-04] [ 9.27784160e-01 -3.73111262e-01 2.13028877e-03] [ 2.29092880e-03 -1.28533244e-05 -9.99997376e-01]] t_estimated: [[-0.11215464] [-0.99369013] [-0.00112155]] R_gt: [[ 0.9978808 0.06411095 0.01120265] [-0.06420514 0.99790226 0.00828412] [-0.0106484 -0.00898615 0.9999028 ]] t_gt: [-0.72309919 0.64750577 0.24054904] Pose Error in degrees for R and t: 179.85453449415817 55.76483073604395 Number of keypoints: Image1: 436 Image2: 436 R_estimated: [[-0.76034023 0.6492266 -0.01968645] [ 0.64915047 0.76058181 0.0109075 ] [ 0.0220546 -0.00448605 -0.9997467 ]] t_estimated: [[ 0.93477728] [-0.35503146] [-0.01200376]] R_gt: [[ 0.99613454 0.07028182 0.05270186] [-0.07026042 0.99752645 -0.00227243] [-0.05273116 -0.00143925 0.99860757]] t_gt: [-0.71062523 0.47159055 0.52212463] Pose Error in degrees for R and t: 178.4359579984792 33.073283599634415 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 9.84731761e-01 1.74077423e-01 6.39567740e-04] [-1.74077477e-01 9.84731959e-01 2.89399779e-05] [-6.24764997e-04 -1.39832454e-04 9.99999795e-01]] t_estimated: [[0.3405132 ] [0.94023238] [0.00371812]] R_gt: [[ 0.99988997 0.01434807 0.00392174] [-0.01441475 0.99974477 0.01743761] [-0.00367107 -0.01749183 0.99984048]] t_gt: [-0.85471427 -0.40517771 0.3244912 ] Pose Error in degrees for R and t: 9.25600653706043 47.87145420307211 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99620659e-01 -2.75415597e-02 -5.87455878e-06] [ 2.75415597e-02 9.99620659e-01 5.88892209e-06] [ 5.71014022e-06 -6.04848269e-06 1.00000000e+00]] t_estimated: [[ 6.82474609e-01] [-7.30909263e-01] [ 2.39940222e-04]] R_gt: [[ 0.99932498 0.02093841 0.03018463] [-0.0196393 0.99889337 -0.04272926] [-0.03104517 0.04210766 0.99863015]] t_gt: [ 0.09877925 0.9640942 -0.24650566] Pose Error in degrees for R and t: 4.063579462535104 50.408461006268475 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.78365433e-01 2.06884104e-01 2.18807049e-04] [-2.06884075e-01 9.78365452e-01 -1.47894565e-04] [-2.44670292e-04 9.94272362e-05 9.99999965e-01]] t_estimated: [[-9.99994892e-01] [-3.10078911e-03] [-7.75189839e-04]] R_gt: [[ 0.9985738 -0.02855839 0.04510201] [ 0.03142159 0.9974468 -0.06411967] [-0.04315568 0.06544533 0.99692259]] t_gt: [ 0.82810275 -0.53843713 -0.15598494] Pose Error in degrees for R and t: 14.374483163015547 34.278670763390906 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 9.99999932e-01 3.51164432e-04 1.13548998e-04] [-3.51167863e-04 9.99999938e-01 3.01974829e-05] [-1.13538387e-04 -3.02373556e-05 9.99999993e-01]] t_estimated: [[0.93395106] [0.35739922] [0.00109905]] R_gt: [[ 0.9977369 -0.06445955 -0.01913272] [ 0.06403675 0.99770601 -0.0219281 ] [ 0.02050275 0.02065307 0.99957632]] t_gt: [ 0.69045696 -0.64720887 -0.32309421] Pose Error in degrees for R and t: 4.065148543721673 65.59487000281257 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 8.09285141e-01 5.87416002e-01 4.02712929e-05] [-5.87410651e-01 8.09278057e-01 -4.21341102e-03] [-2.50761573e-03 3.38619514e-03 9.99991123e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98241527 0.18634256 0.01173033] [-0.18642843 0.98244669 0.006676 ] [-0.01028044 -0.00874632 0.99990887]] t_gt: [-0.74559781 0.66318315 0.06536066] Pose Error in degrees for R and t: 25.24627293305225 41.9706955858106 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.98549997 -0.16966423 -0.00196426] [ 0.1696665 0.98550097 0.00105378] [ 0.00175699 -0.00137177 0.99999752]] t_estimated: [[-0.55208075] [-0.83379019] [-0.00087217]] R_gt: [[ 0.90836862 0.4131587 0.06455486] [-0.41142855 0.91061828 -0.03874773] [-0.07479356 0.00863762 0.997161 ]] t_gt: [-0.65808621 0.74877836 0.0790791 ] Pose Error in degrees for R and t: 34.43400024615033 74.86606441175341 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-3.27157724e-01 9.44969612e-01 -5.05428688e-04] [-9.44967456e-01 -3.27158062e-01 -2.02735230e-03] [-2.08114139e-03 -1.85650303e-04 9.99997817e-01]] t_estimated: [[0.0579743 ] [0.9983174 ] [0.00115949]] R_gt: [[ 0.82103229 0.56810169 0.05625866] [-0.56549931 0.82283393 -0.05617109] [-0.07820266 0.01430348 0.9968351 ]] t_gt: [-0.59390827 0.8027411 0.05366272] Pose Error in degrees for R and t: 74.61843141394654 39.912854597775066 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.84798552e-01 1.73697398e-01 -1.01279766e-03] [-1.73698408e-01 9.84798374e-01 -1.01316658e-03] [ 8.21417086e-04 1.17368632e-03 9.99998974e-01]] t_estimated: [[-0.98316627] [-0.18268292] [-0.00332151]] R_gt: [[ 0.98523694 0.16267812 0.05332491] [-0.16224159 0.98667247 -0.01245632] [-0.05463923 0.003621 0.99849967]] t_gt: [-0.42422193 0.86718369 0.26082215] Pose Error in degrees for R and t: 3.2477130724819 75.06075118670437 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.05341913 0.99849549 -0.0123757 ] [ 0.99821892 0.05372576 0.02593334] [ 0.02655922 -0.01096832 -0.99958707]] t_estimated: [[-0.65938047] [-0.75169374] [-0.01318761]] R_gt: [[ 0.93980961 0.33889154 0.04370754] [-0.33742768 0.94060013 -0.03760567] [-0.05385578 0.02059464 0.99833604]] t_gt: [-0.33142339 0.9385484 0.09636093] Pose Error in degrees for R and t: 178.39012838709147 60.775189241908464 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-8.95034836e-01 -4.45934303e-01 7.43234339e-03] [-4.45995981e-01 8.94927841e-01 -1.38471982e-02] [-4.76470329e-04 -1.57085201e-02 -9.99876500e-01]] t_estimated: [[0.99772443] [0.06701134] [0.0074457 ]] R_gt: [[ 0.90202289 0.42883438 0.04956774] [-0.42661923 0.90307899 -0.04945172] [-0.06596957 0.02346048 0.99754601]] t_gt: [-0.2717357 0.95859609 0.08516602] Pose Error in degrees for R and t: 176.76838788208485 78.0975271667347 Number of keypoints: Image1: 695 Image2: 695 R_estimated: [[ 9.99953521e-01 -9.64128465e-03 2.31656079e-05] [ 9.64128498e-03 9.99953522e-01 -1.42260304e-05] [-2.30273740e-05 1.44487154e-05 1.00000000e+00]] t_estimated: [[ 5.50761132e-01] [-8.34662854e-01] [ 3.09470585e-04]] R_gt: [[ 0.99896228 -0.0231817 -0.03920825] [ 0.02363172 0.99965933 0.01104531] [ 0.03893886 -0.0119603 0.99916993]] t_gt: [ 0.73783271 -0.52465596 -0.42466342] Pose Error in degrees for R and t: 2.466008398013916 32.41912761210268 Number of keypoints: Image1: 521 Image2: 521 R_estimated: [[-0.92339225 0.38368244 0.01159863] [ 0.38372319 0.92344706 0.00143087] [-0.01016172 0.00577192 -0.99993171]] t_estimated: [[ 0.97649636] [-0.21546997] [ 0.00524832]] R_gt: [[ 0.99681523 -0.03459074 -0.07185808] [ 0.0375809 0.99846539 0.04068364] [ 0.07034044 -0.04325451 0.99658454]] t_gt: [ 0.76715319 -0.58680967 -0.25909534] Pose Error in degrees for R and t: 176.16812621563105 29.049286661379128 Number of keypoints: Image1: 487 Image2: 487 R_estimated: [[ 9.96598473e-01 -8.24073519e-02 -7.15856551e-04] [-8.23995426e-02 -9.96287444e-01 -2.49328024e-02] [ 1.34144733e-03 2.49069790e-02 -9.99688873e-01]] t_estimated: [[ 0.05405112] [ 0.99846594] [-0.01200987]] R_gt: [[ 0.99772727 0.02284158 -0.06339788] [-0.01930923 0.99825605 0.0557826 ] [ 0.06456059 -0.05443202 0.99642804]] t_gt: [ 0.00402928 -0.95825439 -0.28588858] Pose Error in degrees for R and t: 178.4207637635608 17.610904276116727 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.94783016e-01 -1.02013475e-01 3.83931301e-05] [ 1.02013473e-01 9.94783016e-01 4.76815598e-05] [-4.30569953e-05 -4.35161893e-05 9.99999998e-01]] t_estimated: [[-8.13220607e-01] [-5.81955058e-01] [-7.44953284e-04]] R_gt: [[ 0.99411355 0.10606718 0.02208075] [-0.1064008 0.9942175 0.01451492] [-0.02041382 -0.01677825 0.99965126]] t_gt: [-0.39310521 0.87748953 0.274737 ] Pose Error in degrees for R and t: 12.04915115317796 78.97817656139205 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.54467251e-01 2.97855668e-01 -1.65610418e-02] [ 2.97824215e-01 9.54610629e-01 4.39145203e-03] [ 1.71173654e-02 -7.40782121e-04 -9.99853213e-01]] t_estimated: [[ 0.97008176] [-0.24259961] [-0.00931713]] R_gt: [[ 0.98847607 0.14654664 0.0379394 ] [-0.14767378 0.98861749 0.02877784] [-0.03329043 -0.03404848 0.99886606]] t_gt: [-0.31455097 0.88315601 0.34798441] Pose Error in degrees for R and t: 179.2320267185985 58.490785500514505 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.90436476 0.42675258 -0.00257273] [ 0.42674532 -0.90426594 0.01383984] [ 0.00357975 -0.01361416 -0.99990092]] t_estimated: [[-0.99411464] [ 0.10822482] [ 0.00484519]] R_gt: [[ 0.98754512 0.15555413 0.02359959] [-0.15583834 0.98772484 0.01070259] [-0.02164506 -0.01424616 0.99966427]] t_gt: [-0.12793231 0.97108268 0.20157319] Pose Error in degrees for R and t: 178.77974559266005 76.5114352491744 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.96185304 0.27356034 -0.0018642 ] [-0.27355182 0.96184947 0.00387339] [ 0.00285269 -0.00321567 0.99999076]] t_estimated: [[-9.93892846e-01] [-1.10346799e-01] [-7.71655936e-04]] R_gt: [[ 0.98643276 0.07469366 0.1461886 ] [-0.07089482 0.99700087 -0.03103153] [-0.14806848 0.02024679 0.98876932]] t_gt: [-0.38197138 0.49087338 0.78303333] Pose Error in degrees for R and t: 14.593593285722273 71.04241663121317 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-6.02090397e-01 -7.98424062e-01 -2.48396041e-03] [ 7.98427066e-01 -6.02091402e-01 -4.05083490e-04] [-1.17214280e-03 -2.22715810e-03 9.99996833e-01]] t_estimated: [[0.99983659] [0.01801507] [0.00150126]] R_gt: [[ 0.95664994 0.19657378 0.21489259] [-0.18328657 0.97977421 -0.08030395] [-0.2263321 0.03743596 0.97332996]] t_gt: [-0.36790156 0.68796977 0.62557656] Pose Error in degrees for R and t: 138.4254577731856 69.23667749584985 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.98748241e-01 -5.00072802e-02 1.10625607e-03] [ 5.00166273e-02 9.98683947e-01 -1.13450908e-02] [-5.37463045e-04 1.13862207e-02 9.99935030e-01]] t_estimated: [[-0.78900614] [-0.6142033 ] [-0.01495412]] R_gt: [[ 0.9112297 0.37036082 0.18026003] [-0.35495171 0.92808865 -0.11252632] [-0.20897335 0.03855405 0.97716057]] t_gt: [-0.32478007 0.87388105 0.3617317 ] Pose Error in degrees for R and t: 27.138908934437747 73.38755378683385 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.30641856e-01 -3.65930941e-01 -5.30771162e-04] [ 3.65930990e-01 9.30641988e-01 -4.01806650e-06] [ 4.95428264e-04 -1.90486236e-04 9.99999859e-01]] t_estimated: [[ 8.03653260e-01] [-5.95097819e-01] [-1.52051881e-04]] R_gt: [[ 0.99665821 0.02347446 -0.0782409 ] [-0.02044667 0.99901934 0.03927522] [ 0.0790861 -0.0375453 0.99616048]] t_gt: [ 0.0771394 -0.60720266 -0.79079355] Pose Error in degrees for R and t: 23.26054132717857 64.94686641370387 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.92440651e-01 1.22725343e-01 2.08852306e-04] [-1.22725279e-01 9.92440638e-01 -2.91700044e-04] [-2.43072504e-04 2.63863524e-04 9.99999936e-01]] t_estimated: [[-9.69066491e-01] [-2.46799251e-01] [-5.15123724e-04]] R_gt: [[ 0.99503382 -0.01346047 -0.09862469] [ 0.01864349 0.99848265 0.05181457] [ 0.09777692 -0.05339675 0.9937756 ]] t_gt: [ 0.70121929 -0.65870342 -0.27276603] Pose Error in degrees for R and t: 10.229473343176167 58.88080947423612 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.44633425e-01 -3.28118371e-01 -2.45515070e-03] [-3.28126266e-01 -9.44624251e-01 -4.26358771e-03] [-9.20233437e-04 4.83312689e-03 -9.99987897e-01]] t_estimated: [[0.20547305] [0.97866203] [0.00120435]] R_gt: [[ 0.99096909 0.0040399 -0.13403056] [ 0.00776006 0.99614366 0.08739464] [ 0.13386659 -0.08764602 0.9871164 ]] t_gt: [ 0.64574812 -0.73307053 -0.21358128] Pose Error in degrees for R and t: 176.58357528953823 54.19689077947597 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 8.97882573e-01 4.40234507e-01 -6.81345855e-04] [-4.40234945e-01 8.97880336e-01 -2.02383323e-03] [-2.79194177e-04 2.11711684e-03 9.99997720e-01]] t_estimated: [[0.86161317] [0.50756472] [0.00089101]] R_gt: [[ 0.9657716 -0.25842062 -0.02247199] [ 0.25757678 0.96563452 -0.03469807] [ 0.03066623 0.02772243 0.99914549]] t_gt: [ 0.86928664 -0.47476887 -0.13760543] Pose Error in degrees for R and t: 41.136338398994894 59.47659525538833 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 0.17778726 0.98391633 0.01733079] [-0.98383128 0.17732972 0.02510339] [ 0.02162637 -0.02151364 0.99953462]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.8436926 -0.53633057 -0.0231082 ] [ 0.53500407 0.84359171 -0.04608368] [ 0.04421011 0.02651824 0.99867095]] t_gt: [ 0.9273526 -0.36629907 -0.076434 ] Pose Error in degrees for R and t: 112.25417169838839 68.86372491981207 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.93008052 -0.36664838 -0.02278585] [ 0.367062 0.9300273 0.01773975] [ 0.01468722 -0.02486321 0.99958297]] t_estimated: [[9.41586041e-01] [3.36771650e-01] [7.63654535e-04]] R_gt: [[ 0.74315644 -0.66861198 -0.0260145 ] [ 0.66700774 0.74333747 -0.05050819] [ 0.05310766 0.02018405 0.99838496]] t_gt: [ 0.95213439 -0.29956888 -0.060816 ] Pose Error in degrees for R and t: 20.73614684430188 37.28957747726793 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 5.43420642e-01 -8.39453580e-01 -3.41950076e-03] [ 8.39460488e-01 5.43414599e-01 2.58125656e-03] [-3.08638426e-04 -4.27324387e-03 9.99990822e-01]] t_estimated: [[ 0.9800822 ] [-0.19858491] [ 0.00170456]] R_gt: [[ 0.9698951 0.24232419 0.02413736] [-0.24103369 0.96938987 -0.04676488] [-0.03473047 0.03953861 0.99861452]] t_gt: [-0.70888582 0.70353136 -0.05024464] Pose Error in degrees for R and t: 71.14564199269385 33.42966535518964 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-3.82578321e-01 -9.23921579e-01 -1.65658633e-03] [ 9.23922996e-01 -3.82576988e-01 -1.07092152e-03] [ 3.55675693e-04 -1.94026956e-03 9.99998054e-01]] t_estimated: [[0.87157509] [0.49026099] [0.00100877]] R_gt: [[ 0.8906744 0.4515765 0.0527238 ] [-0.44874385 0.89180583 -0.05753822] [-0.07300195 0.02758865 0.99694961]] t_gt: [-0.64385285 0.76414763 0.03913956] Pose Error in degrees for R and t: 139.32865275816295 79.2517020020467 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-2.99279595e-01 -9.54161245e-01 -2.83592058e-03] [ 9.54165435e-01 -2.99277596e-01 -1.11476902e-03] [ 2.14941903e-04 -3.03956501e-03 9.99995357e-01]] t_estimated: [[0.99981179] [0.01933827] [0.00155598]] R_gt: [[ 0.84025842 0.53811583 0.06632992] [-0.53422967 0.84258965 -0.06813814] [-0.09255459 0.02181912 0.99546865]] t_gt: [-0.61205325 0.78847216 0.06084797] Pose Error in degrees for R and t: 139.97676816813293 53.37353124385228 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[-0.44364704 -0.89613226 -0.01114828] [-0.89618776 0.44353672 0.01107593] [-0.00498082 0.01490475 -0.99987651]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99905719 0.0113707 0.04192313] [-0.01063128 0.99978466 -0.01783149] [-0.04211679 0.01736836 0.99896115]] t_gt: [-0.64403689 0.12052646 0.75544018] Pose Error in degrees for R and t: 178.6979475335509 63.65951288552652 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.96432514e-01 8.43933173e-02 1.13708488e-04] [-8.43933370e-02 9.96432502e-01 1.81685041e-04] [-9.79698299e-05 -1.90633121e-04 9.99999977e-01]] t_estimated: [[0.47034042] [0.88248455] [0.00095404]] R_gt: [[ 0.99928855 -0.00802771 0.03687582] [ 0.00842939 0.99990674 -0.01073701] [-0.03678552 0.01103956 0.99926178]] t_gt: [-0.50767252 -0.59786336 0.62034508] Pose Error in degrees for R and t: 5.749208487709339 40.02247413257671 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.72759976e-01 -2.31813948e-01 -5.68387643e-04] [ 2.31814621e-01 9.72758062e-01 1.93236934e-03] [ 1.04953497e-04 -2.01149212e-03 9.99997971e-01]] t_estimated: [[-0.57958788] [-0.81490928] [-0.00087156]] R_gt: [[ 0.99859743 -0.04776322 -0.02287465] [ 0.0481228 0.99872277 0.01543388] [ 0.0221084 -0.01651377 0.99961877]] t_gt: [ 0.17088831 -0.96971148 -0.17451884] Pose Error in degrees for R and t: 10.76024062838495 46.264185129572745 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.95019418e-01 -9.96812749e-02 -3.47311079e-05] [ 9.96812789e-02 9.95019408e-01 1.44984630e-04] [ 2.01058736e-05 -1.47724564e-04 9.99999989e-01]] t_estimated: [[-6.68752765e-01] [-7.43484556e-01] [-6.74039447e-04]] R_gt: [[ 0.99585345 -0.08232104 -0.0387214 ] [ 0.08391888 0.99560201 0.04164209] [ 0.03512211 -0.044719 0.99838219]] t_gt: [ 0.28714213 -0.95646347 -0.05222095] Pose Error in degrees for R and t: 3.387868293920603 58.726495660449494 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99998163e-01 -4.81553849e-04 1.85547608e-03] [ 4.85999531e-04 9.99997011e-01 -2.39627376e-03] [-1.85431660e-03 2.39717112e-03 9.99995408e-01]] t_estimated: [[8.25339216e-01] [5.64636829e-01] [6.55031124e-04]] R_gt: [[ 0.96992121 -0.23382303 -0.06767207] [ 0.23398942 0.97222329 -0.00555977] [ 0.0670924 -0.01044113 0.99769219]] t_gt: [ 0.58266377 -0.75520396 -0.30028303] Pose Error in degrees for R and t: 14.094350958940797 86.88830695182095 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999978e-01 -3.48732762e-05 2.08867792e-04] [ 3.49240585e-05 9.99999970e-01 -2.43132673e-04] [-2.08859306e-04 2.43139962e-04 9.99999949e-01]] t_estimated: [[0.73262089] [0.68063542] [0.00143389]] R_gt: [[ 0.92710167 -0.372664 -0.04005642] [ 0.37290745 0.92786677 -0.00148004] [ 0.03771899 -0.01356447 0.99919628]] t_gt: [ 0.5905987 -0.80259903 -0.08383299] Pose Error in degrees for R and t: 22.01500334187806 83.4706249984573 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.96176968e-01 -8.73581021e-02 -1.04202418e-04] [ 8.73581330e-02 9.96176912e-01 3.42761105e-04] [ 7.38610835e-05 -3.50553647e-04 9.99999936e-01]] t_estimated: [[0.96213511] [0.27257121] [0.00098021]] R_gt: [[ 0.99806763 -0.04938263 -0.03771567] [ 0.04414089 0.9906611 -0.12900191] [ 0.043734 0.12708797 0.9909267 ]] t_gt: [ 0.3889136 -0.05581824 -0.91958172] Pose Error in degrees for R and t: 8.080976822052191 69.0181869191155 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99998259e-01 -1.86591082e-03 -5.48181098e-06] [ 1.86591417e-03 9.99998020e-01 6.91615401e-04] [ 4.19130746e-06 -6.91624426e-04 9.99999761e-01]] t_estimated: [[0.42132424] [0.90690911] [0.00132242]] R_gt: [[ 0.99560773 -0.03717789 -0.08593015] [ 0.02228943 0.98551431 -0.16812291] [ 0.09093687 0.1654694 0.98201327]] t_gt: [ 0.28735661 0.14508844 -0.9467711 ] Pose Error in degrees for R and t: 11.036257352330502 75.43960943246226 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-1.75768688e-01 9.84429439e-01 -2.01213051e-03] [ 9.84413567e-01 1.75777456e-01 5.67592623e-03] [ 5.94123605e-03 -9.83118465e-04 -9.99981867e-01]] t_estimated: [[-0.16720802] [-0.98591172] [-0.00442302]] R_gt: [[ 0.99239353 -0.02980664 -0.11944561] [ 0.00724034 0.98270013 -0.18506021] [ 0.12289517 0.18278837 0.97544191]] t_gt: [ 0.26242263 0.21493858 -0.94071025] Pose Error in degrees for R and t: 178.84556346016916 75.42607954492864 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.9992058 -0.0339985 0.02078142] [-0.03396636 0.99942117 0.00189777] [-0.02083391 0.0011904 -0.99978224]] t_estimated: [[0.99928273] [0.03633825] [0.01065639]] R_gt: [[ 0.99192518 -0.12657884 0.00796894] [ 0.12637044 0.99172312 0.02268639] [-0.01077554 -0.02149682 0.99971065]] t_gt: [ 0.94471379 -0.27223529 0.18276706] Pose Error in degrees for R and t: 178.2456665904985 20.594833442180377 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 8.29944455e-01 5.57846034e-01 6.09732227e-05] [-5.57845979e-01 8.29944313e-01 5.48964484e-04] [ 2.55633281e-04 -4.89623696e-04 9.99999847e-01]] t_estimated: [[8.17005100e-01] [5.76630046e-01] [6.75210827e-04]] R_gt: [[ 0.98840096 -0.14976988 0.02516005] [ 0.14992662 0.98868711 -0.0044901 ] [-0.02420215 0.00821004 0.9996736 ]] t_gt: [ 0.98358925 -0.17737123 -0.03303977] Pose Error in degrees for R and t: 42.55101779221219 45.46880063990754 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-0.79702662 0.60394061 -0.00207557] [ 0.60393089 0.79702718 0.00389365] [ 0.00400582 0.00184984 -0.99999027]] t_estimated: [[8.54436413e-01] [5.19555694e-01] [5.44241088e-04]] R_gt: [[ 0.9396301 -0.34206033 -0.0094766 ] [ 0.34215644 0.93876962 0.04050152] [-0.00495789 -0.0412989 0.99913436]] t_gt: [ 0.98847149 -0.09771518 0.11565407] Pose Error in degrees for R and t: 178.96564457614653 37.45035685978916 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999999e-01 -4.17682570e-05 3.27142958e-06] [ 4.17683525e-05 9.99999999e-01 -2.92087132e-05] [-3.27020958e-06 2.92088498e-05 1.00000000e+00]] t_estimated: [[ 9.99825622e-01] [ 1.86696990e-02] [-4.10770558e-04]] R_gt: [[ 0.99931041 -0.03300188 -0.01702881] [ 0.03294686 0.99945034 -0.00351342] [ 0.01713636 0.00294903 0.99984819]] t_gt: [ 0.51349555 -0.68014935 -0.52318179] Pose Error in degrees for R and t: 2.1349121336986 59.93893399802027 Number of keypoints: Image1: 598 Image2: 598 R_estimated: [[ 9.99965080e-01 8.35690485e-03 -2.35743411e-05] [-8.35690437e-03 9.99965080e-01 2.07137142e-05] [ 2.37466205e-05 -2.05159824e-05 1.00000000e+00]] t_estimated: [[-1.29820713e-01] [ 9.91537439e-01] [-2.99236260e-04]] R_gt: [[ 0.99978674 0.00232073 0.02050254] [-0.00255682 0.99993085 0.01144679] [-0.02047445 -0.01149649 0.99972517]] t_gt: [-0.20432573 0.02594643 0.97855903] Pose Error in degrees for R and t: 1.387963149383738 87.02158427022924 Number of keypoints: Image1: 409 Image2: 409 R_estimated: [[ 0.48781673 -0.86853697 0.08762633] [-0.8685047 -0.47277062 0.14895476] [-0.08794556 -0.1487665 -0.98495386]] t_estimated: [[0.5097469 ] [0.85590397] [0.08710045]] R_gt: [[ 0.99990425 -0.01052774 0.00898344] [ 0.01047558 0.9999287 0.00568091] [-0.00904214 -0.00558672 0.99994364]] t_gt: [ 0.23362978 -0.61925129 0.74962988] Pose Error in degrees for R and t: 169.50787405249815 69.77946795688788 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.98629021e-01 5.23443178e-02 3.87891781e-04] [-5.23442556e-02 9.98629085e-01 -1.68982724e-04] [-3.96205300e-04 1.48447146e-04 9.99999910e-01]] t_estimated: [[0.95818433] [0.28614922] [0.00118734]] R_gt: [[ 0.99403486 -0.1038751 -0.03322504] [ 0.10473698 0.994176 0.02537218] [ 0.03039635 -0.02870083 0.99912664]] t_gt: [ 0.63565919 -0.76993559 -0.05600522] Pose Error in degrees for R and t: 9.309370288019657 67.12663314868041 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[-4.01222092e-01 -9.15980661e-01 -5.12171762e-04] [-9.15980038e-01 4.01222417e-01 -1.06872321e-03] [ 1.18442459e-03 4.03437455e-05 -9.99999298e-01]] t_estimated: [[0.84413049] [0.53613693] [0.0009506 ]] R_gt: [[ 0.99943699 -0.03325639 0.00440243] [ 0.03332646 0.99930196 -0.01691078] [-0.00383616 0.01704779 0.99984707]] t_gt: [ 0.6828158 -0.69727222 -0.21811471] Pose Error in degrees for R and t: 179.60477691283862 78.32588356333763 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-0.96561326 0.25960619 0.01398758] [-0.25975007 -0.96562748 -0.00966818] [ 0.01099687 -0.012969 0.99985543]] t_estimated: [[0.58425349] [0.81157065] [0.00096731]] R_gt: [[ 0.99929561 -0.03436867 0.01506427] [ 0.03453946 0.99934084 -0.01119481] [-0.01466876 0.01170694 0.99982375]] t_gt: [ 0.81921073 -0.57338164 -0.01128129] Pose Error in degrees for R and t: 166.9229068972711 89.23931296469605 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.99527946 0.08095157 -0.05353159] [ 0.08090772 0.99671711 0.00298937] [ 0.05359785 -0.00135586 -0.99856168]] t_estimated: [[ 0.99869394] [-0.04334233] [-0.02705301]] R_gt: [[ 0.99925126 0.03357817 -0.01921277] [-0.03320354 0.99925942 0.0194539 ] [ 0.01985282 -0.01880099 0.99962565]] t_gt: [ 0.77828642 0.61857853 -0.10784644] Pose Error in degrees for R and t: 175.76347622805204 41.116255348325936 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 7.27297559e-01 6.86322099e-01 4.86419464e-04] [-6.86321741e-01 7.27297696e-01 -7.27610092e-04] [-8.53146641e-04 1.95348791e-04 9.99999617e-01]] t_estimated: [[-1.21388332e-01] [ 9.92604828e-01] [ 7.26937613e-04]] R_gt: [[ 0.99333833 -0.0618789 -0.09721136] [ 0.06500685 0.99745298 0.02933999] [ 0.09514836 -0.03546401 0.99483044]] t_gt: [ 0.60523675 -0.72281831 -0.33349987] Pose Error in degrees for R and t: 47.33245082275142 37.703698049336914 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.79329471e-01 2.02271398e-01 2.60268424e-04] [-2.02271549e-01 9.79329103e-01 8.52953035e-04] [-8.23604393e-05 -8.87966942e-04 9.99999602e-01]] t_estimated: [[0.45661699] [0.88966261] [0.00117061]] R_gt: [[ 0.97854794 -0.11638879 -0.16999272] [ 0.12134796 0.99242749 0.01904324] [ 0.16648849 -0.03926381 0.98526075]] t_gt: [ 0.63131361 -0.66162268 -0.40459679] Pose Error in degrees for R and t: 20.9808655653342 72.49277524246251 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.11949377 -0.99282904 -0.0034263 ] [ 0.99282956 -0.11948103 -0.00370868] [ 0.00327271 -0.0038449 0.99998725]] t_estimated: [[9.08968915e-01] [4.16863004e-01] [8.64861004e-04]] R_gt: [[ 0.9641966 -0.1991335 -0.17513201] [ 0.19637622 0.97996943 -0.033118 ] [ 0.17821823 -0.00246009 0.98398719]] t_gt: [ 0.68735139 -0.58522518 -0.43018548] Pose Error in degrees for R and t: 85.82343236976547 67.63842393507419 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.70712260e-01 -2.40244890e-01 -3.17761320e-04] [ 2.40245003e-01 9.70712209e-01 3.81916622e-04] [ 2.16701276e-04 -4.47071717e-04 9.99999877e-01]] t_estimated: [[7.98235526e-01] [6.02345006e-01] [7.33672359e-04]] R_gt: [[ 0.9886121 -0.0775879 -0.12894442] [ 0.07589778 0.99695354 -0.01797854] [ 0.12994662 0.00798774 0.99148905]] t_gt: [ 0.59890429 -0.45483769 -0.65911784] Pose Error in degrees for R and t: 12.063295564110598 78.25163062007802 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 2.66024924e-01 -9.63948078e-01 -5.90279905e-03] [ 9.63965437e-01 2.66027194e-01 4.11709586e-04] [ 1.17343840e-03 -5.79961928e-03 9.99982494e-01]] t_estimated: [[-0.05187798] [-0.99865109] [-0.00216158]] R_gt: [[ 0.98432289 -0.11746964 -0.13156867] [ 0.11307762 0.99276494 -0.0403985 ] [ 0.13536228 0.02488805 0.99048366]] t_gt: [ 0.59762067 -0.49836789 -0.62807562] Pose Error in degrees for R and t: 68.30179649109557 62.0922131223646 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.61982797 0.77984027 -0.08753539] [ 0.77724399 0.62545646 0.06852736] [ 0.10818997 -0.02556118 -0.99380157]] t_estimated: [[0.60646025] [0.79511309] [0.00106584]] R_gt: [[ 0.97275389 -0.2164133 -0.08316014] [ 0.20992733 0.97442141 -0.08020866] [ 0.09839051 0.06056582 0.99330286]] t_gt: [ 0.70295283 -0.52728377 -0.47731452] Pose Error in degrees for R and t: 170.99533543406696 89.62448168082287 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99984984e-01 -5.47782785e-03 1.59054131e-04] [ 5.47784025e-03 9.99984994e-01 -7.76049793e-05] [-1.58626637e-04 7.84750871e-05 9.99999984e-01]] t_estimated: [[0.97464488] [0.22375508] [0.00100791]] R_gt: [[ 0.99857439 -0.04445194 -0.02954144] [ 0.04502151 0.99880726 0.01890328] [ 0.02866484 -0.02020605 0.99938433]] t_gt: [ 0.6189676 -0.7456641 -0.24670663] Pose Error in degrees for R and t: 3.024678986788681 64.13967259697698 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.77551695e-01 2.10695625e-01 1.93700569e-04] [-2.10695697e-01 9.77551575e-01 4.91447385e-04] [-8.58064822e-05 -5.21227101e-04 9.99999860e-01]] t_estimated: [[0.75098022] [0.66032356] [0.00122509]] R_gt: [[ 0.98592096 -0.15108691 -0.07164464] [ 0.15288143 0.98803743 0.02023296] [ 0.06772949 -0.03090072 0.99722518]] t_gt: [ 0.66690099 -0.71228075 -0.21885887] Pose Error in degrees for R and t: 21.343303162898316 88.26793863828752 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.55192887e-01 -2.95983952e-01 -2.22479339e-04] [ 2.95982701e-01 9.55190568e-01 -2.28470200e-03] [ 8.88745293e-04 2.11648106e-03 9.99997365e-01]] t_estimated: [[-0.35040369] [-0.93659304] [-0.0032748 ]] R_gt: [[ 0.95868925 -0.25828465 -0.11918246] [ 0.26465319 0.96347766 0.04084901] [ 0.10427763 -0.07070262 0.99203218]] t_gt: [ 0.70259932 -0.6970678 -0.14300587] Pose Error in degrees for R and t: 7.536156826016562 65.9744628735548 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.97991246e-01 6.33519656e-02 -4.28948159e-05] [-6.33519695e-02 9.97991242e-01 -9.78925703e-05] [ 3.66069639e-05 1.00413399e-04 9.99999994e-01]] t_estimated: [[-0.7047074] [-0.7094975] [-0.0008827]] R_gt: [[ 0.99544592 0.06454315 -0.07013627] [-0.05950483 0.995649 0.07169882] [ 0.07445892 -0.06719862 0.99495656]] t_gt: [-0.9530736 -0.27840093 -0.11892701] Pose Error in degrees for R and t: 5.759868082494143 29.626340475643055 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.98064989e-01 6.21793953e-02 -4.08783069e-06] [-6.21793952e-02 9.98064978e-01 -1.52873425e-04] [-5.42565646e-06 1.52831792e-04 9.99999988e-01]] t_estimated: [[-2.46605652e-01] [-9.69115885e-01] [-2.32447558e-04]] R_gt: [[ 0.98814151 0.07667476 -0.13302456] [-0.06475845 0.99367767 0.09171268] [ 0.13921613 -0.0820104 0.98685962]] t_gt: [-0.65245573 -0.48311277 -0.58386948] Pose Error in degrees for R and t: 9.317716984575137 51.00686650272433 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 0.87628249 -0.4817903 -0.00266625] [-0.48178534 -0.87620702 -0.01200596] [ 0.00344817 0.01180517 -0.99992437]] t_estimated: [[ 0.25890712] [ 0.9658832 ] [-0.00606217]] R_gt: [[ 0.98778154 0.04056976 -0.15046827] [-0.02564599 0.99467378 0.09983085] [ 0.15371704 -0.09475205 0.98356072]] t_gt: [ 0.12201414 -0.85472282 -0.50454082] Pose Error in degrees for R and t: 177.45477868987828 37.72904105243029 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.9656303 0.25991598 0.00134293] [-0.25991242 0.96562931 -0.0023605 ] [-0.0019103 0.00193033 0.99999631]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99663273 -0.07487254 0.03343981] [ 0.07508435 0.9971649 -0.005132 ] [-0.03295966 0.00762639 0.99942785]] t_gt: [ 0.66777919 -0.71512251 0.20656899] Pose Error in degrees for R and t: 19.450989713726283 48.262530381127426 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.34795818 -0.93750939 0.00112114] [ 0.93747446 -0.34793429 0.0091309 ] [-0.00817022 0.00422821 0.99995768]] t_estimated: [[ 0.99397362] [-0.10958355] [ 0.00280804]] R_gt: [[ 0.99486298 -0.09795615 0.02554378] [ 0.09852791 0.99488805 -0.02217159] [-0.02324087 0.02457494 0.99942833]] t_gt: [ 0.73292202 -0.67972287 -0.02832196] Pose Error in degrees for R and t: 104.73264811761082 36.59090888794461 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99882944e-01 1.52792284e-02 8.02770109e-04] [-1.52787351e-02 9.99883083e-01 -6.17142106e-04] [-8.12105707e-04 6.04804553e-04 9.99999487e-01]] t_estimated: [[0.96740883] [0.253213 ] [0.00182578]] R_gt: [[ 0.99734741 -0.07067241 0.01741017] [ 0.07079624 0.99746947 -0.00658819] [-0.01690033 0.00780378 0.99982675]] t_gt: [ 0.83686332 -0.5470157 0.02082325] Pose Error in degrees for R and t: 5.034283581796137 47.846781594658594 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99999814e-01 5.96910671e-04 -1.22369697e-04] [-5.96902432e-04 9.99999820e-01 6.73578068e-05] [ 1.22409881e-04 -6.72847516e-05 9.99999990e-01]] t_estimated: [[ 4.26242594e-02] [-9.99091167e-01] [ 1.14780581e-04]] R_gt: [[ 0.98325553 -0.17936046 0.03222891] [ 0.17965096 0.98371062 -0.00632295] [-0.03056957 0.01200778 0.99946074]] t_gt: [ 0.55209664 -0.82311507 0.13293188] Pose Error in degrees for R and t: 10.548074566689431 32.229900602180976 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-6.20860042e-01 7.83920843e-01 9.59516678e-04] [ 7.83910938e-01 6.20844935e-01 5.93363391e-03] [ 4.05578822e-03 4.43613182e-03 -9.99981935e-01]] t_estimated: [[0.23776828] [0.97130873] [0.0050589 ]] R_gt: [[ 0.92324156 -0.38267879 0.03436805] [ 0.38298373 0.92375119 -0.00252618] [-0.03078074 0.01549442 0.99940638]] t_gt: [ 0.66002125 -0.74942204 0.05233122] Pose Error in degrees for R and t: 178.0899185616126 55.19931998913354 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.07160502 -0.99741982 0.00514008] [-0.99742721 -0.07162131 -0.00305656] [ 0.00341681 -0.00490799 -0.99998212]] t_estimated: [[6.59176436e-01] [7.51987943e-01] [7.48494913e-04]] R_gt: [[ 0.85707792 -0.51496996 -0.01492337] [ 0.51448054 0.85706081 -0.02749249] [ 0.02694801 0.01588649 0.99951026]] t_gt: [ 0.71752007 -0.69423975 -0.05653421] Pose Error in degrees for R and t: 178.18746721783054 87.18392982483846 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.94896959e-01 1.00895709e-01 3.10528502e-04] [-1.00895648e-01 9.94896993e-01 -2.06083125e-04] [-3.29736775e-04 1.73700500e-04 9.99999931e-01]] t_estimated: [[-9.90955946e-01] [ 1.34184943e-01] [ 8.44869462e-04]] R_gt: [[ 0.98933765 -0.14544189 -0.00758711] [ 0.14503901 0.98864485 -0.03930126] [ 0.01321727 0.03778169 0.99919855]] t_gt: [ 0.9559836 -0.129182 -0.26345277] Pose Error in degrees for R and t: 14.32833007808138 15.226636797005051 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.37678 -0.92630138 0.00160922] [-0.92630148 0.376776 -0.00232768] [ 0.00154981 -0.00236765 -0.999996 ]] t_estimated: [[8.17209333e-01] [5.76340572e-01] [6.70943623e-04]] R_gt: [[ 0.95230528 -0.30499441 -0.00968571] [ 0.30472252 0.95217277 -0.0226131 ] [ 0.01611882 0.01858226 0.99969744]] t_gt: [ 0.99119593 -0.10964098 -0.07422585] Pose Error in degrees for R and t: 178.69006588616475 41.68828149488619 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.88117362 -0.01081653 0.47266907] [-0.37880913 -0.58206668 -0.71951513] [ 0.28290757 -0.81306912 0.5088044 ]] t_estimated: [[8.34993831e-01] [5.50258876e-01] [6.86108325e-04]] R_gt: [[ 0.96024268 -0.27910296 0.00592638] [ 0.27912772 0.95954284 -0.03694354] [ 0.00462504 0.03712773 0.99930003]] t_gt: [ 0.98369349 -0.10504604 -0.14598782] Pose Error in degrees for R and t: 177.72504881900542 40.228460205633056 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99444639e-01 3.33227894e-02 -7.21662308e-05] [-3.33228008e-02 9.99444628e-01 -1.63163578e-04] [ 6.66890862e-05 1.65477744e-04 9.99999984e-01]] t_estimated: [[-0.53363325] [ 0.84571466] [-0.00150537]] R_gt: [[ 0.99798365 0.02128149 -0.05980238] [-0.02281385 0.99942625 -0.02505252] [ 0.05923469 0.02636592 0.99789527]] t_gt: [-0.0120979 0.41968715 -0.9075882 ] Pose Error in degrees for R and t: 3.7656909350431804 68.73034909492877 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99589953e-01 -2.86343344e-02 3.86802344e-05] [ 2.86343435e-02 9.99589919e-01 -2.62085610e-04] [-3.11597254e-05 2.63085725e-04 9.99999965e-01]] t_estimated: [[-1.30653567e-01] [ 9.91427701e-01] [-8.71311480e-04]] R_gt: [[ 0.99575156 0.02974226 -0.087148 ] [-0.03428415 0.99810634 -0.05108511] [ 0.08546232 0.05385507 0.99488438]] t_gt: [ 0.00383466 0.43894916 -0.89850372] Pose Error in degrees for R and t: 6.755871132718839 64.1849087936704 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.57211167e-01 2.89389369e-01 7.58438198e-04] [-2.89389361e-01 9.57211462e-01 -1.21942715e-04] [-7.61274662e-04 -1.02759017e-04 9.99999705e-01]] t_estimated: [[0.30259791] [0.95311734] [0.00135651]] R_gt: [[ 0.99106382 0.03517009 -0.12866987] [-0.0485505 0.9935604 -0.10237809] [ 0.12423922 0.10771007 0.9863889 ]] t_gt: [ 0.0441142 0.42389715 -0.90463537] Pose Error in degrees for R and t: 17.24124810624823 65.40852869167247 Number of keypoints: Image1: 384 Image2: 384 R_estimated: [[ 9.99934583e-01 1.14381033e-02 1.83509442e-05] [-1.14381032e-02 9.99934583e-01 -5.37248600e-06] [-1.84111948e-05 5.16223455e-06 1.00000000e+00]] t_estimated: [[9.97000340e-01] [7.73969675e-02] [1.75560160e-04]] R_gt: [[ 9.97360379e-01 -6.57186273e-02 -3.08802188e-02] [ 6.56853576e-02 9.97838545e-01 -2.07607948e-03] [ 3.09505018e-02 4.22628590e-05 9.99520915e-01]] t_gt: [ 0.60652492 -0.72681989 -0.32227377] Pose Error in degrees for R and t: 4.765827088890168 56.74300569940321 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 1.00000000e+00 -1.11022302e-16 -4.95615918e-17] [ 5.55111512e-17 1.00000000e+00 2.05998413e-16] [-1.35525272e-16 -1.74854705e-16 1.00000000e+00]] t_estimated: [[ 1.65677821e-01] [ 9.86179909e-01] [-2.14458240e-04]] R_gt: [[ 0.9922871 -0.0925439 -0.08247629] [ 0.09797576 0.99310075 0.06443228] [ 0.07594479 -0.07201547 0.99450769]] t_gt: [ 0.51568325 -0.84645181 -0.13262775] Pose Error in degrees for R and t: 8.130800239888929 41.47125567143118 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.61242508 -0.79051729 -0.00423518] [ 0.79052248 0.61239037 0.00722801] [-0.00312028 -0.00777461 0.99996491]] t_estimated: [[0.99129211] [0.13165598] [0.00258149]] R_gt: [[ 0.96821277 -0.22854443 -0.1016485 ] [ 0.23036226 0.97308438 0.00636702] [ 0.09745748 -0.02958017 0.9947998 ]] t_gt: [ 0.59181397 -0.72280867 -0.35679664] Pose Error in degrees for R and t: 39.33946826737936 60.62146283994624 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-9.59460448e-01 2.81842778e-01 -5.44831199e-04] [-2.81841256e-01 -9.59459053e-01 -1.95769158e-03] [-1.07450446e-03 -1.72477173e-03 9.99997935e-01]] t_estimated: [[0.71854466] [0.69548026] [0.00088709]] R_gt: [[ 0.95129074 0.30829156 -0.00169806] [-0.30829426 0.95128895 -0.00152332] [ 0.00114566 0.00197305 0.99999793]] t_gt: [-0.68833949 0.72521493 -0.01587606] Pose Error in degrees for R and t: 145.67342703224784 89.441017662568 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 7.67301046e-01 -6.41286615e-01 -7.63584654e-04] [ 6.41286661e-01 7.67301357e-01 -2.14056926e-04] [ 7.23171383e-04 -3.25430550e-04 9.99999686e-01]] t_estimated: [[-0.51709046] [-0.85592925] [-0.00160587]] R_gt: [[ 8.61980398e-01 5.02199559e-01 6.91713120e-02] [-5.00624639e-01 8.64750286e-01 -3.97499252e-02] [-7.97782389e-02 -3.65411567e-04 9.96812961e-01]] t_gt: [-0.61635615 0.78276402 0.0859394 ] Pose Error in degrees for R and t: 70.16773124505355 69.42600624534718 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-7.53529538e-01 6.57413518e-01 -8.37395192e-04] [-6.57411348e-01 -7.53529482e-01 -1.90782067e-03] [-1.88522906e-03 -8.87086129e-04 9.99997829e-01]] t_estimated: [[0.61270997] [0.79030707] [0.00110998]] R_gt: [[ 0.78626719 0.61497243 0.05994908] [-0.61621169 0.78757573 0.00282732] [-0.04547533 -0.03916481 0.99819739]] t_gt: [-0.56378059 0.82150778 0.08530191] Pose Error in degrees for R and t: 100.90263610276035 72.30775637245327 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.9564464 -0.2918975 -0.0024776 ] [ 0.29188271 -0.9562173 -0.02128284] [ 0.00384328 -0.02107907 0.99977042]] t_estimated: [[0.89414781] [0.44773677] [0.00561083]] R_gt: [[ 9.93386924e-01 -1.07688305e-01 3.98239312e-02] [ 1.07777171e-01 9.94175712e-01 -6.81458910e-05] [-3.95843295e-02 4.35907049e-03 9.99207136e-01]] t_gt: [ 0.9878234 -0.14142851 0.06482985] Pose Error in degrees for R and t: 156.87063620992683 34.885050586825564 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.67585572 0.73703288 -0.00125678] [-0.73703265 0.67585033 -0.00303304] [-0.00138606 0.00297618 0.99999461]] t_estimated: [[9.67771895e-01] [2.51826967e-01] [8.59477704e-04]] R_gt: [[ 0.95280985 -0.303115 -0.01659839] [ 0.30349975 0.95233721 0.03070352] [ 0.00650054 -0.03429243 0.99939071]] t_gt: [ 0.98971233 -0.09628928 0.10582001] Pose Error in degrees for R and t: 65.17467911864506 20.987515400460214 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-3.86285087e-01 -9.22360249e-01 -5.94998634e-03] [ 9.22379439e-01 -3.86276744e-01 -2.53922706e-03] [ 4.37407537e-05 -6.46901061e-03 9.99979075e-01]] t_estimated: [[0.99775271] [0.0669935 ] [0.00118042]] R_gt: [[ 0.89653903 -0.44231539 -0.02398459] [ 0.44293819 0.89456225 0.05970613] [-0.00495359 -0.06415196 0.99792794]] t_gt: [ 0.98950635 -0.02050562 0.14302694] Pose Error in degrees for R and t: 86.47477637912597 9.571891589699911 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.54663105e-01 -2.97684464e-01 -1.52156424e-03] [ 2.97683977e-01 9.54664316e-01 -5.42124556e-04] [ 1.61396515e-03 6.46010166e-05 9.99998695e-01]] t_estimated: [[-0.07441786] [-0.99719938] [-0.00744179]] R_gt: [[ 0.99503834 0.07432155 0.06614744] [-0.07870549 0.99468823 0.06633856] [-0.06086648 -0.07121576 0.99560244]] t_gt: [-0.4460492 0.16306969 0.88002749] Pose Error in degrees for R and t: 22.38227859375068 82.185405221832 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.98329786e-01 -5.77705375e-02 -4.50392683e-04] [ 5.77706580e-02 9.98329847e-01 2.59276953e-04] [ 4.34661889e-04 -2.84863387e-04 9.99999865e-01]] t_estimated: [[-0.99921148] [-0.0396549 ] [-0.00197909]] R_gt: [[ 0.99139576 0.0906286 0.09445818] [-0.10251491 0.98623976 0.12969374] [-0.08140432 -0.13826136 0.98704505]] t_gt: [-0.31900537 0.07984194 0.94438384] Pose Error in degrees for R and t: 12.810885634328828 71.71652069880852 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.47945194 -0.70327027 -0.52491596] [ 0.54200825 0.23311973 -0.80739225] [ 0.69018323 -0.67161456 0.26940859]] t_estimated: [[0.99254512] [0.12187339] [0.00103283]] R_gt: [[ 0.97782579 0.1602659 0.13480213] [-0.18164453 0.96941013 0.16507334] [-0.10422282 -0.18589839 0.97702589]] t_gt: [-0.45620745 0.25567081 0.85235392] Pose Error in degrees for R and t: 132.14024541459577 65.11699971756657 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99998150e-01 4.36740093e-04 1.87306131e-03] [-4.31927633e-04 9.99996607e-01 -2.56893739e-03] [-1.87417691e-03 2.56812361e-03 9.99994946e-01]] t_estimated: [[-0.52151985] [-0.85323049] [-0.00384309]] R_gt: [[ 0.99689863 -0.07834273 0.0075047 ] [ 0.07777466 0.9952592 0.05838923] [-0.01204425 -0.0576247 0.99826578]] t_gt: [ 0.3825726 -0.76560512 0.51719147] Pose Error in degrees for R and t: 5.707770531635392 63.14521448368312 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 8.18021855e-01 5.75186851e-01 5.74715187e-04] [ 5.75179808e-01 -8.18016067e-01 4.23118732e-03] [ 2.90384957e-03 -3.13063913e-03 -9.99990883e-01]] t_estimated: [[-0.95782568] [-0.2873477 ] [-0.00112685]] R_gt: [[ 0.9985351 -0.04476891 -0.03039472] [ 0.04813132 0.99150172 0.12086309] [ 0.02472626 -0.12214836 0.99220424]] t_gt: [ 0.20016626 -0.72756336 0.65618978] Pose Error in degrees for R and t: 172.64727551797858 89.04885491731895 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99922546e-01 -1.24437587e-02 -2.35263522e-04] [ 1.24440881e-02 9.99921511e-01 1.45481406e-03] [ 2.17141701e-04 -1.45762901e-03 9.99998914e-01]] t_estimated: [[0.97404274] [0.22636205] [0.00097992]] R_gt: [[ 0.98322045 -0.09924739 -0.15306431] [ 0.11517201 0.98840609 0.09893734] [ 0.14147135 -0.11490618 0.98325122]] t_gt: [ 0.53732669 -0.84336834 0.00314309] Pose Error in degrees for R and t: 11.795158508419144 70.58089301981187 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.77754215 0.62882868 0.00164176] [-0.62882817 0.77752866 0.00493115] [ 0.00182433 -0.00486656 0.99998649]] t_estimated: [[4.94587106e-01] [8.69127647e-01] [8.53183596e-04]] R_gt: [[ 0.97321346 -0.13593764 -0.18541091] [ 0.15484723 0.98368392 0.0915869 ] [ 0.16993589 -0.11784414 0.97838356]] t_gt: [ 0.5681736 -0.82020284 -0.06667878] Pose Error in degrees for R and t: 48.772378558809024 64.41138648477235 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.93767107e-01 -1.11475407e-01 -4.12638777e-04] [ 1.11475557e-01 9.93767111e-01 3.59199760e-04] [ 3.70024906e-04 -4.02960044e-04 9.99999850e-01]] t_estimated: [[-0.53349338] [-0.84580378] [-0.00088473]] R_gt: [[ 9.89426427e-01 1.43728889e-01 1.94251114e-02] [-1.43757663e-01 9.89612383e-01 6.65679450e-05] [-1.92139729e-02 -2.85770407e-03 9.99810889e-01]] t_gt: [-0.38773405 0.91138663 0.13797361] Pose Error in degrees for R and t: 14.709338006940426 55.65860299836997 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.36992445 -0.78361812 -0.49909773] [-0.61069307 -0.1997505 0.76625956] [-0.7001499 0.58825367 -0.40465756]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.93728432 0.34837563 -0.01143679] [-0.34851287 0.93720248 -0.01376646] [ 0.00592301 0.01688971 0.99983942]] t_gt: [-0.27190692 0.96182415 -0.03099896] Pose Error in degrees for R and t: 177.27283302853021 67.7228737831756 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99944842e-01 -1.05013297e-02 -1.89088741e-04] [ 1.05013311e-02 9.99944859e-01 6.49838417e-06] [ 1.89010072e-04 -8.48370921e-06 9.99999982e-01]] t_estimated: [[-0.73330501] [-0.67989904] [-0.00102704]] R_gt: [[ 0.86993471 0.49258665 -0.0239093 ] [-0.4921023 0.87022027 0.02350538] [ 0.03238485 -0.00868181 0.99943717]] t_gt: [-0.20510938 0.97787788 -0.0410486 ] Pose Error in degrees for R and t: 30.16484884089492 59.042083948131314 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.78309737 -0.62189485 -0.00230369] [-0.62188342 0.78304591 0.01000607] [-0.00441883 0.00926836 -0.99994728]] t_estimated: [[0.97348214] [0.22875874] [0.00140264]] R_gt: [[ 0.99336637 0.11465387 0.00878807] [-0.11451275 0.99330526 -0.01519677] [-0.01047083 0.01409038 0.99984565]] t_gt: [-0.72043677 0.69324094 -0.01969399] Pose Error in degrees for R and t: 179.72185917995313 57.12725245094 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-7.54251807e-01 -6.56581855e-01 -2.11655687e-03] [ 6.56585241e-01 -7.54246976e-01 -2.70553886e-03] [ 1.80001099e-04 -3.43035758e-03 9.99994100e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96655272 0.25417953 -0.03418962] [-0.25201641 0.96602811 0.05726164] [ 0.04758289 -0.04672967 0.99777347]] t_gt: [-0.70653196 0.70767129 -0.00373211] Pose Error in degrees for R and t: 153.6471005621356 45.22399950556419 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-6.28317957e-01 -7.77955388e-01 -1.39976050e-03] [ 7.77953460e-01 -6.28319516e-01 1.73184534e-03] [-2.22679525e-03 -7.99002351e-07 9.99997521e-01]] t_estimated: [[ 0.97942837] [-0.20178798] [ 0.00129749]] R_gt: [[ 0.94764198 0.29742988 -0.11622597] [-0.28493076 0.95189008 0.11277691] [ 0.14417802 -0.07375584 0.98679873]] t_gt: [-0.72379841 0.65169327 -0.2267416 ] Pose Error in degrees for R and t: 146.084787517571 32.78517315948422 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-2.46187490e-01 9.69222222e-01 -6.00225221e-05] [ 9.69220426e-01 2.46187153e-01 1.91081920e-03] [ 1.86678520e-03 4.12244729e-04 -9.99998173e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97675089 -0.21290199 0.02514198] [ 0.21359452 0.97648805 -0.02912649] [-0.01834963 0.03381836 0.99925911]] t_gt: [ 0.5902854 -0.80659387 -0.03113639] Pose Error in degrees for R and t: 177.95720984693497 36.589322413563266 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999921e-01 -2.48697974e-04 -3.09296532e-04] [ 2.49096623e-04 9.99999138e-01 1.28951795e-03] [ 3.08975565e-04 -1.28959490e-03 9.99999121e-01]] t_estimated: [[0.70303472] [0.71115468] [0.00110086]] R_gt: [[ 0.92937441 -0.36685819 -0.04098648] [ 0.36563426 0.93012016 -0.03445065] [ 0.05076031 0.01703128 0.99856626]] t_gt: [ 0.66398141 -0.73316934 -0.14694013] Pose Error in degrees for R and t: 21.704786232196827 86.8611090878668 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999516e-01 -9.78946311e-04 9.77132643e-05] [ 9.78936317e-04 9.99999516e-01 1.02265192e-04] [-9.78133291e-05 -1.02169488e-04 9.99999990e-01]] t_estimated: [[ 0.01735088] [-0.99984843] [ 0.00143735]] R_gt: [[ 0.86772706 -0.49642737 -0.02474013] [ 0.49612059 0.86807301 -0.01771687] [ 0.03027095 0.00309833 0.99953666]] t_gt: [ 0.70745479 -0.7043946 -0.05775784] Pose Error in degrees for R and t: 29.755634581139613 44.23539650451463 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-9.99445293e-01 -3.33003222e-02 -4.42513694e-04] [ 3.33011859e-02 -9.99443127e-01 -2.11364709e-03] [-3.71882141e-04 -2.12721086e-03 9.99997668e-01]] t_estimated: [[0.87064953] [0.49190296] [0.00093518]] R_gt: [[ 0.99835635 0.05714949 -0.00415026] [-0.05719546 0.998291 -0.01200085] [ 0.00345759 0.01221813 0.99991947]] t_gt: [-0.27761492 0.93491858 -0.22103667] Pose Error in degrees for R and t: 178.63006294442366 77.40974764443095 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-8.05603688e-01 5.92454787e-01 -1.54960124e-04] [-5.92452237e-01 -8.05600936e-01 -2.73461955e-03] [-1.74497446e-03 -2.11121312e-03 9.99996249e-01]] t_estimated: [[0.81133071] [0.58458686] [0.00082452]] R_gt: [[ 0.98487752 0.17272038 0.01353277] [-0.17160182 0.98328014 -0.06093246] [-0.02382961 0.05768896 0.99805007]] t_gt: [-0.32116633 0.94526109 -0.05773786] Pose Error in degrees for R and t: 133.76589367542465 73.02421576123565 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.07266055e-01 -4.20556855e-01 -4.86407043e-04] [ 4.20556884e-01 9.07266171e-01 -4.59949105e-05] [ 4.60644131e-04 -1.62832210e-04 9.99999881e-01]] t_estimated: [[-0.47068536] [-0.88230064] [-0.00093762]] R_gt: [[ 0.92960233 0.36856067 0.0013323 ] [-0.36779456 0.92789333 -0.06116863] [-0.02377937 0.05637252 0.99812672]] t_gt: [-0.24604739 0.96899412 -0.02260703] Pose Error in degrees for R and t: 46.61982014482343 42.34417117840479 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.82798813 0.56074463 0.00105483] [ 0.55684065 -0.82244228 0.11626338] [ 0.06606161 -0.09567733 -0.99321786]] t_estimated: [[-0.99876392] [-0.04932167] [-0.00616521]] R_gt: [[ 0.99744049 0.05680622 0.04342331] [-0.0559502 0.99821921 -0.02068288] [-0.04452048 0.0182002 0.99884283]] t_gt: [-0.75503947 0.5802852 0.30526134] Pose Error in degrees for R and t: 175.3866045549041 43.647197522902516 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99810314e-01 1.94758941e-02 1.58085444e-04] [-1.94738461e-02 9.99774201e-01 -8.50392732e-03] [-3.23671337e-04 8.49923572e-03 9.99963828e-01]] t_estimated: [[0.46048445] [0.88766703] [0.00114834]] R_gt: [[ 0.97874541 0.20193259 0.03579775] [-0.20192082 0.97939343 -0.00396848] [-0.03586045 -0.00334377 0.99935066]] t_gt: [-0.72048169 0.67969529 0.1375516 ] Pose Error in degrees for R and t: 10.744877195446218 74.23273603406716 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.88058816 -0.47383005 -0.00704175] [-0.47383115 0.88061423 -0.00161616] [ 0.00696685 0.00191343 -0.9999739 ]] t_estimated: [[ 0.96695365] [ 0.25493306] [-0.00312707]] R_gt: [[ 0.95493472 0.29586708 -0.02373307] [-0.29383017 0.95361269 0.06545759] [ 0.04199928 -0.05553376 0.99757297]] t_gt: [-0.72088531 0.69251792 0.02726352] Pose Error in degrees for R and t: 178.6004702449038 58.627343870229716 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99943561e-01 -1.06242410e-02 7.80940976e-06] [ 1.06242409e-02 9.99943561e-01 4.69411083e-06] [-7.85884037e-06 -4.61087685e-06 1.00000000e+00]] t_estimated: [[0.86636135] [0.49941595] [0.00131168]] R_gt: [[ 0.98222254 -0.18209032 -0.04562792] [ 0.18304193 0.98294738 0.01760925] [ 0.04164328 -0.02564801 0.99880255]] t_gt: [ 0.59716021 -0.79538039 -0.10377722] Pose Error in degrees for R and t: 10.30476472701357 83.10820038872686 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.96337178 -0.26797723 0.01015031] [-0.26671233 0.96139114 0.06776138] [-0.02791693 0.06257219 -0.99764992]] t_estimated: [[0.99993227] [0.01156734] [0.00128526]] R_gt: [[ 0.94202159 -0.33479481 -0.022549 ] [ 0.3350151 0.94218875 0.00670418] [ 0.01900111 -0.01387001 0.9997224 ]] t_gt: [ 0.64906282 -0.76025331 -0.02706206] Pose Error in degrees for R and t: 179.3889349115831 50.19401325803777 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.81150615e-01 1.93244244e-01 -3.65020425e-04] [-1.93244127e-01 9.81150649e-01 3.32473254e-04] [ 4.22388570e-04 -2.55668284e-04 9.99999878e-01]] t_estimated: [[-0.99992398] [-0.012269 ] [-0.0012269 ]] R_gt: [[ 0.87250953 -0.48597159 -0.05057577] [ 0.48599994 0.87386761 -0.01255415] [ 0.05029744 -0.01362641 0.9986407 ]] t_gt: [ 0.71810032 -0.69290657 -0.06490311] Pose Error in degrees for R and t: 40.34541744837666 44.80861090253429 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-9.20815322e-01 3.89998650e-01 -4.42288144e-04] [-3.89996911e-01 -9.20813655e-01 -2.14980476e-03] [-1.24568592e-03 -1.80708216e-03 9.99997591e-01]] t_estimated: [[0.8072624 ] [0.59019184] [0.00100033]] R_gt: [[ 0.95117612 0.30228787 0.06232182] [-0.29913415 0.95261738 -0.05512825] [-0.07603382 0.0337942 0.99653148]] t_gt: [-0.69719237 0.71421739 0.06177641] Pose Error in degrees for R and t: 139.54509276425557 81.88096592570326 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.94247762 -0.33423523 0.00477002] [ 0.33424925 0.94248138 -0.00250814] [-0.00365734 0.00395825 0.99998548]] t_estimated: [[-0.27639253] [-0.96104425] [-0.00105493]] R_gt: [[ 0.87645127 0.47688376 0.06644374] [-0.47727814 0.87868576 -0.01082331] [-0.06354456 -0.02222645 0.99773106]] t_gt: [-0.63212266 0.76689982 0.11084048] Pose Error in degrees for R and t: 48.18464248232442 55.77614988305718 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.53249204 0.14206746 0.83442739] [-0.65121842 -0.69850767 -0.29665064] [ 0.54070952 -0.7013586 0.46446672]] t_estimated: [[0.33291078] [0.94295672] [0.00174299]] R_gt: [[ 8.33382953e-01 5.48267039e-01 6.98274917e-02] [-5.49662657e-01 8.35386830e-01 9.21334494e-04] [-5.78274857e-02 -3.91497357e-02 9.97558134e-01]] t_gt: [-0.59683082 0.7947101 0.11058407] Pose Error in degrees for R and t: 122.47751576028439 56.57269331830207 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99997660e-01 -2.16229956e-03 6.32100652e-05] [ 2.16229813e-03 9.99997662e-01 2.26478750e-05] [-6.32588889e-05 -2.25111430e-05 9.99999998e-01]] t_estimated: [[8.54185601e-01] [5.19968152e-01] [2.81383954e-04]] R_gt: [[ 0.99684295 -0.07314137 -0.03091413] [ 0.07459622 0.99601689 0.04884346] [ 0.02721865 -0.05099449 0.9983273 ]] t_gt: [ 0.710024 -0.65476273 0.25913642] Pose Error in degrees for R and t: 5.284124662988191 74.56711467294802 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99188321e-01 -4.02827204e-02 -3.59900144e-05] [ 4.02827151e-02 9.99188312e-01 -1.38824207e-04] [ 4.15530185e-05 1.37261750e-04 9.99999990e-01]] t_estimated: [[ 0.5495639 ] [ 0.83545108] [-0.0010031 ]] R_gt: [[ 0.99918626 -0.02861837 0.02844416] [ 0.02601471 0.99577404 0.08807625] [-0.03084402 -0.08726463 0.99570663]] t_gt: [ 0.30007268 -0.49936095 0.81276997] Pose Error in degrees for R and t: 5.370093466340642 75.33909869641926 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-8.43174975e-01 -5.37638955e-01 -5.62639164e-04] [-5.37639217e-01 8.43174103e-01 1.22648861e-03] [-1.85005284e-04 1.33664139e-03 -9.99999090e-01]] t_estimated: [[9.59377148e-01] [2.82125729e-01] [7.48344110e-04]] R_gt: [[ 0.99855723 0.00594375 0.05337729] [-0.01362112 0.98938811 0.14465978] [-0.05195037 -0.14517781 0.98804086]] t_gt: [ 0.10154404 -0.3217143 0.94137597] Pose Error in degrees for R and t: 174.77244314108975 89.57832110225078 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99995940e-01 7.16063001e-05 -2.84851771e-03] [-6.14912251e-05 9.99993694e-01 3.55092509e-03] [ 2.84875402e-03 -3.55073551e-03 9.99989638e-01]] t_estimated: [[-6.58086779e-01] [-7.52942073e-01] [-1.59735602e-04]] R_gt: [[ 0.99249618 -0.12141004 0.0145158 ] [ 0.12201352 0.99112709 -0.0527297 ] [-0.00798467 0.05410472 0.99850337]] t_gt: [ 0.83489479 -0.48056716 -0.26833914] Pose Error in degrees for R and t: 7.768126124139466 79.19009490156263 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99994701e-01 3.15809895e-03 7.90248373e-04] [-3.15792530e-03 9.99994989e-01 -2.20891630e-04] [-7.90942011e-04 2.18394914e-04 9.99999663e-01]] t_estimated: [[-0.99994985] [-0.00971548] [-0.00243041]] R_gt: [[ 0.97896038 -0.19840336 0.04767228] [ 0.20193007 0.97556753 -0.08655807] [-0.02933392 0.09436311 0.99510531]] t_gt: [ 0.84516002 -0.48251171 -0.22997172] Pose Error in degrees for R and t: 13.035734615692641 32.87351318635048 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 1.12611919e-01 9.93633101e-01 3.43736503e-03] [ 9.93638230e-01 -1.12615589e-01 8.92823953e-04] [ 1.27424032e-03 3.31495468e-03 -9.99993694e-01]] t_estimated: [[-0.99906648] [-0.04309282] [-0.00302949]] R_gt: [[ 0.9699146 -0.21203965 0.11960153] [ 0.22869092 0.96202547 -0.14901725] [-0.0834612 0.17188614 0.98157533]] t_gt: [ 0.84248137 -0.44323889 -0.30620978] Pose Error in degrees for R and t: 169.0213347744085 34.748001064263775 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99902581e-01 1.39578169e-02 9.19732044e-05] [-1.39578027e-02 9.99902573e-01 -1.53893843e-04] [-9.41122659e-05 1.52595107e-04 9.99999984e-01]] t_estimated: [[-9.95220255e-01] [-9.76532375e-02] [-6.98766228e-04]] R_gt: [[ 0.98802054 -0.14484919 0.0532469 ] [ 0.14495706 0.9894361 0.0018356 ] [-0.05295079 0.00590492 0.99857927]] t_gt: [ 0.28613235 -0.91151925 0.29539961] Pose Error in degrees for R and t: 9.631452866876199 78.69928889954859 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-2.56669849e-02 9.99670254e-01 7.67441138e-04] [-9.99667087e-01 -2.56648682e-02 -2.65123294e-03] [-2.63066243e-03 -8.35234802e-04 9.99996191e-01]] t_estimated: [[-0.27127422] [ 0.96250089] [ 0.00152695]] R_gt: [[ 0.97292985 -0.22530335 0.05145053] [ 0.2241185 0.97416489 0.02780578] [-0.0563856 -0.01552149 0.99828804]] t_gt: [ 0.26119826 -0.91656336 0.30279873] Pose Error in degrees for R and t: 104.50223752838268 17.71402130256614 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.98550847 0.16954974 0.00509355] [-0.16951592 0.98550622 -0.00646908] [-0.00611656 0.00551189 0.9999661 ]] t_estimated: [[0.56599769] [0.82439884] [0.00362889]] R_gt: [[ 0.9273514 -0.37054921 0.05208337] [ 0.37159436 0.92832018 -0.01172723] [-0.04400477 0.03023013 0.99857321]] t_gt: [ 0.46108643 -0.88708737 0.02180144] Pose Error in degrees for R and t: 31.664307285597285 61.94877138980545 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99788264e-01 2.05773156e-02 2.18963580e-05] [-2.05773167e-02 9.99788263e-01 5.35828643e-05] [-2.07891303e-05 -5.40220872e-05 9.99999998e-01]] t_estimated: [[0.6719843 ] [0.74056482] [0.00092237]] R_gt: [[ 0.99974728 -0.00824908 -0.02091327] [ 0.00839799 0.99993931 0.00704677] [ 0.02085416 -0.00722051 0.99975643]] t_gt: [0.87455505 0.48390201 0.03150089] Pose Error in degrees for R and t: 2.084186833052593 18.90145669101012 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.86251623 0.50600432 -0.00503767] [-0.50596494 0.86252252 0.00737468] [ 0.00807673 -0.0038119 0.99996012]] t_estimated: [[-0.87825488] [-0.47819092] [-0.00134702]] R_gt: [[ 0.99616819 -0.07941363 0.03663127] [ 0.08168766 0.99450753 -0.06542922] [-0.03123347 0.06817047 0.99718422]] t_gt: [ 0.78161098 0.27893365 -0.55792499] Pose Error in degrees for R and t: 35.34104160328422 35.00663043633628 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 7.43025108e-01 6.69263213e-01 6.63404114e-04] [-6.69262567e-01 7.43025353e-01 -9.70138965e-04] [-1.14220440e-03 2.76846069e-04 9.99999309e-01]] t_estimated: [[-9.86461891e-01] [-1.63989845e-01] [-5.18242523e-04]] R_gt: [[ 0.98918957 -0.08655274 0.11837522] [ 0.10634568 0.97921944 -0.17268145] [-0.1009686 0.18340313 0.97783898]] t_gt: [ 0.37957995 0.51659065 -0.76749799] Pose Error in degrees for R and t: 49.01479431135702 62.69294108354722 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999739e-01 1.98289589e-04 -6.95415607e-04] [-1.97720310e-04 9.99999645e-01 8.18589562e-04] [ 6.95577678e-04 -8.18451850e-04 9.99999423e-01]] t_estimated: [[0.14296052] [0.98972669] [0.00183283]] R_gt: [[ 0.97167318 0.23320922 -0.03826593] [-0.23350711 0.97234886 -0.00342604] [ 0.03640832 0.01226469 0.99926195]] t_gt: [-0.29261784 0.94437445 -0.15010561] Pose Error in degrees for R and t: 13.661714589892853 26.802685204336434 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-2.99156183e-01 -9.54204138e-01 -2.05294305e-04] [-9.54203776e-01 2.99156249e-01 -8.32552089e-04] [ 8.55839723e-04 -5.31705040e-05 -9.99999632e-01]] t_estimated: [[0.72849187] [0.68505385] [0.00090496]] R_gt: [[ 0.92641072 0.37488214 -0.03502622] [-0.37346753 0.92673846 0.04096516] [ 0.04781736 -0.0248679 0.99854646]] t_gt: [-0.26127264 0.96233744 -0.07512163] Pose Error in degrees for R and t: 179.15522598320825 62.04032749294589 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999765e-01 6.32746091e-05 -6.82683129e-04] [-6.25875283e-05 9.99999492e-01 1.00641620e-03] [ 6.82746463e-04 -1.00637324e-03 9.99999261e-01]] t_estimated: [[0.64339825] [0.7655306 ] [0.0012591 ]] R_gt: [[ 0.88508828 0.46326416 -0.04478924] [-0.46223664 0.8861898 0.03170924] [ 0.0543812 -0.0073626 0.99849273]] t_gt: [-0.22481578 0.96993804 -0.09315613] Pose Error in degrees for R and t: 27.75249743306466 53.2908001678943 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.82468405e-01 1.86428833e-01 -3.50214039e-04] [-1.86428906e-01 9.82468436e-01 -1.88295273e-04] [ 3.08970571e-04 2.50284177e-04 9.99999921e-01]] t_estimated: [[-0.60719718] [-0.79454798] [-0.00225724]] R_gt: [[ 9.98169952e-01 -6.04627883e-02 1.32582681e-03] [ 6.04694316e-02 9.98145577e-01 -7.05670938e-03] [-8.97347864e-04 7.12512982e-03 9.99973914e-01]] t_gt: [ 0.94289182 -0.10922024 -0.31468391] Pose Error in degrees for R and t: 14.216665476847997 60.98554798708813 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.30323733e-01 5.57281334e-01 1.16937218e-04] [-5.57281345e-01 8.30323728e-01 1.00426593e-04] [-4.11298804e-05 -1.48553514e-04 9.99999988e-01]] t_estimated: [[-8.87470119e-01] [-4.60864538e-01] [-8.15689448e-04]] R_gt: [[ 0.98861708 -0.10904802 0.10365698] [ 0.12241713 0.98354774 -0.13284822] [-0.08746489 0.14402604 0.98570122]] t_gt: [ 0.58612712 0.27090873 -0.76358592] Pose Error in degrees for R and t: 41.65907763433487 49.87931918834889 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99998927e-01 -1.40594837e-03 -4.11228915e-04] [ 1.40601243e-03 9.99998999e-01 1.55533959e-04] [ 4.11009831e-04 -1.56111985e-04 9.99999903e-01]] t_estimated: [[9.99984829e-01] [5.41721793e-03] [9.97659906e-04]] R_gt: [[ 0.97718126 -0.12387596 0.17254423] [ 0.15754302 0.96754316 -0.19758957] [-0.14246784 0.22026476 0.96497929]] t_gt: [ 0.46950351 0.26939996 -0.84082704] Pose Error in degrees for R and t: 17.26325432531385 61.958113402014554 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99999890e-01 -4.68130625e-04 -9.68525548e-07] [ 4.68130671e-04 9.99999889e-01 4.76245060e-05] [ 9.46230951e-07 -4.76249541e-05 9.99999999e-01]] t_estimated: [[0.31623595] [0.94867874] [0.00186404]] R_gt: [[ 0.99404685 -0.10892886 0.00210181] [ 0.10882573 0.99364809 0.0286213 ] [-0.00520631 -0.02822306 0.99958791]] t_gt: [ 0.19511376 -0.95702986 0.21453312] Pose Error in degrees for R and t: 6.438071019436892 32.24096045346746 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.0125952 -0.9941333 0.10742599] [-0.89046729 0.03772134 0.4534811 ] [-0.45487291 -0.10137102 -0.88476808]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96821607 -0.25000257 -0.00738447] [ 0.24970247 0.96789647 -0.02870174] [ 0.01432206 0.02594535 0.99955995]] t_gt: [ 0.45946767 -0.86141779 -0.21644594] Pose Error in degrees for R and t: 156.37981838777776 77.84307405678426 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999378e-01 1.05566693e-03 3.59679720e-04] [-1.05555595e-03 9.99999395e-01 -3.08624341e-04] [-3.60005307e-04 3.08244487e-04 9.99999888e-01]] t_estimated: [[-9.99999927e-01] [ 1.76824359e-04] [ 3.39431498e-04]] R_gt: [[ 0.95020167 -0.30872193 0.04251666] [ 0.3086093 0.95114326 0.0093562 ] [-0.04332871 0.0042303 0.99905165]] t_gt: [ 0.27284499 -0.95852997 0.08231587] Pose Error in degrees for R and t: 18.215692411017198 74.1579402630405 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.96312101 0.26901047 0.00559355] [-0.26905061 -0.96308893 -0.00845514] [ 0.00311256 -0.00964828 0.99994861]] t_estimated: [[8.01117160e-01] [5.98507234e-01] [6.21502839e-04]] R_gt: [[ 0.97726012 -0.21192839 -0.0069929 ] [ 0.21196025 0.97726869 0.00424613] [ 0.00593331 -0.00563243 0.99996649]] t_gt: [ 0.74891242 -0.66266515 0.0022577 ] Pose Error in degrees for R and t: 176.6304972337313 78.26659897780534 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 7.82149118e-01 6.23091289e-01 -4.64447776e-05] [-6.23083682e-01 7.82139196e-01 -5.00030220e-03] [-3.07931846e-03 3.93992094e-03 9.99987497e-01]] t_estimated: [[0.89411931] [0.44782728] [0.00117822]] R_gt: [[ 0.91858178 -0.39518027 0.00633873] [ 0.39503793 0.91851643 0.01647141] [-0.01233145 -0.01262661 0.99984454]] t_gt: [ 0.80208418 -0.59494015 0.05203073] Pose Error in degrees for R and t: 61.82806112758354 63.20563061193261 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-0.99765602 0.06834144 0.00345231] [-0.06840109 -0.99741516 -0.02200671] [ 0.00193942 -0.02219127 0.99975186]] t_estimated: [[0.73652796] [0.67634333] [0.00928745]] R_gt: [[ 0.85823158 -0.51048526 0.0533349 ] [ 0.51079223 0.85965897 0.00871876] [-0.05030062 0.01975995 0.99853833]] t_gt: [ 0.82696029 -0.55802965 0.06884463] Pose Error in degrees for R and t: 153.2358855099897 76.56753052360902 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-9.99039948e-01 -4.19619671e-02 1.25847305e-02] [-4.19557832e-02 9.99119183e-01 7.55105178e-04] [-1.26053313e-02 2.26378015e-04 -9.99920524e-01]] t_estimated: [[0.99978269] [0.01975816] [0.00664707]] R_gt: [[ 9.83251899e-01 -1.82214442e-01 3.64855780e-03] [ 1.82211160e-01 9.83258689e-01 1.43021964e-03] [-3.84742957e-03 -7.41679559e-04 9.99992761e-01]] t_gt: [ 0.79902441 -0.60105239 0.01720515] Pose Error in degrees for R and t: 179.0620229738166 38.08565796749357 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-6.93778497e-01 7.20188155e-01 6.47049222e-04] [ 7.20185594e-01 6.93772942e-01 3.43728049e-03] [ 2.02658345e-03 2.85070682e-03 -9.99993883e-01]] t_estimated: [[-0.03101124] [-0.99951619] [-0.00238548]] R_gt: [[ 0.95481124 -0.29714378 0.00648264] [ 0.2971885 0.95420326 -0.03429543] [ 0.00400478 0.03467186 0.9993914 ]] t_gt: [ 0.85847637 -0.50543154 -0.08693259] Pose Error in degrees for R and t: 179.16512110156822 61.39477213797891 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-7.61471618e-01 6.48192109e-01 2.82211235e-03] [ 6.48190328e-01 7.61476620e-01 -1.62969045e-03] [-3.20532506e-03 5.88302908e-04 -9.99994690e-01]] t_estimated: [[0.99679475] [0.07997766] [0.00195067]] R_gt: [[ 0.92383639 -0.3818072 0.02737369] [ 0.3827803 0.92098917 -0.07252093] [ 0.00247961 0.07747587 0.99699155]] t_gt: [ 0.88102538 -0.45241773 -0.13824789] Pose Error in degrees for R and t: 177.62816429314532 32.674781585687036 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 3.08896954e-01 -9.51094955e-01 -1.02928861e-03] [ 9.51095507e-01 3.08896662e-01 4.35236234e-04] [-9.60071702e-05 -1.11339492e-03 9.99999376e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99679263 -0.07921265 0.01142345] [ 0.0797937 0.99464751 -0.06564881] [-0.00616321 0.06634946 0.99777731]] t_gt: [ 0.73045673 -0.61226264 -0.3026011 ] Pose Error in degrees for R and t: 67.5410519061871 43.25426681269407 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999996e-01 9.02104135e-05 -5.68192425e-06] [-9.02105247e-05 9.99999996e-01 -1.95786359e-05] [ 5.68015803e-06 1.95791483e-05 1.00000000e+00]] t_estimated: [[2.73565263e-01] [9.61853436e-01] [1.17776071e-04]] R_gt: [[ 0.99116133 -0.13195301 -0.0137264 ] [ 0.12776405 0.97728766 -0.16906845] [ 0.03572395 0.16582004 0.98550938]] t_gt: [ 0.67601977 -0.39969936 -0.61906195] Pose Error in degrees for R and t: 12.320070640520571 78.48703981486435 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.44350237 -0.89626886 0.00278892] [-0.89626567 -0.44348373 0.00548034] [-0.00367502 -0.00493015 -0.99998109]] t_estimated: [[0.42411157] [0.90560097] [0.00403254]] R_gt: [[ 0.98790332 -0.14813167 -0.04587091] [ 0.13199969 0.95853381 -0.25256182] [ 0.08138095 0.24345146 0.96649282]] t_gt: [ 0.59308462 -0.19461621 -0.78126511] Pose Error in degrees for R and t: 166.1658186804587 85.8631497617344 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99220108e-01 -3.94859804e-02 1.82640560e-04] [ 3.94860533e-02 9.99220036e-01 -4.14405707e-04] [-1.66134891e-04 4.21294270e-04 9.99999897e-01]] t_estimated: [[-0.72085176] [-0.69308856] [-0.00099154]] R_gt: [[ 0.99059569 -0.13678059 0.00347958] [ 0.13681 0.99054853 -0.00977133] [-0.00211024 0.01015462 0.99994559]] t_gt: [ 0.73124857 -0.68181303 -0.02016219] Pose Error in degrees for R and t: 5.628674900889912 86.87324877113197 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.96903848 0.24687684 -0.00403041] [-0.24685444 0.96903782 0.00534675] [ 0.00522561 -0.00418628 0.99997758]] t_estimated: [[7.63748081e-01] [6.45514003e-01] [7.34373155e-04]] R_gt: [[ 9.64872396e-01 -2.62213294e-01 1.63282880e-02] [ 2.62245959e-01 9.65000878e-01 1.96158023e-04] [-1.58085745e-02 4.09237433e-03 9.99866533e-01]] t_gt: [ 0.76701599 -0.64059596 0.03637702] Pose Error in degrees for R and t: 29.522211014458154 80.07726106902082 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-9.35991952e-01 3.52021396e-01 -4.76886429e-05] [-3.52020548e-01 -9.35989979e-01 -2.07170464e-03] [-7.73920450e-04 -1.92231149e-03 9.99997853e-01]] t_estimated: [[0.69705334] [0.71701875] [0.00086806]] R_gt: [[ 0.89364467 -0.44669651 -0.04313966] [ 0.44677785 0.89460635 -0.00828694] [ 0.04229489 -0.01186782 0.99903416]] t_gt: [ 0.83513994 -0.5474397 -0.05339521] Pose Error in degrees for R and t: 174.06154122536927 79.07253055493713 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99981177 0.01920705 0.00274285] [-0.01916953 0.99973033 -0.01310683] [-0.00299385 0.01305179 0.99991034]] t_estimated: [[-9.99994892e-01] [-3.10075945e-03] [-7.75189865e-04]] R_gt: [[ 0.99668886 -0.07067513 0.0402027 ] [ 0.07235937 0.99648856 -0.04212248] [-0.03708524 0.04489289 0.99830295]] t_gt: [ 0.79503626 -0.60196742 -0.07451555] Pose Error in degrees for R and t: 5.859825110888757 37.523096128405754 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.50114782 0.86535993 0.00174781] [-0.86527729 0.50112613 -0.01295419] [-0.01208592 0.00497962 0.99991456]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9917871 -0.07599086 0.10288669] [ 0.08796826 0.98918181 -0.11738884] [-0.09285352 0.12547651 0.98774141]] t_gt: [ 0.78699912 -0.48153477 -0.38568983] Pose Error in degrees for R and t: 65.10336808852158 38.26054298635236 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-0.9986246 -0.05241129 -0.00140296] [ 0.05241935 -0.99752194 -0.04692749] [ 0.00106005 -0.04693649 0.99889731]] t_estimated: [[0.99855428] [0.05366019] [0.00315147]] R_gt: [[ 0.98944716 -0.02515971 0.14269482] [ 0.05337808 0.97884049 -0.19753826] [-0.13470644 0.20307208 0.9698535 ]] t_gt: [ 0.08620657 0.21991264 -0.97170307] Pose Error in degrees for R and t: 174.9397165421359 84.55902818048854 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.97730279 0.21184445 -0.00108988] [-0.21184207 0.97730194 0.00196371] [ 0.00148114 -0.00168825 0.99999748]] t_estimated: [[8.09638837e-01] [5.86927856e-01] [8.04010761e-04]] R_gt: [[ 0.99150998 0.12954185 -0.01122648] [-0.12960554 0.99155134 -0.00518762] [ 0.010459 0.00659821 0.99992291]] t_gt: [-0.61833402 0.7790787 -0.10343804] Pose Error in degrees for R and t: 4.837442024474099 87.5098630149619 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-0.05016217 -0.99873867 0.0021987 ] [ 0.998727 -0.05014965 0.00542151] [-0.0053044 0.00246785 0.99998289]] t_estimated: [[0.87170036] [0.49003782] [0.00119223]] R_gt: [[ 9.74427483e-01 2.21598442e-01 -3.72131082e-02] [-2.21465734e-01 9.75137280e-01 7.70168324e-03] [ 3.79952355e-02 7.36455862e-04 9.99277642e-01]] t_gt: [-0.59934742 0.78640036 -0.14952302] Pose Error in degrees for R and t: 105.70188338981725 82.11046028528688 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99998087e-01 -9.08873359e-04 -1.73218144e-03] [ 9.15008083e-04 9.99993301e-01 3.54412209e-03] [ 1.72894868e-03 -3.54570027e-03 9.99992219e-01]] t_estimated: [[0.66057273] [0.75076162] [0.00081251]] R_gt: [[ 0.93846024 0.34189084 -0.04902202] [-0.33996545 0.9394266 0.04360702] [ 0.06096146 -0.02425784 0.9978453 ]] t_gt: [-0.58243526 0.80736519 -0.09450199] Pose Error in degrees for R and t: 20.320840449090486 77.21335648175815 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 5.10733442e-01 8.59734984e-01 2.66610183e-03] [-8.59729815e-01 5.10739886e-01 -3.06811091e-03] [-3.99944683e-03 -7.25140385e-04 9.99991739e-01]] t_estimated: [[0.15448911] [0.98798591] [0.00411774]] R_gt: [[ 0.99285066 -0.10938365 -0.0477758 ] [ 0.10856934 0.9939013 -0.01930879] [ 0.04959598 0.01398396 0.99867139]] t_gt: [ 0.55850729 -0.72323819 -0.40619715] Pose Error in degrees for R and t: 65.61561876905554 50.95441728732543 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 7.01390845e-01 7.12776424e-01 8.07944838e-04] [-7.12776253e-01 7.01391281e-01 -5.33577141e-04] [-9.47006672e-04 -2.01637772e-04 9.99999531e-01]] t_estimated: [[0.57840591] [0.81574857] [0.00093442]] R_gt: [[ 0.96830045 -0.24661066 -0.03970995] [ 0.24770482 0.96850202 0.02542656] [ 0.03218954 -0.03445631 0.99888718]] t_gt: [ 0.6389572 -0.76922532 0.00510901] Pose Error in degrees for R and t: 59.8365474953506 75.05373368756017 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 3.96682858e-01 9.17955146e-01 1.02947686e-03] [-9.17953744e-01 3.96684082e-01 -1.63196154e-03] [-1.90644457e-03 -2.97640970e-04 9.99998138e-01]] t_estimated: [[0.61722746] [0.78678408] [0.00103388]] R_gt: [[ 0.89127928 -0.45253442 -0.02888541] [ 0.45340707 0.89029764 0.04232384] [ 0.00656411 -0.05081925 0.99868572]] t_gt: [ 0.7605851 -0.64576075 0.06710713] Pose Error in degrees for R and t: 93.62073048326533 87.79064929904919 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999587e-01 -3.65637058e-04 -8.32254444e-04] [ 3.66950210e-04 9.99998687e-01 1.57821917e-03] [ 8.31676296e-04 -1.57852391e-03 9.99998408e-01]] t_estimated: [[0.65571363] [0.75500826] [0.0014679 ]] R_gt: [[ 9.89568898e-01 1.44058505e-01 -3.52896184e-04] [-1.43922520e-01 9.88738690e-01 4.10248795e-02] [ 6.25943318e-03 -4.05459621e-02 9.99157642e-01]] t_gt: [-0.44377245 0.89116929 0.09425134] Pose Error in degrees for R and t: 8.604226461351306 67.54294308287625 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99998642e-01 -1.59289790e-03 -4.22506353e-04] [ 1.59297245e-03 9.99998716e-01 1.76159774e-04] [ 4.22225206e-04 -1.76832576e-04 9.99999895e-01]] t_estimated: [[-0.99996644] [-0.00812981] [-0.00101623]] R_gt: [[ 0.96746252 0.25300902 -0.00148896] [-0.25295949 0.96736153 0.01495076] [ 0.00522322 -0.01408748 0.9998864 ]] t_gt: [-0.3777119 0.92589535 -0.00717721] Pose Error in degrees for R and t: 14.770476395888924 68.2733327686085 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 8.97934767e-01 -4.40116237e-01 3.29418836e-03] [-4.40128362e-01 -8.97902014e-01 7.68107692e-03] [-4.22708307e-04 -8.34697175e-03 -9.99965074e-01]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.92718887 0.37441769 -0.01149314] [-0.37459267 0.92683467 -0.02565281] [ 0.00104703 0.02809058 0.9996047 ]] t_gt: [-0.2890396 0.9558002 -0.05387099] Pose Error in degrees for R and t: 178.86796064922436 19.952155171656912 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999983e-01 -5.31319165e-05 1.75393120e-04] [ 5.31541882e-05 9.99999991e-01 -1.26979446e-04] [-1.75386372e-04 1.26988766e-04 9.99999977e-01]] t_estimated: [[0.745978 ] [0.66597015] [0.00076198]] R_gt: [[ 0.99153162 -0.12877718 -0.01679118] [ 0.12913455 0.99137649 0.0223038 ] [ 0.01377432 -0.02428286 0.99960948]] t_gt: [ 0.54540667 -0.83815136 0.00581879] Pose Error in degrees for R and t: 7.580721615863328 81.29668692397215 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99998889e-01 -5.22367941e-04 1.39608401e-03] [ 5.24300394e-04 9.99998905e-01 -1.38418754e-03] [-1.39535943e-03 1.38491797e-03 9.99998067e-01]] t_estimated: [[0.61036785] [0.79211751] [0.00097192]] R_gt: [[ 0.94791613 -0.31673467 0.03366046] [ 0.31661841 0.94851142 0.00888935] [-0.03474257 0.00223151 0.99939365]] t_gt: [ 0.6168023 -0.78143375 0.09442568] Pose Error in degrees for R and t: 18.53719939596325 75.97062710763502 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.77329824 0.63404081 0.00143926] [-0.63403132 0.77329613 -0.00417006] [-0.00375696 0.00231216 0.99999027]] t_estimated: [[0.69700643] [0.71706417] [0.00100289]] R_gt: [[ 0.86958058 -0.49378763 -0.00169282] [ 0.49374973 0.86946029 0.01579672] [-0.00632857 -0.01457208 0.99987304]] t_gt: [ 0.71316485 -0.70040193 0.02886236] Pose Error in degrees for R and t: 68.94750867955382 89.70643255338591 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999254e-01 -1.01565247e-03 -6.78277680e-04] [ 1.01607074e-03 9.99999294e-01 6.16616964e-04] [ 6.77650933e-04 -6.17305682e-04 9.99999580e-01]] t_estimated: [[-0.99255013] [ 0.12181191] [ 0.00246782]] R_gt: [[ 0.99259147 0.12147965 -0.00223656] [-0.12144729 0.99144729 -0.04776559] [-0.00358505 0.04768399 0.99885618]] t_gt: [-0.37582892 0.90740409 -0.18807029] Pose Error in degrees for R and t: 7.5662606766428455 61.1120962227373 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-4.64969139e-01 -8.85325024e-01 -1.81695038e-03] [-8.85325730e-01 4.64970872e-01 -6.63738415e-04] [ 1.43245323e-03 1.29997504e-03 -9.99998129e-01]] t_estimated: [[8.37868098e-01] [5.45872209e-01] [7.62391354e-04]] R_gt: [[ 9.68722118e-01 2.47020842e-01 -2.36125145e-02] [-2.48147286e-01 9.64246164e-01 -9.30082458e-02] [-2.06568870e-04 9.59585500e-02 9.95385625e-01]] t_gt: [-0.29595372 0.93486202 -0.19607244] Pose Error in degrees for R and t: 176.48461704729925 74.79962312391753 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.97518144e-01 -7.04070503e-02 -6.31739152e-04] [ 7.04071347e-02 9.97518332e-01 1.12399267e-04] [ 6.22257684e-04 -1.56599252e-04 9.99999794e-01]] t_estimated: [[-0.59796168] [-0.80152311] [-0.00159032]] R_gt: [[ 0.93883495 0.34307598 -0.02977898] [-0.34409499 0.93115452 -0.12061976] [-0.01365312 0.1234898 0.99225245]] t_gt: [-0.26824783 0.95224812 -0.1458308 ] Pose Error in degrees for R and t: 25.23076769717191 52.942583919907975 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.62682903e-01 2.70631348e-01 -5.48804464e-04] [-2.70631090e-01 9.62683002e-01 5.00923936e-04] [ 6.63890449e-04 -3.33707358e-04 9.99999724e-01]] t_estimated: [[-0.74953856] [-0.6619597 ] [-0.00113739]] R_gt: [[ 0.983853 -0.17708727 0.02595692] [ 0.17641393 0.98396569 0.02627333] [-0.03019331 -0.02126998 0.99931759]] t_gt: [ 0.5563247 -0.79517815 0.24123543] Pose Error in degrees for R and t: 25.97173928801522 83.7357159253989 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 8.91743984e-01 4.52539670e-01 7.17136335e-04] [-4.52540007e-01 8.91744011e-01 4.00923706e-04] [-4.58068150e-04 -6.82054185e-04 9.99999662e-01]] t_estimated: [[5.81512730e-01] [8.13536902e-01] [8.08715698e-04]] R_gt: [[ 9.67367734e-01 -2.53377920e-01 -1.17508920e-04] [ 2.53193973e-01 9.66645994e-01 3.85811309e-02] [-9.66183332e-03 -3.73518477e-02 9.99255317e-01]] t_gt: [ 0.59388898 -0.79383318 0.13086161] Pose Error in degrees for R and t: 41.63859296255443 72.52120850337457 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 1.13879162e-01 9.93494608e-01 -3.25471767e-05] [ 9.93490899e-01 -1.13878647e-01 2.73625983e-03] [ 2.71475296e-03 -3.43938299e-04 -9.99996256e-01]] t_estimated: [[0.4153787 ] [0.90964715] [0.00160999]] R_gt: [[ 0.89062991 -0.45254609 0.04450261] [ 0.45173108 0.8917296 0.02751613] [-0.05213672 -0.00440278 0.99862948]] t_gt: [ 0.68156867 -0.72335384 0.11055933] Pose Error in degrees for R and t: 178.89500835685607 67.9936314149354 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.98400700e-01 5.65335333e-02 3.01313059e-05] [-5.65335358e-02 9.98400697e-01 8.91626722e-05] [-2.50424359e-05 -9.07235036e-05 9.99999996e-01]] t_estimated: [[-9.99999912e-01] [ 2.12426856e-04] [ 3.62876472e-04]] R_gt: [[ 0.99411627 0.10088343 -0.03943253] [-0.09983257 0.99461636 0.02775937] [ 0.04202054 -0.02365821 0.99883594]] t_gt: [-0.69499698 0.70341851 -0.14893489] Pose Error in degrees for R and t: 3.741358788020183 45.96542728543613 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999867e-01 9.00030935e-05 -5.08384395e-04] [-8.97039187e-05 9.99999823e-01 5.88473658e-04] [ 5.08437269e-04 -5.88427976e-04 9.99999698e-01]] t_estimated: [[-0.62351698] [-0.78180921] [-0.0009652 ]] R_gt: [[ 0.96933229 0.24350233 -0.03317163] [-0.2421203 0.96938848 0.04078594] [ 0.04208674 -0.03150313 0.99861628]] t_gt: [-0.65084853 0.75784614 -0.04544697] Pose Error in degrees for R and t: 14.366030314142755 79.24369635175677 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.49482257e-01 -3.13820055e-01 -6.45976478e-04] [ 3.13820310e-01 9.49482332e-01 3.37922007e-04] [ 5.07296550e-04 -5.23571489e-04 9.99999734e-01]] t_estimated: [[-0.69828481] [-0.71581929] [-0.00103144]] R_gt: [[ 0.91229722 0.40742798 -0.04141274] [-0.40640388 0.91316411 0.03107197] [ 0.05047578 -0.01151509 0.99865869]] t_gt: [-0.57409066 0.81514723 -0.0771681 ] Pose Error in degrees for R and t: 42.41431613494549 79.48227303186782 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99276641e-01 -3.80288425e-02 -4.97191183e-05] [ 3.80288359e-02 9.99276634e-01 -1.27630335e-04] [ 5.45367871e-05 1.25647252e-04 9.99999991e-01]] t_estimated: [[-0.040698 ] [-0.99917042] [-0.00146253]] R_gt: [[ 0.98481816 -0.17144894 -0.02719954] [ 0.17049616 0.98476562 -0.03416099] [ 0.0326419 0.02900385 0.99904628]] t_gt: [ 0.63696851 -0.7000829 -0.32273062] Pose Error in degrees for R and t: 8.064766013710283 47.619518875192824 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.35521504e-01 3.53269587e-01 3.39117607e-04] [-3.53269328e-01 9.35521439e-01 -6.46972112e-04] [-5.45807363e-04 4.85456474e-04 9.99999733e-01]] t_estimated: [[-5.03844260e-01] [ 8.63794468e-01] [ 2.78764236e-04]] R_gt: [[ 0.95194493 -0.30586307 0.01579188] [ 0.30622705 0.95141358 -0.03220838] [-0.00517396 0.03549607 0.99935598]] t_gt: [ 0.5914212 -0.80273122 -0.07644309] Pose Error in degrees for R and t: 38.56504100908879 7.519545117207708 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.24624268 -0.96883385 0.02693538] [-0.96908826 0.24655432 0.0088833 ] [-0.01524748 -0.02391531 -0.99959771]] t_estimated: [[0.7797255 ] [0.6259162 ] [0.01603307]] R_gt: [[ 0.92065118 -0.389512 0.02610745] [ 0.38998185 0.92068166 -0.01611286] [-0.01776146 0.02501464 0.99952948]] t_gt: [ 0.54530257 -0.83814336 0.01268145] Pose Error in degrees for R and t: 178.33413319947877 84.30586674526667 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.88919562e-01 -1.48452336e-01 -6.17553826e-05] [ 1.48452348e-01 9.88919453e-01 4.65378747e-04] [-8.01546283e-06 -4.69389878e-04 9.99999890e-01]] t_estimated: [[0.89539985] [0.44526196] [0.00094962]] R_gt: [[ 0.9884467 -0.15072235 -0.01601983] [ 0.14996246 0.98783452 -0.04115932] [ 0.02202907 0.03828177 0.99902363]] t_gt: [ 0.74838239 -0.62384979 -0.22524484] Pose Error in degrees for R and t: 2.55767217129958 66.91408418653005 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99944133e-01 -1.05679260e-02 2.21060450e-04] [ 1.05681149e-02 9.99943776e-01 -8.71295604e-04] [-2.11840234e-04 8.73583120e-04 9.99999596e-01]] t_estimated: [[ 9.64339725e-01] [ 2.64665885e-01] [-9.29245228e-04]] R_gt: [[ 0.96285941 -0.26849088 0.02852628] [ 0.26940243 0.96238175 -0.03527288] [-0.01798207 0.04164796 0.99897052]] t_gt: [ 0.77315159 -0.6334947 -0.03034939] Pose Error in degrees for R and t: 15.218335481280786 54.69389660788141 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-5.85886991e-01 -8.10392763e-01 -5.63230468e-05] [ 8.10330602e-01 -5.85842909e-01 1.23451264e-02] [-1.00373976e-02 7.18720869e-03 9.99923794e-01]] t_estimated: [[0.96880672] [0.24781156] [0.00172117]] R_gt: [[ 0.91351864 -0.40679559 -0.00104064] [ 0.40664022 0.91323313 -0.02547821] [ 0.01131468 0.02285216 0.99967392]] t_gt: [ 0.82308457 -0.56564386 -0.05078193] Pose Error in degrees for R and t: 101.87980905463803 48.917171070104374 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.09615602 0.99533344 0.00808427] [ 0.9953615 0.09617755 -0.00231676] [-0.00308347 0.007824 -0.99996464]] t_estimated: [[-0.41669451] [-0.90904584] [-0.00116395]] R_gt: [[ 0.98972017 -0.13903198 -0.03352735] [ 0.14056294 0.98887029 0.04875652] [ 0.02637495 -0.05296821 0.99824804]] t_gt: [ 0.73853315 -0.66503957 0.11086552] Pose Error in degrees for R and t: 177.2075724985299 72.7417127581945 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.98864620e-01 4.76255141e-02 1.13223722e-03] [-4.76246837e-02 9.98865020e-01 -7.49444059e-04] [-1.16664481e-03 6.94670716e-04 9.99999078e-01]] t_estimated: [[0.46519154] [0.88520953] [0.00096114]] R_gt: [[ 0.97714805 -0.21099591 -0.02575121] [ 0.21075369 0.97746857 -0.01179945] [ 0.02766036 0.00610315 0.99959923]] t_gt: [ 0.77765231 -0.62623808 -0.05552262] Pose Error in degrees for R and t: 14.998867771879171 78.8926409432616 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 6.41210348e-01 -7.67364145e-01 -1.24885557e-03] [-7.67365143e-01 -6.41209830e-01 -8.31217107e-04] [-1.62932265e-04 1.49131325e-03 -9.99998875e-01]] t_estimated: [[0.59167859] [0.80617344] [0.00090888]] R_gt: [[ 0.96247186 -0.26703756 -0.04836079] [ 0.26031255 0.95881396 -0.11363815] [ 0.07671465 0.09678484 0.99234427]] t_gt: [ 0.79275128 -0.52892958 -0.30295033] Pose Error in degrees for R and t: 172.8737038558604 87.57167183616075 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-9.94666509e-01 -1.02633426e-01 1.02427929e-02] [-1.02623151e-01 9.94719138e-01 1.52516109e-03] [-1.03452346e-02 4.65878984e-04 -9.99946378e-01]] t_estimated: [[0.99845384] [0.05531217] [0.00552254]] R_gt: [[ 9.68266642e-01 -2.49854573e-01 -5.79148403e-03] [ 2.49920090e-01 9.67921098e-01 2.58770405e-02] [-8.59684815e-04 -2.65025735e-02 9.99648121e-01]] t_gt: [ 0.74638548 -0.65863722 0.09542393] Pose Error in degrees for R and t: 179.47096280805982 44.81975179374893 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.86435681e-01 -1.64147445e-01 5.13941881e-04] [ 1.64147685e-01 9.86435666e-01 -4.63949139e-04] [-4.30814535e-04 5.42018355e-04 9.99999760e-01]] t_estimated: [[ 0.50322279] [-0.86415449] [-0.00195991]] R_gt: [[ 0.93443391 -0.35573474 -0.01691255] [ 0.35611372 0.93277682 0.05576481] [-0.00406182 -0.05813154 0.99830032]] t_gt: [ 0.78056555 -0.61079726 0.13283119] Pose Error in degrees for R and t: 11.907047960474072 23.02105122737278 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99272798e-01 -3.81293516e-02 1.64943350e-04] [ 3.81292903e-02 9.99272749e-01 3.60286534e-04] [-1.78560886e-04 -3.53735360e-04 9.99999921e-01]] t_estimated: [[9.77187135e-01] [2.12379615e-01] [4.50958421e-04]] R_gt: [[ 0.91094855 -0.41083417 0.03725013] [ 0.4090127 0.91126387 0.04802079] [-0.05367322 -0.02850876 0.99815119]] t_gt: [ 0.7664554 -0.61848953 0.17325361] Pose Error in degrees for R and t: 22.305869178107844 51.852072754156204 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.99902787e-01 -1.39428931e-02 -1.13730195e-04] [ 1.39429154e-02 9.99902773e-01 1.97930476e-04] [ 1.10959414e-04 -1.99496965e-04 9.99999974e-01]] t_estimated: [[-8.22099161e-01] [-5.69343968e-01] [-6.44783656e-04]] R_gt: [[ 0.99777236 0.06498809 0.01505649] [-0.06473367 0.99776102 -0.01676376] [-0.01611176 0.01575161 0.9997457 ]] t_gt: [-0.9145648 0.37369688 -0.15466699] Pose Error in degrees for R and t: 4.702930484827609 57.37076209219019 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99999423e-01 1.06910648e-03 -1.00107991e-04] [-1.06908717e-03 9.99999410e-01 1.92745259e-04] [ 1.00313997e-04 -1.92638123e-04 9.99999976e-01]] t_estimated: [[-7.70235020e-01] [-6.37759909e-01] [-5.58404933e-04]] R_gt: [[ 0.99423488 0.10013793 0.03833628] [-0.0983961 0.99413381 -0.04489205] [-0.04260633 0.04086113 0.99825502]] t_gt: [-0.87229704 0.42113548 -0.24848095] Pose Error in degrees for R and t: 6.583877405147268 66.20727290300647 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.49737226e-01 3.13048150e-01 -2.40882379e-04] [-3.13048183e-01 9.49737239e-01 -1.12664593e-04] [ 1.93505523e-04 1.82409549e-04 9.99999965e-01]] t_estimated: [[-9.75634317e-01] [-2.19401019e-01] [-9.33621356e-04]] R_gt: [[ 0.98079221 0.18491564 0.06207513] [-0.17756181 0.97813545 -0.1082713 ] [-0.08073917 0.0951689 0.99218107]] t_gt: [-0.84198021 0.42971372 -0.32621379] Pose Error in degrees for R and t: 10.561190425827185 43.32364046714879 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[-0.66299163 -0.74845078 0.01623364] [-0.74841408 0.66316429 0.00945947] [-0.01784552 -0.00587793 -0.99982348]] t_estimated: [[0.91373098] [0.40619854] [0.00992191]] R_gt: [[ 0.99815148 -0.05866924 -0.0158944 ] [ 0.05852709 0.99824366 -0.00927532] [ 0.01641015 0.00832733 0.99983045]] t_gt: [ 0.50995571 -0.7792302 -0.36434252] Pose Error in degrees for R and t: 179.95962538044884 81.61493307935724 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-0.69699336 0.71706205 -0.00471941] [-0.71705951 -0.69700743 -0.00251151] [-0.00509037 0.0016336 0.99998571]] t_estimated: [[0.66582724] [0.74610429] [0.00157406]] R_gt: [[ 0.97838191 -0.20678101 0.00323384] [ 0.20673312 0.97833243 0.01134987] [-0.00551201 -0.01043554 0.99993075]] t_gt: [ 0.57836007 -0.81313219 0.06569378] Pose Error in degrees for R and t: 146.1224601660215 77.20343011247547 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.33339431 -0.50590364 -0.79555625] [-0.15529003 -0.80284114 0.57561369] [-0.92991034 0.31544828 0.18910087]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.95581611 -0.29379021 -0.01011515] [ 0.29391766 0.95571293 0.01503918] [ 0.00524807 -0.01734806 0.99983567]] t_gt: [ 0.62095442 -0.78342273 0.02577669] Pose Error in degrees for R and t: 153.35094909108014 89.97222050974054 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-3.92032555e-01 -9.19950608e-01 -1.16375047e-03] [-9.19951338e-01 3.92032091e-01 6.12382944e-04] [-1.07134530e-04 1.31066786e-03 -9.99999135e-01]] t_estimated: [[0.72994038] [0.68351039] [0.00076115]] R_gt: [[ 0.99623218 0.07999264 0.03350343] [-0.08040397 0.99670101 0.01106811] [-0.03250691 -0.01372027 0.99937765]] t_gt: [-0.3915476 0.81532808 0.42653323] Pose Error in degrees for R and t: 178.06682050338617 74.22838810668502 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99954791e-01 -9.50863332e-03 4.45457028e-05] [ 9.50863549e-03 9.99954791e-01 -4.87849385e-05] [-4.40798108e-05 4.92063018e-05 9.99999998e-01]] t_estimated: [[-9.43231414e-01] [-3.32135259e-01] [-8.18067141e-04]] R_gt: [[ 0.99537527 0.09180913 0.02829372] [-0.0916463 0.99576643 -0.00704505] [-0.02882088 0.00441836 0.9995755 ]] t_gt: [-0.13120779 0.96289828 0.23582073] Pose Error in degrees for R and t: 6.043128952103886 78.68247464332507 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.76867096 -0.63962609 -0.00484066] [ 0.63962114 -0.76868553 0.00271046] [-0.00545463 -0.00101274 0.99998461]] t_estimated: [[0.96098016] [0.2766026 ] [0.00285157]] R_gt: [[ 0.99627751 0.08241973 0.02528645] [-0.08252842 0.99658408 0.0032109 ] [-0.02493487 -0.00528594 0.99967509]] t_gt: [0.41026762 0.85366101 0.32084789] Pose Error in degrees for R and t: 144.9691759060741 50.85398812169041 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 7.35302263e-01 -6.77738840e-01 -8.03807641e-04] [ 6.77739106e-01 7.35302453e-01 8.32753565e-05] [ 5.34602787e-04 -6.06004430e-04 9.99999673e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98235478 0.18700804 0.00256496] [-0.18695939 0.98228125 -0.0130418 ] [-0.00495808 0.01233192 0.99991192]] t_gt: [-0.700672 0.7133833 -0.01195914] Pose Error in degrees for R and t: 53.4500209129475 44.84747801640928 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.89913737e-01 -1.41668921e-01 -8.42983226e-04] [ 1.41670561e-01 9.89910980e-01 2.38824511e-03] [ 4.96138244e-04 -2.48358254e-03 9.99996793e-01]] t_estimated: [[0.11336662] [0.99354899] [0.00290192]] R_gt: [[ 0.95689197 0.28599279 0.05065449] [-0.28382781 0.95777731 -0.04588147] [-0.06163671 0.02952501 0.99766122]] t_gt: [-0.68541762 0.71813945 0.1203263 ] Pose Error in degrees for R and t: 25.03964584267414 50.49448976153178 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.59410468e-01 -2.82013198e-01 -3.31913191e-04] [ 2.82013298e-01 9.59410447e-01 3.06006915e-04] [ 2.32142995e-04 -3.87190171e-04 9.99999898e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.95071298 0.29636388 0.09117734] [-0.29394097 0.9550173 -0.03925389] [-0.0987093 0.01051878 0.99506084]] t_gt: [-0.7054093 0.66994945 0.23144213] Pose Error in degrees for R and t: 34.0604002715344 80.51890569333058 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.93796727 0.34653574 0.01141867] [-0.34629828 0.93793906 -0.01865005] [-0.01717293 0.01353887 0.99976087]] t_estimated: [[-0.93506152] [-0.35448029] [-0.00191611]] R_gt: [[ 0.99556614 -0.08087266 -0.04803884] [ 0.08199572 0.99639283 0.02187989] [ 0.04609561 -0.02572082 0.99860512]] t_gt: [ 0.42110679 -0.86856464 -0.26127483] Pose Error in degrees for R and t: 25.296731643899637 85.10263654469568 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.97541623 -0.22032497 -0.00448069] [-0.22035258 -0.97539465 -0.00707217] [-0.00281226 0.00788564 -0.99996495]] t_estimated: [[0.68960689] [0.72418328] [0.00096046]] R_gt: [[ 9.78818363e-01 -1.82667327e-01 -9.24548598e-02] [ 1.83364382e-01 9.83044455e-01 -9.76220003e-04] [ 9.10647795e-02 -1.59955581e-02 9.95715398e-01]] t_gt: [ 0.54404632 -0.76876285 -0.33618044] Pose Error in degrees for R and t: 179.43046090591753 79.52129909703564 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.98574493 0.16824169 0.00128977] [-0.16823673 0.98574112 -0.00329351] [-0.00182548 0.00302958 0.99999374]] t_estimated: [[-0.03788634] [-0.99925955] [-0.00670643]] R_gt: [[ 0.94701217 -0.30575014 -0.09841902] [ 0.31018961 0.95009808 0.03312151] [ 0.08338078 -0.06189388 0.99459357]] t_gt: [ 0.63152462 -0.77182391 -0.07392223] Pose Error in degrees for R and t: 28.330508142165794 41.59793524409047 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99993997e-01 -3.46480932e-03 -1.25118569e-05] [ 3.46480857e-03 9.99993996e-01 -5.94136490e-05] [ 1.27176387e-05 5.93699412e-05 9.99999998e-01]] t_estimated: [[-0.1089038 ] [-0.99405153] [-0.00123539]] R_gt: [[ 0.99841809 -0.03846807 0.0410107 ] [ 0.03986693 0.99863048 -0.03386505] [-0.03965172 0.03544615 0.99858411]] t_gt: [ 0.75669354 -0.61403148 -0.22445542] Pose Error in degrees for R and t: 3.67149599605984 58.1127490792505 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.91544833e-01 -1.29764405e-01 -2.06741386e-04] [ 1.29764399e-01 9.91544855e-01 -4.10582976e-05] [ 2.10321263e-04 1.38834712e-05 9.99999978e-01]] t_estimated: [[ 0.3772041 ] [-0.92612969] [-0.00092982]] R_gt: [[ 0.99469768 -0.06435207 0.08022327] [ 0.06793186 0.99677435 -0.04272808] [-0.07721535 0.04795148 0.99586098]] t_gt: [ 0.78158452 -0.62321261 -0.0270495 ] Pose Error in degrees for R and t: 6.375722234741843 29.30603279048654 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.90788148 0.4178239 0.03426954] [-0.41410733 0.90652927 -0.08197435] [-0.06531718 0.06023173 0.99604508]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.98950313 -0.03439469 0.14035849] [ 0.04513638 0.99622994 -0.07407843] [-0.13728022 0.07963537 0.98732584]] t_gt: [0.89396697 0.41176408 0.17684287] Pose Error in degrees for R and t: 27.347842966919966 16.204453788395096 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99475491 0.10227651 0.00147826] [-0.10227325 0.99475404 -0.00213902] [-0.00168928 0.00197661 0.99999662]] t_estimated: [[-0.9951546 ] [-0.09829284] [-0.00241752]] R_gt: [[ 0.99305707 0.00504992 0.11752869] [-0.00404176 0.99995343 -0.00882173] [-0.11756715 0.00828582 0.99302987]] t_gt: [-0.08839931 0.12789861 0.98783982] Pose Error in degrees for R and t: 8.71281355206948 85.81303251107113 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-2.91567269e-02 9.99572282e-01 2.26657864e-03] [ 9.99574495e-01 2.91547251e-02 9.11288675e-04] [ 8.44817424e-04 2.29218440e-03 -9.99997016e-01]] t_estimated: [[0.87878311] [0.47721997] [0.00116395]] R_gt: [[ 0.98294297 -0.03217713 0.18107772] [ 0.04490017 0.99676938 -0.06660994] [-0.17834849 0.07360461 0.98121007]] t_gt: [ 0.4062834 -0.06148284 0.91167629] Pose Error in degrees for R and t: 169.69206553902114 70.80675577582055 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 5.12557338e-01 8.58652985e-01 -1.62593483e-04] [-8.58652996e-01 5.12557307e-01 -1.98011797e-04] [-8.66849430e-05 2.41103781e-04 9.99999967e-01]] t_estimated: [[-9.99967893e-01] [-7.96434605e-03] [-8.84927339e-04]] R_gt: [[ 0.98052993 -0.12128066 0.15444132] [ 0.12814888 0.99112712 -0.03528333] [-0.14879153 0.05438859 0.98737161]] t_gt: [ 0.8076428 -0.44136446 0.39103774] Pose Error in degrees for R and t: 66.92743375733247 36.44304659495837 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999384e-01 -1.11035199e-03 3.40089292e-06] [ 1.11035216e-03 9.99999382e-01 -4.91388225e-05] [-3.34632943e-06 4.91425684e-05 9.99999999e-01]] t_estimated: [[-6.10967302e-03] [-9.99981253e-01] [-4.07375547e-04]] R_gt: [[ 0.99171145 -0.01700053 0.12735361] [ 0.01762008 0.99983804 -0.00373633] [-0.12726816 0.00594876 0.99184998]] t_gt: [ 0.03109033 -0.10364427 0.99412839] Pose Error in degrees for R and t: 7.3786856770650555 84.08531998835167 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.93781125e-01 1.11350993e-01 -1.77227952e-04] [-1.11351132e-01 9.93779570e-01 -1.75817614e-03] [-1.96491412e-05 1.76697680e-03 9.99998439e-01]] t_estimated: [[9.99974549e-01] [7.07946583e-03] [8.84933229e-04]] R_gt: [[ 0.97163923 -0.03203102 0.2342892 ] [ 0.04075717 0.99864034 -0.03249446] [-0.23292949 0.04112185 0.97162279]] t_gt: [ 0.15908558 -0.07788201 0.98418808] Pose Error in degrees for R and t: 16.09216038893218 80.82786394122307 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 3.76306417e-01 9.26486717e-01 3.98049431e-03] [-9.26492259e-01 3.76312670e-01 -9.31411038e-04] [-2.36085040e-03 -3.33740122e-03 9.99991644e-01]] t_estimated: [[0.05464393] [0.99849355] [0.00496763]] R_gt: [[ 0.96217449 -0.08507645 0.25880862] [ 0.10278504 0.99314615 -0.05565197] [-0.25229932 0.08014916 0.96432307]] t_gt: [ 0.54585873 -0.27927581 0.78996409] Pose Error in degrees for R and t: 74.70792234546684 75.81208043242675 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[-0.3076853 0.95148691 0.00155439] [ 0.95148699 0.30768192 0.00208418] [ 0.00150481 0.00212025 -0.99999662]] t_estimated: [[0.9741901 ] [0.22572697] [0.00099003]] R_gt: [[ 0.99930309 -0.03311957 0.01720814] [ 0.03302837 0.99943921 0.00558528] [-0.01738429 -0.00501246 0.99983676]] t_gt: [ 0.73864192 -0.6429667 0.20248935] Pose Error in degrees for R and t: 179.372467517699 54.92535138909223 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.9403633 -0.34015631 -0.0032485 ] [-0.34014769 -0.94013994 -0.02089131] [ 0.00405226 0.02075039 -0.99977648]] t_estimated: [[ 0.24950312] [ 0.96832202] [-0.01003289]] R_gt: [[ 0.99506765 -0.03093627 0.09424755] [ 0.03396019 0.99895281 -0.03065703] [-0.09320007 0.03370693 0.99507745]] t_gt: [ 0.69200409 -0.22001113 0.68755032] Pose Error in degrees for R and t: 177.90064149846856 87.28989842491274 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-9.44277299e-01 -3.29144916e-01 -2.00143467e-03] [ 3.29141767e-01 -9.44278899e-01 1.74882259e-03] [-2.46552859e-03 9.92617728e-04 9.99996468e-01]] t_estimated: [[9.92898596e-01] [1.18961226e-01] [7.77524351e-04]] R_gt: [[ 0.99157153 0.03946035 0.12340488] [-0.02948083 0.99622332 -0.08166864] [-0.1261621 0.07734222 0.98899033]] t_gt: [-0.14209662 0.98821966 0.0568371 ] Pose Error in degrees for R and t: 162.81755475053657 88.65436979390239 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.99999972e-01 1.70473200e-04 -1.63553411e-04] [-1.70454069e-04 9.99999979e-01 1.16975586e-04] [ 1.63573349e-04 -1.16947704e-04 9.99999980e-01]] t_estimated: [[-0.50239021] [-0.86464 ] [-0.00132208]] R_gt: [[ 0.99956822 0.02924314 0.00283622] [-0.02925401 0.99956401 0.00412485] [-0.00271433 -0.00420536 0.99998767]] t_gt: [0.32810203 0.93013362 0.16492573] Pose Error in degrees for R and t: 1.690173304459921 14.237630431155845 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.99019486 -0.13965271 -0.0033563 ] [ 0.13966406 0.99019302 0.0034241 ] [ 0.0028452 -0.00385929 0.99998851]] t_estimated: [[9.40208711e-01] [3.40597933e-01] [7.92088215e-04]] R_gt: [[ 0.99968029 0.02519543 0.00238715] [-0.02520381 0.99967645 0.00357405] [-0.00229671 -0.00363319 0.99999152]] t_gt: [0.98565207 0.15758756 0.0604662 ] Pose Error in degrees for R and t: 9.476923127064914 11.350796931568267 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-7.14626799e-01 6.99504589e-01 1.36670433e-03] [ 6.99505040e-01 7.14627638e-01 -1.94168033e-04] [-1.11250612e-03 8.17258888e-04 -9.99999047e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99763481 0.06536542 0.02123763] [-0.0655714 0.99780595 0.00914473] [-0.02059299 -0.01051527 0.99973322]] t_gt: [0.66569123 0.65512635 0.35730191] Pose Error in degrees for R and t: 179.02710666067526 47.676695506895655 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 0.46149475 0.88714204 -0.00126393] [ 0.88713843 -0.46148739 0.00384563] [ 0.00282833 -0.00289602 -0.99999181]] t_estimated: [[-0.47209693] [-0.88154593] [-0.00111871]] R_gt: [[ 0.99822404 -0.05097012 -0.03082156] [ 0.05059907 0.99863823 -0.01271611] [ 0.03142791 0.01113392 0.99944375]] t_gt: [ 0.24887102 -0.78679744 -0.56481236] Pose Error in degrees for R and t: 179.4328391541259 54.778514121211 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.71391954e-01 2.37480719e-01 7.61479172e-04] [-2.37481203e-01 9.71391933e-01 6.24269259e-04] [-5.91442813e-04 -7.87247125e-04 9.99999515e-01]] t_estimated: [[0.85201293] [0.52351492] [0.00246833]] R_gt: [[ 0.99106866 -0.11546461 -0.0667174 ] [ 0.11733851 0.99277963 0.02487786] [ 0.06336293 -0.03248417 0.99746155]] t_gt: [ 0.33916255 -0.89716241 -0.28296357] Pose Error in degrees for R and t: 20.834623924522713 79.54836414529204 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.08158373 -0.99662345 -0.00926248] [-0.99664815 0.08152232 0.00682494] [-0.0060468 0.00978824 -0.99993381]] t_estimated: [[9.02873994e-01] [4.29904640e-01] [7.42495061e-04]] R_gt: [[ 0.9620435 -0.2519585 -0.10482447] [ 0.2555072 0.96656342 0.02171237] [ 0.09584861 -0.04767295 0.99425412]] t_gt: [ 0.54323808 -0.81572637 -0.19870298] Pose Error in degrees for R and t: 177.04965790009078 81.97278567003413 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.98488035e-01 -5.49694333e-02 6.64359146e-05] [ 5.49694387e-02 9.98488034e-01 -8.35771615e-05] [-6.17412766e-05 8.71027407e-05 9.99999994e-01]] t_estimated: [[ 9.99999149e-01] [-1.17964253e-03] [-5.57075945e-04]] R_gt: [[ 0.97531243 -0.21814199 0.03434448] [ 0.21645084 0.97516056 0.04702284] [-0.0437487 -0.03842824 0.99830357]] t_gt: [ 0.65389651 -0.70382082 0.27758892] Pose Error in degrees for R and t: 9.98364996704212 49.11282777959733 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.92280906e-01 -1.24010085e-01 -3.18631927e-04] [ 1.24009980e-01 9.92280916e-01 -3.30145411e-04] [ 3.57113741e-04 2.88083448e-04 9.99999895e-01]] t_estimated: [[ 0.98923004] [-0.14636217] [-0.00142946]] R_gt: [[ 0.91082825 -0.41272261 0.00719921] [ 0.41112656 0.90859257 0.0737269 ] [-0.03696936 -0.06419295 0.99725236]] t_gt: [ 0.77479472 -0.60420744 0.186082 ] Pose Error in degrees for R and t: 17.75522094494525 31.282516032001215 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-9.52023727e-01 -3.06022974e-01 8.73210927e-04] [-3.06023697e-01 9.52023500e-01 -8.67550630e-04] [-5.65826899e-04 -1.09315202e-03 -9.99999242e-01]] t_estimated: [[9.99997209e-01] [6.36705313e-04] [2.27522252e-03]] R_gt: [[ 0.89104999 -0.45384917 0.00717409] [ 0.45142937 0.88772746 0.09029129] [-0.04734737 -0.07721496 0.99588981]] t_gt: [ 0.78005037 -0.58911492 0.21086736] Pose Error in degrees for R and t: 177.61881775582953 38.725426204941165 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.13726206 -0.9442634 0.29920857] [-0.95198896 -0.04231199 0.3031942 ] [-0.27363507 -0.32646031 -0.90473616]] t_estimated: [[0.65566502] [0.72006242] [0.22718602]] R_gt: [[ 0.99841064 0.0473869 0.0304869 ] [-0.04625205 0.99824691 -0.03691629] [-0.03218236 0.03544691 0.99885332]] t_gt: [-0.82438368 0.37235205 -0.42631619] Pose Error in degrees for R and t: 155.12420139841387 68.3302658853495 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-0.44267603 -0.89665491 -0.00692149] [-0.8966397 0.44271678 -0.00625241] [ 0.00867051 0.00343829 -0.9999565 ]] t_estimated: [[ 0.87741922] [ 0.47970674] [-0.00411794]] R_gt: [[ 0.99096611 0.12653769 0.04443954] [-0.12128452 0.98696673 -0.10576359] [-0.05724225 0.09941834 0.99339854]] t_gt: [-0.78368736 0.38060623 -0.49089004] Pose Error in degrees for R and t: 178.85187281283058 59.79989608472623 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 7.19743199e-01 6.94240388e-01 -1.02432076e-04] [-6.94240392e-01 7.19743203e-01 -6.23945534e-06] [ 6.93931087e-05 7.56032903e-05 9.99999995e-01]] t_estimated: [[9.75679905e-01] [2.19198212e-01] [9.30604169e-04]] R_gt: [[ 0.99849688 0.02974387 0.04602837] [-0.02451839 0.99360746 -0.11019491] [-0.04901139 0.10890048 0.99284362]] t_gt: [-0.37003794 0.32656049 -0.86972994] Pose Error in degrees for R and t: 42.93225979593254 73.12608925865649 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 1.11301785e-01 -9.93785596e-01 -1.44952633e-03] [ 9.93786222e-01 1.11300259e-01 1.09447209e-03] [-9.26337947e-04 -1.56233599e-03 9.99998351e-01]] t_estimated: [[0.96921456] [0.24621453] [0.00123788]] R_gt: [[ 9.85523136e-01 -1.65892971e-01 3.49737816e-02] [ 1.65986062e-01 9.86128385e-01 2.62789175e-04] [-3.45308665e-02 5.54607934e-03 9.99388586e-01]] t_gt: [ 0.72807525 -0.67272638 0.13170288] Pose Error in degrees for R and t: 74.07900021689136 57.30348350391586 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 7.67293893e-01 6.41294143e-01 1.37958536e-03] [-6.41292669e-01 7.67295113e-01 -1.38657865e-03] [-1.94775387e-03 1.79195350e-04 9.99998087e-01]] t_estimated: [[0.85447369] [0.51949342] [0.00114149]] R_gt: [[ 0.9500171 -0.31218794 -0.00243111] [ 0.3115999 0.94768502 0.06927532] [-0.01932298 -0.06657017 0.99759486]] t_gt: [ 0.77715206 -0.60677953 0.16689305] Pose Error in degrees for R and t: 58.21102041488773 69.57209353611181 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99727158e-01 -2.33576443e-02 1.72607026e-04] [ 2.33576438e-02 9.99727173e-01 4.75821614e-06] [-1.72671075e-04 -7.25224462e-07 9.99999985e-01]] t_estimated: [[ 9.99865300e-01] [-1.64094842e-02] [ 3.33601342e-04]] R_gt: [[ 0.92075616 -0.39010378 -0.00525386] [ 0.39011768 0.92047733 0.0230375 ] [-0.00415033 -0.02326123 0.99972078]] t_gt: [ 0.81852149 -0.57140714 0.05929959] Pose Error in degrees for R and t: 21.668146670361768 34.125828656475264 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-9.74679026e-01 2.23593043e-01 -2.63583796e-03] [-2.23593873e-01 -9.74682399e-01 2.07632657e-05] [-2.56446235e-03 6.09594738e-04 9.99996526e-01]] t_estimated: [[0.67091286] [0.74153527] [0.00117704]] R_gt: [[ 0.97287073 0.23114119 0.0097865 ] [-0.23082443 0.97264583 -0.02608571] [-0.01554898 0.02311939 0.99961213]] t_gt: [-0.59870441 0.80006711 -0.03802168] Pose Error in degrees for R and t: 153.72301629837122 78.9564693300603 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-6.20646775e-01 -7.84084818e-01 -2.92909384e-03] [ 7.84088981e-01 -6.20648232e-01 -4.92151913e-04] [-1.43204807e-03 -2.60212270e-03 9.99995589e-01]] t_estimated: [[0.97578787] [0.21871107] [0.00186933]] R_gt: [[ 0.90964848 0.41372894 -0.03700225] [-0.41444841 0.90996204 -0.01419998] [ 0.02779497 0.02825327 0.99921445]] t_gt: [-0.51025044 0.85284092 -0.11093625] Pose Error in degrees for R and t: 152.8410737158997 71.84565752606201 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.16194852e-01 -4.00732993e-01 2.47589829e-04] [ 4.00733067e-01 9.16194735e-01 -4.64301168e-04] [-4.07797008e-05 5.24607772e-04 9.99999862e-01]] t_estimated: [[-7.58345958e-01] [-6.51851937e-01] [-6.78305866e-04]] R_gt: [[ 0.87091803 0.4894882 -0.04363348] [-0.49136778 0.86875854 -0.06177364] [ 0.007669 0.07524075 0.99713562]] t_gt: [-0.46018151 0.87823767 -0.13012139] Pose Error in degrees for R and t: 53.2011971855015 77.09025632419178 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.63792761e-01 5.03847242e-01 1.50113539e-04] [-5.03847098e-01 8.63792681e-01 -5.53257071e-04] [-4.08424026e-04 4.02265181e-04 9.99999836e-01]] t_estimated: [[-6.53388653e-01] [ 7.57022632e-01] [-5.00327620e-05]] R_gt: [[ 0.97524721 0.22103808 -0.00589312] [-0.22109586 0.97517657 -0.01214835] [ 0.00306289 0.01315124 0.99990806]] t_gt: [-0.71499946 0.69661391 -0.05920168] Pose Error in degrees for R and t: 17.49869667556012 5.996659363043498 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.97036707e-01 -7.69260353e-02 -4.35928340e-04] [ 7.69255686e-02 9.97036335e-01 -1.00177868e-03] [ 5.11699257e-04 9.65276080e-04 9.99999403e-01]] t_estimated: [[-0.43954395] [-0.8981985 ] [-0.0063702 ]] R_gt: [[ 0.95614889 0.29150585 0.02833711] [-0.29165393 0.95652323 0.00111776] [-0.02677944 -0.00933275 0.9995976 ]] t_gt: [-0.69195065 0.71810208 0.07438881] Pose Error in degrees for R and t: 21.431924644896064 70.04211334079066 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.99946022 -0.0312085 -0.01026163] [ 0.03132507 0.99944421 0.01140221] [ 0.00990008 -0.0117175 0.99988234]] t_estimated: [[0.82992718] [0.55786496] [0.0027481 ]] R_gt: [[ 0.97582191 0.21426462 0.04315815] [-0.21441351 0.97674207 -0.00120625] [-0.04241213 -0.00807586 0.99906729]] t_gt: [-0.69719361 0.70538992 0.12785199] Pose Error in degrees for R and t: 14.50416757978469 79.35307796917685 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.85275332 -0.52230893 -0.00226878] [ 0.52231265 -0.85275265 -0.0015537 ] [-0.0011232 -0.00250994 0.99999622]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98213069 -0.18611642 0.02791023] [ 0.18585052 0.98250608 0.01187391] [-0.02963291 -0.00647475 0.99953921]] t_gt: [ 0.6993522 -0.69486397 0.16754272] Pose Error in degrees for R and t: 137.79808633236928 45.78730787995195 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.60459046 -0.7964839 -0.00915274] [-0.79648172 0.60464373 -0.00477917] [ 0.00934067 0.00440055 -0.99994669]] t_estimated: [[ 0.91153841] [ 0.41120593] [-0.00272409]] R_gt: [[ 0.95300376 -0.29653335 0.06205825] [ 0.29786836 0.95451457 -0.01328577] [-0.05529543 0.03114675 0.99798378]] t_gt: [ 0.72622529 -0.67925933 0.10584703] Pose Error in degrees for R and t: 178.11082028346124 67.51891320049943 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.98445703 -0.17556192 -0.00472908] [ 0.17558332 0.98445398 0.004568 ] [ 0.0038536 -0.00532735 0.99997838]] t_estimated: [[9.99991799e-01] [3.97137331e-03] [7.94274661e-04]] R_gt: [[ 0.92874062 -0.3634833 0.07294723] [ 0.36647966 0.92985495 -0.03259035] [-0.05598457 0.0570014 0.99680319]] t_gt: [ 0.73894463 -0.67231037 0.04426739] Pose Error in degrees for R and t: 12.361250407057668 42.58250478198979 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99495071e-01 -3.17741558e-02 -7.57268543e-05] [ 3.17741503e-02 9.99495072e-01 -7.31839310e-05] [ 7.80139752e-05 7.07408219e-05 9.99999994e-01]] t_estimated: [[-0.52453471] [-0.85138834] [-0.00111102]] R_gt: [[ 0.99825647 0.05864482 0.0067928 ] [-0.05849968 0.99808933 -0.01985514] [-0.00794416 0.01942303 0.99977976]] t_gt: [-0.42720111 0.90217763 -0.05978906] Pose Error in degrees for R and t: 5.316207100491684 57.04670007813832 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99031695e-01 -4.39922074e-02 -5.97838221e-04] [ 4.39922988e-02 9.99031860e-01 1.40732368e-04] [ 5.91068303e-04 -1.66896374e-04 9.99999811e-01]] t_estimated: [[-2.19366319e-02] [-9.99758868e-01] [-9.95080033e-04]] R_gt: [[ 0.99871565 0.05054623 0.00364699] [-0.05035313 0.99788137 -0.04119534] [-0.00572116 0.0409586 0.99914418]] t_gt: [-0.39490681 0.88469962 -0.24769981] Pose Error in degrees for R and t: 5.915239127228784 28.886676835529567 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.99963382 -0.02586354 -0.00795657] [ 0.0259621 0.99958422 0.01254386] [ 0.00762884 -0.01274584 0.99988967]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99814915 -0.06060151 0.00511572] [ 0.06065239 0.99810414 -0.01041178] [-0.00447461 0.01070199 0.99993264]] t_gt: [ 0.47989092 -0.87371646 -0.07952512] Pose Error in degrees for R and t: 2.5007569766104667 79.554706669645 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.20783128 0.97386387 -0.091626 ] [-0.97092602 0.19401153 -0.14022193] [-0.11878057 0.11810457 0.98587144]] t_estimated: [[0.55012495] [0.83508177] [0.00098943]] R_gt: [[ 0.98521218 0.16205798 0.05563265] [-0.16097572 0.98667981 -0.02343486] [-0.05868931 0.01413426 0.99817663]] t_gt: [-0.74175955 0.62272343 0.24901464] Pose Error in degrees for R and t: 69.47579612162669 83.55721853237965 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 4.07025704e-01 9.13416243e-01 9.17884575e-04] [-9.13415372e-01 4.07026621e-01 -1.29917735e-03] [-1.56029315e-03 -3.09611304e-04 9.99998735e-01]] t_estimated: [[0.03362948] [0.99943352] [0.00130085]] R_gt: [[ 0.97547235 0.20606866 0.07739856] [-0.20378215 0.97833699 -0.0364505 ] [-0.08323373 0.01978502 0.99633389]] t_gt: [-0.73922438 0.62511261 0.25056247] Pose Error in degrees for R and t: 54.33145833927302 53.114007327889645 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-8.08721896e-01 -5.88187280e-01 -2.14908277e-03] [ 5.88190980e-01 -8.08719388e-01 -2.07908748e-03] [-5.15112093e-04 -2.94547467e-03 9.99995529e-01]] t_estimated: [[9.53456752e-01] [3.01528393e-01] [9.22105176e-04]] R_gt: [[ 0.97424438 0.17863443 0.13761614] [-0.17392048 0.98370106 -0.04564891] [-0.14352712 0.020539 0.98943341]] t_gt: [-0.72684341 0.55061322 0.41051643] Pose Error in degrees for R and t: 154.2606702963039 58.22332945238514 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99482014e-01 -3.21818001e-02 -1.86419682e-04] [ 3.21818053e-02 9.99482031e-01 2.50685399e-05] [ 1.85516372e-04 -3.10548767e-05 9.99999982e-01]] t_estimated: [[-0.58268721] [-0.81269532] [-0.00139399]] R_gt: [[ 0.99941584 0.02356144 -0.02475979] [-0.02374951 0.99969148 -0.00736672] [ 0.02457849 0.00795101 0.99966697]] t_gt: [-0.27870439 0.7599288 -0.58722404] Pose Error in degrees for R and t: 3.5208794326555926 62.97530364547499 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.96003826e-01 8.93094318e-02 -4.51548109e-04] [-8.93095068e-02 9.96003911e-01 -1.48686598e-04] [ 4.36464567e-04 1.88419959e-04 9.99999887e-01]] t_estimated: [[-0.51816272] [-0.85528063] [-0.00156073]] R_gt: [[ 0.9967307 0.07600298 -0.02741844] [-0.07639723 0.99698489 -0.01362401] [ 0.0262995 0.01567375 0.99953129]] t_gt: [-0.34867356 0.88514273 -0.30813812] Pose Error in degrees for R and t: 1.8836821954821927 54.83767547209524 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.99780285 -0.05275695 0.04007705] [ 0.05932998 0.98073445 -0.18611797] [-0.02948593 0.18808681 0.9817097 ]] t_estimated: [[-0.70352647] [-0.70352647] [-0.10050378]] R_gt: [[ 0.99380014 0.10990901 -0.0167795 ] [-0.11052788 0.99298616 -0.0419911 ] [ 0.01204537 0.04358521 0.99897746]] t_gt: [-0.36456704 0.8999035 -0.23930014] Pose Error in degrees for R and t: 12.991406336411627 69.35523968465732 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.06706747 0.99759895 -0.01727121] [ 0.99758745 -0.06673565 0.01912144] [ 0.01792292 -0.01851197 -0.99966798]] t_estimated: [[ 0.79679751] [-0.60413392] [-0.01165885]] R_gt: [[ 0.99359501 0.10011542 0.05239903] [-0.09836296 0.99453447 -0.03502006] [-0.05561849 0.02964143 0.99801229]] t_gt: [-0.76217356 0.61096311 0.21404566] Pose Error in degrees for R and t: 178.00253609229313 11.791682814340726 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.67800685e-01 -2.51717664e-01 -2.26997638e-04] [ 2.51717753e-01 9.67800533e-01 5.48613037e-04] [ 8.15928426e-05 -5.88087408e-04 9.99999824e-01]] t_estimated: [[-0.62297408] [-0.78224121] [-0.00140944]] R_gt: [[ 0.99176973 0.08177013 0.09852585] [-0.07991372 0.99654489 -0.02265117] [-0.10003753 0.01459123 0.99487632]] t_gt: [-0.74921696 0.46062614 0.47591754] Pose Error in degrees for R and t: 20.08085896768168 83.92955108845203 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.84611954e-01 -1.74754961e-01 -6.08686769e-05] [ 1.74754972e-01 9.84611900e-01 3.24896175e-04] [ 3.15480516e-06 -3.30533762e-04 9.99999945e-01]] t_estimated: [[2.00286808e-02] [9.99799292e-01] [4.76522636e-04]] R_gt: [[ 0.9888826 0.0702114 0.13107831] [-0.06260337 0.99615532 -0.06129389] [-0.13487751 0.05240622 0.98947569]] t_gt: [-0.72263584 0.53404298 0.43885708] Pose Error in degrees for R and t: 16.187200191153245 58.689782878590414 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.97452888 0.22424677 0.00261648] [ 0.22423617 -0.97452735 0.00381928] [ 0.0034063 -0.00313529 -0.99998928]] t_estimated: [[0.08333884] [0.99651969] [0.00177317]] R_gt: [[ 0.99486346 -0.09171765 -0.04284259] [ 0.09174353 0.99578192 -0.00136087] [ 0.04278559 -0.00257625 0.99908092]] t_gt: [ 0.81058316 -0.5331689 -0.24225165] Pose Error in degrees for R and t: 179.49527408244208 62.34219964123719 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99295165 -0.11847053 -0.00342857] [ 0.11848252 0.99294985 0.0035338 ] [ 0.00298574 -0.00391512 0.99998788]] t_estimated: [[-0.01066289] [-0.99994245] [-0.00118477]] R_gt: [[ 0.98903711 -0.12130239 -0.08421384] [ 0.12155547 0.99258275 -0.00213762] [ 0.08384699 -0.00812275 0.99644482]] t_gt: [ 0.84705749 -0.44898039 -0.2844472 ] Pose Error in degrees for R and t: 4.648967029527058 63.87956236498166 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-9.07613430e-01 -4.19803686e-01 -1.65113221e-03] [ 4.19806105e-01 -9.07612432e-01 -1.58351349e-03] [-8.33823319e-04 -2.13037349e-03 9.99997383e-01]] t_estimated: [[8.68293970e-01] [4.96049283e-01] [8.30903321e-04]] R_gt: [[ 0.9896959 -0.04096126 -0.13720964] [ 0.04450334 0.9987487 0.022845 ] [ 0.13610106 -0.02871564 0.99027841]] t_gt: [ 0.85600712 -0.10515531 -0.50615626] Pose Error in degrees for R and t: 152.77575128995187 46.31579819842516 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-9.68065099e-01 -2.50520333e-01 9.46184934e-03] [-2.50500823e-01 9.68111055e-01 3.21294164e-03] [-9.96502815e-03 7.40135621e-04 -9.99950074e-01]] t_estimated: [[0.99316127] [0.11662991] [0.00530538]] R_gt: [[ 0.97655237 -0.21490525 0.01273541] [ 0.21462693 0.97648685 0.0202337 ] [-0.0167837 -0.01702485 0.99971399]] t_gt: [ 0.73273363 -0.67127366 0.11177256] Pose Error in degrees for R and t: 178.45036686613585 49.45650750553078 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.88373423e-01 1.52045015e-01 5.38849676e-04] [-1.52044823e-01 9.88373525e-01 -3.82604407e-04] [-5.90757847e-04 2.96226724e-04 9.99999782e-01]] t_estimated: [[9.01012407e-01] [4.33792651e-01] [7.59706920e-04]] R_gt: [[ 0.93968095 -0.3373402 0.05659154] [ 0.3369335 0.94137735 0.01686769] [-0.05896444 0.00321864 0.99825496]] t_gt: [ 0.75412412 -0.63997894 0.14738983] Pose Error in degrees for R and t: 28.658781716512703 66.29867179387996 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99998983e-01 1.31300859e-03 5.56688146e-04] [-1.31300630e-03 9.99999138e-01 -4.47839435e-06] [-5.56693546e-04 3.74745475e-06 9.99999845e-01]] t_estimated: [[9.76584625e-01] [2.15133170e-01] [4.34922422e-04]] R_gt: [[ 0.89289063 -0.44424796 0.07342002] [ 0.4460375 0.89496806 -0.00919048] [-0.061626 0.04095569 0.99725872]] t_gt: [ 0.78452496 -0.615915 0.07189784] Pose Error in degrees for R and t: 26.87295438880097 50.67766098362896 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99872761 -0.03138275 0.03947523] [ 0.03570901 0.99282155 -0.11415003] [-0.03560951 0.11541441 0.99267894]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99366584 -0.10533395 0.03914466] [ 0.10555325 0.99440722 -0.00355928] [-0.03855107 0.00766981 0.99922783]] t_gt: [ 0.52314179 -0.80834 0.27001688] Pose Error in degrees for R and t: 7.504931167443348 86.92511482920169 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.79135577 0.61133922 0.00451699] [ 0.61123954 -0.79132769 0.01366401] [ 0.01192776 -0.00805213 -0.99989644]] t_estimated: [[7.94692819e-01] [6.07011443e-01] [6.56228587e-04]] R_gt: [[ 0.96912166 -0.24563149 0.02160463] [ 0.24483199 0.9689657 0.03409403] [-0.02930848 -0.0277514 0.99918498]] t_gt: [ 0.66792547 -0.71592401 0.20329383] Pose Error in degrees for R and t: 178.19417472230538 84.47069165981272 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-1.10316112e-01 -9.93896540e-01 1.52553063e-04] [-9.93896179e-01 1.10316202e-01 8.48915024e-04] [-8.60562779e-04 -5.79729018e-05 -9.99999628e-01]] t_estimated: [[0.78074767] [0.6248444 ] [0.00159616]] R_gt: [[ 0.94641855 -0.32212853 0.02290702] [ 0.32092567 0.94605505 0.04457478] [-0.03602993 -0.03483448 0.99874354]] t_gt: [ 0.68150837 -0.70273278 0.20423758] Pose Error in degrees for R and t: 177.14248267644356 84.6457448092207 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.10830860e-01 4.12779329e-01 6.08348379e-04] [-4.12779630e-01 9.10830791e-01 4.97878099e-04] [-3.48588648e-04 -7.04596556e-04 9.99999691e-01]] t_estimated: [[-0.63817309] [ 0.76989081] [ 0.00180076]] R_gt: [[ 0.98232858 0.18243416 -0.04180615] [-0.18265911 0.98317565 -0.00160004] [ 0.04081022 0.00920836 0.99912409]] t_gt: [-0.60562289 0.76468049 -0.22019234] Pose Error in degrees for R and t: 14.067312010030108 12.88587524113479 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 2.80350360e-01 9.59897724e-01 1.85331400e-04] [-9.59896282e-01 2.80350265e-01 -1.69041379e-03] [-1.67458205e-03 2.96009192e-04 9.99998554e-01]] t_estimated: [[-2.24181473e-01] [ 9.74546968e-01] [ 9.34694960e-04]] R_gt: [[ 0.97130159 0.23230983 -0.0510539 ] [-0.23442355 0.97130316 -0.04020429] [ 0.04024853 0.05101835 0.99788648]] t_gt: [-0.54008741 0.78179792 -0.31160487] Pose Error in degrees for R and t: 60.313200698461756 28.032014894087023 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99998216 -0.00317931 -0.00505652] [ 0.00321493 0.99996997 0.00705116] [ 0.00503395 -0.00706729 0.99996236]] t_estimated: [[0.34332669] [0.93921553] [0.00098657]] R_gt: [[ 0.94913704 0.30905249 -0.06021795] [-0.31108205 0.9499799 -0.02766919] [ 0.04865421 0.04499432 0.9978011 ]] t_gt: [-0.52796818 0.81476856 -0.23958673] Pose Error in degrees for R and t: 18.658127178078196 54.28587813953295 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99010816e-01 4.44678554e-02 1.06095676e-05] [-4.44678526e-02 9.99010798e-01 -1.88518106e-04] [-1.89820684e-05 1.87859842e-04 9.99999982e-01]] t_estimated: [[-8.99617466e-01] [-4.36677954e-01] [-8.83039583e-04]] R_gt: [[ 9.98736895e-01 -3.16789028e-02 3.90031105e-02] [ 3.16478717e-02 9.99498011e-01 1.40594580e-03] [-3.90277378e-02 -1.69449240e-04 9.99237894e-01]] t_gt: [ 0.61842967 -0.66392547 0.42041374] Pose Error in degrees for R and t: 4.903217996705416 74.52607744563612 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-0.85966307 -0.51085631 -0.00228848] [ 0.51085743 -0.85962996 -0.00781121] [ 0.00202316 -0.00788409 0.99996687]] t_estimated: [[9.99402519e-01] [3.45602745e-02] [4.39372439e-04]] R_gt: [[ 0.99820494 0.01132285 0.05881331] [-0.01066717 0.99987712 -0.01144905] [-0.05893514 0.0108014 0.99820385]] t_gt: [-0.98951818 0.13149142 0.05969743] Pose Error in degrees for R and t: 149.93737598709896 10.14786037044312 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-0.22015048 -0.97544643 0.00616607] [-0.97546103 0.22012495 -0.00456004] [ 0.00309076 -0.00701865 -0.99997059]] t_estimated: [[7.97228872e-01] [6.03676651e-01] [7.91865398e-04]] R_gt: [[ 0.99482251 0.05975229 0.08220531] [-0.05609715 0.99736036 -0.04608038] [-0.08474163 0.04123025 0.99554925]] t_gt: [-0.90826095 0.35791437 -0.21670107] Pose Error in degrees for R and t: 177.69771476422522 59.45606618533373 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.91034752 0.41330607 -0.02110659] [ 0.41329708 0.91058257 0.00499077] [ 0.02128201 -0.00417996 -0.99976477]] t_estimated: [[ 0.96986834] [-0.24338649] [-0.0108825 ]] R_gt: [[ 0.98381862 0.17838961 0.01668527] [-0.17849701 0.98392724 0.00519703] [-0.01548909 -0.00809123 0.99984745]] t_gt: [-0.76663775 0.63620817 0.08663565] Pose Error in degrees for R and t: 179.58260373568464 25.93052258541428 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 7.37159502e-01 6.75718339e-01 7.71332425e-04] [ 6.75715086e-01 -7.37158767e-01 2.46489719e-03] [ 2.23417070e-03 -1.29582143e-03 -9.99996665e-01]] t_estimated: [[0.15919633] [0.98724628] [0.0011453 ]] R_gt: [[ 0.94965911 0.31262445 0.02034106] [-0.31220654 0.94977614 -0.02127266] [-0.02596897 0.01385179 0.99956654]] t_gt: [-0.68850715 0.72512463 0.01233627] Pose Error in degrees for R and t: 178.69102642732827 52.678784337425526 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.79797442 0.60265856 0.00628428] [ 0.60268249 -0.79797579 -0.00290754] [ 0.00326245 0.00610757 -0.99997603]] t_estimated: [[-0.95689249] [-0.29036738] [-0.00659926]] R_gt: [[ 0.94061126 0.33715712 0.03969766] [-0.33736255 0.94137378 -0.00158916] [-0.03790548 -0.0118978 0.99921042]] t_gt: [-0.67656295 0.73110358 0.0880348 ] Pose Error in degrees for R and t: 179.3475896330121 64.24471033336748 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.73202956e-01 -2.29947551e-01 -3.62014493e-04] [ 2.29947560e-01 9.73203021e-01 -1.74211755e-05] [ 3.56319555e-04 -6.62900098e-05 9.99999934e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99977071 -0.01213686 -0.0176313 ] [ 0.01464933 0.98854869 0.15018578] [ 0.01560793 -0.15040929 0.98850123]] t_gt: [ 0.06636341 -0.36509536 0.92860179] Pose Error in degrees for R and t: 15.234349548755644 68.67185258756265 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 9.80294229e-01 1.97538936e-01 1.26249325e-03] [ 1.97540886e-01 -9.80234505e-01 -1.08587784e-02] [-9.07492075e-04 1.08941918e-02 -9.99940245e-01]] t_estimated: [[-0.08273105] [ 0.9965579 ] [-0.00528488]] R_gt: [[ 0.99768496 0.01024933 -0.06722371] [ 0.00326994 0.98019984 0.19798307] [ 0.06792173 -0.19774393 0.9778986 ]] t_gt: [-0.12929217 -0.38705738 0.91294585] Pose Error in degrees for R and t: 168.8755886166124 67.67539661239176 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.65967459e-01 2.58663569e-01 1.58857946e-04] [-2.58663382e-01 9.65967226e-01 -7.57608646e-04] [-3.49417326e-04 6.90734565e-04 9.99999700e-01]] t_estimated: [[-1.14562282e-01] [-9.93415722e-01] [-8.28701898e-04]] R_gt: [[ 0.99568881 0.06500055 -0.06616865] [-0.04628943 0.96641261 0.25278971] [ 0.08037814 -0.24863586 0.96525681]] t_gt: [-0.56239497 -0.25677813 0.78598784] Pose Error in degrees for R and t: 19.18130830471338 71.40568111614058 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99999974e-01 -2.10971956e-04 9.04980099e-05] [ 2.10976242e-04 9.99999977e-01 -4.73524817e-05] [-9.04880177e-05 4.73715734e-05 9.99999995e-01]] t_estimated: [[9.51078256e-01] [3.08949529e-01] [5.82238013e-04]] R_gt: [[ 0.9923677 -0.12323351 -0.0044041 ] [ 0.12326958 0.99233315 0.00887738] [ 0.00327695 -0.00935256 0.99995035]] t_gt: [ 0.62179653 -0.78306171 0.01354358] Pose Error in degrees for R and t: 7.091253613618021 69.54580170122969 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999995e-01 9.88277253e-05 2.50550068e-05] [-9.88250776e-05 9.99999990e-01 -1.05652358e-04] [-2.50654479e-05 1.05649882e-04 9.99999994e-01]] t_estimated: [[0.99998587] [0.00515774] [0.00128967]] R_gt: [[ 0.98659102 -0.13800182 0.08713968] [ 0.14506858 0.98612 -0.08075608] [-0.07478561 0.09231502 0.99291651]] t_gt: [ 0.39472134 -0.86435551 -0.31158404] Pose Error in degrees for R and t: 10.638681015660103 67.05447275338767 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.06796120e-01 4.21569409e-01 -1.73230492e-04] [-4.21569115e-01 9.06795848e-01 8.78107499e-04] [ 5.27267950e-04 -7.23235848e-04 9.99999599e-01]] t_estimated: [[0.83776617] [0.54602847] [0.00087086]] R_gt: [[ 0.98138932 -0.11862508 0.15100631] [ 0.14010715 0.98010087 -0.14061673] [-0.13132081 0.15915688 0.97848019]] t_gt: [-0.04229762 -0.73266657 -0.67927211] Pose Error in degrees for R and t: 34.52572023208558 64.14571766673728 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99350993e-01 -3.60220993e-02 2.44685960e-05] [ 3.60220975e-02 9.99350991e-01 6.81989420e-05] [-2.69093847e-05 -6.72732703e-05 9.99999997e-01]] t_estimated: [[5.56684447e-01] [8.30723901e-01] [4.76768903e-04]] R_gt: [[ 0.99991246 -0.011372 0.00676825] [ 0.01109202 0.99913724 0.04001278] [-0.00721774 -0.03993497 0.99917604]] t_gt: [ 0.12263525 -0.61880608 0.77591213] Pose Error in degrees for R and t: 2.72207051022157 63.54991897681076 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999930e-01 3.06496873e-04 2.15369817e-04] [-3.06528045e-04 9.99999943e-01 1.44722957e-04] [-2.15325447e-04 -1.44788964e-04 9.99999966e-01]] t_estimated: [[0.87991717] [0.47512621] [0.0009286 ]] R_gt: [[ 0.99440397 -0.10560285 -0.00305 ] [ 0.10564085 0.99363887 0.03899842] [-0.00108864 -0.03910182 0.9992339 ]] t_gt: [ 0.69873985 -0.67440601 0.23861929] Pose Error in degrees for R and t: 6.479976284579687 72.8648397053564 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 1.00000000e+00 -2.77555756e-16 2.38524478e-18] [ 2.77555756e-16 1.00000000e+00 -8.26162055e-17] [ 6.50521303e-18 7.05815614e-17 1.00000000e+00]] t_estimated: [[-0.80157585] [-0.59789202] [-0.00113106]] R_gt: [[ 0.99538926 -0.08954728 -0.03438158] [ 0.08731586 0.99426863 -0.06167798] [ 0.03970711 0.05839162 0.99750299]] t_gt: [ 0.7741923 -0.4379702 -0.45695556] Pose Error in degrees for R and t: 6.495655607042244 69.01042257982118 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999911e-01 -4.18278641e-04 5.63348274e-05] [ 4.18281093e-04 9.99999912e-01 -4.35292890e-05] [-5.63166150e-05 4.35528489e-05 9.99999997e-01]] t_estimated: [[ 0.37453778] [-0.92721114] [-0.00097249]] R_gt: [[ 0.99691052 -0.07840618 -0.00484346] [ 0.07826979 0.99664757 -0.02383938] [ 0.00669647 0.02338734 0.99970415]] t_gt: [ 0.80980848 -0.48263133 -0.33358242] Pose Error in degrees for R and t: 4.681003326865155 41.31169301963217 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.99999990e-01 2.66276259e-05 1.36046811e-04] [-2.66028172e-05 9.99999983e-01 -1.82352481e-04] [-1.36051665e-04 1.82348860e-04 9.99999974e-01]] t_estimated: [[-0.0118475 ] [-0.99992911] [-0.00118475]] R_gt: [[ 0.99623658 -0.08141088 -0.02976796] [ 0.07495229 0.98154027 -0.17595949] [ 0.04354394 0.17306649 0.98394673]] t_gt: [ 0.55142855 0.02422065 -0.83387044] Pose Error in degrees for R and t: 11.220228699396968 88.29439316345216 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.12813729 0.99170941 0.00965867] [-0.99174693 0.12808733 0.00562712] [ 0.00434331 -0.0103 0.99993752]] t_estimated: [[0.08662454] [0.99618218] [0.01082807]] R_gt: [[ 0.99328386 -0.10602939 -0.04631842] [ 0.08640194 0.94595993 -0.31256294] [ 0.07695634 0.3064626 0.94876653]] t_gt: [ 0.44967739 0.20258392 -0.86991379] Pose Error in degrees for R and t: 89.96328156164857 76.62378211631734 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.99964451 -0.02664096 -0.00105554] [ 0.02664279 -0.99964346 -0.00176511] [-0.00100814 -0.0017926 0.99999789]] t_estimated: [[0.75657607] [0.65390478] [0.00108826]] R_gt: [[ 0.99516022 -0.07379748 0.06489137] [ 0.07721317 0.99566728 -0.0518104 ] [-0.06078688 0.05657023 0.99654643]] t_gt: [ 0.21130098 -0.94006513 -0.26763678] Pose Error in degrees for R and t: 174.1455304966705 62.926117152943746 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.82612264e-01 1.85669431e-01 2.17431651e-05] [-1.85669421e-01 9.82612239e-01 -2.32426115e-04] [-6.45195246e-05 2.24347710e-04 9.99999973e-01]] t_estimated: [[-0.81633801] [-0.57757385] [-0.00084072]] R_gt: [[ 0.99051439 -0.06344227 0.12188402] [ 0.07930662 0.98832769 -0.13006943] [-0.11221038 0.13850092 0.98398528]] t_gt: [-0.45400753 -0.30683626 -0.83649786] Pose Error in degrees for R and t: 18.011697354888117 56.73258020911725 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.84011136 0.54241218 0.00138812] [-0.54232887 0.84002216 -0.01556163] [-0.00960687 0.01232068 0.99987795]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.97741079 -0.02682237 0.20963833] [ 0.06441783 0.9825237 -0.17463498] [-0.20129117 0.18419358 0.96205729]] t_gt: [-0.87276363 0.26458079 -0.41022025] Pose Error in degrees for R and t: 38.457343330386315 60.68126875005006 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99696598 -0.07751803 -0.00705616] [ 0.0775601 0.99697024 0.0058972 ] [ 0.00657764 -0.00642659 0.99995772]] t_estimated: [[-0.68933998] [-0.72443365] [-0.00250669]] R_gt: [[ 0.99676411 0.04441506 0.06699588] [-0.04005619 0.9970778 -0.06505349] [-0.06968879 0.06215951 0.99563039]] t_gt: [-0.14375843 0.96187032 -0.23267789] Pose Error in degrees for R and t: 9.046678950061423 53.33540825549132 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 5.52755041e-01 8.33342911e-01 1.20736634e-03] [ 8.33341712e-01 -5.52756318e-01 1.42960690e-03] [ 1.85873215e-03 2.15926311e-04 -9.99998249e-01]] t_estimated: [[-8.81202193e-01] [-4.72739059e-01] [-6.91138975e-04]] R_gt: [[ 0.99404578 0.04671652 0.09843411] [-0.03252318 0.98945309 -0.14114976] [-0.10398952 0.13710925 0.98508174]] t_gt: [ 0.21081245 0.86528139 -0.4548035 ] Pose Error in degrees for R and t: 170.22452262673897 53.522549600766695 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999994e-01 -7.57256959e-05 7.51885789e-05] [ 7.57322568e-05 9.99999993e-01 -8.72592953e-05] [-7.51819706e-05 8.72649890e-05 9.99999993e-01]] t_estimated: [[ 2.27145205e-01] [-9.73860885e-01] [-1.82330403e-04]] R_gt: [[ 0.98302198 0.1017492 0.15269324] [-0.08156613 0.98774332 -0.13307903] [-0.16436247 0.11836522 0.97927189]] t_gt: [0.04111099 0.99814395 0.04492824] Pose Error in degrees for R and t: 12.829660931869276 15.693301738170012 Number of keypoints: Image1: 418 Image2: 418 R_estimated: [[ 9.83644795e-01 1.80119162e-01 6.84720054e-05] [-1.80119156e-01 9.83644440e-01 8.39913173e-04] [ 8.39323497e-05 -8.38509341e-04 9.99999645e-01]] t_estimated: [[0.29782833] [0.95461816] [0.00156752]] R_gt: [[ 0.99871276 0.02485884 -0.04420986] [-0.02318758 0.99901125 0.03792811] [ 0.04510831 -0.03685468 0.99830203]] t_gt: [-0.95744282 -0.25223626 0.14028586] Pose Error in degrees for R and t: 9.58664847019368 58.28307162304437 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 3.14057422e-01 9.49403853e-01 -5.10356011e-04] [ 9.49395615e-01 -3.14052348e-01 4.36909510e-03] [ 3.98775721e-03 -1.85667650e-03 -9.99990325e-01]] t_estimated: [[-0.48313606] [-0.87554235] [-0.00226824]] R_gt: [[ 0.99544856 0.0795692 -0.05244033] [-0.07246127 0.98940821 0.12577676] [ 0.06189312 -0.12140421 0.99067211]] t_gt: [-0.88048531 -0.13760586 0.45366313] Pose Error in degrees for R and t: 172.0883699135317 56.98593141134376 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 1.30808545e-02 9.99901772e-01 5.03358970e-03] [ 9.99914323e-01 -1.30831438e-02 4.22158689e-04] [ 4.87972399e-04 5.02763624e-03 -9.99987242e-01]] t_estimated: [[-0.41414089] [-0.9102121 ] [-0.00112233]] R_gt: [[ 0.98778615 0.14924112 -0.04478925] [-0.14191428 0.98036692 0.13689204] [ 0.06433986 -0.12886336 0.98957257]] t_gt: [-0.94290876 0.11497353 0.31257665] Pose Error in degrees for R and t: 172.50773501785284 73.41150318001253 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999784e-01 6.57193400e-04 -2.30404447e-05] [-6.57192784e-04 9.99999784e-01 2.67136349e-05] [ 2.30579958e-05 -2.66984872e-05 9.99999999e-01]] t_estimated: [[ 5.30496509e-01] [-8.47687120e-01] [-5.22245216e-06]] R_gt: [[ 0.99668631 -0.02589778 0.07710516] [ 0.03269286 0.99556451 -0.08821338] [-0.07447854 0.09044233 0.99311267]] t_gt: [-0.12450426 0.82144674 -0.55652848] Pose Error in degrees for R and t: 6.947148342064458 40.32588989530088 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999206e-01 -7.26258104e-04 1.03009734e-03] [ 7.28399900e-04 9.99997571e-01 -2.08036800e-03] [-1.02858395e-03 2.08111667e-03 9.99997305e-01]] t_estimated: [[-0.84640705] [-0.53253546] [-0.00104624]] R_gt: [[ 0.98946201 -0.07816549 0.1218814 ] [ 0.09077135 0.99067887 -0.10156587] [-0.11280615 0.11156031 0.98733448]] t_gt: [ 0.30904708 0.92132614 -0.2358984 ] Pose Error in degrees for R and t: 10.218390167706957 41.23854140801091 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99999914e-01 -4.09522284e-04 -6.45554013e-05] [ 4.09522353e-04 9.99999916e-01 1.05720581e-06] [ 6.45549630e-05 -1.08364260e-06 9.99999998e-01]] t_estimated: [[9.99999720e-01] [6.40298121e-04] [3.87355165e-04]] R_gt: [[ 0.98820321 -0.10502606 0.11146176] [ 0.11023968 0.9930306 -0.0416758 ] [-0.10630779 0.05347176 0.99289366]] t_gt: [0.67170924 0.71495721 0.19401775] Pose Error in degrees for R and t: 9.21275408228851 47.759660800112 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[-0.97826322 -0.19994763 0.05497283] [-0.19988609 0.97979643 0.0066718 ] [-0.0551962 -0.00446152 -0.99846556]] t_estimated: [[0.9937324 ] [0.10826653] [0.0278259 ]] R_gt: [[ 0.99884761 -0.04342869 -0.0204633 ] [ 0.04325028 0.99902317 -0.00908351] [ 0.02083766 0.00818864 0.99974936]] t_gt: [ 0.80276394 -0.34189974 -0.48854336] Pose Error in degrees for R and t: 178.0533168755971 41.65830517275917 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.85725219e-01 -1.68360175e-01 -8.02642315e-04] [ 1.68359593e-01 9.85725363e-01 -7.45903416e-04] [ 9.16765317e-04 6.00123275e-04 9.99999400e-01]] t_estimated: [[0.72570369] [0.6880048 ] [0.00188494]] R_gt: [[ 0.99748549 -0.06978958 -0.01239857] [ 0.06943461 0.99721984 -0.02704431] [ 0.01425226 0.02611581 0.99955735]] t_gt: [ 0.87423794 -0.10161843 -0.47474385] Pose Error in degrees for R and t: 5.9330066408925015 55.69286879152683 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-2.10294387e-01 9.77637714e-01 -8.77758710e-04] [-9.77634269e-01 -2.10295993e-01 -2.61386392e-03] [-2.74000109e-03 3.08446083e-04 9.99996199e-01]] t_estimated: [[0.42271296] [0.90626302] [0.00104892]] R_gt: [[ 9.90749873e-01 -1.35630393e-01 4.40395277e-03] [ 1.35701277e-01 9.90096840e-01 -3.59898318e-02] [ 5.21555445e-04 3.62546439e-02 9.99343003e-01]] t_gt: [ 0.92406676 -0.31496986 -0.21655164] Pose Error in degrees for R and t: 109.94960452391543 83.97615693138752 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 4.06156468e-01 9.13802906e-01 1.08266950e-03] [-9.13802546e-01 4.06157492e-01 -9.99603519e-04] [-1.35317493e-03 -5.83350712e-04 9.99998914e-01]] t_estimated: [[0.04880942] [0.9988074 ] [0.00119047]] R_gt: [[ 0.99124013 -0.1181402 0.05904506] [ 0.11774942 0.99299249 0.01005175] [-0.05981859 -0.00301018 0.99820454]] t_gt: [ 0.50437769 -0.78717007 0.35491749] Pose Error in degrees for R and t: 72.88163357241592 40.430747476761674 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-1.07189330e-01 -9.94064919e-01 -1.85845279e-02] [-9.94235514e-01 1.07217046e-01 -4.98519443e-04] [ 2.48813886e-03 1.84239617e-02 -9.99827168e-01]] t_estimated: [[ 0.81172388] [ 0.58403924] [-0.00158449]] R_gt: [[ 0.95444771 -0.29316604 0.05553735] [ 0.29043713 0.9554651 0.05226815] [-0.06838664 -0.03375676 0.99708689]] t_gt: [ 0.6723776 -0.69026625 0.26728423] Pose Error in degrees for R and t: 176.36037862808556 81.82373725534812 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-5.23063550e-01 -8.52293587e-01 -4.06333339e-04] [-8.52293233e-01 5.23063704e-01 -7.78936762e-04] [ 8.76421028e-04 -6.11182725e-05 -9.99999614e-01]] t_estimated: [[0.73832766] [0.6744417 ] [0.00080868]] R_gt: [[ 0.89112748 -0.45362479 0.01082119] [ 0.45137367 0.88864099 0.08110783] [-0.04640896 -0.06739186 0.99664626]] t_gt: [ 0.77315252 -0.60306585 0.19633332] Pose Error in degrees for R and t: 176.43587025848012 80.54540778271469 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99937332 0.03523105 -0.00342545] [-0.03521377 0.99936739 0.00498031] [ 0.00359874 -0.00485657 0.99998173]] t_estimated: [[-0.99689076] [-0.07818751] [-0.00977344]] R_gt: [[ 0.98575338 -0.16788637 -0.01019839] [ 0.1681885 0.98445524 0.05059969] [ 0.00154492 -0.05159478 0.9986663 ]] t_gt: [ 0.67125269 -0.70098581 0.24091227] Pose Error in degrees for R and t: 11.996327217506545 51.923590660871675 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99996719e-01 -1.64178101e-05 2.56145555e-03] [ 2.51997022e-05 9.99994122e-01 -3.42848265e-03] [-2.56138420e-03 3.42853595e-03 9.99990842e-01]] t_estimated: [[-0.64332831] [-0.7655898 ] [-0.00097033]] R_gt: [[ 0.93551362 -0.34584353 -0.07215627] [ 0.34933445 0.93601753 0.04284122] [ 0.05272304 -0.06528568 0.99647248]] t_gt: [ 0.80195379 -0.59436954 0.05995796] Pose Error in degrees for R and t: 20.988087470055493 86.50654621808486 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99998994e-01 1.27268072e-03 6.26398551e-04] [-1.27273819e-03 9.99999186e-01 9.13544633e-05] [-6.26281776e-04 -9.21516128e-05 9.99999800e-01]] t_estimated: [[8.98713138e-01] [4.38536363e-01] [7.44810083e-04]] R_gt: [[ 0.87799728 -0.45951915 -0.13402471] [ 0.47090325 0.87943027 0.06965873] [ 0.08585561 -0.12427283 0.98852627]] t_gt: [ 0.84391359 -0.52536763 0.10862181] Pose Error in degrees for R and t: 29.270165974864838 58.12118953112214 Number of keypoints: Image1: 395 Image2: 395 R_estimated: [[ 9.97679658e-01 -6.80830035e-02 -6.35082614e-05] [ 6.80830107e-02 9.97679653e-01 1.18949643e-04] [ 5.52624512e-05 -1.22997473e-04 9.99999991e-01]] t_estimated: [[ 9.97519146e-01] [-7.03915012e-02] [ 7.67893637e-04]] R_gt: [[ 0.99810978 0.05997566 0.01343911] [-0.06037769 0.99766837 0.03180358] [-0.01150048 -0.03255577 0.99940356]] t_gt: [-0.86571433 -0.06672905 0.49607049] Pose Error in degrees for R and t: 7.614712121359146 30.85270334511596 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 6.60930945e-01 7.50445873e-01 1.12998420e-03] [ 7.50444373e-01 -6.60931895e-01 1.50770239e-03] [ 1.87829164e-03 -1.48496879e-04 -9.99998225e-01]] t_estimated: [[-8.24140679e-01] [-5.66384746e-01] [-6.78305086e-04]] R_gt: [[ 0.99412489 0.10553566 0.02406945] [-0.10642037 0.99355466 0.03904089] [-0.0197952 -0.04137313 0.99894728]] t_gt: [-0.91861264 -0.00382107 0.39514075] Pose Error in degrees for R and t: 178.35755613042056 40.62720557672892 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[-8.63622112e-01 5.04126282e-01 -3.67972036e-03] [-5.04126381e-01 -8.63629350e-01 -9.68225114e-04] [-3.66602223e-03 1.01886349e-03 9.99992761e-01]] t_estimated: [[0.59999974] [0.79999965] [0.00093023]] R_gt: [[ 0.97003747 0.24047427 0.03464137] [-0.24198714 0.96901809 0.04944977] [-0.02167754 -0.05635041 0.99817615]] t_gt: [-0.94331413 0.19382735 0.26942422] Pose Error in degrees for R and t: 135.78191929471555 65.75270581524751 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 5.34467456e-01 8.45188502e-01 9.66897623e-04] [-8.45184113e-01 5.34467893e-01 -2.80827677e-03] [-2.89029897e-03 6.83726029e-04 9.99995589e-01]] t_estimated: [[-8.40506753e-01] [ 5.41800898e-01] [ 4.31366447e-04]] R_gt: [[ 0.99929905 0.03720379 -0.00429973] [-0.0365588 0.99396132 0.10345694] [ 0.00812248 -0.10322671 0.99462463]] t_gt: [-0.62654071 -0.18273118 0.75766487] Pose Error in degrees for R and t: 55.878205850467715 64.66344333923543 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.99999537e-01 9.59576789e-04 -6.54859062e-05] [-9.59575569e-04 9.99999539e-01 1.86590457e-05] [ 6.55037808e-05 -1.85961984e-05 9.99999998e-01]] t_estimated: [[-5.53764474e-01] [-8.32673201e-01] [-4.96629293e-04]] R_gt: [[ 0.98832693 0.15115149 0.01909458] [-0.15203107 0.98659572 0.05929631] [-0.00987587 -0.0615078 0.99805817]] t_gt: [-0.91539562 0.32832618 0.23292227] Pose Error in degrees for R and t: 9.377721359274089 76.50211395804965 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.66475957e-01 2.56756340e-01 6.37681460e-04] [-2.56742469e-01 9.66444325e-01 -8.28687652e-03] [-2.74399171e-03 7.84534701e-03 9.99965460e-01]] t_estimated: [[0.95219813] [0.30547552] [0.00184875]] R_gt: [[ 0.96345651 0.26182858 0.05655366] [-0.26655065 0.95800934 0.1056806 ] [-0.02650877 -0.11689378 0.99279084]] t_gt: [-0.85483769 0.43310746 0.28578041] Pose Error in degrees for R and t: 7.307910733856752 47.06699065105359 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-9.99543304e-01 -2.74066977e-02 1.27301523e-02] [-2.73959235e-02 9.99624141e-01 1.01999474e-03] [-1.27533222e-02 6.70774632e-04 -9.99918448e-01]] t_estimated: [[ 0.99975461] [-0.02110446] [ 0.0067321 ]] R_gt: [[ 0.99304932 -0.1116183 0.03736941] [ 0.11090413 0.9936166 0.02066028] [-0.03943637 -0.01637244 0.99908787]] t_gt: [ 0.60816193 -0.71704707 0.34056212] Pose Error in degrees for R and t: 177.04993259984437 51.2856365162454 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.98801444 -0.15415171 0.00804429] [-0.15413342 0.98804593 0.00285049] [-0.00838754 0.00157643 -0.99996358]] t_estimated: [[0.99881713] [0.04843304] [0.0043104 ]] R_gt: [[ 0.98695947 -0.15951529 0.02157744] [ 0.15908351 0.98705389 0.0204289 ] [-0.02455578 -0.01672986 0.9995577 ]] t_gt: [ 0.71465783 -0.67651134 0.17775432] Pose Error in degrees for R and t: 178.1135535804332 47.014506012084176 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99500479e-01 -3.16027792e-02 2.38994236e-04] [ 3.16027371e-02 9.99500493e-01 1.77935970e-04] [-2.44498128e-04 -1.70294215e-04 9.99999956e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.82947909e-01 -1.83865993e-01 3.02613488e-03] [ 1.83865483e-01 9.82951967e-01 1.69608610e-04] [-3.00540035e-03 3.89096040e-04 9.99995009e-01]] t_gt: [ 0.81337808 -0.58154491 -0.01488655] Pose Error in degrees for R and t: 8.785225334046428 35.75145384382203 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-2.19473599e-01 -9.75616629e-01 -1.87948045e-03] [-9.75618401e-01 2.19473720e-01 1.43917334e-04] [ 2.72088421e-04 1.86524176e-03 -9.99998223e-01]] t_estimated: [[7.91808798e-01] [6.10768706e-01] [6.44270787e-04]] R_gt: [[ 0.99189049 -0.11764202 0.04809731] [ 0.11807151 0.99298582 -0.00616387] [-0.04703565 0.01179266 0.9988239 ]] t_gt: [ 0.65175479 -0.72874487 0.21011093] Pose Error in degrees for R and t: 178.26482065377488 85.9224861750702 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.99131974 0.13131533 0.00643849] [ 0.13132895 0.99133732 0.00173846] [-0.00615443 0.00256893 -0.99997776]] t_estimated: [[0.99331691] [0.11539672] [0.00226268]] R_gt: [[ 9.73813624e-01 -2.21873676e-01 4.96020042e-02] [ 2.22124272e-01 9.75018056e-01 4.66655110e-04] [-4.84669344e-02 1.05637899e-02 9.98769852e-01]] t_gt: [ 0.7489064 -0.65332821 0.11091194] Pose Error in degrees for R and t: 176.78641108197482 48.02853571239528 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.72303898e-01 2.33719207e-01 6.80177928e-04] [-2.33718813e-01 9.72304038e-01 -6.10896774e-04] [-8.04118056e-04 4.35006937e-04 9.99999582e-01]] t_estimated: [[0.83420598] [0.55145077] [0.00156218]] R_gt: [[ 0.96248077 -0.2697846 0.02911681] [ 0.26993849 0.96287638 -0.00140942] [-0.02765637 0.00921642 0.99957589]] t_gt: [ 0.80806199 -0.58788633 0.03775573] Pose Error in degrees for R and t: 29.219543778759718 69.5152076707316 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999995e-01 -9.88646203e-05 2.12352023e-05] [ 9.88655280e-05 9.99999994e-01 -4.27455746e-05] [-2.12309761e-05 4.27476739e-05 9.99999999e-01]] t_estimated: [[9.99994892e-01] [3.10075919e-03] [7.75189839e-04]] R_gt: [[ 0.99689302 -0.0546888 0.05668807] [ 0.05715765 0.99744374 -0.04289315] [-0.0541977 0.04599904 0.9974708 ]] t_gt: [0.6799715 0.72866665 0.08175379] Pose Error in degrees for R and t: 5.182281253017204 46.977083908196654 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999948e-01 3.20385007e-04 3.43061028e-05] [-3.20385742e-04 9.99999948e-01 2.14281701e-05] [-3.42992358e-05 -2.14391602e-05 9.99999999e-01]] t_estimated: [[ 9.99999921e-01] [-2.68653233e-04] [ 2.92421945e-04]] R_gt: [[ 0.99562735 -0.08227099 0.04424876] [ 0.08156521 0.99651338 0.01754093] [-0.04553835 -0.01385546 0.99886657]] t_gt: [0.78655578 0.31365782 0.5319293 ] Pose Error in degrees for R and t: 5.4501368737701394 38.12859269440214 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999771e-01 5.70893415e-04 3.63224896e-04] [-5.70766047e-04 9.99999776e-01 -3.50666261e-04] [-3.63425008e-04 3.50458864e-04 9.99999873e-01]] t_estimated: [[ 9.99998823e-01] [ 1.51664189e-03] [-2.29971393e-04]] R_gt: [[ 0.99262839 -0.11977985 0.01849249] [ 0.11988572 0.99277633 -0.00479486] [-0.01778557 0.00697597 0.99981748]] t_gt: [0.96492146 0.25171701 0.07459973] Pose Error in degrees for R and t: 6.9976897241712 15.141227446150763 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.39672785e-01 -3.42074318e-01 -4.65894132e-04] [ 3.42074507e-01 9.39672742e-01 4.11163021e-04] [ 2.97139706e-04 -5.45729206e-04 9.99999807e-01]] t_estimated: [[-0.07730498] [-0.99700684] [-0.00113684]] R_gt: [[ 0.99828558 0.02639112 0.05225379] [-0.02480545 0.99921914 -0.03075046] [-0.05302407 0.02940219 0.99816024]] t_gt: [-0.31675057 0.76993602 0.55395631] Pose Error in degrees for R and t: 21.753100258804565 41.946024729762094 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.43499025e-01 3.31374601e-01 6.80642006e-04] [-3.31372357e-01 9.43497311e-01 -2.27697633e-03] [-1.39671603e-03 1.92277900e-03 9.99997176e-01]] t_estimated: [[-9.99996995e-01] [-2.32557441e-03] [-7.75191469e-04]] R_gt: [[ 0.98581305 0.14884146 0.07758545] [-0.14390714 0.98740514 -0.06573782] [-0.0863929 0.05364035 0.99481582]] t_gt: [-0.48022952 0.84661418 0.2293993 ] Pose Error in degrees for R and t: 12.315450976189993 61.43983131001576 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 8.67585181e-01 -4.97288301e-01 -5.47858220e-04] [ 4.97288580e-01 8.67584280e-01 1.25901823e-03] [-1.50781855e-04 -1.36474919e-03 9.99999057e-01]] t_estimated: [[-7.95923886e-01] [-6.05396354e-01] [-6.50264612e-04]] R_gt: [[ 0.98359064 0.1477946 0.10347085] [-0.14232257 0.98809312 -0.05844104] [-0.11087601 0.04275552 0.99291379]] t_gt: [-0.46645958 0.797778 0.38205462] Pose Error in degrees for R and t: 38.78189934571134 83.57203237014994 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.94202788e-01 -1.07521233e-01 -2.13243762e-05] [ 1.07521233e-01 9.94202788e-01 -3.34244265e-06] [ 2.15601379e-05 1.03024258e-06 1.00000000e+00]] t_estimated: [[ 9.56778278e-01] [-2.90818270e-01] [-2.45549522e-04]] R_gt: [[ 0.99471383 -0.1019424 -0.012317 ] [ 0.10236078 0.99393624 0.04014737] [ 0.00814916 -0.04119606 0.99911811]] t_gt: [ 0.88326898 -0.33857006 0.3243551 ] Pose Error in degrees for R and t: 2.426473644330173 19.356376282927453 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99990903e-01 8.43835083e-04 -4.18104340e-03] [-8.24005555e-04 9.99988416e-01 4.74217734e-03] [ 4.18499659e-03 -4.73868900e-03 9.99980015e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.99604208 -0.06969818 -0.05515209] [ 0.07212388 0.99645592 0.04328465] [ 0.05193921 -0.04709106 0.99754002]] t_gt: [0.95715483 0.21108911 0.19823224] Pose Error in degrees for R and t: 5.510983843411426 24.516434260262038 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.92863239e-01 1.19258156e-01 2.83695220e-04] [-1.19258293e-01 9.92863123e-01 5.27679133e-04] [-2.18740482e-04 -5.57746221e-04 9.99999821e-01]] t_estimated: [[0.44459622] [0.89573061] [0.00093403]] R_gt: [[ 0.99292639 -0.07258953 -0.09396098] [ 0.07724147 0.99591074 0.04685638] [ 0.09017537 -0.05378243 0.99447308]] t_gt: [0.94410652 0.32531736 0.05321176] Pose Error in degrees for R and t: 12.675644010339418 44.66796796533928 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99985875e-01 5.30748641e-03 -2.82768723e-04] [-5.30743886e-03 9.99985901e-01 1.68644922e-04] [ 2.83659817e-04 -1.67141762e-04 9.99999946e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98294325 0.18380434 0.00622189] [-0.18389603 0.98190656 0.04520349] [ 0.0021997 -0.0455755 0.99895882]] t_gt: [-0.87371411 0.41974813 0.24583566] Pose Error in degrees for R and t: 10.619323597330434 65.50926926827346 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.53116676e-01 -3.02602518e-01 -5.63200597e-04] [ 3.02602606e-01 9.53116812e-01 7.49708680e-05] [ 5.14109584e-04 -2.41881953e-04 9.99999839e-01]] t_estimated: [[8.24193341e-01] [5.66308165e-01] [6.32308262e-04]] R_gt: [[ 9.46101349e-01 3.23442781e-01 1.66462644e-02] [-3.23870821e-01 9.44911175e-01 4.74447448e-02] [-3.82984251e-04 -5.02784357e-02 9.98735430e-01]] t_gt: [-0.85594212 0.4886772 0.16899022] Pose Error in degrees for R and t: 36.62001188080375 64.6204269160811 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.77032353 0.6376524 -0.00103418] [ 0.63764197 -0.77029925 0.00719651] [ 0.00379225 -0.00620307 -0.99997357]] t_estimated: [[-0.33381799] [ 0.94263181] [ 0.00328924]] R_gt: [[ 0.91411853 0.40400953 0.0341231 ] [-0.40544549 0.91120282 0.07297335] [-0.00161068 -0.0805409 0.99675036]] t_gt: [-0.85111442 0.48128019 0.20969886] Pose Error in degrees for R and t: 175.70521212142054 42.39815313092626 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.88232615e-01 -1.52958400e-01 -1.62638493e-04] [ 1.52958437e-01 9.88232593e-01 2.43783763e-04] [ 1.23435885e-04 -2.65791995e-04 9.99999957e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.998372 0.05030438 -0.0269081 ] [-0.05166955 0.99727269 -0.05270381] [ 0.02418322 0.05400853 0.99824834]] t_gt: [-0.27729033 0.79514792 -0.53930497] Pose Error in degrees for R and t: 12.2054146775201 37.52054912930705 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-4.43495003e-01 -8.96274725e-01 -1.94915169e-03] [ 8.96276839e-01 -4.43493710e-01 -1.07533105e-03] [ 9.93555264e-05 -2.22388346e-03 9.99997522e-01]] t_estimated: [[0.89537628] [0.44530935] [0.00095152]] R_gt: [[ 0.99954882 0.02883362 -0.008468 ] [-0.02921113 0.99840373 -0.04834322] [ 0.00706012 0.0485692 0.99879557]] t_gt: [-0.22451704 0.85121121 -0.47437493] Pose Error in degrees for R and t: 118.01321850914559 79.77153336775497 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.83436470e-01 1.81252086e-01 6.25605943e-04] [-1.81251806e-01 9.83436604e-01 -4.79280174e-04] [-7.02114315e-04 3.57949396e-04 9.99999689e-01]] t_estimated: [[0.71584414] [0.69825277] [0.00319921]] R_gt: [[ 0.99609391 -0.03493182 0.08110008] [ 0.03181109 0.99871532 0.03945445] [-0.08237437 -0.03672012 0.99592503]] t_gt: [ 0.10529206 -0.18566879 0.9769548 ] Pose Error in degrees for R and t: 13.385098468241795 87.06829639843802 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 7.30999891e-01 6.82377432e-01 4.47494129e-04] [-6.82377154e-01 7.31000010e-01 -6.36470275e-04] [-7.61431165e-04 1.59899931e-04 9.99999697e-01]] t_estimated: [[-7.00158896e-01] [ 7.13987050e-01] [ 1.10680900e-04]] R_gt: [[ 0.99851223 -0.01177456 -0.05324094] [ 0.01018489 0.9994971 -0.03002228] [ 0.05356769 0.02943533 0.998131 ]] t_gt: [ 0.37092442 0.07740206 -0.92543179] Pose Error in degrees for R and t: 43.79463823423427 78.19717070295266 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 1.00000000e+00 -4.01454911e-13 8.51723206e-14] [ 4.01607567e-13 1.00000000e+00 -2.05303778e-14] [-8.51705859e-14 2.05311774e-14 1.00000000e+00]] t_estimated: [[-0.99991885] [ 0.01193794] [-0.00444784]] R_gt: [[ 0.99475475 0.05212702 -0.0880158 ] [-0.05757338 0.99650508 -0.06052056] [ 0.08455418 0.0652701 0.99427941]] t_gt: [-0.04064475 0.62541271 -0.77923485] Pose Error in degrees for R and t: 6.894140113498992 87.04374391560388 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.72544444e-01 2.32618889e-01 6.76436918e-03] [-2.32619454e-01 9.72567571e-01 -7.14154379e-04] [-6.74493190e-03 -8.78976989e-04 9.99976866e-01]] t_estimated: [[0.60909762] [0.79309289] [0.00193814]] R_gt: [[ 0.99387834 0.05043567 -0.09829386] [-0.05997807 0.99350719 -0.09667444] [ 0.09278112 0.10197875 0.99045031]] t_gt: [ 0.00752805 0.61817829 -0.78600186] Pose Error in degrees for R and t: 13.138842334306881 60.43999880382331 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-9.52189434e-01 -3.05505222e-01 -1.35724060e-03] [ 3.05508134e-01 -9.52183351e-01 -3.41260747e-03] [-2.49772505e-04 -3.66409682e-03 9.99993256e-01]] t_estimated: [[9.58949420e-01] [2.83576189e-01] [7.44474830e-04]] R_gt: [[ 0.99469641 0.09246631 -0.04504445] [-0.09576176 0.99238271 -0.07751373] [ 0.0375346 0.08141665 0.9959726 ]] t_gt: [-0.47244439 0.68732533 -0.55170661] Pose Error in degrees for R and t: 167.6328940137329 75.01584517970828 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.65437565e-01 -2.60634409e-01 1.17051911e-04] [ 2.60634419e-01 9.65437565e-01 -8.17189764e-05] [-9.17075349e-05 1.09402326e-04 9.99999990e-01]] t_estimated: [[-0.79650516] [-0.60463096] [-0.00096585]] R_gt: [[ 0.99145698 0.08425381 -0.09957166] [-0.10083456 0.97932739 -0.17536341] [ 0.08273804 0.18390663 0.97945498]] t_gt: [-0.23205876 0.57445591 -0.78495168] Pose Error in degrees for R and t: 23.51587996844636 80.69211177974603 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.97535123e-01 7.01676405e-02 -4.25717300e-04] [-7.01666873e-02 9.97533382e-01 1.94643758e-03] [ 5.61244150e-04 -1.91176868e-03 9.99998015e-01]] t_estimated: [[-9.34579843e-01] [-3.55752702e-01] [-7.29001438e-04]] R_gt: [[ 0.98394565 0.09815038 -0.1490585 ] [-0.13438412 0.95705385 -0.25688692] [ 0.11744266 0.27279469 0.95487714]] t_gt: [-0.15647725 0.56288992 -0.81158475] Pose Error in degrees for R and t: 17.58753523565599 86.93794654322554 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.94771288 0.31857147 -0.0187752 ] [ 0.31887926 0.94764986 -0.01660571] [ 0.01250221 -0.02172446 -0.99968582]] t_estimated: [[0.90441463] [0.42665336] [0.00104313]] R_gt: [[ 0.98979717 0.14082794 0.02163213] [-0.1415211 0.98932231 0.03483164] [-0.01649569 -0.03753754 0.99915908]] t_gt: [-0.89591669 0.32406023 0.3038392 ] Pose Error in degrees for R and t: 179.90461025667474 47.801450856228804 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-8.49114692e-01 5.28207582e-01 -9.95474026e-04] [-5.28207352e-01 -8.49115269e-01 -5.02430248e-04] [-1.11065966e-03 9.91957942e-05 9.99999378e-01]] t_estimated: [[7.87073058e-01] [6.16859438e-01] [6.59742714e-04]] R_gt: [[ 0.97828553 0.20401178 0.0365437 ] [-0.2061266 0.97610303 0.06881414] [-0.02163004 -0.07485291 0.99696035]] t_gt: [-0.88548185 0.25688344 0.38721156] Pose Error in degrees for R and t: 136.30094442775967 57.43728322816117 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.87789051 0.47866866 0.01358526] [-0.47732636 0.87699387 -0.05514795] [-0.03831178 0.04192926 0.99838577]] t_estimated: [[0.7715217 ] [0.63616701] [0.00676773]] R_gt: [[ 0.9681782 0.24453405 0.05323068] [-0.24819401 0.9654897 0.07892834] [-0.03209213 -0.08962775 0.99545838]] t_gt: [-0.89097314 0.23541108 0.38826342] Pose Error in degrees for R and t: 16.270769856424437 57.65495724718969 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.30547751e-01 3.66170544e-01 1.28475682e-04] [-3.66170191e-01 9.30547242e-01 -1.10526109e-03] [-5.24266745e-04 9.81454253e-04 9.99999381e-01]] t_estimated: [[5.43085973e-01] [8.39676982e-01] [4.38038154e-04]] R_gt: [[ 0.98636094 -0.15862811 -0.04390728] [ 0.15625936 0.98629385 -0.05297389] [ 0.05170784 0.04539041 0.99763025]] t_gt: [ 0.70161026 -0.55218842 -0.45036761] Pose Error in degrees for R and t: 30.79291037849269 85.24917839574823 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 0.96399249 0.26592572 0.00140838] [-0.26592066 0.96399017 -0.00302539] [-0.00216219 0.00254194 0.99999443]] t_estimated: [[-0.81676811] [-0.57696119] [-0.00237433]] R_gt: [[ 0.96642232 -0.25507044 -0.03108984] [ 0.25248986 0.9651067 -0.06940684] [ 0.04770827 0.05922626 0.99710386]] t_gt: [ 0.72497837 -0.60256762 -0.33364446] Pose Error in degrees for R and t: 30.440185751423208 75.89563491754777 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.99197117 0.1263639 -0.00503557] [-0.12638243 -0.99197524 0.003549 ] [-0.0045467 0.00415691 0.99998102]] t_estimated: [[8.17694620e-01] [5.75651890e-01] [6.40324683e-04]] R_gt: [[ 0.90818716 -0.41739981 0.0311862 ] [ 0.41849704 0.90684323 -0.0499561 ] [-0.00742955 0.05842027 0.99826395]] t_gt: [ 0.78078004 -0.61848662 -0.08863877] Pose Error in degrees for R and t: 162.5453339772167 73.59949623044834 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.04801494 0.99883249 0.0053128 ] [ 0.99884565 -0.04802163 0.0011385 ] [ 0.0013923 0.005252 -0.99998524]] t_estimated: [[-0.16142764] [-0.98688389] [-0.00114488]] R_gt: [[ 0.99475651 -0.10037495 0.0196303 ] [ 0.10023833 0.99493283 0.00782925] [-0.02031703 -0.00581984 0.99977619]] t_gt: [ 0.69410275 -0.68749002 0.21349202] Pose Error in degrees for R and t: 179.31565152343882 55.51565528730269 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.92502978 -0.37989245 0.00127919] [-0.37988907 0.92502924 0.00228215] [-0.00205026 0.0016251 -0.99999658]] t_estimated: [[0.98454677] [0.17511701] [0.00129716]] R_gt: [[ 0.99030742 -0.12781296 0.05436499] [ 0.12941495 0.99122208 -0.02703376] [-0.05043219 0.03380746 0.99815496]] t_gt: [ 0.77565246 -0.60438316 0.18189078] Pose Error in degrees for R and t: 177.28073441713985 48.84758877231036 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.76370723 0.6442953 -0.04043308] [ 0.63396171 -0.73669019 0.2353298 ] [ 0.12183523 -0.20535609 -0.97107417]] t_estimated: [[0.9444278 ] [0.3287165 ] [0.00126429]] R_gt: [[ 0.99415128 -0.00941343 0.10758487] [ 0.01522637 0.99846088 -0.05333319] [-0.10691729 0.0546595 0.99276391]] t_gt: [0.27315874 0.30045103 0.91384544] Pose Error in degrees for R and t: 171.47975156342463 69.0288829866059 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 9.99383354e-01 3.51128059e-02 5.90824054e-05] [-3.51128108e-02 9.99383351e-01 8.53486798e-05] [-5.60491407e-05 -8.73705992e-05 9.99999995e-01]] t_estimated: [[0.81315771] [0.58204283] [0.00083146]] R_gt: [[ 0.99903575 -0.02524118 -0.03591248] [ 0.02555247 0.99964002 0.00820932] [ 0.03569282 -0.00911809 0.99932104]] t_gt: [ 0.81687077 0.54215768 -0.19694465] Pose Error in degrees for R and t: 4.061099972038323 11.581535555045468 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.96355016e-01 -8.53034330e-02 7.58315762e-05] [-8.53034341e-02 -9.96353465e-01 1.75973159e-03] [-7.45560924e-05 -1.75978610e-03 -9.99998449e-01]] t_estimated: [[0.05510365] [0.99847821] [0.00220415]] R_gt: [[ 0.99755103 0.00685786 -0.06960823] [-0.00446713 0.99939738 0.03444508] [ 0.06980232 -0.03404848 0.99697942]] t_gt: [ 0.56685816 0.82371663 -0.01275716] Pose Error in degrees for R and t: 178.10813316527418 31.386785518916952 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-2.19508862e-01 -9.75608609e-01 1.92387844e-03] [-9.75610494e-01 2.19508736e-01 -2.79048451e-04] [-1.50066054e-04 -1.93820961e-03 -9.99998110e-01]] t_estimated: [[0.7965658 ] [0.60454718] [0.00237229]] R_gt: [[ 0.99200179 -0.01103247 -0.12574465] [ 0.01034132 0.99992803 -0.00615318] [ 0.12580333 0.00480441 0.99204333]] t_gt: [ 0.75530586 0.55574343 -0.34736478] Pose Error in degrees for R and t: 174.23822828863786 20.47909669399852 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 1.00000000e+00 6.66133815e-16 -5.63785130e-18] [-7.21644966e-16 1.00000000e+00 2.71050543e-18] [-4.05274772e-16 -6.92805188e-16 1.00000000e+00]] t_estimated: [[-0.53811455] [-0.84287093] [-0.00115129]] R_gt: [[ 0.99908125 -0.04196022 0.00871871] [ 0.04165993 0.99861539 0.03210021] [-0.01005407 -0.03170758 0.99944697]] t_gt: [0.70313238 0.10254059 0.70362652] Pose Error in degrees for R and t: 3.062550140066287 62.250660170336836 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999745e-01 -8.13263946e-06 7.14668156e-04] [ 8.79588364e-06 9.99999569e-01 -9.28046708e-04] [-7.14660301e-04 9.28052757e-04 9.99999314e-01]] t_estimated: [[-0.02016061] [-0.99979332] [-0.00262148]] R_gt: [[ 0.99682406 -0.07721337 -0.01947773] [ 0.07801863 0.9959472 0.04473713] [ 0.01594539 -0.046115 0.99880859]] t_gt: [0.95132532 0.06713133 0.30078817] Pose Error in degrees for R and t: 5.293556830031231 85.00405345635208 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999802e-01 -2.16381209e-04 -5.90369726e-04] [ 2.16749524e-04 9.99999782e-01 6.23879227e-04] [ 5.90234601e-04 -6.24007066e-04 9.99999631e-01]] t_estimated: [[0.99941888] [0.0340711 ] [0.00103246]] R_gt: [[ 0.99731805 -0.07281434 -0.00744371] [ 0.0730461 0.99659608 0.03823077] [ 0.0046357 -0.03867158 0.99924083]] t_gt: [0.94140593 0.21644045 0.2586666 ] Pose Error in degrees for R and t: 4.711835760981801 18.46807963052884 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99998162e-01 -1.60475649e-03 -1.04958747e-03] [ 1.60549059e-03 9.99998467e-01 6.98952790e-04] [ 1.04846421e-03 -7.00636608e-04 9.99999205e-01]] t_estimated: [[9.77790976e-01] [2.09581074e-01] [7.62112998e-04]] R_gt: [[ 0.98985463 -0.11492587 0.0835507 ] [ 0.11464923 0.99337225 0.00810183] [-0.0839274 0.00156051 0.99647067]] t_gt: [ 0.52295745 -0.73852421 0.42555552] Pose Error in degrees for R and t: 8.131760653444061 69.09087954823538 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.99992624e-01 3.83937902e-03 1.00838882e-04] [-3.83933335e-03 9.99992529e-01 -4.49271561e-04] [-1.02563053e-04 4.48881093e-04 9.99999894e-01]] t_estimated: [[ 0.2158069 ] [-0.9764345 ] [-0.00174641]] R_gt: [[ 0.96650952 -0.23361617 0.10622742] [ 0.23278571 0.9723149 0.02031988] [-0.10803277 0.00508945 0.99413405]] t_gt: [ 0.66898504 -0.68477786 0.28902992] Pose Error in degrees for R and t: 15.075459660787677 35.658345636897394 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99995830e-01 2.87978177e-03 2.14592142e-04] [-2.87978117e-03 9.99995853e-01 -3.07991323e-06] [-2.14600121e-04 2.46192198e-06 9.99999977e-01]] t_estimated: [[ 9.28124106e-01] [-3.72270805e-01] [ 3.03748255e-04]] R_gt: [[ 0.94622513 -0.30705415 0.10187079] [ 0.30607917 0.95166505 0.02545141] [-0.10476114 0.00709844 0.99447213]] t_gt: [ 0.74594097 -0.63445009 0.20259604] Pose Error in degrees for R and t: 19.03553207418703 21.78630283453405 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 4.47695709e-01 8.94170031e-01 -5.33937423e-03] [-8.94185446e-01 4.47680988e-01 -3.75779893e-03] [-9.69774857e-04 6.45674118e-03 9.99978685e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.99336117 -0.11294143 -0.02185721] [ 0.1124027 0.99336081 -0.02449998] [ 0.02447918 0.02188095 0.99946078]] t_gt: [ 0.64079587 -0.72398777 -0.25538671] Pose Error in degrees for R and t: 69.88837729522092 89.20706419271403 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999101e-01 -1.07072539e-03 8.07692470e-04] [ 1.07430225e-03 9.99989561e-01 -4.44113015e-03] [-8.02928807e-04 4.44199386e-03 9.99989812e-01]] t_estimated: [[-0.79668136] [-0.60438248] [-0.00454145]] R_gt: [[ 0.98241849 -0.18632708 -0.01164954] [ 0.18602977 0.98227927 -0.02282427] [ 0.01569698 0.02025534 0.999671 ]] t_gt: [ 0.70349215 -0.70129783 -0.11523951] Pose Error in degrees for R and t: 10.747646381797866 82.17871563615948 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-7.28832618e-01 -6.84686191e-01 2.79913587e-03] [-6.84683678e-01 7.28837812e-01 1.92479661e-03] [-3.35799772e-03 -5.13668091e-04 -9.99994230e-01]] t_estimated: [[0.92639621] [0.37654329] [0.00228143]] R_gt: [[ 0.96781689 -0.24925905 0.03464333] [ 0.25079913 0.96668834 -0.05113347] [-0.0207427 0.05817676 0.99809053]] t_gt: [ 0.76295956 -0.64306763 -0.06600557] Pose Error in degrees for R and t: 179.48053634303986 62.32152039483936 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 5.94822615e-01 8.03856771e-01 5.90550177e-04] [-8.03855584e-01 5.94822788e-01 -1.43186529e-03] [-1.50228731e-03 3.76988798e-04 9.99998801e-01]] t_estimated: [[-0.48886669] [ 0.87235804] [ 0.00090469]] R_gt: [[ 0.99534753 0.09594049 -0.00883227] [-0.09560807 0.99488746 0.03253302] [ 0.01190909 -0.03153773 0.99943182]] t_gt: [-0.960741 0.23090312 0.15381966] Pose Error in degrees for R and t: 48.04230275910604 47.83687928233104 Number of keypoints: Image1: 403 Image2: 403 R_estimated: [[-9.48442913e-01 -3.16946826e-01 -8.66079453e-04] [-3.16947903e-01 9.48441296e-01 1.77046856e-03] [ 2.60281127e-04 1.95369043e-03 -9.99998058e-01]] t_estimated: [[9.87671711e-01] [1.56536649e-01] [9.31765765e-04]] R_gt: [[ 0.97760351 0.21009381 0.01229176] [-0.21033228 0.97735195 0.02329002] [-0.00712028 -0.02535371 0.99965278]] t_gt: [-0.86482168 0.49639218 0.07535429] Pose Error in degrees for R and t: 179.2662430122056 39.0691267182964 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.96025515e-01 8.90682847e-02 -1.16256648e-04] [-8.90682863e-02 9.96025522e-01 -8.16437611e-06] [ 1.15067401e-04 1.84867073e-05 9.99999993e-01]] t_estimated: [[-9.93109139e-01] [-1.17192520e-01] [-3.88248448e-04]] R_gt: [[ 0.95400966 0.29892621 0.02253061] [-0.29976626 0.95075762 0.07873753] [ 0.00211676 -0.08187105 0.99664043]] t_gt: [-0.83976957 0.52134799 0.15160259] Pose Error in degrees for R and t: 13.200074100459457 39.391666214310995 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99854799e-01 1.70401587e-02 1.21617577e-04] [-1.70401862e-02 9.99854779e-01 2.29128386e-04] [-1.17695532e-04 -2.31167502e-04 9.99999966e-01]] t_estimated: [[0.67282711] [0.73979902] [0.00104503]] R_gt: [[ 0.99780755 -0.04610679 -0.04748944] [ 0.04526122 0.99879933 -0.01873472] [ 0.04829544 0.01654496 0.9986958 ]] t_gt: [ 0.94868669 0.01319738 -0.31594207] Pose Error in degrees for R and t: 4.643214967161205 49.62892477494702 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99977765e-01 6.66772079e-03 1.05833778e-04] [-6.66775063e-03 9.99977730e-01 2.84226031e-04] [-1.03936282e-04 -2.84925385e-04 9.99999954e-01]] t_estimated: [[7.63973371e-01] [6.45247488e-01] [6.06138318e-04]] R_gt: [[ 0.99639006 -0.07202825 -0.0449445 ] [ 0.07186338 0.99740037 -0.0052695 ] [ 0.04520728 0.00202086 0.99897545]] t_gt: [ 0.9943389 0.02007759 -0.10434097] Pose Error in degrees for R and t: 5.2057826445257405 39.417451111645256 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.08016295 0.99674434 -0.00863874] [-0.99674166 -0.08023447 -0.0082764 ] [-0.00894258 0.00794713 0.99992843]] t_estimated: [[0.00759197] [0.99997059] [0.00108457]] R_gt: [[ 0.99508094 -0.04696786 -0.08722689] [ 0.04633819 0.99888317 -0.00923379] [ 0.08756206 0.0051467 0.99614574]] t_gt: [ 0.96177107 0.16811388 -0.21618076] Pose Error in degrees for R and t: 97.37579686024466 79.91108742454679 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.92228043 0.38651297 0.00255567] [-0.38650762 0.92228322 -0.00235147] [-0.00326593 0.00118093 0.99999397]] t_estimated: [[-8.94577615e-01] [-4.46911985e-01] [-7.53645843e-04]] R_gt: [[ 0.98581505 -0.16776291 -0.00499601] [ 0.16777054 0.98582589 0.00103989] [ 0.00475047 -0.00186263 0.99998731]] t_gt: [ 0.7445944 -0.6669697 -0.02702953] Pose Error in degrees for R and t: 32.39925333937418 68.40765300884925 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 7.71238475e-01 -6.36546179e-01 4.19063005e-04] [ 6.36546155e-01 7.71238582e-01 2.07286387e-04] [-4.55144916e-04 1.06885707e-04 9.99999891e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.95171405 -0.30498246 0.03503774] [ 0.30318824 0.95169329 0.0485626 ] [-0.04815531 -0.03559375 0.99820608]] t_gt: [ 0.74446127 -0.65093707 0.14852053] Pose Error in degrees for R and t: 22.07703936990056 42.05054894086258 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999791e-01 3.24775807e-04 -5.59217292e-04] [-3.24233635e-04 9.99999478e-01 9.69337224e-04] [ 5.59531817e-04 -9.69155704e-04 9.99999374e-01]] t_estimated: [[0.8580288 ] [0.5136001 ] [0.00123079]] R_gt: [[ 0.90896996 -0.41042617 0.07296385] [ 0.40479709 0.91084218 0.08066259] [-0.09956429 -0.04378236 0.99406744]] t_gt: [ 0.76653984 -0.61038414 0.19961931] Pose Error in degrees for R and t: 24.930613092554985 69.85082305367354 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.00000000e+00 4.56301663e-14 -4.71627945e-17] [-4.56301663e-14 1.00000000e+00 -2.85145171e-16] [ 1.86808034e-16 -3.85081507e-16 1.00000000e+00]] t_estimated: [[-9.74331629e-01] [-2.25116284e-01] [-7.31945966e-04]] R_gt: [[ 0.99516948 0.09606337 -0.02025848] [-0.09588406 0.99534546 0.00964554] [ 0.02109165 -0.00765607 0.99974846]] t_gt: [-0.35533666 0.92985762 0.09539744] Pose Error in degrees for R and t: 5.655914724417625 82.13613519713962 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99998480e-01 -1.71274600e-03 -3.26512965e-04] [ 1.71276731e-03 9.99998531e-01 6.49839488e-05] [ 3.26401185e-04 -6.55430908e-05 9.99999945e-01]] t_estimated: [[-0.99996608] [-0.00805553] [-0.0017188 ]] R_gt: [[ 0.97884616 0.18215835 -0.09315961] [-0.17800892 0.98269883 0.05114039] [ 0.10086415 -0.0334762 0.9943376 ]] t_gt: [-0.04925836 0.98780699 -0.14768533] Pose Error in degrees for R and t: 12.132059136943846 87.61848970666189 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999939e-01 -3.45052361e-04 -5.78963309e-05] [ 3.45052410e-04 9.99999940e-01 8.42463343e-07] [ 5.78960367e-05 -8.62440560e-07 9.99999998e-01]] t_estimated: [[-9.80800384e-01] [ 1.95012828e-01] [-7.77090803e-04]] R_gt: [[ 0.96256322 0.26196754 -0.06961459] [-0.25947698 0.96479915 0.04285112] [ 0.07839077 -0.02318344 0.99665351]] t_gt: [-0.11438031 0.98611377 -0.12040257] Pose Error in degrees for R and t: 15.862118041483923 72.26694316746766 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 2.43558026e-01 9.69886325e-01 -6.56066344e-05] [-9.69884605e-01 2.43557466e-01 -1.90100578e-03] [-1.82778052e-03 5.26636080e-04 9.99998191e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99866276 0.04379633 0.02749373] [-0.04386153 0.99903576 0.0017828 ] [-0.02738877 -0.00298579 0.99962048]] t_gt: [-0.50256879 0.79778526 0.33311153] Pose Error in degrees for R and t: 73.4042371127841 37.34652839598786 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.99925738 0.0353589 -0.01531163] [ 0.0353274 0.99937309 0.0023226 ] [ 0.01538416 0.00177996 -0.99988007]] t_estimated: [[ 0.99656939] [-0.08232067] [-0.00852969]] R_gt: [[ 0.98922713 0.14614052 0.00861222] [-0.14623141 0.98918649 0.01121274] [-0.00688011 -0.01235105 0.99989987]] t_gt: [-0.58830507 0.80304879 0.09491988] Pose Error in degrees for R and t: 179.5501496616376 49.21639446437931 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 8.18190287e-01 -5.74947143e-01 -6.61319374e-04] [ 5.74947240e-01 8.18190484e-01 -5.18154029e-05] [ 5.70876337e-04 -3.37828890e-04 9.99999780e-01]] t_estimated: [[-0.12861203] [-0.99169442] [-0.00106291]] R_gt: [[ 0.98333337 0.18151425 0.01046545] [-0.18178271 0.98261646 0.03767476] [-0.00344484 -0.03894782 0.99923491]] t_gt: [-0.62855755 0.75277465 0.19556516] Pose Error in degrees for R and t: 45.617839958224614 48.24934300634618 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.99303595 0.11776139 -0.00344303] [ 0.11780745 -0.99232704 0.03752927] [ 0.00100289 -0.03767352 -0.9992896 ]] t_estimated: [[-0.08833605] [ 0.9959044 ] [ 0.01926561]] R_gt: [[ 0.99703463 0.00865908 -0.07646847] [-0.01421149 0.99727603 -0.0723766 ] [ 0.07563342 0.0732484 0.99444167]] t_gt: [ 0.16538817 0.28789477 -0.94327268] Pose Error in degrees for R and t: 178.2424384014662 75.28961827546624 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 8.77610313e-01 -4.79374275e-01 6.65725925e-04] [-4.79374226e-01 -8.77610559e-01 -2.41640329e-04] [ 7.00084259e-04 -1.07065806e-04 -9.99999749e-01]] t_estimated: [[0.1570317 ] [0.98759295] [0.00109966]] R_gt: [[ 0.9918775 -0.01295097 -0.12653382] [-0.00165382 0.99340524 -0.11464116] [ 0.12718338 0.11392019 0.98531544]] t_gt: [ 0.27203127 0.22117699 -0.93652535] Pose Error in degrees for R and t: 171.8165393403616 74.92278730552782 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 1.04869435e-01 9.94485942e-01 3.36903622e-04] [-9.94485037e-01 1.04869799e-01 -1.35553863e-03] [-1.38339513e-03 -1.92891041e-04 9.99999025e-01]] t_estimated: [[0.37330452] [0.92770839] [0.00093456]] R_gt: [[ 0.98496598 0.04356431 -0.16716705] [-0.06549771 0.98960575 -0.12802759] [ 0.15985195 0.13705275 0.97758067]] t_gt: [ 0.12362756 0.46773785 -0.87517857] Pose Error in degrees for R and t: 81.57635531304386 61.36310371368379 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.82954803e-01 -1.83847364e-01 4.34341525e-05] [ 1.83847358e-01 9.82954798e-01 1.16325086e-04] [-6.40798691e-05 -1.06357048e-04 9.99999992e-01]] t_estimated: [[0.68607845] [0.72752675] [0.00109074]] R_gt: [[ 0.99766248 0.01289889 -0.06712123] [-0.02015497 0.99388458 -0.10856525] [ 0.0653112 0.10966463 0.99182042]] t_gt: [ 0.00265201 0.31218864 -0.95001643] Pose Error in degrees for R and t: 13.674011028166978 76.82601193857218 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99969288e-01 -7.82425135e-03 4.50820178e-04] [ 7.82417333e-03 9.99969375e-01 1.74561892e-04] [-4.52172188e-04 -1.71029235e-04 9.99999883e-01]] t_estimated: [[0.01013461] [0.99994801] [0.00112607]] R_gt: [[ 0.99411306 0.01427865 -0.10740834] [-0.03388371 0.98253087 -0.18299169] [ 0.10291915 0.18555355 0.97722941]] t_gt: [ 0.03975401 0.32729952 -0.94408402] Pose Error in degrees for R and t: 12.408991245218466 70.93610987126898 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.97055848e-01 -7.66780984e-02 3.23855030e-04] [ 7.66780941e-02 9.97055901e-01 2.56489321e-05] [-3.24868280e-04 -7.40831283e-07 9.99999947e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.98328137 0.05692184 -0.17297076] [-0.10173427 0.9595384 -0.26255688] [ 0.15102659 0.27576388 0.94928676]] t_gt: [-0.02199068 0.44106773 -0.89720436] Pose Error in degrees for R and t: 20.437351386773717 66.52226249486637 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.99346949e-01 3.61334852e-02 2.15314951e-04] [-3.61334293e-02 9.99346941e-01 -2.58060864e-04] [-2.24498976e-04 2.50112270e-04 9.99999944e-01]] t_estimated: [[0.76876996] [0.6395247 ] [0.00095737]] R_gt: [[ 0.99695702 -0.07794382 -0.00136728] [ 0.07784944 0.99636121 -0.03470382] [ 0.00406733 0.03449179 0.99939681]] t_gt: [ 0.3675157 -0.83176778 -0.41604635] Pose Error in degrees for R and t: 6.831562221484782 75.53436286064019 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.36052823e-01 3.51858810e-01 7.00313118e-04] [-3.51858844e-01 9.36053069e-01 -7.78498908e-05] [-6.82922414e-04 -1.73539754e-04 9.99999752e-01]] t_estimated: [[-7.71256871e-01] [-6.36523612e-01] [-7.28287886e-04]] R_gt: [[ 0.98508295 -0.17021377 -0.0252791 ] [ 0.16967522 0.98525191 -0.02211914] [ 0.02867188 0.01749957 0.99943533]] t_gt: [ 0.50016644 -0.8346811 -0.2305233 ] Pose Error in degrees for R and t: 30.450124302425728 81.62187552078997 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.00783984 0.99996652 0.00234331] [-0.99996475 -0.00783274 -0.00302567] [-0.00300721 -0.00236695 0.99999268]] t_estimated: [[0.00413318] [0.99998775] [0.00272276]] R_gt: [[ 0.94939536 -0.30990089 -0.05108951] [ 0.30854278 0.95064487 -0.03281082] [ 0.0587368 0.0153869 0.99815494]] t_gt: [ 0.63944462 -0.74112907 -0.2045441 ] Pose Error in degrees for R and t: 108.52381335336312 42.350810131069046 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.81558396e-01 -1.91162502e-01 -1.17619877e-04] [ 1.91162535e-01 9.81558313e-01 4.03735699e-04] [ 3.82716415e-05 -4.18774679e-04 9.99999912e-01]] t_estimated: [[-6.46555086e-02] [-9.97907575e-01] [ 3.69809579e-04]] R_gt: [[ 0.99819751 0.02496224 -0.05458482] [-0.03050919 0.99418501 -0.10326942] [ 0.05168994 0.10474867 0.99315374]] t_gt: [-0.11854703 0.42814695 -0.89589999] Pose Error in degrees for R and t: 14.290639947154123 65.17060958163034 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.48613030e-01 -3.16437962e-01 5.78406285e-04] [ 3.16438449e-01 9.48612260e-01 -1.21956678e-03] [-1.62766065e-04 1.33992693e-03 9.99999089e-01]] t_estimated: [[-0.30429268] [-0.95256838] [-0.00441004]] R_gt: [[ 0.99145763 0.06696818 -0.11192533] [-0.08592281 0.98095774 -0.17417955] [ 0.09812944 0.18230843 0.97833225]] t_gt: [-0.15432255 0.50112734 -0.85150217] Pose Error in degrees for R and t: 25.75075873530789 64.74525276265668 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.69546921 -0.71852159 -0.007021 ] [ 0.71850027 -0.69550375 0.00564763] [-0.00894108 -0.00111684 0.9999594 ]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.98396067 0.05843024 -0.16854582] [-0.10079812 0.9616534 -0.25507371] [ 0.14717865 0.26797109 0.95211828]] t_gt: [-0.0406005 0.46332767 -0.8852565 ] Pose Error in degrees for R and t: 139.34742029841667 88.83722024357265 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.81621441e-01 1.90838251e-01 3.28672481e-04] [-1.90838246e-01 9.81621496e-01 -4.83204947e-05] [-3.31853372e-04 -1.52908461e-05 9.99999945e-01]] t_estimated: [[0.37448395] [0.92723251] [0.00128248]] R_gt: [[ 0.99127966 -0.12866739 -0.02844631] [ 0.12917147 0.99148197 0.01663719] [ 0.02606276 -0.02016689 0.99945704]] t_gt: [ 0.59301027 -0.80466858 -0.02910854] Pose Error in degrees for R and t: 18.50839070688809 58.39371243230788 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999914e-01 9.48084657e-05 4.02726051e-04] [-9.47792728e-05 9.99999993e-01 -7.25066020e-05] [-4.02732922e-04 7.24684257e-05 9.99999916e-01]] t_estimated: [[0.82845051] [0.56006158] [0.00088728]] R_gt: [[ 0.95739704 -0.2826194 -0.05930237] [ 0.28283424 0.95915583 -0.0049323 ] [ 0.05827378 -0.01205141 0.99822782]] t_gt: [ 0.71033213 -0.69260312 -0.12541601] Pose Error in degrees for R and t: 16.796029223199955 78.43594497219597 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 0.89854176 0.43888565 0.00144377] [-0.43888111 0.89854121 -0.00265902] [-0.00246429 0.0017556 0.99999542]] t_estimated: [[-0.81355448] [-0.58148285] [-0.00260755]] R_gt: [[ 0.91853697 -0.38763604 -0.0776386 ] [ 0.38301528 0.92122781 -0.06811063] [ 0.09792465 0.03282422 0.9946522 ]] t_gt: [ 0.76138345 -0.58954007 -0.26969938] Pose Error in degrees for R and t: 49.10264328697962 73.98337750834153 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999963e-01 2.48832711e-04 -1.12878437e-04] [-2.48803096e-04 9.99999935e-01 2.62301187e-04] [ 1.12943699e-04 -2.62273093e-04 9.99999959e-01]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.99272108 0.1076534 -0.05398833] [-0.10707503 0.9941592 0.01349373] [ 0.05512663 -0.00761409 0.99844976]] t_gt: [-0.08470892 0.94589647 -0.31321601] Pose Error in degrees for R and t: 6.927015120470242 19.146500520891287 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999969e-01 2.46384443e-04 4.03873520e-05] [-2.46384429e-04 9.99999970e-01 -3.43296563e-07] [-4.03874354e-05 3.33345738e-07 9.99999999e-01]] t_estimated: [[-0.61020254] [-0.79224501] [-0.00083574]] R_gt: [[ 0.98919836 0.14656711 0.00224479] [-0.1464096 0.98865432 -0.03355281] [-0.00713645 0.03286237 0.99943396]] t_gt: [-0.08769954 0.96473393 -0.24818788] Pose Error in degrees for R and t: 8.629376048113077 44.717569755435655 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99999949e-01 3.18172505e-04 -3.81481865e-05] [-3.18172482e-04 9.99999949e-01 6.04788998e-07] [ 3.81483770e-05 -5.92651264e-07 9.99999999e-01]] t_estimated: [[-2.53124571e-01] [-9.67433417e-01] [-7.31793388e-04]] R_gt: [[ 0.98675987 0.15731811 0.03945915] [-0.15155157 0.98099083 -0.12119908] [-0.05777554 0.11361516 0.99184249]] t_gt: [ 0.06028162 0.93903185 -0.33850452] Pose Error in degrees for R and t: 11.523240013815984 22.562455517001737 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.58531406e-01 2.84985684e-01 -8.39460390e-04] [-2.84984262e-01 9.58531029e-01 1.49583598e-03] [ 1.23094067e-03 -1.19457276e-03 9.99998529e-01]] t_estimated: [[0.54727454] [0.83695262] [0.00094358]] R_gt: [[ 0.99272671 0.11879847 -0.01953456] [-0.11859051 0.99287703 0.01146895] [ 0.02075722 -0.00906911 0.99974297]] t_gt: [-0.69496991 0.71871018 -0.02173712] Pose Error in degrees for R and t: 9.814952042425011 77.22244248238336 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 4.59752147e-02 9.98941994e-01 1.08286829e-03] [-9.98942451e-01 4.59757335e-02 -4.59087501e-04] [-5.08387448e-04 -1.06061646e-03 9.99999308e-01]] t_estimated: [[0.54771714] [0.83666307] [0.00091439]] R_gt: [[ 0.99480573 0.09633057 0.03293073] [-0.09791227 0.99391905 0.05038228] [-0.0278775 -0.05334513 0.99818674]] t_gt: [-0.70615466 0.53951853 0.458547 ] Pose Error in degrees for R and t: 81.84395128713676 86.27076336239908 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 8.70482589e-01 -4.92198215e-01 9.89813253e-04] [ 4.92199196e-01 8.70481289e-01 -1.50911295e-03] [-1.18831218e-04 1.80084183e-03 9.99998371e-01]] t_estimated: [[-0.09499306] [-0.9954754 ] [-0.00224638]] R_gt: [[ 0.99707666 0.04358327 0.06276652] [-0.05165899 0.98971507 0.1334031 ] [-0.05630646 -0.13625505 0.98907208]] t_gt: [-0.43732108 0.22217666 0.8714286 ] Pose Error in degrees for R and t: 33.31742018400703 79.53781761877157 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.89209956e-01 -1.46504442e-01 -3.34869692e-04] [ 1.46504556e-01 9.89209934e-01 3.48268931e-04] [ 2.80233480e-04 -3.93571029e-04 9.99999883e-01]] t_estimated: [[-0.66764604] [-0.74447833] [-0.00088313]] R_gt: [[ 0.99363259 0.10693003 -0.03547373] [-0.10750739 0.99409368 -0.01479359] [ 0.03368238 0.01851297 0.9992618 ]] t_gt: [-0.74515888 0.581312 -0.32682502] Pose Error in degrees for R and t: 14.745359215682464 86.27218080623697 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 7.66996325e-01 -6.41649840e-01 1.45625399e-03] [-6.41651075e-01 -7.66996439e-01 5.99845717e-04] [ 7.32050719e-04 -1.39448640e-03 -9.99998760e-01]] t_estimated: [[0.16544379] [0.98621688] [0.00214862]] R_gt: [[ 0.98065857 0.1955476 0.00829037] [-0.19571224 0.98018493 0.03056648] [-0.00214963 -0.03159887 0.99949833]] t_gt: [-0.83300141 0.54834709 0.07364865] Pose Error in degrees for R and t: 178.14787301230305 66.2258481623974 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.95532879e-01 9.44154955e-02 2.65902861e-05] [-9.44154878e-02 9.95532857e-01 -2.13122685e-04] [-4.65935874e-05 2.09660105e-04 9.99999977e-01]] t_estimated: [[-9.99797479e-01] [-2.01085575e-02] [-8.04342300e-04]] R_gt: [[ 0.94892636 0.3139158 -0.03155398] [-0.31240811 0.94888483 0.04492743] [ 0.04404433 -0.03277515 0.99849228]] t_gt: [-0.79902471 0.60027406 -0.03507941] Pose Error in degrees for R and t: 13.227169140261159 38.11063667157852 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.64797294 0.7616624 0.00120589] [-0.76166262 -0.64796931 -0.00241253] [-0.00105616 -0.00248173 0.99999636]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99406917 -0.07532167 -0.07844602] [ 0.0716069 0.99622219 -0.04913229] [ 0.08185012 0.04322389 0.99570701]] t_gt: [ 0.70863713 -0.29623405 -0.64037396] Pose Error in degrees for R and t: 134.66930904229645 67.01431392302074 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999921e-01 -3.88126197e-04 -8.07529143e-05] [ 3.88193058e-04 9.99999581e-01 8.29610776e-04] [ 8.04308868e-05 -8.29642059e-04 9.99999653e-01]] t_estimated: [[0.66880638] [0.74343543] [0.00133698]] R_gt: [[ 0.97419446 -0.21863271 -0.05608835] [ 0.21432944 0.97396537 -0.07384752] [ 0.07077251 0.05992162 0.99569109]] t_gt: [ 0.80300649 -0.48453692 -0.34699359] Pose Error in degrees for R and t: 13.600560806815322 79.84160453857596 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.93639469e-01 -1.12608180e-01 5.68321789e-05] [ 1.12608049e-01 9.93638872e-01 1.10398715e-03] [-1.80788646e-04 -1.09056544e-03 9.99999389e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.93439273 -0.35296413 -0.04824882] [ 0.35021116 0.93492263 -0.05719215] [ 0.06529578 0.03654319 0.99719656]] t_gt: [ 0.83157091 -0.5235683 -0.18538085] Pose Error in degrees for R and t: 14.795531130705664 80.4112340658193 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.46184695 0.88690849 0.00952481] [ 0.88693907 0.46188274 -0.00184934] [-0.00603954 0.00759381 -0.99995293]] t_estimated: [[0.99563795] [0.09328157] [0.00190371]] R_gt: [[ 0.9886756 -0.10320109 0.10895535] [ 0.10225127 0.9946552 0.01428766] [-0.10984685 -0.00298578 0.99394313]] t_gt: [ 0.41397024 -0.69672145 0.58583945] Pose Error in degrees for R and t: 174.3507361064396 69.61733370469258 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.99999731 -0.00103121 0.00208 ] [ 0.00103652 0.9999962 -0.00255279] [-0.00207736 0.00255494 0.99999458]] t_estimated: [[9.99977089e-01] [6.71689061e-03] [8.39611326e-04]] R_gt: [[ 0.96669907 -0.21112276 0.14463735] [ 0.21034997 0.97740453 0.02079655] [-0.14575991 0.01032023 0.98926545]] t_gt: [ 0.59119115 -0.70200861 0.39708554] Pose Error in degrees for R and t: 14.718669077877497 54.070051057041745 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.13576516e-01 4.06666065e-01 -8.12798487e-04] [-4.06662578e-01 9.13574223e-01 2.77269309e-03] [ 1.87011193e-03 -2.20253256e-03 9.99995826e-01]] t_estimated: [[-0.95277408] [-0.30367845] [-0.00097725]] R_gt: [[ 0.93890352 -0.31318689 0.14274286] [ 0.31107525 0.94964628 0.03746032] [-0.14728706 0.00923244 0.98905062]] t_gt: [ 0.70777534 -0.64940812 0.27807041] Pose Error in degrees for R and t: 43.104970975824415 61.48358685704755 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99999967e-01 2.38296223e-04 9.68805351e-05] [-2.38295507e-04 9.99999972e-01 -7.40322692e-06] [-9.68822965e-05 7.38014048e-06 9.99999995e-01]] t_estimated: [[0.69198633] [0.72191022] [0.00075011]] R_gt: [[ 0.99940907 -0.03095156 -0.01492875] [ 0.031802 0.99766101 0.0605082 ] [ 0.01302072 -0.06094731 0.99805559]] t_gt: [ 0.70408136 -0.03300441 0.70935192] Pose Error in degrees for R and t: 4.008640562712287 62.35961601407784 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999119e-01 -5.15977285e-04 1.22267777e-03] [ 5.17069476e-04 9.99999467e-01 -8.93130106e-04] [-1.22221628e-03 8.93761529e-04 9.99998854e-01]] t_estimated: [[7.07151696e-01] [7.07061864e-01] [2.63057323e-06]] R_gt: [[ 0.99683276 -0.06737684 -0.04223913] [ 0.06890787 0.99697624 0.03593183] [ 0.03968989 -0.03872883 0.99846069]] t_gt: [0.99617424 0.04426426 0.07534962] Pose Error in degrees for R and t: 5.071385092491039 42.62987362489775 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999874e-01 -4.99797855e-04 4.32000774e-05] [ 4.99801357e-04 9.99999872e-01 -8.10966859e-05] [-4.31595399e-05 8.11182672e-05 9.99999996e-01]] t_estimated: [[ 9.99806812e-01] [ 1.96448756e-02] [-6.45443814e-04]] R_gt: [[ 0.9988552 -0.04537717 -0.01513224] [ 0.04583979 0.99844452 0.03175925] [ 0.01366665 -0.032417 0.99938126]] t_gt: [0.94078008 0.28713723 0.18023612] Pose Error in degrees for R and t: 3.2819210023300918 18.89338100944055 Number of keypoints: Image1: 521 Image2: 521 R_estimated: [[ 9.92185538e-01 1.24771184e-01 -9.96080923e-05] [-1.24771178e-01 9.92185541e-01 6.75591265e-05] [ 1.07259141e-04 -5.46029693e-05 9.99999993e-01]] t_estimated: [[-1.74078395e-01] [ 9.84731557e-01] [-6.87611816e-04]] R_gt: [[ 0.99851482 0.02982905 -0.04559592] [-0.02962273 0.99954862 0.00521768] [ 0.04573098 -0.0038587 0.99894722]] t_gt: [ 0.04863228 0.95888091 -0.27961097] Pose Error in degrees for R and t: 6.059735253725573 20.61510743743756 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.74088316e-01 2.26167771e-01 -3.03047948e-04] [-2.26167095e-01 9.74087391e-01 1.48302301e-03] [ 6.30607195e-04 -1.37605591e-03 9.99998854e-01]] t_estimated: [[0.44459622] [0.89573061] [0.00093403]] R_gt: [[ 0.99612468 0.02517233 -0.08428442] [-0.02451486 0.99966152 0.00884278] [ 0.08447892 -0.00674162 0.99640312]] t_gt: [ 0.4789839 0.82325114 -0.30468342] Pose Error in degrees for R and t: 12.602839481109102 18.17998634573399 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99468576e-01 3.25963107e-02 2.12583166e-04] [-3.25964485e-02 9.99468363e-01 6.80782296e-04] [-1.90279158e-04 -6.87349969e-04 9.99999746e-01]] t_estimated: [[0.5798003 ] [0.8147581 ] [0.00092607]] R_gt: [[ 0.98901336 -0.00630006 -0.1476974 ] [ 0.00213823 0.99959808 -0.0283127 ] [ 0.14781625 0.02768585 0.9886274 ]] t_gt: [ 0.75233467 0.49431336 -0.43548461] Pose Error in degrees for R and t: 8.920539129924231 33.013060973396925 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-0.62689412 -0.77901615 0.01173025] [-0.77900513 0.62698356 0.00652901] [-0.01244088 -0.00504492 -0.99990988]] t_estimated: [[0.9011734 ] [0.43338966] [0.00773972]] R_gt: [[ 0.99347926 -0.11012575 0.02949481] [ 0.11028535 0.99389271 -0.00381097] [-0.028895 0.00703964 0.99955774]] t_gt: [ 0.72885538 -0.65867457 0.18686263] Pose Error in degrees for R and t: 177.85425583736546 68.11106462608741 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.81303584e-01 1.92466105e-01 2.71294426e-04] [-1.92466135e-01 9.81303612e-01 8.68028479e-05] [-2.49515595e-04 -1.37394935e-04 9.99999959e-01]] t_estimated: [[0.07730498] [0.99700684] [0.00113684]] R_gt: [[ 0.99374532 -0.07880532 0.07912285] [ 0.08131171 0.99626816 -0.02895884] [-0.07654492 0.03521216 0.99644446]] t_gt: [ 0.72551478 -0.45113902 0.51971328] Pose Error in degrees for R and t: 16.41623077548667 66.85172663594801 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.99931722 -0.03689234 -0.00201191] [ 0.03689712 0.99931621 0.00239215] [ 0.00192228 -0.00246475 0.99999511]] t_estimated: [[-0.92739139] [-0.37408846] [-0.00173995]] R_gt: [[ 0.99354778 0.04428764 0.10441002] [-0.0373844 0.99704157 -0.0671626 ] [-0.10707565 0.06282648 0.99226401]] t_gt: [-0.2031814 0.7572569 0.62070872] Pose Error in degrees for R and t: 8.555641312398839 84.49501303737603 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.85591653 -0.51639017 -0.02735133] [ 0.51704019 0.85549012 0.02839186] [ 0.00873751 -0.0384428 0.9992226 ]] t_estimated: [[-0.68694168] [-0.72671199] [-0.00090387]] R_gt: [[ 0.98710227 0.16002971 0.00445733] [-0.16003693 0.98710962 0.00124886] [-0.00419935 -0.00194579 0.99998876]] t_gt: [-0.89938083 0.43446213 0.04854661] Pose Error in degrees for R and t: 40.39810827076526 72.41925999346377 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-4.78616904e-01 -8.78023339e-01 -9.35844390e-04] [-8.78023535e-01 4.78617352e-01 -3.19817462e-04] [ 7.28718559e-04 6.68623356e-04 -9.99999511e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96921326 0.24556832 0.017965 ] [-0.24600093 0.96886298 0.02807499] [-0.01051076 -0.03162966 0.99944395]] t_gt: [-0.90699963 0.3891377 0.16100783] Pose Error in degrees for R and t: 178.46831653059397 60.37950214384849 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 5.83526461e-01 -8.12093518e-01 9.93372730e-04] [-8.12093924e-01 -5.83526742e-01 7.98654970e-06] [ 5.73173728e-04 -8.11372321e-04 -9.99999507e-01]] t_estimated: [[-1.06629331e-02] [ 9.99942748e-01] [ 8.95917052e-04]] R_gt: [[ 0.96062043 0.2751584 0.03867904] [-0.2770883 0.95900663 0.05940494] [-0.02074692 -0.06778264 0.99748411]] t_gt: [-0.90458985 0.32264427 0.27859986] Pose Error in degrees for R and t: 175.90451316755244 70.57813947816749 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-4.03387075e-02 -9.99184346e-01 -1.85262155e-03] [-9.99186031e-01 4.03381676e-02 3.27888986e-04] [-2.52890184e-04 1.86434019e-03 -9.99998230e-01]] t_estimated: [[6.96517145e-01] [7.17540013e-01] [4.44142826e-04]] R_gt: [[ 0.9982344 0.03871437 -0.04505225] [-0.03924855 0.99916872 -0.01104288] [ 0.04458676 0.01279155 0.99892318]] t_gt: [-0.11142926 0.69703694 -0.7083241 ] Pose Error in degrees for R and t: 177.60848079670367 65.02486514453824 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99995012e-01 3.05882343e-03 7.86716748e-04] [-3.05872145e-03 9.99995314e-01 -1.30798091e-04] [-7.87113149e-04 1.28391091e-04 9.99999682e-01]] t_estimated: [[0.05041643] [0.9987254 ] [0.00240078]] R_gt: [[ 0.99413465 0.08176204 -0.07078633] [-0.08608447 0.99445865 -0.06034728] [ 0.06545881 0.06608661 0.9956648 ]] t_gt: [-0.17523507 0.76240979 -0.62291572] Pose Error in degrees for R and t: 7.098409365385931 41.31356925762643 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999992e-01 -1.28219432e-04 -2.28251423e-07] [ 1.28219439e-04 9.99999991e-01 3.09216587e-05] [ 2.24286663e-07 -3.09216877e-05 1.00000000e+00]] t_estimated: [[-0.92265701] [-0.38562007] [-0.00109948]] R_gt: [[ 0.99679871 0.06055048 -0.05220169] [-0.06350717 0.99635374 -0.05697867] [ 0.04855993 0.06011135 0.99701012]] t_gt: [-0.13763829 0.78328683 -0.60623217] Pose Error in degrees for R and t: 5.6907875913058845 79.95674209186711 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.8911192 -0.45376105 0.00273745] [-0.45374178 0.89111538 0.00563751] [-0.00499747 0.0037816 -0.99998036]] t_estimated: [[0.95886754] [0.28384387] [0.00238524]] R_gt: [[ 0.99669387 0.0717128 -0.03819424] [-0.07297757 0.99679326 -0.03282809] [ 0.03571749 0.0355069 0.99873114]] t_gt: [-0.32919587 0.81477479 -0.47725478] Pose Error in degrees for R and t: 177.69951685023952 85.09379825854255 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.93219441e-01 -1.16252772e-01 6.59299833e-04] [ 1.16253104e-01 9.93219501e-01 -4.89483523e-04] [-5.97925635e-04 5.62810203e-04 9.99999663e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99634103 0.07032973 -0.04854942] [-0.07359583 0.99488937 -0.0691305 ] [ 0.04343985 0.07245168 0.99642501]] t_gt: [-0.21587386 0.78133724 -0.58558569] Pose Error in degrees for R and t: 11.84145702330645 38.79738759267038 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 4.15546390e-01 9.09542712e-01 -7.29741611e-03] [-9.09394712e-01 4.15610420e-01 1.64084236e-02] [ 1.79570442e-02 -1.82229552e-04 9.99838743e-01]] t_estimated: [[0.70510046] [0.70910672] [0.00100156]] R_gt: [[ 0.99950531 0.01202274 0.02906781] [-0.01216174 0.9999162 0.00459846] [-0.02901035 -0.00495019 0.99956714]] t_gt: [-0.27087458 0.79323821 0.54534402] Pose Error in degrees for R and t: 64.79676761909955 68.15833356593085 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.93024327e-01 1.17907912e-01 6.40429232e-04] [-1.17907246e-01 9.93024116e-01 -9.93575879e-04] [-7.53112129e-04 9.11133771e-04 9.99999301e-01]] t_estimated: [[0.81676811] [0.57696119] [0.00237433]] R_gt: [[ 0.99387895 -0.11040477 0.00393828] [ 0.11046414 0.99366074 -0.02089032] [-0.00160672 0.02119796 0.99977368]] t_gt: [ 0.64581273 -0.74301925 -0.17563685] Pose Error in degrees for R and t: 13.163327795642981 84.35474477596917 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-9.99264190e-01 -3.83486755e-02 6.77065768e-04] [ 3.83457917e-02 -9.99257096e-01 -3.85431789e-03] [ 8.24370760e-04 -3.82551922e-03 9.99992343e-01]] t_estimated: [[8.20579508e-01] [5.71532031e-01] [6.38583275e-04]] R_gt: [[ 0.95768382 -0.28207288 0.05723423] [ 0.28231574 0.95931407 0.00398316] [-0.05602875 0.01234361 0.99835204]] t_gt: [ 0.69871308 -0.70526903 0.11998175] Pose Error in degrees for R and t: 161.41137279443404 80.1922718763463 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.90921299 0.41628843 -0.00597356] [-0.41630909 -0.90921909 0.00271986] [-0.00429903 0.00495978 0.99997846]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.90893259 -0.41456962 0.0444108 ] [ 0.41282458 0.90977066 0.04352921] [-0.05844933 -0.02123146 0.99806406]] t_gt: [ 0.75405811 -0.63965302 0.14913207] Pose Error in degrees for R and t: 179.88114253728227 77.16942503130305 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.66519234 -0.74664335 -0.00654629] [-0.74665317 0.6652123 -0.00127818] [ 0.00530902 0.00403757 -0.99997776]] t_estimated: [[ 0.88713166] [ 0.4615109 ] [-0.00226157]] R_gt: [[ 0.99778626 0.06229207 -0.02330641] [-0.06341066 0.99669099 -0.05085608] [ 0.02006119 0.052222 0.9984335 ]] t_gt: [-0.47543928 0.706101 -0.52476554] Pose Error in degrees for R and t: 177.28150096912697 84.56496069851536 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.37096905e-01 -3.49067949e-01 -9.78481155e-04] [ 3.49069085e-01 9.37095849e-01 1.46397316e-03] [ 4.05904520e-04 -1.71344224e-03 9.99998450e-01]] t_estimated: [[0.98406989] [0.1777765 ] [0.00139981]] R_gt: [[ 0.98823624 0.13890508 -0.0639947 ] [-0.14578111 0.98206465 -0.11957806] [ 0.04623767 0.12750054 0.99075935]] t_gt: [-0.4412345 0.72619243 -0.52721597] Pose Error in degrees for R and t: 29.690199253375965 72.19107302865122 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 8.96133619e-01 -4.43780687e-01 -1.79956263e-03] [ 4.43784015e-01 8.96130480e-01 2.43131091e-03] [ 5.33674101e-04 -2.97739657e-03 9.99995425e-01]] t_estimated: [[0.64549252] [0.76375069] [0.00492742]] R_gt: [[ 0.98470787 0.12811989 -0.11805378] [-0.1514567 0.96442514 -0.21667267] [ 0.08609388 0.23123984 0.96907929]] t_gt: [-0.26792205 0.65330144 -0.70810663] Pose Error in degrees for R and t: 37.31038094362845 71.18408651477577 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-9.98110269e-01 -6.14403100e-02 9.89334928e-04] [-6.14380410e-02 9.98108518e-01 2.18035428e-03] [-1.12142526e-03 2.11545120e-03 -9.99997134e-01]] t_estimated: [[9.99994892e-01] [3.10075940e-03] [7.75189839e-04]] R_gt: [[ 0.98413742 0.17705948 0.01118068] [-0.17711079 0.98418423 0.00378614] [-0.010333 -0.00570562 0.99992945]] t_gt: [-0.87478967 0.48170822 0.05196372] Pose Error in degrees for R and t: 179.32205636726383 29.161316752309542 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.89688283e-01 1.43237884e-01 -1.08265654e-04] [-1.43237889e-01 9.89688287e-01 -3.74423226e-05] [ 1.01786090e-04 5.25639716e-05 9.99999993e-01]] t_estimated: [[-9.47358005e-01] [ 3.20175734e-01] [-5.57241120e-04]] R_gt: [[ 0.95337324 0.29985916 0.03413131] [-0.30112763 0.95267866 0.04154569] [-0.02005856 -0.04988613 0.99855274]] t_gt: [-0.86204194 0.46886428 0.19248369] Pose Error in degrees for R and t: 9.764872898928774 14.833461286546902 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.96170658 -0.27407626 -0.00162833] [ 0.27407888 0.96170573 0.00169011] [ 0.00110276 -0.00207168 0.99999725]] t_estimated: [[-0.72927669] [-0.6842184 ] [-0.00083441]] R_gt: [[ 0.93157566 0.36017099 0.04944212] [-0.36305032 0.928773 0.07467482] [-0.0190237 -0.08751524 0.99598114]] t_gt: [-0.8625723 0.43200463 0.26332684] Pose Error in degrees for R and t: 37.482689892512845 70.53392685400695 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.98909834e-01 -4.66812546e-02 6.91519557e-05] [ 4.66812542e-02 9.98909836e-01 6.06143031e-06] [-6.93595239e-05 -2.82672231e-06 9.99999998e-01]] t_estimated: [[ 9.97384814e-01] [-7.22736803e-02] [ 2.17099645e-04]] R_gt: [[ 0.9885657 -0.15075399 0.00343109] [ 0.15068466 0.98846459 0.01523642] [-0.00568884 -0.01454527 0.99987906]] t_gt: [ 0.9101763 -0.39018033 0.13906262] Pose Error in degrees for R and t: 6.059298060660203 20.60546346851848 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.98886991e-01 4.71672962e-02 1.61790818e-04] [-4.71672870e-02 9.98887002e-01 -5.98260000e-05] [-1.64432576e-04 5.21281792e-05 9.99999985e-01]] t_estimated: [[9.28497405e-01] [3.71338699e-01] [3.72925796e-04]] R_gt: [[ 0.98571467 -0.16570546 -0.030139 ] [ 0.16632812 0.9858789 0.01944054] [ 0.02649209 -0.02417564 0.99935729]] t_gt: [ 0.98691956 -0.14292784 0.07457489] Pose Error in degrees for R and t: 12.434755946873608 30.310233398905826 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 7.44836112e-02 9.97222031e-01 -6.42098094e-04] [-9.97216054e-01 7.44808662e-02 -3.56975174e-03] [-3.51201106e-03 9.06198528e-04 9.99993422e-01]] t_estimated: [[0.05510365] [0.99847821] [0.00220415]] R_gt: [[ 0.98903024 -0.13337923 -0.06348539] [ 0.1363773 0.98961261 0.04548974] [ 0.05675805 -0.05364809 0.99694618]] t_gt: [0.98298004 0.10212784 0.15270934] Pose Error in degrees for R and t: 93.58511712912426 80.9976595694135 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.12081178 -0.99260911 0.01147478] [-0.99255476 0.12096925 0.01419471] [-0.01547789 -0.00967446 -0.99983341]] t_estimated: [[0.70759205] [0.70652968] [0.01137116]] R_gt: [[ 0.99843153 -0.03961591 0.03956967] [ 0.04099875 0.9985544 -0.03476349] [-0.0381343 0.03633092 0.99861193]] t_gt: [ 0.87749493 -0.38558797 0.28517463] Pose Error in degrees for R and t: 178.6495682512256 69.40733206532691 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.87086801 0.49151205 0.00219476] [ 0.49149841 -0.87086526 0.0047975 ] [ 0.00426937 -0.00309927 -0.99998608]] t_estimated: [[0.9444278 ] [0.3287165 ] [0.00126429]] R_gt: [[ 0.99261369 0.07903713 0.09204044] [-0.07376734 0.9955104 -0.05931098] [-0.09631438 0.05208293 0.99398703]] t_gt: [-0.39398546 0.80756642 0.43887577] Pose Error in degrees for R and t: 175.77198661000057 83.91086333414937 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.78693445 -0.61702649 -0.00353263] [ 0.61703418 0.78693451 0.00170431] [ 0.00172834 -0.00352093 0.99999231]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.98780651 0.10980917 0.11036939] [-0.10230553 0.9921792 -0.07151209] [-0.11735819 0.05934876 0.99131406]] t_gt: [-0.41087784 0.80194979 0.43365416] Pose Error in degrees for R and t: 44.86179463075156 66.75071036119104 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.12529462 0.99211802 0.00175782] [-0.99211692 0.12529819 -0.00209473] [-0.00229847 -0.0014815 0.99999626]] t_estimated: [[0.24597197] [0.96927422] [0.00229557]] R_gt: [[ 0.99584264 -0.04597879 0.07863447] [ 0.05240456 0.99527815 -0.08170811] [-0.07450628 0.08548924 0.99354872]] t_gt: [ 0.20353243 0.88855149 -0.41115788] Pose Error in degrees for R and t: 85.82025003529199 24.443538585769705 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999802e-01 3.47546462e-04 -5.24725629e-04] [-3.46795440e-04 9.99998916e-01 1.43067933e-03] [ 5.25222288e-04 -1.43049707e-03 9.99998839e-01]] t_estimated: [[0.78355441] [0.62132097] [0.0016541 ]] R_gt: [[ 0.99315835 -0.08264206 0.08250318] [ 0.08657948 0.995212 -0.04534206] [-0.07836185 0.05217555 0.99555853]] t_gt: [0.68722073 0.69576287 0.20890596] Pose Error in degrees for R and t: 7.332650904404461 13.805243382476574 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.99999097e-01 -1.17064743e-03 6.59448919e-04] [ 1.17128510e-03 9.99998846e-01 -9.67422662e-04] [-6.58315647e-04 9.68194191e-04 9.99999315e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99112803 -0.11999866 0.05714018] [ 0.12184476 0.99209539 -0.0299989 ] [-0.05308811 0.03669525 0.99791457]] t_gt: [0.91091276 0.40978406 0.04811405] Pose Error in degrees for R and t: 7.787334614463152 24.18658788637994 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 3.20106709e-03 -9.99991014e-01 -2.77937247e-03] [-9.99994501e-01 -3.19864551e-03 -8.75278054e-04] [ 8.66379961e-04 2.78215901e-03 -9.99995754e-01]] t_estimated: [[8.54048380e-01] [5.20193104e-01] [7.05825107e-04]] R_gt: [[ 9.91157185e-01 -1.29467877e-01 2.90921453e-02] [ 1.29512695e-01 9.91577229e-01 3.39959959e-04] [-2.88917928e-02 3.43041841e-03 9.99576681e-01]] t_gt: [ 0.70599256 -0.69282858 0.14684368] Pose Error in degrees for R and t: 179.0298301465009 75.95695432494577 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.48113336 0.87664386 -0.00249477] [-0.87664415 -0.48113739 -0.00135805] [-0.00239085 0.00153362 0.99999597]] t_estimated: [[0.81996589] [0.57241165] [0.00092028]] R_gt: [[ 9.78473115e-01 -2.04673007e-01 2.64691984e-02] [ 2.04754015e-01 9.78813063e-01 -3.64540090e-04] [-2.58345575e-02 5.77603220e-03 9.99649857e-01]] t_gt: [ 0.77448341 -0.62949215 0.06257065] Pose Error in degrees for R and t: 130.57895042900498 74.051160505184 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.99876486 -0.04955449 0.00362046] [-0.04953728 0.99876122 0.00469833] [-0.00384879 0.00451318 -0.99998241]] t_estimated: [[9.99994892e-01] [3.10075939e-03] [7.75189839e-04]] R_gt: [[ 9.65911410e-01 -2.58869767e-01 -1.43935515e-03] [ 2.58869895e-01 9.65912051e-01 -5.99680910e-05] [ 1.40501496e-03 -3.15488732e-04 9.99999233e-01]] t_gt: [ 0.8389265 -0.54422073 -0.00511092] Pose Error in degrees for R and t: 179.8419233920695 33.15116070778712 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.92850738e-01 -1.19362274e-01 2.42691988e-04] [ 1.19362352e-01 9.92850702e-01 -3.35707461e-04] [-2.00886105e-04 3.62275687e-04 9.99999914e-01]] t_estimated: [[8.57335072e-01] [5.14758494e-01] [5.16665900e-04]] R_gt: [[ 0.99820965 -0.00964169 -0.05903366] [ 0.008795 0.99985582 -0.01456344] [ 0.05916615 0.01401895 0.99814947]] t_gt: [ 0.81852231 0.30384351 -0.48754523] Pose Error in degrees for R and t: 7.226210258058283 30.918169256540107 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 0.97744734 0.21117435 -0.00144453] [-0.21117164 0.97744728 0.00182944] [ 0.00179828 -0.00148314 0.99999728]] t_estimated: [[5.11445192e-01] [8.59315605e-01] [7.11091891e-04]] R_gt: [[ 0.99344772 -0.05759102 -0.09871986] [ 0.05476033 0.99801367 -0.0311417 ] [ 0.10031695 0.02553289 0.99462713]] t_gt: [ 0.9221344 0.13944143 -0.36086596] Pose Error in degrees for R and t: 16.496356252154992 53.75858583948304 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99999981e-01 3.35623733e-05 1.91682294e-04] [-3.35794562e-05 9.99999995e-01 8.91184366e-05] [-1.91679302e-04 -8.91248715e-05 9.99999978e-01]] t_estimated: [[ 7.15596432e-01] [ 6.98513913e-01] [-2.43455261e-04]] R_gt: [[ 0.99189106 -0.08346976 -0.09584321] [ 0.08201024 0.99644903 -0.0190612 ] [ 0.09709446 0.01104716 0.99521324]] t_gt: [ 0.97295161 0.1162895 -0.19960442] Pose Error in degrees for R and t: 7.36304480213103 38.966013089317144 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 7.46432107e-01 -6.65461027e-01 -8.55523416e-04] [ 6.65461492e-01 7.46432045e-01 4.53244127e-04] [ 3.36973791e-04 -9.07633857e-04 9.99999531e-01]] t_estimated: [[9.99994892e-01] [3.10077618e-03] [7.75189853e-04]] R_gt: [[ 0.99460143 -0.0962983 -0.0386581 ] [ 0.09423148 0.99418401 -0.05214232] [ 0.04345437 0.0482174 0.99789198]] t_gt: [ 0.74664881 -0.44640194 -0.49319454] Pose Error in degrees for R and t: 36.430515924405796 41.851336902162075 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.5267013 0.84965663 0.02587201] [ 0.84958529 0.52717594 -0.01704008] [-0.02811732 0.01300545 -0.99952002]] t_estimated: [[-0.39333006] [-0.91939682] [-0.00097601]] R_gt: [[ 0.96859874 -0.24554981 -0.03900756] [ 0.24336215 0.96846129 -0.05345197] [ 0.050902 0.04228054 0.99780854]] t_gt: [ 0.802281 -0.54591909 -0.24149028] Pose Error in degrees for R and t: 179.18605493321274 79.24611020259547 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-9.56861728e-01 2.90525099e-01 3.28632387e-03] [ 2.90528833e-01 9.56865973e-01 7.11994123e-04] [-2.93771932e-03 1.63605176e-03 -9.99994347e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.92588061 -0.37771057 0.00898683] [ 0.37779041 0.92583535 -0.01016856] [-0.00447909 0.01281017 0.99990851]] t_gt: [ 0.81499848 -0.57848975 -0.03357213] Pose Error in degrees for R and t: 179.32501489176997 36.381055584844844 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99482409e-01 3.21699288e-02 9.86250741e-05] [-3.21699227e-02 9.99482412e-01 -6.25328829e-05] [-1.00585705e-04 5.93277554e-05 9.99999993e-01]] t_estimated: [[0.51804441] [0.85535318] [0.0009665 ]] R_gt: [[ 0.99654035 -0.08293076 0.00546202] [ 0.08290527 0.99654742 0.00452788] [-0.00581874 -0.00405971 0.99997408]] t_gt: [ 0.69937389 -0.70778554 0.09957807] Pose Error in degrees for R and t: 6.612356747834928 75.93611487483376 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.98341239 -0.18138012 -0.00115058] [ 0.18137597 0.98340914 -0.00303602] [ 0.00168216 0.00277698 0.99999473]] t_estimated: [[ 0.70204726] [-0.71186342] [-0.01949652]] R_gt: [[ 0.98769472 -0.14821381 0.04992039] [ 0.14948284 0.98850384 -0.02271715] [-0.04597969 0.02990047 0.99849445]] t_gt: [ 0.76378372 -0.62980428 0.14135414] Pose Error in degrees for R and t: 3.6617442306406933 10.950703976841357 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.41033557 -0.911934 -0.00105252] [ 0.91193038 -0.41032989 -0.00351561] [ 0.00277412 -0.00240241 0.99999327]] t_estimated: [[0.95330661] [0.30200171] [0.00121286]] R_gt: [[ 0.99416858 -0.04851248 0.09630467] [ 0.05332009 0.99742362 -0.04800234] [-0.09372912 0.05285788 0.99419341]] t_gt: [ 0.66066518 -0.17144593 0.73084048] Pose Error in degrees for R and t: 111.42247527240661 54.624966454310396 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.98520559e-01 -5.43753637e-02 -1.16005768e-04] [ 5.43753687e-02 9.98520564e-01 4.09983368e-05] [ 1.13604846e-04 -4.72455386e-05 9.99999992e-01]] t_estimated: [[-9.63092200e-01] [-2.69170043e-01] [-9.49482225e-04]] R_gt: [[ 0.99190263 0.12680543 0.00707234] [-0.12674057 0.99189504 -0.0089963 ] [-0.0081565 0.00802755 0.99993432]] t_gt: [-0.79529414 0.60458688 -0.04451904] Pose Error in degrees for R and t: 10.421405116240207 52.89718498940805 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.43086393e-01 -3.32547360e-01 -5.55103457e-04] [ 3.32547491e-01 9.43086497e-01 1.59146378e-04] [ 4.70586867e-04 -3.34687045e-04 9.99999833e-01]] t_estimated: [[ 2.58418044e-01] [-9.66032892e-01] [-7.52111683e-04]] R_gt: [[ 0.97593143 0.21760438 0.01436476] [-0.21804602 0.97479967 0.04713929] [-0.0037446 -0.04913733 0.99878495]] t_gt: [-0.81720402 0.56429633 0.1172486 ] Pose Error in degrees for R and t: 32.13293545734611 40.852389956925855 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99844537e-01 -1.76151267e-02 -7.80947229e-04] [ 1.76150593e-02 9.99844838e-01 -9.30136462e-05] [ 7.82464503e-04 7.92427542e-05 9.99999691e-01]] t_estimated: [[-0.99958714] [-0.02866885] [-0.00191126]] R_gt: [[ 0.93281632 0.36009334 -0.01363343] [-0.35916931 0.93215286 0.04571348] [ 0.02916926 -0.03774629 0.99886176]] t_gt: [-0.78695158 0.61698422 -0.00613861] Pose Error in degrees for R and t: 22.26389233760304 39.740290353935706 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.97164685e-01 7.52498178e-02 -2.38273510e-04] [-7.52498752e-02 9.97164679e-01 -2.42112267e-04] [ 2.19379024e-04 2.59355854e-04 9.99999942e-01]] t_estimated: [[0.74304916] [0.66923633] [0.00082014]] R_gt: [[ 0.99408189 0.10718092 -0.01770704] [-0.10693945 0.99416554 0.0140953 ] [ 0.01911477 -0.0121189 0.99974413]] t_gt: [-0.6492928 0.76046567 -0.01052718] Pose Error in degrees for R and t: 2.2423286271544822 88.48342418161613 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.89786546e-01 -1.42556747e-01 -4.08402671e-04] [ 1.42556794e-01 9.89786620e-01 8.87139946e-05] [ 3.91584721e-04 -1.46028494e-04 9.99999913e-01]] t_estimated: [[-0.92632211] [-0.37673033] [-0.00126608]] R_gt: [[ 0.98963243 0.14275872 -0.01573365] [-0.1420082 0.98899539 0.04149513] [ 0.02148451 -0.03883003 0.99901492]] t_gt: [-0.69363146 0.70203311 0.1613224 ] Pose Error in degrees for R and t: 16.578156661255317 67.79975523827291 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.21630813e-01 -3.88061019e-01 2.29987556e-03] [ 3.88067054e-01 9.21624659e-01 -3.45682533e-03] [-7.78162864e-04 4.07842268e-03 9.99991380e-01]] t_estimated: [[-0.28448421] [-0.95867281] [-0.00389704]] R_gt: [[ 0.99443136 0.09085913 0.05338178] [-0.09643552 0.98886473 0.11334403] [-0.04248876 -0.11786069 0.99212086]] t_gt: [-0.58123638 0.42309842 0.69509136] Pose Error in degrees for R and t: 29.157112609799707 75.93814947325126 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999989e-01 1.47823550e-04 -1.38928851e-05] [-1.47822944e-04 9.99999988e-01 4.35714678e-05] [ 1.38993258e-05 -4.35694136e-05 9.99999999e-01]] t_estimated: [[-9.99997543e-01] [-2.03708174e-03] [-8.74254069e-04]] R_gt: [[ 0.99247822 0.09331696 -0.07924543] [-0.09002107 0.99495786 0.04420463] [ 0.0829708 -0.03673966 0.99587486]] t_gt: [ 0.15013079 0.95006493 -0.27356421] Pose Error in degrees for R and t: 7.399672840120591 81.26720373048488 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999183e-01 -1.27783628e-03 3.75004978e-05] [ 1.27783243e-03 9.99999178e-01 1.02681037e-04] [-3.76316765e-05 -1.02633033e-04 9.99999994e-01]] t_estimated: [[0.01079666] [0.99994073] [0.00140655]] R_gt: [[ 0.9830663 0.17439487 -0.05629347] [-0.17263535 0.98437257 0.03477114] [ 0.06147806 -0.02446448 0.99780858]] t_gt: [-0.07583687 0.98149966 -0.1758044 ] Pose Error in degrees for R and t: 10.764850428823012 11.369742575142675 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 1.00000000e+00 -1.07495629e-05 -3.16905644e-08] [ 1.07495632e-05 1.00000000e+00 9.14590090e-06] [ 3.15922490e-08 -9.14590124e-06 1.00000000e+00]] t_estimated: [[-6.11835450e-01] [-7.90984749e-01] [-7.13343455e-04]] R_gt: [[ 0.98165047 0.19022502 0.0133152 ] [-0.18928053 0.98048933 -0.05304018] [-0.02314541 0.04954584 0.99850372]] t_gt: [-0.01253161 0.97951559 -0.20097803] Pose Error in degrees for R and t: 11.386055373056319 39.917317052902966 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 8.28622550e-01 5.59807253e-01 7.13286222e-04] [-5.59807167e-01 8.28622848e-01 -3.34587785e-04] [-7.78349930e-04 -1.22055756e-04 9.99999690e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99810543 -0.02284788 -0.05713183] [ 0.01980447 0.99838367 -0.05327587] [ 0.05825674 0.05204446 0.9969439 ]] t_gt: [ 0.37580373 0.0287844 -0.92625213] Pose Error in degrees for R and t: 35.544522422739746 88.27141924220467 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.80467172e-01 -1.96682719e-01 -1.81064995e-04] [ 1.96682780e-01 9.80467084e-01 4.25972559e-04] [ 9.37468267e-05 -4.53264476e-04 9.99999893e-01]] t_estimated: [[0.54489516] [0.83850372] [0.00088171]] R_gt: [[ 0.99486002 0.03612767 -0.09460396] [-0.0429701 0.99652837 -0.07132004] [ 0.0916996 0.07501958 0.99295672]] t_gt: [ 0.05139922 0.51832084 -0.85364022] Pose Error in degrees for R and t: 15.219801869969722 62.49225704276388 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 1.78509848e-01 9.83937811e-01 7.85859337e-04] [-9.83936721e-01 1.78510885e-01 -1.54680330e-03] [-1.66224270e-03 -4.97116237e-04 9.99998495e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99327118 0.04650332 -0.10606636] [-0.05809931 0.99234255 -0.10899895] [ 0.10018615 0.11442845 0.98836707]] t_gt: [ 0.03501018 0.58980326 -0.80678771] Pose Error in degrees for R and t: 77.12638377556607 53.90178508426881 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-1.09818103e-01 -9.93947837e-01 -2.77172688e-03] [-9.93951685e-01 1.09818178e-01 1.25569521e-04] [ 1.79576444e-04 2.76875241e-03 -9.99996151e-01]] t_estimated: [[7.71256871e-01] [6.36523612e-01] [7.28287886e-04]] R_gt: [[ 0.99480032 -0.09708761 -0.03076604] [ 0.0973387 0.99522808 0.00675765] [ 0.02996406 -0.00971673 0.99950337]] t_gt: [ 0.52438909 -0.84123187 -0.13170055] Pose Error in degrees for R and t: 178.90959030067813 82.465614365116 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.29633391e-01 3.68483714e-01 1.22948990e-03] [-3.68483236e-01 9.29634197e-01 -6.03052540e-04] [-1.36519090e-03 1.07571360e-04 9.99999062e-01]] t_estimated: [[-0.9785623 ] [ 0.2059475 ] [ 0.00120194]] R_gt: [[ 0.96932286 -0.23819034 -0.06065218] [ 0.23833089 0.97117114 -0.0050163 ] [ 0.06009951 -0.00959222 0.99814632]] t_gt: [ 0.6544816 -0.7392574 -0.15859487] Pose Error in degrees for R and t: 35.59272349385667 37.54360071454318 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-7.07457990e-01 -7.06752887e-01 -1.88386166e-03] [ 7.06755046e-01 -7.07457785e-01 -8.87534088e-04] [-7.05485320e-04 -1.95932182e-03 9.99997832e-01]] t_estimated: [[9.83855120e-01] [1.78964505e-01] [8.99319122e-04]] R_gt: [[ 0.92434931 -0.37183524 -0.08553353] [ 0.3669314 0.92776839 -0.06786894] [ 0.10459126 0.03135035 0.99402084]] t_gt: [ 0.7420287 -0.60557086 -0.28753668] Pose Error in degrees for R and t: 113.39277124454259 51.58050063791794 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.81964750e-01 -1.89064067e-01 9.26749325e-05] [ 1.89064068e-01 9.81964754e-01 6.06416286e-07] [-9.11181688e-05 1.69260203e-05 9.99999996e-01]] t_estimated: [[4.71801206e-01] [8.81704558e-01] [8.32976386e-04]] R_gt: [[ 0.99663636 0.07046933 -0.04182957] [-0.07360836 0.99415756 -0.07894389] [ 0.03602201 0.08175737 0.9960004 ]] t_gt: [-0.42108865 0.65318403 -0.6293131 ] Pose Error in degrees for R and t: 15.883102536764094 67.86927860755563 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999791e-01 6.47171782e-04 1.87625078e-07] [-6.47171787e-04 9.99999790e-01 2.78629320e-05] [-1.69592936e-07 -2.78630476e-05 1.00000000e+00]] t_estimated: [[2.53582658e-02] [9.99678404e-01] [2.15972445e-04]] R_gt: [[ 0.99125384 0.07770529 -0.10666937] [-0.09588757 0.97942476 -0.1775737 ] [ 0.0906767 0.1862489 0.97830848]] t_gt: [-0.19768771 0.54646682 -0.81381422] Pose Error in degrees for R and t: 12.955517273475321 57.24129106107774 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 1.00000000e+00 -1.57948185e-07 1.94928353e-05] [ 1.57954020e-07 1.00000000e+00 -2.99314281e-07] [-1.94928352e-05 2.99317359e-07 1.00000000e+00]] t_estimated: [[1.90550451e-02] [9.99818414e-01] [2.10680827e-04]] R_gt: [[ 0.98625357 0.07588157 -0.14678449] [-0.11126466 0.96172271 -0.25042186] [ 0.12216328 0.26331085 0.95694412]] t_gt: [-0.1109171 0.51999581 -0.84693669] Pose Error in degrees for R and t: 17.738374211135074 58.82796751157956 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.90795667e-01 -1.35364725e-01 5.80686437e-04] [ 1.35364563e-01 9.90795811e-01 3.10607363e-04] [-6.17386970e-04 -2.29144063e-04 9.99999783e-01]] t_estimated: [[ 0.99806942] [-0.06204956] [ 0.00269749]] R_gt: [[ 0.996848 -0.07338681 -0.0301144 ] [ 0.07257038 0.99698772 -0.02736159] [ 0.0320314 0.02508989 0.99917188]] t_gt: [ 0.37739647 -0.75458062 -0.53682399] Pose Error in degrees for R and t: 4.3033335926344884 65.03647639005945 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99999380e-01 1.10116553e-03 1.64036105e-04] [-1.10117803e-03 9.99999391e-01 7.61220826e-05] [-1.63952182e-04 -7.63026684e-05 9.99999984e-01]] t_estimated: [[9.99999671e-01] [3.06553405e-05] [8.10793926e-04]] R_gt: [[ 0.98027804 -0.1923565 -0.04531678] [ 0.19199303 0.9813191 -0.01226391] [ 0.04682934 0.00332203 0.99889827]] t_gt: [ 0.5625367 -0.79951024 -0.21056076] Pose Error in degrees for R and t: 11.470470493648213 55.78213178807703 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.37712885e-01 3.47410495e-01 7.02014235e-04] [-3.47410383e-01 9.37713148e-01 -2.80244871e-04] [-7.55647988e-04 1.89021928e-05 9.99999714e-01]] t_estimated: [[-9.51389083e-01] [ 3.07991227e-01] [ 4.65765436e-04]] R_gt: [[ 0.93604672 -0.3445581 -0.07138639] [ 0.34278743 0.93871835 -0.03611121] [ 0.07945429 0.00933134 0.99679551]] t_gt: [ 0.69367158 -0.68978968 -0.2073884 ] Pose Error in degrees for R and t: 40.71637136589461 29.24984516164957 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.88270341e-01 -1.52714062e-01 3.86499533e-04] [ 1.52714171e-01 9.88270362e-01 -2.70931961e-04] [-3.40590913e-04 3.26777977e-04 9.99999889e-01]] t_estimated: [[0.6254377 ] [0.78027315] [0.00121918]] R_gt: [[ 0.9971528 0.04398907 -0.06124992] [-0.04905692 0.99527196 -0.08382646] [ 0.05727251 0.08659229 0.99459595]] t_gt: [-0.20755735 0.45748966 -0.86465204] Pose Error in degrees for R and t: 12.909471074819043 76.93251477308418 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.98891101 0.14739748 0.01813805] [-0.14798259 -0.98830374 -0.03683565] [ 0.01249642 -0.03911129 0.99915672]] t_estimated: [[0.62970077] [0.77683104] [0.00323576]] R_gt: [[ 0.99208177 0.04104142 -0.11870056] [-0.06066667 0.98412878 -0.16676523] [ 0.10997201 0.17264533 0.97882516]] t_gt: [-0.03585557 0.38063624 -0.92402945] Pose Error in degrees for R and t: 168.82213193435584 74.32848304789064 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 5.22381372e-01 -8.52710276e-01 1.69932162e-03] [ 8.52711709e-01 5.22381731e-01 -2.60185583e-04] [-6.65831648e-04 1.58494754e-03 9.99998522e-01]] t_estimated: [[0.64285429] [0.76598807] [0.00079957]] R_gt: [[ 0.9803827 0.09177355 -0.17443753] [-0.13023756 0.9658964 -0.22379225] [ 0.14794981 0.24212042 0.95889901]] t_gt: [-0.10117163 0.48232664 -0.87012948] Pose Error in degrees for R and t: 66.84830927911624 72.31870092481324 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 0.50941288 -0.86042898 0.01266844] [-0.86046753 -0.50915929 0.01877363] [-0.00970312 -0.02046431 -0.9997435 ]] t_estimated: [[0.4805555 ] [0.87688195] [0.01201898]] R_gt: [[ 0.9984983 0.05462428 -0.00422771] [-0.0544875 0.99813405 0.02758126] [ 0.00572619 -0.02730829 0.99961056]] t_gt: [-0.49260478 0.80221943 0.33731961] Pose Error in degrees for R and t: 177.4784900375194 61.91492704216106 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.20781796e-01 3.90077635e-01 5.68269373e-04] [-3.90077746e-01 9.20781919e-01 9.58196386e-05] [-4.85875066e-04 -3.09898215e-04 9.99999834e-01]] t_estimated: [[-0.5002018 ] [ 0.86590757] [ 0.00149516]] R_gt: [[ 0.9859887 0.16569112 -0.01931727] [-0.16501111 0.98575141 0.03264508] [ 0.0244513 -0.02899941 0.99927975]] t_gt: [-0.61680715 0.78346203 0.07573761] Pose Error in degrees for R and t: 13.613527355767893 9.231937340750632 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-8.48534749e-02 9.96393351e-01 4.22166363e-04] [-9.96392110e-01 -8.48526617e-02 -1.67006108e-03] [-1.62821581e-03 -5.62353719e-04 9.99998516e-01]] t_estimated: [[0.06694212] [0.99775629] [0.00106257]] R_gt: [[ 0.98929243 0.14225291 0.03265839] [-0.14427655 0.98694939 0.07152395] [-0.02205709 -0.07546928 0.99690374]] t_gt: [-0.63484596 0.64482827 0.4256373 ] Pose Error in degrees for R and t: 86.71283879479495 53.03437261705503 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999766e-01 -5.80223706e-04 3.62214505e-04] [ 5.80467530e-04 9.99999605e-01 -6.73407856e-04] [-3.61823635e-04 6.73617953e-04 9.99999708e-01]] t_estimated: [[-9.22972306e-01] [-3.84865361e-01] [-8.80698766e-04]] R_gt: [[ 0.99464422 0.09218985 -0.04672737] [-0.08959321 0.99446353 0.05490163] [ 0.05153035 -0.05042058 0.9973979 ]] t_gt: [-0.11852329 0.87726951 0.46513486] Pose Error in degrees for R and t: 6.711916331534231 76.78259689901857 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 0.99999444 0.00261631 0.00206903] [-0.00261248 0.99999487 -0.0018513 ] [-0.00207386 0.00184588 0.99999615]] t_estimated: [[-0.99996638] [ 0.00750392] [ 0.00330472]] R_gt: [[ 0.97884975 0.18295926 -0.09153437] [-0.17771334 0.9820903 0.06257177] [ 0.10134383 -0.04498107 0.9938338 ]] t_gt: [-0.0511696 0.99168537 -0.11807539] Pose Error in degrees for R and t: 12.16303511085529 86.66239830607006 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.99980022 0.01801858 0.00865189] [-0.01789072 0.99973284 -0.01463452] [-0.00891327 0.01447681 0.99985548]] t_estimated: [[0.21748903] [0.97604835] [0.00530461]] R_gt: [[ 0.97511879 0.21913617 -0.03351575] [-0.21866863 0.97564911 0.01705182] [ 0.03643661 -0.00929835 0.9992926 ]] t_gt: [-0.05422531 0.99130746 -0.11987133] Pose Error in degrees for R and t: 11.996254731894773 17.227807912593228 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.11760303 -0.99305968 -0.00141118] [-0.99305941 0.11760048 0.0017694 ] [-0.00159117 0.00160947 -0.99999744]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.98855065 -0.14971423 0.01878059] [ 0.14999693 0.98857665 -0.01472399] [-0.01636266 0.01737318 0.99971548]] t_gt: [ 7.46113219e-01 -6.65819021e-01 -3.09412016e-04] Pose Error in degrees for R and t: 179.8342826080094 66.64736325415464 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.40294247e-01 3.40362038e-01 6.42921250e-04] [-3.40361884e-01 9.40294461e-01 -3.38535801e-04] [-7.19760025e-04 9.94973786e-05 9.99999736e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.95787718 -0.28663871 0.01759673] [ 0.28646093 0.95801761 0.01190825] [-0.02027109 -0.00636567 0.99977447]] t_gt: [ 0.76870237 -0.63796849 0.04574779] Pose Error in degrees for R and t: 36.57095702972847 72.70448274242257 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.98929812e-01 4.62437604e-02 8.62906626e-04] [-4.62422716e-02 9.98928854e-01 -1.67214814e-03] [-9.39308745e-04 1.63045586e-03 9.99998230e-01]] t_estimated: [[-0.06568822] [-0.99783529] [-0.00312801]] R_gt: [[ 0.90911172 -0.40827381 0.08263543] [ 0.40361261 0.91242629 0.06764353] [-0.10301609 -0.02814285 0.99428214]] t_gt: [ 0.77351706 -0.60522992 0.18806407] Pose Error in degrees for R and t: 27.35624531170721 56.45989399413452 Number of keypoints: Image1: 512 Image2: 512 R_estimated: [[ 3.20281067e-01 9.47319063e-01 2.57502955e-03] [-9.47320941e-01 3.20284365e-01 -9.79946648e-04] [-1.75306385e-03 -2.12552106e-03 9.99996204e-01]] t_estimated: [[0.2207332 ] [0.97533273] [0.00171111]] R_gt: [[ 0.99435433 0.10027243 0.03471911] [-0.10152643 0.99416491 0.0364545 ] [-0.03086048 -0.03977414 0.99873251]] t_gt: [-0.90261375 0.18588588 0.38824588] Pose Error in degrees for R and t: 65.5758190980854 89.0103434075712 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 8.94291804e-01 -4.47484266e-01 -2.28203664e-05] [ 4.47484258e-01 8.94291796e-01 -1.49564278e-04] [ 8.73357275e-05 1.23542353e-04 9.99999989e-01]] t_estimated: [[-0.71136745] [-0.70281964] [-0.00094976]] R_gt: [[ 0.97968069 0.20050965 0.0045584 ] [-0.20055484 0.9795752 0.01450192] [-0.00155662 -0.01512154 0.99988489]] t_gt: [-0.8873298 0.46024304 0.02867337] Pose Error in degrees for R and t: 38.16091944029267 72.07797126809864 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.13659144e-01 -4.06480527e-01 -7.41959230e-04] [ 4.06480613e-01 9.13659406e-01 -3.80392532e-05] [ 6.93360244e-04 -2.66837131e-04 9.99999724e-01]] t_estimated: [[-0.32382794] [-0.94611481] [-0.00149229]] R_gt: [[ 0.95692603 0.2858611 0.05075428] [-0.28851056 0.95583192 0.05610881] [-0.03247299 -0.06833618 0.99713346]] t_gt: [-0.84962232 0.49337403 0.18634373] Pose Error in degrees for R and t: 40.920985225415194 78.93426350286299 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.69427522e-01 2.45377381e-01 -4.70139784e-04] [-2.45377590e-01 9.69427475e-01 -4.56415868e-04] [ 3.43772294e-04 5.57823871e-04 9.99999785e-01]] t_estimated: [[-0.96063938] [ 0.27779097] [-0.00203946]] R_gt: [[ 0.99816249 0.01809331 -0.05782782] [-0.01447577 0.99794765 0.06237815] [ 0.05883691 -0.06142625 0.99637675]] t_gt: [-0.64373053 -0.46780217 0.60561715] Pose Error in degrees for R and t: 14.136060799257779 60.84285940161328 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.91874474e-01 -1.27217770e-01 -8.16667754e-04] [ 1.27217659e-01 9.91874807e-01 -1.85841031e-04] [ 8.33674453e-04 8.04364143e-05 9.99999649e-01]] t_estimated: [[-0.34738741] [-0.93771895] [-0.00227051]] R_gt: [[ 0.99529989 0.07243511 -0.06427534] [-0.06449153 0.99091118 0.11804594] [ 0.07224155 -0.1133452 0.99092639]] t_gt: [-0.89522101 -0.15969221 0.41602613] Pose Error in degrees for R and t: 13.631809942886855 62.62642156234964 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.32826630e-01 -3.60324601e-01 -8.12976729e-04] [-3.60325508e-01 -9.32823709e-01 -2.33576050e-03] [ 8.32680011e-05 2.47179585e-03 -9.99996942e-01]] t_estimated: [[0.32273366] [0.94648925] [0.00104275]] R_gt: [[ 0.99227393 0.10776664 -0.06148088] [-0.09461796 0.97781858 0.18686538] [ 0.08025479 -0.17960279 0.98046049]] t_gt: [-0.84523041 -0.08538752 0.52753627] Pose Error in degrees for R and t: 170.49315614914917 69.32586128032246 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.98514998e-01 5.44774677e-02 6.24610656e-05] [-5.44773939e-02 9.98514632e-01 -8.61821452e-04] [-1.09318138e-04 8.57138929e-04 9.99999627e-01]] t_estimated: [[-0.7594146 ] [-0.65060438] [-0.00184573]] R_gt: [[ 0.99548404 -0.02063422 0.09266071] [ 0.02888281 0.99564963 -0.08858316] [-0.09042931 0.09086047 0.99174913]] t_gt: [-0.86981139 0.01330145 -0.49320505] Pose Error in degrees for R and t: 8.622040248450602 49.24666821810236 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.9407888 0.33898398 0.00250882] [-0.33895978 0.94077413 -0.00709303] [-0.00476466 0.00582266 0.9999717 ]] t_estimated: [[0.83776617] [0.54602847] [0.00087086]] R_gt: [[ 0.98770317 -0.00149012 0.15633513] [ 0.02498314 0.98861064 -0.14841118] [-0.15433304 0.15049243 0.97649074]] t_gt: [-0.8652463 0.3467761 -0.36207067] Pose Error in degrees for R and t: 23.806652983848107 57.59911936595366 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.18242852 0.98320749 0.00478103] [-0.98302579 -0.18229407 -0.02071624] [-0.01949681 -0.00847911 0.99977396]] t_estimated: [[0.11980261] [0.9926502 ] [0.01711466]] R_gt: [[ 0.97062399 0.00686261 0.24050443] [ 0.04260257 0.97889633 -0.19986767] [-0.23680008 0.20424273 0.94984804]] t_gt: [-0.8005343 0.56084333 -0.21118615] Pose Error in degrees for R and t: 102.49884304756998 62.79337508102041 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.97967266 0.01416991 -0.2001017 ] [ 0.0029116 -0.99639264 -0.08481292] [-0.20058166 -0.08367151 0.97609737]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99579138 -0.09151658 -0.00491238] [ 0.09152524 0.99580169 0.00164171] [ 0.00474073 -0.00208361 0.99998578]] t_gt: [ 0.80771058 -0.58874751 -0.03130465] Pose Error in degrees for R and t: 175.08262281474313 75.22943830392083 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.62426737e-01 -2.71541125e-01 4.40009496e-04] [ 2.71540880e-01 9.62426752e-01 5.45164154e-04] [-5.71511398e-04 -4.05199992e-04 9.99999755e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99638022 -0.0766199 -0.03682103] [ 0.07266276 0.99244263 -0.09888123] [ 0.04411861 0.09584823 0.99441694]] t_gt: [ 0.70543737 -0.19939617 -0.68014651] Pose Error in degrees for R and t: 12.977685449709114 45.38323272537024 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.89516854e-01 -1.44417391e-01 -1.14811620e-04] [ 1.44417259e-01 9.89516571e-01 -7.81866659e-04] [ 2.26523143e-04 7.57089458e-04 9.99999688e-01]] t_estimated: [[-0.02399304] [-0.99971013] [-0.00199942]] R_gt: [[ 0.99428507 -0.09762891 -0.04320554] [ 0.08283278 0.96075295 -0.26475165] [ 0.06735796 0.25965999 0.96334772]] t_gt: [ 0.50136094 0.12973605 -0.85545646] Pose Error in degrees for R and t: 15.80632866799539 81.95115839324976 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999560e-01 -9.31740951e-04 1.09793115e-04] [ 9.31731983e-04 9.99999563e-01 8.17052366e-05] [-1.09869195e-04 -8.16029029e-05 9.99999991e-01]] t_estimated: [[-5.40269889e-03] [-9.99984936e-01] [-9.68912562e-04]] R_gt: [[ 0.99977309 -0.02101895 0.0035657 ] [ 0.02092338 0.99946978 0.0249497 ] [-0.0040886 -0.02487029 0.99968219]] t_gt: [ 0.45453006 -0.66266192 0.5952156 ] Pose Error in degrees for R and t: 1.840557967282031 48.72913741315946 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.82732058 -0.56170153 0.00566058] [-0.56169783 0.82733906 0.00237458] [-0.00601702 -0.001215 -0.99998116]] t_estimated: [[0.96844008] [0.24921592] [0.00390332]] R_gt: [[ 9.95752255e-01 -9.20804305e-02 -2.85329600e-05] [ 9.20814577e-02 9.95750358e-01 1.67930139e-03] [-1.26816237e-04 -1.67495828e-03 9.99998854e-01]] t_gt: [ 0.79053117 -0.61132733 -0.03659736] Pose Error in degrees for R and t: 179.62341513280825 52.18697112541212 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.36826003 -0.92770844 -0.06116867] [ 0.92923531 -0.36939981 0.00809408] [-0.03010464 -0.05385936 0.99809462]] t_estimated: [[0.9661631 ] [0.2520404 ] [0.05481334]] R_gt: [[ 0.99521533 -0.09445227 -0.02502453] [ 0.08964432 0.98449325 -0.15079071] [ 0.03887894 0.14782544 0.98824862]] t_gt: [ 0.66198651 -0.14524011 -0.73530889] Pose Error in degrees for R and t: 106.9088870682419 55.758948366027155 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999998e-01 3.15175265e-06 -5.65382378e-05] [-3.15170556e-06 1.00000000e+00 8.32876220e-07] [ 5.65382404e-05 -8.32698027e-07 9.99999998e-01]] t_estimated: [[-7.20069795e-03] [-9.99973679e-01] [-8.89882146e-04]] R_gt: [[ 9.99054605e-01 4.91484257e-03 4.31913432e-02] [-9.00316462e-04 9.95714423e-01 -9.24648970e-02] [-4.34605395e-02 9.23398184e-02 9.94778232e-01]] t_gt: [ 0.44773456 0.62535054 -0.63911694] Pose Error in degrees for R and t: 5.861810441466704 51.09806486020621 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.00000000e+00 -2.22044605e-16 -2.94902991e-17] [ 2.77555756e-16 1.00000000e+00 3.03576608e-18] [ 2.62810607e-16 7.48966861e-16 1.00000000e+00]] t_estimated: [[-0.76142477] [-0.64825093] [-0.0017454 ]] R_gt: [[ 0.99326799 0.05758805 0.10051691] [-0.04944722 0.99543116 -0.0816764 ] [-0.10476176 0.07615648 0.99157671]] t_gt: [0.11184353 0.98382721 0.13991085] Pose Error in degrees for R and t: 8.053398706837331 43.683046605629976 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.89657999 -0.44286866 -0.00341451] [ 0.44287557 0.89658167 0.00159489] [ 0.00235506 -0.00294214 0.9999929 ]] t_estimated: [[0.82726316] [0.56181168] [0.00181816]] R_gt: [[ 0.97929188 0.14564083 0.14063083] [-0.12470511 0.98113807 -0.14770089] [-0.15948979 0.12710512 0.97898262]] t_gt: [-0.12002981 0.99057624 0.06596638] Pose Error in degrees for R and t: 36.12499000913048 62.7843404312263 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99993620e-01 3.57151438e-03 6.26896925e-05] [-3.57151528e-03 9.99993622e-01 1.42668613e-05] [-6.26383384e-05 -1.44906674e-05 9.99999998e-01]] t_estimated: [[9.15609107e-01] [4.02069282e-01] [5.05489891e-04]] R_gt: [[ 0.99159379 -0.12777931 -0.02033821] [ 0.12816106 0.99157669 0.01872631] [ 0.01777403 -0.02117539 0.99961713]] t_gt: [ 0.64790939 -0.76078184 0.03774145] Pose Error in degrees for R and t: 7.722919132059359 73.2998030762685 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.98085072 0.19475556 -0.00146208] [-0.19475273 -0.98085058 -0.00187518] [-0.00179928 -0.00155453 0.99999717]] t_estimated: [[0.72445066] [0.68932578] [0.00109765]] R_gt: [[ 0.98060731 -0.18932448 0.05065177] [ 0.19133282 0.98077987 -0.0382346 ] [-0.04243942 0.0471858 0.99798402]] t_gt: [ 0.57041059 -0.81725102 -0.08205195] Pose Error in degrees for R and t: 179.7478508906586 81.3610232736628 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.96910871 -0.24661491 0.00306574] [ 0.24663159 0.96907907 -0.00765556] [-0.00108297 0.00817518 0.999966 ]] t_estimated: [[-0.50621415] [-0.8623869 ] [-0.00600571]] R_gt: [[ 0.97784276 -0.17941946 0.10784638] [ 0.19166832 0.97450671 -0.11661356] [-0.08417507 0.13470083 0.98730482]] t_gt: [ 0.41118516 -0.78816367 -0.45795721] Pose Error in degrees for R and t: 9.387428360609087 61.68591526390166 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.58227675e-01 2.86006360e-01 -2.90084898e-04] [-2.86006449e-01 9.58227634e-01 -3.35701981e-04] [ 1.81954464e-04 4.04645080e-04 9.99999902e-01]] t_estimated: [[-0.61361825] [-0.78960083] [-0.00177869]] R_gt: [[ 0.99950314 0.01494678 -0.02775454] [-0.01096919 0.99033225 0.13828202] [ 0.02955348 -0.13790776 0.99000361]] t_gt: [-0.20012011 -0.28818435 0.93643031] Pose Error in degrees for R and t: 17.820290577777243 69.59325788509011 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.80009159 -0.59978854 0.01035102] [-0.59977646 0.79952002 -0.03218588] [ 0.01102887 -0.03195995 -0.9994283 ]] t_estimated: [[0.99518115] [0.09756678] [0.00975668]] R_gt: [[ 0.99707691 0.04283781 -0.0632686 ] [-0.03114097 0.9839938 0.17546271] [ 0.06977256 -0.17297972 0.982451 ]] t_gt: [-0.52955716 -0.29671393 0.79468865] Pose Error in degrees for R and t: 179.55556013024446 56.756304240254934 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.98444537e-01 5.57533354e-02 2.68807014e-04] [-5.57523175e-02 9.98440370e-01 -2.91651160e-03] [-4.30993025e-04 2.89698846e-03 9.99995711e-01]] t_estimated: [[ 9.93094122e-01] [-1.17319968e-01] [ 3.01012996e-04]] R_gt: [[ 0.99312638 0.09811628 -0.06382065] [-0.07816975 0.96182506 0.26226326] [ 0.08711769 -0.25547131 0.96288425]] t_gt: [-0.67978044 -0.16120908 0.715479 ] Pose Error in degrees for R and t: 15.944606366791659 49.007704149958066 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99982390e-01 5.93348607e-03 -1.14487784e-04] [-5.93347672e-03 9.99982393e-01 8.18388274e-05] [ 1.14971358e-04 -8.11580756e-05 9.99999990e-01]] t_estimated: [[-0.86367971] [-0.50404021] [-0.00090818]] R_gt: [[ 0.99426754 0.03439813 0.10123491] [-0.02889186 0.99804753 -0.05536936] [-0.10294246 0.05212613 0.99332066]] t_gt: [-0.80776406 0.5715623 0.14433908] Pose Error in degrees for R and t: 6.796862661248232 65.83109476961458 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99700515 0.07732643 0.00116126] [-0.07732496 0.99700514 -0.0012621 ] [-0.00125537 0.00116852 0.99999853]] t_estimated: [[0.99922469] [0.03934665] [0.00136037]] R_gt: [[ 0.98622534 0.00940056 0.16514076] [ 0.01264276 0.99117829 -0.13192568] [-0.1649243 0.1321957 0.97740717]] t_gt: [-0.57162518 0.79909016 -0.18627821] Pose Error in degrees for R and t: 12.921279652205294 57.31677712639447 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.90132085 -0.39238574 0.18345067] [-0.43296627 0.82854595 -0.35503777] [-0.01268555 -0.3994309 -0.91667553]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.9765103 -0.04102329 0.21153121] [ 0.07179155 0.98755916 -0.13990036] [-0.20316048 0.15180061 0.96730736]] t_gt: [-0.30383859 0.95272298 0.00101166] Pose Error in degrees for R and t: 165.14835713006931 78.65424687463883 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-9.76562013e-01 -2.14162069e-01 2.14765486e-02] [-2.14096846e-01 9.76797959e-01 5.31859294e-03] [-2.21172897e-02 5.95874512e-04 -9.99755205e-01]] t_estimated: [[0.99014569] [0.1397043 ] [0.00970676]] R_gt: [[ 0.9960916 -0.08645028 0.01814086] [ 0.08618673 0.99616906 0.01482404] [-0.01935228 -0.01320285 0.99972535]] t_gt: [ 0.65058516 -0.69358538 0.30931905] Pose Error in degrees for R and t: 177.58201917664707 56.613795185770734 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999849e-01 5.45859852e-04 6.23763528e-05] [-5.45861129e-04 9.99999851e-01 2.04676217e-05] [-6.23651710e-05 -2.05016674e-05 9.99999998e-01]] t_estimated: [[ 9.98147775e-01] [-6.08359950e-02] [ 4.18520652e-05]] R_gt: [[ 9.91990172e-01 -1.26310972e-01 -1.57023257e-03] [ 1.26319022e-01 9.91960818e-01 7.64874588e-03] [ 5.91253279e-04 -7.78573467e-03 9.99969257e-01]] t_gt: [ 0.78447936 -0.61720097 0.06045737] Pose Error in degrees for R and t: 7.30150090256421 34.85741500050244 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.02696573 -0.99963418 0.00208499] [ 0.99960573 0.02698117 0.007772 ] [-0.00782541 0.00187459 0.99996762]] t_estimated: [[0.99986399] [0.01635792] [0.00210367]] R_gt: [[ 0.98827376 -0.15257828 0.00604617] [ 0.15263172 0.98823475 -0.00982179] [-0.00447582 0.01062925 0.99993322]] t_gt: [ 0.86702231 -0.49826369 0.00236818] Pose Error in degrees for R and t: 79.67976568136837 30.82249344227095 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.99681539 0.01653993 0.07800973] [ 0.00602696 0.9598293 -0.28051987] [-0.0795158 0.28009668 0.95667293]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.98105619 -0.19356947 0.00767681] [ 0.19323465 0.98062933 0.03205117] [-0.01373169 -0.02996071 0.99945665]] t_gt: [ 0.6861191 -0.69693327 0.20862551] Pose Error in degrees for R and t: 21.75204622871796 82.45022555787304 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 2.10315418e-01 9.77623237e-01 4.49799381e-03] [ 9.77633519e-01 -2.10311502e-01 -1.33203988e-03] [-3.56253311e-04 4.67753804e-03 -9.99988997e-01]] t_estimated: [[-0.65176651] [-0.75841921] [-0.00084645]] R_gt: [[ 0.93232651 -0.36012148 -0.0328434 ] [ 0.36143193 0.93089787 0.05288771] [ 0.01152736 -0.06117869 0.99806053]] t_gt: [ 0.77732922 -0.6148775 0.13298473] Pose Error in degrees for R and t: 176.84523282924354 87.68377135440666 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999878e-01 4.72980632e-04 -1.38933348e-04] [-4.72776121e-04 9.99998810e-01 1.46837236e-03] [ 1.39627695e-04 -1.46830650e-03 9.99998912e-01]] t_estimated: [[-7.86487629e-01] [-6.17605636e-01] [-6.97859476e-04]] R_gt: [[ 0.84982135 -0.51529748 -0.11077586] [ 0.52279332 0.85081872 0.05287094] [ 0.06700614 -0.10284378 0.99243815]] t_gt: [ 0.85776239 -0.50477042 0.09721374] Pose Error in degrees for R and t: 32.17568186756066 68.71924343032887 Number of keypoints: Image1: 605 Image2: 605 R_estimated: [[ 0.03240253 0.99835464 -0.0473084 ] [ 0.99833384 -0.03006813 0.04924883] [ 0.04774533 -0.04882537 -0.99766551]] t_estimated: [[ 0.70876278] [-0.7046567 ] [-0.03338041]] R_gt: [[ 0.9987096 0.05006563 0.00850033] [-0.05011266 0.99872895 0.00541253] [-0.00821831 -0.00583137 0.99994844]] t_gt: [-0.98851664 0.01357843 0.15050078] Pose Error in degrees for R and t: 176.1868312412161 44.339119792037955 Number of keypoints: Image1: 386 Image2: 386 R_estimated: [[ 9.96068895e-01 -8.85819193e-02 1.21107653e-05] [ 8.85819199e-02 9.96068893e-01 -5.94292315e-05] [-6.79880116e-06 6.02684038e-05 9.99999998e-01]] t_estimated: [[-0.97274106] [-0.23189183] [-0.00100386]] R_gt: [[ 0.98235868 0.18643145 0.01461625] [-0.1866823 0.98224945 0.01829117] [-0.01094619 -0.02069629 0.99972592]] t_gt: [-0.96352416 0.22285386 0.1481801 ] Pose Error in degrees for R and t: 15.89214160070701 27.695174199317574 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 2.19407666e-01 9.75633007e-01 7.15310488e-04] [-9.75632466e-01 2.19408367e-01 -1.12195014e-03] [-1.25155670e-03 -4.51715673e-04 9.99999115e-01]] t_estimated: [[0.50317113] [0.86418619] [0.00102271]] R_gt: [[ 0.96811139 0.24884484 0.02890094] [-0.24989365 0.96739035 0.04133468] [-0.01767246 -0.04723867 0.99872708]] t_gt: [-0.94822865 0.20578545 0.24189826] Pose Error in degrees for R and t: 62.935253998706 72.60023048956768 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.89200525 -0.33989323 -0.297992 ] [ 0.2924208 -0.93661453 0.19298522] [-0.34469801 0.08500477 0.93485693]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.98368068 -0.1702232 0.05828388] [ 0.16965001 0.98539472 0.01467861] [-0.05993155 -0.00455144 0.99819199]] t_gt: [ 0.6129399 -0.73745813 0.28365503] Pose Error in degrees for R and t: 151.28338393309016 89.07638396369894 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.85023388e-01 -1.72420774e-01 2.83503275e-05] [ 1.72420769e-01 9.85023380e-01 1.39388128e-04] [-5.19591444e-05 -1.32412381e-04 9.99999990e-01]] t_estimated: [[-0.37340221] [-0.92766813] [-0.00162307]] R_gt: [[ 0.94892413 -0.31234875 0.04451084] [ 0.3093541 0.94884132 0.06324734] [-0.06198933 -0.04624761 0.99700485]] t_gt: [ 0.69320901 -0.66931522 0.26735445] Pose Error in degrees for R and t: 9.326437501511133 68.80011593234967 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999366e-01 -4.37852304e-04 1.03759722e-03] [ 4.38818152e-04 9.99999471e-01 -9.30805093e-04] [-1.03718911e-03 9.31259819e-04 9.99999028e-01]] t_estimated: [[-0.68054465] [-0.73270616] [-0.00081502]] R_gt: [[ 0.87637119 -0.48118924 -0.02076196] [ 0.48145091 0.87402205 0.06549279] [-0.01336861 -0.06739188 0.99763736]] t_gt: [ 0.81077174 -0.56755616 0.14328009] Pose Error in degrees for R and t: 29.05433183918302 82.1817435702635 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999523e-01 -5.86942160e-04 7.80538521e-04] [ 5.87737171e-04 9.99999308e-01 -1.01870187e-03] [-7.79940062e-04 1.01916013e-03 9.99999177e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99871145 -0.04836527 -0.01534669] [ 0.04838941 0.99882806 0.00117263] [ 0.01527199 -0.00191233 0.9998807 ]] t_gt: [ 0.80117584 -0.55572346 -0.22201061] Pose Error in degrees for R and t: 2.8947302303162794 60.49273093335385 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99985791e-01 -5.32715469e-03 1.95588024e-04] [ 5.32720312e-03 9.99985780e-01 -2.47943638e-04] [-1.94264409e-04 2.48982052e-04 9.99999950e-01]] t_estimated: [[ 0.99703937] [ 0.07687614] [-0.00159967]] R_gt: [[ 0.9967491 -0.07333104 -0.03340386] [ 0.07269094 0.9971547 -0.01999449] [ 0.03477435 0.01750205 0.99924144]] t_gt: [ 0.7909783 -0.21278542 -0.5736512 ] Pose Error in degrees for R and t: 4.4794727806009185 39.35823641150175 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.99215003 0.12504511 -0.00142953] [-0.12504317 -0.99215036 -0.0013703 ] [-0.00158966 -0.00118079 0.99999804]] t_estimated: [[0.83894094] [0.54422179] [0.00086395]] R_gt: [[ 0.99221383 -0.12454145 -0.0013539 ] [ 0.12441515 0.99159473 -0.03549961] [ 0.00576316 0.03505557 0.99936852]] t_gt: [ 0.91684557 -0.29487471 -0.26915258] Pose Error in degrees for R and t: 180.0 52.521080241101934 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.73955721e-01 -2.26736826e-01 -8.15251459e-04] [ 2.26737157e-01 9.73955927e-01 3.38254760e-04] [ 7.17324180e-04 -5.14292957e-04 9.99999610e-01]] t_estimated: [[-0.33602537] [-0.94185214] [-0.00122637]] R_gt: [[ 0.99259199 0.12083402 0.01266616] [-0.12020935 0.9918637 -0.04191705] [-0.01762786 0.04008429 0.99904163]] t_gt: [-0.82077201 0.54061371 -0.18458093] Pose Error in degrees for R and t: 20.190360837193126 76.51730947182992 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.52537728 0.85086855 0.00119122] [ 0.85085915 -0.52537731 0.0041692 ] [ 0.00417328 -0.00117684 -0.9999906 ]] t_estimated: [[0.32314366] [0.94634928] [0.00109913]] R_gt: [[ 0.97111791 0.23546584 0.03854207] [-0.2358635 0.97176716 0.00607925] [-0.03602225 -0.01499395 0.9992391 ]] t_gt: [-0.8355157 0.54329101 0.08214858] Pose Error in degrees for R and t: 179.67794970433175 75.86297217677937 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.99896077 -0.04530047 -0.00502555] [ 0.045312 0.99897045 0.00220572] [ 0.00492046 -0.00243114 0.99998494]] t_estimated: [[-0.97433831] [-0.22500412] [-0.00616426]] R_gt: [[ 0.93232532 0.35911518 0.0424792 ] [-0.35957181 0.93311126 0.00337674] [-0.03842417 -0.01842212 0.99909219]] t_gt: [-0.79962069 0.59686881 0.06598766] Pose Error in degrees for R and t: 23.81749392691726 49.87956727245869 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98349882e-01 -5.74239730e-02 -1.86336016e-05] [ 5.74239690e-02 9.98349868e-01 -1.69312327e-04] [ 2.83254402e-05 1.67962926e-04 9.99999985e-01]] t_estimated: [[ 0.6793369 ] [-0.73382506] [-0.00146478]] R_gt: [[ 0.98563091 -0.16878267 0.00681546] [ 0.16866113 0.98555222 0.01551131] [-0.00933514 -0.01413924 0.9998562 ]] t_gt: [ 0.74727659 -0.65789746 0.09353415] Pose Error in degrees for R and t: 6.49623481992642 7.987997805478159 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.8815317 0.47212225 0.00156165] [ 0.47211817 -0.88153201 0.00239667] [ 0.00250817 -0.00137546 -0.99999591]] t_estimated: [[0.0313981 ] [0.9995061 ] [0.00130825]] R_gt: [[ 0.95543893 -0.29444048 -0.02103921] [ 0.29518183 0.95352461 0.06048065] [ 0.00225312 -0.06399681 0.9979479 ]] t_gt: [ 0.78303981 -0.60727308 0.13441749] Pose Error in degrees for R and t: 176.24306664859293 54.39377323463532 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.31166995 0.95018926 0.0014856 ] [ 0.95018985 0.31166765 0.00159129] [ 0.00104901 0.00190756 -0.99999763]] t_estimated: [[-0.31780566] [-0.94815529] [-0.00105234]] R_gt: [[ 9.31470362e-01 -3.63544683e-01 -1.41507419e-02] [ 3.63591789e-01 9.31558662e-01 8.03651958e-04] [ 1.28901450e-02 -5.89392989e-03 9.99900116e-01]] t_gt: [ 0.81672237 -0.5768538 0.01429212] Pose Error in degrees for R and t: 179.28634325694986 73.29925606461791 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.97371165e-01 7.24621196e-02 -3.00396955e-05] [-7.24621243e-02 9.97371143e-01 -2.07845438e-04] [ 1.48998045e-05 2.09475786e-04 9.99999978e-01]] t_estimated: [[-0.94576296] [-0.32485604] [-0.00099059]] R_gt: [[ 0.99879296 0.04244446 0.024733 ] [-0.04168493 0.99866634 -0.03045805] [-0.02599302 0.02939091 0.99922986]] t_gt: [-0.81192688 0.42375818 -0.40150186] Pose Error in degrees for R and t: 2.838789950387684 50.90355303412508 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.97943396 0.2016504 0.00679959] [ 0.20163539 -0.97945656 0.00283226] [ 0.00723103 -0.00140298 -0.99997287]] t_estimated: [[0.76952779] [0.63861263] [0.00094058]] R_gt: [[ 0.9905872 0.12751601 0.04977305] [-0.12253254 0.98811223 -0.09284685] [-0.06102178 0.08587411 0.99443605]] t_gt: [-0.81300311 0.39817002 -0.42483713] Pose Error in degrees for R and t: 174.71162493304973 68.17631171099563 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.73637170e-01 -2.28100893e-01 -8.02234622e-04] [ 2.28101016e-01 9.73637470e-01 6.40743809e-05] [ 7.66470264e-04 -2.45375731e-04 9.99999676e-01]] t_estimated: [[-0.28013077] [-0.95996033] [-0.00170811]] R_gt: [[ 0.99314392 0.10705847 0.04694375] [-0.1006011 0.98726723 -0.12322278] [-0.05953902 0.1176561 0.99126877]] t_gt: [-0.6878476 0.40729835 -0.6008109 ] Pose Error in degrees for R and t: 20.611056081968375 78.62224589937958 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 8.81154876e-01 4.72827493e-01 4.97172688e-04] [-4.72827301e-01 8.81155000e-01 -4.59056429e-04] [-6.55140700e-04 1.69422991e-04 9.99999771e-01]] t_estimated: [[0.60309297] [0.79767032] [0.00096805]] R_gt: [[ 0.98387224 -0.17743592 0.02263039] [ 0.17582978 0.98259936 0.05986539] [-0.0328585 -0.05492106 0.99795016]] t_gt: [ 0.58919269 -0.7315788 0.34299336] Pose Error in degrees for R and t: 38.57072005056115 76.82719812460667 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-8.81448405e-01 4.72277904e-01 1.51329041e-03] [ 4.72280319e-01 8.81444521e-01 2.61861098e-03] [-9.71694329e-05 3.02286775e-03 -9.99995426e-01]] t_estimated: [[9.56864602e-01] [2.90533147e-01] [7.89492246e-04]] R_gt: [[ 0.91646749 -0.40009557 0.00352326] [ 0.39838205 0.91328847 0.08484019] [-0.03716135 -0.07634922 0.99638796]] t_gt: [ 0.75011126 -0.6250192 0.21606502] Pose Error in degrees for R and t: 179.90214970984536 57.56539137232271 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.56696506e-01 5.15819924e-01 9.50051559e-04] [-5.15819504e-01 8.56697029e-01 -6.62726752e-04] [-1.15575401e-03 7.77005688e-05 9.99999329e-01]] t_estimated: [[0.76264732] [0.64681389] [0.00092667]] R_gt: [[ 0.86674569 -0.49854879 -0.01418722] [ 0.4966933 0.86023769 0.11527051] [-0.0452633 -0.10695743 0.99323226]] t_gt: [ 0.79221816 -0.56730884 0.22483564] Pose Error in degrees for R and t: 61.336758873229996 76.26402226452348 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.84864179e-01 -1.73327547e-01 -3.33182171e-04] [ 1.73327674e-01 9.84864131e-01 4.01492848e-04] [ 2.58549399e-04 -4.53165615e-04 9.99999864e-01]] t_estimated: [[-0.74342032] [-0.66882398] [-0.00084769]] R_gt: [[ 0.98508375 0.17129201 -0.01642273] [-0.171338 0.98521105 -0.00144675] [ 0.01593343 0.00423953 0.99986435]] t_gt: [-0.64192433 0.76010041 -0.10089855] Pose Error in degrees for R and t: 19.867947587313452 88.2196329475763 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.66203151e-01 -2.57781758e-01 -1.89868608e-04] [ 2.57781657e-01 9.66203096e-01 -4.41909980e-04] [ 2.97367968e-04 3.78030171e-04 9.99999884e-01]] t_estimated: [[-0.68594942] [-0.72764848] [-0.00104248]] R_gt: [[ 0.94125089 0.33753896 -0.01069429] [-0.33765168 0.94120183 -0.01142607] [ 0.00620905 0.01436635 0.99987836]] t_gt: [-0.61204049 0.78966478 -0.04284831] Pose Error in degrees for R and t: 34.68065021982098 81.0991595356698 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-7.22948466e-01 6.90901340e-01 9.24393049e-04] [-6.90901528e-01 -7.22945877e-01 -2.08268949e-03] [-7.70646815e-04 -2.14434174e-03 9.99997404e-01]] t_estimated: [[0.61541768] [0.78820057] [0.00097069]] R_gt: [[ 0.90132752 0.43150001 0.03764194] [-0.4299481 0.90183177 -0.04294996] [-0.05247873 0.02252736 0.99836787]] t_gt: [-0.59992713 0.79698051 0.07006783] Pose Error in degrees for R and t: 110.79134523883397 74.98673064808668 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 9.96839218e-01 7.94449700e-02 2.63518565e-04] [-7.94449297e-02 9.96839244e-01 -1.60045512e-04] [-2.75400458e-04 1.38604429e-04 9.99999952e-01]] t_estimated: [[ 9.65778193e-01] [-2.59368606e-01] [-6.39578139e-04]] R_gt: [[ 0.99544794 -0.09270801 -0.02209154] [ 0.09325376 0.99532698 0.02505765] [ 0.01966483 -0.02700388 0.99944172]] t_gt: [ 0.43771264 -0.89891896 -0.018771 ] Pose Error in degrees for R and t: 10.079537226795582 49.012323711063885 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 7.43920420e-01 6.68266071e-01 1.69334667e-03] [-6.68261708e-01 7.43921969e-01 -2.52853776e-03] [-2.94945378e-03 7.49432138e-04 9.99995370e-01]] t_estimated: [[-0.93506152] [-0.35448029] [-0.00191611]] R_gt: [[ 0.98412229 -0.16312382 -0.06995231] [ 0.16626382 0.98520113 0.04165166] [ 0.06212185 -0.05262085 0.99668008]] t_gt: [ 0.46850947 -0.87508154 -0.12137206] Pose Error in degrees for R and t: 51.64249907544039 82.6659841249952 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-0.77816599 0.62744821 0.02768457] [ 0.62749016 0.77858102 -0.0082271 ] [-0.02671676 0.01096975 -0.99958285]] t_estimated: [[9.15700398e-01] [4.01860629e-01] [9.03057592e-04]] R_gt: [[ 0.95802075 -0.26209484 -0.11620005] [ 0.26570475 0.9639134 0.01646211] [ 0.10769102 -0.0466451 0.99308878]] t_gt: [ 0.56629537 -0.79223165 -0.22732919] Pose Error in degrees for R and t: 174.92323140796452 78.46392405473686 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.81457842e-01 -1.91677944e-01 -2.63646021e-04] [ 1.91678002e-01 9.81457843e-01 2.16179477e-04] [ 2.17320617e-04 -2.62706186e-04 9.99999942e-01]] t_estimated: [[9.92292190e-01] [1.23916450e-01] [9.60592633e-04]] R_gt: [[ 0.98663384 -0.1623988 0.01341332] [ 0.16205374 0.9864966 0.02371749] [-0.01708423 -0.02122645 0.99962864]] t_gt: [ 0.54305881 -0.8170289 0.19378055] Pose Error in degrees for R and t: 2.315650677894584 64.03539400005889 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99273576e-01 -3.81085381e-02 2.43292842e-04] [ 3.81085541e-02 9.99273603e-01 -6.14079750e-05] [-2.40775947e-04 7.06349052e-05 9.99999969e-01]] t_estimated: [[0.77821439] [0.62799715] [0.00139495]] R_gt: [[ 0.96819496 -0.25019266 -0.00108633] [ 0.25012256 0.96780066 0.02827155] [-0.00602172 -0.02764449 0.99959915]] t_gt: [ 0.5961644 -0.79625525 0.10278903] Pose Error in degrees for R and t: 12.412314839298336 87.9392605916756 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-1.35044436e-01 9.90839420e-01 -4.94164152e-04] [-9.90836844e-01 -1.35045216e-01 -2.26663537e-03] [-2.31260618e-03 1.83539554e-04 9.99997309e-01]] t_estimated: [[0.07083438] [0.99748741] [0.00116122]] R_gt: [[ 0.89845513 -0.43889341 0.01222897] [ 0.43813376 0.89801621 0.04006284] [-0.02856508 -0.03063728 0.99912239]] t_gt: [ 0.67818169 -0.7278059 0.10182415] Pose Error in degrees for R and t: 123.7972974363055 47.326444053946545 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 0.79583737 0.60422448 0.03944168] [ 0.60418415 -0.78809888 -0.11773563] [-0.0400548 0.11752845 -0.9922614 ]] t_estimated: [[9.43231414e-01] [3.32135259e-01] [8.18067141e-04]] R_gt: [[ 0.99986574 0.01549941 -0.00542113] [-0.01558261 0.99975428 -0.01573841] [ 0.00517483 0.01582081 0.99986223]] t_gt: [ 0.74690314 0.33165287 -0.57631769] Pose Error in degrees for R and t: 172.10809771035198 35.49317869505705 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.86946808 -0.49397074 0.00426258] [-0.49367175 0.86918637 0.02834191] [-0.01770505 0.02253807 -0.9995892 ]] t_estimated: [[0.96098016] [0.2766026 ] [0.00285157]] R_gt: [[ 0.99994742 0.00604117 -0.0083458 ] [-0.00608976 0.99996505 -0.00579708] [ 0.00831018 0.00584852 0.99994845]] t_gt: [ 0.97046129 -0.1264967 -0.20543483] Pose Error in degrees for R and t: 179.90161240409952 26.231057364374966 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-7.48364774e-01 -6.63277874e-01 -3.55341308e-03] [ 6.63263604e-01 -7.48372567e-01 4.46011496e-03] [-5.61757244e-03 9.80943356e-04 9.99983740e-01]] t_estimated: [[0.97813306] [0.20796754] [0.00228536]] R_gt: [[ 0.99785767 0.06493194 -0.00798913] [-0.06495346 0.99788538 -0.00247582] [ 0.00781106 0.00299089 0.99996508]] t_gt: [ 0.73221744 0.65704427 -0.17930544] Pose Error in degrees for R and t: 142.17502461665435 31.521921627986405 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.91380084e-01 1.31017224e-01 1.22839178e-04] [-1.31017200e-01 9.91380077e-01 -1.91772140e-04] [-1.46905767e-04 1.74025035e-04 9.99999974e-01]] t_estimated: [[-8.28944726e-01] [ 5.59330198e-01] [-6.09441196e-04]] R_gt: [[ 0.9987196 -0.03212052 0.03909352] [ 0.03232992 0.99946594 -0.00474461] [-0.03892063 0.00600403 0.99922462]] t_gt: [ 0.68576447 -0.61833451 0.38391343] Pose Error in degrees for R and t: 9.640759109812361 23.858384466043198 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.5120584 0.8589478 -0.00220748] [-0.85894901 0.51205074 -0.00326207] [-0.0016716 0.00356649 0.99999224]] t_estimated: [[4.22147894e-01] [9.06526970e-01] [9.34131177e-05]] R_gt: [[ 0.99492056 -0.00475297 0.10055295] [ 0.00833085 0.99934563 -0.03518808] [-0.10031855 0.03584769 0.99430943]] t_gt: [-0.00871699 0.82293095 0.56807453] Pose Error in degrees for R and t: 59.85351877342195 42.06525118454598 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.70761870e-01 2.40044531e-01 1.17281082e-04] [-2.40044478e-01 9.70761827e-01 -3.53048713e-04] [-1.98599411e-04 3.14573553e-04 9.99999931e-01]] t_estimated: [[-7.12401990e-01] [-7.01771279e-01] [-6.90911157e-04]] R_gt: [[ 0.98755304 0.09897703 0.12224076] [-0.08794873 0.99181667 -0.09254575] [-0.13040011 0.08064299 0.98817583]] t_gt: [-0.28835804 0.95650614 0.04410944] Pose Error in degrees for R and t: 12.225818862933295 62.23461261723214 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.84540348e-01 -1.75157419e-01 -4.27452171e-04] [ 1.75156808e-01 9.84539826e-01 -1.19346542e-03] [ 6.29888009e-04 1.10014370e-03 9.99999196e-01]] t_estimated: [[-0.03233588] [-0.99947274] [-0.00293963]] R_gt: [[ 0.98478418 -0.06218209 0.16227376] [ 0.06333809 0.99799024 -0.00195935] [-0.16182512 0.01220814 0.98674327]] t_gt: [ 0.23377766 -0.35775732 0.90407837] Pose Error in degrees for R and t: 11.378056826100773 69.67458593493598 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.024086 0.99970668 -0.00253476] [-0.99970695 -0.024092 -0.00236487] [-0.00242524 0.00247706 0.99999399]] t_estimated: [[ 8.06042916e-04] [ 9.99999599e-01] [-3.90544018e-04]] R_gt: [[ 0.96158316 -0.05784201 0.26835326] [ 0.06249701 0.99800645 -0.0088314 ] [-0.2673067 0.02526382 0.9632799 ]] t_gt: [ 0.18251118 -0.19023547 0.96462435] Pose Error in degrees for R and t: 95.85961386720032 79.02007706351392 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.99975982e-01 -6.78827341e-03 -1.39785272e-03] [ 6.78829962e-03 9.99976959e-01 1.40063601e-05] [ 1.39772544e-03 -2.34950668e-05 9.99999023e-01]] t_estimated: [[-0.99999632] [-0.00161587] [-0.00218111]] R_gt: [[ 0.93946316 -0.09373542 0.32958231] [ 0.11939085 0.99112704 -0.05843681] [-0.32117916 0.09424873 0.94231653]] t_gt: [ 0.42242005 -0.28114904 0.86169398] Pose Error in degrees for R and t: 20.49589770287801 64.92250850088236 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 0.99999713 0.0020857 -0.00118255] [-0.00208437 0.9999972 0.00112432] [ 0.00118489 -0.00112185 0.99999867]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.99301128 -0.01479089 0.1170921 ] [ 0.01830908 0.99941071 -0.02903242] [-0.11659432 0.03097385 0.99269639]] t_gt: [0.15025747 0.00979966 0.98859833] Pose Error in degrees for R and t: 7.092000227136597 89.31172797589029 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.54452565 0.55303515 -0.63059015] [ 0.18163893 0.65623141 0.73237124] [ 0.8188401 -0.51333465 0.25688212]] t_estimated: [[-0.82422365] [-0.56626052] [-0.00209726]] R_gt: [[ 0.98749902 -0.06815025 0.14213196] [ 0.07723765 0.9952406 -0.05942905] [-0.13740568 0.06966516 0.98806176]] t_gt: [ 0.77268301 -0.330442 0.54200465] Pose Error in degrees for R and t: 85.99876318730908 63.199580580637054 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99997016e-01 2.44299991e-03 6.35171953e-06] [-2.44299743e-03 9.99996950e-01 -3.63767233e-04] [-7.24038347e-06 3.63750630e-04 9.99999934e-01]] t_estimated: [[-0.02258463] [-0.99974308] [-0.00192619]] R_gt: [[ 0.97668421 -0.17638898 0.12237379] [ 0.18124262 0.98299104 -0.02965285] [-0.115063 0.05114024 0.99204094]] t_gt: [ 0.8486384 -0.48639312 0.20792932] Pose Error in degrees for R and t: 12.726240470748161 62.17960707331285 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.98343751e-01 5.75304271e-02 7.30713841e-05] [-5.75304206e-02 9.98343750e-01 -8.81712271e-05] [-7.80228880e-05 8.38213661e-05 9.99999993e-01]] t_estimated: [[ 2.60301409e-01] [-9.65527373e-01] [-2.60432609e-04]] R_gt: [[ 0.99525728 -0.06637006 0.07112993] [ 0.0705178 0.99585299 -0.05747895] [-0.06702042 0.06222349 0.99580873]] t_gt: [ 0.72501344 -0.61606173 -0.30793417] Pose Error in degrees for R and t: 8.928291360389068 38.40615930974025 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99708700e-01 2.41246597e-02 7.18143677e-04] [-2.41243800e-02 9.99708887e-01 -3.95631413e-04] [-7.27479089e-04 3.78191395e-04 9.99999664e-01]] t_estimated: [[0.99948514] [0.03204005] [0.0016989 ]] R_gt: [[ 0.99132371 -0.09842919 0.08712071] [ 0.10259673 0.99371847 -0.04470184] [-0.08217393 0.05325327 0.99519369]] t_gt: [ 0.76241104 -0.64457155 -0.05706937] Pose Error in degrees for R and t: 9.074538212418304 42.160334167669475 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999934e-01 3.62014897e-04 1.23121318e-06] [-3.62014527e-04 9.99999893e-01 -2.88126214e-04] [-1.33551903e-06 2.88125750e-04 9.99999958e-01]] t_estimated: [[-0.54187419] [-0.84045837] [-0.00144574]] R_gt: [[ 0.98228945 -0.0915738 0.16346958] [ 0.10582884 0.99110256 -0.08072014] [-0.15462271 0.09659114 0.98324035]] t_gt: [ 0.83618401 -0.54816654 0.01759972] Pose Error in degrees for R and t: 11.956245771766273 89.56574114009663 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.84193195e-01 1.77095567e-01 9.56324089e-04] [-1.77092900e-01 9.84191250e-01 -2.38485197e-03] [-1.36355251e-03 2.17779688e-03 9.99996699e-01]] t_estimated: [[-0.44568796] [-0.89516366] [-0.00665363]] R_gt: [[ 0.99643745 -0.07522999 -0.0381278 ] [ 0.07698358 0.99593162 0.046832 ] [ 0.03444847 -0.04959973 0.99817447]] t_gt: [ 0.35352731 -0.93425568 0.04674142] Pose Error in degrees for R and t: 15.007260458660902 47.278307492263465 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.88773514 0.46034728 -0.00258826] [-0.46031029 0.88771371 0.00887713] [ 0.0063842 -0.00668914 0.99995725]] t_estimated: [[-0.99842201] [-0.05581241] [-0.00620138]] R_gt: [[ 0.97402428 -0.21197955 -0.07962983] [ 0.2161176 0.97521365 0.0474614 ] [ 0.06759419 -0.06343864 0.99569418]] t_gt: [ 0.56297972 -0.82347695 -0.0702819 ] Pose Error in degrees for R and t: 40.07273436339463 58.9560610627211 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.74513084 0.66691436 0.002296 ] [ 0.66690582 -0.74513354 0.00355583] [ 0.00408227 -0.00111834 -0.99999104]] t_estimated: [[0.74688212] [0.66495373] [0.00190531]] R_gt: [[ 0.95025275 -0.29012729 -0.11333978] [ 0.29599076 0.95441449 0.03850462] [ 0.09700119 -0.07013642 0.99281044]] t_gt: [ 0.60599981 -0.78827338 -0.10672074] Pose Error in degrees for R and t: 174.76137410643352 85.88501941171879 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.50484771 -0.86314992 -0.01005037] [-0.86316844 0.50490217 -0.00374694] [ 0.00830863 0.00678353 -0.99994247]] t_estimated: [[ 0.86615117] [ 0.49975982] [-0.00471838]] R_gt: [[ 0.99464176 0.09210717 0.04694596] [-0.09227667 0.99573144 0.00145445] [-0.04661159 -0.00577823 0.99889647]] t_gt: [-0.39260898 0.81581711 0.42461822] Pose Error in degrees for R and t: 178.17938698063784 86.23580297748963 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999878e-01 -8.54937086e-05 -4.87478451e-04] [ 8.57838248e-05 9.99999819e-01 5.95146618e-04] [ 4.87427482e-04 -5.95188363e-04 9.99999704e-01]] t_estimated: [[0.50239021] [0.86464 ] [0.00132208]] R_gt: [[ 0.99191834 0.11790298 0.04686382] [-0.1181039 0.99299973 0.00154711] [-0.04635319 -0.0070685 0.9988994 ]] t_gt: [-0.25952613 0.89437722 0.36432895] Pose Error in degrees for R and t: 7.3073329393736195 49.95323832948822 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99998461e-01 -1.75349994e-03 -5.27387424e-05] [ 1.75350693e-03 9.99998454e-01 1.32838763e-04] [ 5.25057281e-05 -1.32931036e-04 9.99999990e-01]] t_estimated: [[-9.40208711e-01] [-3.40597933e-01] [-7.92088215e-04]] R_gt: [[ 0.99240927 0.11388243 0.04642532] [-0.1140594 0.99347292 0.00117526] [-0.04598864 -0.00646151 0.99892092]] t_gt: [0.05869489 0.90759438 0.4157251 ] Pose Error in degrees for R and t: 7.161704703598602 68.61460075309809 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99481599e-01 -3.21842251e-02 -8.41764361e-04] [ 3.21841748e-02 9.99481953e-01 -7.32075662e-05] [ 8.43684416e-04 4.60781240e-05 9.99999643e-01]] t_estimated: [[ 0.66571632] [-0.74613868] [-0.00994224]] R_gt: [[ 0.99737432 0.07230639 0.00414395] [-0.07219558 0.99713522 -0.02256195] [-0.00576371 0.0222036 0.99973649]] t_gt: [-0.86938739 0.41944293 -0.26121483] Pose Error in degrees for R and t: 6.132313146731419 27.235760327472118 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99954191e-01 9.57024095e-03 -1.61659925e-04] [-9.57020780e-03 9.99954184e-01 2.04622813e-04] [ 1.63610808e-04 -2.03066320e-04 9.99999966e-01]] t_estimated: [[-7.62831863e-01] [-6.46596535e-01] [-6.84762889e-04]] R_gt: [[ 0.99252295 0.11803294 0.03108584] [-0.1161507 0.99161435 -0.05666422] [-0.03751424 0.0526296 0.99790898]] t_gt: [-0.85188096 0.42365689 -0.3079183 ] Pose Error in degrees for R and t: 7.215139941444158 67.90658867306249 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.87481242e-01 1.57735807e-01 -4.60394334e-04] [-1.57735837e-01 9.87481344e-01 -2.87711505e-05] [ 4.50092575e-04 1.01031657e-04 9.99999894e-01]] t_estimated: [[-0.91346464] [-0.40691528] [-0.00151721]] R_gt: [[ 0.97949614 0.19672254 0.04346353] [-0.19000382 0.9737436 -0.12539127] [-0.0669898 0.1145625 0.99115523]] t_gt: [-0.80967523 0.43641624 -0.39238614] Pose Error in degrees for R and t: 7.922993769229185 55.7627765482808 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.90946488 0.41490242 -0.02701127] [ 0.41476216 0.90986496 0.01086814] [ 0.02908582 -0.00131905 -0.99957605]] t_estimated: [[ 0.92728283] [-0.37393062] [-0.01795661]] R_gt: [[ 9.72074803e-01 -2.34560946e-01 -7.23788725e-03] [ 2.34671422e-01 9.71723550e-01 2.61510628e-02] [ 8.99875155e-04 -2.71195259e-02 9.99631307e-01]] t_gt: [ 0.75827018 -0.64618008 0.08647335] Pose Error in degrees for R and t: 177.8435545264629 19.403102266389933 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-9.99621482e-01 -2.75112892e-02 -1.48185706e-04] [-2.75115225e-02 9.99619657e-01 1.91263528e-03] [ 9.55102819e-05 1.91598813e-03 -9.99998160e-01]] t_estimated: [[9.91522270e-01] [1.29933861e-01] [8.83257989e-04]] R_gt: [[ 0.9603883 -0.27862139 -0.0050753 ] [ 0.27858304 0.9594872 0.04215389] [-0.00687541 -0.04189766 0.99909812]] t_gt: [ 0.75043377 -0.64680749 0.13597511] Pose Error in degrees for R and t: 179.90669364472672 48.68870909805434 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.99884101e-01 -1.52152518e-02 5.28945104e-04] [ 1.52153862e-02 9.99884208e-01 -2.51053654e-04] [-5.25064012e-04 2.59072661e-04 9.99999829e-01]] t_estimated: [[ 9.95335250e-01] [-9.64761272e-02] [-3.10886599e-04]] R_gt: [[ 9.28754974e-01 -3.67040957e-01 5.19196679e-02] [ 3.66466402e-01 9.30204553e-01 2.05263823e-02] [-5.58295839e-02 -3.71119880e-05 9.98439837e-01]] t_gt: [ 0.74775701 -0.64875605 0.14133307] Pose Error in degrees for R and t: 20.90103956876559 36.21414823237756 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.98729489e-01 5.03922148e-02 1.81712084e-04] [-5.03921874e-02 9.98729495e-01 -1.52220749e-04] [-1.89151958e-04 1.42870481e-04 9.99999972e-01]] t_estimated: [[ 6.15308621e-01] [-7.88285947e-01] [-7.52957410e-04]] R_gt: [[ 0.98498117 -0.16900227 -0.03533981] [ 0.17091847 0.98339597 0.06097914] [ 0.02444727 -0.06610429 0.99751305]] t_gt: [ 0.74449658 -0.65503941 0.12902796] Pose Error in degrees for R and t: 13.315874811740809 13.003487064419081 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99916096e-01 -1.29345630e-02 7.06036483e-04] [ 1.29348079e-02 9.99916283e-01 -3.43366544e-04] [-7.01536079e-04 3.52470180e-04 9.99999692e-01]] t_estimated: [[0.98204344] [0.18865218] [0.00101978]] R_gt: [[ 0.96742559 -0.25038264 -0.03735884] [ 0.25097523 0.96791845 0.01204459] [ 0.03314494 -0.02102884 0.99922887]] t_gt: [ 0.7897172 -0.6133863 -0.0101974] Pose Error in degrees for R and t: 13.97123368889363 48.71465138876006 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 3.02115911e-01 9.53271182e-01 1.69908832e-04] [-9.53268928e-01 3.02115576e-01 -2.12828625e-03] [-2.08016606e-03 4.81020331e-04 9.99997721e-01]] t_estimated: [[0.45889134] [0.88849174] [0.00108485]] R_gt: [[ 0.95213799 -0.30281316 -0.04167284] [ 0.30023921 0.95207754 -0.05835434] [ 0.05734663 0.04304865 0.99742611]] t_gt: [ 0.81014743 -0.56761924 -0.1465249 ] Pose Error in degrees for R and t: 90.06118927216902 82.37352891794121 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 8.24430005e-01 -5.65962477e-01 -1.28143439e-03] [ 5.65963043e-01 8.24430606e-01 9.79574980e-05] [ 1.00101346e-03 -8.06003608e-04 9.99999174e-01]] t_estimated: [[-0.09466007] [-0.9955084 ] [-0.00157767]] R_gt: [[ 9.92206931e-01 1.24602665e-01 1.94226230e-04] [-1.24602081e-01 9.92205192e-01 1.78272413e-03] [ 2.97920860e-05 -1.79239249e-03 9.99998526e-01]] t_gt: [-0.78881189 0.61416939 0.02391153] Pose Error in degrees for R and t: 41.62709879036792 57.53532506770198 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 6.53904563e-01 -7.56575448e-01 1.55359251e-03] [ 7.56577040e-01 6.53903383e-01 -1.24433172e-03] [-7.44685719e-05 1.98908661e-03 9.99998019e-01]] t_estimated: [[-0.30786347] [-0.95142914] [-0.00163757]] R_gt: [[ 0.94659012 0.32231125 -0.00908705] [-0.32240608 0.94652179 -0.01227311] [ 0.00464642 0.01454834 0.99988271]] t_gt: [-0.6918904 0.72079887 -0.04167324] Pose Error in degrees for R and t: 67.97426372772702 61.7894509107812 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.94466551 -0.32798907 -0.00549885] [ 0.32800127 0.94467615 0.00146112] [ 0.0047154 -0.0031839 0.99998381]] t_estimated: [[-0.98344001] [-0.18116 ] [-0.005176 ]] R_gt: [[ 0.92029299 0.39042059 0.02514362] [-0.39057279 0.92057093 0.00122621] [-0.02266814 -0.01094807 0.999683 ]] t_gt: [-0.66510704 0.7445643 0.05706685] Pose Error in degrees for R and t: 42.17024320111674 58.74068578300043 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-6.73924685e-01 7.38756174e-01 -8.05195551e-03] [-7.38775128e-01 -6.73951448e-01 -8.69094797e-04] [-6.06867622e-03 5.36288003e-03 9.99967205e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 9.76577735e-01 2.11189267e-01 -4.11862065e-02] [-2.11025604e-01 9.77445369e-01 8.33439520e-03] [ 4.20168844e-02 5.52866052e-04 9.99116646e-01]] t_gt: [-0.61217804 0.77098537 -0.17555517] Pose Error in degrees for R and t: 120.19259476199682 61.40156173439607 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99997190e-01 -2.37055358e-03 -8.17004244e-06] [ 2.37055706e-03 9.99997087e-01 4.55065915e-04] [ 7.09126050e-06 -4.55084004e-04 9.99999896e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95483244 0.293582 -0.04588434] [-0.29537881 0.9545846 -0.03898888] [ 0.03235374 0.05078191 0.99818501]] t_gt: [-0.54755157 0.80541565 -0.22692048] Pose Error in degrees for R and t: 17.620951713458737 36.70258733462539 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999115e-01 -1.29088351e-03 -3.22777524e-04] [ 1.29088455e-03 9.99999167e-01 3.00082217e-06] [ 3.22773381e-04 -3.41748803e-06 9.99999948e-01]] t_estimated: [[-0.98218516] [-0.18791145] [-0.001268 ]] R_gt: [[ 0.93559701 0.34656464 -0.06746912] [-0.34966059 0.93598173 -0.04094716] [ 0.04895871 0.06190191 0.99688078]] t_gt: [-0.51134602 0.82183912 -0.2512085 ] Pose Error in degrees for R and t: 20.965158738612807 69.6275073432259 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 3.81162194e-01 -9.24504735e-01 -2.52512412e-03] [ 9.24507766e-01 3.81163196e-01 9.05542811e-05] [ 8.78766519e-04 -2.36901273e-03 9.99996808e-01]] t_estimated: [[ 9.62644538e-01] [-2.70767846e-01] [ 5.16588907e-04]] R_gt: [[ 0.98042975 -0.19644612 0.01289506] [ 0.1961399 0.980333 0.02180624] [-0.01692579 -0.01885048 0.99967934]] t_gt: [ 0.72368621 -0.67726851 0.13261085] Pose Error in degrees for R and t: 56.28951981230227 28.345134885482643 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.87629216e-01 1.56807286e-01 8.36860766e-05] [-1.56807282e-01 9.87629219e-01 -5.33864003e-05] [-9.10221910e-05 3.96033825e-05 9.99999995e-01]] t_estimated: [[9.45672582e-01] [3.25119883e-01] [6.54410264e-04]] R_gt: [[ 0.93415417 -0.35539102 0.03245484] [ 0.35427097 0.93446417 0.0356326 ] [-0.04299228 -0.02178882 0.99883753]] t_gt: [ 0.76918074 -0.62257995 0.14406664] Pose Error in degrees for R and t: 29.941937871084292 58.326755205673024 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 7.08359429e-01 7.05850929e-01 1.17729088e-03] [-7.05850453e-01 7.08360370e-01 -8.50853968e-04] [-1.43452227e-03 -2.28280871e-04 9.99998945e-01]] t_estimated: [[0.6611845 ] [0.75022286] [0.00084543]] R_gt: [[ 0.88577639 -0.45970006 0.06384907] [ 0.45999633 0.88785531 0.01084735] [-0.0616747 0.0197618 0.99790072]] t_gt: [ 0.79697061 -0.59659476 0.09440625] Pose Error in degrees for R and t: 72.38464056907384 85.44331215736634 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 9.99997297e-01 -2.32505406e-03 2.60123933e-05] [ 2.32505136e-03 9.99997292e-01 1.03608988e-04] [-2.62532194e-05 -1.03548228e-04 9.99999994e-01]] t_estimated: [[0.03790114] [0.99928003] [0.00170931]] R_gt: [[ 0.99823865 0.05456496 0.02332056] [-0.05429147 0.99845009 -0.01222962] [-0.02395172 0.01094275 0.99965277]] t_gt: [-0.81576094 0.55611839 0.15895417] Pose Error in degrees for R and t: 3.587026616043846 58.3269475576909 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.89638087e-01 -1.43584316e-01 3.03890693e-05] [ 1.43584312e-01 9.89638082e-01 1.05717195e-04] [-4.52535114e-05 -1.00258369e-04 9.99999994e-01]] t_estimated: [[0.67053032] [0.74188163] [0.00085965]] R_gt: [[ 0.99618838 0.02635702 0.08315707] [-0.02451709 0.99943335 -0.02307503] [-0.0837173 0.02094802 0.99626878]] t_gt: [-0.75334304 0.42240676 0.50403054] Pose Error in degrees for R and t: 10.901262098633635 78.96957401492466 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.00738011 0.99988332 -0.01337487] [-0.99994013 -0.00748727 -0.00797993] [-0.00807914 0.01331518 0.99987871]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99418872 0.01330687 0.10683262] [-0.00591673 0.99758601 -0.06919878] [-0.10749512 0.0681655 0.99186575]] t_gt: [-0.72654102 0.57309248 0.37908198] Pose Error in degrees for R and t: 90.08422031855449 55.32339867562773 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 0.99919542 -0.03987455 0.00430395] [ 0.03989509 0.99919236 -0.00479678] [-0.0041092 0.00496463 0.99997923]] t_estimated: [[-0.99349448] [-0.11318375] [-0.01257597]] R_gt: [[ 0.99759964 0.06788852 -0.01368551] [-0.06796972 0.99767216 -0.00552298] [ 0.01327901 0.00643993 0.99989109]] t_gt: [-0.41792636 0.88827349 -0.19054596] Pose Error in degrees for R and t: 6.263835375813476 71.51443609137657 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.75571292 -0.65489843 0.00245594] [-0.65490221 -0.7557126 0.00125145] [ 0.00103641 -0.00255414 -0.9999962 ]] t_estimated: [[0.31161488] [0.95020595] [0.00219447]] R_gt: [[ 0.9928463 0.11922163 -0.00656915] [-0.11935009 0.99253553 -0.0250587 ] [ 0.00353353 0.02566315 0.9996643 ]] t_gt: [-0.39904644 0.90870038 -0.12257879] Pose Error in degrees for R and t: 178.65641389843051 42.367755461810546 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.98347737e-01 -5.74603603e-02 -3.21171334e-04] [ 5.74602726e-02 9.98347755e-01 -2.76064461e-04] [ 3.36503443e-04 2.57153737e-04 9.99999910e-01]] t_estimated: [[-0.45530846] [-0.89033091] [-0.002254 ]] R_gt: [[ 0.99375744 0.11114481 -0.00967219] [-0.11147651 0.99267857 -0.04650165] [ 0.00443422 0.0472892 0.99887105]] t_gt: [-0.38605257 0.89887107 -0.20735047] Pose Error in degrees for R and t: 10.058058125609298 51.38733564046817 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.66998027e-01 -2.54783617e-01 -3.51901014e-04] [ 2.54783705e-01 9.66998040e-01 2.33956354e-04] [ 2.80679345e-04 -3.15893977e-04 9.99999911e-01]] t_estimated: [[-0.50960925] [-0.86040537] [-0.00100515]] R_gt: [[ 0.98124474 0.19143024 0.02265975] [-0.19101048 0.98139524 -0.01943452] [-0.02595848 0.0147414 0.99955375]] t_gt: [-0.7185348 0.6903666 0.08427153] Pose Error in degrees for R and t: 25.84465644146234 76.82607059957664 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.91627200e-01 -1.29132298e-01 -5.87733977e-04] [ 1.29132772e-01 9.91626943e-01 8.56654918e-04] [ 4.72191028e-04 -9.25378036e-04 9.99999460e-01]] t_estimated: [[-0.93502249] [-0.35458561] [-0.00141157]] R_gt: [[ 0.96182027 0.26643341 0.06256426] [-0.26357824 0.96332516 -0.05030431] [-0.07367229 0.0318932 0.99677261]] t_gt: [-0.70033182 0.69784514 0.15015828] Pose Error in degrees for R and t: 23.27683237317302 65.9729309517801 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.63545122 0.77213165 0.0038018 ] [-0.77213938 -0.63543206 -0.00518381] [-0.0015868 -0.00622958 0.99997934]] t_estimated: [[0.62297408] [0.78224121] [0.00140944]] R_gt: [[ 0.96246263 0.2485999 0.10892283] [-0.24590282 0.96855902 -0.03775075] [-0.11488299 0.00954955 0.9933327 ]] t_gt: [-0.72099088 0.6234049 0.30255328] Pose Error in degrees for R and t: 115.18812901161537 87.76943877290316 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.91641311e-01 -1.29025095e-01 -1.84997005e-04] [ 1.29025086e-01 9.91641328e-01 -5.75794206e-05] [ 1.90879866e-04 3.32288775e-05 9.99999981e-01]] t_estimated: [[-0.56672339] [-0.82390744] [-0.00106592]] R_gt: [[ 0.9983518 0.05730012 -0.00310411] [-0.05732654 0.99831486 -0.00904754] [ 0.00257938 0.00920934 0.99995415]] t_gt: [-0.4021776 0.90851061 -0.11340919] Pose Error in degrees for R and t: 10.712662433505397 58.635255962869095 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.19965758 0.97984502 -0.0063705 ] [-0.97984477 0.19960656 -0.00783921] [-0.00640961 0.00780726 0.99994898]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99580336 0.09119143 0.00767912] [-0.09083517 0.99513171 -0.0382472 ] [-0.01113108 0.0373882 0.99923899]] t_gt: [-0.40665714 0.90719085 -0.10786439] Pose Error in degrees for R and t: 73.27327517445563 25.240706872196977 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99971947e-01 7.48807921e-03 -1.86144102e-04] [-7.48805463e-03 9.99971955e-01 1.32420015e-04] [ 1.87130454e-04 -1.31022443e-04 9.99999974e-01]] t_estimated: [[-7.13942683e-01] [-7.00203825e-01] [ 6.69242131e-04]] R_gt: [[ 0.99984423 0.01646099 -0.00639455] [-0.01665741 0.99935251 -0.03189678] [ 0.0058647 0.03199788 0.99947016]] t_gt: [-0.38666774 0.8216774 -0.41872941] Pose Error in degrees for R and t: 1.940843307331221 72.5686251954259 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.14176763 0.98989888 -0.00146479] [-0.98989871 -0.14176965 -0.00138427] [-0.00157795 0.00125375 0.99999797]] t_estimated: [[3.97714148e-01] [9.17509265e-01] [4.54106457e-04]] R_gt: [[ 0.99682329 -0.07835454 -0.01423898] [ 0.07822707 0.99689243 -0.00927816] [ 0.01492264 0.00813528 0.99985525]] t_gt: [ 0.8391455 -0.52097295 -0.15627543] Pose Error in degrees for R and t: 102.64363268138946 81.70160748566154 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 0.95107372 0.30891639 0.00542643] [-0.30889224 0.95108465 -0.00485582] [-0.00666104 0.00294206 0.99997349]] t_estimated: [[-0.08333884] [-0.99651969] [-0.00177317]] R_gt: [[ 0.98546656 -0.16217378 -0.05054252] [ 0.16172276 0.98675146 -0.01290825] [ 0.05196653 0.0045474 0.99863862]] t_gt: [ 0.84284179 -0.50297507 -0.19139956] Pose Error in degrees for R and t: 27.51683433201813 64.44848201379686 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.14880839 -0.98882925 -0.00853132] [ 0.98885381 -0.14875808 -0.00625972] [ 0.00492069 -0.00936773 0.99994401]] t_estimated: [[0.99823512] [0.05936945] [0.00138068]] R_gt: [[ 0.97717642 -0.19169152 -0.0915396 ] [ 0.19122613 0.98144731 -0.01391092] [ 0.09250767 -0.00391139 0.9957038 ]] t_gt: [ 0.86817533 -0.44437787 -0.220907 ] Pose Error in degrees for R and t: 87.58591507686859 32.86456461478123 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-2.27080131e-01 9.73875890e-01 6.04523863e-04] [-9.73874786e-01 -2.27078775e-01 -1.76953384e-03] [-1.58603180e-03 -9.90556522e-04 9.99998252e-01]] t_estimated: [[0.45636816] [0.88979042] [0.0010552 ]] R_gt: [[ 9.89442198e-01 -1.38098971e-01 4.39523936e-02] [ 1.38258174e-01 9.90395688e-01 -5.95855593e-04] [-4.34490243e-02 6.66674758e-03 9.99033091e-01]] t_gt: [ 0.63643431 -0.72626592 0.25978682] Pose Error in degrees for R and t: 111.08781051071159 69.17578743998453 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.86175205e-01 1.65692137e-01 2.14010939e-03] [-1.65689856e-01 9.86177176e-01 -1.20366038e-03] [-2.30996409e-03 8.32425606e-04 9.99996986e-01]] t_estimated: [[0.69601212] [0.71801543] [0.00458013]] R_gt: [[ 0.96567464 -0.25201757 0.06291159] [ 0.25412749 0.96676507 -0.02802576] [-0.05375882 0.04305198 0.99762508]] t_gt: [ 0.68466189 -0.72189407 0.10053378] Pose Error in degrees for R and t: 24.507578175247243 87.63085231972856 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-6.72137421e-01 7.40424445e-01 1.71137911e-03] [ 7.40426416e-01 6.72135324e-01 1.68192194e-03] [ 9.50577631e-05 2.39763297e-03 -9.99997121e-01]] t_estimated: [[9.97278381e-01] [7.37217208e-02] [9.68906766e-04]] R_gt: [[ 0.96826491 -0.24301211 0.05838054] [ 0.2449623 0.96910344 -0.02886583] [-0.04956312 0.04225061 0.99787684]] t_gt: [ 0.66111949 -0.74552583 0.08433421] Pose Error in degrees for R and t: 176.25094023598416 52.81141314776113 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-5.35853898e-02 -9.98562697e-01 -1.07052529e-03] [ 9.98562956e-01 -5.35861941e-02 7.37276946e-04] [-7.93582631e-04 -1.02947962e-03 9.99999155e-01]] t_estimated: [[ 8.87080867e-01] [-4.61613431e-01] [ 7.59492456e-04]] R_gt: [[ 0.99885446 0.0393296 0.02724431] [-0.03896894 0.99914779 -0.01360738] [-0.02775616 0.01253026 0.99953612]] t_gt: [-0.93976886 0.32688631 -0.09989906] Pose Error in degrees for R and t: 95.32889130381373 10.061117523804215 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.45284624e-01 3.26246738e-01 2.14767931e-04] [-3.26246584e-01 9.45284540e-01 -5.51408609e-04] [-3.82912065e-04 4.51170775e-04 9.99999825e-01]] t_estimated: [[-8.11356810e-01] [ 5.84551155e-01] [ 2.72615604e-04]] R_gt: [[ 0.99485772 0.08772484 0.05061021] [-0.08537862 0.99524914 -0.0467809 ] [-0.05447396 0.04221913 0.99762141]] t_gt: [-0.87267703 0.4199729 -0.24911354] Pose Error in degrees for R and t: 14.60326897340332 17.545056038117593 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.77206601e-01 2.12290342e-01 -2.64088277e-04] [-2.12290484e-01 9.77206315e-01 -7.53971130e-04] [ 9.80079432e-05 7.92848993e-04 9.99999681e-01]] t_estimated: [[-0.99205751] [-0.12577453] [-0.00163499]] R_gt: [[ 0.98406308 0.161611 0.07417786] [-0.15395033 0.98306229 -0.0994361 ] [-0.08899147 0.08643211 0.9922747 ]] t_gt: [-0.85281772 0.42182616 -0.30783864] Pose Error in degrees for R and t: 7.763576759280148 37.48689672834144 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 6.15341181e-01 7.88235305e-01 6.35100361e-03] [-7.88187546e-01 6.15373862e-01 -8.68339209e-03] [-1.07527978e-02 3.37466792e-04 9.99942130e-01]] t_estimated: [[0.81172882] [0.5840331 ] [0.00128642]] R_gt: [[ 9.87375009e-01 1.58400608e-01 5.62098919e-04] [-1.58337964e-01 9.87070518e-01 -2.49169103e-02] [-4.50116902e-03 2.45144278e-02 9.99689541e-01]] t_gt: [-0.70042675 0.70615606 -0.10366285] Pose Error in degrees for R and t: 42.92232705695623 81.00945769156729 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 8.39400972e-01 5.43512519e-01 3.88030685e-04] [-5.43487054e-01 8.39368145e-01 -9.10708382e-03] [-5.27551466e-03 7.43360535e-03 9.99958454e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.82691415e-01 1.84186293e-01 1.98379129e-02] [-1.84128942e-01 9.82891056e-01 -4.71239027e-03] [-2.03662188e-02 9.78551872e-04 9.99792457e-01]] t_gt: [-0.70176572 0.71043929 0.05292349] Pose Error in degrees for R and t: 22.33352429588344 45.61163748660928 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-7.97156455e-01 -6.03772790e-01 5.95680607e-05] [-6.03770628e-01 7.97153858e-01 2.59909152e-03] [-1.61674565e-03 2.03591714e-03 -9.99996621e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99701673 0.068815 0.03495088] [-0.06904695 0.99759838 0.00546307] [-0.03449114 -0.00785924 0.99937417]] t_gt: [-0.64179165 0.70191544 0.30889835] Pose Error in degrees for R and t: 177.94503443304833 50.254959413324016 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-9.43078406e-01 -3.32570382e-01 2.48195110e-04] [ 3.32563957e-01 -9.43064335e-01 -5.55653952e-03] [ 2.08200443e-03 -5.15771169e-03 9.99984532e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 9.98069931e-01 -5.03230035e-02 3.63754059e-02] [ 5.03364350e-02 9.98732553e-01 5.23866273e-04] [-3.63560497e-02 1.30839520e-03 9.99338259e-01]] t_gt: [ 0.03786152 -0.73161259 0.68066844] Pose Error in degrees for R and t: 157.69889113936495 69.97338909320364 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.999242 -0.03886354 -0.00224515] [ 0.03886716 0.99924312 0.00159184] [ 0.00218159 -0.0016779 0.99999621]] t_estimated: [[-0.98437868] [-0.17597831] [-0.00549932]] R_gt: [[ 0.98792229 -0.1421419 0.06168414] [ 0.14255201 0.9897851 -0.00228093] [-0.06073052 0.0110468 0.99809329]] t_gt: [ 0.41807754 -0.82963042 0.37003316] Pose Error in degrees for R and t: 7.005124008634141 74.47941382503149 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.98592244e-01 -5.30419231e-02 -2.92565958e-04] [ 5.30421411e-02 9.98591957e-01 7.96064392e-04] [ 2.49929226e-04 -8.10462053e-04 9.99999640e-01]] t_estimated: [[8.86268322e-01] [4.63171532e-01] [7.70668106e-04]] R_gt: [[ 0.95857351 -0.28146351 0.04375048] [ 0.27990387 0.95925447 0.0385353 ] [-0.05281433 -0.0246937 0.99829848]] t_gt: [ 0.62544161 -0.73657019 0.25746291] Pose Error in degrees for R and t: 13.684447667783521 77.68130577241088 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.30503061 0.95229767 0.00924484] [ 0.95233462 0.3050533 -0.0011185 ] [-0.00388532 0.008463 -0.99995664]] t_estimated: [[9.79024550e-01] [2.03740885e-01] [7.63074474e-04]] R_gt: [[ 0.96899664 0.24705096 -0.0033648 ] [-0.24706781 0.96897644 -0.00649713] [ 0.00165494 0.00712704 0.99997318]] t_gt: [-0.61364621 0.78861598 -0.03902762] Pose Error in degrees for R and t: 179.45379932372336 63.88774938768082 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.81000475 -0.40375908 0.4252892 ] [-0.21488278 -0.47042637 -0.8558764 ] [ 0.54563512 -0.78465128 0.29428672]] t_estimated: [[7.80231249e-01] [6.25490825e-01] [6.52913179e-04]] R_gt: [[ 0.91541465 0.39970747 -0.04742259] [-0.40087192 0.91595963 -0.01788988] [ 0.03628678 0.03538707 0.99871446]] t_gt: [-0.52048177 0.84250424 -0.13887166] Pose Error in degrees for R and t: 169.5051201922771 83.06219488507196 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.99860407 -0.05042189 -0.0157337 ] [ 0.05030336 -0.99870321 0.00784071] [-0.01610864 0.00703831 0.99984547]] t_estimated: [[0.82845858] [0.55999997] [0.00751112]] R_gt: [[ 0.89337637 0.44561651 -0.05749084] [-0.44854194 0.8919959 -0.05615361] [ 0.02625932 0.07595274 0.99676586]] t_gt: [-0.47908625 0.85946109 -0.17833398] Pose Error in degrees for R and t: 156.26350515141215 85.23577710957102 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.81521751e-01 1.91350599e-01 3.54472226e-05] [-1.91350602e-01 9.81521736e-01 1.70730646e-04] [-2.12280812e-06 -1.74358690e-04 9.99999985e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.9866009 -0.16302937 -0.00623737] [ 0.16300044 0.98661291 -0.00506507] [ 0.0069801 0.00398102 0.99996754]] t_gt: [ 0.81226992 -0.58159849 -0.04428067] Pose Error in degrees for R and t: 20.41905768948747 42.004047062664924 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-6.42925488e-01 7.64023333e-01 -5.39922578e-02] [ 7.61289543e-01 6.45188481e-01 6.45759664e-02] [ 8.41727279e-02 4.13793403e-04 -9.96451093e-01]] t_estimated: [[0.7595347 ] [0.65046608] [0.00095468]] R_gt: [[ 0.96269933 -0.27048528 0.00687334] [ 0.27044037 0.96111896 -0.05579186] [ 0.0084852 0.0555694 0.9984189 ]] t_gt: [ 0.85984021 -0.48479006 -0.16016681] Pose Error in degrees for R and t: 177.26810834225688 70.27012718044537 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.82902055 -0.55609001 -0.05906636] [-0.40355802 0.52179475 0.75157911] [-0.38712512 0.64691123 -0.65699315]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953456e-04]] R_gt: [[ 0.93791829 -0.34450665 0.040299 ] [ 0.34679427 0.9335918 -0.09022221] [-0.00654042 0.09859645 0.99510584]] t_gt: [ 0.87429816 -0.45095017 -0.17957357] Pose Error in degrees for R and t: 161.48103878527792 37.76112142708938 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99999989e-01 -5.28083431e-05 -1.36644772e-04] [ 5.28627607e-05 9.99999919e-01 3.98268477e-04] [ 1.36623729e-04 -3.98275696e-04 9.99999911e-01]] t_estimated: [[-0.71533479] [-0.69878137] [-0.00085767]] R_gt: [[ 0.99586275 -0.09083206 0.00263455] [ 0.09076489 0.9956885 0.01916036] [-0.00436294 -0.01884204 0.9998132 ]] t_gt: [ 0.07642274 -0.96304604 0.2582671 ] Pose Error in degrees for R and t: 5.318993787239948 51.82472043059507 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999958e-01 -7.89352702e-05 2.79015625e-04] [ 7.90061317e-05 9.99999965e-01 -2.53967449e-04] [-2.78995568e-04 2.53989482e-04 9.99999929e-01]] t_estimated: [[ 0.98001827] [-0.19889777] [ 0.00196444]] R_gt: [[ 0.97053093 -0.2409192 0.00515281] [ 0.24096738 0.97013643 -0.02774379] [ 0.00168501 0.02816814 0.99960172]] t_gt: [ 0.41328231 -0.89591747 -0.16287917] Pose Error in degrees for R and t: 14.031854244684224 54.34521058145904 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.64157635e-01 -5.03221073e-01 3.66762009e-04] [ 5.03220884e-01 8.64156027e-01 -1.76173950e-03] [ 5.69604839e-04 1.70698294e-03 9.99998381e-01]] t_estimated: [[0.59129585] [0.80645324] [0.00154789]] R_gt: [[ 9.43554673e-01 -3.31156547e-01 6.33087919e-03] [ 3.31215217e-01 9.43352963e-01 -1.95287891e-02] [ 4.95040358e-04 2.05233503e-02 9.99789841e-01]] t_gt: [ 0.38581014 -0.91782962 -0.09348435] Pose Error in degrees for R and t: 10.92325687776007 59.18928829657593 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.60074316e-01 2.79745017e-01 1.84778576e-04] [-2.79744953e-01 9.60074302e-01 -3.08361826e-04] [-2.63663847e-04 2.44359395e-04 9.99999935e-01]] t_estimated: [[-0.87913256] [-0.47657555] [-0.00129857]] R_gt: [[ 0.99553164 -0.07566793 0.05648789] [ 0.07947507 0.99447933 -0.06851059] [-0.05099253 0.07269349 0.99604918]] t_gt: [ 0.71606987 0.1325171 -0.68533434] Pose Error in degrees for R and t: 21.308881322858937 46.228442981488406 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 7.85810489e-01 6.18467136e-01 5.26105386e-04] [-6.18465971e-01 7.85810243e-01 -1.45069292e-03] [-1.31062490e-03 8.14591436e-04 9.99998809e-01]] t_estimated: [[-0.95550049] [-0.29498673] [-0.00128255]] R_gt: [[ 0.98697866 -0.08245191 0.13811241] [ 0.10628188 0.97878132 -0.1751865 ] [-0.12073801 0.18758404 0.97479979]] t_gt: [ 0.27953809 0.44045689 -0.85314488] Pose Error in degrees for R and t: 45.43541869146557 66.675791919149 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 5.17882843e-01 8.55450678e-01 1.22402658e-03] [-8.55447749e-01 5.17884277e-01 -2.24146867e-03] [-2.55137001e-03 1.13727389e-04 9.99996739e-01]] t_estimated: [[-9.71720057e-01] [ 2.36134032e-01] [ 9.21415718e-04]] R_gt: [[ 0.96586662 -0.14227922 0.21646744] [ 0.18990082 0.95726192 -0.21814407] [-0.17617878 0.25180599 0.95160613]] t_gt: [ 0.50086504 0.15400951 -0.85171314] Pose Error in degrees for R and t: 70.59069391409787 63.18453129020504 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.95772833e-01 9.18501538e-02 1.16719143e-04] [-9.18501694e-02 -9.95769960e-01 -2.39431402e-03] [-1.03692695e-04 -2.39491353e-03 9.99997127e-01]] t_estimated: [[0.72849187] [0.68505385] [0.00090496]] R_gt: [[ 9.83524448e-01 1.80564312e-01 8.66048753e-03] [-1.80772313e-01 9.82484899e-01 4.52221858e-02] [-3.42761091e-04 -4.60422689e-02 9.98939227e-01]] t_gt: [-0.38834557 0.91279329 0.1264758 ] Pose Error in degrees for R and t: 164.31950847005672 69.96949391802191 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.83548825e-01 -1.80641951e-01 -4.41066374e-04] [ 1.80642210e-01 9.83548666e-01 6.42632578e-04] [ 3.17723841e-04 -7.11735722e-04 9.99999696e-01]] t_estimated: [[-7.83283544e-01] [-6.21664251e-01] [-6.70619472e-04]] R_gt: [[ 9.61277811e-01 2.75579189e-01 -9.05312121e-04] [-2.75412843e-01 9.60803479e-01 3.16983468e-02] [ 9.60500319e-03 -3.02228421e-02 9.99496469e-01]] t_gt: [-0.35447038 0.93495217 0.01466924] Pose Error in degrees for R and t: 26.461382604033783 72.32692404527913 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.991097 -0.13265995 0.01131732] [ 0.13276992 0.9911005 -0.00958885] [-0.00994454 0.01100608 0.99988998]] t_estimated: [[0.62292624] [0.78227947] [0.00131697]] R_gt: [[ 9.17226616e-01 3.98361695e-01 -1.75256741e-03] [-3.98364429e-01 9.17204753e-01 -6.47227999e-03] [-9.71216577e-04 6.63534536e-03 9.99977082e-01]] t_gt: [-0.27656224 0.96082729 -0.01800698] Pose Error in degrees for R and t: 31.109815983520594 54.59629634073662 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.97919840e-01 -6.44662231e-02 -3.14970082e-04] [ 6.44662922e-02 9.97919862e-01 2.14436580e-04] [ 3.00490985e-04 -2.34295471e-04 9.99999927e-01]] t_estimated: [[-0.40309291] [-0.91515845] [-0.00105799]] R_gt: [[ 9.98182443e-01 5.86306933e-02 -1.39465254e-02] [-5.86293670e-02 9.98279709e-01 5.34730189e-04] [ 1.39542679e-02 2.83661615e-04 9.99902226e-01]] t_gt: [-0.40932167 0.91235199 -0.00834431] Pose Error in degrees for R and t: 7.100740016619597 47.937323704468746 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.87838329e-01 1.55484425e-01 1.73239063e-04] [-1.55484427e-01 9.87838344e-01 -1.74249441e-06] [-1.71403120e-04 -2.52146737e-05 9.99999985e-01]] t_estimated: [[0.36831035] [0.92970205] [0.00125761]] R_gt: [[ 9.99954644e-01 5.06912110e-04 -9.57895428e-03] [-6.06992776e-04 9.99946558e-01 -1.03289343e-02] [ 9.57310087e-03 1.03349555e-02 9.99900475e-01]] t_gt: [ 0.45389382 0.82398992 -0.33914747] Pose Error in degrees for R and t: 8.949957725066293 21.122451125359937 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.58026134 -0.81426643 -0.01633876] [-0.81271269 0.57761879 0.07651551] [-0.05286644 0.05767771 -0.99693451]] t_estimated: [[8.96870636e-01] [4.42292369e-01] [7.22699949e-04]] R_gt: [[ 0.99449943 -0.04823461 0.09297811] [ 0.06074052 0.98874021 -0.13676078] [-0.0853342 0.14165614 0.98623116]] t_gt: [ 0.2471596 0.73211778 -0.6347564 ] Pose Error in degrees for R and t: 177.82039853910663 56.973863134675305 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-9.88438440e-01 -1.51620409e-01 8.38080717e-04] [-1.51620730e-01 9.88438689e-01 -3.33972661e-04] [-7.77754335e-04 -4.57181826e-04 -9.99999593e-01]] t_estimated: [[0.99875492] [0.04986442] [0.0014666 ]] R_gt: [[ 0.98129963 -0.18170244 -0.0635143 ] [ 0.18263836 0.98313689 0.00919993] [ 0.060771 -0.02062775 0.99793858]] t_gt: [ 0.75476066 -0.62776119 -0.19040017] Pose Error in degrees for R and t: 176.5417398466151 43.76037446823399 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.30058114e-01 3.67412117e-01 4.91471493e-04] [-3.67411802e-01 9.30058156e-01 -6.27416387e-04] [-6.87617454e-04 4.02961274e-04 9.99999682e-01]] t_estimated: [[8.32387805e-01] [5.54193112e-01] [7.32091298e-04]] R_gt: [[ 0.92838384 -0.36609098 -0.0638799 ] [ 0.36700125 0.93021587 0.00272767] [ 0.05842338 -0.02597633 0.99795408]] t_gt: [ 0.81042447 -0.58053683 -0.07867131] Pose Error in degrees for R and t: 43.23381650035271 69.34130775961324 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.86489488e-01 1.63820907e-01 1.09558082e-03] [-1.63820976e-01 9.86490085e-01 -2.70693804e-05] [-1.08521415e-03 -1.52775460e-04 9.99999399e-01]] t_estimated: [[9.99023529e-01] [4.41713131e-02] [9.39815173e-04]] R_gt: [[ 0.84166501 -0.53775132 -0.04922759] [ 0.53856844 0.84257109 0.00407232] [ 0.03928848 -0.02993976 0.99877981]] t_gt: [ 0.85639353 -0.51601997 -0.01770647] Pose Error in degrees for R and t: 42.10455429846708 33.61799819353836 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99995029e-01 2.39473732e-03 -2.05109589e-03] [-2.39395731e-03 9.99997061e-01 3.82660540e-04] [ 2.05200624e-03 -3.77748402e-04 9.99997823e-01]] t_estimated: [[0.63333132] [0.77387882] [0.00173515]] R_gt: [[ 0.99085718 -0.12466443 0.05159522] [ 0.1255911 0.99196748 -0.01513205] [-0.04929486 0.02147321 0.998554 ]] t_gt: [ 0.14096632 -0.94922435 0.28125012] Pose Error in degrees for R and t: 7.997441088628231 49.8479524434803 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999712e-01 -5.96172068e-04 -4.68849556e-04] [ 5.96031764e-04 9.99999778e-01 -2.99335576e-04] [ 4.69027908e-04 2.99056041e-04 9.99999845e-01]] t_estimated: [[0.80693371] [0.59064084] [0.00117477]] R_gt: [[ 0.97303146 -0.22463776 0.05242266] [ 0.22405085 0.9744311 0.01689799] [-0.05487855 -0.00469764 0.99848245]] t_gt: [ 0.23080615 -0.94061164 0.24895435] Pose Error in degrees for R and t: 13.325219475854016 68.34444422742452 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.74364979 -0.66854293 -0.0059447 ] [-0.668562 0.74357048 0.01130474] [-0.0031374 0.01238117 -0.99991843]] t_estimated: [[9.26997036e-01] [3.75067880e-01] [7.62333089e-04]] R_gt: [[ 0.93117713 -0.36188943 0.044102 ] [ 0.3634038 0.93104568 -0.03304029] [-0.02910505 0.04679318 0.99848032]] t_gt: [ 0.44763173 -0.89146696 -0.0700892 ] Pose Error in degrees for R and t: 178.79110347808972 85.3804384320311 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.20732657 0.97613293 -0.06465444] [-0.97187157 -0.21306746 -0.10033895] [-0.11171991 0.04203288 0.99285039]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.99200172 -0.12617714 -0.00367862] [ 0.12599612 0.99151005 -0.03213187] [ 0.00770078 0.03141214 0.99947738]] t_gt: [ 0.83308954 -0.51384973 -0.20474442] Pose Error in degrees for R and t: 109.4598096928366 61.78181471018027 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 5.16526075e-01 8.56268930e-01 2.08166554e-03] [ 8.56264384e-01 -5.16530163e-01 2.80997564e-03] [ 3.48133788e-03 3.31030378e-04 -9.99993885e-01]] t_estimated: [[0.58051415] [0.81424972] [0.00084995]] R_gt: [[ 0.97646195 -0.21501481 0.01706122] [ 0.2156875 0.97385566 -0.07129961] [-0.00128417 0.07330291 0.99730922]] t_gt: [ 0.84775965 -0.48105064 -0.22336932] Pose Error in degrees for R and t: 176.16898557314073 84.24635956514784 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.29980738e-01 -3.67608075e-01 -3.60075018e-04] [ 3.67608174e-01 9.29979461e-01 1.55966183e-03] [-2.38481912e-04 -1.58282198e-03 9.99998719e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.96497629 -0.25136763 0.07506933] [ 0.25883687 0.95888021 -0.11641249] [-0.04272019 0.13176671 0.99036044]] t_gt: [ 0.8540518 -0.45706726 -0.24836472] Pose Error in degrees for R and t: 10.47702864649776 32.25009629170283 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.00000000e+00 6.95499214e-13 -7.33706715e-16] [-6.95388191e-13 1.00000000e+00 -3.01606071e-15] [ 1.05590450e-15 2.22474220e-15 1.00000000e+00]] t_estimated: [[9.26162540e-01] [3.77124539e-01] [1.77911597e-04]] R_gt: [[ 0.98892577 -0.14794842 0.01171536] [ 0.14826598 0.98836681 -0.03389614] [-0.00656423 0.03525786 0.99935688]] t_gt: [ 0.72683647 -0.68219708 -0.07947263] Pose Error in degrees for R and t: 8.763843321053896 65.42517088511305 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 1.00000000e+00 4.23827640e-13 -2.68882139e-17] [-4.23772128e-13 1.00000000e+00 -2.00929768e-16] [-2.17165695e-16 8.31759249e-16 1.00000000e+00]] t_estimated: [[9.53659582e-01] [3.00887419e-01] [4.03310351e-04]] R_gt: [[ 0.96243179 -0.27038673 0.02483797] [ 0.2712516 0.96153831 -0.04319921] [-0.01220193 0.04831347 0.99875731]] t_gt: [ 0.77153628 -0.63387151 -0.05420959] Pose Error in degrees for R and t: 15.978781782141686 56.97279830404313 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.96632251e-01 -8.20001822e-02 3.54482107e-04] [ 8.20003166e-02 9.96632230e-01 -3.82628136e-04] [-3.21912716e-04 4.10407185e-04 9.99999864e-01]] t_estimated: [[9.98706359e-01] [5.08454629e-02] [5.89118438e-04]] R_gt: [[ 0.91963032 -0.39055931 0.04177118] [ 0.39188515 0.91951721 -0.03023812] [-0.02659947 0.04417773 0.99866962]] t_gt: [ 0.80881665 -0.58800836 -0.00786053] Pose Error in degrees for R and t: 18.573027439822322 38.9342028127905 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 2.91367509e-01 9.56573776e-01 8.46089759e-03] [ 9.56611180e-01 -2.91354650e-01 -2.74180447e-03] [-1.57616397e-04 8.89266197e-03 -9.99960447e-01]] t_estimated: [[0.45931259] [0.88827413] [0.0010117 ]] R_gt: [[ 0.9979058 -0.05814282 -0.02836696] [ 0.05461525 0.99216834 -0.1123376 ] [ 0.03467693 0.11055354 0.99326604]] t_gt: [ 0.5323486 -0.2398477 -0.81183622] Pose Error in degrees for R and t: 175.512545466717 88.24403484323511 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.34672796e-01 3.55508057e-01 8.87084045e-04] [ 3.55497384e-01 -9.34659228e-01 5.80839243e-03] [ 2.89405160e-03 -5.11359034e-03 -9.99982738e-01]] t_estimated: [[0.44721339] [0.89442677] [0.0009659 ]] R_gt: [[ 0.99546897 -0.07262483 -0.06138163] [ 0.05926138 0.978648 -0.19681488] [ 0.07436468 0.19228609 0.97851763]] t_gt: [ 0.42404896 -0.01449878 -0.9055232 ] Pose Error in degrees for R and t: 169.9780791831263 79.87492146390525 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.74918932e-01 -2.22560277e-01 -9.41175446e-06] [ 2.22560271e-01 9.74918893e-01 2.77407503e-04] [-5.25641936e-05 -2.72544510e-04 9.99999961e-01]] t_estimated: [[0.38243243] [0.92398271] [0.00117908]] R_gt: [[ 0.99118819 -0.05396699 -0.12097391] [ 0.02764891 0.97741996 -0.20949378] [ 0.12954729 0.20430354 0.97029857]] t_gt: [ 0.35004111 0.12440961 -0.92843604] Pose Error in degrees for R and t: 17.48637688055766 75.65708743548518 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.44841266e-01 -3.27528249e-01 -4.78876035e-04] [ 3.27528340e-01 9.44841347e-01 1.24561162e-04] [ 4.11664579e-04 -2.74535999e-04 9.99999878e-01]] t_estimated: [[ 0.03008524] [-0.99954682] [-0.001015 ]] R_gt: [[ 0.99427892 0.10369793 -0.0256075 ] [-0.10342799 0.99456789 0.01167344] [ 0.02667978 -0.00895771 0.99960415]] t_gt: [-0.66000173 0.73187469 -0.16957938] Pose Error in degrees for R and t: 25.113597378930343 41.30320568309214 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.98233252e-01 5.94167757e-02 -1.48665511e-04] [-5.94167725e-02 9.98233263e-01 2.59215019e-05] [ 1.49943030e-04 -1.70424803e-05 9.99999989e-01]] t_estimated: [[-9.99871168e-01] [-1.60387454e-02] [-6.37964487e-04]] R_gt: [[ 0.97307734 0.22748684 -0.0370158 ] [-0.22573833 0.9730964 0.0461086 ] [ 0.0465093 -0.03651079 0.99825063]] t_gt: [-0.65520161 0.75339098 -0.05579317] Pose Error in degrees for R and t: 10.2744331201628 49.97892438932754 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 4.77342323e-01 8.78717274e-01 5.08815267e-04] [-8.78717396e-01 4.77342368e-01 3.57721296e-05] [-2.11445497e-04 -4.64180378e-04 9.99999870e-01]] t_estimated: [[0.3373598 ] [0.94137524] [0.00101006]] R_gt: [[ 0.92211805 0.38353545 -0.05097765] [-0.38257903 0.92350567 0.02774947] [ 0.05772146 -0.006085 0.99831371]] t_gt: [-0.56582721 0.81659006 -0.11410627] Pose Error in degrees for R and t: 39.082787520221075 54.710008103457646 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.17421367 -0.98470298 0.00310371] [-0.98470374 -0.17422121 -0.00234947] [ 0.00285426 -0.00264693 -0.99999242]] t_estimated: [[0.59145853] [0.80633471] [0.00107077]] R_gt: [[ 0.99769732 -0.00952142 0.06715519] [ 0.01510918 0.99641766 -0.08319759] [-0.06612259 0.08402092 0.99426794]] t_gt: [-0.02597726 0.41205067 -0.91079055] Pose Error in degrees for R and t: 178.79065770010465 71.58417866332091 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 8.60593087e-01 -5.09291360e-01 -1.36007123e-03] [ 5.09292689e-01 8.60592888e-01 9.15592242e-04] [ 7.04164413e-04 -1.48062669e-03 9.99998656e-01]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.99326443 0.03959603 0.10888995] [-0.02151139 0.98647474 -0.16249092] [-0.11385185 0.15905482 0.98068356]] t_gt: [-0.58022628 0.66484224 -0.470449 ] Pose Error in degrees for R and t: 34.274509710060755 80.9564886732406 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.73944612e-01 2.26785945e-01 1.69709386e-04] [-2.26785922e-01 9.73944621e-01 -1.43484703e-04] [-1.97827858e-04 1.01258453e-04 9.99999975e-01]] t_estimated: [[0.75392768] [0.65695634] [0.00119718]] R_gt: [[ 0.9845754 0.08725886 0.15164779] [-0.05774703 0.98025449 -0.18912031] [-0.16515548 0.17744595 0.97017347]] t_gt: [-0.71598554 0.69078122 -0.10092579] Pose Error in degrees for R and t: 16.584691425360898 85.0601976694655 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999960e-01 1.39333917e-04 -2.45321119e-04] [-1.39241399e-04 9.99999919e-01 3.77107722e-04] [ 2.45373643e-04 -3.77073549e-04 9.99999899e-01]] t_estimated: [[-7.06747092e-01] [-7.07466254e-01] [-2.17042925e-04]] R_gt: [[ 9.89585210e-01 -1.42826404e-01 1.79078821e-02] [ 1.42797243e-01 9.89747134e-01 2.86491798e-03] [-1.81336869e-02 -2.78677797e-04 9.99835108e-01]] t_gt: [ 0.56614507 -0.8144041 0.12738025] Pose Error in degrees for R and t: 8.286452203784982 79.86230522291858 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99957650e-01 -9.20167059e-03 1.65751243e-04] [ 9.20174434e-03 9.99957562e-01 -4.49792734e-04] [-1.61605365e-04 4.51298886e-04 9.99999885e-01]] t_estimated: [[0.74216319] [0.67021879] [0.00075731]] R_gt: [[ 0.96368792 -0.26701307 0.00316051] [ 0.26682824 0.9633487 0.02760012] [-0.01041374 -0.02575566 0.99961352]] t_gt: [ 0.60993586 -0.78722982 0.09081554] Pose Error in degrees for R and t: 15.043427761985534 85.70593101273366 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999594e-01 1.77616608e-04 8.83823988e-04] [-1.76572885e-04 9.99999287e-01 -1.18085562e-03] [-8.84033097e-04 1.18069908e-03 9.99998912e-01]] t_estimated: [[ 0.01252763] [-0.99991813] [-0.0026067 ]] R_gt: [[ 0.89303253 -0.44695241 0.05220478] [ 0.4466539 0.89452719 0.01791077] [-0.05470322 0.00732143 0.99847585]] t_gt: [ 0.67687903 -0.72877309 0.10355946] Pose Error in degrees for R and t: 26.750042047524015 42.530028005476176 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-7.40935446e-01 -6.71553359e-01 -5.54533079e-03] [ 6.71562392e-01 -7.40947946e-01 3.06912399e-04] [-4.31490951e-03 -3.49663333e-03 9.99984577e-01]] t_estimated: [[0.99124271] [0.13199842] [0.00378109]] R_gt: [[ 0.99282897 0.11918632 -0.00918766] [-0.11936168 0.99261327 -0.02170449] [ 0.00653338 0.0226461 0.99972168]] t_gt: [-0.41159561 0.89734316 -0.15926177] Pose Error in degrees for R and t: 144.66914426888988 73.13333568794198 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 4.68682300e-01 -8.83365275e-01 -1.64085610e-03] [ 8.83366411e-01 4.68683026e-01 -6.59244304e-05] [ 8.27276752e-04 -1.41857955e-03 9.99998652e-01]] t_estimated: [[ 6.18327539e-01] [-7.85920487e-01] [-2.05877669e-04]] R_gt: [[ 0.9693625 0.24447766 -0.02379946] [-0.24549983 0.9674761 -0.06098547] [ 0.00811578 0.06496062 0.99785492]] t_gt: [-0.31995622 0.93198731 -0.1703751 ] Pose Error in degrees for R and t: 76.3274738948404 21.52296632409136 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.28694482e-01 -3.70843449e-01 1.30196967e-03] [ 3.70845217e-01 9.28693328e-01 -1.58966562e-03] [-6.19613459e-04 1.95914292e-03 9.99997889e-01]] t_estimated: [[-0.62136529] [-0.78351983] [-0.00136264]] R_gt: [[ 0.93222821 0.35975111 -0.03911213] [-0.36183361 0.92511582 -0.11504754] [-0.00520488 0.12140358 0.99258969]] t_gt: [-0.2613925 0.95219917 -0.15808446] Pose Error in degrees for R and t: 43.519957579653685 54.307754783127955 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.56568015e-01 -2.91508951e-01 -4.05783366e-04] [-2.91509207e-01 9.56567596e-01 9.03916714e-04] [ 1.24659406e-04 9.82947404e-04 -9.99999509e-01]] t_estimated: [[9.77685134e-01] [2.10073778e-01] [8.86387248e-04]] R_gt: [[ 9.89472338e-01 -1.44721394e-01 -2.27724088e-04] [ 1.44557817e-01 9.88271132e-01 4.92236359e-02] [-6.89836789e-03 -4.87369605e-02 9.98786927e-01]] t_gt: [ 0.5628356 -0.77738299 0.28087679] Pose Error in degrees for R and t: 179.4057167715609 67.21854538969623 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 8.52785383e-01 5.22260122e-01 1.20638871e-03] [-5.22259746e-01 8.52786232e-01 -6.32653568e-04] [-1.35920141e-03 -9.05305463e-05 9.99999072e-01]] t_estimated: [[0.61722746] [0.78678408] [0.00103388]] R_gt: [[ 0.93384605 -0.35764834 0.00444526] [ 0.3563598 0.93140229 0.07413774] [-0.03065558 -0.06764841 0.99723718]] t_gt: [ 0.72117805 -0.66214705 0.2036259 ] Pose Error in degrees for R and t: 52.59097346808039 85.6628465142547 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[-9.53388388e-01 -3.01706436e-01 4.87940175e-03] [-3.01710267e-01 9.53399660e-01 -5.17369320e-05] [-4.63641060e-03 -1.52149100e-03 -9.99988094e-01]] t_estimated: [[0.9915365 ] [0.12979433] [0.0029679 ]] R_gt: [[ 0.86166868 -0.50689515 -0.02416935] [ 0.50643267 0.85588364 0.10483021] [-0.03245333 -0.10256855 0.99419565]] t_gt: [ 0.79426684 -0.57406505 0.19897112] Pose Error in degrees for R and t: 178.5604658477814 44.46939858453167 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 2.81843870e-01 -9.59458928e-01 1.61183535e-03] [ 9.59455409e-01 2.81847395e-01 2.71364763e-03] [-3.05792504e-03 7.81659193e-04 9.99995019e-01]] t_estimated: [[0.9931497 ] [0.116841 ] [0.00135862]] R_gt: [[ 0.99523671 -0.09456753 -0.02366714] [ 0.09481697 0.99544832 0.00964799] [ 0.02264791 -0.01184612 0.99967386]] t_gt: [ 0.52574057 -0.83633457 -0.15537485] Pose Error in degrees for R and t: 68.21188058661609 64.8993418244109 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.02693142e-01 -4.30284845e-01 2.08018414e-04] [ 4.30284895e-01 9.02693029e-01 -4.52550826e-04] [ 6.94899015e-06 4.98021708e-04 9.99999876e-01]] t_estimated: [[0.66041651] [0.75089877] [0.00104003]] R_gt: [[ 0.95283734 -0.30222059 0.02761764] [ 0.30248234 0.95313773 -0.00573802] [-0.02458871 0.01382183 0.99960199]] t_gt: [ 0.62382915 -0.78066841 0.03733656] Pose Error in degrees for R and t: 8.043968461384202 79.9692289932904 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 7.00658124e-01 7.13492860e-01 2.47635917e-03] [ 7.13496504e-01 -7.00657960e-01 -1.07813569e-03] [ 9.65838649e-04 2.52227814e-03 -9.99996353e-01]] t_estimated: [[0.48840477] [0.87261653] [0.00108534]] R_gt: [[ 0.89672687 -0.44253481 0.00666958] [ 0.44237609 0.89666504 0.01720013] [-0.01359142 -0.01247335 0.99982957]] t_gt: [ 0.68350347 -0.72848274 0.04621584] Pose Error in degrees for R and t: 179.55878347807808 72.43367829355897 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.98538831 -0.12784713 -0.11253883] [ 0.1608667 0.91568022 0.36830917] [ 0.05596231 -0.3810313 0.92286693]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99029787 0.13894378 -0.00212664] [-0.13885091 0.99000897 0.02456209] [ 0.00551713 -0.02402845 0.99969666]] t_gt: [-0.44445838 0.89499827 0.03787936] Pose Error in degrees for R and t: 26.899900633537108 77.56436363883509 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 8.21639396e-02 9.96618797e-01 -2.45143904e-04] [-9.96616858e-01 8.21632857e-02 -2.00816245e-03] [-1.98123062e-03 4.09313086e-04 9.99997954e-01]] t_estimated: [[0.13921763] [0.99026107] [0.00121059]] R_gt: [[ 0.969121 0.24658284 0.00102685] [-0.24650385 0.96890172 -0.02156461] [-0.00631241 0.02064623 0.99976722]] t_gt: [-0.36333816 0.93071086 -0.04198423] Pose Error in degrees for R and t: 71.01978937164887 29.423449015060665 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 2.11723412e-01 9.77328858e-01 1.22475671e-03] [ 9.77328259e-01 -2.11725045e-01 1.40681804e-03] [ 1.63423554e-03 8.99133031e-04 -9.99998260e-01]] t_estimated: [[-7.76774601e-01] [-6.29778294e-01] [-7.20570131e-04]] R_gt: [[ 0.92943463 0.36859248 -0.01702654] [-0.3688734 0.92702375 -0.06751689] [-0.00910209 0.0690332 0.99757332]] t_gt: [-0.27572797 0.95739242 -0.08587109] Pose Error in degrees for R and t: 177.0813288211699 67.12608006066284 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 1.51431288e-01 9.88467782e-01 9.09651145e-05] [-9.88466253e-01 1.51431214e-01 -1.74774135e-03] [-1.74136097e-03 1.74746777e-04 9.99998469e-01]] t_estimated: [[-2.17010640e-01] [ 9.76168767e-01] [ 9.59159972e-04]] R_gt: [[ 0.9903877 0.13724767 -0.0172075 ] [-0.13746077 0.99043661 -0.01186254] [ 0.01541403 0.01411428 0.99978181]] t_gt: [-0.60844924 0.77703226 -0.16127735] Pose Error in degrees for R and t: 73.40307081291593 27.076459467217376 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.98051673e-01 -6.23923592e-02 -2.24835458e-04] [ 6.23923625e-02 9.98051699e-01 7.47251544e-06] [ 2.23931183e-04 -2.14859719e-05 9.99999975e-01]] t_estimated: [[-0.79057333] [-0.61236676] [-0.00087356]] R_gt: [[ 0.97242831 0.22645422 -0.05571115] [-0.22583954 0.97401324 0.01717715] [ 0.05815287 -0.00412081 0.99829909]] t_gt: [-0.60287629 0.7770698 -0.1808389 ] Pose Error in degrees for R and t: 16.9857953522325 89.94704845429476 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.95949670e-01 8.99122262e-02 -2.16483124e-04] [-8.99122536e-02 9.95949684e-01 -1.20718206e-04] [ 2.04752256e-04 1.39693743e-04 9.99999969e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.92969372 0.36481375 -0.05080948] [-0.36354379 0.93100511 0.03266341] [ 0.05921892 -0.01189535 0.99817382]] t_gt: [-0.56903183 0.81547702 -0.1058301 ] Pose Error in degrees for R and t: 16.58025303877026 55.48775453883102 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.07221975 0.9973878 0.00137478] [-0.99738616 -0.07221636 -0.00237516] [-0.00226967 -0.00154272 0.99999623]] t_estimated: [[0.02157767] [0.99976556] [0.00179814]] R_gt: [[ 0.99067094 -0.13049178 0.03927106] [ 0.1303243 0.99144794 0.00680325] [-0.03982303 -0.0016219 0.99920539]] t_gt: [ 0.66905337 -0.70736565 0.22803819] Pose Error in degrees for R and t: 101.65238698795635 46.18332863196938 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99367001 0.11232275 0.00187445] [-0.11231571 0.99366635 -0.00351555] [-0.00225745 0.00328276 0.99999206]] t_estimated: [[7.68932775e-01] [6.39329229e-01] [7.24042161e-04]] R_gt: [[ 0.96198492 -0.2730805 0.0034597 ] [ 0.27298117 0.96185597 0.01771469] [-0.00816608 -0.01609657 0.99983613]] t_gt: [ 0.76639604 -0.6406598 0.04682023] Pose Error in degrees for R and t: 22.326800663176503 79.64489469647717 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.12577511 0.99205776 0.00142019] [-0.99205509 0.12577842 -0.00254901] [-0.0027074 -0.0010883 0.99999574]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.88868689 -0.45742066 -0.03163636] [ 0.45803395 0.88879765 0.01560546] [ 0.02097913 -0.02835846 0.99937734]] t_gt: [ 0.83249409 -0.55402993 -0.00210443] Pose Error in degrees for R and t: 110.04005363070219 56.713293758040386 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999717e-01 -3.50101927e-04 6.65265276e-04] [ 3.50959167e-04 9.99999108e-01 -1.28888969e-03] [-6.64813440e-04 1.28912281e-03 9.99998948e-01]] t_estimated: [[0.83813334] [0.54546461] [0.00093212]] R_gt: [[ 0.98710633 -0.15680066 0.03217149] [ 0.15649873 0.98760895 0.01171489] [-0.03360959 -0.00652832 0.99941316]] t_gt: [ 0.38970777 -0.89139096 0.23140873] Pose Error in degrees for R and t: 9.202911186469997 80.82912084523439 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999929e-01 1.85076734e-04 3.27855586e-04] [-1.84911090e-04 9.99999855e-01 -5.05192820e-04] [-3.27949038e-04 5.05132160e-04 9.99999819e-01]] t_estimated: [[0.27706347] [0.96085065] [0.00136484]] R_gt: [[ 0.96885783 -0.24460681 0.03849016] [ 0.24359761 0.96944015 0.02909483] [-0.0444307 -0.01881267 0.99883537]] t_gt: [ 0.3282459 -0.90719077 0.26317208] Pose Error in degrees for R and t: 14.413896362809016 38.70547120946821 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999963e-01 2.71855589e-04 1.02246421e-06] [-2.71855368e-04 9.99999941e-01 -2.09818994e-04] [-1.07950461e-06 2.09818708e-04 9.99999978e-01]] t_estimated: [[-0.53503761] [-0.84482644] [-0.0017462 ]] R_gt: [[ 0.92636456 -0.37442451 0.04069036] [ 0.37504288 0.92696802 -0.00852728] [-0.03452599 0.02316066 0.9991355 ]] t_gt: [ 0.48090539 -0.87664942 0.01468984] Pose Error in degrees for R and t: 22.159796802321097 61.09960052804235 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.99999993e-01 9.08137433e-05 -7.23306418e-05] [-9.08029262e-05 9.99999985e-01 1.49540778e-04] [ 7.23442211e-05 -1.49534209e-04 9.99999986e-01]] t_estimated: [[-0.91595661] [-0.40127484] [-0.00141363]] R_gt: [[ 0.99672326 -0.04509298 -0.06714374] [ 0.04726579 0.9983972 0.03113457] [ 0.0656319 -0.03420609 0.99725726]] t_gt: [ 0.53139246 -0.68172627 -0.50286315] Pose Error in degrees for R and t: 5.000239427730616 77.73333040030147 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.88435171 -0.06582255 -0.46215738] [ 0.32473176 0.79797007 0.50773325] [ 0.33536746 -0.59909194 0.72706087]] t_estimated: [[-0.64431533] [-0.76475904] [-0.00116936]] R_gt: [[ 0.98743536 -0.12305579 -0.09914012] [ 0.12936106 0.98978698 0.05988804] [ 0.09075698 -0.0719608 0.99326955]] t_gt: [ 0.47743136 -0.82918733 -0.29070203] Pose Error in degrees for R and t: 37.57512087436341 70.922179126149 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999831e-01 -1.63398760e-04 5.58681914e-04] [ 1.63819916e-04 9.99999702e-01 -7.53875834e-04] [-5.58558565e-04 7.53967229e-04 9.99999560e-01]] t_estimated: [[8.25339216e-01] [5.64636829e-01] [6.55031124e-04]] R_gt: [[ 0.9533163 -0.27253509 -0.1300478 ] [ 0.2752968 0.96135294 0.00340788] [ 0.12409306 -0.03904994 0.99150156]] t_gt: [ 0.61891783 -0.70393666 -0.34844498] Pose Error in degrees for R and t: 17.62800044394465 83.50477845611218 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999654e-01 -8.30697604e-04 3.85829835e-05] [ 8.30694593e-04 9.99999652e-01 7.79988516e-05] [-3.86477635e-05 -7.79667740e-05 9.99999996e-01]] t_estimated: [[2.77586463e-01] [9.60700214e-01] [9.23888512e-04]] R_gt: [[ 0.99821461 0.02108278 -0.05588677] [-0.02405934 0.99829803 -0.05313529] [ 0.05467154 0.05438475 0.99702153]] t_gt: [-0.01392446 0.43644446 -0.89962344] Pose Error in degrees for R and t: 4.626514482723008 65.50612929067353 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.94659262e-01 -1.03213122e-01 -6.35518659e-05] [ 1.03213130e-01 9.94659251e-01 1.53781232e-04] [ 4.73402103e-05 -1.59519314e-04 9.99999986e-01]] t_estimated: [[-1.12398575e-02] [ 9.99936810e-01] [-2.03822012e-04]] R_gt: [[ 0.99556427 0.03213647 -0.0884251 ] [-0.03846161 0.99674986 -0.07078306] [ 0.08586198 0.07386994 0.99356506]] t_gt: [-0.00344476 0.46244566 -0.88664094] Pose Error in degrees for R and t: 10.272883815964754 62.44267338769918 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-2.78373673e-01 9.60472846e-01 -9.80440935e-05] [-9.60469554e-01 -2.78372984e-01 -2.59191301e-03] [-2.51675489e-03 -6.27351979e-04 9.99996636e-01]] t_estimated: [[0.14793566] [0.98899645] [0.00103452]] R_gt: [[ 0.98918541 0.05217095 -0.1370814 ] [-0.06738411 0.99177768 -0.10879853] [ 0.1302774 0.11685774 0.98456633]] t_gt: [ 0.0061025 0.48645273 -0.87368558] Pose Error in degrees for R and t: 103.06641938883686 61.242798473516594 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.7999591 0.60004969 0.00240851] [-0.59982567 0.79953672 0.0308253 ] [ 0.01657102 -0.02610367 0.99952189]] t_estimated: [[0.14653773] [0.9891297 ] [0.01221148]] R_gt: [[ 0.98618543 -0.16562178 -0.00285028] [ 0.16539429 0.98548627 -0.03822567] [ 0.0091401 0.03722584 0.99926526]] t_gt: [ 0.96293953 -0.14642103 -0.22651347] Pose Error in degrees for R and t: 46.566142964864135 89.62823510501558 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-3.85377888e-01 9.22754667e-01 2.77643852e-03] [ 9.22758378e-01 3.85378970e-01 1.55530938e-04] [-9.26464120e-04 2.62192009e-03 -9.99996134e-01]] t_estimated: [[9.13210179e-01] [4.07488207e-01] [7.27657513e-04]] R_gt: [[ 0.96253444 -0.27095958 0.01045769] [ 0.27112205 0.96233582 -0.02005754] [-0.00462994 0.02214093 0.99974364]] t_gt: [ 0.98688938 -0.1419339 -0.0768383 ] Pose Error in degrees for R and t: 178.82030904224217 32.50493931045807 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 1.47658527e-01 9.89038222e-01 5.95010931e-04] [ 9.89035767e-01 -1.47659496e-01 2.21923529e-03] [ 2.28276754e-03 2.60798077e-04 -9.99997360e-01]] t_estimated: [[8.17005100e-01] [5.76630046e-01] [6.75210827e-04]] R_gt: [[ 0.95579441 -0.29263862 0.02863377] [ 0.29372425 0.95472732 -0.04714854] [-0.01353905 0.05347456 0.99847734]] t_gt: [ 0.98081899 -0.08337716 -0.17618844] Pose Error in degrees for R and t: 177.04997823706879 41.13711749136785 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 8.18857015e-01 -5.73850155e-01 1.30072550e-02] [-5.73776718e-01 -8.18960314e-01 -9.18046510e-03] [ 1.59206369e-02 5.42281831e-05 -9.99873257e-01]] t_estimated: [[8.12454682e-01] [5.83023958e-01] [6.74796247e-04]] R_gt: [[ 0.99557395 -0.08628414 0.03726556] [ 0.08677587 0.99615771 -0.01179379] [-0.03610551 0.01497604 0.99923589]] t_gt: [ 0.71257649 -0.68694814 0.14260781] Pose Error in degrees for R and t: 179.58280428033044 79.71613634085517 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-9.99208208e-01 -3.45560315e-02 1.97189766e-02] [-3.45654133e-02 9.99402428e-01 -1.35039695e-04] [-1.97025267e-02 -8.16527350e-04 -9.99805553e-01]] t_estimated: [[ 0.9988369 ] [-0.04692155] [ 0.0110999 ]] R_gt: [[ 0.99252737 -0.11536552 0.03976171] [ 0.11657836 0.99273841 -0.02966545] [-0.03605056 0.03407903 0.998769 ]] t_gt: [ 0.73116941 -0.68216342 -0.00666059] Pose Error in degrees for R and t: 176.72997434519235 40.336758690557915 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99617546e-01 2.76543190e-02 1.80501440e-05] [-2.76543166e-02 9.99617539e-01 -1.20968198e-04] [-2.13885336e-05 1.20422769e-04 9.99999993e-01]] t_estimated: [[ 0.6113737 ] [-0.79134105] [-0.00123971]] R_gt: [[ 0.99193564 -0.11628333 0.05042658] [ 0.11759739 0.99277317 -0.02391171] [-0.04728158 0.02964871 0.99844189]] t_gt: [ 0.7756243 -0.62869467 0.05612447] Pose Error in degrees for R and t: 8.897690704976872 13.678330786063663 Number of keypoints: Image1: 325 Image2: 325 R_estimated: [[ 9.99974731e-01 7.10895438e-03 1.80792640e-05] [-7.10895413e-03 9.99974731e-01 -1.36466530e-05] [-1.81758206e-05 1.35177835e-05 1.00000000e+00]] t_estimated: [[ 9.48313643e-01] [-3.17333865e-01] [ 6.72980125e-04]] R_gt: [[ 0.99987559 -0.01306124 -0.00886754] [ 0.01299609 0.99988881 -0.00726695] [ 0.00896132 0.00715083 0.99993395]] t_gt: [ 0.47625267 -0.50726698 -0.71823646] Pose Error in degrees for R and t: 1.3284541599673163 52.256575470285874 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-8.41990802e-01 -5.39485831e-01 -2.55478302e-03] [ 5.39484995e-01 -8.41994540e-01 1.06494216e-03] [-2.72563456e-03 -4.81595604e-04 9.99996169e-01]] t_estimated: [[0.95818433] [0.28614922] [0.00118734]] R_gt: [[ 0.99302081 -0.1069218 -0.04976915] [ 0.10758278 0.99413726 0.01079764] [ 0.04832264 -0.01607617 0.99870277]] t_gt: [ 0.64600583 -0.71698029 -0.26194603] Pose Error in degrees for R and t: 141.20278388962953 65.57395910439519 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-4.41223916e-01 -8.97396714e-01 -7.69807661e-04] [ 8.97393634e-01 -4.41224442e-01 2.37866039e-03] [-2.47425997e-03 3.58701356e-04 9.99996875e-01]] t_estimated: [[9.76225068e-01] [2.16757820e-01] [8.14879022e-04]] R_gt: [[ 0.96805354 -0.22886461 -0.10243518] [ 0.23205448 0.97249262 0.02023282] [ 0.09498721 -0.04335711 0.99453365]] t_gt: [ 0.69777871 -0.68713294 -0.20236895] Pose Error in degrees for R and t: 102.949442386282 57.85371544740693 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999980e-01 -1.85123215e-04 7.15552480e-05] [ 1.85122380e-04 9.99999983e-01 1.16738285e-05] [-7.15574079e-05 -1.16605818e-05 9.99999997e-01]] t_estimated: [[4.69795355e-01] [8.82775001e-01] [7.88174760e-04]] R_gt: [[ 0.99421545 -0.06414309 -0.08615047] [ 0.06376395 0.99793959 -0.00714826] [ 0.08643096 0.00161307 0.99625586]] t_gt: [ 0.57609006 -0.57721695 -0.57874072] Pose Error in degrees for R and t: 6.168043754330237 76.15096955176723 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.83994248 -0.54267436 -0.00107978] [ 0.5426613 -0.83990458 -0.00888895] [ 0.00391689 -0.00805216 0.99995991]] t_estimated: [[9.12589285e-01] [4.08876736e-01] [7.82460254e-04]] R_gt: [[ 0.98497984 -0.14770735 -0.08943375] [ 0.14342418 0.98826276 -0.05259987] [ 0.09615279 0.03898249 0.99460216]] t_gt: [ 0.65743524 -0.53854267 -0.52702058] Pose Error in degrees for R and t: 138.7724391493793 67.70605287144988 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999946e-01 -3.26419161e-04 -3.73304882e-05] [ 3.26418697e-04 9.99999947e-01 -1.24431562e-05] [ 3.73345478e-05 1.24309701e-05 9.99999999e-01]] t_estimated: [[ 9.98376022e-01] [-5.69668794e-02] [ 3.05354320e-04]] R_gt: [[ 0.9754405 -0.21862782 0.02680382] [ 0.21994365 0.97334574 -0.06497957] [-0.01188328 0.06927877 0.99752613]] t_gt: [ 0.7292905 -0.6381188 -0.24685979] Pose Error in degrees for R and t: 13.287802390610828 40.147920241656344 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.66157868 0.74986668 0.00368909] [-0.74984364 0.66158787 -0.00600107] [-0.00694066 0.00120394 0.99997519]] t_estimated: [[0.92572894] [0.37818411] [0.00164428]] R_gt: [[ 0.99822259 -0.04497394 -0.03908767] [ 0.04817613 0.99519281 0.08526095] [ 0.03506513 -0.08699212 0.99559204]] t_gt: [ 0.27940448 -0.81891561 0.50130865] Pose Error in degrees for R and t: 51.555057761506355 87.12117887744706 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-8.35486620e-01 5.49510446e-01 6.13843824e-04] [-5.49509871e-01 -8.35482661e-01 -2.76145615e-03] [-1.00459313e-03 -2.64447291e-03 9.99995999e-01]] t_estimated: [[7.98235526e-01] [6.02345006e-01] [7.33672359e-04]] R_gt: [[ 0.9810619 -0.10333518 -0.16382442] [ 0.11585475 0.99088173 0.06877938] [ 0.1552237 -0.08645584 0.98408922]] t_gt: [ 0.58434898 -0.79462084 -0.1646633 ] Pose Error in degrees for R and t: 153.13250996295534 89.29475203997697 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-4.81288872e-01 8.76556932e-01 2.99465942e-03] [ 8.76561936e-01 4.81287718e-01 1.14201453e-03] [-4.40252046e-04 3.17464334e-03 -9.99994864e-01]] t_estimated: [[0.87361291] [0.48661772] [0.00191582]] R_gt: [[ 0.97509105 -0.14262455 -0.16986842] [ 0.15225419 0.98731599 0.04501168] [ 0.16129424 -0.06975294 0.98443846]] t_gt: [ 0.59593049 -0.77058398 -0.22598048] Pose Error in degrees for R and t: 170.20725387735413 81.6511498308458 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[ 9.83837204e-01 1.79065204e-01 9.61483908e-05] [-1.79065187e-01 9.83837198e-01 -1.63110547e-04] [-1.23801787e-04 1.43257394e-04 9.99999982e-01]] t_estimated: [[-2.83972725e-01] [ 9.58832346e-01] [ 1.51994708e-04]] R_gt: [[ 0.99962945 -0.02705453 -0.00311977] [ 0.02698894 0.99944754 -0.01943286] [ 0.0036437 0.01934133 0.99980696]] t_gt: [ 0.71101893 -0.5402337 -0.45011068] Pose Error in degrees for R and t: 11.916221132965061 43.94783568190761 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 0.26231981 -0.9649792 -0.00185963] [-0.96498035 -0.26231693 -0.00165587] [ 0.00111007 0.00222887 -0.9999969 ]] t_estimated: [[0.56850901] [0.82267655] [0.00089812]] R_gt: [[ 9.99937582e-01 3.65270053e-04 -1.11690067e-02] [-3.99340502e-04 9.99995598e-01 -3.05804956e-03] [ 1.11674426e-02 3.06220012e-03 9.99933114e-01]] t_gt: [ 0.91989911 0.02418916 -0.39140837] Pose Error in degrees for R and t: 179.3328566591008 57.14469917293392 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.87145540e-01 -1.59823874e-01 1.11598932e-04] [ 1.59823878e-01 9.87145545e-01 -3.26535700e-05] [-1.04945568e-04 5.00700000e-05 9.99999993e-01]] t_estimated: [[-0.6222301 ] [-0.78283391] [-0.00087762]] R_gt: [[ 0.99589879 0.08957455 -0.0128144 ] [-0.08931745 0.99581419 0.01942567] [ 0.01450127 -0.01820142 0.99972989]] t_gt: [0.0349121 0.99911661 0.02339096] Pose Error in degrees for R and t: 14.390961307679465 36.49716817876468 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 5.22692663e-01 8.52516156e-01 2.92978232e-03] [-8.52492318e-01 5.22700157e-01 -6.43369788e-03] [-7.01622907e-03 8.65229750e-04 9.99975012e-01]] t_estimated: [[0.23776828] [0.97130873] [0.0050589 ]] R_gt: [[ 9.75011621e-01 -2.22150375e-01 1.47210202e-03] [ 2.22154054e-01 9.75000026e-01 -4.59041608e-03] [-4.15296887e-04 4.80178190e-03 9.99988846e-01]] t_gt: [ 0.61446893 -0.78877715 -0.01607914] Pose Error in degrees for R and t: 71.32203256253572 51.67464545611471 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999370e-01 -5.65257550e-04 9.69495909e-04] [ 5.66539894e-04 9.99998964e-01 -1.32292689e-03] [-9.68747111e-04 1.32347531e-03 9.99998655e-01]] t_estimated: [[7.98565954e-01] [6.01906844e-01] [7.53830170e-04]] R_gt: [[ 0.9304319 -0.3634208 -0.0471439 ] [ 0.36209903 0.93150556 -0.03435613] [ 0.05640045 0.01489556 0.99829691]] t_gt: [ 0.664758 -0.73052618 -0.15629558] Pose Error in degrees for R and t: 21.517835420173547 84.77733204552527 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999818e-01 -6.03503988e-04 -1.03854928e-05] [ 6.03504133e-04 9.99999818e-01 1.39739434e-05] [ 1.03770575e-05 -1.39802085e-05 1.00000000e+00]] t_estimated: [[ 2.56316398e-02] [-9.99671409e-01] [-3.04229636e-04]] R_gt: [[ 0.86515403 -0.49946335 -0.04523098] [ 0.49985099 0.86610558 -0.00310288] [ 0.04072453 -0.01992435 0.99897153]] t_gt: [ 0.71225166 -0.70057217 -0.04354555] Pose Error in degrees for R and t: 30.069585053237603 44.06004696299012 Number of keypoints: Image1: 359 Image2: 359 R_estimated: [[ 9.79109969e-01 2.03331365e-01 1.56623354e-04] [-2.03331351e-01 9.79109980e-01 -9.67547039e-05] [-1.73024755e-04 6.28870570e-05 9.99999983e-01]] t_estimated: [[-7.71910204e-02] [ 9.97016033e-01] [ 7.59171914e-04]] R_gt: [[ 0.99997874 -0.0054818 0.0037578 ] [ 0.00547306 0.99998159 0.00252974] [-0.00377139 -0.00250829 0.99998945]] t_gt: [ 0.26449929 -0.49069027 0.83021876] Pose Error in degrees for R and t: 12.048308564129918 59.401907519062114 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.96839611e-01 7.94404669e-02 4.99574802e-05] [-7.94404655e-02 9.96839612e-01 -3.00846184e-05] [-5.21895313e-05 2.60208938e-05 9.99999998e-01]] t_estimated: [[0.97464488] [0.22375508] [0.00100791]] R_gt: [[ 0.99839683 -0.05057218 -0.02542218] [ 0.05112991 0.99845413 0.02179162] [ 0.0242811 -0.02305632 0.99943884]] t_gt: [ 0.62552146 -0.77468798 -0.09263604] Pose Error in degrees for R and t: 7.715054736129157 64.13656938183969 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.97843064 -0.2065269 0.0044852 ] [-0.20653913 0.97843526 -0.00245573] [-0.00388131 -0.00332914 -0.99998693]] t_estimated: [[ 0.99959607] [-0.02807007] [ 0.00444699]] R_gt: [[ 0.98526225 -0.15701352 -0.06786655] [ 0.1589144 0.98701128 0.02355006] [ 0.06328758 -0.03398753 0.99741666]] t_gt: [ 0.6704786 -0.72238605 -0.16916511] Pose Error in degrees for R and t: 176.64735896789887 46.39102854685392 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.98567302e-01 -5.35101547e-02 -7.92167862e-05] [ 5.35101523e-02 9.98567305e-01 -3.19339014e-05] [ 8.08120807e-05 2.76492475e-05 9.99999996e-01]] t_estimated: [[-1.86483736e-01] [-9.82457889e-01] [-5.58812518e-04]] R_gt: [[ 0.99419548 0.06828107 -0.0831395 ] [-0.06306152 0.99596447 0.06385891] [ 0.08716544 -0.05824576 0.99448996]] t_gt: [-0.86985053 -0.02622386 -0.49261786] Pose Error in degrees for R and t: 9.108541824522764 79.14920366191669 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 5.69605584e-01 8.21918130e-01 -2.56980545e-04] [-8.21917940e-01 5.69605162e-01 -9.27200981e-04] [-6.15705852e-04 7.39355776e-04 9.99999537e-01]] t_estimated: [[-2.55623066e-01] [ 9.66776516e-01] [ 1.30439772e-04]] R_gt: [[ 0.98144318 0.12926314 -0.14162837] [-0.1100071 0.98454515 0.13626442] [ 0.15705392 -0.11815564 0.9804959 ]] t_gt: [-0.93496182 -0.15040295 -0.321287 ] Pose Error in degrees for R and t: 49.581952929910024 84.63213886751636 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-2.03886409e-01 9.78994388e-01 -5.65219702e-04] [-9.78993325e-01 -2.03887034e-01 -1.46496238e-03] [-1.54943092e-03 2.54660396e-04 9.99998767e-01]] t_estimated: [[0.38263465] [0.92389924] [0.00096139]] R_gt: [[ 0.96848328 0.14442913 -0.20292686] [-0.11353184 0.98113713 0.15646351] [ 0.22169768 -0.12849345 0.96661208]] t_gt: [-0.74910408 -0.27396297 -0.60314788] Pose Error in degrees for R and t: 95.1302222961581 57.29408338470738 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999982e-01 -1.80884307e-04 4.96525228e-05] [ 1.80883402e-04 9.99999983e-01 1.82421257e-05] [-4.96558217e-05 -1.82331440e-05 9.99999999e-01]] t_estimated: [[0.70160945] [0.7125613 ] [0.00075483]] R_gt: [[ 9.98333467e-01 -5.76608784e-02 -2.51733804e-03] [ 5.77124594e-02 9.97776369e-01 3.33192507e-02] [ 5.89968836e-04 -3.34092301e-02 9.99441067e-01]] t_gt: [ 0.46372335 -0.8371608 0.29003871] Pose Error in degrees for R and t: 3.813005169402605 74.27879194278175 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99999242 0.00146652 -0.00360739] [-0.00144736 0.99998487 0.00530753] [ 0.00361512 -0.00530227 0.99997941]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98356461 -0.1801932 -0.01149015] [ 0.18031291 0.98355433 0.01038658] [ 0.00942956 -0.01228836 0.99988023]] t_gt: [ 0.97635646 -0.20998247 0.05133645] Pose Error in degrees for R and t: 10.481590005216772 48.921144525197384 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999996e-01 8.52977730e-05 -6.03894496e-06] [-8.52972966e-05 9.99999993e-01 7.88468555e-05] [ 6.04567038e-06 -7.88463401e-05 9.99999997e-01]] t_estimated: [[9.99996726e-01] [2.47611880e-03] [6.46158186e-04]] R_gt: [[ 0.98805417 -0.15402493 0.00500749] [ 0.15404489 0.98805568 -0.00391384] [-0.00434375 0.00463753 0.99998017]] t_gt: [ 0.97814266 -0.2029501 -0.04525695] Pose Error in degrees for R and t: 8.873431907374629 12.14789027053596 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.993359 -0.1134114 0.01938428] [-0.11283193 -0.99319798 -0.02875286] [ 0.02251333 0.02637474 -0.99939858]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.47672973e-01 -3.19244102e-01 5.53467090e-05] [ 3.19238079e-01 9.47653530e-01 6.27418490e-03] [-2.05521088e-03 -5.92870299e-03 9.99979964e-01]] t_gt: [ 0.99531536 -0.09548044 0.01519271] Pose Error in degrees for R and t: 178.59996139550748 42.206126162673364 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99978190e-01 -6.59201008e-03 -4.05771703e-04] [ 6.59255207e-03 9.99977359e-01 1.34915783e-03] [ 3.96868854e-04 -1.35180348e-03 9.99999008e-01]] t_estimated: [[-0.67909571] [-0.73404923] [-0.00085644]] R_gt: [[ 0.99917487 -0.01291026 -0.03850207] [ 0.00889478 0.99467639 -0.102671 ] [ 0.03962224 0.10224337 0.99396921]] t_gt: [ 0.22013681 0.18343236 -0.95806699] Pose Error in degrees for R and t: 6.36451542069337 73.54143836869258 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.86646413e-01 -1.62876753e-01 -1.39396184e-04] [ 1.62876809e-01 9.86646207e-01 6.37391721e-04] [ 3.37184225e-05 -6.51584661e-04 9.99999787e-01]] t_estimated: [[0.3203617] [0.9472947] [0.0010608]] R_gt: [[ 0.99524956 0.00621567 -0.09716354] [-0.0179688 0.99254445 -0.1205586 ] [ 0.09568977 0.12173161 0.98793905]] t_gt: [ 0.14910027 0.30747899 -0.93980093] Pose Error in degrees for R and t: 13.454501856714343 70.24235531003701 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.62520786 0.78042828 0.00684282] [ 0.78045683 -0.62516577 -0.0074093 ] [-0.00150453 0.00997288 -0.99994914]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99207166 0.01202571 -0.12510085] [-0.030387 0.98883125 -0.14591616] [ 0.12194785 0.14856018 0.98135497]] t_gt: [ 0.14121261 0.3506203 -0.92581013] Pose Error in degrees for R and t: 174.8879987254689 81.86063458079235 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.90107175e-01 -1.40313123e-01 -1.00689676e-04] [ 1.40313152e-01 9.90107097e-01 3.93898337e-04] [ 4.44244575e-05 -4.04129656e-04 9.99999917e-01]] t_estimated: [[-6.66025611e-01] [-7.45928804e-01] [-3.25296777e-04]] R_gt: [[ 0.99792021 -0.02645109 -0.05878608] [ 0.03056796 0.99705961 0.07027509] [ 0.05675402 -0.07192624 0.99579381]] t_gt: [ 0.02309132 -0.99688674 0.07538975] Pose Error in degrees for R and t: 8.289750057912347 43.26407741177255 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 8.89206406e-01 4.57475598e-01 5.29569093e-03] [ 4.57505466e-01 -8.89123920e-01 -1.21409425e-02] [-8.45659440e-04 1.32186114e-02 -9.99912273e-01]] t_estimated: [[0.99129211] [0.13165598] [0.00258149]] R_gt: [[ 0.98335067 -0.16364404 -0.079013 ] [ 0.16533729 0.98611821 0.01535753] [ 0.07540234 -0.02816607 0.99675522]] t_gt: [ 0.47479626 -0.7614356 -0.44134379] Pose Error in degrees for R and t: 178.4935636418011 68.32909376495084 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.90374235e-01 1.38415494e-01 -1.62492530e-04] [-1.38415571e-01 9.90374022e-01 -6.52106351e-04] [ 7.06667579e-05 6.68320825e-04 9.99999774e-01]] t_estimated: [[ 6.37320825e-01] [ 7.70598465e-01] [-4.15091715e-04]] R_gt: [[ 0.93927137 -0.32420014 -0.11253865] [ 0.32824117 0.94440501 0.018947 ] [ 0.10013812 -0.05473671 0.99346711]] t_gt: [ 0.61182165 -0.76813896 -0.18877715] Pose Error in degrees for R and t: 27.829610763819183 78.35064468515763 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.99999986e-01 -8.86213596e-05 1.38582314e-04] [ 8.86132255e-05 9.99999994e-01 5.87000648e-05] [-1.38587516e-04 -5.86877838e-05 9.99999989e-01]] t_estimated: [[0.71773904] [0.69631065] [0.0014676 ]] R_gt: [[ 0.99960008 -0.02797976 0.00395783] [ 0.02784922 0.99916992 0.02971408] [-0.00478609 -0.02959135 0.99955055]] t_gt: [ 0.56597174 -0.6333066 0.52782454] Pose Error in degrees for R and t: 2.3414814477471975 88.05251538939729 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 0.97625936 -0.21647327 0.0075484 ] [ 0.21651633 0.97626383 -0.00544128] [-0.00619134 0.00694645 0.99995671]] t_estimated: [[-0.56908417] [-0.82227839] [-0.00120569]] R_gt: [[ 0.99697775 0.04083777 0.06608114] [-0.04659411 0.99502515 0.08806097] [-0.06215698 -0.09087327 0.99392038]] t_gt: [-0.14086539 -0.14265205 0.97969757] Pose Error in degrees for R and t: 16.31762375576181 78.68033190402788 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99953735e-01 9.42684700e-03 1.91360329e-03] [-9.42705328e-03 9.99955559e-01 9.88046947e-05] [-1.91258683e-03 -1.16839764e-04 9.99998164e-01]] t_estimated: [[0.99257089] [0.12166344] [0.00101386]] R_gt: [[ 0.99388933 0.05663349 0.09474546] [-0.07060132 0.98596962 0.15125739] [-0.08484981 -0.15702187 0.98394303]] t_gt: [-0.12933295 -0.1032476 0.9862114 ] Pose Error in degrees for R and t: 10.690567361168794 81.95599018243306 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999419e-01 -2.23498785e-04 -1.05450829e-03] [ 2.24884433e-04 9.99999111e-01 1.31408765e-03] [ 1.05421366e-03 -1.31432403e-03 9.99998581e-01]] t_estimated: [[-0.20125057] [-0.97953817] [-0.00178098]] R_gt: [[ 0.98835418 -0.15216578 -0.00123412] [ 0.15138911 0.98242213 0.10920946] [-0.01540633 -0.10812458 0.99401766]] t_gt: [ 0.53257583 -0.67449344 0.51129402] Pose Error in degrees for R and t: 10.714764094774598 56.45441324639629 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999922e-01 -3.94950548e-04 -3.46472120e-06] [ 3.94953655e-04 9.99999473e-01 9.48048614e-04] [ 3.09028705e-06 -9.48049908e-04 9.99999551e-01]] t_estimated: [[0.69289762] [0.72103553] [0.00081194]] R_gt: [[ 0.97648654 -0.21556169 0.00268384] [ 0.21285224 0.9660366 0.14651289] [-0.0341764 -0.14249683 0.98920506]] t_gt: [ 0.52886627 -0.66904675 0.52218476] Pose Error in degrees for R and t: 14.964695104502564 83.36567058298863 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-8.17144283e-01 -5.76426733e-01 -2.72800845e-03] [ 5.76426966e-01 -8.17148301e-01 7.79028409e-04] [-2.67824027e-03 -9.35919023e-04 9.99995976e-01]] t_estimated: [[0.95701681] [0.29002896] [0.00142218]] R_gt: [[ 0.96448146 0.25432108 0.07137427] [-0.25212496 0.96693096 -0.03841441] [-0.0787832 0.01905532 0.99670921]] t_gt: [-0.71670118 0.68683774 0.12080291] Pose Error in degrees for R and t: 159.51288694193642 60.887864283135876 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.67957347e-01 -2.51114600e-01 -1.78895214e-04] [-2.51114609e-01 9.67956417e-01 1.35181293e-03] [-1.66297193e-04 1.35342046e-03 -9.99999070e-01]] t_estimated: [[9.99992164e-01] [3.88195716e-03] [7.76391432e-04]] R_gt: [[ 0.92155929 0.38320415 0.0623133 ] [-0.38416895 0.92325499 0.00384498] [-0.05605702 -0.02748204 0.99804839]] t_gt: [-0.66934942 0.72978821 0.13921392] Pose Error in degrees for R and t: 176.46679412752744 48.20994334805588 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.9757313 -0.21889474 -0.00579038] [ 0.21872411 -0.97554512 0.02171362] [-0.01040177 0.01992017 0.99974746]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.87978819 0.46983367 0.07230545] [-0.47090888 0.88217859 -0.00245863] [-0.06494093 -0.03188516 0.99737852]] t_gt: [-0.6298249 0.76613552 0.12789437] Pose Error in degrees for R and t: 164.5999350287836 87.32385440304441 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.47639751 0.87922504 0.00295661] [-0.87922422 -0.47637949 -0.00522946] [-0.0031894 -0.00509083 0.99998196]] t_estimated: [[0.57557757] [0.81774367] [0.00239807]] R_gt: [[ 0.9754913 -0.21187276 -0.05938687] [ 0.2136529 0.97658104 0.0253527 ] [ 0.05262396 -0.03741973 0.99791247]] t_gt: [ 0.98056101 -0.16301207 0.10921159] Pose Error in degrees for R and t: 130.78589642297243 64.44681566653696 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-4.13937415e-01 -9.10305321e-01 -1.97245506e-04] [ 9.10304128e-01 -4.13937207e-01 1.54387497e-03] [-1.48704486e-03 4.59514217e-04 9.99998789e-01]] t_estimated: [[9.01630320e-01] [4.32506778e-01] [8.07718860e-04]] R_gt: [[ 0.93229242 -0.35572823 -0.06548328] [ 0.35902232 0.9320963 0.04795786] [ 0.04397578 -0.06822017 0.99670012]] t_gt: [ 0.9849461 -0.07860957 0.15395361] Pose Error in degrees for R and t: 93.56639013035885 31.330467653681005 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.99090146 0.13458465 0.00113062] [-0.13458321 0.99090149 -0.00126199] [-0.00129018 0.00109834 0.99999856]] t_estimated: [[ 9.52660863e-01] [-3.04034346e-01] [-6.29313011e-04]] R_gt: [[ 0.92604373 -0.37698522 -0.01802074] [ 0.37725921 0.92323531 0.07288825] [-0.01084082 -0.07429552 0.99717718]] t_gt: [ 0.97871594 -0.07160427 0.19232251] Pose Error in degrees for R and t: 30.23470382495244 17.43958572543464 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.97821561e-01 -6.59706743e-02 -5.01521531e-05] [ 6.59706782e-02 9.97821559e-01 8.05454216e-05] [ 4.47292638e-05 -8.36785299e-05 9.99999995e-01]] t_estimated: [[ 1.47441878e-01] [ 9.89070430e-01] [-7.59094477e-04]] R_gt: [[ 0.99378275 -0.09215584 -0.06247043] [ 0.09652121 0.99280321 0.07088868] [ 0.05548665 -0.07647764 0.99552648]] t_gt: [ 0.50180384 -0.85309439 0.14290861] Pose Error in degrees for R and t: 5.659907530198048 39.65580728395449 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.81294881e-01 -1.92510668e-01 1.46744745e-05] [ 1.92510664e-01 9.81294874e-01 1.23603777e-04] [-3.81950322e-05 -1.18466761e-04 9.99999992e-01]] t_estimated: [[6.84039145e-02] [9.97657624e-01] [4.12490378e-04]] R_gt: [[ 0.98795883 -0.12624211 -0.08944516] [ 0.14007742 0.97532366 0.17065286] [ 0.06569384 -0.18112664 0.98126338]] t_gt: [ 0.39025199 -0.80487932 0.44707121] Pose Error in degrees for R and t: 11.602848352202573 39.09378535651526 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.96700185 0.25476694 -0.00110697] [-0.25476486 -0.96700148 -0.00173299] [-0.00151195 -0.00139379 0.99999789]] t_estimated: [[0.39124248] [0.92028712] [0.00096365]] R_gt: [[ 0.961614 -0.17204322 -0.21377726] [ 0.20536458 0.96791174 0.14481824] [ 0.18200206 -0.1831616 0.96608841]] t_gt: [ 0.55950943 -0.82237356 0.10320333] Pose Error in degrees for R and t: 176.35448081761166 57.464878831524686 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 1.24215420e-01 -9.92255244e-01 -2.45037464e-04] [ 9.92234756e-01 1.24211260e-01 6.46152541e-03] [-6.38104607e-03 -1.04575578e-03 9.99979094e-01]] t_estimated: [[0.9549331 ] [0.29681198] [0.00233083]] R_gt: [[ 0.98372498 -0.16779784 -0.06426353] [ 0.16681792 0.98577726 -0.0203557 ] [ 0.06676452 0.00930395 0.99772558]] t_gt: [ 0.57652391 -0.74738911 -0.33019645] Pose Error in degrees for R and t: 73.32717314139907 70.85632642155514 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-9.93323877e-01 -1.15304292e-01 -3.54896384e-03] [-1.15305683e-01 9.93330038e-01 1.89224182e-04] [ 3.50347403e-03 5.97176598e-04 -9.99993685e-01]] t_estimated: [[8.05028362e-01] [5.93236015e-01] [6.05181089e-04]] R_gt: [[ 0.95023826 -0.30751969 -0.0498079 ] [ 0.30755478 0.95150398 -0.00712643] [ 0.04958354 -0.00854772 0.99873271]] t_gt: [ 0.63195704 -0.76702052 -0.11094964] Pose Error in degrees for R and t: 176.92680004218028 86.92448988433692 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 2.26968110e-01 -9.73902131e-01 3.42068694e-04] [ 9.73877774e-01 2.26964893e-01 7.00136843e-03] [-6.89628522e-03 -1.25595427e-03 9.99975432e-01]] t_estimated: [[0.83772251] [0.54609523] [0.00099748]] R_gt: [[ 0.88572963 -0.46127268 -0.05207108] [ 0.46017033 0.8872473 -0.03218215] [ 0.06104414 0.00454293 0.99812422]] t_gt: [ 0.70047116 -0.70540806 -0.10834954] Pose Error in degrees for R and t: 49.56310261102231 78.37692492282193 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 0.5264241 0.85016439 0.00990846] [ 0.85013405 -0.52616608 -0.02052713] [-0.01223794 0.01922949 -0.9997402 ]] t_estimated: [[0.55175424] [0.83400476] [0.00182097]] R_gt: [[ 0.99654473 0.08302887 0.00232028] [-0.08281095 0.99531964 -0.04981189] [-0.00644512 0.0494479 0.99875591]] t_gt: [-0.31503847 0.91802096 -0.24080757] Pose Error in degrees for R and t: 176.0845057461932 53.745603359997745 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.86633371e-01 -1.62952821e-01 -9.84856141e-04] [ 1.62953255e-01 9.86633718e-01 3.77420588e-04] [ 9.10190527e-04 -5.32861261e-04 9.99999444e-01]] t_estimated: [[7.99824929e-01] [6.00232916e-01] [7.28438004e-04]] R_gt: [[ 0.97642382 0.21533231 0.01517553] [-0.21451829 0.97576782 -0.0431115 ] [-0.02409143 0.03884012 0.99895498]] t_gt: [-0.32365546 0.94614383 0.0076813 ] Pose Error in degrees for R and t: 21.95673788714282 71.99833920915036 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.22134888 -0.97517629 0.00599015] [-0.97516385 0.22128885 -0.00931236] [ 0.00775564 -0.00790266 -0.9999387 ]] t_estimated: [[0.79290795] [0.60934084] [0.00084985]] R_gt: [[ 9.09865548e-01 4.14171352e-01 -2.46315619e-02] [-4.14903060e-01 9.08197289e-01 -5.50735614e-02] [-4.39380593e-04 6.03298420e-02 9.98178430e-01]] t_gt: [-0.22225502 0.97271504 -0.06654433] Pose Error in degrees for R and t: 177.40401694525457 65.39055461642724 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 0.54547868 0.83810535 -0.00569441] [ 0.83804803 -0.54532429 0.01723129] [ 0.01133634 -0.01417149 -0.99983531]] t_estimated: [[-0.88785053] [-0.46012691] [-0.00216022]] R_gt: [[ 0.9960994 0.03064865 0.08274993] [-0.02942143 0.99943869 -0.01601292] [-0.08319397 0.01351546 0.99644193]] t_gt: [-0.63734739 0.35617334 0.68332193] Pose Error in degrees for R and t: 178.01231181005477 66.3900509274923 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.9601473 0.27948762 0.00195695] [ 0.27949164 0.96014557 0.00221443] [-0.00126005 0.00267313 -0.99999563]] t_estimated: [[0.97300358] [0.23078562] [0.0014246 ]] R_gt: [[ 0.98615284 0.13986649 0.08910949] [-0.13699928 0.98985894 -0.03755369] [-0.09345703 0.02482622 0.99531426]] t_gt: [-0.7279465 0.62407435 0.28394559] Pose Error in degrees for R and t: 174.46563634301322 55.67665054708762 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.71273036 -0.70138309 -0.00878652] [ 0.70143703 0.7126954 0.00716643] [ 0.0012357 -0.01127092 0.99993572]] t_estimated: [[0.77349763] [0.63379749] [0.00147053]] R_gt: [[ 0.95959804 0.27818672 0.04224977] [-0.27931943 0.95990718 0.0236787 ] [-0.03396811 -0.03452309 0.99882713]] t_gt: [-0.70348521 0.69182664 0.16274047] Pose Error in degrees for R and t: 60.79327773632634 83.94824042815117 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.998663 -0.05166062 0.00184024] [-0.05166361 -0.99866324 0.00161339] [ 0.00175443 -0.0017063 -0.99999701]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98395888 -0.17837246 0.00288441] [ 0.17837957 0.98353106 -0.02909012] [ 0.00235295 0.02913828 0.99957262]] t_gt: [ 0.55561952 -0.82462349 -0.1062217 ] Pose Error in degrees for R and t: 178.41081670585035 34.78967028854174 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.60483264e-01 -2.78264484e-01 6.38566376e-03] [-2.78254384e-01 9.60504325e-01 2.43691630e-03] [-6.81156492e-03 5.63778387e-04 -9.99976642e-01]] t_estimated: [[0.99387865] [0.11040661] [0.00395147]] R_gt: [[ 9.40962627e-01 -3.37434292e-01 -2.69682512e-02] [ 3.37287171e-01 9.41349148e-01 -9.94468425e-03] [ 2.87425227e-02 2.61747822e-04 9.99586567e-01]] t_gt: [ 0.63459755 -0.76954966 -0.07126899] Pose Error in degrees for R and t: 178.74452852145038 56.94335089854058 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 1.00000000e+00 -2.81087653e-12 -3.93088340e-15] [ 2.80971080e-12 1.00000000e+00 2.60005233e-15] [ 3.93012446e-15 -2.60112298e-15 1.00000000e+00]] t_estimated: [[9.95168391e-01] [9.81790092e-02] [8.69839999e-04]] R_gt: [[ 8.76736134e-01 -4.80972259e-01 2.20311102e-04] [ 4.80901540e-01 8.76598126e-01 -1.75766601e-02] [ 8.26134660e-03 1.55159084e-02 9.99845130e-01]] t_gt: [ 0.69264921 -0.72046873 -0.03408646] Pose Error in degrees for R and t: 28.766322556196325 51.79054719155331 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.97253879 -0.23266915 -0.00577705] [ 0.23267898 0.97255299 0.00108323] [ 0.00536645 -0.00239768 0.99998273]] t_estimated: [[8.19001255e-01] [5.73791298e-01] [7.00599876e-04]] R_gt: [[ 0.99192839 0.12565997 0.01695601] [-0.12456247 0.99068866 -0.0549615 ] [-0.02370411 0.05240594 0.99834448]] t_gt: [-0.37390251 0.92670515 -0.03760968] Pose Error in degrees for R and t: 20.942221879664103 76.96875467234779 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.99446304 -0.10481287 0.00758406] [ 0.10485681 0.9944713 -0.00564644] [-0.00695031 0.00641041 0.9999553 ]] t_estimated: [[-0.47068536] [-0.88230064] [-0.00093762]] R_gt: [[ 0.94604607 0.32397822 0.00589542] [-0.32316237 0.94468498 -0.0560156 ] [-0.02371663 0.05108813 0.99841271]] t_gt: [-0.28151943 0.95950026 -0.01029833] Pose Error in degrees for R and t: 25.065473942143278 44.434523942741194 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999645e-01 8.42235919e-04 -2.55809559e-05] [-8.42247299e-04 9.99999545e-01 -4.48169225e-04] [ 2.52034800e-05 4.48190612e-04 9.99999899e-01]] t_estimated: [[-0.4561071 ] [-0.88992324] [-0.00171469]] R_gt: [[ 0.8742946 0.48389741 -0.03811268] [-0.48508809 0.87383745 -0.03313727] [ 0.01726882 0.04745909 0.9987236 ]] t_gt: [-0.19203617 0.97888021 -0.07011167] Pose Error in degrees for R and t: 29.090334802495683 38.425312403538626 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.93867581 -0.33163128 0.09438446] [ 0.33696339 0.9403337 -0.04720393] [-0.07309858 0.0761133 0.99441609]] t_estimated: [[0.46048445] [0.88766703] [0.00114834]] R_gt: [[ 0.98850533 0.15102856 -0.00690804] [-0.1508477 0.98831805 0.02174725] [ 0.01011264 -0.02045474 0.99973918]] t_gt: [-0.72933311 0.68261774 0.04589376] Pose Error in degrees for R and t: 29.16141011889304 74.32719962609458 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-8.84732778e-01 -4.66086264e-01 -3.39197552e-03] [-4.66086689e-01 8.84738770e-01 -7.12555725e-04] [ 3.33312468e-03 9.50533232e-04 -9.99993993e-01]] t_estimated: [[8.85030903e-01] [4.65531466e-01] [8.68528855e-04]] R_gt: [[ 0.96687758 0.24716706 -0.06369005] [-0.24067222 0.96594769 0.09498026] [ 0.08499747 -0.07650539 0.99343962]] t_gt: [-0.74212917 0.6688934 -0.0427308 ] Pose Error in degrees for R and t: 176.8191276362998 69.79052242538903 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.00691315e-01 5.99076879e-01 -5.57914705e-04] [-5.99076412e-01 8.00688546e-01 -2.30336659e-03] [-9.33177754e-04 2.17851917e-03 9.99997192e-01]] t_estimated: [[0.80549253] [0.59260431] [0.00138619]] R_gt: [[ 0.94546137 0.29793622 -0.13166812] [-0.27663057 0.94783786 0.1583651 ] [ 0.1719831 -0.11330449 0.9785624 ]] t_gt: [-0.79054161 0.58250598 -0.18902578] Pose Error in degrees for R and t: 23.21850019051913 73.0317441898141 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[-0.92686904 -0.37537927 0.00204387] [-0.37536263 0.9268597 0.00582974] [-0.00408275 0.00463622 -0.99998092]] t_estimated: [[0.9330355 ] [0.35978233] [0.00119927]] R_gt: [[ 0.99744526 0.04305812 0.05700829] [-0.04522977 0.9982765 0.03738184] [-0.05529987 -0.03986435 0.99767312]] t_gt: [-0.36676825 0.0613284 0.92828868] Pose Error in degrees for R and t: 176.2435580385177 71.39574781233945 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[-0.86604157 0.49994534 0.00516185] [-0.49996479 -0.86603836 -0.00357403] [ 0.00268353 -0.005676 0.99998029]] t_estimated: [[0.59289666] [0.80527756] [0.00126417]] R_gt: [[ 0.99367671 0.07868143 0.0801032 ] [-0.08604972 0.9919293 0.0931216 ] [-0.07212908 -0.09942471 0.99242781]] t_gt: [-0.3107736 0.06359326 0.94835419] Pose Error in degrees for R and t: 145.30544291473896 82.42363335106128 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-0.14243114 0.98950159 -0.02449424] [ 0.98943722 0.14300893 0.02371579] [ 0.02696971 -0.02085765 -0.99941863]] t_estimated: [[-0.15593916] [-0.98761469] [-0.01732657]] R_gt: [[ 0.98598218 0.11178535 0.12387086] [-0.13217215 0.97637379 0.17094945] [-0.10183419 -0.18492453 0.97746198]] t_gt: [-0.31656847 0.10866068 0.94232545] Pose Error in degrees for R and t: 176.2560427806106 85.74033378959234 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999872e-01 -4.84895939e-04 1.43351756e-04] [ 4.84942815e-04 9.99999829e-01 -3.27147935e-04] [-1.43193098e-04 3.27217410e-04 9.99999936e-01]] t_estimated: [[-0.9548191 ] [-0.29718488] [-0.00127991]] R_gt: [[ 0.98135427 0.19200597 0.00883571] [-0.1919396 0.98137485 -0.00791798] [-0.01019208 0.00607522 0.99992937]] t_gt: [-0.7184281 0.69559094 -0.00378319] Pose Error in degrees for R and t: 11.115773256431572 61.363270263765465 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.37938832 0.92514628 -0.01299459] [ 0.92475953 -0.37870351 0.03746293] [ 0.02973759 -0.02622987 -0.99921353]] t_estimated: [[0.84451823] [0.53552604] [0.00090614]] R_gt: [[ 0.88780559 0.45570894 0.06426033] [-0.45199048 0.88967666 -0.06465377] [-0.08663526 0.02835577 0.99583603]] t_gt: [-0.62786718 0.77599034 0.06018138] Pose Error in degrees for R and t: 177.5127153292125 83.41784773555393 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.84861247e-01 -1.73344463e-01 -1.45850630e-04] [ 1.73344468e-01 9.84861257e-01 2.23708944e-05] [ 1.39764764e-04 -4.73146269e-05 9.99999989e-01]] t_estimated: [[-0.27639253] [-0.96104425] [-0.00105493]] R_gt: [[ 0.78525214 0.61559049 0.06654129] [-0.6157472 0.78767554 -0.02056712] [-0.0650744 -0.02482177 0.99757166]] t_gt: [-0.55897446 0.82465988 0.08650796] Pose Error in degrees for R and t: 48.19390637614781 50.34751529777764 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999838e-01 5.66068976e-04 5.36719147e-05] [-5.66078841e-04 9.99999823e-01 1.83963145e-04] [-5.35677693e-05 -1.83993498e-04 9.99999982e-01]] t_estimated: [[0.98246614] [0.18643814] [0.00104741]] R_gt: [[ 0.98715182 -0.15959439 -0.00781247] [ 0.159635 0.98716406 0.00490342] [ 0.00692862 -0.00608658 0.99995721]] t_gt: [ 0.8014215 -0.59809297 0.00289469] Pose Error in degrees for R and t: 9.232067888109139 47.478627224548 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999752e-01 7.04136013e-04 1.37633787e-06] [-7.04136013e-04 9.99999752e-01 -4.04545079e-07] [-1.37662238e-06 4.03575849e-07 1.00000000e+00]] t_estimated: [[ 0.42003369] [-0.90750735] [-0.00145174]] R_gt: [[ 0.98739377 -0.15782775 -0.01199591] [ 0.15751413 0.98723254 -0.02367474] [ 0.01557858 0.02148754 0.99964757]] t_gt: [ 0.78981978 -0.59376784 -0.15370253] Pose Error in degrees for R and t: 9.239551656252289 29.445612351729917 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 1.80357038e-01 9.83595929e-01 3.22300840e-03] [ 9.83601209e-01 -1.80355961e-01 -6.24085006e-04] [-3.25586949e-05 3.28271308e-03 -9.99994611e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.97161609 -0.23545955 -0.02283276] [ 0.2345151 0.97137968 -0.03775064] [ 0.03106773 0.03132544 0.99902595]] t_gt: [ 0.80685513 -0.56796104 -0.16249633] Pose Error in degrees for R and t: 179.3048524036748 36.768957464397495 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99741108e-01 -2.27433746e-02 -6.75445623e-04] [ 2.27438183e-02 9.99741110e-01 6.56685418e-04] [ 6.60335515e-04 -6.71877620e-04 9.99999556e-01]] t_estimated: [[-0.51365527] [-0.85799455] [-0.00190243]] R_gt: [[ 0.99600852 0.08676174 0.02097183] [-0.08703645 0.99612652 0.01252911] [-0.01980423 -0.01430462 0.99970131]] t_gt: [-0.34426915 0.81847875 0.4599688 ] Pose Error in degrees for R and t: 6.445553279070313 58.244894327650975 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-3.18933827e-01 -9.47775829e-01 -1.48074489e-03] [-9.47776897e-01 3.18934083e-01 6.63188694e-05] [ 4.09404593e-04 1.42456713e-03 -9.99998901e-01]] t_estimated: [[8.00854448e-01] [5.98858519e-01] [7.92140898e-04]] R_gt: [[ 0.97785814 0.20908207 0.00879941] [-0.20926399 0.9772173 0.03543103] [-0.00119151 -0.03648769 0.99933276]] t_gt: [-0.21814563 0.95640955 0.19414751] Pose Error in degrees for R and t: 178.62762087001775 66.53399400780089 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.98014576e-01 6.29830755e-02 -1.94219597e-04] [-6.29830236e-02 9.98014564e-01 2.62802618e-04] [ 2.10386104e-04 -2.50048306e-04 9.99999947e-01]] t_estimated: [[-0.99210945] [ 0.12536906] [-0.00119938]] R_gt: [[ 0.97160455 0.23568163 0.02095072] [-0.23593779 0.97170988 0.01066955] [-0.01784329 -0.01530913 0.99972391]] t_gt: [-0.0935889 0.98355689 0.15445699] Pose Error in degrees for R and t: 10.120162679413044 77.52739553937022 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.37680352e-01 3.47498613e-01 5.20327140e-04] [-3.47498471e-01 9.37680486e-01 -3.45952137e-04] [-6.08118493e-04 1.43579636e-04 9.99999805e-01]] t_estimated: [[0.00623687] [0.99998001] [0.00103948]] R_gt: [[ 0.99212111 -0.12323074 0.0225884 ] [ 0.12402885 0.99154444 -0.0381591 ] [-0.01769572 0.04066118 0.99901634]] t_gt: [ 0.61557916 -0.7843537 -0.07649559] Pose Error in degrees for R and t: 27.55219207842244 38.68645069062468 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999678e-01 7.73869838e-04 2.11998445e-04] [-7.73865137e-04 9.99999700e-01 -2.22578296e-05] [-2.12015606e-04 2.20937643e-05 9.99999977e-01]] t_estimated: [[9.99994892e-01] [3.10076068e-03] [7.75189840e-04]] R_gt: [[ 0.99482879 -0.09983542 0.01867244] [ 0.10035474 0.99451935 -0.02933055] [-0.01564243 0.03105429 0.99939564]] t_gt: [ 0.53608559 -0.84134908 -0.06887638] Pose Error in degrees for R and t: 6.121277200373486 57.76313359068656 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.92849309e-01 1.19374380e-01 8.65020699e-05] [-1.19374381e-01 9.92849312e-01 5.32656106e-06] [-8.52476657e-05 -1.56146035e-05 9.99999996e-01]] t_estimated: [[7.64302738e-01] [6.44857303e-01] [6.19768005e-04]] R_gt: [[ 0.99600839 -0.07298492 0.05138768] [ 0.07540956 0.99604596 -0.04694675] [-0.04775877 0.05063439 0.99757461]] t_gt: [ 0.26733327 -0.95084081 0.15631594] Pose Error in degrees for R and t: 11.808040266137892 65.87452978469264 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99976423e-01 6.86649710e-03 -6.52374639e-05] [-6.86649354e-03 9.99976424e-01 5.46481832e-05] [ 6.56111675e-05 -5.41989421e-05 9.99999996e-01]] t_estimated: [[9.84039625e-01] [1.77948681e-01] [5.32133738e-04]] R_gt: [[ 0.99486422 0.10110296 0.0049654 ] [-0.10114288 0.99483411 0.00872722] [-0.00405767 -0.00918508 0.99994872]] t_gt: [-0.37583158 0.92426093 0.06702508] Pose Error in degrees for R and t: 5.44084426326424 78.151388048317 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.97597606e-01 -6.92747573e-02 -1.56005940e-04] [ 6.92747961e-02 9.97597582e-01 2.59402505e-04] [ 1.37661103e-04 -2.69586598e-04 9.99999954e-01]] t_estimated: [[-0.12905092] [ 0.99163384] [ 0.00286057]] R_gt: [[ 0.96619295 0.25314803 -0.04886688] [-0.25176903 0.96723634 0.03265403] [ 0.05553267 -0.01924762 0.99827114]] t_gt: [-0.3014652 0.94935816 -0.08853142] Pose Error in degrees for R and t: 18.905686223597755 11.459094065709094 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.95975297e-01 -8.96259502e-02 6.30553730e-04] [ 8.96263292e-02 9.95975281e-01 -6.00889826e-04] [-5.74160606e-04 6.54985639e-04 9.99999621e-01]] t_estimated: [[-0.96193879] [-0.27326317] [-0.00100319]] R_gt: [[ 0.91178771 0.39441832 -0.11435877] [-0.38887665 0.9187593 0.06823258] [ 0.13198135 -0.01774261 0.99109327]] t_gt: [-0.13820515 0.97843231 -0.1535238 ] Pose Error in degrees for R and t: 29.315818047664962 82.28355564456636 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99960969e-01 -8.83029358e-03 -2.95381848e-04] [ 8.83038250e-03 9.99960966e-01 3.01094200e-04] [ 2.92711568e-04 -3.03690783e-04 9.99999911e-01]] t_estimated: [[-0.66948189] [ 0.74282039] [ 0.00344454]] R_gt: [[ 0.99666245 0.08096175 0.01047737] [-0.08081888 0.99663976 -0.01332151] [-0.01152047 0.01243033 0.99985629]] t_gt: [-0.33877742 0.94072497 0.01632177] Pose Error in degrees for R and t: 5.241252629563587 22.23323578170124 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.96945928e-01 7.80948934e-02 -5.80246115e-05] [-7.80948905e-02 9.96945929e-01 5.05404147e-05] [ 6.17943485e-05 -4.58546349e-05 9.99999997e-01]] t_estimated: [[-9.91074343e-01] [-1.33309742e-01] [-3.99776600e-04]] R_gt: [[ 0.98194704 0.18892723 0.00934043] [-0.18805387 0.98035197 -0.0595416 ] [-0.02040624 0.0567104 0.99818159]] t_gt: [-0.29938743 0.95091439 -0.0782878 ] Pose Error in degrees for R and t: 7.270269152341341 80.21332354385716 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999997e-01 1.33288598e-05 -7.71408471e-05] [-1.33248352e-05 9.99999999e-01 5.21729927e-05] [ 7.71415424e-05 -5.21719647e-05 9.99999996e-01]] t_estimated: [[-7.82794523e-01] [-6.22279805e-01] [-7.60733258e-04]] R_gt: [[ 0.93733259 0.34806511 0.01610072] [-0.34694799 0.93659518 -0.04914966] [-0.03218758 0.04048408 0.99866126]] t_gt: [-0.25439231 0.96704746 0.01018686] Pose Error in degrees for R and t: 20.561631796697586 66.2563687533157 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.86686297 -0.49776395 -0.02792207] [ 0.49684747 -0.86717264 0.0339735 ] [-0.04112404 0.01557736 0.99903261]] t_estimated: [[0.9808375 ] [0.19379144] [0.02006689]] R_gt: [[ 0.97352105 0.21356522 -0.08152211] [-0.21088103 0.97667957 0.04033131] [ 0.08823446 -0.02207092 0.99585499]] t_gt: [-0.29079973 0.9398862 -0.1790236 ] Pose Error in degrees for R and t: 162.49431544822255 83.876158144996 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.88623991e-01 1.50408127e-01 2.35129167e-05] [-1.50408048e-01 9.88623280e-01 1.19563261e-03] [ 1.56587445e-04 -1.18556762e-03 9.99999285e-01]] t_estimated: [[0.4910127 ] [0.87115156] [0.00121839]] R_gt: [[ 0.93245597 0.33721431 -0.12965949] [-0.32967966 0.9409971 0.07639251] [ 0.14776982 -0.02848631 0.98861069]] t_gt: [-0.15950044 0.96530828 -0.20673541] Pose Error in degrees for R and t: 13.927585897077163 40.32720018191709 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-8.73812483e-01 -4.86213346e-01 6.95165961e-03] [-4.86262915e-01 8.73733210e-01 -1.17752361e-02] [-3.48618899e-04 -1.36696826e-02 -9.99906505e-01]] t_estimated: [[0.86679921] [0.4986558 ] [0.00123125]] R_gt: [[ 0.86943771 0.47598232 -0.13235811] [-0.46960583 0.87943797 0.07784387] [ 0.15345284 -0.00552445 0.98814036]] t_gt: [-0.09787431 0.97744628 -0.18713471] Pose Error in degrees for R and t: 172.80954184912 66.27536343569929 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999985e-01 -1.63562590e-04 -5.47269021e-05] [ 1.63563482e-04 9.99999986e-01 1.62916530e-05] [ 5.47242367e-05 -1.63006041e-05 9.99999998e-01]] t_estimated: [[-9.99992466e-01] [-3.75249365e-03] [-9.93025656e-04]] R_gt: [[ 9.90041434e-01 1.40563043e-01 7.75631164e-03] [-1.40774948e-01 9.88866113e-01 4.82378152e-02] [-8.89511505e-04 -4.88493994e-02 9.98805640e-01]] t_gt: [-0.35517367 0.86542527 0.35339887] Pose Error in degrees for R and t: 8.57016016785712 69.4164698482339 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99591200e-01 2.85822295e-02 -6.99697654e-04] [-2.85813706e-02 9.99590739e-01 1.20825610e-03] [ 7.33945948e-04 -1.18776384e-03 9.99999025e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97957556 0.20106194 0.00224308] [-0.2010629 0.97933461 0.0218498 ] [ 0.0021969 -0.02185462 0.99975875]] t_gt: [-0.14393072 0.98404785 0.1045647 ] Pose Error in degrees for R and t: 10.033429135816077 81.90599551600943 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.96751506e-01 8.05380811e-02 -2.29841880e-04] [-8.05379444e-02 9.96751390e-01 5.52485476e-04] [ 2.73591333e-04 -5.32179738e-04 9.99999821e-01]] t_estimated: [[0.68532904] [0.72823267] [0.00112904]] R_gt: [[ 0.97709483 0.20913848 0.03932779] [-0.20787597 0.97756867 -0.03387921] [-0.04553181 0.02492849 0.99865129]] t_gt: [-0.12771226 0.98360088 0.12735336] Pose Error in degrees for R and t: 8.008091234406892 51.03031149582304 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 8.97770688e-01 4.40455922e-01 2.52436444e-03] [ 4.40462222e-01 -8.97765841e-01 -3.08625071e-03] [ 9.06930764e-04 3.88263260e-03 -9.99992051e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.95323862 -0.30059685 -0.0312811 ] [ 0.30096853 0.95360204 0.00785249] [ 0.02747038 -0.0168984 0.99947964]] t_gt: [ 0.85777318 -0.5138353 -0.01408739] Pose Error in degrees for R and t: 179.1341490607715 40.15468477370776 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[-0.28326712 -0.95870803 -0.02527162] [ 0.95900901 -0.28294389 -0.01563557] [ 0.0078395 -0.02866476 0.99955834]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.92512211 -0.37899346 -0.02268178] [ 0.3790363 0.92537781 -0.0025127 ] [ 0.02194238 -0.00627139 0.99973937]] t_gt: [ 0.87324163 -0.48673782 -0.02313777] Pose Error in degrees for R and t: 84.16814784244173 29.726192555297057 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.99999780e-01 -1.31126492e-04 6.49687966e-04] [ 1.31613905e-04 9.99999710e-01 -7.50240588e-04] [-6.49589401e-04 7.50325931e-04 9.99999508e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.92081262 -0.38755914 -0.04363567] [ 0.38679812 0.92182389 -0.02503428] [ 0.04992773 0.00617463 0.99873298]] t_gt: [ 0.87066584 -0.48439994 -0.08542651] Pose Error in degrees for R and t: 22.968952967210758 83.37610683068104 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.96481527e-01 8.38125971e-02 1.19197566e-04] [-8.38125826e-02 9.96481528e-01 -1.21781719e-04] [-1.28985015e-04 1.11362977e-04 9.99999985e-01]] t_estimated: [[4.53311515e-01] [8.91351902e-01] [6.76528701e-04]] R_gt: [[ 0.99861713 -0.04924299 0.01836081] [ 0.04978578 0.99829719 -0.03038893] [-0.01683326 0.03126154 0.99937056]] t_gt: [ 0.63743158 -0.76738859 -0.06925124] Pose Error in degrees for R and t: 7.9100950940353405 66.72747397640663 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.96693875e-01 8.12484229e-02 1.17022342e-04] [-8.12483828e-02 9.96693836e-01 -3.13880513e-04] [-1.42137743e-04 3.03334908e-04 9.99999944e-01]] t_estimated: [[6.50708293e-01] [7.59327691e-01] [4.19801588e-04]] R_gt: [[ 0.99545115 -0.08284701 -0.04703378] [ 0.08344688 0.99645202 0.01093263] [ 0.04596127 -0.01480728 0.99883429]] t_gt: [ 0.59737962 -0.76109906 -0.25271685] Pose Error in degrees for R and t: 9.832763643014593 79.0874918127802 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.48152672 -0.87642966 -0.00174816] [ 0.87643003 -0.48152147 -0.0027359 ] [ 0.00155605 -0.00284955 0.99999473]] t_estimated: [[9.99746383e-01] [2.24991847e-02] [9.78225423e-04]] R_gt: [[ 0.98313396 -0.17026482 -0.06675996] [ 0.17251896 0.98456354 0.02955495] [ 0.06069756 -0.0405737 0.99733214]] t_gt: [ 0.5472484 -0.82108581 -0.16228764] Pose Error in degrees for R and t: 108.95027891554754 58.097383913012415 Number of keypoints: Image1: 413 Image2: 413 R_estimated: [[ 0.9871046 -0.16001585 0.00440774] [-0.16003914 -0.98590445 0.04878417] [-0.00346063 -0.04886049 -0.99879962]] t_estimated: [[0.10250013] [0.99442943] [0.02457291]] R_gt: [[ 0.998963 0.00709076 0.04496745] [-0.00645708 0.9998782 -0.01424404] [-0.04506309 0.01393976 0.99888688]] t_gt: [-0.54193166 0.02385679 0.84008388] Pose Error in degrees for R and t: 177.79141200759028 89.35937064110169 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[-9.85069395e-01 1.65848722e-01 4.61788757e-02] [ 1.65700603e-01 9.86150948e-01 -7.04395492e-03] [-4.67075730e-02 7.13083115e-04 -9.98908351e-01]] t_estimated: [[ 0.99575379] [-0.08888135] [ 0.02396875]] R_gt: [[ 0.9987665 -0.04955104 -0.00313516] [ 0.04956562 0.99875896 0.00505218] [ 0.00288022 -0.00520008 0.99998265]] t_gt: [ 0.26461892 -0.96398691 -0.026572 ] Pose Error in degrees for R and t: 177.52993906090342 69.60202939057596 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99998498e-01 -1.73161938e-03 6.90470082e-05] [ 1.73162962e-03 9.99998490e-01 -1.48581168e-04] [-6.87896179e-05 1.48700509e-04 9.99999987e-01]] t_estimated: [[ 8.76669736e-01] [-4.81092648e-01] [ 1.93100912e-04]] R_gt: [[ 0.99640227 -0.07061934 -0.04685464] [ 0.07235889 0.99670917 0.03653896] [ 0.0441192 -0.03979752 0.99823291]] t_gt: [ 0.3610134 -0.91291288 -0.19041901] Pose Error in degrees for R and t: 5.262055727488132 40.917939836512915 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999625e-01 -8.46399910e-04 -1.83109159e-04] [ 8.46402323e-04 9.99999642e-01 1.30986290e-05] [ 1.83098006e-04 -1.32536081e-05 9.99999983e-01]] t_estimated: [[-0.9737075 ] [-0.22779976] [-0.00098481]] R_gt: [[ 0.96401409 0.26016861 0.05468856] [-0.25805101 0.96517922 -0.04286856] [-0.06393774 0.02721364 0.99758256]] t_gt: [-0.71395516 0.69835263 0.05071129] Pose Error in degrees for R and t: 15.601198893414182 57.584920338151 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.78726139e-01 -2.05170590e-01 4.17608315e-04] [ 2.05170645e-01 9.78726212e-01 -9.27771957e-05] [-3.89689052e-04 1.76484434e-04 9.99999908e-01]] t_estimated: [[-0.56264022] [-0.82670142] [-0.00086295]] R_gt: [[ 0.90299243 0.42720576 0.04581778] [-0.42449674 0.90353827 -0.05847954] [-0.0663819 0.03335667 0.99723722]] t_gt: [-0.65591337 0.75442567 0.02489091] Pose Error in degrees for R and t: 37.31413079964253 75.24638162560191 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-2.03626920e-01 -9.79044214e-01 -2.91641957e-03] [ 9.79047907e-01 -2.03629314e-01 5.45939392e-04] [-1.12836732e-03 -2.74414652e-03 9.99995598e-01]] t_estimated: [[0.99293668] [0.11862518] [0.00219676]] R_gt: [[ 0.866264 0.49722508 0.04852327] [-0.49365646 0.86685425 -0.06976113] [-0.07675003 0.03647736 0.99638315]] t_gt: [-0.63229604 0.77420299 0.0284858 ] Pose Error in degrees for R and t: 131.5614020840679 57.59317352497528 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.99242144 0.1228733 0.00135619] [-0.12286959 0.99241956 -0.002544 ] [-0.0016585 0.00235808 0.99999584]] t_estimated: [[-0.99930641] [-0.03722478] [-0.00100312]] R_gt: [[ 0.98817361 0.08058521 0.13045944] [-0.07673542 0.99646232 -0.03427759] [-0.13275935 0.02386123 0.99086145]] t_gt: [-0.40647124 0.56672817 0.71665913] Pose Error in degrees for R and t: 8.044059770977551 67.39511147217942 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-8.88808683e-01 -4.58249311e-01 -5.16669344e-03] [ 4.58244305e-01 -8.88823597e-01 2.18389069e-03] [-5.59304546e-03 -4.26546840e-04 9.99984268e-01]] t_estimated: [[0.98316627] [0.18268292] [0.00332151]] R_gt: [[ 0.95780692 0.23300401 0.16826861] [-0.22564043 0.97224174 -0.06190246] [-0.17802065 0.0213223 0.98379604]] t_gt: [-0.37699354 0.78803746 0.48669583] Pose Error in degrees for R and t: 166.15201136016867 76.99301832023187 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 0.9316221 0.36327628 0.01051685] [-0.36024853 0.92690352 -0.10521816] [-0.04797137 0.09423489 0.99439355]] t_estimated: [[0.65938047] [0.75169374] [0.01318761]] R_gt: [[ 0.90213717 0.40531795 0.14787081] [-0.39285168 0.91337305 -0.10684891] [-0.17836985 0.03830136 0.98321773]] t_gt: [-0.30562331 0.90865588 0.28449761] Pose Error in degrees for R and t: 8.409699050816531 60.9704434097331 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99446680e-01 3.32615920e-02 -3.45803649e-06] [-3.32615921e-02 9.99446679e-01 -5.68225224e-05] [ 1.56611553e-06 5.69061012e-05 9.99999998e-01]] t_estimated: [[-2.23922399e-01] [-9.74606975e-01] [ 6.00824322e-05]] R_gt: [[ 0.99631461 0.04740104 -0.07147997] [-0.04376844 0.99771014 0.05154477] [ 0.07376066 -0.04822576 0.99610851]] t_gt: [-0.91841972 -0.3212257 -0.23090964] Pose Error in degrees for R and t: 5.108073818324656 58.75426107343019 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 8.57778324e-01 -5.14017893e-01 -1.39750624e-03] [ 5.14016195e-01 8.57779322e-01 -1.40949768e-03] [ 1.92325898e-03 4.90695715e-04 9.99998030e-01]] t_estimated: [[-0.0864655 ] [-0.99624829] [-0.00361489]] R_gt: [[ 0.99385492 0.02502373 -0.10782188] [-0.01837943 0.99789545 0.06217507] [ 0.10915147 -0.05981087 0.99222365]] t_gt: [ 0.12937857 -0.83120417 -0.540704 ] Pose Error in degrees for R and t: 32.93179413725676 35.02980826805272 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 0.96438734 0.26448311 0.00239861] [ 0.26449011 -0.96428444 -0.01415964] [-0.00143204 0.01428979 -0.99989687]] t_estimated: [[-0.13346066] [ 0.99102895] [-0.00706265]] R_gt: [[ 0.98992054 0.01516508 -0.14080846] [-0.00235468 0.9958758 0.09069811] [ 0.14160365 -0.08945196 0.985873 ]] t_gt: [ 0.43878681 -0.82849764 -0.3479336 ] Pose Error in degrees for R and t: 174.60091799239072 28.697324521199665 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.99524447 0.06824539 -0.06950552] [-0.058357 0.98905528 0.13551427] [ 0.07799302 -0.1308137 0.98833439]] t_estimated: [[0.7003482 ] [0.70401897] [0.11776966]] R_gt: [[ 0.98691351 0.13275416 0.0915287 ] [-0.12973321 0.99081091 -0.0382316 ] [-0.09576329 0.02585747 0.99506793]] t_gt: [-0.43853421 0.79293937 0.42300698] Pose Error in degrees for R and t: 14.083594208251254 72.48622354291852 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.84885392e-01 -1.73207190e-01 1.83241037e-04] [ 1.73207261e-01 9.84884122e-01 -1.58442770e-03] [ 9.39630822e-05 1.59221838e-03 9.99998728e-01]] t_estimated: [[-0.64998117] [-0.75994777] [-0.00196369]] R_gt: [[ 0.94849069 0.30980677 0.06622335] [-0.30704839 0.95044894 -0.04866428] [-0.0780193 0.02582461 0.99661711]] t_gt: [-0.35515394 0.92206544 0.1538213 ] Pose Error in degrees for R and t: 28.349686103752695 61.95400149669782 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.17738102 0.98410004 -0.00911447] [-0.98412356 0.17731296 -0.00780612] [-0.00606589 0.01035442 0.99992799]] t_estimated: [[0.0119039 ] [0.9999277 ] [0.00170056]] R_gt: [[ 0.88977555 0.44878002 0.08303858] [-0.44301665 0.89300627 -0.07922034] [-0.10970618 0.03370123 0.99339277]] t_gt: [-0.27251238 0.95113787 0.14516806] Pose Error in degrees for R and t: 53.558777513567904 18.545386970563822 Number of keypoints: Image1: 920 Image2: 920 R_estimated: [[ 9.99990061e-01 4.45841619e-03 1.80748657e-05] [-4.45841574e-03 9.99990061e-01 -2.49688306e-05] [-1.81860075e-05 2.48879971e-05 1.00000000e+00]] t_estimated: [[ 5.66928008e-01] [-8.23767301e-01] [-2.57799255e-04]] R_gt: [[ 0.99893 -0.03958163 -0.02390557] [ 0.03992825 0.99910177 0.01418057] [ 0.02332249 -0.0151197 0.9996143 ]] t_gt: [ 0.81537006 -0.56609421 -0.12128072] Pose Error in degrees for R and t: 2.993931877287662 21.779708715749727 Number of keypoints: Image1: 666 Image2: 666 R_estimated: [[ 9.99757238e-01 2.20332667e-02 1.58552552e-05] [-2.20332656e-02 9.99757236e-01 -6.95470857e-05] [-1.73837555e-05 6.91808593e-05 9.99999997e-01]] t_estimated: [[ 1.31248368e-01] [-9.91349489e-01] [-2.39021620e-04]] R_gt: [[ 0.99791235 -0.02344881 -0.06016927] [ 0.02641163 0.99845353 0.04891874] [ 0.05892935 -0.05040539 0.9969891 ]] t_gt: [ 0.74996927 -0.65780141 -0.06959452] Pose Error in degrees for R and t: 5.201868993167736 41.361092585077 Number of keypoints: Image1: 567 Image2: 567 R_estimated: [[ 9.96558982e-01 8.28866408e-02 -2.13645399e-05] [-8.28866423e-02 9.96558978e-01 -8.69257498e-05] [ 1.40860407e-05 8.83974717e-05 9.99999996e-01]] t_estimated: [[-0.77191379] [-0.63572669] [-0.00082133]] R_gt: [[ 0.99843376 0.04899898 -0.0269987 ] [-0.04714623 0.99674027 0.06545763] [ 0.03011913 -0.06408135 0.9974903 ]] t_gt: [-0.83573754 -0.34260989 0.42914011] Pose Error in degrees for R and t: 4.528019833640668 30.393494967817723 Number of keypoints: Image1: 388 Image2: 388 R_estimated: [[-9.09196912e-01 4.16361394e-01 2.04086357e-03] [ 4.16358784e-01 9.09199007e-01 -1.59034755e-03] [-2.51771046e-03 -5.96207610e-04 -9.99996653e-01]] t_estimated: [[0.93745132] [0.34811512] [0.00094597]] R_gt: [[ 0.99834707 0.04879747 -0.03037248] [-0.04801137 0.99850691 0.0260841 ] [ 0.03159902 -0.02458206 0.99919791]] t_gt: [ 0.02802271 0.98122649 -0.19081224] Pose Error in degrees for R and t: 178.08936368256263 68.42805741079658 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[ 9.47830800e-01 -3.18773795e-01 -2.04612139e-04] [ 3.18773792e-01 9.47830822e-01 -4.67973730e-05] [ 2.08855468e-04 -2.08689960e-05 9.99999978e-01]] t_estimated: [[ 0.18262698] [-0.98318176] [-0.00101 ]] R_gt: [[ 0.98969975 0.14315016 0.00154663] [-0.14312449 0.98917931 0.03226166] [ 0.00308806 -0.03215029 0.99947785]] t_gt: [-0.26529989 0.95126742 0.15718223] Pose Error in degrees for R and t: 26.883029031638053 10.302110905830116 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-9.54049605e-01 -2.99646673e-01 -1.10564145e-03] [ 2.99648308e-01 -9.54047884e-01 -1.87768303e-03] [-4.92193417e-04 -2.12270634e-03 9.99997626e-01]] t_estimated: [[0.66540613] [0.74648088] [0.00098872]] R_gt: [[ 0.98291739 0.18315203 0.01815131] [-0.18382245 0.98181875 0.04735299] [-0.00914869 -0.04988055 0.99871291]] t_gt: [-0.22031068 0.94486967 0.24224884] Pose Error in degrees for R and t: 173.145553898207 56.015363740808944 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.91900886 0.39422653 0.00285744] [ 0.39420541 -0.91881976 -0.01929615] [-0.00498158 0.01885975 -0.99980973]] t_estimated: [[0.70853543] [0.70567459] [0.00095361]] R_gt: [[ 0.99063458 0.13608528 0.0112093 ] [-0.13611411 0.99069168 0.00176176] [-0.01086546 -0.00327071 0.99993599]] t_gt: [-0.75792925 0.64979886 0.05748636] Pose Error in degrees for R and t: 178.8962165971257 85.5023409421354 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.96365934e-01 8.51757852e-02 -1.06791892e-04] [-8.51757886e-02 9.96365939e-01 -2.81752600e-05] [ 1.04003954e-04 3.71689528e-05 9.99999994e-01]] t_estimated: [[-9.99994892e-01] [-3.10075937e-03] [-7.75189839e-04]] R_gt: [[ 0.9349988 0.35315434 0.03254334] [-0.351448 0.93495008 -0.04850538] [-0.0475568 0.03391502 0.99829293]] t_gt: [-0.6729079 0.73970909 -0.00504252] Pose Error in degrees for R and t: 16.110611363952327 47.885473832408174 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.78550709e-01 2.06006056e-01 -1.24333010e-04] [-2.06006083e-01 9.78550672e-01 -2.74478206e-04] [ 6.51219782e-05 2.94204200e-04 9.99999955e-01]] t_estimated: [[0.28541773] [0.95840269] [0.00100147]] R_gt: [[ 0.83180032 0.55176713 0.06051925] [-0.54865748 0.83381184 -0.06108736] [-0.08416825 0.01760884 0.99629554]] t_gt: [-0.59840362 0.79933521 0.05455569] Pose Error in degrees for R and t: 22.113150250250875 53.46279466618292 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.16502648 0.98625985 -0.00760036] [-0.98626806 0.16496768 -0.00780823] [-0.00644713 0.00878455 0.99994063]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94643137 -0.32277079 -0.00934072] [ 0.32265673 0.94644148 -0.01186084] [ 0.01266891 0.00821198 0.9998864 ]] t_gt: [ 0.87030931 -0.49071047 -0.04201111] Pose Error in degrees for R and t: 99.33061741267196 60.96680141577148 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-9.28900271e-01 3.70313731e-01 -3.46801495e-03] [-3.70310158e-01 -9.28906713e-01 -1.64481715e-03] [-3.83056074e-03 -2.43629933e-04 9.99992634e-01]] t_estimated: [[9.29655997e-01] [3.68427901e-01] [7.80567588e-04]] R_gt: [[ 0.87990827 -0.47479769 -0.01810546] [ 0.47459549 0.88008509 -0.01448236] [ 0.02281035 0.00415032 0.99973104]] t_gt: [ 0.90409832 -0.42589656 -0.0349048 ] Pose Error in degrees for R and t: 173.39207517378875 46.877456988951785 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.4531717 0.89058509 0.03864711] [ 0.89051961 -0.45033505 -0.06460007] [-0.04012771 0.06369094 -0.99716259]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.87562673 -0.48280236 -0.01334511] [ 0.48228232 0.87550745 -0.02982801] [ 0.02608506 0.01968239 0.99946597]] t_gt: [ 0.90292396 -0.42581348 -0.05840554] Pose Error in degrees for R and t: 175.19435948265843 28.653304658191992 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.99999987e-01 -1.41025866e-04 -7.69492527e-05] [ 1.41019601e-04 9.99999987e-01 -8.14182358e-05] [ 7.69607337e-05 8.14073834e-05 9.99999994e-01]] t_estimated: [[-0.80643845] [-0.5913131 ] [-0.00241843]] R_gt: [[ 9.99116706e-01 4.20375898e-02 -2.50923110e-04] [-4.20295135e-02 9.98990870e-01 1.58701335e-02] [ 9.17774561e-04 -1.58447365e-02 9.99873722e-01]] t_gt: [-0.77094859 0.61240251 0.17493268] Pose Error in degrees for R and t: 2.583669378074517 74.97871300927483 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[-4.31315324e-01 9.02201212e-01 2.54270525e-04] [-9.02201139e-01 -4.31315117e-01 -6.12367610e-04] [-4.42808078e-04 -4.93526691e-04 9.99999780e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99811316 0.04846542 0.03771954] [-0.04838701 0.99882463 -0.00301154] [-0.03782107 0.00118022 0.99928337]] t_gt: [-0.7662776 0.40621895 0.49779997] Pose Error in degrees for R and t: 112.78717770631162 68.22071696661718 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.94274162e-01 -1.06845534e-01 1.70938882e-03] [ 1.06846846e-01 9.94275248e-01 -6.95212299e-04] [-1.62532267e-03 8.73874430e-04 9.99998297e-01]] t_estimated: [[-0.47034042] [-0.88248455] [-0.00095404]] R_gt: [[ 0.9990505 0.02916532 0.03238521] [-0.02930976 0.99956262 0.00400059] [-0.03225369 -0.00494652 0.99946715]] t_gt: [-0.85674962 -0.00190538 0.51572905] Pose Error in degrees for R and t: 8.009746748095052 66.16191302757053 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99994975e-01 3.17000666e-03 -3.50008274e-05] [-3.17000420e-03 9.99994973e-01 7.01827626e-05] [ 3.52231313e-05 -7.00714571e-05 9.99999997e-01]] t_estimated: [[4.69177127e-01] [8.83103989e-01] [4.09568309e-04]] R_gt: [[ 0.99954224 -0.00829418 -0.02911415] [ 0.00731958 0.99941469 -0.03342487] [ 0.0293739 0.0331964 0.99901695]] t_gt: [-0.10891383 0.19999287 -0.97372513] Pose Error in degrees for R and t: 2.6185114831248653 82.81255602039175 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.99944414 0.03218493 0.00869118] [ 0.03216585 0.99947984 -0.00232678] [-0.00876154 -0.00204593 -0.99995952]] t_estimated: [[ 0.99969702] [-0.02345841] [ 0.00745395]] R_gt: [[ 0.99999925 0.00135379 0.00101802] [-0.001311 0.99916564 -0.04082544] [-0.00107296 0.04082385 0.99916599]] t_gt: [-0.6395043 0.28806992 -0.71277624] Pose Error in degrees for R and t: 179.40431626380268 49.35418006923239 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.48522703e-01 3.16709124e-01 -1.15264334e-04] [-3.16708856e-01 9.48522266e-01 1.00570977e-03] [ 4.27848248e-04 -9.17433314e-04 9.99999488e-01]] t_estimated: [[8.51879967e-01] [5.23736450e-01] [8.08235262e-04]] R_gt: [[ 0.99202409 -0.05764108 0.11210111] [ 0.06328174 0.9968681 -0.04742598] [-0.10901653 0.05414055 0.99256476]] t_gt: [-0.13436347 -0.76510234 0.62973396] Pose Error in degrees for R and t: 23.02863359741886 59.02496380423364 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 7.97069776e-01 6.03885428e-01 1.47025268e-03] [-6.03885383e-01 7.97070994e-01 -5.24564470e-04] [-1.48867260e-03 -4.69749616e-04 9.99998782e-01]] t_estimated: [[-0.27880025] [ 0.96034619] [ 0.00236866]] R_gt: [[ 0.99998551 -0.00457114 0.00263679] [ 0.00458756 0.99996883 -0.00648081] [-0.00260699 0.00649312 0.99997569]] t_gt: [ 0.35098613 -0.91039015 -0.21908563] Pose Error in degrees for R and t: 37.4128796268098 13.427712602414111 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.94914772e-01 1.00711759e-01 1.31861723e-03] [-1.00713101e-01 9.94915013e-01 9.94458015e-04] [-1.21175847e-03 -1.12220300e-03 9.99998636e-01]] t_estimated: [[0.53752748] [0.84318036] [0.01053975]] R_gt: [[ 0.99715948 0.06692523 0.03455433] [-0.06657417 0.99771844 -0.01122968] [-0.03522659 0.00889777 0.99933945]] t_gt: [-0.87633426 0.38646047 0.28755273] Pose Error in degrees for R and t: 2.8165401923736697 81.82673195679426 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99914844e-01 -1.30366474e-02 -5.91462453e-04] [ 1.30370005e-02 9.99914836e-01 5.97010238e-04] [ 5.83629070e-04 -6.04670295e-04 9.99999647e-01]] t_estimated: [[-0.72010482] [-0.69386487] [-0.00076332]] R_gt: [[ 0.99292182 0.11831995 -0.01034731] [-0.1184772 0.99282611 -0.01610515] [ 0.00836844 0.01721736 0.99981725]] t_gt: [-0.79589272 0.56262336 -0.22362857] Pose Error in degrees for R and t: 7.628423395447812 79.46056103121649 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.99762614 -0.06284977 0.02814249] [ 0.06342747 0.99778347 -0.02012739] [-0.0268151 0.02186462 0.99940127]] t_estimated: [[-0.1252858 ] [ 0.99127166] [ 0.04103613]] R_gt: [[ 0.98673357 -0.15936872 -0.03095248] [ 0.16076648 0.9857391 0.04971997] [ 0.02258707 -0.05403621 0.99828289]] t_gt: [ 0.81458083 -0.55400357 0.17186657] Pose Error in degrees for R and t: 7.653140866768975 49.89647356427764 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.75053253e-01 -2.21968816e-01 9.98917958e-04] [ 2.21970587e-01 9.75050610e-01 -2.31649899e-03] [-4.59805027e-04 2.48044028e-03 9.99996818e-01]] t_estimated: [[-0.02053382] [-0.99977922] [-0.00445887]] R_gt: [[ 0.913581 -0.40495787 -0.03712376] [ 0.4059663 0.91353655 0.02532561] [ 0.02365841 -0.03820768 0.99898937]] t_gt: [ 0.90280529 -0.42799669 0.0419696 ] Pose Error in degrees for R and t: 11.432198901208183 65.84685339503801 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.10505256 0.99437638 0.01340042] [ 0.99414733 -0.10466783 -0.0267531 ] [-0.02520006 0.01613247 -0.99955225]] t_estimated: [[-0.69973141] [-0.7143064 ] [ 0.01192943]] R_gt: [[ 0.7967906 -0.60278196 0.04217933] [ 0.60423844 0.79430754 -0.06300401] [ 0.00447454 0.07568801 0.9971216 ]] t_gt: [ 0.95300543 -0.27944778 -0.11700254] Pose Error in degrees for R and t: 174.69700709996562 62.054448956351536 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 9.99460421e-01 3.28460716e-02 -4.23672040e-05] [-3.28460454e-02 9.99460290e-01 5.15346154e-04] [ 5.92714347e-05 -5.13676490e-04 9.99999866e-01]] t_estimated: [[0.4978685 ] [0.86724931] [0.00236563]] R_gt: [[ 9.93333785e-01 1.15273267e-01 -1.34308023e-03] [-1.15274353e-01 9.93333035e-01 -5.98265404e-04] [ 1.26524412e-03 7.47517201e-04 9.99998484e-01]] t_gt: [-0.96810357 0.25048639 0.00566164] Pose Error in degrees for R and t: 4.7381912019524535 74.64845281417954 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.78304653e-01 -2.07170733e-01 -5.41653219e-04] [ 2.07170947e-01 9.78304686e-01 3.73828333e-04] [ 4.52455593e-04 -4.77932807e-04 9.99999783e-01]] t_estimated: [[9.78372367e-01] [2.06851197e-01] [3.06480677e-04]] R_gt: [[ 9.77751536e-01 2.09618931e-01 7.92496384e-03] [-2.09767496e-01 9.77197813e-01 3.28836514e-02] [-8.50976433e-04 -3.38147644e-02 9.99426961e-01]] t_gt: [-0.95230781 0.23079934 0.19960337] Pose Error in degrees for R and t: 24.139706745040026 27.882397434268572 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.68918383e-01 -2.47380474e-01 -2.59502702e-04] [ 2.47380543e-01 9.68918361e-01 2.77929242e-04] [ 1.82682665e-04 -3.33486671e-04 9.99999928e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96977565 0.23841239 0.05191413] [-0.24050337 0.96988163 0.03857029] [-0.04115461 -0.04989052 0.99790598]] t_gt: [-0.94209026 0.16126495 0.29404005] Pose Error in degrees for R and t: 28.429482448875728 19.719210130196707 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 0.98632649 -0.16475698 0.00389788] [ 0.16477372 0.98632134 -0.00445357] [-0.0031108 0.00503494 0.99998249]] t_estimated: [[-0.72005132] [-0.69392043] [-0.00072586]] R_gt: [[ 0.99679982 0.07761532 0.01916931] [-0.0774882 0.99696741 -0.00722583] [-0.01967179 0.00571668 0.99979034]] t_gt: [-0.6670873 0.73948709 0.09029608] Pose Error in degrees for R and t: 13.96171630624093 88.11613910160119 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.98973175e-01 4.53049878e-02 -2.33843022e-04] [-4.53049346e-02 9.98973178e-01 2.28269824e-04] [ 2.43944668e-04 -2.17441188e-04 9.99999947e-01]] t_estimated: [[-0.99992286] [-0.01234473] [-0.00137164]] R_gt: [[ 0.98768804 0.15465643 -0.02354292] [-0.15454013 0.98796398 0.00667247] [ 0.02429141 -0.00295262 0.99970063]] t_gt: [-0.62996817 0.77231572 -0.08166113] Pose Error in degrees for R and t: 6.448687698111413 51.64752244152512 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99999875e-01 4.70280632e-04 -1.68387478e-04] [-4.70326717e-04 9.99999852e-01 -2.73753543e-04] [ 1.68258712e-04 2.73832706e-04 9.99999948e-01]] t_estimated: [[0.61038263] [0.79210624] [0.00086949]] R_gt: [[ 0.98862155 0.14721516 -0.03093692] [-0.14760275 0.98898976 -0.01062984] [ 0.02903113 0.01507417 0.99946477]] t_gt: [-0.58236838 0.79684158 -0.16090543] Pose Error in degrees for R and t: 8.653708720644913 74.00367279933565 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.79210396e-01 2.02847226e-01 5.02634656e-05] [-2.02847224e-01 9.79210397e-01 -4.62141523e-05] [-5.85929207e-05 3.50575740e-05 9.99999998e-01]] t_estimated: [[-0.75030831] [-0.66108727] [-0.00103251]] R_gt: [[ 0.99868143 -0.00240567 -0.05127303] [ 0.0034613 0.99978353 0.02050655] [ 0.05121283 -0.02065602 0.99847458]] t_gt: [-0.34778485 -0.55778115 -0.75360858] Pose Error in degrees for R and t: 12.286041276127435 50.91548922598243 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.92672616e-01 1.20832693e-01 -7.33227617e-04] [-1.20832150e-01 9.92672674e-01 7.43875800e-04] [ 8.17739536e-04 -6.49827666e-04 9.99999455e-01]] t_estimated: [[-0.71649101] [-0.69759455] [-0.00157471]] R_gt: [[ 0.9906866 -0.04310005 -0.1291579 ] [ 0.05125748 0.99685103 0.06051265] [ 0.12614308 -0.066568 0.98977596]] t_gt: [ 0.09038643 -0.80853097 -0.58147052] Pose Error in degrees for R and t: 12.626132128889985 59.98799981560355 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 8.76792383e-01 4.80868872e-01 4.95049996e-04] [-4.80868631e-01 8.76792493e-01 -5.33282546e-04] [-6.90495097e-04 2.29524060e-04 9.99999735e-01]] t_estimated: [[0.57853582] [0.8156561 ] [0.00119594]] R_gt: [[ 0.98656403 -0.10725993 -0.12323237] [ 0.11354734 0.99250583 0.04516212] [ 0.11746416 -0.05854709 0.99134943]] t_gt: [ 0.26419814 -0.89082303 -0.36963993] Pose Error in degrees for R and t: 35.893138943073176 54.95642777642326 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999939e-01 3.50256176e-04 -1.27409201e-05] [-3.50256984e-04 9.99999937e-01 -6.34738953e-05] [ 1.27186871e-05 6.34783540e-05 9.99999998e-01]] t_estimated: [[-1.35923926e-03] [-9.99999064e-01] [-1.54347385e-04]] R_gt: [[ 0.99779587 0.00906498 0.06574486] [-0.01447731 0.99650044 0.08232442] [-0.06476758 -0.08309479 0.99443472]] t_gt: [-0.2062509 -0.04243162 0.9775787 ] Pose Error in degrees for R and t: 6.086211421670746 87.56069516161682 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999801e-01 -5.93129406e-04 -2.12873110e-04] [ 5.93080284e-04 9.99999798e-01 -2.30745350e-04] [ 2.13009929e-04 2.30619053e-04 9.99999951e-01]] t_estimated: [[0.97291475] [0.2311611 ] [0.00119729]] R_gt: [[ 0.98909625 0.12814771 0.07257816] [-0.1366738 0.98228187 0.12822626] [-0.05485977 -0.13674819 0.98908639]] t_gt: [-0.55731425 0.55510694 0.61746021] Pose Error in degrees for R and t: 11.446807095314147 65.5964509890896 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999909e-01 1.66696654e-04 3.93129445e-04] [-1.66431220e-04 9.99999758e-01 -6.75119337e-04] [-3.93241890e-04 6.75053847e-04 9.99999695e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96906037 0.22795858 0.09464365] [-0.23884805 0.9627586 0.12667529] [-0.06224203 -0.14536166 0.98741908]] t_gt: [-0.57542632 0.70463334 0.41518238] Pose Error in degrees for R and t: 16.34254789840776 45.45558471227263 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 7.23902671e-01 -6.89901577e-01 -8.58756741e-04] [ 6.89894115e-01 7.23899713e-01 -3.91367043e-03] [ 3.32170116e-03 2.24066525e-03 9.99991973e-01]] t_estimated: [[9.13811315e-01] [4.06138362e-01] [7.15032328e-04]] R_gt: [[ 0.99569745 -0.04571794 0.08060032] [ 0.03699461 0.99361592 0.10657537] [-0.084958 -0.10313507 0.991032 ]] t_gt: [ 0.14009032 -0.37216695 0.91753281] Pose Error in degrees for R and t: 41.96298136365748 88.71193468997059 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.09341841 -0.99562045 -0.00359558] [-0.99562503 0.09341056 0.00229356] [-0.00194765 0.00379411 -0.99999091]] t_estimated: [[8.29165421e-01] [5.59002915e-01] [6.67067918e-04]] R_gt: [[ 0.99338487 -0.00594513 0.11467414] [-0.01383421 0.98518858 0.17091797] [-0.11399177 -0.17137455 0.97858841]] t_gt: [-0.09733575 -0.08924586 0.99124211] Pose Error in degrees for R and t: 168.53731180520023 82.53416894751162 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.14447682e-01 4.04704013e-01 -3.15877221e-04] [-4.04704106e-01 9.14447634e-01 -3.32371638e-04] [ 1.54341042e-04 4.31773283e-04 9.99999895e-01]] t_estimated: [[-9.95427210e-01] [-9.55189884e-02] [-8.89731880e-04]] R_gt: [[ 0.97728286 0.14771976 0.15197728] [-0.17269242 0.9707229 0.16696005] [-0.12286396 -0.18941232 0.97417958]] t_gt: [-0.46961565 0.48390755 0.73844067] Pose Error in degrees for R and t: 19.524559178143964 65.12823242229801 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 7.10752179e-01 7.03441792e-01 9.92500404e-04] [-7.03442288e-01 7.10752341e-01 2.41022619e-04] [-5.35876602e-04 -8.69474107e-04 9.99999478e-01]] t_estimated: [[0.24193929] [0.97029056] [0.0012667 ]] R_gt: [[ 0.9895564 0.14388701 0.00859066] [-0.14400662 0.98945728 0.01536991] [-0.0062885 -0.01644567 0.99984385]] t_gt: [-0.95683713 0.24011021 0.16373697] Pose Error in degrees for R and t: 36.43905824569433 89.9033089856509 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.83527757e-01 -1.80756936e-01 -2.86828416e-04] [ 1.80757019e-01 9.83527739e-01 2.95490986e-04] [ 2.28691658e-04 -3.42469836e-04 9.99999915e-01]] t_estimated: [[-0.47599477] [-0.87944755] [-0.00099373]] R_gt: [[ 0.98034298 0.19403047 0.03577456] [-0.19544021 0.97984475 0.0413218 ] [-0.02703599 -0.04750125 0.99850459]] t_gt: [-0.93129457 0.16514994 0.32467819] Pose Error in degrees for R and t: 21.87360062057537 72.6788076614645 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 7.91050617e-02 9.96866072e-01 -6.50208635e-04] [-9.96863110e-01 7.91031468e-02 -2.57545004e-03] [-2.51594522e-03 8.51900137e-04 9.99996472e-01]] t_estimated: [[0.07206218] [0.99739933] [0.00126886]] R_gt: [[ 0.98695926 0.14379861 0.07233827] [-0.14700705 0.98827984 0.04113787] [-0.06557567 -0.05123513 0.99653094]] t_gt: [-0.87965882 -0.10093053 0.4647724 ] Pose Error in degrees for R and t: 77.21345014045886 80.59172552428167 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.92156416e-01 -1.25002506e-01 1.40696309e-04] [ 1.25002485e-01 9.92156417e-01 1.49615429e-04] [-1.58295049e-04 -1.30854519e-04 9.99999979e-01]] t_estimated: [[0.99581325] [0.09140312] [0.00120267]] R_gt: [[ 0.99748491 -0.06854051 -0.01803428] [ 0.06864848 0.99762566 0.00547134] [ 0.01761592 -0.00669601 0.99982197]] t_gt: [ 0.74433139 -0.66065961 -0.09746621] Pose Error in degrees for R and t: 3.4243604040499633 47.10073379728151 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.44076285 -0.89761993 -0.00256289] [ 0.89762302 -0.44075756 -0.00238264] [ 0.00100909 -0.00335069 0.99999388]] t_estimated: [[0.99633232] [0.08556074] [0.0011258 ]] R_gt: [[ 0.99943697 -0.03337482 0.00341966] [ 0.03338428 0.99943842 -0.00268495] [-0.00332814 0.00279731 0.99998949]] t_gt: [ 0.56834787 -0.82269831 -0.01217298] Pose Error in degrees for R and t: 114.24039673359721 60.273591966373736 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 8.63933245e-01 -5.03606124e-01 -4.69584177e-04] [ 5.03606250e-01 8.63933275e-01 2.00033597e-04] [ 3.04951252e-04 -4.09301202e-04 9.99999870e-01]] t_estimated: [[ 5.76060447e-01] [-8.17407076e-01] [-1.84454032e-04]] R_gt: [[ 0.99884688 0.04445143 -0.01811977] [-0.04439034 0.99900736 0.00380526] [ 0.01827061 -0.00299666 0.99982799]] t_gt: [-0.85721788 -0.20305797 -0.47322823] Pose Error in degrees for R and t: 32.8009422221982 70.86827925694732 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.96294477e-01 8.60072753e-02 2.50491789e-04] [-8.60072011e-02 9.96294472e-01 -2.93271743e-04] [-2.74787088e-04 2.70640920e-04 9.99999926e-01]] t_estimated: [[ 0.781033 ] [-0.62448905] [-0.00093925]] R_gt: [[ 0.95997468 -0.27550914 0.05042646] [ 0.27805252 0.95908871 -0.05325711] [-0.03369062 0.06514653 0.99730736]] t_gt: [ 0.86302638 -0.48124713 -0.15357953] Pose Error in degrees for R and t: 21.43195263001761 12.908031227249564 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.918123 0.39625379 -0.00575188] [-0.39628112 -0.91811669 0.00479727] [-0.00337996 0.00668385 0.99997195]] t_estimated: [[ 0.67835457] [ 0.73473256] [-0.0017705 ]] R_gt: [[ 0.87946908 -0.45695233 0.13315012] [ 0.47175302 0.87399413 -0.11655243] [-0.06311361 0.16531779 0.98421901]] t_gt: [ 0.90822265 -0.33067168 -0.25649144] Pose Error in degrees for R and t: 175.4585459911333 68.06244527487024 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.77615843 -0.38891351 0.49631076] [ 0.01408012 -0.79761673 -0.60300026] [ 0.63038071 -0.46103562 0.6245529 ]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.78474404 -0.58382153 0.20815297] [ 0.6140602 0.77797531 -0.1329873 ] [-0.08429653 0.23217886 0.96901345]] t_gt: [ 0.93732705 -0.22580944 -0.26538292] Pose Error in degrees for R and t: 133.05464888022004 63.305064018701444 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.83038141e-01 1.83400930e-01 3.34253036e-04] [-1.83401025e-01 9.83038140e-01 2.80284361e-04] [-2.77179070e-04 -3.36832567e-04 9.99999905e-01]] t_estimated: [[-0.06997178] [ 0.99754728] [ 0.00183456]] R_gt: [[ 9.98448631e-01 3.26150057e-02 -4.51346677e-02] [-3.26246076e-02 9.99468194e-01 5.28914203e-04] [ 4.51271664e-02 9.44257822e-04 9.98980711e-01]] t_gt: [-0.655854 0.45290373 -0.6039319 ] Pose Error in degrees for R and t: 9.078476156135048 60.226258899693775 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 4.35592992e-01 9.00143375e-01 -8.06384053e-04] [-9.00143500e-01 4.35592055e-01 -1.11446022e-03] [-6.51919499e-04 1.21131243e-03 9.99999054e-01]] t_estimated: [[-2.09199768e-01] [ 9.77872881e-01] [-2.90914092e-04]] R_gt: [[ 0.99666034 0.02846618 -0.07653991] [-0.0289659 0.99956617 -0.00543776] [ 0.07635147 0.00763693 0.99705154]] t_gt: [-0.52910251 0.37240214 -0.76247438] Pose Error in degrees for R and t: 62.667202116693396 61.63596885534611 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-3.79802475e-01 -9.25066394e-01 1.49883323e-03] [-9.25067501e-01 3.79802714e-01 -1.32610620e-04] [-4.46587302e-04 -1.43688775e-03 -9.99998868e-01]] t_estimated: [[0.79658217] [0.60452735] [0.001878 ]] R_gt: [[ 0.99519826 0.04249206 -0.08817622] [-0.04465752 0.99874371 -0.02273878] [ 0.08709918 0.02656758 0.99584521]] t_gt: [-0.52648206 0.39003281 -0.75544096] Pose Error in degrees for R and t: 175.10323796427684 79.33773428125853 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[ 9.75054569e-01 -2.21965177e-01 -2.16556683e-04] [ 2.21965254e-01 9.75054478e-01 4.36708828e-04] [ 1.14220411e-04 -4.73882997e-04 9.99999881e-01]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.99787606 -0.04847299 0.04353848] [ 0.05146785 0.99618046 -0.0705298 ] [-0.0399535 0.0726209 0.99655869]] t_gt: [ 0.77678032 0.4901993 -0.39536942] Pose Error in degrees for R and t: 11.041629092254633 38.92310488536953 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.45598671e-01 -3.25335444e-01 -5.62878167e-05] [ 3.25335425e-01 9.45598521e-01 5.46241808e-04] [-1.24486145e-04 -5.34837949e-04 9.99999849e-01]] t_estimated: [[0.94259379] [0.33393701] [0.00173973]] R_gt: [[ 0.99763032 -0.06624728 0.01859966] [ 0.06826317 0.98685144 -0.14650202] [-0.00864966 0.14742484 0.9890352 ]] t_gt: [ 0.59210016 0.59999221 -0.53798396] Pose Error in degrees for R and t: 17.33476428002431 40.75275559805516 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 9.96145347e-01 -8.77179942e-02 1.37972305e-05] [ 8.77179914e-02 9.96145338e-01 1.41674760e-04] [-2.61714726e-05 -1.39918388e-04 9.99999990e-01]] t_estimated: [[-2.26632989e-01] [ 9.73980230e-01] [-3.00443779e-05]] R_gt: [[ 0.99783173 -0.04361118 0.04930476] [ 0.05379198 0.97195364 -0.22893621] [-0.03793859 0.23109138 0.97219171]] t_gt: [ 0.32306806 0.72757844 -0.60519141] Pose Error in degrees for R and t: 13.728167625425 50.54683074682982 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.94223083e-01 1.07332684e-01 3.94982332e-04] [-1.07332609e-01 9.94223148e-01 -2.06320571e-04] [-4.14845518e-04 1.62734190e-04 9.99999901e-01]] t_estimated: [[0.89121121] [0.4535866 ] [0.00133017]] R_gt: [[ 0.99733662 -0.06987839 0.02094371] [ 0.06950305 0.99741576 0.01814862] [-0.02215754 -0.01664596 0.99961511]] t_gt: [ 0.80265135 -0.44451013 0.3976953 ] Pose Error in degrees for R and t: 10.280001911802831 59.0535284624408 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.06197867 0.98611341 -0.15407464] [ 0.99502454 0.07311338 0.06768009] [ 0.07800516 -0.14911333 -0.98573851]] t_estimated: [[0.99972424] [0.02345032] [0.00123423]] R_gt: [[ 0.9988556 -0.04660498 -0.01080816] [ 0.04666882 0.99889368 0.00567799] [ 0.01053163 -0.00617689 0.99992514]] t_gt: [0.99988987 0.01180908 0.00898808] Pose Error in degrees for R and t: 170.1083941986583 0.8014680355169911 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 3.49365129e-01 9.36985382e-01 1.54933533e-03] [ 9.36980871e-01 -3.49368306e-01 2.93846979e-03] [ 3.29459190e-03 4.25098687e-04 -9.99994482e-01]] t_estimated: [[0.8785898 ] [0.47757371] [0.0018228 ]] R_gt: [[ 0.99546916 0.01481305 -0.09392639] [-0.02381829 0.99514406 -0.09550042] [ 0.09205691 0.09730446 0.99098792]] t_gt: [ 0.17280384 0.6207424 -0.76473375] Pose Error in degrees for R and t: 178.58625726276804 63.456317792137774 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 7.36167486e-01 6.76799205e-01 5.17741592e-04] [-6.76798779e-01 7.36167631e-01 -7.94998573e-04] [-9.19199004e-04 2.34845223e-04 9.99999550e-01]] t_estimated: [[-3.30798136e-01] [ 9.43701257e-01] [ 7.27999104e-04]] R_gt: [[ 9.97197574e-01 2.77893465e-02 6.94564166e-02] [-2.77825276e-02 9.99613212e-01 -1.06428382e-03] [-6.94582089e-02 -8.68272914e-04 9.97584021e-01]] t_gt: [-7.50961248e-04 6.20049756e-01 7.84562130e-01] Pose Error in degrees for R and t: 41.180315391247845 54.12906865923379 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99998696e-01 1.61348682e-03 -7.24250091e-05] [-1.61349724e-03 9.99998688e-01 -1.44029191e-04] [ 7.21925249e-05 1.44145860e-04 9.99999987e-01]] t_estimated: [[-0.00799469] [-0.99996732] [-0.00119904]] R_gt: [[ 0.98654726 0.11446045 0.11671313] [-0.1087354 0.9925863 -0.05431146] [-0.12206522 0.04089017 0.99167944]] t_gt: [-0.23447018 0.92044017 0.31275169] Pose Error in degrees for R and t: 9.740715712595355 23.23266732334111 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-9.89142240e-01 1.46958115e-01 -9.70363628e-04] [ 1.46956513e-01 9.89141730e-01 1.55604788e-03] [ 1.18850102e-03 1.39655143e-03 -9.99998319e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96927589 0.2194651 0.11108603] [-0.21399604 0.97504362 -0.05911172] [-0.12128725 0.03352445 0.99205081]] t_gt: [-0.22906741 0.9543194 0.19184005] Pose Error in degrees for R and t: 173.17743133994327 76.94075705186638 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.96663432e-01 8.16199627e-02 4.29033812e-04] [-8.16197307e-02 9.96663401e-01 -5.32957997e-04] [-4.71102310e-04 4.96162123e-04 9.99999766e-01]] t_estimated: [[0.99691963] [0.0784207 ] [0.00120397]] R_gt: [[ 0.99231617 -0.12367619 -0.00379186] [ 0.12372896 0.99209973 0.02074544] [ 0.00119597 -0.02105472 0.99977773]] t_gt: [ 0.82252451 -0.55772553 0.11133586] Pose Error in degrees for R and t: 11.853034420254177 39.06898895171897 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.78767338e-01 2.04973979e-01 4.06683366e-04] [-2.04973904e-01 9.78767414e-01 -2.19282402e-04] [-4.42995613e-04 1.31266976e-04 9.99999893e-01]] t_estimated: [[-8.01077762e-01] [ 5.98559957e-01] [ 6.29978427e-04]] R_gt: [[ 0.9952389 -0.09556524 0.01918071] [ 0.09495918 0.99501993 0.03030513] [-0.02198206 -0.02833952 0.99935679]] t_gt: [ 0.81493104 -0.44939663 0.36596458] Pose Error in degrees for R and t: 17.416176117007165 22.84132535155568 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-5.48507463e-01 -8.36141138e-01 -2.74966260e-03] [ 8.36145645e-01 -5.48503902e-01 -1.98206960e-03] [ 1.49089261e-04 -3.38629838e-03 9.99994255e-01]] t_estimated: [[9.99988823e-01] [4.66363073e-03] [7.77691639e-04]] R_gt: [[ 0.9999167 0.00630542 0.01126379] [-0.00635657 0.99996999 0.00445451] [-0.01123593 -0.00452515 0.99992748]] t_gt: [-0.2260518 0.94790209 0.22445984] Pose Error in degrees for R and t: 123.62950795017092 77.20554970323093 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.74977042e-01 2.22305545e-01 1.06730639e-04] [-2.22305522e-01 9.74977034e-01 -1.95014427e-04] [-1.47412711e-04 1.66407778e-04 9.99999975e-01]] t_estimated: [[-0.99356633] [ 0.11324181] [-0.00149872]] R_gt: [[ 0.9981338 -0.00563651 -0.0608091 ] [ 0.00862761 0.99875986 0.04903148] [ 0.06045687 -0.04946472 0.9969445 ]] t_gt: [-0.24237158 -0.84678328 -0.47351251] Pose Error in degrees for R and t: 13.991197461197377 81.6262005918931 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-0.28937483 -0.95721088 0.00308829] [-0.95720335 0.28938604 0.00418037] [-0.0048952 -0.00174643 -0.99998649]] t_estimated: [[0.8791016 ] [0.47662135] [0.00353053]] R_gt: [[ 0.99259392 -0.07013432 -0.09919462] [ 0.07504744 0.99608581 0.04669467] [ 0.09553114 -0.05379315 0.99397167]] t_gt: [ 0.2309509 -0.89877198 -0.37265347] Pose Error in degrees for R and t: 177.5180117060936 76.8994726595769 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 0.72548833 0.68822465 0.003675 ] [-0.68820705 0.72549675 -0.00505138] [-0.00614268 0.00113555 0.99998049]] t_estimated: [[0.96020587] [0.27927556] [0.00313793]] R_gt: [[ 0.98942417 -0.11714054 -0.08554515] [ 0.12043377 0.9921251 0.03439609] [ 0.08084218 -0.04433536 0.99574006]] t_gt: [ 0.31438202 -0.91593612 -0.24944935] Pose Error in degrees for R and t: 50.62515363669549 87.40417863278486 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[-5.26111600e-01 -8.48628718e-01 -5.50988531e-02] [-8.49947005e-01 5.26867336e-01 9.47886831e-04] [ 2.82253820e-02 4.73297995e-02 -9.98480454e-01]] t_estimated: [[ 0.89730783] [ 0.44111846] [-0.015911 ]] R_gt: [[ 0.99700532 -0.07508568 0.0185253 ] [ 0.07518763 0.99715692 -0.00488578] [-0.01810538 0.00626391 0.99981548]] t_gt: [ 0.83443995 -0.53683095 0.12458934] Pose Error in degrees for R and t: 178.08964974264086 59.338760262266156 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-7.15896572e-01 -6.98198021e-01 3.40903642e-03] [-6.98188993e-01 7.15904669e-01 3.55443680e-03] [-4.92224583e-03 1.64457407e-04 -9.99987872e-01]] t_estimated: [[0.94294993] [0.33291942] [0.00317608]] R_gt: [[ 0.98283086 -0.18222404 0.02894755] [ 0.18209916 0.98325611 0.00690146] [-0.02971901 -0.00151119 0.99955716]] t_gt: [ 0.84880637 -0.5120354 0.13170989] Pose Error in degrees for R and t: 178.07776648629206 50.92525346008639 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999390e-01 1.09182779e-03 1.68713837e-04] [-1.09182433e-03 9.99999404e-01 -2.05700166e-05] [-1.68736195e-04 2.03857982e-05 9.99999986e-01]] t_estimated: [[ 9.99999957e-01] [-5.99054067e-05] [ 2.86914236e-04]] R_gt: [[ 0.97340559 -0.22547752 0.0405207 ] [ 0.22428324 0.97399847 0.03197937] [-0.04667718 -0.02204092 0.99866616]] t_gt: [ 0.85070929 -0.47709118 0.22063027] Pose Error in degrees for R and t: 13.395076457163267 31.701087528779823 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99997683e-01 2.15228967e-03 4.17194827e-05] [-2.15227984e-03 9.99997656e-01 -2.34182800e-04] [-4.22234141e-05 2.34092465e-04 9.99999972e-01]] t_estimated: [[ 0.08234607] [-0.99660198] [-0.00190006]] R_gt: [[ 0.99555043 -0.06248785 -0.07053536] [ 0.06503997 0.99728647 0.03450248] [ 0.06818887 -0.03893665 0.99691207]] t_gt: [ 0.36361243 -0.87016865 -0.33255452] Pose Error in degrees for R and t: 5.888516477779817 26.131478522886017 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[-0.97487309 0.22218338 0.01603111] [ 0.22218273 0.9750033 -0.00184452] [-0.01604021 0.00176367 -0.99986979]] t_estimated: [[ 0.98647165] [-0.16371108] [ 0.00850739]] R_gt: [[ 0.99102682 -0.12183827 -0.0549622 ] [ 0.12324872 0.99210883 0.02303623] [ 0.05172181 -0.02960341 0.99822192]] t_gt: [ 0.43844364 -0.88586534 -0.15168971] Pose Error in degrees for R and t: 177.70807395568383 54.812943084108795 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.97479527e-01 -7.09532696e-02 4.76591070e-04] [-7.09530454e-02 -9.97479545e-01 -4.71899718e-04] [ 5.08872671e-04 4.36894720e-04 -9.99999775e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98471315 -0.16401989 -0.05863339] [ 0.16517254 0.98614532 0.01534968] [ 0.05530407 -0.0247993 0.99816167]] t_gt: [ 0.45227628 -0.87625546 -0.16620029] Pose Error in degrees for R and t: 178.99062752307736 29.12147128487068 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-1.26030356e-01 9.92026257e-01 5.05018539e-04] [-9.92026268e-01 -1.26030078e-01 -5.49769234e-04] [-4.81737990e-04 -5.70279269e-04 9.99999721e-01]] t_estimated: [[7.91002110e-01] [6.11813004e-01] [7.13900822e-04]] R_gt: [[ 0.99608925 0.07952756 -0.0384911 ] [-0.0808078 0.99618613 -0.03293941] [ 0.03572505 0.03592084 0.99871583]] t_gt: [-0.43865042 0.80163876 -0.40615405] Pose Error in degrees for R and t: 92.67535252854982 81.76753990092224 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.77784802e-01 -2.09609172e-01 -9.35779461e-04] [ 2.09610037e-01 9.77784605e-01 9.48391974e-04] [ 7.16199094e-04 -1.12347203e-03 9.99999112e-01]] t_estimated: [[9.95240681e-01] [9.74427663e-02] [9.46046274e-04]] R_gt: [[ 0.98519545 0.17140794 0.00299194] [-0.17103766 0.98395733 -0.05074723] [-0.01164228 0.04948356 0.99870713]] t_gt: [-0.49510436 0.86301272 -0.10040276] Pose Error in degrees for R and t: 22.163745823551952 65.87374950484406 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99998226e-01 5.15136518e-04 -1.81175748e-03] [-5.11291845e-04 9.99997618e-01 2.12189154e-03] [ 1.81284623e-03 -2.12096144e-03 9.99996108e-01]] t_estimated: [[-0.69351711] [-0.72043935] [-0.00107689]] R_gt: [[ 0.95288067 0.30329893 -0.00520887] [-0.30334186 0.95267089 -0.02007864] [-0.00112792 0.02071253 0.99978428]] t_gt: [-0.46464177 0.88476261 -0.03609926] Pose Error in degrees for R and t: 17.677633427363133 71.63061895191902 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.95628744e-01 9.33991513e-02 -4.24609904e-05] [-9.33991607e-02 9.95628605e-01 -5.27443849e-04] [-6.98743123e-06 5.29104078e-04 9.99999860e-01]] t_estimated: [[9.87731467e-01] [1.56160037e-01] [7.69261267e-04]] R_gt: [[ 0.99395141 0.10130712 0.04239796] [-0.10099993 0.99484284 -0.00931032] [-0.04312208 0.00497086 0.99905746]] t_gt: [-0.37355695 0.91325853 0.16252404] Pose Error in degrees for R and t: 2.5243107079172673 76.92452166209934 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-5.57285093e-02 -9.98445927e-01 -2.52239661e-04] [-9.98445879e-01 5.57286041e-02 -3.85989590e-04] [ 3.99446699e-04 2.30337026e-04 -9.99999894e-01]] t_estimated: [[0.77008911] [0.63793471] [0.00144105]] R_gt: [[ 0.97786729 0.19699524 0.07048112] [-0.19328458 0.97953588 -0.05612805] [-0.08009493 0.04126244 0.99593222]] t_gt: [-0.30981152 0.94604317 0.09496914] Pose Error in degrees for R and t: 178.8015997894353 68.58822295724549 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.98901141 -0.14745978 0.01058539] [ 0.14753095 0.98903746 -0.00628649] [-0.00954235 0.00777908 0.99992421]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.95273421 0.30106349 0.04071983] [-0.29919055 0.95306967 -0.0462909 ] [-0.0527449 0.03191935 0.99809773]] t_gt: [-0.24294855 0.97003748 -0.00181109] Pose Error in degrees for R and t: 26.113504364041763 79.11875065188133 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[ 9.88069547e-01 -1.54008328e-01 -7.06667242e-05] [ 1.54008338e-01 9.88069531e-01 1.84444346e-04] [ 4.14176718e-05 -1.93127106e-04 9.99999980e-01]] t_estimated: [[-0.9832824 ] [-0.18207828] [-0.00179323]] R_gt: [[ 9.99264060e-01 -9.76197124e-04 -3.83435349e-02] [-2.28922968e-03 9.96372813e-01 -8.50542746e-02] [ 3.82869855e-02 8.50796737e-02 9.95637363e-01]] t_gt: [ 0.25371823 0.67037837 -0.6972947 ] Pose Error in degrees for R and t: 10.385331713399646 68.26664427989436 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.84549799e-01 -1.75104790e-01 7.70535024e-05] [ 1.75104780e-01 9.84549797e-01 1.15257478e-04] [-9.60451466e-05 -9.99842903e-05 9.99999990e-01]] t_estimated: [[-0.89469291] [-0.44667977] [-0.00133337]] R_gt: [[ 0.99968155 0.02430107 0.00681593] [-0.02304301 0.98897789 -0.14625865] [-0.01029556 0.14605578 0.98922186]] t_gt: [ 0.00487182 0.79468456 -0.60700306] Pose Error in degrees for R and t: 14.206389286459379 68.99073353466997 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 1.64894752e-01 9.86310975e-01 6.17553265e-04] [-9.86310400e-01 1.64895373e-01 -1.14461942e-03] [-1.23078237e-03 -4.20357473e-04 9.99999154e-01]] t_estimated: [[0.4050743 ] [0.91428327] [0.00095536]] R_gt: [[ 0.99778648 0.06542265 -0.01190586] [-0.06642674 0.98883364 -0.13339803] [ 0.00304466 0.13389414 0.99099027]] t_gt: [ 0.04445004 0.86837255 -0.49391629] Pose Error in degrees for R and t: 77.03525162752106 35.75998066598284 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 8.93526319e-01 4.49009917e-01 -9.00747463e-04] [ 4.49008800e-01 -8.93526518e-01 -1.20760061e-03] [-1.34706640e-03 6.74579393e-04 -9.99998865e-01]] t_estimated: [[0.790447 ] [0.6125235 ] [0.00291678]] R_gt: [[ 0.99979646 -0.0190054 0.0068064 ] [ 0.01882691 0.99949968 0.0254119 ] [-0.00728553 -0.02527918 0.99965377]] t_gt: [ 0.53124297 -0.60934203 0.58862823] Pose Error in degrees for R and t: 178.73411025915763 87.22580083071097 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-3.36066685e-01 -9.41836274e-01 -1.90146348e-03] [ 9.41837989e-01 -3.36067258e-01 -1.92522333e-05] [-6.20887167e-04 -1.79734058e-03 9.99998192e-01]] t_estimated: [[9.91005989e-01] [1.33814023e-01] [9.67758929e-04]] R_gt: [[ 0.98962691 -0.14365139 -0.00166974] [ 0.14359694 0.9887686 0.04142991] [-0.00430068 -0.04124019 0.99914032]] t_gt: [ 0.74523136 -0.64293399 0.17682225] Pose Error in degrees for R and t: 101.39415171235997 49.25706953476906 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.72739605 -0.68602933 0.01608549] [-0.68621122 0.72708583 -0.02145601] [ 0.00302392 -0.02664506 -0.99964038]] t_estimated: [[0.99479 ] [0.10092072] [0.01441725]] R_gt: [[ 0.97680059 -0.21245474 -0.02690835] [ 0.21378216 0.97476346 0.0642863 ] [ 0.01257097 -0.06854808 0.99756877]] t_gt: [ 0.76617461 -0.62559199 0.14700729] Pose Error in degrees for R and t: 179.40300211888922 45.47928574262569 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.56757252e-01 2.90886388e-01 8.18215949e-04] [-2.90886482e-01 9.56757574e-01 -4.38371757e-06] [-7.84109470e-04 -2.33813805e-04 9.99999665e-01]] t_estimated: [[-0.59619035] [ 0.80283906] [ 0.00255002]] R_gt: [[ 0.99651339 -0.08024757 0.0228425 ] [ 0.08012993 0.99676647 0.00599289] [-0.02324964 -0.00414186 0.99972098]] t_gt: [ 0.83829752 -0.4707417 0.27506277] Pose Error in degrees for R and t: 21.55020285211206 28.71584775134978 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 5.74279623e-01 8.18659203e-01 1.54856427e-04] [-8.18659217e-01 5.74279612e-01 1.12519228e-04] [ 3.18401241e-06 -1.91392141e-04 9.99999982e-01]] t_estimated: [[-9.99994892e-01] [-3.10075931e-03] [-7.75189839e-04]] R_gt: [[ 0.99109166 -0.12979341 0.0298772 ] [ 0.1294133 0.99148756 0.01430888] [-0.03148062 -0.01031496 0.99945063]] t_gt: [ 0.86565323 -0.42643895 0.26228667] Pose Error in degrees for R and t: 62.42522708345819 30.170936461844036 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-8.06033309e-01 -5.91866537e-01 2.07544533e-03] [-5.91864332e-01 8.06035977e-01 1.61737227e-03] [-2.63015213e-03 7.52738563e-05 -9.99996538e-01]] t_estimated: [[0.95722156] [0.28935024] [0.00181981]] R_gt: [[ 0.99436477 -0.10057139 -0.03355621] [ 0.09959668 0.99458953 -0.02955192] [ 0.03634659 0.02604334 0.99899979]] t_gt: [ 0.94229027 -0.09178479 -0.32196987] Pose Error in degrees for R and t: 177.74155018217624 28.97434612693061 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.06033999 0.99815708 0.00644487] [ 0.99817321 0.0603582 -0.00266877] [-0.00305286 0.00627206 -0.99997567]] t_estimated: [[0.99836566] [0.0571099 ] [0.00211518]] R_gt: [[ 0.99997838 -0.00624711 -0.0020152 ] [ 0.00643969 0.99314357 0.11672592] [ 0.00127256 -0.11673639 0.99316258]] t_gt: [ 0.13105934 -0.59108408 0.79589136] Pose Error in degrees for R and t: 175.7117507452017 84.33154761351723 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.05959465 0.9980468 -0.01873673] [ 0.99811091 0.05985833 0.01384138] [ 0.01493589 -0.01787647 -0.99972864]] t_estimated: [[-0.0268 ] [-0.99963992] [-0.00134 ]] R_gt: [[ 0.9908754 -0.12737246 -0.04406281] [ 0.13313809 0.9758794 0.17301195] [ 0.02096302 -0.17730081 0.983934 ]] t_gt: [ 0.56448169 -0.60683732 0.55956134] Pose Error in degrees for R and t: 170.3734884356654 53.79039869780129 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.05288008 0.99849927 -0.0142442 ] [ 0.99852166 -0.05269085 0.01334767] [ 0.0125771 -0.01492897 -0.99980945]] t_estimated: [[0.94791219] [0.3185292 ] [0.00127923]] R_gt: [[ 0.93286627 -0.34800737 -0.09301303] [ 0.35873319 0.920962 0.15211271] [ 0.03272469 -0.17526764 0.98397733]] t_gt: [ 0.81315668 -0.49918591 0.29931528] Pose Error in degrees for R and t: 169.40221386480553 52.252792799331004 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99992028e-01 3.99187302e-03 -9.29953227e-05] [-3.99186646e-03 9.99992030e-01 7.06506555e-05] [ 9.32766099e-05 -7.02788674e-05 9.99999993e-01]] t_estimated: [[-9.99913942e-01] [-1.31162025e-02] [-2.72256764e-04]] R_gt: [[ 0.98962872 0.14341085 0.00827375] [-0.14332938 0.98962747 -0.00977713] [-0.00959059 0.00849015 0.99991796]] t_gt: [-0.86297877 0.50396962 -0.03580878] Pose Error in degrees for R and t: 8.04845272878115 31.095895737925815 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99987611e-01 4.97555521e-03 -1.50176060e-04] [-4.97553836e-03 9.99987616e-01 1.12342355e-04] [ 1.50733165e-04 -1.11593757e-04 9.99999982e-01]] t_estimated: [[-9.96672746e-01] [-8.15066921e-02] [-3.10859398e-04]] R_gt: [[ 0.97166887 0.235737 0.01697061] [-0.2357881 0.97180406 0.00106941] [-0.0162393 -0.00504009 0.99985549]] t_gt: [-0.83272286 0.55287419 0.03004619] Pose Error in degrees for R and t: 13.388332423445362 38.29042880619198 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-1.24432302e-01 -9.92225949e-01 -2.06592094e-03] [ 9.92227832e-01 -1.24430470e-01 -9.93363633e-04] [ 7.28577661e-04 -2.17347078e-03 9.99997373e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91698906 0.39730218 0.03582255] [-0.39656333 0.91763654 -0.02609147] [-0.04323865 0.00972081 0.9990174 ]] t_gt: [-0.78959291 0.61362857 -0.00173853] Pose Error in degrees for R and t: 120.56615149484391 38.03007231492594 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 9.99962286e-01 8.68439664e-03 -8.97637390e-05] [-8.68439905e-03 9.99962290e-01 -2.64046320e-05] [ 8.95310457e-05 2.71831803e-05 9.99999996e-01]] t_estimated: [[ 0.55060898] [-0.83475635] [-0.00340419]] R_gt: [[ 0.99922922 0.03252558 0.02197287] [-0.03245742 0.99946648 -0.00346716] [-0.02207348 0.00275072 0.9997522 ]] t_gt: [-0.53739734 0.80784575 0.24205237] Pose Error in degrees for R and t: 1.8715770350747878 13.814433541808329 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.99999835e-01 5.64103879e-04 -1.10586487e-04] [-5.64069262e-04 9.99999792e-01 3.12816487e-04] [ 1.10762925e-04 -3.12754057e-04 9.99999945e-01]] t_estimated: [[-0.77051074] [-0.6374246 ] [ 0.00175649]] R_gt: [[ 0.99025887 0.13470919 0.03521736] [-0.13516962 0.99076094 0.01103279] [-0.03340531 -0.01568586 0.99931817]] t_gt: [-0.71674077 0.67339373 0.1811727 ] Pose Error in degrees for R and t: 8.00937822243957 82.91527246167101 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[-0.99970214 -0.01707569 -0.01743689] [-0.0171093 0.99985204 0.00178056] [ 0.0174039 0.00207837 -0.99984638]] t_estimated: [[ 0.9988572] [ 0.0472076] [-0.0074658]] R_gt: [[ 0.98641114 0.15531281 0.05357698] [-0.15435321 0.98777857 -0.02163289] [-0.05628243 0.01306795 0.99832868]] t_gt: [-0.75382027 0.64747205 0.11195957] Pose Error in degrees for R and t: 177.85341515128448 43.67827407711891 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.40794243e-01 3.38977661e-01 5.81192530e-04] [-3.38977699e-01 9.40794408e-01 -3.59453254e-05] [-5.58967345e-04 -1.63194151e-04 9.99999830e-01]] t_estimated: [[-0.46878305] [ 0.88331098] [ 0.00204285]] R_gt: [[ 0.99653579 0.08307994 0.0038588 ] [-0.08302105 0.9964556 -0.01358018] [-0.00497297 0.01321256 0.99989939]] t_gt: [-0.78020842 0.62408667 -0.04231616] Pose Error in degrees for R and t: 15.071730335689463 23.519453027073833 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.82063635e-01 1.88549715e-01 1.49666453e-04] [-1.88549661e-01 9.82063605e-01 -3.18357226e-04] [-2.07008140e-04 2.84427496e-04 9.99999938e-01]] t_estimated: [[-9.98850798e-01] [-4.79276961e-02] [-1.40242230e-04]] R_gt: [[ 0.9949441 0.09955922 0.01325313] [-0.09917053 0.99469684 -0.02729053] [-0.01590009 0.02583783 0.99953868]] t_gt: [-0.82235825 0.56808423 -0.03173677] Pose Error in degrees for R and t: 5.442324805347105 37.42112074918498 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.95063089 0.31032089 -0.00136277] [ 0.31031845 0.95063106 0.00174586] [ 0.00183727 0.00123677 -0.99999755]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99736022 0.07165923 -0.01177595] [-0.07209407 0.9965112 -0.04206002] [ 0.00872088 0.04279856 0.9990445 ]] t_gt: [-0.86141952 0.47374414 -0.1830926 ] Pose Error in degrees for R and t: 179.69782044611142 30.673525285108447 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[-0.98971987 -0.14153825 -0.02053051] [-0.14159041 0.98992471 0.0011024 ] [ 0.02016762 0.00399799 -0.99978862]] t_estimated: [[ 0.99825183] [ 0.05828384] [-0.00981231]] R_gt: [[ 0.99176276 0.12692916 0.0171947 ] [-0.126565 0.99173963 -0.02083724] [-0.01969836 0.01848977 0.99963552]] t_gt: [-0.84368838 0.53138249 -0.07630579] Pose Error in degrees for R and t: 179.80351339721236 35.855803214487544 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.60351456e-01 -2.78786017e-01 -1.85428026e-03] [ 2.78788118e-01 9.60352129e-01 9.86548470e-04] [ 1.50572608e-03 -1.46438456e-03 9.99997794e-01]] t_estimated: [[-0.35672797] [-0.93420763] [-0.00111993]] R_gt: [[ 0.96682656 0.25272574 0.03710661] [-0.2526613 0.96753335 -0.00647138] [-0.03753772 -0.00311781 0.99929073]] t_gt: [-0.83365888 0.55105983 0.03668682] Pose Error in degrees for R and t: 30.911032360156657 77.44034784103046 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.98941254e-01 4.60011042e-02 -5.18809312e-04] [-4.60007435e-02 9.98941169e-01 6.86922270e-04] [ 5.49859164e-04 -6.62329380e-04 9.99999629e-01]] t_estimated: [[-9.94519722e-01] [-1.04548035e-01] [-4.80966860e-04]] R_gt: [[ 0.89893841 0.43321456 0.06506948] [-0.42935324 0.90076009 -0.06547395] [-0.08697617 0.03091917 0.99573007]] t_gt: [-0.77767308 0.62849573 -0.01475451] Pose Error in degrees for R and t: 23.57643840429575 44.95107504446496 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-8.69632589e-01 -4.93696107e-01 -1.82082109e-03] [ 4.93699089e-01 -8.69630562e-01 -1.97369944e-03] [-6.09033943e-04 -2.61533107e-03 9.99996395e-01]] t_estimated: [[0.93004354] [0.36744811] [0.00095194]] R_gt: [[ 0.9994195 0.00288048 0.03397378] [-0.00264225 0.9999725 -0.00706833] [-0.03399271 0.00697535 0.99939777]] t_gt: [-0.8097064 -0.12975743 0.57230985] Pose Error in degrees for R and t: 150.58160123125987 36.85112744526998 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-2.90492634e-01 -9.56876555e-01 -1.13481705e-03] [-9.56877026e-01 2.90491598e-01 9.93998406e-04] [-6.21478954e-04 1.37462957e-03 -9.99998862e-01]] t_estimated: [[8.57777318e-01] [5.14020838e-01] [8.06940092e-04]] R_gt: [[ 0.98661142 -0.06523387 0.14947596] [ 0.06742186 0.99767888 -0.00961393] [-0.14850124 0.01956324 0.98871858]] t_gt: [ 0.08655757 -0.59755961 0.79713882] Pose Error in degrees for R and t: 173.6312533192405 76.56938103791414 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.04759921e-01 4.25921806e-01 3.15612914e-04] [-4.25920978e-01 9.04759226e-01 -1.43671537e-03] [-8.97482102e-04 1.16545633e-03 9.99998918e-01]] t_estimated: [[0.82747585] [0.56150034] [0.00104624]] R_gt: [[ 0.96249744 -0.1644997 0.21572818] [ 0.16639293 0.98601451 0.00948193] [-0.21427029 0.02677045 0.97640726]] t_gt: [ 0.38100219 -0.69500759 0.60975551] Pose Error in degrees for R and t: 36.93265013375139 85.73675941707445 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.99293573 0.1178733 -0.01358389] [ 0.1180122 -0.96919031 0.21620189] [ 0.01231906 -0.21627765 -0.97625418]] t_estimated: [[-0.08138247] [ 0.9908551 ] [ 0.10762463]] R_gt: [[ 0.99468937 0.10219205 -0.01226661] [-0.10182937 0.99442984 0.02719359] [ 0.01497801 -0.02579992 0.99955485]] t_gt: [-0.84340774 0.50544399 0.18218058] Pose Error in degrees for R and t: 165.94307231133936 53.90913846004577 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-9.59251005e-01 -2.82453075e-01 -7.60062826e-03] [-2.82466996e-01 9.59276682e-01 8.02628431e-04] [ 7.06440058e-03 2.91684876e-03 -9.99970793e-01]] t_estimated: [[ 0.98814759] [ 0.15347624] [-0.00306485]] R_gt: [[ 0.97454406 0.22383691 0.01271313] [-0.22393276 0.97458134 0.00670321] [-0.010889 -0.00937941 0.99989713]] t_gt: [-0.82565359 0.56178788 0.05187023] Pose Error in degrees for R and t: 179.69943484853948 43.12991041368681 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.99709341 -0.07513058 -0.01265375] [-0.07515886 0.99717 0.00177338] [ 0.01248471 0.00271926 -0.99991837]] t_estimated: [[ 0.99997102] [ 0.00374109] [-0.00662976]] R_gt: [[ 0.94253335 0.33346288 0.02082848] [-0.33392956 0.94224482 0.02577292] [-0.01103168 -0.0312467 0.99945095]] t_gt: [-0.79977787 0.59504617 0.07921747] Pose Error in degrees for R and t: 179.74979552765183 37.05534869006861 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.98972178e-01 -4.53271456e-02 1.95324291e-04] [ 4.53275655e-02 9.98962018e-01 -4.50540013e-03] [ 9.09538026e-06 4.50962296e-03 9.99989832e-01]] t_estimated: [[-0.74249102] [-0.66969779] [-0.01455865]] R_gt: [[ 0.9983447 0.05501356 -0.01686034] [-0.05432965 0.99777462 0.03865504] [ 0.01894988 -0.03767408 0.99911016]] t_gt: [-0.23509856 0.89380498 0.38189178] Pose Error in degrees for R and t: 6.317673265156685 64.5590613099419 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.65234445e-01 5.01367391e-01 3.08703322e-04] [-5.01366994e-01 8.65234294e-01 -8.68063148e-04] [-7.02319256e-04 5.96304480e-04 9.99999576e-01]] t_estimated: [[-9.77120343e-01] [ 2.12686591e-01] [-4.99888468e-04]] R_gt: [[ 0.99777845 0.06560008 -0.01163272] [-0.06475491 0.99595951 0.0622132 ] [ 0.01566686 -0.06132098 0.9979956 ]] t_gt: [-0.07676757 0.88109717 0.46666317] Pose Error in degrees for R and t: 26.600776478011703 74.80081662647298 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-9.63195624e-01 -2.68742095e-01 5.64584242e-03] [-2.68737709e-01 9.63212170e-01 1.53586711e-03] [-5.85089627e-03 -3.79102745e-05 -9.99982883e-01]] t_estimated: [[ 0.99658279] [-0.08242918] [ 0.00530856]] R_gt: [[ 0.99809449 0.05428727 -0.02934452] [-0.04719187 0.9778536 0.20389771] [ 0.03976436 -0.20212423 0.97855276]] t_gt: [0.01250135 0.14534866 0.98930151] Pose Error in degrees for R and t: 180.0 89.67172650083276 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99999913e-01 -3.95594171e-04 -1.35825596e-04] [ 3.95602306e-04 9.99999920e-01 5.98655848e-05] [ 1.35801903e-04 -5.99193125e-05 9.99999989e-01]] t_estimated: [[ 0.99657417] [-0.08266305] [-0.00259837]] R_gt: [[ 0.99938917 -0.03238292 0.01318865] [ 0.03244967 0.99946132 -0.00487143] [-0.01302408 0.00529586 0.9999013 ]] t_gt: [ 0.90543829 -0.39973158 0.14281515] Pose Error in degrees for R and t: 2.0070148499324105 20.77050578039401 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99137923e-01 -4.15139073e-02 7.99123374e-05] [ 4.15139067e-02 9.99137926e-01 9.43941538e-06] [-8.02353141e-05 -6.11380456e-06 9.99999997e-01]] t_estimated: [[0.7314878 ] [0.68185404] [0.00081367]] R_gt: [[ 0.99998032 -0.00518805 -0.00349941] [ 0.00504881 0.99924525 -0.03850439] [ 0.00369678 0.0384855 0.99925195]] t_gt: [ 0.14194129 0.62500994 -0.76760358] Pose Error in degrees for R and t: 3.0441423835663404 58.037149455545276 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 8.40720848e-01 -5.41465936e-01 1.75955059e-03] [-5.41464563e-01 -8.40722686e-01 -1.22140994e-03] [ 2.14064598e-03 7.41305080e-05 -9.99997706e-01]] t_estimated: [[0.72446818] [0.68930776] [0.00081768]] R_gt: [[ 0.99464026 0.09124303 -0.04862014] [-0.09609139 0.98938173 -0.1090404 ] [ 0.03815439 0.11312804 0.99284783]] t_gt: [-0.35896037 0.72766118 -0.58451404] Pose Error in degrees for R and t: 173.13560891809075 76.05152781408198 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99925965e-01 -1.21681572e-02 -3.03024226e-05] [ 1.21681560e-02 9.99925964e-01 -4.01838328e-05] [ 3.07891423e-05 3.98121331e-05 9.99999999e-01]] t_estimated: [[-0.9325051 ] [-0.3611551 ] [-0.00111069]] R_gt: [[ 0.99714723 0.06348294 -0.04086001] [-0.06229886 0.9976192 0.02959366] [ 0.04264136 -0.02696312 0.99872665]] t_gt: [-0.65047751 0.75178581 -0.10815318] Pose Error in degrees for R and t: 5.185329765471243 70.4163671691026 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.19376119 -0.97752348 0.08309297] [-0.9760021 0.20065174 0.08460955] [-0.09938057 -0.06470487 -0.99294349]] t_estimated: [[0.74452158] [0.66448381] [0.06441181]] R_gt: [[ 0.99824084 0.03481505 -0.04800545] [-0.03558656 0.9992501 -0.01532038] [ 0.04743615 0.01700165 0.9987295 ]] t_gt: [-0.30484984 0.71691938 -0.62697143] Pose Error in degrees for R and t: 175.94792900055322 77.93450544988875 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 6.97461152e-01 7.16622364e-01 -5.72917306e-04] [ 7.16590721e-01 -6.97422370e-01 9.98882116e-03] [ 6.75864729e-03 -7.37736194e-03 -9.99949946e-01]] t_estimated: [[9.07297251e-01] [4.20489239e-01] [7.05518858e-04]] R_gt: [[ 0.99869578 0.03029481 -0.04112937] [-0.03007662 0.99953135 0.00589921] [ 0.04128914 -0.00465411 0.99913615]] t_gt: [-0.31402567 0.87191534 -0.37570137] Pose Error in degrees for R and t: 178.25919208829728 85.3280071766185 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.99153146e-01 -4.11443449e-02 -3.66067975e-04] [ 4.11443114e-02 9.99153209e-01 -9.85636064e-05] [ 3.69813327e-04 8.34185226e-05 9.99999928e-01]] t_estimated: [[-0.11216514] [-0.99368832] [-0.00157979]] R_gt: [[ 0.99994781 -0.00835827 -0.00591169] [ 0.00873381 0.99773718 0.0666686 ] [ 0.00534149 -0.06671642 0.99775751]] t_gt: [ 0.40610708 -0.28964384 0.86670842] Pose Error in degrees for R and t: 4.270970908161436 76.06060489551409 Number of keypoints: Image1: 660 Image2: 660 R_estimated: [[ 9.83278347e-01 -1.82108770e-01 -2.96115502e-04] [ 1.82108734e-01 9.83278388e-01 -1.45790359e-04] [ 3.17713677e-04 8.94272838e-05 9.99999946e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99944247 0.01298043 -0.03075307] [-0.00693598 0.98194039 0.18906619] [ 0.03265161 -0.18874697 0.98148249]] t_gt: [-0.05722327 -0.25035638 0.96646116] Pose Error in degrees for R and t: 15.625940921003595 75.5434554305958 Number of keypoints: Image1: 612 Image2: 612 R_estimated: [[ 0.97550772 0.21989611 -0.0055131 ] [-0.21987137 0.97551726 0.00475926] [ 0.00642467 -0.00343052 0.99997348]] t_estimated: [[-0.62070249] [-0.78404525] [-0.00120995]] R_gt: [[ 0.99698693 0.04266931 -0.0647764 ] [-0.02699526 0.97376601 0.22594824] [ 0.07271769 -0.2235196 0.97198333]] t_gt: [-0.38464288 -0.27144098 0.8822526 ] Pose Error in degrees for R and t: 17.0169652285822 63.224018363414615 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99999799e-01 6.34556450e-04 1.12729086e-05] [-6.34556440e-04 9.99999799e-01 -9.01996723e-07] [-1.12734787e-05 8.94843244e-07 1.00000000e+00]] t_estimated: [[ 9.94530884e-01] [-1.04441735e-01] [-4.95192380e-04]] R_gt: [[ 0.99902108 -0.03936662 -0.02021311] [ 0.03885971 0.99893333 -0.02494598] [ 0.02117366 0.0241356 0.9994841 ]] t_gt: [ 0.8841987 0.0850163 -0.45930913] Pose Error in degrees for R and t: 2.9285483340488794 29.458618934316554 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99999809e-01 -6.18834449e-04 6.23181735e-06] [ 6.18835161e-04 9.99999802e-01 -1.14967946e-04] [-6.16066999e-06 1.14971780e-04 9.99999993e-01]] t_estimated: [[ 0.96289819] [-0.26986215] [-0.0012213 ]] R_gt: [[ 0.9999382 -0.00949699 0.0057736 ] [ 0.00968331 0.99941054 -0.0329385 ] [-0.00545805 0.03299292 0.99944094]] t_gt: [ 0.74940364 0.56126893 -0.3512426 ] Pose Error in degrees for R and t: 1.9775863266839337 55.21049526061244 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.99994121e-01 -3.42809730e-03 -8.12848125e-05] [ 3.42809552e-03 9.99994124e-01 -2.20753445e-05] [ 8.13600113e-05 2.17965626e-05 9.99999996e-01]] t_estimated: [[ 7.40405874e-01] [-6.72159657e-01] [-7.33050630e-04]] R_gt: [[ 0.99561271 0.08894457 0.02904033] [-0.08849709 0.99594257 -0.01633111] [-0.03037615 0.01368955 0.99944439]] t_gt: [-0.42801871 0.90216293 0.05387045] Pose Error in degrees for R and t: 5.6232317990214264 22.579957996294556 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 0.0328159 0.99517891 0.09242324] [-0.99833537 0.02825011 0.05028348] [ 0.04743009 -0.09391949 0.99444935]] t_estimated: [[0.01360416] [0.99990601] [0.00170052]] R_gt: [[ 0.99782376 0.0493655 -0.0437163 ] [-0.04850999 0.99861424 0.02041041] [ 0.04466376 -0.01824547 0.99883477]] t_gt: [-0.58909716 0.75899525 -0.27729181] Pose Error in degrees for R and t: 85.62348466934766 41.371649565132884 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-0.06891116 -0.99644086 0.04854752] [-0.99629605 0.07124688 0.04814637] [-0.05143387 -0.04504988 -0.99765979]] t_estimated: [[0.70740758] [0.70588887] [0.03599187]] R_gt: [[ 0.99869595 0.02278227 -0.04569967] [-0.02376827 0.99949479 -0.02114276] [ 0.04519478 0.02220189 0.99873148]] t_gt: [-0.18950882 0.65522539 -0.73127703] Pose Error in degrees for R and t: 178.8354370436619 72.41404003706742 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 6.14896730e-01 7.88607211e-01 8.23453992e-04] [-7.88606389e-01 6.14897279e-01 -1.14026547e-03] [-1.40556119e-03 5.17644281e-05 9.99999011e-01]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.99879068 0.02339268 -0.04324733] [-0.02356692 0.99971622 -0.00351284] [ 0.04315367 0.00452814 0.99905747]] t_gt: [-0.21184189 0.82519372 -0.52362041] Pose Error in degrees for R and t: 50.76988633503548 34.65810211901564 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99999955e-01 2.99267867e-04 2.23951026e-05] [-2.99271569e-04 9.99999942e-01 1.65493373e-04] [-2.23455744e-05 -1.65500067e-04 9.99999986e-01]] t_estimated: [[0.94411401] [0.32961749] [0.00102177]] R_gt: [[ 0.99959482 -0.02723686 -0.00822687] [ 0.02697231 0.99916283 -0.03074372] [ 0.00905752 0.0305081 0.99949241]] t_gt: [ 0.87396762 0.20684934 -0.43976578] Pose Error in degrees for R and t: 2.4153220920301437 26.765531735424524 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99999955e-01 2.98963431e-04 -3.17484158e-05] [-2.98959907e-04 9.99999949e-01 1.10944076e-04] [ 3.17815824e-05 -1.10934580e-04 9.99999993e-01]] t_estimated: [[ 9.95682161e-01] [-9.28275095e-02] [ 2.94610343e-04]] R_gt: [[ 0.9999232 0.00182047 0.01224177] [-0.00137396 0.99933801 -0.03636469] [-0.01229962 0.03634449 0.99926266]] t_gt: [ 0.62821396 0.71133865 -0.31518968] Pose Error in degrees for R and t: 2.2074168001872914 55.987290805443344 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99934786e-01 1.14198192e-02 -1.11170240e-04] [-1.14198247e-02 9.99934790e-01 -4.93979579e-05] [ 1.10598874e-04 5.06642810e-05 9.99999993e-01]] t_estimated: [[ 0.54456532] [-0.83871677] [-0.00166876]] R_gt: [[ 0.99426169 0.10264996 0.03010786] [-0.1021097 0.99459266 -0.0189376 ] [-0.03188801 0.0157545 0.99936679]] t_gt: [-0.48753519 0.87088472 0.06220323] Pose Error in degrees for R and t: 5.608857558158269 5.110870171569893 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[-0.98459005 -0.17486401 -0.00223825] [ 0.17487405 -0.98457486 -0.00560539] [-0.00122354 -0.00591043 0.99998178]] t_estimated: [[9.84932091e-01] [1.72939581e-01] [8.23521815e-04]] R_gt: [[ 0.99997578 -0.00642435 -0.00287408] [ 0.00656984 0.99854739 0.05347843] [ 0.00252678 -0.05349534 0.99856451]] t_gt: [ 0.54704252 -0.16749601 0.82017654] Pose Error in degrees for R and t: 169.5571684916453 59.30229482938216 Number of keypoints: Image1: 459 Image2: 459 R_estimated: [[ 9.95457388e-01 9.52081314e-02 2.81477517e-05] [-9.52081252e-02 9.95457374e-01 -1.71522062e-04] [-4.43501820e-05 1.68063009e-04 9.99999985e-01]] t_estimated: [[-3.05081391e-01] [-9.52326193e-01] [-4.08953389e-04]] R_gt: [[ 0.99966024 0.00694987 -0.02512913] [-0.00204149 0.98172239 0.19030511] [ 0.02599182 -0.19018884 0.98140286]] t_gt: [ 0.01482292 -0.24734549 0.96881396] Pose Error in degrees for R and t: 12.234843645944524 76.66552888471104 Number of keypoints: Image1: 606 Image2: 606 R_estimated: [[ 9.78531750e-01 -2.06095417e-01 -5.42028553e-04] [-2.06092970e-01 -9.78498803e-01 -8.11046403e-03] [ 1.14115517e-03 8.04805484e-03 -9.99966963e-01]] t_estimated: [[ 0.15101523] [ 0.98852449] [-0.0037045 ]] R_gt: [[ 0.9971305 0.03392711 -0.0676775 ] [-0.01775557 0.97383028 0.22658209] [ 0.07359357 -0.22473011 0.97163721]] t_gt: [-0.26367847 -0.27810922 0.92364978] Pose Error in degrees for R and t: 167.90890491854933 71.4483801796132 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 0.99868674 0.05086305 0.00614369] [-0.0507648 0.99859482 -0.01520952] [-0.00690866 0.01487766 0.99986545]] t_estimated: [[-0.60464348] [-0.7963597 ] [-0.0147474 ]] R_gt: [[ 0.99817895 0.05837879 -0.0152075 ] [-0.05775525 0.99758218 0.03867314] [ 0.01742878 -0.03772455 0.99913617]] t_gt: [-0.27272876 0.89338949 0.35703535] Pose Error in degrees for R and t: 3.347166797909839 56.50796411381773 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99887517e-01 1.49977675e-02 -1.42385103e-04] [-1.49978015e-02 9.99887498e-01 -2.41136271e-04] [ 1.38752578e-04 2.43244611e-04 9.99999961e-01]] t_estimated: [[-9.24195796e-01] [-3.81917984e-01] [-8.85579771e-04]] R_gt: [[ 0.99724681 0.07348362 -0.00994822] [-0.07284833 0.99589498 0.05372274] [ 0.01385665 -0.05284917 0.9985069 ]] t_gt: [-0.13085313 0.93968866 0.31601057] Pose Error in degrees for R and t: 4.586094012013175 76.2179065946782 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.35751947e-01 -3.52655230e-01 -1.60697286e-03] [ 3.52657531e-01 9.35751279e-01 1.48676362e-03] [ 9.79411945e-04 -1.95795303e-03 9.99997604e-01]] t_estimated: [[-4.74635170e-01] [-8.80182248e-01] [-8.16144104e-04]] R_gt: [[ 0.99801239 0.05859694 -0.02319483] [-0.05317363 0.98051148 0.18913051] [ 0.03382614 -0.1875208 0.9816784 ]] t_gt: [0.00397902 0.21471351 0.97666897] Pose Error in degrees for R and t: 26.208539205952466 78.94958271043014 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.98010134e-01 -6.30534012e-02 -2.00794993e-04] [ 6.30534288e-02 9.98010144e-01 1.34189580e-04] [ 1.91934331e-04 -1.46583374e-04 9.99999971e-01]] t_estimated: [[9.78842280e-01] [2.04615231e-01] [6.31583069e-04]] R_gt: [[ 0.99639382 0.08339281 -0.0156268 ] [-0.08302029 0.99627966 0.02313156] [ 0.01749786 -0.0217505 0.99961037]] t_gt: [-0.82873122 0.53444084 0.16606489] Pose Error in degrees for R and t: 8.537360126753988 45.43342609254374 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999822e-01 -4.84411277e-04 -3.47237027e-04] [ 4.84469760e-04 9.99999868e-01 1.68358760e-04] [ 3.47155426e-04 -1.68526956e-04 9.99999926e-01]] t_estimated: [[-0.97514531] [-0.22154536] [-0.00304722]] R_gt: [[ 9.78368037e-01 2.06671270e-01 9.13829581e-03] [-2.06686232e-01 9.78407512e-01 7.08649860e-04] [-8.79343727e-03 -2.58238024e-03 9.99958279e-01]] t_gt: [-0.82506768 0.56461259 0.02181628] Pose Error in degrees for R and t: 11.967945198654153 47.20267142148803 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.88228968e-01 4.59400960e-01 2.42342511e-04] [-4.59400840e-01 8.88228960e-01 -4.26382911e-04] [-4.11136355e-04 2.67393300e-04 9.99999880e-01]] t_estimated: [[-5.50764266e-01] [ 8.34660713e-01] [ 4.66181135e-04]] R_gt: [[ 0.94974913 0.31270932 0.01375579] [-0.31294984 0.9495147 0.02198104] [-0.00618672 -0.02518073 0.999664 ]] t_gt: [-0.80087773 0.59546038 0.06341759] Pose Error in degrees for R and t: 9.237435944404316 20.259855279209706 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.96762937 0.25237304 0.00112193] [-0.25237013 0.96762818 -0.00223878] [-0.00165061 0.00188317 0.99999686]] t_estimated: [[-9.99671129e-01] [-2.56325931e-02] [-7.76745244e-04]] R_gt: [[ 0.99860996 -0.0025687 0.05265218] [ 0.00294343 0.99997171 -0.00703124] [-0.05263256 0.00717704 0.99858793]] t_gt: [-0.50281738 -0.20953881 0.83861086] Pose Error in degrees for R and t: 15.066007203261968 59.51108530786718 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-2.57624523e-01 -9.66245103e-01 7.55429692e-05] [-9.66243499e-01 2.57623951e-01 -1.84411885e-03] [ 1.76240913e-03 -5.48083142e-04 -9.99998297e-01]] t_estimated: [[8.63339738e-01] [5.04622480e-01] [8.06106198e-04]] R_gt: [[ 0.98419865 -0.08170452 0.15709074] [ 0.08224778 0.9966075 0.00305257] [-0.15680761 0.00991561 0.98757905]] t_gt: [ 0.16952547 -0.62674549 0.76055979] Pose Error in degrees for R and t: 173.0209915893526 80.25295383829265 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-9.97491948e-01 -7.07545662e-02 -1.89894074e-03] [ 7.07552047e-02 -9.97493673e-01 -2.71093717e-04] [-1.87500025e-03 -4.04773740e-04 9.99998160e-01]] t_estimated: [[0.88319411] [0.46900653] [0.00101517]] R_gt: [[ 0.95918726 -0.1777358 0.21993126] [ 0.17882183 0.98376601 0.01512819] [-0.21905009 0.02481738 0.97539781]] t_gt: [ 0.41056827 -0.69324363 0.59232336] Pose Error in degrees for R and t: 165.6360398598504 87.81782147570482 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99999998e-01 -3.07160029e-05 5.47884677e-05] [ 3.07146676e-05 9.99999999e-01 2.43731062e-05] [-5.47892163e-05 -2.43714233e-05 9.99999998e-01]] t_estimated: [[9.99997368e-01] [2.12614705e-03] [8.62644235e-04]] R_gt: [[ 0.99946816 -0.03130971 0.00922282] [ 0.03134801 0.99950073 -0.00411148] [-0.00909037 0.00439848 0.9999486 ]] t_gt: [ 0.91837161 -0.39031053 0.06520186] Pose Error in degrees for R and t: 1.8828368333858039 23.422935060724946 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.70832538e-01 -2.39758446e-01 -2.66569952e-04] [ 2.39758524e-01 9.70832504e-01 3.14926690e-04] [ 1.83288440e-04 -3.69653496e-04 9.99999915e-01]] t_estimated: [[ 7.10549894e-01] [-7.03646746e-01] [-3.23158371e-04]] R_gt: [[ 0.99995537 0.00712673 -0.00638366] [-0.00738789 0.99910302 -0.04170474] [ 0.00608025 0.04175055 0.99910915]] t_gt: [-0.08277894 0.70109137 -0.70825033] Pose Error in degrees for R and t: 14.493256656428942 56.501829905414944 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.47192395e-01 -3.20665625e-01 -3.50175625e-04] [ 3.20665685e-01 9.47192431e-01 1.29695584e-04] [ 2.90094786e-04 -2.35135977e-04 9.99999930e-01]] t_estimated: [[0.80586054] [0.59210443] [0.00106878]] R_gt: [[ 0.99333808 0.10285179 -0.05196763] [-0.1081877 0.98766532 -0.11320089] [ 0.039683 0.11806902 0.9922113 ]] t_gt: [-0.37943037 0.73275607 -0.56489038] Pose Error in degrees for R and t: 25.78161488774498 82.67505666721719 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.51437889e-01 -3.07840424e-01 -4.64717340e-04] [ 3.07840527e-01 9.51437955e-01 1.66982173e-04] [ 3.90745853e-04 -3.01931997e-04 9.99999878e-01]] t_estimated: [[ 1.65783547e-01] [-9.86161722e-01] [-9.34906378e-04]] R_gt: [[ 0.99154247 0.12889628 0.01517468] [-0.12852168 0.99142857 -0.023497 ] [-0.01807236 0.02134804 0.99960863]] t_gt: [-0.84522234 0.5257339 -0.09593255] Pose Error in degrees for R and t: 25.377040663474897 48.8149647738961 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-5.46250453e-01 8.37621892e-01 -9.56748029e-05] [-8.37619906e-01 -5.46249400e-01 -2.11789531e-03] [-1.82625778e-03 -1.07676215e-03 9.99997753e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 9.69088604e-01 2.45040028e-01 2.86825789e-02] [-2.44951191e-01 9.69513173e-01 -6.63442717e-03] [-2.94340344e-02 -5.95942162e-04 9.99566176e-01]] t_gt: [-0.83389165 0.55154464 0.02057244] Pose Error in degrees for R and t: 108.93239486104433 56.88275220916362 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-8.41095699e-01 5.40870247e-01 -4.17138680e-03] [ 5.40861419e-01 8.41105966e-01 3.11127538e-03] [ 5.19137461e-03 3.60738158e-04 -9.99986460e-01]] t_estimated: [[ 0.96865253] [-0.24841452] [-0.00158528]] R_gt: [[ 0.89972267 0.43181486 0.06351875] [-0.42769924 0.90128857 -0.06894203] [-0.08701818 0.03486108 0.99559636]] t_gt: [-0.778895 0.62670508 -0.02373413] Pose Error in degrees for R and t: 175.18621200585346 24.47755825809204 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-0.6781512 -0.73427512 -0.03083827] [-0.73433872 0.67868783 -0.01137862] [ 0.0292846 0.01492931 -0.99945962]] t_estimated: [[ 0.92067905] [ 0.39001111] [-0.01553751]] R_gt: [[ 9.97223225e-01 7.44725051e-02 2.14535459e-04] [-7.44634823e-02 9.97139688e-01 -1.29549120e-02] [-1.17829081e-03 1.29043896e-02 9.99916288e-01]] t_gt: [-0.78491883 0.61538637 -0.07212524] Pose Error in degrees for R and t: 177.85641415375355 61.21461326487278 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[-0.46551637 -0.88495031 -0.0125484 ] [-0.88497071 0.46561 -0.00584616] [ 0.01101622 0.00838348 -0.99990418]] t_estimated: [[ 0.85520617] [ 0.51825823] [-0.00555071]] R_gt: [[ 0.99593713 0.08978922 0.0068525 ] [-0.08953826 0.99550364 -0.03091306] [-0.00959745 0.03017391 0.99949833]] t_gt: [-0.82539353 0.55904611 -0.0786954 ] Pose Error in degrees for R and t: 178.70534347576776 65.43567506353837 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.94072746 -0.33906112 0.00833073] [-0.33900592 0.94075538 0.00736933] [-0.01033583 0.00410837 -0.99993814]] t_estimated: [[0.99466265] [0.10310735] [0.00388382]] R_gt: [[ 0.99869761 0.04884137 -0.01476365] [-0.04948261 0.99768234 -0.04671598] [ 0.01244793 0.04738701 0.99879988]] t_gt: [-0.86390179 0.44168529 -0.24204918] Pose Error in degrees for R and t: 179.30269830126807 35.44328672258547 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[-0.1557512 -0.98727714 -0.03202205] [-0.98730873 0.15661094 -0.02635308] [ 0.0310328 0.02751113 -0.99913968]] t_estimated: [[ 0.76829952] [ 0.63978974] [-0.01961995]] R_gt: [[ 0.99894837 0.03522691 0.02934987] [-0.03505755 0.99936668 -0.00627541] [-0.02955284 0.00524073 0.99954999]] t_gt: [-0.60517628 0.75046192 0.26564746] Pose Error in degrees for R and t: 178.69243164768517 89.42879714321478 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.99999927e-01 3.66554877e-04 -1.10077190e-04] [-3.66571219e-04 9.99999922e-01 -1.48482319e-04] [ 1.10022754e-04 1.48522660e-04 9.99999983e-01]] t_estimated: [[-0.60285174] [-0.7978525 ] [-0.00108001]] R_gt: [[ 0.99081847 0.1311264 0.03295356] [-0.13099361 0.99136493 -0.00614349] [-0.03347573 0.00177063 0.99943788]] t_gt: [-0.7241367 0.68265365 0.09803075] Pose Error in degrees for R and t: 7.754402575927135 83.78752940548927 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.99998991e-01 1.41647761e-03 -1.03048225e-04] [-1.41652641e-03 9.99998884e-01 -4.75030696e-04] [ 1.02375240e-04 4.75176187e-04 9.99999882e-01]] t_estimated: [[-0.38478256] [-0.92300488] [-0.00209257]] R_gt: [[ 0.98721666 0.15067434 0.05197523] [-0.14950024 0.9884255 -0.02579485] [-0.05525972 0.01769498 0.99831486]] t_gt: [-0.76141328 0.6412561 0.09508118] Pose Error in degrees for R and t: 9.178990987279327 72.59626945545624 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99984577e-01 5.55315672e-03 -8.58139220e-05] [-5.55314566e-03 9.99984573e-01 1.28661515e-04] [ 8.65270757e-05 -1.28182993e-04 9.99999988e-01]] t_estimated: [[-0.60873152] [ 0.79337487] [ 0.00149967]] R_gt: [[ 0.99001819 0.1409009 -0.00333092] [-0.14091599 0.99001062 -0.00465647] [ 0.00264142 0.00507857 0.9999841 ]] t_gt: [-0.86043938 0.5073595 -0.04722728] Pose Error in degrees for R and t: 7.789247245818109 22.145127217062104 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.99483055 -0.10068775 -0.01319692] [-0.10071816 0.99491362 0.00165859] [ 0.0129628 0.00297919 -0.99991154]] t_estimated: [[ 0.99950653] [ 0.03073346] [-0.00649272]] R_gt: [[ 9.72325260e-01 2.33040424e-01 1.65742313e-02] [-2.33082026e-01 9.72457655e-01 5.55517945e-04] [-1.59880543e-02 -4.40401156e-03 9.99862069e-01]] t_gt: [-0.83001048 0.556974 0.02936943] Pose Error in degrees for R and t: 179.80179815948568 35.64199789042744 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.05582928 -0.99842865 0.0048287 ] [ 0.99842491 0.05585465 0.00528774] [-0.00554914 0.00452588 0.99997436]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.92155332 0.38654949 0.03630902] [-0.38637496 0.92226405 -0.0119762 ] [-0.03811533 -0.00299244 0.99926853]] t_gt: [-0.79378382 0.6077651 0.0229962 ] Pose Error in degrees for R and t: 109.54800935778944 38.42626759531539 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999984e-01 1.78392698e-04 1.65172754e-05] [-1.78394676e-04 9.99999977e-01 1.19837817e-04] [-1.64958968e-05 -1.19840762e-04 9.99999993e-01]] t_estimated: [[-0.99990407] [-0.01372972] [-0.00182926]] R_gt: [[ 0.99667055 0.07228868 -0.03771916] [-0.07293445 0.99720789 -0.01605463] [ 0.03645278 0.01875206 0.99915884]] t_gt: [-0.46533449 0.81041048 -0.35594758] Pose Error in degrees for R and t: 4.775277179009222 62.94701607789715 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999503e-01 -8.29153473e-04 5.53894953e-04] [ 8.29110853e-04 9.99999653e-01 7.71702341e-05] [-5.53958747e-04 -7.67109554e-05 9.99999844e-01]] t_estimated: [[0.60803681] [0.79390822] [0.00098868]] R_gt: [[ 0.98704036 0.16036371 0.00593025] [-0.15980572 0.98563122 -0.0547123 ] [-0.01461821 0.05305502 0.99848412]] t_gt: [-0.49922082 0.86033011 -0.10300815] Pose Error in degrees for R and t: 9.78710743619746 67.70492233083947 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999533e-01 9.66111409e-04 -1.44968806e-05] [-9.66117888e-04 9.99999430e-01 -4.53831463e-04] [ 1.40584206e-05 4.53845257e-04 9.99999897e-01]] t_estimated: [[-0.40247378] [-0.91543057] [-0.00131527]] R_gt: [[ 0.95864481 0.28454649 -0.00591389] [-0.28460505 0.95834091 -0.02414139] [-0.00120099 0.02482555 0.9996912 ]] t_gt: [-0.47038147 0.88127501 -0.04577811] Pose Error in degrees for R and t: 16.539442200412864 51.875693642240975 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99982091e-01 5.98465980e-03 3.80935855e-05] [-5.98466176e-03 9.99982090e-01 5.15084337e-05] [-3.77846428e-05 -5.17354885e-05 9.99999998e-01]] t_estimated: [[ 7.17788407e-01] [-6.96261271e-01] [-2.13003142e-04]] R_gt: [[ 0.9955467 -0.06851015 -0.06475871] [ 0.07052874 0.99707616 0.02942481] [ 0.06255249 -0.03386111 0.99746659]] t_gt: [ 0.40069189 -0.86754213 -0.29464667] Pose Error in degrees for R and t: 5.951484685475385 26.91098891179972 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.44456969 0.89560975 0.01552299] [ 0.89561325 0.4447343 -0.00939685] [-0.01531952 0.00972505 -0.99983535]] t_estimated: [[ 0.85811105] [-0.51337453] [ 0.00959283]] R_gt: [[ 0.99088029 -0.12402083 -0.05268143] [ 0.12515815 0.99195799 0.01885397] [ 0.04991876 -0.02527551 0.99843368]] t_gt: [ 0.454109 -0.87804944 -0.15104367] Pose Error in degrees for R and t: 177.86630709684218 32.96582943427064 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.88774117e-01 1.49416642e-01 6.42210155e-04] [-1.49416362e-01 9.88774259e-01 -4.64049101e-04] [-7.04337529e-04 3.62883035e-04 9.99999686e-01]] t_estimated: [[-0.11094347] [-0.99382452] [-0.00209024]] R_gt: [[ 0.98352713 -0.17102314 -0.05852619] [ 0.17226896 0.98490494 0.01691034] [ 0.05475024 -0.02671362 0.99814248]] t_gt: [ 0.46643509 -0.87389543 -0.13691269] Pose Error in degrees for R and t: 18.818546390333903 35.21072745617296 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.72873392 0.68300162 0.04955452] [ 0.68298925 0.73015927 -0.01982731] [-0.04972478 0.01939638 -0.9985746 ]] t_estimated: [[ 0.92896099] [-0.36915891] [ 0.02744414]] R_gt: [[ 9.97000776e-01 -7.31228774e-02 2.53220526e-02] [ 7.31286876e-02 9.97322336e-01 7.27534369e-04] [-2.53070931e-02 1.12628227e-03 9.99679415e-01]] t_gt: [ 0.80285821 -0.54075417 0.25100524] Pose Error in degrees for R and t: 175.58859030733686 17.761085859093082 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.65829607 -0.68432482 -0.31360138] [-0.75275728 0.59752716 0.27625672] [-0.00166399 0.41792443 -0.90848027]] t_estimated: [[0.6594906 ] [0.75171205] [0.00107234]] R_gt: [[ 9.84965982e-01 -1.70765816e-01 2.60980838e-02] [ 1.70818578e-01 9.85302891e-01 1.91168898e-04] [-2.57465640e-02 4.26971030e-03 9.99659551e-01]] t_gt: [ 0.85610571 -0.50770576 0.09652912] Pose Error in degrees for R and t: 173.1816178341759 79.45261496720224 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.97770193 -0.20996541 -0.00366851] [ 0.20998293 0.97769057 0.00532139] [ 0.00246936 -0.00597306 0.99997911]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.97352152 -0.22598223 0.03443442] [ 0.22566783 0.97412015 0.01282067] [-0.03644127 -0.00471038 0.99932516]] t_gt: [ 0.87037419 -0.47571078 0.12707484] Pose Error in degrees for R and t: 2.416722412638352 29.65814841544106 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-9.35074151e-01 -3.54450793e-01 9.83546784e-04] [ 3.54435920e-01 -9.35054276e-01 -6.97705761e-03] [ 3.39269323e-03 -6.17546191e-03 9.99975176e-01]] t_estimated: [[8.16239244e-01] [5.77713567e-01] [7.29436321e-04]] R_gt: [[ 0.99982699 -0.01792667 -0.00484871] [ 0.0183652 0.99316559 0.11525838] [ 0.00274916 -0.11532746 0.99332295]] t_gt: [ 0.20267277 -0.61675295 0.76061787] Pose Error in degrees for R and t: 158.24093449689715 79.02840886652272 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 7.99475666e-01 6.00687662e-01 3.60442033e-03] [ 6.00683114e-01 -7.99483741e-01 2.35451830e-03] [ 4.29600555e-03 2.82734344e-04 -9.99990732e-01]] t_estimated: [[0.38045522] [0.92479883] [0.00097553]] R_gt: [[ 0.9868795 -0.15431132 -0.04750598] [ 0.15995828 0.9744429 0.15771835] [ 0.02195333 -0.16324809 0.98634068]] t_gt: [ 0.61773508 -0.61353906 0.49190771] Pose Error in degrees for R and t: 170.53231212295697 70.61587356619994 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 6.50432997e-01 -7.59559990e-01 2.35316038e-03] [-7.59562573e-01 -6.50434148e-01 3.42548264e-04] [ 1.27038991e-03 -2.01017725e-03 -9.99997173e-01]] t_estimated: [[0.64568797] [0.76359621] [0.00280734]] R_gt: [[ 0.91802709 -0.38670173 -0.08768679] [ 0.39549528 0.90886298 0.13248477] [ 0.02846241 -0.15630502 0.98729803]] t_gt: [ 0.83533854 -0.48655535 0.25587774] Pose Error in degrees for R and t: 173.67513821491804 80.29621151581053 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99393769e-01 3.48151285e-02 2.29248805e-05] [-3.48151313e-02 9.99393760e-01 1.37652021e-04] [-1.81186097e-05 -1.38366704e-04 9.99999990e-01]] t_estimated: [[0.7425939 ] [0.66974042] [0.00143808]] R_gt: [[ 9.95847755e-01 -8.95048955e-02 1.66563944e-02] [ 8.95169154e-02 9.95984639e-01 -2.65909720e-05] [-1.65867348e-02 1.51648790e-03 9.99860914e-01]] t_gt: [ 0.85656723 -0.4966392 0.14015025] Pose Error in degrees for R and t: 7.1944714127772915 72.32220734215764 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99427298e-01 -3.38387753e-02 -1.15890843e-04] [ 3.38387751e-02 9.99427305e-01 -3.07906381e-06] [ 1.15928664e-04 -8.44303740e-07 9.99999993e-01]] t_estimated: [[ 0.75563121] [-0.65499516] [-0.00167636]] R_gt: [[ 0.98925136 -0.14233205 0.03354784] [ 0.14187928 0.98976351 0.01549164] [-0.03540953 -0.01056615 0.99931706]] t_gt: [ 0.85667507 -0.4468908 0.25767506] Pose Error in degrees for R and t: 6.5844420286025835 20.013873114272464 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.98698827 -0.16078259 -0.00176627] [-0.16078784 0.98698314 0.00339806] [ 0.00119693 0.00363784 -0.99999267]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99347867 -0.11147913 -0.02394388] [ 0.11099592 0.99360666 -0.02061498] [ 0.02608885 0.01782217 0.99950018]] t_gt: [ 0.96268741 -0.17029119 -0.21031847] Pose Error in degrees for R and t: 178.40614735766343 22.663879270575638 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.97905133 -0.20357537 0.00394491] [ 0.20358895 0.9790505 -0.0034137 ] [-0.00316732 0.00414533 0.99998639]] t_estimated: [[0.97632021] [0.21632193] [0.00191435]] R_gt: [[ 0.99993212 -0.00886777 0.00755906] [ 0.00873395 0.9998073 0.01757094] [-0.00771313 -0.01750308 0.999817 ]] t_gt: [ 0.46757222 -0.62433418 0.62576597] Pose Error in degrees for R and t: 11.310829575533266 71.17728509742182 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.25514514 0.96689296 0.00435356] [ 0.96689881 0.25515439 -0.0017106 ] [-0.00276479 0.003773 -0.99998906]] t_estimated: [[0.99362448] [0.11272887] [0.00161041]] R_gt: [[ 9.92351802e-01 -1.23443888e-01 -3.82030047e-04] [ 1.23362639e-01 9.91578835e-01 3.94187998e-02] [-4.48722838e-03 -3.91648218e-02 9.99222616e-01]] t_gt: [ 0.72898946 -0.65815722 0.18815801] Pose Error in degrees for R and t: 178.97830366036143 49.42435090676524 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.83067844 -0.55452316 0.0497734 ] [-0.54944136 0.83092816 0.08759328] [-0.08993062 0.04541429 -0.99491207]] t_estimated: [[0.98343293] [0.17880599] [0.029801 ]] R_gt: [[ 0.97932156 -0.20017259 -0.02933474] [ 0.2015765 0.97780077 0.05721384] [ 0.01723107 -0.06194423 0.99793102]] t_gt: [ 0.76531927 -0.63216006 0.12107877] Pose Error in degrees for R and t: 175.72601675544516 49.96806822509433 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[ 9.99225509e-01 -3.93491376e-02 -1.66827256e-04] [ 3.93491672e-02 9.99225506e-01 1.77905399e-04] [ 1.59697625e-04 -1.84332126e-04 9.99999970e-01]] t_estimated: [[-0.98478923] [ 0.17374675] [-0.0014947 ]] R_gt: [[ 0.99947716 0.004308 -0.03202401] [-0.00689699 0.99667529 -0.08118931] [ 0.0315671 0.08136891 0.99618373]] t_gt: [ 0.20944404 0.71805616 -0.66372325] Pose Error in degrees for R and t: 5.636464547263323 85.38233479326993 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.53574405e-01 -3.01157403e-01 -2.68861266e-04] [ 3.01157487e-01 9.53574349e-01 3.59546371e-04] [ 1.48099155e-04 -4.23823800e-04 9.99999899e-01]] t_estimated: [[0.84204001] [0.53941383] [0.00115506]] R_gt: [[ 0.99950444 0.03085291 0.00623619] [-0.02965361 0.98940091 -0.14215181] [-0.01055629 0.14189681 0.98982483]] t_gt: [-0.00897452 0.8102662 -0.58599329] Pose Error in degrees for R and t: 20.928209897144 64.6063488406733 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 0.97880061 -0.20477392 -0.00412333] [ 0.20479744 0.9787831 0.00645336] [ 0.00271437 -0.007161 0.99997068]] t_estimated: [[-0.83531049] [-0.54977707] [-0.00125234]] R_gt: [[ 0.99714003 0.073854 -0.01602954] [-0.0752724 0.98946438 -0.12366851] [ 0.00672647 0.12452202 0.99219334]] t_gt: [ 0.01484044 0.87687097 -0.48049669] Pose Error in degrees for R and t: 17.7781186401139 60.40419671047137 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999998e-01 -5.75240643e-05 1.80850087e-06] [ 5.75241347e-05 9.99999998e-01 -3.88997512e-05] [-1.80626319e-06 3.88998551e-05 9.99999999e-01]] t_estimated: [[ 0.9999372 ] [-0.01114367] [ 0.00119273]] R_gt: [[ 0.99376571 0.10234066 0.04422052] [-0.10239115 0.99474291 -0.00113194] [-0.04410359 -0.00340254 0.99902146]] t_gt: [-0.37620145 0.89822176 0.22731066] Pose Error in degrees for R and t: 6.404487481764398 67.2993694976678 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.98720488 0.15941369 0.00371398] [-0.15937558 0.98717745 -0.00895 ] [-0.00509311 0.00824357 0.99995305]] t_estimated: [[0.84927613] [0.5279441 ] [0.00225383]] R_gt: [[ 0.97909543 0.18744503 0.0789718 ] [-0.18296445 0.98124641 -0.06064703] [-0.08885776 0.04493062 0.99503085]] t_gt: [-0.30694811 0.94462865 0.11601538] Pose Error in degrees for R and t: 5.462729661208582 76.2144284665992 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.56673163e-01 2.91163961e-01 -8.32767920e-05] [-2.91163944e-01 9.56673156e-01 1.73317760e-04] [ 1.30132557e-04 -1.41561250e-04 9.99999982e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.95531752 0.29108176 0.05137925] [-0.28852447 0.95607031 -0.05179619] [-0.06419901 0.03465719 0.99733515]] t_gt: [-0.24495735 0.96927801 0.02227187] Pose Error in degrees for R and t: 4.194701872177763 75.99932427846048 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.96317917e-01 8.57354580e-02 1.98520272e-04] [-8.57354177e-02 9.96317920e-01 -2.03443433e-04] [-2.15231620e-04 1.85674119e-04 9.99999960e-01]] t_estimated: [[0.98786344] [0.15531887] [0.00136944]] R_gt: [[ 0.99788579 0.00846265 0.06443451] [-0.00786368 0.9999234 -0.00955379] [-0.06451161 0.00902705 0.99787509]] t_gt: [0.29786226 0.49702341 0.81501276] Pose Error in degrees for R and t: 5.800918254777005 68.12638600246599 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.02888959 -0.99951954 -0.01122837] [ 0.99956778 -0.02882615 -0.00577135] [ 0.00544491 -0.01139025 0.9999203 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98905956 0.09968527 0.10873712] [-0.09485888 0.99429846 -0.04871018] [-0.11297388 0.03786264 0.99287578]] t_gt: [-0.19148046 0.93164737 0.30881775] Pose Error in degrees for R and t: 97.49502313613027 79.14341782761932 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-2.87983987e-01 -9.57635211e-01 -1.62056294e-04] [ 9.57634576e-01 -2.87983985e-01 1.11507922e-03] [-1.11450874e-03 1.65934251e-04 9.99999365e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97137806 0.21014964 0.11072785] [-0.20399469 0.97685199 -0.0643876 ] [-0.12169617 0.03995674 0.99176238]] t_gt: [-0.21867391 0.95903699 0.18008267] Pose Error in degrees for R and t: 118.87641190964047 77.5516490601997 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 8.92269876e-01 -4.51501704e-01 8.24337279e-04] [ 4.51500408e-01 8.92269840e-01 1.38346100e-03] [-1.36016629e-03 -8.62231954e-04 9.99998703e-01]] t_estimated: [[ 0.96490854] [-0.26257172] [ 0.0027583 ]] R_gt: [[ 0.99703562 -0.07574388 0.01356155] [ 0.07561108 0.99708679 0.01004685] [-0.01428207 -0.0089918 0.99985733]] t_gt: [ 0.8547682 -0.46069291 0.23902587] Pose Error in degrees for R and t: 22.516353290755447 18.84473286807221 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-9.99408662e-01 -3.43815612e-02 4.83867078e-04] [-3.43806962e-02 9.99407372e-01 1.69496969e-03] [-5.41856029e-04 1.67733170e-03 -9.99998446e-01]] t_estimated: [[0.99963151] [0.02711701] [0.00123259]] R_gt: [[ 0.99824874 -0.0589057 -0.00554003] [ 0.05896568 0.99819549 0.01134806] [ 0.00486229 -0.01165471 0.99992025]] t_gt: [ 0.9821138 -0.12852321 0.13760181] Pose Error in degrees for R and t: 179.74927835696008 11.920167350043105 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-7.37656190e-01 -6.75171844e-01 -2.51541648e-03] [ 6.75169365e-01 -7.37660406e-01 1.85871070e-03] [-3.11047227e-03 -3.27242700e-04 9.99995109e-01]] t_estimated: [[0.99540776] [0.09571228] [0.0015952 ]] R_gt: [[ 0.99605734 0.00186884 -0.08869346] [-0.00925941 0.99650687 -0.08299111] [ 0.08822919 0.08348513 0.992596 ]] t_gt: [ 0.25441107 0.588841 -0.76716444] Pose Error in degrees for R and t: 137.9442484327643 72.03847414946664 Number of keypoints: Image1: 324 Image2: 324 R_estimated: [[ 9.99395875e-01 -3.47544419e-02 1.13658945e-04] [ 3.47544221e-02 9.99395868e-01 1.72301636e-04] [-1.19578527e-04 -1.68247393e-04 9.99999979e-01]] t_estimated: [[0.56019604] [0.82835894] [0.00136657]] R_gt: [[ 0.99806091 -0.04558703 0.04238696] [ 0.04866406 0.99602138 -0.07464126] [-0.03881553 0.07655794 0.9963094 ]] t_gt: [ 0.73528305 0.51553218 -0.43998341] Pose Error in degrees for R and t: 4.98124262351177 33.034015976218214 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-0.76599819 -0.64282587 -0.00465651] [ 0.64278447 -0.76600619 0.00791496] [-0.00865486 0.00306971 0.99995783]] t_estimated: [[0.99905496] [0.04324913] [0.00432491]] R_gt: [[ 0.99809161 -0.06116632 0.00856708] [ 0.06175173 0.98559943 -0.15741746] [ 0.00118512 0.15764484 0.98749443]] t_gt: [ 0.53519843 0.60200842 -0.59257784] Pose Error in degrees for R and t: 136.62958327119816 56.07093105251831 Number of keypoints: Image1: 356 Image2: 356 R_estimated: [[ 9.74245332e-01 -2.25490645e-01 -4.41488540e-05] [ 2.25490649e-01 9.74245297e-01 2.61825192e-04] [-1.60273181e-05 -2.65037125e-04 9.99999965e-01]] t_estimated: [[-7.00524640e-02] [ 9.97543300e-01] [ 1.28866821e-04]] R_gt: [[ 0.99823018 -0.03681987 0.04671574] [ 0.04653086 0.9726209 -0.22768864] [-0.03705301 0.2294588 0.97261217]] t_gt: [ 0.29454961 0.73706677 -0.60825414] Pose Error in degrees for R and t: 17.12030725513028 44.39418293914537 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.398262 -0.91719113 -0.01215749] [-0.91719588 -0.39802368 -0.01813473] [ 0.01179404 0.01837318 -0.99976164]] t_estimated: [[ 0.61898827] [ 0.78534225] [-0.00954328]] R_gt: [[ 0.99784816 -0.00815077 -0.06505867] [ 0.01132672 0.99875371 0.04859912] [ 0.0645806 -0.04923102 0.99669688]] t_gt: [-0.15147562 -0.8431759 -0.51585806] Pose Error in degrees for R and t: 179.0553602685038 41.32116205072182 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.72754777e-01 2.31835724e-01 -5.83694699e-04] [-2.31835676e-01 9.72754952e-01 1.49902345e-04] [ 6.02544627e-04 -1.04969673e-05 9.99999818e-01]] t_estimated: [[0.75605421] [0.65450807] [0.00110029]] R_gt: [[ 0.99329436 -0.07584828 -0.08725107] [ 0.07946278 0.99608595 0.0387108 ] [ 0.08397362 -0.04538436 0.99543428]] t_gt: [ 0.25215504 -0.90620045 -0.33943864] Pose Error in degrees for R and t: 18.673705486216598 66.24377632639145 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 0.54253235 0.83998864 0.00881648] [ 0.84000036 -0.54238498 -0.01476252] [-0.00761842 0.01541499 -0.99985216]] t_estimated: [[-0.41461943] [ 0.90994875] [-0.00916471]] R_gt: [[ 0.98987944 -0.11781409 -0.07910951] [ 0.12044473 0.9922866 0.02933326] [ 0.07504373 -0.03856526 0.99643428]] t_gt: [ 0.32021455 -0.91405565 -0.24892753] Pose Error in degrees for R and t: 177.15346442492927 15.797552952087386 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99965198e-01 -8.33919833e-03 2.46190226e-04] [ 8.33917527e-03 9.99965224e-01 9.45368798e-05] [-2.46970027e-04 -9.24805663e-05 9.99999965e-01]] t_estimated: [[ 0.99922638] [-0.03931024] [ 0.00115665]] R_gt: [[ 9.91003959e-01 -1.33833171e-01 7.38539189e-04] [ 1.33795763e-01 9.90826315e-01 1.90183896e-02] [-3.27663735e-03 -1.87481706e-02 9.99819639e-01]] t_gt: [ 0.82196374 -0.55644442 0.12142988] Pose Error in degrees for R and t: 7.293599177517166 32.50524364984061 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.5237359 -0.85187455 -0.003234 ] [ 0.85187315 0.52374346 -0.00221795] [ 0.0035832 -0.00159333 0.99999231]] t_estimated: [[ 0.72381985] [-0.68998319] [-0.00283257]] R_gt: [[ 0.99273971 -0.11883034 0.01864909] [ 0.11828064 0.9925783 0.02825043] [-0.02186649 -0.02583937 0.99942704]] t_gt: [ 0.82920352 -0.48325127 0.28087314] Pose Error in degrees for R and t: 51.64596748064058 21.11907529159657 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.88153087e-01 -1.53470994e-01 -3.60462876e-04] [ 1.53471122e-01 9.88153068e-01 3.58156926e-04] [ 3.01225798e-04 -4.09234514e-04 9.99999871e-01]] t_estimated: [[ 0.61517631] [-0.78838878] [-0.00111691]] R_gt: [[ 0.99971286 -0.011691 0.02091687] [ 0.01171784 0.99993067 -0.00117631] [-0.02090102 0.00142091 0.9997813 ]] t_gt: [0.07977504 0.91953875 0.3848174 ] Pose Error in degrees for R and t: 8.247995358736098 47.44418413689432 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[-0.31720064 0.94835511 -0.00251651] [-0.94835582 -0.3172049 -0.00151338] [-0.00223347 0.0019065 0.99999569]] t_estimated: [[0.57400972] [0.81884798] [0.00090681]] R_gt: [[ 0.99059697 0.1365401 0.00864127] [-0.13668731 0.99042055 0.01960061] [-0.00588215 -0.02059686 0.99977101]] t_gt: [-0.95356328 0.21562369 0.21029383] Pose Error in degrees for R and t: 100.64884183031064 68.24732107594579 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.96396947e-01 -8.48119132e-02 -2.50677767e-04] [ 8.48121369e-02 9.96396369e-01 1.08474233e-03] [ 1.57775345e-04 -1.10209446e-03 9.99999380e-01]] t_estimated: [[0.8384342 ] [0.54500032] [0.00165626]] R_gt: [[ 0.98164875 0.18609592 0.04164017] [-0.18776473 0.98137721 0.04054322] [-0.03331972 -0.0476167 0.99831024]] t_gt: [-0.9267103 0.14313549 0.34744819] Pose Error in degrees for R and t: 15.988394574111203 45.70112250622453 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 0.99617829 0.01803347 -0.08546113] [-0.00842921 0.99373578 0.11143671] [ 0.08693538 -0.11029046 0.99009002]] t_estimated: [[-0.41404389] [-0.91025629] [-0.00106712]] R_gt: [[ 0.98927129 0.1270782 0.07205905] [-0.13018372 0.99067715 0.04014571] [-0.06628579 -0.04909523 0.9965923 ]] t_gt: [-0.85502542 -0.16783474 0.4906761 ] Pose Error in degrees for R and t: 11.757919017367788 59.58450060481053 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.95511524e-01 9.46403946e-02 2.97107444e-05] [-9.46403892e-02 9.95511514e-01 -1.47193080e-04] [-4.35077993e-05 1.43720571e-04 9.99999989e-01]] t_estimated: [[-2.85457684e-01] [-9.58391136e-01] [-5.83633682e-04]] R_gt: [[ 0.99533255 -0.04767147 0.08390465] [ 0.03858758 0.99353815 0.10674692] [-0.08845025 -0.10300997 0.99073974]] t_gt: [ 0.13923649 -0.37315748 0.91726043] Pose Error in degrees for R and t: 11.113335187997865 71.49729961337387 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 4.02335975e-01 9.15492070e-01 1.81542496e-04] [-9.15491432e-01 4.02335917e-01 -1.11721687e-03] [-1.09584425e-03 2.83295940e-04 9.99999359e-01]] t_estimated: [[0.91682411] [0.39928912] [0.00131914]] R_gt: [[ 0.99220926 -0.01858403 0.12319149] [-0.00312278 0.98479151 0.17371612] [-0.12454614 -0.17274654 0.97705995]] t_gt: [-0.04807903 -0.13580569 0.9895682 ] Pose Error in degrees for R and t: 67.7208474586459 84.43353552023528 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 2.39804622e-01 9.70820357e-01 1.25575175e-03] [ 9.70807434e-01 -2.39807909e-01 5.00924505e-03] [ 5.16421627e-03 1.78530201e-05 -9.99986665e-01]] t_estimated: [[-9.99904215e-01] [-1.38053836e-02] [-9.86098831e-04]] R_gt: [[ 0.97803747 0.13547248 0.15839937] [-0.16277239 0.97111169 0.17449234] [-0.13018398 -0.19644286 0.97183425]] t_gt: [-0.44479881 0.44531915 0.77707456] Pose Error in degrees for R and t: 176.49909748769764 64.03371850426356 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.76095954e-01 -2.17339220e-01 5.92552722e-04] [ 2.17339492e-01 9.76095974e-01 -4.41066157e-04] [-4.82527352e-04 5.59307999e-04 9.99999727e-01]] t_estimated: [[8.40863415e-01] [5.41246856e-01] [7.47494410e-04]] R_gt: [[ 9.98231001e-01 3.98203661e-02 -4.41393619e-02] [-3.97976808e-02 9.99206907e-01 1.39702595e-03] [ 4.41603517e-02 3.62364428e-04 9.99024525e-01]] t_gt: [-0.66656404 0.51701606 -0.53701654] Pose Error in degrees for R and t: 15.053957176055842 73.67667533146789 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.95900150e-01 -9.04448216e-02 1.62006635e-03] [ 9.04455599e-02 9.95901325e-01 -3.88237771e-04] [-1.57831213e-03 5.33173863e-04 9.99998612e-01]] t_estimated: [[0.61704393] [0.78692628] [0.00195267]] R_gt: [[ 9.95670443e-01 3.90802923e-02 -8.43344910e-02] [-3.89093021e-02 9.99236749e-01 3.66916728e-03] [ 8.44141149e-02 -3.71078188e-04 9.96431006e-01]] t_gt: [-0.54848866 0.40528241 -0.73137293] Pose Error in degrees for R and t: 8.915878410710237 88.8000038735778 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.69152585 -0.39634644 0.60390522] [-0.4282007 -0.44837903 -0.78460207] [ 0.58175267 -0.80116524 0.14034987]] t_estimated: [[7.91905200e-01] [6.10643597e-01] [7.42875496e-04]] R_gt: [[ 0.99425421 0.04637085 -0.09648 ] [-0.04853677 0.99861706 -0.0202296 ] [ 0.09540813 0.02479601 0.99512916]] t_gt: [-0.5051472 0.4011703 -0.7641261] Pose Error in degrees for R and t: 179.87161778800177 81.0469964981224 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.98864153 0.15028402 -0.00162218] [-0.15028064 -0.98864128 -0.00203711] [-0.0019099 -0.00177019 0.99999661]] t_estimated: [[0.81703358] [0.57658885] [0.00119624]] R_gt: [[ 0.95969041 -0.27454344 0.06017701] [ 0.27816731 0.95843075 -0.06351717] [-0.04023774 0.07769594 0.99616409]] t_gt: [ 0.86185463 -0.47486866 -0.17806279] Pose Error in degrees for R and t: 172.5827907832913 64.52309875811348 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.17084863 0.98528581 0.00475546] [ 0.98528715 -0.17082298 -0.00536145] [-0.00447022 0.00560149 -0.99997432]] t_estimated: [[0.82630034] [0.56322856] [0.00115891]] R_gt: [[ 0.88412839 -0.44535139 0.14134628] [ 0.46207079 0.87826587 -0.12304593] [-0.06934098 0.17409975 0.98228286]] t_gt: [ 0.90416974 -0.32553729 -0.27659095] Pose Error in degrees for R and t: 168.8342909219849 55.705737838755155 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999920e-01 3.44284082e-04 -2.02516622e-04] [-3.44229071e-04 9.99999904e-01 2.71606886e-04] [ 2.02610113e-04 -2.71537152e-04 9.99999943e-01]] t_estimated: [[9.99999098e-01] [1.20698767e-03] [5.89966428e-04]] R_gt: [[ 0.788145 -0.57900327 0.20876616] [ 0.60891358 0.78295244 -0.12731728] [-0.08973701 0.22746393 0.96964264]] t_gt: [ 0.93847555 -0.23158633 -0.2561863 ] Pose Error in degrees for R and t: 39.638291790650065 20.2743699371289 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.80087875 -0.59882253 -0.00219092] [ 0.59882555 -0.80086543 -0.0047469 ] [ 0.00108792 -0.00511367 0.99998633]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99672699 -0.07619528 -0.02701705] [ 0.07646997 0.99702907 0.00924751] [ 0.0262326 -0.0112821 0.99959257]] t_gt: [ 0.75494918 -0.64580205 -0.11398005] Pose Error in degrees for R and t: 138.8354022420077 41.16174881371773 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.12938458e-01 -4.08096680e-01 -6.87285425e-04] [ 4.08094149e-01 9.12936781e-01 -2.36633984e-03] [ 1.59314358e-03 1.87984549e-03 9.99996964e-01]] t_estimated: [[-0.04968917] [-0.99875237] [-0.00496892]] R_gt: [[ 9.98735715e-01 -4.89326075e-02 -1.15268763e-02] [ 4.89387776e-02 9.98801480e-01 2.76422009e-04] [ 1.14988968e-02 -8.39406600e-04 9.99933667e-01]] t_gt: [ 0.64465743 -0.75561491 -0.11602977] Pose Error in degrees for R and t: 21.288964060930226 43.6793392983573 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.9874712 -0.15739849 -0.01124033] [ 0.15720719 -0.98743185 0.01625529] [-0.01365762 0.01428457 0.99980469]] t_estimated: [[0.90123528] [0.43332532] [0.00203439]] R_gt: [[ 0.99930966 0.02961989 -0.02245596] [-0.02933041 0.99948342 0.01309417] [ 0.02283195 -0.01242549 0.99966228]] t_gt: [-0.48419783 -0.79431791 -0.36689443] Pose Error in degrees for R and t: 172.64440687384712 38.61834914618902 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999513e-01 9.87106491e-04 4.03363292e-06] [-9.87108008e-04 9.99999435e-01 3.95208453e-04] [-3.64351781e-06 -3.95212242e-04 9.99999922e-01]] t_estimated: [[0.94315408] [0.33235202] [0.00158444]] R_gt: [[ 0.98505001 -0.17021221 -0.02655946] [ 0.1712055 0.98437589 0.04113935] [ 0.01914155 -0.04507166 0.99879992]] t_gt: [ 0.82927632 -0.54166551 0.13747456] Pose Error in degrees for R and t: 10.275696135301635 52.963078568144454 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 3.00337885e-01 -9.53832854e-01 2.05893203e-04] [-9.53832476e-01 -3.00337949e-01 -8.50542286e-04] [ 8.73112718e-04 5.90624476e-05 -9.99999617e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.90801934 -0.41810922 -0.02620961] [ 0.41853565 0.90810007 0.01348273] [ 0.01816281 -0.0232134 0.99956536]] t_gt: [ 0.90717374 -0.42056968 0.01252838] Pose Error in degrees for R and t: 179.92403865104342 65.5555460221022 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99989042 -0.002617 -0.0145704 ] [ 0.00284275 0.9998759 0.01549495] [ 0.01452804 -0.01553467 0.99977378]] t_estimated: [[0.98775958] [0.15598048] [0.00105184]] R_gt: [[ 7.92380376e-01 -6.07374802e-01 5.68277483e-02] [ 6.10027209e-01 7.88950233e-01 -7.36455384e-02] [-1.04574500e-04 9.30217388e-02 9.95663365e-01]] t_gt: [ 0.95266872 -0.27014147 -0.13944857] Pose Error in degrees for R and t: 37.97810462312007 26.009130858585493 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 1.00000000e+00 1.86171549e-08 2.34528744e-05] [-1.87420526e-08 1.00000000e+00 5.32547543e-06] [-2.34528743e-05 -5.32547587e-06 1.00000000e+00]] t_estimated: [[0.81023505] [0.58610419] [0.00101695]] R_gt: [[ 9.99948758e-01 -1.01574771e-02 9.53050737e-04] [ 1.01625286e-02 9.99931855e-01 -5.56959774e-03] [-8.95752367e-04 5.57873934e-03 9.99983460e-01]] t_gt: [ 0.4919662 -0.84932958 -0.19133355] Pose Error in degrees for R and t: 0.6680444514738115 84.29641857001057 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.9753093 -0.22044277 -0.01329487] [ 0.22030429 -0.96696073 -0.1282691 ] [ 0.01542038 -0.12803097 0.99165028]] t_estimated: [[0.8537033 ] [0.52075901] [0.0008537 ]] R_gt: [[ 0.99776982 0.05476361 0.03818716] [-0.05427242 0.99843135 -0.01377465] [-0.03888181 0.01167182 0.99917563]] t_gt: [-0.8871425 0.2924278 0.35702125] Pose Error in degrees for R and t: 170.50651961484743 52.78790318523144 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.06957082 -0.99757364 -0.00259503] [ 0.99753157 -0.06959224 0.0093638 ] [-0.00952168 -0.00193718 0.99995279]] t_estimated: [[0.89009003] [0.45578048] [0.00197299]] R_gt: [[ 0.99320336 0.11594719 -0.0102689 ] [-0.11611242 0.99308344 -0.01738255] [ 0.00818198 0.01845706 0.99979599]] t_gt: [-0.79967283 0.55156523 -0.23727443] Pose Error in degrees for R and t: 100.66700725315728 62.5576238727028 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99918073e-01 1.28002884e-02 1.06673946e-05] [-1.28002886e-02 9.99918073e-01 1.93604629e-05] [-1.04187012e-05 -1.94954225e-05 1.00000000e+00]] t_estimated: [[5.35833162e-01] [8.44323465e-01] [8.41468863e-04]] R_gt: [[ 0.99953259 -0.00632297 -0.02992013] [ 0.00557523 0.99967239 -0.02499001] [ 0.03006868 0.02481056 0.99923973]] t_gt: [-0.15653233 0.2321347 -0.96000579] Pose Error in degrees for R and t: 2.4798294054876946 83.60894720199427 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.97064629e-01 7.65643438e-02 1.64375313e-04] [-7.65643474e-02 9.97064642e-01 1.55812009e-05] [-1.62699848e-04 -2.81207529e-05 9.99999986e-01]] t_estimated: [[0.04092941] [0.99915914] [0.00240761]] R_gt: [[ 0.999913 0.0070865 -0.01115872] [-0.00748277 0.99932822 -0.03587219] [ 0.01089705 0.03595232 0.99929405]] t_gt: [-0.60966945 0.33064111 -0.7204024 ] Pose Error in degrees for R and t: 4.520985838863243 72.32152016735668 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-9.99991795e-01 -3.98659808e-03 -7.19324571e-04] [ 3.98766761e-03 -9.99990937e-01 -1.49159703e-03] [-7.13371654e-04 -1.49445322e-03 9.99998629e-01]] t_estimated: [[8.46448710e-01] [5.32469648e-01] [8.09224389e-04]] R_gt: [[ 0.99420806 -0.04311643 0.09844802] [ 0.04763212 0.99789478 -0.0440006 ] [-0.0963423 0.04843545 0.99416937]] t_gt: [-0.35354949 -0.67007889 0.65268449] Pose Error in degrees for R and t: 177.17220417380216 49.04014946822479 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-4.37700518e-01 -8.99118204e-01 -2.17093680e-03] [-8.99120717e-01 4.37698007e-01 1.54639019e-03] [-4.40172855e-04 2.62879004e-03 -9.99996448e-01]] t_estimated: [[8.92050510e-01] [4.51935177e-01] [6.95284887e-04]] R_gt: [[ 9.97600705e-01 -4.93948024e-04 6.92341192e-02] [-5.57925959e-03 9.96149978e-01 8.74873158e-02] [-6.90107953e-02 -8.76643886e-02 9.93756619e-01]] t_gt: [-0.12739247 -0.12892202 0.98343799] Pose Error in degrees for R and t: 174.0278343019733 80.14117361697407 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.77463373e-01 2.11104698e-01 -4.01910093e-04] [-2.11104543e-01 9.77463408e-01 3.96191548e-04] [ 4.76490306e-04 -3.02417680e-04 9.99999841e-01]] t_estimated: [[-9.44695656e-01] [-3.27947515e-01] [-7.38620528e-04]] R_gt: [[ 0.99235083 0.09386635 0.08019505] [-0.10452826 0.98445103 0.14117357] [-0.06569696 -0.14847672 0.98673067]] t_gt: [-0.48499903 0.40889782 0.77303202] Pose Error in degrees for R and t: 11.347859601831932 71.1247639030069 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 5.04600071e-01 -8.63350703e-01 2.08113197e-03] [-8.63333703e-01 -5.04603408e-01 -5.50625859e-03] [ 5.80397851e-03 9.81747109e-04 -9.99982675e-01]] t_estimated: [[ 0.50029722] [ 0.86584947] [-0.00271888]] R_gt: [[ 0.97031622 0.2169061 0.10695341] [-0.23065434 0.9629642 0.13963822] [-0.07270377 -0.16016335 0.98440967]] t_gt: [-0.5662305 0.67096354 0.47873892] Pose Error in degrees for R and t: 170.0546511499836 72.76039903258985 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.92023279e-01 1.26054790e-01 5.92794393e-05] [-1.26054787e-01 9.92023280e-01 -4.95581749e-05] [-6.50536291e-05 4.16904061e-05 9.99999997e-01]] t_estimated: [[-0.53883129] [-0.84241277] [-0.00124848]] R_gt: [[ 0.99848914 0.0039778 -0.05481509] [-0.00239279 0.99957772 0.02897373] [ 0.05490683 -0.02879886 0.99807593]] t_gt: [-0.44861864 -0.51251855 -0.73216532] Pose Error in degrees for R and t: 7.90428622605399 47.592734695117585 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99873448e-01 -1.58987357e-02 5.63427617e-04] [ 1.58989644e-02 9.99873522e-01 -4.03799304e-04] [-5.56936458e-04 4.12706118e-04 9.99999760e-01]] t_estimated: [[-0.05451058] [-0.99851266] [-0.00103304]] R_gt: [[ 0.99065669 -0.05066384 -0.12662209] [ 0.05910301 0.99621046 0.06380804] [ 0.1229095 -0.07069517 0.98989679]] t_gt: [ 0.13303045 -0.84571456 -0.51678795] Pose Error in degrees for R and t: 8.493981030583546 33.09787299540704 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.69886045e-01 2.43554456e-01 1.51220386e-03] [-2.43552902e-01 9.69886943e-01 -1.14117867e-03] [-1.74460593e-03 7.38511627e-04 9.99998205e-01]] t_estimated: [[8.08069777e-01] [5.89086366e-01] [6.99627513e-04]] R_gt: [[ 0.98741259 -0.11038523 -0.11328137] [ 0.11632693 0.992086 0.04724833] [ 0.10716856 -0.0598318 0.99243879]] t_gt: [ 0.27744872 -0.90603002 -0.31958069] Pose Error in degrees for R and t: 21.824567459607046 71.95549793974304 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.69530181e-01 2.44971859e-01 1.24701958e-04] [-2.44971826e-01 9.69530169e-01 -2.35062664e-04] [-1.78486048e-04 1.97351881e-04 9.99999965e-01]] t_estimated: [[-7.30937670e-01] [ 6.82444191e-01] [-2.20470866e-04]] R_gt: [[ 0.99772494 0.0650168 0.01789158] [-0.06478522 0.99781142 -0.01320955] [-0.01871033 0.01202038 0.99975309]] t_gt: [-0.65559225 0.75468783 0.02539837] Pose Error in degrees for R and t: 10.53376908964534 6.161238686334635 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99999722e-01 7.08283491e-04 -2.33231652e-04] [-7.08179707e-04 9.99999650e-01 4.44762079e-04] [ 2.33546588e-04 -4.44596785e-04 9.99999874e-01]] t_estimated: [[-0.99893767] [-0.0460638 ] [-0.00128787]] R_gt: [[ 9.89539972e-01 1.43689462e-01 -1.28461996e-02] [-1.43706526e-01 9.89619994e-01 -4.80973322e-04] [ 1.26440175e-02 2.32281077e-03 9.99917895e-01]] t_gt: [-0.629976 0.77399374 -0.06374899] Pose Error in degrees for R and t: 8.253476219831601 53.57743968245896 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.99631337 -0.08577745 -0.00137907] [ 0.08578018 -0.99631197 -0.00205491] [-0.00119771 -0.00216564 0.99999694]] t_estimated: [[0.9304982 ] [0.36629483] [0.00109342]] R_gt: [[ 0.98863818 0.14841945 -0.02381673] [-0.14854527 0.98889928 -0.00359735] [ 0.02301803 0.0070945 0.99971038]] t_gt: [-0.59248385 0.79845646 -0.10691195] Pose Error in degrees for R and t: 176.38217110666562 74.99213785776972 Number of keypoints: Image1: 407 Image2: 407 R_estimated: [[-3.00425117e-01 -9.53800469e-01 3.06811524e-03] [-9.53805121e-01 3.00420995e-01 -1.73716733e-03] [ 7.35184785e-04 -3.44827273e-03 -9.99993784e-01]] t_estimated: [[0.79155937] [0.61109128] [0.00110142]] R_gt: [[ 9.91887967e-01 1.27117271e-01 2.83847584e-04] [-1.27117261e-01 9.91885943e-01 -1.86693954e-03] [-5.17775642e-04 1.81668214e-03 9.99997541e-01]] t_gt: [-0.96308291 0.26919566 0.00223553] Pose Error in degrees for R and t: 179.91842351629495 53.28523685573459 Number of keypoints: Image1: 341 Image2: 341 R_estimated: [[-0.41846401 0.90818456 -0.00941741] [ 0.90816873 0.41853544 0.00759254] [ 0.01083695 -0.0053754 -0.99992683]] t_estimated: [[ 0.78174349] [-0.62356636] [-0.00648987]] R_gt: [[ 0.9776951 0.20987922 0.00798884] [-0.21002663 0.97723081 0.03015869] [-0.00147701 -0.03116358 0.99951273]] t_gt: [-0.95396218 0.23374183 0.18793862] Pose Error in degrees for R and t: 178.5841308020564 26.78205938302915 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.93095756e-01 -1.17306515e-01 -3.61581861e-05] [ 1.17306519e-01 9.93095740e-01 1.80397538e-04] [ 1.47467342e-05 -1.83393620e-04 9.99999983e-01]] t_estimated: [[-9.40321726e-01] [-3.40285693e-01] [-8.35848030e-04]] R_gt: [[ 0.9719796 0.22823283 0.05625483] [-0.23040118 0.9724456 0.03557506] [-0.04658504 -0.04753776 0.99778311]] t_gt: [-0.94404074 0.14426638 0.2966046 ] Pose Error in degrees for R and t: 20.36453408375157 33.03241376639041 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-0.69972652 0.71417143 0.01849208] [ 0.71434976 0.69977066 0.00504324] [-0.00933847 0.0167387 -0.99981629]] t_estimated: [[9.21313533e-01] [3.88819454e-01] [8.97966406e-04]] R_gt: [[ 0.9990061 0.03970484 -0.02026204] [-0.03935896 0.99907592 0.01726669] [ 0.02092819 -0.01645106 0.99964646]] t_gt: [ 0.10488019 0.98119 -0.16206889] Pose Error in degrees for R and t: 179.39438546853188 61.44593792375648 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.91113737e-01 -1.33016860e-01 2.73875304e-04] [ 1.33016919e-01 9.91113745e-01 -2.11358076e-04] [-2.43327390e-04 2.45909942e-04 9.99999940e-01]] t_estimated: [[9.12957682e-01] [4.08053629e-01] [7.12135477e-04]] R_gt: [[ 0.99049482 0.13754627 -0.0011777 ] [-0.13744673 0.99003493 0.03066469] [ 0.00538261 -0.03020992 0.99952925]] t_gt: [-0.2566435 0.95615589 0.14106749] Pose Error in degrees for R and t: 15.648923157368237 81.02759905143937 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 4.86374725e-02 9.98816447e-01 3.18923341e-04] [-9.98815419e-01 4.86378868e-02 -1.45432169e-03] [-1.46811218e-03 -2.47811020e-04 9.99998892e-01]] t_estimated: [[0.6530978 ] [0.75727291] [0.00100168]] R_gt: [[ 0.98261409 0.1840759 0.02418954] [-0.18504994 0.9815883 0.04733843] [-0.0150306 -0.05099077 0.99858705]] t_gt: [-0.22903384 0.93475438 0.27162058] Pose Error in degrees for R and t: 76.62100503172651 56.04409183334216 Number of keypoints: Image1: 756 Image2: 756 R_estimated: [[ 9.99963317e-01 -8.56531136e-03 2.14489261e-05] [ 8.56531126e-03 9.99963317e-01 4.55562381e-06] [-2.14871597e-05 -4.37173997e-06 1.00000000e+00]] t_estimated: [[ 6.93038873e-01] [-7.20900168e-01] [ 2.62720828e-04]] R_gt: [[ 0.99895526 -0.03717888 -0.02655976] [ 0.03751225 0.99922185 0.01218366] [ 0.0260863 -0.01316674 0.99957235]] t_gt: [ 0.80591335 -0.5603926 -0.19095497] Pose Error in degrees for R and t: 2.3521617220495856 15.747678511111745 Number of keypoints: Image1: 631 Image2: 631 R_estimated: [[ 9.99585981e-01 2.87726802e-02 1.62050394e-05] [-2.87726787e-02 9.99585977e-01 -8.26768100e-05] [-1.85771636e-05 8.21763178e-05 9.99999996e-01]] t_estimated: [[ 9.38469399e-02] [-9.95586568e-01] [-3.70763422e-04]] R_gt: [[ 0.9976198 -0.02648411 -0.06367615] [ 0.02958373 0.99839767 0.04823413] [ 0.06229626 -0.05000299 0.99680334]] t_gt: [ 0.75700642 -0.64476444 -0.10592497] Pose Error in degrees for R and t: 5.624573908481491 44.52040211159501 Number of keypoints: Image1: 568 Image2: 568 R_estimated: [[ 9.93011561e-01 1.18014503e-01 7.85035709e-04] [-1.18008384e-01 9.92997045e-01 -5.55791038e-03] [-1.43545217e-03 5.42642847e-03 9.99984247e-01]] t_estimated: [[-0.99687855] [-0.07893456] [-0.0015761 ]] R_gt: [[ 0.99842967 0.04169577 -0.03739968] [-0.03933433 0.99731297 0.06180466] [ 0.03987654 -0.06023584 0.99738704]] t_gt: [-0.80188226 -0.48438799 0.3497901 ] Pose Error in degrees for R and t: 6.290602799372813 33.16874522916989 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.38886581 0.92129116 0.00244623] [ 0.92128915 -0.38887119 0.00234598] [ 0.0031126 0.00134141 -0.99999426]] t_estimated: [[-9.73227540e-01] [-2.29842513e-01] [-7.58556149e-04]] R_gt: [[ 0.98635168 0.13137719 0.09924561] [-0.12812711 0.99101134 -0.03847637] [-0.10340918 0.02523478 0.99431873]] t_gt: [-0.44032154 0.77734235 0.44928368] Pose Error in degrees for R and t: 175.2987883769168 75.55053966564662 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-8.65776968e-02 -9.96244928e-01 -5.87710759e-04] [-9.96244749e-01 8.65781474e-02 -7.90094889e-04] [ 8.38010935e-04 5.17099162e-04 -9.99999515e-01]] t_estimated: [[6.71538692e-01] [7.40969166e-01] [6.93182399e-04]] R_gt: [[ 0.94901338 0.30551431 0.07767727] [-0.30241287 0.95190342 -0.0492625 ] [-0.08899266 0.02325969 0.99576011]] t_gt: [-0.36069605 0.91463814 0.18257994] Pose Error in degrees for R and t: 177.9088719885293 64.1750017535682 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.00668088 0.99997623 -0.00170543] [-0.99997532 -0.00668456 -0.00216016] [-0.00217151 0.00169096 0.99999621]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.8890529 0.44878496 0.09042017] [-0.44256612 0.89306544 -0.08105793] [-0.1171296 0.03204798 0.992599 ]] t_gt: [-0.27456267 0.94887634 0.15572103] Pose Error in degrees for R and t: 64.14008247688233 18.682738853769205 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[ 9.90464942e-01 -1.37764812e-01 -2.34878255e-04] [ 1.37764846e-01 9.90464956e-01 1.33045471e-04] [ 2.14309697e-04 -1.64134841e-04 9.99999964e-01]] t_estimated: [[-0.26588841] [-0.96400299] [-0.00126013]] R_gt: [[ 0.99860285 0.05281696 -0.00178724] [-0.05277682 0.99845336 0.01751738] [ 0.00271053 -0.01739755 0.99984422]] t_gt: [-0.75211808 0.6427705 0.14548016] Pose Error in degrees for R and t: 10.990526727835059 65.17573234736409 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[-0.10845468 0.99410026 -0.00149859] [-0.99409787 -0.10845819 -0.0024997 ] [-0.00264749 0.00121864 0.99999575]] t_estimated: [[0.70519472] [0.70901201] [0.00154268]] R_gt: [[ 9.97490370e-01 5.80067953e-02 4.05953467e-02] [-5.79221199e-02 9.98316587e-01 -3.26636584e-03] [-4.07161252e-02 9.07385811e-04 9.99169616e-01]] t_gt: [-0.75857368 0.45136964 0.46992703] Pose Error in degrees for R and t: 92.92311436945639 77.63194750570906 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.1216662 0.99254327 -0.00742952] [-0.99256841 0.12164511 -0.0032281 ] [-0.00230026 0.00776705 0.99996719]] t_estimated: [[0.88017709] [0.47464365] [0.00130397]] R_gt: [[ 0.99943241 0.02643924 0.02088491] [-0.02657688 0.99962769 0.00633994] [-0.02070989 -0.00689105 0.99976107]] t_gt: [-0.91381286 -0.08623919 0.39687386] Pose Error in degrees for R and t: 81.50734694919906 32.35671174791983 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99998812e-01 1.50114498e-03 3.49447668e-04] [-1.50096184e-03 9.99998736e-01 -5.23739775e-04] [-3.50233436e-04 5.23214645e-04 9.99999802e-01]] t_estimated: [[ 4.38501326e-01] [-8.98730232e-01] [-7.45917301e-04]] R_gt: [[ 0.94739729 -0.31979609 -0.01301219] [ 0.31979496 0.94748397 -0.00221012] [ 0.01303521 -0.00206673 0.99991208]] t_gt: [ 0.86862781 -0.49511428 -0.01864332] Pose Error in degrees for R and t: 18.75343434552571 34.32193206137684 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999995e-01 7.51329583e-05 -7.00155667e-05] [-7.51256428e-05 9.99999992e-01 1.04481308e-04] [ 7.00234161e-05 -1.04476048e-04 9.99999992e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.88719544 -0.46075251 -0.02430449] [ 0.46073491 0.88751232 -0.00664549] [ 0.02463231 -0.00530221 0.99968186]] t_gt: [ 0.89968536 -0.43593302 -0.02299241] Pose Error in degrees for R and t: 27.481257689177593 26.06303475564684 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 6.96733170e-02 9.97550386e-01 6.23347258e-03] [-9.97569793e-01 6.96696323e-02 8.06585116e-04] [ 3.70325552e-04 -6.27452141e-03 9.99980246e-01]] t_estimated: [[9.37332124e-01] [3.48436369e-01] [7.65794219e-04]] R_gt: [[ 0.88438569 -0.46626981 -0.02131342] [ 0.46551784 0.88444324 -0.0324442 ] [ 0.03397891 0.01877103 0.99924567]] t_gt: [ 0.89764192 -0.4349724 -0.07097889] Pose Error in degrees for R and t: 113.80704286308423 46.38777467949892 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 1.99293051e-01 9.79939937e-01 -2.26028963e-05] [ 9.79930084e-01 -1.99290944e-01 4.48895069e-03] [ 4.39439750e-03 -9.16765936e-04 -9.99989924e-01]] t_estimated: [[-0.33281812] [-0.94298467] [-0.00346686]] R_gt: [[ 9.89338268e-01 1.44523815e-01 1.79814667e-02] [-1.44563648e-01 9.89495990e-01 9.33331108e-04] [-1.76572123e-02 -3.52307153e-03 9.99837860e-01]] t_gt: [-0.75723696 0.64805201 0.08136822] Pose Error in degrees for R and t: 179.66260153275655 68.93891790442817 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 8.09088672e-01 5.87686026e-01 8.09718754e-04] [-5.87686374e-01 8.09088779e-01 2.70266442e-04] [-4.96302547e-04 -6.94530195e-04 9.99999636e-01]] t_estimated: [[0.24530946] [0.96944411] [0.00117937]] R_gt: [[ 0.92854085 0.36796918 0.04909182] [-0.3657517 0.9294387 -0.04868088] [-0.06354072 0.02724663 0.99760734]] t_gt: [-0.67069249 0.74098255 0.03341323] Pose Error in degrees for R and t: 14.970919785173173 56.36822617792433 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.45644945e-01 -3.25199711e-01 -8.86691018e-04] [ 3.25200072e-01 9.45645190e-01 2.95583125e-04] [ 7.42371549e-04 -5.67868671e-04 9.99999563e-01]] t_estimated: [[-0.34865352] [-0.93725117] [-0.00097936]] R_gt: [[ 0.83118885 0.55309646 0.05665208] [-0.54982541 0.83282637 -0.06397464] [-0.08256528 0.02202644 0.99634201]] t_gt: [-0.59786064 0.800194 0.04745747] Pose Error in degrees for R and t: 52.731701792382964 57.208532278300396 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.97890830e-01 6.49143195e-02 -1.50687320e-04] [-6.49143101e-02 9.97890840e-01 6.62224617e-05] [ 1.54668282e-04 -5.63010238e-05 9.99999986e-01]] t_estimated: [[-9.96071177e-01] [-8.85548039e-02] [-5.06207699e-04]] R_gt: [[ 0.96382991 0.26101856 0.05386651] [-0.2591718 0.96504646 -0.03893862] [-0.0621481 0.0235689 0.99778899]] t_gt: [-0.71537079 0.69631295 0.05824863] Pose Error in degrees for R and t: 11.993385396012638 49.39285566458224 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.94567450e-01 1.04094016e-01 -1.50822153e-04] [-1.04093993e-01 9.94567452e-01 1.54058247e-04] [ 1.66039346e-04 -1.37521638e-04 9.99999977e-01]] t_estimated: [[-9.97643521e-01] [ 6.86101954e-02] [-2.12866724e-04]] R_gt: [[ 0.90822381 0.41595669 0.04594423] [-0.4131131 0.9086792 -0.06033891] [-0.06684752 0.0358207 0.9971198 ]] t_gt: [-0.66155531 0.74958541 0.02159362] Pose Error in degrees for R and t: 19.054114679943947 44.649352409688014 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 8.11413000e-01 -5.84472685e-01 -7.90027595e-04] [ 5.84472840e-01 8.11413272e-01 -4.15822594e-05] [ 6.65342571e-04 -4.28009286e-04 9.99999687e-01]] t_estimated: [[-0.24895955] [-0.96851336] [-0.00101203]] R_gt: [[ 0.87455664 0.48315152 0.04143689] [-0.47981002 0.87454413 -0.07040174] [-0.07025244 0.04168856 0.99665777]] t_gt: [-0.63830407 0.76964467 0.01466247] Pose Error in degrees for R and t: 64.75493674242253 54.0899742470899 Number of keypoints: Image1: 411 Image2: 411 R_estimated: [[ 9.99842507e-01 1.77470764e-02 3.85426453e-05] [-1.77470760e-02 9.99842508e-01 -1.00526231e-05] [-3.87149798e-05 9.36702063e-06 9.99999999e-01]] t_estimated: [[3.44419680e-01] [9.38815535e-01] [6.89360030e-04]] R_gt: [[ 0.99909467 0.00863578 0.04165244] [-0.00819988 0.99990934 -0.01063384] [-0.04174063 0.01028288 0.99907518]] t_gt: [-0.57223029 0.03014509 0.81953876] Pose Error in degrees for R and t: 2.5195409974014593 80.31555676160441 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[-0.99772656 -0.06728331 0.00383023] [-0.0672697 0.99772841 0.00357751] [-0.00406224 0.00331172 -0.99998627]] t_estimated: [[0.99975456] [0.02199797] [0.00262808]] R_gt: [[ 0.99855776 -0.05266282 -0.01043818] [ 0.05276875 0.9985547 0.01016219] [ 0.00988793 -0.01069814 0.99989371]] t_gt: [ 0.29604896 -0.95206575 -0.07697935] Pose Error in degrees for R and t: 179.66987032698225 74.04808806634563 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.98237751 -0.18688657 0.00279846] [-0.18683782 0.98230994 0.01260167] [-0.00510403 0.01185674 -0.99991668]] t_estimated: [[0.9987127 ] [0.05069608] [0.00168987]] R_gt: [[ 0.99566036 -0.07535752 -0.05462111] [ 0.07775146 0.99603945 0.04311979] [ 0.05115514 -0.04717937 0.99757538]] t_gt: [ 0.39325705 -0.89862101 -0.19449725] Pose Error in degrees for R and t: 177.4766471395838 69.70428082525997 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.99992243e-01 3.93845476e-03 4.34715051e-05] [-3.93845400e-03 9.99992244e-01 -1.77535009e-05] [-4.35410893e-05 1.75821527e-05 9.99999999e-01]] t_estimated: [[ 9.99536078e-01] [-3.04543206e-02] [ 4.04326101e-04]] R_gt: [[ 0.99782214 -0.06545911 0.00818545] [ 0.06561993 0.99761749 -0.02127438] [-0.00677229 0.02176566 0.9997405 ]] t_gt: [ 0.61400993 -0.78478534 -0.08428391] Pose Error in degrees for R and t: 4.191831626284732 50.38757214235401 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99999976e-01 -2.21200980e-04 1.36714931e-06] [ 2.21200993e-04 9.99999975e-01 -9.86969975e-06] [-1.36496609e-06 9.87000192e-06 1.00000000e+00]] t_estimated: [[9.03460706e-01] [4.28670904e-01] [9.87651231e-05]] R_gt: [[ 0.99479913 -0.08474342 -0.05651243] [ 0.0864562 0.99584517 0.0285813 ] [ 0.05385653 -0.03331844 0.99799271]] t_gt: [ 0.59006219 -0.78409493 -0.1924104 ] Pose Error in degrees for R and t: 6.100489436785752 78.64073746207714 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-1.12880244e-01 -9.93607030e-01 -1.76642808e-03] [ 9.93608598e-01 -1.12880171e-01 -1.41343722e-04] [-5.89545885e-05 -1.77109304e-03 9.99998430e-01]] t_estimated: [[ 9.97019434e-01] [-7.71472404e-02] [ 7.42553445e-04]] R_gt: [[ 0.98109545 -0.18106183 -0.06832205] [ 0.18353077 0.98250179 0.03173201] [ 0.06138122 -0.04367041 0.99715842]] t_gt: [ 0.54913055 -0.82358413 -0.14200289] Pose Error in degrees for R and t: 86.04466571131023 52.34353780998019 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 7.80712203e-01 -6.24890575e-01 -4.75148114e-04] [ 6.24890753e-01 7.80712050e-01 4.91412969e-04] [ 6.38745258e-05 -6.80567764e-04 9.99999766e-01]] t_estimated: [[ 5.28146538e-01] [-8.49153215e-01] [ 2.29511552e-04]] R_gt: [[ 0.99593034 0.05564339 -0.07089287] [-0.05136346 0.99682513 0.06082758] [ 0.07405251 -0.05693903 0.99562739]] t_gt: [-0.96340529 -0.26692739 0.0244954 ] Pose Error in degrees for R and t: 42.07079356748298 73.61135710443364 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99874807e-01 1.58231112e-02 -8.20391144e-07] [-1.58231113e-02 9.99874805e-01 -6.32585881e-05] [-1.80659242e-07 6.32636497e-05 9.99999998e-01]] t_estimated: [[ 6.92405816e-02] [-9.97599990e-01] [-4.19898085e-05]] R_gt: [[ 0.99315547 0.0391255 -0.11005343] [-0.03180809 0.99721289 0.06748337] [ 0.11238731 -0.06352103 0.99163152]] t_gt: [-0.2041446 -0.81026878 -0.54935369] Pose Error in degrees for R and t: 7.50545240752062 37.41909973533791 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-9.98522450e-01 5.43322632e-02 9.60297014e-04] [ 5.43366648e-02 9.98508145e-01 5.38613593e-03] [-6.66223435e-04 5.43035699e-03 -9.99985034e-01]] t_estimated: [[9.99994892e-01] [3.10089613e-03] [7.75190433e-04]] R_gt: [[ 0.98986679 0.02154609 -0.14035307] [-0.00844874 0.99560584 0.09325519] [ 0.14174522 -0.09112458 0.98569944]] t_gt: [ 0.34814919 -0.87260836 -0.34255917] Pose Error in degrees for R and t: 171.78516815326998 69.80746054655289 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.73640736e-01 2.28086705e-01 4.14914097e-04] [-2.28085598e-01 9.73639351e-01 -1.83700573e-03] [-8.22973278e-04 1.69394768e-03 9.99998227e-01]] t_estimated: [[-0.94290483] [-0.33305469] [-0.00225037]] R_gt: [[ 0.98772246 0.07568708 0.13666454] [-0.07132919 0.99678501 -0.03651926] [-0.13898854 0.02632313 0.98994393]] t_gt: [-0.3948105 0.5335575 0.74795793] Pose Error in degrees for R and t: 12.047026785362581 78.87899398158015 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.75541312 -0.65524794 -0.00106989] [ 0.65524532 -0.75540274 -0.00450242] [ 0.002142 -0.00410223 0.99998929]] t_estimated: [[0.94820195] [0.31766669] [0.00096379]] R_gt: [[ 0.95878616 0.21934913 0.18060217] [-0.21090854 0.97534803 -0.06493074] [-0.19039253 0.02416415 0.98141004]] t_gt: [-0.37490157 0.76029821 0.5304672 ] Pose Error in degrees for R and t: 151.76283059310668 83.48578461772988 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 7.82789410e-01 6.22275704e-01 3.69973824e-03] [ 6.22281874e-01 -7.82792922e-01 -7.14627453e-04] [ 2.45143361e-03 2.86168285e-03 -9.99992901e-01]] t_estimated: [[-0.98385936] [ 0.17892801] [-0.00235049]] R_gt: [[ 0.90594495 0.39304174 0.15742368] [-0.37905912 0.91857155 -0.11199467] [-0.18862295 0.04178842 0.98115997]] t_gt: [-0.31306126 0.8983941 0.30802709] Pose Error in degrees for R and t: 172.31186336553225 62.093368673203884 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-6.29252379e-01 -7.77199571e-01 -1.50640729e-03] [ 7.77200403e-01 -6.29253153e-01 5.19551743e-05] [-9.88291075e-04 -1.13808743e-03 9.99998864e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.9730313 0.21136022 -0.09239561] [-0.20860877 0.9772375 0.03859299] [ 0.09844954 -0.01827785 0.9949735 ]] t_gt: [-0.25494979 0.93890336 -0.23121654] Pose Error in degrees for R and t: 141.19537938162148 81.37503161871196 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 6.53593929e-01 7.56844346e-01 1.26957773e-03] [-7.56845310e-01 6.53593786e-01 5.81870531e-04] [-3.89402693e-04 -1.34118100e-03 9.99999025e-01]] t_estimated: [[0.32073979] [0.94716662] [0.00117263]] R_gt: [[ 0.93195648 0.33967281 -0.1268029 ] [-0.33214252 0.94007365 0.07709213] [ 0.14538983 -0.02972937 0.98892814]] t_gt: [-0.1622299 0.96641212 -0.19932154] Pose Error in degrees for R and t: 30.638382712408877 30.335136875944574 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-5.85731873e-01 -8.10497606e-01 -3.43551777e-03] [ 8.10502264e-01 -5.85735501e-01 6.17534850e-05] [-2.06235577e-03 -2.74832395e-03 9.99994097e-01]] t_estimated: [[0.999772 ] [0.02127442] [0.00182866]] R_gt: [[ 0.87941662 0.45987699 -0.12304451] [-0.4558994 0.88797813 0.06042228] [ 0.13704789 0.00295931 0.99055941]] t_gt: [-0.09278706 0.97882527 -0.18245998] Pose Error in degrees for R and t: 153.30174335100943 85.85529811963735 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.57210956e-01 2.89390652e-01 -4.85981907e-04] [-2.89389517e-01 -9.57209987e-01 -1.65793278e-03] [-9.44976982e-04 -1.44635335e-03 9.99998508e-01]] t_estimated: [[0.68100834] [0.73227526] [0.00076518]] R_gt: [[ 0.95791933 -0.28505255 -0.03371484] [ 0.28515283 0.95848046 -0.00188907] [ 0.03285416 -0.00780375 0.99942994]] t_gt: [ 0.85374078 -0.51841367 -0.04872319] Pose Error in degrees for R and t: 179.75368661450383 78.36093234786631 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.80571658 0.59227946 0.00508269] [-0.58971658 0.80297186 -0.08643231] [-0.05527334 0.0666426 0.99624476]] t_estimated: [[-0.99981909] [-0.01890414] [-0.00210046]] R_gt: [[ 0.9391248 -0.34257183 -0.02626326] [ 0.34228781 0.93947927 -0.01479852] [ 0.02974412 0.00490745 0.99954554]] t_gt: [ 0.86323552 -0.50087807 -0.06281398] Pose Error in degrees for R and t: 56.56733003224777 31.407922315843937 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.81594368 0.14901961 0.55859562] [ 0.45515027 0.43018326 -0.77960284] [-0.3564746 0.89035696 0.283179 ]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.92899676 -0.36755868 -0.04320336] [ 0.36656484 0.92993028 -0.02932388] [ 0.05095518 0.01140479 0.99863576]] t_gt: [ 0.86331162 -0.49438223 -0.10138666] Pose Error in degrees for R and t: 74.22774115141289 69.80137130392949 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.30119871 -0.95344764 0.01472846] [-0.95356011 -0.30113697 0.00629665] [-0.00156824 -0.01594102 -0.9998717 ]] t_estimated: [[0.62278138] [0.78237827] [0.00525246]] R_gt: [[ 0.9889357 0.14823671 0.00582139] [-0.1483395 0.98761724 0.05106268] [ 0.00181973 -0.05136055 0.9986781 ]] t_gt: [-0.34427739 0.88758789 0.30604055] Pose Error in degrees for R and t: 176.73522552302555 61.208256192427406 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99996649e-01 -2.55478215e-03 -4.17478027e-04] [ 2.55475997e-03 9.99996735e-01 -5.36413497e-05] [ 4.17613706e-04 5.25746138e-05 9.99999911e-01]] t_estimated: [[ 0.9994861] [-0.0316766] [-0.0049122]] R_gt: [[ 9.80764969e-01 1.95191927e-01 8.40763946e-04] [-1.95173160e-01 9.80585806e-01 1.89767783e-02] [ 2.87887698e-03 -1.87752465e-02 9.99819202e-01]] t_gt: [-0.12548372 0.98868266 0.08222181] Pose Error in degrees for R and t: 11.454569848282194 80.95899867290905 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99435955 0.10604148 -0.00207383] [-0.10603491 0.99435771 0.00305537] [ 0.00238612 -0.00281824 0.99999318]] t_estimated: [[7.89476995e-01] [6.13779664e-01] [7.73997054e-04]] R_gt: [[ 0.97939291 0.19757642 0.04188199] [-0.19606656 0.97987014 -0.03756601] [-0.04846199 0.02858009 0.99841575]] t_gt: [-0.11596557 0.98490322 0.12852098] Pose Error in degrees for R and t: 6.289412694280367 59.13207018474393 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.99717623e-01 -2.37626976e-02 9.34697206e-05] [ 2.37626942e-02 9.99717627e-01 3.76163084e-05] [-9.43371922e-05 -3.53845940e-05 9.99999995e-01]] t_estimated: [[9.78025514e-01] [2.08484681e-01] [4.81372334e-04]] R_gt: [[ 0.99350012 -0.11215491 0.01950936] [ 0.11286819 0.99278818 -0.04040165] [-0.01483697 0.04234114 0.99899247]] t_gt: [ 0.59475746 -0.79582178 -0.11371569] Pose Error in degrees for R and t: 5.712644678969997 65.43554876154857 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-9.74272030e-01 -2.25374884e-01 4.15613052e-04] [-2.25375005e-01 9.74272053e-01 -2.70612798e-04] [-3.43930854e-04 -3.57319273e-04 -9.99999877e-01]] t_estimated: [[0.99046831] [0.13773723] [0.00099157]] R_gt: [[ 0.99710852 -0.07477925 0.01360372] [ 0.07511801 0.99682621 -0.02634412] [-0.01159008 0.02728988 0.9995597 ]] t_gt: [ 0.45225535 -0.88692327 -0.09397986] Pose Error in degrees for R and t: 179.43844931330455 70.99267394545008 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999977e-01 -3.74458220e-05 2.10111225e-04] [ 3.74668486e-05 9.99999994e-01 -1.00070667e-04] [-2.10107477e-04 1.00078537e-04 9.99999973e-01]] t_estimated: [[8.48273865e-01] [5.29557538e-01] [5.13442316e-04]] R_gt: [[ 0.99682635 -0.06121684 0.050908 ] [ 0.06354851 0.99693917 -0.0455214 ] [-0.04796576 0.04861296 0.99766527]] t_gt: [ 0.16065517 -0.96649964 0.20017083] Pose Error in degrees for R and t: 5.294970707927666 67.94881048139041 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.92163015e-01 -1.24950193e-01 -3.20980441e-05] [ 1.24950197e-01 9.92162996e-01 1.95277676e-04] [ 7.44650831e-06 -1.97757945e-04 9.99999980e-01]] t_estimated: [[0.82389386] [0.56674205] [0.00153308]] R_gt: [[ 0.99524445 0.09504199 0.02136977] [-0.09533125 0.99536087 0.01298658] [-0.02003523 -0.01496166 0.99968702]] t_gt: [-0.37638192 0.83441603 0.40259972] Pose Error in degrees for R and t: 12.720786655087782 80.59470624548763 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99998725e-01 -1.45466940e-03 -6.59350245e-04] [ 1.45498532e-03 9.99998827e-01 4.78921232e-04] [ 6.58652800e-04 -4.79879966e-04 9.99999668e-01]] t_estimated: [[-0.99994951] [-0.00937769] [-0.00360955]] R_gt: [[ 9.77959480e-01 2.08704824e-01 6.19063423e-03] [-2.08796268e-01 9.77590178e-01 2.68649508e-02] [-4.44751976e-04 -2.75650331e-02 9.99619009e-01]] t_gt: [-0.19608757 0.97039155 0.14103157] Pose Error in degrees for R and t: 12.23405016141807 79.25323449958873 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.98762729e-01 -4.97293687e-02 -4.09824912e-05] [ 4.97293854e-02 9.98762465e-01 7.25114490e-04] [ 4.87228806e-06 -7.26255361e-04 9.99999736e-01]] t_estimated: [[-8.83822699e-01] [-4.67821461e-01] [-7.19725325e-04]] R_gt: [[ 0.9721263 0.23319904 0.02427323] [-0.23334334 0.9723891 0.00326453] [-0.02284066 -0.00883752 0.99969966]] t_gt: [-0.09914651 0.98411445 0.14727089] Pose Error in degrees for R and t: 16.401267309206574 68.10740152293396 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 7.64531183e-01 6.44586409e-01 6.56046630e-04] [-6.44585781e-01 7.64531405e-01 -9.49475527e-04] [-1.11358727e-03 3.03025319e-04 9.99999334e-01]] t_estimated: [[9.34803724e-01] [3.55163915e-01] [7.68753063e-04]] R_gt: [[ 9.88610478e-01 -1.50490765e-01 -1.39821249e-03] [ 1.50495884e-01 9.88601204e-01 4.35888834e-03] [ 7.25487733e-04 -4.52061643e-03 9.99989600e-01]] t_gt: [ 0.79453918 -0.60692872 0.0185747 ] Pose Error in degrees for R and t: 48.791197416912894 58.18398847630352 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 8.11906645e-01 5.83786402e-01 1.01829624e-03] [-5.83786641e-01 8.11907108e-01 -7.47034914e-05] [-8.70372841e-04 -5.33815483e-04 9.99999479e-01]] t_estimated: [[-0.81062238] [ 0.58556826] [ 0.00108314]] R_gt: [[ 0.9896134 -0.14308147 -0.01388553] [ 0.14270838 0.98945202 -0.02487726] [ 0.0172994 0.02263721 0.99959385]] t_gt: [ 0.77935088 -0.59947893 -0.18231078] Pose Error in degrees for R and t: 43.96489871870692 10.582164630256198 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.10600665 0.99436169 -0.00272471] [-0.9943622 0.10599894 -0.00283395] [-0.00252916 0.00300977 0.99999227]] t_estimated: [[0.62865216] [0.77768608] [0.00090324]] R_gt: [[ 0.97240057 -0.23268742 -0.01718201] [ 0.2318862 0.97195018 -0.03927513] [ 0.02583864 0.03420592 0.99908095]] t_gt: [ 0.80305043 -0.57270235 -0.16468765] Pose Error in degrees for R and t: 97.3707533011075 86.59990702145606 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.76792121 -0.64027773 -0.01847822] [ 0.6393884 -0.76794869 0.03791142] [-0.03846416 0.01729822 0.99911024]] t_estimated: [[0.99522177] [0.09631178] [0.01605196]] R_gt: [[ 0.99622908 0.08608603 0.01085579] [-0.08598617 0.99625222 -0.00938811] [-0.01162413 0.0084191 0.99989744]] t_gt: [-0.35705584 0.9338461 0.02103771] Pose Error in degrees for R and t: 145.1423723991473 74.62878855165165 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.92369634e-01 -1.23297645e-01 4.47547322e-04] [ 1.23297823e-01 9.92369635e-01 -3.93195713e-04] [-3.95652267e-04 4.45377097e-04 9.99999823e-01]] t_estimated: [[-8.12508212e-01] [-5.82949296e-01] [-7.24160625e-04]] R_gt: [[ 0.98377666 0.17909336 0.01041319] [-0.17818068 0.98220971 -0.05929931] [-0.02084823 0.05648164 0.99818667]] t_gt: [-0.31184607 0.94621246 -0.08622072] Pose Error in degrees for R and t: 17.713280143604628 72.65324060914826 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.34644257e-01 -3.55584184e-01 -2.06218459e-05] [ 3.55583972e-01 9.34643760e-01 -1.03955399e-03] [ 3.88923038e-04 9.64280372e-04 9.99999459e-01]] t_estimated: [[-0.42943199] [-0.90309732] [-0.00184306]] R_gt: [[ 0.94560542 0.32467609 0.02042118] [-0.32341107 0.94499458 -0.04889737] [-0.03517461 0.03963359 0.99859551]] t_gt: [-0.27415328 0.96149537 0.01914776] Pose Error in degrees for R and t: 39.85853172670337 41.35510737934632 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.89795475e-01 1.42495318e-01 3.54886457e-05] [-1.42495315e-01 9.89795474e-01 -7.43555374e-05] [-4.57218169e-05 6.85398087e-05 9.99999997e-01]] t_estimated: [[-6.09161049e-01] [ 7.93046530e-01] [-1.32286373e-04]] R_gt: [[ 9.94853450e-01 1.01319398e-01 6.83906286e-04] [-1.01309499e-01 9.94598059e-01 2.25938942e-02] [ 1.60971155e-03 -2.25465402e-02 9.99743696e-01]] t_gt: [-0.38052668 0.91634404 0.12455141] Pose Error in degrees for R and t: 2.7094475508085876 16.566587557642606 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.97681599 0.21406108 -0.00289274] [-0.21405354 0.97681818 0.00270751] [ 0.00340525 -0.00202554 0.99999215]] t_estimated: [[-0.98273142] [-0.18500028] [-0.00372163]] R_gt: [[ 0.96482227 0.25731368 -0.05391408] [-0.25536601 0.96599706 0.04045893] [ 0.06249279 -0.02526767 0.99772483]] t_gt: [-0.29185894 0.95317196 -0.07925638] Pose Error in degrees for R and t: 4.421926505528714 83.63990121342913 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-8.09789957e-01 5.86715904e-01 -2.16193602e-03] [-5.86715331e-01 -8.09792692e-01 -9.56969749e-04] [-2.31218936e-03 4.93496519e-04 9.99997205e-01]] t_estimated: [[0.69832356] [0.71578165] [0.00091885]] R_gt: [[ 0.90977491 0.39810436 -0.11756271] [-0.390208 0.91680328 0.08490529] [ 0.14158332 -0.03137081 0.98942892]] t_gt: [-0.13593742 0.98023976 -0.14370467] Pose Error in degrees for R and t: 120.90979210540168 52.657572272599715 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.99580266 -0.09151859 -0.00118934] [ 0.09152013 0.99580236 0.0013154 ] [ 0.00106397 -0.00141873 0.99999843]] t_estimated: [[0.08826003] [0.99607752] [0.00630429]] R_gt: [[ 0.98661648 0.16278793 -0.00940236] [-0.16245835 0.98629016 0.02895281] [ 0.01398756 -0.02703851 0.99953706]] t_gt: [-0.73728034 0.67460058 0.0364933 ] Pose Error in degrees for R and t: 14.704341317143072 52.61901599955355 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.99907163 -0.04265537 0.00603259] [-0.04236355 0.99820929 0.04223194] [-0.0078232 0.04193717 -0.99908962]] t_estimated: [[0.99993714] [0.01112587] [0.00139073]] R_gt: [[ 0.9668789 0.24551653 -0.06975027] [-0.23791619 0.96591739 0.10197971] [ 0.09241106 -0.08200833 0.99233896]] t_gt: [-0.76064413 0.64673171 -0.05620153] Pose Error in degrees for R and t: 175.52350222536475 41.107352851005935 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.85588653 -0.51716162 -0.00145083] [ 0.51715636 0.85588599 -0.00291114] [ 0.00274728 0.0017413 0.99999471]] t_estimated: [[-0.34064526] [-0.94018093] [-0.00454194]] R_gt: [[ 0.94508867 0.3000577 -0.12950758] [-0.27873564 0.94695819 0.15992828] [ 0.17062615 -0.11504788 0.97859677]] t_gt: [-0.80568862 0.55927693 -0.19512859] Pose Error in degrees for R and t: 49.509986560815605 75.49400906571364 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99560622e-01 -2.96402218e-02 -1.40508302e-04] [ 2.96401980e-02 9.99560619e-01 -1.68219226e-04] [ 1.45432621e-04 1.63980621e-04 9.99999976e-01]] t_estimated: [[-0.58693841] [-0.80962975] [-0.00172629]] R_gt: [[ 0.9913187 0.12977125 0.02113013] [-0.12866541 0.9905624 -0.04723088] [-0.02706086 0.04410235 0.99866051]] t_gt: [-0.3821087 0.92382598 0.02320549] Pose Error in degrees for R and t: 9.595383601099673 58.417698897133164 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 2.93775450e-01 -9.55872988e-01 -1.67787041e-03] [ 9.55874250e-01 2.93776099e-01 -1.48753377e-04] [ 6.35107558e-04 -1.56013303e-03 9.99998581e-01]] t_estimated: [[ 4.44744576e-01] [-8.95657403e-01] [-2.81437905e-04]] R_gt: [[ 0.94200294 0.33558963 0.00307737] [-0.33500069 0.94081984 -0.0513091 ] [-0.0201138 0.04730239 0.99867841]] t_gt: [-0.27808279 0.96048991 -0.01136209] Pose Error in degrees for R and t: 92.55850499552112 10.281566764372831 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-7.42514637e-01 6.69829807e-01 -2.08157862e-04] [-6.69826624e-01 -7.42511999e-01 -2.86791502e-03] [-2.07557467e-03 -1.99003920e-03 9.99995866e-01]] t_estimated: [[0.44358843] [0.89622968] [0.00129326]] R_gt: [[ 0.87185542 0.48855753 -0.03432448] [-0.48946563 0.87162339 -0.02637202] [ 0.01703313 0.03979268 0.99906253]] t_gt: [-0.19376804 0.97914187 -0.06111577] Pose Error in degrees for R and t: 108.67568873654334 37.673741829741886 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.17713695 0.98417544 -0.00460456] [-0.98416807 0.17710334 -0.00689999] [-0.00597532 0.0057539 0.99996559]] t_estimated: [[0.65423735] [0.75628888] [0.0007911 ]] R_gt: [[ 0.98329565 -0.18151629 0.01348668] [ 0.18188881 0.98267926 -0.03547071] [-0.0068144 0.03733152 0.99927899]] t_gt: [ 0.55418843 -0.82745693 -0.0904998 ] Pose Error in degrees for R and t: 90.27950399231571 74.73419757894749 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.83280125 0.43983636 0.33613397] [-0.3860518 0.89664121 -0.21679148] [-0.39674434 0.05077909 0.91652355]] t_estimated: [[0.89167059] [0.45109441] [0.03791305]] R_gt: [[ 0.93763857 -0.34657817 -0.02678472] [ 0.34612792 0.93797216 -0.020082 ] [ 0.0320834 0.00955854 0.99943922]] t_gt: [ 0.64315563 -0.75980445 -0.09512115] Pose Error in degrees for R and t: 51.86814921956524 76.87165675937148 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-7.90808103e-01 -6.12058843e-01 -2.55279196e-03] [ 6.12061879e-01 -7.90809672e-01 -5.64353104e-04] [-1.67335526e-03 -2.00876165e-03 9.99996582e-01]] t_estimated: [[0.99992003] [0.01256883] [0.00139654]] R_gt: [[ 0.87181957 -0.48982476 -0.00172109] [ 0.48973518 0.87171772 -0.01636545] [ 0.00951714 0.01342567 0.99986384]] t_gt: [ 0.69819327 -0.71508841 -0.0342743 ] Pose Error in degrees for R and t: 112.93657482294415 46.44095328788449 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.99744023 -0.07149162 -0.00139369] [ 0.07149391 0.99743964 0.00167013] [ 0.00127072 -0.0017655 0.99999763]] t_estimated: [[-0.39935237] [-0.91670091] [-0.01330879]] R_gt: [[ 0.98498792 0.17261227 0.00213527] [-0.17259098 0.98496191 -0.00792911] [-0.00347196 0.00744181 0.99996587]] t_gt: [-0.71648615 0.69697142 -0.02963836] Pose Error in degrees for R and t: 14.051375286262473 69.36646606879101 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 4.13831723e-01 -9.10352550e-01 -1.24066358e-03] [ 9.10353110e-01 4.13832288e-01 -2.27351385e-04] [ 7.20396560e-04 -1.03535673e-03 9.99999205e-01]] t_estimated: [[-0.00777178] [-0.99996896] [-0.0012953 ]] R_gt: [[ 0.89256435 0.44728302 0.05715541] [-0.44405643 0.89391944 -0.06100407] [-0.07837843 0.02906989 0.99650015]] t_gt: [-0.62878334 0.77595408 0.050267 ] Pose Error in degrees for R and t: 92.17126942849474 39.546478391876626 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-8.59429306e-01 -5.11250707e-01 -1.99581006e-03] [ 5.11254566e-01 -8.59424175e-01 -2.97597733e-03] [-1.93776898e-04 -3.57800914e-03 9.99993580e-01]] t_estimated: [[0.90384714] [0.42785201] [0.00173276]] R_gt: [[ 0.78649919 0.61404837 0.06605693] [-0.61411594 0.78891773 -0.02167927] [-0.06542623 -0.02351554 0.99758085]] t_gt: [-0.55835654 0.82518556 0.08547963] Pose Error in degrees for R and t: 172.80556247038606 81.28824949768112 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.0825601 -0.99655614 -0.00772565] [-0.99655209 0.08249077 0.00889924] [-0.0082313 0.00843374 -0.99993056]] t_estimated: [[0.67591683] [0.73697654] [0.00141999]] R_gt: [[ 0.99652691 0.05550127 0.06208429] [-0.05821074 0.99739 0.04271535] [-0.0595519 -0.0461807 0.99715631]] t_gt: [-0.42174666 0.12290869 0.8983447 ] Pose Error in degrees for R and t: 175.7051903895507 78.8598708525237 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-7.83669291e-01 -6.21178239e-01 -1.93624350e-04] [-6.21175034e-01 7.83664166e-01 3.47159084e-03] [-2.00474022e-03 2.84085375e-03 -9.99993955e-01]] t_estimated: [[0.88373037] [0.46799089] [0.0022718 ]] R_gt: [[ 0.99256012 0.0853525 0.08683376] [-0.09398957 0.99045829 0.1007893 ] [-0.0774036 -0.10820075 0.99111081]] t_gt: [-0.32614741 0.08063874 0.94187327] Pose Error in degrees for R and t: 173.51712497164036 75.62019793421145 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 5.33416711e-01 8.45852348e-01 6.45588792e-04] [-8.45851274e-01 5.33417072e-01 -1.36002428e-03] [-1.49474782e-03 1.79387578e-04 9.99998867e-01]] t_estimated: [[0.00835044] [0.99996459] [0.0010438 ]] R_gt: [[ 0.98379567 0.12309956 0.13036126] [-0.14508808 0.97374178 0.17543058] [-0.1053431 -0.19150018 0.97582292]] t_gt: [-0.34873 0.14349451 0.92617316] Pose Error in degrees for R and t: 51.43438187454694 81.8627921790084 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.43025074 -0.90256791 0.01598372] [ 0.90253303 0.43044925 0.01214838] [-0.01784492 0.00919899 0.99979845]] t_estimated: [[9.40820072e-01] [3.38905633e-01] [7.51453731e-04]] R_gt: [[ 0.97456732 -0.21716528 -0.05529299] [ 0.21858387 0.97559332 0.02096611] [ 0.04939063 -0.03251934 0.99824992]] t_gt: [ 0.98314324 -0.16072109 0.08716715] Pose Error in degrees for R and t: 52.09252038935543 29.47655610172896 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.16618578 0.98609349 0.00138604] [-0.98609231 0.1661882 -0.00185708] [-0.0020616 -0.00105814 0.99999732]] t_estimated: [[0.23268053] [0.97255234] [0.00130719]] R_gt: [[ 0.93672871 -0.34518153 -0.05821238] [ 0.34813271 0.93601915 0.05170151] [ 0.03664257 -0.06869662 0.9969644 ]] t_gt: [ 0.98304995 -0.08595367 0.16194059] Pose Error in degrees for R and t: 100.82628159672609 81.64223057142242 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.81437060e-01 -1.91783464e-01 6.32932411e-04] [ 1.91782690e-01 9.81436781e-01 1.11607284e-03] [-8.35227463e-04 -9.73969766e-04 9.99999177e-01]] t_estimated: [[0.26885506] [0.96317976] [0.00130512]] R_gt: [[ 0.93049155 -0.36624693 -0.00688953] [ 0.36572193 0.92776116 0.0742157 ] [-0.02078854 -0.071577 0.99721828]] t_gt: [ 0.97712784 -0.07750797 0.19802449] Pose Error in degrees for R and t: 11.257412893708388 79.14582036465983 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.87432134e-01 -4.60934621e-01 1.86610444e-03] [ 4.60937574e-01 8.87430931e-01 -1.70170910e-03] [-8.71662162e-04 2.37030899e-03 9.99996811e-01]] t_estimated: [[-0.69852011] [-0.71558922] [-0.00131301]] R_gt: [[ 0.96032215 0.2706833 0.06716229] [-0.26819621 0.96236683 -0.0438069 ] [-0.07649242 0.02405575 0.99677986]] t_gt: [-0.71009579 0.69741817 0.09680839] Pose Error in degrees for R and t: 43.32419899045213 89.81803724416675 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.99797037e-01 2.01465689e-02 -2.58930143e-05] [-2.01465846e-02 9.99795761e-01 -1.59730751e-03] [-6.29253987e-06 1.59750497e-03 9.99998724e-01]] t_estimated: [[8.38993234e-01] [5.44141461e-01] [6.50886915e-04]] R_gt: [[ 9.09490171e-01 4.11587858e-01 5.85079590e-02] [-4.12286006e-01 9.11054753e-01 -1.68538796e-04] [-5.33737620e-02 -2.39687411e-02 9.98287358e-01]] t_gt: [-0.65880681 0.74270456 0.11984794] Pose Error in degrees for R and t: 23.435311270901835 81.45882568072571 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.83142096 0.15844826 -0.53257238] [ 0.46388397 0.32967068 0.82227058] [ 0.30586084 -0.93070478 0.2005935 ]] t_estimated: [[-0.83163112] [-0.46582918] [-0.30231251]] R_gt: [[ 0.86791002 0.49100168 0.07516279] [-0.49230308 0.87042257 -0.00139414] [-0.06610813 -0.03579291 0.99716987]] t_gt: [-0.62068149 0.77338375 0.12896536] Pose Error in degrees for R and t: 89.14280062739154 83.28530383909771 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 5.96110853e-01 -8.02901097e-01 -1.29550012e-03] [ 8.02902045e-01 5.96110801e-01 4.68153766e-04] [ 3.96380443e-04 -1.31923124e-03 9.99999051e-01]] t_estimated: [[9.73728204e-01] [2.27711390e-01] [9.52767323e-04]] R_gt: [[ 0.98791416 -0.15499669 0.00121397] [ 0.15424527 0.98383714 0.09095527] [-0.01529245 -0.08966949 0.99585403]] t_gt: [ 0.56897599 -0.6785927 0.4645194 ] Pose Error in degrees for R and t: 44.77812203907835 66.42511832819207 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99994737e-01 3.06825261e-03 1.05449748e-03] [-3.06768128e-03 9.99995147e-01 -5.42998663e-04] [-1.05615842e-03 5.39760943e-04 9.99999297e-01]] t_estimated: [[9.99996445e-01] [2.64003598e-03] [3.73492416e-04]] R_gt: [[ 0.97279256 -0.23154688 0.00778995] [ 0.22808222 0.9630567 0.14317895] [-0.04065482 -0.13750772 0.98966527]] t_gt: [ 0.54969979 -0.65667805 0.51633717] Pose Error in degrees for R and t: 15.846531315287516 56.759330551358204 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[-0.2781474 0.95985369 -0.03626176] [ 0.95921074 0.27954914 0.04203609] [ 0.05048544 -0.02309044 -0.99845784]] t_estimated: [[-0.98338589] [-0.18151282] [-0.00229763]] R_gt: [[ 0.99973194 -0.01816084 0.01437116] [ 0.01768716 0.99931851 0.03240352] [-0.01494854 -0.03213973 0.99937154]] t_gt: [ 0.45109058 -0.55572196 0.69834833] Pose Error in degrees for R and t: 176.45920311385024 69.8590980886319 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.89235636e-01 -1.46331260e-01 -1.38803428e-04] [ 1.46331298e-01 9.89235587e-01 3.22174361e-04] [ 9.01651102e-05 -3.39017645e-04 9.99999938e-01]] t_estimated: [[ 0.10292261] [-0.99468876] [ 0.00110168]] R_gt: [[ 0.99629231 0.0485483 0.07103007] [-0.05452528 0.99490799 0.08477224] [-0.06655238 -0.08833027 0.99386502]] t_gt: [-0.17095451 -0.09902184 0.98029038] Pose Error in degrees for R and t: 13.019141665195736 85.29756942083127 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.99998348 -0.00354007 0.00452959] [-0.00350106 0.99995696 0.00859148] [-0.0045598 0.00857548 -0.99995283]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99267868 0.06660278 0.10076339] [-0.08155738 0.98494135 0.15244027] [-0.08909277 -0.15954181 0.98316211]] t_gt: [-0.14970533 -0.06123688 0.98683249] Pose Error in degrees for R and t: 174.27523393926305 81.42351870791815 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.94842464e-01 -1.01431098e-01 -4.52793866e-04] [ 1.01431251e-01 9.94842496e-01 3.30824531e-04] [ 4.16902684e-04 -3.75045740e-04 9.99999843e-01]] t_estimated: [[-0.99965618] [-0.02592996] [-0.00389373]] R_gt: [[ 0.99643929 0.03660595 0.07595521] [-0.03517916 0.99918069 -0.02002386] [-0.07662621 0.01728105 0.99691056]] t_gt: [-0.68147755 0.40684104 0.60833273] Pose Error in degrees for R and t: 9.091007740532172 48.06206617463837 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.27020043 0.96266767 -0.01620746] [ 0.96262898 0.27043405 0.01452118] [ 0.01836212 -0.01167815 -0.9997632 ]] t_estimated: [[0.90795747] [0.41905729] [0.0020542 ]] R_gt: [[ 0.98424103 0.15805269 0.07930805] [-0.15563665 0.98716561 -0.0358096 ] [-0.08394985 0.02290335 0.99620683]] t_gt: [-0.73226517 0.64192837 0.22741083] Pose Error in degrees for R and t: 176.4826676098731 66.70946831004393 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-9.99720455e-01 2.18746452e-02 -8.97287358e-03] [ 2.18741327e-02 9.99760720e-01 1.55265902e-04] [ 8.97412294e-03 -4.10513294e-05 -9.99959731e-01]] t_estimated: [[ 0.99977574] [ 0.02079445] [-0.00400876]] R_gt: [[ 0.95896783 0.28246122 0.02444266] [-0.2831681 0.95849525 0.03321988] [-0.01404531 -0.03877689 0.99914969]] t_gt: [-0.70556011 0.69574909 0.13460362] Pose Error in degrees for R and t: 179.41917604995487 46.2531177559137 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.37767879 0.92517229 0.03761605] [-0.92304987 0.37298505 0.09413338] [ 0.07305937 -0.07027367 0.9948487 ]] t_estimated: [[0.18672198] [0.98241222] [0.00106092]] R_gt: [[ 0.99568196 0.09281744 0.00138157] [-0.09262282 0.99437315 -0.05140552] [-0.0061448 0.05105549 0.99867653]] t_gt: [-0.32619421 0.91842489 -0.22381477] Pose Error in degrees for R and t: 63.15971120212507 32.74070488938048 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.99894537 -0.04588227 -0.00172026] [ 0.04588571 0.99894466 0.00201579] [ 0.00162596 -0.00209259 0.99999649]] t_estimated: [[-0.81312121] [-0.58209376] [-0.00086644]] R_gt: [[ 0.97316947 0.22961553 0.01475151] [-0.2289387 0.97271516 -0.03757021] [-0.02297615 0.03318427 0.9991852 ]] t_gt: [-0.32507622 0.94559739 0.0130779 ] Pose Error in degrees for R and t: 16.078608710510412 73.37471199004078 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 8.68887297e-01 -4.95009285e-01 8.20249216e-04] [ 4.95009781e-01 8.68887209e-01 -5.78704713e-04] [-4.26239846e-04 9.08860558e-04 9.99999496e-01]] t_estimated: [[-0.07057822] [-0.99750555] [-0.0011763 ]] R_gt: [[ 0.90519425 0.42384305 -0.03132124] [-0.42496079 0.90363572 -0.05338651] [ 0.00567532 0.06163532 0.99808281]] t_gt: [-0.21839201 0.97277309 -0.07757218] Pose Error in degrees for R and t: 54.91281786922454 17.284426898949583 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.93026691e-01 -1.17889661e-01 -1.35455228e-04] [ 1.17889665e-01 9.93026700e-01 2.39379223e-05] [ 1.31688625e-04 -3.97397674e-05 9.99999991e-01]] t_estimated: [[ 0.09952072] [-0.99503498] [-0.00100525]] R_gt: [[ 0.98537389 -0.16281172 -0.05030618] [ 0.16135369 0.98638352 -0.03181196] [ 0.05480049 0.0232291 0.99822726]] t_gt: [ 0.56011565 -0.75328145 -0.34472817] Pose Error in degrees for R and t: 4.264385459468494 36.328756678913635 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.32982871 0.94403767 -0.00242911] [-0.94403726 0.32981934 -0.00358384] [-0.00258211 0.00347522 0.99999063]] t_estimated: [[3.1482863e-01] [9.4914850e-01] [2.4237971e-04]] R_gt: [[ 0.95266058 -0.30100333 -0.04283701] [ 0.30113246 0.95357474 -0.00356433] [ 0.04192139 -0.00950453 0.99907672]] t_gt: [ 0.62127849 -0.77806222 -0.09290974] Pose Error in degrees for R and t: 88.30017532191835 57.11716731650696 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.99982069 0.0188878 0.00135465] [-0.01888603 0.99982079 -0.0013046 ] [-0.00137905 0.00127878 0.99999823]] t_estimated: [[9.99997459e-01] [2.19129552e-03] [5.30228777e-04]] R_gt: [[ 0.88937401 -0.45569033 -0.03686766] [ 0.45431495 0.88993547 -0.04014744] [ 0.05110528 0.01895596 0.99851394]] t_gt: [ 0.69331215 -0.71180582 -0.1124755 ] Pose Error in degrees for R and t: 28.341244660358647 46.23588640690879 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.92792671e-01 1.19842659e-01 -6.70433505e-04] [-1.19842656e-01 9.92792897e-01 4.42141555e-05] [ 6.70900363e-04 3.64510427e-05 9.99999774e-01]] t_estimated: [[0.80934291] [0.58733566] [0.00093674]] R_gt: [[ 0.99312196 -0.09466781 -0.06889855] [ 0.09846104 0.99367742 0.05394392] [ 0.06335682 -0.0603568 0.99616429]] t_gt: [ 0.54118337 -0.84075048 0.01609932] Pose Error in degrees for R and t: 13.39552396825279 86.8021101423251 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 2.71589166e-01 9.62413265e-01 1.81239999e-04] [-9.62412694e-01 2.71589203e-01 -1.05439519e-03] [-1.06398674e-03 1.11934634e-04 9.99999428e-01]] t_estimated: [[-2.75549519e-02] [ 9.99620166e-01] [ 4.98729836e-04]] R_gt: [[ 0.98684418 -0.13099971 -0.0947544 ] [ 0.14549642 0.97513192 0.16717732] [ 0.07049825 -0.17876353 0.98136246]] t_gt: [ 0.41079198 -0.81025437 0.41801652] Pose Error in degrees for R and t: 82.8821437735278 34.809208010823625 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-5.09313801e-01 -8.60576808e-01 -2.64742867e-03] [ 8.60580229e-01 -5.09314791e-01 -3.36261160e-04] [-1.05899602e-03 -2.44958722e-03 9.99996439e-01]] t_estimated: [[0.98795475] [0.1547399 ] [0.00099192]] R_gt: [[ 0.9630213 -0.17193891 -0.20743226] [ 0.20400092 0.96824279 0.14452827] [ 0.17599522 -0.18150027 0.96751425]] t_gt: [ 0.55856953 -0.82184356 0.1121305 ] Pose Error in degrees for R and t: 110.23750885266473 64.86322004053658 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999891e-01 -4.67387284e-04 2.21692051e-05] [ 4.67388969e-04 9.99999888e-01 -7.60231776e-05] [-2.21336703e-05 7.60335309e-05 9.99999997e-01]] t_estimated: [[-4.22053812e-02] [-9.99108951e-01] [ 9.55767150e-05]] R_gt: [[ 0.9933601 0.05618409 -0.10038773] [-0.04920359 0.99628248 0.0707044 ] [ 0.10398729 -0.0652952 0.99243274]] t_gt: [-0.71593172 -0.36779246 -0.59343953] Pose Error in degrees for R and t: 7.690463544720804 66.57026102791512 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.02615656 0.99965544 0.00220106] [-0.99965007 -0.0261476 -0.00400557] [-0.00394664 -0.00230506 0.99998956]] t_estimated: [[0.0448524 ] [0.9989853 ] [0.00407749]] R_gt: [[ 0.98021905 0.11744293 -0.15930116] [-0.09482634 0.98519321 0.14283264] [ 0.17371739 -0.12490045 0.97684323]] t_gt: [-0.89594679 -0.34858543 -0.27525905] Pose Error in degrees for R and t: 86.0920168868113 67.07415422519682 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-7.51488457e-01 -6.59743982e-01 -1.72532924e-03] [ 6.59743472e-01 -7.51490309e-01 9.30721937e-04] [-1.91060640e-03 -4.38847912e-04 9.99998078e-01]] t_estimated: [[ 0.99945476] [-0.03300101] [ 0.00105758]] R_gt: [[ 0.96969757 0.12642253 -0.20905364] [-0.09498907 0.98347218 0.15413726] [ 0.22508523 -0.12960794 0.96568037]] t_gt: [-0.63279303 -0.46824072 -0.61670382] Pose Error in degrees for R and t: 145.4898552803961 51.85543241258642 Number of keypoints: Image1: 472 Image2: 472 R_estimated: [[ 9.99975829e-01 6.95281630e-03 -1.26476977e-06] [-6.95281630e-03 9.99975829e-01 2.64311705e-06] [ 1.28311631e-06 -2.63425945e-06 1.00000000e+00]] t_estimated: [[9.11234507e-02] [9.95839604e-01] [2.20726152e-05]] R_gt: [[ 0.99989553 -0.00487558 0.0135891 ] [ 0.00485687 0.99998672 0.00145804] [-0.0135972 -0.00139188 0.99990678]] t_gt: [ 0.01844279 -0.19792681 0.98004329] Pose Error in degrees for R and t: 1.036113393936657 78.73184142864665 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.98778791e-01 4.94056432e-02 9.15418158e-05] [-4.94056376e-02 9.98778794e-01 -6.25862940e-05] [-9.45221405e-05 5.79871813e-05 9.99999994e-01]] t_estimated: [[0.93436854] [0.35630587] [0.00124582]] R_gt: [[ 0.99915057 -0.03904971 -0.01315501] [ 0.03927029 0.99908393 0.01698635] [ 0.01247919 -0.01748892 0.9997693 ]] t_gt: [ 0.60252299 -0.79797244 0.01435373] Pose Error in degrees for R and t: 5.224966791561378 73.81891039773531 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 5.46495799e-01 8.37461257e-01 9.92824303e-04] [ 8.37449068e-01 -5.46493626e-01 4.87592438e-03] [ 4.62596991e-03 -1.83323240e-03 -9.99987620e-01]] t_estimated: [[0.71706971] [0.69700102] [0.00077187]] R_gt: [[ 0.98832236 -0.14375736 -0.05051497] [ 0.14504755 0.98916068 0.02286269] [ 0.04668122 -0.02992256 0.99846159]] t_gt: [ 0.66243641 -0.73853584 -0.12547037] Pose Error in degrees for R and t: 177.13169057360463 87.7165029127053 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.99179778 0.12739634 0.01036074] [-0.12725777 0.99178333 -0.01308781] [-0.01194295 0.01166198 0.99986067]] t_estimated: [[-0.23234759] [-0.97261781] [-0.00540343]] R_gt: [[ 0.97495258 -0.22203908 -0.01284831] [ 0.22210563 0.97501443 0.0039439 ] [ 0.01165067 -0.0066991 0.9999092 ]] t_gt: [ 0.62789696 -0.7776156 -0.03254821] Pose Error in degrees for R and t: 20.21749346315273 52.36649898186328 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.9988787 0.04731522 0.0016186 ] [-0.04731269 0.99887889 -0.00156957] [-0.00169105 0.00149123 0.99999746]] t_estimated: [[0.02305487] [0.99973297] [0.00156606]] R_gt: [[ 0.93110036 -0.36171396 -0.04705869] [ 0.36029417 0.93214033 -0.03607168] [ 0.0569126 0.01663101 0.99823993]] t_gt: [ 0.66608159 -0.72870078 -0.15915555] Pose Error in degrees for R and t: 24.137255548403555 44.487853307316634 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-8.31898559e-02 9.96530669e-01 2.46441828e-03] [ 9.96533319e-01 8.31917760e-02 -6.86982423e-04] [-8.89618387e-04 2.39872496e-03 -9.99996727e-01]] t_estimated: [[0.99660768] [0.08228871] [0.00130617]] R_gt: [[ 0.86331232 -0.50178756 -0.05386294] [ 0.50207169 0.86477816 -0.00910689] [ 0.05114903 -0.01918141 0.99850611]] t_gt: [ 0.71627649 -0.69507167 -0.06183335] Pose Error in degrees for R and t: 177.64635554216446 48.96124729680279 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 0.7603594 -0.6492406 -0.01844523] [-0.64912526 -0.75864334 -0.05564779] [ 0.02213545 0.05428559 -0.99828007]] t_estimated: [[ 0.34362461] [ 0.9386495 ] [-0.02931279]] R_gt: [[ 0.99970211 -0.02333779 -0.00718779] [ 0.02321207 0.99958673 -0.01699628] [ 0.00758142 0.0168255 0.99983009]] t_gt: [ 0.71381776 -0.49209482 -0.49830402] Pose Error in degrees for R and t: 175.58433818120872 78.3453291311337 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99850325e-01 -1.72996593e-02 2.23943761e-04] [ 1.72997849e-02 9.99850184e-01 -5.71474404e-04] [-2.14023898e-04 5.75263047e-04 9.99999812e-01]] t_estimated: [[0.57106427] [0.82090489] [0.00087052]] R_gt: [[ 9.99688698e-01 1.08651222e-02 -2.24450153e-02] [-1.08837727e-02 9.99940910e-01 -6.98454078e-04] [ 2.24357370e-02 9.43365231e-04 9.99747645e-01]] t_gt: [ 0.79176411 0.27944842 -0.54315576] Pose Error in degrees for R and t: 2.0718976110620666 47.072222439511464 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.17788239e-01 3.97069720e-01 6.20326644e-04] [-3.97069740e-01 9.17788435e-01 -9.63646929e-05] [-6.07592122e-04 -1.57870558e-04 9.99999803e-01]] t_estimated: [[-0.39376577] [ 0.9192102 ] [ 0.00106549]] R_gt: [[ 0.99434652 0.10484741 -0.01678964] [-0.1045472 0.99436083 0.01783248] [ 0.01856453 -0.01597557 0.99970024]] t_gt: [-0.04614589 0.99831375 -0.03521658] Pose Error in degrees for R and t: 17.442564213508387 20.6433068603048 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-5.17529902e-01 -8.55663543e-01 -1.64388274e-03] [-8.55664987e-01 5.17529944e-01 4.32910576e-04] [ 4.80332742e-04 1.63065707e-03 -9.99998555e-01]] t_estimated: [[0.81987441] [0.57254277] [0.00085582]] R_gt: [[ 0.99867942 -0.04011683 -0.03209992] [ 0.04320611 0.99382868 0.1021661 ] [ 0.02780224 -0.10341755 0.99424976]] t_gt: [ 0.21348054 -0.75278308 0.62269069] Pose Error in degrees for R and t: 178.66905594715865 75.20031901882497 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 7.79047911e-01 -6.26959311e-01 -2.52507168e-03] [ 6.26964145e-01 7.79044882e-01 2.24354273e-03] [ 5.60534166e-04 -3.33095668e-03 9.99994295e-01]] t_estimated: [[0.97261683] [0.23241246] [0.00097652]] R_gt: [[ 0.98264097 -0.09726626 -0.15797945] [ 0.11133922 0.99032643 0.08280474] [ 0.14839667 -0.09895654 0.98396509]] t_gt: [ 0.5636012 -0.82211068 -0.08054634] Pose Error in degrees for R and t: 34.27044318782346 69.08266678759146 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.08723718 -0.9961854 -0.00207742] [-0.99617991 0.08722814 0.00410367] [-0.00390681 0.00242748 -0.99998942]] t_estimated: [[0.54597791] [0.83779369] [0.0031378 ]] R_gt: [[ 0.97465477 -0.1369954 -0.17686651] [ 0.15079594 0.98628951 0.06703941] [ 0.16525702 -0.09201085 0.98194932]] t_gt: [ 0.57934228 -0.80051833 -0.15340445] Pose Error in degrees for R and t: 175.90995505155414 69.21620950401167 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 0.96475869 0.26313086 -0.00168006] [ 0.26309647 -0.9644823 0.02354021] [ 0.00457377 -0.02315264 -0.99972148]] t_estimated: [[-0.11148773] [ 0.9937001 ] [ 0.01142822]] R_gt: [[ 0.99784497 -0.0193474 -0.06271204] [ 0.02366779 0.99734426 0.06888369] [ 0.06121407 -0.07021788 0.99565161]] t_gt: [ 0.0603546 -0.99427709 -0.08814981] Pose Error in degrees for R and t: 174.22430202084806 5.284634673648498 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99929136e-01 -1.19046947e-02 -2.48328874e-05] [ 1.19046924e-02 9.99929133e-01 -9.07266425e-05] [ 2.59112006e-05 9.04245854e-05 9.99999996e-01]] t_estimated: [[-0.80777227] [-0.58949302] [-0.00139031]] R_gt: [[ 0.98599558 -0.14927101 -0.0743803 ] [ 0.15166585 0.98804615 0.02762589] [ 0.06936824 -0.03851922 0.99684773]] t_gt: [ 0.43192521 -0.82256584 -0.36990006] Pose Error in degrees for R and t: 9.189735130500546 82.15382994344027 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.82607347e-01 1.85695429e-01 9.37623752e-05] [-1.85695452e-01 9.82607248e-01 4.42418119e-04] [-9.97656714e-06 -4.52134541e-04 9.99999898e-01]] t_estimated: [[0.57607128] [0.81739843] [0.00129746]] R_gt: [[ 0.94247227 -0.31088406 -0.12287237] [ 0.31524535 0.94885299 0.01730028] [ 0.11121066 -0.05503905 0.9922709 ]] t_gt: [ 0.61333151 -0.75672257 -0.22626403] Pose Error in degrees for R and t: 29.862173041588168 74.60245849777272 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 5.99587440e-01 8.00309241e-01 -1.45461590e-04] [-8.00309076e-01 5.99587176e-01 -7.75013144e-04] [-5.33033277e-04 5.81102378e-04 9.99999689e-01]] t_estimated: [[-1.89397492e-01] [ 9.81900497e-01] [ 7.08254609e-05]] R_gt: [[ 0.99911356 -0.01239001 -0.04024519] [ 0.00816082 0.9945865 -0.10359053] [ 0.04131028 0.10316949 0.9938054 ]] t_gt: [ 0.21678582 0.18015976 -0.95945108] Pose Error in degrees for R and t: 54.095236670751866 82.19671862602705 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.47462537e-01 -5.30853883e-01 -1.18435558e-03] [ 5.30855164e-01 8.47461230e-01 1.50265688e-03] [ 2.06004198e-04 -1.90216668e-03 9.99998170e-01]] t_estimated: [[ 0.69580728] [-0.71822795] [ 0.00092304]] R_gt: [[ 9.95579409e-01 -3.73411930e-05 -9.39369285e-02] [-1.17811181e-02 9.92053287e-01 -1.25261509e-01] [ 9.31955626e-02 1.25813929e-01 9.87666592e-01]] t_gt: [ 0.17027738 0.28069103 -0.944573 ] Pose Error in degrees for R and t: 33.61377197563597 85.18194900473094 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-1.02456374e-01 -9.94655877e-01 -1.27427677e-02] [ 9.94737354e-01 -1.02441033e-01 -1.85258429e-03] [ 5.37301568e-04 -1.28655161e-02 9.99917091e-01]] t_estimated: [[0.99792647] [0.06386729] [0.00798341]] R_gt: [[ 0.99184225 0.00524685 -0.12737092] [-0.02474816 0.98806772 -0.15201707] [ 0.12505364 0.15392929 0.98013647]] t_gt: [ 0.16202165 0.32538369 -0.93159779] Pose Error in degrees for R and t: 97.25668065306843 79.91961141522977 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99974702e-01 7.11238478e-03 -9.32111211e-05] [-7.11237567e-03 9.99974702e-01 9.77829068e-05] [ 9.39042327e-05 -9.71174806e-05 9.99999991e-01]] t_estimated: [[8.15382796e-01] [5.78921785e-01] [6.79485664e-04]] R_gt: [[ 0.98499455 -0.17242866 -0.00736404] [ 0.17254677 0.98477864 0.0209304 ] [ 0.00364356 -0.02188569 0.99975445]] t_gt: [ 0.96729805 -0.2276237 0.11190147] Pose Error in degrees for R and t: 10.418001809962597 48.92716434641771 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999830e-01 -4.30510895e-04 3.93858714e-04] [ 4.30646327e-04 9.99999848e-01 -3.43840986e-04] [-3.93710627e-04 3.44010541e-04 9.99999863e-01]] t_estimated: [[8.01223461e-01] [5.98364785e-01] [7.41485557e-04]] R_gt: [[ 0.98915347 -0.14654142 0.0100041 ] [ 0.14656008 0.989201 -0.00111664] [-0.00973212 0.00257155 0.99994967]] t_gt: [ 0.97865696 -0.20377539 -0.02657358] Pose Error in degrees for R and t: 8.420710399100422 48.534328737070965 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-1.70432978e-01 -9.85366707e-01 2.24766280e-03] [-9.85369270e-01 1.70432640e-01 -3.42590265e-04] [-4.54980629e-05 -2.27316653e-03 -9.99997415e-01]] t_estimated: [[0.78310053] [0.62189346] [0.00144299]] R_gt: [[ 0.94457276 -0.32817389 -0.00918068] [ 0.32828873 0.94442123 0.01716771] [ 0.0030362 -0.01922902 0.99981047]] t_gt: [ 0.99426666 -0.0957901 0.04751915] Pose Error in degrees for R and t: 179.52397522923243 44.01910923922906 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.9949128 -0.10072266 -0.00186322] [ 0.10072496 0.9949136 0.00118669] [ 0.00173422 -0.00136833 0.99999756]] t_estimated: [[ 0.62813974] [-0.77799292] [-0.0129413 ]] R_gt: [[ 0.99794078 -0.06373319 0.00734023] [ 0.06341364 0.99727409 0.03771178] [-0.00972453 -0.03716853 0.99926098]] t_gt: [ 0.39339152 -0.79336481 0.46455934] Pose Error in degrees for R and t: 3.0343599424529373 30.87096241676391 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.93776814 0.3469139 0.0155455 ] [ 0.34692649 0.93789026 -0.00196634] [-0.01526212 0.00354917 -0.99987723]] t_estimated: [[ 0.98533263] [-0.17045632] [ 0.00801531]] R_gt: [[ 0.98502274 -0.17236059 -0.00462297] [ 0.17210827 0.9844923 -0.03397756] [ 0.01040744 0.03267338 0.99941186]] t_gt: [ 0.96857803 -0.15130345 -0.19739265] Pose Error in degrees for R and t: 179.1890223477577 11.8802491055122 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-7.92252179e-01 -6.10192626e-01 -1.20193657e-03] [-6.10193555e-01 7.92252109e-01 6.48454400e-04] [ 5.56554690e-04 1.24715336e-03 -9.99999067e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96701137 -0.25471409 0.00306426] [ 0.25470615 0.96667689 -0.02569816] [ 0.00358327 0.02563151 0.99966497]] t_gt: [ 0.98403459 -0.14614368 -0.10157727] Pose Error in degrees for R and t: 179.45909955809822 45.4665181903837 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.87470644 -0.48462959 -0.0047762 ] [-0.48455011 0.87468122 -0.01199809] [ 0.00999228 -0.0081805 -0.99991661]] t_estimated: [[8.14857234e-01] [5.79661319e-01] [6.66277378e-04]] R_gt: [[ 0.95346574 -0.30000657 0.02998135] [ 0.30115627 0.95240896 -0.04714138] [-0.01441191 0.05397666 0.99843813]] t_gt: [ 0.98226635 -0.07823929 -0.17038613] Pose Error in degrees for R and t: 179.96660058989406 40.979782787416354 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99713663 -0.06897661 0.03099643] [ 0.06996586 0.99703435 -0.03205133] [-0.02869372 0.03412824 0.99900547]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.99829906 0.01596771 -0.05608377] [-0.01959903 0.99770368 -0.06482706] [ 0.05492002 0.06581596 0.99631901]] t_gt: [ 0.02378211 0.3971683 -0.9174376 ] Pose Error in degrees for R and t: 7.240756118794456 85.84785212216767 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.94657938 0.32240565 -0.00648648] [ 0.3224339 -0.94597467 0.03418045] [ 0.00488392 -0.03444597 -0.99939463]] t_estimated: [[-0.17391767] [ 0.98461246] [ 0.01705693]] R_gt: [[ 0.99519197 0.02989419 -0.09327176] [-0.03743403 0.99607815 -0.0801642 ] [ 0.09050948 0.08326997 0.99240784]] t_gt: [ 0.02146445 0.43799833 -0.8987195 ] Pose Error in degrees for R and t: 178.2217445066954 65.65713045337452 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.45047951e-01 -3.26930696e-01 -8.30614749e-04] [ 3.26931474e-01 9.45047410e-01 1.09777710e-03] [ 4.26073286e-04 -1.30900610e-03 9.99999052e-01]] t_estimated: [[-3.51275788e-01] [-9.36271999e-01] [-2.54877088e-04]] R_gt: [[ 0.9889377 0.04840738 -0.14020857] [-0.06464016 0.9914154 -0.11365011] [ 0.13350337 0.12145575 0.98357783]] t_gt: [ 0.02860404 0.46766905 -0.8834407 ] Pose Error in degrees for R and t: 24.630014705965632 63.40454406123915 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99999528e-01 4.85996842e-04 -8.41689795e-04] [-4.84975602e-04 9.99999147e-01 1.21310025e-03] [ 8.42278640e-04 -1.21269147e-03 9.99998910e-01]] t_estimated: [[-0.75840042] [-0.65178842] [-0.00081327]] R_gt: [[ 0.99696983 -0.04930031 -0.06016649] [ 0.05061945 0.99850548 0.02059327] [ 0.05906163 -0.02357521 0.99797614]] t_gt: [ 0.551716 -0.67052955 -0.49598345] Pose Error in degrees for R and t: 4.601167935700588 88.9098757446072 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99884989e-01 -1.51642061e-02 2.34351577e-04] [ 1.51643157e-02 9.99884903e-01 -4.73108212e-04] [-2.27150294e-04 4.76607580e-04 9.99999861e-01]] t_estimated: [[0.58928969] [0.80792052] [0.00144789]] R_gt: [[ 0.98784081 -0.11755182 -0.10174439] [ 0.1246887 0.98994102 0.06685249] [ 0.09286238 -0.0787262 0.99256169]] t_gt: [ 0.49292575 -0.832716 -0.25220679] Pose Error in degrees for R and t: 9.306433540417235 67.50161161457281 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99998880e-01 1.22794534e-04 -1.49143011e-03] [-1.19487580e-04 9.99997535e-01 2.21719109e-03] [ 1.49169869e-03 -2.21701040e-03 9.99996430e-01]] t_estimated: [[-0.72116464] [-0.69276261] [-0.00123487]] R_gt: [[ 0.95665729 -0.26253774 -0.12601705] [ 0.26389469 0.96453239 -0.00611063] [ 0.12315166 -0.02740869 0.99200938]] t_gt: [ 0.61563736 -0.68045273 -0.39746033] Pose Error in degrees for R and t: 16.907881614177803 88.40083190657217 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.96420698e-01 -8.45324118e-02 2.54422617e-04] [ 8.45324695e-02 9.96420700e-01 -2.25342598e-04] [-2.34463209e-04 2.46043001e-04 9.99999942e-01]] t_estimated: [[8.44498358e-01] [5.35557699e-01] [6.88558971e-04]] R_gt: [[ 0.99301323 -0.06895853 -0.09575256] [ 0.06782401 0.99758355 -0.01506344] [ 0.09656027 0.00846514 0.99529166]] t_gt: [ 0.58129636 -0.52051268 -0.62542873] Pose Error in degrees for R and t: 5.649782656007078 77.77750050507593 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.94277157 -0.33329502 0.00980761] [-0.3330022 0.94263393 0.02346944] [-0.01706723 0.01886036 -0.99967645]] t_estimated: [[0.91748403] [0.39776997] [0.00145172]] R_gt: [[ 0.98495009 -0.13997724 -0.10139338] [ 0.13520205 0.98942294 -0.05257009] [ 0.10767981 0.03807159 0.99345709]] t_gt: [ 0.64224124 -0.52023827 -0.56291947] Pose Error in degrees for R and t: 174.49384771571545 67.57376247304589 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.55278299 0.83289979 -0.02662546] [-0.83245089 0.5504578 -0.06341713] [-0.03816393 0.0572203 0.99763187]] t_estimated: [[0.60064792] [0.79951108] [0.00202922]] R_gt: [[ 0.97593737 -0.21802619 0.00324494] [ 0.21770813 0.97345657 -0.07061507] [ 0.01223825 0.06962242 0.99749787]] t_gt: [ 0.72464696 -0.61428393 -0.3123172 ] Pose Error in degrees for R and t: 69.03646973226725 86.76089851662478 Number of keypoints: Image1: 474 Image2: 474 R_estimated: [[ 9.99885802e-01 1.51123302e-02 3.19016270e-06] [-1.51123302e-02 9.99885802e-01 -1.21669289e-06] [-3.20818546e-06 1.16834316e-06 1.00000000e+00]] t_estimated: [[9.79085670e-01] [2.03446373e-01] [9.08242736e-04]] R_gt: [[ 0.99996809 -0.00718663 -0.0034424 ] [ 0.00714545 0.99990794 -0.01158006] [ 0.00352516 0.01155531 0.99992671]] t_gt: [ 0.31915943 -0.30631485 -0.89683247] Pose Error in degrees for R and t: 1.4520387700840307 75.56087490578818 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.9872498 0.15916536 0.00205218] [-0.1591522 0.98723884 -0.00548146] [-0.00289845 0.00508496 0.99998287]] t_estimated: [[-0.95628959] [-0.29241913] [-0.00112903]] R_gt: [[ 0.99496426 -0.0912263 -0.04151481] [ 0.09162715 0.99576315 0.00787041] [ 0.04062176 -0.01163395 0.99910689]] t_gt: [ 0.6358693 -0.72070964 -0.27613015] Pose Error in degrees for R and t: 14.645640399293805 66.60834957276815 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.06361091e-01 -4.22503928e-01 5.58088125e-05] [ 4.22503903e-01 9.06360972e-01 -4.90929635e-04] [ 1.56836770e-04 4.68538961e-04 9.99999878e-01]] t_estimated: [[-0.30572609] [-0.9521184 ] [-0.00145584]] R_gt: [[ 0.97102837 -0.22004046 -0.09320193] [ 0.22247403 0.97480045 0.01646318] [ 0.08723024 -0.03672082 0.99551084]] t_gt: [ 0.69495666 -0.68966659 -0.20345816] Pose Error in degrees for R and t: 13.334365947621224 63.61030517308804 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.97218234e-01 -7.45369791e-02 1.82480604e-04] [ 7.45369733e-02 9.97218250e-01 3.81799218e-05] [-1.84818805e-04 -2.44721622e-05 9.99999983e-01]] t_estimated: [[ 0.96017269] [-0.27940519] [ 0.00107359]] R_gt: [[ 0.99580216 -0.08413964 0.03602418] [ 0.08466164 0.9963221 -0.01321636] [-0.03478042 0.01621033 0.9992636 ]] t_gt: [ 0.7086498 -0.69247955 0.1352314 ] Pose Error in degrees for R and t: 2.262944844262739 29.0668160450357 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99988959e-01 -4.69918519e-03 1.15772378e-05] [ 4.69918539e-03 9.99988959e-01 -1.71385471e-05] [-1.14965728e-05 1.71927615e-05 1.00000000e+00]] t_estimated: [[ 0.65016009] [-0.75979675] [-0.00087493]] R_gt: [[ 0.99301411 -0.11282487 0.03454053] [ 0.11391088 0.99299837 -0.03126615] [-0.03077199 0.03498307 0.99891441]] t_gt: [ 0.73612364 -0.67544193 -0.04359124] Pose Error in degrees for R and t: 6.789997492462182 7.326788961735914 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.94611362e-01 1.03673551e-01 1.81954893e-04] [-1.03673538e-01 9.94611377e-01 -8.17221985e-05] [-1.89446837e-04 6.24179198e-05 9.99999980e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99328975 -0.10637375 0.04536942] [ 0.10747431 0.99395148 -0.02256666] [-0.0426951 0.02729215 0.99871558]] t_gt: [ 0.7855382 -0.616669 0.05146922] Pose Error in degrees for R and t: 12.432878189590063 52.287194330901826 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999952e-01 -1.75190279e-04 -2.55055717e-04] [ 1.75190392e-04 9.99999985e-01 4.22195546e-07] [ 2.55055639e-04 -4.66878837e-07 9.99999967e-01]] t_estimated: [[-0.82379168] [-0.56689199] [-0.00085633]] R_gt: [[ 0.99024455 0.13932865 0.0013989 ] [-0.13930171 0.98973159 0.03201842] [ 0.00307576 -0.03190098 0.99948649]] t_gt: [-0.453685 0.88748652 0.08085538] Pose Error in degrees for R and t: 8.227728128096166 82.56298010651204 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 8.28500582e-01 5.59987793e-01 6.75623029e-04] [-5.59986411e-01 8.28500382e-01 -1.52841239e-03] [-1.41564622e-03 8.87950837e-04 9.99998604e-01]] t_estimated: [[0.56433278] [0.82554622] [0.00139686]] R_gt: [[ 0.96962508 0.24458642 0.00214375] [-0.24452625 0.96952142 -0.0153479 ] [-0.00583333 0.01435736 0.99987989]] t_gt: [-0.37145062 0.92793684 -0.03094595] Pose Error in degrees for R and t: 19.914408500200175 56.19350814016795 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99995117 -0.00437421 -0.00886121] [ 0.00451062 0.99987073 0.01543276] [ 0.00879256 -0.01547198 0.99984164]] t_estimated: [[0.50563776] [0.86274443] [0.00158012]] R_gt: [[ 0.93003753 0.36719779 -0.01398596] [-0.36739346 0.92843949 -0.0549641 ] [-0.00719877 0.05625724 0.99839042]] t_gt: [-0.28210133 0.95650849 -0.07423173] Pose Error in degrees for R and t: 22.20899468411358 46.963510155617904 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99992897e-01 -3.76908513e-03 -1.45165099e-06] [ 3.76908510e-03 9.99992897e-01 -1.66264656e-05] [ 1.51430724e-06 1.66208761e-05 1.00000000e+00]] t_estimated: [[ 9.99900968e-01] [-1.40731689e-02] [-4.04367308e-06]] R_gt: [[ 0.99549585 -0.09243931 -0.02105322] [ 0.09274272 0.99559295 0.0139494 ] [ 0.01967111 -0.01583894 0.99968122]] t_gt: [ 0.51532202 -0.85062579 -0.10430237] Pose Error in degrees for R and t: 5.298751848538113 58.180675898305665 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.45479244e-01 3.25682257e-01 2.59384572e-04] [-3.25682237e-01 9.45479279e-01 -1.16805678e-04] [-2.83284275e-04 2.59603962e-05 9.99999960e-01]] t_estimated: [[0.5010824 ] [0.86539878] [0.00117902]] R_gt: [[ 9.52340506e-01 -3.02872003e-01 3.62868504e-02] [ 3.03058659e-01 9.52972241e-01 3.32754936e-04] [-3.46811393e-02 1.06801920e-02 9.99342486e-01]] t_gt: [ 0.61612504 -0.78397134 0.07601891] Pose Error in degrees for R and t: 36.704627453191286 68.3072739743281 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.97890668e-01 6.49134965e-02 6.72670181e-04] [-6.49123432e-02 9.97889665e-01 -1.61400350e-03] [-7.76021231e-04 1.56693443e-03 9.99998471e-01]] t_estimated: [[0.56497886] [0.82510454] [0.00117704]] R_gt: [[ 0.89500713 -0.44603376 0.00413655] [ 0.44588907 0.89489217 0.01876257] [-0.01206981 -0.014948 0.9998155 ]] t_gt: [ 0.68611561 -0.72614975 0.04418054] Pose Error in degrees for R and t: 30.231399267977004 77.79227138013918 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.95610734 0.29299908 0.0032088 ] [-0.2930112 0.95609901 0.00437315] [-0.0017866 -0.00512142 0.99998529]] t_estimated: [[-0.506201 ] [ 0.86228178] [ 0.01518816]] R_gt: [[ 0.98714949 -0.15357423 0.04416689] [ 0.15361812 0.98812735 0.002414 ] [-0.04401217 0.00440109 0.99902162]] t_gt: [ 0.33212723 -0.9096706 0.24938104] Pose Error in degrees for R and t: 25.98779557665729 18.426869874205657 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99999984e-01 -2.86327863e-06 1.78574101e-04] [ 2.93817945e-06 9.99999912e-01 -4.19439481e-04] [-1.78572884e-04 4.19439999e-04 9.99999896e-01]] t_estimated: [[6.93081451e-01] [7.20859174e-01] [3.92400821e-04]] R_gt: [[ 0.97075423 -0.23624114 0.04275027] [ 0.23545782 0.97162186 0.02257517] [-0.04686903 -0.01184928 0.99883077]] t_gt: [ 0.29841909 -0.91766471 0.26236906] Pose Error in degrees for R and t: 13.926613378364639 62.962386124221396 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.99322419 0.11619344 0.00218776] [ 0.11620877 -0.99318239 -0.00917983] [ 0.00110621 0.00937187 -0.99995547]] t_estimated: [[-0.0462972 ] [ 0.99892049] [-0.00379826]] R_gt: [[ 0.92559275 -0.37573809 0.04581506] [ 0.3769412 0.92599872 -0.02097793] [-0.03454199 0.03668575 0.99872991]] t_gt: [ 0.47152377 -0.88179418 -0.0102152 ] Pose Error in degrees for R and t: 177.64160859884032 25.493554730952546 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.81577237e-01 1.91065753e-01 7.53259194e-05] [-1.91065748e-01 9.81577239e-01 -6.53076527e-05] [-8.64162638e-05 4.97123021e-05 9.99999995e-01]] t_estimated: [[0.80917617] [0.58756549] [0.00084908]] R_gt: [[ 0.98997079 -0.13489271 0.04198572] [ 0.13467091 0.99085651 0.00808514] [-0.0426923 -0.00234913 0.99908473]] t_gt: [ 0.6670018 -0.70508676 0.24075144] Pose Error in degrees for R and t: 18.92202538801893 82.78218333592893 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 7.33476697e-01 6.79714335e-01 -5.98373351e-04] [ 6.79634161e-01 -7.33376071e-01 1.60295212e-02] [ 1.04566626e-02 -1.21639552e-02 -9.99871340e-01]] t_estimated: [[7.32742330e-01] [6.80505816e-01] [7.15568682e-04]] R_gt: [[ 0.95999398 -0.28001852 -0.001495 ] [ 0.28000922 0.95988018 0.01496006] [-0.00275368 -0.0147792 0.99988637]] t_gt: [ 0.77174279 -0.63535321 0.02719115] Pose Error in degrees for R and t: 178.39439590620267 82.3485444388707 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.98020062e-01 6.28957796e-02 -2.77063657e-04] [-6.28955769e-02 9.98019876e-01 6.88035073e-04] [ 3.19789539e-04 -6.69246728e-04 9.99999725e-01]] t_estimated: [[0.75414464] [0.65670788] [0.00079217]] R_gt: [[ 0.88522735 -0.46414319 -0.03070739] [ 0.46477886 0.88524214 0.01806864] [ 0.01879661 -0.03026675 0.99936468]] t_gt: [ 0.83408872 -0.55160987 0.00474869] Pose Error in degrees for R and t: 31.353300757169368 74.52720788703522 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.79823999e-01 -1.99861639e-01 -5.06713610e-04] [ 1.99861696e-01 9.79824116e-01 6.40363351e-05] [ 4.83691809e-04 -1.64016979e-04 9.99999870e-01]] t_estimated: [[-0.35932747] [-0.93320955] [-0.00192332]] R_gt: [[ 0.99002233 0.1402583 -0.01353038] [-0.1404282 0.99000989 -0.0126079 ] [ 0.01162627 0.0143831 0.99982837]] t_gt: [-0.61538869 0.77514468 -0.14299466] Pose Error in degrees for R and t: 19.62497445676443 59.86949167170711 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99932177e-01 1.16430501e-02 -2.83871643e-04] [-1.16429976e-02 9.99932201e-01 1.85625299e-04] [ 2.86013641e-04 -1.82307592e-04 9.99999942e-01]] t_estimated: [[-9.83547395e-01] [-1.80649513e-01] [-5.24316055e-04]] R_gt: [[ 0.97161784 0.23012759 -0.05478635] [-0.22983455 0.97315953 0.01167129] [ 0.05600183 0.00125222 0.99843006]] t_gt: [-0.59475094 0.78037116 -0.19311183] Pose Error in degrees for R and t: 13.035073667596413 63.63465605501641 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.75255946e-01 -2.21077780e-01 -6.74562261e-04] [ 2.21078044e-01 9.75256059e-01 3.44466959e-04] [ 5.81716941e-04 -4.85074355e-04 9.99999713e-01]] t_estimated: [[-0.38370915] [-0.92345348] [-0.00098135]] R_gt: [[ 0.93098496 0.3619545 -0.0475183 ] [-0.36056499 0.93206008 0.03543901] [ 0.05711679 -0.01585945 0.99824086]] t_gt: [-0.57359866 0.81346548 -0.09622108] Pose Error in degrees for R and t: 34.129736188423344 57.9264101637315 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.98610613e-01 -5.26956428e-02 1.15810504e-04] [ 5.26956313e-02 9.98610615e-01 1.00139487e-04] [-1.20926513e-04 -9.38976465e-05 9.99999988e-01]] t_estimated: [[0.4540493 ] [0.89097576] [0.0011949 ]] R_gt: [[ 0.99796541 -0.00571602 0.06349418] [ 0.01091355 0.99658905 -0.0817965 ] [-0.06280961 0.08232361 0.99462433]] t_gt: [-0.17015225 0.51168097 -0.84215842] Pose Error in degrees for R and t: 6.464679774762012 67.81294883121257 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.9781821 -0.20743866 -0.01135738] [-0.20751928 0.97820974 0.00643905] [ 0.00977419 0.00865544 -0.99991477]] t_estimated: [[ 0.98663891] [ 0.1627721 ] [-0.00699277]] R_gt: [[ 0.99279384 0.04486214 0.11111429] [-0.02662948 0.98668491 -0.16044698] [-0.11683308 0.15633265 0.98077057]] t_gt: [-0.62122015 0.67346278 -0.4006662 ] Pose Error in degrees for R and t: 175.0362498816567 59.96709621048174 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-7.52195195e-01 -6.58931963e-01 -3.32524988e-03] [-6.58940352e-01 7.52185337e-01 3.85126971e-03] [-3.65205031e-05 5.08804790e-03 -9.99987055e-01]] t_estimated: [[8.55841589e-01] [5.17237596e-01] [6.66543294e-04]] R_gt: [[ 0.9845614 0.09614625 0.1462664 ] [-0.06982801 0.98200345 -0.17547763] [-0.16050569 0.16255516 0.97355793]] t_gt: [-0.72814733 0.6846987 -0.03145097] Pose Error in degrees for R and t: 175.25645728189028 74.39238537393499 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 8.55763846e-01 5.17365889e-01 8.81795354e-04] [-5.17365961e-01 8.55764241e-01 -1.61988230e-04] [-8.38416116e-04 -3.17587230e-04 9.99999598e-01]] t_estimated: [[0.30357244] [0.95280639] [0.00194041]] R_gt: [[ 0.99329765 0.11349682 -0.02187704] [-0.1133507 0.99352487 0.00783137] [ 0.02262344 -0.00529882 0.9997301 ]] t_gt: [-0.65793653 0.73756688 -0.15203495] Pose Error in degrees for R and t: 24.680115000912952 59.819085650393966 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.95971365e-01 -8.96715520e-02 -2.30899537e-04] [ 8.96716196e-02 9.95971340e-01 3.01224272e-04] [ 2.02958073e-04 -3.20715884e-04 9.99999928e-01]] t_estimated: [[-8.38502929e-01] [-5.44896701e-01] [-6.51011590e-04]] R_gt: [[ 0.97258291 0.22937134 -0.03836599] [-0.22787447 0.97288109 0.03970932] [ 0.04643379 -0.02987775 0.9984748 ]] t_gt: [-0.65396203 0.75262425 -0.07674896] Pose Error in degrees for R and t: 18.635697450153742 82.05071173401214 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.09286262e-01 4.16170913e-01 -5.15512765e-04] [-4.16167869e-01 9.09283196e-01 2.89384240e-03] [ 1.67308013e-03 -2.41679129e-03 9.99995680e-01]] t_estimated: [[8.37531061e-01] [5.46389311e-01] [6.64707192e-04]] R_gt: [[ 0.92355442 0.38035588 -0.04875877] [-0.37939619 0.92481131 0.0279817 ] [ 0.05573559 -0.00734356 0.99841847]] t_gt: [-0.5678321 0.81572414 -0.11027617] Pose Error in degrees for R and t: 3.841008934986388 88.28388567030969 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.76322245 0.63812386 -0.10143679] [ 0.63715768 0.76936487 0.04591073] [ 0.10733864 -0.02959113 -0.99378206]] t_estimated: [[ 0.91729645] [-0.39098903] [-0.07546395]] R_gt: [[ 0.99781164 -0.05416433 -0.03792347] [ 0.04911884 0.9911615 -0.12323716] [ 0.04426243 0.12110519 0.99165219]] t_gt: [ 0.44613399 -0.14864112 -0.88253628] Pose Error in degrees for R and t: 173.82189154522482 57.727008182686816 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-7.81889494e-01 -6.23411858e-01 -2.54440590e-03] [-6.23417048e-01 7.81882634e-01 3.27565864e-03] [-5.26576489e-05 4.14742910e-03 -9.99991398e-01]] t_estimated: [[8.14835807e-01] [5.79691385e-01] [7.10406109e-04]] R_gt: [[ 0.99544638 -0.06229839 -0.07215313] [ 0.04709151 0.97947178 -0.19600883] [ 0.08288198 0.19171944 0.97794392]] t_gt: [ 0.36969361 0.04963044 -0.92782728] Pose Error in degrees for R and t: 172.01736081145515 70.7706237323086 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.88552077e-01 -1.50880044e-01 -6.19439816e-05] [ 1.50880056e-01 9.88552019e-01 3.38059021e-04] [ 1.02284882e-05 -3.43535058e-04 9.99999941e-01]] t_estimated: [[2.43313586e-01] [9.69947567e-01] [4.64509325e-04]] R_gt: [[ 0.99106805 -0.04330645 -0.12613519] [ 0.01661404 0.97853219 -0.20542594] [ 0.13232279 0.20149591 0.97051002]] t_gt: [ 0.31097054 0.16686967 -0.93565583] Pose Error in degrees for R and t: 15.584173258734145 76.28552633786364 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.98973781 -0.14288602 0.00162759] [ 0.14288891 0.98973705 -0.00182643] [-0.00134992 0.00204025 0.99999701]] t_estimated: [[-0.63161596] [-0.77528096] [-0.00085009]] R_gt: [[ 9.88491627e-01 -1.51267485e-01 7.68907136e-04] [ 1.51203507e-01 9.87896199e-01 -3.46190769e-02] [ 4.47650841e-03 3.43370178e-02 9.99399550e-01]] t_gt: [ 0.73539067 -0.66585981 -0.12582239] Pose Error in degrees for R and t: 1.9436172092582844 87.02782898574418 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99161327e-01 -4.09465334e-02 -1.53539058e-04] [ 4.09465730e-02 9.99161302e-01 2.64771260e-04] [ 1.42568820e-04 -2.70836102e-04 9.99999953e-01]] t_estimated: [[0.98829541] [0.15254835] [0.00108963]] R_gt: [[ 0.9628335 -0.26906999 0.02347567] [ 0.26983275 0.9620789 -0.03993431] [-0.01184028 0.04478476 0.99892636]] t_gt: [ 0.77212324 -0.63358323 -0.04896927] Pose Error in degrees for R and t: 13.558449947733717 48.211685317388216 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-3.21180620e-02 -9.99478182e-01 -3.43411393e-03] [ 9.99484055e-01 -3.21170780e-02 -3.41315705e-04] [ 2.30843896e-04 -3.44330452e-03 9.99994045e-01]] t_estimated: [[9.99994892e-01] [3.10075910e-03] [7.75189839e-04]] R_gt: [[ 0.91865533 -0.39366888 0.03311882] [ 0.39463358 0.91832749 -0.03064525] [-0.01834912 0.04122212 0.99898114]] t_gt: [ 0.81251319 -0.58252274 -0.02212639] Pose Error in degrees for R and t: 68.66564151547966 35.83702737644887 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-1.95906007e-01 9.80594189e-01 7.47482284e-03] [-9.80622428e-01 -1.95905712e-01 -7.78784419e-04] [ 7.00689018e-04 -7.48254747e-03 9.99971760e-01]] t_estimated: [[0.57989104] [0.81469355] [0.0008894 ]] R_gt: [[ 0.98642071 -0.16381126 0.01186111] [ 0.16283998 0.98487067 0.0592674 ] [-0.02138949 -0.05653101 0.99817163]] t_gt: [ 0.57571128 -0.74611639 0.33446503] Pose Error in degrees for R and t: 110.72942718843868 74.11491103408906 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 8.43324038e-01 5.37405284e-01 3.59017727e-04] [-5.37401619e-01 8.43320418e-01 -3.18944026e-03] [-2.01678903e-03 2.49679493e-03 9.99994849e-01]] t_estimated: [[0.71666044] [0.69742123] [0.00120245]] R_gt: [[ 0.92420951 -0.38188306 -0.00165432] [ 0.38064035 0.92083544 0.08470733] [-0.03082526 -0.07891684 0.99640476]] t_gt: [ 0.74063608 -0.63764759 0.21181066] Pose Error in degrees for R and t: 55.1737754159095 85.04747324571932 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.09842652e-01 -4.14938219e-01 3.55290667e-03] [-4.14943099e-01 -9.09847067e-01 7.34100051e-04] [ 2.92799555e-03 -2.14216964e-03 -9.99993419e-01]] t_estimated: [[0.56029028] [0.8282958 ] [0.00093382]] R_gt: [[ 0.85896802 -0.51149409 -0.02342079] [ 0.51059292 0.85223644 0.11396495] [-0.03833225 -0.10985044 0.99320894]] t_gt: [ 0.79611795 -0.56572005 0.2148419 ] Pose Error in degrees for R and t: 173.36048333736457 88.72072145574933 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.99953068 -0.030603 -0.00137057] [ 0.03060458 0.99953091 0.00114815] [ 0.00133479 -0.00118956 0.9999984 ]] t_estimated: [[-7.83508887e-01] [-6.21380208e-01] [-6.78362673e-04]] R_gt: [[ 0.99378651 0.11083406 -0.01022674] [-0.11096257 0.99374005 -0.01295152] [ 0.00872815 0.01400692 0.99986413]] t_gt: [-0.43154734 0.88953492 -0.14998173] Pose Error in degrees for R and t: 8.177799203557642 77.61283846735043 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99887699e-01 -1.49350938e-02 -1.23822417e-03] [ 1.49351062e-02 9.99888465e-01 7.34781192e-07] [ 1.23807509e-03 -1.92277081e-05 9.99999233e-01]] t_estimated: [[-0.62986445] [-0.77670401] [-0.00128807]] R_gt: [[ 0.97101342 0.23792341 -0.02292738] [-0.23880252 0.96978239 -0.04994999] [ 0.01035137 0.05397806 0.99848828]] t_gt: [-0.33458078 0.9283273 -0.16206209] Pose Error in degrees for R and t: 14.985089582741171 59.330424780323696 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.97074147e-01 -7.64402755e-02 1.73483919e-04] [ 7.64403389e-02 9.97074079e-01 -3.94388468e-04] [-1.42829155e-04 4.06495715e-04 9.99999907e-01]] t_estimated: [[-7.77067376e-01] [-6.29416964e-01] [-7.61084599e-04]] R_gt: [[ 9.33967181e-01 3.55080687e-01 -4.02740152e-02] [-3.57358433e-01 9.28057624e-01 -1.04904231e-01] [ 1.27608510e-04 1.12369912e-01 9.93666296e-01]] t_gt: [-0.26689367 0.95002731 -0.16191319] Pose Error in degrees for R and t: 26.112450113933747 67.0177642659349 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 1.00000000e+00 -6.63358257e-14 -7.96598031e-14] [ 6.63358257e-14 1.00000000e+00 3.27073438e-14] [ 7.98378291e-14 -3.38480329e-14 1.00000000e+00]] t_estimated: [[0.80076345] [0.59897872] [0.0015474 ]] R_gt: [[ 9.92691168e-01 -1.20430911e-01 7.78002444e-03] [ 1.20438053e-01 9.92721361e-01 -4.88671549e-04] [-7.66418657e-03 1.42206510e-03 9.99968493e-01]] t_gt: [ 0.561581 -0.82522384 0.06026938] Pose Error in degrees for R and t: 6.931800283613492 87.4492250314173 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.55617557e-01 -2.94606894e-01 1.36508678e-03] [ 2.94607792e-01 9.55618120e-01 -5.06887086e-04] [-1.15516923e-03 8.86555399e-04 9.99998940e-01]] t_estimated: [[0.74728339] [0.66450505] [0.00075943]] R_gt: [[ 0.96327238 -0.26851768 0.00213492] [ 0.26843909 0.96313357 0.01774541] [-0.00681981 -0.01652051 0.99983975]] t_gt: [ 0.6147062 -0.78671302 0.05673551] Pose Error in degrees for R and t: 1.8785329536654616 86.36661979411153 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.56016793e-01 2.93311903e-01 1.35248678e-04] [-2.93311902e-01 9.56016803e-01 -2.46693070e-05] [-1.36535810e-04 -1.60857753e-05 9.99999991e-01]] t_estimated: [[-0.76806605] [-0.64037013] [-0.00080334]] R_gt: [[ 0.89850859 -0.43690326 0.04240037] [ 0.43680473 0.89947537 0.0120365 ] [-0.04339674 0.00770533 0.99902692]] t_gt: [ 0.67424961 -0.73384359 0.08283144] Pose Error in degrees for R and t: 43.04347224985705 87.24855859344876 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.71740940e-01 -2.36049577e-01 -3.77664969e-04] [ 2.36049571e-01 9.71741013e-01 -6.16740194e-05] [ 3.81550666e-04 -2.92164844e-05 9.99999927e-01]] t_estimated: [[ 9.90701770e-01] [ 1.36051414e-01] [-1.25847876e-04]] R_gt: [[ 0.99894169 0.04361632 -0.01461747] [-0.0435923 0.99904754 0.00191601] [ 0.01468733 -0.00127692 0.99989126]] t_gt: [-0.29371877 0.95588906 0.0023202 ] Pose Error in degrees for R and t: 16.173556983119234 80.73865802619004 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.89990833e-01 1.41131667e-01 5.23950397e-05] [-1.41131665e-01 9.89990834e-01 -4.63206589e-05] [-5.84079209e-05 3.84624285e-05 9.99999998e-01]] t_estimated: [[0.72631486] [0.68736167] [0.00081152]] R_gt: [[ 9.99816047e-01 -1.91814722e-02 3.56258123e-04] [ 1.91849192e-02 9.99554799e-01 -2.28576917e-02] [ 8.21913900e-05 2.28604287e-02 9.99738983e-01]] t_gt: [ 0.5890435 0.68992375 -0.42075288] Pose Error in degrees for R and t: 9.304679179437604 25.615350410542693 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.86705855 0.49819325 0.00359868] [-0.49816932 0.86705961 -0.00591311] [-0.00606614 0.00333426 0.99997604]] t_estimated: [[0.42233171] [0.90644066] [0.00112322]] R_gt: [[ 0.99351635 -0.055309 0.09933466] [ 0.06959274 0.98674047 -0.14662944] [-0.08990775 0.15259097 0.9841918 ]] t_gt: [ 0.275355 0.69756158 -0.66150394] Pose Error in degrees for R and t: 34.85394453933602 41.59583838188532 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999773e-01 -1.73815693e-04 -6.50993923e-04] [ 1.74394183e-04 9.99999590e-01 8.88674758e-04] [ 6.50839190e-04 -8.88788086e-04 9.99999393e-01]] t_estimated: [[0.0622705 ] [0.99805781] [0.00172974]] R_gt: [[ 0.98642032 0.16422956 -0.00170337] [-0.16404814 0.98572139 0.03796995] [ 0.00791554 -0.03717484 0.99927736]] t_gt: [-0.41028432 0.90895322 0.07396493] Pose Error in degrees for R and t: 9.695442620701725 28.143721022575573 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.70439111 0.70981022 0.0016188 ] [ 0.70979767 -0.70436047 -0.00797485] [-0.00452041 0.00676643 -0.99996689]] t_estimated: [[0.70661828] [0.70759427] [0.00097599]] R_gt: [[ 0.96111788 0.27604346 -0.00721413] [-0.27560715 0.96056047 0.03694023] [ 0.01712634 -0.03351516 0.99929197]] t_gt: [-0.35566075 0.93461329 -0.00185358] Pose Error in degrees for R and t: 178.31397685348296 65.79461184863317 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.98522328 -0.17126552 0.00179344] [-0.17125753 0.98521846 0.00392984] [-0.00243998 0.00356463 -0.99999067]] t_estimated: [[0.57452696] [0.81848439] [0.00144354]] R_gt: [[ 0.91688886 0.39913655 -0.00197112] [-0.39913322 0.91689055 0.00216938] [ 0.00267318 -0.00120266 0.99999581]] t_gt: [-0.27851667 0.9602686 -0.01768274] Pose Error in degrees for R and t: 179.93736925653363 51.24996164872701 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.73900083 0.67356967 0.01347826] [-0.67370216 -0.73890323 -0.01214143] [ 0.00178103 -0.01805286 0.99983545]] t_estimated: [[0.46829601] [0.88356081] [0.00437602]] R_gt: [[ 0.99185504 -0.12714926 0.00748755] [ 0.12734694 0.9910748 -0.03942781] [-0.00240794 0.0400607 0.99919408]] t_gt: [ 0.8398151 -0.50207062 -0.20648413] Pose Error in degrees for R and t: 144.9771306898944 87.063369024777 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99940807e-01 -1.08794483e-02 -1.39405671e-04] [ 1.08794773e-02 9.99940795e-01 2.09549860e-04] [ 1.37117631e-04 -2.11054117e-04 9.99999968e-01]] t_estimated: [[-0.99563795] [-0.09328157] [-0.00190371]] R_gt: [[ 0.9766613 -0.21297159 0.02784534] [ 0.21452285 0.97363405 -0.07757032] [-0.01059057 0.08173409 0.99659833]] t_gt: [ 0.84874324 -0.47686564 -0.22854773] Pose Error in degrees for R and t: 12.658080938729197 36.85813880564397 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.99871251 0.03747982 0.03418469] [-0.04097905 -0.99328636 -0.10818005] [ 0.02990062 -0.10944162 0.9935434 ]] t_estimated: [[0.94148988] [0.33703755] [0.00158234]] R_gt: [[ 0.96649939 -0.24060694 0.08936753] [ 0.25066333 0.95969815 -0.12706794] [-0.0551925 0.1452125 0.98786044]] t_gt: [ 0.85212454 -0.44972036 -0.26764785] Pose Error in degrees for R and t: 168.10571573203086 49.438003026548174 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-0.98357199 -0.18050673 0.00186261] [-0.18050142 0.983571 0.00270625] [-0.00232051 0.00232559 -0.9999946 ]] t_estimated: [[0.98982693] [0.14226257] [0.0020037 ]] R_gt: [[ 0.99189276 -0.11900627 0.04458003] [ 0.11947045 0.9928061 -0.00790847] [-0.04331828 0.01317035 0.99897438]] t_gt: [ 0.10648565 -0.94051346 0.32263794] Pose Error in degrees for R and t: 177.41321468261148 88.40977855991184 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99998119e-01 -1.93666801e-03 1.07466551e-04] [ 1.93672469e-03 9.99997984e-01 -5.29855005e-04] [-1.06440181e-04 5.30062141e-04 9.99999854e-01]] t_estimated: [[ 9.99173696e-01] [ 4.06415946e-02] [-4.31990416e-04]] R_gt: [[ 0.97319337 -0.22624877 0.04131509] [ 0.22585782 0.97406047 0.01393865] [-0.04339697 -0.00423278 0.99904963]] t_gt: [ 0.26035185 -0.94642337 0.191049 ] Pose Error in degrees for R and t: 13.19789936751248 77.19755936674784 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.75875844 -0.42536054 -0.49330927] [ 0.21635596 -0.87891864 0.42507895] [-0.61439053 0.21580184 0.75891623]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.93098147 -0.36398967 0.02802931] [ 0.36483981 0.93036439 -0.03624833] [-0.01288315 0.04397345 0.99895018]] t_gt: [ 0.4505884 -0.88563987 -0.11230366] Pose Error in degrees for R and t: 140.53624954576807 77.50695331902584 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-8.35721256e-01 -5.49151679e-01 -1.55425250e-03] [ 5.49151948e-01 -8.35722476e-01 2.86321900e-04] [-1.45615790e-03 -6.14235491e-04 9.99998751e-01]] t_estimated: [[9.84577223e-01] [1.74948781e-01] [7.84523684e-04]] R_gt: [[ 0.97464595 -0.21273896 -0.06933789] [ 0.21348894 0.97693916 0.0035107 ] [ 0.06699169 -0.01822474 0.99758666]] t_gt: [ 0.77099596 -0.60994086 -0.18313213] Pose Error in degrees for R and t: 134.3993586690782 49.28831686591794 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-2.89861791e-01 -9.57051292e-01 -5.74156506e-03] [-9.57068514e-01 2.89856719e-01 1.71497071e-03] [ 2.29162758e-05 5.99217563e-03 -9.99982046e-01]] t_estimated: [[8.08678452e-01] [5.88250574e-01] [6.50877424e-04]] R_gt: [[ 0.92542829 -0.3735624 -0.06350408] [ 0.37468099 0.92713267 0.00627678] [ 0.05653127 -0.02960223 0.99796177]] t_gt: [ 0.81370235 -0.5777146 -0.06429875] Pose Error in degrees for R and t: 177.65997610270915 71.44947704059777 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.79515395e-01 -2.01369173e-01 -2.17842069e-04] [ 2.01369241e-01 9.79515340e-01 3.57025669e-04] [ 1.41485685e-04 -3.93578831e-04 9.99999913e-01]] t_estimated: [[-0.36409576] [-0.93136098] [-0.00100579]] R_gt: [[ 0.83843814 -0.54352588 -0.04001483] [ 0.54408292 0.8390228 0.00373614] [ 0.03154293 -0.02490399 0.99919155]] t_gt: [ 0.85802843 -0.5134849 -0.01097612] Pose Error in degrees for R and t: 21.46164023048253 80.45359738278192 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99999985e-01 -1.32123439e-04 -1.13109991e-04] [ 1.32125566e-04 9.99999991e-01 1.87977021e-05] [ 1.13107507e-04 -1.88126465e-05 9.99999993e-01]] t_estimated: [[-0.92278127] [-0.38532119] [-0.00152119]] R_gt: [[ 0.99551101 -0.09462139 0.00214505] [ 0.09454913 0.99526387 0.02260552] [-0.00427472 -0.02230045 0.99974229]] t_gt: [ 0.09487506 -0.95676277 0.27496132] Pose Error in degrees for R and t: 5.574267638581278 73.69838411630187 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.93281734e-01 1.15721065e-01 1.81479385e-04] [-1.15720999e-01 9.93281700e-01 -3.37747116e-04] [-2.19344608e-04 3.14477065e-04 9.99999926e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.69657747e-01 -2.44467403e-01 3.03746235e-04] [ 2.44399022e-01 9.69357968e-01 -2.47742492e-02] [ 5.76135615e-03 2.40960107e-02 9.99692427e-01]] t_gt: [ 0.42740237 -0.89035324 -0.15683852] Pose Error in degrees for R and t: 20.842516572458152 64.87985226929183 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.9612276 0.2757428 0.0027206 ] [ 0.27574982 -0.96122573 -0.0026699 ] [ 0.00187891 0.00331658 -0.99999273]] t_estimated: [[0.58138492] [0.81362715] [0.00155867]] R_gt: [[ 0.94499106 -0.32688945 0.01164723] [ 0.32702759 0.94492409 -0.01311208] [-0.00671957 0.01619956 0.99984605]] t_gt: [ 0.36256818 -0.93034646 -0.05477018] Pose Error in degrees for R and t: 178.88966148202192 56.8899533741046 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999603e-01 8.88930591e-04 -6.38986876e-05] [-8.88911053e-04 9.99999558e-01 3.05158543e-04] [ 6.41699242e-05 -3.05101621e-04 9.99999951e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.98736162 -0.15846443 -0.0027289 ] [ 0.15842949 0.98732009 -0.00995171] [ 0.0042713 0.00939348 0.99994622]] t_gt: [ 0.81642168 -0.57420787 -0.0611635 ] Pose Error in degrees for R and t: 9.187918425563293 44.457017026086085 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-8.28104189e-01 -5.60568601e-01 2.50889268e-03] [-5.60563651e-01 8.28107766e-01 2.43325694e-03] [-3.44164095e-03 6.08596229e-04 -9.99993892e-01]] t_estimated: [[0.96170877] [0.27406209] [0.00249147]] R_gt: [[ 0.96551777 -0.26006057 0.01208435] [ 0.26030552 0.96358087 -0.06124505] [ 0.00428364 0.06227855 0.99804996]] t_gt: [ 0.85871461 -0.48100425 -0.17676009] Pose Error in degrees for R and t: 179.36181108541902 46.0867887740621 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.94221355e-01 1.07341375e-01 1.31389453e-03] [-1.07341541e-01 9.94222204e-01 5.57461621e-05] [-1.30031925e-03 -1.96459488e-04 9.99999135e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.94216697 -0.33157732 0.04877794] [ 0.33479653 0.93780341 -0.09184263] [-0.01529082 0.10286134 0.99457781]] t_gt: [ 0.87274197 -0.45376317 -0.18005676] Pose Error in degrees for R and t: 26.349053087660543 37.94667730739075 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.96275623 0.27036859 0.00112241] [-0.27036689 0.96275625 -0.00146333] [-0.00147624 0.00110537 0.9999983 ]] t_estimated: [[-8.63493121e-01] [-5.04360108e-01] [-7.15404408e-04]] R_gt: [[ 0.99431694 -0.07819981 0.07224003] [ 0.08397712 0.99319109 -0.08074293] [-0.06543443 0.08635053 0.9941141 ]] t_gt: [ 0.66118517 0.1577643 -0.73344706] Pose Error in degrees for R and t: 21.24001334650375 49.460346424974496 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-8.07240097e-01 5.90222599e-01 -8.42913223e-04] [-5.90220608e-01 -8.07239960e-01 -1.81123957e-03] [-1.74946776e-03 -9.64600454e-04 9.99998004e-01]] t_estimated: [[0.54823723] [0.83632213] [0.00111375]] R_gt: [[ 0.98652475 -0.07641652 0.14467177] [ 0.10229111 0.97817619 -0.18085238] [-0.12769462 0.19321371 0.9728113 ]] t_gt: [ 0.22559077 0.45527824 -0.86129585] Pose Error in degrees for R and t: 149.22745473024617 59.769679148695 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.67339434e-01 -2.53483061e-01 -8.70644532e-04] [-2.53483512e-01 -9.67339601e-01 -4.52421611e-04] [-7.27527720e-04 6.58339298e-04 -9.99999519e-01]] t_estimated: [[0.36263412] [0.93193069] [0.00129976]] R_gt: [[ 0.96432359 -0.14153972 0.22370962] [ 0.19195536 0.9557977 -0.22271696] [-0.18229847 0.2577135 0.94886862]] t_gt: [ 0.48753233 0.12824141 -0.86363555] Pose Error in degrees for R and t: 167.57969234384814 72.83134246753994 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999914e-01 4.12810325e-04 3.66847794e-05] [-4.12811655e-04 9.99999914e-01 3.62438062e-05] [-3.66698144e-05 -3.62589470e-05 9.99999999e-01]] t_estimated: [[ 9.99997795e-01] [-2.09706437e-03] [-1.06710780e-04]] R_gt: [[ 0.997179 -0.07496988 -0.00370121] [ 0.07489653 0.99704357 -0.01715881] [ 0.00497585 0.01683383 0.9998457 ]] t_gt: [ 0.83842319 -0.5198708 -0.16364873] Pose Error in degrees for R and t: 4.437490750363988 32.90958279315077 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 6.72296663e-01 -7.40281490e-01 -7.15498217e-04] [ 7.40281618e-01 6.72296893e-01 -1.17932133e-04] [ 5.68330204e-04 -4.50384798e-04 9.99999737e-01]] t_estimated: [[-0.16325759] [-0.98658248] [-0.00140739]] R_gt: [[ 0.98485567 -0.16976453 -0.0352063 ] [ 0.16934973 0.98544935 -0.01445502] [ 0.03714775 0.00827386 0.99927616]] t_gt: [ 0.84564677 -0.51455972 -0.14180917] Pose Error in degrees for R and t: 38.04797529085925 68.29690568144652 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999936e-01 3.57268139e-04 -1.00299555e-05] [-3.57262654e-04 9.99999789e-01 5.41679325e-04] [ 1.02234781e-05 -5.41675707e-04 9.99999853e-01]] t_estimated: [[ 9.13852637e-01] [ 4.06046003e-01] [-1.62380982e-05]] R_gt: [[ 0.97763501 -0.19638449 -0.07525339] [ 0.19526325 0.98050234 -0.02205348] [ 0.07811767 0.0068664 0.99691992]] t_gt: [ 0.87144193 -0.4448776 -0.20657419] Pose Error in degrees for R and t: 12.190367312472079 51.994865793920084 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 5.49586543e-01 8.35436625e-01 5.25854028e-04] [-8.35436183e-01 5.49586794e-01 -8.60502154e-04] [-1.00789744e-03 3.36029220e-05 9.99999492e-01]] t_estimated: [[-2.97717960e-01] [ 9.54653529e-01] [ 8.10284833e-04]] R_gt: [[ 0.99821899 0.05916278 -0.00769214] [-0.05921938 0.99821805 -0.00741613] [ 0.00723915 0.00785825 0.99994272]] t_gt: [-0.39829873 0.90391488 -0.1558718 ] Pose Error in degrees for R and t: 53.2712969110713 11.074004620102434 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99588575 -0.09059907 0.00183952] [ 0.0906042 0.99588268 -0.00292796] [-0.00156667 0.00308258 0.99999402]] t_estimated: [[-0.66965561] [-0.74266983] [-0.00169764]] R_gt: [[ 0.99490173 0.10048198 0.00862491] [-0.10015776 0.99445174 -0.03215728] [-0.01180975 0.03112933 0.9994459 ]] t_gt: [-0.4120319 0.90834772 -0.07165289] Pose Error in degrees for R and t: 11.090099343920206 66.51172872794184 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.77180671e-01 -4.80160037e-01 -6.39583582e-04] [ 4.80159875e-01 8.77180903e-01 -3.96925245e-04] [ 7.51618144e-04 4.10727803e-05 9.99999717e-01]] t_estimated: [[ 0.79724717] [-0.60365232] [-0.00091161]] R_gt: [[ 0.99948896 0.03142893 -0.00582517] [-0.03160859 0.99893122 -0.03373932] [ 0.00475815 0.03390685 0.99941434]] t_gt: [-0.40118016 0.84905892 -0.34373453] Pose Error in degrees for R and t: 30.562847867172938 33.68877782245923 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-2.85990967e-01 9.58231569e-01 -1.19437921e-03] [-9.58230570e-01 -2.85992602e-01 -1.55111481e-03] [-1.82791080e-03 7.00885850e-04 9.99998084e-01]] t_estimated: [[0.4983778 ] [0.86695939] [0.00099081]] R_gt: [[ 0.98195753 0.18648165 0.03136297] [-0.18593688 0.9823682 -0.01950524] [-0.0344474 0.0133216 0.99931671]] t_gt: [-0.72474938 0.67507854 0.13786697] Pose Error in degrees for R and t: 95.89864741762428 77.04396709622961 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 6.80642541e-01 7.32615302e-01 7.42232017e-04] [-7.32614782e-01 6.80642943e-01 -8.74323699e-04] [-1.14573791e-03 5.13317560e-05 9.99999342e-01]] t_estimated: [[3.97420675e-04] [9.99999080e-01] [1.29684547e-03]] R_gt: [[ 0.96467162 0.25529868 0.06504773] [-0.25258993 0.96642772 -0.04706264] [-0.07487957 0.02896991 0.99677126]] t_gt: [-0.70963753 0.68354013 0.1708434 ] Pose Error in degrees for R and t: 32.67871170128423 46.88389122539571 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-2.72153171e-01 9.62210119e-01 9.18364466e-03] [-9.62253542e-01 -2.72131949e-01 -3.51034228e-03] [-8.78523739e-04 -9.79234539e-03 9.99951668e-01]] t_estimated: [[0.75086728] [0.66045131] [0.00154785]] R_gt: [[ 0.96610147 0.23025688 0.11674698] [-0.22739901 0.97308311 -0.03741306] [-0.12221942 0.00959669 0.99245613]] t_gt: [-0.72599427 0.59965277 0.33667324] Pose Error in degrees for R and t: 92.68639486032025 81.45635397875118 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99942546 -0.03386993 -0.00125586] [ 0.03387261 0.99942377 0.00218444] [ 0.00118115 -0.00222573 0.99999683]] t_estimated: [[0.54844689] [0.83618443] [0.00126388]] R_gt: [[ 0.96897183 0.2469907 -0.00949292] [-0.24695231 0.96901447 0.00506336] [ 0.01044968 -0.00256198 0.99994193]] t_gt: [-0.62048599 0.78330392 -0.03784307] Pose Error in degrees for R and t: 16.24786933477664 71.66121314555417 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.0012613 0.99999484 -0.00295408] [-0.99999526 -0.00126959 -0.00280539] [-0.00280913 0.00295053 0.9999917 ]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.92080015 0.38742199 -0.04508691] [-0.38856279 0.9212096 -0.01976229] [ 0.03387825 0.03571675 0.99878768]] t_gt: [-0.5253169 0.83899501 -0.14187857] Pose Error in degrees for R and t: 67.27465401171469 33.32638795070337 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 3.92171443e-01 -9.19891918e-01 -6.47129436e-04] [-9.19892127e-01 -3.92171478e-01 -7.67454186e-05] [-1.83188217e-04 6.25386635e-04 -9.99999788e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.89970276 0.43201182 -0.06246795] [-0.43523063 0.89876798 -0.05281556] [ 0.03332727 0.07470736 0.99664857]] t_gt: [-0.48422215 0.85300159 -0.1947234 ] Pose Error in degrees for R and t: 175.28634380243224 52.89286105447962 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.92997926e-01 -1.18131786e-01 -6.36371776e-06] [ 1.18131786e-01 9.92997918e-01 1.24729484e-04] [-8.41535825e-06 -1.24607876e-04 9.99999992e-01]] t_estimated: [[-0.65895178] [-0.75218477] [-0.00079011]] R_gt: [[ 0.99869822 -0.04538179 0.0232748 ] [ 0.04532014 0.9989672 0.00318516] [-0.02339505 -0.00212554 0.99972495]] t_gt: [ 0.07199723 -0.78806185 0.61137134] Pose Error in degrees for R and t: 4.395317543676556 56.98610762817302 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999727e-01 -7.23857754e-04 1.48873076e-04] [ 7.23859236e-04 9.99999738e-01 -9.90663852e-06] [-1.48865866e-04 1.00143990e-05 9.99999989e-01]] t_estimated: [[1.21970289e-01] [9.92533599e-01] [5.51121024e-04]] R_gt: [[ 0.98866219 -0.13758961 0.0601308 ] [ 0.13817021 0.9903925 -0.00559777] [-0.0587823 0.01384306 0.99817528]] t_gt: [ 0.40631318 -0.83964807 0.36041743] Pose Error in degrees for R and t: 8.612601049108731 38.40657742570067 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99991593e-01 8.12351222e-04 -4.01916190e-03] [-7.88525011e-04 9.99982129e-01 5.92619118e-03] [ 4.02390422e-03 -5.92297215e-03 9.99974363e-01]] t_estimated: [[-0.72569904] [-0.68801153] [-0.00101885]] R_gt: [[ 0.96257863 -0.26751775 0.04331429] [ 0.26570777 0.96307918 0.0433286 ] [-0.0533053 -0.03019856 0.99812195]] t_gt: [ 0.60698995 -0.74461817 0.27768143] Pose Error in degrees for R and t: 15.913957421419122 85.89807524749845 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 8.41254598e-02 -9.96453821e-01 -1.64012940e-03] [ 9.96455166e-01 8.41254974e-02 4.61849008e-05] [ 9.19555807e-05 -1.63820074e-03 9.99998654e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.98487146 0.17327267 -0.00230653] [-0.17327183 0.98451043 -0.02674175] [-0.00236318 0.02673697 0.99963938]] t_gt: [-0.70032336 0.70464858 -0.11409456] Pose Error in degrees for R and t: 95.16487481607292 45.715369301721644 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 1.66531866e-01 9.86033602e-01 2.20741865e-03] [ 9.86036022e-01 -1.66532164e-01 -4.95383742e-05] [ 3.18759702e-04 2.18484402e-03 -9.99997562e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.76256979e-01 2.15601216e-01 2.09676194e-02] [-2.15566745e-01 9.76481415e-01 -3.89428507e-03] [-2.13136761e-02 -7.17129759e-04 9.99771504e-01]] t_gt: [-0.70129901 0.71088111 0.05317652] Pose Error in degrees for R and t: 179.06754385907578 45.64917034187845 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-2.64779023e-01 -9.64296442e-01 -4.94379235e-03] [-9.64308691e-01 2.64780235e-01 4.19752946e-04] [ 9.04252227e-04 4.87848370e-03 -9.99987691e-01]] t_estimated: [[8.00805694e-01] [5.98924101e-01] [4.02830111e-04]] R_gt: [[ 0.9940166 0.10321503 0.03574807] [-0.10343292 0.99462693 0.00432194] [-0.03510995 -0.00799323 0.99935147]] t_gt: [-0.68140098 0.69852525 0.2185296 ] Pose Error in degrees for R and t: 178.39019062043585 82.69113089836716 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.53739944 -0.84332478 -0.00227181] [ 0.84332406 -0.53740314 0.00154759] [-0.002526 -0.00108419 0.99999622]] t_estimated: [[ 0.98299372] [-0.18363182] [ 0.00164329]] R_gt: [[ 0.99820349 0.05574481 0.02196022] [-0.05540575 0.99833965 -0.01578885] [-0.02280441 0.01454429 0.9996339 ]] t_gt: [-0.92590176 0.35848028 -0.11915463] Pose Error in degrees for R and t: 125.70002795793188 12.530724407107577 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-7.74378451e-01 -6.32706505e-01 4.52694283e-03] [-6.32711329e-01 7.74387608e-01 4.54656108e-04] [-3.79327231e-03 -2.51217212e-03 -9.99989650e-01]] t_estimated: [[0.95249097] [0.30454932] [0.00326643]] R_gt: [[ 0.99433476 0.09611264 0.04538607] [-0.09400856 0.99448928 -0.04642265] [-0.0495984 0.04189311 0.99788968]] t_gt: [-0.87347508 0.42278075 -0.2414492 ] Pose Error in degrees for R and t: 178.02684646931843 45.250525324309535 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99600199e-01 2.82744084e-02 -1.40231017e-05] [-2.82744112e-02 9.99600160e-01 -2.78986013e-04] [ 6.12933022e-06 2.79270969e-04 9.99999961e-01]] t_estimated: [[-8.01117859e-01] [-5.98506303e-01] [-6.18250595e-04]] R_gt: [[ 0.98205662 0.17517597 0.0698386 ] [-0.16752224 0.98041936 -0.10351558] [-0.08660501 0.08995958 0.99217233]] t_gt: [-0.85026487 0.42680754 -0.30803405] Pose Error in degrees for R and t: 10.947123378676007 64.79198824652563 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.18030965e-01 3.96508619e-01 2.51323308e-04] [-3.96508649e-01 9.18030982e-01 8.31804098e-05] [-1.97740834e-04 -1.76014057e-04 9.99999965e-01]] t_estimated: [[5.08322603e-01] [8.61166372e-01] [7.81699699e-04]] R_gt: [[ 0.98852388 -0.14627066 0.03775533] [ 0.14628916 0.98923946 0.0022702 ] [-0.03768145 0.00328033 0.99928499]] t_gt: [ 0.65937787 -0.71730968 0.22513918] Pose Error in degrees for R and t: 31.845548364544594 73.5982769981161 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99993788e-01 3.47801213e-03 -5.71949106e-04] [-3.47807165e-03 9.99993946e-01 -1.03091110e-04] [ 5.71587091e-04 1.05079750e-04 9.99999831e-01]] t_estimated: [[-0.00900864] [-0.99995879] [-0.00112608]] R_gt: [[ 0.96272088 -0.26432594 0.05746559] [ 0.26589345 0.96376286 -0.02147913] [-0.04970625 0.03595905 0.99811688]] t_gt: [ 0.69983169 -0.70753117 0.09815935] Pose Error in degrees for R and t: 15.982755304524538 45.48572529799289 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.88920449e-01 -1.48445523e-01 5.22650126e-04] [ 1.48445429e-01 9.88920577e-01 2.15210789e-04] [-5.48806542e-04 -1.35241328e-04 9.99999840e-01]] t_estimated: [[0.98754684] [0.15732198] [0.00101492]] R_gt: [[ 0.96040795 -0.27303572 0.05540512] [ 0.27492885 0.96099989 -0.02989845] [-0.04508164 0.04394879 0.99801665]] t_gt: [ 0.68959218 -0.72202589 0.05604681] Pose Error in degrees for R and t: 8.206456753712027 55.425946885857215 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 2.40592796e-01 9.70581114e-01 -9.34916790e-03] [-9.70625816e-01 2.40573664e-01 -3.13646220e-03] [-7.95027400e-04 9.82915393e-03 9.99951377e-01]] t_estimated: [[ 0.715741 ] [ 0.69836539] [-0.00077376]] R_gt: [[ 0.98196007 -0.18884957 0.00947924] [ 0.18858451 0.98177069 0.02369632] [-0.0137821 -0.02148203 0.99967416]] t_gt: [ 0.72286622 -0.67874219 0.12951246] Pose Error in degrees for R and t: 86.98013768583533 87.51976621725859 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.50757313e-01 -3.09929975e-01 -1.98556811e-03] [ 3.09931876e-01 9.50758489e-01 7.26376272e-04] [ 1.66266995e-03 -1.30599840e-03 9.99997765e-01]] t_estimated: [[ 9.99973639e-01] [-7.26087798e-03] [-2.58650636e-05]] R_gt: [[ 0.9335583 -0.35708474 0.03096928] [ 0.3559761 0.93379572 0.03614056] [-0.04182487 -0.02271618 0.99886744]] t_gt: [ 0.77219258 -0.61992544 0.13932361] Pose Error in degrees for R and t: 3.9739644956445432 39.04332929343622 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.3373325 0.94137803 -0.00376795] [ 0.94136586 -0.33729684 0.00781998] [ 0.00609065 -0.00618495 -0.99996232]] t_estimated: [[-0.32675961] [-0.9451068 ] [-0.00113458]] R_gt: [[ 0.88495327 -0.46160806 0.06146064] [ 0.46146445 0.88698911 0.01735643] [-0.06252757 0.01300131 0.99795841]] t_gt: [ 0.79884132 -0.59263555 0.10312931] Pose Error in degrees for R and t: 178.4559809055372 72.60498312448826 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.57561636e-01 2.88228367e-01 3.47909374e-04] [-2.88228415e-01 9.57561680e-01 9.49647566e-05] [-3.05773148e-04 -1.91211975e-04 9.99999935e-01]] t_estimated: [[-0.53041638] [ 0.84773587] [ 0.00153539]] R_gt: [[ 0.97745398 0.2054788 -0.0486033 ] [-0.20531078 0.97865959 0.00847945] [ 0.04930799 0.00168996 0.99878274]] t_gt: [-0.59977443 0.77099922 -0.21408137] Pose Error in degrees for R and t: 5.659298090687478 13.734778391470366 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99963138e-01 8.58036086e-03 -3.17168952e-04] [-8.58036250e-03 9.99963188e-01 -3.82579908e-06] [ 3.17124449e-04 6.54708263e-06 9.99999950e-01]] t_estimated: [[-0.57951694] [-0.81495885] [-0.00147788]] R_gt: [[ 0.95870668 0.27993152 -0.05020359] [-0.28191845 0.9586822 -0.03809097] [ 0.03746612 0.05067138 0.99801209]] t_gt: [-0.545661 0.79868307 -0.2536916 ] Pose Error in degrees for R and t: 16.241834725726136 70.47007724302011 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.65249478e-01 -2.61329720e-01 -4.72390174e-04] [ 2.61329693e-01 9.65249593e-01 -1.18430618e-04] [ 4.86923864e-04 -9.13448762e-06 9.99999881e-01]] t_estimated: [[-0.30236453] [-0.95319149] [-0.00129482]] R_gt: [[ 0.93959869 0.33585472 -0.06600152] [-0.33849185 0.94036702 -0.03364305] [ 0.05076547 0.05395208 0.99725221]] t_gt: [-0.51850509 0.8183825 -0.24779538] Pose Error in degrees for R and t: 35.12882215312808 51.46615399756005 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.33881272e-01 -3.57552350e-01 4.69974102e-03] [ 3.57557620e-01 9.33891030e-01 -3.04798797e-04] [-4.28006445e-03 1.96507410e-03 9.99988910e-01]] t_estimated: [[0.05255865] [0.99861438] [0.00262793]] R_gt: [[ 0.99395752 0.10974389 -0.00219444] [-0.10974963 0.99395699 -0.00222855] [ 0.00193613 0.00245581 0.99999467]] t_gt: [-0.79213277 0.61024273 -0.01137928] Pose Error in degrees for R and t: 27.25368875698721 55.40765045546241 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.22908280e-01 3.85019760e-01 3.00385339e-04] [-3.85019871e-01 9.22908125e-01 5.40276275e-04] [-6.92110282e-05 -6.14279772e-04 9.99999809e-01]] t_estimated: [[-0.41717097] [ 0.90882711] [ 0.00128942]] R_gt: [[ 0.94948301 0.3136068 -0.01151171] [-0.31370739 0.94948457 -0.00819047] [ 0.00836049 0.01138718 0.99990034]] t_gt: [-0.69848319 0.71447452 -0.04058816] Pose Error in degrees for R and t: 4.444458771051499 19.83589223741512 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.87876333e-01 -1.55242600e-01 2.91505366e-04] [ 1.55242759e-01 9.87871577e-01 -3.07138275e-03] [ 1.88839580e-04 3.07940043e-03 9.99995241e-01]] t_estimated: [[-0.56867447] [-0.822547 ] [-0.00507745]] R_gt: [[ 0.92037852 0.39044766 0.02130387] [-0.3904999 0.92060111 -0.0018652 ] [-0.02034177 -0.00660281 0.99977166]] t_gt: [-0.66556381 0.74489093 0.04650074] Pose Error in degrees for R and t: 31.941679343712178 76.440514928479 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.88371881e-01 -1.52055450e-01 -4.05852419e-04] [ 1.52055513e-01 9.88371946e-01 1.30060889e-04] [ 3.81356679e-04 -1.90260624e-04 9.99999909e-01]] t_estimated: [[-0.62880034] [-0.77756529] [-0.00153366]] R_gt: [[ 0.99809139 0.06027576 -0.01349984] [-0.06031058 0.99817748 -0.00221359] [ 0.01334236 0.00302414 0.99990602]] t_gt: [-0.42208124 0.88630087 -0.19057333] Pose Error in degrees for R and t: 12.226525515538762 64.94679424753082 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.94270243 -0.33362084 0.00304392] [ 0.33363219 0.94269158 -0.00470492] [-0.00129982 0.00545089 0.9999843 ]] t_estimated: [[-0.27338005] [-0.96189278] [-0.00506259]] R_gt: [[ 0.99352297 0.11325454 -0.00926931] [-0.11340392 0.99339287 -0.01765149] [ 0.00721009 0.0185885 0.99980152]] t_gt: [-0.39760762 0.90865657 -0.12748108] Pose Error in degrees for R and t: 26.014055657454364 40.12086241161063 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.35147738 0.93617351 0.00654308] [ 0.93619344 -0.3514502 -0.00495969] [-0.00234356 0.00786881 -0.99996629]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99330977 0.11502095 -0.01031189] [-0.11536231 0.9923895 -0.04308134] [ 0.00527797 0.0439826 0.99901781]] t_gt: [-0.38425981 0.90149493 -0.1991263 ] Pose Error in degrees for R and t: 177.76286979393774 76.65143009021796 Number of keypoints: Image1: 402 Image2: 402 R_estimated: [[ 9.94377535e-01 -1.05892839e-01 -1.54031226e-04] [ 1.05892886e-01 9.94377486e-01 3.33841823e-04] [ 1.17813724e-04 -3.48275621e-04 9.99999932e-01]] t_estimated: [[0.99779493] [0.06636166] [0.00118503]] R_gt: [[ 0.99871685 0.04336362 0.02616083] [-0.04316581 0.99903521 -0.00803495] [-0.0264834 0.00689655 0.99962568]] t_gt: [-0.8159245 0.51930309 0.25414859] Pose Error in degrees for R and t: 8.703318611561045 38.797770716512375 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 0.95028942 -0.31135134 0.00322046] [-0.31135933 -0.9502893 0.00236898] [ 0.00232279 -0.00325394 -0.99999201]] t_estimated: [[0.05859237] [0.99828138] [0.00110552]] R_gt: [[ 0.99601657 0.01626125 0.08767313] [-0.0140782 0.99957676 -0.02545435] [-0.08804992 0.02411891 0.9958243 ]] t_gt: [-0.73422441 0.42056761 0.53295159] Pose Error in degrees for R and t: 179.55609529281938 67.82640540711908 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.56899757e-01 -2.90418374e-01 -1.54754349e-04] [ 2.90418415e-01 9.56899600e-01 5.46990565e-04] [-1.07717353e-05 -5.68358651e-04 9.99999838e-01]] t_estimated: [[-0.50385658] [-0.86378684] [-0.00092038]] R_gt: [[ 0.99433103 0.00461864 0.10623339] [ 0.00301499 0.9974305 -0.07157683] [-0.10629067 0.07149185 0.99176159]] t_gt: [-0.71009403 0.59151576 0.38193661] Pose Error in degrees for R and t: 18.457584461874806 81.16963704026676 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99999998e-01 -1.86781420e-05 -5.45162076e-05] [ 1.86828748e-05 9.99999996e-01 8.68141496e-05] [ 5.45145859e-05 -8.68151680e-05 9.99999995e-01]] t_estimated: [[-9.31115288e-01] [-3.64724845e-01] [-3.29364496e-04]] R_gt: [[ 0.99497548 0.09118304 0.04134246] [-0.09143542 0.99580136 0.00425102] [-0.04078115 -0.00800962 0.99913538]] t_gt: [-0.39847324 0.82392579 0.40294587] Pose Error in degrees for R and t: 5.7590417954557775 85.96386486523623 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.89795298e-01 -1.42496139e-01 -3.44819751e-04] [ 1.42496194e-01 9.89795340e-01 1.39245450e-04] [ 3.21459044e-04 -1.86959994e-04 9.99999931e-01]] t_estimated: [[-0.50119018] [-0.86533618] [-0.00130518]] R_gt: [[ 9.93393569e-01 1.08836738e-01 3.63872915e-02] [-1.08910956e-01 9.94051440e-01 6.07401850e-05] [-3.61640647e-02 -4.02324792e-03 9.99337650e-01]] t_gt: [-0.22308139 0.92388391 0.31092315] Pose Error in degrees for R and t: 14.596432893732963 46.52249127489963 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-9.11033745e-01 -4.12331795e-01 7.63575769e-05] [-4.12331679e-01 9.11033601e-01 6.03089298e-04] [-3.18237211e-04 5.17950054e-04 -9.99999815e-01]] t_estimated: [[0.98209472] [0.18837593] [0.00211658]] R_gt: [[ 9.93393044e-01 1.07548583e-01 4.00598661e-02] [-1.07605594e-01 9.94193221e-01 -7.30558677e-04] [-3.99048793e-02 -3.58539389e-03 9.99196315e-01]] t_gt: [0.1170272 0.91711762 0.38105105] Pose Error in degrees for R and t: 177.72984620185727 73.2317534997812 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.34980508e-01 3.54698767e-01 4.83668957e-04] [-3.54698775e-01 9.34980628e-01 -7.12264379e-05] [-4.77485035e-04 -1.04961456e-04 9.99999880e-01]] t_estimated: [[0.31087428] [0.95045003] [0.00138738]] R_gt: [[ 0.99621428 -0.08114238 -0.0311872 ] [ 0.08256248 0.99546207 0.04731031] [ 0.02720696 -0.04970659 0.99839305]] t_gt: [ 0.36925797 -0.923982 0.099528 ] Pose Error in degrees for R and t: 25.678493241749486 40.24686485724578 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 3.52380075e-01 9.35856397e-01 1.04230528e-03] [-9.35856545e-01 3.52380765e-01 -5.69070610e-04] [-8.99856704e-04 -7.74919078e-04 9.99999295e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.97508368 -0.20729741 -0.07899409] [ 0.21199936 0.97562954 0.05660888] [ 0.06533444 -0.0719454 0.99526615]] t_gt: [ 0.54621285 -0.83694882 -0.03417891] Pose Error in degrees for R and t: 81.65868433093715 55.59617910561557 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.4792959 -0.87765208 -0.00150833] [ 0.87753177 -0.47920017 -0.01746967] [ 0.0146095 -0.00969675 0.99984626]] t_estimated: [[ 9.99999822e-01] [-1.30661491e-04] [-5.82753432e-04]] R_gt: [[ 0.95183861 -0.28335126 -0.11711157] [ 0.28918379 0.95660178 0.03587845] [ 0.10186244 -0.0680169 0.99247051]] t_gt: [ 0.59708298 -0.79205483 -0.12704751] Pose Error in degrees for R and t: 102.0681155859991 53.32606089547931 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.96898394e-01 7.86993079e-02 -1.04045293e-04] [-7.86992670e-02 9.96898341e-01 3.51309432e-04] [ 1.31370390e-04 -3.42031520e-04 9.99999933e-01]] t_estimated: [[-0.68241967] [-0.73095998] [-0.00095177]] R_gt: [[ 0.99444827 -0.07547382 0.07332701] [ 0.07954804 0.99534958 -0.05432409] [-0.06888692 0.05985562 0.99582776]] t_gt: [ 0.71278141 -0.63998697 -0.28698315] Pose Error in degrees for R and t: 10.391328285528383 88.94924834528084 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 8.20864294e-01 -5.71122856e-01 7.03049717e-04] [ 5.71122334e-01 8.20864551e-01 8.17869911e-04] [-1.04421279e-03 -2.69832812e-04 9.99999418e-01]] t_estimated: [[ 0.9195074 ] [-0.3930704 ] [ 0.00134083]] R_gt: [[ 0.99081305 -0.10573964 0.08432145] [ 0.10960422 0.99306209 -0.04259017] [-0.07923271 0.05144091 0.99552769]] t_gt: [ 0.76054921 -0.64480126 -0.07613301] Pose Error in degrees for R and t: 29.126129486577774 17.696352234366522 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99597830e-01 2.83579443e-02 -7.12228034e-05] [-2.83579714e-02 9.99597746e-01 -4.13651208e-04] [ 5.94638559e-05 4.15504584e-04 9.99999912e-01]] t_estimated: [[-0.03310483] [-0.99945064] [-0.00157642]] R_gt: [[ 0.98081957 -0.10512484 0.16414247] [ 0.11958575 0.98952811 -0.08082775] [-0.15392715 0.09890567 0.98311967]] t_gt: [ 0.80627967 -0.59048697 -0.03518847] Pose Error in degrees for R and t: 13.300202744471456 55.699982462143915 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.96420401e-01 8.45361278e-02 -1.67522838e-04] [-8.45360906e-02 9.96420394e-01 2.17993872e-04] [ 1.85351530e-04 -2.03051816e-04 9.99999962e-01]] t_estimated: [[-0.45686657] [-0.88953471] [-0.00096794]] R_gt: [[ 0.99295462 -0.00884828 0.11816723] [ 0.01156059 0.9996842 -0.02228702] [-0.11793262 0.02349602 0.99274394]] t_gt: [0.07264285 0.05067824 0.99606964] Pose Error in degrees for R and t: 8.796905164270143 85.45556156376742 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.46222011e-01 3.23516934e-01 8.35993188e-04] [-3.23516783e-01 9.46222380e-01 -3.13934598e-04] [-8.92598623e-04 2.65940003e-05 9.99999601e-01]] t_estimated: [[0.82003185] [0.5723139 ] [0.0021355 ]] R_gt: [[ 0.98645007 -0.05954709 0.15287782] [ 0.06980652 0.99559163 -0.06264069] [-0.14847395 0.07246497 0.98625796]] t_gt: [ 0.71175339 -0.27972327 0.64433066] Pose Error in degrees for R and t: 24.48474735425233 64.85269706356735 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99998721e-01 1.58061055e-03 -2.45488983e-04] [-1.58059200e-03 9.99998748e-01 7.57548045e-05] [ 2.45608415e-04 -7.53666897e-05 9.99999967e-01]] t_estimated: [[-0.00106225] [-0.99999859] [-0.00129938]] R_gt: [[ 0.97815984 -0.16154388 0.13079444] [ 0.16639531 0.9856895 -0.02698371] [-0.1245636 0.04815827 0.99104293]] t_gt: [ 0.83908841 -0.4758479 0.26362741] Pose Error in degrees for R and t: 12.271473300385962 61.665821546364015 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99785394e-01 -2.07159516e-02 1.25197838e-04] [ 2.07159611e-02 9.99785399e-01 -7.52776108e-05] [-1.23611523e-04 7.78550493e-05 9.99999989e-01]] t_estimated: [[ 9.08755345e-01] [-4.17329259e-01] [ 1.07661397e-04]] R_gt: [[ 0.98498511 -0.16976622 -0.03136055] [ 0.17121194 0.98389785 0.05129084] [ 0.02214839 -0.05588967 0.99819138]] t_gt: [ 0.74954786 -0.65440796 0.09964046] Pose Error in degrees for R and t: 9.301918099124704 17.39432475976617 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-9.96209291e-01 -8.62088253e-02 1.16226959e-02] [-8.61974643e-02 9.96276979e-01 1.47584042e-03] [-1.17066548e-02 4.68399022e-04 -9.99931365e-01]] t_estimated: [[0.99863282] [0.05188166] [0.00638568]] R_gt: [[ 0.96385203 -0.26438425 -0.03301626] [ 0.26500051 0.96411804 0.01586983] [ 0.02763602 -0.02404463 0.99932835]] t_gt: [ 0.79211978 -0.61030956 0.00827636] Pose Error in degrees for R and t: 178.96662254002769 40.58639725650394 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 8.11038619e-01 -5.84991478e-01 1.15302830e-03] [ 5.84990417e-01 8.11039399e-01 1.14217002e-03] [-1.60331111e-03 -2.51833493e-04 9.99998683e-01]] t_estimated: [[ 0.85322161] [-0.52154297] [ 0.00241078]] R_gt: [[ 0.95070197 -0.30736091 -0.04118037] [ 0.30561017 0.95115134 -0.04374882] [ 0.05261573 0.02900749 0.99819363]] t_gt: [ 0.81088207 -0.5743243 -0.11234713] Pose Error in degrees for R and t: 18.280647464996562 7.638667499456206 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99972779e-01 -7.37740898e-03 1.21260587e-04] [ 7.37740763e-03 9.99972786e-01 1.15468979e-05] [-1.21342473e-04 -1.06519948e-05 9.99999993e-01]] t_estimated: [[9.98169288e-01] [6.04815433e-02] [2.33339295e-04]] R_gt: [[ 0.9695522 -0.24487379 -0.00236645] [ 0.24483208 0.96909631 0.03015635] [-0.00509131 -0.02981784 0.99954269]] t_gt: [ 0.75415661 -0.64730159 0.11067275] Pose Error in degrees for R and t: 13.861880954320133 44.467165986113514 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.99318155 -0.11650361 -0.00416217] [-0.1165207 0.99317967 0.00413093] [ 0.00365251 0.00458775 -0.99998281]] t_estimated: [[ 0.99337981] [-0.11483284] [-0.00315725]] R_gt: [[ 0.9540691 -0.29956631 -0.00343036] [ 0.29936062 0.95284096 0.0497607 ] [-0.01163837 -0.04850345 0.9987549 ]] t_gt: [ 0.75524202 -0.63633242 0.15713224] Pose Error in degrees for R and t: 179.78275584625783 34.632117694333786 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.80823181 0.58865575 -0.01567648] [ 0.58851355 0.8083828 0.01300179] [ 0.02032617 0.00128263 -0.99979258]] t_estimated: [[ 0.73447618] [-0.67841269] [-0.01734841]] R_gt: [[ 0.92149099 -0.38546372 0.04767021] [ 0.38439504 0.92267364 0.03022595] [-0.05563481 -0.00952939 0.99840621]] t_gt: [ 0.75625312 -0.63556678 0.15535796] Pose Error in degrees for R and t: 178.4679661233764 10.285180725722839 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[-1.30229254e-01 -9.91483411e-01 9.93848550e-04] [-9.91483269e-01 1.30227966e-01 -1.26658888e-03] [ 1.12637499e-03 -1.15033113e-03 -9.99998704e-01]] t_estimated: [[8.33359361e-01] [5.52731102e-01] [7.10451288e-04]] R_gt: [[ 0.99746328 0.07040899 0.01051564] [-0.07006027 0.99707662 -0.03047746] [-0.01263098 0.02966308 0.9994797 ]] t_gt: [-0.84632549 0.42724316 -0.31811389] Pose Error in degrees for R and t: 179.35968873102865 62.006675280765414 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.46388603 0.88588821 -0.0034393 ] [-0.88588992 0.46386693 -0.00515046] [-0.00296735 0.00543607 0.99998082]] t_estimated: [[0.35255363] [0.93579049] [0.00145084]] R_gt: [[ 0.99204154 0.12037713 0.03694805] [-0.11773016 0.99078509 -0.06696371] [-0.04466822 0.06208059 0.99707127]] t_gt: [-0.84103891 0.41969102 -0.34134002] Pose Error in degrees for R and t: 55.65104774658807 84.50629920957836 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.91752803e-01 1.28164894e-01 -3.69797674e-04] [-1.28164824e-01 9.91752860e-01 2.07139782e-04] [ 3.93295949e-04 -1.58036406e-04 9.99999910e-01]] t_estimated: [[-0.94754712] [-0.31961344] [-0.00130657]] R_gt: [[ 0.98033316 0.19193117 0.04593141] [-0.18439276 0.97375477 -0.13341729] [-0.07033253 0.12232368 0.98999517]] t_gt: [-0.79751655 0.43517496 -0.41783981] Pose Error in degrees for R and t: 8.865215920823273 51.89222286305111 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99692383e-01 2.48014409e-02 1.69882168e-04] [-2.48014777e-02 9.99692372e-01 2.18138040e-04] [-1.64419770e-04 -2.22284266e-04 9.99999962e-01]] t_estimated: [[9.75986078e-01] [2.17831245e-01] [8.50903295e-04]] R_gt: [[ 0.98517136 -0.17002447 0.02300731] [ 0.16859196 0.98419804 0.05415362] [-0.03185088 -0.0494707 0.99826742]] t_gt: [ 0.58333865 -0.74201786 0.33034151] Pose Error in degrees for R and t: 11.669005428288058 65.9221953999016 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-7.94095713e-01 6.07790346e-01 -1.70113946e-03] [-6.07786324e-01 -7.94097084e-01 -2.36761366e-03] [-2.78988261e-03 -8.46182560e-04 9.99995750e-01]] t_estimated: [[0.79142123] [0.61127017] [0.00110315]] R_gt: [[ 9.20344038e-01 -3.91109296e-01 -3.62351175e-04] [ 3.89858600e-01 9.17325612e-01 8.07791893e-02] [-3.12603081e-02 -7.44848617e-02 9.96731968e-01]] t_gt: [ 0.74856114 -0.63124996 0.20292784] Pose Error in degrees for R and t: 165.61110571692686 78.06588510956668 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.98824938 -0.15282978 0.00249593] [ 0.15283408 0.98825051 -0.00163349] [-0.00221696 0.00199576 0.99999555]] t_estimated: [[9.87911749e-01] [1.55014346e-01] [9.63357317e-04]] R_gt: [[ 0.86227827 -0.5062652 -0.0130949 ] [ 0.50426206 0.85590021 0.11469485] [-0.04685859 -0.10550135 0.99331413]] t_gt: [ 0.79482883 -0.56555215 0.21999524] Pose Error in degrees for R and t: 22.674937187051192 45.75211836310048 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99768656e-01 2.15088347e-02 -6.54260233e-05] [-2.15088408e-02 9.99768654e-01 -9.36662832e-05] [ 6.33962346e-05 9.50518520e-05 9.99999993e-01]] t_estimated: [[-0.86966781] [-0.49363586] [-0.00124344]] R_gt: [[ 0.99887813 0.04101584 0.02366415] [-0.04031483 0.9987545 -0.02936429] [-0.02483852 0.02837793 0.99928857]] t_gt: [-0.81191786 0.41745313 -0.4080714 ] Pose Error in degrees for R and t: 2.423790878922111 59.96450522139236 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.96813018e-01 7.97668160e-02 1.03019667e-03] [-7.97665575e-02 9.96813529e-01 -2.89709251e-04] [-1.05002316e-03 2.06610711e-04 9.99999427e-01]] t_estimated: [[-0.79719471] [-0.60368449] [ 0.00675531]] R_gt: [[ 0.99031762 0.12913421 0.05093579] [-0.12375293 0.98751114 -0.09750566] [-0.06289085 0.09025811 0.99393097]] t_gt: [-0.8072984 0.39558689 -0.43792728] Pose Error in degrees for R and t: 6.833132859249783 66.30887056519813 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99944568e-01 -1.05271362e-02 2.02769906e-04] [ 1.05271968e-02 9.99944542e-01 -3.00204426e-04] [-1.99598368e-04 3.02322383e-04 9.99999934e-01]] t_estimated: [[-0.44953178] [-0.89326316] [-0.0014501 ]] R_gt: [[ 0.99561294 0.08329457 0.04262041] [-0.07772956 0.98987291 -0.11877913] [-0.05208211 0.11494458 0.99200619]] t_gt: [-0.62017331 0.39283623 -0.6790175 ] Pose Error in degrees for R and t: 8.926537448758095 85.92088415784383 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.98209577e-01 -5.98132811e-02 1.07493798e-04] [ 5.98132709e-02 9.98209579e-01 9.57045665e-05] [-1.13025743e-04 -8.91036592e-05 9.99999990e-01]] t_estimated: [[9.95794083e-01] [9.16150127e-02] [9.13181957e-04]] R_gt: [[ 0.98485984 -0.17267757 0.01526037] [ 0.17253635 0.98495126 0.01015607] [-0.01678435 -0.00736911 0.99983201]] t_gt: [ 0.7446752 -0.66015263 0.09827182] Pose Error in degrees for R and t: 6.593933477204358 47.06619117244724 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.18904813e-01 3.94479065e-01 4.61031341e-04] [-3.94478943e-01 9.18904920e-01 -3.34843817e-04] [-5.55732843e-04 1.25822439e-04 9.99999838e-01]] t_estimated: [[-9.99994892e-01] [-3.10075933e-03] [-7.75189839e-04]] R_gt: [[ 0.9528609 -0.30274203 -0.02007148] [ 0.30340471 0.95052069 0.06675028] [-0.00113033 -0.06969319 0.99756845]] t_gt: [ 0.78215359 -0.60591385 0.14527277] Pose Error in degrees for R and t: 41.08621811233848 38.70430617858686 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.66906942e-01 2.55128761e-01 5.30755198e-04] [-2.55128669e-01 9.66907083e-01 -2.35777321e-04] [-5.73344536e-04 9.25638610e-05 9.99999831e-01]] t_estimated: [[0.25005581] [0.96823077] [0.00112335]] R_gt: [[ 0.92864831 -0.3707937 -0.01113699] [ 0.37088034 0.92865554 0.00693856] [ 0.00777042 -0.01057441 0.99991401]] t_gt: [ 0.81696838 -0.57602818 0.02746288] Pose Error in degrees for R and t: 36.55751914423571 69.3039921205714 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.28390442e-01 3.71604552e-01 1.11506657e-03] [-3.71602823e-01 9.28390603e-01 -1.49347384e-03] [-1.59019901e-03 9.72164956e-04 9.99998263e-01]] t_estimated: [[-0.81513832] [-0.57926553] [-0.00098879]] R_gt: [[ 0.98452952 -0.07304635 0.15926742] [ 0.07382924 0.99727078 0.0010006 ] [-0.15890598 0.01077326 0.98723499]] t_gt: [ 0.29000863 -0.42941272 0.85527756] Pose Error in degrees for R and t: 27.564703136296803 89.34101813140434 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.75747949 -0.65285118 0.00318723] [-0.65282799 0.75748208 0.00604311] [-0.00635952 0.00249682 -0.99997666]] t_estimated: [[0.99154274] [0.12975745] [0.00244825]] R_gt: [[ 0.9619371 -0.0642603 0.26560922] [ 0.06847202 0.99763149 -0.00661712] [-0.26455644 0.02455216 0.96405837]] t_gt: [ 0.19488953 -0.23261213 0.95284294] Pose Error in degrees for R and t: 165.603100162109 80.48005418713117 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.04043381 0.9991778 0.00297206] [ 0.99918145 0.04042991 0.00136112] [ 0.00123984 0.00302466 -0.99999466]] t_estimated: [[0.69224903] [0.7216583 ] [0.00075408]] R_gt: [[ 0.93751542 -0.09542582 0.33460266] [ 0.12106326 0.9910312 -0.05657086] [-0.32620402 0.09354382 0.94066068]] t_gt: [ 0.41119956 -0.29308516 0.8631431 ] Pose Error in degrees for R and t: 162.9484781003784 85.76795122364403 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[-7.71631798e-01 6.36069467e-01 3.27331793e-05] [-6.36068015e-01 -7.71629924e-01 -2.17707709e-03] [-1.35951436e-03 -1.70072244e-03 9.99997630e-01]] t_estimated: [[0.54669507] [0.83733125] [0.00093452]] R_gt: [[ 0.99884867 -0.03394912 0.03389674] [ 0.03405349 0.99941714 -0.00248233] [-0.03379268 0.00363434 0.99942201]] t_gt: [ 0.70166063 -0.62414915 0.34367164] Pose Error in degrees for R and t: 142.45321534275675 82.02714007212434 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 0.5572154 -0.83036541 -0.00207104] [ 0.83033344 0.55721323 -0.00773286] [ 0.00757512 0.00258921 0.99996796]] t_estimated: [[ 0.71507277] [-0.69901279] [-0.00721538]] R_gt: [[ 0.99491351 -0.01306933 0.09987778] [ 0.01625506 0.99938329 -0.0311502 ] [-0.0994084 0.03261528 0.99451174]] t_gt: [0.18587506 0.61044858 0.76993701] Pose Error in degrees for R and t: 55.616959763760335 72.5812800791328 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 8.94656034e-01 4.46755602e-01 1.09462677e-04] [-4.46755436e-01 8.94655867e-01 -6.77774227e-04] [-4.00730859e-04 5.57471756e-04 9.99999764e-01]] t_estimated: [[-0.96581324] [ 0.25923699] [-0.00097953]] R_gt: [[ 0.98870952 0.08292545 0.12480685] [-0.07203732 0.99339076 -0.08936469] [-0.13139259 0.07936586 0.98814819]] t_gt: [-0.26870784 0.96130597 0.06072015] Pose Error in degrees for R and t: 23.734032427503507 59.424841385511264 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[-2.42245445e-01 -9.70214925e-01 -3.78357931e-04] [-9.70209066e-01 2.42245309e-01 -3.40270260e-03] [ 3.39300828e-03 -4.57202911e-04 -9.99994139e-01]] t_estimated: [[7.54905666e-01] [6.55833019e-01] [6.97694701e-04]] R_gt: [[ 0.99990589 0.01265964 -0.00525041] [-0.01276759 0.99969772 -0.0209897 ] [ 0.00498312 0.02105517 0.99976568]] t_gt: [ 0.74926824 0.21707819 -0.62567896] Pose Error in degrees for R and t: 178.89050967114062 44.96347908367094 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.99695577 0.07794847 -0.00179939] [ 0.07741815 -0.9869065 0.14149905] [ 0.00925381 -0.1412076 -0.98993676]] t_estimated: [[-0.01250807] [ 0.99761629] [ 0.06786223]] R_gt: [[ 0.99997999 0.00467607 -0.00429091] [-0.00470572 0.99996419 -0.00701439] [ 0.00425834 0.00703513 0.99996642]] t_gt: [ 0.97445963 -0.144583 -0.17182606] Pose Error in degrees for R and t: 172.2597167184913 80.32336082138667 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 8.58544988e-01 -5.12738231e-01 -9.51278696e-05] [ 5.12738230e-01 8.58544921e-01 3.54909783e-04] [-1.00304265e-04 -3.53481711e-04 9.99999932e-01]] t_estimated: [[-0.43685176] [-0.89953281] [-0.00112301]] R_gt: [[ 0.998006 0.06284588 -0.0058429 ] [-0.06289877 0.99797465 -0.00948687] [ 0.00523554 0.00983569 0.99993789]] t_gt: [ 0.73529122 0.64294128 -0.21441392] Pose Error in degrees for R and t: 34.45730631089398 25.931269915067695 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.87443314e-01 1.57972905e-01 -5.13473307e-04] [-1.57972861e-01 9.87443446e-01 1.25184296e-04] [ 5.26801579e-04 -4.24975488e-05 9.99999860e-01]] t_estimated: [[-0.99992804] [-0.01183942] [-0.00193448]] R_gt: [[ 0.98835613 -0.15186342 0.00955586] [ 0.15157789 0.98811092 0.02570303] [-0.01334517 -0.02395462 0.99962381]] t_gt: [ 0.53407522 -0.82316811 0.19276388] Pose Error in degrees for R and t: 17.88685532414539 58.3543830578964 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 2.59223926e-01 9.65815288e-01 1.94578054e-03] [-9.65807950e-01 2.59229745e-01 -3.86567780e-03] [-4.23793490e-03 -8.77174136e-04 9.99990635e-01]] t_estimated: [[0.71409438] [0.70004905] [0.00073923]] R_gt: [[ 0.97018887 -0.24234594 0.00186837] [ 0.24218219 0.9697632 0.03012714] [-0.00911326 -0.02877613 0.99954448]] t_gt: [ 0.58983099 -0.79845691 0.12068956] Pose Error in degrees for R and t: 89.01415207040849 82.08668140158694 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 7.04526560e-01 7.09671765e-01 2.88307633e-03] [-7.09677561e-01 7.04522370e-01 2.44736039e-03] [-2.94369208e-04 -3.77028497e-03 9.99992849e-01]] t_estimated: [[0.74237957] [0.66997866] [0.00108061]] R_gt: [[ 0.91305337 -0.40783545 0.00202465] [ 0.40733687 0.91216058 0.04517143] [-0.02026932 -0.04041856 0.99897719]] t_gt: [ 0.66189476 -0.74204942 0.10610367] Pose Error in degrees for R and t: 69.30931432397772 89.67539125848171 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.30885774e-01 3.65310121e-01 4.36962518e-04] [-3.65310276e-01 9.30885751e-01 3.47901531e-04] [-2.79670231e-04 -4.83483484e-04 9.99999844e-01]] t_estimated: [[0.16900514] [0.98561404] [0.00149562]] R_gt: [[ 0.99585254 -0.08833786 -0.02180103] [ 0.08875141 0.99587644 0.0188076 ] [ 0.02004935 -0.02066315 0.9995845 ]] t_gt: [ 0.42594095 -0.90254655 -0.06311912] Pose Error in degrees for R and t: 26.55793987181977 35.147698543057395 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-9.53725560e-01 -3.00676271e-01 -1.15599895e-03] [ 3.00678170e-01 -9.53723126e-01 -2.19949748e-03] [-4.41166229e-04 -2.44530061e-03 9.99996913e-01]] t_estimated: [[8.76791525e-01] [4.80870093e-01] [7.58470178e-04]] R_gt: [[ 0.98641686 -0.1499718 -0.06701661] [ 0.15279634 0.98747977 0.03921169] [ 0.06029661 -0.04891846 0.99698088]] t_gt: [ 0.43328767 -0.89105614 -0.13520635] Pose Error in degrees for R and t: 153.79604185895764 87.20963321958352 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.99986068 0.01663249 -0.00140486] [-0.01663049 -0.99986069 -0.00142473] [-0.00142836 -0.00140117 0.999998 ]] t_estimated: [[9.39727608e-01] [3.41923182e-01] [7.48190771e-04]] R_gt: [[ 0.95829739 -0.26268396 -0.11253514] [ 0.2662619 0.96373699 0.01777576] [ 0.10378529 -0.04699838 0.99348867]] t_gt: [ 0.56436599 -0.79697462 -0.21522659] Pose Error in degrees for R and t: 165.5839246063155 75.06724746411291 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-4.93273732e-01 8.69873393e-01 1.14280722e-03] [-8.69873819e-01 -4.93271987e-01 -1.51201155e-03] [-7.51543831e-04 -1.73993366e-03 9.99998204e-01]] t_estimated: [[0.62899941] [0.7774053 ] [0.00086282]] R_gt: [[ 0.98353498 0.1794682 -0.02122114] [-0.17962691 0.98371682 -0.00580638] [ 0.0198343 0.00952175 0.99975846]] t_gt: [-0.64543108 0.75331022 -0.12626334] Pose Error in degrees for R and t: 109.21764257900386 79.656878253156 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 7.41042157e-02 -9.97247767e-01 -2.33589932e-03] [ 9.97249860e-01 7.41066239e-02 -9.61714913e-04] [ 1.13217366e-03 -2.25820814e-03 9.99996809e-01]] t_estimated: [[9.99994892e-01] [3.10075933e-03] [7.75189839e-04]] R_gt: [[ 0.93947373 0.34246914 -0.01022433] [-0.34259847 0.93933904 -0.01637403] [ 0.00399732 0.01888465 0.99981425]] t_gt: [-0.61806423 0.78517559 -0.03867689] Pose Error in degrees for R and t: 105.78748355375845 52.000367936188646 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-8.72783912e-01 4.88070045e-01 -5.98956443e-03] [ 4.88064605e-01 8.72804101e-01 2.43778090e-03] [ 6.41752424e-03 -7.95638446e-04 -9.99979091e-01]] t_estimated: [[ 0.96707814] [-0.25446186] [-0.0030058 ]] R_gt: [[ 0.90097452 0.43218473 0.0382386 ] [-0.43019418 0.9013112 -0.05070547] [-0.0563779 0.02923382 0.99798187]] t_gt: [-0.60716828 0.79181908 0.06610011] Pose Error in degrees for R and t: 177.08536477562689 37.92037255194388 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99996387e-01 2.67624189e-03 2.52630126e-04] [-2.67629748e-03 9.99996395e-01 2.19968160e-04] [-2.52040527e-04 -2.20643478e-04 9.99999944e-01]] t_estimated: [[0.99997264] [0.00729229] [0.0012439 ]] R_gt: [[ 0.98584586 -0.15743453 0.05763634] [ 0.1573612 0.98752316 0.00583232] [-0.05783517 0.00331965 0.99832002]] t_gt: [ 0.60076379 -0.75583276 0.26038377] Pose Error in degrees for R and t: 9.79102940446036 53.44747245569395 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-3.27309953e-01 9.44917030e-01 4.17895784e-05] [-9.44914672e-01 -3.27309036e-01 -2.24904745e-03] [-2.11148513e-03 -7.75623200e-04 9.99997470e-01]] t_estimated: [[0.24027343] [0.97070466] [0.00106788]] R_gt: [[ 0.95036361 -0.30753544 0.04723717] [ 0.30442981 0.95044626 0.06303202] [-0.06428041 -0.04552318 0.99689355]] t_gt: [ 0.68402442 -0.67569402 0.27486029] Pose Error in degrees for R and t: 126.99485161142626 60.57703415956296 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.99913264 0.0414875 -0.00357222] [-0.04143884 0.99905955 0.01276101] [ 0.00409829 -0.01260191 0.99991219]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.87911343 -0.47647296 -0.01154742] [ 0.47599152 0.87647408 0.07227937] [-0.02431702 -0.06903767 0.99731819]] t_gt: [ 0.80045701 -0.5773099 0.16118884] Pose Error in degrees for R and t: 31.047886089036133 36.98550080875254 Number of keypoints: Image1: 447 Image2: 447 R_estimated: [[-0.59056336 0.80552984 -0.04854476] [ 0.80551968 0.59205009 0.02479387] [ 0.04871313 -0.02446141 -0.99851323]] t_estimated: [[ 0.89677412] [-0.44167249] [-0.02686251]] R_gt: [[ 0.998857 0.0465098 0.01100319] [-0.04665198 0.99882639 0.0129882 ] [-0.01038606 -0.01348575 0.99985477]] t_gt: [-0.95153696 -0.04362146 0.304425 ] Pose Error in degrees for R and t: 177.08014735618002 32.624181467129496 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.83476625e-01 -1.81035029e-01 -2.13803710e-04] [ 1.81035038e-01 9.83476647e-01 2.19377931e-05] [ 2.06299446e-04 -6.02812694e-05 9.99999977e-01]] t_estimated: [[-0.67297101] [-0.73966802] [-0.00111456]] R_gt: [[ 0.98404305 0.17755306 0.01158687] [-0.17765117 0.98406121 0.00799529] [-0.00998276 -0.00992572 0.99990105]] t_gt: [-0.97104761 0.21818168 0.09727945] Pose Error in degrees for R and t: 20.676535958458995 60.528112400654614 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[-0.58536389 0.81071134 -0.00981052] [ 0.81070323 0.58542842 0.00581677] [ 0.01045908 -0.00454849 -0.99993496]] t_estimated: [[ 0.89192242] [-0.45215567] [-0.00544503]] R_gt: [[ 0.96818599 0.24933121 0.02122257] [-0.24997251 0.9675615 0.03658496] [-0.0114118 -0.0407253 0.99910527]] t_gt: [-0.95475362 0.20953349 0.21104797] Pose Error in degrees for R and t: 179.17126233083562 18.655845046779792 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 7.05527145e-01 -7.08682786e-01 -3.94958224e-04] [ 7.08682399e-01 7.05527201e-01 -7.91076233e-04] [ 8.39275879e-04 2.78225814e-04 9.99999609e-01]] t_estimated: [[ 0.11005855] [-0.99392362] [-0.00171937]] R_gt: [[ 0.99403131 0.10897934 0.00497438] [-0.10880519 0.9936903 -0.0272123 ] [-0.00790857 0.02650798 0.99961741]] t_gt: [-0.83746164 0.52644789 -0.14666498] Pose Error in degrees for R and t: 51.402579229860265 52.03597040806522 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.08934504 -0.99595598 0.00944227] [-0.99594574 0.08943571 0.00966137] [-0.01046678 -0.0085408 -0.99990875]] t_estimated: [[0.74083502] [0.6716346 ] [0.00839267]] R_gt: [[ 0.9738047 0.22356721 0.04149274] [-0.22409374 0.97453038 0.00845946] [-0.03854391 -0.01753697 0.99910294]] t_gt: [-0.8411216 0.5324777 0.09477314] Pose Error in degrees for R and t: 177.02786157228678 74.65048659376349 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.9118594 -0.41049414 -0.00264553] [ 0.41048806 0.91186239 -0.00255758] [ 0.00346223 0.00124619 0.99999323]] t_estimated: [[-0.8057045 ] [-0.59230169] [-0.00435516]] R_gt: [[ 0.93662107 0.34782996 0.04188163] [-0.34902052 0.93677023 0.02539723] [-0.03039949 -0.03840481 0.99880005]] t_gt: [-0.80547921 0.58363153 0.10284683] Pose Error in degrees for R and t: 44.73717936830039 72.37147688734754 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.98159463e-01 6.06434814e-02 2.34101979e-04] [-6.06434841e-02 9.98159490e-01 4.46971888e-06] [-2.33400053e-04 -1.86582518e-05 9.99999973e-01]] t_estimated: [[0.39378911] [0.91919754] [0.00245478]] R_gt: [[ 0.99845509 -0.05152036 -0.02084663] [ 0.0514176 0.99866247 -0.00547215] [ 0.02110043 0.0043914 0.99976786]] t_gt: [ 0.77910893 -0.5028394 -0.3743552 ] Pose Error in degrees for R and t: 6.547023928273411 81.00646078942444 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-0.28480929 0.95852831 0.01035117] [-0.95857227 -0.28484303 0.00191411] [ 0.00478319 -0.00937719 0.99994459]] t_estimated: [[0.31759323] [0.94822637] [0.00113833]] R_gt: [[ 0.99681431 -0.0741667 -0.0293604 ] [ 0.07357304 0.99707411 -0.02080512] [ 0.03081708 0.01857856 0.99935258]] t_gt: [ 0.81992546 -0.21617683 -0.53008473] Pose Error in degrees for R and t: 110.81185899511497 86.85776883253163 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.34275625 -0.93924596 -0.01830809] [ 0.93942318 -0.34265968 -0.00827185] [ 0.00149585 -0.02003427 0.99979817]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.99173323 -0.12830647 -0.00204085] [ 0.12814103 0.99104988 -0.03743521] [ 0.00682529 0.03686368 0.99929668]] t_gt: [ 0.91044645 -0.30685645 -0.27735604] Pose Error in degrees for R and t: 102.7064464262136 26.813896734704645 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99276428e-01 3.80343067e-02 1.12227515e-04] [-3.80342986e-02 9.99276432e-01 -7.30958201e-05] [-1.14926459e-04 6.87744352e-05 9.99999991e-01]] t_estimated: [[ 9.79039246e-01] [-2.03671170e-01] [-4.58180474e-04]] R_gt: [[ 0.99673219 -0.08011656 0.01043498] [ 0.0799755 0.99670888 0.01322914] [-0.01146037 -0.01235144 0.999858 ]] t_gt: [ 0.67991063 -0.68843809 0.2525362 ] Pose Error in degrees for R and t: 6.8392456596450915 36.316431351995995 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.99690464 -0.07801061 0.00977113] [-0.07799679 0.99695201 0.00178819] [-0.00988085 0.00102054 -0.99995066]] t_estimated: [[0.99891239] [0.0463413 ] [0.00514903]] R_gt: [[ 0.99312026 -0.11694399 -0.00616213] [ 0.11698019 0.99311657 0.0059724 ] [ 0.0054214 -0.00665241 0.99996282]] t_gt: [ 0.8077434 -0.58830631 0.03803002] Pose Error in degrees for R and t: 179.75167618186072 38.757931132686814 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 3.99646495e-01 9.16669187e-01 5.29365406e-04] [-9.16668537e-01 3.99646843e-01 -1.09306564e-03] [-1.21353880e-03 -4.84127623e-05 9.99999262e-01]] t_estimated: [[2.35178340e-01] [9.71951859e-01] [8.55297629e-04]] R_gt: [[ 0.98874458 -0.1495316 0.00523759] [ 0.14959073 0.98865148 -0.01386519] [-0.00310535 0.01449214 0.99989007]] t_gt: [ 0.87849693 -0.4774311 -0.01739819] Pose Error in degrees for R and t: 75.04935016137227 75.08110485656829 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.99999749 -0.0016928 0.00146847] [ 0.00169546 0.99999692 -0.00181091] [-0.0014654 0.0018134 0.99999728]] t_estimated: [[0.99857434] [0.05333957] [0.00204313]] R_gt: [[ 0.99352594 0.03510101 0.1080472 ] [-0.02918254 0.99801074 -0.0558727 ] [-0.10979372 0.05235828 0.99257433]] t_gt: [-0.77391218 0.59911876 0.20522344] Pose Error in degrees for R and t: 7.135684356109982 42.231702744853735 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.92347709 0.38362046 0.00504085] [-0.38363626 -0.92323087 -0.02163298] [-0.00364498 -0.02191142 0.99975327]] t_estimated: [[0.60202161] [0.79836678] [0.01343371]] R_gt: [[ 0.9841223 0.00712992 0.17734942] [ 0.01789374 0.99011653 -0.1390981 ] [-0.17658877 0.14006281 0.97426893]] t_gt: [-0.54296205 0.8311954 -0.11960944] Pose Error in degrees for R and t: 157.78503315691069 70.42034047880112 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 1.99244063e-01 9.79949474e-01 9.11746021e-04] [-9.79934909e-01 1.99246075e-01 -5.34565618e-03] [-5.42013478e-03 1.71638503e-04 9.99985296e-01]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.97630176 -0.046902 0.21127313] [ 0.0759041 0.98842947 -0.13132479] [-0.20266952 0.1442492 0.96856445]] t_gt: [-0.2437961 0.96600604 0.08599873] Pose Error in degrees for R and t: 83.05917210942715 17.61449920285806 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 0.8682186 0.49618028 0.00126389] [-0.49611583 0.86805862 0.01852901] [ 0.0080966 -0.01671427 0.99982752]] t_estimated: [[0.74610498] [0.66582786] [0.00078703]] R_gt: [[ 0.98116528 -0.19211518 0.0202038 ] [ 0.19145124 0.98101833 0.03082606] [-0.02574222 -0.02637733 0.99932029]] t_gt: [ 0.67927944 -0.69776293 0.22739027] Pose Error in degrees for R and t: 40.8381905869959 87.56977379523565 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.82224772e-01 4.70828309e-01 3.94696326e-04] [-4.70827802e-01 8.82224618e-01 -9.51343095e-04] [-7.96130077e-04 6.53464441e-04 9.99999470e-01]] t_estimated: [[0.7462558 ] [0.66565884] [0.00076285]] R_gt: [[ 9.36031524e-01 -3.51461357e-01 -1.79281391e-02] [ 3.51916813e-01 9.34712501e-01 4.96563179e-02] [-6.94371056e-04 -5.27897657e-02 9.98604580e-01]] t_gt: [ 0.76742387 -0.62500441 0.14293388] Pose Error in degrees for R and t: 48.785405457908126 80.9808927685744 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.10282121e-01 4.13988303e-01 3.81962242e-04] [-4.13988402e-01 9.10281002e-01 1.44903599e-03] [ 2.52190976e-04 -1.47715949e-03 9.99998877e-01]] t_estimated: [[7.87794851e-01] [6.15937335e-01] [6.87430062e-04]] R_gt: [[ 0.85367581 -0.5123784 -0.09330796] [ 0.51800128 0.85390738 0.05017332] [ 0.05396884 -0.09116637 0.99437181]] t_gt: [ 0.85374852 -0.51159332 0.09688005] Pose Error in degrees for R and t: 55.862131122731 69.05105835790312 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99996444e-01 2.66642769e-03 4.73442007e-05] [-2.66643066e-03 9.99996443e-01 6.27788152e-05] [-4.71766371e-05 -6.29048320e-05 9.99999997e-01]] t_estimated: [[8.01490828e-01] [5.98006744e-01] [6.22275488e-04]] R_gt: [[ 0.99964971 -0.02633073 0.00256198] [ 0.02626962 0.99941876 0.02171429] [-0.00313308 -0.02163942 0.99976053]] t_gt: [ 0.54425644 -0.66724872 0.50849196] Pose Error in degrees for R and t: 2.078119634220394 87.85011685425108 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999972e-01 -2.34914198e-04 3.97372961e-05] [ 2.34911364e-04 9.99999970e-01 7.13253804e-05] [-3.97540502e-05 -7.13160437e-05 9.99999997e-01]] t_estimated: [[ 9.97023392e-01] [-7.70987697e-02] [ 3.68915246e-04]] R_gt: [[ 0.99631238 -0.08578796 -0.00152631] [ 0.08577874 0.99629842 -0.00559773] [ 0.00200021 0.00544502 0.99998227]] t_gt: [ 0.80219626 -0.58558897 -0.11647628] Pose Error in degrees for R and t: 4.919485177800406 32.33731448624256 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99883158e-01 -1.34806906e-02 -7.20709875e-03] [ 1.34856430e-02 9.99908860e-01 6.39009272e-04] [ 7.19782761e-03 -7.36126970e-04 9.99973824e-01]] t_estimated: [[9.61495415e-01] [2.74819951e-01] [7.48828205e-04]] R_gt: [[ 0.99609189 -0.08589686 -0.02056697] [ 0.08104935 0.98145908 -0.17369069] [ 0.03510357 0.17134423 0.98458461]] t_gt: [ 0.61948116 -0.06516692 -0.78230197] Pose Error in degrees for R and t: 10.839039274300859 54.75083320887234 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.96641635e-01 8.18868252e-02 1.51921110e-05] [-8.18868216e-02 9.96641621e-01 -1.65059875e-04] [-2.86573193e-05 1.63261510e-04 9.99999986e-01]] t_estimated: [[-1.86038075e-01] [-9.82542404e-01] [-5.08067909e-04]] R_gt: [[ 0.99966085 0.00653332 -0.02521728] [-0.00274818 0.98908417 0.14731975] [ 0.02590403 -0.14720075 0.98876728]] t_gt: [-0.10943956 -0.32740723 0.9385241 ] Pose Error in degrees for R and t: 9.676685002124024 70.02716515277172 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.96700803e-01 8.11634647e-02 1.87210234e-05] [-8.11634604e-02 9.96700790e-01 -1.69293022e-04] [-3.23996670e-05 1.67215028e-04 9.99999985e-01]] t_estimated: [[-1.90754766e-03] [-9.99998083e-01] [-4.41029808e-04]] R_gt: [[ 0.99712222 0.03162804 -0.06890192] [-0.01846491 0.98277047 0.18390334] [ 0.07353131 -0.18210228 0.98052604]] t_gt: [-0.39721489 -0.34546307 0.85022091] Pose Error in degrees for R and t: 11.77864009867994 69.7666049049939 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.98097661e-01 -6.16527338e-02 -1.26701416e-05] [ 6.16527329e-02 9.98097659e-01 -6.02468326e-05] [ 1.63604206e-05 5.93510738e-05 9.99999998e-01]] t_estimated: [[ 2.86903117e-01] [-9.57959603e-01] [-8.00954633e-06]] R_gt: [[ 0.99381253 0.08940037 -0.06591531] [-0.06953413 0.96352137 0.2584367 ] [ 0.0866152 -0.25225476 0.96377606]] t_gt: [-0.66009947 -0.19067514 0.72657531] Pose Error in degrees for R and t: 17.488038497430285 89.61431997084856 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-2.95878034e-01 9.55222651e-01 2.42404653e-03] [-9.55225370e-01 -2.95879165e-01 1.13633370e-04] [ 8.25770030e-04 -2.28188912e-03 9.99997056e-01]] t_estimated: [[7.57349246e-01] [6.53009659e-01] [7.09793108e-04]] R_gt: [[ 0.99120496 -0.13167969 -0.0131524 ] [ 0.13183872 0.99119775 0.01205004] [ 0.01145051 -0.0136776 0.99984076]] t_gt: [ 0.64299752 -0.76576443 0.01261062] Pose Error in degrees for R and t: 114.78477488212049 89.25118380159299 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.93098760e-01 -1.17281035e-01 1.04815007e-04] [ 1.17281064e-01 9.93098706e-01 -3.35457713e-04] [-6.47488206e-05 3.45435455e-04 9.99999938e-01]] t_estimated: [[-0.30117744] [-0.9535671 ] [-0.00139136]] R_gt: [[ 0.9825683 -0.17411251 0.06514896] [ 0.1775733 0.98274866 -0.05171161] [-0.05502096 0.06237856 0.99653492]] t_gt: [ 0.53059003 -0.8381461 -0.12643313] Pose Error in degrees for R and t: 5.850078096435729 50.23779913016841 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.94630580e-01 -1.03489114e-01 -1.12699920e-04] [ 1.03488950e-01 9.94630097e-01 -1.00388202e-03] [ 2.15985593e-04 9.86828558e-04 9.99999490e-01]] t_estimated: [[-0.42538899] [-0.90500795] [-0.0021957 ]] R_gt: [[ 0.97926445 -0.16393329 0.1190243 ] [ 0.1788014 0.97560633 -0.12736997] [-0.09523987 0.14601101 0.98468755]] t_gt: [ 0.32637663 -0.77385668 -0.5427929 ] Pose Error in degrees for R and t: 10.77036448517211 55.757187337062305 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99999950e-01 -2.94574244e-04 1.10778763e-04] [ 2.94598271e-04 9.99999933e-01 -2.16932633e-04] [-1.10714853e-04 2.16965258e-04 9.99999970e-01]] t_estimated: [[9.99994891e-01] [3.12679461e-03] [6.64870977e-04]] R_gt: [[ 0.99914889 -0.00469823 0.0409898 ] [ 0.00773438 0.99721277 -0.07421211] [-0.04052589 0.07446659 0.99640012]] t_gt: [ 0.65854128 0.51133297 -0.55214307] Pose Error in degrees for R and t: 4.860945842630845 48.71769280331104 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99999999e-01 3.51931381e-05 1.48386633e-06] [-3.51931380e-05 9.99999999e-01 -4.02425766e-08] [-1.48386774e-06 4.01903547e-08 1.00000000e+00]] t_estimated: [[9.99996527e-01] [2.51913468e-03] [7.74589300e-04]] R_gt: [[ 0.99378631 0.0674171 0.08856444] [-0.06151282 0.99580176 -0.06778997] [-0.0927621 0.06192108 0.99376128]] t_gt: [0.04715976 0.98826317 0.14529921] Pose Error in degrees for R and t: 7.397367198265253 87.14768604865341 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.99999753e-01 -3.24464754e-04 6.23174102e-04] [ 3.24848856e-04 9.99999757e-01 -6.16361343e-04] [-6.22973963e-04 6.16563628e-04 9.99999616e-01]] t_estimated: [[0.99997501] [0.00699171] [0.00104893]] R_gt: [[ 0.97977965 0.15385292 0.12791516] [-0.13612342 0.98111726 -0.13740403] [-0.14663958 0.11721316 0.98222067]] t_gt: [-0.12365695 0.99055005 0.05932583] Pose Error in degrees for R and t: 13.669439615007411 83.30027376986654 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.95789553 -0.28709363 -0.00366036] [-0.28710518 -0.95766293 -0.02126804] [ 0.00260053 0.02142346 -0.99976711]] t_estimated: [[ 0.16739957] [ 0.98583353] [-0.01047098]] R_gt: [[ 0.99523997 -0.01564247 0.09619268] [ 0.02502624 0.99495774 -0.09711927] [-0.09418856 0.09906467 0.9906135 ]] t_gt: [-0.8599871 0.15065564 -0.48757057] Pose Error in degrees for R and t: 173.98377574112493 89.4462135490275 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.98174976 0.0807034 -0.17220443] [-0.04025681 0.97316373 0.22656509] [ 0.18586768 -0.21549783 0.95865212]] t_estimated: [[0.98754144] [0.15430335] [0.03086067]] R_gt: [[ 0.98628538 0.009051 0.16479889] [ 0.01597999 0.98856729 -0.14992912] [-0.16427151 0.15050699 0.97486545]] t_gt: [-0.88229291 0.39345933 -0.25835824] Pose Error in degrees for R and t: 29.561531131392172 35.05891520890375 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.18927373 0.98191988 0.00296674] [ 0.98143276 -0.1892737 0.03106764] [ 0.03106746 -0.00296863 -0.99951288]] t_estimated: [[7.50814435e-01] [6.60512796e-01] [7.28239025e-04]] R_gt: [[ 0.96970368 0.01058571 0.24405476] [ 0.04133184 0.97754738 -0.20662173] [-0.24076151 0.21044932 0.94749353]] t_gt: [-0.77742661 0.59085163 -0.21564372] Pose Error in degrees for R and t: 162.87776055405817 78.83733514032356 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.32634865 -0.94521801 -0.00771144] [-0.94523859 0.32629491 0.00745894] [-0.00453412 0.00972337 -0.99994245]] t_estimated: [[0.83386509] [0.55196743] [0.00098566]] R_gt: [[ 0.99832857 0.01666751 -0.05533034] [-0.01297802 0.9977098 0.06638471] [ 0.05630959 -0.06555532 0.99625983]] t_gt: [-0.56705234 -0.54577389 0.61691369] Pose Error in degrees for R and t: 179.47502835368033 39.33198594873181 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.90816492e-01 1.35211984e-01 6.30623137e-04] [-1.35211179e-01 9.90816099e-01 -1.18091904e-03] [-7.84505963e-04 1.08480676e-03 9.99999104e-01]] t_estimated: [[0.38337695] [0.92358993] [0.00193625]] R_gt: [[ 0.99544146 0.07122412 -0.06342082] [-0.06392391 0.99181532 0.11052122] [ 0.07077354 -0.10596231 0.99184856]] t_gt: [-0.92906667 -0.1630378 0.33204487] Pose Error in degrees for R and t: 8.35240862339779 59.59427790809649 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-7.37373517e-01 -6.75435336e-01 -8.20992001e-03] [ 6.75383152e-01 -7.37418920e-01 8.42221715e-03] [-1.17428134e-02 6.65478230e-04 9.99930829e-01]] t_estimated: [[0.99748776] [0.0705573 ] [0.00631206]] R_gt: [[ 0.99257438 0.10383241 -0.06335899] [-0.08934619 0.97581851 0.19948794] [ 0.08253989 -0.19234588 0.97784994]] t_gt: [-0.82356617 -0.12366878 0.55357456] Pose Error in degrees for R and t: 143.27716183442067 34.23585033209476 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.90938996e-01 1.34312608e-01 1.72018389e-04] [-1.34312606e-01 9.90939011e-01 -2.69063747e-05] [-1.74073598e-04 3.55833783e-06 9.99999985e-01]] t_estimated: [[9.08059192e-01] [4.18841272e-01] [7.02445592e-04]] R_gt: [[ 0.99535519 -0.09626772 -0.00103758] [ 0.09626357 0.99534977 -0.00357176] [ 0.00137704 0.00345512 0.99999314]] t_gt: [ 0.81309629 -0.57768505 -0.07179418] Pose Error in degrees for R and t: 13.244737590489878 60.24245760753664 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-7.28978977e-01 6.84533858e-01 -1.74586721e-03] [-6.84530557e-01 -7.28980969e-01 -2.15967870e-03] [-2.75107716e-03 -3.79260917e-04 9.99996144e-01]] t_estimated: [[0.46322901] [0.88623753] [0.00138691]] R_gt: [[ 0.9963209 -0.07689479 -0.03784079] [ 0.07186264 0.99016895 -0.1200098 ] [ 0.04669659 0.11684792 0.99205149]] t_gt: [ 0.66405776 -0.12642634 -0.73691497] Pose Error in degrees for R and t: 141.15724981740502 78.78185409056884 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.98831564 -0.15020845 0.02587683] [-0.15105605 -0.98791631 0.03469054] [ 0.02035333 -0.03819405 -0.99906304]] t_estimated: [[0.70774267] [0.70646836] [0.00166106]] R_gt: [[ 0.99311279 -0.10687247 -0.0480024 ] [ 0.08911212 0.95505749 -0.28270983] [ 0.07605956 0.2764854 0.95800302]] t_gt: [ 0.49636371 0.14548704 -0.85583678] Pose Error in degrees for R and t: 165.5329208314041 63.08564194188729 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 4.64954515e-01 8.85334006e-01 9.98833520e-04] [-8.85333900e-01 4.64955255e-01 -7.05273376e-04] [-1.08881540e-03 -5.56381135e-04 9.99999252e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99690558 0.04026112 -0.06752123] [-0.04629146 0.99484135 -0.09025978] [ 0.06353898 0.09310644 0.99362735]] t_gt: [-0.16079931 0.42751137 -0.88959407] Pose Error in degrees for R and t: 60.12554930904913 64.81292172945304 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99998702e-01 -1.60630096e-03 1.27603082e-04] [ 1.60626641e-03 9.99998673e-01 2.70376167e-04] [-1.28037218e-04 -2.70170852e-04 9.99999955e-01]] t_estimated: [[2.95737449e-01] [9.55268794e-01] [9.44667757e-04]] R_gt: [[ 0.99243152 0.03150368 -0.11869434] [-0.05157425 0.9840906 -0.17002084] [ 0.11145039 0.17485628 0.97826662]] t_gt: [-0.00364424 0.35654955 -0.93426931] Pose Error in degrees for R and t: 12.240840980127812 70.20594163042449 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 5.33708234e-01 -8.45668679e-01 -7.57028495e-05] [ 8.45665430e-01 5.33706428e-01 -2.72560677e-03] [ 2.34536337e-03 1.39065949e-03 9.99996283e-01]] t_estimated: [[ 0.09964763] [-0.99501503] [-0.00392852]] R_gt: [[ 0.98105416 0.07696226 -0.17779326] [-0.11839735 0.96456981 -0.23576843] [ 0.15334924 0.2523519 0.95540699]] t_gt: [-0.06251038 0.45912234 -0.88617105] Pose Error in degrees for R and t: 65.48210747593167 62.63990698466189 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99954890e-01 9.49816257e-03 5.18613329e-05] [-9.49816384e-03 9.99954891e-01 2.43435666e-05] [-5.16277743e-05 -2.48350559e-05 9.99999998e-01]] t_estimated: [[ 7.09134945e-01] [-7.05072775e-01] [ 1.07227216e-04]] R_gt: [[ 0.9966241 -0.07364123 -0.03629829] [ 0.07273796 0.99702292 -0.02556605] [ 0.03807413 0.02283997 0.99901352]] t_gt: [ 0.39887716 -0.73337947 -0.55050119] Pose Error in degrees for R and t: 5.384358777261999 36.880915463139836 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.80214217 0.52531005 0.28393183] [-0.44783335 0.84374911 -0.2958593 ] [-0.39498509 0.11016707 0.91205811]] t_estimated: [[0.76200076] [0.63500064] [0.12700013]] R_gt: [[ 0.9791441 -0.19750698 -0.04761809] [ 0.19711888 0.98029586 -0.01274138] [ 0.04919744 0.00308927 0.99878356]] t_gt: [ 0.57421566 -0.79045924 -0.21319139] Pose Error in degrees for R and t: 49.359790268235216 84.75212532055565 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.28361904 -0.95893512 -0.0019198 ] [ 0.95893569 0.28362142 -0.00110576] [ 0.00160485 -0.00152735 0.99999755]] t_estimated: [[9.70275533e-01] [2.42001692e-01] [7.56255287e-04]] R_gt: [[ 0.93564327 -0.34527439 -0.07319532] [ 0.34273068 0.9383434 -0.0452379 ] [ 0.08430303 0.01724042 0.99629059]] t_gt: [ 0.70221398 -0.67140794 -0.23686896] Pose Error in degrees for R and t: 53.56429897411027 58.75624628208512 Number of keypoints: Image1: 476 Image2: 476 R_estimated: [[ 9.98223872e-01 5.95742522e-02 -9.46359383e-05] [-5.95742512e-02 9.98223877e-01 1.31883699e-05] [ 9.52535405e-05 -7.52708047e-06 9.99999995e-01]] t_estimated: [[-0.99524864] [ 0.09735822] [-0.00123029]] R_gt: [[ 0.99468007 0.09967841 0.02598557] [-0.10060587 0.99422999 0.03721692] [-0.0221253 -0.03963317 0.9989692 ]] t_gt: [-0.9170528 0.18074904 0.35544893] Pose Error in degrees for R and t: 3.4975979992646886 21.587674499941667 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 9.89830958e-01 -1.42248421e-01 -2.46106219e-04] [ 1.42248432e-01 9.89830987e-01 2.87919647e-05] [ 2.39507950e-04 -6.35074018e-05 9.99999969e-01]] t_estimated: [[-0.3569111 ] [-0.9341377 ] [-0.00110158]] R_gt: [[ 0.97787997 0.20916276 0.00130353] [-0.20915572 0.97774568 0.01630296] [ 0.0021361 -0.01621432 0.99986619]] t_gt: [-0.87788923 0.47841274 0.02077868] Pose Error in degrees for R and t: 20.27325624683652 82.32245154757705 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.81487134e-01 -1.91528032e-01 -1.34312437e-04] [ 1.91527977e-01 9.81487094e-01 -3.45158805e-04] [ 1.97933511e-04 3.13044337e-04 9.99999931e-01]] t_estimated: [[-0.71952702] [-0.69446367] [-0.00104431]] R_gt: [[ 0.95594724 0.28999163 0.0454887 ] [-0.29254883 0.95392871 0.06659372] [-0.02408027 -0.07696788 0.99674317]] t_gt: [-0.84766125 0.4958519 0.18868309] Pose Error in degrees for R and t: 28.379886266217373 74.61123912196993 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 1.00000000e+00 -4.26322914e-06 3.54953063e-06] [ 4.26324856e-06 1.00000000e+00 -5.47010823e-06] [-3.54950731e-06 5.47012337e-06 1.00000000e+00]] t_estimated: [[9.99797907e-01] [2.01033637e-02] [9.97915065e-06]] R_gt: [[ 0.99021634 -0.13886554 0.01372535] [ 0.13912353 0.99007151 -0.02009915] [-0.01079787 0.02181228 0.99970342]] t_gt: [ 0.75590834 -0.65308258 -0.04566969] Pose Error in degrees for R and t: 8.111081319276066 42.0444094909471 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.54342522e-01 2.98714488e-01 -7.81833297e-05] [-2.98714474e-01 9.54342517e-01 1.49791282e-04] [ 1.19358502e-04 -1.19597698e-04 9.99999986e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.95988999 -0.28020357 0.00992066] [ 0.28020391 0.95993987 0.00130231] [-0.0098875 0.0015296 0.9999503 ]] t_gt: [ 0.77411164 -0.63304578 0.00205121] Pose Error in degrees for R and t: 33.65797228238538 72.27255358388838 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.89411817 0.44782995 0.00101551] [-0.44782809 0.89411818 -0.00163642] [-0.00164082 0.00100838 0.99999815]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.91417318 -0.39852036 0.07395812] [ 0.39464061 0.91675173 0.06184266] [-0.0924469 -0.02734809 0.99534217]] t_gt: [ 0.77501281 -0.60854485 0.17037695] Pose Error in degrees for R and t: 50.308732640321814 72.66840429080001 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 3.62059095e-02 9.99328079e-01 5.70289077e-03] [-9.99343865e-01 3.62109330e-02 -7.80052118e-04] [-9.86034980e-04 -5.67090641e-03 9.99983434e-01]] t_estimated: [[0.10003874] [0.99497987] [0.00270375]] R_gt: [[ 0.99619288 0.07855887 -0.03777425] [-0.07717916 0.99634225 0.0366822 ] [ 0.04051847 -0.0336266 0.9986118 ]] t_gt: [-0.00915832 0.8744052 0.48510996] Pose Error in degrees for R and t: 83.50355548469103 29.493564627996143 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99998803e-01 -1.54684933e-03 3.56215439e-05] [ 1.54683903e-03 9.99998762e-01 2.87294408e-04] [-3.60659009e-05 -2.87238963e-04 9.99999958e-01]] t_estimated: [[0.20203021] [0.97937859] [0.00117039]] R_gt: [[ 0.9801528 0.17406213 -0.09487422] [-0.16913277 0.98389701 0.05779661] [ 0.10340672 -0.04060398 0.99380965]] t_gt: [ 0.00722793 0.98583738 -0.16754828] Pose Error in degrees for R and t: 11.854156664719712 14.811480858514118 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.83766799e-01 -1.79451582e-01 1.24654068e-04] [ 1.79451626e-01 9.83766566e-01 -6.76349912e-04] [-1.25844293e-06 6.87739963e-04 9.99999764e-01]] t_estimated: [[-0.52331336] [-0.85213854] [-0.00174412]] R_gt: [[ 0.97358704 0.22435448 -0.04233258] [-0.22374739 0.97446839 0.01863463] [ 0.04543262 -0.00867138 0.99892932]] t_gt: [-0.04577109 0.99109514 -0.12504171] Pose Error in degrees for R and t: 23.442136913958215 34.877183361764665 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.91606205 0.39838657 -0.04602667] [ 0.39828326 0.91718669 0.01179054] [ 0.04691224 -0.00753079 -0.99887063]] t_estimated: [[ 0.97653383] [-0.21398372] [-0.02434444]] R_gt: [[ 0.99881082 0.04857884 0.00426444] [-0.04866886 0.99851376 0.02453409] [-0.00306644 -0.02471298 0.9996901 ]] t_gt: [-0.4712232 0.7885027 0.39523687] Pose Error in degrees for R and t: 177.19621926215976 50.31890157088058 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 5.85484541e-01 -8.10682893e-01 -1.04806975e-03] [ 8.10683166e-01 5.85485051e-01 -2.42046266e-04] [ 8.09851938e-04 -7.07938156e-04 9.99999421e-01]] t_estimated: [[0.86521588] [0.50139719] [0.00152865]] R_gt: [[ 0.98697815 0.16028641 -0.0134788 ] [-0.15982653 0.98668385 0.03017216] [ 0.0181364 -0.02762596 0.99945417]] t_gt: [-0.61176794 0.78585254 0.09041996] Pose Error in degrees for R and t: 63.39950489671093 82.23277206384266 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.89253094e-01 -1.46211514e-01 -7.13331917e-04] [ 1.46211710e-01 9.89253295e-01 2.31273671e-04] [ 6.71851076e-04 -3.33085674e-04 9.99999719e-01]] t_estimated: [[-0.7771375] [-0.629329 ] [-0.0015238]] R_gt: [[ 0.98822106 0.15047323 0.02787621] [-0.15203514 0.98612391 0.06667284] [-0.01745682 -0.07012587 0.99738525]] t_gt: [-0.63638336 0.67220168 0.37836639] Pose Error in degrees for R and t: 17.608750095917404 85.93174434144575 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 2.80525354e-01 9.59842273e-01 2.88745867e-03] [ 9.59846570e-01 -2.80523137e-01 -1.15424926e-03] [-2.97898262e-04 3.09531348e-03 -9.99995165e-01]] t_estimated: [[-9.19883122e-01] [-3.92191706e-01] [-8.41613103e-04]] R_gt: [[ 0.99308769 0.09697312 -0.06613436] [-0.09431651 0.9946479 0.04218571] [ 0.06987081 -0.03565561 0.99691791]] t_gt: [ 0.01308 0.99648978 -0.0826863 ] Pose Error in degrees for R and t: 176.01719466101738 66.2480704986866 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.90368832e-01 -1.38454217e-01 -7.82787833e-05] [ 1.38454227e-01 9.90368824e-01 1.39418897e-04] [ 5.82217324e-05 -1.48914159e-04 9.99999987e-01]] t_estimated: [[-7.65619608e-01] [-6.43293167e-01] [-7.19567301e-04]] R_gt: [[ 0.98050086 0.18733072 -0.05937431] [-0.18508177 0.98185098 0.0414101 ] [ 0.06605374 -0.02961383 0.99737578]] t_gt: [-0.12180262 0.98308132 -0.13680368] Pose Error in degrees for R and t: 19.153628483116155 57.38056090578973 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.92326739e-01 -1.23643109e-01 -1.56255646e-04] [ 1.23643106e-01 9.92326751e-01 -2.62292374e-05] [ 1.58299722e-04 6.70804021e-06 9.99999987e-01]] t_estimated: [[-0.46609715] [-0.88473271] [-0.00121696]] R_gt: [[ 0.97920714 0.20169117 0.02178262] [-0.20042038 0.9784345 -0.04997913] [-0.03139321 0.04457503 0.99851205]] t_gt: [-0.05196801 0.99115793 -0.12208717] Pose Error in degrees for R and t: 18.967419905800476 31.511078036023733 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-0.57299616 0.81950317 -0.00948447] [ 0.81944851 0.57307041 0.00971794] [ 0.01339915 -0.00220369 -0.9999078 ]] t_estimated: [[ 0.56355604] [-0.82601205] [-0.01042513]] R_gt: [[ 0.99551379 0.09397017 -0.01100166] [-0.09358949 0.99512432 0.03111949] [ 0.01387199 -0.02995015 0.99945511]] t_gt: [-0.65100785 0.74634263 0.13842493] Pose Error in degrees for R and t: 177.80799460872154 9.999090733141065 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.68113981e-01 -2.50509755e-01 4.27973699e-04] [ 2.50510058e-01 9.68113536e-01 -9.44820331e-04] [-1.77640421e-04 1.02190549e-03 9.99999462e-01]] t_estimated: [[-0.36393683] [-0.9314219 ] [-0.00179482]] R_gt: [[ 0.98810047 0.15249867 -0.02002807] [-0.15151216 0.98747894 0.04392702] [ 0.02647508 -0.04036949 0.99883417]] t_gt: [-0.67910866 0.72088311 0.13834368] Pose Error in degrees for R and t: 23.424785356436317 64.87832536016474 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 4.63939909e-01 -8.85862641e-01 -2.67253822e-03] [ 8.85865098e-01 4.63942661e-01 -4.85357007e-04] [ 1.66986413e-03 -2.14233185e-03 9.99996311e-01]] t_estimated: [[0.30207388] [0.95328389] [0.00109447]] R_gt: [[ 0.9934637 0.09946744 0.05600732] [-0.10525709 0.98809024 0.11224205] [-0.04417648 -0.11740316 0.99210161]] t_gt: [-0.58966193 0.45784436 0.66534003] Pose Error in degrees for R and t: 68.59124371845174 74.98556605414221 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-9.96364784e-01 -8.28236755e-02 -1.99363106e-02] [-8.28391279e-02 9.96562931e-01 -5.09136662e-05] [ 1.98720050e-02 1.60077800e-03 -9.99801251e-01]] t_estimated: [[ 0.99859778] [ 0.05208346] [-0.00947574]] R_gt: [[ 0.99225797 0.12050423 0.03005316] [-0.12030354 0.99270148 -0.00840602] [-0.03084623 0.00472488 0.99951356]] t_gt: [-0.80773526 0.58536733 0.07006309] Pose Error in degrees for R and t: 179.41346301830043 39.03343602858579 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99980897e-01 -6.18049969e-03 -8.48786293e-05] [ 6.18049440e-03 9.99980899e-01 -6.25553710e-05] [ 8.52636315e-05 6.20295841e-05 9.99999994e-01]] t_estimated: [[-9.64882871e-01] [-2.62679436e-01] [-7.47232772e-04]] R_gt: [[ 0.97503569 0.2212018 0.01937711] [-0.22188196 0.97397287 0.04633523] [-0.00862243 -0.04947789 0.99873824]] t_gt: [-0.81324099 0.56711269 0.13046953] Pose Error in degrees for R and t: 13.472619957145698 50.534315424313405 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-5.96158274e-01 -8.02866871e-01 -3.16400884e-04] [-8.02866894e-01 5.96158076e-01 5.46239519e-04] [-2.49932671e-04 5.79673004e-04 -9.99999801e-01]] t_estimated: [[9.29686376e-01] [3.68351191e-01] [8.00763459e-04]] R_gt: [[ 0.92712684 0.37473156 -0.00346409] [-0.37420469 0.92624203 0.04526042] [ 0.02016955 -0.04066522 0.99896921]] t_gt: [-0.78442973 0.62006235 0.01388108] Pose Error in degrees for R and t: 179.49551955839922 59.942966423410176 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99696968e-01 -2.46164225e-02 6.97864546e-05] [ 2.46164229e-02 9.99696970e-01 -4.23840085e-06] [-6.96609729e-05 5.95500935e-06 9.99999998e-01]] t_estimated: [[9.95538177e-01] [9.43562295e-02] [7.99629057e-04]] R_gt: [[ 9.97060227e-01 -7.65954285e-02 -2.04636827e-03] [ 7.65951744e-02 9.97062082e-01 -3.95159626e-04] [ 2.07048157e-03 2.37260388e-04 9.99998216e-01]] t_gt: [ 0.69707709 -0.71699356 0.00193986] Pose Error in degrees for R and t: 2.984693590628077 51.22118559292219 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.94617579e-01 -1.03614001e-01 1.01397061e-04] [ 1.03613984e-01 9.94617573e-01 1.62321965e-04] [-1.17670127e-04 -1.50942127e-04 9.99999982e-01]] t_estimated: [[0.98293538] [0.18394772] [0.00112851]] R_gt: [[ 0.98709232 -0.1540337 0.04384997] [ 0.15517332 0.98759917 -0.02386399] [-0.03963001 0.03036024 0.99875353]] t_gt: [ 0.75996139 -0.64183681 0.10248994] Pose Error in degrees for R and t: 4.110549540850099 51.02036072176532 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.35624846 0.93435411 0.00833193] [ 0.93438058 0.35627287 -0.00160489] [-0.00446798 0.00721345 -0.999964 ]] t_estimated: [[0.95837811] [0.28549954] [0.00118465]] R_gt: [[ 0.99321866 -0.07385461 0.08979405] [ 0.07825236 0.99584979 -0.04647861] [-0.08598869 0.05318965 0.99487528]] t_gt: [ 0.77028586 -0.37451197 0.51613998] Pose Error in degrees for R and t: 173.7667066661133 50.80855705936634 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.86714025e-01 1.62465141e-01 7.15097930e-04] [-1.62464626e-01 9.86714101e-01 -7.27327004e-04] [-8.23762495e-04 6.01485638e-04 9.99999480e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99518605 -0.08448681 -0.04967052] [ 0.08170509 0.99510419 -0.05561519] [ 0.05412682 0.05128979 0.99721653]] t_gt: [ 0.72083237 -0.37240905 -0.58456154] Pose Error in degrees for R and t: 14.75423604479018 86.01280410160457 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 1.37331875e-01 9.90525078e-01 -1.58602668e-04] [-9.90521254e-01 1.37330896e-01 -2.80556146e-03] [-2.75719794e-03 5.42392331e-04 9.99996052e-01]] t_estimated: [[6.12174270e-02] [9.98124222e-01] [6.80718294e-04]] R_gt: [[ 0.9717864 -0.23184129 -0.04336493] [ 0.22894406 0.97140546 -0.06289031] [ 0.05670688 0.05118777 0.99707832]] t_gt: [ 0.80114122 -0.5214761 -0.29365867] Pose Error in degrees for R and t: 95.52120345554526 61.858283855924014 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 7.30381291e-01 6.83039019e-01 9.31644350e-04] [-6.83038314e-01 7.30376476e-01 2.97741910e-03] [ 1.35324231e-03 -2.81100000e-03 9.99995133e-01]] t_estimated: [[0.66740868] [0.74469059] [0.00125837]] R_gt: [[ 9.29317720e-01 -3.69281767e-01 -7.82506702e-04] [ 3.69155948e-01 9.29054036e-01 -2.41507313e-02] [ 9.64541721e-03 2.21548039e-02 9.99708152e-01]] t_gt: [ 0.82116687 -0.5665542 -0.06856613] Pose Error in degrees for R and t: 64.76970216391288 82.75802411147656 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.54554652 -0.83793769 0.01547326] [-0.83795123 -0.54504506 0.0276337 ] [-0.01472169 -0.02804131 -0.99949835]] t_estimated: [[0.48847111] [0.87243373] [0.01598022]] R_gt: [[ 0.99821083 -0.01587287 -0.05766763] [ 0.01437026 0.99954935 -0.02638932] [ 0.05806067 0.02551306 0.9979868 ]] t_gt: [ 0.81906156 0.25046255 -0.51614597] Pose Error in degrees for R and t: 178.92496079729926 52.38505808569014 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 9.99857699e-01 1.68694481e-02 6.19802459e-05] [-1.68694631e-02 9.99857669e-01 2.49953929e-04] [-5.77548394e-05 -2.50963933e-04 9.99999967e-01]] t_estimated: [[6.64338166e-01] [7.47432096e-01] [2.51581385e-04]] R_gt: [[ 0.99424309 -0.06327446 -0.08648296] [ 0.05961485 0.99723931 -0.04426723] [ 0.08904436 0.0388566 0.99526875]] t_gt: [ 0.92721032 0.13166704 -0.35063487] Pose Error in degrees for R and t: 7.16932846810544 44.413716374252104 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99587233e-01 -2.87290838e-02 -6.26048606e-05] [ 2.87291213e-02 9.99586977e-01 7.15948130e-04] [ 4.20104695e-05 -7.17451193e-04 9.99999742e-01]] t_estimated: [[0.75444548] [0.65636218] [0.00083513]] R_gt: [[ 0.99159454 -0.08193784 -0.10013576] [ 0.07950259 0.99643932 -0.02808223] [ 0.10208056 0.01988509 0.99457699]] t_gt: [ 0.96345649 0.12154707 -0.23870046] Pose Error in degrees for R and t: 6.684595265592699 36.248997870305274 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.22229307 0.97435642 0.03486211] [ 0.97432388 -0.22068998 -0.04459715] [-0.0357598 0.04388062 -0.99839658]] t_estimated: [[0.94667211] [0.32213148] [0.00657411]] R_gt: [[ 0.99584687 0.08129867 -0.04099531] [-0.08427436 0.9934603 -0.07702296] [ 0.03446524 0.08015892 0.99618619]] t_gt: [-0.45790091 0.67665809 -0.57659395] Pose Error in degrees for R and t: 174.58410421393882 77.33209351542149 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99998755e-01 -1.57485512e-03 9.86917714e-05] [ 1.57484460e-03 9.99998754e-01 1.06602932e-04] [-9.88595327e-05 -1.06447376e-04 9.99999989e-01]] t_estimated: [[2.30900378e-03] [9.99997228e-01] [4.61735344e-04]] R_gt: [[ 0.99186141 0.08009845 -0.09896598] [-0.09678399 0.97937817 -0.17733778] [ 0.08272113 0.18547402 0.9791611 ]] t_gt: [-0.2181584 0.56200133 -0.79784799] Pose Error in degrees for R and t: 12.830435929424052 55.86618223977148 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.07200042e-01 4.20699274e-01 -4.51657916e-04] [-4.20699400e-01 9.07200067e-01 -2.29263773e-04] [ 3.13292989e-04 3.98000319e-04 9.99999872e-01]] t_estimated: [[-0.46990348] [ 0.88271734] [-0.00090743]] R_gt: [[ 0.98597646 0.08454394 -0.14388781] [-0.11910871 0.9604005 -0.25188012] [ 0.11689433 0.26548635 0.95700161]] t_gt: [-0.13340218 0.54008057 -0.83097343] Pose Error in degrees for R and t: 25.26436531263164 57.30419701975315 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99302967e-01 -3.73306499e-02 -4.85597910e-05] [ 3.73306558e-02 9.99302960e-01 1.27784418e-04] [ 4.37556675e-05 -1.29508117e-04 9.99999991e-01]] t_estimated: [[ 9.99810098e-01] [-1.94825350e-02] [ 4.46003239e-04]] R_gt: [[ 0.99432218 -0.10257796 -0.02829903] [ 0.10305232 0.9945501 0.01585946] [ 0.0265181 -0.01868485 0.99947451]] t_gt: [ 0.53864131 -0.84052417 -0.05817781] Pose Error in degrees for R and t: 4.194204570031559 56.296956993316726 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.91491981e-01 1.30167223e-01 3.82428123e-04] [-1.30167171e-01 9.91492049e-01 -1.58866181e-04] [-3.99853613e-04 1.07734957e-04 9.99999914e-01]] t_estimated: [[ 9.99582874e-01] [-2.88802228e-02] [-1.00490328e-04]] R_gt: [[ 0.96802842 -0.24263653 -0.06363716] [ 0.24303349 0.97001675 -0.00152356] [ 0.06209822 -0.01399055 0.9979724 ]] t_gt: [ 0.66319846 -0.73331013 -0.14974663] Pose Error in degrees for R and t: 21.854840763172206 46.833950783387735 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.93225120e-01 1.16205535e-01 3.66494115e-04] [-1.16205431e-01 9.93225157e-01 -2.92958296e-04] [-3.98054550e-04 2.48384932e-04 9.99999890e-01]] t_estimated: [[ 8.90375937e-01] [-4.55225705e-01] [-4.97818827e-04]] R_gt: [[ 0.92247585 -0.37685716 -0.0837665 ] [ 0.37213713 0.92577109 -0.06680047] [ 0.10272294 0.03044872 0.99424404]] t_gt: [ 0.74865319 -0.59859511 -0.28496016] Pose Error in degrees for R and t: 29.373148402801604 20.078936496752238 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.0889812 -0.99598601 -0.0097069 ] [ 0.99592982 -0.08882725 -0.01528082] [ 0.01435725 -0.01102709 0.99983612]] t_estimated: [[ 0.98169608] [-0.19041075] [-0.00406816]] R_gt: [[ 0.99795666 -0.01998025 -0.06069388] [ 0.01628019 0.99801451 -0.06085265] [ 0.06178898 0.05973971 0.99629947]] t_gt: [ 0.32117308 0.08941165 -0.94279022] Pose Error in degrees for R and t: 94.11314871488375 72.4159315467384 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-8.75121361e-01 -4.83900159e-01 -1.79984609e-03] [ 4.83902606e-01 -8.75120855e-01 -1.32573141e-03] [-9.33561208e-04 -2.03112609e-03 9.99997501e-01]] t_estimated: [[0.75499602] [0.65572856] [0.00103318]] R_gt: [[ 0.9946712 0.02538327 -0.09992555] [-0.03276863 0.99679651 -0.07297229] [ 0.09775226 0.07585658 0.99231501]] t_gt: [ 0.12085961 0.43743089 -0.89109325] Pose Error in degrees for R and t: 152.7836266520831 67.84188817612457 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-8.35883263e-01 -5.48906566e-01 8.68191730e-04] [-5.48905116e-01 8.35883377e-01 1.46764742e-03] [-1.53130834e-03 7.50227030e-04 -9.99998546e-01]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.99204255 0.05201174 -0.11466039] [-0.06518238 0.99130881 -0.11427764] [ 0.10771976 0.12084139 0.98680902]] t_gt: [ 0.0262493 0.59593761 -0.80260161] Pose Error in degrees for R and t: 171.99935302596072 87.94697311541559 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.62326697e-02 -9.95358163e-01 -1.18352495e-03] [ 9.95358609e-01 9.62317222e-02 8.33198406e-04] [-7.15438191e-04 -1.25821265e-03 9.99998953e-01]] t_estimated: [[ 0.98988244] [-0.14188595] [ 0.00106252]] R_gt: [[ 0.98516115 0.1711738 0.01259997] [-0.17111233 0.98523449 -0.00578584] [-0.01340415 0.00354415 0.99990389]] t_gt: [-0.87404592 0.48570838 0.01144975] Pose Error in degrees for R and t: 94.33551487796068 20.91585221659058 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.97561179e-01 6.97930135e-02 -7.93679937e-04] [-6.97927312e-02 9.97561443e-01 3.77998053e-04] [ 8.18126126e-04 -3.21683093e-04 9.99999614e-01]] t_estimated: [[-0.83933623] [-0.54361155] [-0.00108722]] R_gt: [[ 0.95495516 0.29457627 0.03586614] [-0.29571802 0.95473139 0.03222811] [-0.02475029 -0.04138266 0.99883673]] t_gt: [-0.86988361 0.46002191 0.17799535] Pose Error in degrees for R and t: 13.463007036798542 61.32386583134067 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.76137738 0.64827372 -0.00675774] [ 0.64826506 0.76140576 0.00369821] [ 0.00754284 -0.00156508 -0.99997033]] t_estimated: [[ 0.90485955] [-0.42568994] [-0.00415538]] R_gt: [[ 0.93549835 0.34936607 0.05279068] [-0.35247521 0.93315172 0.07062721] [-0.02458787 -0.08467872 0.99610483]] t_gt: [-0.86742423 0.42019559 0.26647863] Pose Error in degrees for R and t: 179.89232228119 15.230353135164268 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.75649207e-01 -2.19335289e-01 -8.09397564e-04] [ 2.19336327e-01 9.75648060e-01 1.56143290e-03] [ 4.47209827e-04 -1.70094106e-03 9.99998453e-01]] t_estimated: [[-0.6975308 ] [-0.71655436] [-0.00079265]] R_gt: [[ 0.99859072 0.04958136 -0.01895904] [-0.05033944 0.99785672 -0.04183047] [ 0.01684374 0.0427264 0.99894476]] t_gt: [-0.45797958 0.71476139 -0.52855544] Pose Error in degrees for R and t: 15.7676533924924 78.91345187586407 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.32460169e-01 -3.61272686e-01 2.80536109e-04] [ 3.61272762e-01 9.32460134e-01 -2.98857181e-04] [-1.53619801e-04 3.80022473e-04 9.99999916e-01]] t_estimated: [[-0.5493189 ] [-0.83561218] [-0.00101164]] R_gt: [[ 0.98834067 0.13796064 -0.06441569] [-0.144705 0.98270638 -0.11553489] [ 0.04736174 0.1235101 0.99121268]] t_gt: [-0.44003361 0.72571622 -0.52887276] Pose Error in degrees for R and t: 30.28403760365094 68.64388765043557 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.9999931 -0.00267818 0.0025733 ] [ 0.002689 0.99998753 -0.0042094 ] [-0.002562 0.00421629 0.99998783]] t_estimated: [[-0.99113395] [-0.13285978] [-0.0013286 ]] R_gt: [[ 0.98554339 0.1245611 -0.11484784] [-0.14642791 0.9672065 -0.20753577] [ 0.0852306 0.22135262 0.97146272]] t_gt: [-0.26931469 0.65249616 -0.70832081] Pose Error in degrees for R and t: 15.767183316102741 79.561646228824 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-0.62131923 -0.78355646 0.00129725] [-0.78354696 0.6213186 0.00416707] [-0.00407114 0.00157262 -0.99999048]] t_estimated: [[0.91201913] [0.41013878] [0.00269828]] R_gt: [[ 0.99315922 -0.11614532 0.01208638] [ 0.11629424 0.99313648 -0.01244523] [-0.01055855 0.01376602 0.99984976]] t_gt: [ 0.63075524 -0.77431252 -0.05087189] Pose Error in degrees for R and t: 179.56413579099438 75.07538227838117 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.97886816 0.20448974 -0.00103158] [-0.2044882 -0.97886798 -0.00143107] [-0.00130242 -0.00118988 0.99999844]] t_estimated: [[8.50247387e-01] [5.26382664e-01] [8.19910691e-04]] R_gt: [[ 0.95345743 -0.29587165 0.05812516] [ 0.29486386 0.95520072 0.02541494] [-0.0630414 -0.00709297 0.99798503]] t_gt: [ 0.69517271 -0.69547846 0.1817818 ] Pose Error in degrees for R and t: 174.6066404199151 76.98947605934323 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 8.77866108e-01 4.78905849e-01 5.33813713e-04] [-4.78905883e-01 8.77866249e-01 -7.02489532e-05] [-5.02259676e-04 -1.93977352e-04 9.99999855e-01]] t_estimated: [[0.72824917] [0.68531193] [0.00084191]] R_gt: [[ 0.90380555 -0.42635712 0.03681342] [ 0.42429418 0.90398669 0.05275033] [-0.0557698 -0.03205653 0.9979287 ]] t_gt: [ 0.75775458 -0.63264712 0.15989249] Pose Error in degrees for R and t: 53.92822525938571 83.19975949651548 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 4.60822426e-01 8.87490272e-01 1.92601759e-03] [ 8.87492024e-01 -4.60823058e-01 -1.27782558e-04] [ 7.74147541e-04 1.76821032e-03 -9.99998137e-01]] t_estimated: [[-9.99344137e-01] [-3.62020201e-02] [-8.41907445e-04]] R_gt: [[ 0.99722628 0.06492488 -0.03640391] [-0.06583027 0.99753638 -0.02423728] [ 0.03474017 0.02656702 0.99904299]] t_gt: [-0.32315269 0.82298358 -0.46719415] Pose Error in degrees for R and t: 179.75316879103227 72.92996521255483 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.95190339 -0.30630679 0.00748885] [-0.30634569 -0.95190857 0.00473274] [ 0.00567903 -0.00679929 -0.99996076]] t_estimated: [[0.11157889] [0.99374946] [0.00348684]] R_gt: [[ 0.9965306 0.06750018 -0.04867723] [-0.07058379 0.99540704 -0.06467571] [ 0.04408825 0.06788863 0.99671779]] t_gt: [-0.2013724 0.785407 -0.58530762] Pose Error in degrees for R and t: 176.17670372978642 40.88822594084334 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.97265226e-01 7.39055130e-02 -2.11320100e-04] [-7.39054988e-02 9.97265246e-01 7.45505954e-05] [ 2.16251892e-04 -5.87289990e-05 9.99999975e-01]] t_estimated: [[-8.44130592e-01] [-5.36136997e-01] [-8.14797869e-04]] R_gt: [[ 9.99610214e-01 1.60433913e-02 2.28794741e-02] [-1.60679065e-02 9.99871022e-01 8.91868898e-04] [-2.28619861e-02 -1.25803742e-03 9.99737571e-01]] t_gt: [-0.26128754 0.85933315 0.43963094] Pose Error in degrees for R and t: 3.5721625157584866 76.08290233156345 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99333184e-01 3.65123768e-02 1.81138464e-04] [-3.65123713e-02 9.99333200e-01 -3.36344757e-05] [-1.82245756e-04 2.69982529e-05 9.99999983e-01]] t_estimated: [[0.96261853] [0.27085898] [0.00098662]] R_gt: [[ 0.99109546 -0.13034713 0.02717919] [ 0.13046887 0.99144896 -0.00275336] [-0.02658801 0.0062749 0.9996269 ]] t_gt: [ 0.70159005 -0.70536531 0.1011493 ] Pose Error in degrees for R and t: 9.711995700100465 61.02625079369306 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-7.69355312e-02 -9.97034140e-01 -1.96178216e-03] [ 9.97035982e-01 -7.69362022e-02 2.68774964e-04] [-4.18909884e-04 -1.93528906e-03 9.99998040e-01]] t_estimated: [[9.99403399e-01] [3.45268363e-02] [8.62530853e-04]] R_gt: [[ 0.97708533 -0.211108 0.02716059] [ 0.21113805 0.97745491 0.00178636] [-0.02692644 0.00398871 0.99962948]] t_gt: [ 0.76904877 -0.63655068 0.05802773] Pose Error in degrees for R and t: 82.23565147043603 41.6979551315523 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.90579046e-01 1.36941877e-01 2.75720897e-04] [-1.36942051e-01 9.90578765e-01 7.64433799e-04] [-1.68440266e-04 -7.94989889e-04 9.99999670e-01]] t_estimated: [[9.19737385e-01] [3.92533510e-01] [7.65172534e-04]] R_gt: [[ 9.64767704e-01 -2.63093361e-01 2.29813181e-03] [ 2.63092246e-01 9.64770417e-01 2.99758062e-04] [-2.29685606e-03 3.14896333e-04 9.99997253e-01]] t_gt: [ 0.83098503 -0.55628547 -0.0032172 ] Pose Error in degrees for R and t: 23.124974383059183 56.912112522560655 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99169930e-01 4.07363563e-02 3.06350772e-05] [-4.07363548e-02 9.99169929e-01 -4.92173421e-05] [-3.26145831e-05 4.79285269e-05 9.99999998e-01]] t_estimated: [[ 6.33486103e-01] [-7.73754067e-01] [-2.20425892e-05]] R_gt: [[ 0.99613819 -0.0465192 0.07446343] [ 0.05271146 0.99511402 -0.08347921] [-0.07021576 0.08708155 0.99372298]] t_gt: [ 0.19333658 0.83741861 -0.51122504] Pose Error in degrees for R and t: 8.251976761544968 58.30019558404438 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.97817837e-01 6.60267413e-02 1.82673793e-04] [-6.60267327e-02 9.97817853e-01 -5.28783622e-05] [-1.85766558e-04 4.07016193e-05 9.99999982e-01]] t_estimated: [[ 9.77505608e-01] [-2.10909001e-01] [ 4.22877973e-04]] R_gt: [[ 0.99277014 -0.08493764 0.08481391] [ 0.08968798 0.99451305 -0.05384664] [-0.07977499 0.06106411 0.99493966]] t_gt: [0.66815398 0.73771588 0.09667232] Pose Error in degrees for R and t: 10.518511474936478 60.16035852790045 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-7.59729854e-01 -6.50238462e-01 7.00778883e-04] [-6.50235878e-01 7.59729206e-01 2.19915492e-03] [-1.96237729e-03 1.21509207e-03 -9.99997336e-01]] t_estimated: [[0.98023063] [0.19785509] [0.0011306 ]] R_gt: [[ 0.99039238 -0.12277598 0.06363449] [ 0.12502452 0.99161687 -0.03262356] [-0.05909654 0.04026573 0.99743919]] t_gt: [0.89954282 0.43487981 0.04125848] Pose Error in degrees for R and t: 177.33129992054796 14.56812428084478 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 0.97084791 0.23967768 0.00299055] [-0.23966843 0.9708497 -0.00314734] [-0.00365772 0.00233885 0.99999058]] t_estimated: [[0.47811681] [0.87829101] [0.00303526]] R_gt: [[ 0.99690236 -0.06372758 0.0460926 ] [ 0.06523973 0.99735409 -0.03208477] [-0.04392518 0.03499298 0.99842109]] t_gt: [ 0.79697672 -0.54610797 0.25805849] Pose Error in degrees for R and t: 17.814450158731912 84.38689801045055 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.89759947 -0.44080329 -0.00276586] [ 0.44080814 -0.89760016 -0.00146514] [-0.00183679 -0.00253432 0.9999951 ]] t_estimated: [[0.94805346] [0.31810719] [0.00156703]] R_gt: [[ 0.99413712 0.04861388 0.09658238] [-0.04335004 0.99749616 -0.05588551] [-0.09905737 0.05137054 0.99375495]] t_gt: [-0.28884431 0.74448932 0.60191745] Pose Error in degrees for R and t: 156.5353104602394 87.93293795466914 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 5.28735509e-02 -9.98600745e-01 9.69205247e-04] [-9.98598148e-01 -5.28709580e-02 2.52987053e-03] [-2.47508779e-03 -1.10160980e-03 -9.99996330e-01]] t_estimated: [[0.47108446] [0.88208252] [0.00313981]] R_gt: [[ 0.98898485 0.09118357 0.11659645] [-0.08326892 0.99399061 -0.07105663] [-0.1223742 0.06056495 0.99063346]] t_gt: [-0.36669945 0.77696243 0.51172346] Pose Error in degrees for R and t: 177.87629869593468 59.05565056249063 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99999924e-01 3.44668574e-04 1.81032675e-04] [-3.44637777e-04 9.99999926e-01 -1.70123285e-04] [-1.81091298e-04 1.70060882e-04 9.99999969e-01]] t_estimated: [[ 9.36373294e-01] [-3.51004774e-01] [-8.38279182e-04]] R_gt: [[ 9.89794574e-01 -1.42465482e-01 -3.28743176e-03] [ 1.42503694e-01 9.89543536e-01 2.22734241e-02] [ 8.00717200e-05 -2.25155537e-02 9.99746267e-01]] t_gt: [ 0.90725442 -0.38449848 0.17044156] Pose Error in degrees for R and t: 8.314637655410753 10.150985051483296 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.97596174e-01 -6.92955206e-02 7.05916844e-05] [ 6.92955066e-02 9.97596160e-01 1.84601060e-04] [-8.32140199e-05 -1.79265625e-04 9.99999980e-01]] t_estimated: [[9.73597204e-01] [2.28271896e-01] [6.52615722e-04]] R_gt: [[ 0.98948125 -0.14031485 -0.03521332] [ 0.14118784 0.98970007 0.02365987] [ 0.03153101 -0.02838309 0.99909957]] t_gt: [ 0.99120887 -0.08640198 0.1001982 ] Pose Error in degrees for R and t: 4.783280032808635 19.024297043899153 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999991e-01 1.12256826e-04 -7.65446056e-05] [-1.12254822e-04 9.99999993e-01 2.61819673e-05] [ 7.65475442e-05 -2.61733746e-05 9.99999997e-01]] t_estimated: [[-0.56403475] [-0.8257496 ] [-0.00154922]] R_gt: [[ 0.99017931 -0.11582866 -0.07828541] [ 0.12004491 0.99143372 0.05146259] [ 0.07165393 -0.0603558 0.9956014 ]] t_gt: [0.97871124 0.14969779 0.14040971] Pose Error in degrees for R and t: 8.659267410159924 47.479219014262036 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.98858156e-01 -4.77743002e-02 -2.54440810e-05] [ 4.77742773e-02 9.98857988e-01 -5.81587112e-04] [ 5.31999408e-05 5.79707457e-04 9.99999831e-01]] t_estimated: [[ 0.99946045] [ 0.03271387] [-0.00293536]] R_gt: [[ 9.93147210e-01 -1.13256111e-01 2.88604982e-02] [ 1.13281899e-01 9.93562999e-01 7.89909852e-04] [-2.87635968e-02 2.48564527e-03 9.99582523e-01]] t_gt: [ 0.71703945 -0.66648246 0.20409691] Pose Error in degrees for R and t: 4.114508779262636 46.03249768583878 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 3.08950985e-01 9.51077772e-01 6.01239302e-04] [-9.51076768e-01 3.08951537e-01 -1.38880062e-03] [-1.50661120e-03 -1.42753413e-04 9.99998855e-01]] t_estimated: [[0.25301204] [0.96746244] [0.0011543 ]] R_gt: [[ 0.99270276 -0.09480035 0.07453269] [ 0.09737779 0.99474286 -0.03171082] [-0.07113405 0.03873753 0.99671402]] t_gt: [ 0.76203685 -0.5169877 0.38990197] Pose Error in degrees for R and t: 77.63870732465162 72.12679155588903 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-7.38705683e-01 6.74028073e-01 -2.65443355e-04] [-6.74026443e-01 -7.38704661e-01 -1.94351540e-03] [-1.50606818e-03 -1.25677003e-03 9.99998076e-01]] t_estimated: [[7.67772996e-01] [6.40721593e-01] [6.83072061e-04]] R_gt: [[ 0.99368984 0.02969152 0.1081616 ] [-0.02254026 0.99751537 -0.0667465 ] [-0.10987424 0.063888 0.99189031]] t_gt: [-0.10602856 0.69560017 0.710562 ] Pose Error in degrees for R and t: 136.20467194533637 68.60684505251996 Number of keypoints: Image1: 570 Image2: 570 R_estimated: [[ 9.99549935e-01 2.99963659e-02 3.80259993e-04] [ 2.99435441e-02 -9.98398305e-01 4.80021653e-02] [ 1.81954145e-03 -4.79691749e-02 -9.98847159e-01]] t_estimated: [[0.06046121] [0.99789271] [0.02354934]] R_gt: [[ 0.99842736 0.03171344 -0.04624134] [-0.03151227 0.99949089 0.00506957] [ 0.04637892 -0.00360445 0.99891727]] t_gt: [ 0.04580252 0.95853843 -0.28125827] Pose Error in degrees for R and t: 176.96077180530693 17.69946073099522 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.70964214e-01 2.39224763e-01 8.95872231e-05] [-2.39224751e-01 9.70964212e-01 -1.29913347e-04] [-1.18064477e-04 1.04709729e-04 9.99999988e-01]] t_estimated: [[1.32297943e-01] [9.91209995e-01] [1.56812257e-05]] R_gt: [[ 0.99560879 0.0228997 -0.09076785] [-0.02269047 0.99973733 0.00333353] [ 0.09082056 -0.00125907 0.99586639]] t_gt: [ 0.52631005 0.76982601 -0.36106183] Pose Error in degrees for R and t: 13.570615251853509 33.624626143302535 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.20821502e-01 3.89983221e-01 9.21614194e-04] [-3.89982540e-01 9.20821871e-01 -8.36655130e-04] [-1.17492397e-03 4.10996589e-04 9.99999225e-01]] t_estimated: [[0.3847968 ] [0.92300081] [0.00096109]] R_gt: [[ 0.98862588 -0.00874827 -0.15014199] [ 0.00446516 0.99957372 -0.02883867] [ 0.15032992 0.02783992 0.98824365]] t_gt: [ 0.76955177 0.47206219 -0.43005506] Pose Error in degrees for R and t: 24.9340178741612 42.994301448250425 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-0.90446885 -0.42309346 0.05411122] [-0.42311702 0.90600097 0.01158588] [-0.05392672 -0.01241631 -0.9984677 ]] t_estimated: [[0.96811901] [0.24904979] [0.0268288 ]] R_gt: [[ 0.99945284 -0.0303909 -0.01300889] [ 0.03107191 0.99795798 0.05579557] [ 0.01128685 -0.05616881 0.9983568 ]] t_gt: [0.69742301 0.00924781 0.71660005] Pose Error in degrees for R and t: 176.8134475808005 45.83578934170358 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 7.79057347e-01 6.26952490e-01 4.74651284e-04] [-6.26952659e-01 7.79057247e-01 4.10615552e-04] [-1.12344080e-04 -6.17476947e-04 9.99999803e-01]] t_estimated: [[-9.07386116e-01] [-4.20297505e-01] [-6.66438530e-04]] R_gt: [[ 0.99705695 -0.06297738 -0.04370964] [ 0.06468347 0.99715164 0.03878041] [ 0.04114364 -0.04149285 0.99829119]] t_gt: [0.99132982 0.08351005 0.10144587] Pose Error in degrees for R and t: 42.61360769859354 20.822591756101364 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 1.00000000e+00 -1.02943654e-10 -2.50201390e-13] [ 1.02942654e-10 1.00000000e+00 1.10591657e-13] [ 2.50200034e-13 -1.10590356e-13 1.00000000e+00]] t_estimated: [[-0.33568975] [-0.9419718 ] [-0.00123379]] R_gt: [[ 0.99838694 -0.05453011 -0.01579633] [ 0.05499908 0.99800681 0.03092937] [ 0.01407872 -0.03174755 0.99939681]] t_gt: [0.95368576 0.242686 0.17772725] Pose Error in degrees for R and t: 3.7180130548520687 56.70395096177443 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 8.34746746e-01 5.50633763e-01 -5.73647018e-04] [-5.50628860e-01 8.34742935e-01 3.47732521e-03] [ 2.39358046e-03 -2.58681930e-03 9.99993790e-01]] t_estimated: [[8.97054517e-01] [4.41919122e-01] [8.26017051e-04]] R_gt: [[ 0.9889238 -0.10106313 0.10870629] [ 0.09985764 0.9948651 0.01649656] [-0.10981662 -0.00545876 0.99393721]] t_gt: [ 0.39864479 -0.69427908 0.59921523] Pose Error in degrees for R and t: 39.69091919366255 87.06024619365454 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.51400035e-01 -3.07954908e-01 -1.32249011e-03] [ 3.07956690e-01 -9.51399249e-01 -1.46491786e-03] [-8.07087456e-04 -1.80099258e-03 9.99998053e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.9665273 -0.20398852 0.15561159] [ 0.20325327 0.9789052 0.0207919 ] [-0.15657107 0.01153347 0.98759916]] t_gt: [ 0.56445916 -0.69995306 0.4375518 ] Pose Error in degrees for R and t: 150.3429140901387 77.41906121066118 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.07285083 0.99733874 0.00286234] [-0.99725222 -0.07280522 -0.01368969] [-0.01344487 -0.00385178 0.99990219]] t_estimated: [[0.09841504] [0.99508538] [0.010935 ]] R_gt: [[ 0.93776847 -0.31214697 0.15216778] [ 0.3100149 0.94996545 0.03816013] [-0.1564657 0.01138851 0.98761773]] t_gt: [ 0.69459388 -0.65633492 0.29455698] Pose Error in degrees for R and t: 112.59609715047053 54.44178646688429 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.58844111e-01 -2.83932929e-01 -2.50773623e-04] [ 2.83932958e-01 9.58844131e-01 8.75145564e-05] [ 2.15604553e-04 -1.55115714e-04 9.99999965e-01]] t_estimated: [[0.69029395] [0.7235283 ] [0.00102588]] R_gt: [[ 0.99836608 0.03051135 -0.04832953] [-0.03117571 0.99942866 -0.01304896] [ 0.04790379 0.01453548 0.9987469 ]] t_gt: [-0.02669595 0.60861283 -0.79301813] Pose Error in degrees for R and t: 18.483980526854754 65.09550189292202 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.24158874 0.97037698 -0.00184378] [-0.97037277 -0.24159348 -0.00304658] [-0.00340178 0.00105314 0.99999366]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.99394119 0.07934693 -0.0760648 ] [-0.08397668 0.99467545 -0.05973677] [ 0.07091947 0.06576277 0.99531169]] t_gt: [-0.15884431 0.74838334 -0.64396495] Pose Error in degrees for R and t: 99.3953373862976 41.70880039177852 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 1.66480304e-01 9.86044706e-01 -3.83013611e-04] [-9.86032700e-01 1.66476330e-01 -5.01468508e-03] [-4.88094097e-03 1.21251024e-03 9.99987353e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.99568165 0.06469838 -0.06657776] [-0.06925526 0.99523785 -0.06859174] [ 0.0618225 0.07290704 0.99542152]] t_gt: [-0.10622461 0.74452817 -0.65908584] Pose Error in degrees for R and t: 76.72961391044235 84.54392997897973 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.59832901e-01 -2.80568246e-01 -1.50403980e-03] [ 2.80570687e-01 9.59831718e-01 1.77838578e-03] [ 9.44666532e-04 -2.12894266e-03 9.99997288e-01]] t_estimated: [[-0.69459325] [-0.71940015] [-0.00190822]] R_gt: [[ 0.98748725 0.15752853 0.00735303] [-0.15757336 0.98748853 0.00614344] [-0.00629397 -0.00722356 0.99995425]] t_gt: [-0.90734461 0.41051519 0.09057067] Pose Error in degrees for R and t: 25.36472325189327 70.44339811777864 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.78935458e-01 -2.04169826e-01 -2.24923080e-04] [ 2.04169860e-01 9.78935468e-01 1.35863070e-04] [ 1.92446041e-04 -1.78923691e-04 9.99999965e-01]] t_estimated: [[-0.95263849] [-0.30410313] [-0.00108998]] R_gt: [[ 0.97167235 0.23552271 0.01953238] [-0.23607948 0.97112826 0.03430342] [-0.01088875 -0.03794138 0.99922042]] t_gt: [-0.91110175 0.36145357 0.19810331] Pose Error in degrees for R and t: 25.523663025880754 40.72800605978681 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.9535238 -0.30121591 -0.00783229] [ 0.30123295 0.95354998 0.00106734] [ 0.00714698 -0.00337708 0.99996876]] t_estimated: [[-0.84015988] [-0.54228501] [-0.00763782]] R_gt: [[ 0.96365876 0.26332102 0.04497776] [-0.26584856 0.96182955 0.06487084] [-0.02617877 -0.07447044 0.99687949]] t_gt: [-0.90170328 0.29588137 0.31525452] Pose Error in degrees for R and t: 33.21431374003249 53.507680064247396 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 7.76444771e-01 -6.30183339e-01 1.57391347e-03] [ 6.30179497e-01 7.76445916e-01 2.35375047e-03] [-2.70535302e-03 -8.35709247e-04 9.99995991e-01]] t_estimated: [[0.97822396] [0.20753967] [0.00227419]] R_gt: [[ 0.99279731 -0.11922836 -0.01178592] [ 0.11957741 0.99218676 0.03561546] [ 0.00744822 -0.03676706 0.99929719]] t_gt: [ 0.89298369 -0.3711123 0.25466801] Pose Error in degrees for R and t: 32.269537035668236 37.146256913385386 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.98504615e-01 -5.46674798e-02 2.55383390e-05] [ 5.46674858e-02 9.98504508e-01 -4.61178263e-04] [-2.88693273e-07 4.61884741e-04 9.99999893e-01]] t_estimated: [[ 0.99111799] [ 0.13297875] [-0.00133268]] R_gt: [[ 0.99443903 -0.09182454 -0.05157273] [ 0.09377303 0.99491602 0.03672479] [ 0.04793937 -0.04135615 0.99799402]] t_gt: [0.98524114 0.08322937 0.14957532] Pose Error in degrees for R and t: 4.256788842854841 9.11997098097034 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.99919359 -0.0379244 0.01318723] [ 0.03821062 0.99902363 -0.02217515] [-0.01233338 0.02266116 0.99966712]] t_estimated: [[ 0.89074334] [-0.45153035] [-0.05192936]] R_gt: [[ 0.99192365 -0.08777428 -0.09155588] [ 0.09274549 0.9943561 0.05152612] [ 0.08651693 -0.05960123 0.99446612]] t_gt: [0.96396072 0.25171563 0.0861334 ] Pose Error in degrees for R and t: 7.956045962194234 42.22499498570848 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99998239 -0.0032335 -0.0049762 ] [ 0.00327348 0.99996227 0.00804645] [ 0.00494999 -0.0080626 0.99995525]] t_estimated: [[-0.32568067] [-0.94547845] [ 0.00161595]] R_gt: [[ 0.99905064 -0.02202997 0.03761186] [ 0.02346685 0.99899422 -0.03819421] [-0.03673245 0.0390411 0.99856186]] t_gt: [0.94355308 0.02411521 0.33034231] Pose Error in degrees for R and t: 3.773641975214389 70.75771026128173 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-7.54061279e-01 -6.56788044e-01 -4.58831657e-03] [ 6.56793700e-01 -7.54070230e-01 3.51734712e-04] [-3.69092809e-03 -2.74834789e-03 9.99989412e-01]] t_estimated: [[0.94240112] [0.33448245] [0.0012718 ]] R_gt: [[ 0.99102594 0.10054363 0.08808736] [-0.09509093 0.99340443 -0.06406647] [-0.09394779 0.05511545 0.99404942]] t_gt: [-0.43373599 0.83347923 0.34232364] Pose Error in degrees for R and t: 144.64051900807542 82.55735019967305 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 3.93699668e-01 9.19237940e-01 -1.47696875e-03] [-9.19239090e-01 3.93698690e-01 -9.15380831e-04] [-2.59972128e-04 1.71807254e-03 9.99998490e-01]] t_estimated: [[-0.65329503] [ 0.75710169] [-0.00162543]] R_gt: [[ 0.98686009 0.1207146 0.10740392] [-0.11338055 0.99094069 -0.07197905] [-0.1151199 0.05885588 0.9916066 ]] t_gt: [-0.43090987 0.81087372 0.39598043] Pose Error in degrees for R and t: 60.478796970329036 26.51962285661602 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.75520759 -0.65521599 -0.01880158] [ 0.65494227 -0.75543875 0.01905021] [-0.02668545 0.00207292 0.99964173]] t_estimated: [[0.99355912] [0.11217603] [0.01602515]] R_gt: [[ 0.99646015 -0.03917242 0.07438337] [ 0.04625786 0.99430039 -0.09605329] [-0.07019744 0.09915516 0.99259281]] t_gt: [ 0.0413955 0.79047984 -0.61108758] Pose Error in degrees for R and t: 136.74477902572414 83.10737830891671 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.88258723e-02 -9.95102099e-01 -2.29346544e-03] [-9.95104542e-01 9.88270500e-02 -4.05725558e-04] [ 6.30394778e-04 2.24214170e-03 -9.99997288e-01]] t_estimated: [[8.37149371e-01] [5.46973918e-01] [6.81163036e-04]] R_gt: [[ 0.9910566 -0.08882417 0.09958668] [ 0.09708954 0.9919349 -0.08146778] [-0.09154761 0.0904084 0.99168763]] t_gt: [ 0.54332609 0.8230639 -0.16541637] Pose Error in degrees for R and t: 179.35289549401432 25.186559759119273 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 8.08330126e-01 -5.88729463e-01 -1.64330801e-04] [ 5.88729457e-01 8.08330142e-01 -8.68867115e-05] [ 1.83986306e-04 -2.65132366e-05 9.99999983e-01]] t_estimated: [[-2.66778354e-01] [-9.63757616e-01] [-7.52930121e-04]] R_gt: [[ 0.98959862 -0.12027195 0.07892551] [ 0.12347714 0.99165485 -0.037054 ] [-0.07381044 0.04641474 0.99619146]] t_gt: [0.83065508 0.55644872 0.01941517] Pose Error in degrees for R and t: 29.4729573212251 40.72083911939225 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 7.86792680e-01 6.17217258e-01 -3.68184136e-04] [-6.17217198e-01 7.86791881e-01 -1.21104186e-03] [-4.57791644e-04 1.18008845e-03 9.99999199e-01]] t_estimated: [[5.03768683e-01] [8.63838539e-01] [3.05126833e-04]] R_gt: [[ 0.99149541 -0.12415547 0.03901575] [ 0.1244549 0.9922104 -0.00533372] [-0.03804914 0.01014443 0.99922364]] t_gt: [ 0.67368398 -0.72264604 0.15470161] Pose Error in degrees for R and t: 45.309159018544264 73.45182640365887 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.89452414e-01 1.44858269e-01 4.81760392e-05] [-1.44858178e-01 9.89451298e-01 1.49588349e-03] [ 1.69023249e-04 -1.48708423e-03 9.99998880e-01]] t_estimated: [[0.82752853] [0.56142132] [0.0016226 ]] R_gt: [[ 9.74454394e-01 -2.21180076e-01 3.89780778e-02] [ 2.21365760e-01 9.75190312e-01 -4.43915663e-04] [-3.79120521e-02 9.06109032e-03 9.99238970e-01]] t_gt: [ 0.75686418 -0.6488795 0.07817935] Pose Error in degrees for R and t: 21.23603579331189 74.80180498562319 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 3.18418796e-01 -9.47944680e-01 3.21768139e-03] [-9.47948540e-01 -3.18422662e-01 -7.56859589e-04] [ 1.74204370e-03 -2.80919806e-03 -9.99994537e-01]] t_estimated: [[0.39357959] [0.91928947] [0.00140564]] R_gt: [[ 0.9627702 -0.26964828 0.0190948 ] [ 0.26973151 0.96293344 -0.0018601 ] [-0.01788575 0.00694085 0.99981601]] t_gt: [ 0.81600417 -0.57779211 0.01713095] Pose Error in degrees for R and t: 179.53452164044032 77.879315825431 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-1.27350012e-01 9.91853783e-01 2.83691168e-03] [-9.91857781e-01 -1.27350470e-01 -1.95878697e-05] [ 3.41853732e-04 -2.81630744e-03 9.99995976e-01]] t_estimated: [[0.80230594] [0.59691246] [0.00083455]] R_gt: [[ 0.99874126 0.04531803 0.02148779] [-0.04407676 0.99750827 -0.05509051] [-0.02393177 0.05407393 0.99824983]] t_gt: [-0.47301479 0.80696827 -0.35363715] Pose Error in degrees for R and t: 94.80152540567805 84.15188596211668 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.50615961e-01 9.88592348e-01 3.82077148e-05] [-9.88590936e-01 1.50615812e-01 -1.68467532e-03] [-1.67121181e-03 2.15967192e-04 9.99998580e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99463206 0.10315162 0.00822078] [-0.10291781 0.99437628 -0.02499885] [-0.01075411 0.02401843 0.99965353]] t_gt: [-0.50640698 0.85913603 -0.07373772] Pose Error in degrees for R and t: 75.43333882003401 31.1424881908434 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.97104729e-01 7.60399100e-02 -3.02928553e-04] [-7.60395482e-02 9.97104232e-01 1.06635019e-03] [ 3.83136514e-04 -1.04022826e-03 9.99999386e-01]] t_estimated: [[-0.21384007] [ 0.97686047] [ 0.00400699]] R_gt: [[ 0.97780537 0.20888682 -0.01623181] [-0.20924044 0.97755758 -0.02449864] [ 0.01074957 0.02735059 0.99956805]] t_gt: [-0.5562892 0.82656136 -0.08566593] Pose Error in degrees for R and t: 7.900330057266596 22.172964459925378 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99999981e-01 -9.08385747e-05 -1.70780085e-04] [ 9.08683342e-05 9.99999981e-01 1.74256521e-04] [ 1.70764252e-04 -1.74272037e-04 9.99999970e-01]] t_estimated: [[-0.9999939 ] [-0.00329952] [-0.00114697]] R_gt: [[ 0.99421544 0.10156809 -0.03493519] [-0.10053269 0.99447515 0.03020252] [ 0.03780944 -0.02651561 0.99893269]] t_gt: [-0.25273908 0.94925949 0.18716138] Pose Error in degrees for R and t: 6.37648617558638 75.55853625186329 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.96638661 -0.25680222 -0.01222876] [ 0.25692327 0.96638389 0.00962304] [ 0.00934646 -0.01244143 0.99987892]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.97688199 0.19931522 -0.07730728] [-0.19240201 0.97731959 0.08847573] [ 0.0931888 -0.07155647 0.9930734 ]] t_gt: [-0.2347444 0.94802664 0.21480354] Pose Error in degrees for R and t: 26.848629764954826 18.734591695203893 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 1.00000000e+00 -4.23550084e-14 -3.70797143e-16] [ 4.22439861e-14 1.00000000e+00 1.16538181e-15] [ 3.79904441e-16 -1.15903923e-15 1.00000000e+00]] t_estimated: [[-9.21454887e-01] [ 3.88484945e-01] [-5.82432889e-04]] R_gt: [[ 0.95077879 0.2895583 -0.11035158] [-0.27978313 0.95525494 0.09596528] [ 0.13320109 -0.06036749 0.98924813]] t_gt: [-0.1264236 0.99063021 -0.05166095] Pose Error in degrees for R and t: 18.622885868073826 59.90940877790289 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98183737e-01 -6.02430553e-02 -4.88616072e-05] [ 6.02430604e-02 9.98183731e-01 1.10659501e-04] [ 4.21063950e-05 -1.13402087e-04 9.99999993e-01]] t_estimated: [[0.43413606] [0.90084653] [0.00118529]] R_gt: [[ 0.99710893 0.06861061 -0.03265565] [-0.06981555 0.99686167 -0.03731675] [ 0.02999271 0.03948891 0.99877033]] t_gt: [-0.3351343 0.82455385 -0.45584642] Pose Error in degrees for R and t: 7.950808320211375 53.36163678880388 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-5.66650667e-01 8.23957609e-01 9.37723986e-04] [ 8.23956604e-01 5.66647043e-01 2.57732814e-03] [ 1.59225060e-03 2.23308858e-03 -9.99996239e-01]] t_estimated: [[8.23780000e-01] [5.66909253e-01] [6.40575428e-04]] R_gt: [[ 0.99726723 0.06394259 -0.03700356] [-0.06634907 0.9954804 -0.06794781] [ 0.03249148 0.07021788 0.99700297]] t_gt: [-0.22929751 0.80220115 -0.55126759] Pose Error in degrees for R and t: 179.95521257864317 74.60146765702292 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.18848892 0.98201367 -0.01100393] [ 0.98196026 -0.1882835 0.01741775] [ 0.01503261 -0.01408847 -0.99978775]] t_estimated: [[0.51564571] [0.85676518] [0.00793301]] R_gt: [[ 0.99903222 0.00146768 0.04396626] [-0.0019337 0.99994269 0.01054477] [-0.04394964 -0.01061926 0.99897798]] t_gt: [-0.15793364 0.48246258 0.86156069] Pose Error in degrees for R and t: 180.0 70.19901466007451 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.63161508e-01 -2.68923516e-01 -2.27122030e-04] [ 2.68923546e-01 9.63161520e-01 1.15843455e-04] [ 1.87602171e-04 -1.72654419e-04 9.99999967e-01]] t_estimated: [[-0.72522264] [-0.68851384] [-0.00089534]] R_gt: [[ 0.98382361 0.1789436 0.0083613 ] [-0.17905554 0.98371611 0.01553984] [-0.00544341 -0.01678495 0.99984449]] t_gt: [-0.87734996 0.46817653 0.10520356] Pose Error in degrees for R and t: 25.93180265215206 71.70957188137787 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-7.01191824e-01 -7.12970192e-01 1.87907380e-03] [-7.12969268e-01 7.01194184e-01 1.24047318e-03] [-2.20201602e-03 -4.69912223e-04 -9.99997465e-01]] t_estimated: [[0.93385536] [0.35764433] [0.00216777]] R_gt: [[ 0.95028545 0.30984397 0.03091355] [-0.31103871 0.94920867 0.04751644] [-0.0146195 -0.05476794 0.99839204]] t_gt: [-0.85859335 0.47207579 0.19990475] Pose Error in degrees for R and t: 177.51275054250118 50.76271725497165 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.82418038 0.56632348 0.00210148] [ 0.56631592 -0.82418164 0.00330141] [ 0.00360167 -0.00153086 -0.99999234]] t_estimated: [[9.18328337e-01] [3.95818839e-01] [7.15766436e-04]] R_gt: [[ 0.92788337 0.3702819 0.04386199] [-0.37269838 0.9245931 0.07887809] [-0.01134697 -0.08953631 0.99591876]] t_gt: [-0.85870691 0.44300944 0.25761421] Pose Error in degrees for R and t: 175.60445688405198 52.19043075720146 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.98901862 0.14778369 -0.00146637] [-0.14777638 -0.98901174 -0.00423239] [-0.00207574 -0.00396921 0.99998997]] t_estimated: [[0.9758068 ] [0.21863071] [0.00130508]] R_gt: [[ 0.98695805 0.16091597 0.00456212] [-0.16088889 0.98695581 -0.0058101 ] [-0.0054362 0.00500195 0.99997242]] t_gt: [-0.89231354 0.45136092 0.00706125] Pose Error in degrees for R and t: 162.24164953330316 39.4630123611736 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.21588467 0.97641795 0.0013428 ] [-0.97641365 -0.21587882 -0.0035669 ] [-0.00319291 -0.00208117 0.99999274]] t_estimated: [[0.34778744] [0.9375705 ] [0.0023346 ]] R_gt: [[ 0.96661628 0.25547204 0.01968014] [-0.25589962 0.96641522 0.02358081] [-0.01299439 -0.02782839 0.99952819]] t_gt: [-0.90084421 0.4102462 0.14204846] Pose Error in degrees for R and t: 87.66260618895227 85.89042907770421 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 8.60773700e-01 -5.08987086e-01 -8.84688152e-04] [ 5.08987504e-01 8.60773848e-01 3.21040298e-04] [ 5.98111059e-04 -7.26638260e-04 9.99999557e-01]] t_estimated: [[ 7.23631882e-01] [-6.90186117e-01] [-1.52309571e-04]] R_gt: [[ 0.95646389 0.28955376 0.0365612 ] [-0.29118583 0.95522582 0.05247848] [-0.01972853 -0.06083889 0.99795193]] t_gt: [-0.90476761 0.34861825 0.24466484] Pose Error in degrees for R and t: 47.62688189694341 26.444335784499252 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.34654896 -0.93802984 -0.00195894] [-0.93802821 -0.34654099 -0.00352451] [ 0.00262724 0.00305895 -0.99999187]] t_estimated: [[ 5.68609033e-01] [ 8.22607689e-01] [-5.98534312e-04]] R_gt: [[ 0.99819181 0.04240006 -0.04261136] [-0.04286935 0.99902887 -0.01017859] [ 0.04213796 0.01198694 0.99904032]] t_gt: [-0.1489832 0.7313564 -0.66552372] Pose Error in degrees for R and t: 177.86178664067634 58.84838135515799 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.96314537e-01 8.17936300e-02 -2.58291507e-02] [ 8.18430254e-02 9.96644862e-01 -8.59297017e-04] [ 2.56722053e-02 -2.97006595e-03 -9.99666003e-01]] t_estimated: [[ 0.99316678] [ 0.11625071] [-0.01027263]] R_gt: [[ 0.99440877 0.08425461 -0.06365484] [-0.08796481 0.99443839 -0.05792285] [ 0.05842099 0.06319867 0.99628969]] t_gt: [-0.20366402 0.78822695 -0.58070582] Pose Error in degrees for R and t: 175.17099219087328 83.99155654776197 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.93364793e-01 -1.15006034e-01 -2.80564597e-05] [ 1.15006037e-01 9.93364788e-01 9.40834363e-05] [ 1.70501362e-05 -9.66858354e-05 9.99999995e-01]] t_estimated: [[-0.38147445] [-0.92437889] [-0.00096089]] R_gt: [[ 0.99792263 0.05388971 -0.03530921] [-0.05542964 0.99748399 -0.04420249] [ 0.03283782 0.04606805 0.99839859]] t_gt: [-0.17422772 0.83620018 -0.52001342] Pose Error in degrees for R and t: 10.265377481198167 45.08939277495886 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-0.52500348 -0.85109113 0.003904 ] [-0.8510826 0.52495777 -0.00881766] [ 0.0054552 -0.00795193 -0.9999535 ]] t_estimated: [[8.67895837e-01] [4.96745577e-01] [8.05098179e-04]] R_gt: [[ 0.98891369 -0.09198432 0.11657566] [ 0.0918667 0.99575111 0.00639916] [-0.11666791 0.00438128 0.99316123]] t_gt: [ 0.35317039 -0.68438755 0.63787487] Pose Error in degrees for R and t: 174.19466765628675 88.11246018344748 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.25246537 -0.96734925 -0.02228595] [-0.96730629 0.25174709 0.03069101] [-0.02407851 0.02930576 -0.99928044]] t_estimated: [[0.88663829] [0.46246247] [0.00100754]] R_gt: [[ 0.96763912 -0.18520994 0.17138328] [ 0.1853809 0.98255038 0.01515123] [-0.17119815 0.01711074 0.98508784]] t_gt: [ 0.51375664 -0.70379084 0.49064506] Pose Error in degrees for R and t: 171.93281436043245 82.49956037495356 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 8.26207513e-01 5.63363009e-01 1.80698792e-03] [ 5.63365904e-01 -8.26202934e-01 -2.75130646e-03] [-5.70455667e-05 3.29114545e-03 -9.99994583e-01]] t_estimated: [[0.95566513] [0.29445384] [0.00104788]] R_gt: [[ 0.93814166 -0.2990158 0.17458765] [ 0.29708045 0.95410626 0.03774378] [-0.17785981 0.01645809 0.98391832]] t_gt: [ 0.66525393 -0.66522848 0.33898124] Pose Error in degrees for R and t: 177.3817801001551 63.88105253558811 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.98710018e-01 -5.07769612e-02 -1.09868256e-05] [ 5.07769613e-02 9.98710018e-01 1.26862042e-05] [ 1.03284859e-05 -1.32277169e-05 1.00000000e+00]] t_estimated: [[9.90804073e-01] [1.35304360e-01] [1.36877732e-04]] R_gt: [[ 9.99278411e-01 -3.79870064e-02 4.91684527e-04] [ 3.79312222e-02 9.98356404e-01 4.29797540e-02] [-2.12383364e-03 -4.29309414e-02 9.99075452e-01]] t_gt: [0.68370346 0.04393618 0.72843613] Pose Error in degrees for R and t: 2.5693816920143457 46.88533527356291 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.68296416e-01 2.49803108e-01 6.76439317e-04] [-2.49803039e-01 9.68296652e-01 -1.86693524e-04] [-7.01630548e-04 1.17980735e-05 9.99999754e-01]] t_estimated: [[0.48364687] [0.87526257] [0.00106288]] R_gt: [[ 0.99696117 -0.07122245 -0.03155934] [ 0.07265283 0.99626186 0.04674236] [ 0.02811279 -0.04889386 0.99840835]] t_gt: [0.96737684 0.0560497 0.24706372] Pose Error in degrees for R and t: 18.875444851856503 58.85607721025278 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99998395 -0.00324162 -0.00464593] [ 0.00326976 0.99997627 0.00606359] [ 0.00462616 -0.00607868 0.99997082]] t_estimated: [[-0.04408849] [-0.99900649] [ 0.00649976]] R_gt: [[ 0.99744707 -0.07001529 -0.01404904] [ 0.07050428 0.9967886 0.03800032] [ 0.01134338 -0.03889407 0.99917882]] t_gt: [0.95483554 0.19737453 0.22210894] Pose Error in degrees for R and t: 4.293309145415995 76.24137914558382 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[-0.98722965 0.15309031 -0.04405658] [ 0.15286311 0.98821081 0.00850052] [ 0.04483853 0.00165734 -0.99899287]] t_estimated: [[ 0.99455358] [-0.10143112] [-0.02397705]] R_gt: [[ 0.99870429 0.02811289 -0.04241586] [-0.0279173 0.99959697 0.00520379] [ 0.04254534 -0.00401244 0.99908644]] t_gt: [ 0.10724498 0.95291873 -0.28362723] Pose Error in degrees for R and t: 174.99295319773645 89.0370527382996 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.03470712 0.99930844 0.01334399] [ 0.99928587 -0.03450056 -0.01540995] [-0.01493892 0.01386929 -0.99979221]] t_estimated: [[0.80585194] [0.59209591] [0.0050074 ]] R_gt: [[ 0.99540018 0.01722641 -0.09424297] [-0.01780726 0.99982738 -0.00533288] [ 0.09413463 0.00698655 0.99553545]] t_gt: [ 0.60225032 0.66758431 -0.43775077] Pose Error in degrees for R and t: 177.66581190065065 28.549260959928645 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99602309e-01 2.81992849e-02 -1.57165507e-04] [-2.81991656e-02 9.99602068e-01 7.15394043e-04] [ 1.77276566e-04 -7.10677601e-04 9.99999732e-01]] t_estimated: [[5.55257206e-01] [8.31678670e-01] [1.58781773e-04]] R_gt: [[ 0.98919033 -0.0239583 -0.14466647] [ 0.02016587 0.99941519 -0.02762972] [ 0.14524349 0.0244136 0.9890952 ]] t_gt: [ 0.82235117 0.39388778 -0.41059829] Pose Error in degrees for R and t: 8.944933788240863 38.358857064128344 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.97560845e-01 6.98022364e-02 8.94379497e-05] [-6.98022340e-02 9.97560849e-01 -2.96189000e-05] [-9.12872625e-05 2.33036863e-05 9.99999996e-01]] t_estimated: [[ 9.33190377e-01] [-3.59382323e-01] [ 2.58941394e-04]] R_gt: [[ 0.99189804 -0.11963649 0.04274252] [ 0.11840522 0.99250399 0.03026862] [-0.04604349 -0.02496233 0.99862753]] t_gt: [ 0.58827586 -0.72035554 0.36744988] Pose Error in degrees for R and t: 11.248614419322116 36.103726059389814 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.99999688e-01 7.77340464e-04 1.42414612e-04] [-7.77347100e-04 9.99999697e-01 4.65491009e-05] [-1.42378384e-04 -4.66597919e-05 9.99999989e-01]] t_estimated: [[9.99995719e-01] [2.83454084e-03] [7.26377686e-04]] R_gt: [[ 0.98370862 -0.17498652 0.04122757] [ 0.1732788 0.98398075 0.0419099 ] [-0.0478995 -0.03408299 0.99827084]] t_gt: [ 0.66844937 -0.67064028 0.32158523] Pose Error in degrees for R and t: 10.625756770715531 48.18103858268686 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.62937125 0.77709864 -0.00308654] [-0.77709777 -0.62937748 -0.00174624] [-0.0032996 0.00129951 0.99999371]] t_estimated: [[0.85816693] [0.51336949] [0.00113842]] R_gt: [[ 0.97754238 -0.20937698 0.02392829] [ 0.20874997 0.97761627 0.02627272] [-0.02889307 -0.02068803 0.99936858]] t_gt: [ 0.76985403 -0.61408156 0.17386377] Pose Error in degrees for R and t: 141.08426968082654 69.78093478116189 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 1.00000000e+00 2.00833794e-12 3.16847243e-15] [-2.00828243e-12 1.00000000e+00 -1.73976502e-15] [-3.16890611e-15 1.73976502e-15 1.00000000e+00]] t_estimated: [[0.92934419] [0.36921289] [0.00109946]] R_gt: [[ 0.99405629 -0.10415368 0.03169488] [ 0.1045099 0.99447564 -0.0098094 ] [-0.03049814 0.01306267 0.99944986]] t_gt: [ 0.73985626 -0.64905518 0.17703133] Pose Error in degrees for R and t: 6.284347154232143 63.37583181977972 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.60681864e-01 2.77651501e-01 -1.67985929e-05] [-2.77650876e-01 9.60679568e-01 -2.18139820e-03] [-5.89530419e-04 2.10029383e-03 9.99997621e-01]] t_estimated: [[-0.96811506] [-0.25050161] [-0.00147354]] R_gt: [[ 0.99522051 -0.0548982 0.08075902] [ 0.05764368 0.99782157 -0.03207668] [-0.0788221 0.03657892 0.99621691]] t_gt: [ 0.67954164 -0.26845264 0.68275643] Pose Error in degrees for R and t: 19.96219696582711 53.72704171732721 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 8.49387841e-01 5.27768789e-01 6.32342646e-04] [-5.27767748e-01 8.49387726e-01 -1.30179208e-03] [-1.22414931e-03 7.71996310e-04 9.99998953e-01]] t_estimated: [[-0.39028204] [ 0.92069485] [ 0.00095521]] R_gt: [[ 0.99306041 0.05540311 0.10373506] [-0.04859851 0.99656765 -0.06701904] [-0.10709206 0.06151277 0.99234417]] t_gt: [-0.25815524 0.78088322 0.56883852] Pose Error in degrees for R and t: 29.68461306295835 34.889983816425705 Number of keypoints: Image1: 511 Image2: 511 R_estimated: [[ 9.90132731e-01 1.40132505e-01 2.36987552e-04] [-1.40132428e-01 9.90132720e-01 -3.14760665e-04] [-2.78757330e-04 2.78445195e-04 9.99999922e-01]] t_estimated: [[-9.82139965e-01] [-1.88149419e-01] [-9.40747093e-04]] R_gt: [[ 0.99902717 0.02892699 -0.03327043] [-0.02768664 0.99892551 0.03715231] [ 0.03430927 -0.03619557 0.99875586]] t_gt: [-0.93477161 0.06237037 0.34973128] Pose Error in degrees for R and t: 7.0477929412907345 25.039989345402173 Number of keypoints: Image1: 392 Image2: 392 R_estimated: [[ 9.90842989e-01 -1.35019068e-01 -1.50053512e-04] [ 1.35019090e-01 9.90842986e-01 1.47139484e-04] [ 1.28812834e-04 -1.66052215e-04 9.99999978e-01]] t_estimated: [[-3.88866414e-01] [-9.21293936e-01] [-6.29298171e-04]] R_gt: [[ 0.99448603 0.10450198 0.00878603] [-0.10484793 0.99251144 0.06267245] [-0.00217161 -0.06324769 0.99799496]] t_gt: [-0.89832769 0.17289009 0.40387668] Pose Error in degrees for R and t: 14.239810392998368 79.05931223797315 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 0.40736066 0.91326339 0.0026969 ] [ 0.91326551 -0.40735209 -0.00322305] [-0.00184491 0.00377593 -0.99999117]] t_estimated: [[0.39405416] [0.91908654] [0.00111947]] R_gt: [[ 0.97949565 0.2004614 -0.02007515] [-0.1985106 0.97733244 0.07358213] [ 0.03437054 -0.06808793 0.99708681]] t_gt: [-0.91884128 0.36908835 0.13965847] Pose Error in degrees for R and t: 175.95545924120262 88.69968954819294 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999930e-01 3.46370329e-04 1.40273611e-04] [-3.46372930e-04 9.99999940e-01 1.85215859e-05] [-1.40267187e-04 -1.85701716e-05 9.99999990e-01]] t_estimated: [[0.96784646] [0.25153966] [0.00101846]] R_gt: [[ 0.99698938 -0.07696793 -0.0093383 ] [ 0.07695074 0.99703139 -0.00223937] [ 0.00948256 0.00151405 0.9999539 ]] t_gt: [ 0.8037608 -0.5789888 -0.1368961] Pose Error in degrees for R and t: 4.469283940414276 50.79189067103808 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 6.03473670e-01 -7.97382345e-01 -9.62166948e-04] [ 7.97382657e-01 6.03474018e-01 -9.19049720e-05] [ 6.53926156e-04 -7.11753007e-04 9.99999533e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.89097770e-01 -1.43214893e-01 -3.42828692e-02] [ 1.43158842e-01 9.89690482e-01 -4.11506797e-03] [ 3.45189908e-02 -8.37656639e-04 9.99403458e-01]] t_gt: [ 0.85645901 -0.49152237 -0.15774574] Pose Error in degrees for R and t: 44.68546090672465 60.90003231316691 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 1.70201360e-01 9.85409304e-01 1.59242040e-05] [ 9.85405714e-01 -1.70200783e-01 2.69673876e-03] [ 2.66010178e-03 -4.43296802e-04 -9.99996364e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98096272 -0.18857554 -0.0463858 ] [ 0.18860811 0.98204543 -0.00371123] [ 0.04625349 -0.00510865 0.99891593]] t_gt: [ 0.86197223 -0.48488713 -0.14794711] Pose Error in degrees for R and t: 178.1433588814649 61.3371142966018 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 2.17914219e-01 9.75967846e-01 3.96692894e-04] [-9.75967806e-01 2.17914376e-01 -4.07558207e-04] [-4.84208790e-04 -2.98346765e-04 9.99999838e-01]] t_estimated: [[9.72373262e-01] [2.33430215e-01] [7.57890305e-04]] R_gt: [[ 0.99881734 0.0442316 0.02015162] [-0.04440793 0.99897825 0.00839856] [-0.01975938 -0.00928263 0.99976162]] t_gt: [-0.48556066 0.79645285 0.36040769] Pose Error in degrees for R and t: 74.88139737324393 73.38394505264556 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.96071206 -0.27752343 -0.00361616] [ 0.27753579 0.9607088 0.0035339 ] [ 0.00249334 -0.00439867 0.99998722]] t_estimated: [[-0.62349982] [-0.78182307] [-0.0008161 ]] R_gt: [[ 0.98840574 0.15177424 -0.00431988] [-0.15172905 0.98837728 0.00936509] [ 0.00569068 -0.00860091 0.99994635]] t_gt: [-0.59435964 0.80235487 0.05443604] Pose Error in degrees for R and t: 24.84338398089668 75.1220511797336 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.37282129 0.92790177 -0.00160893] [ 0.92789769 -0.37281257 0.00408136] [ 0.00318728 -0.00301454 -0.99999038]] t_estimated: [[-8.41336927e-01] [-5.40510738e-01] [ 5.62785938e-04]] R_gt: [[ 0.98524629 0.17028603 0.01707727] [-0.17094168 0.98399948 0.05023947] [-0.00824899 -0.05241783 0.99859083]] t_gt: [-0.63476393 0.72557273 0.2657423 ] Pose Error in degrees for R and t: 177.71246256569233 81.83524613318085 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999962e-01 -2.23826641e-04 -1.63235829e-04] [ 2.23846777e-04 9.99999967e-01 1.23347884e-04] [ 1.63208216e-04 -1.23384419e-04 9.99999979e-01]] t_estimated: [[-0.98700112] [-0.16070837] [-0.00127095]] R_gt: [[ 0.9960019 0.08731817 -0.01885864] [-0.08710637 0.99612911 0.01182653] [ 0.01981906 -0.01013678 0.99975183]] t_gt: [-0.29042402 0.92605141 0.24100347] Pose Error in degrees for R and t: 5.173402855055036 82.0957326292265 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999202e-01 -1.22053793e-03 -3.26980304e-04] [ 1.22054639e-03 9.99999255e-01 2.56739651e-05] [ 3.26948725e-04 -2.60730393e-05 9.99999946e-01]] t_estimated: [[-0.99997196] [-0.00724711] [-0.00188559]] R_gt: [[ 0.97993056 0.17760412 -0.09051422] [-0.17388278 0.98361866 0.04753389] [ 0.09747451 -0.03084077 0.99475954]] t_gt: [-0.01874854 0.98913447 -0.14581318] Pose Error in degrees for R and t: 11.770979970143525 89.32076579443496 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999820e-01 -5.91196793e-04 -9.94361318e-05] [ 5.91266676e-04 9.99999577e-01 7.04240728e-04] [ 9.90197449e-05 -7.04299395e-04 9.99999747e-01]] t_estimated: [[0.57912333] [0.81523858] [0.00149052]] R_gt: [[ 0.96749905 0.24609752 -0.05815541] [-0.2446687 0.96912225 0.03065249] [ 0.06390402 -0.01542811 0.99783594]] t_gt: [-0.08910824 0.98891935 -0.118736 ] Pose Error in degrees for R and t: 14.736611485236503 41.02497220920251 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.67271509e-01 -2.53743551e-01 -1.97094141e-04] [ 2.53743606e-01 9.67271454e-01 3.41881727e-04] [ 1.03893253e-04 -3.80703832e-04 9.99999922e-01]] t_estimated: [[9.99994892e-01] [3.10075928e-03] [7.75189839e-04]] R_gt: [[ 0.99258376 -0.12153957 0.00253545] [ 0.1215601 0.99211949 -0.03038003] [ 0.00117662 0.03046328 0.99953464]] t_gt: [ 0.77198106 -0.61823501 -0.14775221] Pose Error in degrees for R and t: 7.91559720252172 39.65099753525591 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.99999054 -0.00385617 0.00201064] [ 0.00385853 0.99999187 -0.0011684 ] [-0.00200612 0.00117614 0.9999973 ]] t_estimated: [[-0.38263465] [-0.92389924] [-0.00096139]] R_gt: [[ 0.96335318 -0.26819263 -0.00491057] [ 0.2680553 0.96321032 -0.01926004] [ 0.00989505 0.01723882 0.99980205]] t_gt: [ 0.78831321 -0.61103323 -0.07211575] Pose Error in degrees for R and t: 15.374449894928176 74.75384200359515 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99998889e-01 -1.40736936e-03 -4.91274913e-04] [ 1.40747254e-03 9.99998988e-01 2.09749076e-04] [ 4.90979222e-04 -2.10440299e-04 9.99999857e-01]] t_estimated: [[ 9.99999828e-01] [-3.82591328e-04] [ 4.44148323e-04]] R_gt: [[ 0.91978694 -0.38778351 0.06013669] [ 0.38526443 0.92148011 0.0494539 ] [-0.07459222 -0.02231807 0.9969639 ]] t_gt: [ 0.78327476 -0.60578078 0.13967926] Pose Error in degrees for R and t: 23.12752973888232 38.411531452850774 Number of keypoints: Image1: 501 Image2: 501 R_estimated: [[ 2.92427649e-01 9.56286076e-01 1.73522554e-03] [ 9.56283460e-01 -2.92431258e-01 2.42975457e-03] [ 2.83097465e-03 9.48840070e-04 -9.99995543e-01]] t_estimated: [[0.19488707] [0.98082511] [0.00106496]] R_gt: [[ 0.99398628 0.10230644 0.03903321] [-0.10371706 0.99395489 0.03599848] [-0.03511414 -0.03983088 0.99858928]] t_gt: [-0.89426308 0.20098314 0.39987412] Pose Error in degrees for R and t: 179.45620313045484 88.66632917671961 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.96810543e-01 -7.97982334e-02 -9.91788656e-04] [ 7.97989718e-02 9.96810711e-01 7.28561297e-04] [ 9.30487650e-04 -8.05381297e-04 9.99999243e-01]] t_estimated: [[-0.71090802] [-0.70328435] [-0.00095296]] R_gt: [[ 0.98110312 0.19336882 0.00672555] [-0.19346274 0.98092339 0.01899583] [-0.00292326 -0.01993733 0.99979644]] t_gt: [-0.89704347 0.43788398 0.05975474] Pose Error in degrees for R and t: 15.770465061114757 70.74934059670568 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.68526491e-01 -2.48909940e-01 -5.28267542e-04] [ 2.48910032e-01 9.68526604e-01 1.16769054e-04] [ 4.82576190e-04 -2.44585013e-04 9.99999854e-01]] t_estimated: [[-0.52394189] [-0.85175298] [-0.00132392]] R_gt: [[ 0.95705259 0.28499289 0.05319473] [-0.28740615 0.95674831 0.04505739] [-0.0380528 -0.05841077 0.9975667 ]] t_gt: [-0.85083131 0.49538943 0.17514392] Pose Error in degrees for R and t: 31.315815758752333 88.64741571889397 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99999981e-01 -2.90078443e-05 1.91303755e-04] [ 2.90447731e-05 9.99999981e-01 -1.93037623e-04] [-1.91298152e-04 1.93043176e-04 9.99999963e-01]] t_estimated: [[0.82216327] [0.56925062] [0.00112984]] R_gt: [[ 0.99587236 -0.08038879 -0.04213878] [ 0.07974641 0.99667423 -0.01672044] [ 0.04334372 0.01329038 0.99897198]] t_gt: [ 0.45185797 -0.76099764 -0.46551796] Pose Error in degrees for R and t: 5.280365846386465 86.43256204217897 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.90361257e-01 1.38507914e-01 3.72621089e-04] [-1.38507871e-01 9.90361323e-01 -1.38970320e-04] [-3.88278004e-04 8.60198669e-05 9.99999921e-01]] t_estimated: [[-9.99877381e-01] [ 1.56590625e-02] [-1.32565819e-04]] R_gt: [[ 0.97450964 -0.21897849 -0.04876118] [ 0.21881059 0.9757271 -0.00881949] [ 0.04950919 -0.00207513 0.99877152]] t_gt: [ 0.61471979 -0.76806758 -0.17942067] Pose Error in degrees for R and t: 20.80923755668038 51.19676285273358 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99999878e-01 4.46107925e-04 -2.11060283e-04] [-4.45874170e-04 9.99999289e-01 1.10628062e-03] [ 2.11553654e-04 -1.10618638e-03 9.99999366e-01]] t_estimated: [[-7.99723649e-01] [-6.00367802e-01] [-7.66753259e-04]] R_gt: [[ 0.92897655 -0.35976405 -0.08701424] [ 0.35557777 0.93270975 -0.06014058] [ 0.10279639 0.024929 0.99438969]] t_gt: [ 0.72275558 -0.63179352 -0.28010946] Pose Error in degrees for R and t: 21.897768900165723 78.55182662662591 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.85797439e-01 -1.67936711e-01 -8.18592734e-04] [ 1.67937407e-01 9.85797275e-01 8.71236583e-04] [ 6.60653880e-04 -9.96335134e-04 9.99999285e-01]] t_estimated: [[0.62280488] [0.7823763 ] [0.00119083]] R_gt: [[ 0.99744523 0.0431245 -0.05694981] [-0.04791936 0.99516716 -0.08570338] [ 0.052978 0.08821299 0.99469132]] t_gt: [-0.21255461 0.45946886 -0.86238559] Pose Error in degrees for R and t: 13.635278677853883 76.93416232526278 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.98444628 -0.17567744 0.00171696] [ 0.17565406 0.9844071 0.00939795] [-0.00334119 -0.00895018 0.99995436]] t_estimated: [[0.22389673] [0.97460931] [0.00263408]] R_gt: [[ 0.99176343 0.05092908 -0.11752587] [-0.07006597 0.98381476 -0.16492132] [ 0.10722498 0.17179796 0.97927956]] t_gt: [-0.07223777 0.40787315 -0.91017647] Pose Error in degrees for R and t: 18.273164816377225 67.7316082976939 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 6.26038211e-01 -7.79776904e-01 -4.91303531e-03] [ 7.79788134e-01 6.26043170e-01 6.43806621e-04] [ 2.57374667e-03 -4.23417418e-03 9.99987724e-01]] t_estimated: [[8.76251789e-01] [4.81852745e-01] [8.57389226e-04]] R_gt: [[ 0.98006152 0.10586619 -0.16814272] [-0.14166413 0.96567806 -0.21771034] [ 0.13932427 0.23718916 0.96142061]] t_gt: [-0.13995734 0.50713831 -0.850425 ] Pose Error in degrees for R and t: 60.44422643867392 83.0502402223736 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-9.94177027e-01 -1.07748843e-01 -1.49201542e-03] [ 1.07750359e-01 -9.94177504e-01 -9.75545221e-04] [-1.37821430e-03 -1.13062984e-03 9.99998411e-01]] t_estimated: [[0.71492369] [0.69920199] [0.00082746]] R_gt: [[ 0.9831691 0.18267996 0.00265682] [-0.18258608 0.98195078 0.04933681] [ 0.00640382 -0.04899055 0.99877888]] t_gt: [-0.88429854 0.37965808 0.27180111] Pose Error in degrees for R and t: 175.65921454845088 68.49863537784148 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.30885433e-01 -5.56438783e-01 2.29756254e-03] [ 5.56443214e-01 8.30882258e-01 -2.37143681e-03] [-5.89444543e-04 3.24885538e-03 9.99994549e-01]] t_estimated: [[0.71556326] [0.69854736] [0.00089557]] R_gt: [[ 0.94672015 0.3217614 0.01381725] [-0.32204435 0.94620225 0.03144516] [-0.00295645 -0.03421935 0.99940952]] t_gt: [-0.85821024 0.49805222 0.12417394] Pose Error in degrees for R and t: 52.63393107737169 74.56889667112587 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.87137566e-01 -1.59870944e-01 8.40564958e-04] [-1.59872115e-01 9.87136460e-01 -1.58624241e-03] [-5.76158245e-04 -1.70022237e-03 -9.99998389e-01]] t_estimated: [[0.99988224] [0.01525244] [0.00169472]] R_gt: [[ 0.90167088 0.43039993 0.04179248] [-0.43233059 0.89926912 0.06636796] [-0.00901857 -0.07790969 0.99691949]] t_gt: [-0.84069994 0.50508571 0.19522303] Pose Error in degrees for R and t: 178.11094986767907 33.63673137288102 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-0.22181699 -0.97507988 -0.00405658] [-0.97508777 0.22181054 0.00198038] [-0.00103124 0.00439481 -0.99998981]] t_estimated: [[0.81776858] [0.57554617] [0.00107178]] R_gt: [[ 0.99212613 -0.12038219 -0.03454881] [ 0.12094581 0.99255017 0.01471112] [ 0.03251975 -0.01877406 0.99929445]] t_gt: [ 0.58522157 -0.80679476 -0.08122771] Pose Error in degrees for R and t: 178.99755041848823 89.18974653126214 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.0039945 0.99996467 0.00739628] [ 0.99998113 0.00402887 -0.00463746] [-0.00466709 0.00737762 -0.99996189]] t_estimated: [[-0.70669462] [-0.70751598] [-0.00196249]] R_gt: [[ 0.96081795 -0.26875481 -0.067825 ] [ 0.2688919 0.96314297 -0.00726141] [ 0.06727674 -0.01126037 0.99767017]] t_gt: [ 0.69767256 -0.70013501 -0.15186824] Pose Error in degrees for R and t: 177.64672156298673 89.85026856654058 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.98200338e-01 5.99673469e-02 -4.93333644e-05] [-5.99673574e-02 9.98200307e-01 -2.50144500e-04] [ 3.42440774e-05 2.52652716e-04 9.99999967e-01]] t_estimated: [[0.76607966] [0.64274485] [0.00100272]] R_gt: [[ 0.91883621 -0.3851956 -0.08581664] [ 0.37972497 0.92217196 -0.07353741] [ 0.10746387 0.0349812 0.99359259]] t_gt: [ 0.75796648 -0.58256338 -0.29343947] Pose Error in degrees for R and t: 26.782156523533242 78.11612141077997 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999499e-01 9.97501672e-04 -8.63700293e-05] [-9.97462661e-04 9.99999401e-01 4.50545666e-04] [ 8.68193976e-05 -4.50459289e-04 9.99999895e-01]] t_estimated: [[-0.95808178] [-0.28649177] [-0.00133252]] R_gt: [[ 0.9974423 0.05645193 -0.04382822] [-0.06006499 0.99447798 -0.08605466] [ 0.03872739 0.08846765 0.99532571]] t_gt: [-0.34632192 0.60383245 -0.71794673] Pose Error in degrees for R and t: 6.46299120912284 80.8065482326531 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.61804633e-01 -2.73736814e-01 7.36829120e-05] [ 2.73736783e-01 9.61804602e-01 2.86015056e-04] [-1.49161414e-04 -2.54920883e-04 9.99999956e-01]] t_estimated: [[0.37389068] [0.92747211] [0.00111609]] R_gt: [[ 0.99013658 0.07810306 -0.11631281] [-0.09865167 0.9781555 -0.18297446] [ 0.09948091 0.1926438 0.97621203]] t_gt: [-0.17912374 0.53438101 -0.82604577] Pose Error in degrees for R and t: 24.438255576276404 64.67648684761868 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.99357781 -0.11314005 0.0015707 ] [-0.11313754 0.99357804 0.00160175] [-0.00174183 0.00141375 -0.99999748]] t_estimated: [[0.99987359] [0.0157771 ] [0.00197214]] R_gt: [[ 0.98604729 0.06769422 -0.15207861] [-0.10485625 0.96213391 -0.25160272] [ 0.12928814 0.26403839 0.95580745]] t_gt: [-0.08464167 0.49845793 -0.86277198] Pose Error in degrees for R and t: 171.0878664570739 85.49947334859795 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.98141371e-01 -6.09403783e-02 2.73353538e-04] [ 6.09403259e-02 9.98141392e-01 1.96088285e-04] [-2.84795175e-04 -1.79065576e-04 9.99999943e-01]] t_estimated: [[0.61493109] [0.7885798 ] [0.0012845 ]] R_gt: [[ 0.99469963 -0.07750248 -0.0675831 ] [ 0.07423943 0.9960102 -0.04952068] [ 0.07115147 0.04424112 0.99648417]] t_gt: [ 0.72157691 -0.33344827 -0.6067446 ] Pose Error in degrees for R and t: 4.901938578562392 79.63081420172853 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.99808506 0.05186213 -0.0337126 ] [-0.05072815 0.99814496 0.03366449] [ 0.03539598 -0.03188985 0.99886444]] t_estimated: [[-0.56360263] [-0.82598256] [-0.01024121]] R_gt: [[ 0.97399404 -0.22128026 -0.0486914 ] [ 0.21793358 0.97374281 -0.06580397] [ 0.061974 0.05348165 0.99664369]] t_gt: [ 0.80549656 -0.50357624 -0.31238802] Pose Error in degrees for R and t: 16.568375381683047 88.00366561089926 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 4.25683919e-01 9.04871882e-01 2.78200412e-04] [-9.04871694e-01 4.25684010e-01 -5.83398132e-04] [-6.46326033e-04 -3.39247468e-06 9.99999791e-01]] t_estimated: [[0.45982429] [0.8880093 ] [0.00105464]] R_gt: [[ 0.93329993 -0.35692884 -0.03942983] [ 0.35498066 0.93359799 -0.04881895] [ 0.0542364 0.03156575 0.99802903]] t_gt: [ 0.82737332 -0.53674988 -0.16538727] Pose Error in degrees for R and t: 85.74092590054461 84.46999839011579 Number of keypoints: Image1: 403 Image2: 403 R_estimated: [[ 0.86766723 0.4969326 -0.01454531] [ 0.49686603 -0.8658276 0.05887886] [ 0.01666509 -0.05831433 -0.99815916]] t_estimated: [[-0.13853051] [ 0.98998166] [ 0.02730569]] R_gt: [[ 0.99188338 0.12654798 -0.0124013 ] [-0.12669862 0.99186701 -0.01212709] [ 0.01076562 0.01359971 0.99984873]] t_gt: [-0.77044537 0.61761505 -0.15800501] Pose Error in degrees for R and t: 177.06862978559846 44.4515140224403 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99272028e-01 -3.81433650e-02 -7.05510497e-04] [ 3.81438262e-02 9.99272047e-01 6.52245362e-04] [ 6.80118085e-04 -6.78681415e-04 9.99999538e-01]] t_estimated: [[-0.27687048] [-0.96090341] [-0.00271442]] R_gt: [[ 0.97763756 0.20995384 0.01209893] [-0.21029414 0.9764809 0.04755252] [-0.00183006 -0.04903309 0.99879486]] t_gt: [-0.82090921 0.55893581 0.11704199] Pose Error in degrees for R and t: 14.589001112952891 71.93380824288606 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.88996070e-01 -1.47941790e-01 -1.16681190e-07] [ 1.47941789e-01 9.88996067e-01 8.16377846e-05] [-1.19622427e-05 -8.07567102e-05 9.99999997e-01]] t_estimated: [[-9.58994278e-01] [-2.83424440e-01] [-7.49800070e-04]] R_gt: [[ 0.93873354 0.3440584 -0.02008973] [-0.3429194 0.93827067 0.0453176 ] [ 0.0344424 -0.03565177 0.99877004]] t_gt: [-0.79060941 0.61206398 -0.01773264] Pose Error in degrees for R and t: 28.747632007809102 54.21613118641729 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.52021139e-01 3.06032191e-01 2.19132840e-04] [-3.06032142e-01 9.52021153e-01 -2.30137054e-04] [-2.79048446e-04 1.52033648e-04 9.99999950e-01]] t_estimated: [[-5.13762439e-01] [ 8.57932291e-01] [ 5.83393467e-04]] R_gt: [[ 0.99731604 0.07165491 -0.01505053] [-0.07108699 0.99684014 0.03542676] [ 0.01754106 -0.03426218 0.9992593 ]] t_gt: [-0.59683854 0.76584941 0.23928737] Pose Error in degrees for R and t: 13.903912377204954 15.459360956262875 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.76227018e-01 2.16750430e-01 2.46726195e-04] [-2.16750477e-01 9.76227022e-01 1.80604000e-04] [-2.01714784e-04 -2.29788525e-04 9.99999953e-01]] t_estimated: [[-0.64255321] [ 0.76624009] [ 0.00122558]] R_gt: [[ 0.98576711 0.16503689 -0.03203781] [-0.1638475 0.98579979 0.03678024] [ 0.03765313 -0.03100747 0.99881037]] t_gt: [-0.64983966 0.75721694 0.06580976] Pose Error in degrees for R and t: 4.136006289122121 3.7602677214683924 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.59382963e-01 -2.82106342e-01 -5.84399678e-04] [ 2.82106459e-01 9.59383099e-01 1.26951235e-04] [ 5.24849425e-04 -2.86657776e-04 9.99999821e-01]] t_estimated: [[-0.34385276] [-0.93902299] [-0.00105154]] R_gt: [[ 0.99247761 0.11131199 0.05097291] [-0.11590557 0.9883759 0.09837684] [-0.03943031 -0.1035453 0.99384249]] t_gt: [-0.6096631 0.52788177 0.59131358] Pose Error in degrees for R and t: 23.784919024307168 73.34066997541625 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.997483 0.06570264 -0.02666125] [-0.06433539 0.99671213 0.04925324] [ 0.02980966 -0.04741401 0.99843042]] t_estimated: [[-0.99368487] [-0.11164999] [-0.011165 ]] R_gt: [[ 0.99284215 0.10875364 -0.04937314] [-0.10655581 0.99328032 0.04516219] [ 0.05395315 -0.03957888 0.99775911]] t_gt: [-0.23759805 0.96165958 0.13695991] Pose Error in degrees for R and t: 2.8205409524227933 82.6922280256775 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-7.26565023e-03 9.99973334e-01 -7.35331509e-04] [-9.99972976e-01 -7.26646858e-03 -1.11640408e-03] [-1.12171757e-03 7.27200236e-04 9.99999106e-01]] t_estimated: [[3.77862486e-03] [9.99992838e-01] [2.14419897e-04]] R_gt: [[ 0.97585651 0.20535631 -0.07438833] [-0.20118422 0.97772134 0.05988727] [ 0.0850291 -0.04347546 0.99542969]] t_gt: [-0.16325924 0.97846764 -0.12628343] Pose Error in degrees for R and t: 78.82465460983298 12.090862170835019 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999995e-01 8.91937757e-05 -3.81933039e-05] [-8.91888607e-05 9.99999988e-01 1.28670912e-04] [ 3.82047801e-05 -1.28667505e-04 9.99999991e-01]] t_estimated: [[-8.46184201e-01] [-5.32890019e-01] [-7.25362415e-04]] R_gt: [[ 0.97569745 0.2187945 0.01197472] [-0.21835925 0.97540257 -0.03015273] [-0.0182772 0.02680421 0.99947407]] t_gt: [-0.10590356 0.99054188 -0.08724236] Pose Error in degrees for R and t: 12.760389362356454 64.01265142049941 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99911332e-01 1.33162903e-02 6.88914896e-05] [-1.33162893e-02 9.99911334e-01 -1.42652472e-05] [-6.90753415e-05 1.33466033e-05 9.99999998e-01]] t_estimated: [[9.82184075e-01] [1.87921091e-01] [3.27358897e-04]] R_gt: [[ 0.99142417 -0.13063495 -0.00356357] [ 0.13065395 0.99141106 0.00575425] [ 0.00278152 -0.0061708 0.99997675]] t_gt: [ 0.6230029 -0.78186447 0.02356556] Pose Error in degrees for R and t: 8.279219133519192 62.290916247807644 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-1.53241380e-01 -9.88187790e-01 -1.40409404e-03] [-9.88188726e-01 1.53241715e-01 -1.33600248e-04] [ 3.47187912e-04 1.36703681e-03 -9.99999005e-01]] t_estimated: [[0.78226552] [0.62294464] [0.0007966 ]] R_gt: [[ 0.98519818 -0.14975049 0.08342219] [ 0.15593929 0.98503738 -0.0733664 ] [-0.07118746 0.08528921 0.99380897]] t_gt: [ 0.44550341 -0.86615534 -0.22649866] Pose Error in degrees for R and t: 179.65427476044422 78.97453243387287 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.96011125 0.27960688 -0.00252507] [-0.27958824 0.96010132 0.0059893 ] [ 0.00409897 -0.00504441 0.99997888]] t_estimated: [[0.83351032] [0.55250321] [0.00086464]] R_gt: [[ 0.98071166 -0.13246355 0.14372549] [ 0.15289573 0.97799811 -0.14192059] [-0.1217643 0.16115774 0.97938827]] t_gt: [ 0.10113804 -0.75703581 -0.64549817] Pose Error in degrees for R and t: 27.275495427500623 70.45645132830366 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99348231e-01 3.60986690e-02 5.73245368e-06] [-3.60986683e-02 9.99348226e-01 -9.33721611e-05] [-9.09932816e-06 9.31043700e-05 9.99999996e-01]] t_estimated: [[-1.43934378e-01] [-9.89587162e-01] [-3.78271731e-04]] R_gt: [[ 0.99925228 0.02439282 -0.02999861] [-0.02056637 0.99233995 0.12181521] [ 0.0327412 -0.12110692 0.99209864]] t_gt: [-0.36144291 -0.25138849 0.89786572] Pose Error in degrees for R and t: 7.253916221110067 72.51505158164738 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99228956e-01 3.92618691e-02 -9.14879183e-06] [-3.92618701e-02 9.99228943e-01 -1.56706724e-04] [ 2.98913871e-06 1.56945095e-04 9.99999988e-01]] t_estimated: [[ 6.24145606e-02] [-9.98050206e-01] [-4.56000811e-04]] R_gt: [[ 0.99669398 0.05279253 -0.06176854] [-0.04186124 0.9851497 0.16651619] [ 0.06964257 -0.16337944 0.9841015 ]] t_gt: [-0.63597208 -0.25191855 0.72943578] Pose Error in degrees for R and t: 10.249840849119249 77.79554325504307 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.21864497 0.97578923 0.00545448] [ 0.9758036 0.21863387 0.00256293] [ 0.00130834 0.00588288 -0.99998184]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99262864 0.10419778 -0.06190155] [-0.08489177 0.96227834 0.2584814 ] [ 0.08650041 -0.2513204 0.9640306 ]] t_gt: [-0.70732268 -0.14568827 0.69171493] Pose Error in degrees for R and t: 167.53589558988827 44.989641668713986 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999430e-01 -1.05653855e-03 -1.52460778e-04] [ 1.05657970e-03 9.99999405e-01 2.70069929e-04] [ 1.52175348e-04 -2.70230863e-04 9.99999952e-01]] t_estimated: [[-0.04850818] [ 0.99881987] [-0.00241406]] R_gt: [[ 0.99981552 -0.01767708 0.00761973] [ 0.01741301 0.99929196 0.03336915] [-0.00820355 -0.03322975 0.99941391]] t_gt: [ 0.32863967 -0.64661189 0.68839598] Pose Error in degrees for R and t: 2.164645188114202 48.436297101464746 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 1.00000000e+00 -4.16888746e-14 2.32098412e-14] [ 4.16333634e-14 1.00000000e+00 -1.01036800e-15] [-2.32188400e-14 1.01492165e-15 1.00000000e+00]] t_estimated: [[0.65418415] [0.75633475] [0.00091642]] R_gt: [[ 0.99539551 -0.09583448 0.00188673] [ 0.09580455 0.9953215 0.01253312] [-0.0030788 -0.01229521 0.9999193 ]] t_gt: [ 0.77122684 -0.63477222 0.0476801 ] Pose Error in degrees for R and t: 5.546456619045342 88.59795929770722 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999722e-01 -7.41660547e-04 -7.28765157e-05] [ 7.41650337e-04 9.99999715e-01 -1.40021192e-04] [ 7.29803432e-05 1.39967104e-04 9.99999988e-01]] t_estimated: [[9.99997087e-01] [2.36582682e-03] [4.79319890e-04]] R_gt: [[ 0.99547582 -0.0908572 -0.02782368] [ 0.08666352 0.98820113 -0.12628565] [ 0.0389697 0.12330219 0.99160397]] t_gt: [ 0.69598384 -0.20999673 -0.6866643 ] Pose Error in degrees for R and t: 8.986227337266927 45.96036077371944 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.27264932 -0.94773837 -0.16569347] [-0.94559928 0.29573718 -0.13557849] [ 0.17749466 0.11971424 -0.97681326]] t_estimated: [[ 0.83391191] [ 0.54367463] [-0.09491486]] R_gt: [[ 0.99662233 -0.08194954 -0.00538927] [ 0.08198435 0.99661124 0.00660353] [ 0.00482949 -0.00702381 0.99996364]] t_gt: [ 0.79370708 -0.60789061 0.02231766] Pose Error in degrees for R and t: 167.63609670481895 70.77559858088235 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-9.22701644e-01 3.85514819e-01 2.82173758e-05] [-3.85513657e-01 -9.22698678e-01 -2.52396188e-03] [-9.46988573e-04 -2.33974196e-03 9.99996814e-01]] t_estimated: [[7.77198764e-01] [6.29254837e-01] [6.57528565e-04]] R_gt: [[ 0.99680711 -0.07278129 -0.03283835] [ 0.07017203 0.99474034 -0.07461658] [ 0.03809616 0.07207413 0.99667207]] t_gt: [ 0.74744136 -0.27687186 -0.60388193] Pose Error in degrees for R and t: 161.44705758773418 66.02797994808034 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.28229221e-01 3.72008707e-01 1.85425005e-04] [-3.72008562e-01 9.28229135e-01 -5.50791642e-04] [-3.77016178e-04 4.42281208e-04 9.99999831e-01]] t_estimated: [[0.13432921] [0.99093622] [0.0010333 ]] R_gt: [[ 0.99507089 -0.09129293 -0.03872469] [ 0.07877638 0.96490364 -0.25051094] [ 0.060236 0.24622526 0.96733913]] t_gt: [ 0.50719589 0.11461703 -0.8541752 ] Pose Error in degrees for R and t: 30.481033057894415 79.5820793714247 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 0.06969994 0.99755259 0.00554593] [ 0.99756156 -0.06967843 -0.00398045] [-0.00358427 0.00580984 -0.9999767 ]] t_estimated: [[0.99605482] [0.08872421] [0.00167404]] R_gt: [[ 0.99816125 0.01903542 -0.05753974] [-0.01609944 0.9985654 0.05105799] [ 0.05842923 -0.05003827 0.99703716]] t_gt: [-0.84128775 -0.44897512 0.30109177] Pose Error in degrees for R and t: 175.99440637901495 28.681682322978574 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 0.10407509 -0.99456694 -0.00223149] [-0.99456339 -0.10406637 -0.00372106] [ 0.00346862 0.00260663 -0.99999059]] t_estimated: [[ 0.74720752] [ 0.66458986] [-0.00111286]] R_gt: [[ 0.9951114 0.07665978 -0.06226253] [-0.06922521 0.99108184 0.11385564] [ 0.07043625 -0.1089895 0.99154421]] t_gt: [-0.91460699 -0.1405815 0.37911857] Pose Error in degrees for R and t: 178.0365553022923 38.99032959185512 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.93489386 -0.34689294 -0.0750917 ] [ 0.34675446 0.93783125 -0.01529369] [ 0.07572862 -0.0117404 0.99705935]] t_estimated: [[0.97152661] [0.23692714] [0.00125358]] R_gt: [[ 0.99163489 0.11524752 -0.05811456] [-0.10383173 0.97974651 0.17121654] [ 0.07666974 -0.16375056 0.98351787]] t_gt: [-0.88497898 -0.04558279 0.46339445] Pose Error in degrees for R and t: 28.355992750539606 29.541415406465696 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.71695774 -0.69708357 -0.00678904] [-0.69709268 -0.71681837 -0.01527147] [ 0.00577898 0.01568159 -0.99986034]] t_estimated: [[ 0.42887236] [ 0.90333326] [-0.00758436]] R_gt: [[ 0.99558834 -0.00569352 0.09365498] [ 0.01540942 0.99452511 -0.10335033] [-0.09255439 0.10433689 0.99022678]] t_gt: [-0.82668132 0.33200674 -0.45427912] Pose Error in degrees for R and t: 175.53006627073876 87.0661698491148 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 7.92099026e-01 6.10392600e-01 8.70138599e-05] [-6.10392594e-01 7.92098975e-01 3.07951691e-04] [ 1.19047844e-04 -2.97040850e-04 9.99999949e-01]] t_estimated: [[0.86235251] [0.50630743] [0.00096712]] R_gt: [[ 0.98365609 0.03521249 0.17657784] [-0.00799109 0.98826153 -0.1525615 ] [-0.17987743 0.14865721 0.97239173]] t_gt: [-0.8614294 0.4985142 -0.09707207] Pose Error in degrees for R and t: 38.71105038972468 60.623377587802416 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99924413 0.03880571 0.00229686] [-0.03879265 0.99923224 -0.00548339] [-0.00250788 0.00539015 0.99998233]] t_estimated: [[ 9.99983969e-01] [-5.65832162e-03] [ 2.12872150e-04]] R_gt: [[ 0.96846999 0.02295296 0.24806933] [ 0.03388144 0.97436054 -0.22242698] [-0.24681519 0.22381792 0.94286233]] t_gt: [-0.71274443 0.67110084 -0.20400747] Pose Error in degrees for R and t: 19.318594333853532 44.22767871962999 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[-8.09161147e-01 5.87584735e-01 1.55472042e-03] [-5.87586660e-01 -8.09156361e-01 -2.81062359e-03] [-3.93467594e-04 -3.18778039e-03 9.99994842e-01]] t_estimated: [[0.01922719] [0.99981386] [0.00160227]] R_gt: [[ 0.99876388 -0.04480424 -0.02156732] [ 0.04468094 0.99898313 -0.00616885] [ 0.0218218 0.00519802 0.99974821]] t_gt: [ 0.80546993 -0.39787237 -0.43922177] Pose Error in degrees for R and t: 146.58320803785605 67.47942725252149 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.96354361e-01 -8.53110464e-02 -1.13942895e-04] [ 8.53110930e-02 9.96354238e-01 4.99590511e-04] [ 7.09068970e-05 -5.07489777e-04 9.99999869e-01]] t_estimated: [[9.99994892e-01] [3.10075924e-03] [7.75189821e-04]] R_gt: [[ 0.99754164 -0.06705702 -0.02039213] [ 0.06660645 0.997538 -0.02197314] [ 0.02181475 0.02056162 0.99955064]] t_gt: [ 0.85407659 -0.09697782 -0.51102689] Pose Error in degrees for R and t: 2.0321983078310693 31.41928581868882 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.69241789e-01 -2.46110441e-01 6.56637605e-05] [ 2.46110400e-01 9.69241726e-01 3.83256366e-04] [-1.57967450e-04 -3.55307552e-04 9.99999924e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99165169 -0.12894418 0.00169377] [ 0.12892494 0.99104925 -0.03464734] [ 0.0027888 0.03457647 0.99939841]] t_gt: [ 0.92840902 -0.293099 -0.22836302] Pose Error in degrees for R and t: 7.12559154039963 21.979408598039182 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99962205e-01 -8.69323939e-03 1.24361379e-04] [ 8.69322599e-03 9.99962207e-01 1.07847119e-04] [-1.25294220e-04 -1.06761942e-04 9.99999986e-01]] t_estimated: [[0.12810177] [0.99176015] [0.00132157]] R_gt: [[ 0.99964941 -0.019996 0.01733948] [ 0.0192356 0.99889335 0.04292961] [-0.01818014 -0.04257957 0.99892742]] t_gt: [ 0.07507323 -0.60727114 0.7909398 ] Pose Error in degrees for R and t: 2.7184613556982336 53.729011840073056 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99999842e-01 -5.34820976e-05 5.59860564e-04] [ 5.34570703e-05 9.99999998e-01 4.47176653e-05] [-5.59862955e-04 -4.46877297e-05 9.99999842e-01]] t_estimated: [[7.79975608e-01] [6.25809575e-01] [6.53245903e-04]] R_gt: [[ 0.99727414 -0.07305027 0.01043861] [ 0.07230108 0.99559516 0.05969619] [-0.01475462 -0.05877803 0.9981622 ]] t_gt: [ 0.49214813 -0.69904444 0.5187746 ] Pose Error in degrees for R and t: 5.419922028965156 86.9466220288886 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999084e-01 -1.35302923e-03 4.49810896e-05] [ 1.35303666e-03 9.99999071e-01 -1.65535556e-04] [-4.47570734e-05 1.65596265e-04 9.99999985e-01]] t_estimated: [[ 9.85979117e-01] [-1.66865985e-01] [-9.61247709e-04]] R_gt: [[ 9.94842759e-01 -1.01351777e-01 -3.99521881e-03] [ 1.01355651e-01 9.94849639e-01 9.93016324e-04] [ 3.87224488e-03 -1.39236724e-03 9.99992078e-01]] t_gt: [ 0.74833017 -0.66326641 -0.00892356] Pose Error in degrees for R and t: 5.744533087498658 31.948604843844688 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99295400e-01 3.75106262e-02 1.28676494e-03] [-3.75099839e-02 9.99296118e-01 -5.19701314e-04] [-1.30535353e-03 4.71068600e-04 9.99999037e-01]] t_estimated: [[0.56368278] [0.82599061] [0.0011162 ]] R_gt: [[ 0.99019849 -0.12383818 0.0645849 ] [ 0.1233671 0.99229746 0.01122118] [-0.06547739 -0.00314393 0.99784868]] t_gt: [ 0.51259242 -0.77777914 0.36374252] Pose Error in degrees for R and t: 9.963552002581478 69.32340257875852 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999966e-01 -2.61882305e-04 -1.21618716e-05] [ 2.61884844e-04 9.99999944e-01 2.09240247e-04] [ 1.21070746e-05 -2.09243425e-04 9.99999978e-01]] t_estimated: [[-0.59082706] [-0.80679767] [-0.00095141]] R_gt: [[ 0.95316817 -0.29733881 0.05531776] [ 0.29422351 0.95397491 0.05800317] [-0.07001868 -0.03901153 0.99678246]] t_gt: [ 0.67119347 -0.68601291 0.28086582] Pose Error in degrees for R and t: 17.814955962005467 80.98766293080966 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999889e-01 -3.93379562e-04 -2.60776846e-04] [ 3.94458266e-04 9.99991313e-01 4.14943982e-03] [ 2.59142276e-04 -4.14954223e-03 9.99991357e-01]] t_estimated: [[0.664725 ] [0.74708767] [0.00083195]] R_gt: [[ 0.88713252 -0.46148033 0.00574462] [ 0.45954893 0.88443136 0.08121194] [-0.042558 -0.06940613 0.99667989]] t_gt: [ 0.78128449 -0.59448767 0.19020767] Pose Error in degrees for R and t: 27.79750055941024 85.67791084989854 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.91947937e-01 -1.26646320e-01 -1.84170058e-05] [ 1.26646321e-01 9.91947910e-01 2.32447015e-04] [-1.11698488e-05 -2.32907783e-04 9.99999973e-01]] t_estimated: [[9.84763963e-01] [1.73895697e-01] [4.73873840e-04]] R_gt: [[ 0.9804195 -0.19170146 0.04505292] [ 0.19003703 0.98101246 0.03873239] [-0.05162227 -0.02941107 0.99823363]] t_gt: [ 0.64276769 -0.70051528 0.31004523] Pose Error in degrees for R and t: 5.051038396304062 59.24922013126833 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.67755331e-01 2.51888276e-01 1.38443484e-03] [-2.51888549e-01 9.67756250e-01 2.32325189e-05] [-1.33394347e-03 -3.71206677e-04 9.99999041e-01]] t_estimated: [[0.63772599] [0.77026283] [0.00086063]] R_gt: [[ 0.94171211 -0.33610942 0.01451142] [ 0.33472325 0.94041461 0.05984722] [-0.0337614 -0.05150105 0.99810229]] t_gt: [ 0.7369933 -0.64603499 0.19869491] Pose Error in degrees for R and t: 34.37849293242547 88.42726520520478 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 7.93022186e-01 6.09191863e-01 1.04232739e-03] [-6.09190385e-01 7.93022713e-01 -1.43208370e-03] [-1.69900303e-03 5.00698322e-04 9.99998431e-01]] t_estimated: [[0.46337769] [0.88616033] [0.00099012]] R_gt: [[ 0.86200641 -0.50336921 -0.05971418] [ 0.50644067 0.86023611 0.05926544] [ 0.02153642 -0.08132904 0.99645466]] t_gt: [ 0.83769748 -0.53294235 0.11931214] Pose Error in degrees for R and t: 68.0733556700081 85.18240161627027 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.96140323 0.27470507 0.01552282] [ 0.27461429 0.96152326 -0.00774658] [-0.01705357 -0.0031848 -0.99984951]] t_estimated: [[ 0.81851046] [-0.57429865] [ 0.01488944]] R_gt: [[ 0.99421088 -0.06062874 0.08871091] [ 0.05091831 0.99285692 0.10789627] [-0.0946194 -0.10275532 0.99019555]] t_gt: [ 0.17681399 -0.41959377 0.89032459] Pose Error in degrees for R and t: 174.69061458504862 66.487279076314 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-1.24884351e-01 -9.92170602e-01 -1.18092498e-03] [-9.92148338e-01 1.24889471e-01 -6.65555139e-03] [ 6.75092752e-03 3.40478542e-04 -9.99977154e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98557751 -0.07010843 0.15401928] [ 0.03954032 0.98035628 0.19322841] [-0.16454106 -0.18435214 0.96898881]] t_gt: [ 0.09896987 -0.26462058 0.95926061] Pose Error in degrees for R and t: 166.15886255551365 84.32460350564916 Number of keypoints: Image1: 24 Image2: 24 R_estimated: [[ 9.81686415e-01 -1.90504022e-01 -1.94867571e-05] [ 1.90504022e-01 9.81686403e-01 1.50400584e-04] [-9.52203163e-06 -1.51358516e-04 9.99999988e-01]] t_estimated: [[ 1.93915370e-01] [-9.81018251e-01] [ 1.42229406e-04]] R_gt: [[ 0.98485029 0.01607573 0.17266006] [-0.05817863 0.96861499 0.24166063] [-0.16335723 -0.24804464 0.95487576]] t_gt: [-0.17206333 0.06536025 0.98291518] Pose Error in degrees for R and t: 21.682386428148913 84.41366579547882 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.97423148e-01 -7.17430275e-02 -3.32366377e-05] [ 7.17430330e-02 9.97423125e-01 2.17768840e-04] [ 1.75275952e-05 -2.19592179e-04 9.99999976e-01]] t_estimated: [[-0.34972153] [ 0.93685283] [-0.00127468]] R_gt: [[ 0.99919362 -0.00820935 0.03930396] [ 0.00797738 0.9999507 0.00606015] [-0.03935186 -0.00574172 0.99920824]] t_gt: [-0.00312928 -0.1753481 0.98450152] Pose Error in degrees for R and t: 4.302818636421699 80.53553292954511 Number of keypoints: Image1: 434 Image2: 434 R_estimated: [[ 9.99848122e-01 1.74279154e-02 1.73498212e-05] [-1.74279152e-02 9.99848122e-01 -1.13354266e-05] [-1.75447390e-05 1.10313338e-05 1.00000000e+00]] t_estimated: [[2.74240874e-01] [9.61660947e-01] [4.07054524e-04]] R_gt: [[ 0.99952228 -0.01048849 0.02906917] [ 0.01041829 0.99994285 0.00255028] [-0.02909447 -0.00224727 0.99957447]] t_gt: [ 0.07412813 -0.28784829 0.9548028 ] Pose Error in degrees for R and t: 2.311586013410182 75.16153087058417 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[-9.61708917e-01 -2.74068191e-01 1.60812148e-03] [-2.74066840e-01 9.61710114e-01 1.01223326e-03] [-1.82396763e-03 5.32740977e-04 -9.99998195e-01]] t_estimated: [[0.8973447 ] [0.44132821] [0.00137482]] R_gt: [[ 0.99754238 -0.0680294 -0.01678199] [ 0.06850416 0.99721203 0.02959222] [ 0.014723 -0.03066948 0.99942101]] t_gt: [ 0.61699777 -0.77841292 0.11570258] Pose Error in degrees for R and t: 179.4443820183989 77.86105309197947 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-9.99544925e-01 -1.50306216e-02 2.61538570e-02] [-1.50089697e-02 9.99886835e-01 1.02398632e-03] [-2.61662884e-02 6.30977879e-04 -9.99657405e-01]] t_estimated: [[ 0.99990082] [-0.0032474 ] [ 0.01370439]] R_gt: [[ 9.97857943e-01 -6.54148203e-02 6.93262803e-04] [ 6.54066860e-02 9.97824060e-01 8.34342938e-03] [-1.23766304e-03 -8.27982557e-03 9.99964614e-01]] t_gt: [ 0.72570431 -0.6744639 0.13583707] Pose Error in degrees for R and t: 178.44066270275093 43.140078407645 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-9.98787429e-01 4.30666968e-02 2.38522854e-02] [ 4.30597489e-02 9.99072175e-01 -8.05062400e-04] [-2.38648260e-02 2.22987216e-04 -9.99715170e-01]] t_estimated: [[ 0.99968274] [-0.02169845] [ 0.01279051]] R_gt: [[ 0.99475957 -0.1011668 -0.01477916] [ 0.10107398 0.99485487 -0.00693037] [ 0.01540479 0.00540063 0.99986716]] t_gt: [ 0.84757535 -0.51158553 -0.14105412] Pose Error in degrees for R and t: 179.49389160648684 31.06272875697281 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.43008509 -0.90277271 -0.00531444] [ 0.90278109 -0.43005056 -0.00654433] [ 0.00362257 -0.00761239 0.99996446]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.90311599e-01 -1.38787514e-01 4.62358152e-03] [ 1.38861791e-01 9.89942180e-01 -2.70635032e-02] [-8.20070494e-04 2.74442203e-02 9.99622829e-01]] t_gt: [ 0.90173607 -0.41586106 -0.11803242] Pose Error in degrees for R and t: 107.50145701964281 25.795825854802697 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.97692222e-01 6.78986570e-02 -5.19024825e-05] [-6.78986673e-02 9.97692196e-01 -2.32407206e-04] [ 3.60025645e-05 2.35394971e-04 9.99999972e-01]] t_estimated: [[9.15261654e-01] [4.02859263e-01] [7.20678467e-04]] R_gt: [[ 0.99803608 0.06094419 0.01446974] [-0.06047288 0.99768483 -0.03110592] [-0.0163324 0.03017083 0.99941164]] t_gt: [-0.82519084 0.43802218 -0.35664638] Pose Error in degrees for R and t: 1.9981864132199607 54.615455870492355 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 0.39702645 0.91778693 -0.0060947 ] [ 0.91777807 -0.39695223 0.01059909] [ 0.0073084 -0.0098017 -0.99992525]] t_estimated: [[-0.29860708] [-0.95437165] [-0.00292752]] R_gt: [[ 0.99097915 0.12768615 0.0406974 ] [-0.12433946 0.98930461 -0.0762607 ] [-0.04999968 0.07051323 0.99625772]] t_gt: [-0.8329283 0.41479566 -0.36629907] Pose Error in degrees for R and t: 175.74415543251624 81.6002575640626 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.79574912e-01 2.01079455e-01 2.10826092e-04] [-2.01079283e-01 9.79574756e-01 -6.48300736e-04] [-3.36879875e-04 5.92666377e-04 9.99999768e-01]] t_estimated: [[-9.44206052e-01] [-3.29354206e-01] [-8.59932652e-04]] R_gt: [[ 0.98502832 0.16755114 0.04056573] [-0.16123995 0.97869545 -0.12711336] [-0.06099999 0.11866967 0.99105879]] t_gt: [-0.77814144 0.42622259 -0.46133524] Pose Error in degrees for R and t: 7.9106315647251115 53.505588975678755 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99998573e-01 -1.50524267e-03 -7.67395904e-04] [ 1.50505081e-03 9.99998836e-01 -2.50527851e-04] [ 7.67772116e-04 2.49372523e-04 9.99999674e-01]] t_estimated: [[-0.99876392] [-0.04932167] [-0.00616521]] R_gt: [[ 9.91006293e-01 1.33798990e-01 -2.18751704e-03] [-1.33815652e-01 9.90808567e-01 -1.97689026e-02] [-4.77559415e-04 1.98841469e-02 9.99801098e-01]] t_gt: [-0.76819139 0.63050967 -0.11108352] Pose Error in degrees for R and t: 7.857666833782008 42.53801690761422 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.86722171e-01 -1.62414195e-01 -9.93490244e-04] [ 1.62414685e-01 9.86722495e-01 4.33750850e-04] [ 9.09851877e-04 -5.89348986e-04 9.99999412e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97696897 0.21277879 -0.01606486] [-0.21312742 0.97671478 -0.02459619] [ 0.0104571 0.02745418 0.99956729]] t_gt: [-0.74488557 0.65645695 -0.1192047 ] Pose Error in degrees for R and t: 21.710050175927556 42.017650517486594 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 6.94387807e-01 7.19600943e-01 2.38040306e-04] [ 7.19555814e-01 -6.94347889e-01 1.09745200e-02] [ 8.06255772e-03 -7.44928958e-03 -9.99939750e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.92410309 0.3821242 -0.00375868] [-0.38213955 0.92400312 -0.01369688] [-0.00176103 0.01409437 0.99989905]] t_gt: [-0.69186401 0.72169431 -0.02194352] Pose Error in degrees for R and t: 179.89604606747145 46.398406621402195 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.86986309e-01 1.60804075e-01 2.74138251e-04] [-1.60804064e-01 9.86986347e-01 -6.32770009e-05] [-2.80745911e-04 1.83709886e-05 9.99999960e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97652776 -0.21474523 -0.01665058] [ 0.21510917 0.97627959 0.02458131] [ 0.01097667 -0.02758702 0.99955913]] t_gt: [ 0.75524359 -0.65220706 0.06506208] Pose Error in degrees for R and t: 21.734371355672753 49.65293668202543 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.72885606e-01 2.31286774e-01 1.63608018e-04] [-2.31286772e-01 9.72885619e-01 -3.07917168e-05] [-1.66293604e-04 -7.88355225e-06 9.99999986e-01]] t_estimated: [[-9.84438886e-01] [-1.75725121e-01] [-8.72860806e-04]] R_gt: [[ 9.66820583e-01 -2.55258975e-01 -1.00327306e-02] [ 2.55453858e-01 9.66195155e-01 3.47635503e-02] [ 8.20009931e-04 -3.61738213e-02 9.99344953e-01]] t_gt: [ 0.74069432 -0.66196372 0.11478654] Pose Error in degrees for R and t: 28.247398735261267 52.19726071935067 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 1.14332508e-01 9.93441923e-01 1.10641522e-03] [-9.93440010e-01 1.14334659e-01 -2.12883938e-03] [-2.24137989e-03 -8.55761603e-04 9.99997122e-01]] t_estimated: [[0.01817879] [0.9998336 ] [0.0015149 ]] R_gt: [[ 0.93864496 -0.34170698 0.04671869] [ 0.34143398 0.93980218 0.01393956] [-0.04866892 0.00286637 0.99881123]] t_gt: [ 0.73108261 -0.6695101 0.13143228] Pose Error in degrees for R and t: 103.4429358937342 49.01135960330308 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.76742270e-01 2.14416665e-01 -1.78206870e-04] [-2.14416591e-01 9.76742235e-01 3.63849837e-04] [ 2.52077645e-04 -3.17177006e-04 9.99999918e-01]] t_estimated: [[-9.99604813e-01] [-2.80979206e-02] [-8.51452140e-04]] R_gt: [[ 9.93061570e-01 1.16794965e-01 -1.37423776e-02] [-1.16772405e-01 9.93156338e-01 2.47524492e-03] [ 1.39379737e-02 -8.53690914e-04 9.99902671e-01]] t_gt: [-0.63005426 0.77165768 -0.08704054] Pose Error in degrees for R and t: 5.728121861398528 52.54072234493746 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[-0.6594523 -0.75171459 -0.00691742] [-0.75172473 0.65947524 -0.0015261 ] [ 0.00570906 0.0041936 -0.99997491]] t_estimated: [[ 0.90916279] [ 0.41642715] [-0.0033841 ]] R_gt: [[ 9.72981739e-01 2.28300942e-01 -3.44432848e-02] [-2.28134064e-01 9.73590955e-01 8.78498254e-03] [ 3.55398024e-02 -6.91283164e-04 9.99367645e-01]] t_gt: [-0.59725322 0.79125353 -0.13117337] Pose Error in degrees for R and t: 177.8689358343418 77.69843693719389 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 5.44223282e-01 -8.38938977e-01 -1.55324066e-03] [ 8.38939809e-01 5.44224181e-01 -1.93792479e-04] [ 1.00789119e-03 -1.19760905e-03 9.99998775e-01]] t_estimated: [[-0.01397575] [-0.99990153] [-0.00127052]] R_gt: [[ 0.94525465 0.32263837 -0.04896294] [-0.32068308 0.94617363 0.04381242] [ 0.06046429 -0.02571361 0.99783905]] t_gt: [-0.5891968 0.80225852 -0.0960645 ] Pose Error in degrees for R and t: 75.88760703638978 37.45577367611077 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99899703e-01 -1.41620220e-02 1.48240092e-04] [ 1.41621152e-02 9.99899503e-01 -6.47323283e-04] [-1.39057788e-04 6.49357751e-04 9.99999779e-01]] t_estimated: [[-0.0421079 ] [-0.99910574] [-0.00382799]] R_gt: [[ 0.98599997 -0.1643209 -0.02831402] [ 0.16509685 0.98588781 0.02769571] [ 0.0233634 -0.0319823 0.99921484]] t_gt: [ 0.75793779 -0.65228511 0.00737816] Pose Error in degrees for R and t: 8.973068269000462 51.701507628482595 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.96631620e-01 8.20081518e-02 2.79209177e-04] [-8.20081228e-02 9.96631655e-01 -1.13755249e-04] [-2.87597562e-04 9.04746573e-05 9.99999955e-01]] t_estimated: [[9.31226208e-01] [3.64441087e-01] [6.65759575e-04]] R_gt: [[ 0.95969351 -0.27910716 -0.032968 ] [ 0.27995919 0.95969051 0.02483349] [ 0.02470728 -0.03306171 0.9991474 ]] t_gt: [ 0.793459 -0.60801678 0.02717349] Pose Error in degrees for R and t: 21.07699022632979 58.84723853478696 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-5.12580101e-01 -8.58637253e-01 -1.92549856e-03] [ 8.58639207e-01 -5.12577141e-01 -1.84011195e-03] [ 5.93022124e-04 -2.59651333e-03 9.99996453e-01]] t_estimated: [[0.87049406] [0.49217807] [0.00091824]] R_gt: [[ 0.94274768 -0.33146246 -0.03686394] [ 0.3303673 0.94328247 -0.03280281] [ 0.04564562 0.01874631 0.99878129]] t_gt: [ 0.81457193 -0.57371678 -0.08556658] Pose Error in degrees for R and t: 101.52464733323107 64.74607926893124 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-6.63624309e-03 9.99977968e-01 -1.55294516e-04] [-9.99977278e-01 -6.63642230e-03 -1.18346553e-03] [-1.18447006e-03 1.47437223e-04 9.99999288e-01]] t_estimated: [[3.23677034e-03] [9.99994622e-01] [5.28031771e-04]] R_gt: [[ 0.99287813 -0.018082 0.11775371] [ 0.02285117 0.99896673 -0.03928331] [-0.11692061 0.04169359 0.99226595]] t_gt: [0.22979733 0.0174837 0.97308145] Pose Error in degrees for R and t: 91.76821981235302 88.92614408040976 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999887e-01 3.50982264e-04 3.20957159e-04] [-3.50923742e-04 9.99999922e-01 -1.82375301e-04] [-3.21021145e-04 1.82262649e-04 9.99999932e-01]] t_estimated: [[9.99988829e-01] [4.66250676e-03] [7.77083961e-04]] R_gt: [[ 0.98824906 -0.07718256 0.13193729] [ 0.08544146 0.99464677 -0.05811903] [-0.12674389 0.06870872 0.98955331]] t_gt: [ 0.81355411 -0.37343702 0.44572918] Pose Error in degrees for R and t: 9.512704986803978 35.6934491841129 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999119e-01 -8.06260329e-04 1.05474927e-03] [ 8.07294734e-04 9.99999193e-01 -9.80653996e-04] [-1.05395776e-03 9.81504626e-04 9.99998963e-01]] t_estimated: [[-0.47762989] [-0.87856023] [-0.00126963]] R_gt: [[ 0.9761608 -0.18772899 0.10894491] [ 0.19245392 0.98069917 -0.0345144 ] [-0.10036197 0.05465766 0.99344884]] t_gt: [ 0.85956003 -0.49144519 0.14013629] Pose Error in degrees for R and t: 12.71927792421049 88.79471047306798 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99999855e-01 -3.19452228e-05 5.38284200e-04] [ 3.20204495e-05 9.99999990e-01 -1.39744799e-04] [-5.38279730e-04 1.39762015e-04 9.99999845e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.99615385 -0.05713516 0.06642518] [ 0.06110254 0.99636592 -0.05932958] [-0.0627953 0.06316038 0.99602573]] t_gt: [ 0.75671564 -0.56086306 -0.33587804] Pose Error in degrees for R and t: 6.1108385773394085 41.713908165564604 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.70084469e-01 2.42767536e-01 2.15587475e-04] [-2.42767458e-01 9.70084454e-01 -3.35817060e-04] [-2.90663538e-04 2.73433291e-04 9.99999920e-01]] t_estimated: [[-0.9999925 ] [-0.00373821] [-0.00101474]] R_gt: [[ 0.99181752 -0.08886539 0.09165642] [ 0.0940016 0.99414281 -0.0533274 ] [-0.0863823 0.06150806 0.99436113]] t_gt: [ 0.78386852 -0.61759049 -0.06428163] Pose Error in degrees for R and t: 20.232357051285305 38.60291505468628 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.9934451 -0.11429365 -0.00194596] [ 0.1142976 0.99344443 0.00205568] [ 0.00169825 -0.00226462 0.99999599]] t_estimated: [[-0.68059771] [-0.73265693] [-0.00076558]] R_gt: [[ 0.98368748 -0.07681942 0.16265849] [ 0.09111356 0.9924316 -0.08231683] [-0.15510549 0.09579514 0.98324234]] t_gt: [ 0.88806904 -0.45188294 0.08447003] Pose Error in degrees for R and t: 10.791281345899225 74.13288073018751 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[-0.2634712 0.96465248 -0.0053402 ] [-0.96465158 -0.26349445 -0.00424407] [-0.00550117 0.00403324 0.99997673]] t_estimated: [[0.60519674] [0.79607482] [0.001335 ]] R_gt: [[ 0.99578561 -0.08860723 -0.02370311] [ 0.08965153 0.99484596 0.04737363] [ 0.0193817 -0.04929842 0.99859644]] t_gt: [ 0.39636293 -0.90662982 0.1446333 ] Pose Error in degrees for R and t: 110.4341606734966 61.20517425854623 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99062949e-01 4.31615171e-02 3.21064598e-03] [-4.31587277e-02 9.99067792e-01 -9.33082487e-04] [-3.24792625e-03 7.93640745e-04 9.99994411e-01]] t_estimated: [[-0.42223832] [-0.90648366] [-0.00147636]] R_gt: [[ 0.97805183 -0.19255126 -0.0796256 ] [ 0.19742419 0.97856374 0.05862276] [ 0.06663142 -0.07305547 0.99509989]] t_gt: [ 0.52146961 -0.85218477 -0.04301827] Pose Error in degrees for R and t: 14.931953577919517 56.47019970922293 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 7.81647253e-01 6.23718724e-01 1.58933430e-03] [-6.23719392e-01 7.81648330e-01 -9.43067445e-05] [-1.30112138e-03 -9.17584012e-04 9.99998733e-01]] t_estimated: [[0.73549122] [0.67753131] [0.00199862]] R_gt: [[ 0.95459067 -0.27067198 -0.12448237] [ 0.27583781 0.96085278 0.02599573] [ 0.11257255 -0.05915187 0.99188147]] t_gt: [ 0.58443334 -0.78844749 -0.19180255] Pose Error in degrees for R and t: 54.97312196702346 83.98806551679736 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.86991399e-01 1.60772917e-01 -2.18069101e-04] [-1.60772925e-01 9.86991422e-01 -1.69941968e-05] [ 2.12500125e-04 5.18327332e-05 9.99999976e-01]] t_estimated: [[-0.98820762] [ 0.15311269] [-0.00148618]] R_gt: [[ 0.99420076 0.09877976 0.04251344] [-0.09903325 0.9950767 0.00388676] [-0.04191991 -0.00807432 0.99908881]] t_gt: [-0.39634091 0.83784018 0.37541673] Pose Error in degrees for R and t: 4.337057653101464 58.70844675891475 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 4.68414065e-01 -8.83508988e-01 -3.63011780e-04] [ 8.83507434e-01 4.68412373e-01 2.11262019e-03] [-1.69647972e-03 -1.31030462e-03 9.99997703e-01]] t_estimated: [[0.50245742] [0.86460093] [0.00133632]] R_gt: [[ 0.99046464 0.12891821 0.04858427] [-0.12953299 0.99152727 0.00969655] [-0.04692253 -0.01589633 0.99877227]] t_gt: [-0.28887362 0.87954908 0.37808128] Pose Error in degrees for R and t: 69.54568854792925 51.98865543986816 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.90872776e-01 -1.34799874e-01 -3.68674658e-04] [ 1.34799977e-01 9.90872794e-01 2.67908438e-04] [ 3.29195664e-04 -3.15160513e-04 9.99999896e-01]] t_estimated: [[-0.47592711] [-0.87948387] [-0.00122662]] R_gt: [[ 0.9912906 0.12605783 0.03810977] [-0.12635175 0.99197068 0.00541404] [-0.03712053 -0.01018204 0.99925887]] t_gt: [-0.02689967 0.9418626 0.33491975] Pose Error in degrees for R and t: 15.162914926512324 35.317455703812065 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99841707e-01 1.77466086e-02 1.27204120e-03] [ 1.77462090e-02 -9.99842471e-01 3.24762871e-04] [ 1.27760426e-03 -3.02137555e-04 -9.99999138e-01]] t_estimated: [[0.09026435] [0.9959167 ] [0.00150441]] R_gt: [[ 0.99751991 -0.06565669 -0.02535952] [ 0.06559322 0.99784 -0.00331097] [ 0.02552286 0.00163968 0.99967284]] t_gt: [ 0.34166337 -0.87488625 -0.3432786 ] Pose Error in degrees for R and t: 179.8739168177548 32.75516563243046 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 0.77905927 -0.62694574 -0.00238378] [-0.62694915 -0.77905944 -0.00107081] [-0.00118577 0.00232873 -0.99999659]] t_estimated: [[0.14500275] [0.9894305 ] [0.00121851]] R_gt: [[ 0.99036538 -0.12311543 -0.06340153] [ 0.12515911 0.99170195 0.02934688] [ 0.05926314 -0.03699965 0.99755611]] t_gt: [ 0.355808 -0.90802525 -0.22111268] Pose Error in degrees for R and t: 179.4642444082503 32.1019141392112 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99807171e-01 -1.96291464e-02 5.63786632e-04] [ 1.96289599e-02 9.99807277e-01 3.34412351e-04] [-5.70242206e-04 -3.23281321e-04 9.99999785e-01]] t_estimated: [[0.68136728] [0.7319411 ] [0.00091952]] R_gt: [[ 0.95972008 -0.25946244 -0.10778389] [ 0.26279025 0.96469107 0.01766362] [ 0.09939621 -0.04527626 0.99401668]] t_gt: [ 0.55532179 -0.80476698 -0.20968502] Pose Error in degrees for R and t: 15.39781537025478 77.82743565658501 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[-9.43795241e-01 3.30529821e-01 -7.62034612e-04] [-3.30528324e-01 -9.43794690e-01 -1.61567950e-03] [-1.25323448e-03 -1.27299660e-03 9.99998404e-01]] t_estimated: [[9.42670116e-01] [3.33724997e-01] [8.24012339e-04]] R_gt: [[ 0.99985002 0.01608696 -0.00642207] [-0.01614875 0.99982305 -0.00970176] [ 0.00626503 0.00980413 0.99993201]] t_gt: [ 0.77021109 0.35607087 -0.52913931] Pose Error in degrees for R and t: 159.7759403600885 32.387082071704384 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 6.21351243e-01 7.83521619e-01 4.06271977e-03] [ 7.83532058e-01 -6.21345349e-01 -2.73313755e-03] [ 3.82879680e-04 4.88150959e-03 -9.99988012e-01]] t_estimated: [[-0.99582595] [-0.09125098] [-0.00198372]] R_gt: [[ 0.99989654 0.01175795 -0.00833279] [-0.01181164 0.99990882 -0.00655481] [ 0.00825438 0.00665192 0.99994438]] t_gt: [ 0.97190873 -0.04619645 -0.23077979] Pose Error in degrees for R and t: 179.62264695023705 15.596570835431839 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.95190632e-01 -9.79571548e-02 3.42182566e-05] [ 9.79571529e-02 9.95190632e-01 5.38357214e-05] [-3.93272825e-05 -5.02248827e-05 9.99999998e-01]] t_estimated: [[-0.4279882 ] [-0.9037836 ] [-0.00113827]] R_gt: [[ 0.99778586 0.06615748 -0.00671193] [-0.06614109 0.99780724 0.002444 ] [ 0.0068582 -0.00199519 0.99997478]] t_gt: [ 0.73201279 0.66912834 -0.12815822] Pose Error in degrees for R and t: 9.423448204479724 23.37985738747962 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.97880849e-01 6.50676963e-02 7.59029892e-05] [-6.50676887e-02 9.97880848e-01 -9.83435851e-05] [-8.21411297e-05 9.31963481e-05 9.99999992e-01]] t_estimated: [[-0.53707554] [-0.84353356] [-0.00099717]] R_gt: [[ 0.99837635 -0.02865195 0.04923188] [ 0.0294335 0.99945111 -0.01521495] [-0.04876915 0.01664049 0.99867098]] t_gt: [ 0.67515668 -0.54605377 0.49597251] Pose Error in degrees for R and t: 6.148296624764124 84.4041980370072 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.98189232e-01 -6.01519351e-02 -4.06316711e-05] [ 6.01519348e-02 9.98189233e-01 -6.85505214e-06] [ 4.09704412e-05 4.39856560e-06 9.99999999e-01]] t_estimated: [[ 1.49051342e-01] [-9.88829306e-01] [-5.48842648e-04]] R_gt: [[ 0.99478146 0.00631357 0.10183501] [-0.00169284 0.99896748 -0.04539404] [-0.10201696 0.04498553 0.99376444]] t_gt: [-0.15844444 0.93226022 0.32524798] Pose Error in degrees for R and t: 7.38409340533813 18.97842762121979 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.42725802 -0.90411947 -0.00430952] [-0.90412233 -0.42723037 -0.00608419] [ 0.00365968 0.00649585 -0.9999722 ]] t_estimated: [[ 0.63768126] [ 0.77029603] [-0.00257697]] R_gt: [[ 0.98652133 0.11098619 0.12024154] [-0.09901911 0.98991446 -0.10131253] [-0.13027276 0.08804195 0.987561 ]] t_gt: [-0.2956314 0.95512963 0.01815134] Pose Error in degrees for R and t: 178.8284854554527 56.82711416593141 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999672e-01 -2.17344532e-04 7.80497052e-04] [ 2.17929490e-04 9.99999695e-01 -7.49461525e-04] [-7.80333923e-04 7.49631372e-04 9.99999415e-01]] t_estimated: [[0.68960859] [0.72418 ] [0.00181955]] R_gt: [[ 0.98667031 -0.05117489 0.15447592] [ 0.05260841 0.99860181 -0.00520107] [-0.15399366 0.01325867 0.98798224]] t_gt: [ 0.20326694 -0.31034573 0.92863775] Pose Error in degrees for R and t: 9.332052415892163 85.24576644477553 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.98214032e-01 -5.97333155e-02 -8.22436204e-04] [ 5.97334432e-02 9.98214355e-01 1.31616475e-04] [ 8.13105736e-04 -1.80508359e-04 9.99999653e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96406148 -0.05155367 0.26063142] [ 0.05751853 0.99822696 -0.01530591] [-0.2593803 0.02974645 0.96531665]] t_gt: [ 0.18382376 -0.16591825 0.96885497] Pose Error in degrees for R and t: 15.18358888340662 80.57471442686706 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99999895e-01 -3.34410958e-04 3.12659703e-04] [ 3.34519946e-04 9.99999883e-01 -3.48595518e-04] [-3.12543093e-04 3.48700072e-04 9.99999890e-01]] t_estimated: [[0.96018979] [0.27934619] [0.00112619]] R_gt: [[ 0.94471568 -0.09122578 0.31494549] [ 0.11695443 0.99108907 -0.06374495] [-0.30632429 0.0970543 0.94696594]] t_gt: [ 0.45671492 -0.27906479 0.84470961] Pose Error in degrees for R and t: 19.687318016632496 68.80589640557054 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.32509113e-01 3.61145862e-01 -6.48091349e-04] [-3.61144993e-01 9.32508953e-01 1.16037731e-03] [ 1.02341645e-03 -8.48007472e-04 9.99999117e-01]] t_estimated: [[0.59319872] [0.80505541] [0.00103345]] R_gt: [[ 0.9850276 -0.17020118 0.02741162] [ 0.17029955 0.98539156 -0.00126101] [-0.02679733 0.0059099 0.99962361]] t_gt: [ 0.73788587 -0.66821299 0.09495184] Pose Error in degrees for R and t: 31.016691693552414 84.25291748044698 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.33130888e-01 -9.91098426e-01 -2.78059448e-04] [-9.91082553e-01 -1.33130335e-01 5.62916826e-03] [-5.61607795e-03 -4.73836301e-04 -9.99984117e-01]] t_estimated: [[0.66790214] [0.74423381] [0.00477073]] R_gt: [[ 0.95007406 -0.31182679 -0.0111184 ] [ 0.31180824 0.94748107 0.07110652] [-0.01163923 -0.0710224 0.9974071 ]] t_gt: [ 0.77945646 -0.60527239 0.16153313] Pose Error in degrees for R and t: 176.61945353812806 85.93391091763995 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.94778517e-01 1.02056028e-01 5.19246600e-04] [-1.02055901e-01 9.94778630e-01 -2.64599753e-04] [-5.43539421e-04 2.10225970e-04 9.99999830e-01]] t_estimated: [[8.49630625e-01] [5.27377772e-01] [6.97478854e-04]] R_gt: [[ 0.92311457 -0.38442543 -0.00882395] [ 0.38451653 0.92301379 0.0139386 ] [ 0.00278587 -0.01625991 0.99986409]] t_gt: [ 0.81936484 -0.57189519 0.03971334] Pose Error in degrees for R and t: 28.486169311964165 66.76019574354291 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99267728e-01 3.82623256e-02 -3.65857711e-05] [-3.82623267e-02 9.99267729e-01 -3.08341487e-05] [ 3.53791942e-05 3.22114264e-05 9.99999999e-01]] t_estimated: [[-8.30297701e-01] [-5.57319686e-01] [-7.03572058e-04]] R_gt: [[ 0.99873875 0.04164531 0.02804055] [-0.04069495 0.9986058 -0.03361881] [-0.02940103 0.03243499 0.99904191]] t_gt: [-0.81160857 0.38650937 -0.43806624] Pose Error in degrees for R and t: 2.5144334897877547 62.69186838122202 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-4.58303854e-01 -8.88792114e-01 -2.48103425e-03] [ 8.88795456e-01 -4.58300548e-01 -1.80149138e-03] [ 4.64091975e-04 -3.03076241e-03 9.99995300e-01]] t_estimated: [[ 9.83548597e-01] [-1.80642867e-01] [ 5.57697280e-04]] R_gt: [[ 0.99069661 0.12744866 0.04771576] [-0.12190356 0.98695962 -0.10512335] [-0.06049176 0.09832769 0.99331446]] t_gt: [-0.78820004 0.38669138 -0.4787593 ] Pose Error in degrees for R and t: 124.57371760431273 32.290213731109866 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.93992777e-01 1.09445679e-01 -5.08431855e-05] [-1.09445685e-01 9.93992464e-01 -7.89176374e-04] [-3.58342006e-05 7.90000183e-04 9.99999687e-01]] t_estimated: [[-0.83478781] [-0.55056783] [-0.00209242]] R_gt: [[ 0.99805618 0.04348106 0.04465062] [-0.03808397 0.99260089 -0.11529705] [-0.0493336 0.11337166 0.99232708]] t_gt: [-0.44574089 0.35115848 -0.82340925] Pose Error in degrees for R and t: 8.082721779312637 79.60196493124913 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99946628e-01 -1.03314063e-02 6.01137557e-05] [ 1.03314134e-02 9.99946622e-01 -1.18860706e-04] [-5.88825487e-05 1.19475422e-04 9.99999991e-01]] t_estimated: [[ 9.92759097e-01] [ 1.20120654e-01] [-6.35513060e-04]] R_gt: [[ 0.98191557 -0.18769783 0.02474132] [ 0.185961 0.98072736 0.05993218] [-0.03551181 -0.05424764 0.99789579]] t_gt: [ 0.60802744 -0.72283402 0.32834983] Pose Error in degrees for R and t: 10.844270833009857 58.89628774443708 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999112e-01 -1.26120223e-03 4.30850215e-04] [ 1.26109729e-03 9.99999175e-01 2.43742655e-04] [-4.31157269e-04 -2.43199095e-04 9.99999877e-01]] t_estimated: [[9.78077950e-01] [2.08237862e-01] [7.18481440e-04]] R_gt: [[ 0.91135829 -0.41139435 0.0133956 ] [ 0.40883034 0.90849558 0.086567 ] [-0.04778263 -0.07341788 0.99615563]] t_gt: [ 0.75842837 -0.61349397 0.22002626] Pose Error in degrees for R and t: 24.693745735763134 52.10564292361972 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.99089655 0.13461617 0.00158771] [-0.1346118 0.99089501 -0.00259589] [-0.00192271 0.00235854 0.99999537]] t_estimated: [[-0.83168833] [-0.55523725] [-0.00247473]] R_gt: [[ 0.87137407 -0.49052174 -0.00976058] [ 0.48839822 0.86536529 0.11229286] [-0.04663458 -0.10261672 0.99362713]] t_gt: [ 0.79069295 -0.56925735 0.22527924] Pose Error in degrees for R and t: 37.706207257198294 69.9954534033172 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 1.28770823e-01 9.91674378e-01 -4.74184572e-05] [-9.91671735e-01 1.28770369e-01 -2.31547079e-03] [-2.29008696e-03 3.45188623e-04 9.99997318e-01]] t_estimated: [[0.0128524 ] [0.99991658] [0.00128524]] R_gt: [[ 0.98388363 -0.17641093 0.02919374] [ 0.17624031 0.9843119 0.0083337 ] [-0.03020603 -0.00305382 0.9995386 ]] t_gt: [ 0.69353136 -0.70041829 0.16860748] Pose Error in degrees for R and t: 92.77092050914138 46.27247754154051 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.96965483 -0.24445163 -0.00359352] [ 0.24444452 0.96966053 -0.00230776] [ 0.00404863 0.00135931 0.99999088]] t_estimated: [[ 0.99844421] [-0.05545342] [-0.0058368 ]] R_gt: [[ 0.95555674 -0.28904125 0.05800713] [ 0.29025603 0.95685322 -0.0135476 ] [-0.05158837 0.02978227 0.99822385]] t_gt: [ 0.72032685 -0.68629219 0.10065911] Pose Error in degrees for R and t: 4.490631021611817 40.8279778919764 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-7.37774567e-01 -6.75046988e-01 -5.00999486e-04] [-6.75045339e-01 7.37770627e-01 2.87963546e-03] [-1.57426654e-03 2.46271917e-03 -9.99995728e-01]] t_estimated: [[0.94023725] [0.34051622] [0.00161926]] R_gt: [[ 0.93829892 -0.3397929 0.06430366] [ 0.34226017 0.9390604 -0.03197608] [-0.04952042 0.05201145 0.99741771]] t_gt: [ 0.72842696 -0.68395399 0.04001379] Pose Error in degrees for R and t: 177.73580612222244 63.12397357286968 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.89913894e-01 -1.41667277e-01 -9.29743815e-04] [ 1.41667567e-01 9.89914257e-01 2.53631300e-04] [ 8.84435402e-04 -3.82787692e-04 9.99999536e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97778016 0.20953188 -0.00652841] [-0.20962019 0.97759434 -0.01920448] [ 0.00235798 0.02014657 0.99979508]] t_gt: [-0.70834889 0.70060288 -0.08600844] Pose Error in degrees for R and t: 20.276464084396476 45.07022767377009 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99472180e-01 3.24854379e-02 -2.40530320e-04] [-3.24854154e-02 9.99472205e-01 9.68327922e-05] [ 2.43549025e-04 -8.89679545e-05 9.99999966e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9619571 0.27194721 0.02615181] [-0.27207576 0.9622746 0.00144313] [-0.02477284 -0.00850288 0.99965787]] t_gt: [-0.69495039 0.71532899 0.07313271] Pose Error in degrees for R and t: 14.006646980714159 46.15799829521235 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99581296e-01 2.89349425e-02 5.13914567e-05] [-2.89349444e-02 9.99581296e-01 3.63525348e-05] [-5.03180804e-05 -3.78243228e-05 9.99999998e-01]] t_estimated: [[0.9287565 ] [0.3706879 ] [0.00135783]] R_gt: [[ 0.98206637 0.18386746 0.04170711] [-0.18394983 0.98293363 -0.00187094] [-0.04133986 -0.00583445 0.99912848]] t_gt: [-0.69828535 0.70276609 0.13607865] Pose Error in degrees for R and t: 9.257101051364128 67.17949997135929 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999704e-01 7.64008516e-04 -8.75967376e-05] [-7.63994398e-04 9.99999695e-01 1.61087077e-04] [ 8.77197828e-05 -1.61020106e-04 9.99999983e-01]] t_estimated: [[-9.12189238e-01] [ 4.09768562e-01] [ 7.20805755e-04]] R_gt: [[ 0.96997152 0.24317138 0.0047641 ] [-0.24303423 0.96981271 -0.01994319] [-0.00947079 0.01818603 0.9997891 ]] t_gt: [-0.60586436 0.79435573 -0.04390159] Pose Error in degrees for R and t: 14.077312207816776 28.582000905186277 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.21721562 0.97599914 -0.01559006] [-0.97603425 -0.21738417 -0.01006271] [-0.01321023 0.01303065 0.99982783]] t_estimated: [[0.0118475 ] [0.99992911] [0.00118475]] R_gt: [[ 0.91364284 0.40423832 -0.04298434] [-0.40522763 0.91405468 -0.01715076] [ 0.03235717 0.03308777 0.99892758]] t_gt: [-0.51640106 0.84661922 -0.12870837] Pose Error in degrees for R and t: 78.68236810631578 32.829386740241354 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 6.59370067e-01 -7.51818281e-01 -6.21806126e-04] [ 7.51818401e-01 6.59370221e-01 -5.79496614e-05] [ 4.53568057e-04 -4.29275015e-04 9.99999805e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.88852089 0.45639771 -0.04722591] [-0.45860532 0.88661657 -0.05992615] [ 0.01452073 0.0749036 0.99708419]] t_gt: [-0.47670491 0.86526325 -0.15515133] Pose Error in degrees for R and t: 76.12385150716621 30.38884480132996 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.41647002e-01 3.36601788e-01 4.00334713e-04] [-3.36601853e-01 9.41647058e-01 1.06630447e-04] [-3.41082006e-04 -2.35161647e-04 9.99999914e-01]] t_estimated: [[-0.009884 ] [ 0.9999504 ] [ 0.00122348]] R_gt: [[ 0.98374609 0.17024479 0.05710998] [-0.16914049 0.98530766 -0.02367778] [-0.06030184 0.01363429 0.99808608]] t_gt: [-0.73239253 0.63556552 0.24424914] Pose Error in degrees for R and t: 10.499182927995703 49.97874069207834 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.88985844e-01 1.48002464e-01 -1.50673253e-03] [-1.48002089e-01 9.88986984e-01 3.57702175e-04] [ 1.54307967e-03 -1.30762825e-04 9.99998801e-01]] t_estimated: [[-0.95862184] [-0.28466923] [-0.002757 ]] R_gt: [[ 0.97175814 0.22300275 0.07717128] [-0.22051052 0.97458249 -0.03954352] [-0.08402832 0.02141037 0.99623253]] t_gt: [-0.72883966 0.64433979 0.23155774] Pose Error in degrees for R and t: 6.657493123094851 59.027974786698266 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.76788468e-01 -2.14203078e-01 -1.15338229e-03] [ 2.14206160e-01 9.76776708e-01 4.79404963e-03] [ 9.96967713e-05 -4.92983399e-03 9.99987843e-01]] t_estimated: [[9.58105142e-01] [2.86415230e-01] [9.23920098e-04]] R_gt: [[ 0.97152063 0.19544267 0.13397111] [-0.19152162 0.98060282 -0.04167995] [-0.13951847 0.01483556 0.99010816]] t_gt: [-0.72628176 0.5630526 0.39431787] Pose Error in degrees for R and t: 24.935539759258084 57.70875888123265 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99751073e-01 -2.23103261e-02 -2.04990898e-04] [ 2.23103227e-02 9.99751094e-01 -1.88609043e-05] [ 2.05360667e-04 1.42827962e-05 9.99999979e-01]] t_estimated: [[-0.66246919] [-0.74908744] [-0.00160404]] R_gt: [[ 0.99835957 0.05723618 0.00123335] [-0.05721827 0.99830202 -0.01093861] [-0.001857 0.01085084 0.99994012]] t_gt: [-0.41088589 0.90880333 -0.07245204] Pose Error in degrees for R and t: 4.602447415049291 65.89201340025983 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999962e-01 -1.58884500e-04 -2.27271089e-04] [ 1.58885048e-04 9.99999987e-01 2.39073792e-06] [ 2.27270706e-04 -2.42684780e-06 9.99999974e-01]] t_estimated: [[-0.86891283] [-0.49496312] [-0.00141491]] R_gt: [[ 0.99656091 0.08261744 0.00640736] [-0.08230516 0.99584026 -0.03909406] [-0.00960948 0.03843257 0.99921538]] t_gt: [-0.40442553 0.90466331 -0.13425459] Pose Error in degrees for R and t: 5.257325321081092 84.48107740836546 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.98282334e-01 -5.85858526e-02 2.82811566e-04] [ 5.85859851e-02 9.98282248e-01 -4.85591705e-04] [-2.53876962e-04 5.01326415e-04 9.99999842e-01]] t_estimated: [[-0.47624688] [-0.87931076] [-0.00122424]] R_gt: [[ 9.99989092e-01 7.49689208e-04 -4.56755241e-03] [-8.67493769e-04 9.99655888e-01 -2.62321498e-02] [ 4.54633157e-03 2.62359838e-02 9.99645892e-01]] t_gt: [-0.38514918 0.78679459 -0.48230113] Pose Error in degrees for R and t: 3.720642836246059 59.48124341943269 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.99227067e-01 -3.93098597e-02 -5.79303235e-05] [ 3.93098734e-02 9.99227035e-01 2.59124648e-04] [ 4.76993918e-05 -2.61201596e-04 9.99999965e-01]] t_estimated: [[0.83661388] [0.547791 ] [0.00149592]] R_gt: [[ 0.99908554 0.02452578 0.03504018] [-0.02458595 0.99969797 0.00129662] [-0.0349987 -0.00215638 0.99938527]] t_gt: [-0.79167887 0.37249226 0.48424588] Pose Error in degrees for R and t: 4.1758950787674145 62.770408287224036 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 9.20016588e-01 -3.91879405e-01 -1.01171817e-04] [ 3.91879349e-01 9.20016241e-01 8.31570706e-04] [-2.32795719e-04 -8.04705989e-04 9.99999649e-01]] t_estimated: [[ 0.54678959] [-0.83726881] [ 0.00144522]] R_gt: [[ 9.96736343e-01 2.78853295e-03 8.06837520e-02] [-7.28781501e-04 9.99673832e-01 -2.55483940e-02] [-8.07291730e-02 2.54071819e-02 9.96412431e-01]] t_gt: [-0.7207507 0.44633638 0.53037936] Pose Error in degrees for R and t: 23.670932290759247 39.91153542122625 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[-0.10535175 0.994434 -0.00142253] [-0.99443404 -0.10535355 -0.00125421] [-0.00139709 0.00128247 0.9999982 ]] t_estimated: [[5.08643327e-01] [8.60977096e-01] [6.37082412e-04]] R_gt: [[ 9.94449798e-01 9.94060210e-05 1.05217852e-01] [ 7.34733826e-03 9.97493692e-01 -7.03813986e-02] [-1.04961797e-01 7.07648442e-02 9.91955754e-01]] t_gt: [-0.70196506 0.61525867 0.35875036] Pose Error in degrees for R and t: 96.45755133383541 80.043390076752 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99952753e-01 9.71972165e-03 1.34909112e-04] [-9.71972150e-03 9.99952762e-01 -1.79042180e-06] [-1.34920142e-04 4.79058209e-07 9.99999991e-01]] t_estimated: [[ 8.25125788e-01] [-5.64948526e-01] [-7.72251368e-04]] R_gt: [[ 0.99959673 -0.01830032 -0.02171469] [ 0.0179434 0.99970321 -0.01651975] [ 0.02200995 0.01612367 0.99962694]] t_gt: [-0.22220774 -0.67095128 -0.70742356] Pose Error in degrees for R and t: 2.238148604988473 78.68225072861874 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 7.47801047e-01 6.63922705e-01 4.84799313e-04] [-6.63922216e-01 7.47801132e-01 -8.70924114e-04] [-9.40759769e-04 3.29408930e-04 9.99999503e-01]] t_estimated: [[0.52973129] [0.8481648 ] [0.00110617]] R_gt: [[ 0.99329894 -0.10684888 -0.04404896] [ 0.10761133 0.99407598 0.01530846] [ 0.04215271 -0.01994706 0.99891141]] t_gt: [ 0.28476041 -0.93679464 -0.20329119] Pose Error in degrees for R and t: 47.83228234512194 49.91415602868776 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.45812453e-01 3.24712215e-01 8.83651354e-04] [-3.24711760e-01 9.45812818e-01 -6.21622372e-04] [-1.03761716e-03 3.01006194e-04 9.99999416e-01]] t_estimated: [[-0.69772738] [-0.7163603 ] [-0.00210311]] R_gt: [[ 0.97760532 -0.187917 -0.09473404] [ 0.19166297 0.98093845 0.03204509] [ 0.08690667 -0.04948476 0.99498634]] t_gt: [ 0.41174188 -0.88811176 -0.20426973] Pose Error in degrees for R and t: 30.461595374228825 69.55219032583014 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99727721e-01 -2.33251513e-02 -6.48302048e-04] [ 2.33255951e-02 9.99727686e-01 6.85630815e-04] [ 6.32133064e-04 -7.00566163e-04 9.99999555e-01]] t_estimated: [[-0.85359105] [ 0.52092229] [ 0.00472134]] R_gt: [[ 0.99746255 0.06989098 -0.01355488] [-0.06998008 0.99752881 -0.00623054] [ 0.01308582 0.00716171 0.99988848]] t_gt: [-0.41346683 0.89072892 -0.18880458] Pose Error in degrees for R and t: 5.4129321038058436 35.30960321621243 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.96153230e-01 -8.76245499e-02 -8.24771289e-04] [ 8.76246490e-02 9.96153559e-01 8.47345450e-05] [ 8.14174028e-04 -1.56678885e-04 9.99999656e-01]] t_estimated: [[-0.5829592 ] [-0.81249939] [-0.00182175]] R_gt: [[ 0.99281933 0.11960667 -0.00174048] [-0.11961282 0.99250659 -0.0249654 ] [-0.00125883 0.02499303 0.99968665]] t_gt: [-0.40679962 0.9088216 -0.09250607] Pose Error in degrees for R and t: 11.984401014684698 59.92713893856919 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.94398947e-01 -1.05690500e-01 -5.02339269e-04] [ 1.05690534e-01 9.94399069e-01 4.29028510e-05] [ 4.94991278e-04 -9.57550556e-05 9.99999873e-01]] t_estimated: [[-0.43211984] [-0.90181532] [-0.00125252]] R_gt: [[ 0.99536817 0.09584606 -0.00739087] [-0.09606531 0.99458404 -0.03968763] [ 0.00354694 0.04021271 0.99918421]] t_gt: [-0.3993506 0.89440436 -0.20139497] Pose Error in degrees for R and t: 11.803849426071405 50.67133174299192 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99905197e-01 1.37693987e-02 2.10585271e-05] [-1.37693985e-02 9.99905197e-01 -1.07708120e-05] [-2.12048383e-05 1.04798277e-05 1.00000000e+00]] t_estimated: [[0.55874925] [0.82933565] [0.00128564]] R_gt: [[ 0.99987971 0.00103501 0.01546907] [-0.00130798 0.99984263 0.0176734 ] [-0.01544751 -0.01769066 0.99972354]] t_gt: [ 0.76637652 -0.1747488 0.61816655] Pose Error in degrees for R and t: 1.5279933310225369 73.49603865779231 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-8.41058815e-01 -5.40943187e-01 -7.34146132e-04] [-5.40940834e-01 8.41049200e-01 4.38824470e-03] [-1.75633806e-03 4.08790151e-03 -9.99990102e-01]] t_estimated: [[0.98684715] [0.16165078] [0.00131727]] R_gt: [[ 0.99902681 0.0439407 0.00395834] [-0.04395479 0.99902665 0.00346075] [-0.003802 -0.00363039 0.99998562]] t_gt: [0.66776744 0.74399255 0.02370079] Pose Error in degrees for R and t: 179.70692422653892 38.80506310567254 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.90379954 -0.42795317 -0.00157667] [-0.42794768 0.90375262 0.00959072] [-0.00267946 0.00934283 -0.99995276]] t_estimated: [[9.55796985e-01] [2.94026200e-01] [8.47337752e-04]] R_gt: [[ 0.99817832 0.05673732 0.02052708] [-0.05693855 0.99833334 0.00938643] [-0.01995997 -0.01053763 0.99974467]] t_gt: [0.68007185 0.65365367 0.33202281] Pose Error in degrees for R and t: 178.7261025329862 32.59671682665858 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.96209739e-01 8.69802391e-02 7.70782809e-04] [-8.69821296e-02 9.96205630e-01 2.90710314e-03] [-5.14997648e-04 -2.96312879e-03 9.99995477e-01]] t_estimated: [[0.94570883] [0.32500416] [0.00266397]] R_gt: [[ 0.9953344 0.0961427 -0.0080856 ] [-0.09621709 0.99531745 -0.00932988] [ 0.00715097 0.01006369 0.99992352]] t_gt: [-0.78929144 0.60474036 -0.10633962] Pose Error in degrees for R and t: 1.0144953309800941 56.62063442532135 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 7.35522071e-01 -6.77500761e-01 3.31968786e-05] [ 6.77500755e-01 7.35522056e-01 -1.79850266e-04] [ 9.74316556e-05 1.54774750e-04 9.99999983e-01]] t_estimated: [[-0.32809753] [-0.94464333] [-0.00099123]] R_gt: [[ 0.95324602 0.30209821 -0.00763212] [-0.30214979 0.95323419 -0.00703809] [ 0.00514944 0.00901422 0.99994629]] t_gt: [-0.71188399 0.70164759 -0.03019677] Pose Error in degrees for R and t: 60.23693376752676 64.58260254141584 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.98412989 -0.17744457 -0.00133823] [ 0.177446 0.98413 0.00103438] [ 0.00113345 -0.00125543 0.99999857]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.91986883 0.39199712 0.01339705] [-0.39188888 0.91995859 -0.00999293] [-0.01624157 0.00394263 0.99986051]] t_gt: [-0.66542951 0.74618927 0.0201278 ] Pose Error in degrees for R and t: 33.314340932449305 48.463520865095965 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99982190e-01 -5.96621349e-03 -1.52140040e-04] [ 5.96620721e-03 9.99982201e-01 -4.17014558e-05] [ 1.52386132e-04 4.07930141e-05 9.99999988e-01]] t_estimated: [[-9.99991786e-01] [-3.97453015e-03] [-7.94906030e-04]] R_gt: [[ 0.97653956 0.21236584 -0.03565581] [-0.21201682 0.97717566 0.01332513] [ 0.03767232 -0.00545237 0.99927482]] t_gt: [-0.62598797 0.76905931 -0.12917759] Pose Error in degrees for R and t: 12.782535745300638 51.46234320223297 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.97414764 -0.22257968 -0.03866087] [ 0.22364905 0.9743249 0.02592462] [ 0.03189795 -0.03390087 0.99891604]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.948578 0.31319537 -0.04590708] [-0.31492999 0.94838726 -0.03715497] [ 0.03190095 0.04970273 0.99825404]] t_gt: [-0.54573144 0.81213995 -0.20641197] Pose Error in degrees for R and t: 31.500907022174175 83.34438244221995 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.51646189 0.85630315 0.00346937] [-0.85630897 0.51645012 0.00377118] [ 0.00143752 -0.00491853 0.99998687]] t_estimated: [[-0.18999225] [ 0.98178257] [ 0.00243439]] R_gt: [[ 0.93121977 0.35853135 -0.06546881] [-0.36169541 0.93120609 -0.04508444] [ 0.04480156 0.06566317 0.99683573]] t_gt: [-0.50905903 0.82595589 -0.24218954] Pose Error in degrees for R and t: 38.0585460553323 24.90098398059131 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99998824e-01 1.53187624e-03 7.90432150e-05] [-1.53187675e-03 9.99998827e-01 6.30516601e-06] [-7.90334635e-05 -6.42624305e-06 9.99999997e-01]] t_estimated: [[ 9.14175327e-01] [-4.05318465e-01] [ 6.42206047e-04]] R_gt: [[ 0.98912731 -0.13818644 0.05032105] [ 0.13789327 0.99040322 0.00927532] [-0.05111915 -0.00223539 0.99869001]] t_gt: [ 0.66274628 -0.71590111 0.21966559] Pose Error in degrees for R and t: 8.544144332679858 26.340204145588267 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-5.00891212e-02 9.98744731e-01 -2.05526231e-04] [-9.98743102e-01 -5.00894115e-02 -1.80769683e-03] [-1.81572237e-03 1.14721960e-04 9.99998345e-01]] t_estimated: [[0.38008153] [0.92495247] [0.00097903]] R_gt: [[ 0.95578765 -0.29062594 0.0447918 ] [ 0.28886817 0.95645422 0.0418371 ] [-0.05499972 -0.02704806 0.99811969]] t_gt: [ 0.75664656 -0.6313502 0.16994968] Pose Error in degrees for R and t: 109.76782623738717 72.7695816034762 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-3.91094269e-01 9.20340766e-01 4.25992534e-03] [ 9.20350444e-01 3.91092904e-01 1.18335615e-03] [-5.76935670e-04 4.38342799e-03 -9.99990226e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.91318869 -0.40710519 0.01874891] [ 0.40479551 0.91141281 0.07393735] [-0.04718774 -0.05992885 0.99708651]] t_gt: [ 0.8019466 -0.57549807 0.16026112] Pose Error in degrees for R and t: 179.64880705905364 55.22757296525275 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.2705807 0.96265977 -0.00849976] [ 0.9626606 0.27063693 0.00634227] [ 0.00840579 -0.00646629 -0.99994376]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98231539 -0.18704727 0.00840372] [ 0.18692874 0.98228457 0.01321126] [-0.01072563 -0.01140653 0.99987686]] t_gt: [ 0.72818251 -0.68041324 0.08238963] Pose Error in degrees for R and t: 179.4037970913018 47.485839200082424 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.87056986 -0.49203374 -0.003303 ] [ 0.49204062 -0.87057056 -0.00170937] [-0.00203443 -0.00311333 0.99999308]] t_estimated: [[9.98120678e-01] [6.12725327e-02] [8.88007721e-04]] R_gt: [[ 0.93049068 -0.36520811 0.02847247] [ 0.36453072 0.93081876 0.02635434] [-0.03612763 -0.01414391 0.99924676]] t_gt: [ 0.7813991 -0.61452427 0.10851436] Pose Error in degrees for R and t: 129.1285049529466 42.06600422355551 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-9.98179485e-01 -6.03132353e-02 -1.72886364e-04] [ 6.03134637e-02 -9.98177363e-01 -2.05889360e-03] [-4.83927212e-05 -2.06557272e-03 9.99997866e-01]] t_estimated: [[8.30939810e-01] [5.56361942e-01] [6.49046916e-04]] R_gt: [[ 0.87485052 -0.47931955 0.06993547] [ 0.47976685 0.87732338 0.01135026] [-0.06679629 0.02362275 0.99748708]] t_gt: [ 0.8106038 -0.57860705 0.09019624] Pose Error in degrees for R and t: 147.87244557724125 69.40826817461104 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99999541e-01 -9.58326896e-04 -8.29308382e-07] [ 9.58326791e-04 9.99999534e-01 -1.18232263e-04] [ 9.42613153e-07 1.18231414e-04 9.99999993e-01]] t_estimated: [[-0.99625768] [ 0.08641955] [-0.00151574]] R_gt: [[ 0.99392479 -0.10780239 0.02214486] [ 0.10759934 0.99414335 0.01014945] [-0.02310902 -0.00770581 0.99970207]] t_gt: [ 0.06065945 -0.94771316 0.31330529] Pose Error in degrees for R and t: 6.286504458074278 81.78961831666231 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999681e-01 7.99331504e-04 -4.34050941e-06] [-7.99324644e-04 9.99998701e-01 1.39998708e-03] [ 5.45955755e-06 -1.39998316e-03 9.99999020e-01]] t_estimated: [[-8.09328664e-01] [-5.87356006e-01] [ 1.90331422e-04]] R_gt: [[ 0.97150731 -0.23582903 0.02360666] [ 0.23631158 0.97146516 -0.02030941] [-0.01814389 0.0253098 0.9995143 ]] t_gt: [ 0.34003397 -0.93777077 -0.0704478 ] Pose Error in degrees for R and t: 13.8270935906112 74.00266482279784 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.99936891 0.03496705 0.00625195] [-0.03409146 0.99359947 -0.10769337] [-0.00997765 0.10741227 0.9941645 ]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.93341476 -0.35874464 0.00623396] [ 0.35874746 0.93285427 -0.03291398] [ 0.00599216 0.03295814 0.99943829]] t_gt: [ 0.44520071 -0.88314483 -0.14782266] Pose Error in degrees for R and t: 23.39311301473026 77.03131105715771 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.99932943 -0.00813198 -0.03570095] [ 0.00694689 -0.99942477 0.03319447] [-0.03595035 0.0329242 0.99881108]] t_estimated: [[0.76326587] [0.64606421] [0.0051226 ]] R_gt: [[ 0.99237549 -0.12242875 0.0142409 ] [ 0.12297113 0.99128962 -0.04715783] [-0.00834233 0.04854873 0.99878597]] t_gt: [ 0.8385946 -0.49193629 -0.23400382] Pose Error in degrees for R and t: 172.5587890858972 71.27359436905158 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 5.55769833e-01 8.31335693e-01 9.26721311e-04] [-8.31332385e-01 5.55770312e-01 -2.41345577e-03] [-2.52143612e-03 5.70912473e-04 9.99996658e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.97803351 -0.20431155 0.04134251] [ 0.20716007 0.97470773 -0.0838397 ] [-0.02316689 0.09056159 0.99562115]] t_gt: [ 0.84692051 -0.47951794 -0.22975682] Pose Error in degrees for R and t: 68.30987059249375 32.3011392342924 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.92381282e-01 1.23204551e-01 -1.73969347e-04] [-1.23204326e-01 9.92380846e-01 9.75335555e-04] [ 2.92809627e-04 -9.46470972e-04 9.99999509e-01]] t_estimated: [[-0.92374107] [-0.38301459] [-0.00150202]] R_gt: [[ 0.96913523 -0.21867055 0.11384841] [ 0.23365129 0.96201119 -0.14121404] [-0.07864346 0.16345625 0.98341134]] t_gt: [ 0.84665841 -0.44918535 -0.28531046] Pose Error in degrees for R and t: 22.795980810039055 52.43796400106126 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.33471793 0.94229396 0.00678293] [ 0.94231644 -0.334694 -0.00443374] [-0.00190768 0.00787572 -0.99996717]] t_estimated: [[-0.9989124 ] [-0.04634127] [-0.00514903]] R_gt: [[ 9.96973296e-01 7.61564365e-02 -1.56458549e-02] [-7.61546858e-02 9.97095892e-01 7.32593450e-04] [ 1.56561045e-02 4.61637704e-04 9.99877520e-01]] t_gt: [-0.46796878 0.88219515 -0.05231573] Pose Error in degrees for R and t: 179.90997983170848 64.73236237402438 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.97829440e-01 -6.58513400e-02 -9.61939028e-05] [ 6.58513531e-02 9.97829434e-01 1.39888702e-04] [ 8.67732491e-05 -1.45919564e-04 9.99999986e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99964615 0.01909928 -0.01848153] [-0.01915288 0.99981273 -0.00270813] [ 0.01842712 0.00306165 0.99982577]] t_gt: [ 0.26156682 0.92867799 -0.26294486] Pose Error in degrees for R and t: 4.987202675362421 74.67812688619662 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-5.62278925e-03 9.99983955e-01 6.88789893e-04] [-9.99982462e-01 -5.62149677e-03 -1.86422178e-03] [-1.86031984e-03 -6.99259939e-04 9.99998025e-01]] t_estimated: [[-0.02893531] [ 0.99958017] [ 0.00149146]] R_gt: [[ 0.99596263 -0.03624146 0.08212468] [ 0.04626056 0.99125524 -0.12358201] [-0.07692731 0.12688261 0.98893071]] t_gt: [ 0.19898948 0.77355111 -0.60168253] Pose Error in degrees for R and t: 92.99228457099136 39.95302908395332 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.98297619 -0.18370725 0.00307461] [ 0.18371308 0.98297838 -0.00173499] [-0.00270355 0.0022703 0.99999377]] t_estimated: [[0.73780518] [0.67501325] [0.0007849 ]] R_gt: [[ 0.9962564 -0.07610457 0.0410074 ] [ 0.07826292 0.99547617 -0.05387344] [-0.03672203 0.05688141 0.99770514]] t_gt: [ 0.78874998 0.03987091 -0.61341975] Pose Error in degrees for R and t: 7.176131194319513 52.52784913331567 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99992576e-01 -3.85336827e-03 1.46629938e-05] [ 3.85336683e-03 9.99992571e-01 9.66612616e-05] [-1.50353563e-05 -9.66040421e-05 9.99999995e-01]] t_estimated: [[ 5.09621476e-01] [-8.60398692e-01] [ 2.04775367e-04]] R_gt: [[ 0.98738756 -0.09132334 0.12933109] [ 0.11247856 0.97950795 -0.16707464] [-0.1114231 0.17951455 0.97742446]] t_gt: [ 0.35708778 0.39782139 -0.8451192 ] Pose Error in degrees for R and t: 13.460560212143193 80.76533137970948 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-9.49327949e-01 3.14286529e-01 -6.50271054e-04] [-3.14284624e-01 -9.49326511e-01 -2.08575892e-03] [-1.27284548e-03 -1.77569905e-03 9.99997613e-01]] t_estimated: [[0.50969476] [0.86035432] [0.00130357]] R_gt: [[ 0.96720008 -0.14186459 0.21070959] [ 0.18791866 0.95774009 -0.21776144] [-0.17091227 0.25021588 0.95298523]] t_gt: [ 0.50359528 0.17795339 -0.84541374] Pose Error in degrees for R and t: 171.4882063445247 65.87800915157932 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.97351997 0.22857758 0.00334142] [-0.22857113 0.97352472 -0.00220315] [-0.00375654 0.00138106 0.99999199]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.98983347 -0.14219607 -0.00328896] [ 0.14211055 0.98967091 -0.01885633] [ 0.00593782 0.01819744 0.99981671]] t_gt: [ 0.81963715 -0.5608916 -0.11659996] Pose Error in degrees for R and t: 21.412794681973796 59.52401937734083 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.70409785 -0.71009494 -0.00337576] [ 0.71009754 -0.70406594 -0.00725528] [ 0.00277518 -0.00750555 0.99996798]] t_estimated: [[0.93598883] [0.35201912] [0.00272883]] R_gt: [[ 9.69632413e-01 -2.44018463e-01 1.64252822e-02] [ 2.44570217e-01 9.67404710e-01 -6.56812925e-02] [ 1.38372222e-04 6.77041679e-02 9.97704640e-01]] t_gt: [ 0.85658904 -0.47920533 -0.19135691] Pose Error in degrees for R and t: 120.64057910809947 50.76177567069906 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.41157664e-01 3.37965216e-01 1.32864633e-03] [-3.37965772e-01 9.41158378e-01 2.12528424e-04] [-1.17863941e-03 -6.49059737e-04 9.99999095e-01]] t_estimated: [[0.3120172 ] [0.95007484] [0.00175291]] R_gt: [[ 0.94978367 -0.30778278 0.05640107] [ 0.31207947 0.94486255 -0.09919929] [-0.02275873 0.11181935 0.99346783]] t_gt: [ 0.86840826 -0.45504013 -0.1969913 ] Pose Error in degrees for R and t: 38.41118079797046 80.69388308565368 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 1.00000000e+00 -1.54741333e-06 8.28567258e-07] [ 1.54742062e-06 1.00000000e+00 -8.80621897e-06] [-8.28553632e-07 8.80622026e-06 1.00000000e+00]] t_estimated: [[0.78842838] [0.61512421] [0.00170305]] R_gt: [[ 0.99486842 -0.10115981 0.00210191] [ 0.10104192 0.99437929 0.0316441 ] [-0.00529188 -0.03126967 0.99949689]] t_gt: [ 0.14015515 -0.95229301 0.27109879] Pose Error in degrees for R and t: 6.08151097655007 61.65272739421238 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-5.61917510e-01 8.27192909e-01 -7.75994588e-04] [-8.27189635e-01 -5.61917574e-01 -2.43899361e-03] [-2.45356322e-03 -7.28618538e-04 9.99996725e-01]] t_estimated: [[0.33096831] [0.94364085] [0.00138398]] R_gt: [[ 0.96860261 -0.24857504 -0.00448644] [ 0.24839507 0.96834872 -0.02451408] [ 0.01043835 0.02262981 0.99968995]] t_gt: [ 0.44801423 -0.87320768 -0.19181139] Pose Error in degrees for R and t: 138.5812147337937 47.46959291632922 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999900e-01 4.96991327e-05 4.44973587e-04] [-4.94886493e-05 9.99999887e-01 -4.73023108e-04] [-4.44997046e-04 4.73001040e-04 9.99999789e-01]] t_estimated: [[0.96596129] [0.25868464] [0.00102653]] R_gt: [[ 0.9474202 -0.31814971 0.03432545] [ 0.31812096 0.94802933 0.00640127] [-0.03457774 0.00485498 0.99939045]] t_gt: [ 0.30456389 -0.95092633 0.05458898] Pose Error in degrees for R and t: 18.662669738398534 87.23366277222058 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99992262e-01 -3.93291647e-03 9.31920623e-05] [ 3.93291674e-03 9.99992266e-01 -2.79646078e-06] [-9.31803433e-05 3.16295576e-06 9.99999996e-01]] t_estimated: [[-9.86681328e-01] [-1.62664477e-01] [ 4.73572530e-04]] R_gt: [[ 0.99021028 0.13843244 -0.01787214] [-0.13868542 0.99024182 -0.01371505] [ 0.0157994 0.01606007 0.99974674]] t_gt: [-0.61101709 0.77133932 -0.17802746] Pose Error in degrees for R and t: 8.292255708064376 61.48913915651309 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99580870e-01 2.89483355e-02 -2.78874699e-04] [-2.89483610e-02 9.99580905e-01 -8.77763732e-05] [ 2.76216844e-04 9.58125490e-05 9.99999957e-01]] t_estimated: [[-0.99398903] [-0.10947046] [-0.0014264 ]] R_gt: [[ 0.97288219 0.22582738 -0.05002637] [-0.2250785 0.97413174 0.0202212 ] [ 0.05329944 -0.00841208 0.99854306]] t_gt: [-0.61727021 0.77150165 -0.15415149] Pose Error in degrees for R and t: 11.788054892061457 58.0402718610418 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99826464e-01 1.86263270e-02 -3.19953216e-04] [-1.86263571e-02 9.99826510e-01 -9.15406223e-05] [ 3.18192642e-04 9.74842995e-05 9.99999945e-01]] t_estimated: [[-9.89070304e-01] [-1.47441398e-01] [-9.83601296e-04]] R_gt: [[ 0.92778269 0.36959533 -0.05116387] [-0.36851972 0.92915513 0.02942465] [ 0.05841464 -0.00844425 0.99825725]] t_gt: [-0.56653675 0.8165229 -0.11102463] Pose Error in degrees for R and t: 20.88042204414893 63.891997042783736 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 0.98250927 -0.18620126 0.00215016] [-0.18618489 -0.98249492 -0.00623865] [ 0.00327417 0.00572921 -0.99997823]] t_estimated: [[8.29443374e-01] [5.58590364e-01] [7.03514312e-04]] R_gt: [[ 9.91548801e-01 -1.29733789e-01 -8.41452441e-04] [ 1.29666193e-01 9.91209076e-01 -2.62864181e-02] [ 4.24479990e-03 2.59553325e-02 9.99654575e-01]] t_gt: [ 0.97051432 -0.13979619 -0.1963644 ] Pose Error in degrees for R and t: 178.13917979296062 43.38456653146916 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99077514e-01 -4.29405775e-02 4.77110606e-04] [ 4.29408231e-02 9.99077484e-01 -5.16983469e-04] [-4.54470895e-04 5.36994081e-04 9.99999753e-01]] t_estimated: [[8.23637477e-01] [5.67116277e-01] [6.59437532e-04]] R_gt: [[ 0.95302171 -0.30279373 -0.00809682] [ 0.30243842 0.95270203 -0.0298184 ] [ 0.0167421 0.02596938 0.99952284]] t_gt: [ 0.9907271 -0.0969747 -0.09516151] Pose Error in degrees for R and t: 15.25864243385251 40.45274992119634 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.98883073 -0.14903246 0.00176281] [ 0.14902949 0.98883127 0.00170981] [-0.00199794 -0.001428 0.99999698]] t_estimated: [[8.26939092e-01] [5.62291087e-01] [6.87397416e-04]] R_gt: [[ 0.95128785 -0.30798501 -0.01409103] [ 0.30731682 0.95090203 -0.03662422] [ 0.02467878 0.03050905 0.99923005]] t_gt: [ 0.98769371 -0.09483588 -0.12436757] Pose Error in degrees for R and t: 9.65174300907787 40.23942803644539 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[-0.91568576 0.40183032 0.00720972] [-0.40187599 -0.91566957 -0.00670223] [ 0.00390857 -0.00903455 0.99995155]] t_estimated: [[0.66980312] [0.74253831] [0.00079929]] R_gt: [[ 9.89950515e-01 -1.35765903e-01 3.95626573e-02] [ 1.35657212e-01 9.90740886e-01 5.42040986e-03] [-3.99318379e-02 1.30161900e-06 9.99202213e-01]] t_gt: [ 0.67395619 -0.70772202 0.21192593] Pose Error in degrees for R and t: 164.10186868453678 85.76063658877932 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999888e-01 3.64033668e-04 -3.03015965e-04] [-3.63873019e-04 9.99999793e-01 5.30053729e-04] [ 3.03208859e-04 -5.29943410e-04 9.99999814e-01]] t_estimated: [[9.95833670e-01] [9.11847698e-02] [7.99866401e-04]] R_gt: [[ 0.95593237 -0.29304804 -0.01776909] [ 0.29339971 0.95572946 0.02231569] [ 0.01044256 -0.0265459 0.99959262]] t_gt: [ 0.77737 -0.62890847 0.01303868] Pose Error in degrees for R and t: 17.149722406972774 44.20951848507905 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.92755973 0.37365704 0.00365521] [-0.37357218 0.9274897 -0.01437644] [-0.00876203 0.01196952 0.99988997]] t_estimated: [[-9.99982376e-01] [-5.87731035e-03] [-8.39615765e-04]] R_gt: [[ 0.88102512 -0.47218791 -0.02887899] [ 0.47276921 0.88099874 0.01818514] [ 0.01685611 -0.02967504 0.99941702]] t_gt: [ 0.83514484 -0.55000731 0.00500661] Pose Error in degrees for R and t: 50.21906333453515 33.70540697117048 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 2.28907146e-01 -9.73444327e-01 2.76789084e-03] [-9.73447458e-01 -2.28909685e-01 -6.33932807e-04] [ 1.25069531e-03 -2.54928456e-03 -9.99995968e-01]] t_estimated: [[0.73689488] [0.67600686] [0.00080931]] R_gt: [[ 0.99595444 -0.08720587 -0.021687 ] [ 0.0873675 0.99615376 0.00661259] [ 0.02102709 -0.00848065 0.999743 ]] t_gt: [ 0.53418409 -0.82768834 -0.17198654] Pose Error in degrees for R and t: 179.64233347716538 80.44323587299343 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.90748828e-01 1.35706530e-01 -7.05355593e-04] [-1.35704794e-01 9.90747084e-01 2.10331637e-03] [ 9.84262763e-04 -1.98813809e-03 9.99997539e-01]] t_estimated: [[0.64652138] [0.76289522] [0.00099465]] R_gt: [[ 0.95309708 -0.30204265 0.01942999] [ 0.3020568 0.953287 0.00226763] [-0.01920632 0.00370788 0.99980898]] t_gt: [ 0.62852242 -0.77678265 0.0396014 ] Pose Error in degrees for R and t: 25.408872495500344 79.26824352554293 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.11485664 -0.99338106 -0.001425 ] [-0.99338116 0.11485447 0.00152148] [-0.00134774 0.00159032 -0.99999783]] t_estimated: [[7.57446154e-01] [6.52897249e-01] [7.11217046e-04]] R_gt: [[ 0.89938751 -0.43702597 0.01055776] [ 0.43682496 0.89938499 0.0170621 ] [-0.01695183 -0.01073369 0.99979957]] t_gt: [ 0.68004536 -0.73130257 0.05229587] Pose Error in degrees for R and t: 178.83040637635634 87.8411855572344 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.57598778e-01 -2.88105144e-01 8.43460780e-05] [ 2.88105154e-01 9.57598695e-01 -4.00012842e-04] [ 3.44760631e-05 4.07352348e-04 9.99999916e-01]] t_estimated: [[-0.32603242] [-0.9453576 ] [-0.00136415]] R_gt: [[ 0.9912788 0.13159871 -0.00693276] [-0.13147868 0.99119557 0.01564836] [ 0.00893119 -0.01459908 0.99985432]] t_gt: [-0.44081313 0.89732804 -0.02204926] Pose Error in degrees for R and t: 24.323922767135425 45.20708684213565 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 8.01035926e-01 -5.98614798e-01 -1.33027860e-03] [ 5.98615340e-01 8.01036625e-01 1.19722670e-05] [ 1.05843510e-03 -8.05915393e-04 9.99999115e-01]] t_estimated: [[0.55015715] [0.83505996] [0.00140346]] R_gt: [[ 9.69226287e-01 2.46172092e-01 -6.54286121e-04] [-2.46097937e-01 9.68860846e-01 -2.72899405e-02] [-6.08322905e-03 2.66123599e-02 9.99627948e-01]] t_gt: [-0.3579875 0.93214601 -0.05430262] Pose Error in degrees for R and t: 51.04581392783079 54.45288523723393 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.38348402e-01 3.45690340e-01 -6.82069174e-04] [-3.45690610e-01 9.38348494e-01 -3.24745989e-04] [ 5.27757031e-04 5.40509789e-04 9.99999715e-01]] t_estimated: [[0.43295036] [0.90141618] [0.00169121]] R_gt: [[ 0.92911096 0.36917785 -0.02149478] [-0.36968257 0.92574857 -0.07953547] [-0.00946254 0.08184422 0.99660024]] t_gt: [-0.27076766 0.95727142 -0.10156922] Pose Error in degrees for R and t: 4.929868639709975 41.79800446610384 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99568189e-01 2.93838558e-02 1.57997630e-04] [-2.93838236e-02 9.99568182e-01 -2.02501065e-04] [-1.63879666e-04 1.97771049e-04 9.99999967e-01]] t_estimated: [[5.89471750e-01] [8.07788668e-01] [7.24051858e-04]] R_gt: [[ 0.98709336 -0.15851993 0.02276967] [ 0.1583599 0.98734318 0.00869366] [-0.02385898 -0.00497541 0.99970254]] t_gt: [ 0.56908552 -0.80505476 0.16741717] Pose Error in degrees for R and t: 10.890506032694343 71.6553007218891 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.95007253e-01 9.98024901e-02 -1.73520568e-04] [-9.98024050e-02 9.95007177e-01 4.44413506e-04] [ 2.17007785e-04 -4.24876891e-04 9.99999886e-01]] t_estimated: [[0.48067764] [0.87689693] [0.00088699]] R_gt: [[ 0.96470127 -0.26332667 0.00347248] [ 0.26305801 0.96416773 0.03435094] [-0.01239313 -0.03222493 0.99940375]] t_gt: [ 0.60389089 -0.78844463 0.11692245] Pose Error in degrees for R and t: 21.08198262406986 66.35903486881179 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-8.22983078e-01 -5.68055461e-01 -3.44172216e-03] [ 5.68051195e-01 -8.22990263e-01 2.20600207e-03] [-4.08563535e-03 -1.39572018e-04 9.99991644e-01]] t_estimated: [[0.94426183] [0.3291922 ] [0.00144383]] R_gt: [[ 0.89060889 -0.45125035 0.0564803 ] [ 0.45053686 0.89239283 0.02550964] [-0.06191369 0.00272703 0.99807723]] t_gt: [ 0.67810184 -0.72474507 0.12215759] Pose Error in degrees for R and t: 118.58552527331783 66.30288711268379 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.85111817 0.49935519 0.1619946 ] [-0.50565145 -0.86273356 0.00272446] [ 0.14111865 -0.07959397 0.98678788]] t_estimated: [[0.60232681] [0.7982485 ] [0.0013238 ]] R_gt: [[ 9.92685332e-01 1.20642717e-01 -4.56508083e-03] [-1.20726038e-01 9.92207093e-01 -3.08296865e-02] [ 8.10438232e-04 3.11546533e-02 9.99513772e-01]] t_gt: [-0.40571876 0.90098713 -0.15367003] Pose Error in degrees for R and t: 142.96306612045933 61.66454839305745 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-1.45631945e-03 9.99998918e-01 -2.06530633e-04] [-9.99998834e-01 -1.45641414e-03 -4.59094922e-04] [-4.59395219e-04 2.05861804e-04 9.99999873e-01]] t_estimated: [[3.01310359e-04] [9.99999952e-01] [6.91513465e-05]] R_gt: [[ 0.96898289 0.24610157 -0.02249705] [-0.24709819 0.96625265 -0.07279053] [ 0.00382412 0.07609128 0.99709299]] t_gt: [-0.31265693 0.93347281 -0.17571043] Pose Error in degrees for R and t: 75.8912684587567 21.034190582862845 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 7.39077324e-01 -6.73619084e-01 -1.42775649e-03] [ 6.73619730e-01 7.39078114e-01 -3.80168066e-05] [ 1.08083242e-03 -9.33667582e-04 9.99998980e-01]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.93209276 0.36045711 -0.0356973 ] [-0.36204914 0.92409854 -0.12231819] [-0.01110185 0.12693678 0.99184835]] t_gt: [-0.26150883 0.95323915 -0.15148682] Pose Error in degrees for R and t: 63.993448566402094 17.99908477029144 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.85179705e-01 1.71524950e-01 3.74150783e-04] [-1.71524636e-01 9.85179544e-01 -7.51655465e-04] [-4.97533364e-04 6.76339632e-04 9.99999648e-01]] t_estimated: [[-9.37885275e-01] [-3.46944596e-01] [-8.10618216e-04]] R_gt: [[ 0.99739173 -0.0036889 0.07208502] [ 0.0110609 0.99470848 -0.10213515] [-0.07132715 0.10266628 0.99215535]] t_gt: [-0.23831304 0.54230641 -0.80567404] Pose Error in degrees for R and t: 12.52403497102026 87.93615494860602 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.93654038e-01 -1.12479554e-01 -5.42170820e-05] [ 1.12479557e-01 9.93654036e-01 7.02771003e-05] [ 4.59682855e-05 -7.59294379e-05 9.99999996e-01]] t_estimated: [[ 2.27441868e-01] [-9.73791625e-01] [-2.61786888e-04]] R_gt: [[ 0.9862794 -0.07100905 0.14902872] [ 0.09320557 0.9846329 -0.14768418] [-0.13625178 0.15954837 0.97774212]] t_gt: [ 0.39957869 -0.12078641 -0.9087065 ] Pose Error in degrees for R and t: 12.233947262802392 77.95149958253415 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99970609e-01 7.66691124e-03 1.60196641e-05] [-7.66686423e-03 9.99968632e-01 -1.98839312e-03] [-3.12639951e-05 1.98821186e-03 9.99998023e-01]] t_estimated: [[-0.29359549] [-0.95592257] [-0.0037053 ]] R_gt: [[ 0.98165934 -0.09664772 0.16432818] [ 0.12045782 0.98255201 -0.14170572] [-0.14776547 0.15890135 0.97617429]] t_gt: [ 0.67804731 -0.40238049 -0.61509494] Pose Error in degrees for R and t: 14.156285017433223 79.17253999069837 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.00000000e+00 1.31672451e-13 -3.14765575e-15] [-1.31727962e-13 1.00000000e+00 7.69783542e-17] [ 3.14787259e-15 -7.69783542e-17 1.00000000e+00]] t_estimated: [[-0.67658593] [-0.73636109] [-0.00195384]] R_gt: [[ 0.98788592 -0.15453879 -0.01413023] [ 0.15381575 0.98717381 -0.04275688] [ 0.02055664 0.04006563 0.99898529]] t_gt: [ 0.7496636 -0.62561876 -0.21588343] Pose Error in degrees for R and t: 9.240678097281483 87.35722736479455 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-9.20914183e-01 -3.89765390e-01 -9.68983548e-05] [-3.89765033e-01 9.20912941e-01 1.60411693e-03] [-5.35994311e-04 1.51502162e-03 -9.99998709e-01]] t_estimated: [[9.75207634e-01] [2.21289748e-01] [9.57964277e-04]] R_gt: [[ 0.96317628 -0.26775591 0.02446086] [ 0.26848755 0.96266871 -0.03438957] [-0.0143393 0.03969159 0.99910871]] t_gt: [ 0.77422753 -0.63208289 -0.03229461] Pose Error in degrees for R and t: 179.30021933114548 52.03876379925275 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-8.06781139e-01 5.90840967e-01 -3.33842574e-03] [-5.90843602e-01 -8.06786082e-01 -2.38097705e-04] [-2.83407330e-03 1.78039475e-03 9.99994399e-01]] t_estimated: [[8.01819867e-01] [5.97565368e-01] [7.29574749e-04]] R_gt: [[ 0.91553721 -0.4021373 0.00884972] [ 0.4022305 0.91521705 -0.02422584] [ 0.00164344 0.02573912 0.99966765]] t_gt: [ 0.81963093 -0.57165352 -0.03764817] Pose Error in degrees for R and t: 167.50073947829407 71.60486003374072 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.147847 0.98888837 -0.01552629] [ 0.98886234 -0.14753518 0.01961245] [ 0.01710385 -0.018253 -0.99968709]] t_estimated: [[ 0.53844127] [-0.84257447] [-0.01221712]] R_gt: [[ 0.99422563 0.10240326 -0.03208816] [-0.10205257 0.99470105 0.01240047] [ 0.03318688 -0.00905449 0.99940761]] t_gt: [-0.66090327 0.72021879 -0.21093072] Pose Error in degrees for R and t: 176.8777846347507 16.23591957535679 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.33475740e-01 3.58640519e-01 1.45037926e-04] [-3.58640433e-01 9.33475687e-01 -4.25975051e-04] [-2.88161291e-04 3.45620912e-04 9.99999899e-01]] t_estimated: [[-7.78138623e-01] [ 6.28092560e-01] [ 1.42474312e-04]] R_gt: [[ 0.97233193 0.23095383 -0.03506842] [-0.22924217 0.97224021 0.04685671] [ 0.0449162 -0.03752178 0.99828517]] t_gt: [-0.66015462 0.74984362 -0.0439367 ] Pose Error in degrees for R and t: 8.410733731198395 10.049704849637015 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.47414481e-01 -3.20008495e-01 -6.03262572e-04] [ 3.20008686e-01 9.47414576e-01 2.48405188e-04] [ 4.92047984e-04 -4.28391935e-04 9.99999787e-01]] t_estimated: [[-0.61423855] [-0.78911993] [-0.00086148]] R_gt: [[ 0.91947339 0.38990172 -0.05044838] [-0.38907404 0.92084739 0.0256997 ] [ 0.05647469 -0.00400185 0.99839513]] t_gt: [-0.56634791 0.81657511 -0.11160255] Pose Error in degrees for R and t: 41.72356865554952 72.75808362547758 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99999919e-01 -3.94727622e-04 7.62728150e-05] [ 3.94725304e-04 9.99999922e-01 3.04012276e-05] [-7.62848092e-05 -3.03711183e-05 9.99999997e-01]] t_estimated: [[0.84109414] [0.54088783] [0.00100149]] R_gt: [[ 0.99837627 -0.05611906 -0.00987834] [ 0.0562883 0.99825435 0.01790784] [ 0.008857 -0.01843464 0.99979128]] t_gt: [ 0.54886007 -0.83307404 0.06884959] Pose Error in degrees for R and t: 3.4066941913125266 89.3632970287588 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.96621886e-01 8.21267133e-02 1.37462771e-04] [-8.21266971e-02 9.96621890e-01 -1.20162542e-04] [-1.46866961e-04 1.08467256e-04 9.99999983e-01]] t_estimated: [[1.48581454e-01] [9.88900037e-01] [5.18475071e-04]] R_gt: [[ 0.98927533 -0.14575627 0.00943909] [ 0.14546041 0.98900273 0.02677061] [-0.01323695 -0.02510985 0.99959718]] t_gt: [ 0.94798744 -0.25777347 0.18674219] Pose Error in degrees for R and t: 13.185538615710673 83.45624022034102 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.92197638e-01 1.24673563e-01 -5.91064541e-04] [-1.24672832e-01 9.92197246e-01 1.14480215e-03] [ 7.29179172e-04 -1.06218030e-03 9.99999170e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.88854856e-01 -1.47377969e-01 2.11377718e-02] [ 1.47428610e-01 9.89072925e-01 -8.59197386e-04] [-2.07794828e-02 3.96611387e-03 9.99776653e-01]] t_gt: [ 0.98190272 -0.18897441 -0.0124785 ] Pose Error in degrees for R and t: 15.689420968131941 47.618502072919256 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 3.40076391e-01 9.40396761e-01 1.40720799e-03] [-9.40397777e-01 3.40075577e-01 7.89116603e-04] [ 2.63525629e-04 -1.59169519e-03 9.99998699e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94044692 -0.33992577 -0.00340181] [ 0.33984387 0.93988456 0.03353302] [-0.00820159 -0.03269161 0.99943211]] t_gt: [ 0.99099971 -0.09601349 0.09327908] Pose Error in degrees for R and t: 90.00846770952664 84.85170337644533 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-5.99359902e-02 9.98201912e-01 7.87395170e-04] [ 9.98200725e-01 5.99345151e-02 1.77965273e-03] [ 1.72926061e-03 8.92643678e-04 -9.99998106e-01]] t_estimated: [[-0.10176532] [-0.99480789] [-0.00103842]] R_gt: [[ 0.99842237 -0.03133906 -0.0465867 ] [ 0.02552695 0.99238613 -0.12049099] [ 0.05000806 0.11911205 0.99162124]] t_gt: [ 0.30289807 0.05675901 -0.95133126] Pose Error in degrees for R and t: 177.33850857870993 85.04916135778163 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.99630971 -0.08575803 0.00353934] [-0.08573593 0.99629993 0.00598353] [-0.00403938 0.00565801 -0.99997583]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99545669 -0.02239286 -0.09254407] [ 0.00825335 0.98858687 -0.15042954] [ 0.09485648 0.14898173 0.98428015]] t_gt: [ 0.24306517 0.19417087 -0.95037729] Pose Error in degrees for R and t: 174.46223504758254 75.94936646322631 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999799e-01 -1.59640075e-04 -6.13908914e-04] [ 1.60145176e-04 9.99999649e-01 8.22801785e-04] [ 6.13777347e-04 -8.22899934e-04 9.99999473e-01]] t_estimated: [[-5.35949602e-02] [ 9.98562742e-01] [ 1.73901111e-04]] R_gt: [[ 0.99212238 -0.01695792 -0.12411972] [-0.00464713 0.98513378 -0.17172865] [ 0.1251868 0.17095221 0.97729471]] t_gt: [ 0.22639983 0.2534517 -0.94048145] Pose Error in degrees for R and t: 12.255315417301876 76.06682929484306 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-3.37979163e-01 -9.41153566e-01 -2.25287640e-04] [-9.41153510e-01 3.37979023e-01 5.01161314e-04] [-3.95527262e-04 3.81412335e-04 -9.99999849e-01]] t_estimated: [[0.82414484] [0.56637787] [0.00118242]] R_gt: [[ 0.99738256 -0.01985627 -0.06953546] [ 0.02361502 0.99828018 0.05365771] [ 0.0683504 -0.05515942 0.99613587]] t_gt: [ 0.38065943 -0.74249381 -0.55118177] Pose Error in degrees for R and t: 178.56819265498692 83.83077883516687 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.97980896 -0.19992664 -0.00193371] [ 0.19992988 0.9798088 0.00165962] [ 0.00156286 -0.00201271 0.99999675]] t_estimated: [[-0.61807527] [-0.78611808] [-0.00115098]] R_gt: [[ 0.9891028 -0.12612824 -0.07595279] [ 0.12971444 0.99056198 0.04427408] [ 0.06965261 -0.05364346 0.99612823]] t_gt: [ 0.38647532 -0.87188724 -0.30074818] Pose Error in degrees for R and t: 6.433411218513365 63.45621128185268 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.92248156e-01 1.24271624e-01 3.99412492e-04] [-1.24271562e-01 9.92248229e-01 -1.76532709e-04] [-4.18254345e-04 1.25528640e-04 9.99999905e-01]] t_estimated: [[0.46596149] [0.88480328] [0.00174517]] R_gt: [[ 0.94847269 -0.28839223 -0.13126338] [ 0.29195172 0.95639696 0.00830706] [ 0.12314509 -0.0462017 0.99131341]] t_gt: [ 0.61637952 -0.72949246 -0.29650809] Pose Error in degrees for R and t: 25.231522766094912 68.9755898649086 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.93033690e-01 -1.17830754e-01 -6.43187403e-05] [ 1.17830762e-01 9.93033682e-01 1.31581242e-04] [ 4.83663586e-05 -1.38243332e-04 9.99999989e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99776728 -0.04614316 -0.04827113] [ 0.04943708 0.99636164 0.06941668] [ 0.04489208 -0.07164805 0.99641936]] t_gt: [ 0.36259946 -0.86332043 0.35099781] Pose Error in degrees for R and t: 6.294451794640645 88.02962795228879 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.31252665e-01 3.64373974e-01 -2.84116119e-04] [-3.64372175e-01 -9.31250027e-01 -2.51102492e-03] [-1.17953527e-03 -2.23487464e-03 9.99996807e-01]] t_estimated: [[0.4407572 ] [0.89762563] [0.0011508 ]] R_gt: [[ 0.98112528 -0.10809507 -0.16033362] [ 0.11760202 0.99174927 0.05101053] [ 0.15349713 -0.0689034 0.98574417]] t_gt: [ 0.59745782 -0.76755652 -0.23216619] Pose Error in degrees for R and t: 165.22264798838535 64.79161212379127 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.96892257e-01 7.87770752e-02 -1.66739753e-06] [-7.87770448e-02 9.96891891e-01 8.57271851e-04] [ 6.91955841e-05 -8.54476318e-04 9.99999633e-01]] t_estimated: [[0.49785137] [0.86726162] [0.00113665]] R_gt: [[ 0.97444046 -0.1542923 -0.16327689] [ 0.15967485 0.98696147 0.02029039] [ 0.15801755 -0.04584263 0.98637149]] t_gt: [ 0.61755065 -0.73191823 -0.2879703 ] Pose Error in degrees for R and t: 16.56322168216984 70.87419351917916 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.95645181e-01 9.32235764e-02 1.94308983e-04] [-9.32235683e-02 9.95645200e-01 -5.00025220e-05] [-1.98124220e-04 3.16705933e-05 9.99999980e-01]] t_estimated: [[0.47528172] [0.87983085] [0.00222784]] R_gt: [[ 9.99491343e-01 -3.18819194e-02 7.57310990e-04] [ 3.18913327e-02 9.99238723e-01 -2.24419835e-02] [-4.21633600e-05 2.24554215e-02 9.99748505e-01]] t_gt: [ 0.69569867 -0.60320123 -0.3900662 ] Pose Error in degrees for R and t: 7.2904354759058965 78.40858187362426 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 0.99999158 -0.00148841 0.00382296] [ 0.00153626 0.99992014 -0.01254442] [-0.00380398 0.01255019 0.99991401]] t_estimated: [[-0.64878941] [-0.76092585] [-0.00800975]] R_gt: [[ 9.99957862e-01 -9.17030614e-03 -5.26085484e-04] [ 9.16672150e-03 9.99933378e-01 -7.06347501e-03] [ 5.90605117e-04 7.05865170e-03 9.99974821e-01]] t_gt: [ 0.94876532 -0.20978255 -0.23629568] Pose Error in degrees for R and t: 0.594152934462143 62.99763616162471 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-4.55120981e-03 9.99979079e-01 4.59662700e-03] [ 9.99989546e-01 4.55318874e-03 -4.20144105e-04] [-4.41064625e-04 4.59466678e-03 -9.99989347e-01]] t_estimated: [[0.7181799 ] [0.69585705] [0.00076975]] R_gt: [[ 0.99733631 0.07242004 -0.00878834] [-0.07227846 0.99726323 0.01554046] [ 0.00988974 -0.01486384 0.99984136]] t_gt: [0.16764558 0.98508645 0.03872527] Pose Error in degrees for R and t: 179.2057326953167 36.301880879639015 Number of keypoints: Image1: 648 Image2: 648 R_estimated: [[ 9.99850999e-01 -1.72620698e-02 9.90959070e-06] [ 1.72620687e-02 9.99850995e-01 9.56331827e-05] [-1.15589408e-05 -9.54478732e-05 9.99999995e-01]] t_estimated: [[0.25585505] [0.96671415] [0.00139837]] R_gt: [[ 0.99984435 0.00332647 0.01735742] [-0.00348334 0.9999542 0.00895291] [-0.017327 -0.00901296 0.99980877]] t_gt: [-0.25344871 0.07149674 0.96470305] Pose Error in degrees for R and t: 1.6268164209993083 89.6780080344568 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[-9.94606223e-01 1.03711489e-01 -1.54561385e-03] [-1.03711431e-01 -9.94607423e-01 -1.17691701e-04] [-1.54948499e-03 4.32409268e-05 9.99998799e-01]] t_estimated: [[8.38993234e-01] [5.44141461e-01] [6.50886915e-04]] R_gt: [[ 0.99982105 -0.01860871 0.00337913] [ 0.0185727 0.99977556 0.01017778] [-0.00356767 -0.01011307 0.99994213]] t_gt: [ 0.45712991 -0.77056896 0.4441348 ] Pose Error in degrees for R and t: 175.11288796199761 87.96668787580714 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-9.97941632e-01 -6.41218735e-02 9.40286522e-04] [-6.41226784e-02 9.97941659e-01 -8.52508302e-04] [-8.83686662e-04 -9.11047217e-04 -9.99999195e-01]] t_estimated: [[0.99920533] [0.03980898] [0.00199045]] R_gt: [[ 0.99224971 -0.11810146 -0.03865149] [ 0.11910995 0.99256767 0.02493762] [ 0.03541864 -0.02934797 0.9989415 ]] t_gt: [ 0.64492679 -0.76054292 -0.07512588] Pose Error in degrees for R and t: 177.97441945453588 52.12155374929362 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.74687509e-01 2.23571397e-01 3.01592067e-04] [-2.23571350e-01 9.74687549e-01 -1.82867000e-04] [-3.34841863e-04 1.10810835e-04 9.99999938e-01]] t_estimated: [[0.67671106] [0.73624822] [0.00083855]] R_gt: [[ 0.99549372 -0.08650212 0.03886584] [ 0.08710134 0.99610221 -0.01398916] [-0.03750354 0.01731185 0.99914622]] t_gt: [ 0.71890211 -0.68293679 0.12952642] Pose Error in degrees for R and t: 18.052506736688198 89.07100190553237 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 2.31222517e-01 9.72900313e-01 1.06216049e-03] [-9.72898751e-01 2.31224161e-01 -1.84587864e-03] [-2.04145307e-03 -6.06565904e-04 9.99997732e-01]] t_estimated: [[0.01322193] [0.9999113 ] [0.00160484]] R_gt: [[ 0.99189506 -0.11800127 0.04712835] [ 0.11940684 0.99244483 -0.02821993] [-0.04344257 0.03361889 0.99849017]] t_gt: [ 0.72446064 -0.68840776 0.03537716] Pose Error in degrees for R and t: 83.49701915789709 47.25699040478344 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[-9.35301401e-01 3.53530997e-01 1.50706150e-02] [ 3.53563643e-01 9.35410322e-01 -5.29057091e-04] [-1.42842469e-02 4.83359368e-03 -9.99886292e-01]] t_estimated: [[ 0.99916199] [-0.04052035] [ 0.00578113]] R_gt: [[ 0.99094125 -0.12370345 0.05228876] [ 0.12512546 0.99183019 -0.0248519 ] [-0.04878721 0.03116975 0.9983225 ]] t_gt: [ 0.76861008 -0.63818094 0.04431284] Pose Error in degrees for R and t: 175.99421077387916 37.43141558229519 Number of keypoints: Image1: 378 Image2: 378 R_estimated: [[ 9.99780066e-01 2.09718432e-02 2.55478063e-05] [-2.09718413e-02 9.99780064e-01 -7.19748088e-05] [-2.70516319e-05 7.14231946e-05 9.99999997e-01]] t_estimated: [[ 0.83247478] [-0.55405951] [ 0.00195178]] R_gt: [[ 0.99995347 -0.00341545 -0.00903906] [ 0.00337704 0.99998566 -0.00429439] [ 0.00905302 0.00426429 0.999949 ]] t_gt: [ 0.2875416 -0.19149746 -0.93842877] Pose Error in degrees for R and t: 1.5094780921174433 69.9011704603296 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 8.82604072e-01 -4.70115450e-01 -1.23101834e-03] [ 4.70116406e-01 8.82604188e-01 6.41392367e-04] [ 7.84973484e-04 -1.14481743e-03 9.99999037e-01]] t_estimated: [[0.99989446] [0.01449122] [0.00103509]] R_gt: [[ 0.9960273 -0.06633683 -0.05941219] [ 0.06747867 0.99756937 0.01741683] [ 0.05811247 -0.02135584 0.99808114]] t_gt: [ 0.61747168 -0.67873942 -0.39754435] Pose Error in degrees for R and t: 24.446235678646147 52.615618921898935 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.56423941e-01 -2.91974026e-01 2.10093146e-03] [ 2.91976492e-01 9.56424997e-01 -9.76174727e-04] [-1.72436570e-03 1.54705948e-03 9.99997317e-01]] t_estimated: [[9.74573041e-01] [2.24068503e-01] [8.32968411e-04]] R_gt: [[ 0.97468838 -0.20207936 -0.09564623] [ 0.20481445 0.9786048 0.01959106] [ 0.08963951 -0.03868454 0.99522176]] t_gt: [ 0.69079337 -0.6895322 -0.21760024] Pose Error in degrees for R and t: 7.742958400706533 58.76530348801701 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99604752e-01 -2.81128920e-02 6.65360466e-05] [ 2.81128880e-02 9.99604753e-01 6.02836036e-05] [-6.82044949e-05 -5.83892562e-05 9.99999996e-01]] t_estimated: [[5.21837077e-01] [8.53045004e-01] [5.33875288e-04]] R_gt: [[ 9.95259352e-01 -5.96902734e-02 -7.67890258e-02] [ 5.98146936e-02 9.98208834e-01 -6.80113602e-04] [ 7.66925459e-02 -3.91556563e-03 9.97047162e-01]] t_gt: [ 0.5745651 -0.63678806 -0.51417499] Pose Error in degrees for R and t: 4.768678506226488 75.89769647429506 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-4.47451708e-01 8.94308088e-01 -1.12224935e-04] [-8.94306625e-01 -4.47451197e-01 -1.75680504e-03] [-1.62134013e-03 -6.85721913e-04 9.99998451e-01]] t_estimated: [[0.30333202] [0.95288444] [0.00096077]] R_gt: [[ 0.98550255 -0.15380467 -0.0716179 ] [ 0.15021913 0.98722773 -0.05305796] [ 0.07886353 0.04153086 0.99601936]] t_gt: [ 0.6698037 -0.56679525 -0.47969381] Pose Error in degrees for R and t: 125.40234371308769 70.28277118774908 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.01724591 0.99980959 0.00913002] [ 0.9998307 0.01730342 -0.00625768] [-0.00641447 0.00902056 -0.99993874]] t_estimated: [[0.7020174 ] [0.7121589 ] [0.00112683]] R_gt: [[ 0.97395117 -0.21965215 0.05634016] [ 0.22287778 0.97304103 -0.05929675] [-0.04179604 0.07030897 0.99664896]] t_gt: [ 0.72905026 -0.66749291 -0.15145605] Pose Error in degrees for R and t: 174.72510368838232 87.92118081719488 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[ 9.99206826e-01 3.98206097e-02 1.94160141e-04] [-3.98205537e-02 9.99206807e-01 -2.84181056e-04] [-2.05322397e-04 2.76224087e-04 9.99999941e-01]] t_estimated: [[0.89216964] [0.45169885] [0.00121675]] R_gt: [[ 0.99737129 -0.05976292 -0.04097627] [ 0.05997437 0.9981918 0.00393992] [ 0.04066633 -0.00638758 0.99915243]] t_gt: [ 0.59136903 -0.69960178 -0.40104864] Pose Error in degrees for R and t: 6.188454838519396 77.81293074369653 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99400259e-01 3.46074606e-02 -1.20210684e-03] [-3.46068355e-02 9.99400860e-01 5.36896056e-04] [ 1.21996722e-03 -4.94972944e-04 9.99999133e-01]] t_estimated: [[-0.98319679] [-0.1825036 ] [-0.00406308]] R_gt: [[ 0.9915816 -0.0937248 -0.08933727] [ 0.09972396 0.99287434 0.06522877] [ 0.08258702 -0.07358895 0.99386362]] t_gt: [ 0.50398602 -0.83959799 -0.20266552] Pose Error in degrees for R and t: 9.81711528475291 70.03388579917079 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999557e-01 -9.40836011e-04 -3.16276915e-05] [ 9.40831245e-04 9.99999546e-01 -1.50382777e-04] [ 3.17691627e-05 1.50352954e-04 9.99999988e-01]] t_estimated: [[9.93938598e-01] [1.09932880e-01] [9.08536196e-04]] R_gt: [[ 0.96472745 -0.23756954 -0.11341109] [ 0.23844372 0.97113807 -0.00599024] [ 0.11155994 -0.02126276 0.99353064]] t_gt: [ 0.59959895 -0.67766724 -0.42573256] Pose Error in degrees for R and t: 15.220203408978339 58.59528755350627 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.97254171e-01 -7.40547326e-02 1.26450527e-04] [ 7.40547053e-02 9.97254159e-01 2.08359781e-04] [-1.41533342e-04 -1.98423404e-04 9.99999970e-01]] t_estimated: [[0.37623875] [0.92652219] [0.00101297]] R_gt: [[ 9.99199005e-01 -2.05374092e-03 -3.99541356e-02] [-9.71004101e-04 9.97144343e-01 -7.55142155e-02] [ 3.99951548e-02 7.54927823e-02 9.96343963e-01]] t_gt: [ 0.15141129 0.2902199 -0.94490583] Pose Error in degrees for R and t: 6.474467470647889 71.04019154726917 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-0.27406175 0.96152499 -0.01896997] [ 0.96150993 0.27435526 0.01509457] [ 0.01971832 -0.01410297 -0.9997061 ]] t_estimated: [[ 0.8480389 ] [-0.52978759] [-0.01245493]] R_gt: [[ 0.99607253 0.02065444 -0.08609327] [-0.02784568 0.99614557 -0.08318166] [ 0.08404344 0.08525276 0.99280907]] t_gt: [ 0.0738784 0.40480983 -0.91141153] Pose Error in degrees for R and t: 177.62813936737683 81.92554052707716 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 5.28370149e-01 -8.49013540e-01 -9.97935612e-04] [ 8.49014123e-01 5.28369879e-01 5.38637204e-04] [ 6.99688390e-05 -1.13186125e-03 9.99999357e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99142385 0.03714313 -0.1252916 ] [-0.05154892 0.99216883 -0.11376999] [ 0.12008462 0.119253 0.98557513]] t_gt: [ 0.05025291 0.44955356 -0.89183869] Pose Error in degrees for R and t: 61.370692579902766 87.07921316433736 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.99743477 0.02538367 0.06692944] [-0.02086334 0.99750833 -0.06739329] [-0.06847336 0.06582404 0.99547908]] t_estimated: [[0.96544519] [0.26060269] [0.00135027]] R_gt: [[ 0.9919718 -0.1154031 -0.051717 ] [ 0.11817808 0.99150863 0.05426007] [ 0.04501517 -0.05993666 0.99718615]] t_gt: [ 0.74946433 -0.63985525 0.1699661 ] Pose Error in degrees for R and t: 12.630301175951526 56.148091794814256 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 1.00000000e+00 3.44169138e-15 1.09910995e-17] [-3.49720253e-15 1.00000000e+00 -4.64146950e-16] [ 7.10437026e-16 1.37773636e-15 1.00000000e+00]] t_estimated: [[7.14983508e-01] [6.99141312e-01] [1.01096012e-04]] R_gt: [[ 0.99407661 -0.10785042 -0.01343377] [ 0.10862132 0.9900957 0.08894691] [ 0.00370684 -0.0898798 0.99594557]] t_gt: [ 0.6340489 -0.62676426 0.45293327] Pose Error in degrees for R and t: 8.085640112999062 89.1300154181368 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99998935e-01 -1.45922878e-03 -1.56871825e-06] [ 1.45922918e-03 9.99998892e-01 2.95550534e-04] [ 1.13744067e-06 -2.95552508e-04 9.99999956e-01]] t_estimated: [[3.95950564e-03] [9.99992149e-01] [1.57436553e-04]] R_gt: [[ 0.99811756 -0.05272384 0.03131113] [ 0.04763295 0.98819799 0.14558776] [-0.03861788 -0.1438226 0.98884983]] t_gt: [ 0.34657784 -0.48524699 0.80275723] Pose Error in degrees for R and t: 8.996631880460074 61.06975080648037 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99172634e-01 4.06691620e-02 2.59795740e-04] [-4.06690473e-02 9.99172578e-01 -4.32616979e-04] [-2.77174950e-04 4.21693401e-04 9.99999873e-01]] t_estimated: [[-9.83947174e-01] [-1.78458405e-01] [-7.46244139e-04]] R_gt: [[ 9.89297361e-01 1.45904547e-01 -8.56751611e-04] [-1.45634166e-01 9.87789968e-01 5.53204411e-02] [ 8.91728856e-03 -5.46035141e-02 9.98468567e-01]] t_gt: [-0.75126955 0.60526165 0.26315851] Pose Error in degrees for R and t: 6.8492077990861695 50.87612395194362 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-4.85765704e-02 9.98819458e-01 -8.23740678e-05] [-9.98817706e-01 -4.85766395e-02 -1.87088786e-03] [-1.87268065e-03 -8.60463843e-06 9.99998246e-01]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.96919186 0.24611906 0.00955338] [-0.24627326 0.96770876 0.05373644] [ 0.00398133 -0.05443348 0.9985095 ]] t_gt: [-0.72255426 0.67165646 0.16368549] Pose Error in degrees for R and t: 78.57640625817915 48.198990859952715 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.99967903 0.02522503 0.00235389] [ 0.02522069 -0.99968018 0.00185752] [ 0.0024 -0.00179756 -0.9999955 ]] t_estimated: [[0.71159107] [0.70259309] [0.00104317]] R_gt: [[ 0.89080255 0.4531477 0.03355727] [-0.45390705 0.8908272 0.01983571] [-0.02090574 -0.03290148 0.99924001]] t_gt: [-0.64190755 0.76289487 0.07711102] Pose Error in degrees for R and t: 178.33299582202204 85.45112738343485 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 5.33251873e-01 -8.45956425e-01 4.08112468e-04] [-8.45954706e-01 -5.33251666e-01 -1.81579057e-03] [ 1.75370635e-03 6.23029058e-04 -9.99998268e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98263322 -0.18541769 -0.00721941] [ 0.18518418 0.98237949 -0.02523681] [ 0.01177026 0.02346126 0.99965506]] t_gt: [ 0.97757393 -0.1612872 -0.1354092 ] Pose Error in degrees for R and t: 178.42231764268934 50.49749062016027 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.93033068 0.36663865 0.00780584] [ 0.36659716 0.93035871 -0.00626048] [-0.00955756 -0.00296272 -0.99994994]] t_estimated: [[ 0.93577761] [-0.35248143] [ 0.00878131]] R_gt: [[ 0.97595788 -0.21693173 -0.02116928] [ 0.21630677 0.97591391 -0.02835625] [ 0.02681011 0.02309512 0.99937422]] t_gt: [ 0.97792501 -0.1554378 -0.13964876] Pose Error in degrees for R and t: 179.39426415039662 14.376989626097025 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.98873499e-01 4.74374519e-02 1.19217180e-03] [ 4.74438641e-02 -9.98855300e-01 -6.09669457e-03] [ 9.01595467e-04 6.14638787e-03 -9.99980704e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.95154351 -0.30653391 0.02454355] [ 0.30724485 0.95101899 -0.03411852] [-0.01288406 0.04000599 0.99911632]] t_gt: [ 0.98889633 -0.08271905 -0.12345692] Pose Error in degrees for R and t: 177.46874964554775 38.368137914990534 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99998828e-01 -1.53131839e-03 -2.52159389e-06] [ 1.53131840e-03 9.99998828e-01 1.29999620e-06] [ 2.51960022e-06 -1.30385603e-06 1.00000000e+00]] t_estimated: [[-5.37696838e-02] [ 9.98553360e-01] [-9.31264844e-05]] R_gt: [[ 0.99910365 0.0072969 -0.04171122] [-0.00957009 0.99846513 -0.05455019] [ 0.04124895 0.05490108 0.997639 ]] t_gt: [ 0.0472491 0.31763014 -0.94703676] Pose Error in degrees for R and t: 3.9787619855879455 71.65619329136267 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99872833e-01 1.59471045e-02 -8.45421864e-05] [-1.59470934e-02 9.99872829e-01 1.29542999e-04] [ 8.65972708e-05 -1.28178323e-04 9.99999988e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99992397 0.01194442 -0.00306276] [-0.01202416 0.99955033 -0.02749799] [ 0.00273232 0.02753249 0.9996166 ]] t_gt: [-0.29400769 0.53351397 -0.79304623] Pose Error in degrees for R and t: 1.6081693056399577 72.96435110890059 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.72747852e-01 2.31865480e-01 -1.23295096e-04] [-2.31865512e-01 9.72747761e-01 -4.22590824e-04] [ 2.19508040e-05 4.39662197e-04 9.99999903e-01]] t_estimated: [[-0.45056324] [-0.8927439 ] [-0.00104782]] R_gt: [[ 0.99403709 -0.04727438 0.09826286] [ 0.03126455 0.98686353 0.15850533] [-0.10446586 -0.15448807 0.98245565]] t_gt: [ 0.0930594 -0.31757101 0.94365704] Pose Error in degrees for R and t: 19.00216856525008 76.07853725451616 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 5.35027930e-01 -8.44832403e-01 -1.82340515e-03] [ 8.44833775e-01 5.35028870e-01 -3.30393634e-05] [ 1.00348712e-03 -1.52279728e-03 9.99998337e-01]] t_estimated: [[9.89099442e-01] [1.47247072e-01] [7.70927078e-04]] R_gt: [[ 0.98754338 -0.15730848 0.00346769] [ 0.15732094 0.98753927 -0.00420222] [-0.00276272 0.00469631 0.99998552]] t_gt: [ 0.78088862 -0.62464573 -0.00553843] Pose Error in degrees for R and t: 48.60463379741755 47.1254847909346 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.60502672 -0.79620009 -0.00284247] [ 0.79617769 0.60497233 0.01046706] [-0.00661426 -0.00859596 0.99994118]] t_estimated: [[0.98969419] [0.14316331] [0.00311225]] R_gt: [[ 0.96204443 -0.27287347 0.00324759] [ 0.27283915 0.96155785 -0.0310877 ] [ 0.00536067 0.03079429 0.99951167]] t_gt: [ 0.83903367 -0.53612681 -0.09268523] Pose Error in degrees for R and t: 37.00876389350572 41.11906636989207 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-4.87245087e-01 -8.73264745e-01 9.53964166e-04] [-8.73265162e-01 4.87245272e-01 -4.37720808e-05] [-4.26589915e-04 -8.54391403e-04 -9.99999544e-01]] t_estimated: [[0.95694562] [0.29025839] [0.00226764]] R_gt: [[ 0.92720022 -0.37380764 0.02383657] [ 0.3745347 0.92441785 -0.07193785] [ 0.00485672 0.07562868 0.99712454]] t_gt: [ 0.87638148 -0.45907345 -0.14562644] Pose Error in degrees for R and t: 178.33489572837604 45.164858909568984 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 6.49973963e-01 -7.59956356e-01 4.28982008e-04] [ 7.59956034e-01 6.49974090e-01 7.13676093e-04] [-8.21189873e-04 -1.37863413e-04 9.99999653e-01]] t_estimated: [[9.94687813e-01] [1.02932868e-01] [9.89739117e-04]] R_gt: [[ 0.99816888 0.02997508 0.05254807] [-0.03195443 0.99879511 0.03723952] [-0.05136834 -0.03885026 0.99792344]] t_gt: [-0.26645158 -0.04341314 0.96287011] Pose Error in degrees for R and t: 51.35704129039667 74.42189211143665 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.93981353e-01 -1.09548941e-01 -3.16123491e-04] [ 1.09549073e-01 9.93981292e-01 4.36795239e-04] [ 2.66370381e-04 -4.68797358e-04 9.99999855e-01]] t_estimated: [[-0.89793838] [-0.4401196 ] [-0.00117995]] R_gt: [[ 0.9943491 0.07151281 0.07846388] [-0.07835986 0.99303577 0.08796771] [-0.07162683 -0.09361868 0.99302735]] t_gt: [-0.28236009 0.03966452 0.95848814] Pose Error in degrees for R and t: 12.56881847455343 76.41109665881005 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 0.9816021 -0.19087454 -0.00492221] [ 0.1909006 0.98159388 0.00551529] [ 0.00377888 -0.00635347 0.99997268]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.98802333 0.09821745 0.1190118 ] [-0.11790452 0.9780779 0.17164316] [-0.09954496 -0.18361921 0.97794399]] t_gt: [-0.27980838 0.06667585 0.95773775] Pose Error in degrees for R and t: 20.954105106108834 87.4615903245575 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999975e-01 2.13777028e-04 -6.68162499e-05] [-2.13776883e-04 9.99999977e-01 2.18008685e-06] [ 6.68167144e-05 -2.16580302e-06 9.99999998e-01]] t_estimated: [[ 4.49614189e-01] [ 8.93222766e-01] [-4.13548666e-04]] R_gt: [[ 9.93926712e-01 1.10049270e-01 -4.42207960e-04] [-1.10049644e-01 9.93897360e-01 -7.52862059e-03] [-3.88720257e-04 7.53227279e-03 9.99971849e-01]] t_gt: [-0.71553041 0.69597161 -0.06033031] Pose Error in degrees for R and t: 6.320594901518415 72.54419802396521 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.78742778 -0.61639957 -0.00300996] [ 0.61640481 -0.78742847 -0.00122976] [-0.0016121 -0.00282371 0.99999471]] t_estimated: [[ 0.94447085] [-0.32859317] [ 0.00116114]] R_gt: [[ 0.90506106 0.42383852 0.03501294] [-0.42212781 0.90530635 -0.04719623] [-0.05170176 0.02793675 0.99827167]] t_gt: [-0.63270899 0.77412082 0.02040338] Pose Error in degrees for R and t: 167.0033198746821 31.578629341584932 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99998381e-01 -1.71510079e-03 5.44217784e-04] [ 1.71559883e-03 9.99998109e-01 -9.16014690e-04] [-5.42645697e-04 9.16946867e-04 9.99999432e-01]] t_estimated: [[-9.99987705e-01] [-4.95143708e-03] [-2.69473426e-04]] R_gt: [[ 0.80740704 0.58609618 0.06771763] [-0.5851313 0.81016638 -0.03538987] [-0.07560404 -0.01104829 0.99707655]] t_gt: [-0.56904963 0.81802672 0.08375443] Pose Error in degrees for R and t: 36.257341407507056 55.59981587859718 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 3.18359544e-01 9.47969745e-01 7.50489067e-04] [-9.47969033e-01 3.18360260e-01 -1.20729143e-03] [-1.38340164e-03 -3.27087648e-04 9.99998990e-01]] t_estimated: [[0.0118475 ] [0.99992911] [0.00118475]] R_gt: [[ 0.99707821 0.01170354 0.07549237] [-0.01195662 0.99992431 0.00288472] [-0.0754528 -0.00377835 0.99714249]] t_gt: [-0.16468433 0.22752063 0.95974655] Pose Error in degrees for R and t: 70.867888058252 76.89769672788023 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-1.75252160e-01 -9.84522740e-01 -1.28623273e-03] [-9.84523580e-01 1.75252047e-01 2.00866147e-04] [ 2.76576292e-05 1.30152868e-03 -9.99999153e-01]] t_estimated: [[8.51303574e-01] [5.24672866e-01] [7.79629534e-04]] R_gt: [[ 0.99136376 -0.0639201 0.11451336] [ 0.06578073 0.99775508 -0.0125389 ] [-0.11345454 0.0199637 0.99334242]] t_gt: [ 0.51387704 -0.43415381 0.73989246] Pose Error in degrees for R and t: 175.62807741086297 77.86279306691463 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.19552688e-01 3.92966694e-01 1.77012876e-04] [-3.92966639e-01 9.19552686e-01 -2.80455527e-04] [-2.72982347e-04 1.88333479e-04 9.99999945e-01]] t_estimated: [[-0.84796594] [-0.53004977] [-0.00100036]] R_gt: [[ 0.98512235 -0.10226515 0.13812419] [ 0.10496418 0.99439948 -0.01238063] [-0.13608468 0.02669391 0.99033755]] t_gt: [ 0.59562201 -0.55088161 0.58460574] Pose Error in degrees for R and t: 30.16020158986927 77.66323290186953 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.99572652 0.0923233 -0.00225834] [-0.09231186 0.99571891 0.00473023] [ 0.00268538 -0.00450154 0.99998626]] t_estimated: [[0.77661721] [0.6299722 ] [0.00086015]] R_gt: [[ 0.98504464 -0.17224749 -0.00404549] [ 0.1720509 0.9846278 -0.03011052] [ 0.00917028 0.02896358 0.99953755]] t_gt: [ 0.55033935 -0.82284879 -0.14158555] Pose Error in degrees for R and t: 15.339822500687255 84.77364674332351 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99878510e-01 -1.55873264e-02 5.28991967e-06] [ 1.55873266e-02 9.99878510e-01 -3.39888643e-05] [-4.75948147e-06 3.40671907e-05 9.99999999e-01]] t_estimated: [[0.65789134] [0.75311245] [0.00078695]] R_gt: [[ 0.94431619 -0.32799751 -0.02613307] [ 0.32793546 0.94467578 -0.00677747] [ 0.02690986 -0.00217038 0.99963442]] t_gt: [ 0.62647163 -0.77679958 -0.06415388] Pose Error in degrees for R and t: 18.32096631807378 80.04249824633943 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.50203273 0.86483709 0.0044663 ] [-0.86484698 -0.50201501 -0.00454194] [-0.00168588 -0.00614287 0.99997971]] t_estimated: [[0.63453836] [0.77289092] [0.00084053]] R_gt: [[ 0.88197026 -0.47129944 -0.00196229] [ 0.47118047 0.88182715 -0.01922407] [ 0.01079126 0.01602951 0.99981294]] t_gt: [ 0.68696377 -0.72563838 -0.03911164] Pose Error in degrees for R and t: 148.2557519903181 82.82113118463894 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.20429222 -0.97890918 -0.00123032] [-0.97890871 -0.2042898 -0.00184784] [ 0.00155753 0.00158187 -0.99999754]] t_estimated: [[7.31836795e-01] [6.81479925e-01] [1.33977153e-04]] R_gt: [[ 0.99166551 -0.11921495 -0.04887126] [ 0.12081808 0.99218172 0.03128176] [ 0.04475945 -0.03692502 0.9983151 ]] t_gt: [ 0.62852698 -0.77130941 -0.10017798] Pose Error in degrees for R and t: 179.69324069472077 86.23489837746412 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.65768774 -0.74072624 0.13700903] [-0.73022326 -0.58224878 0.35743581] [-0.18498874 -0.33512833 -0.92383341]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.98925225 -0.14589778 -0.00971503] [ 0.14609366 0.98897834 0.02407412] [ 0.00609531 -0.02523516 0.99966307]] t_gt: [ 0.55036875 -0.83388562 0.04158134] Pose Error in degrees for R and t: 156.401170753663 79.03686131436821 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.55990357 -0.42279921 -0.71256496] [-0.80059865 0.05454373 0.59671332] [-0.21342397 0.90458046 -0.36903171]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.98795196 -0.15372212 -0.01790275] [ 0.15387607 0.9880619 0.00755425] [ 0.01652768 -0.01021833 0.99981136]] t_gt: [ 0.5120414 -0.8562619 -0.06803793] Pose Error in degrees for R and t: 163.93873649997164 79.93115405273431 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[-0.76703146 0.40066239 0.50113111] [-0.6305992 -0.32668943 -0.7040019 ] [-0.11835284 -0.85600448 0.50323845]] t_estimated: [[0.76200076] [0.63500064] [0.12700013]] R_gt: [[ 0.99287631 0.11858359 0.01158779] [-0.11778584 0.99153503 -0.05462985] [-0.01796652 0.05287563 0.99843922]] t_gt: [-0.36642053 0.92622881 -0.08852224] Pose Error in degrees for R and t: 136.8914076185367 72.68043853513755 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-5.06623884e-01 8.62166282e-01 1.24204831e-03] [-8.62166889e-01 -5.06622013e-01 -1.54613822e-03] [-7.03779223e-04 -1.85416347e-03 9.99998033e-01]] t_estimated: [[0.36792034] [0.92985656] [0.00118302]] R_gt: [[ 0.95217332 0.30551017 0.00552443] [-0.3049079 0.95116867 -0.04805416] [-0.01993451 0.04407123 0.99882959]] t_gt: [-0.28929001 0.95712309 -0.0150559 ] Pose Error in degrees for R and t: 102.68417664832013 38.41473486431476 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.99854716 -0.05386078 -0.0016075 ] [ 0.05386328 -0.99854711 -0.00155214] [-0.00152157 -0.00163647 0.9999975 ]] t_estimated: [[0.74883777] [0.66275254] [0.00103717]] R_gt: [[ 0.87792755 0.47718839 -0.03919264] [-0.47845699 0.87743858 -0.03435683] [ 0.01799504 0.04891483 0.9986412 ]] t_gt: [-0.19357451 0.97820953 -0.07506682] Pose Error in degrees for R and t: 154.53133622417917 59.782952106692626 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.54949946e-01 -2.96766672e-01 -3.78621907e-04] [ 2.96764182e-01 9.54945854e-01 -3.07173369e-03] [ 1.27315161e-03 2.82099050e-03 9.99995211e-01]] t_estimated: [[-0.48069489] [-0.87687201] [-0.00528236]] R_gt: [[ 0.9845671 0.17380298 -0.02047719] [-0.17254724 0.98361375 0.05226219] [ 0.02922586 -0.04792222 0.99842296]] t_gt: [-0.7375649 0.67199484 0.06649025] Pose Error in degrees for R and t: 27.445902712940516 76.40478114554215 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.93572591e-01 -1.13196718e-01 9.44167265e-05] [ 1.13196756e-01 9.93572358e-01 -6.80529045e-04] [-1.67761953e-05 6.86842674e-04 9.99999764e-01]] t_estimated: [[-0.10984048] [-0.99394865] [-0.00107687]] R_gt: [[ 0.96705709 0.23690422 -0.09314171] [-0.22604085 0.96744857 0.11379034] [ 0.11706778 -0.08898763 0.98912845]] t_gt: [-0.78162843 0.61165313 -0.1222188 ] Pose Error in degrees for R and t: 21.670424699254525 58.53579725778165 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.31066021 0.94888028 -0.05582513] [-0.95005566 -0.31180972 -0.0129978 ] [-0.02974017 0.04899908 0.99835595]] t_estimated: [[7.80320477e-01] [6.25379471e-01] [6.85616328e-04]] R_gt: [[ 0.94294605 0.29842909 -0.14762287] [-0.27161285 0.9459298 0.17732133] [ 0.1925593 -0.1271086 0.973018 ]] t_gt: [-0.82662591 0.51371779 -0.2297469 ] Pose Error in degrees for R and t: 92.32872543962476 71.09971749414808 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99742428e-01 2.26946614e-02 1.75313689e-04] [-2.26946254e-02 9.99742423e-01 -2.04409674e-04] [-1.79907541e-04 2.00378346e-04 9.99999964e-01]] t_estimated: [[-0.99993858] [-0.01101524] [-0.00122392]] R_gt: [[ 0.9823649 -0.17263196 -0.07181864] [ 0.17268706 0.98496062 -0.00549184] [ 0.07168705 -0.00700729 0.99740167]] t_gt: [ 0.59341533 -0.75162668 -0.28795065] Pose Error in degrees for R and t: 11.99137788567867 54.214873338374744 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-2.84958690e-01 -9.58508657e-01 7.72648842e-03] [-9.58539642e-01 2.84953997e-01 -1.72491783e-03] [-5.48345081e-04 -7.89767576e-03 -9.99968663e-01]] t_estimated: [[0.93805369] [0.34641129] [0.00738228]] R_gt: [[ 0.94552109 -0.32081747 -0.05537734] [ 0.32139611 0.94694327 0.001625 ] [ 0.05191882 -0.01933481 0.9984635 ]] t_gt: [ 0.64594684 -0.75791175 -0.09122747] Pose Error in degrees for R and t: 178.10173003746817 69.95792149862164 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.032365 -0.99946598 -0.00450208] [ 0.99946468 -0.03234276 -0.00492987] [ 0.00478163 -0.00465923 0.99997771]] t_estimated: [[9.99987772e-01] [4.87798902e-03] [8.12998188e-04]] R_gt: [[ 0.88293363 -0.46558853 -0.06046226] [ 0.46494509 0.88498122 -0.02516118] [ 0.06522334 -0.00589687 0.99785225]] t_gt: [ 0.70613154 -0.70076329 -0.10153356] Pose Error in degrees for R and t: 64.17006606954394 45.362248877248184 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-9.94515855e-01 -1.04584030e-01 6.28465325e-04] [ 1.04581665e-01 -9.94511651e-01 -3.04146972e-03] [ 9.43105248e-04 -2.95906391e-03 9.99995177e-01]] t_estimated: [[7.95842954e-01] [6.05502698e-01] [6.89638608e-04]] R_gt: [[ 0.99714118 0.0755219 0.00211535] [-0.07535536 0.996183 -0.04406875] [-0.0054353 0.0437843 0.99902641]] t_gt: [-0.29784457 0.92182493 -0.24804718] Pose Error in degrees for R and t: 178.32480702688747 71.27907396774299 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99748435 0.07086021 0.0019522 ] [-0.07085477 0.99748292 -0.00272564] [-0.00214043 0.00258046 0.99999438]] t_estimated: [[0.79856103] [0.60191324] [0.00085499]] R_gt: [[ 0.97963634 0.20028251 0.01409436] [-0.19946196 0.97884132 -0.04567465] [-0.02294357 0.04193331 0.99885736]] t_gt: [-0.32325573 0.94627648 -0.00815835] Pose Error in degrees for R and t: 7.896571091411356 71.85457392959101 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99738033e-01 -2.28656131e-02 1.01420533e-03] [ 2.28674325e-02 9.99736849e-01 -1.82005746e-03] [-9.72321710e-04 1.84277294e-03 9.99997829e-01]] t_estimated: [[-0.76124278] [-0.64846607] [-0.00108439]] R_gt: [[ 0.91416198 0.40497683 -0.01737732] [-0.40528739 0.91244176 -0.05649998] [-0.00702495 0.05869359 0.9982516 ]] t_gt: [-0.22681803 0.97240583 -0.05459378] Pose Error in degrees for R and t: 25.441692906264322 62.75157989945383 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.93525893e-01 -1.13604409e-01 5.81682281e-04] [ 1.13604510e-01 9.93526041e-01 -1.42559973e-04] [-5.61721053e-04 2.07718755e-04 9.99999821e-01]] t_estimated: [[0.68207308] [0.73127794] [0.00298189]] R_gt: [[ 0.99712166 0.0531576 0.05406845] [-0.05203232 0.9984036 -0.02200851] [-0.05515166 0.01913263 0.99829487]] t_gt: [-0.76002769 0.52379405 0.38470469] Pose Error in degrees for R and t: 10.097714134202604 82.28716079399528 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.90476097e-01 -1.37684704e-01 -1.53583462e-04] [ 1.37684714e-01 9.90476106e-01 6.09425699e-05] [ 1.43729890e-04 -8.15082539e-05 9.99999986e-01]] t_estimated: [[-9.55421591e-01] [-2.95244005e-01] [-7.49350267e-04]] R_gt: [[ 0.98040273 0.18967179 0.05325141] [-0.18906872 0.98183046 -0.01619246] [-0.05535504 0.005808 0.99845022]] t_gt: [-0.72649122 0.6661306 0.16876177] Pose Error in degrees for R and t: 19.105857220237755 60.177950854885474 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.99992895 0.01136571 -0.00359416] [-0.011354 0.99993022 0.00326203] [ 0.00363099 -0.00322099 0.99998822]] t_estimated: [[0.01851532] [0.99982716] [0.00168321]] R_gt: [[ 0.95501217 0.2963983 -0.01002208] [-0.29540219 0.9537102 0.0563506 ] [ 0.02626123 -0.05085431 0.9983607 ]] t_gt: [-0.71891557 0.69196743 0.06588995] Pose Error in degrees for R and t: 16.849519375615408 47.26193390027479 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99999999e-01 -1.95290300e-05 3.69833889e-05] [ 1.95264158e-05 9.99999997e-01 7.06835444e-05] [-3.69847692e-05 -7.06828222e-05 9.99999997e-01]] t_estimated: [[0.74809024] [0.66359637] [0.00092077]] R_gt: [[ 0.99933175 -0.03639998 -0.00339425] [ 0.03648043 0.99895053 0.02765921] [ 0.0023841 -0.02776423 0.99961168]] t_gt: [ 0.6502849 -0.65305156 0.38814071] Pose Error in degrees for R and t: 2.626423893921339 86.93513230114849 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-0.42768533 -0.90351841 -0.027198 ] [ 0.90391982 -0.42736247 -0.01703764] [ 0.00377042 -0.03187156 0.99948486]] t_estimated: [[0.94416176] [0.32947311] [0.00245875]] R_gt: [[ 0.99774306 0.02996491 0.06008123] [-0.03519874 0.99549417 0.08803533] [-0.05717224 -0.08995144 0.99430327]] t_gt: [-0.08098061 -0.20643296 0.97510388] Pose Error in degrees for R and t: 117.31418941787258 81.83204375084061 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.94598367e-01 -1.03797913e-01 -2.85079554e-04] [ 1.03798044e-01 9.94598273e-01 4.91323730e-04] [ 2.32541254e-04 -5.18260480e-04 9.99999839e-01]] t_estimated: [[-0.99401813] [-0.10921054] [-0.00101121]] R_gt: [[ 0.99464445 0.05079728 0.09001224] [-0.0640929 0.98636088 0.15159921] [-0.08108403 -0.15655582 0.98433438]] t_gt: [-0.10094192 -0.12790705 0.98663596] Pose Error in degrees for R and t: 13.733067434512368 83.49388799284165 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.20714485 0.97114447 -0.11819231] [ 0.9750614 -0.19510697 0.10577591] [ 0.07966355 -0.1371557 -0.98734089]] t_estimated: [[-0.74111508] [-0.67137698] [-0.001182 ]] R_gt: [[ 0.95378524 0.29447766 0.05979567] [-0.29172398 0.95515813 -0.05069446] [-0.07204296 0.03090845 0.99692257]] t_gt: [-0.70035895 0.71091957 0.06395858] Pose Error in degrees for R and t: 175.5479417774192 87.6114522851558 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.86573999e-01 -4.62585061e-01 -1.26684330e-03] [ 4.62585603e-01 8.86574608e-01 1.56618209e-04] [ 1.05070186e-03 -7.24877103e-04 9.99999185e-01]] t_estimated: [[-0.66070074] [-0.75064762] [-0.0016354 ]] R_gt: [[ 0.88628162 0.45920286 0.06031519] [-0.45964761 0.88807316 -0.0071109 ] [-0.05682982 -0.02142126 0.99815408]] t_gt: [-0.63966216 0.76118472 0.10691185] Pose Error in degrees for R and t: 55.03743688328608 81.43501376145585 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99976050e-01 -6.90693942e-03 -4.41136843e-04] [ 6.90657972e-03 9.99975820e-01 -8.11778396e-04] [ 4.46733081e-04 8.08712206e-04 9.99999573e-01]] t_estimated: [[-0.99992398] [-0.01226901] [-0.0012269 ]] R_gt: [[ 8.43903383e-01 5.31770128e-01 7.10474388e-02] [-5.33171225e-01 8.46007062e-01 8.90459416e-04] [-5.96334558e-02 -3.86321444e-02 9.97472223e-01]] t_gt: [-0.60377 0.78868399 0.11592819] Pose Error in degrees for R and t: 32.86535343289098 53.56535302347933 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 7.89456555e-01 6.13806382e-01 2.69086209e-04] [-6.13806173e-01 7.89456544e-01 -5.88486239e-04] [-5.73648478e-04 2.99417543e-04 9.99999791e-01]] t_estimated: [[-2.56670491e-01] [ 9.66498879e-01] [ 4.19030875e-04]] R_gt: [[ 0.98928932 0.14590521 -0.00415597] [-0.14562431 0.98852565 0.04011591] [ 0.00996137 -0.03907997 0.99918572]] t_gt: [-0.27029745 0.94502283 0.18404113] Pose Error in degrees for R and t: 29.571270084402844 10.63648711568834 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.07468799 -0.9969266 0.02364422] [-0.99675254 -0.07391726 0.03194688] [-0.03010098 -0.02595348 -0.99920986]] t_estimated: [[0.70468765] [0.70923899] [0.01988381]] R_gt: [[ 9.84309566e-01 1.76426519e-01 2.72602917e-03] [-1.76447090e-01 9.84214390e-01 1.37350728e-02] [-2.59865447e-04 -1.39991848e-02 9.99901800e-01]] t_gt: [-0.08571837 0.99320568 0.07870732] Pose Error in degrees for R and t: 177.12454450711428 49.79078528195709 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99456572e-01 3.29628580e-02 1.01474634e-04] [-3.29628373e-02 9.99456558e-01 -1.99425549e-04] [-1.07993125e-04 1.95972284e-04 9.99999975e-01]] t_estimated: [[ 0.68146782] [-0.73184559] [-0.00190796]] R_gt: [[ 0.98526065 0.1648676 0.04560485] [-0.16305414 0.98576482 -0.04098893] [-0.05171383 0.03294943 0.99811838]] t_gt: [-0.05110604 0.98569494 0.16060406] Pose Error in degrees for R and t: 8.328684643346026 40.84251050340828 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.22156243 -0.97512798 -0.00595993] [-0.9751146 0.22160031 -0.00669516] [ 0.00784936 0.00432822 -0.99995983]] t_estimated: [[ 0.80135153] [ 0.5981826 ] [-0.00364805]] R_gt: [[ 0.97308816 -0.2280504 -0.03303751] [ 0.22850309 0.97348506 0.01061309] [ 0.02974204 -0.01787563 0.9993971 ]] t_gt: [ 0.83284182 -0.55311037 -0.02105778] Pose Error in degrees for R and t: 178.5832145387079 70.32923158339379 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999903e-01 -4.14232553e-04 -1.46517101e-04] [ 4.14278724e-04 9.99999864e-01 3.15237022e-04] [ 1.46386500e-04 -3.15297691e-04 9.99999940e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.96921173 -0.24480319 -0.02645226] [ 0.24475964 0.96957094 -0.00491464] [ 0.02685054 -0.00171041 0.99963747]] t_gt: [ 0.83109542 -0.55313469 -0.05764047] Pose Error in degrees for R and t: 14.230477749306575 78.81599400155206 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.98289684 -0.17994478 0.03916223] [ 0.18415298 0.9618012 -0.2025491 ] [-0.00121863 0.20629671 0.97848872]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.95265833 -0.30138914 -0.04007599] [ 0.30061343 0.95343759 -0.02426483] [ 0.04552415 0.01106974 0.99890177]] t_gt: [ 0.8390129 -0.53284439 -0.11015539] Pose Error in degrees for R and t: 13.349169587531176 73.93756228394734 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.77485770e-01 -2.11001308e-01 1.34527551e-04] [ 2.11001302e-01 9.77485779e-01 5.65258207e-05] [-1.43425790e-04 -2.68676970e-05 9.99999989e-01]] t_estimated: [[-0.70431249] [-0.70988963] [-0.00079673]] R_gt: [[ 0.98011683 0.18583758 -0.06954472] [-0.18425796 0.98246399 0.02853088] [ 0.07362726 -0.01514933 0.99717065]] t_gt: [-0.31330598 0.9287568 -0.19811654] Pose Error in degrees for R and t: 23.259105378020777 63.992317566384735 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.99992828e-01 3.71685641e-03 -7.27303600e-04] [-3.71537994e-03 -9.99991056e-01 -2.02098138e-03] [-7.34808792e-04 -2.01826468e-03 9.99997693e-01]] t_estimated: [[0.77950046] [0.62640096] [0.00093353]] R_gt: [[ 0.93540986 0.32804074 -0.13190575] [-0.32035805 0.94421238 0.07637754] [ 0.1496019 -0.02918726 0.98831494]] t_gt: [-0.15383225 0.96382339 -0.21766973] Pose Error in degrees for R and t: 160.8210569673484 61.07761478544209 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.92699992 -0.37505713 -0.00181721] [ 0.37505993 -0.92699925 -0.00156463] [-0.00109773 -0.00213197 0.99999712]] t_estimated: [[0.8543399 ] [0.51971322] [0.00122574]] R_gt: [[ 0.86247433 0.48680575 -0.1384159 ] [-0.47751059 0.87334797 0.09616231] [ 0.16769626 -0.01684286 0.98569491]] t_gt: [-0.10619935 0.97642759 -0.18791186] Pose Error in degrees for R and t: 173.01042509783784 65.38608121290069 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.99844580e-01 1.76298593e-02 -6.00323859e-05] [-1.76298571e-02 9.99844581e-01 3.69874377e-05] [ 6.06751390e-05 -3.59233267e-05 9.99999998e-01]] t_estimated: [[9.95132921e-01] [9.85407220e-02] [4.43084264e-04]] R_gt: [[ 9.94387168e-01 1.05466375e-01 8.45720836e-03] [-1.05477685e-01 9.94421172e-01 7.82012364e-04] [-8.32717183e-03 -1.66965550e-03 9.99963812e-01]] t_gt: [-0.37791423 0.92506781 0.03782037] Pose Error in degrees for R and t: 5.068024654963061 73.44705217960224 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.18049453e-01 -3.96465040e-01 8.21455693e-04] [ 3.96465479e-01 9.18049514e-01 -4.61686846e-04] [-5.71094307e-04 7.49530181e-04 9.99999556e-01]] t_estimated: [[0.63607956] [0.77162297] [0.0008859 ]] R_gt: [[ 0.96710579 0.25027314 -0.04549261] [-0.24877217 0.9678856 0.03619544] [ 0.05309171 -0.02368804 0.998308 ]] t_gt: [-0.31248935 0.94672635 -0.07784358] Pose Error in degrees for R and t: 37.965198215198654 57.88104859080213 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.88793942e-01 1.49282526e-01 -1.12555106e-03] [-1.49281469e-01 9.88794266e-01 9.71091815e-04] [ 1.25790547e-03 -7.92185789e-04 9.99998895e-01]] t_estimated: [[-0.97845295] [-0.20645931] [-0.00209047]] R_gt: [[ 0.91179355 0.39431084 -0.11467821] [-0.38936482 0.91887879 0.06369106] [ 0.13049057 -0.01342171 0.99135871]] t_gt: [-0.14147468 0.97638441 -0.16327402] Pose Error in degrees for R and t: 16.375422480008186 86.39853638797464 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999856e-01 4.67788894e-04 2.61791173e-04] [-4.67760708e-04 9.99999885e-01 -1.07716940e-04] [-2.61841532e-04 1.07594469e-04 9.99999960e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99280367 -0.11969958 0.00340536] [ 0.11971281 0.99279954 -0.00421045] [-0.00287687 0.00458725 0.99998571]] t_gt: [ 0.78094751 -0.6243426 -0.01781336] Pose Error in degrees for R and t: 6.908450708125647 39.28627718586352 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.99992921 0.00424281 0.01111673] [-0.00406574 0.99986527 -0.01590294] [-0.01118271 0.01585662 0.99981174]] t_estimated: [[0.98827203] [0.14973819] [0.02994764]] R_gt: [[ 0.99267253 -0.11979558 -0.01584197] [ 0.11930949 0.99244332 -0.02867689] [ 0.01915792 0.02657676 0.99946325]] t_gt: [ 0.76006035 -0.60398209 -0.23982054] Pose Error in degrees for R and t: 7.324345051658064 49.19208656753331 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.99999786e-01 6.20109442e-04 2.07452303e-04] [-6.20067462e-04 9.99999787e-01 -2.02362962e-04] [-2.07577746e-04 2.02234285e-04 9.99999958e-01]] t_estimated: [[9.99999939e-01] [3.46546385e-04] [3.46033907e-05]] R_gt: [[ 0.97296448 -0.23076022 -0.00947358] [ 0.23024182 0.97236535 -0.0386472 ] [ 0.01813124 0.03542144 0.99920849]] t_gt: [ 0.79965069 -0.58040454 -0.15391345] Pose Error in degrees for R and t: 13.55860609067613 36.922942433497454 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99742804e-01 -2.26785737e-02 -8.64229891e-05] [ 2.26785834e-02 9.99742801e-01 1.13359724e-04] [ 8.38299243e-05 -1.15290519e-04 9.99999990e-01]] t_estimated: [[-0.99213673] [-0.1251528 ] [-0.00121973]] R_gt: [[ 0.99366749 0.11034323 0.02120936] [-0.11100179 0.99327571 0.03290929] [-0.01743496 -0.03505553 0.99923335]] t_gt: [-0.38648789 0.79905441 0.46058567] Pose Error in degrees for R and t: 7.976486949909111 73.56764477969716 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99999788e-01 6.44051445e-04 -9.89686786e-05] [-6.44037037e-04 9.99999782e-01 1.45534952e-04] [ 9.90623890e-05 -1.45471181e-04 9.99999985e-01]] t_estimated: [[9.99987485e-01] [4.97910856e-03] [4.87534530e-04]] R_gt: [[ 0.97824693 0.20724672 0.00904011] [-0.20743452 0.97769112 0.03303655] [-0.00199109 -0.03419377 0.99941312]] t_gt: [-0.18199005 0.96725309 0.17692111] Pose Error in degrees for R and t: 12.09179528819265 79.79995814401015 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-2.20949013e-01 -9.75283282e-01 -2.01347889e-03] [ 9.75285359e-01 -2.20948466e-01 -4.92812211e-04] [ 3.57564385e-05 -2.07260285e-03 9.99997852e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97353585 0.22587448 0.03474861] [-0.22593565 0.97414029 -0.00220841] [-0.03434866 -0.00570103 0.99939447]] t_gt: [-0.1225613 0.9769049 0.1750301] Pose Error in degrees for R and t: 115.83767065028835 83.1427637902395 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 8.40275209e-01 -5.42160070e-01 -1.78287991e-04] [ 5.42160033e-01 8.40275223e-01 -2.18627870e-04] [ 2.68342283e-04 8.70469559e-05 9.99999960e-01]] t_estimated: [[-0.10707311] [-0.99425033] [-0.00127468]] R_gt: [[ 0.98528232 0.17054847 0.01152878] [-0.17060988 0.98532744 0.00461417] [-0.0105733 -0.00651367 0.99992366]] t_gt: [-0.74989915 0.65865304 0.06186631] Pose Error in degrees for R and t: 42.658582109862145 54.924816798767 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 8.05096392e-01 -5.93139816e-01 2.22657175e-03] [-5.93142586e-01 -8.05096990e-01 8.42585439e-04] [ 1.29283524e-03 -1.99903702e-03 -9.99997166e-01]] t_estimated: [[0.34888091] [0.9371663 ] [0.00120304]] R_gt: [[ 0.91432663 0.39999532 0.0633382 ] [-0.39795848 0.91641381 -0.04258888] [-0.07507958 0.01373382 0.99708331]] t_gt: [-0.66212656 0.74587991 0.07246776] Pose Error in degrees for R and t: 179.80006321022225 62.08913622835544 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.62205298 -0.3481905 -0.70129414] [-0.4542995 -0.56898716 0.68546742] [-0.6377006 0.74499462 0.19575739]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.82535529 0.56189746 0.05531285] [-0.55911003 0.82702367 -0.05854835] [-0.07864382 0.01739683 0.99675188]] t_gt: [-0.59554234 0.80172699 0.05062754] Pose Error in degrees for R and t: 150.82764797058795 81.33146000095391 Number of keypoints: Image1: 441 Image2: 441 R_estimated: [[ 2.94180657e-01 9.55749690e-01 -5.21716568e-04] [-9.55748461e-01 2.94179266e-01 -1.85422228e-03] [-1.61869417e-03 1.04410613e-03 9.99998145e-01]] t_estimated: [[0.31452385] [0.94924889] [0.00113547]] R_gt: [[ 0.99792825 0.06416671 0.00469253] [-0.06422396 0.99784992 0.0131097 ] [-0.00384136 -0.01338388 0.99990295]] t_gt: [-0.72980067 0.65720103 0.18835548] Pose Error in degrees for R and t: 69.21593875830118 66.76386510920521 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 6.44394416e-01 7.64693127e-01 -5.09353373e-04] [ 7.64677995e-01 -6.44377165e-01 6.75530342e-03] [ 4.83751841e-03 -4.74257111e-03 -9.99977053e-01]] t_estimated: [[-0.503867 ] [-0.86377199] [-0.00399894]] R_gt: [[ 9.96364113e-01 6.90585361e-02 4.99142228e-02] [-6.91889074e-02 9.97603660e-01 8.88657562e-04] [-4.97334926e-02 -4.33874071e-03 9.98752996e-01]] t_gt: [-0.71404264 0.46909624 0.51970359] Pose Error in degrees for R and t: 179.29757367547717 87.27811807037925 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.99905817e-01 -1.37237431e-02 1.26424021e-04] [ 1.37237622e-02 9.99905813e-01 -1.51688994e-04] [-1.24330373e-04 1.53409721e-04 9.99999981e-01]] t_estimated: [[-0.86395748] [-0.50356379] [-0.00098738]] R_gt: [[ 0.99979483 0.01962344 0.00517573] [-0.01970702 0.99966994 0.01648149] [-0.00485066 -0.01657975 0.9998506 ]] t_gt: [-0.90922752 -0.27424779 0.31319878] Pose Error in degrees for R and t: 2.156543599769797 22.582742450053725 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.54905259e-01 2.96910596e-01 2.11876438e-04] [-2.96910526e-01 9.54905254e-01 -3.09215052e-04] [-2.94131149e-04 2.32362735e-04 9.99999930e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99727834 0.05529729 0.04875165] [-0.05308169 0.99754725 -0.04562631] [-0.05115476 0.04291508 0.99776756]] t_gt: [-0.31821471 0.94665783 -0.05077739] Pose Error in degrees for R and t: 14.662727811660865 71.62004276591932 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.80658605e-01 1.95726083e-01 3.89510565e-05] [-1.95726076e-01 9.80658596e-01 -1.44548114e-04] [-6.64895245e-05 1.34128614e-04 9.99999989e-01]] t_estimated: [[-0.75894362] [-0.6511558 ] [-0.00084516]] R_gt: [[ 0.98577681 0.156387 0.06153279] [-0.15212175 0.98596472 -0.06879322] [-0.07142742 0.05845409 0.9957308 ]] t_gt: [-0.31616375 0.94858458 -0.01509228] Pose Error in degrees for R and t: 5.804875274983195 67.80789908910272 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.85813363e-01 1.67845151e-01 1.37112783e-04] [-1.67845148e-01 9.85813372e-01 -2.80977459e-05] [-1.39883685e-04 4.68541793e-06 9.99999990e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.95948766 0.28150783 0.01167628] [-0.28116861 0.95934735 -0.02441182] [-0.01807375 0.02013998 0.99963345]] t_gt: [-0.26486925 0.96335153 -0.04240403] Pose Error in degrees for R and t: 6.857091700435746 68.6750998890095 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.88142838e-01 1.53535898e-01 -6.78345296e-04] [-1.53536144e-01 9.88142979e-01 -3.25741896e-04] [ 6.20289066e-04 4.26030043e-04 9.99999717e-01]] t_estimated: [[-0.98944781] [-0.14486391] [-0.00273328]] R_gt: [[ 0.98770396 0.13603687 0.0770414 ] [-0.13398572 0.99049105 -0.03122163] [-0.08055707 0.02051622 0.99653823]] t_gt: [-0.43657536 0.82402046 0.36109865] Pose Error in degrees for R and t: 4.912861914751091 71.84367284644863 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.7563134 0.65373828 0.0248256 ] [ 0.65388575 0.75658832 -0.00274672] [-0.02057839 0.01415572 -0.99968802]] t_estimated: [[0.84364426] [0.53686453] [0.00639124]] R_gt: [[ 0.94657299 0.31772926 0.05520303] [-0.31536143 0.94777822 -0.04755481] [-0.06743031 0.02760571 0.9973421 ]] t_gt: [-0.3458097 0.93054415 0.1204294 ] Pose Error in degrees for R and t: 174.58602917776506 77.95935854318063 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-9.96438017e-01 -8.42719387e-02 -3.08523202e-03] [-8.42688017e-02 9.96442414e-01 -1.13329195e-03] [ 3.16976075e-03 -8.69266375e-04 -9.99994598e-01]] t_estimated: [[9.99666785e-01] [2.57981666e-02] [8.79785422e-04]] R_gt: [[ 0.89211169 0.44631191 0.07029946] [-0.44176909 0.89428108 -0.07142159] [-0.09474456 0.03266071 0.99496533]] t_gt: [-0.27063415 0.95507881 0.12075437] Pose Error in degrees for R and t: 175.4306363990569 75.77097537911092 Number of keypoints: Image1: 605 Image2: 605 R_estimated: [[ 9.99995731e-01 2.92195391e-03 2.43994615e-05] [-2.92195330e-03 9.99995731e-01 -2.50912662e-05] [-2.44726728e-05 2.50198650e-05 9.99999999e-01]] t_estimated: [[ 6.18336819e-01] [-7.85913174e-01] [ 2.49050257e-04]] R_gt: [[ 0.99897721 -0.02749618 -0.03589805] [ 0.02803978 0.99949797 0.01473864] [ 0.03547483 -0.0157299 0.99924645]] t_gt: [ 0.77185583 -0.57212979 -0.27731947] Pose Error in degrees for R and t: 2.837255449639069 22.0522050383346 Number of keypoints: Image1: 561 Image2: 561 R_estimated: [[ 0.48423485 0.87483095 0.01369003] [ 0.87484496 -0.48389581 -0.02216159] [-0.01276309 0.02270807 -0.99966067]] t_estimated: [[-0.5196405 ] [ 0.85429053] [-0.01270565]] R_gt: [[ 0.99685716 -0.03197481 -0.07248055] [ 0.03549216 0.99822795 0.04775474] [ 0.07082561 -0.05017714 0.99622507]] t_gt: [ 0.76836805 -0.61585667 -0.17415826] Pose Error in degrees for R and t: 176.98344303486098 22.604074015734614 Number of keypoints: Image1: 419 Image2: 419 R_estimated: [[ 0.87992345 0.47505538 0.00755679] [ 0.47506449 -0.87948471 -0.02864227] [-0.00696058 0.02879297 -0.99956116]] t_estimated: [[-0.25226826] [ 0.96755145] [-0.01431482]] R_gt: [[ 0.99788528 0.03009198 -0.05761783] [-0.02666873 0.99788468 0.05927875] [ 0.05927973 -0.05761615 0.99657678]] t_gt: [-0.4172195 -0.90833969 -0.0291014 ] Pose Error in degrees for R and t: 177.62357311297865 39.35809700407482 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99220914 -0.12456253 -0.00227885] [ 0.12456757 0.99220864 0.00222048] [ 0.0019845 -0.00248705 0.99999494]] t_estimated: [[-0.46269231] [-0.88651846] [-0.00092538]] R_gt: [[ 0.98766949 0.09109243 0.12732835] [-0.0872364 0.99555356 -0.0355489 ] [-0.13000084 0.02400405 0.99122375]] t_gt: [-0.41660088 0.61013121 0.67393146] Pose Error in degrees for R and t: 14.523472853788167 69.58861974060616 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-9.78511337e-01 -2.06170066e-01 3.07702256e-03] [-2.06170757e-01 9.78516024e-01 9.44414986e-05] [-3.03038689e-03 -5.41979994e-04 -9.99995261e-01]] t_estimated: [[0.9795777 ] [0.20103274] [0.00365514]] R_gt: [[ 0.95568664 0.25160769 0.15283477] [-0.2451551 0.9676257 -0.06000481] [-0.16298546 0.01987853 0.98642847]] t_gt: [-0.3757684 0.82257248 0.42681686] Pose Error in degrees for R and t: 170.95296578319912 78.3945983035949 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-9.16898476e-01 -3.99117246e-01 -1.61505175e-03] [-3.99115412e-01 9.16899709e-01 -1.34622684e-03] [ 2.01814282e-03 -5.89761294e-04 -9.99997790e-01]] t_estimated: [[9.99903646e-01] [1.38463312e-02] [9.89024395e-04]] R_gt: [[ 0.90016637 0.41368742 0.13625272] [-0.40265251 0.90967721 -0.10177806] [-0.16605067 0.03675487 0.98543219]] t_gt: [-0.30207407 0.91762775 0.25828389] Pose Error in degrees for R and t: 172.21215412067048 73.19689122229222 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99999969e-01 2.35764334e-04 -7.51188046e-05] [-2.35770172e-04 9.99999969e-01 -7.77161707e-05] [ 7.51004796e-05 7.77338791e-05 9.99999994e-01]] t_estimated: [[-0.5911449 ] [-0.8065648 ] [-0.00096169]] R_gt: [[ 0.99548618 0.06238307 -0.07152019] [-0.0573961 0.99590936 0.06978028] [ 0.07558112 -0.06536057 0.99499428]] t_gt: [-0.95964002 -0.2734149 -0.06584315] Pose Error in degrees for R and t: 6.681007908513751 38.01249559772713 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-8.45778002e-01 -5.33534728e-01 -5.14668410e-04] [-5.33534760e-01 8.45776396e-01 1.71722496e-03] [-4.80904759e-04 1.72698458e-03 -9.99998393e-01]] t_estimated: [[9.63605657e-01] [2.67326051e-01] [9.59255808e-04]] R_gt: [[ 0.99132734 0.06009535 -0.11686081] [-0.05106083 0.99557958 0.07882398] [ 0.12108165 -0.07217367 0.99001523]] t_gt: [-0.51886942 -0.59352524 -0.61522542] Pose Error in degrees for R and t: 174.631279059145 48.758030766534795 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.99999985e-01 1.63411410e-04 5.01243402e-05] [-1.63407059e-04 9.99999983e-01 -8.67900612e-05] [-5.01385218e-05 8.67818693e-05 9.99999995e-01]] t_estimated: [[ 1.70150847e-01] [-9.85418016e-01] [ 1.51572677e-04]] R_gt: [[ 0.98935658 0.03062603 -0.14224833] [-0.01683647 0.99512804 0.09714718] [ 0.14453038 -0.09371826 0.9850519 ]] t_gt: [ 0.22526989 -0.85624193 -0.46486905] Pose Error in degrees for R and t: 10.016847812281704 28.113528970346394 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-0.53759766 -0.84319973 -0.00172221] [ 0.84320074 -0.53759333 -0.00243562] [ 0.00112787 -0.00276155 0.99999555]] t_estimated: [[0.82939299] [0.55866443] [0.00114715]] R_gt: [[ 0.99441297 -0.10132644 0.02962631] [ 0.10268826 0.99351813 -0.04876011] [-0.02449433 0.05153001 0.99837154]] t_gt: [ 0.76099182 -0.5741581 -0.30204955] Pose Error in degrees for R and t: 116.69277445477712 71.93757120669973 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 7.80175536e-01 6.25560300e-01 -6.65619142e-04] [-6.25560205e-01 7.80175810e-01 3.68156802e-04] [ 7.49604233e-04 1.29157917e-04 9.99999711e-01]] t_estimated: [[-0.95368531] [-0.30080397] [-0.00113941]] R_gt: [[ 0.96903518 -0.1659337 0.1828593 ] [ 0.17668902 0.98327961 -0.04406977] [-0.17248922 0.07501473 0.98215044]] t_gt: [ 0.67427969 -0.64517474 0.35929994] Pose Error in degrees for R and t: 49.807704253558235 63.29551648139531 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999311e-01 1.46998183e-04 1.16438218e-03] [-1.45789323e-04 9.99999450e-01 -1.03821500e-03] [-1.16453415e-03 1.03804453e-03 9.99998783e-01]] t_estimated: [[0.99385492] [0.11068454] [0.00115296]] R_gt: [[ 0.94589483 -0.14492021 0.29031411] [ 0.16756907 0.98434775 -0.05459851] [-0.27785739 0.10029267 0.95537219]] t_gt: [ 0.54598541 -0.50530437 0.66825701] Pose Error in degrees for R and t: 19.40484936136504 60.825481976185706 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.72606406e-01 2.32455629e-01 -1.07673631e-03] [-2.32454421e-01 9.72606625e-01 1.13818846e-03] [ 1.31181919e-03 -8.56717269e-04 9.99998773e-01]] t_estimated: [[-0.97905906] [ 0.20355442] [-0.00299384]] R_gt: [[ 0.999633 0.00245799 0.02698972] [-0.00235428 0.99998994 -0.00388713] [-0.02699949 0.00382225 0.99962808]] t_gt: [-0.57593832 -0.26506111 0.77332895] Pose Error in degrees for R and t: 13.403973416756958 59.49536652510584 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 5.41423298e-02 9.98533100e-01 5.06431188e-04] [ 9.98522934e-01 -5.41440677e-02 4.51338649e-03] [ 4.53418605e-03 2.61317896e-04 -9.99989686e-01]] t_estimated: [[-0.22824269] [-0.97359774] [-0.00356629]] R_gt: [[ 0.99759265 -0.0610778 -0.03284218] [ 0.06176351 0.99788404 0.02030397] [ 0.03153314 -0.02228348 0.99925392]] t_gt: [ 0.39120323 -0.89295481 -0.22269202] Pose Error in degrees for R and t: 177.68300115193935 38.65844312395219 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.98035056e-01 6.26580013e-02 4.81777005e-05] [-6.26580025e-02 9.98035057e-01 2.49413955e-05] [-4.65202560e-05 -2.79111055e-05 9.99999999e-01]] t_estimated: [[ 5.95332066e-01] [-8.03479563e-01] [-5.67870532e-04]] R_gt: [[ 0.99402185 -0.08237909 -0.0716586 ] [ 0.08612643 0.994984 0.05087746] [ 0.0671081 -0.05674415 0.99613063]] t_gt: [ 0.44608157 -0.86249128 -0.23899796] Pose Error in degrees for R and t: 9.825136424723354 16.52484284646497 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.97256208e-01 7.40272634e-02 -1.41988742e-04] [-7.40272636e-02 9.97256218e-01 3.41145312e-06] [ 1.41851697e-04 7.10894525e-06 9.99999990e-01]] t_estimated: [[-9.95701999e-01] [-9.26130210e-02] [-5.97930155e-04]] R_gt: [[ 0.96225569 0.26467098 0.0633461 ] [-0.26322885 0.96425788 -0.0302816 ] [-0.06909659 0.01246521 0.99753095]] t_gt: [-0.71959148 0.68652165 0.10428871] Pose Error in degrees for R and t: 11.788230877438513 49.2427601614213 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 8.76495750e-01 4.81405609e-01 1.95973976e-03] [-4.81406937e-01 8.76497177e-01 2.43265118e-04] [-1.60059717e-03 -1.15665316e-03 9.99998050e-01]] t_estimated: [[-0.82827586] [ 0.56031527] [ 0.00243071]] R_gt: [[ 0.92140186 0.38471365 0.05489853] [-0.38191535 0.9225558 -0.05505747] [-0.07182881 0.02976435 0.99697201]] t_gt: [-0.67890777 0.73295378 0.04316241] Pose Error in degrees for R and t: 7.600845492765202 13.316390585801672 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 7.49886577e-02 9.97184227e-01 5.64982267e-04] [ 9.97182565e-01 -7.49895916e-02 1.86896903e-03] [ 1.90607423e-03 4.23238987e-04 -9.99998094e-01]] t_estimated: [[-0.50800192] [-0.86135547] [-0.00089912]] R_gt: [[ 0.89001317 0.45424968 0.03915223] [-0.4514141 0.88999678 -0.06427339] [-0.0640416 0.03953086 0.99716315]] t_gt: [-0.65367725 0.75665053 0.01363905] Pose Error in degrees for R and t: 175.7637406114355 71.35594031902222 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.87145223e-01 -1.59825863e-01 -5.55068708e-05] [ 1.59825846e-01 9.87145198e-01 -2.37485698e-04] [ 9.27496977e-05 2.25561440e-04 9.99999970e-01]] t_estimated: [[-0.60358798] [-0.79729513] [-0.00142407]] R_gt: [[ 0.99910075 0.03181339 0.02802279] [-0.03042619 0.9983528 -0.04864846] [-0.02952377 0.04775277 0.99842286]] t_gt: [-0.22515594 0.91917505 -0.32314398] Pose Error in degrees for R and t: 11.439396903910527 53.380920335312666 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.9887129 0.14980256 0.00244769] [-0.14979276 0.98871015 -0.00379001] [-0.00298781 0.00338059 0.99998982]] t_estimated: [[-0.86699396] [-0.49831655] [-0.00144839]] R_gt: [[ 0.99679002 0.07945871 0.00984143] [-0.07932011 0.99675445 -0.01374061] [-0.01090149 0.0129168 0.99985727]] t_gt: [-0.17928573 0.98191096 -0.06088925] Pose Error in degrees for R and t: 4.122767507252409 70.50195811949207 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[-7.02962718e-01 -7.11223425e-01 -2.15800939e-03] [ 7.11226482e-01 -7.02961637e-01 -1.35219221e-03] [-5.55287035e-04 -2.48537414e-03 9.99996757e-01]] t_estimated: [[0.97669434] [0.21463159] [0.0012058 ]] R_gt: [[ 0.99530433 0.09615521 0.01113374] [-0.09629803 0.99526752 0.01301891] [-0.00983001 -0.01402957 0.99985311]] t_gt: [-0.07709119 0.98975535 0.1201719 ] Pose Error in degrees for R and t: 140.18920013005126 82.1093362987304 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.95735834e-01 9.22502701e-02 1.89924635e-04] [-9.22502420e-02 9.95735843e-01 -1.52090760e-04] [-2.03145180e-04 1.33921626e-04 9.99999970e-01]] t_estimated: [[-0.21705823] [ 0.97615778] [ 0.00130965]] R_gt: [[ 0.99807773 -0.06125663 -0.00937276] [ 0.06127497 0.99811882 0.00167331] [ 0.00925259 -0.00224359 0.9999547 ]] t_gt: [ 0.73258639 -0.67672706 -0.07319615] Pose Error in degrees for R and t: 8.823457737459837 34.94501128430544 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.31057425 -0.95054625 -0.0023382 ] [ 0.95054514 -0.31057913 0.00212893] [-0.00274985 -0.00156137 0.999995 ]] t_estimated: [[0.95718018] [0.28948864] [0.00155639]] R_gt: [[ 0.99962969 -0.01956181 0.01888998] [ 0.01964714 0.99979634 -0.00438249] [-0.01880028 0.00475303 0.99981249]] t_gt: [ 0.42378019 -0.87891288 0.21891209] Pose Error in degrees for R and t: 106.9749441347598 81.28385121314848 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999561e-01 -8.12389426e-04 -4.67632898e-04] [ 8.12548732e-04 9.99999612e-01 3.40574677e-04] [ 4.67356038e-04 -3.40954502e-04 9.99999833e-01]] t_estimated: [[-0.01381145] [-0.99990396] [-0.00114296]] R_gt: [[ 0.99824975 0.05781054 -0.01242469] [-0.05787458 0.99831212 -0.00477643] [ 0.01212792 0.00548824 0.9999116 ]] t_gt: [-0.90259347 0.16283889 -0.39850788] Pose Error in degrees for R and t: 3.4447229780278223 81.3787728791493 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.89304255e-01 1.45866688e-01 2.94163364e-05] [-1.45866691e-01 9.89304246e-01 1.29507953e-04] [-1.02108102e-05 -1.32413633e-04 9.99999991e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.9962235 -0.08634263 0.0091965 ] [ 0.08630427 0.9962592 0.00451324] [-0.00955196 -0.0037015 0.9999476 ]] t_gt: [ 0.82021119 -0.56206127 0.10649285] Pose Error in degrees for R and t: 13.352267971756557 68.81461720201168 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-7.79110130e-01 -6.26653906e-01 1.70964048e-02] [-6.26886362e-01 7.78860591e-01 -1.97400354e-02] [-9.45545649e-04 -2.60971646e-02 -9.99658964e-01]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.98727972 -0.15566674 0.03233893] [ 0.15536861 0.9877892 0.0115526 ] [-0.03374159 -0.00638055 0.99940979]] t_gt: [ 0.85395808 -0.47912205 0.20297206] Pose Error in degrees for R and t: 177.59924315539993 36.119170232274854 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 8.07345992e-01 5.90078196e-01 4.13963619e-04] [-5.90078341e-01 8.07345771e-01 5.97510646e-04] [ 1.83662269e-05 -7.26668791e-04 9.99999736e-01]] t_estimated: [[0.55063543] [0.83474533] [0.00092544]] R_gt: [[ 0.98054816 -0.19355982 0.0325666 ] [ 0.19309448 0.98103481 0.01689893] [-0.03521977 -0.01028069 0.99932674]] t_gt: [ 0.88490826 -0.42499091 0.19057833] Pose Error in degrees for R and t: 47.35621797190223 82.37556877246969 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.93486936e-01 1.13932923e-01 1.73128979e-03] [-1.13944238e-01 -9.93442523e-01 -9.41613511e-03] [ 6.47129107e-04 -9.55207771e-03 9.99954168e-01]] t_estimated: [[0.84812413] [0.52979637] [0.00112483]] R_gt: [[ 0.95697411 -0.28000104 0.07616372] [ 0.28553955 0.95539704 -0.07539455] [-0.05165573 0.09389812 0.99424005]] t_gt: [ 0.85810378 -0.46594958 -0.21575192] Pose Error in degrees for R and t: 170.09761329466295 61.27034371933393 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.99390855 -0.10946227 0.01279884] [-0.1095617 0.99395288 -0.00734232] [-0.01191773 -0.00869986 -0.99989113]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.88657585 -0.43318377 0.16227945] [ 0.45451344 0.88098689 -0.13145022] [-0.0860244 0.19029863 0.9779495 ]] t_gt: [ 0.89883122 -0.32126766 -0.29814346] Pose Error in degrees for R and t: 172.5966157598747 28.353219148571924 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.07741681 -0.99699802 -0.00125711] [ 0.99699567 0.07741334 0.00260812] [-0.00250298 -0.00145524 0.99999581]] t_estimated: [[0.99991294] [0.01314103] [0.00119464]] R_gt: [[ 0.79922239 -0.56476784 0.20562175] [ 0.59212695 0.79854919 -0.10818952] [-0.10309788 0.20822165 0.97263269]] t_gt: [ 0.9428532 -0.24842471 -0.22206533] Pose Error in degrees for R and t: 51.34881506538259 20.075474585416536 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-6.02897375e-02 9.98168101e-01 5.05853126e-03] [ 9.98180882e-01 6.02903395e-02 3.35416366e-05] [-2.71500375e-04 5.05135141e-03 -9.99987205e-01]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.99804001 0.05253011 -0.03403028] [-0.05264931 0.9986102 -0.00260607] [ 0.03384612 0.00439146 0.99941672]] t_gt: [-0.71405246 0.57134907 -0.40458537] Pose Error in degrees for R and t: 178.92480297179497 55.564897480078756 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.95965067 -0.28118698 -0.00211483] [ 0.28118955 0.9596517 0.00102852] [ 0.0017403 -0.00158169 0.99999723]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99419072 0.06772149 -0.08366524] [-0.06711668 0.99769535 0.01002748] [ 0.08415037 -0.00435467 0.99644316]] t_gt: [-0.63203443 0.5166967 -0.57754394] Pose Error in degrees for R and t: 20.74098344742408 78.57752952216869 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 8.28669283e-01 5.59738479e-01 2.32053296e-04] [-5.59738170e-01 8.28669152e-01 -7.85957866e-04] [-6.32226269e-04 5.21410054e-04 9.99999664e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99253308 0.05663072 -0.10804199] [-0.05926492 0.99801513 -0.02133204] [ 0.1066193 0.0275754 0.99391748]] t_gt: [-0.48993786 0.41141927 -0.7685669 ] Pose Error in degrees for R and t: 31.337730216705502 60.708345047942984 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.96330652 0.26826432 0.00864891] [-0.26819805 0.96332974 -0.00810067] [-0.01050487 0.0054838 0.99992979]] t_estimated: [[0.69698235] [0.71708764] [0.00095739]] R_gt: [[ 0.99629904 -0.04068834 0.07571696] [ 0.03261385 0.99393987 0.10497412] [-0.07952929 -0.10211603 0.99158773]] t_gt: [ 0.12589447 -0.36619979 0.92198064] Pose Error in degrees for R and t: 19.163700264872745 79.98136803903564 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.67699153e-01 2.52107303e-01 5.06893087e-04] [-2.52106148e-01 9.67698114e-01 -1.68833558e-03] [-9.16161215e-04 1.50601005e-03 9.99998446e-01]] t_estimated: [[8.23859728e-01] [5.66793320e-01] [6.92901370e-04]] R_gt: [[ 0.99426065 0.00447278 0.10688756] [-0.0228826 0.98489422 0.17164194] [-0.10450592 -0.17310234 0.97934326]] t_gt: [-0.13449003 -0.05221686 0.98953819] Pose Error in degrees for R and t: 18.09708113633692 81.9688516471836 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-5.55793751e-01 8.31319949e-01 -6.69915519e-04] [-8.31317762e-01 -5.55793887e-01 -1.98327592e-03] [-2.02107179e-03 -5.45379695e-04 9.99997809e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97727059 0.15799487 0.14134841] [-0.18008044 0.97050996 0.16025678] [-0.11186014 -0.1820682 0.97690263]] t_gt: [-0.50192345 0.52105588 0.69034312] Pose Error in degrees for R and t: 114.35262871137984 58.75942483760863 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99453520e-01 3.30551778e-02 -1.25001014e-04] [-3.30551723e-02 9.99453527e-01 4.58050506e-05] [ 1.26446798e-04 -4.16480890e-05 9.99999991e-01]] t_estimated: [[-0.99955238] [ 0.029897 ] [-0.00110324]] R_gt: [[ 0.98905943 0.14719209 0.00980674] [-0.14734873 0.98892572 0.01774902] [-0.00708623 -0.0190002 0.99979494]] t_gt: [-0.95363324 0.24760086 0.17110656] Pose Error in degrees for R and t: 6.677015282951257 16.174013322625207 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-9.97880549e-01 -6.50700369e-02 -5.47874487e-04] [ 6.50713758e-02 -9.97876256e-01 -2.94859008e-03] [-3.54846076e-04 -2.97799163e-03 9.99995503e-01]] t_estimated: [[8.41427355e-01] [5.40369649e-01] [8.06008001e-04]] R_gt: [[ 0.97876526 0.20193998 0.03520054] [-0.20336676 0.97815104 0.04316718] [-0.02571371 -0.04940853 0.9984477 ]] t_gt: [-0.93089542 0.18301895 0.31612939] Pose Error in degrees for R and t: 172.0307424803455 46.83291813184956 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.49849071e-01 -5.27025675e-01 -7.02918248e-04] [ 5.27026143e-01 8.49848292e-01 1.15136067e-03] [-9.42276108e-06 -1.34893909e-03 9.99999090e-01]] t_estimated: [[-0.64327283] [-0.76563648] [-0.0009172 ]] R_gt: [[ 0.9838343 0.16328188 0.07355588] [-0.16683022 0.9849621 0.04493164] [-0.06511253 -0.05647659 0.99627904]] t_gt: [-0.89355839 -0.0357765 0.44751922] Pose Error in degrees for R and t: 41.60171838538409 53.00228564146794 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[-6.84840110e-01 -7.28689862e-01 2.26028006e-03] [-7.28688814e-01 6.84843502e-01 1.41094104e-03] [-2.57607654e-03 -6.80771776e-04 -9.99996450e-01]] t_estimated: [[0.92374712] [0.38299454] [0.00253765]] R_gt: [[ 0.9942583 0.10695311 -0.00339004] [-0.10697784 0.99422928 -0.00802267] [ 0.0025129 0.0083391 0.99996223]] t_gt: [-0.9668612 0.24701613 -0.06451711] Pose Error in degrees for R and t: 179.8048839201716 36.994513293998324 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-0.92462394 0.38070672 -0.01153086] [ 0.3806967 0.92469464 0.00313802] [ 0.01185719 -0.00148827 -0.99992859]] t_estimated: [[ 0.98335015] [-0.18163311] [-0.00564801]] R_gt: [[ 9.77228122e-01 2.12107965e-01 5.88500332e-03] [-2.12190109e-01 9.76859115e-01 2.68449285e-02] [-5.36803880e-05 -2.74823487e-02 9.99621697e-01]] t_gt: [-0.95519138 0.24305536 0.16891867] Pose Error in degrees for R and t: 179.179537193506 10.13738672941524 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 0.36293113 0.9318151 -0.00126981] [-0.93181303 0.36292622 -0.00300661] [-0.00234076 0.00227442 0.99999467]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96729356 0.24930554 0.0467943 ] [-0.25112699 0.96720456 0.03810058] [-0.03576021 -0.04860521 0.99817761]] t_gt: [-0.94396144 0.18368691 0.27421873] Pose Error in degrees for R and t: 54.32525586877957 79.74200194445787 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 2.59146632e-01 9.65837731e-01 7.07211135e-04] [-9.65836501e-01 2.59147449e-01 -1.56633440e-03] [-1.69609682e-03 -2.77140044e-04 9.99998523e-01]] t_estimated: [[0.01605631] [0.99987002] [0.00145966]] R_gt: [[ 0.99782665 0.01467458 0.06423216] [-0.01986814 0.99651871 0.08096948] [-0.06281972 -0.08207012 0.99464504]] t_gt: [-0.2435479 0.01357418 0.96979388] Pose Error in degrees for R and t: 74.1904037677394 89.36529259795077 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99277962e-01 3.79898403e-02 5.71029303e-04] [-3.79888395e-02 9.99276765e-01 -1.67160636e-03] [-6.34120374e-04 1.64870666e-03 9.99998440e-01]] t_estimated: [[0.51216504] [0.85888648] [0.00099355]] R_gt: [[ 0.98584971 0.15092048 0.0729568 ] [-0.15845558 0.98101494 0.11181595] [-0.05469652 -0.12179362 0.99104717]] t_gt: [-0.57916047 0.62230636 0.52660037] Pose Error in degrees for R and t: 10.274252949083378 76.2085832546109 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.23619924 0.96673895 0.09811073] [ 0.96971349 -0.22805024 -0.08745766] [-0.06217455 0.11579673 -0.99132509]] t_estimated: [[9.99326729e-01] [3.66800186e-02] [8.15111525e-04]] R_gt: [[ 0.96864302 0.23354393 0.08478625] [-0.24235692 0.9632994 0.11540509] [-0.05472277 -0.13233489 0.98969353]] t_gt: [-0.57960169 0.72513654 0.37180489] Pose Error in degrees for R and t: 175.9206234987394 56.47434045867729 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99883575e-01 1.52558636e-02 -3.09298407e-04] [-1.52557182e-02 9.99883516e-01 4.67028051e-04] [ 3.16387295e-04 -4.62255108e-04 9.99999843e-01]] t_estimated: [[-0.52603224] [-0.85046385] [-0.00115228]] R_gt: [[ 0.98388498 0.17811054 -0.01572588] [-0.17869931 0.98250908 -0.05236845] [ 0.0061234 0.05433507 0.99850346]] t_gt: [-0.36894482 0.89386564 -0.25472326] Pose Error in degrees for R and t: 9.924903836372955 55.54005066122641 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.98259393e-01 5.89752582e-02 -3.19758900e-04] [-5.89752604e-02 9.98259445e-01 2.55822142e-06] [ 3.19353214e-04 1.63040959e-05 9.99999949e-01]] t_estimated: [[-0.91773421] [-0.39719313] [-0.00124107]] R_gt: [[ 0.94467887 0.32756748 -0.01677584] [-0.32795871 0.94253398 -0.06381568] [-0.00509303 0.06578762 0.99782099]] t_gt: [-0.28199284 0.94711722 -0.15313068] Pose Error in degrees for R and t: 16.21785181591525 83.26923922562186 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.93536482 -0.35365898 -0.0042413 ] [-0.35367055 0.93536707 0.00236459] [ 0.00313091 0.00371178 -0.99998821]] t_estimated: [[ 0.95838037] [-0.28547821] [-0.00304329]] R_gt: [[ 0.90559001 0.42399069 -0.01176093] [-0.41949383 0.89119447 -0.17261468] [-0.06270636 0.1612526 0.98491877]] t_gt: [-0.21417991 0.96459873 -0.15387094] Pose Error in degrees for R and t: 179.46191680182858 61.30352963941528 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99271730e-01 -3.81575722e-02 -9.76316943e-05] [ 3.81575797e-02 9.99271731e-01 7.58956650e-05] [ 9.46645979e-05 -7.95657816e-05 9.99999992e-01]] t_estimated: [[8.11021870e-01] [5.85015358e-01] [7.46664081e-04]] R_gt: [[ 0.99943036 -0.00719033 -0.03299626] [ 0.00688918 0.9999339 -0.00922532] [ 0.0330592 0.00899338 0.99941356]] t_gt: [-0.20406315 0.10971734 -0.97278998] Pose Error in degrees for R and t: 2.6483269791801844 84.14336235823893 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999970e-01 -1.38876684e-04 -2.03647776e-04] [ 1.38898173e-04 9.99999985e-01 1.05510068e-04] [ 2.03633120e-04 -1.05538351e-04 9.99999974e-01]] t_estimated: [[-0.91938806] [-0.39334635] [-0.00206064]] R_gt: [[ 0.99919066 0.01207448 -0.03839709] [-0.01304936 0.99959621 -0.02524361] [ 0.03807606 0.02572415 0.99894424]] t_gt: [-0.48415831 0.33200084 -0.8095469 ] Pose Error in degrees for R and t: 2.7254283686238328 71.56635166917576 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99998684e-01 -1.67104690e-04 1.61363572e-03] [ 1.70107979e-04 9.99998253e-01 -1.86123584e-03] [-1.61332188e-03 1.86150789e-03 9.99996966e-01]] t_estimated: [[0.99990176] [0.0138948 ] [0.00184615]] R_gt: [[ 0.99808734 -0.02462581 0.0567038 ] [ 0.02669579 0.99899355 -0.03604494] [-0.05575926 0.03749035 0.99774043]] t_gt: [-0.78958001 -0.5220292 0.32256614] Pose Error in degrees for R and t: 3.994195303356783 37.23500069728797 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99994435e-01 -3.33591565e-03 4.36973103e-05] [ 3.33591962e-03 9.99994432e-01 -9.11330624e-05] [-4.33930548e-05 9.12783259e-05 9.99999995e-01]] t_estimated: [[-0.01271011] [-0.9999182 ] [-0.00142771]] R_gt: [[ 0.99997921 0.00556989 0.00337304] [-0.00554324 0.99995211 -0.00807472] [-0.00341784 0.00805497 0.99996186]] t_gt: [-0.4106004 -0.79401145 -0.44827796] Pose Error in degrees for R and t: 0.7093180327379225 36.88848735053162 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.99808227e-01 1.95772815e-02 4.89665419e-04] [-1.95764516e-02 9.99807008e-01 -1.64583128e-03] [-5.21791820e-04 1.63592974e-03 9.99998526e-01]] t_estimated: [[-0.73489198] [-0.67818006] [-0.002363 ]] R_gt: [[ 0.99641741 0.08134069 0.02316697] [-0.08120353 0.99667459 -0.00685832] [-0.02364811 0.0049517 0.99970835]] t_gt: [-0.86661513 0.46867221 0.17124422] Pose Error in degrees for R and t: 3.783675843573396 71.42052841645152 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-1.85015526e-01 -9.82734108e-01 -1.71125144e-03] [ 9.82735591e-01 -1.85015046e-01 -4.35984800e-04] [ 1.11849870e-04 -1.76237165e-03 9.99998441e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9924433 0.1222113 -0.01104216] [-0.1223622 0.9923835 -0.01424447] [ 0.00921744 0.01548746 0.99983795]] t_gt: [-0.79064608 0.57665631 -0.20578209] Pose Error in degrees for R and t: 107.69016228959583 37.90658383258452 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999953e-01 3.00689623e-04 6.09787932e-05] [-3.00694760e-04 9.99999951e-01 8.42646089e-05] [-6.09534528e-05 -8.42829409e-05 9.99999995e-01]] t_estimated: [[9.76595842e-01] [2.15082433e-01] [3.28208978e-04]] R_gt: [[ 0.98015772 -0.19696769 -0.02223977] [ 0.1974154 0.98011389 0.02009089] [ 0.01783982 -0.02408313 0.99955076]] t_gt: [ 0.86078036 -0.50766826 0.03647055] Pose Error in degrees for R and t: 11.520737980212722 42.99140764517235 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99953761e-01 9.59424229e-03 6.52878740e-04] [-9.59403321e-03 9.99953924e-01 -3.22619204e-04] [-6.55943945e-04 3.16340546e-04 9.99999735e-01]] t_estimated: [[ 0.74161015] [-0.6708301 ] [-0.00116927]] R_gt: [[ 0.89627136 -0.44343453 0.00797684] [ 0.44347731 0.89585833 -0.02765747] [ 0.0051177 0.02832657 0.9995851 ]] t_gt: [ 0.91670968 -0.39201816 -0.07723421] Pose Error in degrees for R and t: 26.928649219319684 19.4540162561028 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 1.00000000e+00 -7.77156117e-16 6.07153217e-18] [ 8.88178420e-16 1.00000000e+00 1.27935856e-17] [ 1.75640752e-16 -1.66750294e-16 1.00000000e+00]] t_estimated: [[-0.42680745] [-0.90434106] [-0.00163 ]] R_gt: [[ 0.78413896 -0.61330501 0.09478158] [ 0.62048783 0.77753103 -0.10217582] [-0.01103132 0.1389312 0.99024055]] t_gt: [ 0.95029412 -0.24387664 -0.19355947] Pose Error in degrees for R and t: 39.108278749116614 79.35464087488732 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 1.00000000e+00 4.76632459e-14 3.41021673e-16] [-4.57604243e-14 1.00000000e+00 -1.21779463e-15] [ 1.14615966e-15 1.21779463e-15 1.00000000e+00]] t_estimated: [[-8.80578437e-12] [-1.00000000e+00] [-8.79677536e-15]] R_gt: [[ 0.9954009 0.07991222 0.05284074] [-0.08063318 0.99667538 0.01167227] [-0.05173117 -0.01587919 0.99853419]] t_gt: [-0.33556302 0.83926391 0.4278242 ] Pose Error in degrees for R and t: 5.55411090040789 32.93752829903652 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.16002553 0.98710708 0.0033832 ] [-0.9870949 -0.160001 -0.00658288] [-0.00595669 -0.00439297 0.99997261]] t_estimated: [[0.09273954] [0.99567136] [0.00615788]] R_gt: [[ 0.982516 0.15941589 0.09617236] [-0.1542067 0.98625078 -0.05939807] [-0.10431793 0.04352989 0.99359101]] t_gt: [-0.28686654 0.94015496 0.18389191] Pose Error in degrees for R and t: 90.30771437808647 24.409675704204595 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.88282304e-01 1.52637107e-01 -1.79164773e-05] [-1.52637108e-01 9.88282286e-01 -1.92430680e-04] [-1.16655252e-05 1.92910555e-04 9.99999981e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.96199811 0.26005666 0.08325044] [-0.25680399 0.96527868 -0.04782902] [-0.09279783 0.02463255 0.9953801 ]] t_gt: [-0.24603573 0.96271623 0.112445 ] Pose Error in degrees for R and t: 8.314337427251688 75.93856478842108 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 2.02566172e-01 -9.79267225e-01 -1.62721488e-03] [-9.79267990e-01 -2.02567591e-01 7.58393167e-04] [-1.07229057e-03 1.43985464e-03 -9.99998389e-01]] t_estimated: [[0.71278535] [0.70138079] [0.00142557]] R_gt: [[ 0.99917266 -0.00505557 -0.04034358] [ 0.00146044 0.99606232 -0.08863785] [ 0.04063284 0.08850591 0.99524636]] t_gt: [ 0.27065963 0.64686006 -0.71296243] Pose Error in degrees for R and t: 174.56640554214957 49.789243801458255 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.46122515e-01 -3.23806573e-01 -1.22094642e-03] [ 3.23808186e-01 9.46121554e-01 1.50456593e-03] [ 6.67975389e-04 -1.81885614e-03 9.99998123e-01]] t_estimated: [[-0.61339889] [-0.78977279] [-0.00086884]] R_gt: [[ 0.99989283 0.01305329 0.0065948 ] [-0.01192702 0.9887835 -0.14887647] [-0.00846445 0.14878247 0.98883437]] t_gt: [ 0.07276886 0.77957317 -0.62206942] Pose Error in degrees for R and t: 21.42712907849822 48.71678646065443 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 8.65935106e-01 -5.00156332e-01 1.90332050e-04] [ 5.00156359e-01 8.65935100e-01 -1.38319825e-04] [-9.56336668e-05 2.14971777e-04 9.99999972e-01]] t_estimated: [[-0.7516172 ] [-0.65959906] [-0.00081432]] R_gt: [[ 0.99810793 0.06098046 -0.00791994] [-0.0614836 0.98752222 -0.14497951] [-0.00101972 0.14519191 0.9894036 ]] t_gt: [ 0.04978731 0.85993274 -0.50797333] Pose Error in degrees for R and t: 34.531511867770234 52.82739683510967 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.27377197e-01 -3.74125466e-01 1.29247688e-03] [ 3.74127180e-01 9.27376130e-01 -1.53868969e-03] [-6.22949208e-04 1.91049647e-03 9.99997981e-01]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.9942738 -0.10635992 0.01040497] [ 0.10642445 0.99430338 -0.005816 ] [-0.00972694 0.00688927 0.99992881]] t_gt: [ 0.84463664 -0.53403311 0.03738437] Pose Error in degrees for R and t: 15.873407656110512 59.358969026373074 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99787609e-01 -2.06046114e-02 -4.31423282e-04] [ 2.06049130e-02 9.99787447e-01 7.06656953e-04] [ 4.16771190e-04 -7.15396304e-04 9.99999657e-01]] t_estimated: [[9.99987772e-01] [4.87798864e-03] [8.12998175e-04]] R_gt: [[ 0.98584957 -0.16402201 0.0346219 ] [ 0.16343419 0.98636747 0.01920097] [-0.037299 -0.01327147 0.99921605]] t_gt: [ 0.84412176 -0.47716539 0.2444824 ] Pose Error in degrees for R and t: 8.553765664111904 32.6499272522004 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-7.35783207e-01 -6.77215022e-01 -1.69870494e-03] [ 6.77212984e-01 -7.35785165e-01 1.66303822e-03] [-2.37611636e-03 7.32505558e-05 9.99997174e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.90605198e-01 -1.36579462e-01 -6.99624919e-03] [ 1.36579582e-01 9.90628580e-01 -3.70409932e-04] [ 6.98204274e-03 -5.88757403e-04 9.99975350e-01]] t_gt: [ 0.9525635 -0.30416925 0.01019077] Pose Error in degrees for R and t: 129.52412737997105 17.89459865397018 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999921e-01 -3.83134362e-04 1.08931559e-04] [ 3.83132810e-04 9.99999927e-01 1.42685466e-05] [-1.08937018e-04 -1.42268102e-05 9.99999994e-01]] t_estimated: [[9.99992907e-01] [3.71851743e-03] [5.99474704e-04]] R_gt: [[ 0.99698319 -0.07683038 0.01103046] [ 0.07693748 0.99699005 -0.00960669] [-0.01025811 0.01042692 0.99989257]] t_gt: [ 0.85068344 -0.52565924 0.0044783 ] Pose Error in degrees for R and t: 4.4663055026025775 31.926692314336837 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99890779e-01 2.72362294e-05 1.47793675e-02] [ 2.22836994e-04 9.99856847e-01 -1.69185174e-02] [-1.47777126e-02 1.69199629e-02 9.99747635e-01]] t_estimated: [[0.99986256] [0.00287901] [0.01632677]] R_gt: [[ 0.98089577 -0.19318272 0.02288851] [ 0.19302165 0.98115338 0.00904711] [-0.02420367 -0.00445545 0.99969658]] t_gt: [ 0.85110328 -0.51223041 0.11507918] Pose Error in degrees for R and t: 11.22345693580995 31.6367727166311 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99792353e-01 -2.03762458e-02 2.42996494e-04] [ 2.03767413e-02 9.99789843e-01 -2.24890632e-03] [-1.97121158e-04 2.25339081e-03 9.99997442e-01]] t_estimated: [[-0.65110641] [-0.75897225] [-0.00464327]] R_gt: [[ 0.97490072 -0.21945406 0.03752103] [ 0.21840088 0.97539152 0.03023207] [-0.04323129 -0.02127849 0.99883835]] t_gt: [ 0.85354556 -0.47630577 0.21117006] Pose Error in degrees for R and t: 11.826660384458934 78.74203638693473 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99440327e-01 -3.34519319e-02 -1.30446056e-05] [ 3.34519317e-02 9.99440327e-01 -1.04566632e-05] [ 1.33871005e-05 1.00144436e-05 1.00000000e+00]] t_estimated: [[ 7.51775834e-01] [-6.59418492e-01] [-5.90668098e-04]] R_gt: [[ 0.99650892 -0.07013058 -0.04529318] [ 0.07076637 0.99741402 0.01259263] [ 0.04429258 -0.01575349 0.99889427]] t_gt: [ 0.4323443 -0.85755846 -0.27869679] Pose Error in degrees for R and t: 3.430884065205837 27.04111482889639 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.86081200e-01 1.66264152e-01 3.14854900e-04] [-1.66264137e-01 9.86081250e-01 -7.34301552e-05] [-3.22681316e-04 2.00590173e-05 9.99999948e-01]] t_estimated: [[ 0.58667135] [-0.80982444] [-0.001053 ]] R_gt: [[ 0.99223767 -0.12029962 -0.03149851] [ 0.12046198 0.99271256 0.00329714] [ 0.03087183 -0.00706556 0.99949864]] t_gt: [ 0.46413259 -0.87515452 -0.13669496] Pose Error in degrees for R and t: 16.587429265368947 11.139784541346984 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 8.35370822e-01 -5.49682752e-01 -2.11229779e-03] [ 5.49684103e-01 8.35372600e-01 7.16912061e-05] [ 1.72514828e-03 -1.22098526e-03 9.99997767e-01]] t_estimated: [[0.98331608] [0.18190205] [0.00106371]] R_gt: [[ 0.98237835 -0.18495414 -0.02691257] [ 0.18542893 0.98252158 0.01638868] [ 0.02341083 -0.02109001 0.9995038 ]] t_gt: [ 0.47444149 -0.88022716 -0.01026715] Pose Error in degrees for R and t: 22.73228496193825 72.15759496963311 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 1.81616998e-01 9.83368456e-01 1.32140964e-03] [-9.83367488e-01 1.81619102e-01 -1.69880910e-03] [-1.91054852e-03 -9.90898664e-04 9.99997684e-01]] t_estimated: [[0.27732175] [0.96077591] [0.00151542]] R_gt: [[ 9.95380821e-01 -9.60034681e-02 -2.29005609e-04] [ 9.60031399e-02 9.95376104e-01 3.20110302e-03] [-7.85800740e-05 -3.20843596e-03 9.99995324e-01]] t_gt: [ 0.83704118 -0.54712421 0.00414276] Pose Error in degrees for R and t: 85.0453385442597 72.93072411170392 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999897e-01 2.90016540e-04 -3.49680550e-04] [-2.89814115e-04 9.99999791e-01 5.78797273e-04] [ 3.49848338e-04 -5.78695870e-04 9.99999771e-01]] t_estimated: [[8.76149328e-01] [4.82039146e-01] [7.85080043e-04]] R_gt: [[ 0.98857361 -0.14736053 0.03172038] [ 0.14639169 0.98874185 0.03096706] [-0.03592522 -0.02597009 0.99901684]] t_gt: [ 0.76363659 -0.61855788 0.18505487] Pose Error in degrees for R and t: 8.837533337369187 68.22048487998632 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.12813901 0.99127955 0.03074497] [ 0.99154493 -0.12741026 -0.02460238] [-0.02047061 0.03363754 -0.99922443]] t_estimated: [[-0.98955291] [ 0.14048896] [-0.03237114]] R_gt: [[ 0.98466998 -0.17412628 0.0102196 ] [ 0.1734085 0.98356448 0.05031205] [-0.01881151 -0.04776822 0.99868139]] t_gt: [ 0.70618938 -0.68089742 0.19410115] Pose Error in degrees for R and t: 179.3202125254823 36.79787345234659 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.98402877e-01 5.64950515e-02 6.31729637e-05] [-5.64950553e-02 9.98402877e-01 5.87164067e-05] [-5.97548823e-05 -6.21915895e-05 9.99999996e-01]] t_estimated: [[0.95889017] [0.28377555] [0.00103581]] R_gt: [[ 9.93943535e-01 -1.09843564e-01 -3.24124119e-03] [ 1.09891160e-01 9.93582612e-01 2.67819255e-02] [ 2.78544655e-04 -2.69764626e-02 9.99635921e-01]] t_gt: [ 0.81375736 -0.55487243 0.17296112] Pose Error in degrees for R and t: 9.671068371861193 51.46270920068971 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.75542243 0.65519108 0.00784851] [ 0.65482182 -0.75446146 -0.04467975] [-0.02335238 0.03889146 -0.99897053]] t_estimated: [[0.951708 ] [0.30700258] [0.00113705]] R_gt: [[ 0.99732816 -0.07005894 0.02067362] [ 0.06947719 0.99719918 0.02766476] [-0.02255367 -0.02615456 0.9994039 ]] t_gt: [ 0.79328475 -0.36413357 0.48796111] Pose Error in degrees for R and t: 178.47374786193723 49.92870407524436 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99998776e-01 -1.55968040e-03 1.23805808e-04] [ 1.55969371e-03 9.99998778e-01 -1.07532100e-04] [-1.23637941e-04 1.07725068e-04 9.99999987e-01]] t_estimated: [[ 0.99999204] [-0.00376473] [ 0.00131795]] R_gt: [[ 0.9996898 0.02474666 0.00285011] [-0.0247898 0.99956216 0.0161094 ] [-0.00245013 -0.01617488 0.99986594]] t_gt: [-0.3854318 0.89791969 0.21256192] Pose Error in degrees for R and t: 1.7795994565313822 67.13699881508106 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 9.12201711e-01 4.09741409e-01 -1.24083364e-04] [-4.09741346e-01 9.12201679e-01 3.55368606e-04] [ 2.58798286e-04 -2.73325766e-04 9.99999929e-01]] t_estimated: [[0.721127 ] [0.69280248] [0.00076553]] R_gt: [[ 0.9964676 -0.02873772 -0.07890934] [ 0.03254247 0.99834785 0.04736864] [ 0.07741778 -0.04976974 0.99575567]] t_gt: [ 0.16087084 -0.84907698 -0.50317874] Pose Error in degrees for R and t: 26.46709973465943 61.795529476626086 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[-0.40375611 -0.91484474 -0.006333 ] [ 0.91480888 -0.40379874 0.00844301] [-0.0102813 -0.00238456 0.9999443 ]] t_estimated: [[0.93392055] [0.35746614] [0.00322042]] R_gt: [[ 0.99286107 -0.09180761 -0.07613985] [ 0.09441276 0.99504006 0.03134588] [ 0.07288451 -0.03831105 0.99660454]] t_gt: [ 0.33577144 -0.90101372 -0.27464855] Pose Error in degrees for R and t: 108.5321186416441 89.46241244783137 Number of keypoints: Image1: 399 Image2: 399 R_estimated: [[ 9.53305245e-01 3.02007928e-01 5.67059704e-04] [-3.02007859e-01 9.53305413e-01 -2.05365474e-04] [-6.02603087e-04 2.45194965e-05 9.99999818e-01]] t_estimated: [[0.66353148] [0.74814689] [0.0014874 ]] R_gt: [[ 0.98844795 -0.12926797 -0.07912522] [ 0.13138364 0.99108505 0.02213005] [ 0.07555983 -0.0322699 0.99661849]] t_gt: [ 0.37004935 -0.89073238 -0.2639305 ] Pose Error in degrees for R and t: 25.51779331122752 65.08635398923788 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.92882250e-01 1.19099156e-01 4.77759921e-04] [-1.19099376e-01 9.92882231e-01 4.62838620e-04] [-4.19235647e-04 -5.16445159e-04 9.99999779e-01]] t_estimated: [[0.55870364] [0.82936513] [0.00193012]] R_gt: [[ 0.99774246 -0.05343814 0.04065767] [ 0.05624761 0.9958598 -0.07140891] [-0.03667382 0.07353432 0.99661762]] t_gt: [ 0.8065496 0.41791764 -0.41811792] Pose Error in degrees for R and t: 11.048599813536837 37.210274233757346 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999211e-01 -1.24000959e-03 1.99796710e-04] [ 1.24000618e-03 9.99999231e-01 1.72173869e-05] [-1.99817906e-04 -1.69696241e-05 9.99999980e-01]] t_estimated: [[1.85271865e-01] [9.82687027e-01] [7.36404151e-04]] R_gt: [[ 0.99708844 -0.07151081 0.02646844] [ 0.07454566 0.98719167 -0.14105217] [-0.0160425 0.14261516 0.98964823]] t_gt: [ 0.63522242 0.574503 -0.51617709] Pose Error in degrees for R and t: 9.228802320412651 47.01041788335728 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.73697537e-01 -2.27844467e-01 -7.31559614e-05] [ 2.27844479e-01 9.73697463e-01 3.79261941e-04] [-1.51809611e-05 -3.85954600e-04 9.99999925e-01]] t_estimated: [[-6.15446464e-02] [ 9.98104313e-01] [ 1.92032154e-04]] R_gt: [[ 0.99739173 -0.05351237 0.04843237] [ 0.06339987 0.97026957 -0.23357274] [-0.03449409 0.23603435 0.97113185]] t_gt: [ 0.36379923 0.70001509 -0.61451525] Pose Error in degrees for R and t: 16.91314122640839 47.454134903968054 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.88534567 -0.46383988 -0.03186854] [-0.46370034 0.88590967 -0.01208552] [ 0.03383839 0.00407759 -0.999419 ]] t_estimated: [[ 0.97205823] [ 0.23417465] [-0.01627969]] R_gt: [[ 0.99262042 0.1152023 0.03787966] [-0.11589559 0.99312368 0.01660023] [-0.03570615 -0.02086865 0.99914455]] t_gt: [-0.84248502 0.46119616 0.27841893] Pose Error in degrees for R and t: 179.61182009543074 44.31772658406834 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.30347935e-01 3.66677936e-01 -1.07568444e-04] [-3.66677943e-01 9.30347803e-01 -5.00975713e-04] [-8.36206751e-05 5.05524695e-04 9.99999869e-01]] t_estimated: [[-9.31555719e-01] [ 3.63597941e-01] [-6.93210907e-04]] R_gt: [[ 0.93727091 0.34567733 0.04505768] [-0.34630599 0.93809795 0.00671435] [-0.0399464 -0.0218972 0.99896206]] t_gt: [-0.84564817 0.52524491 0.09485228] Pose Error in degrees for R and t: 2.906943765832439 11.852219458102939 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.95334966e-01 -9.64794569e-02 -1.42433676e-04] [ 9.64777528e-02 9.95306175e-01 7.59355505e-03] [-5.90856951e-04 -7.57187254e-03 9.99971158e-01]] t_estimated: [[-0.73080992] [-0.68257096] [ 0.00370755]] R_gt: [[ 0.86077775 0.50288922 0.07850946] [-0.50373095 0.8638016 -0.01013306] [-0.07291212 -0.03082567 0.99686148]] t_gt: [-0.80780055 0.58168392 0.0954049 ] Pose Error in degrees for R and t: 36.07892815189282 78.83343840183782 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.47485584e-01 -3.19797747e-01 -6.84955917e-04] [ 3.19797815e-01 9.47485809e-01 -1.15197123e-05] [ 6.52669989e-04 -2.08132644e-04 9.99999765e-01]] t_estimated: [[ 8.07811319e-01] [-5.89440786e-01] [-6.57450014e-04]] R_gt: [[ 0.99655433 -0.08185205 0.01343888] [ 0.08181293 0.99664225 0.00344439] [-0.01367473 -0.00233253 0.99990364]] t_gt: [ 0.86801734 -0.4691625 0.16258058] Pose Error in degrees for R and t: 13.981133579808667 12.141580010192934 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 0.17569019 0.98443941 0.00346395] [-0.98444219 0.17567938 0.0032139 ] [ 0.00255535 -0.00397471 0.99998884]] t_estimated: [[0.5725982 ] [0.81983563] [0.0009191 ]] R_gt: [[ 0.99616583 -0.08709315 0.00819569] [ 0.08696164 0.99609658 0.01518366] [-0.00948583 -0.01441229 0.99985108]] t_gt: [ 0.92164809 -0.31107547 0.23194148] Pose Error in degrees for R and t: 84.8762678046062 74.16211240578633 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.80846815e-01 -1.94780559e-01 2.42636651e-04] [ 1.94780564e-01 9.80846844e-01 5.55621183e-06] [-2.39071635e-04 4.18111109e-05 9.99999971e-01]] t_estimated: [[0.8014921 ] [0.59800447] [0.0010382 ]] R_gt: [[ 0.99640414 -0.03738424 -0.07602865] [ 0.03243514 0.99733765 -0.0653092 ] [ 0.07826765 0.06260845 0.99496373]] t_gt: [ 0.53248348 0.39578696 -0.74820721] Pose Error in degrees for R and t: 10.87480084013135 48.49488755703433 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.98902702e-01 -4.68336392e-02 -4.91636429e-05] [ 4.68336432e-02 9.98902699e-01 8.52629579e-05] [ 4.51165210e-05 -8.74719116e-05 9.99999995e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99855464 -0.01377598 0.05193861] [ 0.01578931 0.99913126 -0.03855407] [-0.05136235 0.03931825 0.99790626]] t_gt: [0.93796037 0.30853273 0.15823371] Pose Error in degrees for R and t: 4.143214968231158 71.66689409157435 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999326e-01 -1.02585227e-03 5.43382220e-04] [ 1.02631442e-03 9.99999111e-01 -8.50915554e-04] [-5.42508824e-04 8.51472662e-04 9.99999490e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99264947 0.0810707 0.08985076] [-0.07556325 0.99514239 -0.06309768] [-0.09453029 0.05584446 0.9939547 ]] t_gt: [-0.09158657 0.98402759 0.15264859] Pose Error in degrees for R and t: 7.738662574177882 84.92748154191847 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.42885862 0.90335549 0.00539828] [ 0.90337078 -0.42885871 -0.00120036] [ 0.00123075 0.00539143 -0.99998471]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97719311 0.18581196 0.1027906 ] [-0.17605973 0.97958447 -0.0970333 ] [-0.11872267 0.07672314 0.98995888]] t_gt: [-0.18105293 0.979386 0.08957068] Pose Error in degrees for R and t: 172.14274397277686 79.74987266147618 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.49153338 0.86751471 0.07624417] [ 0.86763804 0.49535776 -0.04271919] [-0.07482766 0.04515443 -0.99617363]] t_estimated: [[ 0.8334325 ] [-0.55085391] [ 0.04416146]] R_gt: [[ 0.99754647 0.03814548 0.05869532] [-0.03850551 0.99924674 0.00501917] [-0.05845922 -0.00726705 0.99826232]] t_gt: [-0.69494672 0.33901298 0.63412874] Pose Error in degrees for R and t: 172.26353371283196 42.44430082859967 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-6.09742278e-01 -7.92597030e-01 -2.07443671e-03] [ 7.92599431e-01 -6.09742277e-01 -7.06047372e-04] [-7.05260712e-04 -2.07470429e-03 9.99997599e-01]] t_estimated: [[0.99987132] [0.01600648] [0.0010671 ]] R_gt: [[ 0.99486776 0.09626335 0.03116139] [-0.09644002 0.99533093 0.00422084] [-0.03061018 -0.00720387 0.99950499]] t_gt: [-0.81895911 0.53957255 0.19536489] Pose Error in degrees for R and t: 133.10885140387313 35.90322910071771 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99200411 -0.12618404 -0.00233125] [ 0.12618983 0.99200289 0.00252969] [ 0.0019934 -0.00280364 0.99999408]] t_estimated: [[-0.71285385] [-0.70131225] [-0.00071549]] R_gt: [[ 0.9930951 0.11649962 -0.01376865] [-0.11620366 0.99301266 0.02059164] [ 0.0160708 -0.01884898 0.99969323]] t_gt: [-0.83097413 0.5563058 -0.00241864] Pose Error in degrees for R and t: 13.984993198789262 78.33314639440468 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99998619e-01 1.66131584e-03 -5.12532761e-05] [-1.66132640e-03 9.99998599e-01 -2.06825850e-04] [ 5.09096012e-05 2.06910713e-04 9.99999977e-01]] t_estimated: [[ 0.08309558] [-0.99654043] [-0.00151723]] R_gt: [[ 0.99819669 0.05902882 0.01088028] [-0.05874992 0.99797555 -0.02436176] [-0.01229718 0.02367873 0.99964392]] t_gt: [-0.78875818 0.60982068 -0.07732577] Pose Error in degrees for R and t: 3.616240344454381 47.69043682328999 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99997094e-01 2.40748271e-03 -1.27784617e-04] [-2.40751750e-03 9.99997065e-01 -2.72812695e-04] [ 1.27127450e-04 2.73119546e-04 9.99999955e-01]] t_estimated: [[-0.11395556] [-0.99348477] [-0.00146467]] R_gt: [[ 0.99770682 0.06765362 0.00168323] [-0.06749399 0.99655714 -0.04813965] [-0.00493415 0.04791588 0.99883849]] t_gt: [-0.81903189 0.54269012 -0.1862101 ] Pose Error in degrees for R and t: 4.639281027087806 63.54157008295847 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 8.48531192e-01 5.29145175e-01 4.47682132e-04] [-5.29144360e-01 8.48530926e-01 -1.23012411e-03] [-1.03078637e-03 8.06910204e-04 9.99999143e-01]] t_estimated: [[-9.99997205e-01] [-2.26170911e-03] [-6.88586737e-04]] R_gt: [[ 0.99996253 0.0058622 0.00625312] [-0.0054153 0.9975985 -0.06905135] [-0.00664263 0.06901485 0.99759302]] t_gt: [-0.86906871 0.3776598 -0.3195194 ] Pose Error in degrees for R and t: 31.858824736529854 29.723047603307517 Number of keypoints: Image1: 355 Image2: 355 R_estimated: [[ 9.76795167e-01 2.14175631e-01 1.20499718e-05] [-2.14175628e-01 9.76795163e-01 -1.01104568e-04] [-3.34244889e-05 9.61776434e-05 9.99999995e-01]] t_estimated: [[-0.99721996] [ 0.07450687] [-0.00104122]] R_gt: [[ 0.99269201 0.11938433 0.01759582] [-0.11911326 0.99275563 -0.01578622] [-0.01935193 0.013576 0.9997203 ]] t_gt: [-0.84425243 0.53349373 -0.05120807] Pose Error in degrees for R and t: 5.680078767353062 28.150953745901028 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-8.97558667e-01 -4.40895039e-01 -6.05990062e-05] [-4.40891336e-01 8.97550549e-01 4.22393519e-03] [-1.80792140e-03 3.81794722e-03 -9.99991077e-01]] t_estimated: [[0.99418082] [0.1077182 ] [0.00113418]] R_gt: [[ 0.96529883 0.25775707 0.04195119] [-0.25763977 0.96620523 -0.00828344] [-0.04266823 -0.00281172 0.99908505]] t_gt: [-0.83375778 0.55063031 0.04067213] Pose Error in degrees for R and t: 177.63345166681142 39.686776305210465 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.98307966e-01 5.81474867e-02 -2.72167737e-04] [-5.81474315e-02 9.98307985e-01 2.06755107e-04] [ 2.83729515e-04 -1.90579415e-04 9.99999942e-01]] t_estimated: [[-9.91736558e-01] [-1.28289988e-01] [-5.26800770e-04]] R_gt: [[ 0.90245666 0.42610591 0.06328479] [-0.42283567 0.90428716 -0.05895236] [-0.08234736 0.02644381 0.99625291]] t_gt: [-0.77903637 0.62688408 -0.01089398] Pose Error in degrees for R and t: 22.388454963194913 46.196946519519436 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[ 9.99999986e-01 -6.78675412e-05 -1.55248101e-04] [ 6.78971199e-05 9.99999980e-01 1.90527831e-04] [ 1.55235167e-04 -1.90538370e-04 9.99999970e-01]] t_estimated: [[-0.71465215] [ 0.69947714] [ 0.0020077 ]] R_gt: [[ 0.98922456 0.14591046 0.01204515] [-0.14574809 0.98922982 -0.01347297] [-0.01388076 0.01157118 0.9998369 ]] t_gt: [-0.86012041 0.50811423 -0.04486437] Pose Error in degrees for R and t: 8.455132101319025 14.067248007861371 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-8.83684155e-01 -4.68079548e-01 1.96252943e-03] [-4.68083535e-01 8.83679239e-01 -2.96756603e-03] [-3.45189554e-04 -3.54101879e-03 -9.99993671e-01]] t_estimated: [[0.97749663] [0.21093957] [0.00219829]] R_gt: [[ 0.96998914 0.24252222 0.01744418] [-0.24260594 0.97012104 0.0028131 ] [-0.01624112 -0.00696107 0.99984431]] t_gt: [-0.83292503 0.5524161 0.03274676] Pose Error in degrees for R and t: 178.89772219196203 45.76659133058689 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-8.12630695e-01 -5.82778915e-01 3.00527753e-04] [-5.82775008e-01 8.12626938e-01 3.27870399e-03] [-2.15497650e-03 2.48923543e-03 -9.99994580e-01]] t_estimated: [[9.99994892e-01] [3.10075945e-03] [7.75189839e-04]] R_gt: [[ 0.91313512 0.40613284 0.0352258 ] [-0.40482122 0.91356506 -0.03896818] [-0.04800653 0.02132198 0.99861978]] t_gt: [-0.78487348 0.61921819 -0.0232907 ] Pose Error in degrees for R and t: 178.1835721467593 38.46691623440325 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.99885048e-01 1.51621794e-02 1.39669099e-06] [-1.51621792e-02 9.99885044e-01 -8.81261422e-05] [-2.73271480e-06 8.80948350e-05 9.99999996e-01]] t_estimated: [[-8.10222390e-01] [-5.86122136e-01] [-7.20722095e-04]] R_gt: [[ 0.99822924 0.0482304 0.03483203] [-0.04787098 0.99879304 -0.011078 ] [-0.03532353 0.00939055 0.999331 ]] t_gt: [-0.70069368 0.67780717 0.2227236 ] Pose Error in degrees for R and t: 2.8172594114118117 80.19593568411645 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99999984e-01 9.78080436e-05 -1.52312330e-04] [-9.78370862e-05 9.99999977e-01 -1.90682012e-04] [ 1.52293676e-04 1.90696911e-04 9.99999970e-01]] t_estimated: [[-0.72887071] [-0.68465061] [-0.00101618]] R_gt: [[ 0.99082313 0.1301113 0.03663407] [-0.12927096 0.99130854 -0.02446672] [-0.03949864 0.01950619 0.9990293 ]] t_gt: [-0.73931381 0.67133308 0.05222054] Pose Error in degrees for R and t: 7.865714014983628 85.4584214562669 Number of keypoints: Image1: 304 Image2: 304 R_estimated: [[-0.08451902 0.99641443 -0.00384892] [-0.99640169 -0.08454126 -0.00603677] [-0.00634051 0.00332485 0.99997437]] t_estimated: [[0.14921794] [0.98880366] [0.00115239]] R_gt: [[ 0.98799212 0.14657663 0.04886905] [-0.14480052 0.98872659 -0.03812642] [-0.05390562 0.03059264 0.99807674]] t_gt: [-0.77904198 0.62433476 0.05744297] Pose Error in degrees for R and t: 86.50924483193903 59.92298341635424 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.00000000e+00 1.10467191e-14 4.06819760e-16] [-1.10467191e-14 1.00000000e+00 -4.67182716e-16] [-3.41333949e-16 5.83910633e-16 1.00000000e+00]] t_estimated: [[ 8.72317730e-01] [-4.88939421e-01] [ 1.40595153e-04]] R_gt: [[ 0.97863409 -0.18738605 0.08463805] [ 0.19375643 0.9782095 -0.07460105] [-0.06881413 0.08940677 0.99361473]] t_gt: [ 0.89011881 -0.37405449 -0.26033008] Pose Error in degrees for R and t: 12.779345176592583 16.398817573028413 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.18163839 -0.98328363 0.01268073] [-0.98298363 0.18119349 -0.03020088] [ 0.02739837 -0.01795059 -0.99946341]] t_estimated: [[0.91293759] [0.40809541] [0.00175903]] R_gt: [[ 0.93571613 -0.33622174 0.10672561] [ 0.34323688 0.93760477 -0.05555688] [-0.08138658 0.08861748 0.9927346 ]] t_gt: [ 0.93523664 -0.3398487 -0.09917305] Pose Error in degrees for R and t: 179.32272816209675 44.361100393111144 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 1.00000000e+00 7.28861416e-14 8.00141203e-17] [-7.29416527e-14 1.00000000e+00 -5.06593465e-17] [-2.00577402e-17 2.74289597e-16 1.00000000e+00]] t_estimated: [[ 9.49418658e-01] [-3.14012851e-01] [-3.75164696e-04]] R_gt: [[ 0.92625904 -0.36737208 0.08416321] [ 0.3713319 0.92776155 -0.03703037] [-0.06447922 0.06555175 0.99576365]] t_gt: [ 0.97366489 -0.22334635 -0.04575037] Pose Error in degrees for R and t: 22.347906949678936 5.975556638310798 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 4.57948980e-01 8.88977828e-01 1.07402147e-03] [ 8.88973957e-01 -4.57950170e-01 2.63544367e-03] [ 2.83469930e-03 -2.52121627e-04 -9.99995950e-01]] t_estimated: [[-0.79249829] [-0.60987183] [-0.00167547]] R_gt: [[ 0.99993292 -0.00931277 -0.00685747] [ 0.00983025 0.9967599 0.07983765] [ 0.00609103 -0.07989894 0.99678428]] t_gt: [ 0.27903879 -0.34588524 0.89582406] Pose Error in degrees for R and t: 175.79958950028117 89.3300237321714 Number of keypoints: Image1: 605 Image2: 605 R_estimated: [[ 0.90192658 -0.43188469 -0.00201268] [-0.4318837 -0.90188101 -0.00933396] [ 0.00221599 0.00928779 -0.99995441]] t_estimated: [[ 0.26523168] [ 0.96417477] [-0.00437889]] R_gt: [[ 0.99918909 0.02014003 -0.03486263] [-0.01337502 0.98276162 0.18439606] [ 0.03797552 -0.18378042 0.98223299]] t_gt: [-0.16596476 -0.25911973 0.9514792 ] Pose Error in degrees for R and t: 170.66656579917435 72.66114699577463 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 0.80179281 -0.59404162 -0.06513711] [-0.59656507 -0.8020512 -0.02870537] [-0.03519111 0.06187428 -0.99746336]] t_estimated: [[0.90432574] [0.42684175] [0.00103352]] R_gt: [[ 0.99662264 0.05050646 -0.06475766] [-0.03444442 0.97288999 0.22869034] [ 0.07455207 -0.22568732 0.97134254]] t_gt: [-0.46865802 -0.26038753 0.84413151] Pose Error in degrees for R and t: 171.58933288880323 57.717689627203 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99942524e-01 -1.07213954e-02 -1.71906898e-05] [ 1.07213944e-02 9.99942522e-01 -6.09387952e-05] [ 1.78430506e-05 6.07509845e-05 9.99999998e-01]] t_estimated: [[-9.69537871e-01] [-2.44940000e-01] [-8.43953133e-04]] R_gt: [[ 0.99630754 0.07557457 -0.04075026] [-0.07430889 0.99673053 0.03173725] [ 0.04301564 -0.02859155 0.99866466]] t_gt: [-0.66302086 0.74499283 -0.07340996] Pose Error in degrees for R and t: 5.737984903653055 62.58661030734579 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.89143396e-01 1.46953495e-01 -1.16129751e-04] [-1.46953519e-01 9.89143370e-01 -2.37474155e-04] [ 7.99713162e-05 2.51961667e-04 9.99999965e-01]] t_estimated: [[-0.37317916] [ 0.92775881] [-0.00095636]] R_gt: [[ 0.99748319 0.04788991 -0.05229229] [-0.04876508 0.99868925 -0.01557933] [ 0.05147809 0.01809021 0.9985102 ]] t_gt: [-0.37509675 0.73111611 -0.56988741] Pose Error in degrees for R and t: 6.477322282195559 35.03288386183486 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.91567182e-01 1.29591079e-01 -8.21649993e-04] [-1.29591457e-01 9.91567383e-01 -4.24429303e-04] [ 7.59719082e-04 5.27328988e-04 9.99999572e-01]] t_estimated: [[-0.61816552] [ 0.78602568] [-0.00591757]] R_gt: [[ 0.99836742 0.03822336 -0.04245576] [-0.03786152 0.99923953 0.00930574] [ 0.0427791 -0.00768322 0.99905482]] t_gt: [-0.3822835 0.8666223 -0.32066356] Pose Error in degrees for R and t: 5.807369359867586 23.161562898085155 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99998989e-01 -1.42188098e-03 2.94697422e-05] [ 1.42187723e-03 9.99998981e-01 1.26795069e-04] [-2.96499997e-05 -1.26753038e-04 9.99999992e-01]] t_estimated: [[ 7.48869631e-03] [-9.99971942e-01] [ 1.85928398e-04]] R_gt: [[ 0.99948615 -0.03043278 0.01003331] [ 0.03054423 0.99946983 -0.01123594] [-0.00968596 0.01153632 0.9998868 ]] t_gt: [ 0.9335899 -0.33643447 -0.1233764 ] Pose Error in degrees for R and t: 1.8785336396442807 69.91624217785599 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.92259537e-01 -1.24181192e-01 -2.08650886e-04] [ 1.24181327e-01 9.92259168e-01 8.61506326e-04] [ 1.00052872e-04 -8.80748412e-04 9.99999607e-01]] t_estimated: [[-0.73633829] [-0.67661307] [-0.00081815]] R_gt: [[ 9.99881225e-01 -1.53881192e-02 6.36180257e-04] [ 1.54006648e-02 9.99258911e-01 -3.52695335e-02] [-9.29635270e-05 3.52749551e-02 9.99377076e-01]] t_gt: [ 0.40607426 0.49636313 -0.76728569] Pose Error in degrees for R and t: 6.5854171069270455 50.63739409824009 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-1.53233154e-01 9.88189441e-01 1.10907150e-03] [-9.88190000e-01 -1.53232646e-01 -5.29844672e-04] [-3.53640950e-04 -1.17716314e-03 9.99999245e-01]] t_estimated: [[0.68383764] [0.7296338 ] [0.00077621]] R_gt: [[ 0.99602315 0.07645895 -0.0457248 ] [-0.08085759 0.99131691 -0.10369076] [ 0.03739985 0.10697511 0.99355748]] t_gt: [-0.32702676 0.71666659 -0.61598904] Pose Error in degrees for R and t: 94.46342788735039 72.61488826101281 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.93615665e-01 1.12818038e-01 1.26847647e-05] [-1.12818031e-01 9.93615633e-01 -2.57282697e-04] [-4.16299096e-05 2.54209048e-04 9.99999967e-01]] t_estimated: [[-0.96198764] [-0.27309078] [-0.00110299]] R_gt: [[ 0.99874444 0.04820749 -0.01361829] [-0.04772362 0.99828739 0.03385651] [ 0.01522676 -0.0331635 0.99933372]] t_gt: [-0.18729262 0.90964415 0.37076811] Pose Error in degrees for R and t: 4.280735318773522 86.0634799003203 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.29658058e-01 -3.68423054e-01 -5.90163012e-04] [ 3.68423084e-01 9.29658231e-01 -6.01277421e-05] [ 5.70802348e-04 -1.61531437e-04 9.99999824e-01]] t_estimated: [[-0.13672458] [-0.99060826] [-0.00128985]] R_gt: [[ 0.99857163 0.05260533 -0.00933741] [-0.05189668 0.99656947 0.06446772] [ 0.0126954 -0.06389147 0.99787568]] t_gt: [0.04113731 0.837716 0.54455452] Pose Error in degrees for R and t: 24.892861434915456 33.26158559517042 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.97246110e-01 7.41633077e-02 -1.85767548e-05] [-7.41633098e-02 9.97246096e-01 -1.63685802e-04] [ 6.38611567e-06 1.64612743e-04 9.99999986e-01]] t_estimated: [[-6.07519723e-01] [-7.94304420e-01] [-5.24141777e-04]] R_gt: [[ 0.9982009 0.05153197 -0.03066605] [-0.04409011 0.97731476 0.20715463] [ 0.04064488 -0.20542947 0.97782748]] t_gt: [-0.01492895 0.10542682 0.994315 ] Pose Error in degrees for R and t: 12.187016420287252 85.68771600918521 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-6.12508735e-01 7.90453032e-01 4.12955117e-03] [-7.90463352e-01 -6.12505696e-01 -2.11232137e-03] [ 8.59682787e-04 -4.55807415e-03 9.99989242e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 9.99597572e-01 -2.83275649e-02 1.66887147e-03] [ 2.83682928e-02 9.99010299e-01 -3.42608261e-02] [-6.96633665e-04 3.42934837e-02 9.99410708e-01]] t_gt: [ 0.64965606 -0.07609041 -0.75641077] Pose Error in degrees for R and t: 129.40719692558633 79.80526477096389 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99999934e-01 3.64010424e-04 -1.95250652e-05] [-3.64007987e-04 9.99999926e-01 1.24683894e-04] [ 1.95704500e-05 -1.24676778e-04 9.99999992e-01]] t_estimated: [[-0.96393102] [ 0.26614225] [-0.00230114]] R_gt: [[ 9.99763386e-01 -2.17377697e-02 9.05446034e-04] [ 2.17550659e-02 9.99315063e-01 -2.99508467e-02] [-2.53407167e-04 2.99632984e-02 9.99550634e-01]] t_gt: [ 0.61239281 0.37122538 -0.69797332] Pose Error in degrees for R and t: 2.1396358594944713 60.666021530649495 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.78908234 -0.61428389 0.00208898] [ 0.61425878 -0.78900809 0.01234471] [-0.00593493 0.01102416 0.99992162]] t_estimated: [[0.9899216 ] [0.14161004] [0.00134867]] R_gt: [[ 0.99776063 0.05852478 -0.03239051] [-0.06105563 0.99462248 -0.08365238] [ 0.02732097 0.08544182 0.99596768]] t_gt: [-0.32272569 0.73519409 -0.59610216] Pose Error in degrees for R and t: 145.58677704312592 77.51604445121094 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.98013840e-01 6.29950041e-02 6.22214952e-05] [-6.29949933e-02 9.98013830e-01 -1.61405287e-04] [-7.22656394e-05 1.57165068e-04 9.99999985e-01]] t_estimated: [[-9.26918116e-01] [-3.75262611e-01] [-8.81974450e-04]] R_gt: [[ 0.99912723 0.0405424 -0.01010858] [-0.04023399 0.99876989 0.02898329] [ 0.01127174 -0.02855036 0.99952839]] t_gt: [-0.13023075 0.92267001 0.3629325 ] Pose Error in degrees for R and t: 2.192968736551525 76.94710937527 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.38032430e-01 3.46545121e-01 -1.28084784e-03] [-3.46544042e-01 9.38033178e-01 9.92215996e-04] [ 1.54532538e-03 -4.86860593e-04 9.99998687e-01]] t_estimated: [[-0.95830657] [-0.28573361] [-0.00219795]] R_gt: [[ 0.99915175 0.03987245 -0.01034876] [-0.03901892 0.99660253 0.07252834] [ 0.01320615 -0.07206281 0.99731257]] t_gt: [0.17646572 0.69562572 0.69639408] Pose Error in degrees for R and t: 18.47949284427486 68.32122469493126 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.43547402e-01 -3.31237491e-01 -1.57629115e-04] [ 3.31237399e-01 9.43547347e-01 -4.36275080e-04] [ 2.93241197e-04 3.59433560e-04 9.99999892e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99850048 0.04556645 -0.03034292] [-0.03809007 0.97635883 0.21277446] [ 0.03932117 -0.21129937 0.97663026]] t_gt: [-0.00806709 0.05004757 0.99871425] Pose Error in degrees for R and t: 25.03216139396714 87.07467355714762 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.91058707 0.41330766 -0.00282125] [-0.41329968 -0.91059008 -0.00301454] [-0.00381494 -0.00157898 0.99999148]] t_estimated: [[0.79482297] [0.60683645] [0.002443 ]] R_gt: [[ 0.99983186 -0.01721108 -0.00628105] [ 0.01772492 0.99542743 0.09386554] [ 0.00463664 -0.09396029 0.99556483]] t_gt: [ 0.33883498 -0.38299888 0.8593618 ] Pose Error in degrees for R and t: 156.6265923937201 87.7651522050992 Number of keypoints: Image1: 487 Image2: 487 R_estimated: [[ 8.05236133e-01 -5.92952256e-01 -1.54658920e-03] [ 5.92950383e-01 8.05237560e-01 -1.52187840e-03] [ 2.14777294e-03 3.08420822e-04 9.99997646e-01]] t_estimated: [[-0.03393091] [-0.99941942] [-0.00308463]] R_gt: [[ 0.9991236 0.0148762 -0.03912048] [-0.00729129 0.98227352 0.18731681] [ 0.04121255 -0.18686683 0.9815203 ]] t_gt: [-0.10614057 -0.30814081 0.9454012 ] Pose Error in degrees for R and t: 38.570920905772454 72.02228002043917 Number of keypoints: Image1: 415 Image2: 415 R_estimated: [[ 0.98900304 0.14772278 -0.00713901] [-0.14762348 0.98895995 0.01286552] [ 0.00896072 -0.01167015 0.99989175]] t_estimated: [[-0.85978668] [-0.51063473] [-0.0043644 ]] R_gt: [[ 0.99652119 0.05249633 -0.06472743] [-0.03606947 0.97183495 0.23289019] [ 0.07512966 -0.22974531 0.97034703]] t_gt: [-0.47325576 -0.26760305 0.83929589] Pose Error in degrees for R and t: 14.441833803610024 57.32429930945999 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.97076236e-01 7.64130670e-02 1.48482793e-04] [-7.64130510e-02 9.97076243e-01 -1.10378223e-04] [-1.56483004e-04 9.87094796e-05 9.99999983e-01]] t_estimated: [[ 8.76943339e-01] [-4.80593769e-01] [ 1.01086024e-04]] R_gt: [[ 0.97749451 -0.1931253 0.08489717] [ 0.19941845 0.97717726 -0.0731853 ] [-0.06882585 0.08846896 0.9936984 ]] t_gt: [ 0.87257256 -0.42124763 -0.24732078] Pose Error in degrees for R and t: 16.991143565110786 14.620101697386565 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-6.17303674e-02 9.98092850e-01 -1.58477904e-04] [-9.98091463e-01 -6.17305460e-02 -1.66440245e-03] [-1.67101111e-03 5.54312682e-05 9.99998602e-01]] t_estimated: [[1.40183691e-01] [9.90125287e-01] [6.70284638e-04]] R_gt: [[ 0.9391019 -0.32864502 0.10039825] [ 0.33461587 0.94105579 -0.04945318] [-0.07822732 0.08003767 0.99371679]] t_gt: [ 0.93380319 -0.34910544 -0.07833902] Pose Error in degrees for R and t: 113.08340961295436 77.59581545479399 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99263411e-01 -3.83651248e-02 -8.68093675e-04] [ 3.83655048e-02 9.99263682e-01 4.25331206e-04] [ 8.51136598e-04 -4.58322764e-04 9.99999533e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.93154512 -0.35718199 0.068158 ] [ 0.36011271 0.93218616 -0.03670145] [-0.05042679 0.0587345 0.99699832]] t_gt: [ 0.97319889 -0.22154839 -0.06164595] Pose Error in degrees for R and t: 19.375328549507675 77.49345005869522 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99837337e-01 -1.80360629e-02 -2.53106646e-06] [ 1.80360630e-02 9.99837336e-01 3.84788308e-05] [ 1.83664814e-06 -3.85182222e-05 9.99999999e-01]] t_estimated: [[-9.68049183e-01] [-2.50760267e-01] [-2.60803394e-04]] R_gt: [[ 0.99550297 0.08514669 -0.04152472] [-0.08421735 0.99616721 0.02364267] [ 0.04337847 -0.02003846 0.99885796]] t_gt: [-0.65378629 0.7434669 -0.14078513] Pose Error in degrees for R and t: 6.498059597790844 63.48052082475758 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.73789166 0.67482003 0.01156828] [ 0.67488825 -0.73758535 -0.02221941] [-0.00646151 0.02420282 -0.99968619]] t_estimated: [[-8.65483614e-01] [-5.00936528e-01] [-8.41910131e-04]] R_gt: [[ 0.99649994 0.06614392 -0.05112478] [-0.06674656 0.99771808 -0.01018179] [ 0.05033516 0.01355807 0.99864035]] t_gt: [-0.47641209 0.7560274 -0.44883637] Pose Error in degrees for R and t: 178.99726751739215 88.05254279277668 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.33640883 0.94129787 0.02806087] [-0.94169429 -0.33645419 -0.00323069] [ 0.00640016 -0.02751159 0.999601 ]] t_estimated: [[0.78774502] [0.61600083] [0.00087625]] R_gt: [[ 0.99827094 0.04359149 -0.039462 ] [-0.04313582 0.9989933 0.01231521] [ 0.03995905 -0.01059138 0.99914467]] t_gt: [-0.43390357 0.8656747 -0.24966981] Pose Error in degrees for R and t: 107.22180930233974 78.97529792926353 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 9.67313761e-01 2.53582482e-01 1.14748477e-04] [-2.53582453e-01 9.67313749e-01 -2.25231669e-04] [-1.68112585e-04 1.88771492e-04 9.99999968e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99855463 0.04079769 0.0349932 ] [-0.04038674 0.99910821 -0.01238754] [-0.03546672 0.01095715 0.99931036]] t_gt: [-0.65002364 0.72090865 0.24033306] Pose Error in degrees for R and t: 12.541382331860241 49.63920564517229 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999960e-01 -1.79077018e-04 2.17128321e-04] [ 1.79163671e-04 9.99999904e-01 -3.99130926e-04] [-2.17056825e-04 3.99169812e-04 9.99999897e-01]] t_estimated: [[-0.89139684] [-0.45322261] [-0.00096515]] R_gt: [[ 0.99143869 0.12582766 0.03487867] [-0.12526861 0.99196389 -0.01780739] [-0.03683776 0.01328649 0.99923258]] t_gt: [-0.73541261 0.67448135 0.06513995] Pose Error in degrees for R and t: 7.5594202582649 69.52544262213723 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[-0.63604551 -0.77151315 -0.01461411] [-0.77154045 0.63616123 -0.00492119] [ 0.01309369 0.00814528 -0.9998811 ]] t_estimated: [[ 0.92179492] [ 0.38761393] [-0.00703999]] R_gt: [[ 0.9876899 0.14765567 0.05164655] [-0.14598882 0.98867799 -0.03469586] [-0.05618458 0.02672914 0.99806262]] t_gt: [-0.76885414 0.63523639 0.07306182] Pose Error in degrees for R and t: 178.8328444271476 62.41825059865156 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.99999991e-01 -4.34021869e-05 -1.23212757e-04] [ 4.34107350e-05 9.99999997e-01 6.93742765e-05] [ 1.23209745e-04 -6.93796247e-05 9.99999990e-01]] t_estimated: [[-9.79600378e-01] [-2.00955168e-01] [-3.47461960e-04]] R_gt: [[ 0.98922842 0.14537299 0.0171584 ] [-0.14503957 0.98923692 -0.01933966] [-0.01978565 0.016643 0.999665 ]] t_gt: [-0.85671996 0.51221184 -0.06058002] Pose Error in degrees for R and t: 8.484685377157831 42.58005796697588 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99807938e-01 1.95978591e-02 -1.02958308e-04] [-1.95978555e-02 9.99807943e-01 3.60163670e-05] [ 1.03644377e-04 -3.39916876e-05 9.99999994e-01]] t_estimated: [[-9.94208089e-01] [-1.07471669e-01] [-3.39587218e-04]] R_gt: [[ 9.69113091e-01 2.45577586e-01 2.25945427e-02] [-2.45634668e-01 9.69362428e-01 -2.70788845e-04] [-2.19689935e-02 -5.28755472e-03 9.99744164e-01]] t_gt: [-0.83276522 0.55264577 0.03293553] Pose Error in degrees for R and t: 13.160820456069581 39.77730911581838 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 4.36375916e-02 -9.99044671e-01 -2.34668240e-03] [ 9.99047401e-01 4.36380021e-02 -1.24012801e-04] [ 2.26298860e-04 -2.33903533e-03 9.99997239e-01]] t_estimated: [[ 9.05972462e-01] [-4.23335860e-01] [ 8.04482585e-04]] R_gt: [[ 0.90913003 0.41516504 0.03347639] [-0.41332729 0.90917884 -0.05053865] [-0.05141833 0.03210856 0.99816065]] t_gt: [-0.77900079 0.62544551 -0.04444864] Pose Error in degrees for R and t: 112.03531843301852 13.936669251109185 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.99727497e-01 2.33437348e-02 -4.87589947e-05] [-2.33437338e-02 9.99727498e-01 2.08356388e-05] [ 4.92320894e-05 -1.96917441e-05 9.99999999e-01]] t_estimated: [[-9.93921586e-01] [-1.10090062e-01] [-2.42487657e-04]] R_gt: [[ 0.99355061 0.11173155 0.01928204] [-0.11156935 0.99371271 -0.0093278 ] [-0.020203 0.00711606 0.99977009]] t_gt: [-0.84943707 0.52749225 -0.01444293] Pose Error in degrees for R and t: 5.220984192359706 38.16767281386762 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.87150318e-01 -1.59793731e-01 -4.62085093e-04] [ 1.59793811e-01 9.87150403e-01 1.42374621e-04] [ 4.33396914e-04 -2.14383490e-04 9.99999883e-01]] t_estimated: [[-0.1065696 ] [-0.99430471] [-0.00103466]] R_gt: [[ 9.64709790e-01 2.59939481e-01 4.20139766e-02] [-2.59723493e-01 9.65624820e-01 -1.06198951e-02] [-4.33293097e-02 -6.67522752e-04 9.99059258e-01]] t_gt: [-0.83485269 0.5495367 0.03209985] Pose Error in degrees for R and t: 24.390021899128108 62.77601420482047 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.95195746e-01 9.79041457e-02 -4.52857093e-04] [-9.79036865e-02 9.95195446e-01 9.44268914e-04] [ 5.43129158e-04 -8.95396028e-04 9.99999452e-01]] t_estimated: [[-9.77381318e-01] [ 2.11484120e-01] [ 4.75412364e-04]] R_gt: [[ 0.90727267 0.41513741 0.06719903] [-0.41224614 0.90953075 -0.05298036] [-0.08311327 0.02036414 0.99633155]] t_gt: [-7.83715532e-01 6.21119911e-01 -1.47255724e-04] Pose Error in degrees for R and t: 19.50145527308291 26.188645470779043 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99999953e-01 -3.02020771e-04 6.06599670e-05] [ 3.02033261e-04 9.99999933e-01 -2.06006402e-04] [-6.05977447e-05 2.06024714e-04 9.99999977e-01]] t_estimated: [[0.97843564] [0.20654932] [0.00104173]] R_gt: [[ 0.997748 0.06678166 0.00628312] [-0.06665114 0.9975933 -0.0190943 ] [-0.00754239 0.01863297 0.999798 ]] t_gt: [-0.78678844 0.61276993 -0.07400648] Pose Error in degrees for R and t: 4.008464763421745 49.95929059929495 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99997188e-01 2.35483977e-03 -2.81436167e-04] [-2.35492733e-03 9.99997179e-01 -3.11175634e-04] [ 2.80702604e-04 3.11837521e-04 9.99999912e-01]] t_estimated: [[-0.31770932] [-0.94818694] [-0.00152168]] R_gt: [[ 0.99691267 0.07844467 0.00361868] [-0.07825057 0.99620304 -0.03816661] [-0.00659821 0.03776546 0.9992648 ]] t_gt: [-0.82552169 0.54935826 -0.12930368] Pose Error in degrees for R and t: 4.8751205996854665 75.02357206778086 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99997838e-01 2.03234108e-03 -4.39433887e-04] [-2.03234202e-03 9.99997935e-01 -1.68926492e-06] [ 4.39429546e-04 2.58234122e-06 9.99999903e-01]] t_estimated: [[-0.18017477] [-0.9836335 ] [-0.00147972]] R_gt: [[ 0.99962929 0.02621309 -0.00743687] [-0.02657997 0.99816134 -0.05446888] [ 0.00599533 0.05464635 0.9984877 ]] t_gt: [-0.86790057 0.40819881 -0.28305889] Pose Error in degrees for R and t: 3.4442589478099888 75.83439431221045 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.96296869e-01 8.59799359e-02 -3.76598915e-06] [-8.59799359e-02 9.96296869e-01 -1.28488905e-05] [ 2.64729641e-06 1.31251089e-05 1.00000000e+00]] t_estimated: [[ 0.13946728] [-0.99022617] [-0.00100244]] R_gt: [[ 0.99708977 -0.01593333 -0.07455476] [ 0.01963552 0.99859566 0.04921378] [ 0.0736662 -0.0505345 0.99600107]] t_gt: [-0.00422315 -0.84017493 -0.54229904] Pose Error in degrees for R and t: 7.854375917652973 33.70374683382817 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 0.2552844 0.96684858 0.00580545] [ 0.96686301 -0.25526406 -0.00402149] [-0.00240625 0.0066397 -0.99997506]] t_estimated: [[-0.85721152] [-0.5149549 ] [-0.00313997]] R_gt: [[ 0.99362206 -0.07920307 -0.08027517] [ 0.08210509 0.99605997 0.03351755] [ 0.07730413 -0.03989391 0.99620864]] t_gt: [ 0.27422805 -0.90680484 -0.3201624 ] Pose Error in degrees for R and t: 175.96016367448235 76.53228248784447 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[-0.14196593 0.98976819 0.01430418] [ 0.9897679 0.14214536 -0.01241795] [-0.01432416 0.01239489 -0.99982058]] t_estimated: [[ 0.73833514] [-0.67435764] [ 0.01014915]] R_gt: [[ 0.98968695 -0.1201737 -0.07797829] [ 0.12244319 0.99215988 0.02500957] [ 0.07436139 -0.03429914 0.99664065]] t_gt: [ 0.33631178 -0.90463414 -0.26178516] Pose Error in degrees for R and t: 176.6600078104035 31.162752836862325 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.96343518e-01 -8.54376575e-02 7.94516560e-06] [ 8.54376562e-02 9.96343513e-01 1.03549232e-04] [-1.67631180e-05 -1.02491790e-04 9.99999995e-01]] t_estimated: [[ 9.95796102e-01] [-9.15943226e-02] [ 7.76426275e-04]] R_gt: [[ 9.95789669e-01 -9.16809673e-02 2.87603715e-04] [ 9.16169563e-02 9.95195629e-01 3.45329804e-02] [-3.45184611e-03 -3.43604442e-02 9.99403986e-01]] t_gt: [ 0.78738462 -0.54450676 0.28902914] Pose Error in degrees for R and t: 2.003837610810847 33.47021069840452 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.26296658e-01 3.76794750e-01 -4.66748192e-04] [-3.76787383e-01 9.26285022e-01 5.22731357e-03] [ 2.40196617e-03 -4.66617826e-03 9.99986229e-01]] t_estimated: [[0.68656518] [0.72706759] [0.00098786]] R_gt: [[ 0.99896584 -0.04061399 0.02044773] [ 0.04009191 0.99887358 0.02537794] [-0.02145446 -0.02453108 0.99946937]] t_gt: [ 0.6694851 -0.10570677 0.73526579] Pose Error in degrees for R and t: 24.507583226110818 67.44838644799134 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.99609576 -0.06417239 -0.06062294] [-0.0638206 0.9979315 -0.00772342] [ 0.06099317 -0.00382427 -0.99813086]] t_estimated: [[ 0.99955835] [ 0.0079658 ] [-0.0286294 ]] R_gt: [[ 0.99896038 0.0455883 -0.00141168] [-0.045525 0.9985187 0.02980495] [ 0.00276809 -0.02970818 0.99955492]] t_gt: [-0.48338197 0.83970023 0.24747809] Pose Error in degrees for R and t: 176.45625049152994 61.081518745346294 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.79815048e-01 1.99906037e-01 2.19675709e-04] [-1.99905940e-01 9.79815011e-01 -3.97956881e-04] [-2.94795540e-04 3.46009662e-04 9.99999897e-01]] t_estimated: [[5.47818744e-01] [8.36596918e-01] [4.68235165e-04]] R_gt: [[ 0.99560447 -0.09313592 0.00982123] [ 0.09311462 0.99565207 0.00265311] [-0.01002507 -0.00172586 0.99994895]] t_gt: [ 0.8304302 -0.55673216 0.02085616] Pose Error in degrees for R and t: 16.884656863163936 89.37973753643078 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 1.35147698e-01 9.90823932e-01 1.74247953e-03] [-9.90824917e-01 1.35149261e-01 -8.12489607e-04] [-1.04052897e-03 -1.61668604e-03 9.99998152e-01]] t_estimated: [[0.28303928] [0.9591072 ] [0.00146652]] R_gt: [[ 0.98893702 -0.14514814 0.03057953] [ 0.14454371 0.98927328 0.02113978] [-0.03332014 -0.01648501 0.99930929]] t_gt: [ 0.77958613 -0.61154347 0.13512975] Pose Error in degrees for R and t: 90.5808965943788 68.55031229106449 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 8.70014809e-01 -4.93025586e-01 -5.76447010e-05] [ 4.93025542e-01 8.70014667e-01 5.42167880e-04] [-2.17150902e-04 -5.00114394e-04 9.99999851e-01]] t_estimated: [[9.80109941e-01] [1.98454302e-01] [6.27389650e-04]] R_gt: [[ 0.98442305 -0.1750729 0.01610211] [ 0.17416262 0.98360735 0.04675032] [-0.02402306 -0.04321686 0.99877777]] t_gt: [ 0.7120266 -0.67828511 0.18151427] Pose Error in degrees for R and t: 19.67574197416331 55.71084815206653 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.20896344 -0.97783375 -0.01324539] [-0.97780084 0.20913255 -0.0130033 ] [ 0.01548511 0.01023414 -0.99982772]] t_estimated: [[ 0.78023555] [ 0.62542241] [-0.00890517]] R_gt: [[ 0.99722178 0.04062192 0.06245105] [-0.04120759 0.99911832 0.00811027] [-0.06206685 -0.01066188 0.99801476]] t_gt: [-0.67256642 0.30009079 0.67646133] Pose Error in degrees for R and t: 177.94130462635775 69.9340997402351 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.83373014e-01 1.81593908e-01 -1.08046975e-03] [-1.81594141e-01 9.83373557e-01 -1.20476365e-04] [ 1.04062760e-03 3.14680182e-04 9.99999409e-01]] t_estimated: [[-0.98477664] [-0.17380229] [-0.00278083]] R_gt: [[ 0.9950403 0.09206625 0.03767446] [-0.09207687 0.99575061 -0.00147035] [-0.03765022 -0.00200572 0.99928891]] t_gt: [-0.81321366 0.51459215 0.27180593] Pose Error in degrees for R and t: 5.63422300073314 44.712933327001814 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.75662752e-01 -2.19274507e-01 -9.40937222e-04] [ 2.19274864e-01 9.75663081e-01 2.93124587e-04] [ 8.53762960e-04 -4.92314622e-04 9.99999514e-01]] t_estimated: [[8.39661099e-01] [5.43110572e-01] [3.81254126e-04]] R_gt: [[ 0.99372918 0.11050601 -0.01705363] [-0.11024236 0.99378029 0.01575269] [ 0.01868848 -0.0137743 0.99973009]] t_gt: [-0.83376421 0.55189552 -0.01576631] Pose Error in degrees for R and t: 19.046528447924373 66.40024618267154 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99972317e-01 7.40609832e-03 7.17089723e-04] [-7.40444221e-03 9.99969975e-01 -2.28524525e-03] [-7.33992944e-04 2.27987234e-03 9.99997132e-01]] t_estimated: [[-0.99979389] [-0.02015387] [-0.00244885]] R_gt: [[ 0.99816051 -0.00722526 0.0601982 ] [ 0.00873767 0.99965209 -0.02490224] [-0.05999667 0.02538217 0.99787536]] t_gt: [0.69874361 0.34129293 0.62871019] Pose Error in degrees for R and t: 3.7528977740434515 45.00722757139782 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99950507e-01 -9.91523453e-03 -8.19700162e-04] [ 9.91444623e-03 9.99950390e-01 -9.60229788e-04] [ 8.29180400e-04 9.52055390e-04 9.99999203e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99123161 0.085171 0.10102107] [-0.07964444 0.99516078 -0.05753994] [-0.10543226 0.04898974 0.99321816]] t_gt: [-0.13475959 0.95680525 0.25761127] Pose Error in degrees for R and t: 8.543083373512628 82.438380246027 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-9.59962747e-01 -2.80127493e-01 -3.34222939e-04] [-2.78283970e-01 9.53507199e-01 1.15680825e-01] [-3.20866956e-02 1.11142292e-01 -9.93286381e-01]] t_estimated: [[0.99874854] [0.04962726] [0.00620341]] R_gt: [[ 0.9752219 0.19358001 0.10708678] [-0.18568418 0.97939241 -0.07944323] [-0.12025765 0.05759096 0.99107055]] t_gt: [-0.20086782 0.96883291 0.14496521] Pose Error in degrees for R and t: 173.78793158199838 81.27821539253868 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99999994e-01 -9.08587963e-05 -6.08980007e-05] [ 9.08645901e-05 9.99999991e-01 9.51446889e-05] [ 6.08893554e-05 -9.51502219e-05 9.99999994e-01]] t_estimated: [[ 9.94773133e-01] [-1.02109676e-01] [-1.68028652e-04]] R_gt: [[ 0.99668606 -0.08046915 0.01188178] [ 0.08042747 0.99675239 0.00389468] [-0.01215694 -0.0029259 0.999922 ]] t_gt: [ 0.87089082 -0.46728714 0.15228889] Pose Error in degrees for R and t: 4.665098103167349 23.93197130717491 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.99397308 0.10961837 0.00115469] [-0.10961524 0.99397097 -0.00249051] [-0.00142073 0.00234892 0.99999623]] t_estimated: [[0.69018996] [0.72362773] [0.00085738]] R_gt: [[ 9.97188661e-01 -7.49232881e-02 9.15193120e-04] [ 7.49082046e-02 9.97122500e-01 1.15761881e-02] [-1.77983711e-03 -1.14744450e-02 9.99933152e-01]] t_gt: [ 0.95442929 -0.24929828 0.16405822] Pose Error in degrees for R and t: 10.619924431253342 61.41388849190806 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.98978029 0.11544104 0.08371582] [ 0.1075381 0.98979818 -0.0934619 ] [-0.09365111 -0.0835041 -0.99209704]] t_estimated: [[0.79996 ] [0.59997 ] [0.0099995]] R_gt: [[ 0.99643544 -0.01639519 -0.08274539] [ 0.01009499 0.99705703 -0.0759882 ] [ 0.08374745 0.07488265 0.99366919]] t_gt: [ 0.37739839 0.50806976 -0.77423225] Pose Error in degrees for R and t: 179.46075535816823 53.20252593657858 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.24259841 0.96985826 -0.02282479] [-0.97009147 0.24232163 -0.01423956] [-0.00827941 0.02559663 0.99963807]] t_estimated: [[0.77415333] [0.63299716] [0.00110278]] R_gt: [[ 0.99207455 0.11766909 0.0440841 ] [-0.11815223 0.99295892 0.00852567] [-0.04277098 -0.01366674 0.99899182]] t_gt: [-0.85539532 0.46665936 0.2247841 ] Pose Error in degrees for R and t: 69.28195539226424 68.49606081199707 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99862161e-01 1.66023845e-02 -1.37735641e-04] [-1.66023617e-02 9.99862158e-01 1.64804753e-04] [ 1.40452807e-04 -1.62495300e-04 9.99999977e-01]] t_estimated: [[-9.97379770e-01] [-7.23433321e-02] [-1.89138361e-04]] R_gt: [[ 0.93850115 0.34136302 0.05183784] [-0.3420964 0.93964791 0.00572192] [-0.04675586 -0.02310387 0.99863912]] t_gt: [-0.84652117 0.52214578 0.10375789] Pose Error in degrees for R and t: 19.27698287652066 36.24369230253723 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.97808161e-01 6.61719500e-02 -3.83123322e-04] [-6.61719524e-02 9.97808234e-01 6.48326156e-06] [ 3.82712616e-04 1.88829669e-05 9.99999927e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.85467628 0.51249247 0.08294399] [-0.51289742 0.85826173 -0.01798191] [-0.08040383 -0.02717262 0.99639186]] t_gt: [-0.80365882 0.5883873 0.08906671] Pose Error in degrees for R and t: 27.540759929186024 36.70138205761825 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.97492472e-01 -7.07726467e-02 8.91471966e-06] [ 7.07726436e-02 9.97492453e-01 1.99594186e-04] [-2.30181744e-05 -1.98462780e-04 9.99999980e-01]] t_estimated: [[ 7.98814760e-02] [ 9.96804368e-01] [-5.22412640e-05]] R_gt: [[ 0.99755619 -0.06004083 0.03570984] [ 0.06246799 0.99550037 -0.07125981] [-0.03127023 0.0733165 0.99681804]] t_gt: [ 0.84408303 0.36403686 -0.39370167] Pose Error in degrees for R and t: 4.613661714518201 64.51208604388266 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.45026910e-01 -3.26991795e-01 -7.10334751e-04] [ 3.26992551e-01 9.45025305e-01 1.74457742e-03] [ 1.00821813e-04 -1.88094678e-03 9.99998226e-01]] t_estimated: [[-6.48770326e-01] [-7.60984273e-01] [-1.20169802e-06]] R_gt: [[ 0.99625728 -0.07994387 0.03286956] [ 0.08368795 0.98724921 -0.1354091 ] [-0.02162469 0.13765413 0.99024462]] t_gt: [ 0.69396839 0.53949613 -0.47681423] Pose Error in degrees for R and t: 16.494505546856466 30.596447073775263 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99874654e-01 -1.58298580e-02 3.04479820e-04] [-1.58321707e-02 -9.99820431e-01 1.04138888e-02] [ 1.39574764e-04 -1.04174041e-02 -9.99945728e-01]] t_estimated: [[-0.05638255] [ 0.99839492] [ 0.00534651]] R_gt: [[ 0.99667839 -0.06802264 0.04476932] [ 0.07663294 0.96942338 -0.23312149] [-0.02754292 0.23577938 0.97141665]] t_gt: [ 0.43048304 0.6686377 -0.60630684] Pose Error in degrees for R and t: 167.04212377063203 50.204368073962094 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.38625814e-01 -3.44838764e-01 8.23463084e-03] [ 3.44851378e-01 9.38657293e-01 -1.19595389e-04] [-7.68825517e-03 2.95197911e-03 9.99966088e-01]] t_estimated: [[0.99844139] [0.05546897] [0.00616322]] R_gt: [[ 0.9949631 -0.09935897 0.01327469] [ 0.09941784 0.99503865 -0.0038596 ] [-0.0128252 0.00515979 0.99990415]] t_gt: [ 0.85088541 -0.52021278 0.0732986 ] Pose Error in degrees for R and t: 14.472044044113535 34.79938837470971 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.92965637e-01 1.18401681e-01 5.33579902e-04] [-1.18401353e-01 9.92965633e-01 -6.08689782e-04] [-6.01896399e-04 5.41231455e-04 9.99999672e-01]] t_estimated: [[0.587729 ] [0.80905733] [0.00092995]] R_gt: [[ 0.98733793 -0.15454804 0.03578739] [ 0.15390843 0.98788388 0.01999208] [-0.03844299 -0.0142315 0.9991599 ]] t_gt: [ 0.84323555 -0.46449081 0.27055884] Pose Error in degrees for R and t: 15.847107123233616 83.10524838048669 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-7.71402403e-01 6.36347165e-01 7.85814982e-04] [-6.36346932e-01 -7.71399089e-01 -2.45512528e-03] [-9.56135051e-04 -2.39394049e-03 9.99996677e-01]] t_estimated: [[0.81726971] [0.57625449] [0.00099183]] R_gt: [[ 0.99208594 -0.12449608 -0.01629382] [ 0.12438565 0.99220568 -0.00758106] [ 0.01711055 0.00549402 0.99983857]] t_gt: [ 0.96458903 -0.25344573 -0.07302921] Pose Error in degrees for R and t: 147.63165382440593 50.04335834882526 Number of keypoints: Image1: 372 Image2: 372 R_estimated: [[ 9.95260668e-01 -9.72430057e-02 -6.76271907e-06] [ 9.72430060e-02 9.95260665e-01 7.72188168e-05] [-7.78321572e-07 -7.75104784e-05 9.99999997e-01]] t_estimated: [[-1.16032345e-01] [ 9.93245430e-01] [-1.08079447e-04]] R_gt: [[ 0.99921509 -0.01025074 -0.03825098] [ 0.00657688 0.99545891 -0.09495712] [ 0.03905131 0.09463063 0.99474692]] t_gt: [ 0.29719536 0.61617892 -0.72938224] Pose Error in degrees for R and t: 7.780186605759543 54.7172803062668 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-7.11135891e-01 7.03053909e-01 -9.72386254e-04] [-7.03051908e-01 -7.11136321e-01 -1.77417928e-03] [-1.93884286e-03 -5.78044549e-04 9.99997953e-01]] t_estimated: [[0.60026916] [0.79979762] [0.00084189]] R_gt: [[ 0.99990622 0.01168704 0.00708816] [-0.01041376 0.98726724 -0.15872266] [-0.00885293 0.15863324 0.98729818]] t_gt: [ 0.06352022 0.75872492 -0.64830678] Pose Error in degrees for R and t: 134.8342469878561 49.87856096820658 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.11879385e-01 -4.10458027e-01 -4.40858089e-04] [ 4.10458163e-01 9.11879388e-01 2.78457069e-04] [ 2.87714466e-04 -4.34873062e-04 9.99999864e-01]] t_estimated: [[-0.30524587] [-0.95227284] [-0.00117856]] R_gt: [[ 0.99810265 0.06128887 -0.00592999] [-0.06144809 0.98525051 -0.15970012] [-0.00394445 0.15975998 0.98714831]] t_gt: [ 0.02811328 0.85163852 -0.52337508] Pose Error in degrees for R and t: 29.23568077851227 35.019491346329275 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 1.00000000e+00 2.03751275e-05 -1.31105530e-05] [-2.03751485e-05 1.00000000e+00 -1.60049212e-06] [ 1.31105204e-05 1.60075925e-06 1.00000000e+00]] t_estimated: [[ 1.14372332e-02] [-9.99934504e-01] [ 4.21065606e-04]] R_gt: [[ 0.99435687 0.09346923 0.05018089] [-0.09377327 0.99558632 0.00374042] [-0.04960951 -0.00842469 0.99873339]] t_gt: [-0.37017827 0.87138411 0.32195929] Pose Error in degrees for R and t: 6.099143694783311 28.90465191241597 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-2.80688928e-02 -9.99605315e-01 -1.16286272e-03] [ 9.99605589e-01 -2.80678189e-02 -9.29758816e-04] [ 8.96752834e-04 -1.18850138e-03 9.99998892e-01]] t_estimated: [[9.99999389e-01] [1.04691123e-03] [3.54605847e-04]] R_gt: [[ 0.98020686 0.17572569 0.09119281] [-0.17048282 0.98337847 -0.0624644 ] [-0.1006539 0.0456811 0.99387222]] t_gt: [-0.29865537 0.94126686 0.15754893] Pose Error in degrees for R and t: 101.75656708397457 72.68565570146576 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-1.88966273e-01 -9.81981359e-01 -2.08743506e-03] [ 9.81983565e-01 -1.88966191e-01 -2.38417071e-04] [-1.60333532e-04 -2.09487971e-03 9.99997793e-01]] t_estimated: [[9.96585068e-01] [8.25674728e-02] [9.02614751e-04]] R_gt: [[ 0.95809777 0.27777567 0.06993744] [-0.27454459 0.96014555 -0.05239691] [-0.08170453 0.03100105 0.99617409]] t_gt: [-0.24713481 0.96637565 0.07101051] Pose Error in degrees for R and t: 117.02844093488636 80.4193603575012 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.97381381e-01 7.23212993e-02 1.06008288e-04] [-7.23212984e-02 9.97381386e-01 -1.20275993e-05] [-1.06600545e-04 4.32944660e-06 9.99999994e-01]] t_estimated: [[ 8.95183398e-01] [-4.45697970e-01] [ 5.98750607e-05]] R_gt: [[ 0.99613463 -0.07082902 -0.05195572] [ 0.07204571 0.9971598 0.0219455 ] [ 0.05025447 -0.02560472 0.9984086 ]] t_gt: [ 0.4178357 -0.87175894 -0.25583135] Pose Error in degrees for R and t: 8.859263263221415 40.30911268140929 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-0.8002368 -0.59966925 0.0042257 ] [-0.59966815 0.80024705 0.00166257] [-0.0043786 -0.00120357 -0.99998969]] t_estimated: [[0.97297037] [0.23090199] [0.00359651]] R_gt: [[ 0.9913113 -0.12472362 -0.04178036] [ 0.12534065 0.99203501 0.01250121] [ 0.03988849 -0.01763004 0.9990481 ]] t_gt: [ 0.46399728 -0.87622377 -0.1301477 ] Pose Error in degrees for R and t: 178.30760052216138 75.60142990011958 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.83845366e-01 -1.79020301e-01 -1.67519103e-04] [ 1.79020332e-01 9.83843988e-01 1.65185363e-03] [-1.30902672e-04 -1.65515786e-03 9.99998622e-01]] t_estimated: [[0.61385749] [0.78941596] [0.00119428]] R_gt: [[ 0.9828573 -0.17945192 -0.04229803] [ 0.18037322 0.98341348 0.01907732] [ 0.03817332 -0.02638031 0.9989234 ]] t_gt: [ 0.47376139 -0.87867922 -0.05893192] Pose Error in degrees for R and t: 2.6131081931928906 66.24091607838612 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.93640622e-01 1.12597284e-01 4.06494237e-04] [-1.12597141e-01 9.93640657e-01 -3.58099707e-04] [-4.44230255e-04 3.10052327e-04 9.99999853e-01]] t_estimated: [[0.75023387] [0.66117094] [0.00145772]] R_gt: [[ 0.99696128 -0.07738713 0.00885135] [ 0.07749906 0.99690628 -0.01304568] [-0.00781379 0.01369261 0.99987629]] t_gt: [ 0.85697054 -0.51310311 -0.04823591] Pose Error in degrees for R and t: 10.941917115049792 72.32549351764668 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.88743355 0.46059539 0.01770797] [ 0.45911837 -0.88669026 0.05468737] [ 0.04089024 -0.04040135 -0.99834649]] t_estimated: [[9.41924228e-01] [3.35824272e-01] [8.97925861e-04]] R_gt: [[ 0.9795066 -0.2008242 0.01532098] [ 0.20072042 0.97961461 0.00807999] [-0.01663132 -0.0048395 0.99984993]] t_gt: [ 0.85591948 -0.5102174 0.08414303] Pose Error in degrees for R and t: 177.24000907481556 50.584208929398045 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.98976036e-01 4.52337851e-02 8.85392308e-04] [-4.52325043e-02 9.98975482e-01 -1.41674093e-03] [-9.48569762e-04 1.37524173e-03 9.99998604e-01]] t_estimated: [[-0.91660038] [-0.39980358] [-0.00092121]] R_gt: [[ 0.97845308 -0.20420428 0.03048972] [ 0.20366648 0.97883901 0.01984386] [-0.03389659 -0.01320661 0.9993385 ]] t_gt: [ 0.86733503 -0.46963708 0.16483614] Pose Error in degrees for R and t: 14.512264148540913 52.599059637848 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-5.28255075e-01 -8.49084658e-01 -1.34875848e-03] [ 8.49085300e-01 -5.28252544e-01 -1.84478549e-03] [ 8.53893961e-04 -2.11972830e-03 9.99997389e-01]] t_estimated: [[9.34272803e-01] [3.56558219e-01] [7.52232531e-04]] R_gt: [[ 0.99781999 0.02246324 0.06206441] [-0.02757672 0.99618393 0.08280489] [-0.05996675 -0.08433519 0.99463168]] t_gt: [-0.29756518 0.08420873 0.95098047] Pose Error in degrees for R and t: 123.41189739754593 75.68419063413741 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.82746142e-01 1.84956906e-01 -9.81891094e-04] [-1.84956219e-01 9.82746475e-01 7.50450454e-04] [ 1.10375101e-03 -5.55895425e-04 9.99999236e-01]] t_estimated: [[-9.35103782e-01] [-3.54372965e-01] [-8.47782214e-04]] R_gt: [[ 0.981903 0.1725474 0.07806907] [-0.18005803 0.9783127 0.10238785] [-0.05870913 -0.11459199 0.99167685]] t_gt: [-0.58284049 0.66085662 0.47282713] Pose Error in degrees for R and t: 7.412383714273828 71.9151088185109 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-5.28284343e-01 -8.49066330e-01 -1.42141690e-03] [ 8.49066984e-01 -5.28281389e-01 -2.00778096e-03] [ 9.53831122e-04 -2.26755741e-03 9.99996974e-01]] t_estimated: [[9.37896060e-01] [3.46915427e-01] [8.16271593e-04]] R_gt: [[ 0.96899719 0.23650444 0.07149043] [-0.24301036 0.96455405 0.10287248] [-0.04462617 -0.11705609 0.9921223 ]] t_gt: [-0.58500051 0.74589758 0.31845127] Pose Error in degrees for R and t: 135.91298657281217 73.16321526275956 Number of keypoints: Image1: 370 Image2: 370 R_estimated: [[ 9.99919992e-01 -1.26493926e-02 -3.87474799e-05] [ 1.26493937e-02 9.99919993e-01 2.84064020e-05] [ 3.83850561e-05 -2.88942614e-05 9.99999999e-01]] t_estimated: [[-9.99336297e-01] [ 3.64271635e-02] [-1.64706197e-04]] R_gt: [[ 0.99528675 0.09693263 -0.00280795] [-0.09696048 0.99521582 -0.01199192] [ 0.00163215 0.01220687 0.99992415]] t_gt: [-0.9639961 0.23886705 -0.11685058] Pose Error in degrees for R and t: 6.328029560569812 13.571758930492651 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.92770181e-01 -1.20030431e-01 -2.50209971e-04] [ 1.20030505e-01 9.92770158e-01 3.03469605e-04] [ 2.11975405e-04 -3.31308404e-04 9.99999923e-01]] t_estimated: [[-9.33660547e-01] [ 3.58159063e-01] [ 2.61282610e-04]] R_gt: [[ 0.9774063 0.21123165 0.00761414] [-0.21135079 0.97716294 0.02199028] [-0.00279473 -0.02310268 0.99972936]] t_gt: [-0.95649257 0.25191751 0.14717179] Pose Error in degrees for R and t: 19.13861008533953 10.48443818895248 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99514325e-01 3.11568686e-02 -6.02747955e-04] [-3.11569243e-02 9.99514502e-01 -8.32626508e-05] [ 5.99861118e-04 1.02001985e-04 9.99999815e-01]] t_estimated: [[-0.98941749] [-0.14507947] [-0.002232 ]] R_gt: [[ 0.96567587 0.25587309 0.04471172] [-0.2575662 0.96553934 0.03733367] [-0.0336185 -0.04756853 0.99830211]] t_gt: [-0.94472997 0.20102344 0.25898816] Pose Error in degrees for R and t: 13.526772494634907 25.1780751905318 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999890e-01 4.20253123e-04 2.07780411e-04] [-4.20232725e-04 9.99999907e-01 -9.82079077e-05] [-2.07821664e-04 9.81205808e-05 9.99999974e-01]] t_estimated: [[ 9.71275712e-01] [ 2.37956904e-01] [-5.69910956e-05]] R_gt: [[ 0.98312706 -0.18113984 -0.02544444] [ 0.18191052 0.98278806 0.03220144] [ 0.01917346 -0.03628624 0.99915747]] t_gt: [ 0.8468499 -0.52441694 0.08849924] Pose Error in degrees for R and t: 10.7495373138957 45.75475055027517 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.94192768 0.33579991 0.00326657] [-0.33579198 0.94193217 -0.00274561] [-0.00399886 0.00148928 0.9999909 ]] t_estimated: [[-8.46303614e-01] [-5.32700842e-01] [-8.48896027e-05]] R_gt: [[ 0.90323797 -0.42903861 -0.0092999 ] [ 0.42899799 0.90328498 -0.00605325] [ 0.01099698 0.00147884 0.99993871]] t_gt: [ 0.91264572 -0.40765972 -0.02985533] Pose Error in degrees for R and t: 45.03429184539825 56.2746711332002 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99932864e-01 -1.15261126e-02 1.19006485e-03] [ 1.15271805e-02 9.99933160e-01 -8.94461304e-04] [-1.17967564e-03 9.08119346e-04 9.99998892e-01]] t_estimated: [[ 0.43546863] [-0.90020157] [-0.0020517 ]] R_gt: [[ 0.78952127 -0.60892906 0.07655275] [ 0.61369184 0.78456367 -0.08855291] [-0.00613772 0.1168945 0.9931247 ]] t_gt: [ 0.95185522 -0.25698969 -0.16711656] Pose Error in degrees for R and t: 37.745303357438075 49.745157931775374 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99909711e-01 -1.34375969e-02 -8.58608140e-06] [ 1.34375620e-02 9.99908222e-01 -1.72630552e-03] [ 3.17826910e-05 1.72603428e-03 9.99998510e-01]] t_estimated: [[-0.9228653 ] [-0.38511879] [-0.00177474]] R_gt: [[ 0.99982347 0.01597184 0.00991838] [-0.01587591 0.9998275 -0.00966111] [-0.01006984 0.0095019 0.99990414]] t_gt: [-0.99984766 0.00100824 -0.0174252 ] Pose Error in degrees for R and t: 1.833275357374981 22.725336881083457 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-0.86920834 0.4943918 0.0073217 ] [ 0.4944325 0.86919877 0.00547769] [-0.00365588 0.00838134 -0.99995819]] t_estimated: [[8.17053059e-01] [5.76561970e-01] [7.70804772e-04]] R_gt: [[ 0.99585309 0.0894089 0.01684962] [-0.08934658 0.99599154 -0.00439388] [-0.01717461 0.0028707 0.99984901]] t_gt: [-0.85368964 0.50692991 0.11931499] Pose Error in degrees for R and t: 178.6972950844881 66.10002067199893 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.48540628 -0.87370159 -0.03203547] [-0.86838294 -0.48605537 0.0982916 ] [-0.10144854 -0.0198923 -0.99464189]] t_estimated: [[0.62418635] [0.78054579] [0.03375891]] R_gt: [[ 0.99197888 0.12611071 -0.00861861] [-0.12620975 0.99193061 -0.01209621] [ 0.00702438 0.01308733 0.99989005]] t_gt: [-0.79194676 0.58670739 -0.16909989] Pose Error in degrees for R and t: 177.20659075538796 87.58833899854574 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.00131978 -0.9999956 0.00265602] [-0.99975011 -0.00126018 0.02231886] [-0.02231541 -0.00268482 -0.99974738]] t_estimated: [[0.6970894 ] [0.71689336] [0.01141368]] R_gt: [[ 0.99947253 -0.00833699 -0.031423 ] [ 0.00782664 0.99983615 -0.01634777] [ 0.03155337 0.01609272 0.999373 ]] t_gt: [-0.15476779 0.12276113 -0.98029416] Pose Error in degrees for R and t: 179.08471696284727 88.21958448354683 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99250867e-01 -3.86999744e-02 1.31527622e-04] [ 3.86999871e-02 9.99250870e-01 -9.60070702e-05] [-1.27713620e-04 1.01025265e-04 9.99999987e-01]] t_estimated: [[0.8559845 ] [0.51699932] [0.00149668]] R_gt: [[ 0.99962839 0.00974061 -0.02549596] [-0.01053765 0.99945468 -0.03131499] [ 0.02517661 0.03157163 0.99918417]] t_gt: [-0.53716288 0.3240191 -0.77876034] Pose Error in degrees for R and t: 3.631321228225936 72.93532435139299 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.22354861 -0.97466569 0.00726702] [-0.97462543 0.2234393 -0.01342184] [ 0.01145807 -0.01008306 -0.99988352]] t_estimated: [[8.39548225e-01] [5.43284572e-01] [8.07257908e-04]] R_gt: [[ 0.99637881 -0.03202372 0.07877306] [ 0.03528979 0.99856021 -0.04041702] [-0.07736573 0.04305076 0.99607357]] t_gt: [-0.57838844 -0.59137002 0.56191486] Pose Error in degrees for R and t: 178.1580306701924 36.253005652301525 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.85213853 -0.52310965 0.01470456] [-0.52318786 0.85221549 -0.00179471] [-0.01159263 -0.00922259 -0.99989027]] t_estimated: [[0.99239392] [0.12234993] [0.01359444]] R_gt: [[ 0.98109505 0.19243314 -0.02055931] [-0.19332975 0.97935217 -0.05911069] [ 0.00876019 0.06196695 0.99803988]] t_gt: [-0.35955251 0.89566328 -0.26174276] Pose Error in degrees for R and t: 179.0503659902531 75.47563860321574 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.9923574 -0.10965236 0.05659631] [ 0.12169145 0.94562662 -0.30163138] [-0.02044439 0.30621342 0.95174333]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 9.44698259e-01 3.27078511e-01 -2.37656043e-02] [-3.27939447e-01 9.42033014e-01 -7.09218203e-02] [-8.08938086e-04 7.47930127e-02 9.97198390e-01]] t_gt: [-0.27241229 0.9455473 -0.17813434] Pose Error in degrees for R and t: 29.275276415160523 69.76037901236478 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.66456008 0.74690605 0.02216425] [-0.74712132 -0.66468376 -0.00228652] [ 0.0130244 -0.01807891 0.99975173]] t_estimated: [[0.44586822] [0.89509439] [0.00274936]] R_gt: [[ 0.91035695 0.41350833 -0.01621082] [-0.40940922 0.89424297 -0.18086852] [-0.06029378 0.1712911 0.98337351]] t_gt: [-0.21320305 0.96171372 -0.1721952 ] Pose Error in degrees for R and t: 107.61815605609026 40.067142268700664 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 3.93123867e-01 9.19483911e-01 1.72133117e-03] [-9.19484533e-01 3.93125501e-01 -7.30866495e-04] [-1.34871916e-03 -1.29541632e-03 9.99998251e-01]] t_estimated: [[0.17697234] [0.9842146 ] [0.00155239]] R_gt: [[ 9.98236456e-01 4.19397983e-02 -4.20097070e-02] [-4.18805743e-02 9.99119880e-01 2.33777044e-03] [ 4.20712349e-02 -5.74200644e-04 9.99114659e-01]] t_gt: [-0.7003128 0.49423729 -0.51506455] Pose Error in degrees for R and t: 64.49230957700358 68.79536554135362 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.75606755e-01 -2.19525491e-01 1.34284917e-04] [ 2.19525519e-01 9.75606726e-01 -2.50371926e-04] [-7.60462485e-05 2.73743508e-04 9.99999960e-01]] t_estimated: [[-0.15319776] [-0.98819459] [-0.00138016]] R_gt: [[ 0.99484551 0.05364284 -0.08605016] [-0.0530276 0.99854835 0.00943546] [ 0.08643199 -0.00482313 0.99624587]] t_gt: [-0.59774935 0.46739855 -0.65133272] Pose Error in degrees for R and t: 16.50643954715277 68.32089406493664 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.85653242e-01 -1.68782665e-01 3.14977920e-04] [ 1.68782808e-01 9.85653139e-01 -5.03817771e-04] [-2.25423270e-04 5.49752478e-04 9.99999823e-01]] t_estimated: [[-0.71357009] [-0.70058215] [-0.00154103]] R_gt: [[ 0.99316048 0.04764876 -0.10659302] [-0.04988257 0.99858639 -0.01838494] [ 0.10556637 0.02357692 0.99413266]] t_gt: [-0.47727946 0.3728822 -0.79571552] Pose Error in degrees for R and t: 13.97440634507606 85.37901779674526 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.22886145e-01 3.85072062e-01 8.18684647e-04] [-3.85071487e-01 9.22886420e-01 -7.78055391e-04] [-1.05516034e-03 4.02804426e-04 9.99999362e-01]] t_estimated: [[0.76132875] [0.64836498] [0.00117671]] R_gt: [[ 0.95862342 -0.27677735 0.06659558] [ 0.28107694 0.95732132 -0.06731122] [-0.04512296 0.08324343 0.99550688]] t_gt: [ 0.86132296 -0.46885222 -0.19570474] Pose Error in degrees for R and t: 39.23667886466345 69.41893472543339 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.95221072e-01 9.76469399e-02 3.03347698e-04] [-9.76468699e-02 9.95221097e-01 -2.37743889e-04] [-3.25112992e-04 2.06986775e-04 9.99999926e-01]] t_estimated: [[ 8.72987791e-01] [-4.87742048e-01] [-1.07441704e-04]] R_gt: [[ 0.8853422 -0.43939479 0.15198782] [ 0.45846496 0.87941121 -0.12823368] [-0.07731392 0.1832117 0.98002832]] t_gt: [ 0.90079097 -0.32317873 -0.29005369] Pose Error in degrees for R and t: 34.471559682501066 19.258772000048165 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.92356606 0.38343523 0.00177801] [-0.38342895 0.92356522 -0.00308551] [-0.0028252 0.00216793 0.99999366]] t_estimated: [[-0.54117624] [-0.84090462] [-0.00277526]] R_gt: [[ 0.79419589 -0.57117539 0.20739174] [ 0.59995206 0.79123096 -0.1183657 ] [-0.09648666 0.21843043 0.97107093]] t_gt: [ 0.9407387 -0.23845827 -0.2411397 ] Pose Error in degrees for R and t: 60.40464027141012 72.06634361542413 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.88577025e-01 1.50716471e-01 1.06471644e-04] [-1.50716475e-01 9.88577030e-01 2.27312158e-05] [-1.01829453e-04 -3.85185885e-05 9.99999994e-01]] t_estimated: [[0.67480811] [0.73799282] [0.00078273]] R_gt: [[ 0.99550508 -0.09344777 0.0154044 ] [ 0.09335216 0.99561041 0.0067694 ] [-0.01596943 -0.00530034 0.99985813]] t_gt: [ 0.80609071 -0.56489004 0.17640017] Pose Error in degrees for R and t: 14.06056028357769 82.69161101491281 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.26727682 -0.96355516 -0.01116045] [-0.96357752 -0.26735565 0.00627022] [-0.00902551 0.00907808 -0.99991806]] t_estimated: [[0.80731919] [0.59011188] [0.00192219]] R_gt: [[ 0.98618532 -0.16263301 0.03148172] [ 0.16223391 0.98664073 0.01483464] [-0.03347467 -0.00952247 0.99939422]] t_gt: [ 0.85039586 -0.48295591 0.20875934] Pose Error in degrees for R and t: 178.35280655892163 66.30022697694127 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.39490756e-01 3.42574106e-01 -3.18932282e-04] [-3.42573519e-01 9.39490261e-01 1.19752350e-03] [ 7.09874314e-04 -1.01580450e-03 9.99999232e-01]] t_estimated: [[8.40803829e-01] [5.41339452e-01] [7.19866292e-04]] R_gt: [[ 0.9827471 -0.18317268 0.02566282] [ 0.18254795 0.98288257 0.02485904] [-0.02977803 -0.01974505 0.99936117]] t_gt: [ 0.88376422 -0.41360343 0.21884471] Pose Error in degrees for R and t: 30.63931794724327 58.71267831149061 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.60229633 0.79774166 0.02910978] [ 0.79773695 0.60282751 -0.01465423] [-0.02923846 0.01439576 -0.9994688 ]] t_estimated: [[ 0.8930964 ] [-0.44953093] [ 0.01734268]] R_gt: [[ 0.99866585 -0.05147888 -0.00391828] [ 0.05147279 0.99867327 -0.00167923] [ 0.00399882 0.00147465 0.9999914 ]] t_gt: [ 0.71369808 -0.69684065 -0.07105034] Pose Error in degrees for R and t: 178.2959250148862 18.300924528294356 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-7.16294103e-01 -6.97793182e-01 -2.72647523e-03] [ 6.97798464e-01 -7.16289977e-01 -2.44363783e-03] [-2.47793064e-04 -3.65289359e-03 9.99993297e-01]] t_estimated: [[0.93085067] [0.36539609] [0.00165338]] R_gt: [[ 0.99959687 -0.00325073 0.02818808] [ 0.0034026 0.99997983 -0.00536925] [-0.02817041 0.00546209 0.99958821]] t_gt: [ 0.09542808 -0.86110283 0.49939503] Pose Error in degrees for R and t: 135.5667640574697 76.99779052856448 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99048485e-01 4.36130762e-02 -1.55787998e-04] [-4.36130018e-02 9.99048398e-01 4.52954917e-04] [ 1.75394507e-04 -4.45729541e-04 9.99999885e-01]] t_estimated: [[0.90963345] [0.41540637] [0.00213029]] R_gt: [[ 0.99729276 0.07192105 -0.01530813] [-0.07205633 0.99736504 -0.00845741] [ 0.01465888 0.00953742 0.99984706]] t_gt: [-0.85715235 0.34138123 -0.38567953] Pose Error in degrees for R and t: 1.9151028132852375 50.30474349779006 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 0.99966404 -0.02581827 0.00228464] [ 0.02582458 0.99966263 -0.00277647] [-0.00221219 0.00283454 0.99999354]] t_estimated: [[-0.87559362] [-0.48304713] [-0.00113126]] R_gt: [[ 0.99881988 0.02940803 0.0386369 ] [-0.02682112 0.99746786 -0.06586698] [-0.04047713 0.06475417 0.9970803 ]] t_gt: [-0.27259392 0.84074149 -0.46781011] Pose Error in degrees for R and t: 5.195870568753617 80.39196304088392 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99963750e-01 -8.51344947e-03 -1.40769053e-04] [ 8.51342327e-03 9.99963743e-01 -1.85729260e-04] [ 1.42345146e-04 1.84524101e-04 9.99999973e-01]] t_estimated: [[-0.99105295] [-0.13346355] [-0.00123501]] R_gt: [[ 0.99685374 0.07652042 0.02065893] [-0.0755651 0.9961873 -0.04359833] [-0.02391569 0.04190123 0.99883535]] t_gt: [-0.20884192 0.93193008 -0.29646479] Pose Error in degrees for R and t: 5.581164534193075 85.24122435513287 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.99471879e-01 -3.24952843e-02 -1.38091039e-04] [ 3.24952869e-02 9.99471889e-01 1.64535204e-05] [ 1.37483449e-04 -2.09321389e-05 9.99999990e-01]] t_estimated: [[-9.60072306e-01] [-2.79750799e-01] [-8.10871880e-04]] R_gt: [[ 0.9947521 0.10022226 0.02056518] [-0.09994865 0.99489566 -0.01389627] [-0.02185299 0.01176884 0.99969244]] t_gt: [-0.14487348 0.98810727 -0.05153338] Pose Error in degrees for R and t: 7.74007368801097 82.10876610687987 Number of keypoints: Image1: 425 Image2: 425 R_estimated: [[-0.89668183 0.44233922 -0.01725435] [ 0.44231992 0.89684269 0.00512728] [ 0.01774243 -0.0030344 -0.99983799]] t_estimated: [[ 0.97054049] [-0.24076877] [-0.00903087]] R_gt: [[ 0.98923967 0.14626371 0.00349934] [-0.14630115 0.98911844 0.01553653] [-0.00118923 -0.01588049 0.99987236]] t_gt: [-0.95727489 0.25007469 0.14521513] Pose Error in degrees for R and t: 178.8939138015735 7.863995764394305 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99958355e-01 -9.10159667e-03 -6.70905001e-04] [ 9.10201603e-03 9.99958381e-01 6.24682462e-04] [ 6.65191471e-04 -6.30763035e-04 9.99999580e-01]] t_estimated: [[9.07297251e-01] [4.20489239e-01] [7.05518858e-04]] R_gt: [[ 0.97891783 0.20281127 0.02425341] [-0.20364056 0.97827722 0.03880221] [-0.0158575 -0.04292257 0.9989523 ]] t_gt: [-0.94090146 0.1944187 0.27731897] Pose Error in degrees for R and t: 12.526643896831136 39.490442198722256 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 8.80214527e-01 -4.74575567e-01 -6.46419054e-04] [ 4.74575516e-01 8.80214759e-01 -2.39552513e-04] [ 6.82673361e-04 -9.59170542e-05 9.99999762e-01]] t_estimated: [[-0.41249027] [-0.91096136] [-0.00108836]] R_gt: [[ 0.98053705 0.18408405 0.0682722 ] [-0.1870286 0.98155906 0.03952793] [-0.0597371 -0.05152718 0.99688252]] t_gt: [-0.92067287 0.02921424 0.38924028] Pose Error in degrees for R and t: 39.29741442237851 69.34549711454562 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.98728359e-01 -5.04149295e-02 1.93723022e-06] [ 5.04149293e-02 9.98728357e-01 5.37566744e-05] [-4.64490570e-06 -5.35906499e-05 9.99999999e-01]] t_estimated: [[ 3.01136263e-01] [-9.53581071e-01] [ 3.03569180e-04]] R_gt: [[ 0.99655504 -0.03906644 0.07315526] [ 0.03136638 0.99412373 0.10360216] [-0.07677287 -0.10095014 0.99192583]] t_gt: [ 0.1295501 -0.37302679 0.91873162] Pose Error in degrees for R and t: 7.334498828927865 66.73387494040058 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.78023108e-01 2.08488346e-01 -1.84679761e-03] [-2.08486627e-01 9.78024620e-01 1.08112426e-03] [ 2.03161534e-03 -6.72331902e-04 9.99997710e-01]] t_estimated: [[9.24230492e-01] [3.81834205e-01] [7.98816328e-04]] R_gt: [[ 0.99495653 0.02271397 0.09770301] [-0.03926408 0.9844919 0.17098141] [-0.0923042 -0.17395436 0.98041873]] t_gt: [-0.20910218 0.0301812 0.97742794] Pose Error in degrees for R and t: 15.288604576796414 79.57469006424772 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 7.88252278e-01 6.15352200e-01 1.28517754e-04] [-6.15351781e-01 7.88251954e-01 -1.02105016e-03] [-7.29609832e-04 7.25761484e-04 9.99999470e-01]] t_estimated: [[-9.99486503e-01] [-3.20287851e-02] [-9.42023094e-04]] R_gt: [[ 0.9766514 0.16454817 0.13811691] [-0.18594042 0.96947674 0.15981754] [-0.1076036 -0.18176716 0.97743682]] t_gt: [-0.51259074 0.53829054 0.66894995] Pose Error in degrees for R and t: 30.2909233641728 60.36607782813655 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.24798962e-01 3.80455600e-01 6.44943035e-04] [-3.80454717e-01 9.24798805e-01 -1.17401479e-03] [-1.04310305e-03 8.40356043e-04 9.99999103e-01]] t_estimated: [[-0.7829193 ] [-0.62211769] [-0.00263609]] R_gt: [[ 0.99439061 -0.10405891 0.01896619] [ 0.10489787 0.99320022 -0.05049805] [-0.01358278 0.05220352 0.99854404]] t_gt: [ 0.73196914 -0.57748639 -0.36156694] Pose Error in degrees for R and t: 28.520312451507035 77.7102766504847 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.53166003e-01 3.02446209e-01 9.27862317e-04] [-3.02443794e-01 9.53164878e-01 -2.11335281e-03] [-1.52358132e-03 1.73374985e-03 9.99997336e-01]] t_estimated: [[-0.84674081] [-0.53199834] [-0.00278533]] R_gt: [[ 0.97248741 -0.16559013 0.16385322] [ 0.17559156 0.98326984 -0.04846158] [-0.15308771 0.0758985 0.98529387]] t_gt: [ 0.70198131 -0.66051712 0.26634446] Pose Error in degrees for R and t: 29.138994457139198 75.89237542065455 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.86628483 -0.49703283 0.05008943] [-0.49950424 -0.86320226 0.07333051] [ 0.00678964 -0.08854499 -0.99604904]] t_estimated: [[0.92618126] [0.3767517 ] [0.01569799]] R_gt: [[ 0.94993711 -0.14548731 0.27650132] [ 0.166561 0.98454039 -0.05419463] [-0.26434299 0.09753485 0.95948392]] t_gt: [ 0.55868685 -0.52228353 0.64427395] Pose Error in degrees for R and t: 175.58889338837707 70.6833959025643 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.95211705 -0.30571672 -0.00322768] [-0.30571013 -0.95185914 -0.02248326] [ 0.00380121 0.02239343 -0.99974201]] t_estimated: [[ 0.15424121] [ 0.98797247] [-0.01095698]] R_gt: [[ 0.99511281 0.06170369 -0.07708374] [-0.05604881 0.99572006 0.0734799 ] [ 0.08128893 -0.06880028 0.99431364]] t_gt: [-0.95105238 -0.2567154 0.17203654] Pose Error in degrees for R and t: 177.96818612268245 66.28395257317887 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.95026214e-01 -9.96133716e-02 1.01748432e-04] [ 9.96133662e-02 9.95026218e-01 5.68247152e-05] [-1.06902859e-04 -4.64065774e-05 9.99999993e-01]] t_estimated: [[ 3.42677370e-01] [-9.39452887e-01] [ 7.02029537e-04]] R_gt: [[ 0.99150323 0.05198635 -0.11923703] [-0.04286756 0.99604618 0.07779963] [ 0.12281011 -0.07202754 0.98981316]] t_gt: [-0.44937492 -0.74182126 -0.49775838] Pose Error in degrees for R and t: 11.761280826886637 57.141506194112296 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 7.82077815e-01 6.23180126e-01 9.06446199e-04] [ 6.23177146e-01 -7.82077392e-01 2.28001897e-03] [ 2.12977359e-03 -1.21827570e-03 -9.99996990e-01]] t_estimated: [[-9.08151592e-01] [-4.18641132e-01] [-5.37429123e-04]] R_gt: [[ 0.98869448 0.02781432 -0.14733837] [-0.012791 0.9947075 0.1019411 ] [ 0.1493936 -0.09890424 0.98381835]] t_gt: [ 0.28582039 -0.91064511 -0.29838261] Pose Error in degrees for R and t: 171.61435438297372 83.00252415227727 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.77085249e-01 2.12848113e-01 3.10512030e-04] [-2.12847647e-01 9.77084751e-01 -1.12652552e-03] [-5.43175401e-04 1.03461972e-03 9.99999317e-01]] t_estimated: [[-9.97390979e-01] [-7.21847167e-02] [-7.76179750e-04]] R_gt: [[ 0.98763378 0.10177202 0.11925562] [-0.09831236 0.99455601 -0.0345567 ] [-0.1221233 0.0224044 0.99226202]] t_gt: [-0.43159834 0.66314303 0.61152612] Pose Error in degrees for R and t: 9.635975032653429 67.53438921013117 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-9.05442320e-01 -4.24439449e-01 -5.03591440e-03] [ 4.24447066e-01 -9.05452614e-01 -5.02023949e-04] [-4.34670309e-03 -2.59203282e-03 9.99987194e-01]] t_estimated: [[0.9639843] [0.2659267] [0.0041551]] R_gt: [[ 0.9530659 0.26935292 0.13825388] [-0.26402818 0.96289681 -0.05585606] [-0.14816923 0.01673086 0.98882042]] t_gt: [-0.37099043 0.84940324 0.37534016] Pose Error in degrees for R and t: 170.4795709054287 82.51940663784049 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.27034962 0.96275582 -0.00350848] [ 0.96274586 -0.27032198 0.00681458] [ 0.00561235 -0.00522009 -0.99997063]] t_estimated: [[-0.67186341] [-0.74067445] [-0.00095571]] R_gt: [[ 0.89906347 0.41885685 0.12745311] [-0.40859044 0.90728547 -0.09943913] [-0.15728744 0.03732475 0.98684774]] t_gt: [-0.29907338 0.92337231 0.24070458] Pose Error in degrees for R and t: 172.1652686055424 61.104615095806636 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-1.07563226e-01 9.94198180e-01 3.62370482e-04] [-9.94196674e-01 -1.07562401e-01 -1.81727677e-03] [-1.76775582e-03 -5.55739682e-04 9.99998283e-01]] t_estimated: [[0.08294736] [0.99655323] [0.00118496]] R_gt: [[ 0.96314868 0.26282492 0.05716436] [-0.26132606 0.96470616 -0.03240754] [-0.06366419 0.01627411 0.9978391 ]] t_gt: [-0.71752462 0.69155803 0.08310177] Pose Error in degrees for R and t: 81.03203096288425 50.96787026190434 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.98143887 -0.19174539 -0.00338467] [ 0.19175492 0.98143897 0.00275744] [ 0.00279312 -0.00335529 0.99999047]] t_estimated: [[0.51359751] [0.85800996] [0.00604232]] R_gt: [[ 0.91512295 0.40018503 0.04901201] [-0.39729939 0.91577623 -0.05921141] [-0.06857903 0.03471342 0.99704152]] t_gt: [-0.66979947 0.74203184 0.02752122] Pose Error in degrees for R and t: 34.89554066707746 72.97256016602931 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.62093944e-01 -8.86824242e-01 -3.45701131e-03] [-8.86830832e-01 -4.62088103e-01 -2.37917118e-03] [ 5.12462882e-04 4.16518481e-03 -9.99991194e-01]] t_estimated: [[0.44759267] [0.89423705] [0.00094829]] R_gt: [[ 0.88276131 0.46836288 0.0369979 ] [-0.46537439 0.88249994 -0.06797824] [-0.06448826 0.04279065 0.99700089]] t_gt: [-0.64543811 0.76377554 0.00752194] Pose Error in degrees for R and t: 178.52173422794584 66.78951198691898 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.38416994e-01 3.45504453e-01 -4.68107186e-04] [-3.45504580e-01 9.38417037e-01 -2.22440099e-04] [ 3.62425714e-04 3.70474745e-04 9.99999866e-01]] t_estimated: [[-0.05257287] [ 0.99861639] [-0.00118302]] R_gt: [[ 0.99930969 0.00596304 0.03667825] [-0.00566282 0.99994946 -0.00828994] [-0.03672614 0.0080778 0.99929334]] t_gt: [-0.57416168 -0.06406141 0.81623189] Pose Error in degrees for R and t: 19.996824245368636 88.00839482624933 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.30268340e-01 3.66879737e-01 2.72183518e-04] [-3.66879646e-01 9.30268356e-01 -3.33567696e-04] [-3.75582942e-04 2.10448874e-04 9.99999907e-01]] t_estimated: [[0.495188 ] [0.86878529] [0.00098057]] R_gt: [[ 0.99818462 -0.05705396 -0.01929494] [ 0.05733492 0.99825125 0.01434875] [ 0.01844268 -0.01542832 0.99971123]] t_gt: [ 0.34648088 -0.92696629 -0.14382107] Pose Error in degrees for R and t: 24.84162141497444 50.66136547816142 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.06607802 -0.99780626 -0.0040463 ] [ 0.99729193 -0.06591165 -0.03262616] [ 0.03228789 -0.00619122 0.99945943]] t_estimated: [[ 0.52859906] [-0.84840438] [-0.02816097]] R_gt: [[ 0.99486638 -0.07952263 -0.06259287] [ 0.08252573 0.99548075 0.04697475] [ 0.0585739 -0.05189918 0.99693356]] t_gt: [ 0.4219572 -0.88052312 -0.21594248] Pose Error in degrees for R and t: 89.2085567262338 12.534103916732098 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[ 9.74654415e-01 -2.23715640e-01 -2.88657367e-04] [ 2.23715690e-01 9.74654435e-01 1.52534400e-04] [ 2.47216852e-04 -2.13245509e-04 9.99999947e-01]] t_estimated: [[-0.13414753] [-0.99096078] [-0.00108183]] R_gt: [[ 9.98232935e-01 5.94157302e-02 -8.09569636e-04] [-5.93935204e-02 9.98088753e-01 1.70392516e-02] [ 1.82130516e-03 -1.69605021e-02 9.99854875e-01]] t_gt: [-0.7379127 0.65664404 0.15589567] Pose Error in degrees for R and t: 16.36159740502072 56.503367380436615 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.70939011e-01 -2.39326721e-01 -3.95935303e-04] [ 2.39326854e-01 9.70939004e-01 3.29113508e-04] [ 3.05663372e-04 -4.14307095e-04 9.99999867e-01]] t_estimated: [[ 0.41003818] [-0.91206779] [-0.00101698]] R_gt: [[ 9.97014316e-01 6.44851636e-02 4.24732038e-02] [-6.45665424e-02 9.97913430e-01 5.48953826e-04] [-4.23486200e-02 -3.28960548e-03 9.99097898e-01]] t_gt: [-0.73954329 0.46796211 0.48382557] Pose Error in degrees for R and t: 17.717496829623332 43.06779651440705 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99624341e-01 2.74075343e-02 6.07188489e-05] [-2.74075364e-02 9.99624342e-01 3.39770148e-05] [-5.97648132e-05 -3.56284051e-05 9.99999998e-01]] t_estimated: [[0.84223038] [0.53911605] [0.00137008]] R_gt: [[ 0.99968296 0.02339022 0.00931606] [-0.02351335 0.9996356 0.0132842 ] [-0.00900139 -0.01349936 0.99986881]] t_gt: [-0.92764346 -0.18231256 0.32594439] Pose Error in degrees for R and t: 0.9521346383006641 28.46233931368161 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-9.90917117e-01 -1.33333826e-01 -1.74745198e-02] [-1.33345742e-01 9.91069461e-01 -4.86693888e-04] [ 1.73833557e-02 1.84787951e-03 -9.99847190e-01]] t_estimated: [[ 0.99839557] [ 0.05597748] [-0.00853255]] R_gt: [[ 0.98771913 0.15550947 0.0151018 ] [-0.15555866 0.98782528 0.00211151] [-0.01458984 -0.00443435 0.99988372]] t_gt: [-0.75398172 0.65316342 0.06992217] Pose Error in degrees for R and t: 179.85473765174714 44.20858125194441 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97081387e-01 -7.63411654e-02 -8.57124643e-04] [ 7.63421993e-02 9.97080897e-01 1.24636509e-03] [ 7.59473645e-04 -1.30816221e-03 9.99998856e-01]] t_estimated: [[0.24054403] [0.97063747] [0.00120876]] R_gt: [[ 0.92093875 0.38543451 0.0575648 ] [-0.38327129 0.92252713 -0.04524751] [-0.07054604 0.01960706 0.99731648]] t_gt: [-0.66605168 0.74369984 0.05732105] Pose Error in degrees for R and t: 27.34389784131843 55.825344357607335 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.91685107e-01 1.28688036e-01 -1.95240658e-04] [-1.28688015e-01 9.91685122e-01 1.19374784e-04] [ 2.08979362e-04 -9.32570632e-05 9.99999974e-01]] t_estimated: [[-9.94965200e-01] [ 1.00220345e-01] [-3.64805444e-04]] R_gt: [[ 0.82946745 0.55597249 0.05365219] [-0.55300185 0.83093489 -0.06112937] [-0.07856847 0.0210348 0.99668667]] t_gt: [-0.59703199 0.80091838 0.04563496] Pose Error in degrees for R and t: 26.749961852537353 47.60191378073054 Number of keypoints: Image1: 529 Image2: 529 R_estimated: [[ 9.99994915e-01 -3.18881215e-03 3.24054022e-05] [ 3.18881263e-03 9.99994916e-01 -1.47578637e-05] [-3.23581774e-05 1.48611234e-05 9.99999999e-01]] t_estimated: [[ 7.75492678e-01] [-6.31356351e-01] [ 5.13701811e-04]] R_gt: [[ 0.9990144 -0.03326451 -0.0293962 ] [ 0.03365152 0.99935207 0.01278838] [ 0.02895182 -0.01376445 0.99948534]] t_gt: [ 0.79516482 -0.56590912 -0.21785264] Pose Error in degrees for R and t: 2.528531927035539 13.13863717622797 Number of keypoints: Image1: 497 Image2: 497 R_estimated: [[ 9.99612289e-01 2.78436913e-02 1.24555286e-05] [-2.78436901e-02 9.99612286e-01 -8.34689501e-05] [-1.47747831e-05 8.30897804e-05 9.99999996e-01]] t_estimated: [[ 9.47626837e-02] [-9.95499795e-01] [-4.37366377e-04]] R_gt: [[ 0.9972284 -0.02895004 -0.06854138] [ 0.03233085 0.99828776 0.04875055] [ 0.0670131 -0.05083038 0.99645597]] t_gt: [ 0.76476304 -0.63020763 -0.134074 ] Pose Error in degrees for R and t: 5.878676505822888 45.58092203008603 Number of keypoints: Image1: 411 Image2: 411 R_estimated: [[ 9.98742735e-01 5.01293333e-02 -8.01877877e-06] [-5.01293338e-02 9.98742732e-01 -7.50523528e-05] [ 4.24637260e-06 7.53599681e-05 9.99999997e-01]] t_estimated: [[-3.23347631e-01] [-9.46280193e-01] [-3.24444690e-04]] R_gt: [[ 0.9982451 0.03597929 -0.04702159] [-0.03308797 0.99759572 0.06088507] [ 0.04909984 -0.05922271 0.99703569]] t_gt: [-0.70875075 -0.65703872 0.25685113] Pose Error in degrees for R and t: 4.50496582242904 31.697693169882502 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.99187478 -0.04983245 -0.11705187] [ 0.06551248 0.98878863 0.13418335] [ 0.10905288 -0.14076143 0.98401915]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.98924711 0.13155052 0.06390756] [-0.13034929 0.99121001 -0.02263905] [-0.06632447 0.01406625 0.99769833]] t_gt: [-0.43750309 0.83365074 0.33707195] Pose Error in degrees for R and t: 17.423558743387556 76.7611611655504 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.95801364 -0.28479686 -0.03317535] [ 0.28579746 0.9577962 0.0307613 ] [ 0.0230145 -0.03895118 0.99897605]] t_estimated: [[-0.67517517] [-0.73765685] [-0.00093256]] R_gt: [[ 0.94779824 0.31532587 0.047396 ] [-0.31347425 0.94864006 -0.04261373] [-0.05839775 0.02553281 0.99796617]] t_gt: [-0.34549354 0.93228943 0.10710103] Pose Error in degrees for R and t: 35.46520443595225 62.96460126077222 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99996442e-01 -2.66176330e-03 -1.75320163e-04] [ 2.66161694e-03 9.99996114e-01 -8.29840807e-04] [ 1.77528321e-04 8.29371220e-04 9.99999640e-01]] t_estimated: [[-0.9489427 ] [-0.31544567] [-0.00133844]] R_gt: [[ 0.89871477 0.43457617 0.05878656] [-0.43134722 0.9001776 -0.06016688] [-0.07906478 0.02871678 0.99645518]] t_gt: [-0.27344686 0.95635959 0.10297162] Pose Error in degrees for R and t: 26.292743037139374 87.57383555999365 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-0.05996125 -0.99811164 -0.01333453] [-0.99811181 0.06012884 -0.01254367] [ 0.01332177 0.01255721 -0.99983241]] t_estimated: [[ 0.77817927] [ 0.62799196] [-0.0079448 ]] R_gt: [[ 0.99766529 0.0463949 0.05011134] [-0.0443838 0.99819114 -0.04052484] [-0.05190167 0.03820744 0.99792062]] t_gt: [-0.33194624 0.94215867 -0.0463545 ] Pose Error in degrees for R and t: 179.53234617306344 70.5051172534786 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.97053354e-01 7.67110995e-02 -1.27926497e-04] [-7.67111093e-02 9.97053359e-01 -7.33167430e-05] [ 1.21925335e-04 8.29140880e-05 9.99999989e-01]] t_estimated: [[-0.00833304] [-0.99996474] [-0.00104163]] R_gt: [[ 0.98612261 0.15213278 0.06646628] [-0.14697733 0.98616862 -0.07660288] [-0.07720094 0.06577167 0.99484311]] t_gt: [-0.32180271 0.94633511 -0.02988108] Pose Error in degrees for R and t: 7.19279531935348 19.336705710842185 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.9620316 0.2724525 -0.01627381] [ 0.27239139 0.96216843 0.00590332] [ 0.01726652 0.00124634 -0.99985015]] t_estimated: [[ 0.97101838] [-0.23882755] [-0.0092036 ]] R_gt: [[ 0.96231397 0.2706722 0.02621272] [-0.26995477 0.96246709 -0.02792955] [-0.03278907 0.01980123 0.99926651]] t_gt: [-0.27690072 0.9606513 -0.02179633] Pose Error in degrees for R and t: 179.1100395010837 60.1252880751934 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-2.78812590e-01 9.60337630e-01 3.89578136e-03] [ 9.60344607e-01 2.78815657e-01 -2.56805019e-04] [-1.33282436e-03 3.66969214e-03 -9.99992378e-01]] t_estimated: [[-0.9410388 ] [-0.3382972 ] [-0.00098549]] R_gt: [[ 0.99415401 0.10712602 0.01344334] [-0.10699516 0.99420786 -0.0101064 ] [-0.01444788 0.00860855 0.99985878]] t_gt: [-0.3759789 0.92657267 0.01014694] Pose Error in degrees for R and t: 178.8574487068474 87.68784359031274 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99999937e-01 2.17346802e-04 -2.82331839e-04] [-2.17253924e-04 9.99999922e-01 3.28956752e-04] [ 2.82403315e-04 -3.28895394e-04 9.99999906e-01]] t_estimated: [[-0.8931302 ] [-0.44979686] [-0.00110821]] R_gt: [[ 0.96895605 0.24472812 -0.0350978 ] [-0.2436481 0.96932295 0.03237674] [ 0.04194417 -0.02282052 0.99885925]] t_gt: [-0.31845267 0.94663957 -0.04961266] Pose Error in degrees for R and t: 14.386432232868913 81.87571539872324 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.46691926e-01 -3.22139507e-01 -7.31741146e-04] [ 3.22139887e-01 9.46691959e-01 4.77020739e-04] [ 5.39066234e-04 -6.87314692e-04 9.99999619e-01]] t_estimated: [[9.70773019e-01] [2.39998762e-01] [5.83198253e-04]] R_gt: [[ 0.90941321 0.40039483 -0.11247721] [-0.39601346 0.91628843 0.05990717] [ 0.12704782 -0.00993684 0.99184663]] t_gt: [-0.14750339 0.97556378 -0.16284364] Pose Error in degrees for R and t: 42.95178239449274 84.78767414075416 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999957e-01 -4.39754156e-05 -2.89627278e-04] [ 4.40878906e-05 9.99999924e-01 3.88349091e-04] [ 2.89610178e-04 -3.88361844e-04 9.99999883e-01]] t_estimated: [[-0.99999404] [-0.00318615] [-0.00133 ]] R_gt: [[ 0.99429268 0.1041663 0.02305788] [-0.10465086 0.99428923 0.02092753] [-0.02074601 -0.02322075 0.99951532]] t_gt: [-0.3881367 0.81243213 0.43509073] Pose Error in degrees for R and t: 6.255370660117389 67.35829660756878 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99998152e-01 1.92037153e-03 8.65584260e-05] [-1.92038202e-03 9.99998149e-01 1.21271457e-04] [-8.63253795e-05 -1.21437458e-04 9.99999989e-01]] t_estimated: [[0.99996492] [0.00831518] [0.00101061]] R_gt: [[ 0.97796448 0.2085795 0.00891143] [-0.20874626 0.97760072 0.02685582] [-0.00310936 -0.02812346 0.99960008]] t_gt: [-0.18704529 0.96930197 0.1595862 ] Pose Error in degrees for R and t: 12.044617997331962 79.6991078911864 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.65943314e-01 2.58753594e-01 -3.03667289e-04] [-2.58753679e-01 9.65943297e-01 -2.84371327e-04] [ 2.19743279e-04 3.53261610e-04 9.99999913e-01]] t_estimated: [[-0.98161186] [ 0.1908812 ] [-0.00158728]] R_gt: [[ 0.97261578 0.23029584 0.0313313 ] [-0.23046237 0.97308005 0.00176552] [-0.03007985 -0.0089367 0.99950781]] t_gt: [-0.11152963 0.97777491 0.1775313 ] Pose Error in degrees for R and t: 2.4694611453113007 72.79233398044714 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999824e-01 5.44189699e-04 -2.37284290e-04] [-5.44070066e-04 9.99999725e-01 5.03950667e-04] [ 2.37558469e-04 -5.03821478e-04 9.99999845e-01]] t_estimated: [[0.98366541] [0.18000384] [0.00098764]] R_gt: [[ 9.90506484e-01 -1.37465470e-01 4.19471827e-04] [ 1.37462952e-01 9.90501485e-01 2.94768573e-03] [-8.21412001e-04 -2.86114255e-03 9.99994863e-01]] t_gt: [ 0.78804203 -0.61534538 0.01843426] Pose Error in degrees for R and t: 7.934039405955366 48.361897421368475 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99999914e-01 -2.91039511e-05 -4.14069396e-04] [ 2.94220093e-05 9.99999705e-01 7.68142482e-04] [ 4.14046918e-04 -7.68154598e-04 9.99999619e-01]] t_estimated: [[-6.73628355e-01] [-7.39069944e-01] [-6.75948189e-04]] R_gt: [[ 0.99114029 -0.13187358 -0.01582278] [ 0.13145827 0.99100825 -0.02488439] [ 0.01896112 0.02258399 0.99956407]] t_gt: [ 0.77195333 -0.60309629 -0.20090525] Pose Error in degrees for R and t: 7.7572835168421665 85.74798770788088 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 0.97919839 -0.20281757 -0.00596122] [ 0.20284641 0.97919926 0.00470641] [ 0.00488268 -0.00581772 0.99997116]] t_estimated: [[-0.90099143] [-0.43381069] [-0.00476715]] R_gt: [[ 0.97220801 -0.23356314 -0.01614056] [ 0.23290427 0.97187506 -0.03483883] [ 0.02382393 0.03011097 0.99926188]] t_gt: [ 0.8033838 -0.57693181 -0.14739118] Pose Error in degrees for R and t: 2.9415456138532243 61.779887510923004 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.98126705e-01 -6.11800498e-02 2.85295839e-04] [ 6.11801127e-02 9.98126719e-01 -2.17083035e-04] [-2.71480249e-04 2.34130806e-04 9.99999936e-01]] t_estimated: [[9.83448888e-01] [1.81183814e-01] [8.42715414e-04]] R_gt: [[ 0.97002283 -0.24050165 -0.03483689] [ 0.2408 0.97056321 0.00458846] [ 0.03270726 -0.01283877 0.99938309]] t_gt: [ 0.83861791 -0.54306473 -0.04243479] Pose Error in degrees for R and t: 10.617684271273138 43.422270613310396 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 1.00000000e+00 -5.72348721e-06 -1.73427771e-05] [ 5.72380393e-06 1.00000000e+00 1.82626941e-05] [ 1.73426725e-05 -1.82627933e-05 1.00000000e+00]] t_estimated: [[9.97373449e-01] [7.24300786e-02] [2.94119310e-04]] R_gt: [[ 0.96039531 -0.27709803 -0.02926387] [ 0.2770477 0.96083787 -0.00584982] [ 0.02973904 -0.0024888 0.99955496]] t_gt: [ 0.84246592 -0.53582073 -0.05610102] Pose Error in degrees for R and t: 16.178945865022133 36.73340294142377 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999974e-01 2.24143090e-04 2.81812755e-05] [-2.24143388e-04 9.99999975e-01 1.05578131e-05] [-2.81789083e-05 -1.05641295e-05 1.00000000e+00]] t_estimated: [[9.99981016e-01] [6.11626170e-03] [7.48260241e-04]] R_gt: [[ 0.9465735 -0.3197283 -0.04208141] [ 0.31901849 0.94747319 -0.02281202] [ 0.04716443 0.00816823 0.99885451]] t_gt: [ 0.84652471 -0.52258673 -0.10148412] Pose Error in degrees for R and t: 18.84824419191542 32.51652694032536 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99059580e-01 4.33584439e-02 -3.33700700e-05] [-4.33584296e-02 9.99059520e-01 3.50721770e-04] [ 4.85454363e-05 -3.48945070e-04 9.99999938e-01]] t_estimated: [[0.02031509] [0.99979257] [0.00145108]] R_gt: [[ 9.88809230e-01 1.49184261e-01 8.96362384e-04] [-1.49055667e-01 9.87664833e-01 4.79494086e-02] [ 6.26875704e-03 -4.75459141e-02 9.98849464e-01]] t_gt: [-0.31736095 0.91373378 0.25371755] Pose Error in degrees for R and t: 6.678285766427605 24.842621811023523 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 8.93074723e-01 4.49907598e-01 8.31985100e-04] [-4.49907717e-01 8.93075049e-01 -4.78799717e-05] [-7.64566697e-04 -3.31556125e-04 9.99999653e-01]] t_estimated: [[-0.24910139] [ 0.96847592] [ 0.00170018]] R_gt: [[ 9.82598700e-01 1.85721739e-01 2.46066071e-03] [-1.85737611e-01 9.82437938e-01 1.78039818e-02] [ 8.89483608e-04 -1.79508357e-02 9.99838812e-01]] t_gt: [-0.10960495 0.98975681 0.09147799] Pose Error in degrees for R and t: 16.065470383666582 9.593858983789788 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99899812e-01 -1.41550360e-02 -4.19539192e-05] [ 1.41550335e-02 9.99899811e-01 -5.90218713e-05] [ 4.27851726e-05 5.84220989e-05 9.99999997e-01]] t_estimated: [[ 9.40558860e-01] [-3.39630583e-01] [-3.13351994e-04]] R_gt: [[ 0.98222685 0.18229733 0.04469737] [-0.18058721 0.98275534 -0.03974642] [-0.05117247 0.03096869 0.99820966]] t_gt: [-0.09256241 0.98450289 0.14895054] Pose Error in degrees for R and t: 11.782665091694858 65.0722950768306 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99286274e-01 -3.77739615e-02 -2.65358092e-04] [ 3.77740311e-02 9.99286272e-01 2.62688903e-04] [ 2.55245899e-04 -2.72525060e-04 9.99999930e-01]] t_estimated: [[-0.76878222] [-0.63950868] [-0.0015947 ]] R_gt: [[ 0.98175418 0.17808132 -0.06667801] [-0.17656741 0.98389036 0.02800356] [ 0.07059078 -0.01572015 0.99738057]] t_gt: [-0.3240904 0.9246751 -0.19985338] Pose Error in degrees for R and t: 13.05936200511105 70.00951326948608 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 1.03319514e-01 -9.94647539e-01 -1.16278545e-03] [-9.94647815e-01 -1.03320454e-01 7.79939464e-04] [-8.95904388e-04 1.07597904e-03 -9.99999020e-01]] t_estimated: [[0.64925016] [0.76057446] [0.0008498 ]] R_gt: [[ 0.93846274 0.32007267 -0.12977698] [-0.31281827 0.94696961 0.07344157] [ 0.14640175 -0.02832561 0.98881848]] t_gt: [-0.1515193 0.96480377 -0.2149316 ] Pose Error in degrees for R and t: 176.79217631433764 50.5615802098648 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 3.29861477e-01 -9.44029193e-01 5.37661492e-04] [-9.44027827e-01 -3.29859872e-01 1.98138884e-03] [-1.69313595e-03 -1.16115126e-03 -9.99997893e-01]] t_estimated: [[0.30904711] [0.95104207] [0.00297652]] R_gt: [[ 0.85931892 0.49183652 -0.14023946] [-0.47987632 0.87021971 0.11152261] [ 0.17689011 -0.02853644 0.98381674]] t_gt: [-0.11661343 0.97678283 -0.17971256] Pose Error in degrees for R and t: 178.03277528496145 26.82517689514106 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.88211464 -0.47099567 -0.00606866] [ 0.47095714 -0.88212996 0.00678959] [-0.00855121 0.00313112 0.99995854]] t_estimated: [[0.86478696] [0.50213436] [0.00214587]] R_gt: [[ 0.99660918 0.04478864 0.06903372] [-0.04317043 0.99876137 -0.02476559] [-0.07005721 0.02170138 0.99730695]] t_gt: [-0.74103788 0.47514671 0.47444543] Pose Error in degrees for R and t: 154.43828122565438 66.34463656721874 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-6.99102479e-01 -7.15021403e-01 -3.43139281e-04] [-7.15017112e-01 6.99096443e-01 3.83311608e-03] [-2.50087259e-03 2.92509141e-03 -9.99992595e-01]] t_estimated: [[0.92743935] [0.37396748] [0.00213696]] R_gt: [[ 0.9825489 0.17284551 0.06871758] [-0.17137555 0.98484223 -0.02678903] [-0.07230623 0.0145451 0.99727655]] t_gt: [-0.72660903 0.65586957 0.20463241] Pose Error in degrees for R and t: 176.67169944067115 64.6482266181779 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99565751e-01 -2.94666038e-02 -1.70125327e-04] [ 2.94666047e-02 9.99565765e-01 3.06455674e-06] [ 1.69961151e-04 -8.07624174e-06 9.99999986e-01]] t_estimated: [[-9.94884926e-01] [-1.01014019e-01] [-3.89532759e-04]] R_gt: [[ 0.95754525 0.28814321 0.00902385] [-0.28825948 0.95657728 0.04323123] [ 0.00382594 -0.04399646 0.99902392]] t_gt: [-0.7106123 0.69602536 0.10285363] Pose Error in degrees for R and t: 18.618546938231347 50.45908489030356 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[-9.92163108e-01 -1.24779925e-01 -6.50667772e-03] [-1.24788664e-01 9.92182887e-01 9.53227101e-04] [ 6.33687067e-03 1.75771638e-03 -9.99978377e-01]] t_estimated: [[0.61158483] [0.79117721] [0.00161795]] R_gt: [[ 9.97950129e-01 6.39559374e-02 -2.44683654e-03] [-6.40032013e-02 9.97356173e-01 -3.43978966e-02] [ 2.41278892e-04 3.44845760e-02 9.99404912e-01]] t_gt: [-0.28006099 0.90952032 -0.30714594] Pose Error in degrees for R and t: 179.43032685592786 56.7828445358004 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.93876998e-01 -1.10492093e-01 -1.01919407e-04] [ 1.10492096e-01 9.93877002e-01 2.68804077e-05] [ 9.83252827e-05 -3.79771079e-05 9.99999994e-01]] t_estimated: [[-0.80252422] [-0.59661895] [-0.00084387]] R_gt: [[ 0.98225805 0.18687391 0.01574212] [-0.18584388 0.98121017 -0.05184967] [-0.0251354 0.04800493 0.9985312 ]] t_gt: [-0.32393287 0.94593777 -0.0164085 ] Pose Error in degrees for R and t: 17.370586702254588 72.27873726258673 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.57085846e-01 -2.89803863e-01 6.35971844e-04] [ 2.89804317e-01 9.57085583e-01 -8.03577709e-04] [-3.75799558e-04 9.53400238e-04 9.99999475e-01]] t_estimated: [[-0.50469636] [-0.86329641] [-0.00094868]] R_gt: [[ 0.91942992 0.39310268 -0.01094635] [-0.39306593 0.91776391 -0.0566476 ] [-0.01222171 0.05638726 0.99833391]] t_gt: [-0.2332962 0.97139838 -0.04425008] Pose Error in degrees for R and t: 40.13980802360239 43.8778590444232 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99653936e-01 -2.63059223e-02 8.30070506e-05] [ 2.63059268e-02 9.99653938e-01 -5.33826842e-05] [-8.15740443e-05 5.55477878e-05 9.99999995e-01]] t_estimated: [[9.35845074e-01] [3.52411276e-01] [5.39333366e-04]] R_gt: [[ 0.98152551 -0.17882726 -0.06803697] [ 0.17943901 0.98376444 0.00292909] [ 0.0664086 -0.01508344 0.99767922]] t_gt: [ 0.60426949 -0.76155822 -0.23428075] Pose Error in degrees for R and t: 9.649784910931908 72.72282129109944 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.99010558e-01 9.54249702e-01 4.38748821e-04] [ 9.54246597e-01 2.99008330e-01 2.72951294e-03] [ 2.47344736e-03 1.23482776e-03 -9.99996179e-01]] t_estimated: [[6.54778882e-01] [7.55820155e-01] [7.13007110e-04]] R_gt: [[ 0.9425697 -0.32995646 -0.05188104] [ 0.33079716 0.94366461 0.00830681] [ 0.04621731 -0.02499198 0.99861957]] t_gt: [ 0.65296728 -0.75438357 -0.06737331] Pose Error in degrees for R and t: 177.08147161491948 81.79720843819709 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99827237e-01 -1.85554213e-02 -1.09173007e-03] [ 1.85558810e-02 9.99827740e-01 4.12474124e-04] [ 1.08388838e-03 -4.32660877e-04 9.99999319e-01]] t_estimated: [[-1.50849045e-01] [-9.88556441e-01] [-8.53269950e-04]] R_gt: [[ 0.87942737 -0.47230328 -0.05946965] [ 0.4716831 0.88141513 -0.02495846] [ 0.06420613 -0.00610176 0.99791844]] t_gt: [ 0.71222189 -0.69508034 -0.09799637] Pose Error in degrees for R and t: 27.37079813993745 54.565507738985495 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.37587446e-01 3.47749330e-01 4.30071458e-04] [-3.47749542e-01 9.37585890e-01 1.71890154e-03] [ 1.94517930e-04 -1.76117766e-03 9.99998430e-01]] t_estimated: [[0.41483103] [0.90989686] [0.00170712]] R_gt: [[ 0.95705662 0.28343067 0.060905 ] [-0.28084153 0.95856722 -0.04770454] [-0.07190204 0.02855133 0.99700226]] t_gt: [-0.70514047 0.70538225 0.07219971] Pose Error in degrees for R and t: 5.965496721748301 69.54728724716016 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.92475746e-01 1.22441021e-01 -2.99787445e-04] [-1.22441008e-01 9.92475791e-01 6.31620500e-05] [ 3.05265407e-04 -2.59805258e-05 9.99999953e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.89774918 0.43656231 0.05882845] [-0.43709358 0.89940609 -0.00418114] [-0.05473582 -0.02195972 0.99825869]] t_gt: [-0.64918449 0.752491 0.110981 ] Pose Error in degrees for R and t: 19.193358221892588 63.40245814088743 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.98929257e-01 4.62636334e-02 -1.24403941e-04] [-4.62636376e-02 9.98929264e-01 -3.09569615e-05] [ 1.22838556e-04 3.66791934e-05 9.99999992e-01]] t_estimated: [[-0.92912027] [-0.36977582] [-0.00117018]] R_gt: [[ 0.85639051 0.51080713 0.07530861] [-0.51218497 0.85887452 -0.00118238] [-0.06528467 -0.03755849 0.99715892]] t_gt: [-0.61263249 0.7803676 0.12533095] Pose Error in degrees for R and t: 28.48428313092576 73.70986016265596 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99999996e-01 -8.40020352e-05 3.83712203e-05] [ 8.39996861e-05 9.99999995e-01 6.12176647e-05] [-3.83763625e-05 -6.12144412e-05 9.99999997e-01]] t_estimated: [[8.44509751e-01] [5.35539760e-01] [6.68153211e-04]] R_gt: [[ 0.99891056 -0.0451841 -0.01164174] [ 0.04552199 0.99849477 0.03059388] [ 0.01024237 -0.03109023 0.99946352]] t_gt: [ 0.69424276 -0.65589488 0.29635939] Pose Error in degrees for R and t: 3.201099187252657 76.39452382969606 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99996961e-01 -7.05878570e-04 -2.36219217e-03] [ 7.11587476e-04 9.99996826e-01 2.41681574e-03] [ 2.36047869e-03 -2.41848930e-03 9.99994290e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99858845 0.01373216 0.05130244] [-0.01813876 0.99609192 0.08643405] [-0.04991372 -0.08724281 0.99493584]] t_gt: [ 0.02275267 -0.30430541 0.95230275] Pose Error in degrees for R and t: 5.799659773988057 88.53368187396204 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-3.78681024e-01 -9.25525113e-01 -1.98676583e-03] [ 9.25526868e-01 -3.78681935e-01 8.94862502e-05] [-8.35174100e-04 -1.80491841e-03 9.99998022e-01]] t_estimated: [[0.99577611] [0.09180915] [0.00100889]] R_gt: [[ 0.99616546 0.03814781 0.07873673] [-0.04968169 0.98741153 0.15016912] [-0.07201699 -0.1535049 0.98551903]] t_gt: [-0.05100443 -0.18655214 0.9811202 ] Pose Error in degrees for R and t: 115.04693448580029 86.16253481236332 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999984e-01 1.38816154e-04 -1.08762596e-04] [-1.38808603e-04 9.99999988e-01 6.94306230e-05] [ 1.08772233e-04 -6.94155248e-05 9.99999992e-01]] t_estimated: [[-9.99951596e-01] [ 9.82088114e-03] [-5.96817343e-04]] R_gt: [[ 0.98930217 0.14580148 -0.00478531] [-0.14583068 0.98928956 -0.00633111] [ 0.00381049 0.00696098 0.99996925]] t_gt: [-0.715234 0.69615193 -0.06174803] Pose Error in degrees for R and t: 8.388859518340942 43.77409762633437 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.9925005 -0.12217649 -0.00395703] [ 0.12221774 0.99242056 0.0128165 ] [ 0.00236117 -0.013204 0.99991004]] t_estimated: [[0.30823366] [0.95128227] [0.00735178]] R_gt: [[ 0.89761737 0.43774677 0.05157415] [-0.43528649 0.89875905 -0.05251724] [-0.06934209 0.02469075 0.99728726]] t_gt: [-0.63099448 0.77435558 0.04711065] Pose Error in degrees for R and t: 33.28087410916917 57.147149047711814 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.99999475 -0.00304709 0.00110252] [ 0.00304873 0.99999424 -0.00148881] [-0.00109798 0.00149217 0.99999828]] t_estimated: [[-9.99889690e-01] [-1.48265418e-02] [-8.83758280e-04]] R_gt: [[ 0.79422855 0.60399147 0.06629428] [-0.60375293 0.79675259 -0.02584462] [-0.06843066 -0.01949856 0.99746552]] t_gt: [-0.56215574 0.82270527 0.08448048] Pose Error in degrees for R and t: 37.58434239102373 56.645252792453356 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[-9.39641308e-01 -3.42145214e-01 3.29623849e-03] [-3.42139915e-01 9.39646731e-01 2.07337748e-03] [-3.80669591e-03 8.20456374e-04 -9.99992418e-01]] t_estimated: [[0.96972406] [0.24419201] [0.002348 ]] R_gt: [[ 0.99902097 0.01347793 0.04215418] [-0.01471569 0.99946488 0.02919609] [-0.04173848 -0.02978793 0.99868398]] t_gt: [-0.1310515 -0.21067926 0.968731 ] Pose Error in degrees for R and t: 177.13292287798188 79.84827714159371 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-0.4926933 -0.87019717 -0.00319412] [ 0.87020223 -0.49268458 -0.00315895] [ 0.00117521 -0.00433592 0.99998991]] t_estimated: [[0.98160449] [0.19092307] [0.0009996 ]] R_gt: [[ 0.99529709 0.06135533 0.0749622 ] [-0.06742959 0.99439929 0.08138446] [-0.06954924 -0.08605685 0.99385972]] t_gt: [-0.25957149 -0.00493097 0.96571131] Pose Error in degrees for R and t: 123.32330436080429 75.23988557644333 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-7.23435367e-01 -6.90390548e-01 -1.47010340e-03] [ 6.90392038e-01 -7.23432650e-01 -2.00882995e-03] [ 3.23356409e-04 -2.46820632e-03 9.99996902e-01]] t_estimated: [[0.94938078] [0.31412599] [0.0010004 ]] R_gt: [[ 0.99017668 0.08416777 0.1116533 ] [-0.10193531 0.98111339 0.16439739] [-0.09570768 -0.17416377 0.98005486]] t_gt: [-0.24328511 0.02078949 0.969732 ] Pose Error in degrees for R and t: 141.93510663914398 77.08710042144936 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.96921034 -0.23715769 -0.06623862] [ 0.24304159 0.96455876 0.10274817] [ 0.03952352 -0.11568333 0.9924995 ]] t_estimated: [[-0.99227127] [-0.12403391] [-0.00364806]] R_gt: [[ 0.98316005 -0.18262218 0.006751 ] [ 0.18264692 0.98317294 -0.0032778 ] [-0.00603924 0.00445663 0.99997213]] t_gt: [ 0.80163821 -0.59780625 0.00196392] Pose Error in degrees for R and t: 8.139690505704648 43.837961287901386 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.5054296 0.86276767 0.01314783] [ 0.86278695 0.50553218 -0.00599079] [-0.01181531 0.00831586 -0.99989562]] t_estimated: [[0.97822983] [0.2075033 ] [0.00296433]] R_gt: [[ 0.95481823 -0.29718626 0.00117125] [ 0.29708059 0.95435685 -0.03076714] [ 0.00802588 0.02972463 0.99952635]] t_gt: [ 0.85680012 -0.50876923 -0.08394888] Pose Error in degrees for R and t: 178.47399159188043 42.91814431406191 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.45000005 -0.8930253 -0.00240075] [ 0.8930124 0.44997414 0.00722012] [-0.00536748 -0.00539296 0.99997105]] t_estimated: [[0.94758877] [0.31948521] [0.00217337]] R_gt: [[ 0.92319768 -0.38351099 0.02497798] [ 0.38430329 0.92054221 -0.07009846] [ 0.00388976 0.07431436 0.9972271 ]] t_gt: [ 0.88167991 -0.45201145 -0.13537423] Pose Error in degrees for R and t: 40.90720306492535 46.3093202949035 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 0.52061459 -0.85373314 0.01000856] [-0.85374398 -0.52042558 0.01668636] [-0.00903698 -0.01723191 -0.99981068]] t_estimated: [[0.46036129] [0.88767193] [0.01029683]] R_gt: [[ 0.99906614 0.00591388 -0.04280619] [-0.00843353 0.99822866 -0.05890851] [ 0.04238308 0.05921492 0.99734509]] t_gt: [ 0.05188125 0.30038922 -0.95240467] Pose Error in degrees for R and t: 176.96523292833643 73.69655325658665 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999819e-01 -5.93230836e-04 -1.04273739e-04] [ 5.93233205e-04 9.99999824e-01 2.26875954e-05] [ 1.04260261e-04 -2.27494499e-05 9.99999994e-01]] t_estimated: [[ 0.999905 ] [-0.01361324] [-0.00216024]] R_gt: [[ 0.99971211 0.00236749 0.02390342] [-0.00231061 0.99999441 -0.00241484] [-0.02390771 0.00235855 0.99971163]] t_gt: [-0.37769946 0.02691477 0.92553698] Pose Error in degrees for R and t: 1.3918274159046025 67.6644983206197 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.046279 0.99882057 0.01468729] [-0.99882126 0.04648451 -0.01397421] [-0.01464046 -0.01402326 0.99979448]] t_estimated: [[0.67771597] [0.73532183] [0.00169429]] R_gt: [[ 0.99165546 -0.06945846 0.10861099] [ 0.04939134 0.98286322 0.17759658] [-0.11908422 -0.17075048 0.9780912 ]] t_gt: [ 0.16423547 -0.36015411 0.91832224] Pose Error in degrees for R and t: 91.31755796305559 81.25899189585553 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.90617263 0.42270231 -0.01318746] [-0.42272489 -0.90625731 -0.00116277] [-0.01244274 0.00452099 0.99991237]] t_estimated: [[0.62843333] [0.77785104] [0.00439464]] R_gt: [[ 0.98519547 0.17053791 -0.0175106 ] [-0.16967802 0.98458385 0.04245452] [ 0.02447988 -0.0388551 0.99894501]] t_gt: [-0.73634602 0.67375674 0.06201923] Pose Error in degrees for R and t: 145.21869851563986 86.46773807774622 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 7.72474309e-01 -6.35045223e-01 -1.00287670e-03] [ 6.35045574e-01 7.72474671e-01 4.06340034e-05] [ 7.48892420e-04 -6.68261134e-04 9.99999496e-01]] t_estimated: [[-0.10507145] [-0.99446411] [-0.00106133]] R_gt: [[ 0.96659035 0.24186123 -0.08489201] [-0.23194345 0.96625926 0.11199669] [ 0.10911549 -0.08856578 0.99007591]] t_gt: [-0.77399692 0.62882794 -0.07419025] Pose Error in degrees for R and t: 53.75439627789204 57.04753152397043 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.9233242 -0.3839698 0.00629463] [-0.38314422 0.92219866 0.05244176] [-0.02594096 0.04600899 -0.99860415]] t_estimated: [[9.99987772e-01] [4.87798913e-03] [8.12998189e-04]] R_gt: [[ 0.94398444 0.29950916 -0.13852166] [-0.27538032 0.94628868 0.16941675] [ 0.1818232 -0.12178194 0.97576166]] t_gt: [-0.81884905 0.53745581 -0.20156262] Pose Error in degrees for R and t: 173.01037821738322 35.27583801597538 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 8.86938503e-01 4.61886906e-01 7.59677788e-04] [-4.61885459e-01 8.86938251e-01 -1.53656333e-03] [-1.38350577e-03 1.01195306e-03 9.99998531e-01]] t_estimated: [[0.72207468] [0.69181433] [0.00104346]] R_gt: [[ 9.93744126e-01 1.11674588e-01 8.16903286e-04] [-1.11512719e-01 9.92655587e-01 -4.68950704e-02] [-6.04840648e-03 4.65110730e-02 9.98899613e-01]] t_gt: [-0.35118725 0.92072237 -0.17011124] Pose Error in degrees for R and t: 21.256971129475403 67.46746438309296 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999680e-01 8.05909954e-05 -7.96273774e-04] [-8.02689207e-05 9.99999915e-01 4.04501004e-04] [ 7.96306305e-04 -4.04436958e-04 9.99999601e-01]] t_estimated: [[-0.7927009 ] [-0.60960988] [-0.00104029]] R_gt: [[ 0.95732701 0.28896859 0.00466433] [-0.28860671 0.95672768 -0.03710985] [-0.01518609 0.03418032 0.99930033]] t_gt: [-0.29503922 0.95532353 -0.01757331] Pose Error in degrees for R and t: 16.926698509446247 69.60571712993539 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.13453197 0.99090127 -0.00397743] [-0.99090516 -0.1345188 0.0034141 ] [ 0.00284799 0.00440057 0.99998626]] t_estimated: [[0.79522966] [0.60630769] [0.00087871]] R_gt: [[ 0.88269667 0.46834166 -0.03876425] [-0.46956543 0.88228581 -0.03285048] [ 0.01881628 0.04719969 0.99870794]] t_gt: [-0.19585074 0.97740932 -0.07945758] Pose Error in degrees for R and t: 69.78957970142544 64.1004545812367 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.91955001e-01 -1.26588866e-01 -7.30831722e-04] [ 1.26590001e-01 9.91953485e-01 1.80393413e-03] [ 4.96593098e-04 -1.88193747e-03 9.99998106e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99200504 -0.11676156 -0.04789531] [ 0.11848542 0.99234273 0.03489729] [ 0.04345307 -0.04029258 0.99824251]] t_gt: [ 0.62584742 -0.77619989 -0.07634621] Pose Error in degrees for R and t: 3.3423641179112096 39.433673887006414 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.95917194e-01 9.02701489e-02 4.91886416e-04] [-9.02701075e-02 9.95917314e-01 -1.05731284e-04] [-4.99422577e-04 6.08969646e-05 9.99999873e-01]] t_estimated: [[9.84731614e-01] [1.74077339e-01] [8.53320290e-04]] R_gt: [[ 0.98993989 -0.14116961 -0.00948676] [ 0.14135568 0.98968701 0.02319794] [ 0.00611308 -0.02430454 0.99968573]] t_gt: [ 0.54261699 -0.83899079 0.04075845] Pose Error in degrees for R and t: 13.379813143831527 67.15014372443642 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.20037379 -0.97971638 -0.00248359] [-0.97971875 0.20036979 0.00176662] [-0.00123315 0.00278721 -0.99999536]] t_estimated: [[0.62021531] [0.7844295 ] [0.00182411]] R_gt: [[ 0.98971699 -0.14181442 -0.01869503] [ 0.14206107 0.98977844 0.01260114] [ 0.0167168 -0.01512627 0.99974598]] t_gt: [ 0.48660064 -0.8720685 -0.05211868] Pose Error in degrees for R and t: 179.68117939744556 67.51917839221022 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.97979006 0.20002276 -0.00152429] [-0.19999077 0.9797246 0.01197491] [ 0.00388864 -0.01142805 0.99992714]] t_estimated: [[-0.94426012] [-0.32919457] [ 0.00193916]] R_gt: [[ 0.98464202 -0.17367188 -0.01781816] [ 0.17309877 0.98445303 -0.02980304] [ 0.02271719 0.02626067 0.99939691]] t_gt: [ 0.54805821 -0.8132784 -0.1954749 ] Pose Error in degrees for R and t: 21.66927500462581 75.51291718529717 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.87596005 -0.48237505 -0.00288212] [ 0.48238041 -0.87596044 -0.00156281] [-0.00177076 -0.00275923 0.99999463]] t_estimated: [[0.84439302] [0.53572051] [0.00199238]] R_gt: [[ 0.94678166 -0.32072562 -0.02718078] [ 0.32071705 0.94716255 -0.00479496] [ 0.02728213 -0.00417798 0.99961845]] t_gt: [ 0.62132825 -0.7811851 -0.06083628] Pose Error in degrees for R and t: 132.45182187178096 83.91365179021687 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.95696498e-01 -9.26740392e-02 -7.88762761e-05] [ 9.26740349e-02 9.95696500e-01 -5.63745701e-05] [ 8.37612912e-05 4.88221793e-05 9.99999995e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.88780554 -0.46020078 -0.00409251] [ 0.46001922 0.88764738 -0.02154283] [ 0.01354618 0.0172428 0.9997586 ]] t_gt: [ 0.68149172 -0.73034617 -0.04651362] Pose Error in degrees for R and t: 22.115406658314594 43.43710684197492 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.98326004e-01 5.78375247e-02 9.83040127e-05] [-5.78374999e-02 9.98325982e-01 -2.38959026e-04] [-1.11960249e-04 2.32873351e-04 9.99999967e-01]] t_estimated: [[-0.79968831] [-0.60041421] [-0.00117689]] R_gt: [[ 0.99669682 0.01860274 0.07905723] [-0.01841903 0.99982571 -0.00304392] [-0.07909991 0.00157789 0.99686506]] t_gt: [-0.24837198 0.33349644 0.9094457 ] Pose Error in degrees for R and t: 5.060466592555431 89.84609474066681 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.873115 -0.48750581 -0.00287645] [ 0.48751115 -0.87311538 -0.00155567] [-0.00175307 -0.00276058 0.99999465]] t_estimated: [[0.90743728] [0.42018292] [0.00197269]] R_gt: [[ 0.99162651 -0.04402804 0.12140498] [ 0.04710012 0.99863514 -0.02254117] [-0.12024635 0.02807109 0.99234654]] t_gt: [ 0.42479188 -0.26264143 0.8663552 ] Pose Error in degrees for R and t: 148.27380328565818 73.92928183444423 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.79095691e-01 -2.03400165e-01 3.68780549e-06] [ 2.03400161e-01 9.79095672e-01 -2.00446842e-04] [ 3.71602063e-05 1.97006739e-04 9.99999980e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98432496 -0.09132228 0.15087916] [ 0.09490499 0.99534635 -0.01669901] [-0.14865176 0.0307564 0.98841126]] t_gt: [ 0.55801466 -0.49926275 0.66283961] Pose Error in degrees for R and t: 10.798859039787798 60.32474440607571 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.29983984 0.92203275 -0.2448503 ] [-0.55755335 -0.03889275 -0.82922953] [-0.77409969 0.38515316 0.50242086]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99585241 -0.05719728 -0.0707553 ] [ 0.05775105 0.99831434 0.00580565] [ 0.07030292 -0.00986805 0.99747678]] t_gt: [ 0.56999377 -0.6831066 -0.45658786] Pose Error in degrees for R and t: 100.65316914415574 80.89504781562098 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999854e-01 9.12032352e-05 5.32371352e-04] [-9.07451836e-05 9.99999626e-01 -8.60359418e-04] [-5.32449621e-04 8.60310982e-04 9.99999488e-01]] t_estimated: [[0.56181833] [0.82726003] [0.0009979 ]] R_gt: [[ 0.98602562 -0.15606569 -0.05827816] [ 0.15332522 0.98696667 -0.04887411] [ 0.06514608 0.03925568 0.99710292]] t_gt: [ 0.68008887 -0.58863926 -0.43701597] Pose Error in degrees for R and t: 9.923717041391878 83.95512036973143 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.81546454e-01 1.91204702e-01 2.70565360e-03] [-1.91202419e-01 9.81550033e-01 -1.08096572e-03] [-2.86242011e-03 5.43690555e-04 9.99995755e-01]] t_estimated: [[0.9256522 ] [0.37836878] [0.0022522 ]] R_gt: [[ 0.97238919 -0.21933533 0.07970153] [ 0.2238618 0.97317635 -0.05305465] [-0.06592733 0.06943217 0.99540621]] t_gt: [ 0.72653864 -0.68250041 -0.07959142] Pose Error in degrees for R and t: 24.437441712286677 65.53697099350353 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 9.99945761e-01 -1.04151238e-02 1.23613015e-05] [ 1.04151238e-02 9.99945761e-01 -2.46539434e-06] [-1.23349537e-05 2.59400511e-06 1.00000000e+00]] t_estimated: [[ 9.90391494e-01] [-1.38288945e-01] [ 9.25122094e-04]] R_gt: [[ 0.99998597 -0.00472473 -0.00277663] [ 0.00469783 0.99994435 -0.00949767] [ 0.00282094 0.00948452 0.99995109]] t_gt: [ 0.27783415 -0.21179986 -0.93698933] Pose Error in degrees for R and t: 0.6506152989720406 72.32680573248629 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.91889056e-01 1.27106653e-01 -5.33230126e-06] [-1.27106652e-01 9.91889055e-01 4.87001269e-05] [ 1.14791614e-05 -4.76273520e-05 9.99999999e-01]] t_estimated: [[-0.99988332] [-0.01524212] [-0.00101614]] R_gt: [[ 0.99606514 -0.0777336 -0.04258382] [ 0.07818342 0.99689833 0.00900496] [ 0.04175149 -0.01229912 0.99905155]] t_gt: [ 0.62747573 -0.71291102 -0.31310077] Pose Error in degrees for R and t: 12.035959799251078 51.95951838164678 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.52472571 0.85126126 0.00414729] [ 0.85126683 -0.5247008 -0.00581836] [-0.00277686 0.0065835 -0.99997447]] t_estimated: [[-0.99989506] [-0.01439849] [-0.00159983]] R_gt: [[ 0.97296107 -0.21387863 -0.08720089] [ 0.21603289 0.9762553 0.01595927] [ 0.08171673 -0.03436553 0.99606273]] t_gt: [ 0.69511999 -0.69064829 -0.19953231] Pose Error in degrees for R and t: 176.76561859828936 46.78141464361815 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.27627846 0.96077925 0.02394697] [ 0.9607905 0.27671919 -0.01755311] [-0.02349125 0.01815848 -0.99955912]] t_estimated: [[ 0.78494781] [-0.61938045] [ 0.01499292]] R_gt: [[ 0.99559161 -0.08362438 0.04247685] [ 0.08450619 0.99623367 -0.01942188] [-0.04069204 0.02292655 0.99890868]] t_gt: [ 0.7244251 -0.67826222 0.12316106] Pose Error in degrees for R and t: 175.66311045433696 7.868534244660816 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[-0.75315362 -0.65777176 0.00979469] [-0.65778726 0.75320112 0.00199724] [-0.0086911 -0.0049386 -0.99995004]] t_estimated: [[0.98187298] [0.18939633] [0.0073813 ]] R_gt: [[ 0.99134639 -0.11734914 0.05883545] [ 0.1190841 0.99251994 -0.0269039 ] [-0.05523762 0.03367776 0.99790581]] t_gt: [ 0.71766359 -0.68820074 0.10648341] Pose Error in degrees for R and t: 176.98505913668788 54.893520018016154 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.50398150e-01 3.11035619e-01 4.48066236e-04] [-3.11035546e-01 9.50398252e-01 -2.27088412e-04] [-4.96473952e-04 7.64598807e-05 9.99999874e-01]] t_estimated: [[0.70011873] [0.71402583] [0.00093404]] R_gt: [[ 0.99017744 -0.12750271 0.0573702 ] [ 0.12918776 0.99126025 -0.02670328] [-0.05346386 0.03385382 0.99799621]] t_gt: [ 0.76382573 -0.64292727 0.05669908] Pose Error in degrees for R and t: 25.751619421757304 85.65539686394067 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99827091e-01 -1.85952162e-02 8.34639231e-05] [ 1.85952692e-02 9.99826857e-01 -6.86545980e-04] [-7.06830010e-05 6.87979304e-04 9.99999761e-01]] t_estimated: [[ 0.36920551] [-0.92933824] [-0.00421117]] R_gt: [[ 0.98386267 -0.17890662 -0.00269917] [ 0.17873202 0.98337969 -0.03191123] [ 0.00836333 0.03091406 0.99948773]] t_gt: [ 0.9723934 -0.15360103 -0.17566386] Pose Error in degrees for R and t: 9.410889436502844 59.834458860191944 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-9.53984516e-01 2.99627427e-01 1.17025215e-02] [ 2.99642871e-01 9.54051333e-01 -4.51806783e-04] [-1.13001800e-02 3.07556047e-03 -9.99931421e-01]] t_estimated: [[ 0.99270766] [-0.12040775] [ 0.00578586]] R_gt: [[ 0.97233276 -0.2334217 -0.0091417 ] [ 0.23305911 0.97199791 -0.03006329] [ 0.01590325 0.02710053 0.99950646]] t_gt: [ 0.98031054 -0.14924152 -0.12929892] Pose Error in degrees for R and t: 179.79513753000248 7.952331629277836 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-3.28066503e-01 9.44652799e-01 1.86001955e-03] [ 9.44654593e-01 3.28065301e-01 9.26897832e-04] [ 2.65388755e-04 2.06116014e-03 -9.99997841e-01]] t_estimated: [[8.12250998e-01] [5.83307702e-01] [6.63603757e-04]] R_gt: [[ 0.95213325 -0.30441662 0.0277908 ] [ 0.30537683 0.95130969 -0.0418792 ] [-0.01368913 0.04836086 0.99873666]] t_gt: [ 0.98547935 -0.07832352 -0.15065151] Pose Error in degrees for R and t: 177.4305925631273 41.00346513492508 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.92673283 0.37570488 0.00347867] [-0.3757108 0.92673617 0.00121554] [-0.00276713 -0.00243346 0.99999321]] t_estimated: [[-0.53972588] [ 0.84180176] [ 0.00811054]] R_gt: [[ 0.99155865 0.12961174 -0.00353393] [-0.12926376 0.99028872 0.05117133] [ 0.01013229 -0.05028265 0.99868311]] t_gt: [-0.75427074 0.60047094 0.26553775] Pose Error in degrees for R and t: 14.902642299413744 23.832504187000104 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.10928388e-01 5.85145269e-01 4.02920044e-04] [-5.85145167e-01 8.10928487e-01 -3.50378599e-04] [-5.31761721e-04 4.83652359e-05 9.99999857e-01]] t_estimated: [[0.00728388] [0.99997293] [0.00104055]] R_gt: [[ 0.96992271 0.24316469 0.01099855] [-0.24340593 0.96855275 0.05157203] [ 0.00188896 -0.05269826 0.99860813]] t_gt: [-0.72243763 0.67124257 0.16588334] Pose Error in degrees for R and t: 21.93088362670909 48.23055253871726 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-4.23305226e-01 -9.05981245e-01 -3.26628343e-03] [ 9.05986828e-01 -4.23299375e-01 -2.34665027e-03] [ 7.43405401e-04 -3.95255909e-03 9.99991912e-01]] t_estimated: [[0.99984238] [0.01772317] [0.00105388]] R_gt: [[ 0.89198547 0.45057894 0.03659938] [-0.4510754 0.89246361 0.00622419] [-0.02985829 -0.02206123 0.99931057]] t_gt: [-0.64083918 0.76444903 0.07030523] Pose Error in degrees for R and t: 141.86020363712407 51.162362895074885 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 1.00000000e+00 -3.14785593e-05 -3.01667144e-07] [ 3.14785931e-05 9.99999993e-01 1.12818113e-04] [ 2.98115790e-07 -1.12818123e-04 9.99999994e-01]] t_estimated: [[9.37276121e-01] [3.48587791e-01] [1.61101079e-04]] R_gt: [[ 0.98941082 -0.13265337 -0.05890342] [ 0.13525321 0.9898958 0.04257036] [ 0.05266151 -0.05008702 0.99735611]] t_gt: [ 0.77113243 -0.63001916 0.0918185 ] Pose Error in degrees for R and t: 8.75779209259179 59.790594488654065 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999892e-01 3.02641845e-04 3.52719668e-04] [-3.02576622e-04 9.99999937e-01 -1.84952259e-04] [-3.52775620e-04 1.84845515e-04 9.99999921e-01]] t_estimated: [[ 8.94085734e-01] [ 4.47895851e-01] [-8.17102706e-05]] R_gt: [[ 0.98973177 -0.13913582 -0.0327519 ] [ 0.14121345 0.98726391 0.07326118] [ 0.02214193 -0.07713384 0.9967753 ]] t_gt: [ 0.71069273 -0.63459932 0.30364378] Pose Error in degrees for R and t: 9.312879792011504 69.44165558417409 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99975988 -0.00744044 0.02061122] [ 0.00791569 0.99970244 -0.0230731 ] [-0.02043341 0.02323071 0.99952129]] t_estimated: [[-9.07152915e-01] [-4.20800536e-01] [-7.04858520e-04]] R_gt: [[ 0.99678968 -0.0777033 0.01932951] [ 0.07460424 0.98893045 0.12825932] [-0.02908126 -0.12640544 0.99155265]] t_gt: [ 0.43363999 -0.5525325 0.71180349] Pose Error in degrees for R and t: 9.507149499369262 80.71337029146254 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.99935509 -0.03587561 0.00153305] [ 0.03587251 0.99935437 0.0020023 ] [-0.0016039 -0.00194601 0.99999682]] t_estimated: [[0.08662454] [0.99618218] [0.01082807]] R_gt: [[ 0.99877719 0.00477711 -0.04921961] [-0.00837116 0.99729131 -0.07307525] [ 0.04873687 0.0733981 0.99611129]] t_gt: [ 0.10343389 0.32521487 -0.93996634] Pose Error in degrees for R and t: 5.739373942833951 71.17037313464624 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.91484276 -0.40379483 0.00352937] [-0.4037838 -0.91464785 0.019441 ] [-0.00462205 -0.01921056 -0.99980478]] t_estimated: [[0.14639745] [0.98916853] [0.01064959]] R_gt: [[ 0.99555401 0.02433855 -0.09099592] [-0.03197038 0.99600585 -0.08336548] [ 0.08860372 0.08590448 0.99235516]] t_gt: [ 0.05250521 0.41312969 -0.90915734] Pose Error in degrees for R and t: 175.30917355089585 66.00484665618939 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-5.55855713e-01 -8.31272747e-01 -3.16961368e-03] [ 8.31278787e-01 -5.55851333e-01 -2.20771435e-03] [ 7.33787833e-05 -3.86200324e-03 9.99992540e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.98967655 0.04222673 -0.13695205] [-0.05836084 0.99153103 -0.11601772] [ 0.1308935 0.12281402 0.98376012]] t_gt: [ 0.04758969 0.45076477 -0.89137329] Pose Error in degrees for R and t: 126.90209648412183 87.23175611551979 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[-7.94488271e-01 -6.07279072e-01 -7.18108267e-04] [ 6.07276774e-01 -7.94480611e-01 -3.93435973e-03] [ 1.81873123e-03 -3.56189313e-03 9.99992003e-01]] t_estimated: [[8.62045329e-01] [5.06830671e-01] [7.21981013e-04]] R_gt: [[ 0.99726326 -0.05320503 -0.05134295] [ 0.05391732 0.99846694 0.01257721] [ 0.05059548 -0.01531016 0.99860209]] t_gt: [ 0.57352274 -0.67628148 -0.46229323] Pose Error in degrees for R and t: 139.54340583986556 81.2972284290712 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99999967e-01 2.39434023e-04 8.90090154e-05] [-2.39429040e-04 9.99999970e-01 -5.59904562e-05] [-8.90224187e-05 5.59691431e-05 9.99999994e-01]] t_estimated: [[-9.99992703e-01] [-3.68873893e-03] [-9.93341568e-04]] R_gt: [[ 0.99088184 -0.09449924 -0.09604469] [ 0.10080205 0.9929082 0.06303279] [ 0.08940681 -0.07213883 0.99338 ]] t_gt: [ 0.49387909 -0.81972998 -0.29004518] Pose Error in degrees for R and t: 8.67888218245007 60.62236803139894 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99969788e-01 -7.77274746e-03 8.26760979e-05] [ 7.77275488e-03 9.99969788e-01 -8.97436090e-05] [-8.19760456e-05 9.03835187e-05 9.99999993e-01]] t_estimated: [[0.9989923 ] [0.04485981] [0.00140813]] R_gt: [[ 0.96109021 -0.24787744 -0.12191793] [ 0.24830349 0.9686091 -0.01192572] [ 0.12104688 -0.01880997 0.99246923]] t_gt: [ 0.6071994 -0.65933567 -0.44337949] Pose Error in degrees for R and t: 15.640307387580204 54.80328168461404 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 0.19705844 0.98039028 0.00169458] [-0.98038978 0.19706121 -0.00165874] [-0.00196015 -0.00133448 0.99999719]] t_estimated: [[0.17522507] [0.98452728] [0.00148496]] R_gt: [[ 0.99765092 -0.01961764 -0.06563954] [ 0.0239006 0.9975914 0.06512179] [ 0.06420451 -0.06653695 0.99571552]] t_gt: [ 0.23289352 -0.93164925 -0.27890909] Pose Error in degrees for R and t: 80.0384748292777 28.73656783493842 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 1.91251835e-01 9.81531268e-01 4.37095303e-03] [-9.81540876e-01 1.91252158e-01 3.47876199e-04] [-4.94502832e-04 -4.35680103e-03 9.99990387e-01]] t_estimated: [[0.70374063] [0.71045571] [0.00134302]] R_gt: [[ 0.98815407 -0.13467379 -0.07358913] [ 0.13767393 0.9897739 0.03733921] [ 0.0678086 -0.04702646 0.99658957]] t_gt: [ 0.395177 -0.85260394 -0.34190886] Pose Error in degrees for R and t: 86.92155730555241 70.84684489631213 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.97278014 0.23167447 -0.00507264] [-0.23165765 0.97279037 0.00369254] [ 0.00579009 -0.00241692 0.99998032]] t_estimated: [[-0.98917676] [-0.14655581] [-0.00712209]] R_gt: [[ 0.94564836 -0.29873538 -0.12848089] [ 0.30305143 0.95285554 0.01501245] [ 0.11793978 -0.05313192 0.99159785]] t_gt: [ 0.61431142 -0.74459748 -0.26114377] Pose Error in degrees for R and t: 31.760045780673515 60.21956494183894 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.92803589 -0.37243959 0.00617518] [-0.37238062 0.92803709 0.00893466] [-0.00905842 0.00599217 -0.99994102]] t_estimated: [[0.93557302] [0.35312537] [0.00236535]] R_gt: [[ 0.99886607 -0.01933599 -0.04350157] [ 0.01443971 0.99380521 -0.11019084] [ 0.0453633 0.10943854 0.99295703]] t_gt: [ 0.25375271 0.12727008 -0.95885968] Pose Error in degrees for R and t: 176.7472018815537 73.73511329211172 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 1.00000000e+00 3.95863897e-13 6.07319447e-16] [-3.95850019e-13 1.00000000e+00 -1.35440229e-15] [ 1.44005596e-15 1.20330856e-15 1.00000000e+00]] t_estimated: [[7.46393473e-02] [9.97210593e-01] [1.73161034e-05]] R_gt: [[ 0.99548055 -0.01010169 -0.09443623] [-0.00280114 0.99077129 -0.135512 ] [ 0.09493377 0.1351654 0.98626398]] t_gt: [ 0.20534334 0.23665699 -0.94964603] Pose Error in degrees for R and t: 9.509606915638003 75.44512658464969 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.95719965e-01 -9.24090694e-02 1.52177195e-03] [ 9.24086873e-02 9.95721112e-01 3.19689953e-04] [-1.54480271e-03 -1.77696720e-04 9.99998791e-01]] t_estimated: [[0.57851065] [0.81567245] [0.00197277]] R_gt: [[ 0.99206171 -0.00455813 -0.12567544] [-0.01564149 0.98711031 -0.15927224] [ 0.12478201 0.15997417 0.97920183]] t_gt: [ 0.1914331 0.29273815 -0.93683389] Pose Error in degrees for R and t: 13.041300239991655 69.6547429576543 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.96800288 0.25093189 0.00190004] [ 0.25092563 -0.96800165 0.00302296] [ 0.0025978 -0.00244947 -0.99999363]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98682781 -0.16174934 0.00314334] [ 0.16161974 0.986528 0.02533152] [-0.00719784 -0.02449092 0.99967397]] t_gt: [ 0.95813386 -0.24193441 0.15312495] Pose Error in degrees for R and t: 178.46881525004386 51.43151405329971 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.61233538 -0.79059379 0.00261622] [-0.79059406 0.61233948 0.00117711] [-0.00253263 -0.00134758 -0.99999588]] t_estimated: [[0.97607849] [0.21741312] [0.00152037]] R_gt: [[ 9.89198686e-01 -1.45524878e-01 1.75995106e-02] [ 1.45562415e-01 9.89349375e-01 -8.66422677e-04] [-1.72862539e-02 3.41876832e-03 9.99844577e-01]] t_gt: [ 0.98019319 -0.19738237 -0.01617155] Pose Error in degrees for R and t: 178.9906175194491 23.963076694674893 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-9.42436259e-01 -3.34385847e-01 -5.93326801e-05] [-3.34385492e-01 9.42434971e-01 1.63359731e-03] [-4.90334627e-04 1.55940133e-03 -9.99998664e-01]] t_estimated: [[0.97548924] [0.22004401] [0.00117671]] R_gt: [[ 9.41840938e-01 -3.35948765e-01 -8.60693005e-03] [ 3.36058345e-01 9.41472996e-01 2.63484666e-02] [-7.47990153e-04 -2.77094788e-02 9.99615236e-01]] t_gt: [ 0.99281727 -0.09545508 0.07212629] Pose Error in degrees for R and t: 179.9128704709094 18.636843438753274 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.99999967e-01 2.48918775e-04 6.77859933e-05] [-2.48915013e-04 9.99999967e-01 -5.55077540e-05] [-6.77998080e-05 5.54908792e-05 9.99999996e-01]] t_estimated: [[ 0.99989107] [-0.01471888] [-0.00109944]] R_gt: [[ 0.99842742 -0.05420317 -0.01430791] [ 0.05435618 0.99846559 0.01054246] [ 0.0137145 -0.0113025 0.9998422 ]] t_gt: [ 0.59389685 -0.80012678 -0.08416452] Pose Error in degrees for R and t: 3.2893498681930646 52.72065014141197 Number of keypoints: Image1: 634 Image2: 634 R_estimated: [[ 9.99906837e-01 1.36497979e-02 -3.01483718e-06] [-1.36497979e-02 9.99906837e-01 6.02826435e-06] [ 3.09684089e-06 -5.98655083e-06 1.00000000e+00]] t_estimated: [[-1.57896631e-01] [ 9.87455645e-01] [-4.76056531e-05]] R_gt: [[ 9.99869097e-01 4.28050320e-05 1.61990688e-02] [-1.40398302e-04 9.99981261e-01 5.97060325e-03] [-1.61985826e-02 -5.97167177e-03 9.99850376e-01]] t_gt: [-0.18206535 0.00286882 0.98328225] Pose Error in degrees for R and t: 1.2593657908267857 88.19296248987362 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 0.45416059 0.8909162 -0.00254538] [-0.8909185 0.45415311 -0.00302957] [-0.0015431 0.00364363 0.99999217]] t_estimated: [[0.6367118 ] [0.77110142] [0.00081945]] R_gt: [[ 0.99958976 -0.02792511 -0.00639364] [ 0.02800731 0.99951949 0.01328934] [ 0.00601892 -0.01346283 0.99989077]] t_gt: [ 0.57017878 -0.81155861 0.12754913] Pose Error in degrees for R and t: 64.59973551417828 74.77264230245625 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 8.86669164e-01 4.62403678e-01 7.95137890e-04] [-4.62399765e-01 8.86666706e-01 -2.93426815e-03] [-2.06183868e-03 2.23405351e-03 9.99995379e-01]] t_estimated: [[0.68817618] [0.72554321] [0.00077848]] R_gt: [[ 0.99052923 -0.13132696 -0.04007281] [ 0.13226695 0.99097373 0.02179626] [ 0.0368481 -0.0268901 0.99895915]] t_gt: [ 0.6528553 -0.75139964 -0.09580469] Pose Error in degrees for R and t: 35.22574906078295 84.4929619617911 Number of keypoints: Image1: 394 Image2: 394 R_estimated: [[ 9.97946844e-01 6.40475058e-02 -1.16744053e-04] [-6.40475311e-02 9.97946823e-01 -2.27781152e-04] [ 1.01915542e-04 2.34790650e-04 9.99999967e-01]] t_estimated: [[-0.51630501] [ 0.856392 ] [-0.00467648]] R_gt: [[ 0.99945214 -0.03307623 -0.00103155] [ 0.03304961 0.99925308 -0.02005208] [ 0.00169401 0.02000631 0.99979784]] t_gt: [ 0.68512052 -0.62236249 -0.37851658] Pose Error in degrees for R and t: 5.681922535039596 27.754963853085293 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 5.47922622e-01 -8.36527961e-01 1.33026261e-03] [-8.36528206e-01 -5.47923615e-01 -5.23243621e-04] [ 1.16659022e-03 -8.26105179e-04 -9.99998978e-01]] t_estimated: [[0.57819533] [0.81589786] [0.00091777]] R_gt: [[ 0.99984729 -0.01697753 0.00418786] [ 0.01700389 0.99983557 -0.00625828] [-0.00408215 0.00632752 0.9999713 ]] t_gt: [ 0.91791718 -0.37151794 -0.13929272] Pose Error in degrees for R and t: 179.8019003279956 76.85084008118758 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 8.32303105e-01 -5.54320519e-01 5.51756415e-04] [ 5.54320307e-01 8.32303281e-01 4.95845971e-04] [-7.34086270e-04 -1.06844356e-04 9.99999725e-01]] t_estimated: [[0.69146382] [0.72241045] [0.00096708]] R_gt: [[ 0.99827322 0.05826929 -0.00744587] [-0.05814937 0.99819069 0.01533477] [ 0.00832498 -0.01487565 0.99985398]] t_gt: [0.32506158 0.94374361 0.0606875 ] Pose Error in degrees for R and t: 37.01372121671642 24.96072704057748 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.00459072 0.99998558 -0.00278639] [ 0.99997813 0.00460391 0.00474724] [ 0.00476 -0.00276453 -0.99998485]] t_estimated: [[-0.2656647 ] [-0.9640616 ] [-0.00273881]] R_gt: [[ 0.99691203 -0.05033628 -0.06027118] [ 0.05358402 0.99712826 0.05352001] [ 0.0574054 -0.05658359 0.99674625]] t_gt: [ 0.46535897 -0.87376202 0.14135402] Pose Error in degrees for R and t: 175.07572163750405 44.08208863538886 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.61028425e-01 -2.76439637e-01 2.34359516e-03] [-2.76448145e-01 -9.60961696e-01 1.13596405e-02] [-8.88149710e-04 -1.15648199e-02 -9.99932731e-01]] t_estimated: [[0.2019156 ] [0.97938738] [0.00551829]] R_gt: [[ 0.98119108 -0.10946267 -0.15900392] [ 0.1165119 0.99254802 0.03568027] [ 0.15391361 -0.05353488 0.98663311]] t_gt: [ 0.61138633 -0.731032 -0.30298345] Pose Error in degrees for R and t: 178.0564343531502 53.54530073881288 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 8.95059725e-01 -4.45946278e-01 -7.20261113e-05] [ 4.45946238e-01 8.95059547e-01 6.01001026e-04] [-2.03546512e-04 -5.70051586e-04 9.99999817e-01]] t_estimated: [[-0.45851818] [-0.88868449] [-0.00097765]] R_gt: [[ 9.71391456e-01 -1.67576179e-01 -1.68275129e-01] [ 1.70145852e-01 9.85417972e-01 8.65524805e-04] [ 1.65678191e-01 -2.94714408e-02 9.85739690e-01]] t_gt: [ 0.64428723 -0.67630507 -0.357079 ] Pose Error in degrees for R and t: 19.282628332404173 72.18446126924535 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.03604398 0.99933805 -0.00492849] [ 0.99931122 -0.03599858 0.00901023] [ 0.00882685 -0.00524986 -0.99994726]] t_estimated: [[-0.02055995] [-0.99977997] [-0.00416019]] R_gt: [[ 0.99708393 -0.00739464 0.07595219] [ 0.01562097 0.99399664 -0.10829215] [-0.07469565 0.10916316 0.99121351]] t_gt: [-0.23156974 0.56420559 -0.79249449] Pose Error in degrees for R and t: 173.06483325690377 56.218763455216916 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-1.98837839e-01 -9.80031839e-01 -1.05310472e-03] [-9.80031521e-01 1.98838988e-01 -1.12941062e-03] [ 1.31625664e-03 8.07506259e-04 -9.99998808e-01]] t_estimated: [[8.78030336e-01] [4.78604861e-01] [3.40922414e-04]] R_gt: [[ 0.98525582 -0.07891881 0.15179866] [ 0.10228435 0.98294083 -0.1528593 ] [-0.13714588 0.16613247 0.97652025]] t_gt: [ 0.42922734 -0.10419524 -0.89716623] Pose Error in degrees for R and t: 179.45882415590594 70.93137421713479 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.06250422 0.99519246 0.07540024] [-0.99771487 -0.06424709 0.02091276] [ 0.02565647 -0.0739208 0.99693403]] t_estimated: [[0.19703148] [0.97985158] [0.03270275]] R_gt: [[ 0.97957975 -0.09875055 0.1751311 ] [ 0.12613674 0.98016574 -0.15285235] [-0.15656296 0.17182215 0.97260756]] t_gt: [ 0.66278637 -0.36029358 -0.65643184] Pose Error in degrees for R and t: 101.11066145910954 75.88247905233662 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999189e-01 -7.79275225e-04 1.00780704e-03] [ 7.80729769e-04 9.99998653e-01 -1.44368854e-03] [-1.00668066e-03 1.44447419e-03 9.99998450e-01]] t_estimated: [[0.95631732] [0.29230832] [0.00360874]] R_gt: [[ 9.92951708e-01 1.18431239e-01 -4.51722647e-03] [-1.18515615e-01 9.92065775e-01 -4.19422225e-02] [-4.86295215e-04 4.21812456e-02 9.99109849e-01]] t_gt: [-0.39598471 0.8990579 -0.18679133] Pose Error in degrees for R and t: 7.239472692245854 83.30644466084395 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.99982789 -0.01560709 0.01003007] [ 0.01570054 0.99983343 -0.00930616] [-0.00988316 0.00946203 0.99990639]] t_estimated: [[0.06651719] [0.99775791] [0.0073908 ]] R_gt: [[ 0.96922275 0.24500465 -0.02407186] [-0.24617185 0.96552771 -0.08459106] [ 0.00251627 0.08791356 0.99612446]] t_gt: [-0.30664199 0.93269071 -0.18989134] Pose Error in degrees for R and t: 15.833427882658324 24.660077259394665 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-9.92183603e-01 -1.24786291e-01 2.81167280e-04] [-1.24784166e-01 9.92175767e-01 4.01978449e-03] [-7.80581357e-04 3.95327904e-03 -9.99991881e-01]] t_estimated: [[0.61207672] [0.7907968 ] [0.00158159]] R_gt: [[ 0.933682 0.3563133 -0.03577458] [-0.3578986 0.92509587 -0.12691043] [-0.01212531 0.13129816 0.99126858]] t_gt: [-0.26288921 0.95254493 -0.15345169] Pose Error in degrees for R and t: 178.82774550681188 53.692517578818894 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99941989e-01 1.07711114e-02 4.34309211e-05] [-1.07711098e-02 9.99941989e-01 -3.74536133e-05] [-4.38318187e-05 3.69836413e-05 9.99999998e-01]] t_estimated: [[0.45505311] [0.89046363] [0.00109125]] R_gt: [[ 0.98512037 -0.16994784 0.02562955] [ 0.16959314 0.9853925 0.01547716] [-0.0278846 -0.01089914 0.99955143]] t_gt: [ 0.56887334 -0.79771019 0.20010389] Pose Error in degrees for R and t: 10.533855214834151 63.176347832298276 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.95243183e-01 -9.74217411e-02 1.05127886e-04] [ 9.74217494e-02 9.95243185e-01 -7.74828404e-05] [-9.70792989e-05 8.73560113e-05 9.99999991e-01]] t_estimated: [[9.53245844e-01] [3.02194801e-01] [8.14562048e-04]] R_gt: [[ 0.96542521 -0.26066252 0.00307117] [ 0.26037156 0.96478505 0.03736759] [-0.01270366 -0.03527489 0.99929656]] t_gt: [ 0.59966568 -0.78976509 0.12912078] Pose Error in degrees for R and t: 9.755298334660266 70.544715698164 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.39635702 0.91024802 0.11979002] [ 0.66816031 -0.19650569 -0.7175983 ] [-0.62965301 0.36446406 -0.68607801]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.88690882 -0.45838406 0.05725536] [ 0.45731087 0.88875291 0.03139302] [-0.06527639 -0.00165804 0.99786582]] t_gt: [ 0.68041184 -0.72070837 0.13273723] Pose Error in degrees for R and t: 142.8722917679543 86.46763254062975 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.98380706e-01 5.68854411e-02 -1.13716888e-04] [-5.68854746e-02 9.98380660e-01 -3.16648960e-04] [ 9.55200258e-05 3.22605051e-04 9.99999943e-01]] t_estimated: [[-0.59930863] [ 0.80051565] [-0.00196605]] R_gt: [[ 0.99381948 0.10339869 -0.04038663] [-0.1028459 0.99457668 0.01553882] [ 0.04177436 -0.01128929 0.99906339]] t_gt: [-0.66326339 0.70742725 -0.24418919] Pose Error in degrees for R and t: 3.636983997398154 15.35879244787442 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.97705208e-01 6.77075175e-02 -9.81965136e-05] [-6.77075085e-02 9.97705209e-01 9.16434195e-05] [ 1.04176122e-04 -8.47844756e-05 9.99999991e-01]] t_estimated: [[-9.98062219e-01] [ 6.22231866e-02] [-2.86885020e-04]] R_gt: [[ 0.97144166 0.23462144 -0.03542311] [-0.23297603 0.9714372 0.04509852] [ 0.04499195 -0.03555805 0.99835405]] t_gt: [-0.66019506 0.74967479 -0.04615405] Pose Error in degrees for R and t: 10.190554553918137 45.12389169175994 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-9.89679466e-01 -1.43202207e-01 -5.26139047e-03] [-1.43205135e-01 9.89693011e-01 1.82110765e-04] [ 5.18108271e-03 9.33689418e-04 -9.99986142e-01]] t_estimated: [[ 0.9989941 ] [ 0.04478898] [-0.00217442]] R_gt: [[ 0.91665105 0.3968186 -0.04782191] [-0.39602122 0.91788637 0.02554102] [ 0.05402907 -0.00447366 0.99852958]] t_gt: [-0.56814863 0.81634705 -0.10384909] Pose Error in degrees for R and t: 176.7898691121927 57.94129007048197 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99494652e-01 -3.17867673e-02 2.07417305e-04] [ 3.17868278e-02 9.99494628e-01 -2.95151275e-04] [-1.97930577e-04 3.01595259e-04 9.99999935e-01]] t_estimated: [[0.81914172] [0.57359033] [0.00098391]] R_gt: [[ 0.98813483 -0.15331042 -0.00923496] [ 0.15282814 0.98743963 -0.04009187] [ 0.01526416 0.03820539 0.99915324]] t_gt: [ 0.74327416 -0.64232898 -0.1869679 ] Pose Error in degrees for R and t: 7.369572952011839 76.09993023948758 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-7.58662771e-01 -6.51481392e-01 -1.67240123e-03] [ 6.51482030e-01 -7.58664038e-01 2.04128443e-04] [-1.40177656e-03 -9.34674701e-04 9.99998581e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96321485 -0.26767804 0.02377231] [ 0.26840929 0.96262167 -0.03627626] [-0.01317334 0.04132257 0.99905904]] t_gt: [ 0.7735478 -0.63253343 -0.03905462] Pose Error in degrees for R and t: 123.80789721801996 39.50651584049193 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-9.99649179e-01 -2.64130101e-02 1.96756513e-03] [-2.64139529e-02 9.99650987e-01 -4.54741526e-04] [-1.95486733e-03 -5.06553166e-04 -9.99997961e-01]] t_estimated: [[0.99985599] [0.01683968] [0.00210496]] R_gt: [[ 0.91758978 -0.396884 0.02263836] [ 0.39739272 0.91727979 -0.02602594] [-0.01043704 0.03287785 0.9994045 ]] t_gt: [ 0.8155555 -0.57810361 -0.02579622] Pose Error in degrees for R and t: 178.95031007088102 36.32705283698962 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.71878224e-01 2.35483634e-01 4.18481414e-04] [-2.35483599e-01 9.71878314e-01 -1.32316796e-04] [-4.37871452e-04 3.00503037e-05 9.99999904e-01]] t_estimated: [[-0.20750966] [ 0.97823189] [ 0.00145164]] R_gt: [[ 0.98984212 -0.13559994 0.04272172] [ 0.13536291 0.99076039 0.0083977 ] [-0.04346538 -0.00253057 0.99905136]] t_gt: [ 0.66426284 -0.70615516 0.24515252] Pose Error in degrees for R and t: 21.550821677330216 34.07871159965363 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.9966658 -0.08151743 -0.00349148] [ 0.08151331 -0.9966714 0.00130686] [-0.00358639 0.0010179 0.99999305]] t_estimated: [[7.75958350e-01] [6.30783729e-01] [7.25873106e-04]] R_gt: [[ 0.95846912 -0.28509785 -0.00746396] [ 0.28519001 0.95827869 0.01920109] [ 0.00167817 -0.02053213 0.9997877 ]] t_gt: [ 0.77364969 -0.63310578 0.02536202] Pose Error in degrees for R and t: 158.75430029633 78.4054042600486 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.96138625e-01 8.77940947e-02 1.90775055e-04] [-8.77940832e-02 9.96138642e-01 -6.77613826e-05] [-1.95987453e-04 5.07508094e-05 9.99999980e-01]] t_estimated: [[8.00411146e-01] [5.99451021e-01] [6.85870734e-04]] R_gt: [[ 0.88314526 -0.46823561 -0.02847739] [ 0.46877337 0.88316852 0.01629317] [ 0.01752194 -0.02773876 0.99946119]] t_gt: [ 0.83463221 -0.55080259 0.00236152] Pose Error in degrees for R and t: 33.034794594654464 70.25276037422526 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99998303e-01 1.83320429e-03 1.82797004e-04] [-1.83317288e-03 9.99998305e-01 -1.71842391e-04] [-1.83111716e-04 1.71507001e-04 9.99999969e-01]] t_estimated: [[-0.01258359] [-0.99992019] [-0.001124 ]] R_gt: [[ 0.99032549 -0.13875634 -0.00173042] [ 0.13859827 0.98966068 -0.03690619] [ 0.0068337 0.03630868 0.99931726]] t_gt: [ 0.95843544 -0.1320109 -0.25293208] Pose Error in degrees for R and t: 8.349267051915696 83.09496319357953 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 7.28991214e-01 6.84522615e-01 7.74279387e-04] [ 6.84517873e-01 -7.28989632e-01 3.06577750e-03] [ 2.66303568e-03 -1.70491678e-03 -9.99995001e-01]] t_estimated: [[-7.83394289e-01] [-6.21524675e-01] [-6.82994149e-04]] R_gt: [[ 0.95196046 -0.30611514 -0.00812258] [ 0.30575497 0.95163852 -0.02996014] [ 0.01690024 0.02603675 0.99951791]] t_gt: [ 0.9904099 -0.10065717 -0.09463806] Pose Error in degrees for R and t: 178.88636129675317 44.49955401170615 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.91925701e-01 1.26818488e-01 -6.88804399e-04] [-1.26818201e-01 9.91925877e-01 4.46326859e-04] [ 7.39845405e-04 -3.55370147e-04 9.99999663e-01]] t_estimated: [[8.31414764e-01] [5.55651885e-01] [6.87687977e-04]] R_gt: [[ 0.9572303 -0.2893225 0.0017888 ] [ 0.28918944 0.95656253 -0.03685509] [ 0.0089523 0.03579548 0.99931866]] t_gt: [ 0.9851522 -0.10257283 -0.13767337] Pose Error in degrees for R and t: 24.197983789242684 40.36088251417175 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99919062e-01 1.27225424e-02 -7.32862003e-05] [-1.27225472e-02 9.99919063e-01 -6.60825208e-05] [ 7.24395311e-05 6.70095594e-05 9.99999995e-01]] t_estimated: [[-9.94680715e-01] [-1.03004387e-01] [-6.09106080e-04]] R_gt: [[ 0.98976678 0.14090359 -0.02255346] [-0.14115432 0.98993759 -0.00992366] [ 0.02092802 0.01300566 0.99969631]] t_gt: [-0.61648897 0.76400599 -0.19035808] Pose Error in degrees for R and t: 7.512302188504515 57.68120028278722 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.00282751e-01 -5.99622812e-01 -3.42306006e-05] [ 5.99622761e-01 8.00282704e-01 -3.70997643e-04] [ 2.49852807e-04 2.76377567e-04 9.99999931e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97297189 0.22642463 -0.04537678] [-0.22555702 0.97394641 0.02347207] [ 0.04950961 -0.01260224 0.99869406]] t_gt: [-0.63064271 0.76489313 -0.13125656] Pose Error in degrees for R and t: 49.99300284282425 40.46450528386063 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.28640878e-01 -5.59780458e-01 -3.66729315e-04] [ 5.59780494e-01 8.28640935e-01 -6.51582391e-06] [ 3.07534353e-04 -1.99888639e-04 9.99999933e-01]] t_estimated: [[-0.34895566] [-0.93713871] [-0.00098854]] R_gt: [[ 0.92529735 0.37530933 -0.05447924] [-0.37422074 0.9268746 0.02935308] [ 0.06151255 -0.00677343 0.99808268]] t_gt: [-0.56420207 0.81703739 -0.11885251] Pose Error in degrees for R and t: 56.17432706817617 55.34188404225716 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99995760e-01 5.16466132e-04 -2.86588767e-03] [-5.06968186e-04 9.99994381e-01 3.31387502e-03] [ 2.86758307e-03 -3.31240805e-03 9.99990402e-01]] t_estimated: [[-0.62559881] [-0.78014396] [-0.00123636]] R_gt: [[ 0.99209446 0.12521088 -0.00840097] [-0.12516259 0.99211811 0.00612181] [ 0.00910099 -0.00502271 0.99994574]] t_gt: [-0.43320543 0.89923984 -0.06083388] Pose Error in degrees for R and t: 7.171427450099746 64.50397224514647 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.87717484e-01 -1.56249346e-01 -5.60257891e-04] [ 1.56249510e-01 9.87717583e-01 2.60395252e-04] [ 5.12689982e-04 -3.44736964e-04 9.99999809e-01]] t_estimated: [[-0.65750009] [-0.75345367] [-0.00109038]] R_gt: [[ 0.96907392 0.2467412 -0.00379888] [-0.24674178 0.96860829 -0.03026911] [-0.00378906 0.03027039 0.99953464]] t_gt: [-0.35079091 0.93389208 -0.06921939] Pose Error in degrees for R and t: 23.343431349650977 61.77573990348889 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 2.93610310e-01 9.55921685e-01 2.59173867e-03] [-9.55924830e-01 2.93611498e-01 -8.18081471e-05] [-8.39166456e-04 -2.45348763e-03 9.99996638e-01]] t_estimated: [[0.4697835 ] [0.88277998] [0.00172082]] R_gt: [[ 0.92783615 0.37219567 -0.0242933 ] [-0.37286019 0.92384897 -0.08648126] [-0.00974466 0.0892987 0.99595715]] t_gt: [-0.26560345 0.95788062 -0.10917657] Pose Error in degrees for R and t: 51.259872533903845 43.89316313543902 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99999993e-01 -1.01557294e-04 5.45182372e-05] [ 1.01561713e-04 9.99999992e-01 -8.10540074e-05] [-5.45100051e-05 8.10595439e-05 9.99999995e-01]] t_estimated: [[ 9.99999989e-01] [-5.62225093e-05] [ 1.37006617e-04]] R_gt: [[ 0.99547842 -0.093553 -0.01643086] [ 0.09364853 0.99559139 0.00516559] [ 0.0158751 -0.00667984 0.99985187]] t_gt: [ 0.5458412 -0.8300241 -0.11453113] Pose Error in degrees for R and t: 5.456323182813223 56.91571548024456 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.15842875e-01 4.01533443e-01 1.65010446e-03] [ 4.01534345e-01 -9.15843934e-01 -2.42651584e-04] [ 1.41380544e-03 8.84804339e-04 -9.99998609e-01]] t_estimated: [[0.74280528] [0.6695071 ] [0.00075565]] R_gt: [[ 0.95329926 -0.3017647 0.01261099] [ 0.30161237 0.95334676 0.0126638 ] [-0.015845 -0.00826717 0.99984063]] t_gt: [ 0.6307119 -0.77405299 0.05517672] Pose Error in degrees for R and t: 179.62267890593063 87.15144724484882 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-5.09084472e-01 -8.60713997e-01 -2.10147218e-03] [ 8.60714816e-01 -5.09086840e-01 7.71058052e-04] [-1.73349229e-03 -1.41623456e-03 9.99997495e-01]] t_estimated: [[9.70873397e-01] [2.39591155e-01] [9.62213475e-04]] R_gt: [[ 0.90187953 -0.43159675 0.01840903] [ 0.43134405 0.90204243 0.01618343] [-0.0235915 -0.00665451 0.99970009]] t_gt: [ 0.67584665 -0.73441978 0.06212007] Pose Error in degrees for R and t: 95.045209264425 61.2975620249824 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99992780e-01 -3.79996773e-03 -5.87051919e-06] [ 3.79996720e-03 9.99992776e-01 -8.84204339e-05] [ 6.20647158e-06 8.83974877e-05 9.99999996e-01]] t_estimated: [[ 7.37812101e-01] [-6.75005896e-01] [-5.85763992e-04]] R_gt: [[ 0.9970374 -0.07236702 0.02607163] [ 0.07331426 0.99660699 -0.03742595] [-0.02327545 0.03922641 0.99895899]] t_gt: [ 0.85022472 -0.01899719 -0.52607702] Pose Error in degrees for R and t: 4.743752182973878 50.17555258291425 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 7.06547312e-01 7.07665049e-01 -1.03659996e-03] [-7.07665700e-01 7.06547255e-01 -4.82642427e-04] [ 3.90857681e-04 1.07457595e-03 9.99999346e-01]] t_estimated: [[9.18389698e-01] [3.95676266e-01] [8.09153919e-04]] R_gt: [[ 0.98792086 -0.09838703 0.11972124] [ 0.11675508 0.9805744 -0.15761101] [-0.10188841 0.16968539 0.98021717]] t_gt: [ 0.4363267 0.35527601 -0.82667887] Pose Error in degrees for R and t: 52.45035028134873 57.27391854687723 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 8.66897140e-01 4.98486997e-01 2.51116876e-04] [-4.98486652e-01 8.66896965e-01 -8.42694655e-04] [-6.37764786e-04 6.05351175e-04 9.99999613e-01]] t_estimated: [[-0.34930628] [-0.93700773] [-0.00127484]] R_gt: [[ 0.96987699 -0.13822208 0.20058426] [ 0.18111465 0.95982359 -0.21432605] [-0.16290078 0.24419789 0.95594476]] t_gt: [ 0.49522552 0.20496716 -0.84423939] Pose Error in degrees for R and t: 42.68882546453966 68.65610338510912 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 1.00000000e+00 -2.14799867e-05 -3.54480838e-06] [ 2.14800303e-05 1.00000000e+00 1.22789167e-05] [ 3.54454463e-06 -1.22789928e-05 1.00000000e+00]] t_estimated: [[0.42122438] [0.90695593] [0.00097891]] R_gt: [[ 0.99515925 -0.09827279 0.00124264] [ 0.09817554 0.99459502 0.0338116 ] [-0.004559 -0.03352516 0.99942692]] t_gt: [ 0.12328039 -0.94200353 0.31213987] Pose Error in degrees for R and t: 5.960839394103175 36.66683645876522 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.86332633e-01 1.64765884e-01 3.75421056e-04] [-1.64765720e-01 9.86332637e-01 -4.31922849e-04] [-4.41456191e-04 3.64163081e-04 9.99999836e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.96856854 -0.24872205 -0.00351424] [ 0.24860306 0.96839137 -0.02037129] [ 0.00847006 0.01885828 0.99978568]] t_gt: [ 0.4411287 -0.88323674 -0.15905449] Pose Error in degrees for R and t: 23.911818603396295 79.94480286775116 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.99999676 0.00120026 -0.00224595] [-0.00119528 0.99999682 0.00222139] [ 0.00224861 -0.0022187 0.99999501]] t_estimated: [[-0.57589207] [-0.81752511] [-0.0010068 ]] R_gt: [[ 0.9459447 -0.32363156 0.02126591] [ 0.32373602 0.94614657 -0.00156723] [-0.01961324 0.00836751 0.9997722 ]] t_gt: [ 0.33711315 -0.94146205 0.00198185] Pose Error in degrees for R and t: 19.00651495312937 54.86351761286314 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.84995999 0.52684006 -0.00275131] [-0.52684457 -0.84996072 0.00125257] [-0.00167859 0.00251415 0.99999543]] t_estimated: [[0.61969816] [0.78483979] [0.00083405]] R_gt: [[ 0.98819347 -0.15319888 -0.00187704] [ 0.15315405 0.9880893 -0.01493961] [ 0.00414292 0.01447561 0.99988692]] t_gt: [ 0.82009342 -0.56570112 -0.08619182] Pose Error in degrees for R and t: 157.01861158645588 86.32173512904723 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99643545 -0.08429101 0.00337975] [ 0.08428505 0.99643993 0.00186987] [-0.00352533 -0.00157834 0.99999254]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.96750453 -0.25239063 0.01526776] [ 0.25284727 0.96537152 -0.06422838] [ 0.00147155 0.066002 0.9978187 ]] t_gt: [ 0.85862898 -0.47803483 -0.18503775] Pose Error in degrees for R and t: 10.547113435111678 63.00840877501062 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.17599121e-01 3.97506197e-01 8.22215656e-04] [-3.97505883e-01 9.17599477e-01 -5.22132352e-04] [-9.62015501e-04 1.52272628e-04 9.99999526e-01]] t_estimated: [[0.61500093] [0.78852579] [0.00096794]] R_gt: [[ 0.94556589 -0.32074342 0.05502648] [ 0.32473707 0.94099011 -0.09530326] [-0.02121192 0.10798435 0.99392625]] t_gt: [ 0.87128403 -0.45435023 -0.18555322] Pose Error in degrees for R and t: 42.752840771167776 79.78199531316464 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99356931e-01 -3.58569930e-02 -3.64919543e-05] [ 3.58569999e-02 9.99356909e-01 2.10254962e-04] [ 2.89293759e-05 -2.11428246e-04 9.99999977e-01]] t_estimated: [[0.66785914] [0.74428686] [0.00111506]] R_gt: [[ 0.99179023 -0.12724938 0.01259578] [ 0.12767465 0.99090744 -0.04243382] [-0.0070815 0.04369319 0.99902027]] t_gt: [ 0.84337006 -0.49729677 -0.20352608] Pose Error in degrees for R and t: 5.85545403431072 78.87827622258936 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99937296e-01 -1.11981550e-02 7.48610000e-05] [ 1.11981288e-02 9.99937241e-01 3.40873397e-04] [-7.86734549e-05 -3.40013720e-04 9.99999939e-01]] t_estimated: [[0.99408575] [0.10858187] [0.0018721 ]] R_gt: [[ 0.97704303 -0.20982246 0.03689394] [ 0.21220621 0.9738267 -0.08141955] [-0.01884502 0.0873793 0.99599706]] t_gt: [ 0.8489488 -0.47698212 -0.22753899] Pose Error in degrees for R and t: 12.654576952935248 37.65436860514509 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.11972059 0.69941409 0.70461828] [ 0.58684982 0.5226066 -0.61845745] [-0.80079602 0.4875472 -0.34788426]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.96755903 -0.22945843 0.10572599] [ 0.24253248 0.96079909 -0.13431751] [-0.07076143 0.15560292 0.98528191]] t_gt: [ 0.85100158 -0.45012033 -0.2705328 ] Pose Error in degrees for R and t: 103.08722640905548 75.53111903197491 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-8.37754778e-01 -5.46043407e-01 -1.87907037e-03] [ 5.46046453e-01 -8.37746684e-01 -3.71016572e-03] [ 4.51726560e-04 -4.13426877e-03 9.99991352e-01]] t_estimated: [[0.91850799] [0.3954005 ] [0.00122795]] R_gt: [[ 9.92878279e-01 -1.14033385e-01 3.44921797e-02] [ 1.13975757e-01 9.93477021e-01 3.60733383e-03] [-3.46774450e-02 3.48833120e-04 9.99397964e-01]] t_gt: [ 0.0881393 -0.93590556 0.34104581] Pose Error in degrees for R and t: 140.3661636448367 73.22092925630908 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99998952e-01 -1.34266773e-03 -5.42061185e-04] [ 1.34283171e-03 9.99999053e-01 3.02269441e-04] [ 5.41654824e-04 -3.02997021e-04 9.99999807e-01]] t_estimated: [[-0.99436859] [-0.10595731] [-0.00203764]] R_gt: [[ 9.71773938e-01 -2.33696497e-01 3.22772658e-02] [ 2.33788220e-01 9.72286725e-01 9.44894229e-04] [-3.16027153e-02 6.62710557e-03 9.99478769e-01]] t_gt: [ 0.30850351 -0.94857985 0.07086509] Pose Error in degrees for R and t: 13.574797111140539 78.08843872450986 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999898e-01 2.36582930e-06 4.51109958e-04] [-2.11392159e-06 9.99999844e-01 -5.58417201e-04] [-4.51111208e-04 5.58416190e-04 9.99999742e-01]] t_estimated: [[9.99987491e-01] [4.93954688e-03] [7.87186271e-04]] R_gt: [[ 0.93152273 -0.36330598 0.016563 ] [ 0.36367279 0.93086917 -0.03499697] [-0.00270197 0.03862337 0.99925008]] t_gt: [ 0.45339182 -0.8814991 -0.13189086] Pose Error in degrees for R and t: 21.433107004284572 63.32506583673476 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 7.95409773e-01 -6.06071527e-01 -7.73152045e-04] [ 6.06071480e-01 7.95410120e-01 -3.20905996e-04] [ 8.09464948e-04 -2.13333639e-04 9.99999650e-01]] t_estimated: [[ 8.59542211e-01] [-5.11064231e-01] [-7.34771437e-04]] R_gt: [[ 0.99624708 0.08573034 -0.01192329] [-0.08580414 0.99629541 -0.00580766] [ 0.01138051 0.00680941 0.99991246]] t_gt: [-0.54034276 0.84051202 -0.0396136 ] Pose Error in degrees for R and t: 42.23207382353775 26.62306207518458 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999854e-01 -5.30525082e-04 -1.04447729e-04] [ 5.30542279e-04 9.99999846e-01 1.64690155e-04] [ 1.04360340e-04 -1.64745545e-04 9.99999981e-01]] t_estimated: [[ 0.43036131] [-0.90265598] [ 0.00115071]] R_gt: [[ 0.99905182 0.03831252 -0.0207119 ] [-0.03835364 0.9992632 -0.00161244] [ 0.0206345 0.002406 0.9997847 ]] t_gt: [ 0.02044308 0.99056209 -0.13553167] Pose Error in degrees for R and t: 2.5222686700299857 27.68752257078219 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-8.61799215e-01 -5.07245538e-01 -2.01946534e-03] [ 5.07247848e-01 -8.61799816e-01 -8.34979387e-04] [-1.31683529e-03 -1.74395403e-03 9.99997612e-01]] t_estimated: [[0.9032415 ] [0.42913089] [0.00121567]] R_gt: [[ 0.99692564 -0.0268985 0.073603 ] [ 0.03521032 0.99284955 -0.11406361] [-0.07000923 0.11630534 0.99074311]] t_gt: [ 0.16327047 0.80626255 -0.56858021] Pose Error in degrees for R and t: 147.81719402494988 60.476952755756365 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 1.74983474e-01 9.84566781e-01 -3.00627737e-03] [-9.84571283e-01 1.74983930e-01 -1.12593058e-04] [ 4.15194845e-04 2.97959629e-03 9.99995475e-01]] t_estimated: [[-0.33410035] [ 0.94253234] [-0.003123 ]] R_gt: [[ 0.99996501 -0.00464512 0.00694039] [ 0.00453184 0.99985731 0.01624177] [-0.00701502 -0.01620915 0.99984416]] t_gt: [ 0.85948945 -0.32366672 0.39562322] Pose Error in degrees for R and t: 80.19279924111049 53.597244001342204 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99760835e-01 2.18678615e-02 2.62835336e-04] [-2.18678441e-02 9.99760868e-01 -6.90001949e-05] [-2.64281371e-04 6.32360504e-05 9.99999963e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.99876446 0.04958093 0.00346741] [-0.0496025 0.99874931 0.00628087] [-0.00315202 -0.006445 0.99997453]] t_gt: [0.59870206 0.79646513 0.08484776] Pose Error in degrees for R and t: 1.6403690908442865 52.25281152292447 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99692442e-01 -2.47996386e-02 1.46326764e-05] [ 2.47996377e-02 9.99692440e-01 6.12100859e-05] [-1.61461640e-05 -6.08283751e-05 9.99999998e-01]] t_estimated: [[-0.93872524] [-0.34463241] [-0.00484034]] R_gt: [[ 0.99813864 0.0594791 0.01347734] [-0.05962459 0.99816377 0.01061529] [-0.01282118 -0.01139889 0.9998523 ]] t_gt: [0.69696666 0.67363668 0.24586806] Pose Error in degrees for R and t: 4.934041489696461 27.425894738620464 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99544097e-01 3.01926752e-02 -3.41354730e-05] [-3.01926832e-02 9.99544062e-01 -2.66427891e-04] [ 2.60757385e-05 2.67337067e-04 9.99999964e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99750572 0.06946823 -0.01250788] [-0.0695981 0.9975222 -0.01029456] [ 0.01176237 0.01113914 0.99986843]] t_gt: [-0.40556197 0.89150349 -0.20184404] Pose Error in degrees for R and t: 2.436447336006185 27.283858256675472 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.96517833 0.26158587 0.00190317] [-0.26158159 0.96517878 -0.00223324] [-0.00242108 0.00165764 0.9999957 ]] t_estimated: [[0.3969581 ] [0.91783433] [0.00210031]] R_gt: [[ 0.99292384 0.11870049 0.00359271] [-0.11856597 0.99259565 -0.02640424] [-0.00670013 0.02579262 0.99964477]] t_gt: [-0.41247833 0.90857906 -0.06592208] Pose Error in degrees for R and t: 8.465157904863336 47.92907753266028 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.41715315e-01 3.36410859e-01 4.85574632e-06] [-3.36410810e-01 9.41715169e-01 5.54657914e-04] [ 1.82020215e-04 -5.23963378e-04 9.99999846e-01]] t_estimated: [[-0.36808951] [ 0.92978856] [ 0.00182908]] R_gt: [[ 0.99644338 0.08403567 -0.00637453] [-0.0842247 0.99563245 -0.04029296] [ 0.00296106 0.04068714 0.99916734]] t_gt: [-0.40121921 0.88955065 -0.21845545] Pose Error in degrees for R and t: 15.01712925513392 12.997716590368157 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.99999046e-01 1.37744352e-03 1.00807637e-04] [-1.37746082e-03 9.99999037e-01 1.71817561e-04] [-1.00570871e-04 -1.71956256e-04 9.99999980e-01]] t_estimated: [[ 0.99308657] [-0.11737558] [ 0.00142543]] R_gt: [[ 0.99944069 -0.02337029 -0.02391084] [ 0.0227973 0.99945358 -0.02392666] [ 0.0244565 0.02336803 0.99942779]] t_gt: [-0.09384811 -0.60964481 -0.78709957] Pose Error in degrees for R and t: 2.4014526780171117 88.69561539018713 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99987008e-01 5.09641229e-03 9.83534235e-05] [-5.09642215e-03 9.99987008e-01 1.00253041e-04] [-9.78412149e-05 -1.00752989e-04 9.99999990e-01]] t_estimated: [[ 9.80148748e-01] [-1.98263348e-01] [ 2.77945981e-04]] R_gt: [[ 0.99298143 -0.11113066 -0.04046014] [ 0.11194907 0.99354023 0.01857338] [ 0.03813432 -0.02297279 0.9990085 ]] t_gt: [ 0.30821332 -0.93614593 -0.1692198 ] Pose Error in degrees for R and t: 7.1691908234066775 60.81367563976254 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.55644304 0.83086966 0.00517214] [ 0.83088477 -0.55644122 -0.00191799] [ 0.00128439 0.00536471 -0.99998479]] t_estimated: [[0.73049279] [0.68291868] [0.00153465]] R_gt: [[ 0.97464263 -0.20108808 -0.09815455] [ 0.20512606 0.97818418 0.03285147] [ 0.08940696 -0.05215322 0.99462855]] t_gt: [ 0.44084413 -0.8769133 -0.19151899] Pose Error in degrees for R and t: 175.54592576384204 73.91155216412136 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.67063205e-01 -2.54536249e-01 -2.33884869e-04] [ 2.54536327e-01 9.67063128e-01 4.06552409e-04] [ 1.22699108e-04 -4.52694071e-04 9.99999890e-01]] t_estimated: [[ 5.58005878e-01] [-8.29836951e-01] [ 2.72184273e-04]] R_gt: [[ 0.99889865 0.03404268 0.03230358] [-0.03386581 0.99940797 -0.00601451] [-0.03248927 0.00491414 0.99945992]] t_gt: [-0.81810509 0.46322724 0.34077058] Pose Error in degrees for R and t: 16.79919194055668 32.773423958670634 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.95705947e-01 -9.25724801e-02 -5.25806086e-05] [ 9.25724945e-02 9.95705720e-01 6.72630571e-04] [-9.91226739e-06 -6.74609778e-04 9.99999772e-01]] t_estimated: [[0.82746669] [0.56151306] [0.0013985 ]] R_gt: [[ 0.99611073 0.00941885 0.08760875] [-0.0069959 0.99958472 -0.02793061] [-0.08783542 0.02720932 0.99576356]] t_gt: [-0.73217219 0.43292597 0.52583172] Pose Error in degrees for R and t: 7.8352098906122825 68.77574990472644 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 0.99452066 0.10443861 -0.00460773] [-0.10442079 0.99452535 0.00395359] [ 0.00499541 -0.00345079 0.99998157]] t_estimated: [[-0.99008759] [-0.14032584] [-0.00593456]] R_gt: [[ 0.99387813 0.00330032 0.11044243] [ 0.00499825 0.99718728 -0.07478394] [-0.11037765 0.0748785 0.99106534]] t_gt: [-0.70761941 0.60445796 0.36593079] Pose Error in degrees for R and t: 10.032881953865218 52.148829237452155 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 4.24402885e-01 -9.05472210e-01 -1.50626237e-03] [ 9.05464649e-01 4.24405506e-01 -3.70615060e-03] [ 3.99508242e-03 2.09033678e-04 9.99991998e-01]] t_estimated: [[ 0.77974539] [-0.6260853 ] [-0.00378447]] R_gt: [[ 0.98191073 -0.18917096 0.00803008] [ 0.18892745 0.98168398 0.02454498] [-0.01252621 -0.02258346 0.99966677]] t_gt: [ 0.72638115 -0.67549059 0.1268183 ] Pose Error in degrees for R and t: 54.012589434035114 8.572843414537736 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-7.79608790e-01 -6.26259786e-01 -2.96899135e-03] [ 6.26266122e-01 -7.79606253e-01 -2.19867929e-03] [-9.37699798e-04 -3.57348840e-03 9.99993175e-01]] t_estimated: [[9.99283500e-01] [3.78382882e-02] [8.66706428e-04]] R_gt: [[ 0.93183221 -0.36172517 0.02901326] [ 0.36073653 0.93203602 0.03430063] [-0.03944859 -0.02149536 0.99899075]] t_gt: [ 0.77715192 -0.61567281 0.13031457] Pose Error in degrees for R and t: 120.05620252025729 41.11319081288789 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.92129580e-01 1.25213675e-01 6.57641775e-04] [-1.25213759e-01 9.92129783e-01 8.89393487e-05] [-6.41329569e-04 -1.70585158e-04 9.99999780e-01]] t_estimated: [[ 9.47120015e-01] [ 3.20878229e-01] [-9.16291685e-04]] R_gt: [[ 0.88068926 -0.46957243 0.06235979] [ 0.46934935 0.88280581 0.01909248] [-0.06401731 0.01245514 0.99787072]] t_gt: [ 0.80450368 -0.58495877 0.1029421 ] Pose Error in degrees for R and t: 35.412536113472456 54.9587051882917 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.87996748e-01 1.54474549e-01 2.00782388e-04] [-1.54474518e-01 9.87996760e-01 -1.62827987e-04] [-2.23525128e-04 1.29857759e-04 9.99999967e-01]] t_estimated: [[0.98607379] [0.1663048 ] [0.00109499]] R_gt: [[ 0.98718008 -0.1481077 0.05948649] [ 0.14756561 0.98896039 0.01342357] [-0.06081838 -0.00447276 0.99813903]] t_gt: [ 0.66238039 -0.69636865 0.27626604] Pose Error in degrees for R and t: 17.739045480986608 57.47626104173491 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99054831e-01 4.34675448e-02 1.29771804e-04] [-4.34674994e-02 9.99054786e-01 -3.34322826e-04] [-1.44181334e-04 3.28365978e-04 9.99999936e-01]] t_estimated: [[ 0.66106729] [-0.75032493] [-0.00159324]] R_gt: [[ 0.9536517 -0.29905996 0.03333565] [ 0.2975795 0.95372619 0.04302373] [-0.04466029 -0.03110968 0.99851792]] t_gt: [ 0.76579293 -0.62569198 0.14856226] Pose Error in degrees for R and t: 20.10365669903914 12.715184396394571 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 1.64279022e-01 9.86409526e-01 2.94122268e-03] [ 9.86413902e-01 -1.64277902e-01 -6.20000330e-04] [-1.28396339e-04 3.00311599e-03 -9.99995482e-01]] t_estimated: [[-9.99991799e-01] [-3.97137331e-03] [-7.94274661e-04]] R_gt: [[ 0.91117135 -0.41173371 0.01557923] [ 0.41028217 0.91013724 0.05760488] [-0.03789794 -0.04609544 0.99821767]] t_gt: [ 0.80986878 -0.57293642 0.12592224] Pose Error in degrees for R and t: 178.84796425206721 36.12946155887801 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.51965237 -0.85392415 -0.02783827] [ 0.85409588 0.52004204 -0.00874733] [ 0.02194663 -0.01923098 0.99957417]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97677903 0.2124372 -0.02782796] [-0.21200704 0.97710959 0.0176152 ] [ 0.03093281 -0.01130599 0.9994579 ]] t_gt: [-0.63140932 0.77059036 -0.08667616] Pose Error in degrees for R and t: 70.91948067525671 87.39611886773721 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.54172094e-01 2.99258395e-01 1.69386397e-04] [-2.99258343e-01 9.54172085e-01 -2.77786415e-04] [-2.44753688e-04 2.14365753e-04 9.99999947e-01]] t_estimated: [[-9.99974594e-01] [-7.07320668e-03] [-8.84150834e-04]] R_gt: [[ 0.94536051 0.32345831 -0.04084248] [-0.32479446 0.94524924 -0.03182064] [ 0.02831315 0.0433465 0.99865916]] t_gt: [-0.54055309 0.82157367 -0.18116033] Pose Error in degrees for R and t: 3.3287953494431486 57.66365875017331 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999862e-01 2.62359540e-04 -4.55512844e-04] [-2.61764416e-04 9.99999113e-01 1.30606123e-03] [ 4.55855097e-04 -1.30594181e-03 9.99999043e-01]] t_estimated: [[-8.01627398e-01] [-5.97823805e-01] [-4.61483628e-04]] R_gt: [[ 0.93030339 0.3623725 -0.05675663] [-0.36485538 0.93012267 -0.04185646] [ 0.03762297 0.05964672 0.99751028]] t_gt: [-0.50822677 0.83332572 -0.21742537] Pose Error in degrees for R and t: 21.717789454303194 84.79766824621645 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 8.44089878e-01 5.36201698e-01 -1.30591018e-04] [-5.36201571e-01 8.44089450e-01 -9.35699562e-04] [-3.91493194e-04 8.59837638e-04 9.99999554e-01]] t_estimated: [[-6.67285598e-01] [ 7.44801693e-01] [-6.07376462e-04]] R_gt: [[ 0.99442399 0.10516074 -0.00806512] [-0.10521646 0.99442588 -0.00690913] [ 0.00729419 0.00772002 0.99994406]] t_gt: [-0.78857377 0.60948149 -0.08175401] Pose Error in degrees for R and t: 26.393324325055676 11.421648115490703 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.32615353e-01 -3.60865654e-01 -2.14080743e-03] [ 3.60866670e-01 9.32617412e-01 9.55397925e-05] [ 1.96207725e-03 -8.61647926e-04 9.99997704e-01]] t_estimated: [[-0.10681029] [-0.99427818] [-0.00157074]] R_gt: [[ 0.95047495 0.3105137 -0.01345853] [-0.31062989 0.95050132 -0.00759327] [ 0.0104344 0.01139816 0.99988095]] t_gt: [-0.7034175 0.70933708 -0.04521871] Pose Error in degrees for R and t: 39.25615648500961 50.94433496857173 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.92222276e-01 -1.24478144e-01 -3.82819503e-04] [ 1.24478193e-01 9.92222338e-01 1.05604032e-04] [ 3.66696669e-04 -1.52435353e-04 9.99999921e-01]] t_estimated: [[-9.82418417e-01] [-1.86691787e-01] [-4.81171924e-04]] R_gt: [[ 0.91846852 0.39525897 0.013654 ] [-0.39523999 0.91856902 -0.00418732] [-0.01419697 -0.00154988 0.9998982 ]] t_gt: [-0.66430274 0.74695444 0.02758501] Pose Error in degrees for R and t: 30.444698871639638 59.12547335641492 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999902e-01 -4.21260900e-04 -1.34307979e-04] [ 4.21274293e-04 9.99999906e-01 9.97068357e-05] [ 1.34265964e-04 -9.97634064e-05 9.99999986e-01]] t_estimated: [[-9.99998901e-01] [-1.46039877e-03] [-2.53684522e-04]] R_gt: [[ 0.97118017 0.23807748 0.01135918] [-0.23773607 0.97099762 -0.02539437] [-0.01707588 0.02196137 0.99961263]] t_gt: [-0.60801106 0.79315303 -0.03508294] Pose Error in degrees for R and t: 13.882308033355471 52.63712440550359 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999351e-01 -1.37894787e-04 1.13135030e-03] [ 1.38873315e-04 9.99999616e-01 -8.64887382e-04] [-1.13123061e-03 8.65043935e-04 9.99998986e-01]] t_estimated: [[-0.8016806 ] [-0.59775151] [-0.00116366]] R_gt: [[ 0.91216487 0.40757243 -0.04290573] [-0.40853963 0.91259132 -0.01651114] [ 0.03242696 0.03258905 0.99894251]] t_gt: [-0.5135331 0.84856586 -0.12735675] Pose Error in degrees for R and t: 24.24881712333467 84.52601413600003 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.56250880e-01 2.92546930e-01 7.40327837e-04] [-2.92545897e-01 9.56250666e-01 -1.24995728e-03] [-1.07361015e-03 9.78692873e-04 9.99998945e-01]] t_estimated: [[-0.68100834] [-0.73227526] [-0.00076518]] R_gt: [[ 0.88388061 0.46539298 -0.04653075] [-0.46756246 0.88173932 -0.06261989] [ 0.01188449 0.07710439 0.99695215]] t_gt: [-0.47298276 0.86855115 -0.14800745] Pose Error in degrees for R and t: 11.71126963678628 71.7116101775765 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-1.54828044e-01 -9.87941378e-01 3.31837356e-04] [-9.87939099e-01 1.54826939e-01 -2.22628680e-03] [ 2.14806349e-03 -6.72526728e-04 -9.99997467e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 9.81416516e-01 1.91809611e-01 -5.48679828e-03] [-1.91888041e-01 9.81071289e-01 -2.60302559e-02] [ 3.90911462e-04 2.65996889e-02 9.99645851e-01]] t_gt: [-0.70216178 0.7031947 -0.11174101] Pose Error in degrees for R and t: 178.8281808800158 70.0704058575724 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.99995363 0.0094761 0.00171743] [-0.00947305 0.99995355 -0.00177511] [-0.00173417 0.00175876 0.99999695]] t_estimated: [[-8.02240013e-01] [-5.97001316e-01] [-6.23825827e-04]] R_gt: [[ 0.96875653 0.24699069 0.02250676] [-0.24702281 0.96900889 -0.00140141] [-0.02215537 -0.00420171 0.99974556]] t_gt: [-0.69795789 0.71361241 0.0601008 ] Pose Error in degrees for R and t: 13.81174270223333 82.30702364522138 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.41620743e-01 3.36675070e-01 5.22500193e-04] [-3.36675088e-01 9.41620880e-01 -5.52834696e-05] [-5.10609658e-04 -1.23856737e-04 9.99999862e-01]] t_estimated: [[0.63059488] [0.7761115 ] [0.00102254]] R_gt: [[ 0.98772951 0.15089772 0.0402359 ] [-0.15094864 0.98854018 -0.00177886] [-0.04004259 -0.00431564 0.9991889 ]] t_gt: [-0.69633544 0.70143529 0.15200492] Pose Error in degrees for R and t: 11.223374159039986 83.94737512637407 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.9875885 0.15705991 0.00106399] [-0.15705378 0.98758007 -0.00443914] [-0.00174799 0.00421694 0.99998958]] t_estimated: [[8.20357818e-01] [5.71850114e-01] [7.05987795e-04]] R_gt: [[ 0.98688317 -0.15858526 0.03020874] [ 0.15844346 0.98734268 0.00703445] [-0.03094168 -0.00215499 0.99951898]] t_gt: [ 0.67797015 -0.7087959 0.19484571] Pose Error in degrees for R and t: 18.242759847940405 81.31565948902124 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.95241144e-01 -9.74426031e-02 -5.98593418e-05] [ 9.74426213e-02 9.95240994e-01 5.47469453e-04] [ 6.22762216e-06 -5.50696976e-04 9.99999848e-01]] t_estimated: [[9.66685684e-01] [2.55965218e-01] [7.71287598e-04]] R_gt: [[ 0.9602762 -0.27369606 0.05442809] [ 0.27489116 0.96134742 -0.01569584] [-0.04802727 0.03003504 0.99839383]] t_gt: [ 0.7080639 -0.69919186 0.09887489] Pose Error in degrees for R and t: 10.841961428648577 59.62995891791969 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.15563918 -0.98781283 -0.00150399] [ 0.98776024 0.15561465 0.01066718] [-0.01030314 -0.00314581 0.99994197]] t_estimated: [[ 0.48798788] [-0.87279797] [ 0.00956735]] R_gt: [[ 0.9505915 -0.30511901 0.0572702 ] [ 0.30724868 0.95106222 -0.03284471] [-0.04444498 0.0488186 0.99781871]] t_gt: [ 0.71052531 -0.70268383 0.03727226] Pose Error in degrees for R and t: 63.3055264334069 16.181163118127042 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.76000552 0.64961699 -0.01973244] [ 0.64944604 -0.75794995 0.06108773] [ 0.02472743 -0.05924216 -0.99793733]] t_estimated: [[-0.35044562] [ 0.93605626] [ 0.03140923]] R_gt: [[ 0.99822724 0.05941665 0.00353212] [-0.05936918 0.99816102 -0.01229922] [-0.00425487 0.01206789 0.99991871]] t_gt: [-0.41789933 0.90689165 -0.053923 ] Pose Error in degrees for R and t: 177.0525803399008 6.455786137345084 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-6.91270371e-01 -7.22593092e-01 -2.12073634e-03] [ 7.22595774e-01 -6.91270185e-01 -9.37584081e-04] [-7.88510021e-04 -2.18055921e-03 9.99997312e-01]] t_estimated: [[ 0.98597476] [-0.16689111] [ 0.00106181]] R_gt: [[ 0.99739496 0.0719007 0.00586109] [-0.0716074 0.99661753 -0.04032375] [-0.00873974 0.03980013 0.99916951]] t_gt: [-0.40193362 0.9007422 -0.16465981] Pose Error in degrees for R and t: 137.85881261301017 56.852442472246075 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-1.71651390e-01 9.85153163e-01 3.00760302e-03] [ 9.85157744e-01 1.71651027e-01 3.80108824e-04] [-1.41792738e-04 3.02820961e-03 -9.99995405e-01]] t_estimated: [[-0.94912756] [-0.31488777] [-0.00160186]] R_gt: [[ 9.99873843e-01 -1.59359301e-02 -6.15609767e-04] [ 1.59191464e-02 9.99636602e-01 -2.17596342e-02] [ 9.63382768e-04 2.17483844e-02 9.99762909e-01]] t_gt: [-0.37826447 0.71318631 -0.59015361] Pose Error in degrees for R and t: 179.11285264749927 82.21865809218681 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99678197 0.08004632 -0.0042759 ] [-0.07996256 0.99665147 0.01708348] [ 0.00562905 -0.01668659 0.99984492]] t_estimated: [[0.68114679] [0.73214636] [0.0008644 ]] R_gt: [[ 0.98270902 0.17896088 0.04750889] [-0.17802546 0.98374983 -0.02328284] [-0.05090406 0.01442223 0.99859892]] t_gt: [-0.72893646 0.65477401 0.19980649] Pose Error in degrees for R and t: 6.812611229916428 89.02881235338496 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.99701319 -0.07721492 0.00159787] [-0.07721957 0.99700933 -0.00308739] [-0.0013547 -0.00320155 -0.99999396]] t_estimated: [[0.99715362] [0.07535591] [0.00247697]] R_gt: [[ 0.96830243 0.23896555 0.07271277] [-0.23624291 0.97069257 -0.04411039] [-0.08112241 0.02553437 0.99637679]] t_gt: [-0.71815209 0.66564664 0.20290917] Pose Error in degrees for R and t: 175.53131181440634 48.28353049332831 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.35692828e-01 5.49196753e-01 6.50795918e-04] [-5.49196704e-01 8.35693071e-01 -2.67730558e-04] [-6.90902392e-04 -1.33674466e-04 9.99999752e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96946014 0.20945523 0.12758085] [-0.20624968 0.9777614 -0.03799011] [-0.13270053 0.01051555 0.99109994]] t_gt: [-0.7231946 0.57893585 0.37659374] Pose Error in degrees for R and t: 22.566742362339284 54.91400431590171 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99998168e-01 1.90867089e-03 -1.42392235e-04] [-1.90868539e-03 9.99998173e-01 -1.01723181e-04] [ 1.42197819e-04 1.01994777e-04 9.99999985e-01]] t_estimated: [[-4.76734852e-03] [-9.99988175e-01] [-9.60260760e-04]] R_gt: [[ 0.98891271 -0.04292697 0.14216255] [ 0.04437107 0.99899057 -0.00700744] [-0.14171821 0.01323871 0.98981828]] t_gt: [ 0.20108585 -0.29761163 0.93326941] Pose Error in degrees for R and t: 8.59996534834025 72.79728719242371 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 0.89147258 0.45114913 0.04172657] [-0.44290644 0.88716381 -0.12951545] [-0.09544908 0.09697851 0.99069907]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.96764292 -0.05014976 0.24729267] [ 0.05681259 0.99818672 -0.01988293] [-0.24584793 0.03328919 0.96873622]] t_gt: [ 0.20649969 -0.18184099 0.96140092] Pose Error in degrees for R and t: 31.80416454734345 81.84265347145532 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.99994719e-01 3.23581698e-03 -3.01542039e-04] [-3.23584579e-03 9.99994760e-01 -9.50722026e-05] [ 3.01232823e-04 9.60474441e-05 9.99999950e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.95156708 -0.0933351 0.29293218] [ 0.11641525 0.99124318 -0.06233542] [-0.28454831 0.09341874 0.95409842]] t_gt: [ 0.51075792 -0.30453606 0.80398018] Pose Error in degrees for R and t: 18.552902257619316 72.51183988026752 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 0.99800725 0.06307724 0.0016733 ] [-0.06307288 0.99800569 -0.00254001] [-0.00183018 0.00242941 0.99999537]] t_estimated: [[-0.81286272] [-0.58245415] [-0.00116959]] R_gt: [[ 0.99803605 -0.02523848 0.05733003] [ 0.02655253 0.99939787 -0.022291 ] [-0.05673249 0.02377063 0.99810631]] t_gt: [ 0.63075829 -0.38989222 0.67091581] Pose Error in degrees for R and t: 6.120138785964857 73.35683540956093 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.86934225 0.49076116 0.05828841] [-0.45093115 0.83594191 -0.31282938] [-0.20225023 0.24567174 0.94801911]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99447048 0.01606952 0.10378151] [-0.01022743 0.99834475 -0.05658869] [-0.10451842 0.05521501 0.99298887]] t_gt: [-0.2307018 0.95903672 0.16439357] Pose Error in degrees for R and t: 31.161765038067987 63.94035911735152 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-4.05785205e-01 9.13968100e-01 8.23981344e-04] [-9.13966750e-01 -4.05782526e-01 -2.30699338e-03] [-1.77416113e-03 -1.68923533e-03 9.99996999e-01]] t_estimated: [[0.0337076 ] [0.99943032] [0.00168538]] R_gt: [[ 0.98536574 0.12164556 0.11940464] [-0.10895902 0.9882055 -0.10760125] [-0.13108437 0.09301686 0.98699789]] t_gt: [-0.29850137 0.95437807 0.00770913] Pose Error in degrees for R and t: 107.53754240150754 19.30266017013376 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.95024592e-01 -9.96294125e-02 -2.02711725e-04] [ 9.96294739e-02 9.95024555e-01 3.19437276e-04] [ 1.69877796e-04 -3.38044008e-04 9.99999928e-01]] t_estimated: [[-0.23528955] [-0.97192436] [-0.00136546]] R_gt: [[ 0.99981555 0.01869266 -0.00433006] [-0.01871431 0.99981263 -0.00486273] [ 0.00423758 0.004943 0.99997821]] t_gt: [ 0.76788751 0.50442531 -0.39484664] Pose Error in degrees for R and t: 6.800526270882828 47.902054963438324 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 3.53326105e-01 9.35500209e-01 1.51597092e-04] [-9.35499926e-01 3.53325860e-01 8.51419536e-04] [ 7.42939981e-04 -4.42647817e-04 9.99999626e-01]] t_estimated: [[0.52348832] [0.85203176] [0.00136325]] R_gt: [[ 0.99984532 0.01747493 -0.00187962] [-0.01748638 0.99982741 -0.00618281] [ 0.00177072 0.00621465 0.99997844]] t_gt: [ 0.98937897 0.03984753 -0.13979064] Pose Error in degrees for R and t: 68.3086265522637 56.517028827894926 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.8680726 -0.49640073 0.00602358] [-0.49635647 0.86808632 0.00750897] [-0.00895645 0.00352848 -0.99995366]] t_estimated: [[0.96254605] [0.27106182] [0.00553187]] R_gt: [[ 9.97680371e-01 6.80529562e-02 1.31269446e-03] [-6.80592742e-02 9.97666873e-01 5.34018841e-03] [-9.47118710e-04 -5.41667060e-03 9.99984540e-01]] t_gt: [0.70855213 0.70553783 0.01304782] Pose Error in degrees for R and t: 179.42340062076283 29.151986232202276 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.76186679e-01 2.16929335e-01 1.10982015e-03] [-2.16928501e-01 9.76187147e-01 -8.24884479e-04] [-1.26233380e-03 5.64489619e-04 9.99999044e-01]] t_estimated: [[9.80110908e-01] [1.98448628e-01] [8.66587893e-04]] R_gt: [[ 0.99665842 -0.07904443 -0.02057917] [ 0.07921213 0.99682884 0.00748949] [ 0.01992188 -0.00909438 0.99976054]] t_gt: [ 0.39445461 -0.90399502 -0.16491984] Pose Error in degrees for R and t: 17.119474437974254 78.04931114132819 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.57884017e-01 -2.87155125e-01 3.79807576e-04] [ 2.87155360e-01 9.57883568e-01 -9.32221033e-04] [-9.61193890e-05 1.00202341e-03 9.99999493e-01]] t_estimated: [[-0.23061442] [-0.97304408] [-0.00148783]] R_gt: [[ 0.98877552 -0.1357532 -0.06240861] [ 0.13802974 0.98985379 0.03372487] [ 0.0571964 -0.04195966 0.99748059]] t_gt: [ 0.3922203 -0.90447259 -0.16760838] Pose Error in degrees for R and t: 9.719429180670128 37.8248215981529 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.60465567e-01 2.78398509e-01 4.05991607e-04] [-2.78398751e-01 9.60465267e-01 7.78095717e-04] [-1.73320150e-04 -8.60361700e-04 9.99999615e-01]] t_estimated: [[0.82453603] [0.56580231] [0.00284323]] R_gt: [[ 0.95903824 -0.26144187 -0.1090595 ] [ 0.26464068 0.96421856 0.01571703] [ 0.1010478 -0.04393459 0.99391106]] t_gt: [ 0.55814016 -0.80069415 -0.21764291] Pose Error in degrees for R and t: 32.0775630589821 89.62452308150434 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.98909952e-01 4.66757800e-02 5.29447578e-04] [-4.66758401e-02 9.98910084e-01 1.01720242e-04] [-5.24122653e-04 -1.26321773e-04 9.99999855e-01]] t_estimated: [[0.93419176] [0.35676754] [0.00163854]] R_gt: [[ 0.98079868 -0.19394897 0.02045411] [ 0.19262792 0.97979431 0.05383758] [-0.03048343 -0.04886438 0.99834041]] t_gt: [ 0.62549424 -0.72394973 0.29095316] Pose Error in degrees for R and t: 14.211648941646281 70.94191473993865 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99192278e-01 4.01840328e-02 1.86674517e-04] [-4.01840328e-02 9.99192296e-01 -3.78432619e-06] [-1.86675809e-04 -3.72006541e-06 9.99999983e-01]] t_estimated: [[9.77995609e-01] [2.08625441e-01] [1.18068948e-04]] R_gt: [[ 0.9096714 -0.41508137 0.01431511] [ 0.41243335 0.90685746 0.08666219] [-0.04895453 -0.07292986 0.99613475]] t_gt: [ 0.76553642 -0.60669256 0.21419179] Pose Error in degrees for R and t: 27.254945137049877 51.527052898623204 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-7.51026499e-01 -6.60271780e-01 6.11969594e-04] [-6.60271338e-01 7.51026725e-01 7.87065424e-04] [-9.79282608e-04 1.87041007e-04 -9.99999503e-01]] t_estimated: [[0.95403875] [0.29967994] [0.00141333]] R_gt: [[ 0.87752439 -0.47952261 -0.00292071] [ 0.47703946 0.87232956 0.10712665] [-0.0488226 -0.0953985 0.99424118]] t_gt: [ 0.78778413 -0.57363204 0.22437122] Pose Error in degrees for R and t: 176.55681112110662 54.550323730956116 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.98002307e-01 6.31774731e-02 -3.64475321e-05] [-6.31774763e-02 9.98002303e-01 -9.41017741e-05] [ 3.04296087e-05 9.62164508e-05 9.99999995e-01]] t_estimated: [[-8.65981422e-01] [-5.00075851e-01] [-5.65856613e-04]] R_gt: [[ 0.99887143 0.04005125 0.02550809] [-0.03925597 0.99875031 -0.03094908] [-0.02671535 0.02991312 0.99919488]] t_gt: [-0.80914065 0.40197453 -0.42861157] Pose Error in degrees for R and t: 2.6628291862491595 60.00492514386769 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.93207480e-01 1.16356772e-01 6.23691438e-05] [-1.16356702e-01 9.93207251e-01 -6.88382911e-04] [-1.42043499e-04 6.76449988e-04 9.99999761e-01]] t_estimated: [[-0.98101417] [-0.19393315] [-0.00106084]] R_gt: [[ 0.99046915 0.12843411 0.04975784] [-0.12281341 0.98706286 -0.10307989] [-0.06235323 0.09598588 0.99342825]] t_gt: [-0.79490737 0.39048102 -0.46437791] Pose Error in degrees for R and t: 6.558988281154246 45.20431123461745 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.98334748 -0.18172785 -0.00165046] [-0.18172359 0.98334662 -0.00244315] [ 0.00206696 -0.00210254 -0.99999565]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99717032 0.0621875 0.04224086] [-0.0568648 0.99147274 -0.11725671] [-0.04917286 0.11452294 0.992203 ]] t_gt: [-0.53721172 0.37265243 -0.75665959] Pose Error in degrees for R and t: 178.09568570359346 57.54479743674835 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.49697216e-01 -3.13169586e-01 -9.15642012e-05] [ 3.13169597e-01 9.49697136e-01 3.91544826e-04] [-3.56616715e-05 -4.00524155e-04 9.99999919e-01]] t_estimated: [[ 9.46927945e-01] [-3.21445085e-01] [ 7.23361426e-04]] R_gt: [[ 9.84152253e-01 -1.75948201e-01 2.20420111e-02] [ 1.75893245e-01 9.84399990e-01 4.42943343e-03] [-2.24778395e-02 -4.81241493e-04 9.99747019e-01]] t_gt: [ 0.74264378 -0.66303435 0.09415765] Pose Error in degrees for R and t: 8.218110248003432 23.59074368382681 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.60961627e-01 -2.76681666e-01 8.37646082e-05] [ 2.76681644e-01 9.60961613e-01 2.13064868e-04] [-1.39445716e-04 -1.81571032e-04 9.99999974e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.95137587 -0.30759263 -0.0164271 ] [ 0.30795711 0.94861605 0.07274571] [-0.00679313 -0.07426719 0.99721538]] t_gt: [ 0.77967494 -0.60484819 0.16206679] Pose Error in degrees for R and t: 4.664987398613524 38.92937422242109 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99887712e-01 -1.49841835e-02 1.92686072e-04] [ 1.49841825e-02 9.99887731e-01 6.51274922e-06] [-1.92762028e-04 -3.62477465e-06 9.99999981e-01]] t_estimated: [[9.99324214e-01] [3.67560951e-02] [3.24455032e-04]] R_gt: [[ 0.92587086 -0.37769775 -0.01040615] [ 0.37780279 0.92582045 0.01115278] [ 0.00542138 -0.01425659 0.99988352]] t_gt: [ 0.81802519 -0.57415794 0.03431394] Pose Error in degrees for R and t: 21.354973796540314 37.214232250494874 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99179015e-01 4.05127139e-02 -1.23031704e-04] [-4.05126696e-02 9.99178966e-01 3.43526089e-04] [ 1.36847865e-04 -3.38259717e-04 9.99999933e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.9854678 -0.16758067 -0.0277516 ] [ 0.16857403 0.98493617 0.03851727] [ 0.02087924 -0.04263577 0.99887203]] t_gt: [ 0.75500741 -0.65320619 0.05731915] Pose Error in degrees for R and t: 12.30235861269287 49.577067169820715 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.69168573e-01 2.46398034e-01 5.35422494e-04] [-2.46397946e-01 9.69168717e-01 -2.26158171e-04] [-5.74639660e-04 8.72583890e-05 9.99999831e-01]] t_estimated: [[-0.55442636] [ 0.83223198] [ 0.00115834]] R_gt: [[ 0.96199214 -0.27112996 -0.03256855] [ 0.27182655 0.96215417 0.019253 ] [ 0.02611682 -0.0273734 0.99928362]] t_gt: [ 0.79325897 -0.60870215 0.01489635] Pose Error in degrees for R and t: 30.10112516825542 18.849972885933795 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99950008 0.03147849 0.00294766] [-0.03147449 0.99950358 -0.00139429] [-0.00299009 0.00130082 0.99999468]] t_estimated: [[0.86950342] [0.49387794] [0.00695603]] R_gt: [[ 0.94764933 -0.31690495 -0.03914311] [ 0.31553438 0.94817613 -0.03742869] [ 0.04897674 0.02311834 0.99853233]] t_gt: [ 0.8127083 -0.57454475 -0.09697187] Pose Error in degrees for R and t: 20.501871199951914 65.02497723485348 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.97348337e-01 -7.27756393e-02 -3.60864217e-05] [ 7.27756472e-02 9.97348284e-01 3.24527915e-04] [ 1.23730043e-05 -3.26293589e-04 9.99999947e-01]] t_estimated: [[-0.63586686] [-0.77179823] [-0.00091229]] R_gt: [[ 0.99457317 0.10358007 -0.00978934] [-0.10354173 0.99461512 0.00430107] [ 0.01018149 -0.00326361 0.99994296]] t_gt: [-0.62434191 0.77840574 -0.06543456] Pose Error in degrees for R and t: 10.135933523210806 78.24576337758697 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.23928722e-01 -3.82564318e-01 -5.09424384e-04] [ 3.82564366e-01 9.23928842e-01 -4.68501712e-06] [ 4.72464202e-04 -1.90558995e-04 9.99999870e-01]] t_estimated: [[-0.01114757] [-0.99993724] [-0.00111476]] R_gt: [[ 0.97470042 0.2211883 -0.03219041] [-0.22116431 0.97522671 0.0043485 ] [ 0.03235456 0.00288135 0.99947238]] t_gt: [-0.59018209 0.79582135 -0.135475 ] Pose Error in degrees for R and t: 35.32014065353418 37.90399160869955 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 5.82284776e-01 8.12984609e-01 6.82225347e-04] [-8.12984587e-01 5.82283620e-01 1.35917926e-03] [ 7.07743171e-04 -1.34606808e-03 9.99998844e-01]] t_estimated: [[0.77815918] [0.62806648] [0.00089341]] R_gt: [[ 0.95010477 0.30826373 -0.04769748] [-0.30666974 0.95105932 0.03792764] [ 0.0570555 -0.02140777 0.99814239]] t_gt: [-0.58977144 0.8012533 -0.10081072] Pose Error in degrees for R and t: 36.621917050149314 87.46588603367344 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 8.11821231e-01 -5.83905964e-01 -3.36495444e-04] [ 5.83906060e-01 8.11821125e-01 4.15918786e-04] [ 3.03166498e-05 -5.34133430e-04 9.99999857e-01]] t_estimated: [[9.67166660e-01] [2.54141576e-01] [8.42838943e-04]] R_gt: [[ 0.98011802 -0.19721295 -0.02179224] [ 0.19777426 0.97986019 0.02755358] [ 0.01591906 -0.03131557 0.99938366]] t_gt: [ 0.74526948 -0.66298686 0.07086481] Pose Error in degrees for R and t: 24.411133365617594 56.470449213319576 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-2.36925839e-01 -9.71527105e-01 -1.10961918e-03] [ 9.71526764e-01 -2.36927064e-01 1.14567145e-03] [-1.37594969e-03 -8.06585565e-04 9.99998728e-01]] t_estimated: [[9.74335827e-01] [2.25097461e-01] [9.10466601e-04]] R_gt: [[ 0.97179525 -0.23573105 -0.00668444] [ 0.23582286 0.97121335 0.03363237] [-0.00143658 -0.03425909 0.99941236]] t_gt: [ 0.72226516 -0.67869853 0.13304641] Pose Error in degrees for R and t: 90.07838541205294 56.55909366364056 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.99994469 0.01039049 -0.00163033] [-0.01038422 0.99993883 0.00380834] [ 0.0016698 -0.0037912 0.99999142]] t_estimated: [[0.99979081] [0.01938814] [0.00651463]] R_gt: [[ 0.94526805 -0.32371329 0.04094697] [ 0.32331446 0.94615235 0.01622992] [-0.0439971 -0.00210225 0.99902954]] t_gt: [ 0.71509463 -0.6841367 0.14351528] Pose Error in degrees for R and t: 19.649051905819704 45.36274710291374 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 1.00000000e+00 -2.79797019e-13 -6.22345600e-16] [ 2.79810897e-13 1.00000000e+00 -2.40692882e-17] [ 1.07765630e-15 -8.67361738e-19 1.00000000e+00]] t_estimated: [[0.06075318] [0.99815151] [0.00161573]] R_gt: [[ 0.99296543 0.11837549 0.002454 ] [-0.11834364 0.99291643 -0.010619 ] [-0.00369288 0.0102541 0.9999409 ]] t_gt: [-0.78512171 0.61775995 -0.04423289] Pose Error in degrees for R and t: 6.82614160434912 55.33007374210012 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99998547e-01 -1.70445300e-03 -3.63955458e-05] [ 1.70443971e-03 9.99998482e-01 -3.62111965e-04] [ 3.70126933e-05 3.62049405e-04 9.99999934e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.97943902 0.20142856 -0.01119199] [-0.20162078 0.97925974 -0.02001337] [ 0.00692869 0.02185952 0.99973752]] t_gt: [-0.75437946 0.64977877 -0.09326938] Pose Error in degrees for R and t: 11.796164365561507 41.19841729609805 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999838e-01 -5.69715689e-04 -2.38539213e-07] [ 5.69715689e-04 9.99999838e-01 2.08432166e-06] [ 2.37351704e-07 -2.08445723e-06 1.00000000e+00]] t_estimated: [[-8.76981194e-01] [-4.80523903e-01] [-8.74721604e-04]] R_gt: [[ 0.91805594 0.39644347 -0.00257254] [-0.39643887 0.91795091 -0.01424549] [-0.00328579 0.01409849 0.99989491]] t_gt: [-0.68252307 0.73062833 -0.01856059] Pose Error in degrees for R and t: 23.40429629015842 75.67086313127278 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 9.55577422e-01 -2.94740161e-01 -1.65450210e-04] [ 2.94740197e-01 9.55577390e-01 2.61869958e-04] [ 8.09168864e-05 -2.99001847e-04 9.99999952e-01]] t_estimated: [[ 2.60349980e-01] [-9.65514311e-01] [ 4.87777134e-05]] R_gt: [[ 0.99763549 0.06767242 0.01196775] [-0.06726977 0.99724193 -0.03138287] [-0.0140586 0.0305035 0.99943494]] t_gt: [-0.83515974 0.43632138 -0.33486096] Pose Error in degrees for R and t: 21.10045586862947 50.30321123160842 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.62047942e-01 -2.72880273e-01 -3.36434520e-04] [ 2.72880162e-01 9.62047972e-01 -3.42339689e-04] [ 4.17083895e-04 2.37540887e-04 9.99999885e-01]] t_estimated: [[-0.34221639] [-0.93962001] [-0.00147507]] R_gt: [[ 0.99130162 0.1259367 0.03822858] [-0.12298586 0.98981925 -0.07163499] [-0.04686053 0.06631008 0.99669756]] t_gt: [-0.83700574 0.42023294 -0.35046493] Pose Error in degrees for R and t: 23.45740144721091 83.80542429825455 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.82688561e-01 1.85264131e-01 -6.27107321e-04] [-1.85261503e-01 9.82684724e-01 2.98484300e-03] [ 1.16923313e-03 -2.81699222e-03 9.99995349e-01]] t_estimated: [[9.44262464e-01] [3.29192419e-01] [8.66295839e-04]] R_gt: [[ 0.9821211 0.18320057 0.04332204] [-0.17619349 0.97557659 -0.13117436] [-0.06629577 0.12119554 0.99041188]] t_gt: [-0.79039048 0.43263879 -0.43371253] Pose Error in degrees for R and t: 8.118668812238443 52.822204603073054 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999678e-01 -7.91050896e-04 -1.36911413e-04] [ 7.91051099e-04 9.99999687e-01 1.42584635e-06] [ 1.36910243e-04 -1.53414981e-06 9.99999991e-01]] t_estimated: [[-0.99025533] [-0.13926014] [-0.00100139]] R_gt: [[ 0.99430086 0.10109413 0.03386117] [-0.10126286 0.9948551 0.00329659] [-0.03335438 -0.00670555 0.99942099]] t_gt: [-0.39920184 0.86055854 0.31634932] Pose Error in degrees for R and t: 6.172053966676503 74.02884053768355 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 2.35470781e-01 9.71881288e-01 -5.23164290e-04] [-9.71879435e-01 2.35469173e-01 -2.15223672e-03] [-1.96852953e-03 1.01524147e-03 9.99997547e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98957084 0.13648596 0.04607101] [-0.13728924 0.99042233 0.01473402] [-0.04361955 -0.02090545 0.99882888]] t_gt: [-0.30470508 0.87540544 0.37526008] Pose Error in degrees for R and t: 68.55730553422401 29.087582236252672 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.38722208e-01 -3.44674583e-01 -2.18709668e-04] [ 3.44674605e-01 9.38722223e-01 7.13397510e-05] [ 1.80718626e-04 -1.42351877e-04 9.99999974e-01]] t_estimated: [[-0.47468909] [-0.88015268] [-0.00123617]] R_gt: [[ 0.9899458 0.1386224 0.02814386] [-0.13876834 0.99031977 0.00329373] [-0.02741522 -0.00716488 0.9995984 ]] t_gt: [-0.07598355 0.97034376 0.22947654] Pose Error in degrees for R and t: 28.182331559670764 35.088433719702515 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-0.69909591 0.71447344 0.02815334] [ 0.71446432 0.69956619 -0.01216118] [-0.02838397 0.01161272 -0.99952964]] t_estimated: [[ 0.91635231] [-0.4000698 ] [ 0.0155753 ]] R_gt: [[ 0.99585042 -0.08712052 -0.0262889 ] [ 0.08836735 0.99479573 0.05071327] [ 0.02173319 -0.05282552 0.99836749]] t_gt: [ 0.39329881 -0.90505373 0.16184498] Pose Error in degrees for R and t: 179.33317226670394 43.530676378867426 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.69260197e-01 2.46035755e-01 1.03790834e-03] [-2.46035752e-01 9.69260745e-01 -1.32624536e-04] [-1.03863419e-03 -1.26814876e-04 9.99999453e-01]] t_estimated: [[0.76175598] [0.64786236] [0.00147914]] R_gt: [[ 0.97620489 -0.20132781 -0.08057299] [ 0.20641388 0.97658054 0.06069363] [ 0.06646672 -0.07587981 0.99489925]] t_gt: [ 0.53791619 -0.8425686 -0.02691346] Pose Error in degrees for R and t: 26.671707473029247 82.17502505964546 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.95084321 0.30967056 0.00115536] [-0.30966833 0.95084298 -0.00177895] [-0.00164945 0.00133372 0.99999775]] t_estimated: [[0.58150205] [0.81354374] [0.00139784]] R_gt: [[ 0.95320206 -0.27653457 -0.12220766] [ 0.28221157 0.95883333 0.03153836] [ 0.10845513 -0.06455112 0.99200345]] t_gt: [ 0.59188981 -0.79021162 -0.158846 ] Pose Error in degrees for R and t: 35.08711697810439 72.60793625297892 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.85670309e-01 1.68683184e-01 1.57369916e-04] [-1.68683156e-01 9.85670311e-01 -1.77157456e-04] [-1.84998338e-04 1.48073190e-04 9.99999972e-01]] t_estimated: [[0.45838839] [0.88875104] [0.00129082]] R_gt: [[ 0.9968797 -0.05462469 0.05697504] [ 0.05782626 0.99674768 -0.05613674] [-0.053723 0.05925742 0.99679508]] t_gt: [ 0.74816221 -0.564734 -0.34832287] Pose Error in degrees for R and t: 13.72113232554464 80.82742418278347 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.71589048 0.69818133 0.00660629] [ 0.69767837 -0.71568077 0.03234074] [ 0.0273077 -0.01854336 -0.99945507]] t_estimated: [[0.70640274] [0.70780969] [0.00078092]] R_gt: [[ 0.99244203 -0.08634543 0.08719632] [ 0.09126077 0.99435959 -0.05404174] [-0.0820384 0.0615909 0.99472353]] t_gt: [ 0.77914709 -0.62329936 -0.06654111] Pose Error in degrees for R and t: 176.61658337189812 83.73296910419009 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.76285268e-01 2.16487303e-01 5.68542485e-04] [-2.16486943e-01 9.76285307e-01 -6.34100216e-04] [-6.92334321e-04 4.95980675e-04 9.99999637e-01]] t_estimated: [[0.89343209] [0.44919358] [0.00205715]] R_gt: [[ 0.98572211 -0.06699874 0.15447787] [ 0.08009502 0.993559 -0.08016595] [-0.14811159 0.09139503 0.98473789]] t_gt: [ 0.92766812 -0.35973978 0.10009565] Pose Error in degrees for R and t: 19.479374277882528 48.131628651874884 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.88661446 0.46248964 0.00425671] [ 0.46235975 -0.88652435 0.017264 ] [ 0.0117581 -0.01333838 -0.9998419 ]] t_estimated: [[0.32046251] [0.94724948] [0.00471268]] R_gt: [[ 0.99412196 -0.02464838 0.10542116] [ 0.02896672 0.99879421 -0.03963369] [-0.10431779 0.04245462 0.99363781]] t_gt: [ 0.41995947 -0.06214001 0.90541298] Pose Error in degrees for R and t: 177.17422059999325 85.41223313612423 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-9.95499089e-01 -9.47698559e-02 -4.89076282e-04] [ 9.47706639e-02 -9.95497037e-01 -2.04236262e-03] [-2.93319578e-04 -2.07952022e-03 9.99997795e-01]] t_estimated: [[8.09578305e-01] [5.87011512e-01] [6.72407230e-04]] R_gt: [[ 0.98989817 -0.08811637 0.11107257] [ 0.09436043 0.99416565 -0.05226591] [-0.10581934 0.06221904 0.99243734]] t_gt: [ 0.85978942 -0.41733848 0.29426306] Pose Error in degrees for R and t: 169.33453832069742 63.17401948395349 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99998272e-01 1.81142463e-03 4.17643171e-04] [-1.81103967e-03 9.99997937e-01 -9.20268487e-04] [-4.19309306e-04 9.19510529e-04 9.99999489e-01]] t_estimated: [[-0.24091373] [-0.97054319] [-0.0025457 ]] R_gt: [[ 0.97666432 -0.19637111 0.08698548] [ 0.19997156 0.97918576 -0.03474255] [-0.07835322 0.05132618 0.99560383]] t_gt: [ 0.86603343 -0.49399025 0.07719932] Pose Error in degrees for R and t: 12.724592498207182 74.2998477621609 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.79891066e-01 1.99533061e-01 2.37479922e-04] [-1.99532913e-01 9.79890979e-01 -5.34166204e-04] [-3.39288251e-04 4.76039631e-04 9.99999829e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9943108 -0.06168158 0.08683724] [ 0.05299205 0.99367174 0.09904671] [-0.09239705 -0.09388203 0.99128646]] t_gt: [ 0.18376546 -0.44623125 0.87584698] Pose Error in degrees for R and t: 16.62799641263095 70.0367234933115 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 9.59802758e-01 -2.80673550e-01 1.01240061e-03] [ 2.80673504e-01 9.59803286e-01 1.90485260e-04] [-1.02516960e-03 1.01325748e-04 9.99999469e-01]] t_estimated: [[ 0.97423997] [-0.22550841] [ 0.00156375]] R_gt: [[ 0.98375748 -0.09101714 0.15471135] [ 0.06020702 0.97929412 0.19328347] [-0.16910024 -0.18082966 0.96886834]] t_gt: [ 0.15965358 -0.32535538 0.93201642] Pose Error in degrees for R and t: 18.576007466421842 76.68121943384341 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-2.65265477e-01 -9.64175282e-01 -5.02877981e-04] [-9.64175325e-01 2.65265194e-01 5.65485507e-04] [-4.11831123e-04 6.34866324e-04 -9.99999714e-01]] t_estimated: [[0.90249818] [0.43069232] [0.00107784]] R_gt: [[ 0.98301782 -0.02385871 0.18195033] [-0.02227401 0.96866884 0.24735427] [-0.18215126 -0.24720709 0.95168803]] t_gt: [-0.06168593 -0.0594342 0.99632446] Pose Error in degrees for R and t: 162.8476430428145 85.400201658625 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.91845854e-01 -1.27443246e-01 -1.43312255e-04] [ 1.27443290e-01 9.91845793e-01 3.60521794e-04] [ 9.61975900e-05 -3.75846232e-04 9.99999925e-01]] t_estimated: [[9.70237985e-01] [2.42152570e-01] [6.20179761e-04]] R_gt: [[ 0.98078638 -0.19218542 0.03349735] [ 0.19102868 0.98096436 0.03489569] [-0.03956716 -0.02782563 0.9988286 ]] t_gt: [ 0.66201935 -0.69984569 0.26822823] Pose Error in degrees for R and t: 4.6435414896001035 61.769929316494604 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99992137e-01 7.78209062e-04 3.88838851e-03] [-7.63774888e-04 9.99992818e-01 -3.71222954e-03] [-3.89124948e-03 3.70923050e-03 9.99985550e-01]] t_estimated: [[0.88221029] [0.47085427] [0.00111716]] R_gt: [[ 0.93880014 -0.34445106 -0.00294744] [ 0.34414865 0.93754039 0.05079105] [-0.01473205 -0.04869703 0.99870424]] t_gt: [ 0.75460071 -0.63677588 0.15841165] Pose Error in degrees for R and t: 20.433011182914473 68.52687040434179 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 8.59360337e-01 5.11369903e-01 7.96070099e-04] [-5.11369890e-01 8.59360681e-01 -2.36121131e-04] [-8.04856582e-04 -2.04173144e-04 9.99999655e-01]] t_estimated: [[0.71110367] [0.70308672] [0.0008017 ]] R_gt: [[ 0.85551746 -0.51194946 -0.07744629] [ 0.51632021 0.85472051 0.05354297] [ 0.03878361 -0.0857933 0.99555675]] t_gt: [ 0.84714788 -0.52106744 0.10406342] Pose Error in degrees for R and t: 61.98669328149162 76.34129826509218 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 1.00000000e+00 1.97508676e-12 1.97532962e-14] [-1.97510064e-12 1.00000000e+00 -1.11359489e-14] [-2.01193229e-14 1.11035313e-14 1.00000000e+00]] t_estimated: [[-0.99617132] [-0.08674746] [-0.01084343]] R_gt: [[ 0.99756319 -0.06958926 0.0051266 ] [ 0.06951409 0.99748688 0.01370503] [-0.00606779 -0.01331542 0.99989353]] t_gt: [ 0.69309424 -0.67668749 0.24842387] Pose Error in degrees for R and t: 4.075069086425277 50.62202256671903 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.15335202 -0.9881657 0.00342122] [-0.98816999 0.15334454 -0.00235213] [ 0.00179967 -0.00374145 -0.99999138]] t_estimated: [[0.76083873] [0.64893803] [0.00196402]] R_gt: [[ 9.94512846e-01 -1.03812433e-01 -1.29415051e-02] [ 1.03827406e-01 9.94594843e-01 4.65173096e-04] [ 1.28232869e-02 -1.80686102e-03 9.99916450e-01]] t_gt: [ 0.83573018 -0.54626888 -0.05608362] Pose Error in degrees for R and t: 179.5326550079658 73.66511225107006 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.66472902 -0.74706773 0.00501447] [-0.74708381 0.66472288 -0.00304585] [-0.00105778 -0.0057709 -0.99998279]] t_estimated: [[0.99842201] [0.05581241] [0.00620138]] R_gt: [[ 9.89735768e-01 -1.42863541e-01 3.73805290e-03] [ 1.42910221e-01 9.89545665e-01 -1.93793322e-02] [-9.29402752e-04 1.97143802e-02 9.99805659e-01]] t_gt: [ 0.89254668 -0.44649939 -0.06323549] Pose Error in degrees for R and t: 179.8492521053948 30.022853928881208 Number of keypoints: Image1: 362 Image2: 362 R_estimated: [[ 9.99972188e-01 7.45816133e-03 1.59015418e-06] [-7.45816138e-03 9.99972187e-01 3.10814188e-05] [-1.35829972e-06 -3.10924140e-05 1.00000000e+00]] t_estimated: [[2.24512984e-01] [9.74471041e-01] [3.32505149e-04]] R_gt: [[ 9.98617489e-01 -6.99727440e-03 5.20896133e-02] [ 6.98484786e-03 9.99975184e-01 3.94277946e-04] [-5.20919876e-02 -3.00704780e-05 9.98642162e-01]] t_gt: [-0.05431649 -0.13558317 0.98927596] Pose Error in degrees for R and t: 3.0990493786794513 81.72133714023853 Number of keypoints: Image1: 483 Image2: 483 R_estimated: [[ 9.94005594e-01 -1.09329209e-01 -4.90192790e-05] [ 1.09329220e-01 9.94005536e-01 3.39950743e-04] [ 1.15588888e-05 -3.43272180e-04 9.99999941e-01]] t_estimated: [[0.88193319] [0.47137248] [0.00135401]] R_gt: [[ 0.99941442 -0.01303755 0.03162765] [ 0.0128472 0.99989802 0.00620591] [-0.0317052 -0.00579598 0.99947998]] t_gt: [ 0.1008474 -0.29199944 0.95108681] Pose Error in degrees for R and t: 5.8343886487650884 87.28247078819155 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.33460318e-01 3.58680674e-01 9.12681052e-05] [-3.58680052e-01 9.33459119e-01 -1.64112538e-03] [-6.73835004e-04 1.49918937e-03 9.99998649e-01]] t_estimated: [[0.52839641] [0.84899648] [0.00148426]] R_gt: [[ 9.97959724e-01 -6.38242723e-02 -1.07975686e-03] [ 6.38284552e-02 9.97523889e-01 2.95282229e-02] [-8.07689045e-04 -2.95366151e-02 9.99562812e-01]] t_gt: [ 0.57695297 -0.76810886 0.27773019] Pose Error in degrees for R and t: 24.743165637417807 69.70525596396654 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99998406e-01 -1.67383727e-03 -6.21683626e-04] [ 1.67388397e-03 9.99998596e-01 7.45995449e-05] [ 6.21557886e-04 -7.56400522e-05 9.99999804e-01]] t_estimated: [[9.99994892e-01] [3.10075966e-03] [7.75189839e-04]] R_gt: [[ 0.99866272 -0.04756677 -0.02026863] [ 0.04751217 0.99886506 -0.00316935] [ 0.02039581 0.00220221 0.99978988]] t_gt: [ 0.81232534 -0.4690028 -0.34664669] Pose Error in degrees for R and t: 2.8659470373399016 35.84558113798172 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.99977399e-01 -6.72191204e-03 1.29491877e-04] [ 6.72192317e-03 9.99977404e-01 -8.57494139e-05] [-1.28912551e-04 8.66179104e-05 9.99999988e-01]] t_estimated: [[ 9.90217278e-01] [ 1.39533436e-01] [-4.03190769e-04]] R_gt: [[ 0.99730121 -0.06908973 -0.0248596 ] [ 0.06863751 0.99746815 -0.01860989] [ 0.0260825 0.01685276 0.99951829]] t_gt: [ 0.85067637 -0.15459093 -0.50244538] Pose Error in degrees for R and t: 3.984890549669538 34.81633970301973 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.93550252 0.35330393 0.00337145] [ 0.35331248 0.9355023 0.00239509] [-0.0023078 0.00343179 -0.99999145]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.91957872e-01 -1.26575299e-01 2.38302786e-04] [ 1.26515598e-01 9.91424155e-01 -3.27451414e-02] [ 3.90789556e-03 3.25123474e-02 9.99463645e-01]] t_gt: [ 0.92896294 -0.2964725 -0.2216572 ] Pose Error in degrees for R and t: 179.59359291078036 21.895264558087568 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.81068449e-01 1.93660528e-01 5.45547619e-04] [-1.93660261e-01 9.81068523e-01 -5.07288062e-04] [-6.33461271e-04 3.92033418e-04 9.99999723e-01]] t_estimated: [[0.33368246] [0.94268468] [0.00126875]] R_gt: [[ 0.9883385 -0.13996591 0.05996748] [ 0.13978646 0.99015551 0.00719393] [-0.06038344 0.00127266 0.99817454]] t_gt: [ 0.56491191 -0.77069189 0.29480255] Pose Error in degrees for R and t: 19.51541869333453 57.47658629399204 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.96029244e-01 -8.90249201e-02 5.55127865e-04] [ 8.90251920e-02 9.96029256e-01 -4.85822119e-04] [-5.09673319e-04 5.33313402e-04 9.99999728e-01]] t_estimated: [[ 9.80680731e-01] [ 1.95614913e-01] [-3.31574526e-04]] R_gt: [[ 0.9514905 -0.30328274 0.05183302] [ 0.30003931 0.95191046 0.06199136] [-0.06814093 -0.04343321 0.99673005]] t_gt: [ 0.6756025 -0.68158602 0.28107251] Pose Error in degrees for R and t: 13.307959841237404 58.053391951776575 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99998129e-01 1.83963035e-03 5.97916564e-04] [-1.83960529e-03 9.99998307e-01 -4.24630918e-05] [-5.97993669e-04 4.13630819e-05 9.99999820e-01]] t_estimated: [[9.57960344e-01] [2.86900313e-01] [4.35481264e-04]] R_gt: [[ 0.88204969 -0.47115202 -0.00218274] [ 0.469968 0.8794858 0.07506452] [-0.03344696 -0.06723692 0.99717609]] t_gt: [ 0.79141588 -0.58615206 0.17345509] Pose Error in degrees for R and t: 28.538672904016963 53.83920565032474 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.95019760e-01 -9.96778048e-02 1.09921185e-04] [ 9.96777947e-02 9.95019763e-01 9.30594868e-05] [-1.18649717e-04 -8.16393269e-05 9.99999990e-01]] t_estimated: [[0.76873891] [0.63956214] [0.00087346]] R_gt: [[ 0.99964052 -0.02117956 0.01648475] [ 0.02048708 0.99894737 0.04104738] [-0.01733659 -0.04069536 0.99902144]] t_gt: [ 0.06117375 -0.60176092 0.79633006] Pose Error in degrees for R and t: 5.183750021746118 70.2971984632847 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99464554e-01 -3.27142178e-02 6.20314564e-04] [ 3.27145719e-02 9.99464573e-01 -5.69578121e-04] [-6.01349128e-04 5.89566468e-04 9.99999645e-01]] t_estimated: [[5.61584366e-01] [8.27419247e-01] [6.24327001e-04]] R_gt: [[ 0.99846872 -0.05423282 0.01098768] [ 0.0534734 0.99673863 0.06044761] [-0.01422985 -0.05976753 0.99811069]] t_gt: [ 0.38365621 -0.66876752 0.6368343 ] Pose Error in degrees for R and t: 3.7496553610469294 70.27547657452408 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99991253e-01 2.11537242e-04 4.17723459e-03] [-1.92241967e-04 9.99989314e-01 -4.61901184e-03] [-4.17816704e-03 4.61816839e-03 9.99980608e-01]] t_estimated: [[0.97059314] [0.24071149] [0.00263388]] R_gt: [[ 0.99503752 -0.09930616 0.00625673] [ 0.09910468 0.99471405 0.02688873] [-0.00889374 -0.0261353 0.99961896]] t_gt: [ 0.69794712 -0.6993145 0.15436661] Pose Error in degrees for R and t: 5.981784005042021 59.36971994740151 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.51519821 0.8569326 0.01540527] [-0.85693085 -0.51535582 0.00882607] [ 0.01550255 -0.00865407 0.99984238]] t_estimated: [[0.3207398 ] [0.94716664] [0.00115791]] R_gt: [[ 0.99752891 -0.06999299 -0.00598344] [ 0.0700597 0.99747348 0.01173678] [ 0.00514583 -0.01212661 0.99991227]] t_gt: [ 0.76576619 -0.63566135 0.09765651] Pose Error in degrees for R and t: 125.03115985937467 69.12364432116314 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.10495397 -0.99445997 -0.00583325] [-0.99447299 0.10496855 -0.00225138] [ 0.00285122 0.00556471 -0.99998045]] t_estimated: [[ 0.81270225] [ 0.58267711] [-0.00155952]] R_gt: [[ 0.99683211 -0.07534114 -0.02548876] [ 0.07381732 0.99568646 -0.05622145] [ 0.02961359 0.05416225 0.99809277]] t_gt: [ 0.78262905 -0.3658863 -0.50360597] Pose Error in degrees for R and t: 176.37726985246843 64.93562991643297 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.99999990e-01 -1.19043888e-04 -7.63166227e-05] [ 1.19046080e-04 9.99999993e-01 2.87196567e-05] [ 7.63132032e-05 -2.87287416e-05 9.99999997e-01]] t_estimated: [[-0.99992188] [-0.01241619] [-0.00144056]] R_gt: [[ 0.99550992 -0.0883989 -0.0338356 ] [ 0.07826454 0.96979669 -0.23101726] [ 0.05323509 0.22733352 0.97236031]] t_gt: [ 0.52369547 0.08341499 -0.84781189] Pose Error in degrees for R and t: 14.340680956337815 58.43477062943999 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99999988e-01 1.51106484e-04 3.16501237e-05] [-1.51105045e-04 9.99999988e-01 -4.54518829e-05] [-3.16569914e-05 4.54470999e-05 9.99999998e-01]] t_estimated: [[-6.67619534e-02] [-9.97768931e-01] [ 3.64768730e-05]] R_gt: [[ 0.99497444 -0.01054751 0.09956842] [ 0.0208255 0.99448788 -0.10276238] [-0.09793651 0.10431965 0.98971032]] t_gt: [-0.86800757 0.23941044 -0.43502355] Pose Error in degrees for R and t: 8.273771319135978 79.57534966006719 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.15956098 -0.9870936 -0.01365709] [-0.98715021 0.15941842 0.01096515] [-0.00864644 0.01523121 -0.99984661]] t_estimated: [[8.97822942e-01] [4.40356265e-01] [5.69933961e-04]] R_gt: [[ 0.98503172 0.02098261 0.17108673] [ 0.00517846 0.98851277 -0.15104979] [-0.17229124 0.1496754 0.9736092 ]] t_gt: [-0.88509356 0.43076476 -0.17621324] Pose Error in degrees for R and t: 178.27386301692712 52.76628064127182 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.64221233 -0.76652135 -0.00288663] [ 0.76648158 0.6422108 -0.0084424 ] [ 0.0083251 0.00320926 0.9999602 ]] t_estimated: [[-0.08756908] [-0.99609831] [-0.01094614]] R_gt: [[ 0.96841495 0.01674806 0.24877947] [ 0.03857779 0.97566305 -0.21585442] [-0.24634087 0.21863412 0.9442018 ]] t_gt: [-0.74969226 0.6291793 -0.20517046] Pose Error in degrees for R and t: 52.80137358129823 56.02516336674021 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.97635822e-01 6.87223048e-02 1.05105671e-04] [-6.87222159e-02 9.97635592e-01 -6.94314892e-04] [-1.52572078e-04 6.85450314e-04 9.99999753e-01]] t_estimated: [[0.99720405] [0.0747091 ] [0.00162411]] R_gt: [[ 0.99838149 0.01958445 -0.0534094 ] [-0.01700852 0.99868964 0.04827479] [ 0.05428499 -0.04728798 0.99740527]] t_gt: [-0.87056054 -0.39067497 0.29916119] Pose Error in degrees for R and t: 5.065307091436495 26.2558478712841 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-4.35074225e-01 -9.00394338e-01 -6.74212005e-04] [-9.00394590e-01 4.35074079e-01 3.57621345e-04] [-2.86680667e-05 7.62648672e-04 -9.99999709e-01]] t_estimated: [[0.9510256 ] [0.30911025] [0.00107704]] R_gt: [[ 0.99518725 0.0788374 -0.05821261] [-0.07186977 0.99094827 0.1133874 ] [ 0.06662482 -0.10865784 0.99184389]] t_gt: [-0.91600552 -0.13077507 0.3792516 ] Pose Error in degrees for R and t: 179.66880046798713 24.33382968296773 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99894936e-01 -1.44945177e-02 -1.62729274e-04] [ 1.44945057e-02 9.99894946e-01 -7.48800141e-05] [ 1.63797529e-04 7.25134665e-05 9.99999984e-01]] t_estimated: [[-0.13968279] [-0.99019576] [-0.00103469]] R_gt: [[ 0.99046121 0.12704934 -0.05334676] [-0.11702415 0.9799678 0.16114639] [ 0.07275161 -0.15336673 0.98548793]] t_gt: [-0.90854625 0.01309067 0.41757915] Pose Error in degrees for R and t: 12.555788836609679 83.48208457438821 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.00572942 0.99998129 -0.00214527] [-0.99997971 -0.00573536 -0.00277195] [-0.0027842 0.00212935 0.99999386]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9990161 0.02886414 -0.03364979] [-0.02502445 0.99367992 0.10943127] [ 0.03659434 -0.10848074 0.99342484]] t_gt: [-0.47484071 -0.24296224 0.84586976] Pose Error in degrees for R and t: 88.98812226228893 75.81582331752827 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.86173424e-01 -1.65715097e-01 -6.95426512e-04] [ 1.65715378e-01 9.86173554e-01 3.66600570e-04] [ 6.25059986e-04 -4.76774606e-04 9.99999691e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99599226 0.06430715 -0.0621526 ] [-0.05398272 0.98636109 0.15549574] [ 0.07130341 -0.15151713 0.98588001]] t_gt: [-0.74079127 -0.19984697 0.64131855] Pose Error in degrees for R and t: 16.112358838870755 78.24094000823139 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.48136678e-01 3.17862894e-01 1.45787271e-04] [-3.17862691e-01 9.48136432e-01 -7.84209014e-04] [-3.87497170e-04 6.97196994e-04 9.99999682e-01]] t_estimated: [[-9.90721480e-01] [-1.35905675e-01] [-7.72191333e-04]] R_gt: [[ 0.99228854 0.10695733 -0.06262662] [-0.08800239 0.96380181 0.25167876] [ 0.08727832 -0.24422642 0.96578268]] t_gt: [-0.73033631 -0.14033579 0.66851682] Pose Error in degrees for R and t: 19.781262660583252 42.08801386375986 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.97564322e-01 6.97523041e-02 2.00584043e-04] [-6.97522933e-02 9.97564341e-01 -6.03646912e-05] [-2.04306064e-04 4.62264653e-05 9.99999978e-01]] t_estimated: [[7.72101437e-01] [6.35498875e-01] [7.42405228e-04]] R_gt: [[ 0.99124836 -0.13193493 -0.00432165] [ 0.13196253 0.99123079 0.00693654] [ 0.00336866 -0.00744562 0.99996625]] t_gt: [ 0.63043628 -0.77566393 0.02992601] Pose Error in degrees for R and t: 11.591955128437958 89.64759568802485 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.86735083e-01 1.62337857e-01 5.43934324e-04] [-1.62337302e-01 9.86734873e-01 -9.43323374e-04] [-6.89856061e-04 8.42509437e-04 9.99999407e-01]] t_estimated: [[-0.98483759] [-0.17347347] [-0.00136593]] R_gt: [[ 0.98392744 -0.16136591 0.07647135] [ 0.16632851 0.98401333 -0.06366937] [-0.06497452 0.07536598 0.99503664]] t_gt: [ 0.49031367 -0.85530016 -0.16749372] Pose Error in degrees for R and t: 19.619632664921582 70.47132015670618 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.98929832 0.14589624 -0.00176537] [-0.14589156 0.98929733 0.0025392 ] [ 0.00211693 -0.00225447 0.99999522]] t_estimated: [[-0.82793125] [-0.56082895] [-0.00085885]] R_gt: [[ 0.98021868 -0.14721612 0.13228299] [ 0.1651512 0.97673803 -0.13677632] [-0.10907049 0.15591792 0.9817297 ]] t_gt: [ 0.21952171 -0.7658482 -0.60438958] Pose Error in degrees for R and t: 20.69073673451429 75.62424343308307 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.64542682 0.75302252 -0.12798951] [ 0.75270932 0.65552286 0.06097916] [ 0.12981873 -0.05698131 -0.9898991 ]] t_estimated: [[ 0.8972032 ] [-0.4353395 ] [-0.07420202]] R_gt: [[ 0.99985936 -0.01606558 0.00492508] [ 0.01589993 0.99936026 0.03203262] [-0.0054355 -0.03194939 0.99947433]] t_gt: [ 0.27826739 -0.64044699 0.71581765] Pose Error in degrees for R and t: 171.3599357450261 61.61726258989474 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99997948e-01 -1.66663711e-03 -1.15150975e-03] [ 1.66777207e-03 9.99998124e-01 9.85373435e-04] [ 1.14986533e-03 -9.87291869e-04 9.99998852e-01]] t_estimated: [[0.99993858] [0.01101524] [0.00122392]] R_gt: [[ 9.94856365e-01 -1.01293317e-01 5.21566758e-04] [ 1.01266416e-01 9.94683844e-01 1.87130790e-02] [-2.41413648e-03 -1.85633324e-02 9.99823918e-01]] t_gt: [ 0.75636328 -0.6440416 0.11456439] Pose Error in degrees for R and t: 5.808851409063791 41.46479051582982 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.90638839 0.42244167 -0.00176566] [ 0.42243553 0.9063879 0.00303364] [ 0.00288191 0.00200378 -0.99999384]] t_estimated: [[9.94352533e-01] [1.06123727e-01] [8.91795999e-04]] R_gt: [[ 0.9951906 -0.09169549 -0.03445434] [ 0.08749708 0.99027445 -0.10817089] [ 0.04403853 0.10463595 0.99353437]] t_gt: [ 0.72391796 -0.2721399 -0.63394216] Pose Error in degrees for R and t: 178.9904348040837 46.3395014282791 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.91669125e-01 -1.28811279e-01 -1.65915411e-05] [ 1.28811280e-01 9.91669116e-01 1.37486379e-04] [-1.25647738e-06 -1.38478175e-04 9.99999990e-01]] t_estimated: [[1.59872962e-01] [9.87137595e-01] [6.12052944e-05]] R_gt: [[ 0.99790904 0.04394779 -0.04739331] [-0.04831521 0.99427229 -0.09532966] [ 0.04293249 0.09742032 0.99431689]] t_gt: [-0.25817406 0.54101726 -0.80040395] Pose Error in degrees for R and t: 11.764021912502244 60.47953278818168 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99709291e-01 2.40924641e-02 9.41384838e-04] [-2.40912069e-02 9.99708887e-01 -1.32481933e-03] [-9.73028951e-04 1.30175510e-03 9.99998679e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98991053 0.07492418 -0.12026047] [-0.09605541 0.9788069 -0.18085871] [ 0.10416181 0.19058553 0.97612812]] t_gt: [-0.16258963 0.51961857 -0.83878552] Pose Error in degrees for R and t: 13.00970712239353 58.820413126246535 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999928e-01 3.65456894e-04 -1.04974646e-04] [-3.65457021e-04 9.99999933e-01 -1.19067459e-06] [ 1.04974204e-04 1.22903822e-06 9.99999994e-01]] t_estimated: [[-2.58748026e-01] [ 9.65944785e-01] [-3.62810250e-04]] R_gt: [[ 0.9854651 0.06099815 -0.15854751] [-0.10034428 0.96210284 -0.25355452] [ 0.13707272 0.26577904 0.9542391 ]] t_gt: [-0.05979905 0.47958561 -0.87545515] Pose Error in degrees for R and t: 18.01996916254618 61.377034656471295 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99999777e-01 6.61265615e-04 9.49246705e-05] [-6.61264741e-04 9.99999781e-01 -9.23751385e-06] [-9.49307582e-05 9.17474145e-06 9.99999995e-01]] t_estimated: [[ 9.99999966e-01] [-1.68805955e-04] [ 1.99271938e-04]] R_gt: [[ 0.99327234 -0.1107134 -0.03393822] [ 0.11129678 0.99366109 0.01581495] [ 0.03197203 -0.01948558 0.99929898]] t_gt: [ 0.55633245 -0.82641056 -0.08683192] Pose Error in degrees for R and t: 6.76420345323305 56.18903523191157 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999908e-01 3.84877947e-04 -1.88008482e-04] [-3.84814811e-04 9.99999870e-01 3.35732831e-04] [ 1.88137674e-04 -3.35660451e-04 9.99999926e-01]] t_estimated: [[9.99981533e-01] [6.07666226e-03] [8.82549843e-05]] R_gt: [[ 0.96500814 -0.25283477 -0.06951493] [ 0.25318074 0.96741056 -0.00394045] [ 0.0682456 -0.01379701 0.99757319]] t_gt: [ 0.67971738 -0.7157709 -0.16017587] Pose Error in degrees for R and t: 15.222590550198847 47.51934862526249 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.99995843 -0.00862554 -0.00295762] [ 0.00863045 0.99996139 0.00165197] [ 0.00294326 -0.00167742 0.99999426]] t_estimated: [[9.99878228e-01] [1.55825464e-02] [8.44690404e-04]] R_gt: [[ 0.92090733 -0.38023049 -0.08575976] [ 0.37499218 0.92428737 -0.07122532] [ 0.10634862 0.03343324 0.99376669]] t_gt: [ 0.75236575 -0.58859123 -0.29581437] Pose Error in degrees for R and t: 22.64690021205063 42.025023846550056 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.98637473e-01 5.21842463e-02 4.91684521e-05] [-5.21842467e-02 9.98637474e-01 7.62835884e-06] [-4.87033786e-05 -1.01837836e-05 9.99999999e-01]] t_estimated: [[-6.39628216e-01] [ 7.68684425e-01] [ 1.85615959e-05]] R_gt: [[ 0.99333246 0.10034857 -0.05674208] [-0.09789766 0.9942034 0.04443903] [ 0.06087178 -0.03858722 0.99739874]] t_gt: [-0.12677524 0.99103623 0.04213358] Pose Error in degrees for R and t: 4.941329551156667 32.554081489015644 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999420e-01 -1.06186493e-03 -1.79257247e-04] [ 1.06186540e-03 9.99999436e-01 2.48824901e-06] [ 1.79254504e-04 -2.67859464e-06 9.99999984e-01]] t_estimated: [[-0.99996842] [-0.00783863] [-0.00130644]] R_gt: [[ 0.97847888 0.19622016 -0.06384934] [-0.19316669 0.97984047 0.05097933] [ 0.07256471 -0.03754853 0.99665656]] t_gt: [-0.15796038 0.98098319 -0.11278522] Pose Error in degrees for R and t: 12.233277348988835 81.34912839381185 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999975e-01 2.22330614e-04 1.36467781e-07] [-2.22330608e-04 9.99999974e-01 -4.51046690e-05] [-1.46495927e-07 4.51046375e-05 9.99999999e-01]] t_estimated: [[-0.79234967] [-0.61006666] [-0.00081754]] R_gt: [[ 0.97766704 0.20913656 0.02072265] [-0.20809145 0.97712611 -0.04384336] [-0.02941801 0.03855225 0.99882279]] t_gt: [-0.08527448 0.99156182 -0.09763919] Pose Error in degrees for R and t: 12.350833602833156 57.501890359083504 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99999976e-01 7.98302664e-05 -2.03303227e-04] [-7.97797577e-05 9.99999966e-01 2.48436290e-04] [ 2.03323052e-04 -2.48420064e-04 9.99999948e-01]] t_estimated: [[0.00231002] [0.99999593] [0.00167718]] R_gt: [[ 0.99657509 0.08182613 -0.01193023] [-0.08135017 0.99603347 0.0360585 ] [ 0.01483394 -0.03496482 0.99927819]] t_gt: [-0.63174289 0.74404932 0.21746616] Pose Error in degrees for R and t: 5.15111172036404 42.016535660931126 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 6.21026310e-01 -7.83784924e-01 -2.74123967e-03] [ 7.83786748e-01 6.21029787e-01 -5.80681020e-04] [ 2.15752052e-03 -1.78792914e-03 9.99996074e-01]] t_estimated: [[ 9.02200270e-01] [-4.31316512e-01] [-8.59758059e-04]] R_gt: [[ 0.98682036 0.16001483 -0.02408255] [-0.15885576 0.98631447 0.04413466] [ 0.03081568 -0.03972761 0.99873492]] t_gt: [-0.66577262 0.73696501 0.11674504] Pose Error in degrees for R and t: 60.84477380096809 23.273999692498904 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 8.41275698e-01 -5.40605183e-01 1.11147280e-03] [ 5.40605831e-01 8.41275932e-01 -3.76739090e-04] [-7.31388215e-04 9.17810120e-04 9.99999311e-01]] t_estimated: [[-0.30525707] [-0.95226934] [-0.001106 ]] R_gt: [[ 0.99262851 0.10734819 0.05626642] [-0.11284927 0.98794336 0.10598349] [-0.04421113 -0.11155184 0.99277481]] t_gt: [-0.59949833 0.49202844 0.6312763 ] Pose Error in degrees for R and t: 39.65087295539862 73.3669752367405 Number of keypoints: Image1: 433 Image2: 433 R_estimated: [[-0.92228127 -0.38613461 -0.01724314] [-0.38614227 0.9224343 -0.00301771] [ 0.01707091 0.00387512 -0.99984677]] t_estimated: [[ 0.97664936] [ 0.2146836 ] [-0.00818381]] R_gt: [[ 0.99235814 0.12072298 -0.02550834] [-0.12119682 0.99246773 -0.01791234] [ 0.02315351 0.02086731 0.99951324]] t_gt: [-0.74277314 0.61644381 -0.26131416] Pose Error in degrees for R and t: 177.40764265686545 53.77554813524089 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[ 9.88491226e-01 -1.51277971e-01 2.67528284e-04] [ 1.51278135e-01 9.88490940e-01 -7.67006852e-04] [-1.48418044e-04 7.98650724e-04 9.99999670e-01]] t_estimated: [[-0.32196465] [-0.94675009] [-0.00174035]] R_gt: [[ 0.97899151 0.20362073 0.01063976] [-0.20389127 0.97809469 0.04195645] [-0.00186383 -0.04324454 0.99906221]] t_gt: [-0.82529151 0.55526913 0.10281104] Pose Error in degrees for R and t: 20.616778480428525 74.92012676820733 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.12017585e-01 -4.10016989e-01 -1.04877880e-02] [ 4.10045811e-01 9.12064686e-01 6.64935172e-04] [ 9.29290637e-03 -4.90690612e-03 9.99944781e-01]] t_estimated: [[-0.06463723] [-0.99790818] [-0.00113399]] R_gt: [[ 0.94348064 0.33033807 -0.02684484] [-0.32897185 0.94325457 0.04525636] [ 0.04027128 -0.0338672 0.99861363]] t_gt: [-0.79357268 0.60779637 -0.02873993] Pose Error in degrees for R and t: 43.537269874393544 56.27564408961324 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 4.24901806e-01 -9.05238658e-01 -1.19484198e-03] [ 9.05239437e-01 4.24901622e-01 4.16295863e-04] [ 1.30843188e-04 -1.25850295e-03 9.99999200e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99504897 -0.07835791 -0.06111988] [ 0.07535148 0.99590013 -0.05003564] [ 0.06478984 0.04518085 0.99687559]] t_gt: [ 0.7179995 -0.34428752 -0.60493208] Pose Error in degrees for R and t: 60.59432693808752 44.23707405309923 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.83068887e-01 1.83234373e-01 8.53299030e-04] [-1.83233823e-01 9.83069122e-01 -6.83516689e-04] [-9.64095680e-04 5.15590746e-04 9.99999402e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.97341833 -0.22455526 -0.04506249] [ 0.22164356 0.97317403 -0.06168791] [ 0.05770652 0.05005987 0.99707757]] t_gt: [ 0.80460472 -0.51623979 -0.29344119] Pose Error in degrees for R and t: 23.870375054186265 80.1803765660632 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-0.93481348 0.35513744 -0.00107278] [-0.35513505 -0.93481301 -0.00193081] [-0.00168855 -0.00142396 0.99999756]] t_estimated: [[0.68058384] [0.73266962] [0.0009266 ]] R_gt: [[ 0.932095 -0.36162723 -0.02058934] [ 0.36073398 0.93192008 -0.03734554] [ 0.03269264 0.02738202 0.99909038]] t_gt: [ 0.82453837 -0.55275743 -0.12081265] Pose Error in degrees for R and t: 179.6143190357618 81.02131790772007 Number of keypoints: Image1: 512 Image2: 512 R_estimated: [[ 9.99089687e-01 4.26590537e-02 -5.71336746e-05] [-4.26590511e-02 9.99089687e-01 4.66135070e-05] [ 5.90701532e-05 -4.41338057e-05 9.99999997e-01]] t_estimated: [[-0.28267081] [ 0.95921636] [ 0.0010865 ]] R_gt: [[ 0.99431698 0.09784154 0.04194965] [-0.09937176 0.99439557 0.03608866] [-0.0381839 -0.04005221 0.99846866]] t_gt: [-0.88274331 0.19390918 0.42797604] Pose Error in degrees for R and t: 4.518975205373979 64.151591106419 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 3.59386375e-01 -9.33188833e-01 -1.87789400e-04] [ 9.33188823e-01 3.59386306e-01 3.21504631e-04] [-2.32535593e-04 -2.90787353e-04 9.99999931e-01]] t_estimated: [[0.5493189 ] [0.83561218] [0.00101164]] R_gt: [[ 0.98275543 0.18471865 0.00836478] [-0.18486759 0.98247784 0.02365851] [-0.00384801 -0.02479809 0.99968539]] t_gt: [-0.90734687 0.41122928 0.08724754] Pose Error in degrees for R and t: 79.59867735379159 81.10023520682692 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 0.06366826 0.99796257 0.00413037] [ 0.99796967 -0.06367468 0.00144172] [ 0.00170178 0.00403019 -0.99999043]] t_estimated: [[-0.12135343] [-0.99260882] [-0.00103721]] R_gt: [[ 0.95802299 0.28130101 0.05531857] [-0.28340862 0.95836932 0.03474177] [-0.043243 -0.04896149 0.99786455]] t_gt: [-0.85217547 0.49639236 0.16550406] Pose Error in degrees for R and t: 179.74939032543097 67.07781059046653 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.99859441 -0.05298271 -0.00142673] [ 0.0529844 0.99859465 0.00117205] [ 0.00136263 -0.00124599 0.9999983 ]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99181308 -0.12760666 0.00485484] [ 0.12768661 0.9915181 -0.02425257] [-0.00171897 0.02467367 0.99969337]] t_gt: [ 0.76204894 -0.63826812 -0.10906518] Pose Error in degrees for R and t: 4.551346521207698 72.59905807020738 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.81413312e-01 1.91905717e-01 3.26994076e-04] [-1.91905777e-01 9.81413342e-01 1.60670672e-04] [-2.90082728e-04 -2.20436388e-04 9.99999934e-01]] t_estimated: [[0.67914697] [0.73400115] [0.00130605]] R_gt: [[ 9.61919247e-01 -2.73330748e-01 5.92381376e-04] [ 2.73324369e-01 9.61878147e-01 -9.11640826e-03] [ 1.92169419e-03 8.93208102e-03 9.99958472e-01]] t_gt: [ 0.78038611 -0.62398304 -0.04053002] Pose Error in degrees for R and t: 26.93204151215887 85.87459733158835 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-6.35925484e-02 -9.97975506e-01 -9.36098315e-04] [-9.97975080e-01 6.35937007e-02 -1.25753326e-03] [ 1.31451735e-03 8.54233046e-04 -9.99998771e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.91797451 -0.39151344 0.06356698] [ 0.38855638 0.91983274 0.05414006] [-0.07966774 -0.0249992 0.99650716]] t_gt: [ 0.77879248 -0.6102885 0.14501801] Pose Error in degrees for R and t: 175.44716966919262 63.270663811107084 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999622e-01 -2.61104100e-04 -8.29096714e-04] [ 2.61725615e-04 9.99999685e-01 7.49609176e-04] [ 8.28900726e-04 -7.49825888e-04 9.99999375e-01]] t_estimated: [[-0.94761826] [-0.31939812] [-0.00211522]] R_gt: [[ 0.99645344 0.08085031 -0.02334555] [-0.08035949 0.99653914 0.02123391] [ 0.02498146 -0.01928241 0.99950128]] t_gt: [-0.1180123 0.88937078 0.44169301] Pose Error in degrees for R and t: 4.956604472009485 80.027992304031 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999923e-01 -1.81942099e-04 -3.47283627e-04] [ 1.82067290e-04 9.99999918e-01 3.60488884e-04] [ 3.47218011e-04 -3.60552085e-04 9.99999875e-01]] t_estimated: [[-9.99998642e-01] [ 7.50967376e-04] [-1.46706151e-03]] R_gt: [[ 0.98098506 0.17119686 -0.09143661] [-0.16704982 0.98461336 0.051276 ] [ 0.09880679 -0.03502645 0.99448924]] t_gt: [ 0.01808571 0.98911088 -0.14605676] Pose Error in degrees for R and t: 11.46062073761654 89.01855434637547 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999699e-01 -6.75491201e-04 3.80975759e-04] [ 6.75962551e-04 9.99999005e-01 -1.23845125e-03] [-3.80138816e-04 1.23870840e-03 9.99999161e-01]] t_estimated: [[-0.86712202] [-0.49809433] [-0.00120211]] R_gt: [[ 0.97097599 0.2339452 -0.04975564] [-0.23295279 0.97216776 0.02495541] [ 0.05420894 -0.01264025 0.99844959]] t_gt: [-0.05870698 0.99126426 -0.11810445] Pose Error in degrees for R and t: 13.928990774074784 63.7240393036296 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 5.06544613e-01 -8.62206942e-01 3.42701085e-03] [-8.62209924e-01 -5.06550207e-01 -9.66592478e-04] [ 2.56935580e-03 -2.46518055e-03 -9.99993661e-01]] t_estimated: [[0.62089154] [0.78389605] [0.00081912]] R_gt: [[ 0.99884522 0.04667592 0.0114026 ] [-0.04686021 0.99876543 0.01650033] [-0.0106178 -0.01701471 0.99979857]] t_gt: [-0.47638621 0.79383163 0.37800467] Pose Error in degrees for R and t: 178.79891827874175 70.9249159727074 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 5.06760916e-02 9.98715103e-01 -2.76762552e-04] [-9.98713217e-01 5.06754480e-02 -1.97720055e-03] [-1.96063498e-03 3.76603214e-04 9.99998007e-01]] t_estimated: [[0.0138395 ] [0.99990356] [0.00115329]] R_gt: [[ 0.98733223 0.15822608 -0.01186833] [-0.15797847 0.98724984 0.01948396] [ 0.01479942 -0.0173623 0.99973943]] t_gt: [-0.60326503 0.79484945 0.06546494] Pose Error in degrees for R and t: 78.00864900517557 38.14043086719284 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-2.67777946e-02 9.99641272e-01 -5.26600982e-04] [-9.99638978e-01 -2.67788878e-02 -2.19185636e-03] [-2.20517186e-03 4.67717789e-04 9.99997459e-01]] t_estimated: [[0.01012321] [0.99994813] [0.0011248 ]] R_gt: [[ 0.98661046 0.16142582 0.02326833] [-0.16255782 0.98486607 0.06011509] [-0.01321142 -0.06309222 0.99792007]] t_gt: [-0.63626282 0.69925835 0.32589476] Pose Error in degrees for R and t: 82.2747060856656 46.12021050875516 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999585e-01 8.94157627e-04 1.72558331e-04] [-8.94135659e-04 9.99999592e-01 -1.27341527e-04] [-1.72672124e-04 1.27187183e-04 9.99999977e-01]] t_estimated: [[ 9.99422464e-01] [ 3.39811663e-02] [-1.36564460e-04]] R_gt: [[ 0.99705679 -0.07503231 -0.01574497] [ 0.07494605 0.99716858 -0.00604071] [ 0.01615433 0.00484293 0.9998576 ]] t_gt: [ 0.79845845 -0.5536055 -0.23661161] Pose Error in degrees for R and t: 4.459937742888339 38.81101714558544 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999855e-01 -3.90353063e-04 -3.69965045e-04] [ 3.90596456e-04 9.99999707e-01 6.58036907e-04] [ 3.69708070e-04 -6.58181319e-04 9.99999715e-01]] t_estimated: [[-0.51128016] [-0.85941314] [-0.00128462]] R_gt: [[ 9.86984853e-01 -1.54630485e-01 -4.41664305e-02] [ 1.54475803e-01 9.87972168e-01 -6.91359557e-03] [ 4.47038552e-02 1.20939800e-06 9.98999484e-01]] t_gt: [ 0.83705327 -0.50868015 -0.20146051] Pose Error in degrees for R and t: 9.230005171438844 89.45817606583495 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99997750e-01 -2.11594627e-03 -1.49080695e-04] [ 2.11601730e-03 9.99997647e-01 4.77960030e-04] [ 1.48069006e-04 -4.78274412e-04 9.99999875e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98236811 -0.18046759 -0.04882859] [ 0.18033375 0.98357898 -0.00717984] [ 0.04932204 -0.00175228 0.99878087]] t_gt: [ 0.85943443 -0.47789455 -0.18162947] Pose Error in degrees for R and t: 10.657768323359226 61.78941295841365 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99751821e-01 2.22776903e-02 1.31525574e-05] [-2.22776892e-02 9.99751819e-01 -7.60355504e-05] [-1.48431896e-05 7.57236714e-05 9.99999997e-01]] t_estimated: [[-0.98986942] [-0.14197726] [-0.00099285]] R_gt: [[ 0.98484636 0.1734071 0.00280597] [-0.17338785 0.98412893 0.03778583] [ 0.00379085 -0.03769838 0.99928225]] t_gt: [-0.90311877 0.36361101 0.22839333] Pose Error in degrees for R and t: 8.979422068430885 32.63550134174523 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.12337537 -0.99235034 0.00439666] [-0.99235927 -0.12336841 0.00182116] [-0.00126482 -0.00458775 -0.99998868]] t_estimated: [[0.59114646] [0.8065584 ] [0.00306829]] R_gt: [[ 0.94857579 0.31627146 0.01325775] [-0.31649856 0.94834251 0.02183577] [-0.00566725 -0.02490768 0.99967385]] t_gt: [-0.86282817 0.49618129 0.09660066] Pose Error in degrees for R and t: 178.35870815641752 83.70991926795772 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 8.75053501e-01 -4.84025823e-01 -6.10806347e-04] [ 4.84026056e-01 8.75053531e-01 3.10263478e-04] [ 3.84312716e-04 -5.67143329e-04 9.99999765e-01]] t_estimated: [[-0.75796375] [-0.65229588] [-0.00101604]] R_gt: [[ 0.90216634 0.42930487 0.04235325] [-0.43122433 0.90017453 0.06108886] [-0.01190081 -0.07337612 0.99723341]] t_gt: [-0.84040703 0.50822236 0.1882181 ] Pose Error in degrees for R and t: 54.623641585407704 72.22405842147607 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.95125209 -0.30840595 0.00228983] [-0.30839092 -0.9510616 0.01941341] [-0.00380944 -0.01917321 -0.99980892]] t_estimated: [[0.09540188] [0.99538269] [0.01057301]] R_gt: [[ 0.99766291 0.04051823 -0.05502325] [-0.04521394 0.99518283 -0.08698644] [ 0.05123241 0.0892709 0.99468893]] t_gt: [-0.20146767 0.44832249 -0.87087182] Pose Error in degrees for R and t: 175.64450332168192 65.30269719931746 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99850282e-01 1.72041339e-02 1.85262469e-03] [-1.72038202e-02 9.99851986e-01 -1.85132410e-04] [-1.85553552e-03 1.53232470e-04 9.99998267e-01]] t_estimated: [[0.1907329 ] [0.98163868] [0.00254311]] R_gt: [[ 0.9912906 0.05788642 -0.11829238] [-0.07711917 0.98325589 -0.16510783] [ 0.10675288 0.1727933 0.97915577]] t_gt: [-0.09310813 0.42547944 -0.90016561] Pose Error in degrees for R and t: 12.126951873573637 66.57058041133682 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 0.99996665 0.00743849 -0.00337036] [-0.00743287 0.99997097 0.00167569] [ 0.00338272 -0.00165058 0.99999292]] t_estimated: [[ 0.00715676] [-0.99996649] [-0.00397463]] R_gt: [[ 0.97946355 0.11690142 -0.164277 ] [-0.15096926 0.96526837 -0.21322447] [ 0.13364427 0.23364593 0.96309271]] t_gt: [-0.16665082 0.52458062 -0.83489082] Pose Error in degrees for R and t: 17.252728550087827 58.50411408697974 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.99999904e-01 4.08316931e-04 1.57088813e-04] [-4.08309049e-04 9.99999915e-01 -5.02050584e-05] [-1.57109299e-04 5.01409128e-05 9.99999986e-01]] t_estimated: [[0.99836387] [0.05716659] [0.00125091]] R_gt: [[ 0.99623117 -0.07635441 -0.04116006] [ 0.07543868 0.99687624 -0.02338511] [ 0.0428174 0.02019235 0.99887799]] t_gt: [ 0.4183581 -0.7301874 -0.54018779] Pose Error in degrees for R and t: 5.15446498075308 67.95989098575899 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 3.05247964e-01 -9.52270347e-01 -2.20608357e-03] [ 9.52272512e-01 3.05249118e-01 -1.98537519e-04] [ 8.62466454e-04 -2.04018956e-03 9.99997547e-01]] t_estimated: [[9.99977089e-01] [6.71689034e-03] [8.39611333e-04]] R_gt: [[ 0.97635747 -0.21039209 -0.04960313] [ 0.20994559 0.97761129 -0.01410835] [ 0.0514612 0.00336173 0.99866875]] t_gt: [ 0.59419113 -0.77749253 -0.20601519] Pose Error in degrees for R and t: 60.147500870407285 53.929362125509456 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 0.76463419 0.64415666 -0.0199186 ] [-0.64345972 0.76480251 0.03219782] [ 0.03597423 -0.01180274 0.99928302]] t_estimated: [[-0.99537121] [-0.09479726] [-0.01579954]] R_gt: [[ 0.93231633 -0.35262738 -0.08025268] [ 0.34899418 0.93545104 -0.05598527] [ 0.09481419 0.02418879 0.99520029]] t_gt: [ 0.71142881 -0.64956595 -0.26820351] Pose Error in degrees for R and t: 60.85597288192393 50.03487643613426 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 3.32180852e-01 -9.43215712e-01 -5.74591896e-05] [-9.43194912e-01 -3.32173121e-01 -6.66155655e-03] [ 6.26419840e-03 2.26703674e-03 -9.99977810e-01]] t_estimated: [[0.46360386] [0.88604204] [0.00098014]] R_gt: [[ 0.99808774 0.04394375 -0.04346136] [-0.04456808 0.99891593 -0.01348646] [ 0.04282213 0.0153981 0.99896328]] t_gt: [-0.14417596 0.72135508 -0.67739216] Pose Error in degrees for R and t: 177.58594794500004 55.13488135989683 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-8.57636085e-01 -5.14255079e-01 -1.43497377e-03] [ 5.14256935e-01 -8.57634604e-01 -1.64029446e-03] [-3.87153399e-04 -2.14472093e-03 9.99997625e-01]] t_estimated: [[9.03990447e-01] [4.27551852e-01] [8.28588860e-04]] R_gt: [[ 0.99501605 0.08135017 -0.05766323] [-0.08464337 0.99476976 -0.05717535] [ 0.05271014 0.0617716 0.99669721]] t_gt: [-0.21141345 0.80063511 -0.56061375] Pose Error in degrees for R and t: 153.8414669877259 81.33060630126187 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 3.39120626e-01 -9.40742835e-01 -3.47158360e-04] [ 9.40741314e-01 3.39119354e-01 1.96062688e-03] [-1.72671757e-03 -9.91475225e-04 9.99998018e-01]] t_estimated: [[0.94084776] [0.3388262 ] [0.00151262]] R_gt: [[ 0.99892179 0.04064135 -0.02240227] [-0.04141467 0.99852407 -0.03515206] [ 0.02094034 0.03604209 0.9991306 ]] t_gt: [-0.15671197 0.86188871 -0.48227503] Pose Error in degrees for R and t: 72.56714515993255 81.72879512734261 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.53472878e-01 -3.01478731e-01 2.14301021e-04] [ 3.01478800e-01 9.53472767e-01 -4.63728298e-04] [-6.45259686e-05 5.06759569e-04 9.99999870e-01]] t_estimated: [[-0.7929422 ] [-0.60929602] [-0.00100929]] R_gt: [[ 0.98702237 0.16047523 0.00593984] [-0.16040742 0.98699542 -0.01048951] [-0.00754603 0.00940214 0.99992753]] t_gt: [-0.88274369 0.46935287 -0.02171331] Pose Error in degrees for R and t: 26.787279210229563 65.54289980936974 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-3.75099072e-01 9.26982687e-01 1.94549688e-03] [-9.26974861e-01 -3.75103937e-01 3.82673977e-03] [ 4.27708506e-03 -3.68020164e-04 9.99990786e-01]] t_estimated: [[8.58021296e-01] [5.13613680e-01] [6.66165603e-04]] R_gt: [[ 0.96329272 0.26737074 0.02409464] [-0.26788333 0.9632136 0.02137874] [-0.017492 -0.02704808 0.99948067]] t_gt: [-0.89232782 0.43079078 0.1347975 ] Pose Error in degrees for R and t: 96.51512444592262 57.02408502488238 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.45106126e-01 3.26763477e-01 -2.02255126e-04] [-3.26762113e-01 -9.45103647e-01 -2.37040126e-03] [-9.65712615e-04 -2.17419144e-03 9.99997170e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.95131713 0.30585878 0.03802702] [-0.30748554 0.95029181 0.04896356] [-0.02116065 -0.05827249 0.99807585]] t_gt: [-0.89969474 0.37477946 0.22380736] Pose Error in degrees for R and t: 143.06833415906792 56.63059433859264 Number of keypoints: Image1: 804 Image2: 804 R_estimated: [[-0.07640737 -0.99684338 -0.02156826] [-0.99685871 0.07682508 -0.01925131] [ 0.02084753 0.02002957 -0.99958201]] t_estimated: [[ 0.75188481] [ 0.65915502] [-0.01356033]] R_gt: [[ 0.99908484 0.02166272 -0.03687118] [-0.02043748 0.99923653 0.03329295] [ 0.03756461 -0.03250823 0.99876605]] t_gt: [-0.89015377 -0.38487336 -0.24392367] Pose Error in degrees for R and t: 178.06058424962802 23.121147251915094 Number of keypoints: Image1: 632 Image2: 632 R_estimated: [[ 9.98635365e-01 5.22245694e-02 4.52366070e-05] [-5.22245436e-02 9.98635265e-01 -4.53088823e-04] [-6.88372396e-05 4.50108061e-04 9.99999896e-01]] t_estimated: [[-0.9835133 ] [-0.18083115] [-0.00130094]] R_gt: [[ 0.99528645 0.09694312 0.00255334] [-0.09694141 0.993878 0.05299292] [ 0.00259922 -0.05299061 0.99859168]] t_gt: [-0.92887648 0.18231358 0.32241315] Pose Error in degrees for R and t: 4.003709721358828 28.336524628500403 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.95154546e-01 9.83230820e-02 3.87827429e-05] [-9.83230691e-02 9.95154516e-01 -2.53138898e-04] [-6.34842184e-05 2.48099087e-04 9.99999967e-01]] t_estimated: [[-9.89511080e-01] [-1.44454172e-01] [-9.02838576e-04]] R_gt: [[ 0.98061522 0.19415544 -0.02639558] [-0.19164907 0.97843469 0.07704748] [ 0.04078494 -0.07049453 0.99667777]] t_gt: [-0.93238557 0.33673902 0.13139248] Pose Error in degrees for R and t: 7.223137829103446 29.091558559355665 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-1.60468660e-01 -9.87040180e-01 1.22164574e-03] [-9.87038998e-01 1.60470674e-01 1.78277848e-03] [-1.95571231e-03 -9.19731918e-04 -9.99997665e-01]] t_estimated: [[0.77758405] [0.62877401] [0.00250817]] R_gt: [[ 0.99456517 -0.09627656 0.03964039] [ 0.09692726 0.99518087 -0.01481939] [-0.03802334 0.01858121 0.99910366]] t_gt: [ 0.74074391 -0.63385582 0.22254272] Pose Error in degrees for R and t: 178.80278656744463 79.7469018936244 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.87278263e-01 -1.59001979e-01 -4.69013331e-05] [ 1.59001980e-01 9.87278264e-01 -6.79491542e-07] [ 4.64127072e-05 -6.78655758e-06 9.99999999e-01]] t_estimated: [[-0.96178776] [-0.2737936 ] [-0.00117006]] R_gt: [[ 0.99587985 -0.03185117 0.08490155] [ 0.03517309 0.99866153 -0.0379238 ] [-0.08358081 0.04075395 0.99566704]] t_gt: [0.52238133 0.02030023 0.85247032] Pose Error in degrees for R and t: 8.980461087746198 59.40438851023739 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 8.33337027e-01 -5.52763146e-01 -1.51766426e-03] [ 5.52765059e-01 8.33335785e-01 1.50283893e-03] [ 4.34009960e-04 -2.09128310e-03 9.99997719e-01]] t_estimated: [[-4.49781709e-01] [-8.93138474e-01] [-2.84475424e-04]] R_gt: [[ 0.99222119 0.06560615 0.10578791] [-0.05868019 0.99600457 -0.06731448] [-0.10978238 0.06058313 0.99210675]] t_gt: [-0.29761899 0.7846056 0.5438906 ] Pose Error in degrees for R and t: 37.822509292969706 55.45505143459585 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.64579157 0.7635125 0.00138381] [-0.76350555 -0.64577517 -0.0058055 ] [-0.00353894 -0.00480569 0.99998219]] t_estimated: [[0.43076008] [0.90246143] [0.00302154]] R_gt: [[ 0.9907932 -0.12638671 0.04853465] [ 0.12503379 0.99169946 0.02998219] [-0.05192158 -0.02363643 0.99837116]] t_gt: [ 0.59884524 -0.69630503 0.39565602] Pose Error in degrees for R and t: 137.46287205196145 68.3315968478052 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 8.96790406e-02 9.95962930e-01 3.93852439e-03] [ 9.95970711e-01 -8.96787956e-02 -2.39114506e-04] [ 1.15052940e-04 3.94409850e-03 -9.99992215e-01]] t_estimated: [[-0.71197074] [-0.70220598] [-0.00210589]] R_gt: [[ 0.98519517 -0.16852273 0.03146066] [ 0.16758671 0.98539037 0.03034918] [-0.03611634 -0.02462752 0.99904402]] t_gt: [ 0.69592553 -0.67482197 0.24556663] Pose Error in degrees for R and t: 179.68139652320315 88.731842142985 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.98033973e-01 -6.26662066e-02 1.06563708e-03] [ 6.26676341e-02 9.98033521e-01 -1.36353913e-03] [-9.78093699e-04 1.42763933e-03 9.99998503e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97987443 -0.19891637 0.01668251] [ 0.19862616 0.97991788 0.01757679] [-0.01984434 -0.01391022 0.99970663]] t_gt: [ 0.78952398 -0.60018864 0.12816193] Pose Error in degrees for R and t: 7.997118875411584 38.023492229358865 Number of keypoints: Image1: 431 Image2: 431 R_estimated: [[ 0.99362441 0.11271256 -0.00253019] [ 0.11270286 -0.99245501 0.04828159] [ 0.00293084 -0.04825893 -0.99883056]] t_estimated: [[-0.00585219] [ 0.99967214] [ 0.02492738]] R_gt: [[ 0.99851751 0.02927966 -0.04588455] [-0.02916142 0.99956978 0.00324914] [ 0.04595934 -0.00190723 0.9989416 ]] t_gt: [ 0.07933477 0.94626255 -0.31351744] Pose Error in degrees for R and t: 176.93376804213693 20.33565614914666 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 0.96431609 -0.26472517 0.00387986] [-0.26473002 -0.96393108 0.02747523] [-0.00353346 -0.02752192 -0.99961496]] t_estimated: [[0.20860273] [0.97790269] [0.01382859]] R_gt: [[ 0.99516 0.0172036 -0.09675264] [-0.0174221 0.99984734 -0.00141149] [ 0.09671389 0.00309075 0.99530717]] t_gt: [ 0.58003204 0.69297237 -0.42819636] Pose Error in degrees for R and t: 179.28000089062945 37.558209350161526 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 8.95512292e-01 4.45036235e-01 -6.95809669e-04] [-4.45036731e-01 8.95511824e-01 -9.38778263e-04] [ 2.05315443e-04 1.15034833e-03 9.99999317e-01]] t_estimated: [[ 0.0335797 ] [ 0.99943453] [-0.00173894]] R_gt: [[ 0.98830358 -0.01747436 -0.15149711] [ 0.01326103 0.99949822 -0.02877588] [ 0.15192383 0.02642981 0.98803926]] t_gt: [ 0.79706362 0.4258599 -0.42817395] Pose Error in degrees for R and t: 28.678373911753283 63.05539651651597 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 1.00000000e+00 -4.99600361e-16 -9.05308814e-18] [ 3.88578059e-16 1.00000000e+00 -1.43656788e-18] [-1.01009695e-15 1.40645416e-15 1.00000000e+00]] t_estimated: [[8.10352074e-01] [5.85943139e-01] [3.92639071e-04]] R_gt: [[ 0.99947013 -0.03170413 -0.00745579] [ 0.03204694 0.99815664 0.05154311] [ 0.00580799 -0.05175401 0.99864297]] t_gt: [0.67145267 0.05088897 0.73929806] Pose Error in degrees for R and t: 3.4999336861258805 54.954876739369276 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999963e-01 2.59811229e-04 7.70458670e-05] [-2.59819992e-04 9.99999960e-01 1.13754422e-04] [-7.70163092e-05 -1.13774436e-04 9.99999991e-01]] t_estimated: [[9.25223889e-01] [3.79421324e-01] [4.62916038e-04]] R_gt: [[ 0.99705759 -0.06442104 -0.04154862] [ 0.06629387 0.99676668 0.04540333] [ 0.03848911 -0.04802353 0.99810424]] t_gt: [0.98248502 0.07608079 0.17010262] Pose Error in degrees for R and t: 5.158702890417274 20.287595172163712 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999831e-01 -5.81234178e-04 4.05564288e-06] [ 5.81235763e-04 9.99999750e-01 -4.02386680e-04] [-3.82176097e-06 4.02388970e-04 9.99999919e-01]] t_estimated: [[ 9.36711878e-01] [ 3.50100270e-01] [-8.11384579e-04]] R_gt: [[ 0.99791176 -0.06297024 -0.0143871 ] [ 0.06344393 0.99736206 0.03528102] [ 0.01212617 -0.03611957 0.99927368]] t_gt: [0.95462783 0.21378021 0.20732518] Pose Error in degrees for R and t: 4.214569772728408 14.32971194400205 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-8.71741062e-01 -4.89964957e-01 -1.36462882e-03] [ 4.89962346e-01 -8.71741606e-01 1.86346149e-03] [-2.10263455e-03 9.55839157e-04 9.99997333e-01]] t_estimated: [[8.72711396e-01] [4.88235776e-01] [8.04342300e-04]] R_gt: [[ 0.98920558 -0.09596263 0.11074319] [ 0.09492497 0.99537721 0.01461714] [-0.11163454 -0.00394634 0.99374163]] t_gt: [ 0.38159233 -0.68266049 0.62318692] Pose Error in degrees for R and t: 145.21859729684087 89.98728276902675 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999758e-01 -6.54106528e-04 2.35320843e-04] [ 6.54251178e-04 9.99999597e-01 -6.15142868e-04] [-2.34918379e-04 6.15296678e-04 9.99999783e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.96759038 -0.19279344 0.16309516] [ 0.19216268 0.98116396 0.0197839 ] [-0.16383781 0.01219917 0.98641216]] t_gt: [ 0.53764353 -0.69866974 0.47201698] Pose Error in degrees for R and t: 14.591888129066877 78.81035894258167 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 6.45081502e-01 7.64107693e-01 3.04788674e-03] [ 7.64113716e-01 -6.45074803e-01 -2.95426074e-03] [-2.91258417e-04 4.23467102e-03 -9.99990991e-01]] t_estimated: [[9.07421875e-01] [4.20220231e-01] [7.05067502e-04]] R_gt: [[ 0.93941768 -0.3030307 0.16021056] [ 0.30055831 0.9529235 0.04003881] [-0.16480166 0.01053941 0.98627101]] t_gt: [ 0.68161647 -0.65910802 0.3177666 ] Pose Error in degrees for R and t: 176.55830261154682 70.0154209851736 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999992e-01 1.17038742e-06 -1.23424385e-04] [-1.15242179e-06 9.99999989e-01 1.45559776e-04] [ 1.23424554e-04 -1.45559632e-04 9.99999982e-01]] t_estimated: [[-0.99999468] [-0.00309868] [-0.00102174]] R_gt: [[ 0.99407643 0.10312349 -0.0343084 ] [-0.10225008 0.99440995 0.02633068] [ 0.03683296 -0.02266682 0.99906451]] t_gt: [-0.32997264 0.93040675 0.15956609] Pose Error in degrees for R and t: 6.391983930048252 70.9177694641515 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-8.26964531e-01 -5.62251796e-01 -1.60671459e-03] [ 5.62252882e-01 -8.26965304e-01 -2.88419540e-04] [-1.16653281e-03 -1.14189264e-03 9.99998668e-01]] t_estimated: [[9.30103437e-01] [3.67296784e-01] [8.18032926e-04]] R_gt: [[ 0.97614888 0.20372675 -0.07501644] [-0.19811316 0.97723045 0.07598044] [ 0.08878777 -0.05930635 0.99428289]] t_gt: [-0.26820164 0.95376504 0.13564705] Pose Error in degrees for R and t: 157.44079957568695 84.20493948280371 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99976292e-01 -6.88043369e-03 2.73025438e-04] [ 6.88018640e-03 9.99975929e-01 8.96554459e-04] [-2.79187550e-04 -8.94654737e-04 9.99999561e-01]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.9493455 0.29600402 -0.10547256] [-0.28756064 0.95369378 0.08819653] [ 0.12669514 -0.05339953 0.9905035 ]] t_gt: [-0.15477051 0.98460331 -0.08125525] Pose Error in degrees for R and t: 19.130913207158812 11.598281910465282 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-0.15347788 -0.98786192 -0.02394499] [-0.98770656 0.15409122 -0.02629934] [ 0.02966983 0.01961426 -0.99936729]] t_estimated: [[ 0.76111119] [ 0.64840118] [-0.01690154]] R_gt: [[ 0.9982894 0.04827751 0.03298902] [-0.04697436 0.99812614 -0.03920021] [-0.0348197 0.03758282 0.9986868 ]] t_gt: [-0.54432742 0.83137725 -0.11189076] Pose Error in degrees for R and t: 178.0295071388871 82.72317336294532 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99789897e-01 -2.04961966e-02 -2.58532581e-04] [ 2.04962366e-02 9.99789918e-01 1.52983244e-04] [ 2.55342693e-04 -1.58250047e-04 9.99999955e-01]] t_estimated: [[-9.99319204e-01] [-3.68934757e-02] [-2.76500593e-05]] R_gt: [[ 9.93341491e-01 1.12681997e-01 2.39943424e-02] [-1.12697570e-01 9.93628761e-01 -7.13192897e-04] [-2.39215371e-02 -1.99522333e-03 9.99712220e-01]] t_gt: [-0.54975954 0.82733036 0.11527759] Pose Error in degrees for R and t: 7.770865073259608 58.744254237468176 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 4.57379195e-01 -8.89268376e-01 -2.45486724e-03] [ 8.89271398e-01 4.57379771e-01 3.54325279e-04] [ 8.07716350e-04 -2.34510423e-03 9.99996924e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97754646 0.21067928 0.00418774] [-0.21067058 0.97755359 -0.00257763] [-0.00463669 0.00163781 0.99998751]] t_gt: [-0.58456589 0.81100558 0.02350869] Pose Error in degrees for R and t: 74.94493269312431 36.160436518422564 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999667e-01 6.50034350e-04 -4.93446979e-04] [-6.49594820e-04 9.99999393e-01 8.90371776e-04] [ 4.94025452e-04 -8.90050938e-04 9.99999482e-01]] t_estimated: [[0.96597636] [0.25862839] [0.00101351]] R_gt: [[ 0.99123705 -0.12748087 0.03458994] [ 0.12772055 0.99179771 -0.00482973] [-0.03368987 0.00920537 0.99938892]] t_gt: [ 0.68749176 -0.71278857 0.13887957] Pose Error in degrees for R and t: 7.647698914220513 61.32150904273155 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.66285437e-01 2.57472960e-01 3.57855939e-04] [-2.57472928e-01 9.66285503e-01 -1.33603479e-04] [-3.80190289e-04 3.69608800e-05 9.99999927e-01]] t_estimated: [[0.83494796] [0.5503281 ] [0.00094558]] R_gt: [[ 9.75604241e-01 -2.17199685e-01 3.19422898e-02] [ 2.17311719e-01 9.76101773e-01 -6.48582340e-05] [-3.11649078e-02 7.00513504e-03 9.99488695e-01]] t_gt: [ 0.76269905 -0.64386289 0.06107977] Pose Error in degrees for R and t: 27.529719810416786 73.58838447047245 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 4.71039865e-01 8.82111256e-01 1.08564110e-03] [-8.82110408e-01 4.71040980e-01 -1.27394343e-03] [-1.63514129e-03 -3.57577168e-04 9.99998599e-01]] t_estimated: [[0.38868158] [0.92137108] [0.00139814]] R_gt: [[ 0.96351873 -0.26729291 0.01360327] [ 0.26733509 0.9636024 -0.00137317] [-0.01274007 0.00495974 0.99990613]] t_gt: [ 0.82310248 -0.56769309 0.01506168] Pose Error in degrees for R and t: 77.40573522761146 78.28110765404278 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-1.61073544e-01 -9.86937759e-01 -3.02889320e-03] [-9.86942373e-01 1.61071977e-01 7.55736434e-04] [-2.57995005e-04 3.11107219e-03 -9.99995127e-01]] t_estimated: [[7.79912638e-01] [6.25888050e-01] [6.52646559e-04]] R_gt: [[ 0.99542742 -0.04655265 0.08341196] [ 0.05457698 0.99381937 -0.09666371] [-0.07839718 0.10077447 0.99181584]] t_gt: [ 0.13793237 0.83738862 -0.52891868] Pose Error in degrees for R and t: 179.76584867226052 50.850832198157164 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.58948966 0.80777471 -0.0013992 ] [-0.80777438 0.58948426 -0.00297755] [-0.00158038 0.00288547 0.99999459]] t_estimated: [[8.02097884e-01] [5.97192206e-01] [6.74031835e-04]] R_gt: [[ 0.99087466 -0.09310927 0.09746032] [ 0.10035182 0.99232533 -0.0722503 ] [-0.08998537 0.08137154 0.99261314]] t_gt: [ 0.65391754 0.75603467 -0.02834475] Pose Error in degrees for R and t: 59.80592557463308 12.582121450528657 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-7.11731288e-01 7.02449400e-01 1.84776396e-03] [ 7.02451669e-01 7.11730447e-01 1.19362987e-03] [-4.76645280e-04 2.14750860e-03 -9.99997581e-01]] t_estimated: [[-0.02855968] [-0.99958872] [-0.00259633]] R_gt: [[ 0.98937234 -0.12389419 0.07611088] [ 0.12712075 0.99111564 -0.03912053] [-0.07058871 0.04837914 0.9963319 ]] t_gt: [0.86339261 0.50342428 0.03342455] Pose Error in degrees for R and t: 175.06681070114266 58.13212647439643 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.85809409e-01 -1.67865048e-01 -1.06524038e-03] [ 1.67865436e-01 9.85809877e-01 2.85150752e-04] [ 1.00225764e-03 -4.59921335e-04 9.99999392e-01]] t_estimated: [[-0.58173918] [-0.81335756] [-0.00538647]] R_gt: [[ 0.9992414 -0.00596807 0.03848622] [ 0.00743223 0.99924823 -0.03803368] [-0.03823082 0.03829157 0.99853439]] t_gt: [0.4135724 0.74909634 0.51750607] Pose Error in degrees for R and t: 9.801681230304576 31.49760842796548 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 0.99628963 0.08596466 -0.00412993] [-0.08594127 0.99628478 0.0055431 ] [ 0.00459109 -0.0051676 0.99997611]] t_estimated: [[7.89764750e-01] [6.13409514e-01] [6.38968244e-04]] R_gt: [[ 0.98942692 0.11912728 0.08272044] [-0.11368679 0.99121068 -0.06764629] [-0.0900517 0.05752652 0.99427417]] t_gt: [-0.45636055 0.84669359 0.27357818] Pose Error in degrees for R and t: 6.754577395254012 80.84375842478278 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 8.88535156e-01 -4.58806312e-01 1.42981120e-03] [ 4.58808287e-01 8.88533624e-01 -1.71893093e-03] [-4.81778971e-04 2.18333979e-03 9.99997500e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.98588978 0.13051257 0.10482507] [-0.12383376 0.98997561 -0.0679155 ] [-0.11263897 0.0539763 0.99216841]] t_gt: [-0.44482292 0.80973162 0.38271044] Pose Error in degrees for R and t: 35.33677382884429 84.89745908829732 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.97900293e-01 6.47684487e-02 2.30312195e-04] [-6.47684276e-02 9.97900316e-01 -9.81557730e-05] [-2.36186009e-04 8.30327160e-05 9.99999969e-01]] t_estimated: [[8.81453939e-01] [4.72269650e-01] [5.75837526e-04]] R_gt: [[ 0.99121919 -0.13192164 -0.00904692] [ 0.13213482 0.99078601 0.02972448] [ 0.00504202 -0.03065815 0.99951758]] t_gt: [ 0.90194891 -0.37881952 0.20732569] Pose Error in degrees for R and t: 11.442313435052556 51.957862537367355 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.20158775 -0.97946925 -0.00154094] [ 0.97943434 0.20156655 0.00890547] [-0.00841204 -0.00330448 0.99995916]] t_estimated: [[0.99881209] [0.04848602] [0.0048486 ]] R_gt: [[ 0.99250459 -0.11481716 -0.04187831] [ 0.11612101 0.9927766 0.03015496] [ 0.03811338 -0.0347904 0.99866767]] t_gt: [ 0.99054464 -0.00746607 0.13698753] Pose Error in degrees for R and t: 71.78598958627838 8.242501102774384 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 6.27042774e-01 7.78984705e-01 4.33548220e-04] [-7.78983795e-01 6.27042753e-01 -1.27763869e-03] [-1.26711427e-03 4.63407073e-04 9.99999090e-01]] t_estimated: [[-9.98573241e-01] [-5.33928102e-02] [-8.30889629e-04]] R_gt: [[ 0.99103254 -0.10093407 -0.08756936] [ 0.10594744 0.99287001 0.05461773] [ 0.0814315 -0.06340467 0.99465948]] t_gt: [0.97247906 0.19914875 0.12093081] Pose Error in degrees for R and t: 57.4098273359916 10.940394224249838 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.43670802 0.89956223 0.00859595] [-0.89955035 0.43676606 -0.00667701] [-0.0097608 -0.00481659 0.99994076]] t_estimated: [[-0.46984509] [ 0.88269744] [ 0.00952955]] R_gt: [[ 0.98355606 0.18051336 0.00569202] [-0.18059451 0.98332349 0.02146789] [-0.00172191 -0.0221427 0.9997535 ]] t_gt: [-0.87968758 0.45672245 0.13249289] Pose Error in degrees for R and t: 53.71624444092746 35.14207629043082 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.80799217e-01 -1.95019119e-01 -6.62277496e-04] [ 1.95019551e-01 9.80799129e-01 6.65537587e-04] [ 5.19768638e-04 -7.81915804e-04 9.99999559e-01]] t_estimated: [[-0.78956463] [-0.61366662] [-0.00098819]] R_gt: [[ 0.94793058 0.3175712 0.02399769] [-0.31835599 0.94694768 0.04403915] [-0.00873914 -0.04938614 0.99874117]] t_gt: [-0.85870342 0.48055767 0.17802462] Pose Error in degrees for R and t: 29.93034962595936 67.4850977861676 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.99468288 -0.1028823 0.00460554] [-0.10287049 0.99469101 0.00273065] [-0.00486202 0.00224236 -0.99998567]] t_estimated: [[0.99801857] [0.06270274] [0.00522523]] R_gt: [[ 0.92302012 0.38300375 0.03662909] [-0.38471571 0.92002949 0.07443351] [-0.00519138 -0.08279553 0.9965531 ]] t_gt: [-0.85804978 0.45819809 0.23195923] Pose Error in degrees for R and t: 178.30310753564137 34.26856978864879 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 5.75371037e-01 8.17892147e-01 7.78796438e-04] [ 8.17888174e-01 -5.75370823e-01 2.71108142e-03] [ 2.66546895e-03 -9.22909331e-04 -9.99996022e-01]] t_estimated: [[0.46559173] [0.88499875] [0.00124824]] R_gt: [[ 0.99744555 0.06401411 -0.03173549] [-0.06549186 0.9967007 -0.04794119] [ 0.0285621 0.0498972 0.99834617]] t_gt: [-0.30483109 0.81725091 -0.48905925] Pose Error in degrees for R and t: 178.4270911085566 54.49818502723274 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.68890336 0.72476958 -0.01101003] [ 0.72474238 -0.68845299 0.02794576] [ 0.01267435 -0.02723136 -0.99954881]] t_estimated: [[-0.39301388] [ 0.919415 ] [ 0.01470184]] R_gt: [[ 0.99805456 0.05603747 -0.02736419] [-0.057687 0.9962963 -0.06376773] [ 0.02368927 0.0652226 0.99758921]] t_gt: [-0.24010272 0.82303822 -0.51474146] Pose Error in degrees for R and t: 178.89741548596166 32.487383600910945 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 5.20818556e-01 8.53667047e-01 -7.77959094e-04] [ 8.53648602e-01 -5.20800823e-01 7.11105078e-03] [ 5.66530798e-03 -4.36767089e-03 -9.99974414e-01]] t_estimated: [[0.68684008] [0.72680707] [0.00148026]] R_gt: [[ 0.99817196 -0.01199725 0.05924734] [ 0.01084294 0.9997461 0.01976737] [-0.05946907 -0.01908804 0.99804784]] t_gt: [-0.01424764 0.12324363 0.99227416] Pose Error in degrees for R and t: 179.681369503319 85.33916029414988 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.92669334 0.37046095 -0.06323079] [-0.36047994 0.92377687 0.12919174] [ 0.10627164 -0.0969277 0.98960162]] t_estimated: [[-0.99537121] [-0.09479726] [-0.01579954]] R_gt: [[ 0.99750626 -0.0327283 -0.06251924] [ 0.03234443 0.9994514 -0.00715255] [ 0.06271974 0.00511276 0.99801801]] t_gt: [ 0.77708781 -0.26685472 -0.57002025] Pose Error in degrees for R and t: 24.445716117158593 42.337735200695654 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999182e-01 8.22098967e-04 -9.79913929e-04] [-8.21217734e-04 9.99999258e-01 8.99359998e-04] [ 9.80652566e-04 -8.98554539e-04 9.99999115e-01]] t_estimated: [[-0.42612867] [-0.90466151] [-0.00137906]] R_gt: [[ 0.98820205 -0.11215611 -0.10429381] [ 0.10632949 0.99252757 -0.05987073] [ 0.1102302 0.04807582 0.9927427 ]] t_gt: [ 0.76873596 -0.31559689 -0.55627657] Pose Error in degrees for R and t: 9.354407649963614 87.63272821955113 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.99242623 -0.12277698 -0.00399891] [ 0.12279859 0.99241524 0.00570045] [ 0.00326869 -0.00614834 0.99997576]] t_estimated: [[0.49997983] [0.86603648] [0.00099202]] R_gt: [[ 0.96107153 -0.25881026 -0.09673416] [ 0.25222597 0.96473938 -0.07522922] [ 0.11279491 0.04790204 0.99246291]] t_gt: [ 0.83045828 -0.44305415 -0.33770116] Pose Error in degrees for R and t: 10.511816143293084 88.2134387962087 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99999851e-01 5.41041165e-04 -7.26535981e-05] [-5.41030060e-04 9.99999842e-01 1.52777785e-04] [ 7.27362457e-05 -1.52738454e-04 9.99999986e-01]] t_estimated: [[-0.9837201 ] [-0.1797 ] [-0.00163609]] R_gt: [[ 0.9991167 0.02276107 -0.03534465] [-0.02310068 0.99968997 -0.00920986] [ 0.03512449 0.01001847 0.99933228]] t_gt: [ 0.6449497 0.5445167 -0.53622891] Pose Error in degrees for R and t: 2.4541419461322667 42.9942350583107 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 0.99846643 0.05471864 -0.00840543] [ 0.0546757 -0.99849033 -0.00525717] [-0.00868041 0.00478954 -0.99995085]] t_estimated: [[0.12599019] [0.99203084] [0.00113505]] R_gt: [[ 0.99614043 0.06902856 -0.05422924] [-0.06901653 0.99761384 0.0021031 ] [ 0.05424566 0.00164766 0.99852553]] t_gt: [ 0.63048344 0.64216627 -0.43601963] Pose Error in degrees for R and t: 179.78589530072122 44.27572579930781 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 6.14072224e-01 7.89248863e-01 1.23936921e-03] [-7.89248955e-01 6.14073127e-01 -5.29896206e-04] [-1.17928331e-03 -6.52776313e-04 9.99999092e-01]] t_estimated: [[0.45698775] [0.88947214] [0.00122517]] R_gt: [[ 0.99129136 0.0560546 -0.11916246] [-0.05286355 0.99815778 0.02978259] [ 0.12061371 -0.02322337 0.99242786]] t_gt: [ 0.87857584 0.32285726 -0.35194841] Pose Error in degrees for R and t: 49.467207689795885 46.50906979894801 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.98246777e-01 5.91888558e-02 -2.26903664e-04] [-5.91888459e-02 9.98246802e-01 5.01253072e-05] [ 2.29472717e-04 -3.66072603e-05 9.99999973e-01]] t_estimated: [[-0.67992129] [-0.73328453] [-0.00092006]] R_gt: [[ 0.99429611 0.1066071 0.00324675] [-0.10661478 0.99259749 0.05816862] [ 0.00297871 -0.05818234 0.99830113]] t_gt: [-0.85777582 0.42043012 0.29573494] Pose Error in degrees for R and t: 4.312843032000033 74.05866098422896 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.17033710e-01 3.98800964e-01 2.63944207e-03] [-3.98797667e-01 9.17037369e-01 -1.69826391e-03] [-3.09773630e-03 5.04761914e-04 9.99995075e-01]] t_estimated: [[0.91753991] [0.39764179] [0.00123491]] R_gt: [[ 0.96412477 0.26487323 -0.01748575] [-0.26344023 0.96283861 0.05950823] [ 0.03259799 -0.05276558 0.99807405]] t_gt: [-0.84753796 0.52870381 0.04638636] Pose Error in degrees for R and t: 8.962827216802737 55.43381201943775 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-5.49333992e-01 8.35602836e-01 -2.54216603e-04] [ 8.35597623e-01 5.49331593e-01 3.37825222e-03] [ 2.96252635e-03 1.64336599e-03 -9.99994261e-01]] t_estimated: [[-0.04671147] [-0.99890681] [-0.00179659]] R_gt: [[ 0.92014744 0.39119084 0.01731637] [-0.38913663 0.90859714 0.15173724] [ 0.04362388 -0.14635767 0.98826883]] t_gt: [-0.84502141 0.50131131 0.18608006] Pose Error in degrees for R and t: 175.0347876670168 62.50795862563192 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.98254422e-01 5.90601854e-02 5.13540245e-05] [-5.90601810e-02 9.98254420e-01 -8.37034720e-05] [-5.62079245e-05 8.05243831e-05 9.99999995e-01]] t_estimated: [[0.82428906] [0.56616827] [0.00101774]] R_gt: [[ 0.99967313 0.00812563 -0.02422516] [-0.00763103 0.99976084 0.02045703] [ 0.02438519 -0.02026498 0.99949707]] t_gt: [-0.31039072 -0.74130838 -0.5950794 ] Pose Error in degrees for R and t: 3.4547031137282915 47.45550294386184 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.84404909e-01 1.75917492e-01 1.02680689e-04] [-1.75917182e-01 9.84403987e-01 -1.39093233e-03] [-3.45768607e-04 1.35117732e-03 9.99999027e-01]] t_estimated: [[-0.61488498] [-0.78861439] [-0.00195202]] R_gt: [[ 0.99807439 0.06054954 -0.01341395] [-0.06036169 0.9980785 0.01398089] [ 0.01423523 -0.01314382 0.99981233]] t_gt: [-0.9463863 0.30490195 -0.1067135 ] Pose Error in degrees for R and t: 6.768716205879777 70.02092317340907 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 8.26092254e-01 5.63534870e-01 -1.95449700e-04] [-5.63532961e-01 8.26090267e-01 2.33936815e-03] [ 1.47977462e-03 -1.82239156e-03 9.99997245e-01]] t_estimated: [[7.42204432e-01] [6.70173174e-01] [7.06188803e-04]] R_gt: [[ 0.99846148 -0.0437021 -0.03411314] [ 0.04326832 0.99897454 -0.01332498] [ 0.03465976 0.01182901 0.99932908]] t_gt: [ 0.31555724 -0.85128086 -0.41921896] Pose Error in degrees for R and t: 36.85150146170475 70.33052307934828 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.39809940e-01 3.41697429e-01 3.78965678e-04] [-3.41697268e-01 9.39809976e-01 -4.31813353e-04] [-5.03705237e-04 2.76330945e-04 9.99999835e-01]] t_estimated: [[-7.26951878e-01] [ 6.86688297e-01] [ 3.87205868e-04]] R_gt: [[ 0.99717448 0.07442553 -0.01016365] [-0.07430411 0.99716605 0.01184037] [ 0.0110162 -0.01105172 0.99987802]] t_gt: [-0.75506197 0.64565927 0.11404176] Pose Error in degrees for R and t: 15.742459646567038 7.112688317511373 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.44992267e-01 -3.27092553e-01 -2.76158122e-04] [ 3.27092605e-01 9.44992275e-01 1.67786299e-04] [ 2.06085643e-04 -2.48886035e-04 9.99999948e-01]] t_estimated: [[-0.30207388] [-0.95328389] [-0.00109447]] R_gt: [[ 0.99744121 0.02354155 0.06751008] [-0.02898206 0.9963113 0.08077537] [-0.06535891 -0.08252528 0.99444336]] t_gt: [-0.46836083 0.17511628 0.86600948] Pose Error in degrees for R and t: 21.460039311694356 88.48699939637925 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.69275055e-01 -2.45978010e-01 -8.27897387e-04] [ 2.45978708e-01 9.69274828e-01 8.84864866e-04] [ 5.84802798e-04 -1.06132257e-03 9.99999266e-01]] t_estimated: [[-0.515388 ] [-0.85695634] [-0.00102227]] R_gt: [[ 0.99559982 -0.02722538 0.08966744] [ 0.01609693 0.99233112 0.12255944] [-0.09231587 -0.12057694 0.98840249]] t_gt: [-0.13066934 -0.06584811 0.98923685] Pose Error in degrees for R and t: 15.632689562968702 82.94840410170046 Number of keypoints: Image1: 350 Image2: 350 R_estimated: [[ 9.95983022e-01 -8.95409751e-02 4.83451546e-04] [ 8.95414276e-02 9.95982583e-01 -1.01348814e-03] [-3.90760603e-04 1.05270592e-03 9.99999370e-01]] t_estimated: [[-0.39240918] [-0.91970901] [-0.01226279]] R_gt: [[ 9.98134847e-01 -4.11762308e-04 -6.10553096e-02] [ 3.83234330e-03 9.98428341e-01 5.59110960e-02] [ 6.09359753e-02 -5.60406693e-02 9.96568110e-01]] t_gt: [ 0.77508364 -0.21938624 0.5925496 ] Pose Error in degrees for R and t: 6.94600576186313 83.70516282881408 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.76349603e-01 -2.16197483e-01 -3.19018259e-04] [ 2.16197677e-01 9.76349268e-01 8.18982965e-04] [ 1.34411188e-04 -8.68584698e-04 9.99999614e-01]] t_estimated: [[0.87199858] [0.48950312] [0.00227676]] R_gt: [[ 0.99310602 0.01407768 -0.11637859] [-0.00660643 0.99790648 0.06433642] [ 0.11704051 -0.06312455 0.99111975]] t_gt: [ 0.97258907 -0.17102455 0.15754714] Pose Error in degrees for R and t: 15.12345454789023 40.11631724824479 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.89938552e-01 1.41496056e-01 7.28116995e-04] [-1.41496603e-01 9.89938446e-01 7.64005648e-04] [-6.12687221e-04 -8.59344726e-04 9.99999443e-01]] t_estimated: [[0.17695449] [0.98421795] [0.00146243]] R_gt: [[ 0.98886187 0.03443751 -0.14479941] [-0.02045412 0.99507633 0.09697523] [ 0.14742596 -0.09293409 0.98469805]] t_gt: [ 0.94494021 -0.19320591 0.26412018] Pose Error in degrees for R and t: 11.985625180961527 88.70735158417156 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 7.88290509e-01 6.15302916e-01 6.28648709e-04] [-6.15302439e-01 7.88290721e-01 -8.04575393e-04] [-9.90615529e-04 2.47430062e-04 9.99999479e-01]] t_estimated: [[-6.05026863e-01] [ 7.96204983e-01] [ 3.46846610e-04]] R_gt: [[ 9.92713203e-01 -1.17297528e-01 -2.75948420e-02] [ 1.17334110e-01 9.93092184e-01 -2.69376559e-04] [ 2.74374639e-02 -2.97001287e-03 9.99619137e-01]] t_gt: [ 0.69969333 -0.69975649 -0.14411832] Pose Error in degrees for R and t: 44.74083970700517 11.323894559405202 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99914483e-01 1.30774707e-02 7.84090503e-05] [-1.30774940e-02 9.99914440e-01 3.04605579e-04] [-7.44188710e-05 -3.05604924e-04 9.99999951e-01]] t_estimated: [[0.38891739] [0.92127213] [0.00096267]] R_gt: [[ 0.9897258 -0.13340474 -0.05143301] [ 0.13042947 0.98979298 -0.05742391] [ 0.05856899 0.05012607 0.99702422]] t_gt: [ 0.72721306 -0.5670958 -0.38673442] Pose Error in degrees for R and t: 9.445877745740198 76.1136927208552 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.99985952e-01 5.25988820e-03 6.55059444e-04] [-5.26004470e-03 9.99986138e-01 2.37417334e-04] [-6.53801575e-04 -2.40859641e-04 9.99999757e-01]] t_estimated: [[-9.99997669e-01] [ 2.14298140e-03] [ 2.64973984e-04]] R_gt: [[ 0.98470599 -0.12337427 -0.12301738] [ 0.10912842 0.98717671 -0.11650659] [ 0.13581467 0.10130041 0.98554174]] t_gt: [ 0.65105286 -0.3054825 -0.69484575] Pose Error in degrees for R and t: 12.047157926975087 49.31574016119206 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-5.43071019e-01 -8.39686723e-01 2.74307284e-04] [-8.39686766e-01 5.43070963e-01 -2.54448887e-04] [ 6.46890308e-05 -3.68516012e-04 -9.99999930e-01]] t_estimated: [[9.04855087e-01] [4.25718941e-01] [8.09351598e-04]] R_gt: [[ 0.99068811 -0.12781013 -0.0469134 ] [ 0.12843792 0.99166038 0.01062405] [ 0.04516368 -0.01655108 0.9988419 ]] t_gt: [ 0.70563444 -0.68850166 -0.16746794] Pose Error in degrees for R and t: 178.0548698232301 69.80274876328093 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.78198572e-01 2.07671483e-01 3.31116634e-04] [-2.07671437e-01 9.78198623e-01 -1.67604367e-04] [-3.58704483e-04 9.51868854e-05 9.99999931e-01]] t_estimated: [[9.32811489e-01] [3.60363591e-01] [8.98662321e-04]] R_gt: [[ 0.97468934 -0.21878613 -0.04598098] [ 0.2181201 0.97573527 -0.01909301] [ 0.04904192 0.00858029 0.99875929]] t_gt: [ 0.70061593 -0.67704735 -0.22526473] Pose Error in degrees for R and t: 24.776417865566643 65.83555474482468 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99994203e-01 -3.37964115e-03 -4.15093206e-04] [ 3.37972438e-03 9.99994269e-01 1.99966145e-04] [ 4.14415014e-04 -2.01367886e-04 9.99999894e-01]] t_estimated: [[ 9.21706328e-01] [-3.87888419e-01] [-1.37637981e-04]] R_gt: [[ 0.95651474 -0.28710712 -0.05146288] [ 0.28459275 0.95728841 -0.0510429 ] [ 0.06391904 0.03417741 0.99736975]] t_gt: [ 0.67119481 -0.68326408 -0.28748516] Pose Error in degrees for R and t: 16.949447540211118 27.906284704544017 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.33574084 0.94195352 -0.00128273] [-0.94194926 0.3357342 -0.00376074] [-0.00311179 0.0024709 0.99999211]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99670233 0.05444563 -0.06017183] [-0.05948738 0.99456621 -0.08544391] [ 0.05519256 0.08874187 0.99452452]] t_gt: [-0.25873547 0.48078996 -0.83779292] Pose Error in degrees for R and t: 67.33062923355408 61.4258447070314 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99998041e-01 1.96393824e-03 2.45432841e-04] [-1.96393782e-03 9.99998071e-01 -1.94428639e-06] [-2.45436186e-04 1.46226774e-06 9.99999970e-01]] t_estimated: [[-9.99999100e-01] [-1.33034468e-03] [-1.73900392e-04]] R_gt: [[ 0.98937709 0.13156141 -0.06185082] [-0.13774803 0.98438738 -0.10958242] [ 0.04646786 0.11693859 0.99205193]] t_gt: [-0.46308832 0.63473148 -0.61859935] Pose Error in degrees for R and t: 10.530544880223687 62.46107795635078 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.9077975 -0.19801506 -0.36972117] [ 0.11506867 -0.96529246 0.23445613] [-0.4033149 0.17029536 0.8990754 ]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99321673 0.11577532 -0.01091226] [-0.11608912 0.99263366 -0.0346835 ] [ 0.00681627 0.03571552 0.9993387 ]] t_gt: [-0.68514384 0.682515 -0.25446257] Pose Error in degrees for R and t: 177.6996157523767 81.56965342630897 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99999885e-01 -4.27957703e-04 2.17050909e-04] [ 4.28009677e-04 9.99999880e-01 -2.39465608e-04] [-2.16948402e-04 2.39558480e-04 9.99999948e-01]] t_estimated: [[-0.97681684] [-0.21405554] [-0.00301487]] R_gt: [[ 0.99589517 -0.08856083 0.01873019] [ 0.08901408 0.99571815 -0.02493123] [-0.01644215 0.02649611 0.99951342]] t_gt: [ 0.48318668 -0.85863025 -0.1711278 ] Pose Error in degrees for R and t: 5.369940000232836 73.28122362346258 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.86479919e-01 1.63881421e-01 -4.98875627e-04] [-1.63881541e-01 9.86480003e-01 -2.08347302e-04] [ 4.57986579e-04 2.87286936e-04 9.99999854e-01]] t_estimated: [[0.67262527] [0.73998267] [0.0009487 ]] R_gt: [[ 0.98746493 -0.15674591 -0.01857803] [ 0.15570125 0.98661996 -0.04834847] [ 0.025908 0.04485004 0.99865792]] t_gt: [ 0.48473649 -0.78651032 -0.38266441] Pose Error in degrees for R and t: 18.6577623150396 75.14812385496455 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 0.70888902 0.47906492 -0.51766124] [ 0.07443408 0.67902701 0.73032998] [ 0.70138144 -0.55625454 0.44569604]] t_estimated: [[ 0.67710534] [ 0.73527774] [-0.02991648]] R_gt: [[ 0.95991008 -0.27898694 -0.02719643] [ 0.27807072 0.95998808 -0.03313841] [ 0.03535341 0.02424722 0.99908047]] t_gt: [ 0.59852064 -0.77606626 -0.19873149] Pose Error in degrees for R and t: 70.55377429990747 80.8269198293784 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-1.10806038e-01 -9.93841848e-01 6.35424994e-04] [-9.93841768e-01 1.10806465e-01 6.83100340e-04] [-7.49302902e-04 -5.55820258e-04 -9.99999565e-01]] t_estimated: [[0.62278822] [0.78238854] [0.00173479]] R_gt: [[ 0.99714057 0.01600905 -0.07385965] [-0.02235005 0.99605878 -0.0858335 ] [ 0.07219555 0.08723904 0.9935682 ]] t_gt: [ 0.05775697 0.37994808 -0.9232029 ] Pose Error in degrees for R and t: 173.6148130886739 70.63190661092867 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-2.46287480e-01 -9.69194132e-01 -2.28307374e-03] [ 9.69196775e-01 -2.46286060e-01 -8.87605032e-04] [ 2.97972352e-04 -2.43135371e-03 9.99997000e-01]] t_estimated: [[0.99986142] [0.01660505] [0.00118608]] R_gt: [[ 0.99399289 0.0537106 -0.09535995] [-0.07030975 0.98109938 -0.18028163] [ 0.08387496 0.18590333 0.97898142]] t_gt: [-0.06486283 0.55770412 -0.82750162] Pose Error in degrees for R and t: 108.29170091419964 86.75678155177238 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[-8.25040501e-01 -5.65072776e-01 -9.63878469e-04] [ 5.65071328e-01 -8.25031151e-01 -4.24183747e-03] [ 1.60171712e-03 -4.04434780e-03 9.99990539e-01]] t_estimated: [[9.72373262e-01] [2.33430214e-01] [7.57890306e-04]] R_gt: [[ 0.9912853 0.09714226 -0.08897173] [-0.11071576 0.98037056 -0.16314591] [ 0.07137793 0.17157524 0.98258202]] t_gt: [-0.15447821 0.69600909 -0.70121882] Pose Error in degrees for R and t: 151.72514041434817 89.32804136607548 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.96781737e-01 -8.01632404e-02 -1.55759205e-04] [ 8.01632599e-02 9.96781740e-01 1.22666767e-04] [ 1.45424565e-04 -1.34758159e-04 9.99999980e-01]] t_estimated: [[ 0.00867797] [ 0.99996015] [-0.0020956 ]] R_gt: [[ 0.9987721 -0.00206648 -0.04949957] [-0.00202189 0.99659878 -0.08238987] [ 0.04950281 0.08238937 0.99537007]] t_gt: [ 0.11653788 0.17715159 -0.97725955] Pose Error in degrees for R and t: 7.18004533451167 79.61836993591389 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.12776879 0.99180279 0.00153987] [ 0.99180326 0.12776667 0.00140071] [ 0.00119249 0.00170621 -0.99999783]] t_estimated: [[-8.74525010e-01] [-4.84979643e-01] [-8.67584335e-04]] R_gt: [[ 0.99328805 0.04890834 -0.10481772] [-0.06478994 0.98595718 -0.15391648] [ 0.09581914 0.15967459 0.98250771]] t_gt: [-0.08428758 0.39656493 -0.91412902] Pose Error in degrees for R and t: 178.36532138563257 83.23362332051832 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.94965976e-01 -1.00213287e-01 -5.78785415e-05] [ 1.00213294e-01 9.94965968e-01 1.34872640e-04] [ 4.40711486e-05 -1.39993887e-04 9.99999989e-01]] t_estimated: [[-3.74857078e-01] [ 9.27082503e-01] [ 4.50437514e-04]] R_gt: [[ 0.98968341 0.12005501 -0.07818994] [-0.13074704 0.9799638 -0.15025645] [ 0.05858455 0.15892959 0.98555022]] t_gt: [-0.34940523 0.58080324 -0.73524389] Pose Error in degrees for R and t: 16.24863314604133 48.002485839883185 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.48472681e-01 3.16858881e-01 1.53918666e-04] [-3.16857570e-01 9.48467116e-01 3.37773701e-03] [ 9.24279176e-04 -3.25246157e-03 9.99994284e-01]] t_estimated: [[0.37399745] [0.92742721] [0.00216183]] R_gt: [[ 0.99717067 -0.05624262 0.04986701] [ 0.05180935 0.99493497 0.08613349] [-0.05445823 -0.08330641 0.99503468]] t_gt: [ 0.22556075 -0.37729381 0.89820473] Pose Error in degrees for R and t: 22.274024993616163 74.71552833201319 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.99894887 -0.04561889 -0.00448001] [ 0.0456371 0.99894987 0.00405139] [ 0.00429048 -0.00425159 0.99998176]] t_estimated: [[-0.71305121] [-0.70110063] [-0.00398353]] R_gt: [[ 0.99078278 -0.10246518 0.08860524] [ 0.09198038 0.98906725 0.11525961] [-0.0994459 -0.10604671 0.9893765 ]] t_gt: [ 0.38536842 -0.39873606 0.83216629] Pose Error in degrees for R and t: 8.867548544685567 89.91682178631405 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97338818e-01 7.28999701e-02 9.36225097e-04] [-7.28995776e-02 9.97339186e-01 -4.46848202e-04] [-9.66309197e-04 3.77408644e-04 9.99999462e-01]] t_estimated: [[0.57333936] [0.81931749] [0.00091442]] R_gt: [[ 0.99177645 -0.08925302 0.09172206] [ 0.07466623 0.98560124 0.15170604] [-0.10394079 -0.14361013 0.98416105]] t_gt: [ 0.39279695 -0.34540187 0.85229578] Pose Error in degrees for R and t: 13.542734432014205 86.73188274867485 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.99999818e-01 -5.94386534e-04 1.05308109e-04] [ 5.94372424e-04 9.99999814e-01 1.33964704e-04] [-1.05387716e-04 -1.33902088e-04 9.99999985e-01]] t_estimated: [[0.31453112] [0.94924642] [0.00118701]] R_gt: [[ 0.99788523 0.00657631 -0.06467512] [-0.00578236 0.99990561 0.01245207] [ 0.0647503 -0.01205119 0.99782852]] t_gt: [ 0.96447553 -0.12784883 -0.23117444] Pose Error in degrees for R and t: 3.8007153783936 79.52985719690845 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999690e-01 7.86906790e-04 1.45316623e-05] [-7.86907284e-04 9.99999690e-01 3.40113705e-05] [-1.45048940e-05 -3.40227950e-05 9.99999999e-01]] t_estimated: [[-7.77957420e-01] [ 6.28316633e-01] [-6.79268747e-04]] R_gt: [[ 0.99649368 0.05494371 -0.06309491] [-0.05102101 0.99675929 0.06218766] [ 0.06630693 -0.0587495 0.99606889]] t_gt: [ 0.89190756 -0.13740331 0.43083783] Pose Error in degrees for R and t: 5.89965706358889 38.69439726001598 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99327856e-01 3.66583481e-02 -4.73015562e-05] [-3.66583236e-02 9.99327759e-01 4.43518121e-04] [ 6.35283998e-05 -4.41486017e-04 9.99999901e-01]] t_estimated: [[-9.99991799e-01] [-3.97137327e-03] [-7.94274661e-04]] R_gt: [[ 0.98478761 0.12238913 -0.12334586] [-0.10864789 0.98768469 0.11257918] [ 0.13560535 -0.09746505 0.98595763]] t_gt: [ 0.84862797 -0.01342414 0.52881979] Pose Error in degrees for R and t: 10.629534204836302 31.89826129180972 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99999941e-01 3.27305237e-04 1.04157300e-04] [-3.27302442e-04 9.99999946e-01 -2.68458387e-05] [-1.04166081e-04 2.68117461e-05 9.99999994e-01]] t_estimated: [[ 9.99998400e-01] [-1.77582505e-03] [ 2.17262572e-04]] R_gt: [[ 0.98678382 -0.16171922 -0.01015397] [ 0.16184677 0.98672747 0.01326775] [ 0.00787367 -0.01473558 0.99986061]] t_gt: [ 0.7304731 -0.68229503 0.02970759] Pose Error in degrees for R and t: 9.379116321856257 42.9717374258734 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.99997776 0.00361564 -0.00560344] [-0.00360822 0.9999926 0.00133337] [ 0.00560822 -0.00131312 0.99998341]] t_estimated: [[0.69293714] [0.72099758] [0.00077946]] R_gt: [[ 0.98455158 -0.16490893 -0.05885057] [ 0.16632417 0.98586864 0.01998945] [ 0.05472227 -0.02946806 0.99806675]] t_gt: [ 0.78627243 -0.61296425 -0.07778487] Pose Error in degrees for R and t: 10.271640355248696 84.09778482667816 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.18442706 -0.98262544 -0.02083021] [ 0.98279157 -0.18459886 0.00663343] [-0.01036341 -0.01924838 0.99976102]] t_estimated: [[0.99153531] [0.12853236] [0.01836177]] R_gt: [[ 0.96233055 -0.23149815 -0.1425728 ] [ 0.22939324 0.97283236 -0.03125464] [ 0.14593476 -0.00262749 0.98929105]] t_gt: [ 0.8244011 -0.47801611 -0.30308979] Pose Error in degrees for R and t: 87.52939966096481 41.37348668140195 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.80889065 0.58755342 0.02183784] [ 0.58762574 -0.80662362 -0.06367361] [-0.01979673 0.06433746 -0.99773182]] t_estimated: [[-0.48513881] [ 0.8736546 ] [-0.03698622]] R_gt: [[ 0.9897373 0.1353884 -0.04572183] [-0.13449346 0.99066741 0.02214785] [ 0.04829308 -0.01577157 0.99870852]] t_gt: [-0.85569234 0.50527856 -0.11173272] Pose Error in degrees for R and t: 178.0259847314144 30.604609391261327 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.95904337e-01 9.04130889e-02 -1.56090001e-04] [-9.04130734e-02 9.95904346e-01 1.03468608e-04] [ 1.64805627e-04 -8.89322589e-05 9.99999982e-01]] t_estimated: [[-0.70628 ] [-0.70793212] [-0.00082606]] R_gt: [[ 0.94121143 0.33566927 -0.03803234] [-0.33023462 0.93795496 0.10576812] [ 0.07117501 -0.08699083 0.99366314]] t_gt: [-0.85717112 0.51092476 0.06491192] Pose Error in degrees for R and t: 15.700808552236593 75.89798320668108 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 5.57764998e-01 -8.29998822e-01 4.04043452e-04] [-8.29997766e-01 -5.57764968e-01 -1.39638899e-03] [ 1.38436250e-03 4.43501737e-04 -9.99998943e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.93156107 0.36269701 -0.02538217] [-0.35702666 0.92572578 0.12475628] [ 0.06874473 -0.10715581 0.99186216]] t_gt: [-0.88616997 0.44994986 0.11067022] Pose Error in degrees for R and t: 175.36164583471725 85.54846057669957 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999937e-01 3.45119134e-04 8.04009981e-05] [-3.45117645e-04 9.99999940e-01 -1.85425068e-05] [-8.04073927e-05 1.85147578e-05 9.99999997e-01]] t_estimated: [[9.98426652e-01] [5.60683385e-02] [7.49729633e-04]] R_gt: [[ 0.99233698 -0.12295443 -0.01222348] [ 0.123215 0.99210099 0.02350971] [ 0.00923747 -0.0248353 0.99964859]] t_gt: [ 0.65052609 -0.75729765 0.05758543] Pose Error in degrees for R and t: 7.252504481391048 52.62094928722703 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999996e-01 8.50666387e-05 1.50044333e-05] [-8.50666373e-05 9.99999996e-01 -9.55102661e-08] [-1.50044413e-05 9.42338891e-08 1.00000000e+00]] t_estimated: [[ 9.85036714e-01] [-1.72344553e-01] [-1.65171058e-04]] R_gt: [[ 0.98209841 -0.18750626 -0.0179937 ] [ 0.18785846 0.98198156 0.0205144 ] [ 0.01382341 -0.0235275 0.99962734]] t_gt: [ 0.69457989 -0.71940876 -0.00313247] Pose Error in degrees for R and t: 10.936683311389862 36.0821510719446 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999328e-01 1.14770391e-03 1.63282228e-04] [-1.14770214e-03 9.99999341e-01 -1.09735661e-05] [-1.63294715e-04 1.07861593e-05 9.99999987e-01]] t_estimated: [[9.99994892e-01] [3.10075937e-03] [7.75189839e-04]] R_gt: [[ 0.97211624 -0.23347685 0.02187742] [ 0.2327867 0.9720623 0.0300729 ] [-0.02828654 -0.02414208 0.99930754]] t_gt: [ 0.71548374 -0.69037434 0.10708074] Pose Error in degrees for R and t: 13.717044461983244 44.48594154646628 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 3.59965312e-01 9.32964889e-01 1.22051055e-03] [ 9.32963632e-01 -3.59966957e-01 1.62810199e-03] [ 1.95830546e-03 5.52631716e-04 -9.99997930e-01]] t_estimated: [[-9.79456730e-01] [-2.01652856e-01] [-8.00209746e-04]] R_gt: [[ 0.9995428 0.02867657 -0.00960088] [-0.02874299 0.99956234 -0.00694926] [ 0.00939653 0.0072223 0.99992913]] t_gt: [ 0.68970314 0.61944089 -0.37497009] Pose Error in degrees for R and t: 179.9255433166846 36.85591987421439 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-8.88167927e-01 -4.59510182e-01 -2.85080946e-03] [ 4.59509492e-01 -8.88172370e-01 9.31191733e-04] [-2.95990228e-03 -4.82919378e-04 9.99995503e-01]] t_estimated: [[0.88527851] [0.46505948] [0.00128116]] R_gt: [[ 0.99844712 0.03311221 -0.04482012] [-0.03246626 0.99936018 0.01504655] [ 0.04528925 -0.013568 0.99888169]] t_gt: [ 0.96018433 0.25131771 -0.12200599] Pose Error in degrees for R and t: 154.53094105669308 14.816019902932592 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.31047998 -0.95056383 -0.00553069] [-0.91397104 0.3001168 -0.27310592] [ 0.26126446 -0.07973903 -0.96196807]] t_estimated: [[0.82566453] [0.56415984] [0.00132743]] R_gt: [[ 0.98788651 0.09846851 -0.11993956] [-0.08939257 0.99287138 0.07884478] [ 0.12684779 -0.06716787 0.98964574]] t_gt: [ 0.85670057 0.4941757 -0.14783269] Pose Error in degrees for R and t: 167.82560857872352 9.617477577606836 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[-0.71135459 -0.70276966 -0.00945813] [ 0.70242063 -0.71041146 -0.0438272 ] [ 0.02408127 -0.03782027 0.99899435]] t_estimated: [[9.99036245e-01] [4.38829005e-02] [9.33678734e-04]] R_gt: [[ 0.99844659 -0.03195301 -0.04564774] [ 0.03308503 0.99915842 0.02425905] [ 0.04483429 -0.02573202 0.99866323]] t_gt: [ 0.72999061 -0.57279653 -0.37285097] Pose Error in degrees for R and t: 133.44388417614024 45.26708000877111 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 8.56190793e-01 5.16659601e-01 -4.27604598e-04] [-5.16658460e-01 8.56190185e-01 1.54977505e-03] [ 1.16681702e-03 -1.10597760e-03 9.99998708e-01]] t_estimated: [[-9.98730597e-01] [-5.03633378e-02] [-8.53615895e-04]] R_gt: [[ 0.99722839 -0.03752994 -0.06423963] [ 0.03943585 0.99881121 0.02867039] [ 0.06308826 -0.03112505 0.99752293]] t_gt: [ 0.65096004 -0.61350078 -0.44706578] Pose Error in degrees for R and t: 33.54383452297686 51.76749401141102 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99569033 0.09264789 0.00413845] [-0.09263553 0.9956953 -0.00308537] [-0.00440649 0.00268871 0.99998668]] t_estimated: [[0.93231912] [0.36151149] [0.00951346]] R_gt: [[ 0.99753708 0.02245274 -0.06645696] [-0.01896982 0.99843639 0.05259006] [ 0.06753516 -0.05120013 0.99640303]] t_gt: [-0.05365429 -0.63563039 -0.77012676] Pose Error in degrees for R and t: 6.603586158801823 73.31335913521976 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 0.69840964 -0.69672086 -0.16371932] [ 0.71474841 0.69076981 0.1094156 ] [ 0.03686024 -0.19343504 0.98042042]] t_estimated: [[-0.00728388] [-0.99997293] [-0.00104055]] R_gt: [[ 0.95609629 0.29285331 -0.01079814] [-0.29290798 0.95613316 -0.00385247] [ 0.00919697 0.00684545 0.99993439]] t_gt: [-0.95964013 0.27917359 -0.03395465] Pose Error in degrees for R and t: 63.39931474911851 74.20830339973418 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[ 0.99175582 0.12804939 0.00487263] [-0.12800273 0.99173373 -0.00891648] [-0.0059741 0.00821926 0.99994838]] t_estimated: [[-0.99993858] [-0.01101524] [-0.00122392]] R_gt: [[ 0.84228234 0.53819709 0.03009327] [-0.53751613 0.84278603 -0.0280812 ] [-0.04047494 0.0074767 0.99915269]] t_gt: [-0.89350306 0.44904686 -0.00303311] Pose Error in degrees for R and t: 25.2655640177213 27.313949714856218 Number of keypoints: Image1: 17 Image2: 17 R_estimated: [[ 3.79100907e-01 9.25355150e-01 5.90680127e-04] [ 9.25349160e-01 -3.79100632e-01 3.41231414e-03] [ 3.38152967e-03 -7.47026028e-04 -9.99994004e-01]] t_estimated: [[0.52491497] [0.85115336] [0.00149553]] R_gt: [[ 6.60042961e-01 7.51227609e-01 -2.84440991e-04] [-7.50030225e-01 6.58970084e-01 -5.66940783e-02] [-4.24023691e-02 3.76332688e-02 9.98391547e-01]] t_gt: [-0.79703882 0.60282655 -0.03645912] Pose Error in degrees for R and t: 176.98482478993103 84.56792066685838 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-0.11284346 0.99330749 0.0246291 ] [ 0.99331732 0.11337969 -0.02158131] [-0.02422932 0.0220292 -0.99946368]] t_estimated: [[ 0.72989635] [-0.68336376] [ 0.01628798]] R_gt: [[ 0.99471601 -0.09541471 -0.03788998] [ 0.09350613 0.99439749 -0.04931499] [ 0.04238329 0.04551088 0.99806459]] t_gt: [ 0.62903919 -0.41952067 -0.65445557] Pose Error in degrees for R and t: 178.03188207962023 42.67935761889288 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.96024480e-01 8.90797211e-02 1.95923803e-04] [-8.90796706e-02 9.96024472e-01 -2.52809020e-04] [-2.17665059e-04 2.34351144e-04 9.99999949e-01]] t_estimated: [[-9.10717168e-01] [-4.13030168e-01] [-5.66469102e-04]] R_gt: [[ 0.98932563 -0.14417028 -0.02122329] [ 0.14224135 0.98703671 -0.07433971] [ 0.03166578 0.07052763 0.99700704]] t_gt: [ 0.5617123 -0.53299993 -0.63276407] Pose Error in degrees for R and t: 14.067150142726625 73.07872004564399 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99415901e-01 -3.41709381e-02 4.51222111e-04] [ 3.41711799e-02 9.99415849e-01 -5.39643712e-04] [-4.32518397e-04 5.54747299e-04 9.99999753e-01]] t_estimated: [[-8.02298825e-01] [-5.96922146e-01] [-7.38765033e-04]] R_gt: [[ 0.99012545 -0.13536599 -0.03642879] [ 0.13240425 0.98841951 -0.07414179] [ 0.04604347 0.0685865 0.99658208]] t_gt: [ 0.58994827 -0.45275048 -0.66856416] Pose Error in degrees for R and t: 7.439830301233863 78.31305875678787 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99999982e-01 -1.22508668e-04 1.42818120e-04] [ 1.22523767e-04 9.99999987e-01 -1.05720721e-04] [-1.42805167e-04 1.05738218e-04 9.99999984e-01]] t_estimated: [[0.55867217] [0.82938678] [0.0017243 ]] R_gt: [[ 0.99885863 -0.04770023 0.00253681] [ 0.04773378 0.99874396 -0.01522757] [-0.00180774 0.01533062 0.99988043]] t_gt: [ 0.77668942 -0.62651709 -0.06503751] Pose Error in degrees for R and t: 2.865937701356143 85.07668425279167 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99997120e-01 -2.08564763e-03 1.18707668e-03] [ 2.08658506e-03 9.99997512e-01 -7.89003191e-04] [-1.18542815e-03 7.91477856e-04 9.99998984e-01]] t_estimated: [[-0.30989857] [-0.95076881] [-0.00123959]] R_gt: [[ 0.98278449 -0.18371023 -0.01962148] [ 0.18355531 0.98296433 -0.00942374] [ 0.02101899 0.00565951 0.9997624 ]] t_gt: [ 0.74484671 -0.66306698 -0.07446858] Pose Error in degrees for R and t: 10.543145981590698 66.4412755804531 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999996e-01 5.92471436e-05 7.37959201e-05] [-5.92535428e-05 9.99999994e-01 8.67151329e-05] [-7.37907820e-05 -8.67195052e-05 9.99999994e-01]] t_estimated: [[8.25896825e-01] [5.63820904e-01] [6.50312461e-04]] R_gt: [[ 0.97352808 -0.2254349 -0.03770933] [ 0.22365741 0.97357404 -0.04616587] [ 0.04712023 0.03650936 0.99822136]] t_gt: [ 0.77450213 -0.60846932 -0.17294951] Pose Error in degrees for R and t: 13.433129873006173 72.75377451306129 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 1.00000000e+00 2.38198350e-13 2.10335221e-17] [-2.38198350e-13 1.00000000e+00 4.64146950e-16] [-2.14672030e-17 -4.63930110e-16 1.00000000e+00]] t_estimated: [[0.88387802] [0.46771575] [0.00127267]] R_gt: [[ 0.99879711 -0.0490034 0.00189265] [ 0.0490081 0.99879517 -0.00219517] [-0.00178245 0.00228529 0.9999955 ]] t_gt: [ 0.77976859 -0.62220061 -0.06947906] Pose Error in degrees for R and t: 2.814328467243701 66.5393670994263 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.98920890e-01 4.64440676e-02 6.49314205e-05] [-4.64440699e-02 9.98920891e-01 3.31968880e-05] [-6.33195539e-05 -3.61767443e-05 9.99999997e-01]] t_estimated: [[0.80492842] [0.59337132] [0.00084286]] R_gt: [[ 0.99678442 -0.0782695 0.01714468] [ 0.07851533 0.99681193 -0.01416697] [-0.01598076 0.01546838 0.99975313]] t_gt: [ 0.80140646 -0.59670162 0.0411688 ] Pose Error in degrees for R and t: 7.270935865590599 73.07953625622511 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99999875e-01 -2.60543760e-04 4.26283987e-04] [ 2.60909869e-04 9.99999597e-01 -8.59007426e-04] [-4.26060006e-04 8.59118541e-04 9.99999540e-01]] t_estimated: [[-9.19370116e-01] [-3.93392716e-01] [-8.72267662e-04]] R_gt: [[ 0.98092991 -0.19425564 -0.00635891] [ 0.19404906 0.98068487 -0.02451062] [ 0.01099755 0.02280967 0.99967939]] t_gt: [ 0.78318437 -0.61562675 -0.08732664] Pose Error in degrees for R and t: 11.27096072801475 61.459681436943605 Number of keypoints: Image1: 370 Image2: 370 R_estimated: [[ 9.99945753e-01 -1.04158426e-02 2.90510887e-05] [ 1.04158457e-02 9.99945748e-01 -1.09263059e-04] [-2.79114458e-05 1.09559724e-04 9.99999994e-01]] t_estimated: [[-0.84649569] [-0.5323935 ] [-0.00148497]] R_gt: [[ 0.99958745 -0.02834621 -0.00452729] [ 0.02830738 0.99956388 -0.00837203] [ 0.00476274 0.00824049 0.99995417]] t_gt: [ 0.14097571 -0.93550004 -0.32398385] Pose Error in degrees for R and t: 1.1620307799267795 67.71586756338215 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 9.99928785e-01 1.19342121e-02 6.75478558e-06] [-1.19342120e-02 9.99928785e-01 -8.68442088e-06] [-6.85794626e-06 8.60318938e-06 1.00000000e+00]] t_estimated: [[-3.41026927e-01] [-9.40053346e-01] [-5.84543829e-04]] R_gt: [[ 9.99885818e-01 1.50921404e-02 -9.98297959e-04] [-1.51078576e-02 9.99722104e-01 -1.81073297e-02] [ 7.24288269e-04 1.81203456e-02 9.99835725e-01]] t_gt: [-0.08570633 0.67539628 -0.73245771] Pose Error in degrees for R and t: 1.0534492274853482 52.75300685355517 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.99998861e-01 1.50689637e-03 8.80615226e-05] [-1.50690589e-03 9.99998859e-01 1.08145229e-04] [-8.78984585e-05 -1.08277806e-04 9.99999990e-01]] t_estimated: [[ 0.96633752] [-0.25727151] [ 0.00178052]] R_gt: [[ 0.9954724 0.09373306 -0.01579383] [-0.09417235 0.99510892 -0.02984197] [ 0.01291906 0.0311937 0.99942885]] t_gt: [ 0.08842062 0.91802743 -0.38653257] Pose Error in degrees for R and t: 5.650527784037329 81.29040414930125 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 5.33982283e-01 -8.45495047e-01 -1.02298438e-03] [ 8.45495489e-01 5.33982563e-01 -1.30869403e-06] [ 5.47362315e-04 -8.64229857e-04 9.99999477e-01]] t_estimated: [[ 8.38005507e-01] [-5.45661741e-01] [-1.87204232e-04]] R_gt: [[ 9.84277656e-01 -1.76627453e-01 -5.55294798e-04] [ 1.76587659e-01 9.84111039e-01 -1.84594025e-02] [ 3.80590994e-03 1.80717459e-02 9.99829141e-01]] t_gt: [ 0.72764015 -0.67736053 -0.10827056] Pose Error in degrees for R and t: 47.5636170181189 11.650837246032346 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.33585590e-01 5.52390274e-01 -2.22652015e-04] [-5.52388923e-01 8.33582509e-01 -2.58430060e-03] [-1.24194369e-03 2.27722625e-03 9.99996636e-01]] t_estimated: [[8.65285194e-01] [5.01279301e-01] [7.71198925e-04]] R_gt: [[ 0.95727446 -0.28651111 -0.0392018 ] [ 0.28637458 0.9580728 -0.00917198] [ 0.04018579 -0.00244569 0.99918869]] t_gt: [ 0.76579643 -0.63199402 -0.11890913] Pose Error in degrees for R and t: 50.23393466318478 69.773325005739 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999690e-01 -7.63069228e-04 -1.95771783e-04] [ 7.63069509e-04 9.99999709e-01 1.36002509e-06] [ 1.95770688e-04 -1.50941215e-06 9.99999981e-01]] t_estimated: [[9.99988829e-01] [4.71077322e-03] [3.88811832e-04]] R_gt: [[ 0.92254162 -0.38281624 -0.0486689 ] [ 0.38165875 0.92376355 -0.0315671 ] [ 0.05704282 0.01054714 0.99831532]] t_gt: [ 0.78348633 -0.60073938 -0.15893824] Pose Error in degrees for R and t: 22.689031191260227 38.68575461284739 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.84138502 0.54043396 0.00154152] [-0.54043501 -0.84137392 -0.00446415] [-0.00111558 -0.00458916 0.99998885]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.96105687 0.27620079 0.00904805] [-0.27582672 0.96073906 -0.02998692] [-0.01697494 0.02632334 0.99950944]] t_gt: [-0.91251285 0.39987601 -0.08613631] Pose Error in degrees for R and t: 131.2648266137562 64.44362888878831 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.89368867 -0.43682702 0.10248271] [ 0.25815311 -0.68740753 -0.67884303] [ 0.36698437 -0.5802181 0.72709658]] t_estimated: [[0.91817852] [0.3961496 ] [0.00370233]] R_gt: [[ 0.83971395 0.54302866 -0.00105569] [-0.54208558 0.83813652 -0.06057656] [-0.03201073 0.0514391 0.99816258]] t_gt: [-0.84097442 0.53548602 -0.07756773] Pose Error in degrees for R and t: 171.6017969490751 55.92212104883733 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.94458801e-01 1.05127029e-01 2.68718351e-05] [-1.05126851e-01 9.94457528e-01 -1.60339710e-03] [-1.95283272e-04 1.59168741e-03 9.99998714e-01]] t_estimated: [[-9.99963649e-01] [-8.47426822e-03] [-9.41585357e-04]] R_gt: [[ 0.67879201 0.73429707 -0.00699038] [-0.73340753 0.67743034 -0.05657679] [-0.03680938 0.0435306 0.99837404]] t_gt: [-0.77688241 0.62790644 -0.04676774] Pose Error in degrees for R and t: 41.34281574887885 39.50427169435408 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-8.00275080e-03 9.99965055e-01 2.41740114e-03] [ 9.99967882e-01 8.00166940e-03 4.56681739e-04] [ 4.37322536e-04 2.42097821e-03 -9.99996974e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98927568 -0.08947807 0.11544982] [ 0.0623293 0.97342886 0.22034523] [-0.13209771 -0.2107859 0.96856606]] t_gt: [ 0.21020511 -0.21273435 0.95423158] Pose Error in degrees for R and t: 176.38795380006593 77.85261320007373 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.99997889e-01 2.04382823e-03 -2.10783971e-04] [-2.04385037e-03 9.99997906e-01 -1.04892285e-04] [ 2.10569148e-04 1.05322874e-04 9.99999972e-01]] t_estimated: [[-3.53602478e-04] [-9.99999669e-01] [-7.32470235e-04]] R_gt: [[ 0.97128566 -0.15082157 0.184005 ] [ 0.08181771 0.93796808 0.33693145] [-0.22340658 -0.31220218 0.92337431]] t_gt: [ 0.25078858 -0.14079704 0.95774803] Pose Error in degrees for R and t: 23.652252266524535 81.95176084344727 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 7.54613163e-01 6.56165781e-01 2.33302296e-03] [ 6.56166957e-01 -7.54615676e-01 3.26569023e-04] [ 1.97481911e-03 1.28441929e-03 -9.99997225e-01]] t_estimated: [[0.7576576 ] [0.65265175] [0.00080774]] R_gt: [[ 0.96934622 -0.17647163 0.17095589] [ 0.10231591 0.92252289 0.37213391] [-0.22338044 -0.34323571 0.91229976]] t_gt: [ 0.28628991 -0.14848869 0.94656706] Pose Error in degrees for R and t: 164.363912278211 83.06386639127133 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[-9.44916739e-01 -3.27309105e-01 1.05226262e-03] [-3.27310720e-01 9.44913823e-01 -2.35792626e-03] [-2.22526756e-04 -2.57246083e-03 -9.99996666e-01]] t_estimated: [[0.94136011] [0.33739838] [0.00186408]] R_gt: [[ 0.99831036 0.04136954 -0.04081079] [-0.0406752 0.99901539 0.01771377] [ 0.04150316 -0.01602354 0.99900956]] t_gt: [ 0.80062596 0.50410918 -0.32383946] Pose Error in degrees for R and t: 177.87365094075778 22.607589386259914 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.99839327 0.05655525 -0.00351845] [ 0.05656495 0.99839521 -0.00272113] [ 0.00335891 -0.00291578 -0.99999011]] t_estimated: [[9.96356275e-01] [8.52848170e-02] [8.20046317e-04]] R_gt: [[ 0.99483716 0.05252601 -0.08682697] [-0.04887382 0.99784983 0.04366862] [ 0.08893479 -0.03919968 0.99526536]] t_gt: [ 0.92184774 0.33085512 -0.20182081] Pose Error in degrees for R and t: 174.69707907251689 18.819381249068545 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999737e-01 4.70944585e-04 5.51914304e-04] [-4.70299963e-04 9.99999208e-01 -1.16752280e-03] [-5.52463705e-04 1.16726293e-03 9.99999166e-01]] t_estimated: [[0.53869533] [0.84250009] [0.00097062]] R_gt: [[ 0.98089882 0.12508951 -0.14896335] [-0.11265187 0.98961966 0.08922576] [ 0.15857904 -0.07074121 0.98480853]] t_gt: [ 0.65932438 0.71467631 -0.23351475] Pose Error in degrees for R and t: 12.166242132161093 16.850739572152726 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99670896e-01 -2.56534702e-02 1.03780222e-05] [ 2.56534699e-02 9.99670895e-01 3.49703915e-05] [-1.12717186e-05 -3.46926503e-05 9.99999999e-01]] t_estimated: [[9.69454534e-01] [2.45269291e-01] [9.38307793e-04]] R_gt: [[ 0.99857516 -0.01939927 0.04971891] [ 0.01927993 0.99980946 0.00289622] [-0.0497652 -0.00193466 0.99875887]] t_gt: [ 0.28783235 -0.33981696 0.89536416] Pose Error in degrees for R and t: 2.8769176410479207 78.6656598925168 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.96312359 0.26905273 -0.00189076] [-0.26905544 0.96312373 -0.00136016] [ 0.00145508 0.00181872 0.99999729]] t_estimated: [[-0.44251099] [ 0.89672424] [-0.00834617]] R_gt: [[ 0.99862177 -0.04481678 0.0273032 ] [ 0.04462303 0.99897374 0.00769449] [-0.02762107 -0.00646614 0.99959781]] t_gt: [ 0.70222367 -0.56067931 0.43877173] Pose Error in degrees for R and t: 18.254558797253427 35.196661494946355 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 7.33677111e-01 -6.79496554e-01 -1.52656930e-03] [ 6.79493922e-01 7.33678602e-01 -1.92859115e-03] [ 2.43048227e-03 3.77668619e-04 9.99996975e-01]] t_estimated: [[ 0.69177815] [-0.72210353] [-0.00307807]] R_gt: [[ 0.99776691 -0.06635684 -0.00761845] [ 0.06651515 0.99752241 0.02288102] [ 0.00608066 -0.02333709 0.99970968]] t_gt: [ 0.7480326 -0.65237794 0.12186158] Pose Error in degrees for R and t: 39.01940309109178 8.817379386069037 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.44533584 -0.89536216 -0.00160957] [-0.89536116 0.44532969 0.00314141] [-0.00209591 0.00284013 -0.99999377]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.98344639 -0.17819162 -0.03289035] [ 0.17853316 0.98390341 0.00773077] [ 0.03098348 -0.01347591 0.99942939]] t_gt: [ 0.71513796 -0.69646618 -0.05926686] Pose Error in degrees for R and t: 178.7944424527706 84.96422642721379 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 7.63421434e-01 -6.45895773e-01 -2.52262779e-03] [ 6.45892775e-01 7.63425592e-01 -1.97192791e-03] [ 3.19949852e-03 -1.23935029e-04 9.99994874e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.97126638 -0.2339723 -0.04358067] [ 0.2348277 0.97191135 0.01559919] [ 0.0387068 -0.02538504 0.99892792]] t_gt: [ 0.7229223 -0.68983039 -0.03895361] Pose Error in degrees for R and t: 26.78600980679606 84.37482158819861 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.97265935 0.07475677 -0.21987545] [-0.0332928 0.98187961 0.18655834] [ 0.22983772 -0.17413745 0.95752325]] t_estimated: [[-0.53887206] [-0.84238695] [-0.00106496]] R_gt: [[ 0.95366057 -0.30015461 -0.02093527] [ 0.30044114 0.95372131 0.01222149] [ 0.01629835 -0.01794495 0.99970585]] t_gt: [ 0.74870063 -0.66269751 -0.01671477] Pose Error in degrees for R and t: 25.67178757747859 81.0941253341998 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999769e-01 -6.75338328e-04 -7.99485241e-05] [ 6.75291493e-04 9.99999601e-01 -5.84396414e-04] [ 8.03431575e-05 5.84342291e-04 9.99999826e-01]] t_estimated: [[ 0.87311365] [ 0.48750645] [-0.00316408]] R_gt: [[ 0.99971992 -0.02104452 -0.01087371] [ 0.02154865 0.99858897 0.04854867] [ 0.00983669 -0.0487681 0.99876149]] t_gt: [ 0.68848872 -0.44592832 0.57195385] Pose Error in degrees for R and t: 3.1159657928181432 67.54694868781895 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.0368463 -0.91061332 -0.41161358] [-0.6493251 -0.33491034 0.68279717] [-0.75961784 0.24211248 -0.60362429]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99616095 -0.07860904 0.03852692] [ 0.07208948 0.98629216 0.14842945] [-0.04966652 -0.14508133 0.98817197]] t_gt: [ 0.42543759 -0.4203767 0.80142765] Pose Error in degrees for R and t: 152.7000765260947 81.77651631398527 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-0.79882358 -0.56663817 -0.20199525] [ 0.3548565 -0.71499715 0.60237525] [-0.48575484 0.40951223 0.77223181]] t_estimated: [[0.80387507] [0.59479545] [0.00180241]] R_gt: [[ 0.98960296 -0.12767468 0.06622096] [ 0.11024299 0.96905169 0.22087607] [-0.09237162 -0.21127922 0.97305108]] t_gt: [ 0.37344073 -0.42256872 0.82581941] Pose Error in degrees for R and t: 140.46528438883408 87.11415489241945 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-9.85792237e-01 -1.67965110e-01 -1.17782589e-03] [ 1.67966539e-01 -9.85791914e-01 -1.24240883e-03] [-9.52409899e-04 -1.42259232e-03 9.99998535e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99743858 -0.0624839 -0.03483027] [ 0.06597619 0.99170595 0.11029835] [ 0.02764941 -0.1123133 0.9932877 ]] t_gt: [ 0.27507265 -0.77466007 0.56941796] Pose Error in degrees for R and t: 166.65333100102063 85.62489986781894 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 5.44292102e-01 8.38891835e-01 2.56851930e-03] [ 8.38895556e-01 -5.44291586e-01 -9.56911216e-04] [ 5.95278440e-04 2.67555865e-03 -9.99996244e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.98592166 -0.13625342 -0.09691779] [ 0.1480988 0.98066944 0.12788027] [ 0.0776198 -0.14043287 0.98704235]] t_gt: [ 0.47542045 -0.81017085 0.34292651] Pose Error in degrees for R and t: 170.92086564516583 84.81780618025121 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-9.13407112e-01 -4.07046661e-01 -6.81362941e-04] [ 4.07044446e-01 -9.13393390e-01 -5.22827382e-03] [ 1.50579899e-03 -5.05288749e-03 9.99986100e-01]] t_estimated: [[8.55663112e-01] [5.17532794e-01] [6.66923704e-04]] R_gt: [[ 0.96109393 -0.24678744 -0.12407508] [ 0.26233196 0.95614683 0.13024829] [ 0.08648958 -0.15773034 0.98368691]] t_gt: [ 0.58957533 -0.76260195 0.26615635] Pose Error in degrees for R and t: 141.25917552640843 83.68561559671315 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[ 9.12972601e-01 4.08020537e-01 5.20764430e-04] [-4.08020264e-01 9.12972702e-01 -5.57177237e-04] [-7.02783464e-04 2.96205111e-04 9.99999709e-01]] t_estimated: [[-0.49626301] [ 0.86817167] [ 0.00098929]] R_gt: [[ 0.99971451 -0.01233437 -0.02048638] [ 0.01243427 0.99991094 0.00477369] [ 0.02042588 -0.00502666 0.99977818]] t_gt: [ 0.32003946 -0.93539671 -0.15035871] Pose Error in degrees for R and t: 24.821096381560118 13.818450308464579 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-2.89164308e-01 9.57276777e-01 -2.27490008e-03] [-9.57278132e-01 -2.89167072e-01 -9.90838088e-04] [-1.60633249e-03 1.89119709e-03 9.99996922e-01]] t_estimated: [[-3.06467982e-01] [ 9.51880594e-01] [-8.43314959e-04]] R_gt: [[ 9.99682420e-01 -2.42976270e-05 -2.51961713e-02] [-1.19168147e-03 9.98836494e-01 -4.82160372e-02] [ 2.51675736e-02 4.82316272e-02 9.98518454e-01]] t_gt: [ 0.06677978 -0.37084215 -0.92629183] Pose Error in degrees for R and t: 106.80151823272136 68.11887179932563 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.39783751e-01 3.41769312e-01 4.88335719e-04] [-3.41769262e-01 9.39783878e-01 -1.86730076e-04] [-5.22748645e-04 8.58775322e-06 9.99999863e-01]] t_estimated: [[0.24307021] [0.9700082 ] [0.00098591]] R_gt: [[ 0.99792777 -0.06304991 -0.01280827] [ 0.0609871 0.99043326 -0.12378174] [ 0.02049032 0.12274469 0.99222654]] t_gt: [ 0.34143109 0.00401288 -0.93989824] Pose Error in degrees for R and t: 24.600078083861025 85.06890717576388 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.98628000e-01 5.23652242e-02 2.63504850e-05] [-5.23652230e-02 9.98627999e-01 -4.62319445e-05] [-2.87352783e-05 4.47886653e-05 9.99999999e-01]] t_estimated: [[ 1.58584704e-01] [-9.87345261e-01] [-4.77512485e-04]] R_gt: [[ 0.99915169 -0.03628194 0.01947763] [ 0.03509384 0.99768816 0.05818993] [-0.02154367 -0.05745722 0.99811504]] t_gt: [ 0.36223109 -0.43098318 0.82646363] Pose Error in degrees for R and t: 6.154326010330507 61.146032550394764 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.73216639e-01 2.29889331e-01 5.18135264e-04] [-2.29888444e-01 9.73216003e-01 -1.38363238e-03] [-8.22339853e-04 1.22746074e-03 9.99998909e-01]] t_estimated: [[-9.49846810e-01] [-3.12714341e-01] [-8.82462229e-04]] R_gt: [[ 0.99742861 -0.04823583 0.05301202] [ 0.04214826 0.9929807 0.11051141] [-0.05797003 -0.10799235 0.99246045]] t_gt: [ 0.2320192 -0.29814238 0.9258932 ] Pose Error in degrees for R and t: 17.391480702109536 82.64790805313311 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.49908871e-01 -3.12526992e-01 -1.26216056e-04] [ 3.12526913e-01 9.49908807e-01 -4.33179531e-04] [ 2.55274039e-04 3.72035165e-04 9.99999898e-01]] t_estimated: [[0.94876104] [0.31599187] [0.00127785]] R_gt: [[ 0.99532419 -0.07320473 0.06301424] [ 0.06441097 0.98918584 0.13177044] [-0.0719782 -0.12709567 0.98927541]] t_gt: [ 0.31543693 -0.28855279 0.90401152] Pose Error in degrees for R and t: 16.538549498485832 77.92164700972565 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.73579185e-01 2.28349641e-01 1.06700533e-04] [-2.28349594e-01 9.73579144e-01 -3.37376102e-04] [-1.80921125e-04 3.04097327e-04 9.99999937e-01]] t_estimated: [[-0.6184732 ] [-0.78580547] [-0.00082026]] R_gt: [[ 0.99388346 -0.05354167 0.09658826] [ 0.03854167 0.98778723 0.15097112] [-0.10349028 -0.14632413 0.98380818]] t_gt: [ 0.1620235 -0.19745376 0.96683008] Pose Error in degrees for R and t: 18.91263417422292 86.89534156066951 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.55498865 0.82982279 -0.05815271] [ 0.82852518 0.55766421 0.05056348] [ 0.07438841 -0.02011882 -0.99702638]] t_estimated: [[-0.18992668] [-0.98128785] [-0.03165445]] R_gt: [[ 0.99306647 -0.08050402 0.08566715] [ 0.06329491 0.98023491 0.18743807] [-0.09906328 -0.18071571 0.97853435]] t_gt: [ 0.24407075 -0.24542493 0.93818765] Pose Error in degrees for R and t: 175.4596001538739 80.51559536051451 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.73892474 -0.67332684 0.02492392] [-0.67343886 0.73922704 0.00484562] [-0.02168712 -0.01320419 -0.99967761]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.98952137 -0.07630893 0.12257759] [ 0.04664437 0.97235874 0.22878773] [-0.13664601 -0.22067198 0.96572812]] t_gt: [ 0.17309381 -0.15144003 0.97319292] Pose Error in degrees for R and t: 166.8801808868498 80.01952890040089 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99783833e-01 -2.07914935e-02 -1.17354129e-05] [ 2.07914938e-02 9.99783833e-01 2.84041996e-05] [ 1.11423103e-05 -2.86420563e-05 1.00000000e+00]] t_estimated: [[0.7822754 ] [0.6229317 ] [0.00114133]] R_gt: [[ 0.99999129 0.00310007 -0.0028851 ] [-0.00316764 0.9997151 -0.02364074] [ 0.00281093 0.02364952 0.9997162 ]] t_gt: [-0.11131339 -0.48642884 -0.86660043] Pose Error in degrees for R and t: 1.935705713445384 66.97836138408927 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-9.43177911e-01 3.32274902e-01 -2.96934676e-03] [-3.32276530e-01 -9.43182010e-01 5.84143404e-05] [-2.78122483e-03 1.04173936e-03 9.99995590e-01]] t_estimated: [[0.85783815] [0.51391828] [0.00130768]] R_gt: [[ 0.99984523 -0.00797433 -0.01568234] [ 0.00649957 0.99574388 -0.09193764] [ 0.01634948 0.09182046 0.99564165]] t_gt: [-0.00854576 0.39201154 -0.91992061] Pose Error in degrees for R and t: 161.02141106358707 78.8762884233866 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 8.82368755e-01 4.70554666e-01 1.92011746e-03] [-4.70558550e-01 8.82359804e-01 3.97842106e-03] [ 1.77830129e-04 -4.41396212e-03 9.99990243e-01]] t_estimated: [[0.3063693 ] [0.9519121 ] [0.00109818]] R_gt: [[ 0.9986604 -0.05147622 -0.00526601] [ 0.05012859 0.98766775 -0.14832258] [ 0.01283646 0.14785968 0.98892516]] t_gt: [ 0.10755499 0.48619773 -0.86720453] Pose Error in degrees for R and t: 32.19285700854645 60.3423357167915 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.99329689 -0.11552842 0.00380418] [-0.11558296 -0.99307847 0.02087423] [ 0.00136629 -0.02117401 -0.99977487]] t_estimated: [[0.05525824] [0.99841145] [0.01100431]] R_gt: [[ 0.99074259 0.12880853 0.04287089] [-0.13005073 0.99112362 0.02756511] [-0.03893902 -0.03288597 0.99870004]] t_gt: [-0.85590881 0.46067643 0.23494115] Pose Error in degrees for R and t: 176.91680597971813 65.46594851968231 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-9.11699498e-02 9.95835036e-01 7.88581341e-04] [-9.95834112e-01 -9.11685605e-02 -1.64770178e-03] [-1.56894533e-03 -9.35517088e-04 9.99998332e-01]] t_estimated: [[0.22201665] [0.9750422 ] [0.00114442]] R_gt: [[ 0.96558896 0.25602165 0.04572126] [-0.2579924 0.96513711 0.04415008] [-0.03282377 -0.054426 0.99797827]] t_gt: [-0.82919517 0.52717718 0.18579447] Pose Error in degrees for R and t: 80.38968721470407 70.72287904137808 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.72560115e-01 2.32651042e-01 5.60839706e-04] [-2.32651293e-01 9.72560121e-01 4.32007269e-04] [-4.44943391e-04 -5.50633122e-04 9.99999749e-01]] t_estimated: [[-0.89461512] [ 0.44683612] [ 0.00112941]] R_gt: [[ 0.92038341 0.38809681 0.04770904] [-0.3883297 0.92150823 -0.00466603] [-0.04577478 -0.01423169 0.99885055]] t_gt: [-0.78899622 0.61034868 0.07042334] Pose Error in degrees for R and t: 9.78748150474618 11.859828060559101 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99922224 0.03940692 -0.00141829] [-0.03940195 0.99921775 0.00337212] [ 0.00155007 -0.00331362 0.99999331]] t_estimated: [[0.60395745] [0.79701473] [0.00170927]] R_gt: [[ 0.99725153 -0.05458806 0.05009736] [ 0.04898476 0.99305451 0.10696713] [-0.05558931 -0.10421848 0.9929995 ]] t_gt: [ 0.20695696 -0.4416726 0.87298003] Pose Error in degrees for R and t: 8.464589552758557 76.9657061309856 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.82813403 -0.56052076 -0.00324299] [ 0.56052801 -0.82813296 -0.00203841] [-0.00154306 -0.00350586 0.99999266]] t_estimated: [[0.9207441 ] [0.39016531] [0.00115093]] R_gt: [[ 0.99219265 -0.09305522 0.08303427] [ 0.07589095 0.9788251 0.19010861] [-0.09896751 -0.18232264 0.97824518]] t_gt: [ 0.16634 -0.4397728 0.88257061] Pose Error in degrees for R and t: 141.22370607600158 89.00233056779787 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 9.99997239e-01 -2.35005109e-03 -1.54209340e-06] [ 2.35005147e-03 9.99997182e-01 3.37827947e-04] [ 7.48176121e-07 -3.37830638e-04 9.99999943e-01]] t_estimated: [[ 2.21560888e-04] [ 9.99999968e-01] [-1.23901765e-04]] R_gt: [[ 0.98878668 -0.10451817 0.10666522] [ 0.07668628 0.96826096 0.23788652] [-0.1281441 -0.22703896 0.96541836]] t_gt: [ 0.10773867 -0.40978377 0.90579779] Pose Error in degrees for R and t: 15.945893036321316 65.80319865513377 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 1.00000000e+00 -1.42108547e-14 6.42389787e-17] [ 1.41553436e-14 1.00000000e+00 3.41523684e-17] [ 7.27309922e-16 3.48299948e-18 1.00000000e+00]] t_estimated: [[ 9.39732357e-01] [ 3.41910883e-01] [-2.13294375e-04]] R_gt: [[ 9.98727456e-01 -5.04054921e-02 1.06847362e-03] [ 5.04067045e-02 9.98727552e-01 -8.52503669e-04] [-1.02402796e-03 9.05497021e-04 9.99998534e-01]] t_gt: [ 0.79089355 -0.61163029 0.0198944 ] Pose Error in degrees for R and t: 2.891592150020483 57.71703841019153 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 1.00000000e+00 -2.70788947e-12 -2.01663772e-14] [ 2.70783396e-12 1.00000000e+00 1.71238891e-14] [ 2.05835782e-14 -1.67760771e-14 1.00000000e+00]] t_estimated: [[ 0.6414853 ] [-0.76713228] [-0.00216171]] R_gt: [[ 0.99607421 -0.08599278 0.02102108] [ 0.08624183 0.99621076 -0.0112043 ] [-0.01997763 0.01297401 0.99971609]] t_gt: [ 0.78385867 -0.61464669 0.08817615] Pose Error in degrees for R and t: 5.126061076545855 13.053772101568045 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 1.00000000e+00 5.62327962e-14 -7.58941521e-19] [-5.61772850e-14 1.00000000e+00 -1.25177917e-16] [ 2.52131215e-16 -7.39114174e-16 1.00000000e+00]] t_estimated: [[ 9.59918006e-01] [ 2.80280918e-01] [-1.71395482e-04]] R_gt: [[ 9.81740580e-01 -1.90223730e-01 8.94813383e-04] [ 1.90195520e-01 9.81487686e-01 -2.24772871e-02] [ 3.39817412e-03 2.22377066e-02 9.99746694e-01]] t_gt: [ 0.78563583 -0.61667376 -0.04989813] Pose Error in degrees for R and t: 11.041871161139312 54.457079967409335 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.98530843e-01 -5.41861783e-02 -1.16234149e-04] [ 5.41862418e-02 9.98530642e-01 6.39068890e-04] [ 8.14346590e-05 -6.44428289e-04 9.99999789e-01]] t_estimated: [[-9.71256187e-01] [-2.38035169e-01] [-8.23495794e-04]] R_gt: [[ 9.89428539e-01 1.44958677e-01 4.38271788e-03] [-1.44956727e-01 9.89437945e-01 -5.82621807e-04] [-4.42139838e-03 -5.85195020e-05 9.99990328e-01]] t_gt: [-0.86622825 0.49929144 0.01888564] Pose Error in degrees for R and t: 11.443953159712468 43.74162147579288 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-9.97707820e-01 6.69774272e-02 -9.65043415e-03] [ 6.69683640e-02 9.97754304e-01 1.25962031e-03] [ 9.71312834e-03 6.10459246e-04 -9.99952640e-01]] t_estimated: [[ 0.99985897] [-0.01622293] [-0.004343 ]] R_gt: [[ 0.96306972 0.26924442 -0.00202821] [-0.26921319 0.96277825 -0.02412287] [-0.00454209 0.02377745 0.99970734]] t_gt: [-0.81754852 0.57429108 -0.04247562] Pose Error in degrees for R and t: 179.56337361551644 34.25247573841792 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.84661848e-01 -1.74472862e-01 -5.15043108e-04] [ 1.74473076e-01 9.84661862e-01 4.05089403e-04] [ 4.36466198e-04 -4.88737235e-04 9.99999785e-01]] t_estimated: [[-0.22716138] [-0.9738558 ] [-0.00160939]] R_gt: [[ 0.95248838 0.30247492 -0.03573633] [-0.3030229 0.95292041 -0.0109721 ] [ 0.03073399 0.02128038 0.99930151]] t_gt: [-0.78222465 0.61885547 -0.07171121] Pose Error in degrees for R and t: 27.757176534545884 64.85760611139925 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 5.37786667e-01 -8.43079135e-01 -1.75291361e-03] [ 8.43079156e-01 5.37788653e-01 -9.49048632e-04] [ 1.74282015e-03 -9.67459227e-04 9.99998013e-01]] t_estimated: [[ 9.60958432e-01] [-2.76691436e-01] [-8.61410699e-04]] R_gt: [[ 0.99497275 -0.07519704 -0.0661357 ] [ 0.07879035 0.99545373 0.05350914] [ 0.06181115 -0.05845122 0.99637482]] t_gt: [ 0.57149919 -0.8065458 0.15123674] Pose Error in degrees for R and t: 53.242726692922126 39.4462456719024 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-7.38602518e-01 -6.74141092e-01 3.30703804e-04] [-6.74139187e-01 7.38599062e-01 -2.78970832e-03] [ 1.63639949e-03 -2.28342598e-03 -9.99996054e-01]] t_estimated: [[9.03368494e-01] [4.28864594e-01] [7.24433435e-04]] R_gt: [[ 0.97687479 -0.18843761 -0.10103016] [ 0.19471453 0.97924344 0.05628336] [ 0.08832705 -0.074653 0.99328966]] t_gt: [ 0.65447339 -0.75308706 0.06726405] Pose Error in degrees for R and t: 176.2187551582612 74.43645194212858 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.97842553 0.20514911 -0.0244404 ] [ 0.20524249 0.97871022 -0.00134874] [ 0.02364338 -0.00633585 -0.99970038]] t_estimated: [[ 0.99276352] [ 0.11991328] [-0.00643376]] R_gt: [[ 0.94941843 -0.29642552 -0.10361532] [ 0.30272374 0.95170279 0.0511812 ] [ 0.08343962 -0.07995833 0.99330017]] t_gt: [ 0.70024253 -0.71218438 0.04953588] Pose Error in degrees for R and t: 172.80091769235864 52.44980849301643 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.61640017 0.76139615 -0.20081518] [-0.39046008 0.51700819 0.76173713] [ 0.68380681 -0.39112459 0.61597874]] t_estimated: [[-0.91930781] [ 0.08850687] [-0.38345753]] R_gt: [[ 0.99933641 0.01775416 -0.0318125 ] [-0.02141353 0.99270271 -0.11867383] [ 0.02947248 0.11927651 0.9924232 ]] t_gt: [ 0.15926332 0.37412783 -0.91359923] Pose Error in degrees for R and t: 70.97658972302172 76.28884034104232 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.1776271 0.98409604 0.00189871] [ 0.98409298 -0.17763196 0.00280924] [ 0.00310184 0.00136951 -0.99999425]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 9.99039784e-01 -1.23775339e-02 -4.20206012e-02] [ 5.73404190e-05 9.59620680e-01 -2.81296786e-01] [ 4.38054977e-02 2.81025838e-01 9.58699190e-01]] t_gt: [ 0.21045753 0.39733277 -0.89321571] Pose Error in degrees for R and t: 169.13832757842997 74.29164362091969 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.99976012 -0.02186773 0.00122886] [ 0.02187014 0.99975884 -0.00198884] [-0.00118507 0.00201524 0.99999727]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.99807869 -0.04680957 -0.04061158] [ 0.03099396 0.94452579 -0.32697044] [ 0.05366276 0.32508403 0.94416127]] t_gt: [ 0.26491488 0.366395 -0.89195 ] Pose Error in degrees for R and t: 19.16193073761295 72.35976109302237 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.13374847e-01 -4.07106432e-01 3.27750688e-03] [-4.07104771e-01 -9.13380693e-01 -1.18905982e-03] [ 3.47768541e-03 -2.48231358e-04 -9.99993922e-01]] t_estimated: [[0.59420178] [0.80431557] [0.00084046]] R_gt: [[ 0.99950879 -0.02298381 -0.02132836] [ 0.01964799 0.98919976 -0.14524953] [ 0.02443734 0.14475869 0.98916486]] t_gt: [ 0.24808663 0.27331456 -0.92938268] Pose Error in degrees for R and t: 171.5402075862051 68.50231885673492 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 7.18398955e-03 9.99973350e-01 -1.29953375e-03] [-9.99974098e-01 7.18340947e-03 -4.50494682e-04] [-4.41147594e-04 1.30273644e-03 9.99999054e-01]] t_estimated: [[-4.30274217e-03] [ 9.99990640e-01] [-4.53761640e-04]] R_gt: [[ 0.99786548 -0.05931669 -0.02732459] [ 0.05343489 0.98210425 -0.18060118] [ 0.03754846 0.17875557 0.98317599]] t_gt: [ 0.34845393 0.19221009 -0.91740675] Pose Error in degrees for R and t: 93.29680973385128 78.9815390503016 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.99993655 0.00393571 0.01055488] [-0.00381605 0.9999285 -0.01133299] [-0.01059872 0.01129199 0.99988007]] t_estimated: [[0.99962932] [0.02709023] [0.00270902]] R_gt: [[ 0.98918271 -0.13877981 -0.04750754] [ 0.12505018 0.96712123 -0.22144941] [ 0.07667901 0.21311336 0.9740133 ]] t_gt: [ 0.48762336 0.04863554 -0.87169837] Pose Error in degrees for R and t: 14.91169587934949 60.895847775858364 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99093339e-01 4.25734529e-02 -4.21248058e-05] [-4.25734459e-02 9.99093328e-01 1.55891521e-04] [ 4.87234527e-05 -1.53956782e-04 9.99999987e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99345702 -0.09884419 -0.05721894] [ 0.1005636 0.99453732 0.02799438] [ 0.05413974 -0.03356546 0.9979684 ]] t_gt: [ 0.64425148 -0.76332858 -0.04763926] Pose Error in degrees for R and t: 8.943289754347308 50.07051295732713 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 6.34145624e-01 -7.73213443e-01 5.47059692e-04] [ 7.73212102e-01 6.34145616e-01 1.54401717e-03] [-1.54077034e-03 -5.56138559e-04 9.99998658e-01]] t_estimated: [[0.99996733] [0.00793798] [0.00152298]] R_gt: [[ 0.9737112 -0.21688183 -0.06964705] [ 0.21937391 0.97516982 0.03029759] [ 0.0613472 -0.04478007 0.99711136]] t_gt: [ 0.68464631 -0.72883981 -0.00720823] Pose Error in degrees for R and t: 38.26813145388091 47.24791581448045 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999486e-01 8.42090029e-04 5.65050202e-04] [-8.41944480e-04 9.99999612e-01 -2.57774105e-04] [-5.65267052e-04 2.57298231e-04 9.99999807e-01]] t_estimated: [[0.94365782] [0.33092078] [0.00116535]] R_gt: [[ 0.9653762 -0.26074628 0.00789442] [ 0.26085969 0.96470491 -0.03601989] [ 0.00177637 0.03683102 0.99932004]] t_gt: [ 0.63619544 -0.76050419 -0.12995666] Pose Error in degrees for R and t: 15.314295250862028 69.60240442766538 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99812520e-01 1.93623169e-02 -1.57695280e-04] [-1.93623051e-02 9.99812530e-01 7.62641317e-05] [ 1.59142368e-04 -7.31964896e-05 9.99999985e-01]] t_estimated: [[-0.99805797] [ 0.06227986] [-0.00122769]] R_gt: [[ 0.99438095 0.10331531 -0.02307047] [-0.10340191 0.99463599 -0.00257171] [ 0.02268163 0.00494403 0.99973022]] t_gt: [-0.82657548 0.55330843 -0.10306675] Pose Error in degrees for R and t: 5.001947766077832 30.733148501247204 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.95436007 0.29789874 -0.02128837] [ 0.29789901 0.95459192 0.00323221] [ 0.02128458 -0.00325709 -0.99976815]] t_estimated: [[ 0.99180125] [-0.12736868] [-0.01036787]] R_gt: [[ 0.99041895 0.12760444 -0.05279382] [-0.12810697 0.99174047 -0.00622861] [ 0.05156312 0.01293257 0.99858607]] t_gt: [-0.71909747 0.66539319 -0.20037647] Pose Error in degrees for R and t: 175.88897706742674 37.26206276718675 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999998e-01 4.57031983e-05 3.93687052e-05] [-4.58156601e-05 9.99995905e-01 2.86137997e-03] [-3.92377698e-05 -2.86138177e-03 9.99995905e-01]] t_estimated: [[0.76536677] [0.64358723] [0.00303045]] R_gt: [[ 0.98360126 0.1769297 -0.03500368] [-0.17811379 0.9834139 -0.03422749] [ 0.02836764 0.03990207 0.99880127]] t_gt: [-0.63758747 0.7457005 -0.19342434] Pose Error in degrees for R and t: 10.640531821819321 89.50432177703605 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.94398593e-01 -1.05694993e-01 -8.65530167e-05] [ 1.05694995e-01 9.94398596e-01 1.63185754e-05] [ 8.43434065e-05 -2.53753891e-05 9.99999996e-01]] t_estimated: [[ 7.13609434e-01] [-7.00543642e-01] [-4.25542525e-04]] R_gt: [[ 9.98144891e-01 -5.66177249e-02 2.23621370e-02] [ 5.66239378e-02 9.98395696e-01 3.06286154e-04] [-2.23444151e-02 9.61015995e-04 9.99750464e-01]] t_gt: [ 0.84381693 -0.50476325 0.18217313] Pose Error in degrees for R and t: 3.10025958740567 17.120668095398944 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99474551e-01 3.24126867e-02 1.98823695e-04] [-3.24126641e-02 9.99474565e-01 -1.15974611e-04] [-2.02478275e-04 1.09469267e-04 9.99999974e-01]] t_estimated: [[9.97083468e-01] [7.63170837e-02] [5.11008940e-04]] R_gt: [[ 0.98323094 -0.18166984 0.01583672] [ 0.18134237 0.9832143 0.02014036] [-0.0192302 -0.01693101 0.9996719 ]] t_gt: [ 0.83638452 -0.53542106 0.11741051] Pose Error in degrees for R and t: 12.403206491893012 37.519754691583465 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.97681504e-01 -6.80559372e-02 -7.37906280e-05] [ 6.80558884e-02 9.97681368e-01 -5.33785327e-04] [ 1.09946795e-04 5.27525861e-04 9.99999855e-01]] t_estimated: [[-0.52704417] [-0.84983593] [-0.00182368]] R_gt: [[ 9.59336890e-01 -2.82261177e-01 -1.14647887e-03] [ 2.82260035e-01 9.59337644e-01 -9.16965776e-04] [ 1.35930378e-03 5.56741206e-04 9.99999169e-01]] t_gt: [ 0.84857888 -0.52893597 -0.01185833] Pose Error in degrees for R and t: 12.492983275281908 89.86868577774814 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.12214559 0.99243094 -0.01269982] [ 0.99241652 -0.12194616 0.01544587] [ 0.01378027 -0.01449015 -0.99980005]] t_estimated: [[ 0.63555627] [-0.77199397] [-0.00967141]] R_gt: [[ 0.98902044 0.14728037 0.01213021] [-0.14768985 0.98794132 0.04646755] [-0.00513972 -0.04774882 0.99884529]] t_gt: [-0.5913522 0.76426172 0.25730643] Pose Error in degrees for R and t: 177.1557686467637 14.45785426438719 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99524941e-01 -3.08203199e-02 -3.25498051e-05] [ 3.08203236e-02 9.99524934e-01 1.17998691e-04] [ 2.88975844e-05 -1.18945830e-04 9.99999993e-01]] t_estimated: [[0.75322599] [0.65776072] [0.00119999]] R_gt: [[ 0.97127018 0.23793026 -0.00494627] [-0.23737255 0.97005929 0.05136601] [ 0.01701985 -0.04871616 0.99866688]] t_gt: [-0.52385315 0.84587872 0.10033474] Pose Error in degrees for R and t: 15.799829451770082 80.68127163138195 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.59059103 -0.80677688 0.01770033] [-0.80691783 -0.59066187 0.00147412] [ 0.00926563 -0.01515331 -0.99984225]] t_estimated: [[0.45614328] [0.88990571] [0.00106576]] R_gt: [[ 0.89521124 0.44513802 0.02119406] [-0.4456003 0.89477152 0.02868987] [-0.00619337 -0.03512735 0.99936264]] t_gt: [-0.47335102 0.87904158 0.0567865 ] Pose Error in degrees for R and t: 177.24034664823145 55.49982494315171 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.12073041 0.9926836 -0.00185174] [-0.99268394 -0.12073315 -0.00144713] [-0.00166011 0.00166348 0.99999724]] t_estimated: [[3.93938245e-01] [9.19136812e-01] [4.24195378e-04]] R_gt: [[ 0.99884402 -0.03664901 0.03110001] [ 0.03304201 0.99344084 0.1094671 ] [-0.03490757 -0.10831292 0.9935038 ]] t_gt: [ 0.1315915 -0.37914235 0.91593382] Pose Error in degrees for R and t: 99.10679703391583 72.76711847273981 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.99949323 -0.03180562 -0.00130022] [-0.03180913 0.9994901 0.00277803] [ 0.0012112 0.00281798 -0.9999953 ]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189842e-04]] R_gt: [[ 0.99560792 -0.07878441 0.05057157] [ 0.06818322 0.98037628 0.184969 ] [-0.06415127 -0.18070831 0.98144176]] t_gt: [ 0.18800354 -0.39865098 0.89762579] Pose Error in degrees for R and t: 176.59342444948217 79.19527690269628 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.99939156 -0.03477206 0.00272146] [-0.0347631 0.99939023 0.00327036] [-0.00283352 0.00317376 -0.99999095]] t_estimated: [[0.99820894] [0.0598071 ] [0.00142398]] R_gt: [[ 0.99591832 -0.07249052 0.05378911] [ 0.06438406 0.98811653 0.13957069] [-0.06326724 -0.13553816 0.9887495 ]] t_gt: [ 0.19959615 -0.43470425 0.87817629] Pose Error in degrees for R and t: 176.3326769709071 79.95097480968471 Number of keypoints: Image1: 378 Image2: 378 R_estimated: [[ 9.83145366e-01 -1.82825531e-01 -1.20000502e-04] [ 1.82825563e-01 9.83145304e-01 3.53826711e-04] [ 5.32893738e-05 -3.69802251e-04 9.99999930e-01]] t_estimated: [[0.98168922] [0.19048695] [0.00099615]] R_gt: [[ 0.9975017 -0.02875794 0.06452566] [ 0.02981943 0.99943406 -0.01555155] [-0.06404265 0.01743683 0.99779499]] t_gt: [-0.4958745 0.21052907 0.84248798] Pose Error in degrees for R and t: 9.639899467668915 63.52211383901686 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 5.83658553e-01 8.11991864e-01 -3.45066014e-03] [-8.11994467e-01 5.83664387e-01 9.32475250e-04] [ 2.77118975e-03 2.25766979e-03 9.99993612e-01]] t_estimated: [[-0.39525842] [ 0.91855974] [-0.00433424]] R_gt: [[ 0.99572579 -0.04051059 0.08300797] [ 0.04573862 0.99702244 -0.0620793 ] [-0.08024641 0.06561089 0.99461318]] t_gt: [-0.58486789 0.66807634 0.46000386] Pose Error in degrees for R and t: 57.06942529658559 32.55788181922536 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.93710457e-01 1.11979999e-01 -8.45091370e-05] [-1.11980010e-01 9.93710450e-01 -1.35307497e-04] [ 6.88258791e-05 1.43919809e-04 9.99999987e-01]] t_estimated: [[-0.50241878] [ 0.86462393] [-0.00091504]] R_gt: [[ 0.99589344 -0.03193527 0.08471812] [ 0.03753864 0.99715285 -0.06539811] [-0.08238877 0.06830914 0.9942565 ]] t_gt: [-0.59451513 0.76689723 0.2417031 ] Pose Error in degrees for R and t: 10.423675674111875 15.939524103372122 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-0.02095728 0.99977849 -0.00193795] [-0.99977103 -0.02096543 -0.00428335] [-0.00432303 0.00184774 0.99998895]] t_estimated: [[0.05334566] [0.99857541] [0.00117715]] R_gt: [[ 0.99703337 -0.07654992 -0.00807096] [ 0.07588105 0.99506159 -0.06398716] [ 0.0129302 0.0631844 0.9979183 ]] t_gt: [ 0.48395894 -0.55726164 -0.67471713] Pose Error in degrees for R and t: 95.62101361196963 57.89686643899877 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 6.35774360e-01 7.71873252e-01 1.62661430e-03] [-7.71872409e-01 6.35776266e-01 -1.23393571e-03] [-1.98660474e-03 -4.71034012e-04 9.99997916e-01]] t_estimated: [[0.02855968] [0.99958872] [0.00259633]] R_gt: [[ 0.99954849 -0.01677891 -0.02494943] [ 0.015014 0.99747958 -0.06934332] [ 0.02605008 0.06893722 0.99728109]] t_gt: [ 0.02152683 0.35655742 -0.93402538] Pose Error in degrees for R and t: 51.59761407961476 69.23103633152925 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.97492298e-01 7.07727868e-02 -5.73619210e-04] [-7.07727774e-02 9.97492462e-01 3.66901332e-05] [ 5.74777501e-04 3.99849932e-06 9.99999835e-01]] t_estimated: [[8.55367739e-01] [5.18020836e-01] [6.66693483e-04]] R_gt: [[ 0.99903639 0.03655783 -0.0242818 ] [-0.03847799 0.99572037 -0.0840278 ] [ 0.0211066 0.08488052 0.99616851]] t_gt: [-0.22806504 0.76085286 -0.60752718] Pose Error in degrees for R and t: 5.35939317068288 78.54179192618993 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99997728e-01 2.11298159e-03 2.82312364e-04] [-2.11300368e-03 9.99997765e-01 7.79909665e-05] [-2.82146940e-04 -7.85873164e-05 9.99999957e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9993626 -0.0271146 0.02326655] [ 0.02568575 0.99789029 0.05963701] [-0.02483486 -0.05900089 0.99794875]] t_gt: [ 0.15642305 -0.45767146 0.87525349] Pose Error in degrees for R and t: 4.008085707426447 81.04367038589142 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.60764888 0.74777917 -0.26756148] [-0.66281328 0.66307449 0.34786603] [ 0.43754016 -0.0340371 0.89855444]] t_estimated: [[-0.66685271] [ 0.57115151] [-0.47863704]] R_gt: [[ 0.99984879 -0.01096737 0.01355943] [ 0.01145623 0.99926365 -0.03661674] [-0.01314818 0.03676651 0.99923712]] t_gt: [ 0.26805817 -0.18694866 -0.94508995] Pose Error in degrees for R and t: 55.63770847844948 80.39680530316325 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.37552828 -0.91822951 0.12582959] [-0.92395603 0.36025707 -0.12853055] [ 0.07268954 -0.16452786 -0.98369041]] t_estimated: [[8.77762188e-01] [4.79096563e-01] [1.54840472e-04]] R_gt: [[ 0.99893639 -0.01822201 -0.04236603] [ 0.01254885 0.99136629 -0.13051454] [ 0.04437851 0.12984469 0.99054 ]] t_gt: [ 0.12016301 0.17489386 -0.97722719] Pose Error in degrees for R and t: 175.53216373228398 79.09890110684668 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.81758679 -0.57566955 0.01250648] [-0.57577347 -0.81711996 0.02828223] [-0.00606192 -0.03032408 -0.99952174]] t_estimated: [[0.3305068 ] [0.94371883] [0.01265026]] R_gt: [[ 0.99925177 -0.01130784 0.03700347] [ 0.01309947 0.99873557 -0.04854171] [-0.03640725 0.04899083 0.99813533]] t_gt: [-0.57351225 0.81706974 0.05899777] Pose Error in degrees for R and t: 179.7277438220377 54.38888171510063 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99523710e-01 3.08601569e-02 -5.40601781e-05] [-3.08601636e-02 9.99523704e-01 -1.28089968e-04] [ 5.00815530e-05 1.29697266e-04 9.99999990e-01]] t_estimated: [[-0.66950292] [ 0.74280881] [-0.00095585]] R_gt: [[ 0.99840355 0.00331307 0.0563873 ] [ 0.00108945 0.99696331 -0.07786694] [-0.05647382 0.07780481 0.99536731]] t_gt: [-0.54903991 0.83295003 -0.06891613] Pose Error in degrees for R and t: 5.770109346251173 9.469851512967807 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99694249e-01 -2.47260979e-02 -1.70663259e-04] [ 2.47260701e-02 9.99694251e-01 -1.62817448e-04] [ 1.74636919e-04 1.58547835e-04 9.99999972e-01]] t_estimated: [[-0.7799924 ] [ 0.6257864 ] [-0.00179914]] R_gt: [[ 0.99840323 -0.01534915 0.05436564] [ 0.02039405 0.99541194 -0.09348235] [-0.05268197 0.0944424 0.9941351 ]] t_gt: [-0.50066411 0.84923952 -0.16771308] Pose Error in degrees for R and t: 6.217427973472948 22.741477007676004 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[-0.89338606 -0.44617242 0.05283484] [-0.446567 0.89473763 0.00474165] [-0.04938892 -0.01935817 -0.99859201]] t_estimated: [[0.98950159] [0.14130252] [0.03033489]] R_gt: [[ 0.99718381 -0.04838974 -0.0573121 ] [ 0.0432586 0.99521394 -0.0876191 ] [ 0.06127846 0.08489312 0.9945051 ]] t_gt: [ 0.29027087 -0.13453212 -0.94744073] Pose Error in degrees for R and t: 178.5512433198399 76.14454688260221 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.63194084e-01 2.68806898e-01 -9.15685779e-05] [-2.68806913e-01 9.63194043e-01 -2.79909477e-04] [ 1.29567106e-05 2.94221419e-04 9.99999957e-01]] t_estimated: [[-0.4038536 ] [-0.91482248] [-0.0014475 ]] R_gt: [[ 0.98436559 -0.17046052 -0.0443684 ] [ 0.15971925 0.97001587 -0.18319175] [ 0.0742656 0.1732409 0.98207619]] t_gt: [ 0.45576669 -0.36560308 -0.81154859] Pose Error in degrees for R and t: 27.38464037188636 81.28186851652003 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.58056287e-01 2.86580022e-01 -2.03161784e-04] [-2.86580078e-01 9.58056232e-01 -3.40162829e-04] [ 9.71565416e-05 3.84117257e-04 9.99999922e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98512158 -0.1563394 -0.07136814] [ 0.14062706 0.97201524 -0.18817631] [ 0.09879053 0.1753393 0.97953952]] t_gt: [ 0.4019978 -0.22005173 -0.88880538] Pose Error in degrees for R and t: 27.770779886272187 77.38116691729928 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.98922672 0.1463287 -0.004291 ] [-0.14629654 0.98921572 0.00704096] [ 0.00527502 -0.00633735 0.99996601]] t_estimated: [[-0.98820488] [-0.15312724] [-0.00178055]] R_gt: [[ 0.99614291 0.0652114 -0.0587237 ] [-0.06444634 0.99781087 0.01482375] [ 0.05956197 -0.01098203 0.99816402]] t_gt: [-0.16365819 0.8542929 -0.49335548] Pose Error in degrees for R and t: 5.644624230950566 88.17821738024436 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 8.60857842e-01 -5.08844826e-01 -8.47915984e-04] [ 5.08845194e-01 8.60857996e-01 2.81389327e-04] [ 5.86751751e-04 -6.73694182e-04 9.99999601e-01]] t_estimated: [[9.99999892e-01] [3.40876177e-04] [3.14443378e-04]] R_gt: [[ 0.97970989 0.17150746 -0.10369745] [-0.17191362 0.98509922 0.00508562] [ 0.10302455 0.01284505 0.99459585]] t_gt: [-0.23597928 0.89442446 -0.37989295] Pose Error in degrees for R and t: 40.912991181245836 76.3615796127986 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 7.97703715e-01 -6.03048924e-01 8.82876426e-04] [-6.03049340e-01 -7.97703835e-01 2.93909940e-04] [ 5.27031837e-04 -7.66871096e-04 -9.99999567e-01]] t_estimated: [[0.39679773] [0.91790553] [0.00099448]] R_gt: [[ 0.97730334 0.14189481 -0.15730618] [-0.13829203 0.9898192 0.03367561] [ 0.16048437 -0.01115707 0.98697571]] t_gt: [-0.00554326 0.86629555 -0.49950104] Pose Error in degrees for R and t: 178.34707753711567 37.58200989287067 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99776592e-01 -2.11365472e-02 -1.15638055e-04] [ 2.11365436e-02 9.99776598e-01 -3.24243618e-05] [ 1.16297560e-04 2.99729291e-05 9.99999993e-01]] t_estimated: [[ 0.15505593] [-0.98790491] [-0.00124321]] R_gt: [[ 0.99852549 0.04585828 0.02905283] [-0.04653813 0.99864727 0.02317219] [-0.0279502 -0.02448983 0.99930824]] t_gt: [-0.63320826 0.50035333 0.59050305] Pose Error in degrees for R and t: 4.411830236673951 53.614275359108746 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.98991969e-01 -4.48892614e-02 9.03996437e-06] [ 4.48892616e-02 9.98991969e-01 -2.03712126e-05] [-8.11640311e-06 2.07564751e-05 1.00000000e+00]] t_estimated: [[ 8.30176785e-01] [-5.57500173e-01] [-2.52647134e-04]] R_gt: [[ 0.99683589 -0.06827344 0.04069781] [ 0.0669896 0.99723559 0.03212831] [-0.04277871 -0.0293006 0.99865484]] t_gt: [ 0.68990496 -0.4421741 0.57316072] Pose Error in degrees for R and t: 3.2478761412896264 35.00415829942687 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99666803e-01 2.58118558e-02 1.73440761e-04] [-2.58118311e-02 9.99666809e-01 -1.42964594e-04] [-1.77073153e-04 1.38440135e-04 9.99999975e-01]] t_estimated: [[-0.60146987] [-0.79889432] [-0.00136583]] R_gt: [[ 0.98224993 -0.18522144 0.02962889] [ 0.18410079 0.98221297 0.03692616] [-0.03594042 -0.03081657 0.99887855]] t_gt: [ 0.80378754 -0.55053945 0.22545932] Pose Error in degrees for R and t: 12.425136862860194 87.48166493548929 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-0.74413041 -0.66794635 0.01084407] [-0.66789925 0.74420835 0.00803288] [-0.01343578 -0.00126524 -0.99990894]] t_estimated: [[0.92848604] [0.37125356] [0.00919018]] R_gt: [[ 9.98181055e-01 6.02745928e-02 9.56337962e-04] [-6.02666762e-02 9.98159542e-01 -6.72914213e-03] [-1.36023694e-03 6.65988871e-03 9.99977081e-01]] t_gt: [-0.957005 0.27433183 -0.09425224] Pose Error in degrees for R and t: 179.33723781169928 38.03957559350278 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99335536e-01 -3.64479265e-02 -1.89325284e-04] [ 3.64478824e-02 9.99335528e-01 -2.31538191e-04] [ 1.97638570e-04 2.24483836e-04 9.99999955e-01]] t_estimated: [[-9.89496169e-01] [-1.44555773e-01] [-9.79528606e-04]] R_gt: [[ 0.99462221 0.10338629 -0.00612467] [-0.10335847 0.99463327 0.00458623] [ 0.00656647 -0.00392792 0.99997093]] t_gt: [-9.74477658e-01 2.24483550e-01 6.54795017e-04] Pose Error in degrees for R and t: 8.034193164471203 21.284276966457433 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.99731508 0.01244819 0.07216422] [ 0.00325321 0.97694198 -0.21348017] [-0.0731577 0.21314176 0.97427847]] t_estimated: [[-0.77070808] [-0.60371927] [-0.20379426]] R_gt: [[ 9.96286065e-01 7.37140900e-02 4.44947890e-02] [-7.36199023e-02 9.97279105e-01 -3.73522335e-03] [-4.46484455e-02 4.46331792e-04 9.99001961e-01]] t_gt: [-0.98663779 0.14468157 0.07492072] Pose Error in degrees for R and t: 12.935036475977993 48.86813422132441 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999990e-01 2.47617933e-05 -1.40730336e-04] [-2.47386574e-05 9.99999986e-01 1.64397876e-04] [ 1.40734405e-04 -1.64394393e-04 9.99999977e-01]] t_estimated: [[-9.96497205e-01] [ 8.36257954e-02] [ 2.16831286e-04]] R_gt: [[ 0.98664053 0.16285766 0.00424539] [-0.16276798 0.98652902 -0.01637328] [-0.00685436 0.01546393 0.99985684]] t_gt: [-0.57791804 0.81353567 -0.0645791 ] Pose Error in degrees for R and t: 9.420449078228156 49.91582965907417 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.07361615e-01 -4.20347418e-01 -1.71677586e-03] [ 4.20348311e-01 9.07362807e-01 1.80624938e-04] [ 1.48181333e-03 -8.85535968e-04 9.99998510e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.92519701 0.37931303 -0.0114879 ] [-0.37940899 0.92519665 -0.00779845] [ 0.00767038 0.01157394 0.99990359]] t_gt: [-0.52288723 0.85055164 -0.05613239] Pose Error in degrees for R and t: 47.1574655093204 84.8717546171117 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-8.61925339e-03 9.99962837e-01 1.79858299e-04] [-9.99962001e-01 -8.61901099e-03 -1.30761110e-03] [-1.30601231e-03 -1.91122096e-04 9.99999129e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.85806025 0.51121085 -0.04895818] [-0.51291316 0.85783665 -0.03217863] [ 0.0255476 0.0527233 0.99828262]] t_gt: [-0.43980637 0.88987561 -0.12120954] Pose Error in degrees for R and t: 59.74934986205166 27.502732470745098 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999863e-01 4.97095459e-04 1.62714601e-04] [-4.97078059e-04 9.99999871e-01 -1.06963632e-04] [-1.62767751e-04 1.06882736e-04 9.99999981e-01]] t_estimated: [[ 0.99904199] [-0.04374315] [-0.00128332]] R_gt: [[ 0.99534698 -0.09631728 0.00240206] [ 0.09632444 0.99534683 -0.00254938] [-0.0021459 0.00276796 0.99999427]] t_gt: [ 0.5667252 -0.82131816 0.06526126] Pose Error in degrees for R and t: 5.559179850637022 52.98489444718855 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999730e-01 7.30344133e-04 8.34612054e-05] [-7.30347707e-04 9.99999732e-01 4.28006691e-05] [-8.34299239e-05 -4.28616133e-05 9.99999996e-01]] t_estimated: [[9.99999444e-01] [9.07178881e-04] [5.38350920e-04]] R_gt: [[ 9.84245278e-01 -1.73908200e-01 -3.18760213e-02] [ 1.73827303e-01 9.84761215e-01 -5.33562674e-03] [ 3.23175522e-02 -2.89549960e-04 9.99477551e-01]] t_gt: [ 0.64525581 -0.74878471 -0.15154667] Pose Error in degrees for R and t: 10.227020653436231 49.87220842224634 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.28188830e-01 3.72108748e-01 7.58456294e-04] [-3.72108379e-01 9.28189104e-01 -5.84926945e-04] [-9.21647300e-04 2.60694714e-04 9.99999541e-01]] t_estimated: [[-0.70491358] [ 0.70929254] [ 0.00097271]] R_gt: [[ 0.9704145 -0.24088144 -0.01647139] [ 0.23873308 0.9674763 -0.08364567] [ 0.03608317 0.0772389 0.99635998]] t_gt: [ 0.60597214 -0.68938406 -0.39692239] Pose Error in degrees for R and t: 36.0677386639741 23.57761860993315 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999976e-01 -2.18141283e-04 -1.20667281e-05] [ 2.18141723e-04 9.99999976e-01 3.64854478e-05] [ 1.20587688e-05 -3.64880792e-05 9.99999999e-01]] t_estimated: [[1.97744331e-03] [9.99997991e-01] [3.28522022e-04]] R_gt: [[ 0.99770782 0.01304727 -0.06640409] [-0.01353957 0.99988443 -0.00697273] [ 0.06630499 0.00785648 0.99776804]] t_gt: [ 0.10906378 0.17852664 -0.97787184] Pose Error in degrees for R and t: 3.9054959365787743 79.72221677594861 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.46882415 -0.88329036 -0.00143651] [-0.88328915 0.4688185 0.00308178] [-0.00204864 0.00271366 -0.99999422]] t_estimated: [[0.84689936] [0.5317524 ] [0.00092964]] R_gt: [[ 0.99566732 -0.01516785 -0.09175087] [ 0.01232543 0.9994299 -0.03146247] [ 0.09217572 0.03019613 0.9952843 ]] t_gt: [ 0.34571592 -0.04254374 -0.93737428] Pose Error in degrees for R and t: 174.58712081117875 74.377833027682 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.1175135 -0.95138687 -0.28469913] [-0.99269963 0.10469606 0.05988478] [-0.02716672 0.28965799 -0.95674459]] t_estimated: [[0.72608257] [0.6876064 ] [0.00124117]] R_gt: [[ 0.98916089 -0.13716488 0.05241548] [ 0.13878952 0.98990669 -0.02869898] [-0.04794968 0.03566238 0.99821285]] t_gt: [ 0.70603835 -0.70740558 -0.03297262] Pose Error in degrees for R and t: 171.87483515511119 88.49956049625425 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999415e-01 -3.38932359e-05 1.08073518e-03] [ 3.52741303e-05 9.99999183e-01 -1.27774267e-03] [-1.08069099e-03 1.27778005e-03 9.99998600e-01]] t_estimated: [[ 0.04552212] [-0.99893412] [-0.00763974]] R_gt: [[ 0.98847505 -0.14899134 -0.02680682] [ 0.14912561 0.98881361 0.00307794] [ 0.02604867 -0.00704064 0.99963559]] t_gt: [ 0.57165686 -0.82012094 -0.02469967] Pose Error in degrees for R and t: 8.723841567203044 32.278904106855435 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.63116725e-01 2.69083933e-01 1.01593318e-04] [-2.69083948e-01 9.63116706e-01 1.96625781e-04] [-4.49373830e-05 -2.16710710e-04 9.99999976e-01]] t_estimated: [[4.78890646e-01] [8.77874262e-01] [7.27378361e-04]] R_gt: [[ 0.9748868 -0.22047287 -0.03141794] [ 0.22140082 0.97472318 0.02993239] [ 0.02402548 -0.0361372 0.99905781]] t_gt: [ 0.58361034 -0.80705888 0.08974933] Pose Error in degrees for R and t: 28.485956343269976 64.59934857062842 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-9.99353017e-01 -3.59614181e-02 5.68962491e-04] [-3.59599016e-02 9.99350150e-01 2.48249843e-03] [-6.57866914e-04 2.46043246e-03 -9.99996757e-01]] t_estimated: [[9.98878348e-01] [4.73438844e-02] [7.76129253e-04]] R_gt: [[ 0.95652456 -0.2780666 -0.0879796 ] [ 0.28396398 0.95673221 0.06346562] [ 0.06652565 -0.08568996 0.99409819]] t_gt: [ 0.62881669 -0.76374205 0.1459029 ] Pose Error in degrees for R and t: 175.6538871980869 53.69623781721877 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 7.76834638e-01 -6.29703890e-01 -9.77217683e-04] [ 6.29704624e-01 7.76833242e-01 1.48329494e-03] [-1.74901414e-04 -1.76763338e-03 9.99998422e-01]] t_estimated: [[ 7.40574127e-02] [-9.97253861e-01] [ 4.86430058e-04]] R_gt: [[ 0.9936763 0.1110099 0.01685985] [-0.11145584 0.99336594 0.02832328] [-0.01360351 -0.03002413 0.99945688]] t_gt: [-0.85201043 0.43130691 0.29673655] Pose Error in degrees for R and t: 45.45049558477563 60.45705194065921 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.40462859e-01 -3.39896471e-01 1.90556606e-05] [ 3.39895542e-01 9.40460155e-01 -2.39112115e-03] [ 7.94812552e-04 2.25523757e-03 9.99997141e-01]] t_estimated: [[-0.56387689] [-0.82585509] [-0.00249503]] R_gt: [[ 0.93621871 0.34982639 0.03340102] [-0.35045033 0.93646238 0.01492492] [-0.02605789 -0.02567888 0.99933064]] t_gt: [-0.84905523 0.5214965 0.08453767] Pose Error in degrees for R and t: 40.43089959558093 87.25613603082738 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.53198914 -0.84671822 -0.00747104] [ 0.846748 -0.5319906 -0.00195549] [-0.00231878 -0.00736639 0.99997018]] t_estimated: [[ 0.97267509] [-0.2321089 ] [ 0.00535003]] R_gt: [[ 0.87641827 0.47800364 0.05833868] [-0.47933618 0.87756745 0.0106096 ] [-0.04612498 -0.03726255 0.9982408 ]] t_gt: [-0.81978232 0.56503256 0.09324776] Pose Error in degrees for R and t: 150.78438047670264 21.869902627827347 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[-0.23008837 -0.79307473 0.56399629] [-0.96957143 0.13702331 -0.20286904] [ 0.08360967 -0.5935125 -0.80047007]] t_estimated: [[0.77135632] [0.61743619] [0.1542141 ]] R_gt: [[ 0.99601544 -0.08369874 -0.03078556] [ 0.08281039 0.99614221 -0.02903916] [ 0.03309765 0.02637383 0.99910371]] t_gt: [ 0.59007864 -0.61648717 -0.52129719] Pose Error in degrees for R and t: 164.87287918260648 89.66355869236324 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 7.22097602e-01 -6.91791050e-01 -4.43728257e-04] [ 6.91791156e-01 7.22097206e-01 7.88475280e-04] [-2.25045207e-04 -8.76323393e-04 9.99999591e-01]] t_estimated: [[ 0.98263144] [-0.18556529] [ 0.00098687]] R_gt: [[ 0.98621367 -0.16487483 -0.01412402] [ 0.16290906 0.98233984 -0.09202474] [ 0.02904664 0.0884546 0.99565674]] t_gt: [ 0.5582564 -0.63103837 -0.53864679] Pose Error in degrees for R and t: 34.72700111451822 48.30788975141108 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-9.79156997e-01 2.03096676e-01 1.82077147e-03] [-2.03103436e-01 -9.79144204e-01 -5.06182277e-03] [ 7.54758452e-04 -5.32612413e-03 9.99985531e-01]] t_estimated: [[0.71335948] [0.70079666] [0.00151342]] R_gt: [[ 0.9703644 -0.24066848 -0.0217356 ] [ 0.23724806 0.96592349 -0.1034711 ] [ 0.04589739 0.09524859 0.99439487]] t_gt: [ 0.59377209 -0.67400894 -0.43948454] Pose Error in degrees for R and t: 177.84868845445666 87.16640556820687 Number of keypoints: Image1: 318 Image2: 318 R_estimated: [[ 9.95580649e-01 9.39104219e-02 6.80426649e-05] [-9.39103776e-02 9.95580535e-01 -4.90156016e-04] [-1.13772711e-04 4.81599932e-04 9.99999878e-01]] t_estimated: [[0.82514222] [0.56492443] [0.00083941]] R_gt: [[ 0.99934516 -0.00300175 -0.03605235] [ 0.00331965 0.99995612 0.0087151 ] [ 0.03602462 -0.00882909 0.9993116 ]] t_gt: [-0.16414073 -0.26693803 -0.94963251] Pose Error in degrees for R and t: 5.965776969377186 73.31938805218229 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 9.99999335e-01 1.13636101e-03 -1.95184210e-04] [-1.13620783e-03 9.99999048e-01 7.83107291e-04] [ 1.96073916e-04 -7.82885001e-04 9.99999674e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.99951638 -0.0142942 0.02762512] [ 0.01423613 0.99989588 0.00230381] [-0.02765626 -0.0019098 0.99961596]] t_gt: [-0.69150997 -0.25012155 0.6776822 ] Pose Error in degrees for R and t: 1.8242679954472958 42.93903991009237 Number of keypoints: Image1: 570 Image2: 570 R_estimated: [[ 9.86389828e-01 -1.64423548e-01 -5.98169132e-05] [ 1.64423556e-01 9.86389812e-01 1.79986962e-04] [ 2.94086989e-05 -1.87372618e-04 9.99999982e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99886799 0.01452608 0.04528602] [-0.01359692 0.99969231 -0.02073788] [-0.04557458 0.02009797 0.99875837]] t_gt: [-0.91620073 0.20442831 0.34465243] Pose Error in degrees for R and t: 10.660324541387398 80.76142183771421 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 9.73697233e-01 2.27845763e-01 8.15650609e-05] [-2.27845721e-01 9.73697180e-01 -3.60433603e-04] [-1.61542939e-04 3.32368952e-04 9.99999932e-01]] t_estimated: [[-5.27918425e-01] [ 8.49294944e-01] [-4.83520014e-04]] R_gt: [[ 0.99855821 -0.05023222 0.01894519] [ 0.05101509 0.99775481 -0.04340036] [-0.01672212 0.04430475 0.99887799]] t_gt: [ 0.69222362 0.40885244 -0.59469837] Pose Error in degrees for R and t: 16.296161920767336 88.97356309237954 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-2.37156687e-01 9.71469170e-01 2.08724688e-03] [ 9.71471188e-01 2.37154623e-01 1.19009015e-03] [ 6.61135646e-04 2.30993805e-03 -9.99997114e-01]] t_estimated: [[0.79482723] [0.60683501] [0.00097405]] R_gt: [[ 0.99076495 -0.11688942 0.06873403] [ 0.11911529 0.99245134 -0.02920837] [-0.06480016 0.03712649 0.99720749]] t_gt: [ 0.94868321 -0.01120744 0.31602938] Pose Error in degrees for R and t: 175.74695688958826 41.62174936237906 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-3.00558283e-02 9.99548183e-01 -2.77547162e-04] [-9.99546234e-01 -3.00563211e-02 -1.98578945e-03] [-1.99323428e-03 2.17736674e-04 9.99997990e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97746503 -0.18078506 0.10899328] [ 0.18479219 0.98238591 -0.02777353] [-0.10205261 0.0472895 0.99365486]] t_gt: [ 0.94290095 -0.01322407 0.33281064] Pose Error in degrees for R and t: 102.42801399990019 89.59909296414597 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.85607864 0.51673614 0.01063583] [ 0.51614631 -0.85580946 0.03439713] [ 0.02687649 -0.02395701 -0.99935165]] t_estimated: [[0.89022807] [0.45551389] [0.00103999]] R_gt: [[ 0.99117916 -0.13224786 -0.0086377 ] [ 0.13229167 0.99119983 0.00469718] [ 0.00794046 -0.00579824 0.99995114]] t_gt: [ 0.66018045 -0.75091844 0.01683082] Pose Error in degrees for R and t: 177.9238020522466 75.77827920119164 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.97780682e-01 -6.65851666e-02 3.55501846e-04] [ 6.65851248e-02 9.97780740e-01 1.28328440e-04] [-3.63257665e-04 -1.04372504e-04 9.99999929e-01]] t_estimated: [[0.96120038] [0.27584745] [0.00142189]] R_gt: [[ 0.98924917 -0.14612958 -0.00553337] [ 0.14619531 0.98915158 0.01437891] [ 0.00337243 -0.0150334 0.9998804 ]] t_gt: [ 0.6689708 -0.74074652 0.06142201] Pose Error in degrees for R and t: 4.671813965846344 63.974616742684866 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.14649576 0.98919462 -0.00574378] [-0.9892103 -0.14648488 0.00227246] [ 0.00140652 0.00601471 0.99998092]] t_estimated: [[0.80252671] [0.59661525] [0.00105596]] R_gt: [[ 0.99607713 -0.06977885 -0.05442085] [ 0.07246268 0.99616633 0.049014 ] [ 0.05079204 -0.05276513 0.99731418]] t_gt: [ 0.70904701 -0.70515767 -0.00223483] Pose Error in degrees for R and t: 102.56449503522664 81.47047818093506 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.91220882 0.40971726 0.00261603] [ 0.40970609 0.91220909 -0.00393728] [-0.00399954 -0.00251982 -0.99998883]] t_estimated: [[0.93509133] [0.35440294] [0.00166386]] R_gt: [[ 0.99970798 0.01910567 -0.01482394] [-0.02059763 0.993937 -0.10801213] [ 0.0126705 0.10828564 0.99403949]] t_gt: [-0.07966507 0.4579953 -0.88537776] Pose Error in degrees for R and t: 179.27651074350874 85.04647721332809 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.99998072 -0.00268342 0.00559987] [ 0.00272264 0.99997173 -0.00700886] [-0.0055809 0.00702397 0.99995976]] t_estimated: [[9.80098392e-01] [1.98510794e-01] [7.78473703e-04]] R_gt: [[ 0.99758519 -0.00694271 -0.06911478] [-0.00679757 0.98046089 -0.19659779] [ 0.06912891 0.19659237 0.97804533]] t_gt: [ 0.07713181 0.29719356 -0.95169673] Pose Error in degrees for R and t: 11.764025506922296 82.30775715547212 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.99958204 -0.02717706 0.00985704] [ 0.02725606 0.9995967 -0.00797113] [-0.00963643 0.00823646 0.99991965]] t_estimated: [[0.99836798] [0.0570496 ] [0.00259316]] R_gt: [[ 0.98928387 -0.14239069 -0.03230736] [ 0.12703758 0.94847444 -0.29027413] [ 0.07197553 0.28305838 0.95639851]] t_gt: [ 0.31115576 -0.07095156 -0.94770669] Pose Error in degrees for R and t: 17.800875605578238 72.29340999454584 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.4191822 0.9078358 -0.01097451] [-0.90790038 -0.4191745 0.00310342] [-0.00178284 0.01126466 0.99993496]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.99405224 0.10023762 -0.0426019 ] [-0.10110337 0.99470132 -0.01866641] [ 0.04050523 0.02286283 0.99891795]] t_gt: [-0.30234999 0.89923772 -0.3161582 ] Pose Error in degrees for R and t: 109.00809330258447 75.12997714383823 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.98785992 -0.153214 -0.02565643] [ 0.15419365 0.98714907 0.04196477] [ 0.01889713 -0.04541137 0.99878962]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.99212204 0.05694145 -0.11159257] [-0.05536969 0.99831935 0.0171317 ] [ 0.11238132 -0.01081837 0.99360669]] t_gt: [ 0.17451746 0.79176687 -0.58536218] Pose Error in degrees for R and t: 13.231461966446098 60.588583123009634 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.97259630e-01 7.39808242e-02 2.59623212e-04] [-7.39804452e-02 9.97258909e-01 -1.24992140e-03] [-3.51381777e-04 1.22728911e-03 9.99999185e-01]] t_estimated: [[-0.77740391] [-0.62899887] [-0.00189125]] R_gt: [[ 0.98249333 0.08418912 -0.16619311] [-0.08355603 0.99644539 0.01081375] [ 0.16651235 0.00326213 0.98603368]] t_gt: [ 0.24498105 0.71517606 -0.65460483] Pose Error in degrees for R and t: 9.624961854953405 50.27852580211978 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 6.95932625e-01 7.18106726e-01 7.14607550e-04] [-7.18106063e-01 6.95932970e-01 -9.91850377e-04] [-1.20957338e-03 1.77097022e-04 9.99999253e-01]] t_estimated: [[0.00661099] [0.99997735] [0.00126085]] R_gt: [[ 0.99091113 0.12269615 -0.05513951] [-0.12363905 0.99222896 -0.01402176] [ 0.05298976 0.02071148 0.99838042]] t_gt: [-0.33758876 0.88437398 -0.32236082] Pose Error in degrees for R and t: 38.95313700922066 28.14997437563517 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.12841222 0.99170792 0.00507039] [-0.99171508 -0.12842728 0.00276449] [ 0.00339274 -0.00467339 0.99998332]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.98523035 0.14180715 -0.09597809] [-0.1416263 0.98988187 0.0087175 ] [ 0.09624288 0.00500442 0.99534547]] t_gt: [-0.19729494 0.90937262 -0.3662187 ] Pose Error in degrees for R and t: 89.35225078972486 40.11120407548213 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.83367624 0.36663187 0.41299516] [ 0.36983831 0.18472529 -0.91054719] [-0.41012627 0.91184299 0.01840658]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.97945042 0.13089164 -0.15344178] [-0.12596757 0.99116954 0.04142557] [ 0.15750921 -0.02124552 0.98728929]] t_gt: [ 0.02296004 0.86691436 -0.49792803] Pose Error in degrees for R and t: 94.75669297352368 61.578565530833494 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[ 9.99523994e-01 -3.08507639e-02 -1.29073714e-04] [ 3.08507632e-02 9.99524002e-01 -7.43675643e-06] [ 1.29241704e-04 3.45119391e-06 9.99999992e-01]] t_estimated: [[-0.96634001] [-0.25726501] [-0.0013025 ]] R_gt: [[ 0.99246617 0.12247922 0.00312825] [-0.12243669 0.9924118 -0.01134403] [-0.00449373 0.01087576 0.99993076]] t_gt: [-0.6905294 0.723116 -0.01650469] Pose Error in degrees for R and t: 8.82796084551247 61.23127687576891 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99997312e-01 2.31547595e-03 -1.20750217e-04] [-2.31545724e-03 9.99997307e-01 1.54899125e-04] [ 1.21108557e-04 -1.54619116e-04 9.99999981e-01]] t_estimated: [[-0.31461097] [-0.94922009] [-0.00107743]] R_gt: [[ 0.98933241 0.14049785 -0.03849051] [-0.1411605 0.98987228 -0.01506554] [ 0.03598425 0.0203384 0.99914548]] t_gt: [-0.65920301 0.69161172 -0.29516882] Pose Error in degrees for R and t: 8.310123287079708 63.33448543206309 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-7.07418872e-02 9.97494597e-01 3.36960996e-04] [-9.97491146e-01 -7.07407383e-02 -2.67624873e-03] [-2.64570678e-03 -5.25438496e-04 9.99996362e-01]] t_estimated: [[0.03922781] [0.99922862] [0.00182676]] R_gt: [[ 0.99420978 0.10695113 -0.01041568] [-0.10701263 0.9942424 -0.00559001] [ 0.00975845 0.00667205 0.99992972]] t_gt: [-0.80072839 0.58972394 -0.10516518] Pose Error in degrees for R and t: 87.91770466175053 56.10545339967286 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99858671e-01 -1.68117499e-02 5.51483660e-05] [ 1.68117418e-02 9.99858662e-01 1.44281670e-04] [-5.75661988e-05 -1.43334138e-04 9.99999988e-01]] t_estimated: [[0.78319462] [0.62177529] [0.0012899 ]] R_gt: [[ 0.99757436 -0.0677965 0.01575845] [ 0.06739447 0.99741888 0.02476526] [-0.01739728 -0.02364207 0.99956889]] t_gt: [ 0.57036782 -0.76035179 0.31071804] Pose Error in degrees for R and t: 3.3600934431411433 88.5297347221532 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.95936619e-01 -9.00566743e-02 2.13990460e-04] [ 9.00567293e-02 9.95936603e-01 -2.63030734e-04] [-1.89433258e-04 2.81233221e-04 9.99999943e-01]] t_estimated: [[-0.50361248] [-0.86392904] [-0.00103838]] R_gt: [[ 9.99214530e-01 -3.95903578e-02 -1.99656206e-03] [ 3.96404586e-02 9.97686197e-01 5.52367653e-02] [-1.95215657e-04 -5.52717310e-02 9.98471037e-01]] t_gt: [ 0.59807582 -0.70681295 0.37778403] Pose Error in degrees for R and t: 4.303033594750077 71.99828234182067 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.95109133e-01 9.87288632e-02 -3.22879627e-03] [-9.87293202e-02 -9.95114326e-01 -1.79246822e-05] [-3.21479110e-03 3.00939845e-04 9.99994787e-01]] t_estimated: [[0.88137783] [0.47240908] [0.00166724]] R_gt: [[ 0.99472398 0.04735799 -0.09101475] [-0.04339099 0.99804064 0.04507966] [ 0.09297011 -0.04089185 0.99482812]] t_gt: [ 0.6881731 -0.06824903 -0.72232947] Pose Error in degrees for R and t: 171.74128151771765 55.03368453058279 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.99908041 -0.04284777 -0.00154877] [-0.04285282 0.99907563 0.00339325] [ 0.00140194 0.0034565 -0.99999304]] t_estimated: [[9.86807188e-01] [1.61898054e-01] [7.70943115e-04]] R_gt: [[ 0.96767681 0.2507021 0.02741673] [-0.2503542 0.96802971 -0.01551719] [-0.03043044 0.00815189 0.99950288]] t_gt: [-8.84629791e-01 4.66293573e-01 -6.61056452e-04] Pose Error in degrees for R and t: 178.45319236779721 37.11105536323004 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.00322779e-01 -4.35222501e-01 -5.17528006e-04] [ 4.35219801e-01 9.00320341e-01 -2.64754507e-03] [ 1.61821218e-03 2.15840670e-03 9.99996361e-01]] t_estimated: [[-0.28696376] [-0.95793322] [-0.00396779]] R_gt: [[ 9.47498670e-01 3.18081927e-01 3.27402894e-02] [-3.17912974e-01 9.48063002e-01 -1.03829857e-02] [-3.43426563e-02 -5.70838596e-04 9.99409709e-01]] t_gt: [-0.87797801 0.47813779 0.0232133 ] Pose Error in degrees for R and t: 44.39053839682065 78.10210062985905 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999965e-01 2.63148125e-04 1.98778861e-05] [-2.63149069e-04 9.99999964e-01 4.75235126e-05] [-1.98653796e-05 -4.75287418e-05 9.99999999e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.92274329 0.38465836 0.02418419] [-0.38411665 0.92296662 -0.02425534] [-0.0316512 0.01309172 0.99941348]] t_gt: [-0.8741728 0.48543621 -0.01317614] Pose Error in degrees for R and t: 22.68152429015173 65.76556706840353 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 9.99369972e-01 3.54916390e-02 5.92351832e-05] [-3.54916414e-02 9.99369972e-01 4.03033841e-05] [-5.77674303e-05 -4.23803457e-05 9.99999997e-01]] t_estimated: [[9.04676967e-01] [4.26097477e-01] [7.24749268e-04]] R_gt: [[ 0.99664271 -0.07696915 -0.02792201] [ 0.07773024 0.99660206 0.02726349] [ 0.02572908 -0.02934138 0.99923776]] t_gt: [ 0.57082888 -0.81867406 0.06266716] Pose Error in degrees for R and t: 6.847166465488511 80.35017004699921 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[-0.21410405 -0.97680646 -0.00293246] [-0.97680802 0.21409521 0.00305593] [-0.00235723 0.00351874 -0.99999103]] t_estimated: [[8.15128799e-01] [5.79279350e-01] [6.89618273e-04]] R_gt: [[ 0.98810224 -0.15120324 -0.02813478] [ 0.14974984 0.98755157 -0.04812868] [ 0.03506207 0.04334301 0.99844421]] t_gt: [ 0.58142589 -0.68169998 -0.44410479] Pose Error in degrees for R and t: 176.9339753188621 85.48408489166086 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-8.89573829e-01 -4.56791346e-01 -2.62553883e-04] [ 4.56779297e-01 -8.89545883e-01 -7.79718579e-03] [ 3.32813327e-03 -7.05610160e-03 9.99969567e-01]] t_estimated: [[0.8912054 ] [0.45359557] [0.00199822]] R_gt: [[ 0.97255156 -0.23250884 -0.009053 ] [ 0.23063212 0.96839558 -0.09497012] [ 0.0308485 0.09027614 0.99543865]] t_gt: [ 0.58290263 -0.6919067 -0.42601601] Pose Error in degrees for R and t: 139.4384537623514 78.1828595043538 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.98364222e-01 -5.71741186e-02 7.41353506e-06] [ 5.71741179e-02 9.98364219e-01 7.53829509e-05] [-1.17113619e-05 -7.48357788e-05 9.99999997e-01]] t_estimated: [[9.68680677e-01] [2.48309263e-01] [5.04936437e-04]] R_gt: [[ 0.99293228 -0.11811055 -0.01161077] [ 0.11843131 0.99243076 0.03246696] [ 0.00768889 -0.03361241 0.99940546]] t_gt: [ 0.62649104 -0.74569195 0.22683141] Pose Error in degrees for R and t: 4.032050423770377 65.0503233861372 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.01955391 0.99979903 -0.00442009] [-0.99979495 -0.01957672 -0.00517726] [-0.00526275 0.00431794 0.99997683]] t_estimated: [[0.01265721] [0.99991934] [0.00105477]] R_gt: [[ 0.98797538 -0.12791157 -0.08685037] [ 0.13322561 0.98936345 0.05840719] [ 0.07845628 -0.06927538 0.9945077 ]] t_gt: [ 0.64907667 -0.73956787 0.17815398] Pose Error in degrees for R and t: 98.79842381266488 43.020905657141256 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99742817e-01 2.26781813e-02 1.09213243e-05] [-2.26780240e-02 9.99733845e-01 4.23638716e-03] [ 8.51551384e-05 -4.23554531e-03 9.99991026e-01]] t_estimated: [[-0.99759434] [ 0.06892294] [ 0.00742723]] R_gt: [[ 0.99052542 -0.02151523 -0.13562779] [ 0.04368929 0.98570739 0.16270233] [ 0.13018948 -0.16708528 0.97730892]] t_gt: [ 0.33959911 -0.69977757 0.62847737] Pose Error in degrees for R and t: 12.453362152288431 67.52098497511263 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-3.65077750e-01 -9.30971949e-01 -3.07660887e-03] [ 9.30975079e-01 -3.65081762e-01 8.42534184e-04] [-1.90758948e-03 -2.55665570e-03 9.99994912e-01]] t_estimated: [[ 0.86413851] [-0.50325177] [ 0.00151407]] R_gt: [[ 0.99512654 0.02167778 -0.09619797] [-0.02086719 0.99973899 0.00943968] [ 0.09637772 -0.00738603 0.99531702]] t_gt: [ 0.12669407 0.24141311 -0.96211658] Pose Error in degrees for R and t: 112.71957357045841 89.22837041126876 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.66830343e-01 -2.55419391e-01 -1.49650572e-04] [ 2.55419429e-01 9.66830280e-01 3.54370444e-04] [ 5.41736216e-05 -3.80839762e-04 9.99999926e-01]] t_estimated: [[8.05168238e-01] [5.93045994e-01] [7.46909312e-04]] R_gt: [[ 0.98478258 0.0334395 -0.17054198] [-0.03351774 0.99943552 0.00243089] [ 0.17052751 0.00332169 0.98534747]] t_gt: [ 0.17851529 0.2073217 -0.96184718] Pose Error in degrees for R and t: 19.379595483178058 74.57553629453186 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 8.70498799e-01 -4.92170538e-01 -4.43552371e-05] [ 4.92170525e-01 8.70498748e-01 3.21035293e-04] [-1.19392934e-04 -3.01291177e-04 9.99999947e-01]] t_estimated: [[9.09417749e-01] [4.15883158e-01] [7.46648398e-04]] R_gt: [[ 0.97604729 0.01690561 -0.21690248] [-0.02005072 0.99972394 -0.01230023] [ 0.21663546 0.01635485 0.97611543]] t_gt: [ 0.29604923 0.10098059 -0.94981986] Pose Error in degrees for R and t: 32.97544128072904 71.90946689105951 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-4.18594820e-01 -9.08168399e-01 2.92158076e-03] [-9.08172743e-01 4.18589643e-01 -2.23173967e-03] [ 8.03852003e-04 -3.58749468e-03 -9.99993242e-01]] t_estimated: [[0.72338934] [0.69043993] [0.00074885]] R_gt: [[ 0.99731839 -0.0690672 0.02419993] [ 0.06949976 0.99742794 -0.01749514] [-0.02292962 0.01912986 0.99955408]] t_gt: [ 0.63675975 -0.76213179 0.11701351] Pose Error in degrees for R and t: 179.3647958303493 86.24481784745532 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 1.51460309e-01 -9.88462943e-01 -8.86490266e-04] [-9.88463339e-01 -1.51460294e-01 -8.35244878e-05] [-5.17072157e-05 8.88913773e-04 -9.99999604e-01]] t_estimated: [[0.63161596] [0.77528096] [0.00085009]] R_gt: [[ 0.97809106 -0.2069788 0.02226664] [ 0.2078258 0.97703258 -0.0470517 ] [-0.01201688 0.05064865 0.99864379]] t_gt: [ 0.7409446 -0.66749382 -0.07384511] Pose Error in degrees for R and t: 178.47384518812615 87.15893698178625 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 0.91971032 -0.3925928 0.00195423] [-0.39259545 -0.91971045 0.0012203 ] [ 0.00131825 -0.00188954 -0.99999735]] t_estimated: [[0.64755117] [0.76202151] [0.00083555]] R_gt: [[ 0.94535183 -0.32274477 0.04630249] [ 0.32487025 0.94445276 -0.04966607] [-0.02770074 0.06199447 0.99769217]] t_gt: [ 0.78097951 -0.62375378 -0.03165784] Pose Error in degrees for R and t: 177.3257270043659 88.25886004199633 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.82904318 -0.5591174 0.00866775] [-0.55916776 -0.82879838 0.02060738] [-0.00433813 -0.02193113 -0.99975007]] t_estimated: [[0.25936916] [0.96572484] [0.01015707]] R_gt: [[ 0.99739339 0.04923226 0.05275709] [-0.04478957 0.99559726 -0.08233565] [-0.05657841 0.07975898 0.99520737]] t_gt: [-0.70013589 0.66075402 -0.27058059] Pose Error in degrees for R and t: 177.74468245104586 63.01452527653597 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.91879081e-01 1.27184215e-01 2.52887657e-04] [-1.27184219e-01 9.91879113e-01 6.96295688e-07] [-2.50745427e-04 -3.28539605e-05 9.99999968e-01]] t_estimated: [[-1.04263139e-01] [ 9.94549282e-01] [ 9.61155837e-04]] R_gt: [[ 0.99094981 0.09758292 0.09218042] [-0.08880305 0.99150914 -0.0949869 ] [-0.10066666 0.0859416 0.99120185]] t_gt: [-0.75512013 0.65080506 0.07903391] Pose Error in degrees for R and t: 7.838588568496841 43.44249588644448 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.99993104 0.00255938 0.01146154] [ 0.00263936 0.99997224 0.00696845] [-0.01144339 0.00699822 -0.99991003]] t_estimated: [[0.99693992] [0.07797295] [0.0055695 ]] R_gt: [[ 0.99061914 0.13188021 0.03582416] [-0.13233279 0.99114896 0.0105454 ] [-0.03411545 -0.01518666 0.99930278]] t_gt: [-0.76486935 0.59071831 0.2569567 ] Pose Error in degrees for R and t: 177.36527847711338 44.35371768787575 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.76579342 0.64294601 0.01344848] [ 0.64296298 0.76588882 -0.00359421] [-0.01261092 0.00589445 -0.99990311]] t_estimated: [[ 0.95408778] [-0.29945209] [ 0.00670452]] R_gt: [[ 0.97039361 -0.24109193 0.01457847] [ 0.24075195 0.97034197 0.02182956] [-0.01940864 -0.01767427 0.9996555 ]] t_gt: [ 0.87144929 -0.48292678 0.08577794] Pose Error in degrees for R and t: 178.6709321267932 12.411900212566673 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 4.33876216e-01 9.00967303e-01 3.05758831e-03] [ 9.00971685e-01 -4.33877868e-01 -1.34837658e-04] [ 1.20513558e-03 2.81330334e-03 -9.99995316e-01]] t_estimated: [[7.69805796e-01] [6.38277832e-01] [6.67654637e-04]] R_gt: [[ 0.92460889 -0.3793418 0.03461831] [ 0.37924592 0.9252466 0.00955881] [-0.03565606 0.00429052 0.99935548]] t_gt: [ 0.90182522 -0.43084534 0.03291775] Pose Error in degrees for R and t: 178.9129924733161 65.21255035963961 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 8.75140529e-01 4.83868394e-01 6.56696256e-04] [-4.83868139e-01 8.75140766e-01 -5.13937595e-04] [-8.23379823e-04 1.32013223e-04 9.99999652e-01]] t_estimated: [[0.16074823] [0.98699413] [0.00160748]] R_gt: [[ 0.78162018 -0.62373189 0.00549427] [ 0.62342531 0.78146112 0.02569486] [-0.02032006 -0.01665796 0.99965529]] t_gt: [ 0.95105547 -0.30781236 0.02729553] Pose Error in degrees for R and t: 67.53877950222544 81.32180412422244 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.98158214 0.19103454 0.00151891] [-0.19103142 0.98158191 -0.00198594] [-0.00187032 0.0016592 0.99999687]] t_estimated: [[0.82540236] [0.56454407] [0.00097335]] R_gt: [[ 0.99725443 0.01381909 -0.07275732] [-0.01543119 0.99964639 -0.02164781] [ 0.07243247 0.02271029 0.99711479]] t_gt: [ 0.32708484 0.11287506 -0.93822957] Pose Error in degrees for R and t: 11.089465508949797 70.56201859139969 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999744e-01 -7.14053383e-04 3.84961468e-05] [ 7.14052458e-04 9.99999745e-01 2.40460154e-05] [-3.85133071e-05 -2.40185209e-05 9.99999999e-01]] t_estimated: [[-1.79329382e-01] [ 9.83789055e-01] [-2.59994437e-04]] R_gt: [[ 0.995788 -0.03665627 -0.08404951] [ 0.03731979 0.9992835 0.00632497] [ 0.08375754 -0.00943551 0.99644194]] t_gt: [ 0.60152205 -0.53801077 -0.59052149] Pose Error in degrees for R and t: 5.26569268448438 50.43106338062634 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.34797551 0.88756175 -0.30190593] [ 0.89942855 -0.22521565 0.37457468] [ 0.26446422 -0.40188562 -0.87666791]] t_estimated: [[-0.75417038] [-0.65353303] [-0.06419978]] R_gt: [[ 0.98948015 -0.07618123 -0.12298666] [ 0.08122276 0.99602758 0.03650239] [ 0.11971715 -0.04610779 0.99173746]] t_gt: [ 0.61674031 -0.65844541 -0.43137111] Pose Error in degrees for R and t: 145.23512141766494 89.59219270172677 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.14528516 0.98864563 0.03836709] [ 0.98885461 -0.143822 -0.03849405] [-0.03253894 0.04353209 -0.99852199]] t_estimated: [[-0.29343901] [-0.95597725] [-0.00102244]] R_gt: [[ 0.98972958 0.1427679 -0.00736873] [-0.14294888 0.98893691 -0.03960774] [ 0.00163251 0.04025357 0.99918754]] t_gt: [-0.35626623 0.91976238 -0.16465581] Pose Error in degrees for R and t: 175.349729561195 39.23473777177106 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-1.18018203e-01 -9.93011337e-01 4.33298848e-04] [-9.93011280e-01 1.18018414e-01 5.00934512e-04] [-5.48570892e-04 -3.71151254e-04 -9.99999781e-01]] t_estimated: [[0.71951436] [0.69447631] [0.00131779]] R_gt: [[ 0.9644601 0.26317639 -0.02356761] [-0.26421462 0.95961175 -0.09662603] [-0.00281449 0.09941789 0.99504114]] t_gt: [-0.29652316 0.93739061 -0.18268241] Pose Error in degrees for R and t: 175.81841376654245 64.0617540287128 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 7.51846789e-01 -6.59336384e-01 -1.39254030e-03] [ 6.59335505e-01 7.51848071e-01 -1.08175600e-03] [ 1.76021983e-03 -1.04836488e-04 9.99998445e-01]] t_estimated: [[-0.078001 ] [-0.9969503 ] [-0.00243753]] R_gt: [[ 0.94749774 0.31973256 0.00443968] [-0.31881539 0.94566596 -0.06381337] [-0.02460211 0.05904708 0.9979515 ]] t_gt: [-0.30846973 0.95089256 -0.02549066] Pose Error in degrees for R and t: 59.98954811995912 22.5014962203258 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.64845745e-01 -2.62816231e-01 -5.63352083e-04] [ 2.62816519e-01 9.64845691e-01 5.18372165e-04] [ 4.07311211e-04 -6.48207411e-04 9.99999707e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.97592959e-01 -4.86568084e-02 4.94195016e-02] [ 4.87167482e-02 9.98812589e-01 -2.35139910e-05] [-4.93610047e-02 2.43203640e-03 9.98778469e-01]] t_gt: [ 0.5812863 -0.00529167 0.8136819 ] Pose Error in degrees for R and t: 12.76832730784011 89.95299783061537 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-5.74170370e-01 -8.18727926e-01 -3.60115705e-03] [-8.18735618e-01 5.74167941e-01 1.77871412e-03] [ 6.11386010e-04 3.96968049e-03 -9.99991934e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98822324 -0.13147781 0.07829173] [ 0.13159439 0.99129699 0.00367189] [-0.07809375 0.00667422 0.99692408]] t_gt: [ 0.87997327 -0.13539073 0.4553201 ] Pose Error in degrees for R and t: 176.17577284833013 51.34056504103029 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-3.66915027e-01 9.30254095e-01 8.25086120e-04] [ 9.30253091e-01 3.66912820e-01 2.04197098e-03] [ 1.59681719e-03 1.51676875e-03 -9.99997575e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98211304 -0.13983374 0.12610056] [ 0.14333527 0.98948952 -0.01909911] [-0.12210501 0.03683201 0.9918338 ]] t_gt: [0.82980532 0.09603107 0.54972826] Pose Error in degrees for R and t: 173.20312810382558 84.158551312607 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.93862552e-01 1.10621997e-01 4.37510082e-05] [-1.10621988e-01 9.93862540e-01 -1.64555014e-04] [-6.16858923e-05 1.58705242e-04 9.99999986e-01]] t_estimated: [[-9.99037308e-01] [-4.38655301e-02] [-5.21247323e-04]] R_gt: [[ 9.92398691e-01 1.23063113e-01 -2.02567262e-04] [-1.22945052e-01 9.91367260e-01 -4.55630254e-02] [-5.40676824e-03 4.52422758e-02 9.98961001e-01]] t_gt: [-0.40295183 0.90403066 -0.14268283] Pose Error in degrees for R and t: 2.699494587776191 68.7165253167176 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.41567395e-01 -3.36824159e-01 -5.71252026e-04] [ 3.36824363e-01 9.41567446e-01 3.06272489e-04] [ 4.34712337e-04 -4.80787789e-04 9.99999790e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9881584 0.14957085 0.03421078] [-0.15114695 0.98727898 0.04935052] [-0.02639389 -0.05393638 0.99819469]] t_gt: [-0.43368285 0.82774289 0.35603496] Pose Error in degrees for R and t: 28.54267561649932 64.47924608800301 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.93323429e-01 -1.15360822e-01 6.68283079e-04] [-1.15358200e-01 9.93319014e-01 3.13416374e-03] [-1.02537799e-03 3.03614634e-03 -9.99994865e-01]] t_estimated: [[9.99994892e-01] [3.10075884e-03] [7.75189836e-04]] R_gt: [[ 0.98558759 0.13545117 0.10134041] [-0.15087329 0.97478259 0.16442727] [-0.07651298 -0.17734737 0.98116866]] t_gt: [-0.32623129 0.55368481 0.76616335] Pose Error in degrees for R and t: 174.26774707718113 71.09991248402153 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.98211928e-01 -5.97741323e-02 2.20831219e-05] [ 5.97741283e-02 9.98211917e-01 1.51001441e-04] [-3.10696155e-05 -1.49411440e-04 9.99999988e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99523075 -0.08919603 0.03948813] [ 0.08879749 0.99598087 0.01174199] [-0.0403765 -0.00818002 0.99915089]] t_gt: [ 0.8665434 -0.2712843 0.41893599] Pose Error in degrees for R and t: 2.8955375409244244 74.60696797854295 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.93238227e-01 -1.16093993e-01 9.52515003e-05] [ 1.16093994e-01 9.93238232e-01 -1.06102996e-06] [-9.44842525e-05 1.21119826e-05 9.99999995e-01]] t_estimated: [[6.50502562e-01] [7.59503746e-01] [6.90503635e-04]] R_gt: [[ 0.98859009 -0.12806101 0.07930676] [ 0.12807482 0.99175251 0.00493463] [-0.07928301 0.00527858 0.99683839]] t_gt: [ 0.85834028 -0.07075384 0.50817897] Pose Error in degrees for R and t: 4.605873865168989 59.670928297822435 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99653492e-01 2.63229096e-02 3.14244176e-07] [-2.63229096e-02 9.99653492e-01 -2.43505597e-05] [-9.55112870e-07 2.43338502e-05 1.00000000e+00]] t_estimated: [[-4.89913422e-01] [ 8.71771020e-01] [-3.57406765e-04]] R_gt: [[ 0.98372426 -0.10415061 0.14642243] [ 0.11032618 0.9932907 -0.03468503] [-0.14182571 0.05027466 0.98861438]] t_gt: [0.72361479 0.26520404 0.63721932] Pose Error in degrees for R and t: 11.578553669289859 82.90359855377403 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.98298681e-01 5.83033305e-02 -6.81636872e-04] [-5.83031622e-02 9.98298889e-01 2.64216467e-04] [ 6.95882032e-04 -2.24025365e-04 9.99999733e-01]] t_estimated: [[0.94799145] [0.31829114] [0.00172049]] R_gt: [[ 0.98287667 -0.18396683 0.01045154] [ 0.18383408 0.98287806 0.01249284] [-0.01257078 -0.0103585 0.99986758]] t_gt: [ 0.86143065 -0.50447654 0.05865716] Pose Error in degrees for R and t: 13.972480011811106 48.99237977882854 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99237303e-01 3.90452011e-02 5.34244146e-04] [-3.90451057e-02 9.99237431e-01 -1.87917594e-04] [-5.41174029e-04 1.66914650e-04 9.99999840e-01]] t_estimated: [[ 9.96087941e-01] [-8.83664615e-02] [ 4.27756128e-04]] R_gt: [[ 0.91853805 -0.39530249 0.00475879] [ 0.39504952 0.91827249 0.02667937] [-0.0149162 -0.02262596 0.9996323 ]] t_gt: [ 0.90887451 -0.41374696 0.05254123] Pose Error in degrees for R and t: 25.565552617308995 19.62640331162506 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.02987481 0.99953963 0.00529432] [ 0.99955141 -0.02988554 0.00195776] [ 0.00211508 0.00523346 -0.99998407]] t_estimated: [[-0.17493764] [-0.98457845] [-0.00144577]] R_gt: [[ 8.53311187e-01 -5.20746642e-01 2.61079296e-02] [ 5.20499654e-01 8.53711254e-01 1.60466329e-02] [-3.06449625e-02 -1.03215620e-04 9.99530004e-01]] t_gt: [ 0.93268973 -0.36008612 0.02068451] Pose Error in degrees for R and t: 178.9617516254411 78.96897028409218 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 9.99798622e-01 -2.00677389e-02 -2.13070751e-05] [ 2.00677377e-02 9.99798621e-01 -5.40310559e-05] [ 2.23870654e-05 5.35925905e-05 9.99999998e-01]] t_estimated: [[-0.43261771] [-0.9015752 ] [-0.00202108]] R_gt: [[ 0.99987488 -0.002957 -0.01559069] [ 0.00301263 0.99998945 0.00353966] [ 0.01558004 -0.00358662 0.99987212]] t_gt: [ 0.27320472 -0.45826688 -0.84578404] Pose Error in degrees for R and t: 1.3390708511043925 72.74179967476756 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99986831e-01 5.13123844e-03 8.85342389e-05] [-5.13123731e-03 9.99986835e-01 -1.30576686e-05] [-8.86000754e-05 1.26032065e-05 9.99999996e-01]] t_estimated: [[9.61652326e-01] [2.74271070e-01] [4.29409293e-04]] R_gt: [[ 0.99396422 -0.10911172 0.01146803] [ 0.10930049 0.99385901 -0.01725739] [-0.0095149 0.01840662 0.99978555]] t_gt: [ 0.6665611 -0.74541693 -0.00706451] Pose Error in degrees for R and t: 6.669755404361415 64.11599178852038 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-3.57909389e-01 -9.33747594e-01 -4.03723058e-03] [-9.33756272e-01 3.57904604e-01 1.87613651e-03] [-3.06894543e-04 4.44127624e-03 -9.99990090e-01]] t_estimated: [[8.01960089e-01] [5.97377312e-01] [6.02186037e-04]] R_gt: [[ 0.96959908 -0.24468371 -0.00286545] [ 0.24429111 0.96858628 -0.04650495] [ 0.0141548 0.04439022 0.99891377]] t_gt: [ 0.7563047 -0.64261381 -0.12268125] Pose Error in degrees for R and t: 178.00637049412185 77.14000879449655 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99999622e-01 -8.65944589e-04 -8.10736727e-05] [ 8.66008070e-04 9.99999316e-01 7.86274184e-04] [ 8.03927474e-05 -7.86344097e-04 9.99999688e-01]] t_estimated: [[0.5370712 ] [0.84353555] [0.00151715]] R_gt: [[ 0.98737496 -0.15430266 -0.03578189] [ 0.15522127 0.98757618 0.024498 ] [ 0.03155772 -0.02974349 0.99905943]] t_gt: [ 0.542796 -0.83873866 0.04347366] Pose Error in degrees for R and t: 9.190534825952238 65.42274455217382 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999907e-01 1.97387182e-04 3.84753464e-04] [-1.97255469e-04 9.99999922e-01 -3.42339194e-04] [-3.84821008e-04 3.42263267e-04 9.99999867e-01]] t_estimated: [[-9.99985216e-01] [-5.40962702e-03] [-5.51637502e-04]] R_gt: [[ 0.95275588 -0.29857249 -0.05577501] [ 0.3009211 0.95281858 0.03979134] [ 0.04126263 -0.05469508 0.99765015]] t_gt: [ 0.60506371 -0.79225825 0.07889721] Pose Error in degrees for R and t: 17.91420570941034 53.071891892446736 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.98042071e-01 6.25458652e-02 -1.98493481e-04] [-6.25460078e-02 9.98041745e-01 -8.19897089e-04] [ 1.46823608e-04 8.30706763e-04 9.99999644e-01]] t_estimated: [[0.83518374] [0.5499697 ] [0.00120343]] R_gt: [[ 0.93069299 -0.35628163 -0.08291707] [ 0.36136841 0.9306651 0.05722544] [ 0.05678037 -0.08322348 0.99491231]] t_gt: [ 0.6229898 -0.7753472 0.10353952] Pose Error in degrees for R and t: 25.33464219308637 84.60519220326414 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 4.97635200e-01 8.67353722e-01 7.53179435e-03] [ 8.67385853e-01 -4.97626070e-01 -3.17442685e-03] [ 9.94666274e-04 8.11267841e-03 -9.99966597e-01]] t_estimated: [[0.37121018] [0.92854828] [0.00104566]] R_gt: [[ 0.98677215 -0.03973575 -0.15716999] [ 0.06355219 0.98670999 0.14954965] [ 0.14913888 -0.15755924 0.97618267]] t_gt: [ 0.67742604 -0.7168455 0.16500454] Pose Error in degrees for R and t: 168.2708731985094 65.54454430887532 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.32005615 -0.9473381 0.01070462] [-0.94725611 -0.32018353 -0.01372471] [ 0.01642938 -0.00574733 -0.99984851]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96888577 -0.12883448 -0.21133691] [ 0.17672672 0.95789951 0.22626606] [ 0.17328816 -0.25657423 0.95086327]] t_gt: [ 0.71932727 -0.61297792 0.32684299] Pose Error in degrees for R and t: 175.46077080043653 77.86067473101346 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-6.72406708e-01 -7.40180643e-01 -1.35464597e-03] [-7.40181783e-01 6.72406439e-01 7.13250571e-04] [ 3.82938407e-04 1.48227874e-03 -9.99998828e-01]] t_estimated: [[0.73909217] [0.67360299] [0.00133651]] R_gt: [[ 0.93591895 -0.23047519 -0.26633959] [ 0.29619242 0.92420417 0.24107195] [ 0.19059141 -0.30451125 0.93324634]] t_gt: [ 0.78236577 -0.55638969 0.27988269] Pose Error in degrees for R and t: 174.1575698162203 78.23905769779778 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.47840251e-01 3.18744472e-01 9.05753966e-04] [-3.18741611e-01 9.47838588e-01 -2.40768476e-03] [-1.62594477e-03 1.99339905e-03 9.99996691e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98640334 -0.16425823 0.00531194] [ 0.16432754 0.98533811 -0.04587671] [ 0.00230173 0.04612575 0.99893243]] t_gt: [ 0.50371164 -0.78119708 -0.36878951] Pose Error in degrees for R and t: 28.158411837515274 59.93376000695287 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.98860974e-01 4.77091276e-02 7.70331698e-04] [-4.77086213e-02 9.98861075e-01 -6.62895272e-04] [-8.01080504e-04 6.25388754e-04 9.99999484e-01]] t_estimated: [[-0.58138492] [-0.81362715] [-0.00155867]] R_gt: [[ 0.96854438 -0.24815694 0.01844872] [ 0.24866057 0.96800405 -0.03371236] [-0.0094917 0.03723992 0.99926117]] t_gt: [ 0.37131555 -0.91507288 -0.15737337] Pose Error in degrees for R and t: 17.256919587900065 58.0690956913452 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.91879742 -0.29892363 -0.25779055] [ 0.3571053 0.90774073 0.22018759] [ 0.16818771 -0.29436616 0.94077705]] t_estimated: [[-0.18992668] [-0.98128785] [-0.03165445]] R_gt: [[ 0.94082974 -0.33610605 0.04326688] [ 0.33761551 0.9406669 -0.03408175] [-0.02924452 0.04667418 0.99848176]] t_gt: [ 0.38628161 -0.92128199 -0.04501113] Pose Error in degrees for R and t: 22.972791339799038 33.684680073304406 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 5.52305752e-01 -8.33640727e-01 -1.22257845e-03] [ 8.33640714e-01 5.52306722e-01 -6.66838028e-04] [ 1.23114163e-03 -6.50892695e-04 9.99999030e-01]] t_estimated: [[ 9.92252903e-01] [ 1.24234358e-01] [-5.31506151e-06]] R_gt: [[ 0.99882071 0.02269133 -0.04291737] [-0.02001365 0.99788629 0.06182554] [ 0.04422944 -0.06089312 0.99716312]] t_gt: [0.59034491 0.54213165 0.59798508] Pose Error in degrees for R and t: 57.84372886544081 49.222774765337505 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.97248198e-01 7.41350669e-02 1.50911724e-04] [-7.41350709e-02 9.97248209e-01 2.13737773e-05] [-1.48911900e-04 -3.25028123e-05 9.99999988e-01]] t_estimated: [[-5.38154340e-01] [ 8.42846072e-01] [ 6.36619123e-04]] R_gt: [[ 0.99009676 0.13178528 -0.04837939] [-0.12815268 0.98915387 0.07176878] [ 0.05731309 -0.06485687 0.99624736]] t_gt: [-0.31089811 0.94472668 0.10408586] Pose Error in degrees for R and t: 5.9266459757269505 15.498681916919486 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-0.29988674 0.95206483 -0.0603366 ] [ 0.95219099 0.30259271 0.04207099] [ 0.05831172 -0.04483544 -0.99729109]] t_estimated: [[0.10074256] [0.99483283] [0.01259282]] R_gt: [[ 0.99143863 0.10946521 -0.07117895] [-0.10351543 0.99119985 0.08250212] [ 0.07958402 -0.07442762 0.99404518]] t_gt: [-0.02349709 0.98950933 0.14254534] Pose Error in degrees for R and t: 169.63243668944148 10.319459082494815 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-9.54550785e-01 -2.98042612e-01 -1.84399412e-03] [ 2.98043855e-01 -9.54552079e-01 -4.34275981e-04] [-1.63075568e-03 -9.64129594e-04 9.99998206e-01]] t_estimated: [[9.73982829e-01] [2.26619767e-01] [9.64339435e-04]] R_gt: [[ 0.99857774 0.01034756 0.05229758] [-0.01746446 0.99034378 0.13752745] [-0.05036922 -0.13824547 0.9891165 ]] t_gt: [-0.11074853 -0.00398955 0.99384045] Pose Error in degrees for R and t: 163.50036374038646 83.81074723697098 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.93663735 -0.33648675 -0.09740192] [ 0.34446792 0.93525022 0.08154064] [ 0.06365783 -0.10992584 0.99189918]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.99437812 -0.01588695 0.10469133] [-0.00895974 0.9725122 0.23268044] [-0.10550936 -0.23230967 0.96690255]] t_gt: [-0.0337065 -0.03661293 0.99876091] Pose Error in degrees for R and t: 23.805680371311826 86.64237598327253 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 6.31322082e-01 -7.75520066e-01 -1.02746744e-03] [ 7.75520746e-01 6.31321491e-01 8.63903315e-04] [-2.13120801e-05 -1.34222355e-03 9.99999099e-01]] t_estimated: [[0.89043432] [0.45511088] [0.00089943]] R_gt: [[ 0.99269534 -0.06601737 0.10098666] [ 0.02980306 0.94525126 0.32497999] [-0.11691196 -0.31959578 0.94031334]] t_gt: [ 0.06485991 -0.12895905 0.98952653] Pose Error in degrees for R and t: 51.731332653022356 89.99729737436355 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99999949e-01 -3.14592046e-04 -6.01947195e-05] [ 3.14593767e-04 9.99999950e-01 2.85903834e-05] [ 6.01857221e-05 -2.86093189e-05 9.99999998e-01]] t_estimated: [[-9.99987420e-01] [-4.96607675e-03] [-7.05678250e-04]] R_gt: [[ 0.99621685 0.08003792 -0.0338509 ] [-0.07952951 0.99670188 0.01609979] [ 0.03502729 -0.01334576 0.99929689]] t_gt: [-0.36116233 0.90432495 -0.22750421] Pose Error in degrees for R and t: 5.071503498590838 69.09451794801043 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99343074e-01 3.62410028e-02 -1.04366036e-04] [-3.62409952e-02 9.99343077e-01 7.39319521e-05] [ 1.06976843e-04 -7.01010552e-05 9.99999992e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99286659 0.1096906 -0.04673493] [-0.10906289 0.99390936 0.01577703] [ 0.04818063 -0.01056695 0.99878254]] t_gt: [-0.285123 0.94475563 -0.16168388] Pose Error in degrees for R and t: 5.064113391272141 73.60143570302668 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.99975773 0.01065381 -0.01926076] [ 0.01077389 0.9999231 -0.00614112] [ 0.01919385 -0.00634714 -0.99979563]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99836629 0.04693754 -0.03258069] [-0.04731869 0.99881884 -0.01102825] [ 0.03202396 0.01255262 0.99940847]] t_gt: [ 0.14559667 0.90984502 -0.38856614] Pose Error in degrees for R and t: 177.05917349566244 81.5230840912959 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[-1.58378291e-01 -9.87378339e-01 -5.77017323e-04] [ 9.87372369e-01 -1.58379340e-01 3.43372022e-03] [-3.48176859e-03 -2.59042210e-05 9.99993938e-01]] t_estimated: [[ 0.99885455] [-0.04782314] [ 0.00159303]] R_gt: [[ 0.99947999 -0.01344091 -0.02934684] [ 0.01403281 0.99970171 0.02001084] [ 0.02906972 -0.02041229 0.99936842]] t_gt: [ 0.40260551 -0.78783274 -0.46607765] Pose Error in degrees for R and t: 98.3417334339048 63.954898925727186 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 8.00142989e-01 5.99809215e-01 -3.20508640e-04] [-5.99809198e-01 8.00142428e-01 -1.01033444e-03] [-3.49555346e-04 1.00065605e-03 9.99999438e-01]] t_estimated: [[0.8330532 ] [0.5531921 ] [0.00093287]] R_gt: [[ 0.99838436 -0.05407138 -0.01751797] [ 0.05416681 0.99852086 0.00498655] [ 0.01722302 -0.0059268 0.99983355]] t_gt: [ 0.58342131 -0.79443693 -0.16878843] Pose Error in degrees for R and t: 39.9723772526151 87.34124969393748 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99829301e-01 -1.84758124e-02 1.11505676e-04] [ 1.84758186e-02 9.99829306e-01 -5.52286305e-05] [-1.10466249e-04 5.72793618e-05 9.99999992e-01]] t_estimated: [[9.88340004e-01] [1.52262940e-01] [1.85125244e-04]] R_gt: [[ 0.98181235 -0.18985353 -0.00144829] [ 0.18970039 0.98127131 -0.03350247] [ 0.00778187 0.03261836 0.9994368 ]] t_gt: [ 0.71275842 -0.69108002 -0.11993264] Pose Error in degrees for R and t: 10.068213551929475 53.18740645292429 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-3.16325062e-02 9.99497781e-01 1.88950706e-03] [ 9.99499460e-01 3.16315710e-02 5.22804314e-04] [ 4.62773675e-04 1.90509890e-03 -9.99998078e-01]] t_estimated: [[9.68498353e-01] [2.49018556e-01] [8.35632745e-04]] R_gt: [[ 0.99617862 -0.06865482 0.05397714] [ 0.06698708 0.99723612 0.03212392] [-0.05603386 -0.02838528 0.99802498]] t_gt: [-0.20758575 -0.83466234 0.51014403] Pose Error in degrees for R and t: 178.88096565473268 65.89145647098415 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.85617561e-01 -1.68991188e-01 -3.79093334e-05] [ 1.68991187e-01 9.85617562e-01 -2.44708917e-05] [ 4.14994699e-05 1.77125973e-05 9.99999999e-01]] t_estimated: [[ 6.85634329e-01] [-7.27945831e-01] [-6.59352584e-04]] R_gt: [[ 0.98066576 -0.19323552 0.03085879] [ 0.19216809 0.98075528 0.03450339] [-0.03693319 -0.02790557 0.9989275 ]] t_gt: [ 0.23806841 -0.93932008 0.24698424] Pose Error in degrees for R and t: 2.9971366800122765 32.130474269753115 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999936e-01 -1.14709395e-04 3.39108082e-04] [ 1.14717573e-04 9.99999993e-01 -2.40948901e-05] [-3.39105316e-04 2.41337902e-05 9.99999942e-01]] t_estimated: [[-7.21739522e-01] [-6.92164453e-01] [-6.57543075e-04]] R_gt: [[ 0.93711133 -0.34894199 0.0077289 ] [ 0.3472933 0.93442917 0.07891988] [-0.03476094 -0.07127218 0.99685127]] t_gt: [ 0.4512133 -0.86111985 0.23426302] Pose Error in degrees for R and t: 20.894108776610764 74.32240074965104 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99653045e-01 -2.63271833e-02 -8.17596290e-04] [ 2.63271846e-02 9.99653380e-01 -9.22330126e-06] [ 8.17555718e-04 -1.23049073e-05 9.99999666e-01]] t_estimated: [[-0.99697367] [-0.0775424 ] [-0.00553874]] R_gt: [[ 0.99680402 0.06833897 0.04137094] [-0.06856877 0.9976375 0.00416315] [-0.04099002 -0.00698711 0.99913512]] t_gt: [-0.72690711 0.53675346 0.42837108] Pose Error in degrees for R and t: 5.953451536830761 47.10057961270829 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.42276065 0.90514605 -0.04454283] [ 0.90243049 -0.41597125 0.11219238] [ 0.08302195 -0.08762733 -0.99268767]] t_estimated: [[-0.99961238] [-0.02780563] [-0.00139028]] R_gt: [[ 0.99558055 0.07685524 -0.05398305] [-0.06955404 0.989577 0.12609562] [ 0.06311096 -0.12178374 0.99054874]] t_gt: [-0.68930135 0.26943831 0.67250773] Pose Error in degrees for R and t: 165.32859791367434 47.10888297866355 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-9.60976307e-01 2.76630142e-01 -5.49392346e-04] [-2.76628246e-01 -9.60974275e-01 -2.29286014e-03] [-1.16222614e-03 -2.05140683e-03 9.99997220e-01]] t_estimated: [[0.52184802] [0.85303801] [0.00089511]] R_gt: [[ 0.98758297 -0.01141735 -0.15668829] [ 0.0472291 0.97279651 0.226796 ] [ 0.14983501 -0.23138009 0.96125625]] t_gt: [ 0.45655353 -0.62452171 0.63366513] Pose Error in degrees for R and t: 165.81036001973982 72.90709271095079 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99999604e-01 -2.29295087e-04 -8.60154163e-04] [ 2.30094070e-04 9.99999542e-01 9.28900031e-04] [ 8.59940777e-04 -9.29097580e-04 9.99999199e-01]] t_estimated: [[8.38311118e-01] [5.45191592e-01] [7.73149656e-04]] R_gt: [[ 0.99188638 -0.12666726 -0.01075483] [ 0.12694399 0.99142853 0.0308927 ] [ 0.00674867 -0.03200809 0.99946493]] t_gt: [ 0.668929 -0.72442852 0.16654522] Pose Error in degrees for R and t: 7.4955624313412255 80.44774515126711 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-8.50327071e-01 -5.26250857e-01 -1.97672725e-03] [ 5.26253076e-01 -8.50327609e-01 -8.11536873e-04] [-1.25379378e-03 -1.73033057e-03 9.99997717e-01]] t_estimated: [[9.73728204e-01] [2.27711390e-01] [9.52767323e-04]] R_gt: [[ 0.96487896 -0.262384 -0.01276018] [ 0.26203338 0.95787167 0.11755909] [-0.01862352 -0.11677467 0.99298412]] t_gt: [ 0.65661886 -0.65754042 0.36944859] Pose Error in degrees for R and t: 133.07282098936236 60.66001899306243 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.01512025 -0.99988281 0.00239597] [ 0.99909984 -0.0152033 -0.03960258] [ 0.03963436 0.00179502 0.99921264]] t_estimated: [[ 0.99751581] [-0.06689847] [-0.02206383]] R_gt: [[ 0.94147777 -0.33697421 -0.00823027] [ 0.33347461 0.92758745 0.16845163] [-0.0491298 -0.16133914 0.98567509]] t_gt: [ 0.64316459 -0.62938663 0.43613276] Pose Error in degrees for R and t: 72.00877384043714 47.61965047842363 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.66371176 -0.73791522 -0.12234309] [ 0.74414278 0.66797159 0.00809127] [ 0.07575104 -0.096411 0.99245489]] t_estimated: [[-0.13896766] [-0.99014456] [-0.01737096]] R_gt: [[ 0.99479356 0.0967916 0.03189242] [-0.09813111 0.99422205 0.04350717] [-0.02749644 -0.04641059 0.99854387]] t_gt: [-0.751556 0.50272337 0.42712151] Pose Error in degrees for R and t: 54.20505325717531 66.37515572601781 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99994069e-01 3.44215903e-03 -1.14946549e-04] [-3.44215139e-03 9.99994074e-01 6.65857206e-05] [ 1.15175066e-04 -6.61896622e-05 9.99999991e-01]] t_estimated: [[-9.98612292e-01] [ 5.26637648e-02] [ 1.37022978e-04]] R_gt: [[ 0.98079049 0.1948637 0.00888391] [-0.19475705 0.98078237 -0.01162212] [-0.01097755 0.00966877 0.99989269]] t_gt: [-0.68667988 0.72433076 -0.06177135] Pose Error in degrees for R and t: 11.069301982377278 43.62553176196053 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999991e-01 -1.22441102e-04 5.70905405e-05] [ 1.22481250e-04 9.99999745e-01 -7.03751300e-04] [-5.70043578e-05 7.03758286e-04 9.99999751e-01]] t_estimated: [[-0.76853217] [-0.63980935] [-0.00151539]] R_gt: [[ 0.98374328 0.17764641 0.02631029] [-0.17458446 0.98036412 -0.09168407] [-0.04208089 0.08560095 0.99544001]] t_gt: [-0.58780143 0.74558079 -0.31400441] Pose Error in degrees for R and t: 11.531136178809819 88.57837960933522 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.83925598e-01 1.78578657e-01 2.83212805e-04] [-1.78578619e-01 9.83925634e-01 -1.55183472e-04] [-3.06372795e-04 1.02113239e-04 9.99999948e-01]] t_estimated: [[0.84143014] [0.54036477] [0.00111578]] R_gt: [[ 9.88390258e-01 -1.51937824e-01 2.31891961e-04] [ 1.51821039e-01 9.87689983e-01 3.76783780e-02] [-5.95300404e-03 -3.72058481e-02 9.99289394e-01]] t_gt: [ 0.95186239 -0.18101464 0.24736954] Pose Error in degrees for R and t: 19.147667533199133 45.30055846474654 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 2.42315145e-01 9.70197478e-01 -4.73765965e-04] [-9.70193002e-01 2.42312467e-01 -3.19498828e-03] [-2.98497017e-03 1.23383847e-03 9.99994784e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98361732 -0.17264871 0.05185518] [ 0.1694201 0.98363566 0.06130672] [-0.06159065 -0.05151674 0.99677052]] t_gt: [ 0.90849205 -0.17549613 0.3792668 ] Pose Error in degrees for R and t: 85.94338878595919 80.24519091088663 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-6.85445550e-01 -7.28118552e-01 -2.78790353e-03] [ 7.28121392e-01 -6.85448202e-01 -5.58446179e-06] [-1.90689731e-03 -2.03376004e-03 9.99996114e-01]] t_estimated: [[0.9433499 ] [0.33179559] [0.00162647]] R_gt: [[ 0.96709445 -0.24621842 0.0640772 ] [ 0.24082605 0.96713681 0.08153818] [-0.08204764 -0.06342353 0.99460784]] t_gt: [ 0.9310056 -0.13686862 0.33837192] Pose Error in degrees for R and t: 119.22482485163009 33.55019269151851 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999963e-01 2.70115244e-04 1.96630046e-05] [-2.70115217e-04 9.99999964e-01 -1.36540854e-06] [-1.96633727e-05 1.36009721e-06 1.00000000e+00]] t_estimated: [[-0.99935761] [-0.03581772] [-0.00120449]] R_gt: [[ 0.99856637 0.04780479 -0.02407997] [-0.04760855 0.99882887 0.00863386] [ 0.02446517 -0.00747544 0.99967348]] t_gt: [-0.53860293 0.82605617 -0.16594605] Pose Error in degrees for R and t: 3.089331374420923 59.41145184471076 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.93923977e-01 -1.10068724e-01 -6.26678453e-05] [ 1.10068735e-01 9.93923955e-01 2.10336851e-04] [ 3.91355639e-05 -2.15956610e-04 9.99999976e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 9.92346397e-01 1.23468032e-01 2.27569414e-03] [-1.23485643e-01 9.92281010e-01 1.13368915e-02] [-8.58032677e-04 -1.15318271e-02 9.99933836e-01]] t_gt: [-0.62333561 0.77821001 0.07643232] Pose Error in degrees for R and t: 13.427955528909111 61.22786375053692 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.97537337e-01 7.01369312e-02 -2.68409013e-04] [-7.01366396e-02 9.97536918e-01 9.74361161e-04] [ 3.36086601e-04 -9.53136331e-04 9.99999489e-01]] t_estimated: [[-9.94445628e-01] [-1.05248720e-01] [-7.73887649e-04]] R_gt: [[ 9.23601486e-01 3.83338134e-01 3.41757866e-03] [-3.83353675e-01 9.23562180e-01 8.47233585e-03] [ 9.18507550e-05 -9.13505864e-03 9.99958170e-01]] t_gt: [-0.60629035 0.79513178 0.01332179] Pose Error in degrees for R and t: 18.52579866503238 58.719661192579686 Number of keypoints: Image1: 455 Image2: 455 R_estimated: [[-0.99508496 -0.0877274 0.04593281] [-0.08770969 0.99614318 0.00240463] [-0.04596661 -0.00163594 -0.99894164]] t_estimated: [[0.99869594] [0.04443768] [0.02513389]] R_gt: [[ 0.99973313 -0.02248406 0.00550741] [ 0.02232498 0.99937061 0.02756073] [-0.00612291 -0.02743046 0.99960507]] t_gt: [ 0.05971144 -0.72816273 0.68279835] Pose Error in degrees for R and t: 176.96264037943584 87.45310319053233 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[-0.92459366 -0.38095072 -0.00176397] [ 0.38095125 -0.92455511 -0.00860165] [ 0.00164592 -0.00862502 0.99996145]] t_estimated: [[9.73769594e-01] [2.27534281e-01] [9.64128310e-04]] R_gt: [[ 0.9966703 -0.0721295 0.03801759] [ 0.07132271 0.99720672 0.02217464] [-0.03951024 -0.01938929 0.99903078]] t_gt: [ 0.07126386 -0.78591824 0.61421005] Pose Error in degrees for R and t: 153.5086019692526 83.75174594150364 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 7.72109616e-01 -6.35489240e-01 4.09633822e-04] [ 6.35480128e-01 7.72094747e-01 -5.89139845e-03] [ 3.42764420e-03 4.80911955e-03 9.99982562e-01]] t_estimated: [[-0.04281675] [-0.99905746] [-0.00713612]] R_gt: [[ 0.99213431 -0.11746128 0.04328858] [ 0.11669632 0.99297003 0.01979207] [-0.04530851 -0.01458502 0.99886688]] t_gt: [ 0.10354849 -0.90396332 0.41488314] Pose Error in degrees for R and t: 32.858185516351085 26.399321105181325 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999908e-01 3.32975406e-04 2.70264806e-04] [-3.32961977e-04 9.99999943e-01 -4.97328779e-05] [-2.70281351e-04 4.96428855e-05 9.99999962e-01]] t_estimated: [[0.79590098] [0.60542413] [0.00180321]] R_gt: [[ 0.98408431 -0.16608475 -0.06319105] [ 0.16803574 0.98541441 0.02688033] [ 0.05780491 -0.03707081 0.99763926]] t_gt: [ 0.62469133 -0.77917742 -0.0514129 ] Pose Error in degrees for R and t: 10.424137921471269 88.5464265841377 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.11255073 0.99301739 0.03533821] [-0.99362953 -0.11227306 -0.00975233] [-0.0057167 -0.03621072 0.99932783]] t_estimated: [[0.10984312] [0.99393601] [0.00506965]] R_gt: [[ 0.96171193 -0.24549985 -0.12181696] [ 0.25550157 0.96393502 0.07448717] [ 0.09913816 -0.10275986 0.98975361]] t_gt: [ 0.62638245 -0.77819701 0.04532597] Pose Error in degrees for R and t: 111.31263808043506 45.21532130264696 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.6692681 -0.74301785 -0.00216658] [ 0.74299832 -0.66926761 0.0058621 ] [-0.00580567 0.00231355 0.99998047]] t_estimated: [[0.96802298] [0.25085961] [0.00098376]] R_gt: [[ 0.948623 -0.27952916 -0.14824856] [ 0.30423497 0.93452765 0.18466125] [ 0.08692496 -0.22027556 0.9715561 ]] t_gt: [ 0.55194981 -0.77189801 0.31547564] Pose Error in degrees for R and t: 115.29837426614908 70.06387011542554 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.60481657e-01 -2.78340977e-01 -1.13436997e-03] [ 2.78341961e-01 9.60481687e-01 8.25145654e-04] [ 8.59869731e-04 -1.10828003e-03 9.99999016e-01]] t_estimated: [[-0.59061616] [-0.80695206] [-0.00095724]] R_gt: [[ 0.98756638 -0.1571996 0.00110554] [ 0.15707275 0.98700513 0.03387505] [-0.00641685 -0.03327962 0.99942581]] t_gt: [ 0.54567094 -0.82557977 0.14374027] Pose Error in degrees for R and t: 7.365369476722547 69.89243799288387 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 7.61090376e-01 6.48645803e-01 2.50126590e-04] [-6.48645745e-01 7.61090415e-01 -2.78671207e-04] [-3.71127859e-04 4.98504254e-05 9.99999930e-01]] t_estimated: [[0.88368126] [0.46808825] [0.00090662]] R_gt: [[ 9.47558705e-01 -3.19580346e-01 2.25200196e-04] [ 3.19577756e-01 9.47550898e-01 4.06470033e-03] [-1.51247878e-03 -3.77899939e-03 9.99991641e-01]] t_gt: [ 0.63976419 -0.76851886 0.00897423] Pose Error in degrees for R and t: 59.07759898730992 78.13413961420966 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.9981144 0.06114905 0.00533252] [ 0.06113825 -0.99812696 0.00216429] [ 0.00545487 -0.00183419 -0.99998344]] t_estimated: [[0.76990556] [0.63815701] [0.00102929]] R_gt: [[ 0.86655816 -0.49896438 -0.01057488] [ 0.49899453 0.86584013 0.03640463] [-0.00900836 -0.03682316 0.99928088]] t_gt: [ 0.71467764 -0.69672158 0.061765 ] Pose Error in degrees for R and t: 177.79660168966808 83.93364864929549 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-0.91982606 -0.39182464 -0.01983603] [-0.39185652 0.92002317 -0.00241523] [ 0.01919596 0.00555129 -0.99980033]] t_estimated: [[ 0.96992473] [ 0.24320755] [-0.00980373]] R_gt: [[ 0.99713361 0.05058634 0.05627167] [-0.04833022 0.9980002 -0.04075165] [-0.05822062 0.03791685 0.99758301]] t_gt: [-0.79864158 0.57675194 0.17183955] Pose Error in degrees for R and t: 178.37668985169535 50.50310078063504 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-0.98490414 -0.17299272 -0.00611218] [-0.1730047 0.98491988 0.00148418] [ 0.00576325 0.00251921 -0.99998022]] t_estimated: [[ 0.98913247] [ 0.14699863] [-0.00288961]] R_gt: [[ 0.98861152 0.08809478 0.12201119] [-0.08115838 0.99485066 -0.06069788] [-0.12673106 0.05010538 0.99067075]] t_gt: [-0.74517999 0.52411758 0.41231972] Pose Error in degrees for R and t: 173.49640673379875 48.60635986207411 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.94232249 -0.33464314 0.00650267] [ 0.33466424 0.94233424 -0.00245353] [-0.00530663 0.00448823 0.99997585]] t_estimated: [[0.11089866] [0.99382257] [0.00426533]] R_gt: [[ 0.97055606 0.20883997 0.12003052] [-0.19998445 0.97638294 -0.08174216] [-0.13426739 0.05533285 0.98939868]] t_gt: [-0.72014932 0.65944865 0.21566739] Pose Error in degrees for R and t: 32.373138132377385 54.800074322828785 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99997758e-01 2.11731204e-03 5.62132233e-06] [-2.11731261e-03 9.99997753e-01 1.02925792e-04] [-5.40338368e-06 -1.02937463e-04 9.99999995e-01]] t_estimated: [[9.99883194e-01] [1.52636619e-02] [7.86416192e-04]] R_gt: [[ 0.98448154 -0.17495544 -0.01366982] [ 0.17460927 0.98435907 -0.02340261] [ 0.01755071 0.02065213 0.99963322]] t_gt: [ 0.59512153 -0.79107267 -0.14154292] Pose Error in degrees for R and t: 10.307289492957384 54.34762210712658 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.99998378 0.00546748 0.00159682] [-0.00544375 0.99987993 -0.01450857] [-0.00167595 0.01449965 0.99989347]] t_estimated: [[9.93902231e-01] [1.10262234e-01] [7.71064574e-04]] R_gt: [[ 0.92751145 -0.37347811 -0.0153906 ] [ 0.37365285 0.92750724 0.0106433 ] [ 0.01029975 -0.01562243 0.99982565]] t_gt: [ 0.678665 -0.73424154 0.01741186] Pose Error in degrees for R and t: 22.3231551959429 53.58846108976048 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-9.71574845e-01 -2.36730835e-01 -9.12853513e-04] [ 2.36732143e-01 -9.71573301e-01 -1.79260063e-03] [-4.62540256e-04 -1.95774745e-03 9.99997977e-01]] t_estimated: [[9.37294388e-01] [3.48537929e-01] [7.36866657e-04]] R_gt: [[ 0.87146771 -0.48890135 -0.03897655] [ 0.48634489 0.871699 -0.06007443] [ 0.06334581 0.03339612 0.99743318]] t_gt: [ 0.73879641 -0.65971995 -0.13765698] Pose Error in degrees for R and t: 137.10751389230683 62.4559214058103 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-0.50873482 0.86089206 -0.00733061] [ 0.86086829 0.50878012 0.00696995] [ 0.00973004 -0.00276484 -0.99994884]] t_estimated: [[0.44291566] [0.89656275] [0.00097559]] R_gt: [[ 0.99875925 0.04121511 0.0279805 ] [-0.03986091 0.99808422 -0.04733087] [-0.02987683 0.04615631 0.99848778]] t_gt: [-0.66101873 0.71936082 -0.21348125] Pose Error in degrees for R and t: 177.79672990440818 69.39224724477195 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 0.9865615 0.14485969 -0.07557823] [-0.13065323 0.97718199 0.16746667] [ 0.09811286 -0.15534163 0.98297652]] t_estimated: [[9.10306688e-01] [4.13933546e-01] [8.67785213e-04]] R_gt: [[ 0.99029948 0.07542539 0.11669895] [-0.06722745 0.99508851 -0.0726627 ] [-0.12160566 0.06411314 0.99050585]] t_gt: [-0.75433886 0.58493005 0.29804316] Pose Error in degrees for R and t: 18.208767803585335 63.62150833996852 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-2.37607729e-01 9.71361167e-01 2.23096517e-04] [ 9.71357142e-01 2.37606069e-01 2.94256445e-03] [ 2.80528375e-03 9.15882451e-04 -9.99995646e-01]] t_estimated: [[0.90583198] [0.42363263] [0.00195222]] R_gt: [[ 0.98035446 0.13649067 0.14239338] [-0.12314394 0.98746704 -0.09870947] [-0.15408179 0.07923528 0.9848762 ]] t_gt: [-0.72799094 0.62735441 0.27650614] Pose Error in degrees for R and t: 170.20355634514956 66.85060998552738 Number of keypoints: Image1: 421 Image2: 421 R_estimated: [[ 9.91121461e-01 1.32959146e-01 3.39921513e-04] [-1.32959206e-01 9.91121498e-01 1.60876257e-04] [-3.15513550e-04 -2.04643606e-04 9.99999929e-01]] t_estimated: [[0.03806756] [0.99927336] [0.00190338]] R_gt: [[ 0.99892772 -0.04385783 0.01480086] [ 0.04345788 0.99870984 0.02628995] [-0.01593432 -0.0256182 0.99954501]] t_gt: [ 0.10984159 -0.79884445 0.59142402] Pose Error in degrees for R and t: 10.286136701375609 37.537299804069676 Number of keypoints: Image1: 373 Image2: 373 R_estimated: [[ 9.88918882e-01 1.48453712e-01 -9.69437195e-04] [-1.48452296e-01 9.88918582e-01 1.39811306e-03] [ 1.16624953e-03 -1.23870522e-03 9.99998553e-01]] t_estimated: [[0.45118998] [0.89242724] [0.00110586]] R_gt: [[ 0.99567096 -0.06804522 0.06331936] [ 0.06769127 0.99767701 0.00771721] [-0.06369693 -0.00339679 0.99796372]] t_gt: [-0.15584273 -0.68875853 0.70804289] Pose Error in degrees for R and t: 12.973212558350284 46.827389392658475 Number of keypoints: Image1: 333 Image2: 333 R_estimated: [[-9.99942851e-01 -1.06871300e-02 -2.81765281e-04] [-1.06874080e-02 9.99942383e-01 1.00455427e-03] [ 2.71013244e-04 1.00750820e-03 -9.99999456e-01]] t_estimated: [[9.96302826e-01] [8.59051991e-02] [9.87416082e-04]] R_gt: [[ 0.99313225 -0.11680957 0.0066279 ] [ 0.11668069 0.9930189 0.01735465] [-0.00860838 -0.01646112 0.99982764]] t_gt: [ 0.07445726 -0.98873349 0.12985452] Pose Error in degrees for R and t: 179.56709455749782 89.3910978861811 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.97189626e-01 -7.49189495e-02 -2.65004821e-05] [ 7.49189517e-02 9.97189622e-01 9.57664804e-05] [ 1.92512816e-05 -9.74827291e-05 9.99999995e-01]] t_estimated: [[-0.8830296 ] [-0.46931612] [-0.00105298]] R_gt: [[ 0.99882647 0.03921941 0.0284308 ] [-0.04101308 0.99700694 0.06553819] [-0.02577591 -0.06662803 0.99744438]] t_gt: [-0.26570704 -0.01597587 0.96392144] Pose Error in degrees for R and t: 7.763256687238619 76.04794170700592 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.11184753 -0.99371285 -0.00499015] [-0.99368633 0.1117972 0.00942723] [-0.00881008 0.00601305 -0.99994311]] t_estimated: [[0.64616301] [0.76319764] [0.00164838]] R_gt: [[ 0.99435948 0.07897564 0.0708075 ] [-0.08850501 0.98568441 0.14350057] [-0.05846066 -0.14895737 0.98711381]] t_gt: [-0.35255707 0.08625633 0.9318065 ] Pose Error in degrees for R and t: 171.49222820804846 80.7674046913136 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.14066000e-01 4.05565438e-01 1.50055493e-04] [-4.05564847e-01 9.14065188e-01 -1.40949336e-03] [-7.08802294e-04 1.22751272e-03 9.99998995e-01]] t_estimated: [[-0.94566202] [-0.32514888] [-0.00124103]] R_gt: [[ 0.97466532 0.21234573 0.07027988] [-0.2190949 0.96960982 0.10887518] [-0.04502471 -0.12151548 0.99156741]] t_gt: [-0.65487144 0.52540223 0.54322729] Pose Error in degrees for R and t: 13.653921315546814 63.39872774857182 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99996992e-01 5.03128828e-04 -2.40053138e-03] [-4.94327041e-04 9.99993159e-01 3.66578462e-03] [ 2.40235932e-03 -3.66458695e-03 9.99990400e-01]] t_estimated: [[-0.73782197] [-0.6749946 ] [-0.00101631]] R_gt: [[ 0.99686936 0.07886771 0.00580506] [-0.07900072 0.99648132 0.0280334 ] [-0.00357389 -0.02840296 0.99958963]] t_gt: [-0.64649939 0.7100376 0.2790791 ] Pose Error in degrees for R and t: 4.731648322051941 89.85368203530935 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.62728480e-01 -5.05666646e-01 9.01224729e-04] [ 5.05666765e-01 8.62728875e-01 1.07474422e-04] [-8.31858827e-04 3.62998148e-04 9.99999588e-01]] t_estimated: [[8.59832994e-01] [5.10574783e-01] [7.83090158e-04]] R_gt: [[ 0.97009955 0.24223944 0.01510028] [-0.24249384 0.96998385 0.01817984] [-0.01024264 -0.02129747 0.99971978]] t_gt: [-0.66264937 0.74371139 0.08825632] Pose Error in degrees for R and t: 44.42282362904719 79.04847673188866 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.52041247e-01 3.05969641e-01 2.04643825e-04] [-3.05969369e-01 9.52040973e-01 -8.55487192e-04] [-4.56582416e-04 7.51844352e-04 9.99999613e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.85793912 0.50794723 0.07701084] [-0.50642119 0.86137443 -0.03966108] [-0.08648024 -0.00497281 0.99624099]] t_gt: [-0.58082274 0.80742833 0.10346229] Pose Error in degrees for R and t: 13.64536656335258 54.67343729947362 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.30157090e-01 3.67161797e-01 5.91678403e-05] [-3.67161619e-01 9.30156774e-01 -8.49250367e-04] [-3.66847658e-04 7.68212090e-04 9.99999638e-01]] t_estimated: [[0.50986364] [0.8602545 ] [0.00112305]] R_gt: [[ 0.9932691 -0.0938271 0.06792701] [ 0.08017875 0.98013007 0.18142502] [-0.08359984 -0.17475827 0.98105504]] t_gt: [ 0.29885955 -0.48595408 0.82129873] Pose Error in degrees for R and t: 28.807710203669426 74.64824597911561 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.4443097 -0.89560881 -0.0217657 ] [-0.89559444 -0.44464641 0.01414793] [-0.02234905 0.01320717 -0.99966299]] t_estimated: [[0.89678477] [0.44246342] [0.0017915 ]] R_gt: [[ 0.9736267 -0.22331017 0.04675427] [ 0.20104421 0.93662104 0.28691675] [-0.10786321 -0.26995074 0.95681322]] t_gt: [ 0.48007032 -0.55033027 0.68313182] Pose Error in degrees for R and t: 163.59033609628875 79.14975979114142 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99668809e-01 -2.57256087e-02 6.82067320e-04] [ 2.57284764e-02 9.99658405e-01 -4.59547965e-03] [-5.63612819e-04 4.61150622e-03 9.99989208e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.94149579 -0.33346849 0.0488425 ] [ 0.30398578 0.90280991 0.30418209] [-0.14553093 -0.27153894 0.95136006]] t_gt: [ 0.5746256 -0.5687345 0.5885121] Pose Error in degrees for R and t: 25.25066889400073 55.01825902424659 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999859e-01 4.29460289e-04 3.10873809e-04] [-4.29420370e-04 9.99999900e-01 -1.28465482e-04] [-3.10928949e-04 1.28331968e-04 9.99999943e-01]] t_estimated: [[9.13960781e-01] [4.05802188e-01] [5.23848222e-04]] R_gt: [[ 0.98118479 -0.19283656 0.00954516] [ 0.19247115 0.98083112 0.03040566] [-0.0152251 -0.02799579 0.99949216]] t_gt: [ 0.65871171 -0.73158686 0.1757258 ] Pose Error in degrees for R and t: 11.283439572110332 72.22684453484653 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99995523e-01 2.98336757e-03 2.30606773e-04] [-2.98343735e-03 9.99995504e-01 3.02852701e-04] [-2.29702215e-04 -3.03539346e-04 9.99999928e-01]] t_estimated: [[9.99992176e-01] [3.87894560e-03] [7.75789120e-04]] R_gt: [[ 9.47193516e-01 -3.20583304e-01 -7.12239000e-03] [ 3.20661210e-01 9.47012875e-01 1.85085486e-02] [ 8.11086450e-04 -1.98146785e-02 9.99804067e-01]] t_gt: [ 0.73596301 -0.67371525 0.06682975] Pose Error in degrees for R and t: 18.90637831443595 42.828164071197904 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.12975801 0.99137845 0.01821087] [-0.99154414 -0.12970343 -0.00415172] [-0.00175392 -0.0185956 0.99982555]] t_estimated: [[0.04586237] [0.99893421] [0.00520419]] R_gt: [[ 0.92691637 -0.37506554 0.01232842] [ 0.37437437 0.9264741 0.03859082] [-0.02589596 -0.03115537 0.99917955]] t_gt: [ 0.71212327 -0.69080456 0.12517791] Pose Error in degrees for R and t: 119.46514433116154 48.946975668561386 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-2.15737699e-02 9.99766972e-01 7.58222262e-04] [-9.99762802e-01 -2.15714030e-02 -3.00236037e-03] [-2.98530482e-03 -8.22814645e-04 9.99995205e-01]] t_estimated: [[0.79451863] [0.60723924] [0.00081073]] R_gt: [[ 0.99381754 -0.10253719 -0.04260011] [ 0.10037923 0.99369058 -0.05003509] [ 0.04746108 0.0454492 0.99783858]] t_gt: [ 0.9196158 -0.05753272 -0.38858303] Pose Error in degrees for R and t: 97.12219572014325 45.94084168010441 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.95898433e-01 9.04756728e-02 -6.81213328e-04] [ 9.04739703e-02 9.95896360e-01 2.21366843e-03] [ 8.78701015e-04 2.14295685e-03 -9.99997318e-01]] t_estimated: [[9.99591602e-01] [2.85597600e-02] [9.84819312e-04]] R_gt: [[ 0.99239925 -0.08174562 -0.09198729] [ 0.07049755 0.99032655 -0.11951251] [ 0.10086669 0.11211891 0.98856162]] t_gt: [ 0.66973986 0.04926003 -0.74096016] Pose Error in degrees for R and t: 174.7207032195584 47.92185994520889 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.122617 0.99245277 0.00160299] [ 0.99245184 -0.12261998 0.00191941] [ 0.00210149 0.00135554 -0.99999687]] t_estimated: [[-0.12678793] [-0.99192907] [-0.00124302]] R_gt: [[ 0.98264191 0.09704658 -0.15810477] [-0.11019365 0.99095375 -0.07660866] [ 0.14923952 0.09270115 0.98444623]] t_gt: [-0.45500913 0.13973844 -0.8794543 ] Pose Error in degrees for R and t: 177.7618176007637 85.42133351123866 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999911e-01 4.16243458e-04 -7.26097412e-05] [-4.16235547e-04 9.99999907e-01 1.08943314e-04] [ 7.26550814e-05 -1.08913082e-04 9.99999991e-01]] t_estimated: [[9.68813622e-01] [2.47790521e-01] [1.56763931e-04]] R_gt: [[ 0.99915928 -0.03140316 -0.02637207] [ 0.03087211 0.9993182 -0.02029149] [ 0.0269913 0.01946012 0.99944708]] t_gt: [ 0.85692276 -0.02757669 -0.51470663] Pose Error in degrees for R and t: 2.6271052459874857 34.58504935903792 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99999998e-01 -6.75927641e-05 1.97038785e-05] [ 6.75922766e-05 9.99999997e-01 2.47408496e-05] [-1.97055508e-05 -2.47395177e-05 9.99999999e-01]] t_estimated: [[-0.01154301] [-0.9999289 ] [-0.00299183]] R_gt: [[ 0.99908013 0.00450825 -0.04265912] [-0.00597397 0.99939467 -0.03427742] [ 0.04247887 0.03450004 0.99850138]] t_gt: [ 0.72705764 0.32561711 -0.60445073] Pose Error in degrees for R and t: 3.153184581017552 70.59897654014641 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 8.90236336e-01 4.55498847e-01 2.58630295e-04] [-4.55498603e-01 8.90236242e-01 -6.75313703e-04] [-5.37846675e-04 4.83383058e-04 9.99999739e-01]] t_estimated: [[-8.70112829e-01] [ 4.92851994e-01] [-7.59766765e-04]] R_gt: [[ 0.99744656 0.07061766 0.01074085] [-0.06966677 0.99496797 -0.072009 ] [-0.01577184 0.07107671 0.99734665]] t_gt: [ 0.28989391 0.85925819 -0.42146992] Pose Error in degrees for R and t: 23.432404773907486 80.12106428748145 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.98969037e-01 4.53966837e-02 6.28958390e-05] [-4.53966882e-02 9.98969036e-01 7.22442128e-05] [-5.95513480e-05 -7.50249945e-05 9.99999995e-01]] t_estimated: [[0.36200064] [0.93217728] [0.0010255 ]] R_gt: [[ 0.99999017 0.00256336 -0.0037014 ] [-0.00257766 0.99998902 -0.00405361] [ 0.00369138 0.00406273 0.99998481]] t_gt: [-0.77468308 -0.50638513 -0.37873503] Pose Error in degrees for R and t: 2.474923619609532 41.16084463184984 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99550249e-01 2.99793056e-02 7.35611241e-04] [-2.99783397e-02 9.99549715e-01 -1.29074183e-03] [-7.73975550e-04 1.26810891e-03 9.99998896e-01]] t_estimated: [[0.57876219] [0.81549586] [0.00091234]] R_gt: [[ 0.99945636 0.00288882 0.03285495] [-0.0037916 0.99961529 0.02748099] [-0.03276301 -0.02759128 0.99908195]] t_gt: [-0.63118001 -0.35547442 0.68938359] Pose Error in degrees for R and t: 2.903681354674438 49.11354688518815 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.91593027e-01 -1.29395777e-01 -4.24494334e-05] [ 1.29395783e-01 9.91593001e-01 2.25697575e-04] [ 1.28882479e-05 -2.29292920e-04 9.99999974e-01]] t_estimated: [[0.30118323] [0.95356567] [0.0010873 ]] R_gt: [[ 9.97915468e-01 4.54883857e-02 4.57768297e-02] [-4.54445680e-02 9.98965337e-01 -1.98855483e-03] [-4.58194664e-02 -9.62511590e-05 9.98949679e-01]] t_gt: [-0.91576227 0.06473547 0.3964704 ] Pose Error in degrees for R and t: 10.379275035136738 77.66356628311668 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99999497e-01 4.53861108e-04 8.94081905e-04] [-4.53318497e-04 9.99999713e-01 -6.07000776e-04] [-8.94357143e-04 6.06595167e-04 9.99999416e-01]] t_estimated: [[0.87744188] [0.47968171] [0.00110006]] R_gt: [[ 0.98510969 -0.15618827 -0.07186078] [ 0.15399241 0.98744487 -0.03519404] [ 0.07645521 0.02360449 0.99679413]] t_gt: [ 0.64728066 -0.64430556 -0.4073059 ] Pose Error in degrees for R and t: 10.083105220561531 75.02239347023162 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99570840e-01 -2.92929843e-02 2.36956089e-04] [ 2.92930250e-02 9.99570853e-01 -1.70430117e-04] [-2.31861993e-04 1.77298136e-04 9.99999957e-01]] t_estimated: [[-0.1902519 ] [-0.98173458] [-0.0011924 ]] R_gt: [[ 0.95457663 -0.29639557 -0.03052836] [ 0.29634594 0.95505994 -0.00627453] [ 0.03101721 -0.00305613 0.9995141 ]] t_gt: [ 0.66922069 -0.74096286 -0.05583645] Pose Error in degrees for R and t: 15.668537702729024 53.11757275318234 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.99998517e-01 -2.17230430e-04 1.70853915e-03] [ 2.19039827e-04 9.99999415e-01 -1.05891582e-03] [-1.70830812e-03 1.05928849e-03 9.99997980e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.89734367 -0.41232555 -0.15735765] [ 0.42705747 0.90119962 0.07390705] [ 0.11133711 -0.13352007 0.98477179]] t_gt: [ 0.70842869 -0.70361309 0.05529381] Pose Error in degrees for R and t: 26.949313921186832 85.52016830039973 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99999920e-01 3.70031626e-04 1.49161135e-04] [-3.70020649e-04 9.99999929e-01 -7.36086850e-05] [-1.49188362e-04 7.35534864e-05 9.99999986e-01]] t_estimated: [[8.98723759e-01] [4.38514495e-01] [8.01007796e-04]] R_gt: [[ 0.98715311 -0.15566823 -0.03600886] [ 0.15689451 0.98702362 0.03418162] [ 0.03022014 -0.03939293 0.99876596]] t_gt: [ 0.67498315 -0.73518827 0.06241762] Pose Error in degrees for R and t: 9.458185605521896 73.48402432059677 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.92777225e-01 1.19971768e-01 3.95133918e-04] [-1.19971686e-01 9.92777288e-01 -2.23472039e-04] [-4.19090315e-04 1.74453069e-04 9.99999897e-01]] t_estimated: [[0.87391382] [0.48607986] [0.00100204]] R_gt: [[ 0.95710059 -0.28846541 -0.02733561] [ 0.28934577 0.95650572 0.03710828] [ 0.01544253 -0.04342596 0.99893638]] t_gt: [ 0.70404007 -0.6988622 0.1261713 ] Pose Error in degrees for R and t: 23.83918389050082 73.99662764162699 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99998954e-01 1.20437843e-03 8.01187666e-04] [-1.20390442e-03 9.99999100e-01 -5.91857162e-04] [-8.01899765e-04 5.90891990e-04 9.99999504e-01]] t_estimated: [[8.10300024e-01] [5.86014928e-01] [6.13503689e-04]] R_gt: [[ 0.91799225 -0.39273111 -0.05525666] [ 0.39639987 0.91299632 0.09646076] [ 0.01256656 -0.11045448 0.99380092]] t_gt: [ 0.69761714 -0.67693082 0.23472324] Pose Error in degrees for R and t: 24.240497864362066 80.28591900962847 Number of keypoints: Image1: 357 Image2: 357 R_estimated: [[ 9.98529700e-01 5.42072898e-02 -9.34611399e-05] [-5.42072317e-02 9.98529561e-01 5.40273833e-04] [ 1.22610491e-04 -5.34413198e-04 9.99999850e-01]] t_estimated: [[9.46958752e-01] [3.21353873e-01] [9.00150905e-04]] R_gt: [[ 0.9935509 -0.10711352 -0.03719832] [ 0.10926132 0.99210642 0.06152887] [ 0.03031427 -0.06519637 0.99741114]] t_gt: [ 0.65077529 -0.70486127 0.28224478] Pose Error in degrees for R and t: 10.183219153172002 67.04540599458805 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 8.66191121e-01 4.99711353e-01 1.22742288e-03] [-4.99712859e-01 8.66188310e-01 2.20700990e-03] [ 3.96885555e-05 -2.52505137e-03 9.99996811e-01]] t_estimated: [[0.50411302] [0.86363548] [0.00195393]] R_gt: [[ 0.96466177 -0.26047946 -0.03974603] [ 0.26302198 0.96094046 0.08608836] [ 0.01576992 -0.09350046 0.9954943 ]] t_gt: [ 0.67833871 -0.68775856 0.25854353] Pose Error in degrees for R and t: 45.48443887940584 75.43322540762846 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 7.67681001e-01 6.40829695e-01 1.78407329e-03] [-6.40827415e-01 7.67683054e-01 -1.71864644e-03] [-2.47096250e-03 1.76089141e-04 9.99996932e-01]] t_estimated: [[0.79754699] [0.6032553 ] [0.00135868]] R_gt: [[ 0.9187938 -0.3874646 -0.07542851] [ 0.39294743 0.91595529 0.08135559] [ 0.03756676 -0.1043885 0.9938261 ]] t_gt: [ 0.74641114 -0.64014129 0.18190529] Pose Error in degrees for R and t: 63.197561997543254 77.91418514948528 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[-7.22872368e-01 -6.90979163e-01 -1.82642635e-03] [ 6.90977943e-01 -7.22874613e-01 1.33257749e-03] [-2.24106052e-03 -2.98736882e-04 9.99997444e-01]] t_estimated: [[0.93344868] [0.35870956] [0.00100479]] R_gt: [[ 0.98047297 -0.19470914 -0.02759666] [ 0.19608686 0.97862125 0.06205356] [ 0.01492436 -0.06625337 0.99769141]] t_gt: [ 0.62261675 -0.76351101 0.17146231] Pose Error in degrees for R and t: 125.04143335692663 72.09290984753385 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.90119275e-01 1.40227524e-01 2.50752843e-04] [-1.40227659e-01 9.90119082e-01 6.38771828e-04] [-1.58701783e-04 -6.67622783e-04 9.99999765e-01]] t_estimated: [[0.14654839] [0.98920162] [0.00192827]] R_gt: [[ 0.94563778 -0.30797222 -0.10451088] [ 0.31635025 0.94559858 0.07592868] [ 0.0754402 -0.10486403 0.99162079]] t_gt: [ 0.6598219 -0.74737116 0.07791925] Pose Error in degrees for R and t: 27.333174874741502 50.024896557781695 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.25423341 0.9671291 -0.00516551] [ 0.96710009 0.25426878 0.00805013] [ 0.00909894 -0.00294896 -0.99995426]] t_estimated: [[0.61793566] [0.78622819] [0.00086304]] R_gt: [[ 0.88155319 -0.4346238 -0.18429814] [ 0.46403689 0.86953983 0.16902564] [ 0.08679197 -0.23452659 0.96822717]] t_gt: [ 0.69048422 -0.6837392 0.23607679] Pose Error in degrees for R and t: 165.8103775190453 83.64453438319862 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.66978008 -0.74253073 0.00653947] [ 0.74253613 0.66980291 0.00203781] [-0.00589329 0.00349091 0.99997654]] t_estimated: [[8.96264114e-01] [4.43520063e-01] [7.68665621e-04]] R_gt: [[ 0.97472215 -0.22248775 -0.02037377] [ 0.22230458 0.97491702 -0.01083999] [ 0.02227416 0.00603584 0.99973352]] t_gt: [ 0.65845391 -0.74813619 -0.08204078] Pose Error in degrees for R and t: 35.13635214205617 75.03243815789318 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-5.83160738e-01 8.12354777e-01 1.80849881e-03] [ 8.12356744e-01 5.83158511e-01 1.63430193e-03] [ 2.72991507e-04 2.42220692e-03 -9.99997029e-01]] t_estimated: [[9.38088783e-01] [3.46394115e-01] [7.43335010e-04]] R_gt: [[ 0.95566523 -0.29267881 -0.03229274] [ 0.29145131 0.95583602 -0.0378475 ] [ 0.04194317 0.02675755 0.99876156]] t_gt: [ 0.66138214 -0.73105666 -0.16771951] Pose Error in degrees for R and t: 179.01042617984945 68.46455348921799 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.98318788e-01 -5.79618387e-02 -1.53995789e-04] [ 5.79618754e-02 9.98318767e-01 2.45646266e-04] [ 1.39498777e-04 -2.54159167e-04 9.99999958e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.91120792 -0.40540228 -0.07313508] [ 0.40477386 0.91410452 -0.02387229] [ 0.07653091 -0.0078514 0.9970362 ]] t_gt: [ 0.71591051 -0.68796716 -0.11905176] Pose Error in degrees for R and t: 21.072117722091043 68.73905026473405 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999940e-01 3.36360977e-04 7.66140016e-05] [-3.36361516e-04 9.99999943e-01 7.02232779e-06] [-7.66116353e-05 -7.04809738e-06 9.99999997e-01]] t_estimated: [[-9.99999445e-01] [-1.02009053e-03] [-2.62491230e-04]] R_gt: [[ 0.99968806 0.02432892 -0.00574759] [-0.02405816 0.99877451 0.04325534] [ 0.00679243 -0.04310417 0.99904756]] t_gt: [0.28225757 0.67698825 0.67971875] Pose Error in degrees for R and t: 2.85018184903598 73.55311135302907 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999362e-01 -2.08421755e-04 1.10997123e-03] [ 2.09438648e-04 9.99999558e-01 -9.16106079e-04] [-1.10977980e-03 9.16337965e-04 9.99998964e-01]] t_estimated: [[0.61092009] [0.76801131] [0.19218552]] R_gt: [[ 0.99818712 0.04207121 -0.04305464] [-0.04130725 0.99897643 0.01848923] [ 0.04378842 -0.01667756 0.99890146]] t_gt: [ 0.59020363 0.72030214 -0.36445096] Pose Error in degrees for R and t: 3.6617842715656836 32.464387002757135 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99998458 -0.00452231 0.00322177] [ 0.00453011 0.99998682 -0.00241697] [-0.00321079 0.00243153 0.99999189]] t_estimated: [[-0.38147445] [-0.92437889] [-0.00096089]] R_gt: [[ 0.99742004 0.06677403 -0.02638212] [-0.06608174 0.99746802 0.02630914] [ 0.02807154 -0.02449817 0.99930584]] t_gt: [ 0.53965537 0.83319982 -0.12062398] Pose Error in degrees for R and t: 4.705982099160193 12.59359402397029 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 7.68395276e-01 -6.39974028e-01 1.39377410e-03] [ 6.39974139e-01 7.68396331e-01 4.23102657e-04] [-1.34174561e-03 5.66869294e-04 9.99998939e-01]] t_estimated: [[7.88612917e-01] [6.14889492e-01] [7.61944847e-04]] R_gt: [[ 0.99661658 0.04128758 0.0710592 ] [-0.03845278 0.99842652 -0.04082441] [-0.07263354 0.03795284 0.99663586]] t_gt: [-0.73409375 0.65591442 0.17573459] Pose Error in degrees for R and t: 42.32024332128132 79.89416274782747 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 0.92892677 -0.37025467 -0.00255603] [ 0.37025816 0.92892831 0.00104508] [ 0.00198742 -0.0019172 0.99999619]] t_estimated: [[0.45265937] [0.89168298] [0.00097346]] R_gt: [[ 0.99116408 0.0840253 0.1026325 ] [-0.07554273 0.99360505 -0.08392373] [-0.109028 0.07542834 0.99117287]] t_gt: [-0.72357077 0.68094826 0.11293718] Pose Error in degrees for R and t: 27.434055303197383 73.75359181812313 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 6.25878399e-01 -7.79914733e-01 -3.03945986e-03] [ 7.79920531e-01 6.25871342e-01 3.00471260e-03] [-4.41108803e-04 -4.25112186e-03 9.99990867e-01]] t_estimated: [[0.99374716] [0.11163239] [0.00218887]] R_gt: [[ 0.9765775 0.11509311 0.1817931 ] [-0.09820709 0.99019619 -0.09933528] [-0.19144429 0.07915482 0.97830581]] t_gt: [-0.70556514 0.58659824 0.39759319] Pose Error in degrees for R and t: 58.60764632403912 50.59486918140692 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.99884539e-01 1.51956428e-02 2.64452112e-05] [-1.51956454e-02 9.99884534e-01 1.02386767e-04] [-2.48863249e-05 -1.02776798e-04 9.99999994e-01]] t_estimated: [[-3.39093939e-02] [ 9.99424899e-01] [ 1.56799353e-04]] R_gt: [[ 0.99970468 0.0136452 0.02013136] [-0.01406563 0.9996834 0.02086783] [-0.01984003 -0.02114658 0.99957927]] t_gt: [-0.74373372 -0.0668969 0.66512026] Pose Error in degrees for R and t: 1.657759775750445 87.61955917060565 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.26077828 0.96518128 -0.02048852] [-0.96531304 0.26041367 -0.01885332] [-0.01286139 0.02469437 0.99961231]] t_estimated: [[0.10189724] [0.99479343] [0.00172707]] R_gt: [[ 0.9931733 0.10688333 0.04673056] [-0.10502933 0.9936449 -0.04049873] [-0.05076185 0.03531374 0.99808643]] t_gt: [-0.81635857 0.55592679 0.15653783] Pose Error in degrees for R and t: 68.85879867927929 61.95804502701982 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.95476776e-01 9.50038713e-02 5.02269598e-04] [-9.50044656e-02 9.95475953e-01 1.33368791e-03] [-3.73291793e-04 -1.37537319e-03 9.99998985e-01]] t_estimated: [[-0.0288061 ] [ 0.99958016] [ 0.00311616]] R_gt: [[ 0.97162264 0.23229652 0.04459225] [-0.22875131 0.9707625 -0.07275509] [-0.06018917 0.06048841 0.99635289]] t_gt: [-0.71573055 0.6962292 0.05472376] Pose Error in degrees for R and t: 9.316816921950988 44.21526588106055 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.98765964 0.15660581 0.00174639] [-0.15660266 0.98766001 -0.00181757] [-0.00200948 0.00152165 0.99999682]] t_estimated: [[0.46931716] [0.8830224 ] [0.00358379]] R_gt: [[ 0.97970192 -0.20009252 -0.01210682] [ 0.20015813 0.97975347 0.00445038] [ 0.01097098 -0.0067834 0.99991678]] t_gt: [ 0.72544067 -0.68815615 0.01330209] Pose Error in degrees for R and t: 20.573328605671755 74.50538148823671 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.07143893e-01 4.20819946e-01 7.28240502e-04] [-4.20819664e-01 9.07144172e-01 -5.12439985e-04] [-8.76264093e-04 1.58398879e-04 9.99999604e-01]] t_estimated: [[0.30190981] [0.95333583] [0.0011253 ]] R_gt: [[ 0.96686302 -0.25523973 -0.00542481] [ 0.25527188 0.96684914 0.00631768] [ 0.0036324 -0.00749229 0.99996514]] t_gt: [ 0.69679768 -0.71690305 0.02286925] Pose Error in degrees for R and t: 39.678641742483165 61.767306298904394 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-3.43097592e-01 9.39298350e-01 -1.62820344e-03] [-9.39294134e-01 -3.43101022e-01 -2.86693388e-03] [-3.25154453e-03 5.45723830e-04 9.99994565e-01]] t_estimated: [[0.55724263] [0.83034907] [0.00103402]] R_gt: [[ 0.9340945 -0.35467139 0.04093504] [ 0.35271203 0.93449176 0.04815676] [-0.0553324 -0.03054443 0.99800014]] t_gt: [ 0.68892278 -0.70450998 0.17044381] Pose Error in degrees for R and t: 130.8287215924078 78.40948084008838 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99611977e-01 -2.78548751e-02 2.39343193e-05] [ 2.78548759e-02 9.99611977e-01 -3.15499186e-05] [-2.30462132e-05 3.22043641e-05 9.99999999e-01]] t_estimated: [[ 3.24034656e-01] [-9.46045208e-01] [ 7.76791673e-05]] R_gt: [[ 0.99825576 -0.02443066 0.05375578] [ 0.02285616 0.99929733 0.02970801] [-0.05444399 -0.0284262 0.99811156]] t_gt: [ 0.26723259 -0.17331065 0.94791886] Pose Error in degrees for R and t: 3.529060914868818 75.48544359679158 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-7.14294946e-01 6.99844516e-01 6.19047089e-04] [-6.99844327e-01 -7.14293176e-01 -1.78246903e-03] [-8.05270063e-04 -1.70644521e-03 9.99998220e-01]] t_estimated: [[8.03119597e-01] [5.95817436e-01] [7.05109391e-04]] R_gt: [[ 0.99208948 -0.11589907 0.04823122] [ 0.11488809 0.99310732 0.02323472] [-0.05059201 -0.01750889 0.99856557]] t_gt: [ 0.94495218 -0.17820822 0.27442157] Pose Error in degrees for R and t: 142.22789026272068 49.23761070624782 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.76649065e-01 -2.14840481e-01 4.15026717e-04] [-2.14657682e-01 -9.75894193e-01 -3.94031028e-02] [ 8.87040371e-03 3.83939148e-02 -9.99223310e-01]] t_estimated: [[ 0.12246862] [ 0.99224983] [-0.02101715]] R_gt: [[ 0.98965359 -0.14209886 -0.01986845] [ 0.14088917 0.98861578 -0.05281941] [ 0.02714699 0.04947447 0.99840663]] t_gt: [ 0.95297455 -0.07967335 -0.29238958] Pose Error in degrees for R and t: 174.6761610052519 87.48971019626555 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.69542906e-01 2.44921377e-01 2.67722842e-04] [-2.44921304e-01 9.69542921e-01 -2.80607698e-04] [-3.28295610e-04 2.06490176e-04 9.99999925e-01]] t_estimated: [[-8.97233919e-01] [ 4.41555539e-01] [ 8.36798205e-06]] R_gt: [[ 0.98862059 -0.15034828 -0.00502967] [ 0.15031123 0.98594139 0.07298369] [-0.00601438 -0.07290926 0.99732032]] t_gt: [ 0.61020338 -0.74430054 0.27141949] Pose Error in degrees for R and t: 23.21459008374777 28.81946933826217 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.79702645e-01 -2.00456161e-01 2.32908344e-04] [ 2.00455316e-01 9.79693555e-01 -4.26664673e-03] [ 6.27096822e-04 4.22673280e-03 9.99990871e-01]] t_estimated: [[-0.06701134] [-0.99772443] [-0.0074457 ]] R_gt: [[ 0.9770771 -0.21079905 0.02974503] [ 0.20787283 0.97485158 0.08033778] [-0.04593188 -0.07231387 0.99632387]] t_gt: [ 0.61060557 -0.72226254 0.32480403] Pose Error in degrees for R and t: 5.1677585807630955 47.36830289608723 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-2.04944133e-02 9.99789937e-01 2.47286041e-04] [-9.99788562e-01 -2.04939691e-02 -1.68185137e-03] [-1.67643020e-03 -2.81702312e-04 9.99998555e-01]] t_estimated: [[0.33384618] [0.94262693] [0.00109569]] R_gt: [[ 0.96732575 -0.25268947 0.02073346] [ 0.25017062 0.96456445 0.08385137] [-0.04118594 -0.07592442 0.99626265]] t_gt: [ 0.63155968 -0.72783798 0.26717829] Pose Error in degrees for R and t: 105.84676098654735 61.64435166857283 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.97597403e-01 6.92778475e-02 4.12830050e-05] [-6.92778484e-02 9.97597403e-01 1.97459567e-05] [-3.98158612e-05 -2.25585128e-05 9.99999999e-01]] t_estimated: [[0.35757571] [0.93388137] [0.00228189]] R_gt: [[ 0.99748964 0.07078301 -0.00215116] [-0.07080676 0.99739059 -0.01408115] [ 0.00114848 0.01419883 0.9998989 ]] t_gt: [ 0.08114444 0.95909001 -0.27122304] Pose Error in degrees for R and t: 0.8212702282521841 22.471066322276275 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-9.48410622e-02 -9.95491993e-01 9.29715011e-04] [-9.95491728e-01 9.48420613e-02 1.09692314e-03] [-1.18015429e-03 -8.21490247e-04 -9.99998966e-01]] t_estimated: [[0.7970397 ] [0.60392436] [0.00175559]] R_gt: [[ 0.99389843 0.10988698 0.0095328 ] [-0.10991814 0.99393717 0.00273077] [-0.0091741 -0.00376138 0.9999506 ]] t_gt: [0.35502398 0.93036305 0.09155633] Pose Error in degrees for R and t: 179.39399296040304 32.32829399307621 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.88314783e-01 1.52426532e-01 2.06518013e-04] [-1.52426598e-01 9.88314729e-01 3.57898335e-04] [-1.49551592e-04 -3.85195054e-04 9.99999915e-01]] t_estimated: [[0.14452665] [0.98950037] [0.00103378]] R_gt: [[ 0.98429875 0.17587988 0.01493957] [-0.17634944 0.9835036 0.04026854] [-0.00761028 -0.04227145 0.99907713]] t_gt: [0.25447685 0.89965861 0.35476177] Pose Error in degrees for R and t: 2.8018222687639627 21.97335552056762 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 6.06720956e-01 -7.94914831e-01 -3.03849797e-04] [ 7.94905505e-01 6.06715607e-01 -4.62710244e-03] [ 3.86250277e-03 2.56582814e-03 9.99989249e-01]] t_estimated: [[ 0.17687869] [-0.98421482] [-0.00592662]] R_gt: [[ 0.99689595 -0.05872534 -0.05243126] [ 0.05974779 0.99804817 0.01816923] [ 0.05126237 -0.02124506 0.99845904]] t_gt: [ 0.49178301 -0.75854395 -0.42750503] Pose Error in degrees for R and t: 49.34263325211952 33.27051426822369 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 0.9815631 0.19110966 0.00331298] [-0.19097761 0.98130095 -0.02399995] [-0.00783765 0.02292476 0.99970647]] t_estimated: [[0.99243905] [0.1227291 ] [0.00151517]] R_gt: [[ 0.99201926 -0.08093707 -0.09668545] [ 0.0860582 0.99503294 0.05003357] [ 0.09215579 -0.05795452 0.99405632]] t_gt: [ 0.5118721 -0.76036348 -0.39979286] Pose Error in degrees for R and t: 17.40334239212651 65.53877177133326 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[-0.9724959 -0.23289924 0.00310828] [-0.2329035 0.97249925 -0.00108436] [-0.00277025 -0.00177847 -0.99999458]] t_estimated: [[0.9858548 ] [0.16755636] [0.00389666]] R_gt: [[ 0.98847969 -0.11065608 -0.10326553] [ 0.1152116 0.99256587 0.03923188] [ 0.09815724 -0.05067742 0.9938791 ]] t_gt: [ 0.54862607 -0.74767772 -0.37414899] Pose Error in degrees for R and t: 174.71676878768832 65.5354880445474 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.74301244e-01 -2.25246873e-01 -9.65884879e-04] [ 2.25246691e-01 9.74301720e-01 -2.94526006e-04] [ 1.00740436e-03 6.93946804e-05 9.99999490e-01]] t_estimated: [[ 0.92871673] [-0.37078356] [-0.00218916]] R_gt: [[ 0.99648378 0.08179283 -0.01816602] [-0.08265367 0.99516067 -0.05313456] [ 0.01373219 0.05444975 0.9984225 ]] t_gt: [-0.47134871 0.69663727 -0.54085757] Pose Error in degrees for R and t: 18.02030485980744 45.98337609616558 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-7.37837162e-01 -6.74977000e-01 -1.54003416e-03] [ 6.74978739e-01 -7.37835739e-01 -1.45729933e-03] [-1.52648711e-04 -2.11473992e-03 9.99997752e-01]] t_estimated: [[0.88813265] [0.45958612] [0.00100128]] R_gt: [[ 0.9319672 0.35756914 -0.05982994] [-0.36011554 0.93209633 -0.03889302] [ 0.04186048 0.05779267 0.99745071]] t_gt: [-0.49380816 0.84682581 -0.19758429] Pose Error in degrees for R and t: 158.61688557994856 87.1583626395684 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999754e-01 -6.23345012e-04 -3.21221686e-04] [ 6.23529430e-04 9.99999641e-01 5.74334943e-04] [ 3.20863562e-04 -5.74535093e-04 9.99999783e-01]] t_estimated: [[0.17620315] [0.98435293] [0.00132484]] R_gt: [[ 0.83269814 0.54305782 -0.10817477] [-0.54585874 0.83786548 0.00438625] [ 0.09301797 0.05539622 0.99412235]] t_gt: [-0.38050218 0.90587097 -0.1860534 ] Pose Error in degrees for R and t: 33.69311060552432 34.47182904623946 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.38179641e-01 6.74604178e-01 -1.40828169e-04] [-6.74604178e-01 7.38179565e-01 -3.64758802e-04] [-1.42111335e-04 3.64260793e-04 9.99999924e-01]] t_estimated: [[-0.99993173] [-0.01162711] [-0.00116271]] R_gt: [[ 0.99347067 0.06162091 0.09601228] [-0.05709392 0.99715607 -0.04919942] [-0.09877019 0.04339667 0.99416418]] t_gt: [-0.47746423 0.63483821 0.60746058] Pose Error in degrees for R and t: 39.47861161142746 62.00827776478276 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.42163667 -0.90675933 -0.00316764] [-0.90675916 0.42161906 0.00501862] [-0.00321514 0.00498832 -0.99998239]] t_estimated: [[0.86982434] [0.49336069] [0.00092045]] R_gt: [[ 0.96744725 0.13676261 0.21293666] [-0.12098394 0.98896515 -0.08550771] [-0.22227957 0.05696269 0.97331785]] t_gt: [-0.38358502 0.59105778 0.70958666] Pose Error in degrees for R and t: 171.62219424992765 87.62763326865458 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.21791006e-01 -3.87686467e-01 7.38102807e-04] [ 3.87687072e-01 9.21787750e-01 -2.46548424e-03] [ 2.75460750e-04 2.55881412e-03 9.99996688e-01]] t_estimated: [[0.95034591] [0.31119375] [0.00104779]] R_gt: [[ 0.92734209 0.28015828 0.24809115] [-0.25636749 0.95856821 -0.1241917 ] [-0.27260455 0.05156555 0.96074314]] t_gt: [-0.34193677 0.75291255 0.56231836] Pose Error in degrees for R and t: 41.76808915169566 84.83251911403558 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99884856e-01 1.51741705e-02 1.39036934e-04] [-1.51741501e-02 9.99884855e-01 -1.46834064e-04] [-1.41249010e-04 1.44707389e-04 9.99999980e-01]] t_estimated: [[8.91861611e-01] [4.52307861e-01] [6.82621921e-04]] R_gt: [[ 0.99408591 -0.10343579 -0.03306812] [ 0.10304304 0.99458737 -0.0133736 ] [ 0.03427272 0.0098878 0.99936374]] t_gt: [ 0.55078164 -0.77554377 -0.30849869] Pose Error in degrees for R and t: 7.09885292504096 81.93908343905228 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99167067e-01 -4.08037512e-02 4.75694276e-04] [ 4.08038511e-02 9.99167156e-01 -2.02212029e-04] [-4.67047087e-04 2.21453758e-04 9.99999866e-01]] t_estimated: [[9.82547882e-01] [1.86007706e-01] [8.89989024e-04]] R_gt: [[ 0.97674967 -0.20285143 -0.06935441] [ 0.20496119 0.97845821 0.02472064] [ 0.06284484 -0.03836086 0.99728601]] t_gt: [ 0.64316719 -0.76191285 -0.07632023] Pose Error in degrees for R and t: 10.354383953949542 60.649363349226014 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.54478896e-01 -2.98278334e-01 2.70675346e-04] [ 2.98278246e-01 9.54478907e-01 3.21836560e-04] [-3.54350781e-04 -2.26449637e-04 9.99999912e-01]] t_estimated: [[9.95396347e-01] [9.58405266e-02] [8.40706374e-04]] R_gt: [[ 0.95154067 -0.28358768 -0.11894736] [ 0.28737143 0.95769234 0.01560869] [ 0.10948796 -0.04903352 0.99277813]] t_gt: [ 0.72769203 -0.67401401 -0.12715906] Pose Error in degrees for R and t: 6.93904038053362 48.72778825463291 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.99868546 0.0512302 0.00167792] [-0.05122759 0.99868578 -0.00156144] [-0.00175571 0.00147344 0.99999737]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99734953 -0.05476687 -0.04791824] [ 0.05593118 0.9981629 0.0233042 ] [ 0.04655368 -0.02592328 0.99857945]] t_gt: [ 0.54251262 -0.78696671 -0.2938766 ] Pose Error in degrees for R and t: 6.889485586963585 65.8500188682466 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.68341083e-01 2.49629835e-01 7.01965113e-04] [-2.49629643e-01 9.68341323e-01 -3.50285628e-04] [-7.67183570e-04 1.63964664e-04 9.99999692e-01]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.99850049 -0.04893984 -0.02454835] [ 0.0487246 0.99876957 -0.0093081 ] [ 0.02497327 0.00809733 0.99965501]] t_gt: [ 0.50739822 -0.77239918 -0.38202953] Pose Error in degrees for R and t: 17.323081817055872 86.82729120193595 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.73066513 0.68222172 0.02649517] [ 0.68249991 0.73088275 0.00206828] [-0.01795384 0.01959417 -0.9996468 ]] t_estimated: [[0.94743723] [0.31993683] [0.00176761]] R_gt: [[ 0.99441365 0.01584609 0.10436303] [-0.0123917 0.99935618 -0.03366533] [-0.10482973 0.03218368 0.99396928]] t_gt: [-0.32136169 0.16685929 0.93213982] Pose Error in degrees for R and t: 172.35613292242948 75.5557453368558 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.48657781e-01 3.16303250e-01 8.18316253e-04] [-3.16303407e-01 9.48658079e-01 6.68639962e-05] [-7.55153025e-04 -3.22267269e-04 9.99999663e-01]] t_estimated: [[-0.8397791 ] [ 0.5429271 ] [ 0.00110849]] R_gt: [[ 0.99146434 0.12734074 0.02799885] [-0.12505806 0.98953243 -0.07201161] [-0.03687541 0.06789573 0.99701137]] t_gt: [-0.67452366 0.73233028 -0.09332844] Pose Error in degrees for R and t: 12.018894089899636 15.43147667298186 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 0.47087787 -0.87853016 -0.08036665] [ 0.88211217 0.47014784 0.02896776] [ 0.01233516 -0.08453268 0.99634435]] t_estimated: [[-0.31313577] [-0.94970781] [-0.00103005]] R_gt: [[ 0.96669776 0.25539306 0.01643006] [-0.25314926 0.96367965 -0.08507575] [-0.03756101 0.07808326 0.99623928]] t_gt: [-0.62411156 0.77889061 -0.06175901] Pose Error in degrees for R and t: 77.22222251235718 57.02840221225432 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 8.77802239e-01 -4.79006900e-01 -3.95203133e-03] [ 4.79013586e-01 8.77807020e-01 9.05548111e-04] [ 3.03535705e-03 -2.68796886e-03 9.99991781e-01]] t_estimated: [[ 0.1616491 ] [-0.98682357] [-0.00698604]] R_gt: [[ 0.95534512 0.29546903 -0.00374837] [-0.29420181 0.94991124 -0.10542432] [-0.02758936 0.10181935 0.99442073]] t_gt: [-0.6037659 0.7858676 -0.13371182] Pose Error in degrees for R and t: 46.21299370349739 29.2874112642767 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.28607365e-01 3.71063136e-01 7.15186172e-04] [-3.71062704e-01 9.28607572e-01 -6.68654293e-04] [-9.12240254e-04 3.55538386e-04 9.99999521e-01]] t_estimated: [[0.75679093] [0.65365552] [0.00139372]] R_gt: [[ 0.99323838 -0.10625321 -0.04678448] [ 0.10784968 0.99361756 0.03304395] [ 0.04297581 -0.03786558 0.99835857]] t_gt: [ 0.69588869 -0.71785788 -0.0204694 ] Pose Error in degrees for R and t: 28.12676449157858 86.7104489844482 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-1.27555744e-01 9.91830400e-01 -1.41058064e-03] [-9.91831403e-01 -1.27555597e-01 1.94463070e-04] [ 1.29469293e-05 1.42386306e-03 9.99998986e-01]] t_estimated: [[7.91613183e-01] [6.11022182e-01] [6.78913536e-04]] R_gt: [[ 0.97519451 -0.18479568 -0.12185169] [ 0.18525982 0.98266027 -0.00761011] [ 0.12114605 -0.01515279 0.992519 ]] t_gt: [ 0.76477981 -0.56520088 -0.3092892 ] Pose Error in degrees for R and t: 108.18280350241804 74.93886629055997 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999413e-01 3.16772713e-04 -1.03594010e-03] [-3.15664225e-04 9.99999378e-01 1.07001969e-03] [ 1.03627841e-03 -1.06969205e-03 9.99998891e-01]] t_estimated: [[-0.72099132] [-0.6929436 ] [-0.00082493]] R_gt: [[ 0.91890621 -0.36261703 -0.15530853] [ 0.36329304 0.93133897 -0.02503006] [ 0.153722 -0.03342221 0.987549 ]] t_gt: [ 0.81365192 -0.54818876 -0.19354491] Pose Error in degrees for R and t: 23.227552957071307 78.07609560252214 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.25990306 -0.96563363 0.00144893] [ 0.96560156 0.25988141 -0.0086771 ] [ 0.00800235 0.0036543 0.9999613 ]] t_estimated: [[ 0.91629652] [-0.40042296] [-0.00788373]] R_gt: [[ 0.9998391 -0.00768096 0.01621146] [ 0.00875422 0.99769798 -0.06724067] [-0.01565877 0.06737229 0.99760542]] t_gt: [ 0.2311181 0.12770039 -0.9645087 ] Pose Error in degrees for R and t: 74.53470960576082 80.31435219683298 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999429e-01 -1.06603931e-03 6.83159606e-05] [ 1.06605271e-03 9.99999412e-01 -1.96351993e-04] [-6.81066015e-05 1.96424709e-04 9.99999978e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99897387 0.0452337 -0.00245955] [-0.04520758 0.99195774 -0.11821936] [-0.00290853 0.11820909 0.99298425]] t_gt: [-0.08133508 0.40412163 -0.91108195] Pose Error in degrees for R and t: 7.282878729813954 85.36614742152653 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 1.60041091e-01 9.87110352e-01 4.42090306e-05] [-9.87109525e-01 1.60041014e-01 -1.28810391e-03] [-1.27857596e-03 1.62510399e-04 9.99999169e-01]] t_estimated: [[-4.96831249e-01] [ 8.67847088e-01] [ 3.76962773e-04]] R_gt: [[ 0.96845224 0.24570096 -0.04161172] [-0.24908396 0.95950913 -0.13152951] [ 0.00760902 0.13774443 0.99043895]] t_gt: [-0.42064281 0.77628256 -0.46951572] Pose Error in degrees for R and t: 66.80951748985461 28.053837899013384 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.68711451e-01 -2.48189578e-01 -2.39537317e-04] [ 2.48189097e-01 9.68710789e-01 -1.25680452e-03] [ 5.43968167e-04 1.15803038e-03 9.99999182e-01]] t_estimated: [[-0.09607784] [-0.9953664 ] [-0.00384311]] R_gt: [[ 0.97572764 -0.21879612 0.0091098 ] [ 0.21869269 0.97573052 0.01112309] [-0.01132296 -0.00886006 0.99989703]] t_gt: [ 0.8299574 -0.5534954 0.06937981] Pose Error in degrees for R and t: 1.9490706421627697 61.905735540372156 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-5.25807921e-01 8.50601943e-01 -1.53810031e-03] [-8.50600117e-01 -5.25810046e-01 -1.79903331e-03] [-2.33900983e-03 3.62362340e-04 9.99997199e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.90234675 -0.42411948 -0.07675537] [ 0.4240839 0.90545275 -0.01757761] [ 0.07695287 -0.01668916 0.99689576]] t_gt: [ 0.90559288 -0.41875724 -0.06740861] Pose Error in degrees for R and t: 146.88666977076318 65.59582042356855 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.99999107e-01 -4.94373342e-04 1.24158264e-03] [ 4.94380945e-04 9.99999878e-01 -5.81668163e-06] [-1.24157962e-03 6.43049123e-06 9.99999229e-01]] t_estimated: [[7.42976915e-01] [6.69316668e-01] [7.08271606e-04]] R_gt: [[ 0.77380117 -0.63040745 -0.06178274] [ 0.62692833 0.77614646 -0.06750508] [ 0.09050774 0.01350282 0.99580439]] t_gt: [ 0.95057153 -0.29814343 -0.08674251] Pose Error in degrees for R and t: 39.367658728799654 59.55979346596844 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 6.19861462e-01 -7.84711125e-01 -4.68130472e-04] [ 7.84711072e-01 6.19860781e-01 1.07077390e-03] [-5.50072472e-04 -1.03107864e-03 9.99999317e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99776621 -0.06002431 0.02931746] [ 0.06015041 0.99818418 -0.00340428] [-0.02905926 0.00516005 0.99956323]] t_gt: [ 0.53030275 -0.78667322 0.31610796] Pose Error in degrees for R and t: 48.27660514692775 58.12243972884848 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 7.79522855e-01 -6.26371064e-01 -1.84625066e-03] [ 6.26370322e-01 7.79524960e-01 -1.02745762e-03] [ 2.08276820e-03 -3.55509930e-04 9.99997768e-01]] t_estimated: [[ 0.60503482] [-0.79619452] [-0.00267283]] R_gt: [[ 0.9947168 -0.10045065 0.0212032 ] [ 0.1001158 0.99484333 0.01631348] [-0.02273226 -0.01410471 0.99964128]] t_gt: [ 0.53842881 -0.80624837 0.2450673 ] Pose Error in degrees for R and t: 33.066305278364254 14.75050499341876 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99744338e-01 2.26062736e-02 -4.64729282e-04] [-2.26061969e-02 9.99744433e-01 1.69700164e-04] [ 4.68446801e-04 -1.59151016e-04 9.99999878e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.90857390e-01 -1.34911544e-01 -2.54010742e-04] [ 1.34855033e-01 9.90383520e-01 3.09088285e-02] [-3.91769207e-03 -3.06600898e-02 9.99521891e-01]] t_gt: [ 0.54771835 -0.82373622 0.14650339] Pose Error in degrees for R and t: 9.219024995031429 56.95654779044342 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.91635932e-01 1.29065533e-01 5.16685111e-04] [-1.29063960e-01 9.91633401e-01 -2.38598809e-03] [-8.20311037e-04 2.29934609e-03 9.99997020e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.9971527 -0.04035197 -0.06371876] [ 0.04217867 0.99872853 0.02757981] [ 0.06252529 -0.03018984 0.99758695]] t_gt: [ 0.48494052 -0.68749031 -0.54054581] Pose Error in degrees for R and t: 10.595783295227418 61.158565052886274 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.59888751e-01 2.80381045e-01 2.35782638e-04] [-2.80381018e-01 9.59888777e-01 -1.42420052e-04] [-2.66256991e-04 7.05984296e-05 9.99999962e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99408384 -0.07143523 -0.08182579] [ 0.07495654 0.99635245 0.04079485] [ 0.07861354 -0.04668765 0.99581192]] t_gt: [ 0.54943783 -0.73950588 -0.38890759] Pose Error in degrees for R and t: 21.147105051257903 42.56854431320313 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 8.63411727e-01 5.04499878e-01 -2.50716417e-04] [-5.04499632e-01 8.63410545e-01 -1.53363279e-03] [-5.57246357e-04 1.45064288e-03 9.99998793e-01]] t_estimated: [[8.01192585e-01] [5.98406263e-01] [6.22043932e-04]] R_gt: [[ 0.99017413 -0.10848614 -0.08824458] [ 0.11062538 0.9936667 0.01970531] [ 0.08554885 -0.02927409 0.99590371]] t_gt: [ 0.56920429 -0.72019139 -0.39664951] Pose Error in degrees for R and t: 36.95895621545 88.57728647096063 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.28671707e-01 3.70902174e-01 -6.61686386e-04] [-3.70902032e-01 9.28671941e-01 3.29605990e-04] [ 7.36741159e-04 -6.06749318e-05 9.99999727e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.98587154 -0.16617036 0.02106162] [ 0.16642543 0.98599234 -0.01098906] [-0.01894072 0.01433933 0.99971803]] t_gt: [ 0.84058231 -0.54168129 -0.00166245] Pose Error in degrees for R and t: 31.375922843547382 67.08933532484261 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.66897096e-01 -2.55166090e-01 -5.21489885e-04] [-2.55166622e-01 9.66895274e-01 1.87712795e-03] [ 2.52467074e-05 1.94805637e-03 -9.99998102e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 8.99705549e-01 -4.36494585e-01 -1.75603505e-03] [ 4.36497698e-01 8.99702513e-01 2.16940128e-03] [ 6.32408495e-04 -2.71752665e-03 9.99996318e-01]] t_gt: [ 0.90734021 -0.42039496 -0.00134955] Pose Error in degrees for R and t: 180.0 25.037500738789827 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-7.36782109e-01 -6.76130256e-01 3.00150565e-06] [-6.76129497e-01 7.36781288e-01 1.49546546e-03] [-1.01334089e-03 1.09980279e-03 -9.99998882e-01]] t_estimated: [[0.98770459] [0.15632735] [0.0011843 ]] R_gt: [[ 0.69599721 -0.7175712 0.02608988] [ 0.71683243 0.69647362 0.03280349] [-0.04170998 -0.00412949 0.99912064]] t_gt: [ 0.96255426 -0.26907177 0.03301036] Pose Error in degrees for R and t: 177.5569576231873 24.674360624406987 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-9.98028128e-01 -1.19168751e-02 -6.16266490e-02] [-1.19080838e-02 9.99928966e-01 -5.09942612e-04] [ 6.16283483e-02 2.24918228e-04 -9.98099141e-01]] t_estimated: [[ 0.9995274 ] [ 0.00596657] [-0.03015572]] R_gt: [[ 0.99663381 0.08188441 -0.00409256] [-0.08161729 0.99564184 0.04511506] [ 0.00776951 -0.04462828 0.99897304]] t_gt: [-0.29094062 0.53366577 0.79407455] Pose Error in degrees for R and t: 176.1461615440239 71.84643827424448 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99063369e-01 -4.32710181e-02 6.56167327e-05] [ 4.32710230e-02 9.99063368e-01 -7.57959848e-05] [-6.22755045e-05 7.85642950e-05 9.99999995e-01]] t_estimated: [[-0.70604415] [-0.70816648] [-0.00137808]] R_gt: [[ 0.98462247 0.17323799 0.02255253] [-0.17435939 0.98253186 0.06503762] [-0.01089148 -0.06796858 0.99762767]] t_gt: [-0.34776639 0.73564103 0.58128376] Pose Error in degrees for R and t: 13.107763155843955 73.96533121433134 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-5.60973810e-01 -8.27828116e-01 -2.99901580e-03] [ 8.27833500e-01 -5.60971333e-01 -1.69080917e-03] [-2.82662519e-04 -3.43118541e-03 9.99994074e-01]] t_estimated: [[0.79424755] [0.60759294] [0.00128727]] R_gt: [[ 0.95820226 0.28578111 0.01336382] [-0.28593125 0.95503781 0.07839869] [ 0.00964121 -0.07894179 0.99683163]] t_gt: [-0.21272885 0.93027721 0.29888248] Pose Error in degrees for R and t: 140.78849313715946 66.63075291997221 Number of keypoints: Image1: 639 Image2: 639 R_estimated: [[-0.85588913 0.51475387 0.04982224] [ 0.51478197 0.85721867 -0.01325397] [-0.04953109 0.01430366 -0.99867015]] t_estimated: [[ 0.96379503] [-0.26535757] [ 0.0261631 ]] R_gt: [[ 9.98817660e-01 -4.81910226e-02 -6.51496375e-03] [ 4.81924602e-02 9.98838275e-01 7.37410350e-05] [ 6.50431066e-03 -3.87009988e-04 9.99978605e-01]] t_gt: [ 0.51887054 -0.84618978 -0.12139283] Pose Error in degrees for R and t: 177.40833286968717 43.82553472447545 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.99915423e-01 1.30055301e-02 4.85971920e-05] [-1.30055317e-02 9.99915424e-01 3.24477067e-05] [-4.81710822e-05 -3.30769947e-05 9.99999998e-01]] t_estimated: [[9.99903272e-01] [1.39081622e-02] [9.81615326e-05]] R_gt: [[ 0.99728658 -0.07343249 0.00531858] [ 0.07325222 0.99690652 0.02849883] [-0.00739486 -0.02803284 0.99957917]] t_gt: [ 0.35679786 -0.8878249 0.29062387] Pose Error in degrees for R and t: 5.222216595560393 69.85214917478605 Number of keypoints: Image1: 373 Image2: 373 R_estimated: [[ 0.33212567 0.94321159 0.00666594] [-0.94322949 0.33213986 -0.00111707] [-0.00326766 -0.0059165 0.99997716]] t_estimated: [[0.7592543 ] [0.6507894 ] [0.00246511]] R_gt: [[ 0.99386664 -0.09888897 0.04950063] [ 0.09804212 0.9949966 0.01925726] [-0.05115689 -0.0142865 0.99858803]] t_gt: [ 0.10207806 -0.83252042 0.54450879] Pose Error in degrees for R and t: 76.29214789441622 62.422370986828966 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.85557088e-01 -1.69343507e-01 -6.25654163e-05] [ 1.69343386e-01 9.85556710e-01 -8.87791424e-04] [ 2.12003479e-04 8.64374091e-04 9.99999604e-01]] t_estimated: [[-0.43555965] [-0.90015662] [-0.00241978]] R_gt: [[ 0.97750038 0.20894252 -0.02889474] [-0.20798907 0.97757898 0.03285692] [ 0.03511329 -0.02610846 0.99904251]] t_gt: [-0.34024351 0.93913019 -0.04763238] Pose Error in degrees for R and t: 21.933429964434662 45.80898652470356 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999923e-01 2.27946146e-04 -3.19472369e-04] [-2.27819512e-04 9.99999895e-01 3.96367173e-04] [ 3.19562686e-04 -3.96294360e-04 9.99999870e-01]] t_estimated: [[-7.80231249e-01] [-6.25490825e-01] [-6.52913179e-04]] R_gt: [[ 0.97348 0.22660118 0.03142179] [-0.22664162 0.97397552 -0.00232255] [-0.0311301 -0.00486022 0.99950342]] t_gt: [-0.21818487 0.96949197 0.11171695] Pose Error in degrees for R and t: 13.214401626488804 64.13535482611395 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.98538954 -0.16790191 0.02857283] [-0.16790984 0.98580004 0.00213884] [-0.02852622 -0.00269007 -0.99958942]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.9716162 0.22693852 0.06679539] [-0.22983941 0.97242959 0.03942346] [-0.05600607 -0.0536571 0.99698742]] t_gt: [-0.23551169 0.91867805 0.31711968] Pose Error in degrees for R and t: 174.60906338745562 82.66898685274825 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.98369181e-01 -5.70873834e-02 9.67973674e-05] [ 5.70873858e-02 9.98369185e-01 -2.22920044e-05] [-9.53669166e-05 2.77815588e-05 9.99999995e-01]] t_estimated: [[0.83377275] [0.55210703] [0.00090864]] R_gt: [[ 0.99849138 -0.05331114 -0.01318197] [ 0.05370296 0.99806373 0.03137518] [ 0.01148418 -0.03203649 0.99942106]] t_gt: [ 0.50293288 -0.85051845 0.15387293] Pose Error in degrees for R and t: 1.963811573217411 87.12795420433812 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.92412095e-01 -1.22951167e-01 -1.11516064e-03] [ 1.22953127e-01 9.92410654e-01 1.90304976e-03] [ 8.72715109e-04 -2.02572209e-03 9.99997567e-01]] t_estimated: [[-6.48174192e-01] [-7.61492059e-01] [-2.46937172e-04]] R_gt: [[ 0.99433968 -0.09188097 -0.05334717] [ 0.095253 0.99335827 0.06454445] [ 0.04706253 -0.06926097 0.99648842]] t_gt: [ 0.53743469 -0.8427078 0.03174134] Pose Error in degrees for R and t: 4.972681288265773 72.9410077598277 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-1.39197768e-01 -9.90264204e-01 -8.86908395e-04] [ 9.90264209e-01 -1.39198455e-01 7.66050923e-04] [-8.82049087e-04 -7.71641062e-04 9.99999313e-01]] t_estimated: [[9.93892827e-01] [1.10346963e-01] [7.71656227e-04]] R_gt: [[ 0.99100677 -0.11387245 -0.07027158] [ 0.11708461 0.99217233 0.04342115] [ 0.06477718 -0.05125926 0.99658215]] t_gt: [ 0.56441613 -0.81381028 -0.13837364] Pose Error in degrees for R and t: 91.45222553135292 61.89681796276684 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.99998344 0.00564524 0.00112195] [-0.00564353 0.99998291 -0.00152338] [-0.00113053 0.00151702 0.99999821]] t_estimated: [[7.53898632e-01] [6.56990465e-01] [6.17363187e-04]] R_gt: [[ 0.98740799 0.14817009 -0.0554167 ] [-0.14657693 0.98868709 0.03183333] [ 0.05950617 -0.02330819 0.99795638]] t_gt: [-0.19580386 0.96747208 -0.16018309] Pose Error in degrees for R and t: 8.983483927461071 60.79703857102347 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999935e-01 1.19904252e-05 -3.59955483e-04] [-1.17593032e-05 9.99999794e-01 6.42080032e-04] [ 3.59963108e-04 -6.42075758e-04 9.99999729e-01]] t_estimated: [[-0.98357285] [-0.1805039 ] [-0.00167032]] R_gt: [[ 0.95929544 0.27633101 -0.05825789] [-0.27646393 0.96100623 0.00593475] [ 0.05762632 0.01041358 0.99828349]] t_gt: [-0.13924698 0.97508396 -0.17268915] Pose Error in degrees for R and t: 16.39978847445223 87.77874725665622 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-2.19185872e-01 -9.75682905e-01 -6.49609455e-04] [-9.75680229e-01 2.19183553e-01 2.58075529e-03] [-2.37561511e-03 1.19947620e-03 -9.99996459e-01]] t_estimated: [[0.7770995 ] [0.62937392] [0.00219916]] R_gt: [[ 0.96293105 0.26947177 0.01224668] [-0.26974761 0.96211148 0.03971694] [-0.00107931 -0.04154713 0.99913534]] t_gt: [-0.13076681 0.98267923 0.13130716] Pose Error in degrees for R and t: 178.1862594076177 58.8592212556881 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99999934e-01 3.57780204e-04 5.97959668e-05] [-3.57784132e-04 9.99999934e-01 6.56951257e-05] [-5.97724584e-05 -6.57165154e-05 9.99999996e-01]] t_estimated: [[9.24384257e-01] [3.81462065e-01] [6.61917792e-04]] R_gt: [[ 0.9988241 0.03512786 0.03339613] [-0.03567945 0.99923387 0.01607266] [-0.03280596 -0.01724571 0.99931292]] t_gt: [0.43905595 0.2261758 0.86952538] Pose Error in degrees for R and t: 2.9205830881750092 60.481178035644646 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99988467e-01 4.75726036e-03 6.58741804e-04] [-4.75690221e-03 9.99988538e-01 -5.44193021e-04] [-6.61323121e-04 5.41053174e-04 9.99999635e-01]] t_estimated: [[-9.99977004e-01] [ 6.75580865e-03] [ 5.91510497e-04]] R_gt: [[ 0.99318833 0.11223966 0.03127641] [-0.11377093 0.9921204 0.05248049] [-0.02513988 -0.05568183 0.99813222]] t_gt: [0.07921705 0.44070125 0.89415159] Pose Error in degrees for R and t: 7.144461059337285 85.6580370529561 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99885326e-01 1.51438022e-02 2.46826186e-05] [-1.51438135e-02 9.99885172e-01 5.54107373e-04] [-1.62884919e-05 -5.54417620e-04 9.99999846e-01]] t_estimated: [[0.77323092] [0.63412312] [0.00134842]] R_gt: [[ 0.98286336 0.17464865 0.05896508] [-0.17844176 0.98168643 0.06670763] [-0.04623537 -0.07608624 0.99602861]] t_gt: [-0.01976195 0.52234721 0.85250388] Pose Error in degrees for R and t: 10.613912377409866 71.5122782504794 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.28944521e-01 -3.70218769e-01 -3.73969216e-04] [-3.70213550e-01 -9.28935937e-01 4.46679434e-03] [-2.00108455e-03 -4.01095566e-03 -9.99989954e-01]] t_estimated: [[0.96134648] [0.2753371 ] [0.00155558]] R_gt: [[ 0.90885799 -0.41608688 -0.02914254] [ 0.41580275 0.90932301 -0.01548684] [ 0.03294425 0.00195809 0.99945505]] t_gt: [ 0.90175415 -0.42898226 -0.05304413] Pose Error in degrees for R and t: 179.40976767449354 41.52202645116001 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99966781e-01 8.13986647e-03 -4.24743317e-04] [-8.13831021e-03 9.99960598e-01 3.54538462e-03] [ 4.53585538e-04 -3.54181015e-03 9.99993625e-01]] t_estimated: [[0.92880125] [0.37057636] [0.00118018]] R_gt: [[ 0.7869148 -0.61697689 0.0103253 ] [ 0.61630275 0.78666539 0.0364597 ] [-0.03061662 -0.02232776 0.99928138]] t_gt: [ 0.93713812 -0.34499764 0.05242875] Pose Error in degrees for R and t: 38.604159154325664 42.04415259843726 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.05610645 -0.99842309 0.00184611] [-0.99841764 0.05609896 -0.00388887] [ 0.00377917 -0.00206138 -0.99999073]] t_estimated: [[0.90514518] [0.42510013] [0.00144592]] R_gt: [[ 0.64663005 -0.76245658 -0.02302325] [ 0.76279876 0.64643535 0.016089 ] [ 0.00261687 -0.02796667 0.99960486]] t_gt: [ 0.97088398 -0.23839984 0.02344799] Pose Error in degrees for R and t: 179.7886797969508 38.969481919046345 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[ 9.99655067e-01 -2.62629645e-02 5.41982495e-05] [ 2.62629627e-02 9.99655068e-01 3.25983517e-05] [-5.50356842e-05 -3.11637009e-05 9.99999998e-01]] t_estimated: [[6.67916201e-01] [7.44236460e-01] [1.98108540e-04]] R_gt: [[ 0.9943662 -0.10597646 0.00245366] [ 0.10593653 0.99261444 -0.0591109 ] [ 0.00382988 0.05903818 0.99824885]] t_gt: [ 0.95080062 0.10119265 -0.29281091] Pose Error in degrees for R and t: 5.701559865035744 44.73998765256425 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.35629592e-01 -3.52983151e-01 -4.01870808e-04] [ 3.52983368e-01 9.35629253e-01 8.02072722e-04] [ 9.28839262e-05 -8.92296685e-04 9.99999598e-01]] t_estimated: [[9.60369885e-01] [2.78727544e-01] [8.00584129e-04]] R_gt: [[ 0.98881555 -0.14260435 0.04367515] [ 0.14707361 0.98096161 -0.12681477] [-0.02475858 0.13181963 0.99096525]] t_gt: [ 0.88029694 0.29331592 -0.37288479] Pose Error in degrees for R and t: 14.53847201464954 22.04835543857949 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.93824576e-01 -1.10962634e-01 7.40960189e-05] [ 1.10962624e-01 9.93824572e-01 1.23461978e-04] [-8.73381106e-05 -1.14477659e-04 9.99999990e-01]] t_estimated: [[2.20250586e-01] [9.75443322e-01] [7.31322592e-05]] R_gt: [[ 0.98708373 -0.15984881 0.01071864] [ 0.15854007 0.96499075 -0.20894433] [ 0.02305689 0.20794458 0.97786887]] t_gt: [ 0.74679187 0.45320859 -0.48672772] Pose Error in degrees for R and t: 12.423679700320625 52.66133732585307 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99862670e-01 -1.65709612e-02 -2.09621432e-04] [ 1.65710263e-02 9.99862642e-01 3.12907901e-04] [ 2.04407454e-04 -3.16338571e-04 9.99999929e-01]] t_estimated: [[-0.93437783] [-0.35628183] [-0.0011493 ]] R_gt: [[ 0.99980407 0.00994645 -0.0171425 ] [-0.00988674 0.99994464 0.00358041] [ 0.01717691 -0.00341021 0.99984663]] t_gt: [ 0.09110545 0.94734042 -0.30699498] Pose Error in degrees for R and t: 1.810777750897745 65.02048078878956 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.99095054 -0.13421669 -0.00170445] [ 0.13422049 0.99094869 0.00235822] [ 0.00137251 -0.00256565 0.99999577]] t_estimated: [[-0.99540776] [-0.09571228] [-0.0015952 ]] R_gt: [[ 0.99246859 0.06976841 -0.10069108] [-0.07891554 0.9928175 -0.08991615] [ 0.09369422 0.09718488 0.99084674]] t_gt: [-0.11971928 0.68834364 -0.71543716] Pose Error in degrees for R and t: 14.298581998243414 86.87997346121088 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-5.41533866e-01 -8.40677122e-01 -1.74598460e-03] [-8.40677263e-01 5.41535764e-01 -8.69804557e-04] [ 1.67673789e-03 9.96780927e-04 -9.99998097e-01]] t_estimated: [[9.72447392e-01] [2.33120950e-01] [8.32574822e-04]] R_gt: [[ 0.97290054 0.12855851 -0.19219034] [-0.16267515 0.97125117 -0.17380678] [ 0.16432024 0.20036113 0.96584397]] t_gt: [-0.10038164 0.69599308 -0.7109973 ] Pose Error in degrees for R and t: 165.591257445473 86.32810801296395 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999893e-01 4.62095387e-04 -2.74237979e-05] [-4.62094810e-04 9.99999893e-01 2.10544796e-05] [ 2.74335242e-05 -2.10418050e-05 9.99999999e-01]] t_estimated: [[-2.65358306e-02] [-9.99647855e-01] [-1.23728909e-04]] R_gt: [[ 9.99528340e-01 -5.57947772e-04 -3.07213164e-02] [-2.65520488e-03 9.94528258e-01 -1.04441404e-01] [ 3.06120553e-02 1.04473088e-01 9.94055513e-01]] t_gt: [ 0.02534527 0.26665746 -0.96345805] Pose Error in degrees for R and t: 6.250664499968143 74.50722206860294 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99936170e-01 1.12983238e-02 5.42212820e-05] [-1.12983188e-02 9.99936168e-01 -9.33257356e-05] [-5.52722453e-05 9.27071693e-05 9.99999994e-01]] t_estimated: [[ 6.21889284e-01] [-7.83105159e-01] [-1.69792188e-04]] R_gt: [[ 0.99002656 -0.1336815 -0.04446346] [ 0.12825118 0.9858165 -0.1082454 ] [ 0.05830285 0.10146324 0.99312874]] t_gt: [ 0.54370315 -0.4496136 -0.70868505] Pose Error in degrees for R and t: 10.595413048288751 46.34311204695973 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.26601029e-01 -3.76045907e-01 -9.77180173e-05] [ 3.76045871e-01 9.26601009e-01 -2.70803270e-04] [ 1.92380075e-04 2.14180131e-04 9.99999959e-01]] t_estimated: [[ 7.45420498e-01] [-6.66594302e-01] [-5.63819388e-04]] R_gt: [[ 0.95416573 -0.29811454 0.02639901] [ 0.299147 0.94738327 -0.11390955] [ 0.00894878 0.1165857 0.99314035]] t_gt: [ 0.69485741 -0.64925519 -0.3092586 ] Pose Error in degrees for R and t: 8.156139329200794 18.024344628995504 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99840973e-01 -1.78333085e-02 -2.94195353e-05] [ 1.78333102e-02 9.99840972e-01 5.89081525e-05] [ 2.83643295e-05 -5.94234322e-05 9.99999998e-01]] t_estimated: [[-0.71481778] [-0.69931037] [-0.00073845]] R_gt: [[ 0.99906345 0.04143097 -0.01255121] [-0.04137875 0.9991336 0.00445051] [ 0.01272387 -0.00392722 0.99991145]] t_gt: [-0.43843072 0.8873564 -0.14274847] Pose Error in degrees for R and t: 3.4785390242262872 72.11942109000739 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-0.46268102 -0.88646371 -0.01041021] [-0.88650871 0.4625699 0.01146233] [-0.00534549 0.01453215 -0.99988011]] t_estimated: [[0.78844757] [0.61510094] [0.00111837]] R_gt: [[ 0.99995871 -0.00554891 -0.00718176] [ 0.00565066 0.99988116 0.01431593] [ 0.00710074 -0.01435607 0.99987092]] t_gt: [0.36816664 0.90985967 0.191334 ] Pose Error in degrees for R and t: 179.8883818056285 31.772053322425542 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.98664978e-01 -5.16550466e-02 1.35949937e-04] [ 5.16550148e-02 9.98664963e-01 2.27886406e-04] [-1.47539921e-04 -2.20559676e-04 9.99999965e-01]] t_estimated: [[0.99995131] [0.00979144] [0.00122393]] R_gt: [[ 0.99696474 -0.07750724 -0.00745686] [ 0.07748066 0.99698696 -0.00371029] [ 0.00772142 0.003121 0.9999655 ]] t_gt: [ 0.98820076 -0.12410172 -0.08976646] Pose Error in degrees for R and t: 1.56140946574602 9.309946466357351 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 1.83874470e-01 -9.82948111e-01 -1.78642907e-03] [ 9.82949733e-01 1.83874239e-01 2.94192825e-04] [ 3.93020038e-05 -1.81006453e-03 9.99998361e-01]] t_estimated: [[0.95496359] [0.29672083] [0.00113686]] R_gt: [[ 0.99578811 -0.08999332 0.01756613] [ 0.08949499 0.99561268 0.02732918] [-0.01994786 -0.02564181 0.99947179]] t_gt: [ 0.35005378 -0.84110158 0.41232327] Pose Error in degrees for R and t: 74.27360509823076 85.11333631784942 Number of keypoints: Image1: 551 Image2: 551 R_estimated: [[ 9.90730701e-01 1.35840369e-01 2.70649593e-04] [-1.35840433e-01 9.90730701e-01 2.33395034e-04] [-2.36436394e-04 -2.67996784e-04 9.99999936e-01]] t_estimated: [[0.72595242] [0.6877444 ] [0.00084907]] R_gt: [[ 0.9869926 -0.1579443 0.0299983 ] [ 0.15723404 0.98725187 0.02473712] [-0.03352354 -0.01969916 0.99924358]] t_gt: [ 0.41616686 -0.84322716 0.34025447] Pose Error in degrees for R and t: 17.02039243830432 73.887842036224 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[-8.66250469e-01 -4.99609375e-01 7.72739721e-04] [-4.99608912e-01 8.66250781e-01 7.20829750e-04] [-1.02951969e-03 2.38351458e-04 -9.99999442e-01]] t_estimated: [[0.95233146] [0.30505895] [0.00195551]] R_gt: [[ 9.80497882e-01 -1.86241604e-01 6.27515007e-02] [ 1.86642752e-01 9.82427373e-01 -5.49773780e-04] [-6.15464482e-02 1.22511778e-02 9.98028828e-01]] t_gt: [ 0.35579549 -0.86607673 0.35117043] Pose Error in degrees for R and t: 176.58209669549035 85.68053452067659 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99908267e-01 -1.35444554e-02 7.63572672e-05] [ 1.35444580e-02 9.99908269e-01 -3.26354249e-05] [-7.59082338e-05 3.36666489e-05 9.99999997e-01]] t_estimated: [[-0.82469168] [-0.56558155] [-0.00106568]] R_gt: [[ 9.99922126e-01 -6.80865409e-04 -1.25012699e-02] [ 8.32303679e-04 9.99925449e-01 1.21116209e-02] [ 1.24928478e-02 -1.21211427e-02 9.99847894e-01]] t_gt: [0.30768742 0.94821316 0.07886859] Pose Error in degrees for R and t: 1.2424265666888576 37.80297600525443 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.99433451e-01 3.36563978e-02 1.56949863e-04] [-3.36564062e-02 9.99433461e-01 5.12060301e-05] [-1.55137534e-04 -5.64593877e-05 9.99999986e-01]] t_estimated: [[9.99355489e-01] [3.58929250e-02] [5.52631263e-04]] R_gt: [[ 0.99742294 -0.07119805 0.00890976] [ 0.07111966 0.99742754 0.00894423] [-0.0095233 -0.00828735 0.99991996]] t_gt: [ 0.9089557 -0.34732651 0.23057284] Pose Error in degrees for R and t: 6.0517496744166115 26.358868687131174 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.10937171 -0.94375399 -0.31203562] [-0.96193257 0.02139834 0.27244788] [-0.25044673 0.32995532 -0.91016807]] t_estimated: [[0.65977615] [0.75146166] [0.00089888]] R_gt: [[ 0.98559883 -0.16886977 0.00895807] [ 0.16881306 0.98562517 0.00675463] [-0.00996937 -0.00514483 0.99993656]] t_gt: [ 0.89724038 -0.4335619 0.08356898] Pose Error in degrees for R and t: 179.7950829281094 74.55889120208444 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.99793531e-01 2.03193606e-02 1.34666894e-04] [-2.03193656e-02 9.99793540e-01 3.57377120e-05] [-1.33912924e-04 -3.84666792e-05 9.99999990e-01]] t_estimated: [[0.73967001] [0.67296869] [0.0011911 ]] R_gt: [[ 0.99794036 -0.06218848 0.01576877] [ 0.06234186 0.99800995 -0.00948149] [-0.01514762 0.01044461 0.99983106]] t_gt: [ 0.45947322 -0.88167789 0.10737065] Pose Error in degrees for R and t: 4.848855183286862 75.32385712755294 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[-0.94421848 -0.32863001 0.02130196] [-0.32861733 0.94445385 0.00419285] [-0.02149662 -0.00304122 -0.9997643 ]] t_estimated: [[0.98735248] [0.15812213] [0.01150988]] R_gt: [[ 0.99389886 -0.10972936 0.01118868] [ 0.10982219 0.99391789 -0.00812987] [-0.01022814 0.00930901 0.99990423]] t_gt: [ 0.44531464 -0.89476767 0.03294972] Pose Error in degrees for R and t: 178.23391064559607 72.62771397289643 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[-0.79932693 0.60059875 0.01891042] [ 0.60061949 0.79951812 -0.00519593] [-0.01823989 0.00720472 -0.99980768]] t_estimated: [[ 0.96833043] [-0.24945562] [ 0.01039607]] R_gt: [[ 0.97867441 -0.19878158 0.05178977] [ 0.19834389 0.98003894 0.01350095] [-0.05343898 -0.00294119 0.99856657]] t_gt: [ 0.4489006 -0.84592578 0.28791984] Pose Error in degrees for R and t: 176.1525383661506 49.55647012326707 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999999e-01 1.22419889e-05 -3.26457350e-05] [-1.22408050e-05 9.99999999e-01 3.62655019e-05] [ 3.26461790e-05 -3.62651023e-05 9.99999999e-01]] t_estimated: [[-0.60803681] [-0.79390822] [-0.00098868]] R_gt: [[ 0.99386603 0.10108867 0.04486448] [-0.09896702 0.99396962 -0.04722759] [-0.04936842 0.04249748 0.99787634]] t_gt: [-0.55050516 0.83301964 0.05497583] Pose Error in degrees for R and t: 6.853722932236913 70.93333338648824 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999973e-01 1.57195487e-04 1.71264529e-04] [-1.57147786e-04 9.99999949e-01 -2.78498113e-04] [-1.71308299e-04 2.78471191e-04 9.99999947e-01]] t_estimated: [[0.46704018] [0.88423397] [0.00193914]] R_gt: [[ 0.97334426 0.22687127 0.03365958] [-0.22623447 0.97383141 -0.02169937] [-0.03770191 0.01350565 0.99919856]] t_gt: [-0.51843966 0.85300782 0.05998311] Pose Error in degrees for R and t: 13.286344850446698 59.18667217651711 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999606e-01 -8.87073520e-04 4.06369608e-05] [ 8.87082226e-04 9.99999583e-01 -2.14735686e-04] [-4.04464575e-05 2.14771649e-04 9.99999976e-01]] t_estimated: [[-9.99968018e-01] [-7.95948484e-03] [-7.81241972e-04]] R_gt: [[ 0.95393602 0.29661985 0.04498333] [-0.29563869 0.95491103 -0.02725789] [-0.05104105 0.01270421 0.99861585]] t_gt: [-0.49634878 0.86482434 0.07560921] Pose Error in degrees for R and t: 17.54611873370446 60.69948566684951 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.99388551 0.11039902 -0.00191287] [-0.11040737 0.99387375 -0.00501888] [ 0.00134707 0.00519938 0.99998558]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.9977518 0.06698406 0.00233014] [-0.06645675 0.99321974 -0.09538085] [-0.00870435 0.09501184 0.99543865]] t_gt: [-0.20378362 0.80532533 -0.5567076 ] Pose Error in degrees for R and t: 5.7608138327481 75.28961502125362 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999958e-01 8.26791024e-05 2.76957474e-04] [-8.25957738e-05 9.99999951e-01 -3.00869459e-04] [-2.76982336e-04 3.00846571e-04 9.99999916e-01]] t_estimated: [[ 0.99942262] [-0.03393605] [ 0.00166584]] R_gt: [[ 0.99717842 0.07480206 -0.00631126] [-0.07462596 0.97869945 -0.19125232] [-0.00812986 0.19118321 0.98152068]] t_gt: [-0.1346842 0.69355733 -0.70769936] Pose Error in degrees for R and t: 11.829171566734162 80.83245829798426 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999857e-01 -2.93389308e-04 4.47107058e-04] [ 2.93706250e-04 9.99999706e-01 -7.08971309e-04] [-4.46898922e-04 7.09102526e-04 9.99999649e-01]] t_estimated: [[9.14432786e-01] [4.04737153e-01] [7.18893700e-04]] R_gt: [[ 0.99895767 0.01366805 -0.04356146] [-0.0238857 0.96959628 -0.24354345] [ 0.03890777 0.24432882 0.96891147]] t_gt: [ 0.05417101 0.46138761 -0.88554332] Pose Error in degrees for R and t: 14.331141449003091 76.37065781607102 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 1.00000000e+00 -3.64874797e-13 -2.55104640e-15] [ 3.64819286e-13 1.00000000e+00 7.70495728e-15] [ 2.55053140e-15 -7.70564846e-15 1.00000000e+00]] t_estimated: [[ 9.04642405e-01] [-4.26171460e-01] [ 7.59146919e-05]] R_gt: [[ 0.9928098 -0.11955427 -0.00598523] [ 0.1196702 0.99247158 0.02606488] [ 0.00282398 -0.02659422 0.99964204]] t_gt: [ 0.74443699 -0.65720321 0.11788767] Pose Error in degrees for R and t: 7.0395873075299775 17.53378458623905 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 1.86184709e-01 -9.82513707e-01 -1.43841967e-03] [ 9.82514760e-01 1.86184526e-01 2.61198112e-04] [ 1.11807593e-05 -1.46189965e-03 9.99998931e-01]] t_estimated: [[ 9.72893094e-01] [-2.31254549e-01] [ 6.01610338e-04]] R_gt: [[ 0.97987994 -0.19669192 -0.03387676] [ 0.19806399 0.97922494 0.0434673 ] [ 0.02462351 -0.04930291 0.99848025]] t_gt: [ 0.77188503 -0.63157402 0.07285435] Pose Error in degrees for R and t: 67.93797681852446 26.225755790976613 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.52513356 0.84735681 -0.07887446] [ 0.84047784 -0.50185318 0.20430463] [ 0.13353553 -0.17357945 -0.97572457]] t_estimated: [[0.9170409 ] [0.39871343] [0.00797427]] R_gt: [[ 9.68757004e-01 -2.47862870e-01 -8.61426416e-03] [ 2.48012818e-01 9.68185368e-01 3.32697353e-02] [ 9.46966660e-05 -3.43658826e-02 9.99409198e-01]] t_gt: [ 0.77116513 -0.63052805 0.08796999] Pose Error in degrees for R and t: 165.98121866342532 62.83906203807463 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-8.88547316e-01 -4.58772992e-01 -3.31800717e-03] [ 4.58775056e-01 -8.88552432e-01 1.54643570e-04] [-3.01916963e-03 -1.38481080e-03 9.99994483e-01]] t_estimated: [[0.97070768] [0.24025821] [0.00161247]] R_gt: [[ 0.99827427 -0.05868761 -0.0015746 ] [ 0.05849845 0.99660848 -0.05786357] [ 0.00496597 0.05767107 0.9983232 ]] t_gt: [ 0.7943669 0.40543508 -0.45233132] Pose Error in degrees for R and t: 149.34869770807884 29.798578423669543 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.27213035e-01 -3.74532838e-01 -1.06841163e-03] [ 3.74534341e-01 9.27208266e-01 2.97644961e-03] [-1.24138022e-04 -3.15995972e-03 9.99995000e-01]] t_estimated: [[-6.55798588e-01] [-7.54935816e-01] [-3.54358584e-04]] R_gt: [[ 0.99107397 -0.13213335 0.0176581 ] [ 0.13330155 0.98360326 -0.12146832] [-0.00131837 0.12273722 0.99243816]] t_gt: [ 0.8538163 0.32712034 -0.40495679] Pose Error in degrees for R and t: 16.052115359032477 36.22108726533738 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.65434293 -0.75618443 -0.00452044] [ 0.75619724 0.65433881 0.00254276] [ 0.0010351 -0.00508218 0.99998655]] t_estimated: [[9.87659915e-01] [1.56612812e-01] [5.65298048e-04]] R_gt: [[ 0.98609453 -0.15735785 0.05343707] [ 0.16470536 0.96821607 -0.18822909] [-0.02211836 0.19441238 0.98066999]] t_gt: [ 0.76969841 0.46045912 -0.44220104] Pose Error in degrees for R and t: 41.35535356497073 33.68864292564268 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.99955961 0.02950032 0.00321342] [-0.02949372 0.99956279 -0.00208333] [-0.00327348 0.00198764 0.99999267]] t_estimated: [[0.69522319] [0.71879007] [0.00235669]] R_gt: [[ 0.99881288 -0.04148977 -0.02552608] [ 0.04317951 0.99663661 0.06964482] [ 0.02255107 -0.07066403 0.99724473]] t_gt: [ 0.42849504 -0.71833513 0.54807539] Pose Error in degrees for R and t: 6.046785738431743 77.4588441525942 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.6843392 0.72915032 -0.00443522] [ 0.72913014 -0.68423651 0.01377086] [ 0.00700629 -0.0126578 -0.99989534]] t_estimated: [[-0.97986046] [ 0.1996134 ] [ 0.00528932]] R_gt: [[ 0.99780837 -0.06127649 -0.02496131] [ 0.06467937 0.98282448 0.1728322 ] [ 0.01394266 -0.17406721 0.98463443]] t_gt: [ 0.30467911 -0.64469851 0.7010952 ] Pose Error in degrees for R and t: 169.56226328796114 64.94265394606018 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.57531392e-01 -2.88328851e-01 3.27721569e-04] [ 2.88328985e-01 9.57529916e-01 -1.69023864e-03] [ 1.73541358e-04 1.71294818e-03 9.99998518e-01]] t_estimated: [[0.38045522] [0.92479883] [0.00097553]] R_gt: [[ 0.97807092 -0.19419375 -0.07527502] [ 0.20597295 0.95544684 0.21141456] [ 0.03086591 -0.22228239 0.97449367]] t_gt: [ 0.59454748 -0.60493309 0.52968788] Pose Error in degrees for R and t: 14.00881483285532 70.5656837135254 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.97921624e-01 -6.44391158e-02 1.80230437e-04] [ 6.44390862e-02 9.97921629e-01 1.65849649e-04] [-1.90543056e-04 -1.53891067e-04 9.99999970e-01]] t_estimated: [[0.16430827] [0.98640842] [0.00110688]] R_gt: [[ 0.99257398 0.06909467 -0.10010975] [-0.08177238 0.9883164 -0.12862121] [ 0.09005295 0.13585228 0.98662756]] t_gt: [-0.14849249 0.60924673 -0.7789534 ] Pose Error in degrees for R and t: 12.365647548863423 54.850956589392396 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.93011061 0.36725311 0.00440468] [-0.36712113 0.9299948 -0.01821385] [-0.01078542 0.01532385 0.99982441]] t_estimated: [[-0.9957938 ] [-0.09161303] [-0.00132773]] R_gt: [[ 0.9763982 0.13783083 -0.16627647] [-0.16903154 0.96691262 -0.19107203] [ 0.13443834 0.21466719 0.96739046]] t_gt: [-0.16804384 0.69173387 -0.70232864] Pose Error in degrees for R and t: 18.927126119197446 83.97872871030931 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.06016288 0.99818544 0.00249954] [ 0.99818685 -0.06016724 0.00170833] [ 0.00185562 0.00239223 -0.99999542]] t_estimated: [[-0.74924211] [-0.66229485] [-0.00133602]] R_gt: [[ 0.96995221 0.1617107 -0.18177378] [-0.19828683 0.95836301 -0.20548103] [ 0.1409759 0.23534947 0.96163214]] t_gt: [-0.17540266 0.72944551 -0.66116803] Pose Error in degrees for R and t: 177.0925210746674 69.46340235523907 Number of keypoints: Image1: 414 Image2: 414 R_estimated: [[ 9.99999967e-01 -2.49378802e-04 5.56890805e-05] [ 2.49379302e-04 9.99999969e-01 -8.97420352e-06] [-5.56868407e-05 8.98809093e-06 9.99999998e-01]] t_estimated: [[9.58592713e-01] [2.84780337e-01] [4.12048545e-04]] R_gt: [[ 0.99571428 -0.08265334 -0.04148809] [ 0.08285088 0.99655759 0.00305178] [ 0.04109326 -0.00647708 0.99913414]] t_gt: [ 0.9793556 -0.14731934 -0.1384183 ] Pose Error in degrees for R and t: 5.302128702633142 26.260399150167768 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 0.99020374 0.1395837 0.00359625] [-0.13959294 0.99020592 0.00245737] [-0.00321802 -0.00293531 0.99999051]] t_estimated: [[0.39240918] [0.91970901] [0.01226279]] R_gt: [[ 0.9920427 -0.07888594 -0.09812386] [ 0.08487829 0.99467505 0.05846283] [ 0.09298963 -0.06632553 0.99345545]] t_gt: [ 0.95989708 -0.19013157 0.20602812] Pose Error in degrees for R and t: 14.358026443634635 78.20953266882121 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.87838215e-01 -1.55480214e-01 -1.25084623e-03] [ 1.55482830e-01 9.87835745e-01 2.37282127e-03] [ 8.66703860e-04 -2.53844864e-03 9.99996403e-01]] t_estimated: [[-0.40647264] [-0.91366071] [ 0.00202678]] R_gt: [[ 0.98614105 -0.06373127 -0.153182 ] [ 0.07474852 0.99493141 0.06726897] [ 0.14811875 -0.07778681 0.98590556]] t_gt: [ 0.98229163 -0.16841995 0.08208449] Pose Error in degrees for R and t: 10.721401044776032 75.80459643420227 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.94087004e-01 -1.08586465e-01 9.05758612e-05] [ 1.08586450e-01 9.94086998e-01 1.50009652e-04] [-1.06329304e-04 -1.39287334e-04 9.99999985e-01]] t_estimated: [[0.96472933] [0.26324119] [0.00118347]] R_gt: [[ 0.99801807 -0.01585113 -0.06090976] [ 0.01575796 0.99987374 -0.00199637] [ 0.06093307 0.00103221 0.99814044]] t_gt: [ 0.74625832 -0.07407838 -0.66152167] Pose Error in degrees for R and t: 6.373539114700634 45.60075615967882 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.80181539e-01 -1.98100976e-01 3.92016896e-04] [ 1.98101078e-01 9.80181567e-01 -2.41653198e-04] [-3.36376001e-04 3.14522974e-04 9.99999894e-01]] t_estimated: [[-0.08348635] [-0.99650734] [-0.00177631]] R_gt: [[ 9.93641404e-01 3.89521650e-04 -1.12594763e-01] [ 1.70503001e-03 9.99827480e-01 1.85015738e-02] [ 1.12583253e-01 -1.85755992e-02 9.93468719e-01]] t_gt: [ 0.70059753 0.0697776 -0.71013674] Pose Error in degrees for R and t: 13.144620593496404 82.71743281269589 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999998e-01 5.77473631e-05 -4.61937712e-08] [-5.77473630e-05 9.99999998e-01 8.33158697e-07] [ 4.62418839e-08 -8.33156028e-07 1.00000000e+00]] t_estimated: [[-0.67183431] [ 0.74070068] [-0.0010806 ]] R_gt: [[ 0.99245667 0.05016444 -0.11186503] [-0.04832745 0.99864995 0.01907769] [ 0.11267121 -0.01352741 0.99353975]] t_gt: [ 0.35854509 0.53979326 -0.76162238] Pose Error in degrees for R and t: 7.1027316005153756 80.80672363829433 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.22056738 -0.97536982 -0.00193707] [-0.97537064 0.22056968 -0.00106196] [ 0.00146306 0.00165512 -0.99999756]] t_estimated: [[8.28164655e-01] [5.60484864e-01] [1.45744068e-04]] R_gt: [[ 0.99663286 -0.07715981 -0.02773719] [ 0.07794455 0.99655387 0.02838896] [ 0.02545075 -0.03045594 0.99921203]] t_gt: [ 0.71605081 -0.69671016 0.04319936] Pose Error in degrees for R and t: 179.74248621030546 78.31571143973623 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.44495059 -0.89530358 0.02122411] [-0.84205827 0.4263219 0.33043533] [-0.30488824 0.12915546 -0.94358997]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.99350491 -0.11319182 0.01162955] [ 0.11316631 0.99357168 0.00290953] [-0.01188473 -0.00157429 0.99992808]] t_gt: [ 0.6894572 -0.71991373 0.07983095] Pose Error in degrees for R and t: 167.333325096358 82.35986061714951 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.98148142e-01 6.08292520e-02 2.97998445e-04] [-6.08291932e-02 9.98148169e-01 -2.02672321e-04] [-3.09775009e-04 1.84169996e-04 9.99999935e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99639219 -0.08292622 0.01804835] [ 0.08348941 0.99596076 -0.03305858] [-0.01523371 0.03444696 0.99929059]] t_gt: [ 0.62608917 -0.77386074 -0.0956656 ] Pose Error in degrees for R and t: 8.534347434533524 51.41959652742938 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-6.88229932e-01 -7.25488387e-01 -2.48193768e-03] [ 7.25492633e-01 -6.88225857e-01 -2.36842529e-03] [ 1.01313577e-05 -3.43064868e-03 9.99994115e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99391214 -0.10962015 0.01104284] [ 0.11010128 0.99190515 -0.06325762] [-0.00401922 0.06408815 0.99793629]] t_gt: [ 0.8093945 -0.41578426 -0.41473364] Pose Error in degrees for R and t: 127.20927551466781 36.12044190911825 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.98749751e-01 4.99885332e-02 2.86402255e-04] [-4.99885312e-02 9.98749792e-01 -1.41300506e-05] [-2.86750533e-04 -2.04443526e-07 9.99999959e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.97148478 -0.23676679 -0.01262911] [ 0.23556025 0.96985976 -0.06230708] [ 0.02700084 0.05755502 0.99797656]] t_gt: [ 0.86591461 -0.44326098 -0.2317576 ] Pose Error in degrees for R and t: 16.934916852258173 35.75381566338347 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.92598629e-01 -1.21439988e-01 5.39459075e-04] [ 1.21436552e-01 9.92589764e-01 4.32724062e-03] [-1.06096161e-03 -4.22970306e-03 9.99990492e-01]] t_estimated: [[-0.56868366] [-0.82252874] [ 0.00673609]] R_gt: [[ 0.93547591 -0.35323865 -0.01031379] [ 0.35294829 0.93536902 -0.0226038 ] [ 0.01763151 0.01750465 0.99969061]] t_gt: [ 0.88056432 -0.47259758 -0.03546833] Pose Error in degrees for R and t: 13.80427962909932 83.55344494904688 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 1.05392944e-01 -9.94430147e-01 -1.00545660e-03] [ 9.94430549e-01 1.05392412e-01 5.67874571e-04] [-4.58744097e-04 -1.05970673e-03 9.99999333e-01]] t_estimated: [[ 8.71347889e-01] [-4.90665409e-01] [ 5.59442443e-04]] R_gt: [[ 0.99951104 0.0295447 0.01025807] [-0.02956234 0.99956157 0.00151666] [-0.01020855 -0.00181903 0.99994624]] t_gt: [-0.41446169 0.90566962 0.08935343] Pose Error in degrees for R and t: 85.64555543302785 36.3442243762307 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-9.89456480e-01 -1.22700631e-01 -7.69443222e-02] [-1.23037437e-01 9.92401962e-01 -3.65940519e-04] [ 7.64045975e-02 9.10495000e-03 -9.97035324e-01]] t_estimated: [[ 0.99898682] [ 0.01241111] [-0.04325856]] R_gt: [[ 0.99929847 0.03594675 -0.01054224] [-0.03592723 0.9993521 0.00213051] [ 0.01061321 -0.00175133 0.99994245]] t_gt: [-0.25972059 0.94626289 -0.19269603] Pose Error in degrees for R and t: 174.99239916782875 76.1501957524398 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 0.8416261 0.53932475 0.02818362] [ 0.53924143 -0.83633106 -0.09883844] [-0.02973518 0.09838278 -0.9947043 ]] t_estimated: [[-0.23325535] [ 0.97126581] [-0.04727225]] R_gt: [[ 0.99949853 -0.02906672 0.01255419] [ 0.02889427 0.99948893 0.01363099] [-0.01294354 -0.01326226 0.99982803]] t_gt: [0.76455794 0.51762947 0.38407147] Pose Error in degrees for R and t: 174.63593453937932 72.16585554131646 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99824454e-01 1.87360555e-02 1.45713412e-04] [-1.87360546e-02 9.99824465e-01 -7.73399021e-06] [-1.45832738e-04 5.00253810e-06 9.99999989e-01]] t_estimated: [[ 9.93702849e-01] [-1.12047478e-01] [ 1.04590496e-04]] R_gt: [[ 0.98995209 -0.14009257 -0.01922816] [ 0.13967933 0.98996641 -0.02135886] [ 0.02202757 0.01845841 0.99958656]] t_gt: [ 0.83072324 -0.53072494 -0.16801769] Pose Error in degrees for R and t: 9.264749072638159 27.75575515778414 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 0.28105949 0.95959774 0.01333186] [ 0.95960556 -0.28082287 -0.01719561] [-0.01275697 0.01762632 -0.99976326]] t_estimated: [[0.83949992] [0.54335897] [0.00095397]] R_gt: [[ 0.96266724 -0.27043302 -0.01180042] [ 0.26953423 0.9616711 -0.05040609] [ 0.02497928 0.04534319 0.99865895]] t_gt: [ 0.87386904 -0.45375528 -0.1745252 ] Pose Error in degrees for R and t: 177.18426018702698 60.863330388498845 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.54177014e-01 -2.99025434e-01 -1.14024819e-02] [ 2.99054652e-01 9.54235551e-01 9.09897811e-04] [ 1.06085710e-02 -4.27816883e-03 9.99934576e-01]] t_estimated: [[-0.48676403] [-0.87350805] [-0.006668 ]] R_gt: [[ 0.93770637 -0.34647727 0.02571894] [ 0.34742876 0.93489682 -0.0725339 ] [ 0.00108666 0.07695112 0.99703359]] t_gt: [ 0.8774976 -0.44127835 -0.18780679] Pose Error in degrees for R and t: 5.543358313244409 87.6833714063325 Number of keypoints: Image1: 545 Image2: 545 R_estimated: [[ 9.99411631e-01 -3.42985546e-02 2.71492279e-05] [ 3.42985527e-02 9.99411629e-01 6.87107336e-05] [-2.94899330e-05 -6.77391271e-05 9.99999997e-01]] t_estimated: [[-0.48830037] [-0.87267505] [-0.00100482]] R_gt: [[ 0.99807105 -0.06116876 0.01064519] [ 0.06130951 0.99802795 -0.01343577] [-0.00980304 0.01406222 0.99985276]] t_gt: [ 0.40060415 -0.91589018 0.02571936] Pose Error in degrees for R and t: 1.8327876058229655 52.86942574498049 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.96198545e-01 -8.71117082e-02 9.96744276e-05] [ 8.71117088e-02 9.96198550e-01 -1.53683830e-06] [-9.91616436e-05 1.02138058e-05 9.99999995e-01]] t_estimated: [[8.01415166e-01] [5.98108138e-01] [6.21734031e-04]] R_gt: [[ 0.995737 -0.06791772 0.06241414] [ 0.0704577 0.99673512 -0.039436 ] [-0.05953232 0.04366595 0.9972703 ]] t_gt: [-0.31977755 -0.77062698 0.55124983] Pose Error in degrees for R and t: 4.351424168086311 44.20497157722506 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.95519683e-01 -9.45545138e-02 6.85804966e-05] [ 9.45545084e-02 9.95519683e-01 7.85229507e-05] [-7.56979337e-05 -7.16865479e-05 9.99999995e-01]] t_estimated: [[5.13781275e-01] [8.57921196e-01] [1.52383653e-04]] R_gt: [[ 0.99124988 -0.07118562 0.11115941] [ 0.07527207 0.9966162 -0.03300699] [-0.10843309 0.04108585 0.99325416]] t_gt: [-0.48273078 -0.49309035 0.72376301] Pose Error in degrees for R and t: 6.765683756468154 47.86031231136121 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 4.74416485e-01 8.80300461e-01 3.13584219e-04] [-8.80299594e-01 4.74416473e-01 -1.27827956e-03] [-1.27403961e-03 3.30388836e-04 9.99999134e-01]] t_estimated: [[-1.68833210e-01] [ 9.85644288e-01] [ 8.27251641e-04]] R_gt: [[ 0.98927627 0.14590898 -0.00652414] [-0.14568384 0.98896369 0.02694358] [ 0.01038399 -0.02570413 0.9996159 ]] t_gt: [-0.58717747 0.80848569 0.0396675 ] Pose Error in degrees for R and t: 53.31767243049767 26.35674546818372 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 6.68399100e-01 7.43802809e-01 1.56028169e-04] [-7.43802322e-01 6.68398877e-01 -1.02313478e-03] [-8.65299575e-04 5.67808251e-04 9.99999464e-01]] t_estimated: [[-2.84081344e-01] [ 9.58800055e-01] [ 4.93933136e-04]] R_gt: [[ 0.98105041 0.19285833 0.01863645] [-0.19332502 0.98074138 0.02777745] [-0.0129205 -0.03085519 0.99944063]] t_gt: [-0.56517137 0.81288299 0.14072159] Pose Error in degrees for R and t: 36.96947392339205 19.945688291458705 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.31074215 -0.95049336 -0.00130194] [ 0.94937144 0.31044134 -0.04816689] [ 0.04618649 0.01373146 0.99883845]] t_estimated: [[ 0.96274058] [-0.26683122] [-0.04395072]] R_gt: [[ 0.96495445 0.26151414 -0.0217597 ] [-0.26088429 0.96496442 0.02799397] [ 0.02831816 -0.0213363 0.99937191]] t_gt: [-0.53302613 0.8460718 0.00675677] Pose Error in degrees for R and t: 87.1030573072705 42.334881715804244 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999954e-01 -2.95392143e-04 -7.55527207e-05] [ 2.95406733e-04 9.99999938e-01 1.93183951e-04] [ 7.54956510e-05 -1.93206261e-04 9.99999978e-01]] t_estimated: [[0.39830755] [0.91725134] [0.00103997]] R_gt: [[ 0.99890697 0.04579282 -0.00937768] [-0.04560392 0.9987678 0.01959152] [ 0.01026377 -0.01914213 0.99976443]] t_gt: [-0.58892315 0.7697775 0.24619528] Pose Error in degrees for R and t: 2.9099920216623385 61.85120625981186 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999978e-01 -1.85816087e-04 -9.30312198e-05] [ 1.85828168e-04 9.99999974e-01 1.29862777e-04] [ 9.30070868e-05 -1.29880062e-04 9.99999987e-01]] t_estimated: [[-4.06669099e-01] [ 9.13575404e-01] [-4.73683413e-04]] R_gt: [[ 0.99266354 0.09348197 -0.07669311] [-0.09428906 0.99552093 -0.00695458] [ 0.0757001 0.01413557 0.99703095]] t_gt: [-0.45912672 0.78499666 -0.41591214] Pose Error in degrees for R and t: 6.976548611748871 25.302581167426283 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.58221269e-01 -2.86027924e-01 -1.58910851e-04] [ 2.86027967e-01 9.58221176e-01 4.25133061e-04] [ 3.06718150e-05 -4.52824489e-04 9.99999897e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98315612 0.0907714 -0.15863831] [-0.09280643 0.995669 -0.00544831] [ 0.15745731 0.02007959 0.98732215]] t_gt: [-0.21458253 0.64975561 -0.72922698] Pose Error in degrees for R and t: 23.72426957703505 74.91082931268974 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.35910105 -0.92830608 0.09640675] [-0.92822857 0.36599221 0.0666441 ] [-0.09715024 -0.06555554 -0.9931084 ]] t_estimated: [[0.83424882] [0.54803762] [0.06069328]] R_gt: [[ 0.99931181 -0.00685689 -0.03645061] [ 0.00676502 0.99997309 -0.00266313] [ 0.0364682 0.00241549 0.9993316 ]] t_gt: [ 0.32769069 -0.91561733 -0.23294575] Pose Error in degrees for R and t: 175.07743722319066 75.96258779820064 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.68625835e-01 -2.48523336e-01 -3.79510466e-04] [ 2.48522283e-01 9.68624493e-01 -1.80736016e-03] [ 8.16774310e-04 1.65633894e-03 9.99998295e-01]] t_estimated: [[ 0.72145005] [-0.69244351] [-0.00564046]] R_gt: [[ 0.99144394 -0.10898019 -0.07185053] [ 0.10582481 0.99330402 -0.04635551] [ 0.07642161 0.03835614 0.99633761]] t_gt: [ 0.68894806 -0.630334 -0.35781227] Pose Error in degrees for R and t: 9.52384277385253 20.68597525321298 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.05670769 0.99830507 0.01308528] [ 0.99830556 -0.0565267 -0.01381056] [-0.01304749 0.01384628 -0.99981901]] t_estimated: [[0.92135355] [0.38869603] [0.00479872]] R_gt: [[ 0.9670951 -0.24457731 -0.07006557] [ 0.23874659 0.96759411 -0.08223091] [ 0.08790699 0.06279798 0.9941473 ]] t_gt: [ 0.80707241 -0.52205562 -0.27584789] Pose Error in degrees for R and t: 179.00739089589408 57.360301504412966 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.96762194e-01 8.04057982e-02 1.92451412e-04] [-8.04057897e-02 9.96762212e-01 -5.16610011e-05] [-1.95982139e-04 3.60195250e-05 9.99999980e-01]] t_estimated: [[0.25365844] [0.96729253] [0.00160055]] R_gt: [[ 9.99676979e-01 -8.09010218e-04 2.53971236e-02] [ 1.73659136e-03 9.99329774e-01 -3.65445394e-02] [-2.53500694e-02 3.65768952e-02 9.99009077e-01]] t_gt: [-0.00370354 -0.81035891 -0.58592212] Pose Error in degrees for R and t: 5.330178994136207 38.21163043238607 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-1.87542998e-01 -9.82256378e-01 1.80007235e-04] [-9.82256215e-01 1.87542850e-01 -6.38201747e-04] [ 5.93118666e-04 -2.96503494e-04 -9.99999780e-01]] t_estimated: [[7.67039889e-01] [6.41599049e-01] [6.85469069e-04]] R_gt: [[ 0.99791456 0.04376203 0.04744928] [-0.03930428 0.99506421 -0.09111758] [-0.05120311 0.08906277 0.99470826]] t_gt: [-0.73363366 0.4192314 -0.53481462] Pose Error in degrees for R and t: 178.8706490271867 72.89555857819717 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 6.47985383e-01 7.61652546e-01 5.85027595e-04] [-7.61652333e-01 6.47985643e-01 -5.74796140e-04] [-8.16884427e-04 -7.31281357e-05 9.99999664e-01]] t_estimated: [[0.40312255] [0.91514551] [0.00095527]] R_gt: [[ 0.99341502 0.06026676 0.09743732] [-0.05015973 0.99341104 -0.10304397] [-0.10300465 0.09747832 0.98989224]] t_gt: [-0.85202609 0.46272847 0.24481402] Pose Error in degrees for R and t: 47.0927832891678 85.39839713515553 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.25341548e-01 3.79134543e-01 1.35173011e-04] [-3.79134567e-01 9.25341481e-01 3.50361423e-04] [ 7.75292408e-06 -3.75452742e-04 9.99999929e-01]] t_estimated: [[7.59649477e-01] [6.50332366e-01] [6.96287330e-04]] R_gt: [[ 0.99312676 -0.11602418 0.015427 ] [ 0.11652946 0.99248474 -0.03734192] [-0.01097789 0.03888345 0.99918356]] t_gt: [ 0.82712179 -0.51655645 -0.22144743] Pose Error in degrees for R and t: 29.052073919574084 73.00818633381326 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 0.3955402 0.91843682 0.00466367] [ 0.91844796 -0.39552853 -0.00324449] [-0.00113524 0.00556667 -0.99998386]] t_estimated: [[-8.01566609e-01] [-5.97905163e-01] [-6.22817878e-04]] R_gt: [[ 0.97079586 -0.2398773 0.00390053] [ 0.23917419 0.96642015 -0.09394834] [ 0.01876792 0.09213737 0.9955696 ]] t_gt: [ 0.86542841 -0.3884517 -0.31644739] Pose Error in degrees for R and t: 175.4294649938083 62.53258061298883 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.99835856 0.05709631 0.00449412] [-0.05709 0.99836788 -0.00151921] [-0.00457353 0.00126015 0.99998875]] t_estimated: [[0.90874153] [0.41735741] [0.00127632]] R_gt: [[ 0.93001805 -0.36750182 0.00283067] [ 0.36682589 0.92777932 -0.06829576] [ 0.02247323 0.06455581 0.99766112]] t_gt: [ 0.89797139 -0.4108484 -0.15764192] Pose Error in degrees for R and t: 25.1378726575649 49.88288714700144 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.0102298 0.99994647 -0.00154888] [ 0.99993423 0.01023768 0.00517007] [ 0.00518565 -0.00149589 -0.99998544]] t_estimated: [[ 0.99977519] [ 0.02089768] [-0.00358568]] R_gt: [[ 9.98112048e-01 1.89457193e-03 -6.13872457e-02] [-9.15405583e-04 9.99872513e-01 1.59806660e-02] [ 6.14099910e-02 -1.58940720e-02 9.97986558e-01]] t_gt: [ 0.67330684 0.0598308 -0.73693838] Pose Error in degrees for R and t: 176.58429910811154 47.38659080547081 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.95137338e-01 -9.84911755e-02 1.08021093e-03] [ 9.84924224e-02 9.95137114e-01 -1.16908335e-03] [-9.59813597e-04 1.26979109e-03 9.99998733e-01]] t_estimated: [[0.07412775] [0.99724736] [0.00166999]] R_gt: [[ 0.99492988 0.0356332 -0.09405279] [-0.03355538 0.99915885 0.02358491] [ 0.09481439 -0.02030873 0.99528786]] t_gt: [ 0.36710512 0.49335803 -0.78856305] Pose Error in degrees for R and t: 9.491862888267487 58.80879009205162 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.25213196e-01 -3.79447443e-01 -4.23964083e-04] [ 3.79447546e-01 9.25213230e-01 1.94100386e-04] [ 3.18606284e-04 -3.40456370e-04 9.99999891e-01]] t_estimated: [[ 7.90985989e-01] [-6.11834261e-01] [-4.16547917e-05]] R_gt: [[ 0.99933724 0.03220666 0.01695453] [-0.03246986 0.99935255 0.01549371] [-0.01644476 -0.01603295 0.99973659]] t_gt: [-0.06099087 0.75569359 0.65207922] Pose Error in degrees for R and t: 24.188455943204154 59.294242914782224 Number of keypoints: Image1: 466 Image2: 466 R_estimated: [[ 9.99883879e-01 -1.52388473e-02 8.19105695e-05] [ 1.52388454e-02 9.99883882e-01 2.44496130e-05] [-8.22736421e-05 -2.31985514e-05 9.99999996e-01]] t_estimated: [[9.64152111e-01] [2.65349134e-01] [7.38298621e-04]] R_gt: [[ 0.99585638 -0.08694094 -0.02669728] [ 0.08759347 0.99586078 0.02431479] [ 0.02447188 -0.02655194 0.99934737]] t_gt: [ 0.96197735 -0.197155 0.18902243] Pose Error in degrees for R and t: 4.624158019268803 28.917468671300302 Number of keypoints: Image1: 413 Image2: 413 R_estimated: [[-4.08226564e-01 -9.12880534e-01 -4.51591269e-04] [-9.12877910e-01 4.08226502e-01 -2.24608840e-03] [ 2.23476190e-03 -5.04665254e-04 -9.99997376e-01]] t_estimated: [[0.81122683] [0.58473045] [0.00115559]] R_gt: [[ 0.98959002 -0.11992386 -0.07956606] [ 0.12389736 0.99118138 0.04701794] [ 0.07322496 -0.05638684 0.99572015]] t_gt: [ 0.96810637 -0.17873816 0.17556401] Pose Error in degrees for R and t: 177.83514511505808 47.07479172469656 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-6.02220887e-01 -7.98324993e-01 -2.68501254e-03] [ 7.98311988e-01 -6.02226547e-01 4.59960113e-03] [-5.28896237e-03 6.26498173e-04 9.99985817e-01]] t_estimated: [[8.35628554e-01] [5.49294295e-01] [8.34793761e-04]] R_gt: [[ 0.98472453 -0.10608255 -0.13808024] [ 0.11875094 0.9891076 0.08697588] [ 0.12734919 -0.10204426 0.986595 ]] t_gt: [ 0.95031587 -0.17794506 0.25541202] Pose Error in degrees for R and t: 120.74997945510295 45.84673586829954 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.99729237e-01 -2.32677106e-02 2.58049611e-04] [ 2.32675146e-02 9.99729002e-01 7.38313542e-04] [-2.75158546e-04 -7.32109460e-04 9.99999694e-01]] t_estimated: [[-9.42668401e-01] [-3.33729921e-01] [-7.90829196e-04]] R_gt: [[ 0.99991197 -0.0109291 -0.0075832 ] [ 0.0107154 0.99956236 -0.02757573] [ 0.00788176 0.0274913 0.99959088]] t_gt: [ 0.42385223 0.33104689 -0.8430642 ] Pose Error in degrees for R and t: 1.8279090681303 59.37841584530898 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 6.91074955e-01 7.22782938e-01 4.79737105e-04] [ 7.22739037e-01 -6.91040004e-01 1.05828450e-02] [ 7.98061732e-03 -6.96681439e-03 -9.99943885e-01]] t_estimated: [[0.90510996] [0.42517621] [0.00107368]] R_gt: [[ 0.9982686 -0.05865753 0.00438088] [ 0.05840332 0.99729545 0.04462208] [-0.00698591 -0.04428848 0.99899463]] t_gt: [ 0.72940439 -0.45464481 0.51114317] Pose Error in degrees for R and t: 177.24617656315567 62.132021543712355 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 1.63023984e-01 9.86619275e-01 2.36353460e-03] [ 9.86621495e-01 -1.63026082e-01 7.22909283e-04] [ 1.09855402e-03 2.21406249e-03 -9.99996946e-01]] t_estimated: [[-0.65300308] [-0.75735448] [-0.00107579]] R_gt: [[ 0.98172355 -0.17288849 0.07954702] [ 0.15208034 0.96397588 0.21822421] [-0.11441001 -0.20213841 0.97265168]] t_gt: [ 0.495146 -0.3671999 0.78739741] Pose Error in degrees for R and t: 174.41749106709602 87.3589641596009 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[-0.99269185 0.04033202 0.11373747] [ 0.04079777 0.99916586 0.00176929] [-0.11357124 0.0063966 -0.99350926]] t_estimated: [[ 0.99800378] [-0.02492887] [ 0.05802599]] R_gt: [[ 9.96439972e-01 8.42645692e-02 2.38835931e-03] [-8.42967056e-02 9.96155239e-01 2.38375998e-02] [-3.70336368e-04 -2.39545283e-02 9.99713541e-01]] t_gt: [-0.82028851 0.52852778 0.21859813] Pose Error in degrees for R and t: 173.4376374899312 35.00097760472495 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[-0.18932543 0.98190822 -0.00348138] [ 0.98190944 0.18933455 0.00250681] [ 0.0031206 -0.00294379 -0.9999908 ]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97629515 0.21629398 0.00796254] [-0.21643445 0.97534864 0.04301779] [ 0.00153767 -0.0437213 0.99904316]] t_gt: [-0.81990706 0.55208812 0.15149626] Pose Error in degrees for R and t: 178.30882657305804 56.83028231927213 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.99939793 -0.03439202 -0.00457842] [ 0.03444981 0.99931918 0.01320579] [ 0.00412113 -0.01335557 0.99990232]] t_estimated: [[-0.98129569] [-0.19250298] [-0.0011738 ]] R_gt: [[ 0.95674073 0.28849578 0.03764943] [-0.28894105 0.95732195 0.0068989 ] [-0.0340523 -0.01747912 0.99926769]] t_gt: [-0.77253293 0.63082415 0.07248285] Pose Error in degrees for R and t: 18.902638117475103 50.46402209550407 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.46193037e-01 3.23602675e-01 2.12746183e-04] [-3.23602655e-01 9.46193060e-01 -1.24063390e-04] [-2.41446207e-04 4.85426858e-05 9.99999970e-01]] t_estimated: [[0.62738659] [0.77870748] [0.00085012]] R_gt: [[ 0.99775355 -0.06620104 0.01022558] [ 0.06604119 0.99770021 0.0152617 ] [-0.01121266 -0.01455166 0.99983177]] t_gt: [ 0.31199962 -0.9039837 0.29235202] Pose Error in degrees for R and t: 22.696408137475565 59.47289203897488 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.99649653 0.08357829 0.00305498] [ 0.08359235 0.99648843 0.00480861] [-0.00264235 0.00504714 -0.99998377]] t_estimated: [[9.22923565e-01] [3.84982528e-01] [7.38929996e-04]] R_gt: [[ 0.9776756 -0.21004512 0.00563072] [ 0.20997909 0.97765106 0.01034317] [-0.00767746 -0.00892928 0.99993154]] t_gt: [ 0.61635796 -0.78536308 0.05751256] Pose Error in degrees for R and t: 179.45071703958794 74.54135836465053 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 8.67910326e-01 4.96720396e-01 7.16624836e-04] [-4.96720649e-01 8.67910449e-01 2.21214933e-04] [-5.12084214e-04 -5.47957079e-04 9.99999719e-01]] t_estimated: [[8.87046545e-01] [4.61679196e-01] [8.64567782e-04]] R_gt: [[ 0.94373217 -0.33006316 -0.02066195] [ 0.33026006 0.94386529 0.00688633] [ 0.01722979 -0.01332229 0.99976326]] t_gt: [ 0.71798711 -0.69562846 -0.02440398] Pose Error in degrees for R and t: 49.079685767949805 71.5963366814875 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-2.20292077e-01 -9.75431222e-01 -2.30906188e-03] [-9.75433944e-01 2.20291099e-01 6.72796674e-04] [-1.47601102e-04 2.40054911e-03 -9.99997108e-01]] t_estimated: [[0.85012337] [0.52658217] [0.00121219]] R_gt: [[ 0.98944705 -0.14477159 0.00596044] [ 0.14488952 0.98891681 -0.03241108] [-0.00120262 0.03293298 0.99945731]] t_gt: [ 0.84979822 -0.49369986 -0.18467114] Pose Error in degrees for R and t: 178.91885429779137 62.46851762850271 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.27420116e-01 -3.74021014e-01 -4.58453433e-04] [ 3.74020804e-01 9.27420188e-01 -4.83840697e-04] [ 6.06145557e-04 2.77252474e-04 9.99999778e-01]] t_estimated: [[ 0.68778391] [-0.72591318] [-0.00183133]] R_gt: [[ 0.97307453 -0.22695643 0.04021575] [ 0.22887967 0.97204588 -0.05234443] [-0.02721139 0.06013985 0.99781943]] t_gt: [ 0.84974176 -0.49765232 -0.17401466] Pose Error in degrees for R and t: 9.553455352254955 18.91336609331819 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-9.91875225e-01 1.27163585e-01 -3.60017440e-03] [-1.27164583e-01 -9.91881629e-01 4.88062228e-05] [-3.56474048e-03 5.06224360e-04 9.99993518e-01]] t_estimated: [[0.85046975] [0.52602306] [0.00096847]] R_gt: [[ 0.94564981 -0.31896997 0.06328662] [ 0.32411385 0.94030843 -0.10377886] [-0.02640593 0.11865028 0.99258522]] t_gt: [ 0.86757417 -0.42077894 -0.26506629] Pose Error in degrees for R and t: 168.50991193599063 58.918992643387575 Number of keypoints: Image1: 442 Image2: 442 R_estimated: [[ 9.90184530e-01 -1.39766219e-01 -2.82478961e-05] [ 1.39766222e-01 9.90184502e-01 2.36723555e-04] [-5.11532741e-06 -2.38348104e-04 9.99999972e-01]] t_estimated: [[-4.17270723e-01] [-9.08782216e-01] [-1.69250356e-04]] R_gt: [[ 0.99722305 0.00536549 0.07428137] [-0.00365346 0.99972553 -0.02315889] [-0.07438422 0.02282354 0.9969684 ]] t_gt: [-0.71917046 0.06071867 0.69217562] Pose Error in degrees for R and t: 9.417798964522838 75.83048289783773 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[ 9.88151447e-01 -1.53481979e-01 2.56189936e-06] [ 1.53481969e-01 9.88151388e-01 3.45306581e-04] [-5.55298818e-05 -3.40821992e-04 9.99999940e-01]] t_estimated: [[-4.93222711e-01] [-8.69903055e-01] [-1.78199417e-04]] R_gt: [[ 0.99548981 -0.02320339 0.09198772] [ 0.02438921 0.9996333 -0.01178877] [-0.09167981 0.01398009 0.99569073]] t_gt: [-0.60204496 -0.28617692 0.74541575] Pose Error in degrees for R and t: 9.163562328179902 56.92368675382562 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.91250170e-01 -1.31995888e-01 4.31111469e-04] [ 1.31995238e-01 9.91249508e-01 1.29257942e-03] [-5.97954201e-04 -1.22436491e-03 9.99999072e-01]] t_estimated: [[0.95663224] [0.29128225] [0.00306613]] R_gt: [[ 0.98683322 -0.13853082 0.0834864 ] [ 0.13910778 0.99027667 -0.00111638] [-0.08252081 0.01271593 0.99650858]] t_gt: [ 0.11609818 -0.87963771 0.46125775] Pose Error in degrees for R and t: 4.783817118907789 81.73536989890464 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.62670537e-01 2.70675582e-01 4.07714160e-04] [-2.70674886e-01 9.62669978e-01 -1.27283932e-03] [-7.37020707e-04 1.11496693e-03 9.99999107e-01]] t_estimated: [[-0.99298497] [-0.11823635] [-0.001002 ]] R_gt: [[ 0.99530095 -0.08567493 0.04511293] [ 0.0784163 0.98653949 0.14349308] [-0.05679938 -0.13928083 0.98862225]] t_gt: [ 0.40134053 -0.40816929 0.81995342] Pose Error in degrees for R and t: 22.196517219638036 69.44622992150329 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.01562223 0.99983839 0.0088963 ] [ 0.99987005 0.01565688 -0.00383901] [-0.00397768 0.00883517 -0.99995306]] t_estimated: [[0.90516952] [0.4250484 ] [0.00141212]] R_gt: [[ 0.97805316 -0.17265495 0.11662899] [ 0.12943719 0.94213269 0.30924534] [-0.16327285 -0.28736103 0.94380297]] t_gt: [ 0.37626817 -0.27298771 0.88538126] Pose Error in degrees for R and t: 174.1355804456373 76.94985362139937 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-5.58661774e-01 -8.29395286e-01 -6.94862935e-04] [-8.29386829e-01 5.58651838e-01 5.06086439e-03] [-3.80927061e-03 3.40362164e-03 -9.99986952e-01]] t_estimated: [[9.97326518e-01] [7.30699086e-02] [7.77339453e-04]] R_gt: [[ 0.9735755 -0.17430619 0.14753957] [ 0.1205757 0.94103172 0.31610199] [-0.19393799 -0.28995961 0.93718208]] t_gt: [ 0.37237397 -0.21346589 0.90319983] Pose Error in degrees for R and t: 162.70237617291355 69.11566336261319 Number of keypoints: Image1: 762 Image2: 762 R_estimated: [[ 9.99992447e-01 -3.88634569e-03 4.23021001e-05] [ 3.88634560e-03 9.99992448e-01 2.27497752e-06] [-4.23106220e-05 -2.11055976e-06 9.99999999e-01]] t_estimated: [[0.80801301] [0.58916368] [0.00106296]] R_gt: [[ 0.9996742 -0.0191576 -0.01690932] [ 0.01965109 0.99937166 0.02947543] [ 0.01633392 -0.02979845 0.99942294]] t_gt: [ 0.40116856 -0.09444166 0.91112269] Pose Error in degrees for R and t: 2.1414505524533807 74.36689353566516 Number of keypoints: Image1: 481 Image2: 481 R_estimated: [[-3.25472893e-01 -9.45550914e-01 -9.30463927e-04] [-9.45547869e-01 3.25468852e-01 3.04191913e-03] [-2.57345238e-03 1.86986040e-03 -9.99994940e-01]] t_estimated: [[0.83299633] [0.55327715] [0.00123224]] R_gt: [[ 0.99324489 -0.10732393 -0.04413268] [ 0.1089638 0.99337285 0.03656871] [ 0.03991549 -0.04113129 0.99835618]] t_gt: [ 0.95478057 -0.15022398 0.25656736] Pose Error in degrees for R and t: 179.40199340691473 44.55891379621546 Number of keypoints: Image1: 397 Image2: 397 R_estimated: [[ 9.08180113e-01 4.18578997e-01 7.10880681e-04] [-4.18579034e-01 9.08180368e-01 -1.02598849e-04] [-6.88553602e-04 -2.04381514e-04 9.99999742e-01]] t_estimated: [[0.09271114] [0.99569224] [0.00127002]] R_gt: [[ 0.98731094 -0.12044936 -0.10348511] [ 0.12874006 0.98864227 0.07754117] [ 0.09296918 -0.08988031 0.99160374]] t_gt: [ 0.92769864 -0.16253169 0.33609327] Pose Error in degrees for R and t: 32.77040941755073 85.6759838482072 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.99999863e-01 -5.14122471e-04 -1.00759098e-04] [ 5.14126996e-04 9.99999867e-01 4.48860088e-05] [ 1.00736008e-04 -4.49378056e-05 9.99999994e-01]] t_estimated: [[-9.88069464e-01] [ 1.54007999e-01] [-5.20390440e-04]] R_gt: [[ 0.98320957 0.18183789 -0.01533652] [-0.1822157 0.98284443 -0.02855036] [ 0.0098818 0.03086643 0.99947419]] t_gt: [-0.79318077 0.5881022 -0.15811409] Pose Error in degrees for R and t: 10.682238065842169 29.029211247286888 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 5.46668941e-01 -8.37347930e-01 -1.23001735e-03] [ 8.37348421e-01 5.46669540e-01 -1.89422095e-04] [ 8.31025216e-04 -9.26401906e-04 9.99999226e-01]] t_estimated: [[-0.04529348] [-0.99897293] [-0.00125815]] R_gt: [[ 9.58779134e-01 2.84152179e-01 3.77986762e-04] [-2.84031071e-01 9.58408713e-01 -2.79284908e-02] [-8.29815069e-03 2.66698013e-02 9.99609159e-01]] t_gt: [-0.78194901 0.61972542 -0.06705327] Pose Error in degrees for R and t: 73.38489440470613 54.29674361909119 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[-0.78504745 -0.6194296 -0.00273445] [-0.61943443 0.78502959 0.00543359] [-0.0012191 0.00595944 -0.9999815 ]] t_estimated: [[0.93776069] [0.34728061] [0.00103051]] R_gt: [[ 0.926194 0.37691085 -0.01017388] [-0.37681246 0.92623181 0.01036808] [ 0.01333214 -0.00576949 0.99989367]] t_gt: [-0.76219012 0.64734013 -0.00411965] Pose Error in degrees for R and t: 179.3926411665471 60.662868707162474 Number of keypoints: Image1: 736 Image2: 736 R_estimated: [[ 9.99999999e-01 2.22964374e-05 -3.23002976e-05] [-2.22993894e-05 9.99999996e-01 -9.13923381e-05] [ 3.22982598e-05 9.13930583e-05 9.99999995e-01]] t_estimated: [[0.61548134] [0.78815058] [0.00117917]] R_gt: [[ 9.99657910e-01 -1.27336750e-03 -2.61289901e-02] [ 5.39952495e-04 9.99607015e-01 -2.80425090e-02] [ 2.61542657e-02 2.80191215e-02 9.99264541e-01]] t_gt: [-0.69936252 0.16835615 -0.69465694] Pose Error in degrees for R and t: 2.19222875253107 72.62804343030325 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.99999461e-01 -1.03058630e-03 1.24129916e-04] [ 1.03063146e-03 9.99999403e-01 -3.64284973e-04] [-1.23754414e-04 3.64412709e-04 9.99999926e-01]] t_estimated: [[9.97235344e-01] [7.43038100e-02] [7.82145368e-04]] R_gt: [[ 0.99610143 -0.08744208 0.01169895] [ 0.08805299 0.9936143 -0.07055779] [-0.00545524 0.0713128 0.99743838]] t_gt: [-0.23156244 -0.32922159 -0.91541902] Pose Error in degrees for R and t: 6.437987393958302 75.16118603412099 Number of keypoints: Image1: 488 Image2: 488 R_estimated: [[ 9.98310895e-01 5.80977670e-02 7.83433436e-05] [-5.80977431e-02 9.98310861e-01 -2.79228150e-04] [-9.44335427e-05 2.74204933e-04 9.99999958e-01]] t_estimated: [[ 9.77195270e-01] [-2.12342056e-01] [ 5.05804845e-04]] R_gt: [[ 0.9913401 -0.13129353 0.00281026] [ 0.13096995 0.98687158 -0.09450566] [ 0.00963418 0.09405571 0.99551996]] t_gt: [ 0.11417415 -0.3160412 -0.94185043] Pose Error in degrees for R and t: 12.149339020199937 79.73489986627257 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[ 9.99947521e-01 1.02331974e-02 4.87272575e-04] [-1.02330239e-02 9.99947577e-01 -3.57240871e-04] [-4.90902747e-04 3.52235851e-04 9.99999817e-01]] t_estimated: [[0.36055358] [0.93273644] [0.00195953]] R_gt: [[ 0.98140636 -0.19167978 0.01005635] [ 0.19129234 0.98104633 0.03090234] [-0.01578912 -0.02840468 0.99947153]] t_gt: [ 0.63288607 -0.74934538 0.19477353] Pose Error in degrees for R and t: 11.777713281100764 61.94163540574901 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 9.79437257e-01 -2.01748988e-01 7.69807517e-05] [ 2.01749001e-01 9.79437230e-01 -2.28972888e-04] [-2.92027658e-05 2.39795367e-04 9.99999971e-01]] t_estimated: [[ 6.68517906e-01] [-7.43695735e-01] [-6.79766886e-04]] R_gt: [[ 0.94931663 -0.31343048 0.02364908] [ 0.31389034 0.94926599 -0.0191313 ] [-0.01645362 0.02558425 0.99953704]] t_gt: [ 0.69791081 -0.71614845 0.00720414] Pose Error in degrees for R and t: 6.866770956796371 2.3520520096349724 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-2.23960237e-01 9.74597856e-01 9.11442423e-04] [ 9.74595476e-01 2.23957249e-01 2.60950297e-03] [ 2.33909186e-03 1.47271257e-03 -9.99996180e-01]] t_estimated: [[-0.62334363] [-0.78194585] [-0.00184421]] R_gt: [[ 0.87411046 -0.48559666 -0.01134029] [ 0.4856653 0.87337714 0.03661201] [-0.00787464 -0.0375107 0.9992648 ]] t_gt: [ 0.75261923 -0.65329848 0.08225201] Pose Error in degrees for R and t: 178.53981980641473 87.61856351885935 Number of keypoints: Image1: 589 Image2: 589 R_estimated: [[ 9.99814114e-01 1.92804672e-02 -3.80980504e-05] [-1.92804708e-02 9.99814110e-01 -9.65331021e-05] [ 3.62297650e-05 9.72497063e-05 9.99999995e-01]] t_estimated: [[-8.11506181e-01] [-5.84343710e-01] [ 3.83082884e-04]] R_gt: [[ 0.99984878 0.01603029 0.00678779] [-0.01592247 0.99974729 -0.01585375] [-0.00704054 0.01574252 0.99985045]] t_gt: [-0.92543759 0.36277277 -0.10936719] Pose Error in degrees for R and t: 1.0032182180237055 57.38628432386831 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99999721e-01 -7.45845810e-04 4.71526595e-05] [ 7.45859283e-04 9.99999681e-01 -2.86365182e-04] [-4.69390602e-05 2.86400271e-04 9.99999958e-01]] t_estimated: [[9.99554712e-01] [2.98297158e-02] [7.51840803e-04]] R_gt: [[ 0.99957672 -0.02467941 -0.01544387] [ 0.02417997 0.9992057 -0.03167893] [ 0.0162135 0.0312926 0.99937899]] t_gt: [-0.86150369 0.07116597 -0.50273929] Pose Error in degrees for R and t: 2.4217245350725505 30.753498232273056 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99712902e-01 2.39603280e-02 1.26835675e-04] [-2.39603003e-02 9.99712888e-01 -2.15631651e-04] [-1.31965864e-04 2.12530723e-04 9.99999969e-01]] t_estimated: [[ 0.96399556] [-0.26591609] [ 0.00109518]] R_gt: [[ 0.9941479 -0.10520526 0.02455982] [ 0.10701966 0.99010168 -0.09080088] [-0.01476312 0.09289768 0.99556587]] t_gt: [-0.44325669 -0.22193211 -0.86848699] Pose Error in degrees for R and t: 9.212067036184973 68.33165862434262 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99999675e-01 -8.01658797e-04 -8.88360852e-05] [ 8.01664110e-04 9.99999677e-01 5.97930343e-05] [ 8.87881229e-05 -5.98642315e-05 9.99999994e-01]] t_estimated: [[-9.90570504e-01] [ 1.37001996e-01] [-7.28162373e-04]] R_gt: [[ 0.99583895 0.09099149 0.00521488] [-0.09089075 0.99571412 -0.01714764] [-0.00675223 0.01660195 0.99983853]] t_gt: [-0.69309688 0.7146925 -0.09397523] Pose Error in degrees for R and t: 5.3639182999344 38.32147135506148 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999141e-01 -1.27262774e-03 -3.12252962e-04] [ 1.27291665e-03 9.99998760e-01 9.26777843e-04] [ 3.11073131e-04 -9.27174519e-04 9.99999522e-01]] t_estimated: [[0.42391441] [0.9057011 ] [0.00144681]] R_gt: [[ 0.97564889 0.2191727 -0.00858222] [-0.21932846 0.97525522 -0.02780288] [ 0.00227629 0.02900803 0.99957653]] t_gt: [-0.72619363 0.68062686 -0.09690143] Pose Error in degrees for R and t: 12.855222830990579 72.03353118446842 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 0.60444472 -0.79663297 -0.00474238] [ 0.79664454 0.60444712 0.00107317] [ 0.0020116 -0.00442666 0.99998818]] t_estimated: [[-0.33257065] [-0.94307535] [-0.0023755 ]] R_gt: [[ 0.93018036 0.36709659 0.00229447] [-0.36652414 0.92904336 -0.05038375] [-0.02062828 0.04602438 0.99872658]] t_gt: [-0.72198925 0.68799137 -0.07348054] Pose Error in degrees for R and t: 74.401949897045 65.8868022545454 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 9.99946620e-01 1.03322708e-02 -4.59483268e-05] [-1.03322673e-02 9.99946618e-01 7.49999294e-05] [ 4.67207936e-05 -7.45211755e-05 9.99999996e-01]] t_estimated: [[-9.80088718e-01] [ 1.98559710e-01] [-3.83637697e-04]] R_gt: [[ 0.99584306 0.09106657 0.00229682] [-0.0910223 0.99573642 -0.01498385] [-0.00365185 0.01471161 0.99988529]] t_gt: [-0.69712886 0.71044756 -0.09631003] Pose Error in degrees for R and t: 4.713068341512068 34.47721802463793 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999675e-01 -7.91364180e-04 -1.56328596e-04] [ 7.91377841e-04 9.99999683e-01 8.73468833e-05] [ 1.56259424e-04 -8.74705698e-05 9.99999984e-01]] t_estimated: [[-9.99975610e-01] [-6.93970573e-03] [-7.86750263e-04]] R_gt: [[ 0.97251582 0.2324924 -0.01275121] [-0.2327748 0.97208727 -0.02937321] [ 0.00556572 0.0315335 0.99948733]] t_gt: [-0.72924267 0.67550279 -0.10909217] Pose Error in degrees for R and t: 13.624694689080275 43.56251132829662 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99967826e-01 -8.00004527e-03 -5.89011943e-04] [ 7.99997104e-03 9.99967991e-01 -1.28262586e-04] [ 5.90019196e-04 1.23546381e-04 9.99999818e-01]] t_estimated: [[0.00833304] [0.99996474] [0.00104163]] R_gt: [[ 0.92982159 0.36800836 0.00120177] [-0.36756318 0.92884613 -0.04628392] [-0.01814986 0.04259327 0.99892749]] t_gt: [-0.72378129 0.68652119 -0.06949317] Pose Error in degrees for R and t: 22.20686652107238 47.125615341784446 Number of keypoints: Image1: 435 Image2: 435 R_estimated: [[ 9.99999380e-01 -1.04775600e-03 3.76801110e-04] [ 1.04778722e-03 9.99999448e-01 -8.26621148e-05] [-3.76714292e-04 8.30568710e-05 9.99999926e-01]] t_estimated: [[-0.26656091] [-0.96379385] [ 0.0068334 ]] R_gt: [[ 0.99979309 0.01740946 0.01060678] [-0.01723149 0.99971342 -0.01667099] [-0.01089453 0.01648454 0.99980466]] t_gt: [-0.91750377 0.39469464 -0.04902017] Pose Error in degrees for R and t: 1.5326651213520186 82.17380000422851 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99999033e-01 -1.38834643e-03 7.64187204e-05] [ 1.38836269e-03 9.99999014e-01 -2.13031737e-04] [-7.61228832e-05 2.13137628e-04 9.99999974e-01]] t_estimated: [[ 0.98411557] [-0.17752018] [ 0.00176943]] R_gt: [[ 0.99983913 -0.01032847 -0.0147173 ] [ 0.0098606 0.99945521 -0.03152082] [ 0.01503455 0.03137134 0.99939447]] t_gt: [-0.89568827 0.17832666 -0.40735995] Pose Error in degrees for R and t: 2.0451840505825847 23.958736155232177 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.81297485e-01 1.92494760e-01 -1.00667158e-03] [-1.92494666e-01 9.81298001e-01 1.90315416e-04] [ 1.02447953e-03 7.02287128e-06 9.99999475e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99481347 -0.09782895 0.02786368] [ 0.09999273 0.99077805 -0.09143686] [-0.018661 0.09374845 0.99542171]] t_gt: [-0.56898938 -0.16592008 -0.80543257] Pose Error in degrees for R and t: 17.661216824387456 56.234924137053085 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.93001179e-01 -1.18103842e-01 3.74770353e-04] [ 1.18103867e-01 9.93001246e-01 -4.59231140e-05] [-3.66723732e-04 8.98635344e-05 9.99999929e-01]] t_estimated: [[0.89458579] [0.44689472] [0.00116924]] R_gt: [[ 0.98460632 -0.17452764 -0.00956657] [ 0.1746788 0.98445749 0.01820094] [ 0.00624128 -0.01959147 0.99978838]] t_gt: [ 0.64699608 -0.75811211 0.08162172] Pose Error in degrees for R and t: 3.4832476464122464 76.10799189727905 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[-4.44565142e-01 8.95746123e-01 8.46952915e-04] [-8.95745573e-01 -4.44563094e-01 -1.87716117e-03] [-1.30493583e-03 -1.59317475e-03 9.99997879e-01]] t_estimated: [[0.27870231] [0.96037678] [0.0012065 ]] R_gt: [[ 0.94966891 -0.31260406 0.02019548] [ 0.31298494 0.94955269 -0.01975649] [-0.01300091 0.02508204 0.9996009 ]] t_gt: [ 0.70018976 -0.71394335 -0.0043805 ] Pose Error in degrees for R and t: 134.63052359082735 60.6255367040103 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.97802189 0.12529359 -0.16665742] [-0.05083911 0.91848546 0.39217324] [ 0.20220921 -0.3750813 0.9046687 ]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.87660331 -0.48059653 -0.02439119] [ 0.48104981 0.87650203 0.01829497] [ 0.01258593 -0.02777135 0.9995351 ]] t_gt: [ 0.75915833 -0.64981375 0.03769241] Pose Error in degrees for R and t: 41.141714348941306 79.0212051522346 Number of keypoints: Image1: 675 Image2: 675 R_estimated: [[ 0.70858029 -0.70070377 0.08323573] [-0.70156624 -0.68693909 0.18952437] [-0.07562256 -0.19268862 -0.97834162]] t_estimated: [[0.38550607] [0.91669742] [0.10512332]] R_gt: [[ 0.99976123 0.00197767 -0.02179303] [-0.00265938 0.99950736 -0.03124949] [ 0.02172019 0.03130049 0.99927359]] t_gt: [-0.71528569 0.22482821 -0.66167867] Pose Error in degrees for R and t: 170.18907130134974 81.99813106589491 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[-2.91918126e-02 -9.99573687e-01 -5.31928432e-04] [-9.99573554e-01 2.91921949e-02 -7.25631190e-04] [ 7.40850002e-04 5.10519103e-04 -9.99999595e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99662695 -0.08116605 0.01216189] [ 0.08180001 0.99439712 -0.06694374] [-0.00666086 0.06771333 0.99768232]] t_gt: [-0.34701865 -0.32614291 -0.87932295] Pose Error in degrees for R and t: 177.6434277129675 61.724689821669074 Number of keypoints: Image1: 445 Image2: 445 R_estimated: [[ 9.97232581e-01 7.43449517e-02 8.32589388e-05] [-7.43449252e-02 9.97232546e-01 -2.86049221e-04] [-1.04294839e-04 2.79067723e-04 9.99999956e-01]] t_estimated: [[ 9.78001131e-01] [-2.08598849e-01] [ 5.55526731e-04]] R_gt: [[ 0.99127276 -0.13175295 0.0045232 ] [ 0.13156275 0.98650103 -0.09750187] [ 0.00838369 0.097247 0.99522458]] t_gt: [ 0.08778729 -0.31334289 -0.9455737 ] Pose Error in degrees for R and t: 13.093504025928606 81.33286768046322 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.99387433e-01 -3.49959361e-02 -2.07406212e-04] [ 3.49959964e-02 9.99387409e-01 2.94974807e-04] [ 1.96956238e-04 -3.02052502e-04 9.99999935e-01]] t_estimated: [[-9.84398543e-01] [ 1.75952985e-01] [-2.35365407e-04]] R_gt: [[ 0.98180043 0.18942919 -0.0136201 ] [-0.1897875 0.98125654 -0.03343021] [ 0.0070328 0.03540641 0.99934832]] t_gt: [-0.79307435 0.58652544 -0.16438062] Pose Error in degrees for R and t: 13.104629894747417 27.878540700603452 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99575946e-01 -2.91183720e-02 -2.20736200e-04] [ 2.91184062e-02 9.99575958e-01 1.53027680e-04] [ 2.16186681e-04 -1.59390274e-04 9.99999964e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.59821496e-01 2.80610266e-01 8.11020141e-04] [-2.80500240e-01 9.59519010e-01 -2.53498377e-02] [-7.89226414e-03 2.41035178e-02 9.99678770e-01]] t_gt: [-0.78336042 0.61862308 -0.0604313 ] Pose Error in degrees for R and t: 18.02371086573139 38.603251911543694 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 6.05687489e-01 -7.95699123e-01 -2.36025161e-03] [ 7.95701379e-01 6.05689124e-01 2.78178585e-05] [ 1.40744408e-03 -1.89490439e-03 9.99997214e-01]] t_estimated: [[0.95541133] [0.29527061] [0.00210908]] R_gt: [[ 0.92475475 0.38047958 -0.00800142] [-0.38041771 0.92477839 0.00828503] [ 0.01055245 -0.00461801 0.99993409]] t_gt: [-0.76272753 0.64670504 -0.00439435] Pose Error in degrees for R and t: 75.08509237492557 57.467711701528195 Number of keypoints: Image1: 444 Image2: 444 R_estimated: [[ 9.98325566e-01 5.78451721e-02 -1.02651337e-07] [-5.78451719e-02 9.98325563e-01 -8.15732211e-05] [-4.61613756e-06 8.14425700e-05 9.99999997e-01]] t_estimated: [[-1.12434122e-01] [ 9.93659170e-01] [-1.45158306e-04]] R_gt: [[ 0.9969434 0.00680075 0.07783854] [-0.00519551 0.99977024 -0.02081003] [-0.07796289 0.0203429 0.99674899]] t_gt: [-0.70587865 0.06378421 0.70545511] Pose Error in degrees for R and t: 5.492672393094302 81.79923175095625 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 1.66718521e-01 9.86003948e-01 -1.07225766e-03] [-9.86004033e-01 1.66717246e-01 -1.18581160e-03] [-9.90451074e-04 1.25494713e-03 9.99998722e-01]] t_estimated: [[5.20615590e-01] [8.53791033e-01] [5.28064693e-04]] R_gt: [[ 0.99539288 -0.02912636 0.09135831] [ 0.03002694 0.99951345 -0.00850817] [-0.09106598 0.01121265 0.99578198]] t_gt: [-0.55202573 -0.34775276 0.75784933] Pose Error in degrees for R and t: 82.23969505193928 54.27459734203241 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-0.94638158 0.32302274 0.00426872] [ 0.32303146 0.946387 0.00152291] [-0.00354793 0.00282019 -0.99998973]] t_estimated: [[0.99814179] [0.06090463] [0.00189391]] R_gt: [[ 0.98486502 -0.15258172 0.08221896] [ 0.152898 0.98823876 0.0024641 ] [-0.08162858 0.01014416 0.9966114 ]] t_gt: [ 0.19017763 -0.88088615 0.43344211] Pose Error in degrees for R and t: 175.0785538616294 82.12599793477155 Number of keypoints: Image1: 880 Image2: 880 R_estimated: [[ 9.99917819e-01 -1.28200718e-02 1.33797270e-05] [ 1.28200722e-02 9.99917819e-01 -2.50943702e-05] [-1.30569158e-05 2.52638370e-05 1.00000000e+00]] t_estimated: [[8.85925589e-01] [4.63826934e-01] [6.53015396e-04]] R_gt: [[ 0.9997612 -0.01666304 -0.01412288] [ 0.01701483 0.99953888 0.02514864] [ 0.01369784 -0.02538306 0.99958463]] t_gt: [ 0.28148995 -0.09983414 0.95435662] Pose Error in degrees for R and t: 1.6699951686594368 78.24679057172541 Number of keypoints: Image1: 493 Image2: 493 R_estimated: [[-0.82791343 -0.56085126 -0.00228515] [ 0.56085496 -0.82791266 -0.00153107] [-0.0010332 -0.00254923 0.99999622]] t_estimated: [[0.83300908] [0.55325791] [0.00124889]] R_gt: [[ 0.99354466 -0.10662321 -0.03872992] [ 0.10800622 0.99351488 0.03555365] [ 0.03468846 -0.03950693 0.99861688]] t_gt: [ 0.94332187 -0.18563323 0.27510752] Pose Error in degrees for R and t: 139.73049256015562 46.88725181564723 Number of keypoints: Image1: 357 Image2: 357 R_estimated: [[ 2.92125936e-01 9.56379137e-01 1.17639081e-03] [-9.56379122e-01 2.92127018e-01 -8.83411365e-04] [-1.18853174e-03 -8.67008243e-04 9.99998918e-01]] t_estimated: [[0.15520615] [0.98788145] [0.00113289]] R_gt: [[ 0.98714458 -0.12359185 -0.1013434 ] [ 0.13116217 0.98876008 0.07176419] [ 0.09133505 -0.08413312 0.99225953]] t_gt: [ 0.93620824 -0.18197617 0.30066393] Pose Error in degrees for R and t: 80.63017033588773 88.0444022447337 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99532036 -0.09659774 -0.00250329] [-0.09658703 -0.99531612 0.00409476] [-0.00288711 -0.00383382 -0.99998848]] t_estimated: [[0.2149749 ] [0.97660026] [0.00614214]] R_gt: [[ 0.996755 -0.0696162 0.04041443] [ 0.06411429 0.9901677 0.12431981] [-0.04867148 -0.12132527 0.99141842]] t_gt: [ 0.38208322 -0.39446913 0.8357072 ] Pose Error in degrees for R and t: 172.59073024122966 72.66444322975126 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.9791884 0.20107745 -0.02753077] [-0.20149457 -0.97939941 0.01329447] [-0.0242904 0.0185651 0.99953255]] t_estimated: [[0.79738347] [0.60347233] [0.00086956]] R_gt: [[ 0.9798154 -0.16537912 0.11230877] [ 0.12584823 0.94678741 0.29623624] [-0.15532435 -0.27612203 0.94848881]] t_gt: [ 0.37550249 -0.28039913 0.88338791] Pose Error in degrees for R and t: 177.30026986430045 82.4740904964439 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 4.10858456e-01 9.11699003e-01 5.07728839e-04] [-9.11696441e-01 4.10858530e-01 -2.20631635e-03] [-2.22010114e-03 4.43589154e-04 9.99997437e-01]] t_estimated: [[-9.81925786e-01] [ 1.89266254e-01] [-1.88821922e-04]] R_gt: [[ 0.97193771 -0.18210516 0.14891896] [ 0.1273207 0.93952806 0.31792341] [-0.19780864 -0.29004043 0.93634848]] t_gt: [ 0.38217871 -0.22286066 0.89681245] Pose Error in degrees for R and t: 77.31241104818709 65.31555149852353 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.99953637e-01 -9.62928377e-03 -3.73329973e-05] [ 9.62928341e-03 9.99953637e-01 -9.75357254e-06] [ 3.74251863e-05 9.39363032e-06 9.99999999e-01]] t_estimated: [[-9.43721530e-01] [-3.30740603e-01] [ 5.71732720e-04]] R_gt: [[ 0.99632933 0.08524552 -0.00775268] [-0.08494991 0.99584853 0.03267991] [ 0.01050729 -0.03190226 0.99943504]] t_gt: [-0.81195545 0.52198044 0.26127528] Pose Error in degrees for R and t: 5.765791325354992 53.57506712551896 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99947809e-01 -1.02159275e-02 -1.18231271e-04] [ 1.02159435e-02 9.99947807e-01 1.36131285e-04] [ 1.16834393e-04 -1.37332024e-04 9.99999984e-01]] t_estimated: [[-9.87021179e-01] [-1.60589942e-01] [-2.50243025e-04]] R_gt: [[ 0.97574776 0.21888243 0.00249125] [-0.2188148 0.97501358 0.03832091] [ 0.0059585 -0.03793706 0.99926185]] t_gt: [-0.81590744 0.56488542 0.12328632] Pose Error in degrees for R and t: 13.411252108850485 44.39185372420442 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.02252133e-01 4.31208797e-01 -2.49263395e-04] [-4.31208851e-01 9.02252111e-01 -2.34353549e-04] [ 1.23843113e-04 3.18930571e-04 9.99999941e-01]] t_estimated: [[-0.86850364] [ 0.49568181] [-0.00098886]] R_gt: [[ 0.95988111 0.27873447 0.03057648] [-0.27906908 0.96024407 0.00720352] [-0.02735222 -0.01544757 0.99950649]] t_gt: [-0.76891439 0.63630679 0.06232441] Pose Error in degrees for R and t: 9.520038788616494 10.533241573429017 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 9.99413773e-01 -3.42353451e-02 -2.28851901e-04] [ 3.42354347e-02 9.99413716e-01 3.99858408e-04] [ 2.15028439e-04 -4.07458845e-04 9.99999894e-01]] t_estimated: [[9.48909794e-01] [3.15546558e-01] [7.56706375e-04]] R_gt: [[ 0.99994394 -0.00533498 -0.00920286] [ 0.0051532 0.99979322 -0.01969561] [ 0.00930612 0.01964724 0.99976427]] t_gt: [ 0.31392335 0.51920383 -0.7949085 ] Pose Error in degrees for R and t: 2.084723174092192 62.540828987469105 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.96547040e-01 8.30271801e-02 6.96174847e-04] [-8.30261980e-02 9.96546467e-01 -1.33753959e-03] [-8.04822724e-04 1.27512036e-03 9.99998863e-01]] t_estimated: [[-0.9407297 ] [-0.33915377] [-0.00153463]] R_gt: [[ 0.99864401 -0.05171055 -0.00609193] [ 0.05184281 0.99836712 0.02397116] [ 0.00484244 -0.02425439 0.99969391]] t_gt: [ 0.86495349 -0.43573321 0.24898197] Pose Error in degrees for R and t: 7.874952403843663 48.21871196981992 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-8.76077486e-01 -4.82169462e-01 -9.21594444e-04] [-4.82170342e-01 8.76075863e-01 1.68603431e-03] [-5.56760876e-06 1.92146221e-03 -9.99998154e-01]] t_estimated: [[ 9.97908099e-01] [-6.46484828e-02] [-1.53122790e-05]] R_gt: [[ 0.98211741 -0.17467041 0.07026614] [ 0.15801633 0.96763177 0.19677307] [-0.10236208 -0.18215095 0.97792798]] t_gt: [ 0.53350567 -0.39917806 0.74567323] Pose Error in degrees for R and t: 172.4520932930169 56.06966542739577 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-0.80928187 0.58711342 0.01899166] [ 0.58713723 0.80947268 -0.00488419] [-0.0182408 0.00719802 -0.99980771]] t_estimated: [[ 0.96641728] [-0.2568066 ] [ 0.00938156]] R_gt: [[ 0.99003506 -0.1406289 0.00732799] [ 0.14080975 0.98924357 -0.03960806] [-0.00167913 0.04024505 0.99918881]] t_gt: [ 0.84664371 -0.48260199 -0.22425375] Pose Error in degrees for R and t: 177.92295919438632 19.94128134830749 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.87986244e-01 1.54541630e-01 2.57321584e-04] [-1.54541673e-01 9.87986258e-01 1.56196263e-04] [-2.30091364e-04 -1.94086667e-04 9.99999955e-01]] t_estimated: [[-0.45973007] [-0.88805782] [-0.00125609]] R_gt: [[ 0.97224259 -0.23098736 0.03727789] [ 0.23294647 0.9705312 -0.06168221] [-0.02193241 0.0686537 0.99740027]] t_gt: [ 0.85415652 -0.47879165 -0.20291672] Pose Error in degrees for R and t: 22.696108552114662 88.12218958498785 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.69310616 0.72079392 0.00774427] [ 0.72080632 0.69313479 -0.00155488] [-0.00648858 0.00450442 -0.9999688 ]] t_estimated: [[ 0.9612028 ] [-0.27582209] [ 0.00336966]] R_gt: [[ 0.94540122 -0.32030276 0.06018589] [ 0.32528571 0.93877759 -0.11351782] [-0.02014063 0.1268971 0.99171196]] t_gt: [ 0.8694801 -0.40217724 -0.28680626] Pose Error in degrees for R and t: 174.65522938963596 18.966348181054926 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.87493440e-01 1.57659873e-01 2.64033142e-04] [-1.57659846e-01 9.87493473e-01 -1.19985448e-04] [-2.79647895e-04 7.68574188e-05 9.99999958e-01]] t_estimated: [[0.41920723] [0.90788981] [0.00117755]] R_gt: [[ 0.99706775 -0.07553227 0.01227437] [ 0.07532781 0.99702437 0.016335 ] [-0.01347174 -0.01536227 0.99979108]] t_gt: [ 0.38645595 -0.88502692 0.25957495] Pose Error in degrees for R and t: 13.447942268705889 50.11893002265602 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.98524140e-01 -5.43081911e-02 4.03741443e-04] [ 5.43082970e-02 9.98524183e-01 -2.56049619e-04] [-3.89240003e-04 2.77598236e-04 9.99999886e-01]] t_estimated: [[-0.1016603 ] [-0.99481863] [-0.00103735]] R_gt: [[ 0.97416916 -0.22575231 0.00555691] [ 0.22572152 0.97417566 0.00556307] [-0.00666923 -0.00416432 0.9999693 ]] t_gt: [ 0.64637121 -0.76245203 0.02951549] Pose Error in degrees for R and t: 9.943076204151897 46.15096823169316 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 7.58322732e-01 6.51879193e-01 3.88380129e-04] [-6.51879269e-01 7.58322760e-01 1.02058834e-04] [-2.27987461e-04 -3.30570488e-04 9.99999919e-01]] t_estimated: [[7.85707349e-01] [6.18597950e-01] [7.32935960e-04]] R_gt: [[ 0.94043686 -0.33918014 -0.02313533] [ 0.3394478 0.9405845 0.00870811] [ 0.01880699 -0.01604234 0.99969464]] t_gt: [ 0.72970142 -0.68332224 -0.02462822] Pose Error in degrees for R and t: 60.53691803759081 81.33760669874239 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99998979e-01 1.40793067e-03 2.43224743e-04] [-1.40791603e-03 9.99999007e-01 -6.03841250e-05] [-2.43309518e-04 6.00416233e-05 9.99999969e-01]] t_estimated: [[ 0.98219366] [-0.18781041] [-0.00478108]] R_gt: [[ 0.99960057 -0.00461158 -0.02788194] [ 0.00473072 0.99998023 0.00422511] [ 0.02786115 -0.00435557 0.99960181]] t_gt: [ 0.28075133 -0.95689184 -0.07440901] Pose Error in degrees for R and t: 1.6672200633088858 62.88215250045789 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99998280e-01 -1.68950446e-03 7.65477552e-04] [ 1.68950718e-03 9.99998573e-01 -2.91333767e-06] [-7.65471538e-04 4.20661249e-06 9.99999707e-01]] t_estimated: [[-0.48500478] [-0.87451084] [-0.00107302]] R_gt: [[ 0.99290994 -0.09453857 -0.07205257] [ 0.09155107 0.99484162 -0.04369993] [ 0.07581144 0.0367942 0.99644284]] t_gt: [ 0.65477884 -0.65941679 -0.36936997] Pose Error in degrees for R and t: 7.162628280545567 74.96004261248832 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.32043762 -0.94721339 0.01032133] [-0.94725022 0.3203423 -0.00989108] [ 0.00606261 -0.01294636 -0.99989781]] t_estimated: [[0.90075573] [0.43429294] [0.00536164]] R_gt: [[ 0.97088909 -0.22886398 -0.07068306] [ 0.22299622 0.97135594 -0.08210746] [ 0.08744966 0.06395497 0.99411376]] t_gt: [ 0.79003462 -0.54047486 -0.28936522] Pose Error in degrees for R and t: 173.88510790763505 61.617707895267124 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 7.61522368e-01 -6.48138488e-01 -4.27257092e-04] [ 6.48138463e-01 7.61521535e-01 1.21868432e-03] [-4.64510734e-04 -1.20497712e-03 9.99999166e-01]] t_estimated: [[0.99970305] [0.02428428] [0.00202369]] R_gt: [[ 0.99854766 0.04869389 -0.0230984 ] [-0.0480938 0.99850782 0.02586294] [ 0.02432399 -0.02471348 0.99939883]] t_gt: [-0.60559519 0.78495765 0.13075146] Pose Error in degrees for R and t: 43.217140250477094 54.12006659954777 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.45738917 0.88926189 0.00290313] [ 0.88926252 -0.45739455 0.00154948] [ 0.00270577 0.00187292 -0.99999459]] t_estimated: [[-0.9999095 ] [-0.01340661] [-0.00111722]] R_gt: [[ 0.99183398 0.0884013 -0.09193315] [-0.08902755 0.99602523 -0.00271758] [ 0.09132847 0.01088015 0.99576131]] t_gt: [-0.41162554 0.75304389 -0.5133121 ] Pose Error in degrees for R and t: 177.5953627144227 66.29260174749275 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 6.00409799e-01 -7.99690798e-01 -1.64332744e-03] [ 7.99691884e-01 6.00410601e-01 6.21124475e-06] [ 9.81704138e-04 -1.31788491e-03 9.99998650e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 9.81500310e-01 8.74984367e-02 -1.70302590e-01] [-8.87488812e-02 9.96053891e-01 2.72825364e-04] [ 1.69654448e-01 1.48463787e-02 9.85391671e-01]] t_gt: [-0.17363847 0.60748574 -0.77511983] Pose Error in degrees for R and t: 58.92840730830336 84.39025211596174 Number of keypoints: Image1: 513 Image2: 513 R_estimated: [[ 9.99429635e-01 -3.37698472e-02 4.90293932e-05] [ 3.37698462e-02 9.99429636e-01 2.07567915e-05] [-4.97023822e-05 -1.90892375e-05 9.99999999e-01]] t_estimated: [[9.87287262e-01] [1.58945155e-01] [5.48234906e-04]] R_gt: [[ 0.99525608 -0.09368472 -0.02623718] [ 0.09422995 0.99534105 0.02041477] [ 0.02420245 -0.02278963 0.99944666]] t_gt: [ 0.97018796 -0.19904225 0.13826609] Pose Error in degrees for R and t: 3.948519961131241 22.135824751951475 Number of keypoints: Image1: 429 Image2: 429 R_estimated: [[ 9.28197873e-01 -3.72086145e-01 7.80019003e-04] [-3.72086509e-01 -9.28197976e-01 3.84209481e-04] [ 5.81053034e-04 -6.46856971e-04 -9.99999622e-01]] t_estimated: [[0.16366162] [0.98651588] [0.00113654]] R_gt: [[ 0.98944998 -0.1178808 -0.08422878] [ 0.12227565 0.99128186 0.04907269] [ 0.07770963 -0.05885297 0.9952378 ]] t_gt: [ 0.96651575 -0.18736815 0.17532964] Pose Error in degrees for R and t: 177.8081959991045 88.48372792182246 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[-2.28601341e-01 9.73515259e-01 3.07687244e-03] [ 9.73519747e-01 2.28597338e-01 1.60003211e-03] [ 8.54290831e-04 3.36116556e-03 -9.99993986e-01]] t_estimated: [[-0.87980754] [-0.47532459] [-0.00228521]] R_gt: [[ 0.98409425 -0.10117956 -0.14601849] [ 0.11432819 0.98983063 0.08464704] [ 0.1359694 -0.09999429 0.98565361]] t_gt: [ 0.96103194 -0.17389339 0.21489228] Pose Error in degrees for R and t: 170.41394336194148 40.23882974707768 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999907e-01 4.27072869e-04 -5.34459943e-05] [-4.27065313e-04 9.99999899e-01 1.41324593e-04] [ 5.35063448e-05 -1.41301755e-04 9.99999989e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99793419 0.00676319 -0.06389289] [-0.00561501 0.99982011 0.01811817] [ 0.0640043 -0.0177205 0.99779271]] t_gt: [ 0.60936776 0.14539532 -0.77944283] Pose Error in degrees for R and t: 3.8167927959321415 52.46750559757792 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-1.29571253e-02 -9.99914821e-01 -1.56951353e-03] [ 9.99916045e-01 -1.29573109e-02 1.08129400e-04] [-1.28456865e-04 -1.56798072e-03 9.99998762e-01]] t_estimated: [[9.99994892e-01] [3.10075623e-03] [7.75189837e-04]] R_gt: [[ 0.99508359 0.04811706 -0.08657449] [-0.04631583 0.99866937 0.02269084] [ 0.08755117 -0.01856805 0.995987 ]] t_gt: [ 0.17753244 0.63682022 -0.75029477] Pose Error in degrees for R and t: 93.55796011703734 79.69287638017201 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99999992e-01 1.25752443e-04 -1.70744930e-05] [-1.25753351e-04 9.99999991e-01 -5.31682310e-05] [ 1.70678068e-05 5.31703777e-05 9.99999998e-01]] t_estimated: [[-0.55010399] [-0.83509528] [-0.00121518]] R_gt: [[ 0.99839694 0.03459349 0.0447961 ] [-0.03535775 0.99924027 0.01639413] [-0.0441954 -0.01795152 0.99886183]] t_gt: [-0.20346393 0.54562315 0.81295622] Pose Error in degrees for R and t: 3.3879896026645935 69.83597384201023 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[ 5.47498936e-01 -8.36797365e-01 -3.88391171e-03] [ 8.36804745e-01 5.47501141e-01 5.65220190e-04] [ 1.65347132e-03 -3.55953320e-03 9.99992298e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99284281 -0.11790352 0.01899239] [ 0.1184841 0.99240489 -0.03305449] [-0.01495162 0.03506771 0.99927285]] t_gt: [ 0.83039134 -0.52914065 -0.17452907] Pose Error in degrees for R and t: 50.06800865114743 58.331841587016854 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.67267687e-01 2.53757378e-01 6.44507113e-04] [-2.53757125e-01 9.67267863e-01 -4.49707605e-04] [-7.37527641e-04 2.71439363e-04 9.99999691e-01]] t_estimated: [[0.78957187] [0.61365669] [0.00131201]] R_gt: [[ 0.97166254 -0.23610024 0.01128703] [ 0.23607452 0.96695599 -0.09624737] [ 0.01180991 0.09618529 0.99529319]] t_gt: [ 0.86398288 -0.38756822 -0.32144122] Pose Error in degrees for R and t: 28.91320133146892 63.645673592695566 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.23769496e-01 -3.82948883e-01 -2.67307321e-04] [ 3.82948634e-01 9.23769378e-01 -6.93532464e-04] [ 5.12517800e-04 5.38299161e-04 9.99999724e-01]] t_estimated: [[ 0.49185973] [-0.87067126] [-0.00235772]] R_gt: [[ 0.9328129 -0.36028223 0.007523 ] [ 0.3597825 0.92993034 -0.07605942] [ 0.02040671 0.0736562 0.9970748 ]] t_gt: [ 0.89687171 -0.40587236 -0.17575199] Pose Error in degrees for R and t: 4.560257347364735 37.35127547763558 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99733454e-01 2.30872481e-02 2.94974204e-06] [-2.30872481e-02 9.99733454e-01 1.79579826e-05] [-2.53435540e-06 -1.80212974e-05 1.00000000e+00]] t_estimated: [[7.44856235e-01] [6.67224619e-01] [7.04705515e-04]] R_gt: [[ 0.99962539 0.0068472 0.02650252] [-0.00582022 0.99923767 -0.03860108] [-0.02674649 0.03843209 0.99890274]] t_gt: [-0.52614729 -0.43355394 -0.73157365] Pose Error in degrees for R and t: 2.8511701834037715 47.02356560935856 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.08702502 0.99618926 -0.00579667] [ 0.99617079 0.08706948 0.00791643] [ 0.00839098 -0.00508555 -0.99995186]] t_estimated: [[-0.04968917] [-0.99875237] [-0.00496892]] R_gt: [[ 0.99723353 0.0490165 0.05589901] [-0.04359122 0.99457592 -0.09444681] [-0.06022411 0.09174764 0.99395893]] t_gt: [-0.78702593 0.4845482 -0.38184188] Pose Error in degrees for R and t: 174.48328163458956 63.70840612550999 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.96757930e-01 -8.04588327e-02 -6.85010398e-05] [ 8.04588391e-02 9.96757928e-01 9.53673686e-05] [ 6.06058073e-05 -1.00569695e-04 9.99999993e-01]] t_estimated: [[8.21325046e-01] [5.70460074e-01] [6.87301294e-04]] R_gt: [[ 0.99303307 0.05951441 0.10171231] [-0.0497337 0.99412624 -0.09612581] [-0.10683473 0.09039651 0.99015848]] t_gt: [-0.81390012 0.4331186 0.38726591] Pose Error in degrees for R and t: 11.178847538932834 65.09382831130536 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.27536369 0.96114898 0.01916955] [ 0.96116953 0.27563573 -0.01334469] [-0.01811005 0.01475054 -0.99972719]] t_estimated: [[ 0.8023487 ] [-0.59673934] [ 0.01177803]] R_gt: [[ 0.99390029 -0.1091544 0.01575882] [ 0.10993026 0.99199722 -0.06209302] [-0.00885597 0.06344629 0.99794644]] t_gt: [ 0.80882895 -0.43189418 -0.39907787] Pose Error in degrees for R and t: 175.92890095048568 25.579010023169655 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 8.67507014e-01 4.97424946e-01 6.32254104e-05] [-4.97424857e-01 8.67506767e-01 7.21273099e-04] [ 3.03930761e-04 -6.57159363e-04 9.99999738e-01]] t_estimated: [[7.61688506e-01] [6.47943023e-01] [6.77056450e-04]] R_gt: [[ 0.97166374 -0.23610243 -0.01121549] [ 0.23474366 0.96945068 -0.07113906] [ 0.02766837 0.06649053 0.99740406]] t_gt: [ 0.86582718 -0.4288169 -0.25779711] Pose Error in degrees for R and t: 43.65429577128894 67.57540903590191 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-9.07100840e-01 -4.20913366e-01 7.10584343e-05] [-4.20903472e-01 9.07080649e-01 6.70546631e-03] [-2.88687612e-03 6.05262538e-03 -9.99977516e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.93322404 -0.3592187 -0.00742179] [ 0.35881661 0.93284698 -0.03236537] [ 0.01854977 0.02754073 0.99944908]] t_gt: [ 0.88739456 -0.45719216 -0.05921336] Pose Error in degrees for R and t: 179.03970453703278 27.634248486045614 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.95879714 -0.28266069 0.02847778] [-0.28215245 0.95914842 0.02059846] [-0.03313679 0.01171466 -0.99938217]] t_estimated: [[0.99676576] [0.07974126] [0.00996766]] R_gt: [[ 0.99653204 -0.08155861 -0.01652106] [ 0.08207115 0.99607468 0.03319335] [ 0.01374918 -0.0344341 0.99931217]] t_gt: [ 0.69347508 -0.70431547 0.15176307] Pose Error in degrees for R and t: 178.7608376798206 50.46258760053936 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-9.33433818e-01 -3.58681042e-01 7.01557328e-03] [-3.58675662e-01 9.33459989e-01 2.05380366e-03] [-7.28541739e-03 -5.99225595e-04 -9.99973281e-01]] t_estimated: [[0.98501207] [0.17243982] [0.00396629]] R_gt: [[ 9.94219466e-01 -1.06046149e-01 1.68087224e-02] [ 1.06026258e-01 9.94361519e-01 2.05949888e-03] [-1.69326953e-02 -2.65778376e-04 9.99856452e-01]] t_gt: [ 0.67611272 -0.72941668 0.10403313] Pose Error in degrees for R and t: 178.6174136424109 57.27473549408059 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.91783581e-01 1.27926925e-01 1.71893271e-04] [-1.27926933e-01 9.91783595e-01 3.37284227e-05] [-1.66166153e-04 -5.54410749e-05 9.99999985e-01]] t_estimated: [[0.71536514] [0.69875021] [0.00092305]] R_gt: [[ 0.99738569 -0.06962819 0.01934218] [ 0.07033544 0.99677296 -0.03870968] [-0.01658503 0.03996862 0.99906298]] t_gt: [ 0.60346114 -0.78606318 -0.13393778] Pose Error in degrees for R and t: 11.630772245000474 83.24117385873062 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.39709305 -0.91776153 -0.00555797] [-0.9177454 0.39702019 0.01087886] [-0.00777758 0.00942072 -0.99992538]] t_estimated: [[0.81984225] [0.57258824] [0.00118303]] R_gt: [[ 0.99808165 -0.01188634 -0.06076269] [ 0.01203673 0.99992525 0.0021111 ] [ 0.06073299 -0.00283805 0.99814965]] t_gt: [ 0.74338344 -0.05950214 -0.66621359] Pose Error in degrees for R and t: 177.2472621417905 54.92846087797424 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 7.60877875e-01 -6.48894439e-01 -9.30442726e-04] [ 6.48895037e-01 7.60877674e-01 6.29607563e-04] [ 2.99404250e-04 -1.08281413e-03 9.99999369e-01]] t_estimated: [[9.99994892e-01] [3.10075866e-03] [7.75189838e-04]] R_gt: [[ 9.93818979e-01 1.53540887e-03 -1.11004003e-01] [ 7.75891865e-04 9.99783766e-01 2.07686430e-02] [ 1.11011539e-01 -2.07271628e-02 9.93603187e-01]] t_gt: [ 0.70467144 0.0683223 -0.70623666] Pose Error in degrees for R and t: 40.9672125017232 45.224378977782294 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99998132e-01 1.92510567e-03 -1.70731195e-04] [-1.92501001e-03 9.99997991e-01 5.58721157e-04] [ 1.71806449e-04 -5.58391455e-04 9.99999829e-01]] t_estimated: [[-9.99994892e-01] [-3.10075937e-03] [-7.75189839e-04]] R_gt: [[ 0.9935861 0.04762193 -0.10256208] [-0.04602828 0.99878133 0.01784194] [ 0.10328759 -0.01300674 0.99456622]] t_gt: [ 0.34486552 0.54498662 -0.76423645] Pose Error in degrees for R and t: 6.495273548698287 69.75951800536829 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.99999987e-01 -1.49862353e-04 5.27750472e-05] [ 1.49862612e-04 9.99999989e-01 -4.90422754e-06] [-5.27743116e-05 4.91213648e-06 9.99999999e-01]] t_estimated: [[9.55048625e-01] [2.96448957e-01] [3.74443107e-04]] R_gt: [[ 0.99660658 -0.0726622 -0.0386631 ] [ 0.07285594 0.99733575 0.0036345 ] [ 0.03829541 -0.00643952 0.99924558]] t_gt: [ 0.98351159 -0.13952908 -0.11505037] Pose Error in degrees for R and t: 4.7241288121773 26.117252572070925 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.98499138e-01 -5.47635685e-02 -6.50999322e-04] [ 5.47642753e-02 9.98498680e-01 1.12265014e-03] [ 5.88541636e-04 -1.15661670e-03 9.99999158e-01]] t_estimated: [[0.91865819] [0.3950464 ] [0.00233755]] R_gt: [[ 0.99243561 -0.06863738 -0.10178443] [ 0.07494066 0.99541452 0.0594434 ] [ 0.09723764 -0.0666212 0.99302905]] t_gt: [ 0.9592488 -0.20151429 0.19807508] Pose Error in degrees for R and t: 6.777325413260078 36.671071374660904 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-2.78579145e-01 -9.60412850e-01 9.04260244e-04] [-9.60412060e-01 2.78580167e-01 1.32900841e-03] [-1.52830573e-03 -4.98228415e-04 -9.99998708e-01]] t_estimated: [[0.83468659] [0.55072105] [0.00215125]] R_gt: [[ 0.98653085 -0.05347925 -0.15458531] [ 0.06442873 0.99568984 0.0667124 ] [ 0.15035143 -0.07577326 0.98572468]] t_gt: [ 0.98258785 -0.17014317 0.07464868] Pose Error in degrees for R and t: 175.53494851958274 43.396881886174874 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 1.00000000e+00 1.33226763e-14 -2.07117852e-14] [-1.32116540e-14 1.00000000e+00 -2.09001653e-15] [ 2.07141162e-14 2.08822759e-15 1.00000000e+00]] t_estimated: [[-8.67913960e-01] [-4.96714292e-01] [-5.19575620e-04]] R_gt: [[ 9.88919395e-01 1.48423640e-01 2.94967902e-03] [-1.48451124e-01 9.88604382e-01 2.49770538e-02] [ 7.90967416e-04 -2.51377658e-02 9.99683852e-01]] t_gt: [-0.59032413 0.80317129 0.08020785] Pose Error in degrees for R and t: 8.658261415941933 83.49083069337041 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999925e-01 -3.87704480e-04 9.28520978e-06] [ 3.87704549e-04 9.99999925e-01 -7.39769857e-06] [-9.28234096e-06 7.40129793e-06 1.00000000e+00]] t_estimated: [[-0.8445806 ] [-0.53542706] [-0.00121051]] R_gt: [[ 0.9817903 0.1892439 0.01661158] [-0.18965139 0.98145463 0.0279106 ] [-0.01102175 -0.03055206 0.9994732 ]] t_gt: [-0.56507155 0.81278703 0.14167348] Pose Error in degrees for R and t: 11.102145373816606 87.59924581586043 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999987e-01 1.63309503e-04 -1.24033185e-06] [-1.63309502e-04 9.99999987e-01 9.33434765e-07] [ 1.24048428e-06 -9.33232195e-07 1.00000000e+00]] t_estimated: [[-0.93767111] [-0.34752133] [-0.00134982]] R_gt: [[ 0.96598681 0.25698975 -0.02874308] [-0.25651487 0.96634906 0.01922572] [ 0.03271649 -0.01119838 0.99940232]] t_gt: [-0.52946484 0.84798306 -0.02432511] Pose Error in degrees for R and t: 15.00326791860851 78.35749822409615 Number of keypoints: Image1: 413 Image2: 413 R_estimated: [[ 9.99899135e-01 -1.42021463e-02 1.35377095e-04] [ 1.42021697e-02 9.99899129e-01 -1.73167621e-04] [-1.32904087e-04 1.75072803e-04 9.99999976e-01]] t_estimated: [[-0.44701216] [-0.89451419] [-0.004949 ]] R_gt: [[ 0.99808238 -0.0612388 0.00895725] [ 0.06134423 0.99804377 -0.01204347] [-0.00820252 0.01257037 0.99988736]] t_gt: [ 0.38400074 -0.92289761 0.02834487] Pose Error in degrees for R and t: 2.8306841616667775 49.174932879143626 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.99425161e-01 -3.39013763e-02 2.12076434e-04] [ 3.39013132e-02 9.99425142e-01 2.94487594e-04] [-2.21938054e-04 -2.87128641e-04 9.99999934e-01]] t_estimated: [[0.13701308] [0.99056751] [0.00185153]] R_gt: [[ 0.9960695 -0.07212074 0.05141705] [ 0.07425557 0.99639973 -0.04089691] [-0.04828356 0.04455492 0.99783904]] t_gt: [-0.26309139 -0.87869936 0.39833446] Pose Error in degrees for R and t: 4.393848436155257 25.079505792610895 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.85871099e-01 -1.67505751e-01 1.27714094e-05] [ 1.67505732e-01 9.85871014e-01 4.16454519e-04] [-8.23494895e-05 -4.08431190e-04 9.99999913e-01]] t_estimated: [[ 6.89252661e-01] [ 7.24521052e-01] [-1.20330743e-04]] R_gt: [[ 0.99164256 -0.07064204 0.10795612] [ 0.07519455 0.99641756 -0.03869441] [-0.10483659 0.04648882 0.99340203]] t_gt: [-0.5180431 -0.49240556 0.69940554] Pose Error in degrees for R and t: 8.549372577365629 44.44647294485813 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-4.15947968e-01 9.09388279e-01 4.96456167e-04] [-9.09387016e-01 -4.15946308e-01 -1.98087281e-03] [-1.59488340e-03 -1.27541081e-03 9.99997915e-01]] t_estimated: [[0.05823431] [0.9983024 ] [0.0010399 ]] R_gt: [[ 0.99043478 -0.13564451 -0.0252816 ] [ 0.13499058 0.99050522 -0.02602304] [ 0.02857185 0.022362 0.99934166]] t_gt: [ 0.82733177 -0.51960675 -0.21337988] Pose Error in degrees for R and t: 122.37016219068899 61.915874276481894 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999685e-01 7.89411142e-04 -8.65216025e-05] [-7.89405738e-04 9.99999686e-01 6.24809240e-05] [ 8.65708985e-05 -6.24126036e-05 9.99999994e-01]] t_estimated: [[ 0.41098343] [-0.9116405 ] [-0.0020532 ]] R_gt: [[ 0.96354028 -0.26701751 -0.01705485] [ 0.26578005 0.96252043 -0.05399121] [ 0.03083206 0.04748981 0.99839641]] t_gt: [ 0.87154207 -0.45280594 -0.18809893] Pose Error in degrees for R and t: 15.842268634337136 39.52276514890314 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-9.58424979e-01 2.85260061e-01 6.94666650e-03] [ 2.85255763e-01 9.58450059e-01 -1.62284751e-03] [-7.12096649e-03 4.26199062e-04 -9.99974555e-01]] t_estimated: [[ 0.95153362] [-0.30749884] [ 0.00531426]] R_gt: [[ 0.93999766 -0.34054603 0.02080361] [ 0.34112377 0.93697172 -0.07562513] [ 0.00626211 0.07818462 0.99691948]] t_gt: [ 0.87456183 -0.44203765 -0.19935976] Pose Error in degrees for R and t: 178.5408174061526 14.750976664322218 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99766661e-01 2.16014469e-02 1.81681575e-05] [-2.16014459e-02 9.99766660e-01 -5.36162022e-05] [-1.93221057e-05 5.32112330e-05 9.99999998e-01]] t_estimated: [[-9.81468650e-01] [-1.91620878e-01] [-8.53656658e-04]] R_gt: [[ 0.99927534 0.03800444 -0.00234927] [-0.03801227 0.99926992 -0.00372266] [ 0.00220564 0.00380958 0.9999897 ]] t_gt: [-0.42144833 0.88474075 -0.19903545] Pose Error in degrees for R and t: 0.9740201076432367 75.8611003747519 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.95517962e-01 -9.45720822e-02 -3.29048537e-04] [ 9.45723259e-02 9.95517650e-01 8.27086041e-04] [ 2.49354377e-04 -8.54497895e-04 9.99999604e-01]] t_estimated: [[-7.64055429e-01] [-6.45150160e-01] [-7.56831878e-04]] R_gt: [[ 0.99903049 0.04010266 -0.0181252 ] [-0.04000535 0.99918319 0.00567695] [ 0.01833761 -0.00494633 0.99981967]] t_gt: [-0.27843978 0.93681051 -0.21179555] Pose Error in degrees for R and t: 7.794856427174036 66.95339615664876 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.86818379 0.49299182 0.05670959] [ 0.49307504 0.86988218 -0.01349058] [-0.0559814 0.01624978 -0.99829957]] t_estimated: [[ 0.95298171] [-0.30144197] [ 0.03096115]] R_gt: [[ 0.9995569 -0.02833977 0.0091489 ] [ 0.02830501 0.99959187 0.00395538] [-0.00925776 -0.0036943 0.99995022]] t_gt: [0.79544147 0.59439322 0.1181929 ] Pose Error in degrees for R and t: 176.2043085092302 54.3716305898483 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.8856047 -0.46414653 0.01650198] [ 0.45522444 -0.86044171 0.22893398] [-0.09205992 0.21025711 0.97330207]] t_estimated: [[8.49639926e-01] [5.27362713e-01] [7.51228909e-04]] R_gt: [[ 0.99383921 0.10189263 0.04361215] [-0.10045485 0.99436227 -0.03394743] [-0.04682588 0.02935702 0.99847152]] t_gt: [-0.55810415 0.8237 0.10019014] Pose Error in degrees for R and t: 157.93498688048726 87.72340456639529 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.08055731 -0.99674567 -0.00293093] [-0.99673886 0.08056996 -0.0044866 ] [ 0.00470814 0.00255994 -0.99998564]] t_estimated: [[ 0.690713 ] [ 0.72312851] [-0.0008417 ]] R_gt: [[ 9.71069112e-01 2.35864947e-01 3.73157918e-02] [-2.35694129e-01 9.71785910e-01 -8.95798401e-03] [-3.83769791e-02 -9.58717290e-05 9.99262640e-01]] t_gt: [-0.52086761 0.84876681 0.09105949] Pose Error in degrees for R and t: 178.85440505519935 75.29035299596973 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999970e-01 -2.23040557e-04 -1.01421521e-04] [ 2.23034975e-04 9.99999974e-01 -5.50484480e-05] [ 1.01433796e-04 5.50258258e-05 9.99999993e-01]] t_estimated: [[-0.92763181] [-0.37349287] [-0.00151647]] R_gt: [[ 0.95551549 0.29070672 0.04980243] [-0.29015749 0.9568085 -0.01807403] [-0.05290633 0.00281985 0.99859544]] t_gt: [-0.50348583 0.85818964 0.10006275] Pose Error in degrees for R and t: 17.17830384720859 81.58337820660292 Number of keypoints: Image1: 353 Image2: 353 R_estimated: [[ 9.93697722e-01 -1.12092984e-01 1.15975164e-05] [ 1.12092984e-01 9.93697693e-01 -2.39372952e-04] [ 1.53076031e-05 2.39164357e-04 9.99999971e-01]] t_estimated: [[ 0.6889116 ] [-0.72484253] [-0.00202876]] R_gt: [[ 0.99774373 -0.06468877 0.01793573] [ 0.06488549 0.99783672 -0.0105793 ] [-0.01721233 0.01171995 0.99978269]] t_gt: [ 0.44351699 -0.88758277 0.12445682] Pose Error in degrees for R and t: 2.9686563144007403 18.44111682398412 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 9.44789166e-01 3.27678846e-01 -7.37019824e-05] [-3.27678853e-01 9.44789159e-01 -1.22466711e-04] [ 2.95030837e-05 1.39855802e-04 9.99999990e-01]] t_estimated: [[0.85498927] [0.51864488] [0.0009115 ]] R_gt: [[ 0.99410574 -0.10728071 0.01562925] [ 0.10751745 0.99408783 -0.01513052] [-0.01391281 0.0167228 0.99976377]] t_gt: [ 0.44042853 -0.89776559 0.0062974 ] Pose Error in degrees for R and t: 25.32410723323847 84.89080680388298 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99142648e-01 4.13975455e-02 4.59774597e-04] [-4.13975813e-02 9.99142750e-01 6.86874437e-05] [-4.56536964e-04 -8.76621107e-05 9.99999892e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.78917695e-01 -1.97749899e-01 5.11394814e-02] [ 1.97468403e-01 9.80252820e-01 1.05467130e-02] [-5.22148908e-02 -2.24989461e-04 9.98635926e-01]] t_gt: [ 0.44753103 -0.85199442 0.27170108] Pose Error in degrees for R and t: 14.091798487308091 81.34312805734345 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99995591e-01 -2.96934979e-03 9.29277265e-06] [ 2.96934812e-03 9.99995576e-01 1.74623308e-04] [-9.81124922e-06 -1.74594945e-04 9.99999985e-01]] t_estimated: [[0.70830815] [0.70590133] [0.0016926 ]] R_gt: [[ 0.99993535 -0.0083827 -0.00762126] [ 0.00845098 0.99992376 0.00898747] [ 0.00754594 -0.00905145 0.99993044]] t_gt: [0.64998608 0.72366295 0.23201299] Pose Error in degrees for R and t: 0.7388882121475283 13.683377807728828 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.67050840e-01 2.54583233e-01 2.25389920e-04] [-2.54583283e-01 9.67050825e-01 2.33587154e-04] [-1.58496135e-04 -2.83271159e-04 9.99999947e-01]] t_estimated: [[4.25243264e-01] [9.05078734e-01] [8.06914576e-04]] R_gt: [[ 9.96851906e-01 -7.92045825e-02 3.61402169e-03] [ 7.92011618e-02 9.96857796e-01 1.01778256e-03] [-3.68378244e-03 -7.28386265e-04 9.99992409e-01]] t_gt: [ 0.92572249 -0.36987008 0.07895572] Pose Error in degrees for R and t: 19.29276363936397 86.61991366106957 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 3.25125541e-01 9.45670728e-01 5.06076453e-04] [-9.45670088e-01 3.25125913e-01 -1.10685555e-03] [-1.21125947e-03 -1.18714354e-04 9.99999259e-01]] t_estimated: [[0.59588482] [0.80306939] [0.00091675]] R_gt: [[ 0.98238939 -0.18635633 0.01348864] [ 0.18621333 0.98244625 0.0111638 ] [-0.01533174 -0.00845492 0.99984717]] t_gt: [ 0.88607714 -0.44920644 0.11437162] Pose Error in degrees for R and t: 81.76835990882837 80.36559265333531 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99792593e-01 -2.03571593e-02 5.97012636e-04] [ 2.03566573e-02 9.99792433e-01 8.35161995e-04] [-6.13890242e-04 -8.22835596e-04 9.99999473e-01]] t_estimated: [[0.048045 ] [0.99884298] [0.00209322]] R_gt: [[ 0.99164351 0.07238411 -0.1067873 ] [-0.08592494 0.98801864 -0.12819999] [ 0.09622788 0.13630366 0.98598203]] t_gt: [-0.14588854 0.60720153 -0.78103959] Pose Error in degrees for R and t: 11.235655526030513 53.283581277637275 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99969036e-01 -7.86311869e-03 3.13923273e-04] [ 7.86302156e-03 9.99969038e-01 3.09431998e-04] [-3.16346654e-04 -3.06954031e-04 9.99999903e-01]] t_estimated: [[-2.21039006e-01] [ 9.75264525e-01] [ 9.29815090e-04]] R_gt: [[ 0.97582317 0.14531228 -0.16325607] [-0.17473833 0.96738301 -0.18340028] [ 0.13128071 0.20749294 0.96938653]] t_gt: [-0.18673699 0.70404682 -0.68516229] Pose Error in degrees for R and t: 17.272904609954697 43.3419045014946 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 7.95638035e-01 -6.05771609e-01 9.36075448e-04] [ 6.05771991e-01 7.95638276e-01 -1.69185827e-04] [-6.42289485e-04 7.01658968e-04 9.99999548e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.97215842 0.15941727 -0.17174035] [-0.1923625 0.96146661 -0.19641338] [ 0.13381001 0.22398128 0.96536288]] t_gt: [-0.18813235 0.73324864 -0.65341614] Pose Error in degrees for R and t: 49.80906410164124 70.43616252698864 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.91030961e-01 1.33631952e-01 3.68451146e-04] [-1.33631833e-01 9.91030990e-01 -3.31617488e-04] [-4.09461196e-04 2.79406396e-04 9.99999877e-01]] t_estimated: [[0.35755829] [0.93389012] [0.00114884]] R_gt: [[ 0.99810136 -0.0573807 -0.02239144] [ 0.05871434 0.99620092 0.0643248 ] [ 0.01861457 -0.06551808 0.99767692]] t_gt: [ 0.48060642 -0.72569501 0.49232533] Pose Error in degrees for R and t: 11.689117458562961 59.6481343890819 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-8.57772589e-01 -5.14015749e-01 -3.74112912e-03] [ 5.14022197e-01 -8.57776343e-01 -9.62366048e-04] [-2.71438076e-03 -2.74851463e-03 9.99992539e-01]] t_estimated: [[0.99836566] [0.0571099 ] [0.00211518]] R_gt: [[ 0.9978752 -0.06167807 -0.02101761] [ 0.06436704 0.98323179 0.17062703] [ 0.01014148 -0.1716179 0.98511136]] t_gt: [ 0.29896494 -0.64009584 0.70774097] Pose Error in degrees for R and t: 145.5424277345402 74.727057017818 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.91134905e-01 -1.32848646e-01 -1.68421693e-03] [ 1.32848693e-01 9.91136326e-01 -8.45028322e-05] [ 1.68051466e-03 -1.39992310e-04 9.99998578e-01]] t_estimated: [[ 0.40684528] [ 0.91348991] [-0.00361947]] R_gt: [[ 0.98128847 -0.17958744 -0.06943749] [ 0.19074871 0.95585441 0.22351198] [ 0.026232 -0.23257653 0.97222442]] t_gt: [ 0.5660862 -0.59579267 0.56971705] Pose Error in degrees for R and t: 13.883924553600705 71.578615422902 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 5.08318705e-01 -8.61166356e-01 -2.14513031e-03] [ 8.61168889e-01 5.08318458e-01 6.99728660e-04] [ 4.87826549e-04 -2.20300465e-03 9.99997454e-01]] t_estimated: [[-0.01189104] [-0.99992871] [-0.001081 ]] R_gt: [[ 0.99918079 -0.04045269 -0.00106968] [ 0.04034064 0.99780189 -0.05255342] [ 0.00319238 0.05246687 0.99861773]] t_gt: [ 0.66948384 0.57154776 -0.47447292] Pose Error in degrees for R and t: 57.20919278369719 54.62292581325963 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-3.28792911e-01 -9.44400846e-01 -1.50456947e-03] [ 9.44401728e-01 -3.28793687e-01 2.94330569e-04] [-7.72658983e-04 -1.32414421e-03 9.99998825e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.92237091e-01 -1.23487707e-01 1.47091852e-02] [ 1.24359927e-01 9.84877509e-01 -1.20620871e-01] [ 4.08552504e-04 1.21513007e-01 9.92589462e-01]] t_gt: [ 0.8297347 0.36405834 -0.4230861 ] Pose Error in degrees for R and t: 102.22858934572689 33.84664090599253 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.68200166 -0.73133645 0.00455402] [-0.7313409 -0.68194725 0.00940448] [-0.00377224 -0.00974441 -0.99994541]] t_estimated: [[0.35154115] [0.93615699] [0.00537788]] R_gt: [[ 0.98738331 -0.14907597 0.05338996] [ 0.15654646 0.96971195 -0.18748818] [-0.0238239 0.19348092 0.98081411]] t_gt: [ 0.74761449 0.48388211 -0.45489633] Pose Error in degrees for R and t: 171.38523509363614 44.49100327598923 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.95823426e-01 9.12998741e-02 1.93088424e-04] [-9.12998484e-02 9.95823437e-01 -1.38136087e-04] [-2.04893786e-04 1.19930207e-04 9.99999972e-01]] t_estimated: [[9.99996019e-01] [2.71338862e-03] [7.74335765e-04]] R_gt: [[ 0.99130671 -0.13116046 -0.01035017] [ 0.13133773 0.99115954 0.01879125] [ 0.00779414 -0.01998693 0.99977021]] t_gt: [ 0.76321745 -0.64361809 0.05705151] Pose Error in degrees for R and t: 12.840902085391214 40.40230746907112 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99544525e-01 3.01703959e-02 7.00274191e-04] [-3.01698103e-02 9.99544441e-01 -8.32150979e-04] [-7.25061499e-04 8.10644815e-04 9.99999409e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97907514 -0.2006424 -0.03397333] [ 0.20195708 0.97853111 0.04110605] [ 0.02499629 -0.04710713 0.99857723]] t_gt: [ 0.77450462 -0.62919676 0.06522288] Pose Error in degrees for R and t: 13.708205813713741 39.412034214412834 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.98163439 -0.19074435 0.00324361] [ 0.19076268 0.98161231 -0.00684567] [-0.00187819 0.00733871 0.99997131]] t_estimated: [[-0.06651719] [-0.99775791] [-0.0073908 ]] R_gt: [[ 0.97005088 -0.24289382 -0.00194737] [ 0.24286901 0.96975634 0.02424559] [-0.0039999 -0.02399163 0.9997039 ]] t_gt: [ 0.76935339 -0.63458285 0.07348448] Pose Error in degrees for R and t: 3.553184218483777 54.44799038176065 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999909e-01 4.10405024e-04 -1.14510202e-04] [-4.10419291e-04 9.99999908e-01 -1.24597085e-04] [ 1.14459056e-04 1.24644071e-04 9.99999986e-01]] t_estimated: [[-0.51221162] [-0.85885832] [-0.0012798 ]] R_gt: [[ 0.99834309 0.05722017 0.00603927] [-0.05650856 0.99483699 -0.08430204] [-0.01083237 0.08382166 0.99642117]] t_gt: [-0.19512595 0.80429738 -0.56127675] Pose Error in degrees for R and t: 5.826772975570123 53.83494426308992 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99998786e-01 1.37216360e-03 -7.38320556e-04] [-1.37178919e-03 9.99998930e-01 5.07377816e-04] [ 7.39015971e-04 -5.06364380e-04 9.99999599e-01]] t_estimated: [[-2.42946196e-01] [-9.70039612e-01] [-5.44209006e-04]] R_gt: [[ 0.9981314 0.06073666 -0.00666164] [-0.06092711 0.98117056 -0.18328364] [-0.00459482 0.18334757 0.98303721]] t_gt: [-0.11253107 0.65309484 -0.7488684 ] Pose Error in degrees for R and t: 11.139542494787975 52.71491318776817 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-2.89305779e-01 9.57230403e-01 3.48153128e-03] [ 9.57236577e-01 2.89305907e-01 4.77895586e-04] [-5.49771379e-04 3.47090704e-03 -9.99993825e-01]] t_estimated: [[0.99240833] [0.12296742] [0.00217257]] R_gt: [[ 0.99897985 -0.0161229 -0.04218648] [ 0.00634414 0.9749413 -0.22236969] [ 0.04471435 0.22187555 0.97404928]] t_gt: [ 0.13409962 0.34539293 -0.92882776] Pose Error in degrees for R and t: 174.22964853997786 80.00654308879405 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999484e-01 -1.01568514e-03 -2.30410839e-06] [ 1.01568537e-03 9.99999479e-01 9.98215303e-05] [ 2.20271994e-06 -9.98238191e-05 9.99999995e-01]] t_estimated: [[ 1.91535093e-01] [-9.81485409e-01] [ 8.37300908e-04]] R_gt: [[ 0.99915187 -0.00849122 -0.04029455] [ 0.0045379 0.9952543 -0.09720716] [ 0.04092838 0.09694177 0.99444747]] t_gt: [ 0.08410293 0.18277542 -0.97955084] Pose Error in degrees for R and t: 6.0537939237778815 80.55487431741244 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 1.00000000e+00 -6.84909542e-06 -1.21384602e-06] [ 6.84909544e-06 1.00000000e+00 1.79071346e-08] [ 1.21384590e-06 -1.79154483e-08 1.00000000e+00]] t_estimated: [[ 9.85624481e-01] [-1.68948992e-01] [ 7.88235474e-04]] R_gt: [[ 0.98654822 -0.1584197 -0.04031264] [ 0.15420637 0.98373898 -0.09207258] [ 0.05424337 0.08461781 0.99493505]] t_gt: [ 0.60430588 -0.55707086 -0.56963712] Pose Error in degrees for R and t: 10.700169423225692 46.42636619138402 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.07151915 0.99741659 0.00671972] [ 0.99742669 -0.07148286 -0.00549461] [-0.00500008 0.0070954 -0.99996233]] t_estimated: [[-0.99989697] [ 0.01392178] [-0.00349888]] R_gt: [[ 0.95142872 -0.30723593 0.01969635] [ 0.30728552 0.94375917 -0.12204378] [ 0.01890731 0.12216815 0.99232858]] t_gt: [ 0.69408817 -0.63992058 -0.32976244] Pose Error in degrees for R and t: 174.29120396987287 45.430679861028956 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[-6.90293440e-01 7.23529514e-01 -9.16389243e-05] [-7.23529335e-01 -6.90293167e-01 8.02974378e-04] [ 5.17717939e-04 6.20591396e-04 9.99999673e-01]] t_estimated: [[0.99972424] [0.02345032] [0.00123423]] R_gt: [[ 0.99945114 0.01969336 -0.02666678] [-0.01984954 0.99978678 -0.00562711] [ 0.02655022 0.00615251 0.99962835]] t_gt: [-0.07833899 0.83792943 -0.54012709] Pose Error in degrees for R and t: 132.52433530728408 86.59839623345181 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-6.57207154e-01 -7.53707947e-01 -1.75686969e-03] [ 7.53709636e-01 -6.57202781e-01 -2.50802585e-03] [ 7.35699374e-04 -2.97246214e-03 9.99995312e-01]] t_estimated: [[0.98289958] [0.18413815] [0.00124418]] R_gt: [[ 0.99068453 0.07978131 -0.11036186] [-0.09150379 0.99019038 -0.10559283] [ 0.10085603 0.11470752 0.98826625]] t_gt: [-0.13316194 0.68518403 -0.71609409] Pose Error in degrees for R and t: 136.1572150332374 89.67872682148462 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.51234452e-01 -3.08468817e-01 7.82779119e-05] [ 3.08468816e-01 9.51234455e-01 2.42446050e-05] [-8.19393515e-05 1.08399126e-06 9.99999997e-01]] t_estimated: [[-0.94088615] [-0.33871901] [-0.00163632]] R_gt: [[ 0.97060922 0.13976016 -0.19592088] [-0.17560762 0.96796145 -0.17947915] [ 0.16456091 0.20860888 0.96405479]] t_gt: [-0.11624889 0.70726702 -0.69732314] Pose Error in degrees for R and t: 31.197378277672946 82.58548768704824 Number of keypoints: Image1: 411 Image2: 411 R_estimated: [[ 9.99993166e-01 -3.69623199e-03 7.46878323e-05] [ 3.69623378e-03 9.99993169e-01 -2.38603303e-05] [-7.45991288e-05 2.41362309e-05 9.99999997e-01]] t_estimated: [[6.76778868e-01] [7.36186213e-01] [4.72366416e-04]] R_gt: [[ 0.99465876 -0.10318967 -0.00242685] [ 0.10287244 0.99297834 -0.05839961] [ 0.00843609 0.05783706 0.99828988]] t_gt: [ 0.94027382 0.10240678 -0.32465056] Pose Error in degrees for R and t: 6.61705106896159 44.63519848108303 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 0.32928555 -0.94420024 0.00754515] [-0.94420005 -0.3292004 0.0106476 ] [-0.0075696 -0.01063024 -0.99991485]] t_estimated: [[0.53951827] [0.84194369] [0.00713187]] R_gt: [[ 0.98879818 -0.14388629 0.03968596] [ 0.14777492 0.98112813 -0.12469877] [-0.0209943 0.12916673 0.99140011]] t_gt: [ 0.87905503 0.28499044 -0.38215534] Pose Error in degrees for R and t: 175.7967269351119 44.643996518563114 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.49426804e-01 3.13986563e-01 1.08741591e-03] [-3.13987369e-01 9.49426925e-01 6.68853517e-04] [-8.22410928e-04 -9.76462318e-04 9.99999185e-01]] t_estimated: [[0.55593457] [0.83122499] [0.00132813]] R_gt: [[ 0.98652414 -0.16285332 0.01574831] [ 0.16268731 0.96616131 -0.20016071] [ 0.01738191 0.20002601 0.97963602]] t_gt: [ 0.76707887 0.44161019 -0.4653713 ] Pose Error in degrees for R and t: 30.05870171437763 37.54217554832099 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99985362e-01 -5.41006908e-03 8.56337523e-05] [ 5.41005380e-03 9.99985350e-01 1.77657967e-04] [-8.65936396e-05 -1.77192083e-04 9.99999981e-01]] t_estimated: [[9.85904022e-01] [1.67309871e-01] [8.16145714e-04]] R_gt: [[ 0.99696798 -0.0772608 0.00920497] [ 0.07706151 0.99681696 0.02044608] [-0.01075569 -0.01967492 0.99974855]] t_gt: [ 0.34397712 -0.88063544 0.32582351] Pose Error in degrees for R and t: 4.308498906615309 78.92724372599233 Number of keypoints: Image1: 637 Image2: 637 R_estimated: [[-7.32401037e-01 6.80872966e-01 -8.51397945e-04] [-6.80869850e-01 -7.32400634e-01 -2.35787567e-03] [-2.22897820e-03 -1.14721940e-03 9.99996858e-01]] t_estimated: [[0.80853906] [0.58844181] [0.00090949]] R_gt: [[ 0.98753355 -0.15395802 0.03278125] [ 0.15329131 0.98793687 0.02198166] [-0.03576982 -0.01668249 0.99922064]] t_gt: [ 0.41009066 -0.84757756 0.33680547] Pose Error in degrees for R and t: 145.9345670232351 80.39414876743935 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.65628222e-01 -2.59927003e-01 2.98887283e-04] [ 2.59927054e-01 9.65628244e-01 -1.44533006e-04] [-2.51045972e-04 2.17254040e-04 9.99999945e-01]] t_estimated: [[-0.08893182] [-0.9960364 ] [-0.00161694]] R_gt: [[ 9.81382644e-01 -1.85244939e-01 5.07205018e-02] [ 1.85480502e-01 9.82648163e-01 6.38701740e-05] [-4.98518630e-02 9.34526591e-03 9.98713555e-01]] t_gt: [ 0.36867263 -0.87783088 0.30576696] Pose Error in degrees for R and t: 5.244204072175244 32.74667814905754 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[-0.86478365 -0.50213186 0.00358275] [ 0.50207259 -0.86451671 0.02310759] [-0.00850571 0.02178187 0.99972656]] t_estimated: [[0.91339161] [0.40707697] [0.00202526]] R_gt: [[ 9.99277538e-01 3.35779461e-02 -1.78506230e-02] [-3.35674033e-02 9.99435240e-01 8.89035495e-04] [ 1.78706052e-02 -2.89157100e-04 9.99840610e-01]] t_gt: [-0.3668337 0.88897091 -0.2741601 ] Pose Error in degrees for R and t: 151.7956818290923 88.4951530201685 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99764284e-01 -2.17106006e-02 1.61476713e-04] [ 2.17105976e-02 9.99764297e-01 1.99248126e-05] [-1.61871232e-04 -1.64143600e-05 9.99999987e-01]] t_estimated: [[ 0.98586907] [-0.16750463] [ 0.00209249]] R_gt: [[ 0.99970219 -0.0217479 -0.0110913 ] [ 0.02187196 0.9996979 0.01118182] [ 0.01084518 -0.01142019 0.99987614]] t_gt: [0.8521385 0.52292425 0.02025362] Pose Error in degrees for R and t: 0.9080961265473227 41.18849702955074 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99859290e-01 -1.67748656e-02 7.08633294e-05] [ 1.67748490e-02 9.99859266e-01 2.29062367e-04] [-7.46958470e-05 -2.27841413e-04 9.99999971e-01]] t_estimated: [[9.95603512e-01] [9.36670378e-02] [3.65446926e-04]] R_gt: [[ 0.99511883 -0.09829324 -0.00879584] [ 0.09817318 0.99508096 -0.01318632] [ 0.01004881 0.01225853 0.9998748 ]] t_gt: [ 0.95925323 -0.22994009 -0.16419745] Pose Error in degrees for R and t: 4.766579152791964 21.02274865851426 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 7.46056709e-01 -6.65881188e-01 -1.27694758e-03] [ 6.65881457e-01 7.46057515e-01 -2.63849181e-04] [ 1.12836855e-03 -6.53449266e-04 9.99999150e-01]] t_estimated: [[ 9.43096146e-01] [-3.32519816e-01] [-4.80738501e-04]] R_gt: [[ 0.98291758 0.1708372 -0.06846737] [-0.16825841 0.98485438 0.04184833] [ 0.07458029 -0.02961275 0.9967747 ]] t_gt: [-0.1880368 0.97025904 -0.15244527] Pose Error in degrees for R and t: 51.712099973762015 60.00702232148698 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.70787815 0.70632789 -0.00307148] [ 0.70628988 -0.70777776 0.01432657] [ 0.00794533 -0.01231082 -0.99989265]] t_estimated: [[7.12003594e-01] [7.02175668e-01] [4.62178678e-04]] R_gt: [[ 0.94487805 0.31818506 -0.07722832] [-0.31643183 0.9479956 0.03429474] [ 0.08412457 -0.00796677 0.99642347]] t_gt: [-0.14927884 0.97565498 -0.16066483] Pose Error in degrees for R and t: 176.23467543116706 54.63944501162681 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.01932542 -0.99975394 0.01088978] [ 0.999791 0.0193965 0.00646004] [-0.00666967 0.01076267 0.99991984]] t_estimated: [[ 0.99996845] [-0.00781008] [-0.00144729]] R_gt: [[ 0.95068615 0.31013497 -0.00345163] [-0.30948994 0.94932079 0.05484757] [ 0.02028695 -0.05107461 0.99848887]] t_gt: [-0.12911177 0.98600423 0.10547892] Pose Error in degrees for R and t: 106.99742488426435 82.12796218402072 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.85379664e-01 -1.70372449e-01 3.83079001e-04] [ 1.70372592e-01 9.85379641e-01 -3.77389721e-04] [-3.13181437e-04 4.37138319e-04 9.99999855e-01]] t_estimated: [[-0.82150041] [-0.57020718] [-0.00091379]] R_gt: [[ 0.92029782 -0.3894378 -0.03726338] [ 0.38932455 0.92104042 -0.01056713] [ 0.03843575 -0.0047821 0.99924914]] t_gt: [ 0.89627098 -0.44048277 -0.0517036 ] Pose Error in degrees for R and t: 13.304510588991668 60.98272566374414 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.46961133e-01 3.21347581e-01 -5.87022546e-04] [-3.21346632e-01 9.46960730e-01 1.31088903e-03] [ 9.77138317e-04 -1.05272324e-03 9.99998968e-01]] t_estimated: [[9.98888630e-01] [4.71253271e-02] [8.41523698e-04]] R_gt: [[ 0.78658639 -0.61741369 0.00903763] [ 0.6167204 0.78626125 0.03809291] [-0.0306255 -0.02438962 0.99923239]] t_gt: [ 0.93737116 -0.34403295 0.05455851] Pose Error in degrees for R and t: 56.90315744985648 23.050128852743928 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.72368323 0.69007511 0.00888335] [ 0.69012687 -0.72356656 -0.01327922] [-0.00273596 0.01574058 -0.99987237]] t_estimated: [[-0.92846543] [-0.37139148] [-0.00450654]] R_gt: [[ 0.64947297 -0.76020943 -0.01629684] [ 0.76036759 0.64917055 0.02046819] [-0.00498095 -0.02568453 0.99965692]] t_gt: [ 0.97004643 -0.24148822 0.02633175] Pose Error in degrees for R and t: 179.40865391096503 35.797770573919756 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99815506e-01 1.92081570e-02 9.74345287e-06] [-1.92081577e-02 9.99815504e-01 6.76956263e-05] [-8.44134702e-06 -6.78702906e-05 9.99999998e-01]] t_estimated: [[8.80275533e-01] [4.74462410e-01] [6.37896775e-04]] R_gt: [[ 0.99912183 0.03766734 0.01838369] [-0.0379314 0.99917949 0.01418916] [-0.01783442 -0.01487328 0.99973105]] t_gt: [0.60399321 0.35440657 0.71385446] Pose Error in degrees for R and t: 1.7015682581521778 45.549852676455316 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-8.33116125e-01 5.53097266e-01 -9.67352573e-04] [-5.53092659e-01 -8.33114404e-01 -2.98345217e-03] [-2.45605460e-03 -1.95052651e-03 9.99995082e-01]] t_estimated: [[0.49594128] [0.86835515] [0.00125799]] R_gt: [[ 0.99365078 0.11098145 0.01848227] [-0.11175734 0.99256314 0.04825078] [-0.01298997 -0.0500102 0.99866446]] t_gt: [0.20710263 0.52753234 0.8239042 ] Pose Error in degrees for R and t: 140.03715656718393 55.81736872528398 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99998931e-01 1.45822763e-03 -1.04163414e-04] [-1.45818646e-03 9.99998859e-01 3.94239773e-04] [ 1.04738187e-04 -3.94087462e-04 9.99999917e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98440241 0.16908968 0.0485947 ] [-0.17195042 0.98312894 0.06236864] [-0.03722986 -0.06975107 0.99686989]] t_gt: [0.05193792 0.53468811 0.84345189] Pose Error in degrees for R and t: 10.744068651809522 86.89021011927338 Number of keypoints: Image1: 639 Image2: 639 R_estimated: [[-0.9382865 0.34258284 0.04749146] [ 0.34261218 0.93944475 -0.0077755 ] [-0.04727935 0.00897551 -0.99884138]] t_estimated: [[ 0.9851414 ] [-0.1700262 ] [ 0.02423861]] R_gt: [[ 0.99868752 -0.05078787 -0.00663439] [ 0.05075501 0.99869943 -0.00496625] [ 0.00687776 0.00462279 0.9999659 ]] t_gt: [ 0.53637833 -0.82338517 -0.18529748] Pose Error in degrees for R and t: 177.57527185669787 48.400920802910086 Number of keypoints: Image1: 427 Image2: 427 R_estimated: [[ 8.12154289e-01 5.83440377e-01 1.65458714e-03] [-5.83439831e-01 8.12155926e-01 -8.45477123e-04] [-1.83706824e-03 -2.78694171e-04 9.99998274e-01]] t_estimated: [[0.26935346] [0.96303706] [0.00288798]] R_gt: [[ 0.9976536 -0.06833043 0.00435187] [ 0.06821346 0.99741121 0.022805 ] [-0.00589877 -0.02245497 0.99973047]] t_gt: [ 0.36567619 -0.89798977 0.24473517] Pose Error in degrees for R and t: 39.62946611392488 40.040091092268156 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 0.62293968 0.782237 -0.00717193] [ 0.782221 -0.6227721 0.01688868] [ 0.00874447 -0.01613066 -0.99983165]] t_estimated: [[0.97085196] [0.23967365] [0.00173677]] R_gt: [[ 0.99415816 -0.10066441 0.03895051] [ 0.10026629 0.99488886 0.0120174 ] [-0.03996099 -0.00804122 0.99916868]] t_gt: [ 0.1662204 -0.88625588 0.43234395] Pose Error in degrees for R and t: 179.42155814545808 87.11761469699266 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-9.98542544e-01 -5.39428560e-02 -1.71958154e-03] [ 5.39434025e-02 -9.98543957e-01 -2.72961139e-04] [-1.70235346e-03 -3.65323389e-04 9.99998484e-01]] t_estimated: [[7.84353014e-01] [6.20314335e-01] [6.89238150e-04]] R_gt: [[ 9.96216400e-01 8.69020762e-02 -8.30357304e-04] [-8.67527297e-02 9.94982068e-01 4.98459951e-02] [ 5.15843582e-03 -4.95852342e-02 9.98755627e-01]] t_gt: [-0.34697136 0.50435382 0.79071999] Pose Error in degrees for R and t: 178.11176473630528 87.63559914783771 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99967386e-01 -8.07633955e-03 -1.89356481e-06] [ 8.07633831e-03 9.99967037e-01 8.35622461e-04] [-4.85526834e-06 -8.35610501e-04 9.99999651e-01]] t_estimated: [[-8.75206911e-01] [-4.83748701e-01] [-2.37630881e-04]] R_gt: [[ 0.98530371 0.16917891 0.0235591 ] [-0.17034858 0.98339119 0.06264499] [-0.0125699 -0.06573784 0.99775724]] t_gt: [-0.34478859 0.71630386 0.60665444] Pose Error in degrees for R and t: 10.924971758637648 87.42690616076375 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.57090707e-01 2.89787051e-01 -9.19030800e-04] [-2.89786332e-01 9.57090997e-01 8.40150599e-04] [ 1.12306087e-03 -5.37777766e-04 9.99999225e-01]] t_estimated: [[-8.00854448e-01] [-5.98858519e-01] [-7.92140898e-04]] R_gt: [[ 0.9568677 0.2899904 0.01757104] [-0.29041633 0.95313768 0.08478273] [ 0.00783833 -0.0862286 0.99624363]] t_gt: [-0.23921041 0.91152943 0.33450332] Pose Error in degrees for R and t: 4.9316435876935545 69.23294258248805 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.98555813e-01 5.37233897e-02 2.91640980e-04] [-5.37234210e-02 9.98555849e-01 1.00479583e-04] [-2.85821702e-04 -1.16002422e-04 9.99999952e-01]] t_estimated: [[-0.50893131] [ 0.86079697] [ 0.00418337]] R_gt: [[ 0.98394541 -0.17747242 0.01885246] [ 0.17759381 0.9840914 -0.00492965] [-0.01767751 0.00819894 0.99981024]] t_gt: [ 0.84441781 -0.53536918 0.0183958 ] Pose Error in degrees for R and t: 13.352100620730535 27.06160480317911 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99129750e-01 -4.17058647e-02 6.02465391e-04] [ 4.17058850e-02 9.99129931e-01 -2.11312920e-05] [-6.01059905e-04 4.62392548e-05 9.99999818e-01]] t_estimated: [[0.92532595] [0.37916754] [0.0019646 ]] R_gt: [[ 0.91096571 -0.41248042 0.00109504] [ 0.41246082 0.91094514 0.00736559] [-0.00403592 -0.00625805 0.9999724 ]] t_gt: [ 0.9014293 -0.43277583 0.01141495] Pose Error in degrees for R and t: 21.974172252434133 47.92955419623002 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-0.98743042 -0.15805105 0.0010186 ] [ 0.15804714 -0.98742647 -0.003174 ] [ 0.00150744 -0.00297312 0.99999444]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 0.69614732 -0.71767588 0.01790817] [ 0.71716351 0.69634643 0.02789429] [-0.03248918 -0.00657481 0.99945069]] t_gt: [ 0.9634854 -0.26636254 0.02732922] Pose Error in degrees for R and t: 125.0599854093777 52.18198563045754 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.22400426 -0.97451629 -0.01183619] [-0.9744309 0.22416977 -0.01524254] [ 0.01750742 0.00811915 -0.99981377]] t_estimated: [[ 0.76947388] [ 0.63863607] [-0.0073429 ]] R_gt: [[ 0.99853219 -0.05156063 -0.01661018] [ 0.0521777 0.99787159 0.03911409] [ 0.01455795 -0.03992454 0.99909634]] t_gt: [ 0.48999808 -0.85963106 0.14469388] Pose Error in degrees for R and t: 179.6324990230819 80.03694355759762 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99997495e-01 2.21677063e-03 3.09431464e-04] [-2.21684860e-03 9.99997511e-01 2.51852572e-04] [-3.08872395e-04 -2.52537904e-04 9.99999920e-01]] t_estimated: [[-0.99998328] [ 0.00568225] [ 0.00107622]] R_gt: [[ 0.99313425 -0.09916141 -0.06206679] [ 0.10297213 0.99277785 0.06155251] [ 0.05551456 -0.06752204 0.99617222]] t_gt: [ 0.54480725 -0.83750131 -0.04214993] Pose Error in degrees for R and t: 7.772147764813581 56.6602603264568 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.99922349 -0.03886414 -0.00648101] [ 0.03885462 -0.99924361 0.00158884] [-0.00653786 0.00133578 0.99997774]] t_estimated: [[0.89906706] [0.43780657] [0.00195449]] R_gt: [[ 0.99291558 -0.10731933 -0.05100067] [ 0.10913961 0.993433 0.03433693] [ 0.04698148 -0.03966053 0.99810809]] t_gt: [ 0.54890042 -0.83076727 -0.09238006] Pose Error in degrees for R and t: 171.55291024071306 82.55338484437827 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99999464e-01 3.38507841e-04 9.78725855e-04] [-3.37693215e-04 9.99999597e-01 -8.32378336e-04] [-9.79007227e-04 8.32047381e-04 9.99999175e-01]] t_estimated: [[0.80167725] [0.59774836] [0.00323868]] R_gt: [[ 0.97871281 0.2038652 -0.02366013] [-0.20316204 0.97871338 0.02907929] [ 0.02908505 -0.02365326 0.99929785]] t_gt: [-0.34792414 0.93722272 -0.02371416] Pose Error in degrees for R and t: 11.93517796125449 73.66674935496924 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999850e-01 -2.42842609e-04 -4.90642343e-04] [ 2.43157521e-04 9.99999764e-01 6.41878194e-04] [ 4.90486352e-04 -6.41997401e-04 9.99999674e-01]] t_estimated: [[-0.79140944] [-0.61128526] [-0.00119453]] R_gt: [[ 0.9703485 0.23987985 0.02971135] [-0.23956991 0.97078373 -0.01362803] [-0.03211195 0.00610525 0.99946557]] t_gt: [-0.21694692 0.97294032 0.07950576] Pose Error in degrees for R and t: 14.0182080183485 64.96668256232763 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99999981e-01 -1.63842600e-04 -1.05060436e-04] [ 1.63849729e-04 9.99999984e-01 6.78548873e-05] [ 1.05049317e-04 -6.78721001e-05 9.99999992e-01]] t_estimated: [[-9.97103544e-01] [ 7.60550825e-02] [-3.82966823e-04]] R_gt: [[ 0.96818535 0.24176657 0.06455313] [-0.24436609 0.96901951 0.03587557] [-0.05387985 -0.05050867 0.9972692 ]] t_gt: [-0.23106771 0.92879332 0.28974244] Pose Error in degrees for R and t: 14.716667852074082 72.48671503192055 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 0.99999878 0.00112431 -0.00108128] [-0.00112265 0.99999818 0.00153984] [ 0.00108301 -0.00153862 0.99999823]] t_estimated: [[9.78244151e-01] [2.07455225e-01] [8.43313923e-04]] R_gt: [[ 0.99299281 -0.10769168 -0.04865814] [ 0.10955315 0.99327939 0.03734482] [ 0.04430896 -0.04241431 0.99811719]] t_gt: [ 0.67960215 -0.73356627 0.00463085] Pose Error in degrees for R and t: 7.169191776794286 59.160255495456134 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 6.07861145e-01 -7.94043010e-01 -7.26472399e-04] [ 7.94043253e-01 6.07860388e-01 1.03043159e-03] [-3.76613204e-04 -1.20320983e-03 9.99999205e-01]] t_estimated: [[9.91170290e-01] [1.32592557e-01] [8.18472577e-04]] R_gt: [[ 0.97605844 -0.18409107 -0.1158453 ] [ 0.18576958 0.98258645 0.00375766] [ 0.11313602 -0.02518784 0.99326069]] t_gt: [ 0.75852911 -0.59945678 -0.25550961] Pose Error in degrees for R and t: 42.37052270514944 47.76764001937489 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999732e-01 -1.41683715e-04 -7.18350445e-04] [ 1.42194966e-04 9.99999737e-01 7.11699836e-04] [ 7.18249420e-04 -7.11801791e-04 9.99999489e-01]] t_estimated: [[0.92328349] [0.38411794] [0.00100031]] R_gt: [[ 0.91992985 -0.35754554 -0.16090639] [ 0.35918963 0.93305532 -0.01976994] [ 0.15720265 -0.03960826 0.98677179]] t_gt: [ 0.81074787 -0.55413741 -0.18873162] Pose Error in degrees for R and t: 23.066583955054035 57.621684080282236 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[-0.86576394 -0.50026201 -0.01381039] [-0.50028416 0.86585886 -0.00204993] [ 0.01298335 0.00513436 -0.99990253]] t_estimated: [[ 0.9458346 ] [ 0.32458608] [-0.00638563]] R_gt: [[ 0.99245044 0.11876522 0.03061779] [-0.11634056 0.99063206 -0.07150299] [-0.0388242 0.06740193 0.99696988]] t_gt: [-0.68096112 0.72777044 -0.08149939] Pose Error in degrees for R and t: 179.91170879351515 65.96265453303327 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.85520886e-01 -1.69554002e-01 -1.53075415e-04] [ 1.69553961e-01 9.85520873e-01 -2.50459837e-04] [ 1.93325484e-04 2.20878858e-04 9.99999957e-01]] t_estimated: [[-0.76613814] [-0.64267244] [-0.00211667]] R_gt: [[ 0.96886815 0.24704876 0.0162367 ] [-0.24482574 0.96577963 -0.08561933] [-0.03683378 0.07897929 0.99619456]] t_gt: [-0.62652266 0.77653106 -0.06684964] Pose Error in degrees for R and t: 24.53191340836783 88.91643133246134 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-9.77345849e-01 -2.11639196e-01 -1.98567862e-03] [-2.11641270e-01 9.77347004e-01 8.97901107e-04] [ 1.75066599e-03 1.29781147e-03 -9.99997625e-01]] t_estimated: [[9.84963057e-01] [1.72764999e-01] [1.75685664e-04]] R_gt: [[ 0.95382915 0.30033186 0.00344856] [-0.2981296 0.94810504 -0.11052561] [-0.03646413 0.10439473 0.99386719]] t_gt: [-0.60418313 0.78844838 -0.11537722] Pose Error in degrees for R and t: 179.62901784816972 62.68371842238385 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.66645863 0.7428103 0.06376323] [ 0.73639406 -0.64251225 -0.21190044] [-0.11643317 0.18817774 -0.97520893]] t_estimated: [[0.7203906 ] [0.69356811] [0.0008189 ]] R_gt: [[ 0.9957132 -0.06556676 -0.06524092] [ 0.06708376 0.9975202 0.02133177] [ 0.06368079 -0.02561739 0.99764137]] t_gt: [ 0.5487683 -0.72513631 -0.41596956] Pose Error in degrees for R and t: 170.13778904937104 83.80315943125163 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-9.38742917e-01 -3.44604625e-01 -3.06395776e-03] [-3.44600127e-01 9.38747630e-01 -1.90804006e-03] [ 3.53380252e-03 -7.35318863e-04 -9.99993486e-01]] t_estimated: [[9.71206681e-01] [2.38236912e-01] [8.69477781e-04]] R_gt: [[ 0.99918215 -0.03857013 -0.01214905] [ 0.03840101 0.99916607 -0.01394064] [ 0.01267753 0.01346223 0.99982894]] t_gt: [ 0.4823541 -0.79250511 -0.37318919] Pose Error in degrees for R and t: 178.96808710010887 73.779356430108 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.98770856e-01 4.95656024e-02 1.66057807e-04] [-4.95654000e-02 9.98770321e-01 -1.05717267e-03] [-2.18253009e-04 1.04764254e-03 9.99999427e-01]] t_estimated: [[-0.6802811 ] [-0.73294803] [-0.00219446]] R_gt: [[ 0.99257802 0.02907454 0.11808315] [-0.02460208 0.99892991 -0.03915938] [-0.11909484 0.03596367 0.99223119]] t_gt: [-0.36136646 0.28094174 0.88909281] Pose Error in degrees for R and t: 7.235126413096686 87.82429961630424 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 5.42223483e-01 -8.40230813e-01 -2.42405413e-03] [ 8.40229154e-01 5.42228006e-01 -1.93878282e-03] [ 2.94341510e-03 -9.85507374e-04 9.99995183e-01]] t_estimated: [[ 0.57016002] [-0.82152892] [-0.00278878]] R_gt: [[ 0.99663881 -0.04972776 -0.06511193] [ 0.05168922 0.99824806 0.02880932] [ 0.06356497 -0.03207837 0.99746194]] t_gt: [ 0.51005103 -0.71267026 -0.48161089] Pose Error in degrees for R and t: 54.38504248369782 28.641855980249904 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.00295517 0.99999449 0.00150994] [-0.99999396 -0.00295241 -0.00183261] [-0.00182814 -0.00151535 0.99999718]] t_estimated: [[-0.185787 ] [ 0.98258879] [ 0.00156677]] R_gt: [[ 0.99325806 -0.07820353 -0.08557914] [ 0.08233095 0.99555197 0.0458185 ] [ 0.0816156 -0.05255494 0.99527754]] t_gt: [ 0.55058349 -0.75209673 -0.3622269 ] Pose Error in degrees for R and t: 94.91674177486567 32.66288067575616 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.99992051 0.01182175 0.00438377] [-0.01181202 0.99992773 -0.00223769] [-0.0044099 0.00218573 0.99998789]] t_estimated: [[0.9983781 ] [0.0568763 ] [0.00250033]] R_gt: [[ 0.98903346 -0.1152419 -0.09237328] [ 0.11804811 0.99268005 0.02550414] [ 0.08875803 -0.03612807 0.9953974 ]] t_gt: [ 0.57520538 -0.72891176 -0.3712498 ] Pose Error in degrees for R and t: 9.379800354932028 57.8669991252128 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 1.00000000e+00 2.99825608e-06 5.40023857e-06] [-2.99815187e-06 1.00000000e+00 -1.92966618e-05] [-5.40029642e-06 1.92966456e-05 1.00000000e+00]] t_estimated: [[9.99996140e-01] [2.77173035e-03] [1.95665356e-04]] R_gt: [[ 9.97624483e-01 -5.95684012e-02 3.46007690e-02] [ 5.95161035e-02 9.98224346e-01 2.55853228e-03] [-3.46915203e-02 -4.92900235e-04 9.99397319e-01]] t_gt: [ 0.48007677 -0.76374239 0.43153663] Pose Error in degrees for R and t: 3.9512401599752174 61.44237001346484 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-9.97861898e-01 6.03115645e-02 2.51822999e-02] [ 6.03024548e-02 9.98179521e-01 -1.12168068e-03] [-2.52041064e-02 3.99272091e-04 -9.99682246e-01]] t_estimated: [[ 0.99821685] [-0.05827462] [ 0.01292989]] R_gt: [[ 0.99473664 -0.09896708 0.02655397] [ 0.09851071 0.99497475 0.01797964] [-0.02819984 -0.01526888 0.99948551]] t_gt: [ 0.51190758 -0.80702775 0.29437533] Pose Error in degrees for R and t: 177.01672330787457 55.8175338692399 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-7.23629140e-01 -6.90187021e-01 -1.65652423e-03] [ 6.90188761e-01 -7.23628829e-01 -8.89640678e-04] [-5.84690238e-04 -1.78708432e-03 9.99998232e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99075321 -0.13547311 0.00755346] [ 0.13512357 0.9901842 0.03577323] [-0.01232465 -0.03442166 0.99933049]] t_gt: [ 0.53214259 -0.81938052 0.21316618] Pose Error in degrees for R and t: 128.5849310741116 58.01046117883402 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[ 0.97785461 0.20862735 0.01658281] [-0.20803964 0.97761036 -0.03158301] [-0.02280061 0.02743371 0.99936356]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.97458584 -0.22384764 0.00866311] [ 0.22366426 0.97449392 0.0182972 ] [-0.01253828 -0.01589496 0.99979494]] t_gt: [ 0.82562438 -0.55737885 0.08759682] Pose Error in degrees for R and t: 25.107868119542857 56.48692029094669 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-5.39249386e-01 8.42145965e-01 -5.23474830e-04] [-8.42144307e-01 -5.39249408e-01 -1.74428146e-03] [-1.75122309e-03 -4.99761359e-04 9.99998342e-01]] t_estimated: [[0.66480094] [0.74702014] [0.00078304]] R_gt: [[ 0.89938241 -0.43183274 -0.06805201] [ 0.43208065 0.90175723 -0.01179868] [ 0.06646131 -0.01879177 0.9976123 ]] t_gt: [ 0.90493324 -0.42224219 -0.05298458] Pose Error in degrees for R and t: 148.2793899218344 73.3732617137508 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-7.60568986e-01 6.49256832e-01 -6.18430039e-04] [ 6.49252800e-01 7.60567050e-01 2.92660136e-03] [ 2.37047344e-03 1.82436479e-03 -9.99995526e-01]] t_estimated: [[7.32691558e-01] [6.80560483e-01] [7.14124326e-04]] R_gt: [[ 7.71249370e-01 -6.33083822e-01 -6.61688323e-02] [ 6.30810044e-01 7.74082710e-01 -5.36106782e-02] [ 8.51602149e-02 -3.92883754e-04 9.96366843e-01]] t_gt: [ 0.95105816 -0.30158457 -0.06734341] Pose Error in degrees for R and t: 176.19984024528674 60.55830275878445 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.87458862e-01 -1.57876399e-01 -1.95085668e-04] [ 1.57876294e-01 9.87458787e-01 -4.69911020e-04] [ 2.66826916e-04 4.33218399e-04 9.99999871e-01]] t_estimated: [[ 0.04771611] [-0.99885849] [-0.00221222]] R_gt: [[ 0.99984291 0.00849679 0.01560038] [-0.00741646 0.99765357 -0.0680755 ] [-0.01614264 0.06794984 0.99755897]] t_gt: [ 0.00542751 0.27274876 -0.96206999] Pose Error in degrees for R and t: 10.335820178445282 74.33275043019299 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.89673455e-01 -1.43340209e-01 -1.91827061e-04] [ 1.43340174e-01 9.89673461e-01 -1.84837374e-04] [ 2.16340780e-04 1.55432119e-04 9.99999965e-01]] t_estimated: [[ 0.01104731] [-0.99993812] [-0.00130694]] R_gt: [[ 0.99774976 0.06702614 -0.00186757] [-0.06676172 0.99045426 -0.12060112] [-0.00623407 0.12045509 0.99269992]] t_gt: [-0.21534523 0.50539714 -0.83558372] Pose Error in degrees for R and t: 13.923529987613493 59.55886962440997 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-4.38684815e-01 8.98640856e-01 -4.95296761e-04] [-8.98638935e-01 -4.38684924e-01 -1.89783864e-03] [-1.92275456e-03 -3.87460040e-04 9.99998076e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.95713703 0.2851893 -0.05056293] [-0.28943189 0.94834684 -0.12987803] [ 0.01091075 0.13894634 0.99024048]] t_gt: [-0.44792571 0.79778871 -0.40360343] Pose Error in degrees for R and t: 99.47092342034317 37.34192013736544 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 0.00565139 -0.99923993 -0.0385698 ] [-0.99932083 -0.00423893 -0.03660484] [ 0.03641352 0.03875047 -0.99858523]] t_estimated: [[ 0.71082084] [ 0.70288461] [-0.02620964]] R_gt: [[ 0.99593309 0.08703681 -0.02331593] [-0.08811005 0.9948652 -0.04980741] [ 0.01886135 0.0516587 0.99848628]] t_gt: [-0.46969409 0.71617175 -0.51622233] Pose Error in degrees for R and t: 174.03517678549483 79.45266661498208 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-3.28479463e-01 -9.44508779e-01 -2.09965574e-03] [ 9.44511099e-01 -3.28479028e-01 -5.58257892e-04] [-1.62413396e-04 -2.16652440e-03 9.99997640e-01]] t_estimated: [[ 9.91458641e-01] [-1.30417898e-01] [ 9.66745689e-04]] R_gt: [[ 0.92610239 0.37128868 -0.06692633] [-0.37358614 0.92724719 -0.02542906] [ 0.05261602 0.04855209 0.99743331]] t_gt: [-0.48443217 0.85421861 -0.18877511] Pose Error in degrees for R and t: 131.10403441011564 53.709300367215874 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.16269302e-01 -4.00561594e-01 9.87241426e-04] [ 4.00562366e-01 9.16269175e-01 -7.68049528e-04] [-5.96927744e-04 1.09919197e-03 9.99999218e-01]] t_estimated: [[-0.19812087] [-0.98017691] [-0.0011586 ]] R_gt: [[ 0.82798158 0.55085242 -0.10492215] [-0.55291433 0.83316594 0.01095299] [ 0.09345108 0.04894457 0.99442035]] t_gt: [-0.38030396 0.90902468 -0.17042014] Pose Error in degrees for R and t: 57.51230368874097 35.366989459518436 Number of keypoints: Image1: 324 Image2: 324 R_estimated: [[-0.24412909 0.96942508 0.02481926] [ 0.96942722 0.24462255 -0.01925309] [-0.02473578 0.01936023 -0.99950654]] t_estimated: [[ 0.77761174] [-0.6285395 ] [ 0.01606488]] R_gt: [[ 0.99731518 -0.0545301 -0.04889051] [ 0.05531015 0.99836116 0.0147483 ] [ 0.04800532 -0.01741139 0.99869562]] t_gt: [ 0.48072872 -0.75486265 -0.44618636] Pose Error in degrees for R and t: 179.04191561573936 32.742124518018 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[-0.97281024 -0.2313213 0.01143191] [-0.23119336 0.97283998 0.01148901] [-0.01377907 0.00853364 -0.99986865]] t_estimated: [[0.9992707 ] [0.03799508] [0.00379951]] R_gt: [[ 0.99286168 -0.07505141 -0.09270716] [ 0.07949029 0.99581289 0.04514534] [ 0.08892974 -0.05219182 0.99466916]] t_gt: [ 0.48997955 -0.75879245 -0.42913174] Pose Error in degrees for R and t: 175.89395364144434 62.66699666897029 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.89138604e-01 1.46985624e-01 2.21370639e-04] [-1.46985501e-01 9.89138522e-01 -4.96751939e-04] [-2.91981621e-04 4.58818245e-04 9.99999852e-01]] t_estimated: [[-0.20088006] [-0.97961426] [-0.00176013]] R_gt: [[ 0.98916137 -0.10501553 -0.10263166] [ 0.1095064 0.99321627 0.03913558] [ 0.09782551 -0.04994926 0.99394961]] t_gt: [ 0.53466532 -0.7502664 -0.38888729] Pose Error in degrees for R and t: 15.932619916936071 51.078682620043075 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[ 9.99994472e-01 3.30551522e-03 3.60137142e-04] [-3.30553160e-03 9.99994536e-01 4.48990183e-05] [-3.59986760e-04 -4.60892147e-05 9.99999934e-01]] t_estimated: [[ 0.99880819] [-0.04860551] [ 0.00443993]] R_gt: [[ 0.99779361 0.06634994 0.00221236] [-0.06632312 0.99774157 -0.0105817 ] [-0.00290941 0.0104106 0.999941 ]] t_gt: [ 0.03906413 0.9738445 -0.22383228] Pose Error in degrees for R and t: 3.6672920749420372 89.46654389272483 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 5.58722934e-01 8.29353936e-01 -8.55711057e-04] [-8.29351331e-01 5.58723380e-01 2.13422193e-03] [ 2.24813113e-03 -4.82753631e-04 9.99997356e-01]] t_estimated: [[8.77949162e-01] [4.78753352e-01] [7.04049048e-04]] R_gt: [[ 0.99274645 0.12016322 0.00386344] [-0.1201101 0.99269033 -0.01178907] [-0.00525221 0.01123876 0.99992297]] t_gt: [ 0.23252105 0.97048775 -0.06393342] Pose Error in degrees for R and t: 49.138882409683134 48.031579247352674 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999709e-01 7.45422511e-04 1.64636065e-04] [-7.45415836e-04 9.99999721e-01 -4.06011297e-05] [-1.64666284e-04 4.04783955e-05 9.99999986e-01]] t_estimated: [[9.99999913e-01] [3.78113936e-04] [1.74227344e-04]] R_gt: [[ 0.98448841 0.17464258 0.01682211] [-0.17505224 0.98418691 0.02706274] [-0.01182878 -0.02958787 0.99949146]] t_gt: [0.22707183 0.9300266 0.28894448] Pose Error in degrees for R and t: 10.193837600004198 76.8516103559719 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.85271912e-01 4.65073744e-01 2.35847744e-04] [-4.65073516e-01 8.85270688e-01 1.55995920e-03] [ 5.16706970e-04 -1.49067460e-03 9.99998755e-01]] t_estimated: [[8.55990508e-01] [5.16991092e-01] [6.79357546e-04]] R_gt: [[ 0.99498202 -0.09659552 -0.02606251] [ 0.0961797 0.99522274 -0.01676774] [ 0.0275569 0.01417718 0.99951927]] t_gt: [ 0.50927985 -0.79812444 -0.32191832] Pose Error in degrees for R and t: 33.29579434770929 88.67653356016102 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-1.44320343e-01 -9.89530470e-01 -1.04329076e-03] [ 9.89529515e-01 -1.44321882e-01 1.59182635e-03] [-1.72573036e-03 -8.02634071e-04 9.99998189e-01]] t_estimated: [[ 0.99790704] [-0.06465467] [ 0.00114835]] R_gt: [[ 0.9783243 -0.1966685 -0.06482603] [ 0.19841363 0.97987972 0.02161846] [ 0.05927027 -0.03401144 0.99766196]] t_gt: [ 0.62661797 -0.77440444 -0.08745103] Pose Error in degrees for R and t: 86.96125038576658 47.5244972143516 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99935461e-01 1.13268698e-02 -8.80270076e-04] [-1.13250215e-02 9.99933713e-01 2.07704848e-03] [ 9.03738183e-04 -2.06694536e-03 9.99997455e-01]] t_estimated: [[ 0.99963489] [-0.02696953] [ 0.00165505]] R_gt: [[ 0.95302543 -0.28287134 -0.10828066] [ 0.28644927 0.95791255 0.01872167] [ 0.09842773 -0.04885886 0.99394339]] t_gt: [ 0.71544288 -0.69057773 -0.10603717] Pose Error in degrees for R and t: 18.32015824440369 42.80835988478635 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.82201024 0.56946742 0.00245458] [ 0.56946029 -0.82195619 -0.01014875] [-0.00376183 0.00974016 -0.99994549]] t_estimated: [[-0.99985336] [-0.01709151] [-0.00106822]] R_gt: [[ 0.99173787 0.06465492 0.11080063] [-0.05903289 0.99683366 -0.05328828] [-0.11389596 0.04630775 0.99241299]] t_gt: [-0.459554 0.60237225 0.65265442] Pose Error in degrees for R and t: 174.74677401789052 63.352899610644855 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.76200962e-01 2.16866656e-01 -7.31276002e-04] [-2.16866867e-01 9.76201164e-01 -2.20837015e-04] [ 6.65980300e-04 3.74170842e-04 9.99999708e-01]] t_estimated: [[-0.81455809] [-0.58008093] [-0.00111127]] R_gt: [[ 0.96365387 0.14718353 0.22295543] [-0.12934593 0.98725982 -0.09267818] [-0.23375474 0.06047142 0.97041348]] t_gt: [-0.37866741 0.59993171 0.70476445] Pose Error in degrees for R and t: 14.69366104694412 87.68774388702744 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-8.21750383e-01 -5.69844570e-01 -1.86405363e-03] [ 5.69847378e-01 -8.21748646e-01 -1.76891095e-03] [-5.23779249e-04 -2.51582932e-03 9.99996698e-01]] t_estimated: [[0.94889722] [0.31558346] [0.00107341]] R_gt: [[ 0.92099784 0.29899548 0.24972825] [-0.27306169 0.95267841 -0.13357297] [-0.27784781 0.05482937 0.95905921]] t_gt: [-0.33620746 0.76777511 0.54542271] Pose Error in degrees for R and t: 162.44375092483398 85.63305869914497 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99246949e-01 -3.88012072e-02 3.98105547e-05] [ 3.88012017e-02 9.99246941e-01 1.31466723e-04] [-4.48816426e-05 -1.29823024e-04 9.99999991e-01]] t_estimated: [[-9.81676568e-01] [-1.90552698e-01] [-8.86115602e-04]] R_gt: [[ 0.99979285 0.01586943 0.01278051] [-0.01605935 0.99975997 0.01493378] [-0.01254153 -0.01513529 0.99980621]] t_gt: [-0.85179987 0.0043901 0.52384894] Pose Error in degrees for R and t: 3.3318253251076526 33.395485661795995 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 3.95605336e-01 -9.18415971e-01 -2.91917371e-03] [ 9.18419487e-01 3.95607826e-01 -3.06735756e-04] [ 1.43655898e-03 -2.55967972e-03 9.99995692e-01]] t_estimated: [[ 0.76816993] [-0.64024554] [-0.00077548]] R_gt: [[ 0.99144657 0.1231543 0.04321036] [-0.12088361 0.99131787 -0.05173862] [-0.0492072 0.04607278 0.99772536]] t_gt: [-0.78921943 0.6080742 0.08589793] Pose Error in degrees for R and t: 73.80877386870247 5.35347985658824 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.87430662e-01 -1.58050728e-01 -8.08925998e-04] [ 1.58051993e-01 9.87429034e-01 1.86273760e-03] [ 5.04349982e-04 -1.96717659e-03 9.99997938e-01]] t_estimated: [[9.92944928e-01] [1.18573360e-01] [8.53045396e-04]] R_gt: [[ 0.96805755 0.24853846 0.03306616] [-0.24562232 0.96654059 -0.07395841] [-0.05034212 0.06347357 0.99671249]] t_gt: [-0.69456194 0.71923918 0.01669469] Pose Error in degrees for R and t: 23.895408580972052 52.81684536495754 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 9.95650448e-01 -9.31667700e-02 3.72223612e-04] [ 9.31668257e-02 9.95650503e-01 -1.35076088e-04] [-3.58020024e-04 1.69167460e-04 9.99999922e-01]] t_estimated: [[-7.82377173e-01] [-6.22804548e-01] [-6.73302214e-04]] R_gt: [[ 0.99724943 0.03603794 0.06477195] [-0.0336342 0.99871809 -0.03783459] [-0.06605247 0.03555219 0.99718293]] t_gt: [-0.68624077 0.68365341 0.24837796] Pose Error in degrees for R and t: 8.499051882061798 83.62995128825408 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.95921049e-01 9.02225978e-02 1.07080195e-03] [-9.02218643e-02 9.95921435e-01 -7.14676281e-04] [-1.13091457e-03 6.15151404e-04 9.99999171e-01]] t_estimated: [[-0.76350353] [-0.64580319] [-0.00077434]] R_gt: [[ 0.99208894 0.07720022 0.09899407] [-0.06872112 0.99388887 -0.08638075] [-0.10505754 0.07889496 0.991332 ]] t_gt: [-0.70067049 0.70794807 0.08871523] Pose Error in degrees for R and t: 7.539538400915693 85.5435933903802 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.99454738 -0.10422394 -0.00358983] [-0.10419337 0.99452606 -0.00785169] [ 0.00438852 -0.00743484 -0.99996273]] t_estimated: [[0.99595921] [0.08978249] [0.00208796]] R_gt: [[ 0.97644921 0.11388552 0.18323928] [-0.09572804 0.98984493 -0.10508323] [-0.19334576 0.08506802 0.97743606]] t_gt: [-0.70574133 0.59640538 0.38240004] Pose Error in degrees for R and t: 169.62608426792082 49.56805554856479 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99989341e-01 4.61159447e-03 2.27838867e-04] [-4.61159588e-03 9.99989367e-01 5.62914435e-06] [-2.27810485e-04 -6.67978513e-06 9.99999974e-01]] t_estimated: [[-0.88177234] [ 0.4716626 ] [ 0.00345407]] R_gt: [[ 0.99918647 0.04001405 -0.00509679] [-0.03968833 0.99779753 0.05313989] [ 0.00721197 -0.05289494 0.99857352]] t_gt: [-0.00320036 0.71945798 0.69452859] Pose Error in degrees for R and t: 3.668613439706818 69.84491711603685 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999981e-01 1.23343451e-04 1.49249887e-04] [-1.23346474e-04 9.99999992e-01 2.02466165e-05] [-1.49247388e-04 -2.02650256e-05 9.99999989e-01]] t_estimated: [[0.66941046] [0.74289175] [0.00121534]] R_gt: [[ 0.99822837 0.04179077 -0.04236873] [-0.04069184 0.99882061 0.02649209] [ 0.04342659 -0.02472181 0.9987511 ]] t_gt: [ 0.60936553 0.74110995 -0.28183273] Pose Error in degrees for R and t: 3.7145231956770273 16.63705487559079 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999909e-01 -3.68292601e-04 -2.16460672e-04] [ 3.68341041e-04 9.99999907e-01 2.23786365e-04] [ 2.16378233e-04 -2.23866076e-04 9.99999952e-01]] t_estimated: [[-9.99974549e-01] [-7.07946633e-03] [-8.84933230e-04]] R_gt: [[ 0.99722714 0.0688929 -0.02812882] [-0.06813459 0.99730846 0.02709158] [ 0.02991966 -0.02510067 0.99923743]] t_gt: [ 0.52549739 0.84347574 -0.11136052] Pose Error in degrees for R and t: 4.532052181486694 57.90282371207322 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99981717e-01 5.99267775e-03 8.08492751e-04] [-5.99199295e-03 9.99981689e-01 -8.46793205e-04] [-8.13552505e-04 8.41933240e-04 9.99999315e-01]] t_estimated: [[8.11421558e-01] [5.84460867e-01] [7.41701607e-04]] R_gt: [[ 0.97624589 -0.21506444 -0.02629124] [ 0.21438999 0.9763952 -0.02626094] [ 0.03131782 0.02000053 0.99930938]] t_gt: [ 0.65737356 -0.73594713 -0.16199331] Pose Error in degrees for R and t: 12.92428438127195 84.0791428455416 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 8.91513052e-01 -4.52991130e-01 -1.87456581e-03] [ 4.52991178e-01 8.91514898e-01 -4.23000396e-04] [ 1.86281878e-03 -4.72051401e-04 9.99998154e-01]] t_estimated: [[-0.12873694] [-0.99167674] [-0.00201151]] R_gt: [[ 0.95801192 -0.28347587 -0.04307988] [ 0.28152856 0.95844266 -0.04614572] [ 0.05437094 0.03208007 0.99800558]] t_gt: [ 0.65511505 -0.72111189 -0.22543716] Pose Error in degrees for R and t: 11.08617162552136 50.85937867196396 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.24625175e-01 3.80878122e-01 -3.76929928e-04] [-3.80877523e-01 9.24624825e-01 1.11577799e-03] [ 7.73494195e-04 -8.88112285e-04 9.99999306e-01]] t_estimated: [[0.31770083] [0.94818959] [0.00163763]] R_gt: [[ 0.91761978 -0.38942334 -0.0795208 ] [ 0.38875249 0.92101935 -0.0243925 ] [ 0.08273925 -0.00853073 0.99653519]] t_gt: [ 0.71082586 -0.68907567 -0.14107203] Pose Error in degrees for R and t: 45.56213915721261 64.67353399995945 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 3.88314321e-01 9.21526979e-01 -1.22761152e-04] [-9.21525960e-01 3.88313686e-01 -1.54445208e-03] [-1.37558442e-03 7.12860448e-04 9.99998800e-01]] t_estimated: [[-7.34615922e-02] [ 9.97297913e-01] [ 5.16634261e-04]] R_gt: [[ 0.98215136 -0.1875025 -0.0149085 ] [ 0.18808583 0.97975212 0.06862524] [ 0.00173909 -0.07020481 0.99753098]] t_gt: [ 0.59673918 -0.76791315 0.23283416] Pose Error in degrees for R and t: 78.07994947828209 35.947493875625796 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.99248841 0.12096103 0.01830825] [-0.12055728 0.99246802 -0.0217525 ] [-0.02080155 0.01938191 0.99959574]] t_estimated: [[0.63813366] [0.76992213] [0.00231208]] R_gt: [[ 0.94579477 -0.3047735 -0.11218483] [ 0.31597061 0.94338283 0.10095168] [ 0.07506661 -0.13092664 0.98854532]] t_gt: [ 0.6496875 -0.74868994 0.13179352] Pose Error in degrees for R and t: 27.138934670709904 80.70366024155415 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.7523194 -0.65858154 -0.01690767] [ 0.65870759 0.75239421 0.00269455] [ 0.01094665 -0.01316438 0.99985342]] t_estimated: [[-0.03118347] [-0.99951233] [-0.00164124]] R_gt: [[ 0.88060168 -0.43708226 -0.18302968] [ 0.46635318 0.86786199 0.17125753] [ 0.08399203 -0.23616554 0.96807574]] t_gt: [ 0.68988379 -0.68257563 0.24114492] Pose Error in degrees for R and t: 19.435695664042022 48.67464885850161 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.74132530e-01 -2.25977453e-01 -6.89082423e-05] [ 2.25977464e-01 9.74132479e-01 3.15028097e-04] [-4.06349012e-06 -3.22450827e-04 9.99999948e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99264769 -0.11277584 -0.04396251] [ 0.1153266 0.99147736 0.06060023] [ 0.03675432 -0.06522506 0.99719353]] t_gt: [ 0.66129974 -0.71222476 0.23541141] Pose Error in degrees for R and t: 7.7815056448536835 48.755745620728945 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 8.35396214e-01 -5.49647778e-01 -6.96346556e-04] [ 5.49647687e-01 8.35396498e-01 -3.33998261e-04] [ 7.65306877e-04 -1.03724391e-04 9.99999702e-01]] t_estimated: [[-0.37034292] [-0.9288929 ] [-0.00202373]] R_gt: [[ 0.96249868 -0.26810453 -0.04143043] [ 0.27070224 0.95917877 0.08182516] [ 0.01780221 -0.08997289 0.99578429]] t_gt: [ 0.684135 -0.68959451 0.23752622] Pose Error in degrees for R and t: 18.43874193955928 67.24979858484062 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.97905776 0.14250236 -0.14539248] [-0.07722384 0.92075124 0.38243122] [ 0.18836766 -0.36319449 0.91247322]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.91500029 -0.39674258 -0.0732782 ] [ 0.40175628 0.91263566 0.07540873] [ 0.03695909 -0.09843881 0.99445602]] t_gt: [ 0.75044762 -0.63859656 0.17036084] Pose Error in degrees for R and t: 35.00478916290699 83.8265253698488 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 1.00000000e+00 -4.26701730e-12 -3.78387913e-15] [ 4.26703117e-12 1.00000000e+00 -7.32920669e-17] [ 2.34582725e-15 1.70545002e-16 1.00000000e+00]] t_estimated: [[-6.74016836e-02] [-9.97725556e-01] [-8.52772041e-04]] R_gt: [[ 0.98926525 -0.14612813 -0.00119894] [ 0.14595962 0.98765371 0.056906 ] [-0.00713033 -0.05646996 0.99837832]] t_gt: [ 0.61457255 -0.754938 0.22884319] Pose Error in degrees for R and t: 9.01452852831958 44.63454597677932 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.92586866 -0.322249 0.19728863] [-0.11097433 0.73103117 0.67325933] [-0.36118129 0.60145574 -0.71260022]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97907025 -0.20114868 0.03098696] [ 0.1989414 0.97799843 0.0627909 ] [-0.0429344 -0.05531135 0.99754523]] t_gt: [ 0.61315662 -0.73302974 0.29445942] Pose Error in degrees for R and t: 156.1365045536277 52.330280176034776 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99998468e-01 -1.72186867e-03 -3.16272261e-04] [ 1.72186228e-03 9.99998517e-01 -2.04627834e-05] [ 3.16307026e-04 1.99181748e-05 9.99999950e-01]] t_estimated: [[ 9.99999286e-01] [-1.19511700e-03] [-1.41248245e-05]] R_gt: [[ 0.97012312 -0.24167836 0.02128943] [ 0.23958343 0.96813636 0.07289348] [-0.03822729 -0.06561506 0.99711217]] t_gt: [ 0.62686117 -0.73674044 0.25349279] Pose Error in degrees for R and t: 14.513673421089536 51.116594225224866 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-4.33606852e-02 9.99059108e-01 8.65969010e-04] [-9.99058001e-01 -4.33591118e-02 -1.75987311e-03] [-1.72066961e-03 -9.41462572e-04 9.99998076e-01]] t_estimated: [[0.274196 ] [0.96167292] [0.00132462]] R_gt: [[ 0.99808606 -0.02314602 0.05735305] [ 0.02158298 0.99938344 0.02771426] [-0.05795787 -0.02642299 0.99796913]] t_gt: [ 0.24227334 -0.1649833 0.95607747] Pose Error in degrees for R and t: 93.81884785329615 84.78098098400254 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.74934181 -0.66180426 -0.02240463] [ 0.66210551 0.74934361 0.01002229] [ 0.01015597 -0.02234435 0.99969875]] t_estimated: [[-0.00759197] [-0.99997059] [-0.00108457]] R_gt: [[ 0.99263091 -0.10320626 0.06350889] [ 0.1011389 0.99425815 0.03495232] [-0.06675056 -0.02827141 0.99736885]] t_gt: [ 0.8775806 -0.19480006 0.43806989] Pose Error in degrees for R and t: 35.90028789187631 79.18393941501267 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99220837e-01 -3.94674882e-02 -1.88537308e-04] [ 3.94675977e-02 9.99220660e-01 6.17285179e-04] [ 1.64027678e-04 -6.24245329e-04 9.99999792e-01]] t_estimated: [[9.89521264e-01] [1.44386323e-01] [5.07210430e-04]] R_gt: [[ 0.98940291 -0.1450426 -0.00673912] [ 0.1446641 0.98867645 -0.03990004] [ 0.01245024 0.03850182 0.99918029]] t_gt: [ 0.97307108 -0.09756463 -0.20883923] Pose Error in degrees for R and t: 6.509363505670512 18.43525681953044 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 6.93378993e-01 7.20572241e-01 1.10346131e-03] [-7.20571862e-01 6.93379825e-01 -7.81297204e-04] [-1.32809889e-03 -2.53388104e-04 9.99999086e-01]] t_estimated: [[0.11335486] [0.99355345] [0.00149 ]] R_gt: [[ 0.98113466 -0.19286492 -0.01334322] [ 0.19281623 0.98122308 -0.00487192] [ 0.01403231 0.0022081 0.99989911]] t_gt: [ 0.72763715 -0.68556684 -0.02328686] Pose Error in degrees for R and t: 57.22729337414477 53.223095054494536 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999209e-01 1.10021322e-03 6.09225072e-04] [-1.09973181e-03 9.99999083e-01 -7.89975645e-04] [-6.10093655e-04 7.89305037e-04 9.99999502e-01]] t_estimated: [[ 0.2992565 ] [-0.95416495] [-0.00384641]] R_gt: [[ 9.70255445e-01 -2.42072308e-01 -2.58224597e-03] [ 2.42073198e-01 9.70258325e-01 -2.01975820e-04] [ 2.55431814e-03 -4.27883721e-04 9.99996833e-01]] t_gt: [ 0.68893874 -0.72472816 0.01151139] Pose Error in degrees for R and t: 14.073097082469225 26.151038926721753 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-1.53162724e-01 -9.88198443e-01 -2.23989761e-03] [ 9.88200971e-01 -1.53162658e-01 -2.01731550e-04] [-1.43717867e-04 -2.24436674e-03 9.99997471e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.93858813 -0.34270559 0.04008453] [ 0.34098809 0.93903526 0.04405166] [-0.05273677 -0.0276777 0.99822553]] t_gt: [ 0.68349918 -0.71075206 0.16631409] Pose Error in degrees for R and t: 78.86513596562163 55.88472602928808 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.97207985e-01 7.46679551e-02 9.64686034e-04] [-7.46678515e-02 9.97208449e-01 -1.43102656e-04] [-9.72678246e-04 7.06720774e-05 9.99999524e-01]] t_estimated: [[0.89704478] [0.44193723] [0.00146337]] R_gt: [[ 0.993154 -0.11161169 -0.03446719] [ 0.11015612 0.99304479 -0.04157638] [ 0.03886817 0.03749556 0.99854035]] t_gt: [ 0.94735408 -0.08097363 -0.30977979] Pose Error in degrees for R and t: 11.101947577635098 35.55275894014029 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.59419049 0.80432269 0.0016338 ] [ 0.80431277 -0.5941916 0.00415964] [ 0.00431648 -0.00115753 -0.99999001]] t_estimated: [[8.03734145e-01] [5.94988263e-01] [6.24987671e-04]] R_gt: [[ 0.9915616 -0.09640861 -0.08666239] [ 0.0863788 0.98984902 -0.11285909] [ 0.09666381 0.10442133 0.98982472]] t_gt: [ 0.73589126 0.0287313 -0.67648988] Pose Error in degrees for R and t: 176.95760815676329 52.54537670108828 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.99527917 0.09699322 -0.00341855] [ 0.09698443 0.99528237 0.00265192] [ 0.00365965 0.00230785 -0.99999064]] t_estimated: [[0.77119203] [0.63660183] [0.00098241]] R_gt: [[ 0.98598855 0.06772162 -0.15244775] [-0.0803052 0.99371727 -0.07795151] [ 0.14621195 0.08910251 0.98523258]] t_gt: [-0.26288613 0.10303061 -0.95930995] Pose Error in degrees for R and t: 171.43452453899994 82.06274014548171 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.71248683e-01 2.38066955e-01 -3.47869407e-04] [-2.38064774e-01 9.71244319e-01 3.10422888e-03] [ 1.07688050e-03 -2.93216276e-03 9.99995121e-01]] t_estimated: [[8.05475034e-01] [5.92629299e-01] [6.95574295e-04]] R_gt: [[ 0.98051957 -0.19621635 0.00899862] [ 0.19587504 0.98018092 0.02964126] [-0.01463612 -0.02730063 0.99951941]] t_gt: [ 0.66857404 -0.7245438 0.16746656] Pose Error in degrees for R and t: 25.133069968859974 83.72789970856621 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.36413017e-01 3.50897668e-01 1.22017853e-03] [-3.50897550e-01 9.36413802e-01 -3.16812830e-04] [-1.25376090e-03 -1.31489999e-04 9.99999205e-01]] t_estimated: [[-0.72133609] [ 0.69258198] [ 0.00210534]] R_gt: [[ 9.51642986e-01 -3.07163171e-01 -5.10453550e-03] [ 3.07204791e-01 9.51517975e-01 1.54703514e-02] [ 1.06108936e-04 -1.62893264e-02 9.99867045e-01]] t_gt: [ 0.72790577 -0.68263242 0.06454592] Pose Error in degrees for R and t: 38.444465939524555 3.88019721339043 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.76437408e-01 -2.15800624e-01 2.79934865e-04] [ 2.15800490e-01 9.76437377e-01 4.45298342e-04] [-3.69434525e-04 -3.74395878e-04 9.99999862e-01]] t_estimated: [[9.65695380e-01] [2.59676466e-01] [7.52685409e-04]] R_gt: [[ 0.92880379 -0.3700217 0.0201811 ] [ 0.36888215 0.92839245 0.04488424] [-0.03534425 -0.03424324 0.99878762]] t_gt: [ 0.7039444 -0.69483369 0.147202 ] Pose Error in degrees for R and t: 9.644792824214742 60.034747834018546 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.62802617e-01 2.70205145e-01 5.47451925e-04] [-2.70204254e-01 9.62802117e-01 -1.32051389e-03] [-8.83897520e-04 1.12347039e-03 9.99998978e-01]] t_estimated: [[-0.61972976] [-0.78481061] [-0.00270624]] R_gt: [[ 0.99278911 -0.10298305 0.06136224] [ 0.09061095 0.97978717 0.17834283] [-0.0784888 -0.17149654 0.98205339]] t_gt: [ 0.33968469 -0.51783186 0.78515252] Pose Error in degrees for R and t: 23.892194706530198 78.82756336780727 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99852688e-01 1.70039666e-02 -2.33815420e-03] [-1.70020037e-02 9.99855088e-01 8.56836655e-04] [ 2.35238499e-03 -8.16957127e-04 9.99996899e-01]] t_estimated: [[-0.81967361] [-0.5728221 ] [-0.00316476]] R_gt: [[ 0.97101082 -0.23626251 0.0363171 ] [ 0.21743064 0.93610899 0.27644802] [-0.0993112 -0.26053823 0.9603423 ]] t_gt: [ 0.50941378 -0.57170318 0.64315867] Pose Error in degrees for R and t: 21.59653681527998 84.71532438720108 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 0.58899594 -0.30222787 -0.74949456] [-0.44680451 -0.89458002 0.00960777] [-0.6733866 0.32921861 -0.66194078]] t_estimated: [[0.0711266 ] [0.99746586] [0.00169349]] R_gt: [[ 0.94278895 -0.33047863 0.04396936] [ 0.30461839 0.90749731 0.28923125] [-0.1354862 -0.25929035 0.95624905]] t_gt: [ 0.58240395 -0.58097752 0.56856904] Pose Error in degrees for R and t: 167.16657791193137 57.51233918118414 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99999872e-01 4.82340040e-04 1.51634559e-04] [-4.82324984e-04 9.99999879e-01 -9.93133893e-05] [-1.51682443e-04 9.92402394e-05 9.99999984e-01]] t_estimated: [[9.60109263e-01] [2.79625088e-01] [1.16686517e-04]] R_gt: [[ 0.98674352 -0.16093337 -0.02093035] [ 0.16154639 0.9863487 0.0319133 ] [ 0.01550887 -0.03487091 0.99927134]] t_gt: [ 0.65294921 -0.74965898 0.10802199] Pose Error in degrees for R and t: 9.564975030015473 65.33627938558013 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 0.96136447 0.27524788 -0.00411871] [-0.27522122 0.96136189 0.00604938] [ 0.00562465 -0.0046821 0.99997322]] t_estimated: [[-0.96861301] [ 0.24840357] [-0.00919248]] R_gt: [[ 0.95551711 -0.29336819 -0.03037969] [ 0.29437198 0.95498833 0.03663523] [ 0.01826459 -0.043947 0.99886707]] t_gt: [ 0.70447721 -0.70041637 0.11458084] Pose Error in degrees for R and t: 33.15340038622379 30.973546323337587 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 1.29598380e-01 9.91562259e-01 2.92356531e-03] [-9.91566341e-01 1.29599783e-01 -2.94859877e-04] [-6.71265355e-04 -2.86069560e-03 9.99995683e-01]] t_estimated: [[0.26873767] [0.96321237] [0.00141441]] R_gt: [[ 0.92268671 -0.3823655 -0.04945713] [ 0.38551517 0.91672657 0.10483259] [ 0.00525446 -0.11579317 0.99325934]] t_gt: [ 0.67475727 -0.69036235 0.26096447] Pose Error in degrees for R and t: 105.35535220257053 61.10121961307317 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.93913866e-01 -1.10159864e-01 1.74753496e-04] [ 1.10159856e-01 9.93913881e-01 5.35730165e-05] [-1.79591522e-04 -3.39961440e-05 9.99999983e-01]] t_estimated: [[0.92556499] [0.37858754] [0.00096389]] R_gt: [[ 0.98322281 -0.1662327 -0.07510297] [ 0.16519663 0.9860614 -0.01983962] [ 0.07735359 0.00709989 0.99697777]] t_gt: [ 0.66368132 -0.67135549 -0.32986196] Pose Error in degrees for R and t: 5.51010821609626 68.91236739257191 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.80551504e-01 -1.96261917e-01 8.62891447e-05] [ 1.96261916e-01 9.80551508e-01 2.58105317e-05] [-8.96765754e-05 -8.37328287e-06 9.99999996e-01]] t_estimated: [[9.93227879e-01] [1.16180403e-01] [7.02615597e-04]] R_gt: [[ 0.95478698 -0.29580461 -0.02970758] [ 0.29599957 0.95518473 0.00231736] [ 0.02769133 -0.01100671 0.9995553 ]] t_gt: [ 0.66424787 -0.74699342 -0.02784953] Pose Error in degrees for R and t: 6.140635160661282 55.044228143183666 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-5.09932819e-01 -8.60213652e-01 -9.96896918e-04] [-8.60213839e-01 5.09931141e-01 1.54360303e-03] [-8.19479617e-04 1.64467837e-03 -9.99998312e-01]] t_estimated: [[9.48312533e-01] [3.17337033e-01] [7.39713364e-04]] R_gt: [[ 0.89528631 -0.41276236 -0.16759819] [ 0.43114616 0.89750236 0.09274674] [ 0.11213727 -0.15529542 0.98148175]] t_gt: [ 0.70551578 -0.70319191 0.08813975] Pose Error in degrees for R and t: 176.46874766408604 63.514851653325834 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[ 9.99999997e-01 7.73484661e-05 5.31657141e-06] [-7.73486753e-05 9.99999996e-01 3.93677214e-05] [-5.31352636e-06 -3.93681325e-05 9.99999999e-01]] t_estimated: [[ 9.99998546e-01] [-1.70219683e-03] [-1.04277813e-04]] R_gt: [[ 0.99999674 0.00183749 0.00147518] [-0.0018404 0.9999972 0.00198765] [-0.00147169 -0.00199116 0.99999649]] t_gt: [-0.83510958 -0.54559574 0.07012337] Pose Error in degrees for R and t: 0.17304632915708604 33.46872597956781 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99436503e-01 -3.35655753e-02 1.66397547e-04] [ 3.35655146e-02 9.99436456e-01 3.55039741e-04] [-1.78220888e-04 -3.49254458e-04 9.99999923e-01]] t_estimated: [[0.54612061] [0.83770471] [0.0017601 ]] R_gt: [[ 0.99939304 0.01079514 0.03310817] [-0.01186662 0.99940647 0.032337 ] [-0.03274 -0.03271068 0.99892846]] t_gt: [-0.67798429 -0.23502154 0.69649276] Pose Error in degrees for R and t: 3.6804648744375483 55.53421786762219 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 0.99294006 0.11860378 0.00178579] [-0.11859743 0.99293687 -0.00331945] [-0.00216688 0.00308422 0.9999929 ]] t_estimated: [[0.4118452 ] [0.91124805] [0.00324288]] R_gt: [[ 0.99686454 0.05985964 0.05174456] [-0.05962902 0.99820306 -0.00600507] [-0.052011 0.00290043 0.99864232]] t_gt: [-0.90374335 0.18316752 0.38690777] Pose Error in degrees for R and t: 4.431815335354174 78.2268899480997 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999999e-01 4.72990053e-05 2.07417220e-06] [-4.72990395e-05 9.99999999e-01 1.64640900e-05] [-2.07339346e-06 -1.64641881e-05 1.00000000e+00]] t_estimated: [[-0.0047027] [-0.9999877] [-0.0015739]] R_gt: [[ 0.99916381 -0.03124157 -0.02640869] [ 0.03108914 0.99949769 -0.00615464] [ 0.02658902 0.00532912 0.99963232]] t_gt: [ 0.90373557 -0.0837849 -0.419812 ] Pose Error in degrees for R and t: 2.3690792635404714 85.40024726755581 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999987e-01 -7.87279000e-05 1.38269262e-04] [ 7.86710288e-05 9.99999912e-01 4.11265293e-04] [-1.38301628e-04 -4.11254410e-04 9.99999906e-01]] t_estimated: [[0.75066677] [0.66068035] [0.00093291]] R_gt: [[ 0.99852564 0.004621 -0.05409265] [-0.00593156 0.9996926 -0.02408113] [ 0.05396555 0.02436769 0.99824503]] t_gt: [ 0.73699137 0.29651638 -0.6073893 ] Pose Error in degrees for R and t: 3.4251570272135727 41.53326919800487 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.75981153e-01 2.17854949e-01 -1.02954009e-04] [-2.17854962e-01 9.75980849e-01 -7.73300238e-04] [-6.79861423e-05 7.77155499e-04 9.99999696e-01]] t_estimated: [[0.24165169] [0.97036227] [0.00123453]] R_gt: [[ 0.99764204 0.06841525 0.00555065] [-0.06807086 0.99651902 -0.0481179 ] [-0.00882257 0.04762786 0.99882595]] t_gt: [ 0.34665043 0.86521846 -0.36225749] Pose Error in degrees for R and t: 9.087353145578541 22.646683371886684 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[-0.91499582 -0.40255741 -0.02702186] [-0.40254503 0.91537962 -0.00613672] [ 0.02720564 0.00526244 -0.99961601]] t_estimated: [[ 0.96628166] [ 0.25716736] [-0.0128335 ]] R_gt: [[ 0.998695 0.04486488 0.02441542] [-0.04378892 0.99811618 -0.04298693] [-0.02629898 0.04186069 0.99877729]] t_gt: [-0.66776969 0.72214262 -0.18053716] Pose Error in degrees for R and t: 179.33458039087833 62.79180275119843 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.71557734e-01 -2.36802798e-01 -7.15435957e-05] [ 2.36802806e-01 9.71557721e-01 1.62752516e-04] [ 3.09684818e-05 -1.75065189e-04 9.99999984e-01]] t_estimated: [[-0.43654122] [-0.89968346] [-0.00120243]] R_gt: [[ 0.99105636 0.0762974 0.10947989] [-0.06855601 0.99498671 -0.07281855] [-0.11448751 0.06466213 0.99131784]] t_gt: [-0.75071088 0.59903072 0.27855946] Pose Error in degrees for R and t: 19.39208464445779 77.78640346773415 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.70853369e-01 2.39674228e-01 3.24510268e-05] [-2.39674188e-01 9.70853270e-01 -4.60636000e-04] [-1.41907763e-04 4.39432338e-04 9.99999893e-01]] t_estimated: [[-9.99994884e-01] [-3.10316495e-03] [-7.75791221e-04]] R_gt: [[ 0.98098391 0.13209172 0.14220243] [-0.11888183 0.98808762 -0.09773106] [-0.15341832 0.07896681 0.98500157]] t_gt: [-0.72513173 0.62262962 0.29413658] Pose Error in degrees for R and t: 11.910954326399242 43.69995303573228 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999999e-01 -1.01508515e-05 3.97224504e-05] [ 1.01516401e-05 1.00000000e+00 -1.98525415e-05] [-3.97222489e-05 1.98529447e-05 9.99999999e-01]] t_estimated: [[0.55978588] [0.82863674] [0.00096018]] R_gt: [[ 0.98365738 -0.17860319 -0.02276739] [ 0.17815011 0.9837871 -0.0205826 ] [ 0.02607448 0.01619076 0.99952825]] t_gt: [ 0.60304392 -0.78239615 -0.15554512] Pose Error in degrees for R and t: 10.426597244694904 71.8867597206205 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.01103196 0.99993736 -0.00189083] [ 0.99991997 -0.01102001 0.00621456] [ 0.00619333 -0.00195924 -0.9999789 ]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.92436408 -0.38068059 -0.02516372] [ 0.3808405 0.9246388 0.00172827] [ 0.0226088 -0.0111806 0.99968141]] t_gt: [ 0.69052176 -0.72317974 -0.01381163] Pose Error in degrees for R and t: 178.46123922290087 44.03849346974057 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.19983703 0.97979953 -0.00761837] [ 0.97981273 -0.19978263 0.00734234] [ 0.005672 -0.00893185 -0.99994402]] t_estimated: [[9.40639659e-01] [3.39406063e-01] [7.45947390e-04]] R_gt: [[ 0.87743731 -0.47757184 -0.04505055] [ 0.47501123 0.87812195 -0.05713928] [ 0.06684817 0.02873697 0.99734957]] t_gt: [ 0.73389643 -0.66439021 -0.14135658] Pose Error in degrees for R and t: 179.27355675454578 62.30734272982097 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999889e-01 -4.70067885e-04 -6.96569066e-06] [ 4.70068162e-04 9.99999889e-01 3.98833213e-05] [ 6.94694201e-06 -3.98865912e-05 9.99999999e-01]] t_estimated: [[-9.51225651e-01] [-3.08494518e-01] [-9.45486284e-04]] R_gt: [[ 0.9964416 0.08416657 0.0047431 ] [-0.08427294 0.99597164 0.03065995] [-0.00214311 -0.03095067 0.99951893]] t_gt: [-0.65719988 0.70038894 0.27846659] Pose Error in degrees for R and t: 5.172621912281733 65.86952357548066 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99998465e-01 -1.67267026e-03 5.21057498e-04] [ 1.67325139e-03 9.99997976e-01 -1.11685782e-03] [-5.19188308e-04 1.11772796e-03 9.99999241e-01]] t_estimated: [[-0.99969219] [-0.02471924] [-0.00211577]] R_gt: [[ 0.96443103 0.26356254 0.02021142] [-0.26400783 0.9642241 0.02392527] [-0.0131821 -0.02841049 0.99950979]] t_gt: [-0.66449488 0.73999077 0.10421231] Pose Error in degrees for R and t: 15.502560189313753 49.77597909797707 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.43229747e-03 9.99954445e-01 1.46282893e-03] [-9.99955086e-01 9.43363778e-03 -9.12071460e-04] [-9.25829709e-04 -1.45416030e-03 9.99998514e-01]] t_estimated: [[0.01411925] [0.99989949] [0.00128357]] R_gt: [[ 0.85148442 0.51761622 0.08394747] [-0.51641419 0.85553268 -0.03715854] [-0.09105358 -0.01171203 0.99577718]] t_gt: [-0.58015247 0.8064467 0.11431026] Pose Error in degrees for R and t: 58.46227836492709 37.02992727424022 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99345427e-01 -3.61754782e-02 -2.28256131e-04] [ 3.61755926e-02 9.99345314e-01 5.18563280e-04] [ 2.09347420e-04 -5.26481144e-04 9.99999839e-01]] t_estimated: [[0.59289666] [0.80527756] [0.00126417]] R_gt: [[ 0.99874714 0.04296544 0.0256724 ] [-0.04452283 0.99698585 0.06354449] [-0.02286416 -0.06460766 0.99764922]] t_gt: [-0.29629804 0.01682508 0.95494732] Pose Error in degrees for R and t: 6.021016183337503 80.73981313923531 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.9376332 -0.34686443 0.02300089] [-0.34762274 -0.93586464 0.05758303] [ 0.00155222 -0.06198739 -0.99807573]] t_estimated: [[0.15593916] [0.98761469] [0.01732657]] R_gt: [[ 0.99461026 0.07773124 0.06862479] [-0.086982 0.98572588 0.1441476 ] [-0.05644009 -0.14933967 0.98717353]] t_gt: [-0.32962905 0.06938269 0.94155761] Pose Error in degrees for R and t: 167.5377970179276 88.08394402785866 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-3.50869043e-01 9.36423770e-01 -1.19894366e-03] [-9.36420171e-01 -3.50871030e-01 -2.60469777e-03] [-2.85977550e-03 2.08807211e-04 9.99995889e-01]] t_estimated: [[0.35795773] [0.93373655] [0.00152322]] R_gt: [[ 0.97466365 0.2108773 0.07457362] [-0.21870054 0.96838328 0.12001528] [-0.04690675 -0.13328416 0.98996663]] t_gt: [-0.63488976 0.49577445 0.59255607] Pose Error in degrees for R and t: 98.332182400723 76.31630713382611 Number of keypoints: Image1: 390 Image2: 390 R_estimated: [[-0.23447735 -0.97209281 -0.00747934] [ 0.97203005 -0.23434275 -0.01552635] [ 0.01334032 -0.01091072 0.99985148]] t_estimated: [[9.49394334e-01] [3.14085343e-01] [8.92287908e-04]] R_gt: [[ 0.99852218 -0.05084996 0.01914435] [ 0.05041808 0.99847651 0.02244817] [-0.02025703 -0.02144857 0.99956424]] t_gt: [ 0.13269701 -0.80826124 0.57367697] Pose Error in degrees for R and t: 100.68416098666599 82.68239760367369 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[ 0.98240287 0.18658876 -0.00832107] [-0.18653569 0.98242493 0.00675987] [ 0.00943614 -0.00508873 0.99994253]] t_estimated: [[0.62765054] [0.77849473] [0.00086692]] R_gt: [[ 0.99478216 -0.08040706 0.06278828] [ 0.0803949 0.9967602 0.00274604] [-0.06280586 0.00231655 0.99802277]] t_gt: [-0.06425227 -0.77497737 0.62871433] Pose Error in degrees for R and t: 15.9111010119407 49.97672601024228 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[-8.11559707e-01 -5.84264608e-01 -2.38952557e-03] [ 5.84269296e-01 -8.11549278e-01 -4.14240309e-03] [ 4.81041768e-04 -4.75793386e-03 9.99988565e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 9.93115788e-01 -1.17117077e-01 -2.08594019e-03] [ 1.17136403e-01 9.92966758e-01 1.72394570e-02] [ 5.18961550e-05 -1.73647834e-02 9.99848908e-01]] t_gt: [ 0.07234054 -0.99474931 0.07239231] Pose Error in degrees for R and t: 137.52287279477602 84.95195930801879 Number of keypoints: Image1: 443 Image2: 443 R_estimated: [[-0.56491565 -0.82264456 0.06423582] [-0.82268184 0.5675326 0.03318635] [-0.06375649 -0.03409815 -0.99738279]] t_estimated: [[0.89031534] [0.45384097] [0.03697268]] R_gt: [[ 0.99972292 -0.02210625 0.00815179] [ 0.02185513 0.99931819 0.02978102] [-0.00880431 -0.02959516 0.9995235 ]] t_gt: [ 0.01021477 -0.67388118 0.73876912] Pose Error in degrees for R and t: 174.63324757962607 74.3698722139982 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 8.97107869e-01 4.41804854e-01 2.43794474e-03] [-4.41802813e-01 8.97111171e-01 -1.34948332e-03] [-2.78331574e-03 1.33541260e-04 9.99996118e-01]] t_estimated: [[-9.89791088e-01] [-1.42523617e-01] [-7.87423300e-04]] R_gt: [[ 0.99708697 -0.06424147 0.04111226] [ 0.06350356 0.99780101 0.01900784] [-0.0422424 -0.01634223 0.99897361]] t_gt: [-0.03163631 -0.7379523 0.67411093] Pose Error in degrees for R and t: 29.98259736525948 82.18597099976925 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 8.73703401e-02 -9.96175726e-01 5.88406408e-04] [-9.96150985e-01 -8.73723171e-02 -7.02096428e-03] [ 7.04552463e-03 2.72824146e-05 -9.99975180e-01]] t_estimated: [[9.17555294e-01] [3.97607294e-01] [8.49588235e-04]] R_gt: [[ 0.9926015 -0.11599288 0.03588741] [ 0.11532736 0.99312408 0.02013101] [-0.03797566 -0.01584248 0.99915363]] t_gt: [ 0.0922023 -0.92410698 0.37084367] Pose Error in degrees for R and t: 178.09861280579847 73.58958058954723 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99393656e-01 -3.48177588e-02 -2.09041362e-04] [ 3.48178857e-02 9.99393470e-01 6.37639472e-04] [ 1.86713395e-04 -6.44531221e-04 9.99999775e-01]] t_estimated: [[-0.91170292] [-0.4108487 ] [-0.00105889]] R_gt: [[ 0.99762093 0.06556453 -0.02134567] [-0.06528599 0.99777568 0.01352395] [ 0.02218452 -0.01209785 0.99968061]] t_gt: [-0.59981377 0.79836067 -0.05332623] Pose Error in degrees for R and t: 5.91937437609209 77.3553917965839 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 7.71117272e-01 6.36692515e-01 -8.91625586e-04] [ 6.36645830e-01 -7.71042148e-01 1.32700219e-02] [ 7.76144269e-03 -1.08003928e-02 -9.99911552e-01]] t_estimated: [[0.77329807] [0.63404218] [0.00077797]] R_gt: [[ 0.99073553 0.13566242 0.00631502] [-0.13573871 0.99064971 0.0137347 ] [-0.00439284 -0.01446385 0.99988652]] t_gt: [-0.6330899 0.76767209 0.09938181] Pose Error in degrees for R and t: 178.59764773685697 89.84224149774488 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 5.73403396e-01 8.19272782e-01 8.08658896e-04] [-8.19273075e-01 5.73402538e-01 1.07583083e-03] [ 4.17711857e-04 -1.27939751e-03 9.99999094e-01]] t_estimated: [[8.61657937e-01] [5.07488927e-01] [7.66599588e-04]] R_gt: [[ 0.90545535 0.42438412 0.00701926] [-0.42443869 0.90539352 0.01069394] [-0.00181719 -0.01266074 0.99991881]] t_gt: [-0.59627609 0.80246644 0.02241509] Pose Error in degrees for R and t: 29.904557531380057 83.88490613524775 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-9.99945997e-01 -1.03921979e-02 -7.40736003e-05] [-1.03923722e-02 9.99941579e-01 2.97259098e-03] [ 4.31775191e-05 2.97320025e-03 -9.99995579e-01]] t_estimated: [[9.99985020e-01] [5.41754988e-03] [7.81202394e-04]] R_gt: [[ 0.98594147 -0.16677108 -0.01033785] [ 0.16700072 0.98555965 0.02798587] [ 0.00552013 -0.02931817 0.9995549 ]] t_gt: [ 0.97202388 -0.16842159 0.16371849] Pose Error in degrees for R and t: 179.56376950632324 13.778244056377103 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.85290343e-01 1.70888636e-01 1.22268550e-04] [-1.70888550e-01 9.85290225e-01 -5.25801766e-04] [-2.10323553e-04 4.97173107e-04 9.99999854e-01]] t_estimated: [[9.99988831e-01] [4.66195259e-03] [7.76992099e-04]] R_gt: [[ 0.98155314 -0.18745882 0.0375825 ] [ 0.18532077 0.98119223 0.05402292] [-0.04700343 -0.04606059 0.99783256]] t_gt: [ 0.93874183 -0.17087286 0.2992762 ] Pose Error in degrees for R and t: 20.93556103782468 20.253981821018083 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 7.98258773e-01 -6.02314529e-01 3.72385531e-04] [ 6.02314176e-01 7.98258771e-01 7.53367222e-04] [-7.51024040e-04 -3.77088910e-04 9.99999647e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.96573671 -0.25293952 0.05810008] [ 0.24803707 0.9654295 0.0801545 ] [-0.07636689 -0.06299757 0.99508774]] t_gt: [ 0.93739431 -0.13742005 0.32001194] Pose Error in degrees for R and t: 23.178494160758795 82.45884872842672 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.07857542 -0.99688313 -0.0070661 ] [-0.9969061 0.07858773 -0.00148071] [ 0.00203141 0.00692789 -0.99997394]] t_estimated: [[ 0.70093741] [ 0.71321812] [-0.00258207]] R_gt: [[ 0.99643722 0.07668669 0.03509583] [-0.078368 0.9957038 0.04931778] [-0.03116329 -0.05189173 0.99816578]] t_gt: [-0.7123958 0.40278311 0.57468077] Pose Error in degrees for R and t: 176.99563733465556 77.66914449332124 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-9.93190174e-01 -1.15912157e-01 -1.17324703e-02] [-1.15916322e-01 9.93258929e-01 -3.26675194e-04] [ 1.16912465e-02 1.03553421e-03 -9.99931119e-01]] t_estimated: [[ 0.99792897] [ 0.06408568] [-0.00555002]] R_gt: [[ 0.98058619 0.19559817 0.01387456] [-0.19571327 0.98063264 0.00741073] [-0.0121569 -0.00998243 0.9998758 ]] t_gt: [-0.70383578 0.71012836 0.01824547] Pose Error in degrees for R and t: 179.8989017872869 48.930780778201225 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.00108892 0.99999788 0.00174704] [-0.99999784 -0.00108582 -0.00177254] [-0.00177064 -0.00174897 0.9999969 ]] t_estimated: [[0.08447523] [0.99642373] [0.00191989]] R_gt: [[ 0.98443376 0.17305449 0.03070081] [-0.17009266 0.98204818 -0.08154613] [-0.04426174 0.07505554 0.99619655]] t_gt: [-0.61276603 0.74342714 -0.26801843] Pose Error in degrees for R and t: 80.28930128771287 46.48927646910524 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.27820618 0.95837762 0.06413784] [ 0.9593173 -0.27389487 -0.0684976 ] [-0.04807954 0.08058499 -0.99558747]] t_estimated: [[-0.78056263] [-0.62500857] [-0.00928879]] R_gt: [[ 0.99037357 -0.13675083 -0.02145691] [ 0.13744559 0.9898839 0.03519515] [ 0.01642645 -0.03780585 0.99914987]] t_gt: [ 0.67809922 -0.72261432 0.13420131] Pose Error in degrees for R and t: 176.949218195258 85.47435262869476 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99994815e-01 3.19176350e-03 4.27023320e-04] [-3.19181427e-03 9.99994899e-01 1.18264585e-04] [-4.26643670e-04 -1.19626950e-04 9.99999902e-01]] t_estimated: [[-9.99997153e-01] [ 2.36854362e-03] [ 2.89540402e-04]] R_gt: [[ 0.9640768 -0.26454918 -0.02388933] [ 0.26536792 0.95527831 0.1304733 ] [-0.01169598 -0.13212556 0.99116367]] t_gt: [ 0.64984144 -0.65620533 0.38353705] Pose Error in degrees for R and t: 17.365210723766467 49.36161154566341 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.65920595 -0.63736982 0.3990078 ] [-0.75183072 0.54871929 -0.36559228] [ 0.01407421 -0.54098692 -0.84091323]] t_estimated: [[0.75437673] [0.64763358] [0.10717503]] R_gt: [[ 0.94504561 -0.32624515 -0.02130873] [ 0.3251276 0.93095479 0.16617905] [-0.03437832 -0.16397473 0.98586531]] t_gt: [ 0.64238673 -0.64023658 0.42123202] Pose Error in degrees for R and t: 168.3371124188714 83.39011999794118 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.92714633e-01 -1.20489212e-01 -8.30535293e-05] [ 1.20489222e-01 9.92714628e-01 1.21278732e-04] [ 6.78356747e-05 -1.30402227e-04 9.99999989e-01]] t_estimated: [[0.42800401] [0.90377633] [0.00095537]] R_gt: [[ 0.99805126 0.04449298 0.04374272] [-0.04272474 0.99826378 -0.04056314] [-0.04547156 0.03861576 0.99821924]] t_gt: [-0.75430874 0.65075665 0.08679922] Pose Error in degrees for R and t: 10.024815601304741 74.61081015946446 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.26354205e-01 -3.76653389e-01 3.33379680e-04] [ 3.76653243e-01 9.26354226e-01 4.28282742e-04] [-4.70141821e-04 -2.71172981e-04 9.99999853e-01]] t_estimated: [[-7.81016805e-01] [-6.24509546e-01] [-7.59743974e-04]] R_gt: [[ 0.9905393 0.07525772 0.11475024] [-0.06902115 0.99596257 -0.05739689] [-0.11860671 0.04893315 0.99173453]] t_gt: [-0.71910714 0.54000792 0.43735153] Pose Error in degrees for R and t: 27.27392005438336 77.05225107372392 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 3.18978067e-01 9.47762095e-01 7.06677212e-05] [ 9.47745548e-01 -3.18972937e-01 5.88568677e-03] [ 5.60077191e-03 -1.81042997e-03 -9.99982677e-01]] t_estimated: [[-0.97300358] [-0.23078562] [-0.0014246 ]] R_gt: [[ 0.97599018 0.18413231 0.1163508 ] [-0.17530375 0.98108325 -0.0821227 ] [-0.12927052 0.05975463 0.98980731]] t_gt: [-0.70964784 0.66545471 0.23145187] Pose Error in degrees for R and t: 172.8268736944914 57.54868407585138 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 5.79350481e-01 8.15078054e-01 8.85975404e-04] [-8.15078215e-01 5.79350875e-01 -2.57264550e-04] [-7.22981315e-04 -5.73092910e-04 9.99999574e-01]] t_estimated: [[0.5430189 ] [0.83971995] [0.00093302]] R_gt: [[ 0.98731647 -0.15858541 0.00767094] [ 0.15835034 0.98706668 0.02499261] [-0.01153551 -0.02346133 0.99965742]] t_gt: [ 0.54728679 -0.82658224 0.13129728] Pose Error in degrees for R and t: 63.7297283296671 66.62246465913863 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.9981412 0.05462688 -0.02701942] [-0.05484499 0.99846748 -0.0073976 ] [ 0.0265739 0.00886573 0.99960754]] t_estimated: [[-0.76200076] [-0.63500063] [-0.12700013]] R_gt: [[ 9.47331530e-01 -3.20255043e-01 -7.30873008e-04] [ 3.20247784e-01 9.47290821e-01 9.01396245e-03] [-2.19502808e-03 -8.77306792e-03 9.99958533e-01]] t_gt: [ 0.63851097 -0.76938205 0.01884147] Pose Error in degrees for R and t: 21.895259257224208 89.97819201913404 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.79821807e-01 1.99872853e-01 -2.60815592e-04] [-1.99872773e-01 9.79821811e-01 3.03954178e-04] [ 3.16304995e-04 -2.45690997e-04 9.99999920e-01]] t_estimated: [[-0.99708073] [-0.07634751] [-0.00103572]] R_gt: [[ 0.86436336 -0.50283062 -0.00617521] [ 0.50267107 0.86361465 0.03861785] [-0.01408484 -0.03648391 0.99923517]] t_gt: [ 0.71583937 -0.69478592 0.06961697] Pose Error in degrees for R and t: 41.78112651008254 48.64087419487247 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99866910e-01 -1.63122657e-02 2.67801405e-04] [ 1.63123256e-02 9.99866920e-01 -2.23035394e-04] [-2.64127554e-04 2.27374174e-04 9.99999939e-01]] t_estimated: [[-0.57029124] [-0.8214414 ] [-0.00138757]] R_gt: [[ 0.98392829 -0.16411445 -0.0703674 ] [ 0.16598596 0.98589258 0.02158355] [ 0.06583251 -0.0329168 0.99728791]] t_gt: [ 0.62868102 -0.77049107 -0.10537406] Pose Error in degrees for R and t: 9.5671921842874 74.06610013914384 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-3.37467339e-01 9.41337013e-01 6.49484487e-04] [-9.41336079e-01 -3.37465762e-01 -1.80156654e-03] [-1.47670249e-03 -1.21935305e-03 9.99998166e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96343177 -0.23732592 -0.12440176] [ 0.2487708 0.96472148 0.08617333] [ 0.09956159 -0.11397012 0.98848301]] t_gt: [ 0.61549429 -0.78515461 0.06854944] Pose Error in degrees for R and t: 124.05686020063403 38.62677033763592 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.99341538 -0.11455018 0.00203264] [-0.11446569 0.9931206 0.02467972] [-0.00484572 0.02428455 -0.99969334]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9510251 -0.26933163 -0.15169896] [ 0.29477108 0.93793532 0.18272412] [ 0.09307099 -0.21849169 0.97139049]] t_gt: [ 0.54723964 -0.77824677 0.30799472] Pose Error in degrees for R and t: 173.93832857652947 56.97106922039273 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.88030564e-01 -1.54258193e-01 -1.19043349e-04] [ 1.54258207e-01 9.88030562e-01 1.20832361e-04] [ 9.89790851e-05 -1.37749480e-04 9.99999986e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99694462 0.06753507 -0.03924553] [-0.06682913 0.99758376 0.01901791] [ 0.04043493 -0.01633763 0.99904879]] t_gt: [-0.24928671 0.93096219 -0.26676869] Pose Error in degrees for R and t: 12.96811164249323 75.72326400753616 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999987e-01 -1.14316992e-04 -1.15003489e-04] [ 1.14328685e-04 9.99999988e-01 1.01674823e-04] [ 1.14991865e-04 -1.01687970e-04 9.99999988e-01]] t_estimated: [[-9.99997163e-01] [-2.28920928e-03] [-6.58476822e-04]] R_gt: [[ 0.99207704 0.11440629 -0.05189695] [-0.11340124 0.99330797 0.02192632] [ 0.05405815 -0.01586794 0.99841166]] t_gt: [-0.26860558 0.95051024 -0.15614522] Pose Error in degrees for R and t: 7.300510992875771 74.54201212178043 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.81008083e-01 -1.93966837e-01 -8.38207307e-05] [ 1.93966851e-01 9.81008062e-01 2.05834582e-04] [ 4.23037297e-05 -2.18183832e-04 9.99999975e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99721873 0.05640601 -0.04871479] [-0.05604164 0.9983901 0.00883291] [ 0.04913403 -0.00607788 0.99877374]] t_gt: [ 0.17263842 0.92460537 -0.33955985] Pose Error in degrees for R and t: 14.683647836837268 79.90730007195336 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-9.37558634e-01 -3.47826106e-01 -8.98783771e-04] [-3.47827247e-01 9.37554583e-01 2.75866786e-03] [-1.16877856e-04 2.89903436e-03 -9.99995791e-01]] t_estimated: [[0.8560641 ] [0.51686889] [0.00089734]] R_gt: [[ 0.99823489 0.0077836 0.05888092] [-0.01610853 0.98969741 0.14226569] [-0.05716748 -0.14296319 0.98807598]] t_gt: [-0.1023782 -0.0080495 0.99471298] Pose Error in degrees for R and t: 175.29232637838652 84.7840250531114 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.96309414 -0.26903861 -0.00824023] [ 0.26914886 0.96225295 0.04035029] [-0.00292661 -0.04107898 0.99915162]] t_estimated: [[0.51381886] [0.85255474] [0.09560644]] R_gt: [[ 0.99399169 -0.01753986 0.10804267] [-0.00893387 0.9707843 0.23978761] [-0.10909166 -0.23931162 0.96479491]] t_gt: [-0.02811352 -0.03552047 0.99897344] Pose Error in degrees for R and t: 20.225911121877736 87.08927471258389 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-6.53253031e-01 7.57138217e-01 -1.48231558e-03] [-7.57137832e-01 -6.53254507e-01 -9.23664451e-04] [-1.66767099e-03 5.18930606e-04 9.99998475e-01]] t_estimated: [[0.77249337] [0.63502235] [0.00078109]] R_gt: [[ 0.9924007 -0.07270445 0.09927176] [ 0.03682129 0.94527213 0.32419968] [-0.11740959 -0.31807991 0.94076564]] t_gt: [ 0.07840581 -0.14868473 0.98577146] Pose Error in degrees for R and t: 134.76373153056318 88.10429917479634 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.95676833 -0.29071974 -0.00874052] [ 0.29058588 -0.95674721 0.01395072] [-0.01241822 0.01080774 0.99986448]] t_estimated: [[0.99775261] [0.0668351 ] [0.00477394]] R_gt: [[ 0.99753912 0.0527658 0.04617176] [-0.0524063 0.99858546 -0.00897883] [-0.04658042 0.00653753 0.99889305]] t_gt: [-0.73406813 0.51774314 0.43941555] Pose Error in degrees for R and t: 166.10779691545002 45.91560079985122 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.87069119e-01 1.60293178e-01 8.06707855e-04] [-1.60291430e-01 9.87067908e-01 -1.89804769e-03] [-1.10051953e-03 1.74419591e-03 9.99997873e-01]] t_estimated: [[0.16664995] [0.98601221] [0.0027775 ]] R_gt: [[ 0.99625315 0.08137646 -0.02927862] [-0.07774178 0.99098881 0.10907968] [ 0.03789152 -0.10639411 0.99360191]] t_gt: [-0.67995997 0.34166001 0.64878569] Pose Error in degrees for R and t: 8.070677172275092 76.97550165671065 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.62181091e-01 -2.72408899e-01 9.69146113e-04] [-2.72407142e-01 -9.62180692e-01 -1.63215179e-03] [ 1.37710635e-03 1.30642327e-03 -9.99998198e-01]] t_estimated: [[0.57953621] [0.81494604] [0.00085604]] R_gt: [[ 0.98981102 -0.00245193 -0.14236679] [ 0.03379195 0.97533068 0.21814852] [ 0.13832008 -0.22073571 0.9654752 ]] t_gt: [ 0.38711687 -0.60251402 0.69793795] Pose Error in degrees for R and t: 168.61844643014862 74.56941565915686 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.98273657e-01 5.87341633e-02 -6.72348718e-05] [-5.87341703e-02 9.98273653e-01 -1.07630636e-04] [ 6.07972057e-05 1.11393813e-04 9.99999992e-01]] t_estimated: [[-0.96432062] [-0.2647352 ] [-0.0010066 ]] R_gt: [[ 0.99634296 -0.07333557 0.04384847] [ 0.07178529 0.99677325 0.03592415] [-0.04634168 -0.03264547 0.99839241]] t_gt: [-0.15903335 -0.85930624 0.4861082 ] Pose Error in degrees for R and t: 8.20431461840651 67.64411365733602 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99998459e-01 1.75559828e-03 -1.28275302e-05] [-1.75560439e-03 9.99998338e-01 -4.92538291e-04] [ 1.19628095e-05 4.92560052e-04 9.99999879e-01]] t_estimated: [[3.08412611e-01] [9.51252491e-01] [5.99732297e-04]] R_gt: [[ 0.98035719 -0.19523276 0.02799874] [ 0.19448114 0.98052171 0.02744717] [-0.03281139 -0.02146314 0.99923119]] t_gt: [ 0.24439832 -0.94502324 0.21725683] Pose Error in degrees for R and t: 11.564713402033952 34.56835218565576 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-0.28171799 0.95945361 0.00915064] [ 0.9594838 0.28175172 -0.00260719] [-0.00507969 0.0080454 -0.99995473]] t_estimated: [[0.99258492] [0.12140893] [0.00591959]] R_gt: [[ 0.93808576 -0.34639212 0.00289453] [ 0.3453348 0.93581374 0.07067469] [-0.02718924 -0.06529943 0.99749486]] t_gt: [ 0.45256462 -0.86579062 0.21352253] Pose Error in degrees for R and t: 178.8644997416492 69.79634431751082 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99857492e-01 1.68814733e-02 1.02889732e-04] [-1.68814646e-02 9.99857494e-01 -8.56489117e-05] [-1.04320949e-04 8.38997768e-05 9.99999991e-01]] t_estimated: [[ 0.98844706] [-0.15155826] [ 0.00158243]] R_gt: [[ 0.99943522 -0.0215374 -0.02582139] [ 0.02211249 0.99950916 0.02220344] [ 0.02533009 -0.02276125 0.99942044]] t_gt: [ 0.44415023 -0.87057858 -0.21171561] Pose Error in degrees for R and t: 2.9587185349707004 55.206016246096894 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99822834e-01 1.88226559e-02 9.31961475e-05] [-1.88226430e-02 9.99822829e-01 -1.36810400e-04] [-9.57547709e-05 1.35031964e-04 9.99999986e-01]] t_estimated: [[ 9.96169429e-01] [-8.74435203e-02] [ 3.14130271e-04]] R_gt: [[ 0.99873321 -0.04535566 -0.02179222] [ 0.04559617 0.99890318 0.01066175] [ 0.02128443 -0.011642 0.99970599]] t_gt: [ 0.54889236 -0.81655126 -0.17877698] Pose Error in degrees for R and t: 3.9415448541594404 51.81987553516948 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.03725645 0.99930458 -0.00151828] [-0.99930514 0.03725473 -0.00114622] [-0.00108886 0.00155993 0.99999819]] t_estimated: [[ 7.95527436e-02] [ 9.96830640e-01] [-1.89036222e-04]] R_gt: [[ 0.98587696 -0.16746414 -0.00156391] [ 0.16738948 0.98564349 -0.02210007] [ 0.00524132 0.02152577 0.99975524]] t_gt: [ 0.68848788 -0.72044769 -0.08330402] Pose Error in degrees for R and t: 97.50893735763317 48.442029275799015 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 0.51120589 0.85936394 0.01273404] [ 0.85938904 -0.51092054 -0.02026518] [-0.01090908 0.02130318 -0.99971354]] t_estimated: [[-0.51412553] [ 0.85762924] [-0.0121253 ]] R_gt: [[ 0.98736568 -0.15821406 0.00880337] [ 0.15844816 0.98639362 -0.04382435] [-0.00175003 0.04466632 0.99900008]] t_gt: [ 0.49125233 -0.78313793 -0.38126911] Pose Error in degrees for R and t: 176.2683011047783 23.1346081370139 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.79031637 0.5085922 0.34166359] [-0.55234651 -0.83274575 -0.03805055] [ 0.26516669 -0.21878867 0.93905173]] t_estimated: [[0.59129585] [0.80645324] [0.00154789]] R_gt: [[ 0.96808265 -0.2503709 0.01147888] [ 0.25062215 0.96744429 -0.03519867] [-0.00229223 0.03695262 0.99931469]] t_gt: [ 0.4000796 -0.89382843 -0.20250199] Pose Error in degrees for R and t: 161.94481261699195 61.01511478646867 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999778e-01 -6.40994824e-04 1.83303647e-04] [ 6.41058804e-04 9.99999734e-01 -3.49191670e-04] [-1.83079768e-04 3.49309101e-04 9.99999922e-01]] t_estimated: [[-9.99993536e-01] [-3.53593857e-03] [-6.51590119e-04]] R_gt: [[ 0.943425 -0.32740925 0.05247722] [ 0.32927405 0.94369858 -0.03180499] [-0.03910899 0.04728519 0.99811555]] t_gt: [ 0.35796357 -0.93313753 -0.03341306] Pose Error in degrees for R and t: 19.463839830642346 69.22861948175672 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99799217 0.06182794 0.01374552] [-0.0616175 0.99798349 -0.01523957] [-0.01466003 0.014362 0.99978939]] t_estimated: [[0.35157122] [0.93616058] [0.00102201]] R_gt: [[ 0.98887896 -0.03222699 -0.14518858] [ 0.05345539 0.98801987 0.14477453] [ 0.13878288 -0.1509251 0.97875368]] t_gt: [ 0.65909792 -0.72795194 0.18888068] Pose Error in degrees for R and t: 14.329362732287173 63.2840927061362 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-9.18312816e-01 3.95850753e-01 -1.93734494e-03] [ 3.95855458e-01 9.18299649e-01 -4.92046938e-03] [-1.68708328e-04 -5.28543866e-03 -9.99986018e-01]] t_estimated: [[0.99178309] [0.12792107] [0.00157927]] R_gt: [[ 0.96964872 -0.1182029 -0.21402856] [ 0.16708112 0.95943615 0.22708015] [ 0.17850493 -0.25594833 0.95006575]] t_gt: [ 0.71553916 -0.62000662 0.32186254] Pose Error in degrees for R and t: 165.86830109749408 50.886691650360056 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.56162954 -0.82137078 -0.09961076] [ 0.82450374 -0.54555522 -0.15021011] [ 0.06903503 -0.16649188 0.98362321]] t_estimated: [[0.99797107] [0.06350725] [0.00453623]] R_gt: [[ 0.93947477 -0.22269055 -0.26037492] [ 0.28713753 0.92635549 0.24375583] [ 0.18691692 -0.30376575 0.9342301 ]] t_gt: [ 0.77657277 -0.55932057 0.28999177] Pose Error in degrees for R and t: 108.71213140571906 42.201098297603316 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.36453286 -0.24069514 0.89954524] [-0.93082318 0.1213193 -0.34474605] [-0.0261535 -0.96298883 -0.26826948]] t_estimated: [[0.70224688] [0.70224688] [0.11704115]] R_gt: [[ 0.99870712 0.02870079 -0.04196319] [-0.02579439 0.99733454 0.06825489] [ 0.04381061 -0.06708328 0.99678574]] t_gt: [0.42113102 0.46367627 0.779521 ] Pose Error in degrees for R and t: 138.2104321798213 44.55402873972327 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.68190788 0.73129904 -0.01426026] [ 0.73128095 0.6820359 0.00743014] [ 0.01515966 -0.00536159 -0.99987071]] t_estimated: [[ 0.99937062] [ 0.03504453] [-0.00549936]] R_gt: [[ 0.98962583 0.13374769 -0.05245775] [-0.12922656 0.98823928 0.08175327] [ 0.06277556 -0.07412635 0.99527115]] t_gt: [-0.3326875 0.92316916 0.19255575] Pose Error in degrees for R and t: 174.25320368081606 72.47120771590902 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-2.50072041e-01 -9.68227227e-01 -1.03990799e-04] [-9.68226209e-01 2.50071619e-01 1.48089750e-03] [-1.40784013e-03 4.71017677e-04 -9.99998898e-01]] t_estimated: [[0.77990455] [0.62589679] [0.00144929]] R_gt: [[ 0.98970378 0.12321246 -0.07283738] [-0.11644269 0.98903256 0.09085893] [ 0.08323314 -0.08144175 0.99319716]] t_gt: [-0.10957907 0.97172973 0.2091262 ] Pose Error in degrees for R and t: 179.52942824854136 58.46331439740593 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 9.99916396e-01 1.29304464e-02 7.21066946e-05] [-1.29304475e-02 9.99916398e-01 1.44727390e-05] [-7.19135274e-05 -1.54039008e-05 9.99999997e-01]] t_estimated: [[0.63556589] [0.77204602] [0.00097239]] R_gt: [[ 0.99496999 -0.09387438 0.03496099] [ 0.09352357 0.99555048 0.01154704] [-0.03588985 -0.00821924 0.99932155]] t_gt: [ 0.88869149 -0.27930907 0.36361226] Pose Error in degrees for R and t: 6.471048476100716 69.54105506098816 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.84708960e-01 1.74207478e-01 1.39676081e-04] [-1.74207480e-01 9.84708969e-01 -3.61627596e-06] [-1.38170272e-04 -2.07716387e-05 9.99999990e-01]] t_estimated: [[0.43350008] [0.90115305] [0.00092543]] R_gt: [[ 9.89021523e-01 -1.23202252e-01 8.15916939e-02] [ 1.23583201e-01 9.92333695e-01 3.80302890e-04] [-8.10131102e-02 9.70630596e-03 9.96666173e-01]] t_gt: [ 0.87090596 -0.05717008 0.48811308] Pose Error in degrees for R and t: 17.753446040430042 70.94530958356512 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.08883710e-01 4.17049183e-01 6.17385691e-04] [-4.17049254e-01 9.08883887e-01 -1.56502298e-05] [-5.67658822e-04 -2.43256003e-04 9.99999809e-01]] t_estimated: [[-0.03763373] [ 0.99929106] [ 0.00103959]] R_gt: [[ 0.98441825 -0.09381262 0.14872637] [ 0.10072308 0.99412572 -0.03962143] [-0.14413666 0.05398363 0.98808419]] t_gt: [0.68485093 0.31274593 0.6581559 ] Pose Error in degrees for R and t: 31.494494524234618 73.29554865183786 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999944e-01 2.95186858e-04 -1.56909162e-04] [-2.95185104e-04 9.99999956e-01 1.12003168e-05] [ 1.56912462e-04 -1.11539989e-05 9.99999988e-01]] t_estimated: [[-0.86215183] [-0.50664864] [-0.00117004]] R_gt: [[ 0.99341049 0.11457745 0.00273001] [-0.11438964 0.99269619 -0.0383235 ] [-0.00710137 0.03775996 0.99926203]] t_gt: [-0.41700069 0.90263906 -0.10655123] Pose Error in degrees for R and t: 6.919264097865547 84.39450910459936 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.96090445e-01 8.83366409e-02 -6.81018062e-04] [-8.83360916e-02 9.96090406e-01 7.98512681e-04] [ 7.48893486e-04 -7.35232378e-04 9.99999449e-01]] t_estimated: [[3.56103834e-01] [9.34446260e-01] [4.97037662e-04]] R_gt: [[ 0.99009714 0.13512346 0.03808427] [-0.13753641 0.98801106 0.07012558] [-0.02815278 -0.07466916 0.99681117]] t_gt: [-0.43121253 0.77114427 0.46839328] Pose Error in degrees for R and t: 5.33538685359392 55.439978687271 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.46458796e-01 -3.22824089e-01 -5.95915048e-04] [ 3.22824402e-01 9.46458726e-01 5.34447481e-04] [ 3.91476475e-04 -6.98208439e-04 9.99999680e-01]] t_estimated: [[-0.66871079] [-0.74352197] [-0.00097866]] R_gt: [[ 0.98710756 0.12078501 0.10502281] [-0.13808578 0.97444533 0.17716616] [-0.08094128 -0.18938301 0.97856155]] t_gt: [-0.30364586 0.49431465 0.81452576] Pose Error in degrees for R and t: 28.857055730905458 80.48651737434292 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-5.94633423e-01 -8.03993679e-01 -2.29290231e-03] [ 8.03996472e-01 -5.94633755e-01 -6.07880690e-04] [-8.74704878e-04 -2.20495154e-03 9.99997187e-01]] t_estimated: [[9.62259886e-01] [2.72130727e-01] [8.82871944e-04]] R_gt: [[ 0.98902734 -0.1449528 -0.02852968] [ 0.14531324 0.98932423 0.0109806 ] [ 0.02663415 -0.01500484 0.99953276]] t_gt: [ 0.53126562 -0.84678141 0.02679716] Pose Error in degrees for R and t: 118.14546227801395 73.69180351127099 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 4.96150232e-01 8.68236234e-01 8.87725155e-04] [-8.68233327e-01 4.96150897e-01 -2.27512390e-03] [-2.41579064e-03 3.58050689e-04 9.99997018e-01]] t_estimated: [[-8.63611151e-02] [ 9.96263492e-01] [ 9.01452462e-04]] R_gt: [[ 0.95464334 -0.29422347 -0.04569017] [ 0.29606004 0.95430907 0.04052298] [ 0.03167942 -0.05221162 0.99813351]] t_gt: [ 0.59382722 -0.7982058 0.10117672] Pose Error in degrees for R and t: 77.51037352374371 32.176067625476634 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.28942809 0.95718146 -0.00591922] [ 0.95718907 -0.2893901 0.00651621] [ 0.00452423 -0.00755179 -0.99996125]] t_estimated: [[9.12105939e-01] [4.09953752e-01] [8.23200306e-04]] R_gt: [[ 0.93355939 -0.3488868 -0.08213192] [ 0.35397268 0.93343529 0.05832699] [ 0.05631547 -0.08352334 0.99491344]] t_gt: [ 0.60847595 -0.78559693 0.11222516] Pose Error in degrees for R and t: 173.7679880498977 76.52456198916995 Number of keypoints: Image1: 364 Image2: 364 R_estimated: [[ 9.99962911e-01 -8.61259095e-03 -3.51625102e-06] [ 8.61259093e-03 9.99962911e-01 -5.94739265e-06] [ 3.56734307e-06 5.91688804e-06 1.00000000e+00]] t_estimated: [[-0.64881001] [-0.76095002] [-0.000801 ]] R_gt: [[ 0.99984148 -0.00174235 -0.01776715] [ 0.00194178 0.99993451 0.0112283 ] [ 0.01774655 -0.01126104 0.99977892]] t_gt: [ 0.25093596 -0.64197714 -0.72449741] Pose Error in degrees for R and t: 1.265128964588554 70.95667243105366 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 4.08874635e-01 9.12590463e-01 4.24533695e-04] [-9.12589736e-01 4.08874846e-01 -1.15466290e-03] [-1.22731550e-03 8.46872795e-05 9.99999243e-01]] t_estimated: [[0.39809293] [0.91734459] [0.00096158]] R_gt: [[ 0.99472653 -0.10212041 0.00951862] [ 0.10222561 0.9946961 -0.01135764] [-0.00830769 0.01227204 0.99989074]] t_gt: [ 0.65505962 -0.75541892 0.01546467] Pose Error in degrees for R and t: 71.73397317767268 64.39337792236704 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99997059e-01 -2.41968117e-03 1.64180970e-04] [ 2.41968802e-03 9.99997072e-01 -4.15638870e-05] [-1.64079918e-04 4.19610315e-05 9.99999986e-01]] t_estimated: [[9.50201292e-01] [3.11636684e-01] [2.84743066e-04]] R_gt: [[ 0.97105181 -0.23878021 -0.00665071] [ 0.2382308 0.97010501 -0.04626505] [ 0.01749978 0.04334193 0.99890717]] t_gt: [ 0.75250966 -0.64444183 -0.13573482] Pose Error in degrees for R and t: 13.926293922683447 59.058322380052886 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.95668820e-01 -9.29691293e-02 5.84611280e-04] [ 9.29679609e-02 9.95667508e-01 1.78112204e-03] [-7.47667821e-04 -1.71905757e-03 9.99998243e-01]] t_estimated: [[0.41582279] [0.90944467] [0.00134136]] R_gt: [[ 9.85842407e-01 -1.67661894e-01 -1.68185117e-03] [ 1.67670700e-01 9.85791436e-01 1.00458340e-02] [-2.65354160e-05 -1.01854981e-02 9.99948499e-01]] t_gt: [ 0.85906427 -0.51121466 0.0258486 ] Pose Error in degrees for R and t: 4.345856042998091 83.81908079728329 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.86570138 -0.50055853 -0.00151111] [ 0.50055413 0.86570148 -0.00255217] [ 0.00258568 0.00145303 0.9999956 ]] t_estimated: [[ 0.87258966] [-0.48844359] [-0.00318663]] R_gt: [[ 0.92233708 -0.38636595 -0.00387385] [ 0.38633873 0.92202175 0.02485179] [-0.00603033 -0.02441802 0.99968305]] t_gt: [ 0.90794534 -0.41663676 0.04526676] Pose Error in degrees for R and t: 7.472168329330729 5.36270440073087 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99947263e-01 1.02564321e-02 5.25261192e-04] [-1.02564141e-02 9.99947401e-01 -3.69275832e-05] [-5.25612309e-04 3.15383395e-05 9.99999861e-01]] t_estimated: [[9.99636879e-01] [2.69357555e-02] [7.58441157e-04]] R_gt: [[ 8.60920747e-01 -5.08366103e-01 1.94607492e-02] [ 5.08220800e-01 8.61141279e-01 1.21536143e-02] [-2.29364906e-02 -5.73341733e-04 9.99736392e-01]] t_gt: [ 0.93086783 -0.36506825 0.01450042] Pose Error in degrees for R and t: 31.168224010787235 22.970278583190268 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-6.40686499e-01 -7.67802259e-01 7.07639111e-04] [-7.67801844e-01 6.40686889e-01 7.99625633e-04] [-1.06732947e-03 -3.10172669e-05 -9.99999430e-01]] t_estimated: [[0.93710476] [0.34904307] [0.00189697]] R_gt: [[ 0.9719039 -0.23419701 0.02355382] [ 0.23372647 0.97207338 0.02109094] [-0.02783595 -0.01499274 0.9994997 ]] t_gt: [ 0.8691468 -0.48461933 0.0986304 ] Pose Error in degrees for R and t: 178.15671490237372 49.79564924053082 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.55485957 0.83190606 -0.00794801] [-0.83177752 0.55491433 0.01470511] [ 0.01664374 -0.0015483 0.99986028]] t_estimated: [[-0.99758276] [-0.06906342] [-0.00767371]] R_gt: [[ 9.22616255e-01 -3.83342224e-01 4.27710271e-02] [ 3.82970762e-01 9.23605607e-01 1.68997061e-02] [-4.59817591e-02 7.88316414e-04 9.98941664e-01]] t_gt: [ 0.90193112 -0.4285646 0.05341015] Pose Error in degrees for R and t: 78.90311041554789 29.475911068686234 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.99906052 0.04328922 -0.00203244] [-0.04328197 0.99905681 0.0034863 ] [ 0.00218145 -0.00339506 0.99999186]] t_estimated: [[0.92532595] [0.37916754] [0.0019646 ]] R_gt: [[ 0.80188239 -0.59718109 0.01897214] [ 0.59641144 0.8019422 0.03436978] [-0.03573982 -0.01624531 0.99922879]] t_gt: [ 0.94506742 -0.32416361 0.04201807] Pose Error in degrees for R and t: 39.198204022539315 41.26513174193537 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.62626932 0.77959107 0.00494953] [ 0.77960363 -0.62627224 -0.00112921] [ 0.00221943 0.00456586 -0.99998711]] t_estimated: [[-0.98462332] [-0.17466619] [-0.00293795]] R_gt: [[ 0.99765358 0.04715887 0.0496303 ] [-0.04283859 0.99547882 -0.08476432] [-0.05340339 0.0824403 0.9951639 ]] t_gt: [-0.67046283 0.66092388 -0.33713383] Pose Error in degrees for R and t: 174.21811775216364 56.92729879496989 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.97533649 -0.21951118 -0.02309923] [ 0.21997088 0.97530786 0.01968248] [ 0.01820834 -0.0242782 0.99953941]] t_estimated: [[0.99788905] [0.06479799] [0.00431987]] R_gt: [[ 0.99114958 0.09129919 0.09637219] [-0.08061309 0.99071382 -0.10948719] [-0.10547255 0.10074962 0.98930459]] t_gt: [-0.74989808 0.66144842 0.01178345] Pose Error in degrees for R and t: 20.340830720442803 45.137836029401804 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 4.32191914e-01 9.01781630e-01 2.02537583e-04] [-9.01779434e-01 4.32190342e-01 2.31540764e-03] [ 2.00045728e-03 -1.18334469e-03 9.99997299e-01]] t_estimated: [[0.99990222] [0.01393592] [0.00116133]] R_gt: [[ 0.99012833 0.13304083 0.04411538] [-0.13163784 0.99073646 -0.03332777] [-0.04814021 0.02719186 0.99846956]] t_gt: [-0.76245592 0.64126748 0.08623804] Pose Error in degrees for R and t: 56.87056841814356 41.119069564342574 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.62402967e-01 2.71625662e-01 1.70703584e-04] [-2.71625630e-01 9.62402973e-01 -1.87199160e-04] [-2.15133732e-04 1.33793558e-04 9.99999968e-01]] t_estimated: [[1.58977960e-01] [9.87281918e-01] [6.49452122e-04]] R_gt: [[ 0.99851403 -0.05140328 0.01808949] [ 0.05167996 0.99854916 -0.01509794] [-0.01728716 0.01600971 0.99972187]] t_gt: [ 0.63401236 -0.7667372 0.10070947] Pose Error in degrees for R and t: 18.763110553797258 48.994887169071085 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[-9.18496129e-01 -3.95424233e-01 -2.12991961e-03] [ 3.95424446e-01 -9.18498445e-01 3.38069782e-04] [-2.09000883e-03 -5.31706496e-04 9.99997675e-01]] t_estimated: [[7.88366011e-01] [6.15206122e-01] [6.78454755e-04]] R_gt: [[ 0.98189629 -0.1875933 0.02623783] [ 0.18864022 0.98098273 -0.04568307] [-0.01716904 0.04980498 0.99861157]] t_gt: [ 0.73213196 -0.67831844 -0.06218424] Pose Error in degrees for R and t: 145.8723744020221 80.80238440118177 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.35234093e-01 -3.54027547e-01 1.29873843e-03] [ 3.54028674e-01 9.35234253e-01 -7.68143328e-04] [-9.42680771e-04 1.17818447e-03 9.99998862e-01]] t_estimated: [[0.72085176] [0.69308856] [0.00099154]] R_gt: [[ 0.95030054 -0.30866077 0.04071648] [ 0.31053931 0.94907751 -0.05306167] [-0.02226479 0.06306773 0.99776047]] t_gt: [ 0.77865251 -0.62555628 -0.04878116] Pose Error in degrees for R and t: 4.611414305988199 82.6645222881028 Number of keypoints: Image1: 262 Image2: 262 R_estimated: [[ 9.98747431e-01 -5.00356634e-02 2.40634600e-05] [ 5.00356605e-02 9.98747426e-01 1.07892973e-04] [-2.94318153e-05 -1.06553799e-04 9.99999994e-01]] t_estimated: [[0.92701246] [0.3750284 ] [0.00126519]] R_gt: [[ 0.99702022 -0.05676501 0.05224153] [ 0.05644774 0.99837724 0.00754418] [-0.05258515 -0.0045727 0.99860645]] t_gt: [ 0.61109337 -0.09582597 0.78573678] Pose Error in degrees for R and t: 3.0465805011498013 57.88990579255048 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.99465101 -0.10327548 -0.0018828 ] [ 0.10327909 0.99465055 0.00192916] [ 0.00167349 -0.00211329 0.99999637]] t_estimated: [[-4.64951225e-01] [-8.85336259e-01] [ 2.58405890e-04]] R_gt: [[ 9.88135513e-01 -1.33557253e-01 7.58434246e-02] [ 1.33172746e-01 9.91041056e-01 1.01314177e-02] [-7.65166648e-02 8.94531870e-05 9.97068838e-01]] t_gt: [ 0.86339845 -0.13255938 0.48679679] Pose Error in degrees for R and t: 4.812081526782116 73.50374036620964 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.73676420e-01 2.27933368e-01 7.80582168e-04] [-2.27932879e-01 9.73676618e-01 -6.67898642e-04] [-9.12270993e-04 4.72396817e-04 9.99999472e-01]] t_estimated: [[0.5638831 ] [0.82585378] [0.00117476]] R_gt: [[ 0.98268621 -0.13540415 0.1264671 ] [ 0.13821427 0.99030795 -0.01367338] [-0.12338935 0.03091645 0.99187704]] t_gt: [0.80199617 0.10559057 0.58792242] Pose Error in degrees for R and t: 22.27103049642198 57.307842910121295 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99580084e-01 -2.89763386e-02 1.64102159e-04] [ 2.89764274e-02 9.99579934e-01 -5.66889402e-04] [-1.47606846e-04 5.71406450e-04 9.99999826e-01]] t_estimated: [[-0.59222497] [-0.80576763] [-0.00284724]] R_gt: [[ 0.99013928 0.13948271 -0.01303211] [-0.13993851 0.98910628 -0.04566953] [ 0.00651977 0.04704327 0.99887203]] t_gt: [-0.34289952 0.91486838 -0.21315668] Pose Error in degrees for R and t: 10.061890318337277 57.758383771119064 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99992341e-01 -3.89339728e-03 3.98669419e-04] [ 3.89399927e-03 9.99991262e-01 -1.52049931e-03] [-3.92746028e-04 1.52204008e-03 9.99998765e-01]] t_estimated: [[-0.62136529] [-0.78351983] [-0.00136264]] R_gt: [[ 9.65696709e-01 2.58313091e-01 -2.65712075e-02] [-2.59675037e-01 9.60373898e-01 -1.01241884e-01] [-6.33645928e-04 1.04669219e-01 9.94507340e-01]] t_gt: [-0.29655831 0.93447435 -0.19700473] Pose Error in degrees for R and t: 16.377764694281062 56.794763565124676 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 5.47479628e-02 9.98500199e-01 -1.15134509e-04] [ 9.98494382e-01 -5.47472493e-02 3.42172164e-03] [ 3.41028644e-03 -3.02293450e-04 -9.99994139e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189838e-04]] R_gt: [[ 0.95131556 0.30819033 0.00434424] [-0.30755923 0.95010206 -0.05208366] [-0.0201794 0.04821227 0.9986341 ]] t_gt: [-0.31755799 0.94810355 -0.01601792] Pose Error in degrees for R and t: 177.56309656538244 71.66158501301112 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99891041e-01 1.47616518e-02 -1.18303860e-05] [-1.47616517e-02 9.99891041e-01 9.58508930e-06] [ 1.19705888e-05 -9.40940888e-06 1.00000000e+00]] t_estimated: [[-0.65109508] [ 0.75899546] [-0.00104722]] R_gt: [[ 0.99769848 0.00752344 -0.06738964] [-0.00848034 0.99986765 -0.01392096] [ 0.0672759 0.01446008 0.99762962]] t_gt: [ 0.38124925 0.01854501 -0.92428626] Pose Error in degrees for R and t: 3.9638710155089973 76.5152824195499 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.36970285e-01 5.47247893e-01 6.96885476e-04] [-5.47247849e-01 8.36970561e-01 -2.68508556e-04] [-7.30213369e-04 -1.56635396e-04 9.99999721e-01]] t_estimated: [[0.11707152] [0.99312288] [0.00109302]] R_gt: [[ 0.99591916 -0.04336415 -0.07915818] [ 0.04496664 0.99881628 0.01857722] [ 0.07825822 -0.02206119 0.99668867]] t_gt: [ 0.61057095 -0.6182459 -0.49494962] Pose Error in degrees for R and t: 36.01285052040314 57.10817311594204 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.59946526 0.80036961 0.00706257] [ 0.80039184 -0.59939355 -0.01001389] [-0.00378155 0.01165581 -0.99992492]] t_estimated: [[-0.99999437] [-0.00251034] [-0.00222865]] R_gt: [[ 0.98810735 -0.09180834 -0.12335565] [ 0.09712815 0.99455321 0.03782578] [ 0.11921019 -0.04935739 0.99164149]] t_gt: [ 0.61533047 -0.6857136 -0.38879979] Pose Error in degrees for R and t: 175.3354914419045 52.21217606385256 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.91999201e-01 -1.26243934e-01 -2.34785591e-04] [ 1.26244089e-01 9.91998851e-01 8.42375452e-04] [ 1.26562245e-04 -8.65276068e-04 9.99999618e-01]] t_estimated: [[-0.60832169] [-0.7936901 ] [-0.00087027]] R_gt: [[ 0.99663575 -0.07985481 0.0184353 ] [ 0.07946135 0.99661399 0.02112022] [-0.02005869 -0.01958504 0.9996068 ]] t_gt: [ 0.58097808 -0.76422387 0.28004705] Pose Error in degrees for R and t: 3.112976525462507 75.3513096804097 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-6.22674725e-01 -7.82479835e-01 -1.22291151e-03] [ 7.82479733e-01 -6.22675692e-01 6.70400643e-04] [-1.28605226e-03 -5.39461939e-04 9.99999028e-01]] t_estimated: [[9.99994892e-01] [3.10075980e-03] [7.75189839e-04]] R_gt: [[ 0.99826556 -0.05862038 0.00545784] [ 0.0583212 0.99731084 0.04438758] [-0.00804392 -0.04399227 0.99899981]] t_gt: [ 0.60681766 -0.72338298 0.32937727] Pose Error in degrees for R and t: 125.17093794641734 52.78361638119354 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99997386e-01 -2.28646054e-03 3.39877551e-06] [ 2.28645920e-03 9.99997324e-01 3.51327887e-04] [-4.20206377e-06 -3.51319197e-04 9.99999938e-01]] t_estimated: [[5.37271212e-03] [9.99985275e-01] [7.64333763e-04]] R_gt: [[ 0.99653062 0.03138011 -0.07708309] [-0.02845533 0.99884303 0.03875949] [ 0.07821055 -0.03643139 0.99627091]] t_gt: [ 0.78238835 -0.28155516 -0.55551342] Pose Error in degrees for R and t: 5.2754935420560685 73.87272043669792 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99999998e-01 -5.52898694e-05 1.73913257e-07] [ 5.52898693e-05 9.99999998e-01 6.17418037e-07] [-1.73947394e-07 -6.17408420e-07 1.00000000e+00]] t_estimated: [[-9.90170977e-01] [-1.39860030e-01] [-7.79424379e-04]] R_gt: [[ 0.99326958 0.11570618 0.00539874] [-0.11561518 0.99318288 -0.01486834] [-0.00708226 0.01414409 0.99987417]] t_gt: [-0.69287823 0.72057752 -0.02622591] Pose Error in degrees for R and t: 6.706744655963588 54.1752228555865 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 0.30055098 0.91003199 -0.28550111] [-0.70859212 0.01268726 -0.70550424] [-0.6384092 0.41434383 0.64865467]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.99084982 0.12839017 -0.041629 ] [-0.12902381 0.99155798 -0.01287264] [ 0.03962425 0.01812563 0.99904972]] t_gt: [-0.65651999 0.67579254 -0.33509096] Pose Error in degrees for R and t: 85.12787660289412 84.57982386852514 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[-0.10213138 0.99476862 0.00213792] [-0.99476368 -0.1021222 -0.00403364] [-0.00379421 -0.00253869 0.99998958]] t_estimated: [[0.1313029 ] [0.99133686] [0.00328257]] R_gt: [[ 0.9948311 0.10151503 -0.00273701] [-0.1015264 0.99482435 -0.00415241] [ 0.00230139 0.0044079 0.99998714]] t_gt: [-0.81079199 0.58387854 -0.04125782] Pose Error in degrees for R and t: 90.03582973090818 61.82114091781316 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.96380282e-01 8.50078162e-02 6.47682925e-05] [-8.50078245e-02 9.96380274e-01 1.37754614e-04] [-5.28236301e-05 -1.42761792e-04 9.99999988e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99061215 0.12458692 -0.05627278] [-0.1257362 0.99191193 -0.01737065] [ 0.05365366 0.02428247 0.99826357]] t_gt: [-0.32492078 0.88743682 -0.32692871] Pose Error in degrees for R and t: 4.10121413799018 27.74198625811738 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99997136e-01 2.35651963e-03 -4.18769180e-04] [-2.35644351e-03 9.99997207e-01 1.82171617e-04] [ 4.19197301e-04 -1.81184289e-04 9.99999896e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.98683044 0.1301741 -0.09602817] [-0.1296782 0.99149081 0.01140749] [ 0.09669602 0.00119562 0.99531238]] t_gt: [-0.16930117 0.9115042 -0.37482958] Pose Error in degrees for R and t: 9.190974165349079 24.489272874797887 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99998515e-01 -1.50022772e-03 8.48245061e-04] [ 1.50128299e-03 9.99998098e-01 -1.24478907e-03] [-8.46375981e-04 1.24606068e-03 9.99998865e-01]] t_estimated: [[-9.99967893e-01] [-7.96434606e-03] [-8.84927339e-04]] R_gt: [[ 0.97921038 0.13049635 -0.1552983 ] [-0.1256182 0.99123659 0.04086068] [ 0.1592698 -0.02050358 0.98702153]] t_gt: [ 0.03411455 0.86229862 -0.50524973] Pose Error in degrees for R and t: 11.939010027746278 87.67693726923439 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 7.79913695e-01 -6.25868065e-01 4.87793024e-03] [-6.25878662e-01 -7.79919932e-01 8.94070515e-04] [ 3.24482484e-03 -3.75029029e-03 -9.99987703e-01]] t_estimated: [[0.73960092] [0.67304516] [0.00083195]] R_gt: [[ 0.99526731 0.02048457 -0.09499248] [-0.01986749 0.99977564 0.00743592] [ 0.09512421 -0.0055143 0.99544928]] t_gt: [ 0.13386997 0.24267374 -0.96082687] Pose Error in degrees for R and t: 178.68436338342187 74.83845767736811 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.29519969 -0.95543204 -0.00259888] [ 0.95543448 -0.29519413 -0.00232165] [ 0.001451 -0.00316841 0.99999393]] t_estimated: [[9.25026496e-01] [3.79901886e-01] [7.34418766e-04]] R_gt: [[ 9.85097116e-01 3.15202942e-02 -1.69088596e-01] [-3.18591157e-02 9.99492187e-01 7.08373069e-04] [ 1.69025871e-01 4.68897751e-03 9.85599898e-01]] t_gt: [ 0.18775397 0.19194082 -0.96327938] Pose Error in degrees for R and t: 109.27294158490947 75.76564502502615 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-7.16429352e-01 -6.97655877e-01 -2.29358798e-03] [ 6.97659190e-01 -7.16428775e-01 -1.21041123e-03] [-7.98741916e-04 -2.46731686e-03 9.99996637e-01]] t_estimated: [[9.82698325e-01] [1.85211212e-01] [8.99083555e-04]] R_gt: [[ 0.97669606 0.01193927 -0.21429374] [-0.01640211 0.9996843 -0.01905771] [ 0.2139985 0.02212748 0.97658306]] t_gt: [ 0.30282857 0.09003052 -0.94878309] Pose Error in degrees for R and t: 136.83779629978656 71.73510064121592 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 0.58715751 0.80946211 0.00414126] [-0.80946467 0.58716679 -0.00145159] [-0.00360661 -0.00249989 0.99999037]] t_estimated: [[-0.37818428] [ 0.92571751] [ 0.0048734 ]] R_gt: [[ 0.9907382 -0.13506482 -0.01401477] [ 0.13534929 0.99055599 0.02191092] [ 0.01092389 -0.023604 0.99966184]] t_gt: [ 0.68149734 -0.71676335 0.14768772] Pose Error in degrees for R and t: 61.834740804864005 22.995986051061607 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.71151033 0.70266767 -0.00334593] [ 0.7026479 0.71151649 0.00549645] [ 0.00624287 0.00155977 -0.9999793 ]] t_estimated: [[8.29407247e-01] [5.58643906e-01] [7.78055579e-04]] R_gt: [[ 0.98749009 -0.12982116 -0.08949848] [ 0.13504602 0.9893116 0.05500621] [ 0.08140236 -0.0664046 0.99446722]] t_gt: [ 0.66250017 -0.73260129 0.15616939] Pose Error in degrees for R and t: 173.84459419595004 81.9324382578775 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99983794e-01 -2.72510710e-03 4.99849649e-03] [ 2.72876071e-03 9.99996015e-01 -7.24266721e-04] [-4.99650287e-03 7.37894685e-04 9.99987245e-01]] t_estimated: [[0.70904429] [0.70516272] [0.00131615]] R_gt: [[ 0.99024098 -0.0240587 -0.13727628] [ 0.04674587 0.98526486 0.16452876] [ 0.13129554 -0.16934066 0.97677294]] t_gt: [ 0.36751641 -0.67728478 0.63735157] Pose Error in degrees for R and t: 12.728106216409634 77.51572184416109 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-0.33017821 -0.94391484 -0.00266975] [ 0.94390724 -0.3301868 0.00397495] [-0.00463354 -0.00120755 0.99998854]] t_estimated: [[0.98057787] [0.19611557] [0.00239165]] R_gt: [[ 0.9961149 -0.08267691 -0.03032766] [ 0.08344138 0.99620233 0.02487705] [ 0.02815426 -0.02731128 0.99923074]] t_gt: [ 0.60303557 -0.79768738 0.00655251] Pose Error in degrees for R and t: 104.52857834997907 64.22106342214076 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 0.04218536 0.99907421 0.00843372] [ 0.99909314 -0.0421344 -0.00613138] [-0.00577035 0.00868473 -0.99994564]] t_estimated: [[-8.14840327e-01] [-5.79685065e-01] [-6.83590878e-04]] R_gt: [[ 0.98746684 -0.15554419 -0.02676563] [ 0.15382282 0.98642639 -0.05745796] [ 0.03533931 0.05261974 0.99798896]] t_gt: [ 0.57798235 -0.67016432 -0.46563525] Pose Error in degrees for R and t: 178.35702437939915 85.28722164882264 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[-0.15776498 0.98722961 0.02208876] [ 0.98735965 0.1580512 -0.0118636 ] [-0.01520325 0.01993789 -0.99968562]] t_estimated: [[-0.51888846] [-0.85483548] [-0.00332621]] R_gt: [[ 0.97213246 -0.23417587 -0.01092698] [ 0.23197899 0.96764366 -0.09925153] [ 0.03381524 0.09395068 0.99500197]] t_gt: [ 0.58452897 -0.68538953 -0.43424311] Pose Error in degrees for R and t: 175.93310083338292 73.49886517000965 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.1506514 -0.98849449 -0.01352002] [-0.98849574 0.15043764 0.0156428 ] [-0.01342891 0.01572109 -0.99978623]] t_estimated: [[0.63544889] [0.77213275] [0.00396622]] R_gt: [[ 0.96581833 0.25791699 0.0259727 ] [-0.25758938 0.96613327 -0.01530321] [-0.02903915 0.00808944 0.99954519]] t_gt: [-0.88262281 0.47006597 -0.00386753] Pose Error in degrees for R and t: 179.3923429374159 78.58443171793041 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.35682508e-01 3.52842678e-01 5.36598693e-04] [-3.52841513e-01 9.35681795e-01 -1.56361065e-03] [-1.05379420e-03 1.27370884e-03 9.99998634e-01]] t_estimated: [[-9.89774053e-01] [ 1.42643610e-01] [-3.53957787e-04]] R_gt: [[ 0.93953903 0.34122699 0.02880865] [-0.34119498 0.93997273 -0.00618087] [-0.0291886 -0.00402189 0.99956511]] t_gt: [-0.87023245 0.49199489 0.02522941] Pose Error in degrees for R and t: 1.7870193701387305 21.32943473406603 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.58924667e-01 2.79770201e-01 4.68200537e-02] [ 2.83660294e-01 -9.46099707e-01 -1.56307970e-01] [ 5.66127008e-04 1.63168558e-01 -9.86598044e-01]] t_estimated: [[9.59263215e-01] [2.82513698e-01] [3.09247791e-04]] R_gt: [[ 0.91343965 0.406231 0.02459263] [-0.40565604 0.91367705 -0.02525721] [-0.03272967 0.01309539 0.99937821]] t_gt: [-0.86606675 0.49977223 -0.01249413] Pose Error in degrees for R and t: 169.84909752569214 46.401756972540454 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.99876810e-01 -1.56959204e-02 5.43816879e-05] [ 1.56959193e-02 9.99876811e-01 1.98724889e-05] [-5.46869057e-05 -1.90164703e-05 9.99999998e-01]] t_estimated: [[ 7.86419156e-01] [-6.17693119e-01] [ 3.49328701e-04]] R_gt: [[ 0.99643949 -0.08039298 -0.02539844] [ 0.07924089 0.99590749 -0.04346382] [ 0.02878804 0.04129696 0.99873251]] t_gt: [ 0.54403689 -0.58456134 -0.60192351] Pose Error in degrees for R and t: 4.67888199745291 37.9348524776328 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99004335e-01 -4.45992308e-02 1.11679524e-03] [ 4.45992481e-02 9.99004958e-01 9.42176670e-06] [-1.11610418e-03 4.03958422e-05 9.99999376e-01]] t_estimated: [[0.46269849] [0.88651476] [0.00129607]] R_gt: [[ 0.98558773 -0.16903471 -0.00664486] [ 0.16739994 0.98021569 -0.1056203 ] [ 0.02436651 0.10298526 0.99438443]] t_gt: [ 0.55750593 -0.61438023 -0.55832255] Pose Error in degrees for R and t: 9.389555155614259 73.29622591047702 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-2.61412202e-01 -9.65221508e-01 -3.33176034e-03] [ 9.65225881e-01 -2.61416103e-01 7.87043429e-04] [-1.63064705e-03 -3.01015856e-03 9.99994140e-01]] t_estimated: [[0.99979108] [0.02036926] [0.00169744]] R_gt: [[ 0.96994937 -0.24234552 -0.02163483] [ 0.23863789 0.96490004 -0.10963345] [ 0.04744372 0.10117558 0.99373663]] t_gt: [ 0.59422731 -0.66615304 -0.45070393] Pose Error in degrees for R and t: 91.38112677145187 54.56569730385599 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.96926671 0.24597939 0.0040221 ] [ 0.2459883 0.96927096 0.00188597] [-0.0034346 0.00281739 -0.99999013]] t_estimated: [[ 0.99999502] [-0.00263054] [ 0.00174291]] R_gt: [[ 0.99418332 0.10453749 0.02592998] [-0.10515254 0.99417665 0.0235767 ] [-0.02331445 -0.02616644 0.99938585]] t_gt: [-0.8417448 0.4360251 0.31835168] Pose Error in degrees for R and t: 178.56795428950932 32.61272274382284 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.96921661 -0.20196465 -0.14081708] [ 0.20629444 0.97834735 0.01670546] [ 0.1343941 -0.04524099 0.98989468]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.93855998 0.34326267 0.03572171] [-0.34382971 0.93896829 0.01094359] [-0.02978492 -0.02255276 0.99930241]] t_gt: [-0.84871285 0.52191663 0.0853788 ] Pose Error in degrees for R and t: 33.41423765913903 71.3680355564077 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 9.94247889e-01 1.07103209e-01 -1.92407997e-04] [-1.07103300e-01 9.94247747e-01 -5.48408891e-04] [ 1.32564866e-04 5.65861914e-04 9.99999831e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.8700319 0.48833904 0.06760406] [-0.48956024 0.87196796 0.00172502] [-0.05810671 -0.03459733 0.99771039]] t_gt: [-0.81471054 0.57186081 0.09603097] Pose Error in degrees for R and t: 23.480982568173662 35.62381474711123 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999592e-01 8.64274950e-04 2.61268152e-04] [-8.64251130e-04 9.99999622e-01 -9.12698789e-05] [-2.61346935e-04 9.10440404e-05 9.99999962e-01]] t_estimated: [[ 0.99988264] [ 0.01527919] [-0.00111787]] R_gt: [[ 0.99056645 -0.13453897 -0.02604489] [ 0.1346759 0.99088288 0.00359845] [ 0.02532331 -0.00707204 0.99965411]] t_gt: [ 0.54985969 -0.83473905 -0.02941159] Pose Error in degrees for R and t: 7.933978989352127 57.51533237544521 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.99662586 -0.03873719 0.07236247] [-0.03854507 0.99924866 0.00404994] [-0.07246498 0.00124706 -0.99737018]] t_estimated: [[0.98817664] [0.15040356] [0.02976074]] R_gt: [[ 0.97617019 -0.21468401 -0.03167329] [ 0.2157345 0.97583585 0.03467648] [ 0.02346335 -0.04068303 0.99889643]] t_gt: [ 0.58195433 -0.80591701 0.10875164] Pose Error in degrees for R and t: 177.40248746802376 62.8000329271675 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.60637758 -0.79507574 -0.01268082] [ 0.79481092 -0.6065052 0.0206648 ] [-0.02412107 0.00245182 0.99970604]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.96120879 -0.26025882 -0.09133849] [ 0.26601082 0.96224949 0.05756753] [ 0.07290775 -0.07963131 0.99415451]] t_gt: [ 0.63071834 -0.76454343 0.13291995] Pose Error in degrees for R and t: 112.14348558412446 55.27317063336768 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.96941594e-01 -7.81501127e-02 1.32716508e-04] [ 7.81501086e-02 9.96941603e-01 3.53762444e-05] [-1.35075265e-04 -2.48962400e-05 9.99999991e-01]] t_estimated: [[0.30773494] [0.95147152] [0.00107813]] R_gt: [[ 0.99794466 0.01359842 -0.06262105] [-0.0141449 0.99986595 -0.00830202] [ 0.06249918 0.00917164 0.99800216]] t_gt: [ 0.08029698 0.23477353 -0.96872792] Pose Error in degrees for R and t: 6.404780004595889 75.69721598353932 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.98234839e-01 5.93890751e-02 -3.79517555e-04] [-5.93888833e-02 9.98234798e-01 4.98242016e-04] [ 4.08437762e-04 -4.74823414e-04 9.99999804e-01]] t_estimated: [[-0.85194522] [-0.52363009] [-0.00093007]] R_gt: [[ 0.99681958 -0.02012707 -0.07711461] [ 0.01773266 0.99934341 -0.031615 ] [ 0.0777006 0.03014761 0.99652056]] t_gt: [ 0.37417991 -0.09015143 -0.92296377] Pose Error in degrees for R and t: 6.550786187465926 74.29310074526386 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.99983486 0.01781949 0.00356657] [-0.01783939 -0.99982502 -0.00562828] [ 0.00346565 -0.00569098 0.9999778 ]] t_estimated: [[0.75783713] [0.65244257] [0.0012547 ]] R_gt: [[ 0.98404928 -0.15779929 0.08213956] [ 0.16008443 0.98685922 -0.02197128] [-0.0775927 0.0347706 0.99637867]] t_gt: [ 0.68966763 -0.71735194 0.09881677] Pose Error in degrees for R and t: 171.87712462438802 86.86155619803256 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99596470e-01 -2.84058994e-02 4.15505458e-05] [ 2.84058939e-02 9.99596463e-01 1.27419667e-04] [-4.51532488e-05 -1.26187969e-04 9.99999991e-01]] t_estimated: [[0.36731839] [0.93009401] [0.00152778]] R_gt: [[ 0.99537037 0.08563459 -0.04365054] [-0.08635075 0.99615453 -0.01477987] [ 0.04221709 0.01848098 0.99893804]] t_gt: [-0.26412669 0.89890097 -0.3495914 ] Pose Error in degrees for R and t: 7.076302357303717 42.395379698602724 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.92435922e-01 -1.22763758e-01 -7.69140638e-06] [ 1.22763754e-01 9.92435871e-01 3.20332709e-04] [-3.16920196e-05 -3.18853913e-04 9.99999949e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99306934 0.04528614 -0.10845354] [-0.04293461 0.99879125 0.02393084] [ 0.10940675 -0.01910955 0.99381345]] t_gt: [ 0.25827645 0.76913832 -0.5845678 ] Pose Error in degrees for R and t: 11.50879737174378 56.102247146621494 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-5.30534212e-01 -8.47663273e-01 -6.52790949e-04] [ 8.42255108e-01 -5.27235901e-01 1.12377209e-01] [-9.56022078e-02 5.90701376e-02 9.93665405e-01]] t_estimated: [[0.98827203] [0.14973819] [0.02994764]] R_gt: [[ 0.98375509 0.07439795 -0.16337862] [-0.07365081 0.99722666 0.01064047] [ 0.16371773 0.00156516 0.9865062 ]] t_gt: [ 0.29290856 0.69157436 -0.66024956] Pose Error in degrees for R and t: 127.11330817032137 68.08346587903634 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.98687257e-01 -5.12223529e-02 1.81625280e-04] [ 5.12224020e-02 9.98687233e-01 -2.76831231e-04] [-1.67206901e-04 2.85771106e-04 9.99999945e-01]] t_estimated: [[9.97324414e-01] [7.30979272e-02] [8.40205920e-04]] R_gt: [[ 0.99951283 0.02384231 -0.02015943] [-0.02623445 0.99139733 -0.12822826] [ 0.01693003 0.12869521 0.99154043]] t_gt: [-0.08215455 0.47849963 -0.87423609] Pose Error in degrees for R and t: 8.633475612469415 87.26641562904484 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.52956793e-01 3.03105694e-01 -5.38044757e-04] [-3.03105294e-01 9.52956803e-01 7.15146764e-04] [ 7.29498469e-04 -5.18419752e-04 9.99999600e-01]] t_estimated: [[-0.89405858] [-0.44794911] [-0.00091981]] R_gt: [[ 0.99746425 -0.01879223 -0.06864806] [ 0.00422779 0.97845576 -0.20641559] [ 0.07104879 0.20560343 0.97605324]] t_gt: [ 0.10334539 0.25637155 -0.96103765] Pose Error in degrees for R and t: 22.18975144506881 78.0912123707179 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-8.80714873e-01 -4.73645939e-01 9.14841902e-04] [-4.73640910e-01 8.80692585e-01 -6.69769685e-03] [ 2.36664244e-03 -6.33206779e-03 -9.99977152e-01]] t_estimated: [[0.99928538] [0.03774637] [0.00198665]] R_gt: [[ 0.98865622 -0.14533785 -0.03788334] [ 0.12733907 0.94486107 -0.30170031] [ 0.07964384 0.29345443 0.95265067]] t_gt: [ 0.30478446 -0.04796659 -0.95121272] Pose Error in degrees for R and t: 172.38871825179592 72.49035380567858 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.99935786 -0.03364184 0.01233293] [ 0.03392742 0.99914257 -0.02372898] [-0.01152407 0.02413217 0.99964235]] t_estimated: [[-0.89147081] [-0.45307693] [-0.00104879]] R_gt: [[ 0.99174295 -0.12793889 -0.00883607] [ 0.12791893 0.99178075 -0.00276558] [ 0.00911795 0.00161173 0.99995733]] t_gt: [ 0.66529601 -0.74637913 -0.0173037 ] Pose Error in degrees for R and t: 5.682792953369073 75.23194592393382 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.98794720e-01 -4.90825104e-02 1.18198277e-04] [ 4.90824791e-02 9.98794696e-01 2.54046968e-04] [-1.30525075e-04 -2.47939306e-04 9.99999961e-01]] t_estimated: [[-0.60971054] [-0.7926237 ] [-0.00085875]] R_gt: [[ 9.88048167e-01 -1.54133350e-01 -2.05552398e-03] [ 1.54147189e-01 9.87975041e-01 1.20188449e-02] [ 1.78398176e-04 -1.21932015e-02 9.99925552e-01]] t_gt: [ 0.67001527 -0.73951568 0.06477723] Pose Error in degrees for R and t: 6.092410093213191 79.77077914176196 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.99818708 0.06003917 0.00422594] [-0.05998382 0.99812491 -0.01219071] [-0.00494994 0.01191512 0.99991676]] t_estimated: [[0.8107904 ] [0.58533563] [0.00105847]] R_gt: [[ 0.99508079 -0.08792096 -0.04565109] [ 0.09032212 0.99447368 0.05352159] [ 0.04069414 -0.0573828 0.99752292]] t_gt: [ 0.69308415 -0.7184392 0.05898703] Pose Error in degrees for R and t: 9.786069108672928 81.8664832644058 Number of keypoints: Image1: 396 Image2: 396 R_estimated: [[ 9.99998980e-01 -1.42814201e-03 2.27272119e-05] [ 1.42814101e-03 9.99998979e-01 4.39085898e-05] [-2.27898964e-05 -4.38760874e-05 9.99999999e-01]] t_estimated: [[-4.08934094e-01] [ 9.12563871e-01] [-2.98219859e-04]] R_gt: [[ 0.99884845 -0.04591694 0.01394032] [ 0.04652696 0.99780493 -0.04711648] [-0.01174678 0.04771087 0.99879242]] t_gt: [ 0.50448145 0.49289611 -0.70890894] Pose Error in degrees for R and t: 3.813258964824186 75.8943334115014 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99999989e-01 -8.23724093e-05 -1.25891546e-04] [ 8.23674482e-05 9.99999996e-01 -3.94123473e-05] [ 1.25894792e-04 3.94019775e-05 9.99999991e-01]] t_estimated: [[-0.70722075] [-0.70699148] [-0.00136664]] R_gt: [[ 0.99199006 -0.10573181 0.06911111] [ 0.10837315 0.99347089 -0.03564022] [-0.06489183 0.04284477 0.99697215]] t_gt: [0.93366167 0.07797039 0.34956617] Pose Error in degrees for R and t: 7.5987301600164034 44.28241644342683 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99769960e-01 2.14358346e-02 7.30115510e-04] [-2.14359363e-02 9.99770215e-01 1.31775908e-04] [-7.27123014e-04 -1.47396304e-04 9.99999725e-01]] t_estimated: [[-0.99884145] [ 0.04811152] [ 0.00101643]] R_gt: [[ 0.97954159 -0.17495417 0.09944967] [ 0.17901271 0.98327953 -0.03339712] [-0.0919436 0.05051692 0.99448254]] t_gt: [ 0.95087038 -0.00948579 0.30944392] Pose Error in degrees for R and t: 12.91670372234553 18.211269545329536 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[ 9.82511469e-01 1.86199335e-01 1.01052592e-03] [-1.86198462e-01 9.82511743e-01 -8.99241051e-04] [-1.16029166e-03 6.95356276e-04 9.99999085e-01]] t_estimated: [[0.74251082] [0.66983119] [0.00196431]] R_gt: [[ 0.9995604 -0.01564571 -0.02518264] [ 0.01586992 0.99983619 0.00872902] [ 0.02504194 -0.00912397 0.99964458]] t_gt: [ 0.04066055 -0.72379221 -0.68881896] Pose Error in degrees for R and t: 11.743497870325003 62.87194449364638 Number of keypoints: Image1: 366 Image2: 366 R_estimated: [[ 9.99995072e-01 -3.13903542e-03 4.62533985e-05] [ 3.13903412e-03 9.99995073e-01 2.80006706e-05] [-4.63410657e-05 -2.78553416e-05 9.99999999e-01]] t_estimated: [[4.96270964e-01] [8.68167646e-01] [2.63761072e-04]] R_gt: [[ 0.99897356 -0.02026277 0.04051044] [ 0.02020096 0.99979404 0.00195784] [-0.0405414 -0.0011363 0.99917715]] t_gt: [-0.53923713 -0.29013128 0.79059924] Pose Error in degrees for R and t: 2.5200749943356007 58.71591250947075 Number of keypoints: Image1: 558 Image2: 558 R_estimated: [[ 9.91106176e-01 1.33073208e-01 -2.64213239e-04] [-1.33073230e-01 9.91106206e-01 -6.90487513e-05] [ 2.52674842e-04 1.03594353e-04 9.99999963e-01]] t_estimated: [[-0.3989202 ] [ 0.91698345] [-0.00200629]] R_gt: [[ 0.99901173 0.00702506 0.04388804] [-0.00616897 0.9997889 -0.01959292] [-0.04401665 0.01930309 0.99884502]] t_gt: [-0.92435217 0.11953012 0.36233358] Pose Error in degrees for R and t: 7.77687635936261 61.46973219038811 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.86658836 0.49902215 -0.00122745] [ 0.49901902 -0.86656706 0.00644561] [ 0.00215284 -0.00619821 -0.99997847]] t_estimated: [[8.68293970e-01] [4.96049283e-01] [8.30903321e-04]] R_gt: [[ 0.99475677 0.08000471 -0.06372034] [-0.07877026 0.99665772 0.02165806] [ 0.06524055 -0.01652516 0.99773223]] t_gt: [-0.24597056 0.86799707 -0.43136941] Pose Error in degrees for R and t: 177.60976640662852 77.48846632443389 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.90052427e-01 1.40697995e-01 5.16595008e-04] [-1.40698408e-01 9.90052114e-01 8.76874510e-04] [-3.88081495e-04 -9.40835832e-04 9.99999482e-01]] t_estimated: [[0.69886713] [0.71524979] [0.00157215]] R_gt: [[ 0.97885457 0.17924277 -0.09857183] [-0.17945225 0.9837433 0.00680868] [ 0.09818956 0.01102506 0.99510586]] t_gt: [-0.25673783 0.90177704 -0.34768357] Pose Error in degrees for R and t: 6.132737416169487 62.28825078659621 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 8.34936808e-01 5.50344898e-01 1.01019429e-03] [ 5.50342815e-01 -8.34936905e-01 1.77474733e-03] [ 1.82017163e-03 -9.25848700e-04 -9.99997915e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.97556258 0.13930149 -0.16992274] [-0.13545746 0.99019707 0.03406633] [ 0.17300235 -0.01021625 0.9848678 ]] t_gt: [ 0.01995518 0.83233998 -0.55390608] Pose Error in degrees for R and t: 175.84988667123685 39.07082922099737 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.99999513 0.0026801 -0.00160152] [-0.00267677 0.99999425 0.00208034] [ 0.00160709 -0.00207605 0.99999655]] t_estimated: [[-0.71870244] [-0.69531733] [-0.0007795 ]] R_gt: [[ 0.99631431 -0.06751013 -0.052914 ] [ 0.06290823 0.99445633 -0.0842618 ] [ 0.05831022 0.08062314 0.9950376 ]] t_gt: [ 0.36668576 -0.27479483 -0.88883596] Pose Error in degrees for R and t: 6.955574080891247 85.8840280472091 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 9.10128288e-02 9.95847951e-01 1.87731707e-03] [ 9.95849523e-01 -9.10138348e-02 4.57406685e-04] [ 6.26369335e-04 1.82789543e-03 -9.99998133e-01]] t_estimated: [[-7.38524469e-01] [-6.74226540e-01] [-4.26603153e-04]] R_gt: [[ 0.9822015 -0.18279818 -0.0431898 ] [ 0.17252079 0.96889874 -0.17740495] [ 0.07427615 0.1667958 0.98318966]] t_gt: [ 0.48224488 -0.40686071 -0.77582487] Pose Error in degrees for R and t: 174.88108991492007 85.32507184461565 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 0.04775319 0.99885834 -0.00128692] [ 0.99884201 -0.04774478 0.00592258] [ 0.00585438 -0.00156825 -0.99998163]] t_estimated: [[0.04993699] [0.99873989] [0.0049937 ]] R_gt: [[ 0.98550711 -0.15503152 -0.06884938] [ 0.14081839 0.97399036 -0.17752168] [ 0.09458113 0.16525402 0.98170587]] t_gt: [ 0.4117838 -0.23689193 -0.87995245] Pose Error in degrees for R and t: 176.3743866027145 77.26603909114992 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-5.23037778e-01 -8.52306443e-01 -2.28228970e-03] [ 8.52309389e-01 -5.23037198e-01 -8.91831046e-04] [-4.33609063e-04 -2.41167827e-03 9.99996998e-01]] t_estimated: [[9.99918024e-01] [1.27757839e-02] [8.51718930e-04]] R_gt: [[ 0.99909716 -0.01515455 0.03967947] [ 0.01686294 0.99892903 -0.04310164] [-0.03898332 0.04373119 0.9982827 ]] t_gt: [-0.6016519 0.78226646 0.161475 ] Pose Error in degrees for R and t: 120.6510019596207 53.738537099546946 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 5.68951454e-01 8.22370844e-01 6.61481339e-04] [-8.22369848e-01 5.68951806e-01 -1.29416107e-03] [-1.44063134e-03 1.92332517e-04 9.99998944e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 9.98039373e-01 3.91193144e-04 6.25938211e-02] [ 4.70016571e-03 9.96688212e-01 -8.11823102e-02] [-6.24171580e-02 8.13172786e-02 9.94731840e-01]] t_gt: [-0.57612397 0.81638401 -0.03997894] Pose Error in degrees for R and t: 55.72459523086227 35.57677871866793 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999660e-01 -2.01544104e-04 7.99025199e-04] [ 2.02324826e-04 9.99999502e-01 -9.77131919e-04] [-7.98827866e-04 9.77293250e-04 9.99999203e-01]] t_estimated: [[-0.88773959] [-0.46034444] [-0.0011925 ]] R_gt: [[ 0.99800927 -0.01873995 0.06021841] [ 0.02418217 0.99556119 -0.09096053] [-0.05824658 0.09223488 0.99403225]] t_gt: [-0.52510683 0.84301699 -0.11655544] Pose Error in degrees for R and t: 6.310041419610957 85.51380326612781 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.93577925e-01 -1.13147536e-01 -7.35584392e-04] [ 1.13148525e-01 9.93576983e-01 1.48006387e-03] [ 5.63394140e-04 -1.55378908e-03 9.99998634e-01]] t_estimated: [[-0.78017892] [-0.62555594] [-0.00078489]] R_gt: [[ 0.99926064 -0.02983195 0.02428342] [ 0.02820667 0.99750446 0.06472693] [-0.02615436 -0.06399347 0.99760691]] t_gt: [ 0.16298857 -0.46068156 0.87247191] Pose Error in degrees for R and t: 6.2068946141958845 80.7735402736368 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99530797e-01 -3.06298036e-02 1.18934045e-05] [ 3.06298036e-02 9.99530797e-01 -4.94451860e-06] [-1.17363745e-05 5.30649127e-06 1.00000000e+00]] t_estimated: [[ 7.39826633e-01] [-6.72797383e-01] [ 4.83443624e-04]] R_gt: [[ 0.99974574 -0.01705237 0.01482575] [ 0.0173736 0.99961065 -0.02182795] [-0.01444858 0.02208102 0.99965182]] t_gt: [ 0.52489927 -0.84614532 -0.09229762] Pose Error in degrees for R and t: 1.6947561922767158 16.749435880605013 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.90750320e-01 1.35697473e-01 -3.38302134e-06] [-1.35697471e-01 9.90750301e-01 -1.94791703e-04] [-2.30810125e-05 1.93449010e-04 9.99999981e-01]] t_estimated: [[-0.85967755] [-0.51083623] [-0.00092043]] R_gt: [[ 0.99923786 -0.01269217 -0.03691567] [ 0.00821823 0.99287148 -0.11891112] [ 0.03816217 0.11851764 0.99221793]] t_gt: [ 0.10014221 0.19948046 -0.9747713 ] Pose Error in degrees for R and t: 11.021848858469205 79.2167203138608 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99999893e-01 4.54020403e-04 9.00160563e-05] [-4.54022133e-04 9.99999897e-01 1.92047392e-05] [-9.00073277e-05 -1.92456064e-05 9.99999996e-01]] t_estimated: [[8.84092771e-01] [4.67311021e-01] [6.17535553e-04]] R_gt: [[ 0.99473936 -0.10230232 0.00525945] [ 0.10226156 0.99472915 0.00752917] [-0.00600101 -0.00695202 0.99995749]] t_gt: [ 0.55915244 -0.81307035 0.16206528] Pose Error in degrees for R and t: 5.919873710004652 83.4260221076447 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-7.10402584e-01 -7.03790218e-01 -2.73821744e-03] [-7.03793652e-01 7.10404319e-01 4.45012286e-04] [ 1.63204620e-03 2.24327793e-03 -9.99996152e-01]] t_estimated: [[9.34475221e-01] [3.56027336e-01] [7.72293571e-04]] R_gt: [[ 0.98261196 -0.18302736 -0.03119637] [ 0.18278082 0.98309659 -0.01062858] [ 0.03261535 0.00474195 0.99945639]] t_gt: [ 0.65526001 -0.73272657 -0.1837011 ] Pose Error in degrees for R and t: 178.00613188304925 69.43243583833137 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999205e-01 -1.19787006e-03 3.93873822e-04] [ 1.19799111e-03 9.99999235e-01 -3.07256060e-04] [-3.93505468e-04 3.07727673e-04 9.99999875e-01]] t_estimated: [[ 9.99956066e-01] [-9.36515493e-03] [ 3.98925361e-04]] R_gt: [[ 0.96717477 -0.25378443 -0.01288586] [ 0.25203197 0.96449844 -0.07888111] [ 0.03244789 0.07304401 0.9968003 ]] t_gt: [ 0.6176492 -0.69612006 -0.36595947] Pose Error in degrees for R and t: 15.300885451895018 51.39151383912035 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.9999981 0.00155958 -0.0011681 ] [-0.00155819 0.99999809 0.0011831 ] [ 0.00116994 -0.00118128 0.99999862]] t_estimated: [[0.05713536] [0.99836531] [0.00150356]] R_gt: [[ 9.90024615e-01 1.40897326e-01 -6.65321198e-04] [-1.40896996e-01 9.89983981e-01 -8.90098225e-03] [-5.95458214e-04 8.90691998e-03 9.99960050e-01]] t_gt: [-0.56762937 0.82014975 -0.07177243] Pose Error in degrees for R and t: 8.0317065172696 38.16176142454475 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[-0.39743919 -0.91762557 -0.00232351] [ 0.91762708 -0.39743281 -0.00277603] [ 0.00162392 -0.00323542 0.99999345]] t_estimated: [[9.79024550e-01] [2.03740885e-01] [7.63074474e-04]] R_gt: [[ 0.9326736 0.36058034 -0.01012394] [-0.36068647 0.93260693 -0.01224458] [ 0.00502537 0.01507245 0.9998739 ]] t_gt: [-0.52504844 0.84898089 -0.05962869] Pose Error in degrees for R and t: 134.55948512717922 70.05556347012661 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.36307319 -0.93175854 -0.00196985] [ 0.9317593 -0.36306829 -0.00245374] [ 0.00157111 -0.00272631 0.99999505]] t_estimated: [[9.93141519e-01] [1.16917584e-01] [4.48209391e-04]] R_gt: [[ 0.86111395 0.50542699 -0.05501033] [-0.50713243 0.86157565 -0.02246409] [ 0.03604114 0.04724246 0.99823299]] t_gt: [-0.44061554 0.88837077 -0.12905551] Pose Error in degrees for R and t: 141.74843795893935 70.50131225783018 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.75721655e-01 2.19013888e-01 4.09941141e-04] [-2.19013563e-01 9.75721550e-01 -7.18566655e-04] [-5.57364482e-04 6.11338377e-04 9.99999658e-01]] t_estimated: [[-0.69846069] [ 0.71564723] [ 0.00130533]] R_gt: [[ 0.99808036 0.06187133 0.00264892] [-0.06186392 0.99808088 -0.00294314] [-0.0028242 0.00277431 0.99999212]] t_gt: [-0.95836911 0.28302181 -0.03777961] Pose Error in degrees for R and t: 9.105795002119832 29.32243086901457 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.97778371e-01 -6.66204067e-02 -2.08953904e-04] [ 6.66203741e-02 9.97778382e-01 -1.59300736e-04] [ 2.19102368e-04 1.45026241e-04 9.99999965e-01]] t_estimated: [[-0.96144532] [-0.27499401] [-0.00108678]] R_gt: [[ 9.93155701e-01 1.16740316e-01 -3.71014336e-03] [-1.16743921e-01 9.93162608e-01 -7.80756205e-04] [ 3.59429839e-03 1.20867578e-03 9.99992688e-01]] t_gt: [-0.96586275 0.25804119 -0.02288888] Pose Error in degrees for R and t: 10.52585243645285 30.94187933035953 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 5.43962280e-01 8.39109658e-01 -1.41857400e-04] [-8.39109189e-01 5.43961779e-01 -1.16284149e-03] [-8.98586518e-04 7.51575754e-04 9.99999314e-01]] t_estimated: [[-4.61913234e-01] [ 8.86925082e-01] [ 2.52771030e-04]] R_gt: [[ 0.99558451 0.08640034 0.03667909] [-0.08640141 0.99626028 -0.00157367] [-0.03667692 -0.00160253 0.99932538]] t_gt: [-0.9830694 0.173164 0.05990642] Pose Error in degrees for R and t: 52.12649134401309 52.57723721993545 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99211060e-01 3.97012695e-02 -1.03251458e-03] [-3.97010289e-02 9.99211571e-01 2.52472386e-04] [ 1.04172399e-03 -2.11281310e-04 9.99999435e-01]] t_estimated: [[-0.9689311 ] [-0.24727929] [-0.00504652]] R_gt: [[ 0.99921968 0.03255285 0.02236799] [-0.03306473 0.99919048 0.02290442] [-0.02160528 -0.0236261 0.9994875 ]] t_gt: [-0.5783454 0.46375746 0.67115245] Pose Error in degrees for R and t: 1.907913752446087 63.748494860660564 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.99543590e-01 -3.02094057e-02 5.45132166e-05] [ 3.02094080e-02 9.99543591e-01 -4.33748538e-05] [-5.31780078e-05 4.50018691e-05 9.99999998e-01]] t_estimated: [[ 8.69085039e-01] [-4.94662694e-01] [-1.21042787e-04]] R_gt: [[ 0.99587368 -0.0840306 0.0342526 ] [ 0.08290029 0.99600467 0.03318368] [-0.03690554 -0.03020681 0.99886198]] t_gt: [ 0.73882139 -0.48752957 0.46525033] Pose Error in degrees for R and t: 4.102577779380634 27.96856961286531 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.19832769e-01 -3.92310670e-01 1.21879255e-04] [ 3.92310628e-01 9.19832755e-01 2.71229143e-04] [-2.18514618e-04 -2.01670926e-04 9.99999956e-01]] t_estimated: [[ 9.56263874e-01] [-2.92504128e-01] [ 8.58819352e-04]] R_gt: [[ 0.97606485 -0.21469234 0.03471872] [ 0.21380365 0.97648662 0.02757656] [-0.03982366 -0.01949333 0.99901686]] t_gt: [ 0.81250137 -0.55910256 0.16506318] Pose Error in degrees for R and t: 11.013332923076657 19.83945679023467 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.96673210e-01 8.15015830e-02 -6.25078582e-05] [-8.15015873e-02 9.96673209e-01 -7.03723796e-05] [ 5.65644473e-05 7.52327551e-05 9.99999996e-01]] t_estimated: [[-9.54116958e-01] [ 2.99433807e-01] [-4.75121685e-04]] R_gt: [[ 0.9858924 0.16700059 0.01122344] [-0.16732034 0.98509741 0.03985022] [-0.00440241 -0.0411662 0.99914288]] t_gt: [-0.59058442 0.77915814 0.21005388] Pose Error in degrees for R and t: 5.492808985655152 37.18453362986688 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.50926113e-01 -3.09417816e-01 -3.78022233e-04] [ 3.09417829e-01 9.50926183e-01 -2.51409301e-05] [ 3.67250291e-04 -9.30596520e-05 9.99999928e-01]] t_estimated: [[-0.1719058 ] [-0.98511286] [-0.00102938]] R_gt: [[ 0.97161274 0.23648885 -0.00641578] [-0.23571829 0.97003926 0.05882464] [ 0.02013409 -0.05564315 0.99824777]] t_gt: [-0.5258091 0.84301742 0.11334202] Pose Error in degrees for R and t: 31.86874988419901 42.2520268958682 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.38427127 0.92318233 -0.00836486] [ 0.9231483 0.38433866 0.0090005 ] [ 0.01152404 -0.00426337 -0.99992451]] t_estimated: [[-0.06701134] [-0.99772443] [-0.0074457 ]] R_gt: [[ 8.94873135e-01 4.46031593e-01 1.60040048e-02] [-4.46318856e-01 8.94233438e-01 3.38631661e-02] [ 7.92017670e-04 -3.74468224e-02 9.99298664e-01]] t_gt: [-0.47004723 0.88100494 0.05372054] Pose Error in degrees for R and t: 178.50487510739364 32.01583135672962 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.83833692 0.54457829 0.02501379] [ 0.54459634 0.83867167 -0.00668271] [-0.02461762 0.00802005 -0.99966477]] t_estimated: [[ 0.95759168] [-0.28782368] [ 0.01325526]] R_gt: [[ 0.99700457 -0.07493515 0.01916294] [ 0.07499886 0.99717949 -0.0026509 ] [-0.01891004 0.00408071 0.99981341]] t_gt: [ 0.8569389 -0.5099408 0.07494064] Pose Error in degrees for R and t: 177.4160330560998 14.450415754743881 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.83079974 0.55638425 0.01443437] [ 0.55645046 -0.82979898 -0.04238567] [-0.01160509 0.04324602 -0.99899705]] t_estimated: [[-0.30040667] [ 0.95353877] [-0.02279565]] R_gt: [[ 0.98012297 -0.19826015 0.00716079] [ 0.19811 0.98002073 0.01763885] [-0.01051505 -0.01586876 0.99981897]] t_gt: [ 0.8429197 -0.5322297 0.07885379] Pose Error in degrees for R and t: 178.21493212303753 40.31332568555608 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.79287844e-01 2.02469253e-01 1.23270182e-03] [-2.02468327e-01 9.79288455e-01 -8.35920263e-04] [-1.37641881e-03 5.69023476e-04 9.99998891e-01]] t_estimated: [[0.79955151] [0.60059623] [0.00124347]] R_gt: [[ 0.95449745 -0.29789074 -0.01396431] [ 0.29788204 0.954598 -0.00275341] [ 0.01415057 -0.0015311 0.99989887]] t_gt: [ 0.85533313 -0.51733282 -0.02778483] Pose Error in degrees for R and t: 29.026447285915427 68.09058774942095 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.23752828e-01 -3.82988752e-01 -5.73365285e-04] [ 3.82988921e-01 9.23752910e-01 2.17507578e-04] [ 4.46344894e-04 -4.20515792e-04 9.99999812e-01]] t_estimated: [[-0.61601366] [-0.78773429] [-0.00136286]] R_gt: [[ 0.99845474 -0.05383616 -0.01375041] [ 0.05295583 0.99691759 -0.05788286] [ 0.01682422 0.05706511 0.99822908]] t_gt: [ 0.40265824 -0.38482678 -0.83052676] Pose Error in degrees for R and t: 19.751125760289906 86.7765488496244 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.02085868 0.99976168 0.00644166] [ 0.99977856 -0.02084023 -0.0029182 ] [-0.00278326 0.00650111 -0.99997499]] t_estimated: [[-0.56171386] [-0.82733031] [-0.00145146]] R_gt: [[ 0.99949792 0.00921106 -0.03032836] [-0.01106243 0.9980505 -0.06142297] [ 0.02970295 0.06172817 0.99765156]] t_gt: [-0.12910648 0.58119371 -0.8034584 ] Pose Error in degrees for R and t: 178.30667403174056 65.97394191622918 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99163562e-01 -4.08686151e-02 -1.39023072e-03] [ 4.08693546e-02 9.99164370e-01 5.07731480e-04] [ 1.36831872e-03 -5.64124627e-04 9.99998905e-01]] t_estimated: [[-0.44311795] [-0.8964617 ] [-0.0017043 ]] R_gt: [[ 0.99779384 0.06105132 -0.02608469] [-0.06295958 0.99480616 -0.07997371] [ 0.02106684 0.08143975 0.99645616]] t_gt: [-0.27969972 0.81558386 -0.50654816] Pose Error in degrees for R and t: 7.628442139909133 52.674929167319696 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 9.97485103e-01 -7.08764250e-02 3.11535450e-05] [ 7.08764179e-02 9.97485087e-01 1.88267581e-04] [-4.44189297e-05 -1.85586056e-04 9.99999982e-01]] t_estimated: [[0.67053032] [0.74188163] [0.00085965]] R_gt: [[ 0.99772511 -0.02781794 0.06140139] [ 0.02853353 0.99953429 -0.01081323] [-0.06107138 0.01254006 0.99805425]] t_gt: [-0.49328529 0.14597269 0.85753227] Pose Error in degrees for R and t: 4.332466914267893 77.18927054408316 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.87978368e-01 -1.54592185e-01 3.46066765e-05] [ 1.54592172e-01 9.87978339e-01 2.47352738e-04] [-7.24294470e-05 -2.39029233e-04 9.99999969e-01]] t_estimated: [[4.06611733e-01] [9.13600936e-01] [4.77543231e-04]] R_gt: [[ 0.99553833 -0.041047 0.08496083] [ 0.04601396 0.9972932 -0.05735567] [-0.0823763 0.06100987 0.99473197]] t_gt: [-0.60394583 0.60723864 0.51624672] Pose Error in degrees for R and t: 8.689072467629641 71.9739806161312 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.96643951e-01 -8.18586139e-02 4.31539498e-05] [ 8.18586077e-02 9.96643944e-01 1.29360577e-04] [-5.35984003e-05 -1.25393914e-04 9.99999991e-01]] t_estimated: [[3.03383830e-01] [9.52868266e-01] [5.65746268e-04]] R_gt: [[ 0.99569411 -0.03003489 0.08769296] [ 0.03570913 0.99731896 -0.06387793] [-0.08553975 0.06673458 0.99409693]] t_gt: [-0.6126995 0.73843089 0.28163654] Pose Error in degrees for R and t: 6.832882531801218 58.8082678755809 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999979e-01 1.03799009e-04 1.76567659e-04] [-1.03766892e-04 9.99999978e-01 -1.81895595e-04] [-1.76586536e-04 1.81877269e-04 9.99999968e-01]] t_estimated: [[-9.99981640e-01] [-6.00092470e-03] [-8.42004537e-04]] R_gt: [[ 0.99871606 -0.03432124 0.03727172] [ 0.02987498 0.99304158 0.11391642] [-0.04092175 -0.11265696 0.99279139]] t_gt: [ 0.10311083 -0.33716558 0.93578177] Pose Error in degrees for R and t: 7.1344483761942765 84.15293097316905 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99633887 0.08538033 0.0043657 ] [-0.08539854 0.99633815 0.00416995] [-0.00399368 -0.00452751 0.99998178]] t_estimated: [[0.56561367] [0.82463955] [0.00712697]] R_gt: [[ 0.99517593 -0.08191104 0.05400038] [ 0.07018097 0.97896391 0.19158449] [-0.068557 -0.18687058 0.97998952]] t_gt: [ 0.1869615 -0.39340273 0.90015537] Pose Error in degrees for R and t: 14.527951650710893 77.74563704841287 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 8.48084753e-01 5.29860534e-01 2.56693903e-04] [ 5.29779155e-01 -8.47945806e-01 -1.79431685e-02] [-9.28971432e-03 1.53533187e-02 -9.99838975e-01]] t_estimated: [[0.84306213] [0.5378155 ] [0.00085503]] R_gt: [[ 0.99489911 -0.08115261 0.05992382] [ 0.07052528 0.98425936 0.16204714] [-0.07213146 -0.15699467 0.98496183]] t_gt: [ 0.19756831 -0.4168445 0.88724711] Pose Error in degrees for R and t: 173.19548962733455 86.74014878821703 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.12247412 0.99246411 0.00388424] [-0.99239927 0.12251153 -0.01160214] [-0.01199057 -0.00243375 0.99992515]] t_estimated: [[0.08662454] [0.99618218] [0.01082807]] R_gt: [[ 0.99940436 -0.0292583 -0.01830246] [ 0.02604944 0.98740649 -0.15604711] [ 0.02263768 0.15547697 0.98757991]] t_gt: [ 0.25938417 0.26446318 -0.92885902] Pose Error in degrees for R and t: 84.92049141543106 73.98644297732507 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.98121876 -0.19276368 0.00720507] [-0.19274643 0.98124394 0.00302301] [-0.00765266 0.00157748 -0.99996947]] t_estimated: [[ 0.9975262 ] [-0.07019214] [ 0.00381412]] R_gt: [[ 0.99778872 -0.06177176 -0.02454086] [ 0.05589429 0.97958 -0.19312961] [ 0.03597023 0.19132976 0.98086689]] t_gt: [ 0.33834273 0.20554075 -0.91830126] Pose Error in degrees for R and t: 177.62304835785923 71.36272221912887 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-8.45302334e-01 5.34287410e-01 -9.63805181e-04] [-5.34280754e-01 -8.45298627e-01 -3.78233035e-03] [-2.83555468e-03 -2.68227011e-03 9.99992382e-01]] t_estimated: [[0.54927017] [0.83564125] [0.0024457 ]] R_gt: [[ 0.98963955 -0.13694712 -0.04312515] [ 0.12336833 0.96473755 -0.23251201] [ 0.07344664 0.22478182 0.97163759]] t_gt: [ 0.47607058 0.07347494 -0.87633226] Pose Error in degrees for R and t: 155.46243580372627 71.29190483370886 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 0.96511318 0.26164917 -0.00981088] [ 0.26155761 -0.96170273 0.08194804] [ 0.01200649 -0.08165524 -0.99658831]] t_estimated: [[-0.17612144] [ 0.98354139] [ 0.0403433 ]] R_gt: [[ 0.99518817 0.09524779 -0.0229913 ] [-0.09504974 0.99542595 0.0095924 ] [ 0.02379975 -0.00736188 0.99968943]] t_gt: [-0.83592131 0.54874103 -0.01090126] Pose Error in degrees for R and t: 174.60927839909314 46.64683274252442 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.90049060e-01 -1.40721937e-01 -4.42016694e-04] [ 1.40722145e-01 9.90049012e-01 4.81050680e-04] [ 3.69923808e-04 -5.38465311e-04 9.99999787e-01]] t_estimated: [[-0.5288652 ] [-0.84870525] [-0.00100288]] R_gt: [[ 0.9919877 0.11612572 -0.04976072] [-0.11643561 0.99319327 -0.00335702] [ 0.04903217 0.00912349 0.99875512]] t_gt: [-0.70216843 0.68626084 -0.1897513 ] Pose Error in degrees for R and t: 15.040141987619704 77.82546116903437 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.95715059e-01 -9.24742511e-02 -1.86990369e-04] [ 9.24742983e-02 9.95715037e-01 2.61881937e-04] [ 1.61971786e-04 -2.78051592e-04 9.99999948e-01]] t_estimated: [[-9.99550240e-01] [-2.99801902e-02] [-7.11941459e-04]] R_gt: [[ 0.98488103 0.16957557 -0.03539609] [-0.17074411 0.98476043 -0.03306441] [ 0.0292491 0.03860884 0.99882615]] t_gt: [-0.61946669 0.75956122 -0.19831231] Pose Error in degrees for R and t: 15.361325212957702 53.37625912505139 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.92212873 0.38680295 0.00787878] [-0.38686893 -0.92207836 -0.01019488] [ 0.00332145 -0.01244905 0.99991699]] t_estimated: [[0.71475462] [0.69937485] [0.00080946]] R_gt: [[ 0.99387304 -0.09289102 -0.05990022] [ 0.09461489 0.99515823 0.0266202 ] [ 0.05713779 -0.03212352 0.99784922]] t_gt: [ 0.63378916 -0.77300283 -0.02789129] Pose Error in degrees for R and t: 162.65117484576177 84.97228676999559 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99767138e-01 2.15793585e-02 3.68647328e-05] [-2.15793748e-02 9.99767002e-01 5.22347947e-04] [-2.55842098e-05 -5.23021830e-04 9.99999863e-01]] t_estimated: [[0.69198877] [0.72190704] [0.00133221]] R_gt: [[ 0.97538909 -0.20689413 -0.07623659] [ 0.20982561 0.97719501 0.03260992] [ 0.06775156 -0.04780369 0.9965559 ]] t_gt: [ 0.68094529 -0.73226755 0.009887 ] Pose Error in degrees for R and t: 14.101650770984369 86.70887218775492 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.97658088e-01 6.83979589e-02 2.42810315e-04] [-6.83980061e-02 9.97658096e-01 1.91748232e-04] [-2.29126488e-04 -2.07906916e-04 9.99999952e-01]] t_estimated: [[0.90548907] [0.42436434] [0.00210785]] R_gt: [[ 0.96308689 -0.26912568 -0.00606552] [ 0.2688628 0.96277467 -0.02787526] [ 0.0133422 0.02521677 0.99959299]] t_gt: [ 0.64911238 -0.75458568 -0.09619549] Pose Error in degrees for R and t: 19.59855175164542 74.49382983558581 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.35807174 0.93369347 0.00106398] [-0.93369264 -0.35806896 -0.0021645 ] [-0.00164 -0.00176848 0.99999709]] t_estimated: [[0.40231119] [0.91550213] [0.00124815]] R_gt: [[ 0.99494582 -0.07723566 -0.06415384] [ 0.08165043 0.9942469 0.06932135] [ 0.05843012 -0.07420864 0.99552974]] t_gt: [ 0.51566221 -0.81542502 0.26301052] Pose Error in degrees for R and t: 115.63514918490377 57.40220326473042 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999982e-01 1.29381189e-04 -1.38400397e-04] [-1.29200248e-04 9.99999138e-01 1.30658109e-03] [ 1.38569325e-04 -1.30656319e-03 9.99999137e-01]] t_estimated: [[0.77507397] [0.63186943] [0.00117053]] R_gt: [[ 0.97694318 -0.18810635 -0.10098098] [ 0.19543331 0.97833614 0.06829027] [ 0.08594675 -0.086451 0.99254159]] t_gt: [ 0.639649 -0.7595672 0.11792718] Pose Error in degrees for R and t: 13.094216729858848 89.085175012979 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-0.48900441 0.8722807 0.0010345 ] [-0.87227999 -0.48900125 -0.00232471] [-0.00152193 -0.00203917 0.99999676]] t_estimated: [[0.50903182] [0.86074697] [0.00112369]] R_gt: [[ 0.94799959 -0.29802359 -0.11170336] [ 0.30624531 0.94971722 0.06519087] [ 0.08665849 -0.09600916 0.99160072]] t_gt: [ 0.69214366 -0.71625225 0.08899362] Pose Error in degrees for R and t: 137.04114263669737 74.68718370571409 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.98271937e-01 5.87631618e-02 -1.75143993e-04] [-5.87631612e-02 9.98271952e-01 8.49924347e-06] [ 1.75340778e-04 1.80745846e-06 9.99999985e-01]] t_estimated: [[-0.96523394] [-0.26138194] [-0.00170838]] R_gt: [[ 0.98862301 0.1503193 0.0051693 ] [-0.15028087 0.98861695 -0.00725194] [-0.00620032 0.00639241 0.99996036]] t_gt: [-0.86238686 0.50622818 -0.00468301] Pose Error in degrees for R and t: 5.3011443129801785 45.565440549219225 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 0.73395207 -0.67918909 -0.00406723] [ 0.67919869 0.73395262 0.00164234] [ 0.00186969 -0.00396786 0.99999038]] t_estimated: [[-0.37741976] [-0.92604025] [-0.00194546]] R_gt: [[ 0.96544923 0.26054192 -0.00487983] [-0.260569 0.96498518 -0.03009863] [-0.0031331 0.03032918 0.99953529]] t_gt: [-0.81374663 0.57765496 -0.0642741 ] Pose Error in degrees for R and t: 57.91744037332267 76.83932256814605 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.79354842e-01 2.02148689e-01 -1.43359476e-05] [-2.02148678e-01 9.79354763e-01 -4.00583058e-04] [-6.69373615e-05 3.95210951e-04 9.99999920e-01]] t_estimated: [[0.10765088] [0.9941875 ] [0.0015831 ]] R_gt: [[ 0.954493 0.29559769 -0.03954173] [-0.29635818 0.95496155 -0.01483314] [ 0.0333759 0.02587607 0.99910822]] t_gt: [-0.7767522 0.62365267 -0.08782573] Pose Error in degrees for R and t: 6.061235083158473 57.56987850581263 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99997630e-01 8.69639934e-04 1.99602592e-03] [-8.65293451e-04 9.99997255e-01 -2.17740003e-03] [-1.99791400e-03 2.17566772e-03 9.99995637e-01]] t_estimated: [[0.99985659] [0.01680431] [0.00210054]] R_gt: [[ 0.99954304 0.0081873 -0.02911413] [-0.01116519 0.99455177 -0.10363856] [ 0.02810619 0.10391566 0.99418788]] t_gt: [ 0.22640466 0.30524845 -0.9249672 ] Pose Error in degrees for R and t: 6.113026200940348 76.72890525044062 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.94674754 0.32197491 -0.00112174] [-0.3219713 -0.94674591 -0.00258122] [-0.00189309 -0.00208259 0.99999604]] t_estimated: [[0.63735314] [0.77056988] [0.0017442 ]] R_gt: [[ 0.99929018 -0.01295348 -0.03540166] [ 0.00294605 0.96306359 -0.26925865] [ 0.03758226 0.26896235 0.96241638]] t_gt: [ 0.2243957 0.38064915 -0.89708015] Pose Error in degrees for R and t: 161.84694258279507 64.22925210815129 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-1.56733623e-02 -9.99875060e-01 -2.05205058e-03] [ 9.99876696e-01 -1.56713327e-02 -1.00143654e-03] [ 9.69153054e-04 -2.06749343e-03 9.99997393e-01]] t_estimated: [[0.99995741] [0.00917373] [0.00101172]] R_gt: [[ 0.99801555 -0.05065021 -0.03742945] [ 0.03578804 0.94512534 -0.32474259] [ 0.05182383 0.32275793 0.94506136]] t_gt: [ 0.28374016 0.35184148 -0.89201967] Pose Error in degrees for R and t: 89.97657422550421 73.37818024204438 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 9.89193749e-01 -1.46613868e-01 -3.16719501e-04] [ 1.46613840e-01 9.89193798e-01 -1.11405895e-04] [ 3.29630616e-04 6.37665526e-05 9.99999944e-01]] t_estimated: [[-0.01013461] [-0.99994801] [-0.00112607]] R_gt: [[ 0.99300152 -0.05749251 0.10316858] [ 0.04019289 0.98588266 0.16254588] [-0.111056 -0.15726018 0.98129191]] t_gt: [ 0.16359634 -0.19044888 0.96796976] Pose Error in degrees for R and t: 12.44370760439455 79.18193596163393 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.01982183e-01 4.31773237e-01 1.16950496e-04] [-4.31773011e-01 9.01981932e-01 -8.13368092e-04] [-4.56677808e-04 6.83147460e-04 9.99999662e-01]] t_estimated: [[3.35940399e-01] [9.41883205e-01] [2.76199557e-04]] R_gt: [[ 0.99270812 -0.08221876 0.08815087] [ 0.06374424 0.97872792 0.1950124 ] [-0.10230928 -0.1879702 0.97683085]] t_gt: [ 0.2408229 -0.23891958 0.9407028 ] Pose Error in degrees for R and t: 32.232713582588026 81.72801353271079 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 2.71722344e-01 9.62371068e-01 2.98248321e-03] [ 9.62375637e-01 -2.71719998e-01 -1.17343546e-03] [-3.18880007e-04 3.18911782e-03 -9.99994864e-01]] t_estimated: [[-0.91191661] [-0.41037431] [-0.00100898]] R_gt: [[ 0.98869227 -0.08001896 0.12682801] [ 0.04787219 0.96990205 0.23874643] [-0.14211453 -0.22997347 0.96276386]] t_gt: [ 0.1752525 -0.14901746 0.97318054] Pose Error in degrees for R and t: 174.03684309428138 84.2812921621023 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999997e-01 7.03533515e-05 9.63329124e-06] [-7.03535360e-05 9.99999997e-01 1.91551886e-05] [-9.63194358e-06 -1.91558663e-05 1.00000000e+00]] t_estimated: [[ 9.99991639e-01] [-4.08369662e-03] [-2.14703588e-04]] R_gt: [[ 0.99893466 -0.04576492 0.00586984] [ 0.04574783 0.99894886 0.00301259] [-0.00600141 -0.00274045 0.99997877]] t_gt: [ 0.78848825 -0.59196467 0.16692547] Pose Error in degrees for R and t: 2.653181402342472 37.73374579393025 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999989e-01 -1.45091875e-04 3.85393098e-05] [ 1.45090706e-04 9.99999989e-01 3.03321722e-05] [-3.85437103e-05 -3.03265802e-05 9.99999999e-01]] t_estimated: [[9.85916691e-01] [1.67236208e-01] [5.73574277e-04]] R_gt: [[ 0.99583773 -0.08751868 0.0254203 ] [ 0.0878061 0.99608316 -0.01039829] [-0.02441125 0.01258763 0.99962327]] t_gt: [ 0.77737182 -0.6179778 0.11745849] Pose Error in degrees for R and t: 5.262216372565234 48.45998447721629 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99999624e-01 -6.68629425e-04 5.51979700e-04] [ 6.68678682e-04 9.99999772e-01 -8.90573445e-05] [-5.51920028e-04 8.94264081e-05 9.99999844e-01]] t_estimated: [[-6.29060921e-01] [-7.77355761e-01] [-6.15171224e-04]] R_gt: [[ 0.98330067 -0.18179662 0.0083177 ] [ 0.18193303 0.98309462 -0.02061338] [-0.00442915 0.02178374 0.99975356]] t_gt: [ 0.78782661 -0.6156145 -0.01865516] Pose Error in degrees for R and t: 10.516915307877419 89.02432156066082 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.52422777e-01 5.22852664e-01 7.08557068e-04] [-5.22852740e-01 8.52423020e-01 -8.75354229e-05] [-6.49758484e-04 -2.95853816e-04 9.99999745e-01]] t_estimated: [[0.00938436] [0.99995542] [0.00104271]] R_gt: [[ 0.99715042 -0.05477844 0.05187138] [ 0.04884842 0.9927971 0.10939569] [-0.05748943 -0.10654956 0.99264469]] t_gt: [ 0.21952897 -0.43198202 0.87475629] Pose Error in degrees for R and t: 35.172857961122325 64.59648752019184 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.75980264 -0.637892 0.12567319] [-0.64544602 -0.76329444 0.02794683] [ 0.07809859 -0.10234934 -0.99167798]] t_estimated: [[ 3.10391945e-01] [ 9.50608416e-01] [-6.92623353e-04]] R_gt: [[ 0.99171366 -0.09832967 0.08267258] [ 0.08133118 0.97871151 0.18843822] [-0.09944109 -0.18015327 0.97859896]] t_gt: [ 0.19842905 -0.44200833 0.87478829] Pose Error in degrees for R and t: 164.5188130914386 68.9494202869251 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.99999714e-01 -7.56529344e-04 -1.18835508e-06] [ 7.56529671e-04 9.99999668e-01 3.04062326e-04] [ 9.58322613e-07 -3.04063138e-04 9.99999954e-01]] t_estimated: [[3.22040731e-01] [9.46725775e-01] [2.71508917e-04]] R_gt: [[ 0.98818487 -0.10760472 0.10914639] [ 0.07903987 0.9678934 0.23861052] [-0.13131668 -0.22716442 0.96496257]] t_gt: [ 0.11674876 -0.40433372 0.90712952] Pose Error in degrees for R and t: 16.124315470682685 69.82131744060973 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.79328393 -0.60858943 -0.01787502] [-0.60861105 0.793454 -0.00483109] [ 0.01712316 0.0070465 -0.99982856]] t_estimated: [[ 0.95457541] [ 0.2978446 ] [-0.00862376]] R_gt: [[ 0.99096175 0.12836184 0.03897051] [-0.12991666 0.99070107 0.0404155 ] [-0.03342077 -0.0451138 0.99842295]] t_gt: [-0.84857691 0.4421592 0.29053824] Pose Error in degrees for R and t: 178.30320829806956 47.0905676749249 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.98558427e-01 5.36755737e-02 -1.81799974e-05] [-5.36755730e-02 9.98558427e-01 3.57897356e-05] [ 2.00748242e-05 -3.47623203e-05 9.99999999e-01]] t_estimated: [[-9.86444081e-01] [-1.64097401e-01] [-3.44920956e-04]] R_gt: [[ 0.96571374 0.25525545 0.04734197] [-0.25707575 0.96566875 0.03736716] [-0.03617816 -0.04825718 0.99817973]] t_gt: [-0.83229177 0.52729752 0.1710197 ] Pose Error in degrees for R and t: 12.27469980810969 42.74158926557084 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99926740e-01 1.20974556e-02 -4.08707386e-04] [-1.20971173e-02 9.99926491e-01 8.20493385e-04] [ 4.18603225e-04 -8.15489094e-04 9.99999580e-01]] t_estimated: [[-9.98463447e-01] [-5.54116483e-02] [-5.41646765e-04]] R_gt: [[ 0.92209861 0.38415586 0.04646187] [-0.38476511 0.92300278 0.00461864] [-0.04111066 -0.02213622 0.9989096 ]] t_gt: [-0.7919731 0.60505121 0.08180249] Pose Error in degrees for R and t: 22.091972463701367 40.78334178391297 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 9.99967607e-01 8.04879759e-03 -3.76281857e-05] [-8.04879317e-03 9.99967601e-01 1.16095538e-04] [ 3.85613960e-05 -1.15788916e-04 9.99999993e-01]] t_estimated: [[0.33011534] [0.94394002] [0.00105468]] R_gt: [[ 0.9999873 0.00473585 -0.00158302] [-0.00478762 0.99939859 -0.03433902] [ 0.00141903 0.03434593 0.99940968]] t_gt: [-0.1532324 0.02751396 -0.98780707] Pose Error in degrees for R and t: 1.9852196685388201 88.52993489612484 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.98908328e-01 -4.66955671e-02 -1.29466681e-03] [ 4.66964935e-02 9.98908882e-01 6.94800230e-04] [ 1.26081008e-03 -7.54498136e-04 9.99998921e-01]] t_estimated: [[-0.03293664] [-0.9994568 ] [-0.00113575]] R_gt: [[ 0.99971483 -0.02304631 -0.00623694] [ 0.02225031 0.99403931 -0.10672125] [ 0.00865881 0.10655264 0.99426993]] t_gt: [ 0.0993426 0.38295476 -0.91840988] Pose Error in degrees for R and t: 6.324820815545064 67.35777032376578 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99592382e-01 -2.85494080e-02 -4.41443693e-05] [ 2.85494319e-02 9.99592137e-01 6.99055517e-04] [ 2.41687433e-05 -7.00030865e-04 9.99999755e-01]] t_estimated: [[0.48106982] [0.87668155] [0.00113527]] R_gt: [[ 0.99847612 -0.05496918 -0.00479529] [ 0.0535768 0.98661953 -0.15398301] [ 0.01319551 0.1534915 0.98806207]] t_gt: [ 0.11176389 0.52348792 -0.84467108] Pose Error in degrees for R and t: 9.026377302182533 59.220233119059316 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.99012053e-01 -4.44400432e-02 -3.49129085e-05] [ 4.44400441e-02 9.99012053e-01 2.44697040e-05] [ 3.37909817e-05 -2.59970605e-05 9.99999999e-01]] t_estimated: [[ 8.86362350e-01] [-4.62991544e-01] [ 7.84131084e-04]] R_gt: [[ 0.99983474 -0.00531188 -0.01737458] [ 0.00540991 0.99996952 0.00558937] [ 0.01734408 -0.00568193 0.99983326]] t_gt: [ 0.23341163 -0.97177877 -0.03413257] Pose Error in degrees for R and t: 2.4713803351013013 48.94479670166628 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 5.80103166e-01 -8.14541353e-01 1.64364601e-03] [-8.14542727e-01 -5.80103467e-01 3.35611542e-04] [ 6.80115269e-04 -1.53350922e-03 -9.99998593e-01]] t_estimated: [[0.52934659] [0.84840481] [0.00120855]] R_gt: [[ 0.99970005 0.0064998 -0.023617 ] [-0.00766523 0.9987388 -0.0496119 ] [ 0.02326504 0.04977853 0.99848919]] t_gt: [-0.09166015 -0.18327934 -0.97877837] Pose Error in degrees for R and t: 176.91263436975362 78.15891193817092 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 7.11580071e-01 7.02604987e-01 1.87455325e-04] [-7.02603068e-01 7.11578705e-01 -2.16220274e-03] [-1.65256365e-03 1.40687369e-03 9.99997645e-01]] t_estimated: [[0.6194254 ] [0.78505437] [0.00134658]] R_gt: [[ 0.99804581 -0.06180947 -0.00912928] [ 0.06022712 0.99061406 -0.12269675] [ 0.01662711 0.12190747 0.99240209]] t_gt: [ 0.33031274 0.08117623 -0.94037435] Pose Error in degrees for R and t: 48.61796214939329 74.51027466776284 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-4.45785719e-01 8.95132888e-01 3.49370938e-03] [ 8.95139706e-01 4.45782352e-01 1.73258953e-03] [-6.53612209e-06 3.89972165e-03 -9.99992396e-01]] t_estimated: [[9.33955201e-01] [3.57389162e-01] [8.17824169e-04]] R_gt: [[ 0.99763263 -0.06501812 -0.02239636] [ 0.06719859 0.99089116 0.11670116] [ 0.01460525 -0.11792971 0.99291459]] t_gt: [ 0.23637197 -0.7479239 0.62027263] Pose Error in degrees for R and t: 175.67300505135685 87.36164038627686 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.78306902e-01 -2.07160586e-01 -3.12699006e-04] [ 2.07160711e-01 9.78306825e-01 4.42184336e-04] [ 2.14312405e-04 -4.97370936e-04 9.99999853e-01]] t_estimated: [[8.20728752e-01] [5.71317664e-01] [6.65096233e-04]] R_gt: [[ 0.98781991 -0.13089978 -0.08412426] [ 0.14111552 0.98143447 0.12989171] [ 0.06555937 -0.14018079 0.9879528 ]] t_gt: [ 0.43984372 -0.80481072 0.39851876] Pose Error in degrees for R and t: 9.76791596386292 84.34460043742494 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.17883314e-01 -3.96850248e-01 -3.19234606e-04] [ 3.96850368e-01 9.17883166e-01 5.28275047e-04] [ 8.33739875e-05 -6.11583221e-04 9.99999810e-01]] t_estimated: [[8.55087589e-01] [5.18482871e-01] [8.52743595e-04]] R_gt: [[ 0.9640085 -0.23766821 -0.11916587] [ 0.253185 0.95743024 0.13864666] [ 0.08114132 -0.1638281 0.9831462 ]] t_gt: [ 0.56822504 -0.76716522 0.29762029] Pose Error in degrees for R and t: 13.85425762627621 84.92993161537827 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99887033e-01 1.50291325e-02 -2.16884541e-04] [-1.50290964e-02 9.99887043e-01 1.67234757e-04] [ 2.19373435e-04 -1.63956287e-04 9.99999962e-01]] t_estimated: [[7.72862277e-01] [6.34573696e-01] [3.54796799e-04]] R_gt: [[ 0.99984984 -0.0115175 -0.01287768] [ 0.01210054 0.99885956 0.04619047] [ 0.01233083 -0.04633909 0.99884911]] t_gt: [ 0.6648264 -0.42894301 0.61156664] Pose Error in degrees for R and t: 3.139366556278115 76.00481923335792 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.98389380e-01 -5.67327429e-02 -2.02230553e-04] [ 5.67329087e-02 9.98388950e-01 9.39408191e-04] [ 1.48609546e-04 -9.49368290e-04 9.99999538e-01]] t_estimated: [[0.79093718] [0.61189419] [0.00196751]] R_gt: [[ 0.99657833 -0.07338491 0.03802972] [ 0.0667998 0.98607473 0.15230027] [-0.0486758 -0.14923927 0.98760171]] t_gt: [ 0.41958441 -0.41051247 0.80958535] Pose Error in degrees for R and t: 9.017048850459595 85.28108190937118 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.98997926e-01 -4.47528337e-02 5.72950567e-04] [ 4.47526858e-02 9.98998061e-01 2.68451332e-04] [-5.84390463e-04 -2.42541247e-04 9.99999800e-01]] t_estimated: [[0.17103985] [0.98525906] [0.00315389]] R_gt: [[ 0.99062244 -0.11861113 0.06781062] [ 0.10109914 0.97021696 0.22013485] [-0.09190118 -0.21121364 0.9731095 ]] t_gt: [ 0.36595702 -0.41042689 0.83523962] Pose Error in degrees for R and t: 13.829885677358654 70.1749449386542 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.95721667e-01 9.24032266e-02 8.07013535e-05] [-9.24032112e-02 9.95721656e-01 -1.76827206e-04] [-9.66954897e-05 1.68613616e-04 9.99999981e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99922599 -0.03071356 0.02456504] [ 0.02904352 0.99741879 0.06567801] [-0.02651755 -0.06491435 0.99753803]] t_gt: [ 0.26320774 -0.35256385 0.89800914] Pose Error in degrees for R and t: 8.089136915178527 77.0269172014178 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99983095e-01 -5.81015963e-03 2.25662747e-04] [ 5.81024615e-03 9.99983046e-01 -3.84649065e-04] [-2.23424049e-04 3.85953719e-04 9.99999901e-01]] t_estimated: [[ 7.69235183e-01] [-6.38965596e-01] [ 4.47970758e-04]] R_gt: [[ 0.99737136 -0.04912823 0.05327692] [ 0.04263117 0.99223066 0.11688565] [-0.05860349 -0.114307 0.99171474]] t_gt: [ 0.22609407 -0.29160956 0.9294328 ] Pose Error in degrees for R and t: 7.745671275058781 68.858998179447 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.24669183e-01 3.80771415e-01 1.76879007e-04] [-3.80771176e-01 9.24668967e-01 -7.83269420e-04] [-4.61801134e-04 6.56914667e-04 9.99999678e-01]] t_estimated: [[0.70636422] [0.70784818] [0.00074198]] R_gt: [[ 0.9951445 -0.06984009 0.06936133] [ 0.05925203 0.98773676 0.14445432] [-0.07859831 -0.13964305 0.98707766]] t_gt: [ 0.26968122 -0.25668631 0.92810785] Pose Error in degrees for R and t: 27.669898147396268 89.45643478752764 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 8.58725533e-01 5.12435705e-01 3.27361012e-04] [-5.12435253e-01 8.58725367e-01 -9.24807310e-04] [-7.55017491e-04 6.26404327e-04 9.99999519e-01]] t_estimated: [[-9.92325067e-01] [-1.23654214e-01] [-7.72838837e-04]] R_gt: [[ 0.98699161 -0.09598832 0.12898122] [ 0.06513036 0.9721574 0.22509414] [-0.1469954 -0.21376513 0.96576261]] t_gt: [ 0.21736601 -0.20523683 0.95426928] Pose Error in degrees for R and t: 38.492399249559384 78.9855337701826 Number of keypoints: Image1: 15 Image2: 15 R_estimated: [[ 9.99996224e-01 2.62307425e-03 -8.19371693e-04] [-2.62254559e-03 9.99996353e-01 6.45604296e-04] [ 8.21062172e-04 -6.43453019e-04 9.99999456e-01]] t_estimated: [[ 1.05223395e-01] [-9.94448564e-01] [-3.01272831e-04]] R_gt: [[ 0.97393426 -0.1472904 0.17250767] [ 0.08409969 0.94077206 0.32844427] [-0.21066732 -0.3053755 0.92863593]] t_gt: [ 0.25536444 -0.15102295 0.954977 ] Pose Error in degrees for R and t: 22.866763940139094 79.81848757146585 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[ 0.99817012 0.03908533 0.0461383 ] [-0.03711568 0.99839394 -0.04280147] [-0.04773711 0.0410107 0.99801768]] t_estimated: [[ 9.92730918e-01] [ 1.20351457e-01] [-9.23143831e-04]] R_gt: [[ 0.97071254 -0.17243476 0.16728976] [ 0.10155348 0.92555271 0.36474639] [-0.21773061 -0.33707468 0.91595541]] t_gt: [ 0.2857255 -0.15263699 0.94607763] Pose Error in degrees for R and t: 26.7911933835755 74.66839401382519 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[-0.56605414 -0.81192904 -0.14266723] [ 0.82342378 -0.54859317 -0.14497867] [ 0.03944613 -0.19954137 0.97909512]] t_estimated: [[0.99523804] [0.09746469] [0.00137274]] R_gt: [[ 0.96029974 0.27777965 0.02575104] [-0.27685887 0.96029857 -0.03431458] [-0.03425997 0.02582392 0.99907891]] t_gt: [-0.91794672 0.39110945 -0.06638682] Pose Error in degrees for R and t: 140.8465046107238 28.89018955223428 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.47413074 -0.87198183 0.12185127] [-0.87630784 0.48077257 0.03069695] [-0.08534993 -0.09222486 -0.99207357]] t_estimated: [[0.71109518] [0.69875683] [0.07799063]] R_gt: [[ 8.39985901e-01 5.42608510e-01 -2.50149794e-04] [-5.41601120e-01 8.38397827e-01 -6.12971603e-02] [-3.30508695e-02 5.16253212e-02 9.98119416e-01]] t_gt: [-0.84202673 0.53386373 -0.07733367] Pose Error in degrees for R and t: 173.66310242796658 76.59978680661176 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.68622278 -0.67538187 -0.27010668] [ 0.72690412 0.65032021 0.22066723] [ 0.02662119 -0.34776854 0.93720241]] t_estimated: [[8.42605021e-01] [5.38531658e-01] [6.56745925e-04]] R_gt: [[ 0.67174711 0.74078041 -0.00130711] [-0.73938965 0.6703757 -0.06244287] [-0.04538019 0.04291378 0.99804778]] t_gt: [-0.77504492 0.6304623 -0.04269266] Pose Error in degrees for R and t: 96.74880602022162 71.72604316006424 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.76839721e-01 2.13972229e-01 2.12656296e-04] [-2.13972187e-01 9.76839732e-01 -2.05645477e-04] [-2.51733540e-04 1.55380137e-04 9.99999956e-01]] t_estimated: [[0.68212788] [0.73123253] [0.00074546]] R_gt: [[ 0.98568031 -0.16860596 -0.00268591] [ 0.16854729 0.98557988 -0.01494226] [ 0.00516671 0.01427582 0.99988456]] t_gt: [ 0.70968242 -0.69786116 -0.09664713] Pose Error in degrees for R and t: 22.077562974650608 88.49428456937497 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.98391761e-01 5.66906655e-02 2.43481591e-04] [-5.66906125e-02 9.98391770e-01 -2.19308836e-04] [-2.55522780e-04 2.05153015e-04 9.99999946e-01]] t_estimated: [[ 8.94668768e-01] [-4.46729515e-01] [-7.32028689e-04]] R_gt: [[ 0.95952548 -0.27969539 -0.03287166] [ 0.27957865 0.96008717 -0.00819462] [ 0.03385231 -0.00132715 0.99942548]] t_gt: [ 0.75708473 -0.64385247 -0.11080033] Pose Error in degrees for R and t: 19.5901541510902 15.192879555849085 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-5.80567334e-01 -8.14210095e-01 -1.86888654e-03] [ 8.14212035e-01 -5.80564031e-01 -2.04175780e-03] [ 5.77411508e-04 -2.70704780e-03 9.99996169e-01]] t_estimated: [[0.77985773] [0.62595546] [0.0012933 ]] R_gt: [[ 0.91948524 -0.38967012 -0.05199779] [ 0.38889783 0.92095041 -0.02463882] [ 0.05748838 0.00243261 0.99834323]] t_gt: [ 0.78810629 -0.59938787 -0.14008091] Pose Error in degrees for R and t: 102.59339992195045 76.15834009309775 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.99999944e-01 2.94385664e-04 -1.56731233e-04] [-2.94333182e-04 9.99999901e-01 3.34765906e-04] [ 1.56829768e-04 -3.34719756e-04 9.99999932e-01]] t_estimated: [[0.71686121] [0.69721444] [0.00142458]] R_gt: [[ 9.99786867e-01 -1.92128143e-02 -7.54978699e-03] [ 1.92175860e-02 9.99815114e-01 5.22868056e-04] [ 7.53936325e-03 -6.67220742e-04 9.99971269e-01]] t_gt: [ 0.11552958 -0.99153363 -0.05927875] Pose Error in degrees for R and t: 1.195736283505144 52.513293517017516 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.08330807e-01 4.18252440e-01 -2.03828783e-04] [-4.18252285e-01 9.08330737e-01 5.46637980e-04] [ 4.13776618e-04 -4.11276263e-04 9.99999830e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99957527 0.02894278 -0.00354268] [-0.02897474 0.99953485 -0.00954318] [ 0.00326543 0.00964257 0.999948 ]] t_gt: [-0.03027451 0.88245789 -0.46941616] Pose Error in degrees for R and t: 23.072594738741618 88.40112845623528 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 1.00000000e+00 -5.46595547e-11 -6.74021453e-14] [ 5.46593326e-11 1.00000000e+00 4.29684635e-14] [ 6.74015761e-14 -4.29690598e-14 1.00000000e+00]] t_estimated: [[ 8.41619822e-01] [-5.40070432e-01] [ 6.38376704e-05]] R_gt: [[ 0.99427251 0.10622735 -0.01171904] [-0.10639724 0.99421196 -0.01489484] [ 0.0100694 0.01605672 0.99982069]] t_gt: [ 0.08221662 0.96989537 -0.22922348] Pose Error in degrees for R and t: 6.199139982371611 62.9587858035775 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-1.15982394e-01 -9.93251180e-01 -4.21090543e-04] [-9.92199341e-01 1.15879056e-01 -4.59620775e-02] [ 4.57006833e-02 -4.91298601e-03 -9.98943097e-01]] t_estimated: [[8.69774142e-01] [4.93449553e-01] [6.93047125e-04]] R_gt: [[ 9.98531035e-01 -5.19153431e-02 1.54662539e-02] [ 5.19151238e-02 9.98651218e-01 4.10621733e-04] [-1.54670689e-02 3.94057106e-04 9.99879654e-01]] t_gt: [ 0.74238872 -0.64943843 0.1645865 ] Pose Error in degrees for R and t: 178.84193968431228 71.01264482860392 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.85187996e-01 1.71477532e-01 -2.60975627e-04] [-1.71477532e-01 9.85188031e-01 2.20470527e-05] [ 2.60890638e-04 2.30309646e-05 9.99999966e-01]] t_estimated: [[-0.9176668 ] [-0.39734972] [-0.00091767]] R_gt: [[ 0.99671277 -0.07911073 0.01744849] [ 0.07937911 0.99672773 -0.01529885] [-0.01618112 0.01663456 0.99973044]] t_gt: [ 0.79816549 -0.60028322 0.05091078] Pose Error in degrees for R and t: 14.481379664627578 60.397861941715874 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99327542e-01 -3.66667904e-02 1.04265189e-04] [ 3.66667913e-02 9.99327547e-01 -6.16890148e-06] [-1.03968881e-04 9.98782307e-06 9.99999995e-01]] t_estimated: [[ 9.99982001e-01] [-5.99360460e-03] [-2.73515769e-04]] R_gt: [[ 0.97940128 -0.20185504 -0.00501972] [ 0.20168007 0.9791548 -0.02408542] [ 0.00977687 0.02257759 0.9996971 ]] t_gt: [ 0.78255511 -0.61789742 -0.07622525] Pose Error in degrees for R and t: 9.644692730296692 38.16214485757237 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999967e-01 2.56582789e-04 -1.71342802e-05] [-2.56581568e-04 9.99999965e-01 7.12089330e-05] [ 1.71525506e-05 -7.12045343e-05 9.99999997e-01]] t_estimated: [[-0.54269987] [-0.83992569] [-0.00129772]] R_gt: [[ 0.98424099 -0.17375547 -0.03285955] [ 0.17423595 0.98462692 0.0123191 ] [ 0.03021425 -0.01784953 0.99938423]] t_gt: [ 0.70891864 -0.70371806 -0.04706643] Pose Error in degrees for R and t: 10.236367640568087 78.08842233048145 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999834e-01 5.55107137e-04 1.57073476e-04] [-5.55107533e-04 9.99999846e-01 2.47813390e-06] [-1.57072076e-04 -2.56532616e-06 9.99999988e-01]] t_estimated: [[9.69853422e-01] [2.43688183e-01] [6.39739033e-04]] R_gt: [[ 0.97312664 -0.22670229 -0.04038155] [ 0.22753096 0.97361882 0.01720972] [ 0.03541477 -0.02593571 0.99903615]] t_gt: [ 0.71937219 -0.69389799 -0.03176823] Pose Error in degrees for R and t: 13.404253647074174 58.091078691802984 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999690e-01 7.41489565e-04 2.64682264e-04] [-7.41432740e-04 9.99999702e-01 -2.14726597e-04] [-2.64841403e-04 2.14530287e-04 9.99999942e-01]] t_estimated: [[ 9.73693638e-01] [-2.27860841e-01] [-3.68825159e-04]] R_gt: [[ 0.95692573 -0.2901979 -0.0088773 ] [ 0.29031273 0.95677583 0.01725869] [ 0.00348611 -0.01909137 0.99981178]] t_gt: [ 0.74376676 -0.66830221 0.01353377] Pose Error in degrees for R and t: 16.954703447197797 28.77987101857271 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.96859723e-01 -7.91875981e-02 -1.28322217e-04] [ 7.91876784e-02 9.96859368e-01 8.43566337e-04] [ 6.11192122e-05 -8.51078843e-04 9.99999636e-01]] t_estimated: [[-6.80992698e-01] [-7.32290205e-01] [-2.65578897e-05]] R_gt: [[ 0.99865456 -0.02437301 0.04575841] [ 0.02404521 0.99968183 0.00770122] [-0.04593164 -0.0065906 0.99892277]] t_gt: [ 0.36213581 -0.39281575 0.84531263] Pose Error in degrees for R and t: 4.124326289173803 87.64901949873702 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-9.82396960e-01 1.86800415e-01 -1.34856914e-03] [-1.86798975e-01 -9.82397514e-01 -1.12541014e-03] [-1.53505805e-03 -8.53688164e-04 9.99998457e-01]] t_estimated: [[9.87088819e-01] [1.60172021e-01] [7.66373307e-04]] R_gt: [[ 0.99857984 -0.04897966 0.02093841] [ 0.04865514 0.99869199 0.01571189] [-0.02168014 -0.01467044 0.9996569 ]] t_gt: [ 0.70876777 -0.57422036 0.40977949] Pose Error in degrees for R and t: 172.03322926466842 52.55809106048821 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.77296432e-01 2.11876548e-01 1.14670980e-04] [-2.11876516e-01 9.77296414e-01 -2.45669228e-04] [-1.64119085e-04 2.15795572e-04 9.99999963e-01]] t_estimated: [[-9.98436077e-01] [-5.58986607e-02] [-8.59979395e-04]] R_gt: [[ 0.99771917 -0.06652929 -0.0113911 ] [ 0.06681326 0.99740859 0.02670454] [ 0.00958422 -0.02740512 0.99957841]] t_gt: [ 0.74263359 -0.65924835 0.11784298] Pose Error in degrees for R and t: 16.14294261387754 45.19287794368996 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.87704006e-01 -1.56335386e-01 -2.08806268e-04] [ 1.56334707e-01 9.87702277e-01 -1.91620680e-03] [ 5.05809356e-04 1.86000147e-03 9.99998142e-01]] t_estimated: [[-0.74385184] [-0.66833389] [-0.0037759 ]] R_gt: [[ 0.99873879 0.04413293 -0.02396588] [-0.04400629 0.99901459 0.00579291] [ 0.02419809 -0.00473077 0.99969613]] t_gt: [ 0.70215513 0.65669432 -0.27519219] Pose Error in degrees for R and t: 11.607240872540718 16.229204196036356 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-0.77025091 0.63722677 0.02560447] [ 0.63749312 0.77044998 0.0030582 ] [-0.0177782 0.01867825 -0.99966747]] t_estimated: [[0.91423397] [0.40517187] [0.00346301]] R_gt: [[ 0.99586384 0.04528969 -0.07877515] [-0.04245773 0.99840242 0.03726512] [ 0.08033676 -0.03376693 0.99619589]] t_gt: [ 0.93805504 0.28361881 -0.19903045] Pose Error in degrees for R and t: 176.32136137642442 13.63263600995022 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.16386809 0.98647646 0.00338184] [-0.98648059 0.16387315 -0.00127656] [-0.00181348 -0.00312693 0.99999347]] t_estimated: [[0.2749491 ] [0.96145723] [0.00172924]] R_gt: [[ 0.982874 0.12080572 -0.13916055] [-0.10985373 0.9904005 0.08389129] [ 0.14795969 -0.06716745 0.98670969]] t_gt: [ 0.68644943 0.69427707 -0.2162557 ] Pose Error in degrees for R and t: 74.42587773074322 31.142644060449246 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 9.97195928e-01 -7.48350251e-02 -3.07741336e-05] [ 7.48350267e-02 9.97195926e-01 5.55312948e-05] [ 2.65321549e-05 -5.76785641e-05 9.99999998e-01]] t_estimated: [[ 3.39006184e-01] [-9.40784144e-01] [-3.44112702e-05]] R_gt: [[ 0.99856938 -0.02977679 -0.04441949] [ 0.03086019 0.99923849 0.02390525] [ 0.04367325 -0.02524291 0.99872669]] t_gt: [ 0.71269639 -0.5853403 -0.38657547] Pose Error in degrees for R and t: 3.8546320863433827 37.59896545232009 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.99764865e-01 2.16844107e-02 9.92334846e-06] [-2.16844102e-02 9.99764865e-01 -4.48434340e-05] [-1.08934186e-05 4.46177078e-05 9.99999999e-01]] t_estimated: [[ 3.81888190e-01] [-9.24208503e-01] [-2.29934163e-04]] R_gt: [[ 0.99745727 -0.03394987 -0.06266828] [ 0.03596943 0.99886026 0.03137666] [ 0.06153209 -0.03355158 0.99754125]] t_gt: [ 0.62967602 -0.64476982 -0.4333359 ] Pose Error in degrees for R and t: 5.168222718995427 33.231074368687025 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.96140376e-01 8.77743654e-02 1.12320804e-04] [-8.77743329e-02 9.96140349e-01 -2.66948925e-04] [-1.35318558e-04 2.56059719e-04 9.99999958e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99761884 0.03080291 -0.06170982] [-0.02786479 0.99846314 0.04791837] [ 0.06309134 -0.04608623 0.99694278]] t_gt: [-0.34920435 -0.46902191 -0.81121808] Pose Error in degrees for R and t: 5.607269466090535 69.43402306725864 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 8.94036747e-01 -4.47991965e-01 1.22218781e-03] [ 4.47993386e-01 8.94035790e-01 -1.39041759e-03] [-4.69783736e-04 1.79061647e-03 9.99998286e-01]] t_estimated: [[-0.11043126] [-0.99388131] [-0.00220863]] R_gt: [[ 0.9995802 0.028637 -0.00434511] [-0.02869072 0.99950456 -0.01292085] [ 0.00397311 0.01304047 0.99990659]] t_gt: [ 0.64884243 0.6794043 -0.34265624] Pose Error in degrees for R and t: 28.266372769681656 41.74263865964495 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.99934298 0.03619837 -0.00181363] [-0.03619416 0.99934212 0.00230384] [ 0.00189583 -0.00223669 0.9999957 ]] t_estimated: [[-0.88934844] [-0.45722817] [-0.00132147]] R_gt: [[ 0.99835485 0.04736515 -0.03234138] [-0.04698507 0.99881899 0.01238437] [ 0.03289041 -0.01084356 0.99939918]] t_gt: [ 0.9022 0.42348337 -0.08183517] Pose Error in degrees for R and t: 1.9476380986455013 5.196110202935375 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999631e-01 -8.48511736e-04 1.36967967e-04] [ 8.48496278e-04 9.99999634e-01 1.12873730e-04] [-1.37063692e-04 -1.12757472e-04 9.99999984e-01]] t_estimated: [[0.38263478] [0.92389919] [0.00096139]] R_gt: [[ 0.9904354 0.08734357 -0.10681471] [-0.0811811 0.99484602 0.06074435] [ 0.11156993 -0.05149193 0.99242162]] t_gt: [ 0.87875781 0.45224523 -0.15250891] Pose Error in degrees for R and t: 8.594389489567007 41.06841431056612 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 1.49193489e-01 9.88802574e-01 3.28213273e-03] [ 9.88807580e-01 -1.49195736e-01 4.49432874e-04] [ 9.34080591e-04 3.17834527e-03 -9.99994513e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.99368451 -0.11125524 -0.01456606] [ 0.11154517 0.99353879 0.02094233] [ 0.01214096 -0.02243447 0.99967433]] t_gt: [ 0.64562808 -0.76283803 0.0352494 ] Pose Error in degrees for R and t: 178.66910925899143 89.53372545982572 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999914e-01 -4.06733442e-04 7.46321885e-05] [ 4.06735735e-04 9.99999917e-01 -3.07117982e-05] [-7.46196908e-05 3.07421511e-05 9.99999997e-01]] t_estimated: [[-0.00676511] [-0.99997662] [-0.00100015]] R_gt: [[ 0.98387357 -0.17826575 -0.01463463] [ 0.17848709 0.98381934 0.01553972] [ 0.0116275 -0.0179004 0.99977233]] t_gt: [ 0.68976315 -0.72365009 -0.02360802] Pose Error in degrees for R and t: 10.326064805493395 44.02880649807489 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99998298e-01 -1.83678144e-03 1.74130624e-04] [ 1.83682253e-03 9.99998285e-01 -2.36134282e-04] [-1.73696598e-04 2.36453727e-04 9.99999957e-01]] t_estimated: [[ 0.67723901] [-0.73576227] [-0.00109951]] R_gt: [[ 0.97500986 -0.22094723 0.02319739] [ 0.22024908 0.97500594 0.02922473] [-0.02907541 -0.02338449 0.99930338]] t_gt: [ 0.71213637 -0.69297417 0.112466 ] Pose Error in degrees for R and t: 12.822719297598994 7.239930068629436 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.99999284 -0.00232989 -0.00298062] [ 0.00235092 0.99997223 0.00707157] [ 0.00296406 -0.00707853 0.99997055]] t_estimated: [[0.60672648] [0.79490902] [0.00162226]] R_gt: [[ 9.98083294e-01 -6.18709056e-02 6.26478389e-04] [ 6.18723840e-02 9.97963213e-01 -1.55138204e-02] [ 3.34800813e-04 1.55228525e-02 9.99879517e-01]] t_gt: [ 0.75693088 -0.65070397 -0.06033223] Pose Error in degrees for R and t: 3.655499674932739 86.6693356404655 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999952e-01 -3.06776750e-04 -3.38180663e-05] [ 3.06780444e-04 9.99999947e-01 1.09271401e-04] [ 3.37845426e-05 -1.09281771e-04 9.99999993e-01]] t_estimated: [[0.67343345] [0.73924627] [0.00153053]] R_gt: [[ 9.79982149e-01 -1.98523189e-01 -1.49503866e-02] [ 1.98486184e-01 9.80095716e-01 -3.91492371e-03] [ 1.54300326e-02 8.68751464e-04 9.99880479e-01]] t_gt: [ 0.74486527 -0.66665193 -0.02740324] Pose Error in degrees for R and t: 11.46674097742383 89.49835196105106 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.97648729e-01 6.85347360e-02 -6.06758781e-05] [-6.85347169e-02 9.97648694e-01 2.75010811e-04] [ 7.93810039e-05 -2.70205782e-04 9.99999960e-01]] t_estimated: [[0.58123797] [0.81373316] [0.00088066]] R_gt: [[ 0.97362256 -0.22412916 -0.0427042 ] [ 0.22201539 0.97380301 -0.04913972] [ 0.05260019 0.03836237 0.99787884]] t_gt: [ 0.77479386 -0.60355687 -0.18818499] Pose Error in degrees for R and t: 17.241109319577728 87.65248773870202 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.99403248e-01 3.45419348e-02 5.82823569e-05] [-3.45419316e-02 9.99403248e-01 -5.44878547e-05] [-6.01296927e-05 5.24421538e-05 9.99999997e-01]] t_estimated: [[ 7.84958330e-01] [-6.19548551e-01] [ 1.16006343e-04]] R_gt: [[ 0.99373271 -0.10470534 -0.03914179] [ 0.10246999 0.99319775 -0.05531098] [ 0.04466669 0.05095465 0.99770205]] t_gt: [ 0.6187776 -0.45016446 -0.64379052] Pose Error in degrees for R and t: 8.830932407463068 40.134030820623366 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 7.99617775e-01 6.00509292e-01 6.99418072e-05] [-6.00508984e-01 7.99617473e-01 -9.25628650e-04] [-6.11775296e-04 6.98148438e-04 9.99999569e-01]] t_estimated: [[-3.29303283e-01] [ 9.44224201e-01] [ 7.61181240e-05]] R_gt: [[ 0.98907911 -0.14488857 -0.0270363 ] [ 0.14247261 0.98684484 -0.07641441] [ 0.03775244 0.07172871 0.99671042]] t_gt: [ 0.56103105 -0.53612945 -0.63072131] Pose Error in degrees for R and t: 45.40320583194307 46.288795140046915 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.99103988e-01 4.23227592e-02 7.69678942e-05] [-4.23227514e-02 9.99103986e-01 -1.00573253e-04] [-8.11554675e-05 9.72256446e-05 9.99999992e-01]] t_estimated: [[ 6.30252460e-01] [-7.76390260e-01] [-1.28045061e-05]] R_gt: [[ 0.99110236 -0.12829084 -0.03548029] [ 0.1251782 0.98896733 -0.07921205] [ 0.0452509 0.07406679 0.99622629]] t_gt: [ 0.57220822 -0.43466792 -0.69544342] Pose Error in degrees for R and t: 10.917311923409343 45.72391575351764 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[ 9.99996087e-01 -2.79734141e-03 5.63919547e-06] [ 2.79734325e-03 9.99996023e-01 -3.59642585e-04] [-4.63312995e-06 3.59656953e-04 9.99999935e-01]] t_estimated: [[-9.99998645e-01] [-1.45102584e-03] [-7.76972611e-04]] R_gt: [[ 0.95752425 0.2879908 -0.01437804] [-0.28797663 0.95763259 0.00316883] [ 0.01468263 0.00110647 0.99989178]] t_gt: [-0.96317642 0.26816952 -0.01939811] Pose Error in degrees for R and t: 16.9195247952133 15.676835795529302 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 0.97139605 0.23745353 0.00235229] [ 0.23745754 -0.9713966 -0.00159893] [ 0.00190533 0.00211176 -0.99999596]] t_estimated: [[-0.99861697] [-0.05255879] [-0.00131397]] R_gt: [[ 0.84067731 0.54074244 0.02929894] [-0.54056133 0.84118041 -0.01448335] [-0.03247708 -0.0036612 0.9994656 ]] t_gt: [-0.8969401 0.44195547 0.01318442] Pose Error in degrees for R and t: 179.39208814238484 29.25496851019222 Number of keypoints: Image1: 17 Image2: 17 R_estimated: [[ 5.36509575e-01 8.43892435e-01 1.74211425e-03] [ 8.43893256e-01 -5.36510951e-01 4.13658915e-04] [ 1.28374700e-03 1.24822650e-03 -9.99998397e-01]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.65765277 0.75331443 0.00311803] [-0.75249703 0.65712207 -0.04404054] [-0.03522414 0.02661708 0.99902486]] t_gt: [-0.80047776 0.59879764 -0.02601429] Pose Error in degrees for R and t: 177.48597866596933 77.51244711487438 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.79677733e-01 2.00577933e-01 1.79268514e-04] [-2.00577649e-01 9.79673860e-01 2.78114710e-03] [ 3.82212059e-04 -2.76058514e-03 9.99996117e-01]] t_estimated: [[0.26334383] [0.9646983 ] [0.00268718]] R_gt: [[ 9.98239078e-01 6.73367802e-04 -5.93154527e-02] [-5.97802286e-03 9.95986631e-01 -8.93001855e-02] [ 5.90170698e-02 8.94969027e-02 9.94237342e-01]] t_gt: [ 0.10532406 0.19514775 -0.97510215] Pose Error in degrees for R and t: 12.995078225044711 77.67979848218717 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-9.79304856e-01 -2.02390699e-01 6.05879514e-05] [-2.02390205e-01 9.79303047e-01 1.93597905e-03] [-4.51158117e-04 1.88365128e-03 -9.99998124e-01]] t_estimated: [[9.91881225e-01] [1.27164260e-01] [9.41957478e-04]] R_gt: [[ 0.99219888 0.05614858 -0.1113082 ] [-0.07277266 0.98578665 -0.15142146] [ 0.10122374 0.15834043 0.98218248]] t_gt: [-0.1004049 0.41042699 -0.90634902] Pose Error in degrees for R and t: 173.01233435194573 87.23429972197066 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.42382685e-01 -3.34536739e-01 -2.12902162e-04] [ 3.34536785e-01 9.42382663e-01 2.37519888e-04] [ 1.21176178e-04 -2.95058235e-04 9.99999949e-01]] t_estimated: [[9.77722312e-01] [2.09900584e-01] [9.08664939e-04]] R_gt: [[ 0.99005582 0.11776474 -0.07694832] [-0.12765713 0.98192644 -0.13972719] [ 0.05910303 0.14816134 0.98719546]] t_gt: [-0.35727992 0.57970464 -0.73232069] Pose Error in degrees for R and t: 28.1518009993934 76.80266155477945 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.98939878 0.14521651 -0.00148981] [-0.145212 0.98939664 0.00278627] [ 0.00187863 -0.00254039 0.99999501]] t_estimated: [[-0.93764719] [-0.34758641] [-0.00119446]] R_gt: [[ 0.99678605 0.0179155 -0.07808063] [-0.02556663 0.99484758 -0.0981084 ] [ 0.07592082 0.09978951 0.99210785]] t_gt: [ 0.05155488 0.3914129 -0.91876985] Pose Error in degrees for R and t: 10.155295414300742 79.43839249681263 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-3.79349027e-01 -9.25252533e-01 -1.43730060e-03] [ 9.25246525e-01 -3.79351745e-01 3.33485392e-03] [-3.63082453e-03 -6.47837933e-05 9.99993406e-01]] t_estimated: [[ 9.99998452e-01] [-7.68959861e-05] [ 1.75797851e-03]] R_gt: [[ 0.99444095 0.05642677 -0.08889689] [-0.07191954 0.9806523 -0.18206678] [ 0.07690376 0.18744746 0.97926004]] t_gt: [-0.08424791 0.57345634 -0.8148927 ] Pose Error in degrees for R and t: 116.40804432080532 85.08231556464376 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 0.13683855 0.97958446 -0.14727356] [ 0.98356802 -0.11668314 0.13776426] [ 0.11776739 -0.16370503 -0.9794547 ]] t_estimated: [[0.94410288] [0.32964932] [0.0010394 ]] R_gt: [[ 0.99111194 0.09787991 -0.09009028] [-0.11132901 0.98098827 -0.15895876] [ 0.07281883 0.1675759 0.98316645]] t_gt: [-0.16014331 0.70388926 -0.6920217 ] Pose Error in degrees for R and t: 172.5057104088714 85.40421667465299 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99039324e-01 -4.38226239e-02 7.78947283e-05] [ 4.38226183e-02 9.99039325e-01 7.28314971e-05] [-8.10115641e-05 -6.93479788e-05 9.99999994e-01]] t_estimated: [[ 9.94240687e-01] [-1.07166997e-01] [ 8.31463150e-04]] R_gt: [[ 0.99550565 -0.09353206 0.01482884] [ 0.09389292 0.99524374 -0.02595133] [-0.01232984 0.02722738 0.99955313]] t_gt: [ 0.51576682 -0.83378594 -0.19694059] Pose Error in degrees for R and t: 3.3404411139525734 52.98766477519876 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-3.00182685e-01 -9.53876330e-01 -3.20973874e-03] [ 9.53881658e-01 -3.00179650e-01 -1.40001474e-03] [ 3.71942673e-04 -3.48197110e-03 9.99993869e-01]] t_estimated: [[0.99026138] [0.13921447] [0.00131334]] R_gt: [[ 0.98745629 -0.15713374 -0.01542271] [ 0.15615972 0.98638923 -0.05147514] [ 0.02330117 0.04842124 0.99855488]] t_gt: [ 0.48917725 -0.77925071 -0.39175752] Pose Error in degrees for R and t: 98.4866177402341 67.94998229303555 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 0.72297401 0.6908323 0.00770176] [ 0.69086914 -0.72287588 -0.01225963] [-0.00290193 0.0141843 -0.99989519]] t_estimated: [[-0.35608661] [ 0.93441714] [-0.00818173]] R_gt: [[ 0.96113807 -0.27466062 -0.02784212] [ 0.27368025 0.96120273 -0.03445201] [ 0.03622481 0.02549402 0.99901904]] t_gt: [ 0.59892305 -0.77319846 -0.20845943] Pose Error in degrees for R and t: 178.2521925578857 20.924346196741542 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-9.12878043e-01 -4.07658275e-01 -2.16427566e-02] [-4.07521595e-01 9.13134171e-01 -1.05894213e-02] [ 2.40796058e-02 -8.46959460e-04 -9.99709685e-01]] t_estimated: [[ 0.95028494] [ 0.31134755] [-0.00460795]] R_gt: [[ 0.99045628 0.13131802 -0.04187496] [-0.13016485 0.99106317 0.02916895] [ 0.04533094 -0.02343946 0.99869701]] t_gt: [-0.86154913 0.50349032 -0.06504303] Pose Error in degrees for R and t: 176.55138808769132 48.573634384453065 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.81272738e-01 -1.92621528e-01 -8.71966217e-04] [ 1.92621825e-01 9.81273030e-01 2.70260604e-04] [ 8.03578921e-04 -4.33159087e-04 9.99999583e-01]] t_estimated: [[-0.66998163] [-0.74237651] [-0.00131627]] R_gt: [[ 0.94209524 0.3326958 -0.04208839] [-0.32731869 0.93956755 0.10037742] [ 0.0729388 -0.08078841 0.99405885]] t_gt: [-0.85196592 0.52158075 0.04590859] Pose Error in degrees for R and t: 31.045978117646406 79.42445512775733 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.17183218 0.98512508 0.00150876] [ 0.9851246 0.1718289 0.00208603] [ 0.00179575 0.00184477 -0.99999669]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.92666688 0.37548747 -0.01729776] [-0.36977499 0.91890043 0.13743519] [ 0.06749919 -0.12095931 0.99035933]] t_gt: [-0.8752415 0.46445916 0.13501853] Pose Error in degrees for R and t: 173.19425099200788 84.53590306573884 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.9999639 -0.00397678 0.00750944] [ 0.00399071 0.99999034 -0.00184089] [-0.00750204 0.00187079 0.99997011]] t_estimated: [[0.70671921] [0.70748948] [0.00256619]] R_gt: [[ 0.98872182 -0.14948545 -0.00920221] [ 0.14957369 0.98870354 0.00971175] [ 0.00764667 -0.01097999 0.99990999]] t_gt: [ 0.73033481 -0.68271567 0.02259173] Pose Error in degrees for R and t: 8.450439981681408 88.09826410083924 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.79040468e-01 2.03664615e-01 6.97303741e-04] [-2.03664662e-01 9.79040707e-01 -4.24119796e-06] [-6.83552529e-04 -1.37863826e-04 9.99999757e-01]] t_estimated: [[0.62971069] [0.77682894] [0.00111453]] R_gt: [[ 0.98554076 -0.15811414 -0.06092088] [ 0.15915157 0.9871747 0.01253912] [ 0.05815698 -0.02205372 0.99806361]] t_gt: [ 0.79437872 -0.59736744 -0.11006629] Pose Error in degrees for R and t: 21.192930924445744 87.93382241804476 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-9.81845450e-01 -1.89452565e-01 -9.34010013e-03] [ 1.89468454e-01 -9.81886450e-01 -8.38667035e-04] [-9.01203014e-03 -2.59309575e-03 9.99956029e-01]] t_estimated: [[0.60905423] [0.79312396] [0.00270691]] R_gt: [[ 0.96579736 -0.22158627 -0.13466764] [ 0.21866069 0.97512492 -0.0363299 ] [ 0.13936835 0.00563999 0.99022426]] t_gt: [ 0.82614288 -0.47025126 -0.31040571] Pose Error in degrees for R and t: 156.35656358869775 82.56750250042016 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.98951614e-01 -4.57785193e-02 -5.81478447e-06] [ 4.57785196e-02 9.98951605e-01 1.31672651e-04] [-2.19090719e-07 -1.31800800e-04 9.99999991e-01]] t_estimated: [[4.49183067e-02] [9.98990663e-01] [4.12561474e-05]] R_gt: [[ 0.99825328 0.00425868 -0.05893154] [-0.00345085 0.99989782 0.01379531] [ 0.05898376 -0.01356754 0.99816786]] t_gt: [ 0.9705237 -0.15754069 -0.18238608] Pose Error in degrees for R and t: 4.4852054138103625 83.46587715502066 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999935e-01 3.52565446e-04 -8.17143423e-05] [-3.52553998e-04 9.99999928e-01 1.40068716e-04] [ 8.17637198e-05 -1.40039898e-04 9.99999987e-01]] t_estimated: [[-0.90176861] [ 0.43221739] [-0.00122475]] R_gt: [[ 0.99662991 0.06331554 -0.05216867] [-0.05987702 0.99608399 0.06504081] [ 0.05608197 -0.06169741 0.99651845]] t_gt: [ 0.81111426 -0.09782827 0.57664832] Pose Error in degrees for R and t: 5.92874900740895 39.246914819219846 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.55617742e-01 -2.94608526e-01 -7.39828299e-04] [ 2.94609397e-01 9.55616123e-01 1.76883307e-03] [ 1.85878546e-04 -1.90828863e-03 9.99998162e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.98464068 0.12140148 -0.12548135] [-0.10765774 0.98796496 0.11105994] [ 0.1374539 -0.09584414 0.9858604 ]] t_gt: [ 0.88314791 -0.00742039 0.46903594] Pose Error in degrees for R and t: 25.582508942681486 27.934467223331527 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.62198949e-01 2.72344084e-01 -1.37209500e-03] [-2.72345155e-01 9.62199396e-01 -6.62430200e-04] [ 1.13982004e-03 1.01107307e-03 9.99998839e-01]] t_estimated: [[-0.36911964] [ 0.92937193] [-0.00430186]] R_gt: [[ 0.99737379 -0.05737077 0.04420619] [ 0.05322378 0.99453118 0.08986649] [-0.04911935 -0.08727703 0.99497165]] t_gt: [ 0.26497233 -0.38789094 0.88279685] Pose Error in degrees for R and t: 19.84780974239824 62.47735739667916 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.28246894 -0.95925978 0.00565382] [-0.9592656 0.28248887 0.00308933] [-0.00456061 -0.00455088 -0.99997924]] t_estimated: [[0.76991458] [0.63813299] [0.00422087]] R_gt: [[ 0.99177328 -0.0959579 0.0847229 ] [ 0.08548068 0.98913016 0.11964319] [-0.09528237 -0.11141643 0.98919493]] t_gt: [ 0.38573001 -0.39109922 0.8356158 ] Pose Error in degrees for R and t: 171.50571445718938 87.08049853927837 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.34241630e-01 3.56639519e-01 9.11386148e-04] [-3.56640140e-01 9.34241617e-01 6.42001135e-04] [-6.22491893e-04 -9.24821070e-04 9.99999379e-01]] t_estimated: [[0.47364009] [0.88071737] [0.00140735]] R_gt: [[ 0.99286506 -0.08928315 0.07903535] [ 0.07604999 0.98467222 0.15696657] [-0.09183833 -0.14983535 0.98443597]] t_gt: [ 0.417405 -0.35331508 0.8372225 ] Pose Error in degrees for R and t: 27.542438042610055 83.55250223811046 Number of keypoints: Image1: 484 Image2: 484 R_estimated: [[ 9.96705793e-01 -8.11017169e-02 -2.73019592e-04] [ 8.11018048e-02 9.96705769e-01 3.27583265e-04] [ 2.45552637e-04 -3.48646519e-04 9.99999909e-01]] t_estimated: [[-0.91865819] [-0.3950464 ] [-0.00233755]] R_gt: [[ 9.97927264e-01 3.79757347e-03 -6.42423566e-02] [-4.49659460e-05 9.98299638e-01 5.82949476e-02] [ 6.43548488e-02 -5.81718958e-02 9.96230517e-01]] t_gt: [ 0.76916035 -0.24482617 0.59029866] Pose Error in degrees for R and t: 6.869476685836093 52.3195076562633 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[-0.93967011 0.34198871 0.00798772] [ 0.34203173 0.93967612 0.00480373] [-0.00586304 0.00724598 -0.99995656]] t_estimated: [[0.83468659] [0.55072105] [0.00215125]] R_gt: [[ 0.99292745 0.01842195 -0.11728668] [-0.01081537 0.99781629 0.06516368] [ 0.1182315 -0.06343495 0.99095822]] t_gt: [ 0.97072256 -0.17561172 0.16388483] Pose Error in degrees for R and t: 173.09436406812407 44.44781104785685 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 3.28811134e-01 9.44394609e-01 1.43578007e-03] [-9.44393001e-01 3.28813449e-01 -1.89071555e-03] [-2.25768537e-03 -7.34252324e-04 9.99997182e-01]] t_estimated: [[0.12278994] [0.99243163] [0.00144459]] R_gt: [[ 0.98919287 0.04526115 -0.13945843] [-0.03093159 0.99417404 0.10325506] [ 0.14331973 -0.09782708 0.98483043]] t_gt: [ 0.92439463 -0.19029376 0.33057957] Pose Error in degrees for R and t: 69.25889120190995 85.70626810396598 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99998304e-01 1.83874713e-03 -1.01608721e-04] [-1.83875558e-03 9.99998306e-01 -8.31758384e-05] [ 1.01455609e-04 8.33625309e-05 9.99999991e-01]] t_estimated: [[0.00844988] [0.99996366] [0.0011344 ]] R_gt: [[ 0.99860583 0.0527208 -0.00259411] [-0.05266435 0.99844162 0.01847252] [ 0.00356429 -0.01830973 0.99982564]] t_gt: [-0.76627242 0.57024178 0.29605895] Pose Error in degrees for R and t: 3.1065118659453144 55.661432753111804 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.28028677 0.95991116 -0.00314366] [ 0.95990493 -0.280266 0.00578729] [ 0.00467422 -0.00463971 -0.99997831]] t_estimated: [[0.28448421] [0.95867281] [0.00389704]] R_gt: [[ 0.9977053 0.00215476 0.06766116] [-0.00832458 0.9958126 0.09104123] [-0.0671814 -0.09139579 0.99354558]] t_gt: [-0.34247073 0.04640375 0.93838185] Pose Error in degrees for R and t: 177.7595047406527 87.17505704168897 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.97859158 -0.20577589 0.00384783] [ 0.20579066 0.97858811 -0.0039403 ] [-0.00295462 0.0046478 0.99998483]] t_estimated: [[-0.04972317] [-0.99875068] [-0.0049688 ]] R_gt: [[ 0.99454682 -0.0515164 0.09068241] [ 0.03971486 0.9910495 0.12744797] [-0.09643634 -0.12315253 0.98769075]] t_gt: [-0.00351811 -0.16048672 0.98703173] Pose Error in degrees for R and t: 12.95495322054953 81.05091058440867 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.92288374 -0.38504402 0.00516752] [-0.38507144 -0.92286563 0.00624559] [ 0.0023641 -0.00775382 -0.99996714]] t_estimated: [[0.19085944] [0.98161369] [0.0026919 ]] R_gt: [[ 0.99957364 0.01450058 -0.02533219] [-0.01388141 0.99960517 0.02444707] [ 0.02567583 -0.02408417 0.99938015]] t_gt: [-0.77479044 -0.4441819 -0.44989133] Pose Error in degrees for R and t: 178.51369771395278 54.18979187153452 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.27482925e-01 3.73865475e-01 1.74702105e-04] [-3.73864715e-01 9.27481803e-01 -1.63697356e-03] [-7.74040923e-04 1.45295007e-03 9.99998645e-01]] t_estimated: [[0.84062259] [0.54162065] [0.00085429]] R_gt: [[ 0.99808781 0.0599685 -0.01501154] [-0.05983978 0.99816923 0.00886286] [ 0.01551556 -0.00794691 0.99984819]] t_gt: [-0.94320422 0.2583979 -0.20879734] Pose Error in degrees for R and t: 18.550117327263976 49.22399615122069 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.3409983 0.94004516 -0.00593815] [-0.94006224 0.34097901 -0.00403656] [-0.00176976 0.00695869 0.99997422]] t_estimated: [[7.45204529e-01] [6.66835602e-01] [6.99722563e-04]] R_gt: [[ 0.99807395 -0.05159705 -0.03444323] [ 0.05122299 0.99861945 -0.01165625] [ 0.0349962 0.00987101 0.99933848]] t_gt: [ 0.3597974 -0.85293482 -0.37821691] Pose Error in degrees for R and t: 73.02932335240135 72.48777442686293 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 8.51284484e-01 -5.24704411e-01 8.92858688e-05] [-5.24704411e-01 -8.51284488e-01 -3.01112641e-05] [ 9.18071883e-05 -2.12154373e-05 -9.99999996e-01]] t_estimated: [[0.32147125] [0.94691871] [0.00109344]] R_gt: [[ 0.99496032 0.0985596 0.01843682] [-0.09951045 0.99317593 0.06082495] [-0.01231586 -0.0623538 0.99797737]] t_gt: [-0.84144826 0.3820541 0.3820988 ] Pose Error in degrees for R and t: 176.35734830097624 84.73912898557028 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.49051639e-01 3.15120504e-01 -2.33468084e-04] [-3.15120336e-01 9.49051555e-01 5.66146638e-04] [ 3.99977662e-04 -4.63731854e-04 9.99999812e-01]] t_estimated: [[0.23839735] [0.97116708] [0.00109861]] R_gt: [[ 0.96934749 0.24557531 -0.00756846] [-0.24473004 0.96781637 0.05865073] [ 0.02172757 -0.05500164 0.99824937]] t_gt: [-0.85295781 0.51647599 0.07560111] Pose Error in degrees for R and t: 5.348583724497951 72.64299447853766 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.93249707e-01 1.15993263e-01 -7.63744644e-04] [-1.15992929e-01 9.93249929e-01 4.68194377e-04] [ 8.12896707e-04 -3.76444949e-04 9.99999599e-01]] t_estimated: [[-0.95678221] [-0.29080152] [-0.00150674]] R_gt: [[ 0.91898099 0.39328335 0.02832171] [-0.39274492 0.90661047 0.15430474] [ 0.03500792 -0.15292728 0.98761671]] t_gt: [-0.83699113 0.50726262 0.20525712] Pose Error in degrees for R and t: 18.89783440987696 49.23211374163677 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99080399e-01 -4.28760127e-02 -5.51600736e-05] [ 4.28760237e-02 9.99080377e-01 2.17456801e-04] [ 4.57856666e-05 -2.19621872e-04 9.99999975e-01]] t_estimated: [[-4.43875784e-01] [-8.96088101e-01] [-6.35734415e-04]] R_gt: [[ 0.99862138 0.02695752 -0.04504738] [-0.02724513 0.99961249 -0.00577214] [ 0.04487318 0.00699172 0.99896844]] t_gt: [ 0.61054605 0.58142507 -0.53775311] Pose Error in degrees for R and t: 4.780542070588595 37.657884168909426 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-0.81411544 -0.58069674 -0.00271064] [ 0.58070105 -0.81411604 -0.00116823] [-0.00152839 -0.00252515 0.99999564]] t_estimated: [[0.91605703] [0.40104544] [0.00144261]] R_gt: [[ 9.96336881e-01 7.06660628e-02 -4.81518312e-02] [-7.07799818e-02 9.97492188e-01 -6.57923290e-04] [ 4.79844213e-02 4.06436558e-03 9.98839583e-01]] t_gt: [ 0.61948374 0.68643435 -0.38085138] Pose Error in degrees for R and t: 148.56486402087546 32.62424032736219 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999998e-01 4.54189749e-05 5.16187782e-05] [-4.54189307e-05 9.99999999e-01 -8.58373790e-07] [-5.16188171e-05 8.56029318e-07 9.99999999e-01]] t_estimated: [[-1.11055878e-01] [ 9.93814104e-01] [-3.44804833e-04]] R_gt: [[ 0.99235679 0.0468112 -0.11418702] [-0.04514969 0.99883461 0.01709846] [ 0.11485478 -0.01181227 0.9933128 ]] t_gt: [ 0.89413038 0.29194506 -0.33955698] Pose Error in degrees for R and t: 7.138684867204755 78.99131630154025 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 1.30203050e-03 9.99996775e-01 2.18052385e-03] [ 9.99999040e-01 -1.30305940e-03 4.70503058e-04] [ 4.73342893e-04 2.17990914e-03 -9.99997512e-01]] t_estimated: [[0.01851532] [0.99982716] [0.00168321]] R_gt: [[ 0.99627469 -0.0349304 -0.07885205] [ 0.03378718 0.99930482 -0.0157998 ] [ 0.07934851 0.01307584 0.99676062]] t_gt: [ 0.71329356 -0.18147828 -0.67696228] Pose Error in degrees for R and t: 177.45000620899123 80.24825434050219 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.88249036 -0.41624228 -0.21898202] [ 0.40710705 -0.9091759 0.08753871] [-0.23553049 -0.01189706 0.97179414]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.98659546 -0.12882422 -0.1001726 ] [ 0.12252418 0.9902205 -0.06672196] [ 0.10778784 0.05355263 0.99273082]] t_gt: [ 0.77407904 -0.3362107 -0.53643639] Pose Error in degrees for R and t: 148.9059954393566 72.00554155047604 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 3.81427404e-01 9.24395764e-01 2.36770463e-03] [ 9.24398793e-01 -3.81425937e-01 -1.06080975e-03] [-7.75040800e-05 2.59332521e-03 -9.99996634e-01]] t_estimated: [[0.39333006] [0.91939682] [0.00097601]] R_gt: [[ 0.95585957 -0.27715099 -0.0975725 ] [ 0.27037615 0.95965751 -0.07716461] [ 0.11502159 0.04737648 0.99223235]] t_gt: [ 0.83221569 -0.44864512 -0.32578305] Pose Error in degrees for R and t: 179.70380778865942 85.09721164474303 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999972e-01 -2.18641595e-04 8.61200785e-05] [ 2.18644450e-04 9.99999976e-01 -3.31406151e-05] [-8.61128305e-05 3.31594439e-05 9.99999996e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99644866 0.05707793 -0.06191446] [-0.06276083 0.99358294 -0.09410494] [ 0.05614498 0.09765618 0.99363469]] t_gt: [-0.24991476 0.48118406 -0.84024074] Pose Error in degrees for R and t: 7.334340520945863 69.60439980947555 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.97767946 -0.21007682 0.00325509] [ 0.21005459 -0.9776706 -0.00610538] [ 0.004465 -0.00528536 0.99997606]] t_estimated: [[8.09249629e-01] [5.87464888e-01] [2.08413321e-04]] R_gt: [[ 0.98917053 0.1366685 -0.05352057] [-0.14184369 0.98384234 -0.1092542 ] [ 0.03772295 0.11566292 0.99257166]] t_gt: [-0.48749418 0.64895109 -0.58413347] Pose Error in degrees for R and t: 175.89672968372113 89.23277236096764 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99999857e-01 -5.31699891e-04 -6.20571576e-05] [ 5.31699920e-04 9.99999859e-01 4.59156958e-07] [ 6.20569047e-05 -4.92152677e-07 9.99999998e-01]] t_estimated: [[0.62274553] [0.78242387] [0.00093928]] R_gt: [[ 0.994683 0.10150988 0.01742509] [-0.10174845 0.99472198 0.01331139] [-0.01598269 -0.01501364 0.9997587 ]] t_gt: [-0.75772846 0.62524605 0.18685542] Pose Error in degrees for R and t: 5.997402618567041 88.99664607992267 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-4.71528008e-01 -8.81846334e-01 -2.89495411e-03] [-8.81850915e-01 4.71523333e-01 2.17029325e-03] [-5.48826729e-04 3.57627199e-03 -9.99993455e-01]] t_estimated: [[0.8074406 ] [0.58994818] [0.00090622]] R_gt: [[ 0.99082817 -0.12715473 -0.04572735] [ 0.12769857 0.99177068 0.00916515] [ 0.04418416 -0.01491952 0.99891201]] t_gt: [ 0.70949433 -0.68070876 -0.18235509] Pose Error in degrees for R and t: 178.0749026676724 80.1466844747967 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.40269564e-01 3.40430340e-01 5.75211871e-04] [-3.40430188e-01 9.40269731e-01 -3.47609254e-04] [-6.59191047e-04 1.31026916e-04 9.99999774e-01]] t_estimated: [[-9.99796655e-01] [-2.01559633e-02] [-6.21436047e-04]] R_gt: [[ 0.97448827 -0.21859064 -0.05090489] [ 0.21796493 0.97579824 -0.01760606] [ 0.05352048 0.00606157 0.99854858]] t_gt: [ 0.70658416 -0.66805225 -0.23333455] Pose Error in degrees for R and t: 32.66564170275751 46.145433033607404 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.12970337e-01 -4.08022757e-01 -1.61055775e-03] [ 4.08024011e-01 9.12971042e-01 5.31924733e-04] [ 1.25335519e-03 -1.14277774e-03 9.99998562e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.95607334 -0.28843763 -0.05222871] [ 0.28583145 0.9568642 -0.05207338] [ 0.06499488 0.03485773 0.99727703]] t_gt: [ 0.67708144 -0.67401577 -0.29540389] Pose Error in degrees for R and t: 8.478064833166899 47.92625959083544 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999974e-01 2.13316231e-04 8.05939464e-05] [-2.13313658e-04 9.99999977e-01 -3.19280953e-05] [-8.06007553e-05 3.19109027e-05 9.99999996e-01]] t_estimated: [[ 9.99999769e-01] [ 6.63619243e-04] [-1.44447013e-04]] R_gt: [[ 0.99356842 -0.1119262 -0.01715023] [ 0.11184223 0.99370907 -0.00581137] [ 0.0176932 0.00385628 0.99983656]] t_gt: [ 0.6981735 -0.70550409 -0.12172815] Pose Error in degrees for R and t: 6.520199029843248 45.75541668230249 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-3.79660472e-01 9.25125895e-01 6.70758794e-05] [-9.25123827e-01 -3.79659468e-01 -2.14308566e-03] [-1.95715805e-03 -8.75698408e-04 9.99997701e-01]] t_estimated: [[0.2678362 ] [0.96346377] [0.00115804]] R_gt: [[ 0.99156185 -0.11950479 -0.05025075] [ 0.11609136 0.99103712 -0.06610359] [ 0.0576993 0.05971286 0.9965471 ]] t_gt: [ 0.71180978 -0.52965926 -0.4612894 ] Pose Error in degrees for R and t: 119.14855733658928 71.32538683069606 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.89677701 0.44247875 0.00188387] [-0.44247443 0.89677812 -0.00231817] [-0.00271516 0.00124531 0.99999554]] t_estimated: [[0.37570429] [0.92673725] [0.00208725]] R_gt: [[ 0.98609567 -0.1168271 -0.11818454] [ 0.10172874 0.98672347 -0.12660103] [ 0.13140621 0.1128178 0.98488804]] t_gt: [ 0.63533898 -0.27245398 -0.72257401] Pose Error in degrees for R and t: 34.044181097826694 89.12323383921343 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99015474e-01 -4.43630655e-02 -3.52726755e-05] [ 4.43630749e-02 9.99015418e-01 3.33875153e-04] [ 2.04262213e-05 -3.35111248e-04 9.99999944e-01]] t_estimated: [[0.50557815] [0.86278011] [0.00109908]] R_gt: [[ 0.99672631 -0.05380571 0.06034368] [ 0.04875228 0.99541522 0.08228918] [-0.06449446 -0.0790781 0.99477924]] t_gt: [ 0.17184413 -0.35138615 0.9203246 ] Pose Error in degrees for R and t: 5.8569174523943515 77.568231399909 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-0.15944138 -0.98719609 -0.00472415] [-0.98720386 0.15945179 -0.0019125 ] [ 0.00264129 0.00435876 -0.99998701]] t_estimated: [[ 7.32479831e-01] [ 6.80788387e-01] [-6.85338090e-04]] R_gt: [[ 0.98975232 -0.10736796 0.09414055] [ 0.09655249 0.98891997 0.11275974] [-0.10520405 -0.10251586 0.98915158]] t_gt: [ 0.37585122 -0.39535533 0.83811098] Pose Error in degrees for R and t: 171.884299266205 89.68053251496117 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-1.87881410e-01 -9.82160356e-01 -7.84921332e-03] [ 9.82191344e-01 -1.87882335e-01 -6.25955184e-04] [-8.59940160e-04 -7.82703472e-03 9.99968999e-01]] t_estimated: [[0.98477378] [0.17378361] [0.00445599]] R_gt: [[ 0.98935033 -0.09490164 0.11035751] [ 0.07691264 0.98457277 0.15716229] [-0.12356985 -0.14700177 0.98138714]] t_gt: [ 0.35933721 -0.32889152 0.87333106] Pose Error in degrees for R and t: 96.32868499391839 72.50626811738485 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[-1.52163480e-01 -9.88355177e-01 -5.65380297e-04] [-9.88355078e-01 1.52163000e-01 8.13066630e-04] [-7.17568651e-04 6.82515536e-04 -9.99999510e-01]] t_estimated: [[9.96232706e-01] [8.67146173e-02] [9.85393379e-04]] R_gt: [[ 0.99530164 -0.09472957 -0.02000384] [ 0.09433056 0.99534052 -0.02000713] [ 0.02180596 0.01802638 0.99959929]] t_gt: [ 0.71492548 -0.65268327 -0.25077103] Pose Error in degrees for R and t: 178.38677004774206 49.05093433831852 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.86724180e-01 1.62404829e-01 2.52405642e-04] [-1.62404806e-01 9.86724210e-01 -1.07690339e-04] [-2.66544188e-04 6.52687721e-05 9.99999962e-01]] t_estimated: [[0.68081203] [0.73245766] [0.00087305]] R_gt: [[ 0.97202053 -0.23293486 -0.03029407] [ 0.23314736 0.97243518 0.0036763 ] [ 0.02860362 -0.0106361 0.99953381]] t_gt: [ 0.73400735 -0.67736358 -0.04910988] Pose Error in degrees for R and t: 22.893071431507153 89.79728637353875 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 1.25569413e-01 9.92084782e-01 -3.27086174e-04] [-9.92080886e-01 1.25567976e-01 -2.86330165e-03] [-2.79956645e-03 6.84039049e-04 9.99995847e-01]] t_estimated: [[0.01361259] [0.99990658] [0.00123751]] R_gt: [[ 0.95768752 -0.28579671 -0.03398677] [ 0.28603782 0.95821542 0.00233403] [ 0.03190102 -0.01195698 0.99941873]] t_gt: [ 0.75029336 -0.65959132 -0.04471202] Pose Error in degrees for R and t: 99.42196317495112 49.505760466797526 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 9.99790495e-01 2.04686763e-02 -1.42772511e-05] [-2.04686766e-02 9.99790494e-01 -2.29148359e-05] [ 1.38052236e-05 2.32022715e-05 1.00000000e+00]] t_estimated: [[-0.3833483 ] [ 0.92360339] [-0.00092926]] R_gt: [[ 0.99788447 0.00930101 -0.06433551] [-0.00878678 0.99992746 0.00826556] [ 0.06440697 -0.00768315 0.99789338]] t_gt: [ 0.95523496 -0.10542549 -0.27642656] Pose Error in degrees for R and t: 3.775938107082185 62.399603835614656 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.85605918e-01 -1.69058979e-01 -1.86819889e-04] [ 1.69059039e-01 9.85605857e-01 3.68684402e-04] [ 1.21801368e-04 -3.94961120e-04 9.99999915e-01]] t_estimated: [[-0.89872533] [-0.43851079] [-0.00103726]] R_gt: [[ 0.99602508 0.04891197 -0.07443825] [-0.0447383 0.99738643 0.05673661] [ 0.07701888 -0.05318072 0.99561001]] t_gt: [ 0.95352863 -0.14456899 0.26435385] Pose Error in degrees for R and t: 13.521950037002126 37.454222264507536 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-9.81534805e-01 -1.90967595e-01 -1.09910992e-02] [-1.90975080e-01 9.81594814e-01 -3.74136409e-04] [ 1.08602539e-02 1.73179815e-03 -9.99939526e-01]] t_estimated: [[ 0.98279849] [ 0.18459717] [-0.00556903]] R_gt: [[ 0.98518666 0.12564178 -0.1167087 ] [-0.11253171 0.98721923 0.11285352] [ 0.12939568 -0.09804847 0.98673277]] t_gt: [0.80313132 0.01586401 0.59559082] Pose Error in degrees for R and t: 172.89575807063676 37.91457177286886 Number of keypoints: Image1: 386 Image2: 386 R_estimated: [[ 9.93967055e-01 -1.09679023e-01 -7.54444094e-05] [ 1.09679023e-01 9.93967058e-01 -1.04975751e-05] [ 7.61406214e-05 2.15957476e-06 9.99999997e-01]] t_estimated: [[-0.24314993] [-0.96998519] [-0.00261452]] R_gt: [[ 0.99980433 0.01363076 -0.01427162] [-0.01409365 0.99936108 -0.03281849] [ 0.01381475 0.03301313 0.99935959]] t_gt: [ 0.06357454 0.72829208 -0.68231145] Pose Error in degrees for R and t: 7.3813868814362635 43.93670390214599 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.6447237 0.76426988 -0.01493014] [ 0.76425802 0.64486443 0.00771634] [ 0.01552528 -0.00643557 -0.99985876]] t_estimated: [[ 0.89796572] [-0.4399835 ] [-0.00848994]] R_gt: [[ 0.99568691 0.09234958 -0.00885979] [-0.09271092 0.99398839 -0.05823132] [ 0.00342859 0.05880117 0.99826388]] t_gt: [-0.41690108 0.81486527 -0.4027258 ] Pose Error in degrees for R and t: 179.87681247953088 43.157932130075025 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.05537149 0.99846111 -0.00306742] [ 0.99845291 0.05538613 0.00491533] [ 0.00507766 -0.0027905 -0.99998322]] t_estimated: [[-0.16574206] [-0.98616527] [-0.00276237]] R_gt: [[ 0.98073016 0.19401796 -0.02290975] [-0.19497352 0.97943985 -0.05178942] [ 0.01239117 0.05525829 0.99839546]] t_gt: [-0.58193782 0.78238689 -0.22185386] Pose Error in degrees for R and t: 178.9495219218663 47.584793066678934 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999942e-01 9.61403412e-06 3.40241911e-04] [-9.49013498e-06 9.99999934e-01 -3.64149896e-04] [-3.40245389e-04 3.64146646e-04 9.99999876e-01]] t_estimated: [[9.68716625e-01] [2.48169225e-01] [3.68422704e-04]] R_gt: [[ 0.98489178 -0.17238383 -0.01652717] [ 0.17264851 0.98485141 0.0161484 ] [ 0.01349273 -0.01875702 0.99973325]] t_gt: [ 0.73369238 -0.67940203 0.01041042] Pose Error in degrees for R and t: 10.027272869715723 57.17075630292925 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999265e-01 5.91091669e-04 -1.05891831e-03] [-5.89845986e-04 9.99999134e-01 1.17629878e-03] [ 1.05961270e-03 -1.17567332e-03 9.99998748e-01]] t_estimated: [[-6.98354798e-03] [-9.99975518e-01] [ 4.40053084e-04]] R_gt: [[ 0.98267218 -0.17691228 -0.0552901 ] [ 0.17840846 0.98367921 0.02336964] [ 0.05025285 -0.03282774 0.99819679]] t_gt: [ 0.77159981 -0.63371602 -0.05511566] Pose Error in degrees for R and t: 10.809332864221885 51.07609161814931 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-2.18500743e-01 -9.75836577e-01 -6.31944125e-04] [-9.75835711e-01 2.18499498e-01 1.62306501e-03] [-1.44576673e-03 9.71314554e-04 -9.99998483e-01]] t_estimated: [[8.99206188e-01] [4.37524205e-01] [8.94732526e-04]] R_gt: [[ 0.95779464 -0.24805805 -0.14524788] [ 0.24638946 0.96871769 -0.02965679] [ 0.14806034 -0.00738155 0.98895139]] t_gt: [ 0.82452925 -0.4898855 -0.28313197] Pose Error in degrees for R and t: 173.00498345634747 58.20836445462997 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[-0.18309353 0.98266739 0.02900975] [ 0.98300571 0.1833959 -0.00810717] [-0.01328693 0.02703238 -0.99954625]] t_estimated: [[0.9816779 ] [0.19053664] [0.00207105]] R_gt: [[ 0.99153309 0.12718177 -0.02618283] [-0.1257852 0.99082534 0.04943572] [ 0.03223064 -0.04572288 0.99843382]] t_gt: [-0.86960207 0.48102558 0.11138504] Pose Error in degrees for R and t: 178.4900658652201 40.3781464324459 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99883685e-01 -1.52438753e-02 4.90989216e-04] [ 1.52445105e-02 9.99882928e-01 -1.31721348e-03] [-4.70852297e-04 1.32454516e-03 9.99999012e-01]] t_estimated: [[-0.65885673] [-0.75226741] [-0.00124548]] R_gt: [[ 0.94835009 0.31496802 -0.03776453] [-0.31081531 0.94639114 0.0879621 ] [ 0.06344593 -0.07168033 0.99540733]] t_gt: [-0.84842628 0.52818325 0.0345732 ] Pose Error in degrees for R and t: 19.937719115563734 80.69945232606271 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-4.97270826e-01 8.67595251e-01 4.55116634e-04] [-8.67589185e-01 -4.97265232e-01 -4.03674611e-03] [-3.27594807e-03 -2.40221034e-03 9.99991749e-01]] t_estimated: [[0.02851852] [0.99959169] [0.00177402]] R_gt: [[ 0.91846052 0.39550334 -0.00244041] [-0.39029497 0.90732979 0.15627766] [ 0.06402349 -0.1425814 0.98770939]] t_gt: [-0.85652484 0.48804962 0.16784743] Pose Error in degrees for R and t: 96.86187982062977 62.37250232810346 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99999606e-01 8.68533671e-04 1.81015584e-04] [-8.68526225e-04 9.99999622e-01 -4.12104996e-05] [-1.81051308e-04 4.10532665e-05 9.99999983e-01]] t_estimated: [[9.99980279e-01] [6.20143419e-03] [9.91610210e-04]] R_gt: [[ 0.99622237 -0.08523216 0.01661827] [ 0.08567423 0.9959291 -0.02799813] [-0.01416418 0.02931648 0.99946972]] t_gt: [ 0.44193027 -0.87118779 -0.21384452] Pose Error in degrees for R and t: 5.290531918897695 64.13151772766587 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 9.99784894e-01 2.07373501e-02 3.58802843e-04] [-2.07372597e-02 9.99784928e-01 -2.53868693e-04] [-3.63990238e-04 2.46373496e-04 9.99999903e-01]] t_estimated: [[9.53714180e-01] [3.00713539e-01] [7.93439418e-04]] R_gt: [[ 0.98729948 -0.15723127 -0.0227759 ] [ 0.15611209 0.98673069 -0.04462163] [ 0.02948939 0.04049986 0.9987441 ]] t_gt: [ 0.48256625 -0.79462505 -0.36837596] Pose Error in degrees for R and t: 10.602587732690269 77.23319574878039 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.28764668 -0.95773097 -0.00328274] [-0.95773237 0.28763354 0.0039569 ] [-0.00284542 0.00428218 -0.99998678]] t_estimated: [[8.28570235e-01] [5.59884929e-01] [4.81654122e-04]] R_gt: [[ 0.9567834 -0.28939819 -0.02852157] [ 0.28846913 0.95693149 -0.03266636] [ 0.03674656 0.02302809 0.99905933]] t_gt: [ 0.60786846 -0.77162682 -0.18731787] Pose Error in degrees for R and t: 177.54764383433002 85.89702316571444 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.78165094 -0.62371306 0.00195746] [-0.62370518 0.78161478 -0.00837785] [ 0.0036954 -0.00776943 -0.99996299]] t_estimated: [[0.91114282] [0.41208954] [0.00098822]] R_gt: [[ 0.94682886 0.32172352 0.0027178 ] [-0.32149721 0.94642327 -0.03036848] [-0.01234218 0.02787997 0.99953479]] t_gt: [-0.90125946 0.42700586 -0.07346685] Pose Error in degrees for R and t: 179.87460551131267 49.813024759234004 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.12072578 -0.99267531 -0.0045832 ] [ 0.9926846 -0.12071689 -0.00217005] [ 0.00160089 -0.00481166 0.99998714]] t_estimated: [[9.99965870e-01] [8.21139856e-03] [9.12377618e-04]] R_gt: [[ 0.84611596 0.53299332 -0.00228045] [-0.53291484 0.84590185 -0.02124094] [-0.00939155 0.01918786 0.99977205]] t_gt: [-0.85710892 0.51410473 -0.0325673 ] Pose Error in degrees for R and t: 129.1483134614025 31.47282786838496 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.89172923 -0.45255869 -0.00309985] [ 0.45256512 0.89172953 0.00180525] [ 0.00194724 -0.00301268 0.99999357]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.82623767 0.56306949 0.01686479] [-0.56169962 0.82576068 -0.05109345] [-0.04269496 0.03274227 0.99855154]] t_gt: [-0.84242908 0.53747014 -0.03793521] Pose Error in degrees for R and t: 61.23859227278451 32.77661563244518 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-6.28020103e-01 -7.78197114e-01 -4.95874603e-05] [-7.78195124e-01 6.28018350e-01 2.30224449e-03] [-1.76045818e-03 1.48444454e-03 -9.99997349e-01]] t_estimated: [[0.97715136] [0.21254045] [0.00133673]] R_gt: [[ 0.99612003 0.01452629 -0.08679497] [-0.02495447 0.99242508 -0.12029807] [ 0.08438986 0.12199692 0.98893626]] t_gt: [ 0.07522357 0.39617978 -0.91508633] Pose Error in degrees for R and t: 172.60857924313987 80.99702110862411 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.35406627e-01 3.53572844e-01 -8.28222286e-04] [-3.53573117e-01 9.35397565e-01 -4.17688758e-03] [-7.02116913e-04 4.19992546e-03 9.99990934e-01]] t_estimated: [[0.1825656 ] [0.98319184] [0.00190173]] R_gt: [[ 0.99571463 0.05870801 -0.0714564 ] [-0.07021496 0.98277062 -0.17097531] [ 0.06018773 0.17526094 0.98268039]] t_gt: [-0.11605013 0.60505057 -0.78768406] Pose Error in degrees for R and t: 19.91469320728713 55.096493883821545 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99611397e-01 2.78739264e-02 -3.16343830e-04] [-2.78736847e-02 9.99611176e-01 7.44427796e-04] [ 3.36970954e-04 -7.35320841e-04 9.99999673e-01]] t_estimated: [[-6.35904197e-01] [-7.71767963e-01] [ 2.51035004e-04]] R_gt: [[ 0.99017003 0.10735025 -0.08966124] [-0.11946312 0.98249289 -0.14296017] [ 0.07274424 0.15226658 0.98565882]] t_gt: [-0.18960254 0.73123715 -0.65524278] Pose Error in degrees for R and t: 10.931190095178343 63.644405901927925 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.97593047e-01 -6.93405457e-02 3.90620777e-05] [ 6.93405281e-02 9.97592988e-01 3.47321235e-04] [-6.30514988e-05 -3.43776664e-04 9.99999939e-01]] t_estimated: [[0.17374324] [0.98478795] [0.00244559]] R_gt: [[ 0.99760727 0.02043457 -0.06604776] [-0.02633116 0.99562167 -0.08968834] [ 0.06392437 0.09121352 0.99377745]] t_gt: [-0.01973015 0.30193923 -0.95312298] Pose Error in degrees for R and t: 8.330661705311257 73.04699764699255 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-3.66396614e-01 9.30458241e-01 9.91628919e-04] [-9.30457513e-01 -3.66394161e-01 -2.03341568e-03] [-1.52868133e-03 -1.66770520e-03 9.99997441e-01]] t_estimated: [[0.01066289] [0.99994245] [0.00118477]] R_gt: [[ 0.99068685 0.08332403 -0.10769219] [-0.09833123 0.98489192 -0.14254147] [ 0.09418694 0.15180286 0.98391238]] t_gt: [-0.19610639 0.47903427 -0.85560999] Pose Error in degrees for R and t: 106.59246341853037 61.58190849385161 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-6.21203577e-01 -7.83647323e-01 -1.72872211e-03] [ 7.83649227e-01 -6.21202238e-01 -1.29132099e-03] [-6.19458049e-05 -2.15688496e-03 9.99997672e-01]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99064382 0.12230984 -0.06053541] [-0.12840774 0.98560507 -0.1099756 ] [ 0.04621221 0.11671944 0.99208924]] t_gt: [-0.4386979 0.61304828 -0.65705096] Pose Error in degrees for R and t: 135.72714092252633 70.41155559376146 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.97331461e-01 7.30065008e-02 8.50772872e-05] [-7.30065099e-02 9.97331458e-01 1.09500204e-04] [-7.68560282e-05 -1.15419195e-04 9.99999990e-01]] t_estimated: [[0.99882427] [0.04846616] [0.00105361]] R_gt: [[ 0.99020402 -0.13260382 -0.04372976] [ 0.13325217 0.99100631 0.01226796] [ 0.04170996 -0.01797435 0.99896855]] t_gt: [ 0.71300861 -0.68737533 -0.13832526] Pose Error in degrees for R and t: 12.111920808813222 47.25707018766068 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 2.43325617e-01 9.69941020e-01 2.65743832e-03] [ 9.69944017e-01 -2.43327699e-01 4.85580955e-04] [ 1.11761324e-03 2.45941211e-03 -9.99996351e-01]] t_estimated: [[-9.87971857e-01] [-1.54631022e-01] [-9.25934261e-04]] R_gt: [[ 0.97595044 -0.21474112 -0.03752174] [ 0.21416443 0.97661689 -0.01879233] [ 0.04067906 0.01030457 0.99911948]] t_gt: [ 0.691023 -0.69260218 -0.20685607] Pose Error in degrees for R and t: 179.36397050543562 54.87081232741989 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.62146722 0.7812944 0.05794434] [ 0.78215115 -0.61450439 -0.10307243] [-0.04492286 0.10937737 -0.99298466]] t_estimated: [[ 0.65743625] [ 0.75342294] [-0.01146541]] R_gt: [[ 0.95859127 -0.28087811 -0.04702965] [ 0.27872747 0.9591976 -0.04744635] [ 0.05843654 0.03237289 0.9977662 ]] t_gt: [ 0.66134032 -0.69745013 -0.27602952] Pose Error in degrees for R and t: 172.48581997775705 84.97898960070779 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999558e-01 9.32611556e-04 1.21758399e-04] [-9.32632662e-04 9.99999550e-01 1.73402433e-04] [-1.21596627e-04 -1.73515912e-04 9.99999978e-01]] t_estimated: [[0.01898735] [0.99981897] [0.00122717]] R_gt: [[ 0.9964848 0.05713709 -0.06127074] [-0.06248311 0.9940508 -0.0892231 ] [ 0.05580829 0.0927377 0.99412524]] t_gt: [-0.25988583 0.48348821 -0.83588188] Pose Error in degrees for R and t: 7.085661620556186 61.48163873859152 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.48572549e-01 -3.16559666e-01 -3.10966253e-04] [ 3.16559729e-01 9.48572563e-01 1.77445877e-04] [ 2.38801848e-04 -2.66759681e-04 9.99999936e-01]] t_estimated: [[ 9.93503625e-01] [-1.13799126e-01] [ 5.53357885e-04]] R_gt: [[ 0.99038598 0.13307896 -0.0377578 ] [-0.13608353 0.98630229 -0.09321639] [ 0.02483591 0.09745809 0.99493002]] t_gt: [-0.53990733 0.66464225 -0.5164792 ] Pose Error in degrees for R and t: 26.827962311548717 52.24245526136334 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.86219202 0.25799388 -0.43596339] [-0.04907779 0.89909053 0.43500298] [ 0.50419867 -0.35365998 0.78785044]] t_estimated: [[0.64514193] [0.76406211] [0.000991 ]] R_gt: [[ 0.99525819 0.07661545 0.05994062] [-0.08029304 0.99486849 0.06157192] [-0.05491568 -0.06609299 0.99630152]] t_gt: [-0.58536663 0.3796515 0.71638722] Pose Error in degrees for R and t: 38.85089523202619 85.01716465477126 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.20728325e-01 -3.90204240e-01 -3.90733508e-05] [ 3.90204242e-01 9.20728321e-01 8.59259138e-05] [ 2.44728471e-06 -9.43610100e-05 9.99999996e-01]] t_estimated: [[8.69124410e-01] [4.94592953e-01] [7.55103745e-04]] R_gt: [[ 0.99799996 -0.0256744 -0.05777175] [ 0.02582714 0.9996651 0.00190018] [ 0.05770443 -0.00338849 0.99832809]] t_gt: [ 0.80253109 -0.27540445 -0.52924119] Pose Error in degrees for R and t: 21.741124637534714 55.88286371772539 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.31167304 -0.95018809 -0.00158453] [-0.95017303 0.31165744 0.00639177] [-0.00557956 0.00349772 -0.99997832]] t_estimated: [[9.65368238e-01] [2.60890014e-01] [7.51844422e-04]] R_gt: [[ 0.98900958 -0.09477595 -0.11347578] [ 0.08947309 0.99468516 -0.050953 ] [ 0.11770219 0.04023935 0.99223364]] t_gt: [ 0.75869674 -0.28134657 -0.58755712] Pose Error in degrees for R and t: 173.23626580203248 48.8083749814287 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99998493e-01 -1.68185282e-03 -4.29959312e-04] [ 1.68248510e-03 9.99997498e-01 1.47445054e-03] [ 4.27478428e-04 -1.47517172e-03 9.99998821e-01]] t_estimated: [[0.42598165] [0.90473129] [0.00095942]] R_gt: [[ 0.96577854 -0.24065158 -0.09674123] [ 0.23454783 0.96955723 -0.07033234] [ 0.11072279 0.04523551 0.99282151]] t_gt: [ 0.83026133 -0.43924058 -0.34312364] Pose Error in degrees for R and t: 15.326549716383358 87.47542961020487 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 8.47826446e-01 -5.30273242e-01 -7.79394240e-04] [ 5.30273713e-01 8.47826276e-01 6.28469119e-04] [ 3.27530559e-04 -9.46125017e-04 9.99999499e-01]] t_estimated: [[ 6.04116248e-01] [-7.96896168e-01] [ 2.39262425e-04]] R_gt: [[ 0.99470516 0.09431423 0.04081804] [-0.09655653 0.99369677 0.05695047] [-0.03518975 -0.06058968 0.99754168]] t_gt: [-0.81666968 0.36868979 0.44398027] Pose Error in degrees for R and t: 37.71172137205705 38.08795918486654 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.98298967e-01 5.83023339e-02 -1.02965669e-04] [-5.83023307e-02 9.98298972e-01 3.43703624e-05] [ 1.04794394e-04 -2.83087589e-05 9.99999994e-01]] t_estimated: [[-9.82504257e-01] [-1.86239293e-01] [-5.56764475e-04]] R_gt: [[ 0.97438719 0.22482046 0.00505947] [-0.22474552 0.97279418 0.05620779] [ 0.00771489 -0.05590447 0.99840528]] t_gt: [-0.85113977 0.51270577 0.11266709] Pose Error in degrees for R and t: 10.18417335328856 42.20894120248969 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.20182572 0.977215 -0.06570565] [-0.9775244 -0.20515442 -0.04855618] [-0.06092963 0.05442899 0.99665694]] t_estimated: [[7.52666327e-01] [6.58401758e-01] [7.25112068e-04]] R_gt: [[ 0.9118549 0.40952789 0.02840852] [-0.40914245 0.90098281 0.14433613] [ 0.0335146 -0.14323632 0.98911999]] t_gt: [-0.82184935 0.54173829 0.17630447] Pose Error in degrees for R and t: 78.51077744160334 74.82494261676578 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99998412e-01 -7.03211939e-04 -1.63768729e-03] [ 7.07756761e-04 9.99995896e-01 2.77622210e-03] [ 1.63572830e-03 -2.77737678e-03 9.99994805e-01]] t_estimated: [[0.62046366] [0.78423311] [0.00180984]] R_gt: [[ 0.99559166 0.09242708 -0.01594209] [-0.09233043 0.99570491 0.00675732] [ 0.01649856 -0.00525544 0.99985 ]] t_gt: [-0.73529925 0.67754381 0.01641337] Pose Error in degrees for R and t: 5.409765856927923 85.68984077432793 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.99271364 -0.12049131 0.00121776] [ 0.12049303 0.99271311 -0.0014552 ] [-0.00103355 0.00159133 0.9999982 ]] t_estimated: [[0.30525707] [0.95226934] [0.001106 ]] R_gt: [[ 0.99689656 0.04245487 0.06630474] [-0.04703797 0.99649646 0.0691472 ] [-0.06313709 -0.07205083 0.99540098]] t_gt: [-0.56371099 0.28299818 0.77597806] Pose Error in degrees for R and t: 10.975912715561106 84.3603290259293 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99210712e-01 -3.97232100e-02 -1.41398979e-04] [ 3.97232850e-02 9.99210554e-01 5.74798683e-04] [ 1.18454504e-04 -5.79961833e-04 9.99999825e-01]] t_estimated: [[0.03116359] [0.99951331] [0.00140214]] R_gt: [[ 0.9959092 -0.00796592 0.0900095 ] [-0.00336051 0.99215285 0.12498002] [-0.09029955 -0.12477134 0.98806759]] t_gt: [-0.23021934 0.01361349 0.97304354] Pose Error in degrees for R and t: 9.093430212923382 89.55327473147281 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 9.98645437e-01 -5.20024806e-02 1.74143413e-03] [ 5.20024916e-02 9.98646954e-01 3.89397560e-05] [-1.74110285e-03 5.16719041e-05 9.99998483e-01]] t_estimated: [[0.48852899] [0.8723732 ] [0.01744746]] R_gt: [[ 0.99798701 -0.00746025 -0.06298371] [ 0.01077622 0.99856401 0.05247159] [ 0.06250295 -0.05304432 0.99663497]] t_gt: [ 0.8346652 -0.23024 0.50032344] Pose Error in degrees for R and t: 5.3735311524051745 77.54737338703855 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[-0.40468914 -0.91422701 -0.02038833] [ 0.91431333 -0.40413465 -0.02657676] [ 0.01605756 -0.02939665 0.99943884]] t_estimated: [[0.8992634 ] [0.43739682] [0.00305872]] R_gt: [[ 9.92833494e-01 7.04644860e-03 -1.19298938e-01] [ 5.13165893e-04 9.97999696e-01 6.32121977e-02] [ 1.19506051e-01 -6.28204865e-02 9.90844230e-01]] t_gt: [ 0.97583664 -0.17543883 0.1302462 ] Pose Error in degrees for R and t: 114.08810323198364 36.75551945563795 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.9466896 -0.32214219 -0.00179366] [ 0.3221446 0.94668963 0.00126721] [ 0.00128982 -0.00177748 0.99999759]] t_estimated: [[-0.77091611] [-0.63693336] [-0.00206127]] R_gt: [[ 0.98810003 0.02296954 -0.15208935] [-0.00917737 0.99583024 0.09076535] [ 0.15354036 -0.08828955 0.98419093]] t_gt: [ 0.96156514 -0.19346335 0.1948446 ] Pose Error in degrees for R and t: 22.124022242513316 51.79591518187145 Number of keypoints: Image1: 351 Image2: 351 R_estimated: [[ 9.99008370e-01 4.45225800e-02 -1.27841472e-04] [-4.45225837e-02 9.99008378e-01 -2.64274803e-05] [ 1.26538082e-04 3.20931066e-05 9.99999991e-01]] t_estimated: [[-0.99204017] [ 0.12590994] [-0.00172982]] R_gt: [[ 0.99822005 0.03797339 -0.04599022] [-0.03678024 0.99897085 0.02653666] [ 0.04695071 -0.02479726 0.99858907]] t_gt: [ 0.87322483 0.40268902 -0.27444482] Pose Error in degrees for R and t: 3.065532223185102 35.40306451567898 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 0.99987476 -0.01541547 0.00358132] [ 0.0154403 0.99985619 -0.00701355] [-0.00347269 0.00706797 0.99996899]] t_estimated: [[-9.99472407e-01] [-3.24674970e-02] [-8.77499918e-04]] R_gt: [[ 0.99351906 0.05754355 -0.0980225 ] [-0.05240375 0.9971523 0.05423559] [ 0.10086384 -0.04874666 0.99370519]] t_gt: [ 0.91592221 0.34261157 -0.20905458] Pose Error in degrees for R and t: 7.913212381742431 22.122735084702633 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-1.52713819e-01 -9.88257097e-01 -5.13806343e-03] [-9.88270108e-01 1.52707354e-01 1.63019894e-03] [-8.26435599e-04 5.32674841e-03 -9.99985471e-01]] t_estimated: [[0.76549419] [0.64344171] [0.00118498]] R_gt: [[ 0.97868338 0.12784244 -0.16073015] [-0.11359252 0.98897917 0.09496061] [ 0.17109819 -0.07467821 0.98241944]] t_gt: [ 0.64235618 0.71586666 -0.27370323] Pose Error in degrees for R and t: 175.74170947591193 17.821602833295483 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.99994862e-01 3.20572757e-03 7.75840856e-06] [-3.20572761e-03 9.99994862e-01 5.00315343e-06] [-7.74232995e-06 -5.02799907e-06 1.00000000e+00]] t_estimated: [[6.06881232e-01] [7.94792433e-01] [3.97765015e-04]] R_gt: [[ 0.99852631 -0.02900275 0.04588546] [ 0.02874834 0.99956792 0.006179 ] [-0.04604385 -0.00485146 0.99892834]] t_gt: [ 0.43569087 -0.42762288 0.79203039] Pose Error in degrees for R and t: 3.2273873839375735 85.69051682599604 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.98734434e-01 5.02944132e-02 4.62303414e-05] [-5.02944087e-02 9.98734431e-01 -9.41220779e-05] [-5.09056484e-05 9.16778325e-05 9.99999995e-01]] t_estimated: [[9.99987772e-01] [4.87798916e-03] [8.12998189e-04]] R_gt: [[ 0.99831379 -0.05770665 0.00629564] [ 0.05749136 0.99788923 0.03021331] [-0.00802543 -0.0298003 0.99952377]] t_gt: [ 0.71934532 -0.60561112 0.34026091] Pose Error in degrees for R and t: 6.4343636865736995 44.22067528666689 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.81870731e-01 1.89551678e-01 -1.69393650e-04] [-1.89551622e-01 9.81870711e-01 2.99271267e-04] [ 2.23050035e-04 -2.61736857e-04 9.99999941e-01]] t_estimated: [[-9.97817402e-01] [ 6.60288896e-02] [-7.85654385e-04]] R_gt: [[ 0.99766077 -0.06625207 -0.01687057] [ 0.06679109 0.99719945 0.03364456] [ 0.01459421 -0.03469297 0.99929202]] t_gt: [ 0.72803235 -0.67422603 0.12404903] Pose Error in degrees for R and t: 14.895391247721022 39.55090009507819 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99999840e-01 -1.43358740e-04 5.47964405e-04] [ 1.43607223e-04 9.99999887e-01 -4.53453403e-04] [-5.47899337e-04 4.53532022e-04 9.99999747e-01]] t_estimated: [[0.57584525] [0.81755808] [0.0010156 ]] R_gt: [[ 0.99848403 -0.02515608 0.04894315] [ 0.02319854 0.99892485 0.04014966] [-0.04989929 -0.03895312 0.99799379]] t_gt: [ 0.37560937 -0.38144479 0.84464044] Pose Error in degrees for R and t: 3.8751493391826464 84.56579839475936 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 3.59403615e-01 9.33181907e-01 7.55121979e-04] [ 9.33180401e-01 -3.59404394e-01 1.67968856e-03] [ 1.83884913e-03 1.00978890e-04 -9.99998304e-01]] t_estimated: [[0.84659238] [0.53223271] [0.00311247]] R_gt: [[ 0.99895961 -0.03016639 0.03418156] [ 0.02735968 0.99643628 0.0797955 ] [-0.0364666 -0.07877715 0.99622449]] t_gt: [ 0.52063121 -0.37842629 0.76533436] Pose Error in degrees for R and t: 177.3437239123119 76.0111160196583 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.99832573 0.05769031 -0.00419086] [-0.0576759 0.99832929 0.00348096] [ 0.00438467 -0.00323342 0.99998516]] t_estimated: [[0.83472795] [0.55065823] [0.00218515]] R_gt: [[ 0.99176848 -0.09867282 0.08160009] [ 0.0815102 0.97801312 0.19195734] [-0.0987455 -0.18372677 0.97800422]] t_gt: [ 0.43229825 -0.36413818 0.82493733] Pose Error in degrees for R and t: 14.696046711816155 80.66896372558413 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999788e-01 3.12282203e-04 -5.70911549e-04] [-3.11845335e-04 9.99999659e-01 7.65140174e-04] [ 5.71150294e-04 -7.64961976e-04 9.99999544e-01]] t_estimated: [[0.99982586] [0.01861378] [0.00132956]] R_gt: [[ 0.98429193 -0.17311887 -0.03461427] [ 0.17339128 0.98483976 0.00501449] [ 0.03322245 -0.01093718 0.99938817]] t_gt: [ 0.72059521 -0.68903028 -0.07732923] Pose Error in degrees for R and t: 10.188596722204458 44.964767799199365 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999887e-01 4.26351477e-04 2.11054083e-04] [-4.26354155e-04 9.99999909e-01 1.26450425e-05] [-2.11048673e-04 -1.27350249e-05 9.99999978e-01]] t_estimated: [[9.54728111e-01] [2.97478768e-01] [7.84989117e-04]] R_gt: [[ 0.97013889 -0.23755689 -0.04895773] [ 0.23858583 0.97098484 0.01629677] [ 0.04366721 -0.02749095 0.99866824]] t_gt: [ 0.72833166 -0.68376192 -0.04475077] Pose Error in degrees for R and t: 14.120479681280841 60.53321503621328 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99993193e-01 -2.63899088e-03 2.57879089e-03] [ 2.63749396e-03 9.99996351e-01 5.83701985e-04] [-2.58032187e-03 -5.76896466e-04 9.99996505e-01]] t_estimated: [[0.67453095] [0.73824609] [0.00084954]] R_gt: [[ 0.95259802 -0.30296293 -0.02777419] [ 0.30340728 0.95276611 0.01343761] [ 0.02239217 -0.02122701 0.99952355]] t_gt: [ 0.75258806 -0.65823257 -0.01846888] Pose Error in degrees for R and t: 17.601579447113867 88.75712120205536 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99998816e-01 1.50744754e-03 3.09865745e-04] [-1.50742664e-03 9.99998862e-01 -6.76849226e-05] [-3.09967423e-04 6.72177426e-05 9.99999950e-01]] t_estimated: [[-9.99998166e-01] [-1.84421715e-03] [-5.16994317e-04]] R_gt: [[ 9.97311499e-01 7.32780739e-02 -6.64875863e-04] [-7.31440269e-02 9.95957591e-01 5.21431546e-02] [ 4.48319833e-03 -5.19549061e-02 9.98638931e-01]] t_gt: [-0.32916936 0.26052799 0.90761925] Pose Error in degrees for R and t: 5.088504743448988 70.8392851415805 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 5.30260529e-01 -8.47833356e-01 1.53991376e-03] [-8.47834684e-01 -5.30260353e-01 5.53739407e-04] [ 3.47076474e-04 -1.59921845e-03 -9.99998661e-01]] t_estimated: [[0.33475593] [0.9423032 ] [0.00177165]] R_gt: [[ 0.98916041 0.12730228 -0.07319027] [-0.1212696 0.98925085 0.0817071 ] [ 0.08280457 -0.07194647 0.99396449]] t_gt: [0.1299459 0.71444164 0.68752251] Pose Error in degrees for R and t: 178.23316005432196 44.11542993497814 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.94713144 -0.32084175 -0.00161409] [ 0.32084379 -0.94713135 -0.00121584] [-0.00113867 -0.00166943 0.99999796]] t_estimated: [[0.87208814] [0.48934805] [0.00087384]] R_gt: [[ 0.97140204 0.19439134 -0.13634419] [-0.17716801 0.9757092 0.12885398] [ 0.15808018 -0.10101384 0.98224461]] t_gt: [0.56927984 0.70640085 0.42061657] Pose Error in degrees for R and t: 172.11433588335998 32.594338778821204 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.99889345e-01 -1.48758477e-02 -8.40948368e-05] [ 1.48758282e-02 9.99889323e-01 -2.27262322e-04] [ 8.74662491e-05 2.25986194e-04 9.99999971e-01]] t_estimated: [[ 0.66676969] [-0.74525244] [-0.00412076]] R_gt: [[ 0.99871326 -0.04883848 0.01367282] [ 0.04892124 0.99878544 -0.00577252] [-0.01337414 0.00643307 0.99988927]] t_gt: [ 0.76267153 -0.63811616 0.1055457 ] Pose Error in degrees for R and t: 2.1273368788632543 10.37537670340685 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[-0.68770053 -0.72029915 -0.09075856] [ 0.7232815 -0.66895851 -0.17134285] [ 0.0627044 -0.18347656 0.98102218]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99604735 -0.08691142 0.01832652] [ 0.08722927 0.99603841 -0.01727486] [-0.01675173 0.01880465 0.99968239]] t_gt: [ 0.78499348 -0.61706269 0.05494433] Pose Error in degrees for R and t: 128.6121465057958 47.47016975547699 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.83993461e-01 1.78203947e-01 4.72086892e-04] [-1.78203779e-01 9.83993532e-01 -3.78022558e-04] [-5.31895560e-04 2.87844057e-04 9.99999817e-01]] t_estimated: [[0.58229333] [0.81297823] [0.00093018]] R_gt: [[ 0.97482192 -0.22261024 -0.01290676] [ 0.22232509 0.97475725 -0.02046986] [ 0.01713892 0.01708432 0.99970629]] t_gt: [ 0.77712485 -0.62456982 -0.07739193] Pose Error in degrees for R and t: 23.162381257517065 86.82883396810685 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99964211e-01 -8.46033112e-03 -2.11998162e-05] [ 8.46033227e-03 9.99964209e-01 5.51634520e-05] [ 2.07323564e-05 -5.53408352e-05 9.99999998e-01]] t_estimated: [[ 1.98876720e-01] [ 9.80024507e-01] [-1.24872261e-04]] R_gt: [[ 0.99977041 -0.01026154 -0.01878827] [ 0.01057433 0.99980511 0.0166362 ] [ 0.018614 -0.01683047 0.99968453]] t_gt: [ 0.52967216 -0.83888047 0.12540718] Pose Error in degrees for R and t: 1.4411285804137808 44.20912086359524 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999922e-01 -2.84286020e-04 -2.73561753e-04] [ 2.84297718e-04 9.99999959e-01 4.27230395e-05] [ 2.73549596e-04 -4.28008091e-05 9.99999962e-01]] t_estimated: [[ 9.45790684e-01] [ 3.24776477e-01] [-4.71909957e-04]] R_gt: [[ 0.99886509 0.04556058 -0.01387633] [-0.04546145 0.99893894 0.00741719] [ 0.01419987 -0.00677748 0.99987595]] t_gt: [ 0.27572218 0.92518473 -0.26078821] Pose Error in degrees for R and t: 2.7705463610869767 55.84893535785947 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.10945352 -0.9939384 -0.01031381] [ 0.99392342 -0.10931828 -0.01287401] [ 0.01166848 -0.01166024 0.99986393]] t_estimated: [[ 9.98565319e-01] [ 5.35459333e-02] [-3.69966264e-04]] R_gt: [[ 9.93517483e-01 1.12471796e-01 -1.64865130e-02] [-1.12487806e-01 9.93653089e-01 -9.48409000e-07] [ 1.63818345e-02 1.85632807e-03 9.99863174e-01]] t_gt: [ 0.25550251 0.95523953 -0.14911709] Pose Error in degrees for R and t: 102.73534896303404 72.16118171844988 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-0.20051617 0.97967333 -0.00578254] [-0.97968444 -0.20053203 -0.00230153] [-0.00341433 0.00520357 0.99998063]] t_estimated: [[0.116239 ] [0.99322073] [0.00103785]] R_gt: [[ 0.95652784 0.28856792 0.04221683] [-0.28729268 0.95724625 -0.03380823] [-0.05016732 0.0202104 0.99853589]] t_gt: [-0.92463031 0.37916644 -0.03593883] Pose Error in degrees for R and t: 84.86437067182005 74.3904375675618 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.56648089 0.82404683 0.00679881] [ 0.82407009 -0.56648645 -0.0012637 ] [ 0.00281009 0.00631856 -0.99997609]] t_estimated: [[-0.96784552] [-0.25153047] [-0.00273403]] R_gt: [[ 0.8376745 0.54609361 0.00906848] [-0.54460019 0.83641138 -0.06185701] [-0.04136433 0.04687741 0.99804339]] t_gt: [-0.84544637 0.52996628 -0.06600139] Pose Error in degrees for R and t: 176.27330186372978 46.75344012024738 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 0.98203493 0.18869563 0.00116785] [-0.18869324 0.98203424 -0.00190188] [-0.00150575 0.00164734 0.99999751]] t_estimated: [[-9.99999733e-01] [ 6.23020250e-04] [ 3.80910438e-04]] R_gt: [[ 0.65470153 0.75582317 0.00976354] [-0.75325475 0.65344538 -0.07493641] [-0.06301822 0.04170674 0.99714018]] t_gt: [-0.77000523 0.63707068 -0.03511256] Pose Error in degrees for R and t: 38.424511153416866 39.6112063088826 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 0.36800984 0.82823869 -0.42259842] [ 0.84983054 -0.11518009 0.51431663] [ 0.37730201 -0.54841063 -0.74624994]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.96256091 0.26829605 -0.03864809] [-0.26749711 0.96324309 0.02464686] [ 0.04384061 -0.01338635 0.99894865]] t_gt: [-0.97075317 0.23998352 0.00679684] Pose Error in degrees for R and t: 136.6522824379568 50.60732579969767 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.64936598e-01 -2.62458374e-01 3.60051212e-03] [-2.62460540e-01 -9.64942717e-01 1.34554221e-04] [ 3.43897307e-03 -1.07482865e-03 -9.99993509e-01]] t_estimated: [[0.16284871] [0.98664958] [0.00170692]] R_gt: [[ 0.84586419 0.53339503 0.00158606] [-0.5333172 0.84568082 0.01994555] [ 0.0092977 -0.01771779 0.99979966]] t_gt: [-0.90689499 0.42084172 0.02082589] Pose Error in degrees for R and t: 178.8275396593728 74.480152002217 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[ 0.72423726 -0.67702141 -0.13085258] [ 0.68368032 0.72973304 0.00842065] [ 0.08978649 -0.09555988 0.99136608]] t_estimated: [[-0.63075775] [-0.77195886] [-0.07889346]] R_gt: [[ 0.6659326 0.74596026 0.00873739] [-0.74557229 0.66589682 -0.02651901] [-0.02560103 0.0111451 0.99961076]] t_gt: [-0.81162629 0.58408382 -0.01043328] Pose Error in degrees for R and t: 91.72756119547377 86.45261455725843 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.97397992e-01 7.20897134e-02 5.63810051e-04] [-7.20891708e-02 9.97397758e-01 -9.29873376e-04] [-6.29377186e-04 8.86809239e-04 9.99999409e-01]] t_estimated: [[-0.64145057] [-0.76716295] [-0.00147186]] R_gt: [[ 0.99328005 -0.11272672 -0.02621659] [ 0.11113602 0.99223758 -0.05579364] [ 0.0323022 0.05250525 0.99809709]] t_gt: [ 0.60539765 -0.52151282 -0.60126372] Pose Error in degrees for R and t: 11.131587780332568 89.2758981354657 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.61332153 0.78963605 0.01765238] [ 0.7896411 -0.61252602 -0.03576044] [-0.01742519 0.03587169 -0.99920448]] t_estimated: [[-0.19604636] [ 0.98044658] [-0.01703912]] R_gt: [[ 0.98989882 -0.13922135 -0.02681189] [ 0.13719976 0.98831263 -0.06644233] [ 0.03574908 0.06209309 0.99743004]] t_gt: [ 0.56299951 -0.5784832 -0.59024464] Pose Error in degrees for R and t: 175.19324534087306 48.126469161424524 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 0.46005339 0.887744 0.01617006] [ 0.88775467 -0.45958692 -0.02591333] [-0.01557286 0.02627657 -0.99953341]] t_estimated: [[-0.44279035] [ 0.89650025] [-0.01496695]] R_gt: [[ 0.99413378 -0.10481454 -0.02667621] [ 0.1025797 0.9919227 -0.07460594] [ 0.03428089 0.07143176 0.99685601]] t_gt: [ 0.55366272 -0.40607837 -0.72701991] Pose Error in degrees for R and t: 175.57886741258713 53.25000024020109 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99784597e-01 2.07543311e-02 1.29170301e-04] [-2.07543353e-02 9.99784605e-01 3.11182785e-05] [-1.28496640e-04 -3.37924193e-05 9.99999991e-01]] t_estimated: [[0.73952238] [0.67313134] [0.0009221 ]] R_gt: [[ 0.99565248 -0.09274529 -0.00856222] [ 0.09260864 0.99558775 -0.01511023] [ 0.00992644 0.014251 0.99984843]] t_gt: [ 0.73627697 -0.66997695 -0.09501109] Pose Error in degrees for R and t: 6.584034593970697 84.63942728010602 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 7.84127948e-01 -6.20598024e-01 1.20570556e-03] [-6.20597861e-01 -7.84128811e-01 -5.50870939e-04] [ 1.28729788e-03 -3.16304991e-04 -9.99999121e-01]] t_estimated: [[0.67274471] [0.73987325] [0.00145932]] R_gt: [[ 0.97807266 -0.20543925 -0.03416606] [ 0.20504897 0.9786433 -0.01458014] [ 0.03643159 0.00725397 0.99930924]] t_gt: [ 0.74981634 -0.65158634 -0.11493784] Pose Error in degrees for R and t: 178.72262581309295 88.72930782754507 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 4.81821778e-01 8.76269104e-01 4.81805238e-04] [-8.76267306e-01 4.81821798e-01 -1.83423857e-03] [-1.83943085e-03 4.61585909e-04 9.99998202e-01]] t_estimated: [[0.27991349] [0.96002457] [0.00112415]] R_gt: [[ 0.97271087 -0.22626089 -0.05137168] [ 0.22284069 0.97270437 -0.06470817] [ 0.06461088 0.05149347 0.99658015]] t_gt: [ 0.77276068 -0.58645147 -0.24272536] Pose Error in degrees for R and t: 74.32421187978379 69.69762406719498 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999954e-01 -2.97580690e-04 5.57110615e-05] [ 2.97581401e-04 9.99999956e-01 -1.27513984e-05] [-5.57072645e-05 1.27679764e-05 9.99999998e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99072559 -0.13529095 -0.01259157] [ 0.13555835 0.99048732 0.02361436] [ 0.00927721 -0.02510191 0.99964144]] t_gt: [ 0.65682215 -0.75212299 0.05381134] Pose Error in degrees for R and t: 7.917886819481418 41.58641381288315 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99999840e-01 5.56114608e-04 1.07032244e-04] [-5.56111361e-04 9.99999845e-01 -3.03619710e-05] [-1.07049112e-04 3.03024443e-05 9.99999994e-01]] t_estimated: [[ 9.99911183e-01] [-1.33226566e-02] [ 3.63497573e-04]] R_gt: [[ 0.97996387 -0.19817298 -0.01995089] [ 0.19858351 0.9798538 0.02122619] [ 0.01534257 -0.02476242 0.99957489]] t_gt: [ 6.96950658e-01 -7.17119035e-01 2.63446339e-04] Pose Error in degrees for R and t: 11.597730711449682 45.053777443815065 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 4.20605395e-01 -9.07242280e-01 -1.59581013e-03] [ 9.07243683e-01 4.20604693e-01 7.69447710e-04] [-2.68702654e-05 -1.77142252e-03 9.99998431e-01]] t_estimated: [[ 9.46201354e-01] [-3.23577620e-01] [ 7.21809964e-04]] R_gt: [[ 0.96866245 -0.24759364 0.0197638 ] [ 0.24694286 0.96854956 0.03052449] [-0.02669968 -0.02468749 0.9993379 ]] t_gt: [ 0.71816339 -0.68836932 0.10192657] Pose Error in degrees for R and t: 50.84508494448406 25.532405528765306 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999295e-01 -1.12433114e-03 3.82512058e-04] [ 1.12494704e-03 9.99998065e-01 -1.61375834e-03] [-3.80696919e-04 1.61418751e-03 9.99998625e-01]] t_estimated: [[8.39441557e-01] [5.43449542e-01] [6.83584330e-04]] R_gt: [[ 0.98714992 -0.12962725 -0.09344737] [ 0.12526036 0.99080198 -0.05119154] [ 0.09922323 0.0388292 0.99430687]] t_gt: [ 0.69364908 -0.48511508 -0.53246061] Pose Error in degrees for R and t: 9.492704140865214 71.44116357723222 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999686e-01 -3.92461187e-04 6.88752272e-04] [ 3.92769838e-04 9.99999822e-01 -4.48053095e-04] [-6.88576306e-04 4.48323475e-04 9.99999662e-01]] t_estimated: [[0.66070792] [0.75064256] [0.00089044]] R_gt: [[ 0.95121948 -0.29300957 -0.09657427] [ 0.28956735 0.95594187 -0.04823518] [ 0.1064522 0.01791756 0.99415624]] t_gt: [ 0.79097473 -0.55743086 -0.25224953] Pose Error in degrees for R and t: 18.06272039289561 84.0334788996823 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 6.44626978e-02 9.97909205e-01 4.66682143e-03] [ 9.97919983e-01 -6.44595604e-02 -8.19739288e-04] [-5.17204123e-04 4.70995697e-03 -9.99988774e-01]] t_estimated: [[-0.73000317] [-0.68344074] [-0.00203433]] R_gt: [[ 9.37931993e-01 -3.19394224e-01 -1.35171909e-01] [ 3.16024224e-01 9.47621189e-01 -4.62818559e-02] [ 1.42873794e-01 6.91778936e-04 9.89740479e-01]] t_gt: [ 0.809012 -0.53014377 -0.25386446] Pose Error in degrees for R and t: 175.7014481993598 76.83576943134713 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 8.04157063e-01 -5.94416829e-01 2.25276119e-04] [ 5.94416684e-01 8.04156451e-01 -1.09923862e-03] [ 4.72248691e-04 1.01786838e-03 9.99999370e-01]] t_estimated: [[-0.07819106] [-0.99693603] [-0.00217197]] R_gt: [[ 0.99946212 0.03149 -0.00925149] [-0.03150486 0.99950221 -0.00144939] [ 0.00920166 0.00174045 0.99995599]] t_gt: [ 0.67882941 0.6484521 -0.3445294 ] Pose Error in degrees for R and t: 38.27948530162798 45.66956590888755 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-0.25679394 0.9584909 0.12390347] [-0.95801586 -0.23553189 -0.16349414] [-0.12752442 -0.16068579 0.97873265]] t_estimated: [[0.25560832] [0.95823999] [0.12822057]] R_gt: [[ 0.99793307 0.02218914 -0.06031912] [-0.02111749 0.99960922 0.01832944] [ 0.06070275 -0.0170168 0.99801095]] t_gt: [ 0.9692246 0.14101051 -0.20179125] Pose Error in degrees for R and t: 104.14919600083986 69.08454416326431 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.46822166 0.85668968 -0.21645153] [-0.88279611 -0.44301917 0.15622116] [ 0.03794088 0.2642287 0.96371349]] t_estimated: [[ 0.49732829] [ 0.86653009] [-0.04231044]] R_gt: [[ 0.98590824 0.1102876 -0.12578583] [-0.10002268 0.99132961 0.08521265] [ 0.13409332 -0.07143018 0.98839152]] t_gt: [ 0.79652382 0.57472164 -0.18773611] Pose Error in degrees for R and t: 111.67680626213503 25.565754790802625 Number of keypoints: Image1: 345 Image2: 345 R_estimated: [[-0.88093311 0.47321285 0.00514419] [-0.47323481 -0.88081515 -0.01461133] [-0.00238319 -0.01530601 0.99988002]] t_estimated: [[0.95669175] [0.29109864] [0.00157351]] R_gt: [[ 0.99989293 -0.00636392 -0.01318528] [ 0.00630467 0.99997003 -0.00456541] [ 0.01321384 0.0044823 0.99990231]] t_gt: [-0.1057312 -0.94186499 -0.31892202] Pose Error in degrees for R and t: 152.12512593021538 67.9244028646871 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.93514096e-01 1.13708960e-01 1.17445645e-04] [-1.13708934e-01 9.93514084e-01 -2.08318221e-04] [-1.40371550e-04 1.93612470e-04 9.99999971e-01]] t_estimated: [[1.47079308e-01] [9.89124372e-01] [8.08190693e-04]] R_gt: [[ 9.99708674e-01 -4.51501872e-04 -2.41540092e-02] [-8.73902630e-05 9.99751743e-01 -2.22801950e-02] [ 2.41582815e-02 2.22763648e-02 9.99459503e-01]] t_gt: [-0.13289978 -0.85955471 -0.49346058] Pose Error in degrees for R and t: 6.8043828553815136 29.5236765816174 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.89038853e-01 -1.47655394e-01 1.80362033e-04] [ 1.47655485e-01 9.89038615e-01 -6.90424162e-04] [-7.64401634e-05 7.09487764e-04 9.99999745e-01]] t_estimated: [[-0.68636831] [-0.72725306] [-0.00123893]] R_gt: [[ 9.99281304e-01 -7.89183600e-04 -3.78990336e-02] [-2.44912084e-03 9.96352219e-01 -8.52988132e-02] [ 3.78281484e-02 8.53315220e-02 9.95633718e-01]] t_gt: [-0.09041861 -0.18414593 -0.97873119] Pose Error in degrees for R and t: 10.058985245617794 78.62709534020019 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.89512693e-01 1.44445941e-01 3.37264882e-05] [-1.44445934e-01 9.89512680e-01 -1.68486565e-04] [-5.77099883e-05 1.61847941e-04 9.99999985e-01]] t_estimated: [[-2.05841353e-01] [ 9.78585367e-01] [-1.27921293e-04]] R_gt: [[ 0.99881324 -0.02808046 -0.03979519] [ 0.02914383 0.99922529 0.02642146] [ 0.0390222 -0.0275491 0.99885851]] t_gt: [ 0.70070823 -0.64280284 -0.30953592] Pose Error in degrees for R and t: 10.316876626973382 39.35493323556419 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.90616082e-01 1.36673481e-01 3.72100165e-04] [-1.36673180e-01 9.90615917e-01 -7.39842298e-04] [-4.69725168e-04 6.82043565e-04 9.99999657e-01]] t_estimated: [[-0.58094148] [-0.8139394 ] [-0.00310664]] R_gt: [[ 0.9978056 -0.02433868 -0.06157743] [ 0.02706761 0.99866972 0.04388221] [ 0.06042817 -0.04545246 0.99713703]] t_gt: [ 0.58268707 -0.72917231 -0.35886422] Pose Error in degrees for R and t: 10.305386084245866 75.16064127887599 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.59649133 0.80258972 -0.00691593] [ 0.80192044 -0.59559011 0.04686187] [ 0.03349179 -0.03349872 -0.99887744]] t_estimated: [[-0.92266805] [-0.3854183 ] [-0.01167934]] R_gt: [[ 0.99809042 0.03815549 -0.04858955] [-0.03599174 0.99835415 0.0446546 ] [ 0.05021312 -0.04282063 0.99781975]] t_gt: [-0.7361127 -0.38260651 -0.55834609] Pose Error in degrees for R and t: 173.89348795770974 33.573994301462434 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 0.99122588 -0.13214773 -0.00286933] [ 0.13215285 0.99122794 0.0016733 ] [ 0.00262303 -0.00203781 0.99999448]] t_estimated: [[-0.31061235] [-0.95053611] [-0.00103884]] R_gt: [[ 0.99987679 0.01445913 -0.0061696 ] [-0.01470777 0.99899646 -0.0423074 ] [ 0.00555162 0.042393 0.9990855 ]] t_gt: [-0.33976863 0.47355635 -0.81258948] Pose Error in degrees for R and t: 8.803585405493353 69.89437242667984 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.01176483 0.99990612 -0.00702397] [ 0.99989689 -0.01170629 0.0083168 ] [ 0.00823379 -0.00712109 -0.99994075]] t_estimated: [[0.80966424] [0.58689135] [0.00153636]] R_gt: [[ 9.99161636e-01 -4.06848725e-02 4.62541477e-03] [ 4.09453654e-02 9.91805717e-01 -1.21014313e-01] [ 3.36500142e-04 1.21102424e-01 9.92640118e-01]] t_gt: [ 0.16175627 0.40386464 -0.9004045 ] Pose Error in degrees for R and t: 175.58868634018745 68.49332745761409 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[-1.99851193e-01 -9.79822987e-01 -2.53270786e-03] [ 9.79826192e-01 -1.99849547e-01 -8.89864474e-04] [ 3.65749149e-04 -2.65945398e-03 9.99996397e-01]] t_estimated: [[0.97986816] [0.19964274] [0.00107915]] R_gt: [[ 0.99861622 -0.05200368 -0.00781747] [ 0.05011187 0.98609864 -0.15842193] [ 0.01594723 0.15781084 0.98734024]] t_gt: [ 0.07935361 0.5937779 -0.80070644] Pose Error in degrees for R and t: 98.90250272969612 78.72983793438225 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 0.2288071 -0.97343002 0.00901721] [-0.9734217 -0.22869156 0.01226206] [-0.00987409 -0.0115832 -0.99988416]] t_estimated: [[0.59657036] [0.80251939] [0.00815082]] R_gt: [[ 0.99757315 -0.04785868 0.05057945] [ 0.04266061 0.9941468 0.09925677] [-0.05503371 -0.09685841 0.99377632]] t_gt: [ 0.17663376 -0.44273124 0.8790845 ] Pose Error in degrees for R and t: 172.83072346453417 75.95046485195611 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.00742316 0.99997076 -0.00183493] [ 0.99995196 -0.00741125 0.00641482] [ 0.00640103 -0.00188246 -0.99997774]] t_estimated: [[7.08345024e-01] [7.05866276e-01] [3.57428316e-04]] R_gt: [[ 0.99317498 -0.08247968 0.08246371] [ 0.06661699 0.98152273 0.17937519] [-0.09573412 -0.1726575 0.98031868]] t_gt: [ 0.12400391 -0.43650209 0.89111669] Pose Error in degrees for R and t: 176.09243802798247 77.29354906238505 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-0.28318843 -0.95906086 -0.00256514] [-0.95905559 0.28317345 0.00501668] [-0.00408492 0.00388078 -0.99998413]] t_estimated: [[0.700656 ] [0.71349547] [0.00232046]] R_gt: [[ 0.98991051 -0.10084577 0.09953827] [ 0.07604571 0.97084615 0.22732011] [-0.1195609 -0.21745783 0.96871956]] t_gt: [ 0.1013334 -0.42571456 0.89916553] Pose Error in degrees for R and t: 167.13603360034358 76.6641223911939 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[-0.95760793 0.28629405 0.03198062] [ 0.28632044 0.95812619 -0.00384926] [-0.03174349 0.00547062 -0.99948108]] t_estimated: [[ 0.98598519] [-0.1660459 ] [ 0.01618539]] R_gt: [[ 0.99910554 -0.04018899 -0.01322104] [ 0.03966761 0.9985063 -0.03756352] [ 0.01471203 0.03700596 0.99920648]] t_gt: [ 0.6133169 -0.21298574 -0.76057836] Pose Error in degrees for R and t: 178.63848460420402 51.11373074280744 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[-0.24832981 0.96854648 0.01581216] [ 0.96855116 0.24852642 -0.01196971] [-0.01552296 0.01234245 -0.99980333]] t_estimated: [[ 0.77745396] [-0.62886285] [ 0.00984132]] R_gt: [[ 0.99146527 -0.12209237 -0.04572065] [ 0.11815327 0.9897079 -0.08073388] [ 0.05510829 0.0746423 0.99568633]] t_gt: [ 0.65156214 -0.30317998 -0.69537665] Pose Error in degrees for R and t: 178.41806223214687 46.340217500552605 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 8.92511940e-01 4.51023703e-01 2.36186000e-04] [-4.51023734e-01 8.92511950e-01 9.95860445e-05] [-1.65883161e-04 -1.95407226e-04 9.99999967e-01]] t_estimated: [[0.74149546] [0.67095723] [0.00094298]] R_gt: [[ 0.98204497 -0.18731612 -0.02240753] [ 0.18329675 0.97551336 -0.12155634] [ 0.04462907 0.11526551 0.99233196]] t_gt: [ 0.60272069 -0.38742002 -0.69759122] Pose Error in degrees for R and t: 38.174059076269714 79.26221557974547 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99998927e-01 1.46460920e-03 -3.16754972e-06] [-1.46461024e-03 9.99998863e-01 -3.58393163e-04] [ 2.64264020e-06 3.58397418e-04 9.99999936e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99060233 -0.06392569 0.12092138] [ 0.03955559 0.9801766 0.19413846] [-0.13093571 -0.18753036 0.97349258]] t_gt: [ 0.14964366 -0.15973761 0.97575134] Pose Error in degrees for R and t: 13.592908834720205 80.9215408787657 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.73449640e-01 -2.28889637e-01 2.30918083e-03] [ 2.28890255e-01 9.73452234e-01 -3.31121723e-06] [-2.24711933e-03 5.31772292e-04 9.99997334e-01]] t_estimated: [[ 0.99221009] [-0.12456147] [ 0.00189181]] R_gt: [[ 0.9904706 -0.09063782 0.10370147] [ 0.0652797 0.97193694 0.22600663] [-0.12127588 -0.21708313 0.96859036]] t_gt: [ 0.22631914 -0.20746154 0.9517034 ] Pose Error in degrees for R and t: 16.766271723636336 75.39236648562124 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 9.99987238e-01 5.00908681e-03 -6.57836796e-04] [-5.00912402e-03 9.99987453e-01 -5.49355220e-05] [ 6.57553365e-04 5.82300070e-05 9.99999782e-01]] t_estimated: [[-0.00729147] [-0.99997287] [-0.00104164]] R_gt: [[ 0.98504031 -0.10225474 0.13871274] [ 0.06097487 0.95967059 0.27443959] [-0.16118155 -0.26187549 0.95154734]] t_gt: [ 0.20528472 -0.15201706 0.96682418] Pose Error in degrees for R and t: 18.631284334211152 81.40152510371217 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.17382692e-01 -3.97990861e-01 -3.50311162e-03] [ 3.97991991e-01 -9.17388803e-01 3.98371330e-04] [-3.37226352e-03 -1.02875140e-03 9.99993785e-01]] t_estimated: [[0.97389724] [0.22698245] [0.00177029]] R_gt: [[ 0.9982028 -0.03787034 0.0464687 ] [ 0.03302729 0.99434781 0.10090018] [-0.05002609 -0.09918344 0.99381127]] t_gt: [ 0.20306978 -0.27370386 0.94013236] Pose Error in degrees for R and t: 154.53975916319897 82.10793144917609 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99899188e-01 1.41982591e-02 -1.51075054e-04] [-1.41982790e-02 9.99899191e-01 -1.31570979e-04] [ 1.49191745e-04 1.33702721e-04 9.99999980e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99622827 -0.06431564 0.05827292] [ 0.05555545 0.98842729 0.14115819] [-0.06667575 -0.13738762 0.98827101]] t_gt: [ 0.26827574 -0.30445864 0.91396557] Pose Error in degrees for R and t: 9.774210858215817 72.43249164634564 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.61084504e-01 2.76254545e-01 4.87902383e-05] [-2.76254538e-01 9.61084500e-01 -1.14781224e-04] [-7.86003765e-05 9.68359307e-05 9.99999992e-01]] t_estimated: [[-0.62439618] [-0.78110738] [-0.0008162 ]] R_gt: [[ 0.99285762 -0.07664107 0.09144884] [ 0.05839424 0.98048195 0.18773591] [-0.10405155 -0.18105419 0.97795293]] t_gt: [ 0.22783753 -0.21172176 0.950402 ] Pose Error in degrees for R and t: 23.280025289826284 88.71985841379154 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99995728e-01 2.92264913e-03 5.18593838e-05] [-2.92267138e-03 9.99995635e-01 4.34138151e-04] [-5.05903239e-05 -4.34287864e-04 9.99999904e-01]] t_estimated: [[0.86011202] [0.51009798] [0.00271329]] R_gt: [[ 0.99961864 -0.0271779 -0.00486893] [ 0.0273669 0.99864883 0.04415985] [ 0.00366278 -0.04427548 0.99901299]] t_gt: [ 0.6864433 -0.46376769 0.56010277] Pose Error in degrees for R and t: 3.058972901118909 69.18382285109129 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999328e-01 5.54538910e-04 -1.01817261e-03] [-5.53178659e-04 9.99998955e-01 1.33576953e-03] [ 1.01891228e-03 -1.33520540e-03 9.99998590e-01]] t_estimated: [[-0.99983288] [-0.01796653] [-0.00337972]] R_gt: [[ 0.9956947 -0.08178117 0.04363401] [ 0.07453224 0.98622105 0.14768828] [-0.05511047 -0.14379972 0.98807053]] t_gt: [ 0.41509468 -0.42504729 0.8043825 ] Pose Error in degrees for R and t: 9.90555631699669 65.78842637750621 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-8.23942739e-01 -5.66670870e-01 -1.57720168e-03] [ 5.66673012e-01 -8.23940673e-01 -1.86126714e-03] [-2.44794748e-04 -2.42733517e-03 9.99997024e-01]] t_estimated: [[9.33043376e-01] [3.59763216e-01] [6.98235943e-04]] R_gt: [[ 0.98889418 -0.13070386 0.07074433] [ 0.11223904 0.96879725 0.22098265] [-0.09741921 -0.21058687 0.97270808]] t_gt: [ 0.3641079 -0.42851654 0.82692141] Pose Error in degrees for R and t: 138.7047377561708 79.2723166122161 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-3.90951983e-01 9.20407230e-01 -2.66053915e-03] [ 9.20384849e-01 3.90961031e-01 6.41892523e-03] [ 6.94819231e-03 6.07716276e-05 -9.99975859e-01]] t_estimated: [[0.52642112] [0.85022342] [0.00096947]] R_gt: [[ 0.99992211 0.0034519 -0.01194268] [-0.00357492 0.99993988 -0.01029101] [ 0.01190595 0.01033343 0.99987594]] t_gt: [-0.03497097 -0.900715 -0.43300061] Pose Error in degrees for R and t: 179.42668139033037 38.312769214300964 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99770511e-01 -2.14221673e-02 -1.26994353e-04] [ 2.14221997e-02 9.99770485e-01 2.59953711e-04] [ 1.21396434e-04 -2.62614553e-04 9.99999958e-01]] t_estimated: [[0.14571451] [0.98932482] [0.0019173 ]] R_gt: [[ 0.9997558 0.00641152 -0.02112679] [-0.0079256 0.99734728 -0.07234936] [ 0.02060782 0.07249997 0.99715582]] t_gt: [-0.06656607 0.17516754 -0.98228575] Pose Error in degrees for R and t: 4.6345312742836935 80.69356717625762 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 5.56149422e-01 8.31081189e-01 1.37029036e-03] [-8.31082063e-01 5.56149788e-01 1.32276814e-04] [-6.52153923e-04 -1.21238941e-03 9.99999052e-01]] t_estimated: [[0.54554378] [0.83808174] [0.0009883 ]] R_gt: [[ 0.99848275 -0.05473974 -0.00589262] [ 0.05339515 0.98888666 -0.13874747] [ 0.0134224 0.13822225 0.9903101 ]] t_gt: [ 0.20501155 0.28817523 -0.93537442] Pose Error in degrees for R and t: 59.81749011551363 69.36381519647479 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.20528888e-01 -3.90674354e-01 3.39166464e-04] [ 3.90674491e-01 9.20528718e-01 -5.67097945e-04] [-9.06618467e-05 6.54533726e-04 9.99999782e-01]] t_estimated: [[-0.45840419] [-0.88874282] [-0.00133646]] R_gt: [[ 0.99641077 0.06773447 -0.05077486] [-0.0654842 0.99684977 0.04474425] [ 0.05364553 -0.0412589 0.9977075 ]] t_gt: [-0.11542619 0.9911138 -0.06610766] Pose Error in degrees for R and t: 27.099005027235336 34.12199217555226 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-9.93463475e-01 -1.14147773e-01 -7.80982011e-04] [ 1.14149203e-01 -9.93461326e-01 -2.13362905e-03] [-5.32326421e-04 -2.20883100e-03 9.99997419e-01]] t_estimated: [[0.78667019] [0.61737245] [0.00112865]] R_gt: [[ 0.99639042 0.05638872 -0.06345158] [-0.0524164 0.99666106 0.06260894] [ 0.06677053 -0.05905752 0.9960186 ]] t_gt: [ 0.42330199 0.90532774 -0.03459939] Pose Error in degrees for R and t: 176.56879019109005 26.888996442325574 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.23167576 -0.97277787 -0.00543625] [-0.97264202 0.2315377 0.01891565] [-0.01714202 0.00966982 -0.9998063 ]] t_estimated: [[0.74493567] [0.6671356 ] [0.0009725 ]] R_gt: [[ 0.99077518 0.09167221 -0.09980201] [-0.0880516 0.99530854 0.0401062 ] [ 0.10301033 -0.03094774 0.99419802]] t_gt: [ 0.42462258 0.81925481 -0.38537932] Pose Error in degrees for R and t: 177.07281755342916 30.40202670799438 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-0.85676641 0.51233036 -0.05889751] [ 0.51208262 0.85869449 0.02037565] [ 0.06101403 -0.01270321 -0.99805607]] t_estimated: [[ 0.99145071] [ 0.12884362] [-0.02061107]] R_gt: [[ 0.99318674 -0.10598538 -0.04844821] [ 0.10705395 0.99405135 0.02000622] [ 0.04603972 -0.02505633 0.99862462]] t_gt: [ 0.65654986 -0.75202199 -0.0583541 ] Pose Error in degrees for R and t: 173.493133444307 56.27231720690618 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.02684741e-01 9.15338688e-01 2.91236676e-04] [ 9.15304127e-01 -4.02672262e-01 8.56761772e-03] [ 7.95954490e-03 -3.18347879e-03 -9.99963255e-01]] t_estimated: [[8.38330681e-01] [5.45161932e-01] [3.70543383e-04]] R_gt: [[ 0.97322792 -0.22302948 -0.05554137] [ 0.22447952 0.97424558 0.02131337] [ 0.04935747 -0.03320964 0.99822885]] t_gt: [ 0.687526 -0.72604626 -0.01283825] Pose Error in degrees for R and t: 176.66123254069572 79.59781820775973 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999731e-01 7.27868687e-04 9.25474441e-05] [-7.27865274e-04 9.99999734e-01 -3.69112142e-05] [-9.25742860e-05 3.68438422e-05 9.99999995e-01]] t_estimated: [[ 9.55694161e-01] [-2.94361317e-01] [ 2.93094933e-04]] R_gt: [[ 0.96696196 -0.2537054 0.02487638] [ 0.25468217 0.96567789 -0.05102408] [-0.01107732 0.05567486 0.99838766]] t_gt: [ 0.62670644 -0.76043124 -0.17024502] Pose Error in degrees for R and t: 15.13087630079493 34.64084764025295 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 9.99992599e-01 -3.84555924e-03 -1.19967677e-04] [ 3.84559495e-03 9.99992561e-01 2.98908713e-04] [ 1.18817313e-04 -2.99367848e-04 9.99999948e-01]] t_estimated: [[0.39114011] [0.92032968] [0.00164345]] R_gt: [[ 0.997477 0.0656154 -0.02708193] [-0.06523658 0.99776132 0.01465227] [ 0.02798319 -0.0128486 0.99952585]] t_gt: [-0.80374337 0.5942661 0.02905849] Pose Error in degrees for R and t: 4.341577792137188 76.5502660681619 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.98168071 -0.19049863 -0.00364087] [ 0.19050463 -0.98168533 -0.00137736] [-0.0033118 -0.00204573 0.99999242]] t_estimated: [[0.86423095] [0.50309096] [0.00208751]] R_gt: [[ 0.99603472 0.07831066 -0.04224679] [-0.07885295 0.99682143 -0.01133263] [ 0.04122545 0.01461845 0.9990427 ]] t_gt: [-0.5581743 0.78218044 -0.27683065] Pose Error in degrees for R and t: 173.5281858767236 84.86737254644142 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.8715747 0.4902595 0.00177933] [ 0.4902312 -0.87155407 0.008178 ] [ 0.00556013 -0.00625545 -0.99996498]] t_estimated: [[0.8987839 ] [0.438391 ] [0.00091118]] R_gt: [[ 0.98796138 0.15073504 -0.03482211] [-0.15211997 0.98750013 -0.04127798] [ 0.0281654 0.04607883 0.99854062]] t_gt: [-0.55012364 0.79521187 -0.25495503] Pose Error in degrees for R and t: 178.47230415481937 81.60128407768278 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-5.35457120e-01 -8.44559309e-01 -2.29058667e-03] [ 8.44562349e-01 -5.35456181e-01 -1.05701885e-03] [-3.33793679e-04 -2.50053153e-03 9.99996818e-01]] t_estimated: [[0.95589355] [0.29371031] [0.00133505]] R_gt: [[ 0.999436 -0.03054813 -0.01399011] [ 0.02765624 0.98439141 -0.17380971] [ 0.01908078 0.17332456 0.98467976]] t_gt: [ 0.25028723 0.28643717 -0.92482974] Pose Error in degrees for R and t: 120.95214186985034 71.20743788834326 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.99614084 0.08670796 0.01360729] [-0.08667432 0.99623205 -0.00304434] [-0.01381998 0.00185319 0.99990278]] t_estimated: [[0.98126536] [0.19265681] [0.00128438]] R_gt: [[ 0.99779023 -0.06428753 -0.01680829] [ 0.05915 0.97456031 -0.21618255] [ 0.03027802 0.21471102 0.97620846]] t_gt: [ 0.32755801 0.2324145 -0.91579979] Pose Error in degrees for R and t: 15.132522665210375 68.59110478577844 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[ 7.64630428e-01 6.44468821e-01 4.98518468e-04] [-6.44466946e-01 7.64629705e-01 -1.94166432e-03] [-1.63252414e-03 1.16337694e-03 9.99997991e-01]] t_estimated: [[-9.99994892e-01] [-3.10075959e-03] [-7.75189839e-04]] R_gt: [[ 0.99111781 -0.12943666 -0.0305279 ] [ 0.11794767 0.96159298 -0.24784621] [ 0.06143656 0.24204405 0.96831821]] t_gt: [ 0.45401044 0.11610132 -0.88339969] Pose Error in degrees for R and t: 49.3590399115747 63.01975150553005 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.99973697 -0.01457685 0.01770588] [ 0.01474315 0.99984808 -0.0092985 ] [-0.01756765 0.00955709 0.9998 ]] t_estimated: [[0.63508201] [0.77239704] [0.00858219]] R_gt: [[ 0.99953892 -0.02239552 -0.02054558] [ 0.02086227 0.99718598 -0.07201587] [ 0.02209984 0.07155357 0.99719214]] t_gt: [ 0.5220912 0.0089201 -0.85284302] Pose Error in degrees for R and t: 4.235158087834899 70.66193588459973 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 7.94128302e-02 9.96841808e-01 -1.13082405e-04] [-9.96837095e-01 7.94121047e-02 -3.08593454e-03] [-3.06720846e-03 3.57787533e-04 9.99995232e-01]] t_estimated: [[0.1132909 ] [0.99356121] [0.00113291]] R_gt: [[ 0.99895342 -0.03563652 -0.02868537] [ 0.02748654 0.96879043 -0.24635308] [ 0.03656911 0.24530743 0.96875515]] t_gt: [ 0.31597658 0.29346094 -0.90224136] Pose Error in degrees for R and t: 88.19977299913849 70.95282619224223 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[-0.01564192 -0.9998765 -0.00152103] [ 0.99987643 -0.01563949 -0.00159299] [ 0.001569 -0.00154576 0.99999757]] t_estimated: [[9.99994892e-01] [3.10073418e-03] [7.75184759e-04]] R_gt: [[ 0.99664497 -0.071427 -0.03998063] [ 0.05454859 0.94373115 -0.32618499] [ 0.06102948 0.32290995 0.94446013]] t_gt: [ 0.34326499 0.30423004 -0.88860184] Pose Error in degrees for R and t: 88.84695942032523 69.90866077679954 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-0.02708561 0.99950391 -0.01607154] [-0.99961694 -0.02717314 -0.00525361] [-0.00568772 0.01592308 0.99985704]] t_estimated: [[0.87956444] [0.47577863] [0.00104337]] R_gt: [[ 0.98773398 0.15611611 0.00307095] [-0.15596232 0.98733376 -0.02910147] [-0.00757522 0.02826669 0.99957179]] t_gt: [-0.84515913 0.52527362 -0.09896292] Pose Error in degrees for R and t: 82.5770819113437 60.42508036625178 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 8.34693103e-01 -5.50714972e-01 -6.65701531e-04] [ 5.50715135e-01 8.34693257e-01 7.82178416e-05] [ 5.12580843e-04 -4.31899802e-04 9.99999775e-01]] t_estimated: [[-0.23441033] [-0.972137 ] [-0.00120633]] R_gt: [[ 0.96759767 0.25170872 -0.01990946] [-0.25230049 0.96693715 -0.03709268] [ 0.00991443 0.04091467 0.99911354]] t_gt: [-0.80163253 0.58582819 -0.11912439] Pose Error in degrees for R and t: 48.075996184161845 67.57643444806286 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 8.70240075e-01 4.92625540e-01 1.51283177e-03] [ 4.92623314e-01 -8.70241133e-01 1.62485115e-03] [ 2.11697161e-03 -6.68754384e-04 -9.99997536e-01]] t_estimated: [[0.60675931] [0.7948812 ] [0.0026496 ]] R_gt: [[ 0.95880346 0.27957778 -0.05031963] [-0.28127931 0.9591391 -0.03057254] [ 0.03971559 0.04346749 0.99826548]] t_gt: [-0.75553363 0.63854067 -0.1464061 ] Pose Error in degrees for R and t: 178.67409434871627 87.20578111375461 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99979344e-01 6.41037512e-03 -4.67014051e-04] [-6.41014715e-03 9.99979336e-01 4.88022886e-04] [ 4.70132810e-04 -4.85019176e-04 9.99999772e-01]] t_estimated: [[ 5.62915784e-01] [ 8.26514110e-01] [-4.95477439e-04]] R_gt: [[ 0.99476634 -0.07949175 -0.06419855] [ 0.08203318 0.9959054 0.03797345] [ 0.06091801 -0.04304079 0.9972139 ]] t_gt: [ 0.6121228 -0.78875837 0.0562665 ] Pose Error in degrees for R and t: 6.559656813623302 72.0989404846328 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999996e-01 -8.66934274e-05 -1.46724756e-06] [ 8.66940724e-05 9.99999897e-01 4.45481176e-04] [ 1.42862712e-06 -4.45481302e-04 9.99999901e-01]] t_estimated: [[0.73050316] [0.68290867] [0.00093714]] R_gt: [[ 0.9768151 -0.1926661 -0.09334069] [ 0.19730142 0.97939041 0.04318789] [ 0.08309682 -0.06060282 0.9946972 ]] t_gt: [ 0.66309277 -0.74760952 0.03725574] Pose Error in degrees for R and t: 12.711239377403713 88.50310705252333 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 8.81387487e-01 -4.72297064e-01 9.56981362e-03] [-4.72326651e-01 -8.81423051e-01 9.69740605e-04] [ 7.97704867e-03 -5.37479525e-03 -9.99953738e-01]] t_estimated: [[0.46865313] [0.88338173] [0.00098045]] R_gt: [[ 0.95053336 -0.2974119 -0.0896206 ] [ 0.30141569 0.95285859 0.03474665] [ 0.07506141 -0.06004112 0.9953702 ]] t_gt: [ 0.70295674 -0.71111675 0.01283717] Pose Error in degrees for R and t: 178.38937253478846 72.61853470408501 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99803305e-01 1.98330308e-02 -3.81401624e-05] [-1.98330353e-02 9.99803299e-01 -1.22269110e-04] [ 3.57076932e-05 1.23001496e-04 9.99999992e-01]] t_estimated: [[-0.30696067] [ 0.95172013] [-0.00198472]] R_gt: [[ 0.99774928 0.05852274 0.03273038] [-0.05919734 0.99804563 0.02001652] [-0.0314955 -0.02190909 0.99926379]] t_gt: [-0.67320035 0.54417474 0.5006747 ] Pose Error in degrees for R and t: 3.1420829389952765 43.65127826200119 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.86463959e-01 1.63978193e-01 1.00487917e-04] [-1.63978189e-01 9.86463964e-01 -4.02465850e-05] [-1.05727271e-04 2.32239789e-05 9.99999994e-01]] t_estimated: [[0.54064052] [0.84125325] [0.00089449]] R_gt: [[ 0.9980389 -0.03979051 0.04830509] [ 0.03883636 0.99903444 0.02053816] [-0.04907548 -0.01862157 0.99862192]] t_gt: [ 0.5744919 -0.31261079 0.7564612 ] Pose Error in degrees for R and t: 12.070991389139351 87.23237448539572 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-9.40327249e-01 3.40258538e-01 -2.96507474e-03] [-3.40259584e-01 -9.40331532e-01 -1.59657032e-04] [-2.84247794e-03 8.58765240e-04 9.99995591e-01]] t_estimated: [[0.84883293] [0.5286591 ] [0.00148918]] R_gt: [[ 0.98499568 -0.17015619 0.02879931] [ 0.1689458 0.98480362 0.04023934] [-0.03520876 -0.03477037 0.99877563]] t_gt: [ 0.79846404 -0.54350605 0.25895242] Pose Error in degrees for R and t: 169.88150740363508 66.99454448198928 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-4.33489705e-01 -9.01156847e-01 -1.73565471e-03] [-9.01157036e-01 4.33491681e-01 -9.78725603e-04] [ 1.63437716e-03 1.13982998e-03 -9.99998015e-01]] t_estimated: [[0.83647467] [0.54800489] [0.00087681]] R_gt: [[ 9.93928084e-01 1.08435410e-01 -1.86631113e-02] [-1.08399988e-01 9.94103112e-01 2.90259169e-03] [ 1.88679548e-02 -8.62505298e-04 9.99820718e-01]] t_gt: [-0.52065598 0.84288966 -0.13584686] Pose Error in degrees for R and t: 179.0299950398495 88.49449458561703 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 8.72221113e-01 -4.89109973e-01 -1.32806021e-03] [ 4.89110789e-01 8.72221593e-01 3.59314122e-04] [ 9.82618671e-04 -9.62969941e-04 9.99999054e-01]] t_estimated: [[-0.27665925] [-0.96096742] [-0.00112922]] R_gt: [[ 0.94541225 0.3257823 -0.00784567] [-0.32586494 0.94530816 -0.01429828] [ 0.00275854 0.01607374 0.99986656]] t_gt: [-0.5280724 0.84691585 -0.06223407] Pose Error in degrees for R and t: 48.30779983188708 48.110806720466854 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[-1.50135702e-01 -9.88664354e-01 -1.43761334e-03] [-9.88665388e-01 1.50135761e-01 6.77851751e-05] [ 1.48820387e-04 1.43149553e-03 -9.99998964e-01]] t_estimated: [[0.55721054] [0.83037076] [0.00090751]] R_gt: [[ 0.87000574 0.48940332 -0.05978842] [-0.49039054 0.87150026 -0.00214277] [ 0.05105834 0.03118351 0.99820848]] t_gt: [-0.44251644 0.88678239 -0.13340234] Pose Error in degrees for R and t: 176.79328973734607 60.681613654414754 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.46220881 -0.88676664 0.00281751] [-0.88674964 0.46217317 -0.00842869] [ 0.0061721 -0.00639424 -0.99996051]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99887816 -0.03999921 0.02535611] [ 0.037942 0.99630855 0.07700063] [-0.02834238 -0.07595241 0.99670874]] t_gt: [ 0.20181567 -0.50052919 0.84186754] Pose Error in degrees for R and t: 176.53059925720416 82.12710453989132 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-5.25505786e-01 8.50789809e-01 6.08243916e-04] [-8.50789431e-01 -5.25504439e-01 -1.55824820e-03] [-1.00610681e-03 -1.33635594e-03 9.99998601e-01]] t_estimated: [[0.81638644] [0.5775054 ] [0.00083818]] R_gt: [[ 0.99933092 -0.02885297 0.02247138] [ 0.02851378 0.99947657 0.01527287] [-0.02290078 -0.01462216 0.99963089]] t_gt: [ 0.294554 -0.6467499 0.70352861] Pose Error in degrees for R and t: 123.35084619509986 82.38927165078871 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.86608205 -0.49951253 0.01972618] [ 0.49979574 0.86603686 -0.01357883] [-0.0103008 0.02161944 0.99971321]] t_estimated: [[0.8066222 ] [0.59106674] [0.00085538]] R_gt: [[ 0.99968615 -0.00687249 -0.0240713 ] [ 0.00470117 0.99600938 -0.0891213 ] [ 0.02458797 0.08898023 0.99573042]] t_gt: [ 0.07407892 0.22260421 -0.97209037] Pose Error in degrees for R and t: 30.00152600288436 79.01826033534712 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99997754e-01 -2.11933224e-03 -1.16054670e-05] [ 2.11933072e-03 9.99997746e-01 -1.30144790e-04] [ 1.18812609e-05 1.30119901e-04 9.99999991e-01]] t_estimated: [[-0.89868053] [ 0.43860054] [-0.00169251]] R_gt: [[ 0.99929242 -0.01080816 0.0360236 ] [ 0.01280766 0.99836505 -0.05571898] [-0.03536277 0.05614063 0.99779655]] t_gt: [-0.52810694 0.8474422 -0.05426581] Pose Error in degrees for R and t: 3.838559981103025 32.17991873740526 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99893429e-01 1.45989412e-02 4.37005673e-05] [-1.45989390e-02 9.99893429e-01 -4.94995067e-05] [-4.44185504e-05 4.88562495e-05 9.99999998e-01]] t_estimated: [[-6.19530503e-01] [ 7.84972511e-01] [-3.36104786e-04]] R_gt: [[ 0.99880287 0.00182209 0.04888742] [ 0.00173373 0.9973619 -0.07258229] [-0.04889006 0.07258024 0.99616304]] t_gt: [-0.51954891 0.84898284 -0.09642125] Pose Error in degrees for R and t: 5.085257658842763 8.759225981912598 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 8.33396745e-01 -5.52674963e-01 -5.00297306e-04] [ 5.52675149e-01 8.33396690e-01 3.70293934e-04] [ 2.12293932e-04 -5.85103647e-04 9.99999806e-01]] t_estimated: [[ 8.46555866e-01] [-5.32299867e-01] [ 1.28863027e-04]] R_gt: [[ 0.9985648 -0.02129514 0.04914797] [ 0.02579392 0.99535144 -0.0927963 ] [-0.04694319 0.09393101 0.99447164]] t_gt: [-0.45277303 0.8667135 -0.20929474] Pose Error in degrees for R and t: 32.74906031913169 32.3627486564699 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-4.74862200e-01 -8.80059808e-01 -7.89982410e-04] [-8.80057555e-01 4.74858416e-01 2.86082609e-03] [-2.14256827e-03 2.05372816e-03 -9.99995596e-01]] t_estimated: [[9.65790000e-01] [2.59323672e-01] [9.53395854e-04]] R_gt: [[ 0.99117071 -0.12651262 -0.03968545] [ 0.12233444 0.98800228 -0.09426385] [ 0.05113433 0.08857579 0.99475638]] t_gt: [ 0.50252682 -0.52555531 -0.68648264] Pose Error in degrees for R and t: 175.11961398350095 69.61100868752655 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99989137e-01 4.65940103e-03 1.29419793e-04] [-4.65929036e-03 9.99988790e-01 -8.42653163e-04] [-1.33344602e-04 8.42041005e-04 9.99999637e-01]] t_estimated: [[-0.01596355] [-0.99987036] [-0.00210341]] R_gt: [[ 0.97860329 -0.20187477 -0.03978155] [ 0.19289178 0.96739821 -0.16411778] [ 0.07161585 0.1529322 0.98563791]] t_gt: [ 0.52449631 -0.477632 -0.70482004] Pose Error in degrees for R and t: 15.200261218753797 61.9215684986884 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99767317 -0.06809233 0.00341658] [ 0.06810168 0.99767474 -0.00269878] [-0.00322487 0.00292517 0.99999052]] t_estimated: [[0.53412523] [0.84540352] [0.00176863]] R_gt: [[ 0.98648201 -0.15137201 -0.06276111] [ 0.13941626 0.97655988 -0.1639959 ] [ 0.08611427 0.15302912 0.98446217]] t_gt: [ 0.4247023 -0.25629465 -0.86829776] Pose Error in degrees for R and t: 11.018890582234588 89.50518071586197 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 0.77640486 -0.6301981 0.00677137] [-0.6301764 -0.77614266 0.02191516] [-0.00855534 -0.02128219 -0.9997369 ]] t_estimated: [[0.25025475] [0.96808358] [0.01366551]] R_gt: [[ 0.99785777 0.01220256 0.06428171] [-0.01164051 0.99989066 -0.00911476] [-0.06438591 0.00834731 0.99789051]] t_gt: [-0.57206747 0.26214189 0.77718752] Pose Error in degrees for R and t: 177.92602628130103 83.03671385457217 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 0.99751115 0.07049539 -0.00138388] [ 0.07048686 -0.99651468 0.04461056] [ 0.00176578 -0.04459708 -0.99900349]] t_estimated: [[-0.05270552] [ 0.9983619 ] [ 0.02226296]] R_gt: [[ 0.99821197 0.02660718 0.05352977] [-0.0251859 0.9993163 -0.02706552] [-0.05421342 0.02566861 0.99819936]] t_gt: [-0.85659349 0.32936034 0.39720192] Pose Error in degrees for R and t: 179.0620026667669 67.49209422869582 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99932589e-01 1.16103521e-02 1.27578393e-04] [-1.16103529e-02 9.99932598e-01 6.06038399e-06] [-1.27499431e-04 -7.54120563e-06 9.99999992e-01]] t_estimated: [[ 8.93731031e-01] [ 4.48602470e-01] [-8.17476462e-04]] R_gt: [[ 0.99981082 0.01593913 0.01116466] [-0.0161344 0.9997151 0.01756101] [-0.0108812 -0.01773704 0.99978313]] t_gt: [-0.9499664 -0.1870502 0.25015209] Pose Error in degrees for R and t: 1.2158669920308807 21.071877179209064 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.98630678e-01 -5.23141264e-02 -3.16940427e-05] [ 5.23141306e-02 9.98630667e-01 1.51114114e-04] [ 2.37452401e-05 -1.52565236e-04 9.99999988e-01]] t_estimated: [[3.29401034e-01] [9.44189851e-01] [6.96321831e-04]] R_gt: [[ 0.99844109 -0.02084909 0.05178654] [ 0.0152251 0.99417239 0.10671779] [-0.05370984 -0.10576342 0.99294008]] t_gt: [ 0.01380461 -0.20589478 0.97847676] Pose Error in degrees for R and t: 7.08197550532087 79.09534779497113 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99282324e-01 -3.78789791e-02 1.39509696e-04] [ 3.78790515e-02 9.99282174e-01 -5.59692546e-04] [-1.18208971e-04 5.64575363e-04 9.99999834e-01]] t_estimated: [[4.70926485e-01] [8.82172245e-01] [6.12689686e-04]] R_gt: [[ 0.99531969 -0.07938562 0.05511355] [ 0.06761732 0.97950105 0.18974914] [-0.06904719 -0.18513433 0.98028457]] t_gt: [ 0.17444702 -0.37744721 0.9094514 ] Pose Error in degrees for R and t: 11.612720597214164 75.50683455848977 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-9.64785843e-01 2.60629737e-01 3.55023526e-02] [ 2.60775522e-01 9.65399313e-01 -5.41866058e-04] [-3.44151732e-02 8.73535982e-03 -9.99369446e-01]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.99339888 -0.08969818 0.07150247] [ 0.07304993 0.9752775 0.2085624 ] [-0.08844167 -0.20196266 0.97539225]] t_gt: [ 0.1728964 -0.35433032 0.91899774] Pose Error in degrees for R and t: 174.96597327038293 81.53591595528992 Number of keypoints: Image1: 365 Image2: 365 R_estimated: [[ 1.81659157e-01 -9.83358476e-01 -2.46139489e-03] [ 9.83360688e-01 1.81661755e-01 -8.74472309e-04] [ 1.30706107e-03 -2.26158307e-03 9.99996588e-01]] t_estimated: [[ 9.81175377e-01] [-1.93118815e-01] [ 5.86029622e-05]] R_gt: [[ 0.99765321 -0.02930456 0.061876 ] [ 0.03063016 0.99931837 -0.02058277] [-0.06123031 0.02243001 0.9978718 ]] t_gt: [-0.51816242 0.31020832 0.7970436 ] Pose Error in degrees for R and t: 77.89782132644373 55.37042456133175 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.49420968e-01 -3.14006088e-01 -3.91522123e-05] [ 3.14006077e-01 9.49420885e-01 4.08920784e-04] [-9.12316878e-05 -4.00531999e-04 9.99999916e-01]] t_estimated: [[ 0.99995697] [-0.00919662] [ 0.00121423]] R_gt: [[ 0.99577236 -0.03551922 0.08471541] [ 0.04132126 0.99684673 -0.06774666] [-0.08204067 0.07096119 0.99409972]] t_gt: [-0.59216726 0.71452415 0.37254957] Pose Error in degrees for R and t: 17.252856446027295 53.25457474607594 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 5.21291722e-01 8.53378079e-01 8.91511540e-04] [-8.53377409e-01 5.21292448e-01 -1.08714063e-03] [-1.39248021e-03 -1.94078399e-04 9.99999012e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99638277 -0.02954646 0.07967746] [ 0.03503002 0.99704893 -0.06831319] [-0.07742347 0.07085755 0.99447694]] t_gt: [-0.58811104 0.79021672 0.17228739] Pose Error in degrees for R and t: 60.69991958906037 38.12070150815612 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-6.83239711e-01 -7.30193685e-01 -8.24451206e-04] [-7.30192675e-01 6.83240164e-01 -1.23919365e-03] [ 1.46814956e-03 -2.44658080e-04 -9.99998892e-01]] t_estimated: [[9.05002470e-01] [4.25405353e-01] [9.03196078e-04]] R_gt: [[ 0.99919013 -0.04000015 0.0043688 ] [ 0.04009856 0.99887066 -0.02547063] [-0.00334356 0.02562545 0.9996667 ]] t_gt: [ 0.70038506 -0.67882033 -0.22059854] Pose Error in degrees for R and t: 179.55046177742128 69.8257023007332 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99803133e-01 -1.98377825e-02 3.97421810e-04] [ 1.98376592e-02 9.99803166e-01 3.11767014e-04] [-4.03528350e-04 -3.03821718e-04 9.99999872e-01]] t_estimated: [[-0.45397615] [-0.89101248] [ 0.00155196]] R_gt: [[ 9.86883183e-01 -1.61438981e-01 6.50335795e-04] [ 1.61435636e-01 9.86815841e-01 -1.15285471e-02] [ 1.22007863e-03 1.14824748e-02 9.99934211e-01]] t_gt: [ 0.69193482 -0.72185191 -0.01249105] Pose Error in degrees for R and t: 8.1819229361875 70.78961771695667 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.94594572e-01 1.03833042e-01 5.80677966e-04] [-1.03831831e-01 9.94593191e-01 -1.82627251e-03] [-7.67165781e-04 1.75610787e-03 9.99998164e-01]] t_estimated: [[0.48925075] [0.87214263] [0.0009669 ]] R_gt: [[ 0.98589563 -0.16733865 0.0025363 ] [ 0.16734485 0.98589479 -0.0026653 ] [-0.0020533 0.00305185 0.99999401]] t_gt: [ 0.69762899 -0.71611066 0.02234529] Pose Error in degrees for R and t: 15.59360710937833 73.5479080108459 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999971e-01 1.23740357e-04 2.07388511e-04] [-1.23640737e-04 9.99999877e-01 -4.80297751e-04] [-2.07447918e-04 4.80272095e-04 9.99999863e-01]] t_estimated: [[-0.62712678] [-0.77891602] [-0.00135805]] R_gt: [[ 0.99955544 -0.0165503 -0.02482513] [ 0.01565329 0.99923351 -0.03588142] [ 0.02539959 0.03547748 0.9990478 ]] t_gt: [ 0.13908445 0.11074182 -0.98406898] Pose Error in degrees for R and t: 2.653018231318137 80.0873992751698 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.87301678e-01 -1.58855719e-01 -5.07562047e-04] [ 1.58855753e-01 9.87301802e-01 2.64358467e-05] [ 4.96917439e-04 -1.06729307e-04 9.99999871e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99829802 0.04467034 -0.03748995] [-0.04639871 0.99783634 -0.04657751] [ 0.03532802 0.04823802 0.9982109 ]] t_gt: [-0.24719981 0.75283119 -0.6100307 ] Pose Error in degrees for R and t: 12.236646214397679 41.354129418146435 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.99997625 0.00667301 -0.00172444] [-0.00667111 0.99997713 0.00110725] [ 0.00173179 -0.00109572 0.9999979 ]] t_estimated: [[-7.66813239e-03] [-9.99970274e-01] [-8.06723956e-04]] R_gt: [[ 0.99524898 0.09456717 -0.02317052] [-0.09583094 0.99350315 -0.06138702] [ 0.01721417 0.06331758 0.99784522]] t_gt: [-0.33953879 0.87357813 -0.34867557] Pose Error in degrees for R and t: 6.344290059399573 29.463728689116692 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99108703e-01 4.22112804e-02 8.26420186e-05] [-4.22112766e-02 9.99108706e-01 -4.74319164e-05] [-8.45705221e-05 4.39012154e-05 9.99999995e-01]] t_estimated: [[ 9.43131226e-01] [-3.32420366e-01] [ 4.37110805e-04]] R_gt: [[ 0.99900157 -0.03856653 0.02256529] [ 0.03841972 0.99923794 0.00692173] [-0.02281442 -0.00604662 0.99972129]] t_gt: [ 0.78237467 -0.47007041 0.40856295] Pose Error in degrees for R and t: 4.817920381065122 26.578582918155817 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.95073312e-01 9.91417384e-02 1.38990914e-04] [-9.91417280e-02 9.95073320e-01 -8.00943352e-05] [-1.46246841e-04 6.59199361e-05 9.99999987e-01]] t_estimated: [[7.86637438e-01] [6.17414803e-01] [7.08044499e-04]] R_gt: [[ 0.98639834 -0.16312468 0.02020844] [ 0.16266919 0.98642538 0.02244688] [-0.02359571 -0.01885348 0.99954426]] t_gt: [ 0.82948823 -0.53639463 0.15566011] Pose Error in degrees for R and t: 15.165111772027448 71.25004486859352 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99968486e-01 7.93715827e-03 1.70220316e-04] [-7.93715661e-03 9.99968500e-01 -1.04109869e-05] [-1.70297588e-04 9.05959348e-06 9.99999985e-01]] t_estimated: [[0.45555239] [0.89020788] [0.00139313]] R_gt: [[ 0.96420168 -0.26499549 0.00959268] [ 0.26495535 0.96424647 0.00534055] [-0.0106641 -0.00260628 0.99993999]] t_gt: [ 0.83982434 -0.54245157 0.02100878] Pose Error in degrees for R and t: 15.832746420885593 84.24462439396783 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[ 9.99108024e-01 4.22274392e-02 -4.74288967e-06] [-4.22274394e-02 9.99108013e-01 -1.48231419e-04] [-1.52077413e-06 1.48299480e-04 9.99999989e-01]] t_estimated: [[9.93892846e-01] [1.10346797e-01] [7.71655936e-04]] R_gt: [[ 0.99222515 -0.12204704 -0.02434599] [ 0.12361519 0.98915592 0.07930539] [ 0.01440288 -0.08169833 0.99655321]] t_gt: [ 0.74299801 -0.58949409 0.31693955] Pose Error in degrees for R and t: 10.615758146016756 47.65011786089651 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.76552192e-01 -2.15280700e-01 -1.92420624e-04] [ 2.15280608e-01 9.76552144e-01 -4.12896048e-04] [ 2.76797323e-04 3.61790112e-04 9.99999896e-01]] t_estimated: [[-0.0119039 ] [-0.9999277 ] [-0.00170056]] R_gt: [[ 0.97089251 -0.22875992 -0.07097129] [ 0.23520032 0.96657895 0.10200517] [ 0.04526446 -0.11572851 0.99224898]] t_gt: [ 0.80292465 -0.56510131 0.1896642 ] Pose Error in degrees for R and t: 7.226170170837358 56.2768872716679 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-5.24698102e-02 -9.98621956e-01 -1.05298056e-03] [-9.98622350e-01 5.24703714e-02 -5.12597850e-04] [ 5.67141749e-04 1.02463401e-03 -9.99999314e-01]] t_estimated: [[8.63021427e-01] [5.05166868e-01] [6.72658945e-04]] R_gt: [[ 0.96736855 -0.24330859 -0.07070026] [ 0.2494121 0.96356785 0.09659213] [ 0.04462336 -0.11107316 0.99281022]] t_gt: [ 0.7996768 -0.57729842 0.16505617] Pose Error in degrees for R and t: 178.34646462712828 66.50823829477365 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.68991689e-01 -2.47093270e-01 -1.47248979e-04] [ 2.47093283e-01 9.68991694e-01 7.80904216e-05] [ 1.23387420e-04 -1.12053203e-04 9.99999986e-01]] t_estimated: [[-0.70141342] [-0.71275401] [-0.00096839]] R_gt: [[ 0.98093145 0.19431299 0.00401489] [-0.19434891 0.98053334 0.02797019] [ 0.00149786 -0.0282172 0.99960055]] t_gt: [-0.58344946 0.80379007 0.116225 ] Pose Error in degrees for R and t: 25.563658246376402 80.57375489862419 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.80314728e-01 1.97441212e-01 4.64143845e-05] [-1.97441215e-01 9.80314725e-01 7.48687456e-05] [-3.07185286e-05 -8.25590464e-05 9.99999996e-01]] t_estimated: [[-7.97465675e-01] [ 6.03364155e-01] [ 4.40184237e-04]] R_gt: [[ 0.96601843 0.25798102 -0.01597201] [-0.25660209 0.96461067 0.06067329] [ 0.03105954 -0.05451234 0.99802986]] t_gt: [-0.51486228 0.8537377 0.07777387] Pose Error in degrees for R and t: 5.041946179014304 22.220709186982376 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.4807632 -0.83821577 0.25741226] [-0.87424493 0.48082902 -0.06707654] [-0.06754667 -0.25728929 -0.96397078]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 0.89323587 0.44958565 0.00153179] [-0.44928028 0.89249184 0.04008393] [ 0.01665425 -0.03649206 0.999195 ]] t_gt: [-0.45953818 0.88763348 0.03051997] Pose Error in degrees for R and t: 166.11907745794443 76.66088880611115 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.96543755e-01 8.30694751e-02 8.19580433e-05] [-8.30694756e-02 9.96543758e-01 3.21139511e-06] [-8.14080076e-05 -1.00085074e-05 9.99999997e-01]] t_estimated: [[0.19005445] [0.98177299] [0.00105002]] R_gt: [[ 0.99876076 -0.04345686 0.02425746] [ 0.04375385 0.99897288 -0.01184124] [-0.02371698 0.01288857 0.99963575]] t_gt: [ 0.65775895 -0.74848022 0.08444241] Pose Error in degrees for R and t: 7.426288497344077 52.42936775624181 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99996815e-01 2.40641441e-03 -7.61165617e-04] [-2.40573910e-03 9.99996713e-01 8.86890406e-04] [ 7.63297341e-04 -8.85056415e-04 9.99999317e-01]] t_estimated: [[0.99987968] [0.01547801] [0.00103187]] R_gt: [[ 0.95849038 -0.20285955 0.20035791] [ 0.2036599 0.97889715 0.01683755] [-0.19954492 0.02466597 0.97957779]] t_gt: [ 0.58667547 -0.65028166 0.48264444] Pose Error in degrees for R and t: 16.697650569716206 54.75753190764354 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.98944482e-01 4.59051189e-02 1.62530336e-03] [-4.59049634e-02 9.98945803e-01 -1.32863930e-04] [-1.62968910e-03 5.81141984e-05 9.99998670e-01]] t_estimated: [[0.94378846] [0.33054728] [0.00135576]] R_gt: [[ 0.89978874 -0.34147484 0.27161502] [ 0.33387614 0.93960983 0.07523698] [-0.28090385 0.02298846 0.95946083]] t_gt: [ 0.66923783 -0.61503287 0.41695958] Pose Error in degrees for R and t: 27.944344634379284 64.60306562926384 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-7.26830622e-01 -6.86805214e-01 -3.98068909e-03] [ 6.86816630e-01 -7.26814870e-01 -4.80221155e-03] [ 4.04959902e-04 -6.22439787e-03 9.99980546e-01]] t_estimated: [[9.99992176e-01] [3.87894560e-03] [7.75789120e-04]] R_gt: [[ 9.92505295e-01 -1.08325604e-01 -5.65706810e-02] [ 1.08543220e-01 9.94091654e-01 7.72733040e-04] [ 5.61532030e-02 -6.90697537e-03 9.98398311e-01]] t_gt: [ 0.81531929 -0.53704464 -0.21641974] Pose Error in degrees for R and t: 130.40188310982498 35.60382979209786 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-3.72507546e-02 -9.99301515e-01 -2.97731145e-03] [ 9.99305950e-01 -3.72505429e-02 -1.26549908e-04] [ 1.55550468e-05 -2.97995913e-03 9.99995560e-01]] t_estimated: [[0.93568496] [0.3528312 ] [0.00194934]] R_gt: [[ 0.94771027 -0.31789901 -0.02803053] [ 0.31817649 0.94801351 0.00592144] [ 0.02469145 -0.01453004 0.99958996]] t_gt: [ 0.89304036 -0.44950885 -0.02051109] Pose Error in degrees for R and t: 73.59866582309441 47.393170934306106 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.98576804 -0.16810562 -0.00136662] [ 0.16810712 0.98576816 0.00106844] [ 0.00116756 -0.00128298 0.9999985 ]] t_estimated: [[9.10070824e-01] [4.14452144e-01] [7.18287943e-04]] R_gt: [[ 0.88007167 -0.47481884 -0.00466443] [ 0.47483569 0.88006848 0.00333415] [ 0.00252257 -0.00514935 0.99998369]] t_gt: [ 0.9243669 -0.38148901 -0.00346047] Pose Error in degrees for R and t: 18.671913443626163 46.91144378857993 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 2.83485745e-01 9.58884347e-01 1.32906236e-02] [ 9.58976392e-01 -2.83463314e-01 -3.58164951e-03] [ 3.33016557e-04 1.37607408e-02 -9.99905261e-01]] t_estimated: [[-0.54231981] [-0.84016569] [-0.00329068]] R_gt: [[ 0.97045326 0.23971635 0.02749869] [-0.23943537 0.97082337 -0.01312976] [-0.02984446 0.00615829 0.99953531]] t_gt: [-0.88907381 0.45772569 0.00591278] Pose Error in degrees for R and t: 178.0060981609843 84.400313174925 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 7.24997914e-01 6.88750833e-01 -5.61296207e-04] [-6.88749738e-01 7.24997878e-01 1.36969227e-03] [ 1.35031525e-03 -6.06431423e-04 9.99998904e-01]] t_estimated: [[-0.95312465] [ 0.30257009] [-0.00217732]] R_gt: [[ 9.53283216e-01 3.00098698e-01 3.45086462e-02] [-2.99875054e-01 9.53908940e-01 -1.15898003e-02] [-3.63968091e-02 7.01230786e-04 9.99336801e-01]] t_gt: [-0.88430475 0.46633553 0.02315801] Pose Error in degrees for R and t: 26.15606701945858 10.294752049750283 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 0.8153896 0.57886602 0.00734397] [ 0.57890404 -0.81538092 -0.00490479] [ 0.00314892 0.00825077 -0.999961 ]] t_estimated: [[-0.99842201] [-0.05581241] [-0.00620138]] R_gt: [[ 0.93125939 0.36357411 0.0238588 ] [-0.36312198 0.93149914 -0.02126921] [-0.02995763 0.01114402 0.99948832]] t_gt: [-0.88252725 0.47013594 -0.01085643] Pose Error in degrees for R and t: 178.2922546265584 31.24440392190713 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.98454095e-01 5.55822304e-02 -1.90870536e-04] [-5.55822160e-02 9.98454111e-01 7.99096065e-05] [ 1.95017026e-04 -6.91770664e-05 9.99999979e-01]] t_estimated: [[-9.88593486e-01] [ 1.50608311e-01] [-2.38247914e-04]] R_gt: [[ 0.94998189 0.30810692 -0.05104496] [-0.30699108 0.95128215 0.0286153 ] [ 0.05737499 -0.011513 0.99828689]] t_gt: [-0.50910282 0.85347082 -0.11136371] Pose Error in degrees for R and t: 15.113298826813946 50.81236390398884 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 8.63954371e-01 -5.03534034e-01 6.02664192e-03] [ 5.03546498e-01 8.63967876e-01 -6.58427588e-04] [-4.87528432e-03 3.60354583e-03 9.99981623e-01]] t_estimated: [[0.06588126] [0.99782653] [0.00137253]] R_gt: [[ 0.86936693 0.49267798 -0.03834686] [-0.49018718 0.86959423 0.05935025] [ 0.06258727 -0.03279934 0.99750062]] t_gt: [-0.4395935 0.89740747 -0.03764806] Pose Error in degrees for R and t: 59.85860041324326 29.951958908393134 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-9.66254007e-01 2.57590968e-01 2.94670828e-04] [ 2.57590845e-01 9.66254002e-01 -4.01509715e-04] [-3.88152142e-04 -3.12055863e-04 -9.99999876e-01]] t_estimated: [[ 0.78753506] [-0.61626781] [ 0.00158674]] R_gt: [[ 0.83855963 0.5411296 -0.0632253 ] [-0.53439621 0.8395541 0.09782226] [ 0.10601529 -0.04824171 0.99319367]] t_gt: [-0.39532402 0.91663516 -0.05915155] Pose Error in degrees for R and t: 174.4375011379021 28.798638615890706 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99998186e-01 1.90133465e-03 1.12111420e-04] [-1.90135741e-03 9.99998172e-01 2.03212180e-04] [-1.11724841e-04 -2.03424976e-04 9.99999973e-01]] t_estimated: [[0.99706182] [0.07658311] [0.00166245]] R_gt: [[ 0.99534817 -0.08981955 -0.03483744] [ 0.09030286 0.99583482 0.01256523] [ 0.03356406 -0.0156525 0.99931434]] t_gt: [ 0.65718821 -0.7345193 -0.16907112] Pose Error in degrees for R and t: 5.68898877546705 53.22140378237539 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-9.91537751e-01 -1.29815941e-01 -8.42423830e-04] [-1.29818236e-01 9.91530387e-01 3.83639710e-03] [ 3.37263327e-04 3.91329453e-03 -9.99992286e-01]] t_estimated: [[0.89756847] [0.44087382] [0.00105472]] R_gt: [[ 0.98716114 -0.15825954 -0.0215686 ] [ 0.156414 0.98520205 -0.07008323] [ 0.03234153 0.06581023 0.99730778]] t_gt: [ 0.56313529 -0.658302 -0.4995169 ] Pose Error in degrees for R and t: 178.18163871474985 77.60221852872004 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.70400703e-01 -2.41500431e-01 -1.35949080e-04] [ 2.41500457e-01 9.70400679e-01 2.28244036e-04] [ 7.68040466e-05 -2.54319938e-04 9.99999965e-01]] t_estimated: [[ 9.17147074e-01] [-3.98548861e-01] [ 2.21479675e-04]] R_gt: [[ 0.97145197 -0.23682007 -0.01400816] [ 0.23437476 0.96720902 -0.09784723] [ 0.0367213 0.0917716 0.99510289]] t_gt: [ 0.59312363 -0.68578847 -0.4217802 ] Pose Error in degrees for R and t: 5.693508298365535 35.19368748294221 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999888e-01 4.49936416e-04 1.43453056e-04] [-4.49937548e-04 9.99999899e-01 7.85553670e-06] [-1.43449507e-04 -7.92008074e-06 9.99999990e-01]] t_estimated: [[0.85057653] [0.52585019] [0.00107011]] R_gt: [[ 0.99436666 -0.10574025 -0.00736374] [ 0.10594249 0.99368154 0.03706336] [ 0.00339855 -0.03763512 0.99928548]] t_gt: [ 0.57114307 -0.77367681 0.27426225] Pose Error in degrees for R and t: 6.4762837588454865 85.45418220438192 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-9.29511105e-01 -3.68793254e-01 8.00427530e-04] [-3.68784441e-01 9.29500240e-01 5.22878590e-03] [-2.67233855e-03 4.56502934e-03 -9.99986009e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98826936 -0.13123291 -0.07811262] [ 0.1359453 0.98899362 0.05839836] [ 0.06958923 -0.06833218 0.99523296]] t_gt: [ 0.630623 -0.75236473 0.19042572] Pose Error in degrees for R and t: 176.63334442767768 51.06528387996359 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.9999835 0.00451042 0.00355645] [-0.0044814 0.99995693 -0.00812783] [-0.00359296 0.00811176 0.99996064]] t_estimated: [[0.59712116] [0.80215037] [0.00105685]] R_gt: [[ 0.99083437 -0.024749 -0.13279565] [ 0.04644802 0.98555027 0.1628876 ] [ 0.12684623 -0.16756278 0.9776675 ]] t_gt: [ 0.33654962 -0.72125745 0.60541064] Pose Error in degrees for R and t: 12.835487204896646 67.85473025009628 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-4.95763572e-01 -8.68456721e-01 -1.18466080e-03] [-8.68457443e-01 4.95763671e-01 2.29577987e-04] [ 3.87933243e-04 1.14264389e-03 -9.99999272e-01]] t_estimated: [[0.82090486] [0.57106425] [0.00091517]] R_gt: [[ 0.99481909 0.022342 -0.09917913] [-0.02132382 0.99970865 0.01132186] [ 0.09940359 -0.00914778 0.99500536]] t_gt: [ 0.12683855 0.22494883 -0.96607971] Pose Error in degrees for R and t: 175.31461099860886 76.60291030470898 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.77013139 0.6378752 0.00358743] [ 0.63788412 -0.77012856 -0.00241959] [ 0.00121939 0.00415177 -0.99999064]] t_estimated: [[-0.99985659] [-0.01680431] [-0.00210054]] R_gt: [[ 0.98447217 0.03631047 -0.17174285] [-0.03552902 0.99933935 0.00762802] [ 0.17190625 -0.00140717 0.98511264]] t_gt: [ 0.17029699 0.22237141 -0.9599739 ] Pose Error in degrees for R and t: 176.60157088329865 80.09628888813415 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-8.56419763e-01 -5.16277747e-01 -1.57404336e-03] [ 5.16279831e-01 -8.56411887e-01 -3.71709986e-03] [ 5.71026495e-04 -3.99604462e-03 9.99991853e-01]] t_estimated: [[9.06182875e-01] [4.22885342e-01] [7.64711287e-04]] R_gt: [[ 0.97496562 0.02095901 -0.22136561] [-0.02259536 0.99973273 -0.00485941] [ 0.22120409 0.00974024 0.97517898]] t_gt: [ 0.29341714 0.1001593 -0.95072314] Pose Error in degrees for R and t: 150.3440349111129 72.09025531036087 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99686051e-01 -2.50552383e-02 1.87964385e-04] [ 2.50552355e-02 9.99686068e-01 1.74019525e-05] [-1.88341387e-04 -1.26869972e-05 9.99999982e-01]] t_estimated: [[0.78689027] [0.6170896 ] [0.0020315 ]] R_gt: [[ 0.99129107 0.11892903 -0.05655059] [-0.12000639 0.99264321 -0.01604079] [ 0.05422678 0.02268698 0.99827106]] t_gt: [-0.31712057 0.88712387 -0.33532937] Pose Error in degrees for R and t: 8.963702299446926 72.70961792277409 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.86811647 0.49629607 0.00800046] [ 0.4963578 -0.86805252 -0.01066518] [ 0.00165174 0.01322971 -0.99991112]] t_estimated: [[8.62456961e-01] [5.06129886e-01] [7.27198112e-04]] R_gt: [[ 0.99002524 0.09998688 -0.09926203] [-0.09914011 0.99498308 0.01343368] [ 0.10010711 -0.00345803 0.99497076]] t_gt: [-0.0744496 0.90084002 -0.42772014] Pose Error in degrees for R and t: 178.7530513635964 66.95702521476949 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.97739937e-01 6.71916322e-02 -5.49971783e-04] [-6.71907533e-02 9.97739042e-01 1.48518445e-03] [ 6.48520287e-04 -1.44487482e-03 9.99998746e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.97887908 0.11208362 -0.17097742] [-0.10840007 0.99363127 0.03076271] [ 0.173336 -0.01157902 0.98479533]] t_gt: [ 0.12954966 0.79152382 -0.59724947] Pose Error in degrees for R and t: 10.274508964817619 63.23253222463773 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-0.99936789 -0.0329887 -0.01324998] [-0.03302005 0.99945237 0.00215389] [ 0.01317167 0.00259004 -0.9999099 ]] t_estimated: [[ 0.99983266] [ 0.01718349] [-0.00627468]] R_gt: [[ 0.99116735 0.13258958 0.00261269] [-0.1325499 0.99110667 -0.01177534] [-0.004151 0.01132517 0.99992697]] t_gt: [-0.68431255 0.72894942 -0.01868331] Pose Error in degrees for R and t: 179.41642207283317 47.812812304590324 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.25317523e-01 3.79193195e-01 5.12633068e-05] [-3.79193154e-01 9.25317341e-01 6.09033843e-04] [ 1.83506662e-04 -5.82988382e-04 9.99999813e-01]] t_estimated: [[-9.98030859e-01] [-6.27199283e-02] [-7.83999104e-04]] R_gt: [[ 0.98724672 0.15647302 -0.02932085] [-0.15714705 0.98732298 -0.02232096] [ 0.02545673 0.02664403 0.99932074]] t_gt: [-0.66118297 0.71097669 -0.23947699] Pose Error in degrees for R and t: 13.428502674249248 52.01345893924051 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99411207e-01 -3.43108188e-02 -8.56113242e-05] [ 3.43108300e-02 9.99411201e-01 1.32970477e-04] [ 8.09985904e-05 -1.35829581e-04 9.99999987e-01]] t_estimated: [[-0.91074453] [-0.41296918] [-0.00092181]] R_gt: [[ 0.99302443 0.11707355 -0.01401942] [-0.11724885 0.99302534 -0.01242807] [ 0.01246648 0.01398519 0.99982494]] t_gt: [-0.77853838 0.60836789 -0.15416384] Pose Error in degrees for R and t: 8.761073822418613 62.744806606511766 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999933e-01 3.44740664e-04 1.25755666e-04] [-3.44740481e-04 9.99999941e-01 -1.47780260e-06] [-1.25756168e-04 1.43444943e-06 9.99999992e-01]] t_estimated: [[-0.99988098] [-0.01530996] [-0.00190715]] R_gt: [[ 0.99371153 -0.11189997 0.00409536] [ 0.11179258 0.99351579 0.02068491] [-0.00638257 -0.02009618 0.99977776]] t_gt: [ 0.62497495 -0.76779679 0.14104749] Pose Error in degrees for R and t: 6.554089026869059 52.16318559121426 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.50730089e-01 -7.59309096e-01 -2.19421047e-04] [ 7.59308663e-01 6.50729344e-01 1.29449984e-03] [-8.40141790e-04 -1.00897830e-03 9.99999138e-01]] t_estimated: [[ 0.9078934 ] [-0.41919885] [ 0.00137544]] R_gt: [[ 0.99455403 -0.1040321 -0.00641378] [ 0.10418971 0.99399739 0.03334758] [ 0.00290588 -0.03383358 0.99942268]] t_gt: [ 0.64977486 -0.74753523 0.13778139] Pose Error in degrees for R and t: 43.464050288128355 25.380432509331456 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999438e-01 -1.05758947e-03 7.43310014e-05] [ 1.05756067e-03 9.99999366e-01 3.86415373e-04] [-7.47396231e-05 -3.86336547e-04 9.99999923e-01]] t_estimated: [[0.484015 ] [0.87505893] [0.0011587 ]] R_gt: [[ 0.99732885 -0.01431195 -0.07163122] [ 0.01733882 0.99897451 0.04181475] [ 0.0709601 -0.042944 0.99655383]] t_gt: [ 0.76212565 -0.59588845 -0.25314314] Pose Error in degrees for R and t: 4.825336290630826 81.2078417853681 Number of keypoints: Image1: 419 Image2: 419 R_estimated: [[ 9.20275970e-01 -3.91262393e-01 -2.42454507e-03] [ 3.91268675e-01 9.20270944e-01 3.19574903e-03] [ 9.80861965e-04 -3.88961958e-03 9.99991954e-01]] t_estimated: [[-0.26361068] [-0.96462845] [-0.00116642]] R_gt: [[ 0.99887277 0.00684574 -0.04697798] [-0.00649978 0.99995119 0.00751496] [ 0.04702682 -0.00720103 0.99886714]] t_gt: [-0.21338165 0.01921312 -0.97677998] Pose Error in degrees for R and t: 23.55783948740794 87.77318372453374 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[-8.20835164e-01 -5.71160133e-01 -2.39492810e-03] [ 5.71164568e-01 -8.20833112e-01 -2.00942228e-03] [-8.18134393e-04 -3.01730254e-03 9.99995113e-01]] t_estimated: [[9.93039711e-01] [1.17777253e-01] [8.06693510e-04]] R_gt: [[ 0.99986778 -0.0099532 0.01283118] [ 0.00988923 0.99993914 0.00500106] [-0.0128795 -0.0048737 0.99990501]] t_gt: [-0.84065969 -0.24029606 0.485334 ] Pose Error in degrees for R and t: 144.6017984790533 30.37681746113819 Number of keypoints: Image1: 648 Image2: 648 R_estimated: [[ 3.86625792e-01 -9.22233908e-01 -2.26175096e-03] [ 9.22236658e-01 3.86625172e-01 7.23000156e-04] [ 2.07674594e-04 -2.36540015e-03 9.99997181e-01]] t_estimated: [[-0.08770416] [-0.99614598] [-0.00108277]] R_gt: [[ 0.99886916 0.02042088 0.04293942] [-0.01960615 0.99962228 -0.01928802] [-0.04331674 0.01842493 0.99889141]] t_gt: [-0.90717683 0.26737844 0.32486762] Pose Error in degrees for R and t: 68.45455009344364 79.21427745661155 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.55115648e-01 2.96233075e-01 -2.54465852e-04] [-2.96228378e-01 9.55104693e-01 4.87579708e-03] [ 1.68741389e-03 -4.58157008e-03 9.99988081e-01]] t_estimated: [[0.72938335] [0.68410449] [0.00098432]] R_gt: [[ 0.99298822 -0.1179522 -0.00784249] [ 0.11782121 0.99291526 -0.01541336] [ 0.0096057 0.01438087 0.9998508 ]] t_gt: [ 0.67390585 -0.73435709 -0.08105898] Pose Error in degrees for R and t: 24.03248975224392 89.37425650379066 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-1.17286395e-01 -9.93098092e-01 -2.86230873e-04] [-9.93097821e-01 1.17286582e-01 -7.58387860e-04] [ 7.86724577e-04 1.95306678e-04 -9.99999671e-01]] t_estimated: [[0.74649603] [0.6653894 ] [0.00078744]] R_gt: [[ 9.86474202e-01 -1.63919904e-01 3.25097500e-04] [ 1.63913590e-01 9.86456811e-01 5.95693603e-03] [-1.29712704e-03 -5.82269003e-03 9.99982489e-01]] t_gt: [ 0.6752709 -0.73597106 0.04853657] Pose Error in degrees for R and t: 179.7742048662157 89.17388485409947 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 5.05686509e-01 8.62710132e-01 3.51886699e-03] [ 8.62716361e-01 -5.05687792e-01 -5.80882498e-04] [ 1.27831486e-03 3.32952856e-03 -9.99993640e-01]] t_estimated: [[-0.48459627] [-0.87473733] [-0.00102669]] R_gt: [[ 0.99161276 -0.12711067 -0.0233862 ] [ 0.12806737 0.99072384 0.04542922] [ 0.01739436 -0.04804365 0.99869422]] t_gt: [ 0.67942591 -0.72564608 0.10871156] Pose Error in degrees for R and t: 177.2280577780676 72.21832048609649 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 7.29832352e-01 -6.83625698e-01 -8.01586670e-04] [ 6.83626119e-01 7.29832241e-01 4.79037744e-04] [ 2.57541284e-04 -8.97602828e-04 9.99999564e-01]] t_estimated: [[0.89237387] [0.45129536] [0.00117013]] R_gt: [[ 0.9979053 0.04637025 -0.04513209] [-0.04621499 0.9989216 0.00445462] [ 0.04529058 -0.00235867 0.99897129]] t_gt: [-0.08531369 0.90565101 -0.41535265] Pose Error in degrees for R and t: 45.8500153853897 70.60381220601221 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.65173656 0.75838291 -0.00973755] [-0.75843397 -0.65174355 0.00287283] [-0.00416768 0.00925762 0.99994846]] t_estimated: [[ 6.46197236e-01] [ 7.63170446e-01] [-4.45841980e-05]] R_gt: [[ 0.99450928 0.0223203 -0.10224301] [-0.01799775 0.99891253 0.04300563] [ 0.10309256 -0.04092915 0.9938299 ]] t_gt: [ 0.52157042 0.65929586 -0.54156557] Pose Error in degrees for R and t: 129.58803536242527 32.836998521516676 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.85144999 -0.52442911 -0.0026509 ] [ 0.52443315 -0.85145089 -0.00111995] [-0.00166978 -0.0023438 0.99999586]] t_estimated: [[0.9081663 ] [0.4186079 ] [0.00118251]] R_gt: [[ 0.98363528 0.04517788 -0.17441707] [-0.04200619 0.99887899 0.02183146] [ 0.17520814 -0.01414691 0.98443021]] t_gt: [ 0.46666702 0.52930833 -0.7085581 ] Pose Error in degrees for R and t: 150.99353761873127 49.86835257911212 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.89754637e-01 1.42778563e-01 1.98683853e-04] [-1.42778579e-01 9.89754653e-01 6.79449707e-05] [-1.86947182e-04 -9.56166480e-05 9.99999978e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99704423 0.01505224 -0.07534199] [-0.01547649 0.99986775 -0.00505412] [ 0.07525699 0.0062047 0.99714581]] t_gt: [ 0.11105653 0.18297158 -0.97682539] Pose Error in degrees for R and t: 8.52016472463428 79.4761281483799 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.96586494e-01 -8.25551067e-02 -1.19110375e-04] [ 8.25551370e-02 9.96586460e-01 2.77841855e-04] [ 9.57665229e-05 -2.86726614e-04 9.99999954e-01]] t_estimated: [[0.79652074] [0.60461048] [0.0009316 ]] R_gt: [[ 0.99436983 -0.01105345 -0.10538727] [ 0.00818886 0.99958645 -0.02757696] [ 0.10564874 0.02655894 0.99404896]] t_gt: [ 0.3327439 -0.01977095 -0.94280995] Pose Error in degrees for R and t: 7.520820747625848 75.39194680386619 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.23604771e-01 3.83345209e-01 -8.22759600e-04] [-3.83344796e-01 9.23605102e-01 6.18501390e-04] [ 9.97004510e-04 -2.55850224e-04 9.99999470e-01]] t_estimated: [[0.53936569] [0.84207092] [0.00110075]] R_gt: [[ 0.99264813 -0.11720142 0.03022991] [ 0.11811296 0.99253612 -0.0303511 ] [-0.02644608 0.03369761 0.99908268]] t_gt: [ 0.71012679 -0.69263959 -0.12637384] Pose Error in degrees for R and t: 29.40611069739543 78.44124322922887 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.97865934 -0.20528478 0.00916832] [ 0.20525879 0.97870074 0.00370095] [-0.00973279 -0.00174009 0.99995112]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.98718476 -0.15747857 -0.02582792] [ 0.15771095 0.98745832 0.00724274] [ 0.02436436 -0.01122416 0.99964014]] t_gt: [ 0.5771124 -0.81664461 0.00573183] Pose Error in degrees for R and t: 3.4349346261129114 60.19062388110885 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 4.82028816e-01 -8.76154660e-01 -1.11004355e-03] [ 8.76155281e-01 4.82028932e-01 1.77845986e-04] [ 3.79252517e-04 -1.05829741e-03 9.99999368e-01]] t_estimated: [[0.89161019] [0.45280277] [0.00096034]] R_gt: [[ 0.97435572 -0.22236614 -0.03440588] [ 0.22341959 0.97424326 0.03054641] [ 0.02672793 -0.03745022 0.99894093]] t_gt: [ 0.58198137 -0.80929545 0.0796151 ] Pose Error in degrees for R and t: 48.360160006219274 81.22667344983495 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 0.64099512 0.76753261 0.00435336] [ 0.76700222 -0.64074482 0.03396583] [ 0.02885927 -0.0184329 -0.99941351]] t_estimated: [[-0.99682918] [-0.07895677] [-0.0098696 ]] R_gt: [[ 0.95197153 -0.29540875 -0.08052049] [ 0.30054922 0.95178345 0.06146552] [ 0.05848116 -0.08271449 0.99485613]] t_gt: [ 0.63340841 -0.75973566 0.14695415] Pose Error in degrees for R and t: 173.02022554669344 55.04981000343911 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99886978e-01 1.50343255e-02 1.94846176e-05] [-1.50343249e-02 9.99886978e-01 -2.97747267e-05] [-1.99300583e-05 2.94784235e-05 9.99999999e-01]] t_estimated: [[-9.99135342e-01] [-4.15754059e-02] [-2.30646925e-04]] R_gt: [[ 0.99250076 0.12070176 0.01930905] [-0.12119615 0.99226527 0.026851 ] [-0.0159184 -0.02899014 0.99945185]] t_gt: [-0.8679666 0.41837856 0.26756934] Pose Error in degrees for R and t: 6.375917884461265 31.814409718897146 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.9566349 0.13482401 -0.25820951] [-0.14012713 -0.99013117 0.00215736] [-0.25537042 0.03824596 0.96608654]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.93256023 0.35900282 0.03804397] [-0.35965538 0.93301143 0.01170546] [-0.03129276 -0.02459876 0.999207 ]] t_gt: [-0.84908562 0.52192814 0.08151465] Pose Error in degrees for R and t: 151.31542779933358 71.31501501299533 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999941e-01 8.83580086e-05 -3.32505999e-04] [-8.82541714e-05 9.99999947e-01 3.12288435e-04] [ 3.32533575e-04 -3.12259072e-04 9.99999896e-01]] t_estimated: [[-9.96972516e-01] [-7.77543120e-02] [-2.61737204e-04]] R_gt: [[ 0.88145272 0.46875117 0.05755693] [-0.47013955 0.88250014 0.01272223] [-0.04483036 -0.03827378 0.99826099]] t_gt: [-0.8249989 0.55706658 0.09515066] Pose Error in degrees for R and t: 28.21990644808551 38.816087725626595 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.99528448e-01 -3.06779764e-02 1.32009576e-03] [ 3.06779608e-02 9.99529320e-01 3.20723571e-05] [-1.32045833e-03 8.44061254e-06 9.99999128e-01]] t_estimated: [[0.96823306] [0.2500226 ] [0.00366738]] R_gt: [[ 0.99613528 -0.08748656 -0.00777811] [ 0.08687805 0.99446836 -0.05903393] [ 0.01289946 0.05813039 0.99822572]] t_gt: [ 0.52873069 -0.57159538 -0.62747317] Pose Error in degrees for R and t: 4.722201398839104 68.48642944918426 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.77036308e-01 2.13070387e-01 1.03077164e-03] [-2.13069798e-01 9.77036763e-01 -6.52485241e-04] [-1.14612707e-03 4.17875466e-04 9.99999256e-01]] t_estimated: [[0.76928516] [0.63890255] [0.0019706 ]] R_gt: [[ 0.9847333 -0.17344964 0.01467858] [ 0.17400156 0.97848985 -0.11082256] [ 0.00485941 0.11168436 0.99373116]] t_gt: [ 0.5486588 -0.6487685 -0.52732623] Pose Error in degrees for R and t: 23.221983287143214 89.62550743881702 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999349e-01 1.08608821e-03 3.50739555e-04] [-1.08582125e-03 9.99999121e-01 -7.60414762e-04] [-3.51565124e-04 7.60033426e-04 9.99999649e-01]] t_estimated: [[-0.37644228] [-0.92643706] [-0.0023626 ]] R_gt: [[ 0.9663983 -0.25638079 -0.01854388] [ 0.25292153 0.96127563 -0.10944872] [ 0.04588639 0.10108109 0.99381939]] t_gt: [ 0.61146731 -0.66856722 -0.42323233] Pose Error in degrees for R and t: 16.149767764942023 67.0328546838274 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.97052747e-01 7.67155900e-02 7.32774304e-04] [-7.67152563e-02 9.97052930e-01 -4.73187401e-04] [-7.66915618e-04 4.15577830e-04 9.99999620e-01]] t_estimated: [[0.50670488] [0.86211874] [0.00120072]] R_gt: [[ 0.98969306 -0.14081974 -0.02604719] [ 0.141093 0.98995531 0.00898862] [ 0.02451901 -0.01257031 0.99962012]] t_gt: [ 0.64422557 -0.76415541 -0.03224802] Pose Error in degrees for R and t: 12.609739230112119 70.585539484767 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.99999768e-01 6.51225368e-04 1.99662442e-04] [-6.51272864e-04 9.99999760e-01 2.37908673e-04] [-1.99507461e-04 -2.38038653e-04 9.99999952e-01]] t_estimated: [[9.75995168e-01] [2.17791679e-01] [4.65044229e-04]] R_gt: [[ 0.94545192 -0.32422594 -0.03161344] [ 0.32500624 0.94541416 0.02370001] [ 0.02220295 -0.03268108 0.99921929]] t_gt: [ 0.74020399 -0.67112071 0.04117103] Pose Error in degrees for R and t: 19.12039594412528 54.80996722512404 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 8.63292384e-01 5.04703773e-01 6.00475354e-04] [-5.04701325e-01 8.63290942e-01 -2.30695064e-03] [-1.68271163e-03 1.68851221e-03 9.99997159e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.92142439 -0.38721525 -0.03228022] [ 0.38786529 0.92156063 0.01690305] [ 0.0232029 -0.02809382 0.99933555]] t_gt: [ 0.74598472 -0.66532974 0.02903684] Pose Error in degrees for R and t: 53.16460354170969 41.93183269672517 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 0.62776221 0.77840429 0.00117325] [ 0.77839681 -0.62776174 0.00368786] [ 0.00360716 -0.00140185 -0.99999251]] t_estimated: [[-0.98057979] [-0.19611596] [-0.00134326]] R_gt: [[ 0.97986196 -0.19882991 0.01835527] [ 0.1985162 0.97993945 0.01760759] [-0.02148887 -0.01360904 0.99967622]] t_gt: [ 0.86228682 -0.49861218 0.08858519] Pose Error in degrees for R and t: 179.53652554100304 41.59343017042139 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.98958667e-01 4.56205082e-02 5.91919648e-04] [-4.56205064e-02 9.98958843e-01 -1.66001675e-05] [-5.92060674e-04 -1.04207929e-05 9.99999825e-01]] t_estimated: [[0.9790416 ] [0.20365762] [0.00106072]] R_gt: [[ 0.90919854 -0.41628512 0.00798587] [ 0.41578592 0.90878305 0.03516412] [-0.02189737 -0.02865001 0.99934967]] t_gt: [ 0.91113083 -0.40621847 0.06947785] Pose Error in degrees for R and t: 27.283658562234802 35.96467925039725 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 2.39377605e-01 -9.70443383e-01 3.06268381e-02] [ 9.70926545e-01 2.39261060e-01 -7.46921947e-03] [-7.93551397e-05 3.15243739e-02 9.99502980e-01]] t_estimated: [[0.21600293] [0.97639162] [0.00145948]] R_gt: [[ 0.8439782 -0.53561767 0.02853704] [ 0.53521347 0.8444575 0.0209637 ] [-0.0353283 -0.00241984 0.99937288]] t_gt: [ 0.93507456 -0.35340855 0.02716562] Pose Error in degrees for R and t: 43.820090426960405 81.77581839967146 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99220193e-01 3.94821857e-02 4.02452867e-04] [-3.94814253e-02 9.99218774e-01 -1.74872799e-03] [-4.71182064e-04 1.73147490e-03 9.99998390e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 9.99907037e-01 -5.17467649e-03 -1.26228426e-02] [ 5.17202371e-03 9.99986438e-01 -2.01037284e-04] [ 1.26225339e-02 1.36510129e-04 9.99920516e-01]] t_gt: [ 0.41421369 -0.48269631 -0.77164195] Pose Error in degrees for R and t: 2.6677361711505405 65.66212926294722 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.2526819 -0.96753307 0.00562326] [-0.96752985 0.25270948 0.00488925] [-0.00615156 -0.00420525 -0.99997224]] t_estimated: [[0.80960501] [0.58695577] [0.00475984]] R_gt: [[ 0.99299874 -0.11732899 0.0136684 ] [ 0.11762999 0.99277095 -0.0238397 ] [-0.01077325 0.0252819 0.99962222]] t_gt: [ 0.68454303 -0.7283185 -0.03087089] Pose Error in degrees for R and t: 179.87499059755558 82.72846654756071 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 1.00000000e+00 -2.22044605e-16 -7.24138631e-16] [ 2.77555756e-16 1.00000000e+00 1.19118582e-15] [ 7.90600224e-16 -1.41523620e-15 1.00000000e+00]] t_estimated: [[9.65276050e-01] [2.61230900e-01] [7.51440857e-04]] R_gt: [[ 0.96787687 -0.25141159 0.00258827] [ 0.25124061 0.96672571 -0.04816645] [ 0.009607 0.04727004 0.99883532]] t_gt: [ 0.76105712 -0.63924209 -0.11027968] Pose Error in degrees for R and t: 14.823406310027496 55.419917962702506 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999997e-01 -6.45453252e-05 -3.42064406e-05] [ 6.45472028e-05 9.99999996e-01 5.48899918e-05] [ 3.42028976e-05 -5.48921996e-05 9.99999998e-01]] t_estimated: [[-9.11103191e-02] [ 9.95840418e-01] [-8.78971464e-04]] R_gt: [[ 0.99814695 0.00366921 -0.06074218] [-0.00457272 0.99988084 -0.01472807] [ 0.06068102 0.01497867 0.99804494]] t_gt: [ 0.55254722 0.22999154 -0.80112137] Pose Error in degrees for R and t: 3.5902897223103096 79.6654033203768 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.92882625e-01 -1.19095343e-01 6.26252578e-04] [ 1.19095716e-01 9.92882599e-01 -5.95738640e-04] [-5.50845590e-04 6.66082544e-04 9.99999626e-01]] t_estimated: [[-0.65248247] [-0.75780277] [-0.00125815]] R_gt: [[ 0.99338449 0.00133018 -0.11482828] [-0.00221336 0.9999694 -0.00755467] [ 0.11481417 0.00775811 0.99335669]] t_gt: [ 0.64257692 0.1707962 -0.74694281] Pose Error in degrees for R and t: 9.602892177555306 56.786508329356465 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.90672843e-01 1.36261919e-01 -8.54206789e-05] [-1.36261935e-01 9.90672820e-01 -2.23009025e-04] [ 5.42363072e-05 2.32568572e-04 9.99999971e-01]] t_estimated: [[-8.38156124e-02] [ 9.96481050e-01] [-6.78329930e-04]] R_gt: [[ 0.98577646 0.00615919 -0.16795145] [-0.00473803 0.99994903 0.00886539] [ 0.16799665 -0.00794308 0.9857558 ]] t_gt: [ 0.66381162 0.13677544 -0.73528676] Pose Error in degrees for R and t: 12.24967950585544 85.34503472170324 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.93346597e-01 -1.15162993e-01 -1.49303418e-04] [ 1.15163030e-01 9.93346569e-01 2.64648647e-04] [ 1.17832307e-04 -2.80082067e-04 9.99999954e-01]] t_estimated: [[0.99987583] [0.01557653] [0.00238767]] R_gt: [[ 0.99528087 0.09623997 0.01244318] [-0.09610303 0.99530943 -0.01115447] [-0.01345742 0.00990603 0.99986005]] t_gt: [-0.45858407 0.88460933 0.08465804] Pose Error in degrees for R and t: 12.170912675818531 63.60571420302418 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.75723531e-01 -2.19005916e-01 2.02212271e-06] [ 2.19005915e-01 9.75723530e-01 4.64004411e-05] [-1.21350038e-05 -4.48311454e-05 9.99999999e-01]] t_estimated: [[-8.38502929e-01] [-5.44896701e-01] [-6.51011590e-04]] R_gt: [[ 0.99297936 0.10410357 0.05617846] [-0.11000199 0.98727452 0.11484382] [-0.04350718 -0.12021672 0.99179338]] t_gt: [-0.37336022 0.57178553 0.73052273] Pose Error in degrees for R and t: 20.190986746418304 89.9413283073864 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 4.15041944e-01 -9.09802265e-01 -1.50249164e-04] [-9.09802124e-01 -4.15041964e-01 5.13680022e-04] [-5.29706956e-04 -7.65017466e-05 -9.99999857e-01]] t_estimated: [[0.41197015] [0.91119648] [0.00125406]] R_gt: [[ 0.98986074 0.08345156 0.11494833] [-0.10656873 0.97132744 0.21252363] [-0.09391639 -0.22261882 0.97037049]] t_gt: [-0.23153888 0.34283302 0.91041489] Pose Error in degrees for R and t: 166.10651338553382 77.4000234717966 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[ 0.58200799 -0.8129553 0.01924535] [-0.81298164 -0.5811741 0.03602122] [-0.01809874 -0.03661075 -0.9991657 ]] t_estimated: [[0.46000172] [0.88767384] [0.02082261]] R_gt: [[ 0.99570927 -0.08160118 0.04363764] [ 0.0812326 0.99664349 0.01017898] [-0.04432132 -0.0065901 0.99899535]] t_gt: [ 0.83016976 -0.26118551 0.49254471] Pose Error in degrees for R and t: 176.08258089343124 80.77638478367093 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.99314184 -0.11506785 0.02070459] [ 0.1146673 0.99321066 0.01959587] [-0.02281887 -0.01708734 0.99959358]] t_estimated: [[0.81759347] [0.56024553] [0.13291297]] R_gt: [[ 0.98825848 -0.12959005 0.08094047] [ 0.12939092 0.99156344 0.00772387] [-0.0812588 0.00284007 0.99668816]] t_gt: [ 0.84678879 -0.09048397 0.52417687] Pose Error in degrees for R and t: 3.6348227984680292 44.65875360758065 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 3.09767570e-01 9.50811263e-01 1.41242621e-03] [-9.50811701e-01 3.09768713e-01 -6.73111998e-04] [-1.07752792e-03 -1.13444310e-03 9.99998776e-01]] t_estimated: [[0.01013461] [0.99994801] [0.00112607]] R_gt: [[ 0.98289323 -0.11022101 0.14755714] [ 0.11595446 0.99277673 -0.03080468] [-0.14309596 0.04738784 0.98857384]] t_gt: [0.73952825 0.2282546 0.63324387] Pose Error in degrees for R and t: 78.87642006617558 76.32285176877302 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.99998692 -0.0034498 -0.00377487] [ 0.00346855 0.99998163 0.00497132] [ 0.00375766 -0.00498435 0.99998052]] t_estimated: [[0.06651719] [0.99775791] [0.0073908 ]] R_gt: [[ 0.99008157 0.13979673 -0.01394197] [-0.14033057 0.98881024 -0.05060842] [ 0.0067109 0.05206262 0.99862046]] t_gt: [-0.33289414 0.91538409 -0.22639226] Pose Error in degrees for R and t: 8.874092642471561 27.18759594579496 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999848e-01 -4.92729995e-04 2.48992102e-04] [ 4.92868300e-04 9.99999724e-01 -5.55705326e-04] [-2.48718220e-04 5.55827962e-04 9.99999815e-01]] t_estimated: [[-8.87577321e-01] [-4.60658398e-01] [-5.81876391e-04]] R_gt: [[ 0.96679451 0.25462996 -0.02173629] [-0.25553626 0.96216981 -0.09449986] [-0.00314842 0.09691638 0.99528698]] t_gt: [-0.30577991 0.93565153 -0.17622392] Pose Error in degrees for R and t: 15.83520170934055 80.82155088682485 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.96591775e-01 -8.24902766e-02 -4.34392196e-04] [ 8.24904355e-02 9.96591791e-01 3.61473934e-04] [ 4.03093612e-04 -3.96075151e-04 9.99999840e-01]] t_estimated: [[-0.78183761] [-0.62348124] [-0.00104513]] R_gt: [[ 0.95772793 0.28748614 0.01039001] [-0.28727638 0.9576791 -0.01797017] [-0.01511655 0.01422627 0.99978411]] t_gt: [-0.33670285 0.94100345 0.03381851] Pose Error in degrees for R and t: 21.469290085004772 71.12610127939914 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 0.13782851 0.99006876 0.02769738] [-0.9903234 0.1372984 0.02021643] [ 0.01621285 -0.03021577 0.9994119 ]] t_estimated: [[0.54456804] [0.83871365] [0.00224964]] R_gt: [[ 0.99776333 -0.04375879 0.0505326 ] [ 0.04453767 0.99890421 -0.01439552] [-0.04984631 0.01661357 0.998619 ]] t_gt: [0.63473248 0.15815608 0.75637381] Pose Error in degrees for R and t: 84.69061296248962 61.31432032485263 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999781e-01 -6.39843360e-04 1.70077962e-04] [ 6.39839083e-04 9.99999795e-01 2.52035380e-05] [-1.70094053e-04 -2.50947099e-05 9.99999985e-01]] t_estimated: [[0.42662647] [0.90442727] [0.00108331]] R_gt: [[ 0.98810636 -0.13228261 0.07841049] [ 0.13303807 0.99110123 -0.00448127] [-0.07711986 0.01485863 0.9969115 ]] t_gt: [ 0.89900847 -0.1365455 0.41609987] Pose Error in degrees for R and t: 8.826623610512767 74.90049891125352 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.00361529 0.9999909 0.00226394] [-0.99998742 -0.00360738 -0.00348643] [-0.00347823 -0.00227651 0.99999136]] t_estimated: [[5.55945612e-04] [9.99996207e-01] [2.69749135e-03]] R_gt: [[ 0.98067562 -0.14657235 0.12958835] [ 0.1508127 0.9882833 -0.02349774] [-0.12462562 0.04258754 0.99128955]] t_gt: [0.85537294 0.07301498 0.51284105] Pose Error in degrees for R and t: 98.98928618903682 85.70603873237356 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.66014346e-01 -2.58485234e-01 -1.29162655e-03] [ 2.58486563e-01 9.66014340e-01 9.95503166e-04] [ 9.90406904e-04 -1.29553845e-03 9.99998670e-01]] t_estimated: [[0.75060285] [0.66075315] [0.00079513]] R_gt: [[ 0.99256979 0.10756348 -0.05687657] [-0.10070468 0.98857591 0.11214187] [ 0.06828975 -0.10558077 0.99206358]] t_gt: [-0.50699382 0.32716448 0.79744634] Pose Error in degrees for R and t: 22.147520318564098 80.57583930641167 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.28393908e-01 -3.71595760e-01 1.15852843e-03] [ 3.71596660e-01 9.28394018e-01 -6.86025651e-04] [-8.20646641e-04 1.06740733e-03 9.99999094e-01]] t_estimated: [[-0.02244681] [-0.99974655] [-0.00172668]] R_gt: [[ 0.98747029 0.12729497 -0.09326558] [-0.11221567 0.98196779 0.15214057] [ 0.11095133 -0.13976802 0.98394911]] t_gt: [-0.19446351 0.61265979 0.76604956] Pose Error in degrees for R and t: 30.519725829281523 52.44937748826538 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 4.24025418e-01 -9.05649298e-01 -1.33939486e-03] [ 9.05650237e-01 4.24025429e-01 2.90130112e-04] [ 3.05181346e-04 -1.33604581e-03 9.99999061e-01]] t_estimated: [[9.99528376e-01] [3.06982672e-02] [8.01509442e-04]] R_gt: [[ 0.96949421 0.22977319 -0.08535332] [-0.21446092 0.96378101 0.15853358] [ 0.11868962 -0.13539137 0.98365769]] t_gt: [-0.42339218 0.84622944 0.32347301] Pose Error in degrees for R and t: 78.42001220683669 66.61201325636173 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 8.69551644e-01 -4.93833508e-01 2.89904239e-03] [ 4.93836875e-01 8.69554397e-01 -5.40905742e-04] [-2.25375768e-03 1.90199951e-03 9.99995651e-01]] t_estimated: [[0.86412272] [0.50328026] [0.00094959]] R_gt: [[ 0.99606642 -0.08393493 0.02841105] [ 0.08449412 0.99624018 -0.01910511] [-0.02669948 0.02143076 0.99941394]] t_gt: [ 0.6434749 -0.75639581 0.11749652] Pose Error in degrees for R and t: 24.824529178200834 79.89376994234242 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.30508956e-01 3.66268052e-01 -8.92789639e-04] [-3.66266517e-01 9.30508752e-01 1.51668147e-03] [ 1.38626054e-03 -1.08428674e-03 9.99998451e-01]] t_estimated: [[0.62302353] [0.78220262] [0.0008558 ]] R_gt: [[ 0.97438664 -0.22419876 0.01746374] [ 0.22482018 0.97295384 -0.05306805] [-0.0050938 0.05563567 0.99843819]] t_gt: [ 0.75128278 -0.65189451 -0.10299386] Pose Error in degrees for R and t: 34.622340300946604 87.59660341502851 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.92400975e-01 1.23045303e-01 -3.98333191e-04] [-1.23044687e-01 9.92400261e-01 1.31405159e-03] [ 5.56993838e-04 -1.25505329e-03 9.99999057e-01]] t_estimated: [[-0.74139377] [-0.67106984] [-0.00074813]] R_gt: [[ 0.94049406 -0.33583986 0.05178539] [ 0.3381815 0.93995453 -0.04601509] [-0.0332211 0.06078982 0.99759772]] t_gt: [ 0.78460423 -0.61977749 -0.01649408] Pose Error in degrees for R and t: 27.086245578460957 80.45777799568174 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 1.17210429e-01 9.93103991e-01 -2.48558774e-03] [-9.93106756e-01 1.17207934e-01 -1.12725647e-03] [-8.28152291e-04 2.60058019e-03 9.99996276e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.96850357 -0.24893746 0.00565057] [ 0.24878153 0.96835363 0.0199959 ] [-0.01044912 -0.01796137 0.99978309]] t_gt: [ 0.87474109 -0.47999789 0.06655862] Pose Error in degrees for R and t: 97.68823042375752 69.5106317846514 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.96579529e-01 8.26383496e-02 3.81554370e-04] [-8.26382925e-02 9.96579593e-01 -1.63128903e-04] [-3.93730002e-04 1.31039924e-04 9.99999914e-01]] t_estimated: [[-9.89304446e-01] [ 1.45865380e-01] [-6.24719744e-05]] R_gt: [[ 0.92436238 -0.38020764 0.03156243] [ 0.38029117 0.92486026 0.00354936] [-0.03053998 0.00872197 0.99949474]] t_gt: [ 0.90199052 -0.43136695 0.01832087] Pose Error in degrees for R and t: 27.15373100331305 17.20241815031639 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.7865129 0.34474247 -0.51239641] [ 0.59057212 -0.17719965 0.78728956] [ 0.18061568 -0.92182043 -0.34296511]] t_estimated: [[0.83750624] [0.54642707] [0.00087149]] R_gt: [[ 0.7587028 -0.65138883 -0.00801865] [ 0.65142844 0.75856929 0.01457625] [-0.003411 -0.01628245 0.99986128]] t_gt: [ 0.95705571 -0.28963088 0.01258224] Pose Error in degrees for R and t: 110.19627159977928 49.962492947686826 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.97415764e-01 -7.18398029e-02 9.14249938e-04] [ 7.18424414e-02 9.97410581e-01 -3.28585956e-03] [-6.75827059e-04 3.34305008e-03 9.99994184e-01]] t_estimated: [[-0.89501602] [-0.44578817] [-0.01480652]] R_gt: [[ 0.99596352 -0.06110803 0.06574334] [ 0.0595812 0.99791196 0.02494274] [-0.06712931 -0.02092404 0.99752479]] t_gt: [-0.2319234 -0.79313997 0.56315231] Pose Error in degrees for R and t: 4.108362646270118 56.44004683116549 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 9.99965832e-01 -8.26369499e-03 2.13930318e-04] [ 8.26373357e-03 9.99965839e-01 -1.80052130e-04] [-2.12435113e-04 1.81813841e-04 9.99999961e-01]] t_estimated: [[-6.30726801e-01] [ 7.76004881e-01] [ 3.57971170e-04]] R_gt: [[ 0.98160374 -0.18682456 0.03936651] [ 0.18528336 0.9818808 0.03975864] [-0.04608072 -0.03173303 0.99843389]] t_gt: [ 0.23522364 -0.92506809 0.29819268] Pose Error in degrees for R and t: 10.745268833439292 29.990022696143768 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99996480e-01 2.15463254e-03 -1.54825731e-03] [-2.15429598e-03 9.99997656e-01 2.19013611e-04] [ 1.54872557e-03 -2.15677436e-04 9.99998777e-01]] t_estimated: [[-0.58596587] [-0.81033348] [-0.00190974]] R_gt: [[ 0.93849059 -0.34496782 0.01521318] [ 0.34252868 0.93561966 0.08538079] [-0.04368771 -0.07491728 0.99623213]] t_gt: [ 0.45003185 -0.8541394 0.26060931] Pose Error in degrees for R and t: 20.868724221154867 64.66330721004891 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.98438578e-01 -5.58602656e-02 -1.89902177e-04] [ 5.58602862e-02 9.98438590e-01 1.04802921e-04] [ 1.83751343e-04 -1.15247269e-04 9.99999976e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99658992 0.07372221 0.03705587] [-0.07428694 0.99713695 0.01409041] [-0.03591034 -0.01679491 0.99921406]] t_gt: [-0.71857701 0.53634213 0.44270104] Pose Error in degrees for R and t: 7.7885648669905425 57.838340956867384 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99841973e-01 -1.77764610e-02 -1.65074059e-04] [ 1.77762622e-02 9.99841344e-01 -1.13667893e-03] [ 1.85253998e-04 1.13356490e-03 9.99999340e-01]] t_estimated: [[-9.99994884e-01] [-3.10316489e-03] [-7.75791221e-04]] R_gt: [[ 0.99460653 0.06739814 -0.07883855] [-0.05588382 0.9885597 0.14009341] [ 0.08737971 -0.13493261 0.98699444]] t_gt: [-0.65506327 0.12686602 0.74484705] Pose Error in degrees for R and t: 10.36366507233794 49.149437183446224 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.98976196 0.14272319 0.00116708] [-0.1427139 0.98974614 -0.00594304] [-0.00200333 0.00571563 0.99998166]] t_estimated: [[9.99994892e-01] [3.10075924e-03] [7.75189838e-04]] R_gt: [[ 0.98612405 -0.0166668 -0.16517411] [ 0.05658119 0.96911929 0.24001248] [ 0.15607391 -0.24602786 0.95661456]] t_gt: [ 0.47471626 -0.61543112 0.62919712] Pose Error in degrees for R and t: 20.114420461369452 61.75171654334453 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.7905829 0.61199952 -0.0208632 ] [ 0.61192457 -0.78829124 0.06438354] [ 0.02295642 -0.06366724 -0.99770711]] t_estimated: [[-0.30551879] [ 0.9516037 ] [ 0.03329657]] R_gt: [[ 0.99820006 0.03960329 -0.04503942] [-0.03819704 0.99876776 0.03166678] [ 0.04623818 -0.02988839 0.99848312]] t_gt: [ 0.1884813 0.98006878 -0.06276928] Pose Error in degrees for R and t: 173.60295767787824 29.195252142894592 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.8343064 0.55126291 0.00648319] [-0.5512914 -0.83430366 -0.00389891] [ 0.00325963 -0.00682702 0.99997138]] t_estimated: [[0.53979499] [0.84179572] [0.0011564 ]] R_gt: [[ 0.99195054 0.11504015 -0.05290949] [-0.11361313 0.99309427 0.02924597] [ 0.05590789 -0.0229982 0.99817053]] t_gt: [-0.26766835 0.96166581 -0.05960301] Pose Error in degrees for R and t: 139.9985960540461 48.31988332514194 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99901784e-01 -1.40150438e-02 -8.83822256e-06] [ 1.40150448e-02 9.99901777e-01 1.19143502e-04] [ 7.16755304e-06 -1.19255669e-04 9.99999993e-01]] t_estimated: [[0.66389366] [0.74782647] [0.00088221]] R_gt: [[ 0.99567507 0.0680106 -0.06329714] [-0.06612322 0.99731551 0.03144708] [ 0.06526561 -0.02712427 0.99749882]] t_gt: [ 0.17708143 0.97695276 -0.1191867 ] Pose Error in degrees for R and t: 6.168134649448982 31.99987797087472 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999058e-01 9.86075406e-04 -9.54655425e-04] [-9.84859945e-04 9.99998705e-01 1.27282772e-03] [ 9.55909293e-04 -1.27188632e-03 9.99998734e-01]] t_estimated: [[-0.99982069] [-0.01871918] [-0.00286029]] R_gt: [[ 0.99717913 0.05190787 -0.05422667] [-0.04615571 0.99367091 0.10241568] [ 0.05919997 -0.09962421 0.99326178]] t_gt: [0.16178201 0.27208666 0.94857547] Pose Error in degrees for R and t: 7.1216338036766595 80.23779498334792 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.30833882 0.95124032 -0.0083086 ] [ 0.95121526 0.30840637 0.00866292] [ 0.01080294 -0.00523215 -0.99992796]] t_estimated: [[ 0.98009935] [ 0.19848858] [-0.00274767]] R_gt: [[ 0.98692906 0.14701689 -0.06601462] [-0.13852731 0.98322339 0.1186708 ] [ 0.0823537 -0.10797439 0.9907365 ]] t_gt: [-0.33658567 0.87559231 0.34647972] Pose Error in degrees for R and t: 172.01956919996599 80.96461994181782 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.05513417 -0.99847782 -0.00150512] [ 0.99847815 0.05513598 -0.00118856] [ 0.00126974 -0.0014373 0.99999816]] t_estimated: [[9.08692984e-01] [4.17464796e-01] [4.53001083e-04]] R_gt: [[ 0.98381533 0.1602556 -0.08016363] [-0.15003792 0.9813212 0.12040933] [ 0.09796224 -0.10643238 0.98948224]] t_gt: [-0.22889273 0.93066549 0.28542927] Pose Error in degrees for R and t: 96.07723496931486 79.59201813957336 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.32915395 0.84617795 0.41909493] [ 0.75369323 0.50280285 -0.42324439] [-0.5688622 0.17655645 -0.80325813]] t_estimated: [[0.84482045] [0.50783687] [0.168464 ]] R_gt: [[ 0.98655944 -0.04714274 -0.15645454] [ 0.07082346 0.98623331 0.1494238 ] [ 0.14725583 -0.15849535 0.97631658]] t_gt: [ 0.68861982 -0.70505326 0.16941857] Pose Error in degrees for R and t: 156.93770489970794 75.38936361213055 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 0.89313487 0.44975944 0.00515212] [ 0.44978755 -0.89310211 -0.0077324 ] [ 0.00112365 0.00922344 -0.99995683]] t_estimated: [[0.58650929] [0.80994141] [0.00132995]] R_gt: [[ 0.96827483 -0.13948089 -0.20733611] [ 0.18532486 0.95740975 0.22140448] [ 0.16762371 -0.25280485 0.95288646]] t_gt: [ 0.72796308 -0.60671468 0.31932281] Pose Error in degrees for R and t: 164.5159462979181 86.32932509178065 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.61401478e-01 2.75138630e-01 2.43580276e-03] [ 2.75139958e-01 -9.61404158e-01 -2.21167844e-04] [ 2.28093908e-03 8.82817760e-04 -9.99997009e-01]] t_estimated: [[-9.99887470e-01] [-1.49683753e-02] [-9.97891686e-04]] R_gt: [[ 0.93344006 -0.2412912 -0.26545682] [ 0.30496969 0.92341157 0.23303381] [ 0.18889599 -0.29847942 0.93553657]] t_gt: [ 0.79103054 -0.55186488 0.26403756] Pose Error in degrees for R and t: 162.6406784916657 38.469034138812894 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-0.95896383 0.28131389 -0.03536747] [-0.28159577 -0.95952794 0.003156 ] [-0.03304825 0.01298582 0.99936939]] t_estimated: [[0.69492609] [0.7190797 ] [0.00145262]] R_gt: [[ 9.86370373e-01 -1.64536239e-01 6.86783269e-04] [ 1.64363720e-01 9.85128740e-01 -5.00596128e-02] [ 7.56038050e-03 4.94916237e-02 9.98745832e-01]] t_gt: [ 0.51586579 -0.75284824 -0.40878113] Pose Error in degrees for R and t: 173.07174482614843 79.42845916339924 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99999020e-01 -3.42643441e-04 1.35777454e-03] [ 3.44881695e-04 9.99998582e-01 -1.64858166e-03] [-1.35720774e-03 1.64904832e-03 9.99997719e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.97029268 -0.24033625 0.02776429] [ 0.24114565 0.96999869 -0.03085026] [-0.01951638 0.03662998 0.99913838]] t_gt: [ 0.33746166 -0.93494759 -0.10951091] Pose Error in degrees for R and t: 14.09740292499177 84.9705244237659 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.93771689e-01 1.11435266e-01 1.09917079e-04] [-1.11435230e-01 9.93771656e-01 -2.90839621e-04] [-1.41642268e-04 2.76779547e-04 9.99999952e-01]] t_estimated: [[-9.87712686e-01] [-1.56278780e-01] [-7.69846209e-04]] R_gt: [[ 0.93941833 -0.34097266 0.03507131] [ 0.34211224 0.93903511 -0.03424698] [-0.02125566 0.04417102 0.998798 ]] t_gt: [ 0.40930819 -0.91085671 -0.05297983] Pose Error in degrees for R and t: 26.526160853518807 74.81773067138343 Number of keypoints: Image1: 421 Image2: 421 R_estimated: [[-0.60488396 -0.79480446 0.0490027 ] [-0.79480424 0.60638029 0.02427271] [-0.04900633 -0.02426538 -0.99850367]] t_estimated: [[0.90150014] [0.43189051] [0.02771447]] R_gt: [[ 0.99927461 -0.0366391 0.01041967] [ 0.0363241 0.99891901 0.02901515] [-0.01147105 -0.02861616 0.99952484]] t_gt: [ 0.0606864 -0.78102726 0.6215413 ] Pose Error in degrees for R and t: 175.57108821094639 74.6102421703382 Number of keypoints: Image1: 356 Image2: 356 R_estimated: [[ 9.98887291e-01 4.71604273e-02 -2.71894151e-04] [-4.71603312e-02 9.98887271e-01 3.49509332e-04] [ 2.88074616e-04 -3.36297812e-04 9.99999902e-01]] t_estimated: [[0.59747003] [0.80189076] [0.00087734]] R_gt: [[ 0.99608309 -0.05900387 0.06586547] [ 0.05844927 0.99823756 0.01030985] [-0.06635725 -0.00642045 0.99777471]] t_gt: [-0.2206727 -0.60337226 0.76631944] Pose Error in degrees for R and t: 7.182528933168647 52.047233935819364 Number of keypoints: Image1: 348 Image2: 348 R_estimated: [[ 9.86536549e-04 -9.99999366e-01 5.43505551e-04] [-9.99999433e-01 -9.86318092e-04 4.02061885e-04] [-4.01525560e-04 -5.43901892e-04 -9.99999771e-01]] t_estimated: [[0.81482045] [0.57970392] [0.00331643]] R_gt: [[ 0.99303605 -0.11694627 0.01430196] [ 0.11669797 0.99302039 0.01714184] [-0.01620622 -0.01535339 0.99975101]] t_gt: [ 0.07449964 -0.97913656 0.18905398] Pose Error in degrees for R and t: 178.68433466172846 59.58374197400428 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.95544654e-01 -9.42911902e-02 1.11568361e-04] [ 9.42912184e-02 9.95544618e-01 -2.82913983e-04] [-8.43949849e-05 2.92173420e-04 9.99999954e-01]] t_estimated: [[9.99994892e-01] [3.10075931e-03] [7.75189839e-04]] R_gt: [[ 0.99804762 -0.00486293 0.06227335] [ 0.0016497 0.99866902 0.051541 ] [-0.06244018 -0.05133707 0.9967275 ]] t_gt: [-0.09259901 -0.18249649 0.97883628] Pose Error in degrees for R and t: 6.987667518487924 84.69798334013089 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-4.03132804e-01 9.15141482e-01 1.05650629e-04] [-9.15137961e-01 -4.03130927e-01 -2.82276139e-03] [-2.54063500e-03 -1.23463262e-03 9.99996010e-01]] t_estimated: [[0.67771597] [0.73532183] [0.00169429]] R_gt: [[ 0.98645215 -0.08109696 0.14260482] [ 0.0463034 0.97156225 0.23221175] [-0.15738036 -0.22246203 0.96215407]] t_gt: [ 0.14906713 -0.29480392 0.94385891] Pose Error in degrees for R and t: 118.15584458912221 83.44531777792136 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.99411759 -0.10828227 -0.00227376] [ 0.10827047 0.99410991 -0.00479614] [ 0.00277971 0.00452174 0.99998591]] t_estimated: [[0.90555652] [0.42422467] [0.00090646]] R_gt: [[ 0.97072159 -0.20612019 0.12335445] [ 0.14954032 0.92042119 0.36119572] [-0.18798674 -0.33217234 0.9242944 ]] t_gt: [ 0.3599252 -0.40415563 0.84089957] Pose Error in degrees for R and t: 23.164011424307493 81.06916445761078 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.89603489e-01 -1.43822347e-01 -2.57403825e-04] [ 1.43822423e-01 9.89603464e-01 3.07145070e-04] [ 2.10553392e-04 -3.40972275e-04 9.99999920e-01]] t_estimated: [[-7.30686687e-02] [-9.97326879e-01] [-2.57473468e-04]] R_gt: [[ 0.9979742 0.05282396 0.03545855] [-0.05454074 0.99729082 0.04936026] [-0.03275534 -0.05119483 0.9981517 ]] t_gt: [-0.40547164 0.10621042 0.90791635] Pose Error in degrees for R and t: 11.868004620735162 85.61068997146565 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 7.31552508e-01 -6.81784905e-01 -5.21125487e-04] [ 6.81785034e-01 7.31552565e-01 1.07683229e-04] [ 3.07813887e-04 -4.34071495e-04 9.99999858e-01]] t_estimated: [[7.85559052e-01] [6.18786214e-01] [7.72281662e-04]] R_gt: [[ 0.99446917 0.07693494 0.0715035 ] [-0.08601116 0.9872396 0.13401778] [-0.0602806 -0.13942673 0.98839647]] t_gt: [-0.31684132 0.05333788 0.94697764] Pose Error in degrees for R and t: 48.43091172870125 77.57499811403844 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999908e-01 -1.95660439e-04 -3.82321691e-04] [ 1.96022688e-04 9.99999532e-01 9.47689675e-04] [ 3.82136086e-04 -9.47764531e-04 9.99999478e-01]] t_estimated: [[-0.65790427] [-0.7531011 ] [-0.00084174]] R_gt: [[ 0.97371412 0.20777289 0.09333445] [-0.21818168 0.96846881 0.12027112] [-0.06540252 -0.13747337 0.98834445]] t_gt: [-0.60412397 0.44284179 0.66251444] Pose Error in degrees for R and t: 15.13501464394229 86.36538645407441 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99999920e-01 -3.99814075e-04 -2.04496880e-05] [ 3.99816826e-04 9.99999911e-01 1.34674314e-04] [ 2.03958415e-05 -1.34682480e-04 9.99999991e-01]] t_estimated: [[-0.01015239] [ 0.99994697] [ 0.0017278 ]] R_gt: [[ 0.99719672 0.07457547 0.00630096] [-0.07470523 0.99692355 0.02372691] [-0.00451286 -0.02413044 0.99969898]] t_gt: [-0.63864984 0.72387525 0.26101917] Pose Error in degrees for R and t: 4.52514638514687 43.04887424554753 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999420e-01 -1.07689326e-03 1.67318568e-05] [ 1.07689636e-03 9.99999403e-01 -1.86691651e-04] [-1.65307998e-05 1.86709562e-04 9.99999982e-01]] t_estimated: [[-9.94477147e-01] [-1.04949824e-01] [-8.59353983e-04]] R_gt: [[ 0.9758998 0.21811727 0.00675119] [-0.21819829 0.97578228 0.0154584 ] [-0.00321661 -0.01655867 0.99985828]] t_gt: [-0.66028772 0.74827194 0.06410332] Pose Error in degrees for R and t: 12.700725773540167 54.68614589640343 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.81492866e-01 1.91498572e-01 2.27405758e-04] [-1.91498484e-01 9.81492842e-01 -3.61747076e-04] [-2.92471172e-04 3.11504316e-04 9.99999909e-01]] t_estimated: [[-9.99988849e-01] [-4.65833314e-03] [-7.76388857e-04]] R_gt: [[ 0.86261306 0.50111992 0.06912253] [-0.49990014 0.86536753 -0.03520107] [-0.0774567 -0.00418903 0.99698669]] t_gt: [-0.58064898 0.80867153 0.09432453] Pose Error in degrees for R and t: 19.547328299326413 54.77405958502382 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 0.99986189 0.01648437 0.00211387] [-0.0164785 0.9998604 -0.00276297] [-0.00215912 0.00272776 0.99999395]] t_estimated: [[0.46339063] [0.88614841] [0.00318065]] R_gt: [[ 0.97981733 -0.19702863 -0.03371758] [ 0.1969843 0.98039522 -0.00467443] [ 0.03397803 -0.00206228 0.99942068]] t_gt: [ 0.61785644 -0.7776052 -0.11654856] Pose Error in degrees for R and t: 12.482551544109825 66.22566330998511 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99941956e-01 -1.07742460e-02 -1.93027988e-05] [ 1.07742469e-02 9.99941955e-01 4.67263213e-05] [ 1.87982375e-05 -4.69315822e-05 9.99999999e-01]] t_estimated: [[-0.8305489 ] [-0.55694486] [-0.00097368]] R_gt: [[ 0.91849136 -0.39306669 -0.04325034] [ 0.39286042 0.91949882 -0.01355072] [ 0.04509525 -0.00454524 0.99897201]] t_gt: [ 0.70868278 -0.70207295 -0.06973008] Pose Error in degrees for R and t: 22.68155560409731 78.60850144612422 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-4.48587981e-01 8.93733098e-01 -3.15790504e-03] [ 8.93718450e-01 4.48598800e-01 5.14271538e-03] [ 6.01284736e-03 -5.15317692e-04 -9.99981790e-01]] t_estimated: [[-0.03396058] [-0.9994114 ] [-0.00485151]] R_gt: [[ 0.88319002 -0.46632559 -0.05016007] [ 0.46401965 0.88433876 -0.05128957] [ 0.06827676 0.0220228 0.99742296]] t_gt: [ 0.72997428 -0.6695415 -0.13730161] Pose Error in degrees for R and t: 177.89765441766625 49.83258652973452 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.96632311e-01 -6.21069302e-02 -5.35421890e-02] [-6.22039886e-02 9.98063446e-01 1.46578407e-04] [ 5.34293982e-02 3.47662249e-03 -9.98565577e-01]] t_estimated: [[ 0.99949394] [ 0.02174545] [-0.02321638]] R_gt: [[ 0.99442803 0.08338409 0.06451671] [-0.07629387 0.99148954 -0.10548945] [-0.0727637 0.09997901 0.99232561]] t_gt: [-0.44629085 0.8726471 -0.19827132] Pose Error in degrees for R and t: 179.30945611651995 65.00837661478491 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.93808199e-01 1.11109232e-01 -3.73282104e-05] [-1.11109225e-01 9.93808190e-01 1.48970827e-04] [ 5.36491153e-05 -1.43900921e-04 9.99999988e-01]] t_estimated: [[-6.26788698e-01] [-7.79189273e-01] [-6.11384181e-05]] R_gt: [[ 0.98617767 0.10040244 0.13181144] [-0.08749662 0.99110234 -0.10030596] [-0.14070949 0.08738643 0.98618713]] t_gt: [-0.46603065 0.84425437 0.26466958] Pose Error in degrees for R and t: 9.588061412643569 68.5464146113745 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 4.83501306e-02 9.98830369e-01 3.98460018e-04] [-9.98829402e-01 4.83506535e-02 -1.42825129e-03] [-1.44584656e-03 -3.28937445e-04 9.99998901e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98284618 0.04173174 0.17964774] [-0.0209696 0.99303334 -0.11595043] [-0.18323461 0.11019462 0.97687379]] t_gt: [-0.23206396 0.78607317 0.57291822] Pose Error in degrees for R and t: 86.11520281319093 38.260298377065716 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.94073660e-01 -1.08708569e-01 -7.74302938e-05] [ 1.08708576e-01 9.94073658e-01 8.88661131e-05] [ 6.73109074e-05 -9.67567992e-05 9.99999993e-01]] t_estimated: [[0.45389606] [0.89105409] [0.00098459]] R_gt: [[ 0.99890087 0.03744678 0.02821471] [-0.03601062 0.9981092 -0.04980673] [-0.0300256 0.04873715 0.9983595 ]] t_gt: [-0.64528725 0.73668356 -0.20224166] Pose Error in degrees for R and t: 8.970812974677681 68.69500609640409 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-8.91391427e-01 -4.53231481e-01 -1.59666877e-03] [ 4.53233169e-01 -8.91391531e-01 -9.12837618e-04] [-1.00953028e-03 -1.53735887e-03 9.99998309e-01]] t_estimated: [[9.04720425e-01] [4.26004937e-01] [8.64107378e-04]] R_gt: [[ 0.99066289 0.07059244 0.11664249] [-0.0625794 0.99551226 -0.07098954] [-0.12112891 0.0630275 0.99063301]] t_gt: [-0.74039274 0.58495315 0.33113199] Pose Error in degrees for R and t: 156.9467104798286 65.14209019503625 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99012111 0.14015581 0.00406581] [-0.14012939 0.99011388 -0.0061859 ] [-0.00489261 0.00555505 0.9999726 ]] t_estimated: [[-0.89361887] [-0.44882209] [-0.00201266]] R_gt: [[ 0.98136166 0.13818991 0.13354192] [-0.12597272 0.98737672 -0.09600748] [-0.14512296 0.07739573 0.98638113]] t_gt: [-0.72160677 0.63725788 0.27052923] Pose Error in degrees for R and t: 9.080745245407138 69.00530347717809 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.40013783e-01 3.41136159e-01 4.56648359e-04] [-3.41136184e-01 9.40013885e-01 -2.35584254e-05] [-4.37292429e-04 -1.33634034e-04 9.99999895e-01]] t_estimated: [[0.50905023] [0.86073599] [0.00119216]] R_gt: [[ 0.99869941 -0.03146935 0.04011205] [ 0.03174142 0.99947658 -0.00615815] [-0.03989841 0.00742391 0.99917628]] t_gt: [ 0.17654329 -0.86265595 0.47398015] Pose Error in degrees for R and t: 21.877854970193294 49.301046101525166 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 1.49917409e-07 -2.29256539e-07] [-1.49917339e-07 1.00000000e+00 3.07567168e-07] [ 2.29256585e-07 -3.07567134e-07 1.00000000e+00]] t_estimated: [[9.58031516e-01] [2.86662754e-01] [2.83532560e-04]] R_gt: [[ 0.99899587 -0.03241906 0.0309323 ] [ 0.03294712 0.99931763 -0.01670894] [-0.03036974 0.01771202 0.99938223]] t_gt: [ 0.03741923 -0.98608228 0.1619924 ] Pose Error in degrees for R and t: 2.750648702496399 75.71304816477229 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.74607442 -0.47935051 -0.46216453] [-0.66219939 0.46143452 0.5903983 ] [-0.06974906 0.74652614 -0.6616901 ]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99574885 -0.05984526 0.07002263] [ 0.05887081 0.99813855 0.01590537] [-0.0708442 -0.01171468 0.9974185 ]] t_gt: [-0.01194366 -0.83508647 0.54998904] Pose Error in degrees for R and t: 171.76581836082784 59.43379668967844 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-0.99102017 0.13351591 -0.00724778] [-0.13354183 -0.99103796 0.00321501] [-0.00675358 0.00415402 0.99996857]] t_estimated: [[0.77514989] [0.6317763 ] [0.00116564]] R_gt: [[ 0.9852994 -0.17018198 0.01493763] [ 0.16982522 0.98521375 0.02260067] [-0.01856344 -0.01973147 0.99963304]] t_gt: [ 0.55396239 -0.81967032 0.14582949] Pose Error in degrees for R and t: 177.87697206960775 84.93565721406243 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 4.96660658e-01 8.67944779e-01 2.27858711e-04] [-8.67944350e-01 4.96660649e-01 -8.97030526e-04] [-8.91741417e-04 2.47751090e-04 9.99999572e-01]] t_estimated: [[0.61297022] [0.79010546] [0.00093134]] R_gt: [[ 9.47082675e-01 -3.20958880e-01 4.31034461e-03] [ 3.20964575e-01 9.47090817e-01 -5.06617476e-04] [-3.91924653e-03 1.86364447e-03 9.99990245e-01]] t_gt: [ 0.63899906 -0.76918146 0.0063311 ] Pose Error in degrees for R and t: 78.94207293640486 77.52338174381902 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.49018007e-01 -3.15221791e-01 -2.13046534e-04] [ 3.15221859e-01 9.49017881e-01 4.91313404e-04] [ 4.73122787e-05 -5.33422191e-04 9.99999857e-01]] t_estimated: [[-0.58327274] [-0.81227579] [-0.00097865]] R_gt: [[ 0.85957652 -0.5109249 -0.00914024] [ 0.51080143 0.85858425 0.04376054] [-0.01451026 -0.04228442 0.99900012]] t_gt: [ 0.72043513 -0.68907942 0.07837587] Pose Error in degrees for R and t: 12.619997490379394 81.98480853867879 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 0.63580846 -0.77184585 0.00125764] [-0.77184175 -0.63579746 0.00468023] [-0.00281281 -0.00394643 -0.99998826]] t_estimated: [[0.37390948] [0.92745819] [0.00360616]] R_gt: [[ 0.99657034 0.04348357 0.07041387] [-0.04091843 0.99846012 -0.03747155] [-0.07193435 0.03446288 0.99681457]] t_gt: [-0.79067424 0.51994616 0.32324948] Pose Error in degrees for R and t: 179.85930171007035 79.17829437078309 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.86758769 0.4972832 -0.00100741] [ 0.49727836 0.86758552 0.00309802] [ 0.0024146 0.00218684 -0.99999469]] t_estimated: [[9.99994884e-01] [3.10316489e-03] [7.75791221e-04]] R_gt: [[ 0.98802263 0.09075978 0.12480084] [-0.08372722 0.99465048 -0.06049937] [-0.12962427 0.04932546 0.99033636]] t_gt: [-0.75202875 0.51700631 0.40884867] Pose Error in degrees for R and t: 172.22283845018998 41.40066705258305 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-3.88381089e-02 -9.99245376e-01 -5.28790897e-04] [ 9.99245515e-01 -3.88381289e-02 2.75338111e-05] [-4.80502824e-05 -5.27322570e-04 9.99999860e-01]] t_estimated: [[9.99994892e-01] [3.10075957e-03] [7.75189839e-04]] R_gt: [[ 0.96861611 0.21800211 0.11940561] [-0.21088817 0.97504072 -0.06943998] [-0.13156369 0.04207951 0.99041508]] t_gt: [-0.71585727 0.65672322 0.23719819] Pose Error in degrees for R and t: 104.8838453006241 44.46868701668541 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99996813e-01 -2.49061523e-03 -4.12553916e-04] [ 2.49061421e-03 9.99996898e-01 -2.99667140e-06] [ 4.12560100e-04 1.96914920e-06 9.99999915e-01]] t_estimated: [[-0.99986388] [-0.01627503] [-0.00271 ]] R_gt: [[ 0.99766081 0.05310019 0.04303873] [-0.05622636 0.99559606 0.07502043] [-0.03886635 -0.07726537 0.99625262]] t_gt: [-0.52284066 0.17525868 0.83421942] Pose Error in degrees for R and t: 5.957949843216747 58.82482079142514 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.54362992e-01 2.98648948e-01 2.92385616e-04] [-2.98648885e-01 9.54360725e-01 2.10943174e-03] [ 3.50938223e-04 -2.10048423e-03 9.99997732e-01]] t_estimated: [[-0.02228218] [ 0.99974904] [ 0.00231483]] R_gt: [[ 0.98230914 0.18537987 0.02650986] [-0.18627853 0.98180664 0.03682418] [-0.01920237 -0.04111106 0.99896993]] t_gt: [-0.72542452 0.65880161 0.1993482 ] Pose Error in degrees for R and t: 7.113568440392923 47.52551825630913 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 0.80952574 -0.58706493 0.00477983] [ 0.58707693 0.80952967 -0.00154906] [-0.00296002 0.00406013 0.99998738]] t_estimated: [[8.05610776e-01] [5.92444739e-01] [7.12929891e-04]] R_gt: [[ 0.98479517 0.16797141 0.04430248] [-0.16596242 0.98507181 -0.04570918] [-0.0513197 0.03766148 0.99797191]] t_gt: [-0.67309686 0.73301449 -0.09813449] Pose Error in degrees for R and t: 45.686581525015804 83.79688137400491 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999994e-01 -1.05529075e-04 1.19024982e-05] [ 1.05528462e-04 9.99999993e-01 5.14849736e-05] [-1.19079313e-05 -5.14837173e-05 9.99999999e-01]] t_estimated: [[-0.99994975] [-0.0099126 ] [-0.00149364]] R_gt: [[ 9.99307968e-01 2.97616645e-02 -2.23283310e-02] [-2.97508252e-02 9.99558071e-01 8.09227957e-04] [ 2.23422164e-02 -1.44120563e-04 9.99749831e-01]] t_gt: [-0.41859035 0.85008172 -0.31959846] Pose Error in degrees for R and t: 2.136962678838298 65.75620141977981 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99999844e-01 -5.16981824e-04 -2.11659954e-04] [ 5.17145630e-04 9.99999566e-01 7.74590165e-04] [ 2.11259413e-04 -7.74699504e-04 9.99999678e-01]] t_estimated: [[0.56918019] [0.82221141] [0.00151878]] R_gt: [[ 9.93760397e-01 1.11537218e-01 -4.53561280e-05] [-1.11529259e-01 9.93693992e-01 1.16412840e-02] [ 1.34370772e-03 -1.15638280e-02 9.99932456e-01]] t_gt: [-0.61075142 0.78833299 0.07425493] Pose Error in degrees for R and t: 6.463162117542344 72.50265854370798 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99995631 0.00143563 -0.00923646] [-0.00133218 0.99993644 0.01119576] [ 0.00925195 -0.01118296 0.99989467]] t_estimated: [[-0.70805496] [-0.70615669] [-0.00094914]] R_gt: [[ 0.93977371 0.3417567 0.00530166] [-0.34178954 0.93974553 0.00763782] [-0.00237181 -0.00899033 0.99995651]] t_gt: [-0.61494281 0.78834876 0.01875024] Pose Error in degrees for R and t: 19.92065428314179 83.03273507799138 Number of keypoints: Image1: 435 Image2: 435 R_estimated: [[-0.61356303 -0.78673426 0.06774672] [-0.78677324 0.61638826 0.03245597] [-0.06729251 -0.03338752 -0.9971745 ]] t_estimated: [[0.90425722] [0.42526473] [0.03832486]] R_gt: [[ 0.99975204 -0.02205051 0.00316784] [ 0.02196097 0.99942453 0.0258391 ] [-0.00373534 -0.02576271 0.99966119]] t_gt: [ 0.10139396 -0.77313836 0.62608014] Pose Error in degrees for R and t: 174.86707769999924 77.69545941816672 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.84762231e-01 -1.73890486e-01 2.33377483e-03] [ 1.73889158e-01 9.84764937e-01 7.61929756e-04] [-2.43071196e-03 -3.44501507e-04 9.99996986e-01]] t_estimated: [[0.99843261] [0.0559288 ] [0.00207144]] R_gt: [[ 0.99633269 -0.07891074 0.03307816] [ 0.07811362 0.99663857 0.02469062] [-0.03491561 -0.0220162 0.99914794]] t_gt: [ 0.16025284 -0.82430606 0.54299037] Pose Error in degrees for R and t: 5.94491800446717 83.39499167703755 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[-0.99795166 -0.04659785 0.04383075] [-0.04673986 0.99890463 -0.00222014] [-0.04367928 -0.00426423 -0.9990365 ]] t_estimated: [[0.9989375 ] [0.03987398] [0.02310698]] R_gt: [[ 0.99188655 -0.1168572 0.05006045] [ 0.1160643 0.99307047 0.01845781] [-0.05187036 -0.01249768 0.9985758 ]] t_gt: [ 0.10537 -0.88459085 0.45430848] Pose Error in degrees for R and t: 174.5603464489404 85.3836372478952 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.70085733e-01 -2.42762442e-01 -2.57810276e-04] [ 2.42762465e-01 9.70085760e-01 6.08683559e-05] [ 2.35321527e-04 -1.21634182e-04 9.99999965e-01]] t_estimated: [[ 9.12535442e-01] [-4.08997457e-01] [-3.82669076e-04]] R_gt: [[ 0.98504937 -0.17176339 -0.01324335] [ 0.17159774 0.9850837 -0.01280126] [ 0.01524357 0.01033757 0.99983032]] t_gt: [ 0.71815153 -0.69220246 -0.07151316] Pose Error in degrees for R and t: 4.293048998225705 20.202967398036865 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.24429575 0.96948687 0.02036672] [ 0.96964566 0.24445191 -0.00552859] [-0.01033858 0.01839789 -0.99977729]] t_estimated: [[-0.27252868] [-0.96214474] [-0.00236981]] R_gt: [[ 0.97467359 -0.22362126 0.00202023] [ 0.22362479 0.97467487 -0.00114197] [-0.00171396 0.00156523 0.99999677]] t_gt: [ 0.6628509 -0.74833687 0.02491222] Pose Error in degrees for R and t: 178.7043260643557 57.36376476009288 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.97511880e-01 -7.04969377e-02 -4.80652324e-04] [ 7.04970070e-02 9.97511983e-01 1.28826999e-04] [ 4.70374544e-04 -1.62391012e-04 9.99999876e-01]] t_estimated: [[7.60696046e-01] [6.49107844e-01] [7.29334656e-04]] R_gt: [[ 0.94523775 -0.32455603 0.03448681] [ 0.32336542 0.94558945 0.035984 ] [-0.04428927 -0.02286147 0.99875718]] t_gt: [ 0.67521325 -0.72159191 0.15294505] Pose Error in degrees for R and t: 15.145906613617035 87.40059416004482 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.02466511e-01 4.30759958e-01 2.32637892e-04] [-4.30759648e-01 9.02466309e-01 -8.29311815e-04] [-5.67182183e-04 6.48215124e-04 9.99999629e-01]] t_estimated: [[-5.55600154e-01] [ 8.31449609e-01] [ 1.29784460e-04]] R_gt: [[ 0.99805448 -0.02935942 0.05502495] [ 0.02754068 0.99905795 0.03352991] [-0.0559564 -0.03195008 0.99792138]] t_gt: [ 0.34332015 -0.19857793 0.91798588] Pose Error in degrees for R and t: 27.393595821655712 69.16137183873 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-9.89913626e-01 -1.41669080e-01 9.40264384e-04] [-1.41666046e-01 9.89910684e-01 2.75102155e-03] [-1.32051245e-03 2.59007018e-03 -9.99995774e-01]] t_estimated: [[0.99849081] [0.05490423] [0.00127684]] R_gt: [[ 0.99116886 -0.1273203 0.03709132] [ 0.12689089 0.99182203 0.01372082] [-0.03853472 -0.00889264 0.99921763]] t_gt: [ 0.97253458 -0.16298649 0.16616824] Pose Error in degrees for R and t: 177.71378658964036 15.776335899347133 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.98983293e-01 -4.50809550e-02 -2.94745943e-04] [-4.50816807e-02 -9.98977909e-01 -3.28308292e-03] [-1.46440173e-04 3.29303263e-03 -9.99994567e-01]] t_estimated: [[0.4053463 ] [0.91416259] [0.0010667 ]] R_gt: [[ 0.99005186 -0.13779686 -0.02847271] [ 0.13591612 0.9889091 -0.05987382] [ 0.03640879 0.05540746 0.99779964]] t_gt: [ 0.93886909 -0.0724666 -0.33656117] Pose Error in degrees for R and t: 176.45844798372738 71.7018468781967 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99832139e-01 -1.83219179e-02 -3.09208605e-05] [ 1.83219173e-02 9.99832139e-01 -1.89711993e-05] [ 3.12632589e-05 1.84014854e-05 9.99999999e-01]] t_estimated: [[ 6.40960133e-01] [-7.67574116e-01] [-2.91287833e-04]] R_gt: [[ 0.98842909 -0.15167493 -0.00191298] [ 0.15125152 0.98455295 0.08820767] [-0.01149492 -0.08747656 0.9961007 ]] t_gt: [ 0.59534767 -0.73089844 0.3336894 ] Pose Error in degrees for R and t: 9.195407758903396 19.52158821755177 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-8.66005481e-01 5.00033324e-01 -1.08697435e-03] [-5.00031407e-01 -8.66005721e-01 -1.63804236e-03] [-1.76040177e-03 -8.75032355e-04 9.99998068e-01]] t_estimated: [[0.59232801] [0.80569634] [0.00097007]] R_gt: [[ 0.97481374 -0.22086176 0.03094903] [ 0.21700524 0.97135872 0.09680789] [-0.0514444 -0.08765374 0.99482214]] t_gt: [ 0.60815284 -0.71043927 0.35415557] Pose Error in degrees for R and t: 162.7026076605179 77.7704537912601 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.69740204 -0.71667903 0.00125068] [-0.71665927 0.697394 0.00641074] [-0.00546666 0.00357455 -0.99997867]] t_estimated: [[0.99693114] [0.07827145] [0.00137318]] R_gt: [[ 0.96486773 -0.26175772 0.02265267] [ 0.25856906 0.96132515 0.09485352] [-0.04660564 -0.08566328 0.99523348]] t_gt: [ 0.63195429 -0.71954222 0.28791106] Pose Error in degrees for R and t: 175.87351079921123 54.96402561901736 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[-9.95553706e-01 -9.41939451e-02 5.64352021e-04] [-9.41921132e-02 9.95550423e-01 2.68359109e-03] [-8.14618925e-04 2.61850155e-03 -9.99996240e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99125028 -0.12309796 -0.04765498] [ 0.12546081 0.99082508 0.05025064] [ 0.04103219 -0.05578965 0.99759835]] t_gt: [ 0.67975608 -0.7193087 0.14327126] Pose Error in degrees for R and t: 177.6479547592836 47.341025815323185 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99999935e-01 -3.59151289e-04 -2.92849625e-05] [ 3.59152206e-04 9.99999935e-01 3.13343878e-05] [ 2.92737068e-05 -3.13449036e-05 9.99999999e-01]] t_estimated: [[8.86023703e-01] [4.63639945e-01] [4.55966677e-06]] R_gt: [[ 0.96021915 -0.27667063 -0.03783828] [ 0.2785831 0.95843675 0.061563 ] [ 0.01923272 -0.06965505 0.99738491]] t_gt: [ 0.69600939 -0.69544442 0.17868405] Pose Error in degrees for R and t: 16.639989255479097 72.88768102313674 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.57349651 0.81918789 0.00574033] [ 0.81920655 0.57349461 0.00213599] [-0.00154227 0.0059275 -0.99998124]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.91150823 -0.40566742 -0.06772901] [ 0.41013599 0.90884243 0.07611171] [ 0.03067934 -0.09715496 0.99479585]] t_gt: [ 0.74504975 -0.64294072 0.17756154] Pose Error in degrees for R and t: 175.37547429992892 41.99613279842352 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 1.00000000e+00 -1.11022302e-16 -4.13081028e-16] [ 1.66533454e-16 1.00000000e+00 -1.49619900e-17] [-6.35776154e-16 1.34332649e-15 1.00000000e+00]] t_estimated: [[-0.78173401] [-0.62360934] [-0.00182497]] R_gt: [[ 0.98404695 -0.17731711 0.01452116] [ 0.17640111 0.98305241 0.04990162] [-0.02312421 -0.04654484 0.99864822]] t_gt: [ 0.55935588 -0.78532071 0.26531563] Pose Error in degrees for R and t: 10.619156333662298 87.02032958537193 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999982e-01 1.13609495e-04 1.50494125e-04] [-1.13609222e-04 9.99999994e-01 -1.82032039e-06] [-1.50494331e-04 1.80322284e-06 9.99999989e-01]] t_estimated: [[-0.99982635] [-0.0182093 ] [-0.0039613 ]] R_gt: [[ 0.95012152 -0.29252885 -0.10815069] [ 0.30470187 0.94462722 0.12179977] [ 0.06653232 -0.14867902 0.98664427]] t_gt: [ 0.62218955 -0.75744359 0.19788728] Pose Error in degrees for R and t: 19.839136013916118 52.477504199983755 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99990062 -0.0130807 -0.00525745] [ 0.01309607 0.99991004 0.00289926] [ 0.00521905 -0.00296783 0.99998198]] t_estimated: [[-0.9824089 ] [-0.18420167] [-0.03070028]] R_gt: [[ 0.88518818 -0.43308675 -0.16993643] [ 0.45938528 0.87139868 0.17212884] [ 0.07353477 -0.23043358 0.97030566]] t_gt: [ 0.67801328 -0.68955732 0.25457554] Pose Error in degrees for R and t: 29.491932527999627 56.84648205220132 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99998371e-01 -1.80514635e-03 8.39296620e-06] [ 1.80514455e-03 9.99998349e-01 2.10454615e-04] [-8.77285372e-06 -2.10439121e-04 9.99999978e-01]] t_estimated: [[0.00500081] [0.99998516] [0.0021628 ]] R_gt: [[ 0.99784668 0.0643443 -0.01281423] [-0.06329595 0.99553246 0.07006889] [ 0.01726558 -0.06910711 0.99745972]] t_gt: [-0.24652109 0.7502298 0.61350028] Pose Error in degrees for R and t: 5.547086643753977 41.382524345057426 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.06756109e-01 5.90883918e-01 -8.81013960e-04] [-5.90884289e-01 8.06753359e-01 -2.18491100e-03] [-5.80267800e-04 2.28326761e-03 9.99997225e-01]] t_estimated: [[-0.56776538] [ 0.82318683] [-0.00243287]] R_gt: [[ 0.99823783 0.03727282 -0.0461864 ] [-0.03531178 0.99846996 0.042571 ] [ 0.04770312 -0.04086475 0.99802536]] t_gt: [ 0.67551386 0.72825628 -0.11542882] Pose Error in degrees for R and t: 34.33073205874886 77.5118070933376 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999996e-01 -7.88634591e-05 4.92146381e-05] [ 7.88634659e-05 9.99999997e-01 -1.35137139e-07] [-4.92146273e-05 1.39018375e-07 9.99999999e-01]] t_estimated: [[-0.69846517] [-0.71564059] [-0.00222711]] R_gt: [[ 0.99620594 0.07376843 -0.04618583] [-0.07229711 0.99684486 0.03277025] [ 0.04845823 -0.02930683 0.99839449]] t_gt: [ 0.50802409 0.84126131 -0.18490789] Pose Error in degrees for R and t: 5.306292842745977 16.968360519542955 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[ 0.99116364 -0.03508176 -0.12792153] [ 0.06611718 0.96671257 0.24717469] [ 0.11499202 -0.25344838 0.96048985]] t_estimated: [[0.79115481] [0.60858062] [0.06085806]] R_gt: [[ 0.99959877 0.00957543 0.02663685] [-0.01025743 0.99961986 0.02559996] [-0.0263825 -0.02586285 0.99931686]] t_gt: [-0.63892996 -0.12985364 0.75822591] Pose Error in degrees for R and t: 16.015730032604985 57.42693015442626 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.94813063e-01 1.01718048e-01 6.38510912e-04] [-1.01718306e-01 9.94813167e-01 3.85626915e-04] [-5.95973846e-04 -4.48574941e-04 9.99999722e-01]] t_estimated: [[-0.49356113] [ 0.86970858] [ 0.002096 ]] R_gt: [[ 0.99501088 0.08566416 0.05112795] [-0.08420548 0.99599595 -0.03004296] [-0.05349752 0.02558694 0.99823978]] t_gt: [-0.84535992 0.4726822 0.24887375] Pose Error in degrees for R and t: 3.514095268977387 34.01878403215276 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.62145047e-01 -2.72536955e-01 -7.19386796e-04] [ 2.72537189e-01 9.62145218e-01 2.47477830e-04] [ 6.24707711e-04 -4.34169223e-04 9.99999711e-01]] t_estimated: [[-0.63732786] [-0.77058732] [-0.00289694]] R_gt: [[ 0.97560519 0.21424034 0.04790861] [-0.21081468 0.97517042 -0.06783251] [-0.06125078 0.05607863 0.99654479]] t_gt: [-0.73752031 0.67106708 0.07571506] Pose Error in degrees for R and t: 28.50705863334273 87.28930598616 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99999827e-01 -5.86065079e-04 4.11004571e-05] [ 5.86065098e-04 9.99999828e-01 -4.63037636e-07] [-4.11001787e-05 4.87125100e-07 9.99999999e-01]] t_estimated: [[ 9.55348426e-01] [ 2.95481609e-01] [-6.24422079e-05]] R_gt: [[ 0.9997372 -0.01773173 -0.01458181] [ 0.01793891 0.99973733 0.01422588] [ 0.01432506 -0.01448426 0.99979296]] t_gt: [ 0.99948078 -0.02357383 -0.0219644 ] Pose Error in degrees for R and t: 1.5301265528385966 18.578481935312976 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.20595173e-01 -3.90516664e-01 1.12379906e-03] [ 3.90516055e-01 9.20595830e-01 7.27780602e-04] [-1.31877518e-03 -2.31129732e-04 9.99999104e-01]] t_estimated: [[0.74165364] [0.67078229] [0.00099819]] R_gt: [[ 0.99827881 0.02099517 -0.05477359] [-0.02140366 0.9997471 -0.00690423] [ 0.05461371 0.00806416 0.99847522]] t_gt: [ 0.72061645 0.43252508 -0.54188005] Pose Error in degrees for R and t: 24.41506079081456 34.50901312185227 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999794e-01 -4.61222881e-05 6.39600691e-04] [ 4.63996228e-05 9.99999905e-01 -4.33597961e-04] [-6.39580632e-04 4.33627549e-04 9.99999701e-01]] t_estimated: [[-0.7756951 ] [-0.63110709] [-0.00097695]] R_gt: [[ 0.99812415 0.06114166 -0.00328462] [-0.06115129 0.99812429 -0.00290723] [ 0.00310008 0.00310244 0.99999114]] t_gt: [ 0.51645019 0.84553844 -0.13543981] Pose Error in degrees for R and t: 3.5176707192199683 20.91663315693504 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.99805539e-01 1.97197635e-02 1.18940746e-04] [-1.97197422e-02 9.99805531e-01 -1.78080082e-04] [-1.22429312e-04 1.75699971e-04 9.99999977e-01]] t_estimated: [[ 9.87024348e-01] [-1.60567817e-01] [-9.55626328e-04]] R_gt: [[ 9.99981470e-01 -4.39970863e-04 -6.04334947e-03] [ 4.01434605e-04 9.99979061e-01 -6.44679026e-03] [ 6.04662230e-03 6.44472422e-03 9.99960414e-01]] t_gt: [-0.56133683 -0.60566754 -0.563975 ] Pose Error in degrees for R and t: 1.2602349475567545 62.85374339795627 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.98507742e-01 5.46050463e-02 -7.59888831e-04] [-5.46032549e-02 9.98505691e-01 2.20657025e-03] [ 8.79243193e-04 -2.16178508e-03 9.99997277e-01]] t_estimated: [[-0.52250833] [-0.85263342] [-0.00113836]] R_gt: [[ 0.99951334 -0.0103521 0.02941861] [ 0.00959725 0.99962479 0.02568196] [-0.0296734 -0.02538727 0.99923676]] t_gt: [-0.49595387 -0.56330337 0.66084723] Pose Error in degrees for R and t: 4.30366478197975 42.38098965563666 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 0.97192475 0.23528877 -0.00121752] [ 0.23512126 -0.97100973 0.04310559] [ 0.00896003 -0.04218166 -0.99906978]] t_estimated: [[-0.07169797] [ 0.99721467] [ 0.0205501 ]] R_gt: [[ 0.99879306 0.02863518 0.03990149] [-0.02881291 0.99957779 0.00389104] [-0.03977329 -0.00503681 0.99919552]] t_gt: [-0.89579745 -0.11121959 0.43032213] Pose Error in degrees for R and t: 177.55271961757532 87.83142250487906 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-0.76003321 -0.64983731 0.00780969] [-0.64982364 0.76007157 0.00452257] [-0.00887486 -0.00163762 -0.99995928]] t_estimated: [[0.9299381 ] [0.36768377] [0.00487627]] R_gt: [[ 0.98176562 -0.17977802 -0.06178416] [ 0.18068577 0.98349573 0.00937371] [ 0.05907992 -0.02036572 0.99804562]] t_gt: [ 0.66829118 -0.73198248 -0.13262182] Pose Error in degrees for R and t: 177.5493415499169 69.40960955663914 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.943676 0.33075913 0.00860229] [-0.33086715 -0.94347105 -0.01973075] [ 0.00158988 -0.02146565 0.99976832]] t_estimated: [[0.74593353] [0.66601208] [0.00333006]] R_gt: [[ 0.95541709 -0.29160293 -0.04633432] [ 0.29279982 0.95593302 0.02141367] [ 0.03804856 -0.03402588 0.99869663]] t_gt: [ 0.65158336 -0.75844501 0.01415225] Pose Error in degrees for R and t: 177.70260836311624 88.90853338787456 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.98097629e-01 -6.15949894e-02 2.67946095e-03] [ 6.15974936e-02 9.98100699e-01 -8.62245861e-04] [-2.62126183e-03 1.02565363e-03 9.99996039e-01]] t_estimated: [[0.29024154] [0.95695246] [0.00135684]] R_gt: [[ 0.89122013 -0.41605377 -0.18062634] [ 0.44105519 0.88785156 0.13111074] [ 0.10582115 -0.19651459 0.97477389]] t_gt: [ 0.6947768 -0.70032942 0.16378005] Pose Error in degrees for R and t: 25.69836851740486 62.0755670808131 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.99999848e-01 4.04847328e-04 3.75461952e-04] [-4.04782727e-04 9.99999903e-01 -1.72116302e-04] [-3.75531597e-04 1.71964296e-04 9.99999915e-01]] t_estimated: [[0.88583707] [0.46399474] [0.00125222]] R_gt: [[ 0.98664495 -0.16283778 -0.00395262] [ 0.16287808 0.98608643 0.0332232 ] [-0.00151239 -0.03342371 0.99943945]] t_gt: [ 0.61992596 -0.76374357 0.17996545] Pose Error in degrees for R and t: 9.594124675538897 78.75494033990265 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.75430518e-01 -2.20307060e-01 3.21348413e-04] [ 2.20306996e-01 9.75430560e-01 2.23045357e-04] [-3.62591530e-04 -1.46769945e-04 9.99999923e-01]] t_estimated: [[0.98739379] [0.15827966] [0.00102525]] R_gt: [[ 0.95486046 -0.29556901 -0.02967712] [ 0.2965122 0.95438479 0.03509005] [ 0.01795252 -0.04230564 0.99894342]] t_gt: [ 0.70399738 -0.70155189 0.11051079] Pose Error in degrees for R and t: 5.216309609367004 54.2538911161021 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999995e-01 1.01312491e-04 -9.12955681e-07] [-1.01312201e-04 9.99999946e-01 3.12181137e-04] [ 9.44583481e-07 -3.12181043e-04 9.99999951e-01]] t_estimated: [[8.10699677e-01] [5.85461740e-01] [7.65123544e-04]] R_gt: [[ 0.92959843 -0.36681123 -0.03598548] [ 0.36835841 0.92129505 0.12460951] [-0.01255484 -0.12909202 0.99155269]] t_gt: [ 0.63152525 -0.70364316 0.32567187] Pose Error in degrees for R and t: 22.89410915743136 84.24526175591645 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.8105289 -0.58569672 -0.00150056] [ 0.58566624 0.81050834 -0.00844326] [ 0.0061614 0.00596468 0.99996323]] t_estimated: [[-0.08662454] [-0.99618218] [-0.01082807]] R_gt: [[ 0.99295491 -0.09073732 0.07620192] [ 0.07538084 0.97992097 0.18458999] [-0.09142081 -0.17754613 0.97985689]] t_gt: [ 0.27750397 -0.46155429 0.84259076] Pose Error in degrees for R and t: 33.2343893026847 64.74612675476853 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.68210889 -0.73118408 -0.00986432] [ 0.73088834 -0.6821335 0.0222737 ] [-0.02301496 0.00798337 0.99970324]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.97508957 -0.21467814 0.05579506] [ 0.18917367 0.93621611 0.29616557] [-0.11581616 -0.27823313 0.95350603]] t_gt: [ 0.45849763 -0.53055352 0.71294662] Pose Error in degrees for R and t: 121.6276555524779 78.87366481665907 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.63427348 0.77310211 0.00320678] [ 0.77310162 0.63428 -0.00166689] [-0.00332267 0.00142191 -0.99999347]] t_estimated: [[-0.01221525] [-0.99992132] [ 0.00285427]] R_gt: [[ 0.93955172 -0.33830518 0.05283188] [ 0.30566035 0.89821671 0.31587918] [-0.15431776 -0.28063613 0.9473284 ]] t_gt: [ 0.57263765 -0.55961419 0.59909772] Pose Error in degrees for R and t: 178.20208442961624 56.33850230223699 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 3.22384369e-01 -9.46607679e-01 -1.49035696e-03] [ 9.46608771e-01 3.22384592e-01 9.44472604e-05] [ 3.91063619e-04 -1.44123329e-03 9.99998885e-01]] t_estimated: [[ 9.89824181e-01] [-1.42295192e-01] [ 4.10568309e-04]] R_gt: [[ 0.97893088 -0.20416824 0.00320802] [ 0.20400275 0.97857557 0.02782004] [-0.00881929 -0.02657908 0.9996072 ]] t_gt: [ 0.69336452 -0.70723175 0.13809014] Pose Error in degrees for R and t: 59.43315499528477 38.09384127695514 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.24250905 -0.9701458 -0.00254855] [ 0.97014705 -0.24251314 0.00143856] [-0.00201367 -0.0021236 0.99999572]] t_estimated: [[0.99993858] [0.01101524] [0.00122392]] R_gt: [[ 0.9600699 -0.27975738 -0.00100782] [ 0.27970795 0.95982055 0.02253057] [-0.00533612 -0.02191226 0.999745 ]] t_gt: [ 0.70610775 -0.70257046 0.08835499] Pose Error in degrees for R and t: 87.7935230661645 45.69853865962526 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.11437516 -0.99342944 -0.00403344] [-0.99343477 -0.11438363 0.00193417] [-0.00238283 0.00378574 -0.99999 ]] t_estimated: [[0.57497673] [0.8181693 ] [0.00086854]] R_gt: [[ 0.92988845 -0.36653453 0.03097253] [ 0.36497919 0.92986089 0.04637006] [-0.04579666 -0.03181517 0.99844365]] t_gt: [ 0.70007485 -0.69617288 0.1588664 ] Pose Error in degrees for R and t: 176.83106473566806 80.39106263602713 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999987e-01 1.61104550e-04 -1.32445389e-05] [-1.61106198e-04 9.99999979e-01 -1.24518241e-04] [ 1.32244781e-05 1.24520373e-04 9.99999992e-01]] t_estimated: [[-0.76807495] [-0.64035945] [-0.00080439]] R_gt: [[ 0.99494963 0.09670478 -0.02689145] [-0.09825382 0.99310694 -0.06392294] [ 0.02052467 0.0662421 0.99759228]] t_gt: [-0.45994823 0.69255339 -0.55571344] Pose Error in degrees for R and t: 6.856376410883011 84.85012061922738 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.13288467 -0.82846845 0.544042 ] [-0.99085507 -0.12400835 0.05318053] [ 0.02340736 -0.54613365 -0.83737097]] t_estimated: [[0.75482941] [0.64699664] [0.10783277]] R_gt: [[ 9.96347498e-01 8.46634892e-02 -1.10595384e-02] [-8.53802768e-02 9.86898037e-01 -1.36903749e-01] [-6.75992680e-04 1.37348350e-01 9.90521885e-01]] t_gt: [-0.25347465 0.60748319 -0.7528046 ] Pose Error in degrees for R and t: 161.19870493911264 83.07716700745516 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.15263689 -0.98827833 -0.00281618] [-0.98828017 0.15262996 0.00253115] [-0.00207165 0.00316952 -0.99999283]] t_estimated: [[8.06327416e-01] [5.91469098e-01] [6.36326816e-04]] R_gt: [[ 0.98971163 0.13993689 -0.02980837] [-0.14305606 0.97135909 -0.18972862] [ 0.00240535 0.19204113 0.98138356]] t_gt: [-0.26226758 0.63964354 -0.7225454 ] Pose Error in degrees for R and t: 172.07405643881984 80.42165529925919 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-1.97560314e-01 9.80290701e-01 -2.52342839e-04] [-9.80287025e-01 -1.97560268e-01 -2.69992938e-03] [-2.69656859e-03 -2.86030485e-04 9.99996323e-01]] t_estimated: [[0.28490715] [0.95855428] [0.00126625]] R_gt: [[ 0.99408115 -0.09546406 -0.05186819] [ 0.09246773 0.99406082 -0.05739069] [ 0.05703855 0.05225522 0.99700385]] t_gt: [ 0.88692237 -0.04107844 -0.46008833] Pose Error in degrees for R and t: 106.85813233100087 77.71749591513851 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 5.66579107e-02 9.98393434e-01 6.57907884e-04] [-9.98391945e-01 5.66590195e-02 -1.81079162e-03] [-1.84515888e-03 -5.54254263e-04 9.99998144e-01]] t_estimated: [[0.31035342] [0.95062035] [0.00130401]] R_gt: [[ 0.9932739 -0.06502269 -0.09580632] [ 0.0527875 0.99073581 -0.12512724] [ 0.10305455 0.11922871 0.98750443]] t_gt: [ 0.58828876 0.07143774 -0.80548928] Pose Error in degrees for R and t: 90.50993875283353 75.55578651743927 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-9.93040758e-01 1.17769266e-01 -6.72375858e-04] [ 1.17766199e-01 9.93035066e-01 3.53270805e-03] [ 1.08373724e-03 3.42893994e-03 -9.99993534e-01]] t_estimated: [[9.97415461e-01] [7.18437704e-02] [9.33035979e-04]] R_gt: [[ 0.97808513 0.13286249 -0.16030364] [-0.14623396 0.98642784 -0.07467403] [ 0.14820641 0.09648035 0.98423872]] t_gt: [-0.61875859 0.18876182 -0.76256592] Pose Error in degrees for R and t: 171.33880193348242 52.82082780880828 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 1.00000000e+00 7.32986847e-06 2.43061053e-05] [-7.33284216e-06 9.99999992e-01 1.22345294e-04] [-2.43052083e-05 -1.22345472e-04 9.99999992e-01]] t_estimated: [[ 9.92656130e-01] [-1.20969633e-01] [ 3.93529928e-04]] R_gt: [[ 0.9998585 -0.01676209 -0.00176505] [ 0.01675807 0.99985866 -0.00192961] [ 0.00179799 0.00189957 0.99999641]] t_gt: [ 0.87681113 0.35055962 -0.32910515] Pose Error in degrees for R and t: 0.9710773209317943 34.12298491523577 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99833389e-01 -1.82535988e-02 -1.91772882e-05] [ 1.82536023e-02 9.99833369e-01 2.02434249e-04] [ 1.54789391e-05 -2.02750576e-04 9.99999979e-01]] t_estimated: [[ 0.59768541] [-0.80172888] [-0.00171981]] R_gt: [[ 9.97944545e-01 6.40806396e-02 1.56301714e-03] [-6.40998931e-02 9.97672003e-01 2.33024184e-02] [-6.59430730e-05 -2.33548227e-02 9.99727194e-01]] t_gt: [-0.54489502 0.81460129 0.19878169] Pose Error in degrees for R and t: 4.903258216428686 11.73266321950412 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99999633e-01 8.36861107e-04 1.82522870e-04] [-8.36836545e-04 9.99999641e-01 -1.34604987e-04] [-1.82635451e-04 1.34452196e-04 9.99999974e-01]] t_estimated: [[-9.99997873e-01] [-1.99455322e-03] [-5.25664664e-04]] R_gt: [[ 0.98825531 0.15246447 0.01032407] [-0.15259432 0.98820039 0.01327406] [-0.00817906 -0.01469399 0.99985816]] t_gt: [-0.6122577 0.78635777 0.08235267] Pose Error in degrees for R and t: 8.779141530160814 52.36386815702072 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-8.42050819e-01 -5.39397977e-01 4.90538753e-04] [ 5.39379800e-01 -8.42029258e-01 -7.49396068e-03] [ 4.45527522e-03 -6.04570903e-03 9.99971800e-01]] t_estimated: [[9.11376316e-01] [4.11573958e-01] [2.95941407e-04]] R_gt: [[ 0.99871415 0.04907328 0.01270207] [-0.04820213 0.99693586 -0.06159675] [-0.01568619 0.06090542 0.99801961]] t_gt: [-0.46250559 0.57006316 -0.67905565] Pose Error in degrees for R and t: 150.16165433211617 79.2167322130021 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99960110e-01 -8.93180581e-03 2.89550228e-05] [ 8.93181172e-03 9.99960088e-01 -2.10907812e-04] [-2.70700795e-05 2.11158020e-04 9.99999977e-01]] t_estimated: [[ 7.40474999e-01] [-6.72083897e-01] [-1.03650496e-04]] R_gt: [[ 0.99341164 0.11448614 -0.00520888] [-0.11435334 0.98719684 -0.11120021] [-0.00758845 0.11106386 0.99378355]] t_gt: [-0.43432875 0.65575764 -0.61752769] Pose Error in degrees for R and t: 9.544195915980989 40.33529740476981 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.19785866 0.98022996 0.00108272] [ 0.98022862 0.19785594 0.00220952] [ 0.00195162 0.00149848 -0.99999697]] t_estimated: [[-0.80295842] [-0.59603333] [-0.00142783]] R_gt: [[ 0.92892381 0.36512957 -0.06149412] [-0.36980773 0.92318558 -0.10474024] [ 0.01852687 0.1200364 0.99259622]] t_gt: [-0.4699718 0.83295475 -0.29208372] Pose Error in degrees for R and t: 177.70674739999814 83.18384555847493 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.5034963 0.86324095 0.03614612] [ 0.86323303 0.50436983 -0.02097165] [-0.0363346 0.02064338 -0.99912644]] t_estimated: [[ 0.8712691 ] [-0.49040524] [ 0.01982056]] R_gt: [[ 0.99781379 -0.03258837 -0.05749432] [ 0.0343831 0.9989434 0.03051373] [ 0.05643778 -0.03242426 0.99787939]] t_gt: [ 0.46834497 -0.70743567 -0.52932764] Pose Error in degrees for R and t: 178.6629197674753 41.88442190237586 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.53709265 0.84340765 0.01396494] [ 0.84339733 -0.53665281 -0.02616691] [-0.01457505 0.02583205 -0.99956004]] t_estimated: [[-0.41967751] [ 0.90753713] [-0.01572099]] R_gt: [[ 0.99535053 -0.06400074 -0.0719861 ] [ 0.06674518 0.99710702 0.03639384] [ 0.06944761 -0.04102933 0.99674085]] t_gt: [ 0.53827827 -0.74845874 -0.38738355] Pose Error in degrees for R and t: 177.79776183333846 25.964258667049524 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.37760311 -0.82100306 0.42821707] [-0.92341112 0.36821515 -0.10830287] [-0.06875903 -0.43631591 -0.89716254]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.99164739 -0.10129664 -0.07984406] [ 0.10299593 0.994529 0.01745525] [ 0.0776376 -0.02553323 0.99665377]] t_gt: [ 0.56062868 -0.72803468 -0.39453896] Pose Error in degrees for R and t: 166.48658038275124 86.22031097885422 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.69707493e-01 -2.44268919e-01 -2.71341332e-04] [ 2.44268969e-01 9.69707503e-01 1.70869467e-04] [ 2.21383626e-04 -2.31973670e-04 9.99999949e-01]] t_estimated: [[0.93951645] [0.34250247] [0.00094614]] R_gt: [[ 0.99907849 -0.04220342 0.00791329] [ 0.04181768 0.99815924 0.04391577] [-0.0097519 -0.04354423 0.99900329]] t_gt: [ 0.40111371 -0.54232646 0.73823424] Pose Error in degrees for R and t: 12.002552491331487 78.94196160003648 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.70324592e-01 -2.41805534e-01 -5.18922699e-04] [ 2.41805442e-01 9.70324726e-01 -2.34240744e-04] [ 5.60164234e-04 1.01811221e-04 9.99999838e-01]] t_estimated: [[ 0.99997308] [-0.00722825] [-0.00125926]] R_gt: [[ 0.98599043 -0.16199266 -0.03977602] [ 0.16482539 0.98281178 0.08314994] [ 0.02562387 -0.08854095 0.99574226]] t_gt: [ 0.64691876 -0.68614686 0.33271399] Pose Error in degrees for R and t: 6.985875318680412 49.34958809703333 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.87980022e-01 1.54580451e-01 -6.00297350e-04] [-1.54578846e-01 9.87978116e-01 2.15007120e-03] [ 9.25439621e-04 -2.03143412e-03 9.99997508e-01]] t_estimated: [[0.81766994] [0.57568647] [0.00097574]] R_gt: [[ 0.9507382 -0.30806591 -0.03452502] [ 0.30997121 0.94612633 0.09360294] [ 0.00382996 -0.09969343 0.99501041]] t_gt: [ 0.68679616 -0.66912312 0.28387547] Pose Error in degrees for R and t: 27.503672940251867 79.82563173673829 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99236655e-01 3.90652674e-02 -1.10371266e-04] [-3.90653656e-02 9.99236046e-01 -1.10503414e-03] [ 6.71184931e-05 1.10850231e-03 9.99999383e-01]] t_estimated: [[ 0.43088324] [ 0.90240145] [-0.0033549 ]] R_gt: [[ 0.99586992 -0.06435683 -0.06403147] [ 0.06541923 0.99775073 0.01462474] [ 0.06294705 -0.01875258 0.99784108]] t_gt: [ 0.54768258 -0.69993547 -0.45840389] Pose Error in degrees for R and t: 7.058296120306985 66.79029227083188 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99638746e-01 2.68770310e-02 4.66980499e-05] [-2.68770252e-02 9.99638740e-01 -1.20935828e-04] [-4.99315758e-05 1.19637035e-04 9.99999992e-01]] t_estimated: [[-0.76230287] [-0.64721951] [-0.00111425]] R_gt: [[ 0.99979577 -0.00906592 0.01807563] [ 0.00952358 0.99963238 -0.02540377] [-0.0178386 0.02557128 0.9995136 ]] t_gt: [ 0.0205296 -0.99966198 -0.01595209] Pose Error in degrees for R and t: 2.731484426785582 50.84882217157473 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99105843e-01 4.22789918e-02 -4.62074852e-05] [-4.22789953e-02 9.99105841e-01 -7.57500906e-05] [ 4.29635309e-05 7.76359642e-05 9.99999996e-01]] t_estimated: [[-5.29513816e-01] [-8.48301194e-01] [-4.51202019e-04]] R_gt: [[ 0.98765765 0.06453667 0.14270959] [-0.05684756 0.99673602 -0.05731756] [-0.14594291 0.04849801 0.98810413]] t_gt: [-0.41820834 0.49297706 0.76293866] Pose Error in degrees for R and t: 8.912776436472893 78.63314813586992 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999887e-01 -4.74531256e-04 -3.67691631e-05] [ 4.74528200e-04 9.99999884e-01 -8.30728137e-05] [ 3.68085795e-05 8.30553563e-05 9.99999996e-01]] t_estimated: [[9.33782435e-01] [3.57840908e-01] [4.98357607e-04]] R_gt: [[ 0.99266065 -0.1123387 -0.04477743] [ 0.11413439 0.99266815 0.03979892] [ 0.03997885 -0.04461642 0.99820417]] t_gt: [ 0.64681365 -0.76131001 0.04515721] Pose Error in degrees for R and t: 7.334320239761486 70.63542684975258 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999897e-01 3.20922392e-04 3.21031381e-04] [-3.20962832e-04 9.99999941e-01 1.25925400e-04] [-3.20990950e-04 -1.26028426e-04 9.99999941e-01]] t_estimated: [[0.86734713] [0.49770286] [0.00090822]] R_gt: [[ 0.97645153 -0.19168818 -0.09898205] [ 0.19509143 0.98044518 0.0258439 ] [ 0.09209413 -0.04454541 0.99475392]] t_gt: [ 0.74243354 -0.65746854 -0.12855955] Pose Error in degrees for R and t: 12.64715223895508 71.54215390760595 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.41712558e-01 -3.36414984e-01 1.55459835e-03] [-3.36417229e-01 -9.41711810e-01 1.52178885e-03] [ 9.52031053e-04 -1.95608134e-03 -9.99997634e-01]] t_estimated: [[0.28984487] [0.95707166] [0.00194527]] R_gt: [[ 0.92219005 -0.34785525 -0.16900397] [ 0.3503279 0.93649145 -0.01594495] [ 0.16381796 -0.04450202 0.9854861 ]] t_gt: [ 0.8024844 -0.56371809 -0.19555228] Pose Error in degrees for R and t: 179.24745685664303 72.10322684149892 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99139912e-01 4.14659447e-02 -1.06397298e-04] [-4.14659459e-02 9.99139918e-01 -8.84327448e-06] [ 1.05939093e-04 1.32475331e-05 9.99999994e-01]] t_estimated: [[-5.34568776e-01] [-8.45124805e-01] [-5.35780508e-04]] R_gt: [[ 0.98921745 0.06443999 0.13151514] [-0.05804554 0.99696407 -0.05189378] [-0.13445974 0.0437 0.98995509]] t_gt: [-0.42309147 0.5330409 0.73270799] Pose Error in degrees for R and t: 8.21452091384407 77.01434066261467 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.0483156 0.99879543 0.00856051] [-0.99882322 -0.04827722 -0.00463553] [-0.00421667 -0.0087744 0.99995261]] t_estimated: [[0.1095374 ] [0.99395374] [0.00758392]] R_gt: [[ 0.95799993 0.16771115 0.23261428] [-0.1487776 0.98412093 -0.09680836] [-0.24515642 0.05813472 0.96773896]] t_gt: [-0.37235007 0.62638888 0.6848302 ] Pose Error in degrees for R and t: 84.46316060949675 54.05495540542644 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.68957595 -0.59908455 -0.40691856] [ 0.34570799 -0.76602575 0.54193222] [-0.63637331 0.23302843 0.73534125]] t_estimated: [[0.84515425] [0.50709255] [0.16903085]] R_gt: [[ 0.91202122 0.33350558 0.23872864] [-0.30854532 0.94138325 -0.13637445] [-0.2702168 0.05071785 0.96146266]] t_gt: [-0.32585604 0.80653538 0.49327328] Pose Error in degrees for R and t: 165.55378876922816 77.46899668161686 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 8.45771377e-02 -9.96416634e-01 -7.74436751e-04] [-9.96416893e-01 -8.45768839e-02 -3.54844776e-04] [ 2.88073790e-04 8.01673617e-04 -9.99999637e-01]] t_estimated: [[0.71450061] [0.69963432] [0.00082834]] R_gt: [[ 0.99619649 -0.08553847 -0.01656807] [ 0.08513844 0.99609142 -0.0235158 ] [ 0.01851464 0.0220157 0.999586 ]] t_gt: [ 0.46075024 -0.80300206 -0.37801706] Pose Error in degrees for R and t: 178.3136131289538 76.5312726199043 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-1.52298108e-01 -9.88333861e-01 1.21082611e-03] [-9.88334594e-01 1.52298155e-01 -5.45250329e-05] [-1.30517645e-04 -1.20500539e-03 -9.99999265e-01]] t_estimated: [[0.81368557] [0.58130281] [0.00168172]] R_gt: [[ 0.97917996 -0.19484316 -0.05695054] [ 0.19558803 0.98065559 0.00775365] [ 0.05433793 -0.01873104 0.99834627]] t_gt: [ 0.6071136 -0.782424 -0.13865699] Pose Error in degrees for R and t: 178.10913965711993 87.7682738009928 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.99990386e-01 4.35095827e-03 5.44291579e-04] [-4.35151391e-03 9.99990008e-01 1.02386819e-03] [-5.39831333e-04 -1.02622684e-03 9.99999328e-01]] t_estimated: [[0.94351127] [0.33133757] [0.0013755 ]] R_gt: [[ 0.95249112 -0.28958856 -0.09433541] [ 0.29224966 0.95621732 0.01543453] [ 0.08573463 -0.04227065 0.99542022]] t_gt: [ 0.7022874 -0.70510575 -0.09807283] Pose Error in degrees for R and t: 18.053130546566692 64.60519941009784 Number of keypoints: Image1: 420 Image2: 420 R_estimated: [[ 6.87176599e-01 -7.26488897e-01 -1.48452665e-03] [ 7.26490359e-01 6.87175908e-01 1.01517936e-03] [ 2.82614418e-04 -1.77610180e-03 9.99998383e-01]] t_estimated: [[-0.495188 ] [-0.86878529] [-0.00098057]] R_gt: [[ 0.99638648 -0.06340624 -0.05649938] [ 0.06461517 0.99771265 0.01983853] [ 0.05511315 -0.02341696 0.99820545]] t_gt: [ 0.51054122 -0.75069809 -0.41928515] Pose Error in degrees for R and t: 43.04360865875711 66.43477948228313 Number of keypoints: Image1: 381 Image2: 381 R_estimated: [[ 0.46569488 0.88488558 0.01028505] [ 0.88488237 -0.46549162 -0.01734185] [-0.01055794 0.01717707 -0.99979672]] t_estimated: [[ 0.41642438] [-0.90910827] [ 0.01062447]] R_gt: [[ 0.99132436 -0.08551129 -0.09981569] [ 0.09097007 0.99452126 0.051492 ] [ 0.09486585 -0.06012568 0.99367279]] t_gt: [ 0.52820885 -0.75583145 -0.38692923] Pose Error in degrees for R and t: 175.51705035481336 25.447317263244873 Number of keypoints: Image1: 401 Image2: 401 R_estimated: [[ 9.92188509e-01 1.24747479e-01 1.68989700e-04] [-1.24747454e-01 9.92188515e-01 -1.52115375e-04] [-1.86645649e-04 1.29846092e-04 9.99999974e-01]] t_estimated: [[ 9.92003547e-01] [-1.26207830e-01] [ 7.38993191e-04]] R_gt: [[ 0.98781393 -0.11528531 -0.10456147] [ 0.11976576 0.99208963 0.03762069] [ 0.09939679 -0.04968414 0.99380636]] t_gt: [ 0.55728468 -0.74369773 -0.36925259] Pose Error in degrees for R and t: 15.326181189942833 49.72807615951818 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-7.64845423e-01 6.44211883e-01 -1.59026002e-03] [ 6.44211163e-01 7.64847032e-01 9.97697441e-04] [ 1.85903420e-03 -2.61378936e-04 -9.99998238e-01]] t_estimated: [[0.99631578] [0.08575311] [0.00112833]] R_gt: [[ 0.99706703 0.06288604 -0.04362566] [-0.0653343 0.99622513 -0.05716407] [ 0.03986644 0.05984693 0.99741102]] t_gt: [-0.61251948 0.19936038 -0.76490217] Pose Error in degrees for R and t: 178.79529874055055 53.55647851720553 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-5.95544984e-03 -9.99982230e-01 -2.69497023e-04] [ 9.99982046e-01 -5.95526965e-03 -6.64576507e-04] [ 6.62959770e-04 -2.73450037e-04 9.99999743e-01]] t_estimated: [[9.99981637e-01] [6.02434082e-03] [6.57838626e-04]] R_gt: [[ 0.94992101 0.29714656 -0.09671818] [-0.3005496 0.95350289 -0.0224175 ] [ 0.08556084 0.05036456 0.99505887]] t_gt: [-0.93510828 0.27445542 -0.22415782] Pose Error in degrees for R and t: 107.87487297982321 20.999244011619957 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 0.89425234 0.41961581 0.15567701] [-0.38935946 0.55785282 0.73293891] [ 0.22070789 -0.71604665 0.66224257]] t_estimated: [[0.77164341] [0.61704628] [0.15433838]] R_gt: [[ 0.82249753 0.56449954 -0.06955206] [-0.56609931 0.8243271 -0.00406923] [ 0.05503719 0.04272099 0.99756993]] t_gt: [-0.89468043 0.4375366 -0.09004806] Pose Error in degrees for R and t: 50.169296172308826 64.25976159495347 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.99470402 0.10277188 -0.00136168] [ 0.10270391 -0.99335891 0.05186502] [ 0.00397763 -0.05173019 -0.99865318]] t_estimated: [[-0.12885128] [ 0.99128091] [ 0.02755904]] R_gt: [[ 0.99401977 0.1068274 -0.02265477] [-0.10753341 0.99366456 -0.03268226] [ 0.01901965 0.03492424 0.99920864]] t_gt: [-0.56510875 0.7599824 -0.32105896] Pose Error in degrees for R and t: 178.9029778986576 35.18229818558398 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.57226176e-01 -2.89340468e-01 -3.77478521e-04] [ 2.89340454e-01 9.57226250e-01 -9.22373454e-05] [ 3.88020345e-04 -2.09278052e-05 9.99999925e-01]] t_estimated: [[-0.43363597] [-0.90108759] [-0.00099458]] R_gt: [[ 9.16725196e-01 3.92753055e-01 -7.32096375e-02] [-3.93802917e-01 9.19194465e-01 1.03593735e-04] [ 6.73337183e-02 2.87358466e-02 9.97316430e-01]] t_gt: [-0.47009275 0.86665929 -0.16707628] Pose Error in degrees for R and t: 40.21839781409905 54.76575324189332 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 0.99987952 -0.01548185 -0.00112363] [ 0.01548344 0.99987911 0.00142245] [ 0.00110147 -0.00143968 0.99999836]] t_estimated: [[-0.63886784] [ 0.76931523] [ 0.00139827]] R_gt: [[ 0.82001131 0.56664436 -0.08059773] [-0.56580861 0.82379092 0.0350729 ] [ 0.08626896 0.01684261 0.99612905]] t_gt: [-0.39132614 0.91341012 -0.11200808] Pose Error in degrees for R and t: 35.78621197153518 17.7211121244017 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[-0.04517767 -0.99709277 -0.06135941] [-0.99710132 0.04877174 -0.05839754] [ 0.06122037 0.05854328 -0.99640592]] t_estimated: [[ 0.7306841 ] [ 0.68159172] [-0.03915954]] R_gt: [[ 0.99861713 0.03137946 0.04218079] [-0.0320768 0.99935843 0.01596276] [-0.04165317 -0.01729361 0.99898296]] t_gt: [0.36209288 0.11471634 0.92505616] Pose Error in degrees for R and t: 177.53842443877429 72.14913495317964 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-8.79057546e-03 -9.99956066e-01 -3.25453997e-03] [ 9.99960868e-01 -8.78728826e-03 -1.02296308e-03] [ 9.94319552e-04 -3.26340505e-03 9.99994181e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99242517 0.11531188 0.04236895] [-0.11771979 0.99125837 0.05957334] [-0.03512919 -0.06410972 0.99732406]] t_gt: [-0.00694497 0.36921081 0.92931972] Pose Error in degrees for R and t: 97.27208755696094 89.70895308740342 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999533e-01 3.73637318e-04 -8.91742095e-04] [-3.71989225e-04 9.99998224e-01 1.84762314e-03] [ 8.92430852e-04 -1.84729056e-03 9.99997896e-01]] t_estimated: [[-0.70995773] [-0.70424363] [-0.00096256]] R_gt: [[ 0.98148547 0.18000416 0.06545056] [-0.1843289 0.98054836 0.06743571] [-0.05203918 -0.0782513 0.99557455]] t_gt: [-0.07747348 0.5308978 0.84388707] Pose Error in degrees for R and t: 11.776235103393462 71.35577411649928 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999847e-01 -1.17344613e-04 5.41456342e-04] [ 1.17685745e-04 9.99999795e-01 -6.30037909e-04] [-5.41382299e-04 6.30101534e-04 9.99999655e-01]] t_estimated: [[8.18634951e-01] [5.74313667e-01] [7.93250921e-04]] R_gt: [[ 0.90227528 -0.43078893 -0.01788437] [ 0.43062352 0.90244504 -0.01245034] [ 0.02150241 0.0035327 0.99976191]] t_gt: [ 0.90403326 -0.42578519 -0.03782631] Pose Error in degrees for R and t: 25.53983277180181 60.29668211933918 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99849022e-01 -1.73676159e-02 5.47819531e-04] [ 1.73677253e-02 9.99849151e-01 -1.95551787e-04] [-5.44340624e-04 2.05036642e-04 9.99999831e-01]] t_estimated: [[0.99453925] [0.10435799] [0.00104685]] R_gt: [[ 0.78917707 -0.61410487 0.00858644] [ 0.6135354 0.78892516 0.03422082] [-0.02778968 -0.02173832 0.99937687]] t_gt: [ 0.93652453 -0.34704321 0.04982784] Pose Error in degrees for R and t: 36.93808719182512 26.45997642219048 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 8.62081448e-01 -5.06763343e-01 2.54760555e-03] [-5.06766290e-01 -8.62083242e-01 6.40415891e-04] [ 1.87170876e-03 -1.84313127e-03 -9.99996550e-01]] t_estimated: [[0.75451387] [0.65628077] [0.00209007]] R_gt: [[ 0.64477868 -0.76353624 -0.03566894] [ 0.76419064 0.64493473 0.00848118] [ 0.0165286 -0.03272614 0.99932704]] t_gt: [ 0.9717921 -0.23511444 0.01847484] Pose Error in degrees for R and t: 179.16445289860113 54.621999700253056 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999797e-01 9.65154514e-05 -6.30282232e-04] [-9.61614685e-05 9.99999838e-01 5.61632195e-04] [ 6.30336336e-04 -5.61571472e-04 9.99999644e-01]] t_estimated: [[-0.75586843] [-0.65472191] [-0.0014591 ]] R_gt: [[ 0.98300763 0.16718261 -0.07580835] [-0.16403855 0.98538074 0.04599738] [ 0.08239083 -0.03278058 0.99605985]] t_gt: [-0.1504566 0.97573436 -0.15907631] Pose Error in degrees for R and t: 10.79252712064577 58.34002581994018 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999538e-01 -9.13141069e-04 -2.99126888e-04] [ 9.13192025e-04 9.99999569e-01 1.70256133e-04] [ 2.98971291e-04 -1.70529215e-04 9.99999941e-01]] t_estimated: [[-0.98474266] [ 0.17400891] [-0.00167217]] R_gt: [[ 0.93254896 0.34897773 -0.0925553 ] [-0.34300075 0.93636654 0.07461986] [ 0.1127068 -0.03784084 0.99290751]] t_gt: [-0.17641201 0.97499643 -0.13513238] Pose Error in degrees for R and t: 21.465923666468687 69.90336992806037 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.40897966 -0.78668881 0.46244605] [-0.90903519 0.39561346 -0.13093899] [-0.07994165 -0.47393112 -0.87692567]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.93693816 0.34864693 -0.02433579] [-0.3470065 0.93630351 0.05405561] [ 0.0416321 -0.04220274 0.99824121]] t_gt: [-0.12186182 0.99164602 0.04228316] Pose Error in degrees for R and t: 157.5669520900694 58.36115631089593 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999906e-01 -4.30253423e-04 -4.82459291e-05] [ 4.30254612e-04 9.99999907e-01 2.46300945e-05] [ 4.82353275e-05 -2.46508502e-05 9.99999999e-01]] t_estimated: [[-9.99999247e-01] [ 1.03358808e-04] [-1.22275466e-03]] R_gt: [[ 0.98387335 0.17685214 -0.02677951] [-0.17604944 0.98392814 0.02983936] [ 0.0316267 -0.02464323 0.99919554]] t_gt: [-0.32438399 0.9455769 -0.02567797] Pose Error in degrees for R and t: 10.446519495263992 71.06393450017339 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.94402187e-01 1.05661205e-01 1.43430900e-05] [-1.05661203e-01 9.94402182e-01 -1.06837165e-04] [-2.55513435e-05 1.04723602e-04 9.99999994e-01]] t_estimated: [[-9.84053317e-01] [ 1.77871784e-01] [-8.35080797e-04]] R_gt: [[ 0.96936533 0.24555021 0.00605504] [-0.24538312 0.96921063 -0.02042435] [-0.01088409 0.01831264 0.9997732 ]] t_gt: [-0.17999202 0.98352071 -0.01702571] Pose Error in degrees for R and t: 8.235681046647672 69.38562104988846 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999943e-01 3.37556881e-04 -1.28727754e-05] [-3.37555870e-04 9.99999940e-01 7.84653447e-05] [ 1.28992612e-05 -7.84609949e-05 9.99999997e-01]] t_estimated: [[-9.99989269e-01] [-4.55793977e-03] [-8.28419626e-04]] R_gt: [[ 0.96822868 0.2450572 0.0498064 ] [-0.24697811 0.96831733 0.03691284] [-0.0391821 -0.0480409 0.99807621]] t_gt: [-0.18654146 0.95006226 0.25016791] Pose Error in degrees for R and t: 14.670821687485411 79.51361415501852 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.99794377 -0.06347288 0.00891248] [-0.06346052 0.99798296 0.00166288] [-0.00900005 0.00109387 -0.9999589 ]] t_estimated: [[0.99942568] [0.03343078] [0.0055404 ]] R_gt: [[ 0.98693105 -0.15895681 0.02643485] [ 0.15939244 0.98709841 -0.01522796] [-0.02367278 0.01924215 0.99953417]] t_gt: [ 0.83611892 -0.54846522 -0.0095426 ] Pose Error in degrees for R and t: 178.07276191450973 35.18952937885803 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.52080601 -0.7105184 -0.47320682] [-0.60396792 -0.08507191 0.79245537] [-0.60331074 0.69851726 -0.38482436]] t_estimated: [[0.83750624] [0.54642707] [0.00087149]] R_gt: [[ 0.88715999 -0.46140947 -0.00698976] [ 0.46138534 0.88718644 -0.00486113] [ 0.00844525 0.00108774 0.99996379]] t_gt: [ 0.91343227 -0.40660805 -0.01764597] Pose Error in degrees for R and t: 159.8863987600513 57.12498890681416 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.31063686 -0.74063281 0.59579173] [-0.39092223 -0.67088174 -0.63015673] [ 0.86642054 -0.03715833 -0.49793042]] t_estimated: [[0.72610822] [0.68758003] [0.00074093]] R_gt: [[ 6.95339153e-01 -7.17697102e-01 3.76008141e-02] [ 7.16650181e-01 6.96355779e-01 3.87585902e-02] [-5.40007556e-02 -4.03775400e-06 9.98540709e-01]] t_gt: [ 0.96156307 -0.27191793 0.03817199] Pose Error in degrees for R and t: 140.61464692238906 59.25208588046534 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.89759630e-01 1.42743284e-01 4.78662521e-04] [-1.42743339e-01 9.89759735e-01 8.31651586e-05] [-4.61889622e-04 -1.50639403e-04 9.99999882e-01]] t_estimated: [[0.05344305] [0.99856929] [0.00179411]] R_gt: [[ 0.99698345 0.07752598 -0.00354238] [-0.07735595 0.99639028 0.0349535 ] [ 0.00623975 -0.03457394 0.99938323]] t_gt: [-0.20413611 0.5979903 0.77507164] Pose Error in degrees for R and t: 4.267134435253677 54.012010011328016 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99997992e-01 -1.54271611e-03 1.27876425e-03] [ 1.54207433e-03 9.99998685e-01 5.02707234e-04] [-1.27953810e-03 -5.00734275e-04 9.99999056e-01]] t_estimated: [[0.6750601 ] [0.7377612 ] [0.00150777]] R_gt: [[ 0.98418343 0.175971 0.02041546] [-0.17691827 0.98225002 0.06232744] [-0.00908556 -0.06495325 0.99784735]] t_gt: [-0.33449707 0.76623107 0.54863617] Pose Error in degrees for R and t: 10.912649916443154 70.10380220589433 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999032e-01 -1.15512409e-03 7.75147508e-04] [ 1.15464717e-03 9.99999144e-01 6.15429581e-04] [-7.75857742e-04 -6.14533963e-04 9.99999510e-01]] t_estimated: [[0.6603568] [0.7509512] [0.0010915]] R_gt: [[ 0.96011884 0.27938624 0.0106676 ] [-0.27944943 0.95772817 0.0682885 ] [ 0.00886255 -0.06854545 0.99760925]] t_gt: [-0.18203809 0.94432141 0.27407884] Pose Error in degrees for R and t: 16.774689507557593 53.897730378957746 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999994e-01 -5.35757715e-05 -9.29734128e-05] [ 5.35878945e-05 9.99999990e-01 1.30395034e-04] [ 9.29664259e-05 -1.30400016e-04 9.99999987e-01]] t_estimated: [[ 3.82204311e-02] [-9.99269319e-01] [ 1.61251217e-04]] R_gt: [[ 0.9966878 0.08122338 0.00403621] [-0.080279 0.99060852 -0.110684 ] [-0.01298888 0.10999305 0.9938476 ]] t_gt: [-0.22004257 0.8233486 -0.52314277] Pose Error in degrees for R and t: 7.882064301783397 33.773520819750914 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 0.00271962 -0.95826923 0.2858543 ] [-0.99909265 -0.01475348 -0.03995271] [ 0.0425028 -0.28548627 -0.95743987]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99592357 0.09016531 -0.00249378] [-0.08883032 0.97564064 -0.2005854 ] [-0.01565355 0.19998983 0.97967272]] t_gt: [-0.15615338 0.73569584 -0.65906581] Pose Error in degrees for R and t: 177.2969985929567 76.59043329667688 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999886e-01 2.23856557e-04 -4.20745301e-04] [-2.23650541e-04 9.99999855e-01 4.89627973e-04] [ 4.20854846e-04 -4.89533818e-04 9.99999792e-01]] t_estimated: [[-2.07762453e-01] [-9.78179227e-01] [-4.03939010e-04]] R_gt: [[ 0.99834353 0.0419688 -0.03935748] [-0.05076431 0.96448367 -0.25921987] [ 0.02708059 0.26078808 0.96501622]] t_gt: [-0.0070875 0.55516639 -0.83170911] Pose Error in degrees for R and t: 15.45962299372994 57.23165331838472 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.99919058e-01 -1.27230591e-02 -1.63512239e-05] [ 1.27230596e-02 9.99919058e-01 3.22702374e-05] [ 1.59393243e-05 -3.24756630e-05 9.99999999e-01]] t_estimated: [[-4.56266565e-01] [ 8.89842980e-01] [-5.41525855e-04]] R_gt: [[ 9.99972862e-01 -6.40161109e-04 -7.33017096e-03] [ 2.54587510e-04 9.98616089e-01 -5.25806832e-02] [ 7.35314302e-03 5.25770289e-02 9.98590029e-01]] t_gt: [ 0.14422522 0.83217165 -0.53543387] Pose Error in degrees for R and t: 3.1252790936350086 47.5468662036824 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99999597 0.00112782 -0.00260728] [-0.00111921 0.99999393 0.00329987] [ 0.00261099 -0.00329694 0.99999116]] t_estimated: [[-0.99993834] [-0.00982412] [-0.00517682]] R_gt: [[ 0.99504512 -0.09914318 0.00738031] [ 0.099332 0.98836011 -0.11522334] [ 0.00412943 0.11538544 0.99331154]] t_gt: [ 0.75901827 0.46172306 -0.45902405] Pose Error in degrees for R and t: 8.939512678422144 40.43597523121677 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99394055e-01 3.48069459e-02 -9.15898105e-06] [-3.48069456e-02 9.99394054e-01 3.20765863e-05] [ 1.02699192e-05 -3.17383535e-05 9.99999999e-01]] t_estimated: [[-1.38076213e-02] [ 9.99904621e-01] [-3.12719522e-04]] R_gt: [[ 0.99068523 -0.12701583 0.0490785 ] [ 0.13401534 0.97332654 -0.18620655] [-0.02411814 0.19104979 0.98128418]] t_gt: [ 0.68696891 0.54629974 -0.47919757] Pose Error in degrees for R and t: 14.646627319208905 57.52632291615496 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 6.03593092e-01 7.97292084e-01 8.43898250e-04] [-7.97291353e-01 6.03593682e-01 -1.07989436e-03] [-1.37036287e-03 -2.10160025e-05 9.99999061e-01]] t_estimated: [[-0.07187893] [ 0.99741286] [ 0.00100721]] R_gt: [[ 0.99329046 0.06447581 -0.09600838] [-0.07612704 0.98947097 -0.12308859] [ 0.08706256 0.12957168 0.98774017]] t_gt: [-0.14314955 0.60351156 -0.78439914] Pose Error in degrees for R and t: 49.58824385534709 52.30560989661826 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.01489799 0.99988555 -0.00263354] [-0.99988503 0.01489044 -0.00286237] [-0.00282283 0.00267588 0.99999244]] t_estimated: [[1.72238287e-02] [9.99851487e-01] [5.85912298e-04]] R_gt: [[ 0.97702321 0.12972302 -0.16910815] [-0.16139906 0.96852048 -0.18952349] [ 0.13919985 0.2124629 0.96720312]] t_gt: [-0.15267863 0.67971339 -0.71741127] Pose Error in degrees for R and t: 81.70831204169257 47.42440278239177 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 6.98789275e-01 -7.15327281e-01 -6.55740953e-04] [ 7.15327579e-01 6.98789065e-01 5.45805626e-04] [ 6.77949524e-05 -8.50472705e-04 9.99999636e-01]] t_estimated: [[0.5224945 ] [0.85264212] [0.00095695]] R_gt: [[ 0.96788055 0.16081524 -0.19325264] [-0.20075524 0.95708505 -0.20901129] [ 0.15134741 0.24109478 0.958627 ]] t_gt: [-0.1595729 0.72141749 -0.67386445] Pose Error in degrees for R and t: 58.501639210906795 57.92086041754901 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-0.15289957 -0.98813469 -0.01454502] [-0.98766654 0.15329611 -0.03186078] [ 0.03371243 0.00949413 -0.99938648]] t_estimated: [[ 0.75620315] [ 0.65411689] [-0.01696732]] R_gt: [[ 0.99948185 -0.03214125 -0.00166316] [ 0.03214704 0.99947736 0.00345239] [ 0.00155089 -0.00350423 0.9999922 ]] t_gt: [ 0.95872856 -0.25652452 0.12261615] Pose Error in degrees for R and t: 178.22514449802222 56.281289932676756 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 8.36001257e-01 5.48724559e-01 -1.80458154e-03] [-5.48727507e-01 8.35997581e-01 -2.48353506e-03] [ 1.45849117e-04 3.06646196e-03 9.99995288e-01]] t_estimated: [[ 0.48576501] [ 0.87408865] [-0.00117947]] R_gt: [[ 9.94830245e-01 -1.01545774e-01 1.31036955e-03] [ 1.01553309e-01 9.94784444e-01 -9.53322523e-03] [-3.34972757e-04 9.61708355e-03 9.99953850e-01]] t_gt: [ 0.90531625 -0.42246018 -0.04393054] Pose Error in degrees for R and t: 39.110080952517244 85.9541278038745 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99998739e-01 1.30627095e-03 -9.03493603e-04] [-1.30500889e-03 9.99998174e-01 1.39604169e-03] [ 9.05315562e-04 -1.39486086e-03 9.99998617e-01]] t_estimated: [[9.78272997e-01] [2.07320581e-01] [3.47159436e-04]] R_gt: [[ 0.97443435 -0.22455048 0.00740187] [ 0.22446706 0.97442381 0.01062813] [-0.00959923 -0.00869578 0.99991567]] t_gt: [ 0.88252514 -0.46429472 0.07469804] Pose Error in degrees for R and t: 13.069270853411908 39.9041587888732 Number of keypoints: Image1: 483 Image2: 483 R_estimated: [[ 9.99873151e-01 -1.59273278e-02 3.38118598e-05] [ 1.59273268e-02 9.99873152e-01 2.94426984e-05] [-3.42765143e-05 -2.89004311e-05 9.99999999e-01]] t_estimated: [[9.99920901e-01] [1.25771732e-02] [8.12719756e-05]] R_gt: [[ 0.99827875 -0.05751893 0.01149361] [ 0.05762425 0.99829676 -0.00916202] [-0.01094782 0.00980806 0.999891 ]] t_gt: [ 0.44753897 -0.89117855 0.07422716] Pose Error in degrees for R and t: 2.5320191035622175 64.1318866681717 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.38984105e-01 3.43960214e-01 4.71662563e-04] [-3.43960211e-01 9.38984220e-01 -9.06412185e-05] [-4.74060677e-04 -7.71224911e-05 9.99999885e-01]] t_estimated: [[0.61844502] [0.78582732] [0.0010869 ]] R_gt: [[ 9.93557135e-01 -1.12693865e-01 1.20935975e-02] [ 1.12695698e-01 9.93630162e-01 4.04661394e-04] [-1.20627386e-02 9.60447372e-04 9.99926836e-01]] t_gt: [ 0.42671772 -0.898028 0.10704063] Pose Error in degrees for R and t: 26.59731800288395 63.78906077245882 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[-0.85703065 -0.51514984 0.01091375] [-0.5151376 0.85709759 0.00412038] [-0.01147676 -0.0020908 -0.99993195]] t_estimated: [[0.96041857] [0.27848716] [0.00640837]] R_gt: [[ 0.97812249 -0.2013193 0.05241683] [ 0.20080471 0.97951775 0.0149513 ] [-0.05435361 -0.00409882 0.99851255]] t_gt: [ 0.4523709 -0.84269368 0.29193822] Pose Error in degrees for R and t: 176.22025600159594 78.36613383514158 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.98726980e-01 -5.04421607e-02 -8.73396539e-05] [ 5.04421805e-02 9.98726954e-01 2.41913669e-04] [ 7.50258183e-05 -2.46011311e-04 9.99999967e-01]] t_estimated: [[-0.71688335] [-0.69719275] [-0.00072928]] R_gt: [[ 0.99956438 0.01626676 -0.0246343 ] [-0.01630375 0.99986637 -0.00131596] [ 0.02460944 0.00171638 0.99969515]] t_gt: [-0.13773012 0.83380234 -0.53460647] Pose Error in degrees for R and t: 4.076173340752222 61.17116423574195 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99313209e-01 3.70552669e-02 1.34203177e-04] [-3.70552697e-02 9.99313217e-01 1.79224826e-05] [-1.33446886e-04 -2.28831085e-05 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99897348 -0.04500867 -0.00510414] [ 0.04507897 0.99887756 0.01456642] [ 0.00444281 -0.01478159 0.99988077]] t_gt: [ 0.97138118 -0.09431317 0.21799915] Pose Error in degrees for R and t: 4.787975877089778 13.77151077540371 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99939093e-01 1.10367859e-02 1.93059179e-05] [-1.10367936e-02 9.99938987e-01 4.60358800e-04] [-1.42238584e-05 -4.60543837e-04 9.99999894e-01]] t_estimated: [[0.906245 ] [0.42275088] [0.00129729]] R_gt: [[ 0.990961 -0.13393204 -0.0077389 ] [ 0.13371227 0.99072841 -0.02407938] [ 0.01089222 0.02282691 0.99967958]] t_gt: [ 0.92506041 -0.33431721 -0.18026433] Pose Error in degrees for R and t: 8.453255460834315 45.83199746645775 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999418e-01 -3.75066198e-05 1.07849955e-03] [ 3.93342450e-05 9.99998563e-01 -1.69462857e-03] [-1.07843445e-03 1.69467000e-03 9.99997983e-01]] t_estimated: [[-0.7584867 ] [-0.65168663] [-0.00157015]] R_gt: [[ 0.99805697 -0.05935722 0.01899462] [ 0.05912409 0.99817162 0.01261405] [-0.01970907 -0.01146656 0.99974028]] t_gt: [ 0.67853508 -0.70655613 0.20091934] Pose Error in degrees for R and t: 3.6377318217198056 86.87456240939481 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.76341060e-01 -2.16235099e-01 -7.18489671e-04] [-2.16235812e-01 -9.76340507e-01 -1.13489883e-03] [-4.56085609e-04 1.26341152e-03 -9.99999098e-01]] t_estimated: [[0.41700234] [0.90890316] [0.00202428]] R_gt: [[ 0.99596032 -0.08967163 0.00477833] [ 0.08942781 0.99527335 0.03788397] [-0.00815326 -0.03730362 0.99927141]] t_gt: [ 0.59704991 -0.77015073 0.22449779] Pose Error in degrees for R and t: 177.88413390221385 63.21994627320353 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99788817e-01 -2.05368805e-02 7.46446052e-04] [ 2.05368317e-02 9.99789094e-01 7.29529434e-05] [-7.47786848e-04 -5.76079000e-05 9.99999719e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.99333691 -0.11000435 -0.03439053] [ 0.10971488 0.99391095 -0.01021064] [ 0.03530401 0.00637059 0.99935635]] t_gt: [ 0.6216898 -0.77463894 -0.11591507] Pose Error in degrees for R and t: 5.544268685712763 61.399905881727925 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[-9.88050135e-02 -9.95105431e-01 -1.65873568e-03] [ 9.95106372e-01 -9.88064013e-02 7.76494816e-04] [-9.36587912e-04 -1.57389687e-03 9.99998323e-01]] t_estimated: [[0.99512964] [0.09856922] [0.00104861]] R_gt: [[ 0.9943225 -0.10229117 0.02931714] [ 0.10145715 0.99442747 0.02864185] [-0.03208342 -0.02550497 0.9991598 ]] t_gt: [ 0.37079288 -0.81335716 0.44828871] Pose Error in degrees for R and t: 89.8437759968484 73.18483993725562 Number of keypoints: Image1: 548 Image2: 548 R_estimated: [[ 9.99957392e-01 -9.22984444e-03 1.54672665e-04] [ 9.22981967e-03 9.99957391e-01 1.60137409e-04] [-1.56144118e-04 -1.58702985e-04 9.99999975e-01]] t_estimated: [[9.59154576e-01] [2.82882474e-01] [6.56334117e-05]] R_gt: [[ 0.98559707 -0.16552297 0.03464986] [ 0.16474591 0.98603981 0.02418089] [-0.03816773 -0.01812397 0.99910668]] t_gt: [ 0.43335685 -0.83362814 0.3424412 ] Pose Error in degrees for R and t: 9.29742992695937 79.63840129378482 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[ 7.98948159e-01 -6.01399819e-01 -3.11321013e-04] [ 6.01399858e-01 7.98947804e-01 7.85566645e-04] [-2.23710398e-04 -8.14855437e-04 9.99999643e-01]] t_estimated: [[ 9.67052942e-01] [-2.54574145e-01] [ 7.82723024e-04]] R_gt: [[ 0.98013367 -0.18619681 0.06833398] [ 0.18693238 0.98236279 -0.00447631] [-0.06629445 0.0171606 0.99765267]] t_gt: [ 0.3421798 -0.86633001 0.3638479 ] Pose Error in degrees for R and t: 26.494087961404738 56.5138086957499 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.68591591e-01 -2.48657053e-01 1.92468516e-05] [ 2.48657011e-01 9.68591466e-01 5.12961087e-04] [-1.46193729e-04 -4.92063931e-04 9.99999868e-01]] t_estimated: [[0.9994483 ] [0.03318578] [0.00134468]] R_gt: [[ 0.99529486 -0.09661856 -0.00728624] [ 0.09595037 0.99328084 -0.06471069] [ 0.01348896 0.06370685 0.99787704]] t_gt: [ 0.90338149 0.15448408 -0.4000457 ] Pose Error in degrees for R and t: 9.63098055512595 24.841717659680832 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.95654793e-01 -9.31210540e-02 5.33687134e-05] [ 9.31210392e-02 9.95654768e-01 2.32815011e-04] [-7.48167933e-05 -2.26833632e-04 9.99999971e-01]] t_estimated: [[4.60543698e-01] [8.87637026e-01] [1.13754196e-04]] R_gt: [[ 0.9889551 -0.14464583 0.03231998] [ 0.14768664 0.98009568 -0.13267404] [-0.01248547 0.1359815 0.99063189]] t_gt: [ 0.85683145 0.29323228 -0.42409279] Pose Error in degrees for R and t: 8.449812111842949 49.092184736700354 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.93665319e-01 -1.12379841e-01 7.76014152e-05] [ 1.12379827e-01 9.93665309e-01 1.65842322e-04] [-9.57471681e-05 -1.56070930e-04 9.99999983e-01]] t_estimated: [[2.83273724e-01] [9.59039096e-01] [9.78026145e-05]] R_gt: [[ 0.98589995 -0.16449474 0.03071606] [ 0.16731747 0.96615456 -0.19634328] [ 0.00262177 0.19871468 0.98005373]] t_gt: [ 0.77245537 0.43718312 -0.46063394] Pose Error in degrees for R and t: 11.90664457130694 50.35365990504467 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999526e-01 -9.72166492e-04 -5.87329854e-05] [ 9.72178055e-04 9.99999508e-01 1.97163431e-04] [ 5.85412808e-05 -1.97220436e-04 9.99999979e-01]] t_estimated: [[0.04970033] [0.99871186] [0.01022259]] R_gt: [[ 0.99992901 -0.00278471 -0.01167981] [ 0.00287696 0.99996561 0.00779292] [ 0.01165825 -0.00782545 0.99990225]] t_gt: [ 0.62128681 0.78253815 -0.04045665] Pose Error in degrees for R and t: 0.798397727739866 35.70871837721115 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.3073924 0.94981906 0.0579108 ] [ 0.95079158 -0.30408624 -0.05938791] [-0.03879789 0.07331649 -0.99655377]] t_estimated: [[0.72944647] [0.68403722] [0.00096615]] R_gt: [[ 0.99389842 0.05522264 -0.09548905] [-0.0628612 0.99489637 -0.07893133] [ 0.09064319 0.08445276 0.99229616]] t_gt: [-0.07312054 0.66930314 -0.73938264] Pose Error in degrees for R and t: 174.67777892553144 66.18552836226245 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-6.21425729e-01 -7.83465603e-01 -3.42230637e-03] [ 7.83471168e-01 -6.21427929e-01 -5.07008049e-04] [-1.72949339e-03 -2.99634622e-03 9.99994015e-01]] t_estimated: [[0.97187178] [0.23550477] [0.00165848]] R_gt: [[ 0.97428967 0.11577853 -0.1932791 ] [-0.14924411 0.97430626 -0.16868311] [ 0.16878388 0.19319208 0.96653514]] t_gt: [-0.07480523 0.67850635 -0.73077583] Pose Error in degrees for R and t: 136.55798109838634 85.0734613311001 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 0.98474908 -0.17396112 -0.00260443] [-0.17395387 -0.98422483 -0.032273 ] [ 0.0030509 0.03223385 -0.9994757 ]] t_estimated: [[ 0.08757797] [ 0.99601875] [-0.01663599]] R_gt: [[ 0.99973609 0.00432172 -0.02259151] [-0.00671987 0.99422014 -0.107156 ] [ 0.02199758 0.10727933 0.99398557]] t_gt: [-0.01186752 0.32085587 -0.94705368] Pose Error in degrees for R and t: 171.90095493672436 70.47036897152216 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99998424e-01 1.77540872e-03 -5.82489554e-07] [-1.77540881e-03 9.99998357e-01 -3.64960689e-04] [-6.54657910e-08 3.64961148e-04 9.99999933e-01]] t_estimated: [[-0.01472984] [-0.99988996] [-0.00176002]] R_gt: [[ 0.99275877 -0.1099058 -0.04849136] [ 0.1032462 0.98698875 -0.12326071] [ 0.06140856 0.11736115 0.99118837]] t_gt: [ 0.46684891 -0.31762794 -0.82532696] Pose Error in degrees for R and t: 9.829201379018478 71.81000829418298 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.18913551 0.98194897 0.00199674] [ 0.98194918 0.18913086 0.00230741] [ 0.00188811 0.00239711 -0.99999534]] t_estimated: [[-0.9603589 ] [-0.27876189] [-0.00161134]] R_gt: [[ 9.57412797e-01 -2.86935910e-01 3.20943713e-02] [ 2.88724564e-01 9.51345766e-01 -1.07612730e-01] [ 3.44884001e-04 1.12295232e-01 9.93674377e-01]] t_gt: [ 0.69224207 -0.66174794 -0.28790724] Pose Error in degrees for R and t: 175.197913733339 61.32329689217135 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.0238316 0.99964767 0.01168716] [-0.9996783 -0.02372757 -0.00896053] [-0.00868007 -0.01189694 0.99989155]] t_estimated: [[0.09841504] [0.99508538] [0.010935 ]] R_gt: [[ 0.9849727 0.005169 0.17263321] [-0.00638514 0.99995872 0.00648996] [-0.17259261 -0.00749411 0.98496422]] t_gt: [-0.26167553 0.00769501 0.96512523] Pose Error in degrees for R and t: 91.35361526167308 89.56787288492949 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.78746904 0.61635324 -0.00109461] [-0.61635023 0.78745632 -0.00499418] [-0.00221622 0.00460742 0.99998693]] t_estimated: [[0.68059771] [0.73265693] [0.00076558]] R_gt: [[ 0.97377204 0.04496829 0.22304078] [-0.04709529 0.99888198 0.00422173] [-0.22260142 -0.01461575 0.97479964]] t_gt: [-0.39895465 0.14303618 0.90574601] Pose Error in degrees for R and t: 37.57636767456739 80.44247474869886 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 0.1366312 0.92819826 0.34609235] [-0.91776982 -0.01289511 0.39690335] [ 0.3728679 -0.37186249 0.85011047]] t_estimated: [[0.0311536 ] [0.99951124] [0.00259613]] R_gt: [[ 0.9753628 0.09649281 0.19838615] [-0.0957275 0.9953161 -0.01347024] [-0.19875697 -0.00585237 0.98003124]] t_gt: [-0.59322812 0.31397567 0.74128245] Pose Error in degrees for R and t: 86.49230772875356 72.70656388426397 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-4.04530050e-01 -9.14524647e-01 -3.29092976e-04] [-9.14524482e-01 4.04530177e-01 -5.54574965e-04] [ 6.40300514e-04 7.66213451e-05 -9.99999792e-01]] t_estimated: [[8.10915088e-01] [5.85163490e-01] [6.39522940e-04]] R_gt: [[ 0.99966556 0.0151178 0.02097868] [-0.01433503 0.99921338 -0.03698166] [-0.0215199 0.03666843 0.99909516]] t_gt: [-0.7049105 0.03597587 -0.70838332] Pose Error in degrees for R and t: 179.82790116026527 56.56272036122696 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.97928345e-01 6.43352000e-02 -4.74419858e-06] [-6.43351998e-02 9.97928345e-01 2.31549594e-05] [ 6.22404917e-06 -2.28017713e-05 1.00000000e+00]] t_estimated: [[0.67646519] [0.7364742 ] [0.00077934]] R_gt: [[ 0.99637728 0.05983977 0.06042247] [-0.05457602 0.99485948 -0.0853044 ] [-0.06521528 0.0816979 0.99452068]] t_gt: [-0.82412502 0.55736602 -0.10080215] Pose Error in degrees for R and t: 6.0150765119629 81.54197881288944 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 8.72694735e-01 4.88266165e-01 2.26418026e-04] [-4.88260614e-01 8.72682404e-01 5.19556590e-03] [ 2.33922801e-03 -4.64469401e-03 9.99986477e-01]] t_estimated: [[0.60429314] [0.79676129] [0.00111804]] R_gt: [[ 0.99323621 0.05776976 0.10071579] [-0.04909552 0.99503467 -0.08657739] [-0.1052165 0.08104785 0.99114106]] t_gt: [-0.7675343 0.4199033 0.48432666] Pose Error in degrees for R and t: 27.28979847201045 82.60485743790107 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.92361243e-01 -1.23365936e-01 -9.55988447e-05] [ 1.23365953e-01 9.92361224e-01 2.04842070e-04] [ 6.95980530e-05 -2.15070973e-04 9.99999974e-01]] t_estimated: [[-0.99779105] [-0.06641479] [-0.00144621]] R_gt: [[ 0.99954838 0.02610751 -0.01483275] [-0.02664676 0.99894319 -0.0374354 ] [ 0.01384027 0.03781394 0.99918846]] t_gt: [-0.32138234 0.86242355 -0.39107416] Pose Error in degrees for R and t: 8.905042849776995 74.69481607584757 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 0.91166051 -0.41091957 0.00449752] [-0.41089768 -0.9113381 0.02501943] [-0.00618221 -0.02465724 -0.99967685]] t_estimated: [[0.1392602 ] [0.99015855] [0.01387943]] R_gt: [[ 0.99864517 -0.04983069 -0.01500177] [ 0.0480501 0.99363179 -0.10191735] [ 0.019985 0.10105888 0.99467896]] t_gt: [ 0.42496814 0.70034671 -0.57351248] Pose Error in degrees for R and t: 175.54846967276143 41.86877351165753 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[-0.09615875 -0.99535991 0.003486 ] [-0.99532609 0.09618567 0.00861942] [-0.00891473 -0.00264087 -0.99995678]] t_estimated: [[0.55619384] [0.83101854] [0.00752347]] R_gt: [[ 0.99362998 -0.11207627 0.01177198] [ 0.11250638 0.98054166 -0.16087733] [ 0.00648841 0.16117736 0.98690308]] t_gt: [ 0.64044132 0.59458959 -0.48610507] Pose Error in degrees for R and t: 174.36815122477003 32.148985430899266 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.96126694e-01 -8.79295716e-02 -1.30816118e-05] [ 8.79295682e-02 9.96126680e-01 -1.67233876e-04] [ 2.77357457e-05 1.65435868e-04 9.99999986e-01]] t_estimated: [[ 0.38563773] [-0.92264869] [-0.00171161]] R_gt: [[ 0.99375416 -0.11024849 0.01732331] [ 0.11096434 0.99266605 -0.04797853] [-0.01190777 0.04960196 0.99869814]] t_gt: [ 0.82422152 -0.48393347 -0.2940532 ] Pose Error in degrees for R and t: 3.195071523324972 40.105923407810366 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-7.85594363e-01 -6.18738896e-01 -1.91731800e-03] [ 6.18740783e-01 -7.85595014e-01 -5.63076308e-04] [-1.15783825e-03 -1.62867242e-03 9.99998003e-01]] t_estimated: [[ 9.89618794e-01] [-1.43716260e-01] [ 5.27422238e-04]] R_gt: [[ 0.97109588 -0.23868499 0.00208478] [ 0.23785156 0.96689732 -0.09238727] [ 0.02003484 0.09021255 0.99572078]] t_gt: [ 0.86457771 -0.39030509 -0.31649221] Pose Error in degrees for R and t: 128.02564780996215 24.28254343587845 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-7.38030440e-01 6.74765464e-01 -1.62428748e-03] [-6.74763205e-01 -7.38032200e-01 -1.75754456e-03] [-2.38470683e-03 -2.01111964e-04 9.99997136e-01]] t_estimated: [[0.7465885 ] [0.66528554] [0.00087423]] R_gt: [[ 0.92978161 -0.36808874 0.00436899] [ 0.36751486 0.92752549 -0.0680392 ] [ 0.02099228 0.06486745 0.99767307]] t_gt: [ 0.89715649 -0.41383466 -0.15443804] Pose Error in degrees for R and t: 159.17894947198843 66.77434085811976 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99974494e-01 -7.14115367e-03 1.27448491e-04] [ 7.14112704e-03 9.99974480e-01 2.08158827e-04] [-1.28931732e-04 -2.07243392e-04 9.99999970e-01]] t_estimated: [[0.01250023] [0.99992052] [0.0016424 ]] R_gt: [[ 0.99651061 0.0769493 -0.03236251] [-0.0788333 0.99497946 -0.06165923] [ 0.02745468 0.06399567 0.99757195]] t_gt: [-0.41447422 0.76390158 -0.49463674] Pose Error in degrees for R and t: 6.314851836835061 40.725200465404306 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.26781186 -0.91602044 -0.29863583] [ 0.96255843 -0.26787008 -0.04155595] [-0.04192951 -0.29858361 0.95346198]] t_estimated: [[ 0.91289969] [-0.38555838] [ 0.1340108 ]] R_gt: [[ 0.99612019 0.07813662 -0.0405023 ] [-0.08114832 0.99356704 -0.07898938] [ 0.03406981 0.08196869 0.99605209]] t_gt: [-0.35154139 0.77474826 -0.52553191] Pose Error in degrees for R and t: 111.82147887425668 46.36516788179581 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 1.74491798e-02 -9.99846587e-01 -1.52568978e-03] [ 9.99847744e-01 1.74493420e-02 -9.30802032e-05] [ 1.19688206e-04 -1.52383331e-03 9.99998832e-01]] t_estimated: [[8.87422980e-01] [4.60955254e-01] [8.41159223e-04]] R_gt: [[ 0.99888496 0.03138242 -0.03527544] [-0.03342226 0.99771083 -0.05878528] [ 0.03334918 0.05989785 0.9976464 ]] t_gt: [-0.13665324 0.77125241 -0.62168771] Pose Error in degrees for R and t: 90.92646794407896 76.48377601660171 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99573345e-01 -2.92026148e-02 -5.78368980e-04] [ 2.92032771e-02 9.99572806e-01 1.17200652e-03] [ 5.43896250e-04 -1.18839675e-03 9.99999146e-01]] t_estimated: [[-0.89344806] [-0.44916479] [ 0.00124809]] R_gt: [[ 9.98094736e-01 7.81582681e-04 -6.16948201e-02] [ 2.11213063e-04 9.99870214e-01 1.60871147e-02] [ 6.16994568e-02 -1.60687025e-02 9.97964985e-01]] t_gt: [ 0.68207727 0.02520539 -0.7308456 ] Pose Error in degrees for R and t: 3.9841421475240613 51.564432887690636 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.03712472 0.99930351 -0.00377597] [-0.9993082 -0.03713272 -0.00207057] [-0.00220934 0.00369649 0.99999073]] t_estimated: [[ 2.04459156e-02] [ 9.99790848e-01] [-4.74454304e-04]] R_gt: [[ 0.99389569 0.02152802 -0.10820222] [-0.01889444 0.99950067 0.02530081] [ 0.10869262 -0.0231017 0.99380696]] t_gt: [ 0.51722558 0.25412036 -0.81725183] Pose Error in degrees for R and t: 91.13996015640177 74.63125835530606 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999983e-01 1.83349052e-04 -2.07949569e-07] [-1.83349024e-04 9.99999975e-01 1.28115430e-04] [ 2.31439406e-07 -1.28115390e-04 9.99999992e-01]] t_estimated: [[0.93344277] [0.35872483] [0.00104642]] R_gt: [[ 0.99946977 0.0313186 -0.00889979] [-0.03112138 0.99928522 0.02143316] [ 0.00956435 -0.02114396 0.99973052]] t_gt: [0.1683344 0.91528993 0.36593425] Pose Error in degrees for R and t: 2.217435399448217 60.93177901409687 Number of keypoints: Image1: 487 Image2: 487 R_estimated: [[ 9.99803192e-01 -1.98386965e-02 6.34961051e-05] [ 1.98386970e-02 9.99803194e-01 -6.96452302e-06] [-6.33454416e-05 8.22283233e-06 9.99999998e-01]] t_estimated: [[9.84791085e-01] [1.73741956e-01] [5.01103295e-04]] R_gt: [[ 0.99646813 -0.08021836 -0.02483139] [ 0.08088567 0.99635361 0.02713022] [ 0.02256472 -0.02904171 0.99932422]] t_gt: [ 0.94528376 -0.20813268 0.25123573] Pose Error in degrees for R and t: 4.073929880539302 26.508065896335594 Number of keypoints: Image1: 439 Image2: 439 R_estimated: [[ 8.27444006e-01 5.61548208e-01 1.62541103e-04] [-5.61548214e-01 8.27444018e-01 -1.62908903e-05] [-1.43641784e-04 -7.77948667e-05 9.99999987e-01]] t_estimated: [[0.81709614] [0.57650026] [0.0011623 ]] R_gt: [[ 0.98969578 -0.12191783 -0.07509354] [ 0.12533062 0.99120314 0.04252099] [ 0.06924943 -0.05149363 0.99627006]] t_gt: [ 0.97171456 -0.17501148 0.15856164] Pose Error in degrees for R and t: 41.561321459322144 46.11013585003076 Number of keypoints: Image1: 431 Image2: 431 R_estimated: [[-9.33318777e-01 -3.58998032e-01 6.03929087e-03] [-3.58983936e-01 9.33337859e-01 3.31266805e-03] [-6.82594013e-03 9.23766889e-04 -9.99976276e-01]] t_estimated: [[0.96151894] [0.27471918] [0.00327047]] R_gt: [[ 0.98541105 -0.10872773 -0.13093673] [ 0.12089723 0.98867851 0.0888646 ] [ 0.11979229 -0.10339747 0.9874007 ]] t_gt: [ 0.9429163 -0.17554002 0.28300982] Pose Error in degrees for R and t: 174.29262463829815 30.75819798369427 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99960393e-01 -8.90014215e-03 -1.11326240e-05] [ 8.90014226e-03 9.99960393e-01 1.00997388e-05] [ 1.10422940e-05 -1.01984207e-05 1.00000000e+00]] t_estimated: [[-6.66252388e-01] [ 7.45726284e-01] [ 2.56011591e-04]] R_gt: [[ 0.99755 0.06705022 -0.01994911] [-0.06642973 0.99733045 0.0303138 ] [ 0.02192912 -0.02891481 0.9993413 ]] t_gt: [-0.6412429 0.75310932 0.14708466] Pose Error in degrees for R and t: 4.81022746846976 8.552241109729591 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.89068102 0.17484292 0.41966328] [ 0.37792664 0.22834446 -0.89723479] [-0.25270293 0.95775193 0.13730428]] t_estimated: [[-0.05263775] [ 0.8306218 ] [-0.55434348]] R_gt: [[ 0.99096083 0.08736471 -0.10180231] [-0.08750225 0.9961595 0.00311711] [ 0.10168491 0.00581882 0.99479991]] t_gt: [-0.38325126 0.7328362 -0.56220065] Pose Error in degrees for R and t: 85.31799685628476 19.8583220575209 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 1.00000000e+00 8.35848340e-06 1.41926629e-06] [-8.35848334e-06 1.00000000e+00 -4.36635416e-08] [-1.41926665e-06 4.36516791e-08 1.00000000e+00]] t_estimated: [[-0.99996185] [-0.00847289] [-0.00212173]] R_gt: [[ 0.97899697 0.09271947 -0.18156753] [-0.09161944 0.99568936 0.01445486] [ 0.18212528 0.00248423 0.98327196]] t_gt: [-0.15833372 0.5859273 -0.79474501] Pose Error in degrees for R and t: 11.768502980959601 81.08033758988162 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999976e-01 -6.50707324e-05 -2.07454137e-04] [ 6.51308678e-05 9.99999956e-01 2.89879754e-04] [ 2.07435265e-04 -2.89893258e-04 9.99999936e-01]] t_estimated: [[0.80234272] [0.59686299] [0.00085142]] R_gt: [[ 0.99960597 -0.02423589 -0.01419197] [ 0.02451286 0.99950569 0.01967157] [ 0.01370908 -0.02001233 0.99970565]] t_gt: [ 0.43666471 -0.88531781 0.15980081] Pose Error in degrees for R and t: 1.9535057738169996 79.75121807280931 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.43452917 0.8995173 -0.04531042] [ 0.88709113 -0.43614088 -0.15116368] [-0.15573607 0.02549055 -0.98746975]] t_estimated: [[0.65615746] [0.75462352] [0.00084885]] R_gt: [[ 0.99567456 -0.06991151 -0.06118653] [ 0.06776056 0.99703202 -0.03654535] [ 0.06356113 0.03224029 0.99745708]] t_gt: [ 0.58319284 -0.71918961 -0.37769355] Pose Error in degrees for R and t: 174.47617631970908 80.77153005259986 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.96683608e-01 8.13741049e-02 2.02064171e-04] [-8.13742033e-02 9.96683474e-01 5.39517717e-04] [-1.57491249e-04 -5.54171276e-04 9.99999834e-01]] t_estimated: [[0.99346535] [0.11412895] [0.00108694]] R_gt: [[ 0.97701471 -0.20454222 -0.06003929] [ 0.20131275 0.97794134 -0.05571582] [ 0.0701116 0.04234768 0.99663997]] t_gt: [ 0.765016 -0.59712395 -0.24123332] Pose Error in degrees for R and t: 17.05869178041225 46.24266321157117 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 1.40102503e-02 -9.99900188e-01 -1.82403821e-03] [ 9.99901718e-01 1.40111684e-02 -4.91542697e-04] [ 5.17050542e-04 -1.81697231e-03 9.99998216e-01]] t_estimated: [[9.79855411e-01] [1.99706751e-01] [7.66332591e-04]] R_gt: [[ 0.99254374 -0.11536896 -0.03933281] [ 0.11370497 0.99261689 -0.0422062 ] [ 0.04391139 0.03741934 0.99833453]] t_gt: [ 0.79195162 -0.49173764 -0.36194852] Pose Error in degrees for R and t: 82.66778150520078 47.35005448551508 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 8.29797203e-01 5.58063820e-01 1.17252822e-03] [-5.58062402e-01 8.29797906e-01 -1.33838684e-03] [-1.71986673e-03 4.56245737e-04 9.99998417e-01]] t_estimated: [[0.576928 ] [0.81679452] [0.0008917 ]] R_gt: [[ 0.96723239 -0.25155379 -0.03437619] [ 0.24861333 0.96586584 -0.07275461] [ 0.0515049 0.0618241 0.99675691]] t_gt: [ 0.85787615 -0.44314251 -0.26014078] Pose Error in degrees for R and t: 48.63498716354956 82.37178847446685 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.97688611e-01 -4.40629814e-01 -7.23806826e-04] [ 4.40629678e-01 8.97688903e-01 -3.46251930e-04] [ 8.02322279e-04 -8.10435477e-06 9.99999678e-01]] t_estimated: [[ 9.42445504e-01] [-3.34359181e-01] [-6.40138015e-04]] R_gt: [[ 0.94398042 -0.32994242 0.00622042] [ 0.32905751 0.93968736 -0.09331381] [ 0.02494409 0.09013367 0.99561719]] t_gt: [ 0.86697215 -0.43068328 -0.2507413 ] Pose Error in degrees for R and t: 8.700276126941402 16.005044361551384 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999998e-01 5.13801135e-05 2.68995825e-05] [-5.13801081e-05 9.99999999e-01 -2.02344701e-07] [-2.68995928e-05 2.00962598e-07 1.00000000e+00]] t_estimated: [[-9.54991080e-01] [-2.96633062e-01] [-9.29884206e-04]] R_gt: [[ 0.99024328 0.13746313 0.02288195] [-0.13780402 0.99036007 0.01402026] [-0.0207337 -0.01703619 0.99963974]] t_gt: [-0.59770304 0.7890842 0.14176456] Pose Error in degrees for R and t: 8.056969493267928 70.33008972660063 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999922e-01 3.90109956e-04 -5.94529255e-05] [-3.90107525e-04 9.99999923e-01 4.09057202e-05] [ 5.94688786e-05 -4.08825239e-05 9.99999997e-01]] t_estimated: [[-0.79042888] [-0.61255246] [-0.00129165]] R_gt: [[ 0.98436807 0.17587984 0.00933407] [-0.17607182 0.98400694 0.02701288] [-0.00443442 -0.02823419 0.99959073]] t_gt: [-0.57338 0.81066041 0.11859626] Pose Error in degrees for R and t: 10.246308256351883 87.50632522676281 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 1.00000000e+00 -1.89293026e-13 -2.95878773e-16] [ 1.89293026e-13 1.00000000e+00 1.50053581e-16] [ 4.31675095e-16 -3.18755439e-17 1.00000000e+00]] t_estimated: [[-3.18740213e-01] [ 9.47841674e-01] [ 9.15088953e-04]] R_gt: [[ 0.97175891 0.23215041 -0.04232715] [-0.23201663 0.9726782 0.00811313] [ 0.04305369 0.00193654 0.99906999]] t_gt: [-0.52704143 0.84639546 -0.07643333] Pose Error in degrees for R and t: 13.650456688816144 14.030160237669074 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999633e-01 -8.39132970e-04 -1.73430947e-04] [ 8.39138916e-04 9.99999647e-01 3.42190810e-05] [ 1.73402172e-04 -3.43646011e-05 9.99999984e-01]] t_estimated: [[-9.99894103e-01] [-1.45429846e-02] [-5.34034869e-04]] R_gt: [[ 0.98691347 0.16124183 0.00124027] [-0.16118742 0.98673169 -0.01950455] [-0.00436818 0.01904926 0.99980816]] t_gt: [-0.31853758 0.94291227 -0.09721249] Pose Error in degrees for R and t: 9.393788048647647 72.25128102514013 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99999790e-01 -6.46436552e-04 4.53262350e-05] [ 6.46443297e-04 9.99999780e-01 -1.48961676e-04] [-4.52299307e-05 1.48990945e-04 9.99999988e-01]] t_estimated: [[0.99996757] [0.00796757] [0.00117608]] R_gt: [[ 0.96770399 0.25173039 0.01346071] [-0.24780484 0.95970173 -0.13253677] [-0.04628093 0.12492045 0.991086 ]] t_gt: [-0.25515465 0.94763675 -0.19204347] Pose Error in degrees for R and t: 16.442411059881483 75.65134072277031 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99996608e-01 5.64362752e-04 -2.54276316e-03] [-5.57517890e-04 9.99996222e-01 2.69180426e-03] [ 2.54427271e-03 -2.69037749e-03 9.99993144e-01]] t_estimated: [[0.78577272] [0.61851289] [0.00174229]] R_gt: [[ 0.96477839 0.26302209 0.00468203] [-0.25589689 0.94247126 -0.21509491] [-0.06098651 0.20632084 0.97658143]] t_gt: [-0.21333639 0.92903449 -0.30229538] Pose Error in degrees for R and t: 19.711349324384848 66.01739897191386 Number of keypoints: Image1: 499 Image2: 499 R_estimated: [[-0.87087795 -0.49107444 0.02043236] [-0.49107937 0.87109978 0.00512138] [-0.02031361 -0.00557381 -0.99977812]] t_estimated: [[0.96636662] [0.25695284] [0.01052603]] R_gt: [[ 0.99486069 -0.09328479 -0.03937692] [ 0.0935932 0.99559163 0.00605846] [ 0.03863794 -0.00971295 0.9992061 ]] t_gt: [ 0.98742634 -0.13942232 -0.07450263] Pose Error in degrees for R and t: 179.15632880958165 23.421335335662555 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[ 0.99632919 0.08350023 0.01886441] [-0.08319404 0.99639722 -0.01647228] [-0.02017188 0.01484241 0.99968635]] t_estimated: [[0.48852899] [0.8723732 ] [0.01744746]] R_gt: [[ 0.99100752 -0.09447747 -0.0947546 ] [ 0.1003161 0.99321201 0.0588687 ] [ 0.08855017 -0.06784412 0.99375853]] t_gt: [ 0.95999459 -0.17708431 0.21691364] Pose Error in degrees for R and t: 13.009532495970141 71.4406878480086 Number of keypoints: Image1: 282 Image2: 282 R_estimated: [[-0.66728421 0.74297689 0.05212606] [ 0.74395132 0.668233 -0.00104939] [-0.03561202 0.03807901 -0.99863996]] t_estimated: [[0.8992634 ] [0.43739682] [0.00305872]] R_gt: [[ 0.98540306 -0.07903708 -0.15077769] [ 0.09038222 0.99344868 0.06992634] [ 0.14426284 -0.08253303 0.98609089]] t_gt: [ 0.98063637 -0.16163983 0.11056613] Pose Error in degrees for R and t: 173.2493700784927 35.75844691067358 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.97612723e-01 -6.90566145e-02 1.97454488e-04] [ 6.90566261e-02 9.97612740e-01 -5.21950203e-05] [-1.93378701e-04 6.57059571e-05 9.99999979e-01]] t_estimated: [[9.02914966e-01] [4.29818429e-01] [8.25304745e-04]] R_gt: [[ 0.9982284 -0.01927482 -0.05629105] [ 0.01910052 0.99981091 -0.00362442] [ 0.05635081 0.002544 0.99840728]] t_gt: [ 0.78232997 -0.11761592 -0.61165865] Pose Error in degrees for R and t: 4.324819901175693 49.05614629351719 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 0.99491894 -0.10064393 0.00266552] [ 0.10065094 0.9949183 -0.00263932] [-0.00238634 0.0028942 0.99999296]] t_estimated: [[0.61989655] [0.78467918] [0.0026156 ]] R_gt: [[ 0.9938551 -0.00155819 -0.11067182] [ 0.0034317 0.99985382 0.01673587] [ 0.11062978 -0.01701198 0.99371545]] t_gt: [ 0.71779886 0.06320218 -0.693376 ] Pose Error in degrees for R and t: 8.671806171567004 60.4791085852315 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99606619e-01 -2.80463459e-02 -9.51987080e-05] [ 2.80463731e-02 9.99606579e-01 2.97258882e-04] [ 8.68242294e-05 -2.99811925e-04 9.99999951e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99196552 0.04884742 -0.11669481] [-0.04680346 0.99870022 0.02019559] [ 0.11752954 -0.01457072 0.9929625 ]] t_gt: [ 0.39891677 0.52690364 -0.75049182] Pose Error in degrees for R and t: 8.07010322726122 61.468493079473916 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.79526144 -0.60625994 -0.00285048] [-0.60623952 -0.7951726 -0.01319757] [ 0.00573453 0.01222359 -0.99990885]] t_estimated: [[ 0.36039506] [ 0.93277774] [-0.00640961]] R_gt: [[ 0.99660552 -0.08205217 -0.00669297] [ 0.08222533 0.9960924 0.03222372] [ 0.00402361 -0.03266489 0.99945783]] t_gt: [ 0.67148899 -0.70989493 0.21248935] Pose Error in degrees for R and t: 179.10478753982946 65.0684731197355 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.86740288 -0.42736894 0.25488828] [ 0.49008148 0.82244707 -0.28879223] [-0.08621129 0.37541524 0.92283856]] t_estimated: [[-7.49049235e-01] [-6.62513972e-01] [-6.92282103e-04]] R_gt: [[ 0.99595783 -0.08781814 0.01887166] [ 0.08787916 0.99612778 -0.00244516] [-0.01858415 0.00409384 0.99981868]] t_gt: [ 0.64521682 -0.75640752 0.10743797] Pose Error in degrees for R and t: 32.05465895920376 88.98254493168541 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.98219318 -0.18786603 -0.00170646] [ 0.1878686 -0.98219303 -0.00149782] [-0.00139468 -0.00179174 0.99999742]] t_estimated: [[0.86884727] [0.49507901] [0.00109289]] R_gt: [[ 0.99842146 -0.04450351 0.03428834] [ 0.04632157 0.99745541 -0.05420794] [-0.03178804 0.05571005 0.99794021]] t_gt: [ 0.53273157 -0.8277155 -0.17630692] Pose Error in degrees for R and t: 166.57737707324742 86.96849152441406 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.16328661e-01 4.00426969e-01 -1.65276168e-04] [-4.00426806e-01 9.16327724e-01 -1.36961113e-03] [-3.96982099e-04 1.32119494e-03 9.99999048e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99377619 -0.11131207 0.00430826] [ 0.11136179 0.99179746 -0.06273331] [ 0.00271026 0.06282333 0.99802117]] t_gt: [ 0.81413978 -0.39871204 -0.4221435 ] Pose Error in degrees for R and t: 30.205110387915994 65.54790011845495 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 0.67675658 0.73617048 0.00731738] [ 0.73619468 -0.67665482 -0.0124757 ] [-0.0042329 0.01383003 -0.9998954 ]] t_estimated: [[-0.27940791] [ 0.96014383] [-0.00741948]] R_gt: [[ 0.97109943 -0.23831781 -0.0130519 ] [ 0.23717953 0.96968477 -0.05879174] [ 0.02666624 0.05399707 0.99818393]] t_gt: [ 0.86399004 -0.45242406 -0.22098344] Pose Error in degrees for R and t: 176.65069582250555 47.611183366497194 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.34544579 0.93842663 0.00476062] [-0.93841429 0.34546895 -0.00546079] [-0.0067692 -0.00258103 0.99997376]] t_estimated: [[-0.0630558 ] [ 0.99798803] [ 0.00662258]] R_gt: [[ 0.93812592 -0.34602799 -0.0136082 ] [ 0.34581906 0.93817204 -0.01555565] [ 0.01814861 0.00988706 0.99978589]] t_gt: [ 0.87403751 -0.48538888 -0.02135563] Pose Error in degrees for R and t: 90.04099553515837 57.33903646252048 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.40751237e-01 3.39097399e-01 2.53775353e-04] [-3.39097045e-01 9.40750946e-01 -9.22366879e-04] [-5.51511614e-04 7.81663310e-04 9.99999542e-01]] t_estimated: [[0.7079024 ] [0.70630982] [0.00079629]] R_gt: [[ 0.99133486 -0.12001282 0.05340892] [ 0.10906829 0.97859627 0.17450356] [-0.07320845 -0.16716629 0.98320633]] t_gt: [ 0.4450427 -0.42613126 0.78762246] Pose Error in degrees for R and t: 28.447840013224113 89.15810675660732 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-0.99391906 -0.11010622 -0.0012343 ] [ 0.11010844 -0.99391775 -0.00190803] [-0.0010167 -0.00203234 0.99999742]] t_estimated: [[0.86845883] [0.4957599 ] [0.00117201]] R_gt: [[ 0.97628978 -0.18004629 0.12017673] [ 0.13350394 0.93781215 0.32044496] [-0.17039743 -0.2968028 0.93961266]] t_gt: [ 0.37854607 -0.26780157 0.8859939 ] Pose Error in degrees for R and t: 164.61287360914363 78.63696914625693 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-6.78531746e-01 -7.34569269e-01 -1.63056266e-03] [ 7.34571034e-01 -6.78529257e-01 -1.85578885e-03] [ 2.56820987e-04 -2.45697575e-03 9.99996949e-01]] t_estimated: [[9.99085952e-01] [4.27391948e-02] [7.88795122e-04]] R_gt: [[ 0.97493807 -0.16937644 0.14424859] [ 0.1161744 0.94054314 0.31918956] [-0.18973496 -0.2944321 0.93664791]] t_gt: [ 0.36449938 -0.20448346 0.90847494] Pose Error in degrees for R and t: 125.22098799206465 69.13646577853835 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.89747960e-01 1.42824206e-01 -4.70521017e-04] [-1.42824041e-01 9.89748028e-01 3.67242702e-04] [ 5.18148396e-04 -2.96276002e-04 9.99999822e-01]] t_estimated: [[-0.92937291] [-0.36914038] [-0.00117687]] R_gt: [[ 0.9980202 0.04519578 0.04374339] [-0.04317174 0.99800076 -0.04615414] [-0.04574136 0.04417432 0.99797615]] t_gt: [-0.75093622 0.63643591 0.17619341] Pose Error in degrees for R and t: 6.763755961870249 62.4347651926678 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.76709681e-01 2.14565116e-01 1.00651591e-04] [-2.14565106e-01 9.76709683e-01 -1.03584899e-04] [-1.20533089e-04 7.95760543e-05 9.99999990e-01]] t_estimated: [[7.08961081e-02] [9.97483564e-01] [5.30206015e-04]] R_gt: [[ 0.99527822 0.03740222 0.08957225] [-0.03297696 0.99818439 -0.05038694] [-0.09129397 0.04719446 0.99470416]] t_gt: [-0.53767039 0.36662566 0.75927346] Pose Error in degrees for R and t: 11.920776299618758 70.85336592946521 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-2.81150430e-01 -9.59663299e-01 8.87820477e-04] [-9.59663709e-01 2.81150354e-01 -2.11262075e-04] [-4.68705819e-05 -9.11405515e-04 -9.99999584e-01]] t_estimated: [[0.78111118] [0.62439078] [0.00121458]] R_gt: [[ 0.99639703 0.01019361 0.08419666] [-0.00604277 0.99876063 -0.0494081 ] [-0.08459563 0.0487202 0.99522272]] t_gt: [-0.07173445 0.03305747 0.99687581] Pose Error in degrees for R and t: 177.7782234167815 88.04119082463292 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 1.00000000e+00 1.23286754e-05 -1.59848344e-05] [-1.23286851e-05 1.00000000e+00 -6.03619677e-07] [ 1.59848270e-05 6.03816749e-07 1.00000000e+00]] t_estimated: [[-1.33263419e-02] [ 9.99911196e-01] [-9.77579739e-05]] R_gt: [[ 0.99578352 0.01423626 -0.09062983] [-0.01681441 0.99947415 -0.02773722] [ 0.09018713 0.02914334 0.99549802]] t_gt: [ 0.11986559 0.27076845 -0.9551527 ] Pose Error in degrees for R and t: 5.509975242790153 74.38092819570116 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.99998728e-01 1.59510357e-03 -5.20946062e-06] [-1.59510166e-03 9.99998667e-01 3.48559458e-04] [ 5.76544212e-06 -3.48550705e-04 9.99999939e-01]] t_estimated: [[-0.99994721] [-0.01022441] [-0.00102244]] R_gt: [[ 0.98504018 0.02465671 -0.17055445] [-0.02734425 0.99953605 -0.01342301] [ 0.17014375 0.01788593 0.98525646]] t_gt: [ 0.21831673 0.20518446 -0.95406349] Pose Error in degrees for R and t: 9.95230244440515 77.32458317154749 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.99999583e-01 -9.13195845e-04 -1.14321405e-06] [ 9.13195935e-04 9.99999580e-01 8.14895941e-05] [ 1.06879761e-06 -8.14906041e-05 9.99999997e-01]] t_estimated: [[-2.20206581e-01] [ 9.75453260e-01] [-6.32134564e-07]] R_gt: [[ 0.96595704 0.03427684 -0.25642446] [-0.03890452 0.9991588 -0.01299202] [ 0.25576255 0.02252613 0.96647654]] t_gt: [ 0.26252767 0.18101215 -0.94779419] Pose Error in degrees for R and t: 15.036402088581294 83.17950403547565 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[ 9.91986164e-01 -1.26346468e-01 -1.44916906e-04] [ 1.26346515e-01 9.91986093e-01 3.85317051e-04] [ 9.50721070e-05 -4.00538929e-04 9.99999915e-01]] t_estimated: [[-0.64369026] [-0.76528565] [-0.00085032]] R_gt: [[ 9.97566969e-01 -1.55977720e-04 6.97247773e-02] [ 1.75713671e-03 9.99736060e-01 -2.29036239e-02] [-6.97024727e-02 2.29697483e-02 9.97302833e-01]] t_gt: [-0.70610244 0.03570762 0.70720882] Pose Error in degrees for R and t: 8.34847469696343 64.74907253052743 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[ 9.93921793e-01 -1.10088458e-01 8.17777348e-06] [ 1.10088455e-01 9.93921775e-01 1.94664095e-04] [-2.95583372e-05 -1.92580608e-04 9.99999981e-01]] t_estimated: [[6.06909810e-01] [7.94770613e-01] [3.94085636e-04]] R_gt: [[ 0.99503732 -0.01956147 0.09756751] [ 0.02088099 0.99970408 -0.01252811] [-0.09729409 0.01450301 0.99514996]] t_gt: [-0.61454719 -0.22689583 0.75554619] Pose Error in degrees for R and t: 7.646109587704853 56.426441548453035 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.92898461e-01 -1.18964870e-01 7.80900631e-05] [ 1.18964847e-01 9.92898435e-01 2.48735760e-04] [-1.07126319e-04 -2.37679380e-04 9.99999966e-01]] t_estimated: [[9.68880236e-01] [2.47529660e-01] [3.94130953e-04]] R_gt: [[ 0.98722524 -0.13155864 0.08988895] [ 0.13195061 0.99125498 0.00158742] [-0.08931139 0.01029416 0.99594999]] t_gt: [ 0.06650368 -0.85048676 0.52177537] Pose Error in degrees for R and t: 5.208217727551602 81.61170387655018 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 2.77998406e-01 -9.60575954e-01 3.27470078e-03] [-9.60581187e-01 -2.77999594e-01 9.57474083e-05] [ 8.18392831e-04 -3.17223359e-03 -9.99994634e-01]] t_estimated: [[0.09152092] [0.99580222] [0.00136598]] R_gt: [[ 0.99838649 -0.05548877 0.01206555] [ 0.05533757 0.99838871 0.01250358] [-0.01274022 -0.0118165 0.99984958]] t_gt: [ 0.19925243 -0.91800478 0.34287855] Pose Error in degrees for R and t: 178.90282486155462 26.43408895633506 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.97941762e-01 6.41261364e-02 2.80608889e-04] [-6.41261247e-02 9.97941801e-01 -5.04588019e-05] [-2.83267068e-04 3.23605851e-05 9.99999959e-01]] t_estimated: [[0.84463937] [0.53533481] [0.00099136]] R_gt: [[ 0.98122864 -0.1927623 0.0057692 ] [ 0.19268632 0.9811905 0.01172692] [-0.00792163 -0.0103954 0.99991507]] t_gt: [ 0.58546778 -0.80726013 0.0745557 ] Pose Error in degrees for R and t: 14.807411049645873 86.42077738427145 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 0.92491416 -0.38016736 0.00256637] [-0.38017197 -0.92491439 0.00162659] [ 0.00175529 -0.00248012 -0.99999538]] t_estimated: [[0.08017 ] [0.99678031] [0.00133617]] R_gt: [[ 0.94610767 -0.32347785 -0.01553729] [ 0.32360241 0.94617268 0.00619327] [ 0.0126981 -0.01088743 0.99986013]] t_gt: [ 0.70814876 -0.70585761 -0.01704016] Pose Error in degrees for R and t: 179.57595023757034 49.696568473071856 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99249078e-01 -3.87460872e-02 -1.45860953e-04] [ 3.87461381e-02 9.99249020e-01 3.63521504e-04] [ 1.31666379e-04 -3.68900076e-04 9.99999923e-01]] t_estimated: [[0.93903548] [0.34381718] [0.00145156]] R_gt: [[ 0.99980297 -0.01826107 -0.00782862] [ 0.01798851 0.99927674 -0.03351152] [ 0.00843616 0.03336454 0.99940781]] t_gt: [ 0.54433401 0.11883821 -0.83040832] Pose Error in degrees for R and t: 2.314423996430921 56.57793713176648 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.92548236e-01 1.21852149e-01 2.28912124e-04] [-1.21852074e-01 9.92548221e-01 -3.19524977e-04] [-2.66141126e-04 2.89250535e-04 9.99999923e-01]] t_estimated: [[0.97456604] [0.22409807] [0.00104232]] R_gt: [[ 0.9975482 -0.06794374 0.01682136] [ 0.06693806 0.99627027 0.05445474] [-0.02045769 -0.05319521 0.99837453]] t_gt: [ 0.66275371 -0.45669885 0.59345065] Pose Error in degrees for R and t: 11.351493629230315 57.03200362694741 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.10944833 0.99398865 0.0027608 ] [ 0.99399069 -0.10945299 0.00159854] [ 0.00189111 0.00256925 -0.99999491]] t_estimated: [[-0.66865306] [-0.74357217] [-0.00187298]] R_gt: [[ 0.98049948 -0.17372473 0.0918793 ] [ 0.14838698 0.9609731 0.23347749] [-0.1288541 -0.21529024 0.96801131]] t_gt: [ 0.46956183 -0.34291156 0.81358672] Pose Error in degrees for R and t: 174.63202004556462 86.5304370645547 Number of keypoints: Image1: 337 Image2: 337 R_estimated: [[ 9.99999996e-01 4.01909549e-05 -7.54854503e-05] [-4.01845428e-05 9.99999996e-01 8.49439751e-05] [ 7.54888639e-05 -8.49409415e-05 9.99999994e-01]] t_estimated: [[-0.35592977] [-0.93451141] [ 0.0015569 ]] R_gt: [[ 0.99985288 0.01650007 0.00485221] [-0.0163916 0.99963303 -0.0215606 ] [-0.00520581 0.02147828 0.99975558]] t_gt: [-0.90690979 0.37810344 -0.18588284] Pose Error in degrees for R and t: 1.581265240743568 88.23299385579027 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.99999252 0.00269245 0.00277636] [-0.00268566 0.9999934 -0.00244656] [-0.00278293 0.00243909 0.99999315]] t_estimated: [[0.99915239] [0.04078243] [0.00559453]] R_gt: [[ 0.99934138 -0.03560839 -0.00707208] [ 0.03531674 0.99865927 -0.03783176] [ 0.00840937 0.03755764 0.99925887]] t_gt: [-0.83116907 0.01457665 -0.55582866] Pose Error in degrees for R and t: 3.0381041746023394 33.59394800092945 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 1.14459093e-01 -9.93427709e-01 7.09554469e-04] [ 9.93403879e-01 1.14451316e-01 -7.04486202e-03] [ 6.91735169e-03 1.51122268e-03 9.99974933e-01]] t_estimated: [[ 0.98305937] [-0.18323691] [-0.00430227]] R_gt: [[ 0.99344964 -0.11181567 0.02354211] [ 0.11356274 0.98898489 -0.09492526] [-0.01266856 0.09697729 0.99520554]] t_gt: [-0.31675275 -0.25533918 -0.91349307] Pose Error in degrees for R and t: 77.09355949963002 74.89023168919216 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99999781e-01 -6.61100502e-04 -2.88737498e-05] [ 6.61100599e-04 9.99999781e-01 3.35321846e-06] [ 2.88715267e-05 -3.37230618e-06 1.00000000e+00]] t_estimated: [[-9.99999694e-01] [-5.15005937e-04] [-5.89628538e-04]] R_gt: [[ 0.9961587 0.08756372 0.001597 ] [-0.0875478 0.99612962 -0.00787173] [-0.00227957 0.00770135 0.999967 ]] t_gt: [-0.7247441 0.68769344 -0.04270501] Pose Error in degrees for R and t: 5.0816538266652485 43.579804356278956 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 8.89498711e-01 -4.56937514e-01 -3.89586897e-04] [ 4.56936886e-01 8.89498430e-01 -1.10667748e-03] [ 8.52219389e-04 8.06371565e-04 9.99999312e-01]] t_estimated: [[-0.42137933] [-0.90688159] [-0.00229011]] R_gt: [[ 0.96816288 0.24995421 -0.01357775] [-0.25026817 0.96765816 -0.03168641] [ 0.00521852 0.03407509 0.99940521]] t_gt: [-0.74352421 0.65934666 -0.11150669] Pose Error in degrees for R and t: 41.71979439170846 73.47771500647791 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-9.94442668e-01 -1.05279481e-01 -1.00866706e-04] [-1.05279510e-01 9.94441463e-01 1.54973018e-03] [-6.28487536e-05 1.55173701e-03 -9.99998794e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.30978729e-01 3.65072403e-01 -2.43964059e-04] [-3.64820969e-01 9.30312915e-01 -3.77224125e-02] [-1.35437847e-02 3.52079741e-02 9.99287466e-01]] t_gt: [-0.73398968 0.67649659 -0.06009591] Pose Error in degrees for R and t: 179.7368581884576 42.95115358309499 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 2.13100417e-01 -9.77030261e-01 -2.86305090e-04] [-9.77030263e-01 -2.13100483e-01 2.23449783e-04] [-2.79328953e-04 2.32111495e-04 -9.99999934e-01]] t_estimated: [[0.67095958] [0.74149172] [0.00180852]] R_gt: [[ 0.98149465 0.1914083 -0.00562998] [-0.1914676 0.98049592 -0.04437692] [-0.00297448 0.04463361 0.9989995 ]] t_gt: [-0.78920899 0.58579426 -0.18437532] Pose Error in degrees for R and t: 177.95470374112017 84.5199481119615 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.99980834 0.01691447 -0.00985839] [ 0.01690245 0.9998563 0.00130169] [ 0.00987899 0.00113481 -0.99995056]] t_estimated: [[ 0.99998669] [-0.0022907 ] [-0.00462307]] R_gt: [[ 0.9633695 0.26816727 -0.0025705 ] [-0.26815565 0.96310797 -0.02271714] [-0.00361664 0.02257457 0.99973916]] t_gt: [-0.78419868 0.61725913 -0.06343177] Pose Error in degrees for R and t: 179.47467518571352 38.25073853791122 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-9.91887698e-01 -1.27082557e-01 -2.96954777e-03] [ 1.27085052e-01 -9.91891600e-01 -6.66539560e-04] [-2.86076394e-03 -1.03851752e-03 9.99995369e-01]] t_estimated: [[0.97348258] [0.22875345] [0.00187805]] R_gt: [[ 9.22671728e-01 3.85500543e-01 -8.18058524e-03] [-3.85484560e-01 9.22707061e-01 3.51627699e-03] [ 8.90270476e-03 -9.07214080e-05 9.99960728e-01]] t_gt: [-0.76184521 0.64756828 -0.01572258] Pose Error in degrees for R and t: 164.6268154653917 53.59144320618396 Number of keypoints: Image1: 610 Image2: 610 R_estimated: [[ 9.98909962e-01 4.66778251e-02 2.60525526e-04] [-4.66778393e-02 9.98909994e-01 4.86429605e-05] [-2.57971004e-04 -6.07507064e-05 9.99999965e-01]] t_estimated: [[-0.79901322] [ 0.60127386] [ 0.00690098]] R_gt: [[ 0.99960191 -0.00615944 -0.02754483] [ 0.00550586 0.99970287 -0.02373673] [ 0.02768435 0.02357613 0.99933862]] t_gt: [-0.6888236 0.08683496 -0.71970949] Pose Error in degrees for R and t: 3.6681536540345596 53.300078796507385 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.99999966e-01 1.97496435e-05 2.59104707e-04] [-1.96727074e-05 9.99999956e-01 -2.96929856e-04] [-2.59110559e-04 2.96924749e-04 9.99999922e-01]] t_estimated: [[0.99894782] [0.04584543] [0.00120646]] R_gt: [[ 0.99516043 -0.09710521 0.01506056] [ 0.09797275 0.9923038 -0.07572469] [-0.00759106 0.07683354 0.99701446]] t_gt: [-0.08100506 -0.37234789 -0.92455136] Pose Error in degrees for R and t: 7.131918131770751 84.3123241575791 Number of keypoints: Image1: 486 Image2: 486 R_estimated: [[ 9.97647479e-01 6.85529087e-02 7.36668433e-05] [-6.85528847e-02 9.97647442e-01 -2.88873163e-04] [-9.32966334e-05 2.83143508e-04 9.99999956e-01]] t_estimated: [[ 9.59042621e-01] [-2.83261627e-01] [ 3.18230038e-04]] R_gt: [[ 0.99111442 -0.13296549 0.00370541] [ 0.13275597 0.9870384 -0.09017476] [ 0.0083333 0.08986453 0.99591847]] t_gt: [ 0.16568978 -0.35867381 -0.9186403 ] Pose Error in degrees for R and t: 12.676068071264519 74.91749169051624 Number of keypoints: Image1: 410 Image2: 410 R_estimated: [[ 9.98252779e-01 5.90879443e-02 6.48167892e-05] [-5.90879364e-02 9.98252775e-01 -1.16636735e-04] [-7.15953645e-05 1.12603055e-04 9.99999991e-01]] t_estimated: [[-0.56707926] [ 0.82366252] [ 0.00107608]] R_gt: [[ 0.999487 -0.01547692 -0.02804988] [ 0.01489068 0.9996685 -0.02101868] [ 0.02836586 0.02058967 0.99938563]] t_gt: [-0.62021159 -0.04315182 -0.78324677] Pose Error in degrees for R and t: 4.7070108207038555 71.61964040935383 Number of keypoints: Image1: 298 Image2: 298 R_estimated: [[ 9.99999512e-01 -9.77829891e-04 -1.43269687e-04] [ 9.77841747e-04 9.99999518e-01 8.27081879e-05] [ 1.43188743e-04 -8.28482425e-05 9.99999986e-01]] t_estimated: [[ 0.92158681] [-0.388171 ] [ 0.00101372]] R_gt: [[ 0.99435461 -0.10449826 0.01843049] [ 0.10564826 0.99117886 -0.0800174 ] [-0.00990651 0.08151245 0.99662301]] t_gt: [ 0.04308094 -0.3886683 -0.92037003] Pose Error in degrees for R and t: 7.618934881350112 79.06824814896953 Number of keypoints: Image1: 478 Image2: 478 R_estimated: [[ 9.90287454e-01 1.39035018e-01 1.46351013e-04] [-1.39034953e-01 9.90287399e-01 -3.85736283e-04] [-1.98560415e-04 3.61641896e-04 9.99999915e-01]] t_estimated: [[ 8.59575689e-01] [-5.11008333e-01] [-3.44587018e-04]] R_gt: [[ 0.99099752 -0.1338337 0.00355232] [ 0.13366187 0.98750639 -0.08346507] [ 0.00766238 0.08318792 0.99650484]] t_gt: [ 0.21613283 -0.39933863 -0.89096311] Pose Error in degrees for R and t: 16.39651079154914 67.03586142907484 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99988759e-01 4.72404187e-03 -4.07573260e-04] [-4.72397277e-03 9.99988827e-01 1.70347082e-04] [ 4.08373433e-04 -1.68419802e-04 9.99999902e-01]] t_estimated: [[-9.99998801e-01] [ 2.01417350e-04] [-1.53564105e-03]] R_gt: [[ 0.98100609 0.19368261 -0.01073187] [-0.19395492 0.980258 -0.03841364] [ 0.00307976 0.03976603 0.99920483]] t_gt: [-0.79048522 0.58839711 -0.17006455] Pose Error in degrees for R and t: 11.146759885138554 37.733678029364526 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99312274e-01 3.70805353e-02 -1.09726175e-04] [-3.70805281e-02 9.99312279e-01 6.64090208e-05] [ 1.12113196e-04 -6.22946451e-05 9.99999992e-01]] t_estimated: [[-9.93998823e-01] [ 1.09389421e-01] [-5.43553373e-04]] R_gt: [[ 9.61194058e-01 2.75873182e-01 -2.13087524e-04] [-2.75806692e-01 9.60944420e-01 -2.27088631e-02] [-6.05987416e-03 2.18859807e-02 9.99742110e-01]] t_gt: [-0.78468563 0.61738231 -0.05574535] Pose Error in degrees for R and t: 13.950143974011725 32.05467964376992 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99967328e-01 -8.08208358e-03 -1.48112112e-04] [ 8.08210734e-03 9.99967326e-01 1.60537224e-04] [ 1.46809798e-04 -1.61729037e-04 9.99999976e-01]] t_estimated: [[-9.99692757e-01] [-2.47858247e-02] [-2.32862440e-04]] R_gt: [[ 0.92330542 0.3839526 -0.00933654] [-0.38390716 0.92335035 0.00625703] [ 0.01102344 -0.00219214 0.99993716]] t_gt: [-0.76235412 0.64706622 -0.0110224 ] Pose Error in degrees for R and t: 23.04970908705284 41.74767538030063 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99971467e-01 7.55417194e-03 -4.69905650e-06] [-7.55416943e-03 9.99971385e-01 4.03464994e-04] [ 7.74676597e-06 -4.03417984e-04 9.99999919e-01]] t_estimated: [[-0.83879213] [ 0.5444478 ] [ 0.00208589]] R_gt: [[ 0.99600623 0.08927765 0.00109387] [-0.08925949 0.99594194 -0.01146436] [-0.00211308 0.01132034 0.99993398]] t_gt: [-0.71290431 0.69686693 -0.07838321] Pose Error in degrees for R and t: 4.738350024960105 12.252271066148786 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.44586788 -0.81752817 0.36448527] [-0.84813136 0.51603117 0.1199376 ] [-0.28613813 -0.25565507 -0.92345301]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.97026628 0.2417151 -0.01250687] [-0.24198547 0.96983814 -0.02926765] [ 0.0050545 0.03142362 0.9994927 ]] t_gt: [-0.73952751 0.66475932 -0.10580222] Pose Error in degrees for R and t: 158.83194779363274 77.89097709417919 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99993465e-01 -3.60993244e-03 -1.95793587e-04] [ 3.60993795e-03 9.99993484e-01 2.77768308e-05] [ 1.95692039e-04 -2.84834520e-05 9.99999980e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 9.30003097e-01 3.67548898e-01 6.92053940e-04] [-3.67223164e-01 9.29255850e-01 -4.03542941e-02] [-1.54748199e-02 3.72751904e-02 9.99185292e-01]] t_gt: [-0.73026115 0.68042627 -0.06114529] Pose Error in degrees for R and t: 21.892183402798807 43.26471479109229 Number of keypoints: Image1: 367 Image2: 367 R_estimated: [[ 9.99924576e-01 1.22810911e-02 -1.32793446e-04] [-1.22810937e-02 9.99924584e-01 -1.90918654e-05] [ 1.32548962e-04 2.07212742e-05 9.99999991e-01]] t_estimated: [[-0.87571118] [ 0.48279388] [ 0.00632525]] R_gt: [[ 0.9999177 0.01186635 -0.00482623] [-0.01197476 0.99965966 -0.02314152] [ 0.00455073 0.02319785 0.9997199 ]] t_gt: [-0.88037761 0.33586232 -0.33486082] Pose Error in degrees for R and t: 1.3541967942723838 21.41022246563474 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 8.44148361e-02 9.96429285e-01 1.67792732e-03] [ 9.96430094e-01 -8.44165192e-02 9.58772029e-04] [ 1.09699331e-03 1.59100269e-03 -9.99998133e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.9987448 -0.05004941 -0.00179108] [ 0.04992127 0.99775977 -0.04452889] [ 0.0040166 0.04438373 0.99900605]] t_gt: [-0.74576999 -0.11916193 -0.65545981] Pose Error in degrees for R and t: 178.20722708001225 41.707338260872255 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.97692820e-01 6.78898557e-02 6.73241170e-05] [-6.78898311e-02 9.97692773e-01 -3.18403584e-04] [-8.87851583e-05 3.13098347e-04 9.99999947e-01]] t_estimated: [[ 9.27997907e-01] [-3.72585224e-01] [ 3.69435925e-04]] R_gt: [[ 0.99261745 -0.12045292 0.01419944] [ 0.12125862 0.98810986 -0.09452684] [-0.00264359 0.09555137 0.99542107]] t_gt: [-0.14594533 -0.30819185 -0.94006263] Pose Error in degrees for R and t: 12.14592211491043 88.79919171977988 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99866371e-01 -1.63474404e-02 4.63842365e-05] [ 1.63474447e-02 9.99866367e-01 -9.27729688e-05] [-4.48614375e-05 9.35188353e-05 9.99999995e-01]] t_estimated: [[ 0.99981235] [ 0.01926969] [-0.00198566]] R_gt: [[ 0.99895216 -0.04382571 0.01321565] [ 0.04370304 0.99899985 0.00944998] [-0.01361721 -0.00886144 0.99986804]] t_gt: [ 0.05643847 -0.91346427 0.40298602] Pose Error in degrees for R and t: 1.82686068022465 87.82077349355731 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.86022333e-01 1.66612910e-01 3.12150102e-04] [-1.66612848e-01 9.86022369e-01 -2.14748904e-04] [-3.43566923e-04 1.59738997e-04 9.99999928e-01]] t_estimated: [[0.71393802] [0.70020844] [0.00080762]] R_gt: [[ 0.98475382 -0.17390334 0.00422578] [ 0.17385287 0.98471774 0.01034511] [-0.00596097 -0.0094514 0.99993789]] t_gt: [ 0.54849346 -0.83243688 0.07876398] Pose Error in degrees for R and t: 19.614951195290992 78.97569483584947 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99825557e-01 1.86774562e-02 8.58590450e-05] [-1.86774569e-02 9.99825561e-01 7.84835928e-06] [-8.56974805e-05 -9.45061880e-06 9.99999996e-01]] t_estimated: [[ 9.99075943e-01] [-4.29764372e-02] [-5.35402307e-04]] R_gt: [[ 0.94945226 -0.31384207 -0.00669975] [ 0.31387481 0.94945356 0.00459193] [ 0.00491911 -0.00646096 0.99996712]] t_gt: [ 0.69343666 -0.72049252 -0.00601058] Pose Error in degrees for R and t: 19.367948964569297 43.63393351939945 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.97699219e-01 -6.77957622e-02 6.33041550e-05] [ 6.77957527e-02 9.97699211e-01 1.41188624e-04] [-7.27304959e-05 -1.36572027e-04 9.99999988e-01]] t_estimated: [[0.96839079] [0.24943421] [0.00136099]] R_gt: [[ 0.99966131 -0.02576565 -0.00392246] [ 0.02559395 0.99892356 -0.03868862] [ 0.00491528 0.03857566 0.99924387]] t_gt: [ 0.63010973 -0.02667557 -0.77604777] Pose Error in degrees for R and t: 3.291326724578326 52.95210137691218 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-4.09931158e-01 9.12116443e-01 -1.99073671e-04] [-9.12113436e-01 -4.09930349e-01 -2.48770655e-03] [-2.35068439e-03 -8.38210657e-04 9.99996886e-01]] t_estimated: [[0.38921631] [0.92114526] [0.00144154]] R_gt: [[ 0.99639238 -0.08081411 0.0259102 ] [ 0.07890469 0.99457756 0.06774634] [-0.03124508 -0.0654571 0.99736642]] t_gt: [ 0.62242183 -0.46492009 0.62963511] Pose Error in degrees for R and t: 118.8332340479884 79.33335432863971 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.11477470e-01 4.11349944e-01 -2.11420577e-04] [-4.11349686e-01 9.11477291e-01 7.63798114e-04] [ 5.06893366e-04 -6.09216985e-04 9.99999686e-01]] t_estimated: [[-0.80422998] [-0.59431677] [-0.00131196]] R_gt: [[ 0.97813602 -0.17869495 0.10639135] [ 0.1479362 0.95740536 0.2479725 ] [-0.14617166 -0.22681159 0.96290755]] t_gt: [ 0.45053201 -0.32159928 0.8328234 ] Pose Error in degrees for R and t: 37.20374652832222 80.07888475945295 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.98135459e-01 -6.10377151e-02 -4.80942972e-05] [ 6.10377187e-02 9.98135457e-01 7.58717287e-05] [ 4.33735864e-05 -7.86658289e-05 9.99999996e-01]] t_estimated: [[0.64540402] [0.76384097] [0.0007862 ]] R_gt: [[ 0.99762 0.04633837 0.05105118] [-0.04398414 0.99795856 -0.04630107] [-0.05309318 0.04394482 0.9976223 ]] t_gt: [-0.73206096 0.62584262 0.26908691] Pose Error in degrees for R and t: 7.262402811776549 89.66878839817284 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.53269267 -0.84627252 0.00783168] [-0.84626062 -0.53254086 0.0155946 ] [-0.00902659 -0.01493477 -0.99984772]] t_estimated: [[0.46647818] [0.88448413] [0.00927005]] R_gt: [[ 0.99451237 0.03041234 0.10009987] [-0.02589487 0.99860063 -0.04612572] [-0.10136194 0.04328058 0.99390738]] t_gt: [-0.41192788 0.27231428 0.86957481] Pose Error in degrees for R and t: 178.45438898055707 86.74595344019386 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[-6.63317884e-01 -7.48337108e-01 -9.78957312e-04] [-7.48337746e-01 6.63317414e-01 7.91129688e-04] [ 5.73277308e-05 1.25736118e-03 -9.99999208e-01]] t_estimated: [[8.75077883e-01] [4.83981622e-01] [6.98386180e-04]] R_gt: [[ 0.99679636 0.00506441 0.07981282] [-0.00184388 0.99918291 -0.04036321] [-0.07995172 0.04008609 0.99599218]] t_gt: [ 0.04527503 -0.04225665 0.99808043] Pose Error in degrees for R and t: 176.8008080015465 88.86175687829497 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.43866726e-01 3.30325666e-01 7.46542160e-04] [-3.30325293e-01 9.43866974e-01 -5.80586200e-04] [-8.96419012e-04 3.01394238e-04 9.99999553e-01]] t_estimated: [[-0.72218837] [-0.69169597] [-0.00080243]] R_gt: [[ 0.98958012 -0.13194239 0.05765575] [ 0.11883774 0.9744914 0.19037666] [-0.08130368 -0.18154123 0.98001675]] t_gt: [ 0.4471024 -0.42247603 0.78842466] Pose Error in degrees for R and t: 28.898763238684506 88.20635816423348 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.83141035e-01 1.82848831e-01 9.71563113e-05] [-1.82848421e-01 9.83139714e-01 -1.66050887e-03] [-3.99140334e-04 1.61474953e-03 9.99998617e-01]] t_estimated: [[0.91369504] [0.4063981 ] [0.00140137]] R_gt: [[ 0.97528623 -0.1829602 0.12386881] [ 0.13490857 0.93710294 0.32192777] [-0.17497694 -0.2972608 0.9386261 ]] t_gt: [ 0.37915269 -0.26629079 0.88618985] Pose Error in degrees for R and t: 28.3746848490626 76.14581599806291 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.39443665 0.91892199 0.0014509 ] [ 0.91892199 0.39443317 0.0022017 ] [ 0.0014509 0.0022017 -0.99999652]] t_estimated: [[-0.55025601] [-0.83499496] [-0.00131839]] R_gt: [[ 0.97610125 -0.16229559 0.14452731] [ 0.1091275 0.94116295 0.31985006] [-0.18793373 -0.29643379 0.93638055]] t_gt: [ 0.34970612 -0.19081032 0.91722247] Pose Error in degrees for R and t: 178.21570019225865 88.03371019233836 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.34002527e-01 -3.57265493e-01 -8.04084621e-04] [ 3.57266297e-01 9.34001593e-01 1.34803407e-03] [ 2.69410259e-04 -1.54633957e-03 9.99998768e-01]] t_estimated: [[-0.53734561] [-0.84336126] [-0.00121799]] R_gt: [[ 0.99801881 -0.00544583 0.06267762] [ 0.00706905 0.99964432 -0.02570171] [-0.06251624 0.0260941 0.99770336]] t_gt: [-0.72754995 -0.00108286 0.68605386] Pose Error in degrees for R and t: 20.944639285357823 66.98180624393261 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 9.81505934e-01 -1.91430838e-01 5.80052350e-04] [ 1.91431370e-01 9.81505418e-01 -1.07001755e-03] [-3.64490168e-04 1.16126879e-03 9.99999259e-01]] t_estimated: [[0.94702042] [0.32117188] [0.00097031]] R_gt: [[ 0.99458799 -0.01467473 0.10286102] [ 0.01650906 0.99971912 -0.01700085] [-0.1025827 0.01860625 0.99455024]] t_gt: [-0.64048991 -0.16790651 0.74938647] Pose Error in degrees for R and t: 11.751589218674695 48.71867705060706 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-0.85922449 0.51144937 -0.01236209] [-0.51154272 -0.85923714 0.00596452] [-0.00757142 0.0114486 0.9999058 ]] t_estimated: [[0.77499647] [0.63196021] [0.00260066]] R_gt: [[ 9.88337505e-01 -1.21126807e-01 9.22950513e-02] [ 1.21588528e-01 9.92579997e-01 6.24546484e-04] [-9.16860768e-02 1.06050231e-02 9.95731359e-01]] t_gt: [-0.013732 -0.82149306 0.57005313] Pose Error in degrees for R and t: 156.26953000356218 58.108615747847956 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999866e-01 5.14734984e-04 -5.10876823e-05] [-5.14736389e-04 9.99999867e-01 -2.74866996e-05] [ 5.10735272e-05 2.75129926e-05 9.99999998e-01]] t_estimated: [[-4.67432566e-02] [ 9.98906823e-01] [-4.77171754e-04]] R_gt: [[ 0.99432598 0.00383969 -0.10630729] [-0.00700748 0.99954258 -0.02944813] [ 0.10614599 0.03002675 0.99389637]] t_gt: [ 0.2187021 0.13839707 -0.96592735] Pose Error in degrees for R and t: 6.336230545032247 82.61801161590668 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 2.80322580e-01 9.59905789e-01 3.56197737e-04] [ 9.59896459e-01 -2.80321458e-01 4.32061422e-03] [ 4.24723247e-03 -8.69252777e-04 -9.99990603e-01]] t_estimated: [[0.00900864] [0.99995879] [0.00112608]] R_gt: [[ 0.98114266 0.02176789 -0.19205639] [-0.02463246 0.99961834 -0.0125417 ] [ 0.1917099 0.0170357 0.98130331]] t_gt: [ 0.24532914 0.15949924 -0.95622885] Pose Error in degrees for R and t: 173.86475689953522 80.7567688010722 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.36540845 0.93052736 -0.02440268] [-0.93070785 -0.3647744 0.02688004] [ 0.01611114 0.03253395 0.99934077]] t_estimated: [[-0.10496693] [ 0.99404585] [-0.02923695]] R_gt: [[ 0.96318832 0.02996367 -0.26715351] [-0.03424002 0.99934943 -0.01136372] [ 0.26663941 0.02009301 0.96358656]] t_gt: [ 0.28926189 0.15009737 -0.94540909] Pose Error in degrees for R and t: 109.95701311162959 81.57691471896226 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 1.00000000e+00 1.11022302e-16 1.02424579e-15] [-5.55111512e-17 1.00000000e+00 -5.19847837e-16] [-7.91413376e-16 -1.05574187e-16 1.00000000e+00]] t_estimated: [[-9.30275283e-01] [-3.66862005e-01] [-4.07441001e-04]] R_gt: [[ 0.9897524 0.14222102 0.01281912] [-0.14246174 0.98958872 0.02050102] [-0.00976964 -0.0221156 0.99970784]] t_gt: [-0.59530142 0.79546392 0.11337269] Pose Error in degrees for R and t: 8.300517392053598 74.81583210703772 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99909118e-01 -1.34709899e-02 -5.35907624e-04] [ 1.34715265e-02 9.99908744e-01 1.01064206e-03] [ 5.22244371e-04 -1.01776970e-03 9.99999346e-01]] t_estimated: [[-9.92699863e-01] [-1.20608395e-01] [-7.73130734e-04]] R_gt: [[ 0.98390176 0.17844196 0.00988876] [-0.1786477 0.98354206 0.02703319] [-0.00490247 -0.02836423 0.99958573]] t_gt: [-0.56968337 0.81278653 0.12181508] Pose Error in degrees for R and t: 11.17381990093909 62.134242712165516 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 1.00000000e+00 2.77555756e-16 3.06043168e-16] [-3.33066907e-16 1.00000000e+00 -3.55157527e-16] [-6.44991872e-16 5.00440618e-16 1.00000000e+00]] t_estimated: [[-7.53244018e-01] [ 6.57741108e-01] [ 2.90645700e-04]] R_gt: [[ 0.96971473 0.24191301 -0.03366399] [-0.24161017 0.97028891 0.01282022] [ 0.03576634 -0.00429735 0.9993511 ]] t_gt: [-0.53047125 0.84657474 -0.04372025] Pose Error in degrees for R and t: 14.145705934408866 16.98356174777635 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 7.95627913e-01 6.05785368e-01 5.59078718e-04] [-6.05782173e-01 7.95626155e-01 -2.64197143e-03] [-2.04528529e-03 1.76334629e-03 9.99996354e-01]] t_estimated: [[0.50637519] [0.8623127 ] [0.00098325]] R_gt: [[ 0.99140259 -0.12688671 -0.03197429] [ 0.12584251 0.99150804 -0.03279775] [ 0.03586401 0.0284913 0.99894967]] t_gt: [ 0.81654547 -0.50762852 -0.27489412] Pose Error in degrees for R and t: 44.620492519740374 88.5945970943434 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-9.53351361e-01 -3.01860089e-01 -1.29222711e-03] [ 3.01861942e-01 -9.53350269e-01 -1.62237043e-03] [-7.42216185e-04 -1.93676324e-03 9.99997849e-01]] t_estimated: [[0.81192361] [0.5837628 ] [0.00102775]] R_gt: [[ 0.9650142 -0.26110535 -0.02393264] [ 0.25921569 0.96377916 -0.06274709] [ 0.03944889 0.05434675 0.99774257]] t_gt: [ 0.86736648 -0.44677735 -0.21923819] Pose Error in degrees for R and t: 147.3526361348947 63.69189481756469 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.07270514 0.99735017 0.00256749] [-0.99735086 0.07269881 0.00247734] [ 0.00228412 -0.0027408 0.99999364]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94196921 -0.3354242 0.01366318] [ 0.33534111 0.93828756 -0.08463844] [ 0.01556926 0.08430782 0.99631774]] t_gt: [ 0.87109884 -0.4368585 -0.22436901] Pose Error in degrees for R and t: 105.55565153297309 64.42767755883617 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-2.00558948e-01 -9.79679660e-01 -1.96774032e-03] [ 9.79681634e-01 -2.00558398e-01 -4.74844270e-04] [ 7.05484259e-05 -2.02299332e-03 9.99997951e-01]] t_estimated: [[ 9.70415053e-01] [-2.41442347e-01] [ 4.67917762e-04]] R_gt: [[ 0.99310596 -0.11716256 -0.00374051] [ 0.11668562 0.99110679 -0.06396251] [ 0.01120191 0.06308512 0.99794496]] t_gt: [ 0.81633321 -0.37550469 -0.43885798] Pose Error in degrees for R and t: 94.90479834537538 28.03758778697724 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 8.87595992e-01 4.60622504e-01 5.13970977e-04] [-4.60622247e-01 8.87596106e-01 -5.45970310e-04] [-7.07684848e-04 2.47854592e-04 9.99999719e-01]] t_estimated: [[0.63192832] [0.77502614] [0.00104451]] R_gt: [[ 0.96965763 -0.24403922 -0.01445318] [ 0.24285762 0.96836214 -0.05740098] [ 0.02800477 0.05214944 0.99824623]] t_gt: [ 0.86429746 -0.45643098 -0.21133068] Pose Error in degrees for R and t: 41.66167037948867 78.91836841671702 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 8.87814966e-01 4.60199947e-01 7.72001726e-04] [-4.60200096e-01 8.87815224e-01 1.72549242e-05] [-6.77454170e-04 -3.70594448e-04 9.99999702e-01]] t_estimated: [[0.57862424] [0.8155937 ] [0.00095168]] R_gt: [[ 0.94104399 -0.33789609 -0.01617674] [ 0.3376845 0.94114855 -0.01447707] [ 0.02011705 0.00816173 0.99976421]] t_gt: [ 0.86881722 -0.49473727 -0.01979059] Pose Error in degrees for R and t: 47.161386493315604 84.30716754245063 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.96399376e-01 8.47832799e-02 2.81983032e-04] [-8.47831724e-02 9.96399355e-01 -3.73543863e-04] [-3.12637985e-04 3.48291456e-04 9.99999890e-01]] t_estimated: [[ 9.99999772e-01] [-6.18492705e-04] [-2.69515284e-04]] R_gt: [[ 0.99659649 -0.08192048 -0.00924464] [ 0.08218533 0.99606063 0.03328246] [ 0.0064823 -0.03392911 0.99940368]] t_gt: [ 0.67786652 -0.70748005 0.19992239] Pose Error in degrees for R and t: 9.778472484828502 47.29295323985357 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.9926951 -0.11898413 0.01998033] [ 0.120209 0.98955652 -0.07954678] [-0.01030686 0.08136752 0.99663087]] t_estimated: [[-0.67719918] [-0.73363244] [-0.05643326]] R_gt: [[ 9.95121890e-01 -9.67343172e-02 1.93362605e-02] [ 9.67554419e-02 9.95307660e-01 -1.69979664e-04] [-1.92281332e-02 2.04023559e-03 9.99813352e-01]] t_gt: [ 0.65933121 -0.74336956 0.11262345] Pose Error in degrees for R and t: 4.7553808380514235 84.6922217162858 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.63524943e-01 -2.67618420e-01 -2.56731046e-04] [ 2.67618508e-01 9.63524863e-01 4.14655328e-04] [ 1.36397342e-04 -4.68236731e-04 9.99999881e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99812811 -0.0547718 0.02719676] [ 0.0560283 0.99728529 -0.04777248] [-0.02450572 0.04920737 0.99848789]] t_gt: [ 0.56619782 -0.8070543 -0.16758101] Pose Error in degrees for R and t: 12.745766429953777 55.653983241574245 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99997387e-01 -2.28432263e-03 -8.71073652e-05] [ 2.28479936e-03 9.99979780e-01 5.93453385e-03] [ 7.35492139e-05 -5.93471737e-03 9.99982387e-01]] t_estimated: [[0.71151974] [0.70259021] [0.01032687]] R_gt: [[ 0.998146 -0.02089712 -0.05716355] [ 0.02075486 0.99978006 -0.00309688] [ 0.05721625 0.00190563 0.99835955]] t_gt: [ 0.78155518 -0.14552707 -0.60662457] Pose Error in degrees for R and t: 3.4763362739125534 63.41137825977655 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97383987e-01 -7.22790245e-02 -9.61720533e-04] [ 7.22804881e-02 9.97383084e-01 1.58573970e-03] [ 8.44588073e-04 -1.65110501e-03 9.99998280e-01]] t_estimated: [[0.74401668] [0.66816023] [0.00103913]] R_gt: [[ 0.9933292 -0.00350191 -0.11526462] [ 0.00521529 0.99988001 0.01456402] [ 0.11520005 -0.01506851 0.9932285 ]] t_gt: [ 0.71006033 0.05831481 -0.70172196] Pose Error in degrees for R and t: 7.6698712535893865 55.491312363520755 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.99097747 -0.13400416 -0.00255787] [ 0.13401216 0.99097431 0.00326362] [ 0.00209744 -0.00357696 0.9999914 ]] t_estimated: [[7.58322570e-01] [6.51879127e-01] [6.95708780e-04]] R_gt: [[ 0.99079857 0.04339038 -0.12820341] [-0.04112767 0.99894871 0.02024554] [ 0.12894731 -0.01478585 0.99154102]] t_gt: [ 0.45755196 0.4490881 -0.76744126] Pose Error in degrees for R and t: 12.483670123995074 50.26861175971147 Number of keypoints: Image1: 447 Image2: 447 R_estimated: [[ 9.99850309e-01 1.73017572e-02 9.84004124e-05] [-1.73017566e-02 9.99850313e-01 -7.17557298e-06] [-9.85098331e-05 5.47199887e-06 9.99999995e-01]] t_estimated: [[9.57132918e-01] [2.89648469e-01] [5.84077332e-04]] R_gt: [[ 0.99470024 -0.09688974 -0.03441973] [ 0.09722445 0.99522889 0.0081634 ] [ 0.03346528 -0.01146661 0.99937465]] t_gt: [ 0.98618686 -0.16369608 -0.02527978] Pose Error in degrees for R and t: 6.869912290922682 26.300466419588087 Number of keypoints: Image1: 338 Image2: 338 R_estimated: [[ 7.56337896e-01 -6.54180513e-01 -9.18205232e-04] [ 6.54181125e-01 7.56337556e-01 7.46485413e-04] [ 2.06136891e-04 -1.16526774e-03 9.99999300e-01]] t_estimated: [[-0.08565115] [-0.99632439] [-0.00125958]] R_gt: [[ 0.99049038 -0.1028537 -0.09138836] [ 0.10828763 0.99250576 0.0566207 ] [ 0.08488002 -0.0659787 0.99420503]] t_gt: [ 0.96111618 -0.17490854 0.2136883 ] Pose Error in degrees for R and t: 35.29558184959644 84.73997884543002 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[ 0.84244584 -0.53823882 0.02416567] [ 0.53855158 0.84254849 -0.00861679] [-0.01572286 0.02027363 0.99967083]] t_estimated: [[-0.15255223] [-0.98827315] [-0.00663271]] R_gt: [[ 0.98398376 -0.08973019 -0.1540307 ] [ 0.10185228 0.99214085 0.07268493] [ 0.14629864 -0.08720914 0.98538936]] t_gt: [ 0.97730854 -0.17429223 0.12037541] Pose Error in degrees for R and t: 29.26846816110416 88.71879850931295 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99995546e-01 2.61353843e-03 -1.44139035e-03] [-2.61287258e-03 9.99996479e-01 4.63635816e-04] [ 1.44259700e-03 -4.59867581e-04 9.99998854e-01]] t_estimated: [[-0.51880368] [-0.85489191] [-0.0015999 ]] R_gt: [[ 0.98450926 0.1753204 0.00197178] [-0.1752253 0.98423826 -0.02389931] [-0.00613067 0.02318376 0.99971264]] t_gt: [-0.33990139 0.93632277 -0.08812902] Pose Error in degrees for R and t: 10.046370721766797 51.3932490865535 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99998379e-01 1.61094342e-03 -8.03706618e-04] [-1.61066135e-03 9.99998641e-01 3.51485521e-04] [ 8.04271749e-04 -3.50190452e-04 9.99999615e-01]] t_estimated: [[-0.38263465] [-0.92389924] [-0.00096139]] R_gt: [[ 0.96098216 0.27638913 0.01103345] [-0.27243128 0.9526189 -0.13526748] [-0.04789669 0.12698428 0.99074717]] t_gt: [-0.26191904 0.94917363 -0.17455039] Pose Error in degrees for R and t: 17.72197204164017 39.05389209268664 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99999007e-01 1.33413640e-03 -4.54398104e-04] [-1.33408358e-03 9.99999103e-01 1.16526667e-04] [ 4.54553159e-04 -1.15920346e-04 9.99999890e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 9.58409560e-01 2.85397530e-01 3.18071569e-04] [-2.78859000e-01 9.36687839e-01 -2.11786933e-01] [-6.07408849e-02 2.02889215e-01 9.77315900e-01]] t_gt: [-0.21764426 0.93477961 -0.28074555] Pose Error in degrees for R and t: 20.52094351376824 38.68536315546023 Number of keypoints: Image1: 466 Image2: 466 R_estimated: [[ 0.98329971 0.18197425 -0.002654 ] [-0.1819695 0.98330227 0.00193545] [ 0.00296189 -0.00142018 0.99999461]] t_estimated: [[-0.97989589] [-0.19947881] [-0.00349963]] R_gt: [[ 0.99716444 -0.07154812 -0.02331116] [ 0.07221687 0.9969603 0.02925215] [ 0.02114751 -0.03085225 0.99930015]] t_gt: [ 0.92413884 -0.22621809 0.30788437] Pose Error in degrees for R and t: 14.739704129393532 30.513266889679112 Number of keypoints: Image1: 404 Image2: 404 R_estimated: [[-1.12658452e-01 9.93632844e-01 -1.35802592e-03] [-9.93625360e-01 -1.12663016e-01 -3.96091053e-03] [-4.08869009e-03 9.03138952e-04 9.99991233e-01]] t_estimated: [[0.35531898] [0.93474439] [0.00116117]] R_gt: [[ 0.99035511 -0.12184145 -0.06596784] [ 0.12443261 0.99154984 0.03669018] [ 0.06093945 -0.04454463 0.99714662]] t_gt: [ 0.97548412 -0.16155006 0.14944001] Pose Error in degrees for R and t: 103.62685150496802 78.71008478595297 Number of keypoints: Image1: 430 Image2: 430 R_estimated: [[ 9.34133069e-01 -3.56924240e-01 -7.05102720e-04] [ 3.56924781e-01 9.34132683e-01 9.11855259e-04] [ 3.33196250e-04 -1.10346279e-03 9.99999336e-01]] t_estimated: [[9.84444826e-01] [1.75691414e-01] [9.54844642e-04]] R_gt: [[ 0.98557766 -0.11268903 -0.12624047] [ 0.12453848 0.98810153 0.09025944] [ 0.11456699 -0.10467934 0.98788478]] t_gt: [ 0.93462664 -0.18207493 0.30548612] Pose Error in degrees for R and t: 16.60853113572063 27.32824234154812 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.999822 -0.00919116 0.0164767 ] [ 0.0067798 0.99000787 0.14084902] [-0.01760663 -0.14071224 0.98989397]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 9.98326042e-01 8.45286438e-04 -5.78355125e-02] [-4.01282040e-05 9.99903085e-01 1.39137064e-02] [ 5.78408370e-02 -1.38873799e-02 9.98229080e-01]] t_gt: [ 0.72187725 0.04144438 -0.69077899] Pose Error in degrees for R and t: 8.479822232057293 65.71600388997096 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.93721703e-01 1.11879914e-01 2.50674672e-04] [-1.11879975e-01 9.93721697e-01 2.45616631e-04] [-2.21621292e-04 -2.72120053e-04 9.99999938e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.99414318 0.01400814 -0.10715927] [-0.01149446 0.99964547 0.02403523] [ 0.10745768 -0.02266143 0.99395138]] t_gt: [ 0.61209587 0.19447764 -0.76649663] Pose Error in degrees for R and t: 8.498981984127393 78.64663064451841 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 3.91353616e-15 4.12945502e-16] [-3.92741395e-15 1.00000000e+00 1.63720965e-15] [-3.19812536e-16 -8.70699048e-16 1.00000000e+00]] t_estimated: [[ 9.92616351e-01] [-1.21296182e-01] [-1.27011708e-04]] R_gt: [[ 0.99910912 0.0346476 -0.02411659] [-0.03417588 0.99922162 0.01968701] [ 0.02477963 -0.01884493 0.99951598]] t_gt: [0.27043738 0.9530068 0.13653445] Pose Error in degrees for R and t: 2.6589558351666978 81.20920127206392 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999980e-01 -1.98455324e-04 -3.15642174e-05] [ 1.98456503e-04 9.99999980e-01 3.73321547e-05] [ 3.15568080e-05 -3.73384181e-05 9.99999999e-01]] t_estimated: [[-0.9999832 ] [-0.00567461] [-0.0011829 ]] R_gt: [[ 0.99516191 0.08529719 -0.04876733] [-0.08845506 0.99384126 -0.06675584] [ 0.04277321 0.07074659 0.99657665]] t_gt: [-0.37801433 0.74155497 -0.55425751] Pose Error in degrees for R and t: 6.893231397737845 68.00933206477157 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 1.43048951e-01 9.89708169e-01 3.83889361e-03] [-9.89715601e-01 1.43047232e-01 7.20067145e-04] [ 1.63513230e-04 -3.90241775e-03 9.99992372e-01]] t_estimated: [[0.0128524 ] [0.99991658] [0.00128524]] R_gt: [[ 0.99434719 0.09123642 -0.05431742] [-0.09554339 0.99197196 -0.08284527] [ 0.04632358 0.0875665 0.99508109]] t_gt: [-0.34276146 0.7645223 -0.54591229] Pose Error in degrees for R and t: 76.60080228600854 40.5929314884469 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-7.39981149e-02 9.96917009e-01 -2.60913232e-02] [ 9.97256760e-01 7.40198381e-02 -1.33562101e-04] [ 1.79812519e-03 -2.60296318e-02 -9.99659555e-01]] t_estimated: [[0.68531423] [0.72824575] [0.00159006]] R_gt: [[ 0.99743453 0.04719973 -0.05381972] [-0.05175393 0.99489414 -0.08664689] [ 0.04945571 0.08920898 0.99478431]] t_gt: [-0.15752093 0.72168764 -0.67405794] Pose Error in degrees for R and t: 179.79419177408855 65.3834864230588 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.50662359 0.86205743 0.01376699] [ 0.86207818 -0.50627696 -0.02246872] [-0.01239941 0.02325141 -0.99965275]] t_estimated: [[-0.44387859] [ 0.89597836] [-0.01394909]] R_gt: [[ 0.99369306 -0.11087162 0.01682784] [ 0.11167238 0.99203674 -0.05824373] [-0.01023519 0.05975515 0.99816073]] t_gt: [ 0.81476213 -0.45681112 -0.35705221] Pose Error in degrees for R and t: 175.16457633348853 40.00683293473522 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 8.04616742e-01 5.93794310e-01 4.64977411e-04] [-5.93793886e-01 8.04616793e-01 -7.97957384e-04] [-8.47951187e-04 3.65949127e-04 9.99999574e-01]] t_estimated: [[0.79079241] [0.6120836 ] [0.00101849]] R_gt: [[ 0.97214443 -0.23437487 -0.002223 ] [ 0.23312 0.96783426 -0.09461419] [ 0.02432765 0.09146057 0.99551143]] t_gt: [ 0.86040267 -0.38763345 -0.33082857] Pose Error in degrees for R and t: 50.24761510347748 63.71740258921388 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 7.09520706e-01 7.04683580e-01 1.19160326e-03] [-7.04682102e-01 7.09521680e-01 -1.45629829e-03] [-1.87169784e-03 1.93572301e-04 9.99998230e-01]] t_estimated: [[0.0119039 ] [0.9999277 ] [0.00170056]] R_gt: [[ 0.92998174 -0.36759995 0.002371 ] [ 0.36685831 0.92765513 -0.06980178] [ 0.02345983 0.06578403 0.99755763]] t_gt: [ 0.89518849 -0.41838594 -0.15359289] Pose Error in degrees for R and t: 66.48114216650494 65.92321007329956 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[-5.31863120e-01 -8.46830310e-01 -2.15925384e-04] [-8.46830262e-01 5.31863163e-01 -2.88681032e-04] [ 3.59306606e-04 2.93133549e-05 -9.99999935e-01]] t_estimated: [[0.96698078] [0.25484722] [0.00102761]] R_gt: [[ 0.99959373 0.02513223 -0.01348867] [-0.02566091 0.99884531 -0.04062103] [ 0.01245191 0.04095007 0.99908289]] t_gt: [-0.28576996 0.87114018 -0.39931231] Pose Error in degrees for R and t: 178.1997241789531 86.86224719271182 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 9.94331643e-01 -1.06322965e-01 -1.04360240e-04] [ 1.06322996e-01 9.94331582e-01 3.55175412e-04] [ 6.60053800e-05 -3.64258044e-04 9.99999931e-01]] t_estimated: [[0.12958641] [0.99156746] [0.00115702]] R_gt: [[ 0.99790362 -0.06247207 -0.01690786] [ 0.06041283 0.99285661 -0.10289206] [ 0.02321471 0.10165483 0.99454853]] t_gt: [ 0.53951738 0.6262947 -0.56273968] Pose Error in degrees for R and t: 6.53136047799264 46.34800254422412 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[-8.73075256e-01 4.87585337e-01 -3.67941021e-04] [-4.59281890e-01 -8.22647710e-01 -3.35128170e-01] [-1.63706268e-01 -2.92423124e-01 9.42172476e-01]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 9.93109643e-01 -1.15571967e-01 1.93990739e-02] [ 1.17188082e-01 9.78722058e-01 -1.68433849e-01] [ 4.80328121e-04 1.69546590e-01 9.85521577e-01]] t_gt: [ 0.64511062 0.5816097 -0.49554258] Pose Error in degrees for R and t: 157.44797603199234 38.718629720721374 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99911154e-01 1.33297678e-02 4.79895638e-05] [-1.33297685e-02 9.99911155e-01 1.51916908e-05] [-4.77827985e-05 -1.58300308e-05 9.99999999e-01]] t_estimated: [[0.75536514] [0.65530325] [0.00107734]] R_gt: [[ 0.99963063 0.01115816 0.02478962] [-0.01021618 0.99923346 -0.0377862 ] [-0.02519178 0.03751863 0.99897855]] t_gt: [-0.69865935 -0.15915356 -0.69752796] Pose Error in degrees for R and t: 2.5936487665708174 50.74386548408133 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.91436013 0.35780262 -0.18953322] [ 0.37812828 0.92196098 -0.08370759] [ 0.14479143 -0.14820675 -0.97829965]] t_estimated: [[0.90771343] [0.41894466] [0.0232747 ]] R_gt: [[ 0.99659787 0.05475581 0.06160093] [-0.0489129 0.99449651 -0.09265569] [-0.0663352 0.08932662 0.99379018]] t_gt: [-0.82123647 0.52934312 -0.21299418] Pose Error in degrees for R and t: 174.9555465246828 58.08643800256606 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.92358603e-01 -1.23387206e-01 -1.96758887e-05] [ 1.23387207e-01 9.92358598e-01 1.02976645e-04] [ 6.81953683e-06 -1.04617512e-04 9.99999995e-01]] t_estimated: [[9.06122575e-01] [4.23014536e-01] [7.62898811e-04]] R_gt: [[ 0.99303677 0.05839751 0.10231816] [-0.04918181 0.99469272 -0.09038262] [-0.10705242 0.08472083 0.99063701]] t_gt: [-0.78413345 0.4181531 0.45856594] Pose Error in degrees for R and t: 12.853690958993537 57.772230400036094 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.98634958e-01 5.22323482e-02 5.49806388e-05] [-5.22323615e-02 9.98634920e-01 2.76961575e-04] [-4.04392324e-05 -2.79455280e-04 9.99999960e-01]] t_estimated: [[0.44381657] [0.89611601] [0.00171644]] R_gt: [[ 0.99975401 -0.01171686 -0.01879712] [ 0.01192 0.99987118 0.01076335] [ 0.01866769 -0.01098426 0.99976523]] t_gt: [ 0.33570375 -0.94015497 0.05840913] Pose Error in degrees for R and t: 3.873852786787353 46.1004013823819 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-0.61684575 -0.78708001 -0.00252614] [ 0.78708044 -0.61684947 0.00105158] [-0.00238592 -0.00133961 0.99999626]] t_estimated: [[8.55041044e-01] [5.18559816e-01] [7.28314348e-04]] R_gt: [[ 0.99447812 -0.0802772 -0.06758447] [ 0.07750445 0.99607686 -0.0427019 ] [ 0.07074656 0.0372278 0.99679919]] t_gt: [ 0.61390258 -0.68837765 -0.3863416 ] Pose Error in degrees for R and t: 123.60676098366957 80.34788375097543 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.99098634 -0.13394782 -0.00201477] [ 0.13395096 0.9909868 0.0015161 ] [ 0.00179354 -0.00177231 0.99999682]] t_estimated: [[-0.38906098] [-0.92121125] [-0.00118256]] R_gt: [[ 0.97388341 -0.21689849 -0.06711665] [ 0.21179637 0.97438202 -0.07564241] [ 0.08180377 0.0594521 0.99487381]] t_gt: [ 0.77647266 -0.56199578 -0.28504554] Pose Error in degrees for R and t: 7.4623532257764 77.52822162264273 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.92580716e-01 -1.21433857e-01 6.11070824e-03] [-1.21587437e-01 -9.91380516e-01 4.87972146e-02] [ 1.32403135e-04 -4.91781595e-02 -9.98790014e-01]] t_estimated: [[0.04935803] [0.99849562] [0.02388053]] R_gt: [[ 0.99799787 0.05775364 -0.02576022] [-0.05697747 0.99792688 0.02991876] [ 0.02743458 -0.02839047 0.99922028]] t_gt: [-0.62648771 0.77202459 0.10719693] Pose Error in degrees for R and t: 175.6077364332305 42.055108830984544 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-8.99446879e-01 -4.36727819e-01 1.62519003e-02] [-4.36791517e-01 8.99562671e-01 -4.13689345e-04] [-1.44389332e-02 -7.47078377e-03 -9.99867844e-01]] t_estimated: [[0.99537121] [0.09479726] [0.01579954]] R_gt: [[ 0.99129278 0.09002944 -0.09609023] [-0.0902945 0.99591386 0.00159854] [ 0.09584061 0.00709254 0.99537125]] t_gt: [-0.40680343 0.75463896 -0.51481162] Pose Error in degrees for R and t: 175.50398877915586 70.03070542014831 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 8.53663728e-01 -5.20823955e-01 8.05216628e-04] [ 5.20823932e-01 8.53664083e-01 2.54764955e-04] [-8.20072206e-04 2.01892489e-04 9.99999643e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.98018778 0.08950824 -0.17669125] [-0.08957861 0.99595084 0.00760021] [ 0.17665637 0.00837888 0.98423667]] t_gt: [-0.16146297 0.59330145 -0.78862101] Pose Error in degrees for R and t: 37.92470436785825 79.19964318917341 Number of keypoints: Image1: 457 Image2: 457 R_estimated: [[ 9.98931487e-01 4.62140457e-02 3.81228852e-04] [-4.62139957e-02 9.98931553e-01 -1.38776942e-04] [-3.87234973e-04 1.21010548e-04 9.99999918e-01]] t_estimated: [[0.95047536] [0.31079558] [0.00164442]] R_gt: [[ 0.99360296 -0.10854908 0.03117125] [ 0.10770002 0.99379601 0.02772765] [-0.03398868 -0.02419268 0.99912865]] t_gt: [ 0.38548035 -0.80775543 0.44602249] Pose Error in degrees for R and t: 9.171997654142618 83.33429679395643 Number of keypoints: Image1: 518 Image2: 518 R_estimated: [[ 9.99722045e-01 2.35734274e-02 3.56585439e-04] [-2.35734564e-02 9.99722104e-01 7.72267220e-05] [-3.54665847e-04 -8.56112078e-05 9.99999933e-01]] t_estimated: [[0.37586536] [0.92667267] [0.0017321 ]] R_gt: [[ 0.9853751 -0.16667545 0.03544871] [ 0.16597616 0.98588682 0.0218551 ] [-0.03859127 -0.01565058 0.9991323 ]] t_gt: [ 0.43597302 -0.83332519 0.339848 ] Pose Error in degrees for R and t: 11.181757545760291 52.57200893260625 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 0.9673056 -0.25360561 0.00201796] [ 0.25360869 0.96730582 -0.00144666] [-0.0015851 0.00191114 0.99999692]] t_estimated: [[0.08024051] [0.99677238] [0.00250866]] R_gt: [[ 0.98053549 -0.18212513 0.07336942] [ 0.18309084 0.98307302 -0.00660123] [-0.07092608 0.01990677 0.99728284]] t_gt: [ 0.31135547 -0.86408309 0.39549739] Pose Error in degrees for R and t: 5.8402511190954725 33.35096577956237 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99999635e-01 -6.72654618e-04 5.26818798e-04] [ 6.72451004e-04 9.99999699e-01 3.86578152e-04] [-5.27078673e-04 -3.86223751e-04 9.99999787e-01]] t_estimated: [[0.67689084] [0.73607972] [0.00233094]] R_gt: [[ 0.9980337 -0.05835079 0.02287877] [ 0.05781181 0.99804917 0.02355938] [-0.02420766 -0.02219091 0.99946056]] t_gt: [ 0.60628036 -0.7231876 0.33079272] Pose Error in degrees for R and t: 3.7738777103665724 83.0405393925789 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-9.98440838e-01 3.28411031e-02 4.51370596e-02] [ 3.28652476e-02 9.99459770e-01 -2.07279558e-04] [-4.51194826e-02 1.27648427e-03 -9.98980782e-01]] t_estimated: [[0.99489776] [0.09884554] [0.02019924]] R_gt: [[ 0.99633634 -0.08550551 0.00157932] [ 0.08536101 0.99543622 0.04266845] [-0.00521998 -0.04237702 0.99908822]] t_gt: [ 0.57005467 -0.77999765 0.25814984] Pose Error in degrees for R and t: 177.25981134359552 60.31302114433641 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 0.9109875 -0.41241284 0.00417316] [ 0.41242434 0.91098873 -0.00238894] [-0.00281647 0.0038974 0.99998844]] t_estimated: [[0.4636507 ] [0.88601744] [0.00105856]] R_gt: [[ 0.99286044 -0.11349383 -0.03671366] [ 0.11307383 0.99349699 -0.01334276] [ 0.03798981 0.00909742 0.99923657]] t_gt: [ 0.62297312 -0.77198147 -0.12628971] Pose Error in degrees for R and t: 18.00854269688068 66.71651142831843 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99409737e-01 -3.43536842e-02 3.92793282e-05] [ 3.43536832e-02 9.99409738e-01 2.73065640e-05] [-4.01942241e-05 -2.59410563e-05 9.99999999e-01]] t_estimated: [[-9.11286106e-01] [-4.11772968e-01] [-8.09848116e-04]] R_gt: [[ 0.99946416 0.0237126 -0.02254606] [-0.02377694 0.99971348 -0.00259758] [ 0.02247853 0.00313209 0.99974231]] t_gt: [-0.24128318 0.86020602 -0.44925275] Pose Error in degrees for R and t: 3.5757028413817755 82.30106614173529 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99672305e-01 2.55982044e-02 1.17107380e-04] [-2.55982063e-02 9.99672312e-01 1.45688284e-05] [-1.16696069e-04 -1.75617931e-05 9.99999993e-01]] t_estimated: [[-9.98665620e-01] [-5.16332079e-02] [-9.95162328e-04]] R_gt: [[ 0.9992832 -0.03628583 -0.01072785] [ 0.03641388 0.99926346 0.01205177] [ 0.01028319 -0.01243389 0.99986986]] t_gt: [0.99430558 0.0794589 0.07101196] Pose Error in degrees for R and t: 3.6699911591474543 4.325104994588807 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.88714083 0.46143809 -0.00748531] [-0.46147341 -0.88714547 0.00390028] [-0.00484082 0.00691437 0.99996438]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99282124 -0.11926757 -0.00907043] [ 0.11906911 0.99268561 -0.01993845] [ 0.01138265 0.01871556 0.99976027]] t_gt: [ 0.93708391 -0.29796133 -0.18191426] Pose Error in degrees for R and t: 159.3595271784724 55.049449305580644 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99919923e-01 1.26549486e-02 1.05908974e-06] [-1.26549485e-02 9.99919920e-01 -8.23159125e-05] [-2.10070857e-06 8.22959182e-05 9.99999997e-01]] t_estimated: [[-1.32742582e-01] [-9.91150517e-01] [-2.44904916e-04]] R_gt: [[ 9.85829701e-01 4.22536859e-03 1.67698372e-01] [-4.10651562e-03 9.99991366e-01 -1.05287383e-03] [-1.67700338e-01 3.49114637e-04 9.85837348e-01]] t_gt: [-0.26475501 0.02576271 0.96397151] Pose Error in degrees for R and t: 9.66618479183973 89.4629324153466 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-8.10095717e-01 -5.86294406e-01 1.94879471e-03] [-5.86290177e-01 8.10097700e-01 2.35461078e-03] [-2.95920925e-03 7.64900915e-04 -9.99995329e-01]] t_estimated: [[0.94668078] [0.32216885] [0.00165215]] R_gt: [[ 9.74035229e-01 3.68603612e-02 2.23374439e-01] [-3.79235941e-02 9.99281225e-01 4.74048836e-04] [-2.23194501e-01 -8.93297250e-03 9.74731684e-01]] t_gt: [-0.37842267 0.13051271 0.91638568] Pose Error in degrees for R and t: 167.49578917904623 71.65824170185736 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.63398192e-01 5.04495819e-01 -5.24687855e-03] [-5.04482333e-01 8.63413942e-01 3.73359277e-03] [ 6.41381004e-03 -5.76619717e-04 9.99979265e-01]] t_estimated: [[-0.99876392] [-0.04932167] [-0.00616521]] R_gt: [[ 0.97601071 0.09502913 0.19588863] [-0.09492704 0.99543552 -0.00992775] [-0.19593706 -0.00890498 0.98057536]] t_gt: [-0.60030579 0.32438155 0.73103322] Pose Error in degrees for R and t: 27.362787374236344 54.61570288133344 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99999320e-01 1.14991958e-03 -1.93164442e-04] [-1.14993477e-03 9.99999336e-01 -7.85286537e-05] [ 1.93074012e-04 7.87507268e-05 9.99999978e-01]] t_estimated: [[-0.30910629] [-0.95102659] [-0.00130966]] R_gt: [[ 0.99984338 0.00750906 -0.01602677] [-0.00924532 0.9937568 -0.11117998] [ 0.01509143 0.11131127 0.99367028]] t_gt: [-0.03497499 0.3590168 -0.93267555] Pose Error in degrees for R and t: 6.457306232646945 70.76751421007367 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-0.94407108 -0.32974035 0.00104294] [ 0.32973259 -0.94406331 -0.00457047] [ 0.00249167 -0.00397096 0.99998901]] t_estimated: [[8.23780000e-01] [5.66909253e-01] [6.40575428e-04]] R_gt: [[ 0.99500165 -0.08611337 -0.05055948] [ 0.07849444 0.98744696 -0.1370697 ] [ 0.0617288 0.13241593 0.98926963]] t_gt: [ 0.3772188 -0.17233785 -0.90994815] Pose Error in degrees for R and t: 156.05189902293623 77.73330027889958 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-4.92537656e-01 8.70291051e-01 3.79785518e-04] [-8.70290266e-01 -4.92536502e-01 -1.62691938e-03] [-1.22883515e-03 -1.13184270e-03 9.99998604e-01]] t_estimated: [[0.1719058 ] [0.98511286] [0.00102938]] R_gt: [[ 0.96200559 -0.27024287 0.03890269] [ 0.27295667 0.95520855 -0.11433175] [-0.00626356 0.12060645 0.99267965]] t_gt: [ 0.68485298 -0.66149137 -0.30562325] Pose Error in degrees for R and t: 135.40971977643449 57.708424877025806 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99989482e-01 -4.58634974e-03 4.22597000e-05] [ 4.58634995e-03 9.99989483e-01 -4.85046504e-06] [-4.22370096e-05 5.04423179e-06 9.99999999e-01]] t_estimated: [[-0.5725982 ] [-0.81983563] [-0.0009191 ]] R_gt: [[ 0.99981198 -0.01755476 -0.00827075] [ 0.01761963 0.99981404 0.00788136] [ 0.00813037 -0.00802603 0.99993499]] t_gt: [0.98910952 0.12705011 0.07430097] Pose Error in degrees for R and t: 0.9915302516237229 47.887318313680645 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 2.80788756e-01 9.59710166e-01 1.06804719e-02] [ 9.59769586e-01 -2.80769884e-01 -3.25792588e-03] [-1.27909720e-04 1.11655811e-02 -9.99937655e-01]] t_estimated: [[0.8014921 ] [0.59800447] [0.0010382 ]] R_gt: [[ 0.99519048 0.03145861 -0.09277586] [-0.03818886 0.9966962 -0.07167664] [ 0.09021374 0.07487399 0.99310333]] t_gt: [ 0.04134002 0.59932673 -0.79943635] Pose Error in degrees for R and t: 179.27445948136875 67.00170235248041 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.61587693 0.7877683 -0.0108035 ] [ 0.78773136 0.61596245 0.00834117] [ 0.01322546 -0.00337312 -0.99990685]] t_estimated: [[0.61512758] [0.78842712] [0.00085792]] R_gt: [[ 0.97602814 0.09645034 -0.19510916] [-0.13010621 0.97720085 -0.16778446] [ 0.17447736 0.18914614 0.96632366]] t_gt: [-0.03165873 0.64733358 -0.76154905] Pose Error in degrees for R and t: 174.1426675497035 60.64312692186799 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[-0.23284296 -0.97234255 0.01827884] [-0.97231344 0.23313577 0.0159466 ] [-0.01976701 -0.01405971 -0.99970575]] t_estimated: [[0.76713773] [0.64135132] [0.01296886]] R_gt: [[ 0.99477811 -0.10172811 -0.00825823] [ 0.10102365 0.99294067 -0.06214195] [ 0.01452088 0.06098344 0.99803283]] t_gt: [ 0.92083681 0.11372288 -0.37299689] Pose Error in degrees for R and t: 178.68677499635962 39.239586121222914 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 9.77659449e-01 -2.10195152e-01 2.13098291e-05] [ 2.10195113e-01 9.77659320e-01 5.18295098e-04] [-1.29776870e-04 -5.02236878e-04 9.99999865e-01]] t_estimated: [[7.37068407e-01] [6.75818073e-01] [3.09454849e-04]] R_gt: [[ 0.9888355 -0.14504194 0.03414115] [ 0.1482822 0.98040683 -0.1296694 ] [-0.01466505 0.13328463 0.9909687 ]] t_gt: [ 0.86178418 0.28539215 -0.41937972] Pose Error in degrees for R and t: 8.556240928944892 34.11257310502848 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.92294542e-01 -1.23901315e-01 8.10785533e-05] [ 1.23901300e-01 9.92294533e-01 1.67155496e-04] [-1.01164591e-04 -1.55821748e-04 9.99999983e-01]] t_estimated: [[3.06964927e-01] [9.51720814e-01] [1.58116623e-04]] R_gt: [[ 0.98627732 -0.16375035 0.02103256] [ 0.16464032 0.96609858 -0.19886351] [ 0.01224472 0.19959854 0.97980126]] t_gt: [ 0.76496633 0.43878326 -0.47148251] Pose Error in degrees for R and t: 11.79683860449277 49.281553741320685 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 5.18177673e-01 -8.55272856e-01 4.90651405e-04] [-8.55272938e-01 -5.18177765e-01 -7.58873537e-05] [ 3.19149042e-04 -3.80317736e-04 -9.99999877e-01]] t_estimated: [[0.6623288 ] [0.74921224] [0.00125918]] R_gt: [[ 0.99343717 0.06429796 -0.09459755] [-0.07495398 0.99067457 -0.11378321] [ 0.08639919 0.12012649 0.98899225]] t_gt: [-0.15093578 0.61139669 -0.77679629] Pose Error in degrees for R and t: 171.5917905941456 69.07665279345426 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-8.13708479e-01 5.81273174e-01 9.42011333e-05] [-5.81271550e-01 -8.13705801e-01 -2.50082768e-03] [-1.37701204e-03 -2.08970113e-03 9.99996868e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.97713293 0.12707367 -0.17048498] [-0.15829915 0.97004775 -0.18424877] [ 0.14196499 0.20702323 0.96798088]] t_gt: [-0.14943178 0.67819778 -0.71952617] Pose Error in degrees for R and t: 136.50051274476164 70.83586196671008 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.01074649 0.99993208 -0.00451169] [-0.99994161 -0.01075152 -0.00109081] [-0.00113925 0.0044997 0.99998923]] t_estimated: [[ 1.00575061e-02] [ 9.99949082e-01] [-8.25198622e-04]] R_gt: [[ 0.9658306 0.16167225 -0.20257024] [-0.2039795 0.95634171 -0.20928997] [ 0.15988901 0.2434585 0.95664201]] t_gt: [-0.15069688 0.71862832 -0.67886949] Pose Error in degrees for R and t: 81.26716046231029 44.140328145089384 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-0.31439824 -0.94886801 -0.02834167] [-0.9490823 0.31481521 -0.01158307] [ 0.0199132 0.02325687 -0.99953118]] t_estimated: [[ 0.73914201] [ 0.67341999] [-0.01321371]] R_gt: [[ 0.99980264 -0.01913722 -0.00523974] [ 0.01883688 0.99845493 -0.05227005] [ 0.00623156 0.05216209 0.99861857]] t_gt: [ 0.39842754 0.73961835 -0.54242069] Pose Error in degrees for R and t: 176.2798238744868 36.895128912688556 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.97701084e-01 -6.77683212e-02 2.93237961e-05] [ 6.77683182e-02 9.97701081e-01 9.46326577e-05] [-3.56694794e-05 -9.24278809e-05 9.99999995e-01]] t_estimated: [[ 2.29872571e-01] [ 9.73220689e-01] [-3.04456924e-04]] R_gt: [[ 0.99363632 -0.11213423 0.01064986] [ 0.11259917 0.98638068 -0.11989346] [ 0.00293797 0.12033078 0.99272897]] t_gt: [ 0.79523715 0.40578458 -0.45048502] Pose Error in degrees for R and t: 7.3868003516864755 54.699952108104576 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-9.96037114e-01 -8.89304495e-02 -1.20149687e-03] [ 8.89380475e-02 -9.95986530e-01 -1.00427152e-02] [-3.03571522e-04 -1.01097759e-02 9.99948849e-01]] t_estimated: [[0.85329626] [0.52142476] [0.00130827]] R_gt: [[ 0.98863382 -0.1405046 0.05349449] [ 0.14818337 0.97076034 -0.18885251] [-0.02539721 0.194634 0.98054609]] t_gt: [ 0.7233523 0.50650272 -0.46927226] Pose Error in degrees for R and t: 166.59825894422832 28.270306388896838 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999999e-01 1.36800056e-05 -4.79085696e-05] [-1.36713427e-05 9.99999984e-01 1.80818307e-04] [ 4.79110424e-05 -1.80817652e-04 9.99999983e-01]] t_estimated: [[0.76445676] [0.64466916] [0.00274468]] R_gt: [[ 0.99547922 0.09439308 0.01055084] [-0.09246034 0.98848864 -0.11975701] [-0.02173321 0.1182404 0.99274694]] t_gt: [-0.24643794 0.84990757 -0.46575257] Pose Error in degrees for R and t: 8.7594647998711 69.00787011477627 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.98097494 0.19412458 0.00195498] [-0.19149392 0.96923847 -0.15461843] [-0.03191008 0.15130244 0.98797233]] t_estimated: [[-0.70224688] [-0.70224688] [-0.11704115]] R_gt: [[ 0.99455206 0.10420835 0.00234728] [-0.1015393 0.97368325 -0.2040374 ] [-0.02354817 0.2026879 0.97895954]] t_gt: [-0.17506036 0.77223428 -0.61074388] Pose Error in degrees for R and t: 5.959373199342728 69.64221578326472 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.99996772 -0.00608441 0.00524694] [ 0.00611213 0.99996737 -0.00528274] [-0.00521463 0.00531464 0.99997228]] t_estimated: [[-0.06651719] [-0.99775791] [-0.0073908 ]] R_gt: [[ 0.99724998 0.06520191 -0.03522411] [-0.07227409 0.96077354 -0.26775226] [ 0.01638509 0.26956181 0.96284343]] t_gt: [-0.04778568 0.61970013 -0.78338259] Pose Error in degrees for R and t: 16.00086350462382 52.45803710237987 Number of keypoints: Image1: 624 Image2: 624 R_estimated: [[-0.79632947 0.60271909 0.0508829 ] [ 0.60276167 0.79775614 -0.01623287] [-0.05037601 0.01774355 -0.99857269]] t_estimated: [[ 0.95556261] [-0.29351995] [ 0.0273154 ]] R_gt: [[ 0.99847873 -0.05388628 0.01170952] [ 0.05399521 0.99849871 -0.00919532] [-0.0111962 0.00981365 0.99988967]] t_gt: [ 0.43304864 -0.89697305 0.08892821] Pose Error in degrees for R and t: 176.1433451413773 47.194347758516386 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.98922471e-01 -4.64093487e-02 2.64114245e-04] [ 4.64093061e-02 9.98922494e-01 1.65134197e-04] [-2.71493431e-04 -1.52698902e-04 9.99999951e-01]] t_estimated: [[0.99731536] [0.07321781] [0.00110936]] R_gt: [[ 0.99275075 -0.11898176 0.0170209 ] [ 0.11888107 0.99288588 0.00675069] [-0.01770246 -0.00467832 0.99983295]] t_gt: [ 0.41371948 -0.89169642 0.18361286] Pose Error in degrees for R and t: 4.296219342744309 69.66402782460504 Number of keypoints: Image1: 407 Image2: 407 R_estimated: [[-0.17886003 0.98387312 -0.00166362] [-0.98387155 -0.17886339 -0.00215806] [-0.00242082 0.0012508 0.99999629]] t_estimated: [[4.83632106e-01] [8.75271037e-01] [7.74025446e-04]] R_gt: [[ 0.97778624 -0.20364373 0.04963603] [ 0.20308683 0.97902901 0.01607098] [-0.05186766 -0.00563397 0.99863858]] t_gt: [ 0.45793118 -0.84129335 0.28727083] Pose Error in degrees for R and t: 112.07173064758621 59.02479185331115 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99971250e-01 7.57824581e-03 2.62143923e-04] [-7.57818371e-03 9.99971257e-01 -2.37058000e-04] [-2.63932872e-04 2.35064610e-04 9.99999938e-01]] t_estimated: [[-0.87248603] [-0.48863774] [-0.00113902]] R_gt: [[ 0.99974127 -0.02133968 -0.00772068] [ 0.02134885 0.99977062 0.0011577 ] [ 0.00769298 -0.00132248 0.99996949]] t_gt: [ 0.98465574 0.07184472 -0.15903272] Pose Error in degrees for R and t: 1.723038555070835 26.616753097215376 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[-0.95901162 0.28336171 -0.00169216] [-0.28335521 -0.95900934 -0.00330278] [-0.00255867 -0.00268792 0.99999311]] t_estimated: [[0.83830383] [0.54520123] [0.00151867]] R_gt: [[ 0.99593709 -0.09002376 -0.00211111] [ 0.08999904 0.99589493 -0.00966169] [ 0.00297161 0.00943244 0.99995062]] t_gt: [ 0.9183227 -0.38629913 -0.08635046] Pose Error in degrees for R and t: 168.70339021420196 56.007004709792035 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.55060219 -0.83473079 -0.00785749] [-0.83468784 0.55039482 0.01901998] [-0.01155184 0.017031 -0.99978823]] t_estimated: [[9.04996452e-01] [4.25418216e-01] [8.73548699e-04]] R_gt: [[ 0.97846713 -0.2061664 0.00984561] [ 0.20609756 0.97850308 0.00745388] [-0.01117114 -0.00526392 0.99992321]] t_gt: [ 0.88644028 -0.45693694 0.07370384] Pose Error in degrees for R and t: 179.0488946696417 52.56215790761428 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99999942e-01 -3.14113161e-04 -1.35089111e-04] [ 3.14193354e-04 9.99999774e-01 5.94017223e-04] [ 1.34902491e-04 -5.94059632e-04 9.99999814e-01]] t_estimated: [[0.62381184] [0.78157186] [0.00205379]] R_gt: [[ 0.98128461 0.19121029 -0.02277413] [-0.19055198 0.98126983 0.0282886 ] [ 0.02775664 -0.02341789 0.99933995]] t_gt: [-0.34235823 0.93943244 -0.01604784] Pose Error in degrees for R and t: 11.214560077036696 58.62521928657074 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.86935121e-01 1.61118139e-01 -1.09626427e-04] [-1.61118133e-01 9.86935126e-01 6.70603435e-05] [ 1.18998810e-04 -4.85214030e-05 9.99999992e-01]] t_estimated: [[-9.19780564e-01] [ 3.92432421e-01] [-7.12847298e-04]] R_gt: [[ 0.97010493 0.24177418 0.02104061] [-0.24140081 0.9702428 -0.0188268 ] [-0.02496627 0.01318593 0.99960114]] t_gt: [-0.20276665 0.97857643 0.03569123] Pose Error in degrees for R and t: 4.983492354883863 55.214865650468454 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999895e-01 4.38633108e-04 1.29464090e-04] [-4.38615780e-04 9.99999895e-01 -1.33840734e-04] [-1.29522784e-04 1.33783935e-04 9.99999983e-01]] t_estimated: [[-0.78906855] [ 0.61430416] [ 0.00110553]] R_gt: [[ 0.96816261 0.24340427 0.05844399] [-0.24578089 0.96859852 0.03755218] [-0.04746837 -0.05072022 0.99758426]] t_gt: [-0.21285939 0.93826938 0.27265628] Pose Error in degrees for R and t: 14.697049586470971 41.8713955368319 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.99779122 0.06620777 0.00540565] [-0.06619649 0.99780409 -0.00224034] [-0.0055421 0.00187755 0.99998288]] t_estimated: [[-0.87884944] [ 0.47530843] [ 0.04129837]] R_gt: [[ 9.97537212e-01 7.01344866e-02 1.13111462e-03] [-7.01363595e-02 9.97086796e-01 2.99679908e-02] [ 9.73787924e-04 -2.99725715e-02 9.99549544e-01]] t_gt: [-0.13262606 0.49513265 0.85863496] Pose Error in degrees for R and t: 1.876801201733969 67.20971403200423 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.93861333 -0.34490453 0.00677319] [-0.34495307 -0.93818317 0.0286308 ] [-0.0035204 -0.02920968 -0.99956711]] t_estimated: [[0.25657692] [0.96643959] [0.01275939]] R_gt: [[ 0.98418256 0.17573528 0.02242825] [-0.17681187 0.9822749 0.06224688] [-0.01109086 -0.06522782 0.99780807]] t_gt: [-0.31526789 0.76724522 0.55851672] Pose Error in degrees for R and t: 174.53367086398208 48.10773776248992 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999723e-01 2.81194600e-04 -6.88439920e-04] [-2.80191226e-04 9.99998899e-01 1.45712253e-03] [ 6.88848897e-04 -1.45692923e-03 9.99998701e-01]] t_estimated: [[7.77262510e-01] [6.29175971e-01] [7.67287769e-04]] R_gt: [[ 0.96229074 0.2717071 0.0131371 ] [-0.27199051 0.96029347 0.06211191] [ 0.00426185 -0.06334308 0.99798182]] t_gt: [-0.16160541 0.945934 0.28123401] Pose Error in degrees for R and t: 16.168617049580817 61.98096308758129 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.97753393e-01 6.69934444e-02 2.11458451e-04] [-6.69934054e-02 9.97753401e-01 -1.86428144e-04] [-2.23472852e-04 1.71842991e-04 9.99999960e-01]] t_estimated: [[-9.01212495e-01] [ 4.33377371e-01] [ 3.03545569e-04]] R_gt: [[ 0.98756479 -0.1542478 0.03038692] [ 0.15480648 0.98779982 -0.01694493] [-0.02740231 0.02143783 0.99939377]] t_gt: [ 0.83212216 -0.55452122 -0.00888367] Pose Error in degrees for R and t: 12.885507146504418 8.012148503853306 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 4.63628336e-01 -8.85911523e-01 1.44754609e-02] [ 8.86010429e-01 4.63664303e-01 -9.66586058e-04] [-5.85544475e-03 1.32735460e-02 9.99894758e-01]] t_estimated: [[9.95404776e-01] [9.57519327e-02] [9.48031053e-04]] R_gt: [[ 0.87457518 -0.48481191 -0.00873543] [ 0.48471768 0.87460171 -0.01097648] [ 0.01296181 0.00536498 0.99990095]] t_gt: [ 0.91886629 -0.39354885 -0.02835565] Pose Error in degrees for R and t: 33.402899768835496 28.725309180056577 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.24752068e-01 -3.80569759e-01 -5.20672258e-04] [ 3.80569973e-01 9.24752041e-01 3.98463184e-04] [ 3.29849695e-04 -5.66631881e-04 9.99999785e-01]] t_estimated: [[-0.1719058 ] [-0.98511286] [-0.00102938]] R_gt: [[ 0.69474752 -0.71798085 0.042784 ] [ 0.71673846 0.69606257 0.04223946] [-0.06010709 0.00131821 0.99819013]] t_gt: [ 0.96083017 -0.2740842 0.04102734] Pose Error in degrees for R and t: 23.770878027611243 83.98496909367441 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 4.10111587e-01 -9.12035341e-01 1.50619520e-04] [ 9.12035333e-01 4.10111607e-01 1.44073039e-04] [-1.93170517e-04 7.82843013e-05 9.99999978e-01]] t_estimated: [[-0.00833304] [-0.99996474] [-0.00104163]] R_gt: [[ 0.90252938 -0.43062457 0.00182279] [ 0.43057823 0.90248031 0.01147573] [-0.00658699 -0.00957358 0.99993239]] t_gt: [ 0.89935117 -0.43656608 0.02403196] Pose Error in degrees for R and t: 40.28666840621888 64.59389894867158 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[-2.30589500e-01 -9.73002983e-01 -9.67876447e-03] [-9.72120854e-01 2.30792495e-01 -4.14230662e-02] [ 4.25385532e-02 -1.42795340e-04 -9.99094816e-01]] t_estimated: [[0.9998504 ] [0.01725864] [0.00115058]] R_gt: [[ 0.79456426 -0.60711577 0.00885731] [ 0.60660981 0.79436714 0.03172476] [-0.02629724 -0.01983551 0.99945759]] t_gt: [ 0.93493603 -0.3516315 0.04743318] Pose Error in degrees for R and t: 179.5050389299224 21.754251073999605 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.99148099 0.13015763 -0.00494305] [-0.13013993 0.99148855 0.00374998] [ 0.00538906 -0.00307475 0.99998075]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.6441469 -0.76325229 -0.05022476] [ 0.7643446 0.64479498 0.00415993] [ 0.02920954 -0.04106939 0.99872986]] t_gt: [ 0.97219095 -0.23351051 0.01782143] Pose Error in degrees for R and t: 57.37047835329305 81.06039112914091 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.97464991e-01 7.11588081e-02 1.29074513e-04] [-7.11588119e-02 9.97464998e-01 2.51939968e-05] [-1.26954534e-04 -3.43149188e-05 9.99999991e-01]] t_estimated: [[0.30561479] [0.95215446] [0.00121759]] R_gt: [[ 0.99858358 0.02744605 0.04556988] [-0.0281566 0.99949135 0.01501799] [-0.04513491 -0.01627992 0.99884794]] t_gt: [0.3402528 0.01824797 0.94015693] Pose Error in degrees for R and t: 3.7019248282431247 82.96325245774355 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-0.96434469 0.04877951 -0.26011512] [-0.05128737 -0.99867985 0.00285868] [-0.25963228 0.01609738 0.96557338]] t_estimated: [[0.03775979] [0.99928593] [0.00134856]] R_gt: [[ 0.99274259 0.11154902 0.04492788] [-0.11418891 0.99157033 0.06123326] [-0.03771942 -0.06591933 0.99711176]] t_gt: [-0.01315227 0.29034612 0.95683131] Pose Error in degrees for R and t: 171.1715050440181 73.08620770463718 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-4.51693337e-01 8.92172851e-01 8.56529750e-04] [-8.92170399e-01 -4.51689246e-01 -2.96731054e-03] [-2.26046863e-03 -2.10448489e-03 9.99995231e-01]] t_estimated: [[0.194221 ] [0.98095679] [0.0014074 ]] R_gt: [[ 0.981076 0.18170647 0.06687492] [-0.18620165 0.98011802 0.06854288] [-0.05309081 -0.07969797 0.99540456]] t_gt: [-0.1116021 0.5242414 0.84422504] Pose Error in degrees for R and t: 106.32215481952873 60.4112684144061 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.97688048e-01 6.79589011e-02 -3.83748451e-04] [-6.79586420e-02 9.97687926e-01 6.51916411e-04] [ 4.27164719e-04 -6.24330188e-04 9.99999714e-01]] t_estimated: [[0.69692851] [0.71714016] [0.00079883]] R_gt: [[ 0.98307275 0.16830574 -0.0723939 ] [-0.16550225 0.98526439 0.04317386] [ 0.07859378 -0.03046205 0.99644029]] t_gt: [-0.16931483 0.97200521 -0.16290597] Pose Error in degrees for R and t: 7.471346083031373 54.62443374523774 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999906e-01 1.09831092e-04 4.18619973e-04] [-1.09660711e-04 9.99999911e-01 -4.07007275e-04] [-4.18664638e-04 4.06961331e-04 9.99999830e-01]] t_estimated: [[-0.70689644] [-0.70731633] [-0.00102144]] R_gt: [[ 0.93772482 0.33663302 -0.08572905] [-0.33309096 0.94139581 0.05315607] [ 0.09859791 -0.02129069 0.99489922]] t_gt: [-0.16373089 0.97474913 -0.15184309] Pose Error in degrees for R and t: 20.447486581963155 55.0011432345698 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-1.03576471e-02 -9.99944509e-01 -1.92325903e-03] [ 9.99946288e-01 -1.03583457e-02 3.53638901e-04] [-3.73541059e-04 -1.91949286e-03 9.99998088e-01]] t_estimated: [[0.99998706] [0.00496842] [0.00109426]] R_gt: [[ 0.944125 0.32935046 -0.01248994] [-0.32828057 0.94307806 0.05324564] [ 0.0293144 -0.04617084 0.99850309]] t_gt: [-0.12495662 0.98916977 0.07700011] Pose Error in degrees for R and t: 109.83182782690496 83.11042915325356 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-8.73239997e-01 -4.87288215e-01 -1.45027849e-03] [ 4.87289836e-01 -8.73239586e-01 -1.11402500e-03] [-7.23589336e-04 -1.67951715e-03 9.99998328e-01]] t_estimated: [[9.13014550e-01] [4.07926264e-01] [7.71127154e-04]] R_gt: [[ 0.99585215 -0.0893852 -0.01701424] [ 0.08902638 0.99581202 -0.02080381] [ 0.0188023 0.01920308 0.99963971]] t_gt: [ 0.48486358 -0.81503599 -0.3172123 ] Pose Error in degrees for R and t: 145.72165089326268 83.68651152532506 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999854e-01 1.76588463e-04 5.10983952e-04] [-1.76237549e-04 9.99999749e-01 -6.86705055e-04] [-5.11105088e-04 6.86614900e-04 9.99999634e-01]] t_estimated: [[-0.51099256] [-0.85958284] [-0.00198533]] R_gt: [[ 0.97903557 -0.19478584 -0.0595754 ] [ 0.19600569 0.98048388 0.01530787] [ 0.05543075 -0.02666467 0.99810731]] t_gt: [ 0.61544721 -0.78133122 -0.10366416] Pose Error in degrees for R and t: 11.837109934836255 69.06333336798811 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-8.66430371e-01 -4.99291167e-01 2.59642427e-03] [-4.99288556e-01 8.66434255e-01 1.61843762e-03] [-3.05770253e-03 1.05898581e-04 -9.99995320e-01]] t_estimated: [[0.91276749] [0.40847606] [0.00168097]] R_gt: [[ 0.95360145 -0.28402524 -0.0998737 ] [ 0.28723385 0.95767077 0.0190644 ] [ 0.09023088 -0.04686754 0.99481789]] t_gt: [ 0.70778395 -0.70016963 -0.09383161] Pose Error in degrees for R and t: 175.34198782537257 68.90705583288342 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 0.98454736 0.17511032 0.00169627] [-0.17510461 0.98454503 -0.00307525] [-0.00220856 0.0027307 0.99999383]] t_estimated: [[-0.9119203 ] [-0.41036413] [-0.00162843]] R_gt: [[ 0.99023589 0.06506134 0.12328973] [-0.05889504 0.99685543 -0.05301554] [-0.12635081 0.04523506 0.9909533 ]] t_gt: [-0.43997132 0.56542591 0.69765233] Pose Error in degrees for R and t: 9.96772437959903 80.32541145323162 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.14477227 0.98931284 0.01735199] [ 0.98931247 -0.14441978 -0.02009397] [-0.01737325 0.02007559 -0.99964751]] t_estimated: [[-0.94406569] [ 0.32963123] [-0.00912232]] R_gt: [[ 0.95978576 0.15696591 0.2327534 ] [-0.1380386 0.98580255 -0.09559332] [-0.24445308 0.05962028 0.96782636]] t_gt: [-0.37097682 0.60403166 0.70535237] Pose Error in degrees for R and t: 166.02183603757103 57.118744270025786 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.86940831 0.49407236 0.00465669] [-0.49396455 0.86935737 -0.01472357] [-0.01132283 0.01050055 0.99988076]] t_estimated: [[0.1122424 ] [0.99367537] [0.00330125]] R_gt: [[ 0.91616104 0.31618664 0.24632624] [-0.29028047 0.94719983 -0.13619641] [-0.27638343 0.053274 0.95956937]] t_gt: [-0.33139969 0.78670331 0.52083793] Pose Error in degrees for R and t: 19.44898366689724 41.7334211396075 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999749e-01 -5.88677250e-04 -3.93371712e-04] [ 5.88814921e-04 9.99999765e-01 3.49954119e-04] [ 3.93165609e-04 -3.50185654e-04 9.99999861e-01]] t_estimated: [[ 0.99659762] [-0.0823835 ] [-0.00247953]] R_gt: [[ 0.99543234 0.09242451 -0.02392537] [-0.09330431 0.99488512 -0.03870083] [ 0.0202265 0.04075674 0.99896442]] t_gt: [-0.51550806 0.73622403 -0.43843543] Pose Error in degrees for R and t: 5.967663704368089 55.01795585943574 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.95297938e-01 9.68605820e-02 -2.03333366e-04] [-9.68605742e-02 9.95297959e-01 4.77935768e-05] [ 2.07006597e-04 -2.78738619e-05 9.99999978e-01]] t_estimated: [[-9.96933234e-01] [ 7.82559505e-02] [-3.64674350e-04]] R_gt: [[ 0.92258239 0.37891043 -0.07258199] [-0.38064535 0.92465272 -0.01124288] [ 0.0628533 0.03800021 0.99729896]] t_gt: [-0.47909581 0.8585079 -0.18284255] Pose Error in degrees for R and t: 17.307335021506454 56.98377108550767 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.97852701e-01 6.54970068e-02 -3.59703527e-04] [-6.54969332e-02 9.97852748e-01 2.12745856e-04] [ 3.72865370e-04 -1.88729549e-04 9.99999913e-01]] t_estimated: [[-9.99760223e-01] [ 2.18949377e-02] [-3.28636832e-04]] R_gt: [[ 0.82310846 0.55980127 -0.09546545] [-0.56050782 0.82786182 0.02178542] [ 0.09122754 0.03557704 0.99519427]] t_gt: [-0.38370136 0.91202541 -0.14485482] Pose Error in degrees for R and t: 30.903755001761223 66.1949649086187 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.65367850e-01 -2.60892281e-01 -3.63931259e-04] [ 2.60892414e-01 9.65367807e-01 3.81696178e-04] [ 2.51745935e-04 -4.63424123e-04 9.99999861e-01]] t_estimated: [[ 5.42484246e-01] [-8.40065931e-01] [-2.72848777e-04]] R_gt: [[ 0.99749688 0.05143784 -0.04852629] [-0.05466743 0.99620169 -0.06776536] [ 0.04485674 0.07024863 0.99652003]] t_gt: [-0.44262292 0.2016378 -0.87374318] Pose Error in degrees for R and t: 18.785565917918277 65.84122761304963 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-2.50910968e-01 -9.68009167e-01 1.39262454e-03] [ 9.68010066e-01 -2.50910019e-01 8.21713733e-04] [-4.46002977e-04 1.55425156e-03 9.99998693e-01]] t_estimated: [[0.99161293] [0.12922997] [0.00184486]] R_gt: [[ 0.95592132 0.27658834 -0.09855667] [-0.28052225 0.95942887 -0.0283169 ] [ 0.08672578 0.05471615 0.99472894]] t_gt: [-0.928344 0.27393792 -0.25126764] Pose Error in degrees for R and t: 120.839051446578 27.67202426204215 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-0.26284465 0.96483244 0.00332459] [-0.96483392 -0.26283171 -0.00387213] [-0.00286215 -0.00422545 0.99998698]] t_estimated: [[0.26706491] [0.96367279] [0.00332974]] R_gt: [[ 0.83211788 0.54822184 -0.08386402] [-0.55089933 0.83449866 -0.01100372] [ 0.0639515 0.05535634 0.99641638]] t_gt: [-0.89529189 0.42973027 -0.11740663] Pose Error in degrees for R and t: 71.99595134904735 79.94302475739549 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.94677108e-01 -1.03031839e-01 1.37531124e-03] [ 1.03037296e-01 9.94666022e-01 -4.77706025e-03] [-8.75786057e-04 4.89334083e-03 9.99987644e-01]] t_estimated: [[-0.66679062] [-0.74523658] [-0.00356573]] R_gt: [[ 0.99594678 -0.0646529 -0.06252716] [ 0.06619584 0.99754308 0.02292966] [ 0.06089194 -0.02697537 0.99777989]] t_gt: [ 0.51896313 -0.74029163 -0.42737053] Pose Error in degrees for R and t: 4.53576918683729 78.04305853088721 Number of keypoints: Image1: 369 Image2: 369 R_estimated: [[ 0.99012499 -0.14003508 0.00653304] [ 0.14009037 0.99009825 -0.00895277] [-0.00521465 0.00977957 0.99993858]] t_estimated: [[0.99999685] [0.00199099] [0.00152947]] R_gt: [[ 0.9911508 -0.08576278 -0.10131612] [ 0.0914381 0.99441213 0.05275796] [ 0.09622575 -0.06155404 0.99345471]] t_gt: [ 0.53579672 -0.75484196 -0.37833251] Pose Error in degrees for R and t: 7.713336684815574 57.74329358499247 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 9.97579825e-01 6.95304381e-02 1.01340939e-04] [-6.95304188e-02 9.97579815e-01 -1.82372269e-04] [-1.13776099e-04 1.74884618e-04 9.99999978e-01]] t_estimated: [[ 6.99199322e-01] [-7.14926714e-01] [-3.20008396e-04]] R_gt: [[ 0.98746971 -0.1178329 -0.10497381] [ 0.12210614 0.99189237 0.03523858] [ 0.09997053 -0.04761375 0.9938507 ]] t_gt: [ 0.5626263 -0.73863651 -0.37130546] Pose Error in degrees for R and t: 12.617193134083593 22.84216475682221 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 0.9645521 0.26387061 -0.00339753] [-0.26386174 0.96455632 0.0028446 ] [ 0.00402771 -0.00184729 0.99999018]] t_estimated: [[-8.01642509e-01] [-5.97803395e-01] [-6.23361204e-04]] R_gt: [[ 0.99827232 -0.02861598 -0.0513267 ] [ 0.03025041 0.99904986 0.03136227] [ 0.05038097 -0.03286182 0.99818926]] t_gt: [ 0.46105727 -0.73295628 -0.50020125] Pose Error in degrees for R and t: 17.282866142616577 86.05077305095546 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.11842969e-01 4.10538697e-01 6.15143791e-04] [-4.10538440e-01 9.11843153e-01 -5.03190605e-04] [-7.67493869e-04 2.06290643e-04 9.99999684e-01]] t_estimated: [[0.65384719] [0.75662584] [0.00109339]] R_gt: [[ 0.99616397 -0.06052115 -0.06320308] [ 0.06260582 0.99753964 0.03155296] [ 0.06113774 -0.03538902 0.99750146]] t_gt: [ 0.53679062 -0.75418267 -0.37823845] Pose Error in degrees for R and t: 28.06745075720228 77.28693618753924 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99041301e-01 4.37775327e-02 8.58811470e-05] [-4.37775147e-02 9.99041285e-01 -2.00598102e-04] [-9.45805014e-05 1.96646125e-04 9.99999976e-01]] t_estimated: [[ 6.74504245e-01] [-7.38270606e-01] [-7.31601130e-04]] R_gt: [[ 0.99249985 -0.09916222 -0.07149792] [ 0.10033545 0.99486931 0.01301315] [ 0.06984155 -0.02009065 0.99735591]] t_gt: [ 0.56083927 -0.73000553 -0.39057809] Pose Error in degrees for R and t: 9.23676835368261 23.434425271721032 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.98975040e-01 -4.52643950e-02 -5.83647015e-05] [ 4.52643957e-02 9.98975042e-01 9.68915194e-06] [ 5.78663065e-05 -1.23210639e-05 9.99999998e-01]] t_estimated: [[-2.75661160e-01] [-9.61254588e-01] [-7.36308972e-04]] R_gt: [[ 0.99942547 0.03057182 0.01463268] [-0.02956616 0.99746944 -0.06465797] [-0.01657218 0.06418861 0.99779996]] t_gt: [-0.27003056 0.46124823 -0.84518256] Pose Error in degrees for R and t: 5.754071074694486 68.38809574722957 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.57687073 -0.81393876 -0.06873033] [-0.81347264 0.58008573 -0.04198587] [ 0.07404341 0.03168982 -0.99675139]] t_estimated: [[ 0.90180356] [ 0.43044754] [-0.03827865]] R_gt: [[ 0.99568571 0.09276329 -0.0022336 ] [-0.09240692 0.98908669 -0.11475326] [-0.00843547 0.11446539 0.99339143]] t_gt: [-0.34814277 0.59905386 -0.72106247] Pose Error in degrees for R and t: 172.55733694162578 88.3672031143183 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99996959e-01 -2.39220728e-03 -5.99095741e-04] [ 2.39239699e-03 9.99997088e-01 3.16144825e-04] [ 5.98337712e-04 -3.17577139e-04 9.99999771e-01]] t_estimated: [[ 9.99999216e-01] [-1.21543467e-03] [-3.02405670e-04]] R_gt: [[ 0.94306736 0.32849244 -0.05210179] [-0.3324104 0.93617421 -0.11437367] [ 0.0112053 0.12518133 0.99206988]] t_gt: [-0.46666164 0.82057323 -0.32997954] Pose Error in degrees for R and t: 20.79715999347311 62.1240483048716 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99999985e-01 1.72219305e-04 -9.73357754e-06] [-1.72218434e-04 9.99999981e-01 8.94036727e-05] [ 9.74897440e-06 -8.94019951e-05 9.99999996e-01]] t_estimated: [[9.78420267e-01] [2.06622913e-01] [8.68163502e-04]] R_gt: [[ 0.99310442 -0.10760702 -0.04653928] [ 0.10951756 0.99315388 0.04064117] [ 0.04184798 -0.04545805 0.99808923]] t_gt: [ 0.66415341 -0.746395 0.04236461] Pose Error in degrees for R and t: 7.17956929595537 60.28832726516032 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-9.36932520e-01 -3.49504719e-01 -1.97626140e-03] [ 3.49506322e-01 -9.36933859e-01 -5.23470498e-04] [-1.66867082e-03 -1.18117239e-03 9.99997910e-01]] t_estimated: [[9.94354022e-01] [1.06110068e-01] [8.55726353e-04]] R_gt: [[ 0.97718216 -0.18513683 -0.10411775] [ 0.18790203 0.98203515 0.01732276] [ 0.0990399 -0.03649108 0.9944138 ]] t_gt: [ 0.75337726 -0.63397432 -0.1746404 ] Pose Error in degrees for R and t: 148.80341780102273 47.02311866974801 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.22006907 -0.9754791 0.00318357] [-0.97548344 0.22006341 -0.00203659] [ 0.00128607 -0.00355371 -0.99999286]] t_estimated: [[0.78027565] [0.62543496] [0.00101203]] R_gt: [[ 0.92020992 -0.35317942 -0.16875938] [ 0.35558556 0.93449362 -0.01677541] [ 0.16362936 -0.04457076 0.98551404]] t_gt: [ 0.80646974 -0.55816907 -0.19507397] Pose Error in degrees for R and t: 172.94370106791848 73.74141694440293 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.96693053e-01 -8.12583070e-02 -2.13521290e-04] [ 8.12583541e-02 9.96693047e-01 2.21957183e-04] [ 1.94779320e-04 -2.38573571e-04 9.99999953e-01]] t_estimated: [[8.26630402e-01] [5.62744932e-01] [5.65289468e-04]] R_gt: [[ 0.99561206 -0.06730216 -0.06502986] [ 0.06852092 0.99750994 0.01672056] [ 0.0637426 -0.02110397 0.99774387]] t_gt: [ 0.55126819 -0.71424193 -0.43123294] Pose Error in degrees for R and t: 3.9092925508771077 86.93233660552532 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.99602181 -0.08903315 -0.00369628] [ 0.08902648 -0.99602739 0.0019323 ] [-0.00385364 0.00159555 0.9999913 ]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9997163 -0.02356488 0.00378984] [ 0.0236273 0.9995688 -0.01744855] [-0.00337639 0.01753261 0.99984095]] t_gt: [ 0.42400347 -0.87059556 -0.24956848] Pose Error in degrees for R and t: 173.542246733216 79.58235790463796 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.87340301e-01 1.58616287e-01 5.21431537e-05] [-1.58616239e-01 9.87340172e-01 -5.22518772e-04] [-1.34363018e-04 5.07633090e-04 9.99999862e-01]] t_estimated: [[-0.82644823] [-0.56301191] [-0.00095103]] R_gt: [[ 0.98935366 0.0518202 0.13599276] [-0.04547481 0.99774523 -0.04936758] [-0.13824378 0.0426579 0.98947901]] t_gt: [-0.3999202 0.42322865 0.81298299] Pose Error in degrees for R and t: 10.434173679961502 84.75254457314652 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 9.98697557e-01 -5.10214550e-02 3.03871934e-05] [ 5.10214586e-02 9.98697549e-01 -1.28798057e-04] [-2.37761513e-05 1.30180704e-04 9.99999991e-01]] t_estimated: [[ 8.95158850e-01] [ 4.45747019e-01] [-4.78551116e-04]] R_gt: [[ 0.99871991 -0.0505374 0.00208219] [ 0.05036559 0.99742789 0.05101018] [-0.00465396 -0.05083985 0.99869477]] t_gt: [ 0.45416348 -0.58671749 0.67044621] Pose Error in degrees for R and t: 2.9342410164925905 81.68009059037946 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-0.55435526 -0.83215161 0.01462671] [-0.832137 0.55450025 0.00880289] [-0.01543585 -0.0072915 -0.99985427]] t_estimated: [[0.87106971] [0.4910854 ] [0.00852517]] R_gt: [[ 0.98161374 -0.18494973 -0.04718595] [ 0.18841071 0.97845815 0.08438579] [ 0.03056268 -0.09172384 0.99531445]] t_gt: [ 0.66115057 -0.69586725 0.28044375] Pose Error in degrees for R and t: 178.60172874851094 76.31588289192588 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.98577293e-01 -5.33228677e-02 2.48732543e-04] [ 5.33228655e-02 9.98577324e-01 1.53726838e-05] [-2.49198393e-04 -2.08768104e-06 9.99999969e-01]] t_estimated: [[9.36010611e-01] [3.51970932e-01] [7.73562489e-04]] R_gt: [[ 0.94525012 -0.32381036 -0.04060245] [ 0.32620944 0.94110953 0.08889271] [ 0.00942786 -0.09727084 0.99521272]] t_gt: [ 0.69762149 -0.66922236 0.25586263] Pose Error in degrees for R and t: 16.908718323881285 65.31481002933445 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99774566e-01 -2.12304884e-02 2.89764097e-04] [ 2.12306437e-02 9.99774457e-01 -5.43860516e-04] [-2.78152318e-04 5.49889789e-04 9.99999810e-01]] t_estimated: [[ 0.16493755] [-0.98629322] [-0.00461327]] R_gt: [[ 0.9866832 -0.16229619 -0.01075724] [ 0.16256535 0.98615861 0.03261245] [ 0.00531519 -0.03392667 0.99940999]] t_gt: [ 0.63243018 -0.75946367 0.15246965] Pose Error in degrees for R and t: 8.376807935078302 31.497608582506302 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.89582591e-01 1.43963949e-01 8.22976892e-04] [-1.43963673e-01 9.89582898e-01 -3.85273816e-04] [-8.69869398e-04 2.62781485e-04 9.99999587e-01]] t_estimated: [[-0.1842235 ] [ 0.98287984] [ 0.00298588]] R_gt: [[ 0.95520365 -0.29425688 -0.0316037 ] [ 0.29530563 0.9547121 0.03631499] [ 0.01948574 -0.04402161 0.99884057]] t_gt: [ 0.70489124 -0.70055847 0.11111331] Pose Error in degrees for R and t: 25.58338044874689 35.10589459156867 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.04389679 0.99902418 -0.00487465] [-0.99901361 -0.04392801 -0.00649186] [-0.00669966 0.00458487 0.99996705]] t_estimated: [[0.02855968] [0.99958872] [0.00259633]] R_gt: [[ 0.92690077 -0.37293089 -0.04217243] [ 0.37528619 0.9197834 0.11471253] [-0.00399099 -0.12215325 0.99250337]] t_gt: [ 0.65109152 -0.69948868 0.29461063] Pose Error in degrees for R and t: 114.74550561479359 47.168771271504724 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 0.24754131 0.96886224 0.00540878] [ 0.96887428 -0.24752265 -0.00389373] [-0.0024337 0.00620429 -0.99997779]] t_estimated: [[-0.96925558] [ 0.24602664] [-0.00380941]] R_gt: [[ 0.98229936 -0.17376697 -0.06996038] [ 0.17359591 0.98478032 -0.0085649 ] [ 0.0703849 -0.00373275 0.99751254]] t_gt: [ 0.66977833 -0.70025186 -0.2470715 ] Pose Error in degrees for R and t: 178.00628965491617 34.8625371561369 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-0.98253385 -0.18461341 0.02334803] [-0.18446443 0.98280329 0.00840013] [-0.02449729 0.00394654 -0.99969211]] t_estimated: [[0.84275232] [0.53827406] [0.00543711]] R_gt: [[ 0.95561896 -0.29297673 -0.03094787] [ 0.29321531 0.95604102 0.00338221] [ 0.0285967 -0.01230723 0.99951475]] t_gt: [ 0.65791849 -0.75285779 -0.01866601] Pose Error in degrees for R and t: 179.73338034607218 81.42423983337825 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.9075862 -0.41906824 -0.0258671 ] [-0.41871416 -0.90793742 0.01811354] [-0.03107652 -0.00560868 -0.99950127]] t_estimated: [[0.11980261] [0.9926502 ] [0.01711466]] R_gt: [[ 0.8934267 -0.41387583 -0.17463209] [ 0.43515241 0.89388437 0.10776398] [ 0.11150012 -0.17227141 0.97871822]] t_gt: [ 0.70143866 -0.70293243 0.11777013] Pose Error in degrees for R and t: 172.6915311568455 52.28629786708114 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 9.99741473e-01 -2.27373317e-02 -2.54590253e-05] [ 2.27373319e-02 9.99741473e-01 5.15310528e-06] [ 2.53352756e-05 -5.73064337e-06 1.00000000e+00]] t_estimated: [[ 0.39303476] [-0.9195227 ] [-0.00129791]] R_gt: [[ 0.99994512 -0.00168638 -0.0103012 ] [ 0.00159874 0.99996227 -0.00847894] [ 0.01031476 0.00846284 0.99991076]] t_gt: [-0.38349158 -0.59706556 -0.7045899 ] Pose Error in degrees for R and t: 1.4310033010196341 66.47155470459359 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.96566556e-01 8.27954840e-02 8.73171956e-05] [-8.27954950e-02 9.96566550e-01 1.30941376e-04] [-7.61760418e-05 -1.37721267e-04 9.99999988e-01]] t_estimated: [[6.07473754e-01] [7.94339574e-01] [5.29109173e-04]] R_gt: [[ 0.99930239 -0.02365678 0.02887254] [ 0.02297049 0.99945118 0.02386236] [-0.02942133 -0.02318261 0.99929832]] t_gt: [-0.30484477 -0.73247267 0.60873102] Pose Error in degrees for R and t: 6.45018099051494 39.94196440121072 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.87599739e-01 1.56992713e-01 2.07841755e-04] [-1.56992680e-01 9.87599752e-01 -1.67017788e-04] [-2.31485041e-04 1.32317089e-04 9.99999964e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99929996 0.01323784 0.03497344] [-0.01360573 0.99985374 0.01030791] [-0.03483217 -0.01077584 0.99933532]] t_gt: [-0.82845583 -0.3093438 0.46686974] Pose Error in degrees for R and t: 8.520582425572858 53.00292748257502 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999993e-01 -6.62303770e-05 -9.99441122e-05] [ 6.62343395e-05 9.99999997e-01 3.96443460e-05] [ 9.99414863e-05 -3.96509655e-05 9.99999994e-01]] t_estimated: [[ 8.95836161e-01] [ 4.44384451e-01] [-1.80625261e-04]] R_gt: [[ 0.99947609 -0.024605 -0.02103844] [ 0.02477348 0.99966339 0.00777209] [ 0.02084025 -0.00828919 0.99974776]] t_gt: [ 0.97508614 -0.06479092 -0.21215363] Pose Error in degrees for R and t: 1.9044142961789081 32.35337657034978 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99990883e-01 -4.23636444e-03 -5.35018776e-04] [ 4.23693240e-03 9.99990457e-01 1.06493002e-03] [ 5.30502238e-04 -1.06718715e-03 9.99999290e-01]] t_estimated: [[ 0.00963706] [-0.99994922] [ 0.00294632]] R_gt: [[ 0.99828114 0.01207878 -0.05734889] [-0.01292414 0.99981312 -0.01439168] [ 0.05716506 0.01510787 0.99824986]] t_gt: [ 0.73418582 0.35077171 -0.5813178 ] Pose Error in degrees for R and t: 3.509930684302134 69.7943184969454 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99987631e-01 9.44063944e-04 -4.88330677e-03] [-9.17036678e-04 9.99984267e-01 5.53390505e-03] [ 4.88845430e-03 -5.52935842e-03 9.99972764e-01]] t_estimated: [[-0.60410478] [-0.79690418] [-0.00107111]] R_gt: [[ 0.9977449 0.06699874 0.0041945 ] [-0.06688012 0.99747195 -0.02403962] [-0.00579463 0.02370539 0.99970168]] t_gt: [ 0.40938623 0.88566547 -0.21908808] Pose Error in degrees for R and t: 4.181974753174993 17.661034684619302 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.96769687e-01 -8.03129196e-02 -1.59741840e-04] [ 8.03129374e-02 9.96769693e-01 1.08601388e-04] [ 1.50503730e-04 -1.21079908e-04 9.99999981e-01]] t_estimated: [[ 0.6796094 ] [-0.73357332] [-0.00111343]] R_gt: [[ 0.99966532 -0.02571472 0.00322599] [ 0.02569744 0.99965655 0.00528465] [-0.00335958 -0.00519997 0.99998005]] t_gt: [ 0.97240019 -0.13256096 0.19200379] Pose Error in degrees for R and t: 3.1528546608184045 40.7221911376233 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.97070658 0.24008459 0.00938711] [ 0.24012573 0.97073542 0.00351732] [-0.00826795 0.00566837 -0.99994975]] t_estimated: [[ 0.99444193] [-0.10519474] [ 0.00439557]] R_gt: [[ 0.9986888 0.05036621 -0.00922013] [-0.05015481 0.998503 0.02185711] [ 0.0103087 -0.02136513 0.99971765]] t_gt: [-0.50853008 0.85277259 0.11906327] Pose Error in degrees for R and t: 179.78794771320207 53.49538924903668 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.85590158 -0.51697474 -0.01302314] [-0.51700005 0.85598386 -0.001603 ] [ 0.01197631 0.00536095 -0.99991391]] t_estimated: [[ 0.96473249] [ 0.26316516] [-0.00594289]] R_gt: [[ 0.99247789 0.12188351 0.01149368] [-0.12207109 0.9923721 0.0172484 ] [-0.0093021 -0.01852167 0.9997841 ]] t_gt: [-0.59455023 0.79450875 0.12355517] Pose Error in degrees for R and t: 179.87042604059252 68.57831286386121 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.99929367 0.03756334 0.00107999] [-0.03756079 0.99929172 -0.00229212] [-0.00116533 0.00224994 0.99999679]] t_estimated: [[0.68744909] [0.72623217] [0.00076045]] R_gt: [[ 0.99498191 -0.08311425 -0.05570398] [ 0.07941856 0.99468231 -0.06556311] [ 0.0608566 0.06081018 0.9962919 ]] t_gt: [ 0.83326635 -0.00981447 -0.55278464] Pose Error in degrees for R and t: 8.389818195539831 55.578245514251044 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 7.83594606e-01 6.21272478e-01 3.08788238e-05] [-6.21272479e-01 7.83594606e-01 1.82002536e-05] [-1.28891631e-05 -3.34457840e-05 9.99999999e-01]] t_estimated: [[0.87586931] [0.48254754] [0.00091047]] R_gt: [[ 0.99389942 -0.04487665 -0.10074842] [ 0.03163612 0.99109157 -0.12936377] [ 0.10565676 0.12538766 0.98646532]] t_gt: [ 0.4835121 0.09972069 -0.86963891] Pose Error in degrees for R and t: 41.6538616973534 61.91235809331274 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 4.14963031e-01 9.09835472e-01 2.25759559e-03] [ 9.09836442e-01 -4.14965896e-01 9.76567879e-04] [ 1.82534127e-03 1.64880317e-03 -9.99996975e-01]] t_estimated: [[-0.89927003] [-0.43739248] [-0.00111296]] R_gt: [[ 0.97240651 0.16539771 -0.1645227 ] [-0.1797942 0.98070648 -0.07674141] [ 0.14865573 0.10420383 0.98338265]] t_gt: [-0.69422646 0.22075963 -0.68506555] Pose Error in degrees for R and t: 179.51545309967298 58.095777874247766 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.87336865e-01 -1.58637489e-01 -2.49565639e-04] [ 1.58637415e-01 9.87336866e-01 -2.90028867e-04] [ 2.92414807e-04 2.46765744e-04 9.99999927e-01]] t_estimated: [[ 0.13229828] [-0.99120829] [-0.00181528]] R_gt: [[ 0.99686182 0.07636094 -0.02086446] [-0.07770047 0.99426509 -0.07347026] [ 0.01513408 0.07486118 0.99707909]] t_gt: [-0.36906606 0.66382975 -0.65047699] Pose Error in degrees for R and t: 14.233731915156387 45.11876434044258 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.99939302 -0.03481337 0.00127524] [ 0.03481083 0.99939199 0.00196463] [-0.00134286 -0.00191904 0.99999726]] t_estimated: [[ 0.09012128] [-0.99585795] [ 0.01204583]] R_gt: [[ 0.99763931 0.06824902 -0.00757793] [-0.06862568 0.98701032 -0.14526219] [-0.00243415 0.14543951 0.98936377]] t_gt: [-0.18511439 0.56494018 -0.80409904] Pose Error in degrees for R and t: 10.348088253980475 53.9161240416726 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 8.84809867e-01 4.65952222e-01 1.63820604e-04] [-4.65951426e-01 8.84808908e-01 -1.57015269e-03] [-8.76566066e-04 1.31295415e-03 9.99998754e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.99178995 0.12487027 -0.02756454] [-0.1278478 0.97279398 -0.19320079] [ 0.00268929 0.19513863 0.98077168]] t_gt: [-0.21700701 0.61381705 -0.75903662] Pose Error in degrees for R and t: 23.266143335168334 77.54393003337073 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-1.21903255e-01 -9.92539724e-01 -2.11969472e-03] [ 9.92541956e-01 -1.21902440e-01 -5.10145962e-04] [ 2.47944174e-04 -2.16607440e-03 9.99997623e-01]] t_estimated: [[9.99996565e-01] [2.54721834e-03] [6.17741809e-04]] R_gt: [[ 0.9802184 -0.1978323 0.00589181] [ 0.19761086 0.97991644 0.02667406] [-0.01104931 -0.02498273 0.99962687]] t_gt: [ 0.68236504 -0.71580236 0.1483406 ] Pose Error in degrees for R and t: 85.60691951437896 47.10702636540229 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99030987e-01 4.40121011e-02 1.48194991e-04] [-4.40121032e-02 9.99030998e-01 1.10516081e-05] [-1.47564985e-04 -1.75632722e-05 9.99999989e-01]] t_estimated: [[8.69939780e-01] [4.93157417e-01] [7.34863305e-04]] R_gt: [[ 0.95681498 -0.29067862 -0.00320797] [ 0.29068522 0.95662587 0.019157 ] [-0.00249926 -0.01926358 0.9998113 ]] t_gt: [ 0.71587678 -0.69394955 0.07716511] Pose Error in degrees for R and t: 19.454599322825295 73.70398082694362 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.9999102 0.00982171 0.00911732] [ 0.00983221 0.99995105 0.00110674] [-0.009106 0.00119629 -0.99995782]] t_estimated: [[0.99749512] [0.07057329] [0.00478565]] R_gt: [[ 0.92992956 -0.36677078 0.02663182] [ 0.36530253 0.92966795 0.04764481] [-0.04223333 -0.03457911 0.99850919]] t_gt: [ 0.70103957 -0.69545972 0.15773174] Pose Error in degrees for R and t: 177.47781398095262 49.38616620174806 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.96741314 0.25210761 0.02352791] [-0.25183093 0.96766837 -0.01411084] [-0.02632467 0.00772596 0.99962359]] t_estimated: [[0.99775791] [0.06651719] [0.0073908 ]] R_gt: [[ 0.99315493 -0.08306054 0.08212764] [ 0.06628822 0.97969636 0.18921281] [-0.09617571 -0.18247301 0.97849561]] t_gt: [ 0.23711064 -0.43027307 0.87100151] Pose Error in degrees for R and t: 22.35498051932419 77.61991387423167 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.15479043 0.98794561 0.00184463] [ 0.98794561 0.15478641 0.00215614] [ 0.00184463 0.00215614 -0.99999597]] t_estimated: [[-0.6500806 ] [-0.75986394] [-0.00141877]] R_gt: [[ 0.9764193 -0.20622247 0.06386249] [ 0.17758317 0.93545429 0.30559774] [-0.1227617 -0.28705027 0.95001631]] t_gt: [ 0.43446395 -0.51347987 0.73998615] Pose Error in degrees for R and t: 172.9130106736088 83.8755499988261 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 8.52863018e-01 -5.22134094e-01 -8.11891686e-04] [ 5.22134461e-01 8.52863121e-01 3.18774029e-04] [ 5.25989688e-04 -6.95787208e-04 9.99999620e-01]] t_estimated: [[-0.01357898] [-0.99990704] [-0.00123445]] R_gt: [[ 0.94023844 -0.33570028 0.05706975] [ 0.29897262 0.89407089 0.33354491] [-0.16299491 -0.29654985 0.94100533]] t_gt: [ 0.55761597 -0.54597756 0.62527828] Pose Error in degrees for R and t: 23.293338733651485 57.48074108237442 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 4.91250369e-01 -8.71018378e-01 -2.44928133e-04] [ 8.71015715e-01 4.91249529e-01 -2.35031148e-03] [ 2.16748532e-03 9.41255128e-04 9.99997208e-01]] t_estimated: [[ 0.79136362] [-0.61133994] [-0.00266477]] R_gt: [[ 9.88410227e-01 -1.51810982e-01 -8.29610544e-04] [ 1.51166864e-01 9.83681612e-01 9.75768192e-02] [-1.39974359e-02 -9.65711619e-02 9.95227290e-01]] t_gt: [ 0.58818868 -0.72595957 0.35639414] Pose Error in degrees for R and t: 52.13656382371787 24.72448899638429 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 6.71783008e-01 7.40747816e-01 5.13165947e-04] [-7.40747257e-01 6.71783156e-01 -9.44714751e-04] [-1.04453163e-03 2.54517050e-04 9.99999422e-01]] t_estimated: [[-2.87233199e-01] [ 9.57860349e-01] [ 8.01239994e-04]] R_gt: [[ 0.97298853 -0.22909238 0.02848049] [ 0.22494276 0.96856699 0.10620422] [-0.05191579 -0.0969284 0.99393647]] t_gt: [ 0.61112218 -0.70792901 0.35407089] Pose Error in degrees for R and t: 61.25389042203155 31.422293184814468 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.96629506e-01 8.20342210e-02 1.20430546e-04] [-8.20341889e-02 9.96629484e-01 -2.50526518e-04] [-1.40576380e-04 2.39802697e-04 9.99999961e-01]] t_estimated: [[ 0.60598951] [-0.79547217] [-0.00086589]] R_gt: [[ 0.96299051 -0.2684558 0.02413922] [ 0.26468666 0.95877099 0.10344004] [-0.05091324 -0.09322232 0.99434249]] t_gt: [ 0.63293081 -0.71309922 0.30147653] Pose Error in degrees for R and t: 21.104341319480948 18.095714891658442 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.95644736e-01 9.32285060e-02 -6.66214623e-05] [-9.32284997e-02 9.95644735e-01 9.21659458e-05] [ 7.49238016e-05 -8.55535199e-05 9.99999994e-01]] t_estimated: [[-3.13945384e-01] [-9.49440769e-01] [-7.22787587e-04]] R_gt: [[ 0.99809987 -0.03115553 0.05317199] [ 0.02930322 0.99894852 0.03526039] [-0.05421394 -0.03363458 0.99796265]] t_gt: [ 0.37705023 -0.20063989 0.90419951] Pose Error in degrees for R and t: 7.971283385610092 85.90163563602442 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.73657778 -0.67502603 -0.04234435] [ 0.67611185 0.73654203 0.01945761] [ 0.018054 -0.04296156 0.99891359]] t_estimated: [[-0.01848421] [-0.99982774] [-0.00168038]] R_gt: [[ 0.99057047 -0.13529644 0.02160832] [ 0.13522508 0.99080366 0.00469493] [-0.02204453 -0.00172819 0.99975482]] t_gt: [ 0.98543158 -0.14969845 0.08071536] Pose Error in degrees for R and t: 34.93132311837361 82.45400137922931 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.60492111e-01 -2.78307008e-01 -3.36552736e-04] [ 2.78307183e-01 9.60491861e-01 7.04700675e-04] [ 1.27133027e-04 -7.70524483e-04 9.99999695e-01]] t_estimated: [[0.9782023 ] [0.20765169] [0.0010179 ]] R_gt: [[ 0.99099752 -0.12889585 -0.03621798] [ 0.12628188 0.98972881 -0.06700743] [ 0.04448282 0.06182966 0.99709466]] t_gt: [ 0.91732005 -0.06190323 -0.39330893] Pose Error in degrees for R and t: 9.851857502189604 27.862717625146644 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.98229404 0.18718516 0.00775497] [-0.18714405 0.98231576 -0.00573181] [-0.00869074 0.00417903 0.9999535 ]] t_estimated: [[0.58837531] [0.80838804] [0.01797983]] R_gt: [[ 0.98332894 -0.18139815 -0.01261949] [ 0.18129183 0.98338666 -0.00914409] [ 0.01406804 0.00670424 0.99987866]] t_gt: [ 0.72346832 -0.68875708 -0.04698159] Pose Error in degrees for R and t: 21.27303947333995 82.41731635419481 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.77413387e-01 -4.79734346e-01 -8.40239937e-04] [ 4.79734115e-01 8.77413789e-01 -4.70800899e-04] [ 9.63097469e-04 9.99524813e-06 9.99999536e-01]] t_estimated: [[-0.24706246] [-0.96899823] [-0.0016043 ]] R_gt: [[ 9.72484054e-01 -2.32960793e-01 -2.24964213e-03] [ 2.32960773e-01 9.72486009e-01 -1.68900523e-04] [ 2.22604645e-03 -3.59030437e-04 9.99996814e-01]] t_gt: [ 0.67734504 -0.73554561 0.01327967] Pose Error in degrees for R and t: 15.1968138989047 56.94973677465753 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.99781375 -0.06568434 0.00729993] [-0.06562036 -0.99780688 -0.00868314] [ 0.00785427 0.00818514 -0.99993565]] t_estimated: [[7.57778193e-01] [6.52511857e-01] [6.97128055e-04]] R_gt: [[ 0.94224467 -0.33262915 0.03915257] [ 0.33111522 0.94272083 0.0404961 ] [-0.0503806 -0.02519234 0.99841203]] t_gt: [ 0.67846119 -0.716617 0.1617111 ] Pose Error in degrees for R and t: 178.5544872216963 87.32705672316975 Number of keypoints: Image1: 305 Image2: 305 R_estimated: [[ 0.88881842 0.45801797 -0.01487782] [ 0.45793011 -0.88648045 0.0667265 ] [ 0.01737304 -0.06612074 -0.99766038]] t_estimated: [[-0.21234935] [ 0.97657499] [ 0.03477116]] R_gt: [[ 0.99946329 0.0089353 0.03150467] [-0.00988834 0.99949477 0.03022237] [-0.03121896 -0.03051808 0.99904643]] t_gt: [-0.58153297 -0.13660813 0.80197109] Pose Error in degrees for R and t: 174.81381260906775 88.97059553903476 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99468932e-01 3.25710877e-02 9.88731843e-04] [-3.25729528e-02 9.99467492e-01 1.93274481e-03] [-9.25253735e-04 -1.96392431e-03 9.99997643e-01]] t_estimated: [[0.84873802] [0.52879489] [0.00444365]] R_gt: [[ 0.99629768 0.0691375 0.0511015 ] [-0.06844187 0.99753942 -0.01523393] [-0.05202873 0.0116797 0.99857667]] t_gt: [-0.85890728 0.3691481 0.35497601] Pose Error in degrees for R and t: 3.678896654715318 57.84535660993069 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 6.61689341e-01 -7.49776549e-01 -1.53088891e-03] [ 7.49777984e-01 6.61689038e-01 7.68799955e-04] [ 4.36544231e-04 -1.65653353e-03 9.99998533e-01]] t_estimated: [[ 3.08251994e-03] [-9.99994816e-01] [-9.30810294e-04]] R_gt: [[ 0.97887911 0.19855542 0.04869959] [-0.19551373 0.97881188 -0.06085044] [-0.05974966 0.05004403 0.99695797]] t_gt: [-0.75725063 0.64658553 0.09218807] Pose Error in degrees for R and t: 60.11091841989768 49.53358390835999 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-5.99076442e-01 8.00668521e-01 -6.11028323e-03] [-8.00682875e-01 -5.99088398e-01 -1.59452975e-04] [-3.78826877e-03 4.79687462e-03 9.99981319e-01]] t_estimated: [[ 3.74609767e-01] [ 9.27182568e-01] [-9.29616245e-05]] R_gt: [[ 0.99855779 0.05336569 -0.00586315] [-0.05289571 0.99663347 0.06263851] [ 0.00918628 -0.06223814 0.99801879]] t_gt: [-0.16861005 0.71552901 0.67792985] Pose Error in degrees for R and t: 123.79721517240854 53.11577466187417 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.23556095 -0.9718546 -0.00311132] [ 0.97185698 -0.23556651 0.00155656] [-0.00224567 -0.0026571 0.99999395]] t_estimated: [[0.99376973] [0.11142956] [0.00227407]] R_gt: [[ 0.99834713 0.03720934 -0.04379817] [-0.03562219 0.99869916 0.03648702] [ 0.04509855 -0.03486622 0.99837411]] t_gt: [ 0.67425118 0.71589775 -0.18131675] Pose Error in degrees for R and t: 105.74345228845876 41.460681664698825 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.30229432e-01 -3.66978444e-01 -1.61618805e-04] [ 3.66978312e-01 9.30228496e-01 1.36499111e-03] [-3.50579897e-04 -1.32906550e-03 9.99999055e-01]] t_estimated: [[ 0.45583402] [-0.89006211] [ 0.00218577]] R_gt: [[ 0.9969504 0.07073328 -0.03296046] [-0.06976417 0.99712098 0.02970243] [ 0.03496698 -0.02731319 0.99901553]] t_gt: [ 0.51427936 0.84928744 -0.11927949] Pose Error in degrees for R and t: 25.679257285674975 58.550069672655994 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99956104e-01 -9.36798355e-03 1.73640172e-04] [ 9.36799635e-03 9.99956117e-01 -7.30719988e-05] [-1.72948014e-04 7.46954518e-05 9.99999982e-01]] t_estimated: [[-0.52587209] [ 0.85056298] [ 0.00107906]] R_gt: [[ 9.82850549e-01 -1.84402466e-01 -7.55557053e-04] [ 1.84106987e-01 9.81028867e-01 6.07252834e-02] [-1.04563318e-02 -5.98224245e-02 9.98153960e-01]] t_gt: [ 0.58146945 -0.77484108 0.24802132] Pose Error in degrees for R and t: 10.674273323282925 15.298991333851074 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99999414e-01 -7.83206154e-04 7.47359101e-04] [ 7.83358594e-04 9.99999672e-01 -2.03700716e-04] [-7.47199316e-04 2.04286047e-04 9.99999700e-01]] t_estimated: [[0.55814094] [0.829745 ] [0.00138503]] R_gt: [[ 0.94771208 -0.29889201 -0.11183215] [ 0.3110092 0.94357634 0.11374172] [ 0.07152553 -0.14257423 0.98719614]] t_gt: [ 0.6373128 -0.75232383 0.16685699] Pose Error in degrees for R and t: 20.051318727354307 74.43713772437229 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.82200056 0.56832712 0.03632292] [ 0.5685083 0.82265466 -0.00613425] [-0.03336748 0.01560753 -0.99932128]] t_estimated: [[ 0.99599874] [-0.08771708] [ 0.01709432]] R_gt: [[ 0.8808189 -0.43895735 -0.1774111 ] [ 0.46696669 0.8672692 0.17259047] [ 0.07810379 -0.23486587 0.96888439]] t_gt: [ 0.68640671 -0.68364573 0.24794022] Pose Error in degrees for R and t: 171.22102549223146 41.59413981594975 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99992218e-01 -3.93829580e-03 2.33798447e-04] [ 3.93829155e-03 9.99992245e-01 1.86226022e-05] [-2.33869975e-04 -1.77016908e-05 9.99999972e-01]] t_estimated: [[7.89410865e-01] [6.13865103e-01] [3.48288285e-04]] R_gt: [[ 0.99207415 -0.11630935 -0.04756392] [ 0.11899435 0.99118949 0.05816062] [ 0.04038093 -0.06336019 0.99717325]] t_gt: [ 0.66831585 -0.71760005 0.19596963] Pose Error in degrees for R and t: 7.834938896479452 85.00122617772145 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[-0.70504768 -0.32761881 -0.62894648] [-0.14328596 -0.80278593 0.5787952 ] [-0.69453358 0.49819742 0.51905918]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.96116162 -0.27301789 -0.04037956] [ 0.27533251 0.95863605 0.07217459] [ 0.01900423 -0.08048966 0.99657418]] t_gt: [ 0.68952524 -0.69404082 0.20703208] Pose Error in degrees for R and t: 158.91509785172985 82.2093018293779 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.16385862 0.98648284 0.00139609] [ 0.98648118 -0.1638613 0.00208933] [ 0.00228985 0.00103486 -0.99999684]] t_estimated: [[-0.62892466] [-0.77746465] [-0.00158021]] R_gt: [[ 0.91253971 -0.40293325 -0.07011699] [ 0.40753745 0.91026645 0.07299155] [ 0.03441469 -0.09518374 0.99486466]] t_gt: [ 0.74941462 -0.64036633 0.16825189] Pose Error in degrees for R and t: 174.24377770436834 88.49461076890483 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.98610514e-01 -5.26975994e-02 -6.99180960e-05] [ 5.26976060e-02 9.98610511e-01 9.53351695e-05] [ 6.47970111e-05 -9.88872189e-05 9.99999993e-01]] t_estimated: [[-2.50448625e-01] [ 9.68129866e-01] [-2.21098886e-04]] R_gt: [[ 0.99658437 0.03431956 0.07510872] [-0.03204941 0.99899819 -0.03122113] [-0.07610461 0.02870741 0.99668629]] t_gt: [-0.74096737 0.45501344 0.49389283] Pose Error in degrees for R and t: 6.787526319035112 51.246055617545906 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.67557139 0.73726554 -0.00654395] [ 0.73726198 -0.67543146 0.01539863] [ 0.00693288 -0.01522748 -0.99986002]] t_estimated: [[-0.44868986] [ 0.89364666] [ 0.00854708]] R_gt: [[ 0.98901463 0.08734589 0.11924659] [-0.08139545 0.99522357 -0.05390089] [-0.12338481 0.04360283 0.99140039]] t_gt: [-0.73747402 0.514368 0.43767297] Pose Error in degrees for R and t: 175.582783124142 37.41069899065228 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999150e-01 1.30047669e-03 -9.18787397e-05] [-1.30048818e-03 9.99999147e-01 -1.25180270e-04] [ 9.17158673e-05 1.25299651e-04 9.99999988e-01]] t_estimated: [[3.33233510e-03] [9.99994007e-01] [9.39155753e-04]] R_gt: [[ 0.96815876 0.22316698 0.11341921] [-0.21792947 0.97430912 -0.05681339] [-0.12318441 0.03028746 0.99192157]] t_gt: [-0.7119063 0.65778828 0.2459756 ] Pose Error in degrees for R and t: 14.653063712484554 49.03157352535795 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 1.00000000e+00 1.16573418e-15 -2.51643324e-16] [-9.99200722e-16 1.00000000e+00 2.09793120e-16] [ 6.44449771e-16 1.62738746e-16 1.00000000e+00]] t_estimated: [[0.64114065] [0.76742277] [0.00097959]] R_gt: [[ 0.98594563 -0.16660212 0.01246782] [ 0.16629065 0.98580937 0.02293394] [-0.01611183 -0.02053788 0.99965965]] t_gt: [ 0.55337607 -0.8211545 0.13957152] Pose Error in degrees for R and t: 9.698687298716361 74.02344232847213 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.89049433e-01 -1.47584600e-01 6.25041426e-05] [ 1.47584613e-01 9.89049333e-01 -4.44892622e-04] [ 3.83961915e-06 4.49245446e-04 9.99999899e-01]] t_estimated: [[-0.45377173] [-0.89111715] [-0.00120043]] R_gt: [[ 0.94761558 -0.31939694 0.00318149] [ 0.31937245 0.94760582 0.00651583] [-0.00509628 -0.00515864 0.99997372]] t_gt: [ 0.63650468 -0.77102559 0.01952779] Pose Error in degrees for R and t: 10.148515246729364 66.53287249562975 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 0.3360965 0.94182601 0.00170582] [ 0.94155265 -0.33604161 0.02355092] [ 0.0227541 -0.00630926 -0.99972118]] t_estimated: [[-9.99974549e-01] [-7.07946583e-03] [-8.84933229e-04]] R_gt: [[ 0.86080219 -0.50888284 -0.00752182] [ 0.50872022 0.85990286 0.04207562] [-0.0149441 -0.04004473 0.99908606]] t_gt: [ 0.7186969 -0.69111011 0.07643018] Pose Error in degrees for R and t: 177.34898245192903 44.4506774489338 Number of keypoints: Image1: 489 Image2: 489 R_estimated: [[ 9.98964349e-01 4.54997379e-02 4.84308058e-05] [-4.54997384e-02 9.98964351e-01 1.00272168e-05] [-4.79244127e-05 -1.22204211e-05 9.99999999e-01]] t_estimated: [[0.65510889] [0.75553389] [0.00093855]] R_gt: [[ 0.99974411 -0.02250974 -0.00237434] [ 0.02255678 0.99949367 0.02246412] [ 0.00186873 -0.02251253 0.99974485]] t_gt: [ 0.17516768 -0.87490321 0.45150932] Pose Error in degrees for R and t: 4.107872009979192 56.91782226742773 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[-0.54927612 0.83563805 0.00218765] [-0.83563689 -0.54926348 -0.0045403 ] [-0.00259245 -0.00432196 0.9999873 ]] t_estimated: [[0.29889836] [0.95428101] [0.00274219]] R_gt: [[ 0.99658607 -0.07929845 0.02300312] [ 0.07855058 0.99640538 0.03174197] [-0.02543706 -0.02982773 0.9992314 ]] t_gt: [ 0.19247102 -0.84561853 0.49787971] Pose Error in degrees for R and t: 127.85297848826316 41.57712015163484 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.22385448e-01 3.86269022e-01 1.15232833e-03] [-3.86269788e-01 9.22385694e-01 5.30919045e-04] [-8.57813590e-04 -9.34821622e-04 9.99999195e-01]] t_estimated: [[0.66306217] [0.7485623 ] [0.0017449 ]] R_gt: [[ 0.99188843 -0.11365381 0.0569371 ] [ 0.11294572 0.99348064 0.01550335] [-0.05832727 -0.00894717 0.99825732]] t_gt: [ 0.0913296 -0.86566436 0.49222365] Pose Error in degrees for R and t: 29.41700923720084 54.084773119874576 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-8.69211731e-01 -4.94438184e-01 -1.35994236e-03] [ 4.94440054e-01 -8.69208505e-01 -2.36792657e-03] [-1.12801577e-05 -2.73063953e-03 9.99996272e-01]] t_estimated: [[9.77024517e-01] [2.13125446e-01] [7.98222645e-04]] R_gt: [[ 0.99966988 0.01696788 -0.0193023 ] [-0.01724324 0.99975173 -0.01416867] [ 0.01905816 0.01449678 0.99971379]] t_gt: [-0.23998369 0.78016417 -0.57771247] Pose Error in degrees for R and t: 151.3483830476734 86.06307445844196 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999904e-01 2.72666320e-04 3.42104741e-04] [-2.72592238e-04 9.99999939e-01 -2.16577274e-04] [-3.42163773e-04 2.16483999e-04 9.99999918e-01]] t_estimated: [[-9.85944852e-01] [-1.67070731e-01] [-3.45792997e-04]] R_gt: [[ 0.99474669 0.10230448 -0.00363343] [-0.10226601 0.99471124 0.00965946] [ 0.00460237 -0.00923698 0.99994698]] t_gt: [-0.59870255 0.79964116 0.04614394] Pose Error in degrees for R and t: 5.886635876628522 62.82723441774483 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.96171979 -0.27358346 -0.0157209 ] [ 0.27302987 -0.96152352 0.03045012] [-0.02344667 0.02499221 0.99941265]] t_estimated: [[8.61282061e-01] [5.08126614e-01] [7.45053686e-04]] R_gt: [[ 0.95241671 0.30475097 0.00540949] [-0.30478135 0.9524024 0.00628323] [-0.00323673 -0.00763339 0.99996561]] t_gt: [-0.620339 0.78411341 0.01859242] Pose Error in degrees for R and t: 178.12998635313258 82.19256638007536 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.05713426 -0.9983624 -0.00286249] [ 0.99836575 0.05713749 -0.00106232] [ 0.00122414 -0.00279712 0.99999534]] t_estimated: [[0.99233906] [0.12354019] [0.00100439]] R_gt: [[ 0.99732444 0.06033858 0.0412737 ] [-0.06287623 0.99601623 0.06323672] [-0.03729411 -0.06566235 0.99714424]] t_gt: [-0.62098446 0.26398177 0.73803247] Pose Error in degrees for R and t: 90.34462793483465 54.34709561922941 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99636178e-01 -2.69718371e-02 -1.76876777e-04] [ 2.69718182e-02 9.99636188e-01 -1.08351957e-04] [ 1.79734878e-04 1.03541848e-04 9.99999978e-01]] t_estimated: [[-9.99992164e-01] [-3.88195716e-03] [-7.76391432e-04]] R_gt: [[ 0.98181812 0.18894701 0.01827323] [-0.18932527 0.98167108 0.0218631 ] [-0.01380744 -0.02492511 0.9995931 ]] t_gt: [-0.7204293 0.68562535 0.10440065] Pose Error in degrees for R and t: 12.557768854673336 44.13664729249608 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.56535819e-01 -2.91614793e-01 2.00690885e-04] [ 2.91614812e-01 9.56535027e-01 -1.24227122e-03] [ 1.70296805e-04 1.24680136e-03 9.99999208e-01]] t_estimated: [[-0.09782701] [-0.99520166] [-0.00188129]] R_gt: [[ 0.98420341 0.17264137 0.0392277 ] [-0.17001901 0.98345729 -0.06249721] [-0.0493689 0.05484086 0.99727321]] t_gt: [-0.64526637 0.74339998 -0.17603348] Pose Error in degrees for R and t: 27.149977402017615 47.43880755875454 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999857e-01 -5.07651391e-04 -1.69694135e-04] [ 5.07663512e-04 9.99999869e-01 7.13949556e-05] [ 1.69657869e-04 -7.14810929e-05 9.99999983e-01]] t_estimated: [[-0.99829773] [-0.05823633] [-0.00318903]] R_gt: [[ 0.99726665 0.07374676 0.00455071] [-0.07382863 0.99704123 0.02142173] [-0.00295716 -0.02169904 0.99976051]] t_gt: [-0.63195481 0.73900885 0.2334503 ] Pose Error in degrees for R and t: 4.441074541132499 54.04869893331857 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.96027956e-01 -8.90410494e-02 -4.87369595e-05] [ 8.90410503e-02 9.96027957e-01 1.60977854e-05] [ 4.71100105e-05 -2.03734343e-05 9.99999999e-01]] t_estimated: [[-0.77608495] [-0.63062768] [-0.00093843]] R_gt: [[ 0.9817736 0.18996705 0.00577594] [-0.19003956 0.98162908 0.01702025] [-0.00243566 -0.01780703 0.99983864]] t_gt: [-0.65794695 0.74935327 0.07466916] Pose Error in degrees for R and t: 16.095005585332796 87.82282390389257 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99860497e-01 -1.65318285e-02 2.38434836e-03] [ 1.65301229e-02 9.99863099e-01 7.33268096e-04] [-2.39614420e-03 -6.93752232e-04 9.99996889e-01]] t_estimated: [[0.26016285] [0.96549958] [0.01121827]] R_gt: [[ 0.86777669 0.49455397 0.04878114] [-0.49387538 0.8691454 -0.02594238] [-0.05522797 -0.0015785 0.9984723 ]] t_gt: [-0.57999381 0.81181903 0.06750583] Pose Error in degrees for R and t: 30.737142589422007 50.67819012555349 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.96064103e-01 -8.86357799e-02 -4.65781563e-05] [ 8.86357846e-02 9.96064097e-01 1.10226057e-04] [ 3.66248566e-05 -1.13920710e-04 9.99999993e-01]] t_estimated: [[4.11611804e-01] [9.11358984e-01] [7.25014760e-04]] R_gt: [[ 0.99815144 0.05120278 0.03275839] [-0.05315282 0.9966746 0.06174795] [-0.02948821 -0.06337489 0.99755314]] t_gt: [-0.3329289 0.0868466 0.9389441] Pose Error in degrees for R and t: 9.015947870423712 86.72041629888321 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 4.64176562e-01 8.85741599e-01 1.39231804e-03] [-8.85741282e-01 4.64178055e-01 -1.05523372e-03] [-1.58094789e-03 -7.43418800e-04 9.99998474e-01]] t_estimated: [[-0.23729517] [ 0.97143685] [ 0.00120363]] R_gt: [[ 0.99420244 0.07919892 0.07273224] [-0.0892571 0.98502877 0.14747983] [-0.05996386 -0.15311662 0.98638703]] t_gt: [-0.31395773 0.0663794 0.94711368] Pose Error in degrees for R and t: 58.181429057098676 81.94497674294465 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.92182697e-01 -1.24793724e-01 -1.47246717e-04] [ 1.24793739e-01 9.92182702e-01 9.58416693e-05] [ 1.34135206e-04 -1.13467914e-04 9.99999985e-01]] t_estimated: [[-9.19675127e-01] [ 3.92679823e-01] [-4.67216267e-04]] R_gt: [[ 0.97313666 0.21286203 0.08772501] [-0.22292362 0.96640259 0.12794404] [-0.05754372 -0.14406367 0.98789399]] t_gt: [-0.60894248 0.47027093 0.63877563] Pose Error in degrees for R and t: 21.728590127865463 41.8926928323996 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.39550403 0.91846339 0.00124833] [ 0.91846227 0.3955 0.00260868] [ 0.00190226 0.00217828 -0.99999582]] t_estimated: [[-0.55120224] [-0.83436888] [-0.00216158]] R_gt: [[ 0.99925496 0.00221797 0.03852664] [-0.00317867 0.9996852 0.02490486] [-0.03846005 -0.02500838 0.99894705]] t_gt: [-0.20495293 -0.1120445 0.97233756] Pose Error in degrees for R and t: 178.96496037215564 78.20824567636807 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.98575461e-01 5.33571810e-02 2.45107091e-04] [-5.33573243e-02 9.98575290e-01 6.21053086e-04] [-2.11620243e-04 -6.33246630e-04 9.99999777e-01]] t_estimated: [[0.95038341] [0.31107358] [0.00214534]] R_gt: [[ 0.98872068 -0.06217721 0.13625428] [ 0.03227009 0.97682503 0.21159424] [-0.14625372 -0.20481002 0.96781311]] t_gt: [ 0.09690879 -0.26520104 0.95931074] Pose Error in degrees for R and t: 15.651125549327297 89.3318293674404 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 2.28146199e-03 9.99992743e-01 3.05110601e-03] [ 9.99997299e-01 -2.28009858e-03 -4.50262137e-04] [-4.43302047e-04 3.05212503e-03 -9.99995244e-01]] t_estimated: [[-7.80476659e-01] [-6.25184562e-01] [-6.69362486e-04]] R_gt: [[ 0.97298717 -0.19176975 0.12853507] [ 0.13729314 0.92826337 0.34565685] [-0.18560122 -0.31867155 0.92951582]] t_gt: [ 0.34060084 -0.39893616 0.85137595] Pose Error in degrees for R and t: 172.87077070482644 89.02637416907595 Number of keypoints: Image1: 410 Image2: 410 R_estimated: [[ 9.99999883e-01 -4.74844769e-04 9.62228897e-05] [ 4.74853547e-04 9.99999883e-01 -9.12211952e-05] [-9.61795625e-05 9.12668763e-05 9.99999991e-01]] t_estimated: [[ 0.9990988 ] [-0.04241513] [-0.00159759]] R_gt: [[ 0.99949402 -0.03102323 0.00708995] [ 0.03079082 0.99905154 0.03079406] [-0.00803859 -0.03055882 0.99950085]] t_gt: [ 0.02923049 -0.75151863 0.65906397] Pose Error in degrees for R and t: 2.516407634532141 86.55863749612209 Number of keypoints: Image1: 349 Image2: 349 R_estimated: [[ 7.42387676e-01 -6.69943228e-01 -6.05057779e-03] [-6.69969950e-01 -7.42368823e-01 -5.36615756e-03] [-8.96739397e-04 8.03747454e-03 -9.99967297e-01]] t_estimated: [[0.43778352] [0.89907971] [0.00111965]] R_gt: [[ 0.99635988 -0.05386086 0.06608141] [ 0.05309626 0.9985013 0.01327396] [-0.06669757 -0.00971629 0.99772639]] t_gt: [-0.2457868 -0.55140686 0.7972072 ] Pose Error in degrees for R and t: 178.42377635597697 52.95317269097385 Number of keypoints: Image1: 392 Image2: 392 R_estimated: [[ 1.11935208e-01 9.93715082e-01 9.19731485e-04] [-9.93713779e-01 1.11936691e-01 -1.76129623e-03] [-1.85317832e-03 -7.16798792e-04 9.99998026e-01]] t_estimated: [[0.07475572] [0.9972013 ] [0.00107025]] R_gt: [[ 0.99296823 -0.1162248 0.0225279 ] [ 0.11585834 0.99312137 0.01692345] [-0.02433948 -0.01419413 0.99960274]] t_gt: [ 0.07111548 -0.96521218 0.25161089] Pose Error in degrees for R and t: 90.2481656831297 16.877974146537763 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.03504703 -0.7556277 -0.65406305] [-0.86647138 -0.30314616 0.39664814] [-0.49799503 0.58062826 -0.64410541]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99873059 -0.03396865 0.03720018] [ 0.03411253 0.99941286 -0.00323447] [-0.03706904 0.00449917 0.99930293]] t_gt: [ 0.20106593 -0.86857638 0.45293218] Pose Error in degrees for R and t: 174.28489077029224 67.29731674623767 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 8.57504674e-01 5.14475346e-01 9.22885838e-04] [-5.14475316e-01 8.57505141e-01 -2.87768610e-04] [-9.39429206e-04 -2.28039055e-04 9.99999533e-01]] t_estimated: [[0.51456393] [0.85745066] [0.00152549]] R_gt: [[ 0.99868467 -0.04212281 0.02923417] [ 0.04269919 0.99890037 -0.01936887] [-0.02838655 0.02059168 0.99938532]] t_gt: [ 0.1541849 -0.98366747 0.09287267] Pose Error in degrees for R and t: 33.44972909628501 40.18485160221449 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99613852e-01 2.77707857e-02 9.64049236e-04] [-2.77678241e-02 9.99610016e-01 -2.96034313e-03] [-1.04588433e-03 2.93243045e-03 9.99995153e-01]] t_estimated: [[-0.73583315] [-0.67714865] [-0.00439054]] R_gt: [[ 0.99561475 -0.06658031 0.06571312] [ 0.06573814 0.99772532 0.0148914 ] [-0.06655649 -0.01050585 0.99772785]] t_gt: [ 0.04764702 -0.86720152 0.49567256] Pose Error in degrees for R and t: 6.618002609271916 56.63382285034481 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[ 0.95748796 -0.28845725 0.00303521] [ 0.28846558 0.95748618 -0.00279668] [-0.00209945 0.00355334 0.99999148]] t_estimated: [[-0.48053441] [-0.8769753 ] [-0.00100111]] R_gt: [[ 0.9985281 0.04110678 0.03538986] [-0.03914865 0.99775328 -0.05435933] [-0.03754592 0.05289464 0.99789419]] t_gt: [-0.68405848 0.70060628 -0.20301437] Pose Error in degrees for R and t: 19.38018622750549 73.41140959968797 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.70780934e-01 -2.39967442e-01 6.65985807e-05] [ 2.39967451e-01 9.70780874e-01 -3.42226358e-04] [ 1.74705552e-05 3.48208315e-04 9.99999939e-01]] t_estimated: [[-0.39979476] [-0.91660261] [-0.00195022]] R_gt: [[ 0.98924783 0.07728149 0.12415943] [-0.0688228 0.99509605 -0.07104045] [-0.12904064 0.06173261 0.98971629]] t_gt: [-0.75823506 0.55559923 0.34115845] Pose Error in degrees for R and t: 19.85832425896533 78.06565882202476 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.50977903 -0.86029951 -0.00317759] [ 0.86030079 -0.5097849 0.00138191] [-0.00280874 -0.00202921 0.999994 ]] t_estimated: [[0.99925597] [0.03850029] [0.00228671]] R_gt: [[ 0.97973522 0.14905682 0.13379304] [-0.13688719 0.98592175 -0.09601666] [-0.1462217 0.07575727 0.98634706]] t_gt: [-0.72788296 0.63708837 0.25358391] Pose Error in degrees for R and t: 129.1244516672861 45.39353153156615 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.99968067 0.02443138 -0.00645487] [-0.02447363 0.99967902 -0.00655003] [ 0.00629277 0.00670591 0.99995772]] t_estimated: [[-0.33692223] [-0.93893594] [-0.06987637]] R_gt: [[ 0.99469287 0.07604046 0.06930762] [-0.06734356 0.99046582 -0.12017756] [-0.07778556 0.11487225 0.99033 ]] t_gt: [-0.44131957 0.86283683 -0.24647442] Pose Error in degrees for R and t: 8.322549478225046 49.89162725398297 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99429663e-01 3.37684014e-02 -2.07399230e-04] [-3.37685342e-02 9.99429453e-01 -6.74360224e-04] [ 1.84508832e-04 6.80979180e-04 9.99999751e-01]] t_estimated: [[-0.72205309] [-0.69183428] [-0.00215995]] R_gt: [[ 0.98679663 0.09455068 0.13149955] [-0.08135937 0.99141903 -0.10231578] [-0.14004533 0.09026685 0.98602234]] t_gt: [-0.45759853 0.84917335 0.26364409] Pose Error in degrees for R and t: 10.08029326311297 75.06955480610887 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-0.01752952 0.99984503 -0.00162394] [-0.99984204 -0.01753419 -0.00290747] [-0.0029355 0.00157272 0.99999445]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98379555 0.02299401 0.17781221] [-0.00281684 0.99360224 -0.11289811] [-0.17927047 0.1105682 0.97756674]] t_gt: [-0.13458747 0.7353472 0.66419177] Pose Error in degrees for R and t: 90.87550439191862 42.67727515648452 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.73677132e-01 2.27931394e-01 3.49130178e-04] [-2.27931369e-01 9.73677194e-01 -1.11020602e-04] [-3.65245172e-04 2.85205022e-05 9.99999933e-01]] t_estimated: [[0.37587894] [0.9266681 ] [0.00112212]] R_gt: [[ 0.98192177 -0.18661522 -0.03171259] [ 0.18628531 0.9824089 -0.01310542] [ 0.0336 0.0069618 0.99941081]] t_gt: [ 0.61225099 -0.77655762 -0.14868417] Pose Error in degrees for R and t: 24.005189253534883 60.68269882379549 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[-9.10249754e-02 -9.95848458e-01 -5.50771774e-04] [-9.95848140e-01 9.10243812e-02 1.02178454e-03] [-9.67408897e-04 6.41492959e-04 -9.99999326e-01]] t_estimated: [[0.82511197] [0.56496836] [0.00099291]] R_gt: [[ 0.92133172 -0.38707849 -0.03631389] [ 0.38714684 0.9220027 -0.00542657] [ 0.03558224 -0.00905842 0.99932506]] t_gt: [ 0.70048455 -0.71230857 -0.0440216 ] Pose Error in degrees for R and t: 178.54774352959487 79.8920884542721 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 7.94201334e-01 -6.07651751e-01 -1.89515337e-03] [ 6.07653985e-01 7.94201332e-01 9.37018500e-04] [ 9.35752396e-04 -1.89577884e-03 9.99997765e-01]] t_estimated: [[-0.49917031] [-0.86650331] [-0.00100639]] R_gt: [[ 0.8812204 -0.47030897 -0.04753946] [ 0.46776043 0.8820891 -0.0558496 ] [ 0.06820053 0.02697909 0.9973059 ]] t_gt: [ 0.73013884 -0.66788033 -0.14433689] Pose Error in degrees for R and t: 10.295616974556353 77.6195454139335 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 2.02920033e-01 -9.79194506e-01 -1.25690412e-03] [ 9.79195258e-01 2.02919427e-01 5.93463092e-04] [-3.26065536e-04 -1.35118010e-03 9.99999034e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99795658 0.0423053 -0.04788493] [-0.03802808 0.99548779 0.08693949] [ 0.05134702 -0.08494143 0.99506233]] t_gt: [0.26713373 0.39291246 0.87992009] Pose Error in degrees for R and t: 80.76064591373155 74.39327912945244 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-1.54565905e-01 -9.87980757e-01 -1.84512361e-03] [-9.87982005e-01 1.54563730e-01 1.26917055e-03] [-9.68726893e-04 2.01911941e-03 -9.99997492e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.98805577 0.14326505 -0.05675072] [-0.13720962 0.98556812 0.09913854] [ 0.0701353 -0.0901686 0.99345422]] t_gt: [-0.3407376 0.89977798 0.27257562] Pose Error in degrees for R and t: 179.2759886360658 74.63139644426236 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.22417239 -0.97454362 -0.00338761] [ 0.97454787 -0.2241643 -0.00261053] [ 0.00178469 -0.0038866 0.99999085]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98696686 0.14155599 -0.07653999] [-0.13333627 0.98564598 0.10355214] [ 0.09009913 -0.09199805 0.99167458]] t_gt: [-0.17933281 0.95120971 0.25107734] Pose Error in degrees for R and t: 111.03632738317798 79.8522124437638 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.92527117e-01 1.22024073e-01 2.19998389e-04] [-1.22023976e-01 9.92527068e-01 -4.10352957e-04] [-2.68427295e-04 3.80441359e-04 9.99999892e-01]] t_estimated: [[0.99792532] [0.06436519] [0.00147793]] R_gt: [[ 0.98649242 -0.1637806 -0.00294371] [ 0.1633443 0.98489924 -0.05737542] [ 0.0122965 0.0561196 0.99834836]] t_gt: [ 0.51351799 -0.72394148 -0.46066041] Pose Error in degrees for R and t: 16.75109257624188 62.27844270941624 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.95836634e-01 9.11557234e-02 -1.82474039e-04] [-9.11557334e-02 9.95836648e-01 -4.69578386e-05] [ 1.77433860e-04 6.33958908e-05 9.99999982e-01]] t_estimated: [[-0.59172082] [-0.8061423 ] [-0.00103087]] R_gt: [[ 0.9715765 -0.23362193 0.03823143] [ 0.2346891 0.97171555 -0.02628778] [-0.03100843 0.03451322 0.99892281]] t_gt: [ 0.29261707 -0.9550688 -0.04710459] Pose Error in degrees for R and t: 18.96575988836133 53.3573503561142 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.28923424e-01 3.70270286e-01 1.08927841e-03] [-3.70268587e-01 9.28923545e-01 -1.49047187e-03] [-1.56373381e-03 9.81208657e-04 9.99998296e-01]] t_estimated: [[-9.99987772e-01] [-4.87798913e-03] [-8.12998189e-04]] R_gt: [[ 0.93933604 -0.34120461 0.03503439] [ 0.3423012 0.93903214 -0.03237937] [-0.02185 0.04240864 0.99886117]] t_gt: [ 0.41507106 -0.908746 -0.04355133] Pose Error in degrees for R and t: 41.806503434412676 65.75761126971862 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[-0.7711965 -0.63646377 -0.01303203] [ 0.6354832 -0.7708962 0.04336073] [-0.03764387 0.02515801 0.99897448]] t_estimated: [[0.99884501] [0.04711533] [0.00942307]] R_gt: [[ 0.98673704 -0.05361597 -0.15321153] [ 0.07730258 0.98518399 0.1530867 ] [ 0.14273393 -0.16290007 0.97626337]] t_gt: [ 0.68509435 -0.69594801 0.21517925] Pose Error in degrees for R and t: 137.0025511059885 49.19089456609376 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[ 6.76688459e-01 -7.36266378e-01 -2.13330991e-03] [ 7.36269373e-01 6.76687004e-01 1.45198325e-03] [ 3.74536647e-04 -2.55323106e-03 9.99996670e-01]] t_estimated: [[-0.60063154] [-0.79952487] [-0.00131717]] R_gt: [[ 0.96895487 -0.15235085 -0.19471403] [ 0.19376528 0.95712161 0.21534443] [ 0.15355705 -0.24638728 0.95692871]] t_gt: [ 0.73292743 -0.59898879 0.32253653] Pose Error in degrees for R and t: 40.68866038384967 87.80719813308971 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-5.27638473e-01 8.49468349e-01 1.07962259e-03] [-8.49468669e-01 -5.27636640e-01 -1.59876212e-03] [-7.88449383e-04 -1.76067397e-03 9.99998139e-01]] t_estimated: [[7.61209452e-01] [6.48505727e-01] [7.01451716e-04]] R_gt: [[ 0.93424149 -0.25108756 -0.25327142] [ 0.3093154 0.9239658 0.22496775] [ 0.17752738 -0.28851563 0.94087317]] t_gt: [ 0.79445525 -0.54957726 0.25846796] Pose Error in degrees for R and t: 139.28373254230635 75.60980396817345 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 9.99999412e-01 -1.07737560e-03 -1.27403660e-04] [ 1.07737729e-03 9.99999420e-01 1.32172323e-05] [ 1.27389346e-04 -1.33544863e-05 9.99999992e-01]] t_estimated: [[-9.99573336e-01] [-2.92033633e-02] [-5.56389809e-04]] R_gt: [[ 0.99651455 0.07682341 0.03249573] [-0.07759145 0.99671703 0.02311146] [-0.03061424 -0.0255526 0.99920448]] t_gt: [-0.71514789 0.53112793 0.45438598] Pose Error in degrees for R and t: 5.041983196295638 45.64682332709164 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99933153 -0.03634723 -0.00392067] [ 0.03639263 0.99926302 0.01220593] [ 0.00347413 -0.01234046 0.99991782]] t_estimated: [[0.22886818] [0.97345264] [0.00305158]] R_gt: [[ 0.99371464 0.05474932 -0.09763714] [-0.03908388 0.98703346 0.15568272] [ 0.10489394 -0.1508887 0.98297035]] t_gt: [-0.4497003 -0.15508594 0.87961241] Pose Error in degrees for R and t: 10.986665645521935 75.45106975644615 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.88779058 -0.46002817 -0.01421183] [ 0.45998758 -0.88582794 -0.06099414] [ 0.01546979 -0.06068729 0.99803694]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98306613 -0.0269177 -0.18126139] [ 0.0728607 0.96502204 0.25184389] [ 0.16814132 -0.26078531 0.95064135]] t_gt: [ 0.52139241 -0.61800072 0.58840893] Pose Error in degrees for R and t: 149.72803970482101 58.672470601089465 Number of keypoints: Image1: 321 Image2: 321 R_estimated: [[-3.13599585e-01 9.49555198e-01 -4.76850565e-04] [ 9.49543111e-01 3.13598060e-01 4.91294226e-03] [ 4.81464927e-03 1.08790648e-03 -9.99987818e-01]] t_estimated: [[0.99988086] [0.01538278] [0.0012819 ]] R_gt: [[ 0.99560934 -0.06302517 0.06921246] [ 0.0616725 0.99786449 0.02151006] [-0.07041957 -0.01714615 0.99737026]] t_gt: [-0.19843547 -0.79790109 0.56918997] Pose Error in degrees for R and t: 177.58429140546477 77.88021888573996 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99993586e-01 -3.48044530e-03 8.44985007e-04] [ 3.48077945e-03 9.99993864e-01 -3.94303610e-04] [-8.43607470e-04 3.97242287e-04 9.99999565e-01]] t_estimated: [[0.11011336] [0.99391798] [0.00144886]] R_gt: [[ 0.9807312 -0.19126837 0.03977943] [ 0.18962653 0.98097354 0.04161899] [-0.04698183 -0.03327368 0.99834146]] t_gt: [ 0.25607159 -0.9173993 0.30464055] Pose Error in degrees for R and t: 11.274604515777247 27.971455573451657 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-9.33207103e-01 3.59337622e-01 -9.87947242e-04] [ 3.59334074e-01 9.33205201e-01 2.65998043e-03] [ 1.87778855e-03 2.12730953e-03 -9.99995974e-01]] t_estimated: [[9.40485691e-01] [3.39832228e-01] [8.49580570e-04]] R_gt: [[ 0.93821898 -0.34563623 0.01671828] [ 0.34303233 0.9353344 0.08647483] [-0.04552539 -0.07539782 0.9961137 ]] t_gt: [ 0.45642504 -0.84949872 0.26462826] Pose Error in degrees for R and t: 179.13608754250689 81.90591650454098 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99754948e-01 2.21369508e-02 -2.96418407e-07] [-2.21369506e-02 9.99754937e-01 -1.45175832e-04] [-2.91740448e-06 1.45146818e-04 9.99999989e-01]] t_estimated: [[-0.62207949] [ 0.78295145] [-0.00203341]] R_gt: [[ 0.99714551 0.05671893 -0.0498464 ] [-0.05510685 0.99792982 0.03315151] [ 0.05162392 -0.03030943 0.99820605]] t_gt: [-0.04133385 0.95176252 -0.30403885] Pose Error in degrees for R and t: 3.9460464614884625 39.509867824391215 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.90881807 -0.4171895 -0.00162503] [-0.41717228 0.90880527 -0.00634663] [ 0.00412458 -0.00509001 -0.99997854]] t_estimated: [[0.99891239] [0.0463413 ] [0.00514903]] R_gt: [[ 0.99129745 0.11778368 -0.05879289] [-0.11596103 0.992688 0.03352793] [ 0.06231178 -0.02641749 0.99770655]] t_gt: [-0.2464412 0.95787067 -0.14748056] Pose Error in degrees for R and t: 176.82096577090152 78.3142598950288 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.79173805e-01 -2.03022473e-01 7.30969700e-04] [ 2.03022585e-01 9.79174052e-01 -8.14880043e-05] [-6.99202666e-04 2.28194277e-04 9.99999730e-01]] t_estimated: [[9.81539375e-01] [1.91258647e-01] [7.65034587e-04]] R_gt: [[ 0.99612086 0.06098588 -0.06342436] [-0.059337 0.997857 0.02757587] [ 0.06497086 -0.02370451 0.99760513]] t_gt: [ 0.2179326 0.93585823 -0.27690208] Pose Error in degrees for R and t: 15.684662891167843 66.87810649179306 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.9917806 0.1266249 0.0183677 ] [-0.12566196 0.99098296 -0.04649565] [-0.02408958 0.04380537 0.99874961]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99363349 0.09973241 -0.05241173] [-0.09279148 0.98826106 0.12136186] [ 0.06389995 -0.11572509 0.99122331]] t_gt: [-0.3964226 0.29497491 0.86938997] Pose Error in degrees for R and t: 10.599335514213303 66.74450435725392 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 8.02611523e-01 -5.96500005e-01 -1.57717236e-03] [ 5.96500822e-01 8.02612463e-01 6.03757166e-05] [ 1.22984407e-03 -9.89242853e-04 9.99998754e-01]] t_estimated: [[0.65985037] [0.75139654] [0.00084633]] R_gt: [[ 0.98674919 0.13346312 -0.09227818] [-0.11829797 0.98098989 0.1538327 ] [ 0.11105482 -0.14087786 0.98377901]] t_gt: [-0.19224268 0.6963785 0.69144757] Pose Error in degrees for R and t: 45.03441106468991 66.60984527469299 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99168034e-01 4.07818570e-02 2.83489197e-04] [-4.07818626e-02 9.99168074e-01 1.40750987e-05] [-2.82679347e-04 -2.56246062e-05 9.99999960e-01]] t_estimated: [[0.19996876] [0.97980164] [0.00111155]] R_gt: [[ 0.97218866 0.21835425 -0.08468508] [-0.20409603 0.96724609 0.1509274 ] [ 0.11486696 -0.1294459 0.98491032]] t_gt: [-0.3960716 0.85270351 0.34062297] Pose Error in degrees for R and t: 14.080611365281642 40.82963570704064 Number of keypoints: Image1: 373 Image2: 373 R_estimated: [[ 9.99905239e-01 -1.37663686e-02 2.17007398e-05] [ 1.37663677e-02 9.99905238e-01 3.84129425e-05] [-2.22274901e-05 -3.81105620e-05 9.99999999e-01]] t_estimated: [[-1.27550101e-01] [ 9.91832125e-01] [ 8.55358983e-05]] R_gt: [[ 0.9981707 -0.0439779 0.04147552] [ 0.0449834 0.9987083 -0.02362538] [-0.04038305 0.02544774 0.99885977]] t_gt: [0.77894124 0.34487387 0.52374857] Pose Error in degrees for R and t: 3.2546485738223363 75.95122862951457 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.95546148e-01 -9.42754831e-02 8.27094139e-06] [ 9.42754804e-02 9.95546134e-01 1.67743720e-04] [-2.40482240e-05 -1.66216867e-04 9.99999986e-01]] t_estimated: [[0.7645543 ] [0.6445585 ] [0.00103211]] R_gt: [[ 0.98824178 -0.13466658 0.07240547] [ 0.13578149 0.99068117 -0.01069111] [-0.07029107 0.02039736 0.99731797]] t_gt: [ 0.92538933 -0.13727959 0.35328303] Pose Error in degrees for R and t: 4.822177954443886 51.728376272707735 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.96980426e-01 -7.76531557e-02 -1.30850917e-04] [ 7.76531941e-02 9.96980381e-01 3.19733597e-04] [ 1.05627474e-04 -3.28929129e-04 9.99999940e-01]] t_estimated: [[-0.95514514] [-0.29613613] [-0.0010694 ]] R_gt: [[ 0.98012474 -0.15885555 0.11883193] [ 0.16254952 0.98645501 -0.02200443] [-0.11372744 0.04088298 0.99267047]] t_gt: [0.88494446 0.04522813 0.46349511] Pose Error in degrees for R and t: 8.463051607202578 30.77986922808321 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.39600181 -0.90437379 -0.15903026] [ 0.89377438 0.41934161 -0.1591225 ] [ 0.21059423 -0.07912437 0.97436616]] t_estimated: [[ 0.95030433] [-0.29226924] [-0.10723983]] R_gt: [[ 0.99040488 0.13755261 -0.01330746] [-0.13803952 0.9892627 -0.04800272] [ 0.0065614 0.04937865 0.99875774]] t_gt: [-0.33599728 0.9150387 -0.22318154] Pose Error in degrees for R and t: 74.34611510211396 55.750107086266986 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-7.74767912e-01 6.32243979e-01 1.49456721e-03] [-6.32244965e-01 -7.74761075e-01 -3.40324978e-03] [-9.93751682e-04 -3.58166132e-03 9.99993092e-01]] t_estimated: [[0.69697506] [0.71709393] [0.00143706]] R_gt: [[ 0.96649513 0.25559849 -0.02359377] [-0.25667133 0.96142042 -0.09894355] [-0.00260582 0.10168499 0.99481261]] t_gt: [-0.3009523 0.9350557 -0.18734606] Pose Error in degrees for R and t: 125.98175399415794 62.580798781393554 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-2.18790926e-01 -9.75768916e-01 -2.35652823e-03] [ 9.75771415e-01 -2.18788174e-01 -1.37157278e-03] [ 8.22757575e-04 -2.59952056e-03 9.99996283e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.95467292 0.29755604 0.00779711] [-0.29708872 0.95413777 -0.03688246] [-0.01841429 0.03289433 0.99928898]] t_gt: [-0.32676717 0.94507585 0.00740643] Pose Error in degrees for R and t: 119.95527391161986 71.10533572072666 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.98947824 -0.14467287 -0.00160406] [ 0.14467644 0.98947612 0.0023936 ] [ 0.00124089 -0.00260049 0.99999585]] t_estimated: [[0.99556619] [0.09405075] [0.00155221]] R_gt: [[ 0.9674811 -0.25293138 0.00272732] [ 0.2528299 0.96730708 0.01984945] [-0.00765909 -0.01851456 0.99979934]] t_gt: [ 0.87492442 -0.47986133 0.06511808] Pose Error in degrees for R and t: 6.415214703399759 34.30847443197973 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.89008746e-01 1.47855520e-01 6.66933482e-04] [-1.47856995e-01 9.89001342e-01 3.82806880e-03] [-9.35970054e-05 -3.88460431e-03 9.99992451e-01]] t_estimated: [[1.06452815e-01] [9.94317481e-01] [7.37874115e-04]] R_gt: [[ 0.92403552 -0.38110773 0.03026291] [ 0.38118204 0.92449338 0.00351857] [-0.02931873 0.0082848 0.99953541]] t_gt: [ 0.9011482 -0.43310088 0.01885604] Pose Error in degrees for R and t: 30.961455909707663 70.44594069207483 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.94495881e-01 -1.04774437e-01 -5.10547055e-04] [-1.04775476e-01 -9.94472503e-01 -6.82207656e-03] [ 2.07054220e-04 6.83801985e-03 -9.99976599e-01]] t_estimated: [[0.81130103] [0.58462787] [0.00094447]] R_gt: [[ 0.73732539 -0.67535182 -0.01588422] [ 0.67551058 0.73730439 0.00819853] [ 0.00617478 -0.01677463 0.99984001]] t_gt: [ 0.96173809 -0.2738915 0.00657979] Pose Error in degrees for R and t: 179.62460326876155 51.6735895993961 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 3.19081911e-01 -9.47726692e-01 -9.22704646e-04] [-9.47726727e-01 -3.19080711e-01 -1.24519079e-03] [ 8.85683291e-04 1.27178971e-03 -9.99998799e-01]] t_estimated: [[0.63161235] [0.77528383] [0.00090359]] R_gt: [[ 0.9951096 -0.09425181 0.02954741] [ 0.09486908 0.99528439 -0.02022354] [-0.02750086 0.02292757 0.99935838]] t_gt: [ 0.65145206 -0.75077685 0.1092901 ] Pose Error in degrees for R and t: 179.8602058137619 80.18303692422326 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.87777141e-01 1.55872057e-01 4.69839538e-04] [-1.55872271e-01 9.87777113e-01 4.59378853e-04] [-3.92492416e-04 -5.26998886e-04 9.99999784e-01]] t_estimated: [[0.70201481] [0.71216116] [0.00130103]] R_gt: [[ 0.97181406 -0.23520319 0.01601035] [ 0.23573604 0.97019558 -0.05611124] [-0.00233522 0.05830364 0.99829569]] t_gt: [ 0.7575895 -0.64282895 -0.11326561] Pose Error in degrees for R and t: 22.84523838344987 85.76233037598342 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.60483365e-01 2.78333604e-01 1.45273274e-03] [-2.78332748e-01 9.60484407e-01 -7.65243911e-04] [-1.60832024e-03 3.30660951e-04 9.99998652e-01]] t_estimated: [[9.75207634e-01] [2.21289748e-01] [9.57964277e-04]] R_gt: [[ 0.93685489 -0.34521739 0.05591886] [ 0.34773929 0.93655153 -0.04413337] [-0.03713446 0.06079222 0.99745886]] t_gt: [ 0.78596941 -0.6182311 -0.00651084] Pose Error in degrees for R and t: 36.67099307202204 50.97429877153408 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.99892422e-01 -1.46677755e-02 5.54548671e-07] [ 1.46677754e-02 9.99892421e-01 5.43629870e-05] [-1.35187310e-06 -5.43490048e-05 9.99999999e-01]] t_estimated: [[0.97556719] [0.21969803] [0.00119333]] R_gt: [[ 0.99991425 -0.01062314 -0.0076323 ] [ 0.01057029 0.99991918 -0.00701238] [ 0.00770631 0.00693145 0.99994542]] t_gt: [ 0.5421637 -0.56253677 -0.6241882 ] Pose Error in degrees for R and t: 0.6436736975157167 66.1349371427241 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-9.81097753e-01 -1.93246380e-01 1.01506916e-02] [-1.93230162e-01 9.81150105e-01 2.56420416e-03] [-1.04548753e-02 5.54315166e-04 -9.99945193e-01]] t_estimated: [[0.99264429] [0.12094513] [0.00543888]] R_gt: [[ 0.99147958 -0.12890746 0.01872768] [ 0.12948043 0.99101666 -0.03347328] [-0.01424506 0.03561331 0.99926392]] t_gt: [ 0.70062257 -0.71121347 -0.05747535] Pose Error in degrees for R and t: 178.652753672668 52.4727564264896 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.8593029 0.51141626 0.00720695] [-0.51144437 -0.85931217 -0.00269401] [ 0.00481526 -0.00600092 0.9999704 ]] t_estimated: [[0.55244696] [0.83354758] [0.00088675]] R_gt: [[ 0.96515182 -0.26149935 0.00999116] [ 0.26166251 0.9637798 -0.05158202] [ 0.00385913 0.05239838 0.99861878]] t_gt: [ 0.7668426 -0.63374501 -0.10158589] Pose Error in degrees for R and t: 164.4295178781215 83.98972324236951 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-6.33266069e-01 7.73921816e-01 4.37130616e-03] [ 7.73931525e-01 6.33268553e-01 9.66689983e-04] [-2.02006826e-03 3.99526361e-03 -9.99989979e-01]] t_estimated: [[0.98225952] [0.18752227] [0.00127566]] R_gt: [[ 0.97679764 -0.21318652 0.02045704] [ 0.2127564 0.9768716 0.02133915] [-0.0245337 -0.0164925 0.9995627 ]] t_gt: [ 0.86511584 -0.49166196 0.09921239] Pose Error in degrees for R and t: 179.07703539436008 40.73838737020476 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-0.90173782 0.43213045 0.01149706] [ 0.43213941 0.90180498 -0.00182109] [-0.01115505 0.00332619 -0.99993225]] t_estimated: [[ 0.95589514] [-0.29363932] [ 0.00635839]] R_gt: [[ 0.90952853 -0.41529308 0.01702623] [ 0.41446736 0.90927295 0.03792292] [-0.03123083 -0.02743517 0.99913551]] t_gt: [ 0.90916348 -0.40859097 0.08046856] Pose Error in degrees for R and t: 178.38597923588773 8.288407789902545 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.92087626e-01 1.25544333e-01 8.73329732e-04] [-1.25543156e-01 9.92087316e-01 -1.29342594e-03] [-1.02880165e-03 1.17355130e-03 9.99998782e-01]] t_estimated: [[9.29790908e-01] [3.68088023e-01] [2.71011499e-04]] R_gt: [[ 0.83458292 -0.55001245 0.03096762] [ 0.54935426 0.83513494 0.02754886] [-0.04101479 -0.00597939 0.99914108]] t_gt: [ 0.93706233 -0.34723722 0.03661275] Pose Error in degrees for R and t: 40.63910244964467 41.97231162926556 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[-8.72413509e-01 4.88765313e-01 1.77169742e-03] [-4.88768520e-01 -8.72407338e-01 -3.28189362e-03] [-5.84339313e-05 -3.72911826e-03 9.99993045e-01]] t_estimated: [[0.52158938] [0.85319587] [0.00115141]] R_gt: [[ 0.98883359 -0.14794616 -0.01786143] [ 0.14821704 0.98884279 0.01489419] [ 0.01545845 -0.0173753 0.99972922]] t_gt: [ 0.64008578 -0.76749653 0.03520326] Pose Error in degrees for R and t: 159.26004596340923 71.28128382425086 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.71818315e-01 2.35731087e-01 1.31807695e-04] [-2.35731073e-01 9.71817590e-01 1.19688435e-03] [ 1.54049811e-04 -1.19422530e-03 9.99999275e-01]] t_estimated: [[0.72445899] [0.68931732] [0.00090107]] R_gt: [[ 0.94195509 -0.33432201 -0.03080492] [ 0.33493825 0.94207794 0.01748949] [ 0.0231732 -0.02679178 0.99937232]] t_gt: [ 0.74755782 -0.66345892 0.03129814] Pose Error in degrees for R and t: 33.2487777531115 85.16598289374646 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 6.05963762e-01 7.95491660e-01 9.68689475e-04] [-7.95490840e-01 6.05964531e-01 -1.14431458e-03] [-1.49728417e-03 -7.71704362e-05 9.99998876e-01]] t_estimated: [[0.64210101] [0.76661931] [0.00105987]] R_gt: [[ 0.92047363 -0.38973025 -0.02895687] [ 0.39031641 0.9204995 0.01826427] [ 0.0195362 -0.02811352 0.99941408]] t_gt: [ 0.7441166 -0.6672955 0.03173653] Pose Error in degrees for R and t: 75.68869696918674 88.06704926531917 Number of keypoints: Image1: 325 Image2: 325 R_estimated: [[ 9.59118959e-01 2.83003002e-01 3.51474212e-04] [-2.83002984e-01 9.59119023e-01 -1.01948229e-04] [-3.65957258e-04 -1.68777135e-06 9.99999933e-01]] t_estimated: [[-0.052951 ] [ 0.99859657] [ 0.00104449]] R_gt: [[ 0.9961022 -0.07160612 0.05151846] [ 0.07118381 0.99741382 0.00998626] [-0.05210057 -0.00628016 0.99862178]] t_gt: [ 0.7521201 -0.24588688 0.61143683] Pose Error in degrees for R and t: 20.75027859966644 73.45736989267077 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-5.94717696e-01 -8.03933748e-01 -1.17958163e-03] [-8.03934438e-01 5.94717895e-01 2.12156441e-04] [ 5.30958580e-04 1.07447948e-03 -9.99999282e-01]] t_estimated: [[0.76376711] [0.64549144] [0.00077304]] R_gt: [[ 0.98831904 -0.13051859 0.07868213] [ 0.13000666 0.99144518 0.0116122 ] [-0.07952518 -0.00124803 0.99683158]] t_gt: [ 0.83641279 -0.11081456 0.53678095] Pose Error in degrees for R and t: 175.82549809908377 55.409330786229894 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-5.70914981e-01 -8.21009185e-01 -5.46390486e-05] [-8.21009043e-01 5.70914919e-01 -5.54198991e-04] [ 4.86196710e-04 -2.71541354e-04 -9.99999845e-01]] t_estimated: [[0.84786933] [0.530204 ] [0.00114268]] R_gt: [[ 0.98284438 -0.11498672 0.14420497] [ 0.11984249 0.99246774 -0.02542181] [-0.1401953 0.04226725 0.98922082]] t_gt: [0.7408762 0.19399564 0.64301489] Pose Error in degrees for R and t: 173.66478671238377 42.96600379580316 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.74620806e-01 -2.23861473e-01 -5.70919838e-04] [ 2.23861503e-01 9.74620966e-01 -1.19992227e-05] [ 5.59116608e-04 -1.16112281e-04 9.99999837e-01]] t_estimated: [[-0.17240134] [-0.98502457] [-0.00209208]] R_gt: [[ 0.99395585 0.10934593 0.00975469] [-0.1090833 0.99373302 -0.02439505] [-0.01236086 0.02318357 0.9996544 ]] t_gt: [-4.40150857e-01 8.97923475e-01 -8.10415151e-04] Pose Error in degrees for R and t: 19.2668050237654 36.04136858154114 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 6.64342384e-01 -7.47427652e-01 -1.04926342e-03] [ 7.47428063e-01 6.64342751e-01 -1.31299334e-06] [ 6.98051914e-04 -7.83376648e-04 9.99999450e-01]] t_estimated: [[ 9.60318393e-01] [-2.78906042e-01] [ 5.67081698e-05]] R_gt: [[ 0.99162906 0.12082091 0.04553554] [-0.1246127 0.98788488 0.09248551] [-0.03380927 -0.09738577 0.9946721 ]] t_gt: [-0.41242027 0.68697452 0.59831056] Pose Error in degrees for R and t: 55.72580744712984 54.01154758064815 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.22598868 0.95860946 -0.17319649] [ 0.95773769 -0.18616605 0.21927314] [ 0.177954 -0.21543006 -0.96016783]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.98869812 0.10359353 0.10836479] [-0.12331835 0.97303241 0.19493304] [-0.08524817 -0.20609347 0.97481172]] t_gt: [-0.27290624 0.42366597 0.8637299 ] Pose Error in degrees for R and t: 158.37963091115702 80.72047263300335 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999965e-01 -6.82574931e-05 -2.56176150e-04] [ 6.83298078e-05 9.99999958e-01 2.82286779e-04] [ 2.56156871e-04 -2.82304274e-04 9.99999927e-01]] t_estimated: [[-0.99459842] [ 0.1037682 ] [-0.00247782]] R_gt: [[ 0.9976562 0.00295009 -0.0683635 ] [-0.00407635 0.99985802 -0.01635327] [ 0.06830607 0.01659392 0.99752705]] t_gt: [ 0.52479322 0.20774139 -0.82549112] Pose Error in degrees for R and t: 4.025281707799755 60.10869740337614 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999835e-01 5.60611928e-04 -1.23228966e-04] [-5.60598505e-04 9.99999837e-01 1.08935711e-04] [ 1.23290016e-04 -1.08866611e-04 9.99999986e-01]] t_estimated: [[-0.34188748] [ 0.93973963] [-0.00154388]] R_gt: [[ 0.99209068 0.00543234 -0.12540443] [-0.00600803 0.99997315 -0.00422133] [ 0.12537927 0.00494135 0.99209729]] t_gt: [ 0.59649138 0.16938412 -0.78454258] Pose Error in degrees for R and t: 7.207376404291012 87.50428151623613 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.9975837 0.06944661 -0.001983 ] [-0.06944343 0.99758456 0.00162709] [ 0.00209121 -0.00148545 0.99999671]] t_estimated: [[-0.96498915] [ 0.26223859] [-0.00518249]] R_gt: [[ 0.98468387 0.01161723 -0.17395884] [-0.01057913 0.99992102 0.00688975] [ 0.17402538 -0.00494503 0.98472943]] t_gt: [ 0.61834295 0.16954598 -0.76740222] Pose Error in degrees for R and t: 10.453429542233625 56.75257258181391 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.44290057e-01 -3.29114398e-01 4.82027791e-05] [ 3.29114379e-01 9.44290037e-01 2.28948011e-04] [-1.20867491e-04 -2.00329103e-04 9.99999973e-01]] t_estimated: [[9.12923268e-01] [4.08130402e-01] [8.26174903e-04]] R_gt: [[ 0.99693482 0.06598037 -0.04205319] [-0.06634209 0.99777096 -0.00723952] [ 0.04148143 0.01000773 0.9990894 ]] t_gt: [-0.20945171 0.90655936 -0.36644251] Pose Error in degrees for R and t: 23.138868519869444 79.71885933658602 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.91854844e-01 -1.27373251e-01 -1.51400744e-04] [ 1.27373288e-01 9.91854814e-01 2.69903026e-04] [ 1.15789131e-04 -2.86989035e-04 9.99999952e-01]] t_estimated: [[-0.80124772] [-0.59833158] [-0.00118958]] R_gt: [[ 0.99416614 0.03198995 -0.10300818] [-0.0288525 0.99907784 0.03180589] [ 0.10393019 -0.02864869 0.99417221]] t_gt: [ 0.38530169 0.73155327 -0.56246994] Pose Error in degrees for R and t: 10.966739267722756 41.77520163441616 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 4.72053153e-01 8.81569844e-01 6.56511250e-04] [-8.81568399e-01 4.72053575e-01 -1.60642833e-03] [-1.72608725e-03 1.79559985e-04 9.99998494e-01]] t_estimated: [[0.18805095] [0.98215876] [0.00100752]] R_gt: [[ 0.98397238 0.05833567 -0.1685079 ] [-0.0570318 0.99829321 0.01256941] [ 0.16895339 -0.0027574 0.98562085]] t_gt: [ 0.37780837 0.60945348 -0.69701312] Pose Error in degrees for R and t: 59.24833999308669 48.015847213644534 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 0.61112617 0.71924823 -0.33046451] [ 0.63572293 -0.19727033 0.74628464] [ 0.47157307 -0.66615794 -0.57779965]] t_estimated: [[-0.84515425] [-0.50709255] [-0.16903085]] R_gt: [[ 0.99234906 -0.12305831 -0.01006904] [ 0.12298059 0.99237722 -0.00798692] [ 0.01097447 0.00668822 0.99991752]] t_gt: [ 0.67060565 -0.73989934 -0.05326372] Pose Error in degrees for R and t: 126.13250052458737 79.4808259214879 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 7.85746160e-01 6.18549055e-01 -1.97136893e-04] [-6.18547784e-01 7.85743812e-01 -2.30240400e-03] [-1.26925073e-03 1.93104369e-03 9.99997330e-01]] t_estimated: [[0.58656856] [0.80989911] [0.00086899]] R_gt: [[ 9.87012646e-01 -1.60633533e-01 -2.03043338e-03] [ 1.60645882e-01 9.86963851e-01 9.71966589e-03] [ 4.42199114e-04 -9.91948986e-03 9.99950321e-01]] t_gt: [ 0.67331612 -0.73742627 0.05336571] Pose Error in degrees for R and t: 47.459545186821586 78.3315279608918 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-4.00742355e-01 9.16190705e-01 3.95850497e-04] [-9.16189260e-01 -4.00740858e-01 -2.00105975e-03] [-1.67471888e-03 -1.16458337e-03 9.99997920e-01]] t_estimated: [[0.46090689] [0.88744792] [0.00101076]] R_gt: [[ 0.99330875 -0.10918683 -0.03763959] [ 0.11116737 0.99226255 0.05528628] [ 0.03131123 -0.05909978 0.99776074]] t_gt: [ 0.68338469 -0.72428417 0.09163956] Pose Error in degrees for R and t: 119.9979432819597 70.87106050011043 Number of keypoints: Image1: 661 Image2: 661 R_estimated: [[ 9.93350555e-01 1.15128944e-01 -3.92824582e-05] [-1.15128950e-01 9.93350533e-01 -2.06467810e-04] [ 1.52508298e-05 2.09617462e-04 9.99999978e-01]] t_estimated: [[7.26533301e-01] [6.87131245e-01] [1.22328466e-04]] R_gt: [[ 0.99864319 0.01321826 -0.05038672] [-0.01301026 0.99990546 0.00444497] [ 0.05044116 -0.00378355 0.99871949]] t_gt: [-0.2392569 0.13636617 -0.96133262] Pose Error in degrees for R and t: 6.536376368250124 85.3973947713216 Number of keypoints: Image1: 423 Image2: 423 R_estimated: [[ 9.99516032e-01 3.11078702e-02 4.63264269e-05] [-3.11078706e-02 9.99516033e-01 8.97495510e-06] [-4.60248147e-05 -1.04117280e-05 9.99999999e-01]] t_estimated: [[9.57825846e-01] [2.87347754e-01] [9.57825846e-04]] R_gt: [[ 9.99958666e-01 -9.17364854e-03 2.47823035e-04] [ 9.17115639e-03 9.99920479e-01 8.69899714e-03] [-3.26504460e-04 -8.69559224e-03 9.99961496e-01]] t_gt: [-0.90836776 -0.33842399 0.24563635] Pose Error in degrees for R and t: 2.3609400951720105 14.74498611247714 Number of keypoints: Image1: 768 Image2: 768 R_estimated: [[ 9.99613257e-01 2.78088972e-02 3.92424915e-05] [-2.78088970e-02 9.99613258e-01 -6.39059112e-06] [-3.94050301e-05 5.29682920e-06 9.99999999e-01]] t_estimated: [[-2.67643584e-01] [ 9.63517971e-01] [-1.76033180e-04]] R_gt: [[ 0.99894102 0.02386894 0.03934504] [-0.02320713 0.99958275 -0.01720357] [-0.03973889 0.01627337 0.99907728]] t_gt: [-0.90491408 0.30001277 0.3018656 ] Pose Error in degrees for R and t: 2.470846217606582 57.91282083754707 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.63436896e-01 -2.67935231e-01 -2.43314531e-04] [ 2.67935267e-01 9.63436908e-01 1.32385804e-04] [ 1.98947378e-04 -1.92737912e-04 9.99999962e-01]] t_estimated: [[ 7.90313147e-01] [-6.12703132e-01] [-4.44643015e-05]] R_gt: [[ 0.99643971 -0.08252284 -0.017319 ] [ 0.08151656 0.99529094 -0.05245325] [ 0.02156606 0.05085476 0.99847288]] t_gt: [ 0.52622788 -0.58019509 -0.62165736] Pose Error in degrees for R and t: 11.286243642526998 39.520242757851435 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-0.99942531 0.03352383 0.00501975] [-0.03354492 -0.99942848 -0.00417754] [ 0.00487684 -0.00434353 0.99997867]] t_estimated: [[0.67321485] [0.73944645] [0.00083837]] R_gt: [[ 0.98569098 -0.1685471 0.00252997] [ 0.16776679 0.97944404 -0.11199662] [ 0.01639825 0.11081824 0.99370546]] t_gt: [ 0.5465919 -0.62783518 -0.5541302 ] Pose Error in degrees for R and t: 172.20585057624425 84.44845041952743 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.47399745e-01 3.20051055e-01 1.02273309e-03] [-3.20050569e-01 9.47400263e-01 -6.12546204e-04] [-1.16498366e-03 2.52999810e-04 9.99999289e-01]] t_estimated: [[-0.56626146] [-0.82422501] [-0.00104863]] R_gt: [[ 0.96810069 -0.24972171 -0.02053672] [ 0.24598942 0.96281694 -0.11167907] [ 0.04766143 0.10306491 0.9935321 ]] t_gt: [ 0.60141801 -0.66553004 -0.44200242] Pose Error in degrees for R and t: 33.68245505273855 77.96845683119612 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 7.34059251e-01 -6.79084149e-01 -1.31701934e-03] [ 6.79085144e-01 7.34059332e-01 5.13202875e-04] [ 6.18262402e-04 -1.27108959e-03 9.99999001e-01]] t_estimated: [[-0.06306344] [-0.99800894] [-0.00107962]] R_gt: [[ 0.99013151 0.13828748 0.02270584] [-0.1388599 0.98997229 0.02595925] [-0.0188879 -0.02885549 0.99940468]] t_gt: [-0.87835965 0.4112801 0.24358366] Pose Error in degrees for R and t: 50.77557657476313 69.18621829461249 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-3.78535309e-01 9.25586849e-01 -7.46245274e-05] [-9.25585611e-01 -3.78534933e-01 -1.60667423e-03] [-1.51536453e-03 -5.39111537e-04 9.99998707e-01]] t_estimated: [[0.38263465] [0.92389924] [0.00096139]] R_gt: [[ 0.92729235 0.3715376 0.04570068] [-0.37213454 0.92816469 0.00503501] [-0.04054753 -0.02167503 0.99894258]] t_gt: [-0.84832658 0.52348977 0.07937554] Pose Error in degrees for R and t: 90.43029675317996 80.84365762492516 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 0.9970747 0.07632237 0.00411551] [-0.0762702 0.99701953 -0.01161534] [-0.00498975 0.01126747 0.99992407]] t_estimated: [[-0.97131978] [-0.23777099] [-0.00168632]] R_gt: [[ 0.88334341 0.46522431 0.05718884] [-0.46652913 0.88443357 0.01130338] [-0.04532126 -0.03666468 0.99829963]] t_gt: [-0.82839509 0.55237336 0.09297979] Pose Error in degrees for R and t: 23.667055063088313 47.69001606658932 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99999719e-01 6.99749045e-04 2.70437913e-04] [-6.99822954e-04 9.99999718e-01 2.73293464e-04] [-2.70246600e-04 -2.73482645e-04 9.99999926e-01]] t_estimated: [[0.84121647] [0.54069498] [0.00194691]] R_gt: [[ 0.98615504 -0.1642734 -0.02263668] [ 0.16456634 0.98629523 0.01178465] [ 0.02039085 -0.01534716 0.99967448]] t_gt: [ 0.57072409 -0.81992857 0.04462236] Pose Error in degrees for R and t: 9.617554041870608 87.88770676175672 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.97729673e-01 6.73385752e-02 1.00758598e-03] [-6.73382473e-02 9.97730141e-01 -3.55998827e-04] [-1.02927135e-03 2.87341520e-04 9.99999429e-01]] t_estimated: [[-0.62110731] [ 0.78371011] [ 0.0049169 ]] R_gt: [[ 0.97361442 -0.22460848 -0.04032207] [ 0.2260695 0.9734348 0.03630287] [ 0.03109749 -0.04446086 0.99852693]] t_gt: [ 0.57720282 -0.81173881 0.08897756] Pose Error in degrees for R and t: 17.185209224974393 6.155091308987278 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-7.87070563e-01 -6.16858702e-01 -2.29563205e-03] [ 6.16862796e-01 -7.87067708e-01 -2.17121758e-03] [-4.67483400e-04 -3.12499145e-03 9.99995008e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.94757413 -0.31103128 -0.07323363] [ 0.31555417 0.94692704 0.06127598] [ 0.05028863 -0.08117287 0.9954307 ]] t_gt: [ 0.63906546 -0.75363211 0.15373348] Pose Error in degrees for R and t: 123.67271842022156 50.44307488457784 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.59679751 0.80233405 -0.00963397] [ 0.80230479 0.59686661 0.00756763] [ 0.01182196 -0.00321304 -0.99992496]] t_estimated: [[ 0.77075734] [-0.6370786 ] [-0.00799868]] R_gt: [[ 0.99661121 0.0115178 -0.08144599] [-0.01227353 0.99988634 -0.00878698] [ 0.08133652 0.00975625 0.99663887]] t_gt: [ 0.16939008 0.1246748 -0.97763142] Pose Error in degrees for R and t: 175.37870645483568 86.62041087517711 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.35950902e-01 -3.52130277e-01 4.20872328e-04] [ 3.52130331e-01 9.35950974e-01 -5.89343031e-05] [-3.73163313e-04 2.03361526e-04 9.99999910e-01]] t_estimated: [[9.33495303e-01] [3.58588659e-01] [8.31992249e-04]] R_gt: [[ 0.99291277 -0.01274903 -0.1181603 ] [ 0.00924236 0.99950279 -0.03017154] [ 0.1184865 0.0288654 0.99253555]] t_gt: [ 0.34239635 -0.02910301 -0.93910476] Pose Error in degrees for R and t: 21.172365439851053 72.03668190429958 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.85170867e-01 1.71576038e-01 1.63417250e-04] [-1.71576044e-01 9.85170879e-01 2.37619702e-05] [-1.56916932e-04 -5.14480861e-05 9.99999986e-01]] t_estimated: [[0.50763462] [0.86157177] [0.00108238]] R_gt: [[ 0.99521009 -0.09774807 0.00152877] [ 0.09773914 0.99456454 -0.03591474] [ 0.00199045 0.0358923 0.99935278]] t_gt: [ 0.69632489 -0.62728972 -0.3487682 ] Pose Error in degrees for R and t: 15.626402526428333 79.20159405977482 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.59455421e-01 2.81860363e-01 -1.76828555e-04] [-2.81860341e-01 9.59455433e-01 1.42752032e-04] [ 2.09895258e-04 -8.71232542e-05 9.99999974e-01]] t_estimated: [[-0.99844989] [-0.0556478 ] [-0.00107015]] R_gt: [[ 0.99628237 0.02075315 -0.08361877] [-0.01945065 0.99967823 0.01634829] [ 0.08393173 -0.01466058 0.99636379]] t_gt: [ 0.13512189 0.26965525 -0.95342966] Pose Error in degrees for R and t: 15.974675206129449 81.43693954062935 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.73758618e-01 -2.27583160e-01 -2.43236027e-04] [ 2.27583286e-01 9.73758248e-01 8.49775357e-04] [ 4.34585259e-05 -8.82832532e-04 9.99999609e-01]] t_estimated: [[-7.58010700e-01] [-6.52241765e-01] [-6.78005992e-04]] R_gt: [[ 0.9860724 0.03247858 -0.16311328] [-0.0305647 0.99943178 0.01422571] [ 0.16348265 -0.00904102 0.98650479]] t_gt: [ 0.19744541 0.19492203 -0.96073967] Pose Error in degrees for R and t: 17.67150926502125 73.96940399913127 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-0.94413494 0.32955389 0.00185487] [ 0.32954743 0.94413391 -0.00310804] [-0.00277551 -0.00232314 -0.99999345]] t_estimated: [[0.90097206] [0.43387593] [0.00100667]] R_gt: [[ 0.97617142 0.02664808 -0.21535707] [-0.02673668 0.9996403 0.002502 ] [ 0.21534533 0.00331618 0.97653246]] t_gt: [ 0.27963931 0.12003321 -0.95257225] Pose Error in degrees for R and t: 167.87876587640278 72.35804400128801 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 1.17562391e-01 9.93064772e-01 1.20111247e-03] [-9.93063553e-01 1.17564468e-01 -1.83705389e-03] [-1.96552165e-03 -9.76812569e-04 9.99997591e-01]] t_estimated: [[0.01572543] [0.99987549] [0.00131045]] R_gt: [[ 0.99578601 -0.09145931 -0.00676818] [ 0.09165659 0.99499582 0.03978501] [ 0.00309586 -0.04023694 0.99918516]] t_gt: [ 0.51851661 -0.79870405 0.30530701] Pose Error in degrees for R and t: 88.5292834104232 37.80975841813546 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 6.19724056e-01 -7.84818079e-01 -1.63614281e-03] [ 7.84813946e-01 6.19726141e-01 -2.56541811e-03] [ 3.02734698e-03 3.05783623e-04 9.99995371e-01]] t_estimated: [[ 0.89233112] [-0.45136827] [-0.00344415]] R_gt: [[ 0.98911201 -0.12908822 -0.07067938] [ 0.13327495 0.98937369 0.05811292] [ 0.06242602 -0.06690032 0.99580431]] t_gt: [ 0.61171543 -0.76407639 0.20491827] Pose Error in degrees for R and t: 44.44037904440357 27.123387400841843 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.02918365 0.97819553 -0.20562544] [ 0.96153361 0.0836835 0.26162989] [ 0.27313264 -0.19008045 -0.94301006]] t_estimated: [[0.61489893] [0.78860521] [0.00106568]] R_gt: [[ 0.99085316 -0.03566518 -0.13014961] [ 0.0557914 0.98642594 0.15443933] [ 0.12287515 -0.16028889 0.97939245]] t_gt: [ 0.34592706 -0.75179362 0.56137405] Pose Error in degrees for R and t: 149.3160933363233 67.69357281908165 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99999506e-01 9.93627254e-04 2.32838685e-05] [-9.93628970e-04 9.99999504e-01 7.38112157e-05] [-2.32105161e-05 -7.38343148e-05 9.99999997e-01]] t_estimated: [[9.99432491e-01] [3.36800798e-02] [5.89796261e-04]] R_gt: [[ 0.99557242 -0.08807367 -0.03283783] [ 0.08877121 0.99584209 0.02045008] [ 0.03090066 -0.02327499 0.99925147]] t_gt: [ 0.63664692 -0.76778682 -0.07200068] Pose Error in degrees for R and t: 5.589356594330932 52.38272368755122 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.91494302e-01 1.30142767e-01 1.38140686e-03] [-1.30142059e-01 9.91495182e-01 -5.91153269e-04] [-1.44659257e-03 4.06345965e-04 9.99998871e-01]] t_estimated: [[0.85769402] [0.51415528] [0.00230563]] R_gt: [[ 0.98728617 -0.15744583 -0.02185163] [ 0.15581047 0.98577522 -0.0630022 ] [ 0.03145984 0.05879644 0.99777372]] t_gt: [ 0.5721991 -0.66940534 -0.47379815] Pose Error in degrees for R and t: 16.935152507155802 81.63370526310987 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.92287382 0.38224024 -0.04686491] [-0.38013021 0.92368004 0.04812693] [ 0.06168423 -0.02660031 0.99774119]] t_estimated: [[0.87825999] [0.4781809 ] [0.00155056]] R_gt: [[ 0.97182479 -0.23533359 -0.01327887] [ 0.23292479 0.96745604 -0.09886622] [ 0.03611304 0.09298784 0.99501217]] t_gt: [ 0.58896203 -0.6855518 -0.42795145] Pose Error in degrees for R and t: 36.85181325396975 79.11837904876111 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.66744306e-01 2.55744489e-01 -4.51056147e-04] [-2.55744030e-01 9.66744129e-01 8.82735158e-04] [ 6.61810534e-04 -7.38024271e-04 9.99999509e-01]] t_estimated: [[-1.40909341e-01] [ 9.90022203e-01] [ 7.71504769e-04]] R_gt: [[ 0.95117964 0.30409644 -0.05276196] [-0.30297302 0.95257773 0.02832875] [ 0.0588745 -0.01096039 0.99820502]] t_gt: [-0.50007265 0.85778644 -0.11886868] Pose Error in degrees for R and t: 4.438725106112063 23.132205531887863 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99998998e-01 1.37573960e-03 3.34130198e-04] [-1.37572729e-03 9.99999053e-01 -3.70704139e-05] [-3.34180881e-04 3.66107047e-05 9.99999943e-01]] t_estimated: [[-9.99999854e-01] [ 4.44039139e-04] [ 3.09253144e-04]] R_gt: [[ 0.87722236 0.47876301 -0.035599 ] [-0.47619226 0.87713762 0.06221076] [ 0.06100917 -0.03762077 0.99742772]] t_gt: [-0.44537537 0.89490018 -0.02818601] Pose Error in degrees for R and t: 28.773207096800746 63.5277731499325 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.99766280e-01 -7.14361967e-01 -3.75945919e-03] [ 7.14364890e-01 6.99773009e-01 -7.34472885e-04] [ 3.15544756e-03 -2.17166629e-03 9.99992663e-01]] t_estimated: [[0.69391684] [0.72005466] [0.00084316]] R_gt: [[ 0.84355214 0.53460177 -0.051203 ] [-0.52777167 0.84284902 0.10517749] [ 0.09938447 -0.06170005 0.9931343 ]] t_gt: [-0.3975325 0.91665386 -0.04139577] Pose Error in degrees for R and t: 78.02817071568569 67.4089264779714 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.78501968e-01 2.06236808e-01 -5.26858947e-04] [-2.06231323e-01 9.78489298e-01 5.22836845e-03] [ 1.59380786e-03 -5.00731400e-03 9.99986193e-01]] t_estimated: [[0.37829649] [0.92568005] [0.00286588]] R_gt: [[ 0.97279701 0.2298787 0.02865624] [-0.22957299 0.97319693 -0.01359638] [-0.03101329 0.0066483 0.99949685]] t_gt: [-0.89156893 0.45284736 0.00584052] Pose Error in degrees for R and t: 2.4206762683838945 85.3004255315548 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99982036e-01 -5.91303413e-03 -9.81596610e-04] [ 5.91488733e-03 9.99980710e-01 1.89589501e-03] [ 9.70367183e-04 -1.90166699e-03 9.99997721e-01]] t_estimated: [[-0.99996859] [ 0.00786108] [ 0.00101182]] R_gt: [[ 0.95837336 0.28355436 0.03343125] [-0.28320446 0.95894464 -0.01485805] [-0.03627189 0.00477321 0.9993311 ]] t_gt: [-0.88975329 0.45627597 0.01230108] Pose Error in degrees for R and t: 16.946561799413725 26.705964087651687 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999284e-01 -6.30569286e-04 -1.01680019e-03] [ 6.30575689e-04 9.99999801e-01 5.97657181e-06] [ 1.01679622e-03 -6.61773701e-06 9.99999483e-01]] t_estimated: [[-0.80086318] [-0.59884595] [-0.00130136]] R_gt: [[ 0.939024 0.34298328 0.02443544] [-0.34256412 0.93928538 -0.01978223] [-0.02973718 0.01020614 0.99950591]] t_gt: [-0.89022483 0.45543145 -0.00905231] Pose Error in degrees for R and t: 20.17174634956946 63.881648164761856 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99987107e-01 5.07715591e-03 8.56850842e-05] [-5.07718255e-03 9.99987062e-01 3.13635788e-04] [-8.40915978e-05 -3.14066783e-04 9.99999947e-01]] t_estimated: [[0.74860934] [0.66300952] [0.00155636]] R_gt: [[ 9.93798178e-01 -9.70177733e-02 -5.43435112e-02] [ 9.68501212e-02 9.95282666e-01 -5.70797320e-03] [ 5.46405203e-02 4.09438211e-04 9.98506561e-01]] t_gt: [ 0.79403051 -0.54258803 -0.27406892] Pose Error in degrees for R and t: 6.644550357724833 76.45251931740127 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 7.37479904e-01 6.75368268e-01 1.04601574e-03] [-6.75367314e-01 7.37480633e-01 -1.14362293e-03] [-1.54378299e-03 1.36954084e-04 9.99998799e-01]] t_estimated: [[0.03980902] [0.99920643] [0.00132697]] R_gt: [[ 0.95446377 -0.29641935 -0.03371779] [ 0.29680775 0.95491032 0.0070717 ] [ 0.03010153 -0.01675691 0.99940691]] t_gt: [ 0.88582621 -0.46321951 -0.02719564] Pose Error in degrees for R and t: 59.77503957421502 64.6831245141202 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 0.93242751 -0.36133871 -0.00364307] [ 0.36135189 0.93242075 0.00404443] [ 0.00193547 -0.00508757 0.99998519]] t_estimated: [[-0.51653685] [-0.85626403] [-0.00126293]] R_gt: [[ 0.87935735 -0.47598885 -0.01289452] [ 0.4760955 0.87936689 0.00689461] [ 0.00805735 -0.0122014 0.9998928 ]] t_gt: [ 0.92377362 -0.38292846 0.00284396] Pose Error in degrees for R and t: 7.266156616073048 81.41486322232343 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-9.49700740e-03 -9.99951663e-01 -2.54536049e-03] [ 9.99954686e-01 -9.49529882e-03 -6.82497333e-04] [ 6.58295385e-04 -2.55172683e-03 9.99996528e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99527638 -0.09579939 0.01572023] [ 0.09546306 0.99521238 0.02090465] [-0.01764795 -0.01930512 0.99965891]] t_gt: [ 0.59761838 -0.76855555 0.2284177 ] Pose Error in degrees for R and t: 85.06674759824388 53.458185162832 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 7.02512029e-01 7.11671627e-01 -5.87145086e-04] [-7.11671187e-01 7.02509973e-01 -1.96445250e-03] [-9.85569829e-04 1.79790575e-03 9.99997898e-01]] t_estimated: [[-1.40866089e-01] [ 9.90028651e-01] [-1.26605938e-04]] R_gt: [[ 9.96675014e-01 -8.14804030e-02 7.79698156e-04] [ 8.13880436e-02 9.95916965e-01 3.90415240e-02] [-3.95759298e-03 -3.88477484e-02 9.99237376e-01]] t_gt: [ 0.62953483 -0.74415883 0.22341339] Pose Error in degrees for R and t: 50.09619524563409 34.366168196603525 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-6.93641799e-01 -7.20320106e-01 2.63960630e-05] [-7.20319854e-01 6.93641586e-01 8.10764090e-04] [-6.02319082e-04 5.43366253e-04 -9.99999671e-01]] t_estimated: [[0.91018996] [0.41418756] [0.00170448]] R_gt: [[ 0.99760648 0.00907979 -0.06854794] [-0.00648915 0.9992592 0.03792727] [ 0.06884173 -0.03739091 0.99692737]] t_gt: [ 0.79510021 -0.50109573 -0.34164123] Pose Error in degrees for R and t: 177.23987759266964 58.96495354412799 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 9.98571873e-01 -5.34246236e-02 -1.55745250e-04] [ 5.34246056e-02 9.98571879e-01 -1.17039895e-04] [ 1.61775639e-04 1.08552119e-04 9.99999981e-01]] t_estimated: [[-0.9640788 ] [-0.26561355] [-0.00122969]] R_gt: [[ 0.99015968 0.13993922 0.00125053] [-0.13991341 0.99008495 -0.01250293] [-0.00298797 0.01220624 0.99992098]] t_gt: [-0.6765415 0.73597619 -0.02511259] Pose Error in degrees for R and t: 11.129228786377633 62.820160025812584 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 8.99324342e-01 -4.37281539e-01 -7.64443937e-04] [ 4.37281921e-01 8.99324379e-01 4.28489508e-04] [ 5.00112517e-04 -7.19628557e-04 9.99999616e-01]] t_estimated: [[-0.2043288 ] [-0.97890176] [-0.00104249]] R_gt: [[ 0.98470184 0.17261986 -0.02379857] [-0.17327174 0.98445327 -0.02877646] [ 0.01846144 0.03246036 0.99930229]] t_gt: [-0.65494272 0.72803244 -0.20253098] Pose Error in degrees for R and t: 35.95529575831485 54.64523555158624 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.57477990e-01 -2.88506119e-01 -3.45004973e-04] [ 2.88506187e-01 9.57478017e-01 1.66716057e-04] [ 2.82236075e-04 -2.59163025e-04 9.99999927e-01]] t_estimated: [[-0.28614052] [-0.95818704] [-0.00109632]] R_gt: [[ 0.99125514 0.13120629 -0.01411146] [-0.13146124 0.99113908 -0.01899618] [ 0.01149382 0.02068546 0.99972037]] t_gt: [-0.75696203 0.63126435 -0.16886032] Pose Error in degrees for R and t: 24.353480579530157 67.16450082973206 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 0.49830568 -0.86699215 0.00400716] [-0.86699337 -0.49827583 0.00660991] [-0.00373407 -0.00676794 -0.99997013]] t_estimated: [[0.45325303] [0.89136733] [0.00509562]] R_gt: [[ 0.99091928 0.12223115 -0.05601365] [-0.12321773 0.99227411 -0.01449286] [ 0.05381064 0.02126342 0.99832477]] t_gt: [-0.32480475 0.88902994 -0.32268816] Pose Error in degrees for R and t: 177.97420779654985 49.940018459611196 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.98362632 0.17836782 0.02577193] [ 0.17918709 0.98322595 0.03403987] [-0.01926801 0.03810051 -0.99908813]] t_estimated: [[9.58459084e-01] [2.85229083e-01] [7.44723453e-04]] R_gt: [[ 0.98885397 0.11432848 -0.09537531] [-0.11347432 0.9934373 0.0143472 ] [ 0.09639058 -0.00336394 0.99533763]] t_gt: [-0.13123722 0.91142532 -0.38997522] Pose Error in degrees for R and t: 175.64112815600893 82.30561407671952 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 8.19253756e-01 5.73430575e-01 8.12029170e-04] [-5.73419836e-01 8.19245666e-01 -5.12160267e-03] [-3.60213494e-03 3.73025859e-03 9.99986555e-01]] t_estimated: [[0.57593054] [0.81749731] [0.00147297]] R_gt: [[ 0.97905123 0.12381809 -0.16164105] [-0.11933832 0.99215791 0.03717061] [ 0.16497597 -0.01710062 0.98614946]] t_gt: [ 0.07210033 0.84047462 -0.53703255] Pose Error in degrees for R and t: 29.570339648712356 43.29609573621679 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-0.85024705 0.52638229 -0.0012775 ] [-0.52637868 -0.85024695 -0.00236767] [-0.00233249 -0.00134065 0.99999638]] t_estimated: [[0.60590864] [0.79553286] [0.00148144]] R_gt: [[ 0.99923584 -0.03357409 -0.02002549] [ 0.03257284 0.99829686 -0.04840627] [ 0.02161731 0.04771824 0.99862682]] t_gt: [ 0.27936018 -0.14677133 -0.94890256] Pose Error in degrees for R and t: 150.14440492987032 87.0709333563422 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.61177989 0.79102029 0.00350253] [-0.79101813 0.61174407 0.00771447] [ 0.00395965 -0.00749012 0.99996411]] t_estimated: [[0.47565268] [0.87963167] [0.00162895]] R_gt: [[ 0.99899031 0.02840441 -0.03481416] [-0.03026063 0.99808126 -0.05401728] [ 0.03321302 0.05501639 0.997933 ]] t_gt: [-0.20211958 0.68721734 -0.69776787] Pose Error in degrees for R and t: 50.7572153179942 59.520982083283165 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 7.84753514e-01 6.19787867e-01 4.99223079e-03] [-6.19767944e-01 7.84768917e-01 -5.04396896e-03] [-7.04393831e-03 8.64247758e-04 9.99974818e-01]] t_estimated: [[0.5829592 ] [0.81249939] [0.00182175]] R_gt: [[ 0.99656857 0.07878172 -0.02537733] [-0.08041638 0.9941869 -0.07159179] [ 0.01958958 0.07338735 0.99711129]] t_gt: [-0.31419759 0.84907616 -0.42467582] Pose Error in degrees for R and t: 33.99456896314617 59.606505466929235 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.9907137 -0.13537527 0.0126449 ] [ 0.1355091 0.99072149 -0.01040244] [-0.01111934 0.01201934 0.99986594]] t_estimated: [[-0.55922712] [-0.82901401] [-0.00089333]] R_gt: [[ 0.99834455 -0.05743558 0.00323142] [ 0.05750098 0.99799243 -0.02652286] [-0.00170132 0.02666532 0.99964242]] t_gt: [ 0.68401646 -0.70982691 -0.16812863] Pose Error in degrees for R and t: 4.607041680692243 78.10691456243438 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 6.54788695e-01 7.55811914e-01 3.40729008e-04] [-7.55811187e-01 6.54788590e-01 -1.16299707e-03] [-1.10211251e-03 5.03990540e-04 9.99999266e-01]] t_estimated: [[0.51736652] [0.8557633 ] [0.00102856]] R_gt: [[ 0.98622432 -0.16535684 0.00435814] [ 0.16538115 0.98620886 -0.00631931] [-0.00325228 0.00695251 0.99997023]] t_gt: [ 0.68487426 -0.72856132 0.0120688 ] Pose Error in degrees for R and t: 58.61619573727623 74.3873409040977 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 7.58248494e-01 6.51961492e-01 2.33101298e-03] [ 6.51960814e-01 -7.58251797e-01 1.14448433e-03] [ 2.51365450e-03 6.51925596e-04 -9.99996628e-01]] t_estimated: [[-0.97325045] [-0.22973723] [-0.00208852]] R_gt: [[ 9.86510954e-01 -1.63695167e-01 -8.11634375e-04] [ 1.63695603e-01 9.86510123e-01 1.17375946e-03] [ 6.08498262e-04 -1.29067760e-03 9.99998789e-01]] t_gt: [ 0.69495511 -0.71873935 0.02124031] Pose Error in degrees for R and t: 179.9137384222547 59.25030265628073 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.35716404e-01 3.52752853e-01 -4.85624518e-04] [-3.52753061e-01 9.35716347e-01 -4.42615559e-04] [ 2.98272899e-04 5.85468174e-04 9.99999784e-01]] t_estimated: [[-0.16928214] [ 0.98556691] [-0.0011928 ]] R_gt: [[ 0.99820067 -0.02605421 0.05400564] [ 0.02746135 0.99929804 -0.0254834 ] [-0.05330395 0.02692096 0.99821525]] t_gt: [-0.57210013 0.48970108 0.65794703] Pose Error in degrees for R and t: 22.45088768958931 54.641211902068186 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.25349716 0.96729597 0.00881447] [ 0.96726666 0.25357763 -0.00967463] [-0.01159338 0.00607346 -0.99991435]] t_estimated: [[ 0.18112208] [-0.9833872 ] [ 0.01201712]] R_gt: [[ 0.9964939 -0.02869606 0.07859199] [ 0.0342701 0.99692193 -0.07051637] [-0.07632689 0.0729629 0.99440972]] t_gt: [-0.59569021 0.76181702 0.25453488] Pose Error in degrees for R and t: 173.2269252664642 31.35111946531198 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.67131522 -0.74116153 -0.00393185] [ 0.7411708 0.67131412 0.00178878] [ 0.00131373 -0.00411501 0.99999067]] t_estimated: [[0.89485654] [0.44635228] [0.00119163]] R_gt: [[ 0.99686271 -0.02722122 0.07432461] [ 0.03265053 0.9968093 -0.0728335 ] [-0.07210555 0.07503123 0.99457073]] t_gt: [-0.57388474 0.81327877 0.0960934 ] Pose Error in degrees for R and t: 46.50858879437061 81.34866517259982 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99996903e-01 -2.41478292e-03 6.01514988e-04] [ 2.41426061e-03 9.99996709e-01 8.67546729e-04] [-6.03607945e-04 -8.66091829e-04 9.99999443e-01]] t_estimated: [[0.57896433] [0.81534826] [0.00274224]] R_gt: [[ 0.99859754 -0.0308038 0.04307125] [ 0.02574888 0.99321925 0.11337295] [-0.04627173 -0.11210417 0.99261822]] t_gt: [ 0.07236074 -0.29148457 0.95383472] Pose Error in degrees for R and t: 7.065134202691069 78.86323995134225 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-7.09305308e-01 -7.04900762e-01 -9.46911609e-04] [ 7.04899149e-01 -7.09299012e-01 -3.47869731e-03] [ 1.78049292e-03 -3.13493566e-03 9.99993501e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99504514 -0.0828262 0.05501033] [ 0.07087342 0.97886388 0.1918386 ] [-0.06973702 -0.18698902 0.97988394]] t_gt: [ 0.18508089 -0.38936905 0.9022953 ] Pose Error in degrees for R and t: 131.00064127895607 85.187851030249 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.99753985 0.03395384 -0.06133019] [-0.03299227 0.99931734 0.01662417] [ 0.06185278 -0.01455985 0.99797908]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99425149 -0.08575051 0.06413022] [ 0.07298427 0.98093443 0.18011598] [-0.07835231 -0.17439985 0.98155299]] t_gt: [ 0.19001628 -0.39478692 0.89890884] Pose Error in degrees for R and t: 13.702904927370342 87.61365048110446 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.53977965e-01 2.99876387e-01 4.41435571e-04] [-2.99876622e-01 9.53977784e-01 6.31361525e-04] [-2.31789315e-04 -7.34681191e-04 9.99999703e-01]] t_estimated: [[0.79724333] [0.60365717] [0.00104079]] R_gt: [[ 0.99746605 -0.0026635 0.07109347] [ 0.00329472 0.9999562 -0.00877443] [-0.07106688 0.00898706 0.99743011]] t_gt: [-0.44718046 0.08442524 0.89045045] Pose Error in degrees for R and t: 18.08671968807366 72.26463774750259 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-5.38891324e-01 8.42375104e-01 5.70855432e-04] [-8.42360781e-01 -5.38877935e-01 -6.23585500e-03] [-4.94530760e-03 -3.84131438e-03 9.99980394e-01]] t_estimated: [[0.52857474] [0.84887639] [0.00419778]] R_gt: [[ 0.99753561 0.02269013 0.06639722] [-0.02072156 0.99932889 -0.03019197] [-0.06703715 0.02874176 0.99733607]] t_gt: [-0.8197235 0.29650523 0.4900388 ] Pose Error in degrees for R and t: 121.39086722144327 79.65751153754614 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.92927714e-01 1.18720329e-01 1.95568440e-04] [-1.18720376e-01 9.92927696e-01 2.51163853e-04] [-1.64367065e-04 -2.72605509e-04 9.99999949e-01]] t_estimated: [[0.37546931] [0.92683414] [0.00112754]] R_gt: [[ 0.99978198 0.00754643 0.01942133] [-0.00778402 0.99989595 0.0121506 ] [-0.01932716 -0.01229938 0.99973689]] t_gt: [-0.92452805 -0.24754631 0.28977353] Pose Error in degrees for R and t: 6.509569813248599 54.8135150218536 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.07103486 0.93513653 -0.34709325] [ 0.95997799 0.0304184 0.27841873] [ 0.27091754 -0.35297931 -0.89554971]] t_estimated: [[0.61590617] [0.78778696] [0.0071617 ]] R_gt: [[ 0.99924102 -0.03890062 -0.0021673 ] [ 0.03884706 0.9990255 -0.02096438] [ 0.00298055 0.02086489 0.99977718]] t_gt: [ 0.63870311 -0.54143806 -0.54672038] Pose Error in degrees for R and t: 154.46920564522543 87.87543820719898 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 9.99999986e-01 -1.18444503e-04 -1.14878829e-04] [ 1.18462212e-04 9.99999981e-01 1.54154610e-04] [ 1.14860568e-04 -1.54168216e-04 9.99999982e-01]] t_estimated: [[0.99987638] [0.01568844] [0.0010459 ]] R_gt: [[ 0.96877063 -0.18736739 0.16240649] [ 0.18914923 0.98193808 0.00456687] [-0.16032884 0.02629531 0.98671257]] t_gt: [ 0.62259715 -0.68057635 0.38624944] Pose Error in degrees for R and t: 14.370124026981342 52.247847707387635 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.26614046 0.96356722 0.02659819] [ 0.96355663 0.2667072 -0.02063714] [-0.0269792 0.02013648 -0.99943316]] t_estimated: [[-0.61394037] [-0.78935191] [-0.00088592]] R_gt: [[ 0.90992826 -0.32365661 0.25937666] [ 0.31804189 0.9458756 0.06455279] [-0.26623158 0.02375499 0.9636162 ]] t_gt: [ 0.66328913 -0.62547512 0.41088734] Pose Error in degrees for R and t: 166.5507447501879 85.05864828393902 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.47169064e-01 7.62345514e-01 1.23310704e-03] [-7.62345601e-01 6.47169944e-01 -4.97855829e-04] [-1.17756797e-03 -6.17856834e-04 9.99999116e-01]] t_estimated: [[-0.23944376] [ 0.97090908] [ 0.00149959]] R_gt: [[ 9.83515746e-01 1.80716183e-01 6.23745596e-03] [-1.80824185e-01 9.82911587e-01 3.44469029e-02] [ 9.36600720e-05 -3.50073297e-02 9.99387067e-01]] t_gt: [-0.58781638 0.79391642 0.15546261] Pose Error in degrees for R and t: 39.302337432678954 24.244320209260643 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.30687178e-01 3.65815967e-01 2.34349956e-04] [-3.65815954e-01 9.30687208e-01 -9.84516704e-05] [-2.54121699e-04 5.89875454e-06 9.99999968e-01]] t_estimated: [[-6.12240779e-01] [ 7.90671134e-01] [ 6.22198457e-04]] R_gt: [[ 0.96826139 0.24960808 -0.0128879 ] [-0.24847334 0.96687676 0.05840143] [ 0.02703738 -0.05334549 0.99821005]] t_gt: [-0.51766749 0.85100571 0.08837218] Pose Error in degrees for R and t: 7.818384309525265 8.167173026526648 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-0.94712175 -0.09100336 -0.30769916] [-0.03879096 -0.91943335 0.39132796] [-0.31852103 0.38257117 0.86728522]] t_estimated: [[0.80721818] [0.58920143] [0.03522063]] R_gt: [[ 0.89322615 0.44952489 0.00868967] [-0.44950593 0.89243943 0.03868824] [ 0.00963533 -0.03846345 0.99921334]] t_gt: [-0.46502166 0.88425696 0.04294745] Pose Error in degrees for R and t: 156.11493863966783 81.53853733213192 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 0.36807323 -0.92979527 -0.00169174] [-0.92979423 -0.36806732 -0.00302298] [ 0.00218808 0.00268565 -0.999994 ]] t_estimated: [[ 6.44027845e-01] [ 7.65001825e-01] [-5.85047006e-04]] R_gt: [[ 0.99284235 -0.11599788 -0.02844537] [ 0.11807352 0.98913767 0.0875464 ] [ 0.01798194 -0.09027802 0.9957549 ]] t_gt: [ 0.7237728 -0.59431576 0.35063046] Pose Error in degrees for R and t: 176.72261861957395 89.3541447119432 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 9.99939212e-01 1.09988346e-02 7.72850647e-04] [-1.09986503e-02 9.99939484e-01 -2.42387428e-04] [-7.75469856e-04 2.33872380e-04 9.99999672e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.97221563 -0.22211349 -0.07390188] [ 0.22940838 0.9668578 0.1120617 ] [ 0.0465623 -0.12590187 0.99094919]] t_gt: [ 0.79298193 -0.56969862 0.21592392] Pose Error in degrees for R and t: 15.762848897243707 38.10189198760927 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.9691127 -0.24644808 -0.0091608 ] [ 0.24626458 -0.96904364 0.01755487] [-0.01320358 0.01475667 0.99980393]] t_estimated: [[8.58314830e-01] [5.13122996e-01] [6.66393501e-04]] R_gt: [[ 0.96371559 -0.25377614 -0.08276922] [ 0.26178421 0.95914972 0.1072356 ] [ 0.0521745 -0.12501099 0.99078256]] t_gt: [ 0.80152792 -0.57166098 0.17537594] Pose Error in degrees for R and t: 150.7915790530796 66.74975564596808 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 4.32464886e-01 9.01650765e-01 -1.40151495e-04] [-9.01650257e-01 4.32464466e-01 -1.13991387e-03] [-9.67193672e-04 6.19340354e-04 9.99999340e-01]] t_estimated: [[-1.89674865e-01] [ 9.81846912e-01] [ 2.96083096e-04]] R_gt: [[ 0.99954089 -0.02040826 0.02241785] [ 0.02011518 0.99971064 0.01321625] [-0.02268107 -0.0127596 0.99966101]] t_gt: [ 0.56101712 -0.31962473 0.76360974] Pose Error in degrees for R and t: 65.55233285801665 65.16495144060865 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.94089840e-01 -1.08560474e-01 1.13056385e-04] [ 1.08560464e-01 9.94089844e-01 8.79148216e-05] [-1.21932279e-04 -7.51217773e-05 9.99999990e-01]] t_estimated: [[ 9.31742609e-01] [-3.63118669e-01] [ 7.36044756e-04]] R_gt: [[ 0.98952802 -0.142668 0.02192145] [ 0.14205838 0.9894834 0.02726375] [-0.02557976 -0.02386452 0.99938762]] t_gt: [ 0.81701355 -0.53599447 0.21260005] Pose Error in degrees for R and t: 2.793946832436566 17.053287840376747 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.92465156 0.38081103 0.00156465] [-0.38080676 0.92465135 -0.00246869] [-0.00238686 0.00168685 0.99999573]] t_estimated: [[0.59338954] [0.80491326] [0.00187189]] R_gt: [[ 0.96833951 -0.24891213 0.01901101] [ 0.24866756 0.9684828 0.0143481 ] [-0.0219833 -0.0091654 0.99971632]] t_gt: [ 0.82983838 -0.55381112 0.06827524] Pose Error in degrees for R and t: 36.81513667080571 87.31899411596007 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 4.01059563e-01 -9.16050210e-01 -1.79969092e-03] [ 9.16051560e-01 4.01060483e-01 -1.67293181e-04] [ 8.75033862e-04 -1.58151514e-03 9.99998367e-01]] t_estimated: [[ 8.92318564e-01] [-4.51406176e-01] [ 2.11526505e-04]] R_gt: [[ 0.99259564 0.12135832 -0.0051304 ] [-0.1213686 0.99260608 -0.00169984] [ 0.00488702 0.00230962 0.99998548]] t_gt: [-0.55368676 0.82903235 -0.07833472] Pose Error in degrees for R and t: 73.3266839215794 29.73694337556347 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 8.50918896e-01 -5.25290463e-01 -2.63867890e-03] [ 5.25293078e-01 8.50921293e-01 3.66277664e-04] [ 2.05290590e-03 -1.69775235e-03 9.99996452e-01]] t_estimated: [[0.7775935 ] [0.62876626] [0.0011537 ]] R_gt: [[ 0.93919488 0.34329347 -0.00794157] [-0.34338254 0.93903253 -0.01753533] [ 0.00143743 0.01919578 0.99981465]] t_gt: [-0.52446593 0.84900068 -0.06429099] Pose Error in degrees for R and t: 51.781938543278535 82.76567858325076 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.01584644 0.99987293 -0.00173767] [ 0.99986564 -0.01583898 0.00422231] [ 0.00419425 -0.00180435 -0.99998958]] t_estimated: [[-0.6518993 ] [-0.75830435] [-0.0013469 ]] R_gt: [[ 0.86572216 0.49748531 -0.05508031] [-0.49880471 0.86662297 -0.01260725] [ 0.04146272 0.03838861 0.99840198]] t_gt: [-0.44197434 0.88780386 -0.12830817] Pose Error in degrees for R and t: 178.80892427404274 67.3606083024995 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.96018926e-01 8.91420010e-02 -5.90367941e-05] [-8.91420071e-02 9.96018921e-01 -1.09937015e-04] [ 4.90017584e-05 1.14762006e-04 9.99999992e-01]] t_estimated: [[-0.81216891] [ 0.58342157] [-0.00096972]] R_gt: [[ 0.99675004 0.07167648 0.0367657 ] [-0.07225662 0.99727784 0.01469063] [-0.0356118 -0.01729871 0.99921606]] t_gt: [-0.69952099 0.58045417 0.41682531] Pose Error in degrees for R and t: 2.4788412439056837 24.990956812028028 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.61303278e-01 2.75492170e-01 2.68228593e-04] [-2.75492108e-01 9.61303302e-01 -2.46710298e-04] [-3.25815787e-04 1.63268558e-04 9.99999934e-01]] t_estimated: [[0.69173041] [0.72215464] [0.00130757]] R_gt: [[ 0.99851702 -0.01885821 0.05107441] [ 0.01825308 0.99975776 0.01228321] [-0.05129339 -0.01133229 0.99861886]] t_gt: [ 0.36542232 -0.08306889 0.92712787] Pose Error in degrees for R and t: 17.314736114945802 78.8138376761731 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.93014354e-01 1.17992530e-01 5.04855010e-04] [-1.17992325e-01 9.93014419e-01 -4.17446363e-04] [-5.50583857e-04 3.54961214e-04 9.99999785e-01]] t_estimated: [[0.90248019] [0.43072918] [0.00136739]] R_gt: [[ 0.98870562 -0.14640729 0.03203399] [ 0.14524174 0.98873695 0.03610414] [-0.03695881 -0.03104329 0.99883445]] t_gt: [ 0.79218973 -0.53983174 0.28463507] Pose Error in degrees for R and t: 15.41397431577788 61.13133825894445 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.56415385e-01 2.92009586e-01 -1.10061518e-04] [-2.92009601e-01 9.56415375e-01 -1.51959907e-04] [ 6.08907785e-05 1.77475813e-04 9.99999982e-01]] t_estimated: [[9.00093840e-01] [4.35695465e-01] [7.35972069e-04]] R_gt: [[ 0.99492817 -0.08717468 -0.05020699] [ 0.08261797 0.99280953 -0.08661717] [ 0.05739721 0.08202949 0.99497568]] t_gt: [ 0.42505934 -0.38250989 -0.82037232] Pose Error in degrees for R and t: 22.591515513310107 77.56501180628554 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.99999858 -0.00128529 0.00108566] [ 0.0012875 0.99999709 -0.00203804] [-0.00108304 0.00203943 0.99999733]] t_estimated: [[0.84541422] [0.53411021] [0.00104115]] R_gt: [[ 0.9798751 -0.19478093 -0.043653 ] [ 0.1843623 0.96694197 -0.17616532] [ 0.07652379 0.16457257 0.98339194]] t_gt: [ 0.50240757 -0.43423748 -0.74767937] Pose Error in degrees for R and t: 15.06597752432659 78.9285261995112 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.40612476e-01 3.39481500e-01 6.93797726e-04] [-3.39480578e-01 9.40612328e-01 -1.17704056e-03] [-1.05217819e-03 8.71608179e-04 9.99999067e-01]] t_estimated: [[0.61438744] [0.78900282] [0.00161681]] R_gt: [[ 0.98571429 -0.15445753 -0.06717276] [ 0.14106545 0.97497411 -0.17183241] [ 0.09203386 0.15990181 0.98283313]] t_gt: [ 0.41913019 -0.24735696 -0.87358137] Pose Error in degrees for R and t: 30.29076192130261 86.50677147395932 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.77749233e-01 2.09777103e-01 6.22669618e-05] [-2.09777067e-01 9.77749173e-01 -3.69657757e-04] [-1.38427204e-04 3.48370408e-04 9.99999930e-01]] t_estimated: [[-4.85009462e-01] [ 8.74508791e-01] [-4.41729122e-04]] R_gt: [[ 0.99940923 -0.0101587 0.03286842] [ 0.01202602 0.99829449 -0.05712679] [-0.0322315 0.0574875 0.99782561]] t_gt: [-0.51205294 0.85129449 -0.11445297] Pose Error in degrees for R and t: 13.285694246625267 6.848179957546036 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.91635311e-01 -1.29071323e-01 -5.42929636e-05] [ 1.29071330e-01 9.91635300e-01 1.53713182e-04] [ 3.39988554e-05 -1.59435084e-04 9.99999987e-01]] t_estimated: [[-0.99993329] [-0.01149349] [-0.00114935]] R_gt: [[ 0.99916182 0.00450167 0.04069659] [-0.00173117 0.99769294 -0.06786142] [-0.04090796 0.06773389 0.99686408]] t_gt: [-0.52769946 0.83867587 -0.13474447] Pose Error in degrees for R and t: 8.850478997207613 58.78976407387696 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999460e-01 -1.02905499e-03 1.46638268e-04] [ 1.02905501e-03 9.99999471e-01 -1.05351946e-07] [-1.46638082e-04 2.56250734e-07 9.99999989e-01]] t_estimated: [[8.85066827e-03] [9.99960504e-01] [8.09678062e-04]] R_gt: [[ 0.99882951 -0.02523292 0.04126889] [ 0.02897945 0.99525764 -0.09285644] [-0.03873051 0.09394324 0.99482401]] t_gt: [-0.42328737 0.86281813 -0.27635609] Pose Error in degrees for R and t: 6.018102807823368 30.81633123216401 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999973e-01 -2.17482019e-04 8.55149500e-05] [ 2.17479639e-04 9.99999976e-01 2.78432312e-05] [-8.55210033e-05 -2.78246327e-05 9.99999996e-01]] t_estimated: [[0.5061216 ] [0.86246163] [0.00093168]] R_gt: [[ 0.99909439 -0.03446202 0.02496311] [ 0.03258098 0.99686074 0.07215342] [-0.02737136 -0.07127482 0.99708103]] t_gt: [ 0.17990612 -0.47932107 0.85900238] Pose Error in degrees for R and t: 4.774791592434034 71.24383534250786 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 1.00000000e+00 -7.18864042e-07 -6.84723384e-08] [ 7.18862978e-07 1.00000000e+00 -1.55406103e-05] [ 6.84835100e-08 1.55406103e-05 1.00000000e+00]] t_estimated: [[ 9.99999997e-01] [-7.17104179e-05] [-1.31938257e-05]] R_gt: [[ 0.99963068 -0.02133055 0.01684847] [ 0.02140394 0.99976151 -0.00421195] [-0.01675433 0.00457095 0.99984964]] t_gt: [ 0.38998163 -0.77072948 0.50387538] Pose Error in degrees for R and t: 1.5775152522331637 67.0436180255391 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-7.55376592e-01 -6.55288799e-01 -1.67167323e-03] [ 6.55290644e-01 -7.55376191e-01 -9.91078257e-04] [-6.13299672e-04 -1.84406914e-03 9.99998112e-01]] t_estimated: [[0.91091998] [0.41258196] [0.00095285]] R_gt: [[ 0.99947074 -0.00755598 -0.03167464] [ 0.00430806 0.99483952 -0.10136696] [ 0.0322776 0.10117694 0.99434454]] t_gt: [ 0.07968025 0.22059138 -0.97210622] Pose Error in degrees for R and t: 138.7809100809978 80.63820393309048 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.02429691 -0.99970114 -0.00269998] [ 0.99970375 -0.02430068 0.00137225] [-0.00143745 -0.00266584 0.99999541]] t_estimated: [[0.99993298] [0.01140469] [0.00199081]] R_gt: [[ 9.99684802e-01 -2.16535791e-03 -2.50066225e-02] [ 1.07548468e-04 9.96631847e-01 -8.20027290e-02] [ 2.50993251e-02 8.19740943e-02 9.96318054e-01]] t_gt: [ 0.35236375 0.18847704 -0.91668762] Pose Error in degrees for R and t: 91.43890538979491 69.34961258263253 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[-0.24781985 -0.96880459 -0.00172854] [ 0.96880313 -0.24782313 0.00204929] [-0.00241374 -0.00116676 0.99999641]] t_estimated: [[0.98384637] [0.1790093 ] [0.00140952]] R_gt: [[ 0.99931043 -0.02079659 -0.03075821] [ 0.01217922 0.96617827 -0.25758715] [ 0.03507501 0.25703456 0.96576465]] t_gt: [ 0.25887452 0.34739176 -0.90127851] Pose Error in degrees for R and t: 104.18896288022098 71.60243292890219 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 0.42757558 0.90397694 0.0021962 ] [-0.90381953 0.42754432 -0.01777926] [-0.01701101 0.00561701 0.99983952]] t_estimated: [[-9.99991799e-01] [-3.97137331e-03] [-7.94274661e-04]] R_gt: [[ 0.9975849 -0.05910358 -0.03648743] [ 0.04408145 0.94468191 -0.325012 ] [ 0.0536785 0.3226187 0.94500521]] t_gt: [ 0.31205506 0.33087684 -0.89058529] Pose Error in degrees for R and t: 69.86040108466949 71.78044248383343 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.98206366e-01 -5.98669455e-02 -1.52957585e-05] [ 5.98669472e-02 9.98206351e-01 1.71342845e-04] [ 5.01055055e-06 -1.71951229e-04 9.99999985e-01]] t_estimated: [[7.06484122e-01] [7.07728622e-01] [6.18509554e-04]] R_gt: [[ 0.99466217 -0.08215337 -0.06243481] [ 0.08379649 0.99618915 0.02417975] [ 0.06021151 -0.02928207 0.99775665]] t_gt: [ 0.62600824 -0.77949732 -0.0223073 ] Pose Error in degrees for R and t: 4.059388445546242 83.71803225030865 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99764375 -0.06849161 0.00398032] [ 0.06851073 0.99763842 -0.00488462] [-0.00363637 0.0051458 0.99998015]] t_estimated: [[7.94105760e-01] [6.07779269e-01] [6.33763576e-04]] R_gt: [[ 0.97739377 -0.192516 -0.08740269] [ 0.19602004 0.98003058 0.03340175] [ 0.07922697 -0.04977893 0.9956134 ]] t_gt: [ 0.66945159 -0.74270464 0.01497949] Pose Error in degrees for R and t: 9.255743430736036 85.39853736524212 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99999997e-01 -8.02567288e-05 -5.09165649e-07] [ 8.02568208e-05 9.99999980e-01 1.83249793e-04] [ 4.94458611e-07 -1.83249833e-04 9.99999983e-01]] t_estimated: [[8.94619689e-01] [4.46828301e-01] [2.87140959e-04]] R_gt: [[ 0.95404383 -0.29058449 -0.0732275 ] [ 0.29255015 0.95608993 0.01751093] [ 0.06492404 -0.03812919 0.9971622 ]] t_gt: [ 0.69662978 -0.7169443 -0.02641617] Pose Error in degrees for R and t: 17.507707016393503 72.37052968685364 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-6.53270835e-01 -7.57123910e-01 -7.74904488e-04] [-7.57124182e-01 6.53270973e-01 9.44076075e-05] [ 4.34744352e-04 6.48372663e-04 -9.99999695e-01]] t_estimated: [[0.88615694] [0.46338406] [0.00104131]] R_gt: [[ 0.9884321 0.15155556 0.00568442] [-0.15143368 0.98830642 -0.01782008] [-0.00831989 0.01675183 0.99982497]] t_gt: [-0.8575496 0.51227695 -0.04670126] Pose Error in degrees for R and t: 179.9133845494243 58.49377587531631 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 5.67578969e-01 -8.23318690e-01 -6.70259509e-04] [ 8.23318944e-01 5.67578941e-01 2.48420814e-04] [ 1.75895683e-04 -6.92835780e-04 9.99999745e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.96718008 0.25383033 -0.01149551] [-0.25407925 0.96656277 -0.03462539] [ 0.00232181 0.03640844 0.9993337 ]] t_gt: [-0.80836183 0.58154935 -0.09138657] Pose Error in degrees for R and t: 70.16308894325716 54.74301257034148 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.78323781e-01 -2.07044724e-01 3.88094731e-03] [-2.07046270e-01 -9.78331151e-01 -3.35801118e-06] [ 3.79754691e-03 -8.00250443e-04 -9.99992469e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.95715394 0.28639137 -0.04284284] [-0.28748728 0.95753264 -0.02194419] [ 0.03473825 0.03331953 0.99884128]] t_gt: [-0.7691059 0.62951537 -0.11039253] Pose Error in degrees for R and t: 178.22921236524112 51.34781025768124 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[ 9.99792345e-01 -2.03781154e-02 -7.58028381e-06] [ 2.03781151e-02 9.99792344e-01 -4.03311294e-05] [ 8.40058213e-06 4.01682826e-05 9.99999999e-01]] t_estimated: [[-9.90373148e-01] [-1.38423043e-01] [-2.99126052e-04]] R_gt: [[ 0.99595338 0.08618135 -0.02548671] [-0.08582176 0.99619981 0.01486801] [ 0.02667144 -0.01262022 0.99956452]] t_gt: [-0.83297008 0.55259864 0.0282063 ] Pose Error in degrees for R and t: 6.332204858095323 41.543677769408426 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.95438404e-01 -9.54062492e-02 -1.75855281e-04] [ 9.54062850e-02 9.95438395e-01 2.07940077e-04] [ 1.55214316e-04 -2.23769237e-04 9.99999963e-01]] t_estimated: [[-0.76814097] [-0.64027952] [-0.00126111]] R_gt: [[ 0.99367944 0.10261902 -0.0455029 ] [-0.10290163 0.99468409 -0.00393577] [ 0.04485787 0.00859256 0.9989564 ]] t_gt: [-0.67005576 0.71690496 -0.19254235] Pose Error in degrees for R and t: 11.670519287032247 86.79431723078535 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.94317510e-01 -1.06454830e-01 -2.40315777e-04] [ 1.06454889e-01 9.94317502e-01 2.47113051e-04] [ 2.12643805e-04 -2.71291623e-04 9.99999941e-01]] t_estimated: [[-0.99299332] [-0.11816519] [-0.00112207]] R_gt: [[ 0.98620851 0.16147458 -0.03632371] [-0.16273814 0.98604627 -0.03505046] [ 0.03015749 0.0404795 0.99872545]] t_gt: [-0.59228943 0.77537876 -0.21904568] Pose Error in degrees for R and t: 15.713669231207046 60.213963961393354 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-9.95122065e-01 -8.56040004e-02 4.90309102e-02] [-8.54519210e-02 9.96328760e-01 5.19336514e-03] [-4.92954788e-02 9.78246782e-04 -9.98783760e-01]] t_estimated: [[0.99050695] [0.13581277] [0.0212338 ]] R_gt: [[ 0.99284354 -0.11231509 -0.04057628] [ 0.11294294 0.99350935 0.01352241] [ 0.03879453 -0.01800855 0.99908396]] t_gt: [ 0.66151571 -0.74748687 -0.06050076] Pose Error in degrees for R and t: 179.4080542894201 56.46591353492292 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-5.29998943e-01 8.47998092e-01 5.96181490e-04] [-8.47995223e-01 -5.29994993e-01 -3.06755918e-03] [-2.28531113e-03 -2.13136218e-03 9.99995117e-01]] t_estimated: [[0.53117287] [0.84726211] [0.00151596]] R_gt: [[ 0.97253129 -0.22792566 -0.04725155] [ 0.22891644 0.97330331 0.01667585] [ 0.04219015 -0.02703416 0.99874347]] t_gt: [ 0.68886078 -0.72462136 -0.01986741] Pose Error in degrees for R and t: 135.23762255384648 75.63665492164841 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.99997203 0.00475908 -0.00576997] [-0.0047136 0.99995791 0.00787154] [ 0.00580718 -0.00784412 0.99995237]] t_estimated: [[0.97997189] [0.19913222] [0.00120686]] R_gt: [[ 0.96791953 -0.2481215 0.03959053] [ 0.25025243 0.9660935 -0.06352915] [-0.02248465 0.07139938 0.99719348]] t_gt: [ 0.61533987 -0.76000175 -0.209175 ] Pose Error in degrees for R and t: 15.494553709235985 63.16501339612731 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 9.99999930e-01 3.05892807e-04 -2.13636131e-04] [-3.05853284e-04 9.99999936e-01 1.85007964e-04] [ 2.13692710e-04 -1.84942610e-04 9.99999960e-01]] t_estimated: [[-0.25064507] [-0.96807852] [-0.00101476]] R_gt: [[ 0.99943272 -0.03019887 -0.01487447] [ 0.02730083 0.98563512 -0.16666634] [ 0.01969316 0.16616582 0.98590101]] t_gt: [ 0.25507465 0.27905448 -0.92577833] Pose Error in degrees for R and t: 9.786337298565282 70.540503326613 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.28665229 0.9580341 0.0010622 ] [ 0.95803155 0.28664834 0.00287675] [ 0.00245155 0.00184224 -0.9999953 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99792699 -0.06140193 -0.01925857] [ 0.05617378 0.97719358 -0.20478439] [ 0.03139334 0.20327789 0.97861739]] t_gt: [ 0.32903627 0.22595301 -0.91688623] Pose Error in degrees for R and t: 174.19023444512493 70.79042528501188 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 7.19511491e-04 9.99999504e-01 -6.89338265e-04] [-9.99996935e-01 7.17876164e-04 -2.36963256e-03] [-2.36913652e-03 6.91041129e-04 9.99996955e-01]] t_estimated: [[0.07693479] [0.99703558] [0.00103966]] R_gt: [[ 0.99053916 -0.13235117 -0.03625396] [ 0.12006004 0.96378575 -0.23812216] [ 0.06645685 0.23151727 0.97055789]] t_gt: [ 0.46718781 0.09426445 -0.87911874] Pose Error in degrees for R and t: 98.04377998631946 82.5873799977908 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.98249809e-01 -5.91378822e-02 1.72311769e-04] [ 5.91378720e-02 9.98249822e-01 6.36389618e-05] [-1.75773666e-04 -5.33374301e-05 9.99999983e-01]] t_estimated: [[ 0.65873667] [-0.75237285] [ 0.00104401]] R_gt: [[ 0.99855169 -0.03256398 0.04284608] [ 0.02836207 0.99504913 0.09525702] [-0.04573551 -0.09390361 0.99453003]] t_gt: [ 0.17714189 -0.26109813 0.94891966] Pose Error in degrees for R and t: 6.208145151842871 71.69208009903606 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.14403107 0.98957185 0.00161491] [-0.98956955 -0.14402594 -0.00293851] [-0.00267528 -0.00202131 0.99999438]] t_estimated: [[-0.06559906] [ 0.99784247] [ 0.00267894]] R_gt: [[ 0.99638111 -0.0568497 0.06320292] [ 0.0471667 0.98825748 0.14534425] [-0.07072373 -0.14183619 0.98736022]] t_gt: [ 0.21931889 -0.26651492 0.93854623] Pose Error in degrees for R and t: 101.57411235630597 73.87029614300675 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-1.20699449e-01 9.92689087e-01 -1.43390228e-04] [-9.92687251e-01 -1.20699502e-01 -1.91108228e-03] [-1.91441766e-03 -8.83249274e-05 9.99998164e-01]] t_estimated: [[0.06534241] [0.99786229] [0.0011015 ]] R_gt: [[ 0.99325771 -0.07572275 0.08778369] [ 0.05900633 0.98199906 0.17943634] [-0.09979102 -0.1730458 0.97984542]] t_gt: [ 0.23598557 -0.21860864 0.94684797] Pose Error in degrees for R and t: 101.31664423666493 78.36486915658583 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99886024e-01 1.50974189e-02 8.54830867e-05] [-1.50974535e-02 9.99885939e-01 4.20402836e-04] [-7.91263387e-05 -4.21645497e-04 9.99999908e-01]] t_estimated: [[0.47463041] [0.88018463] [0.0010003 ]] R_gt: [[ 0.99682992 0.06438541 -0.0467529 ] [-0.06281431 0.9974342 0.0343295 ] [ 0.04884385 -0.03128362 0.99831556]] t_gt: [-0.08066333 0.99597988 -0.03895516] Pose Error in degrees for R and t: 4.329665181129172 33.03665737996925 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999628e-01 -4.40929142e-04 7.41439839e-04] [ 4.42231432e-04 9.99998358e-01 -1.75718847e-03] [-7.40663826e-04 1.75751570e-03 9.99998181e-01]] t_estimated: [[-0.72811354] [-0.68545064] [-0.00284419]] R_gt: [[ 0.99624992 0.06833552 -0.05309216] [-0.06504963 0.99599607 0.06131459] [ 0.05706988 -0.05763084 0.99670556]] t_gt: [0.24105148 0.96407009 0.11163803] Pose Error in degrees for R and t: 6.120914944891224 33.21166389216863 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99988374e-01 9.27838878e-04 -4.73187962e-03] [-9.08860629e-04 9.99991542e-01 4.01129543e-03] [ 4.73556144e-03 -4.00694818e-03 9.99980759e-01]] t_estimated: [[0.74730016] [0.66448589] [0.00098588]] R_gt: [[ 0.99109811 0.09649857 -0.09172361] [-0.09331604 0.99489575 0.0383844 ] [ 0.09495996 -0.02948269 0.99504438]] t_gt: [ 0.37250816 0.86840707 -0.3272718 ] Pose Error in degrees for R and t: 7.62200916560308 31.229547386608107 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 0.05675563 -0.99815009 -0.02179878] [-0.99816804 -0.0562712 -0.02222849] [ 0.02096073 0.02302044 -0.99951524]] t_estimated: [[ 0.69244291] [ 0.72133161] [-0.01426612]] R_gt: [[ 9.99873696e-01 -4.38040510e-05 -1.59005718e-02] [-1.95985500e-05 9.99991055e-01 -3.99355382e-03] [ 1.59008550e-02 3.99368605e-03 9.99866136e-01]] t_gt: [ 0.1104029 -0.95338027 -0.28085095] Pose Error in degrees for R and t: 177.4245122594166 52.609150079620846 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.95697809e-01 -9.26599749e-02 3.67074654e-05] [ 9.26599754e-02 9.95697810e-01 -9.82434066e-06] [-3.56392197e-05 1.31833873e-05 9.99999999e-01]] t_estimated: [[0.86826247] [0.49610436] [0.00086845]] R_gt: [[ 0.99972717 0.00518895 -0.02275354] [-0.00654925 0.99816454 -0.06019671] [ 0.02239994 0.0603307 0.99792731]] t_gt: [-0.03702527 0.00507462 -0.99930144] Pose Error in degrees for R and t: 6.750270810865162 88.2523246912881 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-4.43331076e-01 -8.96357777e-01 5.40804917e-04] [-8.96344274e-01 4.43327567e-01 5.25462308e-03] [-4.94977599e-03 1.84479031e-03 -9.99986048e-01]] t_estimated: [[0.85323643] [0.5215188 ] [0.00239452]] R_gt: [[ 0.99831378 -0.05762249 -0.00704576] [ 0.0562077 0.98980124 -0.13089484] [ 0.01451736 0.13027881 0.9913713 ]] t_gt: [ 0.25554983 0.20008467 -0.9458649 ] Pose Error in degrees for R and t: 175.70717534699966 71.32936742084186 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.01430685 -0.99989603 -0.00179851] [ 0.99989563 -0.01430318 -0.00203683] [ 0.00201089 -0.00182746 0.99999631]] t_estimated: [[8.74954685e-01] [4.84204303e-01] [7.01448513e-04]] R_gt: [[ 0.99948555 -0.03156567 0.00565648] [ 0.03123589 0.99820463 0.05110281] [-0.0072582 -0.05090043 0.99867808]] t_gt: [ 0.60364647 -0.46391461 0.64837811] Pose Error in degrees for R and t: 89.05868571957176 72.30267054015346 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-7.46600225e-03 9.99971766e-01 -8.51679769e-04] [ 9.99964094e-01 7.46935387e-03 4.00244496e-03] [ 4.00869345e-03 -8.21766926e-04 -9.99991628e-01]] t_estimated: [[-9.99949711e-01] [-9.98649348e-03] [ 9.19673749e-04]] R_gt: [[ 0.99513601 -0.08408067 0.05132022] [ 0.07540377 0.98544181 0.15237511] [-0.0633834 -0.14776461 0.98698972]] t_gt: [ 0.38700164 -0.42224771 0.81971739] Pose Error in degrees for R and t: 176.06882954887746 67.54166294357323 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-3.87175227e-01 9.22005963e-01 -5.89922078e-04] [ 9.22003116e-01 3.87175515e-01 2.31831764e-03] [ 2.36590607e-03 3.53685165e-04 -9.99997139e-01]] t_estimated: [[0.68059326] [0.73266063] [0.00109759]] R_gt: [[ 0.98806869 -0.13242239 0.0786436 ] [ 0.1113753 0.96702974 0.22901494] [-0.10637656 -0.21752368 0.97024089]] t_gt: [ 0.33952404 -0.42329037 0.83996945] Pose Error in degrees for R and t: 177.21249361922608 85.51900133831148 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.78978987e-01 2.03959813e-01 7.33722006e-04] [-2.03960484e-01 9.78978612e-01 9.99333136e-04] [-5.14474351e-04 -1.12797644e-03 9.99999231e-01]] t_estimated: [[0.45220309] [0.8919127 ] [0.00202328]] R_gt: [[ 0.99784109 -0.04302998 0.04961068] [ 0.03847485 0.99525444 0.08937283] [-0.0532212 -0.0872711 0.99476214]] t_gt: [ 0.1486989 -0.44920518 0.88096728] Pose Error in degrees for R and t: 15.24860657829304 70.63242667650619 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.82379626 -0.56688108 -0.00235795] [-0.56687795 0.8237553 0.00875253] [-0.00301927 0.00854697 -0.99995892]] t_estimated: [[ 0.99999228] [ 0.00363016] [-0.00150614]] R_gt: [[ 0.99376056 -0.07224486 0.08497768] [ 0.05637582 0.98273821 0.17620397] [-0.09624028 -0.17031406 0.98067931]] t_gt: [ 0.07847841 -0.42781422 0.90045329] Pose Error in degrees for R and t: 172.01040340705458 85.66610884218838 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.46869948e-01 3.21616563e-01 2.98120379e-04] [-3.21616250e-01 9.46869766e-01 -7.95765694e-04] [-5.38212600e-04 6.57606262e-04 9.99999639e-01]] t_estimated: [[2.18274394e-01] [9.75887317e-01] [4.82785654e-04]] R_gt: [[ 0.99074662 -0.09444115 0.09748078] [ 0.07159284 0.97380813 0.21580386] [-0.11530827 -0.20682849 0.97155904]] t_gt: [ 0.09001281 -0.43764612 0.89463041] Pose Error in degrees for R and t: 27.244606228941542 65.98261037313961 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99965984e-01 8.24799268e-03 3.71831236e-05] [-8.24799347e-03 9.99965985e-01 2.10540407e-05] [-3.70082052e-05 -2.13600107e-05 9.99999999e-01]] t_estimated: [[0.32126254] [0.94698959] [0.00104988]] R_gt: [[ 0.99995218 0.00874646 -0.00434264] [-0.00891365 0.99915032 -0.04023444] [ 0.0039872 0.04027103 0.99917989]] t_gt: [-0.22080519 0.28074258 -0.9340389 ] Pose Error in degrees for R and t: 2.321847346205774 78.81700294002287 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 6.46814708e-01 7.62642997e-01 2.52830961e-03] [-7.62640895e-01 6.46819284e-01 -1.91812367e-03] [-3.09820300e-03 -6.87521701e-04 9.99994964e-01]] t_estimated: [[0.64960771] [0.7602691 ] [0.00084474]] R_gt: [[ 0.99943582 -0.03352302 -0.00216668] [ 0.03305402 0.99285207 -0.11467692] [ 0.00599579 0.11454055 0.99339953]] t_gt: [ 0.14806137 0.37822127 -0.91379784] Pose Error in degrees for R and t: 51.997820503470635 67.48285791075216 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 4.24653661e-01 9.05353642e-01 2.01257096e-03] [ 9.05354480e-01 -4.24655864e-01 8.14250875e-04] [ 1.59183506e-03 1.47631552e-03 -9.99997643e-01]] t_estimated: [[0.16096313] [0.98695815] [0.00211794]] R_gt: [[ 0.99834815 -0.05716299 -0.00583702] [ 0.05553849 0.98601391 -0.15713199] [ 0.01473737 0.15654794 0.98755962]] t_gt: [ 0.12158296 0.54330043 -0.83068781] Pose Error in degrees for R and t: 172.67492938546874 56.3563585930682 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.71254264e-01 2.38044399e-01 1.34927588e-04] [-2.38044299e-01 9.71254156e-01 -5.25911612e-04] [-2.56239295e-04 4.78675153e-04 9.99999853e-01]] t_estimated: [[-0.57334295] [-0.81931448] [-0.00127823]] R_gt: [[ 0.99174771 -0.06200332 0.11221064] [ 0.04089359 0.98254479 0.18148055] [-0.12150448 -0.17539366 0.97697219]] t_gt: [ 0.15968017 -0.17539484 0.97146224] Pose Error in degrees for R and t: 20.781159365477706 87.08179407046843 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[-9.76747766e-01 -2.14390996e-01 5.50610677e-04] [-2.14389427e-01 9.76746009e-01 2.09948537e-03] [-9.87917540e-04 1.93262253e-03 -9.99997644e-01]] t_estimated: [[9.78654748e-01] [2.05509857e-01] [7.63977164e-04]] R_gt: [[ 0.99182471 -0.08593668 0.09433251] [ 0.06466172 0.97576458 0.20905489] [-0.11001206 -0.20124521 0.97334404]] t_gt: [ 0.23500231 -0.22516678 0.94555478] Pose Error in degrees for R and t: 172.80660565679656 79.37183470557001 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-0.06153404 0.99797814 0.01591199] [ 0.99780014 0.06190142 -0.02372983] [-0.02466682 0.0144168 -0.99959177]] t_estimated: [[0.99844139] [0.05546895] [0.00616322]] R_gt: [[ 0.98718967 -0.08998379 0.13175372] [ 0.05392432 0.96536611 0.25526971] [-0.15016139 -0.24489533 0.95785145]] t_gt: [ 0.19019699 -0.15177655 0.96994277] Pose Error in degrees for R and t: 177.5909886117832 79.19543185643285 Number of keypoints: Image1: 322 Image2: 322 R_estimated: [[ 0.2533169 0.96696795 0.02834654] [ 0.96697846 -0.25225444 -0.03633667] [-0.02798586 0.03661519 -0.9989375 ]] t_estimated: [[-0.58891259] [ 0.80786713] [-0.02307935]] R_gt: [[ 0.9987881 -0.04656548 -0.01594185] [ 0.04588673 0.9981218 -0.04059175] [ 0.01780201 0.03981027 0.99904848]] t_gt: [ 0.61870154 -0.25873351 -0.74179875] Pose Error in degrees for R and t: 176.12641668244788 56.20223592031898 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.99130273e-01 4.16975995e-02 8.73017309e-05] [-4.16975805e-02 9.99130256e-01 -2.08670213e-04] [-9.59268477e-05 2.04848456e-04 9.99999974e-01]] t_estimated: [[-0.4651598 ] [-0.88522603] [-0.00110686]] R_gt: [[ 0.98968552 -0.13443391 -0.049506 ] [ 0.12956354 0.98737675 -0.09110721] [ 0.061129 0.08375246 0.99461006]] t_gt: [ 0.64208845 -0.31449997 -0.69915105] Pose Error in degrees for R and t: 11.62558699147651 88.88287276961383 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.82487725e-01 1.86327034e-01 3.25552038e-04] [-1.86326832e-01 9.82487653e-01 -5.69100361e-04] [-4.25889640e-04 4.98475039e-04 9.99999785e-01]] t_estimated: [[5.18398963e-01] [8.55138563e-01] [7.43338921e-04]] R_gt: [[ 0.98194699 -0.18736867 -0.02593141] [ 0.183098 0.97594309 -0.11836593] [ 0.04748591 0.11148109 0.992631 ]] t_gt: [ 0.60171617 -0.40108302 -0.69070259] Pose Error in degrees for R and t: 22.53433875610064 88.19110440963476 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999985e-01 1.70390277e-04 1.78756176e-05] [-1.70391601e-04 9.99999983e-01 7.40851083e-05] [-1.78629939e-05 -7.40881531e-05 9.99999997e-01]] t_estimated: [[9.08683883e-01] [4.17484249e-01] [7.08801781e-04]] R_gt: [[ 0.9969362 -0.07803861 -0.00533597] [ 0.0779426 0.9968249 -0.01624757] [ 0.00658751 0.01578312 0.99985386]] t_gt: [ 0.74704163 -0.65578325 -0.10898227] Pose Error in degrees for R and t: 4.589985612648336 66.11086146867183 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-1.36138211e-01 9.90688332e-01 1.73661914e-03] [-9.90689819e-01 -1.36137526e-01 -5.07021466e-04] [-2.65881217e-04 -1.78947590e-03 9.99998364e-01]] t_estimated: [[0.17932363] [0.98378935] [0.0012453 ]] R_gt: [[ 0.97889751 -0.20273413 -0.02566986] [ 0.20254748 0.97922396 -0.00968644] [ 0.0271006 0.00428399 0.99962333]] t_gt: [ 0.75050756 -0.65664824 -0.0745083 ] Pose Error in degrees for R and t: 109.52740493258767 59.2353645546754 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.97975535 -0.20018329 0.00247041] [ 0.20018763 0.97975618 -0.00165482] [-0.00208913 0.00211587 0.99999558]] t_estimated: [[8.18587924e-01] [5.74380884e-01] [6.40594409e-04]] R_gt: [[ 0.97284856 -0.22656673 -0.04725883] [ 0.22379478 0.97294014 -0.05747932] [ 0.0590035 0.04534238 0.99722732]] t_gt: [ 0.77416475 -0.59409626 -0.2184458 ] Pose Error in degrees for R and t: 4.538972990856396 73.00163323491161 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99993963e-01 -3.47481906e-03 -3.54814742e-06] [ 3.47481901e-03 9.99993963e-01 -1.43506356e-05] [ 3.59799186e-06 1.43382198e-05 1.00000000e+00]] t_estimated: [[ 5.76224162e-01] [-8.17291590e-01] [-4.14973903e-04]] R_gt: [[ 0.99318973 -0.11090514 -0.03572014] [ 0.10896394 0.99266546 -0.0523534 ] [ 0.04126468 0.04810477 0.99798897]] t_gt: [ 0.61942868 -0.4941239 -0.61004072] Pose Error in degrees for R and t: 7.1152769062286 40.44524829375462 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99999875e-01 4.98570175e-04 -2.93279553e-05] [-4.98571892e-04 9.99999874e-01 -5.85652620e-05] [ 2.92987527e-05 5.85798768e-05 9.99999998e-01]] t_estimated: [[-0.3937511 ] [-0.91921616] [-0.00130895]] R_gt: [[ 0.98894996 -0.14548041 -0.02852248] [ 0.14315621 0.98712716 -0.0713114 ] [ 0.0385295 0.0664395 0.99704577]] t_gt: [ 0.56689341 -0.55936121 -0.60477012] Pose Error in degrees for R and t: 9.427244878339396 73.03721100268194 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 8.78819907e-01 4.77153462e-01 3.80174418e-04] [-4.77153367e-01 8.78819984e-01 -3.15564299e-04] [-4.84677474e-04 9.59226838e-05 9.99999878e-01]] t_estimated: [[-5.09107912e-01] [ 8.60702449e-01] [ 6.54674128e-04]] R_gt: [[ 0.99238426 -0.1191014 -0.03146634] [ 0.11645268 0.99030778 -0.07568886] [ 0.04017576 0.07144818 0.99663389]] t_gt: [ 0.56513058 -0.43138427 -0.70323185] Pose Error in degrees for R and t: 35.57708919049151 48.74081489120896 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-9.93093489e-01 1.17325580e-01 1.75509904e-04] [ 1.17325454e-01 9.93087061e-01 3.58149524e-03] [ 2.45904393e-04 3.57735138e-03 -9.99993571e-01]] t_estimated: [[9.99964523e-01] [8.37179601e-03] [9.30199557e-04]] R_gt: [[ 0.95830264 0.28473832 -0.02409571] [-0.28447942 0.95858558 0.01362315] [ 0.02697697 -0.00620058 0.99961602]] t_gt: [-0.96413942 0.26533064 -0.00590209] Pose Error in degrees for R and t: 178.45757403707054 15.868997241316828 Number of keypoints: Image1: 23 Image2: 23 R_estimated: [[ 0.98224906 -0.18752498 0.00460154] [ 0.18756059 0.98221002 -0.00919198] [-0.00279596 0.00989189 0.99994717]] t_estimated: [[-0.99677915] [-0.08018782] [-0.00111372]] R_gt: [[ 0.8403897 0.54176027 0.015527 ] [-0.54187755 0.84044593 0.00438864] [-0.01067273 -0.01210206 0.99986954]] t_gt: [-0.89983571 0.43589424 0.01708515] Pose Error in degrees for R and t: 43.635208624876476 30.462061726079316 Number of keypoints: Image1: 18 Image2: 18 R_estimated: [[ 9.85919433e-01 -1.67219767e-01 6.49030139e-04] [ 1.67220444e-01 9.85918815e-01 -1.18885864e-03] [-4.41090362e-04 1.28064994e-03 9.99999083e-01]] t_estimated: [[-0.1835644] [-0.9830053] [-0.0021648]] R_gt: [[ 0.65665373 0.75415743 0.00726252] [-0.75359879 0.65648859 -0.03333875] [-0.02991051 0.01641917 0.999417 ]] t_gt: [-0.80314012 0.59559177 -0.01537469] Pose Error in degrees for R and t: 58.59998801885542 64.02310541073057 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 9.99999089e-01 -1.34947952e-03 6.05301228e-06] [ 1.34947976e-03 9.99999089e-01 -3.98819534e-05] [-5.99918688e-06 3.98900855e-05 9.99999999e-01]] t_estimated: [[ 2.13319627e-01] [-9.76982416e-01] [-3.08766830e-04]] R_gt: [[ 0.9987573 -0.02775861 -0.04139225] [ 0.02883698 0.99925492 0.02565981] [ 0.04064983 -0.02682229 0.99881285]] t_gt: [ 0.7074551 -0.61733936 -0.34409211] Pose Error in degrees for R and t: 3.1920288273007245 41.04884537671638 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[-7.35954227e-01 -6.77030646e-01 -9.37947475e-04] [-6.77025903e-01 7.35942129e-01 5.01097871e-03] [-2.70231109e-03 4.32286570e-03 -9.99987005e-01]] t_estimated: [[0.94453783] [0.32839891] [0.0015638 ]] R_gt: [[ 0.99780002 -0.02923932 -0.05949489] [ 0.0315132 0.99879404 0.03765038] [ 0.05832217 -0.03944227 0.99751871]] t_gt: [ 0.6119735 -0.6942234 -0.37886977] Pose Error in degrees for R and t: 177.71465619167716 69.5458669089758 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99826430e-01 1.86295795e-02 2.22423554e-04] [-1.86295186e-02 9.99826418e-01 -2.72958352e-04] [-2.27470044e-04 2.68767331e-04 9.99999938e-01]] t_estimated: [[9.99470270e-01] [3.25324861e-02] [9.03680172e-04]] R_gt: [[ 0.99795878 0.03789336 -0.05139794] [-0.03557009 0.99833594 0.04538449] [ 0.05303238 -0.04346454 0.99764598]] t_gt: [-0.67545411 -0.32818552 -0.66034537] Pose Error in degrees for R and t: 4.086524521090784 46.65657536544979 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.99991489e-01 -4.12504423e-03 7.90331820e-05] [ 4.12505233e-03 9.99991487e-01 -1.02630196e-04] [-7.86091551e-05 1.02955338e-04 9.99999992e-01]] t_estimated: [[ 9.25662784e-01] [-3.78349077e-01] [ 6.21895563e-04]] R_gt: [[ 0.99981426 -0.01239986 -0.01478149] [ 0.01233533 0.99991451 -0.00445714] [ 0.01483675 0.00427306 0.99988076]] t_gt: [ 0.07661806 -0.94615238 -0.31452401] Pose Error in degrees for R and t: 1.003768280035394 64.61473741782487 Number of keypoints: Image1: 300 Image2: 300 R_estimated: [[-9.31226682e-01 -3.64425285e-01 -3.32835333e-03] [ 3.64423164e-01 -9.31232629e-01 1.24459674e-03] [-3.55303374e-03 -5.39273586e-05 9.99993687e-01]] t_estimated: [[0.91106759] [0.41225441] [0.0014671 ]] R_gt: [[ 0.99976537 -0.010364 -0.01901696] [ 0.00985082 0.99959201 -0.0268276 ] [ 0.01928797 0.0266337 0.99945888]] t_gt: [ 0.04582031 -0.86844651 -0.49366098] Pose Error in degrees for R and t: 158.0546594694816 71.51842015551503 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.33172818e-01 3.59427127e-01 -7.95657194e-04] [-3.59426995e-01 9.33173157e-01 3.07041120e-04] [ 8.52844842e-04 -5.41752437e-07 9.99999636e-01]] t_estimated: [[-0.81067801] [-0.58548968] [-0.00173222]] R_gt: [[ 0.99932919 -0.01131716 -0.03483075] [ 0.00823183 0.99613448 -0.08745639] [ 0.03568657 0.08711026 0.99555881]] t_gt: [-0.0085162 -0.17122008 -0.985196 ] Pose Error in degrees for R and t: 22.28061810610368 83.75050814412197 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99999974e-01 2.19070434e-04 -5.79372158e-05] [-2.19069579e-04 9.99999976e-01 1.47580902e-05] [ 5.79404474e-05 -1.47453975e-05 9.99999998e-01]] t_estimated: [[-0.92120305] [-0.38907955] [-0.00143044]] R_gt: [[ 9.99196009e-01 4.01000212e-02 5.14284597e-04] [-4.01005515e-02 9.99194509e-01 1.05333242e-03] [-4.71722630e-04 -1.07309619e-03 9.99999261e-01]] t_gt: [ 0.55624205 0.82740567 -0.07742509] Pose Error in degrees for R and t: 2.2867693415152766 33.464488893874744 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 9.99999076e-01 1.27587817e-03 -4.68434879e-04] [-1.27544389e-03 9.99998758e-01 9.26227771e-04] [ 4.69616051e-04 -9.25629454e-04 9.99999461e-01]] t_estimated: [[-0.99998662] [-0.00478039] [-0.00197761]] R_gt: [[ 0.99793315 0.019385 -0.06127347] [-0.01830666 0.99966891 0.01810802] [ 0.06160477 -0.01694959 0.99795707]] t_gt: [ 0.97507519 0.11280353 -0.19105953] Pose Error in degrees for R and t: 3.7601652695804213 12.780799212447533 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 8.62011200e-01 -5.06889049e-01 -4.27514506e-04] [ 5.06889208e-01 8.62011100e-01 4.41059320e-04] [ 1.44954110e-04 -5.96900564e-04 9.99999811e-01]] t_estimated: [[ 0.00423223] [-0.99999051] [-0.00103008]] R_gt: [[ 0.98611464 0.11818768 -0.11666539] [-0.10893409 0.99059796 0.08275291] [ 0.12534928 -0.06889492 0.98971772]] t_gt: [ 0.72632052 0.67186552 -0.14510422] Pose Error in degrees for R and t: 37.87584610980331 48.03814371245896 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99999971e-01 -2.04067072e-04 1.24048183e-04] [ 2.04058379e-04 9.99999977e-01 7.00883431e-05] [-1.24062483e-04 -7.00630280e-05 9.99999990e-01]] t_estimated: [[6.31147646e-01] [7.75662367e-01] [7.35292339e-04]] R_gt: [[ 0.99127643 -0.10193586 -0.08355053] [ 0.09869396 0.99422845 -0.04205621] [ 0.08735515 0.03344361 0.99561621]] t_gt: [ 0.70057321 -0.44385866 -0.55873667] Pose Error in degrees for R and t: 7.875669909977053 84.40650917096085 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-4.98463309e-01 8.66910797e-01 6.69345930e-06] [-8.66908974e-01 -4.98462244e-01 -2.05478148e-03] [-1.77797582e-03 -1.03003580e-03 9.99997889e-01]] t_estimated: [[0.57163376] [0.82050832] [0.00097217]] R_gt: [[ 0.95530627 -0.27878898 -0.09831826] [ 0.27576804 0.96024566 -0.04335831] [ 0.10649769 0.01430821 0.99421043]] t_gt: [ 0.79172969 -0.55740361 -0.24993062] Pose Error in degrees for R and t: 136.1160079569826 89.71249680968214 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99997027e-01 2.41568542e-03 3.33282510e-04] [-2.41497846e-03 9.99994867e-01 -2.10556117e-03] [-3.38367172e-04 2.10475004e-03 9.99997728e-01]] t_estimated: [[0.50086277] [0.86552601] [0.00109838]] R_gt: [[ 9.38009617e-01 -3.23300855e-01 -1.24962270e-01] [ 3.20341696e-01 9.46295481e-01 -4.36488622e-02] [ 1.32363328e-01 9.12365180e-04 9.91201257e-01]] t_gt: [ 0.81298127 -0.53610301 -0.2272774 ] Pose Error in degrees for R and t: 20.450463794505986 86.72842773395186 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.99999935e-01 -1.60738414e-04 3.23918162e-04] [ 1.60918447e-04 9.99999833e-01 -5.55847827e-04] [-3.23828762e-04 5.55899915e-04 9.99999793e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.98970397 -0.14262864 -0.01193976] [ 0.14291422 0.98933605 0.0281077 ] [ 0.00780208 -0.02952447 0.99953327]] t_gt: [ 0.66333405 -0.74262537 0.09217099] Pose Error in degrees for R and t: 8.393000647950519 81.27956099440793 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 9.99999951e-01 3.12151477e-04 2.15316880e-05] [-3.12152908e-04 9.99999949e-01 6.65077917e-05] [-2.15109264e-05 -6.65145096e-05 9.99999998e-01]] t_estimated: [[9.99994892e-01] [3.10075939e-03] [7.75189839e-04]] R_gt: [[ 0.97915909 -0.20209787 -0.02006275] [ 0.20256004 0.97896076 0.0245773 ] [ 0.014673 -0.02812899 0.99949712]] t_gt: [ 0.69906714 -0.71458086 0.02606409] Pose Error in degrees for R and t: 11.83377985109665 45.823737748044124 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 1.00000000e+00 6.41708908e-14 5.10388173e-16] [-6.41708908e-14 1.00000000e+00 -4.04800434e-16] [-5.98154339e-16 1.60570342e-16 1.00000000e+00]] t_estimated: [[ 9.40963148e-01] [-3.38508842e-01] [-3.43369924e-04]] R_gt: [[ 0.96622858 -0.25710468 0.01724754] [ 0.25643801 0.96597791 0.03356973] [-0.02529251 -0.02801243 0.99928732]] t_gt: [ 0.721227 -0.68319232 0.11436724] Pose Error in degrees for R and t: 15.039557414054562 24.51186132456687 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.98660540e-01 -5.17409157e-02 5.31253510e-05] [ 5.17409155e-02 9.98660542e-01 3.91853977e-06] [-5.32569407e-05 -1.16453675e-06 9.99999999e-01]] t_estimated: [[0.17717274] [0.98417924] [0.00102412]] R_gt: [[ 0.99780571 0.06602056 0.00492402] [-0.06618901 0.9964029 0.05290151] [-0.00141451 -0.05311095 0.9985881 ]] t_gt: [-0.24278335 0.16842538 0.95534765] Pose Error in degrees for R and t: 7.4126266561674035 82.89289356242124 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.91516429 0.40290206 -0.01201027] [ 0.40289293 0.91524125 0.00327766] [ 0.01231287 -0.00183926 -0.9999225 ]] t_estimated: [[ 0.97949417] [-0.20136517] [-0.00657526]] R_gt: [[ 0.99025213 0.11966982 -0.07126834] [-0.11320832 0.98960349 0.08869861] [ 0.08114061 -0.07976604 0.99350654]] t_gt: [0.19378759 0.43565139 0.87900753] Pose Error in degrees for R and t: 174.00174454603732 84.47332905902704 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.03187532e-01 4.29210829e-01 5.50873927e-03] [-4.29245779e-01 9.03129821e-01 1.02268367e-02] [-5.85637651e-04 -1.16013545e-02 9.99932531e-01]] t_estimated: [[0.79850216] [0.60199036] [0.00138389]] R_gt: [[ 0.97258562 0.18823696 -0.13653925] [-0.17160012 0.97721764 0.12489319] [ 0.15693774 -0.09803835 0.98273055]] t_gt: [0.60518607 0.68719228 0.40189127] Pose Error in degrees for R and t: 18.22527279050051 26.171005221109432 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999923e-01 -1.20873610e-04 3.72384272e-04] [ 1.21034784e-04 9.99999899e-01 -4.32823922e-04] [-3.72331918e-04 4.32868960e-04 9.99999837e-01]] t_estimated: [[0.6156115 ] [0.78804936] [0.00083303]] R_gt: [[ 9.85658783e-01 -1.65695429e-01 -3.19859199e-02] [ 1.65800486e-01 9.86158850e-01 6.27090105e-04] [ 3.14396045e-02 -5.92059865e-03 9.99488167e-01]] t_gt: [ 0.72586586 -0.68257264 -0.08493141] Pose Error in degrees for R and t: 9.714922454334038 84.77193892023182 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999822e-01 -5.10618681e-04 3.09328087e-04] [ 5.10684816e-04 9.99999847e-01 -2.13760762e-04] [-3.09218889e-04 2.13918693e-04 9.99999929e-01]] t_estimated: [[-0.37185181] [-0.92829133] [-0.00119691]] R_gt: [[ 0.96853809 -0.24408067 -0.04856475] [ 0.24505531 0.96939034 0.01513995] [ 0.04338293 -0.02656439 0.99870486]] t_gt: [ 0.73171974 -0.68023193 -0.0432521 ] Pose Error in degrees for R and t: 14.43693204182195 68.93579632406542 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.17772980e-01 3.97102214e-01 -1.60872251e-03] [-3.97102000e-01 9.17774366e-01 4.63711017e-04] [ 1.66058495e-03 2.13245484e-04 9.99998598e-01]] t_estimated: [[-0.99936286] [-0.03560071] [-0.00254291]] R_gt: [[ 0.95161706 -0.30527729 -0.03509477] [ 0.30585518 0.951997 0.01236988] [ 0.02963426 -0.0225054 0.99930663]] t_gt: [ 0.75406082 -0.65606556 -0.03114902] Pose Error in degrees for R and t: 41.24404303608309 43.10146873712897 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.98741359e-01 -5.01567381e-02 1.10944821e-05] [ 5.01567369e-02 9.98741355e-01 9.04146155e-05] [-1.56154203e-05 -8.97443529e-05 9.99999996e-01]] t_estimated: [[8.72693578e-01] [4.88267598e-01] [8.19626469e-04]] R_gt: [[ 0.99821781 -0.03191689 0.05042377] [ 0.03015245 0.9989185 0.0353967 ] [-0.0514982 -0.03381234 0.99810035]] t_gt: [ 0.43093773 -0.4112 0.80324793] Pose Error in degrees for R and t: 3.6944308228704097 79.8655107581188 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.79506971 0.60643094 0.01028011] [-0.60649261 -0.79507741 -0.00431499] [ 0.00555674 -0.00966553 0.99993785]] t_estimated: [[0.57705138] [0.81670735] [0.00090094]] R_gt: [[ 0.99887199 -0.0310836 0.03590386] [ 0.02839228 0.99691255 0.07321066] [-0.0380677 -0.07210747 0.99667 ]] t_gt: [ 0.52850579 -0.38522209 0.75649559] Pose Error in degrees for R and t: 144.3762413154945 89.48678550782365 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-0.47721888 0.25079889 -0.84223634] [-0.64629284 -0.7495729 0.14298966] [-0.59545589 0.61256868 0.51979986]] t_estimated: [[0.30395238] [0.95268655] [0.00113415]] R_gt: [[ 0.99247405 -0.09213047 0.08066603] [ 0.07645027 0.98077146 0.17956442] [-0.09565725 -0.17204547 0.98043328]] t_gt: [ 0.44094952 -0.36526921 0.81984262] Pose Error in degrees for R and t: 158.62009423283624 77.70004703032517 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.96134649e-01 -8.78384403e-02 -4.11173172e-04] [ 8.78388830e-02 9.96133944e-01 1.22331547e-03] [ 3.02129431e-04 -1.25470392e-03 9.99999167e-01]] t_estimated: [[0.84596476] [0.53321415] [0.00512706]] R_gt: [[ 0.99849483 -0.0269064 0.04779701] [ 0.02670025 0.9996313 0.00492441] [-0.04791192 -0.00364096 0.99884421]] t_gt: [ 0.3941088 -0.40941844 0.82283339] Pose Error in degrees for R and t: 4.464852317905805 83.14753472099898 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[-0.99961792 -0.0274485 -0.00325584] [ 0.02738281 -0.99944924 0.01874551] [-0.00376858 0.01864919 0.99981899]] t_estimated: [[0.99088768] [0.13468376] [0.00137432]] R_gt: [[ 0.99848243 -0.05319612 0.0142637 ] [ 0.05287359 0.99835768 0.0220552 ] [-0.01541364 -0.02126729 0.99965496]] t_gt: [ 0.7145793 -0.5934558 0.37038715] Pose Error in degrees for R and t: 175.3788111080408 51.049555762788245 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 0.8877316 0.46035994 -0.00115565] [-0.46035374 0.88772852 0.00353584] [ 0.00265366 -0.00260687 0.99999308]] t_estimated: [[0.97742758] [0.2112669 ] [0.00127269]] R_gt: [[ 0.99770005 -0.06648285 -0.01326133] [ 0.06683456 0.99736542 0.02821098] [ 0.01135096 -0.02903216 0.99951317]] t_gt: [ 0.73537606 -0.66840717 0.11159706] Pose Error in degrees for R and t: 31.271563319207598 54.710604179069904 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999972e-01 -2.19808683e-04 -8.83561257e-05] [ 2.19811260e-04 9.99999975e-01 2.91531423e-05] [ 8.83497155e-05 -2.91725632e-05 9.99999996e-01]] t_estimated: [[-0.99738603] [-0.07223853] [-0.00164639]] R_gt: [[ 0.99857422 0.03544143 -0.03990682] [-0.03428892 0.99898454 0.02921207] [ 0.04090166 -0.0278014 0.99877609]] t_gt: [ 0.91977504 0.38061613 -0.09563072] Pose Error in degrees for R and t: 3.4723635230706056 19.14205559720103 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.97448883e-01 7.13842733e-02 1.08890970e-04] [-7.13842549e-02 9.97448876e-01 -1.64799725e-04] [-1.20377285e-04 1.56606201e-04 9.99999980e-01]] t_estimated: [[-5.98108262e-01] [ 8.01415152e-01] [-5.09971159e-04]] R_gt: [[ 0.99268435 0.06196887 -0.10362254] [-0.05555174 0.99642068 0.06371321] [ 0.10719961 -0.05749045 0.99257343]] t_gt: [ 0.91729748 0.35864224 -0.17303488] Pose Error in degrees for R and t: 7.033506851759281 74.86266133846443 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.98026317 -0.1976908 0.00156739] [ 0.19769331 0.98026254 -0.00164319] [-0.00121161 0.00192062 0.99999742]] t_estimated: [[-9.56395480e-01] [-2.92074337e-01] [-5.16782820e-04]] R_gt: [[ 0.97718402 0.13068265 -0.1674342 ] [-0.11519266 0.98838262 0.09914976] [ 0.17844606 -0.07759954 0.98088461]] t_gt: [ 0.62364031 0.72922414 -0.28161131] Pose Error in degrees for R and t: 21.700718587403024 35.973487518395224 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 0.99999551 0.00277593 -0.00112707] [-0.00277376 0.99999431 0.00192101] [ 0.0011324 -0.00191788 0.99999752]] t_estimated: [[-0.99262902] [-0.12118113] [-0.00166464]] R_gt: [[ 0.9579042 0.28441045 0.03909613] [-0.28295999 0.95834751 -0.03876797] [-0.04849408 0.02607284 0.9984834 ]] t_gt: [-0.91968121 0.3889376 -0.05398169] Pose Error in degrees for R and t: 16.65719864684655 30.018923971095745 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 1.00000000e+00 4.91759411e-14 -4.40836603e-16] [-4.91620633e-14 1.00000000e+00 2.73761049e-16] [ 4.10262102e-16 6.49938545e-16 1.00000000e+00]] t_estimated: [[-9.99375061e-01] [-3.53445703e-02] [-4.98095413e-04]] R_gt: [[ 0.83745273 0.54649281 0.00431066] [-0.54512877 0.8358712 -0.06444396] [-0.0388218 0.05161804 0.9979122 ]] t_gt: [-0.84187775 0.53455862 -0.07408727] Pose Error in degrees for R and t: 33.31974980488261 34.664682745813394 Number of keypoints: Image1: 30 Image2: 30 R_estimated: [[-0.82448257 -0.5581272 -0.09339447] [ 0.56449277 -0.7995926 -0.20493798] [ 0.03970394 -0.2216883 0.97430893]] t_estimated: [[0.99993854] [0.01101898] [0.00122269]] R_gt: [[ 0.66084294 0.75051387 0.00383672] [-0.74844569 0.65938456 -0.0709945 ] [-0.05581265 0.04404393 0.99746944]] t_gt: [-0.77085069 0.63575944 -0.03998931] Pose Error in degrees for R and t: 165.86105129446452 40.19549381701489 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99869657e-01 -1.61452525e-02 -1.13574074e-05] [ 1.61452528e-02 9.99869656e-01 2.91516057e-05] [ 1.08852670e-05 -2.93311742e-05 1.00000000e+00]] t_estimated: [[-4.13764865e-01] [-9.10383687e-01] [-4.22450708e-04]] R_gt: [[ 0.9998132 -0.01380185 -0.01355919] [ 0.01394853 0.99984541 0.01070508] [ 0.01340923 -0.01089155 0.99985101]] t_gt: [ 0.28383209 -0.94958904 0.13311645] Pose Error in degrees for R and t: 0.9958097707916093 41.669310726539095 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.98703215e-01 -5.09081618e-02 -4.98046289e-04] [ 5.09080824e-02 9.98703328e-01 -1.70821129e-04] [ 5.06096676e-04 1.45245029e-04 9.99999861e-01]] t_estimated: [[ 0.68680321] [-0.72681535] [-0.00638722]] R_gt: [[ 9.99260465e-01 3.73955915e-02 -8.90658376e-03] [-3.73911856e-02 9.99300393e-01 5.97104269e-04] [ 8.92259473e-03 -2.62686546e-04 9.99960262e-01]] t_gt: [ 0.1492064 0.93306921 -0.32729085] Pose Error in degrees for R and t: 5.084243448334028 54.99813403790051 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.44312948 -0.87484416 0.19566288] [-0.89584212 0.42406217 -0.13280876] [ 0.03321374 -0.23413453 -0.9716367 ]] t_estimated: [[0.65649595] [0.75355768] [0.03411582]] R_gt: [[ 0.99368119 0.1113725 -0.01391148] [-0.11145188 0.99375623 -0.00514791] [ 0.01325154 0.00666624 0.99989039]] t_gt: [ 0.14840984 0.97309453 -0.17624287] Pose Error in degrees for R and t: 174.62150571051544 34.44184683054844 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99809127e-01 -1.95373641e-02 -2.45139091e-05] [ 1.95373636e-02 9.99809127e-01 -1.86348538e-05] [ 2.48733059e-05 1.81523598e-05 1.00000000e+00]] t_estimated: [[ 0.63379205] [-0.77350237] [-0.00131043]] R_gt: [[ 0.99865749 -0.04996084 0.01369934] [ 0.04998556 0.99874907 -0.00143504] [-0.01361078 0.00211808 0.99990481]] t_gt: [ 0.75230749 -0.64220833 0.14697586] Pose Error in degrees for R and t: 1.9156953362684341 13.2539205494646 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99590482e-01 2.86158195e-02 6.44166466e-05] [-2.86158219e-02 9.99590483e-01 3.70656369e-05] [-6.33296033e-05 -3.88937932e-05 9.99999997e-01]] t_estimated: [[0.55790127] [0.82990687] [0.00087354]] R_gt: [[ 0.99635944 -0.08355162 0.01697068] [ 0.08383904 0.99633556 -0.01695818] [-0.01549088 0.01831954 0.99971221]] t_gt: [ 0.78943034 -0.61248983 0.04069339] Pose Error in degrees for R and t: 6.585942876057573 86.10950485905605 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.52327217 0.85216434 -0.00147471] [ 0.85215027 0.52327235 0.00509529] [ 0.0051137 0.00140955 -0.99998593]] t_estimated: [[8.03635837e-01] [5.95120905e-01] [7.42046011e-04]] R_gt: [[ 0.97721548 -0.2119061 -0.01206175] [ 0.21154755 0.9770278 -0.02579955] [ 0.01725226 0.02266008 0.99959389]] t_gt: [ 0.78157429 -0.61660848 -0.09452838] Pose Error in degrees for R and t: 179.74298842352644 74.86617910545863 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.91204502e-01 -1.32338975e-01 -1.73272957e-04] [ 1.32339029e-01 9.91204451e-01 3.44158088e-04] [ 1.26203397e-04 -3.64061822e-04 9.99999926e-01]] t_estimated: [[0.17637833] [0.98432067] [0.00187102]] R_gt: [[ 0.99643806 0.05769947 -0.06149746] [-0.06322082 0.99375219 -0.09198605] [ 0.05580541 0.09554608 0.99385884]] t_gt: [-0.25733382 0.48544409 -0.83553776] Pose Error in degrees for R and t: 12.774848329405156 64.4765018978274 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99998431e-01 -1.74683839e-03 -2.95212186e-04] [ 1.74683956e-03 9.99998474e-01 3.70810219e-06] [ 2.95205258e-04 -4.22378469e-06 9.99999956e-01]] t_estimated: [[-0.99996509] [-0.00824198] [-0.0013777 ]] R_gt: [[ 0.98981174 0.13528131 -0.04441036] [-0.13925088 0.98481479 -0.10368979] [ 0.02970854 0.1088174 0.993617 ]] t_gt: [-0.51202989 0.65689638 -0.55345509] Pose Error in degrees for R and t: 10.29810557546446 59.51183460789055 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 6.43515168e-01 7.65430068e-01 2.24487272e-03] [-7.65432327e-01 6.43516350e-01 2.44406862e-04] [-1.25753594e-03 -1.87557767e-03 9.99997450e-01]] t_estimated: [[-0.45483536] [ 0.8905713 ] [ 0.00274956]] R_gt: [[ 0.99509071 0.09037054 0.04034925] [-0.09194523 0.99499975 0.03904559] [-0.03661944 -0.04256418 0.99842163]] t_gt: [-0.69945844 0.51141762 0.49920929] Pose Error in degrees for R and t: 44.81185505043518 39.19815088786266 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99999970e-01 1.23170885e-04 2.10090042e-04] [-1.23134200e-04 9.99999977e-01 -1.74620909e-04] [-2.10111546e-04 1.74595034e-04 9.99999963e-01]] t_estimated: [[9.69384743e-01] [2.45545475e-01] [7.99822395e-04]] R_gt: [[ 0.99070434 -0.13006543 -0.03984968] [ 0.13054868 0.99139354 0.00976774] [ 0.03823642 -0.0148786 0.99915753]] t_gt: [ 0.70066506 -0.69898236 -0.14315074] Pose Error in degrees for R and t: 7.861642057088035 59.50470749130922 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-0.75087247 -0.66044566 -0.00143821] [-0.66044642 0.75086637 0.00319838] [-0.00103246 0.00335143 -0.99999385]] t_estimated: [[9.04029559e-01] [4.27469282e-01] [7.55246081e-04]] R_gt: [[ 0.97675249 -0.21257792 -0.02765811] [ 0.21211586 0.97706505 -0.01872307] [ 0.03100386 0.01242157 0.99944196]] t_gt: [ 0.67829445 -0.70962553 -0.19065215] Pose Error in degrees for R and t: 178.1105166547714 71.95817719946005 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.44046710e-01 3.29811723e-01 1.90682151e-04] [-3.29811776e-01 9.44046614e-01 4.28643053e-04] [-3.86413354e-05 -4.67548283e-04 9.99999890e-01]] t_estimated: [[-9.92718822e-01] [-1.20452013e-01] [-8.08402935e-04]] R_gt: [[ 0.96038083 -0.27472333 -0.04686107] [ 0.27260844 0.96098144 -0.04688833] [ 0.05791308 0.03225579 0.99779957]] t_gt: [ 0.65073231 -0.70468565 -0.2827819 ] Pose Error in degrees for R and t: 35.35860028652957 55.88298996775866 Number of keypoints: Image1: 352 Image2: 352 R_estimated: [[ 8.30765980e-01 -5.56611505e-01 -3.39390494e-03] [-5.56615167e-01 -8.30770443e-01 -1.64216847e-04] [-2.72815093e-03 2.02552473e-03 -9.99994227e-01]] t_estimated: [[0.15507143] [0.98790267] [0.00108442]] R_gt: [[ 0.99766733 -0.01480717 -0.06665392] [ 0.01805416 0.9986669 0.04836733] [ 0.06584926 -0.04945859 0.99660342]] t_gt: [ 0.89730809 -0.22665952 0.37876596] Pose Error in degrees for R and t: 178.48563381885108 85.16077871292622 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 0.74524467 -0.66676852 0.00548826] [-0.66676338 -0.74511335 0.01525415] [-0.00608161 -0.01502745 -0.99986859]] t_estimated: [[0.31332137] [0.94960747] [0.00868188]] R_gt: [[ 0.99156638 -0.00286412 -0.12957264] [ 0.01128228 0.99786911 0.0642768 ] [ 0.12911312 -0.06519702 0.98948437]] t_gt: [ 0.97686451 -0.19843423 0.07974696] Pose Error in degrees for R and t: 178.25208256541615 83.2042532357882 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.93895013e-01 -1.10329951e-01 6.42427338e-05] [ 1.10329939e-01 9.93895001e-01 1.75117371e-04] [-8.31712230e-05 -1.66960385e-04 9.99999983e-01]] t_estimated: [[ 1.06424648e-01] [ 9.94320768e-01] [-7.21398457e-05]] R_gt: [[ 0.98669284 0.00755591 -0.16242097] [ 0.0063851 0.99634887 0.08513695] [ 0.1624714 -0.08504171 0.98304184]] t_gt: [ 0.96758952 -0.22176452 0.12079332] Pose Error in degrees for R and t: 12.331975905150207 83.24994177285801 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999986e-01 -6.60081762e-05 -1.52257924e-04] [ 6.60345666e-05 9.99999983e-01 1.73328124e-04] [ 1.52246480e-04 -1.73338176e-04 9.99999973e-01]] t_estimated: [[-9.55225348e-01] [ 2.95878892e-01] [ 4.64356678e-04]] R_gt: [[ 0.99458098 0.0996179 -0.02974706] [-0.09978632 0.99500014 -0.00421306] [ 0.02917919 0.00715961 0.99954951]] t_gt: [-0.70343381 0.70119064 -0.11624356] Pose Error in degrees for R and t: 5.9778627546594425 28.435785898021635 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 2.21644775e-01 9.75127451e-01 2.18577701e-04] [-9.75126022e-01 2.21644826e-01 -1.67680606e-03] [-1.68354624e-03 1.58514498e-04 9.99998570e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.99726169 0.04898272 0.05540611] [-0.05217285 0.99697182 0.05766004] [-0.052414 -0.06039223 0.99679744]] t_gt: [-0.63018768 0.36440771 0.68561688] Pose Error in degrees for R and t: 74.41185380805949 68.78676485465725 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-3.62570985e-01 9.31935956e-01 6.13631889e-03] [ 9.31954913e-01 3.62573406e-01 7.52335600e-04] [-1.52373745e-03 5.99154759e-03 -9.99980890e-01]] t_estimated: [[-0.04591249] [-0.9989445 ] [-0.00139129]] R_gt: [[ 9.96933097e-01 1.82016985e-04 7.82520871e-02] [-9.77886834e-03 9.92448125e-01 1.22274020e-01] [-7.76384880e-02 -1.22664026e-01 9.89406843e-01]] t_gt: [-0.29268329 0.0603839 0.95430094] Pose Error in degrees for R and t: 179.98920301817807 87.23669622325917 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 0.78319894 -0.62174809 -0.00536011] [ 0.6217612 0.78320612 0.00108338] [ 0.00352448 -0.00418121 0.99998505]] t_estimated: [[-0.27687048] [-0.96090341] [-0.00271442]] R_gt: [[ 0.99507172 0.09433366 0.03057848] [-0.09608868 0.99342842 0.06219517] [-0.02451021 -0.06482662 0.99759469]] t_gt: [-0.82272376 0.36428906 0.43637036] Pose Error in degrees for R and t: 44.08280297175941 82.90913984603661 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 0.11526936 -0.99331429 0.00630075] [-0.99332979 -0.11524746 0.00373617] [-0.00298504 -0.00668939 -0.99997317]] t_estimated: [[0.53357427] [0.84573879] [0.00493861]] R_gt: [[ 9.72580190e-01 2.32567850e-01 2.61321939e-04] [-2.32200232e-01 9.70980432e-01 5.72760929e-02] [ 1.30674085e-02 -5.57661707e-02 9.98357614e-01]] t_gt: [-0.85377547 0.51140554 0.09763111] Pose Error in degrees for R and t: 177.39741681741586 88.70758633874242 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.25102591e-01 3.79717222e-01 1.67505280e-04] [-3.79717037e-01 9.25102437e-01 -6.72270995e-04] [-4.10232417e-04 5.58315031e-04 9.99999760e-01]] t_estimated: [[-9.94227971e-01] [-1.07284135e-01] [-9.24863229e-04]] R_gt: [[ 0.91632139 0.39921496 0.03137332] [-0.39911717 0.90409818 0.15268739] [ 0.03259109 -0.15243256 0.9877755 ]] t_gt: [-0.83000521 0.52063824 0.20006791] Pose Error in degrees for R and t: 9.105995073659813 39.7203044200273 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-6.29037775e-01 7.77374148e-01 9.54597207e-04] [ 7.77371501e-01 6.29031142e-01 3.65673555e-03] [ 2.24218031e-03 3.04230146e-03 -9.99992858e-01]] t_estimated: [[9.90039710e-01] [1.40785463e-01] [9.08293312e-04]] R_gt: [[ 0.9981796 -0.01944074 -0.05708995] [ 0.01960015 0.99980544 0.00222808] [ 0.05703547 -0.0033447 0.99836597]] t_gt: [ 0.7820243 -0.23582512 -0.57690945] Pose Error in degrees for R and t: 176.93955024635113 42.225091722126976 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.45529811 0.88993899 -0.02668744] [ 0.88993848 0.45578782 0.01633887] [ 0.02670441 -0.01631113 -0.99951029]] t_estimated: [[0.29552741] [0.95530954] [0.00687273]] R_gt: [[ 0.98908908 -0.08672638 -0.11908814] [ 0.08121528 0.99542291 -0.0503839 ] [ 0.12291301 0.04016168 0.99160446]] t_gt: [ 0.74978613 -0.26126118 -0.60791722] Pose Error in degrees for R and t: 173.63457738757435 88.15584671719161 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99995413e-01 -3.02880017e-03 -1.43315802e-05] [ 3.02882120e-03 9.99993763e-01 1.81657636e-03] [ 8.82944406e-06 -1.81661144e-03 9.99998350e-01]] t_estimated: [[0.55076883] [0.8346568 ] [0.00130824]] R_gt: [[ 0.96799638 -0.23036448 -0.0995717 ] [ 0.2236553 0.97184584 -0.07413115] [ 0.11384582 0.04948847 0.99226466]] t_gt: [ 0.82620718 -0.42542694 -0.36931507] Pose Error in degrees for R and t: 14.844684123498507 84.29074292665233 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.98178865e-01 -6.03236662e-02 -9.63869728e-05] [ 6.03236661e-02 9.98178869e-01 -4.23692284e-06] [ 9.64670262e-05 -1.58520873e-06 9.99999995e-01]] t_estimated: [[-7.39780958e-01] [-6.72847422e-01] [-6.93631760e-04]] R_gt: [[ 0.9910566 0.12846984 -0.03607845] [-0.12708455 0.99115002 0.03837235] [ 0.04068888 -0.03344354 0.99861124]] t_gt: [-0.86915653 0.49441144 0.01114702] Pose Error in degrees for R and t: 11.216359524220804 71.92183002022632 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.14203202 0.98986073 0.00162718] [ 0.98986121 0.14202955 0.00154971] [ 0.00130289 0.00183079 -0.99999748]] t_estimated: [[-0.21912783] [-0.97569548] [-0.0011533 ]] R_gt: [[ 0.94491636 0.32488939 -0.03975768] [-0.31996507 0.94245733 0.09693299] [ 0.06896176 -0.07887254 0.99449647]] t_gt: [-0.85028907 0.52425617 0.04651843] Pose Error in degrees for R and t: 174.250946049911 71.01951879128937 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 3.33798717e-01 -9.42644327e-01 -2.98458660e-04] [ 9.42641704e-01 3.33798508e-01 -2.27454236e-03] [ 2.24370950e-03 4.77899739e-04 9.99997369e-01]] t_estimated: [[ 0.65854521] [-0.75253669] [-0.00259461]] R_gt: [[ 0.92248556 0.38587918 -0.0108125 ] [-0.38031057 0.91326523 0.14598064] [ 0.06620619 -0.13055295 0.98922792]] t_gt: [-0.86642372 0.47659597 0.14888322] Pose Error in degrees for R and t: 93.45386703097704 21.624118600342893 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.99999868e-01 4.99019219e-04 1.21918988e-04] [-4.99014929e-04 9.99999875e-01 -3.52086055e-05] [-1.21936543e-04 3.51477614e-05 9.99999992e-01]] t_estimated: [[9.99011224e-01] [4.44578577e-02] [2.72365227e-04]] R_gt: [[ 0.98436171 -0.17546744 -0.01562076] [ 0.1757483 0.98425137 0.01899751] [ 0.01204199 -0.02144453 0.99969763]] t_gt: [ 0.73501978 -0.67727138 0.03239462] Pose Error in degrees for R and t: 10.242110019515644 45.23571269974639 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.9999289 0.00801698 -0.0088274 ] [-0.00795085 0.99994026 0.00750134] [ 0.00888701 -0.00743062 0.9999329 ]] t_estimated: [[-0.48610632] [-0.873899 ] [-0.00109237]] R_gt: [[ 0.98152949 -0.18438979 -0.05099979] [ 0.18593469 0.98217956 0.02740342] [ 0.04503802 -0.0363793 0.99832266]] t_gt: [ 0.7745535 -0.63220554 -0.01957134] Pose Error in degrees for R and t: 11.44864666110278 79.86373565172093 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.94199718 0.33561449 0.0020559 ] [ 0.33561082 -0.94199874 0.00193772] [ 0.00258699 -0.00113535 -0.99999601]] t_estimated: [[0.02855968] [0.99958872] [0.00259633]] R_gt: [[ 0.95812598 -0.25116042 -0.13752364] [ 0.25049988 0.96785736 -0.02237278] [ 0.1387226 -0.01301292 0.99024539]] t_gt: [ 0.83138561 -0.49854963 -0.24545107] Pose Error in degrees for R and t: 178.83266062550902 61.62516863021607 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 0.34359902 -0.93887278 0.02139214] [-0.93885612 -0.34287831 0.03136328] [-0.02211123 -0.03086054 -0.9992791 ]] t_estimated: [[0.53212368] [0.84641813] [0.02051182]] R_gt: [[ 0.99983365 0.01575048 -0.00928982] [-0.01610766 0.99908201 -0.03970252] [ 0.00865606 0.03984537 0.99916789]] t_gt: [ 0.02434233 0.72179661 -0.69167702] Pose Error in degrees for R and t: 179.94832656502697 52.431656933403545 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99973485e-01 -7.28171927e-03 -7.30043284e-05] [ 7.28172642e-03 9.99973483e-01 9.82078847e-05] [ 7.22872703e-05 -9.87368783e-05 9.99999993e-01]] t_estimated: [[-8.94826799e-01] [ 4.46413171e-01] [-5.29147813e-04]] R_gt: [[ 0.99532209 0.09638597 -0.00674355] [-0.0966166 0.99357117 -0.05900713] [ 0.00101225 0.05938205 0.99823434]] t_gt: [-0.42505419 0.81410736 -0.39567429] Pose Error in degrees for R and t: 6.865651787565487 41.92779404692093 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.11609294 0.99323257 -0.00339116] [ 0.99322304 -0.11607151 0.0059502 ] [ 0.00551631 -0.00405896 -0.99997655]] t_estimated: [[-0.41480936] [-0.90990441] [-0.00267619]] R_gt: [[ 0.97640176 0.2146908 -0.02342494] [-0.21574071 0.97457011 -0.06056889] [ 0.00982595 0.06419414 0.99788931]] t_gt: [-0.60140549 0.76468021 -0.23146406] Pose Error in degrees for R and t: 178.3397847614894 63.5320057706021 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99322772e-01 -3.67966912e-02 9.61323021e-06] [ 3.67966900e-02 9.99322767e-01 1.01452353e-04] [-1.33398307e-05 -1.01029912e-04 9.99999995e-01]] t_estimated: [[-1.41441956e-01] [ 9.89946537e-01] [-1.60895646e-04]] R_gt: [[ 0.99812419 0.01437841 -0.05950463] [-0.01393592 0.99987228 0.00782984] [ 0.05961018 -0.00698563 0.99819744]] t_gt: [ 0.95976839 -0.05183404 -0.27596716] Pose Error in degrees for R and t: 4.512985266560176 79.22107176096654 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-3.78898983e-01 -9.25430002e-01 -3.85636482e-03] [-9.25437883e-01 3.78893228e-01 2.15541342e-03] [-5.33533735e-04 4.38551005e-03 -9.99990241e-01]] t_estimated: [[6.99621552e-01] [7.14513405e-01] [5.27494293e-04]] R_gt: [[ 0.99596651 0.04297124 -0.07877016] [-0.03918722 0.99803174 0.04896646] [ 0.0807195 -0.04568133 0.99568949]] t_gt: [ 0.97508069 -0.15247315 0.16115082] Pose Error in degrees for R and t: 177.59519951747052 55.01734969858742 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.98130089e-01 -6.11252030e-02 -1.87121790e-04] [ 6.11252372e-02 9.98130088e-01 1.82897684e-04] [ 1.75592231e-04 -1.93993546e-04 9.99999966e-01]] t_estimated: [[-0.97236138] [ 0.23347752] [-0.00126414]] R_gt: [[ 0.98570055 0.12809944 -0.1094763 ] [-0.11552842 0.98670031 0.11434512] [ 0.12266812 -0.10006215 0.98739102]] t_gt: [0.74579044 0.04278602 0.66480522] Pose Error in degrees for R and t: 13.916541408532622 44.27243567357968 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[-3.85669411e-01 -9.22631999e-01 -3.04965551e-03] [ 9.22635668e-01 -3.85672430e-01 4.49250202e-04] [-1.59066066e-03 -2.64045889e-03 9.99995249e-01]] t_estimated: [[0.98445386] [0.17563719] [0.00147594]] R_gt: [[ 0.99747497 -0.07052991 -0.00831442] [ 0.07040921 0.99741975 -0.01404724] [ 0.0092842 0.01342748 0.99986657]] t_gt: [ 0.72879084 -0.66331018 -0.16995153] Pose Error in degrees for R and t: 108.64801936579599 53.079366206520135 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 5.41366181e-01 8.40786138e-01 1.15269745e-03] [-8.40786872e-01 5.41366137e-01 3.76672777e-04] [-3.07330118e-04 -1.17309079e-03 9.99999265e-01]] t_estimated: [[7.58345954e-01] [6.51851942e-01] [6.78305877e-04]] R_gt: [[ 0.97554165 -0.2180555 -0.02774304] [ 0.21832335 0.97585173 0.00701591] [ 0.02554318 -0.01289992 0.99959021]] t_gt: [ 0.73482234 -0.67771964 -0.02705958] Pose Error in degrees for R and t: 69.84615015229274 83.36993822587763 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99946546e-01 -1.03385946e-02 1.37144945e-04] [ 1.03384484e-02 9.99946030e-01 1.02669891e-03] [-1.47752167e-04 -1.02522616e-03 9.99999464e-01]] t_estimated: [[0.00905525] [0.99995816] [0.00129361]] R_gt: [[ 0.9624505 -0.26909365 -0.03574495] [ 0.26947505 0.96298761 0.00623248] [ 0.03274532 -0.01562881 0.9993418 ]] t_gt: [ 0.74778238 -0.66292681 -0.03673623] Pose Error in degrees for R and t: 15.175544095244057 48.991176762410895 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 0.99182916 -0.12754127 0.00285395] [ 0.12754593 0.99183151 -0.00151373] [-0.00263758 0.00186538 0.99999478]] t_estimated: [[0.68052231] [0.73272676] [0.00093222]] R_gt: [[ 0.99600486 -0.05484271 0.07047978] [ 0.04895031 0.99536591 0.08277518] [-0.07469326 -0.07899438 0.99407273]] t_gt: [ 0.1284315 -0.32483264 0.93701073] Pose Error in degrees for R and t: 7.577868846697748 81.38816550112455 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.99297801 0.11747993 -0.01389706] [-0.11741141 0.99306728 0.00565086] [ 0.01446458 -0.00397951 0.99988746]] t_estimated: [[0.56402272] [0.82575875] [0.00092161]] R_gt: [[ 0.9890941 -0.10808021 0.10005888] [ 0.09674835 0.98899827 0.11190577] [-0.11105281 -0.10100434 0.9886681 ]] t_gt: [ 0.35077763 -0.388636 0.8520077 ] Pose Error in degrees for R and t: 15.546318480145835 82.97584274830537 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-7.41387416e-01 -6.71066256e-01 3.84451620e-03] [-6.71077151e-01 7.41378508e-01 -3.65582708e-03] [-3.96939496e-04 -5.29035117e-03 -9.99985927e-01]] t_estimated: [[0.97564788] [0.219297 ] [0.00447545]] R_gt: [[ 0.98657247 -0.10473733 0.12532462] [ 0.08285718 0.98219853 0.16858771] [-0.14075141 -0.15593896 0.97768662]] t_gt: [ 0.3344811 -0.3188133 0.88683734] Pose Error in degrees for R and t: 169.34179354297078 74.90679685179116 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.98187776e-01 -6.01760127e-02 1.09941428e-04] [ 6.01759581e-02 9.98187685e-01 4.46141406e-04] [-1.36589190e-04 -4.38717067e-04 9.99999894e-01]] t_estimated: [[0.22389673] [0.97460931] [0.00263408]] R_gt: [[ 0.99789084 0.0081478 -0.0644035 ] [-0.01404985 0.99568781 -0.091697 ] [ 0.06337854 0.09240855 0.9937027 ]] t_gt: [ 0.06067213 0.23503828 -0.97009066] Pose Error in degrees for R and t: 7.642270419411978 76.1075872023886 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.50163277e-01 -3.11752701e-01 -6.71531589e-06] [ 3.11752697e-01 9.50163261e-01 1.83811313e-04] [-5.09230269e-05 -1.76744277e-04 9.99999983e-01]] t_estimated: [[8.76251789e-01] [4.81852745e-01] [8.57389226e-04]] R_gt: [[ 0.99152708 0.06724328 -0.11114019] [-0.08354169 0.98527501 -0.14918064] [ 0.09947219 0.15720095 0.98254445]] t_gt: [-0.13640849 0.43716429 -0.888977 ] Pose Error in degrees for R and t: 24.922172070523153 84.81577220882538 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.88295490e-01 1.52550836e-01 5.16371646e-04] [-1.52550812e-01 9.88295625e-01 -8.45898465e-05] [-5.23232090e-04 4.82684993e-06 9.99999863e-01]] t_estimated: [[0.68278858] [0.73061555] [0.00082491]] R_gt: [[ 0.99030166 0.11879997 -0.07203321] [-0.12744194 0.98322952 -0.13045558] [ 0.0553261 0.13837081 0.98883453]] t_gt: [-0.37761168 0.58703706 -0.7160984 ] Pose Error in degrees for R and t: 8.739930553923674 80.18434461078729 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99641111e-01 2.67871876e-02 -3.09101340e-04] [-2.67872613e-02 9.99641129e-01 -2.36961174e-04] [ 3.02642889e-04 2.45156110e-04 9.99999924e-01]] t_estimated: [[-0.64236573] [-0.76639601] [-0.0018512 ]] R_gt: [[ 0.9964539 0.01566898 -0.08266476] [-0.02468988 0.99370672 -0.10925985] [ 0.0804324 0.11091506 0.9905701 ]] t_gt: [ 0.06413584 0.39058725 -0.91832902] Pose Error in degrees for R and t: 7.862066495935432 70.19359092222625 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.99804288e-01 -1.97701590e-02 7.26224942e-04] [ 1.97702666e-02 9.99804539e-01 -1.41362097e-04] [-7.23288242e-04 1.55692092e-04 9.99999726e-01]] t_estimated: [[-0.27281467] [-0.96206547] [ 0.00147945]] R_gt: [[ 0.9951825 0.05655508 -0.08008467] [-0.07000296 0.98179774 -0.17656161] [ 0.0686417 0.18131859 0.98102618]] t_gt: [-0.09987193 0.58676666 -0.80357357] Pose Error in degrees for R and t: 12.168647308456286 57.42179638912368 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-8.72631294e-01 -4.88379185e-01 -6.29939239e-04] [ 4.88371326e-01 -8.72608294e-01 -6.94363124e-03] [ 2.84143476e-03 -6.36687417e-03 9.99975694e-01]] t_estimated: [[0.94612916] [0.32378642] [0.00140167]] R_gt: [[ 0.99063394 0.10220186 -0.09055385] [-0.11516314 0.98166203 -0.15191506] [ 0.07336657 0.1609211 0.98423699]] t_gt: [-0.17180458 0.71606617 -0.67655926] Pose Error in degrees for R and t: 157.12508669807437 86.0804983658245 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 0.99924263 -0.03782217 -0.00914626] [ 0.03801496 0.99903688 0.02191274] [ 0.00830867 -0.02224384 0.99971805]] t_estimated: [[0.06152699] [0.99810448] [0.00136727]] R_gt: [[ 0.94467516 0.32771248 0.01387707] [-0.3270676 0.94432777 -0.03565592] [-0.02479007 0.02914391 0.99926698]] t_gt: [-0.90236013 0.42645292 -0.06232259] Pose Error in degrees for R and t: 21.582913259589677 68.28192428699981 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-9.61320592e-01 -2.75431348e-01 -5.39662603e-04] [-2.75431863e-01 9.61318072e-01 2.20312175e-03] [-8.80213804e-05 2.26654658e-03 -9.99997428e-01]] t_estimated: [[0.98224354] [0.18760742] [0.00103903]] R_gt: [[ 0.85433151 0.51966029 0.00833024] [-0.51945402 0.85429297 -0.0187041 ] [-0.01683732 0.0116517 0.9997898 ]] t_gt: [-0.86345345 0.50427171 -0.01257743] Pose Error in degrees for R and t: 179.4292980980881 41.102951555622695 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.35748039 -0.93392006 -0.00104259] [ 0.93385633 0.35746865 -0.01133681] [ 0.01096037 0.00307906 0.99993519]] t_estimated: [[-0.10747214] [-0.99411733] [-0.01343402]] R_gt: [[ 0.83040001 0.55666942 0.0235405 ] [-0.55491032 0.8300978 -0.05488077] [-0.05009159 0.03250925 0.99821525]] t_gt: [-0.84504724 0.53369757 -0.03258949] Pose Error in degrees for R and t: 102.89136266101191 63.94069946898326 Number of keypoints: Image1: 234 Image2: 234 R_estimated: [[ 9.99994019e-01 -3.45710205e-03 1.03891349e-04] [ 3.45710990e-03 9.99994021e-01 -7.54622218e-05] [-1.03629847e-04 7.58209343e-05 9.99999992e-01]] t_estimated: [[ 0.63498093] [-0.77252618] [-0.00158836]] R_gt: [[ 0.99676097 -0.07831947 0.01827111] [ 0.07882325 0.9964779 -0.0286221 ] [-0.01596482 0.02996911 0.99942285]] t_gt: [ 0.38589243 -0.89527178 -0.2226555 ] Pose Error in degrees for R and t: 4.725708552287089 20.444844598644416 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.99995835e-01 2.88361921e-03 1.19983940e-04] [-2.88361290e-03 9.99995841e-01 -5.26982762e-05] [-1.20135403e-04 5.23520695e-05 9.99999991e-01]] t_estimated: [[ 8.09431902e-01] [-5.87213414e-01] [-6.34437709e-04]] R_gt: [[ 0.98756435 -0.15589842 -0.02031158] [ 0.15500825 0.98711026 -0.03982334] [ 0.02625893 0.03617852 0.99900024]] t_gt: [ 0.47316285 -0.81471674 -0.33519181] Pose Error in degrees for R and t: 9.46569472927357 30.50121931219764 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 0.82795339 0.56079535 0.0013265 ] [-0.56079201 0.82795372 -0.00222571] [-0.00234645 0.0010989 0.99999664]] t_estimated: [[0.46563579] [0.88497561] [0.001216 ]] R_gt: [[ 0.95592809 -0.29262249 -0.02392135] [ 0.29193098 0.95601088 -0.02864049] [ 0.03125007 0.02039406 0.99930332]] t_gt: [ 0.6117644 -0.77212411 -0.17195544] Pose Error in degrees for R and t: 51.153807726758025 66.50552062075461 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999510e-01 -9.80941296e-04 -1.30528487e-04] [ 9.80931856e-04 9.99999516e-01 -7.23655863e-05] [ 1.30599410e-04 7.22375113e-05 9.99999989e-01]] t_estimated: [[ 0.99883579] [-0.04815206] [-0.00290651]] R_gt: [[ 0.99898837 -0.0422534 0.01537884] [ 0.04249216 0.99897559 -0.01554289] [-0.01470623 0.01617961 0.99976092]] t_gt: [ 0.78445996 -0.61985216 0.02014612] Pose Error in degrees for R and t: 2.684362115001314 35.576910062366885 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99999040e-01 1.37147425e-03 1.99451670e-04] [-1.37147401e-03 9.99999060e-01 -1.36471949e-06] [-1.99453354e-04 1.09117540e-06 9.99999980e-01]] t_estimated: [[-9.99997634e-01] [-2.16704570e-03] [-1.91529868e-04]] R_gt: [[ 0.99277161 -0.11952682 0.01088709] [ 0.11979881 0.99236854 -0.02918623] [-0.0073153 0.03027989 0.99951541]] t_gt: [ 0.77118216 -0.63320283 -0.06581983] Pose Error in degrees for R and t: 7.177168689106087 39.66446726591317 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99998836e-01 1.01129182e-03 -1.14284142e-03] [-1.01039279e-03 9.99999180e-01 7.86961149e-04] [ 1.14363633e-03 -7.85805514e-04 9.99999037e-01]] t_estimated: [[-0.57384208] [-0.81896475] [-0.00141689]] R_gt: [[ 0.96983077 -0.24365073 -0.00794914] [ 0.2434497 0.96969662 -0.02048778] [ 0.01270003 0.01793497 0.9997589 ]] t_gt: [ 0.77436797 -0.63029607 -0.05550775] Pose Error in degrees for R and t: 14.2124059798784 85.87664680615711 Number of keypoints: Image1: 403 Image2: 403 R_estimated: [[ 9.99174629e-01 -4.06209280e-02 -1.54436754e-05] [ 4.06209267e-02 9.99174626e-01 -8.15856607e-05] [ 1.87450138e-05 8.08909859e-05 9.99999997e-01]] t_estimated: [[-0.34707394] [-0.9378368 ] [-0.00134518]] R_gt: [[ 0.99893664 -0.0457448 0.00564789] [ 0.04583797 0.9987938 -0.01760495] [-0.00483577 0.01784509 0.9998292 ]] t_gt: [ 0.19848679 -0.93856852 -0.28229793] Pose Error in degrees for R and t: 1.0966799622027448 35.73624173569128 Number of keypoints: Image1: 457 Image2: 457 R_estimated: [[ 0.98585971 0.16734899 0.00865767] [ 0.16740153 -0.98120171 -0.09602052] [-0.00757402 0.09611207 -0.9953417 ]] t_estimated: [[-0.09160849] [ 0.99462882] [-0.04818095]] R_gt: [[ 0.99981052 -0.01903841 0.00412506] [ 0.01912816 0.99955435 -0.02293069] [-0.00368674 0.02300612 0.99972818]] t_gt: [ 0.21230942 -0.34804205 -0.91312181] Pose Error in degrees for R and t: 173.1371434629885 71.23865761251898 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.99953469e-01 9.64659598e-03 -4.53806602e-05] [-9.64659344e-03 9.99953469e-01 5.59571531e-05] [ 4.59183446e-05 -5.55167806e-05 9.99999997e-01]] t_estimated: [[ 7.49875793e-01] [-6.61578635e-01] [-6.48033701e-05]] R_gt: [[ 0.99836039 0.05511664 -0.01543577] [-0.0555375 0.99805618 -0.02829927] [ 0.01384539 0.02911058 0.99948036]] t_gt: [ 0.2573417 0.78654234 -0.5613612 ] Pose Error in degrees for R and t: 3.206113990574784 70.89205577411586 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.64777965 -0.76134237 0.02719027] [ 0.76176508 0.64777146 -0.01029996] [-0.00977128 0.0273847 0.99957721]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.94926873 0.31229858 0.03685353] [-0.31179434 0.94996174 -0.01888003] [-0.04090578 0.00643157 0.99914205]] t_gt: [-9.34317873e-01 3.56440641e-01 4.27349957e-04] Pose Error in degrees for R and t: 67.80602493346781 69.47594192276313 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[ 9.99999936e-01 -3.58657179e-04 -1.57567302e-07] [ 3.58657179e-04 9.99999936e-01 -1.30822492e-06] [ 1.58036496e-07 1.30816833e-06 1.00000000e+00]] t_estimated: [[0.01217244] [0.99992305] [0.0023911 ]] R_gt: [[ 0.82547464 0.56403729 0.02128426] [-0.56201178 0.82483335 -0.06158395] [-0.05229106 0.0388742 0.99787424]] t_gt: [-0.85050427 0.52397583 -0.0457364 ] Pose Error in degrees for R and t: 34.523966572675114 59.10452778788402 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 0.7217364 -0.35971528 -0.59135564] [ 0.63892155 0.67483325 0.36929573] [ 0.26622513 -0.64436403 0.71688156]] t_estimated: [[ 0.09277231] [-0.97843972] [ 0.18452374]] R_gt: [[ 0.63203804 0.77478733 0.01525859] [-0.77144149 0.6309326 -0.08246956] [-0.0735226 0.04035306 0.99647632]] t_gt: [-0.76524259 0.64305973 -0.02963045] Pose Error in degrees for R and t: 97.47980068702293 45.11743169336572 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.97751628e-01 6.70200544e-02 -1.99294425e-05] [-6.70200520e-02 9.97751385e-01 -6.96715051e-04] [-2.68092517e-05 6.96484248e-04 9.99999757e-01]] t_estimated: [[-0.99842561] [-0.05603409] [-0.002547 ]] R_gt: [[ 0.99785824 -0.01281004 -0.06415562] [ 0.01434591 0.9996199 0.02354484] [ 0.06383005 -0.02441545 0.99766194]] t_gt: [ 0.97261199 -0.16147283 -0.16718985] Pose Error in degrees for R and t: 6.0678886851521945 15.928086558111769 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999502e-01 -9.93243813e-04 9.49650095e-05] [ 9.93276153e-04 9.99999449e-01 -3.41105720e-04] [-9.46261560e-05 3.41199877e-04 9.99999937e-01]] t_estimated: [[-9.99991927e-01] [-3.94007852e-03] [-7.88015703e-04]] R_gt: [[ 0.98911127 0.08662725 -0.11897911] [-0.07634665 0.99315305 0.08841096] [ 0.12582368 -0.07836452 0.98895223]] t_gt: [ 0.749815 0.6488464 -0.12952144] Pose Error in degrees for R and t: 9.773427894906302 41.21317783312347 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.42540939e-01 -3.34090659e-01 9.88274931e-05] [ 3.34090589e-01 9.42540869e-01 4.33689588e-04] [-2.38040591e-04 -3.75752856e-04 9.99999901e-01]] t_estimated: [[ 0.921553 ] [-0.38824387] [ 0.002599 ]] R_gt: [[ 0.97582277 0.14646508 -0.16222797] [-0.12742558 0.98429335 0.12218317] [ 0.17757652 -0.09855748 0.97915903]] t_gt: [ 0.45640358 0.87893445 -0.13845578] Pose Error in degrees for R and t: 29.82045319872591 85.46895068352904 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 6.57564616e-01 7.53396969e-01 1.33497463e-03] [-7.53396663e-01 6.57565807e-01 -8.22805343e-04] [-1.49773272e-03 -4.64717755e-04 9.99998770e-01]] t_estimated: [[0.01190391] [0.9999277 ] [0.00170056]] R_gt: [[ 0.97965613 -0.19770462 -0.03445197] [ 0.19806049 0.98016401 0.00718792] [ 0.03234776 -0.01386492 0.99938054]] t_gt: [ 0.74186107 -0.66590846 -0.07879138] Pose Error in degrees for R and t: 60.33596106521193 48.9161161416218 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999954e-01 1.87841504e-04 2.38239943e-04] [-1.87837948e-04 9.99999982e-01 -1.49469910e-05] [-2.38242747e-04 1.49022398e-05 9.99999972e-01]] t_estimated: [[8.80438831e-01] [4.74159110e-01] [7.76618881e-04]] R_gt: [[ 0.96807339 -0.2424449 -0.06368437] [ 0.24353541 0.96984249 0.00983397] [ 0.05938016 -0.02502985 0.99792162]] t_gt: [ 0.77265968 -0.62725496 -0.09771508] Pose Error in degrees for R and t: 14.56609992596183 67.49369793122467 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-0.32234834 0.94661148 0.00427169] [ 0.94661526 0.32232718 0.00497326] [ 0.00333086 0.00564676 -0.99997851]] t_estimated: [[0.58150675] [0.81353654] [0.00286457]] R_gt: [[ 0.94783494 -0.28576897 -0.14122578] [ 0.28574948 0.95807773 -0.02086054] [ 0.1412668 -0.02058192 0.98975725]] t_gt: [ 0.82617017 -0.51843339 -0.22061205] Pose Error in degrees for R and t: 173.41972859437516 86.67342512155955 Number of keypoints: Image1: 356 Image2: 356 R_estimated: [[ 9.98985493e-01 4.50239512e-02 9.10719213e-04] [-4.50235580e-02 9.98985825e-01 -4.47673557e-04] [-9.29951616e-04 4.06215570e-04 9.99999485e-01]] t_estimated: [[0.33347952] [0.94275562] [0.00180259]] R_gt: [[ 0.9993121 -0.03304597 0.01687894] [ 0.03308167 0.99945075 -0.00185138] [-0.01680776 0.00240804 0.99985529]] t_gt: [ 0.75654047 -0.5765982 0.30851424] Pose Error in degrees for R and t: 4.568484272892985 73.0974773734366 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[-1.52664386e-01 9.88277984e-01 -4.59497238e-04] [ 9.88274047e-01 1.52665075e-01 2.78980504e-03] [ 2.82725208e-03 -2.82053219e-05 -9.99996003e-01]] t_estimated: [[-0.38891739] [-0.92127213] [-0.00096267]] R_gt: [[ 0.99803242 -0.05916297 -0.0207844 ] [ 0.05968303 0.99789682 0.02529174] [ 0.01924551 -0.02648334 0.99946321]] t_gt: [ 0.77247335 -0.6344533 0.0274577 ] Pose Error in degrees for R and t: 178.04028583074515 73.4979653155818 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 3.69511719e-01 -9.29216460e-01 -4.22616014e-03] [ 9.29225557e-01 3.69512472e-01 6.29911979e-04] [ 9.76294302e-04 -4.15981587e-03 9.99990871e-01]] t_estimated: [[0.94453783] [0.32839891] [0.0015638 ]] R_gt: [[ 0.99740144 -0.06064192 -0.03890149] [ 0.06209638 0.99737138 0.03733532] [ 0.03653552 -0.03965391 0.99854544]] t_gt: [ 0.71603681 -0.69680642 -0.04185819] Pose Error in degrees for R and t: 64.8471663850439 63.42121854913646 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.72190729e-01 -2.34190269e-01 -3.24241481e-04] [ 2.34190274e-01 9.72190781e-01 -2.31310506e-05] [ 3.20641645e-04 -5.34464082e-05 9.99999947e-01]] t_estimated: [[-0.1016603 ] [-0.99481863] [-0.00103735]] R_gt: [[ 0.99130033 0.12847064 0.02862129] [-0.13065867 0.9867433 0.09626011] [-0.01587603 -0.09916082 0.9949445 ]] t_gt: [-0.8383113 0.13629607 0.52788024] Pose Error in degrees for R and t: 21.77594523230572 87.08155251075536 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.84799107e-01 -1.73696282e-01 -5.65514125e-04] [ 1.73696448e-01 9.84799206e-01 2.59336133e-04] [ 5.11872140e-04 -3.53621787e-04 9.99999806e-01]] t_estimated: [[-0.37804145] [-0.92578764] [-0.00137971]] R_gt: [[ 0.99420084 0.1072437 0.00798201] [-0.10752873 0.99030621 0.08793273] [ 0.0015258 -0.08828037 0.99609468]] t_gt: [-0.87835611 -0.13707003 0.45793269] Pose Error in degrees for R and t: 16.943966371616696 62.72118584590773 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-0.11707771 0.9931069 0.00561257] [-0.99311698 -0.11705589 -0.00407211] [-0.00338706 -0.00605069 0.99997596]] t_estimated: [[0.05491632] [0.99847848] [0.00499239]] R_gt: [[ 0.99396209 0.10964967 0.00395205] [-0.10967255 0.99180275 0.06557477] [ 0.00327021 -0.06561099 0.99783988]] t_gt: [-0.90401923 -0.20172233 0.37690494] Pose Error in degrees for R and t: 90.47838751419346 75.5710561277558 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99999921e-01 -3.83644285e-04 1.07681643e-04] [ 3.83644344e-04 9.99999926e-01 -5.30647632e-07] [-1.07681431e-04 5.71959043e-07 9.99999994e-01]] t_estimated: [[0.2985185 ] [0.95440325] [0.00106996]] R_gt: [[ 0.99410179 -0.10686257 -0.01846329] [ 0.10666546 0.99423001 -0.01137239] [ 0.01957207 0.00933593 0.99976446]] t_gt: [ 0.73361204 -0.66675491 -0.13134405] Pose Error in degrees for R and t: 6.233859945685048 65.32334848186332 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.99999462e-01 8.93786818e-04 5.25590586e-04] [-8.93574193e-04 9.99999519e-01 -4.04640868e-04] [-5.25951996e-04 4.04170996e-04 9.99999780e-01]] t_estimated: [[ 9.97446703e-01] [-7.14117070e-02] [-6.65938105e-04]] R_gt: [[ 0.97174803 -0.23442348 -0.02740424] [ 0.23475986 0.97200504 0.0097268 ] [ 0.02435589 -0.01588543 0.99957661]] t_gt: [ 0.73196958 -0.6811771 -0.01477477] Pose Error in degrees for R and t: 13.727387339722895 38.853319967958996 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-0.07614677 0.99708577 0.00465108] [ 0.99709586 0.07614012 0.00159115] [ 0.00123238 0.00475873 -0.99998792]] t_estimated: [[0.67879605] [0.73432638] [0.00082881]] R_gt: [[ 0.95556668 -0.29276038 -0.03438546] [ 0.29310379 0.95606551 0.00529367] [ 0.03132478 -0.01513719 0.99939496]] t_gt: [ 0.75257757 -0.65743148 -0.03756117] Pose Error in degrees for R and t: 178.37011656167437 88.39285600297367 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999985e-01 1.69461101e-04 4.20879683e-05] [-1.69460449e-04 9.99999986e-01 -1.54905807e-05] [-4.20905927e-05 1.54834482e-05 9.99999999e-01]] t_estimated: [[9.99983526e-01] [5.72764883e-03] [3.75637898e-04]] R_gt: [[ 0.99524596 -0.09580415 -0.01752065] [ 0.09613988 0.9951787 0.01939855] [ 0.0155768 -0.02099129 0.9996582 ]] t_gt: [ 0.6433531 -0.76556808 0.00151955] Pose Error in degrees for R and t: 5.718099733238146 50.285823551152546 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.99999549 0.00166813 0.00249946] [ 0.00153684 -0.99866457 0.05164023] [ 0.00258226 -0.05163615 -0.99866263]] t_estimated: [[0.18992668] [0.98128785] [0.03165445]] R_gt: [[ 0.98729114 -0.15886461 -0.0043718 ] [ 0.15891857 0.98711654 0.01858433] [ 0.00136254 -0.01904376 0.99981727]] t_gt: [ 0.68119075 -0.73185955 0.01899382] Pose Error in degrees for R and t: 175.97903526213773 53.9715177758434 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999492e-01 -1.00078018e-03 1.21191675e-04] [ 1.00080000e-03 9.99999486e-01 -1.63632202e-04] [-1.21027853e-04 1.63753408e-04 9.99999979e-01]] t_estimated: [[ 0.74542954] [-0.666584 ] [-0.00075498]] R_gt: [[ 0.97824921 -0.20582597 0.02577913] [ 0.20509496 0.97833013 0.02839511] [-0.03106635 -0.02249089 0.99926356]] t_gt: [ 0.70937534 -0.69417668 0.12208758] Pose Error in degrees for R and t: 12.005995489157195 7.509054491358155 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99409879e-01 3.43493265e-02 -1.33692694e-04] [-3.43492851e-02 9.99409844e-01 3.00645066e-04] [ 1.43940750e-04 -2.95875400e-04 9.99999946e-01]] t_estimated: [[0.70554735] [0.70866235] [0.00077875]] R_gt: [[ 0.99995994 0.0037308 -0.0081683 ] [-0.00335948 0.99898398 0.0449348 ] [ 0.00832818 -0.04490454 0.99895667]] t_gt: [ 0.57759186 -0.3397218 0.74227807] Pose Error in degrees for R and t: 3.1420016565273845 80.36631443951676 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.94899614 -0.31522633 0.00622029] [ 0.31510211 -0.94892976 -0.01558762] [ 0.01081625 -0.01283257 0.99985916]] t_estimated: [[8.01343790e-01] [5.98203763e-01] [6.23128919e-04]] R_gt: [[ 0.99767833 -0.05619621 0.038467 ] [ 0.04986288 0.98751553 0.14941965] [-0.04638289 -0.14715413 0.9880254 ]] t_gt: [ 0.4009747 -0.38350067 0.83195344] Pose Error in degrees for R and t: 158.69083590150515 84.6968430292211 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.99358004 -0.11275327 -0.00924189] [ 0.11267147 -0.99359207 0.00894037] [-0.01019072 0.00784168 0.99991733]] t_estimated: [[0.82439302] [0.56601478] [0.00184998]] R_gt: [[ 0.99265132 -0.09774785 0.07133972] [ 0.07999013 0.97236982 0.21931104] [-0.09080523 -0.21199256 0.97304296]] t_gt: [ 0.34287263 -0.3760227 0.86083987] Pose Error in degrees for R and t: 168.35819841124143 85.90445234404885 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 7.37828200e-01 -6.74988127e-01 -7.58764951e-04] [ 6.74988547e-01 7.37827885e-01 6.87930555e-04] [ 9.54929822e-05 -1.01973221e-03 9.99999476e-01]] t_estimated: [[0.78790268] [0.61579786] [0.00153465]] R_gt: [[ 0.99516305 0.05712431 -0.07992117] [-0.05395412 0.99768891 0.04129812] [ 0.08209446 -0.03678649 0.99594555]] t_gt: [ 0.91200945 0.29240932 -0.28763788] Pose Error in degrees for R and t: 45.913591547798625 26.07775621672796 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999428e-01 -5.83177634e-04 8.96613196e-04] [ 5.84031980e-04 9.99999375e-01 -9.52892949e-04] [-8.96056930e-04 9.53416055e-04 9.99999144e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.98120144 0.1234157 -0.14836366] [-0.11276347 0.99053829 0.07822221] [ 0.15661374 -0.0600211 0.98583397]] t_gt: [ 0.82421998 0.3160479 -0.46986716] Pose Error in degrees for R and t: 11.898506668040127 52.67393414972778 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999952e-01 1.42233561e-04 -2.74934513e-04] [-1.42175981e-04 9.99999968e-01 2.09440113e-04] [ 2.74964293e-04 -2.09401014e-04 9.99999940e-01]] t_estimated: [[0.67114229] [0.74132711] [0.00146218]] R_gt: [[ 0.96137722 0.21854313 -0.16731083] [-0.20182587 0.97307243 0.11133728] [ 0.18713719 -0.07326875 0.97959724]] t_gt: [ 0.56511141 0.76013114 -0.32070195] Pose Error in degrees for R and t: 16.839239774177983 19.557321126705066 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[-0.18347287 0.98302391 0.00130466] [-0.98302039 -0.18346793 -0.00322942] [-0.00293524 -0.00187502 0.99999393]] t_estimated: [[0.09839634] [0.99514479] [0.00223628]] R_gt: [[ 9.99623563e-01 2.74348127e-02 2.41032842e-04] [-2.74289032e-02 9.99498960e-01 -1.58157787e-02] [-6.74669309e-04 1.58030542e-02 9.99874790e-01]] t_gt: [ 0.6281671 0.71348131 -0.31040381] Pose Error in degrees for R and t: 99.00249936367695 39.544313383025475 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99997966e-01 -2.01493190e-03 -8.95882314e-05] [ 2.01496696e-03 9.99997893e-01 3.93075134e-04] [ 8.87960230e-05 -3.93254852e-04 9.99999919e-01]] t_estimated: [[5.79775995e-03] [9.99982710e-01] [9.83012436e-04]] R_gt: [[ 0.99771853 0.05669278 -0.03665025] [-0.05614536 0.99829795 0.01579842] [ 0.0374842 -0.01370418 0.99920282]] t_gt: [ 0.83371056 0.52670374 -0.16586101] Pose Error in degrees for R and t: 4.049862733895271 57.90225437963673 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.99993634 -0.00310222 0.01084816] [ 0.00326036 0.99988824 -0.01459023] [-0.01080168 0.01462467 0.99983471]] t_estimated: [[-0.82571332] [-0.56408854] [-0.00127622]] R_gt: [[ 0.99150861 0.08224128 -0.10073457] [-0.07748577 0.99572677 0.05025106] [ 0.10443717 -0.04201884 0.99364275]] t_gt: [ 0.87147264 0.45313095 -0.18763735] Pose Error in degrees for R and t: 8.798802380497152 12.850660768216645 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 4.29860686e-01 9.02892549e-01 2.19896978e-03] [ 9.02894525e-01 -4.29862113e-01 1.99778313e-04] [ 1.12563215e-03 1.89956093e-03 -9.99997562e-01]] t_estimated: [[-9.87612542e-01] [-1.56910404e-01] [-7.69168647e-04]] R_gt: [[ 0.99917386 -0.02973202 -0.0276934 ] [ 0.03007231 0.99947654 0.01195966] [ 0.0273237 -0.01278273 0.99954558]] t_gt: [ 0.76847487 -0.55128158 -0.32486151] Pose Error in degrees for R and t: 178.61939901231682 47.762621769423355 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 0.03997406 0.99905885 0.01683687] [ 0.99907862 -0.03970008 -0.01630402] [-0.01562025 0.0174731 -0.99972531]] t_estimated: [[ 0.78541229] [-0.61886993] [ 0.01129342]] R_gt: [[ 0.99754505 -0.04327623 -0.05505539] [ 0.04430038 0.99886509 0.01752519] [ 0.054235 -0.0199213 0.99832934]] t_gt: [ 0.68512177 -0.58370565 -0.43577044] Pose Error in degrees for R and t: 178.3978116716683 26.56602458082541 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 0.89674038 0.44255457 0.00146119] [-0.44249193 0.89666029 -0.0141847 ] [-0.00758769 0.01207343 0.99989832]] t_estimated: [[-9.98338368e-01] [ 5.76232503e-02] [ 2.51279200e-04]] R_gt: [[ 9.97517388e-01 -4.08032912e-04 -7.04176910e-02] [ 4.06130632e-03 9.98652406e-01 5.17484653e-02] [ 7.03018402e-02 -5.19069235e-02 9.96174374e-01]] t_gt: [ 0.42181024 -0.73234496 -0.53455306] Pose Error in degrees for R and t: 26.996756296001855 62.39044824702723 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-0.68095161 -0.14771699 -0.71727582] [-0.573273 -0.5019505 0.6476139 ] [-0.45570053 0.85218859 0.25712184]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 9.51440753e-01 3.07815486e-01 -3.23754894e-03] [-3.07833074e-01 9.51381763e-01 -1.05936080e-02] [-1.80692467e-04 1.10763699e-02 9.99938882e-01]] t_gt: [-0.95249373 0.30178153 -0.0410316 ] Pose Error in degrees for R and t: 150.0165495250063 54.71163824016973 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 8.02726084e-01 5.96339795e-01 3.11175003e-03] [-5.96347518e-01 8.02720635e-01 3.03641738e-03] [-6.87129438e-04 -4.29309584e-03 9.99990549e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.8424944 0.53797408 0.02803205] [-0.53658623 0.84265472 -0.04481259] [-0.04772927 0.02271261 0.99860241]] t_gt: [-0.88530386 0.4642299 -0.02697528] Pose Error in degrees for R and t: 5.127938485219041 64.40027881461712 Number of keypoints: Image1: 26 Image2: 26 R_estimated: [[ 0.4402846 -0.85353364 -0.27862123] [ 0.89604406 0.43742034 0.07595052] [ 0.05704827 -0.28309675 0.95739319]] t_estimated: [[-0.01854262] [-0.99982665] [-0.00168556]] R_gt: [[ 0.65420789 0.75627238 -0.0080215 ] [-0.75494605 0.6523491 -0.06706036] [-0.04548303 0.04992671 0.99771695]] t_gt: [-0.78744395 0.61432035 -0.0504236 ] Pose Error in degrees for R and t: 113.98390898651127 53.163928607063674 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.86504288 0.50162317 0.0086613 ] [ 0.50165582 -0.86461762 -0.02788931] [-0.00650121 0.02847044 -0.99957349]] t_estimated: [[-0.3429558 ] [ 0.93922924] [-0.01515768]] R_gt: [[ 0.99549258 -0.0947854 0.0030435 ] [ 0.09479228 0.99360976 -0.06126403] [ 0.00278278 0.06127786 0.99811681]] t_gt: [ 0.46771612 -0.5974602 -0.65137005] Pose Error in degrees for R and t: 174.92898606694618 44.62783994589859 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99998784e-01 -1.55856896e-03 5.39066820e-05] [ 1.55857119e-03 9.99998785e-01 -4.12445304e-05] [-5.38423340e-05 4.13284977e-05 9.99999998e-01]] t_estimated: [[ 0.71908246] [-0.69492411] [ 0.00094848]] R_gt: [[ 0.99379852 -0.11013936 -0.01530302] [ 0.10935923 0.99299061 -0.04483616] [ 0.02013397 0.0428857 0.99887754]] t_gt: [ 0.51781816 -0.6818005 -0.51673246] Pose Error in degrees for R and t: 6.781331798436024 32.256911438670876 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99999991e-01 1.12269248e-04 7.73516933e-05] [-1.12268064e-04 9.99999994e-01 -1.53008340e-05] [-7.73534106e-05 1.52921497e-05 9.99999997e-01]] t_estimated: [[ 0.92635422] [-0.37665219] [ 0.00099549]] R_gt: [[ 0.99816927 -0.05894592 -0.01349755] [ 0.05812419 0.99680586 -0.05476832] [ 0.01668285 0.05388498 0.9984081 ]] t_gt: [ 0.57434922 -0.30273454 -0.76057529] Pose Error in degrees for R and t: 4.6667986359477025 49.810379321272826 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999392e-01 -1.10278586e-03 1.94739556e-05] [ 1.10278498e-03 9.99999391e-01 4.48696599e-05] [-1.95234254e-05 -4.48481570e-05 9.99999999e-01]] t_estimated: [[-2.38476479e-02] [ 9.99715587e-01] [-1.87682168e-04]] R_gt: [[ 0.99936135 -0.03567503 0.0021274 ] [ 0.03570523 0.99922622 -0.01646365] [-0.00153779 0.01653037 0.99986231]] t_gt: [ 0.81134669 -0.57813272 -0.08648183] Pose Error in degrees for R and t: 2.199892655264954 53.32317691723235 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999995e-01 -1.67923205e-05 1.00149777e-04] [ 1.67933767e-05 1.00000000e+00 -1.05449693e-05] [-1.00149600e-04 1.05466511e-05 9.99999995e-01]] t_estimated: [[7.50289151e-01] [6.61109672e-01] [4.37765976e-04]] R_gt: [[ 0.98596631 -0.16477015 -0.02684223] [ 0.1640476 0.98607626 -0.02722127] [ 0.03095418 0.02243679 0.99926857]] t_gt: [ 0.75802754 -0.63104094 -0.1648684 ] Pose Error in degrees for R and t: 9.716234042467054 81.28727246225759 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.99999363e-01 1.10712288e-03 2.21452629e-04] [-1.10713017e-03 9.99999387e-01 3.27757432e-05] [-2.21416206e-04 -3.30208992e-05 9.99999975e-01]] t_estimated: [[ 0.99998282] [-0.00577525] [-0.0010008 ]] R_gt: [[ 0.97188713 -0.23338457 -0.03110186] [ 0.23201542 0.97179879 -0.04212258] [ 0.04005492 0.03372303 0.99862768]] t_gt: [ 0.77565097 -0.61394044 -0.14643326] Pose Error in degrees for R and t: 13.85869161069293 38.80074126504163 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.90186428e-01 -1.39752712e-01 -1.29603758e-04] [ 1.39752695e-01 9.90186430e-01 -1.30581433e-04] [ 1.46580992e-04 1.11187488e-04 9.99999983e-01]] t_estimated: [[ 0.73452015] [-0.67858554] [-0.00134709]] R_gt: [[ 0.99573394 -0.0916776 0.01037866] [ 0.09194049 0.99535159 -0.0286678 ] [-0.00770139 0.02950074 0.99953566]] t_gt: [ 0.52818786 -0.81044433 -0.25337239] Pose Error in degrees for R and t: 3.2682158801722387 20.238341190013635 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999565e-01 9.22271142e-04 1.41666709e-04] [-9.22268054e-04 9.99999574e-01 -2.18617842e-05] [-1.41686811e-04 2.17311200e-05 9.99999990e-01]] t_estimated: [[ 9.99977303e-01] [-6.73732975e-03] [-4.57065444e-05]] R_gt: [[ 0.98778314 -0.15561187 -0.00827697] [ 0.1549421 0.98642383 -0.05440497] [ 0.01663071 0.05245815 0.99848453]] t_gt: [ 0.48982021 -0.78163145 -0.3861715 ] Pose Error in degrees for R and t: 9.529146453822586 60.32412640908187 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999839e-01 5.29018726e-04 2.06472637e-04] [-5.28990942e-04 9.99999851e-01 -1.34596853e-04] [-2.06543811e-04 1.34487609e-04 9.99999970e-01]] t_estimated: [[9.99999831e-01] [5.47883273e-04] [1.96223985e-04]] R_gt: [[ 0.9622117 -0.27063647 -0.03005219] [ 0.26945641 0.96225599 -0.03816253] [ 0.03924619 0.02862349 0.99881963]] t_gt: [ 0.59577994 -0.77025343 -0.22749926] Pose Error in degrees for R and t: 15.950811704862119 53.465038190064384 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.62175576 0.77791363 0.09094042] [ 0.78121384 0.62426251 0.00112049] [-0.05589905 0.07174058 -0.99585571]] t_estimated: [[-0.04993699] [-0.99873989] [-0.0049937 ]] R_gt: [[ 0.99889864 0.00782444 -0.04627259] [-0.01160521 0.996564 -0.08201109] [ 0.04547329 0.08245777 0.9955566 ]] t_gt: [ 0.02888174 0.25073872 -0.96762386] Pose Error in degrees for R and t: 175.6693899884449 75.69798990810244 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 4.47136014e-01 -8.94424188e-01 -8.64622587e-03] [-8.94457128e-01 -4.47153699e-01 1.26053571e-04] [-3.97893725e-03 7.67731527e-03 -9.99962613e-01]] t_estimated: [[3.99181638e-01] [9.16871862e-01] [9.59239635e-05]] R_gt: [[ 0.99268423 0.05863647 -0.10554781] [-0.07559344 0.98345951 -0.16459943] [ 0.09415093 0.17137389 0.98069637]] t_gt: [-0.11361408 0.43054474 -0.8953899 ] Pose Error in degrees for R and t: 168.45709477021555 69.55452729564061 Number of keypoints: Image1: 36 Image2: 36 R_estimated: [[ 9.96052288e-01 -8.87677335e-02 -3.59841666e-04] [ 8.87677301e-02 9.96052353e-01 -2.54651986e-05] [ 3.60681626e-04 -6.57765852e-06 9.99999935e-01]] t_estimated: [[0.58967743] [0.80763842] [0.00084481]] R_gt: [[ 0.98605146 0.13725544 -0.09415155] [-0.15194426 0.97321367 -0.17253703] [ 0.06794844 0.18443611 0.9804922 ]] t_gt: [-0.33619117 0.59560217 -0.72954339] Pose Error in degrees for R and t: 17.59702930394513 73.61020861686553 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.98097615e-01 6.16534676e-02 -3.62463182e-05] [-6.16534726e-02 9.98097603e-01 -1.55528314e-04] [ 2.65885035e-05 1.57467150e-04 9.99999987e-01]] t_estimated: [[-0.77174638] [-0.63592917] [-0.00126932]] R_gt: [[ 0.99731558 0.0158526 -0.07149817] [-0.02041623 0.99776914 -0.06355352] [ 0.0703315 0.06484182 0.99541331]] t_gt: [ 0.08166821 0.35308604 -0.93201961] Pose Error in degrees for R and t: 6.022034929389755 73.35853551714388 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 0.99915339 0.04039057 -0.00781705] [-0.04033184 0.99915796 0.00753138] [ 0.00811466 -0.00720973 0.99994108]] t_estimated: [[-0.72026151] [-0.69370089] [-0.00156239]] R_gt: [[ 0.99280685 0.04658103 -0.11030173] [-0.06491528 0.98348098 -0.16896713] [ 0.10060928 0.17491215 0.97942939]] t_gt: [-0.02371168 0.51733794 -0.85545263] Pose Error in degrees for R and t: 11.813904590841188 70.0949376769334 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[-0.03187444 0.99941688 0.0122441 ] [ 0.99941688 0.03201972 -0.0118587 ] [-0.01224383 0.01185897 -0.99985472]] t_estimated: [[0.98857649] [0.15067523] [0.00367501]] R_gt: [[ 0.99180809 0.08976654 -0.09088078] [-0.10385706 0.98088498 -0.16455191] [ 0.07437268 0.172642 0.98217246]] t_gt: [-0.14182648 0.67120957 -0.72757334] Pose Error in degrees for R and t: 175.68935199341632 87.60746358315247 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.84487968e-01 -1.75451224e-01 -5.55630021e-04] [ 1.75451580e-01 9.84487831e-01 6.74120386e-04] [ 4.28735747e-04 -7.61149575e-04 9.99999618e-01]] t_estimated: [[0.79862082] [0.60183148] [0.00191058]] R_gt: [[ 0.99592367 -0.05013558 0.07498458] [ 0.04583007 0.99726047 0.05805973] [-0.07769022 -0.054386 0.99549207]] t_gt: [ 0.01865833 -0.27825749 0.96032528] Pose Error in degrees for R and t: 9.141096127964618 81.33085828485274 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.98857697e-01 -4.77824149e-02 3.76022660e-04] [ 4.77824973e-02 9.98857741e-01 -2.13461368e-04] [-3.65393445e-04 2.31184832e-04 9.99999907e-01]] t_estimated: [[0.54177649] [0.84052204] [0.0009606 ]] R_gt: [[ 0.99030912 -0.0986514 0.09774961] [ 0.08629065 0.98858765 0.12348447] [-0.10881582 -0.11385289 0.98751976]] t_gt: [ 0.21430438 -0.33386039 0.91793838] Pose Error in degrees for R and t: 9.422341481353438 80.58233234557181 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 2.82909921e-01 9.59145529e-01 1.35323211e-03] [ 9.59145315e-01 -2.82911496e-01 1.16148843e-03] [ 1.49688135e-03 9.69349636e-04 -9.99998410e-01]] t_estimated: [[0.28945443] [0.95719057] [0.0015315 ]] R_gt: [[ 0.98351084 -0.11752705 0.13745415] [ 0.0934534 0.98098806 0.17008775] [-0.15483083 -0.15443665 0.9757949 ]] t_gt: [ 0.2761962 -0.31040508 0.9095957 ] Pose Error in degrees for R and t: 177.54827137929922 77.53885129061486 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 2.24087826e-01 9.74568562e-01 8.73639148e-04] [-9.74567607e-01 2.24088917e-01 -1.46196099e-03] [-1.62055407e-03 -5.23812753e-04 9.99998550e-01]] t_estimated: [[0.01066289] [0.99994245] [0.00118477]] R_gt: [[ 0.9974003 0.00989863 -0.07137634] [-0.00834973 0.99972477 0.02196478] [ 0.071574 -0.02131205 0.99720737]] t_gt: [ 0.96137597 -0.14042719 -0.23672018] Pose Error in degrees for R and t: 76.63452432285472 82.50448882305251 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99360170e-01 3.57664739e-02 -1.02111968e-04] [-3.57664895e-02 9.99360162e-01 -1.55297144e-04] [ 9.64922019e-05 1.58849967e-04 9.99999983e-01]] t_estimated: [[-0.50545712] [ 0.86285049] [-0.00145966]] R_gt: [[ 0.9943071 0.01884238 -0.10486935] [-0.01444342 0.99899011 0.04255038] [ 0.10556449 -0.040794 0.99357518]] t_gt: [ 0.97777114 -0.20413564 -0.04787735] Pose Error in degrees for R and t: 6.587578659070204 47.91054581503421 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99819135e-01 1.90174361e-02 1.87934118e-04] [ 1.90113454e-02 -9.99669776e-01 1.72889718e-02] [ 5.16663975e-04 -1.72822720e-02 -9.99850517e-01]] t_estimated: [[-0.05325948] [ 0.99855076] [ 0.0077334 ]] R_gt: [[ 0.98975009 0.10189369 -0.10006133] [-0.09176171 0.99063409 0.10111716] [ 0.1094266 -0.09089895 0.98982916]] t_gt: [ 0.81646865 -0.0537699 0.57488064] Pose Error in degrees for R and t: 173.43033198657687 84.6792670607572 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 9.99999745e-01 6.92362494e-04 1.73746070e-04] [-6.92335358e-04 9.99999748e-01 -1.56194189e-04] [-1.73854169e-04 1.56073859e-04 9.99999973e-01]] t_estimated: [[ 9.99670500e-01] [ 2.56688715e-02] [-3.44275696e-06]] R_gt: [[ 0.99084923 -0.13442285 -0.01222954] [ 0.13452126 0.99088195 0.00766115] [ 0.01108833 -0.00923628 0.999896 ]] t_gt: [ 0.73188767 -0.68135702 -0.00964614] Pose Error in degrees for R and t: 7.813059566079356 44.425854920439726 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-0.98631878 -0.1647827 0.00468327] [-0.16472673 0.98628303 0.01053025] [-0.00635424 0.00961472 -0.99993359]] t_estimated: [[9.90039710e-01] [1.40785463e-01] [9.08293312e-04]] R_gt: [[ 0.98651 -0.15032957 -0.064801 ] [ 0.15130733 0.98843162 0.01043083] [ 0.06248278 -0.02009603 0.99784361]] t_gt: [ 0.80037997 -0.58406691 -0.13512125] Pose Error in degrees for R and t: 176.78584073359318 44.760439503345246 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.89327121e-01 1.45655720e-01 4.03231585e-03] [-1.45651914e-01 9.89335142e-01 -1.22357131e-03] [-4.16753193e-03 6.23197763e-04 9.99991122e-01]] t_estimated: [[0.29552117] [0.95531147] [0.00687307]] R_gt: [[ 0.96822808 -0.21525151 -0.12728853] [ 0.21146829 0.97645295 -0.04268063] [ 0.13347828 0.01440692 0.99094749]] t_gt: [ 0.82516331 -0.46365056 -0.32269749] Pose Error in degrees for R and t: 22.2023261754646 78.38727963548719 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.98874736e-01 -4.74262426e-02 -1.14759455e-04] [ 4.74262446e-02 9.98874742e-01 1.39459210e-05] [ 1.13968919e-04 -1.93728381e-05 9.99999993e-01]] t_estimated: [[-0.65780537] [-0.75318715] [-0.00109634]] R_gt: [[ 9.87885969e-01 1.48361574e-01 -4.54921070e-02] [-1.48249198e-01 9.88932781e-01 5.86913180e-03] [ 4.58597361e-02 9.45736515e-04 9.98947021e-01]] t_gt: [-0.84241789 0.505587 -0.18631664] Pose Error in degrees for R and t: 11.552288634842801 80.00573219432174 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 2.16352777e-01 9.76311675e-01 2.64365266e-03] [ 9.76314704e-01 -2.16354737e-01 4.76061550e-04] [ 1.03675123e-03 2.47803973e-03 -9.99996392e-01]] t_estimated: [[-0.51591613] [-0.85663825] [-0.00120823]] R_gt: [[ 0.94690321 0.32071608 -0.02271925] [-0.31645348 0.94214626 0.11054071] [ 0.0568574 -0.09748254 0.99361127]] t_gt: [-0.87511753 0.4686981 0.12038023] Pose Error in degrees for R and t: 173.88219508206205 87.14336226354092 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-4.35095977e-01 9.00384027e-01 -3.08111794e-04] [-9.00381850e-01 -4.35095635e-01 -2.07674077e-03] [-2.00392231e-03 -6.26163287e-04 9.99997796e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94168933 0.33495623 -0.03201192] [-0.32991784 0.93783091 0.10783342] [ 0.0661414 -0.09098412 0.99365392]] t_gt: [-0.90850028 0.40900161 0.08570251] Pose Error in degrees for R and t: 96.48159303375778 66.20807663841377 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-0.75479918 0.65544777 -0.02581514] [ 0.65545634 0.7551757 0.00930916] [ 0.02559663 -0.00989416 -0.99962339]] t_estimated: [[ 0.93636018] [-0.35079845] [-0.01304102]] R_gt: [[ 0.99645015 0.08352682 0.01054545] [-0.08324586 0.99622072 -0.02478234] [-0.01257702 0.02381576 0.99963664]] t_gt: [-0.6527541 0.7415992 -0.15473433] Pose Error in degrees for R and t: 179.53918680613924 29.617166368509817 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 7.63936534e-01 -6.45289314e-01 -1.63528732e-03] [ 6.45290715e-01 7.63936940e-01 4.94447966e-04] [ 9.30194400e-04 -1.43296259e-03 9.99998541e-01]] t_estimated: [[-0.21190849] [-0.97728852] [-0.00139413]] R_gt: [[ 0.9792619 0.20258769 -0.00215679] [-0.20256492 0.97884833 -0.02867848] [-0.00369941 0.02852129 0.99958645]] t_gt: [-0.71675835 0.69117046 -0.0924168 ] Pose Error in degrees for R and t: 51.904015813095924 58.435577468925395 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-8.14178034e-01 -5.80615051e-01 -5.39100887e-04] [-5.80613269e-01 8.14172377e-01 3.40194504e-03] [-1.53629944e-03 3.08279805e-03 -9.99994068e-01]] t_estimated: [[0.90896544] [0.4168668 ] [0.00197258]] R_gt: [[ 0.93357405 0.35835425 0.00467543] [-0.35754374 0.93219601 -0.05631613] [-0.0245404 0.05090371 0.99840117]] t_gt: [-0.71704034 0.69220488 -0.08188747] Pose Error in degrees for R and t: 179.85063198547127 68.69274575670511 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 1.00000000e+00 -1.11022302e-16 -1.33747180e-15] [ 2.22044605e-16 1.00000000e+00 2.06236937e-15] [ 4.31729305e-16 -1.24986826e-15 1.00000000e+00]] t_estimated: [[-0.66790453] [-0.7442446 ] [-0.00187582]] R_gt: [[ 0.99910347 -0.01933657 -0.03765656] [ 0.01971716 0.99975823 0.00977706] [ 0.03745826 -0.01051086 0.99924327]] t_gt: [ 0.8266445 -0.40339831 -0.39233745] Pose Error in degrees for R and t: 2.4943956941490657 75.45403319426981 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.90163843e-01 -1.39909956e-01 8.75895960e-04] [ 1.39911724e-01 9.90160908e-01 -2.46714255e-03] [-5.22100134e-04 2.56542346e-03 9.99996573e-01]] t_estimated: [[-0.02855968] [-0.99958872] [-0.00259633]] R_gt: [[ 0.98825257 -0.09060816 -0.12306757] [ 0.08640721 0.99549377 -0.03906664] [ 0.12605265 0.02797402 0.99162898]] t_gt: [ 0.76022767 -0.29545558 -0.57858438] Pose Error in degrees for R and t: 7.9832428094843175 74.0305720090799 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-0.18279696 -0.98269867 0.02980927] [ 0.9824887 -0.18147742 0.04221262] [-0.03607258 0.03700361 0.99866386]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97218482 -0.20435215 -0.11444159] [ 0.19611817 0.97737657 -0.0792156 ] [ 0.12804037 0.05456825 0.99026647]] t_gt: [ 0.81556166 -0.39413084 -0.42369808] Pose Error in degrees for R and t: 89.48419456117527 35.51071171289229 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.80635803e-01 1.95840272e-01 9.88432700e-05] [-1.95840250e-01 9.80635793e-01 -1.92158236e-04] [-1.34561570e-04 1.69079755e-04 9.99999977e-01]] t_estimated: [[-9.00462982e-01] [ 4.34932450e-01] [-4.26677681e-04]] R_gt: [[ 0.99287144 0.1106832 0.04423307] [-0.11178248 0.99346134 0.02320752] [-0.04137587 -0.02798716 0.99875113]] t_gt: [-0.84146214 0.47390951 0.25952117] Pose Error in degrees for R and t: 5.677605006799906 15.482205868246243 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.18404752e-01 -3.95640962e-01 -9.69809066e-04] [ 3.95641382e-01 9.18405040e-01 2.80422348e-04] [ 7.79730967e-04 -6.41237816e-04 9.99999490e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 9.73595949e-01 2.28070053e-01 9.74901015e-03] [-2.28277041e-01 9.72574020e-01 4.46074910e-02] [ 6.92186646e-04 -4.56553971e-02 9.98956188e-01]] t_gt: [-0.83013267 0.54926282 0.09586498] Pose Error in degrees for R and t: 36.59154604778349 57.031760580983835 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-0.21096343 0.97749155 0.002169 ] [ 0.97749263 0.21095898 0.00211277] [ 0.00160765 0.00256589 -0.99999542]] t_estimated: [[0.96674328] [0.25574658] [0.00106119]] R_gt: [[ 0.90801667 0.41888696 0.00638205] [-0.41758807 0.90376995 0.09390841] [ 0.03356865 -0.08793643 0.99556022]] t_gt: [-0.80014115 0.59544535 0.07224245] Pose Error in degrees for R and t: 176.00727685988872 51.598279966476426 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99978479e-01 -6.56056024e-03 1.57804900e-05] [ 6.56056028e-03 9.99978479e-01 -2.83834122e-06] [-1.57615293e-05 2.94180899e-06 1.00000000e+00]] t_estimated: [[ 9.90928138e-01] [ 1.34392604e-01] [-2.31156282e-04]] R_gt: [[ 0.99819711 -0.05771924 -0.01645872] [ 0.0577637 0.99832806 0.00225382] [ 0.0163018 -0.00320127 0.99986152]] t_gt: [ 0.79789338 -0.57982897 -0.16481659] Pose Error in degrees for R and t: 3.085410069240117 44.53939304492602 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.06307279e-01 -4.22619164e-01 -3.96552171e-04] [ 4.22619332e-01 9.06307117e-01 5.56177494e-04] [ 1.24346787e-04 -6.71658325e-04 9.99999767e-01]] t_estimated: [[9.64004634e-01] [2.65884346e-01] [7.61782390e-04]] R_gt: [[ 0.99140164 -0.1283723 -0.0253539 ] [ 0.12805765 0.9916724 -0.01368073] [ 0.02689947 0.01031569 0.99958448]] t_gt: [ 0.7785731 -0.60210909 -0.17688577] Pose Error in degrees for R and t: 17.708793285188946 53.820142354352974 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99967149e-01 7.67166043e-03 2.61665417e-03] [-7.67162617e-03 9.99970572e-01 -2.31311894e-05] [-2.61675462e-03 3.05643689e-06 9.99996576e-01]] t_estimated: [[0.989815 ] [0.14235524] [0.00111865]] R_gt: [[ 0.96060038 -0.27432336 -0.04463808] [ 0.27480079 0.961489 0.00483504] [ 0.04159263 -0.01691153 0.99899103]] t_gt: [ 0.77921967 -0.62432683 -0.05507002] Pose Error in degrees for R and t: 16.606666034771138 46.97279652298351 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[-0.1580428 -0.98459888 -0.07474971] [ 0.94596858 -0.12926541 -0.29737836] [ 0.28313585 -0.11770939 0.95182908]] t_estimated: [[ 0.99356534] [-0.02053629] [-0.11138302]] R_gt: [[ 0.99950748 0.02914306 0.01166246] [-0.02950241 0.99905488 0.03192734] [-0.01072076 -0.03225683 0.99942178]] t_gt: [-0.68025647 0.36713919 0.63439731] Pose Error in degrees for R and t: 101.59651954920501 41.05495155076313 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.91620032e-01 1.29188663e-01 2.87838286e-05] [-1.29188503e-01 9.91618396e-01 1.81304237e-03] [ 2.05681946e-04 -1.80156768e-03 9.99998356e-01]] t_estimated: [[0.68052231] [0.73272676] [0.00093222]] R_gt: [[ 0.99729676 -0.02094691 0.07043634] [ 0.01314417 0.99390287 0.10947656] [-0.07230062 -0.10825586 0.99149064]] t_gt: [-0.1954635 -0.07435347 0.97788833] Pose Error in degrees for R and t: 11.190112143137842 79.24636049595789 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 6.65416608e-01 -7.46471373e-01 1.10753727e-03] [-7.46469661e-01 -6.65417483e-01 -1.61824483e-03] [ 1.94494810e-03 2.50064019e-04 -9.99998077e-01]] t_estimated: [[0.56402272] [0.82575875] [0.00092161]] R_gt: [[ 0.99228705 -0.07517221 0.09856883] [ 0.06112559 0.98847506 0.13849575] [-0.10784389 -0.13140315 0.98544548]] t_gt: [ 0.10203219 -0.22931557 0.96798957] Pose Error in degrees for R and t: 170.5363016766971 82.47731290752598 Number of keypoints: Image1: 493 Image2: 493 R_estimated: [[ 9.98776873e-01 -4.94444982e-02 -1.41272955e-05] [ 4.94444993e-02 9.98776869e-01 9.04793694e-05] [ 9.63630896e-06 -9.10672187e-05 9.99999996e-01]] t_estimated: [[4.38450866e-02] [9.99038341e-01] [3.57577751e-05]] R_gt: [[ 0.99777508 0.00692697 -0.06630342] [-0.00298104 0.99822822 0.05943286] [ 0.06659743 -0.05910331 0.99602739]] t_gt: [ 0.78228918 -0.24523646 0.57261044] Pose Error in degrees for R and t: 5.9813416051036 77.83775908475975 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.93415667e-01 1.14549586e-01 -1.92491524e-03] [ 1.14564099e-01 -9.93170623e-01 2.20721529e-02] [ 6.16586712e-04 -2.21473487e-02 -9.99754527e-01]] t_estimated: [[-0.10274947] [ 0.99463984] [ 0.01158172]] R_gt: [[ 0.99234979 0.02114651 -0.12163042] [-0.01335353 0.9978262 0.06453451] [ 0.12273083 -0.06241736 0.99047513]] t_gt: [ 0.97803319 -0.16665623 0.12520692] Pose Error in degrees for R and t: 174.69050414286988 74.64462159324289 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99921728e-01 -1.19020482e-02 3.85723759e-03] [ 1.19002622e-02 9.99929071e-01 4.85642875e-04] [-3.86274415e-03 -4.39702725e-04 9.99992443e-01]] t_estimated: [[-0.99199303] [-0.12625151] [ 0.00322108]] R_gt: [[ 0.98897754 0.05076125 -0.13909358] [-0.03594799 0.99360728 0.10701895] [ 0.14363659 -0.10083937 0.98447929]] t_gt: [ 0.91568229 -0.20188655 0.34751656] Pose Error in degrees for R and t: 10.75291854727068 28.146708692015725 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999883e-01 4.58903089e-04 1.55615467e-04] [-4.58887530e-04 9.99999890e-01 -1.00003032e-04] [-1.55661342e-04 9.99316107e-05 9.99999983e-01]] t_estimated: [[9.99995313e-01] [3.02803234e-03] [4.52377302e-04]] R_gt: [[ 9.90901496e-01 -1.32145885e-01 -2.55043116e-02] [ 1.32081088e-01 9.91229861e-01 -4.20484850e-03] [ 2.58363750e-02 7.98125316e-04 9.99666443e-01]] t_gt: [ 0.6915046 -0.70089767 -0.17482518] Pose Error in degrees for R and t: 7.763368032247221 46.42528197206741 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999445e-01 1.03213985e-03 2.11083450e-04] [-1.03211146e-03 9.99999458e-01 -1.34522215e-04] [-2.11222182e-04 1.34304279e-04 9.99999969e-01]] t_estimated: [[9.99998184e-01] [1.88586360e-03] [2.75672058e-04]] R_gt: [[ 0.97977876 -0.19993949 -0.00754315] [ 0.19958369 0.9793028 -0.03365289] [ 0.01411588 0.03146687 0.99940516]] t_gt: [ 0.62458943 -0.74959696 -0.21907176] Pose Error in degrees for R and t: 11.751901118408032 51.456086859292434 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99997825e-01 2.06861422e-03 2.66785942e-04] [-2.06861337e-03 9.99997860e-01 -3.48532355e-06] [-2.66792581e-04 2.93343900e-06 9.99999964e-01]] t_estimated: [[9.99965868e-01] [8.23810088e-03] [6.29618174e-04]] R_gt: [[ 0.9601315 -0.2757966 -0.04564012] [ 0.27372496 0.96066787 -0.04681271] [ 0.05675649 0.03245275 0.99786095]] t_gt: [ 0.6341062 -0.72349649 -0.27287755] Pose Error in degrees for R and t: 16.51483479340386 51.1007763525101 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[-0.01719724 0.99929512 0.03336954] [ 0.99858342 0.0188466 -0.04975895] [-0.05035277 0.03246655 -0.99820365]] t_estimated: [[0.98754144] [0.15430335] [0.03086067]] R_gt: [[ 0.99642829 0.06942476 -0.04807088] [-0.07269722 0.99489188 -0.07004906] [ 0.04296237 0.0732929 0.99638468]] t_gt: [-0.39433158 0.55534683 -0.73218338] Pose Error in degrees for R and t: 175.59830623971166 70.95427853394689 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999996e-01 7.51107376e-05 -3.69971202e-05] [-7.51100846e-05 9.99999997e-01 1.76523322e-05] [ 3.69984460e-05 -1.76495533e-05 9.99999999e-01]] t_estimated: [[-9.99997098e-01] [-2.36769265e-03] [-4.44176036e-04]] R_gt: [[ 0.99305886 0.11751634 -0.00488758] [-0.1176088 0.99158525 -0.0541098 ] [-0.00151308 0.05430928 0.99852339]] t_gt: [-0.66221258 0.68610544 -0.30122055] Pose Error in degrees for R and t: 7.435273231742983 48.64519522321342 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.45220056e-01 9.89399217e-01 5.70276352e-04] [-9.89399047e-01 1.45220457e-01 -7.38354057e-04] [-8.13342719e-04 -4.57007062e-04 9.99999565e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99356306 0.03873024 0.10645375] [-0.05340486 0.98889964 0.13865776] [-0.09990129 -0.1434506 0.98460276]] t_gt: [-0.26228171 0.11030187 0.95866668] Pose Error in degrees for R and t: 79.52072783897611 83.70426303460916 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-0.66108203 -0.75029432 -0.0053844 ] [ 0.75025628 -0.66092574 -0.01710789] [ 0.00927727 -0.0153494 0.99983915]] t_estimated: [[ 9.75362727e-01] [ 2.20607231e-01] [-6.71954744e-06]] R_gt: [[ 0.97034211 0.24161043 0.00770957] [-0.24170091 0.97024009 0.01464641] [-0.00394244 -0.01607468 0.99986263]] t_gt: [-0.93839326 0.33882733 0.06792739] Pose Error in degrees for R and t: 145.3725806112994 32.804241006766986 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 7.65859548e-01 6.43007895e-01 7.27419388e-06] [-6.43007756e-01 7.65859390e-01 -6.48129467e-04] [-4.22323374e-04 4.91698777e-04 9.99999790e-01]] t_estimated: [[-7.20922335e-01] [ 6.93015809e-01] [-2.75035157e-04]] R_gt: [[ 0.95864686 0.28355117 0.02438121] [-0.28306479 0.95885873 -0.02155861] [-0.0294914 0.01376592 0.99947027]] t_gt: [-0.92275624 0.38462396 -0.0241935 ] Pose Error in degrees for R and t: 23.624582906785516 21.283985154256367 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.12884228 0.99166394 0.00151693] [-0.99165892 -0.12883593 -0.00372548] [-0.00349899 -0.00198428 0.99999191]] t_estimated: [[0.03028901] [0.99953739] [0.00275355]] R_gt: [[ 0.89856634 0.43834459 0.02077946] [-0.43876446 0.89826833 0.02449785] [-0.0079276 -0.03112925 0.99948374]] t_gt: [-0.87384542 0.47999452 0.07745605] Pose Error in degrees for R and t: 71.40364425566567 63.0303903310335 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 8.46131457e-01 5.32974123e-01 3.77268011e-04] [-5.32957048e-01 8.46109613e-01 -7.43698557e-03] [-4.28293095e-03 6.09159979e-03 9.99972274e-01]] t_estimated: [[8.13305771e-01] [5.81836166e-01] [6.32430615e-04]] R_gt: [[ 0.99982125 -0.01438254 -0.01232691] [ 0.01176228 0.98148502 -0.19118233] [ 0.01484852 0.19100276 0.98147719]] t_gt: [ 0.18473825 0.36259072 -0.91345484] Pose Error in degrees for R and t: 34.590709493062434 68.86053242238155 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 7.53887890e-01 6.57003015e-01 2.95988061e-04] [-6.57002611e-01 7.53887813e-01 -8.57461896e-04] [-7.86496843e-04 4.51965211e-04 9.99999589e-01]] t_estimated: [[-9.99991799e-01] [-3.97137332e-03] [-7.94274661e-04]] R_gt: [[ 0.99842245 -0.05221909 -0.02067371] [ 0.04508955 0.96475391 -0.25926558] [ 0.03348374 0.25792437 0.96558507]] t_gt: [ 0.27628243 0.31228608 -0.90892542] Pose Error in degrees for R and t: 46.29171600702429 73.93078231711564 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 9.99999472e-01 1.02021259e-03 -1.22829753e-04] [-1.02021984e-03 9.99999478e-01 -5.89177048e-05] [ 1.22769580e-04 5.90429870e-05 9.99999991e-01]] t_estimated: [[-1.40896593e-02] [-9.99900317e-01] [-9.14711682e-04]] R_gt: [[ 0.99526822 -0.09454964 -0.02243653] [ 0.08400294 0.953181 -0.29049984] [ 0.04885184 0.28724027 0.95661153]] t_gt: [ 0.34968329 0.25326904 -0.90198469] Pose Error in degrees for R and t: 17.73789527456132 75.08737892910645 Number of keypoints: Image1: 264 Image2: 264 R_estimated: [[ 9.92598791e-01 -1.21438861e-01 4.92747423e-04] [ 1.21438814e-01 9.92598912e-01 1.22580811e-04] [-5.03986630e-04 -6.18349015e-05 9.99999871e-01]] t_estimated: [[0.92709653] [0.37481899] [0.00165849]] R_gt: [[ 0.9920992 -0.12342407 -0.02250271] [ 0.12369859 0.99225603 0.01128605] [ 0.02093533 -0.01397969 0.99968251]] t_gt: [ 0.63554698 -0.77198473 0.01093643] Pose Error in degrees for R and t: 1.4697690201796278 72.54978436099583 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[-1.88697353e-01 9.82035037e-01 7.04093117e-04] [ 9.82032612e-01 1.88695116e-01 2.47033033e-03] [ 2.29309200e-03 1.15758720e-03 -9.99996701e-01]] t_estimated: [[-0.4149234 ] [-0.90985445] [-0.00186064]] R_gt: [[ 0.97492127 -0.22246195 -0.00637774] [ 0.22247806 0.97493652 0.00199142] [ 0.00577516 -0.00336033 0.99997736]] t_gt: [ 0.65546841 -0.75419296 -0.03942251] Pose Error in degrees for R and t: 179.5880221064716 65.52412900722834 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.53337319 0.84580655 0.01114973] [ 0.84582239 0.5334444 -0.0046443 ] [-0.00987594 0.00695354 -0.99992705]] t_estimated: [[ 0.92252631] [-0.38590242] [ 0.00495319]] R_gt: [[ 0.97084557 -0.22767933 0.07498072] [ 0.23406604 0.96788825 -0.09167814] [-0.05169927 0.1065559 0.99296159]] t_gt: [ 0.55808857 -0.76937753 -0.31079796] Pose Error in degrees for R and t: 173.33381175218008 35.88290163035233 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.98706503e-01 5.08460272e-02 4.66104627e-05] [-5.08460235e-02 9.98706501e-01 -7.68363216e-05] [-5.04569938e-05 7.43669773e-05 9.99999996e-01]] t_estimated: [[-9.14856602e-01] [ 4.03778652e-01] [-4.45165831e-04]] R_gt: [[ 0.99301124 0.11709028 -0.01477816] [-0.11741893 0.99279717 -0.02382654] [ 0.01188219 0.02539493 0.99960603]] t_gt: [-0.81365357 0.55503579 -0.17292526] Pose Error in degrees for R and t: 4.1436361192393 14.404201890136754 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.76894206e-01 2.13723419e-01 1.05517361e-04] [-2.13723394e-01 9.76894195e-01 -2.06080986e-04] [-1.47123630e-04 1.78767793e-04 9.99999973e-01]] t_estimated: [[-7.35077573e-01] [ 6.77983010e-01] [ 1.69928201e-06]] R_gt: [[ 0.98746651 0.15105105 -0.04575109] [-0.1517001 0.98836577 -0.01103526] [ 0.04355206 0.01783719 0.9988921 ]] t_gt: [-0.75926914 0.6293325 -0.16568337] Pose Error in degrees for R and t: 4.523406568953969 10.00315908971561 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-6.81577103e-01 -7.31745260e-01 -1.23570952e-03] [-7.31746304e-01 6.81576107e-01 1.16541336e-03] [-1.05556187e-05 1.69854494e-03 -9.99998557e-01]] t_estimated: [[0.80990612] [0.58655852] [0.00108421]] R_gt: [[ 0.98257847 0.1813944 -0.04044434] [-0.18337694 0.98164882 -0.0523443 ] [ 0.0302083 0.05884896 0.99780882]] t_gt: [-0.63684714 0.72428259 -0.26427346] Pose Error in degrees for R and t: 176.81075950549186 84.76512149917683 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.59702793 0.80205178 -0.01644959] [ 0.80201227 0.59721462 0.0105366 ] [ 0.01827483 -0.00690213 -0.99980918]] t_estimated: [[ 0.86156454] [-0.50753276] [-0.01081818]] R_gt: [[ 0.9851578 0.17158935 0.0045599 ] [-0.17118493 0.98409967 -0.04736135] [-0.01261387 0.04587868 0.99886712]] t_gt: [-0.82693183 0.54209841 -0.14937558] Pose Error in degrees for R and t: 179.47054849036746 9.608297381102862 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 5.76474789e-01 -8.17113616e-01 -1.46852793e-03] [ 8.17114776e-01 5.76474868e-01 4.11340376e-04] [ 5.10457624e-04 -1.43708323e-03 9.99998837e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.97254772 0.23152247 -0.02338527] [-0.23224108 0.97202603 -0.03506757] [ 0.01461231 0.03953693 0.99911115]] t_gt: [-0.79564767 0.59176896 -0.12943835] Pose Error in degrees for R and t: 68.24951534347436 54.020852467767696 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 5.90415766e-01 8.07098839e-01 8.28964995e-04] [-8.07098733e-01 5.90416245e-01 -5.41525447e-04] [-9.26498959e-04 -3.49331435e-04 9.99999510e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.96814355 0.24646012 -0.04420556] [-0.24865165 0.96709336 -0.05388148] [ 0.02947205 0.06315694 0.9975683 ]] t_gt: [-0.7231603 0.65980701 -0.20419084] Pose Error in degrees for R and t: 39.65913351030252 49.01761953661425 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.36597673e-01 -3.50404724e-01 -1.15227361e-03] [ 3.50405630e-01 9.36597777e-01 7.05321696e-04] [ 8.32068847e-04 -1.06436582e-03 9.99999087e-01]] t_estimated: [[8.98516275e-01] [4.38939487e-01] [7.93742293e-04]] R_gt: [[ 0.99503804 -0.07892987 -0.06057552] [ 0.08367781 0.99324994 0.08032796] [ 0.05382637 -0.08499768 0.99492601]] t_gt: [ 0.48056849 -0.80752359 0.34199352] Pose Error in degrees for R and t: 16.824524840823578 85.54844917516095 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999935e-01 2.37678389e-04 -2.70376911e-04] [-2.37554450e-04 9.99999867e-01 4.58333742e-04] [ 2.70485811e-04 -4.58269483e-04 9.99999858e-01]] t_estimated: [[0.82564109] [0.56419486] [0.0009771 ]] R_gt: [[ 0.97736487 -0.18483289 -0.10293146] [ 0.19351772 0.97767199 0.08190692] [ 0.08549334 -0.09997155 0.99131025]] t_gt: [ 0.62247386 -0.76620385 0.15955547] Pose Error in degrees for R and t: 13.295835892645641 85.30752470174168 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99934747 0.03610591 -0.00100064] [-0.03610479 0.99934739 0.0011142 ] [ 0.00104022 -0.00107734 0.99999888]] t_estimated: [[-0.99990108] [-0.01362157] [-0.0035049 ]] R_gt: [[ 0.94746163 -0.29764487 -0.11715171] [ 0.30749133 0.94841369 0.07721057] [ 0.08812674 -0.10917637 0.99010852]] t_gt: [ 0.68244654 -0.72082663 0.12114321] Pose Error in degrees for R and t: 21.305758176846155 47.702143605471264 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[-0.46761867 -0.88374702 0.01799932] [ 0.87930221 -0.46299285 0.11164784] [-0.09033489 0.06803545 0.99358482]] t_estimated: [[9.96348403e-01] [8.53761440e-02] [8.80166433e-04]] R_gt: [[ 0.99945366 0.00539092 -0.03261547] [-0.01003452 0.9895347 -0.14394679] [ 0.0314979 0.14419543 0.98904762]] t_gt: [ 0.17188659 0.36383804 -0.91546539] Pose Error in degrees for R and t: 118.88443051972344 78.3743604289158 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-5.92079548e-01 8.05870381e-01 3.83887473e-03] [ 8.05877850e-01 5.92081313e-01 7.81481580e-04] [-1.64315313e-03 3.55636338e-03 -9.99992326e-01]] t_estimated: [[0.99004953] [0.14070909] [0.00169529]] R_gt: [[ 0.99867588 -0.02292169 -0.04604694] [ 0.00853528 0.95665356 -0.29110319] [ 0.0507226 0.29032582 0.95558258]] t_gt: [ 0.21314278 0.39131311 -0.89523416] Pose Error in degrees for R and t: 174.71656680554136 74.65886128818498 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-2.82372403e-01 -9.59304833e-01 -2.51526857e-04] [-9.59302181e-01 2.82370982e-01 2.44007845e-03] [-2.26975516e-03 9.30301077e-04 -9.99996991e-01]] t_estimated: [[0.98374574] [0.17956246] [0.00128259]] R_gt: [[ 0.9974388 -0.05444112 -0.04638516] [ 0.03621591 0.94369259 -0.32883501] [ 0.06167519 0.32631375 0.94324719]] t_gt: [ 0.26229507 0.36392131 -0.89373518] Pose Error in degrees for R and t: 166.11583022560222 71.20204166301153 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.39111943e-01 3.43611326e-01 1.21784468e-04] [-3.43611236e-01 9.39111865e-01 -4.73381890e-04] [-2.77028618e-04 4.02712074e-04 9.99999881e-01]] t_estimated: [[-6.13061798e-01] [-7.90034625e-01] [-7.23664430e-04]] R_gt: [[ 0.98699176 -0.08766866 0.13477098] [ 0.05412525 0.97050547 0.23492676] [-0.15139027 -0.22457651 0.96262436]] t_gt: [ 0.18743037 -0.1694479 0.9675522 ] Pose Error in degrees for R and t: 28.832418809151783 88.95354161044897 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.99999969e-01 2.47144593e-04 -3.16442075e-05] [-2.47144484e-04 9.99999969e-01 3.44548300e-06] [ 3.16450580e-05 -3.43766220e-06 9.99999999e-01]] t_estimated: [[ 1.26897012e-01] [-9.91915858e-01] [-2.79522794e-04]] R_gt: [[ 0.98131322 -0.12022678 0.15024178] [ 0.07135037 0.95247148 0.29615514] [-0.17870587 -0.27990108 0.94324921]] t_gt: [ 0.22477421 -0.15375299 0.96220402] Pose Error in degrees for R and t: 20.200660480147903 79.58572209529927 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-8.45448551e-02 9.96417119e-01 2.25661284e-03] [ 9.96419345e-01 8.45427681e-02 1.00491317e-03] [ 8.10532395e-04 2.33349293e-03 -9.99996949e-01]] t_estimated: [[-0.67693066] [-0.73604527] [-0.00149862]] R_gt: [[ 0.97518472 -0.14772756 0.16490661] [ 0.08313389 0.93466433 0.34567812] [-0.20519804 -0.32338966 0.92374907]] t_gt: [ 0.25035467 -0.13957756 0.95804 ] Pose Error in degrees for R and t: 174.79011383912734 86.09093773774534 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99944166e-01 -1.05671656e-02 -1.55094820e-05] [ 1.05671661e-02 9.99944166e-01 2.95097075e-05] [ 1.51967821e-05 -2.96719512e-05 9.99999999e-01]] t_estimated: [[7.31338726e-02] [9.97322133e-01] [1.27886370e-05]] R_gt: [[ 0.99995584 0.00568696 -0.00743426] [-0.00614541 0.99797194 -0.06335895] [ 0.00705894 0.06340289 0.99796235]] t_gt: [-0.11582742 0.5308418 -0.83951831] Pose Error in degrees for R and t: 3.7795949956991177 58.60476587338778 Number of keypoints: Image1: 161 Image2: 161 R_estimated: [[ 6.67767032e-01 7.44370312e-01 1.72641178e-04] [-7.44341147e-01 6.67742886e-01 -8.70026163e-03] [-6.59149638e-03 5.68124395e-03 9.99962137e-01]] t_estimated: [[0.28108983] [0.95968041] [0.00141965]] R_gt: [[ 9.98334410e-01 -5.70768537e-02 8.44304253e-03] [ 5.76929335e-02 9.89427560e-01 -1.33060178e-01] [-7.58619376e-04 1.33326119e-01 9.91071176e-01]] t_gt: [ 0.1900327 0.46128114 -0.86666446] Pose Error in degrees for R and t: 51.87116362098654 60.33892886990859 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 2.56923331e-01 9.66431231e-01 1.03765212e-03] [-9.66429839e-01 2.56924822e-01 -1.73279997e-03] [-1.94123060e-03 -5.57621231e-04 9.99997960e-01]] t_estimated: [[0.38213088] [0.92410737] [0.00124879]] R_gt: [[ 0.99906226 -0.04200488 -0.01046433] [ 0.03955013 0.98397767 -0.17385085] [ 0.0175996 0.17327338 0.98471603]] t_gt: [ 0.01312046 0.6619871 -0.74940038] Pose Error in degrees for R and t: 78.0080927888376 51.98810612435432 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999881e-01 -4.85975192e-04 4.03922625e-05] [ 4.85979039e-04 9.99999877e-01 -9.52924015e-05] [-4.03459478e-05 9.53120200e-05 9.99999995e-01]] t_estimated: [[-0.95478655] [ 0.29729046] [-0.00100916]] R_gt: [[ 0.99324756 0.10158923 -0.05603098] [-0.09844905 0.99355323 0.05622121] [ 0.06138187 -0.05032569 0.99684464]] t_gt: [-3.04841962e-01 9.52402634e-01 7.75631456e-04] Pose Error in degrees for R and t: 7.357449787865635 54.956482151739635 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 0.99999319 -0.00286075 -0.00233007] [ 0.00286515 0.99999412 0.00188677] [ 0.00232466 -0.00189343 0.99999551]] t_estimated: [[-0.9998379 ] [-0.0174525 ] [-0.00442486]] R_gt: [[ 0.98132532 0.16414547 -0.10028765] [-0.15457515 0.98323124 0.09676671] [ 0.11449031 -0.07945807 0.99024116]] t_gt: [-0.17681568 0.98280606 -0.05318325] Pose Error in degrees for R and t: 12.217690427322765 80.8006542271648 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999711e-01 -1.35356166e-04 7.48475950e-04] [ 1.35501639e-04 9.99999972e-01 -1.94311100e-04] [-7.48449627e-04 1.94412463e-04 9.99999701e-01]] t_estimated: [[-0.74872642] [-0.66287825] [-0.00108669]] R_gt: [[ 0.97997542 0.16835165 -0.10633842] [-0.1549569 0.98014624 0.12370363] [ 0.12505324 -0.10474924 0.9866055 ]] t_gt: [0.01272259 0.9997355 0.01915908] Pose Error in degrees for R and t: 13.286615402034656 47.75908124984078 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99122931e-01 -4.18731851e-02 7.25754808e-05] [ 4.18731834e-02 9.99122933e-01 2.42025663e-05] [-7.35252658e-05 -2.11423725e-05 9.99999997e-01]] t_estimated: [[5.78600530e-01] [8.15610985e-01] [3.83653410e-04]] R_gt: [[ 0.99699174 -0.0553964 0.05420487] [ 0.04915788 0.99267876 0.11032694] [-0.05991894 -0.10733017 0.99241669]] t_gt: [ 0.22972076 -0.42495444 0.875581 ] Pose Error in degrees for R and t: 7.083866033162144 77.6815476512139 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.01771613e-01 4.32208997e-01 1.82806006e-03] [-4.32212023e-01 9.01770131e-01 1.84331870e-03] [-8.51791032e-04 -2.45236201e-03 9.99996630e-01]] t_estimated: [[0.02197268] [0.99975689] [0.00183106]] R_gt: [[ 0.99119626 -0.10270415 0.08356172] [ 0.08556812 0.97849992 0.18765657] [-0.10103802 -0.17885374 0.97867407]] t_gt: [ 0.22221108 -0.4404963 0.86981909] Pose Error in degrees for R and t: 33.14728201686145 64.2837928302621 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 6.39067833e-01 -7.69149151e-01 -1.37427587e-03] [ 7.69150330e-01 6.39066134e-01 1.49896783e-03] [-2.74676666e-04 -2.01496686e-03 9.99997932e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.98673465 -0.10988536 0.11949966] [ 0.07784022 0.9662087 0.24572774] [-0.14246282 -0.23316568 0.96194517]] t_gt: [ 0.12145206 -0.39084452 0.91240888] Pose Error in degrees for R and t: 47.34724290442044 83.6617032666905 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99830567e-01 -1.84074721e-02 4.40830322e-05] [ 1.84074659e-02 9.99830559e-01 1.36558997e-04] [-4.65892687e-05 -1.35724403e-04 9.99999990e-01]] t_estimated: [[6.53891473e-01] [7.56588174e-01] [5.26129609e-04]] R_gt: [[ 0.99735605 -0.06258165 0.0369334 ] [ 0.05829471 0.99249254 0.1075137 ] [-0.04338472 -0.10507608 0.99351728]] t_gt: [ 0.3770798 -0.44386037 0.81289532] Pose Error in degrees for R and t: 6.954242613837818 84.90412687918256 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.97476938e-01 -7.09912347e-02 5.18378388e-05] [ 7.09912511e-02 9.97476831e-01 -4.61935296e-04] [-1.89136861e-05 4.64449837e-04 9.99999892e-01]] t_estimated: [[-0.70380164] [-0.71039463] [-0.00164825]] R_gt: [[ 0.99176247 -0.10371091 0.07517564] [ 0.08847267 0.97903672 0.18346355] [-0.09262657 -0.17530122 0.98014799]] t_gt: [ 0.30553723 -0.41386994 0.85753057] Pose Error in degrees for R and t: 11.556200115633303 85.55167429328473 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 9.54167490e-02 -9.95437413e-01 3.36360169e-06] [-9.95437348e-01 -9.54167416e-02 3.61716715e-04] [-3.59745407e-04 -3.78620878e-05 -9.99999935e-01]] t_estimated: [[0.61611489] [0.787655 ] [0.0014295 ]] R_gt: [[ 0.98488944 -0.13577924 0.10750778] [ 0.10262603 0.9575915 0.26923378] [-0.13950391 -0.25413249 0.95705594]] t_gt: [ 0.2318032 -0.38604079 0.89288285] Pose Error in degrees for R and t: 163.87247842001864 80.79466089601141 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.99978790e-01 6.51303708e-03 2.77857630e-05] [-6.51303572e-03 9.99978789e-01 -4.86662850e-05] [-2.81021390e-05 4.84842831e-05 9.99999998e-01]] t_estimated: [[ 0.99908281] [-0.04280533] [ 0.00111095]] R_gt: [[ 0.99952568 -0.02158242 -0.02197243] [ 0.02168511 0.99975507 0.00443135] [ 0.0218721 -0.00490659 0.99974843]] t_gt: [ 0.37361082 -0.91088503 -0.17522389] Pose Error in degrees for R and t: 2.063320702436712 65.6654277660477 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99939120e-01 -1.10343532e-02 1.12827357e-05] [ 1.10343532e-02 9.99939120e-01 -6.63205714e-06] [-1.12088683e-05 6.75615107e-06 1.00000000e+00]] t_estimated: [[0.91716948] [0.39849565] [0.00116387]] R_gt: [[ 0.999614 -0.01271009 -0.02469436] [ 0.01186299 0.99934543 -0.03417519] [ 0.02511339 0.03386796 0.99911019]] t_gt: [ 0.22802434 -0.71262208 -0.66345661] Pose Error in degrees for R and t: 2.4181906698028146 85.66361240121961 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.70551879e-01 2.40892130e-01 1.79467906e-04] [-2.40892187e-01 9.70551787e-01 4.27630153e-04] [-7.11701579e-05 -4.58269665e-04 9.99999892e-01]] t_estimated: [[0.64960771] [0.7602691 ] [0.00084474]] R_gt: [[ 0.99822867 -0.05497163 -0.02275662] [ 0.05216687 0.9926171 -0.10949426] [ 0.02860862 0.1081122 0.99372636]] t_gt: [ 0.34127965 -0.12907214 -0.93105778] Pose Error in degrees for R and t: 18.19175771981872 82.94732278317296 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.94484403e-01 1.04884513e-01 1.08891912e-04] [-1.04884496e-01 9.94484399e-01 -1.49748098e-04] [-1.23997564e-04 1.37501075e-04 9.99999983e-01]] t_estimated: [[0.29856212] [0.95438972] [0.00096524]] R_gt: [[ 0.99930917 -0.03531685 -0.01159108] [ 0.03567104 0.99885807 0.0317893 ] [ 0.01045436 -0.03217944 0.99942705]] t_gt: [ 0.67935527 -0.64202211 0.35536463] Pose Error in degrees for R and t: 8.287223892470799 65.8223915327916 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.91028904e-01 1.33647607e-01 -1.67279787e-04] [-1.33647498e-01 9.91028782e-01 5.46635252e-04] [ 2.38835577e-04 -5.19374810e-04 9.99999837e-01]] t_estimated: [[-0.61687533] [-0.78706044] [-0.00082361]] R_gt: [[ 0.9991125 -0.03293592 0.02625731] [ 0.03074076 0.99631776 0.08004348] [-0.02879821 -0.0791653 0.99644539]] t_gt: [ 0.25514268 -0.34272059 0.90412654] Pose Error in degrees for R and t: 10.651760792195155 83.59210052999471 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-8.36716072e-02 9.96493378e-01 -9.47421232e-05] [-9.96491455e-01 -8.36716320e-02 -1.95894443e-03] [-1.96000238e-03 -6.94983130e-05 9.99998077e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99737721 -0.06450588 0.0328287 ] [ 0.06111233 0.99354234 0.09559443] [-0.03878356 -0.09333763 0.9948789 ]] t_gt: [ 0.42216911 -0.34927527 0.83652856] Pose Error in degrees for R and t: 98.53977624311318 69.77145508718691 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 0.92874531 -0.37071669 0.00113661] [-0.37053608 -0.92838026 -0.02851498] [ 0.01162618 0.026062 -0.99959272]] t_estimated: [[-0.05463038] [ 0.9982913 ] [-0.02073662]] R_gt: [[ 0.99444563 -0.09723657 -0.04030449] [ 0.09486806 0.99385534 -0.05701997] [ 0.04560175 0.05288041 0.99755927]] t_gt: [ 0.6219975 -0.40439996 -0.67050711] Pose Error in degrees for R and t: 174.82837204293065 64.92622631396485 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.83093992e-01 1.83101545e-01 1.63616998e-04] [-1.83101507e-01 9.83093987e-01 -2.25302193e-04] [-2.02104067e-04 1.91534713e-04 9.99999961e-01]] t_estimated: [[-9.32956033e-01] [ 3.59990295e-01] [-1.66456160e-04]] R_gt: [[ 0.98833379 -0.15116634 -0.01857997] [ 0.14911836 0.98525326 -0.08390149] [ 0.03098973 0.08015369 0.9963003 ]] t_gt: [ 0.56036906 -0.5214553 -0.6434834 ] Pose Error in degrees for R and t: 19.816683322063707 44.73159928936593 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.50640154 -0.86225052 0.00902923] [-0.86229372 0.50640355 -0.00223081] [-0.00264892 -0.00891554 -0.99995675]] t_estimated: [[0.89624193] [0.44353243] [0.00542145]] R_gt: [[ 0.98803999 -0.14924263 -0.03878254] [ 0.14595434 0.98628781 -0.07703008] [ 0.04974794 0.07044935 0.99627384]] t_gt: [ 0.59923739 -0.47743085 -0.64263079] Pose Error in degrees for R and t: 176.04010368168625 71.22687555437227 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99984109e-01 -5.63678567e-03 8.96370481e-05] [ 5.63677789e-03 9.99984109e-01 8.68490062e-05] [-9.01251730e-05 -8.63423620e-05 9.99999992e-01]] t_estimated: [[-0.47812751] [ 0.87828981] [ 0.00104757]] R_gt: [[ 0.9912745 0.11847076 -0.05779642] [-0.11846542 0.99295271 0.00352715] [ 0.05780738 0.0033511 0.99832219]] t_gt: [-0.34561315 0.88280865 -0.31812016] Pose Error in degrees for R and t: 7.868044992115742 19.902084658933457 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-3.68564265e-01 9.29602234e-01 2.62464438e-04] [-9.29600661e-01 -3.68563087e-01 -1.96531801e-03] [-1.73022931e-03 -9.68333103e-04 9.99998034e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98099713 0.16923695 -0.09489311] [-0.16938953 0.98552801 0.00651338] [ 0.09462194 0.00968515 0.99546568]] t_gt: [-0.24621686 0.90727176 -0.34093285] Pose Error in degrees for R and t: 101.9685395347958 25.12770060127911 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.88609534e-01 -1.50502577e-01 -4.03829682e-04] [ 1.50502785e-01 9.88609435e-01 5.45509179e-04] [ 3.17129296e-04 -6.00073067e-04 9.99999770e-01]] t_estimated: [[-0.9384624 ] [-0.34537322] [-0.00238188]] R_gt: [[ 0.97843734 0.13542199 -0.15595468] [-0.13016343 0.99053829 0.04349891] [ 0.16036966 -0.02226145 0.98680555]] t_gt: [ 0.00980976 0.87258232 -0.48836858] Pose Error in degrees for R and t: 18.7791529610061 71.97635735817997 Number of keypoints: Image1: 341 Image2: 341 R_estimated: [[ 9.14459652e-01 -4.04676975e-01 -3.02795989e-04] [ 4.04677012e-01 9.14459683e-01 7.09795625e-05] [ 2.48170929e-04 -1.87442522e-04 9.99999952e-01]] t_estimated: [[-0.44357998] [-0.89623428] [-0.00095974]] R_gt: [[ 0.994103 0.10836899 0.00385278] [-0.10829357 0.99398727 -0.01621563] [-0.00558639 0.01570321 0.99986083]] t_gt: [-0.6940968 0.71809661 -0.05066452] Pose Error in degrees for R and t: 30.105636957164787 70.3881302644355 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 8.05337512e-01 -5.92816388e-01 -4.70761230e-04] [ 5.92816574e-01 8.05337221e-01 6.85257277e-04] [-2.71102029e-05 -8.30938450e-04 9.99999654e-01]] t_estimated: [[ 9.35977430e-01] [-3.52059077e-01] [ 8.10812010e-04]] R_gt: [[ 0.99210885 0.1174137 -0.04397821] [-0.11796761 0.99296487 -0.01021506] [ 0.04246991 0.01532231 0.99898028]] t_gt: [-0.65804332 0.65955683 -0.36326818] Pose Error in degrees for R and t: 43.193361532347716 31.960718306613796 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.90165446e-01 1.39900401e-01 -5.17578086e-04] [-1.39899856e-01 9.90165182e-01 9.71034301e-04] [ 6.48335888e-04 -8.89075512e-04 9.99999395e-01]] t_estimated: [[-0.95782585] [-0.28734775] [-0.00095783]] R_gt: [[ 0.99535818 0.09598502 0.00698492] [-0.0959456 0.99536995 -0.00581532] [-0.00750967 0.005119 0.99995846]] t_gt: [-0.81879918 0.57345381 0.02680738] Pose Error in degrees for R and t: 2.600573239769418 51.72323944583287 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99110589e-01 -4.21666290e-02 8.44713854e-05] [ 4.21666288e-02 9.99110592e-01 4.88786532e-06] [-8.46023607e-05 -1.32164445e-06 9.99999996e-01]] t_estimated: [[ 0.99408667] [-0.10858242] [ 0.00124641]] R_gt: [[ 0.99887928 -0.04672994 0.00752852] [ 0.04657102 0.99871171 0.02012862] [-0.00845838 -0.01975583 0.99976916]] t_gt: [ 0.58808125 -0.76168982 0.27200929] Pose Error in degrees for R and t: 1.2564516808526915 48.11413644832416 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.51217196e-01 -3.08521910e-01 -2.78584698e-04] [ 3.08521978e-01 9.51217183e-01 2.43162721e-04] [ 1.89973525e-04 -3.17250063e-04 9.99999932e-01]] t_estimated: [[-0.46090689] [-0.88744792] [-0.00101076]] R_gt: [[ 0.9996052 0.00545109 -0.02755755] [-0.00364345 0.99786615 0.06518746] [ 0.02785486 -0.06506097 0.99749284]] t_gt: [ 0.6924377 -0.62528481 0.35992907] Pose Error in degrees for R and t: 18.669158340781596 76.38511649996667 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 0.32428966 0.94592759 -0.00756397] [ 0.94592255 -0.32419814 0.0112287 ] [ 0.00816931 -0.01079628 -0.99990835]] t_estimated: [[-0.04832985] [-0.99881699] [-0.00536998]] R_gt: [[ 0.99168532 0.06628393 -0.11029671] [-0.06191271 0.99717262 0.04259156] [ 0.11280873 -0.03540906 0.9929858 ]] t_gt: [ 0.46884777 0.2011278 -0.86007521] Pose Error in degrees for R and t: 173.6764279325273 77.35376884613076 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99999883e-01 -4.40820629e-06 -4.84631350e-04] [ 4.67304406e-06 9.99999851e-01 5.46472855e-04] [ 4.84628868e-04 -5.46475056e-04 9.99999733e-01]] t_estimated: [[-9.75216026e-01] [-2.21253200e-01] [-8.50973845e-04]] R_gt: [[ 0.9645014 0.26337341 0.01927201] [-0.26316308 0.96466647 -0.01278829] [-0.02195917 0.00726295 0.99973214]] t_gt: [-0.88041137 0.47409373 -0.01053316] Pose Error in degrees for R and t: 15.326975584839111 41.08761367920538 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-7.33648779e-01 -6.79523492e-01 -2.70067309e-03] [ 6.79528761e-01 -7.33645011e-01 -2.37931703e-03] [-3.64533520e-04 -3.58076807e-03 9.99993523e-01]] t_estimated: [[0.97131978] [0.23777099] [0.00168632]] R_gt: [[ 0.93182379 0.36174448 0.02906991] [-0.36179515 0.93225072 -0.00367923] [-0.0284311 -0.00708903 0.99957041]] t_gt: [-0.86436666 0.50178892 0.03283527] Pose Error in degrees for R and t: 158.41196157699042 43.928161062151794 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99311098 -0.11702448 0.00598858] [ 0.11715306 0.99265139 -0.03030484] [-0.00239817 0.03079765 0.99952276]] t_estimated: [[0.58954023] [0.80773788] [0.00135526]] R_gt: [[ 0.90600782 0.4223908 0.02711908] [-0.42176998 0.90633523 -0.02582662] [-0.03548718 0.01196129 0.99929804]] t_gt: [-0.86000192 0.51023918 -0.00725728] Pose Error in degrees for R and t: 31.743751119861876 84.55581412742197 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99973303e-01 7.30703592e-03 3.04970615e-05] [-7.30703695e-03 9.99973303e-01 3.39610137e-05] [-3.02480930e-05 -3.41829502e-05 9.99999999e-01]] t_estimated: [[9.51060806e-01] [3.09002970e-01] [7.13061216e-04]] R_gt: [[ 0.99691907 -0.07641553 -0.01768779] [ 0.07664509 0.99697768 0.01271134] [ 0.0166626 -0.01402802 0.9997619 ]] t_gt: [ 0.53033512 -0.84777059 -0.00544879] Pose Error in degrees for R and t: 4.967859949609506 75.9709731398125 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.97024221e-01 7.70868121e-02 -5.71574734e-04] [-7.70865621e-02 9.97024304e-01 4.47318451e-04] [ 6.04356255e-04 -4.01926599e-04 9.99999737e-01]] t_estimated: [[0.80055848] [0.59925391] [0.00093197]] R_gt: [[ 0.9872475 -0.15635052 -0.02995339] [ 0.15514851 0.98712222 -0.03897125] [ 0.03566086 0.03382694 0.99879042]] t_gt: [ 0.58865182 -0.70483927 -0.39584169] Pose Error in degrees for R and t: 13.678010073555244 87.21985704482637 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[ 0.81204367 0.58358288 0.00401271] [-0.58334971 0.81188085 -0.02350755] [-0.01697645 0.01674835 0.99971561]] t_estimated: [[-9.95880193e-01] [-9.06754720e-02] [-7.75004022e-04]] R_gt: [[ 0.97030406 -0.24162675 -0.01122979] [ 0.23935044 0.96579796 -0.09972429] [ 0.03494126 0.09407473 0.99495127]] t_gt: [ 0.59249908 -0.67576423 -0.43850604] Pose Error in degrees for R and t: 49.85839385652722 58.099684281312996 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99999898e-01 4.25836673e-04 -1.52717506e-04] [-4.25802370e-04 9.99999884e-01 2.24576293e-04] [ 1.52813121e-04 -2.24511242e-04 9.99999963e-01]] t_estimated: [[-0.8778119 ] [-0.47900437] [-0.00104193]] R_gt: [[ 0.99669963 -0.07815209 -0.0219763 ] [ 0.07852718 0.99677096 0.0167837 ] [ 0.0205933 -0.0184536 0.99961733]] t_gt: [ 0.52467326 -0.85037484 0.03975685] Pose Error in degrees for R and t: 4.782972509794683 86.94626035819996 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99229221e-01 -3.92549054e-02 1.28826186e-04] [ 3.92549124e-02 9.99229228e-01 -5.24716423e-05] [-1.26667121e-04 5.74882589e-05 9.99999990e-01]] t_estimated: [[8.43784002e-01] [5.36682404e-01] [7.45392228e-04]] R_gt: [[ 0.98432328 -0.16815504 -0.05322474] [ 0.17052237 0.98439013 0.04356852] [ 0.04506723 -0.05196094 0.99763157]] t_gt: [ 0.61119814 -0.7767624 0.15191118] Pose Error in degrees for R and t: 8.485893007307695 84.3208446441953 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-8.96228775e-01 -4.43589260e-01 -1.59721474e-03] [ 4.43591362e-01 -8.96228127e-01 -1.35941713e-03] [-8.28445934e-04 -1.92685941e-03 9.99997800e-01]] t_estimated: [[8.65357341e-01] [5.01154773e-01] [7.52484644e-04]] R_gt: [[ 0.98599746 -0.11633105 -0.1194876 ] [ 0.12878304 0.98637256 0.10239217] [ 0.10594772 -0.11634593 0.98754186]] t_gt: [ 0.50809321 -0.80499414 0.30630985] Pose Error in degrees for R and t: 146.68025049427985 87.9090403319963 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.95522744e-01 -9.45223032e-02 -7.49680132e-06] [ 9.45223032e-02 9.95522733e-01 1.51389804e-04] [-6.84647682e-06 -1.51420608e-04 9.99999989e-01]] t_estimated: [[0.70411363] [0.71008618] [0.00127367]] R_gt: [[ 0.99498202 0.01707079 -0.09858678] [-0.01687501 0.99985396 0.00282337] [ 0.09862186 -0.00114615 0.99512468]] t_gt: [ 0.16718757 0.18921199 -0.96759865] Pose Error in degrees for R and t: 8.540691054357126 75.47257057741417 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.81086075e-01 -1.93571981e-01 -3.31973161e-05] [ 1.93571984e-01 9.81086067e-01 1.28731443e-04] [ 7.65062378e-06 -1.32722697e-04 9.99999991e-01]] t_estimated: [[0.50765529] [0.86155945] [0.00119209]] R_gt: [[ 9.85103945e-01 3.08166275e-02 -1.69173686e-01] [-3.14130007e-02 9.99506395e-01 -8.50302930e-04] [ 1.69065376e-01 6.15124824e-03 9.85586045e-01]] t_gt: [ 0.18798484 0.18370966 -0.96483805] Pose Error in degrees for R and t: 16.196683239867017 75.37105962320757 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 6.83936877e-01 -7.29539511e-01 -1.56553390e-03] [ 7.29540983e-01 6.83936726e-01 7.13429797e-04] [ 5.50250905e-04 -1.63006209e-03 9.99998520e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97861684 0.00667391 -0.20558174] [-0.01187159 0.99964091 -0.0240558 ] [ 0.20534794 0.02598169 0.97834412]] t_gt: [ 0.30934351 0.07573578 -0.94792968] Pose Error in degrees for R and t: 48.769050779596824 72.01054537386352 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99412349e-01 -3.42776521e-02 -1.28769725e-05] [ 3.42776528e-02 9.99412347e-01 6.04206970e-05] [ 1.07983257e-05 -6.08265831e-05 9.99999998e-01]] t_estimated: [[-1.33594237e-02] [ 9.99910704e-01] [ 3.30757836e-04]] R_gt: [[ 0.99691211 0.01097997 -0.07775432] [-0.01114352 0.99993635 -0.00167487] [ 0.07773035 0.00253605 0.99697136]] t_gt: [ 0.19251988 0.15481209 -0.96900429] Pose Error in degrees for R and t: 5.161673761390647 81.2626132679901 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.23938955 0.97091842 -0.00317218] [-0.97092236 -0.23938274 0.00238219] [ 0.00155354 0.00365021 0.99999213]] t_estimated: [[8.55417846e-01] [5.17937929e-01] [7.81203511e-04]] R_gt: [[ 0.99142774 0.00456227 -0.1305764 ] [-0.00631697 0.99989575 -0.01302588] [ 0.1305018 0.01373854 0.99135312]] t_gt: [ 0.29216982 0.05524292 -0.95476961] Pose Error in degrees for R and t: 103.71399661481453 73.8714233359701 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-2.78080456e-01 9.60554822e-01 2.38631260e-03] [ 9.60557569e-01 2.78077866e-01 1.36262994e-03] [ 6.45300040e-04 2.67111138e-03 -9.99996224e-01]] t_estimated: [[-0.64774219] [-0.76185221] [-0.00335618]] R_gt: [[ 0.99505826 -0.03893667 -0.09134616] [ 0.03633733 0.99889051 -0.0299464 ] [ 0.09241082 0.02647899 0.99536834]] t_gt: [ 0.48742505 -0.23354037 -0.8413535 ] Pose Error in degrees for R and t: 176.82323351158186 82.24260627463335 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99999945e-01 -1.56578419e-04 2.91606962e-04] [ 1.56648379e-04 9.99999959e-01 -2.39903717e-04] [-2.91569386e-04 2.39949383e-04 9.99999929e-01]] t_estimated: [[8.01601206e-01] [5.97858743e-01] [6.56223649e-04]] R_gt: [[ 0.99322773 -0.11306901 -0.02671913] [ 0.11329473 0.99353594 0.0070773 ] [ 0.02574696 -0.01005634 0.99961788]] t_gt: [ 0.50947725 -0.86017029 -0.02323784] Pose Error in degrees for R and t: 6.686205033868567 83.92224572883195 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.90808371e-01 1.35272788e-01 2.11778606e-04] [-1.35272815e-01 9.90808383e-01 1.17168327e-04] [-1.93982332e-04 -1.44739247e-04 9.99999971e-01]] t_estimated: [[0.25880641] [0.96592868] [0.00101195]] R_gt: [[ 0.97817359 -0.20546017 -0.03100601] [ 0.20654912 0.97772393 0.03734062] [ 0.02264357 -0.04292867 0.99882156]] t_gt: [ 0.58103908 -0.80428414 0.12458171] Pose Error in degrees for R and t: 19.863701212648333 51.216569217429324 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.99996363 0.0084434 0.00120648] [-0.00844128 0.99996284 -0.00174749] [-0.00122119 0.00173724 0.99999775]] t_estimated: [[-0.03107297] [-0.99951376] [-0.00258941]] R_gt: [[ 0.96566524 -0.24190407 -0.09472812] [ 0.24767495 0.96730068 0.05465037] [ 0.0784096 -0.07623551 0.99400173]] t_gt: [ 0.63027534 -0.76584987 0.12738516] Pose Error in degrees for R and t: 16.02079522350793 41.79251159976567 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.78448051e-01 -2.06492246e-01 6.03122837e-04] [ 2.06492993e-01 9.78446570e-01 -1.71875687e-03] [-2.35213504e-04 1.80625495e-03 9.99998341e-01]] t_estimated: [[-0.96034571] [-0.27881005] [-0.00103263]] R_gt: [[ 0.97489417 0.22234822 0.0119025 ] [-0.22251531 0.97481011 0.01528155] [-0.00820379 -0.01754656 0.99981145]] t_gt: [-0.89304628 0.44210291 0.08374583] Pose Error in degrees for R and t: 24.798097422821915 42.75325444032678 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 6.89864156e-01 -7.23932575e-01 3.01205617e-03] [-7.23936620e-01 -6.89866376e-01 3.92905893e-04] [ 1.79347890e-03 -2.45158946e-03 -9.99995387e-01]] t_estimated: [[0.0468027 ] [0.99890326] [0.00133722]] R_gt: [[ 0.90781084 0.41693619 0.04519759] [-0.41727993 0.90877656 -0.00200422] [-0.04190854 -0.01704014 0.99897559]] t_gt: [-0.84469948 0.53174888 0.06104031] Pose Error in degrees for R and t: 178.46973141337332 60.54675880018816 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.72923036 0.68390011 0.02244366] [ 0.68422813 0.72915054 0.01309027] [-0.00741237 0.0249024 -0.99966241]] t_estimated: [[0.99894282] [0.04585311] [0.00327522]] R_gt: [[ 0.88301292 0.46661452 0.05058713] [-0.46701977 0.88423735 -0.00420171] [-0.04669072 -0.01991364 0.99871088]] t_gt: [-0.83853026 0.54159813 0.05948507] Pose Error in degrees for R and t: 176.8882975114751 35.6477840887567 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99942236e-01 1.07476416e-02 1.09663125e-04] [-1.07476354e-02 9.99942241e-01 -5.67907271e-05] [-1.10267158e-04 5.56088274e-05 9.99999992e-01]] t_estimated: [[-9.97034689e-01] [ 7.69534102e-02] [ 4.69038008e-05]] R_gt: [[ 0.99089806 -0.13457478 0.00329648] [ 0.13460429 0.99083753 -0.01109666] [-0.00177299 0.01143958 0.99993291]] t_gt: [ 0.7642623 -0.64200818 -0.06106257] Pose Error in degrees for R and t: 8.376801714310153 35.76670486285544 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 0.96288999 -0.26987236 0.0034324 ] [ 0.2697344 0.96267965 0.02216426] [-0.00928582 -0.02041591 0.99974845]] t_estimated: [[ 0.09953029] [-0.99443815] [ 0.03444538]] R_gt: [[ 0.97253735 -0.22768214 -0.04827419] [ 0.22721614 0.97372901 -0.01500503] [ 0.0504214 0.00362458 0.99872155]] t_gt: [ 0.8201745 -0.55785502 -0.12693131] Pose Error in degrees for R and t: 4.439760119564797 50.80125500218441 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.99168648 -0.12831277 -0.00968236] [ 0.12833229 0.99173021 0.00141928] [ 0.00942018 -0.00265004 0.99995212]] t_estimated: [[-0.1697668 ] [-0.98547556] [-0.00414065]] R_gt: [[ 9.07184549e-01 -4.19936042e-01 -2.58895557e-02] [ 4.20057304e-01 9.07496663e-01 -8.00432711e-04] [ 2.38305695e-02 -1.01483513e-02 9.99664584e-01]] t_gt: [ 0.89839684 -0.43857273 -0.02317503] Pose Error in degrees for R and t: 17.48967764808663 73.75288249636684 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 6.23568937e-01 7.81764902e-01 2.32793747e-03] [ 7.81766420e-01 -6.23571266e-01 3.75835228e-04] [ 1.74544971e-03 1.58554417e-03 -9.99997220e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.97053983e-01 -7.63458164e-02 7.40796064e-03] [ 7.67011780e-02 9.93218596e-01 -8.73705866e-02] [-6.88527322e-04 8.76818133e-02 9.96147986e-01]] t_gt: [ 0.39883653 -0.51667291 -0.75761371] Pose Error in degrees for R and t: 175.32839577299595 89.40979779533086 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 8.17522498e-01 -5.75895506e-01 -1.15366947e-03] [ 5.75895261e-01 8.17523288e-01 -5.67881353e-04] [ 1.27019197e-03 -2.00136996e-04 9.99999173e-01]] t_estimated: [[ 0.65765007] [-0.7533218 ] [-0.00162716]] R_gt: [[ 0.98775664 -0.15498492 0.01782461] [ 0.15600137 0.9803485 -0.12075146] [ 0.00123929 0.12205438 0.99252283]] t_gt: [ 0.4930367 -0.65569506 -0.57182061] Pose Error in degrees for R and t: 27.088166719439677 35.00265725236609 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-8.72814595e-01 -4.88051899e-01 -1.65899016e-04] [ 4.88048962e-01 -8.72808056e-01 -3.78252560e-03] [ 1.70127080e-03 -3.38241039e-03 9.99992832e-01]] t_estimated: [[8.76821505e-01] [4.80815537e-01] [6.83948132e-04]] R_gt: [[ 0.96089476 -0.27690552 -0.00215649] [ 0.27503672 0.95525936 -0.10879159] [ 0.03218381 0.10394452 0.99406197]] t_gt: [ 0.62901243 -0.68399888 -0.36944403] Pose Error in degrees for R and t: 134.7849458440226 77.14986679868161 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.97355893e-01 -7.26714255e-02 -2.94734473e-04] [ 7.26714720e-02 9.97355922e-01 1.50230356e-04] [ 2.83037718e-04 -1.71251919e-04 9.99999945e-01]] t_estimated: [[-9.85856229e-01] [ 1.67593203e-01] [-1.19120119e-04]] R_gt: [[ 9.77036223e-01 2.12994688e-01 5.81455125e-03] [-2.13073941e-01 9.76714259e-01 2.50779682e-02] [-3.37774645e-04 -2.57406064e-02 9.99669037e-01]] t_gt: [-0.57304917 0.81378134 0.09682241] Pose Error in degrees for R and t: 16.534518160625357 45.46725496122182 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99999048e-01 -1.36095121e-03 -2.27852693e-04] [ 1.36099286e-03 9.99999057e-01 1.82710370e-04] [ 2.27603819e-04 -1.83020302e-04 9.99999957e-01]] t_estimated: [[-8.68031104e-01] [ 4.96509665e-01] [ 3.92252216e-04]] R_gt: [[ 0.96120177 0.27557342 -0.01230473] [-0.27422356 0.95942433 0.06562508] [ 0.02988991 -0.0597051 0.99776909]] t_gt: [-0.51183981 0.85460724 0.08755843] Pose Error in degrees for R and t: 16.49615380533181 29.69809624215319 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 3.33811130e-01 9.42636696e-01 2.48771587e-03] [ 9.42639584e-01 -3.33812243e-01 3.44764237e-05] [ 8.62928759e-04 2.33351084e-03 -9.99996905e-01]] t_estimated: [[-8.87450680e-01] [-4.60901960e-01] [-8.20385059e-04]] R_gt: [[ 0.88766972 0.46040073 -0.00857828] [-0.45982676 0.88724761 0.03676315] [ 0.02453703 -0.02868938 0.99928801]] t_gt: [-0.45026971 0.89279282 0.01334799] Pose Error in degrees for R and t: 177.9112414463841 89.31766237522747 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99999988e-01 1.50128812e-04 -3.78484869e-05] [-1.50129184e-04 9.99999989e-01 -9.82010851e-06] [ 3.78470122e-05 9.82579056e-06 9.99999999e-01]] t_estimated: [[-0.74648492] [-0.66540084] [-0.00141059]] R_gt: [[ 0.99885737 0.042714 -0.02144595] [-0.04311958 0.99889321 -0.01881488] [ 0.02061847 0.01971849 0.99959233]] t_gt: [-0.59836361 0.55604401 -0.57686744] Pose Error in degrees for R and t: 2.945493255720974 85.55563841415567 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[-0.37017689 -0.92747363 -0.05255213] [-0.92775375 0.37198716 -0.0299756 ] [ 0.0473503 0.03765916 -0.99816819]] t_estimated: [[ 0.84239239] [ 0.53818799] [-0.02699526]] R_gt: [[ 9.99925462e-01 7.03869010e-04 -1.21787873e-02] [-8.12918559e-04 9.99960235e-01 -8.94185806e-03] [ 1.21714737e-02 8.95128093e-03 9.99885866e-01]] t_gt: [-0.72617627 -0.1478675 -0.67141881] Pose Error in degrees for R and t: 175.676408352194 47.68696570374372 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.99947181e-01 1.02778445e-02 -3.61132662e-05] [-1.02778425e-02 9.99947180e-01 5.49315826e-05] [ 3.66759370e-05 -5.45575147e-05 9.99999998e-01]] t_estimated: [[-0.70301348] [ 0.7111752 ] [-0.00136926]] R_gt: [[ 0.99853065 0.03095992 0.04448233] [-0.03014431 0.99936736 -0.01890609] [-0.04504017 0.01753784 0.99883101]] t_gt: [-0.88681296 0.33459674 0.31875979] Pose Error in degrees for R and t: 3.0070067463570163 30.575242443116636 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.90159501e-01 1.39943407e-01 7.64021612e-05] [-1.39943425e-01 9.90159448e-01 3.25532007e-04] [-3.00942636e-05 -3.33020589e-04 9.99999944e-01]] t_estimated: [[0.54206354] [0.840337 ] [0.00092345]] R_gt: [[ 0.99617693 -0.08656653 -0.01169306] [ 0.08636284 0.99612024 -0.01688106] [ 0.01311046 0.01580607 0.99978958]] t_gt: [ 0.68410068 -0.71201912 -0.15822465] Pose Error in degrees for R and t: 13.059854604301712 76.84088505939887 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 1.97085994e-01 -9.80385353e-01 -1.29268698e-03] [ 9.80386193e-01 1.97085615e-01 4.15636368e-04] [-1.52713799e-04 -1.34924857e-03 9.99999078e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98606097 -0.16605098 0.01043524] [ 0.16602996 0.98611563 0.00286841] [-0.01076638 -0.0010962 0.9999422 ]] t_gt: [ 0.67692083 -0.73303781 0.06658653] Pose Error in degrees for R and t: 69.07817831128683 47.5694514688008 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.79024429e-01 -2.03739725e-01 1.13624982e-03] [ 2.03740644e-01 9.79024602e-01 -7.60208216e-04] [-9.57531914e-04 9.75762684e-04 9.99999066e-01]] t_estimated: [[-0.63746476] [-0.77047906] [-0.00083657]] R_gt: [[ 0.98834973 -0.15212237 -0.00476228] [ 0.15218984 0.98812586 0.02108812] [ 0.0014984 -0.02156721 0.99976609]] t_gt: [ 0.68787391 -0.72167999 0.07750791] Pose Error in degrees for R and t: 3.271868295643301 83.25336335827257 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-7.25649051e-01 -6.88063395e-01 -1.48984598e-03] [ 6.88064267e-01 -7.25649746e-01 -1.03717358e-04] [-1.00974224e-03 -1.10037218e-03 9.99998885e-01]] t_estimated: [[9.58459084e-01] [2.85229083e-01] [7.44723453e-04]] R_gt: [[ 9.99065385e-01 9.42733509e-04 -4.32307656e-02] [ 4.13185684e-04 9.99508993e-01 3.13233734e-02] [ 4.32395310e-02 -3.13120069e-02 9.98573064e-01]] t_gt: [ 0.73814265 0.61768666 -0.27130909] Pose Error in degrees for R and t: 136.5522977686701 27.937439455622588 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.73057269 0.29412779 -0.61624052] [-0.60604254 -0.69509939 0.38671602] [-0.31460449 0.65599213 0.68607459]] t_estimated: [[0.57593054] [0.81749731] [0.00147297]] R_gt: [[ 0.99388894 0.01262071 -0.10966961] [-0.00674305 0.99852958 0.05379024] [ 0.1101871 -0.05272128 0.99251112]] t_gt: [ 0.70738724 0.44059895 -0.5526987 ] Pose Error in degrees for R and t: 148.88789062749217 39.93436726834878 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.92755622e-01 -1.20151022e-01 8.24041968e-05] [ 1.20151012e-01 9.92755620e-01 1.17349659e-04] [-9.59069109e-05 -1.06598586e-04 9.99999990e-01]] t_estimated: [[7.44271271e-01] [6.67877212e-01] [5.52026101e-04]] R_gt: [[ 0.98560717 0.01960971 -0.16791439] [-0.01359301 0.99922681 0.03690157] [ 0.16850828 -0.03408832 0.98511043]] t_gt: [ 0.64993292 0.35735332 -0.67073527] Pose Error in degrees for R and t: 12.63663988756916 43.778137797435065 Number of keypoints: Image1: 387 Image2: 387 R_estimated: [[ 9.89791049e-01 -1.42526065e-01 -2.21916090e-05] [ 1.42526067e-01 9.89791036e-01 1.59074107e-04] [-7.07150905e-07 -1.60613010e-04 9.99999987e-01]] t_estimated: [[ 1.53450563e-01] [-9.88156281e-01] [ 2.99715802e-04]] R_gt: [[ 0.99971861 -0.00442214 0.02330378] [ 0.00554047 0.99882416 -0.04815896] [-0.02306361 0.0482749 0.99856811]] t_gt: [-0.48062313 0.85761566 -0.18302129] Pose Error in degrees for R and t: 8.4844565161139 22.888271421814146 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 6.55115294e-01 -7.55528682e-01 -6.02220000e-04] [ 7.55528895e-01 6.55114853e-01 7.86158254e-04] [-1.99441843e-04 -9.70018907e-04 9.99999510e-01]] t_estimated: [[ 8.19511906e-01] [-5.73061573e-01] [ 8.18202080e-04]] R_gt: [[ 0.99981435 -0.00284135 0.01905953] [ 0.00379867 0.99872204 -0.05038617] [-0.01889252 0.05044866 0.99854817]] t_gt: [-0.46841773 0.85305795 -0.22994994] Pose Error in degrees for R and t: 48.97640813918336 29.20062239309439 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[-4.37382950e-01 -8.99273930e-01 -1.59789120e-03] [ 8.99275024e-01 -4.37383615e-01 7.47914688e-05] [-7.66149449e-04 -1.40423114e-03 9.99998721e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99826967 -0.04886153 0.03271052] [ 0.0518082 0.99400199 -0.09631191] [-0.0278079 0.09783888 0.9948135 ]] t_gt: [-0.24416819 0.87413312 -0.419849 ] Pose Error in degrees for R and t: 113.14814936011767 76.00826466738305 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[-0.35123618 0.80605638 -0.47634678] [ 0.81361393 0.51452343 0.27073606] [ 0.46332011 -0.29247008 -0.83653794]] t_estimated: [[ 0.82908264] [-0.48638628] [-0.2757723 ]] R_gt: [[ 9.99642455e-01 2.67364088e-02 9.03929642e-04] [-2.67096658e-02 9.99404220e-01 -2.18285174e-02] [-1.48606456e-03 2.17969455e-02 9.99761075e-01]] t_gt: [-0.8335972 0.42915918 -0.34776157] Pose Error in degrees for R and t: 147.50176037998753 36.49053660078807 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 6.38920791e-02 -9.97953466e-01 -2.58475214e-03] [ 9.97956518e-01 6.38938390e-02 -6.04047703e-04] [ 7.67961236e-04 -2.54087638e-03 9.99996477e-01]] t_estimated: [[ 6.37168460e-01] [-7.70724422e-01] [-4.67685501e-04]] R_gt: [[ 0.99885914 0.01191617 -0.04622207] [-0.01102069 0.99974748 0.019576 ] [ 0.04644449 -0.01904414 0.99873876]] t_gt: [-0.75724757 -0.41363141 -0.50545542] Pose Error in degrees for R and t: 87.02690899526081 80.59209705324571 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-9.71384351e-01 -2.37512892e-01 -2.63409665e-04] [-2.37474555e-01 9.71206401e-01 1.90778240e-02] [-4.27540399e-03 1.85944527e-02 -9.99817967e-01]] t_estimated: [[ 9.99634841e-01] [-2.70133153e-02] [-6.82948630e-04]] R_gt: [[ 0.99787514 -0.00524821 -0.06494372] [ 0.00500022 0.99997966 -0.00398796] [ 0.06496344 0.00365554 0.99788011]] t_gt: [-0.5537372 -0.5069676 -0.66057473] Pose Error in degrees for R and t: 176.39466784197768 57.35794617338325 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 8.90645423e-01 -4.54619940e-01 -8.45229352e-03] [ 4.54641212e-01 8.90674409e-01 6.82430386e-04] [ 7.21799508e-03 -4.45056447e-03 9.99964046e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99798043 -0.06152377 0.01583169] [ 0.05982561 0.99400018 0.09156032] [-0.02137022 -0.09042902 0.99567403]] t_gt: [ 0.30495662 -0.61595526 0.72636119] Pose Error in degrees for R and t: 24.135539098355604 82.91236061275482 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99999906e-01 4.13984330e-04 -1.28977738e-04] [-4.13971139e-04 9.99999909e-01 1.02285336e-04] [ 1.29020071e-04 -1.02231933e-04 9.99999986e-01]] t_estimated: [[ 4.74460045e-01] [ 8.80276977e-01] [-3.29424086e-04]] R_gt: [[ 0.99766091 -0.0635457 0.02522123] [ 0.0613596 0.99493622 0.07960484] [-0.0301521 -0.07787196 0.99650772]] t_gt: [ 0.30620198 -0.61743747 0.72457665] Pose Error in degrees for R and t: 5.995034471919796 66.51717990101581 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-4.09948106e-01 -9.12103196e-01 -3.21087800e-03] [-9.12108848e-01 4.09945613e-01 1.42955909e-03] [ 1.23799378e-05 3.51471527e-03 -9.99993823e-01]] t_estimated: [[0.8551609 ] [0.51836186] [0.00090781]] R_gt: [[ 0.99952098 -0.0307746 -0.00357285] [ 0.03062443 0.99886445 -0.03648268] [ 0.00469159 0.03635544 0.99932779]] t_gt: [ 0.43990036 -0.44930313 -0.77756953] Pose Error in degrees for R and t: 178.5610472189513 81.80294342222811 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.94689437e-01 1.02920573e-01 5.28809131e-04] [-1.02920369e-01 9.94689518e-01 -4.00167262e-04] [-5.67186344e-04 3.43616917e-04 9.99999780e-01]] t_estimated: [[0.8917877 ] [0.45245111] [0.00163932]] R_gt: [[ 0.98668198 -0.16257663 -0.00543202] [ 0.16128419 0.98208906 -0.09740803] [ 0.02117125 0.09523564 0.99522939]] t_gt: [ 0.56109544 -0.66892464 -0.4875569 ] Pose Error in degrees for R and t: 16.232564032656956 78.64291464609715 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[-9.57520044e-01 2.88344031e-01 -3.61746476e-03] [-2.88340947e-01 -9.57526842e-01 -1.35818864e-03] [-3.85544520e-03 -2.57429635e-04 9.99992535e-01]] t_estimated: [[0.61747816] [0.7865865 ] [0.00155145]] R_gt: [[ 0.98174504 -0.18850796 -0.02536624] [ 0.18346746 0.97368365 -0.13520503] [ 0.05018688 0.12808315 0.9904923 ]] t_gt: [ 0.54272585 -0.54156252 -0.64199587] Pose Error in degrees for R and t: 174.01302905940955 84.72935465758665 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[-0.37000646 0.929028 0.0014814 ] [ 0.92902832 0.37000347 0.00195127] [ 0.00126466 0.00209824 -0.999997 ]] t_estimated: [[-0.08931495] [-0.99600283] [-0.00109612]] R_gt: [[ 0.99064054 -0.12870486 -0.04547988] [ 0.12123057 0.9826658 -0.1402519 ] [ 0.06274272 0.13342493 0.98907051]] t_gt: [ 0.41848682 -0.24458943 -0.87466839] Pose Error in degrees for R and t: 178.14040663344227 78.04207266040615 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99367429e-01 -3.55631640e-02 -4.83265092e-05] [ 3.55631684e-02 9.99367426e-01 9.31703698e-05] [ 4.49825059e-05 -9.48300768e-05 9.99999994e-01]] t_estimated: [[ 7.20497195e-01] [-6.93457695e-01] [-4.65350936e-04]] R_gt: [[ 0.99987626 0.00971819 0.01238125] [-0.00974281 0.99995114 0.0019547 ] [-0.01236162 -0.00207538 0.99992172]] t_gt: [0.76998161 0.23130573 0.5946646 ] Pose Error in degrees for R and t: 2.6930209255314748 66.79063565700025 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.43223546e-01 -3.32153915e-01 -1.76605780e-03] [ 3.32157122e-01 9.43221902e-01 2.02222623e-03] [ 9.94094036e-04 -2.49402008e-03 9.99996396e-01]] t_estimated: [[-0.55922712] [-0.82901401] [-0.00089333]] R_gt: [[ 0.99878943 -0.0474833 0.01291126] [ 0.04775451 0.99862583 -0.02158852] [-0.01186855 0.0221794 0.9996838 ]] t_gt: [ 0.81005282 -0.58600186 -0.02040204] Pose Error in degrees for R and t: 16.74551313682888 88.11930227715824 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-6.94057739e-01 -7.19917428e-01 -1.65888280e-03] [ 7.19917687e-01 -6.94059240e-01 5.43184425e-04] [-1.54241087e-03 -8.17257715e-04 9.99998477e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.87740998e-01 -1.55524175e-01 1.34457834e-02] [ 1.55542024e-01 9.87829293e-01 -3.64503296e-04] [-1.32250076e-02 2.45081146e-03 9.99910036e-01]] t_gt: [ 0.7340663 -0.6760686 0.0638586] Pose Error in degrees for R and t: 125.00566701821916 42.94435354711518 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.72581847 0.68788536 -0.00112844] [ 0.68769798 -0.72558042 0.02458723] [ 0.01609442 -0.01862189 -0.99969705]] t_estimated: [[-0.99987638] [-0.01568844] [-0.0010459 ]] R_gt: [[ 9.71999790e-01 -1.58451135e-01 1.73522813e-01] [ 1.55975914e-01 9.87367164e-01 2.79015197e-02] [-1.75750927e-01 -5.46562260e-05 9.84434189e-01]] t_gt: [ 0.51698006 -0.61889489 0.59135499] Pose Error in degrees for R and t: 178.3042498638467 59.48092715181325 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 0.98678129 -0.16199861 0.00437372] [-0.16200746 -0.98678798 0.00174918] [ 0.00403257 -0.00243463 -0.99998891]] t_estimated: [[0.1426827 ] [0.98976734] [0.00150192]] R_gt: [[ 0.91633484 -0.29865486 0.26671471] [ 0.28510244 0.95434397 0.08912229] [-0.28115415 -0.00562436 0.95964623]] t_gt: [ 0.61157424 -0.59594946 0.52040483] Pose Error in degrees for R and t: 175.84894636432662 59.880268889922 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-7.85854867e-01 6.18406495e-01 -2.35253060e-03] [-6.18403847e-01 -7.85858388e-01 -1.81007159e-03] [-2.96811594e-03 3.23604075e-05 9.99995595e-01]] t_estimated: [[1.84731236e-01] [9.82788828e-01] [6.99945884e-04]] R_gt: [[ 0.85940292 -0.41650252 0.29656919] [ 0.39674819 0.90909428 0.12703422] [-0.3225191 0.00848979 0.94652467]] t_gt: [ 0.7023518 -0.5765284 0.41751282] Pose Error in degrees for R and t: 166.6745748687623 64.11494595708798 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.59501548e-01 2.81703337e-01 9.50809746e-05] [-2.81703303e-01 9.59501524e-01 -2.72706593e-04] [-1.68052698e-04 2.34877774e-04 9.99999958e-01]] t_estimated: [[-2.82142692e-01] [ 9.59372373e-01] [ 3.89909371e-04]] R_gt: [[ 0.99341431 0.11350689 0.01566491] [-0.11341169 0.9935246 -0.0068618 ] [-0.01634219 0.00504097 0.99985335]] t_gt: [-0.72330633 0.68856244 0.052055 ] Pose Error in degrees for R and t: 9.893899716583467 30.153395860354134 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-1.15223769e-01 -9.93339191e-01 8.56722617e-04] [-9.93337835e-01 1.15225134e-01 1.76448897e-03] [-1.85145203e-03 -6.47703920e-04 -9.99998076e-01]] t_estimated: [[0.79543937] [0.60602956] [0.00209404]] R_gt: [[ 0.99598067 0.08266814 0.03449821] [-0.08277324 0.99656733 0.00159375] [-0.03424831 -0.00444332 0.99940253]] t_gt: [-0.67700059 0.69372033 0.2458095 ] Pose Error in degrees for R and t: 178.30869458086514 83.24735993118875 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 7.39629354e-01 6.73013782e-01 9.31530356e-04] [-6.73013649e-01 7.39629895e-01 -4.96915594e-04] [-1.02341874e-03 -2.59399284e-04 9.99999443e-01]] t_estimated: [[0.07113042] [0.99746615] [0.00132067]] R_gt: [[ 0.99857653 -0.0399716 0.03533355] [ 0.03938267 0.99907646 0.01720524] [-0.03598811 -0.01578961 0.99922657]] t_gt: [ 0.69653931 -0.3382796 0.6327716 ] Pose Error in degrees for R and t: 44.62626816927982 73.3190742046045 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.99721209 0.07461173 -0.00106363] [-0.07460899 -0.99720992 -0.00242234] [-0.00124139 -0.00233623 0.9999965 ]] t_estimated: [[0.8593152 ] [0.51144521] [0.0010905 ]] R_gt: [[ 0.99180081 -0.12223292 -0.03727081] [ 0.12351352 0.99175312 0.03422281] [ 0.03278014 -0.03854517 0.99871856]] t_gt: [ 0.78237238 -0.62188231 0.03399799] Pose Error in degrees for R and t: 177.21387544384834 69.25050360187835 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 9.71475283e-01 -2.37140815e-01 -8.75895687e-05] [ 2.37140745e-01 9.71475178e-01 -4.95876791e-04] [ 2.02683718e-04 4.60960991e-04 9.99999873e-01]] t_estimated: [[ 0.34198107] [-0.93970532] [-0.00169306]] R_gt: [[ 0.98691462 -0.15524244 -0.04358759] [ 0.15663804 0.98718013 0.03065167] [ 0.03827022 -0.03707622 0.99857907]] t_gt: [ 0.78006845 -0.62569221 0.00156986] Pose Error in degrees for R and t: 5.644693174622835 31.269828921616483 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.72656390e-01 -2.32248891e-01 -2.81128585e-05] [ 2.32248891e-01 9.72656361e-01 2.36232348e-04] [-2.75205501e-05 -2.36302083e-04 9.99999972e-01]] t_estimated: [[9.99954458e-01] [9.51157420e-03] [7.81600354e-04]] R_gt: [[ 0.99457246 -0.10391784 -0.00499955] [ 0.10402379 0.99409034 0.03104521] [ 0.00174445 -0.03139602 0.99950506]] t_gt: [ 0.67685582 -0.72140522 0.14642645] Pose Error in degrees for R and t: 7.671458706190224 47.92693500839227 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[-0.08539424 0.99557793 -0.03914598] [ 0.99549696 0.08687832 0.03792034] [ 0.04115359 -0.03573152 -0.99851372]] t_estimated: [[ 0.72290355] [-0.6904289 ] [-0.02680263]] R_gt: [[ 0.99678072 0.07623203 -0.02483318] [-0.07549969 0.99671923 0.02916782] [ 0.02697409 -0.02719891 0.99926607]] t_gt: [-0.45513787 0.89038187 -0.00834515] Pose Error in degrees for R and t: 174.68828614811815 19.344754827805435 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999682e-01 1.65077159e-04 -7.80304937e-04] [-1.64199414e-04 9.99999354e-01 1.12480451e-03] [ 7.80490112e-04 -1.12467602e-03 9.99999063e-01]] t_estimated: [[-0.72923095] [-0.68426716] [-0.00081752]] R_gt: [[ 0.95796594 0.28673554 -0.00920375] [-0.28661301 0.95796289 0.01265378] [ 0.01244409 -0.00948401 0.99987737]] t_gt: [-0.53403253 0.84513539 -0.02356748] Pose Error in degrees for R and t: 16.670511445367335 79.11454963267433 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 0.96433508 -0.26463903 -0.00490373] [ 0.26465773 0.96433548 0.00365538] [ 0.00376148 -0.00482282 0.9999813 ]] t_estimated: [[-0.60814245] [-0.79382731] [-0.00098246]] R_gt: [[ 0.88376212 0.46602803 -0.04221959] [-0.46514809 0.88474789 0.02929117] [ 0.05100392 -0.00624788 0.99867845]] t_gt: [-0.46281195 0.88278362 -0.08061125] Pose Error in degrees for R and t: 43.18907802201059 65.21319883292658 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.98986805e-01 4.50019475e-02 -4.33260182e-04] [-4.50019383e-02 9.98986899e-01 3.08640704e-05] [ 4.34210189e-04 -1.13352511e-05 9.99999906e-01]] t_estimated: [[7.79643762e-01] [6.26222852e-01] [7.37600532e-04]] R_gt: [[ 0.99569534 -0.09105698 0.01730664] [ 0.09113245 0.99583158 -0.00366765] [-0.01690162 0.00522986 0.99984365]] t_gt: [ 0.85779891 -0.51234154 0.04107515] Pose Error in degrees for R and t: 7.874959512116186 69.63692757410567 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99305503e-01 -3.72623353e-02 1.72077260e-04] [ 3.72623408e-02 9.99305517e-01 -2.90733772e-05] [-1.70874413e-04 3.54651873e-05 9.99999985e-01]] t_estimated: [[9.79710413e-01] [2.00416569e-01] [8.40185813e-04]] R_gt: [[ 9.75997091e-01 -2.17782560e-01 5.68370351e-04] [ 2.17744956e-01 9.75874286e-01 1.59788478e-02] [-4.03561732e-03 -1.54707544e-02 9.99872738e-01]] t_gt: [ 0.8479035 -0.52732502 0.05466231] Pose Error in degrees for R and t: 10.483122315160598 43.52606528068486 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 5.92926959e-01 -8.05252257e-01 -2.53453411e-03] [ 8.05255608e-01 5.92927513e-01 6.07941415e-04] [ 1.01324881e-03 -2.40141266e-03 9.99996603e-01]] t_estimated: [[-0.20157983] [-0.97947124] [-0.00129218]] R_gt: [[ 0.95042129 -0.31003895 -0.02396972] [ 0.30999792 0.9507213 -0.00549487] [ 0.02449187 -0.0022075 0.9996978 ]] t_gt: [ 0.86003857 -0.50856982 -0.04111432] Pose Error in degrees for R and t: 35.59474568046449 71.04555967997798 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99948692e-01 1.01295458e-02 -7.10138481e-05] [-1.01295386e-02 9.99948690e-01 1.01375446e-04] [ 7.20370916e-05 -1.00650907e-04 9.99999992e-01]] t_estimated: [[-0.65171083] [ 0.75846712] [ 0.00078244]] R_gt: [[ 9.93427433e-01 1.14464912e-01 -5.93478908e-04] [-1.14324922e-01 9.92439875e-01 4.46435300e-02] [ 5.69902194e-03 -4.42814601e-02 9.99003165e-01]] t_gt: [-0.57546684 0.7741444 0.26370126] Pose Error in degrees for R and t: 6.512178307102233 15.760097306423628 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-0.90880624 0.41707232 -0.01104115] [ 0.41706462 0.90887155 0.00310094] [ 0.0113283 -0.00178672 -0.99993424]] t_estimated: [[ 0.97631148] [-0.21630218] [-0.00540987]] R_gt: [[ 9.72719207e-01 2.31985310e-01 -4.00239511e-04] [-2.31811521e-01 9.72050461e-01 3.71622429e-02] [ 9.01091907e-03 -3.60554979e-02 9.99309320e-01]] t_gt: [-0.52993653 0.84401737 0.08247396] Pose Error in degrees for R and t: 178.62899548173385 45.54153018493523 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-3.33465956e-01 -9.42762030e-01 -4.60265859e-04] [-9.42762124e-01 3.33465814e-01 3.59324371e-04] [-1.85274444e-04 5.53743664e-04 -9.99999830e-01]] t_estimated: [[0.7189527 ] [0.69505817] [0.00107199]] R_gt: [[ 0.89477956 0.44647441 0.00548022] [-0.4464938 0.89458032 0.01924714] [ 0.00369058 -0.01966877 0.99979976]] t_gt: [-0.47088198 0.88195335 0.02069899] Pose Error in degrees for R and t: 179.3100869911855 74.06842403722844 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 5.29908009e-01 8.48054413e-01 1.10229375e-03] [ 8.48050373e-01 -5.29908943e-01 2.66018151e-03] [ 2.84009399e-03 -4.74850861e-04 -9.99995854e-01]] t_estimated: [[-0.59424679] [-0.8042823 ] [-0.0008538 ]] R_gt: [[ 0.99780765 -0.02845851 0.05974284] [ 0.02866879 0.99958555 -0.00265627] [-0.05964182 0.00436403 0.99821086]] t_gt: [-0.44152294 0.0489589 0.89591323] Pose Error in degrees for R and t: 178.26608033305828 77.15984394465946 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 2.73067338e-01 9.61994705e-01 6.45153113e-04] [-9.61994115e-01 2.73067916e-01 -1.11189404e-03] [-1.24580679e-03 -3.17011553e-04 9.99999174e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99538017 -0.04154481 0.08657152] [ 0.04620678 0.99754881 -0.05255646] [-0.08417521 0.05631392 0.99485852]] t_gt: [-0.60050218 0.54747907 0.58280684] Pose Error in degrees for R and t: 76.85457466494653 73.90194303403126 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 9.76914628e-01 -2.13629937e-01 -2.44138651e-04] [ 2.13630069e-01 9.76914252e-01 8.58913084e-04] [ 5.50129799e-05 -8.91240113e-04 9.99999601e-01]] t_estimated: [[0.00519744] [0.99998595] [0.00103949]] R_gt: [[ 0.99516824 -0.02690082 0.09443136] [ 0.03303632 0.99740187 -0.06401821] [-0.09246353 0.06682924 0.99347082]] t_gt: [-0.6270623 0.71043071 0.31950131] Pose Error in degrees for R and t: 12.485350935840529 44.968637652277245 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.99832826 0.05752638 0.00560351] [ 0.05754486 0.99833781 0.00319584] [-0.00541035 0.00351295 -0.99997919]] t_estimated: [[0.96490261] [0.26260008] [0.00203566]] R_gt: [[ 0.99901033 -0.0406474 0.01809222] [ 0.03851054 0.99363025 0.1059066 ] [-0.0222822 -0.10510518 0.99421102]] t_gt: [ 0.19106483 -0.46296027 0.86554146] Pose Error in degrees for R and t: 178.69718358507646 86.29912814858822 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 8.03963454e-01 -5.94678601e-01 -3.54628479e-04] [ 5.94678684e-01 8.03963116e-01 7.55742429e-04] [-1.64315633e-04 -8.18479291e-04 9.99999652e-01]] t_estimated: [[0.92941875] [0.36902543] [0.0010058 ]] R_gt: [[ 0.99658754 -0.07270825 0.03907418] [ 0.065076 0.98330354 0.16993614] [-0.05077817 -0.16681414 0.98467964]] t_gt: [ 0.19943408 -0.4282073 0.88139921] Pose Error in degrees for R and t: 33.97126468075325 88.38261741609479 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.23640272 0.97162135 -0.00810564] [-0.97163913 0.23643852 0.00377191] [ 0.00558136 0.00698407 0.99996003]] t_estimated: [[-0.31097491] [ 0.95037967] [-0.00854948]] R_gt: [[ 0.99774268 -0.05887816 0.03229444] [ 0.055615 0.99401368 0.09403628] [-0.03763802 -0.09202868 0.99504492]] t_gt: [ 0.24567233 -0.52615469 0.8141292 ] Pose Error in degrees for R and t: 79.80806224400024 54.30960759731447 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-1.80665577e-01 -9.83544218e-01 8.49323401e-04] [-9.83544582e-01 1.80665570e-01 -8.53143365e-05] [-6.95330738e-05 -8.50760793e-04 -9.99999636e-01]] t_estimated: [[0.7084096 ] [0.70580035] [0.00130462]] R_gt: [[ 0.99223041 -0.12433054 -0.00453318] [ 0.12336639 0.9879516 -0.09345101] [ 0.01609721 0.09216701 0.99561363]] t_gt: [ 0.52837578 -0.62076462 -0.579198 ] Pose Error in degrees for R and t: 176.16152284469499 86.29697188508034 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 5.64911006e-01 8.25151005e-01 1.17255798e-03] [ 8.25150041e-01 -5.64912171e-01 1.28428526e-03] [ 1.72212155e-03 2.42029384e-04 -9.99998488e-01]] t_estimated: [[-8.52080141e-01] [-5.23410896e-01] [-6.83304042e-04]] R_gt: [[ 0.99632891 -0.08199437 -0.02463549] [ 0.07944626 0.99268641 -0.09089961] [ 0.03190958 0.08860952 0.99555539]] t_gt: [ 0.38969083 -0.27426547 -0.87915841] Pose Error in degrees for R and t: 176.2287654573473 79.17012047119961 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 2.27238435e-01 9.73838055e-01 1.46184985e-03] [ 9.73835975e-01 -2.27241272e-01 2.21327580e-03] [ 2.48756482e-03 9.20660643e-04 -9.99996482e-01]] t_estimated: [[9.22524765e-01] [3.85936966e-01] [8.46352995e-04]] R_gt: [[ 0.99919362 -0.02932364 -0.02742176] [ 0.02646631 0.99470611 -0.09929539] [ 0.03018859 0.09849063 0.99468034]] t_gt: [ 0.07138029 0.37351589 -0.92487336] Pose Error in degrees for R and t: 176.6276409499315 77.92330078671026 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[ 9.06359303e-01 -4.22505309e-01 -1.44123241e-03] [ 4.22505301e-01 9.06360395e-01 -3.25170065e-04] [ 1.44366205e-03 -3.14207417e-04 9.99998909e-01]] t_estimated: [[ 0.99904459] [-0.04368973] [-0.00105294]] R_gt: [[ 0.99452506 0.10290176 -0.01821128] [-0.10280208 0.99468171 0.00627969] [ 0.01876178 -0.00437331 0.99981376]] t_gt: [-0.48328026 0.86742678 -0.11836791] Pose Error in degrees for R and t: 30.913290870887906 58.62806066557304 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 7.90065199e-01 -6.13021697e-01 -1.17436131e-03] [-6.13021998e-01 -7.90065829e-01 1.26372780e-04] [-1.00529200e-03 6.20066579e-04 -9.99999302e-01]] t_estimated: [[0.33941541] [0.94063601] [0.0010348 ]] R_gt: [[ 0.99432054 0.09948877 -0.03780798] [-0.09914496 0.99501349 0.01086272] [ 0.03870024 -0.00705285 0.999225 ]] t_gt: [-0.29904824 0.94702675 -0.1170918 ] Pose Error in degrees for R and t: 179.74789616598505 37.89061345345605 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-4.26584409e-01 9.04446745e-01 1.35142132e-03] [ 9.04447321e-01 4.26582265e-01 1.61693337e-03] [ 8.85937755e-04 1.91204796e-03 -9.99997780e-01]] t_estimated: [[7.94951024e-01] [6.06673150e-01] [7.47134421e-04]] R_gt: [[ 0.99957061 0.02918447 0.00278261] [-0.02903407 0.99861587 -0.04386086] [-0.00405841 0.04376055 0.99903303]] t_gt: [ 0.09843841 0.89863034 -0.42752004] Pose Error in degrees for R and t: 178.47466302459918 51.45645820012252 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.99781531e-01 -2.09019024e-02 2.08432438e-05] [ 2.09019052e-02 9.99781521e-01 -1.46507050e-04] [-1.77764139e-05 1.46910706e-04 9.99999989e-01]] t_estimated: [[-0.96596129] [-0.25868464] [-0.00102653]] R_gt: [[ 0.99584726 -0.0847377 0.03329858] [ 0.0838399 0.9961008 0.02746682] [-0.03549567 -0.02456052 0.99906761]] t_gt: [-0.06912941 -0.92160485 0.38192359] Pose Error in degrees for R and t: 4.4028895584222845 72.2545123706035 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.92532070e-01 -1.21983968e-01 -3.83023233e-05] [ 1.21983968e-01 9.92532071e-01 -2.03956207e-05] [ 4.05042230e-05 1.55710383e-05 9.99999999e-01]] t_estimated: [[ 0.37695202] [-0.92623223] [-0.00102118]] R_gt: [[ 0.98037853 -0.19564299 0.02411013] [ 0.1951735 0.98055439 0.02048045] [-0.02764758 -0.01537143 0.99949922]] t_gt: [ 0.24960865 -0.95149255 0.17988176] Pose Error in degrees for R and t: 4.635256332039249 12.78434437889256 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.93819629e-01 -1.11005980e-01 4.65548727e-04] [ 1.11006070e-01 9.93819713e-01 -1.73373311e-04] [-4.43426029e-04 2.23980534e-04 9.99999877e-01]] t_estimated: [[9.45937921e-01] [3.24346551e-01] [8.74249465e-04]] R_gt: [[ 9.40367846e-01 -3.40158637e-01 3.51462129e-04] [ 3.39501467e-01 9.38613792e-01 6.11766021e-02] [-2.11386655e-02 -5.74082513e-02 9.98126810e-01]] t_gt: [ 0.44760544 -0.8737023 0.19050897] Pose Error in degrees for R and t: 13.960086265456074 81.9410903928441 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999894e-01 4.33315733e-04 -1.53283272e-04] [-4.33409136e-04 9.99999720e-01 -6.09843656e-04] [ 1.53018974e-04 6.09910026e-04 9.99999802e-01]] t_estimated: [[-0.68085301] [-0.73241738] [-0.00199007]] R_gt: [[ 0.99793969 0.05862501 -0.02603989] [-0.05650271 0.99551224 0.07592013] [ 0.03037459 -0.07429282 0.99677292]] t_gt: [-0.70260008 0.40961713 0.58186506] Pose Error in degrees for R and t: 5.676864768381916 79.79336402300297 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.99986579 -0.00936685 0.01344084] [ 0.0095455 0.99986613 -0.01328953] [-0.01331456 0.01341605 0.99982135]] t_estimated: [[0.42989042] [0.90288039] [0.00110512]] R_gt: [[ 0.98563983 0.01739237 -0.16796072] [ 0.01976469 0.97596014 0.21704945] [ 0.16769883 -0.21725232 0.96160181]] t_gt: [ 0.36897514 -0.66316806 0.6512031 ] Pose Error in degrees for R and t: 17.01040561997905 63.93293423003805 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.26811705 -0.95703101 -0.11047573] [ 0.96297707 0.26957744 0.0017796 ] [ 0.02807863 -0.10686273 0.99387723]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.97323227 -0.07932655 -0.21569695] [ 0.13868094 0.95111598 0.27594595] [ 0.18326361 -0.29847195 0.93665786]] t_gt: [ 0.62834243 -0.60166544 0.49313739] Pose Error in degrees for R and t: 68.9277843120372 53.28188494385058 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[-0.60187026 0.79855433 0.00794746] [-0.79858974 -0.60186937 -0.00277142] [ 0.0025702 -0.0080148 0.99996458]] t_estimated: [[0.60684939] [0.79481249] [0.0026302 ]] R_gt: [[ 0.99168887 -0.01878064 -0.12727594] [ 0.03598426 0.99029301 0.13425326] [ 0.1235189 -0.13771712 0.98273969]] t_gt: [ 0.61531891 -0.75431915 0.22887827] Pose Error in degrees for R and t: 128.82496170483836 76.9656963188444 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.99945909 0.03285376 -0.0014664 ] [ 0.03281859 0.99926748 0.01968356] [ 0.002112 0.01962479 -0.99980518]] t_estimated: [[ 0.99419856] [-0.10755268] [-0.00128591]] R_gt: [[ 0.97273489 -0.10118012 -0.20868222] [ 0.14893045 0.96228817 0.22764461] [ 0.17777913 -0.25251558 0.95111997]] t_gt: [ 0.69781793 -0.63138481 0.33823565] Pose Error in degrees for R and t: 168.49144044470935 40.42620821761036 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-0.12502475 -0.99209628 0.01066692] [ 0.99197414 -0.1251994 -0.01767541] [ 0.0188712 0.00837144 0.99978688]] t_estimated: [[0.62123583] [0.78362322] [0.00083276]] R_gt: [[ 0.94535855 -0.21120493 -0.24837273] [ 0.27215289 0.93068322 0.24446033] [ 0.17952576 -0.29869692 0.93731036]] t_gt: [ 0.7671083 -0.56587065 0.30221725] Pose Error in degrees for R and t: 84.95668381314121 88.0872573006573 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.43724676 0.75229095 0.49282208] [ 0.85661827 -0.18148769 -0.48297759] [-0.27389853 0.63334079 -0.72378107]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.98951475 -0.14367909 -0.01473716] [ 0.14302902 0.9889749 -0.03834745] [ 0.02008429 0.03583681 0.9991563 ]] t_gt: [ 0.43542763 -0.82434162 -0.36175084] Pose Error in degrees for R and t: 135.52483011284912 76.7809620224134 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 1.00000000e+00 -1.19248952e-13 -4.64324595e-15] [ 1.19896017e-13 1.00000000e+00 4.28272821e-15] [ 4.64324595e-15 -4.30396488e-15 1.00000000e+00]] t_estimated: [[-1.00000000e+00] [-5.70420822e-13] [-5.47703802e-15]] R_gt: [[ 0.97925153 -0.1946257 0.05646189] [ 0.19599008 0.98040806 -0.01966981] [-0.05152707 0.03032825 0.99821153]] t_gt: [ 0.16980871 -0.97981684 0.10547022] Pose Error in degrees for R and t: 11.780884076903531 80.22330299327858 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99999448e-01 1.05004562e-03 3.61843510e-05] [-1.05004918e-03 9.99999444e-01 9.85888781e-05] [-3.60808081e-05 -9.86268190e-05 9.99999994e-01]] t_estimated: [[0.99952618] [0.03073139] [0.00173246]] R_gt: [[ 9.46626729e-01 -3.20693659e-01 3.24523053e-02] [ 3.20888338e-01 9.47116031e-01 -8.55680822e-04] [-3.04610421e-02 1.12233212e-02 9.99473363e-01]] t_gt: [ 0.39257766 -0.91592859 0.08341218] Pose Error in degrees for R and t: 18.86709495357832 68.63005165284795 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99997110e-01 2.45992745e-04 -2.39144369e-03] [-2.39150015e-04 9.99995878e-01 2.86120381e-03] [ 2.39213767e-03 -2.86062363e-03 9.99993047e-01]] t_estimated: [[0.48476655] [0.87464301] [0.00099362]] R_gt: [[ 0.99525336 0.07844877 -0.05759312] [-0.07090623 0.98986869 0.12301823] [ 0.06666031 -0.11835113 0.99073241]] t_gt: [-0.1529352 0.18569877 0.97063216] Pose Error in degrees for R and t: 8.723297033340973 84.87972839296367 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.75084380e-01 -2.21834266e-01 -1.00830122e-04] [ 2.21834286e-01 9.75084342e-01 2.74998591e-04] [ 3.73137626e-05 -2.90514409e-04 9.99999957e-01]] t_estimated: [[0.62412067] [0.78132702] [0.00121558]] R_gt: [[ 0.98637981 0.13807616 -0.08939552] [-0.12427382 0.98160639 0.14493052] [ 0.107763 -0.13184721 0.9853954 ]] t_gt: [-0.24665739 0.79302305 0.55702295] Pose Error in degrees for R and t: 22.61337952951876 62.202796478518685 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 2.05543729e-01 -9.78646721e-01 -1.54002577e-03] [ 9.78647927e-01 2.05543642e-01 2.16449002e-04] [ 1.04715400e-04 -1.55163276e-03 9.99998791e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97571355 0.19911478 -0.09130952] [-0.18448868 0.97169722 0.14754423] [ 0.1181031 -0.12711517 0.98483197]] t_gt: [-0.32451904 0.88953171 0.32159094] Pose Error in degrees for R and t: 89.71127289966148 71.24574019625464 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.41262426 0.91052582 0.02615266] [-0.91077691 0.4119233 0.02836576] [ 0.01505487 -0.03552364 0.99925543]] t_estimated: [[0.07426199] [0.9972325 ] [0.00353629]] R_gt: [[ 0.99651848 0.03012263 -0.0777426 ] [-0.02640759 0.99848066 0.0483751 ] [ 0.07908192 -0.04615391 0.99579941]] t_gt: [ 0.14409118 -0.92687751 0.34660614] Pose Error in degrees for R and t: 64.17680364173728 24.16278576727205 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 6.14362461e-01 7.89022239e-01 -1.63500353e-03] [-7.89023846e-01 6.14360107e-01 -1.74025384e-03] [-3.68618041e-04 2.35920341e-03 9.99997149e-01]] t_estimated: [[-2.45608098e-01] [ 9.69368921e-01] [-7.46602697e-04]] R_gt: [[ 0.9848502 0.12343673 -0.12179911] [-0.1022407 0.98062356 0.1671059 ] [ 0.14006581 -0.15212087 0.97838638]] t_gt: [-0.33309911 0.10128829 0.93743569] Pose Error in degrees for R and t: 47.02113493173293 79.67114664287519 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.99984833 -0.01622068 -0.00634027] [ 0.01629823 0.99979058 0.01237596] [ 0.00613819 -0.01247742 0.99990331]] t_estimated: [[0.35661094] [0.93425229] [0.00113933]] R_gt: [[ 0.97436213 0.15850836 -0.15967353] [-0.12510355 0.97155806 0.20106048] [ 0.1870017 -0.17593007 0.96647806]] t_gt: [-0.14596107 0.57772955 0.80307156] Pose Error in degrees for R and t: 16.844723542222667 60.75081626966952 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.99990688e-01 4.31524942e-03 4.94427830e-05] [-4.31525193e-03 9.99990688e-01 5.07963008e-05] [-4.92231239e-05 -5.10091858e-05 9.99999997e-01]] t_estimated: [[0.69085724] [0.72299014] [0.00123588]] R_gt: [[ 0.99475937 -0.09695636 0.03245155] [ 0.09669393 0.99526788 0.00954793] [-0.03322289 -0.00635926 0.99942732]] t_gt: [ 0.90815866 -0.26970795 0.32016475] Pose Error in degrees for R and t: 6.119232184714537 64.35413701795461 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-3.86507447e-02 9.99252567e-01 6.53549265e-04] [-9.99251274e-01 -3.86495424e-02 -1.76172107e-03] [-1.73514493e-03 -7.21151767e-04 9.99998235e-01]] t_estimated: [[0.00759197] [0.99997059] [0.00108457]] R_gt: [[ 0.98935153 -0.12255641 0.07851452] [ 0.12315842 0.99238241 -0.00284899] [-0.07756702 0.0124883 0.99690846]] t_gt: [ 0.88481542 -0.03643881 0.46451467] Pose Error in degrees for R and t: 99.35310041590898 88.32578236897092 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 8.59633661e-01 -5.10910571e-01 -5.97231531e-04] [ 5.10910809e-01 8.59633659e-01 3.43169411e-04] [ 3.38071447e-04 -6.00132022e-04 9.99999763e-01]] t_estimated: [[-0.57446301] [-0.81852985] [-0.00106579]] R_gt: [[ 0.98547519 -0.08708829 0.14578862] [ 0.09400154 0.99471872 -0.04120755] [-0.14142887 0.05431382 0.98845701]] t_gt: [0.65953434 0.34705958 0.66675641] Pose Error in degrees for R and t: 26.935300516570777 48.41983234718508 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.97994418e-01 -6.33019489e-02 7.65493071e-05] [ 6.33019568e-02 9.97994414e-01 -1.05454561e-04] [-6.97203017e-05 1.10088784e-04 9.99999992e-01]] t_estimated: [[-0.73105504] [-0.68231804] [-0.00078608]] R_gt: [[ 0.99140609 0.13066197 -0.00646553] [-0.13081314 0.98957003 -0.06031793] [-0.00148307 0.06064622 0.9981582 ]] t_gt: [-0.37149007 0.90347758 -0.21383029] Pose Error in degrees for R and t: 11.675048466973163 69.8358277733904 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99892076e-01 1.46911819e-02 -7.92780942e-05] [-1.46911822e-02 9.99892079e-01 -3.63054747e-06] [ 7.92162013e-05 4.79484457e-06 9.99999997e-01]] t_estimated: [[-9.99090890e-01] [ 4.26272636e-02] [-5.56490749e-04]] R_gt: [[ 0.98465581 0.17247533 0.02657485] [-0.17256628 0.98499775 0.00111461] [-0.02598451 -0.00568298 0.99964658]] t_gt: [-0.41607992 0.89348025 0.16902823] Pose Error in degrees for R and t: 9.22149331847563 63.019050780299956 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 6.88921439e-01 7.24828099e-01 3.38787063e-03] [ 7.24835929e-01 -6.88916129e-01 -2.72835914e-03] [ 3.56367347e-04 4.33527546e-03 -9.99990539e-01]] t_estimated: [[-3.14206038e-01] [ 9.49354815e-01] [-8.56359088e-06]] R_gt: [[ 0.98240481 0.16619169 0.08521294] [-0.17642832 0.97549248 0.13148417] [-0.06127324 -0.14420399 0.98764894]] t_gt: [-0.36851629 0.68173265 0.63200976] Pose Error in degrees for R and t: 174.56560417722122 40.27142524004588 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 1.00000000e+00 -1.17234000e-12 -1.51181151e-15] [ 1.17261756e-12 1.00000000e+00 3.01147995e-15] [ 1.50682418e-15 -3.01408204e-15 1.00000000e+00]] t_estimated: [[ 0.34190957] [-0.93972069] [-0.00478322]] R_gt: [[ 0.98826358 -0.15206373 -0.01459084] [ 0.15221335 0.9882999 0.00974773] [ 0.01293807 -0.01185333 0.9998459 ]] t_gt: [ 0.85446338 -0.51947271 -0.0063587 ] Pose Error in degrees for R and t: 8.808868319439203 38.70838718319014 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.90914465 0.41646882 -0.00311829] [ 0.41645611 0.90914697 0.0040123 ] [ 0.00450598 0.00234913 -0.99998709]] t_estimated: [[ 0.83235905] [-0.554231 ] [-0.00253068]] R_gt: [[ 0.9258697 -0.37753096 -0.01539027] [ 0.37782127 0.92549754 0.02656107] [ 0.00421616 -0.0304062 0.99952904]] t_gt: [ 0.90630128 -0.42036546 0.04371349] Pose Error in degrees for R and t: 178.90400412169947 9.163822684960438 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999946e-01 3.29542926e-04 7.45404268e-06] [-3.29543296e-04 9.99999944e-01 4.96815996e-05] [-7.43767004e-06 -4.96840533e-05 9.99999999e-01]] t_estimated: [[ 9.99794884e-01] [-2.02517782e-02] [ 2.36962601e-04]] R_gt: [[ 8.66378259e-01 -4.99258256e-01 1.14077478e-02] [ 4.99200504e-01 8.66452278e-01 7.72713365e-03] [-1.37414310e-02 -9.98741402e-04 9.99904947e-01]] t_gt: [ 0.92964831 -0.36839484 0.00626645] Pose Error in degrees for R and t: 29.979586937613043 20.45945834313539 Number of keypoints: Image1: 384 Image2: 384 R_estimated: [[ 9.99609025e-01 -2.79606310e-02 2.49945890e-05] [ 2.79606310e-02 9.99609025e-01 5.58909478e-07] [-2.50004442e-05 1.40173520e-07 1.00000000e+00]] t_estimated: [[ 0.77751713] [-0.62886062] [ 0.00119962]] R_gt: [[ 0.99978802 0.0035865 -0.02027983] [-0.00322227 0.99983242 0.01797857] [ 0.02034054 -0.0179097 0.99963304]] t_gt: [-0.39253871 -0.50519793 -0.76856256] Pose Error in degrees for R and t: 2.376185406514929 89.33698556359784 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 0.70397294 0.71017278 0.00875883] [-0.70991223 0.70324064 0.03843467] [ 0.02113569 -0.03327497 0.99922273]] t_estimated: [[0.63161235] [0.77528383] [0.00090359]] R_gt: [[ 0.99593734 -0.08979974 0.00668106] [ 0.0898238 0.99595245 -0.00329702] [-0.00635818 0.00388406 0.99997199]] t_gt: [ 0.62619322 -0.77766216 0.05588943] Pose Error in degrees for R and t: 50.47499777664614 78.0330737871422 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 9.99982824e-01 -5.84699283e-03 4.05286400e-04] [ 5.84686961e-03 9.99982861e-01 3.04563285e-04] [-4.07060233e-04 -3.02188397e-04 9.99999871e-01]] t_estimated: [[0.93026817] [0.36687637] [0.00169037]] R_gt: [[ 0.97301002 -0.23058501 -0.00903778] [ 0.23001042 0.97225398 -0.04262882] [ 0.01861567 0.03939973 0.99904979]] t_gt: [ 0.74732412 -0.65090299 -0.13353637] Pose Error in degrees for R and t: 13.227644810858214 62.85878241515785 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 4.18952110e-01 -9.08007960e-01 8.20409796e-04] [-9.08007163e-01 -4.18952850e-01 -1.22535625e-03] [ 1.45634625e-03 -2.31572385e-04 -9.99998913e-01]] t_estimated: [[5.68393472e-01] [8.22756789e-01] [3.57830972e-04]] R_gt: [[ 0.99160451 -0.12632771 0.02760171] [ 0.12706504 0.99153202 -0.02681312] [-0.023982 0.03009594 0.99925995]] t_gt: [ 0.69384156 -0.71977233 0.0226203 ] Pose Error in degrees for R and t: 179.38562025502046 78.59081619913461 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99748775e-01 2.24114994e-02 3.33879933e-04] [-2.24116515e-02 9.99748722e-01 4.58990738e-04] [-3.23509365e-04 -4.66358229e-04 9.99999839e-01]] t_estimated: [[0.89082036] [0.45435346] [0.00142318]] R_gt: [[ 0.96572785 -0.25894044 0.01788791] [ 0.25949024 0.96475223 -0.04379238] [-0.00591877 0.04693318 0.99888133]] t_gt: [ 0.7651034 -0.64055458 -0.06562478] Pose Error in degrees for R and t: 16.54192962062448 67.0182377478198 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-8.80761490e-02 9.96113712e-01 -2.54677663e-04] [ 9.96110251e-01 8.80765144e-02 2.62609666e-03] [ 2.63832201e-03 -2.23905503e-05 -9.99996519e-01]] t_estimated: [[8.02423053e-01] [5.96755420e-01] [4.60849312e-04]] R_gt: [[ 0.92567812 -0.37348598 0.06023188] [ 0.37597974 0.92588723 -0.03702624] [-0.04193945 0.05692069 0.99749812]] t_gt: [ 0.79437689 -0.60739754 0.00579593] Pose Error in degrees for R and t: 176.03693802758465 74.04029656936024 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-6.16034710e-01 7.87718837e-01 -5.19922955e-04] [-7.87716382e-01 -6.16034226e-01 -2.17558962e-03] [-2.03404326e-03 -9.30686889e-04 9.99997498e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99510784 -0.09809373 -0.01177317] [ 0.09787228 0.99503469 -0.01811349] [ 0.01349151 0.0168724 0.99976694]] t_gt: [ 0.55272087 -0.80899661 -0.2000603 ] Pose Error in degrees for R and t: 133.65368099177536 36.31810761527461 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.95976877 0.11773282 -0.25491741] [-0.00671144 0.91721205 0.39834283] [ 0.28071135 -0.38060615 0.88110164]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.97312762 -0.2295235 -0.01848465] [ 0.22944159 0.97330127 -0.00648061] [ 0.01947813 0.00206558 0.99980814]] t_gt: [ 0.64943241 -0.75879036 -0.04974661] Pose Error in degrees for R and t: 32.54792101907601 88.56537371079595 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.54917515e-01 2.96870088e-01 8.31153546e-04] [-2.96869429e-01 9.54917720e-01 -8.30231897e-04] [-1.04015427e-03 5.46058901e-04 9.99999310e-01]] t_estimated: [[7.70162227e-01] [6.37847672e-01] [7.01375353e-04]] R_gt: [[ 0.91094914 -0.41161354 -0.02732546] [ 0.41167524 0.91132397 -0.00360811] [ 0.02638692 -0.0079618 0.9996203 ]] t_gt: [ 0.75857401 -0.65145007 -0.01335212] Pose Error in degrees for R and t: 41.61367290561076 80.28835194332692 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.60823207e-01 -2.77161329e-01 -6.03027570e-04] [ 2.77161479e-01 9.60823336e-01 1.79697682e-04] [ 5.29597713e-04 -3.39793716e-04 9.99999802e-01]] t_estimated: [[ 9.61860350e-01] [-2.73540783e-01] [-3.25988681e-04]] R_gt: [[ 0.97164712 -0.23642966 -0.00178452] [ 0.23642776 0.97151872 0.01590805] [-0.0020272 -0.01587893 0.99987128]] t_gt: [ 0.86485389 -0.49862538 0.05831361] Pose Error in degrees for R and t: 2.5778119141539677 14.477925095828477 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.93259978e-01 1.15907286e-01 3.42888703e-04] [-1.15907236e-01 9.93260029e-01 -1.63542176e-04] [-3.59533373e-04 1.22696617e-04 9.99999928e-01]] t_estimated: [[9.99994892e-01] [3.10075925e-03] [7.75189813e-04]] R_gt: [[ 0.92378595 -0.38258653 0.01576586] [ 0.38258936 0.92391409 0.0029031 ] [-0.01567702 0.0033502 0.99987141]] t_gt: [ 0.8973595 -0.44113047 0.01224116] Pose Error in degrees for R and t: 29.165025124137276 26.36327654148926 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 7.02241700e-01 7.11938597e-01 -1.71029302e-04] [-7.11938575e-01 7.02241554e-01 -5.15211475e-04] [-2.46695052e-04 4.83565340e-04 9.99999853e-01]] t_estimated: [[0.00833304] [0.99996474] [0.00104163]] R_gt: [[ 0.6892394 -0.72429324 0.01865749] [ 0.72408954 0.68948939 0.01725047] [-0.02535874 0.0016195 0.99967673]] t_gt: [ 0.96753569 -0.25234347 0.01405194] Pose Error in degrees for R and t: 91.81335001442004 75.86204620971033 Number of keypoints: Image1: 362 Image2: 362 R_estimated: [[ 9.96869459e-01 -7.90650425e-02 3.55940610e-05] [ 7.90650392e-02 9.96869456e-01 8.58801160e-05] [-4.22727473e-05 -8.27970190e-05 9.99999996e-01]] t_estimated: [[0.94219356] [0.33506663] [0.00128125]] R_gt: [[ 0.99873475 -0.04521621 0.0220177 ] [ 0.04605046 0.99817908 -0.03897525] [-0.02021529 0.03993944 0.99899662]] t_gt: [ 0.67381713 0.5012658 -0.54286562] Pose Error in degrees for R and t: 3.2059023110158127 36.66620027068449 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.29811362e-01 3.68036253e-01 3.83608595e-04] [-3.68036284e-01 9.29811429e-01 1.14872675e-05] [-3.52455925e-04 -1.51862874e-04 9.99999926e-01]] t_estimated: [[0.43256319] [0.90160316] [0.00091421]] R_gt: [[ 0.99103263 -0.11372577 0.0701615 ] [ 0.11587023 0.99289105 -0.02727846] [-0.06656075 0.03516292 0.99716203]] t_gt: [ 0.94772188 -0.04566824 0.31581267] Pose Error in degrees for R and t: 28.515147078030726 68.34211597391433 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.99974416 0.02252833 0.00202152] [-0.02253846 -0.99973276 -0.00514018] [ 0.00190518 -0.00518443 0.99998475]] t_estimated: [[0.76376711] [0.64549144] [0.00077304]] R_gt: [[ 0.98021842 -0.17112496 0.09944485] [ 0.17433555 0.9843827 -0.02448338] [-0.09370268 0.04133475 0.99474106]] t_gt: [ 0.92528812 -0.00216606 0.37925877] Pose Error in degrees for R and t: 171.34252190058334 45.12199142578663 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.98972149e-01 4.53271363e-02 3.10866275e-04] [-4.53268059e-02 9.98971713e-01 -9.98165687e-04] [-3.55790608e-04 9.83049146e-04 9.99999454e-01]] t_estimated: [[-0.18621925] [ 0.98250318] [-0.00314646]] R_gt: [[ 0.98937719 0.14433123 -0.0173961 ] [-0.14506979 0.98796126 -0.05373914] [ 0.00943153 0.05569234 0.99840272]] t_gt: [-0.33137358 0.91197678 -0.24184688] Pose Error in degrees for R and t: 6.5550939107203785 16.566554122545764 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 0.95950014 0.28169369 -0.00285337] [-0.28167151 0.95948949 0.00640941] [ 0.00454327 -0.00534612 0.99997539]] t_estimated: [[-9.07152915e-01] [-4.20800536e-01] [-7.04858520e-04]] R_gt: [[ 0.97160152 0.23639255 -0.01047759] [-0.23654866 0.96920588 -0.06844417] [-0.00602453 0.0689796 0.99759935]] t_gt: [-0.33281842 0.93547727 -0.11880309] Pose Error in degrees for R and t: 5.0671251306961045 84.74155472777943 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.98072160e-01 -6.20641468e-02 7.23415762e-05] [ 6.20641597e-02 9.98072143e-01 -1.91323524e-04] [-6.03277808e-05 1.95444502e-04 9.99999979e-01]] t_estimated: [[0.69461976] [0.71937561] [0.00145623]] R_gt: [[ 0.9681445 0.24916452 0.02476846] [-0.25011522 0.96698462 0.04880529] [-0.01178977 -0.053445 0.99850081]] t_gt: [-0.3719914 0.91047457 0.18071653] Pose Error in degrees for R and t: 18.296015504304666 66.618984636948 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.28883271 -0.95737877 0.00124412] [-0.95737386 0.28882625 -0.00383343] [ 0.00331071 -0.00229831 -0.99999188]] t_estimated: [[7.85077736e-01] [6.19397134e-01] [3.72798758e-04]] R_gt: [[ 0.9971274 0.02201769 -0.07247313] [-0.02158067 0.99974425 0.00680439] [ 0.07260529 -0.00521998 0.99734723]] t_gt: [ 0.40295356 0.41154931 -0.81746902] Pose Error in degrees for R and t: 176.79518274382355 55.1829724893545 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-0.97387928 -0.22706197 0.00141534] [ 0.22703649 -0.97383328 -0.01015724] [ 0.00368463 -0.00957059 0.99994741]] t_estimated: [[0.80972792] [0.58680466] [0.00098806]] R_gt: [[ 0.99022955 0.02124951 -0.13782203] [-0.0221358 0.99974338 -0.00490399] [ 0.13768296 0.00790775 0.99044536]] t_gt: [ 0.51058132 0.27183569 -0.81572794] Pose Error in degrees for R and t: 168.1139550818774 55.10038148387403 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.07097691 -0.99745005 0.00746185] [-0.99746872 -0.07100647 -0.00377365] [ 0.00429387 -0.00717512 -0.99996504]] t_estimated: [[0.70612854] [0.70808327] [0.0007592 ]] R_gt: [[ 0.98064313 0.02419844 -0.19430395] [-0.02321507 0.99970409 0.00733374] [ 0.19442508 -0.00268048 0.98091436]] t_gt: [ 0.57815325 0.22748837 -0.78357377] Pose Error in degrees for R and t: 172.71749744561274 55.337846949609585 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.99673806e-01 -2.55398044e-02 2.63000407e-05] [ 2.55397964e-02 9.99673770e-01 2.68653605e-04] [-3.31528214e-05 -2.67894274e-04 9.99999964e-01]] t_estimated: [[9.49140865e-01] [3.14850403e-01] [9.17931204e-04]] R_gt: [[ 0.99600964 -0.08731677 -0.01844927] [ 0.08827384 0.99430708 0.05968567] [ 0.01313289 -0.06107624 0.99804659]] t_gt: [ 0.59931563 -0.67928757 0.42354359] Pose Error in degrees for R and t: 5.052111776094135 69.18511719220345 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[-9.55265971e-01 2.95726454e-01 -3.57628537e-03] [-2.95731443e-01 -9.55270652e-01 9.45616711e-04] [-3.13667658e-03 1.96093550e-03 9.99993158e-01]] t_estimated: [[7.82293131e-01] [6.22910044e-01] [7.31115075e-04]] R_gt: [[ 0.97179656 -0.23381644 -0.03066482] [ 0.23560723 0.96819846 0.08415172] [ 0.01001357 -0.08900304 0.99598121]] t_gt: [ 0.65912432 -0.69453801 0.2883957 ] Pose Error in degrees for R and t: 176.41223420427087 85.22721127053178 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.42438449 -0.90547809 -0.0026901 ] [ 0.90548147 -0.42437889 -0.0024204 ] [ 0.00105 -0.00346302 0.99999345]] t_estimated: [[9.46121719e-01] [3.23810344e-01] [7.44391596e-04]] R_gt: [[ 0.9304509 -0.36175199 -0.05827291] [ 0.36566796 0.9268884 0.08464743] [ 0.02339054 -0.10006949 0.99470591]] t_gt: [ 0.72643092 -0.65241112 0.21600429] Pose Error in degrees for R and t: 93.85703814062495 61.56278938354497 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999971e-01 2.12814076e-04 1.12253580e-04] [-2.12804484e-04 9.99999974e-01 -8.54514122e-05] [-1.12271762e-04 8.54275217e-05 9.99999990e-01]] t_estimated: [[-9.91190383e-01] [ 1.32443972e-01] [ 4.68357043e-04]] R_gt: [[ 0.98889981 -0.14356082 0.03831164] [ 0.14253962 0.9893886 0.02817977] [-0.04195076 -0.02240585 0.99886808]] t_gt: [ 0.46658173 -0.82032561 0.33070739] Pose Error in degrees for R and t: 8.678677000403814 55.18255071737657 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99997926e-01 -1.95283270e-03 5.77631706e-04] [ 1.95293350e-03 9.99998078e-01 -1.74000560e-04] [-5.77290802e-04 1.75128275e-04 9.99999818e-01]] t_estimated: [[0.30266449] [0.95309643] [0.00118692]] R_gt: [[ 0.95644524 -0.27040874 -0.10996504] [ 0.28441854 0.9480523 0.14248986] [ 0.0657218 -0.1675596 0.98366838]] t_gt: [ 0.58126972 -0.77153905 0.25855948] Pose Error in degrees for R and t: 19.170613162251268 56.0054169063881 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.99993252 -0.00880407 -0.00757865] [ 0.00885385 0.99993928 0.00656059] [ 0.00752043 -0.00662725 0.99994976]] t_estimated: [[-0.99386117] [-0.11024007] [-0.00933295]] R_gt: [[ 0.89561091 -0.40953094 -0.17368682] [ 0.43597478 0.88565057 0.15984257] [ 0.08836517 -0.21887967 0.97174233]] t_gt: [ 0.66234526 -0.71154524 0.23452532] Pose Error in degrees for R and t: 28.067581198212523 54.406744435977195 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.87167302e-01 -1.59689438e-01 -3.96961120e-05] [ 1.59689442e-01 9.87167295e-01 1.19141560e-04] [ 2.01610548e-05 -1.23951702e-04 9.99999992e-01]] t_estimated: [[9.93200197e-01] [1.16416089e-01] [8.14098522e-04]] R_gt: [[ 0.99658696 0.07656097 -0.03088184] [-0.07456724 0.99533276 0.06125614] [ 0.03542838 -0.05874391 0.9976438 ]] t_gt: [-0.27327355 0.9085831 0.31590871] Pose Error in degrees for R and t: 14.083443939482338 80.48043021122825 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.1236823 -0.99001515 -0.06762174] [-0.99000189 0.12776335 -0.05977284] [ 0.06781559 0.05955281 -0.99591893]] t_estimated: [[ 0.72845554] [ 0.68371505] [-0.04343114]] R_gt: [[ 0.99745053 0.04615514 -0.05443013] [-0.04309934 0.99749836 0.05603251] [ 0.05688013 -0.05354364 0.99694393]] t_gt: [ 0.54483527 0.83826809 -0.02147438] Pose Error in degrees for R and t: 174.50954556894632 13.842416139335361 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.94991021e-01 -9.99643241e-02 4.62262328e-05] [ 9.99643122e-02 9.94991001e-01 2.12429534e-04] [-6.72300604e-05 -2.06744505e-04 9.99999976e-01]] t_estimated: [[-0.65044429] [-0.75955107] [-0.00209821]] R_gt: [[ 0.9924703 0.08432355 -0.08883865] [-0.08148359 0.99605518 0.03512959] [ 0.09145105 -0.02762636 0.99542615]] t_gt: [ 0.46452347 0.796898 -0.38622731] Pose Error in degrees for R and t: 11.844124174661006 24.957506121302053 Number of keypoints: Image1: 483 Image2: 483 R_estimated: [[-0.18566475 0.9825595 -0.0102677 ] [-0.98260533 -0.18569481 -0.00204802] [-0.00391896 0.00970885 0.99994519]] t_estimated: [[0.36907215] [0.92940017] [0.00103382]] R_gt: [[ 0.99901567 -0.02317591 0.0378137 ] [ 0.02186741 0.99916091 0.03464947] [-0.03858422 -0.03378839 0.99868431]] t_gt: [-0.1713508 -0.52367182 0.83450988] Pose Error in degrees for R and t: 102.04284696085344 56.696165493545635 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.99995260e-01 -2.93448585e-03 9.31788556e-04] [ 2.93451899e-03 9.99995694e-01 -3.41925827e-05] [-9.31684206e-04 3.69267718e-05 9.99999565e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.99892458 0.01365205 0.04430446] [-0.01458304 0.99967826 0.02076408] [-0.04400614 -0.02138695 0.99880283]] t_gt: [-0.71685566 -0.15992535 0.67863233] Pose Error in degrees for R and t: 2.9251384524314354 65.11099360676452 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.85305142e-01 -1.70802672e-01 4.74735671e-04] [ 1.70802906e-01 9.85305084e-01 -5.08105682e-04] [-3.80973662e-04 5.81725374e-04 9.99999758e-01]] t_estimated: [[0.14337856] [0.98966174] [0.00349704]] R_gt: [[ 0.98797257 0.14008707 0.06546134] [-0.13712145 0.98940064 -0.04780654] [-0.07146421 0.03825555 0.99670969]] t_gt: [-0.82513755 0.52455093 0.20974829] Pose Error in degrees for R and t: 18.397257371993327 66.32460932692567 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.94883875e-01 1.01024998e-01 1.55622396e-04] [-1.01024943e-01 9.94883839e-01 -3.28389630e-04] [-1.88001768e-04 3.10987804e-04 9.99999934e-01]] t_estimated: [[-0.55598413] [-0.83119158] [-0.00148858]] R_gt: [[ 0.99985588 -0.01117942 0.0127861 ] [ 0.01222318 0.9963283 -0.08474669] [-0.01179168 0.08489058 0.99632018]] t_gt: [ 0.27546306 0.14569118 -0.95020744] Pose Error in degrees for R and t: 8.112513286115362 74.16690994808536 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.58116074e-01 2.86380137e-01 7.97605751e-05] [-2.86380103e-01 9.58116042e-01 -2.93380856e-04] [-1.60438336e-04 2.58251072e-04 9.99999954e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.99889581 0.04683573 -0.0037358 ] [-0.04691229 0.98981323 -0.1344259 ] [-0.00259881 0.13445236 0.99091639]] t_gt: [-0.03646609 0.41449308 -0.90932156] Pose Error in degrees for R and t: 15.92407190004935 87.94346754948828 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-3.79182165e-01 -9.25321967e-01 -3.78846103e-04] [-9.25322037e-01 3.79182078e-01 2.83027812e-04] [-1.18240199e-04 4.57873746e-04 -9.99999888e-01]] t_estimated: [[9.03459115e-01] [4.28673417e-01] [8.53931110e-04]] R_gt: [[ 0.97636511 0.21236032 -0.0401861 ] [-0.21599653 0.96525918 -0.14703912] [ 0.00756553 0.15224358 0.98831423]] t_gt: [-0.37615174 0.74774723 -0.54715989] Pose Error in degrees for R and t: 174.02044799608444 88.86744105608913 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.23379178e-01 -3.83888797e-01 -5.34758470e-04] [ 3.83888864e-01 9.23379304e-01 2.44253648e-05] [ 4.84408280e-04 -2.27841695e-04 9.99999857e-01]] t_estimated: [[ 0.68254548] [-0.73084247] [-0.00097536]] R_gt: [[ 0.9934022 -0.11436118 -0.00859361] [ 0.11425348 0.99337768 -0.01205603] [ 0.00991553 0.01099391 0.99988995]] t_gt: [ 0.65896056 -0.74700048 -0.088098 ] Pose Error in degrees for R and t: 16.03250660611623 5.255488762086647 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.98985275e-01 -4.50377234e-02 1.52026349e-04] [ 4.50376903e-02 9.98985265e-01 2.14124444e-04] [-1.61515760e-04 -2.07060251e-04 9.99999966e-01]] t_estimated: [[9.62620108e-01] [2.70854138e-01] [7.50288471e-04]] R_gt: [[ 0.98089154 -0.19309838 0.02376672] [ 0.19275085 0.98111477 0.01611871] [-0.02643058 -0.01123053 0.99958712]] t_gt: [ 0.60224439 -0.78556467 0.14209094] Pose Error in degrees for R and t: 8.698836022538643 68.46523336451915 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.99999845 -0.00120216 0.001283 ] [ 0.00120417 0.99999805 -0.00156564] [-0.00128112 0.00156718 0.99999795]] t_estimated: [[-0.04246112] [-0.99907906] [-0.00617141]] R_gt: [[ 0.95469725 -0.29683555 0.02101376] [ 0.29581912 0.95435199 0.04125084] [-0.03229936 -0.03316546 0.99892767]] t_gt: [ 0.6684239 -0.72578415 0.1626249 ] Pose Error in degrees for R and t: 17.38507739120206 45.914574593200726 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.96784551e-01 8.01283787e-02 -4.70401075e-05] [-8.01283830e-02 9.96784547e-01 -9.74943297e-05] [ 3.90767897e-05 1.00950089e-04 9.99999994e-01]] t_estimated: [[-0.77581791] [-0.63095523] [-0.00143559]] R_gt: [[ 0.99928558 0.0049146 0.03749407] [-0.00669408 0.99885036 0.04747511] [-0.03721794 -0.04769249 0.99816871]] t_gt: [-0.15161373 0.02141345 0.98820784] Pose Error in degrees for R and t: 5.4985474726373695 84.10561453634608 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99988732e-01 4.73379118e-03 3.56957314e-04] [-4.73374206e-03 9.99988786e-01 -1.38310722e-04] [-3.57608045e-04 1.36619420e-04 9.99999927e-01]] t_estimated: [[ 0.87682878] [-0.48079889] [ 0.00192581]] R_gt: [[ 0.99917351 -0.01502718 0.03779906] [ 0.01313935 0.99867721 0.04971367] [-0.03849643 -0.04917593 0.99804822]] t_gt: [0.11286186 0.03049648 0.99314257] Pose Error in degrees for R and t: 3.732919766809966 85.05436567341627 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-3.64513439e-01 -9.31195990e-01 -1.99506996e-03] [ 9.31198126e-01 -3.64512729e-01 -7.21625536e-04] [-5.52535882e-05 -2.12084761e-03 9.99997749e-01]] t_estimated: [[ 9.99393217e-01] [-3.48232322e-02] [ 7.34892543e-04]] R_gt: [[ 0.99769559 0.06151216 0.02864995] [-0.06322925 0.99597685 0.06350098] [-0.02462866 -0.06516528 0.99757058]] t_gt: [-0.48082976 0.65816836 0.57932473] Pose Error in degrees for R and t: 115.00117215721912 59.79921358077038 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.91618852 -0.40071173 -0.00535705] [ 0.40064204 -0.9161722 0.01069884] [-0.00919513 0.0076559 0.99992842]] t_estimated: [[0.96159007] [0.27448373] [0.00179401]] R_gt: [[ 0.99775947 -0.058998 0.03155976] [ 0.0579254 0.99774493 0.03389734] [-0.03348804 -0.0319936 0.99892665]] t_gt: [ 0.76817495 -0.23616297 0.59509184] Pose Error in degrees for R and t: 153.01695597346696 47.55251936876755 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.81471377e-01 1.91595012e-01 2.29922994e-03] [-1.91593068e-01 9.81473899e-01 -1.03998600e-03] [-2.45589030e-03 5.80199975e-04 9.99996816e-01]] t_estimated: [[0.49963258] [0.86623605] [0.00154685]] R_gt: [[ 0.99079106 -0.1324082 -0.02831101] [ 0.13155333 0.99084884 -0.03019284] [ 0.03204979 0.02619025 0.99914329]] t_gt: [ 0.97902027 -0.10218998 -0.17628535] Pose Error in degrees for R and t: 18.791440130137328 66.39949604620271 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.83183561e-01 1.82619552e-01 4.30601878e-04] [-1.82619755e-01 9.83174884e-01 4.14393995e-03] [ 3.33407503e-04 -4.15289004e-03 9.99991321e-01]] t_estimated: [[0.87586931] [0.48254754] [0.00091047]] R_gt: [[ 0.99307597 -0.09276589 -0.0720781 ] [ 0.08570915 0.99173279 -0.09549306] [ 0.08034162 0.08865428 0.99281741]] t_gt: [ 0.77910831 -0.02004189 -0.62656888] Pose Error in degrees for R and t: 17.169590689841417 47.766360214161026 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.12880651e-01 -4.08225202e-01 -1.04942973e-03] [ 4.08225908e-01 9.12880760e-01 5.71320424e-04] [ 7.24776816e-04 -9.49951766e-04 9.99999286e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99062573 -0.13653447 0.00443395] [ 0.13500484 0.9834513 0.12082155] [-0.02085734 -0.11909051 0.99266339]] t_gt: [ 0.55457944 -0.70518141 0.4417701 ] Pose Error in degrees for R and t: 17.65771676914417 56.44532563475543 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.64844376e-01 2.62821745e-01 2.45180746e-04] [-2.62821650e-01 9.64844365e-01 -3.62545014e-04] [-3.31845974e-04 2.85360710e-04 9.99999904e-01]] t_estimated: [[9.98852798e-01] [4.78790768e-02] [8.26160176e-04]] R_gt: [[ 0.96341768 -0.26696048 0.02362988] [ 0.26098909 0.95458509 0.14370682] [-0.06092033 -0.1322832 0.98933765]] t_gt: [ 0.62759961 -0.68209835 0.37531396] Pose Error in degrees for R and t: 31.72893333098005 53.52076187699861 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 0.09629956 0.9937972 -0.05561939] [ 0.94857615 -0.07470183 0.3076084 ] [ 0.3015455 -0.08238178 -0.94988607]] t_estimated: [[-0.79572254] [-0.58841251] [-0.14351431]] R_gt: [[ 0.95486943 -0.29586087 0.02629005] [ 0.2895448 0.94690425 0.13977226] [-0.06624779 -0.12585232 0.9898339 ]] t_gt: [ 0.63943849 -0.68709077 0.34499955] Pose Error in degrees for R and t: 162.40723938798155 81.13915520969724 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.77276407 0.63455146 0.01342166] [ 0.63448535 -0.77287942 0.00925944] [ 0.01624891 0.00136048 -0.99986705]] t_estimated: [[7.74192328e-01] [6.32950079e-01] [6.60010510e-04]] R_gt: [[ 0.99261171 -0.10919566 0.0529002 ] [ 0.09909127 0.98114831 0.16592196] [-0.0700205 -0.15945475 0.98471951]] t_gt: [ 0.38272816 -0.56041 0.73447927] Pose Error in degrees for R and t: 172.17349570583818 86.6794793639347 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.96572543 0.25956279 -0.00124748] [-0.25955882 -0.96572357 -0.00268395] [-0.00190138 -0.00226816 0.99999562]] t_estimated: [[0.96491554] [0.26255803] [0.00113329]] R_gt: [[ 0.96867004 -0.24694795 0.02640349] [ 0.23226279 0.93841778 0.25578854] [-0.08794298 -0.24164211 0.96637179]] t_gt: [ 0.54199627 -0.6000096 0.58841186] Pose Error in degrees for R and t: 179.0804559489926 68.52408219307469 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.21868639 0.97579373 0.00168888] [ 0.97579399 0.21868307 0.0019499 ] [ 0.00153338 0.00207441 -0.99999667]] t_estimated: [[-0.68321677] [-0.73021412] [-0.00147888]] R_gt: [[ 0.94447125 -0.32582176 0.04261039] [ 0.30365454 0.9149706 0.26574936] [-0.12557294 -0.23805357 0.96310018]] t_gt: [ 0.59229291 -0.59855419 0.53937186] Pose Error in degrees for R and t: 174.6471608255137 88.1885439798638 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 8.67464279e-01 4.97499235e-01 4.86296545e-04] [-4.97498972e-01 8.67464378e-01 -5.70686147e-04] [-7.05760852e-04 2.53117816e-04 9.99999719e-01]] t_estimated: [[3.64961846e-01] [9.31022049e-01] [8.91695333e-04]] R_gt: [[ 0.98536467 -0.17045911 0.00100993] [ 0.17036983 0.98500338 0.02723995] [-0.00563888 -0.02666947 0.99962815]] t_gt: [ 0.64707582 -0.74776402 0.14880141] Pose Error in degrees for R and t: 39.67878925738681 62.61972458034455 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.54582435e-01 -2.97946443e-01 -5.40589371e-04] [ 2.97946365e-01 9.54582587e-01 -2.20771329e-04] [ 5.81815232e-04 4.96777945e-05 9.99999830e-01]] t_estimated: [[ 9.91680913e-01] [-1.28718683e-01] [-6.84057959e-04]] R_gt: [[ 0.94446802 -0.32818567 -0.0165659 ] [ 0.32841233 0.94443795 0.01349 ] [ 0.01121764 -0.01818221 0.99977181]] t_gt: [ 0.74504256 -0.66547234 0.04536674] Pose Error in degrees for R and t: 2.1962487550265517 34.464985275360135 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.11800552 0.9930118 0.0015029 ] [-0.9930103 -0.11800158 -0.00248423] [-0.00228953 -0.00178555 0.99999578]] t_estimated: [[0.24706246] [0.96899823] [0.0016043 ]] R_gt: [[ 0.92588792 -0.37772714 -0.00738575] [ 0.37779591 0.92562203 0.02222383] [-0.00155919 -0.02336748 0.99972505]] t_gt: [ 0.72941148 -0.68073929 0.06747534] Pose Error in degrees for R and t: 118.98062518927244 61.35921485108078 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.97578977 -0.2186417 -0.00548976] [ 0.21860161 -0.97578853 0.00707753] [-0.00690429 0.00570611 0.99995988]] t_estimated: [[0.90349342] [0.42859936] [0.00149338]] R_gt: [[ 0.99352076 -0.11108794 -0.02401378] [ 0.11027061 0.99335244 -0.03303558] [ 0.02752508 0.03017363 0.99916462]] t_gt: [ 0.963653 -0.09462439 -0.2498382 ] Pose Error in degrees for R and t: 161.02938241142215 33.929491842186636 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 7.99443115e-01 -6.00741764e-01 -1.98395319e-04] [ 6.00741769e-01 7.99442934e-01 5.67550121e-04] [-1.82345324e-04 -5.72908392e-04 9.99999819e-01]] t_estimated: [[9.71758482e-01] [2.35976383e-01] [7.73693059e-04]] R_gt: [[ 0.99092316 -0.10655767 -0.08195994] [ 0.09781875 0.98974195 -0.10412903] [ 0.09221569 0.09516552 0.99118043]] t_gt: [ 0.78626161 0.01225949 -0.61777211] Pose Error in degrees for R and t: 31.936354995460732 39.96192980305301 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.93870509 0.34455241 0.01078861] [-0.34434086 0.93867976 -0.01759802] [-0.01619049 0.01280439 0.99978694]] t_estimated: [[0.26489532] [0.96421896] [0.01059581]] R_gt: [[ 0.98859392 0.04004896 -0.14518205] [-0.05214451 0.99539037 -0.08049083] [ 0.14129011 0.08714234 0.98612538]] t_gt: [-0.02449947 0.0628327 -0.99772332] Pose Error in degrees for R and t: 20.057395509969314 87.50552787693285 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999979e-01 2.00293749e-04 -3.35446784e-05] [-2.00286817e-04 9.99999959e-01 2.06519213e-04] [ 3.35860416e-05 -2.06512490e-04 9.99999978e-01]] t_estimated: [[0.94533243] [0.32610673] [0.00100048]] R_gt: [[ 0.9990634 -0.02242671 -0.03702068] [ 0.0213882 0.99937362 -0.02820984] [ 0.03762963 0.02739154 0.99891657]] t_gt: [ 0.74682895 0.04257096 -0.6636522 ] Pose Error in degrees for R and t: 2.957731237353145 44.00985316822747 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.09089444 0.99582697 -0.00817618] [-0.99585355 0.09085999 -0.004492 ] [-0.00373036 0.00855058 0.99995649]] t_estimated: [[0.09668755] [0.99531298] [0.00189583]] R_gt: [[ 0.99952872 0.01175413 -0.02837686] [-0.01275098 0.9992994 -0.035189 ] [ 0.02794355 0.03553307 0.99897821]] t_gt: [ 0.69965632 0.39939093 -0.59242546] Pose Error in degrees for R and t: 84.10027470514548 62.351638557080314 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.73687127e-01 -2.27887156e-01 9.07400539e-04] [ 2.27886928e-01 9.73687540e-01 3.49368077e-04] [-9.63141096e-04 -1.33390478e-04 9.99999527e-01]] t_estimated: [[0.81346053] [0.58161924] [0.00100801]] R_gt: [[ 0.99600804 0.08696198 0.02019474] [-0.08443291 0.99104984 -0.10340348] [-0.02900561 0.1012857 0.99443432]] t_gt: [ 0.14159999 0.87359663 -0.46559465] Pose Error in degrees for R and t: 19.078357624801765 51.47783883857255 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99630639e-01 2.71767060e-02 -1.07204301e-04] [-2.71766586e-02 9.99630558e-01 4.21089853e-04] [ 1.18608531e-04 -4.18020865e-04 9.99999906e-01]] t_estimated: [[ 5.09684260e-01] [ 8.60361122e-01] [-8.33286037e-04]] R_gt: [[ 9.99982806e-01 8.02021377e-04 5.69521815e-03] [-8.65950733e-04 9.99937678e-01 1.11597722e-02] [-5.68627014e-03 -1.11642144e-02 9.99920751e-01]] t_gt: [-0.71134229 -0.51817662 0.47485275] Pose Error in degrees for R and t: 1.66481555357499 36.02361368206621 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99992677e-01 -3.82702508e-03 1.99467542e-05] [ 3.82701637e-03 9.99992589e-01 4.19764136e-04] [-2.15530542e-05 -4.19684725e-04 9.99999912e-01]] t_estimated: [[2.86126438e-01] [9.58191633e-01] [6.75418759e-04]] R_gt: [[ 0.99928796 0.01188409 0.0357972 ] [-0.01316486 0.99927432 0.03574329] [-0.03534684 -0.03618827 0.99871977]] t_gt: [-0.66501339 -0.20937036 0.71688301] Pose Error in degrees for R and t: 3.0305113707805846 67.01994696331383 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.97907107e-01 -6.46637819e-02 -2.92557370e-05] [ 6.46637882e-02 9.97907043e-01 3.59065705e-04] [ 5.97595960e-06 -3.60206005e-04 9.99999935e-01]] t_estimated: [[3.90705945e-01] [9.20515174e-01] [8.24173660e-04]] R_gt: [[ 0.99584986 0.07196582 0.05571522] [-0.07151921 0.99738953 -0.00997141] [-0.05628728 0.00594619 0.99839656]] t_gt: [-0.89030054 0.2635231 0.37137654] Pose Error in degrees for R and t: 8.47156126825121 83.97498676013092 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-0.90143214 0.43291838 -0.0013301 ] [-0.43291431 -0.90143148 -0.00254491] [-0.00230074 -0.00171824 0.99999588]] t_estimated: [[0.42508256] [0.90515327] [0.00154249]] R_gt: [[ 0.99018804 -0.13495151 -0.03627718] [ 0.13281866 0.9895626 -0.05589173] [ 0.04344079 0.0505238 0.99777692]] t_gt: [ 0.60842122 -0.64409291 -0.46364636] Pose Error in degrees for R and t: 162.0596803358129 71.02904976570116 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99999804e-01 3.92533261e-04 4.87429379e-04] [-3.92331800e-04 9.99999838e-01 -4.13341233e-04] [-4.87591550e-04 4.13149918e-04 9.99999796e-01]] t_estimated: [[0.96661923] [0.25621523] [0.00100897]] R_gt: [[ 9.55406749e-01 -2.95037795e-01 -1.22241371e-02] [ 2.95000311e-01 9.55484846e-01 -4.80978826e-03] [ 1.30998481e-02 9.89074929e-04 9.99912948e-01]] t_gt: [ 0.66911094 -0.74273449 -0.02521955] Pose Error in degrees for R and t: 17.1994406988838 62.841720595008915 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99998655e-01 7.29165959e-04 -1.46899135e-03] [-7.27265899e-04 9.99998899e-01 1.29356460e-03] [ 1.46993296e-03 -1.29249452e-03 9.99998084e-01]] t_estimated: [[-0.59044453] [-0.80707548] [-0.00210434]] R_gt: [[ 0.90427202 -0.41114831 -0.11510334] [ 0.41843265 0.90700669 0.04745793] [ 0.08488762 -0.0910775 0.99221862]] t_gt: [ 0.70560059 -0.70807484 0.02752862] Pose Error in degrees for R and t: 25.62008099832482 81.09515648871239 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.97497075e-01 7.07070718e-02 3.08754883e-04] [-7.07070248e-02 9.97497113e-01 -1.60693368e-04] [-3.19344262e-04 1.38460025e-04 9.99999939e-01]] t_estimated: [[0.70039084] [0.71375817] [0.00139588]] R_gt: [[ 0.98538422 -0.17001093 0.01071087] [ 0.16967481 0.98513381 0.02688988] [-0.01512374 -0.02467913 0.99958128]] t_gt: [ 0.61132629 -0.76479877 0.20337898] Pose Error in degrees for R and t: 13.933769777014012 83.25618807335893 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.88203360e-01 1.53147323e-01 1.29420752e-04] [-1.53147350e-01 9.88203335e-01 2.40014879e-04] [-9.11363824e-05 -2.57003955e-04 9.99999963e-01]] t_estimated: [[0.66162136] [0.74983754] [0.00091892]] R_gt: [[ 0.95200461 -0.30579653 -0.0132579 ] [ 0.30607742 0.95135058 0.03534238] [ 0.0018052 -0.03770395 0.99928765]] t_gt: [ 0.69966199 -0.70029265 0.14164501] Pose Error in degrees for R and t: 26.715537906022305 86.44169415477091 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.98235660e-01 -5.93764687e-02 4.63934427e-05] [ 5.93764596e-02 9.98235646e-01 1.78092582e-04] [-5.68860969e-05 -1.75023688e-04 9.99999983e-01]] t_estimated: [[0.76157752] [0.64807318] [0.00091536]] R_gt: [[ 0.93271224 -0.35981945 -0.02404628] [ 0.35916861 0.92091272 0.15138673] [-0.03232667 -0.14983707 0.98818289]] t_gt: [ 0.59133934 -0.70278292 0.39549205] Pose Error in degrees for R and t: 19.84049296840515 89.72830262746103 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.97944845e-01 -6.40785962e-02 1.37439279e-04] [ 6.40786067e-02 9.97944852e-01 -7.34379655e-05] [-1.32451019e-04 8.20939566e-05 9.99999988e-01]] t_estimated: [[0.91930694] [0.39354018] [0.00093601]] R_gt: [[ 0.98364092 -0.18010966 -0.0035156 ] [ 0.18002316 0.98350864 -0.01735912] [ 0.00658444 0.01644142 0.99984225]] t_gt: [ 0.59393371 -0.80052715 -0.07999391] Pose Error in degrees for R and t: 6.7767168417721875 76.65035350327189 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999869e-01 -5.10864713e-04 -1.57941039e-05] [ 5.10866276e-04 9.99999865e-01 9.91176629e-05] [ 1.57434661e-05 -9.91257186e-05 9.99999995e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191470e-04]] R_gt: [[ 0.92482913 -0.38027412 -0.00912127] [ 0.38037946 0.92466798 0.01734094] [ 0.0018398 -0.0195071 0.99980707]] t_gt: [ 0.67587511 -0.73586312 0.04121052] Pose Error in degrees for R and t: 22.354528558348143 47.60843048645571 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.12683261e-01 4.08665663e-01 1.28100978e-03] [-4.08664092e-01 9.12683903e-01 -1.32376720e-03] [-1.71013520e-03 6.84677466e-04 9.99998303e-01]] t_estimated: [[8.43753967e-01] [5.36729614e-01] [7.50670789e-04]] R_gt: [[ 0.85451379 -0.51755263 -0.04411207] [ 0.51549195 0.8554093 -0.0504377 ] [ 0.06383795 0.02036017 0.99775211]] t_gt: [ 0.75331246 -0.64799269 -0.11236464] Pose Error in degrees for R and t: 55.38511505336548 73.27794674265336 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 7.09950227e-01 7.04251854e-01 -1.56849504e-05] [-7.04250983e-01 7.09949314e-01 -1.58895033e-03] [-1.10788570e-03 1.13912179e-03 9.99998737e-01]] t_estimated: [[0.41730229] [0.90876706] [0.0011069 ]] R_gt: [[ 0.99835697 0.04802193 0.03127503] [-0.04659624 0.99790804 -0.04483649] [-0.03336173 0.04330609 0.99850454]] t_gt: [-0.69540286 0.70488461 -0.13983046] Pose Error in degrees for R and t: 42.16015083162929 69.49874312531257 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[-0.66580447 -0.74592149 -0.01747995] [-0.7455592 0.66420263 0.05455579] [-0.0290841 0.04935582 -0.99835771]] t_estimated: [[9.52406617e-01] [3.04829596e-01] [7.43486821e-04]] R_gt: [[ 0.99093473 0.07875262 0.10884611] [-0.07076368 0.99463905 -0.0754069 ] [-0.11419986 0.06702139 0.99119467]] t_gt: [-0.75210824 0.61244841 0.24339298] Pose Error in degrees for R and t: 175.5851614764973 58.0324075939633 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.18397068 0.98293038 0.00162802] [ 0.98292985 -0.18397332 0.00165057] [ 0.00192191 0.00129658 -0.99999731]] t_estimated: [[9.88007904e-01] [1.54401235e-01] [8.00006400e-04]] R_gt: [[ 0.97961592 0.13321183 0.15035911] [-0.119042 0.987878 -0.09963807] [-0.16180832 0.07970846 0.98359803]] t_gt: [-0.7324079 0.60718401 0.30806858] Pose Error in degrees for R and t: 170.28476120412307 50.9772899083564 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 9.94520850e-01 -1.04534449e-01 9.10049786e-04] [ 1.04533847e-01 9.94521093e-01 6.85997842e-04] [-9.76774114e-04 -5.87108152e-04 9.99999351e-01]] t_estimated: [[0.98386308] [0.1788842 ] [0.00372675]] R_gt: [[ 0.99807639 -0.0555717 0.02750163] [ 0.05519362 0.99837425 0.01430321] [-0.028251 -0.01275855 0.99951931]] t_gt: [ 0.12828818 -0.8094816 0.57295871] Pose Error in degrees for R and t: 3.3021167818086683 89.0574313444891 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 0.51464027 0.85641433 0.04122974] [-0.84735384 0.50067637 0.17695945] [ 0.13090785 -0.12600663 0.98335419]] t_estimated: [[0.66306217] [0.7485623 ] [0.0017449 ]] R_gt: [[ 0.99406138 -0.08942267 0.06202502] [ 0.08970451 0.9959676 -0.00177405] [-0.06161531 0.00732733 0.99807279]] t_gt: [ 0.00716169 -0.83941638 0.54344167] Pose Error in degrees for R and t: 65.40634106371785 51.48946258463723 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 5.90647667e-01 -8.06929161e-01 8.13959060e-04] [-8.06926726e-01 -5.90647963e-01 -2.05981269e-03] [ 2.14288618e-03 5.59818239e-04 -9.99997547e-01]] t_estimated: [[0.70430238] [0.70989949] [0.00093285]] R_gt: [[ 0.99292444 -0.11857147 -0.00650074] [ 0.11867372 0.99275786 0.01868599] [ 0.00423889 -0.0193257 0.99980417]] t_gt: [ 0.07398024 -0.99599258 0.0502563 ] Pose Error in degrees for R and t: 179.25595953967436 49.08768315323443 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.99349573e-01 3.60614667e-02 -3.42197570e-05] [-3.60614676e-02 9.99349573e-01 -2.73155121e-05] [ 3.32124622e-05 2.85317600e-05 9.99999999e-01]] t_estimated: [[-5.97607822e-01] [ 8.01788271e-01] [-6.78406822e-04]] R_gt: [[ 0.99902686 0.03027391 0.03208091] [-0.03254813 0.99680713 0.07289905] [-0.02977112 -0.073872 0.99682329]] t_gt: [-0.20586689 -0.07643299 0.9755905 ] Pose Error in degrees for R and t: 4.578286003324273 86.49803693590283 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.66412442e-01 -2.56995641e-01 -4.81711963e-04] [ 2.56995917e-01 9.66412276e-01 6.41940028e-04] [ 3.00556566e-04 -7.44176838e-04 9.99999678e-01]] t_estimated: [[0.61405977] [0.78925762] [0.00173463]] R_gt: [[ 0.99396954 0.08410572 0.07035815] [-0.09255288 0.98757848 0.1269717 ] [-0.05880403 -0.13271754 0.98940843]] t_gt: [-0.43866051 0.1464079 0.88664631] Pose Error in degrees for R and t: 21.632986361609326 81.24137191390979 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-3.61230316e-01 9.32476602e-01 -2.13058866e-04] [ 9.32462497e-01 3.61226090e-01 5.42243483e-03] [ 5.13325603e-03 1.76007844e-03 -9.99985276e-01]] t_estimated: [[-0.05491632] [-0.99847848] [-0.00499239]] R_gt: [[ 0.97536755 0.21349705 0.05547789] [-0.21753877 0.97263745 0.0815601 ] [-0.03654558 -0.09161961 0.99512336]] t_gt: [-0.69159654 0.58542135 0.42305563] Pose Error in degrees for R and t: 179.15631773306993 56.72468038308391 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999949e-01 3.17804114e-04 1.61164708e-06] [-3.17804182e-04 9.99999949e-01 4.21777569e-05] [-1.59824273e-06 -4.21782670e-05 9.99999999e-01]] t_estimated: [[-9.51422230e-01] [-3.07887962e-01] [-8.62148653e-04]] R_gt: [[ 0.99589477 0.08971717 0.0120226 ] [-0.09005296 0.99545564 0.03097852] [-0.00918902 -0.03193346 0.99944757]] t_gt: [-0.6631306 0.68195858 0.30852927] Pose Error in degrees for R and t: 5.480448931169758 65.12219863602947 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-2.19652002e-01 -9.75578152e-01 5.16762338e-04] [-9.75569473e-01 2.19647734e-01 -4.36766670e-03] [ 4.14749453e-03 -1.46350430e-03 -9.99990328e-01]] t_estimated: [[7.62682472e-01] [6.46773103e-01] [2.48412971e-05]] R_gt: [[ 0.9559573 0.29242821 0.02511382] [-0.29301197 0.95580984 0.02392636] [-0.01700718 -0.03023126 0.9993978 ]] t_gt: [-0.66178826 0.74228966 0.1050826 ] Pose Error in degrees for R and t: 178.16597774158038 88.58816320460349 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.7487999 -0.65879346 0.07273159] [ 0.66201368 0.74872972 -0.03378905] [-0.0321963 0.07345054 0.99677902]] t_estimated: [[0.74111508] [0.67137698] [0.001182 ]] R_gt: [[ 0.84293046 0.53026224 0.09104053] [-0.52955324 0.8476039 -0.03378864] [-0.09508353 -0.01972875 0.99527376]] t_gt: [-0.5775092 0.80669435 0.12540873] Pose Error in degrees for R and t: 73.52030235401811 83.4688441657463 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.78498816e-01 -2.06251600e-01 5.86415328e-04] [ 2.06251510e-01 9.78498988e-01 2.10598696e-04] [-6.17243123e-04 -8.51215278e-05 9.99999806e-01]] t_estimated: [[0.99785472] [0.06537669] [0.00344088]] R_gt: [[ 0.99868096 0.03270428 0.03957678] [-0.0363284 0.99485025 0.09462088] [-0.03627896 -0.09593419 0.99472665]] t_gt: [-0.29882973 -0.0352289 0.95365597] Pose Error in degrees for R and t: 15.06863819955116 72.70987046169564 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-3.51993869e-01 9.36001782e-01 -9.90596868e-04] [-9.35998901e-01 -3.51995246e-01 -2.32487958e-03] [-2.52477681e-03 1.08854224e-04 9.99996807e-01]] t_estimated: [[0.55221229] [0.83370212] [0.0015382 ]] R_gt: [[ 0.98465439 0.16787916 0.04766421] [-0.17129417 0.98196564 0.08000858] [-0.03337308 -0.08694646 0.99565436]] t_gt: [-0.69294884 0.52974589 0.48907176] Pose Error in degrees for R and t: 100.9317885366472 86.5746693009946 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999982e-01 1.83110943e-04 -4.80531975e-05] [-1.83110636e-04 9.99999983e-01 6.39984762e-06] [ 4.80543686e-05 -6.39104846e-06 9.99999999e-01]] t_estimated: [[-9.99983232e-01] [-5.79055755e-03] [-6.95618725e-05]] R_gt: [[ 9.82187538e-01 1.82144377e-01 4.61522487e-02] [-1.82295964e-01 9.83243091e-01 -9.47993703e-04] [-4.55514266e-02 -7.48237787e-03 9.98933925e-01]] t_gt: [-0.708929 0.69502482 0.11983394] Pose Error in degrees for R and t: 10.822544978747304 45.17981099480472 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.99999972e-01 -1.67007616e-04 1.68463003e-04] [ 1.67018269e-04 9.99999984e-01 -6.32239619e-05] [-1.68452441e-04 6.32520965e-05 9.99999984e-01]] t_estimated: [[0.92205334] [0.38706083] [0.0012444 ]] R_gt: [[ 0.9998908 -0.01200278 -0.00877084] [ 0.01190648 0.99986957 -0.01091636] [ 0.00890037 0.01081204 0.99990201]] t_gt: [ 0.46982509 0.46880409 -0.74798871] Pose Error in degrees for R and t: 1.0491630847282933 52.140396808154186 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 0.99999866 0.00105765 -0.00124811] [-0.00105522 0.99999754 0.00194965] [ 0.00125016 -0.00194833 0.99999732]] t_estimated: [[-0.94206499] [-0.33542737] [-0.00142357]] R_gt: [[ 0.99810489 0.06153143 -0.00131392] [-0.06150996 0.99802192 0.01299625] [ 0.00211086 -0.01289003 0.99991491]] t_gt: [-0.53404307 0.83991136 0.09667936] Pose Error in degrees for R and t: 3.523212064230214 77.21833717111933 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.89564787e-01 -1.44088566e-01 1.30947876e-04] [ 1.44088572e-01 9.89564794e-01 -4.09661384e-05] [-1.23678656e-04 5.94067406e-05 9.99999991e-01]] t_estimated: [[-7.81745302e-01] [-6.23597403e-01] [-7.49516109e-04]] R_gt: [[ 0.98404159 0.17793945 -0.00103474] [-0.17792264 0.98400003 0.00933862] [ 0.00268034 -0.00900418 0.99995592]] t_gt: [-0.61592982 0.78763223 0.01630731] Pose Error in degrees for R and t: 18.541824336449242 89.44551748256698 Number of keypoints: Image1: 686 Image2: 686 R_estimated: [[-0.85639764 0.51292373 0.05909599] [ 0.51293977 0.85827441 -0.01605697] [-0.05895657 0.01656153 -0.99812316]] t_estimated: [[ 0.96395603] [-0.26426359] [ 0.03087938]] R_gt: [[ 9.98978011e-01 -4.50059603e-02 -4.33766466e-03] [ 4.50054617e-02 9.98987385e-01 -1.26842132e-04] [ 4.33997823e-03 -6.95185790e-05 9.99990703e-01]] t_gt: [ 0.50598362 -0.85563865 -0.10891775] Pose Error in degrees for R and t: 176.7290933404291 44.72465030734259 Number of keypoints: Image1: 359 Image2: 359 R_estimated: [[ 9.99797153e-01 2.01406730e-02 7.59514318e-05] [-2.01407085e-02 9.99797031e-01 4.99149475e-04] [-6.58828096e-05 -5.00577940e-04 9.99999873e-01]] t_estimated: [[0.99044783] [0.13788133] [0.00135766]] R_gt: [[ 9.97127615e-01 -7.57427775e-02 7.76366236e-04] [ 7.56832774e-02 9.96663428e-01 3.05638275e-02] [-3.08855225e-03 -3.04172390e-02 9.99532870e-01]] t_gt: [ 0.34331912 -0.89670997 0.27936217] Pose Error in degrees for R and t: 5.760538331781478 77.48005853155912 Number of keypoints: Image1: 356 Image2: 356 R_estimated: [[ 0.9741497 -0.22588443 0.00293033] [ 0.22589065 0.97415062 -0.0019973 ] [-0.00240342 0.0026076 0.99999371]] t_estimated: [[0.43778352] [0.89907971] [0.00111965]] R_gt: [[ 0.99334661 -0.09843188 0.05978726] [ 0.09783066 0.99511946 0.01290317] [-0.06076558 -0.00696891 0.9981283 ]] t_gt: [ 0.06119401 -0.82297573 0.56477096] Pose Error in degrees for R and t: 8.150709701127015 44.56141731730215 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.99178904 0.12680906 -0.01655205] [-0.12653072 0.99181863 0.01690487] [ 0.01856033 -0.01467172 0.99972009]] t_estimated: [[0.45056324] [0.8927439 ] [0.00104782]] R_gt: [[ 0.99126574 -0.06431347 0.11513541] [ 0.04054813 0.9793706 0.19796351] [-0.12549196 -0.19156555 0.97342314]] t_gt: [ 0.12028517 -0.29810413 0.94692418] Pose Error in degrees for R and t: 16.637447212145634 77.8224170689175 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.02897867 0.99957883 -0.00154998] [-0.99957649 -0.02898266 -0.00261704] [-0.00266086 0.00147348 0.99999537]] t_estimated: [[0.01907441] [0.9998168 ] [0.00158953]] R_gt: [[ 0.97488857 -0.19393237 0.10947136] [ 0.14834122 0.93214845 0.33029488] [-0.16609792 -0.30576076 0.93750713]] t_gt: [ 0.36160986 -0.42534186 0.82965211] Pose Error in degrees for R and t: 103.32462781769551 65.35166485191066 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 8.75179062e-01 4.83797480e-01 1.26829218e-03] [-4.83795648e-01 8.75179697e-01 -1.50672217e-03] [-1.83893195e-03 7.05057454e-04 9.99998061e-01]] t_estimated: [[0.01234473] [0.99992304] [0.00123447]] R_gt: [[ 0.94776258 -0.30973251 0.07624221] [ 0.26038369 0.88930125 0.37595853] [-0.18424823 -0.33646639 0.9234939 ]] t_gt: [ 0.4959431 -0.49082882 0.71632919] Pose Error in degrees for R and t: 51.13172842216714 61.06713474861614 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.99998468 0.00519129 0.00192035] [-0.00518893 0.99998578 -0.00122957] [-0.00192671 0.00121958 0.9999974 ]] t_estimated: [[0.99840477] [0.05548202] [0.01047191]] R_gt: [[ 0.99905898 0.02561615 0.03498954] [-0.02573264 0.99966425 0.00287921] [-0.03490362 -0.00377593 0.99938382]] t_gt: [0.06413779 0.69404316 0.71707073] Pose Error in degrees for R and t: 2.242937670183704 83.68171633611331 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.99620493 -0.08690018 -0.00490973] [ 0.08691349 0.99621256 0.00256456] [ 0.00466828 -0.00298155 0.99998466]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99036256 0.10108722 0.09467095] [-0.0902464 0.98954072 -0.11253877] [-0.10505706 0.10291086 0.98912713]] t_gt: [-0.330697 0.94342156 -0.02439791] Pose Error in degrees for R and t: 13.671926703929332 19.726451493220377 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-2.34904604e-01 9.72009872e-01 4.07858343e-03] [ 9.72018260e-01 2.34900018e-01 1.57606969e-03] [ 5.73895975e-04 4.33468360e-03 -9.99990441e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.98046028 0.1187639 0.15681834] [-0.10471672 0.98995187 -0.09502206] [-0.16652763 0.07674508 0.98304624]] t_gt: [-0.32506878 0.86898851 0.37308077] Pose Error in degrees for R and t: 169.487729127802 29.81047412856046 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-7.05854968e-02 9.97491203e-01 5.38394678e-03] [ 9.97505501e-01 7.05807738e-02 1.06249834e-03] [ 6.79829616e-04 5.44551351e-03 -9.99984942e-01]] t_estimated: [[0.64185878] [0.76682244] [0.00081145]] R_gt: [[ 0.9850276 -0.17082811 0.02320858] [ 0.17099888 0.98525556 -0.00556106] [-0.02191603 0.00944627 0.99971492]] t_gt: [ 0.56693391 -0.82106987 0.06655984] Pose Error in degrees for R and t: 178.55053582356973 74.59327510016315 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.39532554e-01 -3.42458554e-01 8.48155977e-04] [ 3.42458688e-01 9.39532888e-01 -1.34134642e-05] [-7.92276878e-04 3.03060769e-04 9.99999640e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.94085849 -0.33874469 -0.00620969] [ 0.33865781 0.94083547 -0.01184529] [ 0.00985418 0.00904294 0.99991035]] t_gt: [ 0.65790308 -0.75235413 -0.03356803] Pose Error in degrees for R and t: 0.8199848530246997 41.559196840384104 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-9.54062391e-01 -2.99607391e-01 -6.04761954e-04] [-2.99608000e-01 9.54060655e-01 1.82033762e-03] [ 3.15929804e-05 1.91790718e-03 -9.99998160e-01]] t_estimated: [[8.95207391e-01] [4.45649094e-01] [7.81840516e-04]] R_gt: [[ 0.84964163 -0.52723303 -0.01163682] [ 0.52727874 0.84969178 0.001124 ] [ 0.00929506 -0.00708999 0.99993113]] t_gt: [ 0.74374971 -0.66844931 0.00344867] Pose Error in degrees for R and t: 179.43036624990546 68.41265987915594 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.98881302e-01 -4.72871632e-02 -2.61662838e-04] [ 4.72870591e-02 9.98881265e-01 -3.90605826e-04] [ 2.79840748e-04 3.77795590e-04 9.99999889e-01]] t_estimated: [[ 0.71287883] [-0.70127585] [-0.00399543]] R_gt: [[ 0.99991227 -0.01274195 -0.00367814] [ 0.01268393 0.99980008 -0.0154833 ] [ 0.00387541 0.01543511 0.99987381]] t_gt: [ 0.01981615 -0.80814583 -0.58864899] Pose Error in degrees for R and t: 2.1704385888177127 54.3232534024363 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 6.10968901e-01 7.91654569e-01 -2.12641838e-04] [-7.91652391e-01 6.10966542e-01 -2.52507877e-03] [-1.86907310e-03 1.71108302e-03 9.99996789e-01]] t_estimated: [[0.34729406] [0.93775551] [0.00120267]] R_gt: [[ 0.99876231 -0.0374365 0.03275213] [ 0.03686078 0.99915809 0.01799818] [-0.03339859 -0.01676847 0.99930192]] t_gt: [-0.0956493 -0.85096081 0.51644643] Pose Error in degrees for R and t: 54.50980664826078 33.84055551620894 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.84696692e-01 -1.74275923e-01 -5.72656770e-04] [ 1.74276397e-01 9.84696344e-01 9.21044746e-04] [ 4.03377104e-04 -1.00675027e-03 9.99999412e-01]] t_estimated: [[0.90602082] [0.42322934] [0.00178649]] R_gt: [[ 0.99952224 -0.01056466 0.02906067] [ 0.00993051 0.99971097 0.02190072] [-0.02928246 -0.02160156 0.99933834]] t_gt: [-0.59417428 -0.62647962 0.50446032] Pose Error in degrees for R and t: 9.673766555121638 36.62304410532656 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99631721e-01 -2.71370767e-02 -3.46602450e-05] [ 2.71370792e-02 9.99631719e-01 7.24829482e-05] [ 3.26805050e-05 -7.33968320e-05 9.99999997e-01]] t_estimated: [[-1.70450545e-01] [ 9.85366232e-01] [ 3.93045263e-05]] R_gt: [[ 0.99431747 0.03414061 0.10083115] [-0.03202837 0.99923343 -0.02249728] [-0.10152123 0.01914168 0.99464927]] t_gt: [-0.69469243 0.33130095 0.63846857] Pose Error in degrees for R and t: 6.865140338385979 63.583790443384984 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-8.45013945e-01 -5.34744170e-01 -3.23550049e-04] [-5.34744253e-01 8.45013910e-01 2.74312734e-04] [ 1.26717157e-04 4.04814615e-04 -9.99999910e-01]] t_estimated: [[9.86632392e-01] [1.62959725e-01] [8.06731310e-04]] R_gt: [[ 0.98783633 0.10567931 0.1140676 ] [-0.10100584 0.9938201 -0.04602491] [-0.1182262 0.03394521 0.99240625]] t_gt: [-0.7377303 0.55082881 0.39030966] Pose Error in degrees for R and t: 174.23933341832594 50.37271673983843 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 0.90201506 -0.43130094 0.01866357] [ 0.43146444 0.90211221 -0.00565683] [-0.01439684 0.01315521 0.99980982]] t_estimated: [[0.48069489] [0.87687201] [0.00528236]] R_gt: [[ 0.96038275 0.26667887 0.08091498] [-0.26672649 0.96371603 -0.01041726] [-0.08075606 -0.01157647 0.99666616]] t_gt: [-0.70101884 0.68146281 0.21019284] Pose Error in degrees for R and t: 41.209389987010915 74.82964772781921 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99998893e-01 -1.48401890e-03 -1.08905884e-04] [ 1.48404241e-03 9.99998875e-01 2.16140839e-04] [ 1.08585004e-04 -2.16302220e-04 9.99999971e-01]] t_estimated: [[-4.48073866e-01] [ 8.93996418e-01] [-4.63565822e-04]] R_gt: [[ 0.98256311 0.16498203 -0.08574127] [-0.16352978 0.98625264 0.0237409 ] [ 0.0884791 -0.00930629 0.99603498]] t_gt: [-0.10455692 0.95056814 -0.29238342] Pose Error in degrees for R and t: 10.828617445930313 26.2608109420014 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 6.12128284e-01 -7.90757120e-01 1.46310029e-03] [ 7.90758447e-01 6.12126738e-01 -1.39087292e-03] [ 2.04239854e-04 2.00835157e-03 9.99997962e-01]] t_estimated: [[-0.04005681] [-0.99919493] [-0.00222538]] R_gt: [[ 0.93186675 0.34868823 -0.1002039 ] [-0.34345955 0.93684814 0.06596311] [ 0.11687556 -0.02705255 0.99277773]] t_gt: [-0.17834915 0.97248384 -0.14988917] Pose Error in degrees for R and t: 72.87012081376488 15.372389934329941 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.99999376e-01 -6.67872269e-04 -8.95881599e-04] [ 6.68917538e-04 9.99999095e-01 1.16695709e-03] [ 8.95101410e-04 -1.16755564e-03 9.99998918e-01]] t_estimated: [[ 0.01845352] [ 0.99982894] [-0.00124454]] R_gt: [[ 9.16467661e-01 3.96382472e-01 -5.44923725e-02] [-3.95713516e-01 9.18085126e-01 2.30151296e-02] [ 5.91507310e-02 4.70548807e-04 9.98248847e-01]] t_gt: [-0.10657406 0.99182326 -0.07020387] Pose Error in degrees for R and t: 23.623436104261717 8.200770532765572 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 2.12609027e-04 9.99999063e-01 1.35226808e-03] [-9.99998977e-01 2.14521135e-04 -1.41401255e-03] [-1.41430132e-03 -1.35196607e-03 9.99998086e-01]] t_estimated: [[-5.44455840e-04] [ 9.99998965e-01] [ 1.33173025e-03]] R_gt: [[ 0.99877765 0.03825662 0.03130244] [-0.03911319 0.99886235 0.02726005] [-0.03022287 -0.02845051 0.99913848]] t_gt: [ 0.14866748 -0.01609916 0.98875619] Pose Error in degrees for R and t: 87.7930533899722 89.1483625458943 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 2.49890929e-01 -9.68269592e-01 -2.91919369e-03] [ 9.68273385e-01 2.49893013e-01 -3.66494201e-04] [ 1.08435130e-03 -2.73499398e-03 9.99995672e-01]] t_estimated: [[ 9.74404962e-01] [-2.24799685e-01] [ 2.68641663e-04]] R_gt: [[ 0.9943334 0.09873336 0.03940968] [-0.10064728 0.99366568 0.04997143] [-0.03422667 -0.05365382 0.99797305]] t_gt: [0.05174371 0.16663441 0.98466013] Pose Error in degrees for R and t: 81.32452375970492 89.242270684505 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999983e-01 -1.34584792e-04 -1.25598840e-04] [ 1.34605972e-04 9.99999977e-01 1.68634748e-04] [ 1.25576142e-04 -1.68651652e-04 9.99999978e-01]] t_estimated: [[-6.49245739e-03] [ 9.99978674e-01] [-7.07310790e-04]] R_gt: [[ 0.97709953 0.2033712 0.06259048] [-0.20793353 0.97503134 0.0779608 ] [-0.04517203 -0.08919 0.99498998]] t_gt: [-0.19599345 0.60299306 0.7732955 ] Pose Error in degrees for R and t: 13.20974709626646 52.86423616112915 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-9.87000239e-01 1.60709568e-01 1.72130748e-03] [ 1.60710760e-01 9.87001377e-01 5.77108656e-04] [-1.60618597e-03 8.46239015e-04 -9.99998352e-01]] t_estimated: [[0.81130103] [0.58462787] [0.00094447]] R_gt: [[ 0.9323428 -0.35916631 -0.04165983] [ 0.35926381 0.93322037 -0.00540032] [ 0.0408174 -0.00993154 0.99911687]] t_gt: [ 0.88942528 -0.45430467 -0.05029858] Pose Error in degrees for R and t: 177.69422319599283 62.87424820646934 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.22097228 -0.97527793 -0.0020531 ] [-0.97527319 0.22096231 0.00422537] [-0.00366725 0.00293603 -0.99998897]] t_estimated: [[0.83868561] [0.54461483] [0.00106163]] R_gt: [[ 0.78785931 -0.61577902 0.00966671] [ 0.61507335 0.78755403 0.03800987] [-0.03101857 -0.02400073 0.99922994]] t_gt: [ 0.9372712 -0.34436927 0.05415266] Pose Error in degrees for R and t: 177.7216922847073 53.231395597627056 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99213609e-01 -3.96436782e-02 -7.36477273e-04] [ 3.96448342e-02 9.99212509e-01 1.62766974e-03] [ 6.71370488e-04 -1.65558728e-03 9.99998404e-01]] t_estimated: [[-8.01490828e-01] [-5.98006744e-01] [-6.22275488e-04]] R_gt: [[ 0.65360758 -0.75679001 -0.00806011] [ 0.75673137 0.6533094 0.02331764] [-0.01238024 -0.02134021 0.99969572]] t_gt: [ 0.96907103 -0.24526407 0.027329 ] Pose Error in degrees for R and t: 46.93497064280492 50.94626367722955 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-3.56876627e-01 -9.34151447e-01 3.82430895e-04] [-9.34147157e-01 3.56876180e-01 2.91218611e-03] [-2.85690335e-03 6.82044425e-04 -9.99995686e-01]] t_estimated: [[0.91718639] [0.39845273] [0.00213356]] R_gt: [[ 0.98645861 -0.16227428 0.02382371] [ 0.16254194 0.98665342 -0.00980651] [-0.02191538 0.01354651 0.99966827]] t_gt: [ 0.82781634 -0.56099294 0.00265199] Pose Error in degrees for R and t: 179.17329050595438 57.60600066582915 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 7.28488847e-01 6.85057478e-01 5.01023699e-04] [-6.85056862e-01 7.28488920e-01 -9.95003345e-04] [-1.04662470e-03 3.81619117e-04 9.99999379e-01]] t_estimated: [[0.00833304] [0.99996474] [0.00104163]] R_gt: [[ 0.83570983 -0.54828563 0.03117504] [ 0.54829788 0.83623517 0.00889739] [-0.03094895 0.00965732 0.99947425]] t_gt: [ 0.92711774 -0.37450276 0.01415538] Pose Error in degrees for R and t: 76.51777377803576 68.48473488839836 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[ 0.82889362 0.55940299 0.00191275] [ 0.55933797 -0.82884102 0.01279061] [ 0.00874048 -0.00953218 -0.99991637]] t_estimated: [[0.835617 ] [0.54930998] [0.00166458]] R_gt: [[ 0.7047333 -0.70844849 0.03810663] [ 0.70757408 0.70576062 0.03522366] [-0.05184969 0.00213995 0.99865287]] t_gt: [ 0.9578086 -0.28533465 0.03445031] Pose Error in degrees for R and t: 179.34441424965237 49.93312274053074 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.97253315e-01 -7.40658099e-02 2.84022572e-04] [ 7.40658597e-02 9.97253338e-01 -1.69224647e-04] [-2.70708697e-04 1.89796217e-04 9.99999945e-01]] t_estimated: [[ 0.092027 ] [ 0.9957557] [-0.0012684]] R_gt: [[ 0.9958822 0.09061263 0.00283969] [-0.09063722 0.99451458 0.0522093 ] [ 0.0019061 -0.05225089 0.99863221]] t_gt: [-0.3813991 0.50089214 0.77694388] Pose Error in degrees for R and t: 9.916576266067574 62.4397104748449 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99997928e-01 -2.03560052e-03 1.62084969e-05] [ 2.03560081e-03 9.99997928e-01 -1.78428186e-05] [-1.61721425e-05 1.78757756e-05 1.00000000e+00]] t_estimated: [[-0.56328054] [ 0.82626094] [-0.00280917]] R_gt: [[ 0.98660967 0.16128269 0.02427831] [-0.16251428 0.98471805 0.06260835] [-0.01380965 -0.06571455 0.99774325]] t_gt: [-0.33692049 0.68449852 0.64648771] Pose Error in degrees for R and t: 10.197592578175225 41.10212137142888 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 8.89197869e-01 -4.57520588e-01 -1.43569634e-03] [ 4.57521946e-01 8.89197958e-01 8.12648311e-04] [ 9.04814920e-04 -1.37946773e-03 9.99998639e-01]] t_estimated: [[9.02905443e-01] [4.29838454e-01] [8.15632740e-04]] R_gt: [[ 0.95604913 0.29209671 0.02548758] [-0.29318815 0.95138821 0.09434504] [ 0.00330915 -0.09767034 0.99521311]] t_gt: [-0.25968685 0.88447838 0.3876348 ] Pose Error in degrees for R and t: 44.61442101142192 81.60328479523838 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999552e-01 -9.38368636e-04 -1.23241336e-04] [ 9.38371726e-04 9.99999559e-01 2.50140098e-05] [ 1.23217809e-04 -2.51296448e-05 9.99999992e-01]] t_estimated: [[-9.94011858e-01] [ 1.09269783e-01] [-7.34986796e-04]] R_gt: [[ 9.80382593e-01 1.95379914e-01 -2.60115047e-02] [-1.95335441e-01 9.80727747e-01 4.26097622e-03] [ 2.63420017e-02 9.03826355e-04 9.99652035e-01]] t_gt: [-0.29484639 0.94630303 -0.13257522] Pose Error in degrees for R and t: 11.420411328199606 66.63541296939015 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999918e-01 2.16811974e-04 -3.43173108e-04] [-2.16688219e-04 9.99999912e-01 3.60616929e-04] [ 3.43251264e-04 -3.60542538e-04 9.99999876e-01]] t_estimated: [[9.98488237e-01] [5.49600144e-02] [7.98430588e-04]] R_gt: [[ 0.98064282 0.18991706 0.04766381] [-0.19034884 0.98170509 0.00465646] [-0.04590819 -0.01363885 0.99885207]] t_gt: [-0.21357841 0.95376972 0.21144167] Pose Error in degrees for R and t: 11.296012589221387 80.75435719678526 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999955e-01 2.93516948e-04 -6.14084767e-05] [-2.93511391e-04 9.99999953e-01 9.04745155e-05] [ 6.14350296e-05 -9.04564873e-05 9.99999994e-01]] t_estimated: [[0.51906579] [0.85473384] [0.00087402]] R_gt: [[ 0.98105895 0.17973256 0.0722572 ] [-0.18285794 0.98235727 0.03920762] [-0.06393515 -0.05167839 0.99661438]] t_gt: [-0.21022236 0.89217543 0.3997869 ] Pose Error in degrees for R and t: 11.458632552590245 49.17107152996933 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.99115870e-01 -4.20409858e-02 -1.86575112e-04] [ 4.20410535e-02 9.99115814e-01 3.75420467e-04] [ 1.70627098e-04 -3.82932360e-04 9.99999912e-01]] t_estimated: [[0.95948621] [0.28174656] [0.00225727]] R_gt: [[ 0.99817974 -0.04075147 -0.04445515] [ 0.04066205 0.99916939 -0.00291818] [ 0.0445375 0.00110476 0.99900693]] t_gt: [ 0.50921898 -0.61602153 -0.6010104 ] Pose Error in degrees for R and t: 2.5451481904975024 71.71945844718405 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.88112985 0.47276813 0.01002422] [ 0.47274018 -0.88017681 -0.04249124] [-0.01126542 0.04217915 -0.99904655]] t_estimated: [[-0.29666163] [ 0.95474326] [-0.02138193]] R_gt: [[ 0.99682 0.02149545 0.07672865] [-0.01758342 0.99852956 -0.05129762] [-0.07771806 0.0497841 0.99573138]] t_gt: [-0.48214915 0.47770636 0.73439011] Pose Error in degrees for R and t: 173.60685926651686 54.30859343310517 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-0.7969077 -0.60409826 0.00184626] [-0.60408895 0.79690734 0.00390258] [-0.00382884 0.00199469 -0.99999068]] t_estimated: [[0.97608234] [0.21739028] [0.0021739 ]] R_gt: [[ 0.97558337 0.11454173 0.18739652] [-0.09904158 0.9909954 -0.09011173] [-0.19602974 0.06935205 0.97814249]] t_gt: [-0.40657594 0.58967836 0.69783625] Pose Error in degrees for R and t: 170.81085759447976 74.50559773242213 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-7.27676927e-01 -6.85917125e-01 1.99684823e-03] [-6.85916909e-01 7.27679315e-01 8.99064333e-04] [-2.06974877e-03 -7.15443595e-04 -9.99997602e-01]] t_estimated: [[0.932841 ] [0.36028306] [0.00194748]] R_gt: [[ 0.99176552 -0.11964149 -0.04568441] [ 0.12127852 0.99200488 0.03490103] [ 0.04114396 -0.04015464 0.99834636]] t_gt: [ 0.63876387 -0.76923261 0.01618378] Pose Error in degrees for R and t: 178.6041824301944 71.41234075384335 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-7.99576786e-01 -6.00561017e-01 1.85155778e-03] [-6.00561124e-01 7.99578654e-01 5.59585135e-04] [-1.81653110e-03 -6.64542339e-04 -9.99998129e-01]] t_estimated: [[0.91276749] [0.40847606] [0.00168097]] R_gt: [[ 0.97378412 -0.20980853 -0.08788729] [ 0.21389385 0.97604239 0.03987232] [ 0.07741633 -0.05762608 0.99533196]] t_gt: [ 0.72545973 -0.68732834 -0.03588782] Pose Error in degrees for R and t: 176.47627509691242 67.5821398469711 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-5.59844228e-02 -9.98431637e-01 -1.04161650e-04] [-9.98431326e-01 5.59843218e-02 8.01697283e-04] [-7.94608511e-04 1.48880814e-04 -9.99999673e-01]] t_estimated: [[0.88330348] [0.46879975] [0.00132429]] R_gt: [[ 0.92538223 -0.33497978 -0.17735453] [ 0.33704286 0.94129186 -0.01928954] [ 0.17340438 -0.04192586 0.98395779]] t_gt: [ 0.78944534 -0.56909335 -0.23001916] Pose Error in degrees for R and t: 173.0413377863266 64.51819869882333 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-0.99587928 0.09066072 -0.002256 ] [ 0.09065322 0.99587728 0.00322921] [ 0.00253946 0.00301139 -0.99999224]] t_estimated: [[ 0.97063303] [-0.24055584] [-0.00210144]] R_gt: [[ 0.96976548 0.24051611 -0.04131575] [-0.23958346 0.97051909 0.0262795 ] [ 0.04641888 -0.01558598 0.9988011 ]] t_gt: [-0.97430727 0.22351147 0.02771205] Pose Error in degrees for R and t: 177.25755499008653 1.7752360033376224 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 7.01484545e-01 7.12681712e-01 2.05199131e-03] [ 7.12682034e-01 -7.01486872e-01 6.97954227e-04] [ 1.93686418e-03 9.72813236e-04 -9.99997651e-01]] t_estimated: [[-9.77233079e-01] [-2.12166504e-01] [-9.40363085e-04]] R_gt: [[ 0.85666227 0.51571402 -0.01300143] [-0.51533616 0.85664484 0.02423964] [ 0.02363864 -0.01406535 0.99962165]] t_gt: [-0.91556151 0.40195943 0.01325663] Pose Error in degrees for R and t: 178.50323319960896 35.96048306236321 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[-0.76177155 -0.57265258 0.30294079] [-0.63086078 0.76207488 -0.1457963 ] [-0.14737294 -0.30217694 -0.94179101]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.7040986 0.7100158 -0.01100658] [-0.71002321 0.7041668 0.0040041 ] [ 0.01059467 0.00499485 0.9999313 ]] t_gt: [-0.83542641 0.54937987 -0.01563525] Pose Error in degrees for R and t: 162.46975623909657 72.06888017648633 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99999809e-01 -6.05023132e-04 1.25546849e-04] [ 6.05044628e-04 9.99999802e-01 -1.71248821e-04] [-1.25443215e-04 1.71324750e-04 9.99999977e-01]] t_estimated: [[0.54203231] [0.84035598] [0.00167268]] R_gt: [[ 9.97354922e-01 7.25926981e-02 -3.61270002e-03] [-7.26760741e-02 9.95386611e-01 -6.26436960e-02] [-9.51607002e-04 6.27412626e-02 9.98028960e-01]] t_gt: [-0.49335319 0.61351888 -0.61660135] Pose Error in degrees for R and t: 5.526556662684445 75.6922839148249 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999860e-01 5.29611874e-04 7.93822476e-06] [-5.29599234e-04 9.99998711e-01 -1.51558863e-03] [-8.74088827e-06 1.51558422e-03 9.99998851e-01]] t_estimated: [[-0.71345225] [-0.70067923] [-0.00587393]] R_gt: [[ 0.9871683 0.15729564 -0.02750546] [-0.15919027 0.98292734 -0.09226615] [ 0.01252325 0.09546137 0.99535481]] t_gt: [-0.49648971 0.71835582 -0.48730164] Pose Error in degrees for R and t: 10.595480920242723 81.59015975265663 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.99981516 0.01916305 -0.00155707] [-0.01915988 0.99981439 0.00202094] [ 0.00159551 -0.00199073 0.99999675]] t_estimated: [[0.62696601] [0.77904519] [0.00148827]] R_gt: [[ 0.89563426 0.43525764 -0.09159498] [-0.44134569 0.8952299 -0.06146269] [ 0.0552467 0.09547311 0.99389799]] t_gt: [-0.44364344 0.86029321 -0.25114955] Pose Error in degrees for R and t: 25.766861600620242 66.94066729022096 Number of keypoints: Image1: 334 Image2: 334 R_estimated: [[ 9.99988552e-01 4.78469793e-03 4.97999068e-05] [-4.78469934e-03 9.99988553e-01 2.81221271e-05] [-4.96647809e-05 -2.83600828e-05 9.99999998e-01]] t_estimated: [[ 7.12315008e-01] [-7.01859583e-01] [ 6.74980572e-04]] R_gt: [[ 0.99870739 -0.02441662 -0.04457189] [ 0.0259437 0.99908426 0.03400503] [ 0.0437016 -0.03511679 0.99842735]] t_gt: [ 0.49260487 -0.76870126 -0.40796913] Pose Error in degrees for R and t: 3.645665304098362 27.10980743138364 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 0.14261915 0.98949081 0.02382659] [ 0.9894812 -0.141946 -0.02789772] [-0.02422245 0.02755471 -0.99932678]] t_estimated: [[ 0.63558768] [-0.77179366] [ 0.01904868]] R_gt: [[ 0.99725146 -0.05672381 -0.04766155] [ 0.05764848 0.99817043 0.0182641 ] [ 0.04653887 -0.0209609 0.99869655]] t_gt: [ 0.54138913 -0.75537226 -0.36920259] Pose Error in degrees for R and t: 179.48413832654796 23.065297072489543 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99924900e-01 1.22551071e-02 7.70563616e-05] [-1.22551051e-02 9.99924903e-01 -2.57709622e-05] [-7.73664008e-05 2.48246930e-05 9.99999997e-01]] t_estimated: [[ 8.86276243e-01] [-4.63156997e-01] [ 1.32829296e-04]] R_gt: [[ 0.99319867 -0.10315085 -0.05399329] [ 0.10388115 0.99452956 0.01087358] [ 0.05257718 -0.01640866 0.99848206]] t_gt: [ 0.56687387 -0.76725455 -0.29995745] Pose Error in degrees for R and t: 7.3615168641368545 30.937756305117848 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[-2.88394994e-02 -9.99576597e-01 -3.86144961e-03] [-9.99583878e-01 2.88369777e-02 7.07138805e-04] [-5.95486864e-04 3.88023630e-03 -9.99992295e-01]] t_estimated: [[0.86395748] [0.50356379] [0.00098738]] R_gt: [[ 0.99805249 -0.04848516 -0.0392615 ] [ 0.04900135 0.99872305 0.01230373] [ 0.03861474 -0.01420297 0.9991534 ]] t_gt: [ 0.45605869 -0.78273513 -0.42348104] Pose Error in degrees for R and t: 178.80224622353003 89.96792094750599 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[-0.48127817 -0.87647627 -0.01267561] [ 0.87629004 -0.48143938 0.01821796] [-0.02207015 -0.00233961 0.99975369]] t_estimated: [[0.99218642] [0.12473201] [0.00283482]] R_gt: [[ 0.99401273 -0.06908401 -0.0846575 ] [ 0.07277489 0.99649197 0.04131119] [ 0.08150703 -0.04722547 0.99555324]] t_gt: [ 0.47016779 -0.76882772 -0.43341225] Pose Error in degrees for R and t: 114.78343981048872 68.3233527794184 Number of keypoints: Image1: 288 Image2: 288 R_estimated: [[-0.40802717 -0.91294316 -0.00697213] [-0.91295197 0.40805501 -0.00313035] [ 0.00570284 0.00508795 -0.99997079]] t_estimated: [[ 0.90202565] [ 0.43167645] [-0.00227304]] R_gt: [[ 0.99019318 -0.10072622 -0.09680718] [ 0.1050285 0.99364778 0.04041406] [ 0.09212123 -0.05018502 0.99448201]] t_gt: [ 0.52417935 -0.76540729 -0.37334662] Pose Error in degrees for R and t: 176.43321743787547 81.76326188079817 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99699307e-01 2.45213139e-02 -1.73452430e-05] [-2.45213140e-02 9.99699307e-01 -2.77728221e-06] [ 1.72719248e-05 3.20177525e-06 1.00000000e+00]] t_estimated: [[-8.20800407e-01] [-5.71214848e-01] [-5.38544575e-04]] R_gt: [[ 0.99722928 0.07330513 -0.01274596] [-0.07389816 0.99575662 -0.05485444] [ 0.00867066 0.05564473 0.99841352]] t_gt: [-0.45925789 0.66030612 -0.59420368] Pose Error in degrees for R and t: 4.284615845774565 89.99413242698714 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.97063324e-01 7.65762137e-02 -9.00575813e-04] [-7.65752257e-02 9.97063217e-01 1.08474669e-03] [ 9.80996812e-04 -1.01259935e-03 9.99999006e-01]] t_estimated: [[-7.61404037e-01] [-6.48277281e-01] [-6.77405727e-04]] R_gt: [[ 0.94869709 0.31255245 -0.04780567] [-0.31489959 0.94760309 -0.05373847] [ 0.02850424 0.06603516 0.99740988]] t_gt: [-0.51427786 0.82823656 -0.22258138] Pose Error in degrees for R and t: 14.518488998949074 81.65096953035534 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 3.38911026e-01 -9.40814313e-01 -2.78311799e-03] [-9.40816602e-01 -3.38914715e-01 9.68365978e-04] [-1.85429221e-03 2.29021370e-03 -9.99995658e-01]] t_estimated: [[0.2810835 ] [0.95968259] [0.00117608]] R_gt: [[ 0.84301952 0.52485579 -0.11767176] [-0.53050171 0.847429 -0.02077795] [ 0.08881269 0.07994141 0.99283507]] t_gt: [-0.38023267 0.8983587 -0.21994263] Pose Error in degrees for R and t: 173.90368494163027 40.974332447108935 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 1.52222641e-02 9.99884118e-01 -1.80315052e-04] [ 9.99882208e-01 -1.52218805e-02 1.96604017e-03] [ 1.96306761e-03 -2.10221395e-04 -9.99998051e-01]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.99717004 0.040474 0.06336528] [-0.03804397 0.99851241 -0.03908317] [-0.06485262 0.03656176 0.99722436]] t_gt: [-0.50994536 0.65995064 0.5517435 ] Pose Error in degrees for R and t: 175.96231143506546 48.90361020399125 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.82100765e-01 1.88356263e-01 -6.89220041e-05] [-1.88356272e-01 9.82100604e-01 -5.64678260e-04] [-3.86723452e-05 5.67552843e-04 9.99999838e-01]] t_estimated: [[-0.80441021] [-0.59407336] [-0.00102603]] R_gt: [[ 0.97413786 0.1175782 0.1929506 ] [-0.10484165 0.99165949 -0.07497677] [-0.20015672 0.05280888 0.97833877]] t_gt: [-0.39589702 0.57553284 0.71556096] Pose Error in degrees for R and t: 12.720654734944919 88.61449249081224 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-2.81496664e-01 -9.59561407e-01 -1.23917593e-03] [-9.59561917e-01 2.81497348e-01 -4.13798572e-04] [ 7.45889878e-04 1.07258312e-03 -9.99999147e-01]] t_estimated: [[0.86232253] [0.50635864] [0.00088991]] R_gt: [[ 0.94047891 0.23589617 0.24464936] [-0.21194328 0.96983934 -0.12038769] [-0.26567031 0.06137058 0.96210793]] t_gt: [-0.35569371 0.71072554 0.60691943] Pose Error in degrees for R and t: 171.3424594960237 86.9217690967915 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.69431709e-01 2.45361161e-01 2.50719203e-04] [-2.45361239e-01 9.69431658e-01 3.49903469e-04] [-1.57202412e-04 -4.00724293e-04 9.99999907e-01]] t_estimated: [[0.75815467] [0.65207407] [0.00094609]] R_gt: [[ 9.91871649e-01 -1.19037543e-01 -4.49508084e-02] [ 1.18945317e-01 9.92889510e-01 -4.74188788e-03] [ 4.51957692e-02 -6.43693088e-04 9.98978195e-01]] t_gt: [ 0.5886651 -0.76355502 -0.26543761] Pose Error in degrees for R and t: 21.199261983882366 87.02808962171872 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-7.73417078e-01 -6.33897399e-01 3.33936481e-04] [-6.33893441e-01 7.73413916e-01 3.16542071e-03] [-2.26482308e-03 2.23651029e-03 -9.99994934e-01]] t_estimated: [[9.78420267e-01] [2.06622913e-01] [8.68163502e-04]] R_gt: [[ 0.97266264 -0.21467936 -0.0885485 ] [ 0.21779727 0.97561826 0.02708034] [ 0.08057645 -0.04562716 0.99570396]] t_gt: [ 0.67553303 -0.72975079 -0.10544628] Pose Error in degrees for R and t: 176.2073971411313 59.33081306657369 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.64820031e-01 2.62910404e-01 6.54225638e-04] [-2.62910326e-01 9.64820252e-01 -2.03815542e-04] [-6.84795372e-04 2.46426412e-05 9.99999765e-01]] t_estimated: [[0.68062577] [0.73263069] [0.00091237]] R_gt: [[ 9.45943687e-01 -2.90265231e-01 -1.44695942e-01] [ 2.93420299e-01 9.55983325e-01 4.88587212e-04] [ 1.38184719e-01 -4.29197238e-02 9.89476203e-01]] t_gt: [ 0.74859932 -0.63423339 -0.19325387] Pose Error in degrees for R and t: 33.340088560549034 87.43912488876315 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99999525e-01 9.42826245e-04 2.45242753e-04] [-9.42801908e-04 9.99999551e-01 -9.93298471e-05] [-2.45336294e-04 9.90985847e-05 9.99999965e-01]] t_estimated: [[-0.99998648] [ 0.00504162] [ 0.0012698 ]] R_gt: [[ 0.99788462 -0.0067432 0.06467015] [ 0.00351631 0.99875028 0.04986688] [-0.06492478 -0.04953406 0.99666016]] t_gt: [0.03907697 0.03788973 0.99851758] Pose Error in degrees for R and t: 4.6889449351474655 87.84416733248838 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999972e-01 -1.52383216e-04 1.79414049e-04] [ 1.52380555e-04 9.99999988e-01 1.48487981e-05] [-1.79416309e-04 -1.48214584e-05 9.99999984e-01]] t_estimated: [[0.68891062] [0.72484548] [0.00108984]] R_gt: [[ 0.99631294 -0.05656715 0.0645133 ] [ 0.04995212 0.99374401 0.09989425] [-0.06975987 -0.09630363 0.99290381]] t_gt: [ 0.24405143 -0.23441897 0.941003 ] Pose Error in degrees for R and t: 7.474890822884868 89.95631921015195 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.97228382e-01 -7.44006342e-02 3.17174673e-04] [ 7.44007030e-02 9.97228405e-01 -2.10991115e-04] [-3.00597721e-04 2.34004347e-04 9.99999927e-01]] t_estimated: [[8.95915333e-01] [4.44224827e-01] [1.35919918e-04]] R_gt: [[ 0.98204199 -0.18848779 0.00812248] [ 0.18547609 0.97244454 0.14124461] [-0.03452151 -0.13720135 0.98994114]] t_gt: [ 0.558215 -0.54760845 0.62331452] Pose Error in degrees for R and t: 10.45669256627967 75.11161845259737 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999223e-01 1.23373412e-03 1.80360486e-04] [-1.23375287e-03 9.99999234e-01 1.03873874e-04] [-1.80232195e-04 -1.04096314e-04 9.99999978e-01]] t_estimated: [[0.99990238] [0.01389323] [0.00148708]] R_gt: [[ 0.99893371 0.04560073 0.00726602] [-0.04565793 0.99892589 0.00792337] [-0.0068974 -0.00824656 0.99994221]] t_gt: [-0.58225206 0.76697028 0.26970195] Pose Error in degrees for R and t: 2.615157713741185 55.170348074334804 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 1.00000000e+00 -1.33087985e-14 -1.91327802e-17] [ 1.33122680e-14 1.00000000e+00 2.32019265e-17] [-1.11469536e-18 4.59701721e-17 1.00000000e+00]] t_estimated: [[-2.41745336e-02] [ 9.99707579e-01] [ 5.89989341e-04]] R_gt: [[ 0.99327349 0.10954933 -0.03751372] [-0.10985102 0.99392947 -0.00608388] [ 0.03662055 0.01016444 0.9992776 ]] t_gt: [-0.55134148 0.82183982 -0.14353354] Pose Error in degrees for R and t: 6.6657190442699585 33.400481466710296 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999825e-01 5.90694075e-04 9.71829732e-06] [-5.90692756e-04 9.99999816e-01 -1.35137123e-04] [-9.79812023e-06 1.35131359e-04 9.99999991e-01]] t_estimated: [[1.79177342e-02] [9.99839448e-01] [1.84075636e-04]] R_gt: [[ 0.98687352 0.10273104 -0.12460582] [-0.10492586 0.99441786 -0.0111655 ] [ 0.12276367 0.02409313 0.99214279]] t_gt: [-0.33999565 0.74760846 -0.57051254] Pose Error in degrees for R and t: 9.327014868060196 42.15845559495659 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 0.68912381 -0.72463297 -0.00392866] [ 0.72464098 0.6891258 0.00103908] [ 0.00195439 -0.00356292 0.99999174]] t_estimated: [[-0.12594579] [-0.99203589] [-0.00156539]] R_gt: [[ 0.99845521 -0.01770552 -0.05267252] [ 0.01685213 0.99972 -0.01661785] [ 0.05295294 0.01570525 0.99847407]] t_gt: [ 0.46135943 -0.75666321 -0.46325831] Pose Error in degrees for R and t: 45.543428321138244 46.11159782070808 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.98641157 0.16403644 -0.00917944] [-0.16391393 0.98639151 0.01280666] [ 0.01115528 -0.01112799 0.99987586]] t_estimated: [[0.50637519] [0.8623127 ] [0.00098325]] R_gt: [[ 0.98758417 -0.13752846 -0.07592717] [ 0.13421518 0.98982947 -0.04716425] [ 0.08164187 0.0363884 0.99599695]] t_gt: [ 0.74130212 -0.590672 -0.31871265] Pose Error in degrees for R and t: 17.969989528470244 82.28299266309756 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.08292378 0.99654785 0.00400439] [-0.99655002 0.08293642 -0.00309976] [-0.00342117 -0.00373353 0.99998718]] t_estimated: [[-0.18631982] [ 0.98247917] [ 0.00442789]] R_gt: [[ 0.96023675 -0.27139203 -0.06551914] [ 0.26579815 0.96045743 -0.08290576] [ 0.08542872 0.06219398 0.9944018 ]] t_gt: [ 0.83200251 -0.4910081 -0.25823027] Pose Error in degrees for R and t: 101.01680306348037 50.31493792376944 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.99954463 0.02526444 0.01649994] [-0.02473189 0.99919078 -0.0317193 ] [-0.01728796 0.03129678 0.99936061]] t_estimated: [[-0.67719918] [-0.73363244] [-0.05643326]] R_gt: [[ 0.99919937 -0.02105276 0.03402308] [ 0.02219334 0.99919215 -0.0335198 ] [-0.03328896 0.03424838 0.99885862]] t_gt: [ 0.48953401 -0.87151529 0.02859307] Pose Error in degrees for R and t: 2.8425803345878116 72.16684234893931 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[-8.87518976e-01 -4.60771164e-01 3.80027428e-05] [-4.60770347e-01 8.87517552e-01 1.81178620e-03] [-8.68546937e-04 1.59048410e-03 -9.99998358e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99895524 0.02125784 0.04046007] [-0.017899 0.99650321 -0.08162367] [-0.04205314 0.08081485 0.9958411 ]] t_gt: [-0.51377832 -0.03989314 -0.85699497] Pose Error in degrees for R and t: 178.77925381236935 59.03369566731165 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-6.74913177e-01 -7.37895444e-01 -1.58677518e-03] [ 7.37896198e-01 -6.74914199e-01 1.54848041e-04] [-1.18519877e-03 -1.06636639e-03 9.99998729e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99426184 0.04839504 0.09540788] [-0.03825996 0.99370117 -0.10533508] [-0.099904 0.10108047 0.98984987]] t_gt: [-0.91673076 0.34882853 0.19473923] Pose Error in degrees for R and t: 135.07056754046948 23.724093964085913 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[-0.70022555 0.71362839 0.02046199] [ 0.71364884 0.70046271 -0.0075716 ] [-0.01973617 0.00930085 -0.99976196]] t_estimated: [[ 0.92905764] [-0.36976913] [ 0.01107672]] R_gt: [[ 0.99221993 -0.1225489 0.02197159] [ 0.12325491 0.99178115 -0.03433074] [-0.01758361 0.03677212 0.99916906]] t_gt: [ 0.83030697 -0.53138574 -0.1679867 ] Pose Error in degrees for R and t: 176.91327305828287 14.976403253507044 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99529205e-01 3.06793289e-02 3.84364318e-04] [-3.06792833e-02 9.99529272e-01 -1.23911254e-04] [-3.87984902e-04 1.12060896e-04 9.99999918e-01]] t_estimated: [[9.99980575e-01] [6.17957624e-03] [8.14050930e-04]] R_gt: [[ 0.97273549 -0.23107024 0.0198421 ] [ 0.23190294 0.96804864 -0.09540683] [ 0.0028371 0.0974068 0.99524046]] t_gt: [ 0.85958456 -0.39777825 -0.32075979] Pose Error in degrees for R and t: 16.16411893370124 31.0354305216372 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 8.33238129e-01 -5.52911635e-01 1.71597489e-03] [ 5.52913244e-01 8.33238588e-01 -6.33374332e-04] [-1.07961645e-03 1.47653688e-03 9.99998327e-01]] t_estimated: [[0.72249928] [0.69137119] [0.00081916]] R_gt: [[ 0.93489177 -0.35469603 0.01300161] [ 0.35446477 0.93114436 -0.08558665] [ 0.01825055 0.08462277 0.99624575]] t_gt: [ 0.89354059 -0.40135925 -0.20123611] Pose Error in degrees for R and t: 13.665567512258772 68.41202800830158 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999372e-01 -3.24839688e-05 1.12050149e-03] [ 3.42480433e-05 9.99998760e-01 -1.57437830e-03] [-1.12044896e-03 1.57441569e-03 9.99998133e-01]] t_estimated: [[-0.51354527] [-0.85806066] [-0.00177679]] R_gt: [[ 0.99337529 0.11460276 0.00843923] [-0.11285979 0.98680881 -0.11605919] [-0.02162926 0.1143388 0.9932056 ]] t_gt: [-0.26082135 0.87914292 -0.39884827] Pose Error in degrees for R and t: 9.288751946463854 51.70535268134535 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.99995665 0.00634083 -0.00681867] [-0.00630964 0.99996958 0.00458545] [ 0.00684754 -0.00454223 0.99996624]] t_estimated: [[-0.56387422] [-0.82585886] [-0.001735 ]] R_gt: [[ 0.99226636 0.12411259 -0.00209273] [-0.12218461 0.9736013 -0.19279866] [-0.02189204 0.19156305 0.98123584]] t_gt: [-0.1779871 0.812834 -0.55463635] Pose Error in degrees for R and t: 13.261580708411223 55.25245695921395 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.99999276 0.00327069 -0.00194616] [-0.00326802 0.99999372 0.00137001] [ 0.00195062 -0.00136364 0.99999717]] t_estimated: [[-3.08219450e-01] [-9.51315210e-01] [-3.76930555e-04]] R_gt: [[ 0.99414461 0.09978799 -0.04147347] [-0.10726729 0.95775679 -0.26682243] [ 0.01309507 0.26970872 0.96285262]] t_gt: [-0.08039401 0.69170344 -0.71769294] Pose Error in degrees for R and t: 16.78523265485223 50.729786702794414 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99922479e-01 -1.24513031e-02 -2.27081792e-05] [ 1.24513063e-02 9.99922469e-01 1.48024955e-04] [ 2.08633150e-05 -1.48296226e-04 9.99999989e-01]] t_estimated: [[0.54762561] [0.83672303] [0.00087341]] R_gt: [[ 0.9980003 0.01306635 -0.06185373] [-0.01188828 0.99974142 0.01938065] [ 0.06209086 -0.01860674 0.99789765]] t_gt: [ 0.54087617 0.28718744 -0.79055445] Pose Error in degrees for R and t: 3.9777665074853226 57.60157985008428 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 8.19766196e-01 -5.72698144e-01 -4.68230762e-04] [ 5.72698285e-01 8.19766192e-01 2.53545834e-04] [ 2.38634521e-04 -4.76003258e-04 9.99999858e-01]] t_estimated: [[-0.15182427] [-0.98840696] [-0.00103282]] R_gt: [[ 0.99540117 0.05998151 -0.07469569] [-0.05844757 0.99803564 0.0225649 ] [ 0.0759023 -0.01809434 0.996951 ]] t_gt: [-0.01309083 0.78588354 -0.61823596] Pose Error in degrees for R and t: 38.585977963386185 39.27226406695368 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 0.461349 -0.88695342 -0.02169627] [ 0.887119 0.46152587 -0.00370963] [ 0.01330366 -0.01753574 0.99975773]] t_estimated: [[0.95286765] [0.3033843 ] [0.00109525]] R_gt: [[ 0.99644837 0.03951923 0.07435889] [-0.0409803 0.99899332 0.01822433] [-0.0735641 -0.02120556 0.99706469]] t_gt: [-0.2609291 0.4136076 0.87226415] Pose Error in degrees for R and t: 65.04220797158236 82.98128759521786 Number of keypoints: Image1: 673 Image2: 673 R_estimated: [[ 9.99969251e-01 -7.84188592e-03 4.04292329e-05] [ 7.84188588e-03 9.99969252e-01 1.14687943e-06] [-4.04369835e-05 -8.29802728e-07 9.99999999e-01]] t_estimated: [[0.87092421] [0.49141643] [0.00095433]] R_gt: [[ 0.99942868 -0.02731932 -0.01988672] [ 0.02794906 0.99909341 0.03210688] [ 0.01899129 -0.03264387 0.99928554]] t_gt: [ 0.63250405 -0.24831427 0.73367476] Pose Error in degrees for R and t: 2.4457953949427527 64.56178450815777 Number of keypoints: Image1: 447 Image2: 447 R_estimated: [[ 9.99277648e-01 -3.80023272e-02 7.44982884e-05] [ 3.80023257e-02 9.99277650e-01 2.19100285e-05] [-7.52771067e-05 -1.90630936e-05 9.99999997e-01]] t_estimated: [[9.64662367e-01] [2.63488434e-01] [6.01587359e-04]] R_gt: [[ 0.99200026 -0.11390604 -0.05441383] [ 0.11600028 0.99255982 0.03700202] [ 0.04979471 -0.04301801 0.99783229]] t_gt: [ 0.96853504 -0.16820156 0.18343421] Pose Error in degrees for R and t: 5.820315807652629 27.114122566826804 Number of keypoints: Image1: 411 Image2: 411 R_estimated: [[ 9.62033471e-01 2.72930876e-01 5.81149307e-04] [-2.72930843e-01 9.62033646e-01 -1.38260136e-04] [-5.96820647e-04 -2.56026916e-05 9.99999822e-01]] t_estimated: [[0.15507144] [0.98790266] [0.00108442]] R_gt: [[ 0.98673613 -0.11802516 -0.11145795] [ 0.12781163 0.98813603 0.08515633] [ 0.10008499 -0.09827268 0.9901137 ]] t_gt: [ 0.92579876 -0.16632839 0.33945769] Pose Error in degrees for R and t: 24.302085088799643 88.83204763301597 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99652071e-01 -2.63768092e-02 3.45933696e-06] [ 2.63768092e-02 9.99652071e-01 -4.33647554e-06] [-3.34375097e-06 4.42621303e-06 1.00000000e+00]] t_estimated: [[9.74978969e-01] [2.22297115e-01] [5.44412309e-05]] R_gt: [[ 0.9971841 -0.06249872 -0.04146134] [ 0.0628993 0.9979844 0.00841599] [ 0.04085144 -0.01100058 0.99910421]] t_gt: [ 0.98625958 -0.15327014 -0.06164658] Pose Error in degrees for R and t: 3.197828368406254 21.950447871702277 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 0.23222102 -0.97254954 0.01485916] [-0.97255617 -0.23194195 0.01836931] [-0.0144186 -0.01871711 -0.99972085]] t_estimated: [[0.61486151] [0.78855159] [0.01147718]] R_gt: [[ 0.99322945 -0.05545643 -0.10207609] [ 0.06199702 0.99614543 0.06205713] [ 0.09824125 -0.06796576 0.99283883]] t_gt: [ 0.95401803 -0.20038975 0.22292048] Pose Error in degrees for R and t: 179.28320989316356 64.46071796702098 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.99474828 0.1022996 -0.00326228] [-0.10229267 -0.99475185 -0.00222678] [-0.00347296 -0.00188138 0.9999922 ]] t_estimated: [[0.67002092] [0.74233982] [0.00188499]] R_gt: [[ 0.98673951 -0.0406579 -0.15713598] [ 0.05180845 0.99637133 0.06752694] [ 0.15382071 -0.07477328 0.98526575]] t_gt: [ 0.98368839 -0.16378813 0.07436803] Pose Error in degrees for R and t: 176.82590119113405 57.47649669761462 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.79779943 0.60292079 0.00160729] [ 0.60291142 -0.79779784 0.00405288] [ 0.00372586 -0.00226434 -0.9999905 ]] t_estimated: [[0.27394265] [0.9617449 ] [0.00147281]] R_gt: [[ 0.9979438 -0.00453873 -0.06393172] [ 0.00382523 0.99992841 -0.01128657] [ 0.06397791 0.01102017 0.99789017]] t_gt: [ 0.64010364 0.09492771 -0.76240151] Pose Error in degrees for R and t: 179.24793864178253 74.60184603650815 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.32724499 -0.66910583 -0.66723916] [-0.58250014 -0.41315602 0.69999692] [-0.7440459 0.61773739 -0.25455101]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 9.92371481e-01 -8.92059567e-04 -1.23278581e-01] [ 1.16855070e-03 9.99996706e-01 2.16885790e-03] [ 1.23275740e-01 -2.29569189e-03 9.92369307e-01]] t_gt: [ 0.64632557 0.08741408 -0.75803828] Pose Error in degrees for R and t: 179.64732566540866 67.73114397003567 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.97213846 0.23438256 -0.00340971] [-0.234392 0.97213843 -0.00269393] [ 0.0026833 0.00341808 0.99999056]] t_estimated: [[-0.809812 ] [ 0.58657954] [-0.01135642]] R_gt: [[ 0.98496193 0.01169859 -0.17237199] [-0.00959633 0.99986944 0.01302308] [ 0.17250188 -0.01117186 0.98494551]] t_gt: [ 0.62473566 0.14949668 -0.76639161] Pose Error in degrees for R and t: 16.215567774710856 65.82510854431224 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99362194e-01 -3.57092568e-02 2.32001100e-04] [ 3.57093083e-02 9.99362195e-01 -2.21600183e-04] [-2.23939950e-04 2.29743444e-04 9.99999949e-01]] t_estimated: [[7.77646500e-01] [6.28701665e-01] [3.71568018e-04]] R_gt: [[ 0.9984501 -0.05479196 0.00968384] [ 0.05528821 0.99654599 -0.06196004] [-0.0062545 0.06239963 0.99803145]] t_gt: [ 0.33304489 0.51719253 -0.78841169] Pose Error in degrees for R and t: 3.750079465062783 54.277642538773065 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.63350138e-01 -2.68246723e-01 4.55036730e-04] [ 2.68247097e-01 9.63348213e-01 -1.92770601e-03] [ 7.87420002e-05 1.97911814e-03 9.99998038e-01]] t_estimated: [[-0.03252702] [-0.99946648] [-0.002957 ]] R_gt: [[ 0.99954518 -0.03008321 -0.00199297] [ 0.02972423 0.9943593 -0.10181414] [ 0.00504482 0.10170883 0.99480088]] t_gt: [-0.02712608 0.8002978 -0.59898882] Pose Error in degrees for R and t: 14.976324229260413 37.1348118491669 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.33299167e-01 -3.59099459e-01 -4.93520452e-04] [ 3.59099764e-01 9.33297605e-01 1.71445925e-03] [-1.55059934e-04 -1.77732647e-03 9.99998409e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 9.93071014e-01 -1.17510289e-01 -8.28507640e-05] [ 1.15934921e-01 9.79877434e-01 -1.62478883e-01] [ 1.91743361e-02 1.61344279e-01 9.86711829e-01]] t_gt: [ 0.49803832 0.61345347 -0.61288879] Pose Error in degrees for R and t: 17.125734635601933 41.281572066688554 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.98555106e-01 -5.37373067e-02 3.76844429e-05] [ 5.37373033e-02 9.98555104e-01 8.60922895e-05] [-4.22563606e-05 -8.39428349e-05 9.99999996e-01]] t_estimated: [[9.99994894e-01] [3.10007540e-03] [7.75189869e-04]] R_gt: [[ 0.99736098 -0.07128867 0.01373365] [ 0.07114411 0.99740811 0.01077225] [-0.01446551 -0.00976679 0.99984774]] t_gt: [ 0.64909862 -0.72687582 0.22432681] Pose Error in degrees for R and t: 1.413488298735575 49.68301552170725 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.40769212 0.9123501 -0.03747567] [ 0.91000846 -0.40257583 0.09908234] [ 0.07531098 -0.07449827 -0.9943733 ]] t_estimated: [[-0.58025885] [-0.81236239] [-0.05802589]] R_gt: [[ 0.99776114 -0.05782115 0.03360745] [ 0.05862075 0.99800768 -0.02329877] [-0.03219374 0.02521718 0.9991642 ]] t_gt: [ 0.58478301 -0.80635621 0.08842226] Pose Error in degrees for R and t: 176.293027524629 71.90477837884688 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-3.27109756e-01 -9.44985864e-01 -9.61813812e-04] [-9.44986075e-01 3.27108708e-01 1.10068137e-03] [-7.25510665e-04 1.26894427e-03 -9.99998932e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99736717 -0.01463604 0.07102294] [ 0.02022131 0.99670374 -0.07856465] [-0.06963968 0.07979404 0.99437565]] t_gt: [ 0.29994497 -0.95379848 -0.01736308] Pose Error in degrees for R and t: 179.35597799177756 70.73935897357205 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.74920146e-01 -2.22554946e-01 -6.89513311e-05] [ 2.22554957e-01 9.74920110e-01 2.67127799e-04] [ 7.77142638e-06 -2.75773733e-04 9.99999962e-01]] t_estimated: [[ 7.58599983e-01] [-6.51556303e-01] [ 6.70214950e-04]] R_gt: [[ 0.99991827 0.01109416 -0.00635292] [-0.01120419 0.99978126 -0.01766129] [ 0.00615653 0.01773113 0.99982354]] t_gt: [-0.25667051 0.84629681 -0.46679971] Pose Error in degrees for R and t: 13.541752520398825 41.71765890404528 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 0.55778766 -0.82995302 0.00713459] [-0.82998122 -0.55778637 0.00235531] [ 0.00202478 -0.00723534 -0.99997177]] t_estimated: [[0.68531423] [0.72824575] [0.00159006]] R_gt: [[ 0.99941687 -0.03298343 -0.0087866 ] [ 0.03280886 0.99927305 -0.0194221 ] [ 0.00942144 0.01912174 0.99977237]] t_gt: [ 0.89000403 -0.00848601 -0.45587368] Pose Error in degrees for R and t: 179.08751567885653 52.912952976407404 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.79554582e-01 2.01178488e-01 1.90654535e-04] [-2.01178450e-01 9.79554588e-01 -2.00752667e-04] [-2.27143643e-04 1.58292611e-04 9.99999962e-01]] t_estimated: [[ 2.97699144e-01] [-9.54659691e-01] [-3.07608389e-04]] R_gt: [[ 0.98486223 -0.16453786 0.05452118] [ 0.15399339 0.97494193 0.1605421 ] [-0.07957077 -0.14971624 0.98552112]] t_gt: [ 0.57850238 -0.42920978 0.69362379] Pose Error in degrees for R and t: 22.989921563600994 54.42588459776052 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 0.17302022 0.98491319 0.00316281] [ 0.98491641 -0.17302525 0.00138918] [ 0.00191547 0.00287475 -0.99999403]] t_estimated: [[9.99984884e-01] [5.44315255e-03] [7.77593222e-04]] R_gt: [[ 0.99023887 -0.13729519 -0.02405349] [ 0.1359777 0.98945805 -0.04982861] [ 0.03064099 0.04607216 0.99846826]] t_gt: [ 0.84237872 -0.41993741 -0.33771389] Pose Error in degrees for R and t: 178.83069264439456 32.87913690393213 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 6.41599409e-01 7.67039623e-01 6.43879822e-04] [-7.67039332e-01 6.41599729e-01 -6.71898585e-04] [-9.28485957e-04 -6.27914127e-05 9.99999567e-01]] t_estimated: [[0.54745311] [0.83683586] [0.00091567]] R_gt: [[ 0.96136733 -0.27408719 -0.02550597] [ 0.27336819 0.96148985 -0.02843744] [ 0.03231712 0.02036666 0.99926994]] t_gt: [ 0.86582468 -0.4933833 -0.08318983] Pose Error in degrees for R and t: 66.01404569836927 86.50040931145503 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[-6.55974893e-01 -7.54780251e-01 -1.92673220e-03] [ 7.54781611e-01 -6.55976157e-01 3.19248560e-05] [-1.28798664e-03 -1.43332013e-03 9.99998143e-01]] t_estimated: [[9.97063280e-01] [7.65781728e-02] [7.73516897e-04]] R_gt: [[ 0.94392143 -0.32741978 -0.04253347] [ 0.32861181 0.94414079 0.02475993] [ 0.03205 -0.03734764 0.99878859]] t_gt: [ 0.83488751 -0.54328801 0.08832318] Pose Error in degrees for R and t: 111.85385351861576 37.730302474013556 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.80931948e-01 1.94341135e-01 2.00895454e-03] [-1.94338570e-01 9.80933509e-01 -1.40383755e-03] [-2.24347421e-03 9.86651749e-04 9.99996997e-01]] t_estimated: [[-0.7579359 ] [-0.65232854] [-0.00081236]] R_gt: [[ 0.99699771 -0.06189445 -0.04653552] [ 0.059302 0.996714 -0.05517071] [ 0.04979709 0.05224519 0.99739199]] t_gt: [ 0.61276252 -0.46167946 -0.64138457] Pose Error in degrees for R and t: 15.262856401478476 80.63362274086832 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 7.09512602e-01 7.04692356e-01 7.42157429e-04] [-7.04691341e-01 7.09512897e-01 -1.25048068e-03] [-1.40777444e-03 3.64239886e-04 9.99998943e-01]] t_estimated: [[0.38906097] [0.92121125] [0.00118256]] R_gt: [[ 0.97901276 -0.19887019 -0.04455524] [ 0.19462446 0.97717833 -0.08510878] [ 0.06046428 0.07465127 0.99537534]] t_gt: [ 0.7991948 -0.46887972 -0.3760844 ] Pose Error in degrees for R and t: 56.42556264892462 83.02440823882583 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-7.60529071e-01 -6.49303323e-01 8.52415391e-04] [-6.49300821e-01 7.60528862e-01 2.07222998e-03] [-1.99379232e-03 1.02251713e-03 -9.99997490e-01]] t_estimated: [[0.95537446] [0.2953924 ] [0.00172478]] R_gt: [[ 0.95275796 -0.30326428 -0.01684573] [ 0.30000918 0.94828803 -0.10365779] [ 0.04741023 0.09370666 0.99446997]] t_gt: [ 0.8475486 -0.43930929 -0.29777292] Pose Error in degrees for R and t: 176.36698260752192 47.19978446253931 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-9.05908796e-01 4.23455883e-01 3.79059810e-03] [-4.23472834e-01 -9.05870096e-01 -8.37424388e-03] [-1.12333366e-04 -9.19151651e-03 9.99957751e-01]] t_estimated: [[0.62512468] [0.78052291] [0.00176589]] R_gt: [[ 9.93748942e-01 1.09400448e-01 2.22402350e-02] [-1.09356327e-01 9.93997976e-01 -3.22659056e-03] [-2.24582850e-02 7.74472398e-04 9.99747635e-01]] t_gt: [-0.59632533 0.79412862 0.11728526] Pose Error in degrees for R and t: 148.66216303052377 75.68427139625845 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 1.00000000e+00 8.23230373e-14 8.23993651e-17] [-8.24895707e-14 1.00000000e+00 -3.36970035e-16] [ 2.86337794e-16 1.56125113e-16 1.00000000e+00]] t_estimated: [[0.49352406] [0.86973097] [0.00142563]] R_gt: [[ 0.98645784 0.16398412 0.00318832] [-0.16400718 0.98601239 0.0297035 ] [ 0.00172789 -0.02982379 0.99955383]] t_gt: [-0.58289936 0.80271769 0.12598668] Pose Error in degrees for R and t: 9.594503740137885 65.7541263119637 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.39947775e-01 -3.41318115e-01 3.52528588e-04] [ 3.41318088e-01 9.39947841e-01 1.36741204e-04] [-3.78030736e-04 -8.20520675e-06 9.99999929e-01]] t_estimated: [[-0.65196611] [-0.75824769] [-0.00079315]] R_gt: [[ 9.78359380e-01 1.95678605e-01 -6.72593613e-02] [-1.96095587e-01 9.80585522e-01 4.28959949e-04] [ 6.60374356e-02 1.27699075e-02 9.97735537e-01]] t_gt: [-0.51047266 0.84177549 -0.17558957] Pose Error in degrees for R and t: 31.500397000190933 72.22233177699233 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.8420251 0.47404719 -0.2574354 ] [-0.46840766 0.87922401 0.0869448 ] [ 0.26755933 0.04737501 0.96237603]] t_estimated: [[-0.94195004] [-0.15229986] [-0.2992238 ]] R_gt: [[ 0.9992615 -0.03355943 -0.01872357] [ 0.03400473 0.99913406 0.02400046] [ 0.01790165 -0.02461951 0.99953661]] t_gt: [ 0.48970211 -0.85011862 0.1936238 ] Pose Error in degrees for R and t: 33.876117353911965 67.06175092988173 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.00536244e-01 4.34779923e-01 9.44603997e-04] [-4.34777656e-01 9.00535753e-01 -1.93567814e-03] [-1.69224367e-03 1.33245561e-03 9.99997680e-01]] t_estimated: [[0.4636507 ] [0.88601744] [0.00105856]] R_gt: [[ 0.99645552 -0.06237463 -0.05645407] [ 0.06060359 0.9976311 -0.03256154] [ 0.05835105 0.02902569 0.99787373]] t_gt: [ 0.55216682 -0.75430221 -0.35516191] Pose Error in degrees for R and t: 29.535578047560524 65.6261758111851 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99853486e-01 1.71146649e-02 3.06658980e-04] [-1.71146771e-02 9.99853532e-01 3.73813958e-05] [-3.05974294e-04 -4.26242883e-05 9.99999952e-01]] t_estimated: [[ 9.97369012e-01] [-7.24916782e-02] [-1.05607419e-04]] R_gt: [[ 0.9785547 -0.19781168 -0.05746084] [ 0.1955595 0.97976909 -0.04253587] [ 0.06471264 0.0303862 0.99744113]] t_gt: [ 0.75326091 -0.62701976 -0.19860566] Pose Error in degrees for R and t: 13.004437550344003 37.178779875903835 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99946724e-01 1.03218814e-02 8.78395770e-05] [-1.03218821e-02 9.99946728e-01 7.78923466e-06] [-8.77544980e-05 -8.69548944e-06 9.99999996e-01]] t_estimated: [[ 8.72947812e-01] [-4.87813469e-01] [-3.68773148e-04]] R_gt: [[ 0.99790164 -0.06444546 0.00625412] [ 0.06437669 0.99786888 0.01058836] [-0.00692289 -0.01016354 0.99992461]] t_gt: [ 0.81949577 -0.5313592 0.21467204] Pose Error in degrees for R and t: 4.341762781793918 12.96634053146468 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.95736724e-01 -9.22406749e-02 -1.86066397e-04] [ 9.22407143e-02 9.95736714e-01 2.15390236e-04] [ 1.65405403e-04 -2.31634866e-04 9.99999959e-01]] t_estimated: [[ 9.79944497e-01] [-1.99269836e-01] [-5.61849553e-04]] R_gt: [[ 0.98907462 -0.14720775 0.00797452] [ 0.14734092 0.98888377 -0.01998525] [-0.00494356 0.0209422 0.99976886]] t_gt: [ 0.87603979 -0.47651931 -0.07405153] Pose Error in degrees for R and t: 3.413074217690092 17.547390702203156 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999522e-01 9.76870072e-04 2.78805272e-05] [-9.76875392e-04 9.99999505e-01 1.91459108e-04] [-2.76934827e-05 -1.91486252e-04 9.99999981e-01]] t_estimated: [[ 9.91836649e-01] [-1.27514704e-01] [-2.49230759e-04]] R_gt: [[ 0.9708045 -0.23977192 0.00700888] [ 0.23963717 0.97072868 0.01612746] [-0.01067068 -0.01397764 0.99984517]] t_gt: [ 0.87776892 -0.47206162 0.08172857] Pose Error in degrees for R and t: 13.961596035949604 21.44361244568459 Number of keypoints: Image1: 439 Image2: 439 R_estimated: [[ 9.98834587e-01 4.82643418e-02 1.47316952e-04] [-4.82643446e-02 9.98834597e-01 1.54175021e-05] [-1.46401153e-04 -2.25096905e-05 9.99999989e-01]] t_estimated: [[0.2923363 ] [0.9563144 ] [0.00150254]] R_gt: [[ 0.99891995 -0.04643912 0.00198397] [ 0.04645036 0.99890411 -0.00578951] [-0.00171277 0.00587622 0.99998088]] t_gt: [ 0.40564895 -0.91047185 -0.08056012] Pose Error in degrees for R and t: 5.439492315804889 41.21586638282331 Number of keypoints: Image1: 376 Image2: 376 R_estimated: [[ 2.59122607e-01 9.65844406e-01 2.40659356e-04] [ 9.65835468e-01 -2.59121267e-01 4.24466925e-03] [ 4.16205000e-03 -8.67452420e-04 -9.99990962e-01]] t_estimated: [[-0.95047536] [-0.31079558] [-0.00164442]] R_gt: [[ 0.98819394 -0.14908091 0.0353305 ] [ 0.14833317 0.98867114 0.02294767] [-0.03835233 -0.01743519 0.99911168]] t_gt: [ 0.42751409 -0.84271477 0.32720561] Pose Error in degrees for R and t: 179.7941295264472 81.66459437962345 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.96283764e-01 -8.61269508e-02 9.00321000e-04] [ 8.61277477e-02 9.96283706e-01 -8.87298899e-04] [-8.20554794e-04 9.61544106e-04 9.99999201e-01]] t_estimated: [[-0.37586536] [-0.92667267] [-0.0017321 ]] R_gt: [[ 0.97757104 -0.20679681 0.03988044] [ 0.20625491 0.97834486 0.01732725] [-0.04260017 -0.00871144 0.99905424]] t_gt: [ 0.46741475 -0.84427823 0.26214065] Pose Error in degrees for R and t: 7.404341341505127 52.68256091585188 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99283131 0.11851437 -0.01550262] [-0.11859568 0.99293274 -0.00443154] [ 0.01486786 0.00623832 0.99987001]] t_estimated: [[-0.56533114] [-0.81782633] [-0.10752114]] R_gt: [[ 0.99911506 0.04202155 0.00217418] [-0.04167878 0.99541073 -0.08614023] [-0.00578426 0.0859732 0.99628018]] t_gt: [-0.12640546 0.72728864 -0.6745909 ] Pose Error in degrees for R and t: 6.485552705752134 63.20484438659986 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.14886733 -0.96969966 0.19370359] [-0.98552648 -0.12942754 0.10948094] [-0.08109305 -0.20719815 -0.97493222]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.99887939 0.04480682 -0.01528991] [-0.04686368 0.98165677 -0.18480159] [ 0.00672874 0.18531141 0.98265622]] t_gt: [-0.06740429 0.58019642 -0.81168268] Pose Error in degrees for R and t: 176.27541873277013 79.58037042227545 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 9.99998874e-01 1.48041624e-03 -2.47352756e-04] [-1.48038218e-03 9.99998895e-01 1.37826164e-04] [ 2.47556523e-04 -1.37459832e-04 9.99999960e-01]] t_estimated: [[ 1.40298180e-01] [-9.90109220e-01] [-3.90991179e-04]] R_gt: [[ 0.99777101 -0.05123882 -0.04276913] [ 0.04115922 0.97682578 -0.21004045] [ 0.05254082 0.20781167 0.97675629]] t_gt: [ 0.2397383 0.18952325 -0.95215886] Pose Error in degrees for R and t: 12.685522223939243 81.16197895954114 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 8.55257228e-01 -5.18203610e-01 3.04501067e-04] [ 5.18203024e-01 8.55256914e-01 1.11245669e-03] [-8.36905716e-04 -7.93643250e-04 9.99999335e-01]] t_estimated: [[ 0.74711166] [-0.66469499] [ 0.00217597]] R_gt: [[ 0.99888338 0.04528827 0.01346931] [-0.04512754 0.99890878 -0.01198341] [-0.01399736 0.01136148 0.99983756]] t_gt: [-0.57015903 0.81809826 -0.07505943] Pose Error in degrees for R and t: 33.81886856469838 14.088333347003083 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.17055512e-01 3.98759425e-01 -3.29076533e-04] [-3.98759320e-01 9.17053743e-01 -1.85405317e-03] [-4.37540311e-04 1.83149202e-03 9.99998227e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 9.83249160e-01 5.11134960e-02 1.74954801e-01] [-5.02850737e-02 9.98692380e-01 -9.16687017e-03] [-1.75194908e-01 2.14835211e-04 9.84533861e-01]] t_gt: [-0.42345398 0.2875666 0.85906471] Pose Error in degrees for R and t: 22.88674071097845 78.59084018645588 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 7.71026613e-01 6.36802913e-01 -1.08411822e-04] [-6.36801866e-01 7.71025012e-01 -1.95335193e-03] [-1.16031197e-03 1.57512317e-03 9.99998086e-01]] t_estimated: [[0.86015058] [0.51003904] [0.00108059]] R_gt: [[ 0.96952742 0.08359754 0.23027639] [-0.0840441 0.99643074 -0.00788473] [-0.23011309 -0.01170959 0.97309293]] t_gt: [-0.46404667 0.30486472 0.83169597] Pose Error in degrees for R and t: 37.06573174309029 75.95060061590168 Number of keypoints: Image1: 384 Image2: 384 R_estimated: [[ 0.99722501 -0.07360511 0.01116106] [ 0.07362661 0.99728471 -0.00152702] [-0.01101836 0.00234454 0.99993655]] t_estimated: [[0.18722328] [0.98231437] [0.00243147]] R_gt: [[ 0.99968314 0.02280257 -0.01059746] [-0.02330015 0.99850051 -0.04952976] [ 0.00945221 0.0497608 0.99871611]] t_gt: [-0.19267621 0.87603492 -0.44208449] Pose Error in degrees for R and t: 6.298661730824068 34.57406622675434 Number of keypoints: Image1: 389 Image2: 389 R_estimated: [[ 9.98707702e-01 -5.08220908e-02 2.00489551e-04] [-5.08072214e-02 -9.98303287e-01 2.84459840e-02] [-1.24553501e-03 -2.84194097e-02 -9.99595311e-01]] t_estimated: [[-0.05011878] [ 0.99863233] [ 0.01488537]] R_gt: [[ 0.9970555 -0.07572535 -0.01209821] [ 0.074059 0.99178022 -0.104336 ] [ 0.01989938 0.10313255 0.99446836]] t_gt: [ 0.65524576 0.55812657 -0.50906554] Pose Error in degrees for R and t: 175.64925819543572 58.87241680873706 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[-0.99998164 0.005843 -0.00160869] [ 0.00584796 0.99997811 -0.00309373] [ 0.00159058 -0.00310308 -0.99999392]] t_estimated: [[9.99994892e-01] [3.10075934e-03] [7.75189839e-04]] R_gt: [[ 0.99256853 -0.11736516 0.03211838] [ 0.12115957 0.97767658 -0.17166389] [-0.01125392 0.17427947 0.9846314 ]] t_gt: [ 0.66508271 0.57213804 -0.47991984] Pose Error in degrees for R and t: 178.82165747156202 48.20392943684676 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.60966364e-01 -2.76665218e-01 6.29594995e-05] [ 2.76665225e-01 9.60966351e-01 -1.61310854e-04] [-1.58728579e-05 1.72433009e-04 9.99999985e-01]] t_estimated: [[0.8014921 ] [0.59800447] [0.0010382 ]] R_gt: [[ 0.99481103 0.05143998 -0.08778728] [-0.05862571 0.99496111 -0.08133049] [ 0.08316037 0.08605463 0.99281277]] t_gt: [-0.11844222 0.58720329 -0.80072701] Pose Error in degrees for R and t: 20.406358383071915 75.20340119976049 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 8.29715773e-01 -5.58185794e-01 5.96033490e-04] [ 5.58186077e-01 8.29715627e-01 -5.30580965e-04] [-1.98375544e-04 7.72928991e-04 9.99999682e-01]] t_estimated: [[0.61512758] [0.78842712] [0.00085792]] R_gt: [[ 0.97485754 0.11505364 -0.19083275] [-0.14958491 0.97264337 -0.17773545] [ 0.16516236 0.2018118 0.96539781]] t_gt: [-0.09701408 0.64216269 -0.76040473] Pose Error in degrees for R and t: 44.20679517716863 63.51457938699437 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 7.75499002e-01 -6.31348568e-01 5.31814722e-04] [ 6.31348788e-01 7.75498824e-01 -5.31886722e-04] [-7.66157703e-05 7.48238202e-04 9.99999717e-01]] t_estimated: [[-0.22112596] [-0.97524431] [-0.00135531]] R_gt: [[ 0.96294216 0.1615646 -0.2159639 ] [-0.20889715 0.95326616 -0.21828112] [ 0.17060431 0.25530613 0.95168928]] t_gt: [-0.12763745 0.71331941 -0.68911835] Pose Error in degrees for R and t: 52.986902464675524 48.202282139057225 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.40474012e-01 -3.39865608e-01 3.69683311e-05] [ 3.39865534e-01 9.40473868e-01 5.67662586e-04] [-2.27696740e-04 -5.21307648e-04 9.99999838e-01]] t_estimated: [[ 0.9957849 ] [-0.09170903] [ 0.00137538]] R_gt: [[ 0.99437047 -0.10538939 0.01102541] [ 0.10591051 0.99178337 -0.07175554] [-0.00337361 0.07251931 0.99736156]] t_gt: [ 0.93136477 0.12251483 -0.34285535] Pose Error in degrees for R and t: 14.41644009688948 23.690147906787242 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.97376336e-01 7.23893814e-02 4.70662815e-04] [-7.23895769e-02 9.97376348e-01 4.12432687e-04] [-4.39572212e-04 -4.45421684e-04 9.99999804e-01]] t_estimated: [[0.64196582] [0.76673207] [0.00134672]] R_gt: [[ 0.98934548 -0.13582039 0.05242921] [ 0.14198565 0.97974938 -0.1411771 ] [-0.03219389 0.14711694 0.98859475]] t_gt: [ 0.8395914 0.33222707 -0.4297807 ] Pose Error in degrees for R and t: 14.94718075800667 37.520136615780714 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 8.89671909e-01 -4.56600156e-01 -4.37510494e-04] [ 4.56600362e-01 8.89671610e-01 7.31165296e-04] [ 5.53904774e-05 -8.50264675e-04 9.99999637e-01]] t_estimated: [[0.86926443] [0.49434662] [0.00088063]] R_gt: [[ 0.99014837 -0.13964082 0.01032035] [ 0.1384554 0.96541545 -0.22091602] [ 0.020885 0.22016814 0.97523807]] t_gt: [ 0.67735967 0.50634278 -0.53366737] Pose Error in degrees for R and t: 22.951220679251886 33.00284243925458 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.92219971e-01 -1.24496906e-01 -2.21041576e-04] [ 1.24496978e-01 9.92219926e-01 3.48608738e-04] [ 1.75921147e-04 -3.73415560e-04 9.99999915e-01]] t_estimated: [[0.99972424] [0.02345032] [0.00123423]] R_gt: [[ 0.99885443 0.02676644 -0.03968743] [-0.02741745 0.99949649 -0.01593318] [ 0.03924147 0.0170024 0.99908434]] t_gt: [-0.10705754 0.73496426 -0.66960154] Pose Error in degrees for R and t: 9.042155871893556 84.80076352364549 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-7.01638804e-01 -7.12527430e-01 -2.76588934e-03] [ 7.12521835e-01 -7.01644256e-01 2.82355232e-03] [-3.95252885e-03 1.03573228e-05 9.99992189e-01]] t_estimated: [[0.99336089] [0.11502073] [0.00209129]] R_gt: [[ 0.98816326 0.0856658 -0.12726175] [-0.10144541 0.98718605 -0.12317861] [ 0.115079 0.13462988 0.98419079]] t_gt: [-0.11838135 0.66369139 -0.73857944] Pose Error in degrees for R and t: 140.15560290584116 87.5468931963489 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 1.53535401e-01 9.88128904e-01 5.30561606e-03] [ 9.88142968e-01 -1.53536400e-01 -2.20951767e-04] [ 5.96276363e-04 5.27663111e-03 -9.99985901e-01]] t_estimated: [[0.93215706] [0.36205046] [0.00163824]] R_gt: [[ 0.96800006 0.14708414 -0.20333244] [-0.18649491 0.96377451 -0.190675 ] [ 0.16792127 0.22249352 0.96036336]] t_gt: [-0.11738234 0.70867148 -0.69570549] Pose Error in degrees for R and t: 177.71524329204448 81.60386329032995 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99999973e-01 -8.95058471e-05 2.12219480e-04] [ 8.95983369e-05 9.99999901e-01 -4.35852158e-04] [-2.12180448e-04 4.35871161e-04 9.99999882e-01]] t_estimated: [[7.94607002e-01] [6.07123691e-01] [7.32356684e-04]] R_gt: [[ 0.99985863 0.01335576 -0.01023188] [-0.01423834 0.9956777 -0.09177833] [ 0.00896183 0.09191103 0.99572631]] t_gt: [-0.0245394 0.4380872 -0.89859748] Pose Error in degrees for R and t: 5.335077326304871 75.76994726424827 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.08599409 0.99626709 0.00754341] [-0.99626898 0.08604472 -0.00666534] [-0.00728953 -0.00694209 0.99994933]] t_estimated: [[0.06651719] [0.99775791] [0.0073908 ]] R_gt: [[ 0.99842356 -0.02123258 -0.05196886] [ 0.01281628 0.98747941 -0.15722705] [ 0.05465739 0.15631263 0.98619398]] t_gt: [ 0.14166817 0.21491516 -0.96630306] Pose Error in degrees for R and t: 86.49645664084663 77.4838425251616 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.29975033 0.95401451 0.00246074] [-0.95401613 -0.2997442 -0.0025752 ] [-0.00171918 -0.00311951 0.99999366]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.9768901 -0.21369631 0.0045209 ] [ 0.21272556 0.96995218 -0.11806611] [ 0.02084515 0.11629959 0.9929951 ]] t_gt: [ 0.66396431 -0.58003835 -0.47191833] Pose Error in degrees for R and t: 119.91628832990341 55.79818425437124 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 9.99925821e-01 -1.21799532e-02 2.94873542e-05] [ 1.21799549e-02 9.99925820e-01 -5.72478416e-05] [-2.87878907e-05 5.76027497e-05 9.99999998e-01]] t_estimated: [[-0.71412357] [-0.70001926] [-0.00074233]] R_gt: [[ 0.9987443 0.04997834 -0.00359288] [-0.04993149 0.99867837 0.01224504] [ 0.00419921 -0.01205093 0.99991783]] t_gt: [-0.50132162 0.86394692 0.04766924] Pose Error in degrees for R and t: 3.636153337955593 75.71121773592853 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.98039011e-01 6.25939846e-02 3.53447241e-04] [-6.25938011e-02 9.98038956e-01 -5.08306704e-04] [-3.84571058e-04 4.85186314e-04 9.99999808e-01]] t_estimated: [[-9.87731467e-01] [-1.56160037e-01] [-7.69261267e-04]] R_gt: [[ 0.99960321 0.02586455 -0.01113404] [-0.02568178 0.99953816 0.01624062] [ 0.01154815 -0.01594841 0.9998058 ]] t_gt: [-0.21534124 0.97560501 0.04269677] Pose Error in degrees for R and t: 2.411550884556864 86.54205138669286 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99910741e-01 1.33595349e-02 1.78782895e-04] [-1.33595345e-02 9.99910757e-01 -3.29920571e-06] [-1.78811016e-04 9.10454965e-07 9.99999984e-01]] t_estimated: [[-8.46364777e-01] [-5.32603143e-01] [-7.46474087e-04]] R_gt: [[ 0.99905425 -0.04299887 -0.00655411] [ 0.04303314 0.99906106 0.00515155] [ 0.00632625 -0.00542859 0.99996449]] t_gt: [ 0.95835391 0.28404795 -0.02957262] Pose Error in degrees for R and t: 3.266913494847933 15.765925685614246 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[-5.08817796e-01 -8.60871608e-01 -2.12710229e-03] [ 8.60874160e-01 -5.08817235e-01 -8.37340120e-04] [-3.61463969e-04 -2.25722095e-03 9.99997387e-01]] t_estimated: [[0.95867675] [0.2844951 ] [0.00119536]] R_gt: [[ 0.99784696 -0.06536706 0.00531568] [ 0.06529458 0.99778666 0.01261932] [-0.00612883 -0.01224498 0.99990595]] t_gt: [ 0.32635477 -0.9155905 0.23491829] Pose Error in degrees for R and t: 116.84057232185556 86.98091834759286 Number of keypoints: Image1: 629 Image2: 629 R_estimated: [[ 9.99631438e-01 -2.71451534e-02 3.59591561e-04] [ 2.71451024e-02 9.99631493e-01 1.45961067e-04] [-3.63421185e-04 -1.36146122e-04 9.99999925e-01]] t_estimated: [[0.79572777] [0.60565312] [0.00127023]] R_gt: [[ 0.98783396 -0.15092704 0.03748026] [ 0.15022437 0.98843085 0.02091891] [-0.04020424 -0.01503427 0.999078 ]] t_gt: [ 0.40089406 -0.84394735 0.35642225] Pose Error in degrees for R and t: 7.514763275894087 78.94891861725635 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 9.98846688e-01 -4.80133339e-02 1.14864266e-04] [ 4.80133406e-02 9.98846693e-01 -5.56785252e-05] [-1.12058481e-04 6.11293276e-05 9.99999992e-01]] t_estimated: [[9.47820630e-01] [3.18804075e-01] [1.20477683e-04]] R_gt: [[ 0.98194076 -0.1835592 0.04582015] [ 0.18381946 0.98295897 -0.00151384] [-0.04476065 0.00990915 0.99894812]] t_gt: [ 0.38122668 -0.88381118 0.27118999] Pose Error in degrees for R and t: 8.264169781898033 85.43416265733703 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.99880224e-01 -1.54719357e-02 3.96710756e-04] [ 1.54719578e-02 9.99880301e-01 -5.26706727e-05] [-3.95848353e-04 5.88022561e-05 9.99999920e-01]] t_estimated: [[ 0.90106565] [-0.43360459] [ 0.00823157]] R_gt: [[ 0.99958828 0.02278472 0.01744617] [-0.02242488 0.99953639 -0.02060904] [-0.01790614 0.02020979 0.9996349 ]] t_gt: [-0.89026841 0.45524842 -0.01307795] Pose Error in degrees for R and t: 2.665004105434605 1.4134228766346146 Number of keypoints: Image1: 233 Image2: 233 R_estimated: [[ 9.99926836e-01 1.20962986e-02 5.61339956e-05] [-1.20962889e-02 9.99926823e-01 -1.70062359e-04] [-5.81870129e-05 1.69370903e-04 9.99999984e-01]] t_estimated: [[ 0.63267305] [-0.7744106 ] [ 0.00360942]] R_gt: [[ 0.99992599 0.0058974 -0.01061665] [-0.00628585 0.99929972 -0.03690704] [ 0.01039259 0.03697095 0.99926199]] t_gt: [-0.89379792 0.28695011 -0.34465188] Pose Error in degrees for R and t: 2.2191153630711464 37.91315216609877 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 1.00000000e+00 -1.31600286e-12 1.03909936e-15] [ 1.31589184e-12 1.00000000e+00 2.87416575e-15] [-1.03909936e-15 -2.87389470e-15 1.00000000e+00]] t_estimated: [[0.95252112] [0.3044691 ] [0.0014394 ]] R_gt: [[ 0.99589889 -0.08247026 0.03720075] [ 0.0856538 0.99186275 -0.09419257] [-0.02912923 0.09699287 0.99485823]] t_gt: [-0.72803733 -0.0194423 -0.68526173] Pose Error in degrees for R and t: 7.558997189658477 45.542751071340575 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 3.47459113e-01 9.37695070e-01 3.46860491e-04] [-9.37694002e-01 3.47459244e-01 -1.42572058e-03] [-1.45741104e-03 1.70130606e-04 9.99998924e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99547968 0.09491243 -0.00347579] [-0.09490666 0.99548483 0.00174968] [ 0.00362555 -0.00141063 0.99999281]] t_gt: [-0.76943058 0.63869361 0.00685963] Pose Error in degrees for R and t: 64.22254119591405 50.66235817364098 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99999886e-01 -4.31218670e-04 -2.03446067e-04] [ 4.31249932e-04 9.99999895e-01 1.53643061e-04] [ 2.03379792e-04 -1.53730780e-04 9.99999968e-01]] t_estimated: [[-9.91925625e-01] [ 1.26819541e-01] [-5.97834828e-04]] R_gt: [[ 0.96218855 0.27211964 -0.01200928] [-0.2723821 0.96144203 -0.0379095 ] [ 0.00123015 0.03974859 0.99920952]] t_gt: [-0.75282739 0.64691997 -0.12143092] Pose Error in degrees for R and t: 15.992472314652053 34.01783450947989 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.99999743e-01 -6.64815866e-04 -2.67744163e-04] [ 6.64896487e-04 9.99999734e-01 3.01134882e-04] [ 2.67543892e-04 -3.01312827e-04 9.99999919e-01]] t_estimated: [[-9.98409451e-01] [ 5.63762426e-02] [-5.35672545e-04]] R_gt: [[ 0.93583106 0.3524446 -0.00144345] [-0.35238941 0.93559217 -0.02209893] [-0.00643792 0.02119002 0.99975473]] t_gt: [-0.74529901 0.66539421 -0.04218923] Pose Error in degrees for R and t: 20.715690452685607 38.588231331687496 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.99747747e-01 2.24032522e-02 1.59277962e-03] [-2.24048191e-02 9.99748507e-01 9.72831558e-04] [-1.57058446e-03 -1.00827210e-03 9.99998258e-01]] t_estimated: [[-0.99976007] [-0.02101896] [ 0.00616502]] R_gt: [[ 0.98678507 0.16149916 -0.01319166] [-0.16171604 0.98668284 -0.01748363] [ 0.01019177 0.01938577 0.99976015]] t_gt: [-0.79954817 0.58861144 -0.11941231] Pose Error in degrees for R and t: 8.130503562928306 38.163734772047434 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.97778923e-01 -6.66104536e-02 -5.17796418e-04] [ 6.66107073e-02 9.97778921e-01 4.89165928e-04] [ 4.84062786e-04 -5.22570238e-04 9.99999746e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.95701034 0.29004943 0.0015662 ] [-0.28988807 0.956633 -0.02858676] [-0.0097893 0.02690355 0.99959088]] t_gt: [-0.77971352 0.62306709 -0.06192119] Pose Error in degrees for R and t: 20.745987704364016 38.93808599700967 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-9.16231776e-01 -4.00647572e-01 -9.25010435e-04] [-4.00648400e-01 9.16226258e-01 3.21003128e-03] [-4.38572391e-04 3.31173661e-03 -9.99994420e-01]] t_estimated: [[0.9654667 ] [0.26052276] [0.00139317]] R_gt: [[ 0.93102652 0.3646362 -0.01518529] [-0.36454214 0.93114679 0.00866188] [ 0.01729764 -0.00252928 0.99984724]] t_gt: [-0.75968552 0.65018427 -0.01176084] Pose Error in degrees for R and t: 179.09060474836457 55.66159451531539 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[-2.70261984e-01 -9.62786580e-01 -6.79823914e-04] [-9.62786221e-01 2.70262536e-01 -9.24576383e-04] [ 1.07390067e-03 4.04647249e-04 -9.99999341e-01]] t_estimated: [[0.8073908 ] [0.59001636] [0.00088724]] R_gt: [[ 9.98090292e-01 -6.17740497e-02 -5.29753466e-04] [ 6.17415740e-02 9.97768693e-01 -2.54190016e-02] [ 2.09957962e-03 2.53373336e-02 9.99676196e-01]] t_gt: [ 0.07842613 -0.66201273 -0.74537809] Pose Error in degrees for R and t: 178.99812097541522 70.8562633080414 Number of keypoints: Image1: 497 Image2: 497 R_estimated: [[ 9.98190830e-01 6.01253540e-02 8.79679792e-05] [-6.01253324e-02 9.98190809e-01 -2.29957454e-04] [-1.01635102e-04 2.24252318e-04 9.99999970e-01]] t_estimated: [[ 9.60649269e-01] [-2.77763970e-01] [ 3.99710840e-04]] R_gt: [[ 0.99109771 -0.1323917 0.01410421] [ 0.13308254 0.98823071 -0.07543332] [-0.0039506 0.07663884 0.99705103]] t_gt: [ 0.48107692 -0.45878134 -0.74705065] Pose Error in degrees for R and t: 11.920136982772297 53.89403196303724 Number of keypoints: Image1: 474 Image2: 474 R_estimated: [[-0.78381592 0.62078241 0.01618018] [ 0.62078556 0.78396157 -0.00543549] [-0.0160589 0.005784 -0.99985432]] t_estimated: [[ 0.9389667 ] [-0.34389354] [ 0.00887566]] R_gt: [[ 0.98953162 -0.14424714 0.00469265] [ 0.14428719 0.98804228 -0.0543482 ] [ 0.00320276 0.05445616 0.99851039]] t_gt: [ 0.5760678 -0.54458923 -0.60956415] Pose Error in degrees for R and t: 177.95658258381457 43.715608068353085 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 7.50487059e-01 -6.60881904e-01 -2.06938809e-03] [ 6.60883582e-01 7.50488414e-01 1.75676116e-04] [ 1.43695062e-03 -1.49946727e-03 9.99997843e-01]] t_estimated: [[ 0.81961087] [-0.57291931] [-0.00122117]] R_gt: [[ 0.99703108 0.00950602 0.07641839] [-0.00800748 0.99977003 -0.01989268] [-0.07658946 0.01922169 0.99687784]] t_gt: [-0.7195317 0.07702233 0.69017512] Pose Error in degrees for R and t: 42.11606947282665 50.60178793105106 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 1.08224496e-01 -9.93455861e-01 3.65090475e-02] [-9.94117845e-01 -1.08303622e-01 -1.90805873e-04] [ 4.14361931e-03 -3.62736458e-02 -9.99333304e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99549949 -0.03552849 0.08786099] [ 0.03616756 0.99932964 -0.0056918 ] [-0.08759913 0.00884437 0.99611625]] t_gt: [-0.50184236 -0.42784467 0.75173346] Pose Error in degrees for R and t: 175.59032259370423 64.52072184316816 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.95484334e-01 -9.49255680e-02 2.79031193e-04] [ 9.49255080e-02 9.95484354e-01 2.21100621e-04] [-2.98759289e-04 -1.93615026e-04 9.99999937e-01]] t_estimated: [[0.98208488] [0.18843493] [0.00125193]] R_gt: [[ 0.98288079 -0.16585589 0.08023606] [ 0.16598641 0.98611546 0.00508842] [-0.07996532 0.00831749 0.99676296]] t_gt: [ 0.25700411 -0.8810261 0.39716736] Pose Error in degrees for R and t: 6.1702178909593615 85.01580282827466 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 0.47957381 0.87746535 0.00796917] [-0.87746993 0.47945968 0.01284277] [ 0.00744819 -0.01315177 0.99988577]] t_estimated: [[0.38921631] [0.92114526] [0.00144154]] R_gt: [[ 0.99766381 -0.06261053 0.0273044 ] [ 0.05958854 0.99318962 0.10011921] [-0.03338658 -0.09825759 0.99460106]] t_gt: [ 0.44486277 -0.43871229 0.78078719] Pose Error in degrees for R and t: 65.02465259521311 76.71209094694633 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 1.00000000e+00 1.34000461e-09 1.77604764e-13] [-1.34000328e-09 1.00000000e+00 -1.25445117e-12] [-1.77598133e-13 1.25454778e-12 1.00000000e+00]] t_estimated: [[ 3.01427611e-01] [-9.53489061e-01] [-7.99813763e-05]] R_gt: [[ 0.98101313 -0.16337273 0.10451122] [ 0.1287048 0.95153102 0.27932886] [-0.14507991 -0.26057385 0.95449105]] t_gt: [ 0.39231786 -0.30206673 0.86881666] Pose Error in degrees for R and t: 19.349060694245317 66.03344770430425 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.49039115 0.87143494 0.01084749] [-0.87150002 0.49038122 0.00373964] [-0.00206055 -0.01128748 0.99993417]] t_estimated: [[0.81832409] [0.57475439] [0.0017523 ]] R_gt: [[ 0.97042399 -0.19290079 0.14514623] [ 0.14012741 0.93969506 0.31199137] [-0.19657572 -0.28242468 0.93893205]] t_gt: [ 0.40774813 -0.24777567 0.8788337 ] Pose Error in degrees for R and t: 72.7921164042254 78.88376907855962 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 8.70757405e-01 4.91712771e-01 -3.02354150e-04] [-4.91712230e-01 8.70757105e-01 1.07048369e-03] [ 7.89647526e-04 -7.83460366e-04 9.99999381e-01]] t_estimated: [[-9.38758953e-01] [-3.44573373e-01] [-9.04392055e-04]] R_gt: [[ 0.99884927 -0.04754574 -0.00637033] [ 0.04739778 0.99864124 -0.021669 ] [ 0.00739176 0.02134221 0.99974534]] t_gt: [ 0.8266249 -0.40812543 -0.38745956] Pose Error in degrees for R and t: 32.20157606273739 50.57838710279782 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.33882557 0.94084838 0.00124559] [ 0.94084815 0.3388229 0.00195035] [ 0.00141295 0.00183274 -0.99999732]] t_estimated: [[-0.72218837] [-0.69169597] [-0.00080243]] R_gt: [[ 0.98282772 -0.17605556 0.05527001] [ 0.1654251 0.97334691 0.15883719] [-0.08176166 -0.14696691 0.98575685]] t_gt: [ 0.59188474 -0.47727767 0.64952173] Pose Error in degrees for R and t: 178.16742930280716 84.38505825932735 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 8.06996917e-01 5.90555597e-01 2.52269129e-04] [-5.90555059e-01 8.06996639e-01 -1.07147061e-03] [-8.36343305e-04 7.15694668e-04 9.99999394e-01]] t_estimated: [[-0.91369504] [-0.4063981 ] [-0.00140137]] R_gt: [[ 0.96671557 -0.2242664 0.123148 ] [ 0.18080079 0.93936245 0.29139099] [-0.18102977 -0.25942757 0.94864435]] t_gt: [ 0.47947996 -0.31803196 0.81789647] Pose Error in degrees for R and t: 51.41636904435611 71.94094702683196 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.47168950e-01 -3.20735019e-01 -1.69710020e-04] [ 3.20735056e-01 9.47168909e-01 2.85524544e-04] [ 6.91663346e-05 -3.24871935e-04 9.99999945e-01]] t_estimated: [[ 8.90451886e-01] [-4.55077086e-01] [ 5.33418376e-04]] R_gt: [[ 0.99834437 -0.0141013 0.05577369] [ 0.01433101 0.99989078 -0.00371697] [-0.05571418 0.00451061 0.99843665]] t_gt: [ 0.18891727 -0.27316143 0.94323544] Pose Error in degrees for R and t: 18.175941687820018 72.96029223543789 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.99360184e-01 -3.57662120e-02 2.09428079e-05] [ 3.57662126e-02 9.99360184e-01 -2.81572461e-05] [-1.99223303e-05 2.88882756e-05 9.99999999e-01]] t_estimated: [[8.75077883e-01] [4.83981622e-01] [6.98386180e-04]] R_gt: [[ 9.98662309e-01 -3.86239217e-02 3.43765098e-02] [ 3.86148945e-02 9.99252963e-01 9.60927069e-04] [-3.43872192e-02 3.67549880e-04 9.99408729e-01]] t_gt: [ 0.66626853 -0.54226774 0.51189057] Pose Error in degrees for R and t: 1.976901853669292 71.27981129734341 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.29325445e-01 -3.69261601e-01 -2.96701201e-04] [ 3.69261672e-01 9.29325433e-01 2.36910991e-04] [ 1.88249841e-04 -3.29727794e-04 9.99999928e-01]] t_estimated: [[ 6.79979713e-01] [-7.33230924e-01] [ 4.34121205e-05]] R_gt: [[ 0.99802826 -0.0627318 -0.00236589] [ 0.06276744 0.99782187 0.02028282] [ 0.00108793 -0.02039077 0.99979156]] t_gt: [ 0.74225138 -0.65239935 0.15309465] Pose Error in degrees for R and t: 18.10840637567509 10.554253434201195 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99621706e-01 -2.75035328e-02 3.33650997e-05] [ 2.75035303e-02 9.99621704e-01 7.43405846e-05] [-3.53971065e-05 -7.33948040e-05 9.99999997e-01]] t_estimated: [[0.68689715] [0.72675414] [0.00084802]] R_gt: [[ 0.99865775 -0.00846978 0.05110598] [ 0.00803559 0.9999304 0.00870168] [-0.05117591 -0.00827918 0.99865482]] t_gt: [-0.57419413 -0.26220463 0.77559643] Pose Error in degrees for R and t: 3.1669273992994795 54.24553588778681 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.82884886e-01 -1.84220664e-01 2.17911389e-04] [ 1.84220618e-01 9.82884896e-01 2.13872159e-04] [-2.53581484e-04 -1.70067942e-04 9.99999953e-01]] t_estimated: [[-1.74790162e-01] [-9.84605674e-01] [-2.56458289e-04]] R_gt: [[ 0.99267595 -0.11466141 0.03805516] [ 0.11393668 0.99327256 0.02069948] [-0.04017251 -0.01621086 0.99906081]] t_gt: [ 0.24698104 -0.88654216 0.39120758] Pose Error in degrees for R and t: 4.740758248363909 33.939840967490994 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99998682e-01 1.60355870e-03 2.55310718e-04] [-1.60359077e-03 9.99998706e-01 1.25454667e-04] [-2.55109214e-04 -1.25863916e-04 9.99999960e-01]] t_estimated: [[9.75408022e-01] [2.20406262e-01] [5.18997213e-04]] R_gt: [[ 0.96341364 -0.26526492 0.0383208 ] [ 0.2651807 0.96417105 0.00735197] [-0.03889862 0.00307957 0.99923811]] t_gt: [ 0.5921132 -0.79770495 0.11431874] Pose Error in degrees for R and t: 15.635675212425928 66.3097387692095 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.18985535e-01 -3.94289677e-01 -1.11254799e-03] [ 3.94290129e-01 9.18985990e-01 2.11778711e-04] [ 9.38913860e-04 -6.33288263e-04 9.99999359e-01]] t_estimated: [[8.25178206e-01] [5.64871990e-01] [7.50162006e-04]] R_gt: [[ 0.9944662 0.01591151 -0.10385265] [-0.01502704 0.99984449 0.00929378] [ 0.10398379 -0.00768312 0.99454919]] t_gt: [ 0.20121108 0.11589395 -0.97266782] Pose Error in degrees for R and t: 24.8165245386992 76.65755633871159 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-9.50894505e-01 -3.09511534e-01 -1.50005038e-03] [ 3.09515039e-01 -9.50887377e-01 -3.69271083e-03] [-2.83442376e-04 -3.97566659e-03 9.99992057e-01]] t_estimated: [[0.88513246] [0.4653381 ] [0.00099008]] R_gt: [[ 0.9833182 0.02603035 -0.18002642] [-0.02470315 0.9996492 0.00960967] [ 0.18021322 -0.00500296 0.98361481]] t_gt: [ 0.24512673 0.12051729 -0.96197114] Pose Error in degrees for R and t: 163.48372058788402 74.21082275308692 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.99950113 -0.02884068 -0.01287289] [ 0.02918418 0.99919993 0.02734575] [ 0.01207392 -0.02770779 0.99954315]] t_estimated: [[0.48244123] [0.87592166] [0.00342157]] R_gt: [[ 0.97348224 0.02387639 -0.22751735] [-0.02492553 0.99968836 -0.00173896] [ 0.22740524 0.00736333 0.97377246]] t_gt: [ 0.29286629 0.09521888 -0.95140039] Pose Error in degrees for R and t: 12.93879964247036 77.20638833739844 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.93941486e-01 -1.09910430e-01 -1.43167468e-04] [ 1.09910461e-01 9.93941467e-01 2.25344192e-04] [ 1.17532406e-04 -2.39714544e-04 9.99999964e-01]] t_estimated: [[9.95433808e-01] [9.54519203e-02] [6.81351752e-04]] R_gt: [[ 0.99880468 -0.00804527 0.04821514] [ 0.00820666 0.99996064 -0.00315963] [-0.04818774 0.00355104 0.99883126]] t_gt: [ 0.0971206 -0.21538265 0.97168817] Pose Error in degrees for R and t: 6.470732889933517 85.59646714153526 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.88441333e-01 -1.51603848e-01 6.83596433e-05] [ 1.51603853e-01 9.88441330e-01 -8.91792889e-05] [-5.40495735e-05 9.85120805e-05 9.99999994e-01]] t_estimated: [[-8.05905142e-01] [-5.92044262e-01] [-7.03141587e-04]] R_gt: [[ 0.998523 -0.03499032 0.04155611] [ 0.03515799 0.9993766 -0.0033171 ] [-0.04141399 0.0047724 0.99912998]] t_gt: [ 0.62369146 -0.51602151 0.58713778] Pose Error in degrees for R and t: 7.120081234927342 78.60677527849637 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 1.00000000e+00 1.17653205e-05 2.06764850e-06] [-1.17654527e-05 9.99999998e-01 6.39317432e-05] [-2.06689631e-06 -6.39317675e-05 9.99999998e-01]] t_estimated: [[0.99989463] [0.01444412] [0.00145005]] R_gt: [[ 0.99808085 -0.06123696 0.0091395 ] [ 0.06100444 0.99785289 0.0238444 ] [-0.01057986 -0.02324004 0.99967332]] t_gt: [ 0.7171628 -0.63803644 0.28033376] Pose Error in degrees for R and t: 3.7975202570989732 44.905030916103065 Number of keypoints: Image1: 354 Image2: 354 R_estimated: [[ 0.06785894 -0.99623034 0.05403949] [-0.99610564 -0.06459537 0.06000821] [-0.0562913 -0.05790114 -0.99673404]] t_estimated: [[0.6868973 ] [0.72565937] [0.03988205]] R_gt: [[ 0.99895044 -0.04560813 -0.00447656] [ 0.04542907 0.99838911 -0.03399724] [ 0.00602011 0.03375871 0.99941146]] t_gt: [ 0.78698904 -0.32810617 -0.52248885] Pose Error in degrees for R and t: 176.99095801187357 73.64132925348666 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.43008755e-01 3.32766678e-01 -9.08850527e-04] [-3.32766021e-01 9.43009084e-01 8.01703939e-04] [ 1.12383466e-03 -4.53579260e-04 9.99999266e-01]] t_estimated: [[0.7079024 ] [0.70630982] [0.00079629]] R_gt: [[ 0.98536303 -0.16115507 0.05559308] [ 0.15220114 0.97853868 0.13891099] [-0.07678636 -0.12841598 0.98874234]] t_gt: [ 0.59106864 -0.48011569 0.64817188] Pose Error in degrees for R and t: 29.745427814172285 85.42151525845102 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.57810961e-01 -2.87385153e-01 -2.81708937e-03] [ 2.87385317e-01 -9.57814989e-01 3.55025643e-04] [-2.80027952e-03 -4.69542669e-04 9.99995969e-01]] t_estimated: [[0.86845883] [0.4957599 ] [0.00117201]] R_gt: [[ 0.96796575 -0.21803985 0.12451164] [ 0.17537692 0.94199172 0.28617445] [-0.17968588 -0.25516994 0.95005261]] t_gt: [ 0.47102331 -0.31499149 0.82396444] Pose Error in degrees for R and t: 152.00012428150882 75.29336817613394 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-0.67095574 -0.74149299 -0.00255572] [ 0.74149649 -0.67094555 -0.00387598] [ 0.00115926 -0.00449567 0.99998922]] t_estimated: [[0.93342347] [0.35877514] [0.00101349]] R_gt: [[ 0.99604095 0.00910128 -0.08843378] [-0.0079304 0.99987656 0.01357782] [ 0.08854645 -0.01282226 0.99598934]] t_gt: [ 0.32345968 0.0176599 -0.94607714] Pose Error in degrees for R and t: 132.6672409424592 72.10329152475262 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.98618950e-01 5.25040016e-02 1.87708833e-03] [-5.25034933e-02 9.98620689e-01 -3.19075338e-04] [-1.89125197e-03 2.20080985e-04 9.99998187e-01]] t_estimated: [[0.76707658] [0.64155496] [0.00087168]] R_gt: [[ 0.98428829 0.02147862 -0.1752615 ] [-0.01949175 0.99972528 0.01304845] [ 0.17549337 -0.00942641 0.98443521]] t_gt: [ 0.2803829 0.08459947 -0.9561529 ] Pose Error in degrees for R and t: 10.392102579393756 74.42396684717146 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.92615519 0.31123231 0.21300473] [-0.34544452 -0.92670207 -0.14795728] [ 0.15134284 -0.21061272 0.96578343]] t_estimated: [[0.53560594] [0.844459 ] [0.00390953]] R_gt: [[ 0.97514801 0.02617922 -0.22000103] [-0.02627827 0.99965156 0.0024732 ] [ 0.2199899 0.00336982 0.97549654]] t_gt: [ 0.29210282 0.10294155 -0.95083068] Pose Error in degrees for R and t: 160.46002047326917 76.1332530270919 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99999965e-01 -2.63305836e-04 1.53564687e-05] [ 2.63304810e-04 9.99999963e-01 6.68000826e-05] [-1.53740570e-05 -6.67960368e-05 9.99999998e-01]] t_estimated: [[ 2.39770840e-01] [ 9.70829511e-01] [-6.48003499e-05]] R_gt: [[ 0.9992073 -0.01610861 0.03640662] [ 0.01583594 0.999845 0.00774838] [-0.03652648 -0.00716527 0.99930772]] t_gt: [-0.51231269 -0.46047147 0.72491498] Pose Error in degrees for R and t: 2.313040982910257 55.255080064077234 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.12561827 0.99206912 0.0043492 ] [-0.99207571 -0.12560601 -0.00298764] [-0.00241766 -0.00469004 0.99998608]] t_estimated: [[0.65469323] [0.75589187] [0.00206528]] R_gt: [[ 0.99141716 -0.12795912 0.02680836] [ 0.12759414 0.99171437 0.01489532] [-0.02849207 -0.01134581 0.99952982]] t_gt: [ 0.36870725 -0.89587756 0.24790798] Pose Error in degrees for R and t: 104.56400216996977 64.19660697720228 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.23814456 0.97083652 0.02763357] [-0.9712247 -0.23813842 -0.00356101] [ 0.00312345 -0.02768645 0.99961178]] t_estimated: [[0.91522953] [0.40293124] [0.00115123]] R_gt: [[ 0.96057852 -0.27708768 0.02262228] [ 0.27709484 0.96083858 0.00284834] [-0.02252635 0.00353305 0.99974092]] t_gt: [ 0.62751021 -0.77682241 0.05270553] Pose Error in degrees for R and t: 119.8643896249918 74.84859947115508 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.74799884e-01 -2.23081121e-01 -7.89963698e-06] [ 2.23081088e-01 9.74799722e-01 5.74207853e-04] [-1.20394367e-04 -5.61500008e-04 9.99999835e-01]] t_estimated: [[-3.67428422e-01] [-9.30051602e-01] [ 6.09615110e-04]] R_gt: [[ 0.9972892 0.00923932 0.07300325] [-0.00796059 0.99981021 -0.01779474] [-0.07315294 0.01716615 0.99717384]] t_gt: [-0.72566546 0.06307126 0.68515083] Pose Error in degrees for R and t: 14.058410824619482 77.97208263676848 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[-0.03017202 0.99954366 0.00145752] [ 0.99954234 0.03016873 0.00222612] [ 0.00218113 0.00152402 -0.99999646]] t_estimated: [[-0.09152092] [-0.99580222] [-0.00136598]] R_gt: [[ 0.99551801 -0.0441748 0.08362558] [ 0.04453627 0.99900438 -0.00247085] [-0.08343253 0.00618382 0.99649482]] t_gt: [-0.42853515 -0.53134704 0.73077215] Pose Error in degrees for R and t: 176.41410446029877 55.435176844602246 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.63503569e-01 -2.67695065e-01 -4.73736688e-04] [ 2.67695428e-01 9.63500711e-01 2.35308203e-03] [-1.73462812e-04 -2.39402008e-03 9.99997119e-01]] t_estimated: [[0.84463937] [0.53533481] [0.00099136]] R_gt: [[ 0.98019404 -0.18172203 0.07872567] [ 0.18175666 0.98332059 0.00678417] [-0.07864483 0.00765928 0.99687377]] t_gt: [ 0.32818399 -0.87689743 0.35120674] Pose Error in degrees for R and t: 6.784030251257158 78.93698871527535 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.79838587e-01 -1.99787228e-01 -1.18581179e-03] [ 1.99788056e-01 9.79838937e-01 6.24785833e-04] [ 1.03708033e-03 -8.49100299e-04 9.99999102e-01]] t_estimated: [[-0.36135151] [-0.93242859] [-0.00141706]] R_gt: [[ 0.99808071 -0.05850467 0.02033261] [ 0.05664428 0.99498898 0.082389 ] [-0.02505012 -0.08107951 0.99639251]] t_gt: [ 0.49641029 -0.46907887 0.73043948] Pose Error in degrees for R and t: 9.537607223388395 75.10971879924125 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 5.56415040e-01 8.30901362e-01 2.28663531e-03] [ 8.30903407e-01 -5.56416677e-01 9.69946092e-05] [ 1.35291497e-03 1.84600381e-03 -9.99997381e-01]] t_estimated: [[0.66865306] [0.74357217] [0.00187298]] R_gt: [[ 0.98171035 -0.16649135 0.09233853] [ 0.13752307 0.95554566 0.26080366] [-0.13165503 -0.24333472 0.9609651 ]] t_gt: [ 0.42604197 -0.33618617 0.83992089] Pose Error in degrees for R and t: 170.20846946953586 87.91003170583886 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 8.88280092e-01 4.59302090e-01 2.60543840e-04] [-4.59301152e-01 8.88279184e-01 -1.59459337e-03] [-9.63835736e-04 1.29677746e-03 9.99998695e-01]] t_estimated: [[-0.82653039] [-0.56288904] [-0.00185587]] R_gt: [[ 0.96855713 -0.20654983 0.13869205] [ 0.15639735 0.9390171 0.30624491] [-0.19348843 -0.27492496 0.94179494]] t_gt: [ 0.43895981 -0.27546076 0.85524011] Pose Error in degrees for R and t: 42.73803059678922 77.91591264629947 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.99999718e-01 7.43262468e-04 -1.05694030e-04] [-7.43225977e-04 9.99999664e-01 3.44868764e-04] [ 1.05950323e-04 -3.44790112e-04 9.99999935e-01]] t_estimated: [[9.99974549e-01] [7.07946583e-03] [8.84933229e-04]] R_gt: [[ 0.9986085 -0.05062015 -0.01481155] [ 0.05031532 0.99852757 -0.02024732] [ 0.01581366 0.01947313 0.99968455]] t_gt: [-0.10984489 -0.50713498 -0.85483812] Pose Error in degrees for R and t: 3.2746073384287975 83.44316085788381 Number of keypoints: Image1: 444 Image2: 444 R_estimated: [[ 9.99377587e-01 3.52765065e-02 8.64346817e-05] [-3.52764908e-02 9.99377575e-01 -1.77868978e-04] [-9.26554788e-05 1.74709158e-04 9.99999980e-01]] t_estimated: [[ 9.82619805e-01] [-1.85628048e-01] [ 7.39272435e-04]] R_gt: [[ 0.99176224 -0.12726691 0.01447838] [ 0.12801215 0.98869516 -0.07805928] [-0.00438093 0.07926868 0.99684261]] t_gt: [ 0.40383973 -0.43965853 -0.80225547] Pose Error in degrees for R and t: 10.408183336616027 61.45552480510921 Number of keypoints: Image1: 509 Image2: 509 R_estimated: [[ 9.99874641e-01 -1.58334712e-02 6.17415230e-05] [ 1.58334806e-02 9.99874631e-01 -1.53853511e-04] [-5.92977473e-05 1.54811808e-04 9.99999986e-01]] t_estimated: [[ 9.91498260e-01] [-1.30118166e-01] [ 6.80581402e-04]] R_gt: [[ 0.99038242 -0.1382276 0.00604225] [ 0.13833179 0.98840012 -0.06268188] [ 0.00269189 0.06291489 0.99801485]] t_gt: [ 0.45212607 -0.50890641 -0.73252733] Pose Error in degrees for R and t: 7.914810989499786 59.06925391671101 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99894420e-01 -1.45303996e-02 -1.24410288e-04] [ 1.45304156e-02 9.99894420e-01 1.29083420e-04] [ 1.22521519e-04 -1.30877525e-04 9.99999984e-01]] t_estimated: [[-9.90401394e-01] [ 1.38220634e-01] [-3.67537755e-04]] R_gt: [[ 0.98491988 0.17240624 -0.01447241] [-0.17270487 0.98471032 -0.02277421] [ 0.01032392 0.02493 0.99963641]] t_gt: [-0.79684711 0.58797864 -0.13898134] Pose Error in degrees for R and t: 10.881277028958948 29.48083659975099 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.98694030e-01 -5.10897597e-02 -2.67770217e-04] [ 5.10898359e-02 9.98694021e-01 2.85857833e-04] [ 2.52816107e-04 -2.99164847e-04 9.99999923e-01]] t_estimated: [[-9.99999755e-01] [-5.88021786e-04] [-3.80260787e-04]] R_gt: [[ 9.57027880e-01 2.89993881e-01 -5.61078310e-05] [-2.89875955e-01 9.56631295e-01 -2.87693899e-02] [-8.28937985e-03 2.75498923e-02 9.99586273e-01]] t_gt: [-0.78018872 0.62195762 -0.06689004] Pose Error in degrees for R and t: 19.855686595988644 38.75331754902927 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 1.74947099e-01 -9.84577831e-01 8.83218142e-05] [-9.84577375e-01 -1.74947103e-01 -9.50753043e-04] [ 9.51542015e-04 7.93718268e-05 -9.99999544e-01]] t_estimated: [[0.00624337] [0.99997997] [0.00104056]] R_gt: [[ 0.92898925 0.36987352 -0.01312062] [-0.36978121 0.92907544 0.00900398] [ 0.01552006 -0.00351265 0.99987338]] t_gt: [-0.76123493 0.6483982 -0.01005772] Pose Error in degrees for R and t: 179.70947805412192 49.93755863539485 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-9.79387472e-01 2.01989337e-01 -6.98281032e-04] [-2.01987413e-01 -9.79385687e-01 -2.18184168e-03] [-1.12459520e-03 -1.99582443e-03 9.99997376e-01]] t_estimated: [[8.32800711e-01] [5.53572320e-01] [8.14076941e-04]] R_gt: [[ 0.99442812 0.10531606 -0.00465482] [-0.10529188 0.99442821 0.00510183] [ 0.00516674 -0.00458273 0.99997627]] t_gt: [-0.78789288 0.61489929 0.03352129] Pose Error in degrees for R and t: 162.30252299317698 71.59455344176102 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 8.90202773e-01 4.55562656e-01 1.29978551e-03] [-4.55562807e-01 8.90203623e-01 -1.94213852e-04] [-1.24555035e-03 -4.19244228e-04 9.99999136e-01]] t_estimated: [[-0.80263336] [ 0.59647143] [ 0.0012325 ]] R_gt: [[ 0.96035674 0.27870995 -0.00595679] [-0.27873358 0.95963811 -0.0374484 ] [-0.0047206 0.03762481 0.99928125]] t_gt: [-0.76144109 0.63940243 -0.10663958] Pose Error in degrees for R and t: 11.126642419082794 7.062850628622739 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99806598e-01 -1.96648872e-02 -2.41381088e-04] [ 1.96649110e-02 9.99806622e-01 9.67914457e-05] [ 2.39431017e-04 -1.01519464e-04 9.99999966e-01]] t_estimated: [[-9.98338549e-01] [-5.76153206e-02] [-7.84643635e-04]] R_gt: [[ 0.93542723 0.35351184 -0.0023499 ] [-0.35350419 0.93529944 -0.01578 ] [-0.00338008 0.01559273 0.9998732 ]] t_gt: [-0.74924774 0.66152275 -0.03186649] Pose Error in degrees for R and t: 21.849344484896868 44.77207649149579 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 9.99996697e-01 2.56396818e-03 1.80414428e-04] [-2.56393426e-03 9.99996695e-01 -1.87998422e-04] [-1.80895853e-04 1.87535230e-04 9.99999966e-01]] t_estimated: [[ 0.96001362] [-0.27993135] [ 0.00350618]] R_gt: [[ 0.99961512 0.0208804 0.01831803] [-0.02046165 0.99953314 -0.02269798] [-0.01878429 0.0223138 0.99957468]] t_gt: [-0.88408895 0.46520775 -0.04436749] Pose Error in degrees for R and t: 1.9536620055567862 11.72923098512253 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 9.99999808e-01 -6.19626334e-04 -1.79906993e-05] [ 6.19621548e-04 9.99999773e-01 -2.64830394e-04] [ 1.81547911e-05 2.64819195e-04 9.99999965e-01]] t_estimated: [[9.29323242e-01] [3.69266767e-01] [6.05569290e-04]] R_gt: [[ 0.9998812 0.01305563 -0.00826074] [-0.01339626 0.99900075 -0.04264261] [ 0.00769558 0.04274904 0.99905643]] t_gt: [-0.88082517 0.33275874 -0.33677684] Pose Error in degrees for R and t: 2.5979148426972394 45.901140508240964 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.04220415 0.99898934 0.01546288] [ 0.99899026 -0.04195547 -0.0160687 ] [-0.01540371 0.01612543 -0.99975132]] t_estimated: [[-0.6647082 ] [ 0.74701929] [-0.01118906]] R_gt: [[ 0.99637069 -0.0771498 0.03597431] [ 0.08019453 0.99245972 -0.09269877] [-0.02855265 0.09524736 0.99504383]] t_gt: [-0.76667957 0.01353091 -0.64188733] Pose Error in degrees for R and t: 173.5450857482345 58.20321094185136 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999678e-01 -2.34770128e-04 -7.67959660e-04] [ 2.34925186e-04 9.99999952e-01 2.01824895e-04] [ 7.67912240e-04 -2.02005243e-04 9.99999685e-01]] t_estimated: [[8.04100030e-01] [5.94493573e-01] [7.30336085e-04]] R_gt: [[ 0.99990164 0.00998064 -0.00985744] [-0.01087506 0.99538144 -0.09537821] [ 0.00885965 0.09547699 0.99539227]] t_gt: [-0.02587418 0.40371419 -0.91451921] Pose Error in degrees for R and t: 5.543701214001971 77.37716580238846 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.71514042e-01 -2.36981249e-01 -5.94189613e-04] [ 2.36981530e-01 9.71514049e-01 4.55537371e-04] [ 4.69309742e-04 -5.83372916e-04 9.99999720e-01]] t_estimated: [[ 3.37616458e-01] [-9.41283761e-01] [-8.69603923e-05]] R_gt: [[ 0.9980858 -0.03406882 -0.05161916] [ 0.02566564 0.98750305 -0.15549651] [ 0.05627207 0.15387396 0.98648716]] t_gt: [ 0.17962539 0.14242729 -0.97337001] Pose Error in degrees for R and t: 15.250857291456404 85.79441788303274 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999926e-01 2.50526756e-04 2.90706741e-04] [-2.50413369e-04 9.99999893e-01 -3.90011028e-04] [-2.90804418e-04 3.89938202e-04 9.99999882e-01]] t_estimated: [[-0.23550986] [-0.97187069] [-0.00157007]] R_gt: [[ 0.97205052 -0.23387363 0.02052757] [ 0.23471516 0.96614367 -0.10712131] [ 0.00522061 0.10894531 0.99403367]] t_gt: [ 0.67952356 -0.63599936 -0.36572195] Pose Error in degrees for R and t: 14.961514207661734 62.700045661514366 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[-8.01490994e-01 -5.97998095e-01 -3.23491029e-03] [ 5.97996103e-01 -8.01497294e-01 1.65791019e-03] [-3.58419898e-03 -6.05663665e-04 9.99993393e-01]] t_estimated: [[0.9886539 ] [0.15019934] [0.00190126]] R_gt: [[ 0.998282 0.02893545 -0.05094083] [-0.03031275 0.99919041 -0.02645808] [ 0.05013394 0.02795617 0.99835082]] t_gt: [-0.08105037 0.65402936 -0.75211464] Pose Error in degrees for R and t: 144.99101447588484 89.04460316374995 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99999631e-01 3.35327369e-04 -7.90635518e-04] [-3.34492339e-04 9.99999386e-01 1.05604555e-03] [ 7.90989154e-04 -1.05578070e-03 9.99999130e-01]] t_estimated: [[-0.8821968 ] [-0.4708772 ] [-0.00186117]] R_gt: [[ 0.98625517 0.08940829 -0.13895132] [-0.10870917 0.98442487 -0.1381665 ] [ 0.12443483 0.15137247 0.98061298]] t_gt: [-0.10718965 0.65187626 -0.75071148] Pose Error in degrees for R and t: 12.67508445701823 77.8193851130214 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 7.25653885e-01 -6.88059823e-01 -3.46692812e-04] [ 6.88059899e-01 7.25653693e-01 5.41735842e-04] [-1.21167749e-04 -6.31658139e-04 9.99999793e-01]] t_estimated: [[9.98827337e-01] [4.84054254e-02] [9.30873566e-04]] R_gt: [[ 0.96515021 0.15273442 -0.21250259] [-0.19605447 0.95986694 -0.2005487 ] [ 0.17334385 0.23522156 0.95635857]] t_gt: [-0.11352562 0.70730923 -0.69772888] Pose Error in degrees for R and t: 56.183762819173865 85.4226778811341 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 0.97063882 -0.24041811 0.00770824] [ 0.24053758 0.97031026 -0.02529187] [-0.00139876 0.02640339 0.99965039]] t_estimated: [[-0.90399202] [-0.42754556] [-0.00179163]] R_gt: [[ 9.94077829e-01 -1.08390047e-01 7.80382576e-03] [ 1.08668912e-01 9.91801012e-01 -6.72376928e-02] [-4.52361861e-04 6.76868864e-02 9.97706225e-01]] t_gt: [ 0.93970451 0.10253133 -0.32625568] Pose Error in degrees for R and t: 8.038419679674057 26.780697810874884 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99321068e-01 -3.68428883e-02 6.60390309e-05] [ 3.68428832e-02 9.99321068e-01 7.60521727e-05] [-6.87961766e-05 -7.35674701e-05 9.99999995e-01]] t_estimated: [[3.47904624e-01] [9.37529926e-01] [1.02924863e-04]] R_gt: [[ 0.98923809 -0.13818518 0.04809603] [ 0.14361809 0.97986732 -0.13867794] [-0.02796513 0.14409274 0.98916951]] t_gt: [ 0.84440949 0.31829 -0.43088757] Pose Error in degrees for R and t: 10.374344047503394 53.691266771994485 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[-0.99955178 -0.02919839 -0.00661059] [-0.02914031 0.99953731 -0.00871785] [ 0.00686208 -0.00852131 -0.99994015]] t_estimated: [[8.43497350e-01] [5.37132746e-01] [7.95752217e-04]] R_gt: [[ 0.98829813 -0.15227938 0.00883063] [ 0.1504837 0.96391777 -0.21958167] [ 0.02492545 0.21834065 0.97555466]] t_gt: [ 0.70815679 0.47556141 -0.52187672] Pose Error in degrees for R and t: 178.93126806726968 31.53150872560794 Number of keypoints: Image1: 317 Image2: 317 R_estimated: [[ 9.99945398e-01 1.04483135e-02 1.85061697e-04] [-1.04483070e-02 9.99945414e-01 -3.59204300e-05] [-1.85426903e-04 3.39848872e-05 9.99999982e-01]] t_estimated: [[9.83882421e-01] [1.78814817e-01] [8.01860164e-04]] R_gt: [[ 0.99834223 -0.0575378 -0.00191838] [ 0.05754844 0.99832177 0.0065627 ] [ 0.00153718 -0.00666258 0.99997745]] t_gt: [ 0.3440982 -0.93570545 0.07779292] Pose Error in degrees for R and t: 3.9166808453929636 80.13678811376394 Number of keypoints: Image1: 526 Image2: 526 R_estimated: [[-0.99946735 0.02612118 0.01956292] [ 0.02615315 0.999657 0.00137994] [-0.01952017 0.00189083 -0.99980768]] t_estimated: [[0.99993349] [0.00497266] [0.01040651]] R_gt: [[ 0.98838539 -0.14716067 0.0379221 ] [ 0.14649337 0.98901335 0.01983348] [-0.04042438 -0.01404793 0.99908382]] t_gt: [ 0.39031027 -0.8448528 0.36589841] Pose Error in degrees for R and t: 176.63779277797283 67.0522911937014 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[ 9.92921437e-01 -1.18772787e-01 2.13953694e-04] [ 1.18772711e-01 9.92921411e-01 3.39186770e-04] [-2.52725362e-04 -3.11373955e-04 9.99999920e-01]] t_estimated: [[-0.75242182] [-0.65868034] [-0.0012746 ]] R_gt: [[ 0.9820637 -0.18421694 0.04020003] [ 0.18443467 0.98284383 -0.00175054] [-0.03918851 0.00913309 0.99919043]] t_gt: [ 0.4026288 -0.88376296 0.23843885] Pose Error in degrees for R and t: 4.442937822713976 73.80742380774694 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.96966818e-01 -7.78270211e-02 -3.43470095e-04] [ 7.78272082e-02 9.96966700e-01 5.69991562e-04] [ 2.98067502e-04 -5.94993993e-04 9.99999779e-01]] t_estimated: [[-0.85619706] [-0.51664768] [-0.00133157]] R_gt: [[ 0.99878484 0.04866082 -0.00782532] [-0.04859296 0.99878235 0.00856625] [ 0.00823251 -0.00817552 0.99993222]] t_gt: [-0.48691489 0.87283348 -0.03279646] Pose Error in degrees for R and t: 7.278073875648153 88.05107374557272 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 0.03263871 0.99946592 0.00161065] [-0.99946165 0.03264386 -0.00328353] [-0.00333435 -0.00150261 0.99999331]] t_estimated: [[0.02855968] [0.99958872] [0.00259633]] R_gt: [[ 0.99987324 0.01337401 -0.00863601] [-0.01323225 0.99978063 0.01623439] [ 0.00885158 -0.01611811 0.99983056]] t_gt: [-0.07365839 0.98969517 0.12279216] Pose Error in degrees for R and t: 87.37451569084607 9.067531222570286 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 0.98661472 -0.1630601 -0.00167175] [ 0.16306464 0.98661057 0.00308479] [ 0.00114636 -0.0033161 0.99999384]] t_estimated: [[-0.69060188] [-0.72323472] [-0.0007589 ]] R_gt: [[ 0.99839832 -0.05620238 -0.00653455] [ 0.05622098 0.99841444 0.00273393] [ 0.00637181 -0.00309672 0.99997516]] t_gt: [ 0.99607996 0.08107078 -0.03538703] Pose Error in degrees for R and t: 6.16895541700261 41.7118104333656 Number of keypoints: Image1: 415 Image2: 415 R_estimated: [[ 9.99292320e-01 -3.76146141e-02 4.50387305e-06] [ 3.76146140e-02 9.99292320e-01 2.78850102e-05] [-5.54956964e-06 -2.76958651e-05 1.00000000e+00]] t_estimated: [[ 9.71146841e-01] [-2.38482188e-01] [-2.41553484e-04]] R_gt: [[ 0.99896402 -0.04436623 0.01018133] [ 0.04443228 0.99899238 -0.00631983] [-0.00989061 0.00676635 0.99992836]] t_gt: [ 0.38553456 -0.92043604 0.06450271] Pose Error in degrees for R and t: 0.7883255396639658 53.56555314394105 Number of keypoints: Image1: 289 Image2: 289 R_estimated: [[ 9.99997084e-01 2.41237030e-03 1.09217868e-04] [-2.41238489e-03 9.99997081e-01 1.33642926e-04] [-1.08895153e-04 -1.33906012e-04 9.99999985e-01]] t_estimated: [[9.54239241e-01] [2.99044139e-01] [2.71784241e-04]] R_gt: [[ 0.98885297 -0.14354016 0.03956724] [ 0.14267405 0.98948032 0.023938 ] [-0.0425871 -0.01802554 0.99893052]] t_gt: [ 0.41178137 -0.840091 0.35310511] Pose Error in degrees for R and t: 8.77649188350823 81.84742539706389 Number of keypoints: Image1: 328 Image2: 328 R_estimated: [[ 9.99897154e-01 -1.43406218e-02 1.67125620e-04] [ 1.43405807e-02 9.99897139e-01 2.44112638e-04] [-1.70609156e-04 -2.41690853e-04 9.99999956e-01]] t_estimated: [[9.61160991e-01] [2.75988024e-01] [3.98860356e-04]] R_gt: [[ 0.97744102 -0.20631863 0.04517649] [ 0.20559614 0.9784301 0.0201406 ] [-0.04835667 -0.01039738 0.99877603]] t_gt: [ 0.46200176 -0.83906023 0.28728438] Pose Error in degrees for R and t: 11.424045335501024 77.72511550194115 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99080772e-01 4.28671708e-02 1.32856446e-04] [-4.28671711e-02 9.99080780e-01 -4.64804882e-07] [-1.32754247e-04 -5.23080239e-06 9.99999991e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 0.99775954 -0.06567374 0.012714 ] [ 0.06543103 0.99768133 0.01872093] [-0.01391368 -0.01784654 0.99974395]] t_gt: [ 0.76357296 -0.5272755 0.37274238] Pose Error in degrees for R and t: 6.348849237763909 40.33942907667307 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 1.00000000e+00 1.76358927e-13 6.48352899e-16] [-1.76247905e-13 1.00000000e+00 -5.44269491e-16] [-3.02275566e-16 -6.63640150e-16 1.00000000e+00]] t_estimated: [[-0.94078481] [-0.33899729] [-0.00218647]] R_gt: [[ 0.98796091 -0.15440381 0.00963768] [ 0.15456023 0.98781328 -0.0183515 ] [-0.00668626 0.01962074 0.99978478]] t_gt: [ 0.87297549 -0.48494947 -0.05232399] Pose Error in degrees for R and t: 8.966555201660947 48.94591759576466 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.98710341e-01 5.07691568e-02 3.83378080e-04] [-5.07692167e-02 9.98710401e-01 1.48046703e-04] [-3.75367470e-04 -1.67319578e-04 9.99999916e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97238486 -0.2329396 0.01440542] [ 0.23260689 0.97233036 0.02162624] [-0.01904399 -0.01767797 0.99966247]] t_gt: [ 0.87187745 -0.473921 0.1234042 ] Pose Error in degrees for R and t: 16.43799533579698 29.48330465781188 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-0.56029851 0.78402208 0.26716092] [ 0.78345098 0.60632763 -0.13627677] [-0.26883105 0.13295181 -0.95396734]] t_estimated: [[ 0.94922838] [-0.28099486] [ 0.14144741]] R_gt: [[ 0.99933944 -0.03585138 -0.0058793 ] [ 0.03603314 0.99875799 0.03444263] [ 0.00463614 -0.03463183 0.99938976]] t_gt: [ 0.46742347 -0.82618651 0.31453324] Pose Error in degrees for R and t: 163.71242344366397 43.91779689174548 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.59137216e-01 2.82940768e-01 5.68234071e-04] [-2.82940838e-01 9.59137363e-01 4.57376688e-05] [-5.32073477e-04 -2.04645325e-04 9.99999838e-01]] t_estimated: [[0.02099403] [0.99977822] [0.001663 ]] R_gt: [[ 0.9973944 -0.05641566 -0.04496674] [ 0.05584483 0.99834379 -0.01386717] [ 0.04567352 0.011321 0.99889196]] t_gt: [ 0.53491295 -0.81330763 -0.22890791] Pose Error in degrees for R and t: 19.842133387150373 36.65181582839219 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 8.68394958e-01 4.95872409e-01 -8.66701003e-04] [-4.95869100e-01 8.68393589e-01 2.53181795e-03] [ 2.00809626e-03 -1.76884769e-03 9.99996419e-01]] t_estimated: [[0.88635593] [0.46300298] [0.00118361]] R_gt: [[ 0.97976092 -0.19265137 -0.05434496] [ 0.19135096 0.98111504 -0.02826395] [ 0.05876298 0.01729302 0.99812247]] t_gt: [ 0.74689337 -0.64755415 -0.15107585] Pose Error in degrees for R and t: 40.94929401322261 68.776000949684 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-9.51378931e-01 -3.08022387e-01 -5.81586723e-04] [ 3.08020344e-01 -9.51361485e-01 -5.89847180e-03] [ 1.26356215e-03 -5.79082234e-03 9.99982435e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99407771 0.05940468 -0.09099615] [-0.06769339 0.9935583 -0.09088637] [ 0.08501036 0.09650836 0.99169526]] t_gt: [-0.14294592 0.60548626 -0.78291306] Pose Error in degrees for R and t: 165.73248028889722 82.83403875847958 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-9.14256232e-01 -4.05135245e-01 -9.87978285e-04] [ 4.05135522e-01 -9.14246204e-01 -4.36897598e-03] [ 8.66770756e-04 -4.39462861e-03 9.99989968e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.97466115 0.11870989 -0.18958776] [-0.15349628 0.97146186 -0.18083593] [ 0.16270999 0.2053549 0.96506787]] t_gt: [-0.10688997 0.64945256 -0.75285185] Pose Error in degrees for R and t: 164.18060809368833 74.71898532929202 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.25452957e-02 9.99094539e-01 2.53278946e-05] [-9.99092436e-01 4.25452582e-02 -2.05046913e-03] [-2.04969010e-03 6.19329077e-05 9.99997897e-01]] t_estimated: [[4.30594221e-02] [9.99072133e-01] [8.71069096e-04]] R_gt: [[ 0.96384012 0.15721845 -0.21516496] [-0.20422568 0.95447577 -0.21741344] [ 0.17118831 0.25349372 0.95206936]] t_gt: [-0.12565741 0.70892923 -0.69399536] Pose Error in degrees for R and t: 78.61199496245258 45.39170018800726 Number of keypoints: Image1: 286 Image2: 286 R_estimated: [[ 9.88614067e-01 -1.50473339e-01 -1.53785832e-05] [ 1.50473336e-01 9.88614061e-01 -1.18449541e-04] [ 3.30269815e-05 1.14786816e-04 9.99999993e-01]] t_estimated: [[-1.26164600e-01] [-9.92009043e-01] [-7.43231763e-04]] R_gt: [[ 0.99969112 0.02336692 -0.00838712] [-0.02373316 0.99863228 -0.04658821] [ 0.0072874 0.04677308 0.99887874]] t_gt: [-0.22788164 0.8811075 -0.41439057] Pose Error in degrees for R and t: 10.363376987494062 32.32720483468116 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[ 9.96953379e-01 -7.79992403e-02 2.81469639e-04] [ 7.79992210e-02 9.96953417e-01 7.87155243e-05] [-2.86751869e-04 -5.65212953e-05 9.99999957e-01]] t_estimated: [[0.13896844] [0.99029612] [0.0011678 ]] R_gt: [[ 0.99734766 -0.07151384 -0.01350976] [ 0.06970822 0.9920144 -0.10511223] [ 0.02091904 0.10389138 0.99436854]] t_gt: [ 0.60891884 0.5836663 -0.5371699 ] Pose Error in degrees for R and t: 6.104006288923307 48.54774786717097 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.81246951e-01 -1.92754636e-01 2.69051485e-04] [ 1.92754666e-01 9.81246978e-01 -8.95263829e-05] [-2.46749331e-04 1.39708419e-04 9.99999960e-01]] t_estimated: [[0.6277169 ] [0.77844105] [0.00101212]] R_gt: [[ 0.99260925 -0.11806404 0.02803647] [ 0.12114688 0.97744011 -0.17301774] [-0.00697559 0.17513509 0.98451922]] t_gt: [ 0.65808761 0.56923127 -0.49284527] Pose Error in degrees for R and t: 10.92044110383881 31.162083424203868 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99418752e-01 3.40904296e-02 -2.80809902e-05] [-3.40904333e-02 9.99418742e-01 -1.44456846e-04] [ 2.31400719e-05 1.45330174e-04 9.99999989e-01]] t_estimated: [[-0.81239799] [-0.58310204] [-0.00123277]] R_gt: [[ 0.9980421 0.0350709 0.05179414] [-0.03473175 0.9993691 -0.00744329] [-0.05202288 0.00562956 0.99862948]] t_gt: [-0.55665098 0.52944758 0.64017571] Pose Error in degrees for R and t: 3.000311623518013 81.79525057048043 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.32847217e-01 3.60272164e-01 1.96916713e-04] [-3.60272114e-01 9.32847224e-01 -2.47515066e-04] [-2.72865997e-04 1.59950140e-04 9.99999950e-01]] t_estimated: [[-9.71100907e-01] [-2.38667721e-01] [-8.64738118e-04]] R_gt: [[ 0.97979625 0.05112358 0.19335379] [-0.05082056 0.99868634 -0.00652891] [-0.19343461 -0.00342827 0.98110668]] t_gt: [-0.40201598 0.25041938 0.88072316] Pose Error in degrees for R and t: 21.286926838065085 70.7391472508211 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-4.54522501e-02 -9.98966482e-01 -2.45575032e-04] [-9.98966241e-01 4.54524175e-02 -7.25556887e-04] [ 7.35968990e-04 2.12342973e-04 -9.99999707e-01]] t_estimated: [[8.38993234e-01] [5.44141461e-01] [6.50886915e-04]] R_gt: [[ 0.96575157 0.09098261 0.24299619] [-0.09138419 0.99576921 -0.00964392] [-0.24284633 -0.0128925 0.96997888]] t_gt: [-0.46567284 0.30425558 0.83100984] Pose Error in degrees for R and t: 169.80903732169602 77.02079550125379 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.05806258 0.98865758 0.13850968] [ 0.99823608 -0.0592183 0.00423407] [ 0.01238835 0.13801952 -0.99035203]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 9.99572069e-01 2.92696514e-02 5.51718897e-04] [-2.91192931e-02 9.96013610e-01 -8.43186271e-02] [-3.01694589e-03 8.42657800e-02 9.96438103e-01]] t_gt: [-0.05880072 0.64561213 -0.76139835] Pose Error in degrees for R and t: 171.2244044172217 76.3713321023179 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99999953e-01 2.74303483e-04 -1.39698363e-04] [-2.74287071e-04 9.99999955e-01 1.17492442e-04] [ 1.39730586e-04 -1.17454119e-04 9.99999983e-01]] t_estimated: [[-1.19756033e-01] [-9.92803291e-01] [-3.43546686e-04]] R_gt: [[ 0.99925153 0.03103932 -0.02312172] [-0.03476289 0.98240053 -0.18352482] [ 0.01701839 0.184191 0.98274285]] t_gt: [-0.02428956 0.51159868 -0.85888114] Pose Error in degrees for R and t: 10.830417523097479 59.687699991139 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.23895301 -0.93129542 0.27493691] [-0.97019077 -0.24075355 0.02770573] [ 0.04038982 -0.27336162 -0.961063 ]] t_estimated: [[0.7037561 ] [0.7008724 ] [0.11621204]] R_gt: [[ 0.99557313 -0.08499748 -0.04013154] [ 0.07539521 0.97708379 -0.19905281] [ 0.0561323 0.1951455 0.97916591]] t_gt: [ 0.34503438 0.02660564 -0.93821288] Pose Error in degrees for R and t: 179.91781270334639 81.23190186316033 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[-0.99783419 -0.06557777 0.0051467 ] [ 0.06553627 -0.99781926 -0.00785669] [ 0.0056507 -0.00750238 0.99995589]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99092514 -0.13322802 -0.01784864] [ 0.13196817 0.98948353 -0.05920615] [ 0.02554842 0.05631311 0.99808608]] t_gt: [ 0.83583528 -0.39157048 -0.38477518] Pose Error in degrees for R and t: 168.60574290295256 64.17550298098247 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.96122723 0.27572509 -0.00422907] [ 0.27573674 0.96123003 -0.00246589] [ 0.0033852 -0.00353639 -0.99998802]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96368247 -0.266311 -0.01988936] [ 0.26544754 0.96338315 -0.03781572] [ 0.02923233 0.03116299 0.99908682]] t_gt: [ 0.86882223 -0.47994849 -0.12164446] Pose Error in degrees for R and t: 178.6305347768709 29.861065056742667 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99929256e-01 1.18861116e-02 4.51908836e-04] [-1.18866181e-02 9.99928707e-01 1.13522229e-03] [-4.38383239e-04 -1.14051364e-03 9.99999254e-01]] t_estimated: [[0.86321466] [0.50483412] [0.00172298]] R_gt: [[ 0.94360534 -0.32939009 -0.03332923] [ 0.32974955 0.94405153 0.00574356] [ 0.02957266 -0.0164101 0.99942787]] t_gt: [ 0.84986023 -0.52550846 0.0397296 ] Pose Error in degrees for R and t: 20.022842655080677 62.07044277072087 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 9.99999980e-01 -1.95472819e-04 4.27724777e-05] [ 1.95473097e-04 9.99999981e-01 -6.49301075e-06] [-4.27712077e-05 6.50137149e-06 9.99999999e-01]] t_estimated: [[3.54669657e-02] [9.99370844e-01] [1.06441738e-04]] R_gt: [[ 0.99997492 0.0021371 -0.00681918] [-0.00227704 0.99978704 -0.02053271] [ 0.00677477 0.02054772 0.99976609]] t_gt: [-0.0128343 0.73283433 -0.68028607] Pose Error in degrees for R and t: 1.246340974414527 42.958654287153834 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.94569341e-01 1.04073176e-01 7.73961890e-04] [-1.04072883e-01 9.94569589e-01 -4.10773645e-04] [-8.12509477e-04 3.27994429e-04 9.99999616e-01]] t_estimated: [[0.65983306] [0.75141131] [0.00117408]] R_gt: [[ 0.99898124 -0.04491575 -0.00437704] [ 0.04492082 0.99899013 0.00125909] [ 0.0043163 -0.00145433 0.99998921]] t_gt: [ 9.45958395e-01 -3.24287769e-01 3.96866094e-04] Pose Error in degrees for R and t: 8.553911351892918 67.63524437590132 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.67287245e-01 2.53672193e-01 2.40940687e-03] [-2.53683572e-01 9.67250070e-01 8.48213891e-03] [-1.78816187e-04 -8.81589172e-03 9.99961123e-01]] t_estimated: [[0.63545085] [0.77214061] [0.00104343]] R_gt: [[ 0.98338587 -0.17133046 0.05999069] [ 0.15845329 0.97139953 0.17685089] [-0.08857467 -0.16440614 0.98240751]] t_gt: [ 0.56428506 -0.42390008 0.70844272] Pose Error in degrees for R and t: 26.322594854551767 88.16598307171553 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.98771309e-01 -4.95563844e-02 -1.92786245e-04] [ 4.95564314e-02 9.98771295e-01 2.47318067e-04] [ 1.80293178e-04 -2.56567988e-04 9.99999951e-01]] t_estimated: [[9.98679299e-01] [5.13739391e-02] [6.13034748e-04]] R_gt: [[ 0.99762667 -0.06596497 0.01977208] [ 0.06591807 0.9978205 0.00301732] [-0.01992703 -0.00170583 0.9998 ]] t_gt: [ 0.63892801 -0.73600074 0.22377199] Pose Error in degrees for R and t: 1.488904834068651 53.10072527530952 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-9.98121794e-01 -6.12566383e-02 -7.13857312e-04] [ 6.12573661e-02 -9.98121455e-01 -1.04664538e-03] [-6.48402321e-04 -1.08840859e-03 9.99999197e-01]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 0.99815688 -0.04761584 0.03763856] [ 0.04875059 0.99836567 -0.02981578] [-0.03615652 0.03159613 0.99884618]] t_gt: [ 0.55352797 -0.82905028 0.07926176] Pose Error in degrees for R and t: 173.7283969021748 87.02913691217319 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.23054557 -0.97303849 0.00669683] [-0.97305339 0.23056633 0.00250316] [-0.00397973 -0.00593928 -0.99997444]] t_estimated: [[0.78687242] [0.61710569] [0.00351516]] R_gt: [[ 0.99699949 -0.00302722 0.0773525 ] [ 0.00914289 0.99684609 -0.07882907] [-0.07686926 0.07930038 0.99388234]] t_gt: [ 0.09110073 -0.97843289 0.18539078] Pose Error in degrees for R and t: 178.95427208249626 57.895833972008816 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99996946e-01 2.44021975e-03 3.91715891e-04] [-2.44041397e-03 9.99996899e-01 4.96106577e-04] [-3.90504068e-04 -4.97061011e-04 9.99999800e-01]] t_estimated: [[0.99922488] [0.0393297 ] [0.00167569]] R_gt: [[ 0.99807992 -0.06105238 0.01047928] [ 0.06163063 0.99572003 -0.06886775] [-0.00622933 0.06938187 0.99757037]] t_gt: [ 0.41316928 0.40663999 -0.8148221 ] Pose Error in degrees for R and t: 5.436841791066789 64.69247069071757 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.99541379e-01 3.02783997e-02 4.99802942e-04] [-3.02785944e-02 9.99541423e-01 3.86852329e-04] [-4.87860474e-04 -4.01808242e-04 9.99999800e-01]] t_estimated: [[0.34233692] [0.93957466] [0.00221042]] R_gt: [[ 0.99929661 -0.03703466 -0.00578457] [ 0.03624109 0.99400713 -0.10312755] [ 0.00957033 0.1028464 0.99465131]] t_gt: [ 0.02226758 0.75967633 -0.64992002] Pose Error in degrees for R and t: 7.083898208067448 43.94890023617604 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 2.78722247e-01 9.60359471e-01 -4.85755032e-03] [-9.60371187e-01 2.78724020e-01 -3.21697982e-04] [ 1.04497025e-03 4.75471576e-03 9.99988150e-01]] t_estimated: [[-0.02449806] [ 0.99969772] [-0.00207583]] R_gt: [[ 9.93638528e-01 -1.12615085e-01 -9.84543131e-04] [ 1.10883465e-01 9.79817943e-01 -1.66317255e-01] [ 1.96952082e-02 1.65151193e-01 9.86071493e-01]] t_gt: [ 0.44952621 0.62646421 -0.63676431] Pose Error in degrees for R and t: 80.72542914264116 51.93288333714947 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.43296049e-01 -3.31952639e-01 1.00040908e-04] [ 3.31952653e-01 9.43295976e-01 -3.70796324e-04] [ 2.87186328e-05 3.82979552e-04 9.99999926e-01]] t_estimated: [[0.93513196] [0.35429799] [0.00107363]] R_gt: [[ 0.99756627 -0.00889356 -0.06915849] [ 0.00850118 0.99994687 -0.00595279] [ 0.06920793 0.00535092 0.99758792]] t_gt: [ 0.66706794 0.0233671 -0.74463034] Pose Error in degrees for R and t: 19.299507856455097 50.855673054461725 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-0.73804695 -0.6747453 -0.00234068] [ 0.67467555 -0.73801308 0.01223074] [-0.00998008 0.00744766 0.99992246]] t_estimated: [[0.82411063] [0.56642763] [0.00118748]] R_gt: [[ 0.99258148 -0.00405937 -0.12151251] [ 0.00515051 0.99994962 0.00867531] [ 0.12147161 -0.00923634 0.99255132]] t_gt: [ 0.6880176 0.05413314 -0.72367215] Pose Error in degrees for R and t: 137.42352451159488 53.358530398262666 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.99733325 -0.0725058 0.00832459] [ 0.07259391 0.99730289 -0.01081951] [-0.00751766 0.01139497 0.99990682]] t_estimated: [[0.76585699] [0.64300999] [0.00110673]] R_gt: [[ 0.98567879 0.01637382 -0.16783554] [-0.01336849 0.99972994 0.01902195] [ 0.16810182 -0.01650595 0.98563131]] t_gt: [ 0.61652609 0.16972872 -0.76882231] Pose Error in degrees for R and t: 11.41905117546446 54.51729368339447 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.92892012e-01 1.19016186e-01 -7.74816189e-04] [-1.19015673e-01 9.92892144e-01 6.78181920e-04] [ 8.50023533e-04 -5.81146141e-04 9.99999470e-01]] t_estimated: [[-0.81709614] [-0.57650026] [-0.0011623 ]] R_gt: [[ 0.99742116 -0.05148484 -0.05000415] [ 0.05241851 0.99847124 0.01754316] [ 0.049025 -0.02011832 0.99859463]] t_gt: [ 0.98610155 -0.16607382 -0.0048187 ] Pose Error in degrees for R and t: 10.257030930410673 44.76568943177281 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-0.51160909 -0.85921562 0.00215723] [-0.85919009 0.51161102 0.00682331] [-0.00696636 0.0016374 -0.99997439]] t_estimated: [[0.96151881] [0.27471966] [0.00327047]] R_gt: [[ 0.99352759 -0.04011364 -0.1062743 ] [ 0.0470758 0.9968493 0.06383118] [ 0.10337896 -0.06842054 0.99228582]] t_gt: [ 0.95785391 -0.17719615 0.22609162] Pose Error in degrees for R and t: 176.9493705129594 29.184420135677463 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.55429602 -0.83230096 0.0055704 ] [-0.83229802 -0.55422104 0.01091112] [-0.0059941 -0.01068422 -0.99992496]] t_estimated: [[0.4364771 ] [0.89969164] [0.00653354]] R_gt: [[ 0.98581514 -0.03117557 -0.1649128 ] [ 0.04346457 0.99649737 0.07144127] [ 0.16210744 -0.07759589 0.98371679]] t_gt: [ 0.98276968 -0.17079766 0.07065343] Pose Error in degrees for R and t: 179.9469821516197 73.99311571066582 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999999e-01 -3.68203034e-05 -2.18589062e-05] [ 3.68190798e-05 9.99999998e-01 -5.59756563e-05] [ 2.18609672e-05 5.59748514e-05 9.99999998e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 9.95019640e-01 9.80508494e-02 1.79351975e-02] [-9.80341774e-02 9.95181654e-01 -1.75874788e-03] [-1.80216338e-02 -7.50678600e-06 9.99836662e-01]] t_gt: [-0.59908314 0.79277012 0.11231617] Pose Error in degrees for R and t: 5.723343884023497 89.64856017062033 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.99999623e-01 -8.67498386e-04 4.86370716e-05] [ 8.67502140e-04 9.99999621e-01 -7.72218804e-05] [-4.85700633e-05 7.72640440e-05 9.99999996e-01]] t_estimated: [[-9.50252206e-01] [ 3.11481086e-01] [ 5.26475690e-04]] R_gt: [[ 0.9868083 0.16187114 0.00283574] [-0.16189206 0.98650967 0.02426924] [ 0.0011307 -0.02440802 0.99970087]] t_gt: [-0.58466883 0.80311428 0.1147598 ] Pose Error in degrees for R and t: 9.471779324278874 36.31259062141456 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99998700e-01 -3.61563210e-04 1.57152915e-03] [ 3.64596174e-04 9.99998071e-01 -1.93008665e-03] [-1.57082827e-03 1.93065712e-03 9.99996903e-01]] t_estimated: [[-9.99994856e-01] [-3.05071665e-03] [-9.90858520e-04]] R_gt: [[ 0.98023508 0.18127729 -0.07923877] [-0.18211303 0.9832715 -0.00340218] [ 0.0772968 0.01776591 0.99684949]] t_gt: [-0.49590197 0.8362591 -0.23399135] Pose Error in degrees for R and t: 11.476500623461202 60.42383688437962 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.97284835 0.23143987 -0.00129055] [-0.23143632 0.972847 0.00243677] [ 0.00181947 -0.00207192 0.9999962 ]] t_estimated: [[-0.65615746] [-0.75462352] [-0.00084885]] R_gt: [[ 0.99828016 -0.04304013 -0.03979799] [ 0.04085509 0.99769604 -0.05416925] [ 0.04203828 0.05244996 0.99773859]] t_gt: [ 0.50626283 -0.46750379 -0.72466417] Pose Error in degrees for R and t: 16.26161346177658 88.78430122226966 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.37398385e-01 3.48258677e-01 4.01837006e-04] [-3.48258776e-01 9.37398412e-01 2.07004933e-04] [-3.04590107e-04 -3.33989354e-04 9.99999898e-01]] t_estimated: [[0.54584894] [0.83788303] [0.00097998]] R_gt: [[ 0.98333726 -0.17809763 -0.03646086] [ 0.17525218 0.98201245 -0.0702815 ] [ 0.04832172 0.0627205 0.99686096]] t_gt: [ 0.77906056 -0.51440184 -0.35840674] Pose Error in degrees for R and t: 30.90420046334008 89.6498964691476 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.97405113e-01 7.19872617e-02 -9.35185891e-04] [-7.19827591e-02 9.97397097e-01 4.18499381e-03] [ 1.23401794e-03 -4.10681697e-03 9.99990806e-01]] t_estimated: [[0.91256635] [0.40892214] [0.00231029]] R_gt: [[ 0.95456178 -0.29755578 -0.01649039] [ 0.29440507 0.95014668 -0.10269879] [ 0.04622726 0.09317756 0.994576 ]] t_gt: [ 0.84134759 -0.44678586 -0.30416547] Pose Error in degrees for R and t: 22.258179120207945 54.24064570872521 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-0.10808324 -0.9936699 -0.03062914] [-0.99363141 0.10896363 -0.02869761] [ 0.03185342 0.02733235 -0.99911876]] t_estimated: [[ 0.76365751] [ 0.64538469] [-0.01748769]] R_gt: [[ 0.998768 -0.00983094 -0.04865195] [ 0.00932448 0.99989979 -0.0106247 ] [ 0.04875189 0.01015763 0.99875935]] t_gt: [ 0.38984669 -0.83602614 -0.38610859] Pose Error in degrees for R and t: 175.11907053767868 76.40266130035262 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.87840341e-01 1.55429376e-01 3.62888473e-03] [-1.55426167e-01 9.87846840e-01 -1.15185234e-03] [-3.76381400e-03 5.73822567e-04 9.99992752e-01]] t_estimated: [[-0.50341705] [-0.86404293] [-0.00104227]] R_gt: [[ 0.98955592 -0.12146606 -0.07762444] [ 0.11785527 0.99179458 -0.04952574] [ 0.0830031 0.03986061 0.99575243]] t_gt: [ 0.71213694 -0.61027999 -0.34701487] Pose Error in degrees for R and t: 16.73453300713823 80.26055672294146 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.99120431 0.13018556 0.02378499] [-0.1297375 0.99135651 -0.0195053 ] [-0.02611872 0.01624793 0.9995268 ]] t_estimated: [[-0.576928 ] [-0.81679452] [-0.0008917 ]] R_gt: [[ 0.96365021 -0.2574817 -0.07128469] [ 0.25130981 0.96414669 -0.085227 ] [ 0.09067389 0.06421472 0.99380838]] t_gt: [ 0.81958297 -0.50524451 -0.27020685] Pose Error in degrees for R and t: 23.303626746151892 86.56486671905209 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.00000000e+00 1.84227633e-15 3.91223512e-15] [-1.84227633e-15 1.00000000e+00 -5.34804914e-15] [-3.90865725e-15 5.12316528e-15 1.00000000e+00]] t_estimated: [[9.99857058e-01] [1.69014185e-02] [4.53621166e-04]] R_gt: [[ 0.99898553 0.04453377 -0.00671913] [-0.04446045 0.99895542 0.01059666] [ 0.00718366 -0.01028633 0.99992134]] t_gt: [-0.59340539 0.79269664 0.13964982] Pose Error in degrees for R and t: 2.6493258208786785 54.55933724674652 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 1.00000000e+00 4.50223192e-13 2.72946203e-16] [-4.50278703e-13 1.00000000e+00 -2.82651506e-16] [ 8.72288082e-16 5.29795392e-16 1.00000000e+00]] t_estimated: [[-2.28306761e-01] [ 9.73589247e-01] [ 3.56888426e-05]] R_gt: [[ 0.99311072 0.10108373 -0.05927233] [-0.10169276 0.99478892 -0.0073606 ] [ 0.05821918 0.01333838 0.99821467]] t_gt: [-0.50877596 0.8098317 -0.29209527] Pose Error in degrees for R and t: 6.75550812233794 25.23188080585226 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 1.00000000e+00 5.68933789e-13 5.26596995e-16] [-5.68878278e-13 1.00000000e+00 -2.06215253e-16] [ 1.06360233e-16 -3.36753195e-16 1.00000000e+00]] t_estimated: [[-0.58691488] [-0.80964768] [-0.0012497 ]] R_gt: [[ 0.98528973 0.09501495 -0.1420428 ] [-0.09751386 0.99517701 -0.01072168] [ 0.14033999 0.02441578 0.98980253]] t_gt: [-0.27073983 0.69652778 -0.66449153] Pose Error in degrees for R and t: 9.891561731018124 66.15834075611137 Number of keypoints: Image1: 474 Image2: 474 R_estimated: [[ 9.98307829e-01 5.81504632e-02 5.13151153e-05] [-5.81504658e-02 9.98307829e-01 4.93870811e-05] [-4.83563997e-05 -5.22875075e-05 9.99999997e-01]] t_estimated: [[0.61895939] [0.78542219] [0.00111774]] R_gt: [[ 0.99899411 -0.04090849 -0.01837208] [ 0.04150525 0.99858086 0.03338223] [ 0.01698067 -0.03411016 0.99927316]] t_gt: [ 0.76361497 -0.20474718 0.61234857] Pose Error in degrees for R and t: 6.099657498992604 71.78894963776916 Number of keypoints: Image1: 480 Image2: 480 R_estimated: [[-0.05840271 0.99824427 0.00987419] [-0.99819294 -0.05825388 -0.0147424 ] [-0.0141413 -0.01071734 0.99984257]] t_estimated: [[0.10467582] [0.99442032] [0.01308448]] R_gt: [[ 0.991273 -0.11834104 -0.0580909 ] [ 0.12046652 0.9921157 0.03455853] [ 0.05354298 -0.04125457 0.99771328]] t_gt: [ 0.97672487 -0.15901861 0.14394999] Pose Error in degrees for R and t: 100.3089442775722 86.90404309108504 Number of keypoints: Image1: 411 Image2: 411 R_estimated: [[ 0.977441 0.21105697 0.00800278] [-0.21110276 0.97744907 0.00538035] [-0.00668675 -0.00694838 0.9999535 ]] t_estimated: [[0.48852899] [0.8723732 ] [0.01744746]] R_gt: [[ 0.98654794 -0.1177389 -0.1134106 ] [ 0.12792466 0.98794666 0.0871587 ] [ 0.10178222 -0.10049307 0.98971811]] t_gt: [ 0.9245721 -0.17365422 0.33913218] Pose Error in degrees for R and t: 20.984379479258003 72.1752848048891 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.99880583 0.04882504 -0.00173995] [ 0.04884567 -0.9972266 0.05615341] [ 0.00100657 -0.05617134 -0.99842064]] t_estimated: [[-0.04213534] [ 0.99870953] [ 0.02835291]] R_gt: [[ 0.99788915 0.02041821 -0.06163925] [-0.01932875 0.99964751 0.01820694] [ 0.06198974 -0.01697598 0.99793173]] t_gt: [ 0.38325426 0.45825601 -0.80194613] Pose Error in degrees for R and t: 175.68648416125689 65.24250179569165 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999999e-01 4.77622812e-05 2.27836545e-05] [-4.77603828e-05 9.99999995e-01 -8.33186538e-05] [-2.27876339e-05 8.33175656e-05 9.99999996e-01]] t_estimated: [[-0.99997869] [-0.00639949] [-0.00128704]] R_gt: [[ 0.99519272 0.07078485 -0.06768124] [-0.06963586 0.99738852 0.01918922] [ 0.06886297 -0.01438278 0.99752242]] t_gt: [-0.14375378 0.83638625 -0.52895452] Pose Error in degrees for R and t: 5.701932000899577 82.00544098521246 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.75079305e-01 4.83979466e-01 -2.93448619e-04] [-4.83978744e-01 8.75078788e-01 1.30004380e-03] [ 8.85985168e-04 -9.95618535e-04 9.99999112e-01]] t_estimated: [[-9.99988849e-01] [-4.65833315e-03] [-7.76388858e-04]] R_gt: [[ 0.99415855 0.05200285 0.09457131] [-0.05393818 0.99838162 0.01802794] [-0.09348069 -0.02302259 0.99535476]] t_gt: [-0.33672016 0.43253555 0.83638061] Pose Error in degrees for R and t: 26.4791688267398 70.48508986116343 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.50100085 -0.86540428 -0.00857737] [-0.86535303 0.50106786 -0.00975409] [ 0.01273908 0.00253565 -0.99991564]] t_estimated: [[ 0.91008928] [ 0.41440002] [-0.00318407]] R_gt: [[ 0.99498598 0.09968615 0.00811014] [-0.0980503 0.9882163 -0.11753659] [-0.01973136 0.1161519 0.99303561]] t_gt: [-0.24486664 0.8590216 -0.44958004] Pose Error in degrees for R and t: 176.64778191990047 82.26684816030142 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99996344e-01 2.70307757e-03 7.33907216e-05] [-2.70304118e-03 9.99996226e-01 -4.91479933e-04] [-7.47189530e-05 4.91279758e-04 9.99999877e-01]] t_estimated: [[-2.23291246e-02] [-9.99750648e-01] [-2.29337050e-04]] R_gt: [[ 9.93773159e-01 1.11419679e-01 -4.91035045e-04] [-1.09261638e-01 9.73635599e-01 -2.00240502e-01] [-2.18326441e-02 1.99047332e-01 9.79747027e-01]] t_gt: [-0.17037282 0.78867712 -0.59072963] Pose Error in degrees for R and t: 13.101171145117462 38.32178014220115 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.99995361e-01 2.98300185e-03 -6.16822384e-04] [-2.98294851e-03 9.99995547e-01 8.73785140e-05] [ 6.17080287e-04 -8.55381592e-05 9.99999806e-01]] t_estimated: [[-1.82809258e-01] [-9.83147917e-01] [-9.74208864e-04]] R_gt: [[ 0.99580326 0.08221146 -0.04020656] [-0.09004535 0.95865129 -0.26996192] [ 0.01635004 0.2724498 0.9620314 ]] t_gt: [-0.06175239 0.65658614 -0.75171888] Pose Error in degrees for R and t: 16.566518760914697 50.691174774624066 Number of keypoints: Image1: 295 Image2: 295 R_estimated: [[ 9.31295564e-01 3.64264400e-01 1.36546526e-04] [-3.64264392e-01 9.31295574e-01 -7.82974082e-05] [-1.55686134e-04 2.31789917e-05 9.99999988e-01]] t_estimated: [[0.74956835] [0.66192651] [0.00076879]] R_gt: [[ 0.99229352 -0.12158393 0.02388292] [ 0.12237185 0.99187166 -0.03487705] [-0.01944785 0.03753105 0.99910566]] t_gt: [ 0.82736694 -0.53502853 -0.17090471] Pose Error in degrees for R and t: 28.472300928444568 74.5803283198869 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.86671300e-01 1.62725513e-01 -3.90369581e-04] [-1.62724485e-01 9.86669676e-01 1.92182441e-03] [ 6.97895690e-04 -1.83268630e-03 9.99998077e-01]] t_estimated: [[0.43457239] [0.90063553] [0.00157454]] R_gt: [[ 0.97471836 -0.22167085 0.02802877] [ 0.22334648 0.97017056 -0.09425862] [-0.00629758 0.09813606 0.99515314]] t_gt: [ 0.85270571 -0.41248829 -0.32054077] Pose Error in degrees for R and t: 22.976949738070598 89.91726720151097 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.32356508e-01 3.61539791e-01 5.67537008e-04] [-3.61539690e-01 9.32356679e-01 -2.74678319e-04] [-6.28454062e-04 5.09109639e-05 9.99999801e-01]] t_estimated: [[0.6963796 ] [0.7176732 ] [0.00078865]] R_gt: [[ 0.93816468 -0.34588197 0.01455671] [ 0.3457935 0.93426421 -0.08704317] [ 0.01650621 0.0866943 0.99609706]] t_gt: [ 0.89052658 -0.40224975 -0.21250306] Pose Error in degrees for R and t: 41.76240740783393 70.65272074982724 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 6.85498397e-01 -7.28074136e-01 -1.96372982e-05] [ 7.28074135e-01 6.85498393e-01 8.41183740e-05] [-4.77830761e-05 -7.19604194e-05 9.99999996e-01]] t_estimated: [[7.49049235e-01] [6.62513972e-01] [6.92282103e-04]] R_gt: [[ 0.99958048 -0.00986167 0.02725535] [ 0.01082084 0.99931868 -0.03527257] [-0.02688999 0.03555241 0.99900589]] t_gt: [ 0.34298834 -0.89843433 -0.27418014] Pose Error in degrees for R and t: 46.1993915555507 70.21449042558727 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 9.43685266e-01 -3.30844544e-01 -8.19509359e-05] [ 3.30844545e-01 9.43685269e-01 -6.36967818e-06] [ 7.94432643e-05 -2.11020486e-05 9.99999997e-01]] t_estimated: [[-0.5358484 ] [-0.84431376] [-0.00088133]] R_gt: [[ 0.99857255 0.03399768 0.04122825] [-0.0302975 0.99572383 -0.08727776] [-0.04401927 0.08590298 0.99533009]] t_gt: [-0.64599053 0.27227801 -0.71313457] Pose Error in degrees for R and t: 21.87188339880677 83.28715293815887 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 8.28818892e-01 -5.59516154e-01 -9.58253817e-04] [ 5.59516620e-01 8.28819078e-01 2.94691786e-04] [ 6.29334231e-04 -7.80405057e-04 9.99999497e-01]] t_estimated: [[9.13899553e-01] [4.05939770e-01] [7.13426662e-04]] R_gt: [[ 0.99379805 0.05587068 0.09615068] [-0.04569833 0.99342869 -0.10493059] [-0.10138113 0.09988552 0.98982065]] t_gt: [-0.87778767 0.43181983 0.20741367] Pose Error in degrees for R and t: 37.824904318081614 51.18785857139534 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 0.86620415 -0.49963499 -0.00743265] [ 0.49959276 0.86623315 -0.00687062] [ 0.00987121 0.00223807 0.99994877]] t_estimated: [[ 0.70639011] [-0.70760286] [-0.01764098]] R_gt: [[ 0.99699267 0.07629286 -0.01365275] [-0.07693077 0.99553942 -0.05462696] [ 0.00942479 0.05551372 0.99841333]] t_gt: [-0.47811472 0.67982504 -0.55609732] Pose Error in degrees for R and t: 34.48888719454855 36.0044294407724 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.52913727 -0.84853447 -0.00173566] [-0.84853504 0.52913198 0.00276138] [-0.00142473 0.00293392 -0.99999468]] t_estimated: [[8.35271599e-01] [5.49837060e-01] [7.51143524e-04]] R_gt: [[ 0.94167934 0.33198756 -0.05500019] [-0.33459753 0.94114284 -0.04791923] [ 0.03585488 0.06352721 0.99733607]] t_gt: [-0.50730502 0.83484448 -0.21372016] Pose Error in degrees for R and t: 176.07387705593533 87.98676087952587 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.60366049e-01 -7.50943704e-01 4.84295472e-04] [-7.50943843e-01 -6.60366034e-01 2.14728513e-04] [ 1.58563255e-04 -5.05478123e-04 -9.99999860e-01]] t_estimated: [[0.1979158 ] [0.98021811] [0.00133727]] R_gt: [[ 0.83917497 0.53150124 -0.11529024] [-0.53580702 0.84430547 -0.0076844 ] [ 0.09325502 0.06822182 0.99330243]] t_gt: [-0.38131271 0.901358 -0.2053153 ] Pose Error in degrees for R and t: 175.3915227904897 36.119912477688366 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.92955929e-01 1.18482163e-01 7.06823611e-04] [-1.18480225e-01 9.92953651e-01 -2.34153250e-03] [-9.79272920e-04 2.24129396e-03 9.99997009e-01]] t_estimated: [[-9.92867812e-01] [-1.19216942e-01] [-9.10052990e-04]] R_gt: [[ 0.99879178 -0.03956156 -0.02915248] [ 0.03992501 0.99913113 0.01201815] [ 0.02865161 -0.01316807 0.99950224]] t_gt: [ 0.40434387 -0.83478998 -0.37367329] Pose Error in degrees for R and t: 9.280308166228464 72.44634125618977 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.97343106e-01 7.28472738e-02 5.81608332e-05] [-7.28472750e-02 9.97343108e-01 1.82313713e-05] [-5.66782004e-05 -2.24197907e-05 9.99999998e-01]] t_estimated: [[ 6.17203207e-01] [-7.86803768e-01] [-1.78029304e-04]] R_gt: [[ 0.99496378 -0.06355022 -0.07751005] [ 0.06665388 0.99704731 0.03814054] [ 0.07485669 -0.043115 0.99626173]] t_gt: [ 0.44721807 -0.78056388 -0.43671047] Pose Error in degrees for R and t: 9.339498516456716 27.09497240921628 Number of keypoints: Image1: 330 Image2: 330 R_estimated: [[ 0.49069886 0.87126924 0.01022458] [ 0.87125965 -0.49047759 -0.01839473] [-0.01101184 0.01793454 -0.99977852]] t_estimated: [[ 0.35619195] [-0.93433869] [ 0.0117691 ]] R_gt: [[ 0.99122244 -0.09473828 -0.09221117] [ 0.09905004 0.99413788 0.04336321] [ 0.08756219 -0.05211588 0.99479422]] t_gt: [ 0.50849981 -0.78302049 -0.35819945] Pose Error in degrees for R and t: 176.22829325009923 24.699175037076202 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.66387068e-01 -2.57090855e-01 -5.72412442e-04] [ 2.57090696e-01 9.66387221e-01 -3.36714712e-04] [ 6.39738342e-04 1.78234830e-04 9.99999779e-01]] t_estimated: [[ 0.71995877] [-0.69401207] [-0.00257444]] R_gt: [[ 0.99721486 -0.00813655 0.07413426] [ 0.00553284 0.99936319 0.03526163] [-0.07437351 -0.03475314 0.99662366]] t_gt: [0.07594212 0.06771085 0.99481055] Pose Error in degrees for R and t: 15.258455750726263 89.70653153973832 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.95766465e-01 -9.19192319e-02 3.62338521e-05] [ 9.19192317e-02 9.95766466e-01 7.03151422e-06] [-3.67267862e-05 -3.67115822e-06 9.99999999e-01]] t_estimated: [[9.38145128e-01] [3.46241752e-01] [6.06811903e-04]] R_gt: [[ 0.99580357 -0.0496173 0.07690481] [ 0.04337762 0.99578681 0.0807895 ] [-0.08058977 -0.07711464 0.9937594 ]] t_gt: [ 0.23474825 -0.17501791 0.95617048] Pose Error in degrees for R and t: 6.909948336957422 80.78093584503027 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 1.99042911e-01 -9.79989430e-01 -1.62392845e-03] [ 9.79970663e-01 1.99049169e-01 -6.07682257e-03] [ 6.27846349e-03 -3.81853790e-04 9.99980217e-01]] t_estimated: [[ 0.94823158] [-0.31754873] [-0.00443495]] R_gt: [[ 0.98554868 -0.16763438 0.02435158] [ 0.16322768 0.97824321 0.128054 ] [-0.04528744 -0.12222872 0.99146773]] t_gt: [ 0.54712047 -0.50490858 0.66762753] Pose Error in degrees for R and t: 69.3439006281923 47.45499742976128 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[-9.92592352e-01 -1.21492086e-01 -3.10344112e-04] [-1.21492370e-01 9.92591670e-01 1.17528398e-03] [ 1.65257278e-04 1.20428233e-03 -9.99999261e-01]] t_estimated: [[9.92967485e-01] [1.18384003e-01] [8.95039755e-04]] R_gt: [[ 0.99264665 -0.11383133 -0.04118649] [ 0.11355513 0.99349087 -0.00900496] [ 0.04194341 0.0042617 0.99911057]] t_gt: [ 0.57113896 -0.76770179 -0.29057573] Pose Error in degrees for R and t: 177.585743863149 61.576905599618534 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.93274077e-01 -1.15786657e-01 2.40339035e-04] [ 1.15786627e-01 9.93274101e-01 1.35317738e-04] [-2.54390527e-04 -1.06579556e-04 9.99999962e-01]] t_estimated: [[9.99097083e-01] [4.24754767e-02] [9.23379929e-04]] R_gt: [[ 0.97398606 -0.2122826 -0.07929565] [ 0.21487324 0.97630602 0.0256114 ] [ 0.07198006 -0.04198388 0.99652221]] t_gt: [ 0.66048094 -0.74551817 -0.08926131] Pose Error in degrees for R and t: 7.447901630880483 51.08727241291671 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.11286721 0.99322419 0.02768943] [ 0.99243759 0.11404366 -0.04540571] [-0.04825585 0.02235521 -0.99858481]] t_estimated: [[0.86734713] [0.49770286] [0.00090822]] R_gt: [[ 0.94788805 -0.2899379 -0.13207583] [ 0.29362006 0.95588131 0.00887943] [ 0.12367535 -0.04719771 0.99120003]] t_gt: [ 0.73878307 -0.65558826 -0.15621652] Pose Error in degrees for R and t: 176.12502374141079 71.67834014479985 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[-8.26997331e-01 -5.62199715e-01 -2.62577613e-03] [-5.62205832e-01 8.26989348e-01 3.63590285e-03] [ 1.27385343e-04 4.48310861e-03 -9.99989943e-01]] t_estimated: [[8.26389777e-01] [5.63098150e-01] [6.40612230e-04]] R_gt: [[ 0.99543903 0.05420429 0.07851736] [-0.05103422 0.99782108 -0.04185068] [-0.08061482 0.03765228 0.99603377]] t_gt: [-0.4969962 0.66065238 0.56261284] Pose Error in degrees for R and t: 176.3954463164218 87.80273949934035 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.87766657e-01 1.55938754e-01 -3.69220499e-04] [-1.55938948e-01 9.87766531e-01 -5.69734130e-04] [ 2.75860021e-04 6.20340233e-04 9.99999770e-01]] t_estimated: [[-0.81247395] [-0.58299658] [-0.00103368]] R_gt: [[ 0.97113806 0.12854237 0.20091675] [-0.11501657 0.99032439 -0.0776567 ] [-0.20895524 0.05230638 0.97652606]] t_gt: [-0.39324929 0.59133176 0.70404669] Pose Error in degrees for R and t: 12.588889507785817 88.51201358808711 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-0.67304759 -0.3826959 0.63289082] [-0.54740243 -0.3176792 -0.77422897] [ 0.4973505 -0.86753892 0.00432455]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.93476314 0.25402794 0.24837121] [-0.23040488 0.96561071 -0.12046238] [-0.27043167 0.05537797 0.96114532]] t_gt: [-0.34953017 0.72447324 0.59411042] Pose Error in degrees for R and t: 156.55708414251544 74.38574534401077 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.94271842 0.33358519 0.00170511] [ 0.33357553 -0.94271335 0.00434759] [ 0.00305773 -0.00352977 -0.9999891 ]] t_estimated: [[0.87541302] [0.48337055] [0.00222751]] R_gt: [[ 0.991345 -0.12483012 -0.0406722 ] [ 0.12601963 0.99162982 0.02809799] [ 0.03682484 -0.03297983 0.99877698]] t_gt: [ 0.62807953 -0.77814743 0.00163666] Pose Error in degrees for R and t: 177.67399952257594 79.9970378473455 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.93966276e-01 1.09684479e-01 5.97488585e-04] [-1.09684348e-01 9.93966439e-01 -2.47683930e-04] [-6.21050684e-04 1.80654328e-04 9.99999791e-01]] t_estimated: [[0.27555939] [0.96128321] [0.00126986]] R_gt: [[ 0.97208377 -0.22051658 -0.08016559] [ 0.22399883 0.97387547 0.03729403] [ 0.06984722 -0.0542094 0.99608324]] t_gt: [ 0.71626271 -0.69753329 -0.02037251] Pose Error in degrees for R and t: 19.827653252848414 61.75908419636012 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.99953324e-01 9.56789565e-03 1.34354581e-03] [ 9.56871243e-03 -9.99954037e-01 -6.02820256e-04] [ 1.33771633e-03 6.15648122e-04 -9.99998916e-01]] t_estimated: [[0.75339444] [0.65756795] [0.00110145]] R_gt: [[ 0.92840917 -0.33087511 -0.16905351] [ 0.33211635 0.94298863 -0.0217213 ] [ 0.16660311 -0.03597805 0.98536802]] t_gt: [ 0.78564784 -0.57421151 -0.23030113] Pose Error in degrees for R and t: 179.5851561479131 77.63926503490997 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99998976e-01 1.42977713e-03 6.38749983e-05] [-1.42977708e-03 9.99998978e-01 -8.09650643e-07] [-6.38760906e-05 7.18322805e-07 9.99999998e-01]] t_estimated: [[5.98574852e-01] [8.01066561e-01] [7.15791997e-04]] R_gt: [[ 0.99897079 -0.03299505 -0.03112164] [ 0.03257821 0.99937449 -0.01381918] [ 0.03155799 0.01279071 0.99941958]] t_gt: [ 0.48248575 -0.57356865 -0.66198678] Pose Error in degrees for R and t: 2.768861722634296 80.1460854436806 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.99984278 0.01711847 -0.00462274] [ 0.01713302 0.99984833 -0.00312585] [ 0.00456853 -0.00320456 -0.99998443]] t_estimated: [[0.99987021] [0.01607508] [0.00107167]] R_gt: [[ 0.9954228 0.02892807 0.09108241] [-0.02390641 0.99815874 -0.05574584] [-0.09252719 0.0533128 0.99428169]] t_gt: [-0.46817348 0.48989116 0.73540482] Pose Error in degrees for R and t: 174.96413568529314 62.64840559964865 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 8.49731454e-01 5.27215667e-01 -3.10844684e-04] [-5.27215616e-01 8.49730643e-01 -1.23597576e-03] [-3.87491529e-04 1.21412965e-03 9.99999188e-01]] t_estimated: [[-0.99986323] [-0.01648126] [-0.00137344]] R_gt: [[ 0.97209711 0.13375209 0.19271083] [-0.1167914 0.98842032 -0.09688109] [-0.20343736 0.07167088 0.97646093]] t_gt: [-0.41038328 0.6335576 0.65588897] Pose Error in degrees for R and t: 27.458581144961606 66.4852902260857 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 9.91990097e-01 1.26315554e-01 1.68175645e-04] [-1.26315484e-01 9.91990048e-01 -3.79396105e-04] [-2.14752196e-04 3.55113991e-04 9.99999914e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99856574 -0.02592017 -0.04684128] [ 0.02756264 0.99901418 0.0347972 ] [ 0.04589338 -0.03603845 0.9982964 ]] t_gt: [ 0.49053291 -0.75806365 -0.42978712] Pose Error in degrees for R and t: 9.411919807114947 60.80085275581368 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 9.99709722e-01 2.40929474e-02 4.63557488e-05] [-2.40929462e-02 9.99709722e-01 -2.65910780e-05] [-4.69829502e-05 2.54665126e-05 9.99999999e-01]] t_estimated: [[ 7.32398515e-01] [-6.80876209e-01] [-5.09719005e-05]] R_gt: [[ 0.99712486 -0.05593568 -0.05112274] [ 0.05714318 0.99811354 0.02248059] [ 0.04976846 -0.02533629 0.99843925]] t_gt: [ 0.54143856 -0.75553131 -0.36880445] Pose Error in degrees for R and t: 5.625390713602195 24.357353301825718 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99999865e-01 -5.18465262e-04 4.23401723e-05] [ 5.18466164e-04 9.99999865e-01 -2.13041976e-05] [-4.23291211e-05 2.13261467e-05 9.99999999e-01]] t_estimated: [[ 8.41243753e-01] [-5.40656035e-01] [-1.38651825e-05]] R_gt: [[ 0.9933489 -0.099156 -0.05852776] [ 0.09997544 0.99492674 0.01123112] [ 0.05711728 -0.01700759 0.99822303]] t_gt: [ 0.55950235 -0.75793949 -0.33538761] Pose Error in degrees for R and t: 6.637129585978557 28.3012432353236 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99948216e-01 -1.01766304e-02 -4.33548891e-05] [ 1.01766294e-02 9.99948216e-01 -2.45270442e-05] [ 4.36022467e-05 2.40845675e-05 9.99999999e-01]] t_estimated: [[-0.59409489] [-0.80439449] [-0.00087425]] R_gt: [[ 0.9975156 0.0699485 -0.00831892] [-0.07031406 0.99585888 -0.05763375] [ 0.00425325 0.05807621 0.99830317]] t_gt: [-0.45042075 0.60554804 -0.65607371] Pose Error in degrees for R and t: 5.688666699586138 77.35361371733474 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.98448662e-01 -5.56721902e-02 -9.36146699e-04] [ 5.56726552e-02 9.98448961e-01 4.78092769e-04] [ 9.08078227e-04 -5.29468858e-04 9.99999448e-01]] t_estimated: [[-0.82053118] [-0.57160086] [-0.00102221]] R_gt: [[ 0.98440307 0.17333289 -0.03010961] [-0.17525824 0.9811075 -0.08193733] [ 0.0153388 0.08593745 0.99618279]] t_gt: [-0.52021587 0.7406298 -0.42525634] Pose Error in degrees for R and t: 14.164482179166487 89.77405840529347 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.96529749e-01 -8.32344897e-02 -6.92049385e-04] [ 8.32346927e-02 9.96529936e-01 2.69777927e-04] [ 6.67193102e-04 -3.26444248e-04 9.99999724e-01]] t_estimated: [[-0.87666421] [-0.48110189] [-0.00090798]] R_gt: [[ 0.88778083 0.45042103 -0.09468571] [-0.45579931 0.88895116 -0.04485878] [ 0.06396547 0.08298296 0.9944965 ]] t_gt: [-0.43400475 0.86848831 -0.23951602] Pose Error in degrees for R and t: 32.34398120741905 87.87169107401843 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[-0.77138403 -0.63635927 -0.00368256] [ 0.63635854 -0.77132269 -0.01044532] [ 0.00380654 -0.01040078 0.99993867]] t_estimated: [[0.95021397] [0.31159392] [0.00162314]] R_gt: [[ 0.96626841 0.2545371 -0.03919376] [-0.25373251 0.96696642 0.02437701] [ 0.04410505 -0.01360924 0.99893377]] t_gt: [-0.9723023 0.23315884 0.01628465] Pose Error in degrees for R and t: 155.20153480593123 31.65561417159318 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[-6.20251539e-01 7.84395914e-01 -3.32844063e-03] [ 7.84375146e-01 6.20259693e-01 5.79177687e-03] [ 6.60754367e-03 9.81612415e-04 -9.99977688e-01]] t_estimated: [[0.75332188] [0.65765123] [0.00100278]] R_gt: [[ 8.50594222e-01 5.25820856e-01 -7.64547524e-04] [-5.25656838e-01 8.50362462e-01 2.38138721e-02] [ 1.31725972e-02 -1.98537397e-02 9.99715963e-01]] t_gt: [-0.91069272 0.41214284 0.02787565] Pose Error in degrees for R and t: 178.6970519195643 65.48253842012676 Number of keypoints: Image1: 22 Image2: 22 R_estimated: [[ 0.7349234 0.67804824 0.01175555] [ 0.67814906 -0.73478101 -0.01451581] [-0.00120466 0.01864002 -0.99982553]] t_estimated: [[8.00787728e-01] [5.98947956e-01] [5.99841970e-04]] R_gt: [[ 0.67278278 0.73978563 0.00895703] [-0.73949417 0.67278788 -0.02245876] [-0.02263985 0.00848655 0.99970721]] t_gt: [-0.81675074 0.57693751 -0.00783181] Pose Error in degrees for R and t: 177.9347929329557 72.03155765079276 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.99998641e-01 -1.64560516e-03 -1.02186970e-04] [ 1.64562293e-03 9.99998631e-01 1.74073292e-04] [ 1.01900374e-04 -1.74241216e-04 9.99999980e-01]] t_estimated: [[-2.87635785e-01] [ 9.57739554e-01] [-7.76317759e-04]] R_gt: [[ 9.96338775e-01 8.54331095e-02 3.09480815e-03] [-8.54849370e-02 9.95267646e-01 4.61904990e-02] [ 8.66499654e-04 -4.62860096e-02 9.98927371e-01]] t_gt: [-0.39469492 0.50891523 0.76499752] Pose Error in degrees for R and t: 5.655252948619784 53.105551141913125 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-7.49655261e-02 -9.97186109e-01 1.83220579e-04] [-9.97185241e-01 7.49657031e-02 1.31860556e-03] [-1.32863041e-03 -8.38548979e-05 -9.99999114e-01]] t_estimated: [[0.69832308] [0.71577989] [0.00200447]] R_gt: [[ 0.98823573 0.15080867 0.02540846] [-0.15203944 0.98674416 0.05673279] [-0.01651568 -0.05992822 0.99806588]] t_gt: [-0.31784189 0.65259477 0.68782018] Pose Error in degrees for R and t: 176.78029924143175 75.72733941494191 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 7.68288125e-01 -6.40103651e-01 -8.20368386e-04] [ 6.40103419e-01 7.68288557e-01 -5.53822894e-04] [ 9.84783700e-04 -9.96250563e-05 9.99999510e-01]] t_estimated: [[-0.208743 ] [-0.97796915] [-0.00164365]] R_gt: [[ 0.95760918 0.28622117 0.03259174] [-0.28805842 0.95245644 0.09923381] [-0.00263822 -0.10441548 0.99453047]] t_gt: [-0.27933672 0.85093368 0.44484028] Pose Error in degrees for R and t: 56.82696114115038 39.230451905854 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99999689e-01 5.80744420e-04 5.33945418e-04] [-5.80535667e-04 9.99999755e-01 -3.91035240e-04] [-5.34172379e-04 3.90725144e-04 9.99999781e-01]] t_estimated: [[-0.80240633] [-0.59677736] [-0.00092847]] R_gt: [[ 0.98566825 -0.16712931 0.02294505] [ 0.16738621 0.98584334 -0.0097624 ] [-0.02098908 0.01346212 0.99968863]] t_gt: [ 8.31224333e-01 -5.55937101e-01 -2.18776868e-04] Pose Error in degrees for R and t: 9.762571217152617 70.4147648496377 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 0.91618349 0.31399919 -0.24902273] [-0.21407511 0.90874839 0.35825718] [ 0.33879147 -0.27491974 0.89979969]] t_estimated: [[8.18634951e-01] [5.74313667e-01] [7.93250921e-04]] R_gt: [[ 0.83285633 -0.55340666 0.00957287] [ 0.55348684 0.83277641 -0.01157673] [-0.00156578 0.01494062 0.99988642]] t_gt: [ 0.93149744 -0.3630089 -0.02317447] Pose Error in degrees for R and t: 56.078789163314745 56.35421181049492 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.82267344e-01 1.87484485e-01 6.57339528e-04] [-1.87484455e-01 9.82267564e-01 -1.08031021e-04] [-6.65937438e-04 -1.71255996e-05 9.99999778e-01]] t_estimated: [[7.31555240e-01] [6.81781808e-01] [7.04430291e-04]] R_gt: [[ 0.69450348 -0.71862686 0.03521265] [ 0.7174666 0.6953888 0.04093077] [-0.05390062 -0.00316287 0.99854068]] t_gt: [ 0.95998327 -0.27710757 0.04054038] Pose Error in degrees for R and t: 56.81816351706021 59.110603114835094 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-9.98814865e-01 4.86152758e-02 -2.32822376e-03] [-4.86161293e-02 -9.98817488e-01 3.11412999e-04] [-2.31033117e-03 4.24233159e-04 9.99997241e-01]] t_estimated: [[0.76550428] [0.64343002] [0.00100036]] R_gt: [[ 0.97799883 0.20623617 -0.03136994] [-0.20554696 0.97835684 0.02384735] [ 0.03560834 -0.01687516 0.99922368]] t_gt: [-0.31999521 0.94266705 -0.09477282] Pose Error in degrees for R and t: 165.33086297757262 68.80840693512783 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999932e-01 -3.57094975e-04 -9.51639043e-05] [ 3.57096592e-04 9.99999936e-01 1.69784484e-05] [ 9.51578353e-05 -1.70124300e-05 9.99999995e-01]] t_estimated: [[9.86279298e-01] [1.65084662e-01] [4.46888441e-04]] R_gt: [[ 0.97747063 0.20780717 0.03697136] [-0.20805832 0.97811177 0.00304899] [-0.03552962 -0.01067288 0.99931193]] t_gt: [-0.21504899 0.9646185 0.15252894] Pose Error in degrees for R and t: 12.212568950319595 86.97415103183518 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999951e-01 -2.41129619e-05 -3.13312085e-04] [ 2.42362189e-05 9.99999922e-01 3.93402443e-04] [ 3.13302574e-04 -3.93410017e-04 9.99999874e-01]] t_estimated: [[0.80135776] [0.59818478] [0.00084955]] R_gt: [[ 0.97607261 0.2063625 0.06853406] [-0.20935876 0.97702829 0.0397934 ] [-0.05874727 -0.05319008 0.99685454]] t_gt: [-0.22868435 0.90885765 0.34882839] Pose Error in degrees for R and t: 12.846063343415354 68.85661329420394 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.90424005e-01 1.38058974e-01 -1.00644299e-04] [-1.38058912e-01 9.90423906e-01 4.73166224e-04] [ 1.65005363e-04 -4.54740344e-04 9.99999883e-01]] t_estimated: [[0.40607175] [0.91384063] [0.00101715]] R_gt: [[ 0.9795547 0.17824715 -0.0932803 ] [-0.17669137 0.98395454 0.02475223] [ 0.09619511 -0.00776366 0.99533234]] t_gt: [-0.1254663 0.94343892 -0.30688958] Pose Error in degrees for R and t: 5.989586763195743 35.81679228351928 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 8.10910520e-01 -5.85169304e-01 1.00686203e-03] [ 5.85170149e-01 8.10909754e-01 -1.12593230e-03] [-1.57613221e-04 1.50221595e-03 9.99998859e-01]] t_estimated: [[-0.30333293] [-0.95288307] [-0.00172869]] R_gt: [[ 0.93170517 0.34679463 -0.10798118] [-0.34079455 0.93749905 0.07037771] [ 0.12563891 -0.02877182 0.9916589 ]] t_gt: [-0.1758806 0.97053812 -0.16468691] Pose Error in degrees for R and t: 56.46793835433455 29.404614816779322 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999776e-01 -6.68312041e-04 3.35872464e-05] [ 6.68314166e-04 9.99999775e-01 -6.33039745e-05] [-3.35449320e-05 6.33264071e-05 9.99999997e-01]] t_estimated: [[0.17558033] [0.98446429] [0.00126506]] R_gt: [[ 0.90851796 0.41155322 -0.07225034] [-0.41077579 0.9113654 0.02599455] [ 0.07654406 0.00606146 0.99704844]] t_gt: [-0.0979451 0.98962099 -0.10515256] Pose Error in degrees for R and t: 24.74389473032767 16.879749761313313 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-5.18874300e-02 -9.98652653e-01 -7.57175895e-04] [ 9.98652161e-01 -5.18883215e-02 1.20947037e-03] [-1.24712938e-03 -6.93399035e-04 9.99998982e-01]] t_estimated: [[0.83750624] [0.54642707] [0.00087149]] R_gt: [[ 9.44191983e-01 -3.27666075e-01 -3.37026204e-02] [ 3.27879375e-01 9.44718144e-01 8.53798914e-04] [ 3.15606384e-02 -1.18556305e-02 9.99432054e-01]] t_gt: [ 0.88038938 -0.47294205 -0.03521859] Pose Error in degrees for R and t: 73.85683024911641 61.388206487808986 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.67761954 0.73520313 -0.01755318] [-0.73517661 0.6766044 -0.0414949 ] [-0.01863062 0.04102244 0.99898451]] t_estimated: [[0.72610822] [0.68758003] [0.00074093]] R_gt: [[ 0.79257953 -0.60967768 0.0104541 ] [ 0.60902482 0.79234414 0.03576024] [-0.03008581 -0.02197568 0.99930602]] t_gt: [ 0.93643342 -0.34698278 0.05191735] Pose Error in degrees for R and t: 85.02402405454794 63.80599020669778 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.94480184 0.02645283 0.3265727 ] [ 0.18510639 0.7793256 -0.59865452] [-0.27034257 0.62606058 0.73141168]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.65959052 -0.75162165 -0.002029 ] [ 0.75138589 0.65931079 0.02696777] [-0.01893181 -0.01931208 0.99963438]] t_gt: [ 0.96765252 -0.25048912 0.03006323] Pose Error in degrees for R and t: 61.197993183331775 53.37366973412487 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 0.99794669 0.063984 -0.00290844] [-0.06397309 0.99794477 0.00369997] [ 0.00313921 -0.00350631 0.99998893]] t_estimated: [[-8.23896999e-01] [-5.66739122e-01] [-7.08423903e-04]] R_gt: [[ 0.99871745 0.0313972 0.03970986] [-0.03229103 0.99923476 0.02206929] [-0.03898612 -0.0233233 0.99896741]] t_gt: [ 0.20850299 -0.06199652 0.97605478] Pose Error in degrees for R and t: 3.2393231167883503 82.10601307788555 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.97922684 -0.20246968 -0.01099229] [ 0.20258906 0.97920076 0.01111545] [ 0.00851311 -0.01311146 0.9998778 ]] t_estimated: [[-0.09827937] [-0.99514481] [ 0.00528933]] R_gt: [[ 0.9944137 0.09804737 0.03907492] [-0.09990051 0.99380676 0.04865867] [-0.03406209 -0.05229096 0.99805146]] t_gt: [0.08899223 0.17473868 0.98058492] Pose Error in degrees for R and t: 17.70790844783755 79.77874965909983 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99999898e-01 -3.86502525e-04 -2.34106799e-04] [ 3.86590470e-04 9.99999855e-01 3.75729541e-04] [ 2.33961544e-04 -3.75820006e-04 9.99999902e-01]] t_estimated: [[-0.0113523 ] [ 0.99993387] [-0.0018389 ]] R_gt: [[ 0.97854993 0.19576476 0.06415268] [-0.20017945 0.97713671 0.07164079] [-0.04866182 -0.08294647 0.99536572]] t_gt: [-0.18064339 0.58583448 0.79004172] Pose Error in degrees for R and t: 12.718027541863252 54.09849337216836 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.78022607e-01 2.08497576e-01 7.34876560e-04] [-2.08496224e-01 9.78021875e-01 -1.59253463e-03] [-1.05076496e-03 1.40431589e-03 9.99998462e-01]] t_estimated: [[0.67771597] [0.73532183] [0.00169429]] R_gt: [[ 0.9910388 -0.08074826 0.1064012 ] [ 0.05774127 0.97729596 0.20386094] [-0.12044645 -0.19589092 0.97319987]] t_gt: [ 0.18945637 -0.35597854 0.91508774] Pose Error in degrees for R and t: 20.85216927036953 82.42575843038864 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[ 0.14836505 0.98892508 -0.00387153] [-0.98885745 0.14830435 -0.01291393] [-0.01219674 0.00574437 0.99990912]] t_estimated: [[0.02276114] [0.9997394 ] [0.00175086]] R_gt: [[ 0.97425678 -0.20618793 0.091166 ] [ 0.16578133 0.92928065 0.33008293] [-0.15277726 -0.30647164 0.93953838]] t_gt: [ 0.39632548 -0.45402436 0.79798997] Pose Error in degrees for R and t: 94.31662732318587 63.67335475011338 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 9.95052165e-01 9.90427502e-02 7.85634497e-03] [-9.93536242e-02 9.91763570e-01 8.08324050e-02] [ 2.14226966e-04 -8.12130160e-02 9.96696744e-01]] t_estimated: [[8.68453153e-01] [4.95770501e-01] [8.54776726e-04]] R_gt: [[ 0.94010413 -0.33351603 0.07050783] [ 0.2867079 0.88547489 0.36569603] [-0.18439823 -0.32357858 0.92805975]] t_gt: [ 0.52972379 -0.5079716 0.67923307] Pose Error in degrees for R and t: 29.918929469309244 77.94892522649029 Number of keypoints: Image1: 663 Image2: 663 R_estimated: [[ 9.99999834e-01 5.75859151e-04 2.45591288e-05] [-5.75859508e-04 9.99999834e-01 1.45374899e-05] [-2.45507532e-05 -1.45516301e-05 1.00000000e+00]] t_estimated: [[ 9.91444366e-01] [-1.30529559e-01] [ 3.22399732e-04]] R_gt: [[ 0.99921987 -0.0393239 -0.00365583] [ 0.03934104 0.99921475 0.0047756 ] [ 0.00346576 -0.00491518 0.99998203]] t_gt: [ 0.46900052 -0.88250764 -0.03491094] Pose Error in degrees for R and t: 2.3126804673671315 54.53749918990699 Number of keypoints: Image1: 376 Image2: 376 R_estimated: [[-0.97618696 -0.2148225 0.0301713 ] [-0.21482014 0.97664786 0.00335798] [-0.03018811 -0.00320339 -0.9995391 ]] t_estimated: [[0.9953112 ] [0.09545381] [0.01562647]] R_gt: [[ 0.99703137 -0.07677528 0.00581554] [ 0.07654871 0.9965365 0.03246697] [-0.00828778 -0.0319251 0.9994558 ]] t_gt: [ 0.30752642 -0.89041771 0.33553511] Pose Error in degrees for R and t: 177.6606186385777 76.91866765738715 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.27252824e-01 3.74429688e-01 2.14684252e-03] [-3.74427837e-01 9.27255251e-01 -1.22273206e-03] [-2.44849818e-03 3.29944157e-04 9.99996948e-01]] t_estimated: [[0.44136385] [0.89732753] [0.00112306]] R_gt: [[ 0.99318384 -0.09920407 0.06119375] [ 0.09854752 0.99503814 0.01366051] [-0.06224505 -0.00753684 0.99803161]] t_gt: [ 0.04351056 -0.81850036 0.572856 ] Pose Error in degrees for R and t: 27.881328771053163 44.38829826936443 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99614540e-01 -2.77621989e-02 1.79322591e-04] [ 2.77622356e-02 9.99614534e-01 -2.05314829e-04] [-1.73553477e-04 2.10214085e-04 9.99999963e-01]] t_estimated: [[-8.81997767e-01] [-4.71253044e-01] [-7.11862605e-04]] R_gt: [[ 0.99993394 -0.00276164 -0.01128622] [ 0.00257023 0.99985456 -0.01690572] [ 0.01133144 0.01687576 0.99979264]] t_gt: [ 0.12604132 0.61886309 -0.77532062] Pose Error in degrees for R and t: 1.846648589962339 66.28062748267153 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999985e-01 1.29241174e-04 1.16590175e-04] [-1.29255589e-04 9.99999984e-01 1.23641390e-04] [-1.16574193e-04 -1.23656458e-04 9.99999986e-01]] t_estimated: [[-9.79279732e-01] [-2.02511094e-01] [-6.80716607e-04]] R_gt: [[ 0.99763381 0.06864142 -0.00419927] [-0.06858756 0.99757399 0.01189723] [ 0.00500524 -0.01158108 0.99992018]] t_gt: [-0.55024687 0.83272855 0.0615755 ] Pose Error in degrees for R and t: 3.9920273091503775 68.27408764267895 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999436e-01 -9.29293548e-04 -5.14745471e-04] [ 9.29789378e-04 9.99999103e-01 9.63853375e-04] [ 5.13849306e-04 -9.64331436e-04 9.99999403e-01]] t_estimated: [[6.02496285e-03] [9.99981513e-01] [8.20428230e-04]] R_gt: [[ 0.97718975 0.21230321 -0.00535089] [-0.21227609 0.97719542 0.00527157] [ 0.00634763 -0.00401586 0.99997177]] t_gt: [-0.61866306 0.78559395 -0.00990806] Pose Error in degrees for R and t: 12.315579340818955 38.570289963378315 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 9.99803303e-01 1.98329353e-02 -9.79979904e-05] [-1.98329355e-02 9.99803308e-01 -3.53969240e-07] [ 9.79716948e-05 2.29748743e-06 9.99999995e-01]] t_estimated: [[-0.61337555] [ 0.78979071] [-0.00103778]] R_gt: [[ 0.999326 0.01985308 0.03086152] [-0.02223667 0.99663348 0.07892085] [-0.02919026 -0.07955366 0.99640385]] t_gt: [-0.23420505 -0.1193098 0.96483841] Pose Error in degrees for R and t: 4.863369470059067 87.22439023398302 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.99998019e-01 -1.97963518e-03 -2.06439501e-04] [ 1.97960483e-03 9.99998030e-01 -1.47104846e-04] [ 2.06730309e-04 1.46695886e-04 9.99999968e-01]] t_estimated: [[-0.99995019] [-0.00987013] [-0.00148371]] R_gt: [[ 0.98720785 0.15273778 0.04571918] [-0.15572503 0.98523967 0.07108691] [-0.03418604 -0.07729663 0.99642263]] t_gt: [-0.6953605 0.49587333 0.52017634] Pose Error in degrees for R and t: 10.228100773343131 46.396820080486684 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-3.84131858e-01 -9.23275473e-01 -2.26220582e-03] [ 9.23278244e-01 -3.84130783e-01 -9.09176621e-04] [-2.95624180e-05 -2.43788912e-03 9.99997028e-01]] t_estimated: [[0.96455271] [0.26388706] [0.00129994]] R_gt: [[ 0.9813433 0.18801525 0.04018329] [-0.1882086 0.98212917 0.00103879] [-0.03926985 -0.00858124 0.99919257]] t_gt: [-0.71578852 0.68425374 0.13944037] Pose Error in degrees for R and t: 123.45178781400159 59.358229895466295 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.95960513e-01 -8.97919420e-02 -2.53552701e-04] [ 8.97920349e-02 9.95960463e-01 3.82622256e-04] [ 2.18172070e-04 -4.03843671e-04 9.99999895e-01]] t_estimated: [[9.38643027e-01] [3.44889296e-01] [8.00207184e-04]] R_gt: [[ 0.9947128 0.03140313 0.09778696] [-0.02902402 0.99925021 -0.02565112] [-0.09851779 0.02267634 0.99487704]] t_gt: [-0.68087799 0.3414532 0.64793123] Pose Error in degrees for R and t: 9.01509722777542 58.61277259337769 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-7.98328759e-01 -6.02211225e-01 -3.58225971e-03] [ 6.02217155e-01 -7.98331934e-01 -7.88033779e-04] [-2.38526954e-03 -2.78640828e-03 9.99993273e-01]] t_estimated: [[0.99953565] [0.03036564] [0.00253047]] R_gt: [[ 0.98813925 0.09845378 0.1178499 ] [-0.09316323 0.99441476 -0.04960063] [-0.12207458 0.03803214 0.99179215]] t_gt: [-0.73303569 0.53340874 0.422059 ] Pose Error in degrees for R and t: 148.5691288021825 44.32154986741496 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-0.05955272 -0.99822 0.00320903] [-0.99821371 0.05956713 0.00459939] [-0.00478235 -0.00292939 -0.99998427]] t_estimated: [[0.62843333] [0.77785104] [0.00439464]] R_gt: [[ 0.9617594 0.25810933 0.09165115] [-0.25673662 0.96611357 -0.02666672] [-0.09542844 0.00211603 0.99543418]] t_gt: [-0.70375536 0.67521277 0.22094368] Pose Error in degrees for R and t: 176.32866087624453 85.18592680139636 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99905008e-01 1.37826947e-02 1.10505082e-04] [-1.37826542e-02 9.99904950e-01 -3.59224056e-04] [-1.15445654e-04 3.57666879e-04 9.99999929e-01]] t_estimated: [[0.99791083] [0.06459173] [0.0013713 ]] R_gt: [[ 0.99993553 -0.00681851 -0.00908027] [ 0.00671872 0.99991718 -0.01104211] [ 0.0091549 0.01098011 0.99989837]] t_gt: [-0.15818069 -0.7003685 -0.69603365] Pose Error in degrees for R and t: 1.4264185946077135 78.22653436552648 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.89309723e-01 1.45829039e-01 4.03380968e-04] [-1.45829080e-01 9.89309797e-01 7.42791741e-05] [-3.88236683e-04 -1.32309785e-04 9.99999916e-01]] t_estimated: [[0.52773092] [0.84941086] [0.00112314]] R_gt: [[ 0.998955 -0.03455131 0.02991624] [ 0.03394685 0.9992134 0.02050557] [-0.0306009 -0.01946881 0.99934209]] t_gt: [-0.14928934 -0.82972796 0.53783287] Pose Error in degrees for R and t: 10.550385960556842 38.4675602079472 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.89677398e-01 -1.43313110e-01 -1.64026994e-05] [ 1.43313101e-01 9.89677283e-01 4.80578342e-04] [-5.26397978e-05 -4.77968245e-04 9.99999884e-01]] t_estimated: [[9.81615074e-01] [1.90869598e-01] [8.01973100e-04]] R_gt: [[ 9.99564642e-01 4.87861450e-05 2.94984229e-02] [-5.34947514e-04 9.99864899e-01 1.64815648e-02] [-2.94946599e-02 -1.64906937e-02 9.99428984e-01]] t_gt: [-0.72531209 -0.49738268 0.47595467] Pose Error in degrees for R and t: 8.476619503836572 36.24164656532708 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[-0.82041047 0.57140023 0.02069861] [ 0.57143515 0.82063337 -0.00476906] [-0.01971101 0.00791533 -0.99977439]] t_estimated: [[ 0.95666117] [-0.29100648] [ 0.01070659]] R_gt: [[ 0.985231 -0.16986237 0.02160458] [ 0.17012218 0.985364 -0.01077973] [-0.01945804 0.01429561 0.99970748]] t_gt: [ 0.57035262 -0.8205047 0.03833947] Pose Error in degrees for R and t: 177.4396913322509 38.29625529024532 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.70077967e-01 -2.42793592e-01 -9.74587553e-05] [ 2.42793594e-01 9.70077971e-01 8.96818149e-06] [ 9.23651746e-05 -3.23621968e-05 9.99999995e-01]] t_estimated: [[-0.63692296] [-0.77092703] [-0.00080725]] R_gt: [[ 0.93750338 -0.34783915 -0.00970844] [ 0.34776637 0.93754288 -0.00846824] [ 0.01204701 0.00456228 0.99991646]] t_gt: [ 0.66297676 -0.74807635 -0.02904482] Pose Error in degrees for R and t: 6.345261500583914 81.11390564120079 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 2.29348697e-01 -9.73342896e-01 -1.66785153e-03] [ 9.73344315e-01 2.29348113e-01 5.35495224e-04] [-1.38701871e-04 -1.74620894e-03 9.99998466e-01]] t_estimated: [[8.95204679e-01] [4.45654548e-01] [7.79116343e-04]] R_gt: [[ 8.46523463e-01 -5.32011307e-01 -1.89795388e-02] [ 5.31868971e-01 8.46737189e-01 -1.23624499e-02] [ 2.26468748e-02 3.70458730e-04 9.99742324e-01]] t_gt: [ 0.75082315 -0.66007344 -0.02382543] Pose Error in degrees for R and t: 44.61722962183825 67.79280157226005 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.99999890e-01 4.66646845e-04 -4.87093597e-05] [-4.66648869e-04 9.99999890e-01 -4.15403434e-05] [ 4.86899697e-05 4.15630690e-05 9.99999998e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.99920129 0.03274963 0.02290832] [-0.03289599 0.99944061 0.00608511] [-0.02269592 -0.006834 0.99971912]] t_gt: [0.06940395 0.86393991 0.49878946] Pose Error in degrees for R and t: 2.3000816680594682 30.042865209383958 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 0.18386124 0.98295014 -0.00201666] [-0.98294797 0.18385403 -0.00331351] [-0.00288624 0.0025915 0.99999248]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99085607 0.10777236 0.08118859] [-0.09948421 0.99000034 -0.10001571] [-0.09115497 0.09102378 0.99166788]] t_gt: [-0.31300113 0.94853358 -0.04810761] Pose Error in degrees for R and t: 73.73247449722268 18.824306756699652 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.21576516 0.91131049 0.35065452] [ 0.9624623 -0.13793191 -0.23375439] [-0.16465638 0.38792781 -0.90686288]] t_estimated: [[ 0.87257384] [ 0.48847563] [-0.00254039]] R_gt: [[ 0.98110269 0.12409699 0.14845409] [-0.11075537 0.98929591 -0.09501722] [-0.15865568 0.07677955 0.98434398]] t_gt: [-0.32648604 0.88551211 0.33056795] Pose Error in degrees for R and t: 147.18049637781093 81.55684348869946 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 9.95944265e-01 -8.99723082e-02 -7.17642463e-05] [ 8.99723143e-02 9.95944263e-01 8.69263095e-05] [ 6.36522287e-05 -9.30305547e-05 9.99999994e-01]] t_estimated: [[0.17253921] [0.98500204] [0.00109202]] R_gt: [[ 0.99822017 0.04527094 0.0388205 ] [-0.04341897 0.99793701 -0.04729068] [-0.04088117 0.04552102 0.99812707]] t_gt: [-0.69988097 0.70606449 -0.1078868 ] Pose Error in degrees for R and t: 8.468297017193402 54.92835822525837 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 3.93375447e-01 9.19377902e-01 -1.78689747e-04] [ 9.19358976e-01 -3.93366087e-01 6.49575618e-03] [ 5.90176420e-03 -2.71955101e-03 -9.99978886e-01]] t_estimated: [[-0.92027215] [-0.39127474] [-0.00180235]] R_gt: [[ 0.99126511 0.08103412 0.10406087] [-0.07321202 0.99434703 -0.07690875] [-0.10970446 0.06861906 0.99159369]] t_gt: [-0.74856416 0.63094921 0.20384992] Pose Error in degrees for R and t: 173.4474396074926 63.791379120982434 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.51261595 -0.85853979 0.01158933] [ 0.85857023 0.51268313 0.00362971] [-0.00905791 0.0080896 0.99992625]] t_estimated: [[0.86478696] [0.50213436] [0.00214587]] R_gt: [[ 0.97912911 0.12995263 0.1562695 ] [-0.11499095 0.98818985 -0.1012808 ] [-0.16758586 0.08119686 0.98250892]] t_gt: [-0.72999348 0.60052474 0.32631206] Pose Error in degrees for R and t: 66.91156523527691 70.78920858414793 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 1.00000000e+00 6.69575506e-13 1.58705514e-15] [-6.68076705e-13 1.00000000e+00 2.64545330e-16] [-1.58488674e-15 -2.62105875e-16 1.00000000e+00]] t_estimated: [[0.9601513 ] [0.27947849] [0.00111944]] R_gt: [[ 0.98489459 -0.17300478 -0.00714485] [ 0.17282588 0.98473265 -0.02081924] [ 0.01063856 0.01927041 0.99975766]] t_gt: [ 0.59020804 -0.79964247 -0.11057303] Pose Error in degrees for R and t: 10.037974841473316 69.93521984983647 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-8.10047539e-01 -5.86361251e-01 -1.86226504e-03] [ 5.86363769e-01 -8.10046735e-01 -1.34806243e-03] [-7.18070146e-04 -2.18395940e-03 9.99997357e-01]] t_estimated: [[0.93507308] [0.35445316] [0.00113969]] R_gt: [[ 0.9271741 -0.37428381 -0.01611579] [ 0.37456818 0.92695026 0.02151617] [ 0.0068864 -0.02598565 0.99963876]] t_gt: [ 0.67395418 -0.73768844 0.04001914] Pose Error in degrees for R and t: 122.11161055728442 68.36046565002539 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[-0.27862278 0.96040007 0.00102499] [ 0.96039957 0.27862074 0.00177694] [ 0.00142099 0.0014795 -0.9999979 ]] t_estimated: [[0.65183736] [0.75835712] [0.00158985]] R_gt: [[ 0.8652077 -0.49956022 -0.04307107] [ 0.49718374 0.86587141 -0.05545176] [ 0.06499552 0.02656287 0.99753195]] t_gt: [ 0.74438201 -0.65526008 -0.12856769] Pose Error in degrees for R and t: 178.91339771519293 89.31761692796961 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999728e-01 7.36478012e-04 -2.69256111e-05] [-7.36471619e-04 9.99999701e-01 2.36668941e-04] [ 2.70999045e-05 -2.36649046e-04 9.99999972e-01]] t_estimated: [[-9.67327518e-01] [-2.53529463e-01] [-5.33019432e-04]] R_gt: [[ 0.99551728 0.09235273 0.02041697] [-0.09279645 0.995444 0.02193615] [-0.01829745 -0.02373223 0.99955154]] t_gt: [-0.67222718 0.67970041 0.29345864] Pose Error in degrees for R and t: 5.539925299807528 61.45927138085554 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.87364469 -0.48656123 -0.00176826] [ 0.48654551 0.87363698 -0.00564696] [ 0.00429241 0.0040731 0.99998249]] t_estimated: [[-0.09841504] [-0.99508538] [-0.010935 ]] R_gt: [[ 0.94582955 0.32348804 0.02760837] [-0.3239209 0.94599676 0.01284071] [-0.02196307 -0.02108808 0.99953652]] t_gt: [-0.65612891 0.75000884 0.08355597] Pose Error in degrees for R and t: 48.04878396753322 46.94786455967419 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 2.87800409e-01 9.57681475e-01 4.13733869e-03] [ 9.57688048e-01 -2.87806612e-01 9.78448082e-04] [ 2.12779503e-03 3.68068206e-03 -9.99990962e-01]] t_estimated: [[-0.41483103] [-0.90989686] [-0.00170712]] R_gt: [[ 0.83287443 0.54581264 0.09169783] [-0.54441426 0.83777152 -0.04184961] [-0.09966284 -0.01506557 0.99490695]] t_gt: [-0.57318212 0.81050464 0.12060053] Pose Error in degrees for R and t: 175.9097972748791 60.00610089587528 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.96826523e-01 -7.96028079e-02 -5.26281466e-04] [ 7.96032075e-02 9.96826318e-01 7.87755181e-04] [ 4.61903692e-04 -8.27148950e-04 9.99999551e-01]] t_estimated: [[-0.66967923] [-0.74264955] [-0.00117694]] R_gt: [[ 0.99895098 0.03416471 0.03050147] [-0.03624874 0.99684489 0.07061804] [-0.02799337 -0.07164981 0.99703643]] t_gt: [-0.2317037 -0.05706224 0.97111137] Pose Error in degrees for R and t: 7.908353448637136 78.6733953442242 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.46504682 -0.61551804 0.63629317] [-0.79718619 -0.02141431 -0.60335363] [ 0.38500083 -0.78783181 -0.48072383]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99425071 0.08133545 0.06963578] [-0.09009546 0.98692743 0.13363332] [-0.05785644 -0.13913927 0.98858135]] t_gt: [-0.3906676 0.11484521 0.9133397 ] Pose Error in degrees for R and t: 160.5580570831171 88.10511101946419 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999413e-01 1.89105082e-04 1.06731109e-03] [-1.88936128e-04 9.99999970e-01 -1.58397348e-04] [-1.06734102e-03 1.58195601e-04 9.99999418e-01]] t_estimated: [[-7.85747732e-01] [-6.18546795e-01] [-6.03102508e-04]] R_gt: [[ 0.97497752 0.2138369 0.06076466] [-0.21877629 0.97146374 0.09162389] [-0.03943874 -0.10262512 0.99393805]] t_gt: [-0.6763696 0.55963665 0.47888515] Pose Error in degrees for R and t: 14.006553581901505 79.3385407711101 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.31313097e-01 -3.64213781e-01 -2.05843085e-03] [ 3.64215878e-01 9.31314255e-01 7.43657954e-04] [ 1.64619551e-03 -1.44229159e-03 9.99997605e-01]] t_estimated: [[9.81972564e-01] [1.89021875e-01] [7.84323134e-04]] R_gt: [[ 0.99763469 -0.05927755 0.03479351] [ 0.05919987 0.99824129 0.00322991] [-0.03492381 -0.0011624 0.99938926]] t_gt: [ 0.14536387 -0.82636833 0.54404478] Pose Error in degrees for R and t: 18.084483285333853 89.25331996430718 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.84780185e-01 -1.73803031e-01 7.02006591e-04] [ 1.73802444e-01 9.84780194e-01 8.25065076e-04] [-8.34720997e-04 -6.90497277e-04 9.99999413e-01]] t_estimated: [[0.91423701] [0.40517457] [0.00206136]] R_gt: [[ 0.9939012 -0.09692715 0.05258871] [ 0.09721403 0.99525998 -0.00292372] [-0.05205566 0.00801846 0.99861192]] t_gt: [ 0.06916581 -0.89946035 0.43149412] Pose Error in degrees for R and t: 5.34227212551765 72.5234729270052 Number of keypoints: Image1: 374 Image2: 374 R_estimated: [[ 0.95019932 -0.31163822 -0.00169627] [ 0.31164108 0.95019815 0.00181867] [ 0.00104503 -0.00225672 0.99999691]] t_estimated: [[0.92003628] [0.39182721] [0.00216479]] R_gt: [[ 0.99275308 -0.11994718 -0.00739792] [ 0.1200586 0.99261534 0.01734779] [ 0.00526309 -0.01811025 0.9998216 ]] t_gt: [ 0.07353857 -0.99691918 0.02728034] Pose Error in degrees for R and t: 11.304451673290346 71.16143163391561 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-2.49490546e-01 -9.68377123e-01 4.63946789e-04] [-9.68377049e-01 2.49490765e-01 4.98025210e-04] [-5.98026659e-04 -3.25022841e-04 -9.99999768e-01]] t_estimated: [[0.91047106] [0.41356991] [0.00154317]] R_gt: [[ 0.99445752 -0.10465506 -0.01012203] [ 0.10443209 0.99432137 -0.02047147] [ 0.01220671 0.01930221 0.99973856]] t_gt: [ 0.98037766 -0.11860508 -0.15745627] Pose Error in degrees for R and t: 178.83223388898253 32.508575969352684 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.92525565e-01 1.22020526e-01 1.99861853e-03] [-1.22020163e-01 9.92527575e-01 -3.03123463e-04] [-2.02067129e-03 5.69860280e-05 9.99997957e-01]] t_estimated: [[0.40806609] [0.9129517 ] [0.00112264]] R_gt: [[ 0.99027272 -0.11705345 -0.07522512] [ 0.10979312 0.9894684 -0.0943214 ] [ 0.08547453 0.08514478 0.99269488]] t_gt: [ 0.83627656 -0.01033451 -0.54821047] Pose Error in degrees for R and t: 15.239720368594195 70.65802414618983 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 0.99577786 -0.09177492 0.00195146] [ 0.09178737 0.99574864 -0.00772834] [-0.0012339 0.00787483 0.99996823]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99032628 0.01042985 -0.13836956] [-0.02229649 0.99617487 -0.0844892 ] [ 0.13695946 0.08675703 0.98676982]] t_gt: [ 0.2468289 0.01712632 -0.96890773] Pose Error in degrees for R and t: 11.08044350482999 75.75139747663293 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99441028e-01 -3.34308839e-02 8.33778079e-05] [ 3.34308692e-02 9.99441017e-01 1.72805990e-04] [-8.91082581e-05 -1.69922004e-04 9.99999982e-01]] t_estimated: [[9.60153505e-01] [2.79472656e-01] [5.30516366e-04]] R_gt: [[ 0.98345164 -0.18111342 0.00457779] [ 0.18090353 0.98305694 0.02951807] [-0.00984562 -0.02820196 0.99955401]] t_gt: [ 0.65146626 -0.74032341 0.1658703 ] Pose Error in degrees for R and t: 8.68307734994857 65.24774637077846 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 6.80103882e-01 7.33110175e-01 2.86030753e-03] [-7.33111150e-01 6.80108262e-01 -8.90631798e-04] [-2.59825001e-03 -1.49120120e-03 9.99995513e-01]] t_estimated: [[0.07068795] [0.99749316] [0.00325613]] R_gt: [[ 0.94557982 -0.32516443 -0.0121623 ] [ 0.32534488 0.9454139 0.01847669] [ 0.0054898 -0.0214282 0.99975527]] t_gt: [ 0.74166524 -0.66798818 0.06102842] Pose Error in degrees for R and t: 66.14338950582494 52.143341341100225 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.05597782e-01 -4.24137450e-01 -2.83380946e-04] [ 4.24137527e-01 9.05597351e-01 8.92421511e-04] [-1.21880350e-04 -9.28367435e-04 9.99999562e-01]] t_estimated: [[-0.39459928] [-0.91885262] [-0.00112743]] R_gt: [[ 0.92696392 -0.37514767 0.00143894] [ 0.37493749 0.92655926 0.03014608] [-0.01264234 -0.0274048 0.99954392]] t_gt: [ 0.72163749 -0.68570501 0.09512081] Pose Error in degrees for R and t: 3.4940411094315698 69.80618040785694 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.9628818 0.26986858 0.005439 ] [-0.26981587 0.96287152 -0.00882205] [-0.00761786 0.00702707 0.99994629]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99236134 -0.11486275 0.04501389] [ 0.10627524 0.9812324 0.16090104] [-0.06265029 -0.15488833 0.9859431 ]] t_gt: [ 0.41187897 -0.58662144 0.69730266] Pose Error in degrees for R and t: 24.163708144925856 65.75756680227452 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.13044077 0.99140932 0.00963108] [-0.99143707 0.13037192 0.00746339] [ 0.00614365 -0.01052214 0.99992577]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.96836621 -0.24889075 0.0179642 ] [ 0.23752302 0.94141678 0.23941282] [-0.07649857 -0.22757206 0.97075132]] t_gt: [ 0.55757196 -0.61706034 0.55529275] Pose Error in degrees for R and t: 97.42999113662586 52.19374703816879 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 0.99972453 -0.02303358 0.00450829] [ 0.02307401 0.99969205 -0.00913223] [-0.00429655 0.00923374 0.99994814]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.94647595 -0.32033687 0.03960601] [ 0.30115297 0.92055395 0.24877138] [-0.11615054 -0.22352837 0.96775164]] t_gt: [ 0.59708186 -0.6094813 0.52156092] Pose Error in degrees for R and t: 22.716324028294775 53.44506413381962 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.99026823e-01 4.41059132e-02 2.72801135e-04] [-4.41058523e-02 9.99026838e-01 -2.25618806e-04] [-2.82486778e-04 2.13367113e-04 9.99999937e-01]] t_estimated: [[ 9.94068354e-01] [ 1.08757096e-01] [-4.17341949e-05]] R_gt: [[ 0.98510249 -0.17126282 0.01554071] [ 0.17096434 0.98509586 0.01888516] [-0.01854322 -0.01594673 0.9997003 ]] t_gt: [ 0.61298292 -0.76793647 0.18581045] Pose Error in degrees for R and t: 12.460651769529257 58.2764963909085 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[-0.89224396 0.45145635 0.00937491] [-0.45152365 -0.89223174 -0.0069935 ] [ 0.00520733 -0.0104729 0.9999316 ]] t_estimated: [[0.65721449] [0.75370305] [0.00091027]] R_gt: [[ 0.95192999 -0.30618444 -0.0089975 ] [ 0.30628899 0.9510394 0.0413535 ] [-0.004104 -0.04212164 0.99910383]] t_gt: [ 0.68946764 -0.70446629 0.16840907] Pose Error in degrees for R and t: 170.99424548546844 85.54494980083768 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-9.43329855e-02 9.95530708e-01 4.46055060e-03] [ 9.95540455e-01 9.43351670e-02 -2.80743836e-04] [-7.00275895e-04 4.41417517e-03 -9.99990012e-01]] t_estimated: [[-0.20734991] [-0.97826626] [-0.00106333]] R_gt: [[ 0.93353705 -0.35768022 -0.02394188] [ 0.3570561 0.92180446 0.15095278] [-0.03192251 -0.14946885 0.98825016]] t_gt: [ 0.58813961 -0.70368309 0.39865012] Pose Error in degrees for R and t: 174.48719290033202 55.52720758886781 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99999982e-01 -1.66078878e-04 9.35678967e-05] [ 1.66087137e-04 9.99999982e-01 -8.82645222e-05] [-9.35532362e-05 8.82800610e-05 9.99999992e-01]] t_estimated: [[ 0.00692902] [-0.99997541] [-0.00108051]] R_gt: [[ 0.98754212 -0.14543219 -0.06008709] [ 0.14260054 0.98856548 -0.04902059] [ 0.06652881 0.03984176 0.99698869]] t_gt: [ 0.62373432 -0.62552353 -0.46869586] Pose Error in degrees for R and t: 9.400744533155766 50.925050646792435 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99999881e-01 -9.03463300e-05 4.78397704e-04] [ 9.06898626e-05 9.99999738e-01 -7.18117040e-04] [-4.78332699e-04 7.18160340e-04 9.99999628e-01]] t_estimated: [[-0.73780502] [-0.67501103] [-0.00196619]] R_gt: [[ 0.95466102 -0.29664415 -0.02498764] [ 0.29640387 0.95497608 -0.01289734] [ 0.02768844 0.00490641 0.99960465]] t_gt: [ 0.67205412 -0.73727313 -0.06907667] Pose Error in degrees for R and t: 17.323039552742287 89.88779110350755 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.99999581 0.00178004 -0.00228485] [-0.00177477 0.99999576 0.00230708] [ 0.00228895 -0.00230301 0.99999473]] t_estimated: [[-4.25971780e-01] [-9.04736437e-01] [-1.47930516e-04]] R_gt: [[ 0.90021193 -0.41256444 -0.13931574] [ 0.4229657 0.90450578 0.05449533] [ 0.10352973 -0.1079829 0.98874711]] t_gt: [ 0.70954463 -0.70416654 0.02638004] Pose Error in degrees for R and t: 26.304926896163547 70.43748083802828 Number of keypoints: Image1: 368 Image2: 368 R_estimated: [[ 9.99896500e-01 1.43870092e-02 -5.35091248e-05] [-1.43870112e-02 9.99896501e-01 -3.73141188e-05] [ 5.29667481e-05 3.80800932e-05 9.99999998e-01]] t_estimated: [[ 0.60014298] [ 0.79988884] [-0.00250027]] R_gt: [[ 0.9999433 -0.00320962 0.01017645] [ 0.00303509 0.99984883 0.01715086] [-0.01023019 -0.01712 0.99980073]] t_gt: [-0.53717359 -0.54695591 0.64209327] Pose Error in degrees for R and t: 1.52278853675126 40.404244377989684 Number of keypoints: Image1: 404 Image2: 404 R_estimated: [[ 0.95571365 -0.29415936 0.0090381 ] [-0.29422119 -0.95431054 0.05220425] [-0.00673121 -0.05255152 -0.99859553]] t_estimated: [[0.1827272 ] [0.98280761] [0.02645681]] R_gt: [[ 0.99935931 0.01075029 0.03412593] [-0.01205253 0.99919732 0.03821183] [-0.03368855 -0.03859837 0.99868636]] t_gt: [-0.66051671 -0.2302217 0.71464371] Pose Error in degrees for R and t: 174.49770006674578 70.84948940948235 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.86805258 -0.49638073 -0.00953324] [ 0.49644866 0.86803851 0.00691849] [ 0.00484102 -0.01073837 0.99993062]] t_estimated: [[-0.44980071] [-0.89312309] [-0.00323597]] R_gt: [[ 0.99446914 0.08651465 0.05954652] [-0.0855835 0.99616871 -0.01801634] [-0.06087761 0.01281982 0.99806263]] t_gt: [-0.87975513 0.3417034 0.33055968] Pose Error in degrees for R and t: 34.94517683698796 84.86736574445959 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.97287059e-01 7.36104284e-02 1.62280464e-04] [-7.36104263e-02 9.97287072e-01 -1.91765525e-05] [-1.63251803e-04 7.17899351e-06 9.99999987e-01]] t_estimated: [[0.7554188 ] [0.65524148] [0.00102222]] R_gt: [[ 0.99901857 -0.02975967 -0.03281452] [ 0.02888915 0.99922618 -0.0267122 ] [ 0.03358449 0.02573866 0.99910464]] t_gt: [ 7.99489819e-01 3.66149214e-04 -6.00679528e-01] Pose Error in degrees for R and t: 6.383231751781771 52.87359232626231 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99998153e-01 3.02686195e-04 1.89795668e-03] [-3.00136780e-04 9.99999053e-01 -1.34338277e-03] [-1.89836151e-03 1.34281064e-03 9.99997297e-01]] t_estimated: [[0.88235135] [0.47058739] [0.00189753]] R_gt: [[ 0.99935265 0.00670259 -0.03535423] [-0.00800974 0.99928453 -0.03696295] [ 0.03508167 0.03722252 0.99869052]] t_gt: [ 0.70863973 0.35263247 -0.61113016] Pose Error in degrees for R and t: 2.9816003078241367 37.80944365233584 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-6.53786909e-01 -7.56678651e-01 -3.10670758e-04] [-7.56671980e-01 6.53779303e-01 4.48763095e-03] [-3.19258442e-03 3.16903023e-03 -9.99989882e-01]] t_estimated: [[0.92415369] [0.38201403] [0.00228751]] R_gt: [[ 0.99694057 0.07687744 0.01416054] [-0.07530177 0.9930917 -0.08999772] [-0.0209821 0.08865673 0.99584138]] t_gt: [ 0.21881598 0.85868926 -0.46343534] Pose Error in degrees for R and t: 178.86602060888654 58.049201651270835 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.99819788e-01 -1.89840026e-02 -1.26548659e-05] [ 1.89840063e-02 9.99819697e-01 4.26475564e-04] [ 4.55637097e-06 -4.26638947e-04 9.99999909e-01]] t_estimated: [[5.81064230e-01] [8.13857698e-01] [8.86961990e-05]] R_gt: [[ 0.99914656 -0.01393519 0.03887875] [ 0.01260079 0.99933137 0.03433662] [-0.03933135 -0.03381664 0.99865322]] t_gt: [-0.28767125 -0.40917341 0.86592285] Pose Error in degrees for R and t: 2.975866334093799 59.994204557834124 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.96486620e-01 8.37491573e-02 7.02845235e-04] [-8.37492769e-02 9.96486848e-01 1.42470227e-04] [-6.88444271e-04 -2.00832455e-04 9.99999743e-01]] t_estimated: [[0.10178843] [0.99480384] [0.00210783]] R_gt: [[ 0.99845261 0.02496336 0.04968793] [-0.02559871 0.99959845 0.01218005] [-0.04936416 -0.01343302 0.99868983]] t_gt: [-0.77662172 -0.0201471 0.62964498] Pose Error in degrees for R and t: 4.428540063552325 84.38943947195273 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.55098985e-01 -2.96283510e-01 -1.41762455e-03] [ 2.96285776e-01 9.55097614e-01 1.81299907e-03] [ 8.16808098e-04 -2.15161556e-03 9.99997352e-01]] t_estimated: [[0.09116748] [0.9958294 ] [0.00350644]] R_gt: [[ 0.9857542 0.15456377 0.06632377] [-0.15106605 0.98699836 -0.05489585] [-0.07394559 0.04409479 0.99628628]] t_gt: [-0.80695936 0.56079695 0.1852657 ] Pose Error in degrees for R and t: 26.520198346634672 60.9521906896867 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 3.02921593e-01 9.53015126e-01 8.22851761e-04] [-9.53014197e-01 3.02922490e-01 -1.38021142e-03] [-1.56462267e-03 -3.66093568e-04 9.99998709e-01]] t_estimated: [[-0.17381087] [ 0.9847785 ] [ 0.00104796]] R_gt: [[ 0.99680164 0.07008743 -0.03839974] [-0.06815243 0.99644196 0.04958493] [ 0.04173899 -0.04680957 0.99803049]] t_gt: [-0.19678145 0.96959938 0.1454445 ] Pose Error in degrees for R and t: 68.48704968824875 8.42996741235262 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.97482556 -0.21778902 0.0477816 ] [ 0.21967398 0.97481279 -0.03851458] [-0.03819006 0.04804137 0.998115 ]] t_estimated: [[-0.11980261] [-0.9926502 ] [-0.01711466]] R_gt: [[ 0.99713063 0.05003279 -0.05681509] [-0.04696401 0.99742798 0.05413276] [ 0.05937779 -0.0513094 0.99691558]] t_gt: [ 0.49084835 0.87102038 -0.01978379] Pose Error in degrees for R and t: 17.38618890967204 22.618680090480414 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.68541188e-01 -2.48853186e-01 2.40902586e-04] [ 2.48852883e-01 9.68540880e-01 8.98078830e-04] [-4.56813781e-04 -8.09877034e-04 9.99999568e-01]] t_estimated: [[0.49070388] [0.8713259 ] [0.0009329 ]] R_gt: [[ 0.99136569 0.09006722 -0.09530255] [-0.08711735 0.99559431 0.03467341] [ 0.09800561 -0.02607176 0.99484361]] t_gt: [ 0.43280206 0.814671 -0.38599683] Pose Error in degrees for R and t: 20.348727749930223 22.800244921676565 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[-0.35909589 -0.69003334 0.62841398] [-0.64198021 -0.30610347 -0.70296663] [ 0.67743011 -0.65586177 -0.33306725]] t_estimated: [[0.74593353] [0.66601208] [0.00333006]] R_gt: [[ 0.9910287 -0.13180954 0.02212403] [ 0.13124449 0.9910267 0.02531041] [-0.02526052 -0.02218066 0.99943463]] t_gt: [ 0.45750693 -0.84414281 0.27948224] Pose Error in degrees for R and t: 174.8312887838312 77.2904471134846 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.9999918 -0.00105902 0.00390772] [ 0.00108422 0.99997859 -0.00645397] [-0.0039008 0.00645816 0.99997154]] t_estimated: [[-0.77135599] [-0.63638582] [-0.00479786]] R_gt: [[ 0.95725987 -0.265771 -0.11410221] [ 0.28075231 0.94865322 0.14572686] [ 0.06951513 -0.17153369 0.98272264]] t_gt: [ 0.57644808 -0.77358577 0.26319702] Pose Error in degrees for R and t: 19.40389838266469 87.34112037005224 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99990066 -0.00772579 0.01178878] [ 0.00781319 0.9999422 -0.00738576] [-0.01173104 0.00747713 0.99990323]] t_estimated: [[0.64860761] [0.76112117] [0.00165461]] R_gt: [[ 0.89719826 -0.40088619 -0.18527191] [ 0.42913206 0.89047334 0.15133962] [ 0.10431085 -0.21528828 0.97096373]] t_gt: [ 0.66492723 -0.7171466 0.20874034] Pose Error in degrees for R and t: 28.435011607479378 83.44175346925226 Number of keypoints: Image1: 376 Image2: 376 R_estimated: [[-9.50150086e-01 3.11791727e-01 8.56062861e-04] [-3.11792776e-01 -9.50143647e-01 -3.50924702e-03] [-2.80771499e-04 -3.60122557e-03 9.99993476e-01]] t_estimated: [[7.79279006e-01] [6.26676656e-01] [7.74631219e-04]] R_gt: [[ 0.99472195 -0.0987009 -0.02806562] [ 0.10029458 0.99299027 0.06253816] [ 0.02169643 -0.06502261 0.99764741]] t_gt: [ 0.6276803 -0.69288697 0.35485925] Pose Error in degrees for R and t: 167.55920903548326 86.8358438174042 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[ 9.99998401e-01 -3.79539246e-04 1.74772878e-03] [ 3.83005121e-04 9.99997960e-01 -1.98316647e-03] [-1.74697253e-03 1.98383269e-03 9.99996506e-01]] t_estimated: [[0.8036654 ] [0.59508087] [0.00082451]] R_gt: [[ 0.96801391 -0.24834187 -0.03572114] [ 0.25057973 0.96410301 0.0878368 ] [ 0.01262438 -0.09397822 0.99549342]] t_gt: [ 0.66846679 -0.68996787 0.27766255] Pose Error in degrees for R and t: 15.490611510389417 82.71147920950708 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.99561337 0.09351607 0.0029602 ] [-0.09350123 0.99560756 -0.00480607] [-0.00339664 0.0045082 0.99998407]] t_estimated: [[7.88205528e-01] [6.15411736e-01] [6.64591507e-04]] R_gt: [[ 0.92410127 -0.37595324 -0.06853296] [ 0.38087258 0.9207294 0.08482534] [ 0.03120976 -0.10448906 0.99403609]] t_gt: [ 0.7369263 -0.64543663 0.20087606] Pose Error in degrees for R and t: 28.43019125485668 79.4103606865894 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.01554933 0.99987835 0.00122673] [-0.99987753 -0.01554712 -0.00179349] [-0.0017742 -0.00125446 0.99999764]] t_estimated: [[-0.1168851 ] [ 0.99314408] [ 0.00164716]] R_gt: [[ 0.99066873 -0.13616527 0.00590308] [ 0.13452842 0.98387193 0.11789796] [-0.02186164 -0.11600349 0.99300795]] t_gt: [ 0.54936194 -0.7006379 0.45531087] Pose Error in degrees for R and t: 98.86969292422626 40.59776932963818 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 1.02798379e-01 -9.94702155e-01 -3.39867899e-04] [-9.94701950e-01 -1.02798097e-01 -7.62253393e-04] [ 7.23277320e-04 4.16425675e-04 -9.99999652e-01]] t_estimated: [[8.01565995e-01] [5.97905986e-01] [6.22817711e-04]] R_gt: [[ 0.96509497 -0.2605306 0.02675048] [ 0.25484159 0.95772624 0.13348279] [-0.06039619 -0.12200585 0.99069034]] t_gt: [ 0.62497836 -0.68641374 0.37180402] Pose Error in degrees for R and t: 172.85719475594485 84.79139867655792 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 8.24149816e-01 -5.66371649e-01 -4.85615123e-04] [ 5.66359218e-01 8.24136850e-01 -5.97401884e-03] [ 3.78372822e-03 4.64845393e-03 9.99982037e-01]] t_estimated: [[-0.06701134] [-0.99772443] [-0.0074457 ]] R_gt: [[ 0.95664544 -0.28974681 0.02962363] [ 0.2835004 0.94965787 0.13333417] [-0.06676545 -0.119154 0.99062807]] t_gt: [ 0.63582349 -0.68859279 0.3486667 ] Pose Error in degrees for R and t: 19.547615523548174 50.07215461793367 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.99552480e-01 2.99138557e-02 -1.46056662e-05] [-2.99138543e-02 9.99552477e-01 8.63629276e-05] [ 1.71825780e-05 -8.58873667e-05 9.99999996e-01]] t_estimated: [[-0.31457854] [-0.94923045] [-0.00137371]] R_gt: [[ 0.99806977 -0.05301443 0.03234144] [ 0.05184241 0.998005 0.03603033] [-0.03418741 -0.03428398 0.99882668]] t_gt: [ 0.70866363 -0.24807407 0.66049611] Pose Error in degrees for R and t: 5.474808463818345 89.33296107802754 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.99225146 -0.12422466 -0.00229658] [ 0.12422832 0.99225248 0.00152664] [ 0.00208914 -0.00180011 0.9999962 ]] t_estimated: [[-0.28490715] [-0.95855428] [-0.00126625]] R_gt: [[ 0.99027159 -0.13760218 -0.02071268] [ 0.13716638 0.99032281 -0.0211392 ] [ 0.02342111 0.01809231 0.99956207]] t_gt: [ 0.98668668 -0.11811441 -0.11179613] Pose Error in degrees for R and t: 1.8369781860033076 80.34277392335945 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.83726671 0.54678934 0.0024232 ] [-0.54678827 0.83722709 0.00856644] [ 0.00265527 -0.00849737 0.99996037]] t_estimated: [[0.6226398 ] [0.78250677] [0.00168281]] R_gt: [[ 0.99235251 -0.10577904 -0.06361777] [ 0.09983607 0.99090046 -0.09027624] [ 0.07258824 0.08323444 0.99388289]] t_gt: [ 0.82544143 -0.03364892 -0.56348398] Pose Error in degrees for R and t: 39.62608806831904 60.877797152236916 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-3.97273560e-01 -9.17699816e-01 8.75438575e-04] [-9.17698537e-01 3.97270810e-01 -2.30170322e-03] [ 1.76448643e-03 -1.71779453e-03 -9.99996968e-01]] t_estimated: [[8.60346309e-01] [5.09709497e-01] [6.76905042e-04]] R_gt: [[ 0.99920975 0.00254691 0.03968682] [-0.00453356 0.99873735 0.05002791] [-0.03950819 -0.05016758 0.99795886]] t_gt: [-0.11855381 0.00914141 0.99290555] Pose Error in degrees for R and t: 176.555554346535 84.45279755893384 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99999990e-01 -4.47040607e-05 1.36477746e-04] [ 4.47040471e-05 9.99999999e-01 1.02495122e-07] [-1.36477751e-04 -9.63940131e-08 9.99999991e-01]] t_estimated: [[-0.710825 ] [-0.70336842] [-0.000825 ]] R_gt: [[ 0.99938235 -0.00945616 0.03385299] [ 0.00804032 0.99909842 0.04168875] [-0.03421516 -0.04139076 0.99855693]] t_gt: [0.04980118 0.16334402 0.98531141] Pose Error in degrees for R and t: 3.1135235097177434 81.30909948252825 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99998971e-01 -2.50804756e-04 1.41220774e-03] [ 2.52669849e-04 9.99999096e-01 -1.32066985e-03] [-1.41187523e-03 1.32102532e-03 9.99998131e-01]] t_estimated: [[-0.79658094] [-0.60453114] [-0.00094606]] R_gt: [[ 0.99664036 0.07115065 0.04058347] [-0.07365114 0.99523795 0.06384821] [-0.03584646 -0.06662257 0.99713415]] t_gt: [-0.48984562 0.65270286 0.5779535 ] Pose Error in degrees for R and t: 6.03715441726585 89.71785726232413 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99263990e-01 3.83594866e-02 1.66142746e-04] [-3.83594943e-02 9.99264003e-01 4.31903521e-05] [-1.64363706e-04 -4.95317153e-05 9.99999985e-01]] t_estimated: [[0.82301208] [0.56802235] [0.00131658]] R_gt: [[ 0.99498238 -0.09995656 -0.00439171] [ 0.09993624 0.99498193 -0.00463531] [ 0.00483329 0.00417378 0.99997936]] t_gt: [ 0.6172927 -0.78567128 -0.04087004] Pose Error in degrees for R and t: 7.943569271359248 86.4622190446696 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.96979770e-01 7.76611785e-02 2.83035345e-04] [-7.76611784e-02 9.96979810e-01 -1.13574693e-05] [-2.83062559e-04 -1.06576913e-05 9.99999960e-01]] t_estimated: [[0.57497673] [0.8181693 ] [0.00086854]] R_gt: [[ 0.98134322 -0.1898968 0.03008504] [ 0.18938703 0.98171799 0.01902315] [-0.03314698 -0.01297094 0.99936632]] t_gt: [ 0.58314527 -0.79446314 0.16961696] Pose Error in degrees for R and t: 15.521434331761021 71.66556118797767 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.98783049e-01 -4.93176521e-02 4.35289770e-04] [ 4.93176484e-02 9.98783144e-01 1.92355578e-05] [-4.35708738e-04 2.25531876e-06 9.99999905e-01]] t_estimated: [[7.70406036e-01] [6.37553171e-01] [7.02925216e-04]] R_gt: [[ 0.95492484 -0.29629205 0.018164 ] [ 0.29507788 0.95412255 0.05078599] [-0.03237756 -0.04313728 0.99854395]] t_gt: [ 0.66348652 -0.72534266 0.18347662] Pose Error in degrees for R and t: 14.708974308778906 87.20064763839281 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 9.98281336e-01 5.85959135e-02 9.45535444e-04] [ 5.86034661e-02 -9.98124164e-01 -1.77140286e-02] [-9.42079132e-05 1.77389958e-02 -9.99842647e-01]] t_estimated: [[-0.01084807] [ 0.99990524] [-0.00847552]] R_gt: [[ 0.99978193 -0.01411518 0.01537148] [ 0.01537316 0.99625718 -0.08505683] [-0.01411331 0.08527535 0.99625659]] t_gt: [ 0.27318956 0.14429893 -0.95107586] Pose Error in degrees for R and t: 174.07491944310792 81.40885470567086 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 0.19947622 0.97928645 0.03474603] [ 0.9791757 -0.19783729 -0.04555606] [-0.03773837 0.04310982 -0.99835733]] t_estimated: [[-0.62235207] [ 0.78225024] [-0.02761273]] R_gt: [[ 9.99099335e-01 4.24399354e-02 -4.95211567e-04] [-4.20915403e-02 9.89270842e-01 -1.39896794e-01] [-5.44662985e-03 1.39792205e-01 9.90165350e-01]] t_gt: [-0.03181509 0.40128714 -0.9153996 ] Pose Error in degrees for R and t: 170.40534697298656 68.9621970429447 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.92198334e-01 1.24669412e-01 6.68503304e-05] [-1.24669398e-01 9.92198322e-01 -1.77477761e-04] [-8.84548337e-05 1.67758948e-04 9.99999982e-01]] t_estimated: [[-7.86394135e-01] [-6.17724641e-01] [-7.30170970e-04]] R_gt: [[ 0.98410028 0.17442762 -0.03349925] [-0.17754347 0.97141288 -0.15759011] [ 0.00505387 0.16103195 0.98693583]] t_gt: [-0.34429142 0.70157444 -0.62390441] Pose Error in degrees for R and t: 9.747815683072453 80.66680687371536 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99155816e-01 4.10725979e-02 8.35372150e-04] [-4.10721820e-02 9.99156052e-01 -5.09144312e-04] [-8.55579019e-04 4.74403943e-04 9.99999521e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.67921223e-01 -2.51208705e-01 -4.80522048e-03] [ 2.51254003e-01 9.67761543e-01 1.75866159e-02] [ 2.31600030e-04 -1.82306782e-02 9.99834033e-01]] t_gt: [ 0.87079364 -0.48877136 0.05311295] Pose Error in degrees for R and t: 16.939753105785517 29.620887183177697 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99491183e-01 -3.18865774e-02 7.88601014e-04] [ 3.18868347e-02 9.99491436e-01 -3.15826500e-04] [-7.78129333e-04 3.40811792e-04 9.99999639e-01]] t_estimated: [[9.59377148e-01] [2.82125729e-01] [7.48344110e-04]] R_gt: [[ 0.9248931 -0.3797908 0.01824941] [ 0.37982286 0.92505775 0.00181247] [-0.01757058 0.00525326 0.99983204]] t_gt: [ 0.89790828 -0.44007492 0.00973607] Pose Error in degrees for R and t: 20.52060712898984 42.4994763152586 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 4.57896813e-01 8.88998358e-01 3.52542787e-03] [ 8.89005338e-01 -4.57892635e-01 -1.96042767e-03] [-1.28549520e-04 4.03179778e-03 -9.99991864e-01]] t_estimated: [[8.18634951e-01] [5.74313667e-01] [7.93250921e-04]] R_gt: [[ 6.90974011e-01 -7.22879830e-01 5.78231319e-04] [ 7.22877741e-01 6.90968797e-01 -2.90889320e-03] [ 1.70317115e-03 2.42741390e-03 9.99995533e-01]] t_gt: [ 0.9689396 -0.24718847 -0.00734294] Pose Error in degrees for R and t: 179.64506241923962 49.36497185108933 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.87773960e-01 1.55892405e-01 4.03688230e-04] [-1.55892377e-01 9.87774041e-01 -9.94719856e-05] [-4.14259682e-04 3.53239192e-05 9.99999914e-01]] t_estimated: [[0.27567823] [0.96124796] [0.00196761]] R_gt: [[ 0.99598026 -0.08951153 -0.00319923] [ 0.08941113 0.99571299 -0.02369727] [ 0.00530671 0.02331646 0.99971372]] t_gt: [ 0.54126284 -0.81540152 -0.20531658] Pose Error in degrees for R and t: 14.168112234183495 50.58056068452501 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 8.43548636e-01 -5.37052149e-01 -8.29238555e-04] [ 5.37052450e-01 8.43548833e-01 1.79842420e-04] [ 6.02918457e-04 -5.97050426e-04 9.99999640e-01]] t_estimated: [[ 9.98899644e-01] [-4.68978386e-02] [ 3.06881937e-04]] R_gt: [[ 0.97515871 -0.22055961 -0.0204838 ] [ 0.22023698 0.9753013 -0.01683937] [ 0.0236918 0.01191022 0.99964794]] t_gt: [ 0.64560705 -0.75768044 -0.09545622] Pose Error in degrees for R and t: 19.804560908463404 47.12501867340371 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.77391609 0.63318284 0.01154933] [ 0.63317628 0.77399346 -0.00468145] [-0.01190332 0.00368971 -0.99992235]] t_estimated: [[ 0.93453245] [-0.35579869] [ 0.00751001]] R_gt: [[ 9.16312374e-01 -3.99898877e-01 -2.12973268e-02] [ 3.99977179e-01 9.16524573e-01 -6.16804029e-04] [ 1.97660964e-02 -7.95285084e-03 9.99772908e-01]] t_gt: [ 0.75009901 -0.66129689 -0.00615581] Pose Error in degrees for R and t: 179.49035529036885 20.571538121116728 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.90823144e-01 -1.35164671e-01 -9.28474296e-05] [ 1.35164702e-01 9.90823003e-01 5.28408433e-04] [ 2.05732169e-05 -5.36109000e-04 9.99999856e-01]] t_estimated: [[-0.64785009] [-0.76176736] [-0.0008696 ]] R_gt: [[ 0.99261214 -0.11812207 0.02771715] [ 0.11875996 0.99266515 -0.02262064] [-0.02484221 0.02574571 0.99935986]] t_gt: [ 0.68219328 -0.72894778 0.05698652] Pose Error in degrees for R and t: 2.2866018930635583 83.49556718251876 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.69534709e-01 2.44953746e-01 3.31434267e-04] [-2.44953710e-01 9.69534764e-01 -1.47062065e-04] [-3.57360447e-04 6.13957228e-05 9.99999934e-01]] t_estimated: [[0.63845641] [0.76965753] [0.00083568]] R_gt: [[ 0.96754014 -0.25218946 0.01634362] [ 0.25267907 0.96650129 -0.04504993] [-0.00443505 0.04771708 0.99885056]] t_gt: [ 0.7623127 -0.64314696 -0.07239709] Pose Error in degrees for R and t: 28.93620286457839 89.52100338743776 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.99987424 0.01509883 -0.00485073] [ 0.01514728 0.99983416 -0.01011012] [ 0.00469727 -0.01018232 -0.99993713]] t_estimated: [[0.94744368] [0.31991605] [0.00205074]] R_gt: [[ 0.92749164 -0.3686816 0.06191769] [ 0.3712061 0.92786884 -0.03557578] [-0.04433568 0.05597978 0.99744683]] t_gt: [ 0.79117959 -0.61142714 0.01384567] Pose Error in degrees for R and t: 177.25610197206305 56.35668037087869 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-2.20582517e-01 -9.75353526e-01 5.37149015e-03] [-9.75368013e-01 2.20583451e-01 -4.25280069e-04] [-7.70063422e-04 -5.33298902e-03 -9.99985483e-01]] t_estimated: [[0.76133924] [0.64834801] [0.00272236]] R_gt: [[ 0.99688391 0.01205062 -0.07795737] [-0.01096184 0.99983697 0.01436941] [ 0.07811895 -0.01346965 0.99685326]] t_gt: [ 0.51957551 0.25847777 -0.81438967] Pose Error in degrees for R and t: 177.2289815822238 55.87918992548049 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.21351223 -0.97687201 -0.01155843] [-0.97693179 0.21344577 0.00672124] [-0.00409869 0.01272686 -0.99991061]] t_estimated: [[ 0.68869225] [ 0.7250528 ] [-0.00119165]] R_gt: [[ 9.90988973e-01 1.67647429e-02 -1.32891625e-01] [-1.66515046e-02 9.99859458e-01 1.96257714e-03] [ 1.32906534e-01 2.68957908e-04 9.91128156e-01]] t_gt: [ 0.5599394 0.25236957 -0.78916251] Pose Error in degrees for R and t: 173.80314687507177 55.28131602281526 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 0.87908153 -0.47665776 -0.00361259] [ 0.47666779 0.87907923 0.00274457] [ 0.00186753 -0.00413471 0.99998971]] t_estimated: [[0.81301263] [0.58224485] [0.00118342]] R_gt: [[ 0.98233329 0.0152052 -0.18652093] [-0.01377802 0.99986572 0.0089465 ] [ 0.18663192 -0.00621837 0.98240975]] t_gt: [ 0.63192441 0.20617492 -0.74710337] Pose Error in degrees for R and t: 31.120230945718564 50.73391732166889 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99883766e-01 -1.52375434e-02 -5.22196713e-04] [ 1.52377519e-02 9.99883820e-01 3.97625155e-04] [ 5.16077214e-04 -4.05536041e-04 9.99999785e-01]] t_estimated: [[-0.4697835 ] [-0.88277998] [-0.00172082]] R_gt: [[ 0.98940617 0.14387705 -0.01935389] [-0.14475696 0.98784569 -0.05662129] [ 0.0109723 0.05882378 0.99820845]] t_gt: [-0.32879511 0.90783615 -0.26024468] Pose Error in degrees for R and t: 9.802385350551859 49.72107283634391 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.63665166e-01 2.67113169e-01 -5.80650498e-05] [-2.67113175e-01 9.63665151e-01 -1.66387680e-04] [ 1.15109246e-05 1.75851951e-04 9.99999984e-01]] t_estimated: [[-9.99983503e-01] [-5.68633998e-03] [-8.12334283e-04]] R_gt: [[ 0.97431656 0.22496639 -0.00987415] [-0.22514115 0.97236111 -0.06184726] [-0.00431187 0.06248248 0.9980371 ]] t_gt: [-0.34080639 0.93297748 -0.11577577] Pose Error in degrees for R and t: 4.351760147485463 70.39160534697713 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-5.40720797e-01 -8.41200820e-01 -1.48352954e-03] [-8.41202127e-01 5.40720014e-01 9.20406226e-04] [ 2.79276434e-05 1.74563100e-03 -9.99998476e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.97146119 0.23483396 0.03342007] [-0.23657266 0.96946214 0.06462111] [-0.01722408 -0.07068197 0.99735031]] t_gt: [-0.38208205 0.89046712 0.24714694] Pose Error in degrees for R and t: 176.90434419096482 80.50296440749842 Number of keypoints: Image1: 371 Image2: 371 R_estimated: [[ 9.89325737e-01 -1.45720914e-01 -3.25944932e-05] [ 1.45720918e-01 9.89325725e-01 1.53896841e-04] [ 9.82058221e-06 -1.57003805e-04 9.99999988e-01]] t_estimated: [[0.97544788] [0.22022777] [0.00107428]] R_gt: [[ 0.99858779 -0.04467418 0.02874525] [ 0.04573215 0.99825925 -0.03724877] [-0.02703064 0.0385103 0.99889268]] t_gt: [ 0.76129193 0.52401491 -0.38189394] Pose Error in degrees for R and t: 6.387110930433528 30.952613191697175 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[-0.13163097 -0.99121652 0.0127706 ] [-0.99121948 0.13177248 0.01095278] [-0.01253939 -0.01121674 -0.99985846]] t_estimated: [[0.73587822] [0.67705431] [0.008984 ]] R_gt: [[ 0.99001297 -0.12200734 0.07062832] [ 0.12396032 0.99199905 -0.02393126] [-0.06714329 0.03244749 0.99721599]] t_gt: [ 0.94830795 -0.09114586 0.30398103] Pose Error in degrees for R and t: 177.12999237058747 50.293177286620555 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 8.66416831e-01 -4.99320592e-01 -9.05626490e-04] [ 4.99321350e-01 8.66416215e-01 1.06426919e-03] [ 2.53237953e-04 -1.37429938e-03 9.99999024e-01]] t_estimated: [[0.89878873] [0.43838012] [0.00130059]] R_gt: [[ 0.97965444 -0.16821727 0.10945219] [ 0.17189742 0.98479674 -0.02503561] [-0.10357728 0.04334082 0.99367648]] t_gt: [0.9138215 0.00965917 0.4060012 ] Pose Error in degrees for R and t: 21.14640615001432 34.30034568141077 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99989621e-01 -4.55367193e-03 -1.48909943e-04] [ 4.55365641e-03 9.99989627e-01 -1.04392345e-04] [ 1.49383767e-04 1.03713177e-04 9.99999983e-01]] t_estimated: [[-0.8181752 ] [-0.57496764] [-0.00124722]] R_gt: [[ 0.99163002 0.12909396 -0.00229054] [-0.12902901 0.99017293 -0.05393491] [-0.0046947 0.05377924 0.99854123]] t_gt: [-0.38860996 0.90529132 -0.17155151] Pose Error in degrees for R and t: 8.278648481444625 78.32569024224351 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 4.86831375e-01 8.73492928e-01 2.30585204e-03] [ 8.73493857e-01 -4.86834309e-01 9.15453366e-04] [ 1.92220993e-03 1.56847617e-03 -9.99996922e-01]] t_estimated: [[0.71875276] [0.69526534] [0.00075739]] R_gt: [[ 0.98639009 0.16143517 0.03118215] [-0.16215365 0.98651916 0.02205064] [-0.02720215 -0.02680609 0.99927002]] t_gt: [-0.4278942 0.86706604 0.25515297] Pose Error in degrees for R and t: 179.64988318380182 72.81343262433921 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 9.76098075e-01 -2.17330210e-01 -3.57519137e-04] [ 2.17330364e-01 9.76097992e-01 4.72281305e-04] [ 2.46332717e-04 -5.38692637e-04 9.99999825e-01]] t_estimated: [[0.16534963] [0.98623432] [0.00117269]] R_gt: [[ 0.98411954 0.15048158 0.09414592] [-0.16329241 0.97544884 0.14776505] [-0.06959892 -0.1607924 0.98453133]] t_gt: [-0.34912333 0.6164494 0.70576415] Pose Error in degrees for R and t: 23.852784791436555 56.559976166011715 Number of keypoints: Image1: 297 Image2: 297 R_estimated: [[ 9.99999927e-01 -3.78895620e-04 4.90240614e-05] [ 3.78894683e-04 9.99999928e-01 1.91207160e-05] [-4.90313026e-05 -1.91021396e-05 9.99999999e-01]] t_estimated: [[0.63113943] [0.77566886] [0.0009166 ]] R_gt: [[ 0.99472158 -0.09721221 0.03284349] [ 0.09694476 0.99524314 0.00964491] [-0.03362495 -0.00641101 0.99941386]] t_gt: [ 0.91192477 -0.25498313 0.32152265] Pose Error in degrees for R and t: 5.886068337081961 67.78619147638044 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.99999772e-01 -6.71870958e-04 -6.01662584e-05] [ 6.71879226e-04 9.99999765e-01 1.37513705e-04] [ 6.00738528e-05 -1.37554098e-04 9.99999989e-01]] t_estimated: [[-0.99994482] [-0.01045514] [-0.00102307]] R_gt: [[ 0.99007124 -0.11270897 0.08399823] [ 0.11395454 0.99343379 -0.01017672] [-0.08229962 0.01964785 0.99641356]] t_gt: [0.88306622 0.00704991 0.46919544] Pose Error in degrees for R and t: 8.098171538745559 27.923795865540097 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.77309557e-01 -2.11812998e-01 -1.13301268e-03] [ 2.11814034e-01 9.77309585e-01 8.88751279e-04] [ 9.19055075e-04 -1.10857310e-03 9.99998963e-01]] t_estimated: [[0.72728127] [0.68633913] [0.0007444 ]] R_gt: [[ 0.98586442 -0.07546752 0.14958906] [ 0.08300572 0.99554133 -0.04479914] [-0.14554037 0.05658264 0.98773186]] t_gt: [0.58250348 0.42116999 0.6952018 ] Pose Error in degrees for R and t: 11.855368322973213 44.50193124275075 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 8.59960948e-01 5.10358871e-01 9.95559385e-04] [-5.10357232e-01 8.59961153e-01 -1.52054222e-03] [-1.63216461e-03 7.99515995e-04 9.99998348e-01]] t_estimated: [[0.75815394] [0.65207479] [0.00103999]] R_gt: [[ 0.99673971 0.01469613 -0.07934258] [-0.01146321 0.9990913 0.04104852] [ 0.079874 -0.04000434 0.99600187]] t_gt: [ 0.48704602 -0.87325479 -0.0145691 ] Pose Error in degrees for R and t: 30.379800283114392 78.45212165886451 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-9.97147573e-01 7.54175268e-02 -2.98559106e-03] [-7.54157414e-02 -9.97151928e-01 -7.06319455e-04] [-3.03035675e-03 -4.79144168e-04 9.99995294e-01]] t_estimated: [[0.7690037 ] [0.63924286] [0.0013659 ]] R_gt: [[ 0.98535497 0.11245664 -0.12817714] [-0.09251925 0.98402426 0.15210694] [ 0.14323493 -0.13801961 0.98001756]] t_gt: [-0.33676668 -0.03636019 0.94088583] Pose Error in degrees for R and t: 169.7993385459148 73.6841235858069 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 5.52423621e-01 -8.33558465e-01 2.90327058e-03] [-8.33561817e-01 -5.52426183e-01 -9.75108479e-05] [ 1.68512368e-03 -2.36618821e-03 -9.99995781e-01]] t_estimated: [[0.33725296] [0.9414131 ] [0.00134925]] R_gt: [[ 0.97750445 0.13336125 -0.163403 ] [-0.10096623 0.97606533 0.19262075] [ 0.1851805 -0.17178833 0.96757283]] t_gt: [-0.00578562 0.35620939 0.93438825] Pose Error in degrees for R and t: 175.3985482251729 70.44876227961176 Number of keypoints: Image1: 427 Image2: 427 R_estimated: [[-0.72991895 0.67981482 0.0712049 ] [ 0.67997643 0.73278366 -0.02569361] [-0.06964468 0.0296634 -0.99713073]] t_estimated: [[ 0.92792962] [-0.37081925] [ 0.0379434 ]] R_gt: [[ 0.99971941 0.00359795 -0.02340401] [-0.00314525 0.99980765 0.01935534] [ 0.02347029 -0.01927618 0.99953814]] t_gt: [-0.2056354 -0.48440374 -0.85033352] Pose Error in degrees for R and t: 177.31512693884935 87.50951420164424 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 8.41820059e-01 5.39758267e-01 2.23853642e-05] [-5.39758213e-01 8.41819992e-01 -4.16157773e-04] [-2.43469046e-04 3.38247277e-04 9.99999913e-01]] t_estimated: [[0.86412272] [0.50328026] [0.00094959]] R_gt: [[ 9.96882258e-01 -7.88580701e-02 2.79201082e-03] [ 7.88592701e-02 9.96885674e-01 -5.02900658e-04] [-2.74287168e-03 7.22091314e-04 9.99995594e-01]] t_gt: [ 0.60829889 -0.79277967 0.03837786] Pose Error in degrees for R and t: 37.190456358141475 82.72158211188267 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[ 9.81878845e-01 1.89509638e-01 1.72335721e-04] [-1.89509640e-01 9.81878860e-01 -8.32007273e-06] [-1.70789536e-04 -2.44899771e-05 9.99999985e-01]] t_estimated: [[8.46363544e-01] [5.32605047e-01] [7.84396241e-04]] R_gt: [[ 0.9756705 -0.21898776 -0.01053308] [ 0.21844555 0.97509791 -0.03829321] [ 0.01865598 0.03506169 0.9992105 ]] t_gt: [ 0.73787701 -0.66203038 -0.13135184] Pose Error in degrees for R and t: 23.671462531664286 74.22809173714629 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-7.68991741e-01 -6.39256330e-01 1.74563251e-03] [-6.39258647e-01 7.68990040e-01 -1.64360660e-03] [-2.91688089e-04 -2.37983058e-03 -9.99997126e-01]] t_estimated: [[0.99837118] [0.05695406] [0.00335024]] R_gt: [[ 0.98997532 -0.13918317 -0.02401966] [ 0.13943982 0.99018681 0.00936195] [ 0.02248128 -0.01261679 0.99966775]] t_gt: [ 0.84883766 -0.52750108 -0.03488874] Pose Error in degrees for R and t: 179.01116196518373 35.185092904191656 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.04798467 0.99884552 -0.00225931] [-0.99883755 0.04797366 -0.00469951] [-0.0045857 0.00248219 0.9999864 ]] t_estimated: [[0.85761271] [0.51429327] [0.00169244]] R_gt: [[ 0.93012154 -0.36656132 -0.02250082] [ 0.36704769 0.92990028 0.02372434] [ 0.01222728 -0.03032568 0.99946495]] t_gt: [ 0.90453181 -0.4251441 0.03278258] Pose Error in degrees for R and t: 108.79171154508323 56.141435260777065 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-7.16953113e-01 -6.97121260e-01 -4.27209796e-04] [-6.97115103e-01 7.16943908e-01 4.68678062e-03] [-2.96096895e-03 3.65801635e-03 -9.99988926e-01]] t_estimated: [[0.98323243] [0.18235132] [0.00141035]] R_gt: [[ 0.87074178 -0.49172869 0.0031684 ] [ 0.49171984 0.87074759 0.00335919] [-0.00441032 -0.00136638 0.99998927]] t_gt: [ 0.92866653 -0.3709077 -0.00244136] Pose Error in degrees for R and t: 179.5964534187214 32.279164436383674 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.953489 0.24809118 0.17120017] [-0.21060785 0.95465048 -0.2104443 ] [-0.2156457 0.16460023 0.96249868]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.98820954 -0.15261913 -0.0121892 ] [ 0.1517233 0.98685622 -0.05563005] [ 0.02051992 0.05312521 0.9983777 ]] t_gt: [ 0.46650697 -0.75257608 -0.46475853] Pose Error in degrees for R and t: 26.52950470559223 79.84591949738426 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99988525e-01 -4.79064385e-03 -8.21080878e-06] [ 4.79064910e-03 9.99988162e-01 8.51507718e-04] [ 4.13144138e-06 -8.51537282e-04 9.99999637e-01]] t_estimated: [[-0.68742765] [-0.72625247] [-0.00076127]] R_gt: [[ 0.97803274 -0.2001495 0.05824293] [ 0.2021957 0.9788347 -0.03161353] [-0.05068202 0.04269642 0.9978019 ]] t_gt: [ 0.17544347 -0.98399605 0.03116666] Pose Error in degrees for R and t: 11.970407957804728 53.558541332919845 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999963e-01 2.70140150e-04 4.29677209e-05] [-2.70138720e-04 9.99999963e-01 -3.32836753e-05] [-4.29767105e-05 3.32720669e-05 9.99999999e-01]] t_estimated: [[0.99968376] [0.0250466 ] [0.0022484 ]] R_gt: [[ 0.94534172 -0.32372761 0.03910326] [ 0.3245671 0.94570464 -0.01728915] [-0.03138305 0.02903607 0.99908612]] t_gt: [ 0.39419584 -0.91842872 0.03314105] Pose Error in degrees for R and t: 19.094394330011053 68.21392424742649 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 9.50956094e-01 3.09325387e-01 -5.58301196e-04] [ 3.06593938e-01 -9.42316404e-01 1.34312889e-01] [ 4.10202899e-02 -1.27896832e-01 -9.90938816e-01]] t_estimated: [[0.9995459 ] [0.03008667] [0.00167148]] R_gt: [[ 9.93571656e-01 -3.52682231e-04 -1.13199916e-01] [ 1.53644229e-02 9.91161082e-01 1.31768318e-01] [ 1.12152718e-01 -1.32661095e-01 9.84795291e-01]] t_gt: [ 0.48826472 -0.76625967 0.41766455] Pose Error in degrees for R and t: 163.851260083188 62.24531270643677 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 8.59840704e-01 -5.10561585e-01 -9.11913017e-04] [ 5.10562266e-01 8.59840400e-01 8.11736669e-04] [ 3.69658093e-04 -1.16355261e-03 9.99999255e-01]] t_estimated: [[-0.69172333] [-0.7221622 ] [-0.00076097]] R_gt: [[ 0.97649945 -0.08433921 -0.19833211] [ 0.12965501 0.96498703 0.22801101] [ 0.17215718 -0.24836749 0.95324417]] t_gt: [ 0.67304212 -0.63772632 0.37459238] Pose Error in degrees for R and t: 29.96919810613929 89.69620768962722 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[-9.53857764e-01 3.00258766e-01 -2.01459646e-04] [-3.00257232e-01 -9.53854653e-01 -2.62588906e-03] [-9.80609430e-04 -2.44423495e-03 9.99996532e-01]] t_estimated: [[0.68912897] [0.72463752] [0.00131513]] R_gt: [[ 0.95214545 -0.1930168 -0.23698751] [ 0.25216952 0.93422545 0.252255 ] [ 0.17270901 -0.29994487 0.93819149]] t_gt: [ 0.74844489 -0.57093728 0.33743277] Pose Error in degrees for R and t: 175.89135639317482 84.11706622610626 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-9.23203377e-01 -3.84081306e-01 -1.33069531e-02] [-3.84111547e-01 9.23286644e-01 -3.05299948e-04] [ 1.24033921e-02 4.82950041e-03 -9.99911412e-01]] t_estimated: [[ 0.96929443] [ 0.24580401] [-0.00697798]] R_gt: [[ 0.99479358 0.08940395 -0.04890584] [-0.08329402 0.98984154 0.11522008] [ 0.05871032 -0.11054589 0.99213548]] t_gt: [-0.28857563 0.26394255 0.92035778] Pose Error in degrees for R and t: 177.4834529161156 77.21701777760626 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-4.48277110e-01 -8.93892626e-01 -1.89884502e-03] [ 8.93894338e-01 -4.48277701e-01 -1.25974420e-04] [-7.38602275e-04 -1.75383826e-03 9.99998189e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98678287 0.13526513 -0.0892307 ] [-0.12135654 0.98177997 0.14622004] [ 0.10738373 -0.13345849 0.98522029]] t_gt: [-0.21607732 0.73478889 0.64295869] Pose Error in degrees for R and t: 124.27497628635257 77.68422404864342 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.97626224 -0.21312155 0.03861657] [ 0.21441271 0.97618282 -0.03308003] [-0.03064677 0.04057467 0.9987064 ]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.9736657 0.2102225 -0.08820513] [-0.19602442 0.96953652 0.14687922] [ 0.11639488 -0.1257206 0.9852143 ]] t_gt: [-0.3590817 0.87169287 0.33348443] Pose Error in degrees for R and t: 27.303928531562086 70.79812894225728 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99024054e-01 -4.41694058e-02 -6.18614992e-05] [ 4.41694068e-02 9.99024055e-01 1.39775284e-05] [ 6.11837467e-05 -1.66962728e-05 9.99999998e-01]] t_estimated: [[-9.96022894e-01] [ 8.90961378e-02] [-5.21465396e-04]] R_gt: [[ 0.99528498 0.09345425 -0.02596784] [-0.09319077 0.99558495 0.0111976 ] [ 0.02689954 -0.00872476 0.9996001 ]] t_gt: [-0.44006916 0.88113246 -0.1730454 ] Pose Error in degrees for R and t: 8.051202408709749 58.874477836313616 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 0.34310997 -0.93929406 0.00148924] [-0.93928539 -0.34309868 0.00512362] [-0.00430163 -0.00315678 -0.99998577]] t_estimated: [[0.55667657] [0.83072152] [0.00359765]] R_gt: [[ 0.99357404 0.10529017 -0.0415286 ] [-0.10485709 0.99440877 0.01248155] [ 0.04261021 -0.00804654 0.99905947]] t_gt: [-0.2958575 0.94441336 -0.14335878] Pose Error in degrees for R and t: 179.3826920193872 51.73264367949328 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.93465899e-01 1.14129340e-01 -1.56311920e-05] [-1.14129341e-01 9.93465899e-01 -3.03375527e-05] [ 1.20666513e-05 3.19233017e-05 9.99999999e-01]] t_estimated: [[0.75775778] [0.65253546] [0.00078524]] R_gt: [[ 0.99918435 0.03789093 -0.0139494 ] [-0.03828427 0.99884506 -0.02904118] [ 0.01283178 0.02955106 0.99948094]] t_gt: [ 0.11334086 0.90776843 -0.4038692 ] Pose Error in degrees for R and t: 4.743059714967584 47.31877002700993 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[-0.11132872 -0.99378226 -0.00165303] [-0.99377914 0.11133307 -0.00282365] [ 0.00299013 0.0013284 -0.99999465]] t_estimated: [[0.70036199] [0.71378746] [0.00074586]] R_gt: [[ 0.99783713 0.06515176 -0.00865997] [-0.06444627 0.99576376 0.06557419] [ 0.01289561 -0.06487383 0.99780942]] t_gt: [-0.69849114 0.44111757 0.56349394] Pose Error in degrees for R and t: 178.14362767081732 79.98464090851262 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 2.15354713e-01 9.76453169e-01 1.27104605e-02] [ 9.76535841e-01 -2.15340628e-01 -2.48278502e-03] [ 3.12755239e-04 1.29468997e-02 -9.99916136e-01]] t_estimated: [[-0.8574614 ] [-0.51447684] [-0.00857461]] R_gt: [[ 0.98749737 0.02571046 -0.15552585] [ 0.00670812 0.97886189 0.20441151] [ 0.1574935 -0.20289778 0.96645055]] t_gt: [ 0.2806172 -0.64881604 0.70731304] Pose Error in degrees for R and t: 165.6850147936234 85.0022007126414 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.9054199 0.42451343 0.00177585] [ 0.42448925 -0.90540045 0.0076749 ] [ 0.00486595 -0.00619517 -0.99996897]] t_estimated: [[-0.96230511] [-0.27195579] [-0.00298853]] R_gt: [[ 0.97523037 -0.06463243 -0.21153729] [ 0.12285809 0.95354508 0.27505735] [ 0.18393281 -0.29423277 0.93786758]] t_gt: [ 0.60516294 -0.60556119 0.5167915 ] Pose Error in degrees for R and t: 160.82310475621742 65.21528101090098 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[-0.99729592 -0.07348218 0.00110501] [ 0.07344867 -0.99712296 -0.0187376 ] [ 0.00247871 -0.01860577 0.99982383]] t_estimated: [[9.81490258e-01] [1.91510294e-01] [8.25475406e-04]] R_gt: [[ 0.99555871 -0.09157886 0.02184171] [ 0.09123432 0.99569653 0.0162458 ] [-0.02323462 -0.01418135 0.99962877]] t_gt: [ 0.00897693 -0.96908643 0.24655811] Pose Error in degrees for R and t: 170.55538877225908 79.82963088795846 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-0.32074371 0.94716273 -0.002499 ] [-0.94716205 -0.32074889 -0.00205061] [-0.00274381 0.00170924 0.99999477]] t_estimated: [[0.43322069] [0.90128738] [0.00094178]] R_gt: [[ 0.98031183 -0.19596347 0.02422513] [ 0.19572277 0.980586 0.01195927] [-0.02609773 -0.00698337 0.9996344 ]] t_gt: [ 0.24297636 -0.95840443 0.14974455] Pose Error in degrees for R and t: 120.0111619515673 40.6771436893437 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.50631453e-01 -3.10318106e-01 1.58533439e-03] [ 3.10320756e-01 9.50630105e-01 -1.85274008e-03] [-9.32127804e-04 2.25323516e-03 9.99997027e-01]] t_estimated: [[-0.57736474] [-0.81648571] [-0.00102188]] R_gt: [[ 0.94258069 -0.33397153 0.00210493] [ 0.33337395 0.94123694 0.05416292] [-0.02007027 -0.0503516 0.99852926]] t_gt: [ 0.43693533 -0.88196697 0.17669686] Pose Error in degrees for R and t: 3.513949658480199 62.11737353235072 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.97055852e-01 -7.66785099e-02 -1.84367049e-04] [ 7.66785191e-02 9.97055867e-01 4.32429063e-05] [ 1.80508446e-04 -5.72525851e-05 9.99999982e-01]] t_estimated: [[-0.9798867 ] [-0.19955157] [-0.00110775]] R_gt: [[ 9.90919680e-01 1.34355513e-01 5.17193744e-03] [-1.34453669e-01 9.89979437e-01 4.31609860e-02] [ 6.78252721e-04 -4.34640524e-02 9.99055068e-01]] t_gt: [-0.58647709 0.77253867 0.24336933] Pose Error in degrees for R and t: 12.377406606022028 65.14961503318261 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.61833237e-01 -2.73635902e-01 -4.65485568e-04] [ 2.73635956e-01 9.61833333e-01 5.54175817e-05] [ 4.32555295e-04 -1.80676060e-04 9.99999890e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97133124 0.23770675 -0.00324084] [-0.2373715 0.97052588 0.04162966] [ 0.01303982 -0.03966685 0.99912757]] t_gt: [-0.52612602 0.84621872 0.0842929 ] Pose Error in degrees for R and t: 29.72165345593147 32.54086237314514 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-1.02678535e-02 -9.99945767e-01 -1.74199831e-03] [ 9.99946845e-01 -1.02662010e-02 -9.54927091e-04] [ 9.36991598e-04 -1.75171077e-03 9.99998027e-01]] t_estimated: [[9.99981189e-01] [6.10874167e-03] [5.52466712e-04]] R_gt: [[ 0.89477186 0.44624475 0.01575901] [-0.44649384 0.89456112 0.02006588] [-0.00514432 -0.02499069 0.99967463]] t_gt: [-0.47192216 0.88078688 0.03878071] Pose Error in degrees for R and t: 117.10987876691271 62.19192141924584 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 0.73295614 0.6802667 -0.00353785] [-0.67982233 0.73264742 0.03270108] [ 0.02483745 -0.02156335 0.99945892]] t_estimated: [[7.79221024e-01] [6.26748801e-01] [7.33039533e-04]] R_gt: [[ 0.99453952 -0.10301084 0.01668928] [ 0.10307579 0.99466864 -0.00303737] [-0.01628698 0.00474159 0.99985667]] t_gt: [ 0.85476716 -0.51774055 0.03630179] Pose Error in degrees for R and t: 48.84495843469698 70.02647587240709 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.99564815e-01 2.94982737e-02 1.79274153e-04] [-2.94982497e-02 9.99564823e-01 -1.35222373e-04] [-1.83184964e-04 1.29875252e-04 9.99999975e-01]] t_estimated: [[8.41794876e-01] [5.39797060e-01] [7.21886701e-04]] R_gt: [[ 9.72564094e-01 -2.32632769e-01 5.32443942e-04] [ 2.32607215e-01 9.72487312e-01 1.27336113e-02] [-3.47996618e-03 -1.22604597e-02 9.99919583e-01]] t_gt: [ 0.84963775 -0.52578656 0.04079442] Pose Error in degrees for R and t: 15.160048454405944 64.44151994041184 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.50619469 0.85555354 0.10860512] [-0.81599494 0.43437306 0.38140833] [ 0.27914011 -0.28168809 0.91800469]] t_estimated: [[0.27053363] [0.96270975] [0.00121862]] R_gt: [[ 0.94745863 -0.31833348 -0.03139354] [ 0.31823608 0.94797571 -0.00820547] [ 0.03237181 -0.00221501 0.99947398]] t_gt: [ 0.86286847 -0.50272443 -0.05221247] Pose Error in degrees for R and t: 81.95255406277869 75.48660094220976 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.88150947 0.17411455 0.43889085] [ 0.17314581 0.74557043 -0.64354118] [-0.43927393 0.64327976 0.62708019]] t_estimated: [[-0.75482941] [-0.64699664] [-0.10783277]] R_gt: [[ 0.99352803 -0.11352912 -0.00391105] [ 0.11282276 0.99019088 -0.08242293] [ 0.01323081 0.08144808 0.99658968]] t_gt: [ 0.52940707 -0.63109631 -0.56696173] Pose Error in degrees for R and t: 48.060974025520515 85.99507515834448 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 5.41817816e-01 8.40492985e-01 2.23521420e-03] [ 8.40493908e-01 -5.41820452e-01 7.67385708e-04] [ 1.85606707e-03 1.46290067e-03 -9.99997207e-01]] t_estimated: [[-0.99993858] [-0.01101524] [-0.00122392]] R_gt: [[ 0.99788629 -0.06090435 -0.0226807 ] [ 0.05879117 0.99469695 -0.08439024] [ 0.02770067 0.08287871 0.99617458]] t_gt: [ 0.30701117 -0.11329333 -0.9449385 ] Pose Error in degrees for R and t: 176.45136195705695 72.26663099817115 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.73880552 -0.62823037 -0.24391187] [ 0.65865832 0.74970823 0.06408429] [ 0.14260304 -0.20800041 0.96767774]] t_estimated: [[-0.43160888] [-0.90065882] [-0.05027393]] R_gt: [[ 0.99968336 -0.00659746 -0.02429513] [ 0.00429425 0.99559735 -0.09363587] [ 0.02480654 0.09350138 0.99531069]] t_gt: [-0.0567577 0.55640089 -0.82897323] Pose Error in degrees for R and t: 43.98238295759346 64.21760157320767 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-3.47270178e-02 9.99396675e-01 5.66130086e-04] [ 9.99394764e-01 3.47257870e-02 2.05566975e-03] [ 2.03477020e-03 6.37174723e-04 -9.99997727e-01]] t_estimated: [[-0.15006678] [-0.98867525] [-0.00110343]] R_gt: [[ 0.9990006 -0.03751233 0.02431678] [ 0.03470859 0.9936622 0.10691215] [-0.02817294 -0.10596144 0.99397145]] t_gt: [ 0.15612783 -0.41354874 0.89699584] Pose Error in degrees for R and t: 176.7834560797893 67.39064685711503 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-6.62782054e-01 7.48812232e-01 4.36766920e-04] [ 7.48809935e-01 6.62778311e-01 2.93106499e-03] [ 1.90533767e-03 2.26971268e-03 -9.99995609e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99618415 -0.07472226 0.04510574] [ 0.06561622 0.98193155 0.17749574] [-0.05755355 -0.1738589 0.98308755]] t_gt: [ 0.19018485 -0.40834299 0.89279658] Pose Error in degrees for R and t: 178.50197348525714 84.7703165763003 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.73977461e-01 -2.26643684e-01 7.38563861e-04] [ 2.26644349e-01 9.73977078e-01 -9.95421283e-04] [-4.93738325e-04 1.13690922e-03 9.99999232e-01]] t_estimated: [[0.81638644] [0.5775054 ] [0.00083818]] R_gt: [[ 0.99704784 -0.06336476 0.04336597] [ 0.05796027 0.99153447 0.11618983] [-0.05036175 -0.11333346 0.99227994]] t_gt: [ 0.21087157 -0.46544862 0.85958755] Pose Error in degrees for R and t: 11.982360963530924 84.49538589999551 Number of keypoints: Image1: 296 Image2: 296 R_estimated: [[ 0.28335869 0.95880248 -0.02014088] [ 0.95872873 -0.2826997 0.03033326] [ 0.02338979 -0.02790483 -0.9993369 ]] t_estimated: [[ 0.59766025] [-0.80152023] [-0.01917154]] R_gt: [[ 0.99797928 -0.02902612 0.05652737] [ 0.02886242 0.99957582 0.00371214] [-0.05661132 -0.0020731 0.99839422]] t_gt: [-0.3954567 -0.02956874 0.91800854] Pose Error in degrees for R and t: 179.72604434062936 76.68830107234466 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[-9.22566460e-01 3.85835711e-01 -1.38983460e-03] [-3.85833849e-01 -9.22567172e-01 -1.43338553e-03] [-1.83526710e-03 -7.86148179e-04 9.99998007e-01]] t_estimated: [[0.81014831] [0.58622415] [0.0009826 ]] R_gt: [[ 0.9955213 -0.03801725 0.0865543 ] [ 0.04220586 0.99799872 -0.04708396] [-0.08459161 0.05052617 0.99513416]] t_gt: [-0.62015055 0.50335145 0.60170641] Pose Error in degrees for R and t: 159.62873558288953 78.06827818234196 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[-7.38247855e-01 -6.74521338e-01 -3.32717681e-03] [-6.74516720e-01 7.38255254e-01 -2.52461886e-03] [ 4.15921505e-03 3.80441928e-04 -9.99991278e-01]] t_estimated: [[ 8.77683191e-01] [ 4.79240985e-01] [-5.43175882e-04]] R_gt: [[ 0.99471418 -0.02546308 0.09947645] [ 0.03198175 0.99740557 -0.06449445] [-0.09757569 0.06733533 0.99294726]] t_gt: [-0.62966925 0.69638431 0.34433345] Pose Error in degrees for R and t: 176.3259616511662 77.3437496791465 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.94116410e-01 1.08315012e-01 6.49052077e-04] [-1.08314291e-01 9.94116136e-01 -1.05912496e-03] [-7.59952277e-04 9.82591890e-04 9.99999228e-01]] t_estimated: [[0.67062431] [0.74179046] [0.00315363]] R_gt: [[ 9.99872189e-01 9.43625287e-03 1.29182175e-02] [-9.42894888e-03 9.99954955e-01 -5.94229403e-04] [-1.29225497e-02 4.72330494e-04 9.99916034e-01]] t_gt: [0.81891444 0.29708928 0.49103676] Pose Error in degrees for R and t: 5.720871940644066 39.54628617466801 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.93810080e-01 1.11092296e-01 1.61761583e-04] [-1.11092287e-01 9.93810093e-01 -6.00827300e-05] [-1.67435022e-04 4.17403584e-05 9.99999985e-01]] t_estimated: [[1.47164650e-01] [9.89111674e-01] [8.14024642e-04]] R_gt: [[ 0.9993674 -0.03008894 0.01896819] [ 0.03055855 0.99922203 -0.02492334] [-0.01820226 0.02548733 0.99950957]] t_gt: [ 0.86576068 -0.50030759 -0.01227803] Pose Error in degrees for R and t: 8.310408407656706 68.44090248298227 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.99966375 -0.02584296 0.00212961] [ 0.02584655 0.99966452 -0.00167169] [-0.00208569 0.00172617 0.99999634]] t_estimated: [[-9.83774598e-01] [-1.79408777e-01] [ 1.73951543e-04]] R_gt: [[ 0.98832102 -0.15164349 0.01507535] [ 0.15179259 0.98836975 -0.00920951] [-0.01350299 0.01139028 0.99984431]] t_gt: [ 0.74599428 -0.66437385 0.04582495] Pose Error in degrees for R and t: 7.296350554816094 52.07076471982111 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 1.12068148e-01 -9.93700523e-01 -2.60379367e-05] [-9.93689013e-01 -1.12066976e-01 4.81032752e-03] [-4.78294296e-03 -5.13210884e-04 -9.99988430e-01]] t_estimated: [[0.648646 ] [0.76107797] [0.00432431]] R_gt: [[ 0.98748969 -0.15767599 0.00134266] [ 0.15709508 0.98304769 -0.09454396] [ 0.01358792 0.09357247 0.99551948]] t_gt: [ 0.55962605 -0.68461562 -0.46703333] Pose Error in degrees for R and t: 175.94682849368672 80.78925774431983 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99766120e-01 2.16252079e-02 -2.35435410e-04] [-2.16252479e-02 9.99766133e-01 -1.68838626e-04] [ 2.31729179e-04 1.73890487e-04 9.99999958e-01]] t_estimated: [[-0.52918959] [-0.84850229] [-0.00149912]] R_gt: [[ 0.98475606 -0.17215445 -0.02486402] [ 0.167882 0.97809545 -0.12306794] [ 0.04550658 0.11701788 0.99208662]] t_gt: [ 0.53391348 -0.53778883 -0.65247189] Pose Error in degrees for R and t: 13.19681477319845 79.93578890003366 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.27546407 -0.96130993 -0.00166408] [ 0.9613089 -0.27546687 0.00179049] [-0.00217961 -0.00110648 0.99999701]] t_estimated: [[9.23805734e-01] [3.82860665e-01] [8.23356269e-04]] R_gt: [[ 0.99269479 -0.11278901 -0.04282701] [ 0.10619413 0.98534264 -0.13350297] [ 0.05725758 0.12797969 0.99012239]] t_gt: [ 0.38728057 -0.18566395 -0.903074 ] Pose Error in degrees for R and t: 99.92405010507804 73.38465372010597 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.75266949e-01 -2.21024944e-01 1.53350676e-03] [ 2.21026011e-01 9.75267751e-01 -5.62798312e-04] [-1.37118723e-03 8.87823476e-04 9.99998666e-01]] t_estimated: [[0.84991061] [0.5269261 ] [0.00092281]] R_gt: [[ 0.99810781 -0.06085749 0.00883417] [ 0.05983227 0.99422479 0.08908695] [-0.01420399 -0.0883892 0.99598444]] t_gt: [ 0.32702468 -0.64093892 0.69444377] Pose Error in degrees for R and t: 10.638975962254877 86.60927059544511 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[-5.37127396e-01 -8.43501122e-01 -1.33916849e-04] [-8.43501025e-01 5.37127241e-01 5.89570225e-04] [-4.25372758e-04 4.29633319e-04 -9.99999817e-01]] t_estimated: [[0.90606484] [0.42313776] [0.00096729]] R_gt: [[ 0.99723499 -0.06952658 0.02623301] [ 0.06631908 0.99194748 0.10790252] [-0.03352226 -0.10586411 0.99381549]] t_gt: [ 0.2799449 -0.570394 0.77219268] Pose Error in degrees for R and t: 175.53167480275562 89.25284618434424 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-8.58171428e-01 -5.13361731e-01 -1.23821462e-03] [ 5.13363217e-01 -8.58169317e-01 -1.90548904e-03] [-8.43926452e-05 -2.27089009e-03 9.99997418e-01]] t_estimated: [[9.05110188e-01] [4.25176316e-01] [8.05258174e-04]] R_gt: [[ 9.99289845e-01 -3.76787877e-02 5.27282490e-05] [ 3.76704448e-02 9.99037107e-01 -2.24994894e-02] [ 7.96875319e-04 2.24857116e-02 9.99746687e-01]] t_gt: [ 0.5515 -0.72042442 -0.42051921] Pose Error in degrees for R and t: 146.9551382678587 78.89998370311487 Number of keypoints: Image1: 469 Image2: 469 R_estimated: [[-0.64702192 -0.7590743 -0.07189463] [-0.75917023 0.6501151 -0.03179498] [ 0.07087454 0.03400821 -0.99690533]] t_estimated: [[ 0.90708477] [ 0.4192353 ] [-0.03793388]] R_gt: [[ 0.9996918 0.02261069 -0.01024897] [-0.02280041 0.99956572 -0.01868455] [ 0.00982193 0.0189123 0.99977247]] t_gt: [-0.789624 0.32468331 -0.52064832] Pose Error in degrees for R and t: 174.51779140128 55.9174347536739 Number of keypoints: Image1: 263 Image2: 263 R_estimated: [[ 9.96314021e-01 8.57808930e-02 9.66929724e-05] [-8.57808918e-02 9.96314026e-01 -1.69121034e-05] [-9.77872999e-05 8.55535631e-06 9.99999995e-01]] t_estimated: [[ 4.30206865e-01] [-9.02730284e-01] [-2.96026076e-04]] R_gt: [[ 0.99853538 0.01223223 -0.05270029] [-0.01091271 0.99962083 0.02527331] [ 0.05298985 -0.02466033 0.99828976]] t_gt: [-0.73388063 -0.46229221 -0.49769983] Pose Error in degrees for R and t: 5.420856462373399 84.15993114915358 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[-0.44583157 0.89511163 -0.00306199] [-0.89510943 -0.4458392 -0.00255144] [-0.00364898 0.0016033 0.99999206]] t_estimated: [[0.41029042] [0.91195325] [0.00174572]] R_gt: [[ 0.99703672 -0.01219396 -0.07596334] [ 0.01196778 0.99992243 -0.00341871] [ 0.07599835 0.00250012 0.99710458]] t_gt: [-0.45220706 -0.54626772 -0.70505344] Pose Error in degrees for R and t: 117.22196783267063 46.76929412277196 Number of keypoints: Image1: 327 Image2: 327 R_estimated: [[-5.79581303e-03 -9.99983078e-01 -5.02059349e-04] [-9.99983032e-01 5.79551700e-03 5.89090746e-04] [-5.86171084e-04 5.05465090e-04 -9.99999700e-01]] t_estimated: [[0.70664175] [0.7075706 ] [0.00113398]] R_gt: [[ 0.99969351 -0.00854181 0.02325212] [ 0.00970245 0.99868807 -0.05029051] [-0.02279143 0.05050034 0.99846421]] t_gt: [-0.44921691 0.87455171 -0.18265671] Pose Error in degrees for R and t: 178.90246080898243 72.47243923188786 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.85025629e-01 -1.72407969e-01 -5.46489551e-05] [ 1.72407975e-01 9.85025618e-01 1.48795015e-04] [ 2.81771745e-05 -1.55988819e-04 9.99999987e-01]] t_estimated: [[-3.09834232e-01] [-9.50790395e-01] [-6.11669743e-04]] R_gt: [[ 0.99982936 -0.00246342 0.01830619] [ 0.00338512 0.9987204 -0.05046909] [-0.01815868 0.05052204 0.99855768]] t_gt: [-0.46337788 0.85680939 -0.2261827 ] Pose Error in degrees for R and t: 10.23543020614312 47.860540709040784 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.97599806e-01 6.92430115e-02 1.79015558e-04] [-6.92430050e-02 9.97599822e-01 -4.21345110e-05] [-1.81503409e-04 2.96378048e-05 9.99999983e-01]] t_estimated: [[-1.89064117e-01] [ 9.81964591e-01] [ 5.49634757e-04]] R_gt: [[ 0.99831391 -0.04680317 0.03434489] [ 0.04995951 0.99396401 -0.09767216] [-0.02956589 0.09922318 0.9946263 ]] t_gt: [-0.27290642 0.8651525 -0.42075318] Pose Error in degrees for R and t: 8.988249083860921 25.721441484765457 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99958652e-01 -9.09291607e-03 -1.15942218e-04] [ 9.09292271e-03 9.99958657e-01 5.68583110e-05] [ 1.15420417e-04 -5.79102136e-05 9.99999992e-01]] t_estimated: [[-0.74827968] [-0.66338238] [-0.00115784]] R_gt: [[ 0.99715452 0.06978599 -0.0285213 ] [-0.06871064 0.99694773 0.03705794] [ 0.03102047 -0.03499194 0.99890593]] t_gt: [-0.4546426 0.88823425 0.06587893] Pose Error in degrees for R and t: 5.2288076689087095 75.57482739951249 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-9.98471021e-01 -5.52737091e-02 -6.61926002e-04] [ 5.52748265e-02 -9.98469539e-01 -1.80926839e-03] [-5.60907976e-04 -1.84308990e-03 9.99998144e-01]] t_estimated: [[0.75240562] [0.65869943] [0.00091869]] R_gt: [[ 0.96214845 0.27208046 -0.01557861] [-0.27176841 0.9621649 0.0195187 ] [ 0.02029991 -0.01454547 0.99968791]] t_gt: [-0.53307798 0.84575622 -0.02289698] Pose Error in degrees for R and t: 167.3895696158174 81.02594292833143 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.96808507e-01 7.98260313e-02 7.77889073e-04] [-7.98251474e-02 9.96808266e-01 -1.10780078e-03] [-8.63837597e-04 1.04217013e-03 9.99999084e-01]] t_estimated: [[0.23894518] [0.97103253] [0.00101679]] R_gt: [[ 0.8869751 0.45961377 -0.04507554] [-0.45835413 0.88805049 0.03575013] [ 0.05646012 -0.01104775 0.99834371]] t_gt: [-0.46649114 0.88131839 -0.07525895] Pose Error in degrees for R and t: 23.012031392063225 41.905580858545065 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-4.19474236e-01 9.07766385e-01 -1.24680298e-03] [ 9.07761045e-01 4.19476052e-01 3.11886509e-03] [ 3.35420488e-03 1.76484373e-04 -9.99994359e-01]] t_estimated: [[-0.0119039 ] [-0.9999277 ] [-0.00170056]] R_gt: [[ 0.99062386 -0.12968389 -0.04299599] [ 0.13101306 0.99093572 0.02967948] [ 0.03875756 -0.03503419 0.9986345 ]] t_gt: [ 0.79280348 -0.60943427 -0.00724663] Pose Error in degrees for R and t: 176.87207006880976 53.13260363277569 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.71279404e-01 2.37941576e-01 3.54302910e-04] [-2.37941455e-01 9.71279434e-01 -3.52811548e-04] [-4.28075666e-04 2.58375240e-04 9.99999875e-01]] t_estimated: [[-6.42773753e-01] [ 7.66055768e-01] [ 6.80854923e-04]] R_gt: [[ 0.98863461 -0.14446104 -0.04164164] [ 0.14555926 0.98904168 0.02466318] [ 0.03762338 -0.03044353 0.99882866]] t_gt: [ 0.77713371 -0.62889124 -0.02364318] Pose Error in degrees for R and t: 22.282623108226158 11.096919756260402 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-8.62112401e-01 -5.06713234e-01 -1.97658830e-03] [ 5.06716188e-01 -8.62111665e-01 -1.47700597e-03] [-9.55621357e-04 -2.27491445e-03 9.99996956e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99610282 -0.08805502 -0.00528859] [ 0.08815292 0.99584882 0.02268301] [ 0.00326967 -0.02306023 0.99972913]] t_gt: [ 0.66390386 -0.73972856 0.1096965 ] Pose Error in degrees for R and t: 144.50073625005302 48.57097424528014 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99998590e-01 -1.67740646e-03 -7.35914142e-05] [ 1.67740998e-03 9.99998592e-01 4.77424590e-05] [ 7.35112271e-05 -4.78658347e-05 9.99999996e-01]] t_estimated: [[-0.62328559] [-0.78199316] [-0.00132914]] R_gt: [[ 9.94109218e-01 1.05338396e-01 2.54926259e-02] [-1.05394608e-01 9.94429713e-01 8.82747807e-04] [-2.52579081e-02 -3.56466118e-03 9.99674771e-01]] t_gt: [-0.72825894 0.66536832 0.16408507] Pose Error in degrees for R and t: 6.317732780889717 86.1802261152993 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 9.97285364e-01 7.36335527e-02 4.80916204e-05] [-7.36335504e-02 9.97285364e-01 -4.82499947e-05] [-5.15138877e-05 4.45778568e-05 9.99999998e-01]] t_estimated: [[ 0.62078232] [-0.78398256] [-0.00080973]] R_gt: [[ 0.99737851 0.05718329 0.04434773] [-0.05741756 0.99834165 0.00403719] [-0.04404319 -0.00657306 0.99900786]] t_gt: [-0.62536282 0.65640785 0.42195981] Pose Error in degrees for R and t: 2.7163713548636754 25.422315513116025 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.98508448e-01 5.45973227e-02 1.11718658e-04] [-5.45972752e-02 9.98508380e-01 -3.91241142e-04] [-1.32912735e-04 3.84558051e-04 9.99999917e-01]] t_estimated: [[ 0.3211531 ] [-0.94701872] [-0.00402929]] R_gt: [[ 0.99679211 -0.06801284 0.04218151] [ 0.06711733 0.99749531 0.02229822] [-0.04359285 -0.01939621 0.99886157]] t_gt: [ 0.73500701 -0.45341051 0.50416624] Pose Error in degrees for R and t: 7.521673587123247 48.43980071226024 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.90881081 -0.41718863 -0.00406886] [ 0.41720287 0.90880592 0.0036823 ] [ 0.00216159 -0.00504405 0.99998494]] t_estimated: [[0.9992366 ] [0.03896744] [0.00278339]] R_gt: [[ 0.96495523 -0.1728197 0.19747309] [ 0.16901671 0.98495295 0.03608821] [-0.20073821 -0.00144733 0.97964337]] t_gt: [ 0.50399967 -0.59597692 0.62513666] Pose Error in degrees for R and t: 18.805478322580406 61.175311740559884 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.0840949 0.99645662 0.00150371] [ 0.99645621 0.08409203 0.00188252] [ 0.0017494 0.00165669 -0.9999971 ]] t_estimated: [[9.57495517e-01] [2.88446677e-01] [9.21554877e-04]] R_gt: [[ 0.91114407 -0.3147778 0.26595615] [ 0.30051042 0.94914947 0.09386192] [-0.28197831 -0.00559887 0.95940468]] t_gt: [ 0.62827294 -0.5944049 0.50195211] Pose Error in degrees for R and t: 170.12215288721413 64.49581741993941 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 9.15686697e-01 4.01892709e-01 3.51985677e-04] [-4.01892349e-01 9.15686575e-01 -7.97752731e-04] [-6.42919565e-04 5.89031213e-04 9.99999620e-01]] t_estimated: [[-9.13757989e-01] [ 4.06258935e-01] [-1.21313926e-04]] R_gt: [[ 0.85185312 -0.43165907 0.29667567] [ 0.41010125 0.90201191 0.13487936] [-0.32582729 0.00677009 0.94540484]] t_gt: [ 0.71160537 -0.56633773 0.41578766] Pose Error in degrees for R and t: 52.65203063233014 28.31354000306812 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.31011546e-01 -3.64989143e-01 -6.52730374e-04] [ 3.64989309e-01 9.31011698e-01 1.50939460e-04] [ 5.52608350e-04 -3.78765988e-04 9.99999776e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97661786 0.21496482 -0.00264608] [-0.21482303 0.97630023 0.02623009] [ 0.00822167 -0.02504822 0.99965283]] t_gt: [-0.56557173 0.82195152 0.06726306] Pose Error in degrees for R and t: 33.85018355084642 35.06731460400656 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99669529e-01 2.57055154e-02 -2.45021727e-04] [-2.57055150e-02 9.99669559e-01 4.76177685e-06] [ 2.45063166e-04 1.53820645e-06 9.99999970e-01]] t_estimated: [[-9.88718516e-01] [ 1.49784143e-01] [-6.38305731e-04]] R_gt: [[ 0.96249472 0.26969027 -0.02950211] [-0.26748632 0.96150582 0.06289952] [ 0.04532886 -0.05264865 0.99758401]] t_gt: [-0.50854446 0.859714 0.04769041] Pose Error in degrees for R and t: 14.67286184629735 50.83554615558454 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 7.24671958e-01 -6.89089790e-01 -2.41122972e-03] [ 6.89092065e-01 7.24673788e-01 1.60663294e-04] [ 1.63664354e-03 -1.77798745e-03 9.99997080e-01]] t_estimated: [[-0.17110807] [-0.9852513 ] [-0.0013799 ]] R_gt: [[ 0.90072845 0.4343518 -0.00513283] [-0.433729 0.89995857 0.04419682] [ 0.02381595 -0.03758345 0.99900979]] t_gt: [-0.45526481 0.89008 0.02217072] Pose Error in degrees for R and t: 69.3335339660663 36.95731961745355 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.99797802e-01 2.01082765e-02 1.09198399e-04] [-2.01082606e-02 9.99797798e-01 -1.45010043e-04] [-1.12092221e-04 1.42784932e-04 9.99999984e-01]] t_estimated: [[ 0.07111661] [-0.9974674 ] [-0.00110472]] R_gt: [[ 0.99681251 -0.07891822 0.01166831] [ 0.07962463 0.99321453 -0.08476683] [-0.00489843 0.08542589 0.99633208]] t_gt: [ 0.39176101 -0.56481257 -0.72629888] Pose Error in degrees for R and t: 7.520756598668792 53.69772363030658 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.99355906e-01 3.58848827e-02 2.18945937e-04] [-3.58848497e-02 9.99355920e-01 -1.52614556e-04] [-2.24281474e-04 1.44659415e-04 9.99999964e-01]] t_estimated: [[ 0.48506292] [-0.87447881] [-0.00087648]] R_gt: [[ 0.98717547 -0.15834319 0.02029966] [ 0.15961821 0.9810554 -0.10977999] [-0.00253168 0.11161291 0.99374837]] t_gt: [ 0.50286516 -0.69438507 -0.51473877] Pose Error in degrees for R and t: 12.923460292768093 31.61415741936296 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.72920224 0.49479979 -0.47269151] [ 0.16847847 0.53968781 0.82483457] [ 0.66323381 -0.68110956 0.31017845]] t_estimated: [[-0.76711508] [-0.64150559] [-0.00224303]] R_gt: [[ 0.95889765 -0.2837088 0.00484419] [ 0.28273532 0.95388924 -0.10077675] [ 0.02397152 0.09800462 0.99489696]] t_gt: [ 0.6341971 -0.70049963 -0.32725267] Pose Error in degrees for R and t: 81.55798159509463 87.91433416490233 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.97771000e-01 -6.67308300e-02 -1.67255102e-04] [ 6.67307991e-02 9.97770999e-01 -1.83880425e-04] [ 1.79152783e-04 1.72309489e-04 9.99999969e-01]] t_estimated: [[-0.74338004] [-0.66886711] [-0.00170592]] R_gt: [[ 9.92207175e-01 -1.24593833e-01 1.20762771e-03] [ 1.24599259e-01 9.92149036e-01 -1.06914774e-02] [ 1.34191397e-04 1.07596604e-02 9.99941851e-01]] t_gt: [ 0.75174268 -0.65577523 -0.06958293] Pose Error in degrees for R and t: 3.3865718582489546 83.10297329439098 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 8.76293704e-01 -4.81777056e-01 -4.61682467e-04] [ 4.81777124e-01 8.76293787e-01 4.45547315e-05] [ 3.83104030e-04 -2.61471082e-04 9.99999892e-01]] t_estimated: [[0.87904038] [0.47674553] [0.00130615]] R_gt: [[ 9.72084890e-01 -2.29637602e-01 -4.81494619e-02] [ 2.29383890e-01 9.73275809e-01 -1.07915070e-02] [ 4.93413320e-02 -5.54266691e-04 9.98781260e-01]] t_gt: [ 0.82378728 -0.55550806 -0.11307221] Pose Error in degrees for R and t: 15.774790571048717 62.66717237733203 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.54427503e-01 5.19570480e-01 3.96776413e-04] [-5.19570153e-01 8.54427504e-01 -7.04880811e-04] [-7.05251942e-04 3.96116370e-04 9.99999673e-01]] t_estimated: [[0.54928724] [0.83563247] [0.00137666]] R_gt: [[ 0.90182006 -0.4317641 -0.01733041] [ 0.43177 0.9019763 -0.00357796] [ 0.01717702 -0.00425577 0.99984325]] t_gt: [ 0.9024579 -0.43010922 -0.02399577] Pose Error in degrees for R and t: 56.89427573671894 82.1683784587054 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99959834e-01 -8.96107386e-03 -1.70179826e-04] [ 8.96108982e-03 9.99959844e-01 9.32316977e-05] [ 1.69337537e-04 -9.47529497e-05 9.99999981e-01]] t_estimated: [[-9.99668289e-01] [ 2.57538277e-02] [-2.30477029e-04]] R_gt: [[ 0.97906784 0.20301837 0.0144864 ] [-0.20325868 0.97896513 0.01768225] [-0.01059203 -0.02025709 0.99973872]] t_gt: [-0.89439148 0.43344009 0.1104245 ] Pose Error in degrees for R and t: 12.305309500559218 25.145440276382327 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.92199229e-01 -1.24653144e-01 -1.51105008e-03] [ 1.24654289e-01 9.92199997e-01 6.88472734e-04] [ 1.41344359e-03 -8.71460990e-04 9.99998621e-01]] t_estimated: [[-0.96075338] [-0.27740062] [-0.00135317]] R_gt: [[ 0.91108936 0.40956225 0.04663866] [-0.41007224 0.91205089 0.00150956] [-0.04191865 -0.02050102 0.99891083]] t_gt: [-0.84573798 0.52897852 0.07006423] Pose Error in degrees for R and t: 31.485364930197136 48.26304083524733 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.07988275 0.99679961 0.0030467 ] [ 0.99680164 -0.07988918 0.002052 ] [ 0.00228883 0.00287303 -0.99999325]] t_estimated: [[-0.51206384] [-0.8589458 ] [-0.00165182]] R_gt: [[ 0.88325385 0.46571384 0.0545225 ] [-0.4664948 0.88452228 0.00181923] [-0.04737924 -0.02704122 0.99851094]] t_gt: [-0.83678303 0.54258935 0.07342313] Pose Error in degrees for R and t: 178.6046347928075 87.84002231795289 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 0.55530392 0.74960725 0.36017569] [ 0.82889433 -0.46365646 -0.31298064] [-0.06761477 0.47234696 -0.87881545]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.99539647 -0.09190271 -0.02720723] [ 0.09224325 0.9956696 0.0115078 ] [ 0.02603298 -0.01396406 0.99956293]] t_gt: [ 0.46242801 -0.88653192 -0.01488258] Pose Error in degrees for R and t: 154.25818997618907 78.88932145456843 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 9.45820151e-01 -3.24689648e-01 -9.35103033e-04] [-3.24578112e-01 -9.45411466e-01 -2.90896675e-02] [ 8.56105679e-03 2.78171077e-02 -9.99576369e-01]] t_estimated: [[ 0.18345573] [ 0.98291458] [-0.01493031]] R_gt: [[ 0.97916204 -0.20008361 -0.03477263] [ 0.20130836 0.97885903 0.03620349] [ 0.02679412 -0.04244891 0.99873858]] t_gt: [ 0.59115028 -0.79751847 0.1204394 ] Pose Error in degrees for R and t: 179.7199351958312 47.37159455150292 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.87485154 0.48435045 -0.00627853] [ 0.48438741 -0.87472042 0.01526507] [ 0.00190169 -0.01639591 -0.99986377]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.96874851 -0.22454801 -0.10538075] [ 0.23129201 0.9712308 0.05670028] [ 0.08961727 -0.07930123 0.99281406]] t_gt: [ 0.62873202 -0.76800391 0.12192635] Pose Error in degrees for R and t: 173.83947670764482 51.21190004174453 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.99395025e-01 -3.47789324e-02 9.46423578e-05] [ 3.47789225e-02 9.99395025e-01 1.04101515e-04] [-9.82056411e-05 -1.00746977e-04 9.99999990e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9963608 0.0129594 -0.08424737] [-0.01356795 0.99988654 -0.00665559] [ 0.08415178 0.00777466 0.9964229 ]] t_gt: [ 0.16327882 0.18071807 -0.96988711] Pose Error in degrees for R and t: 5.580167905194996 79.58802973693268 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-3.31165225e-01 -9.43570219e-01 -2.19895072e-03] [ 9.43572207e-01 -3.31166695e-01 3.31328822e-04] [-1.04085125e-03 -1.96514420e-03 9.99997527e-01]] t_estimated: [[0.98633292] [0.16476032] [0.00118737]] R_gt: [[ 9.90931167e-01 -2.83157744e-03 -1.34343509e-01] [ 4.23649870e-04 9.99839545e-01 -1.79517389e-02] [ 1.34372652e-01 1.77324176e-02 9.90772253e-01]] t_gt: [ 0.32436316 0.00889293 -0.94589083] Pose Error in degrees for R and t: 109.43028829500066 71.32061614749273 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.97120956e-01 7.58272041e-02 1.84797029e-04] [-7.58272006e-02 9.97120973e-01 -2.57351115e-05] [-1.86216415e-04 1.16483775e-05 9.99999983e-01]] t_estimated: [[0.4137246] [0.9104015] [0.0010369]] R_gt: [[ 0.99583253 -0.04771656 -0.07772565] [ 0.04537736 0.99847106 -0.03158498] [ 0.07911471 0.0279262 0.99647479]] t_gt: [ 0.52342467 -0.28736387 -0.80215249] Pose Error in degrees for R and t: 8.51588686553817 87.36950988974725 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 0.99133752 0.13097767 -0.00973537] [-0.13078017 0.99123454 0.01872539] [ 0.01210264 -0.01728999 0.99977727]] t_estimated: [[8.62456961e-01] [5.06129886e-01] [7.27198112e-04]] R_gt: [[ 0.99900193 -0.01048455 -0.04342014] [ 0.01178636 0.99948565 0.02983047] [ 0.04308595 -0.03031181 0.99861112]] t_gt: [ 0.92264825 0.32087854 -0.21390927] Pose Error in degrees for R and t: 8.394312689174306 16.665556866775958 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[-0.26899654 0.96313467 -0.00353172] [ 0.96312766 0.26901037 0.00430414] [ 0.00509553 -0.0022437 -0.9999845 ]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309473e-04]] R_gt: [[ 0.99331704 0.00391328 -0.11535097] [ 0.00147535 0.99891242 0.04660019] [ 0.1154083 -0.04645911 0.99223136]] t_gt: [ 0.73836766 0.30701275 -0.60046346] Pose Error in degrees for R and t: 172.7948354381506 37.006198339942934 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99758529e-01 -2.19715643e-02 3.66122025e-04] [ 2.19715738e-02 9.99758596e-01 -2.18332222e-05] [-3.65553931e-04 2.98722272e-05 9.99999933e-01]] t_estimated: [[4.16869291e-01] [9.08966343e-01] [4.26461053e-04]] R_gt: [[ 0.98519711 0.01144988 -0.17104329] [-0.00589671 0.99943943 0.03293847] [ 0.17132521 -0.0314426 0.98471197]] t_gt: [ 0.67904494 0.2914639 -0.67375572] Pose Error in degrees for R and t: 10.204848025110728 56.789502441613756 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-0.98255346 -0.18592841 -0.00439666] [ 0.18590619 -0.98255468 0.00501813] [-0.00525297 0.00411321 0.99997774]] t_estimated: [[0.88556208] [0.46451964] [0.00114414]] R_gt: [[ 0.99725411 -0.07354682 -0.00869151] [ 0.07333928 0.99706013 -0.02218736] [ 0.01029784 0.02148886 0.99971632]] t_gt: [ 0.68692297 -0.69849096 -0.20061708] Pose Error in degrees for R and t: 165.07834597827824 73.52358536418868 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.03525534e-01 4.28534242e-01 1.12074598e-04] [-4.28534126e-01 9.03525433e-01 -5.43257137e-04] [-3.34066535e-04 4.42818905e-04 9.99999846e-01]] t_estimated: [[-2.29779048e-01] [ 9.73242799e-01] [-2.09930137e-04]] R_gt: [[ 0.98568823 -0.16841159 0.00746588] [ 0.16843996 0.98570629 -0.00334002] [-0.00679559 0.00454978 0.99996668]] t_gt: [ 0.682656 -0.73001565 0.03252588] Pose Error in degrees for R and t: 35.07374494291609 29.847937200178677 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99725536e-01 2.34218117e-02 5.20549356e-04] [-2.34215740e-02 9.99725572e-01 -4.58195938e-04] [-5.31138282e-04 4.45878094e-04 9.99999760e-01]] t_estimated: [[0.73918688] [0.67349986] [0.00083148]] R_gt: [[ 0.98697165 -0.16086191 -0.00323041] [ 0.16088627 0.98692878 0.0093022 ] [ 0.00169181 -0.00970088 0.99995099]] t_gt: [ 0.69368289 -0.71909998 0.0412221 ] Pose Error in degrees for R and t: 10.616852787006943 88.36789048939588 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[ 9.89617504e-01 -1.43726045e-01 -1.43052985e-04] [ 1.43726052e-01 9.89617512e-01 3.98172088e-05] [ 1.35844969e-04 -5.99642475e-05 9.99999989e-01]] t_estimated: [[-0.27999984] [-0.95999944] [-0.00108108]] R_gt: [[ 0.99908536 0.03037365 -0.0300958 ] [-0.030754 0.999452 -0.01225535] [ 0.02970734 0.01317074 0.99947148]] t_gt: [-0.50799975 0.43748746 -0.74198449] Pose Error in degrees for R and t: 10.185552619598937 73.92200002186503 Number of keypoints: Image1: 362 Image2: 362 R_estimated: [[ 9.99067829e-01 4.31679155e-02 6.31092625e-05] [-4.31679124e-02 9.99067830e-01 -4.94601282e-05] [-6.51855246e-05 4.66897278e-05 9.99999997e-01]] t_estimated: [[0.91074453] [0.41296918] [0.00092181]] R_gt: [[ 0.99983885 -0.00959196 -0.01519563] [ 0.00955585 0.99995208 -0.00240045] [ 0.01521782 0.00225595 0.99988177]] t_gt: [-0.60458982 -0.45358273 -0.65477771] Pose Error in degrees for R and t: 3.1489285500700372 42.39228393794101 Number of keypoints: Image1: 379 Image2: 379 R_estimated: [[-6.86368606e-01 7.27253454e-01 -7.42690768e-04] [-7.27250797e-01 -6.86368333e-01 -2.18839776e-03] [-2.10127925e-03 -9.61925068e-04 9.99997330e-01]] t_estimated: [[0.8043247 ] [0.59418882] [0.00119178]] R_gt: [[ 0.99868662 0.02756584 0.04319482] [-0.02679651 0.99947385 -0.0183056 ] [-0.0436762 0.01712509 0.99889795]] t_gt: [-0.89059761 0.31923508 0.32392107] Pose Error in degrees for R and t: 131.79599219759015 58.24705026328907 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99873159e-01 -1.59263036e-02 1.38045708e-04] [ 1.59263183e-02 9.99873163e-01 -1.06080138e-04] [-1.36338734e-04 1.08265243e-04 9.99999985e-01]] t_estimated: [[0.69259163] [0.72132851] [0.00141899]] R_gt: [[ 0.99843676 -0.05501764 0.00993916] [ 0.05478502 0.99824903 0.02229059] [-0.01114738 -0.02171066 0.99970217]] t_gt: [ 0.5800998 -0.7628907 0.28545053] Pose Error in degrees for R and t: 2.6373203876545843 81.48215183849493 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-3.13798891e-01 9.49489037e-01 -9.07716718e-04] [-9.49487283e-01 -3.13800077e-01 -1.84696511e-03] [-2.03851470e-03 2.82289874e-04 9.99997882e-01]] t_estimated: [[0.48459627] [0.87473733] [0.00102669]] R_gt: [[ 0.99976038 -0.01749762 -0.01317024] [ 0.01827477 0.99794601 0.06138185] [ 0.01206957 -0.06160811 0.99802764]] t_gt: [ 0.61571868 -0.67673795 0.40362887] Pose Error in degrees for R and t: 109.35870824421605 72.95165130814856 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-7.77331975e-02 -9.96974177e-01 -2.01046694e-04] [-9.96970898e-01 7.77334575e-02 -2.55693745e-03] [ 2.56482867e-03 1.67877903e-06 -9.99996711e-01]] t_estimated: [[0.65106677] [0.75902 ] [0.00083685]] R_gt: [[ 0.99293254 0.0602027 -0.10228561] [-0.05593487 0.99746013 0.04409368] [ 0.1046805 -0.03806125 0.99377748]] t_gt: [ 0.55055661 0.12549328 -0.82531137] Pose Error in degrees for R and t: 177.13540435525076 63.06300952654438 Number of keypoints: Image1: 309 Image2: 309 R_estimated: [[-9.96243001e-01 7.86773014e-02 -3.61906782e-02] [ 7.86381129e-02 9.96900076e-01 2.50722326e-03] [ 3.62757514e-02 -3.48163011e-04 -9.99341758e-01]] t_estimated: [[ 0.9993616 ] [-0.03104604] [-0.01767874]] R_gt: [[ 0.99491255 0.10073599 0.00131654] [-0.10069373 0.99474575 -0.01848365] [-0.00317156 0.01825769 0.99982857]] t_gt: [-0.69120327 0.71657125 -0.09361454] Pose Error in degrees for R and t: 178.09197633926254 44.654835434521594 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 9.99786668e-01 2.06547108e-02 -4.22354867e-05] [-2.06547100e-02 9.99786669e-01 2.09364110e-05] [ 4.26589120e-05 -2.00595829e-05 9.99999999e-01]] t_estimated: [[-9.62309911e-01] [-2.71954769e-01] [ 4.89091318e-04]] R_gt: [[ 0.99381938 0.10263489 -0.04230816] [-0.10311246 0.99462679 -0.00926327] [ 0.04112996 0.01356935 0.99906167]] t_gt: [-0.66855942 0.63536247 -0.38644901] Pose Error in degrees for R and t: 5.3349400472823705 61.94087237358969 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.06946227 -0.99756756 0.00582758] [ 0.99741663 -0.0693422 0.01875409] [-0.01830437 0.00711523 0.99980714]] t_estimated: [[ 0.71022948] [-0.70383632] [ 0.01373042]] R_gt: [[ 0.99605099 0.08698242 0.01777805] [-0.08678322 0.99615875 -0.0116982 ] [-0.01872642 0.01010979 0.99977388]] t_gt: [-0.82889512 0.55381644 0.07886837] Pose Error in degrees for R and t: 98.96649371683084 12.199162860449556 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.97039614e-01 7.68895394e-02 8.58888871e-05] [-7.68895313e-02 9.97039614e-01 -9.41122793e-05] [-9.28708727e-05 8.72297143e-05 9.99999992e-01]] t_estimated: [[-6.82614220e-01] [ 7.30778917e-01] [-2.56110297e-05]] R_gt: [[ 0.9902512 0.12725596 -0.05664409] [-0.12761609 0.99182006 -0.00276501] [ 0.05582798 0.00996697 0.99839058]] t_gt: [-0.34494115 0.88786871 -0.30447456] Pose Error in degrees for R and t: 4.371266226851316 27.833851657289358 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.41973508e-01 -3.35683591e-01 1.56128621e-03] [ 3.35685903e-01 9.41972657e-01 -1.57735350e-03] [-9.41197233e-04 2.00992698e-03 9.99997537e-01]] t_estimated: [[9.58398431e-01] [2.85432814e-01] [7.45255390e-04]] R_gt: [[ 0.98233394 0.15966703 -0.09761737] [-0.15961864 0.98714302 0.00834708] [ 0.0976951 0.00738174 0.99518883]] t_gt: [-0.22229083 0.9065362 -0.35885779] Pose Error in degrees for R and t: 29.368996381702548 87.39532158629237 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 0.99659786 -0.08212507 0.00694096] [-0.08221099 -0.99652801 0.01316326] [ 0.00583583 -0.0136891 -0.99988927]] t_estimated: [[0.0091403 ] [0.99995737] [0.00131035]] R_gt: [[ 0.9787085 0.13512627 -0.1545049 ] [-0.12959818 0.99052801 0.04535661] [ 0.15917081 -0.02436812 0.98695046]] t_gt: [ 0.01315834 0.87500799 -0.48392961] Pose Error in degrees for R and t: 177.57372598155223 29.019241431620866 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 6.80626317e-01 -7.32614060e-01 4.94525513e-03] [ 7.32625884e-01 6.80630892e-01 -9.49689921e-04] [-2.67013722e-03 4.26940586e-03 9.99987321e-01]] t_estimated: [[8.77350030e-01] [4.79850287e-01] [7.91832157e-04]] R_gt: [[ 9.94966897e-01 1.64953569e-02 -9.88500842e-02] [-1.63301410e-02 9.99864139e-01 2.48209120e-03] [ 9.88778796e-02 -8.55439627e-04 9.95098884e-01]] t_gt: [ 0.17077482 0.18342291 -0.96808677] Pose Error in degrees for R and t: 48.39366177717508 76.28583879767721 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 7.97458464e-01 -6.03373221e-01 -8.68265863e-04] [ 6.03373846e-01 7.97457681e-01 1.11770084e-03] [ 1.80145271e-05 -1.41520891e-03 9.99998998e-01]] t_estimated: [[7.63616145e-01] [6.45670139e-01] [6.73977180e-04]] R_gt: [[ 0.98601727 0.03060141 -0.16381251] [-0.031417 0.99950384 -0.00239108] [ 0.16365891 0.00750388 0.98648905]] t_gt: [ 0.1766186 0.19347229 -0.96507738] Pose Error in degrees for R and t: 39.97857443705741 74.98110026791909 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[-4.79493208e-01 -8.77544798e-01 -1.17932740e-03] [-8.77545464e-01 4.79491986e-01 1.18053125e-03] [-4.70491022e-04 1.60097013e-03 -9.99998608e-01]] t_estimated: [[0.79652074] [0.60461048] [0.0009316 ]] R_gt: [[ 0.98108407 0.00445338 -0.19353324] [-0.00985008 0.99958908 -0.02693222] [ 0.19333378 0.02832957 0.9807238 ]] t_gt: [ 0.30561613 0.07763211 -0.94898474] Pose Error in degrees for R and t: 169.5716300793939 73.17301173487355 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.99999998e-01 -3.64837981e-05 5.52642395e-05] [ 3.64833781e-05 9.99999999e-01 7.60134362e-06] [-5.52645168e-05 -7.59932738e-06 9.99999998e-01]] t_estimated: [[0.71392152] [0.70022514] [0.00090166]] R_gt: [[ 0.99693911 -0.0769498 -0.01385157] [ 0.07727007 0.9967138 0.02428554] [ 0.01193747 -0.02528161 0.99960945]] t_gt: [ 0.49897125 -0.85632236 0.13319049] Pose Error in degrees for R and t: 4.702741031665877 75.92026006759282 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.93406339e-01 -1.14641949e-01 1.03424277e-03] [ 1.14643130e-01 9.93406057e-01 -1.16569005e-03] [-8.93786056e-04 1.27657271e-03 9.99998786e-01]] t_estimated: [[8.38155435e-01] [5.45430946e-01] [7.41074655e-04]] R_gt: [[ 0.98645169 -0.15284897 -0.05959172] [ 0.15622732 0.98608176 0.05687592] [ 0.05006899 -0.06541576 0.99660179]] t_gt: [ 0.58893441 -0.78687063 0.18436614] Pose Error in degrees for R and t: 5.344708624330837 86.297743241685 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 0.93394778 -0.35739046 -0.00368914] [ 0.35740213 0.93394505 0.00321882] [ 0.00229507 -0.00432472 0.99998801]] t_estimated: [[-0.66775386] [-0.74438135] [-0.00109468]] R_gt: [[ 0.98860276 -0.09019792 -0.12054306] [ 0.10479777 0.98712317 0.12084704] [ 0.10809045 -0.13210298 0.98532534]] t_gt: [ 0.45360433 -0.80514641 0.3820764 ] Pose Error in degrees for R and t: 18.021630925901018 72.78118856704135 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[ 5.01384822e-01 -8.65223485e-01 1.25758801e-03] [ 8.65223461e-01 5.01385889e-01 7.43101215e-04] [-1.27348551e-03 7.15514983e-04 9.99998933e-01]] t_estimated: [[9.36261222e-01] [3.51303640e-01] [8.22725151e-04]] R_gt: [[ 0.99710283 -0.07263006 -0.02262548] [ 0.07320521 0.99698417 0.02572711] [ 0.02068715 -0.02730882 0.99941366]] t_gt: [ 0.54931424 -0.82899855 0.10495363] Pose Error in degrees for R and t: 55.7592309143472 77.10542828989257 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.10211154 0.99473537 -0.00864718] [ 0.99462133 -0.10194035 0.01834609] [ 0.017368 -0.01047401 -0.9997943 ]] t_estimated: [[0.13175076] [0.99126302] [0.00627381]] R_gt: [[ 0.98854926 -0.14840912 -0.02729124] [ 0.14729094 0.98831563 -0.03921293] [ 0.03279119 0.03474435 0.99885903]] t_gt: [ 0.58515159 -0.69941716 -0.41038184] Pose Error in degrees for R and t: 179.34026237384222 51.77240126463069 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[ 0.98316018 0.18272671 0.00264846] [-0.1827191 0.98316095 -0.00287745] [-0.00312965 0.00234507 0.99999235]] t_estimated: [[0.49718582] [0.867638 ] [0.00324958]] R_gt: [[ 0.97221682 -0.23399148 -0.00648569] [ 0.23239998 0.96817695 -0.09286713] [ 0.02800907 0.0887791 0.99565759]] t_gt: [ 0.58826997 -0.69220469 -0.41808026] Pose Error in degrees for R and t: 24.59679584074641 71.97317721614914 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.79477453e-01 -2.01547757e-01 -1.55592980e-03] [ 2.01548218e-01 9.79478583e-01 1.43280348e-04] [ 1.49512209e-03 -4.53934749e-04 9.99998779e-01]] t_estimated: [[-0.90476071] [-0.42591099] [-0.0028095 ]] R_gt: [[ 0.96371963 0.26648803 0.01513251] [-0.26637062 0.96382488 -0.00939725] [-0.01708835 0.00502543 0.99984166]] t_gt: [-0.88051188 0.47397406 -0.00688567] Pose Error in degrees for R and t: 27.10295560989506 53.50154310349368 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[ 8.32772405e-01 -5.53615140e-01 -6.31463208e-04] [ 5.53614747e-01 8.32772612e-01 -6.99629367e-04] [ 9.13190674e-04 2.33044687e-04 9.99999556e-01]] t_estimated: [[-0.52629655] [-0.85029932] [-0.00173364]] R_gt: [[ 0.9239272 0.38120555 0.03227584] [-0.38123629 0.92446169 -0.00544589] [-0.03191312 -0.00727304 0.99946483]] t_gt: [-0.85893399 0.51080595 0.0361895 ] Pose Error in degrees for R and t: 56.061506924456495 88.98848801940733 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-8.71313560e-01 4.90725723e-01 -9.72176880e-04] [ 4.90715942e-01 8.71305883e-01 4.89113886e-03] [ 3.24727109e-03 3.78465292e-03 -9.99987566e-01]] t_estimated: [[9.62413968e-01] [2.71585312e-01] [8.78916866e-04]] R_gt: [[ 0.89856639 0.43780449 0.03009124] [-0.43707339 0.89899056 -0.02800332] [-0.03931153 0.01201094 0.99915491]] t_gt: [-0.85376278 0.52064612 -0.00409082] Pose Error in degrees for R and t: 177.906568004059 47.13470901065884 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.99570889e-01 -2.92922431e-02 3.73386652e-05] [ 2.92922426e-02 9.99570890e-01 1.24180750e-05] [-3.76863961e-05 -1.13190131e-05 9.99999999e-01]] t_estimated: [[ 0.9703712 ] [-0.24161524] [ 0.00134261]] R_gt: [[ 0.9995615 -0.02057122 -0.02130475] [ 0.02065193 0.99977964 0.00356182] [ 0.02122735 -0.00399893 0.99976641]] t_gt: [ 0.40016142 -0.89942196 -0.17581517] Pose Error in degrees for R and t: 1.3368458198631294 52.74358382704715 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 0.43158547 -0.89899528 -0.07444108] [-0.89933654 -0.42238734 -0.11306075] [ 0.07019811 0.11574296 -0.99079554]] t_estimated: [[ 0.54008783] [ 0.8392829 ] [-0.06252482]] R_gt: [[ 0.99965496 -0.00590595 -0.02560811] [ 0.00488126 0.99919217 -0.03988698] [ 0.025823 0.03974951 0.99887577]] t_gt: [ 0.15908577 -0.57820401 -0.80023236] Pose Error in degrees for R and t: 169.5051063159552 69.55414519105219 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.30727718e-01 3.65711450e-01 -1.02509759e-03] [-3.65710154e-01 9.30727943e-01 1.25689902e-03] [ 1.41374934e-03 -7.94942160e-04 9.99998685e-01]] t_estimated: [[-0.80966424] [-0.58689135] [-0.00153636]] R_gt: [[ 0.99802345 -0.06105099 -0.01491858] [ 0.05883649 0.99106736 -0.11967781] [ 0.02209243 0.11856487 0.99270067]] t_gt: [ 0.35284278 -0.0619908 -0.93362686] Pose Error in degrees for R and t: 25.84461192754886 75.6486169377208 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99157140e-01 -4.10313386e-02 1.19978312e-03] [ 4.10315879e-02 9.99157833e-01 -1.83903247e-04] [-1.19122691e-03 2.32977248e-04 9.99999263e-01]] t_estimated: [[0.79028214] [0.6127393 ] [0.00216516]] R_gt: [[ 0.99805766 -0.05794297 0.02285509] [ 0.05558803 0.9941246 0.09287047] [-0.02810226 -0.09142009 0.99541618]] t_gt: [ 0.4369063 -0.46771141 0.76834817] Pose Error in degrees for R and t: 5.557173289421795 86.53965660517024 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.80640010e-01 -1.95818571e-01 5.07857157e-04] [ 1.95818062e-01 9.80639821e-01 9.09915715e-04] [-6.76203347e-04 -7.92852152e-04 9.99999457e-01]] t_estimated: [[0.8077402 ] [0.5895355 ] [0.00191408]] R_gt: [[ 0.99261103 -0.10076429 0.06759855] [ 0.08719756 0.97977844 0.18008145] [-0.08437808 -0.17285624 0.98132669]] t_gt: [ 0.32787546 -0.4162729 0.84806518] Pose Error in degrees for R and t: 12.481898098582983 88.79361737351954 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.68956801e-01 -2.47227053e-01 1.22601068e-03] [ 2.47228081e-01 9.68957007e-01 -7.71461367e-04] [-9.97225519e-04 1.05061701e-03 9.99998951e-01]] t_estimated: [[0.62820229] [0.77804871] [0.00144083]] R_gt: [[ 0.98578281 -0.13755568 0.09648332] [ 0.10851941 0.9596514 0.25940679] [-0.12827328 -0.2452481 0.96093654]] t_gt: [ 0.2632038 -0.39922905 0.8782596 ] Pose Error in degrees for R and t: 17.579044602471775 81.720103713784 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.79478334e-01 -2.01549451e-01 -1.06184605e-04] [ 2.01549462e-01 9.79478331e-01 1.14642506e-04] [ 8.08993855e-05 -1.33691301e-04 9.99999988e-01]] t_estimated: [[ 7.10646040e-01] [-7.03549717e-01] [ 3.63565234e-05]] R_gt: [[ 0.9955907 -0.08594404 -0.03758831] [ 0.08423914 0.99543805 -0.0448082 ] [ 0.04126827 0.04144435 0.99828755]] t_gt: [ 0.65077371 -0.39443629 -0.64877854] Pose Error in degrees for R and t: 7.529722508965452 42.27269769498124 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 3.08352853e-01 9.51271284e-01 1.20942266e-03] [-9.51267584e-01 3.08355053e-01 -2.67288336e-03] [-2.91556877e-03 -3.26293364e-04 9.99995696e-01]] t_estimated: [[-0.01015598] [ 0.99994531] [ 0.00249681]] R_gt: [[ 0.98820445 -0.15223489 -0.01667539] [ 0.15029509 0.98495621 -0.08528507] [ 0.02940789 0.08177246 0.99621694]] t_gt: [ 0.57470076 -0.50573384 -0.64339127] Pose Error in degrees for R and t: 80.88154019877113 59.126170874350024 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[-0.15750007 -0.98743133 -0.01315668] [-0.9867426 0.15789047 -0.03754529] [ 0.03915071 0.00706887 -0.99920831]] t_estimated: [[ 0.81974197] [ 0.57270073] [-0.00608095]] R_gt: [[ 0.98675823 -0.1571067 -0.04032909] [ 0.15390678 0.98538902 -0.07295095] [ 0.05120126 0.06577837 0.99651932]] t_gt: [ 0.61948704 -0.49560117 -0.6087818 ] Pose Error in degrees for R and t: 173.35305796568088 76.83886881025171 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 8.70920474e-01 4.91421562e-01 1.54182437e-03] [-4.91420085e-01 8.70921776e-01 -1.24911730e-03] [-1.95665159e-03 3.30198368e-04 9.99998031e-01]] t_estimated: [[-0.89414389] [ 0.44777499] [ 0.0020648 ]] R_gt: [[ 0.99907611 -0.0418236 0.0098738 ] [ 0.04123982 0.99772055 0.05341791] [-0.01208529 -0.05296169 0.99852302]] t_gt: [ 0.47307421 -0.51080911 0.71782647] Pose Error in degrees for R and t: 31.966855040178793 49.440165468059085 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.95423957e-01 9.55546220e-02 6.78607971e-04] [-9.55542769e-02 9.95424083e-01 -5.24048522e-04] [-7.25577976e-04 4.56806559e-04 9.99999632e-01]] t_estimated: [[0.99984752] [0.01733162] [0.00213261]] R_gt: [[ 0.99777967 -0.04748309 0.04670475] [ 0.04245138 0.99373503 0.10339182] [-0.05132188 -0.10117964 0.99354334]] t_gt: [ 0.25481521 -0.32120941 0.91208208] Pose Error in degrees for R and t: 10.371954602563514 75.4541661995164 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 8.57406570e-01 5.14639592e-01 2.52228449e-04] [-5.14639334e-01 8.57406480e-01 -6.95440186e-04] [-5.74163361e-04 4.66468303e-04 9.99999726e-01]] t_estimated: [[-5.10523464e-01] [ 8.59863777e-01] [ 2.80040585e-04]] R_gt: [[ 0.9957856 -0.07447012 0.05352722] [ 0.06754824 0.99032885 0.12118832] [-0.06203467 -0.11706236 0.99118477]] t_gt: [ 0.35854336 -0.31570238 0.87850934] Pose Error in degrees for R and t: 35.85939557980421 62.98268028151092 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99988182e-01 4.84358596e-03 4.19138508e-04] [-4.84324579e-03 9.99987944e-01 -8.08847542e-04] [-4.23051177e-04 8.06807992e-04 9.99999585e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98860395 -0.08769404 0.12237201] [ 0.06021704 0.97531439 0.21245598] [-0.13798263 -0.20266488 0.96947775]] t_gt: [ 0.2061154 -0.20438738 0.95694422] Pose Error in degrees for R and t: 14.935832133393415 78.09893304901995 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[ 0.9827004 -0.18459912 -0.01493637] [ 0.18467577 0.9827917 0.00391452] [ 0.01395672 -0.00660518 0.99988078]] t_estimated: [[0.99240371] [0.12301423] [0.00154401]] R_gt: [[ 0.97894231 -0.12971047 0.15763741] [ 0.07636665 0.94880972 0.30647823] [-0.18932176 -0.28798605 0.93873396]] t_gt: [ 0.23609787 -0.15531614 0.95923652] Pose Error in degrees for R and t: 20.831230704259585 77.48592904244025 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 9.42408101e-01 -3.34463354e-01 -1.11130548e-03] [ 3.34463656e-01 9.42408645e-01 9.20739445e-05] [ 1.01650853e-03 -4.58462525e-04 9.99999378e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97387181 -0.15769966 0.16342441] [ 0.09287662 0.93322891 0.34707297] [-0.20724555 -0.32282584 0.92348949]] t_gt: [ 0.26915337 -0.15408209 0.95069194] Pose Error in degrees for R and t: 25.554358153494956 81.29123111880943 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.38753307e-01 -3.44589807e-01 -3.05271901e-04] [ 3.44589921e-01 9.38753192e-01 4.79794206e-04] [ 1.21242779e-04 -5.55602018e-04 9.99999838e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99670774 -0.05805337 0.05660735] [ 0.05148521 0.99245262 0.11129989] [-0.06264178 -0.10801833 0.99217295]] t_gt: [ 0.2451301 -0.42375549 0.87197621] Pose Error in degrees for R and t: 18.437541928510857 75.84825482967275 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 0.11309867 -0.9935738 0.00444987] [-0.99357807 -0.11308173 0.00389088] [-0.00336267 -0.00486135 -0.99998253]] t_estimated: [[0.62585262] [0.77993395] [0.00339564]] R_gt: [[ 0.99067946 -0.10606898 0.08546581] [ 0.08876788 0.97861384 0.1855693 ] [-0.10332091 -0.17625166 0.97890694]] t_gt: [ 0.24077423 -0.44034462 0.86494184] Pose Error in degrees for R and t: 168.2389715600913 79.05809934516608 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.97050182 0.24098258 -0.00732283] [-0.24100157 -0.97052302 0.00181932] [-0.00666855 0.00353046 0.99997153]] t_estimated: [[0.65096479] [0.75910744] [0.00085902]] R_gt: [[ 0.98516444 -0.1152902 0.12711994] [ 0.0805808 0.96475995 0.25049315] [-0.15151964 -0.23653268 0.95973562]] t_gt: [ 0.13403019 -0.38512248 0.91308082] Pose Error in degrees for R and t: 171.93521823109091 78.2105356240955 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-2.19964782e-01 -9.75506607e-01 1.53459987e-03] [-9.75504042e-01 2.19968034e-01 2.43476074e-03] [-2.71268810e-03 -9.61446759e-04 -9.99995858e-01]] t_estimated: [[0.75346571] [0.65748282] [0.00239957]] R_gt: [[ 0.99359017 0.09563971 -0.06027442] [-0.09263251 0.99440073 0.05085742] [ 0.06480195 -0.04494804 0.9968853 ]] t_gt: [-0.25630553 0.96286615 -0.08483078] Pose Error in degrees for R and t: 179.06670357287805 63.912262418692144 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.46319948e-01 -3.23231346e-01 -2.28659919e-04] [ 3.23231410e-01 9.46319892e-01 3.43844864e-04] [ 1.05243991e-04 -3.99297322e-04 9.99999915e-01]] t_estimated: [[ 8.92827563e-01] [-4.50398384e-01] [ 4.87551631e-04]] R_gt: [[ 0.9815708 0.16401042 -0.09808871] [-0.15479231 0.98334844 0.09521348] [ 0.11207149 -0.07827584 0.99061336]] t_gt: [-0.18914037 0.97977502 -0.06532095] Pose Error in degrees for R and t: 29.125777172930785 52.396709173316566 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.96599231 -0.25855915 0.00245264] [ 0.25856395 0.96599229 -0.00189124] [-0.00188024 0.00246109 0.9999952 ]] t_estimated: [[0.11212802] [0.99368625] [0.00386648]] R_gt: [[ 0.98190156 0.15326193 -0.11127152] [-0.14079947 0.98364205 0.11236181] [ 0.12667269 -0.09466188 0.98741779]] t_gt: [ 0.08999564 0.99391973 -0.06343782] Pose Error in degrees for R and t: 25.23567391472214 4.060272807039827 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 9.99787859e-01 -2.05038387e-02 -1.95695275e-03] [ 2.05053169e-02 9.99789471e-01 7.38288040e-04] [ 1.94140302e-03 -7.78259355e-04 9.99997813e-01]] t_estimated: [[-0.14571451] [-0.98932482] [-0.0019173 ]] R_gt: [[ 9.99975990e-01 7.26675333e-04 -6.91780652e-03] [-1.20060762e-03 9.97643470e-01 -6.85912051e-02] [ 6.85239674e-03 6.85985282e-02 9.97620925e-01]] t_gt: [-0.03580526 0.52534227 -0.85013733] Pose Error in degrees for R and t: 4.172381201662165 59.14368762907086 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[ 9.91608692e-01 1.29272391e-01 9.22342848e-04] [-1.29271121e-01 9.91608402e-01 -1.32465702e-03] [-1.08584450e-03 1.19430912e-03 9.99998697e-01]] t_estimated: [[0.54554378] [0.83808174] [0.0009883 ]] R_gt: [[ 9.98137399e-01 -6.04735481e-02 8.05980989e-03] [ 6.10080184e-02 9.89081219e-01 -1.34145037e-01] [ 1.40439088e-04 1.34386628e-01 9.90928557e-01]] t_gt: [ 0.21242604 0.47368553 -0.85469129] Pose Error in degrees for R and t: 13.330620696965308 59.20084480031197 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.71746582e-01 -2.36025619e-01 6.97700419e-04] [ 2.36026125e-01 9.71746412e-01 -7.61106796e-04] [-4.98347176e-04 9.04278454e-04 9.99999467e-01]] t_estimated: [[-0.9603633 ] [-0.27874952] [-0.00101733]] R_gt: [[ 0.99919 -0.03890386 -0.01027098] [ 0.03664657 0.98529556 -0.1668766 ] [ 0.0166117 0.16636445 0.98592456]] t_gt: [ 0.00744607 0.69894115 -0.71514042] Pose Error in degrees for R and t: 14.935319011528588 78.3897648758632 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.46583177e-01 -3.22459649e-01 -2.53864468e-04] [ 3.22459729e-01 9.46583102e-01 3.91660574e-04] [ 1.14009085e-04 -4.52600378e-04 9.99999891e-01]] t_estimated: [[9.95242150e-01] [9.74289253e-02] [8.17223491e-04]] R_gt: [[ 0.99544544 -0.07811398 -0.05464123] [ 0.08270447 0.99272206 0.08753338] [ 0.04740643 -0.09165328 0.99466141]] t_gt: [ 0.43777637 -0.80343099 0.40354739] Pose Error in degrees for R and t: 15.357995728922807 69.03817380038852 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.50428858e-01 -3.10941688e-01 -5.03112712e-04] [ 3.10941972e-01 9.50428678e-01 6.47261634e-04] [ 2.76912124e-04 -7.71614994e-04 9.99999664e-01]] t_estimated: [[0.90673736] [0.42169431] [0.00112548]] R_gt: [[ 0.97952546 -0.1719832 -0.10464735] [ 0.18225547 0.97834489 0.0980946 ] [ 0.08551034 -0.11515883 0.98965923]] t_gt: [ 0.59467092 -0.7760187 0.21014629] Pose Error in degrees for R and t: 11.355103985035417 77.74844522575866 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 7.89553318e-01 6.13681040e-01 1.06733322e-03] [-6.13680724e-01 7.89554025e-01 -6.40478244e-04] [-1.23576659e-03 -1.49310098e-04 9.99999225e-01]] t_estimated: [[0.34493111] [0.93862731] [0.00113927]] R_gt: [[ 0.95054228 -0.28624044 -0.12056084] [ 0.29781123 0.95016966 0.09211474] [ 0.08818611 -0.12346263 0.9884232 ]] t_gt: [ 0.66606105 -0.72909071 0.15744653] Pose Error in degrees for R and t: 55.582535144837586 62.97238402505109 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.96680832e-01 -8.13912377e-02 -1.66917989e-03] [ 8.13911712e-02 9.96682229e-01 -1.07836758e-04] [ 1.67241890e-03 -2.83776764e-05 9.99998601e-01]] t_estimated: [[8.37236538e-01] [5.46840431e-01] [7.22378377e-04]] R_gt: [[ 9.86657007e-01 1.62810509e-01 -8.00753666e-04] [-1.62598079e-01 9.85091082e-01 -5.61846092e-02] [-8.35932548e-03 5.55650591e-02 9.98419931e-01]] t_gt: [-0.80896128 0.5482957 -0.21202236] Pose Error in degrees for R and t: 14.404197679383968 67.81398120453369 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 7.48834458e-01 6.62756706e-01 7.09546764e-04] [-6.62756659e-01 7.48834761e-01 -3.33931320e-04] [-7.52648504e-04 -2.20197563e-04 9.99999693e-01]] t_estimated: [[-3.11915590e-01] [ 9.50109420e-01] [ 8.68639086e-04]] R_gt: [[ 0.9758621 0.21644527 -0.02901389] [-0.21754876 0.975115 -0.04267832] [ 0.01905484 0.04796009 0.99866816]] t_gt: [-0.78199804 0.59692884 -0.17931822] Pose Error in degrees for R and t: 29.118621364996724 35.81512909945747 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.88664896e-01 -1.50138949e-01 1.39268480e-04] [ 1.50138921e-01 9.88664891e-01 1.94101433e-04] [-1.66832042e-04 -1.70991654e-04 9.99999971e-01]] t_estimated: [[0.95202844] [0.30600662] [0.00133832]] R_gt: [[ 0.97265137 0.22789308 -0.04488405] [-0.23058472 0.97063132 -0.06859096] [ 0.02793495 0.07706404 0.99663513]] t_gt: [-0.69485568 0.67048121 -0.26005869] Pose Error in degrees for R and t: 22.405589487984493 62.825713578482194 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.60853144 0.79342187 0.01308516] [ 0.79350244 0.60856459 0.00173633] [-0.00658552 0.01143972 -0.99991288]] t_estimated: [[9.94352533e-01] [1.06123723e-01] [8.91795994e-04]] R_gt: [[ 0.99926659 0.01418374 -0.03557589] [-0.01883845 0.99078613 -0.13411809] [ 0.03334626 0.1346902 0.99032615]] t_gt: [ 0.15944424 0.37792858 -0.91200193] Pose Error in degrees for R and t: 177.73647675241142 78.58946091748633 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-2.14309635e-01 -9.76763638e-01 -2.04364815e-03] [ 9.76764877e-01 -2.14311807e-01 9.08111911e-04] [-1.32498862e-03 -1.80154660e-03 9.99997499e-01]] t_estimated: [[0.99527693] [0.09706684] [0.00136714]] R_gt: [[ 0.99881591 -0.01247628 -0.0470401 ] [-0.00161143 0.9575709 -0.28819374] [ 0.04863982 0.28792877 0.95641579]] t_gt: [ 0.20595993 0.40404998 -0.89124863] Pose Error in degrees for R and t: 103.09102805799616 75.93700489456488 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.78429686 0.62038456 0.0012 ] [-0.62038074 0.78429684 -0.00248972] [-0.00248574 0.00120822 0.99999618]] t_estimated: [[-9.07288300e-01] [-4.20508404e-01] [-7.88946348e-04]] R_gt: [[ 0.99787374 -0.04633901 -0.04584649] [ 0.02863854 0.94345532 -0.330261 ] [ 0.05855808 0.32824689 0.94277559]] t_gt: [ 0.25864162 0.37460423 -0.89037979] Pose Error in degrees for R and t: 44.771035295848634 66.95311241087586 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.9605686 -0.27622746 0.03172324] [ 0.27424422 -0.96005341 -0.05556578] [ 0.0458048 -0.04467483 0.99795094]] t_estimated: [[8.53770173e-01] [5.20649466e-01] [7.91260586e-04]] R_gt: [[ 0.99985153 -0.00548098 -0.01633289] [ 0.00230072 0.98202257 -0.18874818] [ 0.01707322 0.18868294 0.98188969]] t_gt: [ 0.16717527 0.38633106 -0.90708365] Pose Error in degrees for R and t: 163.62507925420564 69.93081531752955 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.28546722e-01 3.71215257e-01 4.66304703e-04] [-3.71214148e-01 9.28545935e-01 -1.58220680e-03] [-1.02032464e-03 1.29605403e-03 9.99998640e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99873339 -0.04059406 -0.02973775] [ 0.03109561 0.96249457 -0.2695131 ] [ 0.0395628 0.26824695 0.96253788]] t_gt: [ 0.24680464 0.34851589 -0.90422571] Pose Error in degrees for R and t: 28.49393722993244 75.68911538410889 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-2.16145893e-01 -9.76359895e-01 -1.51938144e-03] [ 9.76361003e-01 -2.16146220e-01 5.26166892e-05] [-3.79781380e-04 -1.47209191e-03 9.99998844e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99620316 -0.08273063 -0.02711316] [ 0.07079794 0.95107483 -0.3007404 ] [ 0.05066642 0.29767863 0.95332132]] t_gt: [ 0.32154918 0.29018257 -0.90133246] Pose Error in degrees for R and t: 99.15202327643254 71.23129267352928 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99985437e-01 -5.39606577e-03 -8.58833120e-05] [ 5.39607128e-03 9.99985439e-01 6.40431749e-05] [ 8.55364802e-05 -6.45056747e-05 9.99999994e-01]] t_estimated: [[-9.58123212e-01] [ 2.86355448e-01] [-6.84780258e-04]] R_gt: [[ 0.99367411 0.11015936 -0.02183084] [-0.1105415 0.99372362 -0.01713676] [ 0.01980531 0.01944126 0.99961526]] t_gt: [-0.80922898 0.55810064 -0.18349967] Pose Error in degrees for R and t: 6.83298733096068 20.726266368431787 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99578901e-01 -2.90174814e-02 -8.53234613e-05] [ 2.90174833e-02 9.99578904e-01 2.15964878e-05] [ 8.46608563e-05 -2.40632656e-05 9.99999996e-01]] t_estimated: [[-9.85861345e-01] [ 1.67561896e-01] [-6.47018998e-04]] R_gt: [[ 0.98886114 0.13959555 -0.05164946] [-0.14031437 0.99005132 -0.01056516] [ 0.04965969 0.01769425 0.99861015]] t_gt: [-0.73489505 0.64799882 -0.20006698] Pose Error in degrees for R and t: 10.170230726929457 33.56967904288315 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.68869703e-01 -2.47570769e-01 -4.61200967e-04] [ 2.47570874e-01 9.68869768e-01 1.85460231e-04] [ 4.00929142e-04 -2.93866726e-04 9.99999876e-01]] t_estimated: [[-0.96657102] [-0.25639583] [-0.00128228]] R_gt: [[ 0.98292946 0.17961812 -0.03983845] [-0.18133267 0.98240711 -0.04467135] [ 0.03111247 0.05113173 0.99820735]] t_gt: [-0.63482265 0.73285469 -0.24479422] Pose Error in degrees for R and t: 24.97331752961762 64.78512532226863 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 9.99958955e-01 9.06019226e-03 -1.59436831e-05] [-9.06019091e-03 9.99958952e-01 8.25755665e-05] [ 1.66911791e-05 -8.24277244e-05 9.99999996e-01]] t_estimated: [[ 8.75202409e-01] [ 4.83756866e-01] [-1.94713203e-04]] R_gt: [[ 0.99167721 -0.12601881 -0.0263693 ] [ 0.12631721 0.99194033 0.00992111] [ 0.02490681 -0.01316965 0.99960306]] t_gt: [ 0.63699292 -0.77060243 -0.02029568] Pose Error in degrees for R and t: 7.933948642394642 79.3553389534962 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-6.72342743e-01 -7.40239862e-01 4.27435180e-04] [-7.40239895e-01 6.72342834e-01 1.05925032e-04] [-3.65792911e-04 -2.45186647e-04 -9.99999903e-01]] t_estimated: [[0.94503102] [0.32697817] [0.00128227]] R_gt: [[ 0.97248982 -0.23213123 -0.01942174] [ 0.2323345 0.97259524 0.00888834] [ 0.01682552 -0.01315664 0.99977225]] t_gt: [ 0.67105965 -0.74083357 -0.02906143] Pose Error in degrees for R and t: 179.32680457725544 66.92731772073866 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.69469724e-01 2.45209810e-01 -7.76503023e-04] [-2.45208645e-01 9.69469390e-01 1.34994996e-03] [ 1.08381689e-03 -1.11833036e-03 9.99998787e-01]] t_estimated: [[ 0.79082027] [ 0.61204474] [-0.00213008]] R_gt: [[ 0.96883275 -0.2369333 0.07228163] [ 0.24288651 0.96593755 -0.08928041] [-0.04866682 0.1040532 0.99338013]] t_gt: [ 0.57617522 -0.76585421 -0.28546355] Pose Error in degrees for R and t: 28.89118010185786 89.28504850448365 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99879965e-01 1.54737754e-02 -7.85519401e-04] [-1.54736279e-02 9.99880258e-01 1.93614045e-04] [ 7.88421281e-04 -1.81435970e-04 9.99999673e-01]] t_estimated: [[-0.99998218] [ 0.00390523] [-0.00451647]] R_gt: [[ 0.99780617 0.01096077 -0.06529958] [-0.00737519 0.99846495 0.05488499] [ 0.06580029 -0.05428273 0.99635472]] t_gt: [ 0.83877192 -0.19801993 0.50719796] Pose Error in degrees for R and t: 4.865344067153367 32.667081784700756 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.98271919e-01 -5.87606527e-02 6.01597657e-04] [ 5.87606283e-02 9.98272100e-01 5.81921207e-05] [-6.03977564e-04 -2.27413036e-05 9.99999817e-01]] t_estimated: [[0.23709943] [0.97148464] [0.00120794]] R_gt: [[ 0.99206399 0.01897267 -0.12429686] [-0.01127391 0.99799095 0.06234512] [ 0.12522895 -0.06044937 0.99028354]] t_gt: [ 0.9804451 -0.18046565 0.07848278] Pose Error in degrees for R and t: 9.072940294437068 86.7187010861795 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.99388318 -0.10851584 0.02050682] [-0.10843263 0.99409056 0.00513038] [-0.02094236 0.00287539 -0.99977655]] t_estimated: [[0.99376008] [0.11041779] [0.01577397]] R_gt: [[ 0.98947216 0.0590533 -0.13213111] [-0.04419155 0.99264499 0.11270644] [ 0.13781478 -0.10568061 0.98480328]] t_gt: [ 0.89731937 -0.18739592 0.39962572] Pose Error in degrees for R and t: 173.76293160499424 28.67781846017571 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.89248371e-01 -1.46244987e-01 -2.54067070e-04] [ 1.46245045e-01 9.89248370e-01 2.23955916e-04] [ 2.18583005e-04 -2.58704075e-04 9.99999943e-01]] t_estimated: [[-0.02523066] [ 0.99968114] [ 0.00101248]] R_gt: [[ 0.9993775 0.01276836 0.03289007] [-0.01424806 0.99887776 0.04515793] [-0.03227591 -0.04559843 0.99843804]] t_gt: [-0.49892466 0.16512806 0.85076842] Pose Error in degrees for R and t: 9.72423487257346 79.71614336900426 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.9664457 -0.2568629 0.00203914] [-0.25685809 -0.96628712 0.01769502] [-0.0025748 -0.01762505 -0.99984135]] t_estimated: [[0.09936162] [0.9950111 ] [0.00895408]] R_gt: [[ 0.99615737 -0.03732221 0.07923362] [ 0.02731223 0.99192439 0.12385056] [-0.08321628 -0.12121019 0.98913166]] t_gt: [-0.08644882 -0.14640196 0.98544054] Pose Error in degrees for R and t: 171.38826352041696 81.63738179201539 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.64305538e-01 -2.64790159e-01 -1.00112009e-03] [ 2.64791093e-01 9.64305327e-01 9.55760404e-04] [ 7.12309484e-04 -1.18673273e-03 9.99999042e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.98955816 -0.09235423 0.11066136] [ 0.0745996 0.98508738 0.15503812] [-0.12332967 -0.14516446 0.98168986]] t_gt: [ 0.16635684 -0.25575174 0.95232161] Pose Error in degrees for R and t: 15.183932715286765 89.95689123507204 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999997e-01 -7.07450891e-05 2.00492374e-05] [ 7.07449483e-05 9.99999997e-01 7.02231882e-06] [-2.00497341e-05 -7.02090042e-06 1.00000000e+00]] t_estimated: [[ 9.85905883e-01] [ 1.67299820e-01] [-6.00077906e-04]] R_gt: [[ 0.99876414 -0.04744674 -0.01478041] [ 0.04742547 0.9988731 -0.00185569] [ 0.01485169 0.00115272 0.99988894]] t_gt: [ 0.78987737 -0.56261266 -0.24405068] Pose Error in degrees for R and t: 2.8465243868579333 46.78277743662426 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99998969e-01 1.43457140e-03 6.72232381e-05] [-1.43458676e-03 9.99998945e-01 2.28922896e-04] [-6.68947609e-05 -2.29019097e-04 9.99999972e-01]] t_estimated: [[9.96232706e-01] [8.67146132e-02] [9.85393378e-04]] R_gt: [[ 0.98956617 -0.14036879 -0.03247093] [ 0.13979984 0.98999371 -0.01919949] [ 0.03484055 0.0144604 0.99928836]] t_gt: [ 0.76756301 -0.60302133 -0.21728392] Pose Error in degrees for R and t: 8.422066838255914 44.58853741591958 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.71190620e-01 2.38302278e-01 8.96134220e-04] [-2.38303926e-01 9.71185684e-01 3.09930624e-03] [-1.31740989e-04 -3.22356945e-03 9.99994796e-01]] t_estimated: [[0.69283563] [0.72109467] [0.0011268 ]] R_gt: [[ 0.95982322 -0.27732992 -0.04274664] [ 0.27769436 0.9606659 0.0027239 ] [ 0.0403102 -0.01448419 0.99908228]] t_gt: [ 0.7732109 -0.6310876 -0.06223623] Pose Error in degrees for R and t: 30.004007033359162 85.37901303687107 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 9.98303212e-01 5.82296788e-02 -2.25094180e-05] [-5.82296785e-02 9.98303213e-01 1.02364125e-05] [ 2.30672873e-05 -8.90832733e-06 1.00000000e+00]] t_estimated: [[-9.46505266e-01] [ 3.22688013e-01] [-4.76777438e-04]] R_gt: [[ 0.99250215 0.11342251 0.0455387 ] [-0.11373665 0.99350124 0.00435951] [-0.04474826 -0.00950572 0.9989529 ]] t_gt: [-0.8400191 0.51447575 0.17228641] Pose Error in degrees for R and t: 4.1278008365833605 16.051092288008306 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.04671816 -0.99889812 0.00446705] [-0.99888762 -0.04668809 0.00661395] [-0.0063981 -0.00477107 -0.99996815]] t_estimated: [[0.67214159] [0.74040072] [0.0056982 ]] R_gt: [[ 0.97295334 0.23045938 0.01578256] [-0.23092364 0.97210741 0.0410083 ] [-0.00589081 -0.04354338 0.99903422]] t_gt: [-0.82318314 0.55854786 0.10195 ] Pose Error in degrees for R and t: 177.36488886724032 82.00044249363468 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 3.14312944e-01 9.49318432e-01 1.37434555e-03] [-9.49319197e-01 3.14313545e-01 -2.40484177e-04] [-6.60271484e-04 -1.22910533e-03 9.99999027e-01]] t_estimated: [[0.22382135] [0.97462947] [0.00118424]] R_gt: [[ 0.91086442 0.41270083 0.00179708] [-0.41175616 0.90846574 0.07173564] [ 0.02797351 -0.06608115 0.99742199]] t_gt: [-0.7944804 0.60597105 0.03999976] Pose Error in degrees for R and t: 47.468881397351744 65.61770881974354 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999516e-01 -9.82131557e-04 6.29674833e-05] [ 9.82129002e-04 9.99999517e-01 4.05901283e-05] [-6.30073177e-05 -4.05282664e-05 9.99999997e-01]] t_estimated: [[-0.08561879] [ 0.9963273 ] [ 0.0011569 ]] R_gt: [[ 0.99921435 -0.01073579 -0.03814613] [ 0.01108574 0.99989773 0.00900166] [ 0.03804543 -0.0094164 0.99923139]] t_gt: [ 0.83476238 -0.32980519 -0.44090849] Pose Error in degrees for R and t: 2.3205439999523785 66.38584885552582 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99999413e-01 -7.62633994e-04 -7.69038789e-04] [ 7.63154800e-04 9.99999480e-01 6.77150776e-04] [ 7.68521971e-04 -6.77737275e-04 9.99999475e-01]] t_estimated: [[-9.99974549e-01] [-7.07946583e-03] [-8.84933229e-04]] R_gt: [[ 0.98811021 -0.08634383 -0.12721424] [ 0.08150308 0.99575457 -0.04277958] [ 0.13036787 0.03190325 0.99095274]] t_gt: [ 0.74709126 -0.27549424 -0.60494428] Pose Error in degrees for R and t: 9.052096512540338 41.876400610498294 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 9.99997022e-01 2.39993181e-03 4.42145802e-04] [-2.39998587e-03 9.99997113e-01 1.21773597e-04] [-4.41852277e-04 -1.22834378e-04 9.99999895e-01]] t_estimated: [[ 0.99997813] [-0.00641544] [-0.00160451]] R_gt: [[ 0.97202158 -0.20773803 -0.10963801] [ 0.19978698 0.97663218 -0.07921517] [ 0.12353224 0.05509466 0.99080985]] t_gt: [ 0.81987187 -0.40048939 -0.4091679 ] Pose Error in degrees for R and t: 14.261813982799161 34.60571062417643 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99997495e-01 2.11721861e-03 7.26796407e-04] [-2.11701215e-03 9.99997719e-01 -2.84716453e-04] [-7.27397556e-04 2.83177103e-04 9.99999695e-01]] t_estimated: [[-9.91967415e-01] [-1.26491031e-01] [-8.16593321e-04]] R_gt: [[ 0.99678686 0.07965907 0.00855421] [-0.07933497 0.9962943 -0.03322199] [-0.01116927 0.03243571 0.99941119]] t_gt: [-0.61441716 0.74884559 -0.24843879] Pose Error in degrees for R and t: 4.843914078360204 59.00505657325462 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99998390e-01 -1.69662362e-03 -5.83682557e-04] [ 1.69686795e-03 9.99998473e-01 4.18361916e-04] [ 5.82971863e-04 -4.19351675e-04 9.99999742e-01]] t_estimated: [[-0.96158964] [ 0.27448934] [-0.00098585]] R_gt: [[ 0.98332364 0.18184735 -0.00301619] [-0.18185902 0.98290561 -0.02870555] [-0.00225488 0.02877491 0.99958335]] t_gt: [-0.69348751 0.71241177 -0.10744551] Pose Error in degrees for R and t: 10.708804817806922 30.40089483069861 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[-0.18748345 0.98226116 0.00360063] [ 0.98226668 0.18747654 0.00217332] [ 0.00145973 0.00394425 -0.99999116]] t_estimated: [[-0.00624337] [-0.99997997] [-0.00104056]] R_gt: [[ 0.93795204 0.34676088 -0.00208459] [-0.34611193 0.93579179 -0.06708452] [-0.02131056 0.06364287 0.9977448 ]] t_gt: [-0.70308215 0.7009509 -0.11976367] Pose Error in degrees for R and t: 177.1037428089093 45.859308836187616 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[-0.99610912 -0.08811914 -0.00127998] [-0.08811562 0.99610689 -0.00258851] [ 0.00150309 -0.00246565 -0.99999583]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96436062 0.26451311 0.0064461 ] [-0.26455498 0.96434721 0.00673235] [-0.00443562 -0.00819711 0.99995634]] t_gt: [-0.93402217 0.35617257 0.02727062] Pose Error in degrees for R and t: 179.72557564820818 21.10981457523145 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-0.16130305 -0.95167321 -0.2613416 ] [-0.98674192 0.15070624 0.06023301] [-0.01793633 0.26759248 -0.96336522]] t_estimated: [[ 0.79937317] [ 0.60083028] [-0.00234735]] R_gt: [[ 0.95404371 0.29848774 0.02658439] [-0.29791485 0.95430336 -0.02346106] [-0.03237291 0.01446334 0.9993708 ]] t_gt: [-0.92053687 0.38987884 -0.0246242 ] Pose Error in degrees for R and t: 169.55160428137015 59.897819409298165 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[ 8.11879403e-01 5.83821415e-01 2.09520026e-03] [ 5.83820588e-01 -8.11882022e-01 1.05029502e-03] [ 2.31424015e-03 3.70508153e-04 -9.99997254e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.89298208 0.44960615 0.0209297 ] [-0.449919 0.89296321 0.013757 ] [-0.01250406 -0.02170022 0.99968587]] t_gt: [-0.87597533 0.47909304 0.05600958] Pose Error in degrees for R and t: 179.2553406934557 29.02100785824371 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.93718122 -0.11320684 0.32996298] [ 0.18401382 0.96400769 -0.19190648] [-0.29636172 0.24056889 0.92428153]] t_estimated: [[-0.52117198] [-0.85022255] [-0.0741713 ]] R_gt: [[ 0.99637306 0.07385695 -0.04227538] [-0.07658193 0.99481549 -0.0669132 ] [ 0.03711427 0.06990824 0.99686295]] t_gt: [-0.43451348 0.57823929 -0.69053411] Pose Error in degrees for R and t: 26.07552032056744 77.64559568735926 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99999990e-01 6.85320640e-05 1.26266255e-04] [-6.85319617e-05 9.99999998e-01 -8.14229041e-07] [-1.26266310e-04 8.05575758e-07 9.99999992e-01]] t_estimated: [[-8.12666983e-01] [-5.82728190e-01] [-4.81020070e-04]] R_gt: [[ 0.99402278 0.10889076 0.00783223] [-0.10854205 0.99343268 -0.03621665] [-0.01172392 0.03515048 0.99931396]] t_gt: [-0.71184043 0.68388026 -0.15997187] Pose Error in degrees for R and t: 6.589699306336557 79.62733608768565 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-0.84018244 -0.27506252 0.46736932] [-0.24943735 -0.56923509 -0.78342353] [ 0.48153347 -0.77479805 0.40965046]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99276456 0.02534076 0.11737892] [-0.04458997 0.98538796 0.16438742] [-0.11149695 -0.16843182 0.97938712]] t_gt: [-0.18754504 0.06311982 0.98022586] Pose Error in degrees for R and t: 173.40779631687474 83.57055230971802 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99947722e-01 -1.02248495e-02 8.10329893e-05] [ 1.02248455e-02 9.99947724e-01 4.91181113e-05] [-8.15309785e-05 -4.82869937e-05 9.99999996e-01]] t_estimated: [[9.99852969e-01] [1.71296240e-02] [7.85445631e-04]] R_gt: [[ 9.90893392e-01 -1.31350347e-01 -2.96079619e-02] [ 1.31381986e-01 9.91331838e-01 -9.05779248e-04] [ 2.94712690e-02 -2.99250907e-03 9.99560358e-01]] t_gt: [ 0.69389061 -0.70095853 -0.16484219] Pose Error in degrees for R and t: 7.169248251626091 47.02713167786246 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99999695e-01 7.72485350e-04 1.13870570e-04] [-7.72491311e-04 9.99999700e-01 5.23122630e-05] [-1.13830125e-04 -5.24002111e-05 9.99999992e-01]] t_estimated: [[9.94091672e-01] [1.08540339e-01] [8.61431258e-04]] R_gt: [[ 0.97864478 -0.20533313 -0.00956355] [ 0.20500159 0.97836346 -0.02790592] [ 0.01508783 0.02534984 0.99956418]] t_gt: [ 0.64220967 -0.74221194 -0.19154158] Pose Error in degrees for R and t: 12.006331314978743 56.10377971272311 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[-4.22255449e-01 -9.06476341e-01 -9.89829490e-04] [ 9.06475033e-01 -4.22256541e-01 1.55788371e-03] [-1.83014670e-03 -2.39430833e-04 9.99998297e-01]] t_estimated: [[9.93844192e-01] [1.10783924e-01] [8.02782061e-04]] R_gt: [[ 0.96005588 -0.27550537 -0.048879 ] [ 0.27335648 0.96079403 -0.04638187] [ 0.05974199 0.03116845 0.99772649]] t_gt: [ 0.64046595 -0.71650448 -0.27645018] Pose Error in degrees for R and t: 99.09014225117674 56.15664465670268 Number of keypoints: Image1: 236 Image2: 236 R_estimated: [[ 0.89706441 -0.44188444 -0.0036864 ] [ 0.44189139 0.89706761 0.00130844] [ 0.00272877 -0.00280275 0.99999235]] t_estimated: [[-0.31248775] [-0.94992122] [-0.00103817]] R_gt: [[ 0.99715171 0.01582232 -0.07374339] [-0.02140256 0.99691645 -0.07550208] [ 0.07232176 0.07686553 0.99441463]] t_gt: [ 0.07428007 0.36324978 -0.92872605] Pose Error in degrees for R and t: 27.93718518899349 68.450426152589 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 0.57804013 0.81599774 0.00415791] [-0.81599123 0.5780535 -0.00352934] [-0.00528342 -0.00135272 0.99998513]] t_estimated: [[-0.98095301] [ 0.19420775] [ 0.00381313]] R_gt: [[ 0.99324344 0.04997806 -0.10473751] [-0.06795233 0.98208114 -0.1757805 ] [ 0.09407603 0.18171005 0.97884126]] t_gt: [-0.03927446 0.53584588 -0.84340187] Pose Error in degrees for R and t: 52.54308833517525 81.98827075402168 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.81059686e-01 1.93705491e-01 2.74676490e-04] [-1.93705019e-01 9.81059044e-01 -1.23180176e-03] [-5.08080619e-04 1.15526483e-03 9.99999204e-01]] t_estimated: [[-0.97518431] [-0.2213854 ] [-0.0020176 ]] R_gt: [[ 0.99171755 0.09263553 -0.08897445] [-0.10625268 0.98087791 -0.16306175] [ 0.07216866 0.17116449 0.98259548]] t_gt: [-0.14683723 0.68279138 -0.71570578] Pose Error in degrees for R and t: 11.945322770270588 89.62627621295808 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 6.91889261e-01 7.22003551e-01 3.49793143e-04] [-7.22003265e-01 6.91889316e-01 -6.77509548e-04] [-7.31182438e-04 2.16209789e-04 9.99999709e-01]] t_estimated: [[-3.87922101e-01] [ 9.21692097e-01] [ 3.49642394e-04]] R_gt: [[ 0.99901371 -0.00168407 -0.04437355] [-0.00172314 0.99705745 -0.07664694] [ 0.04437216 0.07664829 0.99607001]] t_gt: [ 0.11566573 0.17363476 -0.97799407] Pose Error in degrees for R and t: 46.4814525458002 83.40637953115454 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.26674379 0.963766 -0.00168605] [ 0.96376064 -0.2667349 0.00423443] [ 0.00363127 -0.00275446 -0.99998961]] t_estimated: [[0.21548329] [0.97650437] [0.00248122]] R_gt: [[ 0.99352311 0.04944371 -0.10231028] [-0.06519807 0.98546342 -0.15688395] [ 0.09306572 0.16253811 0.98230257]] t_gt: [-0.08821246 0.40182243 -0.91145888] Pose Error in degrees for R and t: 176.33893149109667 68.2158162082691 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-4.88886050e-01 8.42276095e-01 2.27071376e-01] [ 8.64959827e-01 5.01840492e-01 7.86287547e-04] [-1.13291340e-01 1.96792023e-01 -9.73877801e-01]] t_estimated: [[ 0.12770988] [-0.99135421] [ 0.0301166 ]] R_gt: [[ 0.98835401 0.12687592 -0.08401402] [-0.13890094 0.97769031 -0.15756933] [ 0.06214802 0.1674037 0.98392717]] t_gt: [-0.34740458 0.58755744 -0.73081209] Pose Error in degrees for R and t: 168.14623142659048 49.544736792458494 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 9.99999960e-01 -2.66202147e-04 9.49319269e-05] [ 2.66211623e-04 9.99999960e-01 -9.98205602e-05] [-9.49053506e-05 9.98458282e-05 9.99999991e-01]] t_estimated: [[-0.03121231] [-0.99951083] [-0.00197242]] R_gt: [[ 0.99511954 -0.09851878 0.0054921 ] [ 0.09863174 0.99475196 -0.02719504] [-0.0027846 0.02760363 0.99961457]] t_gt: [ 0.57185173 -0.77684399 -0.26362664] Pose Error in degrees for R and t: 5.86110675229271 40.61198610878466 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99971085e-01 -7.58392974e-03 5.59691701e-04] [ 7.58426381e-03 9.99971061e-01 -5.97189564e-04] [-5.55146461e-04 6.01417146e-04 9.99999665e-01]] t_estimated: [[ 0.57691457] [-0.81680209] [-0.00198117]] R_gt: [[ 0.98605909 -0.16635656 -0.00355122] [ 0.16593864 0.98471466 -0.05292234] [ 0.0123004 0.05159459 0.99859162]] t_gt: [ 0.52085368 -0.77829651 -0.35066507] Pose Error in degrees for R and t: 9.618890386897336 20.463185157847178 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.99988618 -0.00352908 0.014669 ] [ 0.00394297 0.99959218 -0.02828286] [-0.0145632 0.02833748 0.99949232]] t_estimated: [[7.61688506e-01] [6.47943023e-01] [6.77056450e-04]] R_gt: [[ 0.96173267 -0.27218998 -0.03134065] [ 0.27097064 0.96182791 -0.03822476] [ 0.04054865 0.02826928 0.99877708]] t_gt: [ 0.60090557 -0.76490163 -0.23203014] Pose Error in degrees for R and t: 15.825879291283245 87.8183997710226 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.99978572e-01 -6.54526668e-03 -1.21839383e-04] [ 6.54527705e-03 9.99978576e-01 8.49546314e-05] [ 1.21280722e-04 -8.57502835e-05 9.99999989e-01]] t_estimated: [[-0.8850137 ] [ 0.46556401] [ 0.00094856]] R_gt: [[ 0.98919594 0.13969625 -0.04445073] [-0.13928752 0.99017652 0.01220208] [ 0.04571893 -0.00587899 0.99893659]] t_gt: [-0.84926577 0.50440545 -0.15595764] Pose Error in degrees for R and t: 8.80068391816157 9.49606456673529 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[-0.85157033 -0.52423846 -0.00141565] [ 0.52423336 -0.8515698 0.00287376] [-0.00271206 0.00170508 0.99999487]] t_estimated: [[9.98019626e-01] [6.28965102e-02] [9.24948680e-04]] R_gt: [[ 0.94352171 0.33006131 -0.02872343] [-0.32514029 0.9391196 0.11108394] [ 0.06363998 -0.0954716 0.99339553]] t_gt: [-0.86593389 0.48980534 0.10123843] Pose Error in degrees for R and t: 167.58955952335856 33.5588646848337 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 6.08081061e-01 7.93874940e-01 5.80219393e-05] [ 7.93871180e-01 -6.08078404e-01 3.03381434e-03] [ 2.44375107e-03 -1.79874310e-03 -9.99995396e-01]] t_estimated: [[-0.30039007] [-0.95381588] [-0.00103227]] R_gt: [[ 0.93673812 0.34878384 -0.02949513] [-0.34359018 0.93232451 0.1127654 ] [ 0.06682971 -0.0954974 0.9931841 ]] t_gt: [-0.89783488 0.43090333 0.09063578] Pose Error in degrees for R and t: 173.14272773857732 81.8714043768134 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99999998e-01 5.31168662e-06 6.85555843e-05] [-5.31051635e-06 1.00000000e+00 -1.70705955e-05] [-6.85556749e-05 1.70702314e-05 9.99999998e-01]] t_estimated: [[9.99760220e-01] [2.18970002e-02] [1.57416116e-04]] R_gt: [[ 0.99382436 -0.11019086 -0.01306718] [ 0.11031242 0.99385726 0.00889282] [ 0.01200787 -0.01027944 0.99987426]] t_gt: [ 0.72903241 -0.68422691 -0.01858159] Pose Error in degrees for R and t: 6.395677351500292 44.449154945043084 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 1.37847471e-01 -9.90452985e-01 9.79406958e-04] [-9.90435047e-01 -1.37838809e-01 6.23534647e-03] [-6.04081723e-03 -1.82956572e-03 -9.99980080e-01]] t_estimated: [[0.66502158] [0.74681568] [0.00355627]] R_gt: [[ 0.98819535 -0.13716586 -0.06823405] [ 0.13806941 0.99038452 0.00867444] [ 0.06638887 -0.01799332 0.99763139]] t_gt: [ 0.80625122 -0.56665754 -0.16987702] Pose Error in degrees for R and t: 178.35726919114214 83.54737744191306 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-0.1804855 -0.98357306 -0.00300401] [ 0.98357678 -0.18048046 -0.00187502] [ 0.00130205 -0.00329309 0.99999373]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.97096712 -0.20436309 -0.12432774] [ 0.20024967 0.97871673 -0.04486566] [ 0.1308509 0.01866572 0.99122631]] t_gt: [ 0.82195476 -0.45049254 -0.34849223] Pose Error in degrees for R and t: 88.91507283568171 34.88681180111249 Number of keypoints: Image1: 382 Image2: 382 R_estimated: [[ 0.97783045 -0.20935856 0.00407584] [-0.2093733 -0.97722843 0.03445891] [-0.00323124 -0.03454835 -0.9993978 ]] t_estimated: [[0.07540749] [0.99699536] [0.0177189 ]] R_gt: [[ 0.9979492 0.01074421 -0.06311359] [-0.00988736 0.99985469 0.01386605] [ 0.0632533 -0.013214 0.99791034]] t_gt: [ 0.95614871 -0.12593445 -0.2644242 ] Pose Error in degrees for R and t: 177.621709880835 86.66691005940453 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99982624e-01 -5.89500660e-03 4.46647065e-08] [ 5.89500659e-03 9.99982624e-01 3.80654496e-05] [-2.69060006e-07 -3.80645248e-05 9.99999999e-01]] t_estimated: [[-4.43629975e-01] [ 8.96209696e-01] [-7.91668374e-04]] R_gt: [[ 0.99498434 0.02500103 -0.09686436] [-0.02111782 0.99894027 0.04089993] [ 0.09778421 -0.03864964 0.99445772]] t_gt: [ 0.98356008 -0.1793829 -0.02076889] Pose Error in degrees for R and t: 6.258908069439846 53.33859073418591 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.77633879 -0.63030145 0.0042623 ] [ 0.63031177 0.77634037 -0.00164553] [-0.00227181 0.00396406 0.99998956]] t_estimated: [[-0.11641183] [-0.99319834] [-0.00231285]] R_gt: [[ 0.98830736 0.10964606 -0.10596086] [-0.09891598 0.98988403 0.10171041] [ 0.11604183 -0.09004027 0.98915552]] t_gt: [ 0.82152636 -0.0455743 0.56834621] Pose Error in degrees for R and t: 45.88522398996333 87.03731478913137 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.98914454e-01 4.65816614e-02 2.49088125e-04] [-4.65816107e-02 9.98914466e-01 -2.05336220e-04] [-2.58382634e-04 1.93510392e-04 9.99999948e-01]] t_estimated: [[0.30525707] [0.95226934] [0.001106 ]] R_gt: [[ 0.99495006 -0.05075689 0.08660243] [ 0.04474734 0.9965451 0.06997063] [-0.08985428 -0.06574119 0.99378346]] t_gt: [ 0.03082786 -0.26886763 0.96268367] Pose Error in degrees for R and t: 8.372301612044849 75.78511412683726 Number of keypoints: Image1: 270 Image2: 270 R_estimated: [[ 0.26364242 -0.96458786 0.00793307] [-0.96457826 -0.26354501 0.01152422] [-0.0090254 -0.01069034 -0.99990212]] t_estimated: [[0.56673346] [0.82386889] [0.0072968 ]] R_gt: [[ 0.98877961 -0.10086307 0.11019154] [ 0.08668217 0.98815012 0.12667063] [-0.12166229 -0.11569752 0.9858054 ]] t_gt: [ 0.23225259 -0.33129303 0.9144964 ] Pose Error in degrees for R and t: 169.59292084336184 82.26197595963544 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.92271356 0.38544719 -0.00549171] [-0.38541009 0.92272078 0.00674 ] [ 0.00766523 -0.00410253 0.99996221]] t_estimated: [[-0.97979182] [-0.19995751] [-0.00499894]] R_gt: [[ 0.98203586 -0.1181647 0.1471169 ] [ 0.08977646 0.97833842 0.18652972] [-0.16596977 -0.16997024 0.97137255]] t_gt: [ 0.27790953 -0.29666606 0.91364957] Pose Error in degrees for R and t: 31.791907809171637 77.43540451279937 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.18269914e-01 3.95954546e-01 6.02323858e-04] [-3.95953891e-01 9.18269877e-01 -9.74012045e-04] [-9.38760352e-04 6.55913481e-04 9.99999344e-01]] t_estimated: [[-0.88037685] [-0.47427381] [-0.00097387]] R_gt: [[ 0.99875098 -0.032229 -0.03817865] [ 0.03301507 0.99925191 0.02015622] [ 0.03750109 -0.02139133 0.99906707]] t_gt: [ 0.75161381 -0.56889329 -0.33382197] Pose Error in degrees for R and t: 25.321329335279085 66.94795536713515 Number of keypoints: Image1: 209 Image2: 209 R_estimated: [[ 9.91900110e-01 1.27020338e-01 7.59268250e-05] [-1.27020323e-01 9.91900100e-01 -1.70150718e-04] [-9.69244270e-05 1.59128266e-04 9.99999983e-01]] t_estimated: [[-9.99560251e-01] [-2.96445163e-02] [-7.12860878e-04]] R_gt: [[ 0.99728225 -0.04098733 -0.06122767] [ 0.04247379 0.99882854 0.02317079] [ 0.0602064 -0.02570866 0.99785475]] t_gt: [ 0.66974988 -0.59141576 -0.44906848] Pose Error in degrees for R and t: 10.394520680249842 49.3374297017153 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.85073113e-01 1.72136381e-01 -1.71238624e-04] [-1.72136342e-01 9.85073109e-01 2.21525974e-04] [ 2.06815243e-04 -1.88742890e-04 9.99999961e-01]] t_estimated: [[-0.94244717] [-0.33435366] [-0.00097764]] R_gt: [[ 0.99745313 0.01345209 -0.07005431] [-0.00966351 0.99848621 0.05414215] [ 0.07067632 -0.05332676 0.99607229]] t_gt: [ 0.20819436 -0.70702218 -0.67585113] Pose Error in degrees for R and t: 10.54137048147528 87.65915965077454 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99999962e-01 2.51486433e-04 -1.11655394e-04] [-2.51467334e-04 9.99999954e-01 1.71031800e-04] [ 1.11698401e-04 -1.71003716e-04 9.99999979e-01]] t_estimated: [[-0.84834331] [-0.52944494] [-0.00129767]] R_gt: [[ 0.99970242 0.02411135 -0.0038706 ] [-0.02415682 0.99963489 -0.01207135] [ 0.00357859 0.01216111 0.99991956]] t_gt: [ 0.67184654 0.66802294 -0.31994934] Pose Error in degrees for R and t: 1.5527607800336498 22.598139967717255 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.99999011e-01 1.40608418e-03 3.84049218e-05] [-1.40609457e-03 9.99998975e-01 2.71671066e-04] [-3.80228900e-05 -2.71724799e-04 9.99999962e-01]] t_estimated: [[-9.99049241e-01] [-4.35896002e-02] [-7.49000081e-04]] R_gt: [[ 0.99709903 0.05700148 -0.05047033] [-0.05619969 0.9982719 0.01716585] [ 0.05136251 -0.01428011 0.99857765]] t_gt: [ 0.81839602 0.49829642 -0.28623178] Pose Error in degrees for R and t: 4.398187608474407 32.95226059401876 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.18647504 0.98245882 0.0013149 ] [ 0.98245261 0.18646844 0.00404954] [ 0.00373332 0.00204696 -0.99999094]] t_estimated: [[9.99472407e-01] [3.24674970e-02] [8.77499918e-04]] R_gt: [[ 0.99181125 0.07597531 -0.10266692] [-0.07167537 0.99641505 0.04494512] [ 0.10571397 -0.03721874 0.99369974]] t_gt: [ 0.87877899 0.41813901 -0.23001579] Pose Error in degrees for R and t: 173.78580971190905 26.913685367392155 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.66703199e-01 -2.55900026e-01 -3.19302183e-04] [ 2.55900132e-01 9.66703159e-01 3.53055477e-04] [ 2.18323524e-04 -4.23009329e-04 9.99999887e-01]] t_estimated: [[-0.3632612 ] [-0.93168645] [-0.00128656]] R_gt: [[ 0.99481627 0.05809051 -0.08346406] [-0.05554984 0.99792762 0.03246619] [ 0.08517685 -0.02766193 0.99598148]] t_gt: [ 0.69712005 0.3788175 -0.60870432] Pose Error in degrees for R and t: 18.7944408259783 52.742897083638354 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 5.72196393e-01 8.20116424e-01 5.81933725e-04] [-8.20115704e-01 5.72196669e-01 -1.09708979e-03] [-1.23272189e-03 1.50497833e-04 9.99999229e-01]] t_estimated: [[-3.33873772e-01] [ 9.42617569e-01] [ 6.50179089e-04]] R_gt: [[ 0.98103323 0.12297534 -0.14983203] [-0.11186947 0.99046044 0.0804576 ] [ 0.158297 -0.06217029 0.98543169]] t_gt: [ 0.8423845 0.26367285 -0.46996274] Pose Error in degrees for R and t: 49.24193271072675 88.1081512408835 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.99965940e-01 -8.25247026e-03 1.23351114e-04] [ 8.25245593e-03 9.99965941e-01 1.16265504e-04] [-1.24306390e-04 -1.15243594e-04 9.99999986e-01]] t_estimated: [[-4.72317136e-01] [ 8.81428515e-01] [ 5.43785594e-04]] R_gt: [[ 0.96013257 0.21946413 -0.17314979] [-0.20184979 0.97279098 0.11372427] [ 0.19339765 -0.07424052 0.97830789]] t_gt: [ 0.58700618 0.71450428 -0.38066703] Pose Error in degrees for R and t: 17.477961055019314 69.37045010479353 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99988884e-01 -4.68285021e-03 5.50255372e-04] [ 4.68275940e-03 9.99989022e-01 1.66202518e-04] [-5.51027633e-04 -1.63623957e-04 9.99999835e-01]] t_estimated: [[0.84659238] [0.53223271] [0.00311247]] R_gt: [[ 0.99994181 -0.00293828 -0.01034577] [ 0.00344338 0.99878892 0.04908643] [ 0.01018842 -0.04911843 0.99874069]] t_gt: [ 0.62373219 -0.38588774 0.67974172] Pose Error in degrees for R and t: 2.8742759579306947 71.04772173946486 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.90983331e-01 -1.33982682e-01 8.24262034e-04] [ 1.33982870e-01 9.90983632e-01 -1.76103696e-04] [-7.93235339e-04 2.84952820e-04 9.99999645e-01]] t_estimated: [[0.6798631 ] [0.73333859] [0.0008237 ]] R_gt: [[ 0.99676202 -0.07012316 0.03934764] [ 0.06302964 0.98523801 0.15916737] [-0.04992768 -0.15617203 0.98646664]] t_gt: [ 0.41075381 -0.40062856 0.81901041] Pose Error in degrees for R and t: 10.19287239363872 89.20554539369654 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.09336229 -0.95162315 -0.29274027] [-0.33333654 -0.30693218 0.89144792] [-0.93817388 0.01435341 -0.34586666]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99125497 -0.11156773 0.07047006] [ 0.09322756 0.97003151 0.22438169] [-0.09339182 -0.21584962 0.97194954]] t_gt: [ 0.3561819 -0.39542004 0.8466271 ] Pose Error in degrees for R and t: 126.95388075838441 83.10461192670347 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999908e-01 -4.22300700e-04 6.93607841e-05] [ 4.22304771e-04 9.99999909e-01 -5.86864592e-05] [-6.93359944e-05 5.87157452e-05 9.99999996e-01]] t_estimated: [[ 9.77598929e-01] [-2.10476136e-01] [-3.61550928e-04]] R_gt: [[ 0.99645219 -0.0827572 -0.01532709] [ 0.08302457 0.99639028 0.01770015] [ 0.01380774 -0.01890909 0.99972664]] t_gt: [ 0.6341586 -0.77317195 0.00692929] Pose Error in degrees for R and t: 4.918687426740075 38.492972529388965 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 9.62700622e-01 -2.70568832e-01 1.37833369e-04] [ 2.70568802e-01 9.62700619e-01 2.01966412e-04] [-1.87338085e-04 -1.57139781e-04 9.99999970e-01]] t_estimated: [[9.31289216e-01] [3.64279795e-01] [7.91912599e-04]] R_gt: [[ 0.98865934 -0.1500734 0.00570078] [ 0.14995741 0.98854428 0.01710345] [-0.00820198 -0.01605321 0.99983754]] t_gt: [ 0.67609741 -0.73467138 0.05612711] Pose Error in degrees for R and t: 7.142503254480606 68.77319338163011 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99969486e-01 7.23077606e-03 -2.95674824e-03] [-7.23326590e-03 9.99973493e-01 -8.32263696e-04] [ 2.95065196e-03 8.53625247e-04 9.99995282e-01]] t_estimated: [[-0.08662454] [-0.99618218] [-0.01082807]] R_gt: [[ 0.98101703 -0.19175505 0.02893474] [ 0.19099914 0.98121862 0.02699533] [-0.03356755 -0.02095584 0.99921756]] t_gt: [ 0.70760118 -0.69255183 0.14025878] Pose Error in degrees for R and t: 11.706511565776918 51.1639940419622 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999998e-01 -6.83667688e-05 8.24869437e-06] [ 6.83663579e-05 9.99999996e-01 4.97940887e-05] [-8.25209860e-06 -4.97935246e-05 9.99999999e-01]] t_estimated: [[0.09941683] [0.99504526] [0.00110631]] R_gt: [[ 0.99913717 -0.04136134 0.00368772] [ 0.04141851 0.99899773 -0.01695838] [-0.00298254 0.01709691 0.99984955]] t_gt: [ 0.78771798 -0.61232551 -0.06751198] Pose Error in degrees for R and t: 2.569935939819283 57.923312508654675 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-8.45473233e-01 5.34015949e-01 -1.40636418e-03] [-5.34015490e-01 -8.45474390e-01 -7.15297894e-04] [-1.57102538e-03 1.46255031e-04 9.99998755e-01]] t_estimated: [[0.70673647] [0.70747651] [0.00074004]] R_gt: [[ 0.98367287 -0.17785882 -0.02744912] [ 0.17728366 0.98390977 -0.02215336] [ 0.03094803 0.01692569 0.9993774 ]] t_gt: [ 0.75119601 -0.64420727 -0.1438803 ] Pose Error in degrees for R and t: 157.95714472951164 85.69707533271995 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 2.02661935e-01 9.79248430e-01 8.07939032e-04] [-9.79247338e-01 2.02662979e-01 -1.53880654e-03] [-1.67061322e-03 -4.79314636e-04 9.99998490e-01]] t_estimated: [[0.00759197] [0.99997059] [0.00108457]] R_gt: [[ 0.97224719 -0.23146454 -0.03405003] [ 0.2297401 0.97206654 -0.04801157] [ 0.04421094 0.03885649 0.99826614]] t_gt: [ 0.77476534 -0.60861142 -0.17126241] Pose Error in degrees for R and t: 91.70123986172364 52.92231734467611 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99956803e-01 -9.29431372e-03 8.84388156e-05] [ 9.29432337e-03 9.99956801e-01 -1.09272995e-04] [-8.74193776e-05 1.10090254e-04 9.99999990e-01]] t_estimated: [[ 0.65528275] [-0.75538288] [ 0.00110673]] R_gt: [[ 0.99614234 -0.0871322 0.01046946] [ 0.0875467 0.99492015 -0.04970366] [-0.00608549 0.05042781 0.99870939]] t_gt: [ 0.40660735 -0.72278035 -0.55880142] Pose Error in degrees for R and t: 5.339421302483874 35.72780538902877 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.99999999e-01 2.58415308e-05 3.67535605e-05] [-2.58382611e-05 9.99999996e-01 -8.89613348e-05] [-3.67558592e-05 8.89603850e-05 9.99999995e-01]] t_estimated: [[-0.6233243 ] [-0.78196265] [-0.00110978]] R_gt: [[ 0.99515047 -0.097681 -0.01156914] [ 0.097247 0.99469695 -0.03346626] [ 0.0147773 0.0321784 0.99937293]] t_gt: [ 0.4988491 -0.73631123 -0.4571601 ] Pose Error in degrees for R and t: 5.951465720892358 74.6134104345395 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.99978445e-01 -6.56578822e-03 -3.24619924e-06] [ 6.56578827e-03 9.99978445e-01 1.56469940e-05] [ 3.14339442e-06 -1.56679705e-05 1.00000000e+00]] t_estimated: [[ 6.23880076e-01] [-7.81520082e-01] [ 1.10470437e-04]] R_gt: [[ 0.9990808 -0.04181329 -0.00946966] [ 0.04136879 0.99821852 -0.04300445] [ 0.01125166 0.04257246 0.99903034]] t_gt: [ 0.60540389 -0.2554918 -0.7537971 ] Pose Error in degrees for R and t: 3.225580944058267 54.739971039722356 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 8.61368417e-01 5.07977286e-01 1.87784586e-03] [-5.07974433e-01 8.61370254e-01 -1.80560441e-03] [-2.53472660e-03 6.01392927e-04 9.99996607e-01]] t_estimated: [[-0.42607011] [ 0.90468456] [ 0.00317913]] R_gt: [[ 0.95469688 0.29741181 -0.00994862] [-0.2974863 0.9546992 -0.00708813] [ 0.00738966 0.00972565 0.99992562]] t_gt: [-0.95715873 0.28617871 -0.0441465 ] Pose Error in degrees for R and t: 13.245742820708942 48.196513234351436 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.99276607e-01 -3.80269960e-02 -4.58314789e-04] [ 3.80272763e-02 9.99276510e-01 6.19324743e-04] [ 4.34432143e-04 -6.36305191e-04 9.99999703e-01]] t_estimated: [[-9.42443318e-01] [-3.34364890e-01] [-8.44192037e-04]] R_gt: [[ 0.84366964 0.53611583 0.02830143] [-0.53502326 0.84397037 -0.03826228] [-0.04439867 0.01713923 0.99886693]] t_gt: [-0.88993296 0.45569542 -0.01900006] Pose Error in degrees for R and t: 34.690012836775615 46.65743198474055 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[-0.78295383 0.58915515 0.19969853] [ 0.60067413 0.79948581 -0.0036108 ] [-0.16178346 0.11712665 -0.97985073]] t_estimated: [[0.81823936] [0.55092804] [0.16420306]] R_gt: [[ 0.6594853 0.75169671 -0.00554189] [-0.75047928 0.6579589 -0.06220857] [-0.04311577 0.0451847 0.99804783]] t_gt: [-0.79302101 0.60748091 -0.04565765] Pose Error in degrees for R and t: 169.2341419681227 71.23424322099444 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[-9.81444480e-01 1.91557738e-01 -8.50681629e-03] [ 1.91552431e-01 9.81481323e-01 1.44196785e-03] [ 8.62550141e-03 -2.14289950e-04 -9.99962777e-01]] t_estimated: [[ 0.98925941] [-0.14610415] [-0.00440304]] R_gt: [[ 0.94820103 0.31593551 0.03314517] [-0.31562005 0.94877502 -0.01451082] [-0.03603084 0.00329775 0.99934488]] t_gt: [-0.9384272 0.34537389 0.00844206] Pose Error in degrees for R and t: 178.44308716767287 11.806082884854138 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 0.047099 -0.89658857 -0.44035284] [-0.98513065 -0.11461206 0.12799097] [-0.16522499 0.42777683 -0.88865499]] t_estimated: [[6.39504859e-01] [7.68786894e-01] [4.96675941e-04]] R_gt: [[ 0.82427578 0.56541533 0.02956576] [-0.56267628 0.82385243 -0.06827938] [-0.06296389 0.03964543 0.99722848]] t_gt: [-0.85415395 0.51828251 -0.04247667] Pose Error in degrees for R and t: 160.80621682235918 81.50008760255005 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-0.79276746 0.59826225 0.11662773] [ 0.60942584 0.78143151 0.13403336] [-0.01094948 0.17733324 -0.98408995]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.6324344 0.77443557 0.01658288] [-0.77132685 0.63157685 -0.07851477] [-0.07127674 0.03686516 0.99677475]] t_gt: [-0.7689735 0.63874256 -0.02622406] Pose Error in degrees for R and t: 176.74732417043032 39.86953855923769 Number of keypoints: Image1: 386 Image2: 386 R_estimated: [[ 9.99999988e-01 1.47441890e-04 -4.31209231e-05] [-1.47437274e-04 9.99999983e-01 1.07022838e-04] [ 4.31367020e-05 -1.07016479e-04 9.99999993e-01]] t_estimated: [[0.58959682] [0.80769534] [0.00195766]] R_gt: [[ 0.99930115 -0.03734973 0.00197979] [ 0.0373744 0.99920423 -0.0139306 ] [-0.0014567 0.01399529 0.99990171]] t_gt: [ 0.17390713 -0.93479405 -0.30970373] Pose Error in degrees for R and t: 2.297068195558244 49.22426200596531 Number of keypoints: Image1: 412 Image2: 412 R_estimated: [[ 9.92507841e-01 -1.22180858e-01 1.54337661e-04] [ 1.22180840e-01 9.92507848e-01 1.21952170e-04] [-1.68081561e-04 -1.02181380e-04 9.99999981e-01]] t_estimated: [[ 0.66243462] [-0.74911814] [ 0.00154434]] R_gt: [[ 0.99998867 -0.00274416 0.00391982] [ 0.00283395 0.99972765 -0.02314529] [-0.00385399 0.02315595 0.99972482]] t_gt: [-0.00526688 0.23690786 -0.97151785] Pose Error in degrees for R and t: 6.9895939465200865 79.4868440655952 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.45588160e-01 3.25365981e-01 1.02557960e-04] [-3.25365919e-01 9.45588105e-01 -3.93406144e-04] [-2.24978563e-04 3.38631327e-04 9.99999917e-01]] t_estimated: [[-2.60643250e-01] [ 9.65435181e-01] [ 8.35417785e-05]] R_gt: [[ 0.99705645 0.07541237 -0.01389716] [-0.07580556 0.99665986 -0.03036549] [ 0.01156144 0.03132945 0.99944257]] t_gt: [ 0.14227747 0.87114476 -0.46996163] Pose Error in degrees for R and t: 14.771949351580938 36.49479671219408 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 1.00000000e+00 2.18753940e-05 -1.95799337e-05] [-2.18745349e-05 9.99999999e-01 4.38737235e-05] [ 1.95808935e-05 -4.38732951e-05 9.99999999e-01]] t_estimated: [[9.93293231e-01] [1.15620821e-01] [6.19535852e-04]] R_gt: [[ 0.99883633 -0.04492995 0.01749939] [ 0.04520812 0.99885136 -0.01586499] [-0.01676595 0.01663787 0.99972123]] t_gt: [ 0.761942 -0.64615678 0.043884 ] Pose Error in degrees for R and t: 2.919117788376735 46.98813154226682 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999313e-01 -6.03600055e-04 1.00502604e-03] [ 6.03783806e-04 9.99999801e-01 -1.82539206e-04] [-1.00491566e-03 1.83145899e-04 9.99999478e-01]] t_estimated: [[0.70095817] [0.71320198] [0.00076524]] R_gt: [[ 0.99105328 -0.13298516 0.01133607] [ 0.13325038 0.9907059 -0.02731326] [-0.00759791 0.02857972 0.99956263]] t_gt: [ 0.76269844 -0.64540609 -0.04173816] Pose Error in degrees for R and t: 7.7968960008973225 85.73998173549157 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.87623543e-01 1.56842794e-01 2.73700029e-04] [-1.56842794e-01 9.87623581e-01 -2.29263701e-05] [-2.73908439e-04 -2.02852544e-05 9.99999962e-01]] t_estimated: [[0.43701999] [0.89945133] [0.00091284]] R_gt: [[ 0.9693744 -0.24524272 -0.01301161] [ 0.24488127 0.96924517 -0.02444586] [ 0.01860643 0.02051105 0.99961662]] t_gt: [ 0.77343631 -0.62879726 -0.08006421] Pose Error in degrees for R and t: 23.26599019466221 76.84192017124965 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.04111141 0.99915358 0.00140699] [-0.99915341 -0.04110917 -0.00158284] [-0.00152366 -0.00147087 0.99999776]] t_estimated: [[0.01979808] [0.999803 ] [0.00141415]] R_gt: [[ 0.99157015 -0.12715856 -0.0248956 ] [ 0.12694412 0.99185934 -0.01000822] [ 0.02596632 0.00676385 0.99963954]] t_gt: [ 0.72666542 -0.67415872 -0.13216427] Pose Error in degrees for R and t: 99.6674385806482 48.713378859679224 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 9.94712098e-01 1.02702550e-01 1.67201991e-04] [-1.02702539e-01 9.94712111e-01 -7.50974014e-05] [-1.74030540e-04 5.75282247e-05 9.99999983e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.96971274 -0.24201101 -0.03299477] [ 0.24246036 0.97010603 0.01031878] [ 0.02951127 -0.0180056 0.99940197]] t_gt: [ 0.73308631 -0.67976404 -0.02247936] Pose Error in degrees for R and t: 20.015991137759872 83.55199423144575 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-0.96393962 -0.21958201 0.15034677] [ 0.12657923 -0.875269 -0.4667782 ] [ 0.23408996 -0.43091522 0.87150098]] t_estimated: [[ 0.84141573] [ 0.54037676] [-0.00353946]] R_gt: [[ 0.9520426 -0.30341201 -0.0394608 ] [ 0.3038929 0.95268288 0.00665422] [ 0.03557461 -0.01832631 0.99919835]] t_gt: [ 0.75633311 -0.65291929 -0.04070167] Pose Error in degrees for R and t: 152.15855627718412 73.5181119919616 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.99289704 -0.11895941 0.00202983] [-0.11896259 -0.99289757 0.00152496] [ 0.00183401 -0.0017556 -0.99999678]] t_estimated: [[0.25216175] [0.96768417] [0.00134234]] R_gt: [[ 0.98959285 0.14191169 0.02381329] [-0.14350416 0.98549272 0.09061872] [-0.0106067 -0.09309301 0.99560008]] t_gt: [-0.87524114 0.18087118 0.44859622] Pose Error in degrees for R and t: 174.56421195137565 87.41657521443817 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[-3.38665173e-01 9.40906950e-01 -1.11410613e-04] [ 9.40904758e-01 3.38664635e-01 2.12141363e-03] [ 2.03378366e-03 6.13622139e-04 -9.99997744e-01]] t_estimated: [[ 0.08896292] [-0.99603432] [-0.00111376]] R_gt: [[ 0.9913999 0.13022317 0.01292985] [-0.13085331 0.9876269 0.0864362 ] [-0.00151348 -0.08738446 0.99617293]] t_gt: [-0.91297706 -0.0244662 0.40727669] Pose Error in degrees for R and t: 177.38441804951657 86.71483499453964 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 6.57923995e-01 7.53081252e-01 2.15537164e-03] [ 7.53082875e-01 -6.57925661e-01 8.69112286e-05] [ 1.48352553e-03 1.56599249e-03 -9.99997673e-01]] t_estimated: [[0.52800887] [0.84923831] [0.00096176]] R_gt: [[ 0.99055985 0.13705681 0.00254239] [-0.13690659 0.98820501 0.06861085] [ 0.00689188 -0.0683108 0.99763962]] t_gt: [-0.94233397 -0.08489374 0.32372789] Pose Error in degrees for R and t: 176.40391878738188 55.29548146746511 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[-0.92880848 -0.37054152 -0.00371378] [ 0.37051351 -0.92880395 0.00655404] [-0.00587792 0.00471144 0.99997163]] t_estimated: [[0.96864554] [0.24844135] [0.00165018]] R_gt: [[ 0.99946127 -0.03154401 0.00915992] [ 0.0315825 0.99949361 -0.00405325] [-0.00902745 0.00434116 0.99994973]] t_gt: [ 0.80962419 -0.5739234 0.12296581] Pose Error in degrees for R and t: 156.44238809556938 50.06968298541828 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 1.26934277e-01 9.91906182e-01 3.13309911e-03] [ 9.91911040e-01 -1.26932291e-01 -8.25566360e-04] [-4.21192927e-04 3.21254827e-03 -9.99994751e-01]] t_estimated: [[ 0.84418877] [-0.5360443 ] [ 0.001354 ]] R_gt: [[ 0.99796792 -0.05834207 -0.02562517] [ 0.05893757 0.99799328 0.02314771] [ 0.02422339 -0.02460973 0.99940395]] t_gt: [ 0.77532674 -0.62987272 -0.04613902] Pose Error in degrees for R and t: 178.18592472757325 7.207023060115935 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[-7.73849098e-01 6.33369569e-01 7.50004907e-04] [-6.33367340e-01 -7.73841851e-01 -3.82125240e-03] [-1.83987980e-03 -3.43210134e-03 9.99992418e-01]] t_estimated: [[0.52034512] [0.85395348] [0.00209817]] R_gt: [[ 0.99737795 -0.05466111 -0.04743308] [ 0.05660196 0.99757227 0.04057944] [ 0.04510083 -0.0431572 0.99804999]] t_gt: [ 0.70604106 -0.70147976 -0.09711931] Pose Error in degrees for R and t: 143.91736321234896 76.59399602790577 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999449e-01 2.96756449e-04 -1.00738130e-03] [-2.95523473e-04 9.99999207e-01 1.22387021e-03] [ 1.00774369e-03 -1.22357183e-03 9.99998744e-01]] t_estimated: [[-0.54629457] [-0.83759265] [-0.0008854 ]] R_gt: [[ 0.97942079 -0.20011128 -0.0262741 ] [ 0.20044697 0.97964567 0.01080551] [ 0.02357662 -0.01585038 0.99959688]] t_gt: [ 0.73760077 -0.67365365 -0.04621533] Pose Error in degrees for R and t: 11.67463301869862 80.71526034948664 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.99999514e-01 9.69470881e-04 1.81007648e-04] [-9.69486914e-04 9.99999526e-01 8.85056605e-05] [-1.80921758e-04 -8.86811020e-05 9.99999980e-01]] t_estimated: [[9.53774721e-01] [3.00521687e-01] [7.04835073e-04]] R_gt: [[ 0.97186131 -0.22589109 -0.06678017] [ 0.22732953 0.97370704 0.01468837] [ 0.06170633 -0.02945675 0.99766003]] t_gt: [ 0.76910917 -0.63044334 -0.10493943] Pose Error in degrees for R and t: 13.739804826696487 57.04221086054596 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 1.00000000e+00 -2.69548534e-05 5.12068977e-06] [ 2.69548551e-05 1.00000000e+00 -3.30739962e-07] [-5.12068085e-06 3.30877990e-07 1.00000000e+00]] t_estimated: [[0.08558782] [0.99633003] [0.00109728]] R_gt: [[ 0.94890585 -0.27822194 -0.14889952] [ 0.277527 0.96037002 -0.02584757] [ 0.15018911 -0.01679707 0.98851461]] t_gt: [ 0.8245024 -0.50709171 -0.25110516] Pose Error in degrees for R and t: 18.395287912491202 64.21859644321964 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99997607e-01 -2.18724571e-03 3.19306194e-05] [ 2.18724508e-03 9.99997608e-01 1.99520082e-05] [-3.19741830e-05 -1.98821204e-05 9.99999999e-01]] t_estimated: [[-7.01970670e-02] [ 9.97533103e-01] [-2.82705103e-04]] R_gt: [[ 0.99856812 -0.00448579 -0.05330056] [ 0.0058428 0.99966201 0.0253173 ] [ 0.05316907 -0.02559157 0.99825693]] t_gt: [ 0.99136539 -0.10622041 -0.07688876] Pose Error in degrees for R and t: 3.388952874771952 79.89063851750345 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.59929964e-01 -2.80239852e-01 -2.98304681e-04] [ 2.80239852e-01 9.59930010e-01 -4.28729152e-05] [ 2.98366315e-04 -4.24418636e-05 9.99999955e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.98939717 0.08435925 -0.11821791] [-0.07372808 0.99306257 0.09159591] [ 0.12512458 -0.08190864 0.98875395]] t_gt: [ 0.8138477 0.57500243 -0.08381006] Pose Error in degrees for R and t: 22.51592708027438 32.637766950526746 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.73775161 -0.67502749 -0.00777467] [-0.67506952 0.73773253 0.00564518] [ 0.00192498 0.00941318 -0.99995384]] t_estimated: [[ 0.87594286] [ 0.48241083] [-0.00197189]] R_gt: [[ 0.97625427 0.14206309 -0.16354118] [-0.12327667 0.98510978 0.11984083] [ 0.17813031 -0.09683397 0.97922983]] t_gt: [ 0.51541859 0.84380963 -0.14942888] Pose Error in degrees for R and t: 172.74028051930003 30.81399514243783 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.98067543e-01 6.21381576e-02 1.69912245e-04] [-6.21381253e-02 9.98067542e-01 -1.88869765e-04] [-1.81319916e-04 1.77946754e-04 9.99999968e-01]] t_estimated: [[9.99868495e-01] [1.62164055e-02] [1.44032640e-04]] R_gt: [[ 0.99096502 -0.13062148 -0.03043711] [ 0.13082146 0.99139451 0.00468027] [ 0.02956447 -0.00861911 0.99952559]] t_gt: [ 0.71596616 -0.6785886 -0.16404259] Pose Error in degrees for R and t: 11.216886062894531 45.183048503801956 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99397054e-01 3.47204334e-02 1.44254547e-04] [-3.47204306e-02 9.99397064e-01 -2.13572347e-05] [-1.44909104e-04 1.63357775e-05 9.99999989e-01]] t_estimated: [[ 9.60944278e-01] [-2.76741879e-01] [ 1.63798441e-04]] R_gt: [[ 0.96813939 -0.24514738 -0.0510839 ] [ 0.24487696 0.96948439 -0.0115704 ] [ 0.05236156 -0.00130763 0.99862772]] t_gt: [ 0.73834951 -0.64645835 -0.19217599] Pose Error in degrees for R and t: 16.458071876737996 27.329202499308895 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99996848 0.00174525 0.00774501] [-0.00166261 0.99994176 -0.01066347] [-0.00776317 0.01065025 0.99991315]] t_estimated: [[-0.16638865] [-0.98599206] [-0.01159625]] R_gt: [[ 0.95107342 -0.30663143 -0.03791434] [ 0.30494775 0.95133506 -0.04436683] [ 0.04967482 0.03063504 0.99829555]] t_gt: [ 0.70047979 -0.66956943 -0.24699156] Pose Error in degrees for R and t: 18.23062987459047 56.872605423812715 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-5.14990104e-01 -8.57194610e-01 -1.61055378e-03] [ 8.57196121e-01 -5.14989064e-01 -1.03674333e-03] [ 5.92732169e-05 -1.91447301e-03 9.99998166e-01]] t_estimated: [[9.76043365e-01] [2.17574749e-01] [7.60750869e-04]] R_gt: [[ 0.99790643 0.00487435 0.06451153] [-0.00893309 0.99798749 0.0627868 ] [-0.0640753 -0.06323151 0.9959391 ]] t_gt: [-0.15088094 -0.05099843 0.98723559] Pose Error in degrees for R and t: 121.46028061766617 80.93172718741963 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 6.71119307e-01 -7.41349360e-01 4.08510907e-05] [-7.41349306e-01 -6.71119278e-01 -3.48527825e-04] [ 2.85796834e-04 2.03618824e-04 -9.99999938e-01]] t_estimated: [[0.47885189] [0.87789514] [0.00099761]] R_gt: [[ 0.98012865 -0.0863645 0.17858149] [ 0.03561329 0.96223194 0.26989031] [-0.19514435 -0.25816714 0.9461861 ]] t_gt: [ 0.14064066 -0.11340656 0.98354418] Pose Error in degrees for R and t: 161.50890374502245 88.21025687753539 Number of keypoints: Image1: 25 Image2: 25 R_estimated: [[-0.26013385 -0.96556942 -0.00246506] [ 0.96556523 -0.26012108 -0.00456123] [ 0.00376297 -0.0035667 0.99998656]] t_estimated: [[9.99654785e-01] [2.62611097e-02] [8.15503163e-04]] R_gt: [[ 0.96565102 -0.13972163 0.21908288] [ 0.04952484 0.92663781 0.37267962] [-0.25508175 -0.34902876 0.90172666]] t_gt: [ 0.20139527 -0.076874 0.97648878] Pose Error in degrees for R and t: 101.82207994057117 78.45700140287252 Number of keypoints: Image1: 38 Image2: 38 R_estimated: [[-4.38964891e-01 8.98504214e-01 4.19292618e-05] [-8.98503143e-01 -4.38964295e-01 -1.56498365e-03] [-1.38773895e-03 -7.24646449e-04 9.99998775e-01]] t_estimated: [[0.39666908] [0.9179611 ] [0.00102878]] R_gt: [[ 0.94895662 0.31540361 0.00137223] [-0.31537479 0.94891378 -0.01002609] [-0.00446459 0.00908193 0.99994946]] t_gt: [-0.94919643 0.31314809 -0.03105504] Pose Error in degrees for R and t: 97.65389954548151 84.88868166209467 Number of keypoints: Image1: 28 Image2: 28 R_estimated: [[-0.65116323 -0.75399348 -0.08648861] [-0.66417305 0.62128624 -0.41578548] [ 0.36723373 -0.21330081 -0.9053409 ]] t_estimated: [[0.99523804] [0.09746469] [0.00137274]] R_gt: [[ 0.83992379 0.54225065 0.02217357] [-0.54097859 0.83981039 -0.0454025 ] [-0.04324067 0.02614034 0.99872247]] t_gt: [-0.87972178 0.47428569 -0.0338034 ] Pose Error in degrees for R and t: 172.61160364532898 33.96768032523411 Number of keypoints: Image1: 21 Image2: 21 R_estimated: [[-0.68304323 -0.36343544 -0.63353502] [-0.48631184 -0.42086546 0.76575 ] [-0.54493369 0.83113594 0.11072634]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.64867509 0.76103412 -0.00686876] [-0.7594542 0.64668846 -0.07086945] [-0.04949249 0.05118869 0.99746201]] t_gt: [-0.78224194 0.62097071 -0.04992926] Pose Error in degrees for R and t: 138.26458227689463 76.82385121239263 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.99587856 0.08859356 -0.01941828] [-0.08811302 0.99581294 0.02434529] [ 0.02149381 -0.02253395 0.999515 ]] t_estimated: [[ 0.68511126] [ 0.72841095] [-0.00632764]] R_gt: [[ 0.9945882 -0.10366958 -0.00683838] [ 0.10303736 0.99267686 -0.06304794] [ 0.01332513 0.06200258 0.99798697]] t_gt: [ 0.5227503 -0.54485685 -0.65563949] Pose Error in degrees for R and t: 12.076781958097996 88.01780552268856 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99512804e-01 3.12114267e-02 4.86127741e-05] [-3.12114209e-02 9.99512798e-01 -1.17120994e-04] [-5.22446032e-05 1.15546660e-04 9.99999992e-01]] t_estimated: [[-0.16001815] [-0.98711251] [-0.00175462]] R_gt: [[ 0.99244351 -0.12111355 -0.01967305] [ 0.11992788 0.99135826 -0.05314982] [ 0.02594135 0.05038907 0.99839262]] t_gt: [ 0.53408798 -0.63704078 -0.55581389] Pose Error in degrees for R and t: 9.299479345777932 57.02026325557134 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 7.26275663e-02 -9.97359126e-01 9.75177427e-05] [-9.97355523e-01 -7.26270402e-02 2.69715451e-03] [-2.68294924e-03 -2.93147628e-04 -9.99996358e-01]] t_estimated: [[0.71467598] [0.6994529 ] [0.00197215]] R_gt: [[ 0.99716228 -0.07304333 -0.01824212] [ 0.07177485 0.99545728 -0.06255124] [ 0.02272895 0.06106479 0.99787481]] t_gt: [ 0.54960401 -0.32869298 -0.76804711] Pose Error in degrees for R and t: 176.72355880246616 80.7136433966167 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99999990e-01 -2.33377668e-06 1.39354261e-04] [ 2.35980151e-06 9.99999983e-01 -1.86753123e-04] [-1.39353823e-04 1.86753450e-04 9.99999973e-01]] t_estimated: [[0.81724695] [0.57628654] [0.00111426]] R_gt: [[ 0.99934037 -0.03347776 0.01412204] [ 0.03366301 0.99934762 -0.01308551] [-0.01367435 0.01355264 0.99981437]] t_gt: [ 0.78848858 -0.5870253 0.18354034] Pose Error in degrees for R and t: 2.2108153803421873 72.16363063165736 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99999692e-01 -2.54581348e-05 7.84692766e-04] [ 2.62836097e-05 9.99999446e-01 -1.05197963e-03] [-7.84665550e-04 1.05199993e-03 9.99999139e-01]] t_estimated: [[-0.34143621] [-0.9399041 ] [-0.00126479]] R_gt: [[ 0.98758742 -0.15683279 -0.00859487] [ 0.15661058 0.98740771 -0.0222996 ] [ 0.01198448 0.02067685 0.99971418]] t_gt: [ 0.75628023 -0.64856126 -0.08607267] Pose Error in degrees for R and t: 9.114993278124635 69.42257606456386 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999443e-01 7.86557837e-04 7.03552207e-04] [-7.86137484e-04 9.99999512e-01 -5.97550495e-04] [-7.04021872e-04 5.96997073e-04 9.99999574e-01]] t_estimated: [[9.99994892e-01] [3.10075932e-03] [7.75189839e-04]] R_gt: [[ 0.9717717 -0.23529019 -0.01730661] [ 0.23465277 0.9715325 -0.0325708 ] [ 0.02447774 0.02759002 0.99931931]] t_gt: [ 0.77341047 -0.62744512 -0.09027107] Pose Error in degrees for R and t: 13.801140689913822 39.52103723854224 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999999e-01 2.17931232e-05 -3.97983316e-05] [-2.17911347e-05 9.99999999e-01 4.99650749e-05] [ 3.97994204e-05 -4.99642076e-05 9.99999998e-01]] t_estimated: [[9.94262734e-01] [1.06961488e-01] [9.25600138e-04]] R_gt: [[ 0.9980719 -0.06114379 -0.01067129] [ 0.06124871 0.99807532 0.00975654] [ 0.01005386 -0.01039301 0.99989602]] t_gt: [ 0.6364482 -0.77076237 -0.02930966] Pose Error in degrees for R and t: 3.605039978264001 56.61050176419779 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99999960e-01 2.08264823e-04 1.91825057e-04] [-2.08215264e-04 9.99999945e-01 -2.58340651e-04] [-1.91878850e-04 2.58300699e-04 9.99999948e-01]] t_estimated: [[-0.01358107] [-0.99990633] [-0.00169763]] R_gt: [[ 0.99178208 -0.12615993 0.02126661] [ 0.12593235 0.99196933 0.01175211] [-0.02257812 -0.00897741 0.99970542]] t_gt: [ 0.67088475 -0.73417911 0.10437761] Pose Error in degrees for R and t: 7.385544796644932 43.54597301833825 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 0.9513905 0.30798553 0.00101766] [-0.30798368 0.95139022 -0.00164385] [-0.00147447 0.00125052 0.99999813]] t_estimated: [[-9.82712514e-01] [-1.85136018e-01] [-8.77421887e-04]] R_gt: [[ 0.98589345 -0.16510557 0.02748029] [ 0.16466703 0.98619348 0.01753861] [-0.02999762 -0.01276662 0.99946895]] t_gt: [ 0.72223694 -0.67971022 0.1279368 ] Pose Error in degrees for R and t: 27.491782524323188 54.26588169050689 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.99999986e-01 1.63168033e-04 -3.48193778e-05] [-1.63163404e-04 9.99999978e-01 1.32895152e-04] [ 3.48410613e-05 -1.32889469e-04 9.99999991e-01]] t_estimated: [[-0.95409314] [-0.29950696] [-0.00136275]] R_gt: [[ 0.9994411 0.02279395 -0.02443813] [-0.0229726 0.99971068 -0.00704115] [ 0.02427166 0.00759891 0.99967632]] t_gt: [ 0.67760638 0.58293498 -0.44837083] Pose Error in degrees for R and t: 1.9554925593769432 34.86696053492331 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.99592156e-01 -2.85572275e-02 -7.89106690e-05] [ 2.85572406e-02 9.99592144e-01 1.70411797e-04] [ 7.40119963e-05 -1.72595766e-04 9.99999982e-01]] t_estimated: [[-0.64425356] [ 0.76481144] [-0.00090375]] R_gt: [[ 9.96585237e-01 6.56689844e-02 -5.00547547e-02] [-6.55831084e-02 9.97842064e-01 3.35872022e-03] [ 5.01677889e-02 -6.40516190e-05 9.98741152e-01]] t_gt: [ 0.7091285 0.60834082 -0.35645227] Pose Error in degrees for R and t: 6.116377331090468 89.49982410304344 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 0.99998753 0.00120842 -0.00484628] [-0.00117909 0.999981 0.00604988] [ 0.0048535 -0.00604409 0.99996996]] t_estimated: [[-0.91423397] [-0.40517187] [-0.00346301]] R_gt: [[ 0.99226782 0.0665361 -0.10477467] [-0.06320734 0.99739397 0.0347821 ] [ 0.1068159 -0.02789094 0.993888 ]] t_gt: [ 0.88103296 0.38633948 -0.2729885 ] Pose Error in degrees for R and t: 7.0102340699788135 16.04212156833257 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.58361460e-01 -2.85557894e-01 4.47973196e-05] [ 2.85557858e-01 9.58361399e-01 3.73145755e-04] [-1.49486738e-04 -3.44816284e-04 9.99999929e-01]] t_estimated: [[ 0.63882017] [-0.76935539] [ 0.00103825]] R_gt: [[ 0.9993005 -0.02804424 -0.02474181] [ 0.02828158 0.99955634 0.00930087] [ 0.0244717 -0.00999493 0.99965012]] t_gt: [ 0.78387937 -0.53019716 -0.32314717] Pose Error in degrees for R and t: 15.053906690829734 24.724078308048032 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[-7.10562555e-01 -7.03633990e-01 -2.52031012e-04] [ 7.03628380e-01 -7.10558235e-01 3.75477542e-03] [-2.82107032e-03 2.49066664e-03 9.99992919e-01]] t_estimated: [[9.98436077e-01] [5.58986606e-02] [8.59979395e-04]] R_gt: [[ 0.99732881 -0.04577347 -0.05692429] [ 0.04694743 0.99870811 0.01945322] [ 0.05596086 -0.02207533 0.99818887]] t_gt: [ 0.70383956 -0.57883773 -0.4117727 ] Pose Error in degrees for R and t: 132.64886954762423 47.93074027696238 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[-9.74679979e-01 -2.23586858e-01 2.80291383e-03] [-2.23585629e-01 9.74684003e-01 7.48219929e-04] [-2.89924741e-03 1.02583732e-04 -9.99995792e-01]] t_estimated: [[0.99954061] [0.03021866] [0.00232451]] R_gt: [[ 0.9972066 -0.00993193 -0.07402892] [ 0.01402966 0.99838559 0.0550393 ] [ 0.07336373 -0.05592513 0.99573569]] t_gt: [ 0.52012161 -0.73977788 -0.42685149] Pose Error in degrees for R and t: 176.3213904458354 60.228956021830264 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-0.74032682 0.60706684 0.28876643] [-0.65744101 -0.56416402 -0.49949002] [-0.1403122 -0.55963275 0.81677639]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 0.999179 0.02464513 -0.03217108] [-0.0238714 0.99942152 0.02423146] [ 0.03274992 -0.02344318 0.99918821]] t_gt: [0.97426674 0.21326743 0.07294746] Pose Error in degrees for R and t: 137.2927265055498 26.54922870226821 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-1.01660223e-02 -9.99946930e-01 -1.67022692e-03] [ 9.99948196e-01 -1.01651599e-02 -5.24004930e-04] [ 5.06998997e-04 -1.67546744e-03 9.99998468e-01]] t_estimated: [[9.99985667e-01] [5.31641128e-03] [6.34225988e-04]] R_gt: [[ 0.99217738 0.06567568 -0.10616263] [-0.0581444 0.99566764 0.07255447] [ 0.11046746 -0.06581463 0.99169875]] t_gt: [ 0.92056684 0.3747483 -0.11009274] Pose Error in degrees for R and t: 94.35921064294132 22.709196690844262 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.75791767e-01 2.18701660e-01 1.03573459e-04] [-2.18701574e-01 9.75791641e-01 -5.42624743e-04] [-2.19739048e-04 5.06837079e-04 9.99999847e-01]] t_estimated: [[-6.24540948e-01] [ 7.80991733e-01] [-7.19308804e-04]] R_gt: [[ 0.97629382 0.13320375 -0.17060712] [-0.11599983 0.98745045 0.10716865] [ 0.18274116 -0.08483849 0.97949396]] t_gt: [ 0.60419619 0.75290235 -0.26093106] Pose Error in degrees for R and t: 12.83322499434327 77.8276586639921 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 7.97506176e-01 6.03310589e-01 4.82197489e-04] [-6.03310407e-01 7.97506317e-01 -4.76767464e-04] [-6.72194403e-04 8.93102341e-05 9.99999770e-01]] t_estimated: [[0.27619048] [0.96110239] [0.00101169]] R_gt: [[ 0.99904118 -0.03529406 0.02590446] [ 0.03520294 0.99937265 0.00398546] [-0.02602766 -0.00306994 0.99965601]] t_gt: [ 0.65760191 -0.55079834 0.51398533] Pose Error in degrees for R and t: 39.154172312955 69.68200370946325 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-5.70466602e-01 -8.21320674e-01 4.53843978e-04] [ 8.21268635e-01 -5.70424055e-01 1.15856427e-02] [-9.25664436e-03 6.98195006e-03 9.99932781e-01]] t_estimated: [[0.98709479] [0.16012421] [0.00202689]] R_gt: [[ 0.99805837 -0.06133758 -0.01084379] [ 0.06164346 0.99763072 0.03056033] [ 0.00894406 -0.03116936 0.99947366]] t_gt: [ 0.75661855 -0.63163307 0.16902082] Pose Error in degrees for R and t: 121.26428098263965 49.755022708157306 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.99447822e-01 3.32250952e-02 3.78782350e-04] [-3.32250159e-02 9.99447874e-01 -2.13895953e-04] [-3.85679928e-04 2.01192794e-04 9.99999905e-01]] t_estimated: [[0.9949 ] [0.10084756] [0.00193938]] R_gt: [[ 0.99743449 -0.06538998 -0.02914292] [ 0.06648175 0.99705605 0.03819775] [ 0.02656089 -0.04003666 0.99884514]] t_gt: [ 0.72028391 -0.6914595 0.05545132] Pose Error in degrees for R and t: 6.327752742447303 49.68525761410404 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99999434e-01 -2.87610142e-04 1.02479175e-03] [ 2.88892867e-04 9.99999175e-01 -1.25176491e-03] [-1.02443089e-03 1.25206025e-03 9.99998691e-01]] t_estimated: [[0.56843162] [0.82272998] [0.00093492]] R_gt: [[ 0.98725347 -0.15620685 -0.03050679] [ 0.15620097 0.98772198 -0.00261405] [ 0.03053979 -0.00218498 0.99953096]] t_gt: [ 0.72555272 -0.68105823 -0.09865563] Pose Error in degrees for R and t: 9.153432851496817 81.48941364510941 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.56066097e-01 -2.93150756e-01 5.02979104e-04] [ 2.93150905e-01 9.56066150e-01 -2.53414889e-04] [-4.06592529e-04 3.89730164e-04 9.99999841e-01]] t_estimated: [[7.58010700e-01] [6.52241765e-01] [6.78005992e-04]] R_gt: [[ 0.96813529 -0.24682426 -0.04232001] [ 0.24757335 0.96877661 0.01338186] [ 0.0376955 -0.02343245 0.99901398]] t_gt: [ 0.73297685 -0.67948807 -0.03226315] Pose Error in degrees for R and t: 3.751853468176252 83.54678216609639 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-5.89025373e-01 -8.08112351e-01 -1.88107348e-03] [ 8.08114540e-01 -5.89023722e-01 -1.39490268e-03] [ 1.92411780e-05 -2.34175590e-03 9.99997258e-01]] t_estimated: [[9.94571587e-01] [1.04050373e-01] [9.37390751e-04]] R_gt: [[ 0.94921106 -0.31184951 -0.04181417] [ 0.31236122 0.94994334 0.00612118] [ 0.037813 -0.0188708 0.99910655]] t_gt: [ 0.75730581 -0.65083152 -0.05390958] Pose Error in degrees for R and t: 107.9085318629479 46.73095608406501 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 1.00000000e+00 6.81676937e-14 7.43762690e-17] [-6.82787160e-14 1.00000000e+00 9.99634403e-17] [ 7.95804395e-16 -1.04690562e-15 1.00000000e+00]] t_estimated: [[ 0.60496808] [-0.79624773] [-0.00178354]] R_gt: [[ 0.99892559 -0.04304055 0.01719695] [ 0.04327177 0.99897392 -0.01332923] [-0.01660555 0.01405974 0.99976238]] t_gt: [ 0.77760262 -0.62208885 0.09132156] Pose Error in degrees for R and t: 2.7707480258966926 15.072242508097375 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99995106e-01 -3.04169824e-03 7.32799671e-04] [ 3.04201198e-03 9.99995282e-01 -4.27394029e-04] [-7.31496210e-04 4.29621123e-04 9.99999640e-01]] t_estimated: [[0.01490659] [0.99988823] [0.00114666]] R_gt: [[ 0.99442452 -0.1041522 0.01649553] [ 0.10455765 0.99417772 -0.02604117] [-0.01368768 0.02762083 0.99952393]] t_gt: [ 0.7802546 -0.62533882 -0.01241436] Pose Error in degrees for R and t: 6.067475233907035 52.14594641985871 Number of keypoints: Image1: 218 Image2: 218 R_estimated: [[ 9.99999956e-01 3.06722628e-05 2.94153237e-04] [-3.05067048e-05 9.99999841e-01 -5.62816970e-04] [-2.94170454e-04 5.62807972e-04 9.99999798e-01]] t_estimated: [[-0.67343345] [-0.73924627] [-0.00153053]] R_gt: [[ 9.70748151e-01 -2.40092262e-01 2.21717995e-03] [ 2.40101119e-01 9.70671723e-01 -1.21642513e-02] [ 7.67845097e-04 1.23405133e-02 9.99922567e-01]] t_gt: [ 0.77151518 -0.6361502 -0.00878889] Pose Error in degrees for R and t: 13.91089444948861 87.1753761714919 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.99003111e-01 4.46406045e-02 -3.21414434e-05] [-4.46406040e-02 9.99003111e-01 1.66063149e-05] [ 3.28507179e-05 -1.51549468e-05 9.99999999e-01]] t_estimated: [[7.89675607e-01] [6.13524164e-01] [7.31377651e-04]] R_gt: [[ 0.99860573 -0.05201209 0.00904119] [ 0.05217912 0.99845272 -0.01925184] [-0.0080255 0.01969677 0.99977447]] t_gt: [ 0.19470565 -0.94915977 -0.24735691] Pose Error in degrees for R and t: 5.677280506011212 64.61116725157432 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[-0.98692028 -0.12624792 0.10024883] [-0.12597639 0.99199187 0.00906002] [-0.10058984 -0.00368747 -0.99492115]] t_estimated: [[0.99681928] [0.06212575] [0.04991697]] R_gt: [[ 9.99391347e-01 -3.48576935e-02 1.55861104e-03] [ 3.48841566e-02 9.99134306e-01 -2.26939425e-02] [-7.66174896e-04 2.27346938e-02 9.99741138e-01]] t_gt: [ 0.35116218 -0.63858454 -0.68475902] Pose Error in degrees for R and t: 174.23943923559187 73.9669624635927 Number of keypoints: Image1: 258 Image2: 258 R_estimated: [[ 9.89767844e-01 1.42687120e-01 -2.57299363e-05] [-1.42687110e-01 9.89767821e-01 2.20936650e-04] [ 5.69914772e-05 -2.15004662e-04 9.99999975e-01]] t_estimated: [[0.71296614] [0.70119778] [0.0009807 ]] R_gt: [[ 0.99928834 0.03372445 -0.0168777 ] [-0.03423848 0.99892802 -0.03118004] [ 0.01580804 0.03173483 0.9993718 ]] t_gt: [ 0.38782733 0.61575828 -0.68588024] Pose Error in degrees for R and t: 6.579636379036336 44.959741602241685 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 5.78602693e-01 8.15609535e-01 -1.01235612e-04] [ 8.15597331e-01 -5.78593347e-01 5.54373603e-03] [ 4.46294971e-03 -3.29018809e-03 -9.99984628e-01]] t_estimated: [[0.99995119] [0.00980344] [0.00122543]] R_gt: [[ 0.95141823 0.30497103 0.04238753] [-0.30420181 0.95231255 -0.02370057] [-0.04759437 0.00965561 0.99881942]] t_gt: [-0.93134089 0.36413844 -0.00271206] Pose Error in degrees for R and t: 178.24457675405756 21.916478421813565 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[-5.77827486e-02 9.98329110e-01 3.76500900e-04] [-9.98325907e-01 -5.77815892e-02 -2.58285091e-03] [-2.55678043e-03 -5.25114827e-04 9.99996594e-01]] t_estimated: [[0.03493006] [0.99938788] [0.00194056]] R_gt: [[ 0.83005423 0.55752871 0.01313722] [-0.55606871 0.82921203 -0.0565224 ] [-0.04240603 0.03961125 0.99831437]] t_gt: [-0.84923749 0.52539015 -0.05254403] Pose Error in degrees for R and t: 59.52221585517286 60.31028983245624 Number of keypoints: Image1: 35 Image2: 35 R_estimated: [[-0.50366639 0.86388755 -0.00429824] [ 0.86388546 0.50367977 0.0029328 ] [ 0.00469855 -0.00223604 -0.99998646]] t_estimated: [[8.38740768e-01] [5.44530696e-01] [4.95661598e-04]] R_gt: [[ 0.63907165 0.76898474 0.01581991] [-0.76564154 0.63798506 -0.08227376] [-0.07336041 0.04046658 0.99648382]] t_gt: [-0.76636053 0.64172218 -0.02973514] Pose Error in degrees for R and t: 175.8928852172827 72.94106976889996 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99999997e-01 1.44877238e-05 7.31354932e-05] [-1.44901517e-05 9.99999999e-01 3.31972492e-05] [-7.31350122e-05 -3.31983089e-05 9.99999997e-01]] t_estimated: [[9.99984873e-01] [5.45451650e-03] [7.08690215e-04]] R_gt: [[ 0.99024673 -0.13366813 -0.03931475] [ 0.13405013 0.99094816 0.00725706] [ 0.03798828 -0.01245705 0.99920042]] t_gt: [ 0.70588685 -0.69249127 -0.14892817] Pose Error in degrees for R and t: 8.030759290917892 45.412843790124256 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.63470925e-01 2.67812589e-01 4.40108755e-04] [-2.67812526e-01 9.63471023e-01 -1.98752052e-04] [-4.77260334e-04 7.36251864e-05 9.99999883e-01]] t_estimated: [[9.05702251e-01] [4.23913751e-01] [7.51620125e-04]] R_gt: [[ 0.97623913 -0.21538602 -0.02379732] [ 0.2149365 0.97642234 -0.02004591] [ 0.02755439 0.01445405 0.99951509]] t_gt: [ 0.67305428 -0.71698079 -0.18148411] Pose Error in degrees for R and t: 28.019027871071344 72.2110091227394 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.99990718 0.0032522 0.01323102] [ 0.0031804 0.99998012 -0.00544391] [-0.01324846 -0.00540133 -0.99989765]] t_estimated: [[ 0.99939932] [-0.03305439] [ 0.01041152]] R_gt: [[ 0.95930864 -0.27708356 -0.05432422] [ 0.27466375 0.96034179 -0.047994 ] [ 0.06546744 0.03111953 0.99736839]] t_gt: [ 0.64981777 -0.70170514 -0.29214168] Pose Error in degrees for R and t: 177.24221302637721 47.96532490160759 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 4.76418741e-01 -8.79215323e-01 -2.36632570e-03] [ 8.79218504e-01 4.76416785e-01 1.36733622e-03] [-7.48256737e-05 -2.73194195e-03 9.99996265e-01]] t_estimated: [[ 0.94718564] [-0.32068169] [ 0.00161528]] R_gt: [[ 0.9964158 0.06462499 -0.05459033] [-0.06863907 0.99480713 -0.07516203] [ 0.04944994 0.07864044 0.99567619]] t_gt: [-0.34318688 0.52741312 -0.77721179] Pose Error in degrees for R and t: 65.57617068711521 60.30064894088303 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 0.99968794 -0.02495033 0.00122306] [ 0.0249517 0.99968803 -0.00112019] [-0.00119473 0.00115036 0.99999862]] t_estimated: [[-9.77722154e-01] [-2.09901318e-01] [-9.08663712e-04]] R_gt: [[ 0.99225132 0.12327244 -0.01554048] [-0.1240415 0.99003426 -0.06669139] [ 0.00716556 0.06810367 0.99765256]] t_gt: [-0.62309291 0.68175781 -0.38335559] Pose Error in degrees for R and t: 9.377400883105413 62.195363232788345 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.92692541e-01 1.20671089e-01 -8.24203589e-05] [-1.20671103e-01 9.92692525e-01 -1.88754076e-04] [ 5.90409142e-05 1.97320519e-04 9.99999979e-01]] t_estimated: [[-0.71544466] [-0.69866871] [-0.00098682]] R_gt: [[ 0.99428779 0.05178009 0.09333249] [-0.06245323 0.99136368 0.11532455] [-0.08655351 -0.12049285 0.98893361]] t_gt: [-0.34938688 0.17344973 0.92078445] Pose Error in degrees for R and t: 9.284056096543576 82.65321919372865 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 0.99190899 -0.12637111 -0.01212046] [ 0.12652256 0.99188285 0.01266692] [ 0.01042135 -0.01409794 0.99984631]] t_estimated: [[0.49400744] [0.86945309] [0.0028229 ]] R_gt: [[ 0.99845876 -0.01248482 -0.05407997] [ 0.01264429 0.99991716 0.00261058] [ 0.05404259 -0.00329007 0.99853353]] t_gt: [ 0.76421049 -0.18781266 -0.61701599] Pose Error in degrees for R and t: 7.013084976256249 77.7317109879249 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 0.10839668 -0.99410713 0.00108092] [-0.99410416 -0.10839331 0.00279438] [-0.00266075 -0.00137745 -0.99999551]] t_estimated: [[0.60905423] [0.79312396] [0.00270691]] R_gt: [[ 0.98872917 -0.07890141 -0.12723244] [ 0.0736044 0.99623538 -0.04581485] [ 0.13036827 0.03593339 0.99081449]] t_gt: [ 0.73652682 -0.23690173 -0.63356595] Pose Error in degrees for R and t: 173.46782308345198 74.99061069481331 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.99999604e-01 -8.70629838e-04 1.84059070e-04] [ 8.70593775e-04 9.99999602e-01 1.95924374e-04] [-1.84229575e-04 -1.95764055e-04 9.99999964e-01]] t_estimated: [[0.41997613] [0.90753464] [0.00096546]] R_gt: [[ 0.96932211 -0.22228128 -0.1049046 ] [ 0.21485468 0.97355885 -0.07759574] [ 0.11937807 0.05267671 0.99145064]] t_gt: [ 0.82067619 -0.41464203 -0.39314447] Pose Error in degrees for R and t: 14.687684791589737 88.16523863315396 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 0.66395102 -0.74742901 -0.02277978] [ 0.74735475 0.66429143 -0.01333321] [ 0.02509804 -0.00817198 0.99965159]] t_estimated: [[ 0.7448165 ] [ 0.66726878] [-0.00087002]] R_gt: [[ 0.99343946 0.10516593 0.0449272 ] [-0.10697752 0.99345536 0.04002625] [-0.04042394 -0.04456988 0.99818747]] t_gt: [-0.830285 0.43178777 0.35240054] Pose Error in degrees for R and t: 54.66833921661485 70.69492033348553 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.84289561 0.51710438 0.14876172] [ 0.51955607 0.85407178 -0.02495759] [-0.13995887 0.05625341 -0.98855808]] t_estimated: [[ 0.94281449] [-0.32460302] [ 0.07572135]] R_gt: [[ 0.97400418 0.22645461 0.00598049] [-0.22646638 0.97274038 0.04988417] [ 0.00547956 -0.04994079 0.99873704]] t_gt: [-0.83771759 0.53735871 0.09733886] Pose Error in degrees for R and t: 172.3063726497127 16.888894638930445 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-4.04306783e-01 9.14623415e-01 -1.86095337e-04] [ 9.14616483e-01 4.04304495e-01 3.81624941e-03] [ 3.56567025e-03 1.37272966e-03 -9.99992701e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.90645465 0.42220887 0.00900503] [-0.42052986 0.90048727 0.11080147] [ 0.03867193 -0.10422259 0.99380165]] t_gt: [-0.80627768 0.58398745 0.094207 ] Pose Error in degrees for R and t: 175.65600627010102 76.5859318606865 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[-0.74675246 -0.66509767 -0.00241778] [-0.66479993 0.74629873 0.03285204] [-0.02004543 0.02613968 -0.9994573 ]] t_estimated: [[0.71448581] [0.69964949] [0.00078086]] R_gt: [[ 0.99845623 -0.01506283 0.05346886] [ 0.012693 0.99893362 0.04438879] [-0.05407981 -0.04364238 0.9975824 ]] t_gt: [-0.25105979 -0.084076 0.96431334] Pose Error in degrees for R and t: 175.66776043209666 76.26394996789048 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99999686e-01 -7.77146216e-04 -1.53430254e-04] [ 7.77262781e-04 9.99999408e-01 7.61132443e-04] [ 1.52838652e-04 -7.61251460e-04 9.99999699e-01]] t_estimated: [[0.51105389] [0.85954802] [0.00106248]] R_gt: [[ 0.99421104 -0.06754604 0.08355375] [ 0.05647886 0.99011573 0.12838014] [-0.09139794 -0.1229181 0.988199 ]] t_gt: [ 0.07624203 -0.25019322 0.96518936] Pose Error in degrees for R and t: 9.462738305964708 79.91762905324575 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 0.05717719 0.99828571 0.01250669] [ 0.99826484 -0.05699043 -0.0148121 ] [-0.01407394 0.0133319 -0.99981207]] t_estimated: [[0.91118387] [0.41197143] [0.00484672]] R_gt: [[ 0.9866431 -0.10752903 0.1223613 ] [ 0.08742016 0.98335885 0.15925591] [-0.13744868 -0.14643241 0.97962516]] t_gt: [ 0.23712271 -0.29132443 0.92677014] Pose Error in degrees for R and t: 179.8401076552544 84.22991489948066 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 0.90927176 -0.4161607 0.0059278 ] [-0.41614277 -0.90880603 0.0299466 ] [-0.00707538 -0.02969641 -0.99953392]] t_estimated: [[0.17444417] [0.98453615] [0.01605611]] R_gt: [[ 0.99749984 0.01228844 -0.06958892] [-0.00945066 0.99911664 0.04096015] [ 0.07003057 -0.04020093 0.99673449]] t_gt: [ 0.97078008 -0.15546351 0.18280355] Pose Error in degrees for R and t: 176.831928929753 88.89855876252237 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 9.92367458e-01 -1.23315959e-01 -4.46566078e-05] [ 1.23315967e-01 9.92367416e-01 2.88038880e-04] [ 8.79597179e-06 -2.91347284e-04 9.99999958e-01]] t_estimated: [[1.38269630e-01] [9.90394616e-01] [1.17899377e-04]] R_gt: [[ 0.99288029 0.01689936 -0.11791004] [-0.01064276 0.99851137 0.05348756] [ 0.11863758 -0.05185221 0.99158363]] t_gt: [ 0.98529206 -0.1691175 0.02447082] Pose Error in degrees for R and t: 10.824164119405525 88.2089738855867 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-7.32543223e-01 -6.80697404e-01 -5.60986897e-03] [-6.80720293e-01 7.32511367e-01 6.85420089e-03] [-5.56343961e-04 8.83975006e-03 -9.99960774e-01]] t_estimated: [[8.27355740e-01] [5.61677806e-01] [7.21950908e-04]] R_gt: [[ 0.9911902 0.07562777 -0.10873368] [-0.06387311 0.9921183 0.10780344] [ 0.11602867 -0.09990874 0.98820839]] t_gt: [ 0.85569314 -0.14258928 0.49745106] Pose Error in degrees for R and t: 175.9967142446588 51.08015815221548 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.55019930e-01 2.96540876e-01 6.65166160e-04] [-2.96539527e-01 9.55002351e-01 5.90070469e-03] [ 1.11456489e-03 -5.83253863e-03 9.99982369e-01]] t_estimated: [[0.28448421] [0.95867281] [0.00389704]] R_gt: [[ 0.99531898 -0.05540978 0.07917492] [ 0.04911041 0.99563174 0.07941376] [-0.08322975 -0.07515362 0.99369237]] t_gt: [ 0.09491085 -0.30944103 0.94617027] Pose Error in degrees for R and t: 21.177826829265474 74.57571112354154 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 7.48034407e-01 -6.63659783e-01 -4.67081466e-04] [ 6.63659808e-01 7.48034521e-01 -1.23047659e-04] [ 4.31054843e-04 -2.17939313e-04 9.99999883e-01]] t_estimated: [[0.68675149] [0.72689176] [0.00087262]] R_gt: [[ 0.98876758 -0.10851865 0.10277737] [ 0.09638891 0.9885109 0.11642675] [-0.11423163 -0.10521308 0.98786705]] t_gt: [ 0.31942333 -0.37544843 0.87006161] Pose Error in degrees for R and t: 36.73409937676521 86.974138967148 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99907238e-01 -1.36204043e-02 1.25275686e-05] [ 1.36204045e-02 9.99907238e-01 -1.24467366e-05] [-1.23568770e-05 1.26162126e-05 1.00000000e+00]] t_estimated: [[5.60712763e-01] [8.28010295e-01] [3.84195110e-04]] R_gt: [[ 0.98463 -0.11202611 0.13399072] [ 0.08734489 0.98020519 0.17767499] [-0.15124254 -0.1632409 0.9749245 ]] t_gt: [ 0.31881992 -0.31285766 0.8946921 ] Pose Error in degrees for R and t: 13.7971587671568 85.41492754236513 Number of keypoints: Image1: 347 Image2: 347 R_estimated: [[ 9.99808728e-01 -1.95577375e-02 -4.31034765e-05] [ 1.95577402e-02 9.99808727e-01 6.31382381e-05] [ 4.18603909e-05 -6.39691681e-05 9.99999997e-01]] t_estimated: [[-3.20052404e-01] [ 9.47399452e-01] [-8.58505312e-04]] R_gt: [[ 0.99803919 0.01176533 -0.0614825 ] [-0.01122652 0.99989595 0.00910406] [ 0.06158357 -0.00839491 0.99806708]] t_gt: [ 0.94941912 -0.09896627 -0.2980084 ] Pose Error in degrees for R and t: 3.9799747401228665 66.58621905284103 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-7.61646626e-01 -6.47988456e-01 -2.31895849e-03] [ 6.47991124e-01 -7.61647660e-01 -5.87606770e-04] [-1.38546690e-03 -1.95021323e-03 9.99997139e-01]] t_estimated: [[8.46434663e-01] [5.32492117e-01] [7.11887858e-04]] R_gt: [[ 0.99565712 0.03733407 -0.08528248] [-0.03348429 0.99837431 0.04613321] [ 0.08686633 -0.04307707 0.99528899]] t_gt: [ 0.98317912 -0.16270225 0.08298666] Pose Error in degrees for R and t: 141.68450485594855 41.787766181303105 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[-0.42639711 0.90259407 -0.05924066] [ 0.9033307 0.42829462 0.02360845] [ 0.0466813 -0.04344733 -0.99796452]] t_estimated: [[ 0.97461263] [ 0.22280174] [-0.02212716]] R_gt: [[ 0.98599163 0.12380167 -0.11178077] [-0.110939 0.98717874 0.11476889] [ 0.12455641 -0.10075947 0.98708369]] t_gt: [0.76302331 0.00540228 0.6463484 ] Pose Error in degrees for R and t: 167.37506005072748 43.06714791290294 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.25209216e-01 -3.79457043e-01 -5.08301611e-04] [ 3.79457091e-01 9.25209336e-01 -1.60041754e-06] [ 4.70892686e-04 -1.91397930e-04 9.99999871e-01]] t_estimated: [[ 0.67926414] [-0.7338932 ] [-0.00100254]] R_gt: [[ 0.99949306 -0.03137264 0.005524 ] [ 0.03128676 0.99939842 0.01496467] [-0.00599016 -0.01478414 0.99987266]] t_gt: [ 0.96766991 -0.02157783 0.25129533] Pose Error in degrees for R and t: 20.52494999625302 47.70969449326346 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 9.99999619e-01 -8.49857225e-04 -2.01386931e-04] [ 8.49933762e-04 9.99999567e-01 3.80267252e-04] [ 2.01063671e-04 -3.80438273e-04 9.99999907e-01]] t_estimated: [[-0.17483444] [ 0.98458792] [-0.00442139]] R_gt: [[ 0.99932372 -0.00560124 -0.03634896] [ 0.00595812 0.99993535 0.00970905] [ 0.03629102 -0.00991897 0.99929204]] t_gt: [ 0.952825 0.2823356 -0.11140522] Pose Error in degrees for R and t: 2.1575969482425124 83.57571345360194 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.76435213e-01 -2.15810618e-01 2.27437745e-04] [ 2.15810671e-01 9.76435198e-01 -2.40572548e-04] [-1.70160110e-04 2.83986999e-04 9.99999945e-01]] t_estimated: [[-0.02848575] [-0.99959084] [-0.00258961]] R_gt: [[ 0.99851678 0.03820181 -0.03878508] [-0.03766639 0.99918648 0.01442871] [ 0.03930452 -0.01294591 0.99914296]] t_gt: [ 0.91193192 0.40022858 -0.09053868] Pose Error in degrees for R and t: 14.8304625435277 64.79821849273108 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 1.00000000e+00 5.60662627e-15 -4.40749867e-15] [-5.52335955e-15 1.00000000e+00 -1.96018332e-15] [ 4.41828648e-15 1.81857296e-15 1.00000000e+00]] t_estimated: [[ 9.74537366e-01] [ 2.24225050e-01] [-2.22729580e-04]] R_gt: [[ 0.99703162 -0.07399357 -0.02131629] [ 0.07416479 0.99721867 0.00732158] [ 0.02071501 -0.00888026 0.99974555]] t_gt: [ 0.74692655 -0.65925281 -0.08652429] Pose Error in degrees for R and t: 4.440761898592406 54.541993767105026 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[-0.03372833 0.99943024 0.00126668] [-0.99942887 -0.03372559 -0.00212645] [-0.00208252 -0.00133767 0.99999694]] t_estimated: [[0.01851532] [0.99982716] [0.00168321]] R_gt: [[ 9.89613377e-01 -1.12014077e-01 -9.01105071e-02] [ 1.11529421e-01 9.93707080e-01 -1.04177017e-02] [ 9.07096794e-02 2.59444077e-04 9.95876809e-01]] t_gt: [ 0.81363904 -0.46396861 -0.35032077] Pose Error in degrees for R and t: 98.47381551228565 63.293952405026346 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.86244954e-01 1.65290239e-01 -1.67226583e-04] [-1.65290027e-01 9.86244597e-01 8.95832774e-04] [ 3.12998727e-04 -8.55869666e-04 9.99999585e-01]] t_estimated: [[3.63454053e-01] [9.31612066e-01] [3.31530508e-04]] R_gt: [[ 0.97240755 -0.20472386 -0.11186273] [ 0.19874052 0.97806543 -0.06237362] [ 0.12217781 0.03842031 0.99176466]] t_gt: [ 0.82118148 -0.43216599 -0.37268423] Pose Error in degrees for R and t: 22.430391300225097 84.01472473326936 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.98829715e-01 -4.83633737e-02 4.29138924e-04] [ 4.83637029e-02 9.98829476e-01 -7.93244622e-04] [-3.90272621e-04 8.13071047e-04 9.99999593e-01]] t_estimated: [[9.48757191e-01] [3.16005131e-01] [7.41796083e-04]] R_gt: [[ 0.99866734 0.05129652 0.00578215] [-0.0512178 0.99860258 -0.01301209] [-0.00644158 0.01269827 0.99989873]] t_gt: [-0.89692863 0.42568169 -0.1196417 ] Pose Error in degrees for R and t: 5.76105919437022 44.230561958155995 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.40644196e-01 3.39391225e-01 -1.44681026e-03] [-3.39389831e-01 9.40645137e-01 1.12659992e-03] [ 1.74329316e-03 -5.68696985e-04 9.99998319e-01]] t_estimated: [[-0.99211614] [-0.12531212] [-0.00155872]] R_gt: [[ 0.99809526 -0.06064457 -0.01134405] [ 0.06026713 0.99769779 -0.03108066] [ 0.01320188 0.03033824 0.99945223]] t_gt: [ 0.42886563 -0.83243479 -0.35089399] Pose Error in degrees for R and t: 23.38381845317959 71.29937029635138 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 0.94313161 -0.33240111 0.00350291] [-0.33241313 -0.94312657 0.00371267] [ 0.00206959 -0.00466595 -0.99998697]] t_estimated: [[0.49890295] [0.86665601] [0.00178848]] R_gt: [[ 9.90923142e-01 -1.34429039e-01 -6.76476806e-04] [ 1.34354305e-01 9.90520015e-01 -2.86050482e-02] [ 4.51560633e-03 2.82541133e-02 9.99589761e-01]] t_gt: [ 0.60394194 -0.78558204 -0.13459196] Pose Error in degrees for R and t: 178.5957830319703 67.68107746323717 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.24529132 0.96941033 0.00870475] [ 0.96944203 0.2453146 -0.00170009] [-0.00378349 0.00802174 -0.99996067]] t_estimated: [[9.14099266e-01] [4.05489541e-01] [8.73899872e-04]] R_gt: [[ 0.98608062 0.16082747 -0.04219492] [-0.16076208 0.98698116 0.00495787] [ 0.0424431 0.00189398 0.99909685]] t_gt: [-0.84664248 0.50534561 -0.16680022] Pose Error in degrees for R and t: 178.4588133630081 55.30911803932021 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-6.06206647e-01 -7.95306345e-01 1.14846205e-03] [-7.95304927e-01 6.06207735e-01 1.50150846e-03] [-1.89036578e-03 -3.15312351e-06 -9.99998213e-01]] t_estimated: [[0.92850718] [0.37131039] [0.00173367]] R_gt: [[ 0.94926612 0.31415223 -0.01428872] [-0.31092149 0.9443777 0.10714096] [ 0.04715224 -0.09726303 0.99414085]] t_gt: [-0.88064851 0.45225913 0.1411378 ] Pose Error in degrees for R and t: 178.87675018988696 49.494934981154536 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.97152098e-01 7.54138003e-02 6.72094503e-04] [-7.54136653e-02 9.97152310e-01 -2.23992039e-04] [-6.87072677e-04 1.72669022e-04 9.99999749e-01]] t_estimated: [[0.22751704] [0.97377292] [0.00151678]] R_gt: [[ 0.94716363 0.31946444 -0.02870541] [-0.31525161 0.94368814 0.10033904] [ 0.05914404 -0.08598813 0.99453894]] t_gt: [-0.91922535 0.38330353 0.09001759] Pose Error in degrees for R and t: 15.444820028804426 80.546465278926 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.74566490e-01 2.24097174e-01 7.83162454e-04] [-2.24096773e-01 9.74566732e-01 -5.67197232e-04] [-8.90351370e-04 3.77267237e-04 9.99999532e-01]] t_estimated: [[0.20085192] [0.97961951] [0.00202998]] R_gt: [[ 0.99411955 -0.10787899 -0.00942745] [ 0.10764619 0.99393655 -0.02241837] [ 0.01178848 0.0212719 0.99970427]] t_gt: [ 0.62413289 -0.73273431 -0.27121681] Pose Error in degrees for R and t: 19.187061509063216 53.630302886243136 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-2.31569631e-01 9.72817885e-01 -9.32433426e-04] [-9.72812135e-01 -2.31571470e-01 -3.34716866e-03] [-3.47211052e-03 1.31979940e-04 9.99993963e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98372651 -0.17936509 -0.01051547] [ 0.17855562 0.9824511 -0.05391904] [ 0.02000191 0.05116442 0.99849019]] t_gt: [ 0.56702769 -0.74812937 -0.34464772] Pose Error in degrees for R and t: 113.73104493238357 41.846382414024404 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.99886075 -0.04755167 0.00400533] [-0.0475276 0.99885246 0.00590609] [-0.00428158 0.005709 -0.99997454]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96221334 -0.27033931 -0.03259215] [ 0.26892044 0.96224111 -0.04210728] [ 0.04274504 0.03175147 0.99858114]] t_gt: [ 0.61136697 -0.75294742 -0.24351719] Pose Error in degrees for R and t: 178.05099476159447 52.49429922362878 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99998294e-01 1.84107566e-03 -1.51634790e-04] [-1.84108621e-03 9.99998303e-01 -6.94626201e-05] [ 1.51506647e-04 6.97416743e-05 9.99999986e-01]] t_estimated: [[-1.35922567e-02] [ 9.99907372e-01] [-7.05787392e-04]] R_gt: [[ 0.99871245 0.01567116 -0.04823955] [-0.01967041 0.99630649 -0.08358776] [ 0.04675199 0.08442912 0.99533174]] t_gt: [-0.03190784 0.30259312 -0.95258558] Pose Error in degrees for R and t: 5.604803095762836 72.32176736713328 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 9.99999331e-01 1.15605100e-03 -2.63374703e-05] [-1.15605293e-03 9.99999329e-01 -7.35073857e-05] [ 2.62524743e-05 7.35377841e-05 9.99999997e-01]] t_estimated: [[4.95490762e-03] [9.99987698e-01] [2.29090452e-04]] R_gt: [[ 0.99185447 0.06484907 -0.10962924] [-0.08287584 0.98215295 -0.16883866] [ 0.09672387 0.17654895 0.97952776]] t_gt: [-0.12537738 0.44461217 -0.88690503] Pose Error in degrees for R and t: 12.347742448527697 63.65454418335467 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-2.74356870e-01 9.61627594e-01 8.23977842e-04] [-9.61626807e-01 -2.74355125e-01 -1.77447348e-03] [-1.48032012e-03 -1.27919817e-03 9.99998086e-01]] t_estimated: [[0.10279282] [0.99470225] [0.00103831]] R_gt: [[ 0.98364445 0.14475344 -0.10718784] [-0.16236187 0.97022763 -0.17971192] [ 0.07798252 0.19417647 0.97786216]] t_gt: [-0.32330996 0.59810242 -0.73331042] Pose Error in degrees for R and t: 97.55625347480822 55.87927593099153 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 3.39391133e-02 9.99423618e-01 7.53856686e-04] [-9.99421967e-01 3.39405223e-02 -1.94233586e-03] [-1.96680262e-03 -6.87499775e-04 9.99997830e-01]] t_estimated: [[-0.11713967] [ 0.99311436] [ 0.00147399]] R_gt: [[ 0.99738144 0.02676814 -0.06719418] [-0.03095368 0.99759326 -0.06204119] [ 0.06537146 0.06395887 0.99580827]] t_gt: [-0.02327861 0.42319927 -0.90573754] Pose Error in degrees for R and t: 86.52858867093981 65.05948642236149 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[ 8.48790937e-01 5.28728571e-01 -2.07973606e-04] [-5.28726073e-01 8.48785575e-01 -3.43335922e-03] [-1.63879012e-03 3.02416526e-03 9.99994084e-01]] t_estimated: [[-0.99985599] [-0.01683968] [-0.00210496]] R_gt: [[ 0.99219036 0.0526946 -0.113059 ] [-0.07193909 0.98219516 -0.17354671] [ 0.10190076 0.18032577 0.97831439]] t_gt: [-0.042298 0.52647056 -0.84914052] Pose Error in degrees for R and t: 30.625049544182755 87.9819854873521 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.95951918e-01 8.98875618e-02 -5.90206662e-05] [-8.98875718e-02 9.95951899e-01 -1.97667442e-04] [ 4.10139001e-05 2.02172493e-04 9.99999979e-01]] t_estimated: [[-6.39594861e-01] [-7.68712057e-01] [-4.32919805e-04]] R_gt: [[ 0.99071331 0.09810997 -0.09413985] [-0.1142279 0.97610483 -0.184854 ] [ 0.07375341 0.19389168 0.97824644]] t_gt: [-0.15809623 0.67171657 -0.72374197] Pose Error in degrees for R and t: 12.002981809830507 65.48535846077408 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99996325e-01 2.71028917e-03 6.94236645e-05] [-2.71029378e-03 9.99996325e-01 6.63151714e-05] [-6.92436761e-05 -6.65030862e-05 9.99999995e-01]] t_estimated: [[0.23181595] [0.97275917] [0.00098133]] R_gt: [[ 0.99937297 -0.01391522 -0.032578 ] [ 0.01168051 0.99763205 -0.06778802] [ 0.03344425 0.06736543 0.99716822]] t_gt: [ 0.41066305 0.0242528 -0.91146457] Pose Error in degrees for R and t: 4.4084050125592 83.22931390371605 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.22652223e-01 -3.85628189e-01 -1.94303886e-03] [ 3.85630297e-01 9.22652998e-01 8.47446605e-04] [ 1.46595133e-03 -1.53119315e-03 9.99997753e-01]] t_estimated: [[-0.00519743] [-0.99998595] [-0.00103949]] R_gt: [[ 0.99485474 -0.01195951 -0.10060602] [-0.00107403 0.99170759 -0.12850917] [ 0.10130986 0.12795563 0.98659201]] t_gt: [ 0.31663623 0.18897272 -0.92953258] Pose Error in degrees for R and t: 24.23538130312836 79.06766819640359 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 6.59592907e-01 7.51622357e-01 1.01464208e-03] [-7.51621785e-01 6.59593672e-01 -9.38060019e-04] [-1.37431838e-03 -1.43889355e-04 9.99999045e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98813731 -0.03627085 -0.14922664] [ 0.01037443 0.98525528 -0.17077345] [ 0.153221 0.16720035 0.97394434]] t_gt: [ 0.36200435 0.17604346 -0.9154024 ] Pose Error in degrees for R and t: 51.67311423847589 79.78477969230039 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 9.99999795e-01 6.18895755e-04 -1.61575373e-04] [-6.18883143e-04 9.99999805e-01 7.80960774e-05] [ 1.61623675e-04 -7.79960651e-05 9.99999984e-01]] t_estimated: [[-3.55590501e-02] [-9.99367486e-01] [-4.25346403e-04]] R_gt: [[ 0.99963922 -0.00251355 -0.02673308] [-0.00165741 0.9879253 -0.1549243 ] [ 0.02680002 0.15491221 0.98756388]] t_gt: [ 0.18166846 0.35502935 -0.91703366] Pose Error in degrees for R and t: 9.048354645682936 68.84607668024248 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.86277557e-01 1.65095651e-01 -8.55737588e-05] [-1.65095673e-01 9.86277450e-01 -4.57823869e-04] [ 8.81473892e-06 4.65669264e-04 9.99999892e-01]] t_estimated: [[-0.17384921] [-0.98477165] [-0.00112161]] R_gt: [[ 0.9986762 -0.02692892 -0.04381135] [ 0.01296835 0.95627312 -0.2921896 ] [ 0.0497641 0.29123477 0.95535559]] t_gt: [ 0.21711037 0.38934796 -0.89513756] Pose Error in degrees for R and t: 20.185169838155737 65.15535478165636 Number of keypoints: Image1: 63 Image2: 63 R_estimated: [[-0.67984066 0.73119516 0.0563055 ] [-0.73273786 -0.68042053 -0.01109641] [ 0.03019778 -0.04880096 0.99835192]] t_estimated: [[0.40414099] [0.91463487] [0.01063529]] R_gt: [[ 0.9971635 -0.06000078 -0.04542922] [ 0.04179794 0.94350926 -0.32870009] [ 0.06258584 0.32586856 0.94334107]] t_gt: [ 0.26860714 0.35828718 -0.89413673] Pose Error in degrees for R and t: 137.11875934311044 64.73866246408109 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 2.47270695e-01 -9.68941961e-01 -2.94611033e-03] [ 9.68946151e-01 2.47271825e-01 -1.99027906e-05] [ 7.47774725e-04 -2.84970089e-03 9.99995660e-01]] t_estimated: [[ 5.66990167e-01] [-8.23724358e-01] [-5.75816934e-04]] R_gt: [[ 0.9867806 0.16196942 0.00551732] [-0.16158779 0.98592383 -0.042937 ] [-0.01239451 0.04147748 0.99906271]] t_gt: [-0.83217133 0.5364635 -0.14034883] Pose Error in degrees for R and t: 85.0319687530638 23.985241334212557 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 0.94197052 0.33561383 -0.00740926] [ 0.33553781 -0.94197504 -0.00986961] [-0.01029172 0.00681079 -0.99992384]] t_estimated: [[0.76683063] [0.64184061] [0.00337811]] R_gt: [[ 0.97027043 0.24114485 -0.02061157] [-0.24169567 0.96986701 -0.03065853] [ 0.01259716 0.03472773 0.99931745]] t_gt: [-0.80251965 0.58682982 -0.10767068] Pose Error in degrees for R and t: 177.75873257440745 76.16603186512955 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-3.22963123e-01 -9.46408650e-01 -2.34281233e-03] [ 9.46410443e-01 -3.22965541e-01 7.29985863e-04] [-1.44751259e-03 -1.98150354e-03 9.99996989e-01]] t_estimated: [[0.99197521] [0.12642154] [0.00166733]] R_gt: [[ 0.9643322 0.26026959 -0.04821076] [-0.26235675 0.96398404 -0.04364077] [ 0.03511587 0.05473191 0.99788323]] t_gt: [-0.73745622 0.65058354 -0.18138188] Pose Error in degrees for R and t: 124.04175661954731 49.48908209330602 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.30757406 -0.95152337 -0.00121572] [-0.95151443 0.30756489 0.00491139] [-0.00429939 0.0026674 -0.9999872 ]] t_estimated: [[0.76717648] [0.64143084] [0.002593 ]] R_gt: [[ 0.9973604 -0.06267166 -0.03669495] [ 0.06602219 0.99292952 0.09865082] [ 0.03025328 -0.10081325 0.99444554]] t_gt: [ 0.31187621 -0.7739643 0.55110116] Pose Error in degrees for R and t: 178.0671742197297 75.18188230882133 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.58422489e-01 2.85352958e-01 -1.44384268e-04] [-2.85352589e-01 9.58421857e-01 1.20141789e-03] [ 4.81209187e-04 -1.11026550e-03 9.99999268e-01]] t_estimated: [[0.70574978] [0.70846082] [0.00071909]] R_gt: [[ 0.98478307 -0.14324485 -0.09840314] [ 0.1546685 0.98060144 0.12041119] [ 0.0792467 -0.13379838 0.98783524]] t_gt: [ 0.51072588 -0.79877955 0.31797847] Pose Error in degrees for R and t: 26.69394232881032 78.15699658165471 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 6.23877765e-01 7.81521830e-01 4.04906723e-04] [ 7.81518992e-01 -6.23876753e-01 2.42118345e-03] [ 2.14481961e-03 -1.19408023e-03 -9.99996987e-01]] t_estimated: [[-8.36627471e-01] [-5.47772230e-01] [ 2.42907659e-04]] R_gt: [[ 0.95911389 -0.25382972 -0.12518596] [ 0.26870759 0.95557006 0.12117087] [ 0.0888678 -0.14985558 0.98470593]] t_gt: [ 0.61686802 -0.75125 0.23472812] Pose Error in degrees for R and t: 170.10559743839514 84.00061287632201 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 9.99999979e-01 2.02504978e-04 -3.43377010e-07] [-2.02504937e-04 9.99999973e-01 1.14925004e-04] [ 3.66649886e-07 -1.14924932e-04 9.99999993e-01]] t_estimated: [[8.64782720e-01] [5.02145825e-01] [6.46149034e-04]] R_gt: [[ 0.99223415 -0.11937311 -0.03494712] [ 0.11973746 0.99276852 0.00853186] [ 0.0336763 -0.01265077 0.99935227]] t_gt: [ 0.66256545 -0.74692071 -0.05582548] Pose Error in degrees for R and t: 7.181800283430506 78.5872215946393 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 0.9978277 0.06585093 0.00187868] [-0.06584613 0.99782663 -0.00251077] [-0.00203993 0.00238162 0.99999508]] t_estimated: [[-8.29968398e-01] [-5.57809885e-01] [-7.68394266e-04]] R_gt: [[ 0.97200416 -0.23165024 -0.0393166 ] [ 0.2323217 0.97254583 0.01340968] [ 0.03513221 -0.02216833 0.99913633]] t_gt: [ 0.68945149 -0.72392708 -0.02421213] Pose Error in degrees for R and t: 17.381625238954783 80.3057382029674 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 0.99241929 0.12253987 0.00937744] [-0.12206056 0.99167532 -0.0410033 ] [-0.01432391 0.03954785 0.999115 ]] t_estimated: [[-0.65491972] [-0.75520726] [-0.02724242]] R_gt: [[ 0.96764798 -0.24683732 0.05223728] [ 0.25033942 0.9650931 -0.07696607] [-0.03141494 0.08755387 0.99566346]] t_gt: [ 0.60519226 -0.75603059 -0.24931923] Pose Error in degrees for R and t: 21.650128200673866 79.54871278888021 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.98545125e-01 -5.39220287e-02 -2.18729546e-04] [ 5.39221034e-02 9.98545083e-01 3.51029370e-04] [ 1.99483096e-04 -3.62313023e-04 9.99999914e-01]] t_estimated: [[0.02326672] [0.99972863] [0.00115079]] R_gt: [[ 0.99142408 0.13040636 -0.00852125] [-0.13057748 0.9911412 -0.02424297] [ 0.00528415 0.02514758 0.99966933]] t_gt: [-0.82852526 0.54445035 -0.13084234] Pose Error in degrees for R and t: 10.69428561172253 58.340173769026336 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 5.27171825e-01 -8.49756812e-01 1.79658707e-03] [-8.49758490e-01 -5.27172036e-01 3.92479397e-04] [ 6.13598421e-04 -1.73356919e-03 -9.99998309e-01]] t_estimated: [[0.00410896] [0.99999102] [0.0010339 ]] R_gt: [[ 0.98505647 0.16678866 -0.04296209] [-0.16731197 0.9858645 -0.00884458] [ 0.04087937 0.01590083 0.99903725]] t_gt: [-0.77980861 0.6117486 -0.13289914] Pose Error in degrees for R and t: 178.2809759842029 52.52598954652098 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.78118891e-01 -2.08043809e-01 1.09885991e-03] [ 2.08045866e-01 9.78116330e-01 -2.31552675e-03] [-5.93081817e-04 2.49347372e-03 9.99996715e-01]] t_estimated: [[-0.92089712] [-0.38980446] [-0.00098988]] R_gt: [[ 0.98115458 0.18939039 -0.03830069] [-0.19122293 0.98018004 -0.05177054] [ 0.0277367 0.05811873 0.9979239 ]] t_gt: [-0.65954503 0.71182605 -0.24146227] Pose Error in degrees for R and t: 23.266268559358082 70.72277738077774 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99998596e-01 -9.34217810e-04 1.39078678e-03] [ 9.34965464e-04 9.99999419e-01 -5.37022749e-04] [-1.39028428e-03 5.38322333e-04 9.99998889e-01]] t_estimated: [[-0.68059771] [-0.73265693] [-0.00076558]] R_gt: [[ 0.99972897 -0.02120652 -0.00965629] [ 0.01899224 0.98166596 -0.1896635 ] [ 0.01350179 0.18942891 0.98180171]] t_gt: [ 0.20655222 0.33887924 -0.91787638] Pose Error in degrees for R and t: 10.97769677356897 67.1600367698925 Number of keypoints: Image1: 20 Image2: 20 R_estimated: [[-0.21661605 -0.97625344 0.00259028] [-0.9762531 0.21662183 0.00220712] [-0.00271582 -0.00205067 -0.99999421]] t_estimated: [[0.85655289] [0.51605338] [0.00246017]] R_gt: [[ 0.99817249 -0.05859721 -0.01478425] [ 0.05318599 0.96792961 -0.24552896] [ 0.02869746 0.24429427 0.96927703]] t_gt: [ 0.29541552 0.28225429 -0.9127224 ] Pose Error in degrees for R and t: 170.34880789896948 66.6434475261624 Number of keypoints: Image1: 32 Image2: 32 R_estimated: [[ 8.83276273e-01 4.68852769e-01 3.24813835e-04] [-4.68852677e-01 8.83276323e-01 -3.22888407e-04] [-4.38287494e-04 1.32909833e-04 9.99999895e-01]] t_estimated: [[-0.42989447] [-0.90287859] [-0.00100209]] R_gt: [[ 0.99395432 -0.10776857 -0.02100695] [ 0.09778588 0.95587751 -0.27701229] [ 0.04993279 0.27328345 0.96063644]] t_gt: [ 0.38462441 0.20714754 -0.89952986] Pose Error in degrees for R and t: 37.50507311646297 69.42240550785766 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 0.63181484 0.7748336 0.02104508] [ 0.7748573 -0.63066245 -0.04313975] [-0.02015379 0.04356327 -0.99884737]] t_estimated: [[-0.41640321] [ 0.9088567 ] [-0.02424604]] R_gt: [[ 0.99943099 -0.03143029 -0.01221298] [ 0.03179527 0.99901616 0.03093844] [ 0.01122802 -0.03130849 0.99944657]] t_gt: [ 0.67130137 -0.64796163 0.35986135] Pose Error in degrees for R and t: 179.14932013673396 28.698166562873137 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.92118483e-01 1.25303288e-01 3.55548526e-05] [-1.25303283e-01 9.92118478e-01 -1.17050712e-04] [-4.99414653e-05 1.11673036e-04 9.99999993e-01]] t_estimated: [[-3.64546402e-01] [-9.31185004e-01] [-6.39718271e-04]] R_gt: [[ 0.99939773 -0.02315904 0.02584585] [ 0.02110704 0.99680698 0.07701845] [-0.02754722 -0.07642522 0.99669465]] t_gt: [ 0.17323833 -0.27939178 0.94441978] Pose Error in degrees for R and t: 9.666389017799272 78.67302092457493 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.19776677 0.98007383 0.01853614] [ 0.98007916 0.19804923 -0.01487771] [-0.01825232 0.01522457 -0.99971749]] t_estimated: [[ 0.79544596] [-0.60593004] [ 0.01070081]] R_gt: [[ 0.99796324 -0.05662921 0.02937882] [ 0.05392458 0.99484835 0.08585098] [-0.0340892 -0.08409047 0.99587517]] t_gt: [ 0.42077994 -0.33024118 0.84491716] Pose Error in degrees for R and t: 179.68636444180868 57.05374843965713 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99999675e-01 -8.04192357e-04 5.95437021e-05] [ 8.04188141e-04 9.99999674e-01 7.08017754e-05] [-5.96006210e-05 -7.07538680e-05 9.99999996e-01]] t_estimated: [[ 3.40014218e-03] [-9.99994202e-01] [-1.87063587e-04]] R_gt: [[ 0.99660434 -0.07322986 0.0376315 ] [ 0.0732286 0.99731378 0.0014136 ] [-0.037634 0.00134663 0.99929068]] t_gt: [ 0.64441213 -0.71211104 0.27862319] Pose Error in degrees for R and t: 4.680502562039928 44.41856936723668 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.95507973e-01 9.46774334e-02 2.44657271e-04] [-9.46773616e-02 9.95507967e-01 -2.90191885e-04] [-2.71032885e-04 2.65724830e-04 9.99999928e-01]] t_estimated: [[0.92131014] [0.38882736] [0.0009577 ]] R_gt: [[ 0.99313162 -0.11056733 0.03825457] [ 0.11037105 0.99386508 0.00720447] [-0.03881687 -0.00293411 0.99924251]] t_gt: [ 0.72663568 -0.64842715 0.22703044] Pose Error in degrees for R and t: 11.983808293820587 65.32011929225855 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99999368e-01 9.44667249e-04 6.10326074e-04] [-9.44522295e-04 9.99999526e-01 -2.37746962e-04] [-6.10550376e-04 2.37170345e-04 9.99999785e-01]] t_estimated: [[0.93033082] [0.36672017] [0.00093313]] R_gt: [[ 0.98669421 -0.15204323 0.05758076] [ 0.15257004 0.98828103 -0.00483817] [-0.05617149 0.01355779 0.99832952]] t_gt: [ 0.75064931 -0.63819935 0.17095968] Pose Error in degrees for R and t: 9.409607416365494 62.323999430048715 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-0.72867217 0.68482694 0.00699503] [-0.68485352 -0.72867721 -0.0022747 ] [ 0.00353934 -0.00644808 0.99997295]] t_estimated: [[0.46531743] [0.88514293] [0.00129977]] R_gt: [[ 0.99924958 -0.03747902 0.00976896] [ 0.03683796 0.99757005 0.05912431] [-0.01196176 -0.05871998 0.99820261]] t_gt: [ 0.54089262 -0.47283692 0.69560076] Pose Error in degrees for R and t: 138.91545767844468 80.44830717878773 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-9.37137731e-01 -3.48955695e-01 -1.67231648e-03] [ 3.48959647e-01 -9.37124135e-01 -5.05167194e-03] [ 1.95641557e-04 -5.31768335e-03 9.99985842e-01]] t_estimated: [[0.71745192] [0.69660586] [0.00173717]] R_gt: [[ 0.99452452 -0.08846224 0.05563713] [ 0.07863387 0.98411675 0.15915409] [-0.06883226 -0.15390721 0.98568496]] t_gt: [ 0.36559219 -0.42003205 0.83061148] Pose Error in degrees for R and t: 154.84737721445507 88.34626858748773 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 8.96203622e-01 4.43639965e-01 -1.62736194e-03] [-4.43640364e-01 8.96204894e-01 1.27303517e-04] [ 1.51492666e-03 6.07873570e-04 9.99998668e-01]] t_estimated: [[-0.98912413] [-0.14706402] [-0.002372 ]] R_gt: [[ 0.98749315 -0.13329916 0.08418867] [ 0.11002126 0.96511023 0.23760681] [-0.11292424 -0.22537303 0.96770537]] t_gt: [ 0.31442867 -0.41714715 0.852715 ] Pose Error in degrees for R and t: 36.42478764276217 75.42279813046693 Number of keypoints: Image1: 312 Image2: 312 R_estimated: [[ 5.81390764e-01 8.13624352e-01 4.39043245e-04] [-8.13623623e-01 5.81390852e-01 -1.13020040e-03] [-1.17481430e-03 2.99872120e-04 9.99999265e-01]] t_estimated: [[0.00729147] [0.99997287] [0.00104164]] R_gt: [[ 0.99946055 -0.02369483 -0.02272202] [ 0.02373483 0.99971692 0.00148147] [ 0.02268122 -0.0020197 0.99973966]] t_gt: [ 0.3653113 -0.89949511 -0.23970025] Pose Error in degrees for R and t: 55.82608583799249 26.226155017430504 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[ 9.87628990e-01 -1.56806891e-01 7.59805622e-04] [ 1.56807415e-01 9.87628960e-01 -6.87515787e-04] [-6.42598823e-04 7.98153678e-04 9.99999475e-01]] t_estimated: [[-0.33011534] [-0.94394002] [-0.00105468]] R_gt: [[ 0.99953634 -0.02027258 -0.02271333] [ 0.01951379 0.99926084 -0.03312665] [ 0.02336857 0.03266776 0.99919291]] t_gt: [ 0.28097795 -0.76888878 -0.57433565] Pose Error in degrees for R and t: 8.206966463810831 50.68114463783416 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[ 3.79608635e-01 9.25145995e-01 1.47370848e-03] [-9.25146573e-01 3.79609717e-01 -5.30821431e-04] [-1.05052138e-03 -1.16189195e-03 9.99998773e-01]] t_estimated: [[0.35810873] [0.93367926] [0.0010819 ]] R_gt: [[ 0.99847018 -0.04803161 -0.02739111] [ 0.04487558 0.99334522 -0.10607 ] [ 0.03230396 0.10467915 0.99398103]] t_gt: [ 0.30473853 -0.15955143 -0.93897698] Pose Error in degrees for R and t: 70.60982256193256 87.6584598064284 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[-8.42918297e-01 5.38041582e-01 -1.48057959e-06] [-5.38040090e-01 -8.42915965e-01 -2.35324338e-03] [-1.26739080e-03 -1.98279530e-03 9.99997231e-01]] t_estimated: [[8.57687345e-01] [5.14171058e-01] [7.35580913e-04]] R_gt: [[ 0.98978443 0.1425407 0.00291018] [-0.14255905 0.98975911 0.00734448] [-0.00183252 -0.00768543 0.99996879]] t_gt: [-0.86594832 0.49690466 0.05673848] Pose Error in degrees for R and t: 139.25437065827043 60.84478552455459 Number of keypoints: Image1: 243 Image2: 243 R_estimated: [[ 9.29415803e-01 -3.69033748e-01 -5.98432717e-04] [ 3.69033670e-01 9.29415995e-01 -2.40726989e-04] [ 6.45029322e-04 2.89364629e-06 9.99999792e-01]] t_estimated: [[-0.40695113] [-0.91344809] [-0.00183206]] R_gt: [[ 0.96129153 0.2755287 -0.00164112] [-0.27550867 0.96110792 -0.01913065] [-0.00369358 0.01884153 0.9998157 ]] t_gt: [-0.81886054 0.57335138 -0.02712223] Pose Error in degrees for R and t: 37.66583903569298 79.02148900885146 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 0.05101451 0.99869723 -0.00116834] [-0.99869541 0.05101174 -0.00229649] [-0.0022339 0.00128397 0.99999668]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.94948756 0.31244219 -0.02921839] [-0.31271168 0.94983468 -0.00503133] [ 0.02618084 0.0139128 0.99956012]] t_gt: [-0.78617554 0.6164933 -0.04317443] Pose Error in degrees for R and t: 68.875509912883 52.299581941914546 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.93917606e-01 -1.10119930e-01 -1.18034103e-03] [ 1.10120398e-01 9.93918197e-01 3.39503727e-04] [ 1.13577630e-03 -4.67418357e-04 9.99999246e-01]] t_estimated: [[0.52934659] [0.84840481] [0.00120855]] R_gt: [[ 0.99987377 0.01464889 -0.00626693] [-0.0149885 0.99819073 -0.05822802] [ 0.00540353 0.05831404 0.99828312]] t_gt: [-0.2818162 0.5611432 -0.77826598] Pose Error in degrees for R and t: 7.925313991686803 70.97640082761843 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 8.73122558e-01 4.87497338e-01 1.82856748e-03] [-4.87497473e-01 8.73124305e-01 -4.00955917e-04] [-1.79203165e-03 -5.41338369e-04 9.99998248e-01]] t_estimated: [[0.6194254 ] [0.78505437] [0.00134658]] R_gt: [[ 0.99852693 -0.05354836 0.00877009] [ 0.05423506 0.99002262 -0.13004831] [-0.0017184 0.13033167 0.99146834]] t_gt: [ 0.19612847 0.4411315 -0.87574918] Pose Error in degrees for R and t: 33.11390224139294 62.18489017216163 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[-3.75723452e-01 9.26725913e-01 3.31221160e-03] [ 9.26730909e-01 3.75725722e-01 -6.84926312e-05] [-1.30795699e-03 3.04379457e-03 -9.99994512e-01]] t_estimated: [[0.94441566] [0.32875229] [0.00099622]] R_gt: [[ 0.99899637 -0.04375405 -0.00964802] [ 0.04144228 0.98418538 -0.17222269] [ 0.01703074 0.17164926 0.98501067]] t_gt: [ 0.01950202 0.64911563 -0.76043972] Pose Error in degrees for R and t: 174.9478795519085 76.64059055002919 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.99883081e-01 1.52910159e-02 9.51320759e-05] [-1.52910316e-02 9.99883071e-01 1.66527080e-04] [-9.25745840e-05 -1.67962277e-04 9.99999982e-01]] t_estimated: [[0.53388946] [0.84555377] [0.00093463]] R_gt: [[ 0.98888525 -0.14723234 -0.02068827] [ 0.14785614 0.98846495 0.0327879 ] [ 0.01562168 -0.03548244 0.9992474 ]] t_gt: [ 0.63882314 -0.74660473 0.18570509] Pose Error in degrees for R and t: 9.622288497062168 73.13845532215757 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-9.96459424e-01 8.40750417e-02 6.46328823e-05] [ 8.40750633e-02 9.96458877e-01 1.04365007e-03] [ 2.33409141e-05 1.04538897e-03 -9.99999453e-01]] t_estimated: [[9.33955201e-01] [3.57389162e-01] [8.17824169e-04]] R_gt: [[ 0.97821419 -0.20256195 -0.04543223] [ 0.20693208 0.96892766 0.13549519] [ 0.01657422 -0.14194451 0.98973553]] t_gt: [ 0.49694004 -0.74784238 0.44020719] Pose Error in degrees for R and t: 177.88014707507796 78.62620431406232 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 0.99044125 0.13792043 -0.0020217 ] [-0.13791743 0.99044251 0.00155621] [ 0.00221701 -0.00126251 0.99999675]] t_estimated: [[8.20728752e-01] [5.71317664e-01] [6.65096233e-04]] R_gt: [[ 0.95815513 -0.2649812 -0.10826923] [ 0.27904076 0.94897996 0.14687722] [ 0.06382456 -0.1709425 0.98321091]] t_gt: [ 0.57059094 -0.74230813 0.35128994] Pose Error in degrees for R and t: 25.98039170216402 87.45292007994934 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99999576e-01 8.95517864e-04 -2.13163001e-04] [-8.95412760e-04 9.99999478e-01 4.92654321e-04] [ 2.13604070e-04 -4.92463243e-04 9.99999856e-01]] t_estimated: [[-9.99997055e-01] [-2.25103704e-03] [-9.07092899e-04]] R_gt: [[ 0.99631341 -0.06568917 0.05517628] [ 0.05906534 0.99170868 0.11413263] [-0.06221617 -0.11045352 0.99193152]] t_gt: [ 0.29461835 -0.43017679 0.85331586] Pose Error in degrees for R and t: 8.12454965522956 72.87704852157161 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99993495e-01 -3.49861890e-03 -8.77639662e-04] [ 3.49941262e-03 9.99993468e-01 9.04486020e-04] [ 8.74469477e-04 -9.07551359e-04 9.99999206e-01]] t_estimated: [[-0.99992898] [-0.01156389] [-0.00288283]] R_gt: [[ 0.99017728 -0.10974097 0.08663376] [ 0.0924614 0.97875122 0.18302565] [-0.10487906 -0.17321644 0.97928332]] t_gt: [ 0.27046212 -0.43140283 0.8606636 ] Pose Error in degrees for R and t: 12.95910978503861 74.45855415912276 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 9.90396149e-01 1.38258326e-01 3.22365785e-04] [-1.38258678e-01 9.90394645e-01 1.72799011e-03] [-8.03603271e-05 -1.75596462e-03 9.99998455e-01]] t_estimated: [[0.62575737] [0.78001722] [0.00092795]] R_gt: [[ 0.98433082 -0.12413013 0.12523191] [ 0.08897113 0.96282879 0.25503847] [-0.15223517 -0.2399006 0.95878683]] t_gt: [ 0.1721027 -0.38345063 0.9073843 ] Pose Error in degrees for R and t: 21.666687157195923 79.01444238869361 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 9.99990277e-01 4.40350651e-03 -2.33298308e-04] [-4.40359789e-03 9.99990227e-01 -3.92619323e-04] [ 2.31567126e-04 3.93642858e-04 9.99999896e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.9903737 -0.06737006 0.12092339] [ 0.04224472 0.97899977 0.19943519] [-0.13181951 -0.19240675 0.97242078]] t_gt: [ 0.15551094 -0.16447443 0.97404544] Pose Error in degrees for R and t: 13.942092263674676 80.75322632473333 Number of keypoints: Image1: 33 Image2: 33 R_estimated: [[-5.32728734e-01 8.46285301e-01 -1.13406754e-03] [-8.46283672e-01 -5.32729936e-01 -1.66206261e-03] [-2.01073088e-03 7.43143338e-05 9.99997976e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.98603455 -0.10163025 0.13193939] [ 0.06541504 0.96489508 0.25436056] [-0.15315811 -0.24217744 0.95806655]] t_gt: [ 0.21485857 -0.1743498 0.96095678] Pose Error in degrees for R and t: 127.69453408484446 85.51599755741245 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[ 9.99978021e-01 -6.62708212e-03 1.99505520e-04] [ 6.62706921e-03 9.99978039e-01 6.53025813e-05] [-1.99933904e-04 -6.39790092e-05 9.99999978e-01]] t_estimated: [[ 4.34640640e-01] [-9.00603854e-01] [ 4.60056638e-04]] R_gt: [[ 0.97980144 -0.12476348 0.15628919] [ 0.07228733 0.94963897 0.30489553] [-0.18645704 -0.28743829 0.93947394]] t_gt: [ 0.22894776 -0.14810027 0.96210666] Pose Error in degrees for R and t: 20.74885501052799 76.50666219601331 Number of keypoints: Image1: 537 Image2: 537 R_estimated: [[-0.07132151 -0.99598215 -0.05415529] [-0.99620209 0.07384565 -0.0461325 ] [ 0.04994628 0.05065937 -0.99746629]] t_estimated: [[ 0.75289232] [ 0.65729582] [-0.03339699]] R_gt: [[ 0.99874283 0.01744536 -0.04698907] [-0.01751871 0.99984599 -0.00114028] [ 0.04696142 0.00196289 0.9988949 ]] t_gt: [-0.28595343 0.21298537 -0.93427398] Pose Error in degrees for R and t: 173.89096297216636 87.47267674545398 Number of keypoints: Image1: 464 Image2: 464 R_estimated: [[ 9.99761519e-01 2.18380602e-02 6.98171432e-05] [-2.18380546e-02 9.99761518e-01 -7.95774400e-05] [-7.15383100e-05 7.80337916e-05 9.99999994e-01]] t_estimated: [[-0.1313029 ] [-0.99133686] [-0.00328257]] R_gt: [[ 0.99991338 -0.01015695 -0.00842157] [ 0.01021956 0.99992046 0.00742714] [ 0.00834557 -0.00751237 0.99993708]] t_gt: [-0.86381241 -0.48493334 -0.13663007] Pose Error in degrees for R and t: 1.9459168566876266 53.515744564508616 Number of keypoints: Image1: 641 Image2: 641 R_estimated: [[ 9.98029538e-01 6.27458444e-02 -7.87369808e-06] [-6.27458447e-02 9.98029537e-01 -4.73265633e-05] [ 4.88863808e-06 4.77273499e-05 9.99999999e-01]] t_estimated: [[-4.47358251e-01] [ 8.94354536e-01] [-7.47363680e-04]] R_gt: [[ 0.99887806 0.02568666 0.03977958] [-0.02496453 0.99951657 -0.01852904] [-0.04023604 0.01751592 0.99903694]] t_gt: [-0.90290498 0.31811725 0.28907441] Pose Error in degrees for R and t: 3.3052037857044665 46.51097988303645 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99707540e-01 -2.41656743e-02 -9.24268309e-04] [ 2.41664717e-02 9.99707577e-01 8.61549876e-04] [ 9.03178098e-04 -8.83634211e-04 9.99999202e-01]] t_estimated: [[-0.55152988] [-0.83415464] [-0.00091464]] R_gt: [[ 0.9951974 -0.09737393 -0.01005043] [ 0.09714167 0.99503691 -0.02156483] [ 0.01210028 0.02048654 0.99971635]] t_gt: [ 0.68096316 -0.71630646 -0.15229649] Pose Error in degrees for R and t: 4.419917186892497 77.16887920986242 Number of keypoints: Image1: 303 Image2: 303 R_estimated: [[ 6.31695854e-01 7.75215854e-01 -8.53659030e-04] [ 7.75029647e-01 -6.31519190e-01 2.26397710e-02] [ 1.70116073e-02 -1.49630605e-02 -9.99743323e-01]] t_estimated: [[0.60832169] [0.7936901 ] [0.00087027]] R_gt: [[ 0.98617769 -0.1655611 0.00652387] [ 0.1655375 0.98619508 0.00408622] [-0.00711018 -0.00295001 0.99996959]] t_gt: [ 0.67558488 -0.73500092 0.05795441] Pose Error in degrees for R and t: 178.83794718307638 80.07612488257689 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-4.38573355e-01 -8.98694507e-01 -1.26306162e-03] [-8.98695222e-01 4.38573709e-01 -4.13622125e-06] [ 5.57662820e-04 1.13329341e-03 -9.99999202e-01]] t_estimated: [[8.38502929e-01] [5.44896701e-01] [6.51011590e-04]] R_gt: [[ 0.98944611 -0.14474229 -0.00681278] [ 0.14487774 0.98906457 0.0276171 ] [ 0.0027416 -0.02831214 0.99959505]] t_gt: [ 0.68260524 -0.7242339 0.0976491 ] Pose Error in degrees for R and t: 179.44193085630346 79.75850949746888 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[-5.90857265e-01 -8.06776077e-01 -2.32430786e-04] [-8.06772643e-01 5.90855546e-01 -2.76151826e-03] [ 2.36525989e-03 -1.44414433e-03 -9.99996160e-01]] t_estimated: [[8.63724171e-01] [5.03964277e-01] [7.51064496e-04]] R_gt: [[ 0.99875964 0.01619917 -0.04709463] [-0.01502192 0.9995691 0.02523505] [ 0.0474826 -0.02449584 0.99857102]] t_gt: [ 0.34444773 0.84757138 -0.40370599] Pose Error in degrees for R and t: 178.14466346535164 43.585171432845534 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99608954e-01 -2.79626887e-02 1.62944071e-04] [ 2.79625731e-02 9.99608744e-01 6.73185791e-04] [-1.81704403e-04 -6.68366209e-04 9.99999760e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.99413015 0.01826462 -0.10663807] [-0.01246101 0.99841756 0.05483496] [ 0.10747041 -0.05318464 0.99278427]] t_gt: [ 0.63712028 0.54528072 -0.54474461] Pose Error in degrees for R and t: 7.313548517653565 36.186162393903594 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.95119808 -0.30856154 0.00346261] [ 0.3085717 0.9511966 -0.00292283] [-0.00239175 0.00384865 0.99998973]] t_estimated: [[0.94753474] [0.31965028] [0.00126845]] R_gt: [[ 0.9848431 0.02753452 -0.17125161] [-0.02215124 0.99920146 0.03326558] [ 0.17203033 -0.02896809 0.98466496]] t_gt: [ 0.59494732 0.41696518 -0.68715189] Pose Error in degrees for R and t: 21.9264249180442 45.881497104903914 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 1.00000000e+00 3.10862447e-15 9.77950360e-17] [-3.10862447e-15 1.00000000e+00 -1.49186219e-16] [-1.92445886e-16 1.78893358e-16 1.00000000e+00]] t_estimated: [[0.28048464] [0.95985775] [0.00120968]] R_gt: [[ 0.9967694 0.01176503 -0.07946187] [-0.01235326 0.99990048 -0.00690572] [ 0.0793732 0.00786588 0.99681343]] t_gt: [ 0.16652456 0.1508014 -0.97443754] Pose Error in degrees for R and t: 4.62651662629018 79.03106693080913 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[-0.49926 -0.86645085 -0.00154456] [ 0.86645053 -0.49925471 -0.00286538] [ 0.00171158 -0.00276885 0.9999947 ]] t_estimated: [[8.22218679e-01] [5.69171234e-01] [7.42074620e-04]] R_gt: [[ 0.99210655 -0.00794555 -0.12514833] [ 0.00482669 0.99967193 -0.02519375] [ 0.12530697 0.0243909 0.99181793]] t_gt: [ 3.29582749e-01 -7.44465543e-06 -9.44126692e-01] Pose Error in degrees for R and t: 119.70663170534573 74.31881832982043 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-3.51791510e-01 -9.36076456e-01 -1.89813631e-03] [ 9.36078360e-01 -3.51791202e-01 -5.04442998e-04] [-1.95550440e-04 -1.95426308e-03 9.99998071e-01]] t_estimated: [[9.34312585e-01] [3.56453572e-01] [9.18694774e-04]] R_gt: [[ 0.9963822 -0.08006937 -0.02848947] [ 0.07894884 0.99613625 -0.03849089] [ 0.03146133 0.03610284 0.99885237]] t_gt: [ 0.64645003 -0.51465776 -0.56323152] Pose Error in degrees for R and t: 106.05888277548094 65.16431606658428 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999285e-01 -1.19578514e-03 2.99797161e-05] [ 1.19578246e-03 9.99999281e-01 8.94135594e-05] [-3.00866139e-05 -8.93776462e-05 9.99999996e-01]] t_estimated: [[0.05292359] [0.99859801] [0.00105412]] R_gt: [[ 0.99746795 -0.06319065 -0.03262834] [ 0.06381328 0.9977922 0.01839213] [ 0.03139313 -0.02042697 0.99929792]] t_gt: [ 0.43189826 -0.90191989 -0.00209857] Pose Error in degrees for R and t: 4.168156391528615 28.621891801388802 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[-8.09452497e-01 -5.87185307e-01 2.64418822e-04] [-5.87182922e-01 8.09450344e-01 2.52129878e-03] [-1.69450350e-03 1.88560938e-03 -9.99996787e-01]] t_estimated: [[0.92855832] [0.37118462] [0.00119352]] R_gt: [[ 0.98059654 -0.19044353 -0.04649914] [ 0.19217467 0.98069634 0.03610064] [ 0.03872582 -0.0443353 0.99826524]] t_gt: [ 0.62231511 -0.77634736 0.10004338] Pose Error in degrees for R and t: 178.45179847670178 73.15359375908155 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.53081599e-01 -3.02713451e-01 -1.77481989e-04] [ 3.02713501e-01 9.53081501e-01 4.33600561e-04] [ 3.78980780e-05 -4.66982911e-04 9.99999890e-01]] t_estimated: [[8.29407247e-01] [5.58643906e-01] [7.78055579e-04]] R_gt: [[ 0.97545142 -0.18350395 -0.12174007] [ 0.1927668 0.97880396 0.06916128] [ 0.10646831 -0.09093109 0.99014914]] t_gt: [ 0.61372988 -0.7780497 0.13406823] Pose Error in degrees for R and t: 10.467837038882164 85.72844814295188 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[-0.24486076 -0.96951565 -0.00908948] [ 0.96953646 -0.24478164 -0.00900007] [ 0.00650077 -0.01101634 0.99991819]] t_estimated: [[9.69022952e-01] [2.46968885e-01] [9.42629331e-04]] R_gt: [[ 0.98661765 0.16175283 0.02055143] [-0.16223667 0.98644509 0.02460251] [-0.01629326 -0.0276082 0.99948598]] t_gt: [-0.88726884 0.41717539 0.19677068] Pose Error in degrees for R and t: 113.51473084084171 40.83734084987169 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.9551108 0.29624654 0.00115676] [-0.29624363 0.95510992 -0.00218196] [-0.00175123 0.00174134 0.99999695]] t_estimated: [[-9.74566202e-01] [-2.24098111e-01] [-8.68597328e-04]] R_gt: [[ 0.92176497 0.384547 0.04973451] [-0.38517257 0.92283835 0.00330026] [-0.04462725 -0.02219941 0.99875746]] t_gt: [-0.84770549 0.52412322 0.08179403] Pose Error in degrees for R and t: 6.101688569482315 44.877332029460035 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-3.18108183e-01 -9.48054406e-01 -1.67919372e-04] [-9.48053792e-01 3.18108171e-01 -1.09531746e-03] [ 1.09183707e-03 -1.89232850e-04 -9.99999386e-01]] t_estimated: [[0.9724227 ] [0.23322333] [0.00098823]] R_gt: [[ 0.88446028 0.4634679 0.05409881] [-0.46461604 0.88545291 0.01026811] [-0.04314361 -0.03421733 0.99848282]] t_gt: [-0.83163731 0.54866505 0.08570904] Pose Error in degrees for R and t: 176.93509193903125 47.10501020721597 Number of keypoints: Image1: 254 Image2: 254 R_estimated: [[ 9.94594509e-01 1.03834968e-01 2.49963269e-04] [-1.03834898e-01 9.94594509e-01 -2.78425093e-04] [-2.77522355e-04 2.50965158e-04 9.99999930e-01]] t_estimated: [[ 3.66329501e-01] [-9.30485192e-01] [ 5.70007083e-05]] R_gt: [[ 0.99661823 -0.08217081 0.00129672] [ 0.08199722 0.99322181 -0.08239004] [ 0.00548276 0.08221813 0.99659883]] t_gt: [ 0.44908139 -0.50615336 -0.73629795] Pose Error in degrees for R and t: 11.667023183354033 50.54752214850935 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 0.15895005 0.98728438 0.00210697] [ 0.98728046 -0.15895624 0.00319578] [ 0.00349006 0.00157221 -0.99999267]] t_estimated: [[-9.99996995e-01] [-2.32557441e-03] [-7.75191469e-04]] R_gt: [[ 9.86726993e-01 -1.61267174e-01 1.90416377e-02] [ 1.62383774e-01 9.79188290e-01 -1.21746631e-01] [ 9.88683188e-04 1.23223975e-01 9.92377717e-01]] t_gt: [ 0.50743173 -0.63982594 -0.57717919] Pose Error in degrees for R and t: 174.3338755476273 59.635795253664064 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.86580248 0.50028848 0.00987443] [ 0.50029994 0.86585095 -0.00145015] [-0.00927528 0.00368463 -0.9999502 ]] t_estimated: [[ 0.95299113] [-0.30295457] [ 0.00514061]] R_gt: [[ 0.96265443 -0.2706389 -0.00714451] [ 0.26817788 0.95685551 -0.11184014] [ 0.03710533 0.10574731 0.99370041]] t_gt: [ 0.62325182 -0.67396057 -0.3966539 ] Pose Error in degrees for R and t: 179.03492776352317 37.24130481116152 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 0.74955358 -0.66193978 -0.00226889] [ 0.66194081 0.74953585 0.00551162] [-0.00194775 -0.00563312 0.99998224]] t_estimated: [[0.74820542] [0.66346392] [0.00206687]] R_gt: [[ 0.96625754 0.25749895 0.00639983] [-0.25748406 0.96627795 -0.00324822] [-0.00702008 0.00149141 0.99997464]] t_gt: [-0.88412502 0.46720948 -0.00618552] Pose Error in degrees for R and t: 56.373155018785695 69.41826191793415 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[-6.44839503e-01 -7.64315936e-01 -1.77927142e-03] [ 7.64317950e-01 -6.44836815e-01 -1.88489027e-03] [ 2.93311953e-04 -2.57538079e-03 9.99996641e-01]] t_estimated: [[0.96455581] [0.26387583] [0.00128095]] R_gt: [[ 0.91188294 0.40883242 0.0364225 ] [-0.40883996 0.91257556 -0.00759132] [-0.03634224 -0.00796879 0.99930718]] t_gt: [-0.85041994 0.52471404 0.03822424] Pose Error in degrees for R and t: 154.3015912564431 47.01795169234113 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[-0.10278368 0.99463353 -0.0118176 ] [ 0.99464277 0.10290166 0.00984935] [ 0.01101255 -0.01074194 -0.99988166]] t_estimated: [[9.62232304e-01] [2.72228187e-01] [8.98442861e-04]] R_gt: [[ 0.8891902 0.45607358 0.03658313] [-0.45560038 0.88994031 -0.02088274] [-0.04208106 0.00190107 0.99911254]] t_gt: [-0.84716028 0.53110956 0.01555919] Pose Error in degrees for R and t: 178.67795283935376 47.88908015842165 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 9.99920394e-01 1.26173385e-02 9.18068067e-05] [-1.26173376e-02 9.99920398e-01 -1.03194234e-05] [-9.19297023e-05 9.16024439e-06 9.99999996e-01]] t_estimated: [[8.51029198e-01] [5.25117841e-01] [7.46737861e-04]] R_gt: [[ 0.99626231 -0.08596284 -0.00858183] [ 0.0860718 0.99620094 0.01327036] [ 0.00740822 -0.01395914 0.99987481]] t_gt: [ 0.55130247 -0.83057101 0.07885044] Pose Error in degrees for R and t: 5.729932715863677 88.10398161497052 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99942618e-01 1.07120198e-02 1.14009257e-04] [-1.07120187e-02 9.99942625e-01 -9.93483831e-06] [-1.14109138e-04 8.71299894e-06 9.99999993e-01]] t_estimated: [[ 9.53206926e-01] [-3.02318332e-01] [ 4.27888021e-04]] R_gt: [[ 0.98662203 -0.16036925 -0.02930897] [ 0.15945711 0.98671221 -0.03118031] [ 0.0339196 0.02609002 0.99908384]] t_gt: [ 0.60597721 -0.71898601 -0.34036853] Pose Error in degrees for R and t: 10.121895630186648 37.35997819756522 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.99999967e-01 -2.47581269e-04 6.72684275e-05] [ 2.47578690e-04 9.99999969e-01 3.83443119e-05] [-6.72779187e-05 -3.83276564e-05 9.99999997e-01]] t_estimated: [[9.99997696e-01] [2.14552524e-03] [6.82167346e-05]] R_gt: [[ 0.96867111 -0.24807527 -0.01163887] [ 0.24594051 0.96473763 -0.09378553] [ 0.03449426 0.08798427 0.99552394]] t_gt: [ 0.60823284 -0.67394911 -0.41933925] Pose Error in degrees for R and t: 15.307596748359588 52.64462954029699 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.99425107e-01 -3.39035899e-02 4.10991474e-05] [ 3.39035896e-02 9.99425108e-01 8.25138259e-06] [-4.13552713e-05 -6.85323030e-06 9.99999999e-01]] t_estimated: [[9.33150120e-01] [3.59486618e-01] [4.75252975e-04]] R_gt: [[ 0.99640954 -0.08438568 -0.00689686] [ 0.08458534 0.99570574 0.03761253] [ 0.00369326 -0.03806108 0.99926809]] t_gt: [ 0.48418865 -0.82577591 0.2892326 ] Pose Error in degrees for R and t: 3.6392426852600304 81.07724360553229 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.80431422e-01 1.96860481e-01 4.22568952e-04] [-1.96860481e-01 9.80431512e-01 -4.29210987e-05] [-4.22749384e-04 -4.11059332e-05 9.99999910e-01]] t_estimated: [[0.1985676 ] [0.98008646] [0.00120311]] R_gt: [[ 0.98906471 -0.13148364 -0.06680239] [ 0.1356252 0.98883212 0.06177826] [ 0.0579334 -0.07016304 0.99585142]] t_gt: [ 0.58837457 -0.77983974 0.21369452] Pose Error in degrees for R and t: 19.745257875685294 49.66758612040908 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.92533344e-01 -1.21973570e-01 -9.18298673e-05] [ 1.21973604e-01 9.92533149e-01 6.23503270e-04] [ 1.50932673e-05 -6.30048606e-04 9.99999801e-01]] t_estimated: [[0.63487673] [0.7726127 ] [0.00107606]] R_gt: [[ 0.99067252 -0.05078808 -0.12644696] [ 0.06896193 0.98720328 0.14378501] [ 0.11752591 -0.15116422 0.98149682]] t_gt: [ 0.36758412 -0.77983952 0.50668752] Pose Error in degrees for R and t: 11.563151199197153 68.3708164726038 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-5.43831624e-03 9.99985029e-01 6.05241636e-04] [-9.99983852e-01 -5.43730943e-03 -1.65288017e-03] [-1.64956454e-03 -6.14220748e-04 9.99998451e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99477263 0.01762558 -0.10058158] [-0.01741556 0.99984461 0.00297795] [ 0.10061964 -0.00121062 0.99492366]] t_gt: [ 0.159777 0.18573582 -0.96952231] Pose Error in degrees for R and t: 89.45896710372965 79.29683967568019 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 2.86661575e-01 9.58031424e-01 9.65227785e-04] [-9.58030966e-01 2.86662562e-01 -1.11502977e-03] [-1.34492823e-03 -6.05081916e-04 9.99998913e-01]] t_estimated: [[0.0062369 ] [0.99998001] [0.00103948]] R_gt: [[ 0.9881235 0.02770735 -0.15114149] [-0.02891771 0.99956504 -0.00581065] [ 0.15091512 0.01011256 0.98849451]] t_gt: [ 0.16845849 0.20397395 -0.96437356] Pose Error in degrees for R and t: 72.17599347579507 78.22797535257422 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[ 8.59135216e-01 -5.11748521e-01 -3.63937988e-04] [ 5.11748626e-01 8.59135175e-01 3.06472275e-04] [ 1.55835194e-04 -4.49545890e-04 9.99999887e-01]] t_estimated: [[0.85194522] [0.52363009] [0.00093007]] R_gt: [[ 9.86188718e-01 -6.03150583e-03 -1.65517952e-01] [ 7.63279131e-04 9.99492037e-01 -3.18678751e-02] [ 1.65627267e-01 3.13013333e-02 9.85691520e-01]] t_gt: [ 0.3214588 0.03780758 -0.9461685 ] Pose Error in degrees for R and t: 32.0484666936604 72.97538779588366 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[-0.99675354 -0.07996026 0.00941972] [-0.0797899 0.99666239 0.01725237] [-0.01076779 0.01644476 -0.99980679]] t_estimated: [[8.63568321e-01] [5.04231167e-01] [8.27965792e-04]] R_gt: [[ 0.99245125 0.10804985 -0.058011 ] [-0.10745666 0.99412136 0.0132678 ] [ 0.05910314 -0.0069351 0.99822849]] t_gt: [-0.33132644 0.89101239 -0.31035417] Pose Error in degrees for R and t: 177.19006099921916 80.62495559000925 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-8.88849394e-01 -4.58179990e-01 -4.22520109e-03] [-4.58176514e-01 8.88859377e-01 -1.81375210e-03] [ 4.58663452e-03 3.23735456e-04 -9.99989429e-01]] t_estimated: [[ 0.95608579] [ 0.29308444] [-0.00121617]] R_gt: [[ 0.97943217 0.17772964 -0.09552331] [-0.17784175 0.98403055 0.00741173] [ 0.09531467 0.00972865 0.99540055]] t_gt: [-0.25338328 0.90861525 -0.3319868 ] Pose Error in degrees for R and t: 174.38736254229582 88.59905924444998 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 6.44946503e-01 7.64227270e-01 8.29263915e-04] [ 7.64209733e-01 -6.44938388e-01 6.16106190e-03] [ 5.24327565e-03 -3.33982377e-03 -9.99980677e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.97726718 0.13815979 -0.16080931] [-0.13278284 0.99017796 0.04377563] [ 0.16527792 -0.02142907 0.98601465]] t_gt: [ 0.010128 0.86644335 -0.49917266] Pose Error in degrees for R and t: 174.0231970912575 68.05802642711137 Number of keypoints: Image1: 375 Image2: 375 R_estimated: [[ 9.99714088e-01 -2.39111164e-02 -3.65730668e-05] [ 2.39111178e-02 9.99714088e-01 3.86699144e-05] [ 3.56379692e-05 -3.95333611e-05 9.99999999e-01]] t_estimated: [[-9.39166247e-01] [-3.43461980e-01] [-7.93214735e-04]] R_gt: [[ 0.99999831 -0.00184281 -0.00127902] [ 0.00183646 0.999986 -0.00507906] [ 0.00128848 0.005078 0.9999866 ]] t_gt: [-0.42885144 0.85856398 -0.28098812] Pose Error in degrees for R and t: 1.298056091115972 83.79410739545072 Number of keypoints: Image1: 365 Image2: 365 R_estimated: [[ 9.90358492e-01 -1.38528184e-01 2.42065687e-05] [ 1.38528184e-01 9.90358491e-01 -3.49505433e-05] [-1.91315455e-05 3.79668593e-05 9.99999999e-01]] t_estimated: [[-0.45143459] [-0.8923037 ] [-0.0009605 ]] R_gt: [[ 0.99897845 -0.04410457 0.00988166] [ 0.04454142 0.99778083 -0.04949272] [-0.00767708 0.04988332 0.99872601]] t_gt: [ 0.02178469 0.80166115 -0.59738164] Pose Error in degrees for R and t: 6.142552048222162 43.56559927759547 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 5.94791821e-01 -8.03879600e-01 -5.27764673e-04] [ 8.03879630e-01 5.94791196e-01 9.87235541e-04] [-4.79708731e-04 -1.01145890e-03 9.99999373e-01]] t_estimated: [[ 0.90658841] [-0.4220146 ] [ 0.00106337]] R_gt: [[ 0.9924569 -0.10381029 0.06521126] [ 0.10644249 0.99358233 -0.03826462] [-0.06082043 0.04491844 0.99713769]] t_gt: [0.7664156 0.58435555 0.2667128 ] Pose Error in degrees for R and t: 47.64882181925728 63.35247947050018 Number of keypoints: Image1: 228 Image2: 228 R_estimated: [[ 9.99741582e-01 -2.27325426e-02 -4.12884529e-05] [ 2.27325433e-02 9.99741582e-01 1.56435701e-05] [ 4.09221651e-05 -1.65781190e-05 9.99999999e-01]] t_estimated: [[-9.66055739e-01] [-2.58333360e-01] [-4.29248137e-04]] R_gt: [[ 0.99652055 0.08301201 -0.00752624] [-0.08315655 0.99630084 -0.02166643] [ 0.00570006 0.02221656 0.9997368 ]] t_gt: [-0.67770735 0.69923042 -0.22757319] Pose Error in degrees for R and t: 6.209627048629432 61.69492344135794 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 9.99114637e-01 4.20706807e-02 8.87602352e-06] [-4.20706797e-02 9.99114632e-01 -9.62129674e-05] [-1.29159100e-05 9.57543636e-05 9.99999995e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.99758792 0.06291618 -0.02931812] [-0.06324931 0.99794173 -0.01058489] [ 0.02859221 0.01241331 0.99951383]] t_gt: [-0.7321613 0.53026396 -0.42750434] Pose Error in degrees for R and t: 2.1545181994752802 43.042742036445865 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-6.13402991e-01 -7.89765855e-01 -2.58155799e-03] [ 7.89769914e-01 -6.13397506e-01 -2.64241560e-03] [ 5.03368384e-04 -3.65970247e-03 9.99993177e-01]] t_estimated: [[0.92403077] [0.38231623] [0.00119848]] R_gt: [[ 0.99755922 0.05955136 0.0364536 ] [-0.05894822 0.99810975 -0.01737318] [-0.03741855 0.01518185 0.99918418]] t_gt: [-0.85866928 0.46356612 0.21861729] Pose Error in degrees for R and t: 131.24941332876293 51.97931129247595 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99999561e-01 -9.36592267e-04 6.85938877e-08] [ 9.36592254e-04 9.99999555e-01 1.10968354e-04] [-1.72525960e-07 -1.10968241e-04 9.99999994e-01]] t_estimated: [[ 9.36541922e-02] [-9.95604595e-01] [ 6.19118705e-04]] R_gt: [[ 0.99785157 -0.03375494 -0.05615685] [ 0.02813476 0.99478801 -0.09801282] [ 0.05917265 0.09622299 0.99359961]] t_gt: [ 0.21810467 -0.00243322 -0.97592235] Pose Error in degrees for R and t: 6.716332823824545 88.72536591461194 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-9.87842335e-01 -1.55457782e-01 -6.31101328e-04] [-1.55458633e-01 9.87841012e-01 1.65808518e-03] [ 3.65665529e-04 1.73603689e-03 -9.99998426e-01]] t_estimated: [[0.99928538] [0.03774637] [0.00198665]] R_gt: [[ 0.9858872 -0.16266983 -0.03955395] [ 0.15207586 0.96901296 -0.19464839] [ 0.06999188 0.18588577 0.98007613]] t_gt: [ 0.43459161 -0.33057833 -0.83776375] Pose Error in degrees for R and t: 175.96710014181156 65.15666367331717 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.58479046e-01 2.85162239e-01 6.44035830e-04] [-2.85161464e-01 9.58478883e-01 -1.08221536e-03] [-9.25901698e-04 8.53626543e-04 9.99999207e-01]] t_estimated: [[-8.55841589e-01] [-5.17237596e-01] [-6.66543294e-04]] R_gt: [[ 0.98470052 -0.16019721 -0.06856591] [ 0.14286626 0.96749114 -0.20868912] [ 0.09976747 0.19570033 0.97557617]] t_gt: [ 0.39353477 -0.19844151 -0.89763654] Pose Error in degrees for R and t: 28.32479200575701 76.49302716366803 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.09885170e-01 4.14859717e-01 6.26417048e-04] [-4.14859695e-01 9.09885380e-01 -1.71508125e-04] [-6.41119526e-04 -1.03822486e-04 9.99999789e-01]] t_estimated: [[-0.37038982] [ 0.92887572] [ 0.00113312]] R_gt: [[ 0.99925613 -0.03813667 0.00586304] [ 0.03801675 0.99908783 0.01945614] [-0.00660017 -0.01921865 0.99979388]] t_gt: [ 0.59334853 -0.75563846 0.2773951 ] Pose Error in degrees for R and t: 26.71732321330198 22.875730574053346 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.07195283 -0.99740105 -0.00373313] [-0.99740723 0.07195702 -0.00100116] [ 0.00126718 0.00365142 -0.99999253]] t_estimated: [[0.8107904 ] [0.58533563] [0.00105847]] R_gt: [[ 0.99889237 0.02875342 -0.03726107] [-0.026469 0.99782202 0.06042376] [ 0.03891772 -0.05937032 0.99747786]] t_gt: [ 0.89558779 -0.3880168 0.21763613] Pose Error in degrees for R and t: 179.45772947915125 60.04998498270106 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 5.42596188e-01 8.39993525e-01 5.04585302e-04] [ 8.39991274e-01 -5.42595975e-01 2.06600830e-03] [ 2.00921955e-03 -6.97160980e-04 -9.99997738e-01]] t_estimated: [[0.03281799] [0.99945689] [0.00298345]] R_gt: [[ 0.99126478 0.06428878 -0.11516485] [-0.06040971 0.99749306 0.03686722] [ 0.11724557 -0.02958801 0.99266268]] t_gt: [ 0.46232364 0.17896935 -0.86846233] Pose Error in degrees for R and t: 175.03876562755303 78.96236955288362 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999962e-01 2.76961338e-04 2.58094046e-06] [-2.76961323e-04 9.99999962e-01 -5.51703945e-06] [-2.58246837e-06 5.51632442e-06 1.00000000e+00]] t_estimated: [[ 2.27495156e-01] [ 9.73779036e-01] [-5.86127671e-04]] R_gt: [[ 0.99833096 -0.02699947 -0.05105919] [ 0.02681774 0.99963119 -0.00422852] [ 0.05115371 0.00285105 0.99868692]] t_gt: [ 0.78946731 -0.23905512 -0.56532646] Pose Error in degrees for R and t: 3.3246807070806583 86.97019003271585 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99711784e-01 -2.40050348e-02 -3.26203258e-04] [ 2.40055153e-02 9.99710610e-01 1.55901268e-03] [ 2.88684704e-04 -1.56639403e-03 9.99998732e-01]] t_estimated: [[0.0311536 ] [0.99951124] [0.00259613]] R_gt: [[ 0.99311949 0.05288233 -0.10449542] [-0.05125759 0.9985201 0.01818104] [ 0.10530177 -0.01270034 0.99435987]] t_gt: [ 0.30645974 0.62647689 -0.71666529] Pose Error in degrees for R and t: 7.467866388811316 50.66470423479321 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-0.99182689 -0.12731391 0.00840189] [-0.12724794 0.99183892 0.00797032] [-0.00934806 0.00683606 -0.99993294]] t_estimated: [[0.99876392] [0.04932167] [0.00616521]] R_gt: [[ 0.97846113 0.15231575 -0.13933551] [-0.15276836 0.98823368 0.00750869] [ 0.13883861 0.01393925 0.99021722]] t_gt: [-0.04094133 0.86219063 -0.50492684] Pose Error in degrees for R and t: 172.4611216058469 89.9152583772919 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 9.99636808e-01 2.69488374e-02 1.14311212e-04] [-2.69488539e-02 9.99636803e-01 1.44699210e-04] [-1.10370219e-04 -1.47727212e-04 9.99999983e-01]] t_estimated: [[0.62297408] [0.78224121] [0.00140944]] R_gt: [[ 0.99870938 -0.01632261 0.04810918] [ 0.0157642 0.99980467 0.01197009] [-0.0482946 -0.01119567 0.99876994]] t_gt: [-0.48313887 0.01901395 0.87533725] Pose Error in degrees for R and t: 3.7544668372867296 73.44857772460195 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[-0.96860878 -0.2485799 -0.0022522 ] [ 0.24858341 -0.96860942 -0.00144082] [-0.00182334 -0.00195545 0.99999643]] t_estimated: [[0.93519988] [0.35411845] [0.00114414]] R_gt: [[ 0.99634946 -0.02869979 0.08040219] [ 0.03100216 0.9991409 -0.0275321 ] [-0.07954209 0.02992439 0.99638242]] t_gt: [-0.61419468 0.43800328 0.65644346] Pose Error in degrees for R and t: 163.91313016803542 65.25763700457982 Number of keypoints: Image1: 260 Image2: 260 R_estimated: [[-0.07975923 -0.99679917 0.00546646] [-0.99681302 0.07974965 -0.00195013] [ 0.00150794 -0.00560458 -0.99998316]] t_estimated: [[0.7450967 ] [0.66695547] [0.00114302]] R_gt: [[ 0.99454105 -0.01347156 0.10348223] [ 0.02039208 0.9976042 -0.06610874] [-0.10234215 0.06785877 0.99243187]] t_gt: [-0.65676966 0.66938497 0.34724254] Pose Error in degrees for R and t: 178.11620204282318 87.5636206091165 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999994e-01 1.07025841e-04 -3.79484208e-07] [-1.07025787e-04 9.99999985e-01 1.38163260e-04] [ 3.94271242e-07 -1.38163218e-04 9.99999990e-01]] t_estimated: [[0.74615452] [0.66577233] [0.00079188]] R_gt: [[ 0.99892251 -0.04360276 0.01592211] [ 0.04173572 0.9937983 0.1030679 ] [-0.02031845 -0.102291 0.99454648]] t_gt: [ 0.21708752 -0.49805192 0.83953398] Pose Error in degrees for R and t: 6.463770400649498 80.27360007208783 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99933544e-01 1.15276995e-02 1.39378842e-04] [-1.15277233e-02 9.99933539e-01 1.71417036e-04] [-1.37393535e-04 -1.73012365e-04 9.99999976e-01]] t_estimated: [[0.49524184] [0.86875467] [0.00092009]] R_gt: [[ 0.99678099 -0.07161625 0.03604334] [ 0.06490764 0.98472394 0.16157147] [-0.04706485 -0.15871087 0.98620203]] t_gt: [ 0.20864996 -0.44579511 0.87047798] Pose Error in degrees for R and t: 10.56921525278061 73.55149547870417 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.99781998e-01 -2.08795430e-02 -1.49400785e-05] [ 2.08795448e-02 9.99781989e-01 1.38489279e-04] [ 1.20452286e-05 -1.38771030e-04 9.99999990e-01]] t_estimated: [[0.64164302] [0.76700285] [0.00093099]] R_gt: [[ 0.99792695 -0.05801434 0.02787785] [ 0.05576953 0.99558614 0.07547824] [-0.0321348 -0.07376566 0.99675777]] t_gt: [ 0.28482237 -0.58516494 0.75924845] Pose Error in degrees for R and t: 5.051510022411616 74.61153370850644 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-8.08888711e-01 -5.87960306e-01 -1.31622252e-03] [ 5.87959598e-01 -8.08889781e-01 9.13282640e-04] [-1.60165288e-03 -3.51416449e-05 9.99998717e-01]] t_estimated: [[9.26825681e-01] [3.75491100e-01] [7.67875461e-04]] R_gt: [[ 0.99127572 -0.13180043 -0.00173029] [ 0.13102826 0.9867302 -0.095892 ] [ 0.01434544 0.09482842 0.99539079]] t_gt: [ 0.53390944 -0.63561342 -0.55761661] Pose Error in degrees for R and t: 136.47621334213036 75.18222886354201 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.88862871e-01 1.48829506e-01 3.28186782e-05] [-1.48829444e-01 9.88862617e-01 -7.22142508e-04] [-1.39929277e-04 7.09215528e-04 9.99999739e-01]] t_estimated: [[-0.58268722] [-0.81269531] [-0.00139399]] R_gt: [[ 0.99446564 -0.10203483 -0.02505756] [ 0.09915339 0.99029406 -0.09739986] [ 0.03475271 0.09437684 0.9949309 ]] t_gt: [ 0.44139264 -0.37613631 -0.81467418] Pose Error in degrees for R and t: 15.444857094179076 87.15547059635118 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-0.29238588 -0.95629981 -0.00108625] [-0.95629956 0.29238389 0.00167967] [-0.00128867 0.00152989 -0.999998 ]] t_estimated: [[8.59753688e-01] [5.10708387e-01] [7.34832212e-04]] R_gt: [[ 0.99821734 -0.05011251 -0.03243239] [ 0.04651546 0.99354344 -0.10347878] [ 0.03740791 0.10178534 0.9941033 ]] t_gt: [ 0.1872673 0.18804006 -0.96414309] Pose Error in degrees for R and t: 174.89321568277023 75.14765684664445 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.98791275e-01 -4.91513698e-02 -3.62775994e-04] [ 4.91514061e-02 9.98791335e-01 9.17783006e-05] [ 3.57826490e-04 -1.09498316e-04 9.99999930e-01]] t_estimated: [[-0.90163081] [-0.43250249] [-0.00186389]] R_gt: [[ 9.98067249e-01 6.14540345e-02 -9.29527440e-03] [-6.14627371e-02 9.98109635e-01 -7.43788277e-04] [ 9.23249118e-03 1.31490858e-03 9.99956941e-01]] t_gt: [-0.98212749 0.1806518 -0.05282533] Pose Error in degrees for R and t: 6.361312260189029 36.14930924662967 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.99161513e-01 4.09411817e-02 -3.01369928e-04] [-4.09411894e-02 9.99161558e-01 -1.93384323e-05] [ 3.00325509e-04 3.16606605e-05 9.99999954e-01]] t_estimated: [[-0.94477517] [-0.32771619] [-0.00140551]] R_gt: [[ 9.99034162e-01 3.10384685e-02 3.10985340e-02] [-3.09999764e-02 9.99518735e-01 -1.70703633e-03] [-3.11357764e-02 7.42276726e-04 9.99514930e-01]] t_gt: [-0.99730206 0.01952814 0.07076197] Pose Error in degrees for R and t: 1.8888256691325171 20.654071592814855 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.01137453 0.99991359 0.00659079] [-0.99992373 -0.01134242 -0.00488786] [-0.00481269 -0.00664588 0.99996633]] t_estimated: [[-0.36319467] [ 0.93169631] [ 0.00562251]] R_gt: [[ 0.99596489 0.07398887 0.05078925] [-0.07335479 0.99720488 -0.01422397] [-0.05169863 0.01044182 0.99860887]] t_gt: [-0.98261115 0.18542786 0.00958324] Pose Error in degrees for R and t: 86.44965153370813 58.01511853077335 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99983287e-01 5.78059116e-03 1.00279816e-04] [-5.78058715e-03 9.99983291e-01 -4.02410032e-05] [-1.00510757e-04 3.96606545e-05 9.99999994e-01]] t_estimated: [[9.99525441e-01] [3.08005456e-02] [4.68956602e-04]] R_gt: [[ 0.99193664 -0.12607357 0.01290463] [ 0.12598401 0.99200346 0.00756963] [-0.01375615 -0.00588171 0.99988718]] t_gt: [ 0.84052007 -0.53439531 0.08914974] Pose Error in degrees for R and t: 7.619871240185595 34.542751886498245 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[-0.48698685 -0.87337329 0.00793166] [-0.87335994 0.4868427 -0.01505332] [ 0.00928569 -0.01425797 -0.99985523]] t_estimated: [[0.88975359] [0.45643204] [0.00288881]] R_gt: [[ 9.66604265e-01 -2.55715856e-01 1.69375046e-02] [ 2.55762563e-01 9.66739370e-01 -6.36736311e-04] [-1.62111935e-02 4.94833355e-03 9.99855884e-01]] t_gt: [ 0.84266467 -0.53824759 0.01434518] Pose Error in degrees for R and t: 179.42485664863818 59.72625606820793 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.97422297e-01 -7.17548317e-02 -7.46882393e-05] [ 7.17547854e-02 9.97422176e-01 -5.02624943e-04] [ 1.10561474e-04 4.95970086e-04 9.99999871e-01]] t_estimated: [[-0.21693014] [-0.97618561] [-0.00172167]] R_gt: [[ 0.94135127 -0.33532792 -0.0375882 ] [ 0.33536957 0.94207119 -0.00538395] [ 0.03721592 -0.00753655 0.99927822]] t_gt: [ 0.86773277 -0.49513692 -0.04335057] Pose Error in degrees for R and t: 15.637022666419087 72.83150180026713 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-7.36251006e-01 -6.76705523e-01 -2.02290333e-03] [-6.76707867e-01 7.36251212e-01 7.83991122e-04] [ 9.58833908e-04 1.94612885e-03 -9.99997647e-01]] t_estimated: [[0.84880731] [0.52870069] [0.00131191]] R_gt: [[ 0.98780888 -0.15474547 -0.01692208] [ 0.15530253 0.98709147 0.03912766] [ 0.01064938 -0.04127847 0.99909033]] t_gt: [ 0.68961651 -0.70470104 0.16680981] Pose Error in degrees for R and t: 179.93045658674706 77.70210742879269 Number of keypoints: Image1: 175 Image2: 175 R_estimated: [[ 9.99145449e-01 -4.13306006e-02 3.92031910e-04] [ 4.13306719e-02 9.99145507e-01 -1.75576758e-04] [-3.84440229e-04 1.91629661e-04 9.99999908e-01]] t_estimated: [[9.18103526e-01] [3.96339774e-01] [8.36159860e-04]] R_gt: [[ 0.97233956 -0.23303069 -0.01589828] [ 0.23352601 0.97123686 0.04652475] [ 0.00459977 -0.04895017 0.9987903 ]] t_gt: [ 0.6825863 -0.70903639 0.1770405 ] Pose Error in degrees for R and t: 11.483618587710774 69.76853104726231 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 8.88758369e-01 4.58375823e-01 4.06868333e-04] [-4.58375961e-01 8.88758320e-01 3.57114740e-04] [-1.97914852e-04 -5.03887377e-04 9.99999853e-01]] t_estimated: [[9.34475221e-01] [3.56027336e-01] [7.72293571e-04]] R_gt: [[ 0.94918267 -0.30980682 -0.05541812] [ 0.31157387 0.9498515 0.02653539] [ 0.04441869 -0.04245291 0.99811023]] t_gt: [ 7.34348685e-01 -6.78772337e-01 -3.52025103e-04] Pose Error in degrees for R and t: 45.530211535842454 63.60424143069032 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.28460791e-01 -3.71429960e-01 -5.87004273e-04] [ 3.71430116e-01 9.28460897e-01 1.79788384e-04] [ 4.78231722e-04 -3.84957530e-04 9.99999812e-01]] t_estimated: [[ 7.61622131e-01] [-6.48021352e-01] [-2.39294593e-04]] R_gt: [[ 0.99542569 0.09530457 -0.00663716] [-0.09487835 0.99432604 0.04810152] [ 0.01118388 -0.04725031 0.99882059]] t_gt: [-0.55890475 0.77513207 0.29461118] Pose Error in degrees for R and t: 27.400458628539027 21.867625237592097 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999449e-01 -1.01792760e-03 -2.55567111e-04] [ 1.01792812e-03 9.99999482e-01 1.90199301e-06] [ 2.55565042e-04 -2.16214091e-06 9.99999967e-01]] t_estimated: [[-0.98194384] [-0.18917 ] [-0.00100478]] R_gt: [[ 0.97254486 0.23271329 0.00136414] [-0.23261306 0.97191649 0.03561211] [ 0.0069621 -0.0349504 0.99936475]] t_gt: [-0.53305924 0.8421272 0.08166776] Pose Error in degrees for R and t: 13.669157193343517 68.65105635734295 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 9.10812394e-01 -4.12817599e-01 -1.55344325e-03] [ 4.12818659e-01 9.10813139e-01 4.23838255e-04] [ 1.23992863e-03 -1.02732749e-03 9.99998704e-01]] t_estimated: [[0.80552006] [0.59256731] [0.00118663]] R_gt: [[ 0.89489323 0.44627624 0.00190185] [-0.44611915 0.89444807 0.03066408] [ 0.01198296 -0.02828863 0.99952816]] t_gt: [-0.47593947 0.87923855 0.02052322] Pose Error in degrees for R and t: 50.91524007799921 82.08790809101225 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[-0.78839307 -0.61441927 0.03041929] [-0.61439395 0.78891884 0.01127594] [-0.03092651 -0.00979955 -0.99947362]] t_estimated: [[0.94846492] [0.31640363] [0.01740814]] R_gt: [[ 0.99553766 0.08647629 0.03776066] [-0.08679236 0.99620306 0.00678661] [-0.03703127 -0.01003352 0.99926414]] t_gt: [-0.72264312 0.61849951 0.30861834] Pose Error in degrees for R and t: 175.95951486450699 61.03117360576227 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-6.52352351e-01 -7.57893979e-01 -5.75565667e-03] [-7.57902628e-01 6.52367003e-01 -9.49054560e-04] [ 4.47408322e-03 3.74310934e-03 -9.99982986e-01]] t_estimated: [[ 0.92744731] [ 0.37395088] [-0.00148965]] R_gt: [[ 0.99861954 0.00673959 0.05209447] [-0.00701999 0.99996147 0.00519693] [-0.0520574 -0.00555537 0.99862899]] t_gt: [-0.1646232 0.37195934 0.91353459] Pose Error in degrees for R and t: 177.4812814275808 89.1436444607108 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 2.56810384e-01 -9.66461787e-01 -2.00675935e-04] [-9.66461794e-01 -2.56810411e-01 1.19958363e-04] [-1.67470843e-04 1.63139071e-04 -9.99999973e-01]] t_estimated: [[0.59453783] [0.80406658] [0.00130955]] R_gt: [[ 0.99231687 -0.11745224 0.03887444] [ 0.11634963 0.99276999 0.02950049] [-0.04205872 -0.02475046 0.99880851]] t_gt: [ 0.7783715 -0.53102514 0.3348882 ] Pose Error in degrees for R and t: 177.34957261166252 87.92370283608572 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[ 9.93700750e-01 -1.12065378e-01 -4.12599274e-04] [ 1.12065415e-01 9.93700829e-01 6.60991329e-05] [ 4.02592817e-04 -1.11920867e-04 9.99999913e-01]] t_estimated: [[ 0.93008842] [-0.36733411] [-0.00108885]] R_gt: [[ 0.9967077 0.07845423 -0.02046271] [-0.07796536 0.99667373 0.02369949] [ 0.02225353 -0.02202629 0.99950971]] t_gt: [-0.48144523 0.87578917 -0.03469617] Pose Error in degrees for R and t: 11.064048970265928 39.6949289538092 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.99996969e-01 7.27183947e-04 -2.35211822e-03] [-7.21640501e-04 9.99996962e-01 2.35677986e-03] [ 2.35382489e-03 -2.35507533e-03 9.99994457e-01]] t_estimated: [[-0.72464838] [-0.6891183 ] [-0.00082628]] R_gt: [[ 9.54483638e-01 2.98210819e-01 -5.49946019e-03] [-2.98200370e-01 9.54499267e-01 2.72122842e-03] [ 6.06043580e-03 -9.57665300e-04 9.99981482e-01]] t_gt: [-0.53436744 0.84472465 -0.0298615 ] Pose Error in degrees for R and t: 17.309691738018508 78.76333559885346 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.89799291e-01 -1.42467538e-01 -6.03868243e-04] [ 1.42467721e-01 9.89799411e-01 2.71404585e-04] [ 5.59042089e-04 -3.54667798e-04 9.99999781e-01]] t_estimated: [[-9.07027984e-01] [-4.21069756e-01] [-7.05309474e-04]] R_gt: [[ 0.87769555 0.47696429 -0.04643003] [-0.47671523 0.87889298 0.01701801] [ 0.04892365 0.00719744 0.99877672]] t_gt: [-0.45540721 0.8847652 -0.09896879] Pose Error in degrees for R and t: 36.79172842498914 87.67378124503749 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 7.19612422e-01 6.94375613e-01 6.86305641e-04] [-6.94375246e-01 7.19612748e-01 -7.14068452e-04] [-9.89706007e-04 3.72988791e-05 9.99999510e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99950547 -0.0121888 0.02896485] [ 0.01373472 0.99845863 -0.0537813 ] [-0.02826389 0.05415341 0.99813302]] t_gt: [-0.46668179 0.87191241 -0.14824595] Pose Error in degrees for R and t: 44.847190618012526 29.677010658236462 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99154583e-01 -4.11110345e-02 -5.57081786e-05] [ 4.11110379e-02 9.99154582e-01 6.00902846e-05] [ 5.31907081e-05 -6.23297042e-05 9.99999997e-01]] t_estimated: [[-0.96542226] [ 0.26068832] [-0.00120994]] R_gt: [[ 0.99949404 -0.00118909 0.03175081] [ 0.00308434 0.99821088 -0.05971745] [-0.03162293 0.05978558 0.99771046]] t_gt: [-0.48977965 0.85590114 -0.16597931] Pose Error in degrees for R and t: 4.4792360770547335 45.87960065557295 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[ 9.70543063e-01 -2.40927662e-01 -1.57535199e-04] [ 2.40927701e-01 9.70543017e-01 3.08033303e-04] [ 7.86809436e-05 -3.36914178e-04 9.99999940e-01]] t_estimated: [[0.90663541] [0.42191356] [0.00108417]] R_gt: [[ 0.9987734 -0.03676652 0.0331492 ] [ 0.03966245 0.99501913 -0.09145503] [-0.02962049 0.09265785 0.99525762]] t_gt: [-0.34841675 0.87358994 -0.33977403] Pose Error in degrees for R and t: 13.009444571909427 87.00068011210244 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999998e-01 -6.20023478e-05 -2.58461945e-05] [ 6.20040340e-05 9.99999996e-01 6.52450682e-05] [ 2.58421490e-05 -6.52466706e-05 9.99999998e-01]] t_estimated: [[5.21935073e-01] [8.52985146e-01] [3.46830952e-04]] R_gt: [[ 0.99851258 -0.05023679 0.02119125] [ 0.04827309 0.99522978 0.08478587] [-0.02534942 -0.08363707 0.99617293]] t_gt: [ 0.25638065 -0.56559944 0.78381518] Pose Error in degrees for R and t: 5.751674926347591 69.61283858767779 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-0.97125523 0.23801617 0.00340208] [ 0.23800318 0.97125686 -0.00382219] [-0.00421404 -0.00290261 -0.99998691]] t_estimated: [[0.85567389] [0.51751456] [0.00093414]] R_gt: [[ 0.99844051 -0.0488621 0.0270088 ] [ 0.04732717 0.99737168 0.05486713] [-0.02961924 -0.05350371 0.99812737]] t_gt: [ 0.28635328 -0.61115937 0.73789296] Pose Error in degrees for R and t: 178.5442230431878 85.95329923271316 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.99876390e-01 -1.57223824e-02 -1.07954527e-04] [ 1.57223728e-02 9.99876392e-01 -8.87943187e-05] [ 1.09337241e-04 8.70860415e-05 9.99999990e-01]] t_estimated: [[-0.1304544 ] [-0.99145345] [-0.00130454]] R_gt: [[ 0.99981162 -0.01761415 -0.00811413] [ 0.01710499 0.99810233 -0.05915823] [ 0.00913983 0.05900758 0.99821518]] t_gt: [ 0.19978543 -0.00308058 -0.97983483] Pose Error in degrees for R and t: 3.4189563822785183 88.7548416787925 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.65258727e-01 -2.61295706e-01 -3.80720678e-04] [ 2.61295775e-01 9.65258772e-01 1.44530718e-04] [ 3.29728718e-04 -2.38990241e-04 9.99999917e-01]] t_estimated: [[ 6.73535036e-01] [-7.39155276e-01] [-1.84130129e-04]] R_gt: [[ 0.98721634 -0.15871446 -0.01459183] [ 0.15668572 0.98320417 -0.09359005] [ 0.02920127 0.09010859 0.99550427]] t_gt: [ 0.55671534 -0.65147984 -0.51540475] Pose Error in degrees for R and t: 8.13745741885804 31.062280640289394 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-2.95792473e-04 9.99999947e-01 1.38900522e-04] [-9.99996713e-01 -2.95437754e-04 -2.54687558e-03] [-2.54683441e-03 -1.39653412e-04 9.99996747e-01]] t_estimated: [[0.61601366] [0.78773429] [0.00136286]] R_gt: [[ 0.97932213 -0.20027745 -0.02856588] [ 0.19429788 0.97047315 -0.14293332] [ 0.0563487 0.13442707 0.98932031]] t_gt: [ 0.54667349 -0.53711258 -0.64238475] Pose Error in degrees for R and t: 101.70180244729603 84.99635409324954 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-2.16272697e-01 9.76325580e-01 3.80558379e-03] [ 9.76332645e-01 2.16274284e-01 -5.74146816e-06] [-8.28655452e-04 3.71427397e-03 -9.99992759e-01]] t_estimated: [[0.99976268] [0.02175762] [0.00108788]] R_gt: [[ 0.98892198 -0.13960857 -0.05042911] [ 0.13103254 0.98067096 -0.1453109 ] [ 0.06974053 0.13709355 0.9881005 ]] t_gt: [ 0.4313281 -0.27051639 -0.860684 ] Pose Error in degrees for R and t: 177.4297626533775 64.88707923834956 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.99999873e-01 4.70278928e-04 -1.83676191e-04] [-4.70226634e-04 9.99999849e-01 2.84646383e-04] [ 1.83810026e-04 -2.84559977e-04 9.99999943e-01]] t_estimated: [[-9.99994932e-01] [-3.08775704e-03] [-7.75779674e-04]] R_gt: [[ 0.99571901 0.0717256 -0.05830706] [-0.06429835 0.99062099 0.12056121] [ 0.06640705 -0.11629584 0.99099216]] t_gt: [-0.06202856 0.20058758 0.97771012] Pose Error in degrees for R and t: 8.605101812676454 86.52285422469933 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.23602923 -0.9714132 0.02542839] [ 0.97156385 0.23641077 0.01317692] [-0.01881178 0.02159517 0.9995898 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9865869 0.14080593 -0.08258914] [-0.12876216 0.98224188 0.13645858] [ 0.1003367 -0.12399422 0.9871972 ]] t_gt: [-0.29124219 0.82233108 0.4888247 ] Pose Error in degrees for R and t: 84.68911341586049 73.24308013374198 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.97079749 0.23989588 -0.00148289] [-0.23988778 0.97079118 0.00428304] [ 0.00246706 -0.00380223 0.99998973]] t_estimated: [[0.132351 ] [0.99120141] [0.00172426]] R_gt: [[ 0.97801577 0.18833559 -0.08952653] [-0.17471578 0.97443385 0.14125503] [ 0.11384119 -0.12250822 0.98591673]] t_gt: [-0.3002636 0.90247428 0.30883966] Pose Error in degrees for R and t: 9.951105555407073 31.204218755849034 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 0.99916082 -0.0408339 -0.00320233] [ 0.04083896 0.99916457 0.00153185] [ 0.00313711 -0.00166135 0.9999937 ]] t_estimated: [[-0.99571625] [-0.09171771] [-0.01170538]] R_gt: [[ 0.99789422 -0.01927067 0.06193345] [ 0.0122375 0.99363304 0.11199574] [-0.06369641 -0.11100197 0.99177679]] t_gt: [-0.00711338 -0.16753009 0.9858413 ] Pose Error in degrees for R and t: 7.503284327044708 89.3749634968496 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.34150337e-01 3.56879723e-01 1.08188543e-04] [-3.56879737e-01 9.34150254e-01 3.95242694e-04] [ 3.99897479e-05 -4.07826395e-04 9.99999916e-01]] t_estimated: [[0.79804907] [0.60259193] [0.00081103]] R_gt: [[ 0.99534215 -0.07507352 0.06047767] [ 0.06185057 0.97850534 0.19672767] [-0.07394618 -0.19207053 0.97859102]] t_gt: [ 0.15293135 -0.34255591 0.9269668 ] Pose Error in degrees for R and t: 27.51651608622523 85.20315834042302 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-8.05339298e-01 -5.92675496e-01 -1.28207486e-02] [ 5.92587911e-01 -8.05441102e-01 1.02077931e-02] [-1.63762667e-02 6.23316316e-04 9.99865706e-01]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.99284878 -0.08934191 0.0791719 ] [ 0.0696693 0.97222476 0.22343949] [-0.09693475 -0.21632571 0.97149696]] t_gt: [ 0.15634171 -0.31942442 0.93462576] Pose Error in degrees for R and t: 139.21486483010034 81.96085472698827 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.96212660e-01 8.69491699e-02 -4.21667517e-04] [-8.69494974e-02 9.96212372e-01 -8.33062354e-04] [ 3.47636317e-04 8.66571042e-04 9.99999564e-01]] t_estimated: [[0.99229853] [0.12386138] [0.00140752]] R_gt: [[ 0.99669837 0.03699601 -0.07227676] [-0.02807552 0.99228415 0.12076568] [ 0.07618735 -0.11833769 0.99004676]] t_gt: [-0.35973612 -0.12031628 0.92526424] Pose Error in degrees for R and t: 8.696292042358222 68.24948140539286 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[-7.42171013e-01 6.70210365e-01 5.04060305e-04] [ 6.70209394e-01 7.42168118e-01 2.41905868e-03] [ 1.24718071e-03 2.13318118e-03 -9.99996947e-01]] t_estimated: [[0.60732788] [0.79445053] [0.00109428]] R_gt: [[ 0.98156722 -0.04527625 -0.18567848] [ 0.08727107 0.97051229 0.22469899] [ 0.17003016 -0.23676107 0.956574 ]] t_gt: [ 0.61703913 -0.65347879 0.43843833] Pose Error in degrees for R and t: 165.52072475606013 81.72457729039886 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 8.99540943e-02 -9.95943887e-01 -2.00854042e-03] [ 9.95873067e-01 8.99717233e-02 -1.19131644e-02] [ 1.20455551e-02 -9.28613395e-04 9.99927018e-01]] t_estimated: [[0.9988231 ] [0.04848656] [0.00121216]] R_gt: [[ 0.96330553 -0.14380996 -0.22663276] [ 0.20219937 0.94409786 0.26037356] [ 0.17651947 -0.29664413 0.93853281]] t_gt: [ 0.71253074 -0.58601715 0.38585469] Pose Error in degrees for R and t: 76.86753385846923 46.86293873245122 Number of keypoints: Image1: 285 Image2: 285 R_estimated: [[ 8.48244693e-01 5.29603655e-01 -9.53206640e-04] [-5.29604481e-01 8.48243894e-01 -1.17898533e-03] [ 1.84156770e-04 1.50489056e-03 9.99998851e-01]] t_estimated: [[ 0.05096984] [ 0.99869926] [-0.00136441]] R_gt: [[ 0.99899961 -0.0401434 -0.0197554 ] [ 0.04050552 0.99901329 0.01826918] [ 0.01900292 -0.01905117 0.99963721]] t_gt: [ 0.48447046 -0.87196214 -0.07050106] Pose Error in degrees for R and t: 34.325276433059166 32.21663964658219 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.97625693e-01 6.88689746e-02 2.04113261e-04] [-6.88689139e-02 9.97625675e-01 -2.90740140e-04] [-2.23651605e-04 2.75992775e-04 9.99999937e-01]] t_estimated: [[0.97632801] [0.21629213] [0.00115433]] R_gt: [[ 0.99725523 -0.05831723 -0.04562952] [ 0.05999481 0.9975383 0.03630933] [ 0.04339985 -0.03894688 0.99829792]] t_gt: [ 0.49032784 -0.85755975 -0.15546668] Pose Error in degrees for R and t: 8.075676947460375 72.95888161213166 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 9.91276334e-01 1.31799888e-01 1.38834777e-04] [-1.31799852e-01 9.91276319e-01 -2.39900404e-04] [-1.69242473e-04 2.19509190e-04 9.99999962e-01]] t_estimated: [[0.71649087] [0.69759606] [0.00075579]] R_gt: [[ 0.99573705 -0.08215161 -0.04193443] [ 0.08321624 0.99623516 0.02430401] [ 0.03978014 -0.02769045 0.99882414]] t_gt: [ 0.54588686 -0.82328277 -0.15560533] Pose Error in degrees for R and t: 12.63075304020779 79.43717960943701 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-5.04766560e-01 8.63251239e-01 2.83152848e-03] [-8.63255783e-01 -5.04762207e-01 -2.13716780e-03] [-4.15664186e-04 -3.52310417e-03 9.99993707e-01]] t_estimated: [[8.01117160e-01] [5.98507234e-01] [6.21502839e-04]] R_gt: [[ 0.98705807 -0.16025981 -0.00563384] [ 0.15966475 0.98544351 -0.05837189] [ 0.01490509 0.05671651 0.99827821]] t_gt: [ 0.51635263 -0.71960085 -0.46427856] Pose Error in degrees for R and t: 129.5554666742652 89.00782170794825 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 9.13055916e-01 -4.07833965e-01 -5.92330210e-04] [ 4.07834087e-01 9.13056049e-01 9.66502053e-05] [ 5.01413445e-04 -3.29819492e-04 9.99999820e-01]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.97466393 -0.2188814 0.0460624 ] [ 0.21997623 0.97529696 -0.02017945] [-0.04050892 0.02980017 0.99873443]] t_gt: [ 0.23781823 -0.9712135 0.01366869] Pose Error in degrees for R and t: 11.751622070904736 36.21381461361608 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 0.74090376 0.67160808 -0.0020495 ] [-0.6715658 0.74088571 0.00936718] [ 0.00780952 -0.0055638 0.99995403]] t_estimated: [[-0.99995131] [-0.00979144] [-0.00122393]] R_gt: [[ 0.94051977 -0.33770743 0.03710499] [ 0.33878423 0.94044834 -0.02795687] [-0.02545463 0.03886389 0.99891975]] t_gt: [ 0.41205109 -0.91094027 -0.02004303] Pose Error in degrees for R and t: 62.050143443384094 66.22869099981263 Number of keypoints: Image1: 196 Image2: 196 R_estimated: [[ 9.57235014e-01 2.89304001e-01 -2.07915130e-03] [-2.89301764e-01 9.57237048e-01 1.31282917e-03] [ 2.37004739e-03 -6.55183910e-04 9.99996977e-01]] t_estimated: [[0.59129585] [0.80645324] [0.00154789]] R_gt: [[ 9.94329440e-01 -1.06342816e-01 -5.88154220e-04] [ 1.06339948e-01 9.94238658e-01 1.33981241e-02] [-8.40290427e-04 -1.33849735e-02 9.99910565e-01]] t_gt: [ 0.19681451 -0.97840663 0.063123 ] Pose Error in degrees for R and t: 22.932252876153175 47.73458869136802 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 9.99819233e-01 -1.90130853e-02 5.47443838e-05] [ 1.90131032e-02 9.99819174e-01 -3.48265091e-04] [-4.81128907e-05 3.49242997e-04 9.99999938e-01]] t_estimated: [[-0.99989881] [-0.01413873] [-0.00157259]] R_gt: [[ 0.98147255 -0.18809654 0.03649017] [ 0.18763846 0.98211331 0.01563791] [-0.03877891 -0.00850178 0.99921189]] t_gt: [ 0.19110862 -0.96196895 0.19517487] Pose Error in degrees for R and t: 10.005524176158803 79.75863789139537 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99999970e-01 1.17056510e-04 2.15862134e-04] [-1.17043773e-04 9.99999991e-01 -5.90151611e-05] [-2.15869040e-04 5.89898940e-05 9.99999975e-01]] t_estimated: [[0.70661117] [0.70760157] [0.00081977]] R_gt: [[ 0.94545359 -0.32571678 0.00504101] [ 0.32502919 0.9442657 0.05212165] [-0.02173668 -0.04764132 0.99862793]] t_gt: [ 0.41715793 -0.89210215 0.17358865] Pose Error in degrees for R and t: 19.24193125649004 70.34582785715374 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.87362565e-01 -1.58477420e-01 -2.69118842e-04] [ 1.58477433e-01 9.87362599e-01 2.87169252e-05] [ 2.61166895e-04 -7.10032803e-05 9.99999963e-01]] t_estimated: [[-0.41474931] [-0.90993485] [-0.00125682]] R_gt: [[ 0.99684227 0.07591584 0.02329824] [-0.07668897 0.99646608 0.03426589] [-0.02061452 -0.03594377 0.99914107]] t_gt: [-0.71230958 0.52070963 0.47061294] Pose Error in degrees for R and t: 13.703830279820108 79.69003063847542 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[-0.38163006 0.92431317 -0.00191439] [-0.92431155 -0.38163354 -0.00200188] [-0.00258096 0.00100552 0.99999616]] t_estimated: [[0.35157122] [0.93616058] [0.00102201]] R_gt: [[ 0.99173483 0.04543331 -0.11999301] [-0.0240076 0.98439934 0.17430451] [ 0.12604071 -0.16998227 0.97735284]] t_gt: [-0.16410482 -0.419708 0.89270085] Pose Error in degrees for R and t: 110.89266745642179 63.27580175418514 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.94742514e-01 1.02407666e-01 -3.84684444e-05] [-1.02407635e-01 9.94742396e-01 4.92157518e-04] [ 8.86668951e-05 -4.85630544e-04 9.99999878e-01]] t_estimated: [[0.55317544] [0.83306373] [0.00132023]] R_gt: [[ 0.98064575 -0.03959309 -0.19174364] [ 0.08941928 0.96180441 0.25871958] [ 0.17417726 -0.27085765 0.94673011]] t_gt: [ 0.56010674 -0.61709323 0.55269917] Pose Error in degrees for R and t: 21.089620934676063 78.25765117409476 Number of keypoints: Image1: 281 Image2: 281 R_estimated: [[ 9.84698100e-01 -1.74268906e-01 1.13237146e-05] [ 1.74268852e-01 9.84697738e-01 -8.55346186e-04] [ 1.37909808e-04 8.44231135e-04 9.99999634e-01]] t_estimated: [[0.41480866] [0.90990798] [0.00111509]] R_gt: [[ 0.99439042 0.1039915 -0.0193246 ] [-0.10390811 0.99457322 0.00521727] [ 0.01976301 -0.00318003 0.99979911]] t_gt: [-0.51373994 0.84842286 -0.12747518] Pose Error in degrees for R and t: 16.044772169096824 56.031238880553445 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.99972440e-01 7.42406134e-03 -4.74686349e-05] [-7.42405860e-03 9.99972440e-01 5.75157464e-05] [ 4.78943271e-05 -5.71617514e-05 9.99999997e-01]] t_estimated: [[-9.39521655e-01] [ 3.42489339e-01] [-3.33950332e-04]] R_gt: [[ 0.99499971 0.09200426 -0.03887609] [-0.09149066 0.99569604 0.01478366] [ 0.04006888 -0.01115245 0.99913464]] t_gt: [-0.28304793 0.95261105 -0.11142734] Pose Error in degrees for R and t: 5.3941733142390555 53.68486821617464 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.58680289e-01 2.84484962e-01 6.40047764e-04] [-2.84484550e-01 9.58680395e-01 -6.64559299e-04] [-8.02658370e-04 4.55016201e-04 9.99999574e-01]] t_estimated: [[-0.87913256] [-0.47657555] [-0.00129857]] R_gt: [[ 0.99962501 0.02049162 0.0181601 ] [-0.01938633 0.99806773 -0.05903365] [-0.01933432 0.0586595 0.99809039]] t_gt: [ 0.08965711 0.89023934 -0.44658204] Pose Error in degrees for R and t: 15.774679291636499 59.83400746479777 Number of keypoints: Image1: 319 Image2: 319 R_estimated: [[-0.96600064 -0.25192893 0.05809105] [-0.2517392 0.96773616 0.01068164] [-0.05890783 -0.00430532 -0.99825414]] t_estimated: [[0.98944641] [0.14163344] [0.03059045]] R_gt: [[ 0.99838854 -0.04421226 0.03558308] [ 0.04523848 0.99856686 -0.02858326] [-0.03426762 0.03014705 0.99895801]] t_gt: [0.88763281 0.42902543 0.16746695] Pose Error in degrees for R and t: 174.84420517067034 19.23899517141846 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 9.98421066e-01 -5.61726509e-02 8.96552399e-05] [ 5.61726414e-02 9.98421065e-01 1.05547622e-04] [-9.54425698e-05 -1.00344797e-04 9.99999990e-01]] t_estimated: [[5.38024102e-01] [8.42929109e-01] [7.64170855e-04]] R_gt: [[ 0.98865454 -0.13465478 0.0665692 ] [ 0.13580738 0.99064923 -0.01308459] [-0.06418479 0.0219771 0.9976961 ]] t_gt: [ 0.93976363 -0.14502916 0.3095333 ] Pose Error in degrees for R and t: 5.991233306400192 67.44297726903588 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.51892421e-01 -3.06432403e-01 -2.91892103e-05] [ 3.06432403e-01 9.51892407e-01 1.67305869e-04] [-2.34829519e-05 -1.68201709e-04 9.99999986e-01]] t_estimated: [[9.50522398e-01] [3.10655256e-01] [6.95393916e-04]] R_gt: [[ 0.98014905 -0.16235601 0.11379451] [ 0.16600221 0.98585019 -0.02327611] [-0.10840501 0.04170364 0.99323256]] t_gt: [0.90413873 0.02504558 0.42650425] Pose Error in degrees for R and t: 10.694655661434565 29.83274988425913 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.71583012e-01 2.36698847e-01 -3.26071945e-04] [-2.36698991e-01 9.71582896e-01 -5.13542315e-04] [ 1.95251050e-04 5.76129890e-04 9.99999815e-01]] t_estimated: [[-0.9999497 ] [-0.00992858] [-0.00141837]] R_gt: [[ 0.98966269 0.14270517 -0.01426937] [-0.14322604 0.98857522 -0.04696 ] [ 0.00740477 0.04851825 0.99879494]] t_gt: [-0.33644637 0.91737827 -0.21265219] Pose Error in degrees for R and t: 6.132565402378899 70.87544713313851 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999794e-01 1.34835064e-04 -6.27679569e-04] [-1.34327874e-04 9.99999665e-01 8.08011088e-04] [ 6.27788307e-04 -8.07926607e-04 9.99999477e-01]] t_estimated: [[0.59796168] [0.80152311] [0.00159032]] R_gt: [[ 0.97024888 0.24159153 -0.01583981] [-0.24209118 0.96728306 -0.07586938] [-0.00300819 0.07744779 0.99699219]] t_gt: [-0.32226305 0.93530285 -0.14613384] Pose Error in degrees for R and t: 14.707127603352443 56.16980316676582 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.85524777e-01 -1.69527616e-01 -1.14107662e-03] [ 1.69529035e-01 9.85524351e-01 1.28861533e-03] [ 9.06102907e-04 -1.46340795e-03 9.99998519e-01]] t_estimated: [[-0.86149351] [-0.5077677 ] [-0.00095088]] R_gt: [[ 0.96462291 0.26297104 0.01871892] [-0.26346971 0.96410372 0.03299647] [-0.00937049 -0.03676159 0.99928036]] t_gt: [-0.36103731 0.92384195 0.12715389] Pose Error in degrees for R and t: 25.11562275698803 80.8983379694248 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[ 9.83731804e-01 1.79642415e-01 -5.83068262e-04] [-1.79641765e-01 9.83731563e-01 1.02347228e-03] [ 7.57441686e-04 -9.02078824e-04 9.99999306e-01]] t_estimated: [[-0.63006069] [-0.77654539] [-0.00088244]] R_gt: [[ 0.99398658 -0.10538639 0.02973078] [ 0.10611061 0.99406543 -0.02394711] [-0.02703042 0.02695815 0.99927157]] t_gt: [ 0.67125042 -0.73829969 0.06585163] Pose Error in degrees for R and t: 16.574402659667264 81.3535662652836 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[-6.93356587e-01 7.20594642e-01 -7.53589005e-05] [-7.20593228e-01 -6.93355426e-01 -1.91124019e-03] [-1.42947994e-03 -1.27086786e-03 9.99998171e-01]] t_estimated: [[7.84334710e-01] [6.20337452e-01] [7.13031554e-04]] R_gt: [[ 0.97011268 -0.24218639 0.01511485] [ 0.24265491 0.96849816 -0.0559256 ] [-0.00109394 0.05792143 0.99832062]] t_gt: [ 0.76010718 -0.63945996 -0.11544705] Pose Error in degrees for R and t: 147.94989257784118 78.49723841715166 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-9.85833600e-01 -1.67722060e-01 -1.19302203e-03] [ 1.67725145e-01 -9.85828287e-01 -3.29604850e-03] [-6.23294822e-04 -3.44945516e-03 9.99993856e-01]] t_estimated: [[0.78518566] [0.61925964] [0.00098765]] R_gt: [[ 0.93245591 -0.35606633 0.06117781] [ 0.3589947 0.93219745 -0.04614182] [-0.04059982 0.0649871 0.99706043]] t_gt: [ 0.78893613 -0.61441745 -0.00842455] Pose Error in degrees for R and t: 149.39334667116972 76.17429662174405 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.99999986e-01 -5.02302767e-05 -1.60061677e-04] [ 5.02351614e-05 9.99999998e-01 3.05139454e-05] [ 1.60060144e-04 -3.05219857e-05 9.99999987e-01]] t_estimated: [[8.38985050e-01] [5.44154005e-01] [7.09560158e-04]] R_gt: [[ 0.98557436 -0.16827232 -0.01805718] [ 0.16880422 0.98507005 0.03377747] [ 0.01210396 -0.03633872 0.99926621]] t_gt: [ 0.54496665 -0.82857978 0.12832338] Pose Error in degrees for R and t: 9.947237099940098 89.63130358717969 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.52364065e-01 -3.04963052e-01 -4.74320640e-04] [ 3.04963180e-01 9.52364115e-01 2.25385273e-04] [ 3.82991776e-04 -3.59299166e-04 9.99999862e-01]] t_estimated: [[0.88984154] [0.4562688 ] [0.00090718]] R_gt: [[ 0.97270672 -0.22562011 -0.05419945] [ 0.22844784 0.97209603 0.05329371] [ 0.04066359 -0.06422086 0.997107 ]] t_gt: [ 0.55734136 -0.82211332 0.11619082] Pose Error in degrees for R and t: 6.327197552007471 83.05328410201474 Number of keypoints: Image1: 141 Image2: 141 R_estimated: [[ 0.99994092 0.01019127 -0.00378181] [-0.0101543 0.99990169 0.00966964] [ 0.00387999 -0.00963066 0.9999461 ]] t_estimated: [[0.73893144] [0.67378012] [0.0008247 ]] R_gt: [[ 0.93711964 -0.34078616 -0.07531818] [ 0.34594779 0.93553254 0.0714078 ] [ 0.04612841 -0.09297361 0.99459941]] t_gt: [ 0.6500353 -0.74477956 0.15085596] Pose Error in degrees for R and t: 21.399779844367455 88.77597019270178 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 6.47804137e-02 9.97899442e-01 -4.49501897e-04] [ 9.97882454e-01 -6.47766615e-02 5.88157805e-03] [ 5.84010622e-03 -8.29561116e-04 -9.99982602e-01]] t_estimated: [[-0.06179142] [-0.99808853] [-0.00104731]] R_gt: [[ 0.96823824 -0.24999483 0.00427901] [ 0.24988593 0.96811623 0.01755808] [-0.00853283 -0.01593124 0.99983605]] t_gt: [ 0.87300188 -0.48367108 0.06268977] Pose Error in degrees for R and t: 179.31076932356737 64.612574170668 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 3.75590108e-01 9.26785859e-01 2.06843717e-04] [-9.26785626e-01 3.75590160e-01 -6.59744394e-04] [-6.89130240e-04 5.60936842e-05 9.99999761e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.9248222 -0.37932977 0.0285287 ] [ 0.37931722 0.92524773 0.00603505] [-0.02868546 0.00523936 0.99957435]] t_gt: [ 0.89911036 -0.43700484 0.02504676] Pose Error in degrees for R and t: 90.24749311166036 26.13350836092605 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.88931791e-01 -1.48370059e-01 4.88722394e-04] [ 1.48370160e-01 9.88931880e-01 -1.78010487e-04] [-4.56901730e-04 2.48552050e-04 9.99999865e-01]] t_estimated: [[-0.00906698] [-0.99995806] [-0.00129528]] R_gt: [[ 0.71795594 -0.69597591 -0.01251282] [ 0.6960619 0.71797017 0.00414988] [ 0.00609487 -0.01168873 0.99991261]] t_gt: [ 0.9650875 -0.26191843 0.00220118] Pose Error in degrees for R and t: 35.58679653413721 75.33576180760124 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 0.93321835 0.3592627 0.00581477] [ 0.35928384 -0.93322321 -0.00309166] [ 0.00431576 0.00497434 -0.99997831]] t_estimated: [[-0.99788905] [-0.06479799] [-0.00431987]] R_gt: [[ 0.99738093 0.04285861 0.05827051] [-0.04129833 0.99876239 -0.02773097] [-0.05938625 0.02525194 0.99791524]] t_gt: [-0.74991361 0.51257348 0.41820809] Pose Error in degrees for R and t: 177.6612815547659 44.49511123463234 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 0.73845604 0.67429931 0.00176599] [-0.67428792 0.7384552 -0.00443971] [-0.0042978 0.00208775 0.99998859]] t_estimated: [[0.99977456] [0.02115925] [0.00176327]] R_gt: [[ 0.99601595 0.08866562 0.00954638] [-0.0890372 0.99475051 0.05042716] [-0.00502472 -0.05107622 0.99868166]] t_gt: [-0.75150089 0.49279084 0.43863835] Pose Error in degrees for R and t: 37.42520292593041 42.25742829167594 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.99999979e-01 -2.03554442e-04 1.78752298e-06] [ 2.03555587e-04 9.99999758e-01 -6.65769244e-04] [-1.65200226e-06 6.65769594e-04 9.99999778e-01]] t_estimated: [[-0.80778961] [-0.58946809] [-0.00181935]] R_gt: [[ 0.99210808 0.03005996 -0.12172746] [-0.00615153 0.98133645 0.19220003] [ 0.12523364 -0.18993456 0.97377709]] t_gt: [ 0.06636332 -0.52498037 0.84852314] Pose Error in degrees for R and t: 13.224925759310402 75.26742579474902 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.72726315e-01 -2.31955215e-01 -5.42185351e-04] [ 2.31955458e-01 9.72726309e-01 4.38548417e-04] [ 4.25674363e-04 -5.52350437e-04 9.99999757e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.91759308e-01 -1.20613515e-01 -4.32071876e-02] [ 1.20748057e-01 9.92683146e-01 5.06366250e-04] [ 4.28297405e-02 -5.71865169e-03 9.99066307e-01]] t_gt: [ 0.83187054 -0.53342881 -0.15311797] Pose Error in degrees for R and t: 6.923588025956287 33.891649907746014 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.99966659e-01 8.13855908e-03 6.67348589e-04] [-8.13839164e-03 9.99966851e-01 -2.53230005e-04] [-6.69387394e-04 2.47790418e-04 9.99999745e-01]] t_estimated: [[9.99998859e-01] [1.29784894e-03] [7.72897418e-04]] R_gt: [[ 0.9414443 -0.33620374 -0.02547765] [ 0.33651489 0.94163497 0.00898354] [ 0.02096962 -0.0170298 0.99963501]] t_gt: [ 0.89823547 -0.43944171 -0.00800136] Pose Error in degrees for R and t: 20.18730653981058 26.148099306193995 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.26078486e-01 -5.63554035e-01 -1.08790590e-03] [ 5.63554514e-01 8.26078859e-01 1.70652927e-04] [ 8.02523917e-04 -7.54066991e-04 9.99999394e-01]] t_estimated: [[9.99994892e-01] [3.10075935e-03] [7.75189839e-04]] R_gt: [[ 8.77606847e-01 -4.79366944e-01 -3.75353934e-03] [ 4.79360127e-01 8.77613736e-01 -2.72334134e-03] [ 4.59951201e-03 5.91688128e-04 9.99989269e-01]] t_gt: [ 0.92619715 -0.37672707 -0.015348 ] Pose Error in degrees for R and t: 5.662548672665376 22.32977829136993 Number of keypoints: Image1: 283 Image2: 283 R_estimated: [[ 9.99863053e-01 1.65491345e-02 4.29259938e-05] [-1.65491307e-02 9.99863050e-01 -8.64149601e-05] [-4.43502079e-05 8.56927379e-05 9.99999995e-01]] t_estimated: [[-0.34399474] [-0.93897072] [-0.00126349]] R_gt: [[ 0.99961005 -0.00223221 -0.02780964] [ 0.00279867 0.99978794 0.02035545] [ 0.02775883 -0.02042542 0.99940621]] t_gt: [ 0.16097675 -0.66149857 -0.73246579] Pose Error in degrees for R and t: 2.2622881381004425 55.48109712942584 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 8.34355453e-01 5.51226784e-01 1.02340737e-04] [-5.51226353e-01 8.34354538e-01 1.41853167e-03] [ 6.96544192e-04 -1.23997254e-03 9.99998989e-01]] t_estimated: [[8.52766194e-01] [5.22292353e-01] [7.18421394e-04]] R_gt: [[ 0.99819676 -0.05925104 -0.00955738] [ 0.05928425 0.99823591 0.00318545] [ 0.00935197 -0.00374649 0.99994922]] t_gt: [ 0.59196633 -0.80228887 -0.0768663 ] Pose Error in degrees for R and t: 36.85286408192684 85.0823232973683 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.92825281 0.3719344 -0.00339496] [-0.37182656 0.92814139 0.01727888] [ 0.00957761 -0.01477683 0.99984495]] t_estimated: [[0.63985331] [0.76849661] [0.00084081]] R_gt: [[ 0.98070699 -0.19544756 -0.00365086] [ 0.19523985 0.98025304 -0.03138066] [ 0.00971219 0.03006234 0.99950153]] t_gt: [ 0.71856314 -0.68703431 -0.1079392 ] Pose Error in degrees for R and t: 33.2101850282309 86.08368978927652 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 8.57428227e-01 -5.14586200e-01 4.22833284e-03] [-5.14603230e-01 -8.57389247e-01 8.19721689e-03] [-5.92847576e-04 -9.20443888e-03 -9.99957463e-01]] t_estimated: [[0.12192155] [0.99252654] [0.00511864]] R_gt: [[ 0.99372631 0.0876127 -0.06950811] [-0.08627984 0.99602928 0.02196934] [ 0.0711582 -0.01583476 0.99733966]] t_gt: [-0.1755642 0.77665798 -0.60496248] Pose Error in degrees for R and t: 179.51278887902097 41.724641660839815 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.50216442e-01 -3.11590562e-01 -1.86655079e-04] [ 3.11590608e-01 9.50216393e-01 3.15175036e-04] [ 7.91571493e-05 -3.57644471e-04 9.99999933e-01]] t_estimated: [[ 5.61056379e-01] [-8.27777568e-01] [ 1.95618715e-04]] R_gt: [[ 9.87865306e-01 9.05158821e-02 -1.26203581e-01] [-8.96611894e-02 9.95894952e-01 1.24501975e-02] [ 1.26813334e-01 -9.84286026e-04 9.91926708e-01]] t_gt: [ 0.11520874 0.51054432 -0.85209826] Pose Error in degrees for R and t: 24.43760941823881 69.01366847297356 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[-0.99629222 -0.08599064 0.0027255 ] [-0.08598629 0.99629491 0.00167491] [-0.00285943 0.00143435 -0.99999488]] t_estimated: [[0.99948473] [0.03200321] [0.00246179]] R_gt: [[ 0.98946548 0.03991097 -0.13915707] [-0.03441464 0.99853841 0.04168454] [ 0.14061758 -0.03645712 0.98939283]] t_gt: [ 0.45975146 -0.05153319 -0.88655114] Pose Error in degrees for R and t: 172.21832614308389 62.89112172121436 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.99999830e-01 -5.79816381e-04 6.93245377e-05] [ 5.79816412e-04 9.99999832e-01 -4.27580150e-07] [-6.93242782e-05 4.67775582e-07 9.99999998e-01]] t_estimated: [[0.38390284] [0.92337265] [0.00124885]] R_gt: [[ 9.95592933e-01 -8.80650899e-02 3.22623734e-02] [ 8.81240826e-02 9.96109320e-01 -4.08482210e-04] [-3.21018991e-02 3.25074610e-03 9.99479699e-01]] t_gt: [ 0.94208162 -0.19278504 0.27443789] Pose Error in degrees for R and t: 5.3497501977934245 79.3972745666411 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-5.20957793e-01 -8.53580579e-01 -1.78137875e-03] [ 8.53582225e-01 -5.20958001e-01 -3.81299507e-04] [-6.02553661e-04 -1.71919419e-03 9.99998341e-01]] t_estimated: [[9.84008558e-01] [1.78119400e-01] [7.98153953e-04]] R_gt: [[ 0.99248635 -0.08982053 0.08308687] [ 0.09213205 0.99544741 -0.024411 ] [-0.08051683 0.03188341 0.99624353]] t_gt: [0.86688042 0.16035301 0.47202251] Pose Error in degrees for R and t: 116.2386352492647 28.120719529191227 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.99999548e-01 -9.50466285e-04 -1.62412662e-05] [ 9.50466588e-04 9.99999548e-01 1.86510778e-05] [ 1.62235317e-05 -1.86665062e-05 1.00000000e+00]] t_estimated: [[-7.26221492e-01] [ 6.87460578e-01] [-5.46094555e-04]] R_gt: [[ 0.98827188 -0.05433336 0.14271394] [ 0.06336826 0.99621293 -0.05953859] [-0.13893997 0.06788415 0.98797176]] t_gt: [0.44393475 0.61646035 0.65030653] Pose Error in degrees for R and t: 9.501840571738432 84.20081735723252 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.56514043 0.82498663 0.00365497] [-0.82485503 0.56495767 0.02090478] [ 0.01518126 -0.01482896 0.99977479]] t_estimated: [[0.62136529] [0.78351983] [0.00136264]] R_gt: [[ 0.99118359 0.13208655 -0.0104818 ] [-0.13249 0.98906717 -0.06474259] [ 0.00181588 0.06556066 0.99784681]] t_gt: [-0.3563615 0.9013406 -0.24615361] Pose Error in degrees for R and t: 48.22249776098291 61.02341493237056 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.89208010e-01 -1.46517919e-01 1.09010846e-04] [ 1.46517942e-01 9.89207980e-01 -2.54099953e-04] [-7.06042023e-05 2.67329754e-04 9.99999962e-01]] t_estimated: [[-0.73024677] [-0.68318305] [-0.00075909]] R_gt: [[ 0.98301319 0.18217902 0.02229483] [-0.18184265 0.98319188 -0.01632017] [-0.02489338 0.01198896 0.9996185 ]] t_gt: [-0.40262786 0.90966626 0.10197104] Pose Error in degrees for R and t: 18.97861245433669 70.8811793238975 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[-0.5615267 -0.82745663 -0.00181157] [ 0.8274578 -0.56152174 -0.00263211] [ 0.00116072 -0.002977 0.9999949 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98053431 0.18064341 0.07694935] [-0.18861076 0.97548638 0.11336594] [-0.05458404 -0.12567309 0.99056921]] t_gt: [-0.38120694 0.7372944 0.55774388] Pose Error in degrees for R and t: 134.96939332590836 67.76003754904247 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999923e-01 -4.31938392e-05 3.89258188e-04] [ 4.33744919e-05 9.99999891e-01 -4.64098173e-04] [-3.89238100e-04 4.64115021e-04 9.99999817e-01]] t_estimated: [[-0.492387 ] [-0.87037344] [-0.00226027]] R_gt: [[ 0.9992779 -0.00555124 -0.03760571] [ 0.00441128 0.99953083 -0.03032672] [ 0.03775661 0.03013873 0.99883253]] t_gt: [ 0.64538191 0.18609488 -0.74084471] Pose Error in degrees for R and t: 2.7836598856343953 61.44023436580161 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99920355e-01 1.26203165e-02 1.10609467e-04] [-1.26203253e-02 9.99920357e-01 7.89762481e-05] [-1.09603952e-04 -8.03658854e-05 9.99999991e-01]] t_estimated: [[-0.67613056] [-0.73677697] [-0.00267784]] R_gt: [[ 0.99943939 0.02233376 -0.02492878] [-0.02307421 0.99928901 -0.0298367 ] [ 0.02424431 0.03039501 0.999244 ]] t_gt: [ 0.65510913 0.49906817 -0.56724157] Pose Error in degrees for R and t: 2.3090756181245045 35.989738790845124 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.98208267e-01 -5.98351423e-02 -1.06045979e-04] [ 5.98351166e-02 9.98208248e-01 -2.30442473e-04] [ 1.19644529e-04 2.23684308e-04 9.99999968e-01]] t_estimated: [[-0.97917564] [-0.20301233] [-0.00102531]] R_gt: [[ 0.99450393 0.10170158 0.0248839 ] [-0.09835995 0.98895425 -0.11088516] [-0.03588712 0.10782798 0.99352122]] t_gt: [ 0.05515534 0.89727705 -0.43800889] Pose Error in degrees for R and t: 11.260714793230827 76.36616916232163 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.83916932e-01 -1.78626593e-01 1.03633124e-04] [ 1.78626562e-01 9.83916910e-01 2.56187538e-04] [-1.47728290e-04 -2.33555627e-04 9.99999962e-01]] t_estimated: [[ 0.97387429] [-0.22708428] [ 0.0012625 ]] R_gt: [[ 0.99601256 -0.08634834 -0.0224313 ] [ 0.08566982 0.99588402 -0.02959738] [ 0.02489486 0.02755739 0.99930995]] t_gt: [ 0.44590232 -0.75960204 -0.47347213] Pose Error in degrees for R and t: 5.766955502082872 52.68845149162674 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-9.30732552e-01 -3.65699560e-01 -8.64857876e-04] [ 3.65700565e-01 -9.30730639e-01 -1.89084362e-03] [-1.13469043e-04 -2.07614872e-03 9.99997838e-01]] t_estimated: [[8.40039154e-01] [5.42525287e-01] [7.29200655e-04]] R_gt: [[ 0.97837405 -0.19766896 -0.06091416] [ 0.19769777 0.98024706 -0.00559968] [ 0.06081791 -0.00656442 0.99812731]] t_gt: [ 0.59905413 -0.77061694 -0.21744811] Pose Error in degrees for R and t: 147.14908356848125 85.12448196062995 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[-7.46004355e-01 6.65928395e-01 -4.10797026e-03] [-6.65934472e-01 -7.46010225e-01 1.51772049e-04] [-2.96351850e-03 2.84886161e-03 9.99991551e-01]] t_estimated: [[0.7623593 ] [0.6471534 ] [0.00088153]] R_gt: [[ 9.48544916e-01 -2.99352151e-01 -1.03205426e-01] [ 3.01031408e-01 9.53614020e-01 7.33968036e-04] [ 9.81988986e-02 -3.17653358e-02 9.94659580e-01]] t_gt: [ 0.6961796 -0.69769372 -0.16898945] Pose Error in degrees for R and t: 155.79334504732086 85.46459194220557 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 0.27099443 -0.96149495 0.0457109 ] [-0.96158226 -0.26824527 0.05834408] [-0.0438358 -0.05976571 -0.99724946]] t_estimated: [[0.61577356] [0.78707042] [0.03664815]] R_gt: [[ 0.99958737 -0.01299953 0.0256173 ] [ 0.01227783 0.99952783 0.02815195] [-0.02596993 -0.0278256 0.9992753 ]] t_gt: [-0.2911983 -0.52406289 0.80035095] Pose Error in degrees for R and t: 173.57925886676608 55.77423608417436 Number of keypoints: Image1: 494 Image2: 494 R_estimated: [[ 9.94934601e-01 -1.00524327e-01 -1.21710459e-05] [ 1.00524279e-01 9.94933991e-01 1.10607381e-03] [-9.90779382e-05 -1.10169459e-03 9.99999388e-01]] t_estimated: [[ 0.49672633] [-0.86790147] [ 0.00316005]] R_gt: [[ 0.9995418 0.00428138 0.02997242] [-0.00545866 0.99921055 0.03934679] [-0.02978033 -0.03949156 0.99877521]] t_gt: [-0.63332857 -0.30454281 0.71144121] Pose Error in degrees for R and t: 6.657863499560692 87.24704584630739 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 2.14889724e-01 9.76563279e-01 1.21065733e-02] [-9.76637905e-01 2.14861697e-01 3.58529467e-03] [ 9.00028223e-04 -1.25941814e-02 9.99920285e-01]] t_estimated: [[0.17532285] [0.98450522] [0.00337159]] R_gt: [[ 0.99184206 0.11087544 0.06289785] [-0.10921427 0.99358704 -0.02926634] [-0.06573853 0.02215847 0.99759054]] t_gt: [-0.85420022 0.43772954 0.28059728] Pose Error in degrees for R and t: 71.35553498845711 73.61249403011696 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 9.89194336e-01 -1.46610217e-01 -1.00470660e-04] [ 1.46610231e-01 9.89194328e-01 1.47128958e-04] [ 7.78143985e-05 -1.60269159e-04 9.99999984e-01]] t_estimated: [[ 7.71951420e-01] [-6.35681352e-01] [ 4.72598178e-04]] R_gt: [[ 0.99841474 0.00288901 0.05621345] [-0.00129316 0.99959574 -0.02841153] [-0.05627364 0.02829306 0.99801432]] t_gt: [-0.17523837 0.80160417 0.57159625] Pose Error in degrees for R and t: 9.283744933758772 49.86654209271673 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-7.48653737e-01 -6.62960775e-01 -7.70488342e-04] [ 6.62960005e-01 -7.48649627e-01 -2.78706893e-03] [ 1.27089157e-03 -2.59735252e-03 9.99995819e-01]] t_estimated: [[7.82377173e-01] [6.22804548e-01] [6.73302214e-04]] R_gt: [[ 0.99278147 0.035561 0.11455174] [-0.02839733 0.99757315 -0.06357607] [-0.11653488 0.05986442 0.99138128]] t_gt: [-0.46920735 0.77457821 0.42411444] Pose Error in degrees for R and t: 140.41326929347642 83.36180898925578 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 6.62156917e-01 -7.49355951e-01 -3.72506602e-03] [ 7.49365175e-01 6.62147182e-01 3.59791631e-03] [-2.29578031e-04 -5.17381992e-03 9.99986589e-01]] t_estimated: [[ 0.12994997] [-0.99151505] [ 0.00330361]] R_gt: [[ 0.98602302 0.07755173 0.14746406] [-0.06098705 0.99163951 -0.11371434] [-0.15505005 0.1031321 0.98250914]] t_gt: [-0.57339 0.78174305 0.24515652] Pose Error in degrees for R and t: 53.60357335737144 31.917298588770795 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-3.99683534e-01 9.16652044e-01 -1.45043845e-03] [-9.16649921e-01 -3.99685834e-01 -2.03858221e-03] [-2.44839025e-03 5.14756553e-04 9.99996870e-01]] t_estimated: [[0.38181356] [0.92423887] [0.00096175]] R_gt: [[ 0.9909966 -0.13338336 -0.01163707] [ 0.13251389 0.98952821 -0.05721575] [ 0.01914598 0.05515926 0.99829387]] t_gt: [ 0.60848112 -0.69195903 -0.38851438] Pose Error in degrees for R and t: 121.22882781578828 65.94692357087656 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[ 9.99999728e-01 -2.74088486e-04 6.84266193e-04] [ 2.74504456e-04 9.99999778e-01 -6.07885525e-04] [-6.84099426e-04 6.08073194e-04 9.99999581e-01]] t_estimated: [[-0.69303314] [-0.72090527] [-0.00081017]] R_gt: [[ 9.53296938e-01 -3.02021205e-01 -2.96840963e-03] [ 3.02035900e-01 9.53250828e-01 9.34211003e-03] [ 7.26263800e-06 -9.80235516e-03 9.99951775e-01]] t_gt: [ 0.66898012 -0.74259128 0.03199657] Pose Error in degrees for R and t: 17.574464488817163 85.88913161921789 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 1.00000000e+00 -1.67000931e-05 4.68961657e-06] [ 1.67002875e-05 9.99999999e-01 -4.14510323e-05] [-4.68892433e-06 4.14511106e-05 9.99999999e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.9028159 -0.4198519 -0.09299379] [ 0.42498629 0.90413552 0.04388365] [ 0.06565442 -0.07913961 0.99469831]] t_gt: [ 0.70610402 -0.70709609 0.03784477] Pose Error in degrees for R and t: 25.73275047180956 79.33755636384035 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 9.96401097e-01 8.47620307e-02 5.02014963e-04] [-8.47619194e-02 9.96401204e-01 -2.39116296e-04] [-5.20476297e-04 1.95703987e-04 9.99999845e-01]] t_estimated: [[0.30439014] [0.95254621] [0.00153764]] R_gt: [[ 0.98585801 -0.16753043 0.00411133] [ 0.1672975 0.98532165 0.03393985] [-0.00973711 -0.03277267 0.99941456]] t_gt: [ 0.61055618 -0.76202236 0.21573846] Pose Error in degrees for R and t: 14.63477374474124 57.33797204419377 Number of keypoints: Image1: 206 Image2: 206 R_estimated: [[ 9.53642444e-01 3.00941946e-01 1.86975984e-04] [-3.00941996e-01 9.53642377e-01 3.62701497e-04] [-6.91561273e-05 -4.02156467e-04 9.99999917e-01]] t_estimated: [[0.60242815] [0.79817261] [0.00089381]] R_gt: [[ 0.95306391 -0.30199541 -0.02161498] [ 0.30259431 0.95250077 0.03431299] [ 0.01022553 -0.03924247 0.99917682]] t_gt: [ 0.70467227 -0.6987266 0.12336181] Pose Error in degrees for R and t: 35.19049240102338 82.35240370011225 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.97540608 -0.22041037 0.00149666] [ 0.22041228 0.97540599 -0.00125612] [-0.00118299 0.00155511 0.99999809]] t_estimated: [[9.28650295e-01] [3.70955417e-01] [8.41168746e-04]] R_gt: [[ 0.93210344 -0.36101852 -0.0291199 ] [ 0.36124103 0.92083456 0.14685526] [-0.0262028 -0.14740403 0.98872894]] t_gt: [ 0.59865935 -0.70444365 0.38126911] Pose Error in degrees for R and t: 12.195920577875622 72.84553866167136 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 0.38681416 -0.91457631 -0.11800417] [-0.91578368 -0.39600195 0.06725108] [-0.10823612 0.08205263 -0.99073322]] t_estimated: [[0.82682185] [0.56245029] [0.00391196]] R_gt: [[ 0.99050179 -0.13476655 0.02728171] [ 0.12934908 0.98055637 0.14758033] [-0.04663902 -0.14264976 0.98867425]] t_gt: [ 0.49685602 -0.64767127 0.57762965] Pose Error in degrees for R and t: 171.855367707195 87.20353260338685 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[ 3.99667265e-01 9.16660234e-01 3.04128764e-04] [-9.16659207e-01 3.99667282e-01 -1.40056483e-03] [-1.40539240e-03 2.80977482e-04 9.99998973e-01]] t_estimated: [[0.01768713] [0.99984303] [0.00104042]] R_gt: [[ 0.96505769 -0.26187829 0.00914496] [ 0.25522124 0.94728632 0.19368047] [-0.05938255 -0.18457895 0.98102182]] t_gt: [ 0.60637621 -0.65811691 0.4463071 ] Pose Error in degrees for R and t: 82.21012654391677 49.69741393467271 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 1.00000000e+00 9.12048215e-13 7.15790274e-16] [-9.12103726e-13 1.00000000e+00 -2.97865573e-15] [-6.98117779e-16 3.07997443e-15 1.00000000e+00]] t_estimated: [[ 9.79776307e-01] [-2.00095194e-01] [ 5.49174332e-04]] R_gt: [[ 0.94716807 -0.31900183 0.03331089] [ 0.3064241 0.93068686 0.19981638] [-0.09474273 -0.17905212 0.979267 ]] t_gt: [ 0.62704721 -0.6421666 0.44094654] Pose Error in degrees for R and t: 21.788404354791524 42.00361470219257 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.97544708e-01 7.00323232e-02 1.71001505e-04] [-7.00323547e-02 9.97544703e-01 1.85689329e-04] [-1.57577390e-04 -1.97209046e-04 9.99999968e-01]] t_estimated: [[8.61041462e-01] [5.08534314e-01] [6.72594356e-04]] R_gt: [[ 0.98682098 -0.16175323 -0.00467967] [ 0.16181644 0.98658728 0.021486 ] [ 0.00114104 -0.02195877 0.99975829]] t_gt: [ 0.64575291 -0.75557735 0.11002746] Pose Error in degrees for R and t: 13.385595602820608 80.10419197458748 Number of keypoints: Image1: 189 Image2: 189 R_estimated: [[ 7.94574103e-01 6.07167029e-01 4.40102445e-04] [-6.07167100e-01 7.94574169e-01 3.78864190e-05] [-3.26690650e-04 -2.97319293e-04 9.99999902e-01]] t_estimated: [[0.73611246] [0.67685883] [0.00075966]] R_gt: [[ 0.94296477 -0.33213144 -0.02249841] [ 0.33243618 0.94305622 0.01145093] [ 0.01741401 -0.01827592 0.99968116]] t_gt: [ 0.74862368 -0.66219765 0.03250933] Pose Error in degrees for R and t: 56.812843856497395 84.0948706037266 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-9.07474426e-01 4.20103334e-01 -1.83171996e-03] [-4.20100440e-01 -9.07475890e-01 -1.76929841e-03] [-2.40552986e-03 -8.36086697e-04 9.99996757e-01]] t_estimated: [[0.60096502] [0.79927486] [0.00086222]] R_gt: [[ 0.92513018 -0.37944417 -0.01255078] [ 0.37960891 0.92501491 0.01563752] [ 0.00567609 -0.01922956 0.99979901]] t_gt: [ 0.73564582 -0.67589587 0.04460946] Pose Error in degrees for R and t: 177.46762335219432 84.37076443278974 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.77533162e-01 2.10780846e-01 5.93662345e-04] [-2.10780631e-01 9.77533305e-01 -4.03775642e-04] [-6.65432886e-04 2.69571556e-04 9.99999742e-01]] t_estimated: [[0.91810256] [0.39633936] [0.00167232]] R_gt: [[ 0.99639574 -0.08377471 0.01331556] [ 0.08368722 0.99646749 0.00700619] [-0.01385489 -0.00586611 0.99988654]] t_gt: [ 0.97448337 -0.17918541 0.13518413] Pose Error in degrees for R and t: 16.991985677065934 34.52453990054325 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99100728e-01 -4.23994616e-02 1.47968342e-04] [ 4.23994619e-02 9.99100738e-01 5.97688375e-07] [-1.47860621e-04 5.67662717e-06 9.99999989e-01]] t_estimated: [[8.66030974e-01] [4.99990133e-01] [4.67485415e-04]] R_gt: [[ 0.99029753 -0.12731261 -0.0556971 ] [ 0.12333074 0.98990159 -0.06989474] [ 0.06403292 0.06234735 0.99599757]] t_gt: [ 0.90937421 -0.05005144 -0.4129569 ] Pose Error in degrees for R and t: 7.015639344434781 40.33014293655009 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.11970121 0.99280744 0.00223918] [ 0.99280936 -0.11969835 -0.00137043] [-0.00109254 0.00238712 -0.99999655]] t_estimated: [[0.99321455] [0.11629035] [0.00118664]] R_gt: [[ 0.99293044 -0.04890091 -0.10815359] [ 0.03848698 0.99460221 -0.09636507] [ 0.11228246 0.09152171 0.98945196]] t_gt: [ 0.62599835 -0.03465688 -0.77905389] Pose Error in degrees for R and t: 179.9451140543172 51.91746622387869 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999868e-01 -5.11362663e-04 4.58249697e-05] [ 5.11365597e-04 9.99999867e-01 -6.40317847e-05] [-4.57922201e-05 6.40552095e-05 9.99999997e-01]] t_estimated: [[ 9.99999586e-01] [-8.44196649e-04] [-3.40728198e-04]] R_gt: [[ 0.99089401 -0.13415984 -0.01139971] [ 0.13399605 0.99088221 -0.01405329] [ 0.01318207 0.01239891 0.99983591]] t_gt: [ 0.68955386 -0.71759634 -0.09783134] Pose Error in degrees for R and t: 7.746226786712192 46.3546352474567 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.50999088e-01 -5.25163548e-01 -1.94940070e-03] [ 5.25165831e-01 8.50999431e-01 9.04572696e-04] [ 1.18389028e-03 -1.79354918e-03 9.99997691e-01]] t_estimated: [[9.65695380e-01] [2.59676466e-01] [7.52685409e-04]] R_gt: [[ 0.97980576 -0.19932118 0.01586263] [ 0.19909037 0.97986631 0.01502321] [-0.01853789 -0.01156094 0.99976051]] t_gt: [ 0.61861213 -0.77702752 0.1163927 ] Pose Error in degrees for R and t: 20.227794338265678 66.69019163482115 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99083675e-01 4.27991389e-02 2.08193086e-04] [-4.27992093e-02 9.99083634e-01 3.46397690e-04] [-1.93176782e-04 -3.54990777e-04 9.99999918e-01]] t_estimated: [[9.48764391e-01] [3.15983334e-01] [8.14390035e-04]] R_gt: [[ 0.95162619 -0.30643089 0.02253048] [ 0.3054304 0.95140404 0.03927288] [-0.03347013 -0.03049166 0.99897389]] t_gt: [ 0.67122648 -0.72501301 0.15430861] Pose Error in degrees for R and t: 20.437390328435622 65.92893502610387 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99997810e-01 2.09233385e-03 4.91825612e-05] [-2.09232967e-03 9.99997807e-01 -8.49195748e-05] [-4.93601334e-05 8.48164827e-05 9.99999995e-01]] t_estimated: [[ 2.43204874e-01] [-9.69974928e-01] [-1.69708436e-04]] R_gt: [[ 0.99818443 -0.03755462 0.04710155] [ 0.03586953 0.99870375 0.03612883] [-0.0483982 -0.0343746 0.99823607]] t_gt: [ 0.49740835 -0.22173896 0.83869945] Pose Error in degrees for R and t: 4.066444999735427 70.37205339432589 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99834449e-01 -1.81949291e-02 1.39664052e-04] [ 1.81949456e-02 9.99834451e-01 -1.17704633e-04] [-1.37499303e-04 1.20226327e-04 9.99999983e-01]] t_estimated: [[ 9.98673868e-01] [-5.14825949e-02] [ 2.19343291e-04]] R_gt: [[ 0.99026507 -0.13895902 0.00813723] [ 0.13898785 0.99028976 -0.00311829] [-0.0076258 0.0042183 0.99996144]] t_gt: [ 0.99006457 -0.13936192 0.01871916] Pose Error in degrees for R and t: 6.963148894228154 5.1708183939583305 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.73443419e-01 -2.28927732e-01 -5.68122607e-05] [ 2.28927726e-01 9.73443249e-01 5.79898453e-04] [-7.74513262e-05 -5.77504235e-04 9.99999830e-01]] t_estimated: [[0.95065822] [0.310238 ] [0.00115283]] R_gt: [[ 0.99156933 -0.12204511 -0.04353702] [ 0.11854697 0.99007401 -0.07549864] [ 0.05231842 0.06970011 0.99619496]] t_gt: [ 0.89137009 -0.05155035 -0.45033535] Pose Error in degrees for R and t: 8.067901122870328 33.81114290033826 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 0.78600378 -0.61822062 -0.00115053] [-0.61821704 -0.78598929 -0.00534154] [ 0.00239794 0.00490975 -0.99998507]] t_estimated: [[ 0.50772042] [ 0.86152128] [-0.00102819]] R_gt: [[ 0.98886007 -0.14880212 0.003871 ] [ 0.1475242 0.9831653 0.1078108 ] [-0.019848 -0.10603982 0.9941634 ]] t_gt: [ 0.57446296 -0.71063017 0.40619832] Pose Error in degrees for R and t: 174.27267636056075 71.27815606551265 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 1.00000000e+00 -1.49935619e-13 -2.89590400e-16] [ 1.50018886e-13 1.00000000e+00 9.53013710e-17] [ 2.90349342e-16 -9.53284760e-17 1.00000000e+00]] t_estimated: [[9.69171943e-01] [2.46384193e-01] [7.58280382e-04]] R_gt: [[ 0.96975517 -0.2424224 0.02840597] [ 0.23753189 0.96409847 0.11871108] [-0.05616331 -0.1083738 0.99252206]] t_gt: [ 0.61719529 -0.6955926 0.36772395] Pose Error in degrees for R and t: 15.594612147360825 64.71861066934639 Number of keypoints: Image1: 53 Image2: 53 R_estimated: [[-5.30235297e-01 -8.47848015e-01 -2.06721110e-03] [ 8.47846897e-01 -5.30238589e-01 1.63675299e-03] [-2.48383287e-03 -8.84814306e-04 9.99996524e-01]] t_estimated: [[ 9.97960092e-01] [-6.38348481e-02] [ 8.76100414e-04]] R_gt: [[ 0.96074784 -0.27609507 0.0271276 ] [ 0.2712984 0.95546462 0.11612286] [-0.05797995 -0.10420517 0.9928641 ]] t_gt: [ 0.6322183 -0.7018416 0.3282048] Pose Error in degrees for R and t: 106.22170173008105 47.46673642174628 Number of keypoints: Image1: 316 Image2: 316 R_estimated: [[ 9.99999917e-01 -2.12862489e-04 -3.46126774e-04] [ 2.12950196e-04 9.99999945e-01 2.53377503e-04] [ 3.46072821e-04 -2.53451190e-04 9.99999908e-01]] t_estimated: [[9.50711527e-01] [3.10075356e-01] [9.31157225e-04]] R_gt: [[ 0.99734286 -0.07229736 -0.00899914] [ 0.07268587 0.99581706 0.05537338] [ 0.00495826 -0.05588049 0.99842496]] t_gt: [ 0.55768505 -0.65837923 0.50549399] Pose Error in degrees for R and t: 5.237873778423159 70.94224279275394 Number of keypoints: Image1: 325 Image2: 325 R_estimated: [[ 0.5955681 -0.80303778 -0.02071164] [ 0.80328609 0.5955323 0.00852803] [ 0.00548612 -0.0217164 0.99974912]] t_estimated: [[0.83034455] [0.55724967] [0.00085076]] R_gt: [[ 0.9752351 -0.21882812 -0.03210697] [ 0.22076441 0.97193035 0.08132994] [ 0.01340906 -0.08640409 0.99616989]] t_gt: [ 0.6578375 -0.69767299 0.28372915] Pose Error in degrees for R and t: 40.89034633175583 80.92686185533654 Number of keypoints: Image1: 177 Image2: 177 R_estimated: [[ 0.99220824 -0.12457401 -0.0020283 ] [ 0.1245806 0.9922032 0.00353195] [ 0.0015725 -0.00375712 0.99999171]] t_estimated: [[-0.29378342] [-0.95587094] [-0.00143309]] R_gt: [[ 0.93607482 -0.34849036 -0.04815521] [ 0.35145601 0.93242431 0.08404652] [ 0.01561214 -0.09559751 0.99529793]] t_gt: [ 0.71542259 -0.65980835 0.22983353] Pose Error in degrees for R and t: 14.396015097877902 65.15386105746906 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[ 9.99999866e-01 -4.70624112e-04 2.17077552e-04] [ 4.70660129e-04 9.99999875e-01 -1.65896626e-04] [-2.16999450e-04 1.65998773e-04 9.99999963e-01]] t_estimated: [[0.64764544] [0.76194119] [0.00100415]] R_gt: [[ 0.98716953 -0.15519088 0.03758868] [ 0.15375918 0.98736135 0.03839949] [-0.04307292 -0.03212746 0.9985556 ]] t_gt: [ 0.48977984 -0.80299413 0.33958228] Pose Error in degrees for R and t: 9.383661810185366 72.88505460865505 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.99999193e-01 1.23811896e-03 2.85430108e-04] [-1.23816699e-03 9.99999219e-01 1.68155239e-04] [-2.85221689e-04 -1.68508513e-04 9.99999945e-01]] t_estimated: [[-9.48312533e-01] [-3.17337033e-01] [-7.39713364e-04]] R_gt: [[ 0.95530228 -0.27594915 -0.10606099] [ 0.2889609 0.94736424 0.13784818] [ 0.06243844 -0.16233483 0.98475802]] t_gt: [ 0.58999878 -0.76800696 0.24913197] Pose Error in degrees for R and t: 19.375777673112193 71.58058950104841 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[-0.66718607 0.74458085 0.02149681] [-0.74487983 -0.66705685 -0.01375491] [ 0.00409795 -0.02518963 0.99967429]] t_estimated: [[0.08662454] [0.99618218] [0.01082807]] R_gt: [[ 0.89296536 -0.41782014 -0.16744951] [ 0.44315329 0.88125911 0.16430675] [ 0.07891508 -0.22092621 0.97209323]] t_gt: [ 0.66410196 -0.70596598 0.24613131] Pose Error in degrees for R and t: 157.89681291567626 49.97827102706115 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99992945e-01 -3.72539155e-03 -4.81370808e-04] [ 3.72534892e-03 9.99993057e-01 -8.94354531e-05] [ 4.81700648e-04 8.76415479e-05 9.99999880e-01]] t_estimated: [[-0.99946387] [-0.03253236] [-0.00368937]] R_gt: [[ 0.99673935 0.07579638 -0.02769038] [-0.07372728 0.99486332 0.06936769] [ 0.03280657 -0.06710079 0.99720697]] t_gt: [-0.29151702 0.86288491 0.41285283] Pose Error in degrees for R and t: 6.21227682313295 74.82513058713008 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 9.99976839e-01 -6.80185388e-03 2.36834112e-04] [ 6.80220452e-03 9.99975721e-01 -1.51262041e-03] [-2.26539739e-04 1.51419637e-03 9.99998828e-01]] t_estimated: [[-0.99983561] [-0.01809111] [-0.00120607]] R_gt: [[ 0.99784173 0.0426241 -0.04996764] [-0.039987 0.99781276 0.05263482] [ 0.05210247 -0.05052374 0.99736318]] t_gt: [ 0.59352396 0.80446461 -0.02379074] Pose Error in degrees for R and t: 5.05293895052432 52.558480173445574 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[-8.69833968e-01 -4.93333591e-01 -3.29187263e-03] [ 4.93343735e-01 -8.69825425e-01 -3.96082381e-03] [-9.09347084e-04 -5.06928383e-03 9.99986738e-01]] t_estimated: [[0.99993843] [0.01102873] [0.00122541]] R_gt: [[ 0.99394492 0.07988611 -0.07544887] [-0.07738158 0.99636715 0.03556193] [ 0.07801575 -0.02950829 0.99651513]] t_gt: [ 0.49204154 0.80925085 -0.32094889] Pose Error in degrees for R and t: 154.9671508950082 59.964071596980816 Number of keypoints: Image1: 335 Image2: 335 R_estimated: [[ 0.91979276 -0.39223949 0.01137828] [-0.39230242 -0.91850554 0.04946094] [-0.00894952 -0.04995754 -0.99871124]] t_estimated: [[0.21079372] [0.97718956] [0.0258182 ]] R_gt: [[ 0.99932793 0.00443858 0.03638911] [-0.00563637 0.99944326 0.0328792 ] [-0.03622295 -0.03306226 0.99879693]] t_gt: [-0.50568428 -0.18420429 0.84282394] Pose Error in degrees for R and t: 174.82349704082415 74.64270943013611 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.79319778 -0.54892139 -0.26367136] [ 0.58665804 0.80491516 0.08912879] [ 0.16330838 -0.22538168 0.96048606]] t_estimated: [[-0.69631062] [-0.69631062] [-0.17407766]] R_gt: [[ 0.99704941 0.05350767 0.05504566] [-0.05327945 0.99856426 -0.00561988] [-0.05526676 0.00267049 0.99846836]] t_gt: [-0.84710587 0.25263567 0.46753274] Pose Error in degrees for R and t: 42.76197461064156 70.5764425652748 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 6.91397773e-01 -7.22471000e-01 -2.18488920e-03] [ 7.22474148e-01 6.91396445e-01 1.43570716e-03] [ 4.73367835e-04 -2.57117070e-03 9.99996582e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98162713 0.18254869 0.05553176] [-0.17928167 0.98202397 -0.05905934] [-0.06531416 0.04801905 0.99670896]] t_gt: [-0.77577457 0.61931146 0.12094267] Pose Error in degrees for R and t: 56.88661687178748 52.07812797621888 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99999979e-01 2.05757502e-04 2.18039226e-05] [-2.05756695e-04 9.99999978e-01 -3.70100627e-05] [-2.18115372e-05 3.70055756e-05 9.99999999e-01]] t_estimated: [[9.99952071e-01] [9.74080764e-03] [9.85756770e-04]] R_gt: [[ 0.98508883 -0.17021656 0.0250286 ] [ 0.17021712 0.98540385 0.00214638] [-0.02502829 0.00214525 0.99968403]] t_gt: [ 0.55927865 -0.82242549 0.10403702] Pose Error in degrees for R and t: 9.91846842947527 56.54078143750363 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999961e-01 -2.54238149e-04 1.19001862e-04] [ 2.54263100e-04 9.99999946e-01 -2.09697816e-04] [-1.18948542e-04 2.09728065e-04 9.99999971e-01]] t_estimated: [[ 9.99211247e-01] [-3.97099366e-02] [ 7.10356172e-05]] R_gt: [[ 0.9435052 -0.3313426 -0.00291827] [ 0.33130464 0.94347807 -0.00917199] [ 0.00579236 0.00768636 0.9999535 ]] t_gt: [ 0.65071253 -0.75893735 -0.02423423] Pose Error in degrees for R and t: 19.34279636269198 47.13018037159453 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 0.99998497 -0.0050956 -0.00202509] [ 0.00510412 0.99997803 0.00422832] [ 0.0020035 -0.00423859 0.99998901]] t_estimated: [[-0.40316161] [-0.91512828] [-0.00097147]] R_gt: [[ 0.85319111 -0.52153388 -0.0081463 ] [ 0.52159374 0.853023 0.01705009] [-0.00194401 -0.01879677 0.99982146]] t_gt: [ 0.73533214 -0.67689101 0.03324472] Pose Error in degrees for R and t: 31.15857208582631 71.15844912014785 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 0.80310142 -0.59581545 0.00566212] [-0.595803 -0.8029029 0.0191237 ] [-0.00684807 -0.01873178 -0.99980109]] t_estimated: [[0.27128459] [0.9624379 ] [0.01086129]] R_gt: [[ 0.99589133 0.03066006 0.08521104] [-0.02810247 0.99912287 -0.03105917] [-0.08608854 0.02853793 0.99587782]] t_gt: [-0.71943195 0.3930988 0.57261768] Pose Error in degrees for R and t: 178.9394252317624 79.08329389100928 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[-1.48158725e-01 -9.88961849e-01 -1.85859249e-03] [ 9.88963588e-01 -1.48158692e-01 -1.56241189e-04] [-1.20850057e-04 -1.86122880e-03 9.99998261e-01]] t_estimated: [[9.99994884e-01] [3.10316481e-03] [7.75791221e-04]] R_gt: [[ 0.98904224 0.085431 0.12040279] [-0.07930029 0.99534197 -0.05483748] [-0.12452659 0.04468874 0.99120921]] t_gt: [-0.73097958 0.52346233 0.43778539] Pose Error in degrees for R and t: 103.47354538055889 43.196385027493406 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 9.94060935e-01 1.08818048e-01 1.22067501e-03] [-1.08817897e-01 9.94061683e-01 -1.89140900e-04] [-1.23400819e-03 5.51862920e-05 9.99999237e-01]] t_estimated: [[0.46048445] [0.88766703] [0.00114834]] R_gt: [[ 0.96735799 0.22972008 0.10699352] [-0.22561732 0.97297553 -0.04915724] [-0.11539366 0.02341377 0.99304295]] t_gt: [-0.70958374 0.66253391 0.23987441] Pose Error in degrees for R and t: 9.652578426886015 74.8330376752395 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.68367223 -0.72974486 -0.00804497] [ 0.72974471 -0.68346731 -0.01857672] [ 0.00805779 -0.01857116 0.99979507]] t_estimated: [[0.94005856] [0.34101155] [0.0010119 ]] R_gt: [[ 0.99839778 0.03760796 0.04228986] [-0.04138637 0.99486463 0.09236085] [-0.03859921 -0.09396289 0.99482634]] t_gt: [-0.35936835 0.0115662 0.93312411] Pose Error in degrees for R and t: 135.4868664069468 70.55275056842105 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 3.89588769e-02 9.99236345e-01 2.98885199e-03] [ 9.99240681e-01 -3.89602470e-02 4.01521428e-04] [ 5.17661216e-04 2.97093967e-03 -9.99995453e-01]] t_estimated: [[-0.96199022] [-0.27308109] [-0.00124128]] R_gt: [[ 0.98428932 0.17162794 0.0414482 ] [-0.17427433 0.98205162 0.07212425] [-0.02832553 -0.07821473 0.99653295]] t_gt: [-0.71299051 0.56568793 0.41429663] Pose Error in degrees for R and t: 178.3611497505726 57.933921460666035 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99681105e-01 -2.52456487e-02 5.88253775e-04] [ 2.52478656e-02 9.99672698e-01 -4.12813440e-03] [-4.83843808e-04 4.14167011e-03 9.99991306e-01]] t_estimated: [[-0.89781739] [-0.44033082] [-0.00571858]] R_gt: [[ 0.98411629 0.17145648 0.04602369] [-0.17087661 0.98515744 -0.01625871] [-0.04812886 0.0081362 0.99880673]] t_gt: [-0.70489525 0.70783434 0.04575197] Pose Error in degrees for R and t: 11.629400915884617 71.28116816071163 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 9.99997933e-01 -1.99793135e-03 -3.77480741e-04] [ 1.99794746e-03 9.99998003e-01 4.23085633e-05] [ 3.77395457e-04 -4.30626625e-05 9.99999928e-01]] t_estimated: [[-0.99969647] [-0.02392899] [-0.00586295]] R_gt: [[ 0.99986731 0.00927385 -0.01343448] [-0.00957962 0.99969451 -0.02281794] [ 0.01321878 0.02294405 0.99964949]] t_gt: [-0.12354219 0.71815345 -0.6848306 ] Pose Error in degrees for R and t: 1.6431489828300143 83.66536552255252 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999851e-01 -5.43413463e-04 5.79522916e-05] [ 5.43437179e-04 9.99999768e-01 -4.10015530e-04] [-5.77294702e-05 4.10046962e-04 9.99999914e-01]] t_estimated: [[9.43518867e-01] [3.31317892e-01] [7.75920121e-04]] R_gt: [[ 0.99593678 0.08986871 -0.00603734] [-0.08979723 0.99589786 0.01121908] [ 0.00702075 -0.01063077 0.99991898]] t_gt: [-0.58279456 0.81146874 0.04323171] Pose Error in degrees for R and t: 5.238732454336438 73.68069987520825 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 0.9999829 0.0026903 -0.00519267] [-0.00263936 0.99994857 0.00979236] [ 0.00521875 -0.00977849 0.99993857]] t_estimated: [[-8.00817622e-01] [-5.98907898e-01] [-6.82127447e-04]] R_gt: [[ 0.96302152 0.26935863 0.00608004] [-0.26939736 0.96300591 0.00676639] [-0.0040325 -0.00815365 0.99995883]] t_gt: [-0.62403252 0.78103576 0.02380259] Pose Error in degrees for R and t: 15.486380278845669 88.16900137361371 Number of keypoints: Image1: 602 Image2: 602 R_estimated: [[ 9.62711539e-01 2.70529704e-01 4.14731921e-04] [-2.70529506e-01 9.62711565e-01 -4.78049719e-04] [-5.28593866e-04 3.48026760e-04 9.99999800e-01]] t_estimated: [[0.34397969] [0.93897509] [0.00193864]] R_gt: [[ 0.9995696 -0.02897967 -0.00465094] [ 0.0290524 0.9994414 0.01654983] [ 0.00416934 -0.01667823 0.99985184]] t_gt: [ 0.35141029 -0.91746271 0.18647515] Pose Error in degrees for R and t: 17.38804795291714 42.24855219407824 Number of keypoints: Image1: 343 Image2: 343 R_estimated: [[ 9.79890401e-01 1.99536189e-01 3.34091733e-04] [-1.99536432e-01 9.79889856e-01 1.04053223e-03] [-1.19749266e-04 -1.08627101e-03 9.99999403e-01]] t_estimated: [[0.53247361] [0.84644603] [0.00098424]] R_gt: [[ 0.99663414 -0.08039547 0.01600839] [ 0.07982024 0.99623609 0.03379359] [-0.01866578 -0.03240166 0.99929995]] t_gt: [ 0.25004264 -0.86600559 0.4330277 ] Pose Error in degrees for R and t: 16.239492967625083 53.16878968188689 Number of keypoints: Image1: 313 Image2: 313 R_estimated: [[ 9.97759041e-01 6.68854909e-02 1.79631160e-03] [-6.68845101e-02 9.97760543e-01 -6.00735832e-04] [-1.83246935e-03 4.79244186e-04 9.99998206e-01]] t_estimated: [[0.62765054] [0.77849473] [0.00086692]] R_gt: [[ 0.99212285 -0.11033258 0.05931912] [ 0.1096899 0.99386737 0.01399654] [-0.06050036 -0.00737995 0.99814039]] t_gt: [ 0.0817772 -0.85138376 0.51812951] Pose Error in degrees for R and t: 10.708719593904094 52.33662889000407 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[ 0.99723545 -0.07071652 0.0228174 ] [ 0.07158489 0.99664027 -0.03979678] [-0.01992645 0.04132014 0.99894724]] t_estimated: [[-9.84528663e-01] [-1.75220932e-01] [-9.68071448e-04]] R_gt: [[ 0.9981983 -0.04689996 0.03743539] [ 0.04722032 0.99885467 -0.00772238] [-0.0370298 0.00947605 0.99926878]] t_gt: [-0.05838513 -0.78045613 0.62247844] Pose Error in degrees for R and t: 2.4698352235443184 78.83521067230105 Number of keypoints: Image1: 226 Image2: 226 R_estimated: [[ 9.50395812e-01 3.11042819e-01 4.06268117e-04] [-3.11042889e-01 9.50395869e-01 1.19809896e-04] [-3.48849532e-04 -2.40233633e-04 9.99999910e-01]] t_estimated: [[0.6314401 ] [0.77542412] [0.00091373]] R_gt: [[ 0.99453659 -0.09883785 0.03360486] [ 0.09911882 0.99505283 -0.00675456] [-0.03277099 0.01004974 0.99941258]] t_gt: [ 0.10393892 -0.96713482 0.23204942] Pose Error in degrees for R and t: 23.882250016728634 46.83541123234559 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.77339575e-01 2.11674676e-01 1.08968580e-03] [-2.11674461e-01 9.77340179e-01 -3.09931512e-04] [-1.13059837e-03 7.22496765e-05 9.99999358e-01]] t_estimated: [[-0.52876335] [-0.84876818] [-0.00137341]] R_gt: [[ 0.99429942 -0.10590384 -0.0124221 ] [ 0.10606512 0.99427317 0.01306204] [ 0.01096681 -0.01430444 0.99983764]] t_gt: [-0.01696163 -0.99865204 -0.04905521] Pose Error in degrees for R and t: 18.336653020859462 31.056373499184833 Number of keypoints: Image1: 276 Image2: 276 R_estimated: [[-1.51790132e-01 -9.88411908e-01 -1.28716750e-03] [-9.88412302e-01 1.51791170e-01 -7.49976844e-04] [ 9.36666703e-04 1.15841310e-03 -9.99998890e-01]] t_estimated: [[7.15445603e-01] [6.98668350e-01] [3.53523562e-04]] R_gt: [[ 0.99919442 0.02483041 0.031524 ] [-0.02703523 0.99707164 0.07152369] [-0.02965535 -0.07231894 0.99694047]] t_gt: [-0.17744138 -0.10801282 0.97818597] Pose Error in degrees for R and t: 176.0658167148821 78.34202638919064 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-0.9570995 -0.2849569 0.05253674] [-0.28441876 0.95853843 0.01760844] [-0.05537613 0.0019106 -0.99846374]] t_estimated: [[0.98827203] [0.14973819] [0.02994764]] R_gt: [[ 0.99290192 0.09756642 0.06800694] [-0.10479578 0.98812305 0.11238512] [-0.05623379 -0.11871408 0.99133441]] t_gt: [-0.50857456 0.22696904 0.83056425] Pose Error in degrees for R and t: 172.41946829390577 63.65656686144208 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99996272e-01 -2.72823088e-03 -1.15308959e-04] [ 2.72818675e-03 9.99996206e-01 -3.81170111e-04] [ 1.16348442e-04 3.80854105e-04 9.99999921e-01]] t_estimated: [[-0.99995131] [-0.00979144] [-0.00122393]] R_gt: [[ 0.97461625 0.2172187 0.0542045 ] [-0.22057279 0.97311392 0.06630207] [-0.03834503 -0.07657584 0.99632585]] t_gt: [-0.6968715 0.61867097 0.36278967] Pose Error in degrees for R and t: 13.737344918316563 46.343298915304516 Number of keypoints: Image1: 269 Image2: 269 R_estimated: [[-0.97468502 -0.22355442 -0.00354136] [-0.22353317 0.97468045 -0.00556197] [ 0.0046951 -0.00462955 -0.99997826]] t_estimated: [[9.72242500e-01] [2.33974246e-01] [7.57198209e-04]] R_gt: [[ 0.99224546 -0.1163133 0.04382548] [ 0.11456795 0.99259165 0.04045476] [-0.04820658 -0.03511917 0.99821924]] t_gt: [ 0.45728876 -0.78194888 0.42360706] Pose Error in degrees for R and t: 177.38416699769235 74.8135817225851 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 7.98690087e-01 6.01742059e-01 7.99737040e-04] [-6.01742220e-01 7.98690364e-01 -4.82989038e-05] [-6.67805750e-04 -4.42659687e-04 9.99999679e-01]] t_estimated: [[7.69611230e-01] [6.38512406e-01] [6.79268517e-04]] R_gt: [[ 0.9717244 -0.23555859 0.01625392] [ 0.23383757 0.9695984 0.07210181] [-0.0327442 -0.06626205 0.99726423]] t_gt: [ 0.62968884 -0.72342546 0.28310345] Pose Error in degrees for R and t: 50.75095941657436 88.68828342957087 Number of keypoints: Image1: 172 Image2: 172 R_estimated: [[ 1.51596642e-01 9.88442198e-01 -6.91644476e-04] [ 9.88434616e-01 -1.51592621e-01 4.08492581e-03] [ 3.93286485e-03 -1.30290638e-03 -9.99991417e-01]] t_estimated: [[0.20125057] [0.97953817] [0.00178098]] R_gt: [[ 0.93293883 -0.35993036 0.00869123] [ 0.35321461 0.91967341 0.17158141] [-0.06975059 -0.15700437 0.98513094]] t_gt: [ 0.64781513 -0.63477149 0.42118965] Pose Error in degrees for R and t: 174.02187721005467 60.6160548695478 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99998700e-01 8.84911270e-04 -1.34829639e-03] [-8.81965961e-04 9.99997227e-01 2.18349776e-03] [ 1.35022485e-03 -2.18230577e-03 9.99996707e-01]] t_estimated: [[ 9.05109881e-01] [ 4.25177576e-01] [-3.62870632e-04]] R_gt: [[ 9.95811611e-01 8.72693067e-02 2.72664199e-02] [-8.73036403e-02 9.96181909e-01 8.46325580e-05] [-2.71545327e-02 -2.46464298e-03 9.99628942e-01]] t_gt: [-0.69315114 0.69251627 0.19990678] Pose Error in degrees for R and t: 5.221237245634891 70.54854324519377 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.70761404e-01 -2.40045597e-01 -6.39101022e-04] [ 2.40046081e-01 9.70761135e-01 8.34989624e-04] [ 4.19978850e-04 -9.63989395e-04 9.99999447e-01]] t_estimated: [[-0.7937845 ] [-0.60819829] [-0.00100862]] R_gt: [[ 9.24786532e-01 3.79793282e-01 2.29596463e-02] [-3.79696791e-01 9.25070855e-01 -8.57281182e-03] [-2.44949675e-02 -7.88978390e-04 9.99700212e-01]] t_gt: [-0.64157901 0.76614504 0.03739196] Pose Error in degrees for R and t: 36.2385372653747 87.52005688037212 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[-0.18705707 0.9823469 0.00205242] [ 0.98234687 0.18705185 0.00249536] [ 0.0020674 0.00248297 -0.99999478]] t_estimated: [[-0.03132786] [-0.99950805] [-0.0014918 ]] R_gt: [[ 0.81919305 0.56614044 0.09169029] [-0.56384216 0.82425604 -0.05179365] [-0.10489828 -0.00926979 0.99444015]] t_gt: [-0.56921441 0.8142261 0.11415263] Pose Error in degrees for R and t: 174.689467765797 37.234704637139885 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-9.14556594e-01 -4.04457070e-01 -8.45215466e-04] [-4.04457923e-01 9.14555337e-01 1.52440837e-03] [ 1.56438573e-04 1.73601182e-03 -9.99998481e-01]] t_estimated: [[8.96194439e-01] [4.43660613e-01] [8.87321227e-04]] R_gt: [[ 0.99855208 -0.02455122 0.04786272] [ 0.0229701 0.99918169 0.03327748] [-0.04864144 -0.0321288 0.99829957]] t_gt: [ 0.24683013 -0.2002053 0.94815227] Pose Error in degrees for R and t: 176.93397833968984 82.3439551950189 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-8.66097933e-01 -4.99873023e-01 -1.15384213e-03] [-4.99874273e-01 8.66094171e-01 2.56865400e-03] [-2.84664898e-04 2.80148191e-03 -9.99996035e-01]] t_estimated: [[9.85020133e-01] [1.72437577e-01] [7.87386197e-04]] R_gt: [[ 0.99338063 -0.09128671 0.06973683] [ 0.08715552 0.99437738 0.06014397] [-0.07483614 -0.05366823 0.99575048]] t_gt: [ 0.70702502 -0.21931384 0.67232214] Pose Error in degrees for R and t: 175.16294084294853 48.76527846894447 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.71355438 0.70059671 0.00209797] [-0.70057556 0.71355138 -0.00618961] [-0.00583343 0.00294684 0.99997864]] t_estimated: [[0.53934907] [0.84208049] [0.00173984]] R_gt: [[ 0.98889195 -0.14861024 0.00296753] [ 0.14862741 0.98886777 -0.00709839] [-0.00187977 0.00746149 0.99997001]] t_gt: [ 0.99105449 -0.13327221 -0.00703697] Pose Error in degrees for R and t: 53.02161659631185 65.0209942823517 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 9.88746494e-01 1.49600697e-01 4.16747726e-05] [-1.49600696e-01 9.88746495e-01 -2.90575635e-05] [-4.55528171e-05 2.24959890e-05 9.99999999e-01]] t_estimated: [[9.25260313e-01] [3.79331956e-01] [7.86820602e-04]] R_gt: [[ 0.98317132 -0.18265761 0.00327002] [ 0.18268122 0.98282948 -0.02594296] [ 0.00152439 0.02610383 0.99965833]] t_gt: [ 0.5975708 -0.79680331 -0.08951887] Pose Error in degrees for R and t: 19.188806910303523 75.48785853511882 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.98755208e-01 4.98800977e-02 9.94351744e-05] [-4.98800926e-02 9.98755212e-01 -5.31972114e-05] [-1.01964881e-04 4.81711562e-05 9.99999994e-01]] t_estimated: [[9.99820131e-01] [1.89474676e-02] [8.35601408e-04]] R_gt: [[ 0.9269227 -0.37522233 0.00472267] [ 0.37520002 0.92692933 0.00516983] [-0.00631685 -0.00301995 0.99997651]] t_gt: [ 0.67268833 -0.7393293 0.02970852] Pose Error in degrees for R and t: 24.899836666708758 48.80804986474661 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.92716486 -0.18211806 0.32741156] [ 0.35718881 0.6933917 -0.62579878] [-0.1130552 0.69716638 0.70793895]] t_estimated: [[-8.56822910e-01] [-5.15610247e-01] [-7.58250363e-04]] R_gt: [[ 0.84796456 -0.52889576 -0.03498904] [ 0.52685647 0.84825045 -0.05377961] [ 0.0581233 0.02716934 0.99793994]] t_gt: [ 0.75857008 -0.64252888 -0.1082962 ] Pose Error in degrees for R and t: 45.57573031511866 71.42270928178296 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.35910133e-01 -3.52238684e-01 -3.63127477e-04] [ 3.52238780e-01 9.35910136e-01 2.44840496e-04] [ 2.53612392e-04 -3.57056281e-04 9.99999904e-01]] t_estimated: [[ 9.63397542e-01] [-2.68076407e-01] [ 4.64471993e-04]] R_gt: [[ 0.99875495 0.02967098 0.04011278] [-0.02823328 0.99895572 -0.03591713] [-0.04113758 0.03474098 0.99854884]] t_gt: [-0.6361664 0.75977483 0.13429271] Pose Error in degrees for R and t: 22.498127441764847 35.26440039185703 Number of keypoints: Image1: 215 Image2: 215 R_estimated: [[ 9.65648425e-01 -2.59846799e-01 -1.66124879e-03] [ 2.59848186e-01 9.65649243e-01 6.78362014e-04] [ 1.42791344e-03 -1.08673170e-03 9.99998390e-01]] t_estimated: [[-0.42800401] [-0.90377633] [-0.00095537]] R_gt: [[ 0.99306679 0.08015359 0.08599317] [-0.07360884 0.9943305 -0.07674545] [-0.09165741 0.06988405 0.99333553]] t_gt: [-0.71723302 0.68192882 0.14335231] Pose Error in degrees for R and t: 20.601122141683494 71.97273905086575 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-0.20231096 0.97930064 -0.00636714] [ 0.97925165 0.20236985 0.01061411] [ 0.01168292 -0.00408768 -0.9999234 ]] t_estimated: [[-0.46837011] [-0.88351634] [-0.00532239]] R_gt: [[ 0.98135611 0.11296398 0.15550076] [-0.09903012 0.99057458 -0.09462908] [-0.16472534 0.07746493 0.98329245]] t_gt: [-0.69764762 0.60131171 0.38950227] Pose Error in degrees for R and t: 170.3806174467893 78.07772930846276 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.88404371e-01 -1.51843882e-01 4.85478255e-04] [ 1.51843973e-01 9.88404463e-01 -1.57833315e-04] [-4.55882851e-04 2.29720085e-04 9.99999870e-01]] t_estimated: [[0.02848575] [0.99959084] [0.00258961]] R_gt: [[ 0.97946893 -0.16457013 -0.1164386 ] [ 0.17876794 0.97600388 0.12433182] [ 0.09318331 -0.14259441 0.98538519]] t_gt: [ 0.58810781 -0.78413431 0.1981479 ] Pose Error in degrees for R and t: 9.908862741304574 39.955124660806455 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.98233774 0.18689801 0.00903841] [-0.18692131 0.98237324 0.00179818] [-0.00854302 -0.00345589 0.99995754]] t_estimated: [[0.13661747] [0.99047667] [0.01707718]] R_gt: [[ 0.93383903 -0.29562693 -0.2013688 ] [ 0.32239042 0.93949627 0.11581094] [ 0.15494842 -0.17306797 0.97264578]] t_gt: [ 0.67289324 -0.73640797 0.07012841] Pose Error in degrees for R and t: 32.05734283945132 50.48588093129209 Number of keypoints: Image1: 34 Image2: 34 R_estimated: [[ 2.20181117e-01 9.75458996e-01 1.52250447e-04] [ 9.75454604e-01 -2.20180589e-01 2.97063179e-03] [ 2.93125209e-03 -5.05563626e-04 -9.99995576e-01]] t_estimated: [[0.08601087] [0.99629259] [0.00179189]] R_gt: [[ 0.89684906 -0.35730178 -0.26076322] [ 0.4065397 0.89813062 0.16759093] [ 0.17431865 -0.25631454 0.95074544]] t_gt: [ 0.67059389 -0.72227445 0.16918464] Pose Error in degrees for R and t: 161.9799312708708 48.576829424496815 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999714e-01 -7.50042830e-04 -9.92683742e-05] [ 7.50032482e-04 9.99999713e-01 -1.04235320e-04] [ 9.93465267e-05 1.04160836e-04 9.99999990e-01]] t_estimated: [[9.99996606e-01] [2.58004019e-03] [3.62446877e-04]] R_gt: [[ 0.98427455 0.17578382 -0.01744145] [-0.17605389 0.9842615 -0.0153261 ] [ 0.01447322 0.01815557 0.99973011]] t_gt: [-0.2589056 0.95353747 -0.15405904] Pose Error in degrees for R and t: 10.261753345292863 75.13749110793268 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99999828e-01 -5.86516991e-04 -2.96107220e-05] [ 5.86518390e-04 9.99999827e-01 4.72864317e-05] [ 2.95829826e-05 -4.73037907e-05 9.99999998e-01]] t_estimated: [[9.71706942e-01] [2.36187903e-01] [9.44934274e-04]] R_gt: [[ 0.98384061 0.16981145 0.05675881] [-0.17039892 0.98536003 0.0056305 ] [-0.0549717 -0.01521132 0.99837177]] t_gt: [-0.20430426 0.94047967 0.27158381] Pose Error in degrees for R and t: 10.363869846658448 88.63263900484993 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999994e-01 1.02898488e-04 -3.58157008e-05] [-1.02898987e-04 9.99999995e-01 -1.39318898e-05] [ 3.58142670e-05 1.39355752e-05 9.99999999e-01]] t_estimated: [[8.06932906e-01] [5.90642716e-01] [6.82980876e-04]] R_gt: [[ 0.98609782 0.14852649 0.07450445] [-0.15184204 0.98755568 0.04096345] [-0.06749242 -0.05170693 0.99637808]] t_gt: [-0.17436541 0.86371492 0.47285648] Pose Error in degrees for R and t: 9.927049988656183 68.29864783953042 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999332e-01 1.09361130e-03 3.74798138e-04] [-1.09345309e-03 9.99999313e-01 -4.22064631e-04] [-3.75259456e-04 4.21654525e-04 9.99999841e-01]] t_estimated: [[0.9999814 ] [0.00585282] [0.00171609]] R_gt: [[ 0.98767656 -0.15348682 0.03062465] [ 0.15397727 0.98797044 -0.01436023] [-0.02805204 0.01889773 0.99942787]] t_gt: [ 0.82875059 -0.55960688 0.00354908] Pose Error in degrees for R and t: 9.109853237574281 34.36423623530668 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[ 4.88673177e-01 8.72465724e-01 1.44432658e-03] [ 8.72466465e-01 -4.88673943e-01 2.12362191e-04] [ 8.91083496e-04 1.15635080e-03 -9.99998934e-01]] t_estimated: [[0.82150041] [0.57020718] [0.00091379]] R_gt: [[ 0.85999502 -0.51029316 -0.00298243] [ 0.51021002 0.85993604 -0.01400371] [ 0.00970988 0.01052138 0.99989747]] t_gt: [ 0.92375126 -0.38173529 -0.03101248] Pose Error in degrees for R and t: 179.51000834425432 57.23698514572219 Number of keypoints: Image1: 47 Image2: 47 R_estimated: [[-0.42089013 -0.9071076 -0.00270354] [ 0.90710885 -0.42087961 -0.00372608] [ 0.00224209 -0.00402067 0.9999894 ]] t_estimated: [[9.99867534e-01] [1.62638030e-02] [6.34711408e-04]] R_gt: [[ 6.95506589e-01 -7.17231322e-01 4.30141104e-02] [ 7.15897532e-01 6.96835715e-01 4.37293018e-02] [-6.13385319e-02 3.79121037e-04 9.98116504e-01]] t_gt: [ 0.96011054 -0.27633376 0.04274816] Pose Error in degrees for R and t: 69.15522408997417 17.153846819540174 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99999984e-01 1.76728634e-04 -2.71843671e-05] [-1.76725165e-04 9.99999976e-01 1.27545146e-04] [ 2.72069074e-05 -1.27540339e-04 9.99999991e-01]] t_estimated: [[4.69010842e-03] [9.99988697e-01] [7.79813952e-04]] R_gt: [[ 0.99738126 0.0721449 0.00507668] [-0.07227227 0.99685604 0.03247783] [-0.00271654 -0.03276025 0.99945918]] t_gt: [-0.26018243 0.50625317 0.8222 ] Pose Error in degrees for R and t: 4.53803242704379 59.62427281835624 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[-0.99998737 0.00429159 0.00261542] [ 0.00429865 0.99998712 0.00269974] [-0.0026038 0.00271095 -0.99999294]] t_estimated: [[ 0.99999269] [-0.00305704] [ 0.00229697]] R_gt: [[ 0.99078059 0.13106692 0.03429112] [-0.1326109 0.99003166 0.04745107] [-0.02772974 -0.05156065 0.99828462]] t_gt: [-0.22890312 0.51773612 0.82434985] Pose Error in degrees for R and t: 178.08592379121959 76.78588659544576 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99999606e-01 -8.87246596e-04 -5.43004405e-06] [ 8.87251657e-04 9.99999090e-01 1.01631370e-03] [ 4.52831823e-06 -1.01631812e-03 9.99999484e-01]] t_estimated: [[0.61238384] [0.79055876] [0.00169937]] R_gt: [[ 0.96462156 0.25939018 0.04714245] [-0.26266249 0.96093997 0.08720023] [-0.02268147 -0.09649791 0.99507476]] t_gt: [-0.28260611 0.78059756 0.5574955 ] Pose Error in degrees for R and t: 16.22357016142863 63.577159174890575 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 9.95863237e-01 -9.08648006e-02 -2.28888147e-05] [ 9.08647810e-02 9.95863137e-01 -4.52309193e-04] [ 6.38931115e-05 4.48358310e-04 9.99999897e-01]] t_estimated: [[ 0.68251412] [-0.7308609 ] [-0.00410205]] R_gt: [[ 0.99861262 0.02444218 0.04666166] [-0.02516504 0.99957088 0.01497534] [-0.04627605 -0.01612841 0.99879818]] t_gt: [ 0.31793711 -0.06145565 0.94611796] Pose Error in degrees for R and t: 7.209028105215746 75.04673467890983 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-1.16673806e-01 9.93153900e-01 -5.70565654e-03] [-9.93170279e-01 -1.16672678e-01 5.31233633e-04] [-1.38097476e-04 5.72866955e-03 9.99983582e-01]] t_estimated: [[7.84353014e-01] [6.20314335e-01] [6.89238150e-04]] R_gt: [[ 0.99355322 0.10449872 0.04397273] [-0.10715172 0.99223983 0.06307295] [-0.03703991 -0.06737828 0.99703945]] t_gt: [0.02506241 0.20060848 0.97935086] Pose Error in degrees for R and t: 90.71796006911073 81.67585965091621 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 1.00000000e+00 -1.47215573e-13 -3.77464986e-16] [ 1.47187817e-13 1.00000000e+00 5.44920012e-16] [-2.08763128e-16 -4.61436445e-16 1.00000000e+00]] t_estimated: [[-0.14083548] [-0.99003117] [-0.00190823]] R_gt: [[ 0.98008306 0.18611947 0.06927126] [-0.19099426 0.97894558 0.0720248 ] [-0.05440785 -0.08382125 0.99499453]] t_gt: [-0.13550669 0.52033985 0.8431396 ] Pose Error in degrees for R and t: 12.309137751946308 60.153541656397095 Number of keypoints: Image1: 651 Image2: 651 R_estimated: [[ 9.99885516e-01 -1.51312562e-02 2.36685982e-05] [ 1.51312561e-02 9.99885516e-01 2.48057547e-06] [-2.37034227e-05 -2.12215586e-06 1.00000000e+00]] t_estimated: [[ 9.96648146e-01] [-8.18064553e-02] [ 4.20172663e-04]] R_gt: [[ 0.99934191 -0.03610303 -0.00360087] [ 0.03603992 0.99921743 -0.01627459] [ 0.0041858 0.01613419 0.99986091]] t_gt: [ 0.56768489 -0.74897422 -0.34171843] Pose Error in degrees for R and t: 1.5344550630591247 51.17752707525702 Number of keypoints: Image1: 507 Image2: 507 R_estimated: [[ 9.99745000e-01 -2.25816976e-02 4.34586497e-05] [ 2.25817050e-02 9.99744985e-01 -1.78790895e-04] [-3.94101651e-05 1.79726674e-04 9.99999983e-01]] t_estimated: [[ 9.61496936e-01] [-2.74814615e-01] [-7.54515023e-04]] R_gt: [[ 0.99649895 -0.08322753 -0.00791854] [ 0.0830622 0.99635603 -0.0193478 ] [ 0.00949995 0.0186222 0.9997818 ]] t_gt: [ 0.56695199 -0.78962986 -0.23462763] Pose Error in degrees for R and t: 3.6739260519497305 40.33248846936562 Number of keypoints: Image1: 365 Image2: 365 R_estimated: [[ 9.99619096e-01 2.75974914e-02 2.01029736e-04] [-2.75975260e-02 9.99619101e-01 1.71616242e-04] [-1.96216986e-04 -1.77098796e-04 9.99999965e-01]] t_estimated: [[0.98176768] [0.19008104] [0.00118994]] R_gt: [[ 0.9949246 -0.10056926 0.00331949] [ 0.10053848 0.99489769 0.00840383] [-0.00414743 -0.00802769 0.99995929]] t_gt: [ 0.47038973 -0.87986566 0.06760119] Pose Error in degrees for R and t: 7.369784970298263 72.86356285747905 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.99975243 0.02198909 -0.00339875] [-0.02197245 0.99974678 0.00485725] [ 0.0035047 -0.00478137 0.99998243]] t_estimated: [[0.92532595] [0.37916754] [0.0019646 ]] R_gt: [[ 9.67625388e-01 -2.51471347e-01 -2.15306933e-02] [ 2.51510819e-01 9.67853541e-01 -8.59043353e-04] [ 2.10547711e-02 -4.58441867e-03 9.99767651e-01]] t_gt: [ 0.85934132 -0.50961268 -0.04274825] Pose Error in degrees for R and t: 15.861206816421008 52.99689818122686 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-8.42349431e-01 -5.38931424e-01 -5.97061870e-04] [ 5.38931595e-01 -8.42347814e-01 -1.70154557e-03] [ 4.14082614e-04 -1.75507145e-03 9.99998374e-01]] t_estimated: [[8.01642509e-01] [5.97803395e-01] [6.23361204e-04]] R_gt: [[ 8.08332096e-01 -5.88727139e-01 -1.28291766e-04] [ 5.88686782e-01 8.08272916e-01 1.19547502e-02] [-6.93394868e-03 -9.73876786e-03 9.99928467e-01]] t_gt: [ 0.93511426 -0.35404555 0.01459706] Pose Error in degrees for R and t: 111.32387136136191 57.453302784599735 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[-5.33211804e-02 -9.98575030e-01 -2.18222615e-03] [ 9.98577387e-01 -5.33205445e-02 -3.48564054e-04] [ 2.31709873e-04 -2.19770754e-03 9.99997558e-01]] t_estimated: [[9.99995777e-01] [2.84229681e-03] [6.05736481e-04]] R_gt: [[ 0.67576656 -0.73704815 0.00998599] [ 0.73685649 0.67582537 0.01740033] [-0.01957355 -0.00440047 0.99979855]] t_gt: [ 0.96511193 -0.26132308 0.01640754] Pose Error in degrees for R and t: 45.59259129076471 15.339551346882145 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-1.78036006e-01 -9.84023430e-01 -1.03401672e-03] [-9.84023539e-01 1.78036817e-01 -7.53218536e-04] [ 9.25277733e-04 8.83396769e-04 -9.99999182e-01]] t_estimated: [[0.7217071 ] [0.69219805] [0.00084312]] R_gt: [[ 0.99755866 -0.0507338 -0.04800449] [ 0.05223619 0.99816678 0.03057762] [ 0.04636493 -0.03301122 0.9983794 ]] t_gt: [ 0.52893109 -0.79781569 -0.28934758] Pose Error in degrees for R and t: 179.0201716646288 80.16815920659322 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 0.09097403 0.99579694 -0.01059163] [ 0.99582037 -0.09087943 0.00909467] [ 0.00809388 -0.01137474 -0.99990255]] t_estimated: [[0.91396914] [0.40577911] [0.00193228]] R_gt: [[ 0.99761128 -0.05853739 -0.03668372] [ 0.05870306 0.99826976 0.0034239 ] [ 0.03642067 -0.00556947 0.99932136]] t_gt: [ 0.52497518 -0.77938467 -0.34199504] Pose Error in degrees for R and t: 177.5997431435698 80.62518648006764 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 9.96867472e-01 -7.90899876e-02 -1.32906778e-04] [ 7.90899909e-02 9.96867480e-01 1.99429519e-05] [ 1.30913158e-04 -3.03920760e-05 9.99999991e-01]] t_estimated: [[-0.68554411] [-0.72802853] [-0.00193111]] R_gt: [[ 9.95926470e-01 2.96189345e-03 9.01232045e-02] [-8.14105381e-04 9.99715391e-01 -2.38544208e-02] [-9.01686219e-02 2.36830980e-02 9.95644551e-01]] t_gt: [-0.25070384 0.00490774 0.96805139] Pose Error in degrees for R and t: 7.088979644507016 80.41990726932434 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.65123750e-01 2.61792438e-01 9.30476769e-04] [-2.61789169e-01 9.65121303e-01 -2.70220022e-03] [-1.60543854e-03 2.36436887e-03 9.99995916e-01]] t_estimated: [[-1.72722115e-01] [ 9.84970176e-01] [ 9.07453746e-04]] R_gt: [[ 0.98364503 0.16391445 -0.07466428] [-0.16262959 0.98641899 0.02301623] [ 0.07742449 -0.01049814 0.99694302]] t_gt: [-0.11902593 0.96749308 -0.22313665] Pose Error in degrees for R and t: 7.365391958369508 13.26786262065393 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999924e-01 -2.47912559e-04 -3.02230065e-04] [ 2.48278019e-04 9.99999237e-01 1.20977679e-03] [ 3.01929916e-04 -1.20985173e-03 9.99999223e-01]] t_estimated: [[0.69849353] [0.71561496] [0.00141882]] R_gt: [[ 0.93240689 0.34921628 -0.09308805] [-0.34429827 0.93660726 0.06500712] [ 0.10988904 -0.02856313 0.99353364]] t_gt: [-0.18075362 0.97499801 -0.1292556 ] Pose Error in degrees for R and t: 21.365658217609056 55.160151086851634 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-2.19588500e-01 -9.75591985e-01 1.08156792e-03] [-9.75592454e-01 2.19587761e-01 -7.61502490e-04] [ 5.05416648e-04 -1.22238669e-03 -9.99999125e-01]] t_estimated: [[0.79343189] [0.60865742] [0.00140444]] R_gt: [[ 0.9229276 0.38304714 -0.03848821] [-0.38232029 0.92369168 0.02500912] [ 0.04513158 -0.00836778 0.99894539]] t_gt: [-0.11317193 0.99324858 -0.02548277] Pose Error in degrees for R and t: 178.73684437160088 59.02138500268256 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99514433e-01 3.11592498e-02 1.56674617e-05] [-3.11592474e-02 9.99514423e-01 -1.36664315e-04] [-1.99182115e-05 1.36109769e-04 9.99999991e-01]] t_estimated: [[-0.73757679] [-0.67526232] [-0.00113299]] R_gt: [[ 0.99913442 0.01568951 0.03853726] [-0.01425638 0.99920803 -0.03716522] [-0.03908958 0.03658343 0.99856562]] t_gt: [-0.56600338 0.67946238 0.46687369] Pose Error in degrees for R and t: 3.1996226431515598 87.60013223649158 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.02077183e-01 4.31574737e-01 -5.08406644e-05] [-4.31574657e-01 9.02076932e-01 -7.23930766e-04] [-2.66568039e-04 6.74982968e-04 9.99999737e-01]] t_estimated: [[-0.99953007] [-0.03063259] [-0.00113454]] R_gt: [[ 0.98229734 0.08578118 0.16653535] [-0.07578838 0.99497164 -0.06547239] [-0.17131459 0.05169219 0.9838592 ]] t_gt: [-0.40216633 0.5278857 0.74806346] Pose Error in degrees for R and t: 23.26637249367407 67.35885941500734 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 0.81936969 -0.55583881 -0.14027306] [ 0.56159861 0.82740787 0.00179269] [ 0.11506659 -0.08024604 0.99011123]] t_estimated: [[ 0.92491228] [ 0.38014912] [-0.0048912 ]] R_gt: [[ 0.95022325 0.20965375 0.23047948] [-0.18689518 0.97541753 -0.11674967] [-0.24929089 0.06786289 0.96604775]] t_gt: [-0.37153722 0.69897337 0.61106164] Pose Error in degrees for R and t: 51.17148834239884 85.35889272656378 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.98353414 -0.1192847 -0.13576359] [ 0.14061631 0.97700557 0.16027217] [ 0.11352376 -0.17672373 0.97769171]] t_estimated: [[-0.38660943] [-0.92219411] [-0.00954821]] R_gt: [[ 9.89922613e-01 1.41579468e-01 -3.15064060e-03] [-1.41612744e-01 9.89776299e-01 -1.70197539e-02] [ 7.09070489e-04 1.72945627e-02 9.99849682e-01]] t_gt: [-0.66838845 0.74087896 -0.06599426] Pose Error in degrees for R and t: 20.272792509824555 64.90003856255797 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 9.99058541e-01 4.33820264e-02 1.75203755e-04] [-4.33808118e-02 9.99048617e-01 -4.46835952e-03] [-3.68883560e-04 4.45655226e-03 9.99990001e-01]] t_estimated: [[0.18236593] [0.98322953] [0.00153798]] R_gt: [[ 0.98035446 0.19687447 -0.01207882] [-0.19720936 0.97950199 -0.04105037] [ 0.00375012 0.04262565 0.99908447]] t_gt: [-0.64629276 0.74729761 -0.15444079] Pose Error in degrees for R and t: 9.151607424365881 51.92694198981885 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.92417455 -0.38185226 -0.0095003 ] [-0.38184499 0.92422261 -0.00263948] [ 0.00978828 0.0011883 -0.99995139]] t_estimated: [[ 0.97888792] [ 0.20435625] [-0.00411761]] R_gt: [[ 0.98567371 0.16714307 -0.02261698] [-0.16779461 0.98533892 -0.03085543] [ 0.01712799 0.03420889 0.99926783]] t_gt: [-0.71024264 0.67248528 -0.20813201] Pose Error in degrees for R and t: 177.9573192618891 56.153877713103434 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.27390002e-01 -3.74095335e-01 -6.81497714e-04] [ 3.74094473e-01 9.27389916e-01 -1.12670075e-03] [ 1.05350760e-03 7.89946484e-04 9.99999133e-01]] t_estimated: [[ 0.24973051] [-0.96830697] [-0.00403466]] R_gt: [[ 0.99045621 -0.12907564 -0.04834726] [ 0.12913006 0.99162576 -0.00200849] [ 0.04820203 -0.00425409 0.99882939]] t_gt: [ 0.61005953 -0.75941488 -0.22608941] Pose Error in degrees for R and t: 14.797675668733037 27.300979500029463 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.84918428e-01 -1.73018068e-01 -6.62172760e-04] [ 1.73018751e-01 9.84917833e-01 1.17245027e-03] [ 4.49330679e-04 -1.26933619e-03 9.99999093e-01]] t_estimated: [[9.78244151e-01] [2.07455225e-01] [8.43313923e-04]] R_gt: [[ 0.97012865 -0.22470274 -0.09143081] [ 0.22780014 0.97339102 0.02484365] [ 0.08341488 -0.04493045 0.99550213]] t_gt: [ 0.69076696 -0.71511391 -0.10701914] Pose Error in degrees for R and t: 6.231070592795012 58.177172106502915 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-9.90972613e-01 -1.34062186e-01 -7.80727686e-04] [-1.34063207e-01 9.90971724e-01 1.44850608e-03] [ 5.79489169e-04 1.54009671e-03 -9.99998646e-01]] t_estimated: [[9.91170290e-01] [1.32592557e-01] [8.18472576e-04]] R_gt: [[ 0.94130146 -0.29872124 -0.15721839] [ 0.30064438 0.95366127 -0.01197808] [ 0.15351089 -0.03599194 0.98749229]] t_gt: [ 0.75900235 -0.60909728 -0.23003466] Pose Error in degrees for R and t: 170.99745318475223 47.82861477291257 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.99998078e-01 1.95951762e-03 7.01934116e-05] [-1.95951900e-03 9.99998080e-01 1.95975476e-05] [-7.01548751e-05 -1.97350553e-05 9.99999997e-01]] t_estimated: [[0.99901522] [0.04435527] [0.00109743]] R_gt: [[ 0.9989452 -0.04512774 -0.00845513] [ 0.04521406 0.99892429 0.01035402] [ 0.0079787 -0.01072443 0.99991063]] t_gt: [ 0.50066227 -0.86470344 -0.04031441] Pose Error in degrees for R and t: 2.8080593051945115 62.498565082905856 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.59200911e-01 2.82725138e-01 3.30009435e-04] [-2.82725073e-01 9.59200959e-01 -2.30043711e-04] [-3.81584506e-04 1.27356195e-04 9.99999919e-01]] t_estimated: [[-0.00304926] [ 0.99999474] [ 0.00110864]] R_gt: [[ 0.99627034 -0.08190937 -0.02715094] [ 0.08263765 0.99621869 0.02685299] [ 0.02484953 -0.02899568 0.99926982]] t_gt: [ 0.51378841 -0.85690995 -0.04155498] Pose Error in degrees for R and t: 21.257787914253893 30.849390711903364 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.92505872e-01 -1.22088476e-01 5.14758150e-03] [-1.22083818e-01 9.92519055e-01 1.21091711e-03] [-5.25691176e-03 5.73405943e-04 -9.99986018e-01]] t_estimated: [[0.99853064] [0.05410191] [0.00308865]] R_gt: [[ 0.99359011 -0.09975588 -0.05317248] [ 0.10216745 0.99376062 0.04474153] [ 0.04837798 -0.04988601 0.99758203]] t_gt: [ 0.51831476 -0.85044357 -0.08997522] Pose Error in degrees for R and t: 177.5569356210745 61.88358116769525 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 4.84267531e-01 8.74618010e-01 2.29846824e-02] [ 8.74919948e-01 -4.84094128e-01 -1.29599449e-02] [-2.08251479e-04 2.63858377e-02 -9.99651811e-01]] t_estimated: [[-0.47034042] [-0.88248455] [-0.00095404]] R_gt: [[ 0.99978935 -0.02052444 -0.00116986] [ 0.02053264 0.99976034 0.0075243 ] [ 0.00101512 -0.00754658 0.99997123]] t_gt: [ 0.16289978 -0.98660881 0.00816777] Pose Error in degrees for R and t: 179.08684924011882 37.435240660533154 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 5.38325931e-01 8.42733711e-01 2.25482098e-03] [ 8.42734876e-01 -5.38328430e-01 6.55485842e-04] [ 1.76623425e-03 1.54735125e-03 -9.99997243e-01]] t_estimated: [[-0.57958788] [-0.81490928] [-0.00087156]] R_gt: [[ 0.99635119 -0.05910466 -0.06157896] [ 0.06116557 0.99760999 0.03214589] [ 0.05953124 -0.03579504 0.99758462]] t_gt: [ 0.42454116 -0.81985556 -0.38418962] Pose Error in degrees for R and t: 176.65527401965167 65.01481966729092 Number of keypoints: Image1: 311 Image2: 311 R_estimated: [[ 8.78918676e-01 4.76971555e-01 3.10306608e-04] [-4.76971493e-01 8.78918728e-01 -2.53619786e-04] [-3.93703713e-04 7.49037604e-05 9.99999920e-01]] t_estimated: [[0.5002948 ] [0.86585467] [0.00089637]] R_gt: [[ 0.99277353 -0.08748271 -0.08214818] [ 0.0917163 0.99456645 0.04925978] [ 0.07739241 -0.0564373 0.99540253]] t_gt: [ 0.48678704 -0.82046419 -0.29979473] Pose Error in degrees for R and t: 34.07717532627524 62.1515520203833 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.99999997e-01 -7.74031677e-05 -2.58332619e-05] [ 7.74032089e-05 9.99999997e-01 1.59493518e-06] [ 2.58331384e-05 -1.59693476e-06 1.00000000e+00]] t_estimated: [[9.99993587e-01] [3.46700891e-03] [8.97399414e-04]] R_gt: [[ 0.99783589 0.06464339 -0.01206194] [-0.06518718 0.99651133 -0.05211973] [ 0.00865015 0.0527935 0.99856843]] t_gt: [-0.43121401 0.61730428 -0.65801968] Pose Error in degrees for R and t: 4.827229182379393 64.55391671795917 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[ 0.96368631 -0.26688268 0.00907387] [ 0.2669766 0.96363436 -0.01150282] [-0.00567399 0.01350762 0.99989267]] t_estimated: [[7.94934426e-01] [6.06695004e-01] [6.55886490e-04]] R_gt: [[ 0.95725009 0.28570442 -0.04523685] [-0.28810913 0.95565654 -0.06094022] [ 0.02581927 0.07136854 0.99711618]] t_gt: [-0.52194789 0.81411414 -0.25453599] Pose Error in degrees for R and t: 32.41680185142458 85.47824075461475 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[-0.98412197 -0.17748693 0.00152999] [-0.17748082 0.9841181 0.00348104] [-0.00212353 0.00315422 -0.99999277]] t_estimated: [[0.84074864] [0.54142452] [0.00110046]] R_gt: [[ 0.85268239 0.50984172 -0.11399197] [-0.51542548 0.85659064 -0.02427686] [ 0.08526634 0.07945463 0.99318548]] t_gt: [-0.3897113 0.89235065 -0.22767392] Pose Error in degrees for R and t: 173.86264087627532 81.06924197644318 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-4.20979102e-01 -9.07067894e-01 -2.10495772e-03] [ 9.07065052e-01 -4.20983437e-01 2.43654650e-03] [-3.09626544e-03 -8.83598426e-04 9.99994816e-01]] t_estimated: [[0.99927058] [0.03816168] [0.0014134 ]] R_gt: [[ 0.96829114 -0.23910631 -0.07239426] [ 0.23723168 0.97087209 -0.03358237] [ 0.07831453 0.01534367 0.99681114]] t_gt: [ 0.85880603 -0.45817679 -0.22918601] Pose Error in degrees for R and t: 101.17640352580605 32.82069608469894 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.78981090e-01 -2.03946082e-01 -1.42172862e-03] [ 2.03949227e-01 9.78977984e-01 2.61154887e-03] [ 8.59225853e-04 -2.84661742e-03 9.99995579e-01]] t_estimated: [[0.99248861] [0.12233247] [0.00106376]] R_gt: [[ 0.88431605 -0.46231117 -0.06522539] [ 0.45756927 0.88593887 -0.07577458] [ 0.09281661 0.03716314 0.99498933]] t_gt: [ 0.91576569 -0.36645175 -0.16457922] Pose Error in degrees for R and t: 16.71399752890207 30.244598565598817 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 8.14238405e-01 -5.80530635e-01 3.98308807e-05] [-5.80530615e-01 -8.14238391e-01 -2.18501069e-04] [ 1.59278397e-04 1.54788917e-04 -9.99999975e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.70528439 -0.70705095 -0.0515278 ] [ 0.7009951 0.70639148 -0.09805917] [ 0.10573151 0.03303885 0.99384598]] t_gt: [ 0.96243468 -0.24897274 -0.10831461] Pose Error in degrees for R and t: 174.62027979158188 75.9317363380859 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 9.99999991e-01 1.30543831e-04 -3.56416257e-05] [-1.30545615e-04 9.99999990e-01 -5.00641494e-05] [ 3.56350898e-05 5.00688018e-05 9.99999998e-01]] t_estimated: [[-0.65399495] [-0.7564985 ] [-0.00079012]] R_gt: [[ 0.99721087 0.07448736 0.00459096] [-0.07406692 0.9953601 -0.06140354] [-0.00914315 0.06089255 0.99810211]] t_gt: [-0.53903961 0.63571815 -0.55253845] Pose Error in degrees for R and t: 5.52811734247349 82.64861825801863 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-4.98427100e-01 -8.66929474e-01 -1.92678348e-03] [-8.66931126e-01 4.98427949e-01 4.55755755e-05] [ 9.20851926e-04 1.69310467e-03 -9.99998143e-01]] t_estimated: [[ 8.77437123e-01] [ 4.79691666e-01] [-2.50677076e-05]] R_gt: [[ 0.98877191 0.14789684 -0.02136623] [-0.14930801 0.98363328 -0.10085787] [ 0.00610023 0.10291541 0.99467108]] t_gt: [-0.47703826 0.70757146 -0.52132248] Pose Error in degrees for R and t: 176.28154251055065 85.46075743735818 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.97419481e-01 7.17929828e-02 -3.82583901e-04] [-7.17930662e-02 9.97419527e-01 -2.08975885e-04] [ 3.66593651e-04 2.35903490e-04 9.99999905e-01]] t_estimated: [[-0.9227445 ] [-0.38541006] [-0.00129678]] R_gt: [[ 0.90182412 0.42466711 -0.07980852] [-0.43024738 0.89959845 -0.07489331] [ 0.03999121 0.10187784 0.9939923 ]] t_gt: [-0.45231301 0.85632793 -0.24922964] Pose Error in degrees for R and t: 22.1630606661025 84.9712763434352 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-9.98415931e-01 -5.62622396e-02 4.33852228e-04] [-5.62612400e-02 9.98413982e-01 2.04757244e-03] [-5.48365141e-04 2.01991988e-03 -9.99997810e-01]] t_estimated: [[0.99673126] [0.08077239] [0.00161545]] R_gt: [[ 9.97918049e-01 6.44941221e-02 5.78654555e-04] [-6.44931526e-02 9.97918027e-01 -1.31108876e-03] [-6.62201363e-04 1.27013463e-03 9.99999179e-01]] t_gt: [0.34998701 0.93043344 0.10864031] Pose Error in degrees for R and t: 179.93171302772814 64.90174625734745 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.97894952e-01 6.48510765e-02 5.27360647e-05] [-6.48510953e-02 9.97894812e-01 5.29605857e-04] [-1.82795354e-05 -5.31911003e-04 9.99999858e-01]] t_estimated: [[5.38311839e-01] [8.42745474e-01] [6.56619534e-04]] R_gt: [[ 0.99276871 0.11921405 0.01411908] [-0.11967061 0.99209831 0.03770163] [-0.00951169 -0.03911902 0.99918884]] t_gt: [0.2337407 0.7423048 0.62797203] Pose Error in degrees for R and t: 3.882098751384643 41.252439130397285 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 9.99076760e-01 -4.29600529e-02 -2.48920086e-04] [ 4.29601751e-02 9.99076656e-01 5.07996124e-04] [ 2.26866707e-04 -5.18220772e-04 9.99999840e-01]] t_estimated: [[8.07822346e-01] [5.89425554e-01] [7.57724094e-04]] R_gt: [[ 0.98454165 0.17130684 0.03649682] [-0.17284387 0.98395679 0.04421722] [-0.02833663 -0.0498423 0.99835535]] t_gt: [0.13635017 0.67411452 0.72593267] Pose Error in degrees for R and t: 12.801882343576814 59.46683007287236 Number of keypoints: Image1: 310 Image2: 310 R_estimated: [[ 9.97742510e-01 6.71556496e-02 4.94451201e-05] [-6.71556446e-02 9.97742507e-01 -9.69003588e-05] [-5.58409047e-05 9.33610883e-05 9.99999994e-01]] t_estimated: [[ 3.88848050e-01] [-9.21301787e-01] [-4.59985763e-04]] R_gt: [[ 0.99850924 -0.02630063 -0.04784186] [ 0.02791184 0.99905392 0.03333643] [ 0.04691905 -0.03462145 0.99829809]] t_gt: [ 0.45685901 -0.76076986 -0.46098706] Pose Error in degrees for R and t: 6.357764984138696 28.50692785779941 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[-4.80704181e-01 8.76882519e-01 -7.33468718e-04] [-8.76880808e-01 -4.80704701e-01 -1.74315352e-03] [-1.88112271e-03 -1.94776542e-04 9.99998212e-01]] t_estimated: [[0.3658039 ] [0.93069143] [0.00098071]] R_gt: [[ 0.99674623 -0.05654024 -0.05745923] [ 0.05825809 0.99788954 0.02869152] [ 0.05571589 -0.03194458 0.99793575]] t_gt: [ 0.53156126 -0.75975959 -0.37444358] Pose Error in degrees for R and t: 122.0617989582166 59.134680817136804 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99977457e-01 -6.71424610e-03 6.73211479e-05] [ 6.71424543e-03 9.99977459e-01 1.00395390e-05] [-6.73870384e-05 -9.58730196e-06 9.99999998e-01]] t_estimated: [[ 8.54278176e-01] [-5.19816048e-01] [ 2.72825549e-04]] R_gt: [[ 0.99315842 -0.09545463 -0.06727616] [ 0.09651852 0.99524898 0.0127587 ] [ 0.0657386 -0.01916406 0.99765312]] t_gt: [ 0.55273467 -0.74020322 -0.38286234] Pose Error in degrees for R and t: 6.461346041208969 31.03481049752435 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.69697547e-01 -2.44256323e-01 5.05141898e-03] [-2.44307505e-01 -9.69425597e-01 2.29750919e-02] [-7.14836618e-04 -2.35129899e-02 -9.99723276e-01]] t_estimated: [[0.15948362] [0.98713032] [0.01177712]] R_gt: [[ 0.99724046 -0.04934178 -0.05547591] [ 0.0496656 0.99875508 0.00446751] [ 0.05518702 -0.00721114 0.99844983]] t_gt: [ 0.52496428 -0.64045116 -0.56056651] Pose Error in degrees for R and t: 178.71850239371068 56.28326398254091 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[-0.38135933 -0.92442343 -0.0025275 ] [ 0.92442614 -0.38135415 -0.00230564] [ 0.00116751 -0.00321577 0.99999415]] t_estimated: [[9.99994892e-01] [3.10075970e-03] [7.75189840e-04]] R_gt: [[ 0.99828138 0.01145879 0.05748367] [-0.00898559 0.99903018 -0.04310217] [-0.05792254 0.04251178 0.99741569]] t_gt: [-0.51872285 0.43364209 0.73680469] Pose Error in degrees for R and t: 113.06118904292487 58.881858717492115 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 9.98558330e-01 5.36773639e-02 -5.51508498e-05] [-5.36773695e-02 9.98558325e-01 -1.06287579e-04] [ 4.93661032e-05 1.09094700e-04 9.99999993e-01]] t_estimated: [[-5.60103748e-01] [-8.28422327e-01] [-4.89362510e-04]] R_gt: [[ 0.98065548 0.09424617 0.17156233] [-0.08171699 0.99354336 -0.07869973] [-0.17787092 0.06315744 0.9820252 ]] t_gt: [-0.41390413 0.55993111 0.71774684] Pose Error in degrees for R and t: 11.065005832821106 76.56268371223982 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999965e-01 2.35472046e-04 1.17264382e-04] [-2.35464219e-04 9.99999970e-01 -6.67563418e-05] [-1.17280098e-04 6.67287279e-05 9.99999991e-01]] t_estimated: [[-0.99985074] [-0.01723881] [-0.00114925]] R_gt: [[ 0.99189962 -0.11735783 -0.04860635] [ 0.11930933 0.99207455 0.03941072] [ 0.04359631 -0.04488963 0.99804033]] t_gt: [ 0.64264212 -0.76594184 0.01855278] Pose Error in degrees for R and t: 7.705158033885182 50.99681472810254 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.99975369e-01 7.01623139e-03 1.84066285e-04] [-7.01629662e-03 9.99975322e-01 3.56119734e-04] [-1.81563124e-04 -3.57402426e-04 9.99999920e-01]] t_estimated: [[ 0.99979527] [-0.02020635] [ 0.00105961]] R_gt: [[ 0.97434341 -0.20460238 -0.09376653] [ 0.20885311 0.97721205 0.03791185] [ 0.08387322 -0.05652209 0.99487201]] t_gt: [ 0.73052487 -0.67979523 -0.06489882] Pose Error in degrees for R and t: 13.65379749229598 41.92305865200364 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99998222e-01 1.51870057e-03 1.11788552e-03] [-1.51760471e-03 9.99998368e-01 -9.80494145e-04] [-1.11937278e-03 9.78795894e-04 9.99998894e-01]] t_estimated: [[9.99923412e-01] [1.23447335e-02] [8.81766677e-04]] R_gt: [[ 0.9246064 -0.33580722 -0.17982647] [ 0.33869671 0.94077057 -0.01532951] [ 0.17432307 -0.0467328 0.98357903]] t_gt: [ 0.79287635 -0.56666975 -0.22412606] Pose Error in degrees for R and t: 22.519321183118127 38.22170103524595 Number of keypoints: Image1: 202 Image2: 202 R_estimated: [[-9.85094299e-01 1.71970054e-01 -3.93986275e-03] [-1.71967735e-01 -9.85102151e-01 -9.22413476e-04] [-4.03979476e-03 -2.31134983e-04 9.99991813e-01]] t_estimated: [[0.48500478] [0.87451084] [0.00107302]] R_gt: [[ 0.99519818 -0.08456298 -0.04928589] [ 0.08192382 0.99521243 -0.05329834] [ 0.05355576 0.04900622 0.99736141]] t_gt: [ 0.70698387 -0.46059384 -0.53668159] Pose Error in degrees for R and t: 174.87732350237778 86.53265728447495 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 0.9314186 0.36390709 0.00557003] [-0.36389155 0.93143428 -0.00362204] [-0.0065062 0.00134675 0.99997793]] t_estimated: [[0.90075573] [0.43429294] [0.00536164]] R_gt: [[ 0.9745794 -0.21909521 -0.04682953] [ 0.21442115 0.97271865 -0.08855511] [ 0.06495333 0.07626342 0.99496981]] t_gt: [ 0.82258304 -0.44686426 -0.35166671] Pose Error in degrees for R and t: 34.37619073966551 56.97595935197254 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 8.39286653e-01 5.43687355e-01 1.40463088e-03] [-5.43686011e-01 8.39287783e-01 -1.24056485e-03] [-1.85336896e-03 2.77511365e-04 9.99998244e-01]] t_estimated: [[0.9321129 ] [0.36216541] [0.00132465]] R_gt: [[ 0.94872121 -0.31578462 -0.01446007] [ 0.31274547 0.94428723 -0.10252713] [ 0.04602984 0.0927482 0.9946252 ]] t_gt: [ 0.85683903 -0.43007117 -0.28436888] Pose Error in degrees for R and t: 51.62084994917091 50.018731980600705 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[-7.03241838e-01 -7.10949727e-01 -1.18475667e-03] [-7.10950605e-01 7.03239832e-01 1.72523377e-03] [-3.93386395e-04 2.05556004e-03 -9.99997810e-01]] t_estimated: [[9.57437521e-01] [2.88639253e-01] [8.79997722e-04]] R_gt: [[ 0.9922939 0.12074543 0.02779939] [-0.12088932 0.99265964 0.00355779] [-0.0271665 -0.00688989 0.99960717]] t_gt: [-0.5979842 0.78578929 0.15795597] Pose Error in degrees for R and t: 178.46002080794202 69.78255852818245 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 1.00000000e+00 -4.64558947e-13 7.97281620e-15] [ 4.64489558e-13 1.00000000e+00 -1.16635488e-14] [-7.97287041e-15 1.16638656e-14 1.00000000e+00]] t_estimated: [[-9.96953509e-01] [-7.79978419e-02] [-1.92636469e-04]] R_gt: [[ 9.85645144e-01 1.68706576e-01 6.55981647e-03] [-1.68832021e-01 9.85070822e-01 3.36497012e-02] [-7.85258710e-04 -3.42730761e-02 9.99412657e-01]] t_gt: [-0.57836518 0.80329912 0.14214163] Pose Error in degrees for R and t: 9.914989983292417 59.07469226186051 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.99999629e-01 -8.38506886e-04 -1.98805653e-04] [ 8.38501523e-04 9.99999648e-01 -2.70586071e-05] [ 1.98828271e-04 2.68918983e-05 9.99999980e-01]] t_estimated: [[-0.99978038] [-0.02082876] [-0.00231431]] R_gt: [[ 0.97611749 0.20818771 -0.06207285] [-0.20835384 0.97804631 0.00386279] [ 0.06151429 0.00916293 0.99806426]] t_gt: [-0.51645446 0.84243291 -0.15356296] Pose Error in degrees for R and t: 12.590903019724639 60.056246239495245 Number of keypoints: Image1: 290 Image2: 290 R_estimated: [[ 8.98717601e-01 4.38527318e-01 6.81650334e-04] [-4.38526632e-01 8.98717685e-01 -9.57366735e-04] [-1.03244268e-03 5.61480511e-04 9.99999309e-01]] t_estimated: [[0.16366162] [0.98651588] [0.00113654]] R_gt: [[ 0.99763373 -0.03546676 -0.0589109 ] [ 0.0372622 0.99886551 0.02965967] [ 0.05779126 -0.03178395 0.99782266]] t_gt: [ 0.96491468 -0.23239309 0.12220108] Pose Error in degrees for R and t: 28.353330773376715 85.91702339686746 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[-0.11071129 -0.99384506 0.00387402] [-0.99383518 0.1107316 0.00549098] [-0.00588616 -0.00324222 -0.99997742]] t_estimated: [[0.71128457] [0.70289002] [0.004458 ]] R_gt: [[ 0.99241986 -0.02054049 -0.12116525] [ 0.02858915 0.99747229 0.06506644] [ 0.1195221 -0.06803722 0.990497 ]] t_gt: [ 0.96866708 -0.1870637 0.16337458] Pose Error in degrees for R and t: 177.77262189973342 56.065757177231205 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.12953506 0.98506087 -0.11347133] [ 0.98745514 -0.11772882 0.10522486] [ 0.09029405 -0.12567816 -0.98795343]] t_estimated: [[-0.65470246] [ 0.7509946 ] [ 0.08585917]] R_gt: [[ 0.98549911 -0.01454008 -0.16905708] [ 0.02801956 0.99658913 0.07762107] [ 0.16735096 -0.08123193 0.98254542]] t_gt: [ 0.97950446 -0.18484409 0.08002291] Pose Error in degrees for R and t: 161.29493235148965 39.35514968426355 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999994e-01 4.98228813e-05 9.42796958e-05] [-4.98217721e-05 9.99999999e-01 -1.17672153e-05] [-9.42802819e-05 1.17625181e-05 9.99999995e-01]] t_estimated: [[6.18980183e-01] [7.85406240e-01] [7.56068329e-04]] R_gt: [[ 0.99781247 -0.01615356 -0.06410317] [ 0.01595541 0.99986588 -0.00360535] [ 0.06415249 0.00257579 0.99793721]] t_gt: [ 0.73412015 -0.06143604 -0.67623459] Pose Error in degrees for R and t: 3.8004333896774574 66.06861705652723 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.09218679e-01 -4.16318819e-01 -1.87895363e-04] [ 4.16318861e-01 9.09218576e-01 4.32717310e-04] [-9.31040487e-06 -4.71659044e-04 9.99999889e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99228511 -0.00578773 -0.12384072] [ 0.00773731 0.9998528 0.01526362] [ 0.12373403 -0.01610285 0.99218506]] t_gt: [ 0.70547106 0.03203955 -0.70801416] Pose Error in degrees for R and t: 25.234508674156526 45.169004782021155 Number of keypoints: Image1: 92 Image2: 92 R_estimated: [[ 9.80713635e-01 -1.95450026e-01 2.29582674e-04] [ 1.95450005e-01 9.80713660e-01 1.10110357e-04] [-2.46675937e-04 -6.31147941e-05 9.99999968e-01]] t_estimated: [[0.96079001] [0.27727497] [0.00107471]] R_gt: [[ 0.98858116 0.0355434 -0.14644028] [-0.03262543 0.99921878 0.02228045] [ 0.14711732 -0.01724719 0.98896856]] t_gt: [ 0.52201331 0.33566687 -0.78411088] Pose Error in degrees for R and t: 15.73620912979888 53.574682114234584 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 9.89822887e-01 1.42304771e-01 7.13069876e-05] [-1.42304774e-01 9.89822888e-01 3.93635777e-05] [-6.49796635e-05 -4.91102949e-05 9.99999997e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99712871 -0.07562773 0.00390157] [ 0.07554369 0.99697102 0.01851728] [-0.00528941 -0.01816997 0.99982127]] t_gt: [ 0.66117009 -0.72231705 0.20276142] Pose Error in degrees for R and t: 12.56276394968559 84.36326002834693 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.39677468e-01 -3.42061066e-01 -6.95107951e-04] [-3.42046732e-01 -9.39653267e-01 7.46800432e-03] [-3.20767397e-03 -6.77975599e-03 -9.99971872e-01]] t_estimated: [[0.07386967] [0.99724054] [0.00738697]] R_gt: [[ 0.99733423 -0.06743514 0.02786411] [ 0.06791156 0.99755485 -0.01649503] [-0.02668318 0.01834365 0.99947591]] t_gt: [ 0.60890909 -0.78833497 0.08807778] Pose Error in degrees for R and t: 179.70949247533997 42.22349738975074 Number of keypoints: Image1: 81 Image2: 81 R_estimated: [[-0.97780807 -0.20949099 0.00221526] [-0.20948568 0.97780875 0.00240563] [-0.00267005 0.00188818 -0.99999465]] t_estimated: [[0.99762121] [0.06891462] [0.00164082]] R_gt: [[ 0.99797158 -0.0258603 0.0581833 ] [ 0.03005875 0.99691786 -0.07247618] [-0.0561283 0.07407743 0.99567194]] t_gt: [ 0.42138345 -0.89635811 -0.13776112] Pose Error in degrees for R and t: 177.03984156657228 68.99908577212778 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.96805725e-01 -7.98644796e-02 1.11715761e-04] [-7.98416847e-02 -9.96552742e-01 -2.25374647e-02] [ 1.91127354e-03 2.24565542e-02 -9.99745993e-01]] t_estimated: [[ 0.0866771 ] [ 0.99617446] [-0.01111411]] R_gt: [[ 0.99250512 -0.12189866 -0.00863716] [ 0.1210448 0.99034312 -0.06758441] [ 0.01679285 0.06603304 0.99767619]] t_gt: [ 0.81711148 -0.35870247 -0.45128856] Pose Error in degrees for R and t: 174.8445057809632 73.65086430557241 Number of keypoints: Image1: 219 Image2: 219 R_estimated: [[ 9.87975969e-01 1.54607255e-01 2.83504409e-04] [-1.54607316e-01 9.87975979e-01 2.06030820e-04] [-2.48241687e-04 -2.47385355e-04 9.99999939e-01]] t_estimated: [[0.64525945] [0.76396284] [0.00101456]] R_gt: [[ 0.96822437 -0.24957553 -0.01596519] [ 0.24851718 0.96732687 -0.05017205] [ 0.02796574 0.04461044 0.99861313]] t_gt: [ 0.86664512 -0.46461271 -0.18182756] Pose Error in degrees for R and t: 23.519430848443022 78.22437311522374 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[-2.44235104e-01 9.69715125e-01 -1.33800796e-03] [ 9.69709348e-01 2.44238313e-01 3.38027854e-03] [ 3.60470004e-03 -4.71896145e-04 -9.99993392e-01]] t_estimated: [[ 0.20800263] [-0.97812657] [-0.00182064]] R_gt: [[ 0.94334322 -0.33122122 -0.0199171 ] [ 0.33103076 0.94353943 -0.01231819] [ 0.02287298 0.00502802 0.99972553]] t_gt: [ 0.86293781 -0.50513214 -0.01341141] Pose Error in degrees for R and t: 179.16867576244547 47.65440273514768 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-0.9894909 0.14267447 0.02348924] [ 0.14268566 0.98976732 -0.00120764] [-0.02342118 0.00215663 -0.99972336]] t_estimated: [[ 0.99929977] [-0.03542745] [ 0.01203595]] R_gt: [[ 0.99846907 -0.03407527 0.04358432] [ 0.03529108 0.99900085 -0.02742927] [-0.04260626 0.02892468 0.99867295]] t_gt: [ 0.52328782 -0.81044914 0.26332877] Pose Error in degrees for R and t: 176.0726264599601 56.30285560424852 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 1.63474461e-01 -9.86546498e-01 -1.45178474e-03] [ 9.86547566e-01 1.63474245e-01 2.66783472e-04] [-2.58648864e-05 -1.47586698e-03 9.99998911e-01]] t_estimated: [[9.99988849e-01] [4.65833315e-03] [7.76388858e-04]] R_gt: [[ 9.98983411e-01 2.53604085e-03 4.50189525e-02] [ 5.80507653e-04 9.97611615e-01 -6.90828750e-02] [-4.50869464e-02 6.90380431e-02 9.96594282e-01]] t_gt: [-0.04785568 -0.80857668 -0.58644146] Pose Error in degrees for R and t: 80.76780924624978 87.01485337974279 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 1.51151133e-01 -9.88509113e-01 -1.75180300e-03] [ 9.88510659e-01 1.51151097e-01 1.53640372e-04] [ 1.12912037e-04 -1.75489885e-03 9.99998454e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99403283 0.03864238 0.1020116 ] [-0.0285013 0.99467326 -0.09906478] [-0.1052967 0.09556545 0.98983749]] t_gt: [-0.88655428 0.08732084 0.45430889] Pose Error in degrees for R and t: 83.57845005587308 27.634207357628576 Number of keypoints: Image1: 246 Image2: 246 R_estimated: [[ 6.84379504e-01 -7.29125406e-01 9.14544575e-04] [-7.29125712e-01 -6.84379790e-01 1.67280153e-06] [ 6.24676142e-04 -6.67962796e-04 -9.99999582e-01]] t_estimated: [[0.43914208] [0.89841675] [0.00125829]] R_gt: [[ 0.99380712 -0.1075985 0.02774088] [ 0.10832979 0.99376304 -0.02642169] [-0.0247252 0.02926305 0.99926576]] t_gt: [ 0.81214683 -0.56785112 -0.13402476] Pose Error in degrees for R and t: 179.14699395250264 81.15930213422197 Number of keypoints: Image1: 208 Image2: 208 R_estimated: [[ 9.99396948e-01 3.47164551e-02 7.13140576e-04] [-3.47156435e-02 9.99396602e-01 -1.12043263e-03] [-7.51607718e-04 1.09499982e-03 9.99999118e-01]] t_estimated: [[-0.69101121] [-0.72284282] [-0.00132632]] R_gt: [[ 0.97863371 -0.20075718 0.04441508] [ 0.20384665 0.97556657 -0.08194188] [-0.02687965 0.08924481 0.99564698]] t_gt: [ 0.83838744 -0.46045756 -0.29169391] Pose Error in degrees for R and t: 14.663014031731338 75.75257084119103 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99765448e-01 2.16435313e-02 7.78526183e-04] [-2.16433630e-02 9.99765730e-01 -2.23967579e-04] [-7.83191247e-04 2.07065122e-04 9.99999672e-01]] t_estimated: [[-0.70360707] [-0.71058884] [-0.00077575]] R_gt: [[ 0.94525692 -0.32572649 0.0197872 ] [ 0.32618002 0.94127865 -0.08717957] [ 0.00977166 0.08886149 0.99599633]] t_gt: [ 0.88385871 -0.4116394 -0.22214134] Pose Error in degrees for R and t: 20.930769672153392 70.77913404283609 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99693765e-01 -2.47462435e-02 4.38145846e-07] [ 2.47462435e-02 9.99693765e-01 1.30299065e-05] [-7.60452911e-07 -1.30150739e-05 1.00000000e+00]] t_estimated: [[-6.55788438e-02] [ 9.97847316e-01] [-3.87451788e-04]] R_gt: [[ 0.99835841 0.01832738 -0.05426865] [-0.01715294 0.99960936 0.02203434] [ 0.05465012 -0.0210682 0.9982829 ]] t_gt: [ 0.46323794 0.43173262 -0.77396225] Pose Error in degrees for R and t: 4.147906239027826 66.37652178381389 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[ 0.0398413 -0.99920482 -0.00154911] [ 0.99920459 0.03984382 -0.00163142] [ 0.00169184 -0.00148288 0.99999747]] t_estimated: [[ 9.86104008e-01] [-1.66128614e-01] [-4.10790378e-04]] R_gt: [[ 0.99687384 0.06438487 -0.04579581] [-0.06369152 0.99783422 0.01644773] [ 0.04675568 -0.01347959 0.99881453]] t_gt: [-0.23900952 0.86356527 -0.44399264] Pose Error in degrees for R and t: 91.4195065492226 67.73017980086006 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.99771837 -0.06749676 -0.00149646] [ 0.06749841 -0.9977188 -0.00108185] [-0.00142003 -0.00118039 0.9999983 ]] t_estimated: [[0.8313771 ] [0.55570794] [0.00089007]] R_gt: [[ 0.99090045 0.06007431 0.12044671] [-0.06272357 0.99786323 0.01831596] [-0.11909035 -0.02570433 0.99254995]] t_gt: [-0.38536026 0.39616989 0.83339479] Pose Error in degrees for R and t: 179.6728098920204 84.29059028074713 Number of keypoints: Image1: 443 Image2: 443 R_estimated: [[ 9.99374827e-01 -3.53546728e-02 4.04048976e-05] [ 3.53546724e-02 9.99374828e-01 1.00606155e-05] [-4.07353273e-05 -8.62582393e-06 9.99999999e-01]] t_estimated: [[9.79980407e-01] [1.99093000e-01] [6.16328265e-04]] R_gt: [[ 0.99789261 -0.06054111 -0.02337405] [ 0.061289 0.99758309 0.03274216] [ 0.02133509 -0.03410679 0.99919034]] t_gt: [ 0.89091119 -0.21940661 0.39766568] Pose Error in degrees for R and t: 2.7333357779426337 33.938401255596645 Number of keypoints: Image1: 525 Image2: 525 R_estimated: [[-7.13658303e-01 -7.00493603e-01 -7.33839766e-04] [ 7.00488131e-01 -7.13647660e-01 -4.83696519e-03] [ 2.86456015e-03 -3.96598641e-03 9.99988033e-01]] t_estimated: [[0.83114431] [0.55605553] [0.00117559]] R_gt: [[ 0.99065888 -0.12183457 -0.06125443] [ 0.12404998 0.9917017 0.03376375] [ 0.056632 -0.04104788 0.99755055]] t_gt: [ 0.97892983 -0.15517193 0.13273307] Pose Error in degrees for R and t: 128.48913321679473 43.322466109059306 Number of keypoints: Image1: 447 Image2: 447 R_estimated: [[ 7.55787702e-01 -6.54816510e-01 -5.37011292e-04] [ 6.54814880e-01 7.55783363e-01 2.99686525e-03] [-1.55653264e-03 -2.61663688e-03 9.99995365e-01]] t_estimated: [[0.91865819] [0.3950464 ] [0.00233755]] R_gt: [[ 0.98551809 -0.11554128 -0.12411828] [ 0.12707868 0.98785316 0.08942959] [ 0.11227795 -0.10390736 0.98822907]] t_gt: [ 0.93290308 -0.18387114 0.3096502 ] Pose Error in degrees for R and t: 34.96657343894783 38.26958606486112 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 1.00000000e+00 1.47104551e-14 -2.32319047e-14] [-1.46826995e-14 1.00000000e+00 1.25511648e-14] [ 2.32340189e-14 -1.25896269e-14 1.00000000e+00]] t_estimated: [[ 9.91077061e-01] [-1.33289733e-01] [-3.26555944e-04]] R_gt: [[ 0.99849106 0.05131536 0.01957144] [-0.05141792 0.9986653 0.00482472] [-0.01929718 -0.00582266 0.99979713]] t_gt: [-0.58558257 0.7469632 0.31486351] Pose Error in degrees for R and t: 3.162855637706335 47.154575056246685 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 1.00000000e+00 -2.82431301e-11 -1.20788660e-14] [ 2.82416313e-11 1.00000000e+00 3.44804480e-14] [ 1.20794352e-14 -3.44834296e-14 1.00000000e+00]] t_estimated: [[-2.80176275e-01] [ 9.59948521e-01] [ 3.03383267e-04]] R_gt: [[ 0.99245119 0.11954311 -0.02738367] [-0.11969594 0.99280223 -0.00401066] [ 0.02670763 0.00725894 0.99961685]] t_gt: [-0.56771949 0.81853844 -0.08768926] Pose Error in degrees for R and t: 7.051999880476414 19.127859922470183 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.99999937e-01 3.48867105e-04 6.86274803e-05] [-3.48860787e-04 9.99999935e-01 -9.20400730e-05] [-6.86595856e-05 9.20161257e-05 9.99999993e-01]] t_estimated: [[5.02112352e-02] [9.98738525e-01] [4.37351758e-04]] R_gt: [[ 0.98756672 0.11063915 -0.11167095] [-0.1127696 0.99353725 -0.01292139] [ 0.10952041 0.02535413 0.99366097]] t_gt: [-0.38804529 0.77567333 -0.49774667] Pose Error in degrees for R and t: 9.099371965821238 40.97524985501928 Number of keypoints: Image1: 133 Image2: 133 R_estimated: [[ 9.97294969e-01 7.35031066e-02 1.93947269e-04] [-7.35030923e-02 9.97294986e-01 -8.00622803e-05] [-1.99307465e-04 6.55899854e-05 9.99999978e-01]] t_estimated: [[0.89926153] [0.43740984] [0.00115155]] R_gt: [[ 0.99830571 -0.02408177 -0.05296689] [ 0.02276507 0.99942091 -0.02531273] [ 0.0535452 0.02406338 0.99827536]] t_gt: [ 0.49734687 -0.67047874 -0.55054914] Pose Error in degrees for R and t: 6.5016163621312595 81.17964423115366 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 9.99999376e-01 1.10120278e-03 1.85365595e-04] [-1.10120245e-03 9.99999394e-01 -1.88334368e-06] [-1.85367556e-04 1.67921746e-06 9.99999983e-01]] t_estimated: [[9.99995617e-01] [2.92078118e-03] [4.84970424e-04]] R_gt: [[ 0.98574746 -0.15278845 -0.07040856] [ 0.1493205 0.98741244 -0.05216426] [ 0.07749243 0.04090687 0.99615331]] t_gt: [ 0.76166654 -0.56329695 -0.3202509 ] Pose Error in degrees for R and t: 10.108869433156302 40.54791187823107 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-2.80426792e-01 9.59862476e-01 4.98406971e-03] [ 9.59874374e-01 2.80430357e-01 -1.70736890e-05] [-1.41407284e-03 4.77929287e-03 -9.99987579e-01]] t_estimated: [[-0.42437546] [-0.90548561] [-0.00113469]] R_gt: [[ 0.95719637 -0.28350864 -0.05828678] [ 0.27813276 0.9566979 -0.08585806] [ 0.08010383 0.06597042 0.99460153]] t_gt: [ 0.8404118 -0.47469826 -0.26147575] Pose Error in degrees for R and t: 179.6829020437739 85.78616625347658 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.99844719e-01 1.76220577e-02 7.09324200e-06] [-1.76220562e-02 9.99844704e-01 -1.74333684e-04] [-1.01642587e-05 1.74181615e-04 9.99999985e-01]] t_estimated: [[-0.26592887] [-0.96399213] [-0.00100731]] R_gt: [[ 0.99635539 -0.0367114 0.07699207] [ 0.02744144 0.99261306 0.1181793 ] [-0.08076227 -0.11563561 0.99000259]] t_gt: [ 0.15304739 -0.19680457 0.9684237 ] Pose Error in degrees for R and t: 8.603923465022405 81.48647697219016 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.91709441e-01 1.28500517e-01 3.83859078e-05] [-1.28500511e-01 9.91709432e-01 -1.43686920e-04] [-5.65315104e-05 1.37563066e-04 9.99999989e-01]] t_estimated: [[-0.70262664] [-0.71155833] [-0.00074431]] R_gt: [[ 0.99682386 0.00306142 0.07958369] [-0.01213962 0.99342412 0.11384136] [-0.07871253 -0.11444567 0.99030557]] t_gt: [-0.02077493 0.12334473 0.9921464 ] Pose Error in degrees for R and t: 10.582649547556233 85.76149486544938 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.97580920e-01 6.95147892e-02 -3.81531372e-05] [-6.95147681e-02 9.97580840e-01 4.05234832e-04] [ 6.62306526e-05 -4.01602330e-04 9.99999917e-01]] t_estimated: [[-0.72074927] [-0.69319547] [-0.0007251 ]] R_gt: [[ 0.99791127 0.00701614 0.06420448] [-0.01488915 0.99229716 0.12297933] [-0.06284791 -0.12367868 0.99033007]] t_gt: [-0.01287073 0.25413551 0.96708298] Pose Error in degrees for R and t: 8.633129509584517 80.3522597733631 Number of keypoints: Image1: 292 Image2: 292 R_estimated: [[ 9.91619022e-01 1.29195820e-01 3.94862972e-04] [-1.29195852e-01 9.91619095e-01 5.61897929e-05] [-3.84294177e-04 -1.06733526e-04 9.99999920e-01]] t_estimated: [[0.13701308] [0.99056751] [0.00185153]] R_gt: [[ 0.99887186 -0.01403997 0.04535952] [ 0.01556057 0.99932236 -0.03333869] [-0.0448611 0.03400849 0.99841428]] t_gt: [-0.84686259 -0.0841856 0.52510622] Pose Error in degrees for R and t: 8.872679609230946 78.55363564048669 Number of keypoints: Image1: 326 Image2: 326 R_estimated: [[-9.77946195e-01 -2.08754534e-01 -6.54100895e-03] [-2.08744261e-01 9.77967735e-01 -2.22336582e-03] [ 6.86103340e-03 -8.08934059e-04 -9.99976136e-01]] t_estimated: [[ 0.97957689] [ 0.20106059] [-0.00193978]] R_gt: [[ 0.99470299 -0.01325608 0.10193212] [ 0.01651 0.9993783 -0.03114132] [-0.1014558 0.03266019 0.99430399]] t_gt: [-0.6940006 -0.11967694 0.70995816] Pose Error in degrees for R and t: 174.77378278535903 45.14892722864965 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-9.94016349e-01 -1.09094236e-01 -5.47222040e-03] [-1.09091177e-01 9.94031380e-01 -8.55247265e-04] [ 5.53286134e-03 -2.53158800e-04 -9.99984662e-01]] t_estimated: [[ 0.98988234] [ 0.14188381] [-0.00139035]] R_gt: [[ 0.98993972 -0.09615218 0.10379835] [ 0.0975713 0.99518989 -0.00866354] [-0.10246613 0.01870544 0.99456016]] t_gt: [-0.20125728 -0.73094737 0.65208239] Pose Error in degrees for R and t: 174.4421886557624 72.31177620029744 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.99999806e-01 -6.12390279e-04 -1.17677779e-04] [ 6.12391922e-04 9.99999812e-01 1.39303577e-05] [ 1.17669226e-04 -1.40024199e-05 9.99999993e-01]] t_estimated: [[-9.99842770e-01] [-1.77280542e-02] [-3.90305898e-04]] R_gt: [[ 9.88724621e-01 1.49741446e-01 -8.01101402e-04] [-1.49594207e-01 9.87964370e-01 3.93379116e-02] [ 6.68196901e-03 -3.87745644e-02 9.99225081e-01]] t_gt: [-0.58105122 0.80411953 0.12558368] Pose Error in degrees for R and t: 8.934631289424303 55.482677701775785 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999822e-01 -5.93930721e-04 -5.10038042e-05] [ 5.93922705e-04 9.99999811e-01 -1.57022738e-04] [ 5.10970552e-05 1.56992418e-04 9.99999986e-01]] t_estimated: [[-0.81628379] [-0.57764801] [-0.00188203]] R_gt: [[ 0.97862447 0.20514407 0.01449549] [-0.20551681 0.97812033 0.03230663] [-0.00755039 -0.03459524 0.99937293]] t_gt: [-0.5593642 0.81993935 0.12170107] Pose Error in degrees for R and t: 12.059568000073941 89.01071340740317 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 1.00000000e+00 -1.33512918e-09 2.43891063e-09] [ 1.33512919e-09 1.00000000e+00 -3.26637075e-09] [-2.43891062e-09 3.26637075e-09 1.00000000e+00]] t_estimated: [[-9.99908444e-01] [-1.35315860e-02] [-1.71932083e-05]] R_gt: [[ 0.96293145 0.26927447 -0.0159413 ] [-0.2684659 0.9624368 0.04051913] [ 0.02625327 -0.03473827 0.99905165]] t_gt: [-0.53428096 0.84461249 0.03425774] Pose Error in degrees for R and t: 15.801692432912958 58.47957350292133 Number of keypoints: Image1: 280 Image2: 280 R_estimated: [[ 9.99497898e-01 3.16849971e-02 1.14218700e-04] [-3.16850071e-02 9.99497900e-01 8.76246459e-05] [-1.11384964e-04 -9.11996697e-05 9.99999990e-01]] t_estimated: [[-9.95371884e-01] [-9.60957879e-02] [ 6.41968658e-04]] R_gt: [[ 9.98762804e-01 4.97176957e-02 5.73474090e-05] [-4.97152668e-02 9.98677825e-01 1.30530359e-02] [ 5.90728636e-04 -1.30399072e-02 9.99914541e-01]] t_gt: [-0.50603323 0.85747689 0.09307932] Pose Error in degrees for R and t: 1.274712486797132 65.08008340844687 Number of keypoints: Image1: 214 Image2: 214 R_estimated: [[ 9.99889564e-01 -1.48612403e-02 4.88508572e-05] [ 1.48612362e-02 9.99889562e-01 8.48738286e-05] [-5.01067926e-05 -8.41384714e-05 9.99999995e-01]] t_estimated: [[-9.04099857e-01] [-4.27320940e-01] [-5.13152725e-04]] R_gt: [[ 0.99923985 0.03667057 -0.01321929] [-0.03648542 0.99923609 0.01400857] [ 0.01372356 -0.01351515 0.99981425]] t_gt: [-0.29588285 0.95443982 -0.03870366] Pose Error in degrees for R and t: 3.1473429210427275 81.93336928773435 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99980445e-01 -6.22526393e-03 -5.96681656e-04] [ 6.22566498e-03 9.99980394e-01 6.72651055e-04] [ 5.92482527e-04 -6.76352642e-04 9.99999596e-01]] t_estimated: [[ 0.55652028] [-0.83075657] [-0.01134469]] R_gt: [[ 0.99941029 -0.03427159 -0.00232618] [ 0.03428385 0.99939616 0.00563048] [ 0.00213134 -0.00570638 0.9999808 ]] t_gt: [0.88667046 0.46197078 0.01996229] Pose Error in degrees for R and t: 1.6359570218307415 83.71705956724509 Number of keypoints: Image1: 472 Image2: 472 R_estimated: [[-0.96256701 0.26575991 0.053258 ] [ 0.2658581 0.96399726 -0.00536234] [-0.05276566 0.00899746 -0.99856639]] t_estimated: [[ 0.99110056] [-0.13039277] [ 0.02678439]] R_gt: [[ 0.99881755 -0.04858383 -0.00182132] [ 0.04857021 0.99879524 -0.00690348] [ 0.00215464 0.00680688 0.99997464]] t_gt: [ 0.37154962 -0.9065521 -0.20028521] Pose Error in degrees for R and t: 176.99246987402043 61.243622263036976 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[-0.81076178 -0.58514441 0.01647271] [-0.58512457 0.81091735 0.0065026 ] [-0.01716296 -0.00436653 -0.99984317]] t_estimated: [[0.95041586] [0.31083988] [0.00939492]] R_gt: [[ 0.98958554 -0.14010969 0.0330228 ] [ 0.13960355 0.99005873 0.01714873] [-0.03509761 -0.01236009 0.9993073 ]] t_gt: [ 0.38655822 -0.86012964 0.33279084] Pose Error in degrees for R and t: 176.86250950276457 84.0791206421417 Number of keypoints: Image1: 248 Image2: 248 R_estimated: [[-9.70689616e-01 -2.40250057e-01 -6.44820267e-03] [-2.40252442e-01 9.70710355e-01 -4.13682131e-04] [ 6.35872426e-03 1.14763949e-03 -9.99979125e-01]] t_estimated: [[ 0.98759102] [ 0.15704184] [-0.00135912]] R_gt: [[ 0.98082413 -0.19029673 0.04209711] [ 0.19052584 0.98168102 -0.00148021] [-0.04104461 0.009472 0.99911185]] t_gt: [ 0.43195277 -0.87476002 0.21957167] Pose Error in degrees for R and t: 178.0278320331502 73.2066710425533 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.98209137e-01 -5.98207176e-02 -2.59726112e-05] [ 5.98207230e-02 9.98209079e-01 3.39590175e-04] [ 5.61156842e-06 -3.40535716e-04 9.99999942e-01]] t_estimated: [[5.68447599e-01] [8.22719304e-01] [5.24200753e-04]] R_gt: [[ 0.99498489 -0.09903032 0.01402386] [ 0.09981139 0.99212983 -0.07559227] [-0.0064265 0.07661283 0.99703988]] t_gt: [ 0.91721922 0.14520947 -0.37097589] Pose Error in degrees for R and t: 4.983826482963261 50.15870728087609 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.91542635e-01 -1.29781369e-01 5.07293988e-06] [ 1.29781360e-01 9.91542582e-01 3.25696019e-04] [-4.72993111e-05 -3.22283116e-04 9.99999947e-01]] t_estimated: [[3.91895125e-01] [9.20009874e-01] [2.04686985e-04]] R_gt: [[ 0.99063497 -0.12645036 0.05149035] [ 0.13262468 0.98080857 -0.14291474] [-0.03243062 0.14840617 0.98839395]] t_gt: [ 0.81804729 0.35878876 -0.44952115] Pose Error in degrees for R and t: 8.755332753281385 49.41420677855917 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 9.81304107e-01 -1.92463628e-01 1.97588003e-05] [ 1.92463614e-01 9.81304067e-01 2.93510915e-04] [-7.58795668e-05 -2.84220616e-04 9.99999957e-01]] t_estimated: [[1.74939758e-01] [9.84579120e-01] [1.91937098e-04]] R_gt: [[ 0.99130388 -0.13079565 0.01442037] [ 0.13073744 0.96651824 -0.22078961] [ 0.01494123 0.22075523 0.97521445]] t_gt: [ 0.66627922 0.52061563 -0.53388329] Pose Error in degrees for R and t: 13.264748319199063 51.020408931782455 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.80559021e-01 1.96224323e-01 1.44483810e-04] [-1.96224290e-01 9.80559014e-01 -2.18662145e-04] [-1.84581734e-04 1.86059906e-04 9.99999966e-01]] t_estimated: [[0.6187012 ] [0.78562595] [0.00083047]] R_gt: [[ 0.99581526 -0.08753099 -0.02628144] [ 0.0880818 0.99590022 0.02061026] [ 0.02436943 -0.02284009 0.99944228]] t_gt: [ 0.73898189 -0.67362431 -0.0116642 ] Pose Error in degrees for R and t: 16.467610684249745 85.87012941407933 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[-0.92516037 -0.37953625 0.00552575] [-0.379385 0.92505803 0.01829378] [-0.01205479 0.01482829 -0.99981739]] t_estimated: [[0.93232917] [0.36160948] [0.00095196]] R_gt: [[ 0.99151137 -0.12985398 0.00662035] [ 0.12982878 0.99152877 0.00408337] [-0.00709405 -0.00318944 0.9999695 ]] t_gt: [ 0.71545771 -0.69622318 0.05825426] Pose Error in degrees for R and t: 178.9969987834778 65.4594821189588 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 0.9999926 -0.00175669 0.00342123] [ 0.00177687 0.99998099 -0.00590408] [-0.00341079 0.00591012 0.99997672]] t_estimated: [[-0.80075127] [-0.59899574] [-0.00122916]] R_gt: [[ 0.9943423 -0.10489435 0.01677264] [ 0.10529526 0.99412448 -0.02511943] [-0.01403849 0.02674253 0.99954359]] t_gt: [ 0.6644414 -0.7455344 -0.05192371] Pose Error in degrees for R and t: 6.081653086559211 85.10002182727871 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.54262834e-01 -2.98968803e-01 -3.14655412e-04] [ 2.98968923e-01 9.54262742e-01 4.50306055e-04] [ 1.65636474e-04 -5.23782522e-04 9.99999849e-01]] t_estimated: [[ 8.62125454e-01] [-5.06694444e-01] [ 6.64650283e-04]] R_gt: [[ 0.99730391 0.03001437 -0.06697704] [-0.03305797 0.99845031 -0.0447948 ] [ 0.06552834 0.04688811 0.99674879]] t_gt: [-0.05399523 0.56936692 -0.82030837] Pose Error in degrees for R and t: 19.749904008131278 70.39152328143587 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[-0.15755069 0.98743245 -0.0124478 ] [ 0.98743823 0.15767949 0.01014465] [ 0.01197992 -0.01069314 -0.99987106]] t_estimated: [[ 0.71287157] [-0.70123806] [-0.00890527]] R_gt: [[ 0.98111992 0.09836251 -0.16652209] [-0.1249464 0.97957735 -0.15753799] [ 0.14762489 0.17536907 0.97337185]] t_gt: [-0.09305234 0.6377913 -0.76456753] Pose Error in degrees for R and t: 178.42640681495322 59.551131904300505 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 0.66264145 0.7489236 -0.00444414] [ 0.74892454 -0.66258501 0.00965087] [ 0.00428314 -0.00972339 -0.99994355]] t_estimated: [[0.32389104] [0.94609163] [0.00228444]] R_gt: [[ 0.95976949 0.16864991 -0.22449953] [-0.21603881 0.9542461 -0.20674404] [ 0.17936001 0.2469266 0.95229015]] t_gt: [-0.12513927 0.71739023 -0.68534037] Pose Error in degrees for R and t: 173.37466159609815 50.45977531625176 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 1.53169663e-01 -9.88199243e-01 -1.14469076e-03] [-9.88198160e-01 -1.53171467e-01 1.70260221e-03] [-1.85784418e-03 8.70394294e-04 -9.99997895e-01]] t_estimated: [[0.82370575] [0.56701605] [0.00127706]] R_gt: [[ 0.98818512 -0.1527939 -0.01202968] [ 0.15309423 0.98775265 0.03009263] [ 0.0072851 -0.03157856 0.99947448]] t_gt: [ 0.7488812 -0.63291129 0.19646945] Pose Error in degrees for R and t: 178.97593999827848 75.03447508883077 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.95561348e-01 -9.41147235e-02 1.43191411e-04] [ 9.41147140e-02 9.95561357e-01 7.16597524e-05] [-1.49300074e-04 -5.78652610e-05 9.99999987e-01]] t_estimated: [[7.09629070e-01] [7.04575248e-01] [5.49564065e-04]] R_gt: [[ 0.98023282 -0.1951766 -0.0323973 ] [ 0.19731871 0.97638333 0.08798428] [ 0.01445946 -0.09263774 0.9955944 ]] t_gt: [ 0.6674521 -0.65720947 0.35011913] Pose Error in degrees for R and t: 8.013548857166008 89.38220753795007 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[-8.74857284e-01 -4.84380342e-01 6.45269186e-04] [-4.84376105e-01 8.74853926e-01 3.22449128e-03] [-2.12639647e-03 2.50841671e-03 -9.99994593e-01]] t_estimated: [[0.99836566] [0.0571099 ] [0.00211518]] R_gt: [[ 0.97941702 -0.19943394 -0.03112632] [ 0.20165822 0.96007407 0.19388753] [-0.00878346 -0.19617363 0.98053007]] t_gt: [ 0.51934844 -0.6368197 0.56985776] Pose Error in degrees for R and t: 177.70455081158215 61.09647166613052 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 0.83503569 -0.55014906 -0.0071702 ] [-0.55015752 -0.83475303 -0.02267323] [ 0.00648831 0.0228777 -0.99971722]] t_estimated: [[ 0.31478671] [ 0.94909272] [-0.0115037 ]] R_gt: [[ 0.99991461 0.00923118 -0.00923554] [-0.01017101 0.99414723 -0.10755189] [ 0.00818927 0.10763731 0.99415682]] t_gt: [-0.04787111 0.3917754 -0.91881467] Pose Error in degrees for R and t: 172.5775377766932 68.44884587279951 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 0.38018141 0.92481692 0.01325758] [ 0.92481659 -0.37989735 -0.01980591] [-0.01328032 0.01979067 -0.99971594]] t_estimated: [[-0.55428685] [ 0.83224309] [-0.01172773]] R_gt: [[ 0.99663023 -0.06462737 -0.05051814] [ 0.05655537 0.98744504 -0.14748459] [ 0.05941476 0.14413096 0.9877739 ]] t_gt: [ 0.29172224 -0.03791357 -0.95575138] Pose Error in degrees for R and t: 173.43139656847416 79.51125872689099 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[ 9.99999600e-01 8.38696036e-04 3.11624461e-04] [-8.38541603e-04 9.99999526e-01 -4.95374866e-04] [-3.12039782e-04 4.95113357e-04 9.99999829e-01]] t_estimated: [[-0.02520392] [-0.99968117] [-0.0015248 ]] R_gt: [[ 0.96601502 -0.25469303 0.04412065] [ 0.25811282 0.95964341 -0.11163026] [-0.01390842 0.11922553 0.99277022]] t_gt: [ 0.68232799 -0.66542315 -0.30272189] Pose Error in degrees for R and t: 16.450449336318695 49.573260089998115 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999605e-01 8.71376667e-04 -1.76429937e-04] [-8.71412693e-04 9.99999599e-01 -2.04216744e-04] [ 1.76251916e-04 2.04370407e-04 9.99999964e-01]] t_estimated: [[-0.41923106] [-0.90787839] [-0.00146658]] R_gt: [[ 0.9998209 0.01737778 -0.0075693 ] [-0.01797195 0.99603807 -0.08709552] [ 0.00602521 0.08721552 0.99617085]] t_gt: [-0.00472189 0.50352678 -0.86396671] Pose Error in degrees for R and t: 5.0949479703684 63.006176703753304 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 9.99999448e-01 1.03377005e-03 -1.87577657e-04] [-1.03375567e-03 9.99999463e-01 7.67733728e-05] [ 1.87656922e-04 -7.65794210e-05 9.99999979e-01]] t_estimated: [[-2.30785035e-02] [-9.99733555e-01] [-4.50138235e-04]] R_gt: [[ 0.99893432 0.00521777 -0.04587549] [-0.0129753 0.98527899 -0.17046639] [ 0.04430927 0.1708795 0.98429486]] t_gt: [ 0.06237626 0.36384362 -0.92936915] Pose Error in degrees for R and t: 10.179692176068352 68.60670181576462 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 9.99999818e-01 -6.01411882e-04 4.98136557e-05] [ 6.01425163e-04 9.99999783e-01 -2.67029473e-04] [-4.96530502e-05 2.67059384e-04 9.99999963e-01]] t_estimated: [[9.99991966e-01] [3.98991860e-03] [3.86414835e-04]] R_gt: [[ 0.98889642 -0.14449095 -0.03474186] [ 0.13689243 0.97667267 -0.16544208] [ 0.05783537 0.15884912 0.98560701]] t_gt: [ 0.52030135 -0.27758779 -0.80760852] Pose Error in degrees for R and t: 12.653290122351288 58.743010479507774 Number of keypoints: Image1: 526 Image2: 526 R_estimated: [[ 9.98309376e-01 -5.81239142e-02 -1.81738048e-05] [ 5.81239153e-02 9.98309374e-01 7.19538802e-05] [ 1.39608386e-05 -7.28885659e-05 9.99999997e-01]] t_estimated: [[-6.04489749e-01] [ 7.96612850e-01] [-3.32500267e-04]] R_gt: [[ 0.99976877 0.01928588 -0.00952774] [-0.01976711 0.99838234 -0.05330731] [ 0.00848515 0.05348375 0.99853284]] t_gt: [-0.122335 0.85555272 -0.50305437] Pose Error in degrees for R and t: 5.428983005424617 40.916769426453264 Number of keypoints: Image1: 406 Image2: 406 R_estimated: [[ 9.98510298e-01 5.45635798e-02 -2.29444864e-05] [-5.45635802e-02 9.98510298e-01 -1.97556517e-05] [ 2.18323669e-05 2.09781550e-05 1.00000000e+00]] t_estimated: [[-1.33777315e-01] [ 9.91011281e-01] [-5.20177739e-04]] R_gt: [[ 0.99674857 -0.08041249 -0.00520995] [ 0.0794058 0.99116076 -0.10627517] [ 0.01371 0.10551522 0.99432275]] t_gt: [ 0.69089885 0.53212144 -0.48939305] Pose Error in degrees for R and t: 9.843771944673865 64.20412205109913 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 0.95882896 0.28395452 0.00410652] [-0.28397948 0.95879619 0.00809392] [-0.00163901 -0.00892685 0.99995881]] t_estimated: [[0.67097114] [0.74147997] [0.00227448]] R_gt: [[ 0.99211358 -0.1191797 0.03883173] [ 0.12413072 0.97719507 -0.17228186] [-0.01741324 0.17574382 0.98428149]] t_gt: [ 0.68510432 0.56403878 -0.46096889] Pose Error in degrees for R and t: 25.80433786706213 28.734096391865624 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99454653e-01 -3.30206799e-02 -1.79677235e-04] [ 3.30210455e-02 9.99450994e-01 2.70566566e-03] [ 9.02356713e-05 -2.71012326e-03 9.99996324e-01]] t_estimated: [[-0.98095898] [-0.19421107] [-0.00123703]] R_gt: [[ 0.99382054 0.06309426 -0.09132712] [-0.07291431 0.99141496 -0.1085334 ] [ 0.0836961 0.11452181 0.98988894]] t_gt: [-0.1521604 0.61302297 -0.77527417] Pose Error in degrees for R and t: 10.10702538817694 88.21401348574844 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.09849459e-01 -4.14938480e-01 -1.40730606e-04] [ 4.14938501e-01 9.09849361e-01 4.25908776e-04] [-4.86822878e-05 -4.45907416e-04 9.99999899e-01]] t_estimated: [[-3.95538782e-01] [ 9.18449265e-01] [-1.41150934e-04]] R_gt: [[ 0.97640125 0.12326842 -0.17732982] [-0.15593817 0.97047755 -0.18400148] [ 0.14941389 0.20731154 0.96679753]] t_gt: [-0.13298077 0.66691179 -0.73317445] Pose Error in degrees for R and t: 35.79854884746336 48.30024319858425 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 9.99998850e-01 1.22186343e-03 8.98018751e-04] [-1.22120558e-03 9.99998986e-01 -7.32738073e-04] [-8.98913147e-04 7.31640565e-04 9.99999328e-01]] t_estimated: [[0.00943102] [0.99995499] [0.00103906]] R_gt: [[ 0.96497782 0.15620299 -0.21075969] [-0.20151305 0.9557575 -0.2142918 ] [ 0.16796249 0.24925708 0.95376029]] t_gt: [-0.13170287 0.70774766 -0.6940804 ] Pose Error in degrees for R and t: 20.369981771654654 45.109629203718825 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[ 0.45432857 0.88967217 0.04548608] [ 0.88971506 -0.45060732 -0.07321307] [-0.04463927 0.07373244 -0.99627851]] t_estimated: [[ 0.49031739] [-0.87037369] [ 0.04514967]] R_gt: [[ 0.99838178 -0.05672946 0.0040408 ] [ 0.05669346 0.99835646 0.00837444] [-0.00450945 -0.00813079 0.99995713]] t_gt: [ 0.84312172 -0.4998677 0.19818691] Pose Error in degrees for R and t: 175.33210363545473 30.97220965810076 Number of keypoints: Image1: 116 Image2: 116 R_estimated: [[ 4.21979404e-01 -9.06605417e-01 6.29001814e-06] [-9.06216433e-01 -4.21798148e-01 2.92933118e-02] [-2.65548221e-02 -1.23668744e-02 -9.99570859e-01]] t_estimated: [[0.09647025] [0.99487694] [0.03022199]] R_gt: [[ 0.99108719 -0.13305884 0.00650702] [ 0.13314198 0.99098528 -0.0148267 ] [-0.0044761 0.01556115 0.99986952]] t_gt: [ 0.88132475 -0.47016976 -0.04697953] Pose Error in degrees for R and t: 179.0927264476746 67.40844465145064 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99994092e-01 -3.42987141e-03 2.28919882e-04] [ 3.42995087e-03 9.99994057e-01 -3.47619834e-04] [-2.27726231e-04 3.48402964e-04 9.99999913e-01]] t_estimated: [[ 9.68029678e-01] [-2.50834205e-01] [-8.62140922e-04]] R_gt: [[ 0.97061237 -0.24063905 0.00252081] [ 0.24057741 0.97051693 0.01484264] [-0.00601868 -0.01379947 0.99988673]] t_gt: [ 0.87970211 -0.4704891 0.06902325] Pose Error in degrees for R and t: 13.75448133272696 14.179513299424322 Number of keypoints: Image1: 638 Image2: 638 R_estimated: [[-0.9771884 -0.20751023 0.04519221] [-0.20747037 0.97822514 0.00562231] [-0.04537485 -0.00388199 -0.99896249]] t_estimated: [[0.9930207 ] [0.1156652 ] [0.02305316]] R_gt: [[ 0.9986328 -0.05035019 0.01404332] [ 0.05047982 0.99868428 -0.00907066] [-0.01356811 0.00976747 0.99985983]] t_gt: [ 0.40367852 -0.90731482 0.11757322] Pose Error in degrees for R and t: 176.65877514769764 72.62485537512354 Number of keypoints: Image1: 235 Image2: 235 R_estimated: [[ 9.93168288e-01 1.16690373e-01 3.28134401e-04] [-1.16690401e-01 9.93168337e-01 6.93724412e-05] [-3.17797602e-04 -1.07188644e-04 9.99999944e-01]] t_estimated: [[0.52493713] [0.85114041] [0.00100096]] R_gt: [[ 0.99159633 -0.12710628 0.02408254] [ 0.12678248 0.99182435 0.01456405] [-0.025737 -0.01138853 0.99960347]] t_gt: [ 0.40484397 -0.8751304 0.26504368] Pose Error in degrees for R and t: 14.085659150321135 57.854176088392094 Number of keypoints: Image1: 478 Image2: 478 R_estimated: [[-4.14114037e-01 -9.10222978e-01 -1.92235063e-03] [-9.10224709e-01 4.14114689e-01 6.41695190e-05] [ 7.37665061e-04 1.77634454e-03 -9.99998150e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.97798869 -0.20304927 0.04805777] [ 0.20244047 0.97914324 0.01725792] [-0.0505592 -0.00714912 0.99869493]] t_gt: [ 0.45300548 -0.84321069 0.28945078] Pose Error in degrees for R and t: 177.31344746493306 81.90205733268574 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 9.99999707e-01 -7.59532505e-04 -9.19839202e-05] [ 7.59537361e-04 9.99999710e-01 5.27704428e-05] [ 9.19438126e-05 -5.28402925e-05 9.99999994e-01]] t_estimated: [[-9.96095553e-01] [ 8.82796933e-02] [-5.87637739e-04]] R_gt: [[ 0.98858567 0.15006326 -0.01348451] [-0.15024472 0.98855501 -0.01368185] [ 0.0112776 0.01555138 0.99981543]] t_gt: [-0.79851962 0.5916739 -0.1108531 ] Pose Error in degrees for R and t: 8.749029757291073 32.0376412500665 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 7.49317908e-01 -6.62209698e-01 -9.94491008e-04] [ 6.62210097e-01 7.49318209e-01 9.95624542e-05] [ 6.79258998e-04 -7.33165916e-04 9.99999501e-01]] t_estimated: [[-0.00833304] [-0.99996474] [-0.00104163]] R_gt: [[ 0.95748869 0.28845824 0.00269843] [-0.28824497 0.95706645 -0.03065491] [-0.0114249 0.02857343 0.99952607]] t_gt: [-0.77863991 0.62395713 -0.06631276] Pose Error in degrees for R and t: 58.25756459634811 51.87511381069597 Number of keypoints: Image1: 210 Image2: 210 R_estimated: [[-9.71629016e-01 -2.36507101e-01 -1.20244799e-03] [ 2.36509575e-01 -9.71625355e-01 -2.71862181e-03] [-5.25355592e-04 -2.92588230e-03 9.99995582e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 9.33713947e-01 3.57680619e-01 -1.55601900e-02] [-3.57635040e-01 9.33844550e-01 5.71023812e-03] [ 1.65736015e-02 2.32485249e-04 9.99862324e-01]] t_gt: [-0.7586221 0.65130806 -0.01703885] Pose Error in degrees for R and t: 172.72442027881374 40.83358760836462 Number of keypoints: Image1: 381 Image2: 381 R_estimated: [[ 9.99646675e-01 2.65805089e-02 2.95093629e-05] [-2.65805051e-02 9.99646669e-01 -1.20607442e-04] [-3.27047435e-05 1.19780455e-04 9.99999992e-01]] t_estimated: [[0.61487567] [0.78862288] [0.00136905]] R_gt: [[ 0.99926914 -0.02635443 -0.02771293] [ 0.02583943 0.99948996 -0.0187737 ] [ 0.0281939 0.01804512 0.99943874]] t_gt: [-0.48048861 -0.19366088 -0.85535148] Pose Error in degrees for R and t: 3.5755058944137206 63.2988339183224 Number of keypoints: Image1: 340 Image2: 340 R_estimated: [[ 9.99999996e-01 3.38826677e-05 8.74126915e-05] [-3.38643561e-05 9.99999977e-01 -2.09476790e-04] [-8.74197872e-05 2.09473829e-04 9.99999974e-01]] t_estimated: [[ 9.68160746e-01] [-2.50328513e-01] [ 6.36301495e-04]] R_gt: [[ 0.99334944 -0.11431143 0.01379899] [ 0.11505172 0.99013635 -0.07995124] [-0.00452241 0.08100727 0.99670336]] t_gt: [ 0.2001046 -0.41428023 -0.88787952] Pose Error in degrees for R and t: 8.065498744113478 72.73001869054129 Number of keypoints: Image1: 527 Image2: 527 R_estimated: [[ 9.99619696e-01 2.75763122e-02 1.03963045e-04] [-2.75762947e-02 9.99619688e-01 -1.66122277e-04] [-1.08504546e-04 1.63192185e-04 9.99999981e-01]] t_estimated: [[ 9.97940793e-01] [-6.41346175e-02] [ 9.61706574e-04]] R_gt: [[ 0.99095043 -0.13419139 0.00336504] [ 0.13405594 0.98803917 -0.07619914] [ 0.00690127 0.07596151 0.99708717]] t_gt: [ 0.27364006 -0.4348057 -0.85794237] Pose Error in degrees for R and t: 10.270890978377704 72.5341328380415 Number of keypoints: Image1: 472 Image2: 472 R_estimated: [[ 0.10824726 -0.99268417 -0.05348527] [-0.99285597 -0.10523607 -0.05623523] [ 0.05019524 0.05919048 -0.99698391]] t_estimated: [[ 0.69003505] [ 0.72280993] [-0.03738232]] R_gt: [[ 0.99956522 0.02731915 0.01109045] [-0.02696321 0.99915543 -0.03100527] [-0.01192763 0.03069266 0.99945762]] t_gt: [-0.81326911 0.55435458 -0.17687384] Pose Error in degrees for R and t: 174.67556932447954 81.1481984164456 Number of keypoints: Image1: 442 Image2: 442 R_estimated: [[ 9.84796632e-01 1.73711221e-01 6.70410201e-05] [-1.73711186e-01 9.84796574e-01 -3.63592286e-04] [-1.29181827e-04 3.46418684e-04 9.99999932e-01]] t_estimated: [[-0.97255226] [-0.23268219] [-0.00104473]] R_gt: [[ 0.999525 0.02871086 -0.01124301] [-0.02934209 0.99772029 -0.06076435] [ 0.00947408 0.06106591 0.99808873]] t_gt: [-0.80258238 0.45451427 -0.38636551] Pose Error in degrees for R and t: 9.051482748353328 47.53034955943249 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[-2.39577615e-01 9.70874997e-01 2.07528940e-03] [ 9.70877191e-01 2.39576583e-01 7.35857014e-04] [ 2.17234432e-04 2.19114601e-03 -9.99997576e-01]] t_estimated: [[-7.58345958e-01] [-6.51851937e-01] [-6.78305866e-04]] R_gt: [[ 0.99825437 -0.05345997 0.02511611] [ 0.05562599 0.9938836 -0.09539493] [-0.01986169 0.09662605 0.99512262]] t_gt: [-0.80821716 0.20752861 -0.55110516] Pose Error in degrees for R and t: 175.51510840465892 61.44487203485511 Number of keypoints: Image1: 284 Image2: 284 R_estimated: [[ 9.95729950e-01 9.23138328e-02 1.50988091e-04] [-9.23137956e-02 9.95729937e-01 -2.37359591e-04] [-1.72254936e-04 2.22407770e-04 9.99999960e-01]] t_estimated: [[-8.38598048e-01] [ 5.44750690e-01] [-2.58850752e-05]] R_gt: [[ 0.98527827 -0.16696211 0.03673714] [ 0.16799803 0.9854114 -0.02719711] [-0.03165998 0.0329678 0.99895472]] t_gt: [ 0.63026929 -0.7761958 0.01675415] Pose Error in degrees for R and t: 15.167214643808201 17.940626739836457 Number of keypoints: Image1: 162 Image2: 162 R_estimated: [[ 9.99999992e-01 1.21420234e-04 3.67427665e-05] [-1.21421552e-04 9.99999992e-01 3.58518401e-05] [-3.67384130e-05 -3.58563011e-05 9.99999999e-01]] t_estimated: [[9.98840020e-01] [4.81509530e-02] [3.17526046e-04]] R_gt: [[ 0.93878816 -0.34442891 -0.00676212] [ 0.34449163 0.93868404 0.0139933 ] [ 0.00152778 -0.01546653 0.99987909]] t_gt: [ 0.70352467 -0.70958588 0.03925456] Pose Error in degrees for R and t: 20.17656305422568 48.04445392845572 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[-0.70408205 -0.37681058 0.60189888] [-0.3675038 -0.53191634 -0.76289316] [ 0.60762606 -0.7583395 0.23603342]] t_estimated: [[0.77151675] [0.6172134 ] [0.15430335]] R_gt: [[ 8.96442840e-01 -4.42802185e-01 -1.77794695e-02] [ 4.43158797e-01 8.95695764e-01 3.65967756e-02] [-2.80063707e-04 -4.06863132e-02 9.99171738e-01]] t_gt: [ 0.70920872 -0.70015105 0.08253182] Pose Error in degrees for R and t: 159.69469333206925 82.65990282535782 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[-0.96023385 -0.27886272 -0.01365796] [-0.27886859 0.96032808 -0.0015113 ] [ 0.01353756 0.00235757 -0.99990558]] t_estimated: [[ 0.98838883] [ 0.15181853] [-0.0062172 ]] R_gt: [[ 0.9963073 0.08576893 -0.00397441] [-0.08578616 0.99630204 -0.0047104 ] [ 0.0035555 0.00503498 0.99998128]] t_gt: [-0.73511301 0.67485257 -0.06467511] Pose Error in degrees for R and t: 178.9612370814695 51.411680266495466 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999750e-01 6.92981130e-04 -1.43820079e-04] [-6.92954102e-04 9.99999742e-01 1.87893050e-04] [ 1.43950248e-04 -1.87793342e-04 9.99999972e-01]] t_estimated: [[-9.86139462e-01] [ 1.65918099e-01] [-3.82031958e-04]] R_gt: [[ 0.96461236 0.26304617 -0.01817688] [-0.26357525 0.96383453 -0.03937352] [ 0.00716315 0.04277194 0.99905912]] t_gt: [-0.74496026 0.65163776 -0.14283713] Pose Error in degrees for R and t: 15.435794705663188 32.562187825847914 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[-8.52706543e-01 -5.22387252e-01 -1.76362735e-03] [ 5.22390228e-01 -8.52701840e-01 -2.83208425e-03] [-2.44035792e-05 -3.33623847e-03 9.99994434e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.93583898 0.35240155 -0.00428398] [-0.35236017 0.9353548 -0.03084392] [-0.00686302 0.03037513 0.99951531]] t_gt: [-0.73932431 0.6703554 -0.06342881] Pose Error in degrees for R and t: 169.1475896714521 42.49883366547415 Number of keypoints: Image1: 332 Image2: 332 R_estimated: [[-9.97339780e-01 -7.28763987e-02 -1.54687702e-03] [ 7.28867211e-02 -9.97306212e-01 -8.23680163e-03] [-9.42441627e-04 -8.32763673e-03 9.99964881e-01]] t_estimated: [[0.90393447] [0.42766792] [0.00161995]] R_gt: [[ 0.99928005 -0.03507154 0.01451773] [ 0.03493156 0.99934207 0.00979061] [-0.01485032 -0.00927626 0.99984672]] t_gt: [-0.10476261 -0.86257883 0.49495712] Pose Error in degrees for R and t: 173.81811221795456 62.432452017093624 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[-8.45045936e-01 -5.34693183e-01 7.51786050e-04] [-5.34692378e-01 8.45039852e-01 -3.42187234e-03] [ 1.19436264e-03 -3.29361359e-03 -9.99993863e-01]] t_estimated: [[0.97073161] [0.24016495] [0.0009714 ]] R_gt: [[ 0.98738975 -0.15826464 0.00367041] [ 0.15821588 0.98734164 0.01112066] [-0.00538335 -0.01040016 0.99993142]] t_gt: [ 0.51302125 -0.85364067 0.09003778] Pose Error in degrees for R and t: 179.6081339049799 72.95762870681871 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-9.99749089e-01 -2.09434731e-02 7.94544456e-03] [-2.09356995e-02 9.99780262e-01 1.06030199e-03] [-7.96590505e-03 8.93692514e-04 -9.99967872e-01]] t_estimated: [[0.99995432] [0.00851125] [0.00434874]] R_gt: [[ 9.53551216e-01 -3.01231096e-01 -1.47257770e-05] [ 3.01230103e-01 9.53547471e-01 2.91667625e-03] [-8.63870254e-04 -2.78619066e-03 9.99995131e-01]] t_gt: [ 0.67477865 -0.73801481 0.00281432] Pose Error in degrees for R and t: 179.51144665886358 48.05024623533534 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[ 9.93496628e-01 1.13861540e-01 1.29860199e-05] [-1.13861541e-01 9.93496627e-01 4.33122482e-05] [-7.96996771e-06 -4.45091807e-05 9.99999999e-01]] t_estimated: [[0.53089525] [0.84743696] [0.00091222]] R_gt: [[ 0.99719794 -0.0737448 0.01257733] [ 0.07429762 0.99591936 -0.05122368] [-0.00874794 0.05201421 0.99860785]] t_gt: [ 0.68593304 -0.31315423 -0.65683353] Pose Error in degrees for R and t: 11.201148288262292 84.36556946044888 Number of keypoints: Image1: 231 Image2: 231 R_estimated: [[-0.94445733 0.32741479 0.02828259] [ 0.32740067 0.94487096 -0.00525985] [-0.02844555 0.00429204 -0.99958613]] t_estimated: [[ 0.98511216] [-0.17126244] [ 0.01493986]] R_gt: [[ 9.96069822e-01 -8.85637444e-02 -4.47148121e-04] [ 8.85264506e-02 9.95766433e-01 -2.47342213e-02] [ 2.63627914e-03 2.45968671e-02 9.99694151e-01]] t_gt: [ 0.87737226 -0.37877155 -0.29453357] Pose Error in degrees for R and t: 178.20673750584763 22.364925613845323 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-9.94006756e-01 1.08513554e-01 1.32430258e-02] [ 1.08506822e-01 9.94094946e-01 -1.22793927e-03] [-1.32980731e-02 2.16378715e-04 -9.99911553e-01]] t_estimated: [[ 0.99901717] [-0.04376948] [ 0.00699431]] R_gt: [[ 0.98363512 -0.17898734 -0.02059483] [ 0.17875052 0.98381064 -0.01287441] [ 0.02256631 0.00898215 0.99970438]] t_gt: [ 0.97038006 -0.23486227 -0.05658849] Pose Error in degrees for R and t: 179.54415871553968 11.675242489520299 Number of keypoints: Image1: 333 Image2: 333 R_estimated: [[ 0.42519182 -0.90462306 0.02947943] [-0.9046545 -0.42373002 0.04531115] [-0.02849819 -0.04593463 -0.99853786]] t_estimated: [[0.53861644] [0.84211543] [0.02709122]] R_gt: [[ 9.99435599e-01 -3.35473470e-02 1.90170447e-03] [ 3.35954071e-02 9.98750799e-01 -3.70111043e-02] [-6.57560769e-04 3.70544193e-02 9.99312224e-01]] t_gt: [ 0.76338887 -0.20379076 -0.61294923] Pose Error in degrees for R and t: 178.65477001724486 77.11746883601238 Number of keypoints: Image1: 76 Image2: 76 R_estimated: [[ 0.99892241 -0.03597338 -0.02932454] [ 0.03712932 0.99851452 0.03987689] [ 0.02784647 -0.04092272 0.9987742 ]] t_estimated: [[0.2149749 ] [0.97660026] [0.00614214]] R_gt: [[ 0.99417861 -0.0989595 0.04260543] [ 0.09490777 0.99154936 0.08844325] [-0.05099753 -0.08388561 0.9951689 ]] t_gt: [ 0.56688334 -0.45686168 0.68550761] Pose Error in degrees for R and t: 6.1454412637838844 71.3313263084682 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.94983335 0.31265854 -0.00782619] [-0.31256177 0.94982763 0.011516 ] [ 0.0110341 -0.00849212 0.99990306]] t_estimated: [[-0.79738347] [-0.60347233] [-0.00086956]] R_gt: [[ 0.97438501 -0.19149355 0.11791791] [ 0.15551311 0.95251245 0.26179631] [-0.16245134 -0.23675286 0.95789224]] t_gt: [ 0.4515672 -0.31501952 0.83477528] Pose Error in degrees for R and t: 32.76176199773727 80.17191275168186 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 2.31336024e-01 9.72871998e-01 1.92837482e-03] [ 9.72873170e-01 -2.31337838e-01 7.74305682e-04] [ 1.19940638e-03 1.69693933e-03 -9.99997841e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99857022 -0.05344859 0.00101992] [ 0.05335919 0.99769885 0.04180923] [-0.00325161 -0.04169633 0.9991251 ]] t_gt: [ 0.70474044 -0.56271195 0.43208353] Pose Error in degrees for R and t: 178.23433818932833 45.305460898223984 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 1.00000000e+00 5.46997818e-07 5.67567518e-10] [-5.46997818e-07 1.00000000e+00 -8.81465623e-13] [-5.67567519e-10 8.80838925e-13 1.00000000e+00]] t_estimated: [[1.00000000e+00] [5.96972828e-06] [1.62914315e-06]] R_gt: [[ 0.98121838 -0.17769067 0.07508504] [ 0.1580845 0.9637573 0.21489475] [-0.11054778 -0.19899005 0.97374687]] t_gt: [ 0.50969131 -0.41064466 0.75603289] Pose Error in degrees for R and t: 16.390417989822385 59.35681109797722 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 4.66275744e-01 -8.84639435e-01 -1.13870297e-05] [-8.84637375e-01 -4.66274630e-01 -2.16410355e-03] [ 1.90914186e-03 1.01914238e-03 -9.99997658e-01]] t_estimated: [[7.31029593e-01] [6.82345688e-01] [3.10691553e-04]] R_gt: [[ 0.96561424 -0.22404286 0.13188722] [ 0.17682336 0.93786287 0.29857376] [-0.19058486 -0.26498645 0.94523027]] t_gt: [ 0.47392475 -0.3060916 0.82565323] Pose Error in degrees for R and t: 161.06690380182374 82.07658856472246 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[-0.53298294 -0.84612266 0.00237302] [ 0.84605467 -0.53297233 -0.01148913] [ 0.01098596 -0.00411581 0.99993118]] t_estimated: [[ 0.85468863] [-0.51906623] [-0.00880904]] R_gt: [[ 9.89051761e-01 1.47544190e-01 2.49673455e-03] [-1.47563366e-01 9.88960085e-01 1.34694931e-02] [-4.82461084e-04 -1.36906036e-02 9.99906374e-01]] t_gt: [-0.85690378 0.51174328 0.06192524] Pose Error in degrees for R and t: 130.69949503174635 3.0751101665673524 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[-9.83543515e-01 -1.80303891e-01 -1.15178808e-02] [-1.80322413e-01 9.83607386e-01 5.81779253e-04] [ 1.12241755e-02 2.64913726e-03 -9.99933498e-01]] t_estimated: [[ 0.99660204] [ 0.08220186] [-0.00521781]] R_gt: [[ 0.97747088 0.20906154 0.02903524] [-0.20861649 0.97783828 -0.0176083 ] [-0.03207251 0.01115441 0.99942404]] t_gt: [-0.79165652 0.61086259 -0.0112629 ] Pose Error in degrees for R and t: 178.98350462159058 42.3797431548689 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.99837797e-01 -1.80082239e-02 -2.89594759e-04] [ 1.80083410e-02 9.99837754e-01 4.06766086e-04] [ 2.82222638e-04 -4.11915229e-04 9.99999875e-01]] t_estimated: [[-9.97169452e-01] [-7.51860531e-02] [ 3.77074747e-04]] R_gt: [[ 0.95177023 0.3063765 0.01632516] [-0.30653471 0.95182308 0.00824527] [-0.01301161 -0.01285182 0.99983276]] t_gt: [-0.77608318 0.62939598 0.03944119] Pose Error in degrees for R and t: 18.908029498939896 43.399596668778585 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.94735577e-01 -1.02475025e-01 2.70545359e-05] [ 1.02475022e-01 9.94735573e-01 9.71918094e-05] [-3.68718424e-05 -9.39077364e-05 9.99999995e-01]] t_estimated: [[9.42323259e-01] [3.34703456e-01] [6.86236481e-04]] R_gt: [[ 0.99792677 0.00479912 0.06418349] [-0.004415 0.99997205 -0.00611498] [-0.06421098 0.0058191 0.99791983]] t_gt: [-0.69101589 -0.03810559 0.72183447] Pose Error in degrees for R and t: 7.17017886296405 48.43884542688882 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 0.76209997 0.64743245 -0.00590415] [ 0.64741832 -0.76191727 0.01820964] [ 0.00729104 -0.01770002 -0.99981676]] t_estimated: [[0.82124977] [0.57055247] [0.00432237]] R_gt: [[ 0.99526203 -0.0664585 0.07097825] [ 0.06577248 0.99776254 0.01196503] [-0.07161419 -0.0072404 0.99740606]] t_gt: [-0.18834109 -0.71323273 0.6751494 ] Pose Error in degrees for R and t: 179.7926242915884 56.03450506140452 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 9.99995379e-01 3.02465161e-03 3.06014742e-04] [-3.02464978e-03 9.99995426e-01 -6.45651413e-06] [-3.06032871e-04 5.53089687e-06 9.99999953e-01]] t_estimated: [[9.23848382e-01] [3.82757938e-01] [7.26295898e-04]] R_gt: [[ 0.97407137 -0.21692872 0.06425403] [ 0.21672722 0.97617926 0.01016994] [-0.06492903 0.00401936 0.99788208]] t_gt: [ 0.45151968 -0.85481913 0.25576206] Pose Error in degrees for R and t: 13.238368168469364 84.82876016071758 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.67740636e-01 2.51946206e-01 1.08189785e-03] [-2.51945290e-01 9.67741046e-01 -9.15364497e-04] [-1.27761957e-03 6.13256353e-04 9.99998996e-01]] t_estimated: [[0.45973007] [0.88805782] [0.00125609]] R_gt: [[ 0.99441736 -0.10087036 0.03097871] [ 0.1017156 0.99444585 -0.02703699] [-0.028081 0.03003707 0.99915533]] t_gt: [ 0.79899717 -0.58629717 -0.13363818] Pose Error in degrees for R and t: 20.53384013044599 81.1695727540787 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[ 9.91178618e-01 1.32531827e-01 5.11393000e-04] [-1.32531582e-01 9.91178663e-01 -4.87051666e-04] [-5.71431678e-04 4.14979474e-04 9.99999751e-01]] t_estimated: [[0.68801175] [0.72569902] [0.00087645]] R_gt: [[ 0.97974883 -0.19371039 0.05067738] [ 0.19731103 0.97708934 -0.07978196] [-0.03406201 0.08816541 0.99552414]] t_gt: [ 0.8325818 -0.47610399 -0.28307691] Pose Error in degrees for R and t: 19.661118451674394 76.87538267116672 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-9.46747644e-01 -3.21976186e-01 4.83649730e-04] [-3.21975400e-01 9.46747210e-01 1.24984500e-03] [-8.60314360e-04 1.02756450e-03 -9.99999102e-01]] t_estimated: [[0.9946504 ] [0.10329062] [0.00127519]] R_gt: [[ 0.94820489 -0.31660664 0.0258375 ] [ 0.31760167 0.94333726 -0.09614819] [ 0.00606653 0.09937459 0.99503205]] t_gt: [ 0.87844992 -0.40916902 -0.24679233] Pose Error in degrees for R and t: 179.69084237692712 33.780625002384376 Number of keypoints: Image1: 320 Image2: 320 R_estimated: [[ 6.13705124e-01 -7.89535164e-01 4.94944833e-04] [-7.89535278e-01 -6.13705175e-01 6.06773331e-05] [ 2.55843317e-04 -4.28014397e-04 -9.99999876e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99030626 0.1388894 -0.00143966] [-0.1388203 0.99004871 0.02305078] [ 0.00462664 -0.02262701 0.99973388]] t_gt: [-0.8629124 0.49283989 0.11176331] Pose Error in degrees for R and t: 178.88122776373868 60.8193827440678 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.99278754e-01 3.79732709e-02 -5.00717282e-05] [-3.79732706e-02 9.99278755e-01 7.54795438e-06] [ 5.03222348e-05 -5.64112316e-06 9.99999999e-01]] t_estimated: [[-9.99581333e-01] [-2.89295199e-02] [-4.91510704e-04]] R_gt: [[ 0.97668159 0.21301641 0.02677983] [-0.21275399 0.97702789 -0.01231889] [-0.02878847 0.00633422 0.99956598]] t_gt: [-0.79663232 0.60445912 0.00247271] Pose Error in degrees for R and t: 10.258057293448251 38.848171782650134 Number of keypoints: Image1: 255 Image2: 255 R_estimated: [[ 9.99931499e-01 -1.17022752e-02 -2.34446892e-04] [ 1.17023434e-02 9.99931483e-01 2.91890186e-04] [ 2.31015049e-04 -2.94613769e-04 9.99999930e-01]] t_estimated: [[-9.90089154e-01] [ 1.40440174e-01] [ 1.56050136e-04]] R_gt: [[ 0.95451955 0.29776422 0.01511916] [-0.29796348 0.95448669 0.01317604] [-0.01050804 -0.01708155 0.99979887]] t_gt: [-0.77824011 0.62604164 0.04913448] Pose Error in degrees for R and t: 18.03771780560624 30.85632053581044 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[ 0.846073 0.53306086 0.0025673 ] [ 0.53305393 -0.84607616 0.0029396 ] [ 0.00373912 -0.0011186 -0.99999238]] t_estimated: [[0.33660039] [0.94164656] [0.00139091]] R_gt: [[ 0.9984009 -0.05542358 0.01114256] [ 0.05461268 0.99650766 0.06316215] [-0.01460384 -0.06245243 0.9979416 ]] t_gt: [ 0.58216338 -0.51667094 0.62780326] Pose Error in degrees for R and t: 176.62850963996357 73.1604962925147 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 0.20898605 0.9779173 0.00160825] [ 0.97791508 -0.20898943 0.00234774] [ 0.002632 0.00108209 -0.99999595]] t_estimated: [[0.65019846] [0.75976229] [0.00179613]] R_gt: [[ 0.98166594 -0.1710553 0.08409218] [ 0.14705087 0.96035002 0.23686044] [-0.12127445 -0.22015232 0.96789818]] t_gt: [ 0.4649314 -0.37345807 0.80272527] Pose Error in degrees for R and t: 173.40948055470335 88.85400111833825 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 4.13704108e-01 -9.10403924e-01 -3.68865992e-03] [-9.10409152e-01 -4.13708690e-01 5.44563367e-04] [-2.02180329e-03 3.13290165e-03 -9.99993049e-01]] t_estimated: [[8.01639520e-01] [5.97807406e-01] [6.21217875e-04]] R_gt: [[ 0.96682304 -0.21592213 0.13649971] [ 0.1676579 0.93951778 0.29866026] [-0.19273132 -0.26586665 0.9445473 ]] t_gt: [ 0.45985743 -0.29484881 0.83761287] Pose Error in degrees for R and t: 160.91716456195974 78.87807690721783 Number of keypoints: Image1: 186 Image2: 186 R_estimated: [[ 9.83835953e-01 1.79070154e-01 8.34923455e-04] [-1.79069731e-01 9.83836227e-01 -5.56446626e-04] [-9.21070924e-04 3.97942678e-04 9.99999497e-01]] t_estimated: [[0.63215773] [0.7748391 ] [0.00099084]] R_gt: [[ 0.99478359 -0.0964406 0.03325831] [ 0.09732832 0.99490668 -0.02622338] [-0.03055998 0.02932336 0.99910337]] t_gt: [ 0.78754231 -0.6021147 -0.13128216] Pose Error in degrees for R and t: 16.052655388257097 88.21329311187333 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[ 9.99985336e-01 -5.41551255e-03 3.11519246e-05] [ 5.41548158e-03 9.99984912e-01 9.20556695e-04] [-3.61367409e-05 -9.20374493e-04 9.99999576e-01]] t_estimated: [[-0.69353809] [-0.72041941] [-0.00089604]] R_gt: [[ 0.97994273 -0.19186815 0.0538547 ] [ 0.19570944 0.9775091 -0.0785761 ] [-0.03756684 0.08753932 0.99545295]] t_gt: [ 0.82571452 -0.48988103 -0.27966428] Pose Error in degrees for R and t: 12.20101614139847 77.32068070513195 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 8.57816373e-01 -5.13956292e-01 1.92665713e-05] [-5.13955372e-01 -8.57814908e-01 -1.85997848e-03] [ 9.72474794e-04 1.58561784e-03 -9.99998270e-01]] t_estimated: [[0.59027308] [0.80720309] [0.00093103]] R_gt: [[ 0.94962083 -0.31182346 0.03144443] [ 0.31338452 0.9436461 -0.10640808] [ 0.00350821 0.11090125 0.9938256 ]] t_gt: [ 0.8723596 -0.4036656 -0.27575861] Pose Error in degrees for R and t: 174.02134318086127 79.11528206756033 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[-0.98280836 -0.18422979 -0.0121287 ] [ 0.18399309 -0.98275568 0.01837986] [-0.01530566 0.01583228 0.99975751]] t_estimated: [[0.90042174] [0.43501388] [0.00189962]] R_gt: [[ 0.99801572 0.00778804 0.06247343] [-0.00700899 0.99989458 -0.01268097] [-0.06256599 0.01221837 0.99796595]] t_gt: [-0.74234567 0.02381829 0.6695936 ] Pose Error in degrees for R and t: 169.79340687347133 48.944412762364344 Number of keypoints: Image1: 164 Image2: 164 R_estimated: [[ 0.98451076 -0.17525506 -0.00492269] [ 0.1752802 0.9845046 0.00524748] [ 0.00392677 -0.00602905 0.99997412]] t_estimated: [[-0.88004272] [-0.47487454] [-0.00435665]] R_gt: [[ 9.95840590e-01 -5.58097556e-02 7.20118993e-02] [ 5.56390996e-02 9.98441131e-01 4.37760635e-03] [-7.21446226e-02 -3.52901580e-04 9.97394254e-01]] t_gt: [-0.31589447 -0.64546876 0.69539971] Pose Error in degrees for R and t: 8.175393585457668 54.44475237116456 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[-7.94218366e-01 -6.07600492e-01 -6.23132214e-03] [ 6.07632065e-01 -7.94164649e-01 -9.26197696e-03] [ 6.78886003e-04 -1.11423833e-02 9.99937691e-01]] t_estimated: [[9.22923565e-01] [3.84982528e-01] [7.38929996e-04]] R_gt: [[ 0.97742886 -0.19990322 0.0683475 ] [ 0.19979 0.97980116 0.00854168] [-0.06867493 0.0053063 0.99762547]] t_gt: [ 0.39484626 -0.87039245 0.29413163] Pose Error in degrees for R and t: 131.0943833207545 88.3069858661141 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99754831e-01 -2.21421907e-02 4.35397513e-05] [ 2.21421868e-02 9.99754828e-01 8.92133380e-05] [-4.55044553e-05 -8.82274004e-05 9.99999995e-01]] t_estimated: [[0.9636796 ] [0.26705905] [0.001044 ]] R_gt: [[ 0.99943769 -0.02562257 0.02164816] [ 0.02547258 0.99964919 0.00718788] [-0.02182363 -0.00663259 0.99973976]] t_gt: [-0.35010563 -0.72886827 0.58836816] Pose Error in degrees for R and t: 1.3177970309190985 57.89812719286516 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-5.89020082e-01 8.08094464e-01 -6.21944434e-03] [-8.08061949e-01 -5.89052459e-01 -7.28609545e-03] [-9.55143237e-03 7.34039775e-04 9.99954115e-01]] t_estimated: [[0.95663224] [0.29128225] [0.00306613]] R_gt: [[ 0.98998105 -0.14074421 0.01139236] [ 0.14063797 0.99001373 0.00961621] [-0.01263236 -0.00791819 0.99988883]] t_gt: [ 0.44858816 -0.8852041 0.12321673] Pose Error in degrees for R and t: 134.1808412814172 80.11521755427289 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.78186415e-01 -2.07728965e-01 -1.19311274e-04] [ 2.07728995e-01 9.78186353e-01 3.50776202e-04] [ 4.38422828e-05 -3.67908927e-04 9.99999931e-01]] t_estimated: [[0.92987536] [0.36787345] [0.00097064]] R_gt: [[ 9.56649472e-01 -2.91163872e-01 6.81092288e-03] [ 2.91160139e-01 9.56672598e-01 1.60635630e-03] [-6.98335971e-03 4.46106973e-04 9.99974694e-01]] t_gt: [ 0.65757442 -0.75322974 0.01551893] Pose Error in degrees for R and t: 4.955202121963906 70.46491056568541 Number of keypoints: Image1: 393 Image2: 393 R_estimated: [[ 9.99964956e-01 -8.37176364e-03 -5.29736725e-06] [ 8.37176425e-03 9.99964948e-01 1.28299027e-04] [ 4.22309243e-06 -1.28338879e-04 9.99999992e-01]] t_estimated: [[ 0.0063063 ] [ 0.9999782 ] [-0.00195732]] R_gt: [[ 9.99130865e-01 -4.16819169e-02 -9.41327040e-05] [ 4.16466154e-02 9.98387290e-01 -3.85617702e-02] [ 1.70076338e-03 3.85246504e-02 9.99256226e-01]] t_gt: [ 0.77106364 -0.28176933 -0.57102269] Pose Error in degrees for R and t: 2.9262842065378654 73.99132168286778 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-0.2679613 -0.96342587 0.00270893] [ 0.96341726 -0.26794252 0.00582971] [-0.00489066 0.00417196 0.99997934]] t_estimated: [[0.99298497] [0.11823635] [0.001002 ]] R_gt: [[ 0.99107428 -0.12416863 0.04851128] [ 0.11833416 0.98699988 0.10875284] [-0.06138483 -0.10204123 0.9928849 ]] t_gt: [ 0.5754878 -0.47378983 0.66658606] Pose Error in degrees for R and t: 98.71073521293458 58.92902580755195 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 8.10176668e-01 5.86180695e-01 2.44128742e-03] [ 5.86179364e-01 -8.10180259e-01 1.30393127e-03] [ 2.74222221e-03 3.74617618e-04 -9.99996170e-01]] t_estimated: [[0.80877334] [0.58811982] [0.00086871]] R_gt: [[ 0.9704 -0.20781373 0.123034 ] [ 0.16768662 0.94642139 0.2759852 ] [-0.17379608 -0.24718351 0.95325512]] t_gt: [ 0.46365989 -0.31524203 0.828035 ] Pose Error in degrees for R and t: 168.133515358126 79.02883202579633 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 9.99778047e-01 -2.10678519e-02 -4.72352645e-05] [ 2.10678450e-02 9.99778038e-01 -1.42419426e-04] [ 5.02252514e-05 1.41392670e-04 9.99999989e-01]] t_estimated: [[ 0.61137061] [-0.7913431 ] [-0.00144202]] R_gt: [[ 0.99776931 -0.0665524 0.00533307] [ 0.06672909 0.99669041 -0.04643223] [-0.00222542 0.04668493 0.99890675]] t_gt: [ 0.68218411 -0.26609934 -0.68104036] Pose Error in degrees for R and t: 3.738275024836339 51.05123022096463 Number of keypoints: Image1: 257 Image2: 257 R_estimated: [[-0.96327475 0.26682652 0.03008926] [ 0.26680995 0.963738 -0.00463882] [-0.03023592 0.00355965 -0.99953645]] t_estimated: [[ 0.99119652] [-0.13146917] [ 0.01566223]] R_gt: [[ 0.99627819 -0.08551242 -0.01093859] [ 0.08533674 0.9962288 -0.01567982] [ 0.01223821 0.01468832 0.99981764]] t_gt: [ 0.90950961 -0.34633657 -0.22987658] Pose Error in degrees for R and t: 178.80180073895403 19.36334381688971 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-9.85867768e-01 -1.67055709e-01 1.25353234e-02] [-1.67062709e-01 9.85946148e-01 4.94017008e-04] [-1.24416822e-02 -1.60714964e-03 -9.99921308e-01]] t_estimated: [[0.99595384] [0.08962847] [0.00653319]] R_gt: [[ 0.98411587 -0.17421324 -0.03417661] [ 0.17404575 0.98470683 -0.00786802] [ 0.03502477 0.0017946 0.99938481]] t_gt: [ 0.97807383 -0.20018587 -0.0574213 ] Pose Error in degrees for R and t: 178.7067762806261 17.098855280327218 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 9.99999941e-01 -3.39737169e-04 -5.55197031e-05] [ 3.39741476e-04 9.99999939e-01 7.75879325e-05] [ 5.54933402e-05 -7.76067902e-05 9.99999995e-01]] t_estimated: [[-9.97126704e-01] [ 7.57503676e-02] [-4.66277018e-04]] R_gt: [[ 9.96413010e-01 8.46241632e-02 -4.91397279e-04] [-8.46254273e-02 9.96395774e-01 -5.96423878e-03] [-1.55947410e-05 5.98357497e-03 9.99982445e-01]] t_gt: [-0.72219979 0.69049937 -0.04047327] Pose Error in degrees for R and t: 4.885856272853446 39.4256675557424 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.99999712e-01 -7.39356698e-04 -1.68422096e-04] [ 7.39371068e-04 9.99999723e-01 8.52704235e-05] [ 1.68359004e-04 -8.53949255e-05 9.99999982e-01]] t_estimated: [[-9.91396964e-01] [ 1.30888145e-01] [-5.94681406e-04]] R_gt: [[ 0.96628409 0.25696787 -0.01618491] [-0.25739821 0.96563394 -0.03602623] [ 0.00637064 0.03897781 0.99921966]] t_gt: [-0.74204206 0.65824915 -0.12681336] Pose Error in degrees for R and t: 15.120994142694311 34.72549241675353 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 6.52516579e-01 -7.57762575e-01 -4.24186015e-03] [ 7.57771259e-01 6.52519850e-01 7.51383713e-04] [ 2.19852750e-03 -3.70465004e-03 9.99990721e-01]] t_estimated: [[-0.04529348] [-0.99897293] [-0.00125815]] R_gt: [[ 0.93402279 0.35720867 -0.00125204] [-0.35702774 0.93342785 -0.03527438] [-0.01143188 0.0333934 0.99937659]] t_gt: [-0.7358348 0.67442253 -0.06083905] Pose Error in degrees for R and t: 70.22915807879156 50.18395752799441 Number of keypoints: Image1: 273 Image2: 273 R_estimated: [[-0.00843378 0.99984509 0.01544864] [ 0.99987097 0.0086432 -0.01353999] [-0.01367141 0.01533246 -0.99978898]] t_estimated: [[ 0.74731277] [-0.66439772] [ 0.0099646 ]] R_gt: [[ 0.98815252 -0.15074832 0.02878618] [ 0.15181786 0.98761923 -0.03948599] [-0.02247755 0.04338905 0.998805 ]] t_gt: [ 0.62654158 -0.77465622 -0.08575193] Pose Error in degrees for R and t: 176.09921372695757 10.87295352310929 Number of keypoints: Image1: 154 Image2: 154 R_estimated: [[ 9.99998652e-01 -1.17883379e-04 1.63781713e-03] [ 1.21272208e-04 9.99997852e-01 -2.06916822e-03] [-1.63756969e-03 2.06936405e-03 9.99996518e-01]] t_estimated: [[-0.63906983] [-0.76914672] [-0.0017537 ]] R_gt: [[ 0.94267223 -0.33371198 -0.00247559] [ 0.33370338 0.94251406 0.01757723] [-0.00353243 -0.01739459 0.99984184]] t_gt: [ 0.69260867 -0.71938468 0.05271543] Pose Error in degrees for R and t: 19.521654650452014 83.65040602841836 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99999565e-01 -7.02269129e-04 6.13646597e-04] [ 7.02584911e-04 9.99999621e-01 -5.14535593e-04] [-6.13285022e-04 5.14966508e-04 9.99999679e-01]] t_estimated: [[-0.38953177] [-0.92101155] [-0.00165056]] R_gt: [[ 0.89847765 -0.43694923 -0.04257237] [ 0.43843134 0.89806212 0.0355314 ] [ 0.02270779 -0.05058819 0.99846103]] t_gt: [ 0.70972265 -0.70203606 0.05864406] Pose Error in degrees for R and t: 26.13415914842031 68.2827170647137 Number of keypoints: Image1: 398 Image2: 398 R_estimated: [[ 9.99998674e-01 -1.62452070e-03 1.10548646e-04] [ 1.62452133e-03 9.99998680e-01 -5.60508003e-06] [-1.10539395e-04 5.78466123e-06 9.99999994e-01]] t_estimated: [[ 0.36154896] [-0.93234793] [ 0.003111 ]] R_gt: [[ 0.99962429 0.02213754 0.01618615] [-0.02157752 0.99919073 -0.03395071] [-0.01692347 0.03358895 0.99929183]] t_gt: [-0.83406453 0.52662076 -0.1643379 ] Pose Error in degrees for R and t: 2.5385912478215 37.52758207205894 Number of keypoints: Image1: 341 Image2: 341 R_estimated: [[ 1.00000000e+00 -1.13931087e-12 -1.53297514e-14] [ 1.13925536e-12 1.00000000e+00 2.64415226e-14] [ 1.54412073e-14 -2.63153214e-14 1.00000000e+00]] t_estimated: [[ 0.60971843] [-0.79261191] [ 0.0031281 ]] R_gt: [[ 0.99978759 0.01903167 -0.00792343] [-0.01947315 0.99801165 -0.05995618] [ 0.0067674 0.06009889 0.99816895]] t_gt: [-0.82558853 0.40586427 -0.39201757] Pose Error in degrees for R and t: 3.638693052889225 34.27992694704905 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 9.99995947e-01 -2.84696940e-03 1.60460268e-05] [ 2.84697185e-03 9.99995935e-01 -1.54748291e-04] [-1.56053980e-05 1.54793346e-04 9.99999988e-01]] t_estimated: [[ 0.8395586 ] [-0.54326831] [ 0.00094688]] R_gt: [[ 0.99729142 -0.06595578 0.03256791] [ 0.06892897 0.99253074 -0.10066259] [-0.0256851 0.10263556 0.99438675]] t_gt: [-0.78331461 0.14680471 -0.60404189] Pose Error in degrees for R and t: 7.110806312743686 42.44166300786418 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.99999991e-01 4.22989863e-05 1.30281750e-04] [-4.22650391e-05 9.99999965e-01 -2.60559488e-04] [-1.30292767e-04 2.60553979e-04 9.99999958e-01]] t_estimated: [[9.70327020e-01] [2.41795752e-01] [5.37169563e-04]] R_gt: [[ 0.99884205 -0.04074865 -0.02561227] [ 0.04028326 0.99901881 -0.01843061] [ 0.02633765 0.01737794 0.99950221]] t_gt: [-0.23526476 -0.39706638 -0.88712388] Pose Error in degrees for R and t: 2.9430515855937265 71.04840388259788 Number of keypoints: Image1: 373 Image2: 373 R_estimated: [[ 9.99656471e-01 2.62093505e-02 1.03746555e-04] [-2.62093319e-02 9.99656461e-01 -1.76954695e-04] [-1.08348782e-04 1.74174778e-04 9.99999979e-01]] t_estimated: [[ 9.92173777e-01] [-1.24861355e-01] [ 9.15028811e-04]] R_gt: [[ 0.99247634 -0.12171401 0.01335277] [ 0.12238973 0.9893743 -0.07848244] [-0.00365816 0.07952586 0.9968257 ]] t_gt: [ 0.31713095 -0.42898472 -0.84581326] Pose Error in degrees for R and t: 9.66247690857638 68.44225960645845 Number of keypoints: Image1: 534 Image2: 534 R_estimated: [[-9.99593303e-01 2.28127340e-02 1.71116024e-02] [ 2.28053260e-02 9.99739728e-01 -6.27956420e-04] [-1.71214741e-02 -2.37465362e-04 -9.99853389e-01]] t_estimated: [[ 0.99794823] [-0.06335639] [ 0.00923583]] R_gt: [[ 0.9907665 -0.13549519 0.00500046] [ 0.1355146 0.98834555 -0.06936052] [ 0.00445503 0.06939779 0.99757843]] t_gt: [ 0.3496324 -0.4728913 -0.80878366] Pose Error in degrees for R and t: 178.96170306270972 68.19764904825074 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.95227175 -0.30524527 -0.00196148] [ 0.30524907 0.95227029 0.00207141] [ 0.00123557 -0.00257129 0.99999593]] t_estimated: [[-0.81958032] [-0.57295889] [-0.00249113]] R_gt: [[ 0.99006554 0.14014662 -0.011415 ] [-0.14023124 0.99009426 -0.00699795] [ 0.01032062 0.00852868 0.99991031]] t_gt: [-0.80261618 0.59259118 -0.06813928] Pose Error in degrees for R and t: 25.843956812092713 71.43092024684658 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 0.88732294 -0.46093078 0.0141708 ] [ 0.46114166 0.88705878 -0.02179642] [-0.00252369 0.02587521 0.999662 ]] t_estimated: [[-0.78934987] [-0.61393879] [-0.00243627]] R_gt: [[ 0.95672039 0.29099731 0.00270339] [-0.29079711 0.95633268 -0.02940487] [-0.01114367 0.02734522 0.99956321]] t_gt: [-0.77870217 0.6243666 -0.0615571 ] Pose Error in degrees for R and t: 44.370926199516845 76.61486294105977 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99937622e-01 1.11672801e-02 -2.07391442e-04] [-1.11672775e-02 9.99937644e-01 1.35012334e-05] [ 2.07529282e-04 -1.11843935e-05 9.99999978e-01]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.93394197 0.3570787 -0.01576536] [-0.35706455 0.93407216 0.00382573] [ 0.01609097 0.00205599 0.99986818]] t_gt: [-0.75731702 0.6527725 -0.01894708] Pose Error in degrees for R and t: 20.302510379305374 40.948082294896146 Number of keypoints: Image1: 89 Image2: 89 R_estimated: [[ 0.57003804 0.82157385 -0.00854679] [ 0.82148056 -0.56972117 0.02423794] [ 0.01504397 -0.02083757 -0.99966968]] t_estimated: [[0.53122592] [0.84722848] [0.00170812]] R_gt: [[ 0.99388542 0.0635867 -0.09027061] [-0.07243568 0.99250543 -0.09840948] [ 0.08333664 0.10434686 0.99104412]] t_gt: [-0.16018203 0.61888942 -0.76897178] Pose Error in degrees for R and t: 178.61215001664456 64.0278379019591 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99997692e-01 -2.03768095e-03 -6.81290767e-04] [ 2.03792022e-03 9.99997862e-01 3.50691892e-04] [ 6.80574712e-04 -3.52079499e-04 9.99999706e-01]] t_estimated: [[-0.99997418] [-0.00689075] [-0.00203868]] R_gt: [[ 0.97564911 0.12177175 -0.18242935] [-0.15538633 0.97074579 -0.18305074] [ 0.15480216 0.20694059 0.96602964]] t_gt: [-0.12288627 0.66005857 -0.7410949 ] Pose Error in degrees for R and t: 17.064726157024033 83.11680481115535 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-0.53014677 0.84781449 -0.01244998] [ 0.84781184 0.53024951 0.00710951] [ 0.01262914 -0.00678616 -0.99989722]] t_estimated: [[ 0.3507392 ] [-0.93643638] [-0.00830141]] R_gt: [[ 0.96466228 0.1554724 -0.21273494] [-0.20157912 0.955392 -0.21585134] [ 0.16968635 0.25110704 0.95297086]] t_gt: [-0.12791728 0.70700371 -0.69554506] Pose Error in degrees for R and t: 176.04036408873586 45.48020893434345 Number of keypoints: Image1: 405 Image2: 405 R_estimated: [[ 0.53470748 0.84476727 -0.02135818] [ 0.84476824 -0.53372884 0.0387316 ] [ 0.02131971 -0.03875278 -0.99902137]] t_estimated: [[ 0.51204448] [-0.85867967] [-0.02190145]] R_gt: [[ 0.99986394 0.01430636 -0.00829414] [-0.0147095 0.9986059 -0.05067609] [ 0.00755677 0.05079002 0.99868074]] t_gt: [-0.06108276 0.87903363 -0.47283059] Pose Error in degrees for R and t: 179.79172891034534 39.128761400719895 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[ 0.97455141 -0.22409768 -0.00545725] [ 0.22415558 0.97443793 0.01500004] [ 0.00195628 -0.01584159 0.9998726 ]] t_estimated: [[-9.99994892e-01] [-3.10075936e-03] [-7.75189839e-04]] R_gt: [[ 0.99629232 -0.08603636 0.00111376] [ 0.08563867 0.99025557 -0.10981594] [ 0.00834544 0.10950348 0.99395121]] t_gt: [ 0.71080044 0.5185518 -0.47525442] Pose Error in degrees for R and t: 10.7638617756938 44.599163026035 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.89296825e-01 1.45916991e-01 -1.55302357e-04] [ 1.45913555e-01 -9.89265020e-01 7.99714897e-03] [ 1.01328472e-03 -7.93421481e-03 -9.99968010e-01]] t_estimated: [[-0.77358719] [ 0.63366817] [ 0.0052445 ]] R_gt: [[ 0.99171403 -0.12063558 0.04416672] [ 0.1266141 0.9760098 -0.1771207 ] [-0.02174025 0.18124403 0.98319791]] t_gt: [ 0.6854688 0.56436727 -0.46002403] Pose Error in degrees for R and t: 169.9992100686014 79.91779767875391 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.99999379e-01 1.11005632e-03 -9.81337277e-05] [-1.11006019e-03 9.99999383e-01 -3.93913346e-05] [ 9.80899406e-05 3.95002444e-05 9.99999994e-01]] t_estimated: [[ 1.31501048e-03] [-9.99998818e-01] [-7.96636383e-04]] R_gt: [[ 9.99773541e-01 2.11309575e-02 -2.31288849e-03] [-2.12513861e-02 9.96148527e-01 -8.50670938e-02] [ 5.06533871e-04 8.50969699e-02 9.96372233e-01]] t_gt: [-0.02130055 0.56631852 -0.82391117] Pose Error in degrees for R and t: 5.0138849377966 55.54981470183891 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99999167e-01 -5.32106583e-04 1.17604206e-03] [ 5.33383784e-04 9.99999268e-01 -1.08596971e-03] [-1.17546335e-03 1.08659609e-03 9.99998719e-01]] t_estimated: [[-0.61225248] [-0.79066149] [-0.00114331]] R_gt: [[ 0.99928183 0.01688827 -0.03392465] [-0.02272402 0.98344448 -0.17978115] [ 0.03032709 0.18042217 0.98312121]] t_gt: [ 0.02053452 0.43518882 -0.90010501] Pose Error in degrees for R and t: 10.558081375604882 69.16792410263119 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99995624e-01 2.95638819e-03 -1.09303011e-04] [-2.95638853e-03 9.99995630e-01 -2.98841108e-06] [ 1.09293698e-04 3.31154017e-06 9.99999994e-01]] t_estimated: [[ 4.61695891e-01] [-8.87038256e-01] [-1.90947669e-04]] R_gt: [[ 0.9924179 -0.11705695 -0.03746877] [ 0.10832315 0.97706109 -0.18334818] [ 0.05807077 0.17789917 0.98233369]] t_gt: [ 0.44078324 -0.13604761 -0.88724359] Pose Error in degrees for R and t: 12.689539010766609 71.0733968019647 Number of keypoints: Image1: 454 Image2: 454 R_estimated: [[-0.98540585 -0.16366859 0.0467751 ] [-0.16360994 0.9865119 0.00510589] [-0.04697987 -0.0026215 -0.9988924 ]] t_estimated: [[0.99533926] [0.09348928] [0.02365407]] R_gt: [[ 0.99874995 -0.0478334 0.01454146] [ 0.04794261 0.99882374 -0.00727668] [-0.01417585 0.00796482 0.99986789]] t_gt: [ 0.39171982 -0.91022693 0.13432247] Pose Error in degrees for R and t: 176.51896987706078 72.06276784919294 Number of keypoints: Image1: 224 Image2: 224 R_estimated: [[ 9.56986576e-01 -2.90129879e-01 1.16049026e-03] [ 2.90130218e-01 9.56987168e-01 -1.31512719e-04] [-1.07241852e-03 4.62549199e-04 9.99999318e-01]] t_estimated: [[0.95496359] [0.29672083] [0.00113686]] R_gt: [[ 0.99013085 -0.13597238 0.03398039] [ 0.13531008 0.99057909 0.02109692] [-0.03652841 -0.01629021 0.99919958]] t_gt: [ 0.40147926 -0.85348355 0.33223521] Pose Error in degrees for R and t: 9.339561704005044 82.49981273825833 Number of keypoints: Image1: 361 Image2: 361 R_estimated: [[ 9.97898913e-01 -6.47900632e-02 8.25678421e-05] [ 6.47900457e-02 9.97898898e-01 1.99726377e-04] [-9.53346432e-05 -1.93957160e-04 9.99999977e-01]] t_estimated: [[ 9.93970953e-01] [ 1.09643706e-01] [-5.16478274e-05]] R_gt: [[ 0.97799121 -0.20333494 0.04679328] [ 0.20261846 0.97906121 0.01963922] [-0.04980762 -0.00972588 0.99871139]] t_gt: [ 0.45211085 -0.84164032 0.29535969] Pose Error in degrees for R and t: 8.512342067280635 69.0784569084506 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.77621962e-01 -2.10368251e-01 7.06247068e-04] [ 2.10368040e-01 9.77622195e-01 3.62294748e-04] [-7.66658122e-04 -2.05615491e-04 9.99999685e-01]] t_estimated: [[0.91207253] [0.41002667] [0.00135322]] R_gt: [[ 0.99891459 -0.04643317 0.00352761] [ 0.0464072 0.99889617 0.00723641] [-0.00386059 -0.00706416 0.99996674]] t_gt: [ 0.86880607 -0.43778222 0.23134982] Pose Error in degrees for R and t: 9.493174980632597 52.17695363162624 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[-5.77588037e-01 -8.16328043e-01 -7.64695433e-04] [-8.16327337e-01 5.77588544e-01 -1.07354032e-03] [ 1.31804039e-03 4.17774048e-06 -9.99999131e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99298197 -0.11820923 0.00373432] [ 0.11824165 0.99293471 -0.01000126] [-0.00252637 0.0103732 0.99994316]] t_gt: [ 0.88994293 -0.4553695 -0.02530208] Pose Error in degrees for R and t: 179.82687350698836 52.015885665492725 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 0.99560874 0.09360447 0.0011992 ] [-0.09360238 0.99560823 -0.00168822] [-0.00135196 0.00156856 0.99999786]] t_estimated: [[-0.85113192] [-0.52495002] [-0.0013878 ]] R_gt: [[ 0.97153867 -0.23685486 0.00352733] [ 0.23678386 0.9714565 0.01438419] [-0.00683457 -0.01313942 0.99989038]] t_gt: [ 0.88059843 -0.46809939 0.07368431] Pose Error in degrees for R and t: 19.09235915838304 59.74303984918307 Number of keypoints: Image1: 430 Image2: 430 R_estimated: [[-0.97739513 0.20412551 0.05505942] [ 0.20421793 0.97891727 -0.00400251] [-0.05471564 0.00733209 -0.99847506]] t_estimated: [[ 0.99412761] [-0.10455976] [ 0.02788469]] R_gt: [[ 0.9986813 -0.05089445 -0.00668735] [ 0.05088405 0.998703 -0.00177131] [ 0.00676834 0.00142879 0.99997548]] t_gt: [ 0.35995852 -0.9189839 -0.16092998] Pose Error in degrees for R and t: 177.209002273523 63.291857271846766 Number of keypoints: Image1: 436 Image2: 436 R_estimated: [[ 9.99976515e-01 -6.84522429e-03 3.34571754e-04] [ 6.84521114e-03 9.99976570e-01 4.04468750e-05] [-3.34840783e-04 -3.81557108e-05 9.99999943e-01]] t_estimated: [[ 0.33251033] [-0.94309783] [-0.0018332 ]] R_gt: [[ 0.9894466 -0.14098302 0.03342875] [ 0.14043539 0.98992166 0.01822965] [-0.03566203 -0.01334296 0.99927419]] t_gt: [ 0.37928363 -0.85687335 0.34915899] Pose Error in degrees for R and t: 7.997824121346805 20.998303087806704 Number of keypoints: Image1: 391 Image2: 391 R_estimated: [[ 9.99830837e-01 -1.83923287e-02 1.39809868e-04] [ 1.83922947e-02 9.99830819e-01 2.40525824e-04] [-1.44210045e-04 -2.37913711e-04 9.99999961e-01]] t_estimated: [[7.44508844e-01] [6.67612235e-01] [6.96913933e-04]] R_gt: [[ 0.98154302 -0.18683962 0.04078498] [ 0.18707969 0.98234283 -0.00211453] [-0.03966993 0.00970616 0.9991654 ]] t_gt: [ 0.4214546 -0.87916483 0.22236281] Pose Error in degrees for R and t: 10.001762180644088 74.15656821057117 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.98958157e-01 4.56354270e-02 -9.02444003e-05] [-4.56354260e-02 9.98958161e-01 1.28069522e-05] [ 9.07348309e-05 -8.67526767e-06 9.99999996e-01]] t_estimated: [[-0.98662595] [-0.16299599] [-0.00123951]] R_gt: [[ 9.99072763e-01 4.30460751e-02 -1.30682652e-04] [-4.30451630e-02 9.99065450e-01 3.91150656e-03] [ 2.99070310e-04 -3.90225772e-03 9.99992499e-01]] t_gt: [-0.46529515 0.8843455 -0.03786098] Pose Error in degrees for R and t: 0.26935021147196186 71.64072973195546 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 9.99431680e-01 -3.37086978e-02 2.02497771e-04] [ 3.37087417e-02 9.99431675e-01 -2.17731221e-04] [-1.95043251e-04 2.24433425e-04 9.99999956e-01]] t_estimated: [[-8.73460817e-01] [-4.86893939e-01] [-7.02703239e-04]] R_gt: [[ 0.99912902 0.03909872 -0.01457125] [-0.03894158 0.99918165 0.01091823] [ 0.01498725 -0.01034132 0.99983394]] t_gt: [-0.2900229 0.95207088 -0.09719957] Pose Error in degrees for R and t: 4.300991124924289 77.86794330833443 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 9.99611366e-01 2.78764186e-02 1.48466113e-04] [-2.78764181e-02 9.99611377e-01 -5.32823131e-06] [-1.48556948e-04 1.18745714e-06 9.99999989e-01]] t_estimated: [[-9.33980330e-01] [-3.57323500e-01] [-8.11897453e-04]] R_gt: [[ 0.99948175 -0.03143478 0.00692894] [ 0.03138291 0.99947899 0.00760826] [-0.00716383 -0.00738668 0.99994703]] t_gt: [0.83495526 0.50779957 0.21210686] Pose Error in degrees for R and t: 3.446934377439532 15.96024584482392 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.99997607e-01 -5.47893101e-05 2.18705734e-03] [ 5.89976042e-05 9.99998147e-01 -1.92416281e-03] [-2.18694786e-03 1.92428724e-03 9.99995757e-01]] t_estimated: [[-8.00831882e-01] [-5.98888891e-01] [-6.26758228e-04]] R_gt: [[ 0.99028999 0.13898765 -0.00317872] [-0.13876888 0.98960006 0.037872 ] [ 0.00840963 -0.03706356 0.99927754]] t_gt: [-0.58221165 0.80431876 0.11874729] Pose Error in degrees for R and t: 8.31542141151476 89.11082853666464 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999951e-01 -3.06211025e-04 6.16676835e-05] [ 3.06217774e-04 9.99999947e-01 -1.09471121e-04] [-6.16341590e-05 1.09490000e-04 9.99999992e-01]] t_estimated: [[-9.34611065e-01] [-3.55670198e-01] [-9.31569937e-04]] R_gt: [[ 0.97773865 0.20945187 0.01253821] [-0.20976867 0.97713067 0.03481175] [-0.0049603 -0.03666622 0.99931456]] t_gt: [-0.55436601 0.82435138 0.11455623] Pose Error in degrees for R and t: 12.305712547643754 77.00813732145976 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[-8.35699791e-01 -5.49186099e-01 6.98623818e-04] [ 5.49151548e-01 -8.35660222e-01 -1.02259635e-02] [ 6.19976914e-03 -8.16218520e-03 9.99947469e-01]] t_estimated: [[9.26395664e-01] [3.76550685e-01] [8.09786418e-04]] R_gt: [[ 9.61262868e-01 2.75632792e-01 -9.49411394e-04] [-2.75201884e-01 9.59942362e-01 5.26788601e-02] [ 1.54315156e-02 -5.03765371e-02 9.98610164e-01]] t_gt: [-0.53298118 0.84103678 0.09267258] Pose Error in degrees for R and t: 162.6968461430453 79.80589761240726 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999987e-01 2.64142563e-05 -1.57981341e-04] [-2.63825085e-05 9.99999979e-01 2.00958230e-04] [ 1.57986646e-04 -2.00954060e-04 9.99999967e-01]] t_estimated: [[-1.36460584e-01] [-9.90645500e-01] [ 4.07222994e-05]] R_gt: [[ 0.99992072 0.01002523 -0.00754087] [-0.01071771 0.99510132 -0.09827228] [ 0.00651834 0.09834506 0.99513097]] t_gt: [-0.04597028 0.40833313 -0.91167471] Pose Error in degrees for R and t: 5.6985402195171435 66.52946703033642 Number of keypoints: Image1: 207 Image2: 207 R_estimated: [[ 9.99999584e-01 9.11874122e-04 -1.05971418e-05] [-9.11875489e-04 9.99999576e-01 -1.29728779e-04] [ 1.04788410e-05 1.29738388e-04 9.99999992e-01]] t_estimated: [[-4.89391061e-02] [-9.98801421e-01] [-8.28207408e-04]] R_gt: [[ 0.99760901 -0.04732865 -0.05035792] [ 0.03920476 0.98766393 -0.15160362] [ 0.05691154 0.14926594 0.98715781]] t_gt: [ 0.22623226 0.06454007 -0.97193289] Pose Error in degrees for R and t: 9.531199519404321 85.714327873523 Number of keypoints: Image1: 102 Image2: 102 R_estimated: [[ 0.90101095 0.4028095 0.16100863] [-0.3403622 0.88656157 -0.3133084 ] [-0.26894766 0.22749305 0.93590281]] t_estimated: [[-0.77151675] [-0.6172134 ] [-0.15430335]] R_gt: [[ 0.96905636 -0.24386318 0.03820669] [ 0.24657482 0.963508 -0.10418299] [-0.01140615 0.11037993 0.99382444]] t_gt: [ 0.68306544 -0.6650554 -0.30186572] Pose Error in degrees for R and t: 39.543682532965384 85.98966415734048 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99977702e-01 -6.67523578e-03 1.91281764e-04] [ 6.67518797e-03 9.99977690e-01 2.49498938e-04] [-1.92942961e-04 -2.48216533e-04 9.99999951e-01]] t_estimated: [[0.86165795] [0.50748805] [0.00120811]] R_gt: [[ 0.98840171 -0.15131106 -0.01293354] [ 0.15172406 0.98755108 0.04150493] [ 0.00649251 -0.04298557 0.99905502]] t_gt: [ 0.74006384 -0.62551126 0.24706513] Pose Error in degrees for R and t: 8.69696057336576 71.30436181641183 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.92428315e-01 -1.22824871e-01 -3.00752015e-04] [ 1.22825238e-01 9.92425656e-01 2.29740568e-03] [ 1.62954587e-05 -2.31695039e-03 9.99997316e-01]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.98279973 -0.1810746 -0.03629881] [ 0.18388729 0.97766712 0.10175025] [ 0.01706394 -0.10667477 0.99414756]] t_gt: [ 0.64201232 -0.65680222 0.39551362] Pose Error in degrees for R and t: 7.002026685829034 86.61770365951426 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.64154841e-01 -2.65340227e-01 8.09093706e-05] [ 2.65340185e-01 9.64154794e-01 3.46123572e-04] [-1.69849665e-04 -3.12248210e-04 9.99999937e-01]] t_estimated: [[5.69753910e-01] [8.21815358e-01] [6.12008724e-07]] R_gt: [[ 0.97901238 -0.20052951 -0.03637118] [ 0.2037085 0.95749414 0.20422383] [-0.00612725 -0.20734621 0.97824836]] t_gt: [ 0.5164231 -0.63141448 0.57846602] Pose Error in degrees for R and t: 12.481124678714494 77.01642759504337 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[-8.51782056e-01 -5.23890927e-01 -2.37177552e-03] [ 5.23896210e-01 -8.51775778e-01 -3.28411471e-03] [-2.99703038e-04 -4.03991418e-03 9.99991795e-01]] t_estimated: [[0.94855785] [0.31660137] [0.00125291]] R_gt: [[ 0.99772982 0.03125449 -0.05966423] [-0.03353726 0.99872811 -0.03763935] [ 0.05841183 0.03955434 0.99750854]] t_gt: [-0.07748078 0.60583793 -0.79180625] Pose Error in degrees for R and t: 150.2788186403825 83.26242392807151 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-6.92995930e-01 -7.20937419e-01 -2.42458230e-03] [ 7.20940910e-01 -6.92995736e-01 -1.05521723e-03] [-9.19479613e-04 -2.47924182e-03 9.99996504e-01]] t_estimated: [[0.92569595] [0.37826662] [0.00117474]] R_gt: [[ 0.98345311 0.09538935 -0.15402139] [-0.11873291 0.981491 -0.15026002] [ 0.13683799 0.16606079 0.97657535]] t_gt: [-0.10191569 0.64542303 -0.75699558] Pose Error in degrees for R and t: 140.33148213657012 81.43624849413052 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[-8.20512099e-01 -5.71629128e-01 1.89242562e-04] [-5.71613694e-01 8.20492291e-01 7.08417922e-03] [-4.20479525e-03 5.70448112e-03 -9.99974889e-01]] t_estimated: [[0.9957938 ] [0.09161303] [0.00132773]] R_gt: [[ 0.96176026 0.16173761 -0.22104144] [-0.20841076 0.95578963 -0.20744168] [ 0.17771796 0.24557504 0.95294815]] t_gt: [-0.11718387 0.71143199 -0.69291592] Pose Error in degrees for R and t: 165.019019887142 86.994344339656 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.97902021e-01 -6.47422238e-02 3.68463181e-06] [ 6.47422238e-02 9.97902021e-01 -1.71837071e-05] [-2.56439012e-06 1.73862073e-05 1.00000000e+00]] t_estimated: [[ 7.02964603e-01] [-7.11224811e-01] [-1.87077984e-04]] R_gt: [[ 0.9954344 -0.09193239 -0.02567564] [ 0.09233425 0.99561729 0.01488175] [ 0.02419562 -0.01718449 0.99955997]] t_gt: [ 0.74084949 -0.66992691 -0.04837313] Pose Error in degrees for R and t: 2.317914478600517 4.2356911347087145 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.71344796e-01 2.37674718e-01 1.22642714e-04] [-2.37674727e-01 9.71344800e-01 6.49195419e-05] [-1.03698629e-04 -9.22083328e-05 9.99999990e-01]] t_estimated: [[0.68087007] [0.73240381] [0.00078081]] R_gt: [[ 0.98968814 -0.14323749 0.0010666 ] [ 0.14323096 0.98967637 0.00513603] [-0.00179014 -0.00492894 0.99998661]] t_gt: [ 0.72711588 -0.68536117 0.03978149] Pose Error in degrees for R and t: 21.986298919754564 89.60702616342145 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 0.85948611 -0.50966513 0.03905238] [ 0.51097435 0.85871825 -0.03883518] [-0.01374206 0.05333306 0.99848222]] t_estimated: [[-0.18992668] [-0.98128785] [-0.03165445]] R_gt: [[ 0.99272634 -0.11951796 0.01447083] [ 0.11985287 0.99247688 -0.02500468] [-0.01137329 0.02655749 0.99958272]] t_gt: [ 0.68158169 -0.72929129 -0.05983816] Pose Error in degrees for R and t: 23.87772198774168 53.9785360589348 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.99999079e-01 1.32169018e-03 -3.08449217e-04] [-1.32112931e-03 9.99997486e-01 1.81152197e-03] [ 3.10842712e-04 -1.81111280e-03 9.99998312e-01]] t_estimated: [[0.82300344] [0.56803441] [0.00149917]] R_gt: [[ 0.99599735 -0.08812646 0.01488898] [ 0.08898963 0.99330184 -0.0736891 ] [-0.00829582 0.07471879 0.99717028]] t_gt: [ 0.90447309 0.17623561 -0.38841916] Pose Error in degrees for R and t: 6.79435381697066 32.44465625264834 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 9.99999571e-01 4.80160913e-04 7.92567655e-04] [-4.79661631e-04 9.99999686e-01 -6.30025543e-04] [-7.92869921e-04 6.29645108e-04 9.99999487e-01]] t_estimated: [[-9.99994842e-01] [-3.11218364e-03] [-7.94008289e-04]] R_gt: [[ 0.99210833 -0.11523958 0.04939924] [ 0.12115247 0.98256854 -0.14099675] [-0.03228951 0.14586864 0.98877675]] t_gt: [ 0.79752493 0.39318274 -0.45756018] Pose Error in degrees for R and t: 10.950343768761881 37.02420769938684 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 3.15736173e-01 -9.48844670e-01 -2.11223800e-03] [ 9.48847013e-01 3.15735676e-01 5.73502813e-04] [ 1.22743806e-04 -2.18526630e-03 9.99997605e-01]] t_estimated: [[9.84822603e-01] [1.73561705e-01] [8.79996021e-04]] R_gt: [[ 0.99358111 -0.11192747 0.01634828] [ 0.11280804 0.96983768 -0.21607523] [ 0.00832913 0.21653275 0.97624017]] t_gt: [ 0.62633803 0.56576294 -0.53629561] Pose Error in degrees for R and t: 66.1474552084099 44.39328387380201 Number of keypoints: Image1: 464 Image2: 464 R_estimated: [[-5.08711149e-01 -8.60933319e-01 -2.60509911e-03] [ 8.60937188e-01 -5.08710016e-01 -1.13005191e-03] [-3.52340673e-04 -2.81769671e-03 9.99995968e-01]] t_estimated: [[0.80179256] [0.5976009 ] [0.00136128]] R_gt: [[ 0.99845931 -0.05123801 -0.02130627] [ 0.05193972 0.99807819 0.033787 ] [ 0.01953397 -0.03484098 0.99920188]] t_gt: [ 0.84038047 -0.23049672 0.49054248] Pose Error in degrees for R and t: 117.63012855677023 57.53844876232634 Number of keypoints: Image1: 734 Image2: 734 R_estimated: [[-0.8899675 -0.4557227 0.01657309] [-0.45573154 0.89011056 0.00345851] [-0.016328 -0.00447492 -0.99985668]] t_estimated: [[0.96813612] [0.25028272] [0.00842687]] R_gt: [[ 0.99057923 -0.12244112 -0.06133501] [ 0.12463714 0.99164254 0.03333148] [ 0.05674139 -0.04066254 0.99756061]] t_gt: [ 0.97971667 -0.16131284 0.11888403] Pose Error in degrees for R and t: 178.16744018613122 24.614999239430265 Number of keypoints: Image1: 378 Image2: 378 R_estimated: [[ 0.99983624 0.00737931 0.01652414] [-0.00707428 0.9998049 -0.01844245] [-0.01665701 0.01832254 0.99969337]] t_estimated: [[-0.39240918] [-0.91970901] [-0.01226279]] R_gt: [[ 0.98616469 -0.11668505 -0.11775013] [ 0.12746871 0.98787664 0.08861114] [ 0.10598316 -0.10239327 0.98908217]] t_gt: [ 0.92712256 -0.17717101 0.33023354] Pose Error in degrees for R and t: 12.38167961310402 78.17546454019887 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-0.96874171 -0.24579502 -0.0335306 ] [-0.24612356 0.96921998 0.00598582] [ 0.03102724 0.01405139 -0.99941977]] t_estimated: [[ 0.99676279] [ 0.07765253] [-0.02083317]] R_gt: [[ 0.99818379 0.01964435 -0.05695611] [-0.0184341 0.99959447 0.02170049] [ 0.05736025 -0.02061007 0.99814118]] t_gt: [ 0.42745039 0.45172673 -0.78308947] Pose Error in degrees for R and t: 175.0295381080781 61.48044935964094 Number of keypoints: Image1: 144 Image2: 144 R_estimated: [[ 9.97798355e-01 6.63146471e-02 -8.99728776e-04] [-6.63143036e-02 9.97798701e-01 4.06398628e-04] [ 9.24698385e-04 -3.45838996e-04 9.99999513e-01]] t_estimated: [[-0.9646344 ] [ 0.26356698] [-0.00359408]] R_gt: [[ 0.99600933 0.06938447 -0.05613769] [-0.06838924 0.99746898 0.0194794 ] [ 0.05734764 -0.01556147 0.99823283]] t_gt: [-0.21068152 0.86052095 -0.46380707] Pose Error in degrees for R and t: 3.353484679781785 64.42434607854061 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-1.66589704e-01 -9.86026045e-01 -7.13731747e-04] [-9.86024229e-01 1.66590795e-01 -1.93052564e-03] [ 2.02244971e-03 3.82151099e-04 -9.99997882e-01]] t_estimated: [[0.88649289] [0.46274108] [0.00102603]] R_gt: [[ 0.99222897 0.05743347 0.11038197] [-0.06012271 0.9979661 0.02117681] [-0.10894017 -0.0276478 0.99366314]] t_gt: [-0.36351178 0.40240575 0.84019569] Pose Error in degrees for R and t: 174.38487242478712 82.23103707230328 Number of keypoints: Image1: 227 Image2: 227 R_estimated: [[ 5.09765036e-01 -8.60313145e-01 -9.48615222e-04] [-8.60313499e-01 -5.09765317e-01 6.51686852e-05] [-5.39636616e-04 7.82885764e-04 -9.99999548e-01]] t_estimated: [[0.64602675] [0.76331418] [0.00094587]] R_gt: [[ 0.99306441 -0.11490178 0.02491318] [ 0.11565876 0.99279082 -0.03145468] [-0.02111966 0.03411813 0.9991944 ]] t_gt: [ 0.8235688 -0.54440015 -0.15925734] Pose Error in degrees for R and t: 178.99708272643304 83.31859042995703 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 8.30030297e-01 5.57717998e-01 5.84006373e-04] [-5.57717905e-01 8.30030500e-01 -3.26749111e-04] [-6.66976962e-04 -5.44991501e-05 9.99999776e-01]] t_estimated: [[0.58105126] [0.81386637] [0.0009865 ]] R_gt: [[ 0.97702465 -0.20994048 0.03671389] [ 0.21244614 0.97310235 -0.08909971] [-0.01702026 0.09485221 0.99534632]] t_gt: [ 0.84592093 -0.4337129 -0.31033996] Pose Error in degrees for R and t: 46.42943147057135 82.05439349934838 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 9.90932189e-01 -1.34362856e-01 1.40079966e-04] [ 1.34362820e-01 9.90932175e-01 2.39018411e-04] [-1.70924941e-04 -2.18029498e-04 9.99999962e-01]] t_estimated: [[ 9.87121380e-01] [-1.59972585e-01] [ 3.91663441e-04]] R_gt: [[ 0.94214772 -0.33480794 0.01618711] [ 0.33494051 0.93842677 -0.08467362] [ 0.01315964 0.08519639 0.99627703]] t_gt: [ 0.88838883 -0.40698201 -0.21244044] Pose Error in degrees for R and t: 12.870852596789724 19.614869834435886 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99837456e-01 -1.80294540e-02 3.16988484e-06] [ 1.80294541e-02 9.99837456e-01 -1.48889509e-05] [-2.90092994e-06 1.49436821e-05 1.00000000e+00]] t_estimated: [[9.43757189e-01] [3.30639222e-01] [2.69650591e-04]] R_gt: [[ 0.99852319 -0.04163661 0.03490113] [ 0.042326 0.99891811 -0.01924341] [-0.03406288 0.02069203 0.99920525]] t_gt: [ 0.56644732 -0.7884934 0.23961552] Pose Error in degrees for R and t: 2.6652745508965454 74.1007580480636 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[ 9.99832920e-01 -1.82740274e-02 4.38475355e-04] [ 1.82745747e-02 9.99832189e-01 -1.27834532e-03] [-4.15041256e-04 1.28614468e-03 9.99999087e-01]] t_estimated: [[-0.92042538] [-0.39091426] [-0.00177688]] R_gt: [[ 0.99911281 -0.01110183 0.04063031] [ 0.01336477 0.99834929 -0.05586382] [-0.03994292 0.05635765 0.99761133]] t_gt: [ 0.28242886 -0.93037327 -0.23375098] Pose Error in degrees for R and t: 3.9021516716731206 84.02141002314444 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.91159996e-01 -1.32672003e-01 -4.76208680e-05] [ 1.32672009e-01 9.91159986e-01 1.45080175e-04] [ 2.79518214e-05 -1.50115622e-04 9.99999988e-01]] t_estimated: [[9.46038264e-01] [3.24054087e-01] [7.42460279e-04]] R_gt: [[ 0.99510605 0.03212803 0.09344141] [-0.02346535 0.99544807 -0.09237263] [-0.09598431 0.08972786 0.99133015]] t_gt: [-0.87710774 -0.09800049 0.47018924] Pose Error in degrees for R and t: 11.919422094102616 30.55000878724998 Number of keypoints: Image1: 272 Image2: 272 R_estimated: [[ 6.26577720e-01 7.79358930e-01 -1.40203641e-04] [-7.79358657e-01 6.26577327e-01 -9.68046253e-04] [-6.66607069e-04 7.15825136e-04 9.99999522e-01]] t_estimated: [[2.34058217e-01] [9.72222437e-01] [5.33374865e-04]] R_gt: [[ 0.99837925 -0.0120803 0.0556077 ] [ 0.01372788 0.99947544 -0.02934209] [-0.05522393 0.03005902 0.99802167]] t_gt: [-0.74300056 -0.06865202 0.66576051] Pose Error in degrees for R and t: 52.055449545323434 76.09602901263698 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 9.90517571e-01 -1.37386073e-01 -8.91662688e-05] [ 1.37386097e-01 9.90517505e-01 3.63800389e-04] [ 3.83396433e-05 -3.72600883e-04 9.99999930e-01]] t_estimated: [[-0.93246743] [ 0.36124796] [-0.00209993]] R_gt: [[ 0.9944107 -0.01609363 0.10434231] [ 0.01858422 0.9995637 -0.02294423] [-0.10392639 0.02475622 0.99427741]] t_gt: [-0.64539053 -0.15306332 0.74835999] Pose Error in degrees for R and t: 9.234908514443275 56.979413861424604 Number of keypoints: Image1: 150 Image2: 150 R_estimated: [[ 9.99822322e-01 1.88480244e-02 2.75513682e-04] [-1.88480188e-02 9.99822360e-01 -2.29683306e-05] [-2.75897647e-04 1.77713626e-05 9.99999962e-01]] t_estimated: [[0.76974175] [0.63835472] [0.0009472 ]] R_gt: [[ 0.98916006 -0.11129111 0.09578671] [ 0.11209874 0.99369225 -0.00307736] [-0.09483946 0.0137822 0.99539736]] t_gt: [-0.08565169 -0.79151349 0.60511998] Pose Error in degrees for R and t: 9.29497219723733 55.206327608469 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.83319446e-01 1.81885148e-01 8.12646041e-04] [-1.81884439e-01 9.83319523e-01 -8.75071803e-04] [-9.58253282e-04 7.12667451e-04 9.99999287e-01]] t_estimated: [[0.82537356] [0.56458596] [0.00108223]] R_gt: [[ 0.99577728 -0.04346824 0.08086067] [ 0.03192206 0.98978168 0.13896877] [-0.08607558 -0.13580042 0.98698976]] t_gt: [ 0.16465985 -0.20418814 0.96498411] Pose Error in degrees for R and t: 15.672257072826994 88.75839128436984 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[-0.91339681 0.40539279 0.03691833] [ 0.40594611 0.91385612 0.00864616] [-0.03023295 0.02288422 -0.99928088]] t_estimated: [[0.97725446] [0.21203664] [0.00376557]] R_gt: [[ 0.99593852 -0.01087745 0.08938295] [-0.00116809 0.99103188 0.1336166 ] [-0.09003527 -0.1331779 0.98699429]] t_gt: [0.04588991 0.03421927 0.99836023] Pose Error in degrees for R and t: 174.58220137225518 86.79771860463785 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[ 0.9963753 -0.08426249 0.01166602] [ 0.08439274 0.99637005 -0.01116177] [-0.01068315 0.01210584 0.99986965]] t_estimated: [[9.87069135e-01] [1.60293278e-01] [7.66953485e-04]] R_gt: [[ 0.99756887 -0.0017868 0.06967543] [-0.00756504 0.99099052 0.1337156 ] [-0.06928614 -0.13391842 0.98856779]] t_gt: [0.03363651 0.18711362 0.98176223] Pose Error in degrees for R and t: 10.305354509394624 86.3335719247396 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.50729206e-01 3.10021437e-01 8.28409369e-04] [-3.10021282e-01 9.50729566e-01 -3.12229595e-04] [-8.84391147e-04 4.00212606e-05 9.99999608e-01]] t_estimated: [[-0.89414628] [ 0.44777371] [ 0.00106362]] R_gt: [[ 0.99854374 -0.02771576 -0.04628555] [ 0.02629358 0.99917051 -0.03106924] [ 0.04710834 0.02980777 0.99844531]] t_gt: [ 0.49804488 -0.62629567 -0.59975414] Pose Error in degrees for R and t: 19.871267507668946 43.414427884459904 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 3.78166347e-01 9.25737630e-01 2.32247706e-04] [-9.25735344e-01 3.78165951e-01 -2.14166515e-03] [-2.07044819e-03 5.94905776e-04 9.99997680e-01]] t_estimated: [[1.62283907e-01] [9.86743706e-01] [8.90363344e-04]] R_gt: [[ 0.98530733 -0.16028054 -0.05899391] [ 0.15715008 0.98607568 -0.0543858 ] [ 0.06688996 0.04431651 0.99677616]] t_gt: [ 0.7692181 -0.55615901 -0.31462783] Pose Error in degrees for R and t: 77.04363978357419 64.89776043404444 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[ 9.97541118e-01 -7.00835102e-02 1.38823664e-04] [ 7.00835088e-02 9.97541128e-01 1.44066888e-05] [-1.39491985e-04 -4.64201500e-06 9.99999990e-01]] t_estimated: [[ 9.53146214e-01] [-3.02509870e-01] [-2.71628097e-04]] R_gt: [[ 0.95593833 -0.28980974 -0.04683225] [ 0.28502754 0.95443957 -0.08834413] [ 0.07030163 0.07110328 0.99498916]] t_gt: [ 0.84380631 -0.4655646 -0.26690918] Pose Error in degrees for R and t: 13.95885998151688 19.059288224644522 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.99999997e-01 2.93237358e-05 -6.79724973e-05] [-2.93175566e-05 9.99999995e-01 9.09069483e-05] [ 6.79751627e-05 -9.09049553e-05 9.99999994e-01]] t_estimated: [[0.97294737] [0.23102357] [0.001233 ]] R_gt: [[ 0.9981223 0.05850937 0.01813807] [-0.05846737 0.99828533 -0.002867 ] [-0.01827529 0.00180066 0.99983104]] t_gt: [-0.61064538 0.77171935 0.17765543] Pose Error in degrees for R and t: 3.5142425009111946 65.44154385019877 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 1.00000000e+00 -5.96189764e-14 -1.97734082e-15] [ 5.95634653e-14 1.00000000e+00 2.63168393e-15] [ 1.89854642e-15 -2.74004994e-15 1.00000000e+00]] t_estimated: [[-4.64325126e-01] [ 8.85664762e-01] [ 3.27751053e-04]] R_gt: [[ 0.99154514 0.12744432 -0.02439731] [-0.12754295 0.99183038 -0.00254158] [ 0.02387373 0.00563236 0.99969917]] t_gt: [-0.57528692 0.81394916 -0.0808191 ] Pose Error in degrees for R and t: 7.459294257687673 8.892625576054698 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.99999904e-01 4.30396546e-04 -7.85289541e-05] [-4.30362201e-04 9.99999812e-01 4.36842350e-04] [ 7.87169548e-05 -4.36808513e-04 9.99999902e-01]] t_estimated: [[-0.86432926] [-0.50292501] [-0.00116959]] R_gt: [[ 0.98691367 0.11888821 -0.10893366] [-0.12168941 0.99237807 -0.0194103 ] [ 0.10579575 0.03241314 0.99385953]] t_gt: [-0.39996765 0.77297163 -0.49248424] Pose Error in degrees for R and t: 9.381678860474466 87.56608750197701 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.92639195e-01 1.21109158e-01 -1.98058065e-05] [-1.21109159e-01 9.92639192e-01 -7.11045837e-05] [ 1.10486035e-05 7.29798613e-05 9.99999997e-01]] t_estimated: [[-9.99996995e-01] [-2.32557439e-03] [-7.75191469e-04]] R_gt: [[ 0.99104567 0.13015902 0.0298221 ] [-0.13046472 0.99141567 0.00854597] [-0.02845303 -0.01235981 0.99951884]] t_gt: [-0.59772426 0.78357698 0.16950761] Pose Error in degrees for R and t: 1.8574054832438558 53.43254274438145 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[ 9.77052664e-01 -2.12995628e-01 -9.76419455e-04] [ 2.12996817e-01 9.77051973e-01 1.34063679e-03] [ 6.68462781e-04 -1.51784698e-03 9.99998625e-01]] t_estimated: [[-0.39830755] [-0.91725134] [-0.00103997]] R_gt: [[ 0.98542042 0.16930799 0.01679867] [-0.16976643 0.9849922 0.03115491] [-0.01127155 -0.03355271 0.99937363]] t_gt: [-0.57563941 0.79868525 0.17533151] Pose Error in degrees for R and t: 22.148803356820903 59.76844021658191 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 1.00000000e+00 -1.42958978e-11 -8.82556831e-15] [ 1.42956758e-11 1.00000000e+00 1.64924498e-14] [ 8.82545989e-15 -1.64916908e-14 1.00000000e+00]] t_estimated: [[-4.24303361e-01] [ 9.05519878e-01] [ 6.38363154e-04]] R_gt: [[ 0.97490798 0.21691656 -0.05004082] [-0.21702453 0.97616094 0.00333113] [ 0.04957085 0.0076128 0.99874198]] t_gt: [-0.52477673 0.84385727 -0.11186731] Pose Error in degrees for R and t: 12.862924256208636 9.347060436401906 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 0.99993546 -0.00827798 0.0077815 ] [ 0.00833316 0.99994018 -0.00708518] [-0.00772239 0.00714957 0.99994462]] t_estimated: [[-0.33236468] [-0.94313484] [-0.00551273]] R_gt: [[ 0.99356212 -0.10418759 -0.04449872] [ 0.10205629 0.99363272 -0.04773407] [ 0.04918823 0.04288569 0.99786802]] t_gt: [ 0.76693078 -0.46726942 -0.4398596 ] Pose Error in degrees for R and t: 6.657051390252146 79.15094821497782 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 0.99871969 0.00774277 -0.04999033] [-0.00484988 0.99832028 0.05773296] [ 0.05035337 -0.05741659 0.99707967]] t_estimated: [[0.92135355] [0.38869603] [0.00479872]] R_gt: [[ 0.96985466 -0.23989929 -0.04279211] [ 0.23602923 0.9684566 -0.07988494] [ 0.06060596 0.06737684 0.99588477]] t_gt: [ 0.84604102 -0.44088651 -0.29972267] Pose Error in degrees for R and t: 16.041101770819875 52.64917625161843 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 0.96522446 -0.26141512 0.00196657] [-0.26136399 -0.96514023 -0.01389934] [ 0.00553151 0.01290199 -0.99990147]] t_estimated: [[ 0.21610337] [ 0.97633267] [-0.00859321]] R_gt: [[ 0.94484753 -0.32746873 -0.00519606] [ 0.32542502 0.94050189 -0.09774299] [ 0.03689413 0.09066177 0.99519732]] t_gt: [ 0.86445655 -0.42611196 -0.26672733] Pose Error in degrees for R and t: 173.60428035317798 76.88401654190105 Number of keypoints: Image1: 265 Image2: 265 R_estimated: [[ 9.36365868e-01 -3.51025413e-01 -3.46415180e-04] [ 3.51025484e-01 9.36365891e-01 1.69505015e-04] [ 2.64870791e-04 -2.80319267e-04 9.99999926e-01]] t_estimated: [[ 5.99892694e-01] [-8.00080303e-01] [-5.12934276e-04]] R_gt: [[ 0.9916568 -0.12817356 -0.01373168] [ 0.12697514 0.98960702 -0.06748222] [ 0.02223846 0.06517406 0.99762605]] t_gt: [ 0.82264395 -0.36510753 -0.43583647] Pose Error in degrees for R and t: 13.789201474967191 38.20184377829772 Number of keypoints: Image1: 199 Image2: 199 R_estimated: [[-6.15471909e-01 7.88157647e-01 -1.36111681e-03] [-7.88155063e-01 -6.15473389e-01 -2.02588799e-03] [-2.43445028e-03 -1.74106042e-04 9.99997022e-01]] t_estimated: [[0.6730999 ] [0.73955075] [0.00110367]] R_gt: [[ 0.9655661 -0.25951807 -0.01819098] [ 0.25852678 0.96498444 -0.04437384] [ 0.02906897 0.03814271 0.99884933]] t_gt: [ 0.86814349 -0.47178004 -0.15411189] Pose Error in degrees for R and t: 143.01651038345375 76.39234738828539 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 7.76614732e-01 -6.29969801e-01 2.75820801e-03] [ 6.29975540e-01 7.76602647e-01 -4.37590732e-03] [ 6.14657823e-04 5.13599767e-03 9.99986622e-01]] t_estimated: [[-0.06276106] [-0.99801568] [-0.00507505]] R_gt: [[ 9.43776807e-01 -3.29624580e-01 -2.51420269e-02] [ 3.29524906e-01 9.44111515e-01 -8.11618162e-03] [ 2.64113346e-02 -6.25454115e-04 9.99651077e-01]] t_gt: [ 0.85792983 -0.51376311 0.00196902] Pose Error in degrees for R and t: 19.86316433122332 62.68455568874315 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.93283206e-01 1.15708427e-01 1.80803880e-04] [-1.15708417e-01 9.93283222e-01 -6.05435140e-05] [-1.86594855e-04 3.92163249e-05 9.99999982e-01]] t_estimated: [[0.94220169] [0.33504455] [0.00105982]] R_gt: [[ 9.96773752e-01 -8.02417849e-02 -2.29883042e-03] [ 8.02752292e-02 9.96397957e-01 2.73187477e-02] [ 9.86039910e-05 -2.74159214e-02 9.99624420e-01]] t_gt: [ 0.66759374 -0.71331463 0.21330923] Pose Error in degrees for R and t: 11.357932101213718 67.03045179567586 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-2.23158664e-01 9.74778117e-01 2.79896517e-03] [ 9.74781689e-01 2.23154896e-01 1.59710842e-03] [ 9.32223559e-04 3.08478858e-03 -9.99994808e-01]] t_estimated: [[9.99996995e-01] [2.32557441e-03] [7.75191469e-04]] R_gt: [[ 0.99664064 -0.07903117 0.0215077 ] [ 0.0792078 0.9968291 -0.00747409] [-0.02084823 0.00915211 0.99974129]] t_gt: [ 0.63223533 -0.76819919 0.10073974] Pose Error in degrees for R and t: 178.67879491213395 50.911132066879695 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-9.47984358e-01 -3.18316891e-01 1.16065296e-04] [ 3.18315812e-01 -9.47981979e-01 -2.28302844e-03] [ 8.36754322e-04 -2.12732983e-03 9.99997387e-01]] t_estimated: [[7.76892019e-01] [6.29633479e-01] [6.88124020e-04]] R_gt: [[ 0.99837669 -0.03512278 0.04485335] [ 0.03787299 0.99735772 -0.06198947] [-0.04255796 0.06358724 0.99706835]] t_gt: [ 0.48783139 -0.85731966 -0.16438839] Pose Error in degrees for R and t: 159.36145782191173 80.73981774922933 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.93200901e-01 -1.16412930e-01 1.52695184e-06] [ 1.16412930e-01 9.93200901e-01 2.86687920e-05] [-4.85398801e-06 -2.82961132e-05 1.00000000e+00]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.99743517 -0.01405115 -0.07019591] [ 0.01365864 0.99988824 -0.00606754] [ 0.07027421 0.00509423 0.9975154 ]] t_gt: [ 0.68966318 -0.03309328 -0.72337372] Pose Error in degrees for R and t: 7.1416097857050245 52.330988134456064 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.28019457 -0.9595054 0.02898944] [ 0.95967656 0.28070074 0.01509923] [-0.02262515 0.02358976 0.99946567]] t_estimated: [[0.82109531] [0.57078991] [0.00116965]] R_gt: [[ 0.9920106 -0.00834168 -0.12587949] [ 0.0098985 0.99988193 0.01175335] [ 0.12576724 -0.01290537 0.99197628]] t_gt: [ 0.69999982 0.01235738 -0.71403609] Pose Error in degrees for R and t: 73.71140113090767 54.48015686643227 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-0.23799531 -0.97123907 0.00727357] [-0.97124847 0.23793888 -0.00784226] [ 0.00588604 -0.00893087 -0.9999428 ]] t_estimated: [[7.59449748e-01] [6.50565609e-01] [6.84805904e-04]] R_gt: [[ 0.98704926 0.02530898 -0.15841372] [-0.02218578 0.99952326 0.02145758] [ 0.15888192 -0.01766468 0.98713959]] t_gt: [ 0.58344271 0.2406033 -0.77569624] Pose Error in degrees for R and t: 173.57323768071518 53.19507336860145 Number of keypoints: Image1: 294 Image2: 294 R_estimated: [[ 9.99932808e-01 -1.15922275e-02 2.35117781e-05] [ 1.15922263e-02 9.99932807e-01 4.86746714e-05] [-2.40744462e-05 -4.83988470e-05 9.99999999e-01]] t_estimated: [[7.86295816e-01] [6.17849980e-01] [5.40556222e-04]] R_gt: [[ 0.9976739 -0.04162359 -0.05397991] [ 0.04296985 0.9987876 0.02402685] [ 0.05291381 -0.02629034 0.9982534 ]] t_gt: [ 0.98070258 -0.1854793 0.06180514] Pose Error in degrees for R and t: 3.8179696856596306 48.96215693909992 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.11065500e-01 -4.12261612e-01 -1.30196915e-04] [ 4.12261629e-01 9.11065404e-01 4.22945068e-04] [-5.57461110e-05 -4.39005853e-04 9.99999902e-01]] t_estimated: [[8.35628554e-01] [5.49294295e-01] [8.34793761e-04]] R_gt: [[ 0.99316137 -0.02963362 -0.11292942] [ 0.03702162 0.99726901 0.06389834] [ 0.1107273 -0.06764153 0.99154702]] t_gt: [ 0.96186279 -0.18402082 0.20237667] Pose Error in degrees for R and t: 23.615847226581863 45.34410270711062 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 9.96527035e-01 -8.32697976e-02 9.75747971e-05] [ 8.32697812e-02 9.96527028e-01 1.61566255e-04] [-1.10689512e-04 -1.52880109e-04 9.99999982e-01]] t_estimated: [[3.63521521e-01] [9.31585796e-01] [9.55046799e-05]] R_gt: [[ 0.98538628 -0.02124895 -0.16900475] [ 0.03448598 0.99652834 0.07578095] [ 0.16680718 -0.08050048 0.98269759]] t_gt: [ 0.98272523 -0.17148834 0.06959079] Pose Error in degrees for R and t: 11.13352621121382 78.60964571123868 Number of keypoints: Image1: 342 Image2: 342 R_estimated: [[ 9.95838776e-01 9.11324117e-02 1.21735840e-04] [-9.11323959e-02 9.95838777e-01 -1.29571561e-04] [-1.33037439e-04 1.17938306e-04 9.99999984e-01]] t_estimated: [[0.98822359] [0.15301014] [0.00142747]] R_gt: [[ 0.99852967 -0.02604207 -0.04755573] [ 0.02770699 0.9990135 0.03471515] [ 0.0466043 -0.03598094 0.99826519]] t_gt: [ 0.47103786 -0.76193927 -0.44449058] Pose Error in degrees for R and t: 7.568303005547883 69.61835327769454 Number of keypoints: Image1: 275 Image2: 275 R_estimated: [[-0.19389487 0.98073808 0.02361366] [ 0.98074575 0.19435556 -0.01907086] [-0.02329297 0.01946125 -0.99953924]] t_estimated: [[ 0.77148779] [-0.63606448] [ 0.01511848]] R_gt: [[ 0.9969839 -0.05602015 -0.05371784] [ 0.05744537 0.99802663 0.02536961] [ 0.05219069 -0.02837855 0.99823349]] t_gt: [ 0.5372534 -0.7566333 -0.37264571] Pose Error in degrees for R and t: 178.41379696925733 27.111899754309725 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 8.97612616e-01 4.40784992e-01 4.26684915e-04] [-4.40785008e-01 8.97612708e-01 -6.02845989e-05] [-4.09570348e-04 -1.33964097e-04 9.99999907e-01]] t_estimated: [[-0.15857683] [ 0.98734566] [ 0.00139271]] R_gt: [[ 0.9934189 -0.09583898 -0.06272827] [ 0.09675926 0.99523824 0.01179966] [ 0.06129901 -0.01779141 0.997961 ]] t_gt: [ 0.55103464 -0.75001974 -0.36582949] Pose Error in degrees for R and t: 31.893670229553987 34.06327112254354 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.52130086e-01 3.05692794e-01 4.62878183e-04] [-3.05692786e-01 9.52130197e-01 -8.94089359e-05] [-4.68051963e-04 -5.63695837e-05 9.99999889e-01]] t_estimated: [[-0.02002929] [ 0.99979833] [ 0.00145586]] R_gt: [[ 0.99876057 0.04912735 0.00796193] [-0.04922458 0.99871073 0.01240341] [-0.00734222 -0.01278046 0.99989089]] t_gt: [0.58093723 0.66539899 0.46878153] Pose Error in degrees for R and t: 15.003986881197946 49.13253366281614 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.99998113e-01 -2.49800674e-04 -1.92673704e-03] [ 2.51664216e-04 9.99999501e-01 9.67019447e-04] [ 1.92649451e-03 -9.67502513e-04 9.99997676e-01]] t_estimated: [[7.96743316e-01] [6.04317543e-01] [6.28842396e-04]] R_gt: [[ 0.99320561 0.11552712 0.01401671] [-0.1160908 0.99197825 0.05001516] [-0.00812654 -0.05130419 0.99864977]] t_gt: [0.2509222 0.62942169 0.73543619] Pose Error in degrees for R and t: 7.291581677344222 54.49643386401763 Number of keypoints: Image1: 112 Image2: 112 R_estimated: [[ 0.99224419 0.12424722 -0.00375376] [-0.12422117 0.99223314 0.00651902] [ 0.00453457 -0.00600216 0.99997171]] t_estimated: [[0.71478083] [0.69934806] [0.00081225]] R_gt: [[ 0.98454895 0.1697671 0.04291476] [-0.17201339 0.9835264 0.05555973] [-0.03277618 -0.06208365 0.99753202]] t_gt: [0.10517753 0.60111365 0.79221213] Pose Error in degrees for R and t: 4.729485766613844 60.25042748021118 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.99999149e-01 -1.27533223e-03 -2.75288809e-04] [ 1.27536093e-03 9.99999181e-01 1.04100905e-04] [ 2.75155820e-04 -1.04451909e-04 9.99999957e-01]] t_estimated: [[ 9.99993335e-01] [-3.58957716e-03] [-6.66448378e-04]] R_gt: [[ 0.99786951 0.06427135 0.01129738] [-0.06357202 0.99651034 -0.05408291] [-0.01473389 0.05324973 0.99847258]] t_gt: [-0.55713224 0.62296578 -0.54910592] Pose Error in degrees for R and t: 4.907129161806234 56.01341647868729 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 9.45535862e-01 3.25517917e-01 1.42358214e-04] [-3.25517814e-01 9.45535780e-01 -4.92089008e-04] [-2.94788574e-04 4.18947669e-04 9.99999869e-01]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189839e-04]] R_gt: [[ 0.99113731 0.1322262 -0.01283893] [-0.13284344 0.98558093 -0.10479428] [-0.00120284 0.10557197 0.99441146]] t_gt: [-0.46708873 0.68552261 -0.55846832] Pose Error in degrees for R and t: 12.858091405412283 62.264300573053745 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[ 9.99942205e-01 -1.07386609e-02 -5.16955007e-04] [ 1.07382479e-02 9.99942027e-01 -7.95006402e-04] [ 5.25462342e-04 7.89409263e-04 9.99999550e-01]] t_estimated: [[-0.87502654] [-0.48406754] [-0.0026781 ]] R_gt: [[ 0.91309713 0.40183033 -0.06917839] [-0.40686545 0.90904462 -0.08998594] [ 0.02672715 0.11031255 0.99353772]] t_gt: [-0.46240093 0.84750279 -0.26062309] Pose Error in degrees for R and t: 25.371449880512106 89.71709900517229 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.98628599e-01 -5.23537524e-02 7.16076806e-05] [ 5.23537553e-02 9.98628601e-01 -3.93342453e-05] [-6.94501826e-05 4.30292332e-05 9.99999997e-01]] t_estimated: [[9.80593570e-01] [1.96051137e-01] [4.49877664e-04]] R_gt: [[ 0.9928581 -0.11086889 -0.04404916] [ 0.11273214 0.99272297 0.04235064] [ 0.03903206 -0.04701434 0.99813132]] t_gt: [ 0.64389262 -0.76179777 0.07117902] Pose Error in degrees for R and t: 4.901483528690072 61.17881432413555 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 9.82709483e-01 -1.85153636e-01 4.50474785e-04] [ 1.85153842e-01 9.82709435e-01 -4.70034942e-04] [-3.55657143e-04 5.45314932e-04 9.99999788e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.97658882 -0.19285037 -0.09530968] [ 0.19692805 0.97978158 0.03533117] [ 0.08656816 -0.05327268 0.99482051]] t_gt: [ 0.73931892 -0.66829192 -0.08242237] Pose Error in degrees for R and t: 5.897793774809247 48.41325521365683 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 9.99992966e-01 -3.68847510e-03 6.80002248e-04] [ 3.68866543e-03 9.99993158e-01 -2.78855563e-04] [-6.78969044e-04 2.81361902e-04 9.99999730e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.92542444 -0.3367807 -0.17369428] [ 0.33969875 0.94043727 -0.01355741] [ 0.16791345 -0.04645772 0.98470634]] t_gt: [ 0.7980757 -0.56550133 -0.2080467 ] Pose Error in degrees for R and t: 22.118921110956705 55.89378711179893 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.97904313e-01 6.47068800e-02 -4.49412665e-05] [-6.47068840e-02 9.97904309e-01 -9.47954785e-05] [ 3.87131638e-05 9.75048262e-05 9.99999994e-01]] t_estimated: [[ 2.02886190e-01] [ 9.79202216e-01] [-4.63562448e-04]] R_gt: [[ 0.99653954 -0.05841269 -0.05914149] [ 0.05920601 0.99817707 0.0117489 ] [ 0.05834687 -0.01520923 0.99818103]] t_gt: [ 0.54320528 -0.69098396 -0.4769373 ] Pose Error in degrees for R and t: 7.8812234925319355 55.51551261575653 Number of keypoints: Image1: 119 Image2: 119 R_estimated: [[ 9.99419534e-01 3.40670716e-02 -1.69610723e-04] [-3.40670763e-02 9.99419548e-01 -2.53496841e-05] [ 1.68648683e-04 3.11131110e-05 9.99999985e-01]] t_estimated: [[-0.87210987] [-0.48930766] [-0.00154356]] R_gt: [[ 9.99181691e-01 2.02797715e-03 4.04029759e-02] [-5.70094541e-04 9.99349237e-01 -3.60607952e-02] [-4.04502659e-02 3.60085655e-02 9.98533326e-01]] t_gt: [-0.54310637 0.26218025 0.79768226] Pose Error in degrees for R and t: 3.632888462983009 69.87128188322123 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.87647554e-01 1.56689170e-01 9.01797307e-04] [-1.56687195e-01 9.87646347e-01 -1.95357156e-03] [-1.19676032e-03 1.78814008e-03 9.99997685e-01]] t_estimated: [[-7.63008869e-01] [-6.46387712e-01] [-6.26755666e-04]] R_gt: [[ 0.98421451 0.07701852 0.15934504] [-0.06675774 0.99539537 -0.06878509] [-0.16390876 0.0570623 0.98482442]] t_gt: [-0.4093429 0.51503016 0.75311509] Pose Error in degrees for R and t: 11.025832993025972 88.7938964699142 Number of keypoints: Image1: 151 Image2: 151 R_estimated: [[ 6.34635577e-01 7.72811092e-01 8.37121181e-04] [ 7.72808319e-01 -6.34635685e-01 2.20205863e-03] [ 2.23304231e-03 -7.50570534e-04 -9.99997225e-01]] t_estimated: [[0.6294623 ] [0.77703045] [0.00093957]] R_gt: [[ 0.98940351 -0.13225801 -0.05990699] [ 0.13301889 0.99107346 0.00888208] [ 0.05819658 -0.01675645 0.99816416]] t_gt: [ 0.62486622 -0.75259927 -0.20769339] Pose Error in degrees for R and t: 177.79692855759305 78.95044298058588 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 0.16191223 0.98680429 -0.00131297] [ 0.98679996 -0.16190691 0.00346136] [ 0.0032031 -0.00185608 -0.99999315]] t_estimated: [[0.75679093] [0.65365552] [0.00139372]] R_gt: [[ 0.96861015 -0.22845067 -0.09800233] [ 0.23205701 0.97232691 0.02697928] [ 0.08912709 -0.04887381 0.9948201 ]] t_gt: [ 0.70396556 -0.70168965 -0.10983684] Pose Error in degrees for R and t: 174.63970812143427 85.75977459941737 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 8.64283977e-01 5.03004162e-01 -1.40383183e-04] [-5.03004128e-01 8.64283980e-01 2.18886407e-04] [ 2.31431710e-04 -1.18566694e-04 9.99999966e-01]] t_estimated: [[-9.78596233e-01] [-2.05787836e-01] [-8.83209596e-04]] R_gt: [[ 0.93711526 -0.30369549 -0.17200139] [ 0.3053154 0.95208784 -0.01761587] [ 0.16911042 -0.03600632 0.98493845]] t_gt: [ 0.76972765 -0.5855591 -0.25424376] Pose Error in degrees for R and t: 49.02440195921824 50.76318648570958 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.99729468e-01 -2.32589447e-02 -1.08510101e-04] [ 2.32589592e-02 9.99729465e-01 1.34227011e-04] [ 1.05358767e-04 -1.36714531e-04 9.99999985e-01]] t_estimated: [[-9.91279875e-01] [-1.31772685e-01] [-4.11557271e-04]] R_gt: [[ 0.98946677 0.14471085 -0.00371466] [-0.14474896 0.98936988 -0.0139758 ] [ 0.00165182 0.01436667 0.99989551]] t_gt: [-0.67326615 0.73727532 -0.05601608] Pose Error in degrees for R and t: 9.690802103839106 55.231258952372094 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 0.99996335 -0.00842583 -0.00151885] [ 0.00842394 0.99996374 -0.0012449 ] [ 0.00152929 0.00123206 0.99999807]] t_estimated: [[-0.99278985] [-0.11913478] [-0.0132372 ]] R_gt: [[ 0.98212498 0.18706977 -0.02085973] [-0.18769349 0.98165264 -0.03360115] [ 0.01418992 0.03691616 0.99921791]] t_gt: [-0.64901988 0.73847947 -0.18281484] Pose Error in degrees for R and t: 11.491955635508319 56.02841328464079 Number of keypoints: Image1: 181 Image2: 181 R_estimated: [[ 0.5347561 -0.84499464 -0.00446907] [ 0.84488888 0.53476244 -0.01385325] [ 0.01409581 0.00363224 0.99989405]] t_estimated: [[-0.12187283] [-0.99239301] [-0.0174104 ]] R_gt: [[ 0.98869406 0.14869488 -0.0193571 ] [-0.14912894 0.98854208 -0.02335581] [ 0.01566234 0.02597849 0.99953993]] t_gt: [-0.73373976 0.65197059 -0.1912075 ] Pose Error in degrees for R and t: 66.23849911865265 56.3402996929268 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 9.99241648e-01 3.89375029e-02 -2.55949635e-05] [-3.89375026e-02 9.99241648e-01 9.67873842e-06] [ 2.59524194e-05 -8.67479456e-06 1.00000000e+00]] t_estimated: [[-8.03810030e-01] [-5.94885792e-01] [-5.75445364e-04]] R_gt: [[ 9.99818706e-01 1.09665792e-03 1.90348888e-02] [-4.74052248e-04 9.99465077e-01 -3.27170893e-02] [-1.90612125e-02 3.27015537e-02 9.99283445e-01]] t_gt: [-0.60122932 0.76569288 -0.22855572] Pose Error in degrees for R and t: 3.080175791582168 88.40090433481177 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-0.94525694 -0.32632232 0.00175002] [-0.32631344 0.94525295 0.00405037] [-0.00297594 0.00325758 -0.99999027]] t_estimated: [[0.94743723] [0.31993683] [0.00176761]] R_gt: [[ 0.9869103 0.06858651 0.14596231] [-0.06042432 0.99638869 -0.05964886] [-0.14952699 0.05004833 0.98749059]] t_gt: [-0.40961789 0.51289577 0.75442105] Pose Error in degrees for R and t: 172.00648563565315 77.13471492898468 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.83785770e-01 1.79347501e-01 -1.81810253e-04] [-1.79346190e-01 9.83773555e-01 -4.95337383e-03] [-7.09515100e-04 4.90566566e-03 9.99987715e-01]] t_estimated: [[-0.79835263] [-0.60215937] [-0.00609713]] R_gt: [[ 0.95511015 0.19284499 0.22489033] [-0.17130786 0.97885031 -0.1118318 ] [-0.24170072 0.06828587 0.9679459 ]] t_gt: [-0.37421899 0.68242155 0.62790204] Pose Error in degrees for R and t: 14.435928740161021 83.33891113439604 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.97258305e-01 -7.39947665e-02 8.04611749e-04] [ 7.39949685e-02 9.97258590e-01 -2.24105893e-04] [-7.85823314e-04 2.83028684e-04 9.99999651e-01]] t_estimated: [[0.98145648] [0.19168124] [0.00121317]] R_gt: [[ 0.96845375 -0.23540882 -0.08173626] [ 0.23382133 0.97185878 -0.02861964] [ 0.08617307 0.00860483 0.99624339]] t_gt: [ 0.86047288 -0.4565225 -0.2262159 ] Pose Error in degrees for R and t: 10.606009576311436 40.82275883974078 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 8.98162555e-01 -4.39661531e-01 -1.32786949e-03] [ 4.39663339e-01 8.98160916e-01 1.76588899e-03] [ 4.16247016e-04 -2.16987090e-03 9.99997559e-01]] t_estimated: [[0.9260763 ] [0.37733443] [0.00119033]] R_gt: [[ 0.8839862 -0.463119 -0.06395415] [ 0.45809151 0.88535207 -0.07939691] [ 0.09339185 0.04088882 0.99478928]] t_gt: [ 0.91547954 -0.36432609 -0.17077386] Pose Error in degrees for R and t: 6.051439995055691 44.75468174103324 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.91476571 -0.4039784 -0.00226764] [ 0.40397269 0.91476735 -0.00259936] [ 0.00312445 0.00146174 0.99999405]] t_estimated: [[ 0.97742898] [-0.21122595] [-0.00402451]] R_gt: [[ 0.70359189 -0.7087254 -0.05164677] [ 0.7031835 0.70487818 -0.09316642] [ 0.10243372 0.02923438 0.99430954]] t_gt: [ 0.96299506 -0.24960686 -0.10167073] Pose Error in degrees for R and t: 22.041568741918265 6.070842727396748 Number of keypoints: Image1: 399 Image2: 399 R_estimated: [[-0.44888256 -0.89358847 -0.00202395] [ 0.89357393 -0.44885905 -0.0071539 ] [ 0.00548417 -0.00501981 0.99997236]] t_estimated: [[ 0.92379123] [-0.38288724] [-0.00266982]] R_gt: [[ 0.99840956 0.05527112 -0.01114175] [-0.05572661 0.99739406 -0.04583661] [ 0.00857934 0.04638459 0.99888624]] t_gt: [-0.40925865 0.57137451 -0.71136385] Pose Error in degrees for R and t: 119.8684351776652 53.491477987405865 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[-0.39810634 0.91732271 -0.00551252] [ 0.91728111 0.39814158 0.00886893] [ 0.01033043 -0.00152576 -0.99994548]] t_estimated: [[-0.06651719] [-0.99775791] [-0.0073908 ]] R_gt: [[ 0.96557163 0.25772197 -0.03536925] [-0.25945126 0.96395264 -0.05901198] [ 0.0188856 0.06615658 0.99763054]] t_gt: [-0.52943613 0.80485053 -0.268166 ] Pose Error in degrees for R and t: 179.89227014549525 40.01755896535425 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.53102724e-02 -9.95447413e-01 -6.31687247e-04] [-9.95447585e-01 -9.53100983e-02 -3.00310703e-04] [ 2.38737339e-04 6.57434239e-04 -9.99999755e-01]] t_estimated: [[0.52816829] [0.84913921] [0.00092499]] R_gt: [[ 0.86409952 0.49259752 -0.10334303] [-0.49710674 0.86741267 -0.02191587] [ 0.0788453 0.0703095 0.99440403]] t_gt: [-0.40392012 0.88686442 -0.22432128] Pose Error in degrees for R and t: 174.294980356079 57.348618436527715 Number of keypoints: Image1: 201 Image2: 201 R_estimated: [[ 9.87460792e-01 -1.57863069e-01 6.59441913e-04] [ 1.57862824e-01 9.87460967e-01 4.08535999e-04] [-7.15665896e-04 -2.99311919e-04 9.99999699e-01]] t_estimated: [[0.88017709] [0.47464365] [0.00130397]] R_gt: [[ 0.9994228 -0.03043153 -0.01514996] [ 0.03055931 0.9994988 0.00831923] [ 0.01488819 -0.00877813 0.99985011]] t_gt: [ 0.33082339 -0.89944433 -0.28557971] Pose Error in degrees for R and t: 7.404906672233569 82.17749287413055 Number of keypoints: Image1: 299 Image2: 299 R_estimated: [[ 9.97314696e-01 -7.32348287e-02 -2.38679936e-04] [ 7.32336120e-02 9.97309115e-01 -3.37146904e-03] [ 4.84946633e-04 3.34493622e-03 9.99994288e-01]] t_estimated: [[-0.71127851] [-0.7028916 ] [-0.00512588]] R_gt: [[ 0.99583648 -0.05918925 -0.06934425] [ 0.06163131 0.99753164 0.03363005] [ 0.06718241 -0.03776484 0.99702586]] t_gt: [ 0.42647428 -0.79316059 -0.43475966] Pose Error in degrees for R and t: 4.553403610925781 75.1438894885065 Number of keypoints: Image1: 253 Image2: 253 R_estimated: [[ 9.46022473e-01 -3.24098273e-01 1.33809382e-03] [ 3.24098280e-01 9.46023392e-01 2.17472283e-04] [-1.33635045e-03 2.27940240e-04 9.99999081e-01]] t_estimated: [[ 0.90822975] [-0.41846811] [ 0.00177878]] R_gt: [[ 0.99207172 -0.09009114 -0.08762952] [ 0.09442624 0.99443875 0.04665304] [ 0.082939 -0.05455852 0.99506047]] t_gt: [ 0.49836687 -0.79953407 -0.33522488] Pose Error in degrees for R and t: 14.769846136630719 38.129720819099504 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.99999769e-01 -6.78576286e-04 2.86456620e-05] [ 6.78577355e-04 9.99999769e-01 -3.73247151e-05] [-2.86203278e-05 3.73441447e-05 9.99999999e-01]] t_estimated: [[ 8.76256301e-01] [-4.81845288e-01] [-1.12180228e-04]] R_gt: [[ 0.9988379 -0.0475141 -0.00814745] [ 0.04764871 0.99871648 0.01720652] [ 0.00731909 -0.01757493 0.99981849]] t_gt: [ 0.51975344 -0.85078367 0.0776113 ] Pose Error in degrees for R and t: 2.901965864966003 30.074490365436404 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[ 0.31058497 0.95030823 0.02124243] [ 0.95032168 -0.30994919 -0.02863916] [-0.02063195 0.02908204 -0.99936408]] t_estimated: [[ 0.53854812] [-0.84238759] [ 0.01868329]] R_gt: [[ 0.99618508 -0.08208224 -0.0296152 ] [ 0.08298791 0.99607512 0.03076723] [ 0.02697361 -0.03310711 0.99908797]] t_gt: [ 0.51732389 -0.85527821 -0.02958343] Pose Error in degrees for R and t: 179.6072219652329 3.1103936742319553 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[ 0.99540456 -0.09574455 0.00165831] [ 0.09574886 0.99540172 -0.00275303] [-0.0013871 0.00289916 0.99999484]] t_estimated: [[8.01646439e-01] [5.97798272e-01] [4.61047080e-04]] R_gt: [[ 0.99446083 -0.08864839 -0.05647562] [ 0.09150628 0.99453843 0.05018549] [ 0.05171817 -0.05507534 0.99714161]] t_gt: [ 0.50387359 -0.85899753 -0.09074496] Pose Error in degrees for R and t: 4.520441611044177 83.70655412350537 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 8.08613217e-01 5.88339721e-01 1.01890773e-03] [-5.88340050e-01 8.08613619e-01 2.99136966e-05] [-8.06303249e-04 -6.23652834e-04 9.99999480e-01]] t_estimated: [[0.54934057] [0.83559744] [0.00136313]] R_gt: [[ 0.95653487 -0.29047649 -0.02579934] [ 0.29064307 0.95682748 0.00282711] [ 0.02386432 -0.01020191 0.99966342]] t_gt: [ 0.87000761 -0.49227432 -0.02743617] Pose Error in degrees for R and t: 52.95448675318301 86.18415066974747 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 7.42586608e-01 6.69748598e-01 1.39486210e-03] [-6.69750032e-01 7.42584491e-01 1.77997214e-03] [ 1.56330879e-04 -2.25599241e-03 9.99997443e-01]] t_estimated: [[8.87478663e-01] [4.60848231e-01] [7.28038280e-04]] R_gt: [[ 0.79988703 -0.60014256 0.00327027] [ 0.59988966 0.79968634 0.0252153 ] [-0.01774748 -0.01820806 0.99967613]] t_gt: [ 0.93599841 -0.35008817 0.03667765] Pose Error in degrees for R and t: 78.93454299940292 47.9817097080996 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 8.91131105e-01 4.53745614e-01 -5.21389104e-04] [-4.53745429e-01 8.91131244e-01 4.37188765e-04] [ 6.62998605e-04 -1.53014584e-04 9.99999769e-01]] t_estimated: [[8.38696064e-01] [5.44599384e-01] [6.50656372e-04]] R_gt: [[ 0.6665637 -0.74544213 0.00279743] [ 0.74516387 0.66640868 0.02512927] [-0.02059633 -0.01466658 0.99968018]] t_gt: [ 0.96647303 -0.25531424 0.02728591] Pose Error in degrees for R and t: 75.1915847478228 47.81312296087514 Number of keypoints: Image1: 720 Image2: 720 R_estimated: [[-0.96919809 0.2384525 0.06160742] [ 0.2384999 0.97111947 -0.00669103] [-0.06142365 0.00820842 -0.99807803]] t_estimated: [[ 0.99314994] [-0.1126044 ] [ 0.03119999]] R_gt: [[ 0.99926679 -0.03800619 -0.00474373] [ 0.03793316 0.9991744 -0.01454023] [ 0.00529327 0.01434945 0.99988344]] t_gt: [ 0.57077832 -0.75852033 -0.31441854] Pose Error in degrees for R and t: 176.63383847232558 50.023652264289964 Number of keypoints: Image1: 619 Image2: 619 R_estimated: [[ 9.99994983e-01 3.16470012e-03 1.34032780e-04] [-3.16469164e-03 9.99994990e-01 -6.34059454e-05] [-1.34232769e-04 6.29814549e-05 9.99999989e-01]] t_estimated: [[ 9.91911028e-01] [-1.26934932e-01] [ 1.90577145e-04]] R_gt: [[ 0.99651305 -0.08279234 -0.01040512] [ 0.08263435 0.99647041 -0.01477185] [ 0.0115921 0.01386167 0.99983703]] t_gt: [ 0.56330213 -0.79717517 -0.21726128] Pose Error in degrees for R and t: 5.033930785811064 48.70824386079468 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 9.99992457e-01 -3.88403638e-03 -7.33396798e-06] [ 3.88403261e-03 9.99992352e-01 -4.58737107e-04] [ 9.11566350e-06 4.58705162e-04 9.99999895e-01]] t_estimated: [[ 0.92416743] [-0.38197495] [-0.00311382]] R_gt: [[ 0.99417221 -0.10779184 0.00180363] [ 0.1077573 0.99408482 0.01356287] [-0.00325472 -0.01328985 0.99990636]] t_gt: [ 0.47212678 -0.87695956 0.08965621] Pose Error in degrees for R and t: 6.0193656622067655 39.554283487449254 Number of keypoints: Image1: 244 Image2: 244 R_estimated: [[ 9.99999973e-01 2.17750748e-04 8.55712550e-05] [-2.17760369e-04 9.99999970e-01 1.12438878e-04] [-8.55467688e-05 -1.12457508e-04 9.99999990e-01]] t_estimated: [[0.73611929] [0.67684945] [0.00179309]] R_gt: [[ 0.99855793 0.02502786 0.04749698] [-0.02614266 0.99939344 0.02299716] [-0.04689253 -0.02420599 0.99860643]] t_gt: [ 0.24606299 -0.11258693 0.96269267] Pose Error in degrees for R and t: 3.350072319331166 83.87755954846664 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.99969073e-01 -7.84823974e-03 5.08994527e-04] [ 7.84888227e-03 9.99968387e-01 -1.27287362e-03] [-4.98988618e-04 1.27682929e-03 9.99999060e-01]] t_estimated: [[-9.99569728e-01] [-2.93312316e-02] [-1.95165285e-04]] R_gt: [[ 0.99423444 0.09860355 0.042143 ] [-0.10104239 0.9930527 0.06031047] [-0.03590276 -0.06422108 0.99728932]] t_gt: [0.06559304 0.14796973 0.98681432] Pose Error in degrees for R and t: 7.513744679173185 85.98041030370624 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.99999450e-01 7.80802230e-05 1.04572320e-03] [-7.67664747e-05 9.99999208e-01 -1.25628717e-03] [-1.04582046e-03 1.25620620e-03 9.99998664e-01]] t_estimated: [[-0.05338341] [-0.99854352] [-0.0078132 ]] R_gt: [[ 0.97944459 0.18919928 0.06995291] [-0.19433414 0.97800264 0.07580313] [-0.05407202 -0.08783904 0.9946658 ]] t_gt: [-0.16027265 0.53143274 0.83180041] Pose Error in degrees for R and t: 12.569668650511057 58.08896391930093 Number of keypoints: Image1: 160 Image2: 160 R_estimated: [[ 9.99998799e-01 -6.78551272e-05 1.54846543e-03] [ 7.11074664e-05 9.99997792e-01 -2.10040441e-03] [-1.54831949e-03 2.10051199e-03 9.99996595e-01]] t_estimated: [[-0.79492527] [-0.60669978] [-0.00303094]] R_gt: [[ 0.98352516 0.16515377 -0.07350167] [-0.16287064 0.98598763 0.03607662] [ 0.07843007 -0.023512 0.9966426 ]] t_gt: [-0.13632355 0.97603413 -0.16962686] Pose Error in degrees for R and t: 10.616379570748359 61.10025229595493 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 9.99997535e-01 -7.00828329e-04 -2.10708610e-03] [ 7.03658337e-04 9.99998851e-01 1.34264996e-03] [ 2.10614271e-03 -1.34412931e-03 9.99996879e-01]] t_estimated: [[-0.92552398] [-0.3786753 ] [-0.0032215 ]] R_gt: [[ 0.93144153 0.35198924 -0.09230364] [-0.34590619 0.93520679 0.07574164] [ 0.11298408 -0.03862099 0.99284615]] t_gt: [-0.18270823 0.97591167 -0.11922295] Pose Error in degrees for R and t: 21.597587102190342 78.45902254132179 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99997205e-01 -5.65433782e-04 2.29560952e-03] [ 5.72553794e-04 9.99995025e-01 -3.10210677e-03] [-2.29384406e-03 3.10341246e-03 9.99992554e-01]] t_estimated: [[-0.75894983] [-0.6511437 ] [-0.00265113]] R_gt: [[ 0.92938852 0.36776689 -0.03136987] [-0.36640138 0.92951352 0.04188858] [ 0.04456372 -0.02743659 0.99862961]] t_gt: [-0.11831554 0.99291308 0.01118221] Pose Error in degrees for R and t: 21.82018026993738 56.16775525759218 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.99126295e-01 -4.17929082e-02 5.47726877e-06] [ 4.17929078e-02 9.99126293e-01 6.44361316e-05] [-8.16545658e-06 -6.41509225e-05 9.99999998e-01]] t_estimated: [[6.93355442e-01] [7.20595559e-01] [5.20806592e-04]] R_gt: [[ 0.99830234 -0.04676893 -0.03470426] [ 0.0481292 0.99806183 0.03946276] [ 0.0327921 -0.04106592 0.99861805]] t_gt: [ 0.51045447 -0.85853061 -0.04859449] Pose Error in degrees for R and t: 3.0274065581024625 74.64776718257751 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.97272321e-01 -7.38071702e-02 -6.47479834e-04] [ 7.38076123e-02 9.97272261e-01 6.87622714e-04] [ 5.94962191e-04 -7.33536041e-04 9.99999554e-01]] t_estimated: [[0.83572221] [0.5491508 ] [0.00133289]] R_gt: [[ 0.99628493 -0.0693244 -0.05108567] [ 0.07035805 0.99734657 0.01873632] [ 0.04965206 -0.02226137 0.99851757]] t_gt: [ 0.53546229 -0.78764729 -0.3047817 ] Pose Error in degrees for R and t: 3.0794519336702226 89.16606757003753 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-0.31064659 -0.95051963 0.00333718] [-0.95051367 0.3106233 -0.00607666] [ 0.00473938 -0.00505973 -0.99997597]] t_estimated: [[0.8244719 ] [0.56590096] [0.00147755]] R_gt: [[ 0.99723351 -0.01164148 0.07342583] [ 0.01290601 0.99977673 -0.01678123] [-0.07321291 0.01768232 0.9971588 ]] t_gt: [-0.13571332 -0.26463721 0.95475077] Pose Error in degrees for R and t: 177.2277692891597 74.91572134185401 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999790e-01 -4.95280782e-04 -4.18080025e-04] [ 4.95406779e-04 9.99999832e-01 3.01321072e-04] [ 4.17930716e-04 -3.01528128e-04 9.99999867e-01]] t_estimated: [[-0.99337957] [-0.11487016] [-0.00136904]] R_gt: [[ 0.98843242 0.15142211 -0.00858138] [-0.15160642 0.988037 -0.02825163] [ 0.0042008 0.02922568 0.99956302]] t_gt: [-0.21822126 0.96037571 -0.17337237] Pose Error in degrees for R and t: 8.909231786364648 83.8751465952787 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99999971e-01 -2.40410853e-04 -1.82427940e-06] [ 2.40410857e-04 9.99999971e-01 2.05712244e-06] [ 1.82378480e-06 -2.05756096e-06 1.00000000e+00]] t_estimated: [[ 8.21643548e-01] [-5.70001410e-01] [ 5.22618104e-04]] R_gt: [[ 0.98733079 0.14600967 0.06213389] [-0.14664804 0.98917102 0.00583201] [-0.06060895 -0.01486972 0.99804968]] t_gt: [-0.18277579 0.92968429 0.31981266] Pose Error in degrees for R and t: 9.162589456888126 47.161766934290355 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 0.73704204 -0.66752114 -0.10575709] [ 0.67176954 0.74073334 0.00630911] [ 0.07412634 -0.07569447 0.99437198]] t_estimated: [[0.7807068 ] [0.62489695] [0.00082878]] R_gt: [[ 0.99067978 0.11488084 0.07318675] [-0.11840388 0.99190999 0.04576321] [-0.06733744 -0.05400232 0.9962678 ]] t_gt: [-0.11606083 0.82365539 0.55508709] Pose Error in degrees for R and t: 49.79706534112756 64.87779727489676 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[ 9.99985083e-01 -5.46163013e-03 -5.83075022e-05] [ 5.46163748e-03 9.99985077e-01 1.26682719e-04] [ 5.76147380e-05 -1.26999284e-04 9.99999990e-01]] t_estimated: [[-0.64187557] [ 0.76680535] [-0.00230343]] R_gt: [[ 9.96806765e-01 7.98118214e-02 2.56998419e-03] [-7.98529103e-02 9.96156875e-01 3.59937399e-02] [ 3.13039392e-04 -3.60843617e-02 9.99349316e-01]] t_gt: [-0.37253941 0.58537617 0.72010355] Pose Error in degrees for R and t: 5.309049692850909 46.65932595477171 Number of keypoints: Image1: 165 Image2: 165 R_estimated: [[ 9.99463641e-01 -3.27477972e-02 -1.08448446e-04] [ 3.27478261e-02 9.99463608e-01 2.75705396e-04] [ 9.93615308e-05 -2.79108970e-04 9.99999956e-01]] t_estimated: [[-1.26001131e-01] [ 9.92030088e-01] [ 1.39455712e-04]] R_gt: [[ 0.98928401 0.14303725 0.02929267] [-0.1444174 0.98814177 0.05214257] [-0.02148677 -0.05581391 0.99821027]] t_gt: [-0.28252751 0.61345349 0.73746391] Pose Error in degrees for R and t: 10.70603074453896 49.88933863050635 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 6.43720970e-01 -7.65257981e-01 -1.88006882e-03] [ 7.65260180e-01 6.43720257e-01 1.04297314e-03] [ 4.12094863e-04 -2.11012549e-03 9.99997689e-01]] t_estimated: [[ 1.35940509e-01] [-9.90716815e-01] [-6.09005798e-04]] R_gt: [[ 0.95990439 0.27723659 0.04153702] [-0.28003824 0.95508487 0.09691305] [-0.01280325 -0.10465835 0.99442565]] t_gt: [-0.28787171 0.81846029 0.49724505] Pose Error in degrees for R and t: 66.39305075453021 31.755836211871063 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.52260780e-01 -3.05285533e-01 3.88490092e-04] [ 3.05285761e-01 9.52260402e-01 -8.54816106e-04] [-1.08980740e-04 9.32608344e-04 9.99999559e-01]] t_estimated: [[-0.17493972] [-0.98457808] [-0.00144578]] R_gt: [[ 0.98706166 -0.15783067 0.02825478] [ 0.15819318 0.98734614 -0.0110499 ] [-0.02615387 0.01537656 0.99953899]] t_gt: [ 0.82785186 -0.56083416 0.01123996] Pose Error in degrees for R and t: 8.847124855223726 65.96186449649711 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[ 0.302644 0.9531025 0.00149422] [-0.95306846 0.30264593 -0.0081214 ] [-0.00819274 0.0010338 0.9999659 ]] t_estimated: [[0.96134648] [0.2753371 ] [0.00155558]] R_gt: [[ 8.44272609e-01 -5.35913316e-01 8.32985480e-05] [ 5.35852870e-01 8.44173770e-01 -1.52477225e-02] [ 8.10070627e-03 1.29185500e-02 9.99883273e-01]] t_gt: [ 0.92866344 -0.36957064 -0.03165062] Pose Error in degrees for R and t: 104.79032124633791 37.72453561746553 Number of keypoints: Image1: 65 Image2: 65 R_estimated: [[ 4.11384321e-02 -9.99149904e-01 2.66425072e-03] [-9.99153406e-01 -4.11391329e-02 -2.08722928e-04] [ 3.18150458e-04 -2.65340865e-03 -9.99996429e-01]] t_estimated: [[0.92880125] [0.37057636] [0.00118018]] R_gt: [[ 0.69520223 -0.71777302 0.03868042] [ 0.71645934 0.69627286 0.04348988] [-0.05814826 -0.00252165 0.99830418]] t_gt: [ 0.95987665 -0.2770991 0.04304527] Pose Error in degrees for R and t: 176.83685202179484 37.91725382351541 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.88774578e-01 1.49414717e-01 -2.75386863e-04] [-1.49414528e-01 9.88774456e-01 6.11631275e-04] [ 3.63682210e-04 -5.63618657e-04 9.99999775e-01]] t_estimated: [[-0.65255699] [-0.75773841] [ 0.00136837]] R_gt: [[ 0.99822414 -0.0215231 0.0555377 ] [ 0.01990551 0.99936596 0.02952926] [-0.0561383 -0.02837038 0.99801937]] t_gt: [ 0.17183884 -0.15833256 0.97231796] Pose Error in degrees for R and t: 10.423669985304212 89.4745606713092 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[-0.72907187 0.68152482 -0.06307234] [-0.68317052 -0.73022987 0.00651043] [-0.04162028 0.04783574 0.99798772]] t_estimated: [[0.66633056] [0.74565562] [0.00113322]] R_gt: [[ 0.99287754 -0.0963109 0.07013495] [ 0.09291715 0.9944098 0.05014634] [-0.07457323 -0.04327175 0.99627591]] t_gt: [ 0.77909405 -0.21134214 0.59020925] Pose Error in degrees for R and t: 142.55786546175383 68.76373856065588 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 0.99020068 -0.13950144 0.00647778] [ 0.1396279 0.98982319 -0.02746093] [-0.00258102 0.02809631 0.99960189]] t_estimated: [[-0.11578422] [-0.9929353 ] [-0.02595182]] R_gt: [[ 9.88667861e-01 -1.50119882e-01 -3.79411790e-04] [ 1.50067792e-01 9.88379851e-01 -2.41757688e-02] [ 4.00316744e-03 2.38456557e-02 9.99707238e-01]] t_gt: [ 0.986073 -0.12198161 -0.11305094] Pose Error in degrees for R and t: 0.7540643752718633 89.43379212173076 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99546730e-01 -3.01052659e-02 8.63318117e-05] [ 3.01052684e-02 9.99546733e-01 -2.75944605e-05] [-8.54619418e-05 3.01809951e-05 9.99999996e-01]] t_estimated: [[-9.67243898e-01] [-2.53847907e-01] [-6.94669549e-04]] R_gt: [[ 0.99558132 0.09059636 0.02472953] [-0.09080441 0.99584119 0.00743004] [-0.02395399 -0.00964266 0.99966643]] t_gt: [-0.68470408 0.69122993 0.23104439] Pose Error in degrees for R and t: 7.084922120306234 60.87949410909762 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.99913914e-01 -1.30978409e-02 -7.82234865e-04] [ 1.30983876e-02 9.99913969e-01 6.97841896e-04] [ 7.73027346e-04 -7.08027837e-04 9.99999451e-01]] t_estimated: [[-0.99451016] [-0.10462903] [-0.00151702]] R_gt: [[ 0.93546619 0.35259906 0.02401997] [-0.35267223 0.93574626 -0.00127389] [-0.02292611 -0.00727856 0.99970974]] t_gt: [-0.64875516 0.75933191 0.05031704] Pose Error in degrees for R and t: 21.44870358741547 55.551231789569854 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[-0.82161044 -0.57004814 -0.00118246] [ 0.57003973 -0.82158274 -0.00751734] [ 0.00331376 -0.00685037 0.99997105]] t_estimated: [[0.82857632] [0.55987527] [0.00097709]] R_gt: [[ 0.82490962 0.55767649 0.09230877] [-0.55541927 0.83000712 -0.05096163] [-0.1050372 -0.00923089 0.99442514]] t_gt: [-0.57025389 0.81316454 0.11650723] Pose Error in degrees for R and t: 179.1935864638027 89.01937439677252 Number of keypoints: Image1: 249 Image2: 249 R_estimated: [[-4.70839622e-01 8.82217821e-01 -1.32928099e-03] [-8.82213878e-01 -4.70841494e-01 -2.63846127e-03] [-2.95357820e-03 -6.95819692e-05 9.99995636e-01]] t_estimated: [[0.29515443] [0.95544835] [0.00152141]] R_gt: [[ 0.99374262 -0.10318122 0.04276945] [ 0.10196606 0.99434473 0.02968085] [-0.04559088 -0.02513354 0.99864382]] t_gt: [ 0.45429508 -0.79587253 0.40025355] Pose Error in degrees for R and t: 124.0010310469642 51.26502491755399 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[-9.54736847e-01 2.97450746e-01 -7.78192639e-04] [-2.97448299e-01 -9.54735086e-01 -2.32920786e-03] [-1.43579243e-03 -1.99230849e-03 9.99996985e-01]] t_estimated: [[0.7365113 ] [0.67642445] [0.00103807]] R_gt: [[ 0.97615245 -0.21616354 0.01996817] [ 0.21467875 0.97489901 0.0590162 ] [-0.03222542 -0.05332173 0.99805707]] t_gt: [ 0.61982581 -0.73644047 0.2710561 ] Pose Error in degrees for R and t: 175.1501260114958 87.62978535475598 Number of keypoints: Image1: 194 Image2: 194 R_estimated: [[ 0.93856749 0.3450905 0.00190292] [ 0.34509312 -0.93856758 -0.00127594] [ 0.00134571 0.00185424 -0.99999738]] t_estimated: [[9.73728204e-01] [2.27711390e-01] [9.52767323e-04]] R_gt: [[ 0.93710038 -0.34878746 0.01378331] [ 0.34297492 0.92738693 0.14939842] [-0.06489168 -0.13527363 0.98868092]] t_gt: [ 0.65311108 -0.64743726 0.39277336] Pose Error in degrees for R and t: 172.32200934484726 60.731820245518065 Number of keypoints: Image1: 293 Image2: 293 R_estimated: [[ 9.99987260e-01 -5.02357661e-03 -4.94129767e-04] [ 5.02437295e-03 9.99986059e-01 1.62379444e-03] [ 4.85965623e-04 -1.62625645e-03 9.99998560e-01]] t_estimated: [[0.01789198] [0.99982838] [0.00480516]] R_gt: [[ 0.99925133 0.02357246 0.03067281] [-0.0257907 0.99691953 0.07406475] [-0.02883353 -0.0748007 0.99678111]] t_gt: [-0.15948971 -0.11441297 0.98054715] Pose Error in degrees for R and t: 4.833122187607684 83.53851842587605 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.99999637e-01 -8.47702159e-04 -8.26392674e-05] [ 8.47689493e-04 9.99999629e-01 -1.53183935e-04] [ 8.27690911e-05 1.53113827e-04 9.99999985e-01]] t_estimated: [[-0.99997364] [-0.00716488] [-0.00117434]] R_gt: [[ 0.99147858 0.11276315 0.06522049] [-0.11922014 0.98725005 0.10547621] [-0.05249543 -0.11235328 0.99228058]] t_gt: [-0.57532527 0.30079658 0.7606065 ] Pose Error in degrees for R and t: 9.807918334590845 55.09190648327823 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.11549059e-01 -4.11190408e-01 -8.72863237e-04] [ 4.11190630e-01 9.11549372e-01 8.41790302e-05] [ 7.61044326e-04 -4.35646500e-04 9.99999616e-01]] t_estimated: [[9.80761382e-01] [1.95210404e-01] [1.01038021e-04]] R_gt: [[ 0.976107 0.21186004 0.04827506] [-0.21409074 0.97568381 0.04697654] [-0.03714928 -0.05618915 0.99772842]] t_gt: [-0.70960216 0.63855277 0.29785088] Pose Error in degrees for R and t: 36.78900978184995 55.16129466859987 Number of keypoints: Image1: 346 Image2: 346 R_estimated: [[ 0.77144223 -0.63628745 0.00389387] [-0.63629808 -0.77143854 0.00270807] [ 0.00128077 -0.00456678 -0.99998875]] t_estimated: [[0.31284242] [0.94980086] [0.0028184 ]] R_gt: [[ 0.99784671 -0.05449346 0.03648691] [ 0.05463667 0.99850202 -0.00292896] [-0.0362726 0.00491709 0.99932943]] t_gt: [ 0.06411655 -0.81963278 0.56929006] Pose Error in degrees for R and t: 179.29016550629936 40.814904076285806 Number of keypoints: Image1: 238 Image2: 238 R_estimated: [[-0.64662479 0.76198821 -0.03536024] [ 0.76196757 0.64739351 0.01694309] [ 0.03580242 -0.01598754 -0.999231 ]] t_estimated: [[-0.04281675] [-0.99905746] [-0.00713612]] R_gt: [[ 0.99408769 -0.09974888 0.0429014 ] [ 0.10006786 0.99496588 -0.00535616] [-0.04215115 0.0096182 0.99906511]] t_gt: [ 0.09601711 -0.94134582 0.32349461] Pose Error in degrees for R and t: 179.85681480232216 20.926572990186845 Number of keypoints: Image1: 344 Image2: 344 R_estimated: [[ 9.04520005e-01 4.26429248e-01 1.28766394e-03] [-4.26429125e-01 9.04520898e-01 -3.82253730e-04] [-1.32772312e-03 -2.03341262e-04 9.99999098e-01]] t_estimated: [[0.91239977] [0.40929509] [0.00204553]] R_gt: [[ 0.99349993 -0.11330968 -0.01088557] [ 0.11346231 0.99343553 0.01459465] [ 0.00916093 -0.01573403 0.99983407]] t_gt: [ 0.02824014 -0.99948644 -0.0151445 ] Pose Error in degrees for R and t: 31.770588053330755 67.45868221027179 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99999219e-01 -7.31524995e-04 1.01295794e-03] [ 7.32568211e-04 9.99999201e-01 -1.02988337e-03] [-1.01220374e-03 1.03062462e-03 9.99998957e-01]] t_estimated: [[0.40456357] [0.91450772] [0.00198496]] R_gt: [[ 0.9780521 -0.157655 -0.1362349 ] [ 0.17436065 0.97723416 0.12087546] [ 0.11407704 -0.14197728 0.98327426]] t_gt: [ 0.6026883 -0.78798869 0.1258596 ] Pose Error in degrees for R and t: 14.27152571434728 61.53993026688509 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.89938115 -0.43716251 -0.0015769 ] [-0.4371561 -0.89937973 0.00326301] [-0.0028447 -0.00224534 -0.99999343]] t_estimated: [[0.04968917] [0.99875237] [0.00496892]] R_gt: [[ 0.93242827 -0.29268244 -0.21192996] [ 0.32205095 0.93908339 0.12001775] [ 0.1638924 -0.18016028 0.96988735]] t_gt: [ 0.67643242 -0.73335676 0.0680223 ] Pose Error in degrees for R and t: 173.7303213115666 45.69382281537418 Number of keypoints: Image1: 45 Image2: 45 R_estimated: [[-8.53452868e-01 5.21169654e-01 6.27332340e-04] [-5.21169247e-01 -8.53448877e-01 -2.76215689e-03] [-9.04156267e-04 -2.68431704e-03 9.99995988e-01]] t_estimated: [[0.1016603 ] [0.99481863] [0.00103735]] R_gt: [[ 0.89141636 -0.35944346 -0.27600224] [ 0.40990188 0.89924354 0.15277515] [ 0.19327994 -0.24932055 0.94893753]] t_gt: [ 0.68565076 -0.71621893 0.13005179] Pose Error in degrees for R and t: 171.965141777654 50.00882820937628 Number of keypoints: Image1: 308 Image2: 308 R_estimated: [[ 9.90904206e-01 -1.34569113e-01 -9.63797751e-05] [ 1.34569124e-01 9.90904202e-01 1.19358904e-04] [ 7.94411023e-05 -1.31242982e-04 9.99999988e-01]] t_estimated: [[ 1.40138703e-01] [-9.90131810e-01] [-3.78137331e-04]] R_gt: [[ 0.99824312 0.03875471 0.04483052] [-0.03682264 0.99839046 -0.04314662] [-0.04643012 0.04142038 0.99806271]] t_gt: [-0.69374952 0.72007373 -0.01433273] Pose Error in degrees for R and t: 10.525668440348994 35.8861221799416 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.32206872 -0.94671412 -0.00202642] [ 0.9467145 -0.32207153 0.00125528] [-0.00184104 -0.00151415 0.99999716]] t_estimated: [[0.99334955] [0.11512818] [0.001476 ]] R_gt: [[ 0.99131733 0.08502527 0.10030922] [-0.07733108 0.99393086 -0.07825379] [-0.10635306 0.06981758 0.99187382]] t_gt: [-0.74702289 0.64379226 0.16579606] Pose Error in degrees for R and t: 113.62302876065873 48.110856969899494 Number of keypoints: Image1: 123 Image2: 123 R_estimated: [[ 9.47487545e-01 -3.19792515e-01 -3.15037818e-04] [ 3.19792625e-01 9.47487474e-01 4.04252113e-04] [ 1.69217587e-04 -4.83770613e-04 9.99999869e-01]] t_estimated: [[-0.98296484] [-0.18378839] [-0.00139889]] R_gt: [[ 0.97854337 0.12444396 0.16421682] [-0.10906833 0.98903528 -0.09956673] [-0.17480678 0.07951918 0.98138625]] t_gt: [-0.72041572 0.59228954 0.36082445] Pose Error in degrees for R and t: 27.698795952549386 53.21724044003443 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.98968727e-01 4.54032112e-02 -1.75822033e-04] [-4.54032219e-02 9.98968740e-01 -5.73948005e-05] [ 1.73034807e-04 6.53184975e-05 9.99999983e-01]] t_estimated: [[-0.9734767 ] [ 0.22875034] [-0.00404857]] R_gt: [[ 0.98484244 -0.17312775 0.01055207] [ 0.17338597 0.98431104 -0.03269986] [-0.0047252 0.03403407 0.99940941]] t_gt: [ 0.58772486 -0.80317079 -0.09744831] Pose Error in degrees for R and t: 12.734920198582396 40.933761935214875 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 9.82458108e-01 -1.86475914e-01 1.67336573e-03] [ 1.86477558e-01 9.82458822e-01 -8.85455000e-04] [-1.47889689e-03 1.18196760e-03 9.99998208e-01]] t_estimated: [[0.95631657] [0.29232954] [0.00143287]] R_gt: [[ 9.31789472e-01 -3.62936605e-01 6.75956036e-03] [ 3.62928573e-01 9.31814489e-01 2.38028998e-03] [-7.16228748e-03 2.35351118e-04 9.99974005e-01]] t_gt: [ 0.66439422 -0.74702023 0.02326143] Pose Error in degrees for R and t: 10.53876964016689 65.35287708909539 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 0.99272294 -0.12023108 0.00675714] [ 0.12024958 0.99274079 -0.00240033] [-0.0064195 0.0031954 0.99997429]] t_estimated: [[-0.38181356] [-0.92423887] [-0.00096175]] R_gt: [[ 0.84965913 -0.5264943 -0.02972586] [ 0.52485027 0.84977775 -0.04910405] [ 0.05111269 0.0261203 0.99835163]] t_gt: [ 0.75576417 -0.64744953 -0.09813067] Pose Error in degrees for R and t: 25.07568584848135 71.94490399295529 Number of keypoints: Image1: 241 Image2: 241 R_estimated: [[ 9.99675803e-01 -2.54614989e-02 -1.36246804e-05] [ 2.54614998e-02 9.99675801e-01 6.37306134e-05] [ 1.19975863e-05 -6.40568570e-05 9.99999998e-01]] t_estimated: [[-7.14711019e-02] [ 9.97442648e-01] [ 2.13727286e-04]] R_gt: [[ 0.99475631 0.03138978 0.09734281] [-0.02851378 0.99911886 -0.03080468] [-0.09822413 0.02786725 0.99477413]] t_gt: [-0.71226834 0.36020247 0.60243505] Pose Error in degrees for R and t: 6.667977920627892 65.77527092364274 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 0.92045723 0.3908249 0.00379192] [-0.39080286 0.92045824 -0.00545391] [-0.00562183 0.0035382 0.99997794]] t_estimated: [[-9.99994892e-01] [-3.10075935e-03] [-7.75189840e-04]] R_gt: [[ 0.98782222 0.09168574 0.12570452] [-0.08522363 0.99479357 -0.05587373] [-0.1301739 0.04447925 0.99049322]] t_gt: [-0.73703937 0.52586342 0.42454755] Pose Error in degrees for R and t: 19.421601657603002 42.68636779415044 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[ 0.0719708 0.99740384 0.00240355] [ 0.99740568 -0.07197402 0.00128137] [ 0.00145103 0.0023051 -0.99999629]] t_estimated: [[-0.36068036] [-0.93268893] [-0.001016 ]] R_gt: [[ 0.964547 0.24333735 0.10216334] [-0.24005432 0.96978503 -0.04347884] [-0.10965617 0.01741175 0.99381718]] t_gt: [-0.7080621 0.67067772 0.22099651] Pose Error in degrees for R and t: 174.51684863079973 68.26130761422023 Number of keypoints: Image1: 167 Image2: 167 R_estimated: [[-0.71592365 -0.69712139 0.03840704] [-0.69804031 0.71360325 -0.05924637] [ 0.01389453 -0.06922554 -0.99750427]] t_estimated: [[0.98827203] [0.14973819] [0.02994764]] R_gt: [[ 0.98539548 -0.16904738 0.02045735] [ 0.16879115 0.98555615 0.01369943] [-0.02247751 -0.01004579 0.99969677]] t_gt: [ 0.55341735 -0.82256346 0.13083803] Pose Error in degrees for R and t: 178.1817008593036 64.67983524288987 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[-0.39193136 -0.91996089 0.00785967] [-0.91999324 0.39193043 -0.00172225] [-0.00149604 -0.00790584 -0.99996763]] t_estimated: [[0.91010502] [0.41432503] [0.00660535]] R_gt: [[ 9.45428357e-01 -3.25828301e-01 -9.03731808e-04] [ 3.25821422e-01 9.45418852e-01 -4.86474014e-03] [ 2.43982721e-03 4.30454801e-03 9.99988203e-01]] t_gt: [ 0.64474437 -0.7642983 -0.01236174] Pose Error in degrees for R and t: 180.0 74.33361970594082 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-0.97648146 -0.21559013 0.00220397] [-0.21558507 0.97648229 0.00232544] [-0.00265348 0.00179561 -0.99999487]] t_estimated: [[0.99675791] [0.08044011] [0.0017487 ]] R_gt: [[ 0.85834668 -0.513026 -0.00670552] [ 0.51296539 0.85783492 0.03140877] [-0.01036125 -0.03039902 0.99948475]] t_gt: [ 0.7255074 -0.68569639 0.05881734] Pose Error in degrees for R and t: 179.52679236822928 48.07936340474131 Number of keypoints: Image1: 612 Image2: 612 R_estimated: [[ 9.99995877e-01 -2.87145913e-03 4.46783963e-06] [ 2.87145902e-03 9.99995877e-01 2.41300202e-05] [-4.53710957e-06 -2.41170915e-05 1.00000000e+00]] t_estimated: [[ 9.81013688e-01] [-1.93938286e-01] [ 2.91795445e-04]] R_gt: [[ 0.99944193 -0.03318114 -0.00387661] [ 0.03322135 0.99939234 0.01061951] [ 0.00352217 -0.01074126 0.99993575]] t_gt: [ 0.41205292 -0.909335 0.05763898] Pose Error in degrees for R and t: 1.8540756978115813 54.50715809619734 Number of keypoints: Image1: 380 Image2: 380 R_estimated: [[ 9.71265701e-01 2.37997756e-01 8.32679392e-05] [-2.37997769e-01 9.71265669e-01 2.47490414e-04] [-2.19731277e-05 -2.60196534e-04 9.99999966e-01]] t_estimated: [[9.22158239e-01] [3.86812013e-01] [8.05747824e-04]] R_gt: [[ 0.99676609 -0.07947591 0.01184061] [ 0.07905282 0.99633514 0.03266679] [-0.01439303 -0.03162453 0.99939579]] t_gt: [ 0.28696717 -0.87917112 0.38040502] Pose Error in degrees for R and t: 18.421524805129 85.69083131819514 Number of keypoints: Image1: 383 Image2: 383 R_estimated: [[ 0.99997553 -0.00608408 -0.0034542 ] [ 0.00611113 0.99995031 0.00787553] [ 0.00340612 -0.00789645 0.99996302]] t_estimated: [[0.45118998] [0.89242724] [0.00110586]] R_gt: [[ 0.99276882 -0.10385144 0.06020933] [ 0.10318861 0.99456304 0.01402292] [-0.06133791 -0.00770752 0.99808692]] t_gt: [ 0.0567264 -0.83387873 0.54902493] Pose Error in degrees for R and t: 6.704000980279358 44.112490877295905 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[ 0.99987973 -0.01517022 0.00322399] [ 0.01519495 0.99985422 -0.0077881 ] [-0.00310537 0.00783615 0.99996448]] t_estimated: [[-9.46189316e-01] [-3.23612648e-01] [-7.95117072e-04]] R_gt: [[ 0.99994105 0.00564893 -0.00930557] [-0.00583474 0.99978106 -0.02012617] [ 0.0091902 0.02017945 0.9997548 ]] t_gt: [-0.08992731 0.73741298 -0.66942899] Pose Error in degrees for R and t: 1.5614460240453807 81.19827214962876 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.99999855e-01 -5.37424184e-04 4.65274678e-05] [ 5.37425227e-04 9.99999855e-01 -2.24022182e-05] [-4.65154216e-05 2.24272200e-05 9.99999999e-01]] t_estimated: [[-0.99995296] [-0.00945039] [-0.00218313]] R_gt: [[ 0.99681201 0.07958454 -0.00571303] [-0.07949769 0.99673623 0.01405355] [ 0.00681205 -0.01355338 0.99988497]] t_gt: [-0.56950312 0.81945706 0.06446955] Pose Error in degrees for R and t: 4.6749545416398375 55.83407529492701 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.68768327 0.35158539 0.6352003 ] [ 0.68555756 -0.02649508 -0.72753615] [-0.2389614 0.93578081 -0.25925224]] t_estimated: [[-0.77174911] [-0.61570575] [-0.15909032]] R_gt: [[ 9.70010203e-01 2.43059006e-01 1.43285421e-03] [-2.43062917e-01 9.69990469e-01 6.29185838e-03] [ 1.39373634e-04 -6.45102606e-03 9.99978823e-01]] t_gt: [-0.62253973 0.78246904 0.01365601] Pose Error in degrees for R and t: 110.75673775888056 89.79953647627254 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[ 1.51359567e-01 -9.88475993e-01 -2.34355588e-03] [ 9.88478583e-01 1.51360576e-01 -2.58212200e-04] [ 6.09958529e-04 -2.27747191e-03 9.99997221e-01]] t_estimated: [[0.99744782] [0.07139197] [0.00101989]] R_gt: [[ 0.99789197 0.04530291 0.04648099] [-0.04922023 0.99499935 0.08691342] [-0.04231057 -0.08901689 0.9951318 ]] t_gt: [-0.43117451 0.08662497 0.89810058] Pose Error in degrees for R and t: 84.16336589971655 64.97752224135678 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[ 9.74656214e-01 -2.23707752e-01 3.26786601e-04] [ 2.23707838e-01 9.74656215e-01 -2.55381786e-04] [-2.61373707e-04 3.22014169e-04 9.99999914e-01]] t_estimated: [[-0.94566202] [-0.32514888] [-0.00124103]] R_gt: [[ 0.98308497 0.17906607 0.03848686] [-0.1810356 0.98188877 0.05586752] [-0.02778534 -0.06189023 0.99769668]] t_gt: [-0.72279693 0.61447459 0.31620495] Pose Error in degrees for R and t: 23.630529684456274 61.09665701540304 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[-0.52826335 -0.84907561 -0.00290528] [ 0.8490776 -0.52824933 -0.00445735] [ 0.00224992 -0.00482147 0.99998585]] t_estimated: [[0.98086684] [0.19467586] [0.00124792]] R_gt: [[ 0.98453824 0.16879416 0.04684898] [-0.1671873 0.98525456 -0.03635392] [-0.05229414 0.02795992 0.99824079]] t_gt: [-0.68751959 0.72550233 -0.03103521] Pose Error in degrees for R and t: 131.59911798123682 57.780373877841555 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 8.66859835e-01 4.98550357e-01 1.25241291e-03] [-4.98551135e-01 8.66860204e-01 3.91357180e-04] [-8.90555646e-04 -9.63643696e-04 9.99999139e-01]] t_estimated: [[0.68705275] [0.72660559] [0.00168282]] R_gt: [[ 0.98988039 -0.14185777 0.00386912] [ 0.14055449 0.98381785 0.11111966] [-0.01957024 -0.10945272 0.99379902]] t_gt: [ 0.56570839 -0.709766 0.41976928] Pose Error in degrees for R and t: 38.55168160079078 82.74173633106327 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-9.82450105e-01 1.86400593e-01 6.82718976e-03] [ 1.86410117e-01 9.82471709e-01 7.80662830e-04] [-6.56200478e-03 2.03961952e-03 -9.99976390e-01]] t_estimated: [[ 0.99799928] [-0.06315243] [ 0.00303453]] R_gt: [[ 0.96734607 -0.25204909 0.02671018] [ 0.2469091 0.9609013 0.12532432] [-0.05725382 -0.11463799 0.99175536]] t_gt: [ 0.6228342 -0.69189056 0.36519175] Pose Error in degrees for R and t: 177.83815979330143 48.210884625485946 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99998117e-01 -1.94066085e-03 -2.09212209e-06] [ 1.94066085e-03 9.99998117e-01 3.09788144e-06] [ 2.08610621e-06 -3.10193570e-06 1.00000000e+00]] t_estimated: [[ 7.32799861e-01] [-6.80444220e-01] [-1.64584991e-04]] R_gt: [[ 0.9591298 -0.28149711 0.02882013] [ 0.27588966 0.95291246 0.12587224] [-0.06289543 -0.11277737 0.99162751]] t_gt: [ 0.63121764 -0.69524342 0.34380354] Pose Error in degrees for R and t: 17.75405648213821 20.678925578228277 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[ 9.97304969e-01 7.33673771e-02 1.63628455e-04] [-7.33673603e-02 9.97304978e-01 -1.06474508e-04] [-1.70999228e-04 9.41825684e-05 9.99999981e-01]] t_estimated: [[0.31168605] [0.95018413] [0.00138942]] R_gt: [[ 0.99824538 -0.04440204 0.03918462] [ 0.0429855 0.9984172 0.03628956] [-0.04073406 -0.03454151 0.99857307]] t_gt: [ 0.6087514 -0.23586943 0.75748752] Pose Error in degrees for R and t: 7.376135543089378 88.09011586213795 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.98536626e-01 -5.40795404e-02 -1.03921070e-04] [ 5.40795390e-02 9.98536631e-01 -1.62049020e-05] [ 1.04645349e-04 1.05611846e-05 9.99999994e-01]] t_estimated: [[ 9.99994383e-01] [ 3.34417605e-03] [-2.25512202e-04]] R_gt: [[ 0.99056353 -0.13697349 -0.00485874] [ 0.13690072 0.99049949 -0.01302883] [ 0.00659735 0.01224058 0.99990355]] t_gt: [ 0.99068772 -0.12615836 -0.05120465] Pose Error in degrees for R and t: 4.83603873049704 7.998462113939822 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[ 8.85462083e-01 4.64711384e-01 4.77867063e-04] [-4.64711420e-01 8.85462193e-01 -3.99682699e-05] [-4.41706928e-04 -1.86679894e-04 9.99999885e-01]] t_estimated: [[0.83813879] [0.5454554 ] [0.00133038]] R_gt: [[ 0.99196743 -0.11459839 -0.05354939] [ 0.10989743 0.99040788 -0.0837548 ] [ 0.06263433 0.07719699 0.9950462 ]] t_gt: [ 0.85978912 -0.04177401 -0.50893771] Pose Error in degrees for R and t: 34.61505368643114 45.80043380531712 Number of keypoints: Image1: 140 Image2: 140 R_estimated: [[ 9.89141785e-01 -1.46963869e-01 -3.88886770e-04] [ 1.46964018e-01 9.89141763e-01 3.88336524e-04] [ 3.27592707e-04 -4.41272245e-04 9.99999849e-01]] t_estimated: [[9.99992176e-01] [3.87894560e-03] [7.75789120e-04]] R_gt: [[ 0.98824792 -0.15245127 -0.01114082] [ 0.15229659 0.98824116 -0.01360758] [ 0.01308475 0.01175065 0.99984606]] t_gt: [ 0.70811228 -0.70128404 -0.08232676] Pose Error in degrees for R and t: 1.058183851913922 45.144385422236944 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.90923192e-01 -1.34424416e-01 -1.14200070e-03] [ 1.34428338e-01 9.90912167e-01 4.70107035e-03] [ 4.99683750e-04 -4.81191690e-03 9.99988298e-01]] t_estimated: [[0.26728066] [0.96361712] [0.00175843]] R_gt: [[ 0.97786632 -0.20898241 0.01017271] [ 0.2089272 0.97791092 0.0063048 ] [-0.01126457 -0.00404086 0.99992888]] t_gt: [ 0.64061835 -0.76448945 0.07186111] Pose Error in degrees for R and t: 4.386597169508407 55.57521612636549 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 0.24389462 0.96979773 0.00278717] [-0.96979995 0.24388764 0.00262199] [ 0.00186305 -0.00334248 0.99999268]] t_estimated: [[7.62988778e-01] [6.46411353e-01] [6.98068416e-04]] R_gt: [[ 0.94911282 -0.31349694 0.03007437] [ 0.31230235 0.94919836 0.03858874] [-0.04064269 -0.02723261 0.99880274]] t_gt: [ 0.67256672 -0.72317422 0.15707658] Pose Error in degrees for R and t: 94.15536373231512 87.37479263080773 Number of keypoints: Image1: 331 Image2: 331 R_estimated: [[ 0.28033735 0.95865897 -0.04882575] [ 0.95849189 -0.27680768 0.06834326] [ 0.05200254 -0.06595825 -0.99646638]] t_estimated: [[ 0.6031477 ] [-0.79646914] [-0.04300886]] R_gt: [[ 0.99925364 -0.00303109 0.03851639] [ 0.00176736 0.99945995 0.03280629] [-0.03859509 -0.03271312 0.99871907]] t_gt: [-0.41788818 -0.27641884 0.86542596] Pose Error in degrees for R and t: 175.00996184227034 86.03711797070055 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99739587e-01 2.27945570e-02 -1.08022096e-03] [-2.27948065e-02 9.99740141e-01 -2.19187329e-04] [ 1.07494397e-03 2.43753677e-04 9.99999393e-01]] t_estimated: [[-0.6572662 ] [-0.75364273] [-0.00487634]] R_gt: [[ 0.99788295 0.03950732 0.05165706] [-0.03972056 0.99920611 0.00309881] [-0.05149318 -0.00514319 0.99866012]] t_gt: [-0.8316506 0.12795296 0.54035666] Pose Error in degrees for R and t: 3.179186296977757 63.413394058972635 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 1.59601123e-01 9.87180752e-01 1.28257263e-03] [ 9.87178828e-01 -1.59603613e-01 2.15618653e-03] [ 2.33324907e-03 9.21998751e-04 -9.99996853e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.98383134 0.16893821 0.05946696] [-0.16560781 0.98453666 -0.05710531] [-0.06819471 0.04633402 0.99659492]] t_gt: [-0.79218136 0.5923919 0.14669874] Pose Error in degrees for R and t: 175.40868272176064 54.01369865423515 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[ 9.99999981e-01 1.86040132e-04 6.32149864e-05] [-1.86036803e-04 9.99999981e-01 -5.26625320e-05] [-6.32247825e-05 5.26507706e-05 9.99999997e-01]] t_estimated: [[-0.99968289] [-0.02515427] [-0.00117644]] R_gt: [[ 0.99729039 0.07111896 -0.01883098] [-0.06962548 0.99506677 0.07067849] [ 0.02376425 -0.06917517 0.99732106]] t_gt: [-0.27812343 0.79196337 0.54354519] Pose Error in degrees for R and t: 5.818994081835556 75.07973786023908 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 9.99999236e-01 -1.23471250e-03 6.11627582e-05] [ 1.23470789e-03 9.99999235e-01 7.53349298e-05] [-6.12557284e-05 -7.52593541e-05 9.99999995e-01]] t_estimated: [[-3.56295373e-03] [ 9.99993628e-01] [-2.20631372e-04]] R_gt: [[ 0.99810592 0.03996561 -0.04677011] [-0.03779564 0.99820855 0.04639582] [ 0.0485398 -0.04454038 0.99782786]] t_gt: [ 0.63487056 0.77057738 -0.05612369] Pose Error in degrees for R and t: 4.422234269942234 39.79648043200142 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 1.00000000e+00 9.99200722e-16 1.62440590e-15] [-9.99200722e-16 1.00000000e+00 -1.78611466e-15] [-1.37845464e-15 1.66685242e-15 1.00000000e+00]] t_estimated: [[-0.44540842] [-0.89532689] [-0.00104594]] R_gt: [[ 0.99520504 0.07677858 -0.060601 ] [-0.07487255 0.99664275 0.03312578] [ 0.06294028 -0.02843021 0.99761147]] t_gt: [ 0.50339915 0.82657977 -0.25170456] Pose Error in degrees for R and t: 5.885034696930102 15.417543802224028 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99974449e-01 7.14634476e-03 1.77888699e-04] [-7.14631815e-03 9.99974454e-01 -1.49806644e-04] [-1.78954725e-04 1.48531567e-04 9.99999973e-01]] t_estimated: [[0.42252974] [0.90634807] [0.00133946]] R_gt: [[ 0.98565871 -0.16629027 0.02870997] [ 0.16492215 0.98528626 0.04483606] [-0.03574351 -0.03945723 0.99858132]] t_gt: [ 0.5231417 -0.79339855 0.31119367] Pose Error in degrees for R and t: 10.405563220628817 60.15631198287273 Number of keypoints: Image1: 57 Image2: 57 R_estimated: [[ 1.00000000e+00 7.33506144e-07 -1.41976339e-06] [-7.33503904e-07 1.00000000e+00 1.57801664e-06] [ 1.41976455e-06 -1.57801560e-06 1.00000000e+00]] t_estimated: [[ 4.84708623e-02] [ 9.98824597e-01] [-2.37338973e-05]] R_gt: [[ 0.95314964 -0.28352304 -0.10545642] [ 0.29603577 0.94594819 0.132456 ] [ 0.06220136 -0.15746898 0.98556216]] t_gt: [ 0.60334407 -0.76284034 0.23248772] Pose Error in degrees for R and t: 19.553373326840966 42.88638727328589 Number of keypoints: Image1: 59 Image2: 59 R_estimated: [[-2.05415704e-01 9.78672222e-01 2.25183197e-03] [ 9.78674354e-01 2.05412837e-01 1.44042764e-03] [ 9.47151328e-04 2.49969666e-03 -9.99996427e-01]] t_estimated: [[0.56343042] [0.82616212] [0.00151868]] R_gt: [[ 0.8896566 -0.42534456 -0.16610992] [ 0.45074857 0.87622946 0.17043487] [ 0.07305591 -0.2265015 0.971267 ]] t_gt: [ 0.66926801 -0.69750206 0.25606877] Pose Error in degrees for R and t: 167.13394352933489 78.53466992226852 Number of keypoints: Image1: 339 Image2: 339 R_estimated: [[ 9.99999990e-01 1.40459970e-04 2.96875899e-05] [-1.40454114e-04 9.99999971e-01 -1.97149627e-04] [-2.97152806e-05 1.97145455e-04 9.99999980e-01]] t_estimated: [[ 6.45896246e-01] [ 7.63425166e-01] [-2.35662505e-04]] R_gt: [[ 9.98251543e-01 -5.91225439e-02 3.64655933e-04] [ 5.90279258e-02 9.96966601e-01 5.07296649e-02] [-3.36216140e-03 -5.06187984e-02 9.98712460e-01]] t_gt: [ 0.49555826 -0.61674858 0.61159071] Pose Error in degrees for R and t: 4.47825426462221 81.32054844439963 Number of keypoints: Image1: 302 Image2: 302 R_estimated: [[ 0.97752375 -0.21079488 -0.00358183] [ 0.21080344 0.97752598 0.00220775] [ 0.00303595 -0.00291319 0.99999115]] t_estimated: [[0.77888576] [0.6271653 ] [0.00081134]] R_gt: [[ 0.97837571 -0.20274995 -0.04091681] [ 0.20549981 0.97529881 0.08100494] [ 0.02348221 -0.08766215 0.99587347]] t_gt: [ 0.661942 -0.69928572 0.26987455] Pose Error in degrees for R and t: 5.015932955982752 85.57072720779637 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[ 9.79232890e-01 2.02736416e-01 -9.45371469e-04] [-2.02728574e-01 9.79220142e-01 5.38868977e-03] [ 2.01821043e-03 -5.08512844e-03 9.99985034e-01]] t_estimated: [[9.10668729e-01] [4.13136564e-01] [8.03767634e-04]] R_gt: [[ 0.94173171 -0.33414715 -0.03857966] [ 0.33625872 0.9381223 0.08281089] [ 0.00852208 -0.09095817 0.99581809]] t_gt: [ 0.70514842 -0.66477576 0.24665543] Pose Error in degrees for R and t: 31.698184889436305 68.42543928601673 Number of keypoints: Image1: 277 Image2: 277 R_estimated: [[ 0.98278298 -0.18467742 0.00564447] [ 0.18471513 0.98276639 -0.00710909] [-0.00423431 0.00802931 0.9999588 ]] t_estimated: [[-0.06701134] [-0.99772443] [-0.0074457 ]] R_gt: [[ 9.86152535e-01 -1.65844258e-01 6.97155140e-05] [ 1.65746375e-01 9.85581857e-01 3.39777106e-02] [-5.70267855e-03 -3.34959438e-02 9.99422847e-01]] t_gt: [ 0.61500371 -0.76246498 0.20104124] Pose Error in degrees for R and t: 2.6196423463114136 44.108683099146766 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.89621649e-01 -1.43697535e-01 -1.01669668e-04] [ 1.43697528e-01 9.89621652e-01 -7.37988970e-05] [ 1.11219224e-04 5.84233062e-05 9.99999992e-01]] t_estimated: [[ 9.87034139e-01] [-1.60509574e-01] [-5.34607760e-04]] R_gt: [[ 0.95394079 -0.29859453 -0.02894921] [ 0.29950853 0.95344385 0.03520839] [ 0.01708889 -0.04225749 0.99896017]] t_gt: [ 0.705984 -0.69957912 0.1103433 ] Pose Error in degrees for R and t: 9.513215544026103 35.9957618993549 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.25278639 0.96751754 0.00297516] [-0.96751952 -0.2527774 -0.00309279] [-0.00224028 -0.00366034 0.99999079]] t_estimated: [[0.0311536 ] [0.99951124] [0.00259613]] R_gt: [[ 0.93064574 -0.36450637 -0.03215405] [ 0.36537195 0.9208349 0.13625534] [-0.02005677 -0.13855346 0.99015174]] t_gt: [ 0.61385287 -0.70490593 0.35537627] Pose Error in degrees for R and t: 126.29956052398289 46.80251819212749 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[ 9.86701569e-01 -1.62541111e-01 6.33284482e-04] [ 1.62541719e-01 9.86701094e-01 -1.06851135e-03] [-4.51185468e-04 1.15723698e-03 9.99999229e-01]] t_estimated: [[-0.31335965] [-0.9496326 ] [-0.00191073]] R_gt: [[ 0.99018178 -0.13940778 0.01026232] [ 0.13976036 0.98869461 -0.05430987] [-0.00257503 0.05521098 0.99847107]] t_gt: [ 0.61822491 -0.73906316 -0.26755113] Pose Error in degrees for R and t: 3.3725601720959473 59.42785153711048 Number of keypoints: Image1: 190 Image2: 190 R_estimated: [[ 9.99999851e-01 4.45267731e-04 3.15456557e-04] [-4.45237774e-04 9.99999896e-01 -9.50271978e-05] [-3.15498837e-04 9.48867305e-05 9.99999946e-01]] t_estimated: [[0.95573464] [0.29422824] [0.00101458]] R_gt: [[ 9.48399399e-01 -3.17080056e-01 -4.10143342e-04] [ 3.17046868e-01 9.48284288e-01 1.54557438e-02] [-4.51109024e-03 -1.47883552e-02 9.99880579e-01]] t_gt: [ 0.67902827 -0.73225587 0.05217227] Pose Error in degrees for R and t: 18.533129755798925 64.30544724337574 Number of keypoints: Image1: 72 Image2: 72 R_estimated: [[ 9.99996055e-01 -1.74550897e-05 -2.80880904e-03] [ 2.90516745e-05 9.99991477e-01 4.12866051e-03] [ 2.80871303e-03 -4.12872582e-03 9.99987532e-01]] t_estimated: [[0.68728912] [0.72637666] [0.00325729]] R_gt: [[ 0.90042899 -0.42899718 -0.07204269] [ 0.43203553 0.90124855 0.03310687] [ 0.05072493 -0.0609361 0.99685161]] t_gt: [ 0.70979198 -0.70371225 0.03137527] Pose Error in degrees for R and t: 25.890615018160776 88.66914869724833 Number of keypoints: Image1: 323 Image2: 323 R_estimated: [[ 9.99993335e-01 -3.64838088e-03 1.36675918e-04] [ 3.64835488e-03 9.99993327e-01 1.89972784e-04] [-1.37368099e-04 -1.89472876e-04 9.99999973e-01]] t_estimated: [[0.01851532] [0.99982716] [0.00168321]] R_gt: [[ 0.99684181 0.01347592 0.07826935] [-0.01082982 0.99935877 -0.0341289 ] [-0.07867856 0.03317413 0.99634809]] t_gt: [-0.41024143 0.78827827 0.45860586] Pose Error in degrees for R and t: 4.978262243664135 38.61857224807008 Number of keypoints: Image1: 245 Image2: 245 R_estimated: [[ 9.93271832e-01 -1.15806150e-01 -5.71748675e-05] [ 1.15806156e-01 9.93271827e-01 1.06495188e-04] [ 4.44573874e-05 -1.12399872e-04 9.99999993e-01]] t_estimated: [[-4.18818337e-01] [ 9.08069999e-01] [ 2.79054172e-04]] R_gt: [[ 0.99146129 0.04922658 0.12075163] [-0.04084199 0.99664241 -0.07096298] [-0.12383869 0.06542589 0.99014342]] t_gt: [-0.56462816 0.75888022 0.32449322] Pose Error in degrees for R and t: 12.256643542712446 22.228346146277417 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.39411955e-01 -3.42789888e-01 -5.21703689e-04] [ 3.42790118e-01 9.39411912e-01 4.41840988e-04] [ 3.38636037e-04 -5.93905575e-04 9.99999766e-01]] t_estimated: [[-0.45265642] [-0.89168448] [-0.00097345]] R_gt: [[ 0.98420216 0.09279871 0.15078318] [-0.07564976 0.99039339 -0.11574959] [-0.16007481 0.1025151 0.98176798]] t_gt: [-0.61833728 0.75072347 0.23253662] Pose Error in degrees for R and t: 27.20587350117859 67.06164715235856 Number of keypoints: Image1: 314 Image2: 314 R_estimated: [[-0.36356256 -0.92711807 0.09096342] [-0.92762869 0.36926684 0.05609834] [-0.08559956 -0.06398503 -0.99427292]] t_estimated: [[0.81756429] [0.57329261] [0.05407601]] R_gt: [[ 0.99983276 -0.00762665 0.01663118] [ 0.00724269 0.99970889 0.02302138] [-0.01680297 -0.02289717 0.99959674]] t_gt: [-0.39773282 -0.53653907 0.74426772] Pose Error in degrees for R and t: 172.3403043918352 53.6640313182035 Number of keypoints: Image1: 468 Image2: 468 R_estimated: [[ 0.42981038 -0.90289761 -0.00623972] [-0.90284386 -0.42967501 -0.01588551] [ 0.01166194 0.01246125 -0.99985435]] t_estimated: [[ 0.53800489] [ 0.84292154] [-0.00583224]] R_gt: [[ 0.99950729 0.00673803 0.0306597 ] [-0.00797609 0.99915093 0.04042099] [-0.03036172 -0.04064639 0.99871193]] t_gt: [-0.63969168 -0.28045125 0.71564073] Pose Error in degrees for R and t: 178.06082929746614 54.216121768289156 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-7.63434364e-01 -6.45883719e-01 -1.48104328e-03] [-6.45885368e-01 7.63433192e-01 1.36153000e-03] [ 2.51287538e-04 1.99602297e-03 -9.99997976e-01]] t_estimated: [[8.85273071e-01] [4.65071050e-01] [7.12206815e-04]] R_gt: [[ 0.99328801 0.09947625 0.0590229 ] [-0.09833326 0.99491131 -0.0219834 ] [-0.06090961 0.01603248 0.99801474]] t_gt: [-0.8669459 0.39899171 0.29868112] Pose Error in degrees for R and t: 177.2006182565352 54.428979148451965 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 3.76189937e-01 9.26542221e-01 8.02701822e-04] [-9.26541841e-01 3.76190586e-01 -9.27357341e-04] [-1.16120460e-03 -3.94874324e-04 9.99999248e-01]] t_estimated: [[0.65572482] [0.75499919] [0.0010831 ]] R_gt: [[ 0.99559674 -0.09127609 -0.02132782] [ 0.09050275 0.99528971 -0.03475485] [ 0.02439883 0.03267164 0.99916765]] t_gt: [ 0.48359694 -0.73838942 -0.47001602] Pose Error in degrees for R and t: 73.15200770553594 76.06116244465302 Number of keypoints: Image1: 29 Image2: 29 R_estimated: [[ 9.74723538e-01 -2.23414380e-01 1.98313076e-04] [ 2.23414342e-01 9.74723547e-01 1.95955519e-04] [-2.37079705e-04 -1.46696472e-04 9.99999961e-01]] t_estimated: [[ 9.96979360e-01] [-7.76622926e-02] [ 8.51432492e-04]] R_gt: [[ 0.97555863 -0.21061746 -0.06264686] [ 0.2097957 0.97755136 -0.01947889] [ 0.06534287 0.00585927 0.99784499]] t_gt: [ 0.6141477 -0.74766266 -0.25263244] Pose Error in degrees for R and t: 3.852359251523718 47.921922549446016 Number of keypoints: Image1: 56 Image2: 56 R_estimated: [[ 4.38601732e-01 -8.98680093e-01 -1.61600079e-03] [ 8.98681463e-01 4.38601755e-01 3.59116126e-04] [ 3.86050268e-04 -1.60977891e-03 9.99998630e-01]] t_estimated: [[0.86472102] [0.50225156] [0.00096401]] R_gt: [[ 0.94667097 -0.30737896 -0.09660106] [ 0.30806444 0.95133138 -0.00810381] [ 0.09438951 -0.02208727 0.99528958]] t_gt: [ 0.70178696 -0.6924325 -0.16742846] Pose Error in degrees for R and t: 46.327617316714736 74.99441309978364 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.99999529e-01 9.18139755e-04 3.15638817e-04] [-9.18089828e-04 9.99999566e-01 -1.58288608e-04] [-3.15784011e-04 1.57998749e-04 9.99999938e-01]] t_estimated: [[-9.99999948e-01] [-3.03001124e-04] [ 1.12070347e-04]] R_gt: [[ 0.99925389 0.01064981 -0.03714026] [-0.01176722 0.99948076 -0.030002 ] [ 0.03680144 0.03041621 0.99885921]] t_gt: [ 0.52682221 0.34444639 -0.77705537] Pose Error in degrees for R and t: 2.8073764209964103 58.196100751623014 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[-6.63679536e-01 -7.48014579e-01 -1.91405597e-03] [ 7.48015982e-01 -6.63680714e-01 -2.56509835e-05] [-1.25113472e-03 -1.44876849e-03 9.99998168e-01]] t_estimated: [[0.76498551] [0.64404677] [0.00095983]] R_gt: [[ 0.9991121 0.03614253 -0.02168417] [-0.0366257 0.99907974 -0.02231457] [ 0.02085714 0.02308858 0.99951576]] t_gt: [ 0.56714356 0.64192682 -0.51602145] Pose Error in degrees for R and t: 133.67348365057327 32.13553221112795 Number of keypoints: Image1: 73 Image2: 73 R_estimated: [[ 9.89541821e-01 1.44246263e-01 -3.88006292e-06] [-1.44246263e-01 9.89541821e-01 -4.00199372e-07] [ 3.78175726e-06 9.55698591e-07 1.00000000e+00]] t_estimated: [[-0.81707739] [-0.57652621] [-0.00143743]] R_gt: [[ 0.99318484 0.11209451 0.03192794] [-0.10767161 0.98729089 -0.11688666] [-0.044625 0.11265206 0.99263117]] t_gt: [-0.0151772 0.91353586 -0.40647495] Pose Error in degrees for R and t: 7.230647062672876 59.08992456603518 Number of keypoints: Image1: 84 Image2: 84 R_estimated: [[-9.69428257e-01 -2.45373731e-01 7.66210708e-04] [-2.45374908e-01 9.69424698e-01 -2.62857026e-03] [-9.78014920e-05 -2.73621916e-03 -9.99996252e-01]] t_estimated: [[0.99656719] [0.08277136] [0.00165543]] R_gt: [[ 0.99530045 -0.09681693 0.00198303] [ 0.09682864 0.99527303 -0.00752406] [-0.00124476 0.00768088 0.99996941]] t_gt: [ 0.98760199 -0.15115032 -0.04237787] Pose Error in degrees for R and t: 179.92671814767544 13.680257527493158 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-1.28147587e-01 9.91752508e-01 2.27130415e-03] [ 9.91755034e-01 1.28146349e-01 6.83164400e-04] [ 3.86470672e-04 2.34012319e-03 -9.99997187e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99003253 -0.12482624 -0.06523046] [ 0.11915225 0.98926245 -0.08463429] [ 0.07509457 0.07601843 0.9942749 ]] t_gt: [ 0.87226628 -0.0308196 -0.48805911] Pose Error in degrees for R and t: 179.91845066074427 88.51667071960092 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[-1.12192073e-01 9.93683692e-01 2.37876649e-03] [ 9.93685828e-01 1.12194536e-01 -9.28553318e-04] [-1.18957289e-03 2.25957022e-03 -9.99996740e-01]] t_estimated: [[0.99255564] [0.12178597] [0.00121786]] R_gt: [[ 0.99178967 -0.01982775 -0.12633258] [ 0.00829816 0.99580462 -0.09113348] [ 0.12761081 0.08933711 0.98779297]] t_gt: [ 0.46862309 -0.01213179 -0.8833149 ] Pose Error in degrees for R and t: 178.15168057608324 62.44620301710108 Number of keypoints: Image1: 182 Image2: 182 R_estimated: [[ 0.08871646 0.99600676 0.00999576] [ 0.99604393 -0.08865959 -0.00599719] [-0.00508702 0.01048826 -0.99993206]] t_estimated: [[-0.5651547 ] [-0.82498433] [-0.00101101]] R_gt: [[ 0.98824623 -0.15269099 -0.00749033] [ 0.15282219 0.98800595 0.02216488] [ 0.0040167 -0.02304905 0.99972656]] t_gt: [ 0.63895609 -0.76319692 0.09625787] Pose Error in degrees for R and t: 179.4709732828376 74.42978169558535 Number of keypoints: Image1: 174 Image2: 174 R_estimated: [[-8.86470934e-01 -4.62759918e-01 4.74787741e-03] [-4.62747940e-01 8.86483242e-01 3.43593308e-03] [-5.79892587e-03 8.48784317e-04 -9.99982826e-01]] t_estimated: [[0.96446502] [0.26419531] [0.00284137]] R_gt: [[ 0.94429577 -0.32823993 -0.02375041] [ 0.32863872 0.9443306 0.01537785] [ 0.01738085 -0.02232702 0.99959994]] t_gt: [ 0.74692922 -0.66395227 0.03555462] Pose Error in degrees for R and t: 179.4286161377374 56.970207400167496 Number of keypoints: Image1: 155 Image2: 155 R_estimated: [[ 9.99954413e-01 -9.53778760e-03 4.50341930e-04] [ 9.53791929e-03 9.99954471e-01 -2.91172685e-04] [-4.47544283e-04 2.95454736e-04 9.99999856e-01]] t_estimated: [[-0.23582174] [-0.97179288] [-0.00259145]] R_gt: [[ 0.92429048 -0.38128253 -0.01766984] [ 0.3815605 0.92419597 0.01656833] [ 0.01001371 -0.02205562 0.99970673]] t_gt: [ 0.73950131 -0.67212703 0.03718965] Pose Error in degrees for R and t: 21.923919842848868 61.40068227565601 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 9.99989354e-01 4.60064949e-03 3.55438750e-04] [-4.60105691e-03 9.99988749e-01 1.15405546e-03] [-3.50125346e-04 -1.15567857e-03 9.99999271e-01]] t_estimated: [[0.99881085] [0.04856601] [0.00427022]] R_gt: [[ 0.99153987 -0.1238954 0.03871689] [ 0.11632807 0.98049108 0.15845368] [-0.05759264 -0.15260903 0.98660739]] t_gt: [ 0.44399041 -0.60824381 0.65796047] Pose Error in degrees for R and t: 11.776276632451758 65.37155749847315 Number of keypoints: Image1: 37 Image2: 37 R_estimated: [[ 1.00000000e+00 7.51892974e-07 6.15242662e-07] [-7.51892971e-07 1.00000000e+00 -4.06915910e-09] [-6.15242665e-07 4.06869650e-09 1.00000000e+00]] t_estimated: [[9.12160756e-01] [4.09831978e-01] [7.11513850e-04]] R_gt: [[ 0.96693975 -0.25473717 0.01170534] [ 0.24597427 0.9438206 0.22068214] [-0.06726432 -0.21050679 0.97527563]] t_gt: [ 0.57940714 -0.63570686 0.51006289] Pose Error in degrees for R and t: 19.43530194957734 74.43434799825921 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.99999316e-01 3.27626850e-04 1.12270893e-03] [-3.26250559e-04 9.99999195e-01 -1.22583071e-03] [-1.12310964e-03 1.22546359e-03 9.99998618e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.94742718 -0.31783861 0.03689062] [ 0.30162226 0.92562087 0.22858624] [-0.10680036 -0.20544231 0.97282468]] t_gt: [ 0.60691453 -0.62302124 0.49345647] Pose Error in degrees for R and t: 22.683613079894684 52.74509638863431 Number of keypoints: Image1: 377 Image2: 377 R_estimated: [[-4.85345447e-02 9.98764202e-01 1.06988710e-02] [ 9.98821253e-01 4.85393572e-02 -1.90461658e-04] [-7.09542605e-04 1.06770157e-02 -9.99942747e-01]] t_estimated: [[9.10093069e-01] [4.14403149e-01] [7.96929133e-04]] R_gt: [[ 0.99964132 0.00453712 -0.02639463] [-0.00398891 0.99977551 0.0207786 ] [ 0.0264833 -0.02066544 0.99943562]] t_gt: [-0.2691153 -0.35013949 -0.89720638] Pose Error in degrees for R and t: 178.5342176613882 66.99982842568801 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 0.01547843 -0.99987951 0.00117325] [-0.99987884 -0.01548034 -0.00163305] [ 0.00165101 -0.00114783 -0.99999798]] t_estimated: [[0.72338934] [0.69043993] [0.00074885]] R_gt: [[ 0.99768247 -0.06795848 -0.00344121] [ 0.06796587 0.99768584 0.00188537] [ 0.0033043 -0.00211449 0.99999219]] t_gt: [ 0.60039697 -0.79968665 -0.00497512] Pose Error in degrees for R and t: 179.93474608973767 83.23377838756552 Number of keypoints: Image1: 222 Image2: 222 R_estimated: [[-9.42233533e-01 3.34954270e-01 -1.26739704e-03] [-3.34952539e-01 -9.42233961e-01 -1.39994502e-03] [-1.66310210e-03 -8.94557287e-04 9.99998217e-01]] t_estimated: [[0.62783627] [0.77834496] [0.00086005]] R_gt: [[ 0.97855626 -0.20582891 -0.00779943] [ 0.20548957 0.97814487 -0.03171601] [ 0.01415618 0.02943407 0.99946589]] t_gt: [ 0.72766544 -0.6769355 -0.11073091] Pose Error in degrees for R and t: 172.30159016957387 85.97855635577035 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99737025e-01 -2.29319461e-02 8.48135293e-05] [ 2.29319437e-02 9.99737028e-01 2.92464663e-05] [-8.54619041e-05 -2.72938361e-05 9.99999996e-01]] t_estimated: [[9.81793078e-01] [1.89952307e-01] [6.88019663e-04]] R_gt: [[ 0.99105097 -0.12939803 -0.03277899] [ 0.12968075 0.9915336 0.00666373] [ 0.03163897 -0.01085415 0.99943974]] t_gt: [ 0.84235525 -0.53315402 -0.0786411 ] Pose Error in degrees for R and t: 6.424807975043111 43.47367084551455 Number of keypoints: Image1: 99 Image2: 99 R_estimated: [[ 5.57961337e-01 8.29866417e-01 9.36609650e-04] [-8.29862555e-01 5.57961701e-01 -2.62295346e-03] [-2.69929330e-03 6.86249344e-04 9.99996121e-01]] t_estimated: [[0.81948872] [0.57309326] [0.00153591]] R_gt: [[ 0.93559143 -0.35217097 -0.02538382] [ 0.35263313 0.93561237 0.01672723] [ 0.0178583 -0.02460059 0.99953752]] t_gt: [ 0.90195068 -0.43164408 0.01297545] Pose Error in degrees for R and t: 76.74505678880645 60.54196066132096 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.85504824 -0.51853076 -0.00428433] [ 0.51854623 0.85503959 0.00413583] [ 0.00151872 -0.00575796 0.99998227]] t_estimated: [[0.93986258] [0.34154815] [0.00178694]] R_gt: [[ 8.74860444e-01 -4.84355764e-01 -4.17641556e-03] [ 4.84354905e-01 8.74869996e-01 -1.28534003e-03] [ 4.27634136e-03 -8.97321279e-04 9.99990652e-01]] t_gt: [ 0.92756336 -0.37344712 -0.01278541] Pose Error in degrees for R and t: 2.2867480225097743 41.9087909014197 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-0.7857294 0.56472314 0.25242244] [ 0.61455624 0.75908984 0.21471665] [-0.07035585 0.32383697 -0.94349334]] t_estimated: [[0.99798933] [0.06322104] [0.00451579]] R_gt: [[ 0.99754407 0.04869618 0.05034284] [-0.04796218 0.99872535 -0.01569339] [-0.05104301 0.01324099 0.99860934]] t_gt: [-0.74148083 0.50403541 0.44289332] Pose Error in degrees for R and t: 167.50332907747938 45.0795538403446 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[ 0.98129112 -0.19249178 -0.0038273 ] [ 0.19247865 0.98129474 -0.00354918] [ 0.0044389 0.0027461 0.99998638]] t_estimated: [[-0.06335652] [-0.99786526] [-0.01583913]] R_gt: [[ 0.99618364 0.08722846 -0.00319083] [-0.08657183 0.99203199 0.0915285 ] [ 0.01114977 -0.09090199 0.99579787]] t_gt: [-0.67726189 0.3827687 0.62833467] Pose Error in degrees for R and t: 16.97745214711714 69.57414863173906 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[-0.98320303 0.18227224 0.00941443] [ 0.18235496 0.9831931 0.00883124] [-0.00764651 0.01039967 -0.99991669]] t_estimated: [[9.66259661e-01] [2.57568826e-01] [7.53125223e-04]] R_gt: [[ 0.99203314 0.00706786 -0.12577894] [ 0.01913094 0.9783933 0.20586574] [ 0.12451544 -0.20663044 0.9704636 ]] t_gt: [ 0.29559348 -0.56804571 0.7680811 ] Pose Error in degrees for R and t: 172.1995132309951 81.95865476058565 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.98395865e-01 5.66165828e-02 -5.09169549e-04] [-5.66163279e-02 9.98395883e-01 5.01783755e-04] [ 5.36762063e-04 -4.72151516e-04 9.99999744e-01]] t_estimated: [[-7.77067376e-01] [-6.29416964e-01] [-7.61084599e-04]] R_gt: [[ 0.99060417 0.13609652 -0.01346914] [-0.1366636 0.98881385 -0.05975943] [ 0.00518533 0.06103961 0.99812151]] t_gt: [-0.34740385 0.9036512 -0.25044974] Pose Error in degrees for R and t: 5.801085643230713 72.62486908342083 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[-4.87931862e-01 -8.72880206e-01 -1.62611459e-03] [ 8.72881323e-01 -4.87932571e-01 4.49410251e-05] [-8.32662402e-04 -1.39747690e-03 9.99998677e-01]] t_estimated: [[ 9.92970849e-01] [-1.18356117e-01] [ 8.49687356e-04]] R_gt: [[ 0.98100319 0.19327357 0.01668617] [-0.19277723 0.98085695 -0.02750507] [-0.02168266 0.0237672 0.99948207]] t_gt: [-0.38684184 0.92106027 0.04473675] Pose Error in degrees for R and t: 130.3456278636087 60.4556064143289 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[-4.44549885e-01 -8.95754093e-01 6.08106827e-05] [-8.95750294e-01 4.44548195e-01 2.88330607e-03] [-2.60976649e-03 1.22730219e-03 -9.99995841e-01]] t_estimated: [[0.79348949] [0.60858131] [0.00179523]] R_gt: [[ 0.9783681 0.19469702 0.06993398] [-0.20130163 0.9739052 0.10481897] [-0.047701 -0.11662737 0.99202941]] t_gt: [-0.38545501 0.78154171 0.49052726] Pose Error in degrees for R and t: 173.67026628336765 80.1739338894522 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 9.99999496e-01 -1.00064254e-03 8.77831364e-05] [ 1.00064132e-03 9.99999499e-01 1.39863333e-05] [-8.77970878e-05 -1.38984868e-05 9.99999996e-01]] t_estimated: [[0.65328902] [0.75710765] [0.0012087 ]] R_gt: [[ 0.994973 -0.09407086 0.03434254] [ 0.09396501 0.99556473 0.00468701] [-0.03463052 -0.00143684 0.99939954]] t_gt: [ 0.92603874 -0.23213621 0.29759878] Pose Error in degrees for R and t: 5.694397700455369 64.55918292523411 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.70361540e-01 -2.41653557e-01 1.42862960e-03] [ 2.41655043e-01 9.70361729e-01 -9.77618133e-04] [-1.15004259e-03 1.29387859e-03 9.99998502e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.99127991 -0.10289959 0.08231394] [ 0.10475917 0.99432373 -0.01858484] [-0.07993354 0.02704522 0.9964334 ]] t_gt: [0.8837291 0.07264633 0.46232607] Pose Error in degrees for R and t: 9.314456003579389 85.48976560945287 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 9.88397578e-01 1.51888829e-01 1.05661424e-04] [-1.51888864e-01 9.88397442e-01 5.18518574e-04] [-2.56783023e-05 -5.28551296e-04 9.99999860e-01]] t_estimated: [[-7.73413700e-01] [-6.33901246e-01] [-6.77244921e-04]] R_gt: [[ 0.98683151 -0.06826881 0.14663658] [ 0.07641922 0.99578691 -0.05067877] [-0.14255851 0.06121711 0.9878917 ]] t_gt: [0.54440402 0.49427819 0.67772659] Pose Error in degrees for R and t: 15.688647226104758 42.70697164490628 Number of keypoints: Image1: 142 Image2: 142 R_estimated: [[-9.82559610e-01 1.85932974e-01 -2.35416499e-03] [-1.85932251e-01 -9.82562427e-01 -5.23927677e-04] [-2.41052950e-03 -7.70749768e-05 9.99997092e-01]] t_estimated: [[0.79670828] [0.60436314] [0.00105107]] R_gt: [[ 0.99491012 0.08170369 -0.05897188] [-0.08004276 0.99634015 0.03000303] [ 0.06120717 -0.02513015 0.99780813]] t_gt: [-0.20590153 0.83418585 -0.51160388] Pose Error in degrees for R and t: 164.6515868726379 70.14932169011661 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[-0.14423924 -0.9895218 -0.00645376] [ 0.98954222 -0.14422877 -0.00206076] [ 0.00110835 -0.00668351 0.99997705]] t_estimated: [[0.99986959] [0.01610837] [0.0011506 ]] R_gt: [[ 0.98829173 0.09159623 -0.12201857] [-0.09063292 0.99579372 0.01342823] [ 0.12273567 -0.00221308 0.99243634]] t_gt: [ 0.11198048 0.53194865 -0.83933963] Pose Error in degrees for R and t: 103.68506937205947 83.13277332829618 Number of keypoints: Image1: 105 Image2: 105 R_estimated: [[ 7.42009318e-01 6.70388811e-01 1.00706122e-03] [-6.70389404e-01 7.42009348e-01 4.17540017e-04] [-4.67334682e-04 -9.84941752e-04 9.99999406e-01]] t_estimated: [[0.38263465] [0.92389924] [0.00096139]] R_gt: [[ 0.98998229 0.04152199 -0.13494678] [-0.03660628 0.99858037 0.03869922] [ 0.13636247 -0.03337232 0.99009654]] t_gt: [ 0.47662085 -0.04184249 -0.87811262] Pose Error in degrees for R and t: 40.630315484231964 81.78609167355351 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99999949e-01 -3.03970698e-04 9.89105752e-05] [ 3.04002420e-04 9.99999902e-01 -3.20857797e-04] [-9.88130342e-05 3.20887849e-04 9.99999944e-01]] t_estimated: [[-8.07433269e-01] [-5.89958406e-01] [-7.71187459e-04]] R_gt: [[ 0.98976242 0.14198891 -0.01448838] [-0.1425247 0.98864875 -0.04753017] [ 0.00757452 0.04910824 0.99876492]] t_gt: [-0.33446187 0.91685663 -0.21796601] Pose Error in degrees for R and t: 8.675259039928196 74.29505434542624 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.93475597e-01 -1.14043568e-01 -5.50059862e-04] [ 1.14043798e-01 9.93475640e-01 4.05988998e-04] [ 5.00170640e-04 -4.66071078e-04 9.99999766e-01]] t_estimated: [[-0.68406399] [-0.72942141] [-0.00092566]] R_gt: [[ 0.9680163 0.25011659 -0.01965526] [-0.25087129 0.96409722 -0.08706304] [-0.00282674 0.08920902 0.99600889]] t_gt: [-0.31276201 0.93550415 -0.16435297] Pose Error in degrees for R and t: 21.696191693379347 62.07759305424318 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 9.20840092e-01 -3.89940374e-01 -1.74515326e-04] [ 3.89940358e-01 9.20840107e-01 -1.17399870e-04] [ 2.06479661e-04 4.00559379e-05 9.99999978e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.96066323 0.27738038 0.01362439] [-0.27750535 0.96068784 0.00832907] [-0.01077823 -0.01178256 0.99987217]] t_gt: [-0.34805147 0.9346112 0.07322621] Pose Error in degrees for R and t: 39.070099173304584 69.81240992902278 Number of keypoints: Image1: 336 Image2: 336 R_estimated: [[ 5.94301321e-01 8.04242001e-01 8.61907776e-04] [-8.04241688e-01 5.94301895e-01 -7.51219447e-04] [-1.11639566e-03 -2.46731455e-04 9.99999346e-01]] t_estimated: [[-0.18834782] [ 0.98210183] [ 0.00104311]] R_gt: [[ 0.99830585 -0.04953812 0.030512 ] [ 0.05049569 0.99822915 -0.03143884] [-0.02890124 0.032926 0.9990396 ]] t_gt: [ 0.9256348 0.37141088 -0.07248573] Pose Error in degrees for R and t: 56.454240363271126 79.02699940059138 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[-7.27849402e-01 6.85736950e-01 -2.87655495e-04] [-6.85735413e-01 -7.27848548e-01 -1.85338336e-03] [-1.48030308e-03 -1.15172841e-03 9.99998241e-01]] t_estimated: [[0.39621991] [0.91815515] [0.00094664]] R_gt: [[ 0.98874706 -0.13256277 0.06932409] [ 0.13407806 0.99081376 -0.01764797] [-0.06634882 0.02674408 0.99743784]] t_gt: [ 0.94708212 -0.12868188 0.29406874] Pose Error in degrees for R and t: 144.39747976848508 75.085269163905 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[-9.42910776e-01 -3.33042310e-01 -1.44524380e-03] [-3.33042455e-01 9.42911821e-01 -1.45919612e-04] [ 1.41133487e-03 3.43738370e-04 -9.99998945e-01]] t_estimated: [[9.43208320e-01] [3.32200944e-01] [7.72797295e-04]] R_gt: [[ 0.97930977 -0.16974911 0.11016797] [ 0.1732818 0.98459793 -0.02324789] [-0.10452454 0.04185695 0.99364136]] t_gt: [0.91180625 0.01419906 0.41037514] Pose Error in degrees for R and t: 174.30213487854837 30.11074947329711 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 0.1822229 -0.98319427 0.01112849] [-0.98322112 -0.18230156 -0.00650977] [ 0.00842911 -0.00975554 -0.99991689]] t_estimated: [[0.87074086] [0.4917407 ] [0.00119937]] R_gt: [[ 0.96990325 -0.24347235 0.00283537] [ 0.24340458 0.96980848 0.01499988] [-0.00640213 -0.01385867 0.99988366]] t_gt: [ 0.87048929 -0.48918266 0.05430209] Pose Error in degrees for R and t: 179.1585721283487 58.836319682012856 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[-7.56114859e-01 -6.54434669e-01 -2.36302035e-03] [ 6.54438866e-01 -7.56108189e-01 -3.19015939e-03] [ 3.01051872e-04 -3.95857928e-03 9.99992119e-01]] t_estimated: [[0.96696585] [0.25490217] [0.00138534]] R_gt: [[ 0.92565485 -0.37748335 0.02585018] [ 0.37750576 0.92599734 0.00421065] [-0.02552719 0.00586084 0.99965723]] t_gt: [ 0.89763918 -0.44029213 0.01966601] Pose Error in degrees for R and t: 116.94978873646998 40.9062314889558 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 9.99999697e-01 -7.43471147e-04 -2.31259224e-04] [ 7.43537734e-04 9.99999682e-01 2.87976888e-04] [ 2.31045048e-04 -2.88148751e-04 9.99999932e-01]] t_estimated: [[-0.00623688] [-0.99998001] [-0.00103948]] R_gt: [[ 0.70113148 -0.71298453 -0.00816425] [ 0.71299445 0.70116599 -0.00218434] [ 0.00728168 -0.00428899 0.99996479]] t_gt: [ 0.96775699 -0.25181825 -0.00582955] Pose Error in degrees for R and t: 45.43941448425229 75.77185965337219 Number of keypoints: Image1: 163 Image2: 163 R_estimated: [[ 9.98772242e-01 -4.95379490e-02 -1.83060311e-05] [ 4.95379511e-02 9.98772232e-01 1.41588354e-04] [ 1.12695589e-05 -1.42321361e-04 9.99999990e-01]] t_estimated: [[0.89696982] [0.44209039] [0.00111364]] R_gt: [[ 0.98521651 -0.16917427 -0.0269911 ] [ 0.16997313 0.98496947 0.03071596] [ 0.02138933 -0.03484874 0.99916342]] t_gt: [ 0.55580092 -0.82781074 0.07625425] Pose Error in degrees for R and t: 7.310746120682552 82.37699276099046 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.43171027e-01 3.32306987e-01 6.92603924e-04] [-3.32306898e-01 9.43171282e-01 -2.43577185e-04] [-7.34186531e-04 -4.22117642e-07 9.99999730e-01]] t_estimated: [[0.30297644] [0.95299708] [0.00135772]] R_gt: [[ 0.97178439 -0.22968684 -0.05366718] [ 0.23234505 0.97134552 0.05002229] [ 0.04064125 -0.06107993 0.99730522]] t_gt: [ 0.57125683 -0.81503923 0.09683336] Pose Error in degrees for R and t: 33.04981423734069 52.87749862817645 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[ 8.17676075e-01 -5.75297762e-01 2.09361234e-02] [ 5.75410614e-01 8.17864317e-01 7.65127476e-04] [-1.75630844e-02 1.14212412e-02 9.99780523e-01]] t_estimated: [[0.99682918] [0.07895677] [0.0098696 ]] R_gt: [[ 0.93994316 -0.33158093 -0.08099993] [ 0.33717421 0.93889598 0.06919045] [ 0.05310837 -0.09234565 0.99430972]] t_gt: [ 0.6475307 -0.74819786 0.14458197] Pose Error in degrees for R and t: 17.089760518389895 53.996888631947776 Number of keypoints: Image1: 217 Image2: 217 R_estimated: [[ 3.05507499e-02 -9.99532705e-01 -1.01117361e-03] [-9.99533216e-01 -3.05506816e-02 -8.29331785e-05] [ 5.20023814e-05 1.01323528e-03 -9.99999485e-01]] t_estimated: [[0.75933157] [0.65070302] [0.00106941]] R_gt: [[ 0.99341951 -0.11103998 0.02809165] [ 0.11172534 0.99344707 -0.02408481] [-0.02523391 0.02706457 0.99931476]] t_gt: [ 0.67494747 -0.73615337 0.05024067] Pose Error in degrees for R and t: 180.0 88.07762785793017 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[-2.22955707e-01 -9.74827454e-01 1.47938208e-03] [-9.74828296e-01 2.22954235e-01 -1.09673902e-03] [ 7.39296805e-04 -1.68666773e-03 -9.99998304e-01]] t_estimated: [[0.76709854] [0.64152841] [0.00106542]] R_gt: [[ 0.96898785 -0.24668065 0.01454299] [ 0.2471048 0.96764669 -0.05097972] [-0.00149682 0.05299122 0.998593 ]] t_gt: [ 0.76114025 -0.64095977 -0.09917707] Pose Error in degrees for R and t: 178.5042036104747 80.06272172833903 Number of keypoints: Image1: 129 Image2: 129 R_estimated: [[ 9.43259517e-01 3.32056362e-01 -2.37955078e-04] [-3.32056287e-01 9.43259524e-01 3.04969705e-04] [ 3.25720525e-04 -2.08651096e-04 9.99999925e-01]] t_estimated: [[0.80917617] [0.58756549] [0.00084908]] R_gt: [[ 0.92966042 -0.36312924 0.0622048 ] [ 0.36597574 0.929648 -0.04260766] [-0.04235675 0.06237601 0.99715243]] t_gt: [ 0.7903466 -0.61265687 -0.00195203] Pose Error in degrees for R and t: 41.02684612962191 73.7665348610094 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.53817344e-01 -3.00383477e-01 -1.49709982e-03] [ 3.00381943e-01 9.53818288e-01 -1.16709346e-03] [ 1.77853678e-03 6.63492232e-04 9.99998198e-01]] t_estimated: [[ 0.16671098] [-0.9859922 ] [-0.00517946]] R_gt: [[ 0.99760964 0.06870553 0.00736461] [-0.06899958 0.99621586 0.05283701] [-0.00370659 -0.05321833 0.99857599]] t_gt: [-0.69788507 0.46759778 0.5425023 ] Pose Error in degrees for R and t: 21.655288478505092 54.53519648750631 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 6.13226310e-02 9.98117907e-01 4.21517307e-04] [ 9.98110479e-01 -6.13238027e-02 3.85532762e-03] [ 3.87392058e-03 1.84302008e-04 -9.99992479e-01]] t_estimated: [[-0.37121018] [-0.92854828] [-0.00104566]] R_gt: [[ 0.98876896 0.03471255 -0.14536648] [-0.00607101 0.98117885 0.19300488] [ 0.14933082 -0.18995374 0.97036978]] t_gt: [ 0.14293239 -0.61314865 0.77692925] Pose Error in degrees for R and t: 165.9400577359403 58.97127417071981 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99751775 0.07023582 -0.00502751] [-0.07019542 0.99750271 0.0078063 ] [ 0.00556323 -0.00743401 0.99995689]] t_estimated: [[-0.94273125] [-0.33353738] [-0.00325683]] R_gt: [[ 0.97762747 -0.05292087 -0.20357995] [ 0.10800288 0.95680429 0.26992662] [ 0.18050133 -0.28587401 0.94111373]] t_gt: [ 0.58471301 -0.60998067 0.53482172] Pose Error in degrees for R and t: 21.12040557309304 69.54218194457809 Number of keypoints: Image1: 240 Image2: 240 R_estimated: [[ 1.00000000e+00 -1.05204506e-05 2.55832427e-05] [ 1.05200618e-05 1.00000000e+00 1.51974969e-05] [-2.55834026e-05 -1.51972277e-05 1.00000000e+00]] t_estimated: [[-0.58138492] [-0.81362715] [-0.00155867]] R_gt: [[ 0.99506493 -0.09886771 0.00837443] [ 0.09875782 0.99503138 0.01259853] [-0.00957843 -0.0117085 0.99988518]] t_gt: [ 0.09972503 -0.98685675 0.12715608] Pose Error in degrees for R and t: 5.73644319445206 41.8618003913916 Number of keypoints: Image1: 195 Image2: 195 R_estimated: [[ 0.99996486 0.00351712 0.0076097 ] [-0.0034811 0.9999827 -0.00474046] [-0.00762624 0.00471381 0.99995981]] t_estimated: [[-9.05834082e-01] [-4.23631883e-01] [-8.02333111e-04]] R_gt: [[ 0.98114793 -0.19107387 0.02895155] [ 0.19082675 0.98156044 0.01109095] [-0.03053771 -0.00535549 0.99951876]] t_gt: [ 0.21583051 -0.96341426 0.15890298] Pose Error in degrees for R and t: 11.308000619329986 77.7311674040246 Number of keypoints: Image1: 143 Image2: 143 R_estimated: [[-0.41738762 0.90872579 -0.0022401 ] [-0.90872473 -0.41739175 -0.00187127] [-0.00263547 0.00125459 0.99999574]] t_estimated: [[0.32121294] [0.94700642] [0.00103952]] R_gt: [[ 0.94422179 -0.3292938 0.00327275] [ 0.32871294 0.94306151 0.05081689] [-0.01982027 -0.04690643 0.99870246]] t_gt: [ 0.42618163 -0.88837414 0.17076475] Pose Error in degrees for R and t: 133.91141564040876 45.23315765607215 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[ 1.00875456e-01 -9.94898878e-01 -6.03387752e-04] [-9.94893066e-01 -1.00876935e-01 3.41054966e-03] [-3.45401994e-03 2.56265538e-04 -9.99994002e-01]] t_estimated: [[0.65898775] [0.7521513 ] [0.00188879]] R_gt: [[ 0.99377077 0.11009429 -0.0173147 ] [-0.10996984 0.9939023 0.00803561] [ 0.01809436 -0.0060804 0.99981822]] t_gt: [-0.53511707 0.8351569 -0.12713252] Pose Error in degrees for R and t: 179.7289972139117 74.02078482220855 Number of keypoints: Image1: 252 Image2: 252 R_estimated: [[ 9.97628943e-01 -6.88198591e-02 -5.64721560e-04] [ 6.88200914e-02 9.97629006e-01 4.02687609e-04] [ 5.35669704e-04 -4.40597003e-04 9.99999759e-01]] t_estimated: [[7.56266502e-01] [6.54263354e-01] [6.64696731e-04]] R_gt: [[ 0.99550747 0.08642642 -0.03868342] [-0.08572003 0.99612655 0.01958486] [ 0.0402268 -0.01618109 0.99905943]] t_gt: [-0.26702231 0.95643683 -0.11801558] Pose Error in degrees for R and t: 9.216154375615481 64.92886850158737 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99905463e-01 1.37370328e-02 5.98627447e-04] [-1.37368336e-02 9.99905589e-01 -3.35619400e-04] [-6.03181344e-04 3.27364426e-04 9.99999765e-01]] t_estimated: [[9.96346278e-01] [8.54011096e-02] [8.62637470e-04]] R_gt: [[ 0.99935977 0.01287776 0.03338531] [-0.01069312 0.99783916 -0.06483391] [-0.03414776 0.06443595 0.99733799]] t_gt: [ 0.08121693 0.88203113 -0.46413887] Pose Error in degrees for R and t: 4.15031008508811 81.03412126836676 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.95085246e-01 9.90202280e-02 -5.89450518e-04] [-9.90193352e-02 9.95084541e-01 1.38855110e-03] [ 7.24047745e-04 -1.32335971e-03 9.99998862e-01]] t_estimated: [[0.56659263] [0.82399738] [0.00105618]] R_gt: [[ 0.99786335 -0.01552407 0.06347243] [ 0.00860163 0.99412211 0.10792275] [-0.06477407 -0.10714492 0.99213127]] t_gt: [-0.02988503 -0.13858865 0.98989902] Pose Error in degrees for R and t: 9.574004933782335 82.52556437323078 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99876697 -0.04958316 0.00246021] [ 0.04958916 0.99876672 -0.00244152] [-0.00233612 0.00256051 0.99999399]] t_estimated: [[0.09186025] [0.99576513] [0.00367441]] R_gt: [[ 0.99564085 -0.06569526 0.06621571] [ 0.05116621 0.97821354 0.20119702] [-0.0779909 -0.1969308 0.9773097 ]] t_gt: [ 0.11867087 -0.29257655 0.94884993] Pose Error in degrees for R and t: 12.329913653109701 73.92174914051444 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[-0.98538259 -0.17031317 -0.00381672] [ 0.17029385 -0.98538105 0.00491852] [-0.00459861 0.00419666 0.99998062]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.9927175 -0.08612958 0.08422553] [ 0.06329851 0.96780071 0.24362998] [-0.10249668 -0.23652305 0.9662046 ]] t_gt: [ 0.13569206 -0.27950002 0.95050902] Pose Error in degrees for R and t: 165.9147314582502 86.68896602718391 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 9.99999889e-01 3.61749449e-04 -3.00971558e-04] [-3.61622151e-04 9.99999845e-01 4.22904993e-04] [ 3.01124497e-04 -4.22796108e-04 9.99999865e-01]] t_estimated: [[-0.79607332] [-0.6051995 ] [-0.00091138]] R_gt: [[ 0.99642492 0.05970556 -0.05977608] [-0.05267038 0.99219074 0.11306259] [ 0.06605976 -0.10951077 0.9917882 ]] t_gt: [0.06230867 0.18615279 0.9805431 ] Pose Error in degrees for R and t: 7.991770133043663 80.60989982706185 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 9.71499187e-01 2.37042869e-01 9.16518883e-05] [-2.37042824e-01 9.71499140e-01 -3.47831266e-04] [-1.71490652e-04 3.16192370e-04 9.99999935e-01]] t_estimated: [[-7.74179920e-01] [ 6.32965252e-01] [-6.64195781e-04]] R_gt: [[ 0.98684086 0.1424563 -0.07649906] [-0.13185823 0.98281027 0.12921795] [ 0.09359199 -0.1174305 0.98866076]] t_gt: [-0.32084777 0.84553077 0.4267721 ] Pose Error in degrees for R and t: 10.407720245568447 38.436090851205556 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[-0.34389878 0.92462446 -0.16371695] [-0.92316977 -0.36480641 -0.12113572] [-0.17173004 0.10948012 0.97904183]] t_estimated: [[0.01437759] [0.99989578] [0.00130705]] R_gt: [[ 0.98116181 0.17305812 -0.08586829] [-0.16116803 0.9783115 0.13012333] [ 0.10652517 -0.11383324 0.98777233]] t_gt: [-0.27476763 0.91428227 0.29764186] Pose Error in degrees for R and t: 103.0295040823743 24.40806192025065 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[ 9.86463741e-01 1.63979532e-01 3.39143585e-05] [-1.63979534e-01 9.86463739e-01 6.21900508e-05] [-2.32573895e-05 -6.69094909e-05 9.99999997e-01]] t_estimated: [[ 5.64034688e-01] [-8.25750794e-01] [ 7.04889237e-04]] R_gt: [[ 0.98703013 -0.15995796 -0.01354296] [ 0.15893049 0.98558852 -0.05793181] [ 0.02261534 0.05502804 0.99822931]] t_gt: [ 0.493873 -0.72389744 -0.4817281 ] Pose Error in degrees for R and t: 18.92864178536494 28.838731006269047 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.97465277e-01 -7.11545614e-02 2.21434954e-04] [ 7.11546329e-02 9.97465241e-01 -3.33744175e-04] [-1.97126249e-04 3.48654349e-04 9.99999920e-01]] t_estimated: [[9.39290779e-01] [3.43120930e-01] [9.26627834e-04]] R_gt: [[ 0.97681959 -0.20753122 0.05247698] [ 0.20905744 0.97757223 -0.02543691] [-0.04602065 0.03581766 0.99829839]] t_gt: [ 0.19851705 -0.97988305 0.0204983 ] Pose Error in degrees for R and t: 8.617730770416367 81.38847907399938 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 9.71736817e-01 2.36066385e-01 4.69554762e-04] [-2.36066389e-01 9.71736928e-01 -4.68753855e-05] [-4.67349405e-04 -6.52955593e-05 9.99999889e-01]] t_estimated: [[0.30521805] [0.95228032] [0.00203479]] R_gt: [[ 0.94337409 -0.32970077 0.03661947] [ 0.33062538 0.94348709 -0.02278859] [-0.02703661 0.03360578 0.99906944]] t_gt: [ 0.40332483 -0.91505504 0.00182964] Pose Error in degrees for R and t: 33.03109089752025 41.55812141490386 Number of keypoints: Image1: 278 Image2: 278 R_estimated: [[-2.03110335e-01 -9.79155707e-01 -5.41019456e-04] [-9.79154746e-01 2.03110906e-01 -1.39429250e-03] [ 1.47511641e-03 2.46546551e-04 -9.99998882e-01]] t_estimated: [[0.78874692] [0.61471735] [0.00093564]] R_gt: [[ 0.99885432 -0.04294819 -0.02110097] [ 0.04331069 0.99891634 0.01706721] [ 0.02034501 -0.0179611 0.99963234]] t_gt: [ 0.5069228 -0.85612224 -0.10041905] Pose Error in degrees for R and t: 179.63653391387618 82.73068623561548 Number of keypoints: Image1: 229 Image2: 229 R_estimated: [[ 9.97094909e-01 7.61689496e-02 1.81423970e-04] [-7.61689266e-02 9.97094919e-01 -1.30359134e-04] [-1.90826237e-04 1.16161559e-04 9.99999975e-01]] t_estimated: [[0.44772097] [0.89417272] [0.00103813]] R_gt: [[ 0.99760377 -0.04995454 -0.04787629] [ 0.05172904 0.99799161 0.03656772] [ 0.04595308 -0.03895668 0.99818387]] t_gt: [ 0.4778833 -0.85471331 -0.20271337] Pose Error in degrees for R and t: 8.066860735064735 56.59775879370807 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.90063181e-01 1.40623071e-01 2.20396886e-04] [-1.40622956e-01 9.90063110e-01 -4.71829288e-04] [-2.84556910e-04 4.36147945e-04 9.99999864e-01]] t_estimated: [[0.8330532 ] [0.5531921 ] [0.00093287]] R_gt: [[ 0.99520006 -0.09071721 -0.03671461] [ 0.09151893 0.99558734 0.02079287] [ 0.03466601 -0.02405249 0.99910963]] t_gt: [ 0.56664496 -0.81456414 -0.12409171] Pose Error in degrees for R and t: 13.535537767971993 88.77840816587326 Number of keypoints: Image1: 66 Image2: 66 R_estimated: [[ 0.66649249 0.73522944 0.12339135] [-0.69685819 0.55559064 0.45355012] [ 0.26490832 -0.38827402 0.88264764]] t_estimated: [[0.99686793] [0.07907168] [0.00141199]] R_gt: [[ 0.99511868 0.02630337 -0.095122 ] [-0.01340736 0.99092523 0.13374513] [ 0.09777663 -0.13181721 0.98643995]] t_gt: [-0.01353207 -0.50467412 0.86320387] Pose Error in degrees for R and t: 51.714720297566274 87.00916152282481 Number of keypoints: Image1: 51 Image2: 51 R_estimated: [[ 0.99377468 -0.11140203 -0.00121387] [ 0.11140332 0.99377471 0.00105795] [ 0.00108845 -0.0011866 0.9999987 ]] t_estimated: [[-0.50833791] [-0.86115691] [-0.00116059]] R_gt: [[ 0.97835336 -0.06072057 -0.19783577] [ 0.1064339 0.96749573 0.22939855] [ 0.17747514 -0.24548942 0.95301484]] t_gt: [ 0.64840841 -0.64714817 0.40095608] Pose Error in degrees for R and t: 17.604106379160314 76.86653153556796 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 5.92143973e-01 8.05826241e-01 3.09606603e-03] [ 8.05822818e-01 -5.92151245e-01 2.54743958e-03] [ 3.88613301e-03 9.86429656e-04 -9.99991962e-01]] t_estimated: [[0.67273902] [0.73987864] [0.00134279]] R_gt: [[ 0.95926097 -0.16200543 -0.23145922] [ 0.22186107 0.93918664 0.26211762] [ 0.17491812 -0.30279106 0.9368675 ]] t_gt: [ 0.72271244 -0.57849446 0.37819425] Pose Error in degrees for R and t: 159.75269470212137 86.63543462915155 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[-0.99982682 0.01620072 -0.00915823] [-0.0162886 -0.99982121 0.00960376] [-0.00900101 0.00975127 0.99991194]] t_estimated: [[7.78516235e-01] [6.27624044e-01] [7.28947786e-04]] R_gt: [[ 0.99529981 0.09433327 -0.02189754] [-0.09405634 0.99547809 0.0133293 ] [ 0.0230553 -0.01120715 0.99967113]] t_gt: [-0.49613412 0.86051306 -0.11562097] Pose Error in degrees for R and t: 173.6610829434977 81.15592777471065 Number of keypoints: Image1: 185 Image2: 185 R_estimated: [[ 9.32867223e-01 -3.60220130e-01 4.50165804e-04] [ 3.60220277e-01 9.32867227e-01 -2.99697923e-04] [-3.11987700e-04 4.41737219e-04 9.99999854e-01]] t_estimated: [[-0.45614328] [-0.88990571] [-0.00106576]] R_gt: [[ 0.95032315 0.31124249 -0.00370703] [-0.31125773 0.95031387 -0.0046972 ] [ 0.00205973 0.00561791 0.99998162]] t_gt: [-0.53404394 0.84448997 -0.04041988] Pose Error in degrees for R and t: 39.24988251557332 59.47775776595504 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[ 0.9119623 -0.2807962 -0.29912917] [ 0.33652718 0.92901189 0.15390373] [ 0.23467898 -0.2410195 0.94171937]] t_estimated: [[-0.20735526] [-0.97826517] [-0.00102651]] R_gt: [[ 0.87541216 0.48024137 -0.05497799] [-0.48052571 0.87693634 0.00878346] [ 0.05242966 0.01872904 0.99844941]] t_gt: [-0.44812973 0.88563292 -0.12179519] Pose Error in degrees for R and t: 50.121858142766065 39.345520146817286 Number of keypoints: Image1: 211 Image2: 211 R_estimated: [[-0.27341536 0.95676507 0.09922021] [ 0.95694544 0.28100906 -0.07272784] [-0.09746524 0.07506342 -0.99240416]] t_estimated: [[ 0.78609613] [-0.61493633] [ 0.06249949]] R_gt: [[ 0.99465037 0.09784608 0.03313475] [-0.09803574 0.99517434 0.00413098] [-0.03257171 -0.0073574 0.999443 ]] t_gt: [-0.72885873 0.64144036 0.23941434] Pose Error in degrees for R and t: 171.63852692956692 17.7426820736751 Number of keypoints: Image1: 191 Image2: 191 R_estimated: [[-0.56664467 -0.82391891 0.00845277] [-0.82391418 0.56669262 0.0049896 ] [-0.00890115 -0.00413703 -0.99995183]] t_estimated: [[0.90135473] [0.43304282] [0.00579287]] R_gt: [[ 0.99818728 0.0336292 0.04992053] [-0.03387349 0.99941822 0.00403193] [-0.04975731 -0.00571551 0.99874576]] t_gt: [-0.51687764 0.59259843 0.6177901 ] Pose Error in degrees for R and t: 176.78002533475902 78.13005761966845 Number of keypoints: Image1: 213 Image2: 213 R_estimated: [[-1.82836209e-01 -9.83143379e-01 -1.31080137e-04] [-9.83142708e-01 1.82835925e-01 1.20005027e-03] [-1.15585532e-03 3.48283122e-04 -9.99999271e-01]] t_estimated: [[0.87184302] [0.48978331] [0.00143631]] R_gt: [[ 0.99482133 -0.09222697 0.042714 ] [ 0.0911155 0.99546706 0.02728533] [-0.04503775 -0.02325273 0.998715 ]] t_gt: [ 0.75387027 -0.50417425 0.42129319] Pose Error in degrees for R and t: 177.09653823578395 65.73701315987712 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.91984669e-01 1.26358282e-01 -7.52239481e-06] [-1.26358266e-01 9.91984501e-01 -5.81023254e-04] [-6.59550013e-05 5.77316677e-04 9.99999831e-01]] t_estimated: [[0.70142019] [0.71274747] [0.00087133]] R_gt: [[ 0.98887728 -0.14621186 -0.02727077] [ 0.1430778 0.98523012 -0.09407448] [ 0.04062298 0.08912785 0.99519146]] t_gt: [ 0.53748151 -0.60240074 -0.59010759] Pose Error in degrees for R and t: 16.561877743843834 86.9691639351914 Number of keypoints: Image1: 67 Image2: 67 R_estimated: [[ 3.95077538e-01 9.18647773e-01 9.68875580e-05] [-9.18645724e-01 3.95076875e-01 -2.07290264e-03] [-1.94254543e-03 7.29951929e-04 9.99997847e-01]] t_estimated: [[0.00519743] [0.99998595] [0.00103949]] R_gt: [[ 0.97834598 -0.20407242 -0.03455341] [ 0.19667656 0.96862004 -0.15196443] [ 0.0644817 0.14187873 0.98778107]] t_gt: [ 0.54001311 -0.51471158 -0.66592629] Pose Error in degrees for R and t: 78.7808601275886 59.1635042362467 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[ 9.82837720e-01 -1.84472242e-01 -8.41923769e-05] [ 1.84472187e-01 9.82837632e-01 -4.49591480e-04] [ 1.65684585e-04 4.26344313e-04 9.99999895e-01]] t_estimated: [[ 0.43760618] [-0.89916617] [-0.0010138 ]] R_gt: [[ 0.9875632 -0.14668704 -0.05659294] [ 0.13641213 0.97837392 -0.15548459] [ 0.07817663 0.14583208 0.98621522]] t_gt: [ 0.42960553 -0.26634518 -0.86284375] Pose Error in degrees for R and t: 9.805028274529462 64.63638687657989 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[-0.10922891 -0.99390343 0.01500023] [ 0.99399444 -0.10911322 0.00832857] [-0.00664107 0.01581987 0.9998528 ]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99868865 -0.04537899 0.02370462] [ 0.04330211 0.99570765 0.08180598] [-0.02731429 -0.08067245 0.99636603]] t_gt: [ 0.22864192 -0.53108096 0.81588963] Pose Error in degrees for R and t: 93.82517746602149 76.84262790734913 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.87012909e-01 -1.60628680e-01 1.98607270e-03] [ 1.60628533e-01 9.87014903e-01 2.34600999e-04] [-1.99796700e-03 8.74657286e-05 9.99998000e-01]] t_estimated: [[0.84867702] [0.52891073] [0.00086423]] R_gt: [[ 0.99890381 -0.03878173 0.02625253] [ 0.03782506 0.99863538 0.03601534] [-0.02761291 -0.03498362 0.99900606]] t_gt: [ 0.2769455 -0.61312136 0.73985362] Pose Error in degrees for R and t: 7.471140700176229 84.91636608269346 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[-0.38080495 -0.92465444 -0.00132539] [ 0.92465473 -0.38080259 -0.00173576] [ 0.00110027 -0.00188652 0.99999762]] t_estimated: [[9.33820612e-01] [3.57740630e-01] [8.39766738e-04]] R_gt: [[ 0.99981908 -0.01168902 -0.01502401] [ 0.01054367 0.99719112 -0.07416281] [ 0.01584936 0.07399182 0.9971324 ]] t_gt: [ 0.11249705 0.14935766 -0.98236282] Pose Error in degrees for R and t: 111.80059484738904 80.92899195757336 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.82986835e-01 -1.83676016e-01 -6.02301544e-05] [ 1.83676024e-01 9.82986818e-01 1.82559264e-04] [ 2.56736894e-05 -1.90516189e-04 9.99999982e-01]] t_estimated: [[ 7.30732302e-01] [-6.82664054e-01] [ 3.03814012e-04]] R_gt: [[ 0.99965446 -0.01205207 0.02337709] [ 0.0132422 0.99858881 -0.05143602] [-0.02272381 0.05172701 0.99840233]] t_gt: [-0.43054053 0.88305454 -0.18668028] Pose Error in degrees for R and t: 10.379206393122068 23.43725716146082 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[ 9.97398713e-01 -7.20819540e-02 9.22488262e-06] [ 7.20819530e-02 9.97398710e-01 7.92829206e-05] [-1.49157539e-05 -7.84117353e-05 9.99999997e-01]] t_estimated: [[0.30093114] [0.95364525] [0.00108875]] R_gt: [[ 0.99967675 -0.00349585 0.02518801] [ 0.00485877 0.99851539 -0.05426161] [-0.02496038 0.05436477 0.99820894]] t_gt: [-0.46763332 0.86035979 -0.2027316 ] Pose Error in degrees for R and t: 5.190930017874186 47.19292672498147 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[-5.09634000e-01 -8.60391053e-01 6.49322021e-04] [-8.60391213e-01 5.09633467e-01 -8.30954248e-04] [ 3.84029368e-04 -9.82153499e-04 -9.99999444e-01]] t_estimated: [[0.7986847 ] [0.60174875] [0.00109409]] R_gt: [[ 0.99844303 -0.04384337 0.03449024] [ 0.04693561 0.9944017 -0.0946718 ] [-0.03014654 0.09614265 0.99491107]] t_gt: [-0.30107179 0.87277593 -0.38421081] Pose Error in degrees for R and t: 178.9070515898817 73.48238997723689 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[-7.10338023e-01 -7.03860519e-01 -5.12576383e-04] [-7.03858409e-01 7.10333657e-01 3.07182345e-03] [-1.79803499e-03 2.54281420e-03 -9.99995151e-01]] t_estimated: [[0.94729377] [0.3203647 ] [0.00098574]] R_gt: [[ 0.99082583 -0.13513626 -0.00190147] [ 0.13428797 0.9859986 -0.09886773] [ 0.01523543 0.09770652 0.99509895]] t_gt: [ 0.5328167 -0.63499977 -0.55935826] Pose Error in degrees for R and t: 177.44495105269036 72.49728126283762 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[ 9.29217486e-01 3.69531577e-01 1.12997374e-03] [-3.69533305e-01 9.29213244e-01 2.80795028e-03] [-1.23602639e-05 -3.02675943e-03 9.99995419e-01]] t_estimated: [[0.52671975] [0.85003764] [0.00151792]] R_gt: [[ 0.99251911 -0.11891783 -0.02765136] [ 0.11543082 0.98777741 -0.10474978] [ 0.03976962 0.10077474 0.99411423]] t_gt: [ 0.46801994 -0.42724965 -0.77357292] Pose Error in degrees for R and t: 29.131976799189808 83.23270455678946 Number of keypoints: Image1: 54 Image2: 54 R_estimated: [[-9.30347910e-01 -3.66676033e-01 -1.20521444e-03] [ 3.66677459e-01 -9.30347196e-01 -1.31773458e-03] [-6.38086184e-04 -1.66787658e-03 9.99998406e-01]] t_estimated: [[8.69246096e-01] [4.94379078e-01] [7.42310928e-04]] R_gt: [[ 0.99697872 -0.0671097 -0.0391347 ] [ 0.06238478 0.99180596 -0.11149116] [ 0.04629647 0.10871367 0.99299406]] t_gt: [ 0.26128433 0.05589658 -0.96364209] Pose Error in degrees for R and t: 154.80999651356592 75.28334129942546 Number of keypoints: Image1: 139 Image2: 139 R_estimated: [[-0.73683991 -0.67606019 -0.00309295] [ 0.67606583 -0.73682121 -0.00543151] [ 0.00139308 -0.00609319 0.99998047]] t_estimated: [[9.71599756e-01] [2.36628856e-01] [8.36144368e-04]] R_gt: [[ 0.99876536 -0.0475568 0.01432493] [ 0.04585988 0.99376054 0.10166454] [-0.01906982 -0.10088177 0.99471589]] t_gt: [ 0.24311057 -0.53114523 0.81165386] Pose Error in degrees for R and t: 134.84208317961043 83.61547380740407 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[-7.44054415e-01 -6.68116019e-01 -2.00310100e-03] [ 6.68118464e-01 -7.44054324e-01 -9.38659365e-04] [-8.63282601e-04 -2.03672241e-03 9.99997553e-01]] t_estimated: [[9.78754851e-01] [2.05032266e-01] [8.43754182e-04]] R_gt: [[ 0.99693401 -0.07065264 0.03362617] [ 0.06475788 0.98622019 0.15223803] [-0.0439186 -0.14959362 0.98777171]] t_gt: [ 0.21927445 -0.46545559 0.85747875] Pose Error in degrees for R and t: 134.31490254790393 83.11332127280153 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 9.99660861e-01 2.60260016e-02 9.00123405e-04] [-2.60253641e-02 9.99661029e-01 -7.12780200e-04] [-9.18369108e-04 6.89112429e-04 9.99999341e-01]] t_estimated: [[0.12928694] [0.99160647] [0.00121969]] R_gt: [[ 0.99823134 -0.05371411 0.02546526] [ 0.05221132 0.9970444 0.05634968] [-0.02841654 -0.05492091 0.9980862 ]] t_gt: [ 0.31666139 -0.63064365 0.70852957] Pose Error in degrees for R and t: 5.760865912596176 54.299665114591306 Number of keypoints: Image1: 329 Image2: 329 R_estimated: [[ 9.48586009e-01 -3.16517964e-01 -9.80493383e-04] [ 3.16519400e-01 9.48583452e-01 2.21440145e-03] [ 2.29181960e-04 -2.41089541e-03 9.99997068e-01]] t_estimated: [[-0.61708657] [-0.78689479] [-0.0008753 ]] R_gt: [[ 0.99838836 -0.02143692 0.05253832] [ 0.02109916 0.99975327 0.00699132] [-0.0526752 -0.00587118 0.99859466]] t_gt: [-0.48161788 -0.00998921 0.87632439] Pose Error in degrees for R and t: 17.500572373385438 72.284345624096 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.68659215e-01 -2.48393324e-01 2.86852209e-04] [ 2.48393252e-01 9.68659239e-01 2.65937855e-04] [-3.43919230e-04 -1.86351001e-04 9.99999923e-01]] t_estimated: [[9.54089993e-01] [2.99518709e-01] [9.10391214e-04]] R_gt: [[ 0.99610651 -0.03135887 0.0823929 ] [ 0.03446338 0.99873829 -0.03652778] [-0.08114264 0.03922546 0.9959308 ]] t_gt: [-0.6338587 0.45927591 0.6223253 ] Pose Error in degrees for R and t: 13.512263452698756 62.18423892810849 Number of keypoints: Image1: 259 Image2: 259 R_estimated: [[ 9.99999391e-01 -1.09691631e-03 1.18920206e-04] [ 1.09690078e-03 9.99999390e-01 1.30612777e-04] [-1.19063405e-04 -1.30482254e-04 9.99999984e-01]] t_estimated: [[-3.06374434e-02] [ 9.99530438e-01] [ 5.00040308e-04]] R_gt: [[ 0.9946519 -0.01692822 0.101883 ] [ 0.02377744 0.99751042 -0.06638838] [-0.10050498 0.06845623 0.99257876]] t_gt: [-0.65382551 0.67741961 0.33706805] Pose Error in degrees for R and t: 7.070477053501432 45.78908920333148 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.99999981e-01 -1.87541775e-04 6.13292038e-05] [ 1.87541822e-04 9.99999982e-01 -7.62282347e-07] [-6.13290598e-05 7.73784123e-07 9.99999998e-01]] t_estimated: [[3.60239615e-01] [9.32859778e-01] [2.32311546e-04]] R_gt: [[ 0.99833496 -0.02525946 -0.05187393] [ 0.02489507 0.9996606 -0.00765809] [ 0.05205023 0.00635397 0.99862363]] t_gt: [ 0.78078602 -0.20562256 -0.58999369] Pose Error in degrees for R and t: 3.330437693561739 84.87574283212956 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[ 1.23175628e-01 9.92353075e-01 7.94607523e-03] [-9.92384868e-01 1.23173247e-01 7.90174426e-04] [-1.94611869e-04 -7.98289505e-03 9.99968117e-01]] t_estimated: [[-0.09056384] [ 0.99588916] [ 0.0017243 ]] R_gt: [[ 0.99355693 0.04103456 -0.10565271] [-0.04033355 0.99914792 0.00875866] [ 0.10592167 -0.00444089 0.99436428]] t_gt: [ 0.40809049 0.49593907 -0.76648978] Pose Error in degrees for R and t: 80.80145393216914 62.89513857197026 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.89930017e-01 -1.41557624e-01 -1.01307023e-05] [ 1.41557578e-01 9.89929746e-01 -7.41228522e-04] [ 1.14955232e-04 7.32330286e-04 9.99999725e-01]] t_estimated: [[-0.67830253] [-0.73477932] [-0.00224418]] R_gt: [[ 0.97752779 0.1473296 -0.15077442] [-0.14840654 0.98891825 0.004153 ] [ 0.14971496 0.01831672 0.98855938]] t_gt: [-0.00340972 0.82905528 -0.55915625] Pose Error in degrees for R and t: 18.793807277042255 52.727609806212996 Number of keypoints: Image1: 115 Image2: 115 R_estimated: [[ 9.99977876e-01 6.65135422e-03 -8.24932218e-05] [-6.65134771e-03 9.99977876e-01 7.89143706e-05] [ 8.30162842e-05 -7.83639336e-05 9.99999993e-01]] t_estimated: [[-6.41946220e-01] [ 7.66749331e-01] [ 7.16741447e-04]] R_gt: [[ 0.99666561 0.08063352 -0.01246038] [-0.07994083 0.99561243 0.0486255 ] [ 0.01632627 -0.04746683 0.99873982]] t_gt: [-0.53144573 0.79477773 0.29307644] Pose Error in degrees for R and t: 5.109780548491229 18.053985813711794 Number of keypoints: Image1: 83 Image2: 83 R_estimated: [[ 7.34408359e-01 -6.78707645e-01 -5.43529486e-04] [ 6.78707707e-01 7.34408497e-01 -8.75731985e-05] [ 4.58609272e-04 -3.04583162e-04 9.99999848e-01]] t_estimated: [[0.73119977] [0.68216253] [0.00108972]] R_gt: [[ 0.97197092 0.23508077 0.00310444] [-0.23505688 0.97144738 0.03221547] [ 0.00455722 -0.0320426 0.99947639]] t_gt: [-0.53561645 0.84160103 0.06944581] Pose Error in degrees for R and t: 56.3698229910517 79.48215585019207 Number of keypoints: Image1: 69 Image2: 69 R_estimated: [[ 8.89029554e-01 -4.57849806e-01 -8.25357940e-05] [ 4.57849732e-01 8.89029489e-01 -4.35507499e-04] [ 2.72773779e-04 3.49390046e-04 9.99999902e-01]] t_estimated: [[0.69119465] [0.72266762] [0.0012105 ]] R_gt: [[ 0.89458594 0.44689198 -0.00172121] [-0.44647737 0.89390882 0.03980867] [ 0.01932812 -0.03484441 0.99920618]] t_gt: [-0.47740953 0.87855992 0.01458128] Pose Error in degrees for R and t: 53.83668724225111 72.24535310228354 Number of keypoints: Image1: 179 Image2: 179 R_estimated: [[ 9.99999827e-01 9.89266491e-05 5.79589669e-04] [-9.91112009e-05 9.99999944e-01 3.18397946e-04] [-5.79558138e-04 -3.18455334e-04 9.99999781e-01]] t_estimated: [[0.85067036] [0.52569624] [0.00184591]] R_gt: [[ 0.98980202 -0.14052218 -0.02333264] [ 0.14141245 0.98904876 0.04224624] [ 0.01714055 -0.04511495 0.99883431]] t_gt: [ 0.67465824 -0.7192113 0.16604628] Pose Error in degrees for R and t: 8.571537829557876 78.68916389020087 Number of keypoints: Image1: 184 Image2: 184 R_estimated: [[-0.16691127 -0.9859576 0.00531428] [-0.98585757 0.1668074 -0.01612908] [ 0.01501613 -0.00793124 -0.9998558 ]] t_estimated: [[8.77895342e-01] [4.78852005e-01] [7.25533340e-04]] R_gt: [[ 0.97289485 -0.23017119 -0.02224468] [ 0.2309166 0.97213242 0.04045843] [ 0.01231188 -0.04449894 0.99893348]] t_gt: [ 0.68607384 -0.71150509 0.15186572] Pose Error in degrees for R and t: 179.64896980598448 74.82871090026536 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999970e-01 2.39409182e-04 5.15815893e-05] [-2.39407675e-04 9.99999971e-01 -2.92256458e-05] [-5.15885846e-05 2.92132959e-05 9.99999998e-01]] t_estimated: [[ 9.99999202e-01] [-1.25430112e-03] [-1.48233839e-04]] R_gt: [[ 0.95085026 -0.30382746 -0.05975973] [ 0.30620922 0.95129748 0.0356173 ] [ 0.04602727 -0.05216544 0.99757665]] t_gt: [ 0.72657275 -0.68655428 0.02711552] Pose Error in degrees for R and t: 18.23425792438675 43.32868612556167 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[-7.96491734e-01 6.04636908e-01 -3.88943533e-03] [-6.04641555e-01 -7.96497702e-01 2.39355513e-05] [-3.08345399e-03 2.37077870e-03 9.99992436e-01]] t_estimated: [[7.73925291e-01] [6.33276507e-01] [7.13953221e-04]] R_gt: [[ 0.99223435 -0.12353606 0.01448892] [ 0.12348494 0.99233647 0.00440375] [-0.01492257 -0.00258042 0.99988547]] t_gt: [ 0.84710923 -0.52629748 0.07359965] Pose Error in degrees for R and t: 149.89396680688878 71.1942935678426 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 7.83256783e-01 6.21697850e-01 7.71064740e-04] [-6.21698216e-01 7.83255293e-01 1.57308821e-03] [ 3.74045018e-04 -1.71150158e-03 9.99998465e-01]] t_estimated: [[7.50320888e-01] [6.61073409e-01] [7.15572841e-04]] R_gt: [[ 0.97082149 -0.23970615 0.00686532] [ 0.23966506 0.97083511 0.0063038 ] [-0.00817598 -0.00447486 0.99995655]] t_gt: [ 0.84790963 -0.52944628 0.02712742] Pose Error in degrees for R and t: 52.310467864519985 73.36816111142193 Number of keypoints: Image1: 77 Image2: 77 R_estimated: [[ 9.98928926e-01 -4.62699203e-02 3.09796509e-04] [ 4.62704552e-02 9.98926888e-01 -2.02936622e-03] [-2.15565449e-04 2.04152704e-03 9.99997893e-01]] t_estimated: [[0.77517873] [0.63174014] [0.00152594]] R_gt: [[ 0.94563003 -0.32332148 -0.03532874] [ 0.32330709 0.94627262 -0.00625679] [ 0.03545266 -0.00550587 0.99935603]] t_gt: [ 0.86389656 -0.50146585 -0.047061 ] Pose Error in degrees for R and t: 16.348903571565984 69.3409417768892 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[ 9.93093549e-01 -1.17324991e-01 -2.24129492e-04] [ 1.17325015e-01 9.93093566e-01 9.84878510e-05] [ 2.11026470e-04 -1.24103645e-04 9.99999970e-01]] t_estimated: [[-0.87681158] [-0.48083212] [-0.00139015]] R_gt: [[ 0.99857743 0.0526303 -0.00856486] [-0.05255833 0.99858214 0.00841612] [ 0.00899667 -0.00795338 0.99992814]] t_gt: [-0.98914712 0.13026664 0.06796009] Pose Error in degrees for R and t: 9.77590389031501 36.43175432581509 Number of keypoints: Image1: 127 Image2: 127 R_estimated: [[ 7.28792914e-01 -6.84733281e-01 -1.10535445e-03] [ 6.84733522e-01 7.28793498e-01 -2.03129358e-04] [ 9.44664567e-04 -6.08834008e-04 9.99999368e-01]] t_estimated: [[ 0.53826527] [-0.84277503] [-0.00086386]] R_gt: [[ 9.98861582e-01 2.27249599e-02 4.19438290e-02] [-2.27456607e-02 9.99741064e-01 2.02051210e-05] [-4.19314181e-02 -9.73505494e-04 9.99119330e-01]] t_gt: [-0.98390795 -0.02525605 0.1768821 ] Pose Error in degrees for R and t: 44.58310626370772 59.43795538825778 Number of keypoints: Image1: 111 Image2: 111 R_estimated: [[-9.97308806e-01 -7.33126874e-02 6.29019523e-04] [ 7.33095717e-02 -9.97301061e-01 -4.03725527e-03] [ 9.23303871e-04 -3.98027708e-03 9.99991652e-01]] t_estimated: [[8.58021296e-01] [5.13613680e-01] [6.66165603e-04]] R_gt: [[ 0.99520317 0.08017014 0.05607202] [-0.07937757 0.99671246 -0.01623719] [-0.05718908 0.01170971 0.99829484]] t_gt: [-0.97664896 0.21423519 0.01612772] Pose Error in degrees for R and t: 179.61986379106372 43.28596462292432 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.51466527e-01 -3.07751951e-01 4.29889583e-04] [ 3.07752089e-01 9.51466532e-01 -3.00950894e-04] [-3.16407325e-04 4.18644119e-04 9.99999862e-01]] t_estimated: [[8.02552431e-01] [5.96581138e-01] [7.35611761e-04]] R_gt: [[ 0.99512416 0.01589126 -0.09734871] [-0.0156831 0.99987379 0.00289888] [ 0.09738157 -0.00135786 0.99524589]] t_gt: [ 0.18005238 0.17297756 -0.96832841] Pose Error in degrees for R and t: 19.641509590933442 75.70086898516315 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.62968027e-01 -2.69615595e-01 -1.00894021e-04] [ 2.69615612e-01 9.62967996e-01 2.44371741e-04] [ 3.12712803e-05 -2.62524777e-04 9.99999965e-01]] t_estimated: [[-4.66470952e-01] [-8.84536391e-01] [-4.72978949e-04]] R_gt: [[ 0.98727231 0.02693336 -0.15674322] [-0.02794918 0.99960021 -0.00428165] [ 0.15656408 0.00860845 0.98763007]] t_gt: [ 0.18966844 0.17635434 -0.96588044] Pose Error in degrees for R and t: 19.425890673204627 75.87667601856063 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.64346732e-01 -2.64641891e-01 -2.22214754e-04] [ 2.64641962e-01 9.64346657e-01 3.95240200e-04] [ 1.09694941e-04 -4.39955944e-04 9.99999897e-01]] t_estimated: [[0.84689936] [0.5317524 ] [0.00092964]] R_gt: [[ 0.98332802 -0.0013031 -0.18184025] [-0.00441226 0.9995096 -0.03102036] [ 0.18179061 0.03130615 0.98283849]] t_gt: [ 0.31626246 0.05894008 -0.94683902] Pose Error in degrees for R and t: 18.72033995729587 72.64424681842229 Number of keypoints: Image1: 239 Image2: 239 R_estimated: [[ 9.99999146e-01 1.26766708e-03 3.17993136e-04] [-1.26765067e-03 9.99999195e-01 -5.17874898e-05] [-3.18058529e-04 5.13843413e-05 9.99999948e-01]] t_estimated: [[-9.92683249e-01] [-1.20747433e-01] [-1.58814436e-04]] R_gt: [[ 0.99674599 -0.0802549 -0.00754341] [ 0.08044008 0.99634266 0.02879292] [ 0.00520613 -0.02930659 0.99955678]] t_gt: [ 0.47972154 -0.84880646 0.2222495 ] Pose Error in degrees for R and t: 4.985658606359884 68.05257549898832 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 4.09531618e-01 9.12285019e-01 4.46060198e-03] [ 9.12294432e-01 -4.09534897e-01 -1.93557788e-04] [ 1.65019231e-03 4.14865039e-03 -9.99990033e-01]] t_estimated: [[-0.98690681] [-0.16125928] [-0.00322519]] R_gt: [[ 0.9880664 -0.14004198 -0.06414372] [ 0.14410706 0.9874979 0.0638727 ] [ 0.05439754 -0.07235462 0.99589431]] t_gt: [ 0.57587199 -0.79009392 0.21005485] Pose Error in degrees for R and t: 175.02121925044997 63.79402152346173 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.99996193 -0.00673963 -0.00554309] [ 0.0068254 0.99985497 0.01560293] [ 0.00543713 -0.01564017 0.9998629 ]] t_estimated: [[0.65195158] [0.75825982] [0.00108478]] R_gt: [[ 0.99044493 -0.06707997 -0.12050137] [ 0.08314854 0.98752661 0.13370663] [ 0.1100301 -0.1424491 0.98366766]] t_gt: [ 0.40234546 -0.79124635 0.46048598] Pose Error in degrees for R and t: 10.27540925102436 70.29599709278155 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[ 9.99999996e-01 -2.19248789e-05 8.38763777e-05] [ 2.19225158e-05 9.99999999e-01 2.81737999e-05] [-8.38769954e-05 -2.81719610e-05 9.99999996e-01]] t_estimated: [[0.63733635] [0.77058447] [0.0013955 ]] R_gt: [[ 0.99606843 -0.0885702 0.00130823] [ 0.08853957 0.99595986 0.01499296] [-0.00263061 -0.01481802 0.99988639]] t_gt: [ 0.51585765 -0.83357129 0.19761019] Pose Error in degrees for R and t: 5.152072907947134 71.74259794219668 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.99999429e-01 1.06414467e-03 1.00850781e-04] [-1.06414765e-03 9.99999433e-01 2.94907263e-05] [-1.00819342e-04 -2.95980296e-05 9.99999994e-01]] t_estimated: [[ 9.79064809e-01] [-2.03548136e-01] [ 5.06337419e-04]] R_gt: [[ 0.98632805 -0.16248686 -0.02745366] [ 0.16197682 0.98659451 -0.01985559] [ 0.03031232 0.01513694 0.99942522]] t_gt: [ 0.62018945 -0.74041637 -0.25913055] Pose Error in degrees for R and t: 9.599579684754046 40.73069957073106 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 9.47346426e-01 -3.20210314e-01 3.23021157e-04] [ 3.20210193e-01 9.47346447e-01 3.75772187e-04] [-4.26339076e-04 -2.52551771e-04 9.99999877e-01]] t_estimated: [[ 0.9724162 ] [-0.23325029] [ 0.00101482]] R_gt: [[ 0.97001632 -0.24276358 -0.01155367] [ 0.24102301 0.96699458 -0.0826331 ] [ 0.03123223 0.07737024 0.99651299]] t_gt: [ 0.60390866 -0.69721791 -0.38624024] Pose Error in degrees for R and t: 6.690729382896939 41.45422359352009 Number of keypoints: Image1: 135 Image2: 135 R_estimated: [[ 9.55257241e-01 -2.95775482e-01 -6.83303221e-04] [ 2.95775056e-01 9.55257389e-01 -6.60648842e-04] [ 8.48134181e-04 4.28985542e-04 9.99999548e-01]] t_estimated: [[-0.72652573] [-0.68713578] [-0.00218833]] R_gt: [[ 0.96423118 0.26474166 0.01303603] [-0.26467118 0.96431382 -0.00696475] [-0.0144146 0.00326559 0.9998906 ]] t_gt: [-0.88151097 0.47215586 -0.00269427] Pose Error in degrees for R and t: 32.56596894538697 71.5781356196014 Number of keypoints: Image1: 82 Image2: 82 R_estimated: [[ 9.49677693e-01 -3.13227244e-01 -9.86797562e-04] [ 3.13227228e-01 9.49678194e-01 -1.74935827e-04] [ 9.91934794e-04 -1.42959212e-04 9.99999498e-01]] t_estimated: [[-0.07968958] [-0.99681875] [-0.00139806]] R_gt: [[ 0.91653776 0.39840474 0.03510233] [-0.39837387 0.91718721 -0.00817992] [-0.03545429 -0.00648617 0.99935035]] t_gt: [-0.85328384 0.52021276 0.03585206] Pose Error in degrees for R and t: 41.791153669833335 63.217164293352944 Number of keypoints: Image1: 96 Image2: 96 R_estimated: [[-8.83588422e-01 -4.68262473e-01 -1.32567850e-03] [ 4.68264247e-01 -8.83586564e-01 -1.83813943e-03] [-3.10620000e-04 -2.24492656e-03 9.99997432e-01]] t_estimated: [[9.62827790e-01] [2.70114584e-01] [8.71337366e-04]] R_gt: [[ 0.892299 0.4501192 0.03457859] [-0.44938574 0.89292725 -0.0270966 ] [-0.04307252 0.00863895 0.99903481]] t_gt: [-0.8492204 0.52801586 0.00489521] Pose Error in degrees for R and t: 178.82379770648495 47.54398985768984 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.94798115e-01 1.01866114e-01 7.87219220e-05] [-1.01866101e-01 9.94798108e-01 -1.50060001e-04] [-9.35984482e-05 1.41260311e-04 9.99999986e-01]] t_estimated: [[-8.10153327e-01] [ 5.86217553e-01] [-7.53639897e-04]] R_gt: [[ 0.9996499 -0.02634953 0.00236252] [ 0.02630529 0.99950341 0.01733867] [-0.00281791 -0.01727045 0.99984663]] t_gt: [ 0.61711622 -0.74617056 0.24979404] Pose Error in degrees for R and t: 7.424450688992424 20.353381267380414 Number of keypoints: Image1: 94 Image2: 94 R_estimated: [[ 0.09763138 0.99322572 0.0630141 ] [-0.99485005 0.09566658 0.03348568] [ 0.0272305 -0.06595883 0.99745072]] t_estimated: [[0.80252671] [0.59661525] [0.00105596]] R_gt: [[ 0.99765466 0.05040298 -0.04633149] [-0.04801005 0.99752438 0.05137718] [ 0.04880634 -0.04903203 0.99760446]] t_gt: [ 0.68656977 0.57491931 -0.44507273] Pose Error in degrees for R and t: 81.68930700814929 26.680247455009937 Number of keypoints: Image1: 85 Image2: 85 R_estimated: [[-5.34588716e-01 -8.45111150e-01 -1.43149904e-03] [-8.45112096e-01 5.34589126e-01 1.11144382e-04] [ 6.71334465e-04 1.26919369e-03 -9.99998969e-01]] t_estimated: [[8.01566609e-01] [5.97905163e-01] [6.22817878e-04]] R_gt: [[ 0.99057623 0.07071379 -0.11729994] [-0.06750205 0.99723256 0.03113727] [ 0.11917753 -0.02292584 0.99260857]] t_gt: [ 0.39864776 0.26139937 -0.87906219] Pose Error in degrees for R and t: 174.72838064995716 61.62194458787823 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-6.86033417e-01 -7.27567028e-01 -2.09059128e-03] [ 7.27567458e-01 -6.86035800e-01 6.88576813e-04] [-1.93520625e-03 -1.04865948e-03 9.99997578e-01]] t_estimated: [[0.84574206] [0.53359121] [0.00088932]] R_gt: [[ 0.9980361 -0.0167471 -0.06036862] [ 0.01054075 0.99476119 -0.10167696] [ 0.06175485 0.10083993 0.99298408]] t_gt: [ 0.14414367 0.13182697 -0.98073659] Pose Error in degrees for R and t: 132.62762309038547 78.96679280315209 Number of keypoints: Image1: 62 Image2: 62 R_estimated: [[ 7.21665636e-01 6.92238868e-01 2.01468183e-03] [ 6.92237195e-01 -7.21668395e-01 1.54721743e-03] [ 2.52497625e-03 2.78064051e-04 -9.99996774e-01]] t_estimated: [[0.38147445] [0.92437889] [0.00096089]] R_gt: [[ 0.98723841 -0.1549423 -0.03680337] [ 0.14485266 0.96969099 -0.19676652] [ 0.06617581 0.18892295 0.9797597 ]] t_gt: [ 0.42108381 -0.31189076 -0.85171156] Pose Error in degrees for R and t: 170.794083433295 82.61760272088935 Number of keypoints: Image1: 74 Image2: 74 R_estimated: [[-9.03954748e-01 -4.27625772e-01 -1.41860489e-03] [ 4.27627180e-01 -9.03954751e-01 -8.96016605e-04] [-8.99194839e-04 -1.41659247e-03 9.99998592e-01]] t_estimated: [[9.14322127e-01] [4.04987056e-01] [7.29706406e-04]] R_gt: [[ 0.98448127 -0.16300059 -0.06502014] [ 0.14544647 0.96518535 -0.21740008] [ 0.09819333 0.20456868 0.97391445]] t_gt: [ 0.39126707 -0.19593159 -0.8991779 ] Pose Error in degrees for R and t: 145.92901408618906 73.87473726244812 Number of keypoints: Image1: 261 Image2: 261 R_estimated: [[-2.36799840e-01 -9.71557168e-01 1.58299529e-03] [-9.71558208e-01 2.36800632e-01 3.30617948e-04] [-6.96068524e-04 -1.45968179e-03 -9.99998692e-01]] t_estimated: [[0.78334223] [0.62158871] [0.0015557 ]] R_gt: [[ 0.9957026 0.09255971 -0.00307508] [-0.09260342 0.99550282 -0.01999427] [ 0.00121129 0.02019452 0.99979523]] t_gt: [-0.68361207 0.71328947 -0.15457251] Pose Error in degrees for R and t: 179.2745326775374 84.70003418886947 Number of keypoints: Image1: 183 Image2: 183 R_estimated: [[ 9.90704894e-01 -1.36028531e-01 -2.29032086e-04] [ 1.36028563e-01 9.90704907e-01 1.31332532e-04] [ 2.09038240e-04 -1.61266687e-04 9.99999965e-01]] t_estimated: [[-0.25781528] [-0.96619345] [-0.00122769]] R_gt: [[ 0.99578649 0.08380926 -0.03721659] [-0.084174 0.99641627 -0.00834144] [ 0.03638559 0.01143978 0.99927167]] t_gt: [-0.69314114 0.59824734 -0.40206403] Pose Error in degrees for R and t: 12.823173465751363 66.49515154931551 Number of keypoints: Image1: 166 Image2: 166 R_estimated: [[-7.62789195e-01 6.46640398e-01 2.97324453e-03] [-6.46647048e-01 -7.62777439e-01 -4.26300548e-03] [-4.88707714e-04 -5.17441432e-03 9.99986493e-01]] t_estimated: [[9.07152915e-01] [4.20800536e-01] [7.04858520e-04]] R_gt: [[ 0.99692752 0.07366525 0.0266439 ] [-0.07329235 0.99720156 -0.0147641 ] [-0.02765657 0.01276641 0.99953578]] t_gt: [-0.84338176 0.5185902 0.14061084] Pose Error in degrees for R and t: 135.49780940800636 56.85538720890571 Number of keypoints: Image1: 386 Image2: 386 R_estimated: [[-0.42309651 -0.90608308 0.00167097] [-0.90607314 0.42308114 -0.00581593] [ 0.00456276 -0.00397472 -0.99998169]] t_estimated: [[8.29258927e-01] [5.58864124e-01] [7.22980756e-04]] R_gt: [[ 0.99995007 -0.00805135 0.0060092 ] [ 0.00813127 0.99987857 -0.01338298] [-0.0059013 0.01343109 0.99989146]] t_gt: [-0.39782081 0.84322129 -0.36154731] Pose Error in degrees for R and t: 179.76757635426006 81.88917521681648 Number of keypoints: Image1: 287 Image2: 287 R_estimated: [[ 1.46677797e-01 -9.89184320e-01 7.33748445e-05] [-9.89184304e-01 -1.46677808e-01 -1.83845837e-04] [ 1.92619881e-04 -4.56151421e-05 -9.99999980e-01]] t_estimated: [[0.57607149] [0.81739874] [0.00097309]] R_gt: [[ 0.99837823 -0.05225885 0.02258926] [ 0.05336629 0.99724251 -0.05157843] [-0.01983207 0.05270066 0.99841274]] t_gt: [ 0.14527478 0.80044321 -0.58153754] Pose Error in degrees for R and t: 178.52432947703812 42.48925393190038 Number of keypoints: Image1: 223 Image2: 223 R_estimated: [[ 9.98989811e-01 -4.49371691e-02 9.60828806e-05] [ 4.49371604e-02 9.98989811e-01 9.05176497e-05] [-1.00053426e-04 -8.61085179e-05 9.99999991e-01]] t_estimated: [[0.4870421 ] [0.87337802] [0.00090905]] R_gt: [[ 0.99027731 -0.11847974 0.07290838] [ 0.12140863 0.99190887 -0.03712273] [-0.06792029 0.04561399 0.99664708]] t_gt: [0.88671783 0.37694311 0.26766656] Pose Error in degrees for R and t: 6.37903324623158 40.41875923556325 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 8.20096960e-01 -5.72224577e-01 9.78860241e-05] [ 5.72224524e-01 8.20096939e-01 3.21817473e-04] [-2.64427896e-04 -2.07908747e-04 9.99999943e-01]] t_estimated: [[-0.64148423] [-0.76713578] [-0.00082665]] R_gt: [[ 0.99397353 0.09151242 -0.06035188] [-0.09062975 0.99573571 0.01721555] [ 0.06166942 -0.01164326 0.99802824]] t_gt: [-0.29657391 0.88287096 -0.36411919] Pose Error in degrees for R and t: 40.2908959039968 60.87389643034235 Number of keypoints: Image1: 113 Image2: 113 R_estimated: [[ 9.73807107e-01 -2.27375527e-01 -2.96432582e-04] [ 2.27375529e-01 9.73807151e-01 -2.52678586e-05] [ 2.94413461e-04 -4.27954949e-05 9.99999956e-01]] t_estimated: [[8.26186490e-01] [5.63396373e-01] [6.40951505e-04]] R_gt: [[ 0.97919227 0.17996945 -0.09377874] [-0.18029624 0.98359962 0.00504793] [ 0.09314891 0.01196478 0.99558001]] t_gt: [-0.25901383 0.90970143 -0.32458456] Pose Error in degrees for R and t: 24.13986618197181 72.64323075233638 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.97831624e-01 -6.58182738e-02 6.35448040e-05] [ 6.58181198e-02 9.97830646e-01 1.40571785e-03] [-1.55928875e-04 -1.39848733e-03 9.99999010e-01]] t_estimated: [[-9.07152915e-01] [-4.20800536e-01] [-7.04858520e-04]] R_gt: [[ 0.97692031 0.13763295 -0.16335207] [-0.13310238 0.9903577 0.03841298] [ 0.16706432 -0.01578485 0.98581953]] t_gt: [ 0.0169053 0.85730378 -0.51453323] Pose Error in degrees for R and t: 15.08846338998138 67.93075241003946 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.88703391e-01 1.49884812e-01 3.84922501e-04] [-1.49884868e-01 9.88703450e-01 1.19162593e-04] [-3.62713542e-04 -1.75510518e-04 9.99999919e-01]] t_estimated: [[-0.52845845] [ 0.84895805] [ 0.0013814 ]] R_gt: [[ 0.99845192 0.02763168 -0.04826435] [-0.02692266 0.99952096 0.01526855] [ 0.04866284 -0.0139445 0.99871766]] t_gt: [ 0.1225461 0.87969862 -0.45947011] Pose Error in degrees for R and t: 7.635866645189453 47.04435438186193 Number of keypoints: Image1: 152 Image2: 152 R_estimated: [[ 0.89553001 -0.07283107 0.43900073] [ 0.27619888 0.86446906 -0.42000883] [-0.34891286 0.49738202 0.79427385]] t_estimated: [[0.91464813] [0.4042483 ] [0.00145413]] R_gt: [[ 0.99419669 0.01790767 -0.10607409] [-0.01279552 0.99873284 0.04868223] [ 0.10681164 -0.04704159 0.99316571]] t_gt: [ 0.59449643 0.56989928 -0.56726431] Pose Error in degrees for R and t: 45.16905586282721 39.34784911593417 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[-9.85209736e-01 -1.71347539e-01 -1.34073788e-03] [ 1.71350074e-01 -9.85208003e-01 -2.08397221e-03] [-9.63822181e-04 -2.28288524e-03 9.99996930e-01]] t_estimated: [[9.07027984e-01] [4.21069756e-01] [7.05309474e-04]] R_gt: [[ 0.98339321 0.0341416 -0.17824275] [-0.02991975 0.9992061 0.02632255] [ 0.1789994 -0.02055116 0.9836339 ]] t_gt: [ 0.53367557 0.45181424 -0.7148806 ] Pose Error in degrees for R and t: 172.0052951859546 47.6389848152391 Number of keypoints: Image1: 212 Image2: 212 R_estimated: [[-5.09222325e-01 8.60590232e-01 -8.77927076e-03] [-8.60619843e-01 -5.09247420e-01 -7.42398584e-04] [-5.10972195e-03 7.17756869e-03 9.99961186e-01]] t_estimated: [[0.55175493] [0.8340058 ] [0.00091049]] R_gt: [[ 0.99387498 -0.11030478 -0.0068625 ] [ 0.11014531 0.99370703 -0.02031475] [ 0.00906095 0.01943418 0.99977012]] t_gt: [ 0.6766491 -0.72811786 -0.10950055] Pose Error in degrees for R and t: 126.94035703685591 76.46674237326143 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 9.07924388e-01 4.19133897e-01 2.87098848e-04] [-4.19133627e-01 9.07924285e-01 -7.04282555e-04] [-5.55852708e-04 5.19102526e-04 9.99999711e-01]] t_estimated: [[0.57808991] [0.8159726 ] [0.00087457]] R_gt: [[ 0.98624366 -0.16524232 0.00428659] [ 0.16522111 0.98624448 0.00472855] [-0.00500882 -0.00395554 0.9999796 ]] t_gt: [ 0.67508671 -0.7356229 0.05582912] Pose Error in degrees for R and t: 34.29273192762068 77.88125262009922 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-3.18526665e-01 9.47913623e-01 7.25920908e-04] [ 9.47912066e-01 3.18524448e-01 2.21162359e-03] [ 1.86520458e-03 1.39257028e-03 -9.99997291e-01]] t_estimated: [[0.50361248] [0.86392904] [0.00103838]] R_gt: [[ 0.99038163 -0.13765578 -0.01402673] [ 0.13807573 0.98978322 0.03554209] [ 0.00899119 -0.03713757 0.99926965]] t_gt: [ 0.68042515 -0.72580729 0.1011207 ] Pose Error in degrees for R and t: 178.21399938476344 73.48475859415865 Number of keypoints: Image1: 367 Image2: 367 R_estimated: [[ 9.98236779e-01 -5.93576781e-02 -2.90479483e-06] [ 5.93576767e-02 9.98236764e-01 -1.71331020e-04] [ 1.30694845e-05 1.70856504e-04 9.99999985e-01]] t_estimated: [[9.99994892e-01] [3.10075942e-03] [7.75189855e-04]] R_gt: [[ 0.99892904 0.02208139 -0.04065606] [-0.02239364 0.99972285 -0.00725111] [ 0.04048436 0.00815492 0.99914708]] t_gt: [-0.36425599 0.29971143 -0.88175429] Pose Error in degrees for R and t: 5.241110514501977 68.65343383174127 Number of keypoints: Image1: 467 Image2: 467 R_estimated: [[ 9.99999388e-01 1.10570462e-03 4.71683875e-05] [-1.10570473e-03 9.99999389e-01 2.16519942e-06] [-4.71659646e-05 -2.21735240e-06 9.99999999e-01]] t_estimated: [[ 9.15602338e-01] [-4.02084645e-01] [ 5.43990789e-04]] R_gt: [[ 0.99984517 -0.01202428 -0.01284727] [ 0.01205369 0.99992524 0.00214576] [ 0.01282048 -0.00229961 0.99991485]] t_gt: [-0.67302886 -0.55765755 -0.48584999] Pose Error in degrees for R and t: 1.0623643233135258 66.9044574255024 Number of keypoints: Image1: 589 Image2: 589 R_estimated: [[ 9.99382462e-01 3.51382082e-02 -6.84621867e-06] [-3.51382082e-02 9.99382462e-01 1.05501866e-05] [ 7.21270552e-06 -1.03031076e-05 1.00000000e+00]] t_estimated: [[-4.49103357e-01] [ 8.93479474e-01] [-7.77064104e-04]] R_gt: [[ 0.99878611 0.02562223 0.04207742] [-0.02481257 0.99949826 -0.01966741] [-0.0425603 0.01859946 0.99892042]] t_gt: [-0.8973968 0.31780209 0.30607322] Pose Error in degrees for R and t: 2.72288077383209 46.627734632023774 Number of keypoints: Image1: 198 Image2: 198 R_estimated: [[ 9.98498713e-01 -5.47731280e-02 4.74611186e-04] [ 5.47731933e-02 9.98498814e-01 -1.25687933e-04] [-4.67014385e-04 1.51495209e-04 9.99999879e-01]] t_estimated: [[0.99864229] [0.05206289] [0.00174266]] R_gt: [[ 9.96681394e-01 -8.14062857e-02 -6.00446680e-04] [ 8.11486385e-02 9.94055001e-01 -7.25788640e-02] [ 6.50458085e-03 7.22889851e-02 9.97362504e-01]] t_gt: [ 0.4740556 -0.53620608 -0.6983941 ] Pose Error in degrees for R and t: 4.427878532906557 63.62281579838465 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.99989660e-01 -4.54313238e-03 1.98772324e-04] [ 4.54316185e-03 9.99989669e-01 -1.48065358e-04] [-1.98097590e-04 1.48966882e-04 9.99999969e-01]] t_estimated: [[ 5.78055387e-01] [-8.15997282e-01] [-6.37159385e-04]] R_gt: [[ 9.86402861e-01 -1.63073374e-01 2.04083500e-02] [ 1.64343253e-01 9.79446014e-01 -1.16944024e-01] [-9.19266516e-04 1.18708109e-01 9.92929100e-01]] t_gt: [ 0.51621112 -0.65140766 -0.55605229] Pose Error in degrees for R and t: 11.437331044410778 33.87045440341411 Number of keypoints: Image1: 130 Image2: 130 R_estimated: [[ 1.28031818e-02 9.99918031e-01 9.85995645e-05] [-9.99913612e-01 1.28034184e-02 -2.97351049e-03] [-2.97452916e-03 -6.05206514e-05 9.99995574e-01]] t_estimated: [[0.11780097] [0.9930363 ] [0.00135853]] R_gt: [[ 0.96527505 -0.26098898 -0.01138895] [ 0.25818189 0.95972664 -0.11075346] [ 0.03983505 0.10396756 0.99378263]] t_gt: [ 0.61397288 -0.67363425 -0.41140515] Pose Error in degrees for R and t: 104.49228113820864 53.332121222561945 Number of keypoints: Image1: 134 Image2: 134 R_estimated: [[ 9.14005426e-01 -4.05701567e-01 -5.65710392e-04] [ 4.05701654e-01 9.14005561e-01 4.37005312e-05] [ 4.99333070e-04 -2.69452164e-04 9.99999839e-01]] t_estimated: [[-0.35415998] [-0.935184 ] [-0.00126036]] R_gt: [[ 0.98286658 0.18355965 0.01666959] [-0.1838816 0.98273623 0.02046994] [-0.01262527 -0.02318336 0.99965096]] t_gt: [-0.89350599 0.4259351 0.14221935] Pose Error in degrees for R and t: 34.556097431588725 85.29285028600123 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 0.9966604 0.08133043 0.00730746] [ 0.08130172 -0.99668092 0.00414391] [ 0.00762023 -0.00353596 -0.99996471]] t_estimated: [[0.1308985 ] [0.99139519] [0.00107294]] R_gt: [[ 0.91569291 0.39902218 0.04783003] [-0.39959569 0.91668758 0.00269787] [-0.04276934 -0.02158188 0.99885126]] t_gt: [-0.84619626 0.52746734 0.07569748] Pose Error in degrees for R and t: 179.09449372160472 65.65412374147819 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[ 7.97906728e-01 -6.02777724e-01 1.96706117e-03] [ 6.02780182e-01 7.97906637e-01 -1.02489670e-03] [-9.51746263e-04 2.00347747e-03 9.99997540e-01]] t_estimated: [[-0.41690951] [-0.90894738] [-0.00105815]] R_gt: [[ 0.88508811 0.46223629 0.05437718] [-0.46321753 0.88622209 0.00634823] [-0.04525661 -0.03080633 0.99850021]] t_gt: [-0.83539382 0.54378215 0.08011333] Pose Error in degrees for R and t: 64.72027827856338 81.60072545929303 Number of keypoints: Image1: 271 Image2: 271 R_estimated: [[ 3.95555755e-01 -9.18441911e-01 -3.18412603e-04] [-9.18440736e-01 -3.95555769e-01 1.49946131e-03] [-1.50311805e-03 -3.00677445e-04 -9.99998825e-01]] t_estimated: [[0.59387085] [0.80455811] [0.00191542]] R_gt: [[ 0.99718832 -0.06850674 -0.03036845] [ 0.06916599 0.99737963 0.02121333] [ 0.02883622 -0.02325351 0.99931439]] t_gt: [ 0.39676871 -0.91746922 0.02871969] Pose Error in degrees for R and t: 179.81151047754045 59.83625753751916 Number of keypoints: Image1: 193 Image2: 193 R_estimated: [[-4.86787072e-01 -8.73515431e-01 -3.02312136e-03] [ 8.73518074e-01 -4.86791139e-01 7.49724759e-04] [-2.12652484e-03 -2.27579483e-03 9.99995149e-01]] t_estimated: [[0.9999873 ] [0.00482062] [0.0014695 ]] R_gt: [[ 0.97974832 -0.19588898 -0.04147666] [ 0.19738591 0.97967545 0.03568271] [ 0.0336438 -0.0431465 0.99850285]] t_gt: [ 0.60794152 -0.78662432 0.1078392 ] Pose Error in degrees for R and t: 107.80681620384927 52.82149453202511 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[-9.05062410e-01 -4.25276905e-01 -1.26049552e-03] [-4.25278772e-01 9.05058569e-01 2.63672221e-03] [ 1.94852093e-05 2.92246015e-03 -9.99995729e-01]] t_estimated: [[8.85586633e-01] [4.64473653e-01] [7.34926667e-04]] R_gt: [[ 0.97187822 -0.20458832 -0.11660334] [ 0.21262872 0.97521735 0.06115735] [ 0.10120142 -0.08423017 0.99129447]] t_gt: [ 0.62659897 -0.77015404 0.11931671] Pose Error in degrees for R and t: 174.7555603703086 78.62210678156141 Number of keypoints: Image1: 95 Image2: 95 R_estimated: [[ 9.99594639e-01 -2.84702976e-02 -8.12213306e-06] [ 2.84702978e-02 9.99594639e-01 2.36459262e-05] [ 7.44563411e-06 -2.38675806e-05 1.00000000e+00]] t_estimated: [[-6.10799561e-02] [ 9.98132871e-01] [ 1.04653938e-04]] R_gt: [[ 0.99666364 0.01259983 -0.0806402 ] [-0.01317947 0.99989133 -0.00664662] [ 0.08054805 0.00768712 0.99672115]] t_gt: [ 0.15874614 0.18201034 -0.9703978 ] Pose Error in degrees for R and t: 5.211065338025781 80.1032779665992 Number of keypoints: Image1: 64 Image2: 64 R_estimated: [[ 9.83383433e-01 -1.81540691e-01 -3.44044495e-05] [ 1.81540694e-01 9.83383418e-01 1.71084163e-04] [ 2.77402816e-06 -1.74487139e-04 9.99999985e-01]] t_estimated: [[9.96948385e-01] [7.80589374e-02] [8.48466711e-04]] R_gt: [[ 0.99183044 -0.00412165 -0.12750174] [ 0.00157039 0.99979739 -0.02009589] [ 0.12755955 0.01973215 0.99163439]] t_gt: [ 0.32502683 0.01697105 -0.94555251] Pose Error in degrees for R and t: 12.683012478880508 71.0612347464411 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.49773852e-01 -3.12937043e-01 -1.90437698e-04] [ 3.12937073e-01 9.49773849e-01 1.53068226e-04] [ 1.32972027e-04 -2.04975214e-04 9.99999970e-01]] t_estimated: [[0.92293925] [0.38494451] [0.00092758]] R_gt: [[ 0.99676997 -0.05944102 -0.0540026 ] [ 0.05764857 0.99775316 -0.03416025] [ 0.05591267 0.03093661 0.9979564 ]] t_gt: [ 0.58104538 -0.38453604 -0.71729931] Pose Error in degrees for R and t: 15.31787407266374 67.19604613361123 Number of keypoints: Image1: 126 Image2: 126 R_estimated: [[-0.04999871 -0.94689761 0.31762406] [-0.9749557 0.11527721 0.19019084] [-0.21670606 -0.30016009 -0.92894693]] t_estimated: [[0.69631062] [0.69631062] [0.17407766]] R_gt: [[ 0.99647247 -0.06047243 0.05817623] [ 0.0537407 0.99236237 0.11103252] [-0.0644469 -0.10751405 0.99211218]] t_gt: [ 0.26528016 -0.42191236 0.86695813] Pose Error in degrees for R and t: 152.02750631776797 87.60127732480811 Number of keypoints: Image1: 60 Image2: 60 R_estimated: [[ 9.95840502e-01 -9.11136066e-02 7.38497774e-05] [ 9.11135999e-02 9.95840501e-01 9.02631094e-05] [-8.17667968e-05 -8.31589411e-05 9.99999993e-01]] t_estimated: [[5.75183985e-01] [8.18024047e-01] [2.06129248e-04]] R_gt: [[ 0.99022066 -0.10853118 0.08764952] [ 0.09090448 0.97857738 0.1847228 ] [-0.10582059 -0.17494918 0.97887423]] t_gt: [ 0.25654799 -0.43443967 0.86339174] Pose Error in degrees for R and t: 11.804772910642068 78.01580654195705 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 0.99978917 0.02016303 0.00388242] [-0.02016879 0.99979554 0.0014504 ] [-0.00385238 -0.0015284 0.99999141]] t_estimated: [[-0.9995958 ] [ 0.02795662] [ 0.00516447]] R_gt: [[ 0.98438584 -0.12064632 0.1281737 ] [ 0.08521081 0.96377333 0.25274223] [-0.15402359 -0.23787435 0.95900574]] t_gt: [ 0.15306723 -0.38355117 0.91074635] Pose Error in degrees for R and t: 17.784697345588885 80.84971285835539 Number of keypoints: Image1: 200 Image2: 200 R_estimated: [[-3.93751034e-01 -9.19214551e-01 -2.17533022e-03] [ 9.19217076e-01 -3.93750684e-01 -6.05217477e-04] [-3.00213049e-04 -2.23790569e-03 9.99997451e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.98978034 -0.14039986 -0.02494991] [ 0.14146635 0.98878025 0.04794938] [ 0.01793849 -0.05098858 0.99853871]] t_gt: [ 0.59589432 -0.76742433 0.23657951] Pose Error in degrees for R and t: 105.10845369876735 53.58033753366228 Number of keypoints: Image1: 158 Image2: 158 R_estimated: [[-2.63559720e-02 -9.99651244e-01 -1.65927744e-03] [ 9.99652484e-01 -2.63568020e-02 4.80344982e-04] [-5.23910706e-04 -1.64604086e-03 9.99998508e-01]] t_estimated: [[9.36765986e-01] [3.49955447e-01] [8.19567792e-04]] R_gt: [[ 0.97907887 -0.19516914 -0.0575638 ] [ 0.20156935 0.96894381 0.14323491] [ 0.02782146 -0.15184013 0.98801361]] t_gt: [ 0.49503109 -0.74803447 0.44202788] Pose Error in degrees for R and t: 80.39616896992935 78.32781953027717 Number of keypoints: Image1: 131 Image2: 131 R_estimated: [[-0.56595305 -0.82442694 -0.00416838] [-0.82443636 0.56593672 0.00450825] [-0.00135768 0.00598803 -0.99998115]] t_estimated: [[8.17566370e-01] [5.75834006e-01] [6.55101258e-04]] R_gt: [[ 0.95668801 -0.26435183 -0.12192102] [ 0.28170381 0.94628113 0.15872414] [ 0.07341264 -0.18619388 0.97976647]] t_gt: [ 0.57291306 -0.74105581 0.35015269] Pose Error in degrees for R and t: 179.6037298167735 87.59867837022392 Number of keypoints: Image1: 279 Image2: 279 R_estimated: [[ 9.99423470e-01 -3.39518453e-02 1.00591402e-05] [ 3.39518447e-02 9.99423469e-01 5.15148424e-05] [-1.18023648e-05 -5.11436162e-05 9.99999999e-01]] t_estimated: [[1.15840554e-01] [9.93267555e-01] [7.28644794e-04]] R_gt: [[ 0.99984139 0.01652753 -0.006587 ] [-0.0168484 0.99849993 -0.05208806] [ 0.00571655 0.05219111 0.9986206 ]] t_gt: [-0.30979716 0.54135767 -0.78163776] Pose Error in degrees for R and t: 4.183460855585665 59.91684262413708 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.82994577e-01 1.83634583e-01 3.46035719e-05] [-1.83634524e-01 9.82994071e-01 1.00930175e-03] [ 1.51327601e-04 -9.98492562e-04 9.99999490e-01]] t_estimated: [[0.38254245] [0.92393728] [0.00108063]] R_gt: [[ 9.98900736e-01 -4.64741016e-02 6.00948511e-03] [ 4.68611901e-02 9.90864525e-01 -1.26450507e-01] [-7.69483440e-05 1.26593109e-01 9.91954930e-01]] t_gt: [ 0.1655586 0.43170123 -0.88669295] Pose Error in degrees for R and t: 15.150098072245152 62.53285690083048 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[-8.82847111e-01 4.69646433e-01 -3.63421300e-03] [ 4.69652065e-01 8.82851194e-01 -8.40557714e-04] [ 2.81370436e-03 -2.44889959e-03 -9.99993043e-01]] t_estimated: [[0.95618806] [0.29275141] [0.00099915]] R_gt: [[ 0.99892954 -0.04539158 -0.00888655] [ 0.04331949 0.98547854 -0.16417687] [ 0.01620961 0.16361699 0.98639032]] t_gt: [ 0.02873802 0.64050873 -0.76741299] Pose Error in degrees for R and t: 178.6109595254654 77.63011064403969 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 9.89392106e-01 -1.45269523e-01 -1.62254135e-04] [ 1.45269361e-01 9.89391853e-01 -7.57543231e-04] [ 2.70580863e-04 7.25936738e-04 9.99999700e-01]] t_estimated: [[-0.0295483 ] [-0.99956143] [-0.00196146]] R_gt: [[ 0.9916983 -0.05981254 0.11382888] [ 0.03780863 0.98173409 0.186466 ] [-0.12290392 -0.18061501 0.97584397]] t_gt: [ 0.14401893 -0.16252462 0.97613744] Pose Error in degrees for R and t: 13.808335396973536 81.0087760131964 Number of keypoints: Image1: 43 Image2: 43 R_estimated: [[ 9.97582391e-01 -6.94934923e-02 -1.67565626e-04] [ 6.94934530e-02 9.97582381e-01 -2.30343843e-04] [ 1.83167914e-04 2.18142247e-04 9.99999959e-01]] t_estimated: [[-0.00728388] [-0.99997293] [-0.00104055]] R_gt: [[ 0.98845823 -0.09674867 0.11657624] [ 0.0666757 0.96880909 0.23867253] [-0.13603239 -0.22814576 0.96407652]] t_gt: [ 0.22410188 -0.19414629 0.95503171] Pose Error in degrees for R and t: 15.439992992186447 78.95879247666338 Number of keypoints: Image1: 40 Image2: 40 R_estimated: [[ 1.44238774e-01 9.89542769e-01 -5.32784909e-04] [-9.89540748e-01 1.44237311e-01 -2.16959942e-03] [-2.07006395e-03 8.40152736e-04 9.99997504e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.98251004 -0.11421109 0.14707384] [ 0.06760516 0.95470996 0.28975884] [-0.17350716 -0.27474814 0.94573214]] t_gt: [ 0.21944619 -0.15124187 0.96383052] Pose Error in degrees for R and t: 88.72056136936366 81.43865113116638 Number of keypoints: Image1: 225 Image2: 225 R_estimated: [[-0.9899312 -0.13794917 0.03172129] [-0.13791308 0.99043873 0.00333326] [-0.03187782 -0.00107508 -0.9994912 ]] t_estimated: [[0.99956509] [0.02453051] [0.01636745]] R_gt: [[ 0.99946444 -0.03200093 -0.00696994] [ 0.03223755 0.99879737 0.03693693] [ 0.00577965 -0.03714143 0.99929324]] t_gt: [ 0.59821675 -0.60707262 0.52306744] Pose Error in degrees for R and t: 178.39158444756555 53.727516986020355 Number of keypoints: Image1: 221 Image2: 221 R_estimated: [[ 0.70270589 -0.71147449 -0.0029121 ] [-0.71145376 -0.7026382 -0.01153724] [ 0.0061623 0.01017911 -0.9999292 ]] t_estimated: [[ 0.40614928] [ 0.91378769] [-0.00590088]] R_gt: [[ 0.99932334 -0.02251181 0.02911998] [ 0.02010406 0.99655324 0.08048929] [-0.0308299 -0.0798488 0.99632899]] t_gt: [ 0.15625121 -0.25419483 0.95444777] Pose Error in degrees for R and t: 175.76812405628655 79.9532961029372 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99995092e-01 2.98570224e-03 9.50029024e-04] [-2.98519533e-03 9.99995401e-01 -5.34538737e-04] [-9.51620629e-04 5.31700091e-04 9.99999406e-01]] t_estimated: [[0.99990088] [0.01396939] [0.0017555 ]] R_gt: [[ 0.99829299 -0.05024424 0.02980968] [ 0.04753904 0.9952117 0.08541302] [-0.03395715 -0.08384929 0.99589945]] t_gt: [ 0.3816005 -0.28156667 0.88039836] Pose Error in degrees for R and t: 5.992117813359821 67.71741637661424 Number of keypoints: Image1: 197 Image2: 197 R_estimated: [[ 0.0840828 0.99645755 0.00156185] [ 0.99645704 -0.08408547 0.00173023] [ 0.00185543 0.00141083 -0.99999728]] t_estimated: [[-0.22201665] [-0.9750422 ] [-0.00114442]] R_gt: [[ 0.99008001 0.14046091 -0.00335749] [-0.14033871 0.98980157 0.02447067] [ 0.00676042 -0.02375624 0.99969534]] t_gt: [-0.86567137 0.48283468 0.13222615] Pose Error in degrees for R and t: 178.76299479930645 73.81485927956474 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 4.33098609e-01 -9.01345886e-01 1.09019409e-03] [ 9.01346499e-01 4.33097881e-01 -8.45666117e-04] [ 2.90076924e-04 1.34889945e-03 9.99999048e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.96086839 0.27698191 -0.00363761] [-0.27700308 0.96071253 -0.01737392] [-0.00131737 0.0177022 0.99984288]] t_gt: [-0.8185943 0.57376133 -0.02648212] Pose Error in degrees for R and t: 80.42208872681931 55.76932632960118 Number of keypoints: Image1: 216 Image2: 216 R_estimated: [[-0.99708934 -0.07594888 -0.00667999] [-0.07597131 0.99710496 0.00317112] [ 0.00641981 0.00366938 -0.99997266]] t_estimated: [[ 0.99850654] [ 0.05454423] [-0.00310074]] R_gt: [[ 0.94596955 0.32300859 -0.02841248] [-0.32318778 0.94633393 -0.00182851] [ 0.0262971 0.01091252 0.99959474]] t_gt: [-0.78745972 0.61531812 -0.03592771] Pose Error in degrees for R and t: 177.99502865187108 41.18300712056079 Number of keypoints: Image1: 315 Image2: 315 R_estimated: [[ 9.92911354e-01 1.18857242e-01 8.41190787e-06] [-1.18857235e-01 9.92911316e-01 -2.75835521e-04] [-4.11373276e-05 2.72880404e-04 9.99999962e-01]] t_estimated: [[ 2.84542883e-01] [ 9.58663225e-01] [-4.09944871e-04]] R_gt: [[ 0.99956084 -0.02032841 -0.02155491] [ 0.02022175 0.99978153 -0.00517054] [ 0.02165456 0.0047331 0.99975449]] t_gt: [ 0.2670926 -0.88926424 -0.37130938] Pose Error in degrees for R and t: 8.088035652872977 39.07210100612365 Number of keypoints: Image1: 267 Image2: 267 R_estimated: [[ 6.75397976e-01 -7.37450839e-01 -1.95799044e-03] [-7.37451583e-01 -6.75399852e-01 4.49607717e-04] [-1.65399004e-03 1.14025901e-03 -9.99997982e-01]] t_estimated: [[0.3566271 ] [0.93424608] [0.00116927]] R_gt: [[ 0.99956664 -0.02023685 -0.02138919] [ 0.01953344 0.99927735 -0.03257954] [ 0.02203213 0.03214836 0.99923967]] t_gt: [ 0.23127458 -0.79894812 -0.55515221] Pose Error in degrees for R and t: 177.7793008777237 48.349543497985685 Number of keypoints: Image1: 149 Image2: 149 R_estimated: [[-9.44055910e-01 -3.29783004e-01 -1.26859889e-03] [ 3.29785443e-01 -9.44048748e-01 -3.67718943e-03] [ 1.50553777e-05 -3.88983786e-03 9.99992434e-01]] t_estimated: [[0.85783815] [0.51391828] [0.00130768]] R_gt: [[ 0.99892524 -0.03141416 -0.0340813 ] [ 0.02782864 0.99449642 -0.10100484] [ 0.03706658 0.09994769 0.99430196]] t_gt: [ 0.17575954 -0.15011789 -0.97291994] Pose Error in degrees for R and t: 159.07008564768523 85.8508733564088 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 0.99985191 -0.01715839 0.00132079] [ 0.01716178 0.99984935 -0.00259824] [-0.00127601 0.00262053 0.99999575]] t_estimated: [[-0.7983526 ] [-0.60218596] [-0.00228101]] R_gt: [[ 0.99876917 -0.04705192 0.01572739] [ 0.04574507 0.99612983 0.07505841] [-0.01919815 -0.07424722 0.99705531]] t_gt: [ 0.48931313 -0.47136785 0.73374724] Pose Error in degrees for R and t: 4.829196178271149 83.77304818525943 Number of keypoints: Image1: 104 Image2: 104 R_estimated: [[-3.84869465e-01 -9.22969158e-01 1.85173638e-03] [-9.22970732e-01 3.84870144e-01 1.13977925e-05] [-7.23197859e-04 -1.70471182e-03 -9.99998285e-01]] t_estimated: [[0.81829155] [0.57479992] [0.00199583]] R_gt: [[ 0.99377141 -0.0954481 0.05752619] [ 0.08459154 0.98211352 0.16821794] [-0.07255369 -0.1623034 0.98406954]] t_gt: [ 0.3532595 -0.42345278 0.83420349] Pose Error in degrees for R and t: 171.51251063380641 87.28697241560276 Number of keypoints: Image1: 70 Image2: 70 R_estimated: [[-0.83749721 0.54643939 -0.00155432] [-0.54643493 -0.83749765 -0.0025597 ] [-0.00270046 -0.00129441 0.99999552]] t_estimated: [[0.64332793] [0.76558935] [0.00145549]] R_gt: [[ 0.98684585 -0.13562918 0.08798393] [ 0.10984724 0.96183397 0.25061827] [-0.11861764 -0.23765675 0.96407911]] t_gt: [ 0.29155662 -0.41052273 0.86398254] Pose Error in degrees for R and t: 154.3048437720272 82.7922290739542 Number of keypoints: Image1: 132 Image2: 132 R_estimated: [[ 9.99999452e-01 1.04669889e-03 -2.26102546e-06] [-1.04669903e-03 9.99999450e-01 -6.46550525e-05] [ 2.19334984e-06 6.46573837e-05 9.99999998e-01]] t_estimated: [[ 0.32241016] [-0.94659938] [-0.00114539]] R_gt: [[ 0.99612792 -0.07787158 0.04080328] [ 0.0776792 0.99695824 0.00628052] [-0.04116783 -0.00308543 0.99914752]] t_gt: [ 0.63122951 -0.70232091 0.3290815 ] Pose Error in degrees for R and t: 5.104234657510305 29.778206883730874 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99978475e-01 6.56036153e-03 1.09225220e-04] [-6.56029639e-03 9.99978309e-01 -5.86456411e-04] [-1.13070217e-04 5.85727238e-04 9.99999822e-01]] t_estimated: [[ 0.35252747] [-0.93579488] [-0.00350904]] R_gt: [[ 0.99220018 -0.11909986 0.03677974] [ 0.11905561 0.99288163 0.00339531] [-0.03692221 0.00101078 0.99931729]] t_gt: [ 0.73322609 -0.65939149 0.16607937] Pose Error in degrees for R and t: 7.519570513884643 28.960379290489826 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.99999538e-01 9.60777747e-04 3.06718330e-05] [-9.60778234e-04 9.99999538e-01 1.58531460e-05] [-3.06565875e-05 -1.58826075e-05 9.99999999e-01]] t_estimated: [[ 8.53161951e-01] [-5.21646107e-01] [-1.54194442e-04]] R_gt: [[ 0.9863869 -0.15441905 0.05653735] [ 0.15498143 0.98790133 -0.00567015] [-0.05497736 0.01435654 0.99838443]] t_gt: [ 0.75291059 -0.63809471 0.16112351] Pose Error in degrees for R and t: 9.533548634636336 12.789627744463827 Number of keypoints: Image1: 159 Image2: 159 R_estimated: [[ 9.18487303e-01 -3.95361266e-01 8.39904279e-03] [ 3.95449352e-01 9.18328038e-01 -1.71296558e-02] [-9.40674076e-04 1.90547674e-02 9.99817999e-01]] t_estimated: [[-0.77936099] [-0.62655793] [-0.00464727]] R_gt: [[ 0.98978965 0.14241227 -0.00580212] [-0.14251614 0.9894526 -0.02593867] [ 0.00204775 0.0264999 0.99964699]] t_gt: [-0.83515916 0.53652639 -0.12103143] Pose Error in degrees for R and t: 31.490545105243232 71.6217941918551 Number of keypoints: Image1: 137 Image2: 137 R_estimated: [[ 9.98678062e-01 5.14016419e-02 1.99797195e-05] [-5.14016414e-02 9.98678062e-01 -2.54874615e-05] [-2.12634049e-05 2.44267783e-05 9.99999999e-01]] t_estimated: [[-9.11233385e-01] [ 4.11890418e-01] [-3.40696000e-05]] R_gt: [[ 0.98347779 0.17665343 -0.03956856] [-0.17727087 0.98408131 -0.0126544 ] [ 0.03670295 0.0194602 0.99913712]] t_gt: [-0.78796766 0.60083267 -0.1345625 ] Pose Error in degrees for R and t: 7.631199577998767 15.09304537602585 Number of keypoints: Image1: 90 Image2: 90 R_estimated: [[-0.07469997 -0.99484442 -0.06858935] [-0.99055691 0.06609655 0.12011768] [-0.11496488 0.07691444 -0.99038742]] t_estimated: [[0.78057027] [0.62419406] [0.03304282]] R_gt: [[ 0.97991641 0.19584604 -0.03752519] [-0.19762369 0.97891821 -0.0516205 ] [ 0.02662453 0.05799885 0.99796146]] t_gt: [-0.67838248 0.69642177 -0.23408104] Pose Error in degrees for R and t: 177.54916775154294 84.11353482555236 Number of keypoints: Image1: 268 Image2: 268 R_estimated: [[ 9.23681937e-01 3.83159886e-01 4.25235996e-04] [-3.83159835e-01 9.23682035e-01 -1.99855632e-04] [-4.69359512e-04 2.16696835e-05 9.99999890e-01]] t_estimated: [[-3.35491412e-01] [ 9.42042930e-01] [ 7.94625107e-04]] R_gt: [[ 0.99197113 -0.12217883 -0.03263472] [ 0.12251469 0.99242962 0.00852808] [ 0.03134521 -0.01245688 0.99943097]] t_gt: [ 0.65636338 -0.75252804 -0.05374623] Pose Error in degrees for R and t: 29.622674375972863 21.69563958959413 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 0.9996421 0.02671059 -0.00148884] [-0.02670612 0.99963899 0.00294526] [ 0.00156697 -0.00290445 0.99999455]] t_estimated: [[-9.98183425e-01] [-6.02424197e-02] [-8.36700273e-04]] R_gt: [[ 0.97227751 -0.23185424 -0.03031366] [ 0.23228033 0.972582 0.01137 ] [ 0.02684597 -0.018095 0.9994766 ]] t_gt: [ 0.68529609 -0.72774224 -0.02757714] Pose Error in degrees for R and t: 15.04896871333243 50.19422201236181 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 9.48868075e-01 3.15672873e-01 -1.18089311e-04] [-3.15672889e-01 9.48868063e-01 -1.60808496e-04] [ 6.12882957e-05 1.89863641e-04 9.99999980e-01]] t_estimated: [[-0.99380289] [-0.11114901] [-0.00130764]] R_gt: [[ 0.96809446 -0.24269129 0.06240208] [ 0.24746259 0.96510425 -0.0856465 ] [-0.03943981 0.09835663 0.99437014]] t_gt: [ 0.59407863 -0.75469114 -0.27840952] Pose Error in degrees for R and t: 33.174544113705025 59.592289285628624 Number of keypoints: Image1: 50 Image2: 50 R_estimated: [[ 9.37891063e-01 3.46929819e-01 2.32781705e-04] [-3.46929441e-01 9.37890707e-01 -9.92007565e-04] [-5.62480802e-04 8.49636203e-04 9.99999481e-01]] t_estimated: [[-9.87069135e-01] [-1.60293278e-01] [-7.66953485e-04]] R_gt: [[ 0.99957854 -0.02604997 -0.01278934] [ 0.02327756 0.9828944 -0.18269108] [ 0.01733003 0.18231751 0.98308611]] t_gt: [ 0.23271803 0.31540938 -0.91997785] Pose Error in degrees for R and t: 24.102050810352207 73.76598216040057 Number of keypoints: Image1: 46 Image2: 46 R_estimated: [[ 9.99768667e-01 -2.15084201e-02 1.26065560e-05] [ 2.15084238e-02 9.99768536e-01 -5.12496884e-04] [-1.58063971e-06 5.12649474e-04 9.99999869e-01]] t_estimated: [[9.93892846e-01] [1.10346799e-01] [7.71655936e-04]] R_gt: [[ 0.99806222 -0.06042618 -0.0148989 ] [ 0.05542971 0.9719172 -0.22869924] [ 0.02829911 0.22743032 0.97338282]] t_gt: [ 0.31183497 0.25877966 -0.91421662] Pose Error in degrees for R and t: 13.390112724683908 70.25828665437524 Number of keypoints: Image1: 31 Image2: 31 R_estimated: [[ 9.37332789e-01 -3.48425412e-01 -2.64091007e-03] [ 3.48426979e-01 9.37335916e-01 1.43515770e-04] [ 2.42541531e-03 -1.05468635e-03 9.99996502e-01]] t_estimated: [[9.99994892e-01] [3.10075936e-03] [7.75189839e-04]] R_gt: [[ 0.99251949 -0.11931169 -0.02587743] [ 0.1084258 0.9588646 -0.26233766] [ 0.05611231 0.25757012 0.96462886]] t_gt: [ 0.42248098 0.16287117 -0.89161808] Pose Error in degrees for R and t: 20.5306355554759 65.02058137524727 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 9.99999725e-01 7.32130687e-04 1.19406348e-04] [-7.32140423e-04 9.99999729e-01 8.15113848e-05] [-1.19346638e-04 -8.15987846e-05 9.99999990e-01]] t_estimated: [[0.9999495 ] [0.00999445] [0.00105262]] R_gt: [[ 9.99750164e-01 -6.63301073e-04 -2.23617980e-02] [-3.21740429e-03 9.84899654e-01 -1.73094573e-01] [ 2.21380166e-02 1.73122656e-01 9.84651034e-01]] t_gt: [ 0.17102684 0.38417348 -0.90728196] Pose Error in degrees for R and t: 10.05706666682755 79.98518684060436 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 8.54631445e-01 5.19235101e-01 -4.63685454e-05] [-5.19234880e-01 8.54630991e-01 -1.00465686e-03] [-4.82025108e-04 8.82687507e-04 9.99999494e-01]] t_estimated: [[-0.99960312] [-0.02813896] [-0.00133995]] R_gt: [[ 0.99869084 -0.02841842 -0.04254846] [ 0.01462884 0.95544639 -0.29480089] [ 0.0490311 0.29379206 0.95461129]] t_gt: [ 0.216496 0.39017574 -0.8949259 ] Pose Error in degrees for R and t: 36.73313945229802 76.92713230130907 Number of keypoints: Image1: 68 Image2: 68 R_estimated: [[ 9.88734762e-01 -1.49673339e-01 1.20929366e-03] [-1.49673437e-01 -9.88735486e-01 -9.91346424e-06] [ 1.19715534e-03 -1.71197352e-04 -9.99999269e-01]] t_estimated: [[0.00776891] [0.99996921] [0.00110984]] R_gt: [[ 0.99694805 -0.06523659 -0.04289268] [ 0.04752854 0.94296203 -0.32949087] [ 0.0619408 0.32644642 0.9431838 ]] t_gt: [ 0.27577555 0.35133346 -0.89471372] Pose Error in degrees for R and t: 160.66397009600004 69.36140426209292 Number of keypoints: Image1: 157 Image2: 157 R_estimated: [[-0.59837953 -0.5187358 -0.61061862] [-0.05442427 -0.73404164 0.67692014] [-0.7993622 0.43828763 0.41100368]] t_estimated: [[0.78446454] [0.58834841] [0.19611614]] R_gt: [[ 0.99659296 -0.06850351 -0.0459377 ] [ 0.0726219 0.99282936 0.09494676] [ 0.03910483 -0.09795871 0.99442148]] t_gt: [ 0.37110078 -0.79049869 0.48723303] Pose Error in degrees for R and t: 158.96290500991756 85.5023056288492 Number of keypoints: Image1: 110 Image2: 110 R_estimated: [[-0.46957353 0.88223461 -0.03409968] [ 0.88223418 0.47036503 0.020484 ] [ 0.03411099 -0.02046516 -0.9992085 ]] t_estimated: [[ 0.90036201] [-0.43465208] [-0.02063536]] R_gt: [[ 0.98247356 -0.15530042 -0.10308691] [ 0.16652894 0.97975712 0.11110507] [ 0.08374625 -0.12632455 0.9884469 ]] t_gt: [ 0.55456116 -0.78897327 0.2645432 ] Pose Error in degrees for R and t: 169.58137683288987 33.19880578441705 Number of keypoints: Image1: 118 Image2: 118 R_estimated: [[ 9.92862951e-01 1.19260699e-01 2.14928495e-04] [-1.19260752e-01 9.92862935e-01 2.55206518e-04] [-1.82958429e-04 -2.79017630e-04 9.99999944e-01]] t_estimated: [[-9.99995434e-01] [-2.93333803e-03] [-7.25651697e-04]] R_gt: [[ 0.9546279 -0.27027771 -0.12504301] [ 0.28382281 0.95286227 0.10722079] [ 0.09017022 -0.13784604 0.98634047]] t_gt: [ 0.64393105 -0.74050111 0.19238219] Pose Error in degrees for R and t: 24.89532444431774 50.066686819863676 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 7.97177270e-01 6.03735686e-01 3.40912401e-03] [ 6.03737982e-01 -7.97182707e-01 4.25806173e-04] [ 2.97476909e-03 1.71877465e-03 -9.99994098e-01]] t_estimated: [[-0.81266998] [-0.58271835] [-0.00261309]] R_gt: [[ 0.98716857 0.15964412 0.00341073] [-0.15940275 0.98648251 -0.03797231] [-0.00942708 0.0369406 0.99927271]] t_gt: [-0.83769412 0.53016194 -0.13113688] Pose Error in degrees for R and t: 177.81735630584643 68.15009292616415 Number of keypoints: Image1: 266 Image2: 266 R_estimated: [[ 9.13745495e-01 -4.06286587e-01 -6.16372103e-04] [ 4.06286720e-01 9.13745638e-01 1.03263131e-04] [ 5.21252895e-04 -3.44780021e-04 9.99999805e-01]] t_estimated: [[-0.33260501] [-0.94306523] [-0.00136874]] R_gt: [[ 0.9686122 0.24763378 -0.02159847] [-0.24826547 0.96807947 -0.03442648] [ 0.01238373 0.03870852 0.99917311]] t_gt: [-0.80215779 0.58512683 -0.11903559] Pose Error in degrees for R and t: 38.40207330645818 73.45022872244101 Number of keypoints: Image1: 187 Image2: 187 R_estimated: [[ 4.52473194e-01 -8.91764104e-01 -4.97910262e-03] [ 8.91776472e-01 4.52475714e-01 6.72708743e-04] [ 1.65302550e-03 -4.74462924e-03 9.99987378e-01]] t_estimated: [[-0.22426341] [-0.97452643] [-0.00203876]] R_gt: [[ 0.96140491 0.27015868 -0.05209145] [-0.2722426 0.96147314 -0.03810744] [ 0.03978899 0.05081774 0.99791467]] t_gt: [-0.74562423 0.643688 -0.17236666] Pose Error in degrees for R and t: 78.92124157321227 62.63074383439886 Number of keypoints: Image1: 138 Image2: 138 R_estimated: [[ 9.65813399e-01 -2.59238060e-01 3.25338131e-04] [ 2.59238064e-01 9.65813453e-01 3.07573601e-05] [-3.22189422e-04 5.46341566e-05 9.99999947e-01]] t_estimated: [[8.47205048e-01] [5.31265524e-01] [7.41349719e-04]] R_gt: [[ 0.98423325 0.17329685 -0.03539853] [-0.1732266 0.98486941 0.00504641] [ 0.03573837 0.00116529 0.99936001]] t_gt: [-0.85326145 0.50517258 -0.12940465] Pose Error in degrees for R and t: 25.089647613144237 62.960634693746954 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.81412686e-01 -1.91908837e-01 -3.72564937e-04] [ 1.91908795e-01 9.81412754e-01 -1.45377813e-04] [ 3.93539267e-04 7.11771418e-05 9.99999920e-01]] t_estimated: [[-0.2894715 ] [-0.95718577] [-0.00128654]] R_gt: [[ 0.95235162 0.30490585 -0.00775868] [-0.30262509 0.94778682 0.10059124] [ 0.03802468 -0.09345 0.99489734]] t_gt: [-0.88738557 0.43584045 0.15029953] Pose Error in degrees for R and t: 29.35937480897729 80.76403386081802 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 0.99991313 0.01310453 0.00141273] [-0.01310121 0.99991145 -0.00233278] [-0.00144317 0.00231407 0.99999628]] t_estimated: [[-0.01258557] [-0.99991847] [-0.00215612]] R_gt: [[ 0.95289798 0.30248949 -0.02201925] [-0.29924699 0.94952909 0.09404972] [ 0.04935755 -0.08303063 0.99532398]] t_gt: [-0.92985293 0.3531939 0.10309022] Pose Error in degrees for R and t: 17.7350058774142 70.02045498156957 Number of keypoints: Image1: 106 Image2: 106 R_estimated: [[ 0.94285626 0.33318644 -0.00297629] [-0.33316856 0.94285262 0.00525738] [ 0.00455789 -0.00396534 0.99998175]] t_estimated: [[-0.99754065] [-0.07000285] [-0.00350014]] R_gt: [[ 0.9983137 0.05755943 0.00745264] [-0.0575251 0.99833356 -0.00462748] [-0.00770511 0.00419087 0.99996146]] t_gt: [-0.87406635 0.48481897 0.03096108] Pose Error in degrees for R and t: 16.184702631655828 33.084162631813896 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[-2.72699715e-01 9.62099184e-01 1.60222324e-04] [-9.62097504e-01 -2.72698919e-01 -1.92164906e-03] [-1.80512453e-03 -6.78182648e-04 9.99998141e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99882727 -0.04703684 -0.01142525] [ 0.04668036 0.99846972 -0.02966332] [ 0.01280327 0.02909522 0.99949445]] t_gt: [ 0.35585506 -0.84834112 -0.39202618] Pose Error in degrees for R and t: 108.52152394361379 32.16567652338436 Number of keypoints: Image1: 86 Image2: 86 R_estimated: [[ 9.76069014e-01 2.17460937e-01 1.46944719e-04] [-2.17460933e-01 9.76069025e-01 -4.11725516e-05] [-1.52381610e-04 8.23251611e-06 9.99999988e-01]] t_estimated: [[8.21777400e-01] [5.69808298e-01] [6.39515486e-04]] R_gt: [[ 0.99323373 -0.11574263 -0.0094932 ] [ 0.11542681 0.99289363 -0.02895274] [ 0.01277706 0.02766142 0.99953571]] t_gt: [ 0.5697812 -0.79924261 -0.19120838] Pose Error in degrees for R and t: 19.277544049745412 89.2725554059907 Number of keypoints: Image1: 78 Image2: 78 R_estimated: [[ 9.99999873e-01 5.02177232e-04 4.71618627e-05] [-5.02179888e-04 9.99999872e-01 5.63280438e-05] [-4.71335700e-05 -5.63517204e-05 9.99999997e-01]] t_estimated: [[9.97238665e-01] [7.42605712e-02] [6.43102217e-04]] R_gt: [[ 0.9957102 -0.09227357 -0.00694235] [ 0.09233639 0.99568556 0.00920165] [ 0.00606285 -0.00980378 0.9999333 ]] t_gt: [ 0.72944202 -0.68203228 0.05240519] Pose Error in degrees for R and t: 5.365605537362077 47.40487150789438 Number of keypoints: Image1: 49 Image2: 49 R_estimated: [[ 0.98497472 0.17240885 -0.00999985] [-0.17234717 0.98501321 0.00673954] [ 0.01101194 -0.00491483 0.99992729]] t_estimated: [[-0.99537121] [-0.09479734] [-0.01579954]] R_gt: [[ 9.89837788e-01 -1.23779690e-01 -6.99998237e-02] [ 1.24095206e-01 9.92270473e-01 1.55934655e-04] [ 6.94396495e-02 -8.84074609e-03 9.97547147e-01]] t_gt: [ 0.818007 -0.53216251 -0.21832914] Pose Error in degrees for R and t: 17.38661544596691 40.507273001398346 Number of keypoints: Image1: 75 Image2: 75 R_estimated: [[ 9.99999396e-01 -1.01564593e-03 4.19803705e-04] [ 1.01565959e-03 9.99999484e-01 -3.23316378e-05] [-4.19770650e-04 3.27579960e-05 9.99999911e-01]] t_estimated: [[0.43473862] [0.9005562 ] [0.0009312 ]] R_gt: [[ 0.97299421 -0.20167133 -0.11230404] [ 0.19678393 0.97900595 -0.05314839] [ 0.12066524 0.02961437 0.99225167]] t_gt: [ 0.82430817 -0.44312786 -0.35235457] Pose Error in degrees for R and t: 13.522023586997951 87.64843343652305 Number of keypoints: Image1: 247 Image2: 247 R_estimated: [[ 9.99999893e-01 4.63441380e-04 8.31319589e-06] [-4.63442708e-04 9.99999880e-01 1.60546526e-04] [-8.23879099e-06 -1.60550361e-04 9.99999987e-01]] t_estimated: [[0.79573386] [0.60564437] [0.00158777]] R_gt: [[ 0.99967096 -0.02462485 -0.00719012] [ 0.02468815 0.99965558 0.00887342] [ 0.00696905 -0.00904701 0.99993439]] t_gt: [0.99667751 0.03464962 0.07371117] Pose Error in degrees for R and t: 1.5789670340072217 35.49241071839547 Number of keypoints: Image1: 256 Image2: 256 R_estimated: [[ 9.99999391e-01 -1.10348534e-03 2.83631436e-05] [ 1.10347729e-03 9.99999351e-01 2.82330734e-04] [-2.86746730e-05 -2.82299263e-04 9.99999960e-01]] t_estimated: [[0.43299447] [0.90139586] [0.00113279]] R_gt: [[ 0.99945352 -0.00270994 -0.03296431] [ 0.00289083 0.99998026 0.00544914] [ 0.03294846 -0.00554071 0.99944109]] t_gt: [ 0.94780225 0.28792654 -0.13700072] Pose Error in degrees for R and t: 1.9167374860160897 47.95039612006559 Number of keypoints: Image1: 147 Image2: 147 R_estimated: [[ 1.36016796e-02 9.99907172e-01 8.01169847e-04] [ 9.99903708e-01 -1.36038285e-02 2.74072133e-03] [ 2.75136589e-03 7.63814287e-04 -9.99995923e-01]] t_estimated: [[-0.01360416] [-0.99990601] [-0.00170052]] R_gt: [[ 0.99772561 0.04389101 -0.05117231] [-0.04309075 0.99893319 0.01663648] [ 0.0518477 -0.01439316 0.99855037]] t_gt: [ 0.90052652 0.40508171 -0.15798988] Pose Error in degrees for R and t: 177.20940202988544 65.35303921876935 Number of keypoints: Image1: 379 Image2: 379 R_estimated: [[ 9.99177286e-01 4.05553345e-02 -1.25346931e-04] [-4.05553423e-02 9.99177292e-01 -6.04226966e-05] [ 1.22793345e-04 6.54564738e-05 9.99999990e-01]] t_estimated: [[-0.8326339 ] [ 0.55381897] [-0.00230819]] R_gt: [[ 0.99800424 0.01268121 -0.06187293] [-0.01204469 0.99987071 0.01065626] [ 0.06200058 -0.00988944 0.99802787]] t_gt: [ 0.95172758 -0.08543414 -0.29481455] Pose Error in degrees for R and t: 3.9387968410931435 32.95740730870603 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.86209669e-01 -1.65500191e-01 -4.18148693e-04] [ 1.65500379e-01 9.86209618e-01 4.63293352e-04] [ 3.35707124e-04 -5.26108150e-04 9.99999805e-01]] t_estimated: [[-0.9913835 ] [-0.1309477 ] [-0.00338417]] R_gt: [[ 0.99530482 0.03148386 -0.09152847] [-0.02767621 0.99870921 0.04258377] [ 0.09275155 -0.03985055 0.99489218]] t_gt: [ 0.98654962 -0.16234877 0.0190452 ] Pose Error in degrees for R and t: 12.613988578862598 16.891978666582553 Number of keypoints: Image1: 100 Image2: 100 R_estimated: [[ 9.99998618e-01 1.65120199e-03 -1.94795092e-04] [-1.65109411e-03 9.99998484e-01 5.52684590e-04] [ 1.95707391e-04 -5.52362201e-04 9.99999828e-01]] t_estimated: [[-9.99994892e-01] [-3.10075931e-03] [-7.75189839e-04]] R_gt: [[ 0.98699608 0.11726989 -0.10994198] [-0.10546638 0.98857751 0.10766091] [ 0.12131198 -0.09466459 0.98809084]] t_gt: [ 0.7977469 -0.02442111 0.60249771] Pose Error in degrees for R and t: 10.85921739613906 37.04770538191164 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.99264413e-01 3.83480059e-02 2.52185921e-04] [-3.83479768e-02 9.99264439e-01 -1.19191764e-04] [-2.56571189e-04 1.09433269e-04 9.99999961e-01]] t_estimated: [[0.30207388] [0.95328389] [0.00109447]] R_gt: [[ 0.99509851 -0.05397276 0.08286192] [ 0.04784192 0.99608942 0.0742724 ] [-0.08654604 -0.06994402 0.99378933]] t_gt: [ 0.06616838 -0.29346592 0.95367683] Pose Error in degrees for R and t: 8.183453580501826 75.00558882431207 Number of keypoints: Image1: 180 Image2: 180 R_estimated: [[ 9.95391770e-01 -9.58917287e-02 2.42121942e-05] [ 9.58917259e-02 9.95391766e-01 9.81532043e-05] [-3.35126991e-05 -9.53791427e-05 9.99999995e-01]] t_estimated: [[6.29649306e-01] [7.76879322e-01] [5.19774199e-04]] R_gt: [[ 0.98895843 -0.10427838 0.10529541] [ 0.09183856 0.98890279 0.11677548] [-0.1163035 -0.10581599 0.98756102]] t_gt: [ 0.27874522 -0.35875582 0.89083969] Pose Error in degrees for R and t: 9.04291450405435 84.10330222343566 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[-3.70734506e-01 -9.28738856e-01 2.51478160e-04] [-9.28664968e-01 3.70708400e-01 1.25163727e-02] [-1.17176667e-02 4.40671229e-03 -9.99921636e-01]] t_estimated: [[0.7742528 ] [0.6328675 ] [0.00336632]] R_gt: [[ 0.98341586 -0.11625949 0.13919775] [ 0.09008752 0.97926654 0.18143994] [-0.15740505 -0.1658916 0.97350063]] t_gt: [ 0.30074543 -0.30823577 0.9025203 ] Pose Error in degrees for R and t: 166.8122311804946 87.66060767929235 Number of keypoints: Image1: 122 Image2: 122 R_estimated: [[ 0.44830808 0.89387839 0.00113679] [-0.8938764 0.44830323 0.00303169] [ 0.00220033 -0.00237528 0.99999476]] t_estimated: [[0.38891739] [0.92127213] [0.00096267]] R_gt: [[ 0.99950502 -0.02026228 -0.02404726] [ 0.01883055 0.99811981 -0.05833249] [ 0.02518354 0.0578511 0.99800777]] t_gt: [ 0.56965472 -0.14107204 -0.80968647] Pose Error in degrees for R and t: 64.5857788256721 84.79017066208546 Number of keypoints: Image1: 80 Image2: 80 R_estimated: [[ 9.91247714e-01 -1.32014887e-01 -1.96622118e-04] [ 1.32014931e-01 9.91247701e-01 2.30203985e-04] [ 1.64510869e-04 -2.54146230e-04 9.99999954e-01]] t_estimated: [[-1.06936819e-01] [ 9.94265559e-01] [-7.16886849e-04]] R_gt: [[ 9.95341698e-01 -1.09670421e-02 -9.57856532e-02] [-4.10466090e-04 9.93019402e-01 -1.17957243e-01] [ 9.64107329e-02 1.17447303e-01 9.88388141e-01]] t_gt: [ 0.32868693 0.17840382 -0.9274357 ] Pose Error in degrees for R and t: 11.374543584176786 81.78448761247296 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 0.97573582 -0.21877574 0.00876237] [ 0.21881196 0.97576112 -0.00340135] [-0.00780584 0.00523612 0.99995582]] t_estimated: [[0.50841532] [0.86109981] [0.00458032]] R_gt: [[ 0.98900118 -0.03709882 -0.14317835] [ 0.01223733 0.98523828 -0.17075223] [ 0.14739928 0.16712212 0.9748556 ]] t_gt: [ 0.36502982 0.17271475 -0.91483487] Pose Error in degrees for R and t: 17.155225586942432 70.7238707175544 Number of keypoints: Image1: 169 Image2: 169 R_estimated: [[-8.85604994e-01 -4.64437981e-01 -1.07510385e-03] [ 4.64439034e-01 -8.85600159e-01 -2.95665359e-03] [ 4.21070082e-04 -3.11774738e-03 9.99995051e-01]] t_estimated: [[0.88745468] [0.46089381] [0.00104039]] R_gt: [[ 0.99772142 0.03920688 -0.0549153 ] [-0.04246014 0.99733318 -0.05936812] [ 0.0524409 0.06156462 0.99672421]] t_gt: [-0.158316 0.51277112 -0.84380201] Pose Error in degrees for R and t: 154.6869788341774 84.55116217652372 Number of keypoints: Image1: 205 Image2: 205 R_estimated: [[ 9.43418170e-01 3.31605419e-01 4.28319202e-05] [-3.31605420e-01 9.43418171e-01 2.77960429e-05] [-3.11910933e-05 -4.04265889e-05 9.99999999e-01]] t_estimated: [[-0.91730761] [-0.39817786] [-0.00107037]] R_gt: [[ 0.99197152 0.05976414 -0.11145401] [-0.07872726 0.98152789 -0.17437253] [ 0.09897313 0.18174633 0.97835119]] t_gt: [-0.06079575 0.53552651 -0.84232727] Pose Error in degrees for R and t: 19.430549569850616 80.99243926746144 Number of keypoints: Image1: 251 Image2: 251 R_estimated: [[-6.71282712e-01 -7.41200937e-01 -8.31296714e-04] [ 7.41199807e-01 -6.71278517e-01 -2.82811776e-03] [ 1.53817191e-03 -2.51462353e-03 9.99995655e-01]] t_estimated: [[9.20808325e-01] [3.90014759e-01] [7.18259224e-04]] R_gt: [[ 0.99026282 0.10663509 -0.0894928 ] [-0.12251678 0.97281532 -0.19652191] [ 0.06610365 0.20557256 0.97640633]] t_gt: [-0.17977701 0.67702472 -0.71366501] Pose Error in degrees for R and t: 139.06937363035493 84.3761669570461 Number of keypoints: Image1: 120 Image2: 120 R_estimated: [[-0.8554512 -0.51618514 0.04190641] [-0.51630732 0.85635928 0.00869117] [-0.0403732 -0.01420171 -0.99908374]] t_estimated: [[0.9824089 ] [0.18420167] [0.03070028]] R_gt: [[ 0.99850945 0.02253788 -0.0497176 ] [-0.02684193 0.99578866 -0.0876715 ] [ 0.04753164 0.08887592 0.99490732]] t_gt: [-0.07971217 0.34302835 -0.93593671] Pose Error in degrees for R and t: 178.40043434254963 87.48636914602724 Number of keypoints: Image1: 52 Image2: 52 R_estimated: [[ 1.29399051e-01 9.91509945e-01 1.28029052e-02] [ 9.91592141e-01 -1.29375772e-01 -2.63359824e-03] [-9.54853097e-04 1.30360453e-02 -9.99914571e-01]] t_estimated: [[-0.11093856] [-0.99382458] [-0.00231122]] R_gt: [[ 0.99121761 0.07190313 -0.11098316] [-0.09007099 0.98157658 -0.16851004] [ 0.09682243 0.17702706 0.97943189]] t_gt: [-0.14819293 0.4625861 -0.87410123] Pose Error in degrees for R and t: 175.89163915323343 63.8151311357265 Number of keypoints: Image1: 39 Image2: 39 R_estimated: [[ 4.42533563e-02 9.99019287e-01 1.45062841e-03] [ 9.99019989e-01 -4.42545122e-02 7.74655013e-04] [ 8.38092151e-04 1.41492569e-03 -9.99998648e-01]] t_estimated: [[9.43002201e-01] [3.32785666e-01] [7.41633115e-04]] R_gt: [[ 0.981744 0.14838379 -0.11900063] [-0.1690214 0.96751545 -0.18800676] [ 0.08723794 0.20468891 0.97493207]] t_gt: [-0.30557997 0.59525691 -0.74316222] Pose Error in degrees for R and t: 175.8974604193281 84.8006794039242 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999835e-01 2.59481567e-04 5.12542055e-04] [-2.58916422e-04 9.99999359e-01 -1.10239073e-03] [-5.12827776e-04 1.10225785e-03 9.99999261e-01]] t_estimated: [[-0.673363 ] [-0.73930951] [-0.00192822]] R_gt: [[ 0.99492251 -0.1006396 0.00128735] [ 0.10064001 0.99460032 -0.02534565] [ 0.00126939 0.02534722 0.99967734]] t_gt: [ 0.59487329 -0.76003279 -0.26167906] Pose Error in degrees for R and t: 5.956388661386282 80.68638147263782 Number of keypoints: Image1: 108 Image2: 108 R_estimated: [[ 9.99978472e-01 -6.55952414e-03 1.69994828e-04] [ 6.55955456e-03 9.99978470e-01 -1.79030524e-04] [-1.68816813e-04 1.80141760e-04 9.99999970e-01]] t_estimated: [[ 0.64185607] [-0.76682392] [-0.00136221]] R_gt: [[ 0.98531419 -0.1707047 -0.00387885] [ 0.17025075 0.98392103 -0.05398118] [ 0.01303032 0.05252896 0.9985345 ]] t_gt: [ 0.54173377 -0.76822408 -0.34111039] Pose Error in degrees for R and t: 9.939676219585756 20.401581018539474 Number of keypoints: Image1: 114 Image2: 114 R_estimated: [[ 5.88738339e-01 8.08323286e-01 7.95807580e-04] [-8.08321819e-01 5.88738811e-01 -1.56476682e-03] [-1.73336027e-03 2.77969588e-04 9.99998459e-01]] t_estimated: [[-6.11025169e-02] [ 9.98130999e-01] [ 9.95573021e-04]] R_gt: [[ 0.96354695 -0.26603197 -0.02834549] [ 0.26490328 0.96352185 -0.03811434] [ 0.03745069 0.02921739 0.99887164]] t_gt: [ 0.60220146 -0.7644392 -0.23018714] Pose Error in degrees for R and t: 69.38347567908282 36.8664930473176 Number of keypoints: Image1: 88 Image2: 88 R_estimated: [[ 9.99999869e-01 4.70213695e-04 2.03031763e-04] [-4.70213396e-04 9.99999889e-01 -1.52079125e-06] [-2.03032456e-04 1.42532279e-06 9.99999979e-01]] t_estimated: [[-9.17324668e-01] [-3.98139324e-01] [-7.29192900e-04]] R_gt: [[ 0.99639114 0.05981387 -0.06022999] [-0.0646946 0.99447643 -0.08265479] [ 0.05495406 0.08625395 0.99475628]] t_gt: [-0.28842663 0.4967602 -0.81855933] Pose Error in degrees for R and t: 6.865500901411901 86.13545059600767 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.07529478e-01 -4.19985491e-01 -1.56003547e-03] [ 4.19987832e-01 -9.07528061e-01 -1.74320371e-03] [-6.83655701e-04 -2.23720467e-03 9.99997264e-01]] t_estimated: [[0.87929149] [0.47628289] [0.00104032]] R_gt: [[ 0.99126461 0.12876413 -0.02855236] [-0.13070688 0.98801271 -0.08214789] [ 0.01763222 0.08516325 0.99621154]] t_gt: [-0.57203201 0.67121005 -0.47144082] Pose Error in degrees for R and t: 162.6528483713484 79.40955268575497 Number of keypoints: Image1: 61 Image2: 61 R_estimated: [[ 0.99931645 0.03693034 0.0016694 ] [-0.03692448 0.99931223 -0.00341264] [-0.00179428 0.00334867 0.99999278]] t_estimated: [[0.00906698] [0.99995806] [0.00129528]] R_gt: [[ 0.99493005 0.06487961 0.07684462] [-0.07155075 0.99359246 0.08750283] [-0.07067539 -0.09255697 0.99319645]] t_gt: [-0.46517707 0.26634268 0.84419895] Pose Error in degrees for R and t: 7.013954480510754 74.73954623781877 Number of keypoints: Image1: 232 Image2: 232 R_estimated: [[-9.99589670e-01 -2.86441756e-02 5.71275491e-05] [-2.86439732e-02 9.99587119e-01 2.26145773e-03] [-1.21881555e-04 2.25889343e-03 -9.99997441e-01]] t_estimated: [[9.70692237e-01] [2.40324713e-01] [7.82816441e-04]] R_gt: [[ 0.99101559 -0.12982967 -0.03214112] [ 0.12998233 0.99151238 0.00271099] [ 0.0315155 -0.00686322 0.99947958]] t_gt: [ 0.69704189 -0.69956459 -0.15729587] Pose Error in degrees for R and t: 178.19021314569653 59.44485881383935 Number of keypoints: Image1: 156 Image2: 156 R_estimated: [[ 9.99999760e-01 6.75587204e-04 1.50527086e-04] [-6.75574230e-04 9.99999768e-01 -8.62237866e-05] [-1.50585303e-04 8.61220737e-05 9.99999985e-01]] t_estimated: [[ 9.57230603e-01] [-2.89325961e-01] [-2.48068265e-04]] R_gt: [[ 0.97773042 -0.20928973 -0.01555157] [ 0.20892059 0.97767462 -0.02246169] [ 0.01990503 0.01871335 0.99962597]] t_gt: [ 0.65838479 -0.73135256 -0.17791265] Pose Error in degrees for R and t: 12.211597413019863 32.66193805143262 Number of keypoints: Image1: 153 Image2: 153 R_estimated: [[ 9.67096054e-01 2.54409090e-01 1.11273400e-03] [-2.54409301e-01 9.67096637e-01 4.96697650e-05] [-1.06348487e-03 -3.31125311e-04 9.99999380e-01]] t_estimated: [[-0.67262527] [-0.73998267] [-0.0009487 ]] R_gt: [[ 0.95982038 -0.27558088 -0.05292664] [ 0.27319087 0.96075249 -0.04817734] [ 0.06412607 0.0317837 0.99743523]] t_gt: [ 0.64400372 -0.70816575 -0.28941403] Pose Error in degrees for R and t: 30.959570122661816 84.77127962993471 Number of keypoints: Image1: 301 Image2: 301 R_estimated: [[ 0.98477056 -0.17383378 0.00296024] [-0.17381704 -0.98401634 0.03872319] [-0.00381847 -0.03864799 -0.99924559]] t_estimated: [[0.05798798] [0.9981214 ] [0.01977552]] R_gt: [[ 0.99786141 0.01254838 -0.06415814] [-0.00954017 0.99885003 0.0469782 ] [ 0.06467405 -0.04626546 0.99683397]] t_gt: [ 0.9038304 -0.16062664 0.39659765] Pose Error in degrees for R and t: 175.43483623148447 84.25676080600675 Number of keypoints: Image1: 250 Image2: 250 R_estimated: [[ 9.97049670e-01 7.58424449e-02 1.18270913e-02] [-7.58528813e-02 9.97118925e-01 4.35702216e-04] [-1.17599718e-02 -1.33153570e-03 9.99929963e-01]] t_estimated: [[-0.90181793] [-0.43181384] [ 0.01616254]] R_gt: [[ 0.9924959 0.019652 -0.12069084] [-0.01262242 0.99819426 0.05873593] [ 0.12162703 -0.05677092 0.99095069]] t_gt: [ 0.98624815 -0.15567417 0.05549908] Pose Error in degrees for R and t: 8.984964168052453 34.785160743015986 Number of keypoints: Image1: 121 Image2: 121 R_estimated: [[ 0.17579105 0.98442374 -0.00272077] [-0.98441536 0.17577448 -0.00545275] [-0.00488958 0.00363692 0.99998143]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.99083107 0.06788084 -0.11681146] [-0.05492664 0.99232917 0.11075529] [ 0.12343381 -0.10332264 0.98695979]] t_gt: [ 0.86953683 -0.15675241 0.4683315 ] Pose Error in degrees for R and t: 76.84490388733629 81.32443406283953 Number of keypoints: Image1: 146 Image2: 146 R_estimated: [[ 9.99400490e-01 -3.46126132e-02 -7.92733709e-04] [ 3.46133255e-02 9.99400371e-01 9.03204050e-04] [ 7.60996111e-04 -9.30101720e-04 9.99999278e-01]] t_estimated: [[-0.72646634] [-0.68720158] [-0.00080113]] R_gt: [[ 9.99011450e-01 -1.27304614e-03 4.44456000e-02] [-6.63718158e-04 9.99052364e-01 4.35130070e-02] [-4.44597765e-02 -4.34994842e-02 9.98063314e-01]] t_gt: [-0.38413679 0.0388461 0.92245862] Pose Error in degrees for R and t: 4.068366023977651 75.42611037759673 Number of keypoints: Image1: 136 Image2: 136 R_estimated: [[-1.60966149e-01 9.86950171e-01 4.38848347e-03] [ 9.86959904e-01 1.60965529e-01 4.96436354e-04] [-2.16436618e-04 4.41116667e-03 -9.99990247e-01]] t_estimated: [[-0.32790696] [-0.94470943] [-0.00105436]] R_gt: [[ 0.99511419 -0.05428163 0.08247303] [ 0.04341992 0.99079441 0.12821413] [-0.08867419 -0.12400717 0.98831107]] t_gt: [ 0.00236266 -0.20368575 0.97903347] Pose Error in degrees for R and t: 179.2295017237617 79.01121407610461 Number of keypoints: Image1: 148 Image2: 148 R_estimated: [[ 9.51716159e-01 -3.06977395e-01 1.10973668e-03] [ 3.06978434e-01 9.51716016e-01 -9.30366309e-04] [-7.70552743e-04 1.22610988e-03 9.99998951e-01]] t_estimated: [[0.57470568] [0.8183597 ] [0.0008828 ]] R_gt: [[ 0.98762814 -0.10206955 0.11905517] [ 0.08258188 0.98390348 0.15846852] [-0.13331421 -0.1466758 0.98016065]] t_gt: [ 0.20688427 -0.27667009 0.9384309 ] Pose Error in degrees for R and t: 16.952909650550357 83.87547759813113 Number of keypoints: Image1: 176 Image2: 176 R_estimated: [[-1.49190770e-01 -9.88806922e-01 -1.72777907e-03] [ 9.88707689e-01 -1.49200284e-01 1.40136144e-02] [-1.41145440e-02 3.82433471e-04 9.99900312e-01]] t_estimated: [[ 0.72079683] [-0.69306154] [ 0.01084561]] R_gt: [[ 0.99407187 0.09984424 0.04301584] [-0.10194137 0.9935489 0.04967612] [-0.03777782 -0.05376672 0.99783909]] t_gt: [-0.82315227 0.40105092 0.40196828] Pose Error in degrees for R and t: 104.39429612809774 29.897450978335513 Number of keypoints: Image1: 145 Image2: 145 R_estimated: [[ 9.99876634e-01 -1.56890327e-02 7.55323095e-04] [ 1.56892301e-02 9.99876884e-01 -2.56126320e-04] [-7.51211728e-04 2.67945161e-04 9.99999682e-01]] t_estimated: [[0.99949285] [0.03175529] [0.0023759 ]] R_gt: [[ 0.97440777 0.22474185 0.00453977] [-0.22462429 0.97273131 0.0577682 ] [ 0.00856722 -0.05730896 0.99832028]] t_gt: [-0.84439865 0.5225184 0.11817548] Pose Error in degrees for R and t: 14.287898615794948 34.198333825895745 Number of keypoints: Image1: 71 Image2: 71 R_estimated: [[ 9.28192851e-01 -3.72098949e-01 6.35683247e-04] [ 3.72099161e-01 9.28192949e-01 -2.51687569e-04] [-4.96384027e-04 4.70151805e-04 9.99999766e-01]] t_estimated: [[-0.23308838] [-0.97245475] [-0.00125316]] R_gt: [[ 0.90763479 0.41935347 0.01846569] [-0.41803571 0.89904938 0.13021483] [ 0.03800449 -0.12590616 0.99131445]] t_gt: [-0.81325066 0.56589543 0.135594 ] Pose Error in degrees for R and t: 47.290040315886955 68.8433948874399 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[-3.79367095e-02 9.99279853e-01 -7.62357365e-04] [ 9.99271022e-01 3.79396119e-02 4.24382070e-03] [ 4.26968806e-03 -6.00805031e-04 -9.99990704e-01]] t_estimated: [[0.69293714] [0.72099758] [0.00077946]] R_gt: [[ 0.99876134 -0.01400774 -0.04776278] [ 0.0142588 0.99988596 0.00491968] [ 0.04768769 -0.00559396 0.99884656]] t_gt: [ 0.79036688 -0.29046279 -0.53939926] Pose Error in degrees for R and t: 177.62131887565732 70.25520902541854 Number of keypoints: Image1: 87 Image2: 87 R_estimated: [[ 0.37592588 0.92664903 0.00114303] [ 0.92662583 -0.37592475 0.00671945] [ 0.00665627 -0.00146685 -0.99997677]] t_estimated: [[-9.99982376e-01] [-5.87731035e-03] [-8.39615765e-04]] R_gt: [[ 0.98783736 -0.08447035 -0.13054556] [ 0.07913138 0.9958224 -0.04556449] [ 0.13384864 0.03468033 0.99039494]] t_gt: [ 0.73501465 -0.26484903 -0.62418624] Pose Error in degrees for R and t: 177.39745276637902 42.868164324873824 Number of keypoints: Image1: 79 Image2: 79 R_estimated: [[-0.62739839 0.77866191 -0.00754192] [-0.77857992 -0.62744245 -0.01137 ] [-0.01358551 -0.00126153 0.99990692]] t_estimated: [[0.59163203] [0.80620717] [0.00124032]] R_gt: [[ 0.97003239 -0.21834252 -0.1066054 ] [ 0.21030316 0.97421464 -0.08172496] [ 0.12170076 0.05685658 0.9909363 ]] t_gt: [ 0.81867117 -0.40954895 -0.40255084] Pose Error in degrees for R and t: 141.3871480507351 81.16024427774481 Number of keypoints: Image1: 173 Image2: 173 R_estimated: [[ 9.99999925e-01 2.99085196e-04 2.47910175e-04] [-2.98879376e-04 9.99999611e-01 -8.29842139e-04] [-2.48158272e-04 8.29767981e-04 9.99999625e-01]] t_estimated: [[0.64445726] [0.76463983] [0.00087089]] R_gt: [[ 0.98959849 -0.14131178 -0.02694995] [ 0.14121683 0.9899643 -0.00538603] [ 0.02744016 0.00152518 0.99962194]] t_gt: [ 0.72896563 -0.67627793 -0.10610031] Pose Error in degrees for R and t: 8.29203889456465 87.28234451454104 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 0.99100284 0.13381891 0.00242437] [ 0.1338242 -0.99100271 -0.00217095] [ 0.00211205 0.00247586 -0.9999947 ]] t_estimated: [[0.66442862] [0.74735099] [0.00104965]] R_gt: [[ 0.96808788 -0.24770159 -0.0380892 ] [ 0.24828248 0.96862194 0.01126243] [ 0.03410489 -0.02035898 0.99921018]] t_gt: [ 0.73436941 -0.67810758 -0.02952432] Pose Error in degrees for R and t: 179.09431969271097 88.91823096586518 Number of keypoints: Image1: 170 Image2: 170 R_estimated: [[ 0.97985352 0.19716619 0.03182099] [-0.19645956 0.98021777 -0.02401599] [-0.03592664 0.01728061 0.99920501]] t_estimated: [[8.12117722e-01] [5.83493112e-01] [7.69779832e-04]] R_gt: [[ 0.94961126 -0.3104675 -0.04300042] [ 0.31101771 0.95038118 0.00660196] [ 0.03881697 -0.01964262 0.99905258]] t_gt: [ 0.75885863 -0.64948889 -0.04793504] Pose Error in degrees for R and t: 29.84545380531178 76.27433296043431 Number of keypoints: Image1: 306 Image2: 306 R_estimated: [[ 9.97348957e-01 -7.27671503e-02 -1.73944340e-05] [ 7.27671514e-02 9.97348954e-01 7.94811457e-05] [ 1.15647041e-05 -8.05361812e-05 9.99999997e-01]] t_estimated: [[0.97406739] [0.22625557] [0.00106223]] R_gt: [[ 0.99880562 -0.03255073 0.03643557] [ 0.03232318 0.9994542 0.0068222 ] [-0.03663759 -0.00563711 0.99931264]] t_gt: [ 0.54088807 -0.48978571 0.68377631] Pose Error in degrees for R and t: 3.140905399566818 65.36910422230194 Number of keypoints: Image1: 220 Image2: 220 R_estimated: [[ 9.90694408e-01 1.36105024e-01 1.08553576e-04] [-1.36105008e-01 9.90694406e-01 -1.44895725e-04] [-1.27264456e-04 1.28772699e-04 9.99999984e-01]] t_estimated: [[-1.08063368e-02] [ 9.99941241e-01] [ 8.59364917e-04]] R_gt: [[ 0.99815118 -0.06050659 -0.00568143] [ 0.06065758 0.99765501 0.03169805] [ 0.00374971 -0.03198392 0.99948142]] t_gt: [ 0.74536283 -0.62450258 0.23330402] Pose Error in degrees for R and t: 11.447408823108933 50.77850109801587 Number of keypoints: Image1: 237 Image2: 237 R_estimated: [[ 0.98668451 0.16263728 0.00167176] [-0.16260349 0.98660993 -0.01268628] [-0.00371264 0.01224552 0.99991813]] t_estimated: [[-9.98730597e-01] [-5.03633378e-02] [-8.53615895e-04]] R_gt: [[ 0.99752501 -0.06595347 -0.02434111] [ 0.0668127 0.99710284 0.03635883] [ 0.021873 -0.0378954 0.99904255]] t_gt: [ 0.72543462 -0.68340972 0.08182764] Pose Error in degrees for R and t: 13.551777989386713 46.3568435943356 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 8.17392722e-01 5.76080348e-01 7.55414327e-04] [-5.76080364e-01 8.17393031e-01 -2.17380169e-04] [-7.42698850e-04 -2.57494393e-04 9.99999691e-01]] t_estimated: [[0.00623688] [0.99998001] [0.00103948]] R_gt: [[ 0.9993024 0.00875126 -0.03630439] [-0.00791431 0.99970143 0.02313235] [ 0.03649643 -0.02282845 0.99907291]] t_gt: [0.99794344 0.00747329 0.06366345] Pose Error in degrees for R and t: 34.78530471205429 89.21139178348515 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99998372e-01 -1.72131573e-03 -5.42151100e-04] [ 1.72138110e-03 9.99998511e-01 1.20126472e-04] [ 5.41943518e-04 -1.21059525e-04 9.99999846e-01]] t_estimated: [[-0.99980161] [-0.01975522] [-0.00254284]] R_gt: [[ 0.99099354 0.07495921 -0.11095938] [-0.06552057 0.99410382 0.08640238] [ 0.11678213 -0.07835367 0.99006225]] t_gt: [ 0.88275344 0.46867481 -0.0330195 ] Pose Error in degrees for R and t: 9.058201001282749 26.905623037752548 Number of keypoints: Image1: 97 Image2: 97 R_estimated: [[ 9.99999735e-01 7.12390705e-04 1.49897840e-04] [-7.12395673e-04 9.99999746e-01 3.30926798e-05] [-1.49874227e-04 -3.31994576e-05 9.99999988e-01]] t_estimated: [[-0.9999904 ] [-0.00424163] [-0.0011 ]] R_gt: [[ 0.97653929 0.13610336 -0.16687148] [-0.11786968 0.98637831 0.11473359] [ 0.18021469 -0.09237286 0.9792801 ]] t_gt: [ 0.57329705 0.79640708 -0.19252598] Pose Error in degrees for R and t: 13.792265448051864 54.79821054783463 Number of keypoints: Image1: 48 Image2: 48 R_estimated: [[ 0.99111611 -0.13299014 -0.00157425] [ 0.13299239 0.99111604 0.00141875] [ 0.00137158 -0.00161551 0.99999775]] t_estimated: [[0.98439062] [0.17599356] [0.00117329]] R_gt: [[ 0.95370449 0.29775306 0.04231335] [-0.29681134 0.954549 -0.02718438] [-0.04848365 0.01336717 0.99873445]] t_gt: [-0.92772933 0.37294095 -0.01527538] Pose Error in degrees for R and t: 25.124964125016977 32.04509369708562 Number of keypoints: Image1: 58 Image2: 58 R_estimated: [[ 0.27956777 0.96011143 -0.00528312] [ 0.9601045 -0.2795205 0.00822401] [ 0.00641922 -0.00737152 -0.99995223]] t_estimated: [[-7.58345958e-01] [-6.51851937e-01] [-6.78305866e-04]] R_gt: [[ 0.83420622 0.55132641 0.01170835] [-0.54981774 0.83318225 -0.05923088] [-0.0424103 0.04297315 0.99817546]] t_gt: [-0.84709383 0.52820421 -0.05858639] Pose Error in degrees for R and t: 177.12793787180317 72.65534014176053 Number of keypoints: Image1: 44 Image2: 44 R_estimated: [[ 0.72684192 -0.68679172 0.00423906] [ 0.68680196 0.72684281 -0.00161286] [-0.00197343 0.00408369 0.99998971]] t_estimated: [[7.58345958e-01] [6.51851937e-01] [6.78305866e-04]] R_gt: [[ 0.64654462 0.76276792 0.01284714] [-0.7598113 0.64536355 -0.07868827] [-0.06831249 0.0411147 0.99681632]] t_gt: [-0.76782367 0.63983601 -0.03250665] Pose Error in degrees for R and t: 93.13561115915047 80.49000342406076 Number of keypoints: Image1: 230 Image2: 230 R_estimated: [[ 9.99847817e-01 1.74453578e-02 4.83623018e-05] [-1.74453430e-02 9.99847776e-01 -2.91189354e-04] [-5.34348424e-05 2.90301343e-04 9.99999956e-01]] t_estimated: [[ 0.49961536] [ 0.86624686] [-0.00093239]] R_gt: [[ 0.99820582 -0.05844971 0.01303965] [ 0.05873718 0.99801102 -0.02289179] [-0.01167557 0.02361678 0.99965327]] t_gt: [ 0.20523854 -0.93224458 -0.29798855] Pose Error in degrees for R and t: 4.607536051715063 45.19179882702665 Number of keypoints: Image1: 274 Image2: 274 R_estimated: [[ 0.24227736 -0.97000318 -0.01988751] [-0.97012836 -0.24194578 -0.0176976 ] [ 0.01235503 0.02358117 -0.99964558]] t_estimated: [[ 0.63406503] [ 0.7732032 ] [-0.010879 ]] R_gt: [[ 0.99880376 -0.04886887 -0.00169848] [ 0.04881666 0.99854237 -0.02303685] [ 0.00282214 0.02292643 0.99973356]] t_gt: [ 0.41562189 -0.69238759 -0.58979476] Pose Error in degrees for R and t: 177.38876260335476 74.60876551824259 Number of keypoints: Image1: 204 Image2: 204 R_estimated: [[ 9.98117840e-01 6.13239649e-02 3.84582278e-04] [-6.13236673e-02 9.98117656e-01 -7.43071121e-04] [-4.29426429e-04 7.18088547e-04 9.99999650e-01]] t_estimated: [[-0.85822433] [-0.51327378] [-0.00101372]] R_gt: [[ 0.99970736 0.02022377 -0.01327491] [-0.02061377 0.99933815 -0.02998026] [ 0.0126596 0.03024507 0.99946264]] t_gt: [ 0.45454849 0.4860427 -0.74642358] Pose Error in degrees for R and t: 2.986944488370884 50.29604834439485 Number of keypoints: Image1: 242 Image2: 242 R_estimated: [[ 0.99999685 0.00113978 -0.00223427] [-0.00113697 0.99999856 0.00125777] [ 0.0022357 -0.00125522 0.99999671]] t_estimated: [[0.70052546] [0.71362635] [0.00123422]] R_gt: [[ 0.99882741 -0.04594308 0.01523347] [ 0.04610556 0.99888036 -0.01056099] [-0.01473146 0.01125136 0.999828 ]] t_gt: [ 0.7735226 -0.62992086 0.06973161] Pose Error in degrees for R and t: 2.961611506700095 84.69656886909029 Number of keypoints: Image1: 192 Image2: 192 R_estimated: [[ 9.94105109e-01 1.08418792e-01 6.30946166e-04] [-1.08417925e-01 9.94104585e-01 -1.27543375e-03] [-7.65507463e-04 1.19950934e-03 9.99998988e-01]] t_estimated: [[0.5994201 ] [0.80043409] [0.00090547]] R_gt: [[ 0.99540719 -0.09436022 0.01615963] [ 0.09472226 0.99522924 -0.02338701] [-0.01387631 0.02481048 0.99959501]] t_gt: [ 0.78530529 -0.61900293 -0.0114445 ] Pose Error in degrees for R and t: 11.752142584189086 88.58157649314013 Number of keypoints: Image1: 124 Image2: 124 R_estimated: [[ 9.99999973e-01 -2.25104998e-04 5.92557214e-05] [ 2.25050493e-04 9.99999553e-01 9.18223140e-04] [-5.94623916e-05 -9.18209780e-04 9.99999577e-01]] t_estimated: [[0.72653987] [0.68712348] [0.00106531]] R_gt: [[ 0.97325539 -0.22967172 -0.00501098] [ 0.2295687 0.97316692 -0.01564967] [ 0.00847128 0.01408118 0.99986387]] t_gt: [ 0.77196332 -0.63398223 -0.04625117] Pose Error in degrees for R and t: 13.299650538985635 82.8083421982522 Number of keypoints: Image1: 109 Image2: 109 R_estimated: [[ 9.99999997e-01 -6.06006717e-05 -3.83073267e-05] [ 6.06017316e-05 9.99999998e-01 2.76658891e-05] [ 3.83056501e-05 -2.76682105e-05 9.99999999e-01]] t_estimated: [[0.80100396] [0.59865845] [0.00084243]] R_gt: [[ 0.9991 -0.03699719 0.02070338] [ 0.03719899 0.99926304 -0.00945862] [-0.02033806 0.01022066 0.99974102]] t_gt: [ 0.73652336 -0.62566784 0.25704687] Pose Error in degrees for R and t: 2.4934316581221547 77.54848737839892 Number of keypoints: Image1: 103 Image2: 103 R_estimated: [[ 9.99999968e-01 2.09534066e-04 1.42321672e-04] [-2.09526873e-04 9.99999977e-01 -5.05544800e-05] [-1.42332261e-04 5.05246582e-05 9.99999989e-01]] t_estimated: [[9.66020520e-01] [2.58465065e-01] [4.07411767e-04]] R_gt: [[ 0.9881526 -0.15343177 -0.00337393] [ 0.15333944 0.98798223 -0.01942073] [ 0.00631299 0.01867324 0.99980537]] t_gt: [ 0.74949563 -0.65803848 -0.07239934] Pose Error in degrees for R and t: 8.90802067790845 56.36372991465338 Number of keypoints: Image1: 98 Image2: 98 R_estimated: [[-9.21507590e-01 -3.88359897e-01 5.93843998e-04] [-3.88359209e-01 9.21507511e-01 1.01629614e-03] [-9.41920367e-04 7.05899818e-04 -9.99999307e-01]] t_estimated: [[0.99981909] [0.01890414] [0.00210046]] R_gt: [[ 0.97059973 -0.24041035 -0.01170613] [ 0.24001378 0.97036529 -0.02800521] [ 0.01809131 0.02437262 0.99953921]] t_gt: [ 0.76961787 -0.63348566 -0.07990152] Pose Error in degrees for R and t: 178.90641486190623 40.77015567387089 Number of keypoints: Image1: 128 Image2: 128 R_estimated: [[-6.55451743e-01 -7.55236850e-01 -5.59191510e-04] [-7.55232928e-01 6.55445532e-01 3.79202904e-03] [-2.49736049e-03 2.90781188e-03 -9.99992654e-01]] t_estimated: [[0.96903534] [0.24691933] [0.00116602]] R_gt: [[ 0.99392862 -0.10875102 -0.01671092] [ 0.10764831 0.99256941 -0.0567228 ] [ 0.02275566 0.05458021 0.99825037]] t_gt: [ 0.57317586 -0.53756315 -0.61846204] Pose Error in degrees for R and t: 177.7157185469454 65.04086244758864 Number of keypoints: Image1: 171 Image2: 171 R_estimated: [[ 9.99908359e-01 -1.35377752e-02 4.47313381e-05] [ 1.35377813e-02 9.99908350e-01 -1.40855436e-04] [-4.28203693e-05 1.41448091e-04 9.99999989e-01]] t_estimated: [[-0.64108588] [-0.76746847] [-0.00101921]] R_gt: [[ 0.9912855 -0.12972682 -0.02288026] [ 0.12825692 0.99010274 -0.05696707] [ 0.03004402 0.05353615 0.99811416]] t_gt: [ 0.55342381 -0.61051485 -0.56656306] Pose Error in degrees for R and t: 7.513838956049237 83.4346627821883 Number of keypoints: Image1: 203 Image2: 203 R_estimated: [[ 0.86354377 0.50425553 -0.00430467] [-0.50421708 0.86354314 0.0076406 ] [ 0.00757008 -0.0044275 0.99996154]] t_estimated: [[0.66941529] [0.7428877 ] [0.00102045]] R_gt: [[ 0.99602769 -0.08642674 -0.02144995] [ 0.08485145 0.99421571 -0.06584025] [ 0.02701571 0.06375869 0.99760064]] t_gt: [ 0.54904663 -0.37213352 -0.74837453] Pose Error in degrees for R and t: 35.44373704861525 84.81780385655182 Number of keypoints: Image1: 42 Image2: 42 R_estimated: [[ 0.12490397 0.97280663 0.1950545 ] [ 0.99214186 -0.12101337 -0.03178517] [-0.00731662 0.19749183 -0.98027723]] t_estimated: [[-0.02583602] [-0.99966235] [-0.00277305]] R_gt: [[ 0.94787862 0.31860251 0.00433147] [-0.31853278 0.94783449 -0.0120977 ] [-0.00795932 0.01008782 0.99991642]] t_gt: [-0.94598968 0.32237467 -0.03432339] Pose Error in degrees for R and t: 171.75210384701947 72.67868590396532 Number of keypoints: Image1: 26 Image2: 26 R_estimated: [[-5.20976638e-01 8.53570925e-01 -1.38249955e-04] [-8.53567072e-01 -5.20974760e-01 -2.92449630e-03] [-2.56828975e-03 -1.40558864e-03 9.99995714e-01]] t_estimated: [[0.34558757] [0.93838413] [0.00210917]] R_gt: [[ 0.84064784 0.54151317 0.00856549] [-0.54077242 0.84015351 -0.04131161] [-0.02956606 0.0300974 0.99910898]] t_gt: [-0.87619857 0.47950738 -0.04846374] Pose Error in degrees for R and t: 88.64176992107129 81.54361191017493 Number of keypoints: Image1: 27 Image2: 27 R_estimated: [[-0.97684774 0.08918267 0.19446065] [-0.17138282 -0.87026913 -0.46180036] [ 0.12804851 -0.48443585 0.86540481]] t_estimated: [[0.8471997 ] [0.52399992] [0.08761703]] R_gt: [[ 0.64762929 0.76194101 -0.00480266] [-0.76023369 0.64572902 -0.07125774] [-0.05119287 0.04980028 0.99744523]] t_gt: [-0.78084269 0.62285946 -0.04827815] Pose Error in degrees for R and t: 124.46702565295094 70.16081152625237 Number of keypoints: Image1: 117 Image2: 117 R_estimated: [[ 1.11660692e-01 9.93746269e-01 4.92407850e-04] [-9.93746286e-01 1.11660895e-01 -4.05293380e-04] [-4.57741486e-04 -4.44073133e-04 9.99999797e-01]] t_estimated: [[0.62454552] [0.78098745] [0.0012222 ]] R_gt: [[ 0.99767701 0.02925609 0.06153518] [-0.03170299 0.99872934 0.03916866] [-0.06031113 -0.04102913 0.99733575]] t_gt: [-0.41314286 0.17620995 0.89345567] Pose Error in degrees for R and t: 81.92628769909331 83.14732661818405 Number of keypoints: Image1: 55 Image2: 55 R_estimated: [[ 0.68480196 0.22166585 -0.69419776] [ 0.49585154 0.55634833 0.66678915] [ 0.53402016 -0.80083755 0.27107507]] t_estimated: [[-0.66883013] [-0.74341482] [-0.0008107 ]] R_gt: [[ 0.98447297 -0.06162967 0.16436965] [ 0.01854117 0.96761498 0.25174744] [-0.17456175 -0.2447904 0.9537325 ]] t_gt: [ 0.08800184 -0.09310489 0.99175963] Pose Error in degrees for R and t: 71.84610300412916 89.45263046313322 Number of keypoints: Image1: 41 Image2: 41 R_estimated: [[-9.93570963e-01 1.13200504e-01 -1.54541076e-03] [-1.13199884e-01 -9.93572118e-01 -4.82695393e-04] [-1.59011840e-03 -3.04651807e-04 9.99998689e-01]] t_estimated: [[0.77645178] [0.63017609] [0.00085044]] R_gt: [[ 0.96503683 -0.12560806 0.2300619 ] [ 0.03318735 0.9291921 0.36810364] [-0.2600085 -0.34759852 0.90087231]] t_gt: [ 0.17297279 -0.05613336 0.98332571] Pose Error in degrees for R and t: 178.34965286365573 84.27422424092433 Number of keypoints: Image1: 168 Image2: 168 R_estimated: [[-1.54025085e-01 -9.88066342e-01 -1.08474710e-03] [-9.88066812e-01 1.54025526e-01 -3.34901340e-04] [ 4.97983485e-04 1.02021941e-03 -9.99999356e-01]] t_estimated: [[8.15161168e-01] [5.79233917e-01] [5.82920493e-04]] R_gt: [[ 0.98999135 -0.13512238 -0.04073506] [ 0.1355317 0.99074408 0.00748307] [ 0.03934675 -0.01292862 0.99914187]] t_gt: [ 0.72603224 -0.66436246 -0.17748155] Pose Error in degrees for R and t: 178.57476482009366 78.05875255205483 Number of keypoints: Image1: 107 Image2: 107 R_estimated: [[ 9.99999223e-01 1.24094415e-03 1.16662251e-04] [-1.24094452e-03 9.99999230e-01 3.08645809e-06] [-1.16658331e-04 -3.23122707e-06 9.99999993e-01]] t_estimated: [[ 9.64975123e-01] [-2.62341292e-01] [ 2.43072475e-04]] R_gt: [[ 0.97049967 -0.23545293 -0.0518945 ] [ 0.23497719 0.97188236 -0.01515703] [ 0.05400415 0.00251582 0.99853728]] t_gt: [ 0.72863722 -0.64981401 -0.21640139] Pose Error in degrees for R and t: 14.031917562025054 29.12767250808028 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[ 9.99997162e-01 2.37589247e-03 1.76292730e-04] [-2.37589170e-03 9.99997178e-01 -4.56273507e-06] [-1.76303073e-04 4.14386969e-06 9.99999984e-01]] t_estimated: [[ 9.25011263e-01] [-3.79939684e-01] [ 3.22216595e-06]] R_gt: [[ 0.9509268 -0.30567025 -0.04800934] [ 0.30346511 0.95162566 -0.04812313] [ 0.06039726 0.03119305 0.99768663]] t_gt: [ 0.69825697 -0.66129951 -0.27408057] Pose Error in degrees for R and t: 18.30759551937165 26.214240645706795 Number of keypoints: Image1: 307 Image2: 307 R_estimated: [[ 9.97354398e-01 7.26925134e-02 4.97947166e-05] [-7.26924857e-02 9.97354311e-01 -4.26334843e-04] [-8.06543265e-05 4.21587229e-04 9.99999908e-01]] t_estimated: [[0.91166962] [0.41092237] [0.00114164]] R_gt: [[ 0.99941876 -0.02677014 -0.02110964] [ 0.02692657 0.99961207 0.00715739] [ 0.02091005 -0.00772156 0.99975132]] t_gt: [ 0.8009291 -0.51784744 -0.30057711] Pose Error in degrees for R and t: 5.850940613920707 58.86579068791606 Number of keypoints: Image1: 291 Image2: 291 R_estimated: [[ 9.94762594e-01 1.02212410e-01 7.64207161e-05] [-1.02212392e-01 9.94762577e-01 -2.06277426e-04] [-9.71045812e-05 1.97385923e-04 9.99999976e-01]] t_estimated: [[5.06758492e-01] [8.62087956e-01] [4.31934295e-04]] R_gt: [[ 0.99726326 -0.04829571 -0.05598415] [ 0.04955064 0.9985454 0.02126473] [ 0.05487637 -0.02398035 0.99820521]] t_gt: [ 0.72520905 -0.57979921 -0.37135524] Pose Error in degrees for R and t: 9.330141426484412 82.38635323729281 Number of keypoints: Image1: 188 Image2: 188 R_estimated: [[-9.64263383e-01 -2.64755704e-01 1.00272493e-02] [-2.64748596e-01 9.64315282e-01 2.05380681e-03] [-1.02131868e-02 -6.74289469e-04 -9.99947617e-01]] t_estimated: [[0.99732687] [0.07285875] [0.00554226]] R_gt: [[ 0.99715219 -0.01666888 -0.07355827] [ 0.02086592 0.99817554 0.05666562] [ 0.07248013 -0.05803823 0.99567948]] t_gt: [ 0.57697774 -0.73959674 -0.34654487] Pose Error in degrees for R and t: 176.8729716966808 58.692653095145864 Number of keypoints: Image1: 178 Image2: 178 R_estimated: [[ 9.99999945e-01 -2.84706130e-04 -1.72998315e-04] [ 2.84726112e-04 9.99999953e-01 1.15492849e-04] [ 1.72965425e-04 -1.15542100e-04 9.99999978e-01]] t_estimated: [[-0.99946721] [-0.03251655] [-0.002824 ]] R_gt: [[ 0.99964996 0.02345021 -0.01221164] [-0.02356067 0.99968273 -0.00892292] [ 0.01199866 0.00920767 0.99988545]] t_gt: [ 0.6872302 0.63632801 -0.35043018] Pose Error in degrees for R and t: 1.6138015154325576 45.04383223150188 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 0.94313663 -0.33240031 -0.00182652] [ 0.33240329 0.94313584 0.00168468] [ 0.00116267 -0.00219603 0.99999691]] t_estimated: [[9.93977190e-01] [1.09584442e-01] [7.71721421e-04]] R_gt: [[ 0.99659745 0.05983962 -0.05668757] [-0.05923228 0.99816872 0.01234253] [ 0.05732185 -0.00894296 0.99831537]] t_gt: [ 0.77961788 0.52460777 -0.34202727] Pose Error in degrees for R and t: 23.053482678413 33.680047522476556 Number of keypoints: Image1: 93 Image2: 93 R_estimated: [[-1.01957450e-01 9.94781399e-01 3.82720906e-03] [ 9.94788467e-01 1.01959624e-01 -3.76790485e-04] [-7.65044962e-04 3.76884684e-03 -9.99992605e-01]] t_estimated: [[0.84633904] [0.53264303] [0.00128039]] R_gt: [[ 0.99219956 0.07063861 -0.10270996] [-0.06700302 0.99701317 0.03842914] [ 0.10511828 -0.03124803 0.99396823]] t_gt: [ 0.88189736 0.40015777 -0.24926053] Pose Error in degrees for R and t: 174.40080755000076 16.421845490721584 Number of keypoints: Image1: 125 Image2: 125 R_estimated: [[ 9.99999966e-01 -2.56115070e-04 5.54111070e-05] [ 2.56117206e-04 9.99999966e-01 -3.85558537e-05] [-5.54012305e-05 3.85700441e-05 9.99999998e-01]] t_estimated: [[0.44645197] [0.89480689] [0.00112872]] R_gt: [[ 0.99743938 -0.07059341 -0.01144068] [ 0.07073519 0.9974165 0.01246516] [ 0.01053104 -0.01324196 0.99985657]] t_gt: [ 0.63254017 -0.77452237 -0.00283564] Pose Error in degrees for R and t: 4.1538225812581375 65.75417937022945 Number of keypoints: Image1: 91 Image2: 91 R_estimated: [[ 9.99999894e-01 4.49933732e-04 9.32048403e-05] [-4.49931539e-04 9.99999899e-01 -2.35434771e-05] [-9.32154238e-05 2.35015388e-05 9.99999995e-01]] t_estimated: [[9.99995481e-01] [2.91480085e-03] [7.36695240e-04]] R_gt: [[ 0.9902754 -0.13865102 0.01135647] [ 0.13852367 0.99029386 0.01128413] [-0.01281073 -0.00960054 0.99987148]] t_gt: [ 0.67543789 -0.73565931 0.05088253] Pose Error in degrees for R and t: 8.044862771965509 47.67555395218271 Number of keypoints: Image1: 101 Image2: 101 R_estimated: [[ 9.99998888e-01 1.48942301e-03 6.98887067e-05] [-1.48942179e-03 9.99998891e-01 -1.75066030e-05] [-6.99147039e-05 1.74024897e-05 9.99999997e-01]] t_estimated: [[ 9.05523121e-01] [-4.24296901e-01] [ 1.29949504e-04]] R_gt: [[ 0.98385929 -0.17686154 0.0272031 ] [ 0.17630399 0.98409607 0.02169866] [-0.03060802 -0.01655181 0.99939467]] t_gt: [ 0.71530391 -0.68639733 0.13114508] Pose Error in degrees for R and t: 10.45030389988643 20.119451573017347 We are working in: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_01 Number of keypoints: Image1: 211 Image2: 211
--------------------------------------------------------------------------- FileNotFoundError Traceback (most recent call last) Input In [5], in <cell line: 7>() 27 pose_path = os.path.join(pose_folder, str_number+'.txt') 28 if os.path.isfile(img_path): ---> 29 R,t, k1, k2 = get_relative_pose(base_img_path, img_path, base_pose_path, pose_path, intrinsic_path) 30 result = [base_number, number, R, t, k1, k2] 31 results.append(result) Input In [4], in get_relative_pose(path_img1, path_img2, path_pose1, path_pose2, path_K) 34 pts2 = np.int32(pts2) 36 #Get intrisinc matrix 37 #preparing everything for poselib.estimate_relative_pose ---> 38 K = np.loadtxt(intrinsic_path, dtype=float) 39 K = np.delete(K,3,0) 40 K = np.delete(K,3,1) File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/npyio.py:1042, in loadtxt(fname, dtype, comments, delimiter, converters, skiprows, usecols, unpack, ndmin, encoding, max_rows, like) 1040 fname = os_fspath(fname) 1041 if _is_string_like(fname): -> 1042 fh = np.lib._datasource.open(fname, 'rt', encoding=encoding) 1043 fencoding = getattr(fh, 'encoding', 'latin1') 1044 line_iter = iter(fh) File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/_datasource.py:193, in open(path, mode, destpath, encoding, newline) 156 """ 157 Open `path` with `mode` and return the file object. 158 (...) 189 190 """ 192 ds = DataSource(destpath) --> 193 return ds.open(path, mode, encoding=encoding, newline=newline) File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/_datasource.py:532, in DataSource.open(self, path, mode, encoding, newline) 529 return _file_openers[ext](found, mode=mode, 530 encoding=encoding, newline=newline) 531 else: --> 532 raise FileNotFoundError(f"{path} not found.") FileNotFoundError: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_01/intrinsic/intrinsic_color.txt not found.
import seaborn as sns
R_err_30 = [x[2] for x in results if (x[1] - x[0] == 31)]
R_err_20 = [x[2] for x in results if (x[1] - x[0] == 21)]
R_err_10 = [x[2] for x in results if (x[1] - x[0] == 11)]
t_err = [x[3] for x in results if (x[1] - x[0] == 31)]
pts = [x[4] for x in results if (x[1] - x[0] == 31)]
path = "/Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_00/pose/estimated_pose/results10_20_30.txt"
results = np.loadtxt(path, dtype=float)
bins = np.linspace(0, 180, 100)
plt.hist(R_err_10, bins, alpha=0.5, label='n+10', color="blue")
plt.hist(R_err_20, bins, alpha=0.5, label='n+20', color="red")
plt.hist(R_err_30, bins, alpha=0.5, label='n+30', color="black")
plt.title("Distributioin of R_err")
plt.xlabel("R_err in degrees")
plt.ylabel("count")
plt.legend(loc='upper right')
plt.savefig("disitributiontest.jpg")
plt.show()
R_err = R_err_10
g = sns.displot(R_err, bins=1000).set(title="Distribution of R_err", xlabel="R_err")
#g.set(xlim=(0, 10))
g = sns.displot(t_err).set(title="Distribution of t_err", xlabel="t_err")
g = sns.displot(pts).set(title="Distribution of # kpoints", xlabel="#kpoints")
df = pd.DataFrame({'t_err':t_err, 'pts':pts})
sns.scatterplot(data=df, x="t_err", y="pts").set(title='scatter plot t_err vs #kpoints')
[Text(0.5, 1.0, 'scatter plot t_err vs #kpoints')]
